SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 293 * Raw log
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• Previous call tries 1 • 109.59 of 350.00 AH used of 24V (68.69% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.3 deg, depth -2.75 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 135 - - - 2797 - -107.1 -76.47 - 3478 - - - - - - - - 14.66 12.74 14.65
94 -1.4 -4.3 2 114 roll -0.93 11.82 0.388 2596 208.2 2.40 0.032 1360 -598.8 -107.1 - - 3479 - - - - - - - - 14.04 14.42 14.40
154 29.0 -26.9 12 161 done -0.62 0.40 0.256 2691 237.5 2.53 0.073 2754 551.0 -107.1 - - 3480 - - - - - - - - 14.09 14.31 14.28
477 75.7 -9.7 25 484 roll -0.62 - - 2691 - 2.38 0.042 1374 -579.8 -107.1 - - 3481 - - - - - - - - 14.81 14.45 14.81
525 78.9 -5.1 32 533 done -0.62 - - 2681 - 2.47 0.064 2770 565.2 -107.1 - - 3482 - - - - - - - - 14.50 14.40 14.54
841 100.8 -7.6 44 847 roll -0.62 - - 2673 - 1.95 0.106 3820 538.5 -107.1 - - 3482 - - - - - - - - 14.87 14.36 14.87
1078 124.4 -9.2 78 1084 done -0.62 - - 2674 - 1.77 0.038 2746 -606.8 -107.1 - - 3483 - - - - - - - - 14.69 14.64 14.69
1401 151.7 -8.6 89 1408 roll -0.62 - - 2665 - 2.05 0.106 3822 524.9 -107.1 - - 3482 - - - - - - - - 14.91 14.40 14.91
1598 169.2 -8.7 117 1604 done -0.62 0.10 0.190 2696 310.0 1.73 0.040 2789 -597.1 -107.1 - - 3481 - - - - - - - - 14.36 14.66 14.50
1961 195.0 -7.0 127 1967 roll -0.62 - - 2696 - 2.40 0.041 1382 -586.2 -107.1 - - 3478 - - - - - - - - 14.95 14.54 14.95
2017 199.1 -7.3 135 2023 done -0.70 - - 2687 - 2.47 0.067 2769 561.5 -107.1 - - 3478 - - - - - - - - 14.50 14.45 14.54
2353 224.6 -7.6 148 2359 roll -0.70 - - 2687 - 2.35 0.041 1376 -592.8 -107.1 - - 3475 - - - - - - - - 14.93 14.59 14.93
2380 226.8 -8.0 152 2387 done -0.70 - - 2677 - 2.50 0.067 2771 558.0 -107.1 - - 3475 - - - - - - - - 14.57 14.47 14.61
2745 254.5 -7.6 162 2751 roll -0.70 - - 2669 - 2.00 0.112 3831 530.0 -107.1 - - 3472 - - - - - - - - 14.95 14.38 14.96
2786 257.9 -8.0 168 2792 done -0.70 - - 2669 - 1.80 0.041 2769 -590.0 -107.1 - - 3472 - - - - - - - - 14.73 14.69 14.76
3137 284.5 -7.5 176 3143 roll -0.70 - - 2661 - 2.03 0.111 3824 519.7 -107.1 - - 3470 - - - - - - - - 14.95 14.38 14.95
3178 287.9 -8.1 182 3184 done -0.70 - - 2661 - 1.80 0.041 2767 -587.2 -107.1 - - 3470 - - - - - - - - 14.76 14.71 14.77
3529 316.3 -8.1 190 3530 done -0.70 - - 2661 - - - 2766 - -107.1 - - 3471 - - - - - - - - 14.96 14.97 14.96
3865 344.0 -8.3 196 3871 roll -0.70 - - 2653 - 2.03 0.110 3819 518.7 -107.1 - - 3465 - - - - - - - - 14.97 14.37 14.97
3977 354.3 -8.9 212 3983 done -0.70 - - 2653 - 1.77 0.042 2773 -591.0 -107.1 - - 3465 - - - - - - - - 14.65 14.62 14.67
4313 382.3 -7.8 225 4314 done -0.70 - - 2653 - - - 2773 - -107.1 - - 3461 - - - - - - - - 14.94 14.94 14.94
4649 411.9 -8.8 231 4650 done -0.70 - - 2653 - - - 2772 - -107.1 - - 3461 - - - - - - - - 14.96 14.96 14.96
4985 440.7 -8.6 237 4986 done -0.70 - - 2653 - - - 2776 - -107.1 - - 3459 - - - - - - - - 14.95 14.95 14.95
5321 469.9 -8.7 243 5327 roll -0.70 - - 2653 - 2.42 0.044 1377 -578.1 -107.1 - - 3457 - - - - - - - - 14.94 14.50 14.94
5362 473.9 -8.9 249 5370 done -0.70 0.08 0.227 2666 162.5 2.55 0.069 2781 550.6 -107.1 - - 3457 - - - - - - - - 14.23 14.44 14.41
5713 503.2 -8.4 257 5720 roll -0.70 - - 2659 - 1.98 0.112 3818 523.7 -107.1 - - 3455 - - - - - - - - 14.95 14.30 14.95
5775 508.7 -8.5 266 5782 done -0.70 - - 2658 - 1.77 0.043 2780 -586.4 -107.1 - - 3459 - - - - - - - - 14.71 14.65 14.71
6105 534.7 -7.7 278 6111 roll -0.70 - - 2658 - 2.42 0.043 1379 -578.9 -107.1 - - 3454 - - - - - - - - 14.93 14.46 14.93
6153 538.5 -7.6 285 6162 done -0.70 - - 2649 - 2.55 0.069 2777 548.2 -107.1 - - 3455 - - - - - - - - 14.48 14.38 14.52
6497 564.3 -7.5 292 6503 roll -0.70 - - 2641 - 2.00 0.112 3825 524.0 -107.1 - - 3451 - - - - - - - - 14.92 14.28 14.92
6553 568.8 -8.1 300 6559 done -0.70 0.10 0.200 2671 300.0 1.77 0.044 2784 -588.1 -107.1 - - 3452 - - - - - - - - 14.21 14.57 14.37
6889 591.7 -6.8 313 6896 roll -0.70 - - 2671 - 2.45 0.044 1371 -576.7 -107.1 - - 3450 - - - - - - - - 14.92 14.44 14.92
6951 596.3 -7.3 322 6958 done -0.70 - - 2662 - 2.55 0.067 2784 554.1 -107.1 - - 3450 - - - - - - - - 14.47 14.38 14.52
7281 620.7 -7.5 334 7287 roll -0.70 - - 2654 - 2.00 0.112 3822 519.0 -107.1 - - 3449 - - - - - - - - 14.92 14.25 14.92
7315 623.6 -8.3 339 7321 done -0.70 - - 2653 - 1.83 0.044 2768 -576.0 -107.1 - - 3449 - - - - - - - - 14.68 14.64 14.70
7673 652.1 -8.1 348 7679 roll -0.70 - - 2653 - 2.42 0.043 1371 -577.3 -107.1 - - 3446 - - - - - - - - 14.94 14.43 14.94
7714 655.6 -8.1 354 7721 done -0.70 - - 2645 - 2.55 0.067 2766 547.1 -107.1 - - 3446 - - - - - - - - 14.44 14.34 14.50
8065 685.2 -8.5 362 8071 roll -0.70 - - 2644 - 2.42 0.044 1369 -577.3 -107.1 - - 3446 - - - - - - - - 14.93 14.46 14.93
8099 688.3 -9.1 367 8106 done -0.70 0.12 0.217 2670 216.7 2.55 0.067 2772 550.2 -107.1 - - 3448 - - - - - - - - 14.11 14.34 14.29
8457 715.2 -7.5 376 8458 done -0.70 - - 2670 - - - 2771 - -107.1 - - 3445 - - - - - - - - 14.91 14.90 14.91
8793 739.1 -7.0 382 8799 roll -0.78 - - 2678 - 2.47 0.044 1370 -567.2 -107.1 - - 3443 - - - - - - - - 14.93 14.40 14.93
8834 742.3 -7.4 388 8841 done -0.86 0.05 0.117 2613 -1300.0 2.58 0.070 2776 545.0 -107.1 - - 3444 - - - - - - - - 14.30 14.31 14.40
9185 772.1 -8.5 396 9191 roll -0.86 - - 2605 - 2.00 0.111 3821 522.5 -107.1 - - 3443 - - - - - - - - 14.91 14.18 14.90
9233 776.4 -8.9 403 9241 done -0.86 - - 2604 - 1.83 0.044 2771 -573.8 -107.1 - - 3442 - - - - - - - - 14.64 14.59 14.66
9577 805.0 -8.3 410 9583 roll -0.86 - - 2603 - 2.45 0.044 1372 -571.0 -107.1 - - 3442 - - - - - - - - 14.90 14.31 14.90
9604 807.4 -8.7 414 9611 done -0.86 - - 2595 - 2.58 0.067 2782 546.5 -107.1 - - 3441 - - - - - - - - 14.40 14.29 14.45
9969 839.4 -8.9 424 9975 roll -0.86 - - 2587 - 2.03 0.111 3831 516.7 -107.1 - - 3440 - - - - - - - - 14.92 14.16 14.96
9996 842.1 -9.1 428 10003 done -0.86 0.12 0.236 2621 283.3 1.85 0.044 2773 -571.9 -107.1 - - 3439 - - - - - - - - 14.13 14.57 14.40
10361 872.6 -8.4 438 10367 roll -0.86 - - 2621 - 2.45 0.044 1373 -571.4 -107.1 - - 3439 - - - - - - - - 14.92 14.35 14.90
10402 876.3 -7.2 444 10409 done -0.86 - - 2612 - 2.58 0.066 2775 543.4 -107.1 - - 3438 - - - - - - - - 14.37 14.27 14.42
10753 907.6 -8.9 452 10754 done -0.86 - - 2612 - - - 2775 - -107.1 - - 3438 - - - - - - - - 14.89 14.89 14.89
11030 end dive: TARGET_DEPTH_EXCEEDED
11030 begin apogee
11037 932.8 -9.0 457 11147 roll -0.23 0.73 0.184 2819 283.6 0.10 0.155 2272 -5030.0 - 107.50 1.964 3049 -3.6 0.339 - - - - - - 14.09 13.95 13.16
11149 end apogee: CONTROL_FINISHED_OK
11149 begin climb
11151 937.5 - 459 11280 roll 0.93 1.12 0.096 3183 325.0 2.53 0.054 883 -549.0 107.1 115.68 1.951 2617 -3.7 0.354 - - - - - - 13.97 14.01 12.97
11306 932.3 8.1 482 11314 done 0.79 - - 3183 - 2.50 0.052 2244 544.4 107.1 - - 2614 - - - - - - - - 13.94 13.88 13.96
11650 905.1 8.1 489 11657 roll 0.64 0.25 0.217 3112 -284.0 2.65 0.098 3661 534.7 107.1 - - 2611 - - - - - - - - 14.12 14.24 14.38
11733 899.1 6.9 501 11756 done 0.59 0.10 0.209 3095 -170.0 2.42 0.039 2273 -573.6 123.7 17.77 2.008 2556 -3.1 0.273 - - - - - - 14.14 14.40 13.47
12091 877.8 5.9 510 12134 done 0.63 - - 3095 - - - 2272 - 159.6 40.88 1.913 2413 -3.5 0.316 - - - - - - 14.71 14.21 13.40
12427 854.6 7.2 516 12447 roll 0.64 - - 3094 - 2.67 0.101 3653 517.2 171.3 11.45 2.090 2364 -4.3 0.345 - - - - - - 14.67 14.32 13.51
12496 849.0 8.5 526 12503 done 0.64 - - 3104 - 2.45 0.040 2258 -569.4 171.3 - - 2362 - - - - - - - - 14.41 14.37 14.42
12819 824.3 7.6 537 12820 done 0.65 - - 3103 - - - 2256 - 173.5 - - 2358 - - - - - - - - 14.73 14.74 14.74
13155 802.1 6.2 543 13197 roll 0.77 0.08 0.143 3168 812.5 2.65 0.099 3654 527.5 203.4 36.58 1.871 2234 -3.4 0.287 - - - - - - 14.53 14.21 13.50
13308 792.4 5.9 565 13357 done 0.81 - - 3177 - 2.45 0.041 2255 -571.0 240.3 42.12 1.864 2090 -3.4 0.287 - - - - - - 14.39 14.35 13.31
13715 758.7 9.4 581 13722 roll 0.81 - - 3177 - 2.65 0.099 3663 531.3 240.3 - - 2080 - - - - - - - - 14.71 14.26 14.68
13827 746.0 11.5 597 13834 done 0.70 0.20 0.220 3130 -235.0 2.45 0.041 2241 -580.4 240.3 - - 2080 - - - - - - - - 14.19 14.44 14.45
14163 715.5 9.0 610 14169 roll 0.70 - - 3131 - 2.65 0.100 3650 531.7 240.3 - - 2079 - - - - - - - - 14.79 14.33 14.79
14211 710.5 10.4 617 14220 done 0.70 - - 3140 - 2.42 0.041 2259 -574.8 240.3 - - 2081 - - - - - - - - 14.47 14.43 14.50
14555 677.0 9.8 624 14561 roll 0.70 - - 3140 - 2.62 0.102 3655 532.8 240.3 - - 2078 - - - - - - - - 14.83 14.33 14.84
14582 674.0 10.7 628 14589 done 0.70 - - 3150 - 2.40 0.040 2279 -573.3 240.3 - - 2078 - - - - - - - - 14.54 14.50 14.56
14948 636.1 10.4 638 14953 roll 0.70 - - 3151 - 2.58 0.103 3652 532.2 240.3 - - 2078 - - - - - - - - 14.85 14.35 14.86
14981 632.1 11.3 643 14988 done 0.70 0.10 0.216 3131 -200.0 2.40 0.041 2272 -575.0 240.3 - - 2077 - - - - - - - - 14.21 14.50 14.39
15339 596.8 9.9 652 15345 roll 0.70 - - 3131 - 2.62 0.101 3669 533.2 240.3 - - 2077 - - - - - - - - 14.88 14.31 14.88
15395 590.9 10.7 660 15401 done 0.70 - - 3140 - 2.42 0.041 2274 -576.4 240.3 - - 2076 - - - - - - - - 14.52 14.48 14.55
15731 558.4 9.6 673 15732 done 0.70 - - 3140 - - - 2270 - 240.3 - - 2077 - - - - - - - - 14.88 14.88 14.88
16067 528.1 8.9 679 16073 roll 0.70 - - 3140 - 2.65 0.103 3655 522.6 240.3 - - 2077 - - - - - - - - 14.87 14.26 14.88
16123 522.6 10.1 687 16129 done 0.70 - - 3151 - 2.40 0.041 2282 -572.1 240.3 - - 2076 - - - - - - - - 14.53 14.48 14.55
16459 492.2 9.0 700 16465 roll 0.70 - - 3151 - 2.62 0.102 3673 530.9 240.3 - - 2076 - - - - - - - - 14.87 14.26 14.87
16479 490.2 9.2 703 16486 done 0.70 0.10 0.214 3131 -200.0 2.42 0.041 2280 -575.6 240.3 - - 2077 - - - - - - - - 14.18 14.50 14.35
16795 463.6 8.4 713 16801 roll 0.70 - - 3130 - 2.62 0.103 3646 521.4 240.3 - - 2075 - - - - - - - - 14.87 14.23 14.87
16822 460.9 9.5 717 16830 done 0.70 - - 3140 - 2.38 0.041 2277 -575.2 240.3 - - 2077 - - - - - - - - 14.56 14.52 14.57
17187 425.7 9.9 727 17193 roll 0.70 - - 3140 - 2.60 0.100 3656 530.4 240.3 - - 2077 - - - - - - - - 14.87 14.28 14.87
17228 421.1 11.1 733 17236 done 0.70 - - 3150 - 2.38 0.040 2285 -576.1 240.3 - - 2077 - - - - - - - - 14.52 14.48 14.54
17579 385.6 10.1 741 17586 roll 0.70 - - 3150 - 2.62 0.103 3650 521.0 240.3 - - 2076 - - - - - - - - 14.87 14.21 14.88
17606 382.6 10.7 745 17614 done 0.70 0.10 0.211 3130 -200.0 2.38 0.040 2284 -573.9 240.3 - - 2077 - - - - - - - - 14.15 14.49 14.32
17971 350.9 8.5 755 17977 roll 0.70 - - 3129 - 2.58 0.099 3653 530.6 240.3 - - 2081 - - - - - - - - 14.87 14.27 14.87
18005 348.0 8.8 760 18012 done 0.70 - - 3138 - 2.38 0.040 2288 -573.5 240.3 - - 2080 - - - - - - - - 14.54 14.51 14.56
18363 319.9 7.8 769 18369 roll 0.70 - - 3138 - 2.62 0.103 3654 521.4 240.3 - - 2079 - - - - - - - - 14.87 14.19 14.87
18390 317.5 8.4 773 18398 done 0.70 - - 3149 - 2.38 0.040 2283 -576.1 240.3 - - 2077 - - - - - - - - 14.54 14.50 14.55
18755 286.5 8.6 783 18761 roll 0.70 - - 3148 - 2.58 0.102 3654 531.4 240.3 - - 2077 - - - - - - - - 14.87 14.26 14.87
18789 283.2 9.7 788 18796 done 0.70 0.10 0.207 3128 -200.0 2.35 0.040 2299 -576.6 240.3 - - 2077 - - - - - - - - 14.16 14.50 14.32
19147 254.9 7.9 797 19154 roll 0.70 - - 3138 - 2.55 0.059 857 -565.5 240.3 - - 2077 - - - - - - - - 14.90 14.31 14.90
19174 252.6 8.1 801 19182 done 0.70 - - 3137 - 2.53 0.054 2289 566.0 240.3 - - 2077 - - - - - - - - 14.43 14.34 14.49
19539 222.1 8.4 811 19545 roll 0.70 - - 3138 - 2.55 0.102 3662 538.4 240.3 - - 2076 - - - - - - - - 14.88 14.25 14.88
19601 216.3 9.5 820 19608 done 0.70 - - 3149 - 2.38 0.038 2287 -577.7 240.3 - - 2080 - - - - - - - - 14.52 14.47 14.54
19931 186.6 9.1 832 19932 done 0.70 - - 3149 - - - 2283 - 240.3 - - 2076 - - - - - - - - 14.88 14.88 14.88
20267 157.0 8.8 838 20273 roll 0.70 - - 3149 - 2.60 0.101 3660 529.6 240.3 - - 2077 - - - - - - - - 14.90 14.26 14.93
20301 153.6 9.8 843 20308 done 0.70 0.10 0.202 3128 -210.0 2.38 0.039 2298 -572.3 240.3 - - 2077 - - - - - - - - 14.14 14.50 14.29
20659 127.3 7.0 852 20679 roll 0.72 - - 3128 - 2.58 0.102 3657 526.7 255.6 13.75 1.310 2026 -3.7 0.071 - - - - - - 14.88 14.48 13.85
20728 122.0 8.0 862 20735 done 0.72 - - 3136 - 2.35 0.038 2294 -580.0 255.6 - - 2024 - - - - - - - - 14.56 14.52 14.58
21051 99.4 6.9 873 21064 roll 0.75 - - 3147 - 2.50 0.060 861 -573.2 273.0 7.53 0.442 1965 -7.8 0.347 - - - - - - 14.85 14.45 14.00
21136 93.7 6.8 885 21155 done 0.86 - - 3147 - 2.50 0.051 2308 578.8 292.8 11.62 0.438 1888 -6.6 0.280 - - - - - - 14.56 14.41 14.03
21473 70.8 6.3 900 21493 roll 1.01 0.15 0.090 3239 613.3 2.55 0.100 3655 528.2 321.4 15.52 0.377 1770 -7.6 0.282 - - - - - - 14.49 14.38 14.09
21709 50.3 9.0 934 21717 done 1.01 - - 3249 - 2.33 0.037 2310 -577.3 321.4 - - 1774 - - - - - - - - 14.42 14.38 14.44
22025 33.3 3.6 946 22072 roll 1.11 - - 3249 - 2.55 0.098 3658 528.6 404.3 40.62 0.270 1439 -8.2 0.201 - - - - - - 14.82 14.38 14.19
22186 25.3 5.0 969 22222 done 1.28 0.10 0.112 3330 810.0 2.28 0.037 2313 -589.9 459.5 26.90 0.243 1219 -8.2 0.168 - - - - - - 14.47 14.50 14.11
22470 end climb: SURFACE_DEPTH_REACHED
22470 begin surface coast
22500 end surface coast: CONTROL_FINISHED_OK
22500 begin surface
SM -2.08 - - - - -8.39 9.07 0.053 187 20.6 0.85 0.083 2770 -10188.2 500.14 18.80 0.159 1056 56.2 0.075 - - - - - -