SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 362 * Raw log
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• Previous call tries 1 • 131.40 of 350.00 AH used of 24V (62.46% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -73.1 deg, depth -0.69 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 93 done -0.93 - - 105 - - - 2784 - -107.1 -77.25 - 3478 - - - - - - - - 14.68 12.62 14.67
96 -0.7 -1.0 2 116 roll -0.93 12.00 0.388 2585 206.7 1.95 0.086 3835 539.0 -107.1 - - 3480 - - - - - - - - 13.98 14.33 14.38
185 41.8 -25.6 16 192 done -0.56 0.47 0.229 2715 276.6 1.83 0.036 2719 -609.8 -107.1 - - 3480 - - - - - - - - 14.09 14.52 14.28
508 75.7 -3.5 29 513 roll -0.56 - - 2715 - 2.20 0.044 1410 -595.0 -107.1 - - 3482 - - - - - - - - 14.83 14.44 14.83
528 75.8 1.6 32 537 done -0.56 - - 2705 - 2.40 0.067 2762 563.3 -107.1 - - 3482 - - - - - - - - 14.44 14.35 14.48
844 96.0 -4.9 44 851 roll -0.56 - - 2697 - 1.98 0.107 3816 532.3 -107.1 - - 3482 - - - - - - - - 14.88 14.32 14.88
956 104.3 -7.1 60 962 done -0.56 - - 2697 - 1.73 0.041 2779 -599.4 -107.1 - - 3483 - - - - - - - - 14.63 14.61 14.64
1292 127.8 -7.0 73 1297 roll -0.56 - - 2697 - 2.35 0.044 1383 -594.0 -107.1 - - 3482 - - - - - - - - 14.92 14.56 14.91
1349 131.9 -7.4 81 1353 done -0.65 - - 2688 - 2.42 0.067 2763 570.2 -107.1 - - 3482 - - - - - - - - 14.64 14.47 14.66
1684 158.1 -7.8 94 1689 roll -0.65 - - 2680 - 1.98 0.108 3816 531.8 -107.1 - - 3481 - - - - - - - - 14.93 14.36 14.93
1732 162.0 -8.0 101 1740 done -0.65 - - 2680 - 1.77 0.041 2760 -596.6 -107.1 - - 3480 - - - - - - - - 14.73 14.69 14.75
2076 186.8 -7.1 108 2082 roll -0.65 - - 2681 - 2.33 0.044 1389 -588.4 -107.1 - - 3477 - - - - - - - - 14.96 14.56 14.94
2117 189.8 -7.4 114 2123 done -0.65 - - 2670 - 2.45 0.067 2760 559.6 -107.1 - - 3478 - - - - - - - - 14.55 14.45 14.59
2468 216.7 -7.6 122 2469 done -0.65 - - 2670 - - - 2760 - -107.1 - - 3474 - - - - - - - - 14.95 14.95 14.95
2804 244.7 -8.5 128 2805 done -0.65 - - 2670 - - - 2760 - -107.1 - - 3473 - - - - - - - - 14.99 14.96 14.96
3140 273.5 -8.5 134 3145 roll -0.65 - - 2662 - 2.03 0.110 3829 526.6 -107.1 - - 3470 - - - - - - - - 14.97 14.38 14.96
3167 275.9 -8.6 138 3173 done -0.65 - - 2661 - 1.83 0.044 2766 -580.9 -107.1 - - 3469 - - - - - - - - 14.76 14.70 14.77
3532 306.0 -8.1 148 3538 roll -0.65 - - 2662 - 2.38 0.044 1370 -586.6 -107.1 - - 3468 - - - - - - - - 14.96 14.57 14.96
3573 309.3 -7.9 154 3579 done -0.65 0.10 0.204 2683 210.0 2.50 0.068 2760 556.0 -107.1 - - 3467 - - - - - - - - 14.27 14.47 14.42
3924 334.7 -7.3 162 3929 roll -0.73 - - 2685 - 2.38 0.044 1375 -581.9 -107.1 - - 3465 - - - - - - - - 14.94 14.56 14.95
3980 339.0 -7.6 170 3986 done -0.83 0.08 0.144 2612 -912.5 2.47 0.067 2762 561.5 -107.1 - - 3465 - - - - - - - - 14.54 14.47 14.64
4316 373.1 -10.3 183 4317 done -0.83 - - 2613 - - - 2763 - -107.1 - - 3463 - - - - - - - - 14.96 14.96 14.96
4652 407.5 -10.1 189 4657 roll -0.83 - - 2604 - 2.00 0.109 3817 527.0 -107.1 - - 3462 - - - - - - - - 14.96 14.31 14.96
4693 411.9 -10.8 195 4699 done -0.83 - - 2604 - 1.83 0.041 2744 -586.3 -107.1 - - 3461 - - - - - - - - 14.73 14.67 14.73
5044 446.8 -9.6 203 5045 done -0.83 - - 2603 - - - 2744 - -107.1 - - 3460 - - - - - - - - 14.94 14.94 14.94
5380 478.0 -9.3 209 5385 roll -0.83 - - 2601 - 2.33 0.043 1382 -584.5 -107.1 - - 3458 - - - - - - - - 14.94 14.54 14.94
5407 480.6 -9.5 213 5413 done -0.83 0.10 0.230 2622 210.0 2.47 0.067 2752 554.7 -107.1 - - 3458 - - - - - - - - 14.17 14.40 14.36
5772 513.7 -9.2 223 5777 roll -0.83 - - 2614 - 2.03 0.110 3819 525.6 -107.1 - - 3457 - - - - - - - - 14.94 14.31 14.94
5834 520.0 -10.1 232 5841 done -0.83 - - 2614 - 1.80 0.042 2763 -586.7 -107.1 - - 3456 - - - - - - - - 14.72 14.66 14.73
6164 552.3 -9.8 244 6170 roll -0.83 - - 2614 - 2.35 0.043 1383 -587.2 -107.1 - - 3455 - - - - - - - - 14.92 14.50 14.92
6233 559.1 -9.4 254 6239 done -0.83 - - 2605 - 2.47 0.066 2754 555.1 -107.1 - - 3453 - - - - - - - - 14.49 14.39 14.52
6556 591.0 -9.9 265 6557 done -0.83 - - 2604 - - - 2754 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
6892 623.7 -9.8 271 6893 done -0.83 - - 2604 - - - 2754 - -107.1 - - 3451 - - - - - - - - 14.92 14.93 14.93
7228 655.9 -9.6 277 7229 done -0.83 - - 2603 - - - 2754 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.93
7564 688.4 -9.6 283 7569 roll -0.83 - - 2596 - 2.05 0.109 3822 521.0 -107.1 - - 3448 - - - - - - - - 14.92 14.26 14.93
7605 692.6 -10.5 289 7612 done -0.83 0.10 0.245 2629 330.0 1.85 0.044 2752 -578.4 -107.1 - - 3450 - - - - - - - - 14.21 14.62 14.37
7956 722.7 -8.5 297 7957 done -0.83 - - 2632 - - - 2752 - -107.1 - - 3447 - - - - - - - - 14.92 14.92 14.92
8292 750.0 -8.0 303 8297 roll -0.83 - - 2621 - 2.10 0.109 3822 509.5 -107.1 - - 3446 - - - - - - - - 14.94 14.22 14.92
8340 754.1 -8.5 310 8347 done -0.83 - - 2621 - 1.85 0.044 2753 -577.8 -107.1 - - 3446 - - - - - - - - 14.64 14.62 14.64
8684 781.9 -8.2 317 8689 roll -0.83 - - 2620 - 2.40 0.044 1386 -569.6 -107.1 - - 3445 - - - - - - - - 14.91 14.40 14.91
8740 786.5 -8.2 325 8745 done -0.83 - - 2611 - 2.50 0.067 2770 553.6 -107.1 - - 3444 - - - - - - - - 14.52 14.33 14.56
9076 815.4 -8.5 338 9081 roll -0.83 - - 2603 - 2.03 0.109 3821 517.7 -107.1 - - 3444 - - - - - - - - 14.93 14.20 14.93
9152 822.5 -9.3 349 9158 done -0.83 - - 2603 - 1.85 0.044 2759 -574.1 -107.1 - - 3443 - - - - - - - - 14.64 14.59 14.66
9468 851.5 -9.1 359 9473 roll -0.83 - - 2602 - 2.38 0.044 1382 -578.6 -107.1 - - 3442 - - - - - - - - 14.93 14.35 14.93
9524 856.7 -9.4 367 9529 done -0.83 0.10 0.233 2628 260.0 2.53 0.067 2757 543.5 -107.1 - - 3442 - - - - - - - - 14.04 14.28 14.33
9860 883.9 -8.0 380 9866 roll -0.83 - - 2620 - 2.03 0.112 3831 529.1 -107.1 - - 3441 - - - - - - - - 14.90 14.21 14.90
9943 891.0 -8.4 392 9950 done -0.83 - - 2620 - 1.88 0.044 2753 -573.4 -107.1 - - 3441 - - - - - - - - 14.64 14.58 14.66
10308 920.0 -7.8 402 10313 roll -0.83 - - 2620 - 2.38 0.044 1379 -577.3 -107.1 - - 3439 - - - - - - - - 14.93 14.37 14.92
10377 925.5 -7.8 412 10384 done -0.83 - - 2611 - 2.55 0.067 2767 544.3 -107.1 - - 3439 - - - - - - - - 14.37 14.26 14.40
10473 end dive: TARGET_DEPTH_EXCEEDED
10473 begin apogee
10481 933.4 -8.1 419 10592 roll -0.23 0.73 0.182 2818 283.6 - - 2228 - - 109.40 1.993 3050 -3.6 0.335 - - - - - - 14.10 13.98 13.02
10594 end apogee: CONTROL_FINISHED_OK
10594 begin climb
10597 936.7 - 421 10722 roll 0.93 1.08 0.090 3186 340.7 2.47 0.056 890 -541.7 107.1 116.47 1.953 2621 -3.7 0.355 - - - - - - 13.98 13.97 12.88
10763 929.7 7.3 446 10771 done 0.82 - - 3186 - 2.47 0.049 2252 551.4 115.6 3.58 1.532 2590 -8.7 1.056 - - - - - - 14.02 13.96 12.50
11086 901.8 8.9 457 11089 done 0.69 0.22 0.225 3124 -281.8 - - 2253 - 115.6 1.38 0.242 2586 -2.9 2.171 - - - - - - 14.14 14.36 14.06
11422 878.6 6.8 463 11456 roll 0.71 - - 3123 - 2.62 0.096 3650 533.2 135.3 28.52 1.947 2505 -2.8 0.258 - - - - - - 14.79 14.19 13.38
11498 872.8 8.4 474 11504 done 0.71 - - 3133 - 2.42 0.039 2273 -569.0 135.3 - - 2501 - - - - - - - - 14.39 14.35 14.40
11814 847.5 8.2 484 11815 done 0.71 - - 3133 - - - 2272 - 135.3 - - 2500 - - - - - - - - 14.76 14.77 14.76
12150 820.9 7.9 490 12150 done 0.71 - - 3136 - - - 2275 - 135.3 - - 2499 - - - - - - - - 14.81 14.81 14.82
12486 795.2 7.6 496 12492 roll 0.71 - - 3133 - 2.60 0.100 3648 528.1 138.0 - - 2497 - - - - - - - - 14.85 14.34 14.85
12555 789.7 8.3 506 12561 done 0.71 - - 3144 - 2.45 0.040 2244 -573.1 138.0 - - 2498 - - - - - - - - 14.55 14.52 14.58
12878 764.7 7.8 517 12883 roll 0.71 - - 3154 - 2.42 0.060 865 -569.8 138.0 - - 2498 - - - - - - - - 14.88 14.42 14.88
12926 760.8 8.0 524 12934 done 0.71 - - 3154 - 2.45 0.053 2251 565.7 138.0 - - 2497 - - - - - - - - 14.50 14.39 14.51
13270 733.9 7.8 531 13275 roll 0.71 - - 3154 - 2.60 0.099 3650 538.1 138.0 - - 2497 - - - - - - - - 14.88 14.28 14.88
13353 726.9 8.6 543 13359 done 0.61 0.22 0.213 3101 -240.9 2.42 0.040 2255 -576.4 138.0 - - 2497 - - - - - - - - 14.12 14.49 14.30
13718 705.6 5.7 553 13767 done 0.66 - - 3101 - - - 2254 - 178.4 48.08 1.793 2342 -3.2 0.255 - - - - - - 14.87 14.28 13.42
14054 684.4 6.4 559 14090 roll 0.69 - - 3100 - 2.75 0.099 3655 509.5 206.1 31.45 1.807 2224 -3.8 0.286 - - - - - - 14.71 14.21 13.40
14144 678.0 7.9 572 14152 done 0.69 - - 3109 - 2.47 0.040 2255 -566.8 206.1 - - 2219 - - - - - - - - 14.35 14.32 14.36
14495 652.8 7.3 580 14503 roll 0.70 - - 3109 - 2.70 0.099 3654 518.1 214.9 3.33 1.378 2196 -6.9 0.658 - - - - - - 14.73 14.38 12.96
14529 649.9 8.2 585 14536 done 0.70 - - 3119 - 2.45 0.041 2260 -569.0 214.9 - - 2204 - - - - - - - - 14.49 14.45 14.51
14880 622.4 7.9 593 14886 roll 0.70 - - 3119 - 2.65 0.099 3656 526.8 214.9 1.48 0.259 2195 -6.1 2.937 - - - - - - 14.79 14.26 14.03
14928 618.0 9.3 600 14937 done 0.70 - - 3129 - 2.42 0.041 2261 -576.4 214.9 - - 2201 - - - - - - - - 14.51 14.46 14.53
15272 587.3 9.0 607 15275 done 0.70 - - 3128 - - - 2260 - 214.9 1.30 0.262 2193 -6.2 2.772 - - - - - - 14.85 14.41 14.11
15608 556.1 9.3 613 15614 roll 0.70 - - 3129 - 2.62 0.100 3646 529.0 214.9 - - 2204 - - - - - - - - 14.86 14.32 14.86
15642 552.6 10.0 618 15649 done 0.70 - - 3139 - 2.42 0.041 2258 -573.6 214.9 1.27 0.226 2193 -8.7 4.256 - - - - - - 14.52 14.47 14.12
16000 520.9 8.6 627 16006 roll 0.70 - - 3149 - 2.50 0.063 864 -557.6 214.9 - - 2202 - - - - - - - - 14.85 14.30 14.85
16027 518.6 8.1 631 16034 done 0.70 - - 3149 - 2.47 0.054 2264 566.8 214.9 1.20 0.225 2193 -7.5 3.474 - - - - - - 14.46 14.39 14.12
16392 489.4 7.8 641 16398 roll 0.70 - - 3149 - 2.60 0.099 3659 536.5 214.9 - - 2202 - - - - - - - - 14.88 14.29 14.88
16468 482.8 8.8 652 16476 done 0.70 0.10 0.211 3129 -200.0 2.42 0.039 2269 -574.4 214.9 1.02 0.230 2195 -6.9 2.895 - - - - - - 14.16 14.47 14.14
16784 461.4 6.7 662 16815 done 0.73 - - 3129 - - - 2265 - 235.2 29.25 1.587 2114 -2.8 0.162 - - - - - - 14.85 14.42 13.59
17121 436.0 7.7 668 17121 done 0.73 - - 3129 - - - 2265 - 235.5 - - 2100 - - - - - - - - 14.77 14.77 14.76
17456 408.7 8.2 674 17457 done 0.73 - - 3129 - - - 2264 - 235.5 - - 2101 - - - - - - - - 14.82 14.83 14.83
17792 382.1 7.8 680 17799 roll 0.73 - - 3129 - 2.65 0.101 3657 525.7 235.5 - - 2101 - - - - - - - - 14.85 14.27 14.85
17833 378.5 8.8 686 17840 done 0.73 - - 3139 - 2.42 0.040 2268 -574.0 235.5 - - 2103 - - - - - - - - 14.52 14.47 14.54
18184 350.6 7.9 694 18190 roll 0.73 - - 3149 - 2.47 0.063 856 -571.7 235.5 - - 2101 - - - - - - - - 14.87 14.36 14.87
18232 346.7 8.0 701 18240 done 0.73 - - 3149 - 2.47 0.053 2260 568.4 235.5 - - 2101 - - - - - - - - 14.44 14.39 14.47
18577 318.5 8.3 708 18582 roll 0.73 - - 3148 - 2.58 0.099 3651 539.1 235.5 - - 2101 - - - - - - - - 14.85 14.29 14.85
18617 314.5 9.7 714 18624 done 0.73 - - 3159 - 2.42 0.039 2259 -575.2 235.5 - - 2101 - - - - - - - - 14.52 14.47 14.54
18968 282.4 9.3 722 18974 roll 0.73 - - 3169 - 2.45 0.063 857 -572.2 235.5 - - 2101 - - - - - - - - 14.86 14.35 14.85
19016 277.8 9.6 729 19025 done 0.73 0.10 0.189 3139 -300.0 2.50 0.054 2269 564.8 235.5 - - 2101 - - - - - - - - 14.16 14.35 14.31
19360 249.1 8.3 736 19367 roll 0.73 - - 3139 - 2.58 0.100 3654 536.8 235.5 - - 2101 - - - - - - - - 14.89 14.27 14.89
19408 244.6 9.4 743 19416 done 0.73 - - 3148 - 2.42 0.038 2259 -576.4 235.5 - - 2100 - - - - - - - - 14.50 14.47 14.53
19752 215.4 8.5 750 19753 done 0.73 - - 3148 - - - 2254 - 235.5 - - 2101 - - - - - - - - 14.86 14.86 14.86
20088 186.9 8.4 756 20094 roll 0.73 - - 3148 - 2.65 0.099 3660 530.6 235.5 - - 2102 - - - - - - - - 14.89 14.27 14.90
20123 183.7 9.4 761 20129 done 0.73 - - 3158 - 2.42 0.039 2266 -576.0 235.5 - - 2101 - - - - - - - - 14.50 14.45 14.53
20480 152.9 8.6 770 20486 roll 0.73 - - 3168 - 2.50 0.062 863 -561.2 235.5 - - 2101 - - - - - - - - 14.89 14.30 14.89
20500 151.0 8.6 773 20507 done 0.73 0.10 0.184 3138 -300.0 2.47 0.053 2266 568.0 235.5 - - 2100 - - - - - - - - 14.14 14.34 14.31
20817 128.4 7.0 783 20836 roll 0.82 - - 3137 - 2.55 0.098 3662 547.5 250.4 14.93 1.300 2047 -3.5 0.070 - - - - - - 14.89 14.35 13.74
20907 121.1 8.3 796 20913 done 0.82 - - 3147 - 2.40 0.038 2275 -577.9 250.4 - - 2043 - - - - - - - - 14.53 14.48 14.54
21237 95.7 7.8 805 21238 done 0.90 0.08 0.142 3205 725.0 - - 2271 - 250.4 - - 2042 - - - - - - - - 14.55 14.62 14.62
21544 69.3 6.5 816 21559 roll 0.93 - - 3205 - 2.65 0.097 3657 523.0 275.1 10.93 0.362 1955 -8.0 0.306 - - - - - - 14.84 14.41 14.02
21768 53.5 5.2 848 21798 done 0.99 - - 3215 - 2.40 0.037 2264 -580.4 325.2 26.08 0.326 1755 -7.7 0.253 - - - - - - 14.52 14.48 14.09
22122 34.5 5.2 865 22154 roll 1.17 0.10 0.116 3290 750.0 2.60 0.097 3654 534.6 376.6 26.15 0.264 1549 -7.9 0.207 - - - - - - 14.47 14.35 14.12
22253 25.0 6.4 884 22272 done 1.20 - - 3297 - 2.35 0.037 2269 -589.4 403.8 14.05 0.238 1440 -7.8 0.164 - - - - - - 14.57 14.49 14.09
22597 2.2 7.0 900 22604 VBD 1.22 - - 3300 - - - 2268 - 418.0 4.75 0.178 1406 -7.2 0.018 - - - - - - 14.81 - 14.81
22604 end climb: SURFACE_DEPTH_REACHED
22604 begin surface coast
22606 end surface coast: CONTROL_FINISHED_OK
22606 begin surface
SM -0.06 - - - - -8.39 9.15 0.073 184 20.1 0.93 0.081 2766 -6421.5 500.14 40.58 0.158 1057 26.0 0.001 - - - - - -