SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 407 * Raw log
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• Previous call tries 1 • 145.48 of 350.00 AH used of 24V (58.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth -0.63 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 100 done -0.93 - - 104 - - - 2784 - -107.1 -80.28 - 3479 - - - - - - - - 14.66 13.14 14.66
104 6.4 -12.0 3 121 roll -0.93 11.85 0.387 2588 209.6 2.35 0.029 1366 -603.4 -107.1 - - 3479 - - - - - - - - 14.00 14.35 14.26
142 26.0 -41.5 9 149 done -0.25 0.80 0.213 2814 282.5 2.58 0.084 2756 538.8 -107.1 - - 3480 - - - - - - - - 14.12 14.26 14.35
465 50.7 -5.7 22 470 roll -0.45 0.12 0.097 2727 -725.0 2.00 0.111 3844 544.0 -107.1 - - 3482 - - - - - - - - 14.54 14.33 14.58
702 68.5 -6.3 56 708 done -0.53 - - 2727 - 1.80 0.039 2751 -607.2 -107.1 - - 3483 - - - - - - - - 14.62 14.59 14.62
1025 87.5 -5.6 69 1031 roll -0.64 - - 2728 - 2.28 0.040 1393 -595.6 -107.1 - - 3483 - - - - - - - - 14.89 14.53 14.88
1115 92.7 -5.9 82 1121 done -0.77 0.12 0.060 2634 -783.3 2.47 0.067 2777 560.3 -107.1 - - 3484 - - - - - - - - 14.52 14.42 14.57
1445 121.9 -8.9 92 1445 done -0.77 - - 2633 - - - 2777 - -107.1 - - 3483 - - - - - - - - 14.94 14.93 14.94
1781 154.0 -9.5 98 1786 roll -0.77 - - 2631 - 2.40 0.042 1369 -586.7 -107.1 - - 3482 - - - - - - - - 14.95 14.54 14.95
1815 157.4 -9.9 103 1821 done -0.77 - - 2623 - 2.50 0.067 2762 557.2 -107.1 - - 3481 - - - - - - - - 14.53 14.46 14.57
2173 192.3 -9.8 112 2173 done -0.77 - - 2623 - - - 2762 - -107.1 - - 3479 - - - - - - - - 14.93 14.93 14.93
2509 227.0 -10.4 118 2514 roll -0.77 - - 2615 - 2.00 0.109 3819 528.5 -107.1 - - 3477 - - - - - - - - 14.94 14.35 14.94
2543 230.7 -11.0 123 2549 done -0.77 0.10 0.203 2646 310.0 1.77 0.041 2767 -594.4 -107.1 - - 3477 - - - - - - - - 14.34 14.69 14.48
2901 263.5 -9.1 132 2906 roll -0.77 - - 2646 - 2.35 0.042 1376 -591.9 -107.1 - - 3475 - - - - - - - - 14.95 14.61 14.96
2984 271.1 -8.8 144 2990 done -0.77 - - 2636 - 2.47 0.064 2760 560.3 -107.1 - - 3474 - - - - - - - - 14.52 14.43 14.57
3349 305.8 -9.5 154 3350 done -0.77 - - 2633 - - - 2760 - -107.1 - - 3471 - - - - - - - - 14.93 14.94 14.94
3685 336.2 -8.9 160 3690 roll -0.77 - - 2628 - 2.00 0.109 3821 530.5 -107.1 - - 3469 - - - - - - - - 14.94 14.33 14.95
3712 338.8 -9.3 164 3718 done -0.77 - - 2627 - 1.80 0.041 2749 -595.6 -107.1 - - 3469 - - - - - - - - 14.68 14.66 14.69
4077 370.8 -8.7 174 4082 roll -0.77 - - 2627 - 2.38 0.042 1376 -576.9 -107.1 - - 3467 - - - - - - - - 14.93 14.50 14.93
4118 374.6 -8.8 180 4124 done -0.77 0.10 0.219 2647 200.0 2.50 0.066 2760 553.6 -107.1 - - 3466 - - - - - - - - 14.23 14.42 14.40
4469 403.5 -8.4 188 4474 roll -0.77 - - 2640 - 2.03 0.111 3824 524.1 -107.1 - - 3465 - - - - - - - - 14.95 14.30 14.96
4503 406.6 -9.0 193 4510 done -0.77 - - 2638 - 1.80 0.042 2758 -592.2 -107.1 - - 3465 - - - - - - - - 14.65 14.62 14.66
4861 438.3 -8.9 202 4866 roll -0.77 - - 2639 - 2.35 0.042 1375 -588.5 -107.1 - - 3462 - - - - - - - - 14.95 14.52 14.93
4909 442.6 -8.7 209 4917 done -0.77 - - 2629 - 2.50 0.065 2755 552.0 -107.1 - - 3463 - - - - - - - - 14.48 14.38 14.52
5253 472.5 -8.6 216 5258 roll -0.77 - - 2621 - 2.00 0.109 3829 537.0 -107.1 - - 3461 - - - - - - - - 14.93 14.33 14.92
5322 478.7 -8.8 226 5328 done -0.77 0.08 0.210 2644 287.5 1.83 0.042 2751 -589.1 -107.1 - - 3461 - - - - - - - - 14.29 14.62 14.44
5645 503.7 -7.8 237 5651 roll -0.77 - - 2645 - 2.35 0.043 1375 -585.5 -107.1 - - 3459 - - - - - - - - 14.96 14.50 14.95
5714 509.4 -8.0 247 5720 done -0.77 - - 2635 - 2.50 0.064 2758 553.2 -107.1 - - 3459 - - - - - - - - 14.47 14.37 14.51
6037 535.4 -8.0 258 6037 done -0.77 - - 2635 - - - 2757 - -107.1 - - 3459 - - - - - - - - 14.92 14.92 14.92
6373 562.3 -8.1 264 6378 roll -0.77 - - 2634 - 2.38 0.043 1377 -579.8 -107.1 - - 3456 - - - - - - - - 14.95 14.52 14.95
6428 567.0 -8.3 272 6434 done -0.77 - - 2625 - 2.53 0.067 2756 545.1 -107.1 - - 3456 - - - - - - - - 14.40 14.29 14.43
6765 596.2 -8.7 285 6765 done -0.77 - - 2625 - - - 2756 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
7101 625.8 -8.8 291 7106 roll -0.77 - - 2625 - 2.40 0.044 1375 -575.4 -107.1 - - 3453 - - - - - - - - 14.92 14.50 14.92
7156 630.6 -8.5 299 7162 done -0.77 0.08 0.185 2650 312.5 2.53 0.067 2757 546.2 -107.1 - - 3452 - - - - - - - - 14.17 14.34 14.43
7493 655.7 -7.4 312 7498 roll -0.77 - - 2651 - 2.40 0.044 1373 -576.7 -107.1 - - 3451 - - - - - - - - 14.94 14.48 14.94
7534 659.0 -7.8 318 7540 done -0.77 - - 2642 - 2.50 0.067 2752 551.6 -107.1 - - 3451 - - - - - - - - 14.42 14.33 14.47
7885 686.9 -8.1 326 7890 roll -0.77 - - 2641 - 2.40 0.044 1370 -575.8 -107.1 - - 3450 - - - - - - - - 14.94 14.47 14.94
7912 689.3 -8.6 330 7918 done -0.77 - - 2632 - 2.53 0.067 2754 547.0 -107.1 - - 3450 - - - - - - - - 14.42 14.33 14.47
8277 719.5 -8.2 340 8277 done -0.77 - - 2633 - - - 2754 - -107.1 - - 3448 - - - - - - - - 14.92 14.91 14.91
8613 746.5 -8.1 346 8618 roll -0.77 - - 2632 - 2.40 0.044 1378 -573.3 -107.1 - - 3448 - - - - - - - - 14.91 14.45 14.91
8654 750.0 -8.3 352 8660 done -0.77 - - 2623 - 2.50 0.067 2740 544.8 -107.1 - - 3450 - - - - - - - - 14.39 14.28 14.45
9005 779.0 -8.3 360 9010 roll -0.77 - - 2614 - 2.08 0.112 3815 516.8 -107.1 - - 3446 - - - - - - - - 14.91 14.18 14.91
9060 784.0 -9.4 368 9066 done -0.77 0.10 0.206 2644 300.0 1.85 0.044 2749 -576.2 -107.1 - - 3446 - - - - - - - - 14.14 14.50 14.30
9397 808.3 -7.1 381 9403 roll -0.77 - - 2644 - 2.40 0.045 1362 -577.9 -107.1 - - 3446 - - - - - - - - 14.92 14.45 14.93
9480 814.1 -6.8 393 9487 done -0.77 - - 2635 - 2.55 0.068 2752 545.1 -107.1 - - 3445 - - - - - - - - 14.37 14.27 14.42
9845 839.6 -7.2 403 9850 roll -0.77 - - 2626 - 2.03 0.112 3823 527.6 -107.1 - - 3444 - - - - - - - - 14.92 14.20 14.92
9879 842.2 -7.7 408 9885 done -0.77 - - 2626 - 1.88 0.044 2744 -573.9 -107.1 - - 3444 - - - - - - - - 14.54 14.52 14.55
10237 868.9 -7.7 417 10243 roll -0.77 - - 2624 - 2.38 0.045 1369 -577.7 -107.1 - - 3443 - - - - - - - - 14.93 14.42 14.92
10285 872.9 -8.1 424 10292 done -0.77 0.10 0.212 2646 220.0 2.50 0.066 2738 547.6 -107.1 - - 3443 - - - - - - - - 14.04 14.26 14.21
10629 898.5 -7.5 431 10630 done -0.77 - - 2646 - - - 2738 - -107.1 - - 3442 - - - - - - - - 14.89 14.90 14.89
10965 923.0 -7.2 437 10971 roll -0.85 - - 2646 - 2.40 0.045 1362 -573.3 -107.1 - - 3441 - - - - - - - - 14.89 14.40 14.89
11027 927.6 -8.1 446 11033 done -0.94 0.05 0.111 2585 -1220.0 2.53 0.067 2738 543.9 -107.1 - - 3446 - - - - - - - - 14.23 14.25 14.37
11059 end dive: TARGET_DEPTH_EXCEEDED
11059 begin apogee
11066 930.4 -5.8 451 11180 roll -0.23 0.82 0.185 2823 290.2 0.10 0.155 2272 -4660.0 - 111.62 1.955 3050 -3.5 0.330 - - - - - - 14.07 13.93 12.96
11182 end apogee: CONTROL_FINISHED_OK
11182 begin climb
11185 935.5 - 453 11315 roll 0.93 1.10 0.089 3183 327.3 2.60 0.057 846 -548.5 107.1 117.97 1.951 2616 -3.7 0.345 - - - - - - 13.97 14.00 12.85
11349 929.0 7.1 478 11369 done 0.83 - - 3183 - 2.53 0.050 2237 549.8 119.1 13.20 2.086 2569 -3.6 0.310 - - - - - - 14.02 13.96 12.94
11679 899.5 9.3 490 11685 roll 0.72 0.17 0.224 3133 -294.1 2.62 0.097 3654 540.8 119.1 - - 2561 - - - - - - - - 14.16 14.28 14.42
11735 894.3 9.0 498 11742 done 0.63 0.12 0.235 3109 -200.0 2.42 0.040 2231 -588.0 119.1 - - 2561 - - - - - - - - 14.17 14.45 14.42
12071 871.2 6.7 511 12095 done 0.66 - - 3109 - - - 2231 - 140.2 23.15 1.964 2491 -3.0 0.262 - - - - - - 14.81 14.34 13.42
12407 847.3 7.3 517 12420 roll 0.67 - - 3109 - 2.72 0.100 3656 523.9 149.6 4.62 1.913 2460 -6.7 0.581 - - - - - - 14.74 14.41 12.90
12483 841.1 10.0 528 12490 done 0.67 - - 3120 - 2.42 0.040 2256 -578.5 149.6 1.42 0.232 2455 -3.5 2.496 - - - - - - 14.49 14.45 14.04
12799 817.1 7.5 538 12811 roll 0.68 - - 3120 - 2.65 0.101 3645 524.2 153.8 5.07 2.020 2443 -2.4 0.187 - - - - - - 14.80 14.43 13.14
12840 814.0 8.5 544 12847 done 0.68 - - 3130 - 2.40 0.040 2258 -577.9 153.8 2.42 0.852 2438 -2.1 0.386 - - - - - - 14.53 14.49 12.86
13191 786.4 7.8 552 13194 done 0.68 - - 3130 - - - 2257 - 153.8 1.50 0.263 2437 - - - - - - - - 14.83 14.37 13.98
13527 761.9 7.2 558 13547 done 0.69 - - 3130 - - - 2257 - 164.3 19.02 1.942 2395 -2.2 0.169 - - - - - - 14.85 14.42 13.48
13863 736.1 7.8 564 13868 roll 0.69 - - 3130 - 2.62 0.103 3650 531.7 164.3 - - 2384 - - - - - - - - 14.78 14.30 14.78
13932 730.0 8.9 574 13939 done 0.69 - - 3141 - 2.42 0.040 2257 -575.6 164.3 - - 2384 - - - - - - - - 14.50 14.45 14.50
14255 703.1 8.4 585 14256 done 0.69 - - 3140 - - - 2255 - 164.3 - - 2384 - - - - - - - - 14.82 14.82 14.82
14591 673.7 8.8 591 14596 roll 0.69 - - 3141 - 2.62 0.101 3650 532.4 164.3 - - 2382 - - - - - - - - 14.84 14.29 14.88
14639 668.8 10.1 598 14647 done 0.69 - - 3151 - 2.42 0.041 2254 -576.9 164.3 - - 2383 - - - - - - - - 14.50 14.47 14.53
14983 636.5 9.4 605 14984 done 0.69 - - 3151 - - - 2255 - 164.3 - - 2383 - - - - - - - - 14.85 14.85 14.85
15319 604.8 9.4 611 15320 done 0.69 - - 3151 - - - 2254 - 164.3 - - 2383 - - - - - - - - 14.86 14.85 14.86
15655 575.5 8.7 617 15656 done 0.69 - - 3151 - - - 2255 - 164.3 - - 2383 - - - - - - - - 14.87 14.87 14.87
15991 547.3 8.3 623 15996 roll 0.69 - - 3151 - 2.65 0.102 3657 529.1 164.3 - - 2383 - - - - - - - - 14.90 14.28 14.90
16039 542.8 9.3 630 16048 done 0.69 0.12 0.207 3125 -216.7 2.45 0.041 2253 -573.1 164.3 - - 2382 - - - - - - - - 14.10 14.45 14.28
16383 518.8 6.8 637 16404 done 0.71 - - 3125 - - - 2252 - 182.8 19.90 1.697 2323 -3.0 0.177 - - - - - - 14.87 14.45 13.57
16719 493.8 7.5 643 16724 roll 0.72 - - 3124 - 2.65 0.102 3650 527.5 187.6 - - 2311 - - - - - - - - 14.79 14.27 14.79
16760 490.3 8.6 649 16766 done 0.72 - - 3134 - 2.42 0.041 2262 -573.6 187.6 - - 2311 - - - - - - - - 14.49 14.45 14.51
17111 463.0 7.7 657 17112 done 0.72 - - 3134 - - - 2261 - 187.7 - - 2311 - - - - - - - - 14.83 14.83 14.83
17447 438.0 7.3 663 17467 roll 0.73 - - 3134 - 2.58 0.103 3652 539.1 196.1 14.23 1.676 2261 -3.5 0.180 - - - - - - 14.83 14.45 13.59
17523 431.6 8.6 674 17530 done 0.73 - - 3145 - 2.42 0.041 2260 -575.2 196.1 - - 2258 - - - - - - - - 14.50 14.46 14.52
17839 406.0 8.2 684 17844 roll 0.73 - - 3155 - 2.45 0.063 865 -569.4 196.1 - - 2258 - - - - - - - - 14.81 14.34 14.81
17866 403.6 8.4 688 17872 done 0.73 - - 3154 - 2.47 0.053 2265 566.8 196.1 - - 2257 - - - - - - - - 14.43 14.35 14.47
18231 372.1 8.5 698 18237 roll 0.73 - - 3155 - 2.60 0.102 3662 537.3 196.1 - - 2258 - - - - - - - - 14.83 14.26 14.83
18314 364.4 9.3 710 18321 done 0.73 0.10 0.207 3135 -200.0 2.42 0.040 2267 -576.4 196.1 - - 2258 - - - - - - - - 14.14 14.45 14.32
18679 337.7 7.3 720 18684 done 0.74 - - 3135 - - - 2265 - 205.7 4.18 1.482 2233 -6.0 0.266 - - - - - - 14.88 14.42 13.12
19015 313.2 7.3 726 19033 done 0.75 - - 3135 - - - 2265 - 214.7 16.45 1.502 2195 -2.3 0.094 - - - - - - 14.86 14.45 13.66
19351 287.9 7.5 732 19356 roll 0.76 - - 3134 - 2.65 0.102 3659 526.0 219.5 - - 2184 - - - - - - - - 14.81 14.27 14.81
19392 284.4 8.5 738 19400 done 0.76 - - 3145 - 2.42 0.039 2256 -579.8 219.5 1.02 0.219 2176 -7.8 1.991 - - - - - - 14.50 14.45 14.13
19743 257.7 7.7 746 19744 done 0.76 - - 3145 - - - 2254 - 220.4 - - 2180 - - - - - - - - 14.85 14.85 14.85
20079 230.2 8.2 752 20085 roll 0.76 - - 3145 - 2.65 0.099 3658 529.8 220.4 1.42 0.247 2174 -4.2 0.770 - - - - - - 14.85 14.10 13.87
20113 227.0 9.4 757 20120 done 0.76 - - 3158 - 2.40 0.039 2274 -576.7 220.4 1.10 0.232 2172 - - - - - - - - 14.51 14.47 14.01
20471 196.8 8.5 766 20472 done 0.76 - - 3155 - - - 2272 - 220.4 - - 2180 - - - - - - - - 14.88 14.88 14.88
20807 168.7 8.3 772 20809 done 0.76 - - 3155 - - - 2272 - 220.4 1.48 0.246 2172 -5.4 0.725 - - - - - - 14.88 14.32 13.95
21143 141.0 8.3 778 21146 done 0.76 - - 3154 - - - 2272 - 220.4 1.38 0.243 2172 - - - - - - - - 14.87 14.33 14.00
21479 113.7 8.1 784 21485 roll 0.76 - - 3155 - 2.62 0.097 3659 529.4 220.4 1.38 0.244 2175 2.2 -0.198 - - - - - - 14.90 14.12 13.88
21548 107.5 8.8 794 21555 done 0.76 - - 3165 - 2.40 0.038 2271 -578.3 220.4 1.58 0.236 2176 - - - - - - - - 14.47 14.42 13.70
21873 82.9 7.3 809 21885 roll 0.77 - - 3175 - 2.45 0.059 865 -573.9 228.9 6.12 0.379 2140 -5.9 0.252 - - - - - - 14.84 14.11 13.76
21983 75.4 6.7 825 22002 done 0.79 - - 3175 - 2.45 0.051 2278 576.7 250.2 12.62 0.381 2053 -6.9 0.267 - - - - - - 14.51 14.35 13.91
22322 56.3 4.7 840 22359 roll 0.95 - - 3184 - 2.50 0.060 861 -566.8 311.9 32.05 0.337 1809 -7.6 0.249 - - - - - - 14.82 14.42 14.04
22500 48.1 3.8 866 22544 done 1.20 0.22 0.051 3314 590.9 2.45 0.048 2263 572.2 389.6 39.03 0.310 1499 -7.9 0.241 - - - - - - 14.42 14.34 14.04
22873 17.0 7.2 886 22885 roll 1.21 - - 3313 - 2.62 0.100 3650 529.4 400.3 5.32 0.220 1456 -8.1 0.122 - - - - - - 14.80 14.19 14.04
22948 9.8 9.7 897 22956 done 1.21 0.10 0.198 3295 -180.0 2.40 0.037 2254 -581.7 400.3 - - 1460 - - - - - - - - 14.14 14.42 14.29
23065 end climb: SURFACE_DEPTH_REACHED
23065 begin surface coast
23094 end surface coast: CONTROL_FINISHED_OK
23094 begin surface
SM -0.59 - - - - -8.41 8.93 0.054 167 18.7 0.95 0.076 2764 -2486.3 500.14 47.28 0.156 1056 22.3 0.009 - - - - - -