SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 410 * Raw log
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• Previous call tries 1 • 146.42 of 350.00 AH used of 24V (58.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.2 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: 31 s
• GPS2 time: 2 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 - - - 94 done -0.93 - - 104 - - - 2789 - -107.1 -77.97 - 3478 - - - - - - - - 14.66 12.56 14.66
97 0.4 -3.0 2 117 roll -0.93 11.73 0.376 2582 211.3 1.88 0.078 3819 547.9 -107.1 - - 3479 - - - - - - - - 13.97 14.30 14.35
145 27.7 -37.6 10 150 done -0.37 0.70 0.259 2774 274.3 1.80 0.036 2748 -595.0 -107.1 - - 3480 - - - - - - - - 14.03 14.47 14.33
484 58.7 -6.0 25 489 roll -0.51 0.08 0.141 2688 -1075.0 2.30 0.039 1378 -595.7 -107.1 - - 3481 - - - - - - - - 14.56 14.48 14.58
593 68.0 -7.5 41 600 done -0.51 0.17 0.213 2730 247.1 2.42 0.067 2743 564.0 -107.1 - - 3482 - - - - - - - - 14.23 14.38 14.47
930 88.1 -6.0 56 935 roll -0.62 - - 2722 - 2.00 0.109 3826 541.5 -107.1 - - 3483 - - - - - - - - 14.88 14.35 14.89
1020 93.8 -6.1 69 1027 done -0.73 0.10 0.070 2638 -840.0 1.80 0.040 2749 -598.3 -107.1 - - 3482 - - - - - - - - 14.54 14.60 14.58
1349 123.4 -9.5 79 1350 done -0.73 - - 2639 - - - 2747 - -107.1 - - 3483 - - - - - - - - 14.90 14.90 14.90
1686 154.5 -9.4 85 1686 done -0.73 - - 2638 - - - 2747 - -107.1 - - 3481 - - - - - - - - 14.92 14.92 14.92
2021 184.6 -8.8 91 2027 roll -0.73 - - 2630 - 2.05 0.108 3821 523.9 -107.1 - - 3480 - - - - - - - - 14.92 14.38 14.93
2062 188.6 -9.6 97 2070 done -0.73 0.10 0.192 2661 310.0 1.83 0.039 2730 -596.2 -107.1 - - 3478 - - - - - - - - 14.33 14.66 14.47
2413 216.6 -8.0 105 2420 roll -0.73 - - 2661 - 2.33 0.044 1381 -579.0 -107.1 - - 3475 - - - - - - - - 14.92 14.51 14.92
2454 220.1 -8.1 111 2460 done -0.73 - - 2652 - 2.45 0.065 2748 558.0 -107.1 - - 3475 - - - - - - - - 14.51 14.42 14.55
2806 250.4 -8.8 119 2811 roll -0.73 - - 2649 - 2.35 0.042 1378 -583.0 -107.1 - - 3473 - - - - - - - - 14.92 14.55 14.92
2832 253.0 -9.0 123 2839 done -0.73 - - 2644 - 2.47 0.066 2745 553.4 -107.1 - - 3473 - - - - - - - - 14.52 14.42 14.56
3197 286.4 -9.2 133 3198 done -0.73 - - 2644 - - - 2745 - -107.1 - - 3471 - - - - - - - - 14.95 14.95 14.95
3534 316.3 -8.9 139 3539 roll -0.73 - - 2643 - 2.38 0.044 1374 -576.1 -107.1 - - 3469 - - - - - - - - 14.92 14.54 14.92
3603 322.7 -9.0 149 3609 done -0.73 - - 2634 - 2.50 0.067 2746 548.8 -107.1 - - 3473 - - - - - - - - 14.44 14.34 14.49
3925 351.2 -8.9 160 3927 done -0.73 0.10 0.249 2661 270.0 - - 2746 - -107.1 - - 3466 - - - - - - - - 14.36 14.63 14.57
4262 376.9 -7.6 166 4267 roll -0.73 - - 2664 - 2.35 0.043 1377 -582.6 -107.1 - - 3464 - - - - - - - - 14.95 14.54 14.95
4310 380.7 -7.7 173 4318 done -0.73 - - 2655 - 2.50 0.067 2749 548.8 -107.1 - - 3465 - - - - - - - - 14.47 14.38 14.52
4653 407.9 -8.0 180 4659 roll -0.73 - - 2646 - 2.05 0.112 3821 522.9 -107.1 - - 3463 - - - - - - - - 14.92 14.28 14.92
4701 412.2 -8.9 187 4709 done -0.73 - - 2646 - 1.83 0.041 2743 -589.1 -107.1 - - 3461 - - - - - - - - 14.64 14.63 14.65
5045 441.6 -8.6 194 5051 roll -0.73 - - 2645 - 2.35 0.043 1372 -583.4 -107.1 - - 3460 - - - - - - - - 14.92 14.48 14.92
5135 449.3 -8.4 207 5142 done -0.73 - - 2637 - 2.50 0.066 2746 549.6 -107.1 - - 3458 - - - - - - - - 14.47 14.39 14.52
5493 480.3 -8.6 216 5499 roll -0.73 - - 2628 - 2.05 0.110 3824 525.9 -107.1 - - 3458 - - - - - - - - 14.91 14.31 14.92
5549 485.5 -9.5 224 5555 done -0.73 0.10 0.196 2659 310.0 1.85 0.042 2740 -585.9 -107.1 - - 3459 - - - - - - - - 14.24 14.57 14.40
5885 512.8 -8.1 237 5891 roll -0.73 - - 2661 - 2.35 0.043 1368 -583.8 -107.1 - - 3458 - - - - - - - - 14.93 14.50 14.93
5962 518.9 -7.8 248 5968 done -0.81 - - 2651 - 2.50 0.066 2739 548.4 -107.1 - - 3457 - - - - - - - - 14.44 14.35 14.48
6277 543.9 -7.9 258 6283 roll -0.81 - - 2650 - 2.35 0.042 1378 -579.1 -107.1 - - 3456 - - - - - - - - 14.91 14.50 14.91
6319 547.1 -7.8 264 6325 done -0.81 - - 2642 - 2.47 0.066 2739 551.0 -107.1 - - 3456 - - - - - - - - 14.44 14.33 14.48
6670 574.2 -7.7 272 6670 done -0.81 - - 2642 - - - 2739 - -107.1 - - 3454 - - - - - - - - 14.90 14.91 14.91
7006 600.2 -7.7 278 7007 done -0.81 - - 2642 - - - 2739 - -107.1 - - 3452 - - - - - - - - 14.91 14.91 14.91
7341 625.1 -7.4 284 7347 roll -0.81 - - 2642 - 2.38 0.044 1371 -574.8 -107.1 - - 3451 - - - - - - - - 14.91 14.47 14.91
7397 629.2 -7.2 292 7403 done -0.81 - - 2634 - 2.45 0.066 2745 560.8 -107.1 - - 3450 - - - - - - - - 14.54 14.37 14.57
7734 653.4 -7.2 305 7734 done -0.81 - - 2633 - - - 2745 - -107.1 - - 3450 - - - - - - - - 14.92 14.93 14.92
8069 676.6 -6.9 311 8070 done -0.81 - - 2633 - - - 2745 - -107.1 - - 3449 - - - - - - - - 14.93 14.93 14.92
8406 700.6 -7.2 317 8411 roll -0.81 - - 2632 - 2.38 0.044 1375 -575.6 -107.1 - - 3448 - - - - - - - - 14.90 14.45 14.90
8454 704.4 -7.7 324 8461 done -0.81 - - 2623 - 2.50 0.068 2727 540.8 -107.1 - - 3448 - - - - - - - - 14.37 14.28 14.42
8797 732.1 -8.2 331 8803 roll -0.81 - - 2614 - 2.12 0.111 3825 517.9 -107.1 - - 3447 - - - - - - - - 14.92 14.18 14.92
8845 736.6 -9.3 338 8853 done -0.81 - - 2614 - 1.88 0.043 2734 -580.3 -107.1 - - 3446 - - - - - - - - 14.49 14.46 14.49
9189 767.0 -9.0 345 9195 roll -0.81 - - 2614 - 2.38 0.045 1381 -568.5 -107.1 - - 3446 - - - - - - - - 14.90 14.34 14.90
9216 769.6 -9.2 349 9224 done -0.81 0.10 0.224 2633 190.0 2.50 0.067 2744 545.2 -107.1 - - 3446 - - - - - - - - 14.02 14.27 14.21
9581 799.4 -8.2 359 9582 done -0.81 - - 2633 - - - 2744 - -107.1 - - 3444 - - - - - - - - 14.89 14.89 14.89
9917 826.0 -7.9 365 9923 roll -0.81 - - 2633 - 2.40 0.044 1367 -573.8 -107.1 - - 3443 - - - - - - - - 14.92 14.41 14.92
9959 829.4 -6.6 371 9965 done -0.81 - - 2624 - 2.50 0.067 2732 546.0 -107.1 - - 3443 - - - - - - - - 14.35 14.25 14.39
10310 857.2 -7.9 379 10315 roll -0.81 - - 2622 - 2.38 0.044 1373 -571.0 -107.1 - - 3442 - - - - - - - - 14.88 14.40 14.88
10351 860.4 -5.7 385 10358 done -0.81 - - 2614 - 2.47 0.066 2726 547.8 -107.1 - - 3440 - - - - - - - - 14.35 14.26 14.40
10701 888.0 -7.9 393 10707 roll -0.81 - - 2605 - 2.12 0.112 3848 529.2 -107.1 - - 3441 - - - - - - - - 14.91 14.14 14.91
10757 892.7 -9.3 401 10764 done -0.81 0.10 0.210 2634 290.0 1.92 0.044 2735 -579.7 -107.1 - - 3441 - - - - - - - - 14.07 14.45 14.21
11094 916.6 -7.0 414 11099 roll -0.81 - - 2634 - 2.38 0.044 1370 -573.5 -107.1 - - 3441 - - - - - - - - 14.90 14.40 14.90
11142 920.0 -7.0 421 11150 done -0.81 - - 2625 - 2.50 0.067 2724 541.6 -107.1 - - 3440 - - - - - - - - 14.31 14.21 14.38
11315 end dive: TARGET_DEPTH_EXCEEDED
11315 begin apogee
11322 932.5 -6.9 425 11435 roll -0.23 0.68 0.168 2825 294.1 0.08 0.174 2256 -5850.0 - 110.93 1.945 3051 -3.5 0.353 - - - - - - 14.11 13.90 12.95
11437 end apogee: CONTROL_FINISHED_OK
11437 begin climb
11440 935.5 - 427 11570 roll 0.93 1.10 0.087 3184 326.4 2.55 0.056 856 -549.0 107.1 117.53 1.935 2619 -3.7 0.373 - - - - - - 13.98 14.01 12.86
11625 927.2 7.6 455 11631 done 0.83 - - 3184 - 2.53 0.050 2255 553.0 110.6 - - 2612 - - - - - - - - 14.09 14.02 14.12
11990 896.6 8.6 465 11996 roll 0.71 0.20 0.223 3126 -290.0 2.58 0.097 3645 538.8 110.6 - - 2610 - - - - - - - - 14.16 14.29 14.40
12087 889.0 7.5 479 12095 done 0.63 0.10 0.213 3109 -170.0 2.45 0.040 2234 -575.9 116.4 3.53 1.503 2587 -6.5 0.808 - - - - - - 14.16 14.43 12.83
12431 868.5 5.8 486 12488 roll 0.68 - - 3109 - 2.78 0.100 3647 508.3 154.5 51.53 1.901 2429 -3.1 0.294 - - - - - - 14.79 14.14 13.23
12544 860.5 7.9 502 12549 done 0.68 - - 3118 - 2.42 0.040 2255 -575.2 154.5 - - 2423 - - - - - - - - 14.36 14.30 14.38
12880 837.6 6.7 515 12912 roll 0.70 - - 3119 - 2.72 0.103 3647 511.8 175.7 24.42 1.946 2341 -3.4 0.303 - - - - - - 14.75 14.26 13.35
12936 833.7 8.6 523 12941 done 0.70 - - 3129 - 2.40 0.041 2257 -579.2 175.7 - - 2338 - - - - - - - - 14.42 14.35 14.44
13272 809.7 7.1 536 13291 roll 0.72 - - 3139 - 2.47 0.064 862 -564.8 189.5 13.77 2.033 2290 -3.5 0.291 - - - - - - 14.76 14.38 13.40
13313 806.8 6.4 542 13349 done 0.75 - - 3139 - 2.47 0.052 2252 562.8 216.7 32.08 1.900 2187 -3.2 0.286 - - - - - - 14.40 14.33 13.25
13657 778.2 8.5 556 13662 roll 0.75 - - 3139 - 2.62 0.099 3653 534.7 216.7 - - 2172 - - - - - - - - 14.70 14.28 14.71
13719 771.9 10.1 565 13726 done 0.75 - - 3150 - 2.42 0.039 2266 -573.1 216.7 - - 2173 - - - - - - - - 14.45 14.42 14.49
14049 740.5 9.7 577 14050 done 0.75 - - 3150 - - - 2263 - 216.7 - - 2171 - - - - - - - - 14.81 14.81 14.81
14385 706.7 10.2 583 14390 roll 0.75 - - 3149 - 2.60 0.100 3650 533.5 216.7 - - 2171 - - - - - - - - 14.85 14.31 14.85
14419 702.8 10.9 588 14425 done 0.75 - - 3160 - 2.42 0.041 2259 -574.8 216.7 - - 2171 - - - - - - - - 14.52 14.48 14.55
14777 664.4 10.8 597 14783 roll 0.75 - - 3160 - 2.62 0.101 3650 530.9 216.7 - - 2170 - - - - - - - - 14.85 14.30 14.85
14804 661.2 11.6 601 14811 done 0.75 - - 3170 - 2.42 0.040 2259 -574.8 216.7 - - 2170 - - - - - - - - 14.52 14.48 14.55
15169 621.0 11.0 611 15174 roll 0.75 - - 3181 - 2.45 0.063 859 -571.4 216.7 - - 2170 - - - - - - - - 14.85 14.38 14.85
15210 616.5 10.9 617 15217 done 0.75 0.10 0.203 3151 -300.0 2.47 0.054 2257 566.0 216.7 - - 2170 - - - - - - - - 14.17 14.38 14.33
15561 582.8 9.5 625 15567 roll 0.75 - - 3150 - 2.60 0.101 3659 539.2 216.7 - - 2170 - - - - - - - - 14.87 14.28 14.88
15602 578.4 10.5 631 15608 done 0.75 - - 3161 - 2.42 0.040 2267 -575.2 216.7 - - 2170 - - - - - - - - 14.51 14.46 14.53
15953 545.4 9.3 639 15958 roll 0.75 - - 3171 - 2.47 0.062 855 -571.7 216.7 - - 2169 - - - - - - - - 14.85 14.36 14.85
15980 542.8 9.0 643 15986 done 0.75 - - 3171 - 2.50 0.054 2267 564.8 216.7 - - 2169 - - - - - - - - 14.42 14.33 14.46
16345 509.5 9.1 653 16351 roll 0.75 - - 3171 - 2.60 0.103 3657 534.6 216.7 - - 2169 - - - - - - - - 14.86 14.25 14.85
16442 499.7 10.0 667 16448 done 0.75 0.12 0.207 3146 -208.3 2.45 0.040 2258 -571.0 216.7 - - 2170 - - - - - - - - 14.10 14.45 14.31
16793 474.0 7.3 675 16797 done 0.77 - - 3146 - - - 2252 - 226.3 2.60 0.862 2148 -8.5 0.976 - - - - - - 14.87 14.36 12.98
17129 447.7 7.9 681 17136 roll 0.77 - - 3145 - 2.65 0.099 3653 528.7 226.3 1.55 0.244 2152 2.6 -0.993 - - - - - - 14.88 14.19 13.95
17177 443.2 9.4 688 17185 done 0.77 - - 3156 - 2.42 0.039 2259 -576.0 226.3 1.58 0.234 2151 - - - - - - - - 14.49 14.45 13.87
17521 411.3 9.5 695 17527 roll 0.77 - - 3166 - 2.45 0.060 863 -569.8 226.3 1.77 0.250 2152 - - - - - - - - 14.86 14.07 13.76
17583 405.1 9.8 704 17590 done 0.77 - - 3167 - 2.47 0.052 2267 568.4 226.3 1.67 0.229 2149 -1.8 0.666 - - - - - - 14.42 14.33 13.84
17913 371.6 10.2 716 17919 roll 0.77 - - 3166 - 2.60 0.100 3659 535.4 226.3 1.88 0.261 2151 - - - - - - - - 14.89 13.93 13.54
17989 363.1 11.0 727 17996 done 0.77 - - 3176 - 2.42 0.038 2270 -574.0 226.3 1.75 0.233 2151 - - - - - - - - 14.41 14.36 13.71
18305 331.5 10.1 737 18308 done 0.77 - - 3177 - - - 2267 - 226.3 1.85 0.253 2149 - - - - - - - - 14.90 14.19 13.67
18641 299.7 9.4 743 18647 roll 0.77 - - 3177 - 2.70 0.099 3655 514.1 226.3 1.88 0.261 2151 - - - - - - - - 14.89 14.19 13.50
18675 296.0 10.4 748 18682 done 0.77 0.12 0.198 3150 -225.0 2.40 0.039 2277 -574.2 226.3 1.30 0.239 2152 - - - - - - - - 14.10 14.43 13.85
19026 267.5 8.1 756 19032 roll 0.77 - - 3160 - 2.50 0.060 855 -568.8 226.3 1.95 0.269 2151 - - - - - - - - 14.86 13.90 13.43
19060 264.7 7.9 761 19067 done 0.77 - - 3160 - 2.50 0.052 2269 565.6 226.3 1.55 0.262 2152 - - - - - - - - 14.39 14.31 13.57
19418 235.4 8.2 770 19424 roll 0.77 - - 3160 - 2.60 0.099 3657 533.8 226.3 1.60 0.243 2155 1.9 -0.381 - - - - - - 14.86 14.09 13.84
19452 232.3 9.2 775 19459 done 0.77 - - 3170 - 2.40 0.038 2270 -577.9 226.3 1.83 0.270 2151 -2.2 0.394 - - - - - - 14.49 14.44 13.52
19810 202.0 8.4 784 19816 roll 0.77 - - 3180 - 2.55 0.060 859 -553.3 226.3 2.00 0.282 2152 - - - - - - - - 14.86 14.30 11.98
19851 198.3 8.9 790 19859 done 0.77 0.10 0.188 3150 -300.0 2.47 0.052 2262 568.0 226.3 1.55 0.248 2154 - - - - - - - - 14.12 14.31 13.65
20195 170.5 8.2 797 20202 roll 0.77 - - 3150 - 2.65 0.099 3660 527.5 226.3 2.33 0.610 2153 - - - - - - - - 14.88 14.35 13.10
20257 164.7 9.4 806 20264 done 0.77 - - 3160 - 2.42 0.037 2259 -578.9 226.3 1.83 0.249 2150 -1.6 0.227 - - - - - - 14.50 14.46 13.66
20587 136.5 8.5 818 20593 roll 0.77 - - 3170 - 2.45 0.060 865 -569.0 226.3 2.10 0.419 2151 - - - - - - - - 14.88 14.10 12.88
20628 133.0 8.5 824 20634 done 0.77 - - 3170 - 2.47 0.052 2271 569.2 226.3 1.58 0.243 2151 - - - - - - - - 14.45 14.37 13.82
20979 102.7 8.8 832 20985 roll 0.77 - - 3170 - 2.65 0.099 3653 521.5 226.3 1.95 0.277 2151 - - - - - - - - 14.86 14.27 13.52
21027 98.2 9.4 839 21035 done 0.77 0.10 0.199 3150 -200.0 2.38 0.037 2272 -580.3 226.3 1.70 0.230 2151 - - - - - - - - 14.14 14.44 13.75
21345 75.2 6.2 851 21371 roll 0.81 - - 3151 - 2.65 0.099 3659 523.4 257.5 17.58 0.386 2025 -7.2 0.293 - - - - - - 14.85 14.32 13.95
21412 70.7 6.7 861 21427 done 0.83 - - 3160 - 2.40 0.037 2266 -580.4 277.6 11.40 0.363 1945 -7.0 0.287 - - - - - - 14.48 14.45 13.95
21735 53.2 4.8 874 21771 roll 1.03 0.15 0.091 3247 580.0 2.67 0.097 3657 521.0 335.6 30.50 0.326 1713 -7.6 0.260 - - - - - - 14.49 14.34 14.02
21874 41.9 8.9 894 21881 done 1.03 - - 3257 - 2.40 0.037 2270 -577.9 335.6 0.40 0.289 1712 - - - - - - - - 14.45 14.40 14.16
22207 24.4 4.8 908 22244 roll 1.18 - - 3265 - 2.67 0.099 3660 520.6 394.0 29.10 0.236 1480 -8.0 0.173 - - - - - - 14.79 14.29 14.07
22288 19.4 6.7 920 22308 done 1.28 0.08 0.140 3340 937.5 2.35 0.038 2267 -592.8 415.6 11.52 0.220 1393 -7.6 0.140 - - - - - - 14.42 14.47 14.07
22481 end climb: SURFACE_DEPTH_REACHED
22481 begin surface coast
22512 end surface coast: CONTROL_FINISHED_OK
22512 begin surface
SM -0.89 - - - - -8.42 9.07 0.049 169 18.6 0.95 0.097 2763 -9123.2 500.14 39.65 0.156 1057 26.7 0.016 - - - - - -