SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 414 * Raw log
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• Previous call tries 1 • 147.68 of 350.00 AH used of 24V (57.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth -1.37 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 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 - - - 99 done -0.93 - - 106 - - - 2771 - -107.1 -77.72 - 3478 - - - - - - - - 14.66 12.55 14.66
103 7.3 -15.3 3 121 roll -0.93 11.80 0.383 2583 209.9 1.98 0.086 3835 537.4 -107.1 - - 3480 - - - - - - - - 14.02 14.31 14.37
256 52.9 -17.2 25 262 done -0.71 0.30 0.226 2667 280.0 1.77 0.037 2728 -625.4 -107.1 - - 3481 - - - - - - - - 14.15 14.53 14.40
577 80.3 -7.1 38 582 roll -0.71 - - 2667 - 2.25 0.043 1403 -588.9 -107.1 - - 3482 - - - - - - - - 14.83 14.48 14.83
667 87.1 -7.4 51 673 done -0.71 - - 2657 - 2.42 0.067 2755 558.7 -107.1 - - 3483 - - - - - - - - 14.47 14.38 14.51
1025 115.2 -7.9 63 1025 done -0.71 - - 2658 - - - 2755 - -107.1 - - 3483 - - - - - - - - 14.91 14.91 14.91
1361 143.7 -8.5 69 1367 roll -0.71 - - 2650 - 1.98 0.108 3825 540.4 -107.1 - - 3482 - - - - - - - - 14.93 14.38 14.93
1417 148.5 -8.8 77 1423 done -0.71 - - 2649 - 1.75 0.041 2779 -597.7 -107.1 - - 3482 - - - - - - - - 14.63 14.61 14.64
1753 177.0 -8.5 90 1758 roll -0.71 - - 2649 - 2.38 0.043 1378 -588.7 -107.1 - - 3480 - - - - - - - - 14.93 14.47 14.93
1815 182.6 -9.2 99 1821 done -0.71 - - 2640 - 2.50 0.066 2761 553.2 -107.1 - - 3478 - - - - - - - - 14.50 14.41 14.54
2145 211.2 -8.7 111 2145 done -0.71 - - 2640 - - - 2760 - -107.1 - - 3477 - - - - - - - - 14.92 14.92 14.92
2481 241.3 -9.0 117 2487 roll -0.71 - - 2639 - 2.38 0.044 1381 -579.4 -107.1 - - 3474 - - - - - - - - 14.93 14.54 14.92
2529 245.7 -9.0 124 2537 done -0.71 0.10 0.218 2660 210.0 2.53 0.067 2761 545.5 -107.1 - - 3474 - - - - - - - - 14.17 14.38 14.33
2873 274.7 -8.5 131 2873 done -0.71 - - 2660 - - - 2761 - -107.1 - - 3472 - - - - - - - - 14.95 14.95 14.95
3209 303.2 -8.3 137 3215 roll -0.71 - - 2660 - 2.40 0.044 1377 -576.7 -107.1 - - 3469 - - - - - - - - 14.95 14.53 14.93
3250 306.5 -7.9 143 3256 done -0.71 - - 2651 - 2.50 0.067 2759 552.8 -107.1 - - 3470 - - - - - - - - 14.50 14.40 14.55
3601 334.8 -8.1 151 3601 done -0.71 - - 2651 - - - 2759 - -107.1 - - 3467 - - - - - - - - 14.94 14.93 14.94
3937 362.9 -8.4 157 3943 roll -0.71 - - 2651 - 2.38 0.044 1385 -577.3 -107.1 - - 3465 - - - - - - - - 14.93 14.52 14.93
3978 366.4 -8.4 163 3984 done -0.71 - - 2643 - 2.47 0.067 2757 555.5 -107.1 - - 3465 - - - - - - - - 14.49 14.39 14.54
4329 396.7 -8.6 171 4330 done -0.71 - - 2643 - - - 2757 - -107.1 - - 3464 - - - - - - - - 14.93 14.93 14.93
4665 426.9 -9.1 177 4671 roll -0.71 - - 2643 - 2.38 0.044 1384 -576.9 -107.1 - - 3462 - - - - - - - - 14.92 14.52 14.93
4721 432.2 -9.6 185 4727 done -0.71 0.10 0.244 2663 200.0 2.47 0.068 2756 555.5 -107.1 - - 3462 - - - - - - - - 14.25 14.40 14.50
5057 460.2 -8.2 198 5062 roll -0.71 - - 2655 - 2.08 0.112 3828 515.4 -107.1 - - 3460 - - - - - - - - 14.95 14.26 14.95
5133 466.5 -8.1 209 5140 done -0.71 - - 2655 - 1.83 0.044 2754 -586.9 -107.1 - - 3459 - - - - - - - - 14.63 14.59 14.64
5449 489.6 -7.2 219 5454 roll -0.71 - - 2655 - 2.38 0.045 1372 -580.7 -107.1 - - 3458 - - - - - - - - 14.94 14.52 14.95
5525 495.1 -7.0 230 5531 done -0.71 - - 2646 - 2.53 0.067 2756 547.0 -107.1 - - 3458 - - - - - - - - 14.45 14.35 14.48
5841 517.9 -7.3 240 5846 roll -0.71 - - 2645 - 2.38 0.044 1378 -579.0 -107.1 - - 3457 - - - - - - - - 14.92 14.50 14.92
5917 523.6 -7.4 251 5923 done -0.71 0.08 0.230 2658 162.5 2.47 0.067 2747 554.3 -107.1 - - 3457 - - - - - - - - 14.16 14.35 14.33
6233 544.8 -6.7 261 6234 done -0.71 - - 2660 - - - 2747 - -107.1 - - 3455 - - - - - - - - 14.91 14.93 14.92
6569 568.1 -7.0 267 6574 roll -0.71 - - 2660 - 2.38 0.045 1374 -576.9 -107.1 - - 3454 - - - - - - - - 14.94 14.48 14.94
6610 571.2 -7.3 273 6617 done -0.80 - - 2652 - 2.50 0.067 2737 545.2 -107.1 - - 3454 - - - - - - - - 14.41 14.31 14.47
6961 596.9 -7.4 281 6962 done -0.80 - - 2651 - - - 2737 - -107.1 - - 3454 - - - - - - - - 14.92 14.92 14.92
7297 621.3 -7.3 287 7302 roll -0.80 - - 2652 - 2.38 0.045 1375 -572.3 -107.1 - - 3451 - - - - - - - - 14.92 14.46 14.92
7353 625.4 -7.3 295 7358 done -0.88 - - 2644 - 2.50 0.068 2754 551.6 -107.1 - - 3451 - - - - - - - - 14.46 14.28 14.49
7689 649.8 -7.3 308 7694 roll -0.88 - - 2631 - 2.03 0.111 3826 528.1 -107.1 - - 3449 - - - - - - - - 14.93 14.26 14.94
7716 651.9 -7.7 312 7722 done -0.88 - - 2634 - 1.85 0.044 2747 -583.2 -107.1 - - 3449 - - - - - - - - 14.57 14.56 14.58
8081 679.1 -7.5 322 8086 roll -0.88 - - 2634 - 2.38 0.044 1370 -578.6 -107.1 - - 3448 - - - - - - - - 14.90 14.45 14.91
8178 686.5 -7.5 336 8184 done -0.88 - - 2625 - 2.50 0.065 2737 546.8 -107.1 - - 3448 - - - - - - - - 14.38 14.29 14.43
8529 714.3 -8.0 344 8534 roll -0.88 - - 2617 - 2.12 0.111 3828 514.6 -107.1 - - 3448 - - - - - - - - 14.90 14.09 14.90
8585 719.2 -8.9 352 8590 done -0.88 - - 2617 - 1.90 0.044 2722 -582.1 -107.1 - - 3447 - - - - - - - - 14.52 14.48 14.52
8921 747.9 -8.7 365 8927 roll -0.88 - - 2616 - 2.33 0.044 1375 -578.1 -107.1 - - 3447 - - - - - - - - 14.90 14.42 14.90
8955 751.0 -9.1 370 8961 done -0.88 - - 2610 - 2.50 0.066 2738 545.2 -107.1 - - 3446 - - - - - - - - 14.37 14.28 14.42
9313 784.3 -9.4 379 9318 roll -0.88 - - 2599 - 2.05 0.109 3825 530.2 -107.1 - - 3444 - - - - - - - - 14.91 14.21 14.91
9361 789.2 -10.2 386 9368 done -0.88 - - 2598 - 1.85 0.044 2744 -584.3 -107.1 - - 3444 - - - - - - - - 14.53 14.50 14.54
9705 822.2 -9.7 393 9705 done -0.88 - - 2599 - - - 2743 - -107.1 - - 3444 - - - - - - - - 14.89 14.89 14.89
10041 853.2 -9.1 399 10046 roll -0.88 - - 2598 - 2.40 0.044 1363 -575.0 -107.1 - - 3443 - - - - - - - - 14.91 14.35 14.90
10110 859.5 -8.9 409 10117 done -0.88 - - 2589 - 2.55 0.066 2738 539.2 -107.1 - - 3443 - - - - - - - - 14.34 14.24 14.38
10433 888.4 -9.0 420 10438 roll -0.88 - - 2581 - 2.12 0.110 3828 514.2 -107.1 - - 3441 - - - - - - - - 14.89 14.10 14.89
10474 892.3 -7.8 426 10480 done -0.88 0.10 0.226 2608 270.0 1.88 0.044 2743 -577.1 -107.1 - - 3441 - - - - - - - - 14.02 14.46 14.20
10825 920.5 -7.8 434 10830 roll -0.88 - - 2609 - 2.40 0.044 1362 -575.4 -107.1 - - 3441 - - - - - - - - 14.91 14.40 14.91
10881 925.1 -8.3 442 10886 done -0.88 - - 2599 - 2.53 0.066 2744 546.2 -107.1 - - 3441 - - - - - - - - 14.44 14.25 14.47
10990 end dive: TARGET_DEPTH_EXCEEDED
10990 begin apogee
10997 934.6 -8.6 451 11111 roll -0.23 0.77 0.176 2824 292.2 0.05 0.210 2257 -9740.0 - 110.93 1.971 3052 -3.5 0.333 - - - - - - 14.07 13.90 12.94
11112 end apogee: CONTROL_FINISHED_OK
11112 begin climb
11115 938.1 - 453 11246 roll 0.93 1.10 0.089 3186 329.1 2.55 0.055 841 -555.3 107.1 118.30 1.948 2619 -3.7 0.353 - - - - - - 13.97 14.00 12.83
11294 931.5 6.8 480 11321 done 0.84 - - 3184 - 2.58 0.049 2258 549.2 126.3 21.92 2.030 2544 -3.4 0.314 - - - - - - 14.07 14.00 12.96
11666 900.4 8.6 491 11671 roll 0.73 0.17 0.226 3135 -288.2 2.60 0.097 3646 533.8 126.3 - - 2534 - - - - - - - - 14.16 14.28 14.42
11722 895.8 8.0 499 11727 done 0.65 0.12 0.232 3112 -191.7 2.42 0.040 2233 -583.9 126.3 - - 2534 - - - - - - - - 14.19 14.46 14.43
12058 875.9 5.8 512 12106 roll 0.70 - - 3112 - 2.72 0.097 3651 521.3 164.5 42.72 1.946 2389 -3.4 0.306 - - - - - - 14.78 14.07 13.26
12141 870.3 7.4 524 12147 done 0.70 - - 3122 - 2.47 0.039 2254 -565.6 170.9 1.80 0.256 2370 -10.6 7.183 - - - - - - 14.32 14.28 13.69
12506 844.2 7.3 534 12522 done 0.71 - - 3121 - - - 2251 - 179.2 15.07 2.047 2338 -2.1 0.175 - - - - - - 14.76 14.35 13.37
12842 818.5 7.7 540 12847 roll 0.71 - - 3121 - 2.65 0.102 3653 529.1 179.4 - - 2326 - - - - - - - - 14.76 14.30 14.76
12890 814.1 10.3 547 12897 done 0.71 - - 3131 - 2.45 0.041 2251 -572.2 179.4 - - 2326 - - - - - - - - 14.47 14.43 14.50
13233 785.2 8.5 554 13234 done 0.71 - - 3130 - - - 2251 - 179.4 - - 2326 - - - - - - - - 14.82 14.82 14.82
13570 756.9 8.4 560 13575 roll 0.71 - - 3131 - 2.65 0.104 3653 529.1 179.4 - - 2325 - - - - - - - - 14.85 14.30 14.85
13631 751.1 9.3 569 13638 done 0.71 - - 3142 - 2.45 0.041 2253 -571.4 179.4 - - 2325 - - - - - - - - 14.52 14.50 14.54
13962 724.3 8.0 581 13962 done 0.71 - - 3142 - - - 2250 - 179.4 - - 2324 - - - - - - - - 14.86 14.86 14.86
14298 698.8 7.6 587 14303 roll 0.72 - - 3141 - 2.65 0.102 3646 526.8 181.9 - - 2324 - - - - - - - - 14.87 14.21 14.87
14359 693.4 8.6 596 14366 done 0.72 - - 3152 - 2.42 0.040 2256 -574.4 181.9 - - 2324 - - - - - - - - 14.50 14.46 14.52
14690 666.4 8.3 608 14695 roll 0.72 - - 3161 - 2.45 0.060 865 -567.8 181.9 - - 2323 - - - - - - - - 14.88 14.35 14.88
14716 663.9 8.7 612 14723 done 0.72 0.10 0.203 3132 -290.0 2.47 0.053 2261 565.2 181.9 - - 2327 - - - - - - - - 14.14 14.37 14.30
15081 635.0 7.9 622 15087 roll 0.72 - - 3132 - 2.60 0.100 3653 535.4 181.9 - - 2323 - - - - - - - - 14.88 14.26 14.88
15123 631.3 8.9 628 15129 done 0.72 - - 3143 - 2.42 0.040 2258 -576.4 181.9 - - 2323 - - - - - - - - 14.49 14.45 14.51
15474 602.4 8.3 636 15479 roll 0.72 - - 3143 - 2.67 0.101 3660 525.1 181.9 - - 2322 - - - - - - - - 14.85 14.24 14.85
15522 597.9 9.2 643 15529 done 0.72 - - 3153 - 2.42 0.040 2261 -578.1 181.9 - - 2323 - - - - - - - - 14.49 14.45 14.50
15865 569.3 8.3 650 15866 done 0.72 - - 3153 - - - 2261 - 181.9 - - 2323 - - - - - - - - 14.85 14.85 14.86
16201 542.3 8.0 656 16207 roll 0.72 - - 3153 - 2.67 0.102 3658 523.2 181.9 - - 2322 - - - - - - - - 14.85 14.22 14.85
16250 537.9 9.3 663 16258 done 0.72 0.10 0.216 3135 -180.0 2.45 0.040 2258 -571.4 181.9 - - 2323 - - - - - - - - 14.07 14.41 14.24
16594 512.7 7.2 670 16613 roll 0.73 - - 3145 - 2.50 0.062 859 -559.6 191.9 12.93 1.794 2278 -3.5 0.199 - - - - - - 14.85 14.47 13.48
16650 508.5 7.7 678 16656 done 0.73 - - 3145 - 2.45 0.054 2267 574.7 193.3 - - 2275 - - - - - - - - 14.57 14.44 14.59
16986 480.5 8.5 691 16986 done 0.73 - - 3145 - - - 2268 - 193.3 - - 2275 - - - - - - - - 14.81 14.81 14.81
17321 450.9 8.9 697 17327 roll 0.73 - - 3145 - 2.60 0.103 3655 533.5 193.3 - - 2275 - - - - - - - - 14.83 14.25 14.83
17378 445.4 10.0 705 17383 done 0.73 - - 3155 - 2.38 0.040 2257 -587.4 193.3 - - 2275 - - - - - - - - 14.57 14.49 14.58
17714 415.6 8.8 718 17719 roll 0.73 - - 3156 - 2.65 0.100 3651 526.0 193.3 - - 2275 - - - - - - - - 14.83 14.23 14.83
17776 409.6 9.7 727 17782 done 0.73 - - 3165 - 2.42 0.039 2266 -572.3 193.3 - - 2275 - - - - - - - - 14.47 14.42 14.48
18106 381.9 8.3 739 18111 roll 0.73 - - 3175 - 2.47 0.061 861 -568.8 193.3 - - 2275 - - - - - - - - 14.84 14.31 14.84
18140 379.0 8.1 744 18146 done 0.73 0.12 0.197 3139 -300.0 2.50 0.054 2266 562.0 193.3 - - 2275 - - - - - - - - 14.07 14.31 14.23
18498 353.5 7.1 753 18517 roll 0.75 - - 3138 - 2.58 0.101 3659 539.9 206.3 15.20 1.572 2223 -3.4 0.154 - - - - - - 14.87 14.28 13.57
18553 349.0 8.6 761 18559 done 0.75 - - 3148 - 2.40 0.039 2250 -587.1 206.3 - - 2219 - - - - - - - - 14.57 14.50 14.59
18890 321.8 8.2 774 18890 done 0.75 - - 3148 - - - 2247 - 206.3 - - 2217 - - - - - - - - 14.82 14.81 14.81
19225 294.2 8.2 780 19231 roll 0.75 - - 3146 - 2.67 0.101 3656 527.7 206.3 - - 2217 - - - - - - - - 14.85 14.25 14.85
19281 288.9 9.5 788 19287 done 0.75 - - 3157 - 2.40 0.039 2257 -582.9 206.3 - - 2217 - - - - - - - - 14.56 14.47 14.58
19618 259.6 8.7 801 19623 roll 0.75 - - 3158 - 2.65 0.099 3657 528.3 206.3 - - 2217 - - - - - - - - 14.84 14.23 14.84
19645 257.0 9.5 805 19651 done 0.75 - - 3168 - 2.40 0.039 2276 -575.4 206.3 - - 2218 - - - - - - - - 14.47 14.43 14.50
20010 224.9 8.7 815 20015 roll 0.75 - - 3179 - 2.50 0.060 858 -567.2 206.3 - - 2219 - - - - - - - - 14.84 14.32 14.84
20037 222.5 8.5 819 20043 done 0.75 0.10 0.195 3148 -310.0 2.50 0.053 2269 564.4 206.3 - - 2217 - - - - - - - - 14.11 14.32 14.28
20402 195.4 7.3 829 20414 roll 0.76 - - 3147 - 2.62 0.100 3656 529.4 215.2 3.95 1.323 2197 -5.1 0.150 - - - - - - 14.85 14.44 13.15
20471 189.5 8.5 839 20477 done 0.76 - - 3157 - 2.40 0.038 2268 -578.3 215.2 1.70 0.262 2196 - - - - - - - - 14.52 14.48 13.73
20794 164.3 7.9 850 20796 done 0.76 - - 3158 - - - 2264 - 215.2 1.77 0.274 2194 - - - - - - - - 14.84 14.21 13.57
21130 136.9 8.2 856 21135 roll 0.76 - - 3168 - 2.55 0.060 856 -552.2 215.2 1.92 0.302 2196 - - - - - - - - 14.87 14.26 13.52
21164 134.0 8.3 861 21170 done 0.76 - - 3168 - 2.53 0.053 2281 563.2 215.2 1.65 0.258 2196 - - - - - - - - 14.41 14.33 13.61
21522 104.4 8.2 870 21528 roll 0.76 - - 3167 - 2.58 0.099 3658 533.7 215.2 1.80 0.282 2200 2.2 -0.165 - - - - - - 14.88 13.96 13.50
21664 91.6 9.6 890 21671 done 0.76 0.10 0.228 3148 -190.0 2.38 0.038 2268 -584.0 215.2 1.67 0.252 2194 -3.6 0.261 - - - - - - 14.19 14.47 13.64
22002 67.5 7.2 905 22013 roll 0.77 - - 3153 - 2.53 0.059 860 -556.5 226.5 7.30 0.354 2152 -5.8 0.220 - - - - - - 14.82 14.38 13.90
22096 61.3 5.8 919 22125 done 0.91 0.03 0.195 3194 1366.7 2.50 0.050 2279 567.6 265.8 21.02 0.350 1992 -7.6 0.267 - - - - - - 14.23 14.34 14.02
22450 42.4 4.8 936 22487 roll 0.98 - - 3202 - 2.55 0.060 866 -554.1 324.4 29.50 0.297 1757 -8.0 0.228 - - - - - - 14.80 14.41 14.06
22615 32.7 5.5 960 22644 done 1.18 0.17 0.081 3295 547.1 2.45 0.049 2286 579.6 370.1 22.80 0.266 1576 -7.9 0.195 - - - - - - 14.47 14.37 14.01
22954 11.9 5.0 975 22982 done 1.25 - - 3296 - - - 2286 - 424.8 26.80 0.198 1356 -8.2 0.099 - - - - - - 14.78 14.32 14.06
23088 end climb: SURFACE_DEPTH_REACHED
23088 begin surface coast
23116 end surface coast: CONTROL_FINISHED_OK
23116 begin surface
SM -1.13 - - - - -8.40 9.07 0.062 181 19.9 0.85 0.066 2766 -7030.6 500.14 34.92 0.159 1057 30.3 0.022 - - - - - -