SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 416 * Raw log
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• Previous call tries 1 • 148.30 of 350.00 AH used of 24V (57.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth -1.14 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 37 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 - - - 93 done -0.93 - - 105 - - - 2773 - -107.1 -77.25 - 3475 - - - - - - - - 14.66 12.56 14.66
97 0.3 -4.3 2 117 roll -0.93 11.93 0.383 2583 207.7 2.00 0.099 3828 527.5 -107.1 - - 3479 - - - - - - - - 13.95 14.28 14.33
279 50.0 -13.4 29 285 done -0.73 0.22 0.201 2658 340.9 1.80 0.037 2728 -611.1 -107.1 - - 3480 - - - - - - - - 14.16 14.48 14.40
592 77.8 -7.7 41 597 roll -0.73 - - 2659 - 2.25 0.043 1401 -589.8 -107.1 - - 3482 - - - - - - - - 14.83 14.43 14.83
676 83.6 -7.3 53 682 done -0.73 - - 2650 - 2.42 0.067 2768 564.9 -107.1 - - 3482 - - - - - - - - 14.57 14.40 14.59
1012 111.9 -8.6 66 1018 roll -0.73 - - 2641 - 2.00 0.106 3828 530.0 -107.1 - - 3482 - - - - - - - - 14.89 14.32 14.89
1249 133.6 -9.1 100 1257 done -0.73 - - 2641 - 1.75 0.039 2771 -604.0 -107.1 - - 3482 - - - - - - - - 14.66 14.65 14.67
1572 164.1 -9.4 111 1577 roll -0.73 - - 2641 - 2.35 0.044 1383 -590.6 -107.1 - - 3480 - - - - - - - - 14.90 14.53 14.90
1634 170.4 -10.1 120 1642 done -0.73 0.10 0.213 2662 210.0 2.50 0.067 2761 551.2 -107.1 - - 3480 - - - - - - - - 14.23 14.40 14.40
1964 199.9 -8.9 132 1970 roll -0.73 - - 2654 - 2.03 0.108 3828 525.6 -107.1 - - 3479 - - - - - - - - 14.93 14.33 14.93
1991 202.4 -9.1 136 1998 done -0.73 - - 2654 - 1.77 0.041 2755 -606.2 -107.1 - - 3477 - - - - - - - - 14.67 14.65 14.69
2356 234.0 -8.6 146 2362 roll -0.73 - - 2654 - 2.35 0.044 1404 -574.9 -107.1 - - 3474 - - - - - - - - 14.94 14.49 14.94
2404 238.2 -8.5 153 2412 done -0.73 - - 2644 - 2.47 0.067 2769 552.6 -107.1 - - 3473 - - - - - - - - 14.49 14.40 14.54
2748 267.6 -8.6 160 2754 roll -0.73 - - 2644 - 2.35 0.043 1398 -583.4 -107.1 - - 3471 - - - - - - - - 14.94 14.54 14.94
2789 271.2 -8.6 166 2795 done -0.73 - - 2636 - 2.47 0.068 2767 554.3 -107.1 - - 3472 - - - - - - - - 14.50 14.40 14.54
3140 302.3 -8.9 174 3141 done -0.73 - - 2635 - - - 2767 - -107.1 - - 3470 - - - - - - - - 14.95 14.95 14.95
3476 333.6 -9.4 180 3482 roll -0.73 - - 2635 - 2.38 0.044 1391 -578.2 -107.1 - - 3467 - - - - - - - - 14.95 14.52 14.95
3517 337.5 -9.2 186 3524 done -0.73 0.10 0.216 2659 240.0 2.47 0.068 2760 554.3 -107.1 - - 3467 - - - - - - - - 14.15 14.33 14.33
3869 365.9 -7.9 194 3873 roll -0.73 - - 2648 - 2.00 0.109 3837 538.5 -107.1 - - 3463 - - - - - - - - 14.92 14.35 14.93
3924 370.3 -7.9 202 3929 done -0.73 - - 2648 - 1.80 0.042 2768 -593.9 -107.1 - - 3465 - - - - - - - - 14.62 14.59 14.63
4260 395.8 -7.5 215 4266 roll -0.73 - - 2648 - 2.35 0.044 1391 -586.0 -107.1 - - 3464 - - - - - - - - 14.92 14.51 14.92
4364 403.9 -7.9 230 4372 done -0.73 - - 2639 - 2.50 0.068 2768 550.8 -107.1 - - 3461 - - - - - - - - 14.47 14.37 14.52
4708 432.1 -8.3 237 4709 done -0.73 - - 2638 - - - 2768 - -107.1 - - 3461 - - - - - - - - 14.90 14.92 14.92
5044 461.2 -8.7 243 5045 done -0.73 - - 2639 - - - 2768 - -107.1 - - 3459 - - - - - - - - 14.92 14.92 14.92
5380 489.1 -8.2 249 5385 roll -0.73 - - 2638 - 2.40 0.044 1384 -576.7 -107.1 - - 3458 - - - - - - - - 14.95 14.50 14.95
5463 495.9 -7.8 261 5470 done -0.73 0.10 0.215 2658 200.0 2.50 0.067 2761 550.8 -107.1 - - 3458 - - - - - - - - 14.16 14.35 14.32
5828 521.1 -6.9 271 5829 done -0.73 - - 2658 - - - 2761 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.92
6164 545.0 -7.3 277 6173 roll -0.73 - - 2658 - 2.38 0.044 1387 -577.3 -107.1 - - 3455 - - - - - - - - 14.91 14.47 14.91
6214 548.8 -7.5 284 6223 done -0.81 - - 2650 - 2.50 0.070 2755 547.2 -107.1 - - 3455 - - - - - - - - 14.42 14.32 14.47
6558 575.7 -7.9 291 6559 done -0.81 - - 2650 - - - 2755 - -107.1 - - 3454 - - - - - - - - 14.91 14.91 14.91
6894 603.4 -8.3 297 6899 roll -0.81 - - 2649 - 2.38 0.045 1394 -571.8 -107.1 - - 3452 - - - - - - - - 14.94 14.45 14.94
6956 608.7 -8.5 306 6962 done -0.81 - - 2645 - 2.50 0.070 2753 543.6 -107.1 - - 3452 - - - - - - - - 14.40 14.31 14.45
7286 636.9 -8.6 318 7291 roll -0.81 - - 2633 - 2.08 0.111 3830 517.8 -107.1 - - 3451 - - - - - - - - 14.91 14.21 14.91
7313 639.3 -9.0 322 7319 done -0.81 - - 2632 - 1.83 0.045 2770 -579.2 -107.1 - - 3450 - - - - - - - - 14.59 14.57 14.60
7678 669.8 -8.2 332 7684 roll -0.81 - - 2632 - 2.42 0.045 1365 -580.6 -107.1 - - 3449 - - - - - - - - 14.90 14.45 14.90
7740 674.9 -7.9 341 7746 done -0.81 - - 2627 - 2.55 0.070 2757 545.9 -107.1 - - 3450 - - - - - - - - 14.39 14.28 14.44
8070 701.6 -8.1 353 8071 done -0.81 - - 2623 - - - 2757 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
8406 728.6 -8.0 359 8411 roll -0.81 - - 2621 - 2.42 0.047 1365 -575.2 -107.1 - - 3447 - - - - - - - - 14.90 14.43 14.90
8468 733.5 -7.8 368 8475 done -0.81 - - 2613 - 2.55 0.070 2752 543.9 -107.1 - - 3447 - - - - - - - - 14.37 14.26 14.43
8798 759.1 -7.7 380 8799 done -0.81 - - 2613 - - - 2751 - -107.1 - - 3447 - - - - - - - - 14.90 14.90 14.89
9134 784.7 -7.7 386 9139 roll -0.81 - - 2613 - 2.42 0.046 1365 -572.7 -107.1 - - 3445 - - - - - - - - 14.89 14.41 14.90
9161 787.0 -8.1 390 9167 done -0.81 0.10 0.226 2632 190.0 2.55 0.070 2753 544.3 -107.1 - - 3445 - - - - - - - - 14.03 14.26 14.21
9526 813.4 -7.3 400 9527 done -0.81 - - 2631 - - - 2753 - -107.1 - - 3444 - - - - - - - - 14.91 14.91 14.92
9862 839.9 -7.9 406 9867 roll -0.81 - - 2632 - 2.42 0.045 1371 -571.1 -107.1 - - 3442 - - - - - - - - 14.91 14.36 14.92
9924 845.1 -8.2 415 9931 done -0.81 - - 2623 - 2.55 0.069 2748 540.0 -107.1 - - 3443 - - - - - - - - 14.33 14.22 14.37
10254 872.7 -8.2 427 10259 roll -0.81 - - 2614 - 2.10 0.112 3830 515.2 -107.1 - - 3442 - - - - - - - - 14.88 14.10 14.88
10310 877.6 -8.9 435 10315 done -0.81 - - 2613 - 1.88 0.046 2747 -576.1 -107.1 - - 3441 - - - - - - - - 14.47 14.45 14.47
10646 905.5 -8.2 448 10652 roll -0.81 - - 2614 - 2.40 0.045 1374 -572.1 -107.1 - - 3441 - - - - - - - - 14.91 14.36 14.91
10673 907.7 -8.3 452 10681 done -0.81 0.10 0.225 2633 190.0 2.55 0.068 2750 539.6 -107.1 - - 3440 - - - - - - - - 13.96 14.20 14.14
11035 end dive: TARGET_DEPTH_EXCEEDED
11035 begin apogee
11042 933.7 -7.0 462 11156 roll -0.23 0.62 0.162 2820 301.6 - - 2229 - - 111.12 1.970 3052 -3.5 0.331 - - - - - - 14.12 13.95 12.95
11157 end apogee: CONTROL_FINISHED_OK
11157 begin climb
11160 936.8 - 464 11290 roll 0.93 1.12 0.091 3185 325.9 2.53 0.059 844 -547.4 107.1 117.43 1.950 2617 -3.7 0.356 - - - - - - 13.97 14.00 12.81
11324 930.4 7.0 489 11345 done 0.83 - - 3185 - 2.60 0.053 2259 544.2 121.5 16.45 2.076 2565 -3.2 0.283 - - - - - - 14.02 13.95 12.92
11654 901.3 9.2 501 11660 roll 0.71 0.20 0.218 3128 -285.0 2.60 0.098 3661 539.2 121.5 - - 2552 - - - - - - - - 14.13 14.26 14.40
11716 895.9 8.6 510 11722 done 0.64 0.10 0.207 3112 -160.0 2.50 0.041 2233 -571.2 121.5 - - 2551 - - - - - - - - 14.14 14.40 14.29
12046 873.7 6.6 522 12079 roll 0.66 - - 3111 - 2.75 0.098 3652 516.0 144.0 24.55 1.968 2469 -3.3 0.297 - - - - - - 14.78 14.31 13.33
12136 866.9 8.0 535 12142 done 0.66 - - 3121 - 2.47 0.041 2253 -566.4 144.0 - - 2466 - - - - - - - - 14.41 14.37 14.43
12494 841.5 7.1 544 12513 roll 0.68 - - 3121 - 2.65 0.100 3653 528.3 156.2 13.30 2.066 2422 -3.3 0.269 - - - - - - 14.79 14.38 13.42
12577 834.9 8.3 556 12583 done 0.68 - - 3130 - 2.45 0.041 2256 -570.2 156.2 - - 2419 - - - - - - - - 14.44 14.39 14.45
12942 809.3 7.0 566 12970 roll 0.70 - - 3141 - 2.53 0.064 858 -552.6 172.0 18.73 1.974 2355 -3.4 0.280 - - - - - - 14.78 14.37 13.41
12990 805.6 7.5 573 12999 done 0.70 - - 3141 - 2.50 0.056 2253 558.0 177.0 0.85 0.231 2345 -11.8 8.206 - - - - - - 14.38 14.31 14.18
13334 778.1 8.0 580 13339 roll 0.70 - - 3140 - 2.62 0.102 3658 536.3 177.0 - - 2350 - - - - - - - - 14.76 14.28 14.76
13417 770.2 9.5 592 13423 done 0.70 - - 3150 - 2.45 0.039 2258 -571.4 177.0 - - 2350 - - - - - - - - 14.47 14.44 14.50
13782 737.4 9.2 602 13787 roll 0.70 - - 3152 - 2.65 0.100 3653 526.4 177.0 - - 2350 - - - - - - - - 14.81 14.30 14.81
13809 734.5 10.3 606 13815 done 0.70 0.10 0.212 3132 -200.0 2.45 0.041 2256 -570.2 177.0 - - 2350 - - - - - - - - 14.16 14.45 14.33
14174 702.5 8.7 616 14179 roll 0.70 - - 3132 - 2.65 0.099 3653 527.2 177.0 - - 2349 - - - - - - - - 14.85 14.31 14.86
14215 698.5 9.7 622 14221 done 0.70 - - 3142 - 2.42 0.040 2262 -574.8 177.0 - - 2349 - - - - - - - - 14.51 14.47 14.54
14566 668.2 8.6 630 14567 done 0.70 - - 3143 - - - 2260 - 177.0 - - 2348 - - - - - - - - 14.87 14.87 14.87
14902 641.6 7.8 636 14907 roll 0.70 - - 3142 - 2.65 0.101 3653 525.7 177.0 - - 2348 - - - - - - - - 14.90 14.28 14.88
14936 638.6 8.7 641 14944 done 0.70 - - 3153 - 2.42 0.040 2253 -578.5 177.0 - - 2349 - - - - - - - - 14.49 14.45 14.51
15295 611.0 7.6 650 15297 done 0.71 - - 3154 - - - 2256 - 179.2 1.55 0.266 2335 -9.0 4.149 - - - - - - 14.88 14.23 13.76
15630 584.9 7.8 656 15636 roll 0.71 - - 3153 - 2.67 0.099 3655 524.0 179.2 1.42 0.262 2338 2.1 -0.943 - - - - - - 14.88 14.08 13.81
15692 579.2 9.1 665 15700 done 0.71 0.10 0.213 3134 -190.0 2.42 0.040 2264 -574.8 179.2 1.40 0.234 2336 - - - - - - - - 14.10 14.42 13.82
16022 554.8 7.5 677 16041 roll 0.71 - - 3144 - 2.53 0.063 860 -554.9 185.1 11.82 1.870 2306 -2.5 0.151 - - - - - - 14.88 14.48 13.45
16049 552.7 7.6 681 16056 done 0.72 - - 3145 - 2.50 0.057 2270 564.0 187.9 - - 2305 - - - - - - - - 14.52 14.45 14.56
16414 523.0 8.2 691 16419 roll 0.72 - - 3144 - 2.60 0.102 3652 531.5 187.9 - - 2304 - - - - - - - - 14.81 14.27 14.81
16497 515.2 9.3 703 16503 done 0.72 - - 3155 - 2.42 0.040 2268 -571.9 187.9 - - 2303 - - - - - - - - 14.48 14.44 14.50
16862 483.7 8.6 713 16868 roll 0.72 - - 3155 - 2.65 0.100 3657 524.2 187.9 - - 2304 - - - - - - - - 14.85 14.26 14.83
16889 481.1 9.5 717 16897 done 0.72 0.08 0.220 3142 -162.5 2.42 0.040 2269 -573.6 187.9 - - 2304 - - - - - - - - 14.13 14.42 14.29
17254 451.4 8.1 727 17255 done 0.72 - - 3142 - - - 2266 - 187.9 - - 2304 - - - - - - - - 14.85 14.85 14.85
17590 424.7 7.9 733 17591 done 0.72 - - 3142 - - - 2266 - 187.9 - - 2304 - - - - - - - - 14.85 14.85 14.85
17927 399.2 7.5 739 17938 roll 0.72 - - 3142 - 2.65 0.102 3653 523.4 193.5 4.47 1.630 2284 -4.5 0.219 - - - - - - 14.85 14.42 13.11
18002 393.0 8.1 750 18009 done 0.72 - - 3152 - 2.40 0.039 2268 -577.1 193.5 1.52 0.265 2281 -2.0 0.585 - - - - - - 14.54 14.49 13.76
18318 370.0 7.3 760 18338 roll 0.73 - - 3162 - 2.45 0.061 863 -573.5 201.8 14.93 1.594 2240 -2.7 0.127 - - - - - - 14.87 14.29 13.59
18387 364.5 7.9 770 18393 done 0.73 - - 3165 - 2.50 0.054 2276 565.2 201.8 - - 2237 - - - - - - - - 14.44 14.36 14.47
18710 336.4 8.9 781 18716 roll 0.73 - - 3162 - 2.58 0.102 3657 535.3 201.8 - - 2236 - - - - - - - - 14.80 14.25 14.80
18786 328.3 10.7 792 18792 done 0.73 0.10 0.205 3143 -190.0 2.40 0.039 2276 -575.4 201.8 - - 2236 - - - - - - - - 14.13 14.43 14.28
19102 299.8 9.1 802 19103 done 0.73 - - 3143 - - - 2273 - 201.8 - - 2236 - - - - - - - - 14.85 14.85 14.85
19438 270.1 8.7 808 19439 done 0.73 - - 3143 - - - 2272 - 201.8 - - 2236 - - - - - - - - 14.85 14.85 14.85
19774 243.5 7.8 814 19779 roll 0.73 - - 3143 - 2.62 0.099 3658 529.0 201.8 - - 2236 - - - - - - - - 14.85 14.23 14.85
19843 237.6 8.6 824 19849 done 0.73 - - 3153 - 2.42 0.038 2263 -576.4 201.8 - - 2236 - - - - - - - - 14.43 14.38 14.45
20166 211.7 8.0 835 20171 roll 0.73 - - 3163 - 2.47 0.062 855 -570.0 201.8 - - 2236 - - - - - - - - 14.85 14.31 14.88
20222 207.0 8.4 843 20227 done 0.73 - - 3163 - 2.47 0.054 2273 574.1 201.8 - - 2236 - - - - - - - - 14.51 14.36 14.54
20559 178.1 8.8 856 20563 roll 0.73 - - 3164 - 2.58 0.101 3658 536.8 201.8 - - 2236 - - - - - - - - 14.88 14.23 14.88
20634 170.5 10.1 867 20640 done 0.73 0.10 0.200 3145 -190.0 2.40 0.038 2275 -576.2 201.8 - - 2235 - - - - - - - - 14.11 14.42 14.26
20950 144.8 8.1 877 20956 roll 0.73 - - 3155 - 2.47 0.061 861 -572.5 201.8 - - 2236 - - - - - - - - 14.88 14.32 14.89
20984 141.9 8.3 882 20990 done 0.73 - - 3155 - 2.53 0.055 2280 560.9 201.8 - - 2236 - - - - - - - - 14.38 14.29 14.42
21342 113.5 7.9 891 21347 roll 0.73 - - 3154 - 2.58 0.100 3660 534.9 201.8 - - 2237 - - - - - - - - 14.86 14.23 14.86
21418 106.6 9.2 902 21424 done 0.73 - - 3165 - 2.40 0.038 2279 -575.4 201.8 - - 2237 - - - - - - - - 14.49 14.45 14.51
21734 82.5 7.1 916 21747 roll 0.75 - - 3165 - 2.60 0.099 3657 530.0 215.7 6.32 0.389 2193 -7.0 0.295 - - - - - - 14.87 14.28 13.74
21790 78.2 8.0 924 21796 done 0.75 0.10 0.225 3146 -190.0 2.35 0.038 2277 -587.2 215.7 - - 2198 - - - - - - - - 14.21 14.48 14.42
22129 56.5 5.8 939 22155 roll 0.89 0.05 0.200 3204 1160.0 2.55 0.063 865 -553.7 254.5 21.02 0.336 2036 -7.7 0.259 - - - - - - 14.53 14.40 14.01
22182 53.0 6.5 947 22203 done 0.92 - - 3204 - 2.47 0.056 2289 576.5 278.7 13.02 0.328 1941 -7.3 0.236 - - - - - - 14.52 14.38 13.97
22519 34.1 4.1 962 22560 roll 1.01 - - 3213 - 2.58 0.063 858 -554.7 351.3 36.50 0.272 1647 -8.1 0.202 - - - - - - 14.78 14.38 14.07
22736 22.5 6.1 993 22757 done 1.20 0.15 0.086 3299 573.3 2.47 0.053 2287 578.5 384.1 16.02 0.233 1522 -7.8 0.151 - - - - - - 14.45 14.34 14.04
23033 end climb: SURFACE_DEPTH_REACHED
23034 begin surface coast
23062 end surface coast: CONTROL_FINISHED_OK
23062 begin surface
SM -0.97 - - - - -8.40 9.20 0.073 195 21.2 0.88 0.081 2772 -9838.6 500.14 54.00 0.155 1057 19.6 0.013 - - - - - -