SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 419 * Raw log
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• Previous call tries 2 • 149.26 of 350.00 AH used of 24V (57.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth -1.41 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 1 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
14 - - - 99 done -0.93 - - 109 - - - 2771 - -107.1 -77.72 - 3479 - - - - - - - - 14.66 12.57 14.66
103 7.1 -15.1 3 121 roll -0.93 11.73 0.381 2591 211.6 1.98 0.100 3833 536.4 -107.1 - - 3478 - - - - - - - - 14.01 14.30 14.36
284 55.0 -13.3 29 291 done -0.73 0.25 0.223 2657 264.0 1.77 0.039 2731 -622.6 -107.1 - - 3480 - - - - - - - - 14.18 14.52 14.42
605 82.2 -8.0 42 606 done -0.73 - - 2658 - - - 2730 - -107.1 - - 3482 - - - - - - - - 14.86 14.86 14.86
941 108.9 -7.1 52 946 roll -0.73 - - 2658 - 2.25 0.044 1397 -592.4 -107.1 - - 3482 - - - - - - - - 14.90 14.54 14.90
997 113.4 -7.9 60 1002 done -0.73 - - 2648 - 2.42 0.066 2779 571.1 -107.1 - - 3482 - - - - - - - - 14.61 14.45 14.63
1333 141.4 -8.4 73 1339 roll -0.73 - - 2640 - 1.92 0.106 3832 548.4 -107.1 - - 3481 - - - - - - - - 14.90 14.35 14.90
1389 146.7 -9.3 81 1395 done -0.73 - - 2639 - 1.75 0.041 2776 -603.4 -107.1 - - 3480 - - - - - - - - 14.64 14.62 14.64
1725 177.3 -9.2 94 1730 roll -0.73 - - 2639 - 2.35 0.044 1390 -589.8 -107.1 - - 3478 - - - - - - - - 14.92 14.55 14.92
1781 182.7 -9.5 102 1787 done -0.73 0.10 0.241 2660 210.0 2.47 0.066 2793 568.0 -107.1 - - 3477 - - - - - - - - 14.31 14.45 14.54
2117 210.7 -8.3 115 2118 done -0.73 - - 2660 - - - 2793 - -107.1 - - 3475 - - - - - - - - 14.92 14.92 14.91
2453 239.4 -8.6 121 2459 roll -0.73 - - 2655 - 2.42 0.042 1380 -583.9 -107.1 - - 3472 - - - - - - - - 14.92 14.55 14.92
2536 246.7 -8.7 133 2543 done -0.73 - - 2651 - 2.50 0.066 2774 557.6 -107.1 - - 3472 - - - - - - - - 14.54 14.42 14.56
2901 280.7 -9.4 143 2902 done -0.73 - - 2649 - - - 2774 - -107.1 - - 3468 - - - - - - - - 14.93 14.93 14.93
3237 310.4 -8.6 149 3243 roll -0.73 - - 2650 - 2.40 0.042 1390 -576.7 -107.1 - - 3467 - - - - - - - - 14.95 14.54 14.95
3320 317.2 -8.0 161 3327 done -0.73 - - 2641 - 2.47 0.067 2765 556.7 -107.1 - - 3466 - - - - - - - - 14.50 14.40 14.54
3685 347.5 -8.3 171 3690 roll -0.73 - - 2633 - 2.00 0.109 3824 529.5 -107.1 - - 3464 - - - - - - - - 14.93 14.31 14.93
3726 351.2 -8.9 177 3733 done -0.73 0.08 0.200 2657 300.0 1.77 0.042 2775 -592.7 -107.1 - - 3464 - - - - - - - - 14.28 14.59 14.41
4077 378.4 -7.8 185 4083 roll -0.73 - - 2656 - 2.40 0.044 1372 -584.6 -107.1 - - 3460 - - - - - - - - 14.95 14.52 14.95
4160 385.2 -8.1 197 4167 done -0.73 - - 2648 - 2.53 0.065 2769 552.2 -107.1 - - 3461 - - - - - - - - 14.47 14.38 14.52
4525 416.4 -8.7 207 4530 roll -0.73 - - 2640 - 1.98 0.110 3814 527.8 -107.1 - - 3460 - - - - - - - - 14.92 14.28 14.92
4573 420.9 -9.2 214 4581 done -0.73 - - 2639 - 1.77 0.041 2768 -591.0 -107.1 - - 3460 - - - - - - - - 14.64 14.62 14.65
4917 449.0 -8.0 221 4923 roll -0.73 - - 2639 - 2.40 0.043 1366 -584.2 -107.1 - - 3458 - - - - - - - - 14.92 14.52 14.92
5000 455.6 -7.9 233 5007 done -0.73 0.10 0.219 2660 210.0 2.53 0.065 2760 551.0 -107.1 - - 3457 - - - - - - - - 14.19 14.38 14.35
5365 481.8 -7.2 243 5366 done -0.73 - - 2660 - - - 2761 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
5701 507.1 -7.6 249 5707 roll -0.73 - - 2660 - 2.40 0.043 1369 -580.0 -107.1 - - 3454 - - - - - - - - 14.92 14.50 14.92
5735 509.9 -8.2 254 5741 done -0.81 - - 2651 - 2.53 0.068 2758 549.0 -107.1 - - 3454 - - - - - - - - 14.45 14.35 14.50
6093 540.5 -8.8 263 6098 roll -0.81 - - 2643 - 2.00 0.111 3828 535.0 -107.1 - - 3453 - - - - - - - - 14.92 14.29 14.92
6120 543.0 -9.1 267 6126 done -0.81 - - 2643 - 1.83 0.044 2754 -586.9 -107.1 - - 3452 - - - - - - - - 14.60 14.59 14.64
6485 575.0 -8.6 277 6491 roll -0.81 - - 2643 - 2.38 0.044 1374 -579.8 -107.1 - - 3451 - - - - - - - - 14.92 14.47 14.92
6554 580.8 -8.1 287 6560 done -0.81 - - 2633 - 2.53 0.066 2754 545.5 -107.1 - - 3451 - - - - - - - - 14.44 14.37 14.48
6877 605.0 -7.3 298 6878 done -0.81 - - 2634 - - - 2754 - -107.1 - - 3451 - - - - - - - - 14.90 14.91 14.91
7213 627.1 -6.5 304 7214 done -0.81 - - 2634 - - - 2754 - -107.1 - - 3449 - - - - - - - - 14.90 14.90 14.90
7549 650.6 -7.2 310 7554 roll -0.81 - - 2633 - 2.40 0.044 1375 -574.6 -107.1 - - 3448 - - - - - - - - 14.91 14.47 14.91
7590 653.9 -7.9 316 7596 done -0.81 - - 2624 - 2.53 0.067 2758 546.6 -107.1 - - 3447 - - - - - - - - 14.42 14.31 14.47
7941 683.9 -8.7 324 7946 roll -0.81 - - 2615 - 2.05 0.112 3824 520.0 -107.1 - - 3446 - - - - - - - - 14.93 14.18 14.93
7968 686.4 -9.2 328 7974 done -0.81 - - 2615 - 1.83 0.044 2757 -583.1 -107.1 - - 3446 - - - - - - - - 14.57 14.54 14.58
8333 719.6 -9.1 338 8338 roll -0.81 - - 2614 - 2.40 0.044 1373 -576.7 -107.1 - - 3446 - - - - - - - - 14.90 14.43 14.90
8374 723.5 -9.2 344 8380 done -0.81 0.10 0.223 2634 200.0 2.53 0.065 2752 545.1 -107.1 - - 3444 - - - - - - - - 14.04 14.26 14.23
8725 752.6 -8.3 352 8730 roll -0.81 - - 2626 - 2.03 0.112 3824 528.1 -107.1 - - 3443 - - - - - - - - 14.90 14.20 14.90
8766 756.2 -8.9 358 8772 done -0.81 - - 2630 - 1.85 0.044 2747 -582.2 -107.1 - - 3443 - - - - - - - - 14.58 14.53 14.58
9117 786.0 -8.4 366 9122 roll -0.81 - - 2625 - 2.38 0.044 1372 -577.7 -107.1 - - 3440 - - - - - - - - 14.90 14.40 14.90
9165 790.2 -8.4 373 9173 done -0.81 - - 2616 - 2.53 0.066 2752 545.5 -107.1 - - 3440 - - - - - - - - 14.35 14.25 14.38
9509 819.8 -8.6 380 9514 roll -0.81 - - 2608 - 2.08 0.112 3827 516.8 -107.1 - - 3441 - - - - - - - - 14.92 14.13 14.92
9550 823.3 -8.6 386 9556 done -0.81 0.08 0.220 2630 275.0 1.85 0.044 2753 -580.5 -107.1 - - 3440 - - - - - - - - 14.14 14.50 14.28
9901 850.1 -7.5 394 9906 roll -0.81 - - 2631 - 2.40 0.045 1373 -575.0 -107.1 - - 3439 - - - - - - - - 14.90 14.40 14.89
9977 855.7 -7.1 405 9984 done -0.81 - - 2622 - 2.53 0.066 2746 542.7 -107.1 - - 3440 - - - - - - - - 14.34 14.26 14.39
10294 879.3 -7.5 415 10298 roll -0.81 - - 2613 - 2.05 0.112 3824 525.9 -107.1 - - 3439 - - - - - - - - 14.90 14.16 14.90
10334 882.3 -7.2 421 10341 done -0.81 - - 2613 - 1.88 0.044 2748 -572.3 -107.1 - - 3438 - - - - - - - - 14.50 14.47 14.52
10685 908.7 -7.5 429 10691 roll -0.81 - - 2612 - 2.40 0.044 1367 -575.4 -107.1 - - 3438 - - - - - - - - 14.90 14.39 14.91
10719 911.3 -6.1 434 10725 done -0.81 0.10 0.226 2632 200.0 2.55 0.067 2754 543.9 -107.1 - - 3438 - - - - - - - - 13.99 14.22 14.16
11018 end dive: TARGET_DEPTH_EXCEEDED
11018 begin apogee
11026 931.3 -6.6 442 11139 roll -0.23 0.65 0.164 2826 298.5 0.10 0.151 2269 -4850.0 - 110.35 1.981 3047 -3.5 0.333 - - - - - - 14.10 13.90 12.93
11140 end apogee: CONTROL_FINISHED_OK
11140 begin climb
11144 933.8 - 444 11274 roll 0.93 1.10 0.086 3184 325.5 2.53 0.056 888 -545.8 107.1 117.72 1.941 2616 -3.7 0.352 - - - - - - 13.97 14.00 12.83
11315 926.0 7.5 470 11321 done 0.83 - - 3184 - 2.47 0.050 2241 547.8 112.2 - - 2610 - - - - - - - - 14.04 13.98 14.08
11638 898.4 8.6 481 11644 roll 0.70 0.20 0.224 3128 -280.0 2.62 0.097 3655 539.7 112.2 - - 2606 - - - - - - - - 14.14 14.27 14.39
11707 892.8 7.9 491 11713 done 0.62 0.12 0.215 3104 -200.0 2.40 0.040 2284 -571.2 112.2 - - 2606 - - - - - - - - 14.13 14.40 14.29
12030 873.0 6.0 502 12078 roll 0.66 - - 3104 - 2.67 0.102 3651 512.0 147.0 43.72 1.932 2459 -3.4 0.304 - - - - - - 14.78 14.18 13.26
12113 867.4 7.6 514 12119 done 0.67 - - 3113 - 2.47 0.040 2252 -566.4 150.0 - - 2454 - - - - - - - - 14.31 14.28 14.33
12471 843.3 6.5 523 12506 roll 0.70 - - 3113 - 2.72 0.101 3650 514.0 174.2 30.65 1.942 2352 -3.3 0.289 - - - - - - 14.75 14.23 13.31
12533 838.7 9.9 532 12539 done 0.70 - - 3122 - 2.47 0.040 2254 -565.2 174.2 - - 2347 - - - - - - - - 14.33 14.31 14.35
12856 815.4 7.2 543 12868 done 0.71 - - 3122 - - - 2253 - 186.1 11.30 2.089 2311 -3.2 0.249 - - - - - - 14.72 14.35 13.35
13192 790.5 7.5 549 13198 roll 0.72 - - 3123 - 2.65 0.099 3657 529.8 191.1 1.55 0.254 2289 -14.2 8.828 - - - - - - 14.77 14.23 14.00
13260 784.5 8.7 559 13267 done 0.72 - - 3132 - 2.45 0.041 2253 -573.1 191.1 1.15 0.223 2288 - - - - - - - - 14.48 14.43 14.13
13584 758.3 8.1 570 13584 done 0.72 - - 3132 - - - 2251 - 191.1 - - 2297 - - - - - - - - 14.83 14.83 14.83
13919 731.0 8.1 576 13925 roll 0.72 - - 3132 - 2.65 0.099 3656 530.2 191.1 - - 2297 - - - - - - - - 14.83 14.31 14.83
13961 727.2 9.4 582 13967 done 0.72 - - 3144 - 2.42 0.041 2261 -576.4 191.1 - - 2294 - - - - - - - - 14.52 14.46 14.53
14312 696.4 8.8 590 14313 done 0.72 - - 3144 - - - 2259 - 191.1 - - 2296 - - - - - - - - 14.84 14.84 14.84
14647 666.9 8.7 596 14653 roll 0.72 - - 3144 - 2.62 0.101 3652 531.7 191.1 - - 2296 - - - - - - - - 14.85 14.28 14.85
14689 662.9 9.8 602 14695 done 0.72 - - 3154 - 2.42 0.041 2259 -575.6 191.1 - - 2296 - - - - - - - - 14.50 14.45 14.52
15040 633.0 8.4 610 15045 roll 0.72 - - 3154 - 2.65 0.101 3659 528.3 191.1 - - 2298 - - - - - - - - 14.85 14.27 14.85
15073 629.9 9.1 615 15080 done 0.72 0.10 0.214 3136 -180.0 2.45 0.041 2254 -573.5 191.1 - - 2296 - - - - - - - - 14.14 14.46 14.31
15432 602.5 7.7 624 15437 roll 0.72 - - 3134 - 2.65 0.098 3658 529.8 192.7 1.85 0.278 2285 -5.9 2.575 - - - - - - 14.88 13.90 13.43
15473 598.8 9.0 630 15479 done 0.72 - - 3145 - 2.42 0.041 2267 -574.8 192.7 1.48 0.242 2282 -2.0 1.002 - - - - - - 14.49 14.44 13.78
15824 569.5 8.4 638 15826 done 0.72 - - 3145 - - - 2264 - 192.7 1.67 0.257 2282 - - - - - - - - 14.88 14.23 13.76
16160 540.7 8.6 644 16165 roll 0.72 - - 3145 - 2.70 0.100 3655 515.2 192.7 1.70 0.259 2284 - - - - - - - - 14.85 14.23 13.64
16215 535.4 9.9 652 16221 done 0.72 - - 3156 - 2.40 0.040 2257 -582.5 192.7 1.62 0.258 2281 -1.9 0.768 - - - - - - 14.56 14.47 13.78
16551 505.4 8.9 665 16554 done 0.72 - - 3155 - - - 2253 - 192.7 1.52 0.250 2282 - - - - - - - - 14.85 14.25 13.85
16888 476.9 8.3 671 16893 roll 0.72 - - 3156 - 2.65 0.099 3652 527.9 192.7 1.52 0.252 2284 - - - - - - - - 14.88 14.02 13.76
16943 471.8 9.3 679 16950 done 0.72 0.12 0.230 3130 -216.7 2.38 0.040 2269 -581.1 192.7 1.58 0.252 2282 - - - - - - - - 14.12 14.45 13.71
17282 446.3 7.6 692 17293 roll 0.72 - - 3129 - 2.60 0.100 3653 532.3 195.3 4.15 1.586 2276 -1.4 0.081 - - - - - - 14.82 14.36 13.06
17313 443.4 8.6 697 17321 done 0.72 - - 3140 - 2.40 0.039 2271 -575.8 195.3 1.40 0.259 2274 - - - - - - - - 14.56 14.51 13.93
17672 414.3 8.0 706 17677 roll 0.72 - - 3150 - 2.50 0.061 855 -566.4 195.3 1.75 0.280 2275 - - - - - - - - 14.83 14.01 13.56
17720 410.6 7.7 713 17728 done 0.72 - - 3150 - 2.50 0.054 2268 565.2 195.8 1.75 0.285 2273 - - - - - - - - 14.40 14.31 13.60
18064 385.6 7.2 720 18090 roll 0.74 - - 3150 - 2.58 0.102 3661 539.9 207.1 19.95 1.566 2218 -2.8 0.136 - - - - - - 14.86 14.40 13.56
18133 380.1 8.4 730 18139 done 0.74 - - 3160 - 2.42 0.039 2268 -575.6 207.1 - - 2214 - - - - - - - - 14.45 14.41 14.48
18455 354.8 7.9 741 18456 done 0.74 - - 3160 - - - 2264 - 207.1 - - 2213 - - - - - - - - 14.80 14.81 14.81
18791 326.6 8.5 747 18797 roll 0.74 - - 3160 - 2.62 0.101 3656 531.3 207.1 - - 2213 - - - - - - - - 14.82 14.23 14.82
18832 322.5 9.9 753 18840 done 0.74 0.10 0.209 3141 -190.0 2.42 0.039 2269 -573.1 207.1 - - 2212 - - - - - - - - 14.08 14.39 14.25
19184 294.3 8.0 761 19190 roll 0.74 - - 3151 - 2.47 0.060 863 -569.2 207.1 - - 2213 - - - - - - - - 14.83 14.32 14.83
19240 289.7 8.2 769 19246 done 0.74 - - 3151 - 2.45 0.053 2277 577.1 207.1 - - 2213 - - - - - - - - 14.52 14.38 14.55
19576 261.6 8.4 782 19581 roll 0.74 - - 3151 - 2.58 0.101 3659 535.7 207.1 - - 2213 - - - - - - - - 14.84 14.23 14.84
19617 257.6 9.7 788 19623 done 0.74 - - 3161 - 2.42 0.038 2260 -578.1 207.1 - - 2213 - - - - - - - - 14.47 14.43 14.50
19967 227.0 8.7 796 19973 roll 0.74 - - 3161 - 2.65 0.099 3659 527.9 207.1 - - 2213 - - - - - - - - 14.87 14.23 14.87
19994 224.4 9.4 800 20001 done 0.74 0.10 0.207 3142 -190.0 2.42 0.038 2265 -576.0 207.1 - - 2213 - - - - - - - - 14.11 14.43 14.27
20360 196.6 7.5 810 20362 done 0.74 - - 3141 - - - 2260 - 212.4 1.17 0.247 2204 -7.7 1.224 - - - - - - 14.87 14.33 14.04
20696 174.1 6.5 816 20730 roll 0.77 - - 3141 - 2.67 0.100 3656 522.8 237.4 30.58 1.249 2098 -3.5 0.097 - - - - - - 14.88 14.35 13.66
20757 169.5 7.9 825 20764 done 0.77 - - 3152 - 2.42 0.039 2268 -573.6 237.4 - - 2093 - - - - - - - - 14.45 14.42 14.48
21081 143.0 8.4 836 21086 roll 0.77 - - 3162 - 2.47 0.061 858 -570.9 237.4 - - 2091 - - - - - - - - 14.79 14.33 14.80
21107 140.5 8.8 840 21114 done 0.77 - - 3162 - 2.50 0.052 2274 566.4 237.4 - - 2091 - - - - - - - - 14.40 14.32 14.44
21473 108.9 8.5 850 21478 roll 0.77 - - 3162 - 2.58 0.100 3662 538.0 237.4 - - 2091 - - - - - - - - 14.84 14.25 14.84
21534 103.0 9.6 859 21541 done 0.77 - - 3172 - 2.42 0.038 2265 -577.3 237.4 - - 2091 - - - - - - - - 14.46 14.42 14.49
21864 75.9 8.0 876 21871 roll 0.77 - - 3181 - 2.47 0.060 857 -570.0 237.4 - - 2091 - - - - - - - - 14.82 14.33 14.83
21885 74.7 6.6 879 21898 done 0.80 - - 3182 - 2.53 0.054 2283 563.6 260.4 9.60 0.374 2015 -7.9 0.316 - - - - - - 14.38 14.31 13.91
22231 48.3 7.4 895 22241 roll 0.81 - - 3181 - 2.58 0.099 3656 532.2 267.1 5.00 0.295 1988 -5.4 0.177 - - - - - - 14.82 14.23 13.93
22284 44.0 7.8 903 22290 done 0.81 - - 3191 - 2.35 0.037 2271 -589.4 267.1 - - 1993 - - - - - - - - 14.56 14.47 14.57
22621 28.3 3.9 918 22668 roll 1.01 - - 3192 - 2.67 0.099 3657 519.1 343.3 39.00 0.254 1682 -8.0 0.178 - - - - - - 14.83 14.33 14.10
22763 21.1 4.7 938 22801 done 1.22 0.20 0.075 3299 535.0 2.33 0.037 2275 -593.1 404.7 30.60 0.230 1438 -8.0 0.146 - - - - - - 14.50 14.50 14.07
23068 end climb: SURFACE_DEPTH_REACHED
23068 begin surface coast
23094 end surface coast: CONTROL_FINISHED_OK
23094 begin surface
SM -1.79 - - - - -8.40 9.25 0.076 187 20.2 0.93 0.083 2770 -9311.8 500.14 44.60 0.156 1057 23.7 0.028 - - - - - -