SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 421 * Raw log
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• Previous call tries 1 • 149.88 of 350.00 AH used of 24V (57.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 1.54 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 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 - - 138 - - - 2768 - -107.1 -79.25 - 3478 - - - - - - - - 14.66 12.78 14.66
104 9.5 -14.0 3 121 roll -0.93 11.65 0.383 2593 210.7 2.35 0.032 1358 -600.0 -107.1 - - 3479 - - - - - - - - 14.00 14.43 14.36
157 34.5 -31.3 11 162 done -0.65 0.38 0.230 2686 244.7 2.55 0.073 2775 555.7 -107.1 - - 3479 - - - - - - - - 14.12 14.32 14.38
493 74.2 -10.0 26 498 roll -0.65 - - 2686 - 2.40 0.041 1370 -585.4 -107.1 - - 3481 - - - - - - - - 14.82 14.44 14.82
639 86.9 -8.1 47 645 done -0.65 - - 2676 - 2.50 0.067 2761 556.4 -107.1 - - 3482 - - - - - - - - 14.46 14.37 14.50
969 109.1 -6.6 59 970 done -0.65 - - 2676 - - - 2761 - -107.1 - - 3481 - - - - - - - - 14.88 14.89 14.88
1305 132.8 -7.5 65 1311 roll -0.65 - - 2667 - 2.03 0.109 3829 526.1 -107.1 - - 3482 - - - - - - - - 14.91 14.35 14.91
1502 150.3 -8.9 93 1508 done -0.65 - - 2668 - 1.77 0.041 2731 -620.3 -107.1 - - 3481 - - - - - - - - 14.72 14.67 14.73
1865 180.4 -8.2 103 1870 roll -0.65 - - 2668 - 2.28 0.042 1387 -589.5 -107.1 - - 3479 - - - - - - - - 14.94 14.55 14.94
1906 183.8 -8.2 109 1913 done -0.65 0.08 0.208 2682 175.0 2.47 0.067 2766 558.3 -107.1 - - 3479 - - - - - - - - 14.28 14.42 14.42
2257 210.6 -7.7 117 2263 roll -0.73 - - 2682 - 2.35 0.041 1391 -585.1 -107.1 - - 3476 - - - - - - - - 14.95 14.57 14.95
2298 214.2 -8.3 123 2304 done -0.82 0.05 0.116 2621 -1220.0 2.47 0.067 2764 555.9 -107.1 - - 3472 - - - - - - - - 14.41 14.42 14.50
2649 249.1 -9.7 131 2650 done -0.82 - - 2621 - - - 2764 - -107.1 - - 3473 - - - - - - - - 14.95 14.95 14.95
2985 280.3 -9.3 137 2985 done -0.82 - - 2621 - - - 2764 - -107.1 - - 3471 - - - - - - - - 14.95 14.95 14.95
3321 313.1 -9.8 143 3321 done -0.82 - - 2624 - - - 2764 - -107.1 - - 3469 - - - - - - - - 14.94 14.94 14.94
3657 347.0 -10.1 149 3663 roll -0.82 - - 2612 - 1.98 0.112 3824 535.4 -107.1 - - 3467 - - - - - - - - 14.94 14.35 14.94
3705 352.0 -10.3 156 3712 done -0.82 - - 2612 - 1.77 0.041 2771 -594.9 -107.1 - - 3467 - - - - - - - - 14.66 14.65 14.67
4049 386.8 -10.2 163 4054 roll -0.82 - - 2611 - 2.38 0.042 1379 -584.9 -107.1 - - 3465 - - - - - - - - 14.93 14.52 14.93
4097 391.8 -10.1 170 4104 done -0.82 0.10 0.223 2629 180.0 2.50 0.067 2760 552.4 -107.1 - - 3465 - - - - - - - - 14.21 14.39 14.37
4441 423.6 -9.3 177 4447 roll -0.82 - - 2632 - 2.35 0.043 1381 -586.8 -107.1 - - 3463 - - - - - - - - 14.93 14.52 14.92
4475 426.8 -9.3 182 4481 done -0.82 - - 2622 - 2.50 0.067 2764 553.2 -107.1 - - 3463 - - - - - - - - 14.49 14.40 14.53
4833 458.5 -8.7 191 4838 roll -0.82 - - 2618 - 2.40 0.042 1375 -578.8 -107.1 - - 3461 - - - - - - - - 14.93 14.51 14.93
4860 460.9 -8.6 195 4866 done -0.82 - - 2612 - 2.53 0.067 2764 549.0 -107.1 - - 3461 - - - - - - - - 14.46 14.37 14.51
5225 492.4 -8.6 205 5231 roll -0.82 - - 2603 - 2.03 0.112 3842 531.0 -107.1 - - 3460 - - - - - - - - 14.92 14.29 14.92
5294 499.0 -9.5 215 5300 done -0.82 0.10 0.216 2632 290.0 1.85 0.041 2749 -590.8 -107.1 - - 3459 - - - - - - - - 14.24 14.62 14.40
5617 525.9 -8.4 226 5622 roll -0.82 - - 2632 - 2.35 0.043 1379 -583.0 -107.1 - - 3458 - - - - - - - - 14.92 14.50 14.92
5679 531.3 -8.3 235 5685 done -0.82 - - 2623 - 2.50 0.067 2754 550.0 -107.1 - - 3457 - - - - - - - - 14.45 14.35 14.51
6009 560.4 -9.0 247 6010 done -0.82 - - 2623 - - - 2754 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.92
6345 590.6 -9.0 253 6351 roll -0.82 - - 2622 - 2.38 0.043 1384 -575.6 -107.1 - - 3455 - - - - - - - - 14.92 14.49 14.92
6386 594.4 -8.9 259 6392 done -0.82 - - 2613 - 2.50 0.069 2750 546.4 -107.1 - - 3455 - - - - - - - - 14.45 14.33 14.48
6737 625.8 -9.0 267 6742 roll -0.82 - - 2605 - 2.08 0.113 3827 517.8 -107.1 - - 3453 - - - - - - - - 14.90 14.26 14.92
6771 629.1 -9.7 272 6777 done -0.82 0.08 0.221 2626 262.5 1.85 0.044 2753 -580.5 -107.1 - - 3453 - - - - - - - - 14.22 14.57 14.35
7129 660.2 -8.9 281 7135 roll -0.82 - - 2627 - 2.38 0.045 1372 -580.3 -107.1 - - 3451 - - - - - - - - 14.92 14.47 14.92
7177 664.9 -9.4 288 7184 done -0.82 - - 2617 - 2.50 0.067 2743 548.4 -107.1 - - 3451 - - - - - - - - 14.40 14.31 14.45
7521 698.1 -9.7 295 7521 done -0.82 - - 2617 - - - 2743 - -107.1 - - 3450 - - - - - - - - 14.91 14.91 14.91
7857 730.2 -9.5 301 7858 done -0.82 - - 2617 - - - 2743 - -107.1 - - 3449 - - - - - - - - 14.88 14.91 14.91
8193 759.3 -8.4 307 8198 roll -0.82 - - 2616 - 2.40 0.045 1369 -572.5 -107.1 - - 3446 - - - - - - - - 14.94 14.39 14.94
8234 762.8 -8.5 313 8241 done -0.82 - - 2608 - 2.53 0.068 2751 546.2 -107.1 - - 3448 - - - - - - - - 14.40 14.30 14.45
8585 790.5 -7.9 321 8585 done -0.82 - - 2607 - - - 2751 - -107.1 - - 3446 - - - - - - - - 14.91 14.90 14.91
8921 817.9 -8.1 327 8926 roll -0.82 - - 2600 - 2.03 0.115 3824 528.6 -107.1 - - 3446 - - - - - - - - 14.90 14.19 14.90
8962 821.6 -7.1 333 8969 done -0.82 0.10 0.218 2627 270.0 1.85 0.044 2751 -580.0 -107.1 - - 3445 - - - - - - - - 14.13 14.53 14.30
9313 847.8 -7.4 341 9319 roll -0.82 - - 2628 - 2.40 0.045 1368 -576.2 -107.1 - - 3444 - - - - - - - - 14.88 14.42 14.90
9369 852.1 -7.7 349 9375 done -0.82 - - 2618 - 2.47 0.068 2749 559.1 -107.1 - - 3444 - - - - - - - - 14.48 14.31 14.52
9705 879.3 -8.2 362 9706 done -0.82 - - 2617 - - - 2748 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.91
10041 908.1 -8.7 368 10041 done -0.82 - - 2616 - - - 2748 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
10318 end dive: TARGET_DEPTH_EXCEEDED
10318 begin apogee
10325 932.4 -8.7 373 10438 roll -0.23 0.70 0.172 2824 297.1 - - 2226 - - 109.88 1.958 3053 -3.5 0.331 - - - - - - 14.12 13.97 12.98
10439 end apogee: CONTROL_FINISHED_OK
10439 begin climb
10442 936.8 - 375 10569 roll 0.93 1.10 0.087 3184 327.3 2.42 0.057 884 -554.5 107.1 117.70 1.926 2622 -3.7 0.350 - - - - - - 14.00 14.01 12.87
10574 934.2 6.2 395 10616 done 0.76 0.12 0.208 3150 -283.3 2.53 0.050 2257 542.7 137.6 33.50 1.969 2497 -3.7 0.348 - - - - - - 13.75 13.87 12.88
10942 908.0 7.6 412 10947 roll 0.77 - - 3150 - 2.62 0.101 3656 534.0 140.9 - - 2489 - - - - - - - - 14.66 14.27 14.67
11052 898.5 8.6 428 11057 done 0.67 0.17 0.217 3111 -229.4 2.38 0.041 2277 -579.4 140.9 - - 2489 - - - - - - - - 14.19 14.47 14.42
11388 876.2 6.7 441 11422 roll 0.69 - - 3110 - 2.65 0.101 3646 516.6 161.4 25.92 1.952 2401 -3.4 0.300 - - - - - - 14.79 14.29 13.35
11443 871.9 9.5 449 11450 done 0.69 - - 3121 - 2.42 0.041 2248 -577.7 161.4 - - 2399 - - - - - - - - 14.45 14.39 14.47
11780 844.2 8.5 462 11785 roll 0.69 - - 3121 - 2.65 0.103 3649 528.7 161.4 - - 2396 - - - - - - - - 14.76 14.30 14.76
11820 840.2 10.9 468 11827 done 0.69 - - 3130 - 2.45 0.041 2254 -569.4 161.4 - - 2396 - - - - - - - - 14.48 14.44 14.50
12171 809.8 8.7 476 12172 done 0.69 - - 3129 - - - 2251 - 161.4 - - 2396 - - - - - - - - 14.81 14.81 14.82
12507 780.9 8.6 482 12513 roll 0.69 - - 3130 - 2.65 0.103 3650 527.9 161.4 - - 2394 - - - - - - - - 14.84 14.29 14.84
12577 774.4 9.0 492 12582 done 0.69 - - 3140 - 2.42 0.041 2260 -574.4 161.4 - - 2395 - - - - - - - - 14.52 14.48 14.54
12899 746.4 8.6 503 12900 done 0.69 - - 3141 - - - 2256 - 161.4 - - 2394 - - - - - - - - 14.85 14.85 14.85
13235 719.5 7.9 509 13241 roll 0.69 - - 3141 - 2.62 0.104 3647 530.9 161.4 - - 2394 - - - - - - - - 14.86 14.28 14.85
13284 715.4 8.4 516 13291 done 0.69 - - 3151 - 2.42 0.040 2259 -573.6 161.4 - - 2394 - - - - - - - - 14.50 14.47 14.52
13627 688.7 7.7 523 13628 done 0.69 - - 3148 - - - 2259 - 162.0 - - 2393 - - - - - - - - 14.86 14.86 14.86
13964 662.7 7.7 529 13969 roll 0.69 - - 3151 - 2.65 0.103 3655 526.8 162.5 - - 2393 - - - - - - - - 14.88 14.25 14.88
14012 658.4 8.9 536 14019 done 0.69 0.12 0.209 3125 -216.7 2.42 0.041 2269 -572.7 162.5 - - 2392 - - - - - - - - 14.09 14.43 14.26
14355 634.2 7.1 543 14376 roll 0.71 - - 3124 - 2.60 0.104 3653 532.3 175.8 14.35 1.874 2344 -3.3 0.223 - - - - - - 14.88 14.44 13.46
14411 629.7 8.6 551 14417 done 0.71 - - 3134 - 2.40 0.041 2255 -582.5 175.8 - - 2341 - - - - - - - - 14.59 14.51 14.60
14747 602.1 8.3 564 14752 roll 0.71 - - 3134 - 2.62 0.102 3646 530.9 175.8 - - 2339 - - - - - - - - 14.83 14.26 14.83
14775 599.5 9.3 568 14780 done 0.71 - - 3145 - 2.40 0.041 2272 -572.5 175.8 - - 2340 - - - - - - - - 14.50 14.45 14.51
15139 568.2 8.5 578 15145 roll 0.71 - - 3145 - 2.62 0.103 3654 527.5 175.8 - - 2340 - - - - - - - - 14.83 14.26 14.83
15166 565.6 9.0 582 15172 done 0.71 - - 3156 - 2.45 0.041 2255 -571.0 175.8 - - 2340 - - - - - - - - 14.49 14.45 14.52
15531 536.7 7.8 592 15537 roll 0.71 - - 3156 - 2.65 0.100 3656 528.7 175.8 - - 2341 - - - - - - - - 14.87 14.26 14.87
15593 531.3 8.9 601 15601 done 0.71 0.10 0.213 3136 -200.0 2.42 0.040 2264 -575.2 175.8 - - 2340 - - - - - - - - 14.10 14.42 14.27
15923 508.5 6.9 613 15950 roll 0.73 - - 3146 - 2.53 0.061 859 -555.3 192.6 18.58 1.688 2273 -3.6 0.214 - - - - - - 14.85 14.47 13.54
15980 504.4 7.3 621 15991 done 0.74 - - 3146 - 2.45 0.054 2270 575.9 202.2 4.28 1.628 2251 -5.1 0.313 - - - - - - 14.53 14.40 12.98
16315 477.3 8.2 634 16321 roll 0.74 - - 3146 - 2.60 0.101 3656 533.1 202.2 1.65 0.274 2246 -3.0 1.038 - - - - - - 14.78 14.04 13.65
16384 470.7 9.7 644 16391 done 0.74 - - 3157 - 2.42 0.040 2268 -573.6 202.2 1.48 0.250 2245 - - - - - - - - 14.45 14.40 13.74
16707 443.5 8.3 655 16713 roll 0.74 - - 3156 - 2.65 0.101 3658 524.5 202.2 1.55 0.263 2247 - - - - - - - - 14.81 14.05 13.73
16755 439.0 9.5 662 16763 done 0.74 - - 3167 - 2.42 0.040 2275 -571.5 202.2 1.42 0.249 2246 - - - - - - - - 14.46 14.42 13.76
17100 407.9 9.1 669 17106 roll 0.74 - - 3178 - 2.50 0.060 852 -569.2 202.2 1.58 0.266 2246 - - - - - - - - 14.83 14.02 13.64
17133 404.7 9.3 674 17140 done 0.74 0.12 0.195 3141 -308.3 2.50 0.053 2271 567.6 202.2 1.12 0.248 2244 - - - - - - - - 14.09 14.33 13.89
17491 375.3 8.2 683 17497 roll 0.74 - - 3140 - 2.60 0.101 3657 533.1 202.2 1.50 0.260 2245 - - - - - - - - 14.87 14.05 13.73
17553 369.3 9.7 692 17560 done 0.74 - - 3151 - 2.42 0.039 2262 -576.4 202.2 1.38 0.243 2245 - - - - - - - - 14.46 14.43 13.76
17883 339.5 9.1 704 17886 done 0.74 - - 3151 - - - 2259 - 202.2 1.60 0.265 2244 - - - - - - - - 14.87 14.18 13.64
18220 311.9 8.0 710 18226 roll 0.74 - - 3151 - 2.72 0.101 3655 513.2 202.2 1.58 0.265 2247 1.9 -0.439 - - - - - - 14.87 14.20 13.56
18295 305.5 8.4 721 18303 done 0.74 - - 3161 - 2.40 0.038 2279 -573.3 202.2 1.38 0.226 2248 - - - - - - - - 14.45 14.42 13.82
18660 278.1 7.6 731 18665 done 0.75 - - 3161 - - - 2276 - 205.2 3.90 1.375 2235 -3.3 0.133 - - - - - - 14.85 14.38 13.15
18997 249.4 8.8 737 19003 roll 0.75 - - 3161 - 2.65 0.102 3654 520.0 205.2 2.55 0.833 2235 - - - - - - - - 14.84 14.38 13.05
19044 244.4 10.5 744 19052 done 0.75 0.08 0.216 3148 -162.5 2.40 0.039 2272 -575.8 205.2 1.83 0.344 2235 - - - - - - - - 14.21 14.47 13.75
19388 213.0 9.2 751 19394 roll 0.75 - - 3158 - 2.47 0.058 861 -571.3 205.2 1.73 0.304 2235 - - - - - - - - 14.84 13.99 13.50
19415 210.3 9.3 755 19421 done 0.75 - - 3158 - 2.50 0.052 2280 567.6 205.2 - - 2241 - - - - - - - - 14.37 14.28 14.42
19781 175.2 9.7 765 19786 roll 0.75 - - 3157 - 2.58 0.102 3654 532.6 205.2 - - 2244 - - - - - - - - 14.88 14.24 14.88
19849 168.0 10.1 775 19856 done 0.75 - - 3168 - 2.38 0.037 2277 -578.6 205.2 1.95 0.327 2235 -4.6 0.466 - - - - - - 14.47 14.43 13.55
20172 139.7 8.6 786 20178 roll 0.75 - - 3179 - 2.47 0.058 868 -570.4 205.2 1.75 0.313 2239 2.3 -0.201 - - - - - - 14.85 13.97 13.50
20192 138.1 8.1 789 20200 done 0.75 0.10 0.194 3149 -300.0 2.50 0.052 2283 566.0 205.2 1.23 0.249 2236 -2.4 0.266 - - - - - - 14.12 14.32 13.81
20509 116.7 6.7 799 20523 done 0.77 - - 3149 - - - 2284 - 225.5 12.40 0.493 2151 -6.9 0.319 - - - - - - 14.85 14.41 13.88
20817 94.3 7.5 805 20824 roll 0.78 - - 3148 - 2.62 0.100 3654 522.9 230.2 3.42 0.370 2135 -4.7 0.234 - - - - - - 14.85 14.28 13.73
20978 80.4 9.1 828 20983 done 0.78 - - 3158 - 2.33 0.038 2284 -588.0 230.2 - - 2141 - - - - - - - - 14.55 14.46 14.57
21314 56.9 5.7 843 21342 roll 0.91 - - 3168 - 2.47 0.059 863 -575.3 270.4 21.67 0.330 1973 -7.8 0.263 - - - - - - 14.83 14.28 14.01
21462 47.2 6.4 864 21482 done 1.07 0.17 0.080 3262 552.9 2.45 0.050 2284 580.0 298.2 14.60 0.299 1862 -7.6 0.236 - - - - - - 14.44 14.36 14.01
21792 24.4 5.5 878 21819 roll 1.13 - - 3273 - 2.58 0.059 858 -552.7 342.4 21.83 0.233 1686 -8.1 0.166 - - - - - - 14.82 14.31 14.06
21832 23.0 2.6 884 21887 done 1.25 - - 3273 - 2.47 0.050 2273 572.9 445.0 49.17 0.227 1276 -8.3 0.166 - - - - - - 14.41 14.33 14.12
22210 end climb: SURFACE_DEPTH_REACHED
22210 begin surface coast
22236 end surface coast: CONTROL_FINISHED_OK
22236 begin surface
SM 1.27 - - - - -8.44 8.95 0.051 161 18.0 0.93 0.114 2757 -6986.0 500.14 25.33 0.156 1058 41.8 -0.035 - - - - - -