SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 422 * Raw log
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• Previous call tries 2 • 150.21 of 350.00 AH used of 24V (57.08% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.4 deg, depth 1.40 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 3 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 - - - 100 done -0.93 - - 107 - - - 2771 - -107.1 -79.43 - 3478 - - - - - - - - 14.67 12.56 14.67
104 9.6 -14.3 3 121 roll -0.93 11.70 0.380 2589 212.1 2.35 0.030 1356 -602.1 -107.1 - - 3482 - - - - - - - - 14.02 14.37 14.28
277 54.7 -15.3 28 283 done -0.74 0.28 0.230 2656 239.3 2.53 0.072 2770 558.9 -107.1 - - 3481 - - - - - - - - 14.10 14.31 14.37
605 87.6 -10.3 42 610 roll -0.74 - - 2656 - 2.40 0.043 1365 -585.4 -107.1 - - 3483 - - - - - - - - 14.86 14.49 14.86
653 92.6 -10.1 49 661 done -0.74 - - 2646 - 2.50 0.066 2759 557.6 -107.1 - - 3483 - - - - - - - - 14.43 14.33 14.47
969 119.2 -8.0 57 975 roll -0.74 - - 2638 - 2.00 0.109 3828 534.5 -107.1 - - 3482 - - - - - - - - 14.89 14.33 14.90
1185 133.5 -7.5 88 1192 done -0.74 - - 2637 - 1.77 0.039 2760 -603.4 -107.1 - - 3482 - - - - - - - - 14.64 14.62 14.65
1529 167.2 -10.4 95 1529 done -0.74 - - 2637 - - - 2756 - -107.1 - - 3480 - - - - - - - - 14.92 14.92 14.92
1865 202.2 -9.9 101 1871 roll -0.74 - - 2637 - 2.33 0.044 1387 -587.6 -107.1 - - 3478 - - - - - - - - 14.92 14.54 14.93
1899 205.4 -9.0 106 1905 done -0.74 0.10 0.212 2658 210.0 2.50 0.067 2779 556.8 -107.1 - - 3478 - - - - - - - - 14.26 14.42 14.42
2257 233.3 -7.8 115 2262 roll -0.74 - - 2658 - 2.40 0.042 1383 -581.7 -107.1 - - 3475 - - - - - - - - 14.95 14.56 14.95
2313 237.7 -7.8 123 2318 done -0.74 - - 2650 - 2.47 0.067 2777 564.4 -107.1 - - 3474 - - - - - - - - 14.61 14.44 14.64
2649 266.2 -8.5 136 2654 roll -0.74 - - 2641 - 1.95 0.111 3833 541.5 -107.1 - - 3472 - - - - - - - - 14.95 14.35 14.95
2676 268.7 -9.1 140 2682 done -0.74 - - 2641 - 1.77 0.042 2776 -597.2 -107.1 - - 3472 - - - - - - - - 14.66 14.64 14.67
3041 301.8 -9.1 150 3046 roll -0.74 - - 2641 - 2.38 0.044 1377 -587.8 -107.1 - - 3470 - - - - - - - - 14.93 14.54 14.93
3131 309.8 -8.6 163 3137 done -0.74 - - 2632 - 2.50 0.067 2765 555.2 -107.1 - - 3470 - - - - - - - - 14.50 14.40 14.54
3489 341.6 -8.8 172 3494 roll -0.74 - - 2623 - 2.00 0.112 3818 526.5 -107.1 - - 3468 - - - - - - - - 14.93 14.29 14.93
3537 346.1 -9.4 179 3544 done -0.74 0.10 0.205 2654 310.0 1.77 0.043 2775 -589.3 -107.1 - - 3466 - - - - - - - - 14.28 14.61 14.42
3881 374.0 -8.2 186 3886 roll -0.74 - - 2654 - 2.40 0.044 1371 -585.0 -107.1 - - 3465 - - - - - - - - 14.97 14.52 14.93
3937 378.7 -8.4 194 3942 done -0.74 - - 2644 - 2.50 0.067 2775 561.6 -107.1 - - 3462 - - - - - - - - 14.59 14.42 14.62
4273 409.0 -9.1 207 4278 roll -0.74 - - 2645 - 2.42 0.042 1368 -581.4 -107.1 - - 3463 - - - - - - - - 14.95 14.52 14.95
4307 412.3 -9.6 212 4313 done -0.74 - - 2636 - 2.53 0.067 2765 552.2 -107.1 - - 3462 - - - - - - - - 14.47 14.38 14.52
4665 445.6 -9.1 221 4671 roll -0.74 - - 2636 - 2.42 0.043 1369 -576.9 -107.1 - - 3461 - - - - - - - - 14.92 14.51 14.93
4706 449.3 -8.8 227 4712 done -0.74 0.10 0.214 2656 200.0 2.53 0.067 2763 551.0 -107.1 - - 3461 - - - - - - - - 14.18 14.36 14.34
5057 474.2 -6.8 235 5062 roll -0.74 - - 2648 - 1.98 0.111 3826 536.9 -107.1 - - 3459 - - - - - - - - 14.92 14.32 14.92
5091 476.6 -7.1 240 5097 done -0.74 - - 2648 - 1.83 0.044 2747 -589.6 -107.1 - - 3459 - - - - - - - - 14.61 14.58 14.62
5449 500.8 -6.8 249 5455 roll -0.74 - - 2648 - 2.33 0.042 1385 -584.5 -107.1 - - 3457 - - - - - - - - 14.95 14.50 14.95
5511 505.2 -7.0 258 5517 done -0.74 - - 2639 - 2.50 0.067 2763 551.2 -107.1 - - 3457 - - - - - - - - 14.44 14.35 14.49
5841 530.5 -7.9 270 5842 done -0.74 - - 2639 - - - 2763 - -107.1 - - 3455 - - - - - - - - 14.90 14.90 14.90
6177 560.3 -9.0 276 6182 roll -0.74 - - 2638 - 2.42 0.043 1368 -576.4 -107.1 - - 3454 - - - - - - - - 14.92 14.45 14.92
6218 564.2 -9.2 282 6224 done -0.74 0.08 0.230 2652 175.0 2.55 0.068 2760 545.9 -107.1 - - 3454 - - - - - - - - 14.14 14.32 14.31
6569 592.7 -8.0 290 6570 done -0.74 - - 2652 - - - 2760 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
6905 615.4 -6.5 296 6910 roll -0.74 - - 2652 - 2.40 0.044 1387 -572.1 -107.1 - - 3450 - - - - - - - - 14.92 14.47 14.92
6974 620.0 -6.5 306 6980 done -0.74 - - 2644 - 2.53 0.067 2758 541.9 -107.1 - - 3450 - - - - - - - - 14.40 14.30 14.45
7297 642.7 -7.2 317 7303 roll -0.74 - - 2635 - 2.03 0.113 3832 529.1 -107.1 - - 3450 - - - - - - - - 14.95 14.23 14.94
7353 646.9 -7.7 325 7359 done -0.74 - - 2634 - 1.85 0.045 2761 -578.9 -107.1 - - 3446 - - - - - - - - 14.54 14.51 14.55
7689 673.2 -7.9 338 7694 roll -0.74 - - 2634 - 2.40 0.044 1369 -580.0 -107.1 - - 3448 - - - - - - - - 14.93 14.45 14.92
7745 677.8 -8.4 346 7750 done -0.74 0.10 0.240 2655 210.0 2.53 0.067 2764 551.4 -107.1 - - 3448 - - - - - - - - 14.18 14.34 14.40
8081 702.8 -7.5 359 8086 roll -0.82 - - 2655 - 2.40 0.043 1377 -577.9 -107.1 - - 3447 - - - - - - - - 14.92 14.34 14.92
8122 706.1 -7.7 365 8129 done -0.91 0.05 0.113 2599 -1120.0 2.53 0.067 2756 545.1 -107.1 - - 3446 - - - - - - - - 14.26 14.26 14.36
8473 740.2 -9.7 373 8474 done -0.91 - - 2591 - - - 2755 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
8809 771.5 -9.3 379 8809 done -0.91 - - 2591 - - - 2755 - -107.1 - - 3444 - - - - - - - - 14.92 14.92 14.93
9145 802.5 -9.4 385 9151 roll -0.91 - - 2591 - 2.42 0.044 1371 -571.9 -107.1 - - 3443 - - - - - - - - 14.92 14.42 14.92
9172 805.2 -9.5 389 9179 done -0.91 - - 2582 - 2.55 0.067 2754 542.4 -107.1 - - 3443 - - - - - - - - 14.34 14.25 14.38
9537 839.9 -9.7 399 9537 done -0.91 - - 2582 - - - 2754 - -107.1 - - 3443 - - - - - - - - 14.92 14.92 14.92
9873 872.2 -9.7 405 9879 roll -0.91 - - 2574 - 2.08 0.112 3830 517.3 -107.1 - - 3441 - - - - - - - - 14.90 14.11 14.90
9914 876.4 -10.3 411 9920 done -0.91 0.10 0.206 2601 270.0 1.88 0.044 2747 -576.1 -107.1 - - 3441 - - - - - - - - 14.12 14.51 14.26
10265 908.0 -9.1 419 10266 done -0.91 - - 2602 - - - 2745 - -107.1 - - 3441 - - - - - - - - 14.88 14.89 14.89
10542 end dive: TARGET_DEPTH_EXCEEDED
10542 begin apogee
10549 933.5 -9.0 424 10661 roll -0.23 0.75 0.175 2821 292.0 0.08 0.171 2257 -6100.0 - 109.57 1.969 3050 -3.6 0.338 - - - - - - 14.07 13.92 12.94
10663 end apogee: CONTROL_FINISHED_OK
10663 begin climb
10666 921.9 - 426 10791 roll 0.93 1.12 0.088 3189 328.6 2.58 0.056 846 -546.9 107.1 116.72 1.938 2622 -3.7 0.349 - - - - - - 13.98 14.01 12.85
10805 918.3 7.0 447 10828 done 0.74 0.17 0.229 3143 -270.6 2.55 0.050 2258 553.7 122.9 18.30 2.041 2558 -3.5 0.315 - - - - - - 13.77 13.91 12.88
11162 894.3 6.9 456 11187 roll 0.76 - - 3142 - 2.67 0.100 3657 524.0 139.6 17.55 2.023 2487 -4.0 0.358 - - - - - - 14.69 14.27 13.29
11318 882.1 8.2 478 11323 done 0.66 0.12 0.234 3119 -191.7 2.45 0.040 2233 -581.2 139.6 - - 2489 - - - - - - - - 14.16 14.43 14.42
11666 859.4 6.4 486 11700 roll 0.69 - - 3116 - 2.70 0.099 3655 526.7 165.8 29.10 1.953 2387 -3.5 0.308 - - - - - - 14.77 14.14 13.32
11791 849.8 8.1 504 11797 done 0.69 - - 3128 - 2.45 0.040 2255 -571.4 165.8 - - 2382 - - - - - - - - 14.41 14.37 14.42
12114 825.5 7.7 515 12119 roll 0.69 - - 3128 - 2.65 0.102 3651 526.8 166.3 - - 2380 - - - - - - - - 14.76 14.29 14.76
12176 820.3 8.0 524 12182 done 0.69 - - 3139 - 2.42 0.040 2260 -574.8 166.3 - - 2380 - - - - - - - - 14.50 14.46 14.52
12506 794.0 7.9 536 12511 roll 0.69 - - 3142 - 2.62 0.103 3652 531.3 166.3 - - 2379 - - - - - - - - 14.82 14.30 14.82
12540 790.9 8.9 541 12547 done 0.69 - - 3150 - 2.42 0.040 2255 -577.3 166.3 - - 2380 - - - - - - - - 14.52 14.47 14.54
12898 761.0 8.3 550 12903 roll 0.69 - - 3150 - 2.62 0.103 3653 533.6 166.3 - - 2379 - - - - - - - - 14.83 14.29 14.83
12946 756.4 9.6 557 12955 done 0.62 0.20 0.206 3104 -230.0 2.42 0.041 2260 -575.6 166.3 - - 2379 - - - - - - - - 14.14 14.47 14.32
13290 732.9 6.8 564 13317 roll 0.64 - - 3104 - 2.62 0.103 3659 534.0 185.0 22.17 1.885 2306 -3.3 0.256 - - - - - - 14.85 14.26 13.47
13352 728.1 8.2 573 13359 done 0.64 - - 3112 - 2.45 0.040 2259 -571.4 185.0 - - 2301 - - - - - - - - 14.47 14.42 14.47
13682 702.1 7.9 585 13688 roll 0.64 - - 3113 - 2.62 0.103 3652 531.7 185.0 - - 2300 - - - - - - - - 14.78 14.28 14.78
13716 699.0 9.2 590 13722 done 0.64 - - 3122 - 2.40 0.041 2276 -573.3 185.0 - - 2299 - - - - - - - - 14.50 14.45 14.52
14074 668.7 8.5 599 14075 done 0.64 - - 3122 - - - 2273 - 185.0 - - 2299 - - - - - - - - 14.82 14.83 14.83
14410 642.1 7.8 605 14416 roll 0.64 - - 3123 - 2.60 0.101 3651 530.0 185.0 - - 2299 - - - - - - - - 14.84 14.28 14.85
14458 637.9 8.7 612 14465 done 0.64 - - 3132 - 2.42 0.041 2270 -570.7 185.0 - - 2299 - - - - - - - - 14.49 14.45 14.51
14802 610.9 7.9 619 14807 roll 0.64 - - 3132 - 2.60 0.102 3652 531.5 185.0 - - 2299 - - - - - - - - 14.85 14.26 14.85
14843 607.1 9.1 625 14851 done 0.64 0.10 0.207 3113 -190.0 2.40 0.040 2273 -574.6 185.0 - - 2299 - - - - - - - - 14.16 14.46 14.31
15194 580.4 7.7 633 15195 done 0.64 - - 3113 - - - 2273 - 186.2 - - 2299 - - - - - - - - 14.88 14.88 14.88
15530 554.8 7.6 639 15535 roll 0.64 - - 3112 - 2.62 0.102 3655 527.5 189.2 - - 2298 - - - - - - - - 14.86 14.24 14.87
15571 551.4 8.3 645 15578 done 0.64 - - 3122 - 2.40 0.041 2274 -575.4 189.2 - - 2296 - - - - - - - - 14.50 14.46 14.52
15922 525.3 7.4 653 15936 roll 0.65 - - 3122 - 2.65 0.100 3658 522.3 196.5 10.02 1.850 2266 -3.0 0.170 - - - - - - 14.88 14.47 13.45
15998 519.2 8.1 664 16004 done 0.65 - - 3131 - 2.40 0.041 2285 -572.1 196.5 - - 2262 - - - - - - - - 14.52 14.48 14.56
16363 493.6 6.9 674 16390 roll 0.67 - - 3131 - 2.58 0.103 3651 529.5 213.5 20.50 1.670 2192 -3.4 0.202 - - - - - - 14.82 14.39 13.54
16419 489.4 7.8 682 16424 done 0.67 - - 3140 - 2.38 0.041 2275 -578.2 213.5 - - 2190 - - - - - - - - 14.53 14.45 14.54
16755 465.1 7.3 695 16767 roll 0.69 - - 3141 - 2.65 0.102 3653 520.0 222.9 4.35 1.653 2168 -5.1 0.285 - - - - - - 14.80 14.40 13.00
16782 462.8 8.1 699 16789 done 0.69 - - 3151 - 2.40 0.040 2281 -571.7 222.9 1.70 0.387 2166 - - - - - - - - 14.50 14.46 13.76
17147 433.7 8.0 709 17154 roll 0.69 - - 3151 - 2.60 0.100 3655 528.5 222.9 1.80 0.330 2165 - - - - - - - - 14.82 13.95 13.45
17203 428.4 9.6 717 17210 done 0.69 0.12 0.226 3124 -225.0 2.35 0.040 2290 -580.9 222.9 1.58 0.313 2165 - - - - - - - - 14.16 14.46 13.52
17542 402.7 7.7 730 17551 roll 0.69 - - 3135 - 2.58 0.062 857 -555.4 224.3 2.65 0.958 2165 - - - - - - - - 14.80 14.40 13.00
17573 399.9 7.9 735 17580 done 0.69 - - 3134 - 2.53 0.054 2286 564.8 224.3 1.50 0.279 2160 -3.3 0.956 - - - - - - 14.45 14.38 13.68
17931 370.4 8.3 744 17937 roll 0.69 - - 3134 - 2.58 0.100 3661 532.9 224.3 1.55 0.296 2161 - - - - - - - - 14.83 13.93 13.44
17993 364.8 9.0 753 18000 done 0.69 - - 3146 - 2.40 0.039 2286 -572.9 224.3 1.52 0.282 2162 - - - - - - - - 14.47 14.42 13.52
18323 338.3 8.0 765 18330 roll 0.69 - - 3146 - 2.65 0.102 3657 517.4 224.3 2.33 0.700 2159 -1.3 0.124 - - - - - - 14.86 14.37 13.03
18379 333.3 9.1 773 18386 done 0.69 0.10 0.232 3126 -200.0 2.35 0.040 2284 -584.3 224.3 - - 2165 - - - - - - - - 14.23 14.49 14.45
18715 309.0 7.2 786 18735 done 0.70 - - 3125 - - - 2280 - 235.6 18.42 1.480 2112 -2.9 0.120 - - - - - - 14.88 14.45 13.64
19052 283.9 7.6 792 19056 roll 0.79 - - 3126 - 2.62 0.103 3663 527.9 239.4 - - 2102 - - - - - - - - 14.79 14.23 14.79
19086 280.9 8.6 797 19093 done 0.79 - - 3134 - 2.38 0.040 2299 -573.1 239.4 - - 2102 - - - - - - - - 14.47 14.43 14.50
19443 252.6 7.8 806 19444 done 0.79 - - 3134 - - - 2298 - 239.4 - - 2102 - - - - - - - - 14.83 14.83 14.83
19779 227.2 7.6 812 19791 roll 0.79 - - 3134 - 2.62 0.101 3664 521.4 242.9 3.75 1.323 2085 -4.5 0.156 - - - - - - 14.83 14.44 13.12
19820 223.6 8.6 818 19826 done 0.79 - - 3145 - 2.38 0.039 2301 -572.7 242.9 - - 2089 - - - - - - - - 14.55 14.50 14.57
20171 196.0 7.8 826 20176 roll 0.79 - - 3155 - 2.55 0.062 863 -563.9 242.9 - - 2090 - - - - - - - - 14.85 14.35 14.84
20227 191.6 7.8 834 20232 done 0.79 - - 3159 - 2.50 0.052 2304 576.4 242.9 - - 2090 - - - - - - - - 14.53 14.39 14.56
20563 163.2 8.6 847 20568 roll 0.79 - - 3155 - 2.53 0.101 3658 535.2 242.9 - - 2090 - - - - - - - - 14.88 14.27 14.88
20619 157.9 9.8 855 20625 done 0.79 - - 3165 - 2.33 0.038 2295 -585.0 242.9 1.15 0.258 2084 -5.2 0.639 - - - - - - 14.57 14.46 14.02
20955 128.7 8.6 868 20960 roll 0.79 - - 3175 - 2.53 0.061 860 -567.2 242.9 - - 2090 - - - - - - - - 14.86 14.34 14.86
20982 126.5 8.0 872 20989 done 0.79 - - 3175 - 2.55 0.055 2304 566.3 242.9 1.38 0.242 2082 -5.8 0.606 - - - - - - 14.40 14.32 13.74
21320 97.4 8.8 882 21325 roll 0.79 - - 3175 - 2.53 0.099 3661 536.4 242.9 1.48 0.275 2083 - - - - - - - - 14.85 13.95 13.56
21388 90.4 10.3 892 21395 done 0.79 - - 3185 - 2.35 0.037 2305 -577.0 242.9 1.27 0.234 2083 - - - - - - - - 14.42 14.38 13.81
21711 60.9 7.9 905 21717 roll 0.79 - - 3195 - 2.53 0.060 866 -568.8 242.9 - - 2090 - - - - - - - - 14.85 14.35 14.85
21795 55.4 6.5 917 21815 done 0.82 - - 3195 - 2.53 0.054 2312 571.5 268.7 14.20 0.336 1982 -7.6 0.251 - - - - - - 14.51 14.35 13.99
22134 42.1 4.0 932 22178 roll 1.00 - - 3195 - 2.55 0.103 3660 528.6 342.9 37.85 0.296 1683 -7.9 0.225 - - - - - - 14.83 14.32 14.07
22411 26.1 4.8 972 22445 done 1.23 0.20 0.073 3308 565.0 2.30 0.037 2291 -595.2 402.6 29.30 0.245 1446 -8.1 0.172 - - - - - - 14.50 14.54 14.07
22778 2.9 3.3 991 22788 VBD 1.33 - - 3308 - - - 2291 - 490.5 8.93 0.168 1370 -8.5 0.029 - - - - - - 14.80 - 14.80
22788 end climb: SURFACE_DEPTH_REACHED
22788 begin surface coast
22793 end surface coast: CONTROL_FINISHED_OK
22793 begin surface
SM 1.83 - - - - -8.40 8.93 0.049 183 20.5 0.90 0.088 2770 -6631.1 500.14 36.28 0.158 1057 29.1 -0.034 - - - - - -