SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 423 * Raw log
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• Previous call tries 3 • 150.52 of 350.00 AH used of 24V (56.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.39 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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 - - 110 - - - 2783 - -107.1 -76.88 - 3478 - - - - - - - - 14.70 12.58 14.69
97 2.8 -5.0 2 116 roll -0.93 11.85 0.383 2592 209.5 2.38 0.034 1377 -590.8 -107.1 - - 3480 - - - - - - - - 13.99 14.42 14.35
244 47.2 -13.4 24 249 done -0.75 0.25 0.235 2651 236.0 2.47 0.069 2771 564.4 -107.1 - - 3480 - - - - - - - - 14.16 14.38 14.42
564 77.8 -5.5 37 565 done -0.75 - - 2649 - - - 2772 - -107.1 - - 3481 - - - - - - - - 14.87 14.87 14.87
900 106.0 -8.0 48 905 roll -0.75 - - 2643 - 1.98 0.109 3825 531.8 -107.1 - - 3482 - - - - - - - - 14.90 14.33 14.90
1025 118.1 -9.9 66 1031 done -0.75 - - 2643 - 1.77 0.039 2744 -610.7 -107.1 - - 3482 - - - - - - - - 14.65 14.64 14.68
1349 148.0 -9.2 77 1354 roll -0.75 - - 2643 - 2.28 0.043 1397 -590.8 -107.1 - - 3480 - - - - - - - - 14.90 14.56 14.90
1466 159.0 -9.0 94 1472 done -0.75 - - 2634 - 2.42 0.067 2752 559.9 -107.1 - - 3479 - - - - - - - - 14.50 14.42 14.56
1796 188.9 -9.0 106 1801 roll -0.75 - - 2632 - 2.33 0.041 1396 -582.0 -107.1 - - 3477 - - - - - - - - 14.95 14.57 14.95
1830 192.0 -8.8 111 1837 done -0.75 0.08 0.218 2648 200.0 2.42 0.065 2754 561.2 -107.1 - - 3475 - - - - - - - - 14.27 14.42 14.42
2188 222.8 -8.7 120 2189 done -0.75 - - 2648 - - - 2753 - -107.1 - - 3474 - - - - - - - - 14.92 14.93 14.93
2524 253.2 -9.2 126 2529 roll -0.75 - - 2648 - 2.35 0.043 1391 -579.6 -107.1 - - 3471 - - - - - - - - 14.93 14.56 14.93
2607 261.1 -9.2 138 2613 done -0.75 - - 2639 - 2.47 0.068 2757 553.0 -107.1 - - 3471 - - - - - - - - 14.52 14.42 14.56
2972 295.4 -9.5 148 2973 done -0.75 - - 2639 - - - 2757 - -107.1 - - 3468 - - - - - - - - 14.95 14.95 14.95
3308 326.8 -9.2 154 3313 roll -0.75 - - 2639 - 2.35 0.043 1397 -578.7 -107.1 - - 3466 - - - - - - - - 14.95 14.55 14.95
3364 332.2 -9.5 162 3369 done -0.75 - - 2630 - 2.42 0.067 2757 562.0 -107.1 - - 3465 - - - - - - - - 14.62 14.43 14.64
3700 366.1 -10.3 175 3705 roll -0.75 - - 2621 - 2.03 0.112 3843 535.0 -107.1 - - 3464 - - - - - - - - 14.93 14.33 14.93
3756 372.3 -10.9 183 3761 done -0.75 0.10 0.206 2652 310.0 1.83 0.042 2770 -586.3 -107.1 - - 3468 - - - - - - - - 14.27 14.60 14.42
4092 402.5 -8.8 196 4097 roll -0.75 - - 2652 - 2.38 0.044 1375 -586.1 -107.1 - - 3461 - - - - - - - - 14.92 14.53 14.92
4133 406.2 -8.8 202 4139 done -0.75 - - 2643 - 2.50 0.067 2762 554.8 -107.1 - - 3461 - - - - - - - - 14.48 14.40 14.54
4484 436.0 -8.4 210 4485 done -0.75 - - 2643 - - - 2762 - -107.1 - - 3462 - - - - - - - - 14.93 14.95 14.95
4820 463.2 -8.0 216 4821 done -0.75 - - 2644 - - - 2762 - -107.1 - - 3458 - - - - - - - - 14.95 14.95 14.95
5156 490.2 -8.0 222 5161 roll -0.75 - - 2643 - 2.40 0.044 1378 -576.7 -107.1 - - 3455 - - - - - - - - 14.93 14.52 14.93
5218 495.2 -7.7 231 5224 done -0.75 - - 2634 - 2.53 0.068 2754 543.9 -107.1 - - 3456 - - - - - - - - 14.46 14.37 14.51
5548 520.7 -7.7 243 5553 roll -0.75 - - 2632 - 2.40 0.044 1371 -576.2 -107.1 - - 3453 - - - - - - - - 14.95 14.56 14.95
5582 523.5 -8.1 248 5588 done -0.75 0.10 0.211 2654 220.0 2.50 0.067 2753 552.8 -107.1 - - 3453 - - - - - - - - 14.16 14.35 14.33
5940 549.5 -7.3 257 5946 roll -0.75 - - 2653 - 2.00 0.112 3818 532.5 -107.1 - - 3452 - - - - - - - - 14.92 14.30 14.92
6002 554.3 -7.9 266 6008 done -0.75 - - 2645 - 1.83 0.043 2749 -584.2 -107.1 - - 3452 - - - - - - - - 14.61 14.59 14.62
6332 579.8 -7.8 278 6337 roll -0.75 - - 2645 - 2.35 0.044 1378 -583.4 -107.1 - - 3450 - - - - - - - - 14.94 14.49 14.94
6422 587.0 -7.8 291 6428 done -0.75 - - 2637 - 2.47 0.067 2745 553.4 -107.1 - - 3449 - - - - - - - - 14.42 14.33 14.46
6780 615.9 -8.1 300 6785 roll -0.75 - - 2636 - 2.38 0.044 1376 -575.2 -107.1 - - 3448 - - - - - - - - 14.91 14.47 14.92
6828 619.9 -8.3 307 6836 done -0.75 0.08 0.223 2649 162.5 2.53 0.069 2753 544.3 -107.1 - - 3448 - - - - - - - - 14.14 14.31 14.30
7172 645.2 -7.3 314 7173 done -0.75 - - 2649 - - - 2753 - -107.1 - - 3448 - - - - - - - - 14.93 14.93 14.93
7508 669.5 -7.3 320 7513 roll -0.75 - - 2649 - 2.40 0.044 1380 -572.1 -107.1 - - 3447 - - - - - - - - 14.93 14.47 14.93
7542 672.3 -7.9 325 7549 done -0.75 - - 2641 - 2.50 0.068 2744 545.6 -107.1 - - 3446 - - - - - - - - 14.40 14.28 14.45
7900 700.0 -7.8 334 7901 done -0.75 - - 2641 - - - 2744 - -107.1 - - 3444 - - - - - - - - 14.90 14.91 14.91
8236 724.8 -7.4 340 8241 roll -0.75 - - 2640 - 2.40 0.044 1380 -568.3 -107.1 - - 3443 - - - - - - - - 14.93 14.46 14.93
8270 727.4 -7.6 345 8277 done -0.75 - - 2632 - 2.50 0.069 2748 547.2 -107.1 - - 3443 - - - - - - - - 14.40 14.29 14.45
8628 753.9 -7.4 354 8629 done -0.75 - - 2632 - - - 2748 - -107.1 - - 3442 - - - - - - - - 14.89 14.89 14.89
8964 779.4 -7.6 360 8965 done -0.75 - - 2632 - - - 2749 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
9300 807.4 -8.3 366 9305 roll -0.75 - - 2631 - 2.42 0.045 1372 -569.0 -107.1 - - 3440 - - - - - - - - 14.90 14.40 14.90
9341 811.8 -9.2 372 9347 done -0.75 0.10 0.213 2651 200.0 2.55 0.068 2751 540.8 -107.1 - - 3440 - - - - - - - - 14.04 14.23 14.21
9692 842.6 -8.9 380 9693 done -0.83 - - 2651 - - - 2750 - -107.1 - - 3439 - - - - - - - - 14.89 14.89 14.90
10028 869.0 -7.6 386 10034 roll -0.91 0.10 0.113 2578 -730.0 2.40 0.045 1382 -570.0 -107.1 - - 3439 - - - - - - - - 14.57 14.39 14.62
10069 873.2 -8.5 392 10075 done -0.91 0.10 0.216 2596 180.0 2.50 0.067 2741 543.6 -107.1 - - 3438 - - - - - - - - 14.02 14.26 14.20
10420 906.9 -9.7 400 10425 roll -0.91 - - 2590 - 2.08 0.115 3834 525.5 -107.1 - - 3437 - - - - - - - - 14.91 14.15 14.91
10496 914.8 -10.2 411 10502 done -0.91 - - 2589 - 1.90 0.043 2738 -576.8 -107.1 - - 3437 - - - - - - - - 14.50 14.48 14.52
10697 end dive: TARGET_DEPTH_EXCEEDED
10697 begin apogee
10704 934.7 -9.8 419 10816 roll -0.23 0.80 0.179 2821 290.0 0.08 0.179 2258 -6000.0 - 109.55 1.953 3050 -3.5 0.338 - - - - - - 14.05 13.91 12.93
10818 end apogee: CONTROL_FINISHED_OK
10818 begin climb
10821 939.1 - 421 10947 roll 0.93 1.12 0.089 3187 326.8 2.55 0.056 858 -549.0 107.1 117.22 1.940 2622 -3.7 0.353 - - - - - - 13.99 14.02 12.86
10975 935.2 7.1 444 10996 done 0.80 - - 3188 - 2.50 0.050 2253 558.0 120.1 14.38 2.075 2567 -3.8 0.344 - - - - - - 14.08 13.97 12.92
11311 907.6 8.6 457 11317 roll 0.68 0.22 0.220 3124 -290.9 2.60 0.098 3658 540.4 120.1 - - 2558 - - - - - - - - 14.14 14.27 14.41
11380 902.2 7.7 467 11386 done 0.68 - - 3135 - 2.47 0.040 2238 -574.9 120.8 - - 2558 - - - - - - - - 14.46 14.41 14.47
11703 879.4 7.1 478 11723 roll 0.70 - - 3135 - 2.67 0.102 3654 530.3 133.9 14.23 2.058 2509 -3.4 0.294 - - - - - - 14.81 14.38 13.40
11759 874.9 10.2 486 11766 done 0.61 0.17 0.217 3097 -223.5 2.42 0.040 2245 -582.2 133.9 - - 2507 - - - - - - - - 14.21 14.45 14.45
12096 853.1 6.5 499 12129 roll 0.65 - - 3096 - 2.67 0.103 3649 525.8 159.2 28.45 1.935 2413 -3.3 0.291 - - - - - - 14.79 14.14 13.33
12171 847.7 7.7 510 12178 done 0.65 - - 3106 - 2.45 0.040 2254 -569.4 160.0 - - 2409 - - - - - - - - 14.38 14.35 14.40
12487 825.6 7.0 520 12513 roll 0.67 - - 3106 - 2.72 0.103 3653 514.3 174.7 17.98 1.991 2346 -3.5 0.290 - - - - - - 14.74 14.31 13.38
12535 821.9 9.2 527 12543 done 0.67 - - 3116 - 2.45 0.041 2264 -566.9 174.7 - - 2344 - - - - - - - - 14.40 14.36 14.42
12880 796.0 7.6 534 12880 done 0.67 - - 3115 - - - 2264 - 177.3 - - 2343 - - - - - - - - 14.76 14.76 14.76
13215 769.0 8.1 540 13220 roll 0.67 - - 3116 - 2.62 0.103 3650 529.0 177.3 - - 2342 - - - - - - - - 14.81 14.30 14.82
13263 764.4 9.6 547 13271 done 0.67 - - 3126 - 2.42 0.041 2263 -573.1 177.3 - - 2342 - - - - - - - - 14.50 14.45 14.52
13607 733.4 9.1 554 13613 roll 0.67 - - 3126 - 2.62 0.103 3649 529.0 177.3 - - 2340 - - - - - - - - 14.86 14.30 14.86
13648 729.2 10.1 560 13654 done 0.67 - - 3136 - 2.40 0.041 2271 -574.2 177.3 - - 2342 - - - - - - - - 14.52 14.48 14.54
13999 697.0 9.1 568 14004 roll 0.67 - - 3147 - 2.50 0.062 853 -567.2 177.3 - - 2341 - - - - - - - - 14.86 14.39 14.88
14040 693.2 9.0 574 14048 done 0.67 0.10 0.197 3114 -330.0 2.47 0.054 2259 569.2 177.3 - - 2341 - - - - - - - - 14.17 14.38 14.35
14391 665.1 8.0 582 14397 roll 0.67 - - 3116 - 2.62 0.103 3657 533.6 177.3 - - 2340 - - - - - - - - 14.86 14.26 14.86
14474 657.8 8.7 594 14481 done 0.67 - - 3126 - 2.45 0.040 2253 -573.1 177.3 - - 2340 - - - - - - - - 14.50 14.46 14.52
14839 629.6 7.6 604 14844 roll 0.67 - - 3126 - 2.67 0.103 3657 525.8 179.5 - - 2340 - - - - - - - - 14.85 14.26 14.86
14873 626.7 8.4 609 14879 done 0.67 - - 3136 - 2.42 0.041 2264 -575.6 179.5 - - 2340 - - - - - - - - 14.50 14.45 14.51
15232 599.5 7.6 618 15243 roll 0.68 - - 3146 - 2.53 0.062 868 -551.8 183.5 3.45 1.457 2324 -4.6 0.381 - - - - - - 14.85 14.44 13.03
15279 595.7 7.8 625 15287 done 0.68 - - 3146 - 2.47 0.054 2264 565.2 183.5 1.27 0.242 2324 - - - - - - - - 14.50 14.42 14.07
15623 568.3 8.0 632 15629 roll 0.68 - - 3146 - 2.62 0.102 3656 531.3 183.5 1.17 0.265 2322 - - - - - - - - 14.87 14.23 14.00
15650 565.8 8.7 636 15657 done 0.68 0.10 0.218 3127 -190.0 2.42 0.040 2267 -574.0 183.5 1.12 0.250 2321 - - - - - - - - 14.14 14.47 13.96
16015 539.1 7.2 646 16041 roll 0.69 - - 3126 - 2.70 0.103 3666 518.1 193.7 17.62 1.741 2271 -2.8 0.175 - - - - - - 14.88 14.42 13.52
16098 532.3 8.7 658 16105 done 0.69 - - 3137 - 2.45 0.040 2259 -574.3 193.7 - - 2269 - - - - - - - - 14.48 14.44 14.50
16463 503.8 7.8 668 16464 done 0.69 - - 3136 - - - 2259 - 193.7 - - 2267 - - - - - - - - 14.80 14.81 14.81
16799 477.1 7.9 674 16805 roll 0.69 - - 3135 - 2.65 0.103 3656 527.2 193.7 - - 2267 - - - - - - - - 14.85 14.23 14.85
16833 474.2 8.5 679 16839 done 0.69 - - 3147 - 2.42 0.041 2275 -570.7 193.7 - - 2267 - - - - - - - - 14.48 14.42 14.50
17191 446.3 7.7 688 17192 done 0.69 - - 3147 - - - 2273 - 194.5 - - 2267 - - - - - - - - 14.84 14.84 14.85
17527 419.3 8.2 694 17533 roll 0.69 - - 3147 - 2.62 0.104 3660 529.4 194.5 - - 2266 - - - - - - - - 14.85 14.23 14.85
17589 413.2 9.8 703 17595 done 0.69 0.10 0.210 3126 -210.0 2.45 0.040 2263 -570.2 194.5 - - 2267 - - - - - - - - 14.10 14.42 14.26
17919 386.3 8.2 715 17924 roll 0.69 - - 3138 - 2.47 0.062 865 -566.0 194.5 - - 2267 - - - - - - - - 14.85 14.32 14.85
17946 384.0 8.2 719 17952 done 0.69 - - 3137 - 2.50 0.053 2273 563.2 194.5 - - 2267 - - - - - - - - 14.40 14.33 14.45
18311 354.9 7.9 729 18316 roll 0.69 - - 3137 - 2.60 0.102 3655 531.5 194.5 - - 2267 - - - - - - - - 14.88 14.21 14.88
18380 348.7 9.3 739 18386 done 0.69 - - 3148 - 2.42 0.040 2270 -572.3 194.5 - - 2270 - - - - - - - - 14.46 14.41 14.48
18703 324.4 7.5 750 18706 done 0.69 0.08 0.253 3125 -287.5 - - 2268 - 198.8 1.30 0.236 2256 -10.8 2.956 - - - - - - 14.32 14.28 13.93
19039 300.5 7.1 756 19065 roll 0.71 - - 3124 - 2.67 0.103 3656 519.9 211.0 17.48 1.477 2205 -2.9 0.119 - - - - - - 14.85 14.45 13.62
19115 294.1 8.6 767 19121 done 0.71 - - 3134 - 2.42 0.039 2265 -574.8 211.0 - - 2202 - - - - - - - - 14.50 14.45 14.53
19431 269.0 7.9 777 19432 done 0.71 - - 3134 - - - 2262 - 211.0 - - 2200 - - - - - - - - 14.81 14.81 14.81
19767 241.7 8.1 783 19772 roll 0.71 - - 3134 - 2.62 0.101 3652 530.5 211.0 - - 2201 - - - - - - - - 14.83 14.23 14.83
19794 239.0 9.5 787 19800 done 0.71 - - 3144 - 2.40 0.039 2273 -574.6 211.0 - - 2201 - - - - - - - - 14.42 14.38 14.45
20160 205.8 8.9 797 20164 roll 0.71 - - 3154 - 2.47 0.062 862 -571.3 211.0 - - 2200 - - - - - - - - 14.87 14.35 14.87
20215 200.9 8.6 805 20220 done 0.71 - - 3154 - 2.47 0.052 2279 573.7 211.0 - - 2200 - - - - - - - - 14.51 14.37 14.54
20551 173.2 8.1 818 20557 roll 0.71 - - 3154 - 2.58 0.101 3656 533.7 211.0 - - 2201 - - - - - - - - 14.88 14.23 14.88
20613 167.5 9.1 827 20620 done 0.71 0.10 0.201 3134 -200.0 2.40 0.038 2272 -576.7 211.0 - - 2201 - - - - - - - - 14.12 14.42 14.27
20943 143.1 7.5 839 20946 done 0.72 - - 3134 - - - 2269 - 216.4 1.80 0.288 2189 -6.7 0.661 - - - - - - 14.88 14.13 13.43
21279 118.2 7.3 845 21287 done 0.73 - - 3134 - - - 2269 - 226.0 6.60 0.480 2152 -5.6 0.276 - - - - - - 14.88 14.32 13.76
21588 96.1 7.3 851 21599 roll 0.83 - - 3145 - 2.53 0.061 864 -555.3 234.0 5.85 0.415 2118 -5.8 0.269 - - - - - - 14.87 14.36 13.81
21615 93.9 7.8 855 21621 done 0.92 0.10 0.115 3210 650.0 2.45 0.052 2278 577.1 234.0 - - 2125 - - - - - - - - 14.47 14.40 14.55
21951 60.7 9.5 870 21957 roll 0.92 - - 3210 - 2.58 0.102 3655 533.7 234.0 - - 2127 - - - - - - - - 14.85 14.23 14.85
22055 50.1 10.4 885 22063 done 0.92 - - 3220 - 2.40 0.037 2267 -578.3 234.0 - - 2126 - - - - - - - - 14.47 14.43 14.49
22371 33.2 4.9 897 22403 done 0.99 - - 3220 - - - 2266 - 291.8 30.12 0.269 1888 -7.9 0.195 - - - - - - 14.87 14.39 14.08
22707 21.4 1.8 912 22770 roll 1.26 0.20 0.073 3327 535.0 2.67 0.096 3654 519.9 409.9 57.85 0.229 1417 -8.1 0.152 - - - - - - 14.54 14.33 14.14
22790 17.2 7.3 924 22803 done 1.27 - - 3335 - 2.38 0.037 2280 -577.3 419.5 5.28 0.220 1378 -7.4 0.115 - - - - - - 14.47 14.44 14.09
22977 end climb: SURFACE_DEPTH_REACHED
22977 begin surface coast
23005 end surface coast: CONTROL_FINISHED_OK
23005 begin surface
SM -1.22 - - - - -8.40 9.45 0.083 186 19.7 0.90 0.080 2764 -7211.1 500.14 37.47 0.156 1057 28.2 0.023 - - - - - -