SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 424 * Raw log
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• Previous call tries 1 • 150.84 of 350.00 AH used of 24V (56.90% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -69.2 deg, depth -1.26 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 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 - - - 99 done -0.93 - - 107 - - - 2778 - -107.1 -77.97 - 3479 - - - - - - - - 14.66 12.55 14.66
103 6.7 -14.3 3 121 roll -0.93 11.62 0.376 2591 213.8 2.42 0.036 1349 -590.5 -107.1 - - 3479 - - - - - - - - 14.04 14.40 14.38
233 42.2 -14.0 22 240 done -0.76 0.22 0.226 2644 240.9 2.58 0.068 2767 549.6 -107.1 - - 3480 - - - - - - - - 14.09 14.26 14.27
549 73.7 -9.9 34 554 roll -0.76 - - 2642 - 2.40 0.041 1368 -582.9 -107.1 - - 3482 - - - - - - - - 14.83 14.48 14.83
577 76.4 -9.7 38 582 done -0.76 - - 2635 - 2.50 0.067 2781 565.2 -107.1 - - 3482 - - - - - - - - 14.54 14.36 14.57
913 107.8 -9.9 52 918 roll -0.76 - - 2626 - 1.95 0.109 3818 531.8 -107.1 - - 3481 - - - - - - - - 14.89 14.31 14.90
1096 126.3 -10.0 78 1101 done -0.76 - - 2627 - 1.73 0.040 2739 -623.7 -107.1 - - 3482 - - - - - - - - 14.68 14.64 14.69
1417 156.9 -9.6 89 1423 roll -0.76 0.08 0.253 2649 275.0 2.25 0.041 1400 -595.1 -107.1 - - 3481 - - - - - - - - 14.42 14.54 14.60
1473 161.9 -8.8 97 1479 done -0.76 - - 2639 - 2.47 0.068 2790 562.8 -107.1 - - 3481 - - - - - - - - 14.52 14.35 14.54
1809 193.6 -9.5 110 1810 done -0.76 - - 2639 - - - 2790 - -107.1 - - 3479 - - - - - - - - 14.93 14.93 14.93
2145 227.0 -9.9 116 2150 roll -0.76 - - 2638 - 2.40 0.042 1395 -581.2 -107.1 - - 3477 - - - - - - - - 14.94 14.54 14.94
2201 232.5 -9.8 124 2206 done -0.76 - - 2629 - 2.50 0.069 2768 549.2 -107.1 - - 3476 - - - - - - - - 14.61 14.38 14.64
2537 264.8 -9.6 137 2543 roll -0.76 - - 2628 - 2.38 0.041 1400 -574.8 -107.1 - - 3472 - - - - - - - - 14.90 14.52 14.90
2578 268.8 -9.3 143 2584 done -0.76 0.10 0.210 2649 210.0 2.50 0.068 2770 548.0 -107.1 - - 3473 - - - - - - - - 14.21 14.38 14.35
2929 299.0 -8.6 151 2929 done -0.76 - - 2656 - - - 2770 - -107.1 - - 3471 - - - - - - - - 14.93 14.92 14.93
3265 327.0 -8.3 157 3271 roll -0.76 - - 2649 - 2.38 0.041 1398 -576.5 -107.1 - - 3469 - - - - - - - - 14.93 14.52 14.93
3306 330.4 -8.1 163 3312 done -0.76 - - 2640 - 2.50 0.070 2764 546.4 -107.1 - - 3469 - - - - - - - - 14.48 14.38 14.52
3657 359.0 -8.3 171 3662 roll -0.76 - - 2632 - 2.00 0.113 3825 530.5 -107.1 - - 3466 - - - - - - - - 14.95 14.33 14.95
3698 362.8 -9.1 177 3705 done -0.76 - - 2631 - 1.75 0.044 2797 -587.4 -107.1 - - 3467 - - - - - - - - 14.64 14.62 14.65
4049 393.2 -8.7 185 4054 roll -0.76 - - 2632 - 2.42 0.044 1379 -586.0 -107.1 - - 3465 - - - - - - - - 14.92 14.51 14.93
4118 399.4 -8.7 195 4124 done -0.76 0.08 0.222 2645 162.5 2.55 0.069 2773 546.7 -107.1 - - 3464 - - - - - - - - 14.19 14.36 14.34
4441 428.3 -9.2 206 4442 done -0.76 - - 2645 - - - 2773 - -107.1 - - 3463 - - - - - - - - 14.92 14.92 14.92
4777 460.7 -9.6 212 4782 roll -0.76 - - 2645 - 2.42 0.044 1376 -577.3 -107.1 - - 3461 - - - - - - - - 14.92 14.50 14.92
4804 463.3 -9.5 216 4810 done -0.76 - - 2636 - 2.55 0.069 2764 544.3 -107.1 - - 3461 - - - - - - - - 14.44 14.35 14.49
5169 494.4 -8.2 226 5174 roll -0.76 - - 2636 - 2.42 0.044 1373 -574.8 -107.1 - - 3460 - - - - - - - - 14.90 14.50 14.91
5203 497.1 -7.8 231 5209 done -0.76 - - 2626 - 2.53 0.068 2762 549.0 -107.1 - - 3459 - - - - - - - - 14.40 14.30 14.44
5561 524.6 -7.7 240 5562 done -0.76 - - 2626 - - - 2762 - -107.1 - - 3458 - - - - - - - - 14.92 14.92 14.92
5897 553.5 -8.8 246 5902 roll -0.76 - - 2618 - 2.00 0.114 3823 530.5 -107.1 - - 3456 - - - - - - - - 14.92 14.26 14.92
5945 558.2 -9.6 253 5953 done -0.76 0.10 0.201 2648 300.0 1.83 0.044 2768 -576.5 -107.1 - - 3455 - - - - - - - - 14.21 14.55 14.36
6289 586.5 -8.2 260 6294 roll -0.76 - - 2649 - 2.42 0.044 1361 -581.4 -107.1 - - 3455 - - - - - - - - 14.93 14.47 14.94
6372 593.5 -8.1 272 6378 done -0.76 - - 2638 - 2.55 0.067 2755 546.7 -107.1 - - 3454 - - - - - - - - 14.40 14.33 14.45
6737 623.3 -8.1 282 6742 roll -0.76 - - 2639 - 2.42 0.044 1360 -576.4 -107.1 - - 3453 - - - - - - - - 14.91 14.48 14.91
6785 627.1 -7.8 289 6793 done -0.76 - - 2629 - 2.58 0.067 2758 541.9 -107.1 - - 3453 - - - - - - - - 14.39 14.29 14.43
7129 653.0 -7.5 296 7134 roll -0.76 - - 2629 - 2.42 0.044 1366 -575.2 -107.1 - - 3452 - - - - - - - - 14.91 14.45 14.91
7156 655.0 -7.4 300 7162 done -0.76 0.10 0.209 2648 190.0 2.55 0.069 2758 545.9 -107.1 - - 3451 - - - - - - - - 14.09 14.28 14.25
7521 678.2 -6.3 310 7522 done -0.76 - - 2649 - - - 2758 - -107.1 - - 3450 - - - - - - - - 14.93 14.93 14.93
7857 700.8 -6.8 316 7858 done -0.76 - - 2648 - - - 2758 - -107.1 - - 3449 - - - - - - - - 14.90 14.90 14.90
8193 725.6 -7.5 322 8198 roll -0.76 - - 2648 - 2.42 0.045 1371 -573.1 -107.1 - - 3448 - - - - - - - - 14.90 14.35 14.90
8234 728.9 -7.7 328 8240 done -0.84 - - 2640 - 2.58 0.069 2774 543.8 -107.1 - - 3448 - - - - - - - - 14.50 14.29 14.53
8585 755.7 -7.6 336 8586 done -0.84 - - 2640 - - - 2777 - -107.1 - - 3447 - - - - - - - - 14.92 14.92 14.92
8921 781.6 -7.7 342 8926 roll -0.84 - - 2639 - 2.47 0.045 1372 -568.8 -107.1 - - 3446 - - - - - - - - 14.90 14.41 14.90
8990 787.3 -7.8 352 8996 done -0.84 - - 2631 - 2.55 0.068 2757 543.1 -107.1 - - 3445 - - - - - - - - 14.33 14.23 14.38
9313 812.6 -7.9 363 9313 done -0.84 - - 2631 - - - 2757 - -107.1 - - 3445 - - - - - - - - 14.92 14.91 14.92
9649 839.0 -7.7 369 9655 roll -0.84 - - 2630 - 2.42 0.045 1373 -571.9 -107.1 - - 3443 - - - - - - - - 14.92 14.39 14.92
9690 842.3 -6.4 375 9696 done -0.84 - - 2621 - 2.55 0.069 2751 540.4 -107.1 - - 3444 - - - - - - - - 14.33 14.23 14.37
10041 868.8 -7.5 383 10042 done -0.84 - - 2621 - - - 2751 - -107.1 - - 3442 - - - - - - - - 14.89 14.88 14.89
10377 894.0 -7.5 389 10378 done -0.84 - - 2621 - - - 2752 - -107.1 - - 3442 - - - - - - - - 14.88 14.89 14.89
10713 918.9 -7.5 395 10718 roll -0.84 - - 2620 - 2.45 0.046 1367 -565.3 -107.1 - - 3441 - - - - - - - - 14.88 14.35 14.88
10754 922.1 -7.7 401 10761 done -0.84 - - 2612 - 2.58 0.070 2754 537.6 -107.1 - - 3440 - - - - - - - - 14.30 14.19 14.35
10878 end dive: TARGET_DEPTH_EXCEEDED
10878 begin apogee
10885 931.8 -7.4 405 10999 roll -0.23 0.73 0.171 2823 289.0 - - 2226 - - 111.62 1.971 3053 -3.5 0.328 - - - - - - 14.06 13.95 12.92
11001 end apogee: CONTROL_FINISHED_OK
11001 begin climb
11004 935.1 - 407 11134 roll 0.93 1.10 0.086 3185 329.1 2.45 0.057 888 -546.1 107.1 118.60 1.941 2617 -3.7 0.354 - - - - - - 13.98 14.00 12.83
11175 928.6 7.0 433 11196 done 0.84 - - 3185 - 2.53 0.052 2261 542.7 122.3 16.77 2.059 2564 -3.2 0.285 - - - - - - 14.04 13.98 12.98
11547 896.4 8.8 444 11552 roll 0.72 0.17 0.223 3135 -294.1 2.60 0.100 3654 535.8 122.3 - - 2550 - - - - - - - - 14.16 14.21 14.42
11609 891.3 7.9 453 11616 done 0.63 0.12 0.206 3110 -208.3 2.42 0.041 2275 -569.8 122.3 - - 2548 - - - - - - - - 14.14 14.40 14.30
11939 871.6 5.9 465 11986 roll 0.68 - - 3110 - 2.65 0.103 3651 519.2 159.4 41.75 1.934 2408 -3.4 0.302 - - - - - - 14.79 14.18 13.24
12015 866.3 8.4 476 12021 done 0.68 - - 3120 - 2.47 0.041 2256 -564.8 159.4 - - 2405 - - - - - - - - 14.32 14.28 14.33
12331 843.8 7.2 486 12344 done 0.69 - - 3120 - - - 2257 - 170.6 11.55 2.082 2370 -3.0 0.246 - - - - - - 14.72 14.35 13.35
12667 818.2 7.6 492 12672 roll 0.69 - - 3121 - 2.70 0.106 3654 517.4 172.7 - - 2361 - - - - - - - - 14.76 14.27 14.76
12729 813.2 7.0 501 12756 done 0.71 - - 3130 - 2.45 0.041 2252 -572.2 188.5 20.92 1.955 2294 -3.2 0.267 - - - - - - 14.49 14.44 13.40
13115 780.4 8.5 514 13120 roll 0.71 - - 3130 - 2.65 0.104 3650 527.5 188.5 - - 2286 - - - - - - - - 14.78 14.27 14.78
13142 777.9 9.2 518 13148 done 0.71 - - 3140 - 2.42 0.041 2267 -571.5 188.5 - - 2286 - - - - - - - - 14.47 14.41 14.49
13507 744.9 9.1 528 13508 done 0.71 - - 3140 - - - 2263 - 188.5 - - 2286 - - - - - - - - 14.81 14.81 14.81
13843 714.9 8.8 534 13848 roll 0.71 - - 3139 - 2.65 0.105 3658 526.4 188.5 - - 2284 - - - - - - - - 14.85 14.28 14.85
13877 711.6 9.5 539 13883 done 0.71 - - 3150 - 2.45 0.041 2257 -571.8 188.5 - - 2285 - - - - - - - - 14.50 14.45 14.52
14235 681.4 8.3 548 14240 roll 0.71 - - 3151 - 2.65 0.104 3651 526.0 188.5 - - 2284 - - - - - - - - 14.85 14.27 14.85
14325 673.1 9.3 561 14332 done 0.71 0.10 0.210 3132 -190.0 2.42 0.041 2259 -575.2 188.5 - - 2283 - - - - - - - - 14.15 14.46 14.31
14683 645.8 7.6 570 14688 roll 0.72 - - 3131 - 2.65 0.103 3652 525.7 190.7 - - 2284 - - - - - - - - 14.85 14.26 14.85
14731 641.4 9.1 577 14739 done 0.72 - - 3142 - 2.42 0.041 2271 -570.7 190.7 - - 2285 - - - - - - - - 14.47 14.42 14.50
15075 610.7 9.2 584 15075 done 0.72 - - 3142 - - - 2271 - 190.7 - - 2286 - - - - - - - - 14.86 14.86 14.86
15411 578.8 9.5 590 15416 roll 0.72 - - 3142 - 2.62 0.105 3650 526.3 190.7 - - 2284 - - - - - - - - 14.86 14.23 14.86
15452 574.5 10.5 596 15458 done 0.72 - - 3152 - 2.42 0.041 2264 -572.7 190.7 - - 2284 - - - - - - - - 14.48 14.43 14.50
15803 542.1 9.1 604 15808 roll 0.72 - - 3152 - 2.65 0.104 3652 523.8 190.7 - - 2284 - - - - - - - - 14.86 14.22 14.86
15830 539.5 9.6 608 15836 done 0.72 0.10 0.210 3133 -190.0 2.42 0.041 2266 -572.7 190.7 - - 2284 - - - - - - - - 14.12 14.43 14.28
16195 511.9 7.4 618 16207 roll 0.73 - - 3133 - 2.67 0.103 3653 519.5 198.4 4.12 1.633 2264 -4.9 0.305 - - - - - - 14.85 14.40 13.05
16257 506.9 8.2 627 16263 done 0.73 - - 3143 - 2.40 0.041 2277 -573.3 198.4 1.20 0.241 2263 - - - - - - - - 14.57 14.50 14.09
16587 480.7 8.1 639 16589 done 0.73 - - 3143 - - - 2273 - 198.4 1.38 0.259 2260 -2.2 0.808 - - - - - - 14.84 14.32 13.93
16923 453.6 8.0 645 16929 roll 0.73 - - 3143 - 2.62 0.101 3656 527.9 198.4 1.20 0.262 2263 2.5 -0.866 - - - - - - 14.85 14.16 13.95
16964 450.0 8.7 651 16970 done 0.73 - - 3153 - 2.42 0.041 2269 -573.1 198.4 1.10 0.237 2261 - - - - - - - - 14.47 14.44 14.00
17315 422.1 7.9 659 17320 roll 0.73 - - 3153 - 2.62 0.101 3651 527.5 198.4 1.05 0.265 2263 - - - - - - - - 14.85 14.18 13.99
17356 418.3 9.1 665 17363 done 0.73 0.08 0.216 3147 -75.0 2.40 0.041 2275 -573.3 198.4 1.33 0.234 2262 - - - - - - - - 14.12 14.42 13.84
17707 391.6 7.6 673 17715 roll 0.73 - - 3150 - 2.55 0.061 861 -554.5 200.6 3.72 1.424 2254 -2.2 0.118 - - - - - - 14.85 14.42 13.10
17748 388.3 8.1 679 17756 done 0.73 - - 3150 - 2.50 0.054 2276 566.0 200.6 1.30 0.258 2255 - - - - - - - - 14.50 14.42 13.93
18093 358.9 8.7 686 18098 roll 0.73 - - 3150 - 2.58 0.102 3653 533.7 200.6 1.40 0.266 2254 - - - - - - - - 14.84 14.12 13.82
18161 351.8 10.4 696 18168 done 0.73 - - 3161 - 2.38 0.040 2288 -573.5 200.6 0.95 0.231 2254 - - - - - - - - 14.50 14.44 14.09
18484 320.5 9.7 707 18490 roll 0.73 - - 3171 - 2.53 0.060 860 -564.4 200.6 1.65 0.305 2252 - - - - - - - - 14.85 13.95 13.47
18518 317.2 9.4 712 18525 done 0.73 0.10 0.190 3141 -300.0 2.53 0.054 2279 560.9 200.6 1.25 0.265 2253 - - - - - - - - 14.11 14.33 13.67
18876 288.5 7.7 721 18883 roll 0.73 - - 3141 - 2.58 0.103 3652 532.2 200.7 1.67 0.308 2255 - - - - - - - - 14.85 13.93 13.44
18952 282.3 8.2 732 18959 done 0.73 - - 3151 - 2.40 0.039 2275 -573.8 200.7 1.67 0.317 2254 - - - - - - - - 14.47 14.43 13.54
19268 260.0 7.0 742 19291 done 0.75 - - 3151 - - - 2271 - 214.9 21.55 1.403 2194 -2.8 0.103 - - - - - - 14.84 14.43 13.62
19604 233.6 8.0 748 19605 done 0.75 - - 3151 - - - 2272 - 214.9 - - 2183 - - - - - - - - 14.78 14.78 14.78
19940 206.3 8.2 754 19945 roll 0.75 - - 3151 - 2.62 0.102 3658 529.0 214.9 - - 2183 - - - - - - - - 14.82 14.21 14.82
19981 202.3 9.8 760 19987 done 0.75 - - 3161 - 2.40 0.039 2279 -574.6 214.9 - - 2180 - - - - - - - - 14.47 14.44 14.50
20332 169.9 9.2 768 20337 roll 0.75 - - 3172 - 2.50 0.062 855 -569.6 214.9 - - 2184 - - - - - - - - 14.85 14.33 14.86
20359 167.5 8.5 772 20366 done 0.75 0.08 0.187 3147 -312.5 2.55 0.053 2292 563.5 214.9 - - 2184 - - - - - - - - 14.15 14.31 14.29
20725 139.9 7.4 782 20728 done 0.75 - - 3147 - - - 2292 - 221.1 2.58 0.806 2171 -5.0 0.175 - - - - - - 14.87 14.36 13.12
21061 116.4 6.9 788 21074 roll 0.77 - - 3157 - 2.58 0.060 863 -553.9 237.4 9.88 0.501 2106 -6.6 0.306 - - - - - - 14.87 14.45 13.88
21108 112.9 7.3 795 21122 done 0.78 - - 3157 - 2.50 0.052 2284 568.4 246.2 5.93 0.460 2072 -5.7 0.282 - - - - - - 14.44 14.36 13.85
21455 86.4 8.0 812 21460 roll 0.78 - - 3157 - 2.58 0.102 3656 531.8 246.2 - - 2076 - - - - - - - - 14.79 14.23 14.79
21528 79.8 8.6 823 21536 done 0.78 - - 3167 - 2.38 0.037 2285 -576.1 246.2 - - 2077 - - - - - - - - 14.47 14.42 14.49
21845 55.2 7.4 835 21857 roll 0.79 - - 3177 - 2.53 0.059 870 -559.3 253.0 4.70 0.317 2043 -7.2 0.252 - - - - - - 14.83 14.28 13.81
21949 47.9 6.6 850 21969 done 0.91 - - 3177 - 2.53 0.051 2295 563.2 276.5 13.05 0.306 1950 -7.1 0.223 - - - - - - 14.38 14.29 13.95
22295 33.2 3.3 866 22349 roll 1.16 0.17 0.082 3280 605.9 2.55 0.100 3650 531.4 364.4 44.08 0.266 1598 -8.0 0.199 - - - - - - 14.48 14.29 14.06
22428 25.2 6.6 885 22445 done 1.18 - - 3290 - 2.30 0.038 2296 -588.7 387.4 11.57 0.245 1506 -8.0 0.164 - - - - - - 14.52 14.42 14.00
22772 5.5 6.4 901 22789 roll 1.30 - - 3300 - 2.58 0.062 871 -552.3 414.0 13.23 0.179 1398 -8.2 0.050 - - - - - - 14.81 14.31 14.10
22821 end climb: SURFACE_DEPTH_REACHED
22821 begin surface coast
22849 end surface coast: CONTROL_FINISHED_OK
22852 begin surface
SM -1.12 - - - - -8.39 9.18 0.070 202 22.0 3.38 0.061 2758 -1807.7 500.14 39.78 0.157 1058 26.6 0.019 - - - - - -