SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 439 * Raw log
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• Previous call tries 1 • 155.53 of 350.00 AH used of 24V (55.56% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -72.3 deg, depth -0.79 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 100 done -0.93 - - 104 - - - 2774 - -107.1 -80.30 - 3477 - - - - - - - - 14.68 13.14 14.64
104 5.9 -11.5 3 121 roll -0.93 11.77 0.380 2589 211.1 2.35 0.032 1378 -594.0 -107.1 - - 3478 - - - - - - - - 13.98 14.33 14.23
149 26.1 -30.1 10 157 done -0.53 0.47 0.213 2721 280.9 2.55 0.073 2768 545.1 -107.1 - - 3479 - - - - - - - - 14.12 14.28 14.36
465 54.6 -7.2 22 470 roll -0.53 - - 2713 - 1.95 0.115 3824 541.5 -107.1 - - 3480 - - - - - - - - 14.83 14.29 14.83
656 68.8 -6.8 49 662 done -0.53 - - 2712 - 1.75 0.043 2750 -613.7 -107.1 - - 3481 - - - - - - - - 14.63 14.57 14.64
969 91.5 -7.2 61 975 roll -0.62 - - 2713 - 2.30 0.041 1385 -593.5 -107.1 - - 3482 - - - - - - - - 14.88 14.51 14.88
1066 98.5 -7.0 75 1072 done -0.72 0.05 0.113 2655 -1160.0 2.47 0.070 2761 557.1 -107.1 - - 3482 - - - - - - - - 14.38 14.37 14.47
1389 127.5 -9.1 83 1394 roll -0.72 - - 2649 - 1.98 0.114 3823 536.4 -107.1 - - 3480 - - - - - - - - 14.90 14.33 14.90
1445 132.5 -9.0 91 1450 done -0.72 - - 2648 - 1.77 0.041 2756 -602.8 -107.1 - - 3480 - - - - - - - - 14.62 14.63 14.64
1781 161.3 -8.6 104 1786 roll -0.72 - - 2648 - 2.33 0.043 1383 -589.3 -107.1 - - 3478 - - - - - - - - 14.92 14.53 14.92
1843 166.7 -8.6 113 1850 done -0.72 - - 2640 - 2.47 0.071 2749 553.0 -107.1 - - 3477 - - - - - - - - 14.43 14.33 14.49
2173 195.3 -8.6 125 2179 roll -0.72 - - 2631 - 2.05 0.116 3828 526.3 -107.1 - - 3475 - - - - - - - - 14.92 14.24 14.95
2285 205.4 -9.2 141 2291 done -0.72 0.10 0.194 2662 310.0 1.80 0.046 2779 -582.8 -107.1 - - 3473 - - - - - - - - 14.28 14.58 14.42
2621 233.0 -8.3 154 2626 roll -0.72 - - 2663 - 2.42 0.045 1361 -586.0 -107.1 - - 3473 - - - - - - - - 14.92 14.54 14.92
2739 242.6 -8.2 171 2745 done -0.72 - - 2653 - 2.53 0.070 2754 550.6 -107.1 - - 3471 - - - - - - - - 14.46 14.36 14.51
3069 271.0 -8.7 183 3069 done -0.72 - - 2653 - - - 2755 - -107.1 - - 3469 - - - - - - - - 14.92 14.92 14.92
3405 301.8 -9.3 189 3411 roll -0.72 - - 2653 - 2.40 0.044 1365 -579.2 -107.1 - - 3467 - - - - - - - - 14.95 14.52 14.95
3446 306.0 -9.8 195 3452 done -0.72 - - 2644 - 2.53 0.070 2757 550.2 -107.1 - - 3466 - - - - - - - - 14.47 14.35 14.51
3797 339.9 -9.7 203 3798 done -0.72 - - 2644 - - - 2755 - -107.1 - - 3464 - - - - - - - - 14.92 14.92 14.92
4133 370.9 -9.2 209 4138 roll -0.72 - - 2644 - 2.40 0.044 1370 -577.1 -107.1 - - 3462 - - - - - - - - 14.95 14.51 14.95
4174 374.7 -9.2 215 4180 done -0.72 - - 2635 - 2.53 0.071 2746 543.9 -107.1 - - 3463 - - - - - - - - 14.45 14.35 14.50
4525 407.1 -9.2 223 4526 done -0.72 0.10 0.255 2665 300.0 - - 2746 - -107.1 - - 3461 - - - - - - - - 14.29 14.55 14.50
4861 432.0 -7.2 229 4867 roll -0.72 - - 2665 - 2.40 0.045 1365 -575.4 -107.1 - - 3460 - - - - - - - - 14.95 14.51 14.95
4895 434.4 -7.1 234 4901 done -0.80 - - 2656 - 2.53 0.071 2748 546.6 -107.1 - - 3459 - - - - - - - - 14.44 14.34 14.50
5253 458.9 -6.8 243 5254 done -0.80 - - 2657 - - - 2748 - -107.1 - - 3458 - - - - - - - - 14.93 14.94 14.94
5589 482.6 -7.0 249 5590 done -0.80 - - 2656 - - - 2748 - -107.1 - - 3456 - - - - - - - - 14.94 14.94 14.94
5925 508.1 -7.7 255 5926 done -0.80 - - 2655 - - - 2748 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6261 534.7 -7.9 261 6261 done -0.80 - - 2656 - - - 2748 - -107.1 - - 3454 - - - - - - - - 14.92 14.92 14.92
6597 561.2 -7.9 267 6602 roll -0.80 - - 2656 - 2.42 0.047 1366 -571.1 -107.1 - - 3452 - - - - - - - - 14.92 14.46 14.92
6687 568.6 -8.1 280 6693 done -0.88 - - 2648 - 2.55 0.071 2745 540.8 -107.1 - - 3452 - - - - - - - - 14.41 14.31 14.46
7045 597.9 -8.3 289 7046 done -0.88 - - 2648 - - - 2746 - -107.1 - - 3450 - - - - - - - - 14.91 14.91 14.90
7381 625.8 -8.2 295 7386 roll -0.88 - - 2647 - 2.42 0.047 1367 -569.8 -107.1 - - 3449 - - - - - - - - 14.91 14.44 14.91
7437 630.5 -8.4 303 7442 done -0.88 - - 2639 - 2.50 0.071 2747 552.0 -107.1 - - 3448 - - - - - - - - 14.52 14.35 14.57
7773 657.7 -8.0 316 7774 done -0.88 - - 2639 - - - 2748 - -107.1 - - 3448 - - - - - - - - 14.91 14.91 14.91
8109 682.4 -7.2 322 8114 roll -0.88 - - 2642 - 2.42 0.047 1367 -570.7 -107.1 - - 3447 - - - - - - - - 14.90 14.42 14.90
8150 685.4 -7.1 328 8156 done -0.88 - - 2629 - 2.55 0.071 2742 539.2 -107.1 - - 3447 - - - - - - - - 14.35 14.26 14.40
8501 709.6 -6.9 336 8506 roll -0.88 - - 2621 - 2.08 0.121 3834 525.0 -107.1 - - 3446 - - - - - - - - 14.90 14.17 14.90
8535 712.1 -7.3 341 8542 done -0.88 - - 2620 - 1.90 0.048 2746 -572.6 -107.1 - - 3445 - - - - - - - - 14.54 14.50 14.57
8893 738.1 -7.4 350 8894 done -0.88 - - 2620 - - - 2747 - -107.1 - - 3444 - - - - - - - - 14.92 14.92 14.92
9229 764.2 -7.9 356 9234 roll -0.88 - - 2613 - 2.10 0.119 3828 514.8 -107.1 - - 3443 - - - - - - - - 14.92 14.16 14.92
9277 768.4 -8.6 363 9284 done -0.88 - - 2612 - 1.90 0.048 2740 -572.6 -107.1 - - 3443 - - - - - - - - 14.50 14.46 14.50
9621 797.2 -8.4 370 9622 done -0.88 - - 2612 - - - 2741 - -107.1 - - 3439 - - - - - - - - 14.92 14.92 14.92
9957 825.5 -8.4 376 9962 roll -0.88 - - 2612 - 2.40 0.047 1368 -572.1 -107.1 - - 3441 - - - - - - - - 14.88 14.37 14.89
9991 828.5 -8.7 381 9998 done -0.88 - - 2602 - 2.55 0.071 2746 540.4 -107.1 - - 3441 - - - - - - - - 14.31 14.20 14.36
10349 859.5 -8.7 390 10354 roll -0.88 - - 2594 - 2.08 0.118 3836 524.0 -107.1 - - 3440 - - - - - - - - 14.88 14.13 14.88
10411 865.2 -9.1 399 10417 done -0.88 - - 2592 - 1.90 0.047 2743 -575.3 -107.1 - - 3440 - - - - - - - - 14.49 14.45 14.50
10741 894.5 -9.0 411 10746 roll -0.88 - - 2593 - 2.40 0.046 1367 -573.3 -107.1 - - 3439 - - - - - - - - 14.91 14.34 14.91
10797 899.4 -8.2 419 10802 done -0.88 0.10 0.249 2611 180.0 2.55 0.072 2760 546.3 -107.1 - - 3439 - - - - - - - - 14.02 14.22 14.28
11133 927.4 -8.3 432 11138 roll -0.88 - - 2604 - 2.05 0.121 3826 520.0 -107.1 - - 3438 - - - - - - - - 14.90 14.09 14.90
11164 end dive: TARGET_DEPTH_EXCEEDED
11164 begin apogee
11173 930.5 -7.0 437 11287 roll -0.23 0.75 0.175 2820 288.0 - - 2231 - - 111.25 1.939 3048 -3.5 0.330 - - - - - - 14.02 13.95 12.95
11289 end apogee: CONTROL_FINISHED_OK
11289 begin climb
11292 934.5 - 439 11421 roll 0.93 1.10 0.088 3182 329.1 2.47 0.058 865 -553.0 107.1 117.85 1.947 2618 -3.6 0.344 - - - - - - 13.99 14.01 12.83
11441 930.4 8.0 462 11449 done 0.78 0.08 0.217 3161 -262.5 2.55 0.051 2257 545.9 107.1 - - 2612 - - - - - - - - 13.79 13.93 13.94
11785 906.3 7.2 469 11797 roll 0.71 0.10 0.250 3132 -290.0 2.67 0.103 3655 523.6 117.0 4.28 1.802 2588 -5.6 0.554 - - - - - - 14.19 14.32 12.79
11878 899.8 7.1 482 11904 done 0.64 0.12 0.235 3109 -191.7 2.40 0.042 2251 -585.0 129.7 21.60 1.988 2533 -2.5 0.226 - - - - - - 14.21 14.45 13.28
12236 877.8 6.2 498 12274 roll 0.67 - - 3109 - 2.67 0.102 3656 526.2 159.7 33.95 1.952 2412 -3.6 0.315 - - - - - - 14.73 14.08 13.24
12302 872.8 8.8 508 12308 done 0.67 - - 3118 - 2.47 0.042 2256 -566.8 159.7 - - 2406 - - - - - - - - 14.32 14.28 14.33
12625 848.9 7.6 519 12626 done 0.68 - - 3119 - - - 2253 - 163.4 - - 2404 - - - - - - - - 14.72 14.73 14.73
12961 824.2 7.3 525 12981 roll 0.69 - - 3118 - 2.65 0.107 3653 528.3 171.9 13.93 2.041 2359 -3.2 0.256 - - - - - - 14.81 14.37 13.43
13030 818.6 8.4 535 13036 done 0.69 - - 3128 - 2.47 0.043 2253 -566.8 171.9 - - 2355 - - - - - - - - 14.46 14.42 14.48
13353 794.5 7.5 546 13358 roll 0.70 - - 3128 - 2.67 0.106 3658 526.2 176.7 - - 2353 - - - - - - - - 14.78 14.26 14.78
13387 791.6 8.4 551 13394 done 0.70 - - 3139 - 2.47 0.042 2248 -570.9 176.7 0.90 0.231 2344 -10.0 6.730 - - - - - - 14.48 14.43 14.17
13745 763.3 7.9 560 13746 done 0.70 - - 3139 - - - 2244 - 176.7 - - 2349 - - - - - - - - 14.84 14.84 14.84
14081 735.9 8.2 566 14086 roll 0.70 - - 3139 - 2.67 0.105 3652 527.3 176.7 - - 2349 - - - - - - - - 14.86 14.25 14.86
14157 729.0 9.4 577 14164 done 0.70 - - 3150 - 2.45 0.042 2252 -571.4 176.7 - - 2349 - - - - - - - - 14.50 14.45 14.52
14473 701.6 8.7 587 14474 done 0.70 - - 3150 - - - 2250 - 176.7 - - 2349 - - - - - - - - 14.85 14.85 14.85
14809 672.2 8.8 593 14815 roll 0.70 - - 3150 - 2.67 0.105 3652 525.1 176.7 - - 2349 - - - - - - - - 14.88 14.22 14.88
14850 668.1 9.9 599 14856 done 0.70 0.10 0.216 3131 -190.0 2.42 0.042 2269 -571.5 176.7 - - 2349 - - - - - - - - 14.11 14.44 14.28
15201 638.7 8.4 607 15202 done 0.70 - - 3131 - - - 2265 - 176.7 - - 2349 - - - - - - - - 14.88 14.88 14.88
15537 610.6 8.4 613 15543 roll 0.70 - - 3131 - 2.65 0.106 3656 524.9 176.7 - - 2349 - - - - - - - - 14.88 14.20 14.89
15593 605.5 9.4 621 15599 done 0.70 - - 3142 - 2.40 0.042 2256 -583.3 176.7 - - 2349 - - - - - - - - 14.56 14.47 14.58
15929 577.5 8.2 634 15934 roll 0.70 - - 3153 - 2.47 0.064 857 -566.4 176.7 - - 2349 - - - - - - - - 14.85 14.32 14.85
15956 575.2 8.1 638 15962 done 0.70 - - 3152 - 2.50 0.055 2263 562.4 176.7 - - 2349 - - - - - - - - 14.37 14.28 14.40
16321 545.6 8.0 648 16326 roll 0.70 - - 3156 - 2.62 0.106 3654 530.9 176.7 - - 2348 - - - - - - - - 14.85 14.17 14.85
16377 540.9 8.5 656 16383 done 0.70 0.12 0.233 3127 -241.7 2.40 0.041 2256 -582.5 176.7 - - 2349 - - - - - - - - 14.10 14.47 14.36
16713 520.8 5.8 669 16763 done 0.74 - - 3127 - - - 2253 - 216.2 48.20 1.613 2190 -3.3 0.209 - - - - - - 14.85 14.26 13.36
17050 498.4 6.8 675 17076 roll 0.77 - - 3127 - 2.67 0.106 3655 525.1 234.4 20.02 1.678 2109 -4.0 0.236 - - - - - - 14.71 14.26 13.40
17111 493.4 8.5 684 17117 done 0.77 - - 3136 - 2.45 0.042 2268 -566.1 234.4 - - 2105 - - - - - - - - 14.35 14.32 14.39
17441 466.5 8.3 696 17442 done 0.77 - - 3136 - - - 2264 - 234.4 - - 2103 - - - - - - - - 14.73 14.73 14.73
17777 438.2 8.5 702 17782 roll 0.77 - - 3136 - 2.65 0.106 3659 526.4 234.4 - - 2103 - - - - - - - - 14.79 14.21 14.78
17825 433.6 9.8 709 17834 done 0.77 - - 3146 - 2.45 0.041 2264 -569.4 234.4 - - 2103 - - - - - - - - 14.44 14.40 14.46
18170 402.7 9.0 716 18170 done 0.77 - - 3146 - - - 2259 - 234.4 - - 2103 - - - - - - - - 14.82 14.82 14.82
18505 373.1 8.8 722 18506 done 0.77 - - 3147 - - - 2260 - 234.4 - - 2103 - - - - - - - - 14.83 14.83 14.83
18841 343.6 8.8 728 18842 done 0.77 - - 3146 - - - 2260 - 234.4 - - 2107 - - - - - - - - 14.85 14.85 14.85
19178 313.9 8.8 734 19183 roll 0.77 - - 3146 - 2.65 0.105 3658 527.5 234.4 - - 2103 - - - - - - - - 14.85 14.19 14.85
19211 310.5 9.7 739 19218 done 0.77 - - 3157 - 2.45 0.041 2262 -569.8 234.4 - - 2103 - - - - - - - - 14.45 14.41 14.49
19569 278.6 8.9 748 19574 roll 0.77 - - 3156 - 2.65 0.103 3659 527.2 234.4 - - 2103 - - - - - - - - 14.85 14.20 14.85
19617 273.9 9.8 755 19625 done 0.77 - - 3167 - 2.42 0.041 2268 -574.8 234.4 - - 2103 - - - - - - - - 14.45 14.40 14.47
19962 244.1 8.6 762 19967 roll 0.77 - - 3167 - 2.62 0.103 3654 529.0 234.4 - - 2103 - - - - - - - - 14.84 14.18 14.85
19988 241.5 9.2 766 19994 done 0.77 - - 3177 - 2.40 0.041 2279 -572.9 234.4 - - 2103 - - - - - - - - 14.46 14.41 14.49
20353 209.3 8.9 776 20354 done 0.77 - - 3176 - - - 2275 - 234.4 - - 2103 - - - - - - - - 14.85 14.85 14.85
20689 178.1 9.3 782 20695 roll 0.77 - - 3177 - 2.62 0.103 3660 528.6 234.4 - - 2103 - - - - - - - - 14.86 14.18 14.86
20772 168.9 11.3 794 20779 done 0.77 0.12 0.194 3150 -225.0 2.42 0.041 2270 -574.4 234.4 - - 2103 - - - - - - - - 14.09 14.42 14.24
21138 136.8 8.7 804 21142 roll 0.77 - - 3160 - 2.47 0.062 854 -573.3 234.4 - - 2104 - - - - - - - - 14.85 14.29 14.85
21164 134.5 8.2 808 21170 done 0.77 - - 3160 - 2.53 0.054 2274 561.3 234.4 - - 2103 - - - - - - - - 14.30 14.21 14.33
21529 107.5 7.0 818 21542 roll 0.79 - - 3159 - 2.60 0.105 3662 533.8 250.1 6.70 0.435 2058 -6.7 0.326 - - - - - - 14.85 14.26 13.66
21634 99.2 8.0 833 21643 done 0.79 - - 3167 - 2.42 0.040 2271 -574.8 250.1 1.65 0.214 2058 - - - - - - - - 14.45 14.40 13.86
21949 75.2 7.9 845 21956 roll 0.79 - - 3170 - 2.65 0.103 3664 525.7 250.1 1.12 0.245 2058 - - - - - - - - 14.83 14.18 14.00
21997 71.2 8.1 852 22005 done 0.79 - - 3180 - 2.40 0.040 2279 -577.1 250.1 - - 2064 - - - - - - - - 14.46 14.42 14.48
22314 54.3 4.5 864 22354 roll 0.94 - - 3180 - 2.60 0.101 3660 531.2 315.2 35.45 0.328 1797 -7.5 0.245 - - - - - - 14.86 14.26 13.98
22383 50.6 5.7 871 22410 done 1.08 0.10 0.074 3267 870.0 2.38 0.040 2281 -579.4 356.4 22.38 0.316 1630 -7.5 0.235 - - - - - - 14.38 14.42 13.99
22736 27.4 4.3 888 22776 roll 1.16 - - 3266 - 2.67 0.106 3660 516.5 424.7 35.15 0.246 1359 -7.7 0.169 - - - - - - 14.78 14.26 14.06
22908 15.2 5.8 913 22935 done 1.30 0.05 0.113 3335 1380.0 2.33 0.039 2316 -576.8 462.9 19.67 0.204 1206 -7.8 0.114 - - - - - - 14.28 14.39 14.07
23039 end climb: SURFACE_DEPTH_REACHED
23039 begin surface coast
23069 end surface coast: CONTROL_FINISHED_OK
23069 begin surface
SM -0.83 - - - - -8.39 8.90 0.038 185 20.8 0.85 0.090 2769 -10189.4 500.14 17.98 0.159 1058 58.8 0.031 - - - - - -