SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 452 * Raw log
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• Previous call tries 2 • 159.84 of 350.00 AH used of 24V (54.33% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -70.0 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: 32 s
• GPS2 time: 3 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 - - 106 - - - 2787 - -107.1 -79.15 - 3480 - - - - - - - - 14.65 12.52 14.65
104 6.5 -14.1 3 121 roll -0.93 11.82 0.383 2590 210.2 2.42 0.034 1352 -593.0 -107.1 - - 3481 - - - - - - - - 13.99 14.35 14.25
129 21.9 -54.2 7 135 done 0.24 1.45 0.255 2953 250.3 2.55 0.077 2763 553.3 -107.1 - - 3483 - - - - - - - - 14.08 14.31 14.35
465 40.2 -4.4 22 471 roll -0.29 0.35 0.114 2824 -368.6 2.40 0.041 1355 -586.7 -107.1 - - 3482 - - - - - - - - 14.34 14.45 14.43
636 47.9 -4.7 46 641 done -0.68 0.38 0.070 2668 -410.5 2.50 0.068 2765 564.0 -107.1 - - 3482 - - - - - - - - 14.50 14.38 14.57
970 73.5 -7.9 61 975 roll -0.68 - - 2664 - 1.95 0.111 3828 545.1 -107.1 - - 3483 - - - - - - - - 14.89 14.30 14.89
1032 78.6 -7.8 70 1039 done -0.68 - - 2664 - 1.80 0.041 2746 -601.1 -107.1 - - 3483 - - - - - - - - 14.60 14.58 14.62
1362 97.8 -3.9 84 1367 roll -0.68 - - 2663 - 2.33 0.043 1377 -587.6 -107.1 - - 3482 - - - - - - - - 14.90 14.47 14.90
1438 117.2 -7.4 95 1445 done -0.68 - - 2655 - 2.47 0.067 2755 557.9 -107.1 - - 3482 - - - - - - - - 14.46 14.36 14.50
1754 141.7 -8.0 105 1755 done -0.68 - - 2655 - - - 2755 - -107.1 - - 3480 - - - - - - - - 14.90 14.90 14.90
2090 171.8 -9.1 111 2091 done -0.68 - - 2652 - - - 2755 - -107.1 - - 3478 - - - - - - - - 14.93 14.94 14.94
2426 200.9 -8.5 117 2427 done -0.68 - - 2655 - - - 2756 - -107.1 - - 3478 - - - - - - - - 14.92 14.92 14.92
2762 230.3 -8.9 123 2763 done -0.68 - - 2655 - - - 2756 - -107.1 - - 3474 - - - - - - - - 14.92 14.92 14.90
3098 259.5 -8.6 129 3103 roll -0.68 - - 2654 - 2.40 0.044 1381 -572.9 -107.1 - - 3472 - - - - - - - - 14.91 14.50 14.92
3139 263.1 -8.5 135 3146 done -0.68 0.08 0.216 2670 200.0 2.50 0.069 2761 552.0 -107.1 - - 3472 - - - - - - - - 14.23 14.36 14.36
3490 289.6 -7.5 143 3491 done -0.68 - - 2668 - - - 2761 - -107.1 - - 3469 - - - - - - - - 14.92 14.92 14.92
3826 315.5 -7.8 149 3831 roll -0.68 - - 2669 - 2.40 0.044 1388 -572.1 -107.1 - - 3468 - - - - - - - - 14.92 14.50 14.92
3888 320.6 -8.0 158 3894 done -0.76 - - 2661 - 2.50 0.070 2759 548.4 -107.1 - - 3468 - - - - - - - - 14.44 14.34 14.50
4218 348.1 -8.4 170 4223 roll -0.76 - - 2661 - 2.40 0.044 1379 -575.0 -107.1 - - 3465 - - - - - - - - 14.93 14.50 14.94
4245 350.5 -8.7 174 4251 done -0.76 - - 2653 - 2.50 0.069 2754 550.0 -107.1 - - 3465 - - - - - - - - 14.44 14.34 14.48
4610 382.1 -8.6 184 4615 roll -0.76 - - 2645 - 2.05 0.114 3825 522.4 -107.1 - - 3464 - - - - - - - - 14.94 14.23 14.94
4637 384.5 -8.8 188 4643 done -0.76 - - 2644 - 1.80 0.047 2771 -585.6 -107.1 - - 3467 - - - - - - - - 14.59 14.57 14.61
5002 415.2 -8.3 198 5003 done -0.76 - - 2644 - - - 2771 - -107.1 - - 3464 - - - - - - - - 14.91 14.91 14.91
5338 441.7 -7.9 204 5343 roll -0.76 - - 2644 - 2.42 0.044 1367 -580.2 -107.1 - - 3461 - - - - - - - - 14.91 14.45 14.91
5372 444.5 -8.3 209 5378 done -0.76 - - 2636 - 2.53 0.069 2752 547.4 -107.1 - - 3461 - - - - - - - - 14.40 14.31 14.45
5730 473.7 -8.2 218 5731 done -0.76 - - 2636 - - - 2752 - -107.1 - - 3459 - - - - - - - - 14.91 14.90 14.91
6066 499.9 -7.8 224 6071 roll -0.76 - - 2636 - 2.42 0.044 1368 -571.9 -107.1 - - 3458 - - - - - - - - 14.90 14.46 14.91
6135 505.3 -7.6 234 6141 done -0.76 - - 2626 - 2.55 0.068 2765 547.8 -107.1 - - 3458 - - - - - - - - 14.45 14.32 14.47
6458 531.4 -8.1 245 6459 done -0.76 - - 2626 - - - 2765 - -107.1 - - 3456 - - - - - - - - 14.90 14.90 14.90
6794 559.3 -8.4 251 6800 roll -0.76 - - 2626 - 2.45 0.045 1371 -569.0 -107.1 - - 3456 - - - - - - - - 14.90 14.45 14.90
6821 561.7 -8.5 255 6828 done -0.76 0.10 0.222 2646 200.0 2.53 0.067 2754 546.6 -107.1 - - 3454 - - - - - - - - 14.09 14.31 14.26
7187 588.9 -7.4 265 7191 roll -0.76 - - 2638 - 2.03 0.116 3827 528.6 -107.1 - - 3456 - - - - - - - - 14.90 14.23 14.90
7242 593.3 -8.1 273 7247 done -0.76 - - 2637 - 1.85 0.047 2729 -593.5 -107.1 - - 3454 - - - - - - - - 14.59 14.52 14.61
7578 619.3 -7.8 286 7583 roll -0.76 - - 2637 - 2.35 0.044 1373 -577.0 -107.1 - - 3453 - - - - - - - - 14.92 14.42 14.92
7634 623.8 -8.0 294 7639 done -0.76 - - 2627 - 2.50 0.067 2760 554.8 -107.1 - - 3452 - - - - - - - - 14.50 14.33 14.53
7970 651.0 -8.1 307 7976 roll -0.76 - - 2619 - 2.00 0.113 3823 531.5 -107.1 - - 3451 - - - - - - - - 14.89 14.19 14.90
8039 656.8 -8.4 317 8045 done -0.76 0.10 0.204 2649 300.0 1.83 0.046 2770 -575.4 -107.1 - - 3451 - - - - - - - - 14.14 14.52 14.30
8362 678.8 -6.8 328 8367 roll -0.76 - - 2650 - 2.45 0.044 1360 -575.5 -107.1 - - 3448 - - - - - - - - 14.88 14.40 14.89
8418 682.8 -7.1 336 8423 done -0.84 - - 2641 - 2.53 0.067 2753 550.6 -107.1 - - 3449 - - - - - - - - 14.47 14.30 14.51
8754 707.4 -7.4 349 8755 done -0.84 - - 2641 - - - 2755 - -107.1 - - 3449 - - - - - - - - 14.91 14.91 14.91
9090 732.8 -7.7 355 9091 done -0.84 - - 2639 - - - 2754 - -107.1 - - 3448 - - - - - - - - 14.89 14.89 14.89
9426 758.2 -7.5 361 9427 done -0.84 - - 2641 - - - 2755 - -107.1 - - 3446 - - - - - - - - 14.88 14.89 14.89
9762 781.4 -6.8 367 9768 roll -0.84 - - 2644 - 2.45 0.045 1363 -568.2 -107.1 - - 3446 - - - - - - - - 14.89 14.38 14.88
9818 785.3 -6.7 375 9824 done -0.84 - - 2633 - 2.55 0.069 2765 549.8 -107.1 - - 3446 - - - - - - - - 14.44 14.26 14.47
10154 808.8 -7.2 388 10159 roll -0.84 - - 2619 - 2.03 0.115 3828 523.6 -107.1 - - 3446 - - - - - - - - 14.88 14.12 14.88
10210 813.1 -7.8 396 10215 done -0.84 - - 2623 - 1.90 0.047 2749 -567.9 -107.1 - - 3445 - - - - - - - - 14.45 14.42 14.46
10546 838.5 -7.8 409 10551 roll -0.84 - - 2623 - 2.42 0.046 1362 -573.1 -107.1 - - 3446 - - - - - - - - 14.90 14.35 14.90
10587 842.0 -6.7 415 10594 done -0.84 - - 2615 - 2.60 0.069 2759 537.3 -107.1 - - 3443 - - - - - - - - 14.27 14.17 14.32
10938 871.3 -8.3 423 10939 done -0.84 - - 2615 - - - 2759 - -107.1 - - 3443 - - - - - - - - 14.86 14.86 14.86
11274 899.6 -8.2 429 11275 done -0.84 - - 2615 - - - 2759 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
11610 927.6 -8.3 435 11611 done -0.84 - - 2615 - - - 2759 - -107.1 - - 3442 - - - - - - - - 14.89 14.90 14.90
11663 end dive: TARGET_DEPTH_EXCEEDED
11663 begin apogee
11671 932.2 -8.3 436 11787 roll -0.23 0.70 0.172 2821 294.3 0.10 0.168 2277 -4820.0 - 113.00 1.931 3049 -3.5 0.337 - - - - - - 14.02 13.90 12.91
11789 end apogee: CONTROL_FINISHED_OK
11789 begin climb
11792 935.6 - 438 11920 roll 0.93 1.12 0.088 3188 327.7 2.55 0.057 878 -548.6 107.1 118.57 1.937 2622 -3.6 0.349 - - - - - - 13.98 14.00 12.84
11940 931.0 8.7 461 11947 done 0.75 0.15 0.212 3148 -266.7 2.50 0.052 2242 545.6 107.1 - - 2613 - - - - - - - - 13.78 13.93 13.92
12284 905.7 7.6 468 12289 roll 0.76 - - 3147 - 2.65 0.101 3652 532.1 110.7 - - 2609 - - - - - - - - 14.70 14.25 14.70
12346 899.8 8.6 477 12352 done 0.64 0.17 0.216 3109 -223.5 2.42 0.041 2269 -571.5 110.7 - - 2610 - - - - - - - - 14.07 14.38 14.26
12676 876.9 6.9 489 12702 roll 0.66 - - 3109 - 2.60 0.100 3651 531.5 127.7 22.62 1.969 2535 -3.3 0.296 - - - - - - 14.79 14.17 13.32
12759 870.4 8.4 501 12765 done 0.66 - - 3119 - 2.47 0.041 2245 -569.2 127.7 - - 2531 - - - - - - - - 14.41 14.35 14.43
13124 843.3 7.5 511 13130 roll 0.66 - - 3118 - 2.65 0.099 3650 530.2 132.9 1.15 0.260 2519 -10.4 6.791 - - - - - - 14.76 14.25 14.06
13172 839.0 8.2 518 13179 done 0.66 - - 3130 - 2.45 0.041 2247 -572.7 132.9 - - 2525 - - - - - - - - 14.47 14.42 14.48
13516 814.5 7.0 525 13543 roll 0.68 - - 3129 - 2.70 0.103 3649 519.3 147.0 22.45 1.938 2458 -3.0 0.252 - - - - - - 14.80 14.34 13.40
13585 809.6 8.2 535 13592 done 0.68 - - 3140 - 2.42 0.041 2264 -572.3 147.0 - - 2452 - - - - - - - - 14.42 14.36 14.44
13901 786.2 7.4 545 13904 done 0.69 - - 3140 - - - 2264 - 153.7 1.67 0.265 2438 -8.4 4.990 - - - - - - 14.76 14.26 13.78
14237 761.7 7.3 551 14256 roll 0.70 - - 3140 - 2.62 0.103 3656 531.3 162.0 15.52 1.974 2402 -2.3 0.180 - - - - - - 14.82 14.23 13.42
14278 758.4 8.0 557 14284 done 0.70 - - 3151 - 2.45 0.041 2261 -569.4 162.0 - - 2398 - - - - - - - - 14.47 14.42 14.49
14629 728.7 8.4 565 14634 roll 0.70 - - 3151 - 2.65 0.103 3654 525.7 162.0 - - 2397 - - - - - - - - 14.77 14.24 14.77
14656 726.2 9.0 569 14662 done 0.70 0.10 0.218 3133 -180.0 2.45 0.041 2260 -569.0 162.0 - - 2395 - - - - - - - - 14.11 14.41 14.28
15021 697.9 8.0 579 15027 roll 0.70 - - 3132 - 2.62 0.103 3650 530.5 162.0 - - 2395 - - - - - - - - 14.81 14.23 14.81
15133 687.6 9.1 595 15139 done 0.70 - - 3143 - 2.40 0.041 2259 -579.6 162.0 - - 2395 - - - - - - - - 14.56 14.47 14.58
15469 658.1 8.8 608 15474 roll 0.70 - - 3153 - 2.47 0.063 859 -566.8 162.0 - - 2395 - - - - - - - - 14.85 14.32 14.85
15525 653.1 9.0 616 15530 done 0.70 - - 3153 - 2.47 0.055 2268 570.4 162.0 - - 2391 - - - - - - - - 14.50 14.35 14.53
15861 624.2 8.5 629 15866 roll 0.70 - - 3152 - 2.60 0.106 3653 532.7 162.0 - - 2394 - - - - - - - - 14.83 14.21 14.83
15930 617.7 9.5 639 15937 done 0.62 0.20 0.207 3107 -225.0 2.45 0.041 2252 -571.8 162.0 - - 2394 - - - - - - - - 14.02 14.41 14.21
16253 595.4 6.9 650 16279 roll 0.64 - - 3105 - 2.65 0.105 3656 529.8 179.6 20.95 1.766 2327 -3.2 0.216 - - - - - - 14.83 14.38 13.48
16315 590.3 8.6 659 16322 done 0.64 - - 3116 - 2.42 0.041 2267 -574.0 179.6 - - 2323 - - - - - - - - 14.47 14.43 14.50
16645 563.2 8.3 671 16646 done 0.64 - - 3116 - - - 2265 - 179.6 - - 2320 - - - - - - - - 14.76 14.77 14.77
16981 535.7 8.0 677 16986 roll 0.64 - - 3116 - 2.62 0.104 3651 529.0 179.6 - - 2320 - - - - - - - - 14.81 14.20 14.81
17029 531.5 8.7 684 17036 done 0.64 - - 3126 - 2.42 0.041 2263 -573.6 179.6 - - 2320 - - - - - - - - 14.45 14.42 14.48
17373 504.9 7.6 691 17379 roll 0.64 - - 3136 - 2.50 0.062 854 -563.6 182.9 - - 2320 - - - - - - - - 14.82 14.30 14.82
17407 502.2 7.7 696 17413 done 0.65 - - 3135 - 2.53 0.055 2266 558.1 184.2 - - 2320 - - - - - - - - 14.38 14.29 14.41
17765 475.3 7.5 705 17777 roll 0.65 - - 3136 - 2.62 0.106 3653 529.4 190.1 4.62 1.710 2299 -4.5 0.253 - - - - - - 14.83 14.40 13.09
17855 467.9 8.2 718 17861 done 0.65 0.10 0.207 3118 -180.0 2.40 0.040 2275 -574.2 190.1 1.52 0.236 2294 -3.3 1.309 - - - - - - 14.14 14.41 13.93
18213 446.3 5.9 727 18268 roll 0.70 - - 3127 - 2.55 0.063 857 -556.1 227.5 48.30 1.531 2137 -3.3 0.190 - - - - - - 14.85 14.27 13.40
18289 441.5 6.1 738 18332 done 0.83 0.05 0.109 3190 1260.0 2.53 0.054 2264 556.1 260.2 36.05 1.514 2009 -3.6 0.208 - - - - - - 14.21 14.22 13.28
18663 401.8 11.1 756 18668 roll 0.83 - - 3190 - 2.62 0.105 3653 530.2 260.2 - - 1998 - - - - - - - - 14.66 14.18 14.66
18702 396.6 12.8 762 18708 done 0.83 0.10 0.222 3173 -170.0 2.42 0.041 2275 -569.4 260.2 - - 1997 - - - - - - - - 14.04 14.34 14.21
19053 358.2 10.9 770 19054 done 0.83 - - 3173 - - - 2271 - 260.2 - - 1998 - - - - - - - - 14.78 14.79 14.78
19389 320.0 11.4 776 19390 done 0.83 - - 3173 - - - 2271 - 260.2 - - 1997 - - - - - - - - 14.81 14.81 14.80
19725 283.7 10.6 782 19725 done 0.83 - - 3173 - - - 2270 - 260.2 - - 1996 - - - - - - - - 14.82 14.82 14.82
20061 249.7 10.0 788 20066 roll 0.83 - - 3173 - 2.65 0.103 3660 524.5 260.2 - - 1996 - - - - - - - - 14.83 14.19 14.83
20088 246.7 10.5 792 20094 done 0.83 - - 3183 - 2.45 0.040 2266 -569.0 260.2 - - 1998 - - - - - - - - 14.47 14.42 14.50
20453 209.2 10.4 802 20458 roll 0.83 - - 3194 - 2.47 0.063 857 -570.4 260.2 - - 1996 - - - - - - - - 14.86 14.30 14.86
20487 205.3 10.9 807 20494 done 0.83 - - 3194 - 2.53 0.055 2271 558.9 260.2 - - 1995 - - - - - - - - 14.36 14.28 14.40
20845 164.9 11.4 816 20850 roll 0.83 - - 3194 - 2.62 0.105 3658 529.4 260.2 - - 1995 - - - - - - - - 14.83 14.17 14.83
20872 161.6 11.8 820 20878 done 0.83 0.12 0.223 3168 -216.7 2.42 0.039 2268 -574.4 260.2 - - 1995 - - - - - - - - 14.02 14.40 14.20
21237 127.5 9.1 830 21242 roll 0.83 - - 3169 - 2.62 0.100 3658 530.5 260.2 - - 1996 - - - - - - - - 14.86 14.20 14.87
21257 125.4 9.3 833 21263 done 0.83 - - 3179 - 2.42 0.039 2266 -575.2 260.2 - - 1996 - - - - - - - - 14.45 14.40 14.49
21573 95.0 9.7 843 21579 roll 0.83 - - 3190 - 2.47 0.062 863 -568.0 260.2 - - 1995 - - - - - - - - 14.85 14.28 14.85
21629 89.6 9.6 851 21635 done 0.83 - - 3189 - 2.47 0.054 2280 573.7 260.2 - - 1995 - - - - - - - - 14.47 14.31 14.51
21965 59.4 8.2 866 21970 roll 0.83 - - 3190 - 2.55 0.100 3653 538.4 260.2 - - 1996 - - - - - - - - 14.83 14.18 14.83
22006 55.6 9.4 872 22012 done 0.83 0.10 0.210 3170 -200.0 2.40 0.038 2278 -572.9 260.2 - - 1996 - - - - - - - - 14.04 14.39 14.21
22329 37.9 5.2 885 22358 roll 1.02 0.12 0.096 3265 791.7 2.58 0.062 849 -553.9 310.9 24.02 0.275 1811 -7.7 0.213 - - - - - - 14.53 14.34 13.95
22588 24.2 2.7 922 22643 done 1.14 - - 3265 - 2.50 0.050 2270 568.4 410.6 50.47 0.233 1414 -7.9 0.164 - - - - - - 14.35 14.28 14.07
22970 2.7 5.7 943 22980 VBD 1.33 0.10 0.109 3358 930.0 - - 2270 - 452.0 8.65 0.164 1343 -8.2 0.027 - - - - - - 14.50 - 14.52
22981 end climb: SURFACE_DEPTH_REACHED
22981 begin surface coast
23020 end surface coast: CONTROL_FINISHED_OK
23020 begin surface
SM 0.43 - - - - -8.38 9.15 0.053 160 17.5 0.90 0.093 2765 -9054.4 500.14 34.28 0.158 1058 30.9 -0.009 - - - - - -