SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 473 * Raw log
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• Previous call tries 1 • 167.80 of 350.00 AH used of 24V (52.06% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.8 deg, depth -5.49 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 45 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 - - 104 - - - 2782 - -107.1 -81.72 - 3478 - - - - - - - - 14.66 12.54 14.64
104 0.5 -10.3 3 121 roll -0.93 11.88 0.383 2597 209.8 2.40 0.037 1371 -587.9 -107.1 - - 3479 - - - - - - - - 13.97 14.34 14.23
191 28.3 -14.9 16 197 done -0.74 0.22 0.224 2656 268.2 2.55 0.070 2765 546.7 -107.1 - - 3480 - - - - - - - - 14.07 14.27 14.35
521 62.0 -9.4 30 526 roll -0.74 - - 2648 - 1.98 0.112 3831 538.4 -107.1 - - 3482 - - - - - - - - 14.85 14.28 14.84
674 76.3 -12.3 52 680 done -0.74 - - 2647 - 1.80 0.040 2750 -600.6 -107.1 - - 3482 - - - - - - - - 14.57 14.54 14.57
997 94.1 -6.7 65 1003 roll -0.74 - - 2640 - 2.05 0.109 3833 528.3 -107.1 - - 3482 - - - - - - - - 14.87 14.30 14.87
1045 109.4 -7.8 72 1052 done -0.74 - - 2639 - 1.77 0.040 2766 -602.8 -107.1 - - 3483 - - - - - - - - 14.59 14.57 14.60
1389 138.4 -8.7 79 1394 roll -0.74 - - 2639 - 2.35 0.044 1387 -586.8 -107.1 - - 3482 - - - - - - - - 14.90 14.49 14.90
1445 143.4 -8.7 87 1450 done -0.74 0.10 0.236 2660 210.0 2.47 0.070 2777 562.8 -107.1 - - 3482 - - - - - - - - 14.24 14.40 14.47
1781 174.1 -9.4 100 1786 roll -0.74 - - 2660 - 2.40 0.044 1388 -578.8 -107.1 - - 3479 - - - - - - - - 14.90 14.49 14.90
1815 177.3 -9.4 105 1822 done -0.74 - - 2651 - 2.53 0.070 2763 543.5 -107.1 - - 3480 - - - - - - - - 14.45 14.35 14.50
2173 208.4 -8.5 114 2174 done -0.74 - - 2653 - - - 2763 - -107.1 - - 3477 - - - - - - - - 14.92 14.92 14.92
2509 234.7 -7.6 120 2514 roll -0.74 - - 2651 - 2.40 0.046 1392 -571.2 -107.1 - - 3474 - - - - - - - - 14.93 14.47 14.94
2536 236.9 -7.7 124 2542 done -0.74 - - 2644 - 2.55 0.072 2769 540.0 -107.1 - - 3474 - - - - - - - - 14.43 14.33 14.48
2901 266.6 -8.3 134 2906 roll -0.74 - - 2644 - 2.40 0.046 1392 -573.8 -107.1 - - 3473 - - - - - - - - 14.93 14.48 14.93
2984 273.6 -8.4 146 2990 done -0.74 - - 2636 - 2.50 0.072 2755 545.2 -107.1 - - 3472 - - - - - - - - 14.42 14.32 14.47
3349 303.3 -8.0 156 3354 roll -0.74 - - 2636 - 2.38 0.043 1386 -575.2 -107.1 - - 3470 - - - - - - - - 14.92 14.48 14.91
3461 312.2 -7.7 172 3466 done -0.74 0.10 0.236 2657 210.0 2.47 0.072 2753 553.4 -107.1 - - 3470 - - - - - - - - 14.21 14.36 14.45
3797 339.3 -8.4 185 3803 roll -0.74 - - 2656 - 2.35 0.043 1393 -578.7 -107.1 - - 3467 - - - - - - - - 14.90 14.48 14.92
3974 354.4 -8.6 210 3978 done -0.74 - - 2647 - 2.42 0.070 2739 556.2 -107.1 - - 3467 - - - - - - - - 14.53 14.35 14.57
4301 383.4 -8.8 222 4306 roll -0.74 - - 2647 - 2.35 0.043 1385 -576.2 -107.1 - - 3465 - - - - - - - - 14.90 14.47 14.90
4454 395.8 -7.9 244 4460 done -0.74 - - 2639 - 2.47 0.071 2725 542.5 -107.1 - - 3465 - - - - - - - - 14.38 14.28 14.44
4805 424.1 -8.2 252 4810 roll -0.74 - - 2639 - 2.33 0.044 1386 -574.7 -107.1 - - 3463 - - - - - - - - 14.90 14.46 14.90
4909 432.9 -8.2 267 4917 done -0.74 0.08 0.232 2652 162.5 2.45 0.070 2724 546.1 -107.1 - - 3463 - - - - - - - - 14.10 14.29 14.26
5253 460.6 -8.1 274 5258 roll -0.74 - - 2652 - 2.33 0.044 1391 -572.1 -107.1 - - 3462 - - - - - - - - 14.92 14.45 14.92
5315 465.8 -8.1 283 5321 done -0.82 - - 2644 - 2.42 0.070 2714 546.7 -107.1 - - 3460 - - - - - - - - 14.38 14.28 14.42
5645 493.6 -8.6 295 5650 roll -0.82 - - 2644 - 2.30 0.043 1393 -574.3 -107.1 - - 3460 - - - - - - - - 14.90 14.43 14.90
5707 499.1 -8.6 304 5713 done -0.82 - - 2636 - 2.40 0.069 2708 547.9 -107.1 - - 3460 - - - - - - - - 14.39 14.29 14.45
6037 526.6 -8.3 316 6042 roll -0.82 - - 2636 - 2.30 0.043 1385 -575.2 -107.1 - - 3458 - - - - - - - - 14.90 14.44 14.90
6099 531.7 -8.0 325 6105 done -0.82 - - 2626 - 2.42 0.068 2711 547.9 -107.1 - - 3458 - - - - - - - - 14.38 14.28 14.42
6429 558.6 -8.2 337 6435 roll -0.82 - - 2626 - 2.30 0.044 1390 -574.3 -107.1 - - 3457 - - - - - - - - 14.90 14.42 14.91
6485 563.4 -8.4 345 6491 done -0.82 - - 2617 - 2.40 0.070 2707 548.8 -107.1 - - 3457 - - - - - - - - 14.49 14.31 14.52
6821 593.0 -9.0 358 6826 roll -0.82 - - 2609 - 2.12 0.116 3822 525.9 -107.1 - - 3456 - - - - - - - - 14.90 14.19 14.89
6855 596.3 -9.6 363 6861 done -0.82 - - 2608 - 1.90 0.044 2721 -579.5 -107.1 - - 3455 - - - - - - - - 14.53 14.50 14.54
7213 629.3 -9.3 372 7218 roll -0.82 - - 2608 - 2.35 0.044 1369 -575.3 -107.1 - - 3454 - - - - - - - - 14.92 14.40 14.92
7269 634.3 -9.0 380 7274 done -0.82 0.12 0.237 2634 216.7 2.42 0.067 2708 553.3 -107.1 - - 3454 - - - - - - - - 14.08 14.31 14.34
7605 658.9 -7.2 393 7611 roll -0.82 - - 2634 - 2.35 0.044 1367 -570.6 -107.1 - - 3452 - - - - - - - - 14.88 14.40 14.88
7653 662.5 -7.2 400 7660 done -0.82 - - 2625 - 2.45 0.067 2701 544.5 -107.1 - - 3452 - - - - - - - - 14.33 14.23 14.37
7997 687.6 -7.4 407 8002 roll -0.82 - - 2616 - 2.15 0.117 3826 523.3 -107.1 - - 3450 - - - - - - - - 14.88 14.15 14.89
8045 691.5 -8.0 414 8052 done -0.82 - - 2615 - 1.95 0.044 2693 -581.0 -107.1 - - 3451 - - - - - - - - 14.50 14.47 14.51
8389 718.9 -8.2 421 8395 roll -0.82 - - 2615 - 2.30 0.044 1371 -574.8 -107.1 - - 3449 - - - - - - - - 14.88 14.38 14.88
8451 724.3 -8.5 430 8457 done -0.82 0.08 0.229 2627 150.0 2.45 0.067 2697 541.2 -107.1 - - 3449 - - - - - - - - 13.99 14.22 14.16
8781 751.9 -8.5 442 8786 roll -0.82 - - 2628 - 2.33 0.044 1376 -567.0 -107.1 - - 3449 - - - - - - - - 14.88 14.37 14.88
8871 759.9 -8.8 455 8877 done -0.82 - - 2619 - 2.42 0.066 2691 543.4 -107.1 - - 3448 - - - - - - - - 14.29 14.20 14.34
9229 791.5 -8.9 464 9234 roll -0.82 - - 2618 - 2.33 0.044 1375 -564.8 -107.1 - - 3447 - - - - - - - - 14.88 14.36 14.88
9323 end dive: TARGET_DEPTH_EXCEEDED
9323 begin apogee
9332 800.0 -8.5 478 9445 roll -0.23 0.73 0.174 2825 283.6 - - 2260 - - 105.93 2.520 3052 -3.7 0.237 - - - - 1 - 14.06 13.85 12.54
9446 end apogee: CONTROL_FINISHED_OK
9446 begin climb
9450 804.2 - 480 9581 roll 0.93 1.10 0.083 3187 329.1 2.58 0.057 863 -541.5 107.1 121.55 1.838 2622 -3.5 0.310 - - - - - - 13.92 13.94 12.93
9629 803.3 5.7 507 9678 done 0.85 - - 3186 - 2.50 0.051 2247 553.6 147.2 43.38 1.855 2459 -3.8 0.326 - - - - - - 14.16 14.09 13.06
10003 771.0 9.0 525 10009 roll 0.73 0.15 0.228 3138 -320.0 2.62 0.100 3654 537.0 147.2 - - 2447 - - - - - - - - 14.16 14.27 14.33
10036 767.7 8.8 530 10042 done 0.64 0.12 0.213 3113 -208.3 2.45 0.040 2255 -571.0 147.2 - - 2447 - - - - - - - - 14.14 14.43 14.47
10394 744.2 6.5 539 10426 roll 0.67 - - 3123 - 2.53 0.061 861 -551.0 170.8 24.23 1.869 2363 -3.5 0.277 - - - - - - 14.81 14.37 13.40
10450 740.4 6.5 547 10483 done 0.70 - - 3122 - 2.42 0.052 2248 573.1 194.4 26.75 1.859 2268 -3.6 0.283 - - - - - - 14.49 14.37 13.27
10842 708.4 8.3 561 10848 roll 0.70 - - 3123 - 2.65 0.104 3656 531.3 194.4 - - 2261 - - - - - - - - 14.75 14.27 14.75
10939 699.2 9.6 575 10945 done 0.70 - - 3133 - 2.47 0.040 2246 -570.9 194.4 - - 2261 - - - - - - - - 14.49 14.44 14.51
11290 668.6 8.7 583 11295 roll 0.70 - - 3133 - 2.67 0.104 3655 527.7 194.4 - - 2259 - - - - - - - - 14.83 14.28 14.83
11346 663.1 10.0 591 11351 done 0.70 - - 3144 - 2.42 0.041 2247 -581.8 194.4 - - 2259 - - - - - - - - 14.59 14.51 14.61
11682 631.3 9.5 604 11687 roll 0.70 - - 3154 - 2.42 0.063 869 -569.4 194.4 - - 2258 - - - - - - - - 14.86 14.37 14.86
11744 625.3 9.7 613 11751 done 0.70 0.08 0.203 3131 -287.5 2.45 0.054 2249 563.3 194.4 - - 2257 - - - - - - - - 14.16 14.35 14.32
12074 595.6 9.1 625 12080 roll 0.70 - - 3130 - 2.65 0.106 3658 531.7 194.4 - - 2256 - - - - - - - - 14.85 14.25 14.85
12150 588.0 10.0 636 12156 done 0.70 - - 3141 - 2.45 0.040 2257 -571.8 194.4 - - 2259 - - - - - - - - 14.50 14.45 14.52
12466 559.7 9.0 646 12471 roll 0.70 - - 3141 - 2.65 0.104 3652 526.4 194.4 - - 2257 - - - - - - - - 14.85 14.23 14.85
12500 556.3 9.8 651 12506 done 0.70 - - 3151 - 2.45 0.041 2258 -569.0 194.4 - - 2256 - - - - - - - - 14.47 14.44 14.50
12858 523.4 9.2 660 12863 roll 0.70 - - 3162 - 2.47 0.063 852 -569.2 194.4 - - 2257 - - - - - - - - 14.86 14.33 14.86
12920 517.6 9.1 669 12927 done 0.70 0.10 0.203 3131 -310.0 2.50 0.054 2258 562.4 194.4 - - 2256 - - - - - - - - 14.10 14.31 14.25
13250 491.4 7.9 681 13256 roll 0.70 - - 3131 - 2.62 0.105 3651 531.7 194.4 - - 2256 - - - - - - - - 14.88 14.20 14.88
13291 487.9 8.8 687 13297 done 0.70 - - 3141 - 2.45 0.041 2256 -569.4 194.4 - - 2256 - - - - - - - - 14.47 14.40 14.49
13643 462.1 7.2 695 13654 roll 0.71 - - 3142 - 2.72 0.103 3657 515.1 205.5 3.70 1.400 2239 -4.6 0.304 - - - - - - 14.85 14.35 13.07
13684 458.8 8.2 701 13691 done 0.71 - - 3152 - 2.42 0.041 2248 -582.2 205.5 1.60 0.280 2234 -3.1 1.026 - - - - - - 14.61 14.52 13.91
14034 431.2 8.0 709 14037 done 0.71 - - 3152 - - - 2245 - 205.5 1.77 0.244 2231 -1.7 0.600 - - - - - - 14.85 14.26 13.86
14370 402.9 8.6 715 14373 done 0.71 - - 3152 - - - 2245 - 205.5 1.90 0.246 2229 - - - - - - - - 14.85 14.19 13.73
14706 372.9 9.0 721 14713 roll 0.71 - - 3152 - 2.70 0.102 3658 523.3 205.5 1.88 0.249 2230 - - - - - - - - 14.88 13.97 13.66
14747 368.8 10.1 727 14754 done 0.71 0.10 0.209 3134 -180.0 2.45 0.041 2263 -569.4 205.5 1.67 0.225 2231 - - - - - - - - 14.07 14.40 13.82
15098 342.1 7.4 735 15118 roll 0.72 - - 3144 - 2.47 0.062 855 -570.0 212.3 13.73 1.577 2197 -2.5 0.108 - - - - - - 14.85 14.42 13.46
15139 339.1 7.2 741 15155 done 0.73 - - 3144 - 2.47 0.053 2260 568.8 223.4 11.55 1.586 2160 -3.2 0.137 - - - - - - 14.49 14.42 13.45
15484 311.2 8.4 755 15489 roll 0.73 - - 3143 - 2.62 0.104 3654 532.1 223.4 - - 2149 - - - - - - - - 14.78 14.21 14.78
15546 305.3 9.4 764 15551 done 0.73 - - 3154 - 2.45 0.040 2255 -571.0 223.4 - - 2149 - - - - - - - - 14.44 14.40 14.46
15875 276.9 8.6 776 15876 done 0.73 - - 3154 - - - 2251 - 223.4 - - 2149 - - - - - - - - 14.82 14.82 14.82
16212 248.6 8.4 782 16217 roll 0.73 - - 3154 - 2.67 0.103 3658 527.0 223.4 - - 2149 - - - - - - - - 14.84 14.20 14.84
16239 246.0 9.2 786 16245 done 0.73 - - 3165 - 2.42 0.040 2253 -580.6 223.4 - - 2149 - - - - - - - - 14.54 14.44 14.57
16604 211.5 9.6 796 16608 roll 0.73 - - 3175 - 2.45 0.063 856 -570.2 223.4 - - 2149 - - - - - - - - 14.84 14.30 14.84
16638 208.1 9.9 801 16645 done 0.73 0.12 0.187 3138 -308.3 2.50 0.053 2269 565.2 223.4 - - 2149 - - - - - - - - 14.07 14.29 14.23
16996 177.8 8.3 810 17001 roll 0.73 - - 3137 - 2.60 0.103 3655 533.1 223.4 - - 2149 - - - - - - - - 14.85 14.18 14.84
17044 173.5 9.1 817 17052 done 0.73 - - 3147 - 2.45 0.040 2256 -571.0 223.4 - - 2148 - - - - - - - - 14.44 14.39 14.47
17388 144.9 8.3 824 17392 roll 0.73 - - 3155 - 2.45 0.061 862 -569.0 223.4 - - 2149 - - - - - - - - 14.88 14.29 14.88
17457 139.1 8.4 834 17462 done 0.73 - - 3157 - 2.47 0.052 2258 565.2 223.4 - - 2150 - - - - - - - - 14.35 14.28 14.40
17780 112.2 8.4 845 17785 roll 0.73 - - 3157 - 2.62 0.102 3657 534.0 223.4 - - 2149 - - - - - - - - 14.85 14.18 14.85
17821 108.5 9.2 851 17827 done 0.73 0.10 0.202 3138 -190.0 2.42 0.038 2263 -576.0 223.4 - - 2149 - - - - - - - - 14.07 14.40 14.23
18144 84.6 7.4 862 18151 roll 0.74 - - 3138 - 2.72 0.100 3656 512.1 230.9 2.72 0.314 2132 -6.2 0.337 - - - - - - 14.84 14.16 13.54
18193 80.7 8.0 869 18199 done 0.74 - - 3148 - 2.40 0.038 2253 -584.6 230.9 1.83 0.266 2130 - - - - - - - - 14.48 14.40 13.59
18529 56.7 6.8 884 18548 roll 0.76 - - 3158 - 2.53 0.060 857 -551.8 248.7 11.23 0.336 2059 -6.3 0.214 - - - - - - 14.83 14.31 13.85
18591 52.5 7.1 893 18604 done 0.86 - - 3158 - 2.47 0.052 2257 566.8 261.6 8.23 0.317 2008 -6.2 0.206 - - - - - - 14.38 14.30 13.91
18924 33.6 5.0 907 18961 roll 1.02 0.12 0.094 3273 958.3 2.55 0.060 857 -549.0 315.3 29.05 0.277 1794 -7.4 0.179 - - - - - - 14.50 14.38 14.04
19028 25.6 7.7 922 19034 done 1.03 0.15 0.219 3230 -286.7 2.45 0.051 2259 572.2 315.6 - - 1795 - - - - - - - - 14.04 14.28 14.29
19341 13.7 4.1 934 19383 roll 1.22 0.08 0.142 3327 1212.5 2.53 0.062 861 -552.6 388.5 37.22 0.212 1502 -7.9 0.102 - - - - - - 14.52 14.35 14.09
19499 end climb: SURFACE_DEPTH_REACHED
19499 begin surface coast
19505 end surface coast: CONTROL_FINISHED_OK
19505 begin surface
SM -4.13 - - - - -8.38 9.52 0.092 190 19.9 3.42 0.063 2762 -2384.2 500.14 53.53 0.163 1057 19.7 0.051 - - - - - -