SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 274 * Raw log
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• Previous call tries 1 • 103.78 of 350.00 AH used of 24V (70.35% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -74.2 deg, depth -1.65 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 150 - - - 2776 - -107.1 -76.57 - 3474 - - - - - - - - 14.65 12.78 14.63
94 -0.2 -4.4 2 109 roll -0.93 11.73 0.390 2585 207.6 1.92 0.073 3834 551.0 -107.1 - - 3478 - - - - - - - - 14.07 14.38 14.42
270 63.9 -23.0 28 275 done -0.54 0.52 0.252 2725 269.2 1.80 0.038 2765 -593.9 -107.1 - - 3480 - - - - - - - - 14.11 14.50 14.42
591 93.5 -6.1 41 597 roll -0.54 - - 2725 - 2.35 0.041 1379 -589.8 -107.1 - - 3482 - - - - - - - - 14.83 14.47 14.83
774 105.1 -7.1 67 780 done -0.63 - - 2715 - 2.40 0.064 2760 575.4 -107.1 - - 3482 - - - - - - - - 14.63 14.47 14.65
1095 126.8 -6.8 78 1101 roll -0.63 - - 2707 - 2.00 0.106 3824 532.0 -107.1 - - 3482 - - - - - - - - 14.90 14.38 14.89
1220 135.3 -6.8 96 1227 done -0.63 - - 2707 - 1.83 0.041 2734 -595.6 -107.1 - - 3482 - - - - - - - - 14.71 14.67 14.73
1543 156.5 -6.6 107 1549 roll -0.63 - - 2707 - 2.30 0.042 1386 -586.1 -107.1 - - 3482 - - - - - - - - 14.93 14.54 14.93
1619 161.8 -6.9 118 1626 done -0.72 - - 2698 - 2.42 0.066 2749 563.2 -107.1 - - 3481 - - - - - - - - 14.56 14.46 14.60
1935 184.5 -7.2 128 1941 roll -0.72 - - 2690 - 2.03 0.108 3825 530.0 -107.1 - - 3477 - - - - - - - - 14.94 14.38 14.94
1976 187.7 -8.0 134 1982 done -0.72 - - 2689 - 1.80 0.042 2760 -591.7 -107.1 - - 3477 - - - - - - - - 14.73 14.69 14.75
2327 213.9 -7.4 142 2333 roll -0.72 - - 2690 - 2.35 0.043 1383 -586.0 -107.1 - - 3474 - - - - - - - - 14.95 14.53 14.93
2375 217.7 -7.7 149 2383 done -0.72 - - 2680 - 2.45 0.067 2748 557.1 -107.1 - - 3473 - - - - - - - - 14.56 14.46 14.59
2719 244.3 -7.7 156 2725 roll -0.72 - - 2672 - 2.05 0.109 3827 526.3 -107.1 - - 3471 - - - - - - - - 14.93 14.38 14.93
2760 247.5 -7.9 162 2766 done -0.72 - - 2672 - 1.83 0.042 2752 -587.4 -107.1 - - 3471 - - - - - - - - 14.74 14.69 14.75
3111 274.6 -7.8 170 3117 roll -0.72 - - 2671 - 2.35 0.042 1379 -584.3 -107.1 - - 3469 - - - - - - - - 14.94 14.53 14.94
3152 277.9 -7.8 176 3159 done -0.72 - - 2662 - 2.47 0.067 2753 556.3 -107.1 - - 3467 - - - - - - - - 14.54 14.44 14.59
3503 306.4 -8.1 184 3509 roll -0.72 - - 2654 - 2.03 0.110 3818 524.6 -107.1 - - 3467 - - - - - - - - 14.95 14.34 14.94
3559 311.2 -8.5 192 3565 done -0.72 - - 2654 - 1.80 0.042 2752 -592.2 -107.1 - - 3466 - - - - - - - - 14.66 14.64 14.67
3895 339.2 -8.3 205 3896 done -0.72 - - 2654 - - - 2751 - -107.1 - - 3463 - - - - - - - - 14.94 14.94 14.94
4231 366.7 -8.2 211 4231 done -0.72 - - 2654 - - - 2752 - -107.1 - - 3462 - - - - - - - - 14.94 14.94 14.95
4567 394.4 -8.3 217 4573 roll -0.72 - - 2654 - 2.38 0.044 1382 -575.6 -107.1 - - 3461 - - - - - - - - 14.95 14.45 14.94
4608 398.0 -8.5 223 4616 done -0.72 - - 2645 - 2.47 0.068 2749 553.4 -107.1 - - 3461 - - - - - - - - 14.53 14.44 14.58
4959 428.2 -8.6 231 4960 done -0.72 - - 2645 - - - 2749 - -107.1 - - 3459 - - - - - - - - 14.94 14.93 14.93
5295 457.7 -8.7 237 5295 done -0.72 - - 2645 - - - 2748 - -107.1 - - 3457 - - - - - - - - 14.94 14.94 14.94
5631 486.2 -8.5 243 5637 roll -0.72 - - 2636 - 2.05 0.111 3821 523.4 -107.1 - - 3456 - - - - - - - - 14.94 14.29 14.94
5679 490.6 -9.2 250 5687 done -0.72 0.10 0.236 2665 290.0 1.85 0.043 2746 -581.1 -107.1 - - 3456 - - - - - - - - 14.29 14.66 14.52
6023 517.4 -7.8 257 6024 done -0.72 - - 2664 - - - 2749 - -107.1 - - 3454 - - - - - - - - 14.95 14.96 14.95
6359 544.8 -8.2 263 6359 done -0.72 - - 2665 - - - 2749 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
6695 572.6 -8.2 269 6701 roll -0.72 - - 2665 - 2.38 0.044 1382 -574.4 -107.1 - - 3451 - - - - - - - - 14.93 14.45 14.93
6736 576.1 -8.4 275 6744 done -0.72 - - 2655 - 2.50 0.067 2752 548.0 -107.1 - - 3451 - - - - - - - - 14.50 14.40 14.53
7087 604.4 -8.0 283 7088 done -0.72 - - 2655 - - - 2752 - -107.1 - - 3449 - - - - - - - - 14.92 14.93 14.93
7423 628.9 -7.2 289 7429 roll -0.72 - - 2655 - 2.40 0.044 1382 -570.8 -107.1 - - 3448 - - - - - - - - 14.92 14.42 14.92
7450 630.9 -7.3 293 7457 done -0.72 - - 2646 - 2.47 0.067 2743 551.0 -107.1 - - 3448 - - - - - - - - 14.47 14.37 14.51
7815 656.9 -7.1 303 7821 roll -0.72 - - 2638 - 2.08 0.112 3826 520.7 -107.1 - - 3446 - - - - - - - - 14.94 14.25 14.94
7871 661.1 -7.5 311 7878 done -0.72 0.08 0.216 2660 275.0 1.83 0.045 2759 -583.1 -107.1 - - 3445 - - - - - - - - 14.18 14.54 14.34
8207 683.1 -6.6 324 8213 roll -0.72 - - 2660 - 2.40 0.044 1375 -576.7 -107.1 - - 3445 - - - - - - - - 14.91 14.33 14.91
8276 687.9 -7.0 334 8283 done -0.72 - - 2652 - 2.50 0.066 2748 549.2 -107.1 - - 3445 - - - - - - - - 14.43 14.34 14.49
8599 711.5 -7.4 345 8600 done -0.72 - - 2651 - - - 2748 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
8935 737.3 -7.7 351 8936 done -0.72 - - 2651 - - - 2748 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
9271 765.1 -8.3 357 9271 done -0.72 - - 2651 - - - 2748 - -107.1 - - 3443 - - - - - - - - 14.90 14.94 14.91
9607 792.8 -8.2 363 9613 roll -0.72 - - 2651 - 2.42 0.046 1370 -569.4 -107.1 - - 3442 - - - - - - - - 14.93 14.38 14.94
9641 795.9 -8.8 368 9648 done -0.72 - - 2641 - 2.53 0.069 2753 546.6 -107.1 - - 3442 - - - - - - - - 14.41 14.31 14.46
9999 824.2 -7.7 377 10000 done -0.72 - - 2641 - - - 2753 - -107.1 - - 3440 - - - - - - - - 14.92 14.92 14.92
10335 848.8 -7.2 383 10341 roll -0.72 - - 2633 - 2.08 0.116 3825 515.4 -107.1 - - 3439 - - - - - - - - 14.90 14.14 14.90
10376 852.0 -6.3 389 10383 done -0.72 0.10 0.233 2662 290.0 1.90 0.045 2733 -574.7 -107.1 - - 3439 - - - - - - - - 14.18 14.56 14.41
10727 874.0 -6.1 397 10728 done -0.72 - - 2662 - - - 2733 - -107.1 - - 3438 - - - - - - - - 14.92 14.92 14.92
11063 894.7 -6.1 403 11070 roll -0.72 - - 2662 - 2.38 0.047 1358 -577.7 -107.1 - - 3438 - - - - - - - - 14.90 14.35 14.89
11125 898.7 -6.3 412 11132 done -0.80 - - 2653 - 2.55 0.070 2742 542.7 -107.1 - - 3437 - - - - - - - - 14.34 14.23 14.40
11455 920.3 -6.7 424 11456 done -0.80 - - 2653 - - - 2741 - -107.1 - - 3437 - - - - - - - - 14.91 14.91 14.91
11620 end dive: TARGET_DEPTH_EXCEEDED
11620 begin apogee
11626 931.4 -6.6 427 11736 roll -0.23 0.57 0.172 2821 294.7 - - 2230 - - 107.22 1.951 3049 -3.6 0.340 - - - - - - 14.16 14.03 13.17
11738 end apogee: CONTROL_FINISHED_OK
11738 begin climb
11740 934.7 - 429 11870 roll 0.93 1.12 0.095 3185 325.0 2.50 0.057 847 -553.2 107.1 116.57 1.950 2616 -3.7 0.350 - - - - - - 13.98 14.01 12.97
11882 929.6 8.4 450 11889 done 0.73 0.15 0.214 3144 -273.3 2.62 0.051 2269 542.7 107.1 - - 2612 - - - - - - - - 13.71 13.84 13.85
12240 904.9 6.9 459 12262 roll 0.66 0.10 0.252 3116 -280.0 2.65 0.100 3646 519.6 123.5 17.17 2.030 2552 -3.5 0.306 - - - - - - 14.12 14.24 13.47
12339 897.9 7.4 473 12346 done 0.59 0.12 0.222 3093 -191.7 2.45 0.041 2225 -580.0 130.7 2.78 1.113 2530 -7.9 1.255 - - - - - - 14.12 14.34 12.96
12681 879.1 5.4 480 12743 done 0.65 - - 3093 - - - 2225 - 178.1 60.20 1.907 2340 -3.2 0.286 - - - - - - 14.71 14.10 13.38
13073 853.1 7.0 487 13093 roll 0.66 - - 3093 - 2.70 0.100 3649 527.4 192.5 15.00 2.024 2277 -4.2 0.348 - - - - - - 14.66 14.23 13.52
13177 844.6 8.5 502 13185 done 0.66 - - 3102 - 2.45 0.041 2251 -570.6 192.5 - - 2273 - - - - - - - - 14.39 14.37 14.42
13521 816.1 8.4 509 13526 roll 0.66 - - 3101 - 2.65 0.100 3638 523.4 192.5 - - 2271 - - - - - - - - 14.73 14.28 14.73
13548 813.7 8.6 513 13554 done 0.66 - - 3111 - 2.42 0.040 2250 -573.6 192.5 - - 2271 - - - - - - - - 14.47 14.45 14.51
13913 779.5 9.4 523 13919 roll 0.66 - - 3111 - 2.62 0.099 3645 532.4 192.5 - - 2270 - - - - - - - - 14.78 14.33 14.79
13954 775.0 10.9 529 13961 done 0.66 - - 3122 - 2.45 0.041 2237 -574.7 192.5 - - 2270 - - - - - - - - 14.53 14.50 14.53
14305 740.4 9.8 537 14310 roll 0.66 - - 3122 - 2.70 0.101 3645 521.5 192.5 - - 2268 - - - - - - - - 14.84 14.28 14.84
14325 738.3 9.8 540 14331 done 0.66 - - 3131 - 2.42 0.041 2253 -575.2 192.5 - - 2269 - - - - - - - - 14.53 14.49 14.56
14641 707.9 9.5 550 14647 roll 0.66 - - 3131 - 2.65 0.101 3640 523.4 192.5 - - 2268 - - - - - - - - 14.85 14.27 14.85
14675 704.4 10.2 555 14683 done 0.66 - - 3142 - 2.42 0.040 2255 -572.3 192.5 - - 2269 - - - - - - - - 14.58 14.53 14.59
15033 670.3 9.5 564 15034 done 0.66 - - 3142 - - - 2252 - 192.5 - - 2268 - - - - - - - - 14.85 14.85 14.87
15369 639.2 9.2 570 15374 roll 0.66 - - 3152 - 2.47 0.061 862 -562.8 192.5 - - 2267 - - - - - - - - 14.85 14.36 14.86
15396 636.7 8.9 574 15403 done 0.66 0.10 0.204 3121 -310.0 2.45 0.054 2252 567.3 192.5 - - 2267 - - - - - - - - 14.17 14.38 14.33
15761 608.2 7.8 584 15767 roll 0.66 - - 3122 - 2.65 0.103 3651 527.9 192.5 - - 2267 - - - - - - - - 14.85 14.24 14.86
15837 601.6 8.6 595 15844 done 0.66 - - 3131 - 2.42 0.041 2259 -575.2 192.5 - - 2267 - - - - - - - - 14.56 14.52 14.58
16153 577.4 7.6 605 16159 roll 0.67 - - 3141 - 2.47 0.062 874 -560.7 194.9 - - 2267 - - - - - - - - 14.88 14.27 14.88
16180 575.2 7.8 609 16186 done 0.67 - - 3141 - 2.47 0.054 2264 562.8 194.9 - - 2267 - - - - - - - - 14.45 14.38 14.50
16545 545.7 8.2 619 16551 roll 0.67 - - 3141 - 2.65 0.103 3653 524.2 194.9 - - 2267 - - - - - - - - 14.86 14.21 14.86
16593 541.2 9.6 626 16601 done 0.67 0.12 0.207 3116 -208.3 2.42 0.041 2251 -579.3 194.9 - - 2267 - - - - - - - - 14.12 14.50 14.29
16937 514.5 7.8 633 16937 done 0.67 - - 3116 - - - 2249 - 194.9 - - 2267 - - - - - - - - 14.88 14.88 14.88
17273 486.9 8.3 639 17279 roll 0.67 - - 3116 - 2.67 0.102 3657 527.3 194.9 - - 2267 - - - - - - - - 14.88 14.19 14.88
17314 483.0 9.6 645 17321 done 0.67 - - 3125 - 2.42 0.040 2270 -573.1 194.9 - - 2267 - - - - - - - - 14.56 14.52 14.57
17665 452.1 8.8 653 17665 done 0.67 - - 3125 - - - 2269 - 194.9 - - 2266 - - - - - - - - 14.88 14.88 14.88
18001 423.8 8.3 659 18007 roll 0.67 - - 3133 - 2.53 0.062 863 -555.7 194.9 - - 2267 - - - - - - - - 14.89 14.27 14.89
18035 421.0 8.0 664 18041 done 0.67 - - 3135 - 2.50 0.054 2268 562.0 194.9 - - 2267 - - - - - - - - 14.40 14.33 14.46
18393 392.5 7.8 673 18398 roll 0.67 - - 3135 - 2.60 0.102 3655 533.5 194.9 - - 2267 - - - - - - - - 14.88 14.17 14.88
18462 386.3 9.0 683 18469 done 0.67 - - 3146 - 2.42 0.040 2264 -574.8 194.9 - - 2267 - - - - - - - - 14.53 14.50 14.54
18785 360.3 8.0 694 18791 roll 0.67 0.10 0.228 3125 -210.0 2.47 0.061 871 -564.0 194.9 - - 2266 - - - - - - - - 14.26 14.28 14.45
18826 357.3 7.2 700 18847 done 0.68 - - 3124 - 2.47 0.054 2268 565.6 206.6 13.10 1.598 2221 -3.4 0.151 - - - - - - 14.41 14.34 13.81
19177 329.9 8.0 715 19183 roll 0.68 - - 3125 - 2.62 0.102 3655 529.4 206.6 - - 2217 - - - - - - - - 14.81 14.25 14.81
19239 323.9 9.6 724 19245 done 0.68 - - 3134 - 2.40 0.039 2271 -576.7 206.6 - - 2217 - - - - - - - - 14.50 14.46 14.53
19569 293.9 9.3 736 19574 roll 0.68 - - 3145 - 2.47 0.060 867 -568.4 206.6 - - 2217 - - - - - - - - 14.85 14.31 14.85
19603 290.6 9.4 741 19610 done 0.68 - - 3145 - 2.50 0.053 2279 564.8 206.6 - - 2217 - - - - - - - - 14.42 14.35 14.46
19961 257.1 9.4 750 19966 roll 0.68 - - 3145 - 2.60 0.102 3658 530.4 206.6 - - 2217 - - - - - - - - 14.84 14.22 14.84
19988 254.3 10.0 754 19995 done 0.68 0.10 0.202 3125 -200.0 2.40 0.039 2265 -580.4 206.6 - - 2217 - - - - - - - - 14.17 14.50 14.33
20353 224.7 8.0 764 20354 done 0.68 - - 3126 - - - 2260 - 206.6 - - 2217 - - - - - - - - 14.84 14.84 14.84
20689 198.3 7.8 770 20694 roll 0.68 - - 3125 - 2.67 0.100 3652 521.3 206.6 - - 2217 - - - - - - - - 14.90 14.21 14.85
20716 195.9 8.5 774 20723 done 0.68 - - 3134 - 2.40 0.039 2261 -579.6 206.6 - - 2217 - - - - - - - - 14.57 14.52 14.58
21081 166.1 8.2 784 21086 roll 0.68 - - 3134 - 2.65 0.100 3651 524.5 206.6 - - 2217 - - - - - - - - 14.85 14.21 14.86
21101 164.2 8.3 787 21109 done 0.68 - - 3145 - 2.38 0.040 2276 -577.7 206.6 - - 2219 - - - - - - - - 14.59 14.53 14.59
21417 139.0 8.0 797 21418 done 0.68 - - 3146 - - - 2276 - 206.6 - - 2217 - - - - - - - - 14.86 14.86 14.86
21753 113.2 7.3 803 21760 roll 0.69 - - 3146 - 2.62 0.099 3654 526.0 215.0 2.95 0.386 2198 -6.4 0.371 - - - - - - 14.86 14.40 13.90
21780 111.1 7.5 807 21789 done 0.70 0.08 0.207 3130 -200.0 2.35 0.039 2282 -583.8 220.9 4.55 0.438 2170 -6.2 0.307 - - - - - - 14.23 14.52 13.97
22119 90.1 6.6 819 22137 roll 0.73 - - 3141 - 2.47 0.060 872 -570.9 243.9 12.65 0.429 2079 -7.2 0.297 - - - - - - 14.83 14.50 14.12
22221 83.7 6.1 834 22242 done 0.87 0.05 0.112 3187 920.0 2.47 0.050 2284 571.7 276.5 17.10 0.415 1949 -7.6 0.301 - - - - - - 14.34 14.38 14.12
22567 61.0 6.2 850 22586 roll 0.91 - - 3187 - 2.58 0.099 3655 531.4 306.5 15.52 0.352 1829 -7.7 0.263 - - - - - - 14.80 14.40 14.13
22816 43.5 5.8 886 22844 done 1.04 0.05 0.116 3249 1240.0 2.35 0.037 2289 -581.3 346.1 19.98 0.301 1670 -8.0 0.226 - - - - - - 14.33 14.45 14.15
23176 26.6 2.6 904 23233 roll 1.28 0.10 0.117 3328 790.0 2.45 0.059 859 -583.7 449.3 49.10 0.252 1261 -8.3 0.173 - - - - - - 14.50 14.41 14.21
23280 20.9 8.1 919 23289 done 1.28 - - 3328 - 2.53 0.051 2302 570.4 449.3 - - 1263 - - - - - - - - 14.43 14.35 14.47
23510 end climb: SURFACE_DEPTH_REACHED
23510 begin surface coast
23538 end surface coast: CONTROL_FINISHED_OK
23538 begin surface
SM -2.26 - - - - -8.40 9.32 0.080 191 20.5 0.82 0.085 2766 2117.1 500.14 23.62 0.161 1057 44.8 0.064 - - - - - -