SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 276 * Raw log
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• Previous call tries 1 • 104.38 of 350.00 AH used of 24V (70.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.1 deg, depth -1.65 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 500.14, SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 90 done -0.93 - - 161 - - - 2790 - -107.1 -75.38 - 3478 - - - - - - - - 14.65 12.78 14.65
93 0.2 -6.0 2 113 roll -0.93 11.75 0.393 2595 207.1 2.40 0.036 1364 -594.2 -107.1 - - 3480 - - - - - - - - 14.06 14.41 14.40
216 46.3 -18.2 21 224 done -0.69 0.30 0.252 2666 236.7 2.53 0.070 2759 551.4 -107.1 - - 3481 - - - - - - - - 14.08 14.32 14.28
532 82.0 -10.0 33 538 roll -0.59 0.15 0.230 2700 226.7 1.98 0.107 3818 534.8 -107.1 - - 3482 - - - - - - - - 14.27 14.26 14.50
769 101.6 -7.0 67 775 done -0.59 - - 2700 - 1.77 0.038 2739 -609.6 -107.1 - - 3483 - - - - - - - - 14.69 14.64 14.70
1092 124.9 -7.3 78 1098 roll -0.59 - - 2692 - 2.05 0.106 3818 526.3 -107.1 - - 3483 - - - - - - - - 14.89 14.32 14.89
1161 130.5 -8.1 88 1168 done -0.59 - - 2692 - 1.75 0.040 2759 -605.1 -107.1 - - 3483 - - - - - - - - 14.71 14.66 14.72
1484 156.2 -8.0 99 1485 done -0.59 - - 2692 - - - 2759 - -107.1 - - 3482 - - - - - - - - 14.94 14.94 14.94
1820 182.7 -7.9 105 1826 roll -0.59 - - 2692 - 2.33 0.044 1398 -584.1 -107.1 - - 3480 - - - - - - - - 14.94 14.52 14.93
1847 185.0 -8.2 109 1854 done -0.59 - - 2682 - 2.45 0.068 2772 560.8 -107.1 - - 3479 - - - - - - - - 14.55 14.46 14.60
2212 213.5 -7.6 119 2218 roll -0.59 - - 2682 - 2.38 0.044 1401 -576.1 -107.1 - - 3476 - - - - - - - - 14.96 14.47 14.96
2246 216.2 -7.8 124 2254 done -0.59 0.10 0.208 2702 200.0 2.47 0.069 2770 554.3 -107.1 - - 3477 - - - - - - - - 14.29 14.46 14.43
2604 239.6 -6.5 133 2605 done -0.68 - - 2702 - - - 2770 - -107.1 - - 3474 - - - - - - - - 14.96 14.96 14.96
2941 262.3 -6.8 139 2946 roll -0.77 0.10 0.114 2635 -670.0 2.33 0.044 1399 -588.4 -107.1 - - 3471 - - - - - - - - 14.67 14.57 14.72
2996 267.3 -9.3 147 3002 done -0.77 - - 2626 - 2.47 0.069 2765 553.0 -107.1 - - 3471 - - - - - - - - 14.52 14.42 14.57
3332 301.3 -10.2 160 3339 roll -0.77 - - 2625 - 2.38 0.044 1399 -573.9 -107.1 - - 3469 - - - - - - - - 14.96 14.43 14.95
3359 304.1 -10.1 164 3367 done -0.77 0.10 0.228 2645 200.0 2.45 0.069 2765 557.6 -107.1 - - 3469 - - - - - - - - 14.23 14.44 14.40
3724 338.5 -9.4 174 3725 done -0.77 - - 2643 - - - 2765 - -107.1 - - 3467 - - - - - - - - 14.95 14.95 14.95
4060 369.6 -9.2 180 4061 done -0.77 - - 2645 - - - 2765 - -107.1 - - 3465 - - - - - - - - 14.95 14.95 14.95
4396 400.0 -9.0 186 4397 done -0.77 - - 2645 - - - 2765 - -107.1 - - 3463 - - - - - - - - 14.97 14.97 14.97
4732 429.4 -8.7 192 4739 roll -0.77 - - 2645 - 2.40 0.046 1397 -570.0 -107.1 - - 3462 - - - - - - - - 14.97 14.42 14.97
4752 431.3 -8.7 195 4759 done -0.77 - - 2636 - 2.47 0.070 2758 551.0 -107.1 - - 3461 - - - - - - - - 14.47 14.37 14.52
5068 457.6 -8.3 205 5069 done -0.77 - - 2636 - - - 2758 - -107.1 - - 3459 - - - - - - - - 14.95 14.95 14.95
5404 484.4 -8.0 211 5405 done -0.77 - - 2636 - - - 2758 - -107.1 - - 3458 - - - - - - - - 14.95 14.95 14.95
5740 511.6 -8.3 217 5746 roll -0.77 - - 2634 - 2.40 0.045 1401 -565.4 -107.1 - - 3457 - - - - - - - - 14.95 14.45 14.95
5802 517.1 -8.7 226 5809 done -0.77 - - 2626 - 2.50 0.071 2770 547.6 -107.1 - - 3456 - - - - - - - - 14.48 14.39 14.53
6132 549.2 -10.0 238 6133 done -0.77 - - 2626 - - - 2770 - -107.1 - - 3455 - - - - - - - - 14.93 14.94 14.94
6468 583.5 -10.2 244 6475 roll -0.77 - - 2625 - 2.40 0.045 1403 -569.6 -107.1 - - 3451 - - - - - - - - 14.94 14.42 14.94
6516 588.5 -10.2 251 6524 done -0.77 0.10 0.229 2644 190.0 2.47 0.071 2756 547.8 -107.1 - - 3453 - - - - - - - - 14.13 14.36 14.31
6860 619.4 -8.8 258 6866 roll -0.77 - - 2636 - 2.05 0.112 3824 521.0 -107.1 - - 3451 - - - - - - - - 14.93 14.26 14.93
6894 622.5 -9.3 263 6900 done -0.77 - - 2635 - 1.83 0.044 2770 -576.0 -107.1 - - 3456 - - - - - - - - 14.68 14.62 14.69
7252 653.0 -8.4 272 7259 roll -0.77 - - 2635 - 2.42 0.045 1382 -573.6 -107.1 - - 3450 - - - - - - - - 14.93 14.34 14.93
7293 656.5 -8.3 278 7300 done -0.77 - - 2626 - 2.53 0.070 2766 547.0 -107.1 - - 3449 - - - - - - - - 14.45 14.35 14.50
7644 686.5 -8.6 286 7645 done -0.77 - - 2626 - - - 2766 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7980 716.1 -8.8 292 7987 roll -0.77 - - 2618 - 2.03 0.110 3821 519.7 -107.1 - - 3446 - - - - - - - - 14.92 14.21 14.95
8007 718.6 -9.2 296 8015 done -0.77 0.10 0.236 2647 290.0 1.83 0.044 2762 -578.7 -107.1 - - 3444 - - - - - - - - 14.22 14.60 14.46
8372 747.0 -7.6 306 8378 roll -0.77 - - 2647 - 2.42 0.046 1378 -571.9 -107.1 - - 3445 - - - - - - - - 14.91 14.38 14.91
8448 752.9 -7.4 317 8455 done -0.77 - - 2638 - 2.53 0.070 2761 546.6 -107.1 - - 3445 - - - - - - - - 14.41 14.31 14.47
8764 776.5 -7.5 327 8765 done -0.77 - - 2637 - - - 2760 - -107.1 - - 3444 - - - - - - - - 14.91 14.90 14.90
9100 802.3 -7.8 333 9106 roll -0.77 - - 2637 - 2.45 0.046 1377 -564.5 -107.1 - - 3444 - - - - - - - - 14.91 14.35 14.91
9183 809.5 -8.2 345 9190 done -0.77 - - 2627 - 2.53 0.070 2751 543.1 -107.1 - - 3444 - - - - - - - - 14.40 14.31 14.45
9548 840.5 -8.8 355 9549 done -0.77 - - 2627 - - - 2751 - -107.1 - - 3442 - - - - - - - - 14.93 14.94 14.94
9884 869.8 -8.7 361 9885 done -0.77 - - 2627 - - - 2751 - -107.1 - - 3441 - - - - - - - - 14.93 14.94 14.95
10220 898.7 -8.6 367 10226 roll -0.77 - - 2625 - 2.45 0.047 1377 -560.8 -107.1 - - 3440 - - - - - - - - 14.93 14.33 14.93
10289 904.8 -8.5 377 10296 done -0.77 0.10 0.232 2645 200.0 2.55 0.071 2760 542.4 -107.1 - - 3440 - - - - - - - - 14.02 14.26 14.21
10612 929.3 -7.5 388 10613 done -0.77 - - 2645 - - - 2760 - -107.1 - - 3439 - - - - - - - - 14.90 14.90 14.90
10666 end dive: TARGET_DEPTH_EXCEEDED
10666 begin apogee
10672 933.4 -7.4 389 10781 roll -0.23 0.60 0.177 2820 291.7 - - 2228 - - 107.28 1.952 3051 -3.6 0.340 - - - - - - 14.14 14.01 13.20
10783 end apogee: CONTROL_FINISHED_OK
10783 begin climb
10785 936.6 - 391 10907 roll 0.93 1.12 0.096 3181 322.3 2.42 0.058 883 -555.8 107.1 114.70 1.957 2625 -3.7 0.349 - - - - - - 13.99 14.01 12.97
10942 929.2 7.6 414 10950 done 0.80 - - 3181 - 2.55 0.054 2264 541.6 110.9 - - 2616 - - - - - - - - 13.95 13.88 13.97
11286 896.8 9.7 421 11292 roll 0.65 0.25 0.220 3112 -276.0 2.58 0.099 3655 539.1 110.9 - - 2612 - - - - - - - - 14.09 14.23 14.33
11362 889.9 8.8 432 11370 done 0.56 0.12 0.203 3087 -208.3 2.42 0.041 2268 -573.1 110.9 - - 2612 - - - - - - - - 14.10 14.38 14.26
11677 868.0 6.9 442 11702 done 0.58 - - 3087 - - - 2267 - 128.2 23.33 1.948 2538 -3.2 0.278 - - - - - - 14.77 14.38 13.57
12014 844.8 6.9 448 12040 roll 0.61 - - 3088 - 2.67 0.103 3656 520.2 146.1 19.80 1.967 2462 -3.8 0.324 - - - - - - 14.73 14.31 13.57
12075 840.0 9.1 457 12082 done 0.61 - - 3097 - 2.47 0.041 2247 -570.4 146.1 - - 2459 - - - - - - - - 14.38 14.34 14.41
12406 816.3 7.2 469 12426 roll 0.62 - - 3097 - 2.70 0.103 3651 520.0 157.7 12.57 2.052 2417 -3.3 0.261 - - - - - - 14.73 14.36 13.59
12462 812.2 6.6 477 12496 done 0.65 - - 3107 - 2.45 0.041 2249 -572.2 180.2 26.83 1.892 2325 -3.4 0.289 - - - - - - 14.42 14.38 13.45
12853 780.7 8.1 491 12859 roll 0.65 - - 3107 - 2.70 0.101 3681 530.4 180.2 - - 2316 - - - - - - - - 14.70 14.27 14.68
12901 776.5 8.0 498 12910 done 0.65 - - 3118 - 2.50 0.040 2255 -570.4 180.2 - - 2318 - - - - - - - - 14.47 14.43 14.49
13246 748.7 8.1 505 13251 roll 0.65 - - 3128 - 2.47 0.064 867 -561.9 180.2 - - 2317 - - - - - - - - 14.78 14.35 14.78
13279 745.8 8.1 510 13286 done 0.65 - - 3128 - 2.47 0.056 2259 563.6 180.2 - - 2317 - - - - - - - - 14.48 14.41 14.52
13637 715.3 8.6 519 13643 roll 0.65 - - 3128 - 2.62 0.103 3651 531.3 180.2 - - 2317 - - - - - - - - 14.83 14.31 14.83
13693 709.8 9.8 527 13699 done 0.65 - - 3138 - 2.42 0.041 2258 -575.6 180.2 - - 2316 - - - - - - - - 14.52 14.47 14.55
14030 678.7 9.3 540 14036 roll 0.65 - - 3138 - 2.65 0.101 3662 529.8 180.2 - - 2316 - - - - - - - - 14.85 14.33 14.85
14070 674.4 10.3 546 14078 done 0.65 0.12 0.205 3112 -216.7 2.45 0.041 2251 -575.9 180.2 - - 2316 - - - - - - - - 14.20 14.50 14.38
14421 646.2 8.0 554 14422 done 0.65 - - 3112 - - - 2248 - 180.2 - - 2315 - - - - - - - - 14.85 14.85 14.85
14757 619.6 7.9 560 14764 roll 0.65 - - 3111 - 2.67 0.100 3649 524.7 180.2 - - 2315 - - - - - - - - 14.85 14.28 14.85
14813 614.7 8.9 568 14820 done 0.65 - - 3121 - 2.42 0.042 2255 -576.0 180.2 - - 2315 - - - - - - - - 14.52 14.49 14.54
15149 587.8 8.0 581 15155 roll 0.65 - - 3122 - 2.67 0.103 3669 529.6 180.2 - - 2315 - - - - - - - - 14.85 14.28 14.85
15197 583.5 9.0 588 15207 done 0.65 - - 3131 - 2.45 0.041 2255 -577.1 180.2 - - 2315 - - - - - - - - 14.54 14.51 14.56
15542 556.3 7.8 595 15542 done 0.65 - - 3131 - - - 2254 - 180.2 - - 2314 - - - - - - - - 14.88 14.88 14.88
15878 531.4 7.4 601 15880 done 0.66 - - 3131 - - - 2254 - 187.5 1.25 0.268 2303 -8.8 3.430 - - - - - - 14.87 14.39 14.02
16213 507.0 7.3 607 16234 roll 0.67 - - 3132 - 2.60 0.102 3653 538.1 195.8 14.40 1.751 2264 -2.7 0.154 - - - - - - 14.88 14.51 13.81
16248 504.3 7.6 612 16255 done 0.67 - - 3142 - 2.42 0.042 2261 -575.2 199.1 - - 2261 - - - - - - - - 14.57 14.52 14.59
16606 474.6 8.4 621 16611 roll 0.67 - - 3142 - 2.67 0.101 3651 520.6 199.1 - - 2260 - - - - - - - - 14.81 14.27 14.81
16632 471.9 9.7 625 16639 done 0.67 0.10 0.207 3121 -210.0 2.40 0.041 2267 -576.7 199.1 - - 2260 - - - - - - - - 14.20 14.49 14.36
16997 441.4 8.4 635 17003 roll 0.67 - - 3132 - 2.50 0.063 866 -560.4 199.1 - - 2260 - - - - - - - - 14.83 14.31 14.83
17025 439.1 8.3 639 17031 done 0.67 - - 3132 - 2.50 0.057 2274 563.2 199.1 - - 2265 - - - - - - - - 14.45 14.38 14.49
17389 408.2 8.4 649 17395 roll 0.67 - - 3131 - 2.62 0.103 3659 528.6 199.1 - - 2260 - - - - - - - - 14.84 14.24 14.84
17437 403.7 9.5 656 17447 done 0.67 - - 3142 - 2.40 0.039 2269 -579.2 199.1 - - 2260 - - - - - - - - 14.52 14.50 14.54
17781 374.3 8.5 663 17787 roll 0.67 - - 3142 - 2.67 0.102 3655 519.1 199.1 - - 2260 - - - - - - - - 14.87 14.23 14.88
17815 371.0 9.3 668 17824 done 0.67 0.10 0.204 3123 -190.0 2.40 0.040 2272 -576.2 199.1 - - 2260 - - - - - - - - 14.17 14.50 14.33
18174 343.8 7.6 677 18178 done 0.68 - - 3122 - - - 2269 - 202.6 2.95 1.111 2243 -5.8 0.351 - - - - - - 14.85 14.57 13.29
18510 318.7 7.4 683 18523 done 0.68 - - 3122 - - - 2269 - 208.7 11.82 1.586 2219 -2.0 0.080 - - - - - - 14.85 14.59 13.87
18846 293.1 7.7 689 18851 roll 0.68 - - 3122 - 2.62 0.101 3659 530.5 209.6 - - 2210 - - - - - - - - 14.83 14.32 14.83
18902 288.1 9.0 697 18907 done 0.68 - - 3136 - 2.40 0.040 2251 -586.7 209.6 - - 2210 - - - - - - - - 14.59 14.49 14.61
19238 260.1 8.4 710 19238 done 0.68 - - 3131 - - - 2247 - 209.6 - - 2214 - - - - - - - - 14.83 14.83 14.84
19574 233.2 7.9 716 19580 roll 0.68 - - 3131 - 2.67 0.101 3664 530.7 209.6 - - 2210 - - - - - - - - 14.87 14.31 14.88
19614 229.6 8.8 722 19621 done 0.68 - - 3142 - 2.42 0.040 2259 -580.6 209.6 - - 2210 - - - - - - - - 14.54 14.50 14.57
19965 201.0 8.0 730 19966 done 0.68 - - 3142 - - - 2255 - 209.6 - - 2210 - - - - - - - - 14.85 14.86 14.86
20301 173.9 8.0 736 20308 roll 0.68 - - 3142 - 2.67 0.099 3654 524.0 209.6 - - 2210 - - - - - - - - 14.89 14.26 14.89
20328 171.5 8.6 740 20337 done 0.68 0.08 0.207 3128 -175.0 2.40 0.039 2272 -575.8 209.6 - - 2210 - - - - - - - - 14.16 14.47 14.31
20694 143.3 7.8 750 20694 done 0.68 - - 3128 - - - 2271 - 209.6 - - 2210 - - - - - - - - 14.89 14.89 14.89
21029 115.9 8.0 756 21030 done 0.68 - - 3128 - - - 2271 - 209.6 - - 2210 - - - - - - - - 14.90 14.90 14.90
21338 98.6 5.2 762 21367 roll 0.83 0.05 0.198 3178 1000.0 2.65 0.099 3662 524.9 261.3 24.88 0.469 2011 -8.0 0.331 - - - - - - 14.58 14.50 14.16
21386 94.8 8.6 769 21394 done 0.83 - - 3189 - 2.40 0.039 2279 -576.2 261.3 - - 2014 - - - - - - - - 14.56 14.52 14.59
21702 71.3 7.4 781 21711 roll 0.84 - - 3190 - 2.65 0.098 3663 522.3 268.4 4.15 0.353 1982 -7.7 0.306 - - - - - - 14.85 14.40 14.00
21730 69.4 6.7 785 21746 done 0.86 - - 3199 - 2.40 0.038 2271 -580.0 290.0 11.82 0.370 1893 -7.5 0.278 - - - - - - 14.55 14.49 14.11
22053 50.1 5.6 798 22081 roll 0.92 - - 3199 - 2.60 0.099 3665 536.2 332.6 21.62 0.324 1724 -7.8 0.238 - - - - - - 14.82 14.43 14.17
22311 35.8 2.5 835 22367 done 1.15 0.12 0.066 3282 691.7 2.38 0.037 2269 -586.6 438.0 50.85 0.280 1305 -8.2 0.207 - - - - - - 14.45 14.48 14.21
22697 10.6 4.8 857 22731 roll 1.34 0.08 0.145 3356 925.0 2.45 0.062 887 -564.1 496.9 27.95 0.194 1071 -8.4 0.090 - - - - - - 14.52 14.37 14.19
22745 6.9 8.0 864 22754 done 1.34 - - 3356 - 2.45 0.048 2286 571.0 496.9 - - 1072 - - - - - - - - 14.46 14.38 14.50
22806 end climb: SURFACE_DEPTH_REACHED
22806 begin surface coast
22835 end surface coast: CONTROL_FINISHED_OK
22835 begin surface
SM -0.77 - - - - -8.40 9.10 0.052 191 21.0 0.85 0.088 2769 2045.9 500.14 1.20 0.235 1058 881.7 0.295 - - - - - -