SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 283 * Raw log
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• Previous call tries 1 • 106.47 of 350.00 AH used of 24V (69.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -1.32 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 34 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 159 - - - 2779 - -107.1 -76.50 - 3478 - - - - - - - - 14.66 12.76 14.66
94 - -3.8 2 114 roll -0.93 11.70 0.388 2590 207.8 2.38 0.031 1356 -597.9 -107.1 - - 3479 - - - - - - - - 14.07 14.42 14.42
227 49.0 -22.2 22 232 done -0.68 0.35 0.244 2677 248.6 2.53 0.073 2773 560.1 -107.1 - - 3480 - - - - - - - - 14.12 14.37 14.39
561 88.4 -8.4 37 568 roll -0.59 0.10 0.253 2696 190.0 1.95 0.106 3828 541.0 -107.1 - - 3482 - - - - - - - - 14.32 14.34 14.54
785 105.4 -8.0 69 792 done -0.59 - - 2696 - 1.77 0.039 2746 -611.3 -107.1 - - 3482 - - - - - - - - 14.64 14.63 14.66
1121 131.2 -7.8 82 1122 done -0.59 - - 2696 - - - 2746 - -107.1 - - 3483 - - - - - - - - 14.90 14.90 14.90
1457 157.6 -8.0 88 1462 roll -0.59 - - 2696 - 2.33 0.044 1389 -582.4 -107.1 - - 3485 - - - - - - - - 14.92 14.53 14.92
1491 160.6 -8.6 93 1498 done -0.59 - - 2686 - 2.45 0.068 2768 562.9 -107.1 - - 3481 - - - - - - - - 14.57 14.48 14.62
1849 191.1 -8.6 102 1850 done -0.59 - - 2686 - - - 2769 - -107.1 - - 3479 - - - - - - - - 14.93 14.93 14.93
2185 219.3 -8.5 108 2190 roll -0.59 - - 2686 - 2.38 0.044 1400 -575.2 -107.1 - - 3474 - - - - - - - - 14.94 14.54 14.94
2226 222.7 -8.0 114 2233 done -0.59 0.10 0.203 2706 200.0 2.45 0.070 2758 554.3 -107.1 - - 3476 - - - - - - - - 14.32 14.48 14.47
2577 246.9 -6.9 122 2578 done -0.67 - - 2706 - - - 2759 - -107.1 - - 3473 - - - - - - - - 14.94 14.95 14.94
2913 269.0 -6.6 128 2919 roll -0.75 0.10 0.115 2635 -710.0 2.33 0.044 1387 -588.8 -107.1 - - 3470 - - - - - - - - 14.69 14.57 14.74
2954 272.7 -9.4 134 2961 done -0.75 0.10 0.230 2652 170.0 2.50 0.070 2769 552.8 -107.1 - - 3470 - - - - - - - - 14.27 14.46 14.45
3305 304.9 -9.3 142 3306 done -0.75 - - 2655 - - - 2770 - -107.1 - - 3467 - - - - - - - - 14.96 14.97 14.97
3641 335.9 -9.2 148 3642 done -0.75 - - 2655 - - - 2770 - -107.1 - - 3466 - - - - - - - - 14.96 14.97 14.97
3977 367.0 -9.3 154 3978 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3463 - - - - - - - - 14.94 14.95 14.95
4313 398.5 -9.3 160 4313 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3462 - - - - - - - - 14.97 14.97 14.97
4649 429.6 -9.2 166 4650 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3460 - - - - - - - - 14.92 14.92 14.92
4985 459.2 -8.7 172 4985 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3462 - - - - - - - - 14.95 14.95 14.94
5321 487.2 -8.2 178 5322 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3457 - - - - - - - - 14.96 14.96 14.96
5657 513.6 -7.8 184 5657 done -0.75 - - 2658 - - - 2770 - -107.1 - - 3455 - - - - - - - - 14.97 14.97 14.96
5993 541.0 -8.3 190 5994 done -0.75 - - 2658 - - - 2768 - -107.1 - - 3454 - - - - - - - - 14.96 14.96 14.96
6329 570.8 -8.9 196 6335 roll -0.75 - - 2658 - 2.45 0.048 1399 -558.8 -107.1 - - 3452 - - - - - - - - 14.94 14.43 14.94
6356 573.4 -9.3 200 6362 done -0.75 - - 2649 - 2.55 0.075 2779 541.2 -107.1 - - 3452 - - - - - - - - 14.47 14.38 14.52
6721 607.0 -9.2 210 6726 roll -0.75 - - 2640 - 2.00 0.112 3818 519.5 -107.1 - - 3450 - - - - - - - - 14.93 14.24 14.93
6748 609.7 -9.6 214 6754 done -0.75 - - 2640 - 1.77 0.042 2788 -581.9 -107.1 - - 3450 - - - - - - - - 14.64 14.59 14.65
7113 643.7 -9.3 224 7118 roll -0.75 - - 2639 - 2.45 0.047 1386 -572.2 -107.1 - - 3448 - - - - - - - - 14.95 14.40 14.95
7169 648.8 -9.0 232 7174 done -0.75 - - 2630 - 2.55 0.073 2775 544.7 -107.1 - - 3448 - - - - - - - - 14.43 14.32 14.47
7505 678.7 -8.8 245 7511 roll -0.75 - - 2622 - 2.03 0.112 3828 518.7 -107.1 - - 3447 - - - - - - - - 14.95 14.23 14.95
7567 684.3 -9.1 254 7574 done -0.75 0.12 0.229 2658 300.0 1.83 0.043 2771 -577.6 -107.1 - - 3447 - - - - - - - - 14.20 14.61 14.45
7897 707.5 -6.9 266 7902 roll -0.75 - - 2655 - 2.42 0.047 1384 -573.1 -107.1 - - 3446 - - - - - - - - 14.93 14.38 14.93
7973 713.0 -7.0 277 7981 done -0.75 - - 2646 - 2.55 0.073 2773 544.7 -107.1 - - 3444 - - - - - - - - 14.40 14.30 14.46
8289 736.2 -7.5 287 8294 roll -0.75 - - 2645 - 2.42 0.047 1379 -576.0 -107.1 - - 3441 - - - - - - - - 14.90 14.42 14.90
8316 738.5 -8.0 291 8323 done -0.75 - - 2635 - 2.55 0.073 2771 545.9 -107.1 - - 3445 - - - - - - - - 14.44 14.31 14.47
8681 769.1 -8.5 301 8687 roll -0.75 - - 2635 - 2.47 0.047 1373 -566.0 -107.1 - - 3443 - - - - - - - - 14.90 14.35 14.90
8715 772.2 -9.2 306 8722 done -0.75 0.10 0.226 2653 180.0 2.55 0.073 2769 547.5 -107.1 - - 3443 - - - - - - - - 14.07 14.31 14.26
9073 800.3 -7.9 315 9074 done -0.75 - - 2653 - - - 2769 - -107.1 - - 3443 - - - - - - - - 14.92 14.92 14.92
9409 824.2 -6.9 321 9410 done -0.75 - - 2653 - - - 2769 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
9745 845.6 -6.2 327 9750 roll -0.75 - - 2653 - 2.45 0.048 1369 -571.4 -107.1 - - 3439 - - - - - - - - 14.88 14.35 14.90
9793 848.3 -5.3 334 9801 done -0.75 - - 2644 - 2.58 0.075 2766 541.5 -107.1 - - 3439 - - - - - - - - 14.35 14.24 14.40
10137 868.8 -6.0 341 10143 roll -0.75 - - 2643 - 2.47 0.048 1378 -561.9 -107.1 - - 3438 - - - - - - - - 14.90 14.26 14.90
10164 870.6 -5.6 345 10171 done -0.75 - - 2634 - 2.55 0.073 2760 542.0 -107.1 - - 3438 - - - - - - - - 14.38 14.26 14.42
10529 895.9 -7.2 355 10530 done -0.75 - - 2634 - - - 2761 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
10865 922.2 -8.0 361 10871 roll -0.75 - - 2633 - 2.47 0.049 1377 -560.3 -107.1 - - 3437 - - - - - - - - 14.89 14.29 14.89
10892 924.5 -7.6 365 10900 done -0.75 0.10 0.224 2652 190.0 2.58 0.075 2762 536.8 -107.1 - - 3436 - - - - - - - - 14.01 14.23 14.19
10974 end dive: TARGET_DEPTH_EXCEEDED
10974 begin apogee
10981 931.2 -7.1 370 11090 roll -0.23 0.57 0.174 2820 294.7 - - 2239 - - 107.25 1.945 3051 -3.6 0.344 - - - - - - 14.14 14.01 13.18
11092 end apogee: CONTROL_FINISHED_OK
11092 begin climb
11094 935.4 - 372 11218 roll 0.93 1.15 0.102 3184 316.5 2.47 0.061 875 -552.2 107.1 115.88 1.898 2623 -3.7 0.364 - - - - - - 13.98 14.01 13.02
11265 928.9 6.9 397 11288 done 0.82 - - 3184 - 2.55 0.057 2254 540.8 123.8 18.20 2.013 2558 -3.6 0.330 - - - - - - 13.99 13.93 13.07
11637 897.2 8.8 408 11643 roll 0.69 0.22 0.221 3122 -281.8 2.62 0.101 3661 537.0 123.8 - - 2545 - - - - - - - - 14.12 14.24 14.38
11699 892.0 8.0 417 11707 done 0.61 0.10 0.206 3103 -190.0 2.45 0.041 2265 -569.8 123.8 - - 2544 - - - - - - - - 14.14 14.38 14.29
12029 871.5 6.2 429 12065 done 0.64 - - 3103 - - - 2262 - 154.7 34.30 1.904 2434 -3.2 0.294 - - - - - - 14.78 14.30 13.50
12365 847.4 7.3 435 12378 roll 0.66 - - 3102 - 2.70 0.104 3661 518.1 164.2 5.07 2.035 2399 -6.9 0.575 - - - - - - 14.71 14.38 13.30
12421 842.5 8.5 443 12427 done 0.66 - - 3112 - 2.47 0.041 2254 -569.6 164.2 1.05 0.239 2397 - - - - - - - - 14.45 14.40 14.16
12757 816.9 7.6 456 12765 roll 0.66 - - 3112 - 2.70 0.104 3655 518.9 167.1 3.83 1.692 2389 -2.1 0.202 - - - - - - 14.76 14.45 13.15
12784 814.7 7.8 460 12791 done 0.66 - - 3122 - 2.45 0.042 2253 -572.2 167.1 - - 2392 - - - - - - - - 14.52 14.49 14.54
13142 786.9 7.8 469 13150 roll 0.66 - - 3122 - 2.67 0.103 3660 527.0 167.1 1.17 0.275 2387 -4.3 2.446 - - - - - - 14.81 14.35 14.12
13176 783.8 8.6 474 13183 done 0.66 - - 3132 - 2.47 0.041 2248 -571.7 167.1 - - 2392 - - - - - - - - 14.53 14.47 14.56
13534 755.3 7.9 483 13540 roll 0.66 - - 3133 - 2.65 0.101 3654 530.6 167.1 1.55 0.313 2386 -3.9 1.868 - - - - - - 14.83 14.14 13.65
13575 751.6 8.7 489 13583 done 0.66 - - 3144 - 2.45 0.041 2250 -573.1 167.1 1.23 0.263 2385 - - - - - - - - 14.54 14.50 13.93
13926 722.6 8.3 497 13934 roll 0.66 0.10 0.234 3124 -200.0 2.45 0.064 854 -569.8 167.1 1.17 0.260 2386 - - - - - - - - 14.30 14.30 14.06
13953 720.4 7.7 501 13962 done 0.66 - - 3124 - 2.50 0.059 2257 561.2 168.2 2.00 0.439 2384 - - - - - - - - 14.48 14.40 12.56
14318 691.4 8.0 511 14325 roll 0.66 - - 3124 - 2.58 0.102 3654 541.5 168.2 2.30 0.747 2383 - - - - - - - - 14.85 14.35 13.11
14380 685.8 8.9 520 14387 done 0.66 - - 3134 - 2.45 0.041 2243 -575.9 168.2 1.17 0.252 2383 - - - - - - - - 14.57 14.52 14.10
14710 657.8 8.6 532 14713 done 0.66 - - 3134 - - - 2243 - 168.2 1.48 0.306 2382 - - - - - - - - 14.88 14.36 13.71
15046 628.0 8.9 538 15053 roll 0.66 - - 3134 - 2.65 0.100 3654 532.5 168.2 1.70 0.352 2384 - - - - - - - - 14.86 14.19 13.71
15129 619.6 10.0 550 15137 done 0.66 0.10 0.208 3115 -190.0 2.42 0.041 2260 -576.0 168.2 1.35 0.275 2381 -2.2 1.001 - - - - - - 14.21 14.50 13.81
15494 591.1 7.7 560 15502 roll 0.66 - - 3117 - 2.67 0.105 3657 523.2 170.2 3.30 1.431 2376 -1.5 0.125 - - - - - - 14.89 14.54 13.24
15556 585.9 8.4 569 15564 done 0.66 - - 3126 - 2.42 0.041 2261 -576.9 170.2 1.58 0.337 2375 - - - - - - - - 14.59 14.54 13.89
15879 562.3 7.2 580 15901 roll 0.68 - - 3135 - 2.53 0.067 854 -556.1 180.3 17.75 1.770 2327 -2.7 0.172 - - - - - - 14.88 14.49 13.76
15921 559.2 7.1 586 15941 done 0.69 - - 3135 - 2.50 0.060 2257 561.2 193.7 14.40 1.788 2273 -3.8 0.235 - - - - - - 14.49 14.42 13.67
16264 531.0 8.4 600 16270 roll 0.69 - - 3135 - 2.62 0.105 3661 535.9 193.7 - - 2268 - - - - - - - - 14.73 14.30 14.73
16326 525.0 9.5 609 16334 done 0.69 - - 3146 - 2.45 0.041 2262 -571.0 193.7 - - 2268 - - - - - - - - 14.47 14.43 14.50
16656 495.2 9.1 621 16657 done 0.69 - - 3146 - - - 2261 - 193.7 - - 2268 - - - - - - - - 14.79 14.78 14.79
16992 464.1 9.3 627 16993 done 0.69 - - 3146 - - - 2262 - 193.7 - - 2267 - - - - - - - - 14.83 14.83 14.83
17328 432.9 9.3 633 17335 roll 0.69 - - 3146 - 2.67 0.105 3649 519.5 193.7 - - 2268 - - - - - - - - 14.84 14.28 14.85
17376 427.9 10.3 640 17385 done 0.69 0.10 0.204 3127 -190.0 2.42 0.041 2261 -573.6 193.7 - - 2268 - - - - - - - - 14.21 14.49 14.36
17720 400.1 8.0 647 17726 roll 0.69 - - 3127 - 2.67 0.103 3650 520.2 193.7 - - 2268 - - - - - - - - 14.84 14.26 14.85
17754 396.9 9.0 652 17761 done 0.69 - - 3135 - 2.42 0.041 2261 -574.0 193.7 - - 2268 - - - - - - - - 14.54 14.50 14.57
18112 367.8 8.1 661 18113 done 0.69 - - 3135 - - - 2260 - 193.7 - - 2268 - - - - - - - - 14.88 14.88 14.88
18448 342.0 7.6 667 18454 roll 0.70 - - 3135 - 2.70 0.105 3669 521.9 196.6 - - 2268 - - - - - - - - 14.89 14.26 14.89
18496 337.8 8.8 674 18504 done 0.70 - - 3145 - 2.45 0.042 2272 -570.2 196.6 - - 2268 - - - - - - - - 14.51 14.45 14.54
18840 310.3 8.0 681 18841 done 0.70 - - 3146 - - - 2271 - 196.6 - - 2268 - - - - - - - - 14.86 14.86 14.86
19176 282.6 8.3 687 19182 roll 0.70 - - 3146 - 2.62 0.103 3654 527.9 196.6 - - 2268 - - - - - - - - 14.87 14.23 14.87
19224 278.0 9.5 694 19233 done 0.70 0.10 0.199 3127 -190.0 2.42 0.041 2270 -571.9 196.6 - - 2268 - - - - - - - - 14.16 14.45 14.31
19568 253.2 7.2 701 19585 done 0.71 - - 3125 - - - 2267 - 208.5 15.23 1.451 2219 -3.2 0.112 - - - - - - 14.87 14.58 13.88
19905 228.9 7.2 707 19919 roll 0.72 - - 3127 - 2.67 0.106 3658 521.0 218.9 10.25 1.510 2173 -4.5 0.136 - - - - - - 14.82 14.48 13.85
19953 225.0 8.5 714 19959 done 0.72 - - 3136 - 2.45 0.041 2258 -571.4 218.9 - - 2171 - - - - - - - - 14.52 14.47 14.54
20289 198.1 8.1 727 20295 roll 0.72 - - 3147 - 2.50 0.065 854 -561.6 218.9 - - 2170 - - - - - - - - 14.81 14.34 14.81
20323 195.2 8.2 732 20330 done 0.72 - - 3150 - 2.53 0.058 2279 563.2 218.9 - - 2169 - - - - - - - - 14.45 14.38 14.49
20681 165.2 8.3 741 20688 roll 0.72 - - 3147 - 2.60 0.104 3658 530.4 218.9 - - 2169 - - - - - - - - 14.83 14.28 14.83
20722 161.5 8.9 747 20729 done 0.72 - - 3157 - 2.40 0.040 2272 -577.5 218.9 - - 2168 - - - - - - - - 14.53 14.48 14.55
21073 134.5 7.6 755 21079 roll 0.73 - - 3168 - 2.47 0.065 858 -572.5 221.8 - - 2169 - - - - - - - - 14.85 14.38 14.85
21121 130.7 7.8 762 21130 done 0.73 0.10 0.194 3138 -300.0 2.50 0.058 2269 564.4 221.8 - - 2170 - - - - - - - - 14.21 14.41 14.35
21466 106.9 7.1 769 21478 roll 0.74 - - 3137 - 2.58 0.105 3654 536.8 234.5 6.65 0.467 2120 -7.5 0.344 - - - - - - 14.88 14.43 14.00
21506 103.7 7.9 775 21513 done 0.74 - - 3145 - 2.40 0.039 2264 -579.2 234.5 - - 2123 - - - - - - - - 14.55 14.50 14.58
21830 83.1 6.0 787 21857 roll 0.86 - - 3146 - 2.67 0.103 3657 521.7 269.8 18.58 0.420 1977 -7.9 0.311 - - - - - - 14.85 14.47 14.14
22010 72.2 5.5 813 22039 done 1.01 0.15 0.064 3236 600.0 2.38 0.038 2282 -577.7 313.9 22.40 0.388 1799 -7.9 0.296 - - - - - - 14.46 14.47 14.13
22363 47.3 6.0 830 22391 roll 1.06 - - 3242 - 2.55 0.063 855 -559.6 349.2 17.35 0.315 1661 -8.0 0.239 - - - - - - 14.80 14.45 14.12
22510 38.3 5.9 851 22537 done 1.22 0.10 0.116 3305 630.0 2.50 0.057 2288 573.2 386.7 19.35 0.288 1509 -7.9 0.209 - - - - - - 14.47 14.39 14.12
22867 16.8 5.8 869 22894 roll 1.27 - - 3313 - 2.58 0.064 855 -555.4 425.1 19.00 0.221 1356 -8.1 0.122 - - - - - - 14.80 14.34 14.20
22935 11.9 7.7 879 22941 done 1.27 - - 3312 - 2.50 0.055 2279 569.6 425.3 - - 1358 - - - - - - - - 14.46 14.37 14.50
23087 end climb: SURFACE_DEPTH_REACHED
23087 begin surface coast
23115 end surface coast: CONTROL_FINISHED_OK
23115 begin surface
SM -2.09 - - - - -8.38 9.35 0.079 200 21.4 0.88 0.083 2766 1936.4 500.39 34.65 0.158 1056 30.5 0.041 - - - - - -