SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 437 * Raw log
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• Previous call tries 1 • 154.90 of 350.00 AH used of 24V (55.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth -0.81 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 100 done -0.93 - - 105 - - - 2787 - -107.1 -79.57 - 3477 - - - - - - - - 14.66 13.10 14.66
104 6.7 -13.2 3 121 roll -0.93 11.82 0.384 2587 210.0 2.40 0.031 1367 -591.7 -107.1 - - 3478 - - - - - - - - 13.98 14.33 14.23
157 28.7 -24.0 11 162 done -0.63 0.40 0.227 2689 255.0 2.50 0.069 2766 559.6 -107.1 - - 3479 - - - - - - - - 14.12 14.33 14.34
493 61.2 -8.8 26 498 roll -0.63 - - 2682 - 1.95 0.111 3825 543.1 -107.1 - - 3481 - - - - - - - - 14.81 14.26 14.81
667 77.5 -10.0 51 673 done -0.63 - - 2681 - 1.77 0.039 2748 -608.5 -107.1 - - 3482 - - - - - - - - 14.59 14.58 14.64
997 104.1 -7.2 64 998 done -0.63 - - 2681 - - - 2748 - -107.1 - - 3482 - - - - - - - - 14.88 14.88 14.88
1334 128.3 -7.5 70 1335 done -0.63 - - 2681 - - - 2748 - -107.1 - - 3482 - - - - - - - - 14.89 14.88 14.89
1669 153.4 -7.3 76 1674 roll -0.63 - - 2681 - 2.30 0.041 1387 -591.7 -107.1 - - 3479 - - - - - - - - 14.93 14.54 14.94
1703 156.0 -7.4 81 1710 done -0.71 - - 2672 - 2.47 0.068 2768 559.1 -107.1 - - 3480 - - - - - - - - 14.49 14.38 14.54
2061 181.6 -7.1 90 2062 done -0.71 - - 2672 - - - 2768 - -107.1 - - 3477 - - - - - - - - 14.92 14.92 14.92
2397 205.7 -7.4 96 2402 roll -0.71 - - 2672 - 2.35 0.041 1393 -585.1 -107.1 - - 3474 - - - - - - - - 14.94 14.54 14.94
2431 208.4 -7.8 101 2438 done -0.71 - - 2662 - 2.47 0.068 2765 555.5 -107.1 - - 3474 - - - - - - - - 14.49 14.40 14.53
2789 238.6 -8.7 110 2794 roll -0.71 - - 2654 - 1.95 0.116 3822 542.1 -107.1 - - 3472 - - - - - - - - 14.92 14.33 14.92
2845 243.8 -9.4 118 2850 done -0.71 - - 2654 - 1.77 0.043 2770 -594.4 -107.1 - - 3471 - - - - - - - - 14.62 14.59 14.63
3181 274.2 -9.0 131 3186 roll -0.71 - - 2657 - 2.35 0.041 1386 -588.9 -107.1 - - 3470 - - - - - - - - 14.92 14.53 14.92
3237 279.2 -8.9 139 3242 done -0.71 - - 2645 - 2.47 0.068 2778 563.6 -107.1 - - 3469 - - - - - - - - 14.60 14.43 14.63
3573 309.5 -9.0 152 3578 roll -0.71 - - 2645 - 2.40 0.041 1387 -579.6 -107.1 - - 3467 - - - - - - - - 14.94 14.50 14.95
3607 312.7 -9.3 157 3614 done -0.71 0.10 0.213 2666 210.0 2.50 0.069 2762 550.0 -107.1 - - 3467 - - - - - - - - 14.21 14.38 14.36
3965 341.6 -8.0 166 3970 roll -0.71 - - 2658 - 1.98 0.114 3831 539.9 -107.1 - - 3465 - - - - - - - - 14.95 14.31 14.95
4013 345.7 -8.5 173 4021 done -0.71 - - 2657 - 1.80 0.044 2768 -590.6 -107.1 - - 3465 - - - - - - - - 14.62 14.59 14.63
4357 374.7 -8.4 180 4362 roll -0.71 - - 2658 - 2.38 0.042 1376 -584.9 -107.1 - - 3463 - - - - - - - - 14.95 14.52 14.95
4433 381.2 -8.3 191 4439 done -0.71 - - 2649 - 2.53 0.069 2767 549.8 -107.1 - - 3463 - - - - - - - - 14.45 14.35 14.50
4749 407.5 -8.3 201 4750 done -0.71 - - 2649 - - - 2767 - -107.1 - - 3461 - - - - - - - - 14.92 14.92 14.91
5085 434.1 -7.8 207 5090 roll -0.71 - - 2649 - 2.40 0.043 1377 -579.2 -107.1 - - 3460 - - - - - - - - 14.92 14.50 14.92
5133 437.8 -7.3 214 5140 done -0.71 - - 2641 - 2.53 0.069 2761 547.0 -107.1 - - 3460 - - - - - - - - 14.41 14.32 14.47
5477 463.2 -7.4 221 5483 roll -0.71 0.10 0.241 2671 300.0 2.38 0.042 1378 -581.1 -107.1 - - 3458 - - - - - - - - 14.34 14.50 14.54
5511 465.6 -6.7 226 5517 done -0.79 - - 2662 - 2.50 0.069 2754 550.4 -107.1 - - 3458 - - - - - - - - 14.43 14.32 14.47
5869 490.1 -7.0 235 5870 done -0.79 - - 2662 - - - 2753 - -107.1 - - 3457 - - - - - - - - 14.94 14.93 14.93
6205 515.4 -7.6 241 6211 roll -0.87 0.08 0.151 2584 -975.0 2.00 0.112 3827 537.0 -107.1 - - 3456 - - - - - - - - 14.61 14.28 14.65
6239 518.8 -10.3 246 6245 done -0.87 0.10 0.205 2612 280.0 1.83 0.044 2770 -577.6 -107.1 - - 3456 - - - - - - - - 14.21 14.59 14.37
6597 552.0 -9.2 255 6602 roll -0.87 - - 2613 - 2.42 0.044 1364 -581.0 -107.1 - - 3454 - - - - - - - - 14.94 14.46 14.94
6659 557.8 -9.2 264 6665 done -0.87 - - 2604 - 2.55 0.067 2765 549.4 -107.1 - - 3454 - - - - - - - - 14.40 14.31 14.45
6989 588.2 -9.3 276 6994 roll -0.87 - - 2596 - 2.03 0.115 3822 520.7 -107.1 - - 3452 - - - - - - - - 14.91 14.20 14.91
7023 591.5 -9.8 281 7030 done -0.87 - - 2595 - 1.85 0.044 2745 -582.2 -107.1 - - 3452 - - - - - - - - 14.57 14.54 14.59
7381 632.7 -10.1 290 7386 roll -0.87 - - 2586 - 2.10 0.116 3817 510.5 -107.1 - - 3449 - - - - - - - - 14.90 14.18 14.90
7437 638.7 -10.9 298 7442 done -0.87 0.10 0.210 2615 290.0 1.83 0.044 2768 -573.2 -107.1 - - 3451 - - - - - - - - 14.14 14.52 14.30
7773 671.3 -9.8 311 7778 roll -0.87 - - 2615 - 2.42 0.044 1364 -580.2 -107.1 - - 3450 - - - - - - - - 14.92 14.42 14.92
7856 679.5 -9.5 323 7862 done -0.87 - - 2606 - 2.55 0.068 2755 545.5 -107.1 - - 3449 - - - - - - - - 14.37 14.27 14.41
8221 714.8 -9.7 333 8222 done -0.87 - - 2606 - - - 2755 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
8557 745.8 -9.1 339 8562 roll -0.87 - - 2599 - 2.08 0.119 3828 515.9 -107.1 - - 3448 - - - - - - - - 14.90 14.12 14.90
8626 752.2 -9.2 349 8632 done -0.87 - - 2597 - 1.88 0.047 2749 -573.9 -107.1 - - 3448 - - - - - - - - 14.52 14.50 14.54
8949 780.2 -8.7 360 8954 roll -0.87 - - 2589 - 2.12 0.115 3830 509.9 -107.1 - - 3447 - - - - - - - - 14.90 14.13 14.90
8976 782.7 -9.1 364 8982 done -0.87 0.10 0.210 2617 280.0 1.88 0.046 2759 -569.7 -107.1 - - 3449 - - - - - - - - 14.11 14.49 14.26
9341 810.7 -7.8 374 9346 roll -0.87 - - 2614 - 2.42 0.045 1366 -575.6 -107.1 - - 3445 - - - - - - - - 14.90 14.43 14.90
9389 814.4 -7.7 381 9397 done -0.87 - - 2609 - 2.58 0.068 2760 540.3 -107.1 - - 3445 - - - - - - - - 14.31 14.23 14.36
9733 841.9 -8.3 388 9738 roll -0.87 - - 2601 - 2.03 0.116 3828 526.1 -107.1 - - 3443 - - - - - - - - 14.87 14.14 14.88
9774 845.7 -7.7 394 9780 done -0.87 - - 2600 - 1.88 0.047 2745 -576.1 -107.1 - - 3443 - - - - - - - - 14.52 14.49 14.53
10125 876.7 -8.9 402 10130 roll -0.87 - - 2599 - 2.38 0.043 1370 -577.7 -107.1 - - 3442 - - - - - - - - 14.91 14.40 14.91
10181 882.5 -10.7 410 10186 done -0.87 0.10 0.248 2617 180.0 2.53 0.068 2756 547.8 -107.1 - - 3442 - - - - - - - - 14.05 14.26 14.31
10517 912.1 -9.0 423 10522 roll -0.87 - - 2610 - 2.03 0.116 3824 526.1 -107.1 - - 3442 - - - - - - - - 14.88 14.14 14.88
10565 916.8 -9.7 430 10572 done -0.87 - - 2610 - 1.85 0.047 2759 -575.7 -107.1 - - 3441 - - - - - - - - 14.49 14.50 14.50
10738 end dive: TARGET_DEPTH_EXCEEDED
10738 begin apogee
10746 933.2 -9.2 434 10859 roll -0.23 0.73 0.170 2822 290.4 0.10 0.161 2269 -4900.0 - 110.62 1.966 3049 -3.5 0.329 - - - - - - 14.08 13.92 12.93
10860 end apogee: CONTROL_FINISHED_OK
10860 begin climb
10864 937.9 - 436 10994 roll 0.93 1.10 0.087 3183 328.2 2.50 0.055 896 -549.2 107.1 117.43 1.947 2616 -3.7 0.347 - - - - - - 13.98 14.01 12.84
11013 934.8 7.8 459 11021 done 0.78 0.10 0.215 3156 -270.0 2.45 0.051 2240 548.6 107.1 - - 2611 - - - - - - - - 13.80 13.94 13.94
11358 911.8 7.0 466 11377 roll 0.72 - - 3157 - 2.62 0.099 3653 539.3 121.6 14.93 2.046 2560 -3.4 0.298 - - - - - - 14.70 14.15 13.31
11478 901.5 8.9 483 11483 done 0.60 0.25 0.220 3098 -236.0 2.35 0.041 2282 -583.4 121.6 - - 2555 - - - - - - - - 14.14 14.42 14.40
11806 879.5 6.7 495 11832 roll 0.62 - - 3098 - 2.67 0.105 3653 513.5 141.9 22.40 1.979 2483 -3.2 0.279 - - - - - - 14.76 14.28 13.36
11867 874.5 8.5 504 11873 done 0.62 - - 3106 - 2.45 0.041 2252 -571.8 141.9 - - 2478 - - - - - - - - 14.40 14.37 14.42
12197 847.3 8.5 516 12202 roll 0.62 - - 3117 - 2.42 0.062 869 -571.5 141.9 - - 2475 - - - - - - - - 14.76 14.36 14.75
12239 843.9 9.8 522 12244 done 0.62 - - 3117 - 2.45 0.054 2255 565.7 141.9 - - 2474 - - - - - - - - 14.45 14.35 14.45
12589 815.0 8.2 530 12594 roll 0.62 - - 3117 - 2.60 0.105 3649 536.2 141.9 - - 2475 - - - - - - - - 14.81 14.28 14.84
12651 809.7 9.0 539 12657 done 0.62 - - 3127 - 2.42 0.041 2257 -575.2 141.9 - - 2475 - - - - - - - - 14.51 14.47 14.52
12981 783.3 7.8 551 12986 roll 0.62 - - 3127 - 2.62 0.104 3647 530.5 141.9 - - 2474 - - - - - - - - 14.85 14.26 14.85
13015 780.2 8.7 556 13022 done 0.62 0.10 0.222 3108 -190.0 2.42 0.042 2255 -575.2 141.9 - - 2474 - - - - - - - - 14.14 14.46 14.32
13374 756.2 6.5 565 13403 done 0.65 - - 3108 - - - 2252 - 165.9 28.48 1.867 2388 -3.0 0.239 - - - - - - 14.85 14.35 13.38
13710 733.9 6.7 571 13738 roll 0.68 - - 3107 - 2.72 0.106 3649 513.6 186.9 24.15 1.881 2299 -3.7 0.281 - - - - - - 14.75 14.27 13.37
13807 726.5 8.1 585 13815 done 0.68 - - 3120 - 2.45 0.041 2257 -568.2 186.9 - - 2292 - - - - - - - - 14.34 14.31 14.34
14151 701.1 7.4 592 14154 done 0.69 - - 3118 - - - 2256 - 193.7 1.55 0.250 2277 -9.7 5.310 - - - - - - 14.76 14.33 13.99
14487 675.9 7.6 598 14499 roll 0.69 - - 3117 - 2.70 0.106 3652 517.0 197.5 4.25 1.742 2268 -2.1 0.161 - - - - - - 14.81 14.40 12.97
14535 671.8 8.7 605 14544 done 0.69 - - 3128 - 2.42 0.042 2266 -572.7 197.5 1.70 0.305 2267 - - - - - - - - 14.51 14.46 13.74
14879 643.8 8.2 612 14882 done 0.69 - - 3128 - - - 2266 - 197.5 1.83 0.281 2263 -2.2 0.980 - - - - - - 14.82 14.21 13.54
15215 616.2 8.2 618 15221 roll 0.69 - - 3127 - 2.65 0.103 3651 522.6 197.5 1.75 0.272 2267 2.3 -1.013 - - - - - - 14.86 14.00 13.59
15249 613.1 8.8 623 15255 done 0.69 - - 3138 - 2.45 0.042 2255 -569.8 197.5 1.45 0.233 2264 -2.1 1.065 - - - - - - 14.49 14.45 13.86
15607 583.1 8.5 632 15610 done 0.69 - - 3136 - - - 2252 - 197.5 1.55 0.255 2264 - - - - - - - - 14.85 14.29 13.88
15943 553.4 8.9 638 15949 roll 0.69 - - 3137 - 2.67 0.103 3650 523.6 197.5 1.73 0.270 2266 - - - - - - - - 14.85 13.95 13.55
15991 548.7 9.9 645 16000 done 0.69 - - 3147 - 2.42 0.041 2274 -568.6 197.5 1.45 0.249 2267 - - - - - - - - 14.47 14.42 13.71
16335 517.7 9.1 652 16340 roll 0.69 - - 3158 - 2.53 0.063 848 -563.6 197.5 - - 2273 - - - - - - - - 14.81 14.33 14.82
16362 515.0 9.3 656 16369 done 0.69 0.10 0.197 3128 -300.0 2.50 0.054 2253 562.0 197.5 1.45 0.226 2264 -6.2 2.767 - - - - - - 14.11 14.31 13.90
16727 485.9 7.9 666 16733 roll 0.69 - - 3127 - 2.65 0.104 3657 529.8 197.5 1.58 0.256 2264 - - - - - - - - 14.85 14.03 13.74
16810 478.4 8.9 678 16816 done 0.69 - - 3138 - 2.45 0.041 2255 -572.2 197.5 1.52 0.232 2264 - - - - - - - - 14.47 14.43 13.80
17175 448.6 8.2 688 17181 roll 0.69 - - 3137 - 2.70 0.103 3665 522.2 197.5 1.70 0.268 2265 - - - - - - - - 14.85 13.88 13.50
17209 445.4 9.3 693 17217 done 0.69 - - 3148 - 2.45 0.042 2269 -569.8 197.5 1.35 0.252 2265 - - - - - - - - 14.47 14.42 13.70
17567 413.2 9.1 702 17573 roll 0.69 - - 3158 - 2.50 0.059 859 -564.0 197.5 1.60 0.257 2265 - - - - - - - - 14.88 13.97 13.65
17594 410.7 9.0 706 17600 done 0.69 0.10 0.194 3128 -300.0 2.53 0.056 2274 559.3 197.5 - - 2271 - - - - - - - - 14.08 14.28 14.23
17959 381.5 7.8 716 17965 roll 0.69 - - 3127 - 2.60 0.103 3654 530.8 197.5 1.65 0.262 2266 -3.0 0.863 - - - - - - 14.85 13.92 13.56
18000 378.0 8.6 722 18006 done 0.69 - - 3137 - 2.42 0.041 2260 -576.0 197.5 1.60 0.243 2265 - - - - - - - - 14.46 14.42 13.61
18351 352.7 7.0 730 18376 done 0.71 - - 3137 - - - 2257 - 213.1 24.23 1.483 2201 -2.6 0.123 - - - - - - 14.88 14.39 13.54
18687 329.4 7.0 736 18708 roll 0.73 - - 3137 - 2.72 0.105 3662 516.5 229.0 16.35 1.510 2132 -4.2 0.180 - - - - - - 14.80 14.35 13.54
18736 325.5 8.2 743 18741 done 0.73 - - 3145 - 2.40 0.041 2273 -578.8 229.0 - - 2128 - - - - - - - - 14.52 14.45 14.54
19072 297.5 8.5 756 19073 done 0.73 - - 3147 - - - 2269 - 229.0 - - 2126 - - - - - - - - 14.77 14.78 14.78
19408 267.2 9.1 762 19413 roll 0.73 - - 3157 - 2.50 0.062 858 -564.4 229.0 - - 2124 - - - - - - - - 14.81 14.31 14.82
19435 264.7 8.9 766 19441 done 0.73 - - 3157 - 2.50 0.054 2271 565.2 229.0 - - 2125 - - - - - - - - 14.40 14.31 14.43
19800 232.0 8.9 776 19805 roll 0.73 - - 3158 - 2.60 0.104 3661 534.6 229.0 - - 2125 - - - - - - - - 14.85 14.21 14.85
19856 226.6 9.8 784 19861 done 0.73 0.10 0.230 3139 -190.0 2.38 0.040 2269 -584.9 229.0 - - 2125 - - - - - - - - 14.17 14.47 14.43
20192 201.1 7.4 797 20195 done 0.74 - - 3139 - - - 2266 - 235.2 1.52 0.243 2112 -8.6 1.385 - - - - - - 14.84 14.27 13.88
20528 177.0 7.1 803 20554 roll 0.75 - - 3138 - 2.67 0.103 3662 522.8 248.1 18.50 1.316 2057 -3.0 0.078 - - - - - - 14.85 14.40 13.69
20597 171.3 8.8 813 20604 done 0.75 - - 3148 - 2.40 0.040 2281 -575.4 248.1 - - 2055 - - - - - - - - 14.46 14.42 14.48
20920 143.5 8.7 824 20925 roll 0.75 - - 3158 - 2.50 0.061 863 -567.2 248.1 - - 2053 - - - - - - - - 14.81 14.33 14.81
20961 139.8 8.7 830 20967 done 0.75 - - 3158 - 2.50 0.054 2277 565.6 248.1 - - 2053 - - - - - - - - 14.41 14.33 14.45
21312 109.4 8.6 838 21317 roll 0.75 - - 3158 - 2.58 0.104 3654 533.7 248.1 - - 2053 - - - - - - - - 14.85 14.23 14.86
21346 106.1 9.4 843 21352 done 0.75 - - 3168 - 2.40 0.039 2276 -574.2 248.1 - - 2052 - - - - - - - - 14.47 14.44 14.50
21676 77.5 8.6 856 21681 roll 0.75 - - 3178 - 2.47 0.061 860 -573.3 248.1 - - 2054 - - - - - - - - 14.83 14.34 14.84
21738 71.9 8.8 865 21745 done 0.75 0.10 0.182 3146 -320.0 2.50 0.053 2273 565.2 248.1 - - 2053 - - - - - - - - 14.13 14.33 14.29
22068 49.9 5.8 879 22096 roll 0.92 0.10 0.117 3223 770.0 2.55 0.060 858 -554.9 287.0 18.95 0.311 1908 -7.7 0.240 - - - - - - 14.55 14.38 14.04
22130 45.3 7.1 888 22144 done 0.94 - - 3223 - 2.47 0.052 2267 570.4 299.2 7.25 0.287 1858 -6.9 0.213 - - - - - - 14.42 14.34 13.96
22460 28.4 4.0 902 22503 roll 1.03 - - 3223 - 2.67 0.104 3661 522.1 373.2 38.08 0.249 1562 -7.8 0.173 - - - - - - 14.85 14.31 14.09
22733 12.9 7.3 941 22746 done 1.18 0.10 0.112 3296 730.0 2.38 0.040 2255 -590.8 383.0 5.10 0.203 1524 -7.5 0.093 - - - - - - 14.45 14.47 14.02
22898 end climb: SURFACE_DEPTH_REACHED
22898 begin surface coast
22929 end surface coast: CONTROL_FINISHED_OK
22929 begin surface
SM -1.06 - - - - -8.39 8.77 0.039 190 21.6 0.95 0.083 2765 -9121.1 500.14 55.20 0.155 1057 19.1 0.013 - - - - - -