SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 370 * Raw log
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• Previous call tries 1 • 133.96 of 350.00 AH used of 24V (61.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth 0.10 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 91 done -0.93 - - 104 - - - 2778 - -107.1 -75.95 - 3479 - - - - - - - - 14.67 12.62 14.66
94 1.7 -5.2 2 114 roll -0.93 12.00 0.386 2584 206.7 1.90 0.088 3825 551.1 -107.1 - - 3479 - - - - - - - - 13.98 14.31 14.36
127 26.5 -54.8 8 133 done 0.04 1.20 0.269 2888 253.3 1.80 0.045 2776 -582.8 -107.1 - - 3480 - - - - - - - - 13.98 14.48 14.21
450 47.7 -4.6 21 456 roll -0.27 0.17 0.093 2804 -494.1 1.95 0.110 3824 537.4 -107.1 - - 3482 - - - - - - - - 14.50 14.33 14.59
659 58.5 -4.7 51 665 done -0.50 0.12 0.061 2718 -716.7 1.83 0.041 2730 -597.8 -107.1 - - 3482 - - - - - - - - 14.54 14.59 14.58
982 80.0 -5.7 64 987 roll -0.50 - - 2708 - 2.08 0.107 3831 529.3 -107.1 - - 3483 - - - - - - - - 14.89 14.35 14.89
1180 93.0 -6.1 92 1185 done -0.59 - - 2710 - 1.77 0.041 2753 -609.0 -107.1 - - 3483 - - - - - - - - 14.63 14.62 14.67
1542 115.1 -6.2 104 1547 roll -0.69 - - 2710 - 2.30 0.044 1381 -596.5 -107.1 - - 3483 - - - - - - - - 14.92 14.53 14.92
1590 118.2 -6.4 111 1598 done -0.80 0.10 0.071 2629 -810.0 2.45 0.067 2757 561.6 -107.1 - - 3483 - - - - - - - - 14.53 14.44 14.59
1934 152.7 -10.6 118 1939 roll -0.80 - - 2620 - 2.00 0.108 3843 543.0 -107.1 - - 3481 - - - - - - - - 14.95 14.42 14.96
2017 162.2 -11.2 130 2023 done -0.80 - - 2620 - 1.83 0.038 2746 -599.5 -107.1 - - 3481 - - - - - - - - 14.75 14.71 14.76
2382 201.5 -10.8 140 2383 done -0.80 - - 2620 - - - 2746 - -107.1 - - 3478 - - - - - - - - 14.95 14.96 14.95
2718 237.8 -10.7 146 2723 roll -0.80 - - 2620 - 2.33 0.043 1373 -589.3 -107.1 - - 3475 - - - - - - - - 14.97 14.57 14.97
2752 241.5 -11.0 151 2758 done -0.80 0.08 0.228 2632 150.0 2.53 0.068 2770 552.2 -107.1 - - 3475 - - - - - - - - 14.28 14.45 14.45
3110 275.9 -9.5 160 3110 done -0.80 - - 2632 - - - 2770 - -107.1 - - 3472 - - - - - - - - 14.97 14.97 14.97
3446 307.7 -9.5 166 3451 roll -0.80 - - 2633 - 2.38 0.043 1387 -581.1 -107.1 - - 3470 - - - - - - - - 14.97 14.58 14.97
3508 313.7 -9.3 175 3514 done -0.80 - - 2623 - 2.50 0.069 2762 550.0 -107.1 - - 3470 - - - - - - - - 14.52 14.42 14.57
3838 345.3 -9.6 187 3843 roll -0.80 - - 2614 - 2.03 0.112 3819 520.7 -107.1 - - 3466 - - - - - - - - 14.95 14.36 14.98
3900 351.6 -10.1 196 3906 done -0.80 - - 2614 - 1.77 0.041 2772 -591.5 -107.1 - - 3466 - - - - - - - - 14.75 14.70 14.76
4230 383.7 -9.7 208 4230 done -0.80 - - 2614 - - - 2772 - -107.1 - - 3466 - - - - - - - - 14.95 14.95 14.95
4566 416.7 -9.8 214 4571 roll -0.80 - - 2606 - 2.05 0.111 3828 515.1 -107.1 - - 3464 - - - - - - - - 14.95 14.35 14.95
4607 420.8 -10.0 220 4613 done -0.80 0.10 0.238 2635 290.0 1.80 0.043 2775 -585.0 -107.1 - - 3463 - - - - - - - - 14.34 14.68 14.52
4958 449.1 -8.0 228 4963 roll -0.80 - - 2636 - 2.38 0.043 1378 -587.0 -107.1 - - 3462 - - - - - - - - 14.95 14.54 14.95
4992 452.1 -8.9 233 4999 done -0.80 - - 2625 - 2.50 0.067 2767 555.6 -107.1 - - 3461 - - - - - - - - 14.51 14.42 14.56
5350 486.8 -10.0 242 5350 done -0.80 - - 2626 - - - 2767 - -107.1 - - 3458 - - - - - - - - 14.94 14.94 14.95
5686 521.9 -10.4 248 5691 roll -0.80 - - 2626 - 2.45 0.044 1376 -567.8 -107.1 - - 3458 - - - - - - - - 14.94 14.48 14.94
5706 524.1 -10.4 251 5712 done -0.80 - - 2616 - 2.53 0.067 2767 549.8 -107.1 - - 3457 - - - - - - - - 14.50 14.40 14.55
6022 556.2 -10.0 261 6028 roll -0.80 - - 2608 - 2.03 0.112 3825 521.2 -107.1 - - 3456 - - - - - - - - 14.94 14.29 14.93
6078 562.1 -10.5 269 6084 done -0.80 0.10 0.216 2637 290.0 1.80 0.044 2777 -582.2 -107.1 - - 3455 - - - - - - - - 14.20 14.59 14.40
6414 591.5 -8.7 282 6419 roll -0.80 - - 2637 - 2.45 0.044 1365 -576.3 -107.1 - - 3453 - - - - - - - - 14.95 14.47 14.95
6483 597.6 -8.5 292 6489 done -0.80 - - 2628 - 2.55 0.066 2769 550.6 -107.1 - - 3453 - - - - - - - - 14.45 14.36 14.50
6806 624.8 -8.4 303 6806 done -0.80 - - 2628 - - - 2769 - -107.1 - - 3452 - - - - - - - - 14.95 14.95 14.95
7142 652.2 -8.1 309 7148 roll -0.80 - - 2627 - 2.47 0.044 1361 -570.0 -107.1 - - 3451 - - - - - - - - 14.93 14.46 14.94
7176 655.0 -8.4 314 7182 done -0.80 - - 2618 - 2.55 0.068 2758 547.8 -107.1 - - 3451 - - - - - - - - 14.46 14.35 14.51
7534 682.9 -7.7 323 7535 done -0.80 - - 2618 - - - 2758 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.92
7870 710.9 -8.4 329 7876 roll -0.80 - - 2616 - 2.42 0.044 1369 -574.0 -107.1 - - 3448 - - - - - - - - 14.92 14.47 14.92
7932 716.3 -8.6 338 7938 done -0.80 0.10 0.221 2640 240.0 2.55 0.068 2767 548.2 -107.1 - - 3447 - - - - - - - - 14.12 14.34 14.29
8262 743.5 -8.3 350 8263 done -0.80 - - 2636 - - - 2767 - -107.1 - - 3447 - - - - - - - - 14.94 14.94 14.94
8598 771.9 -8.5 356 8603 roll -0.80 - - 2636 - 2.47 0.044 1372 -564.8 -107.1 - - 3445 - - - - - - - - 14.95 14.41 14.95
8639 775.6 -8.8 362 8645 done -0.80 - - 2626 - 2.55 0.068 2754 542.0 -107.1 - - 3445 - - - - - - - - 14.40 14.31 14.45
8990 806.4 -8.8 370 8995 roll -0.80 - - 2618 - 2.08 0.115 3826 515.4 -107.1 - - 3444 - - - - - - - - 14.94 14.19 14.94
9024 809.6 -9.7 375 9030 done -0.80 - - 2617 - 1.85 0.045 2752 -580.5 -107.1 - - 3443 - - - - - - - - 14.58 14.54 14.59
9382 841.1 -8.8 384 9387 roll -0.80 - - 2617 - 2.38 0.044 1373 -579.4 -107.1 - - 3442 - - - - - - - - 14.91 14.41 14.91
9430 845.8 -9.9 391 9438 done -0.80 0.10 0.220 2636 190.0 2.53 0.067 2753 545.5 -107.1 - - 3442 - - - - - - - - 14.06 14.30 14.23
9774 872.6 -7.7 398 9775 done -0.80 - - 2636 - - - 2752 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
10110 898.2 -7.6 404 10115 roll -0.80 - - 2636 - 2.40 0.044 1375 -573.8 -107.1 - - 3442 - - - - - - - - 14.94 14.42 14.94
10144 900.7 -7.5 409 10151 done -0.80 - - 2627 - 2.55 0.067 2758 542.4 -107.1 - - 3440 - - - - - - - - 14.36 14.26 14.40
10502 924.9 -6.7 418 10503 done -0.80 - - 2630 - - - 2758 - -107.1 - - 3440 - - - - - - - - 14.90 14.90 14.90
10611 end dive: TARGET_DEPTH_EXCEEDED
10611 begin apogee
10618 931.9 -6.1 420 10729 roll -0.23 0.68 0.171 2826 288.2 - - 2227 - - 109.15 1.982 3049 -3.6 0.335 - - - - - - 14.14 13.98 13.02
10731 end apogee: CONTROL_FINISHED_OK
10731 begin climb
10734 933.6 - 422 10860 roll 0.93 1.10 0.089 3185 326.4 2.45 0.056 884 -548.2 107.1 116.65 1.952 2620 -3.7 0.350 - - - - - - 14.00 14.02 12.89
10873 926.8 9.9 443 10880 done 0.73 0.17 0.210 3138 -276.5 2.53 0.050 2258 543.1 107.1 - - 2613 - - - - - - - - 13.74 13.88 13.85
11231 898.0 8.1 452 11236 roll 0.73 - - 3138 - 2.60 0.099 3648 534.6 107.1 - - 2610 - - - - - - - - 14.71 14.29 14.71
11321 890.3 8.2 465 11328 done 0.63 0.15 0.210 3106 -213.3 2.40 0.040 2265 -576.2 107.1 - - 2610 - - - - - - - - 14.16 14.44 14.31
11679 869.4 5.6 474 11726 done 0.68 - - 3106 - - - 2265 - 148.9 45.53 1.927 2456 -3.4 0.304 - - - - - - 14.81 14.22 13.31
12015 849.5 6.1 480 12057 roll 0.72 - - 3104 - 2.72 0.103 3646 507.7 181.6 37.20 1.928 2322 -3.6 0.316 - - - - - - 14.71 14.16 13.31
12091 844.4 8.6 491 12097 done 0.72 - - 3115 - 2.45 0.041 2260 -565.7 181.6 - - 2317 - - - - - - - - 14.31 14.27 14.31
12407 823.3 6.7 501 12433 done 0.74 - - 3115 - - - 2256 - 203.5 24.40 1.952 2238 -3.2 0.272 - - - - - - 14.72 14.28 13.37
12743 799.4 7.3 507 12755 roll 0.76 - - 3115 - 2.70 0.103 3657 518.9 212.8 4.85 1.978 2206 -6.6 0.531 - - - - - - 14.73 14.36 12.96
12784 796.2 7.5 513 12799 done 0.76 - - 3126 - 2.45 0.040 2250 -574.3 217.1 10.57 2.085 2182 -2.3 0.173 - - - - - - 14.48 14.48 13.42
13135 767.2 8.3 521 13136 done 0.76 - - 3126 - - - 2250 - 217.1 - - 2174 - - - - - - - - 14.78 14.78 14.78
13471 737.4 9.0 527 13476 roll 0.76 - - 3125 - 2.65 0.101 3653 529.4 217.1 - - 2176 - - - - - - - - 14.82 14.34 14.82
13505 733.8 10.3 532 13511 done 0.76 - - 3135 - 2.45 0.041 2249 -573.1 217.1 - - 2176 - - - - - - - - 14.54 14.50 14.57
13863 699.5 9.6 541 13864 done 0.76 - - 3136 - - - 2244 - 217.1 - - 2178 - - - - - - - - 14.85 14.85 14.84
14199 668.7 9.1 547 14204 roll 0.76 - - 3146 - 2.42 0.062 861 -571.5 217.1 - - 2175 - - - - - - - - 14.86 14.41 14.85
14226 666.3 8.6 551 14232 done 0.76 - - 3146 - 2.45 0.054 2247 565.7 217.1 - - 2175 - - - - - - - - 14.49 14.41 14.53
14591 635.5 8.3 561 14597 roll 0.76 - - 3147 - 2.60 0.103 3649 539.2 217.1 - - 2175 - - - - - - - - 14.92 14.33 14.89
14647 630.3 9.5 569 14653 done 0.76 - - 3157 - 2.42 0.041 2252 -577.3 217.1 - - 2175 - - - - - - - - 14.54 14.50 14.56
14983 599.2 9.4 582 14988 roll 0.76 - - 3167 - 2.42 0.062 862 -574.4 217.1 - - 2180 - - - - - - - - 14.89 14.40 14.88
15010 596.5 9.8 586 15016 done 0.76 - - 3167 - 2.47 0.053 2259 565.6 217.1 - - 2175 - - - - - - - - 14.47 14.39 14.51
15375 559.4 10.2 596 15380 roll 0.76 - - 3167 - 2.62 0.101 3650 530.9 217.1 - - 2174 - - - - - - - - 14.88 14.26 14.86
15409 555.5 11.2 601 15417 done 0.76 0.10 0.217 3149 -180.0 2.42 0.040 2254 -576.9 217.1 - - 2175 - - - - - - - - 14.16 14.48 14.33
15767 522.8 9.1 610 15772 roll 0.76 - - 3148 - 2.65 0.101 3655 528.7 217.1 - - 2175 - - - - - - - - 14.90 14.29 14.90
15808 518.5 10.6 616 15814 done 0.76 - - 3154 - 2.42 0.040 2258 -577.3 217.1 - - 2175 - - - - - - - - 14.54 14.48 14.56
16159 483.3 10.2 624 16160 done 0.76 - - 3159 - - - 2254 - 217.1 - - 2175 - - - - - - - - 14.89 14.90 14.90
16495 449.2 10.1 630 16500 roll 0.76 - - 3159 - 2.62 0.103 3653 534.0 217.1 - - 2175 - - - - - - - - 14.90 14.27 14.90
16529 445.4 10.9 635 16535 done 0.76 - - 3169 - 2.42 0.040 2262 -574.8 217.1 - - 2175 - - - - - - - - 14.52 14.47 14.51
16887 409.5 9.9 644 16892 roll 0.76 - - 3179 - 2.42 0.061 863 -578.1 217.1 - - 2175 - - - - - - - - 14.88 14.28 14.88
16943 404.0 10.0 652 16948 done 0.76 0.10 0.224 3150 -290.0 2.47 0.052 2263 566.8 217.1 - - 2175 - - - - - - - - 14.20 14.34 14.45
17279 375.9 8.2 665 17285 roll 0.76 - - 3150 - 2.60 0.099 3661 537.7 217.1 - - 2174 - - - - - - - - 14.87 14.26 14.87
17341 370.1 9.3 674 17347 done 0.76 - - 3160 - 2.42 0.039 2263 -577.7 217.1 - - 2175 - - - - - - - - 14.50 14.46 14.52
17671 340.9 9.0 686 17676 roll 0.76 - - 3170 - 2.45 0.061 859 -573.1 217.1 - - 2175 - - - - - - - - 14.90 14.36 14.90
17740 334.2 9.5 696 17746 done 0.76 - - 3170 - 2.47 0.052 2262 568.0 217.1 - - 2175 - - - - - - - - 14.40 14.33 14.45
18063 303.1 9.7 707 18068 roll 0.76 - - 3170 - 2.60 0.100 3664 539.2 217.1 - - 2175 - - - - - - - - 14.86 14.25 14.87
18097 299.4 10.5 712 18104 done 0.76 0.10 0.207 3151 -190.0 2.42 0.039 2259 -580.6 217.1 - - 2175 - - - - - - - - 14.12 14.44 14.28
18455 268.6 8.6 721 18461 roll 0.76 - - 3161 - 2.45 0.061 857 -572.2 217.1 - - 2175 - - - - - - - - 14.88 14.32 14.88
18517 263.0 8.9 730 18523 done 0.76 - - 3161 - 2.47 0.052 2257 566.8 217.1 - - 2175 - - - - - - - - 14.40 14.32 14.44
18847 232.9 9.2 742 18852 roll 0.76 - - 3161 - 2.60 0.100 3653 536.9 217.1 - - 2175 - - - - - - - - 14.88 14.19 14.88
18874 230.2 9.8 746 18880 done 0.76 - - 3171 - 2.42 0.039 2259 -576.0 217.1 - - 2175 - - - - - - - - 14.49 14.44 14.51
19239 196.9 9.0 756 19244 roll 0.76 - - 3181 - 2.45 0.062 855 -573.1 217.1 - - 2174 - - - - - - - - 14.86 14.34 14.87
19273 193.6 9.4 761 19280 done 0.76 0.10 0.191 3151 -300.0 2.47 0.054 2256 567.2 217.1 - - 2175 - - - - - - - - 14.10 14.32 14.26
19631 163.8 8.3 770 19636 roll 0.76 - - 3150 - 2.62 0.101 3655 534.0 217.1 - - 2173 - - - - - - - - 14.88 14.26 14.87
19687 158.3 9.9 778 19692 done 0.76 - - 3161 - 2.40 0.039 2248 -586.2 217.1 - - 2176 - - - - - - - - 14.50 14.40 14.55
20023 128.0 9.0 791 20028 roll 0.76 - - 3171 - 2.42 0.061 856 -575.2 217.1 - - 2174 - - - - - - - - 14.90 14.34 14.90
20050 125.4 9.0 795 20056 done 0.76 - - 3171 - 2.47 0.052 2262 569.2 217.1 - - 2176 - - - - - - - - 14.40 14.33 14.45
20415 96.5 7.6 805 20421 roll 0.76 - - 3171 - 2.62 0.101 3660 533.6 219.2 - - 2176 - - - - - - - - 14.90 14.25 14.90
20540 85.5 8.3 823 20546 done 0.76 0.10 0.200 3151 -200.0 2.40 0.038 2265 -581.2 219.2 - - 2177 - - - - - - - - 14.12 14.47 14.28
20863 65.1 6.1 836 20883 roll 0.80 - - 3151 - 2.70 0.099 3663 517.8 251.9 16.23 0.359 2048 -7.9 0.287 - - - - - - 14.85 14.35 13.89
21018 56.7 6.6 858 21037 done 0.93 0.08 0.145 3216 812.5 2.38 0.038 2264 -587.8 274.4 12.12 0.330 1956 -7.6 0.260 - - - - - - 14.42 14.51 13.95
21362 40.3 3.4 874 21410 roll 1.04 - - 3217 - 2.67 0.099 3660 522.8 361.6 43.00 0.285 1610 -8.0 0.226 - - - - - - 14.81 14.35 14.09
21450 35.1 6.1 884 21472 done 1.19 0.10 0.071 3287 700.0 2.35 0.037 2287 -584.3 394.5 16.65 0.269 1478 -7.9 0.206 - - - - - - 14.41 14.45 14.03
21803 12.8 5.8 901 21829 roll 1.31 0.05 0.197 3369 1640.0 2.47 0.061 870 -573.7 433.2 18.95 0.195 1324 -8.1 0.106 - - - - - - 14.52 14.35 14.12
21921 2.7 9.0 918 21926 done 1.31 0.12 0.222 3325 -366.7 2.42 0.052 2285 584.7 433.2 - - 1325 - - - - - - - - 14.12 14.38 14.36
21930 end climb: SURFACE_DEPTH_REACHED
21930 begin surface coast
21938 end surface coast: CONTROL_FINISHED_OK
21938 begin surface
SM 0.39 - - - - -8.40 9.35 0.077 189 20.2 0.88 0.082 2771 -2676.1 500.39 30.73 0.158 1057 34.4 -0.009 - - - - - -