SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 391 * Raw log
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• Previous call tries 2 • 140.50 of 350.00 AH used of 24V (59.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth -1.00 m • Intended pitch -19.3 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 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
11 begin dive
15 - - - 92 done -0.99 - - 104 - - - 2773 - -92.8 -75.72 - 3421 - - - - - - - - 14.69 12.62 14.68
95 0.3 -4.1 2 116 roll -0.99 11.73 0.383 2572 210.4 2.38 0.032 1355 -595.8 -92.8 - - 3423 - - - - - - - - 14.00 14.41 14.39
212 40.7 -22.2 20 220 done -0.74 0.30 0.251 2655 276.7 2.58 0.067 2771 548.8 -92.8 - - 3423 - - - - - - - - 14.07 14.26 14.38
535 70.0 -7.7 33 536 done -0.74 - - 2655 - - - 2771 - -93.9 - - 3425 - - - - - - - - 14.85 14.85 14.85
843 94.3 -8.0 44 844 done -0.74 - - 2655 - - - 2771 - -93.9 - - 3425 - - - - - - - - 14.89 14.89 14.89
1151 118.2 -7.5 51 1156 roll -0.75 - - 2655 - 2.42 0.044 1355 -585.1 -98.6 - - 3424 - - - - - - - - 14.92 14.57 14.91
1199 122.0 -7.6 58 1207 done -0.75 - - 2645 - 2.50 0.065 2763 563.2 -101.7 - - 3424 - - - - - - - - 14.53 14.45 14.58
1543 149.1 -8.0 65 1548 roll -0.75 - - 2637 - 2.00 0.109 3822 529.5 -101.7 - - 3422 - - - - - - - - 14.95 14.35 14.95
1599 154.1 -8.9 73 1604 done -0.75 - - 2637 - 1.83 0.040 2714 -605.5 -101.7 - - 3422 - - - - - - - - 14.66 14.64 14.68
1935 183.4 -9.0 86 1940 roll -0.75 - - 2628 - 2.10 0.107 3835 533.8 -101.7 - - 3420 - - - - - - - - 14.95 14.41 14.95
2025 192.2 -9.7 99 2031 done -0.75 - - 2622 - 1.85 0.040 2732 -596.2 -101.7 - - 3418 - - - - - - - - 14.74 14.71 14.74
2383 225.7 -9.3 108 2389 roll -0.75 - - 2627 - 2.28 0.043 1386 -590.4 -101.7 - - 3416 - - - - - - - - 14.93 14.57 14.94
2410 228.3 -9.3 112 2418 done -0.75 0.10 0.216 2648 210.0 2.50 0.067 2773 554.8 -101.7 - - 3416 - - - - - - - - 14.28 14.46 14.45
2775 258.2 -8.2 122 2776 done -0.75 - - 2648 - - - 2773 - -101.7 - - 3414 - - - - - - - - 14.94 14.94 14.94
3111 286.1 -8.3 128 3117 roll -0.75 - - 2648 - 2.40 0.044 1382 -579.6 -101.7 - - 3410 - - - - - - - - 14.94 14.58 14.95
3159 290.3 -8.6 135 3167 done -0.75 - - 2639 - 2.50 0.067 2769 554.8 -101.7 - - 3410 - - - - - - - - 14.53 14.43 14.57
3503 320.3 -8.9 142 3508 roll -0.75 - - 2631 - 2.00 0.111 3820 525.5 -101.7 - - 3408 - - - - - - - - 14.94 14.34 14.94
3551 324.7 -9.1 149 3559 done -0.75 - - 2631 - 1.80 0.041 2766 -585.6 -101.7 - - 3408 - - - - - - - - 14.73 14.70 14.72
3895 355.9 -9.1 156 3901 roll -0.75 - - 2630 - 2.40 0.044 1380 -577.5 -101.7 - - 3406 - - - - - - - - 14.94 14.51 14.94
3929 359.1 -9.4 161 3936 done -0.75 0.10 0.220 2651 210.0 2.50 0.067 2766 554.4 -101.7 - - 3405 - - - - - - - - 14.26 14.42 14.42
4287 388.1 -8.1 170 4292 roll -0.75 - - 2643 - 2.03 0.111 3829 523.6 -101.7 - - 3404 - - - - - - - - 14.96 14.33 14.96
4335 392.4 -8.8 177 4343 done -0.75 - - 2642 - 1.83 0.042 2762 -583.1 -101.7 - - 3403 - - - - - - - - 14.69 14.67 14.70
4679 422.2 -8.8 184 4685 roll -0.75 - - 2642 - 2.40 0.043 1378 -576.7 -101.7 - - 3401 - - - - - - - - 14.94 14.50 14.93
4735 427.3 -9.2 192 4741 done -0.75 - - 2633 - 2.47 0.066 2771 564.0 -101.7 - - 3401 - - - - - - - - 14.61 14.45 14.64
5071 459.2 -9.4 205 5076 roll -0.75 - - 2632 - 2.40 0.042 1380 -579.6 -101.7 - - 3399 - - - - - - - - 14.93 14.54 14.93
5112 463.2 -9.5 211 5119 done -0.75 0.10 0.223 2652 200.0 2.50 0.066 2759 551.6 -101.7 - - 3399 - - - - - - - - 14.16 14.33 14.33
5463 491.5 -7.9 219 5464 done -0.84 - - 2651 - - - 2758 - -101.7 - - 3398 - - - - - - - - 14.92 14.92 14.91
5800 515.2 -6.9 225 5805 roll -0.93 0.10 0.114 2575 -760.0 2.38 0.043 1376 -580.7 -107.1 - - 3396 - - - - - - - - 14.66 14.53 14.71
5840 518.8 -9.1 231 5847 done -0.93 0.10 0.231 2589 140.0 2.53 0.067 2771 551.4 -107.1 - - 3396 - - - - - - - - 14.16 14.41 14.35
6191 549.6 -8.7 239 6196 roll -0.93 - - 2586 - 2.00 0.109 3821 525.0 -107.1 - - 3395 - - - - - - - - 14.95 14.31 14.95
6253 555.7 -9.7 248 6260 done -0.93 - - 2585 - 1.83 0.041 2751 -584.7 -107.1 - - 3394 - - - - - - - - 14.70 14.65 14.71
6583 586.3 -9.4 260 6589 roll -0.93 - - 2577 - 2.05 0.108 3829 525.9 -107.1 - - 3393 - - - - - - - - 14.94 14.33 14.94
6617 589.7 -10.0 265 6624 done -0.93 - - 2577 - 1.80 0.043 2772 -587.2 -107.1 - - 3393 - - - - - - - - 14.64 14.62 14.64
6975 625.0 -9.9 274 6976 done -0.93 - - 2577 - - - 2772 - -107.1 - - 3391 - - - - - - - - 14.92 14.92 14.92
7311 659.6 -10.4 280 7317 roll -0.93 - - 2569 - 2.05 0.110 3820 511.2 -107.1 - - 3390 - - - - - - - - 14.95 14.26 14.95
7345 663.5 -11.3 285 7352 done -0.93 0.08 0.224 2590 262.5 1.80 0.042 2772 -582.2 -107.1 - - 3390 - - - - - - - - 14.23 14.62 14.40
7703 700.1 -10.3 294 7708 roll -0.93 - - 2589 - 2.42 0.044 1365 -581.4 -107.1 - - 3387 - - - - - - - - 14.92 14.47 14.92
7730 703.1 -10.8 298 7737 done -0.93 - - 2577 - 2.53 0.066 2757 550.2 -107.1 - - 3388 - - - - - - - - 14.45 14.35 14.51
8095 741.4 -10.5 308 8096 done -0.93 - - 2580 - - - 2757 - -107.1 - - 3387 - - - - - - - - 14.94 14.94 14.93
8431 775.8 -10.1 314 8436 roll -0.93 - - 2573 - 2.05 0.110 3825 521.0 -107.1 - - 3385 - - - - - - - - 14.91 14.23 14.91
8465 779.4 -10.6 319 8472 done -0.93 - - 2571 - 1.85 0.044 2751 -580.5 -107.1 - - 3385 - - - - - - - - 14.65 14.62 14.66
8823 814.2 -9.7 328 8829 roll -0.93 - - 2571 - 2.38 0.044 1374 -578.6 -107.1 - - 3384 - - - - - - - - 14.90 14.44 14.90
8857 817.6 -9.9 333 8864 done -0.93 0.10 0.232 2589 180.0 2.53 0.065 2757 546.6 -107.1 - - 3384 - - - - - - - - 14.08 14.30 14.26
9215 847.8 -8.5 342 9220 roll -0.93 - - 2583 - 2.05 0.112 3828 522.4 -107.1 - - 3384 - - - - - - - - 14.92 14.19 14.93
9256 851.5 -9.0 348 9263 done -0.93 - - 2582 - 1.85 0.044 2750 -582.7 -107.1 - - 3383 - - - - - - - - 14.58 14.57 14.60
9607 881.2 -8.5 356 9608 done -0.93 - - 2583 - - - 2749 - -107.1 - - 3382 - - - - - - - - 14.90 14.90 14.90
9943 909.5 -8.3 362 9948 roll -0.93 - - 2575 - 2.10 0.109 3825 512.4 -107.1 - - 3379 - - - - - - - - 14.92 14.16 14.92
10033 917.7 -9.0 375 10040 done -0.93 - - 2574 - 1.85 0.044 2768 -571.4 -107.1 - - 3380 - - - - - - - - 14.60 14.57 14.60
10220 end dive: TARGET_DEPTH_EXCEEDED
10220 begin apogee
10228 934.3 -8.5 381 10324 roll -0.23 0.88 0.190 2823 283.0 0.10 0.158 2272 -4960.0 - 93.35 1.986 3051 -3.5 0.330 - - - - - - 14.07 13.98 13.02
10325 end apogee: CONTROL_FINISHED_OK
10325 begin climb
10328 936.5 - 382 10456 roll 1.01 1.17 0.090 3208 329.1 2.53 0.056 889 -546.6 107.1 116.75 1.959 2619 -3.7 0.352 - - - - - - 14.03 14.06 12.90
10476 930.9 9.2 410 10483 done 0.86 0.10 0.226 3182 -260.0 2.45 0.049 2236 549.8 107.1 - - 2613 - - - - - - - - 13.78 13.93 13.93
10841 900.8 8.3 420 10848 roll 0.78 0.10 0.251 3154 -280.0 2.62 0.096 3656 542.0 107.1 - - 2609 - - - - - - - - 14.21 14.28 14.45
10917 894.1 8.4 431 10924 done 0.69 0.12 0.222 3128 -216.7 2.40 0.039 2274 -575.8 107.1 - - 2609 - - - - - - - - 14.15 14.42 14.31
11234 873.9 6.3 441 11267 roll 0.72 - - 3128 - 2.62 0.099 3661 529.4 132.7 27.48 1.964 2515 -3.4 0.303 - - - - - - 14.82 14.29 13.36
11345 865.7 7.9 457 11350 done 0.72 - - 3139 - 2.42 0.040 2253 -581.8 132.7 - - 2512 - - - - - - - - 14.48 14.41 14.50
11681 841.4 7.2 470 11688 done 0.73 - - 3139 - - - 2250 - 142.2 5.32 2.049 2484 -5.3 0.430 - - - - - - 14.78 14.42 13.19
12017 816.1 7.6 476 12023 done 0.73 - - 3139 - - - 2249 - 145.6 4.40 1.873 2470 -3.2 0.276 - - - - - - 14.82 14.42 12.95
12353 791.1 7.6 482 12366 roll 0.74 - - 3139 - 2.67 0.102 3651 525.1 149.0 4.93 2.008 2461 -1.8 0.143 - - - - - - 14.82 14.47 13.00
12422 785.1 8.8 492 12430 done 0.74 - - 3150 - 2.45 0.040 2250 -571.8 149.0 1.08 0.239 2459 - - - - - - - - 14.53 14.50 14.14
12745 758.9 8.1 503 12751 roll 0.74 - - 3160 - 2.45 0.060 862 -566.5 149.0 1.27 0.274 2459 - - - - - - - - 14.85 14.26 14.01
12772 756.6 8.1 507 12779 done 0.74 - - 3160 - 2.47 0.053 2260 566.0 149.0 1.12 0.262 2459 - - - - - - - - 14.49 14.41 13.92
13137 726.0 8.4 517 13143 roll 0.74 - - 3160 - 2.60 0.099 3658 537.7 149.0 1.38 0.278 2459 - - - - - - - - 14.85 14.17 13.85
13213 719.0 9.3 528 13221 done 0.74 0.10 0.227 3142 -180.0 2.45 0.040 2252 -573.9 149.0 1.25 0.243 2458 - - - - - - - - 14.16 14.48 13.95
13529 695.6 7.3 538 13549 done 0.75 - - 3142 - - - 2251 - 157.3 15.70 1.937 2418 -2.5 0.182 - - - - - - 14.88 14.32 13.54
13865 669.1 8.0 551 13870 roll 0.75 - - 3142 - 2.65 0.100 3658 530.9 157.3 - - 2412 - - - - - - - - 14.82 14.31 14.82
13913 664.6 9.4 558 13921 done 0.75 - - 3153 - 2.45 0.040 2255 -572.7 157.3 - - 2419 - - - - - - - - 14.50 14.47 14.52
14257 635.2 8.6 565 14263 roll 0.75 - - 3153 - 2.65 0.101 3657 529.1 157.3 - - 2414 - - - - - - - - 14.83 14.29 14.84
14284 632.7 9.2 569 14290 done 0.75 - - 3164 - 2.42 0.041 2270 -573.1 157.3 - - 2414 - - - - - - - - 14.52 14.45 14.54
14649 601.6 8.4 579 14654 roll 0.75 - - 3163 - 2.60 0.102 3651 531.2 157.3 - - 2414 - - - - - - - - 14.88 14.30 14.88
14697 597.1 9.4 586 14705 done 0.75 0.10 0.220 3146 -170.0 2.42 0.039 2255 -576.9 157.3 - - 2413 - - - - - - - - 14.14 14.47 14.32
15042 572.7 6.9 593 15063 roll 0.77 - - 3146 - 2.70 0.102 3661 520.7 172.3 17.00 1.791 2358 -3.2 0.206 - - - - - - 14.88 14.45 13.59
15124 566.3 7.8 605 15131 done 0.77 - - 3156 - 2.42 0.040 2277 -571.9 172.3 - - 2354 - - - - - - - - 14.49 14.45 14.52
15482 540.5 7.2 614 15488 done 0.78 - - 3156 - - - 2273 - 181.7 4.75 1.812 2328 -5.5 0.325 - - - - - - 14.81 14.42 13.05
15818 514.4 7.9 620 15821 done 0.78 - - 3156 - - - 2273 - 181.7 1.45 0.285 2326 - - - - - - - - 14.81 14.27 13.68
16154 486.6 8.3 626 16160 roll 0.78 - - 3156 - 2.60 0.099 3651 530.0 181.7 1.42 0.288 2330 2.8 -0.947 - - - - - - 14.83 14.07 13.67
16210 481.5 9.1 634 16216 done 0.78 - - 3167 - 2.38 0.040 2263 -583.2 181.7 1.38 0.284 2326 -2.9 0.978 - - - - - - 14.58 14.50 13.76
16546 453.3 8.4 647 16549 done 0.78 - - 3167 - - - 2259 - 181.7 1.40 0.275 2325 - - - - - - - - 14.83 14.26 13.74
16883 426.0 8.1 653 16885 done 0.78 - - 3167 - - - 2259 - 181.7 1.50 0.292 2326 - - - - - - - - 14.85 14.15 13.49
17218 397.9 8.4 659 17219 done 0.78 - - 3167 - - - 2259 - 181.7 - - 2336 - - - - - - - - 14.87 14.86 14.86
17555 369.0 8.6 665 17560 roll 0.78 - - 3167 - 2.65 0.099 3659 528.3 181.7 1.38 0.276 2329 -5.1 1.350 - - - - - - 14.86 14.04 13.70
17610 363.6 10.1 673 17616 done 0.78 - - 3178 - 2.40 0.041 2261 -582.5 181.7 1.52 0.304 2327 - - - - - - - - 14.62 14.52 13.53
17946 332.3 9.3 686 17952 roll 0.78 - - 3178 - 2.62 0.099 3655 532.1 181.7 1.40 0.288 2331 2.9 -0.656 - - - - - - 14.90 13.97 13.56
17973 329.5 9.9 690 17980 done 0.78 0.10 0.213 3159 -190.0 2.40 0.040 2274 -575.4 181.7 1.77 0.386 2329 - - - - - - - - 14.13 14.47 13.57
18338 298.7 8.3 700 18345 roll 0.78 - - 3169 - 2.50 0.060 858 -566.4 181.7 1.33 0.286 2330 - - - - - - - - 14.86 14.01 13.63
18372 295.9 8.0 705 18379 done 0.78 - - 3169 - 2.47 0.054 2267 570.4 181.7 2.35 0.749 2327 -1.3 0.100 - - - - - - 14.45 14.35 13.08
18730 265.7 8.6 714 18736 roll 0.78 - - 3169 - 2.60 0.099 3658 535.0 181.7 1.23 0.279 2330 2.4 -0.462 - - - - - - 14.88 14.11 13.79
18835 255.5 9.6 729 18842 done 0.78 - - 3179 - 2.40 0.038 2270 -578.3 181.7 1.60 0.335 2331 - - - - - - - - 14.49 14.45 13.62
19179 224.9 9.0 736 19185 roll 0.78 - - 3189 - 2.53 0.061 862 -556.5 181.7 2.40 0.782 2328 -1.2 0.072 - - - - - - 14.86 14.40 13.09
19205 222.4 9.1 740 19213 done 0.78 0.12 0.199 3152 -308.3 2.47 0.053 2274 571.7 181.7 - - 2333 - - - - - - - - 14.22 14.42 14.37
19571 193.6 7.7 750 19576 roll 0.78 - - 3157 - 2.58 0.099 3656 535.7 182.2 1.42 0.332 2329 -2.8 0.327 - - - - - - 14.88 14.00 13.52
19612 190.0 8.5 756 19619 done 0.78 - - 3161 - 2.40 0.039 2270 -577.5 182.2 1.62 0.372 2329 - - - - - - - - 14.46 14.41 13.64
19963 163.3 7.5 764 19975 roll 0.78 - - 3161 - 2.62 0.099 3651 527.1 186.0 5.93 1.557 2313 -2.7 0.056 - - - - - - 14.88 14.47 13.56
19996 160.4 8.4 769 20003 done 0.78 - - 3172 - 2.38 0.039 2280 -576.1 186.0 - - 2315 - - - - - - - - 14.57 14.53 14.59
20354 131.3 8.1 778 20360 roll 0.78 - - 3172 - 2.60 0.100 3652 527.7 186.0 - - 2316 - - - - - - - - 14.87 14.29 14.87
20424 125.2 8.7 788 20431 done 0.78 - - 3182 - 2.38 0.039 2282 -575.6 186.0 0.93 0.236 2311 -5.4 0.568 - - - - - - 14.50 14.46 14.07
20747 101.5 7.2 799 20759 roll 0.80 - - 3192 - 2.53 0.062 871 -557.7 195.0 5.53 0.446 2281 -5.4 0.246 - - - - - - 14.85 14.41 13.88
20830 94.9 7.9 811 20836 done 0.80 0.12 0.214 3155 -308.3 2.45 0.053 2285 577.1 195.0 - - 2281 - - - - - - - - 14.22 14.40 14.45
21169 73.1 6.6 826 21188 roll 0.91 0.05 0.203 3200 900.0 2.55 0.100 3658 538.4 215.5 11.23 0.378 2195 -7.7 0.295 - - - - - - 14.51 14.39 14.00
21418 53.6 4.7 862 21452 done 0.97 - - 3210 - 2.35 0.038 2273 -589.4 267.9 26.45 0.333 1982 -8.1 0.258 - - - - - - 14.57 14.50 14.04
21785 33.8 4.7 881 21817 roll 1.15 0.08 0.147 3285 937.5 2.47 0.063 867 -569.2 321.0 26.30 0.269 1772 -8.0 0.200 - - - - - - 14.52 14.38 14.08
21970 22.5 6.5 908 21985 done 1.17 - - 3286 - 2.53 0.052 2303 567.6 342.3 10.43 0.233 1686 -8.2 0.158 - - - - - - 14.41 14.33 14.02
22310 7.1 5.2 923 22336 roll 1.35 0.08 0.141 3383 1212.5 2.60 0.061 868 -551.9 386.5 21.27 0.178 1509 -8.3 0.066 - - - - - - 14.53 14.35 14.17
22374 end climb: SURFACE_DEPTH_REACHED
22374 begin surface coast
22383 end surface coast: CONTROL_FINISHED_OK
22383 begin surface
SM -0.99 - - - - -8.40 9.52 0.084 185 19.4 3.38 0.060 2766 -2411.2 500.14 51.80 0.156 1056 20.4 0.013 - - - - - -