SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 401 * Raw log
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• Previous call tries 1 • 143.66 of 350.00 AH used of 24V (58.95% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.0 deg, depth -3.03 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 3 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
15 - - - 100 done -0.93 - - 127 - - - 2778 - -107.1 -79.47 - 3478 - - - - - - - - 14.66 12.57 14.66
103 4.8 -13.7 3 121 roll -0.93 11.82 0.389 2592 208.5 2.38 0.034 1370 -591.6 -107.1 - - 3480 - - - - - - - - 14.02 14.38 14.28
177 32.2 -23.0 14 184 done -0.68 0.35 0.246 2676 240.0 2.55 0.072 2766 547.5 -107.1 - - 3481 - - - - - - - - 14.05 14.30 14.23
493 73.1 -10.6 26 498 roll -0.68 - - 2668 - 2.00 0.108 3820 527.0 -107.1 - - 3483 - - - - - - - - 14.82 14.29 14.82
697 90.5 -9.2 55 701 done -0.68 - - 2667 - 1.73 0.039 2750 -618.5 -107.1 - - 3483 - - - - - - - - 14.66 14.62 14.71
1053 119.7 -8.0 66 1058 roll -0.68 - - 2667 - 2.28 0.041 1387 -597.8 -107.1 - - 3484 - - - - - - - - 14.91 14.50 14.91
1094 123.0 -7.8 72 1100 done -0.68 - - 2657 - 2.45 0.063 2768 563.7 -107.1 - - 3483 - - - - - - - - 14.54 14.42 14.55
1445 153.7 -9.0 80 1445 done -0.68 - - 2658 - - - 2768 - -107.1 - - 3483 - - - - - - - - 14.93 14.94 14.94
1781 183.1 -8.5 86 1782 done -0.68 - - 2657 - - - 2768 - -107.1 - - 3480 - - - - - - - - 14.92 14.92 14.92
2117 212.4 -8.8 92 2122 roll -0.68 - - 2657 - 2.35 0.043 1391 -586.0 -107.1 - - 3479 - - - - - - - - 14.95 14.57 14.95
2151 215.5 -9.0 97 2158 done -0.68 0.10 0.203 2679 220.0 2.45 0.066 2758 558.0 -107.1 - - 3479 - - - - - - - - 14.29 14.43 14.44
2509 242.3 -7.3 106 2514 roll -0.68 - - 2679 - 2.35 0.043 1387 -583.4 -107.1 - - 3475 - - - - - - - - 14.96 14.57 14.93
2550 245.4 -7.4 112 2556 done -0.76 - - 2671 - 2.47 0.066 2762 556.7 -107.1 - - 3475 - - - - - - - - 14.52 14.42 14.56
2901 273.0 -8.1 120 2901 done -0.76 - - 2671 - - - 2762 - -107.1 - - 3473 - - - - - - - - 14.94 14.93 14.94
3237 300.0 -8.0 126 3242 roll -0.76 - - 2670 - 2.40 0.044 1369 -580.4 -107.1 - - 3471 - - - - - - - - 14.96 14.54 14.96
3313 306.2 -7.9 137 3320 done -0.84 - - 2661 - 2.55 0.068 2766 547.8 -107.1 - - 3470 - - - - - - - - 14.52 14.45 14.56
3629 332.2 -8.3 147 3629 done -0.84 - - 2662 - - - 2766 - -107.1 - - 3468 - - - - - - - - 14.96 14.96 14.96
3965 359.7 -8.1 153 3971 roll -0.84 0.05 0.208 2603 -1180.0 2.35 0.042 1392 -584.7 -107.1 - - 3466 - - - - - - - - 14.62 14.55 14.66
4020 365.1 -10.0 161 4027 done -0.84 0.10 0.226 2636 330.0 2.50 0.068 2758 546.4 -107.1 - - 3466 - - - - - - - - 14.21 14.40 14.48
4357 394.7 -8.7 174 4362 roll -0.84 - - 2628 - 2.05 0.111 3830 522.9 -107.1 - - 3464 - - - - - - - - 14.93 14.31 14.97
4398 398.4 -9.0 180 4404 done -0.84 - - 2627 - 1.83 0.041 2737 -597.3 -107.1 - - 3464 - - - - - - - - 14.66 14.64 14.68
4749 428.9 -8.7 188 4749 done -0.84 - - 2627 - - - 2737 - -107.1 - - 3463 - - - - - - - - 14.95 14.95 14.95
5085 457.0 -8.3 194 5090 roll -0.84 - - 2627 - 2.33 0.043 1379 -582.8 -107.1 - - 3461 - - - - - - - - 14.95 14.53 14.99
5141 461.7 -8.2 202 5146 done -0.84 - - 2618 - 2.50 0.066 2769 556.0 -107.1 - - 3461 - - - - - - - - 14.60 14.43 14.63
5477 491.9 -9.1 215 5482 roll -0.84 - - 2610 - 2.00 0.110 3816 523.5 -107.1 - - 3459 - - - - - - - - 14.95 14.29 14.95
5567 500.4 -9.6 228 5573 done -0.84 - - 2609 - 1.80 0.041 2761 -586.1 -107.1 - - 3461 - - - - - - - - 14.69 14.66 14.71
5925 534.9 -9.8 237 5931 roll -0.84 - - 2603 - 2.05 0.109 3818 515.6 -107.1 - - 3458 - - - - - - - - 14.95 14.28 14.97
5952 537.9 -10.6 241 5959 done -0.84 - - 2601 - 1.80 0.041 2762 -586.7 -107.1 - - 3458 - - - - - - - - 14.66 14.64 14.68
6317 575.7 -10.3 251 6322 roll -0.84 - - 2600 - 2.35 0.043 1383 -586.8 -107.1 - - 3456 - - - - - - - - 14.92 14.50 14.92
6386 582.8 -9.9 261 6393 done -0.84 0.12 0.222 2626 216.7 2.50 0.066 2756 549.2 -107.1 - - 3456 - - - - - - - - 14.14 14.36 14.32
6709 610.7 -8.5 272 6714 roll -0.84 - - 2633 - 2.38 0.042 1378 -579.0 -107.1 - - 3455 - - - - - - - - 14.92 14.50 14.92
6743 613.7 -8.8 277 6750 done -0.84 - - 2617 - 2.50 0.067 2758 552.0 -107.1 - - 3455 - - - - - - - - 14.45 14.35 14.50
7101 645.4 -8.9 286 7101 done -0.84 - - 2617 - - - 2758 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
7437 675.0 -8.8 292 7438 done -0.84 - - 2617 - - - 2758 - -107.1 - - 3451 - - - - - - - - 14.94 14.95 14.95
7773 702.7 -8.1 298 7778 roll -0.84 - - 2616 - 2.40 0.044 1379 -574.6 -107.1 - - 3450 - - - - - - - - 14.95 14.42 14.94
7842 708.4 -7.9 308 7848 done -0.84 - - 2607 - 2.53 0.067 2758 545.1 -107.1 - - 3448 - - - - - - - - 14.41 14.31 14.46
8165 735.6 -8.6 319 8165 done -0.84 - - 2607 - - - 2758 - -107.1 - - 3449 - - - - - - - - 14.94 14.94 14.94
8500 765.4 -8.9 325 8501 done -0.84 - - 2606 - - - 2757 - -107.1 - - 3448 - - - - - - - - 14.94 14.94 14.94
8837 795.5 -9.0 331 8842 roll -0.84 - - 2605 - 2.38 0.044 1385 -576.5 -107.1 - - 3447 - - - - - - - - 14.93 14.45 14.95
8899 801.1 -8.9 340 8905 done -0.84 0.10 0.226 2624 190.0 2.50 0.067 2757 548.8 -107.1 - - 3446 - - - - - - - - 14.06 14.28 14.23
9229 826.6 -7.7 352 9234 roll -0.84 - - 2616 - 2.08 0.112 3825 513.5 -107.1 - - 3449 - - - - - - - - 14.90 14.16 14.90
9270 830.0 -7.0 358 9276 done -0.84 - - 2616 - 1.83 0.044 2768 -577.6 -107.1 - - 3446 - - - - - - - - 14.54 14.52 14.56
9621 856.9 -7.6 366 9626 roll -0.84 - - 2620 - 2.40 0.044 1369 -582.9 -107.1 - - 3445 - - - - - - - - 14.90 14.42 14.90
9690 862.4 -7.8 376 9696 done -0.84 - - 2607 - 2.53 0.066 2747 544.7 -107.1 - - 3443 - - - - - - - - 14.35 14.26 14.40
10013 888.8 -8.3 387 10018 roll -0.84 - - 2606 - 2.40 0.044 1368 -574.6 -107.1 - - 3444 - - - - - - - - 14.92 14.41 14.92
10040 891.1 -7.6 391 10046 done -0.84 0.10 0.224 2623 170.0 2.53 0.067 2748 545.5 -107.1 - - 3443 - - - - - - - - 14.02 14.25 14.19
10405 920.5 -8.2 401 10411 roll -0.84 - - 2625 - 2.40 0.044 1370 -574.2 -107.1 - - 3443 - - - - - - - - 14.89 14.40 14.90
10439 923.2 -5.6 406 10445 done -0.84 - - 2616 - 2.53 0.067 2750 545.5 -107.1 - - 3443 - - - - - - - - 14.33 14.23 14.39
10570 end dive: TARGET_DEPTH_EXCEEDED
10570 begin apogee
10577 934.7 -8.4 411 10690 roll -0.23 0.70 0.174 2821 292.9 0.10 0.157 2269 -4810.0 - 110.05 1.961 3052 -3.6 0.341 - - - - - - 14.11 13.93 12.97
10692 end apogee: CONTROL_FINISHED_OK
10692 begin climb
10695 939.0 - 413 10826 roll 0.93 1.12 0.090 3188 327.7 2.53 0.056 885 -547.0 107.1 118.43 1.962 2617 -3.7 0.354 - - - - - - 13.99 14.01 12.83
10853 934.6 7.3 437 10867 done 0.81 - - 3188 - 2.42 0.050 2240 559.9 115.1 4.53 1.904 2596 -4.6 0.458 - - - - - - 14.06 13.95 12.47
11189 908.0 8.3 450 11196 roll 0.68 0.22 0.223 3124 -290.9 2.62 0.096 3656 540.5 115.1 - - 2597 - - - - - - - - 14.15 14.27 14.39
11258 902.4 7.9 460 11265 done 0.61 0.12 0.218 3100 -200.0 2.40 0.040 2274 -575.8 115.1 0.80 0.238 2591 -7.5 5.728 - - - - - - 14.14 14.40 14.15
11581 882.2 6.3 471 11623 roll 0.64 - - 3100 - 2.67 0.099 3650 515.4 144.4 36.92 1.950 2473 -3.2 0.291 - - - - - - 14.78 14.22 13.29
11650 877.4 8.7 481 11656 done 0.64 - - 3109 - 2.45 0.040 2254 -569.8 144.4 - - 2470 - - - - - - - - 14.34 14.31 14.36
11966 854.8 7.2 491 11982 done 0.66 - - 3110 - - - 2254 - 156.1 14.30 2.044 2427 -3.0 0.253 - - - - - - 14.73 14.36 13.38
12302 830.0 7.2 497 12321 roll 0.67 - - 3110 - 2.70 0.102 3652 517.8 166.4 10.55 2.098 2383 -4.2 0.332 - - - - - - 14.75 14.38 13.40
12378 823.8 8.2 508 12384 done 0.67 - - 3120 - 2.42 0.040 2263 -574.0 166.4 - - 2382 - - - - - - - - 14.41 14.37 14.42
12694 800.3 7.6 518 12700 roll 0.67 - - 3120 - 2.62 0.103 3650 529.4 170.0 - - 2381 - - - - - - - - 14.78 14.31 14.78
12742 796.2 8.6 525 12750 done 0.67 - - 3130 - 2.42 0.041 2253 -577.3 170.0 - - 2381 - - - - - - - - 14.52 14.45 14.52
13086 769.2 7.9 532 13087 done 0.67 - - 3130 - - - 2253 - 170.0 - - 2380 - - - - - - - - 14.84 14.84 14.84
13422 743.5 7.6 538 13434 roll 0.68 - - 3130 - 2.67 0.100 3649 522.8 173.5 3.90 1.720 2365 -3.8 0.335 - - - - - - 14.85 14.47 13.00
13491 737.8 8.0 548 13498 done 0.68 - - 3141 - 2.40 0.040 2275 -572.5 173.5 1.23 0.256 2361 -3.3 1.888 - - - - - - 14.55 14.50 13.95
13814 713.5 7.5 559 13827 done 0.69 - - 3140 - - - 2266 - 178.9 11.25 2.024 2338 -2.0 0.145 - - - - - - 14.86 14.48 13.52
14150 687.5 7.8 565 14151 done 0.69 - - 3141 - - - 2266 - 178.9 - - 2331 - - - - - - - - 14.81 14.82 14.82
14486 660.3 8.2 571 14491 roll 0.69 - - 3141 - 2.62 0.102 3657 530.9 178.9 - - 2330 - - - - - - - - 14.85 14.29 14.85
14562 652.9 9.6 582 14569 done 0.69 - - 3151 - 2.47 0.041 2242 -572.9 178.9 - - 2330 - - - - - - - - 14.50 14.45 14.53
14878 623.5 9.4 592 14884 roll 0.69 0.10 0.243 3121 -300.0 2.65 0.099 3649 530.9 178.9 - - 2329 - - - - - - - - 14.28 14.29 14.51
14926 618.8 9.6 599 14934 done 0.69 - - 3141 - 2.40 0.040 2263 -577.5 178.9 - - 2329 - - - - - - - - 14.52 14.46 14.54
15270 588.7 8.7 606 15271 done 0.69 - - 3132 - - - 2262 - 178.9 - - 2329 - - - - - - - - 14.88 14.88 14.88
15607 561.3 8.0 612 15611 roll 0.69 - - 3132 - 2.62 0.101 3654 531.3 178.9 - - 2329 - - - - - - - - 14.86 14.27 14.86
15640 558.3 8.7 617 15647 done 0.69 - - 3143 - 2.42 0.041 2267 -573.1 178.9 - - 2327 - - - - - - - - 14.52 14.47 14.54
15998 530.9 7.5 626 16005 roll 0.69 - - 3153 - 2.47 0.060 859 -570.0 183.7 1.40 0.298 2320 -5.0 1.794 - - - - - - 14.88 13.94 13.47
16039 527.8 7.5 632 16055 done 0.70 - - 3153 - 2.50 0.053 2268 563.6 189.5 11.25 1.839 2292 -2.5 0.144 - - - - - - 14.43 14.35 13.57
16390 500.2 8.0 640 16395 roll 0.70 - - 3153 - 2.58 0.102 3652 536.4 189.5 - - 2284 - - - - - - - - 14.81 14.28 14.81
16494 490.5 9.3 655 16502 done 0.70 0.12 0.210 3127 -216.7 2.40 0.039 2265 -577.9 189.5 - - 2288 - - - - - - - - 14.12 14.44 14.30
16839 465.0 7.4 662 16846 roll 0.71 - - 3127 - 2.67 0.100 3658 521.7 195.8 3.42 1.400 2273 -4.4 0.293 - - - - - - 14.85 14.43 13.06
16873 462.0 8.6 667 16879 done 0.71 - - 3136 - 2.40 0.041 2271 -577.9 195.8 - - 2277 - - - - - - - - 14.54 14.51 14.57
17231 432.5 8.4 676 17236 roll 0.71 - - 3147 - 2.47 0.062 860 -571.3 195.8 - - 2278 - - - - - - - - 14.85 14.37 14.85
17287 427.7 8.6 684 17292 done 0.71 - - 3146 - 2.45 0.054 2274 577.1 195.8 - - 2278 - - - - - - - - 14.54 14.42 14.57
17623 398.8 8.6 697 17628 roll 0.71 - - 3147 - 2.58 0.103 3650 533.3 195.8 - - 2278 - - - - - - - - 14.87 14.28 14.87
17692 392.1 9.5 707 17698 done 0.71 0.08 0.227 3134 -162.5 2.38 0.039 2277 -576.9 195.8 1.30 0.264 2272 -4.6 1.381 - - - - - - 14.15 14.45 13.64
18015 367.8 7.4 718 18029 done 0.72 - - 3134 - - - 2273 - 203.0 12.65 1.629 2242 -2.4 0.108 - - - - - - 14.87 14.46 13.63
18351 343.8 7.2 724 18371 roll 0.73 - - 3134 - 2.58 0.100 3650 533.7 214.9 13.38 1.586 2188 -4.0 0.176 - - - - - - 14.82 14.42 13.64
18427 337.6 8.4 735 18433 done 0.73 - - 3144 - 2.40 0.039 2265 -577.1 214.9 - - 2185 - - - - - - - - 14.47 14.43 14.50
18742 312.3 8.1 745 18748 roll 0.73 - - 3155 - 2.45 0.061 865 -571.4 214.9 - - 2184 - - - - - - - - 14.78 14.35 14.79
18770 310.0 8.4 749 18776 done 0.73 - - 3154 - 2.50 0.053 2276 564.4 214.9 - - 2184 - - - - - - - - 14.41 14.33 14.45
19135 280.0 8.1 759 19140 roll 0.73 - - 3154 - 2.55 0.103 3652 539.6 214.9 - - 2184 - - - - - - - - 14.82 14.27 14.83
19183 275.7 9.0 766 19191 done 0.73 - - 3164 - 2.38 0.039 2277 -577.7 214.9 - - 2184 - - - - - - - - 14.48 14.44 14.51
19527 247.6 8.2 773 19532 roll 0.73 - - 3175 - 2.47 0.062 863 -572.5 214.9 - - 2186 - - - - - - - - 14.84 14.36 14.84
19554 245.2 8.3 777 19560 done 0.73 0.12 0.194 3138 -308.3 2.47 0.052 2273 570.9 214.9 - - 2184 - - - - - - - - 14.14 14.37 14.31
19919 218.7 7.4 787 19931 roll 0.74 - - 3137 - 2.62 0.100 3659 529.0 222.8 4.75 1.535 2164 -4.2 0.121 - - - - - - 14.85 14.48 13.21
19974 213.9 8.8 795 19980 done 0.74 - - 3146 - 2.35 0.038 2270 -591.1 222.8 - - 2169 - - - - - - - - 14.62 14.54 14.64
20311 186.3 8.3 808 20312 done 0.74 - - 3144 - - - 2267 - 222.8 - - 2168 - - - - - - - - 14.86 14.85 14.85
20646 157.8 8.5 814 20652 roll 0.74 - - 3147 - 2.65 0.101 3657 524.5 222.8 - - 2169 - - - - - - - - 14.88 14.29 14.88
20723 150.2 10.2 825 20729 done 0.74 - - 3154 - 2.38 0.038 2278 -579.4 222.8 0.98 0.226 2162 -7.1 0.956 - - - - - - 14.52 14.47 14.06
21039 122.7 8.6 835 21044 roll 0.74 - - 3168 - 2.50 0.061 855 -569.2 222.8 - - 2169 - - - - - - - - 14.85 14.37 14.85
21066 120.3 8.6 839 21072 done 0.74 - - 3167 - 2.50 0.052 2276 568.4 222.8 1.15 0.234 2160 -7.8 0.810 - - - - - - 14.44 14.35 13.93
21403 91.8 8.0 850 21409 roll 0.74 - - 3167 - 2.60 0.099 3658 531.5 222.8 - - 2170 - - - - - - - - 14.85 14.23 14.87
21472 85.9 8.5 860 21478 done 0.74 0.10 0.201 3147 -200.0 2.38 0.037 2282 -578.2 222.8 1.15 0.233 2165 -4.3 0.323 - - - - - - 14.16 14.47 13.90
21797 67.7 4.9 873 21837 roll 0.89 0.08 0.144 3234 1087.5 2.67 0.099 3662 516.9 280.2 30.70 0.371 1935 -7.5 0.275 - - - - - - 14.55 14.36 14.05
21976 51.9 9.0 899 21982 done 0.89 0.17 0.187 3191 -252.9 2.38 0.037 2279 -581.1 280.2 - - 1935 - - - - - - - - 14.17 14.46 14.30
22299 37.7 4.2 912 22340 roll 1.12 0.15 0.087 3282 606.7 2.67 0.099 3665 519.1 351.1 36.50 0.278 1651 -7.8 0.213 - - - - - - 14.54 14.35 14.10
22572 19.9 5.8 951 22601 done 1.17 - - 3291 - 2.30 0.037 2291 -597.4 390.4 20.08 0.224 1498 -7.6 0.136 - - - - - - 14.57 14.50 14.05
22849 end climb: SURFACE_DEPTH_REACHED
22849 begin surface coast
22879 end surface coast: CONTROL_FINISHED_OK
22879 begin surface
SM -2.79 - - - - -8.39 8.88 0.053 169 19.0 0.88 0.073 2772 -7365.9 500.14 51.17 0.152 1057 20.7 0.039 - - - - - -