SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 402 * Raw log
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• Previous call tries 1 • 143.91 of 350.00 AH used of 24V (58.88% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.4 deg, depth -0.72 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 3 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 -1.19 - - 105 - - - 2786 - -63.1 -75.93 - 3304 - - - - - - - - 14.67 12.59 14.66
95 0.2 -2.6 2 115 roll -1.19 11.68 0.390 2511 206.0 2.40 0.036 1373 -588.8 -63.1 - - 3305 - - - - - - - - 13.97 14.40 14.35
219 43.3 -24.4 21 228 done -0.96 0.32 0.270 2582 221.9 2.50 0.068 2755 552.8 -63.1 - - 3306 - - - - - - - - 14.02 14.30 14.23
535 79.1 -6.7 33 541 roll -0.98 - - 2576 - 2.00 0.103 3824 534.5 -75.4 - - 3308 - - - - - - - - 14.84 14.31 14.84
772 102.6 -9.6 67 778 done -0.98 - - 2575 - 1.77 0.037 2748 -607.9 -75.4 - - 3308 - - - - - - - - 14.69 14.64 14.69
1095 134.4 -9.7 78 1096 done -0.98 - - 2575 - - - 2747 - -75.4 - - 3308 - - - - - - - - 14.92 14.92 14.91
1431 168.7 -10.1 84 1436 roll -0.98 - - 2567 - 2.05 0.103 3829 527.8 -75.4 - - 3307 - - - - - - - - 14.92 14.37 14.95
1472 173.0 -10.7 90 1478 done -0.98 - - 2566 - 1.75 0.037 2769 -605.7 -75.4 - - 3307 - - - - - - - - 14.70 14.69 14.70
1823 210.0 -10.7 98 1828 roll -0.98 - - 2558 - 1.98 0.103 3836 538.9 -75.4 - - 3305 - - - - - - - - 14.92 14.37 14.92
1857 213.9 -11.4 103 1863 done -0.98 - - 2558 - 1.80 0.036 2747 -605.0 -75.4 - - 3305 - - - - - - - - 14.75 14.71 14.76
2215 252.5 -10.7 112 2216 done -0.98 - - 2558 - - - 2747 - -75.4 - - 3300 - - - - - - - - 14.94 14.92 14.93
2551 288.6 -10.8 118 2552 done -0.98 - - 2558 - - - 2748 - -75.4 - - 3300 - - - - - - - - 14.93 14.94 14.94
2887 326.6 -11.5 124 2888 done -0.98 - - 2558 - - - 2747 - -75.4 - - 3298 - - - - - - - - 14.94 14.94 14.93
3223 365.5 -11.5 130 3228 roll -0.98 - - 2550 - 2.08 0.107 3829 520.2 -75.4 - - 3296 - - - - - - - - 14.93 14.34 14.93
3264 370.5 -12.2 136 3270 done -0.98 0.10 0.239 2576 260.0 1.77 0.041 2786 -589.3 -75.4 - - 3295 - - - - - - - - 14.26 14.69 14.44
3615 407.1 -10.3 144 3620 roll -0.98 - - 2576 - 2.45 0.044 1375 -575.9 -75.4 - - 3293 - - - - - - - - 14.94 14.50 14.93
3656 411.4 -10.2 150 3662 done -0.98 - - 2568 - 2.50 0.064 2771 558.4 -75.4 - - 3294 - - - - - - - - 14.51 14.43 14.57
4007 446.9 -10.0 158 4012 roll -0.98 - - 2559 - 2.00 0.106 3827 528.0 -75.4 - - 3290 - - - - - - - - 14.95 14.33 14.95
4055 451.9 -10.4 165 4063 done -0.98 - - 2559 - 1.83 0.040 2743 -592.3 -75.4 - - 3290 - - - - - - - - 14.69 14.67 14.69
4399 486.9 -10.3 172 4400 done -0.98 - - 2559 - - - 2743 - -75.4 - - 3289 - - - - - - - - 14.93 14.93 14.93
4735 521.4 -10.1 178 4740 roll -0.98 - - 2551 - 2.03 0.106 3818 529.6 -75.4 - - 3287 - - - - - - - - 14.92 14.36 14.92
4804 529.0 -11.0 188 4810 done -0.98 0.10 0.243 2577 260.0 1.77 0.040 2775 -589.3 -75.4 - - 3287 - - - - - - - - 14.23 14.66 14.40
5127 559.5 -9.5 199 5132 roll -0.98 - - 2577 - 2.40 0.043 1367 -586.7 -75.4 - - 3285 - - - - - - - - 14.97 14.51 14.95
5183 564.8 -9.6 207 5188 done -1.06 - - 2568 - 2.47 0.064 2767 566.8 -75.4 - - 3285 - - - - - - - - 14.60 14.43 14.63
5519 597.4 -9.8 220 5524 roll -1.06 - - 2568 - 2.38 0.043 1383 -581.5 -75.4 - - 3283 - - - - - - - - 14.94 14.51 14.94
5560 601.6 -9.7 226 5566 done -1.06 - - 2558 - 2.47 0.064 2757 556.3 -75.4 - - 3282 - - - - - - - - 14.46 14.37 14.51
5911 636.6 -9.9 234 5916 roll -1.06 - - 2552 - 2.03 0.106 3829 528.1 -75.4 - - 3281 - - - - - - - - 14.92 14.27 14.92
5959 641.7 -10.9 241 5967 done -1.06 - - 2550 - 1.83 0.041 2758 -585.2 -75.4 - - 3280 - - - - - - - - 14.65 14.64 14.66
6303 675.7 -9.8 248 6304 done -1.06 - - 2550 - - - 2758 - -75.4 - - 3279 - - - - - - - - 14.94 14.94 14.94
6639 707.9 -9.5 254 6640 done -1.06 - - 2550 - - - 2758 - -75.4 - - 3278 - - - - - - - - 14.94 14.94 14.95
6975 740.0 -9.6 260 6980 roll -1.06 - - 2550 - 2.40 0.044 1387 -571.2 -75.4 - - 3276 - - - - - - - - 14.94 14.43 14.94
7037 746.3 -9.6 269 7044 done -1.06 - - 2540 - 2.53 0.065 2766 545.1 -75.4 - - 3276 - - - - - - - - 14.41 14.31 14.46
7367 779.4 -10.1 281 7373 roll -1.06 - - 2532 - 2.03 0.109 3821 519.7 -75.4 - - 3275 - - - - - - - - 14.93 14.22 14.93
7443 787.7 -10.9 292 7449 done -1.06 - - 2532 - 1.83 0.041 2758 -580.9 -75.4 - - 3274 - - - - - - - - 14.64 14.60 14.63
7759 821.1 -10.7 302 7764 roll -1.06 - - 2531 - 2.38 0.044 1374 -581.5 -75.4 - - 3273 - - - - - - - - 14.90 14.45 14.90
7807 826.5 -10.8 309 7816 done -1.06 0.10 0.257 2548 170.0 2.55 0.064 2766 545.9 -75.4 - - 3273 - - - - - - - - 14.00 14.30 14.21
8151 862.9 -10.7 316 8156 roll -1.06 - - 2548 - 2.40 0.044 1380 -577.5 -75.4 - - 3271 - - - - - - - - 14.90 14.46 14.90
8178 865.9 -10.1 320 8184 done -1.06 - - 2539 - 2.53 0.064 2756 543.9 -75.4 - - 3271 - - - - - - - - 14.40 14.29 14.43
8543 905.8 -10.9 330 8544 done -1.06 - - 2539 - - - 2756 - -75.4 - - 3271 - - - - - - - - 14.89 14.89 14.90
8820 end dive: TARGET_DEPTH_EXCEEDED
8820 begin apogee
8827 934.7 -10.3 335 8892 roll -0.23 1.02 0.206 2824 279.4 - - 2223 - - 62.95 1.993 3049 -3.5 0.330 - - - - - - 14.04 14.15 13.12
8894 end apogee: CONTROL_FINISHED_OK
8894 begin climb
8897 937.4 - 336 8991 roll 1.21 1.38 0.086 3278 329.0 2.47 0.057 844 -558.3 75.4 82.38 1.986 2744 -3.7 0.349 - - - - - - 14.16 14.18 12.96
9027 932.7 6.1 357 9054 done 1.12 - - 3277 - 2.58 0.050 2266 551.2 94.8 21.02 2.044 2670 -3.5 0.321 - - - - - - 14.13 14.07 13.00
9385 897.2 10.4 373 9391 roll 1.01 0.20 0.272 3226 -255.0 2.58 0.096 3651 536.8 94.8 - - 2664 - - - - - - - - 14.10 14.30 14.42
9441 891.2 10.6 381 9447 done 0.91 0.15 0.270 3198 -186.7 2.42 0.039 2227 -588.4 94.8 - - 2664 - - - - - - - - 14.11 14.45 14.42
9777 862.4 8.5 394 9782 roll 0.91 - - 3198 - 2.67 0.096 3655 534.8 94.8 - - 2663 - - - - - - - - 14.85 14.33 14.82
9817 858.6 10.8 400 9824 done 0.91 - - 3208 - 2.42 0.039 2251 -580.2 94.8 - - 2663 - - - - - - - - 14.51 14.47 14.54
10169 830.0 8.1 408 10174 roll 0.91 - - 3219 - 2.42 0.060 863 -573.6 94.8 - - 2661 - - - - - - - - 14.85 14.42 14.85
10202 826.9 10.0 413 10209 done 0.91 - - 3218 - 2.45 0.051 2254 567.8 94.8 - - 2663 - - - - - - - - 14.47 14.39 14.51
10561 799.7 7.4 422 10562 done 0.92 - - 3219 - - - 2255 - 98.7 - - 2665 - - - - - - - - 14.85 14.85 14.85
10897 774.7 7.4 428 10909 roll 0.92 - - 3219 - 2.62 0.099 3651 532.8 103.0 4.47 1.919 2642 -5.1 0.414 - - - - - - 14.88 14.48 13.01
10986 767.4 8.3 441 10994 done 0.92 0.10 0.257 3203 -160.0 2.40 0.038 2253 -582.5 103.0 1.00 0.253 2641 - - - - - - - - 14.18 14.53 14.04
11345 742.4 7.0 450 11361 done 0.93 - - 3203 - - - 2253 - 112.3 15.00 1.971 2606 -2.3 0.175 - - - - - - 14.85 14.46 13.51
11681 715.3 8.2 456 11681 done 0.93 - - 3203 - - - 2253 - 112.3 - - 2595 - - - - - - - - 14.80 14.80 14.80
12017 686.9 8.3 462 12022 roll 0.93 - - 3202 - 2.65 0.099 3655 529.1 112.3 - - 2596 - - - - - - - - 14.83 14.31 14.83
12142 675.0 9.4 480 12148 done 0.93 - - 3213 - 2.42 0.040 2260 -576.4 112.3 - - 2595 - - - - - - - - 14.52 14.47 14.52
12464 647.6 8.4 491 12470 roll 0.93 - - 3224 - 2.50 0.061 843 -566.8 112.3 - - 2595 - - - - - - - - 14.86 14.36 14.88
12498 644.7 8.2 496 12505 done 0.93 - - 3224 - 2.50 0.052 2259 566.4 112.3 - - 2596 - - - - - - - - 14.45 14.38 14.50
12856 614.8 8.3 505 12862 roll 0.93 - - 3224 - 2.60 0.098 3654 536.5 112.3 - - 2595 - - - - - - - - 14.88 14.31 14.88
12904 610.4 9.1 512 12912 done 0.93 0.10 0.265 3208 -160.0 2.42 0.040 2252 -579.3 112.3 - - 2595 - - - - - - - - 14.03 14.47 14.24
13249 583.5 7.7 519 13254 roll 0.93 - - 3218 - 2.42 0.060 868 -571.9 112.5 - - 2595 - - - - - - - - 14.88 14.35 14.88
13305 579.2 7.7 527 13310 done 0.93 - - 3218 - 2.42 0.054 2260 575.2 113.1 - - 2595 - - - - - - - - 14.54 14.40 14.57
13641 554.0 7.4 540 13645 done 0.94 - - 3218 - - - 2260 - 117.7 2.80 1.150 2581 -5.0 0.481 - - - - - - 14.86 14.40 13.00
13977 529.5 7.3 546 13991 roll 0.95 - - 3218 - 2.62 0.102 3651 530.9 123.0 10.35 1.853 2561 -1.9 0.110 - - - - - - 14.85 14.48 13.54
14032 524.8 8.7 554 14038 done 0.95 - - 3229 - 2.40 0.039 2257 -580.8 123.0 - - 2555 - - - - - - - - 14.54 14.50 14.54
14362 498.3 8.0 566 14367 roll 0.95 - - 3229 - 2.65 0.098 3651 526.0 123.0 - - 2556 - - - - - - - - 14.82 14.28 14.81
14410 493.9 9.2 573 14419 done 0.95 0.10 0.269 3213 -160.0 2.42 0.039 2253 -577.7 123.0 - - 2555 - - - - - - - - 14.03 14.46 14.23
14754 467.0 8.0 580 14759 roll 0.95 - - 3213 - 2.65 0.098 3650 527.2 123.0 - - 2555 - - - - - - - - 14.87 14.28 14.87
14788 463.8 9.2 585 14795 done 0.95 - - 3223 - 2.42 0.039 2251 -578.1 123.0 - - 2555 - - - - - - - - 14.51 14.46 14.53
15146 434.7 8.1 594 15147 done 0.95 - - 3224 - - - 2251 - 123.0 - - 2554 - - - - - - - - 14.88 14.88 14.88
15482 407.8 8.1 600 15487 roll 0.95 - - 3224 - 2.67 0.098 3659 527.3 123.0 - - 2555 - - - - - - - - 14.87 14.26 14.86
15621 396.5 7.5 620 15627 done 0.95 - - 3235 - 2.42 0.037 2252 -581.4 125.8 - - 2554 - - - - - - - - 14.49 14.45 14.51
15986 371.5 6.8 630 16006 roll 0.96 - - 3235 - 2.60 0.094 3654 539.2 137.0 15.50 1.583 2501 -3.4 0.160 - - - - - - 14.86 14.33 13.64
16167 356.8 8.3 656 16173 done 0.96 0.10 0.260 3218 -170.0 2.40 0.038 2272 -575.8 137.0 - - 2498 - - - - - - - - 14.07 14.46 14.28
16490 334.0 7.1 667 16502 roll 0.97 - - 3218 - 2.60 0.096 3647 528.8 144.7 5.15 1.703 2478 -3.9 0.152 - - - - - - 14.82 14.45 13.38
16594 325.4 8.3 682 16602 done 0.97 - - 3229 - 2.40 0.037 2253 -580.8 144.7 - - 2480 - - - - - - - - 14.51 14.47 14.52
16938 298.7 7.7 689 16944 roll 0.97 - - 3229 - 2.62 0.096 3649 532.8 145.0 - - 2481 - - - - - - - - 14.83 14.28 14.85
17114 284.2 8.2 714 17120 done 0.97 - - 3240 - 2.33 0.039 2276 -589.3 145.0 1.75 0.394 2474 -4.0 0.576 - - - - - - 14.60 14.54 13.57
17435 260.5 7.3 725 17449 roll 0.98 - - 3239 - 2.62 0.096 3658 527.5 150.3 10.15 1.538 2450 -2.4 0.080 - - - - - - 14.85 14.49 13.65
17679 238.8 9.1 760 17685 done 0.98 0.10 0.254 3222 -170.0 2.38 0.038 2278 -579.8 150.3 - - 2447 - - - - - - - - 14.09 14.47 14.28
18044 212.3 7.1 770 18056 roll 0.99 - - 3222 - 2.62 0.097 3652 524.4 157.5 4.38 1.490 2430 -3.9 0.110 - - - - - - 14.85 14.47 13.19
18288 190.4 9.3 805 18296 done 0.99 - - 3234 - 2.35 0.037 2291 -579.1 157.5 2.42 0.793 2425 -2.1 0.099 - - - - - - 14.52 14.47 13.14
18604 162.5 9.0 815 18609 roll 0.99 - - 3234 - 2.55 0.098 3650 532.9 157.5 - - 2430 - - - - - - - - 14.84 14.31 14.84
18834 139.7 9.4 848 18840 done 0.99 - - 3244 - 2.33 0.037 2290 -583.7 157.5 - - 2431 - - - - - - - - 14.52 14.47 14.54
19164 113.4 7.9 860 19169 roll 0.99 - - 3244 - 2.58 0.098 3659 530.6 157.5 - - 2436 - - - - - - - - 14.85 14.30 14.85
19212 109.3 8.6 867 19220 done 0.99 0.10 0.253 3227 -170.0 2.33 0.037 2301 -582.8 157.5 1.20 0.295 2425 -9.2 0.678 - - - - - - 14.08 14.47 13.60
19528 86.3 7.3 876 19540 roll 0.99 - - 3224 - 2.60 0.097 3654 520.4 162.9 3.90 0.399 2405 -5.1 0.221 - - - - - - 14.88 14.31 13.75
19772 72.3 4.1 911 19800 done 1.05 - - 3237 - 2.33 0.037 2305 -579.0 206.9 23.08 0.382 2226 -7.8 0.293 - - - - - - 14.52 14.47 14.03
20119 58.9 2.0 927 20159 roll 1.27 0.12 0.099 3322 708.3 2.58 0.096 3656 523.6 274.9 34.95 0.340 1955 -7.8 0.268 - - - - - - 14.52 14.34 14.04
20389 42.1 4.2 966 20418 done 1.32 - - 3333 - 2.28 0.038 2306 -592.1 316.8 21.35 0.291 1788 -7.8 0.226 - - - - - - 14.56 14.47 14.02
20728 22.4 4.8 981 20753 roll 1.47 0.08 0.140 3403 875.0 2.58 0.061 867 -557.8 351.5 17.48 0.225 1649 -8.0 0.158 - - - - - - 14.53 14.31 14.07
20865 10.8 9.7 1001 20871 done 1.47 - - 3403 - 2.50 0.052 2321 581.6 351.5 - - 1653 - - - - - - - - 14.51 14.34 14.54
20974 end climb: SURFACE_DEPTH_REACHED
20974 begin surface coast
21002 end surface coast: CONTROL_FINISHED_OK
21002 begin surface
SM -0.50 - - - - -8.39 9.27 0.057 186 20.1 0.80 0.091 2764 2167.5 500.14 68.28 0.150 1057 15.5 0.005 - - - - - -