SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 460 * Raw log
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• Previous call tries 1 • 162.44 of 350.00 AH used of 24V (53.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.7 deg, depth -0.86 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 40 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 107 - - - 2780 - -107.1 -80.78 - 3477 - - - - - - - - 14.65 13.10 14.64
105 6.1 -11.9 3 122 roll -0.93 11.90 0.386 2584 208.2 1.92 0.090 3826 544.8 -107.1 - - 3479 - - - - - - - - 13.98 14.33 14.25
326 54.6 -11.5 35 331 done -0.73 0.25 0.210 2663 316.0 1.83 0.039 2747 -589.6 -107.1 - - 3483 - - - - - - - - 14.12 14.47 14.38
662 80.3 -11.8 50 667 roll -0.73 - - 2663 - 2.33 0.042 1375 -588.8 -107.1 - - 3482 - - - - - - - - 14.85 14.45 14.85
843 95.1 -7.9 76 849 done -0.73 - - 2653 - 2.50 0.067 2759 553.6 -107.1 - - 3482 - - - - - - - - 14.36 14.26 14.40
1194 126.6 -9.1 85 1200 roll -0.73 - - 2645 - 2.00 0.112 3832 536.5 -107.1 - - 3484 - - - - - - - - 14.89 14.28 14.89
1277 134.5 -9.4 97 1284 done -0.73 - - 2645 - 1.83 0.042 2748 -592.3 -107.1 - - 3481 - - - - - - - - 14.62 14.59 14.62
1642 169.2 -9.7 107 1647 roll -0.73 - - 2637 - 2.05 0.110 3830 527.8 -107.1 - - 3479 - - - - - - - - 14.92 14.30 14.92
1711 176.1 -9.8 117 1718 done -0.73 - - 2637 - 1.80 0.043 2768 -590.0 -107.1 - - 3479 - - - - - - - - 14.61 14.57 14.62
2034 205.9 -9.1 128 2039 roll -0.73 - - 2637 - 2.38 0.042 1374 -585.7 -107.1 - - 3477 - - - - - - - - 14.93 14.51 14.93
2117 213.3 -8.6 140 2123 done -0.73 0.10 0.213 2657 200.0 2.50 0.067 2756 552.8 -107.1 - - 3476 - - - - - - - - 14.16 14.35 14.32
2482 243.1 -8.3 150 2483 done -0.73 - - 2657 - - - 2757 - -107.1 - - 3474 - - - - - - - - 14.90 14.91 14.91
2818 271.0 -8.3 156 2819 done -0.73 - - 2657 - - - 2757 - -107.1 - - 3472 - - - - - - - - 14.91 14.91 14.91
3154 298.5 -8.1 162 3159 roll -0.73 - - 2657 - 2.38 0.042 1379 -579.0 -107.1 - - 3470 - - - - - - - - 14.91 14.49 14.91
3210 303.1 -8.2 170 3215 done -0.73 - - 2648 - 2.50 0.068 2769 556.0 -107.1 - - 3469 - - - - - - - - 14.54 14.38 14.58
3546 330.7 -8.2 183 3551 roll -0.73 - - 2640 - 2.03 0.116 3821 518.2 -107.1 - - 3468 - - - - - - - - 14.92 14.21 14.92
3587 334.3 -8.5 189 3594 done -0.73 - - 2640 - 1.83 0.044 2742 -589.6 -107.1 - - 3468 - - - - - - - - 14.59 14.57 14.61
3938 363.1 -8.2 197 3943 roll -0.73 - - 2640 - 2.33 0.042 1381 -584.1 -107.1 - - 3465 - - - - - - - - 14.90 14.47 14.90
3972 366.1 -8.9 202 3978 done -0.73 0.10 0.221 2659 190.0 2.53 0.067 2759 544.7 -107.1 - - 3466 - - - - - - - - 14.13 14.35 14.29
4330 393.7 -7.7 211 4331 done -0.73 - - 2659 - - - 2759 - -107.1 - - 3464 - - - - - - - - 14.91 14.91 14.91
4666 418.5 -7.3 217 4672 roll -0.73 - - 2659 - 2.40 0.044 1379 -575.0 -107.1 - - 3462 - - - - - - - - 14.90 14.47 14.91
4693 420.5 -7.4 221 4700 done -0.73 - - 2652 - 2.53 0.069 2758 545.1 -107.1 - - 3466 - - - - - - - - 14.40 14.29 14.45
5058 447.8 -7.6 231 5063 roll -0.73 - - 2652 - 2.38 0.044 1384 -577.3 -107.1 - - 3461 - - - - - - - - 14.90 14.46 14.90
5099 451.1 -7.8 237 5106 done -0.73 - - 2644 - 2.53 0.070 2759 543.5 -107.1 - - 3461 - - - - - - - - 14.39 14.28 14.43
5450 480.5 -8.5 245 5456 roll -0.73 - - 2636 - 2.05 0.116 3815 515.1 -107.1 - - 3459 - - - - - - - - 14.90 14.16 14.90
5477 483.0 -9.1 249 5484 done -0.73 - - 2636 - 1.80 0.045 2768 -581.7 -107.1 - - 3459 - - - - - - - - 14.56 14.52 14.57
5842 513.4 -8.2 259 5847 roll -0.73 - - 2636 - 2.40 0.044 1373 -581.2 -107.1 - - 3457 - - - - - - - - 14.90 14.44 14.90
5904 518.5 -8.0 268 5910 done -0.73 0.10 0.210 2656 200.0 2.53 0.067 2751 544.7 -107.1 - - 3457 - - - - - - - - 14.07 14.31 14.23
6234 541.3 -6.9 280 6239 roll -0.73 - - 2648 - 2.03 0.116 3823 528.1 -107.1 - - 3456 - - - - - - - - 14.92 14.21 14.92
6290 545.4 -7.4 288 6295 done -0.73 - - 2648 - 1.85 0.046 2748 -581.1 -107.1 - - 3456 - - - - - - - - 14.52 14.49 14.53
6626 570.1 -7.4 301 6632 roll -0.73 - - 2648 - 2.35 0.043 1379 -582.6 -107.1 - - 3459 - - - - - - - - 14.92 14.42 14.92
6695 575.4 -7.8 311 6701 done -0.73 - - 2639 - 2.53 0.067 2752 542.7 -107.1 - - 3454 - - - - - - - - 14.34 14.24 14.38
7018 600.7 -7.9 322 7023 roll -0.73 - - 2631 - 2.08 0.115 3818 512.5 -107.1 - - 3453 - - - - - - - - 14.89 14.06 14.89
7059 604.3 -8.6 328 7065 done -0.73 0.10 0.191 2661 300.0 1.83 0.044 2753 -582.0 -107.1 - - 3453 - - - - - - - - 14.15 14.50 14.29
7410 629.7 -7.3 336 7415 roll -0.82 - - 2661 - 2.38 0.044 1374 -579.4 -107.1 - - 3452 - - - - - - - - 14.89 14.40 14.89
7458 633.4 -7.6 343 7466 done -0.91 0.10 0.116 2585 -760.0 2.55 0.067 2760 543.5 -107.1 - - 3451 - - - - - - - - 14.42 14.23 14.50
7802 668.7 -10.5 350 7807 roll -0.91 - - 2577 - 2.03 0.116 3830 527.1 -107.1 - - 3450 - - - - - - - - 14.88 14.16 14.89
7885 678.1 -11.0 362 7891 done -0.91 - - 2575 - 1.85 0.044 2748 -584.9 -107.1 - - 3450 - - - - - - - - 14.50 14.47 14.51
8250 717.5 -10.9 372 8255 roll -0.91 - - 2568 - 2.08 0.112 3832 521.2 -107.1 - - 3450 - - - - - - - - 14.91 14.17 14.92
8298 723.0 -11.5 379 8305 done -0.82 0.20 0.197 2625 285.0 1.83 0.045 2769 -580.9 -107.1 - - 3450 - - - - - - - - 14.00 14.47 14.18
8642 752.8 -8.5 386 8647 roll -0.82 - - 2626 - 2.45 0.043 1358 -575.9 -107.1 - - 3448 - - - - - - - - 14.88 14.37 14.88
8711 758.8 -8.3 396 8717 done -0.82 - - 2616 - 2.58 0.067 2751 539.9 -107.1 - - 3448 - - - - - - - - 14.28 14.19 14.33
9034 785.8 -8.4 407 9039 roll -0.82 - - 2608 - 2.05 0.113 3831 526.8 -107.1 - - 3444 - - - - - - - - 14.90 14.11 14.91
9068 788.8 -9.0 412 9074 done -0.82 - - 2606 - 1.88 0.046 2748 -576.1 -107.1 - - 3447 - - - - - - - - 14.48 14.45 14.50
9426 818.2 -8.2 421 9432 roll -0.82 - - 2599 - 2.10 0.112 3832 516.2 -107.1 - - 3446 - - - - - - - - 14.90 14.12 14.90
9482 822.8 -7.2 429 9488 done -0.82 0.12 0.223 2634 291.7 1.85 0.046 2741 -589.7 -107.1 - - 3445 - - - - - - - - 14.07 14.48 14.32
9818 846.1 -6.8 442 9823 roll -0.82 - - 2635 - 2.38 0.044 1375 -573.9 -107.1 - - 3444 - - - - - - - - 14.89 14.34 14.89
9880 851.1 -8.7 451 9886 done -0.82 - - 2627 - 2.55 0.067 2752 540.0 -107.1 - - 3444 - - - - - - - - 14.24 14.14 14.30
10210 874.6 -7.4 463 10215 roll -0.82 - - 2618 - 2.08 0.116 3829 517.8 -107.1 - - 3443 - - - - - - - - 14.87 14.07 14.87
10244 877.4 -5.8 468 10250 done -0.82 - - 2617 - 1.88 0.047 2749 -574.5 -107.1 - - 3443 - - - - - - - - 14.44 14.40 14.45
10602 907.3 -8.5 477 10603 done -0.82 - - 2617 - - - 2749 - -107.1 - - 3443 - - - - - - - - 14.89 14.90 14.89
10879 end dive: TARGET_DEPTH_EXCEEDED
10879 begin apogee
10886 930.8 -8.6 482 11002 roll -0.23 0.70 0.168 2827 300.0 0.10 0.162 2273 -4760.0 - 113.32 1.972 3049 -3.5 0.321 - - - - - - 14.02 13.90 12.88
11004 end apogee: CONTROL_FINISHED_OK
11004 begin climb
11007 935.3 - 484 11135 roll 0.93 1.10 0.087 3185 325.5 2.58 0.056 848 -552.3 107.1 118.22 1.934 2621 -3.6 0.343 - - - - - - 13.98 14.00 12.83
11205 929.6 5.2 514 11267 done 0.88 - - 3185 - 2.53 0.050 2246 552.6 158.3 57.25 1.935 2417 -3.6 0.335 - - - - - - 14.14 14.07 12.96
11614 892.0 9.8 530 11619 roll 0.78 0.10 0.243 3152 -330.0 2.62 0.100 3650 535.9 158.3 - - 2402 - - - - - - - - 14.16 14.23 14.31
11709 882.0 10.1 544 11715 done 0.68 0.12 0.204 3126 -216.7 2.47 0.041 2232 -574.1 158.3 - - 2403 - - - - - - - - 14.13 14.40 14.30
12060 852.9 8.3 552 12065 roll 0.68 - - 3126 - 2.70 0.101 3650 525.2 158.3 - - 2402 - - - - - - - - 14.79 14.22 14.79
12101 848.7 10.3 558 12107 done 0.68 - - 3136 - 2.42 0.041 2255 -576.4 158.3 - - 2402 - - - - - - - - 14.48 14.43 14.51
12452 816.8 9.2 566 12453 done 0.68 - - 3135 - - - 2253 - 158.3 - - 2400 - - - - - - - - 14.81 14.82 14.82
12788 786.9 9.0 572 12793 roll 0.68 - - 3135 - 2.65 0.103 3650 527.2 158.3 - - 2400 - - - - - - - - 14.85 14.23 14.85
12836 782.2 9.8 579 12843 done 0.68 - - 3147 - 2.42 0.041 2254 -576.9 158.3 - - 2400 - - - - - - - - 14.47 14.42 14.52
13180 752.7 8.3 586 13185 roll 0.68 - - 3147 - 2.65 0.103 3649 526.4 158.3 - - 2399 - - - - - - - - 14.85 14.22 14.86
13214 749.6 9.4 591 13220 done 0.68 0.10 0.217 3128 -190.0 2.42 0.042 2256 -575.6 158.3 - - 2400 - - - - - - - - 14.09 14.42 14.27
13572 724.4 6.8 600 13591 done 0.70 - - 3127 - - - 2253 - 176.3 17.58 1.931 2349 -2.9 0.213 - - - - - - 14.86 14.39 13.38
13908 701.4 6.9 613 13934 roll 0.73 - - 3127 - 2.70 0.103 3649 517.0 193.7 19.67 1.883 2272 -3.9 0.285 - - - - - - 14.78 14.30 13.39
13984 695.3 8.5 624 13990 done 0.73 - - 3137 - 2.42 0.041 2261 -573.6 193.7 - - 2268 - - - - - - - - 14.40 14.37 14.43
14300 670.2 8.0 634 14305 roll 0.73 - - 3137 - 2.65 0.104 3651 524.5 193.7 - - 2266 - - - - - - - - 14.75 14.20 14.75
14327 667.6 9.1 638 14333 done 0.73 - - 3147 - 2.42 0.041 2263 -573.6 193.7 - - 2266 - - - - - - - - 14.43 14.39 14.47
14692 635.8 8.8 648 14697 roll 0.73 - - 3148 - 2.65 0.106 3652 524.2 193.7 - - 2266 - - - - - - - - 14.80 14.20 14.80
14726 632.4 10.0 653 14733 done 0.73 - - 3158 - 2.42 0.041 2259 -575.6 193.7 - - 2266 - - - - - - - - 14.45 14.40 14.48
15084 600.1 9.0 662 15089 roll 0.73 - - 3158 - 2.65 0.103 3652 525.7 193.7 - - 2265 - - - - - - - - 14.82 14.19 14.82
15111 597.3 10.0 666 15117 done 0.73 0.10 0.213 3139 -190.0 2.40 0.041 2276 -573.3 193.7 - - 2265 - - - - - - - - 14.07 14.40 14.42
15476 566.7 8.4 676 15481 roll 0.73 - - 3139 - 2.62 0.103 3650 524.4 193.7 - - 2264 - - - - - - - - 14.83 14.18 14.83
15524 562.0 9.6 683 15531 done 0.73 - - 3150 - 2.42 0.041 2270 -570.2 193.7 - - 2264 - - - - - - - - 14.44 14.37 14.46
15868 531.5 8.9 690 15873 roll 0.73 - - 3160 - 2.50 0.063 858 -564.8 193.7 - - 2264 - - - - - - - - 14.86 14.29 14.90
15909 527.6 9.3 696 15915 done 0.73 - - 3160 - 2.50 0.054 2261 561.2 193.7 - - 2264 - - - - - - - - 14.35 14.26 14.40
16260 495.4 9.1 704 16265 roll 0.73 - - 3160 - 2.62 0.105 3652 530.9 193.7 - - 2266 - - - - - - - - 14.83 14.09 14.83
16329 488.4 9.9 714 16335 done 0.73 0.10 0.216 3141 -190.0 2.42 0.041 2269 -571.5 193.7 - - 2264 - - - - - - - - 14.03 14.39 14.21
16652 461.4 8.3 725 16658 roll 0.73 - - 3151 - 2.50 0.062 858 -564.4 193.7 - - 2264 - - - - - - - - 14.83 14.27 14.83
16714 456.2 8.2 734 16720 done 0.73 - - 3151 - 2.50 0.054 2261 561.2 193.7 - - 2264 - - - - - - - - 14.34 14.26 14.39
17044 429.5 8.0 746 17049 roll 0.73 - - 3151 - 2.62 0.104 3653 531.3 193.7 - - 2269 - - - - - - - - 14.83 14.14 14.83
17120 423.0 8.6 757 17126 done 0.73 - - 3161 - 2.42 0.041 2269 -571.9 193.7 - - 2264 - - - - - - - - 14.34 14.29 14.36
17436 399.8 7.2 767 17448 roll 0.74 - - 3172 - 2.53 0.063 864 -555.3 204.3 4.72 1.665 2241 -4.9 0.229 - - - - - - 14.85 14.39 13.07
17498 395.3 7.0 776 17527 done 0.76 - - 3172 - 2.50 0.054 2270 562.4 219.3 24.52 1.535 2177 -2.6 0.132 - - - - - - 14.45 14.38 13.48
17877 367.4 7.5 788 17882 roll 0.76 - - 3172 - 2.62 0.106 3653 527.9 225.0 - - 2163 - - - - - - - - 14.77 14.16 14.77
17939 362.0 8.7 797 17946 done 0.76 0.10 0.208 3153 -190.0 2.42 0.040 2274 -569.8 225.0 1.05 0.216 2151 -11.4 3.750 - - - - - - 14.04 14.35 14.01
18269 338.1 7.3 809 18288 roll 0.77 - - 3163 - 2.50 0.063 857 -566.8 233.2 13.43 1.568 2113 -2.8 0.119 - - - - - - 14.79 14.41 13.52
18310 334.8 8.1 815 18316 done 0.77 - - 3163 - 2.53 0.054 2275 560.5 233.2 - - 2110 - - - - - - - - 14.42 14.34 14.45
18661 303.2 9.3 823 18666 roll 0.77 - - 3162 - 2.62 0.106 3660 528.6 233.2 - - 2110 - - - - - - - - 14.78 14.16 14.78
18717 297.3 10.8 831 18722 done 0.77 - - 3173 - 2.40 0.040 2267 -580.4 233.2 - - 2110 - - - - - - - - 14.50 14.41 14.52
19053 264.4 9.7 844 19058 roll 0.77 - - 3178 - 2.47 0.062 863 -568.4 233.2 - - 2110 - - - - - - - - 14.81 14.28 14.81
19080 261.7 9.7 848 19086 done 0.77 0.08 0.203 3152 -325.0 2.50 0.054 2269 562.4 233.2 - - 2109 - - - - - - - - 14.05 14.21 14.35
19445 229.6 8.8 858 19450 roll 0.77 - - 3151 - 2.60 0.103 3657 533.8 233.2 - - 2110 - - - - - - - - 14.84 14.18 14.84
19521 222.1 9.9 869 19528 done 0.77 - - 3161 - 2.40 0.040 2277 -575.0 233.2 - - 2109 - - - - - - - - 14.42 14.38 14.45
19837 193.0 9.2 879 19838 done 0.77 - - 3162 - - - 2274 - 233.2 - - 2109 - - - - - - - - 14.85 14.85 14.85
20173 162.0 9.3 885 20179 roll 0.77 - - 3172 - 2.50 0.061 863 -564.4 233.2 - - 2110 - - - - - - - - 14.86 14.28 14.86
20207 158.8 9.4 890 20213 done 0.77 - - 3172 - 2.53 0.053 2277 558.9 233.2 - - 2109 - - - - - - - - 14.35 14.26 14.39
20565 123.8 9.9 899 20570 roll 0.77 - - 3172 - 2.60 0.103 3655 530.0 233.2 - - 2110 - - - - - - - - 14.83 14.16 14.84
20606 119.3 10.8 905 20613 done 0.77 0.10 0.197 3152 -200.0 2.40 0.039 2277 -574.2 233.2 - - 2110 - - - - - - - - 14.07 14.39 14.23
20929 92.9 7.7 914 20930 done 0.77 - - 3152 - - - 2271 - 233.5 - - 2110 - - - - - - - - 14.83 14.83 14.83
21237 72.5 7.0 925 21249 roll 0.79 - - 3151 - 2.65 0.099 3657 523.0 248.5 6.88 0.359 2065 -6.5 0.259 - - - - - - 14.83 14.26 13.76
21293 67.8 8.8 933 21299 done 0.79 - - 3161 - 2.38 0.039 2273 -581.5 248.5 - - 2070 - - - - - - - - 14.54 14.46 14.56
21629 42.7 6.6 948 21648 roll 0.82 - - 3171 - 2.50 0.061 858 -566.0 270.6 13.05 0.294 1973 -7.4 0.211 - - - - - - 14.82 14.33 13.92
21719 36.5 6.9 961 21733 done 0.95 - - 3172 - 2.53 0.052 2286 564.4 287.0 9.62 0.272 1906 -7.0 0.183 - - - - - - 14.35 14.28 13.97
22052 20.4 4.3 975 22089 done 1.17 0.22 0.070 3290 536.4 - - 2286 - 356.5 35.80 0.225 1628 -7.8 0.138 - - - - - - 14.44 14.37 14.08
22385 3.4 5.8 990 22405 VBD 1.22 - - 3289 - - - 2286 - 395.5 18.38 0.172 1478 -8.2 0.032 - - - - - - 14.80 - 14.81
22405 end climb: SURFACE_DEPTH_REACHED
22405 begin surface coast
22438 end surface coast: CONTROL_FINISHED_OK
22438 begin surface
SM -1.18 - - - - -8.39 9.25 0.079 187 20.2 0.88 0.089 2761 -6792.0 500.14 49.97 0.158 1057 21.2 0.016 - - - - - -