SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 467 * Raw log
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• Previous call tries 1 • 165.62 of 350.00 AH used of 24V (52.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth -3.38 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• No surface pump (final VBD was 500.14, SM_CC=500)
• GPS1 time: 21 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 - - - 99 done -0.93 - - 106 - - - 2781 - -107.1 -78.18 - 3479 - - - - - - - - 14.66 12.52 14.64
103 5.3 -15.4 3 121 roll -0.93 11.77 0.379 2593 211.3 2.40 0.035 1363 -590.8 -107.1 - - 3481 - - - - - - - - 13.97 14.40 14.33
310 48.3 -11.9 33 317 done -0.84 0.15 0.216 2625 213.3 2.58 0.073 2768 544.6 -107.1 - - 3483 - - - - - - - - 14.08 14.26 14.42
633 70.4 -4.4 46 638 roll -0.84 - - 2621 - 2.40 0.043 1370 -582.5 -107.1 - - 3485 - - - - - - - - 14.83 14.45 14.83
723 54.7 56.6 59 729 done -0.84 - - 2615 - 2.53 0.070 2753 546.6 -107.1 - - 3485 - - - - - - - - 14.40 14.29 14.44
1053 100.5 -7.8 73 1058 roll -0.84 - - 2615 - 2.38 0.044 1371 -580.7 -107.1 - - 3485 - - - - - - - - 14.87 14.47 14.87
1087 103.3 -8.0 78 1094 done -0.84 - - 2606 - 2.50 0.068 2754 553.2 -107.1 - - 3485 - - - - - - - - 14.38 14.28 14.43
1445 131.2 -7.4 87 1446 done -0.84 - - 2606 - - - 2760 - -107.1 - - 3484 - - - - - - - - 14.89 14.89 14.89
1781 172.6 -31.4 93 1786 roll -0.84 - - 2605 - 2.40 0.044 1371 -578.8 -107.1 - - 3482 - - - - - - - - 14.90 14.50 14.90
1899 182.8 -8.6 110 1906 done -0.84 0.10 0.205 2626 210.0 2.53 0.069 2758 548.2 -107.1 - - 3481 - - - - - - - - 14.18 14.34 14.34
2229 206.3 -7.0 122 2235 roll -0.84 - - 2623 - 2.40 0.045 1369 -578.8 -107.1 - - 3479 - - - - - - - - 14.92 14.50 14.92
2292 210.9 -7.5 131 2297 done -0.93 - - 2618 - 2.47 0.070 2757 561.9 -107.1 - - 3479 - - - - - - - - 14.55 14.38 14.59
2621 238.2 -8.5 143 2626 roll -0.93 - - 2617 - 2.40 0.044 1371 -577.5 -107.1 - - 3477 - - - - - - - - 14.92 14.49 14.92
2669 242.5 -8.8 150 2677 done -1.00 - - 2608 - 2.50 0.069 2747 550.4 -107.1 - - 3477 - - - - - - - - 14.43 14.33 14.47
3013 273.0 -8.8 157 3018 roll -1.00 - - 2608 - 2.40 0.044 1366 -575.4 -107.1 - - 3475 - - - - - - - - 14.93 14.50 14.92
3069 278.0 -9.0 165 3074 done -1.00 - - 2599 - 2.47 0.070 2746 558.7 -107.1 - - 3474 - - - - - - - - 14.56 14.38 14.58
3405 309.0 -9.3 178 3411 roll -1.00 - - 2598 - 2.40 0.044 1372 -572.5 -107.1 - - 3472 - - - - - - - - 14.91 14.47 14.92
3481 316.4 -9.7 189 3487 done -1.00 - - 2591 - 2.47 0.067 2734 551.4 -107.1 - - 3471 - - - - - - - - 14.42 14.31 14.47
3797 346.1 -9.3 199 3798 done -1.00 - - 2591 - - - 2732 - -107.1 - - 3470 - - - - - - - - 14.90 14.90 14.90
4133 373.3 -7.9 205 4138 roll -1.00 - - 2590 - 2.38 0.045 1367 -573.5 -107.1 - - 3468 - - - - - - - - 14.91 14.47 14.91
4216 379.9 -7.9 217 4222 done -1.00 - - 2581 - 2.50 0.070 2736 547.6 -107.1 - - 3467 - - - - - - - - 14.41 14.31 14.46
4581 410.6 -8.5 227 4586 roll -1.00 - - 2580 - 2.38 0.046 1368 -574.8 -107.1 - - 3466 - - - - - - - - 14.92 14.48 14.92
4615 413.7 -9.1 232 4621 done -1.00 - - 2572 - 2.50 0.070 2738 548.0 -107.1 - - 3466 - - - - - - - - 14.42 14.33 14.47
4973 447.9 -9.8 241 4978 roll -1.00 - - 2571 - 2.38 0.044 1371 -574.4 -107.1 - - 3464 - - - - - - - - 14.93 14.45 14.93
5007 451.4 -10.5 246 5014 done -1.00 - - 2562 - 2.47 0.068 2733 551.4 -107.1 - - 3463 - - - - - - - - 14.37 14.27 14.41
5365 489.7 -10.9 255 5370 roll -1.00 - - 2562 - 2.38 0.045 1364 -575.2 -107.1 - - 3462 - - - - - - - - 14.93 14.47 14.92
5421 495.9 -10.9 263 5426 done -1.00 - - 2552 - 2.47 0.070 2738 556.3 -107.1 - - 3462 - - - - - - - - 14.54 14.35 14.57
5757 533.2 -11.2 276 5762 roll -1.00 - - 2542 - 2.05 0.115 3828 531.7 -107.1 - - 3461 - - - - - - - - 14.90 14.18 14.90
5784 536.3 -11.1 280 5790 done -1.00 0.10 0.210 2572 300.0 1.90 0.043 2722 -582.1 -107.1 - - 3461 - - - - - - - - 14.16 14.54 14.31
6149 571.1 -9.4 290 6155 roll -1.00 - - 2572 - 2.33 0.045 1376 -577.7 -107.1 - - 3460 - - - - - - - - 14.92 14.47 14.92
6261 581.3 -8.8 306 6267 done -1.00 - - 2563 - 2.45 0.067 2737 555.5 -107.1 - - 3459 - - - - - - - - 14.51 14.33 14.54
6597 612.2 -9.2 319 6602 roll -1.00 - - 2563 - 2.40 0.044 1369 -570.0 -107.1 - - 3458 - - - - - - - - 14.90 14.36 14.90
6638 615.9 -8.9 325 6644 done -1.00 - - 2554 - 2.50 0.069 2730 544.4 -107.1 - - 3458 - - - - - - - - 14.37 14.27 14.42
6989 647.8 -9.1 333 6990 done -1.00 - - 2554 - - - 2732 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.92
7325 679.1 -9.4 339 7330 roll -1.00 - - 2553 - 2.38 0.045 1371 -571.8 -107.1 - - 3456 - - - - - - - - 14.92 14.42 14.92
7401 686.4 -9.5 350 7408 done -1.00 0.10 0.229 2571 180.0 2.47 0.067 2720 546.2 -107.1 - - 3455 - - - - - - - - 14.00 14.28 14.19
7717 714.2 -8.8 360 7722 roll -1.00 - - 2571 - 2.35 0.047 1376 -571.9 -107.1 - - 3454 - - - - - - - - 14.90 14.33 14.90
7751 717.3 -9.2 365 7757 done -1.00 - - 2562 - 2.47 0.068 2722 544.9 -107.1 - - 3454 - - - - - - - - 14.34 14.26 14.40
8109 750.1 -9.1 374 8114 roll -1.00 - - 2554 - 2.10 0.115 3826 525.7 -107.1 - - 3452 - - - - - - - - 14.90 14.14 14.91
8143 753.5 -10.2 379 8149 done -1.00 - - 2553 - 1.92 0.045 2708 -582.3 -107.1 - - 3451 - - - - - - - - 14.49 14.47 14.51
8501 786.3 -9.2 388 8506 roll -1.00 - - 2553 - 2.33 0.045 1373 -573.0 -107.1 - - 3451 - - - - - - - - 14.90 14.36 14.90
8528 789.1 -9.9 392 8534 done -1.00 0.10 0.222 2572 190.0 2.47 0.066 2716 543.7 -107.1 - - 3451 - - - - - - - - 13.97 14.22 14.15
8666 end dive: TARGET_DEPTH_EXCEEDED
8666 begin apogee
8673 800.4 -8.1 398 8782 roll -0.23 0.85 0.165 2825 297.6 - - 2228 - - 101.15 2.555 3050 -4.0 0.249 - - - - 1 - 14.07 13.86 12.55
8783 end apogee: CONTROL_FINISHED_OK
8783 begin climb
8787 803.0 - 400 8917 roll 0.93 1.10 0.060 3209 349.1 2.47 0.059 868 -550.6 107.1 122.03 1.831 2624 -3.5 0.307 - - - - - - 13.97 13.94 12.91
9036 797.6 7.6 436 9041 done 0.71 0.25 0.239 3131 -312.0 2.47 0.052 2254 561.1 110.4 - - 2608 - - - - - - - - 14.01 14.21 14.26
9401 773.1 6.7 446 9435 roll 0.62 - - 3131 - 2.65 0.100 3652 527.5 131.8 25.58 1.870 2518 -3.5 0.292 - - - - - - 14.77 14.28 13.32
9535 762.4 8.7 465 9540 done 0.46 0.32 0.235 3054 -240.6 2.40 0.041 2251 -583.8 131.8 - - 2509 - - - - - - - - 14.10 14.42 14.38
9849 744.1 5.7 475 9905 roll 0.51 - - 3054 - 2.72 0.099 3646 512.9 172.9 46.28 1.807 2351 -3.4 0.282 - - - - - - 14.78 14.16 13.28
9961 736.5 7.7 491 9966 done 0.51 - - 3064 - 2.42 0.041 2253 -575.6 174.1 - - 2346 - - - - - - - - 14.40 14.34 14.42
10297 712.9 7.0 504 10318 roll 0.53 - - 3064 - 2.70 0.101 3649 517.0 189.1 16.30 1.907 2291 -3.4 0.253 - - - - - - 14.77 14.34 13.40
10409 703.8 8.5 520 10414 done 0.53 - - 3074 - 2.42 0.041 2246 -579.8 189.1 - - 2283 - - - - - - - - 14.50 14.43 14.52
10745 678.7 7.4 533 10750 roll 0.54 - - 3074 - 2.65 0.101 3646 528.3 195.4 1.42 0.239 2270 -9.2 5.216 - - - - - - 14.78 14.28 14.10
10828 671.9 8.3 545 10834 done 0.54 - - 3084 - 2.40 0.041 2271 -572.9 195.4 - - 2277 - - - - - - - - 14.51 14.47 14.53
11193 644.8 7.4 555 11212 roll 0.55 - - 3084 - 2.65 0.104 3650 520.4 202.1 11.43 1.941 2239 -3.3 0.222 - - - - - - 14.83 14.42 13.41
11269 638.0 9.1 566 11275 done 0.55 - - 3094 - 2.42 0.041 2269 -570.7 202.1 - - 2237 - - - - - - - - 14.50 14.46 14.53
11585 611.1 8.6 576 11590 roll 0.55 - - 3094 - 2.60 0.103 3649 530.8 202.1 - - 2236 - - - - - - - - 14.81 14.28 14.81
11668 603.0 9.7 588 11674 done 0.55 - - 3103 - 2.42 0.041 2265 -571.9 202.1 - - 2236 - - - - - - - - 14.50 14.46 14.52
12033 570.8 8.8 598 12039 roll 0.55 - - 3104 - 2.62 0.104 3653 529.8 202.1 - - 2235 - - - - - - - - 14.83 14.26 14.84
12102 564.0 9.7 608 12108 done 0.55 0.10 0.214 3085 -190.0 2.40 0.041 2276 -573.8 202.1 - - 2233 - - - - - - - - 14.15 14.46 14.31
12425 539.2 7.6 619 12430 roll 0.55 - - 3084 - 2.60 0.103 3647 527.3 204.5 - - 2235 - - - - - - - - 14.84 14.24 14.84
12466 535.6 8.7 625 12471 done 0.55 - - 3094 - 2.40 0.041 2275 -571.7 204.5 - - 2235 - - - - - - - - 14.50 14.46 14.53
12817 508.7 7.7 633 12822 roll 0.55 - - 3094 - 2.62 0.103 3652 525.6 205.2 - - 2235 - - - - - - - - 14.88 14.25 14.88
12893 501.9 9.0 644 12899 done 0.55 - - 3104 - 2.40 0.041 2281 -571.2 205.2 - - 2235 - - - - - - - - 14.48 14.43 14.50
13209 476.4 8.0 654 13215 roll 0.55 - - 3104 - 2.62 0.103 3654 524.0 205.2 - - 2234 - - - - - - - - 14.88 14.22 14.88
13250 472.8 8.8 660 13256 done 0.55 0.10 0.215 3086 -180.0 2.40 0.041 2287 -569.6 205.2 - - 2234 - - - - - - - - 14.05 14.38 14.21
13601 449.6 6.5 668 13641 roll 0.58 - - 3086 - 2.62 0.104 3649 519.8 230.5 33.05 1.576 2123 -3.4 0.192 - - - - - - 14.85 14.31 13.46
13719 440.8 7.9 685 13725 done 0.58 - - 3095 - 2.40 0.041 2287 -567.5 230.5 - - 2117 - - - - - - - - 14.42 14.38 14.45
14049 416.9 7.3 697 14056 roll 0.59 - - 3095 - 2.65 0.105 3650 514.3 239.3 2.58 0.760 2098 -7.4 0.811 - - - - - - 14.79 14.32 12.99
14083 414.1 8.1 702 14090 done 0.59 - - 3104 - 2.40 0.041 2281 -570.4 239.3 - - 2104 - - - - - - - - 14.49 14.44 14.50
14434 386.8 7.8 710 14441 roll 0.59 - - 3105 - 2.53 0.101 3652 541.9 239.3 1.88 0.244 2098 -3.2 1.015 - - - - - - 14.81 14.14 13.89
14510 379.8 9.4 721 14516 done 0.59 - - 3114 - 2.40 0.041 2290 -567.5 239.3 1.50 0.216 2096 - - - - - - - - 14.39 14.36 14.02
14826 353.2 8.4 731 14831 roll 0.59 - - 3114 - 2.60 0.104 3653 524.2 239.3 - - 2105 - - - - - - - - 14.85 14.21 14.85
14867 349.2 9.7 737 14873 done 0.59 0.10 0.216 3095 -190.0 2.38 0.041 2299 -568.9 239.3 1.55 0.211 2096 -5.8 1.928 - - - - - - 14.10 14.43 14.01
15218 322.5 7.5 745 15231 roll 0.60 - - 3094 - 2.60 0.103 3652 520.4 243.2 4.28 1.434 2084 -2.8 0.127 - - - - - - 14.84 14.40 13.14
15294 316.0 8.5 756 15300 done 0.60 - - 3104 - 2.35 0.041 2300 -575.3 243.2 1.70 0.226 2085 - - - - - - - - 14.53 14.48 14.02
15610 291.3 7.8 766 15616 roll 0.60 - - 3106 - 2.55 0.101 3647 528.2 243.2 1.65 0.238 2085 - - - - - - - - 14.83 14.18 13.97
15644 288.4 8.5 771 15650 done 0.60 - - 3114 - 2.35 0.041 2301 -572.8 243.2 1.85 0.252 2083 - - - - - - - - 14.49 14.44 13.64
16002 259.7 8.1 780 16006 done 0.60 - - 3113 - - - 2297 - 243.2 2.30 0.539 2081 - - - - - - - - 14.86 14.33 13.07
16338 232.9 7.9 786 16345 roll 0.60 - - 3113 - 2.62 0.101 3649 516.0 243.2 1.88 0.240 2085 2.1 -0.414 - - - - - - 14.85 14.23 13.81
16428 225.1 8.6 799 16435 done 0.60 0.08 0.219 3101 -150.0 2.35 0.041 2305 -571.9 243.2 2.05 0.300 2080 -2.4 0.367 - - - - - - 14.13 14.44 12.78
16786 199.3 7.4 808 16806 roll 0.61 - - 3100 - 2.50 0.099 3650 538.0 250.7 14.98 1.382 2043 -2.5 0.071 - - - - - - 14.87 14.28 13.62
16834 195.3 8.4 815 16841 done 0.61 - - 3108 - 2.35 0.041 2308 -571.1 250.7 - - 2038 - - - - - - - - 14.52 14.48 14.54
17178 166.9 8.4 822 17184 roll 0.61 - - 3119 - 2.58 0.063 857 -562.4 250.7 - - 2038 - - - - - - - - 14.83 14.33 14.83
17198 165.1 8.4 825 17204 done 0.61 - - 3119 - 2.58 0.054 2307 562.0 250.7 - - 2037 - - - - - - - - 14.38 14.28 14.42
17514 138.1 8.5 835 17519 roll 0.61 - - 3119 - 2.50 0.102 3650 537.2 250.7 - - 2043 - - - - - - - - 14.85 14.23 14.85
17597 130.5 9.1 847 17603 done 0.61 0.10 0.206 3099 -200.0 2.35 0.039 2308 -571.1 250.7 - - 2037 - - - - - - - - 14.12 14.42 14.28
17962 104.1 7.2 857 17974 roll 0.62 - - 3097 - 2.60 0.101 3648 515.4 260.5 3.53 0.363 2015 -6.2 0.359 - - - - - - 14.87 14.27 13.64
18031 98.3 8.3 867 18037 done 0.62 - - 3107 - 2.33 0.039 2316 -571.7 260.5 1.73 0.209 2011 -2.3 0.218 - - - - - - 14.47 14.42 13.96
18354 77.1 6.4 880 18372 done 0.65 - - 3107 - - - 2313 - 287.7 17.15 0.399 1903 -6.3 0.244 - - - - - - 14.83 14.40 13.95
18662 53.6 7.9 891 18667 roll 0.74 - - 3107 - 2.53 0.101 3652 529.2 287.7 - - 1910 - - - - - - - - 14.85 14.22 14.84
18766 44.4 7.9 906 18774 done 0.74 - - 3115 - 2.33 0.038 2313 -574.7 287.7 0.80 0.219 1903 -8.8 0.356 - - - - - - 14.45 14.41 14.13
19082 29.5 4.2 918 19125 roll 0.95 0.17 0.079 3219 611.8 2.58 0.102 3653 519.4 357.3 37.80 0.269 1625 -7.4 0.162 - - - - - - 14.45 14.32 14.08
19159 24.1 8.3 929 19165 done 0.95 - - 3229 - 2.28 0.039 2315 -586.8 357.3 - - 1626 - - - - - - - - 14.51 14.44 14.52
19496 8.5 0.7 944 19573 roll 1.12 - - 3240 - 2.58 0.067 861 -563.6 497.2 70.57 0.202 1067 -7.9 0.067 - - - - - - 14.82 14.25 14.08
19597 end climb: SURFACE_DEPTH_REACHED
19597 begin surface coast
19607 end surface coast: CONTROL_FINISHED_OK
19607 begin surface
SM 0.47 - - - - -8.40 9.07 0.076 186 20.5 3.40 0.060 2756 -1760.0 500.14 1.27 0.224 1058 833.1 -0.179 - - - - - -