SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 160 * Raw log
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• Previous call tries 1 • 63.73 of 350.00 AH used of 24V (81.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth -0.80 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 97 done -0.90 - - 151 - - - 2787 - -116.8 -74.75 - 3516 - - - - - - - - 14.65 13.21 14.66
99 1.2 -6.4 2 116 roll -0.90 11.62 0.396 2587 209.6 1.88 0.075 3831 555.3 -116.8 - - 3516 - - - - - - - - 14.21 14.44 14.50
162 40.9 -37.7 12 172 done -0.38 0.65 0.262 2767 276.9 1.80 0.035 2728 -612.8 -116.8 - - 3518 - - - - - - - - 14.22 14.54 14.40
485 83.1 -9.4 25 493 roll -0.38 - - 2758 - 2.03 0.100 3816 536.0 -116.8 - - 3519 - - - - - - - - 14.79 14.45 14.79
715 99.1 -6.1 58 723 done -0.38 - - 2761 - 1.70 0.041 2791 -602.9 -116.8 - - 3520 - - - - - - - - 14.69 14.65 14.71
1073 112.3 -2.8 67 1076 done -0.48 - - 2758 - - - 2791 - -116.8 - - 3521 - - - - - - - - 14.86 14.86 14.86
1409 136.6 -5.7 73 1417 roll -0.60 0.10 0.122 2680 -780.0 2.30 0.043 1384 -611.7 -116.8 - - 3520 - - - - - - - - 14.67 14.67 14.73
1443 139.2 -8.0 78 1452 done -0.60 0.10 0.220 2700 200.0 2.42 0.063 2775 574.8 -116.8 - - 3520 - - - - - - - - 14.45 14.57 14.59
1802 165.0 -7.1 87 1808 roll -0.60 - - 2700 - 2.33 0.044 1380 -598.7 -116.8 - - 3518 - - - - - - - - 14.89 14.64 14.89
1857 169.1 -7.4 95 1865 done -0.60 - - 2691 - 2.45 0.064 2775 569.4 -116.8 - - 3517 - - - - - - - - 14.65 14.57 14.68
2193 195.7 -8.0 108 2202 roll -0.60 - - 2690 - 2.38 0.044 1380 -586.1 -116.8 - - 3515 - - - - - - - - 14.90 14.62 14.90
2227 198.5 -8.2 113 2236 done -0.60 - - 2680 - 2.42 0.064 2767 573.1 -116.8 - - 3515 - - - - - - - - 14.66 14.57 14.69
2585 227.3 -7.9 122 2592 roll -0.60 - - 2681 - 2.35 0.044 1388 -586.8 -116.8 - - 3511 - - - - - - - - 14.89 14.61 14.89
2634 231.2 -7.7 129 2643 done -0.60 0.10 0.213 2700 190.0 2.42 0.065 2759 566.5 -116.8 - - 3510 - - - - - - - - 14.44 14.56 14.59
2977 254.4 -6.8 136 2990 done -0.60 - - 2700 - - - 2759 - -116.8 - - 3513 - - - - - - - - 14.92 14.92 14.92
3313 277.9 -7.0 142 3326 roll -0.60 - - 2701 - 2.33 0.045 1375 -594.0 -116.8 - - 3505 - - - - - - - - 14.95 14.69 14.95
3374 282.2 -7.1 150 3387 done -0.60 - - 2691 - 2.42 0.066 2762 573.1 -116.8 - - 3505 - - - - - - - - 14.78 14.63 14.79
3714 306.7 -7.2 163 3727 roll -0.60 - - 2691 - 2.33 0.046 1380 -593.1 -116.8 - - 3503 - - - - - - - - 14.96 14.68 14.96
3753 309.7 -7.8 168 3766 done -0.60 - - 2682 - 2.38 0.067 2758 579.0 -116.8 - - 3502 - - - - - - - - 14.78 14.64 14.81
4114 338.3 -8.0 177 4127 done -0.60 - - 2682 - - - 2758 - -116.8 - - 3500 - - - - - - - - 14.97 14.97 14.97
4451 362.9 -7.3 183 4464 roll -0.60 - - 2682 - 2.30 0.046 1382 -598.3 -116.8 - - 3498 - - - - - - - - 14.96 14.70 14.97
4517 368.8 -8.1 192 4531 done -0.60 0.10 0.248 2701 190.0 2.40 0.069 2760 574.2 -116.8 - - 3498 - - - - - - - - 14.50 14.64 14.72
4851 391.7 -6.7 204 4864 roll -0.60 - - 2693 - 1.92 0.108 3821 552.6 -116.8 - - 3496 - - - - - - - - 14.97 14.59 14.97
4897 395.2 -7.2 210 4910 done -0.60 - - 2693 - 1.73 0.046 2760 -613.3 -116.8 - - 3496 - - - - - - - - 14.83 14.75 14.83
5251 417.6 -6.2 218 5265 roll -0.60 - - 2693 - 2.30 0.047 1377 -601.3 -116.8 - - 3493 - - - - - - - - 14.97 14.69 14.97
5360 424.7 -6.3 233 5374 done -0.60 - - 2683 - 2.40 0.068 2748 571.2 -116.8 - - 3493 - - - - - - - - 14.78 14.63 14.80
5704 448.7 -7.1 240 5717 roll -0.60 - - 2676 - 1.98 0.109 3831 547.0 -116.8 - - 3492 - - - - - - - - 14.96 14.58 14.96
5764 453.2 -7.3 248 5778 done -0.60 0.10 0.233 2705 290.0 1.77 0.047 2754 -608.5 -116.8 - - 3492 - - - - - - - - 14.50 14.76 14.71
6107 476.3 -6.9 261 6120 roll -0.68 - - 2705 - 2.30 0.046 1370 -601.7 -116.8 - - 3490 - - - - - - - - 14.96 14.66 14.96
6195 482.3 -5.5 273 6208 done -0.77 0.08 0.146 2640 -812.5 2.42 0.068 2756 572.7 -116.8 - - 3489 - - - - - - - - 14.68 14.62 14.76
6563 515.6 -9.3 283 6577 roll -0.77 - - 2632 - 1.95 0.108 3824 547.7 -116.8 - - 3488 - - - - - - - - 14.96 14.56 14.96
6624 521.8 -10.4 291 6637 done -0.77 - - 2632 - 1.80 0.045 2726 -610.0 -116.8 - - 3487 - - - - - - - - 14.80 14.76 14.83
6964 551.7 -8.7 304 6978 roll -0.77 - - 2632 - 2.25 0.047 1376 -600.0 -116.8 - - 3486 - - - - - - - - 14.96 14.67 14.96
6996 554.6 -8.5 308 7009 done -0.77 - - 2622 - 2.40 0.068 2748 571.7 -116.8 - - 3486 - - - - - - - - 14.76 14.61 14.78
7364 585.0 -8.7 318 7378 roll -0.77 0.08 0.285 2641 237.5 1.95 0.106 3823 551.3 -116.8 - - 3484 - - - - - - - - 14.43 14.54 14.59
7417 590.4 -8.3 325 7431 done -0.77 - - 2640 - 1.77 0.044 2751 -605.6 -116.8 - - 3484 - - - - - - - - 14.79 14.73 14.81
7761 617.7 -8.0 332 7775 roll -0.77 - - 2641 - 2.30 0.046 1372 -599.6 -116.8 - - 3483 - - - - - - - - 14.95 14.66 14.95
7801 621.2 -7.7 337 7814 done -0.77 - - 2631 - 2.42 0.068 2758 572.7 -116.8 - - 3483 - - - - - - - - 14.76 14.60 14.78
8162 651.0 -8.6 346 8175 done -0.77 - - 2631 - - - 2758 - -116.8 - - 3481 - - - - - - - - 14.96 14.95 14.95
8498 678.1 -8.2 352 8511 done -0.77 - - 2631 - - - 2759 - -116.8 - - 3480 - - - - - - - - 14.96 14.96 14.96
8834 706.6 -8.3 358 8847 done -0.77 - - 2632 - - - 2754 - -116.8 - - 3479 - - - - - - - - 14.95 14.95 14.95
9170 733.3 -8.0 364 9183 done -0.77 - - 2632 - - - 2759 - -116.8 - - 3478 - - - - - - - - 14.96 14.96 14.96
9506 762.8 -9.0 370 9519 roll -0.77 - - 2631 - 2.35 0.047 1374 -589.4 -116.8 - - 3477 - - - - - - - - 14.94 14.64 14.94
9552 767.9 -10.2 376 9565 done -0.77 - - 2623 - 2.42 0.070 2750 568.6 -116.8 - - 3477 - - - - - - - - 14.73 14.57 14.76
9906 796.9 -7.8 384 9920 roll -0.77 - - 2614 - 1.98 0.110 3823 541.9 -116.8 - - 3476 - - - - - - - - 14.93 14.50 14.93
9952 804.5 -9.1 390 9966 done -0.77 0.12 0.241 2651 308.3 1.77 0.046 2744 -609.6 -116.8 - - 3475 - - - - - - - - 14.40 14.72 14.65
10307 827.6 -6.7 398 10320 done -0.77 - - 2650 - - - 2744 - -116.8 - - 3474 - - - - - - - - 14.92 14.93 14.92
10643 849.6 -6.1 404 10657 roll -0.77 - - 2650 - 2.33 0.046 1365 -591.8 -116.8 - - 3473 - - - - - - - - 14.94 14.62 14.94
10731 856.9 -7.7 416 10745 done -0.77 - - 2642 - 2.42 0.069 2745 570.2 -116.8 - - 3473 - - - - - - - - 14.71 14.55 14.74
11100 884.3 -7.3 426 11113 roll -0.77 - - 2632 - 2.00 0.110 3829 542.0 -116.8 - - 3472 - - - - - - - - 14.94 14.47 14.93
11139 889.1 -9.2 431 11152 done -0.77 - - 2633 - 1.80 0.047 2733 -608.9 -116.8 - - 3471 - - - - - - - - 14.76 14.70 14.77
11500 916.5 -7.5 440 11513 done -0.77 - - 2632 - - - 2733 - -116.8 - - 3471 - - - - - - - - 14.93 14.92 14.93
11666 end dive: TARGET_DEPTH_EXCEEDED
11666 begin apogee
11671 930.9 -8.4 443 11796 roll -0.23 0.65 0.196 2822 292.3 - - 2232 - - 115.43 1.968 3050 -3.6 0.329 - - - - - - 14.38 14.04 13.32
11798 end apogee: CONTROL_FINISHED_OK
11798 begin climb
11800 934.8 - 445 11940 roll 0.90 1.05 0.110 3169 330.5 2.47 0.057 867 -552.6 116.8 122.72 1.981 2584 -3.8 0.342 - - - - - - 14.04 14.05 13.16
12168 908.2 8.8 500 12183 done 0.76 - - 3170 - 2.42 0.054 2256 574.0 116.8 - - 2572 - - - - - - - - 14.39 14.28 14.41
12512 874.8 9.7 507 12526 roll 0.60 0.25 0.237 3096 -296.0 2.55 0.097 3650 546.7 116.8 - - 2571 - - - - - - - - 14.23 14.38 14.40
12754 852.5 7.9 541 12768 done 0.51 0.15 0.247 3066 -200.0 2.35 0.041 2252 -594.9 116.8 - - 2570 - - - - - - - - 14.28 14.55 14.55
13081 831.2 6.4 552 13120 done 0.55 - - 3066 - - - 2247 - 145.1 30.27 1.923 2472 -3.2 0.267 - - - - - - 14.82 14.42 13.71
13417 809.1 6.8 558 13451 done 0.57 - - 3066 - - - 2246 - 166.8 25.10 1.957 2385 -3.5 0.274 - - - - - - 14.73 14.37 13.69
13753 787.5 6.7 564 13793 roll 0.60 - - 3064 - 2.65 0.102 3650 529.8 190.2 25.48 1.947 2285 -3.9 0.303 - - - - - - 14.71 14.28 13.68
13870 781.7 6.5 580 13914 done 0.64 - - 3075 - 2.42 0.043 2236 -584.3 217.5 30.27 1.899 2184 -3.3 0.262 - - - - - - 14.47 14.40 13.57
14264 756.7 6.2 594 14317 roll 0.68 0.08 0.150 3137 775.0 2.70 0.103 3653 524.8 250.9 37.60 1.854 2044 -3.7 0.290 - - - - - - 14.50 14.19 13.60
14342 750.4 9.5 605 14355 done 0.68 - - 3147 - 2.40 0.044 2265 -578.3 250.9 - - 2041 - - - - - - - - 14.38 14.31 14.38
14661 718.3 10.2 615 14675 roll 0.68 - - 3158 - 2.42 0.064 858 -581.4 250.9 - - 2037 - - - - - - - - 14.68 14.44 14.69
14714 713.0 10.6 622 14728 done 0.68 0.12 0.233 3123 -291.7 2.42 0.056 2254 576.9 250.9 - - 2036 - - - - - - - - 14.33 14.43 14.54
15058 678.9 10.1 629 15072 roll 0.68 - - 3122 - 2.55 0.101 3654 549.0 250.9 - - 2035 - - - - - - - - 14.79 14.47 14.79
15111 673.5 11.4 636 15126 done 0.68 - - 3131 - 2.40 0.043 2242 -588.3 250.9 - - 2035 - - - - - - - - 14.66 14.59 14.68
15455 636.6 10.8 643 15468 roll 0.68 - - 3142 - 2.38 0.065 852 -584.0 250.9 - - 2034 - - - - - - - - 14.83 14.55 14.85
15494 632.3 10.5 648 15507 done 0.68 - - 3142 - 2.40 0.058 2254 584.2 250.9 - - 2034 - - - - - - - - 14.66 14.54 14.68
15856 592.5 10.9 657 15869 roll 0.68 - - 3142 - 2.55 0.105 3652 548.2 250.9 - - 2034 - - - - - - - - 14.85 14.52 14.85
15916 585.8 11.7 665 15930 done 0.68 0.10 0.255 3124 -180.0 2.38 0.041 2244 -591.6 250.9 - - 2034 - - - - - - - - 14.42 14.65 14.66
16257 554.6 8.9 678 16270 roll 0.68 - - 3133 - 2.35 0.064 865 -586.8 250.9 - - 2033 - - - - - - - - 14.87 14.57 14.87
16288 551.8 7.9 682 16302 done 0.68 - - 3133 - 2.38 0.056 2257 584.9 250.9 - - 2033 - - - - - - - - 14.71 14.59 14.73
16657 517.2 9.7 692 16670 roll 0.68 - - 3133 - 2.55 0.103 3658 549.4 250.9 - - 2033 - - - - - - - - 14.90 14.52 14.88
16703 513.1 11.6 698 16716 done 0.68 - - 3144 - 2.35 0.043 2256 -596.6 250.9 - - 2033 - - - - - - - - 14.74 14.66 14.76
17057 476.1 10.6 706 17070 done 0.68 - - 3150 - - - 2253 - 250.9 - - 2037 - - - - - - - - 14.88 14.88 14.88
17393 440.8 10.8 712 17407 roll 0.68 - - 3155 - 2.40 0.064 853 -583.3 250.9 - - 2033 - - - - - - - - 14.89 14.58 14.89
17439 436.8 10.2 718 17453 done 0.68 0.10 0.241 3126 -290.0 2.42 0.058 2267 584.3 250.9 - - 2032 - - - - - - - - 14.44 14.61 14.67
17794 401.6 9.4 726 17807 roll 0.68 - - 3126 - 2.55 0.104 3664 547.8 250.9 - - 2032 - - - - - - - - 14.90 14.52 14.90
17847 397.4 10.3 733 17860 done 0.68 - - 3134 - 2.38 0.042 2258 -590.8 250.9 - - 2032 - - - - - - - - 14.73 14.66 14.75
18191 365.5 9.2 740 18204 roll 0.68 - - 3145 - 2.40 0.064 851 -586.2 250.9 - - 2033 - - - - - - - - 14.90 14.57 14.90
18230 363.0 11.4 745 18243 done 0.68 - - 3145 - 2.42 0.057 2266 584.7 250.9 - - 2033 - - - - - - - - 14.71 14.58 14.73
18591 331.0 8.8 754 18604 roll 0.68 - - 3145 - 2.53 0.103 3657 549.8 250.9 - - 2033 - - - - - - - - 14.89 14.50 14.89
18637 327.1 7.2 760 18657 done 0.69 0.10 0.251 3127 -180.0 2.35 0.041 2249 -599.1 263.4 5.57 1.698 2004 -5.2 0.191 - - - - - - 14.40 14.64 13.94
18988 295.4 9.2 768 19002 roll 0.69 - - 3137 - 2.38 0.060 856 -585.3 263.4 1.48 0.275 2004 - - - - - - - - 14.87 14.50 14.20
19021 292.7 8.2 772 19034 done 0.69 - - 3144 - 2.40 0.057 2261 585.4 263.4 - - 2009 - - - - - - - - 14.71 14.58 14.73
19389 259.3 9.2 782 19403 roll 0.69 - - 3137 - 2.60 0.102 3654 535.8 263.4 1.52 0.284 2003 -3.9 0.688 - - - - - - 14.88 14.52 14.06
19435 255.9 10.7 788 19449 done 0.69 - - 3146 - 2.33 0.041 2261 -597.9 263.4 1.40 0.285 2002 - - - - - - - - 14.73 14.66 14.15
19791 224.3 8.9 796 19805 roll 0.69 - - 3157 - 2.47 0.063 851 -570.9 263.4 1.52 0.287 2003 - - - - - - - - 14.89 14.57 14.03
19823 221.7 7.6 800 19842 done 0.70 0.12 0.225 3120 -308.3 2.40 0.055 2261 587.5 266.4 4.32 1.502 1991 -2.8 0.078 - - - - - - 14.40 14.59 13.74
20190 191.9 8.1 810 20204 roll 0.70 - - 3121 - 2.60 0.100 3658 537.3 266.4 1.52 0.297 1991 - - - - - - - - 14.90 14.52 14.04
20236 188.2 8.7 816 20250 done 0.70 - - 3131 - 2.35 0.041 2250 -599.1 266.4 1.35 0.277 1991 - - - - - - - - 14.73 14.65 14.20
20591 158.3 8.6 824 20606 roll 0.70 - - 3139 - 2.42 0.061 862 -573.6 266.4 1.52 0.298 1992 - - - - - - - - 14.88 14.58 14.02
20638 154.6 8.0 830 20651 done 0.70 - - 3139 - 2.38 0.054 2262 588.2 266.4 1.42 0.284 1989 -2.1 0.220 - - - - - - 14.71 14.59 14.14
20993 123.5 8.8 838 21010 roll 0.70 - - 3139 - 2.58 0.099 3651 538.4 266.4 2.12 0.526 1993 1.9 -0.085 - - - - - - 14.88 14.59 13.62
21070 116.2 9.5 849 21084 done 0.70 - - 3149 - 2.33 0.041 2255 -599.1 266.4 1.50 0.308 1988 -3.3 0.240 - - - - - - 14.73 14.66 14.08
21391 90.9 6.4 861 21424 roll 0.73 - - 3156 - 2.42 0.063 858 -577.3 296.3 15.93 0.450 1873 -7.2 0.278 - - - - - - 14.87 14.58 14.27
21451 87.2 6.1 869 21485 done 0.86 - - 3158 - 2.40 0.054 2272 589.2 332.3 18.30 0.436 1727 -8.0 0.305 - - - - - - 14.69 14.58 14.26
21788 65.9 5.8 884 21820 roll 1.04 0.12 0.106 3242 700.0 2.58 0.099 3654 535.7 374.0 20.35 0.373 1560 -8.2 0.277 - - - - - - 14.61 14.48 14.27
21882 57.4 10.1 897 21895 done 1.04 - - 3252 - 2.33 0.040 2260 -598.3 374.0 - - 1562 - - - - - - - - 14.66 14.59 14.68
22216 41.8 4.5 911 22263 roll 1.22 0.05 0.203 3301 980.0 2.62 0.096 3655 532.4 444.6 34.20 0.291 1277 -8.3 0.228 - - - - - - 14.59 14.49 14.31
22268 38.6 6.3 918 22295 done 1.25 - - 3310 - 2.33 0.039 2257 -600.0 475.1 14.68 0.285 1157 -8.2 0.211 - - - - - - 14.67 14.60 14.31
22616 10.7 8.3 934 22629 roll 1.25 - - 3319 - 2.38 0.062 870 -582.8 475.1 - - 1158 - - - - - - - - 14.83 14.54 14.83
22704 2.9 8.6 946 22717 done 1.25 - - 3319 - 2.38 0.050 2280 592.4 475.1 - - 1159 - - - - - - - - 14.69 14.57 14.70
22720 end climb: SURFACE_DEPTH_REACHED
22720 begin surface coast
22727 end surface coast: CONTROL_FINISHED_OK
22727 begin surface
SM 0.30 - - - - -8.39 9.25 0.087 196 21.2 0.85 0.089 2762 2037.6 500.14 11.52 0.164 1057 91.8 -0.017 - - - - - -