SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 197 * Raw log
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• Previous call tries 1 • 77.32 of 350.00 AH used of 24V (77.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -1.26 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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
18 - - - 98 done -0.90 - - 169 - - - 2776 - -116.8 -76.53 - 3515 - - - - - - - - 14.59 13.14 14.55
100 0.2 -4.4 2 122 roll -0.90 11.73 0.396 2601 207.3 2.40 0.034 1344 -596.7 -116.8 - - 3516 - - - - - - - - 14.12 14.38 14.40
162 35.2 -30.1 12 171 done -0.55 0.45 0.259 2709 240.0 2.58 0.067 2766 551.2 -116.8 - - 3520 - - - - - - - - 14.12 14.28 14.28
485 78.9 -9.3 25 492 roll -0.47 0.12 0.238 2746 308.3 2.35 0.039 1366 -595.7 -116.8 - - 3519 - - - - - - - - 14.23 14.40 14.45
533 82.3 -7.1 32 544 done -0.47 - - 2735 - 2.53 0.062 2784 560.5 -116.8 - - 3519 - - - - - - - - 14.41 14.36 14.44
849 103.7 -6.5 43 856 roll -0.47 - - 2727 - 1.95 0.103 3825 533.8 -116.8 - - 3521 - - - - - - - - 14.67 14.31 14.67
1023 113.9 -17.9 68 1032 done -0.47 - - 2728 - 1.77 0.039 2779 -591.0 -116.8 - - 3520 - - - - - - - - 14.55 14.51 14.56
1353 133.8 -6.4 80 1361 roll -0.47 - - 2730 - 2.35 0.041 1375 -597.4 -116.8 - - 3520 - - - - - - - - 14.71 14.44 14.69
1450 140.7 -6.4 94 1458 done -0.56 - - 2719 - 2.53 0.063 2787 558.1 -116.8 - - 3519 - - - - - - - - 14.45 14.37 14.47
1801 161.1 -6.5 102 1808 roll -0.56 - - 2719 - 2.42 0.041 1366 -587.2 -116.8 - - 3517 - - - - - - - - 14.67 14.41 14.69
1835 164.2 -8.0 107 1843 done -0.64 - - 2711 - 2.55 0.064 2785 556.5 -116.8 - - 3516 - - - - - - - - 14.45 14.37 14.47
2193 190.6 -7.5 116 2200 roll -0.64 - - 2711 - 2.40 0.041 1377 -586.7 -116.8 - - 3514 - - - - - - - - 14.69 14.43 14.68
2255 195.0 -6.8 125 2263 done -0.64 - - 2702 - 2.55 0.065 2788 553.3 -116.8 - - 3513 - - - - - - - - 14.43 14.35 14.45
2585 217.8 -7.1 137 2588 done -0.64 - - 2701 - - - 2788 - -116.8 - - 3511 - - - - - - - - 14.67 14.69 14.68
2921 243.6 -7.8 143 2928 roll -0.64 - - 2701 - 2.42 0.043 1377 -583.1 -116.8 - - 3508 - - - - - - - - 14.66 14.42 14.67
2983 248.6 -8.0 152 2991 done -0.64 - - 2692 - 2.55 0.067 2782 551.0 -116.8 - - 3507 - - - - - - - - 14.41 14.34 14.47
3313 274.9 -8.0 164 3326 roll -0.64 - - 2684 - 1.92 0.109 3829 545.3 -116.8 - - 3505 - - - - - - - - 14.85 14.46 14.85
3358 278.9 -8.9 170 3371 done -0.64 - - 2683 - 1.73 0.044 2777 -608.1 -116.8 - - 3505 - - - - - - - - 14.71 14.69 14.74
3713 308.1 -8.3 178 3726 roll -0.64 - - 2683 - 2.35 0.044 1375 -596.6 -116.8 - - 3502 - - - - - - - - 14.92 14.60 14.90
3807 316.2 -8.3 191 3821 done -0.64 - - 2675 - 2.47 0.067 2781 569.2 -116.8 - - 3502 - - - - - - - - 14.69 14.53 14.71
4169 347.9 -8.8 200 4183 roll -0.64 - - 2675 - 2.40 0.044 1373 -586.7 -116.8 - - 3500 - - - - - - - - 14.91 14.62 14.91
4250 355.1 -8.6 211 4263 done -0.64 - - 2665 - 2.45 0.069 2776 572.7 -116.8 - - 3499 - - - - - - - - 14.71 14.55 14.73
4570 382.1 -8.3 221 4583 roll -0.64 - - 2665 - 2.38 0.044 1376 -588.2 -116.8 - - 3498 - - - - - - - - 14.92 14.65 14.92
4595 384.3 -7.1 224 4609 done -0.64 0.12 0.229 2692 225.0 2.47 0.069 2777 567.2 -116.8 - - 3497 - - - - - - - - 14.41 14.56 14.64
4915 406.6 -7.0 234 4928 done -0.64 - - 2692 - - - 2775 - -116.8 - - 3496 - - - - - - - - 14.91 14.92 14.92
5251 420.4 -7.3 240 5265 roll -0.64 - - 2692 - 2.40 0.046 1369 -585.8 -116.8 - - 3494 - - - - - - - - 14.92 14.62 14.92
5284 423.8 -10.7 244 5298 done -0.64 - - 2681 - 2.50 0.070 2784 566.0 -116.8 - - 3494 - - - - - - - - 14.71 14.54 14.73
5653 451.6 -7.7 254 5666 roll -0.64 - - 2682 - 2.40 0.044 1375 -587.1 -116.8 - - 3492 - - - - - - - - 14.92 14.62 14.92
5720 456.8 -9.1 263 5733 done -0.64 - - 2673 - 2.47 0.069 2779 568.4 -116.8 - - 3492 - - - - - - - - 14.69 14.54 14.73
6054 482.4 -7.6 275 6067 done -0.64 - - 2673 - - - 2779 - -116.8 - - 3490 - - - - - - - - 14.94 14.94 14.95
6390 507.5 -7.5 281 6403 roll -0.64 - - 2673 - 2.40 0.044 1366 -588.8 -116.8 - - 3491 - - - - - - - - 14.92 14.62 14.92
6457 514.7 -8.9 290 6470 done -0.64 - - 2664 - 2.47 0.069 2770 568.4 -116.8 - - 3489 - - - - - - - - 14.70 14.54 14.73
6791 540.5 -7.6 302 6804 roll -0.64 - - 2664 - 2.38 0.045 1378 -584.9 -116.8 - - 3488 - - - - - - - - 14.92 14.61 14.92
6829 543.9 -7.8 307 6843 done -0.64 0.12 0.233 2690 216.7 2.45 0.070 2769 567.8 -116.8 - - 3488 - - - - - - - - 14.38 14.53 14.62
7191 569.3 -6.9 316 7204 done -0.64 - - 2690 - - - 2769 - -116.8 - - 3486 - - - - - - - - 14.93 14.93 14.94
7528 590.6 -6.1 322 7541 roll -0.64 - - 2690 - 2.38 0.045 1377 -584.9 -116.8 - - 3484 - - - - - - - - 14.91 14.60 14.92
7623 599.2 -7.0 335 7636 done -0.72 - - 2682 - 2.45 0.070 2764 566.1 -116.8 - - 3484 - - - - - - - - 14.68 14.51 14.69
7984 624.2 -7.3 344 7997 done -0.72 - - 2682 - - - 2764 - -116.8 - - 3482 - - - - - - - - 14.93 14.92 14.92
8320 648.5 -7.3 350 8334 roll -0.72 - - 2682 - 2.38 0.046 1374 -584.0 -116.8 - - 3481 - - - - - - - - 14.92 14.58 14.92
8394 653.6 -6.8 360 8408 done -0.72 - - 2673 - 2.45 0.070 2759 565.3 -116.8 - - 3481 - - - - - - - - 14.66 14.50 14.70
8721 675.3 -6.9 371 8734 done -0.72 - - 2674 - - - 2758 - -116.8 - - 3480 - - - - - - - - 14.92 14.92 14.92
9058 698.5 -6.9 377 9071 roll -0.72 - - 2673 - 2.38 0.046 1370 -583.2 -116.8 - - 3478 - - - - - - - - 14.90 14.57 14.90
9097 701.6 -7.3 382 9110 done -0.72 - - 2664 - 2.47 0.073 2766 565.2 -116.8 - - 3479 - - - - - - - - 14.67 14.49 14.71
9459 726.9 -7.1 391 9472 roll -0.72 - - 2664 - 2.38 0.047 1377 -583.6 -116.8 - - 3477 - - - - - - - - 14.91 14.55 14.91
9512 730.7 -6.8 398 9526 done -0.72 - - 2653 - 2.47 0.072 2761 560.3 -116.8 - - 3478 - - - - - - - - 14.65 14.47 14.68
9856 752.5 -6.6 405 9869 roll -0.72 - - 2648 - 1.98 0.116 3818 533.8 -116.8 - - 3477 - - - - - - - - 14.90 14.38 14.89
9917 757.5 -7.3 413 9930 done -0.72 - - 2647 - 1.77 0.046 2755 -600.6 -116.8 - - 3478 - - - - - - - - 14.72 14.65 14.73
10257 780.2 -6.5 426 10271 roll -0.72 - - 2647 - 2.33 0.045 1378 -591.0 -116.8 - - 3476 - - - - - - - - 14.89 14.54 14.89
10310 784.7 -7.9 433 10324 done -0.72 0.10 0.256 2667 200.0 2.47 0.070 2761 559.9 -116.8 - - 3476 - - - - - - - - 14.31 14.46 14.55
10655 805.7 -6.2 440 10668 done -0.72 - - 2667 - - - 2758 - -116.8 - - 3475 - - - - - - - - 14.90 14.88 14.90
10990 827.3 -6.6 446 11003 roll -0.72 - - 2667 - 2.38 0.046 1375 -581.1 -116.8 - - 3474 - - - - - - - - 14.89 14.53 14.89
11043 831.1 -6.5 453 11057 done -0.72 - - 2658 - 2.47 0.070 2752 557.5 -116.8 - - 3473 - - - - - - - - 14.63 14.45 14.66
11387 855.9 -7.3 460 11400 roll -0.72 - - 2658 - 2.35 0.047 1378 -584.7 -116.8 - - 3472 - - - - - - - - 14.91 14.52 14.90
11448 860.5 -7.8 468 11461 done -0.72 - - 2649 - 2.47 0.071 2764 561.1 -116.8 - - 3472 - - - - - - - - 14.63 14.44 14.66
11789 887.7 -8.1 481 11802 roll -0.72 - - 2648 - 2.38 0.047 1380 -581.5 -116.8 - - 3472 - - - - - - - - 14.88 14.52 14.88
11850 892.3 -7.0 489 11863 done -0.72 - - 2640 - 2.45 0.072 2747 558.0 -116.8 - - 3472 - - - - - - - - 14.62 14.44 14.65
12190 919.7 -8.0 502 12204 roll -0.72 - - 2640 - 2.35 0.048 1379 -582.1 -116.8 - - 3471 - - - - - - - - 14.89 14.51 14.89
12229 923.2 -6.3 507 12243 done -0.72 0.12 0.240 2666 216.7 2.45 0.073 2752 560.4 -116.8 - - 3470 - - - - - - - - 14.27 14.44 14.53
12309 end dive: TARGET_DEPTH_EXCEEDED
12309 begin apogee
12314 930.3 -7.9 511 12442 roll -0.23 0.52 0.175 2822 300.0 - - 2241 - - 117.75 1.944 3050 -3.6 0.328 - - - - - - 14.33 14.00 13.25
12443 end apogee: CONTROL_FINISHED_OK
12443 begin climb
12445 934.4 - 513 12589 roll 0.90 1.10 0.104 3173 319.1 2.47 0.058 845 -565.2 116.8 125.18 1.968 2580 -3.8 0.343 - - - - - - 14.00 14.03 13.07
12615 928.5 9.8 540 12629 done 0.72 0.15 0.239 3134 -260.0 2.55 0.054 2260 554.9 116.8 - - 2572 - - - - - - - - 13.81 13.93 14.00
12936 901.8 8.4 550 12949 roll 0.63 0.08 0.279 3109 -312.5 2.60 0.101 3658 537.7 116.8 - - 2568 - - - - - - - - 14.11 14.21 14.27
13024 894.1 9.5 562 13037 done 0.52 0.17 0.230 3072 -217.6 2.42 0.041 2240 -586.0 116.8 - - 2568 - - - - - - - - 14.14 14.41 14.40
13393 869.4 6.8 572 13432 roll 0.55 - - 3071 - 2.72 0.104 3653 519.5 138.0 22.35 1.969 2490 -3.5 0.296 - - - - - - 14.73 14.33 13.70
13472 863.8 8.1 583 13485 done 0.55 - - 3081 - 2.40 0.043 2256 -582.1 138.0 - - 2488 - - - - - - - - 14.46 14.40 14.47
13792 840.2 7.3 593 13809 roll 0.56 - - 3081 - 2.65 0.105 3649 525.7 146.8 2.83 1.130 2469 -6.7 0.959 - - - - - - 14.71 14.44 13.29
13841 836.1 9.5 600 13857 done 0.56 - - 3091 - 2.40 0.043 2250 -582.9 146.8 1.62 0.305 2467 - - - - - - - - 14.57 14.50 13.93
14186 810.1 7.5 607 14211 roll 0.56 - - 3091 - 2.70 0.108 3660 522.2 152.4 13.10 2.078 2438 -2.2 0.166 - - - - - - 14.76 14.44 13.78
14250 805.2 8.9 616 14264 done 0.56 - - 3101 - 2.40 0.042 2255 -585.4 152.4 - - 2434 - - - - - - - - 14.55 14.48 14.57
14577 779.7 7.9 627 14591 roll 0.56 - - 3101 - 2.62 0.105 3652 533.2 152.4 - - 2433 - - - - - - - - 14.74 14.35 14.76
14616 776.4 9.1 632 14630 done 0.56 - - 3111 - 2.38 0.041 2253 -587.8 152.4 - - 2433 - - - - - - - - 14.64 14.53 14.62
14979 748.5 7.6 641 14992 roll 0.57 - - 3111 - 2.62 0.105 3656 535.5 154.8 - - 2432 - - - - - - - - 14.79 14.38 14.79
15040 743.4 8.4 649 15053 done 0.49 0.22 0.220 3057 -245.5 2.38 0.041 2261 -586.1 154.8 - - 2432 - - - - - - - - 14.26 14.56 14.52
15382 723.4 5.7 662 15448 roll 0.54 - - 3058 - 2.67 0.105 3660 524.0 199.5 53.33 1.799 2249 -3.4 0.265 - - - - - - 14.82 14.19 13.59
15497 716.0 7.4 678 15513 done 0.55 - - 3066 - 2.42 0.041 2254 -581.0 207.6 2.90 1.166 2224 -8.6 1.017 - - - - - - 14.38 14.33 13.21
15836 693.8 6.6 691 15886 roll 0.67 0.08 0.150 3124 725.0 2.75 0.106 3656 509.8 232.0 34.83 1.805 2118 -3.0 0.225 - - - - - - 14.44 14.19 13.59
15920 686.3 10.6 703 15933 done 0.67 - - 3133 - 2.38 0.043 2284 -576.5 232.0 - - 2114 - - - - - - - - 14.37 14.31 14.39
16289 649.9 9.9 713 16302 done 0.67 - - 3133 - - - 2277 - 232.0 - - 2110 - - - - - - - - 14.68 14.69 14.69
16625 615.8 10.1 719 16638 done 0.67 - - 3133 - - - 2279 - 232.0 - - 2109 - - - - - - - - 14.76 14.75 14.76
16961 581.9 10.2 725 16974 roll 0.67 - - 3133 - 2.60 0.108 3660 531.2 232.0 - - 2109 - - - - - - - - 14.81 14.38 14.81
17006 576.7 12.0 731 17020 done 0.67 - - 3144 - 2.38 0.044 2274 -582.4 232.0 - - 2109 - - - - - - - - 14.63 14.54 14.65
17361 538.6 10.7 739 17374 roll 0.67 - - 3154 - 2.45 0.064 857 -578.4 232.0 - - 2109 - - - - - - - - 14.81 14.47 14.82
17393 535.3 10.0 743 17406 done 0.67 0.15 0.217 3110 -293.3 2.47 0.058 2282 576.9 232.0 - - 2108 - - - - - - - - 14.32 14.47 14.57
17762 501.9 8.9 753 17775 roll 0.67 - - 3110 - 2.55 0.106 3663 541.6 232.0 - - 2108 - - - - - - - - 14.83 14.40 14.83
17829 495.4 9.2 762 17842 done 0.67 - - 3119 - 2.35 0.043 2275 -590.6 232.0 - - 2108 - - - - - - - - 14.66 14.59 14.69
18162 466.6 8.5 774 18175 roll 0.67 - - 3119 - 2.60 0.106 3655 530.8 232.0 - - 2108 - - - - - - - - 14.83 14.41 14.83
18201 462.9 10.7 779 18214 done 0.67 - - 3128 - 2.35 0.043 2273 -588.1 232.0 - - 2108 - - - - - - - - 14.67 14.59 14.69
18563 432.1 8.3 788 18576 roll 0.67 - - 3138 - 2.45 0.063 857 -578.0 232.0 - - 2108 - - - - - - - - 14.85 14.47 14.86
18594 429.4 8.1 792 18608 done 0.67 - - 3135 - 2.42 0.057 2289 591.7 232.0 - - 2108 - - - - - - - - 14.63 14.47 14.66
18964 396.2 9.1 802 18977 roll 0.67 - - 3138 - 2.53 0.106 3652 538.7 232.0 - - 2108 - - - - - - - - 14.84 14.39 14.84
19030 388.9 12.4 811 19044 done 0.67 0.10 0.238 3120 -180.0 2.33 0.042 2277 -590.1 232.0 - - 2107 - - - - - - - - 14.33 14.57 14.57
19364 360.4 8.2 823 19377 done 0.67 - - 3120 - - - 2272 - 232.0 - - 2107 - - - - - - - - 14.84 14.84 14.84
19700 335.7 8.0 829 19714 roll 0.67 - - 3119 - 2.60 0.106 3661 534.2 232.0 - - 2108 - - - - - - - - 14.85 14.39 14.85
19725 334.7 6.7 832 19767 done 0.70 - - 3128 - 2.33 0.043 2277 -594.0 255.7 23.42 1.473 2022 -3.7 0.160 - - - - - - 14.66 14.59 13.94
20097 304.8 8.3 843 20110 roll 0.70 - - 3138 - 2.45 0.063 868 -575.1 255.7 - - 2018 - - - - - - - - 14.76 14.42 14.76
20129 303.1 4.9 847 20205 done 0.77 - - 3138 - 2.47 0.057 2293 576.9 317.7 63.75 1.347 1785 -3.7 0.158 - - - - - - 14.57 14.43 13.70
20555 260.3 10.5 865 20568 roll 0.77 - - 3138 - 2.55 0.106 3658 535.3 317.7 - - 1768 - - - - - - - - 14.66 14.28 14.66
20608 254.8 11.4 872 20622 done 0.77 - - 3148 - 2.35 0.041 2292 -581.3 317.7 - - 1767 - - - - - - - - 14.52 14.45 14.54
20952 217.7 10.6 879 20965 roll 0.77 - - 3158 - 2.47 0.063 854 -582.2 317.7 - - 1766 - - - - - - - - 14.74 14.37 14.75
20997 212.8 9.8 885 21011 done 0.77 - - 3158 - 2.50 0.057 2293 575.6 317.7 - - 1765 - - - - - - - - 14.57 14.42 14.59
21352 172.7 11.1 893 21366 roll 0.77 - - 3158 - 2.50 0.106 3647 541.6 317.7 - - 1765 - - - - - - - - 14.78 14.38 14.78
21391 168.8 11.5 898 21404 done 0.77 - - 3168 - 2.33 0.041 2280 -586.7 317.7 - - 1765 - - - - - - - - 14.62 14.54 14.64
21753 127.3 11.2 907 21766 roll 0.77 - - 3178 - 2.45 0.062 855 -581.6 317.7 - - 1765 - - - - - - - - 14.83 14.46 14.83
21784 124.4 9.0 911 21798 done 0.77 - - 3178 - 2.47 0.057 2289 580.6 317.7 - - 1769 - - - - - - - - 14.62 14.47 14.65
22125 88.3 9.6 922 22138 roll 0.77 - - 3178 - 2.53 0.103 3659 541.5 317.7 - - 1765 - - - - - - - - 14.83 14.40 14.83
22171 84.4 10.9 928 22184 done 0.77 0.12 0.220 3151 -225.0 2.33 0.040 2274 -594.4 317.7 - - 1765 - - - - - - - - 14.33 14.59 14.58
22499 62.2 6.7 941 22522 roll 0.91 0.08 0.148 3220 862.5 2.45 0.060 861 -576.7 340.7 8.82 0.350 1695 -7.9 0.271 - - - - - - 14.57 14.51 14.21
22752 48.7 4.4 977 22804 done 1.00 - - 3220 - 2.47 0.052 2305 584.6 412.5 36.45 0.329 1407 -7.9 0.225 - - - - - - 14.64 14.50 14.28
23119 34.2 4.6 996 23164 roll 1.32 0.22 0.078 3339 540.9 2.58 0.061 856 -561.6 479.8 32.97 0.269 1139 -8.1 0.199 - - - - - - 14.54 14.50 14.29
23212 27.5 8.2 1009 23225 done 1.32 - - 3340 - 2.50 0.053 2318 584.8 479.8 - - 1145 - - - - - - - - 14.60 14.46 14.62
23481 end climb: SURFACE_DEPTH_REACHED
23481 begin surface coast
23509 end surface coast: CONTROL_FINISHED_OK
23509 begin surface
SM -0.45 - - - - -8.40 9.38 0.085 187 19.9 0.80 0.084 2770 2175.0 500.14 10.18 0.163 1057 103.8 0.029 - - - - - -