SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 198 * Raw log
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• Previous call tries 1 • 77.75 of 350.00 AH used of 24V (77.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.7 deg, depth -1.02 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 501.40, SM_CC=500)
• GPS1 time: 25 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 - - - 98 done -0.90 - - 183 - - - 2779 - -116.8 -76.50 - 3515 - - - - - - - - 14.58 13.12 14.54
100 0.4 -4.1 2 122 roll -0.90 11.70 0.397 2596 206.2 1.90 0.079 3830 553.2 -116.8 - - 3517 - - - - - - - - 14.09 14.30 14.39
240 60.1 -29.2 23 247 done -0.49 0.50 0.220 2734 276.0 1.77 0.034 2718 -628.2 -116.8 - - 3517 - - - - - - - - 14.16 14.42 14.38
569 88.3 -7.6 37 577 roll -0.49 - - 2733 - 2.10 0.101 3826 527.6 -116.8 - - 3520 - - - - - - - - 14.66 14.28 14.64
758 103.5 -7.8 64 764 done -0.49 - - 2727 - 1.70 0.039 2802 -602.4 -116.8 - - 3520 - - - - - - - - 14.48 14.45 14.49
1073 124.2 -6.0 74 1080 roll -0.49 - - 2727 - 2.40 0.042 1381 -592.1 -116.8 - - 3520 - - - - - - - - 14.66 14.42 14.66
1100 126.0 -6.5 78 1107 done -0.49 - - 2718 - 2.50 0.066 2775 557.6 -116.8 - - 3521 - - - - - - - - 14.43 14.35 14.47
1465 150.9 -7.1 88 1467 done -0.49 - - 2718 - - - 2775 - -116.8 - - 3518 - - - - - - - - 14.66 14.68 14.68
1801 175.7 -7.5 94 1807 roll -0.49 - - 2710 - 1.98 0.106 3825 530.3 -116.8 - - 3518 - - - - - - - - 14.68 14.31 14.69
1834 178.4 -8.0 99 1843 done -0.49 0.10 0.215 2741 310.0 1.77 0.042 2787 -586.4 -116.8 - - 3516 - - - - - - - - 14.29 14.50 14.47
2193 200.1 -5.8 108 2200 roll -0.62 0.08 0.148 2674 -837.5 2.38 0.044 1380 -591.2 -116.8 - - 3513 - - - - - - - - 14.45 14.42 14.52
2289 207.9 -8.1 122 2298 done -0.62 0.08 0.230 2687 162.5 2.50 0.065 2774 557.6 -116.8 - - 3512 - - - - - - - - 14.21 14.35 14.36
2641 235.2 -7.9 130 2643 done -0.62 - - 2687 - - - 2774 - -116.8 - - 3509 - - - - - - - - 14.68 14.67 14.67
2976 261.7 -7.9 136 2990 roll -0.62 - - 2687 - 2.40 0.044 1373 -583.8 -116.8 - - 3507 - - - - - - - - 14.81 14.52 14.82
3008 264.3 -8.0 140 3021 done -0.62 - - 2678 - 2.47 0.067 2786 572.1 -116.8 - - 3507 - - - - - - - - 14.62 14.48 14.64
3377 294.3 -8.2 150 3390 roll -0.62 - - 2677 - 2.40 0.044 1370 -590.0 -116.8 - - 3504 - - - - - - - - 14.87 14.59 14.87
3408 297.1 -8.6 154 3422 done -0.62 0.10 0.240 2697 200.0 2.45 0.067 2771 571.8 -116.8 - - 3504 - - - - - - - - 14.40 14.53 14.62
3778 324.7 -7.4 164 3791 done -0.62 - - 2697 - - - 2772 - -116.8 - - 3501 - - - - - - - - 14.90 14.90 14.90
4114 348.0 -6.8 170 4127 roll -0.62 - - 2696 - 2.38 0.045 1375 -587.0 -116.8 - - 3500 - - - - - - - - 14.90 14.62 14.90
4259 357.6 -6.6 190 4272 done -0.62 - - 2688 - 2.45 0.067 2772 570.2 -116.8 - - 3499 - - - - - - - - 14.70 14.54 14.73
4628 383.2 -7.1 200 4641 done -0.62 - - 2688 - - - 2772 - -116.8 - - 3497 - - - - - - - - 14.91 14.91 14.91
4964 408.0 -7.5 206 4977 done -0.62 - - 2686 - - - 2772 - -116.8 - - 3495 - - - - - - - - 14.92 14.92 14.92
5300 433.9 -7.7 212 5313 roll -0.62 - - 2688 - 2.40 0.045 1375 -582.1 -116.8 - - 3493 - - - - - - - - 14.93 14.62 14.93
5338 437.0 -8.0 217 5352 done -0.62 - - 2678 - 2.47 0.069 2778 568.0 -116.8 - - 3493 - - - - - - - - 14.66 14.50 14.68
5700 464.9 -7.7 226 5714 roll -0.62 - - 2678 - 2.40 0.044 1370 -586.7 -116.8 - - 3495 - - - - - - - - 14.92 14.61 14.92
5774 470.7 -7.6 236 5788 done -0.62 0.10 0.236 2696 180.0 2.47 0.067 2775 568.8 -116.8 - - 3492 - - - - - - - - 14.40 14.54 14.62
6101 493.6 -7.0 247 6114 roll -0.62 - - 2690 - 1.92 0.109 3824 546.4 -116.8 - - 3491 - - - - - - - - 14.91 14.47 14.89
6162 498.3 -7.7 255 6175 done -0.62 - - 2690 - 1.77 0.044 2756 -603.4 -116.8 - - 3491 - - - - - - - - 14.75 14.69 14.76
6503 523.8 -7.5 268 6516 roll -0.62 - - 2690 - 2.33 0.047 1376 -592.3 -116.8 - - 3488 - - - - - - - - 14.93 14.59 14.93
6577 529.4 -7.4 278 6590 done -0.62 - - 2680 - 2.45 0.068 2767 567.8 -116.8 - - 3488 - - - - - - - - 14.69 14.51 14.71
6903 553.7 -7.4 289 6916 done -0.62 - - 2680 - - - 2767 - -116.8 - - 3486 - - - - - - - - 14.91 14.91 14.91
7239 578.1 -7.3 295 7253 roll -0.62 - - 2681 - 2.40 0.047 1372 -581.2 -116.8 - - 3485 - - - - - - - - 14.91 14.59 14.91
7306 583.1 -7.2 304 7320 done -0.62 - - 2671 - 2.47 0.070 2772 566.8 -116.8 - - 3485 - - - - - - - - 14.68 14.51 14.71
7640 608.5 -7.7 316 7653 roll -0.62 - - 2672 - 2.40 0.047 1369 -584.6 -116.8 - - 3484 - - - - - - - - 14.92 14.57 14.96
7686 612.2 -7.9 322 7699 done -0.62 0.12 0.230 2699 225.0 2.47 0.070 2770 567.2 -116.8 - - 3482 - - - - - - - - 14.35 14.50 14.59
8041 636.4 -6.8 330 8054 done -0.71 - - 2699 - - - 2770 - -116.8 - - 3482 - - - - - - - - 14.90 14.90 14.90
8377 659.2 -6.7 336 8391 roll -0.80 0.10 0.119 2631 -680.0 2.38 0.044 1375 -586.1 -116.8 - - 3482 - - - - - - - - 14.62 14.57 14.66
8465 666.8 -8.8 348 8478 done -0.80 - - 2620 - 2.45 0.070 2762 566.1 -116.8 - - 3481 - - - - - - - - 14.66 14.49 14.69
8834 701.3 -9.4 358 8847 roll -0.80 - - 2613 - 1.98 0.110 3827 537.9 -116.8 - - 3480 - - - - - - - - 14.93 14.40 14.92
8880 705.8 -10.6 364 8893 done -0.72 0.17 0.219 2665 305.9 1.77 0.044 2753 -606.8 -116.8 - - 3480 - - - - - - - - 14.31 14.66 14.57
9235 732.6 -7.5 372 9248 roll -0.72 - - 2664 - 2.33 0.045 1380 -589.3 -116.8 - - 3478 - - - - - - - - 14.90 14.58 14.90
9323 739.4 -7.6 384 9336 done -0.72 - - 2655 - 2.47 0.070 2762 559.5 -116.8 - - 3478 - - - - - - - - 14.66 14.48 14.69
9692 767.2 -7.5 394 9705 roll -0.72 - - 2648 - 2.03 0.112 3831 526.6 -116.8 - - 3478 - - - - - - - - 14.90 14.39 14.91
9730 770.5 -8.7 399 9744 done -0.72 - - 2647 - 1.80 0.046 2755 -597.8 -116.8 - - 3477 - - - - - - - - 14.70 14.63 14.71
10092 797.2 -7.4 408 10105 done -0.72 - - 2647 - - - 2755 - -116.8 - - 3477 - - - - - - - - 14.88 14.90 14.89
10428 820.2 -6.8 414 10442 roll -0.72 - - 2647 - 2.35 0.046 1376 -586.8 -116.8 - - 3476 - - - - - - - - 14.88 14.54 14.88
10460 822.6 -6.8 418 10474 done -0.72 - - 2639 - 2.47 0.070 2758 559.5 -116.8 - - 3476 - - - - - - - - 14.65 14.47 14.68
10829 850.2 -7.7 428 10842 roll -0.72 - - 2637 - 2.38 0.045 1377 -580.3 -116.8 - - 3474 - - - - - - - - 14.90 14.52 14.90
10882 854.4 -6.8 435 10896 done -0.72 0.12 0.243 2664 225.0 2.47 0.070 2758 559.1 -116.8 - - 3474 - - - - - - - - 14.27 14.45 14.53
11226 878.6 -7.0 442 11239 roll -0.72 - - 2665 - 2.38 0.045 1376 -580.7 -116.8 - - 3473 - - - - - - - - 14.88 14.52 14.88
11258 881.2 -7.0 446 11271 done -0.72 - - 2655 - 2.47 0.070 2759 559.9 -116.8 - - 3473 - - - - - - - - 14.59 14.41 14.60
11627 910.0 -7.9 456 11640 done -0.72 - - 2655 - - - 2759 - -116.8 - - 3472 - - - - - - - - 14.88 14.88 14.88
11905 end dive: TARGET_DEPTH_EXCEEDED
11905 begin apogee
11910 932.4 -8.0 461 12029 roll -0.23 0.57 0.183 2824 296.5 - - 2228 - - 104.15 2.693 3050 -4.1 0.275 - - - - 1 - 14.31 13.88 12.83
12031 end apogee: CONTROL_FINISHED_OK
12031 begin climb
12033 936.8 - 463 12178 done 0.90 1.10 0.112 3174 318.2 - - 2228 - 116.8 130.02 1.936 2583 -3.6 0.340 - - - - - - 13.91 14.13 13.02
12526 902.4 9.1 493 12540 roll 0.74 0.10 0.269 3141 -330.0 2.72 0.097 3664 527.9 116.8 - - 2572 - - - - - - - - 14.08 14.21 14.25
12573 898.1 11.1 499 12586 done 0.57 0.25 0.231 3084 -228.0 2.40 0.041 2267 -582.1 116.8 - - 2572 - - - - - - - - 14.12 14.38 14.38
12928 876.2 6.0 507 12982 roll 0.61 - - 3084 - 2.67 0.102 3663 522.8 154.1 40.47 1.926 2432 -3.5 0.308 - - - - - - 14.72 14.17 13.54
13008 871.0 8.0 518 13021 done 0.61 - - 3094 - 2.45 0.043 2252 -575.9 154.1 - - 2428 - - - - - - - - 14.36 14.30 14.38
13327 847.4 7.2 528 13352 done 0.63 - - 3094 - - - 2248 - 166.6 13.40 2.064 2381 -3.5 0.282 - - - - - - 14.67 14.41 13.68
13665 822.0 7.6 541 13679 roll 0.63 - - 3095 - 2.67 0.104 3661 529.2 170.3 - - 2373 - - - - - - - - 14.68 14.35 14.71
13732 816.3 8.4 550 13745 done 0.63 - - 3105 - 2.42 0.043 2241 -586.8 170.3 - - 2374 - - - - - - - - 14.58 14.50 14.59
14066 791.4 7.6 562 14080 roll 0.64 - - 3104 - 2.65 0.102 3654 533.2 172.8 1.40 0.258 2363 -7.9 4.719 - - - - - - 14.77 14.39 14.16
14119 786.8 8.7 569 14134 done 0.64 - - 3115 - 2.40 0.044 2257 -582.1 172.8 - - 2369 - - - - - - - - 14.62 14.54 14.63
14464 758.8 8.2 576 14477 roll 0.64 - - 3115 - 2.62 0.103 3658 534.7 172.8 1.27 0.259 2362 -5.5 3.162 - - - - - - 14.81 14.40 14.22
14525 753.4 9.0 584 14538 done 0.56 0.15 0.224 3083 -213.3 2.40 0.043 2256 -584.2 172.8 - - 2368 - - - - - - - - 14.31 14.56 14.54
14867 728.3 7.3 597 14893 done 0.57 - - 3083 - - - 2251 - 183.5 17.50 1.929 2318 -2.9 0.211 - - - - - - 14.81 14.54 13.83
15202 702.5 7.7 603 15215 roll 0.57 - - 3077 - 2.65 0.104 3663 532.8 183.7 - - 2307 - - - - - - - - 14.76 14.36 14.75
15263 697.3 8.8 611 15276 done 0.57 - - 3093 - 2.40 0.043 2260 -584.6 183.7 - - 2307 - - - - - - - - 14.61 14.53 14.63
15603 670.2 7.9 624 15616 done 0.57 - - 3092 - - - 2255 - 183.7 - - 2307 - - - - - - - - 14.82 14.80 14.79
15940 644.2 7.7 630 15953 roll 0.58 - - 3093 - 2.65 0.106 3661 530.6 185.8 - - 2307 - - - - - - - - 14.81 14.38 14.81
15978 640.8 8.5 635 15992 done 0.58 - - 3102 - 2.38 0.044 2264 -587.0 185.8 - - 2307 - - - - - - - - 14.66 14.57 14.67
16340 611.2 8.2 644 16353 done 0.58 - - 3106 - - - 2258 - 185.8 - - 2307 - - - - - - - - 14.84 14.84 14.84
16676 582.8 8.5 650 16689 roll 0.58 - - 3102 - 2.65 0.106 3661 529.4 185.8 - - 2307 - - - - - - - - 14.85 14.39 14.85
16729 577.7 9.5 657 16744 done 0.58 - - 3113 - 2.40 0.043 2257 -585.0 185.8 - - 2307 - - - - - - - - 14.66 14.57 14.67
17073 548.4 8.5 664 17086 done 0.58 - - 3113 - - - 2255 - 185.8 - - 2307 - - - - - - - - 14.86 14.86 14.86
17409 521.1 8.1 670 17422 roll 0.58 - - 3112 - 2.65 0.106 3659 529.8 185.8 - - 2307 - - - - - - - - 14.85 14.38 14.85
17462 516.4 9.1 677 17477 done 0.58 0.12 0.229 3086 -216.7 2.38 0.044 2265 -585.7 185.8 - - 2307 - - - - - - - - 14.30 14.57 14.53
17806 492.6 6.9 684 17838 done 0.60 - - 3086 - - - 2265 - 204.9 22.75 1.652 2234 -3.2 0.187 - - - - - - 14.87 14.54 13.90
18142 468.5 7.2 690 18159 roll 0.61 - - 3086 - 2.60 0.103 3660 536.5 215.7 4.82 1.753 2197 -7.7 0.402 - - - - - - 14.75 14.45 13.50
18241 460.2 8.5 704 18255 done 0.61 - - 3098 - 2.35 0.043 2278 -588.1 215.7 1.92 0.340 2192 -2.6 0.690 - - - - - - 14.59 14.52 13.93
18596 432.6 7.7 712 18610 roll 0.61 - - 3105 - 2.55 0.063 851 -559.6 215.9 1.58 0.275 2194 - - - - - - - - 14.78 14.45 13.94
18628 430.0 7.9 716 18647 done 0.61 - - 3105 - 2.47 0.056 2279 578.1 215.9 2.38 0.800 2194 - - - - - - - - 14.59 14.45 13.40
18996 400.8 8.0 726 19012 roll 0.61 - - 3105 - 2.62 0.104 3661 527.5 215.9 1.55 0.294 2195 - - - - - - - - 14.80 14.40 13.88
19087 392.7 8.8 739 19100 done 0.61 - - 3115 - 2.38 0.042 2262 -587.8 215.9 1.50 0.293 2191 -2.7 0.700 - - - - - - 14.61 14.52 13.91
19449 363.7 8.0 748 19462 roll 0.61 - - 3115 - 2.60 0.101 3651 534.2 215.9 1.45 0.282 2193 - - - - - - - - 14.83 14.33 13.98
19495 359.6 8.7 754 19509 done 0.61 - - 3124 - 2.33 0.043 2279 -588.8 215.9 1.60 0.315 2191 - - - - - - - - 14.66 14.57 13.92
19850 331.3 7.9 762 19864 roll 0.61 - - 3140 - 2.53 0.063 858 -561.7 215.9 1.60 0.311 2193 - - - - - - - - 14.83 14.50 13.90
19889 328.0 8.1 767 19903 done 0.61 0.12 0.207 3097 -358.3 2.45 0.056 2279 580.0 215.9 1.85 0.350 2191 - - - - - - - - 14.35 14.50 13.95
20245 303.5 6.8 775 20284 roll 0.64 - - 3096 - 2.60 0.103 3654 528.8 236.7 27.55 1.411 2102 -3.2 0.136 - - - - - - 14.86 14.45 13.93
20338 296.6 7.8 788 20351 done 0.64 - - 3105 - 2.35 0.042 2272 -588.1 236.7 - - 2099 - - - - - - - - 14.56 14.49 14.55
20692 271.5 7.1 796 20716 done 0.66 - - 3105 - - - 2266 - 251.3 14.82 1.458 2049 -3.4 0.123 - - - - - - 14.77 14.53 13.94
21029 247.1 7.4 802 21046 roll 0.67 - - 3106 - 2.58 0.101 3651 536.8 260.0 3.53 1.267 2021 -7.9 0.303 - - - - - - 14.74 14.48 13.54
21064 244.1 8.5 807 21078 done 0.67 - - 3114 - 2.33 0.043 2282 -587.6 260.0 2.20 0.620 2016 -2.3 0.175 - - - - - - 14.61 14.53 13.49
21419 214.3 8.4 815 21433 done 0.67 - - 3114 - - - 2277 - 260.0 1.25 0.264 2016 - - - - - - - - 14.78 14.50 14.15
21756 186.1 8.4 821 21770 roll 0.67 - - 3114 - 2.58 0.100 3661 536.4 260.0 1.45 0.290 2018 - - - - - - - - 14.82 14.31 13.91
21781 183.8 8.5 824 21794 done 0.67 - - 3123 - 2.33 0.042 2282 -591.8 260.0 - - 2023 - - - - - - - - 14.65 14.57 14.67
22101 156.6 8.4 834 22114 roll 0.67 - - 3133 - 2.45 0.061 866 -578.0 260.0 1.38 0.278 2016 -5.1 0.559 - - - - - - 14.83 14.36 14.03
22126 154.5 8.1 837 22140 done 0.67 - - 3133 - 2.45 0.056 2292 582.0 260.0 0.82 0.288 2017 - - - - - - - - 14.64 14.50 14.35
22446 128.1 8.2 847 22460 roll 0.67 - - 3133 - 2.50 0.100 3653 544.4 260.0 1.27 0.265 2018 - - - - - - - - 14.84 14.41 14.14
22478 126.1 5.9 851 22534 done 0.72 - - 3142 - 2.30 0.042 2277 -598.3 300.3 43.88 1.153 1854 -3.7 0.080 - - - - - - 14.68 14.60 13.95
22841 94.7 8.8 868 22854 roll 0.72 - - 3152 - 2.45 0.063 866 -575.9 300.3 - - 1841 - - - - - - - - 14.72 14.41 14.71
22894 90.5 7.8 875 22907 done 0.72 - - 3152 - 2.45 0.053 2281 577.6 300.3 - - 1840 - - - - - - - - 14.56 14.43 14.58
23210 70.3 5.7 887 23243 roll 0.86 - - 3152 - 2.60 0.101 3661 530.8 344.0 20.38 0.379 1680 -7.9 0.285 - - - - - - 14.76 14.43 14.20
23471 55.6 4.9 924 23519 done 1.09 0.20 0.080 3268 580.0 2.30 0.041 2286 -597.8 406.5 32.20 0.334 1430 -7.8 0.253 - - - - - - 14.52 14.52 14.21
23833 29.6 5.3 942 23872 roll 1.15 - - 3269 - 2.53 0.098 3655 541.1 459.3 26.50 0.261 1219 -8.0 0.177 - - - - - - 14.78 14.42 14.25
23949 23.2 5.8 958 23982 done 1.20 - - 3276 - 2.30 0.041 2283 -596.5 502.0 21.02 0.239 1052 -7.9 0.151 - - - - - - 14.62 14.54 14.26
24281 end climb: SURFACE_DEPTH_REACHED
24283 begin surface coast
24309 end surface coast: CONTROL_FINISHED_OK
24309 begin surface
SM -2.74 - - - - -8.39 8.98 0.070 196 21.8 0.88 0.078 2765 -7373.9 501.40 - - 1054 - - - - - - - -