SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 200 * Raw log
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• Previous call tries 1 • 78.41 of 350.00 AH used of 24V (77.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -1.70 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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 - - 184 - - - 2788 - -116.8 -76.28 - 3517 - - - - - - - - 14.59 13.12 14.54
100 -0.1 -5.0 2 122 roll -0.90 11.62 0.394 2601 208.0 2.40 0.034 1367 -592.1 -116.8 - - 3519 - - - - - - - - 14.11 14.39 14.40
177 37.2 -24.4 14 184 done -0.60 0.43 0.257 2703 237.2 2.47 0.067 2763 565.2 -116.8 - - 3519 - - - - - - - - 14.12 14.28 14.37
513 77.3 -9.0 29 520 roll -0.60 - - 2695 - 2.00 0.103 3828 532.5 -116.8 - - 3521 - - - - - - - - 14.64 14.31 14.64
750 99.5 -13.8 63 758 done -0.60 - - 2693 - 1.80 0.038 2758 -594.4 -116.8 - - 3522 - - - - - - - - 14.50 14.47 14.52
1101 128.4 -8.8 71 1108 roll -0.60 - - 2686 - 2.03 0.103 3821 523.6 -116.8 - - 3522 - - - - - - - - 14.67 14.31 14.68
1184 135.4 -8.5 83 1192 done -0.60 - - 2687 - 1.77 0.038 2765 -596.6 -116.8 - - 3521 - - - - - - - - 14.54 14.50 14.56
1549 166.7 -8.6 93 1556 roll -0.60 - - 2686 - 2.33 0.042 1382 -593.6 -116.8 - - 3520 - - - - - - - - 14.69 14.43 14.69
1583 169.7 -8.6 98 1591 done -0.60 - - 2677 - 2.47 0.066 2763 559.1 -116.8 - - 3519 - - - - - - - - 14.45 14.36 14.47
1941 199.8 -8.5 107 1948 roll -0.60 0.08 0.252 2692 187.5 1.98 0.106 3820 533.8 -116.8 - - 3518 - - - - - - - - 14.28 14.30 14.47
1982 203.3 -8.2 113 1990 done -0.60 - - 2692 - 1.80 0.041 2769 -583.9 -116.8 - - 3517 - - - - - - - - 14.55 14.50 14.56
2333 230.5 -7.8 121 2340 roll -0.60 - - 2693 - 2.35 0.043 1380 -591.1 -116.8 - - 3514 - - - - - - - - 14.67 14.42 14.67
2367 233.3 -7.9 126 2375 done -0.60 - - 2682 - 2.53 0.065 2771 549.8 -116.8 - - 3514 - - - - - - - - 14.42 14.35 14.46
2725 261.8 -8.0 135 2738 roll -0.60 - - 2682 - 2.38 0.043 1378 -585.3 -116.8 - - 3511 - - - - - - - - 14.82 14.54 14.82
2763 265.0 -8.4 140 2777 done -0.60 0.10 0.236 2702 200.0 2.47 0.067 2772 564.4 -116.8 - - 3510 - - - - - - - - 14.35 14.48 14.57
3126 290.5 -7.2 149 3139 roll -0.60 - - 2694 - 1.95 0.109 3828 541.5 -116.8 - - 3508 - - - - - - - - 14.87 14.49 14.87
3200 296.2 -7.6 159 3213 done -0.60 - - 2694 - 1.75 0.044 2756 -612.6 -116.8 - - 3507 - - - - - - - - 14.73 14.69 14.75
3526 319.3 -7.0 170 3540 roll -0.60 - - 2694 - 2.30 0.044 1381 -597.8 -116.8 - - 3505 - - - - - - - - 14.90 14.62 14.92
3565 322.0 -7.0 175 3578 done -0.60 - - 2685 - 2.45 0.068 2774 568.6 -116.8 - - 3505 - - - - - - - - 14.71 14.55 14.73
3927 347.4 -7.0 184 3940 done -0.60 - - 2685 - - - 2775 - -116.8 - - 3503 - - - - - - - - 14.91 14.91 14.92
4263 371.7 -7.3 190 4276 roll -0.60 - - 2684 - 2.38 0.046 1379 -586.6 -116.8 - - 3501 - - - - - - - - 14.93 14.63 14.93
4358 379.1 -7.7 203 4371 done -0.60 - - 2677 - 2.45 0.070 2771 568.2 -116.8 - - 3500 - - - - - - - - 14.72 14.56 14.74
4720 409.0 -8.3 212 4733 roll -0.60 0.08 0.256 2703 325.0 2.35 0.043 1380 -591.9 -116.8 - - 3498 - - - - - - - - 14.40 14.62 14.54
4766 412.8 -7.8 218 4779 done -0.68 - - 2694 - 2.45 0.070 2762 564.1 -116.8 - - 3498 - - - - - - - - 14.71 14.55 14.74
5120 438.8 -7.2 226 5134 roll -0.68 - - 2692 - 2.35 0.044 1380 -588.1 -116.8 - - 3496 - - - - - - - - 14.93 14.62 14.92
5152 441.1 -7.0 230 5165 done -0.68 - - 2684 - 2.45 0.070 2762 564.1 -116.8 - - 3496 - - - - - - - - 14.70 14.54 14.73
5521 466.1 -6.8 240 5534 roll -0.68 - - 2676 - 1.98 0.112 3828 538.4 -116.8 - - 3494 - - - - - - - - 14.94 14.47 14.93
5588 470.9 -7.0 249 5601 done -0.68 - - 2676 - 1.75 0.044 2761 -609.7 -116.8 - - 3494 - - - - - - - - 14.75 14.71 14.77
5922 493.5 -6.9 261 5935 roll -0.68 - - 2677 - 2.35 0.044 1367 -593.2 -116.8 - - 3493 - - - - - - - - 14.91 14.61 14.92
5982 497.9 -7.3 269 5996 done -0.68 - - 2667 - 2.50 0.068 2771 561.6 -116.8 - - 3493 - - - - - - - - 14.70 14.54 14.73
6323 525.1 -8.1 282 6336 roll -0.68 - - 2658 - 1.95 0.112 3822 539.0 -116.8 - - 3491 - - - - - - - - 14.94 14.45 14.93
6376 529.7 -8.8 289 6389 done -0.68 - - 2658 - 1.75 0.044 2773 -599.4 -116.8 - - 3491 - - - - - - - - 14.73 14.68 14.76
6720 559.5 -8.7 296 6733 roll -0.68 - - 2658 - 2.38 0.044 1364 -592.0 -116.8 - - 3488 - - - - - - - - 14.94 14.60 14.94
6772 564.5 -9.1 303 6786 done -0.68 - - 2650 - 2.50 0.070 2773 563.6 -116.8 - - 3489 - - - - - - - - 14.69 14.52 14.71
7117 595.8 -9.1 310 7130 done -0.68 - - 2650 - - - 2773 - -116.8 - - 3484 - - - - - - - - 14.91 14.91 14.90
7452 625.7 -8.8 316 7465 done -0.68 - - 2650 - - - 2774 - -116.8 - - 3487 - - - - - - - - 14.91 14.91 14.91
7789 654.5 -8.6 322 7802 roll -0.68 - - 2649 - 2.40 0.046 1372 -584.2 -116.8 - - 3485 - - - - - - - - 14.91 14.53 14.91
7841 659.2 -8.7 329 7855 done -0.68 0.12 0.234 2676 225.0 2.53 0.070 2771 553.0 -116.8 - - 3485 - - - - - - - - 14.33 14.50 14.60
8186 684.5 -7.3 336 8199 roll -0.68 - - 2676 - 2.40 0.045 1369 -584.2 -116.8 - - 3483 - - - - - - - - 14.90 14.58 14.90
8218 687.1 -7.9 340 8231 done -0.68 - - 2667 - 2.50 0.071 2772 561.2 -116.8 - - 3484 - - - - - - - - 14.68 14.50 14.71
8587 715.4 -7.7 350 8600 done -0.68 - - 2667 - - - 2772 - -116.8 - - 3482 - - - - - - - - 14.90 14.90 14.90
8923 740.7 -7.5 356 8936 roll -0.68 - - 2667 - 2.40 0.046 1374 -582.5 -116.8 - - 3481 - - - - - - - - 14.90 14.57 14.90
8997 746.5 -7.8 366 9010 done -0.68 - - 2658 - 2.47 0.070 2762 561.9 -116.8 - - 3482 - - - - - - - - 14.65 14.47 14.68
9324 772.3 -8.1 377 9337 roll -0.68 - - 2658 - 2.40 0.045 1364 -582.5 -116.8 - - 3480 - - - - - - - - 14.91 14.55 14.91
9384 777.2 -8.2 385 9398 done -0.68 0.10 0.239 2678 200.0 2.50 0.070 2765 560.4 -116.8 - - 3480 - - - - - - - - 14.32 14.47 14.56
9725 802.3 -7.3 398 9739 roll -0.68 - - 2678 - 2.40 0.046 1366 -582.9 -116.8 - - 3479 - - - - - - - - 14.88 14.54 14.88
9771 805.9 -7.3 404 9785 done -0.68 - - 2668 - 2.50 0.070 2767 560.4 -116.8 - - 3479 - - - - - - - - 14.65 14.50 14.68
10126 831.5 -7.2 412 10139 done -0.68 - - 2669 - - - 2759 - -116.8 - - 3479 - - - - - - - - 14.89 14.89 14.89
10462 855.8 -7.2 418 10476 roll -0.68 - - 2668 - 2.40 0.047 1367 -580.0 -116.8 - - 3477 - - - - - - - - 14.89 14.54 14.88
10515 859.7 -7.5 425 10529 done -0.68 - - 2660 - 2.50 0.072 2746 551.6 -116.8 - - 3477 - - - - - - - - 14.64 14.47 14.67
10859 886.0 -7.7 432 10873 roll -0.68 - - 2651 - 2.03 0.115 3824 531.0 -116.8 - - 3476 - - - - - - - - 14.88 14.35 14.88
10898 889.6 -9.4 437 10912 done -0.68 - - 2651 - 1.80 0.046 2745 -599.4 -116.8 - - 3476 - - - - - - - - 14.69 14.64 14.71
11260 918.2 -8.1 446 11273 roll -0.68 - - 2652 - 2.35 0.047 1366 -586.8 -116.8 - - 3475 - - - - - - - - 14.90 14.51 14.90
11341 924.1 -8.0 457 11354 done -0.68 0.12 0.230 2678 216.7 2.50 0.071 2761 558.0 -116.8 - - 3475 - - - - - - - - 14.28 14.44 14.53
11435 end dive: TARGET_DEPTH_EXCEEDED
11435 begin apogee
11440 930.8 -6.4 463 11566 roll -0.23 0.47 0.175 2821 304.3 - - 2227 - - 115.93 1.955 3050 -3.7 0.335 - - - - - - 14.34 14.01 13.27
11568 end apogee: CONTROL_FINISHED_OK
11568 begin climb
11570 934.8 - 465 11710 roll 0.90 1.10 0.104 3170 317.3 2.42 0.056 870 -560.7 116.8 123.82 1.952 2587 -3.7 0.344 - - - - - - 14.01 14.03 13.08
11736 928.7 8.6 491 11750 done 0.73 0.12 0.242 3139 -258.3 2.50 0.052 2262 556.8 116.8 - - 2576 - - - - - - - - 13.82 13.93 14.01
12056 903.9 7.9 501 12070 roll 0.63 0.10 0.254 3104 -350.0 2.60 0.098 3650 533.8 116.8 - - 2573 - - - - - - - - 14.08 14.23 14.24
12117 899.1 7.8 509 12131 done 0.52 0.15 0.234 3075 -193.3 2.35 0.041 2266 -588.9 116.8 - - 2573 - - - - - - - - 14.13 14.44 14.39
12460 879.8 5.5 522 12525 roll 0.58 - - 3075 - 2.62 0.102 3654 529.8 165.4 52.42 1.923 2388 -3.5 0.310 - - - - - - 14.73 14.10 13.46
12565 873.1 7.9 537 12579 done 0.58 - - 3084 - 2.45 0.042 2252 -572.2 165.4 - - 2382 - - - - - - - - 14.33 14.26 14.33
12909 850.3 6.7 544 12943 done 0.61 - - 3084 - - - 2252 - 187.2 24.52 1.959 2303 -3.2 0.269 - - - - - - 14.68 14.34 13.61
13245 826.9 7.0 550 13276 roll 0.63 - - 3080 - 2.65 0.104 3649 527.2 203.1 17.08 2.005 2234 -4.0 0.320 - - - - - - 14.68 14.32 13.67
13323 820.7 8.4 561 13336 done 0.63 - - 3093 - 2.40 0.042 2249 -583.3 203.1 - - 2231 - - - - - - - - 14.45 14.38 14.47
13643 796.3 7.7 571 13656 done 0.63 - - 3093 - - - 2245 - 204.8 - - 2228 - - - - - - - - 14.71 14.71 14.70
13979 770.1 7.9 577 13992 roll 0.63 - - 3093 - 2.65 0.102 3656 532.5 204.8 - - 2228 - - - - - - - - 14.78 14.39 14.78
14024 765.9 9.3 583 14038 done 0.63 - - 3103 - 2.38 0.042 2254 -589.1 204.8 - - 2228 - - - - - - - - 14.62 14.54 14.64
14379 735.6 8.6 591 14392 done 0.63 - - 3103 - - - 2251 - 204.8 - - 2227 - - - - - - - - 14.81 14.81 14.81
14715 706.3 8.7 597 14729 roll 0.63 - - 3104 - 2.62 0.103 3651 534.4 204.8 - - 2227 - - - - - - - - 14.83 14.40 14.82
14768 701.1 9.9 604 14783 done 0.63 - - 3119 - 2.40 0.041 2242 -587.1 204.8 - - 2226 - - - - - - - - 14.65 14.58 14.67
15112 669.9 9.1 611 15125 done 0.63 - - 3114 - - - 2239 - 204.8 - - 2228 - - - - - - - - 14.85 14.85 14.85
15448 640.6 8.7 617 15462 roll 0.63 - - 3113 - 2.65 0.103 3651 532.8 204.8 - - 2227 - - - - - - - - 14.85 14.41 14.85
15509 634.8 9.7 625 15522 done 0.63 - - 3122 - 2.38 0.041 2253 -587.4 204.8 - - 2227 - - - - - - - - 14.67 14.59 14.69
15850 604.9 8.7 638 15863 done 0.63 - - 3122 - - - 2248 - 204.8 - - 2228 - - - - - - - - 14.85 14.85 14.85
16186 576.5 8.5 644 16199 roll 0.63 - - 3122 - 2.62 0.102 3648 534.4 204.8 - - 2226 - - - - - - - - 14.85 14.40 14.85
16218 573.5 8.9 648 16232 done 0.63 - - 3132 - 2.35 0.042 2259 -591.1 204.8 - - 2226 - - - - - - - - 14.68 14.59 14.70
16588 541.1 8.8 658 16601 done 0.63 - - 3132 - - - 2254 - 204.8 - - 2228 - - - - - - - - 14.87 14.87 14.87
16924 510.6 9.3 664 16937 roll 0.63 - - 3132 - 2.65 0.103 3658 529.8 204.8 - - 2227 - - - - - - - - 14.85 14.37 14.86
16970 505.7 10.4 670 16983 done 0.63 0.12 0.234 3107 -208.3 2.38 0.042 2260 -587.4 204.8 - - 2227 - - - - - - - - 14.28 14.58 14.56
17325 475.7 8.3 678 17338 roll 0.63 - - 3117 - 2.42 0.060 862 -577.7 204.8 - - 2226 - - - - - - - - 14.85 14.46 14.85
17357 473.0 8.5 682 17370 done 0.63 - - 3117 - 2.42 0.054 2267 580.6 204.8 - - 2226 - - - - - - - - 14.63 14.48 14.66
17725 442.5 8.3 692 17739 roll 0.63 - - 3117 - 2.55 0.103 3653 543.5 204.8 - - 2226 - - - - - - - - 14.85 14.38 14.85
17842 431.5 9.5 708 17855 done 0.63 - - 3130 - 2.35 0.041 2266 -590.2 204.8 - - 2228 - - - - - - - - 14.65 14.57 14.67
18183 401.5 8.9 721 18196 roll 0.63 - - 3136 - 2.42 0.061 859 -581.4 204.8 - - 2226 - - - - - - - - 14.87 14.45 14.87
18228 397.4 9.0 727 18242 done 0.63 0.10 0.223 3108 -280.0 2.42 0.054 2265 581.0 204.8 - - 2226 - - - - - - - - 14.31 14.47 14.53
18584 368.8 8.0 735 18597 roll 0.63 - - 3106 - 2.55 0.103 3654 544.7 204.8 - - 2226 - - - - - - - - 14.85 14.32 14.85
18622 365.4 9.0 740 18636 done 0.63 - - 3116 - 2.35 0.041 2259 -593.6 204.8 - - 2226 - - - - - - - - 14.66 14.61 14.67
18985 336.0 8.1 749 18998 roll 0.63 - - 3116 - 2.62 0.102 3658 534.0 204.8 - - 2226 - - - - - - - - 14.84 14.37 14.85
19051 329.8 9.2 758 19065 done 0.63 - - 3126 - 2.35 0.041 2263 -593.6 204.8 - - 2226 - - - - - - - - 14.66 14.58 14.68
19385 303.6 7.7 770 19398 roll 0.63 - - 3126 - 2.62 0.103 3653 530.5 205.7 - - 2226 - - - - - - - - 14.85 14.36 14.85
19431 299.6 8.5 776 19444 done 0.63 - - 3135 - 2.33 0.041 2275 -591.4 205.7 - - 2230 - - - - - - - - 14.67 14.59 14.67
19786 271.3 8.0 784 19799 done 0.63 0.10 0.247 3108 -270.0 - - 2271 - 205.7 - - 2226 - - - - - - - - 14.27 14.54 14.49
20122 248.4 7.3 790 20147 roll 0.64 - - 3107 - 2.60 0.101 3650 530.4 214.8 10.23 1.522 2189 -3.6 0.113 - - - - - - 14.85 14.56 14.00
20173 244.0 9.0 797 20187 done 0.64 - - 3116 - 2.35 0.041 2261 -591.1 214.8 - - 2187 - - - - - - - - 14.65 14.59 14.66
20517 216.3 8.0 804 20530 roll 0.64 - - 3126 - 2.42 0.061 863 -577.7 214.8 - - 2187 - - - - - - - - 14.81 14.45 14.81
20542 214.3 7.8 807 20555 done 0.64 - - 3126 - 2.45 0.055 2277 577.1 214.8 - - 2187 - - - - - - - - 14.62 14.47 14.64
20862 188.6 8.1 817 20875 roll 0.64 - - 3126 - 2.55 0.102 3655 540.4 214.8 - - 2187 - - - - - - - - 14.83 14.35 14.83
20935 181.9 9.0 827 20948 done 0.64 - - 3134 - 2.33 0.040 2276 -591.8 214.8 - - 2187 - - - - - - - - 14.66 14.58 14.67
21262 154.0 8.6 838 21275 roll 0.64 - - 3135 - 2.60 0.101 3660 532.3 214.8 - - 2187 - - - - - - - - 14.83 14.37 14.84
21287 151.7 8.6 841 21300 done 0.64 0.12 0.219 3109 -216.7 2.33 0.040 2277 -593.6 214.8 - - 2187 - - - - - - - - 14.31 14.58 14.54
21607 128.5 7.3 851 21631 roll 0.66 - - 3119 - 2.47 0.061 837 -583.0 225.5 10.32 1.385 2146 -4.0 0.071 - - - - - - 14.83 14.60 14.04
21650 125.3 7.2 857 21675 done 0.75 - - 3119 - 2.47 0.054 2285 586.2 238.2 11.88 1.336 2098 -4.0 0.073 - - - - - - 14.66 14.53 14.01
22004 100.7 6.8 872 22027 roll 0.78 - - 3127 - 2.53 0.059 859 -563.6 258.2 8.75 0.450 2023 -8.6 0.368 - - - - - - 14.78 14.48 14.13
22061 96.8 6.7 880 22087 done 0.89 0.12 0.101 3198 591.7 2.45 0.052 2284 581.6 281.4 13.30 0.446 1929 -7.1 0.295 - - - - - - 14.53 14.47 14.14
22391 69.7 8.0 894 22404 roll 0.89 - - 3207 - 2.47 0.059 860 -576.5 281.4 - - 1933 - - - - - - - - 14.78 14.45 14.78
22537 59.1 5.2 914 22580 done 0.96 - - 3206 - 2.45 0.051 2286 582.0 335.7 27.90 0.344 1715 -7.8 0.258 - - - - - - 14.60 14.47 14.23
22903 42.2 4.9 933 22947 roll 1.15 0.10 0.122 3293 870.0 2.47 0.060 861 -576.9 396.9 30.70 0.293 1471 -7.9 0.220 - - - - - - 14.54 14.47 14.26
23140 27.1 6.4 967 23167 done 1.19 - - 3294 - 2.47 0.054 2307 585.4 426.8 15.05 0.247 1350 -8.0 0.169 - - - - - - 14.62 14.45 14.25
23489 4.4 6.2 983 23520 roll 1.23 - - 3301 - 2.53 0.060 859 -572.3 461.4 16.98 0.172 1212 -8.1 0.040 - - - - - - 14.81 14.48 14.33
23523 end climb: SURFACE_DEPTH_REACHED
23523 begin surface coast
23551 end surface coast: CONTROL_FINISHED_OK
23551 begin surface
SM -1.81 - - - - -8.40 9.12 0.073 190 20.8 3.35 0.060 2765 -1783.6 500.14 18.08 0.155 1056 58.4 0.070 - - - - - -