SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 201 * Raw log
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• Previous call tries 1 • 78.80 of 350.00 AH used of 24V (77.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.7 deg, depth -2.05 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 44 s
• GPS2 time: 1 s • Transponder ping count: 2
• 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 - - 181 - - - 2778 - -116.8 -75.80 - 3515 - - - - - - - - 14.59 13.12 14.56
100 -0.2 -6.1 2 122 roll -0.90 11.65 0.396 2602 207.8 2.38 0.034 1363 -594.5 -116.8 - - 3517 - - - - - - - - 14.14 14.38 14.41
183 39.4 -26.9 15 191 done -0.57 0.43 0.244 2704 237.2 2.55 0.073 2765 549.8 -116.8 - - 3517 - - - - - - - - 14.12 14.27 14.41
512 78.2 -10.3 29 520 roll -0.57 - - 2706 - 2.38 0.043 1363 -589.1 -116.8 - - 3520 - - - - - - - - 14.64 14.40 14.64
688 93.0 -6.5 54 695 done -0.57 - - 2696 - 2.50 0.065 2783 568.0 -116.8 - - 3520 - - - - - - - - 14.50 14.38 14.51
1044 119.5 -7.0 64 1051 roll -0.57 - - 2695 - 2.40 0.041 1364 -591.2 -116.8 - - 3520 - - - - - - - - 14.67 14.42 14.67
1092 121.5 -6.0 71 1102 done -0.57 - - 2686 - 2.50 0.064 2767 561.2 -116.8 - - 3520 - - - - - - - - 14.44 14.35 14.47
1437 146.5 -7.6 78 1440 done -0.57 0.08 0.257 2708 275.0 - - 2767 - -116.8 - - 3519 - - - - - - - - 14.28 14.52 14.47
1772 171.1 -7.4 84 1779 roll -0.57 - - 2708 - 2.40 0.043 1363 -585.0 -116.8 - - 3516 - - - - - - - - 14.69 14.43 14.69
1813 174.4 -9.1 90 1821 done -0.57 - - 2699 - 2.53 0.065 2773 557.3 -116.8 - - 3516 - - - - - - - - 14.45 14.37 14.47
2164 202.4 -8.1 98 2167 done -0.57 - - 2699 - - - 2773 - -116.8 - - 3513 - - - - - - - - 14.68 14.68 14.68
2501 227.8 -7.5 104 2503 done -0.57 - - 2699 - - - 2773 - -116.8 - - 3511 - - - - - - - - 14.68 14.69 14.69
2839 251.5 -7.0 110 2854 roll -0.57 - - 2699 - 2.42 0.045 1359 -584.3 -116.8 - - 3508 - - - - - - - - 14.78 14.56 14.78
2915 257.5 -7.6 120 2928 done -0.57 - - 2690 - 2.50 0.068 2765 562.4 -116.8 - - 3507 - - - - - - - - 14.62 14.47 14.64
3242 283.5 -8.1 131 3255 done -0.57 - - 2690 - - - 2765 - -116.8 - - 3504 - - - - - - - - 14.86 14.86 14.86
3578 310.0 -7.9 137 3591 done -0.57 - - 2690 - - - 2764 - -116.8 - - 3502 - - - - - - - - 14.89 14.90 14.90
3914 335.2 -7.4 143 3927 roll -0.57 - - 2681 - 1.98 0.111 3827 536.9 -116.8 - - 3501 - - - - - - - - 14.92 14.49 14.92
3959 338.7 -7.7 149 3973 done -0.57 0.10 0.224 2712 310.0 1.80 0.046 2748 -599.4 -116.8 - - 3497 - - - - - - - - 14.43 14.68 14.66
4315 360.9 -6.3 157 4328 roll -0.66 - - 2712 - 2.33 0.046 1365 -593.6 -116.8 - - 3498 - - - - - - - - 14.92 14.60 14.92
4376 364.7 -6.3 165 4389 done -0.77 0.08 0.144 2642 -875.0 2.47 0.069 2761 565.2 -116.8 - - 3498 - - - - - - - - 14.63 14.56 14.72
4717 394.6 -9.0 178 4730 roll -0.77 - - 2642 - 2.38 0.046 1361 -588.2 -116.8 - - 3495 - - - - - - - - 14.92 14.62 14.92
4762 398.8 -9.1 184 4776 done -0.77 - - 2632 - 2.45 0.070 2761 571.4 -116.8 - - 3495 - - - - - - - - 14.71 14.54 14.73
5117 431.2 -9.2 192 5130 done -0.77 - - 2632 - - - 2760 - -116.8 - - 3493 - - - - - - - - 14.93 14.94 14.94
5453 463.5 -9.8 198 5466 roll -0.77 - - 2624 - 1.98 0.112 3827 538.9 -116.8 - - 3493 - - - - - - - - 14.92 14.48 14.92
5555 474.6 -10.9 212 5568 done -0.77 0.10 0.240 2653 290.0 1.77 0.045 2754 -606.2 -116.8 - - 3491 - - - - - - - - 14.40 14.68 14.62
5910 507.4 -9.2 220 5923 roll -0.77 - - 2653 - 2.35 0.047 1362 -592.3 -116.8 - - 3489 - - - - - - - - 14.92 14.61 14.91
5991 514.8 -8.7 231 6004 done -0.77 - - 2644 - 2.50 0.070 2765 561.2 -116.8 - - 3490 - - - - - - - - 14.69 14.53 14.76
6310 543.9 -9.1 241 6323 roll -0.77 - - 2635 - 1.98 0.113 3826 535.9 -116.8 - - 3489 - - - - - - - - 14.92 14.46 14.92
6391 551.4 -9.2 252 6404 done -0.77 - - 2635 - 1.80 0.045 2745 -600.6 -116.8 - - 3488 - - - - - - - - 14.73 14.67 14.75
6711 579.4 -8.8 262 6724 done -0.77 - - 2634 - - - 2745 - -116.8 - - 3486 - - - - - - - - 14.97 14.94 14.93
7047 609.1 -8.8 268 7060 done -0.77 - - 2634 - - - 2744 - -116.8 - - 3485 - - - - - - - - 14.93 14.94 14.93
7383 638.2 -8.7 274 7396 done -0.77 - - 2633 - - - 2745 - -116.8 - - 3484 - - - - - - - - 14.94 14.94 14.94
7719 667.7 -8.8 280 7732 roll -0.77 - - 2627 - 2.08 0.114 3833 523.1 -116.8 - - 3483 - - - - - - - - 14.94 14.42 14.94
7772 672.4 -9.2 287 7785 done -0.77 - - 2626 - 1.80 0.047 2758 -597.2 -116.8 - - 3483 - - - - - - - - 14.73 14.65 14.73
8116 703.2 -9.1 294 8129 roll -0.77 - - 2626 - 2.35 0.047 1375 -588.5 -116.8 - - 3487 - - - - - - - - 14.92 14.57 14.92
8148 706.2 -9.2 298 8161 done -0.77 0.12 0.243 2652 216.7 2.47 0.071 2762 561.5 -116.8 - - 3481 - - - - - - - - 14.31 14.49 14.57
8517 734.8 -7.6 308 8530 roll -0.77 - - 2644 - 2.00 0.115 3824 531.0 -116.8 - - 3480 - - - - - - - - 14.92 14.40 14.93
8555 737.9 -8.3 313 8569 done -0.77 - - 2644 - 1.77 0.047 2765 -598.3 -116.8 - - 3480 - - - - - - - - 14.72 14.64 14.73
8918 765.8 -7.7 322 8931 roll -0.77 - - 2643 - 2.38 0.048 1371 -585.7 -116.8 - - 3478 - - - - - - - - 14.92 14.56 14.95
8998 772.0 -7.6 333 9012 done -0.77 - - 2634 - 2.53 0.072 2768 552.2 -116.8 - - 3478 - - - - - - - - 14.63 14.42 14.66
9319 798.6 -8.5 343 9332 done -0.77 - - 2634 - - - 2768 - -116.8 - - 3477 - - - - - - - - 14.90 14.90 14.90
9655 828.8 -9.0 349 9668 done -0.77 - - 2635 - - - 2768 - -116.8 - - 3479 - - - - - - - - 14.90 14.90 14.90
9991 859.8 -9.3 355 10004 roll -0.77 - - 2633 - 2.42 0.047 1366 -579.3 -116.8 - - 3475 - - - - - - - - 14.92 14.52 14.92
10044 864.7 -9.1 362 10058 done -0.77 - - 2625 - 2.50 0.073 2765 559.6 -116.8 - - 3475 - - - - - - - - 14.63 14.45 14.66
10388 896.2 -9.1 369 10401 roll -0.77 - - 2616 - 2.00 0.114 3821 528.0 -116.8 - - 3473 - - - - - - - - 14.91 14.36 14.91
10461 903.2 -9.4 379 10475 done -0.77 0.12 0.237 2652 300.0 1.80 0.044 2741 -600.0 -116.8 - - 3473 - - - - - - - - 14.27 14.64 14.53
10789 927.5 -7.3 390 10802 roll -0.77 - - 2653 - 2.33 0.048 1376 -585.8 -116.8 - - 3471 - - - - - - - - 14.88 14.52 14.87
10826 end dive: TARGET_DEPTH_EXCEEDED
10826 begin apogee
10832 930.3 -4.6 395 10958 roll -0.23 0.60 0.188 2822 281.7 - - 2259 - - 115.88 1.942 3050 -3.6 0.339 - - - - - - 14.33 14.02 13.28
10959 end apogee: CONTROL_FINISHED_OK
10959 begin climb
10961 933.3 - 397 11101 roll 0.90 1.10 0.103 3174 320.0 2.53 0.057 859 -553.4 116.8 122.68 1.957 2583 -3.8 0.354 - - - - - - 14.02 14.04 13.10
11329 905.8 9.5 452 11344 done 0.75 0.10 0.254 3149 -250.0 2.45 0.055 2243 564.9 116.8 - - 2570 - - - - - - - - 14.05 14.23 14.30
11674 875.1 8.9 459 11687 roll 0.64 0.12 0.252 3118 -258.3 2.40 0.057 866 -573.8 116.8 - - 2567 - - - - - - - - 14.18 14.38 14.35
11903 857.9 7.2 491 11927 done 0.65 - - 3118 - 2.40 0.054 2256 579.2 129.4 9.93 2.131 2533 -3.4 0.269 - - - - - - 14.57 14.42 13.74
12242 832.4 7.7 504 12255 roll 0.65 - - 3118 - 2.60 0.104 3656 538.5 131.1 - - 2530 - - - - - - - - 14.74 14.37 14.74
12303 827.2 8.0 512 12316 done 0.54 0.17 0.230 3080 -223.5 2.40 0.041 2249 -586.2 131.1 - - 2529 - - - - - - - - 14.26 14.50 14.50
12645 805.9 6.2 525 12704 roll 0.58 - - 3080 - 2.75 0.104 3657 512.0 164.7 41.22 1.872 2387 -3.4 0.289 - - - - - - 14.79 14.25 13.60
12743 798.8 7.4 539 12763 done 0.59 - - 3089 - 2.42 0.042 2246 -583.1 172.7 2.95 1.205 2364 -7.8 1.007 - - - - - - 14.41 14.35 13.23
13095 772.1 7.7 547 13108 done 0.59 - - 3089 - - - 2246 - 174.8 3.20 1.362 2354 -3.1 0.345 - - - - - - 14.69 14.51 13.31
13431 746.6 7.7 553 13444 done 0.60 - - 3089 - - - 2246 - 176.9 3.55 1.539 2345 -2.5 0.240 - - - - - - 14.77 14.59 13.39
13767 721.0 7.6 559 13784 roll 0.60 - - 3089 - 2.62 0.106 3653 537.0 180.3 4.62 1.907 2335 -2.2 0.159 - - - - - - 14.80 14.49 13.47
13837 715.0 8.6 569 13851 done 0.60 - - 3099 - 2.38 0.044 2257 -586.6 180.3 1.88 0.304 2332 -1.6 0.731 - - - - - - 14.62 14.56 13.97
14158 690.2 7.7 579 14175 roll 0.60 - - 3099 - 2.65 0.104 3652 526.4 181.7 3.15 1.351 2330 - - - - - - - - 14.80 14.52 13.41
14200 686.4 8.7 585 14214 done 0.60 - - 3109 - 2.38 0.042 2249 -589.5 181.7 1.60 0.274 2327 -1.9 0.915 - - - - - - 14.65 14.57 14.11
14555 656.9 8.4 593 14573 roll 0.60 - - 3109 - 2.70 0.105 3651 519.3 181.7 1.55 0.267 2330 1.9 -0.928 - - - - - - 14.81 14.42 14.07
14599 652.8 9.6 599 14612 done 0.60 - - 3119 - 2.38 0.043 2250 -588.7 181.7 1.38 0.282 2326 -2.9 1.308 - - - - - - 14.66 14.57 14.13
14954 622.2 8.6 607 14971 roll 0.60 - - 3119 - 2.70 0.106 3651 518.9 181.7 1.52 0.264 2328 - - - - - - - - 14.81 14.43 14.09
15003 617.4 9.3 614 15019 done 0.60 0.12 0.233 3094 -208.3 2.38 0.043 2254 -587.0 181.7 1.45 0.251 2329 - - - - - - - - 14.33 14.57 14.14
15347 592.0 7.3 621 15373 done 0.61 - - 3087 - - - 2254 - 191.2 16.65 1.820 2288 -2.5 0.156 - - - - - - 14.83 14.57 13.88
15680 567.0 7.5 633 15693 roll 0.62 - - 3093 - 2.62 0.103 3657 535.5 196.4 1.08 0.264 2269 -17.6 7.363 - - - - - - 14.76 14.38 14.28
15733 562.5 8.6 640 15747 done 0.62 - - 3103 - 2.40 0.043 2258 -582.9 196.4 - - 2275 - - - - - - - - 14.61 14.57 14.63
16077 535.5 7.8 647 16090 roll 0.62 - - 3099 - 2.65 0.107 3660 529.1 196.4 - - 2275 - - - - - - - - 14.81 14.38 14.83
16109 532.7 8.5 651 16122 done 0.62 - - 3113 - 2.38 0.042 2259 -588.7 196.4 - - 2276 - - - - - - - - 14.64 14.57 14.66
16478 504.1 7.6 661 16496 roll 0.63 - - 3112 - 2.60 0.106 3660 538.8 200.5 3.80 1.544 2257 -5.0 0.318 - - - - - - 14.82 14.57 13.52
16528 499.7 8.9 668 16543 done 0.63 - - 3122 - 2.38 0.041 2259 -588.7 200.5 1.30 0.268 2254 -2.3 0.839 - - - - - - 14.69 14.58 14.23
16873 472.8 7.8 675 16886 roll 0.63 - - 3132 - 2.50 0.063 858 -560.4 200.5 1.60 0.272 2255 - - - - - - - - 14.81 14.50 13.93
16940 467.4 7.8 684 16954 done 0.63 0.10 0.221 3104 -280.0 2.42 0.056 2264 581.0 200.5 2.00 0.328 2252 -1.5 0.417 - - - - - - 14.34 14.49 12.89
17269 442.9 7.6 695 17286 roll 0.63 - - 3103 - 2.55 0.104 3656 545.9 203.3 4.57 1.701 2242 -2.2 0.111 - - - - - - 14.83 14.52 13.58
17367 433.9 8.9 709 17381 done 0.63 - - 3112 - 2.35 0.042 2272 -588.9 203.3 1.58 0.274 2240 - - - - - - - - 14.66 14.58 14.07
17722 403.8 8.5 717 17736 roll 0.63 - - 3122 - 2.53 0.062 852 -561.3 203.3 1.58 0.278 2242 - - - - - - - - 14.82 14.50 13.95
17754 400.9 8.5 721 17768 done 0.63 - - 3122 - 2.45 0.057 2269 578.4 203.3 0.93 0.289 2241 - - - - - - - - 14.64 14.50 14.33
18124 370.6 8.1 731 18137 roll 0.63 - - 3122 - 2.58 0.103 3661 539.5 203.3 1.27 0.256 2243 - - - - - - - - 14.84 14.40 14.23
18170 366.4 9.2 737 18183 done 0.63 - - 3132 - 2.38 0.041 2258 -589.5 203.3 - - 2251 - - - - - - - - 14.70 14.57 14.69
18524 338.1 7.8 745 18538 roll 0.63 - - 3142 - 2.47 0.062 865 -564.0 203.3 1.55 0.270 2242 -5.8 1.417 - - - - - - 14.85 14.50 13.97
18563 334.9 7.9 750 18578 done 0.63 0.12 0.223 3108 -283.3 2.42 0.056 2268 579.8 203.3 1.30 0.283 2241 - - - - - - - - 14.33 14.50 14.01
18926 309.8 6.9 759 18965 roll 0.65 - - 3106 - 2.55 0.102 3657 544.7 221.9 26.23 1.427 2159 -3.1 0.132 - - - - - - 14.85 14.46 13.95
19032 301.4 8.1 774 19047 done 0.65 - - 3115 - 2.35 0.041 2274 -588.5 221.9 - - 2155 - - - - - - - - 14.56 14.50 14.58
19376 275.4 7.7 781 19389 done 0.65 - - 3114 - - - 2272 - 223.9 - - 2154 - - - - - - - - 14.77 14.78 14.77
19713 248.5 8.1 787 19726 roll 0.65 - - 3114 - 2.60 0.104 3655 531.9 223.9 - - 2154 - - - - - - - - 14.81 14.37 14.81
19765 243.4 9.7 794 19780 done 0.65 - - 3124 - 2.38 0.041 2257 -587.4 223.9 - - 2154 - - - - - - - - 14.63 14.54 14.64
20110 214.0 8.5 801 20122 done 0.65 - - 3124 - - - 2257 - 223.9 - - 2154 - - - - - - - - 14.83 14.83 14.81
20446 186.1 8.2 807 20459 roll 0.65 - - 3123 - 2.65 0.103 3655 527.5 223.9 - - 2154 - - - - - - - - 14.85 14.39 14.85
20507 180.5 9.4 815 20520 done 0.65 - - 3133 - 2.35 0.041 2275 -587.2 223.9 - - 2153 - - - - - - - - 14.66 14.58 14.68
20847 151.9 8.4 828 20860 roll 0.65 - - 3133 - 2.60 0.103 3655 530.8 223.9 - - 2154 - - - - - - - - 14.84 14.39 14.84
20879 148.8 9.2 832 20892 done 0.65 0.10 0.230 3114 -190.0 2.35 0.041 2260 -593.6 223.9 - - 2154 - - - - - - - - 14.34 14.59 14.57
21248 121.0 7.4 842 21266 roll 0.66 - - 3114 - 2.58 0.102 3654 540.3 232.5 3.85 1.239 2126 -7.3 0.138 - - - - - - 14.86 14.59 13.70
21291 117.4 8.4 848 21304 done 0.66 - - 3122 - 2.33 0.041 2267 -595.3 232.5 1.58 0.301 2124 - - - - - - - - 14.70 14.65 14.05
21618 93.4 6.8 857 21643 roll 0.69 - - 3132 - 2.40 0.059 863 -585.0 254.1 12.65 0.435 2038 -6.8 0.284 - - - - - - 14.84 14.51 14.21
21676 89.7 6.6 865 21702 done 0.81 - - 3132 - 2.47 0.054 2287 576.5 279.3 13.85 0.429 1937 -7.3 0.297 - - - - - - 14.65 14.51 14.21
22007 69.7 5.6 879 22044 roll 0.99 0.17 0.083 3229 570.6 2.53 0.098 3665 544.7 326.2 24.67 0.376 1749 -7.6 0.275 - - - - - - 14.50 14.46 14.21
22093 63.1 7.3 891 22111 done 1.00 - - 3239 - 2.33 0.039 2272 -597.9 336.4 6.03 0.340 1709 -6.6 0.240 - - - - - - 14.64 14.58 14.15
22426 46.2 4.8 905 22472 roll 1.08 - - 3249 - 2.50 0.060 860 -564.8 400.5 32.72 0.307 1454 -7.8 0.229 - - - - - - 14.80 14.50 14.26
22562 38.6 5.9 924 22595 done 1.24 0.10 0.115 3314 650.0 2.47 0.051 2297 581.8 441.3 20.95 0.280 1293 -7.7 0.206 - - - - - - 14.52 14.46 14.23
22898 10.5 8.3 939 22912 roll 1.24 - - 3314 - 2.50 0.101 3657 544.0 441.3 - - 1294 - - - - - - - - 14.79 14.40 14.79
22991 end climb: SURFACE_DEPTH_REACHED
22991 begin surface coast
23000 end surface coast: CONTROL_FINISHED_OK
23000 begin surface
SM -1.18 - - - - -8.39 9.38 0.089 194 20.7 1.50 0.041 2755 1663.3 500.14 27.67 0.154 1057 38.2 0.030 - - - - - -