SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 206 * Raw log
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• Previous call tries 1 • 80.79 of 350.00 AH used of 24V (76.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth -2.60 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - - 113 done -0.90 - - 183 - - - 2778 - -116.8 -91.38 - 3518 - - - - - - - - 14.57 13.09 14.52
116 1.7 -7.5 3 132 roll -0.90 11.43 0.386 2592 210.8 1.90 0.067 3830 553.7 -116.8 - - 3518 - - - - - - - - 14.10 14.32 14.42
362 79.3 -14.5 39 369 done -0.64 0.35 0.221 2689 277.1 1.83 0.038 2749 -590.7 -116.8 - - 3519 - - - - - - - - 14.12 14.40 14.28
698 105.9 -9.3 53 706 roll -0.64 - - 2681 - 2.05 0.099 3824 524.4 -116.8 - - 3522 - - - - - - - - 14.65 14.28 14.65
851 118.2 -9.3 75 859 done -0.64 - - 2681 - 1.80 0.039 2755 -593.9 -116.8 - - 3521 - - - - - - - - 14.53 14.49 14.54
1202 145.0 -7.8 83 1209 roll -0.64 - - 2673 - 2.03 0.100 3817 523.2 -116.8 - - 3520 - - - - - - - - 14.67 14.31 14.67
1264 150.7 -9.7 92 1272 done -0.64 - - 2673 - 1.77 0.040 2772 -590.4 -116.8 - - 3520 - - - - - - - - 14.54 14.50 14.54
1594 179.8 -8.8 104 1601 roll -0.64 - - 2673 - 2.40 0.042 1382 -579.2 -116.8 - - 3518 - - - - - - - - 14.67 14.38 14.67
1656 185.7 -9.1 113 1665 done -0.64 0.08 0.221 2685 150.0 2.47 0.063 2758 557.1 -116.8 - - 3517 - - - - - - - - 14.20 14.32 14.39
1986 213.3 -8.1 125 1994 roll -0.64 - - 2677 - 2.03 0.103 3830 528.1 -116.8 - - 3515 - - - - - - - - 14.66 14.28 14.67
2083 222.1 -8.9 139 2091 done -0.64 - - 2678 - 1.83 0.042 2768 -580.3 -116.8 - - 3514 - - - - - - - - 14.54 14.49 14.55
2437 251.5 -8.5 147 2452 roll -0.64 - - 2669 - 1.98 0.104 3826 534.3 -116.8 - - 3511 - - - - - - - - 14.76 14.39 14.76
2527 259.8 -8.8 159 2540 done -0.64 - - 2668 - 1.77 0.044 2751 -607.3 -116.8 - - 3510 - - - - - - - - 14.64 14.57 14.65
2895 290.5 -8.3 169 2909 roll -0.64 - - 2669 - 2.33 0.044 1373 -591.4 -116.8 - - 3504 - - - - - - - - 14.88 14.57 14.86
2934 293.9 -8.5 174 2948 done -0.64 0.10 0.239 2688 190.0 2.45 0.064 2772 571.0 -116.8 - - 3507 - - - - - - - - 14.37 14.54 14.58
3296 321.3 -7.6 183 3309 done -0.64 - - 2688 - - - 2772 - -116.8 - - 3505 - - - - - - - - 14.89 14.88 14.88
3632 348.8 -8.3 189 3646 roll -0.64 - - 2688 - 2.38 0.044 1374 -587.4 -116.8 - - 3502 - - - - - - - - 14.90 14.62 14.90
3664 351.7 -8.8 193 3678 done -0.64 - - 2679 - 2.45 0.066 2775 571.8 -116.8 - - 3502 - - - - - - - - 14.71 14.55 14.73
4033 385.3 -9.2 203 4046 roll -0.64 - - 2672 - 1.92 0.106 3824 546.4 -116.8 - - 3500 - - - - - - - - 14.91 14.48 14.91
4065 388.3 -9.6 207 4078 done -0.64 - - 2671 - 1.73 0.044 2774 -606.9 -116.8 - - 3500 - - - - - - - - 14.76 14.71 14.78
4433 420.8 -8.7 217 4447 roll -0.64 - - 2672 - 2.35 0.044 1375 -595.3 -116.8 - - 3497 - - - - - - - - 14.92 14.57 14.91
4486 425.7 -8.9 224 4500 done -0.64 0.10 0.241 2691 190.0 2.45 0.066 2768 568.6 -116.8 - - 3497 - - - - - - - - 14.39 14.53 14.62
4830 452.2 -7.6 231 4843 done -0.64 - - 2690 - - - 2768 - -116.8 - - 3497 - - - - - - - - 14.93 14.93 14.93
5166 475.9 -7.0 237 5179 done -0.64 - - 2691 - - - 2768 - -116.8 - - 3494 - - - - - - - - 14.90 14.92 14.91
5502 498.6 -6.6 243 5516 roll -0.64 - - 2691 - 2.38 0.044 1370 -587.4 -116.8 - - 3491 - - - - - - - - 14.92 14.61 14.92
5563 502.7 -6.7 251 5576 done -0.64 - - 2682 - 2.47 0.067 2767 565.6 -116.8 - - 3491 - - - - - - - - 14.69 14.52 14.71
5904 527.2 -7.3 264 5917 roll -0.64 - - 2674 - 1.95 0.107 3825 542.6 -116.8 - - 3491 - - - - - - - - 14.92 14.41 14.92
5964 532.1 -8.1 272 5978 done -0.64 - - 2675 - 1.77 0.044 2752 -606.2 -116.8 - - 3490 - - - - - - - - 14.75 14.69 14.75
6305 560.0 -8.4 285 6318 roll -0.64 - - 2674 - 2.33 0.043 1369 -593.6 -116.8 - - 3488 - - - - - - - - 14.91 14.59 14.91
6422 570.6 -8.9 301 6435 done -0.64 - - 2666 - 2.47 0.067 2765 565.2 -116.8 - - 3487 - - - - - - - - 14.68 14.50 14.70
6763 603.0 -9.6 314 6776 done -0.64 - - 2665 - - - 2764 - -116.8 - - 3487 - - - - - - - - 14.91 14.91 14.91
7099 634.0 -9.1 320 7112 roll -0.64 - - 2657 - 1.95 0.109 3818 540.5 -116.8 - - 3485 - - - - - - - - 14.91 14.41 14.91
7138 637.7 -9.5 325 7151 done -0.64 0.12 0.215 2694 308.3 1.75 0.045 2761 -604.0 -116.8 - - 3485 - - - - - - - - 14.36 14.68 14.57
7500 662.1 -6.4 334 7514 roll -0.72 - - 2694 - 2.35 0.044 1373 -590.6 -116.8 - - 3484 - - - - - - - - 14.90 14.55 14.90
7602 668.1 -5.6 348 7616 done -0.82 0.10 0.123 2623 -710.0 2.45 0.067 2760 566.1 -116.8 - - 3484 - - - - - - - - 14.59 14.49 14.68
7957 696.4 -8.1 356 7970 roll -0.82 - - 2614 - 1.98 0.109 3826 538.4 -116.8 - - 3482 - - - - - - - - 14.91 14.40 14.91
8010 701.1 -8.9 363 8024 done -0.82 - - 2614 - 1.80 0.044 2753 -596.1 -116.8 - - 3482 - - - - - - - - 14.71 14.64 14.72
8354 731.4 -8.9 370 8367 roll -0.82 - - 2604 - 2.03 0.108 3824 527.6 -116.8 - - 3481 - - - - - - - - 14.91 14.41 14.91
8393 735.2 -9.9 375 8407 done -0.74 0.17 0.220 2656 305.9 1.77 0.044 2754 -604.5 -116.8 - - 3481 - - - - - - - - 14.26 14.66 14.51
8755 762.2 -7.3 384 8768 done -0.74 - - 2656 - - - 2754 - -116.8 - - 3477 - - - - - - - - 14.89 14.90 14.89
9092 787.0 -7.3 390 9105 roll -0.74 - - 2657 - 2.35 0.045 1371 -588.5 -116.8 - - 3477 - - - - - - - - 14.88 14.54 14.89
9131 790.0 -8.5 395 9144 done -0.74 - - 2647 - 2.47 0.069 2762 563.2 -116.8 - - 3478 - - - - - - - - 14.64 14.46 14.66
9493 816.8 -7.3 404 9506 roll -0.74 - - 2637 - 2.00 0.111 3832 535.0 -116.8 - - 3477 - - - - - - - - 14.90 14.37 14.90
9546 821.0 -6.6 411 9559 done -0.74 - - 2639 - 1.80 0.047 2761 -595.0 -116.8 - - 3477 - - - - - - - - 14.68 14.62 14.70
9890 846.6 -7.4 418 9903 roll -0.74 - - 2639 - 2.35 0.045 1378 -588.5 -116.8 - - 3474 - - - - - - - - 14.88 14.52 14.88
9964 852.4 -7.5 428 9977 done -0.74 0.10 0.255 2658 190.0 2.47 0.068 2764 561.1 -116.8 - - 3476 - - - - - - - - 14.27 14.49 14.53
10291 875.3 -7.0 439 10304 roll -0.74 - - 2650 - 1.98 0.113 3821 533.8 -116.8 - - 3474 - - - - - - - - 14.88 14.35 14.88
10344 879.2 -7.6 446 10358 done -0.74 - - 2650 - 1.80 0.045 2754 -592.8 -116.8 - - 3475 - - - - - - - - 14.62 14.56 14.64
10688 904.2 -7.3 453 10701 roll -0.74 - - 2644 - 2.35 0.044 1368 -589.8 -116.8 - - 3476 - - - - - - - - 14.88 14.52 14.88
10749 908.8 -7.5 461 10763 done -0.74 - - 2641 - 2.50 0.070 2758 556.0 -116.8 - - 3474 - - - - - - - - 14.61 14.42 14.63
11032 end dive: TARGET_DEPTH_EXCEEDED
11032 begin apogee
11037 930.8 -7.8 473 11162 roll -0.23 0.62 0.187 2823 293.5 - - 2224 - - 115.50 1.960 3053 -3.6 0.333 - - - - - - 14.31 14.00 13.23
11164 end apogee: CONTROL_FINISHED_OK
11164 begin climb
11166 934.1 - 475 11307 roll 0.90 1.08 0.103 3169 320.4 2.47 0.055 848 -557.1 116.8 124.18 1.961 2585 -3.8 0.345 - - - - - - 14.01 14.03 13.07
11347 925.9 8.1 503 11360 done 0.76 - - 3169 - 2.53 0.053 2255 556.1 116.8 - - 2573 - - - - - - - - 14.05 13.95 14.07
11709 893.0 9.3 512 11722 roll 0.60 0.22 0.229 3101 -309.1 2.60 0.096 3656 538.8 116.8 - - 2569 - - - - - - - - 14.09 14.24 14.26
11748 889.6 10.3 517 11762 done 0.50 0.17 0.225 3064 -217.6 2.42 0.041 2233 -588.0 116.8 - - 2569 - - - - - - - - 14.14 14.40 14.40
12111 868.0 5.8 526 12172 roll 0.55 - - 3064 - 2.75 0.102 3660 518.9 158.8 45.47 1.927 2410 -3.5 0.303 - - - - - - 14.74 14.16 13.50
12228 860.1 7.5 542 12242 done 0.56 - - 3074 - 2.45 0.041 2249 -575.9 165.1 1.60 0.242 2391 -11.9 8.112 - - - - - - 14.36 14.28 14.07
12571 836.7 7.0 555 12604 done 0.58 - - 3074 - - - 2246 - 181.8 24.75 1.965 2327 -2.6 0.212 - - - - - - 14.68 14.34 13.62
12906 811.9 7.6 561 12919 roll 0.59 - - 3073 - 2.67 0.102 3650 525.8 185.8 - - 2312 - - - - - - - - 14.67 14.32 14.67
12967 807.2 8.6 569 12980 done 0.59 - - 3083 - 2.42 0.041 2241 -582.2 185.8 - - 2312 - - - - - - - - 14.55 14.47 14.57
13308 780.0 8.0 582 13321 roll 0.59 - - 3083 - 2.67 0.101 3653 528.8 185.8 - - 2311 - - - - - - - - 14.75 14.36 14.75
13361 775.4 9.2 589 13375 done 0.59 - - 3092 - 2.40 0.042 2254 -582.9 185.8 - - 2310 - - - - - - - - 14.59 14.52 14.62
13705 747.4 8.0 596 13718 done 0.59 - - 3092 - - - 2253 - 185.8 - - 2310 - - - - - - - - 14.78 14.79 14.80
14040 721.2 7.8 602 14054 roll 0.59 - - 3093 - 2.62 0.102 3651 533.6 185.8 - - 2309 - - - - - - - - 14.83 14.38 14.83
14121 714.3 8.4 613 14134 done 0.59 - - 3102 - 2.38 0.042 2251 -588.2 185.8 - - 2309 - - - - - - - - 14.64 14.54 14.65
14441 689.9 7.7 623 14454 done 0.59 - - 3102 - - - 2248 - 187.3 - - 2309 - - - - - - - - 14.82 14.83 14.83
14777 665.0 7.3 629 14802 roll 0.60 - - 3102 - 2.67 0.102 3654 526.6 196.1 13.20 1.959 2264 -3.4 0.222 - - - - - - 14.83 14.52 13.87
14842 659.7 8.7 638 14855 done 0.60 - - 3112 - 2.38 0.042 2263 -584.5 196.1 - - 2260 - - - - - - - - 14.60 14.53 14.62
15169 633.9 8.0 649 15182 done 0.60 - - 3112 - - - 2261 - 196.1 - - 2258 - - - - - - - - 14.80 14.78 14.78
15505 605.9 8.4 655 15518 done 0.60 - - 3112 - - - 2254 - 196.1 - - 2258 - - - - - - - - 14.81 14.81 14.81
15841 576.6 8.7 661 15854 roll 0.60 - - 3112 - 2.65 0.104 3661 530.9 196.1 - - 2258 - - - - - - - - 14.83 14.37 14.84
15894 571.4 9.8 668 15908 done 0.60 - - 3122 - 2.40 0.043 2257 -585.0 196.1 - - 2258 - - - - - - - - 14.64 14.55 14.64
16238 540.6 9.0 675 16251 roll 0.60 - - 3131 - 2.45 0.063 852 -573.5 196.1 - - 2258 - - - - - - - - 14.85 14.46 14.83
16277 537.1 8.8 680 16290 done 0.60 0.12 0.212 3097 -283.3 2.45 0.057 2264 576.3 196.1 - - 2258 - - - - - - - - 14.31 14.48 14.55
16639 510.8 7.0 689 16670 roll 0.62 - - 3096 - 2.60 0.103 3656 535.4 211.5 16.65 1.745 2198 -3.6 0.203 - - - - - - 14.85 14.50 13.90
16731 503.6 8.1 702 16744 done 0.62 - - 3105 - 2.38 0.041 2258 -587.4 211.5 - - 2195 - - - - - - - - 14.57 14.50 14.59
17092 478.0 7.0 711 17124 roll 0.64 - - 3113 - 2.45 0.063 869 -566.9 227.3 16.33 1.700 2135 -3.7 0.199 - - - - - - 14.77 14.47 13.87
17135 474.9 7.0 717 17168 done 0.66 - - 3115 - 2.42 0.056 2269 578.5 243.7 17.50 1.663 2073 -3.5 0.194 - - - - - - 14.56 14.45 13.75
17490 445.9 8.5 732 17503 roll 0.66 - - 3115 - 2.58 0.104 3655 537.2 243.7 - - 2064 - - - - - - - - 14.68 14.29 14.68
17563 438.4 10.0 742 17577 done 0.66 - - 3124 - 2.38 0.041 2262 -585.3 243.7 - - 2064 - - - - - - - - 14.56 14.47 14.57
17890 406.8 9.8 753 17904 roll 0.66 - - 3134 - 2.42 0.063 865 -577.3 243.7 - - 2063 - - - - - - - - 14.76 14.37 14.75
17929 402.9 9.8 758 17942 done 0.66 - - 3134 - 2.45 0.056 2273 574.7 243.7 - - 2063 - - - - - - - - 14.57 14.43 14.60
18291 367.2 9.6 767 18304 roll 0.66 - - 3134 - 2.55 0.101 3655 542.0 243.7 - - 2063 - - - - - - - - 14.79 14.39 14.79
18330 363.2 10.4 772 18343 done 0.66 0.10 0.233 3116 -180.0 2.35 0.042 2271 -588.9 243.7 - - 2063 - - - - - - - - 14.27 14.51 14.51
18692 334.0 8.0 781 18705 roll 0.66 - - 3125 - 2.45 0.062 855 -578.0 243.7 - - 2063 - - - - - - - - 14.82 14.45 14.82
18731 330.8 8.3 786 18744 done 0.66 - - 3125 - 2.45 0.055 2272 578.4 243.7 - - 2062 - - - - - - - - 14.62 14.47 14.65
19092 300.6 8.4 795 19106 roll 0.66 - - 3125 - 2.55 0.102 3657 543.1 243.7 - - 2063 - - - - - - - - 14.84 14.38 14.84
19159 294.2 9.6 804 19172 done 0.66 - - 3136 - 2.35 0.041 2264 -592.8 243.7 - - 2063 - - - - - - - - 14.65 14.57 14.66
19493 264.6 8.9 816 19506 roll 0.66 - - 3145 - 2.42 0.062 860 -580.2 243.7 - - 2063 - - - - - - - - 14.83 14.46 14.83
19531 260.9 9.3 821 19545 done 0.66 0.10 0.220 3115 -300.0 2.45 0.055 2277 578.4 243.7 - - 2063 - - - - - - - - 14.33 14.48 14.57
19894 231.1 8.3 830 19907 roll 0.66 - - 3112 - 2.53 0.100 3654 544.3 243.7 - - 2063 - - - - - - - - 14.85 14.39 14.85
19946 226.3 9.3 837 19961 done 0.66 - - 3123 - 2.35 0.041 2265 -591.1 243.7 - - 2063 - - - - - - - - 14.66 14.57 14.68
20291 197.1 8.5 844 20304 roll 0.66 - - 3123 - 2.60 0.100 3660 536.5 243.7 - - 2062 - - - - - - - - 14.84 14.38 14.84
20322 193.9 9.5 848 20336 done 0.66 - - 3132 - 2.33 0.040 2279 -592.7 243.7 - - 2063 - - - - - - - - 14.66 14.58 14.68
20691 161.4 8.8 858 20704 roll 0.66 - - 3143 - 2.45 0.062 859 -579.6 243.7 - - 2063 - - - - - - - - 14.86 14.46 14.85
20752 156.2 8.7 866 20765 done 0.66 - - 3143 - 2.45 0.054 2277 578.8 243.7 - - 2063 - - - - - - - - 14.62 14.47 14.66
21093 126.9 8.6 879 21106 roll 0.66 - - 3143 - 2.53 0.101 3654 544.3 243.7 - - 2063 - - - - - - - - 14.84 14.38 14.84
21139 122.6 9.3 885 21153 done 0.66 0.12 0.215 3115 -233.3 2.33 0.040 2269 -594.4 243.7 - - 2063 - - - - - - - - 14.32 14.58 14.57
21467 97.5 7.9 893 21481 roll 0.74 - - 3115 - 2.58 0.099 3654 536.8 243.7 - - 2064 - - - - - - - - 14.85 14.38 14.85
21541 91.8 7.1 903 21561 done 0.76 - - 3123 - 2.30 0.040 2276 -599.1 258.9 5.65 0.397 2023 -7.3 0.323 - - - - - - 14.66 14.57 14.12
21866 73.4 6.3 916 21897 roll 0.91 0.12 0.099 3212 741.7 2.42 0.060 863 -583.9 291.0 18.30 0.388 1891 -7.2 0.262 - - - - - - 14.57 14.52 14.23
22126 53.4 7.5 953 22145 done 0.92 - - 3212 - 2.45 0.051 2298 585.7 296.5 3.75 0.303 1871 -5.3 0.181 - - - - - - 14.62 14.48 14.13
22460 48.7 0.7 967 22553 roll 1.21 0.12 0.103 3300 733.3 2.47 0.102 3650 547.4 450.1 78.00 0.321 1258 -7.9 0.229 - - - - - - 14.57 14.41 14.26
22649 34.3 9.9 994 22662 done 1.21 - - 3308 - 2.30 0.040 2290 -591.3 450.1 - - 1260 - - - - - - - - 14.58 14.51 14.59
22965 5.9 7.7 1006 22978 roll 1.21 - - 3308 - 2.53 0.096 3655 539.5 451.7 - - 1260 - - - - - - - - 14.80 14.35 14.80
23015 end climb: SURFACE_DEPTH_REACHED
23015 begin surface coast
23024 end surface coast: CONTROL_FINISHED_OK
23024 begin surface
SM -4.60 - - - - -8.38 9.30 0.088 193 20.8 1.52 0.041 2743 1612.5 500.14 23.50 0.165 1058 45.0 0.128 - - - - - -