SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 208 * Raw log
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• Previous call tries 1 • 81.62 of 350.00 AH used of 24V (76.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -4.46 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 37 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 - - 153 - - - 2779 - -116.8 -76.47 - 3515 - - - - - - - - 14.57 13.11 14.53
100 -2.0 -4.5 2 117 roll -0.90 11.77 0.392 2598 207.7 1.95 0.094 3829 538.5 -116.8 - - 3515 - - - - - - - - 14.09 14.30 14.38
242 57.5 -31.3 23 249 done -0.45 0.57 0.253 2747 261.4 1.75 0.037 2735 -625.1 -116.8 - - 3517 - - - - - - - - 14.10 14.38 14.35
571 87.4 -7.0 37 577 roll -0.45 - - 2739 - 2.08 0.101 3822 522.6 -116.8 - - 3518 - - - - - - - - 14.63 14.27 14.63
739 96.7 -4.2 61 745 done -0.45 - - 2739 - 1.75 0.041 2786 -592.0 -116.8 - - 3518 - - - - - - - - 14.46 14.43 14.47
1075 118.3 -8.2 72 1083 roll -0.53 - - 2731 - 2.00 0.102 3828 521.0 -116.8 - - 3519 - - - - - - - - 14.66 14.29 14.66
1200 127.1 -7.3 90 1207 done -0.61 - - 2732 - 1.77 0.041 2775 -594.9 -116.8 - - 3519 - - - - - - - - 14.49 14.46 14.50
1523 148.9 -6.6 101 1530 roll -0.70 0.12 0.097 2643 -741.7 2.35 0.042 1379 -594.0 -116.8 - - 3517 - - - - - - - - 14.47 14.42 14.52
1613 156.9 -9.1 114 1621 done -0.70 0.12 0.220 2669 216.7 2.53 0.063 2784 555.3 -116.8 - - 3516 - - - - - - - - 14.20 14.34 14.35
1971 188.2 -8.9 123 1977 roll -0.70 - - 2662 - 1.98 0.102 3828 527.3 -116.8 - - 3514 - - - - - - - - 14.67 14.29 14.67
2019 193.5 -10.2 130 2028 done -0.70 - - 2661 - 1.77 0.041 2774 -595.5 -116.8 - - 3514 - - - - - - - - 14.49 14.47 14.50
2363 225.7 -9.3 137 2369 roll -0.70 - - 2653 - 2.00 0.103 3819 522.5 -116.8 - - 3511 - - - - - - - - 14.66 14.28 14.66
2432 232.4 -9.7 147 2440 done -0.70 - - 2652 - 1.77 0.041 2780 -587.0 -116.8 - - 3510 - - - - - - - - 14.53 14.46 14.54
2755 261.3 -8.9 158 2767 done -0.70 - - 2652 - - - 2780 - -116.8 - - 3507 - - - - - - - - 14.80 14.81 14.80
3091 291.3 -9.1 164 3104 roll -0.70 - - 2652 - 2.38 0.044 1374 -590.8 -116.8 - - 3504 - - - - - - - - 14.86 14.57 14.86
3115 294.1 -9.6 167 3129 done -0.70 0.10 0.246 2671 190.0 2.50 0.067 2785 564.4 -116.8 - - 3504 - - - - - - - - 14.35 14.51 14.59
3435 322.5 -8.8 177 3448 done -0.70 - - 2672 - - - 2785 - -116.8 - - 3502 - - - - - - - - 14.90 14.90 14.90
3772 350.1 -8.0 183 3784 done -0.70 - - 2671 - - - 2785 - -116.8 - - 3501 - - - - - - - - 14.92 14.91 14.92
4107 376.3 -7.8 189 4121 roll -0.70 - - 2671 - 2.40 0.045 1383 -584.2 -116.8 - - 3498 - - - - - - - - 14.92 14.61 14.92
4160 380.4 -7.8 196 4175 done -0.70 - - 2661 - 2.47 0.068 2781 566.0 -116.8 - - 3497 - - - - - - - - 14.69 14.54 14.72
4504 408.8 -8.4 203 4517 done -0.70 - - 2661 - - - 2781 - -116.8 - - 3496 - - - - - - - - 14.92 14.96 14.92
4840 438.1 -8.9 209 4854 roll -0.70 - - 2661 - 2.38 0.045 1385 -586.6 -116.8 - - 3493 - - - - - - - - 14.92 14.61 14.92
4901 443.6 -9.0 217 4914 done -0.70 - - 2651 - 2.47 0.069 2778 564.0 -116.8 - - 3494 - - - - - - - - 14.70 14.54 14.73
5242 474.8 -9.2 230 5255 roll -0.70 - - 2643 - 1.92 0.108 3824 544.8 -116.8 - - 3492 - - - - - - - - 14.92 14.47 14.92
5343 484.1 -9.2 244 5357 done -0.70 0.10 0.231 2673 300.0 1.75 0.045 2794 -588.6 -116.8 - - 3492 - - - - - - - - 14.38 14.65 14.61
5699 511.1 -7.2 252 5712 roll -0.70 - - 2673 - 2.40 0.045 1370 -593.3 -116.8 - - 3490 - - - - - - - - 14.92 14.59 14.91
5760 515.4 -7.0 260 5773 done -0.70 - - 2663 - 2.50 0.067 2788 567.2 -116.8 - - 3490 - - - - - - - - 14.69 14.52 14.72
6101 540.0 -7.2 273 6114 roll -0.70 - - 2662 - 2.42 0.044 1369 -586.4 -116.8 - - 3484 - - - - - - - - 14.91 14.59 14.91
6146 543.6 -7.9 279 6160 done -0.70 - - 2653 - 2.50 0.069 2777 563.2 -116.8 - - 3488 - - - - - - - - 14.64 14.48 14.66
6501 573.2 -8.5 287 6514 roll -0.70 - - 2645 - 1.95 0.109 3829 539.5 -116.8 - - 3485 - - - - - - - - 14.93 14.42 14.92
6554 578.1 -9.4 294 6567 done -0.70 - - 2644 - 1.77 0.046 2775 -595.5 -116.8 - - 3485 - - - - - - - - 14.67 14.62 14.69
6898 609.0 -9.1 301 6911 roll -0.70 - - 2645 - 2.38 0.044 1370 -590.3 -116.8 - - 3482 - - - - - - - - 14.91 14.56 14.95
6959 614.6 -9.1 309 6972 done -0.70 0.12 0.236 2671 216.7 2.53 0.069 2784 558.9 -116.8 - - 3484 - - - - - - - - 14.33 14.50 14.62
7300 641.4 -7.8 322 7313 roll -0.70 - - 2672 - 2.42 0.044 1367 -585.5 -116.8 - - 3482 - - - - - - - - 14.90 14.56 14.90
7345 645.0 -7.7 328 7359 done -0.70 - - 2662 - 2.50 0.069 2769 560.8 -116.8 - - 3482 - - - - - - - - 14.62 14.45 14.64
7701 671.1 -7.3 336 7714 roll -0.70 - - 2653 - 1.95 0.109 3822 540.0 -116.8 - - 3481 - - - - - - - - 14.90 14.40 14.90
7733 673.5 -7.4 340 7746 done -0.70 - - 2654 - 1.75 0.045 2773 -599.4 -116.8 - - 3478 - - - - - - - - 14.72 14.66 14.73
8101 699.4 -7.0 350 8114 done -0.70 - - 2653 - - - 2773 - -116.8 - - 3479 - - - - - - - - 14.90 14.90 14.90
8438 723.5 -7.2 356 8451 roll -0.70 - - 2654 - 2.38 0.045 1370 -589.5 -116.8 - - 3478 - - - - - - - - 14.89 14.47 14.90
8505 728.8 -7.7 365 8518 done -0.70 - - 2645 - 2.53 0.070 2780 557.3 -116.8 - - 3479 - - - - - - - - 14.65 14.47 14.68
8839 755.9 -8.3 377 8852 roll -0.70 0.08 0.275 2664 237.5 1.92 0.106 3824 543.8 -116.8 - - 3477 - - - - - - - - 14.30 14.38 14.43
8885 759.7 -8.3 383 8898 done -0.70 - - 2663 - 1.77 0.045 2755 -604.0 -116.8 - - 3477 - - - - - - - - 14.71 14.65 14.73
9239 787.7 -8.0 391 9253 roll -0.70 - - 2661 - 2.35 0.045 1372 -588.5 -116.8 - - 3476 - - - - - - - - 14.90 14.53 14.92
9306 793.2 -8.0 400 9319 done -0.70 - - 2654 - 2.50 0.069 2771 559.6 -116.8 - - 3475 - - - - - - - - 14.63 14.46 14.66
9640 820.7 -8.2 412 9653 done -0.70 - - 2654 - - - 2771 - -116.8 - - 3474 - - - - - - - - 14.90 14.91 14.91
9976 847.8 -7.9 418 9989 roll -0.70 - - 2654 - 2.40 0.045 1377 -580.8 -116.8 - - 3472 - - - - - - - - 14.90 14.52 14.90
10029 852.4 -9.0 425 10043 done -0.70 - - 2646 - 2.53 0.070 2781 554.9 -116.8 - - 3472 - - - - - - - - 14.62 14.43 14.69
10373 878.7 -7.5 432 10386 roll -0.70 - - 2637 - 1.95 0.111 3818 531.8 -116.8 - - 3472 - - - - - - - - 14.88 14.34 14.86
10405 881.3 -7.0 436 10419 done -0.70 0.10 0.236 2668 310.0 1.75 0.045 2769 -599.4 -116.8 - - 3472 - - - - - - - - 14.29 14.63 14.53
10775 905.6 -6.5 446 10788 roll -0.70 - - 2668 - 2.38 0.046 1377 -584.9 -116.8 - - 3471 - - - - - - - - 14.88 14.45 14.88
10870 911.8 -6.5 459 10883 done -0.70 - - 2659 - 2.50 0.069 2766 555.6 -116.8 - - 3470 - - - - - - - - 14.62 14.43 14.64
11174 end dive: TARGET_DEPTH_EXCEEDED
11174 begin apogee
11180 932.3 -6.7 467 11300 roll -0.23 0.55 0.181 2821 294.5 0.08 0.177 2259 -6337.5 - 105.00 2.689 3053 -4.0 0.271 - - - - 1 - 14.31 13.81 12.78
11301 end apogee: CONTROL_FINISHED_OK
11302 begin climb
11303 935.7 - 469 11454 roll 0.90 1.10 0.105 3171 318.2 2.50 0.055 885 -549.6 116.8 130.85 1.952 2579 -3.6 0.341 - - - - - - 13.90 13.93 13.01
11460 930.0 8.5 493 11473 done 0.67 0.20 0.226 3118 -265.0 2.47 0.052 2247 551.4 116.8 - - 2574 - - - - - - - - 13.71 13.81 13.88
11802 905.2 7.3 506 11819 roll 0.68 - - 3118 - 2.65 0.099 3650 529.4 126.1 2.75 1.069 2555 -6.9 1.150 - - - - - - 14.56 14.33 13.12
11865 899.9 8.2 515 11879 done 0.55 0.17 0.234 3079 -229.4 2.38 0.041 2258 -584.9 126.1 1.75 0.252 2550 -2.9 2.005 - - - - - - 14.14 14.40 13.84
12194 880.7 5.8 526 12268 roll 0.60 - - 3082 - 2.72 0.099 3650 511.8 169.1 56.95 1.912 2370 -3.2 0.286 - - - - - - 14.71 14.09 13.43
12279 874.9 9.0 531 12292 done 0.60 - - 3092 - 2.42 0.042 2257 -575.6 169.1 - - 2366 - - - - - - - - 14.27 14.21 14.28
12648 848.4 7.3 541 12665 roll 0.62 - - 3092 - 2.67 0.101 3657 524.3 178.4 3.25 1.385 2342 -7.4 0.889 - - - - - - 14.66 14.40 13.28
12691 844.7 10.8 547 12704 done 0.62 - - 3101 - 2.40 0.042 2254 -584.6 178.4 1.42 0.280 2339 -2.1 1.253 - - - - - - 14.53 14.45 14.04
13046 815.9 8.3 555 13063 roll 0.62 - - 3101 - 2.70 0.103 3653 518.1 178.4 1.52 0.251 2342 2.0 -1.261 - - - - - - 14.74 14.34 14.14
13082 812.4 9.6 560 13096 done 0.62 - - 3112 - 2.38 0.042 2257 -586.6 178.4 - - 2347 - - - - - - - - 14.60 14.52 14.62
13444 780.1 8.9 569 13458 done 0.62 - - 3112 - - - 2252 - 178.4 1.25 0.254 2339 -6.4 3.864 - - - - - - 14.79 14.51 14.24
13781 754.0 8.3 575 13794 roll 0.62 - - 3112 - 2.62 0.099 3660 537.4 178.4 1.25 0.255 2340 - - - - - - - - 14.81 14.40 14.23
13820 750.4 9.2 580 13834 done 0.62 - - 3122 - 2.40 0.041 2245 -589.6 178.4 - - 2346 - - - - - - - - 14.65 14.57 14.66
14182 719.6 8.5 589 14195 done 0.62 - - 3122 - - - 2241 - 178.4 - - 2349 - - - - - - - - 14.84 14.84 14.84
14518 691.5 8.4 595 14531 roll 0.62 - - 3122 - 2.65 0.100 3654 533.2 178.4 - - 2348 - - - - - - - - 14.83 14.39 14.83
14579 685.9 9.4 603 14593 done 0.53 0.20 0.221 3070 -260.0 2.38 0.041 2260 -585.7 178.4 1.15 0.240 2335 -11.3 6.350 - - - - - - 14.24 14.56 14.30
14922 661.4 7.1 616 14960 roll 0.55 - - 3076 - 2.65 0.101 3651 524.9 193.0 22.45 1.821 2274 -2.7 0.194 - - - - - - 14.83 14.45 13.82
14980 656.8 7.8 624 14994 done 0.55 - - 3086 - 2.38 0.042 2261 -584.0 193.0 - - 2271 - - - - - - - - 14.56 14.49 14.58
15321 629.4 8.1 637 15334 roll 0.55 - - 3086 - 2.62 0.102 3658 533.2 193.0 - - 2268 - - - - - - - - 14.74 14.32 14.74
15360 625.9 8.5 642 15373 done 0.55 - - 3095 - 2.38 0.041 2260 -587.4 193.0 - - 2269 - - - - - - - - 14.58 14.50 14.59
15722 596.9 7.9 651 15735 done 0.55 - - 3095 - - - 2255 - 193.0 - - 2266 - - - - - - - - 14.78 14.78 14.79
16058 572.1 7.3 657 16075 roll 0.56 - - 3094 - 2.60 0.103 3660 540.4 201.7 3.25 1.331 2251 -4.6 0.390 - - - - - - 14.81 14.54 13.44
16101 568.5 8.3 663 16114 done 0.56 - - 3105 - 2.35 0.042 2273 -590.2 201.7 1.55 0.276 2246 -3.2 1.306 - - - - - - 14.65 14.57 14.10
16456 541.0 7.8 671 16473 roll 0.56 - - 3104 - 2.65 0.101 3653 520.8 201.7 1.62 0.256 2250 2.5 -1.026 - - - - - - 14.82 14.40 14.04
16485 538.3 8.6 675 16499 done 0.56 0.10 0.236 3086 -180.0 2.35 0.042 2271 -588.1 201.7 1.15 0.246 2248 - - - - - - - - 14.32 14.55 14.27
16856 511.0 7.4 685 16885 roll 0.57 - - 3096 - 2.50 0.063 862 -563.6 209.1 13.82 1.782 2211 -2.7 0.151 - - - - - - 14.81 14.54 13.90
16904 507.2 7.3 692 16929 done 0.58 - - 3095 - 2.45 0.056 2271 575.1 219.7 11.05 1.803 2171 -3.6 0.200 - - - - - - 14.59 14.47 13.82
17250 479.2 8.2 706 17263 roll 0.58 - - 3095 - 2.53 0.102 3662 549.8 219.7 - - 2166 - - - - - - - - 14.72 14.34 14.71
17345 470.6 8.9 719 17358 done 0.58 - - 3104 - 2.38 0.041 2270 -584.9 219.7 - - 2166 - - - - - - - - 14.59 14.51 14.61
17707 442.3 7.7 728 17720 roll 0.58 - - 3105 - 2.60 0.099 3660 534.6 219.7 - - 2165 - - - - - - - - 14.80 14.38 14.81
17746 438.9 8.7 733 17759 done 0.58 - - 3114 - 2.35 0.040 2269 -591.9 219.7 - - 2162 - - - - - - - - 14.63 14.54 14.64
18108 411.4 7.5 742 18121 roll 0.59 - - 3124 - 2.53 0.062 855 -558.9 225.8 1.65 0.259 2152 -6.1 1.892 - - - - - - 14.81 14.46 14.01
18147 408.4 7.3 747 18180 done 0.60 0.10 0.208 3094 -300.0 2.47 0.057 2283 578.1 235.9 16.88 1.620 2106 -2.7 0.135 - - - - - - 14.33 14.45 13.90
18509 383.3 7.0 763 18539 roll 0.62 - - 3093 - 2.53 0.100 3659 543.9 251.3 16.75 1.582 2042 -3.8 0.182 - - - - - - 14.75 14.42 13.88
18606 375.2 8.4 777 18619 done 0.62 - - 3101 - 2.35 0.040 2285 -584.7 251.3 - - 2037 - - - - - - - - 14.53 14.45 14.55
18961 347.3 7.9 785 18974 roll 0.62 - - 3109 - 2.47 0.062 852 -580.2 251.3 - - 2036 - - - - - - - - 14.74 14.42 14.75
19000 344.0 8.2 790 19013 done 0.70 - - 3110 - 2.47 0.054 2282 578.9 251.3 - - 2035 - - - - - - - - 14.57 14.43 14.59
19362 313.9 8.3 799 19375 roll 0.70 - - 3110 - 2.53 0.100 3654 542.3 251.3 - - 2035 - - - - - - - - 14.79 14.38 14.80
19435 307.1 9.1 809 19449 done 0.70 - - 3120 - 2.33 0.041 2277 -591.0 251.3 - - 2035 - - - - - - - - 14.62 14.54 14.64
19762 279.6 8.4 820 19775 roll 0.70 - - 3129 - 2.45 0.063 862 -577.6 251.3 - - 2035 - - - - - - - - 14.81 14.45 14.81
19808 275.4 8.6 826 19821 done 0.70 - - 3129 - 2.45 0.056 2280 578.8 251.3 - - 2035 - - - - - - - - 14.61 14.46 14.64
20163 244.1 8.9 834 20175 done 0.70 - - 3129 - - - 2280 - 251.3 - - 2035 - - - - - - - - 14.83 14.83 14.83
20499 215.1 8.6 840 20512 done 0.70 - - 3129 - - - 2281 - 251.3 - - 2035 - - - - - - - - 14.85 14.85 14.85
20835 187.3 8.2 846 20848 roll 0.70 - - 3129 - 2.53 0.102 3650 541.1 251.3 - - 2035 - - - - - - - - 14.84 14.40 14.84
20895 181.9 9.0 854 20909 done 0.70 - - 3138 - 2.33 0.040 2277 -589.3 251.3 - - 2038 - - - - - - - - 14.66 14.57 14.68
21236 152.5 8.7 867 21249 roll 0.70 - - 3149 - 2.45 0.063 855 -580.4 251.3 - - 2035 - - - - - - - - 14.85 14.46 14.85
21303 146.3 9.2 876 21316 done 0.70 - - 3149 - 2.45 0.054 2276 580.0 251.3 - - 2035 - - - - - - - - 14.63 14.48 14.66
21637 114.5 9.3 888 21650 done 0.70 - - 3149 - - - 2276 - 251.3 - - 2037 - - - - - - - - 14.84 14.85 14.85
21945 89.1 7.7 896 21958 roll 0.71 - - 3149 - 2.53 0.100 3653 544.3 252.5 - - 2036 - - - - - - - - 14.84 14.38 14.84
21977 86.7 7.8 900 21991 done 0.71 0.10 0.223 3129 -200.0 2.35 0.041 2261 -592.3 252.5 - - 2036 - - - - - - - - 14.31 14.54 14.57
22321 67.8 5.9 915 22357 roll 0.88 0.08 0.147 3196 837.5 2.65 0.096 3661 528.3 293.6 20.15 0.388 1884 -7.5 0.259 - - - - - - 14.57 14.52 14.26
22585 53.0 1.3 953 22667 done 1.06 0.05 0.202 3268 1440.0 2.33 0.039 2262 -600.4 434.2 69.53 0.348 1321 -8.1 0.242 - - - - - - 14.48 14.57 14.24
22988 26.9 8.7 977 23001 roll 1.06 - - 3268 - 2.60 0.099 3652 534.6 434.2 - - 1320 - - - - - - - - 14.75 14.36 14.77
23077 19.7 8.8 989 23090 done 1.06 0.12 0.206 3238 -250.0 2.30 0.039 2284 -594.8 434.2 - - 1321 - - - - - - - - 14.28 14.50 14.48
23388 end climb: SURFACE_DEPTH_REACHED
23388 begin surface coast
23416 end surface coast: CONTROL_FINISHED_OK
23416 begin surface
SM -4.95 - - - - -8.41 8.88 0.067 190 21.4 0.90 0.076 2776 -2611.1 500.14 31.02 0.164 1057 34.1 0.105 - - - - - -