SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 212 * Raw log
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• Previous call tries 1 • 83.07 of 350.00 AH used of 24V (76.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth -3.90 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 98 done -0.90 - - 172 - - - 2783 - -116.8 -75.82 - 3516 - - - - - - - - 14.60 13.05 14.59
100 -2.4 -4.4 2 122 roll -0.90 11.75 0.396 2604 207.0 2.33 0.029 1334 -621.9 -116.8 - - 3513 - - - - - - - - 14.10 14.43 14.42
211 42.6 -24.5 19 219 done -0.59 0.35 0.246 2700 274.3 2.58 0.067 2770 556.6 -116.8 - - 3519 - - - - - - - - 14.14 14.28 14.40
541 83.5 -8.8 33 549 roll -0.59 - - 2700 - 2.35 0.038 1364 -598.3 -116.8 - - 3520 - - - - - - - - 14.76 14.49 14.76
694 97.5 -8.1 55 702 done -0.59 - - 2690 - 2.50 0.063 2774 564.0 -116.8 - - 3520 - - - - - - - - 14.50 14.42 14.54
1017 123.9 -7.1 63 1023 roll -0.59 - - 2682 - 1.95 0.105 3820 536.4 -116.8 - - 3520 - - - - - - - - 14.81 14.40 14.82
1185 137.7 -8.8 87 1192 done -0.59 - - 2680 - 1.75 0.037 2751 -610.9 -116.8 - - 3520 - - - - - - - - 14.63 14.61 14.64
1521 167.1 -8.8 100 1528 roll -0.59 - - 2682 - 2.25 0.041 1395 -602.7 -116.8 - - 3519 - - - - - - - - 14.84 14.57 14.84
1577 171.9 -8.5 108 1584 done -0.59 0.10 0.211 2702 200.0 2.45 0.067 2772 562.0 -116.8 - - 3518 - - - - - - - - 14.32 14.48 14.47
1913 196.7 -7.5 121 1921 roll -0.59 - - 2695 - 1.98 0.107 3824 531.3 -116.8 - - 3516 - - - - - - - - 14.85 14.40 14.85
1975 201.9 -8.3 130 1983 done -0.59 - - 2694 - 1.75 0.040 2784 -594.3 -116.8 - - 3516 - - - - - - - - 14.69 14.65 14.70
2305 228.3 -8.0 142 2311 roll -0.59 - - 2694 - 2.35 0.041 1377 -598.7 -116.8 - - 3512 - - - - - - - - 14.85 14.54 14.85
2353 232.1 -7.8 149 2363 done -0.59 - - 2685 - 2.50 0.063 2766 555.6 -116.8 - - 3513 - - - - - - - - 14.54 14.45 14.58
2697 259.3 -8.0 156 2710 roll -0.59 - - 2678 - 1.95 0.106 3827 544.1 -116.8 - - 3509 - - - - - - - - 14.88 14.45 14.88
2763 265.0 -8.5 165 2777 done -0.59 0.10 0.222 2708 300.0 1.73 0.041 2770 -611.0 -116.8 - - 3509 - - - - - - - - 14.43 14.69 14.62
3098 287.8 -6.6 177 3111 roll -0.59 - - 2707 - 2.33 0.041 1379 -597.0 -116.8 - - 3507 - - - - - - - - 14.90 14.62 14.90
3158 291.8 -6.7 185 3172 done -0.68 - - 2699 - 2.47 0.065 2779 566.8 -116.8 - - 3506 - - - - - - - - 14.64 14.50 14.67
3499 313.9 -6.4 198 3512 done -0.68 - - 2699 - - - 2779 - -116.8 - - 3503 - - - - - - - - 14.92 14.92 14.92
3835 334.7 -6.2 204 3849 roll -0.68 - - 2699 - 2.40 0.042 1368 -587.9 -116.8 - - 3502 - - - - - - - - 14.93 14.64 14.92
3937 341.5 -6.7 218 3951 done -0.68 - - 2690 - 2.47 0.067 2769 567.2 -116.8 - - 3501 - - - - - - - - 14.69 14.55 14.72
4292 367.3 -7.5 226 4306 roll -0.68 - - 2682 - 1.95 0.109 3825 541.5 -116.8 - - 3499 - - - - - - - - 14.92 14.45 14.93
4380 374.4 -8.1 238 4393 done -0.68 - - 2681 - 1.77 0.043 2740 -613.0 -116.8 - - 3499 - - - - - - - - 14.73 14.68 14.76
4749 402.2 -7.4 248 4762 roll -0.68 - - 2682 - 2.28 0.041 1385 -594.3 -116.8 - - 3497 - - - - - - - - 14.92 14.65 14.92
4795 405.7 -7.6 254 4808 done -0.68 - - 2673 - 2.42 0.067 2770 572.3 -116.8 - - 3496 - - - - - - - - 14.70 14.54 14.73
5150 432.3 -7.6 262 5163 done -0.68 - - 2673 - - - 2770 - -116.8 - - 3495 - - - - - - - - 14.91 14.92 14.90
5486 459.7 -8.3 268 5499 roll -0.68 - - 2673 - 2.38 0.043 1377 -585.3 -116.8 - - 3493 - - - - - - - - 14.93 14.59 14.93
5532 464.0 -9.3 274 5545 done -0.68 - - 2663 - 2.47 0.068 2769 563.6 -116.8 - - 3493 - - - - - - - - 14.71 14.51 14.71
5887 496.9 -9.3 282 5900 roll -0.68 - - 2655 - 1.98 0.110 3825 533.3 -116.8 - - 3492 - - - - - - - - 14.91 14.42 14.92
5995 507.4 -9.4 297 6010 done -0.68 - - 2654 - 1.77 0.044 2776 -592.7 -116.8 - - 3491 - - - - - - - - 14.66 14.62 14.67
6339 538.0 -8.9 304 6352 roll -0.68 - - 2654 - 2.38 0.044 1368 -591.6 -116.8 - - 3489 - - - - - - - - 14.92 14.57 14.92
6400 543.3 -8.6 312 6413 done -0.68 0.12 0.230 2681 225.0 2.50 0.069 2768 560.0 -116.8 - - 3489 - - - - - - - - 14.33 14.49 14.58
6741 570.0 -7.8 325 6754 roll -0.68 - - 2673 - 1.98 0.111 3828 535.4 -116.8 - - 3487 - - - - - - - - 14.91 14.41 14.90
6780 573.2 -8.5 330 6793 done -0.68 - - 2673 - 1.77 0.044 2755 -606.2 -116.8 - - 3487 - - - - - - - - 14.73 14.68 14.73
7141 601.4 -7.7 339 7155 roll -0.68 - - 2673 - 2.33 0.044 1379 -590.6 -116.8 - - 3486 - - - - - - - - 14.90 14.57 14.90
7187 604.8 -7.3 345 7201 done -0.68 - - 2661 - 2.47 0.070 2769 562.8 -116.8 - - 3486 - - - - - - - - 14.66 14.49 14.70
7542 629.9 -7.1 353 7556 roll -0.68 - - 2663 - 2.38 0.044 1378 -584.5 -116.8 - - 3485 - - - - - - - - 14.92 14.57 14.91
7588 633.3 -7.2 359 7601 done -0.68 - - 2654 - 2.47 0.069 2767 562.3 -116.8 - - 3484 - - - - - - - - 14.61 14.43 14.64
7943 659.9 -7.7 367 7956 roll -0.68 - - 2646 - 1.98 0.112 3825 534.3 -116.8 - - 3483 - - - - - - - - 14.90 14.39 14.90
7982 663.3 -9.1 372 7995 done -0.68 0.10 0.226 2676 300.0 1.77 0.045 2757 -603.4 -116.8 - - 3483 - - - - - - - - 14.35 14.66 14.59
8344 689.7 -7.3 381 8357 roll -0.68 - - 2679 - 2.35 0.045 1371 -589.8 -116.8 - - 3482 - - - - - - - - 14.90 14.55 14.90
8405 694.2 -7.3 389 8418 done -0.68 - - 2667 - 2.50 0.068 2766 558.0 -116.8 - - 3480 - - - - - - - - 14.64 14.46 14.66
8746 719.5 -7.5 402 8759 done -0.68 - - 2667 - - - 2767 - -116.8 - - 3480 - - - - - - - - 14.91 14.91 14.91
9082 745.1 -7.6 408 9095 roll -0.68 - - 2667 - 2.40 0.046 1373 -580.8 -116.8 - - 3479 - - - - - - - - 14.91 14.52 14.91
9149 750.5 -7.6 417 9163 done -0.68 - - 2658 - 2.47 0.070 2760 561.5 -116.8 - - 3479 - - - - - - - - 14.62 14.45 14.66
9483 775.9 -7.6 429 9496 done -0.68 - - 2658 - - - 2760 - -116.8 - - 3478 - - - - - - - - 14.88 14.88 14.89
9819 800.1 -7.1 435 9833 roll -0.68 - - 2658 - 2.38 0.045 1375 -581.9 -116.8 - - 3480 - - - - - - - - 14.88 14.52 14.88
9872 804.0 -7.3 442 9886 done -0.68 0.10 0.243 2677 190.0 2.47 0.070 2758 559.9 -116.8 - - 3477 - - - - - - - - 14.28 14.44 14.52
10217 825.7 -6.4 449 10230 roll -0.68 - - 2678 - 2.38 0.044 1374 -581.5 -116.8 - - 3476 - - - - - - - - 14.88 14.52 14.88
10270 829.4 -6.8 456 10284 done -0.68 - - 2669 - 2.47 0.068 2756 559.5 -116.8 - - 3476 - - - - - - - - 14.61 14.45 14.64
10614 852.9 -6.8 463 10627 done -0.68 - - 2669 - - - 2756 - -116.8 - - 3475 - - - - - - - - 14.88 14.88 14.88
10950 875.1 -6.6 469 10963 roll -0.68 - - 2669 - 2.40 0.046 1370 -577.5 -116.8 - - 3474 - - - - - - - - 14.88 14.50 14.88
10989 878.0 -7.1 474 11002 done -0.68 - - 2660 - 2.47 0.071 2753 559.9 -116.8 - - 3474 - - - - - - - - 14.62 14.44 14.65
11351 900.7 -6.4 483 11364 done -0.68 - - 2656 - - - 2753 - -116.8 - - 3472 - - - - - - - - 14.87 14.87 14.87
11687 922.5 -6.5 489 11700 roll -0.68 - - 2652 - 2.03 0.116 3827 529.1 -116.8 - - 3472 - - - - - - - - 14.89 14.32 14.89
11733 925.7 -5.3 495 11746 done -0.68 0.10 0.226 2681 290.0 1.80 0.047 2760 -592.8 -116.8 - - 3472 - - - - - - - - 14.30 14.62 14.52
11862 end dive: TARGET_DEPTH_EXCEEDED
11862 begin apogee
11867 933.0 -5.3 499 11997 roll -0.23 0.47 0.171 2825 306.4 0.03 0.298 2242 -17266.7 - 119.90 1.925 3049 -3.5 0.330 - - - - - - 14.32 13.90 13.24
11998 end apogee: CONTROL_FINISHED_OK
11998 begin climb
12000 935.8 - 501 12141 done 0.90 1.08 0.110 3169 318.5 - - 2242 - 116.8 125.25 1.945 2580 -3.7 0.348 - - - - - - 13.98 14.22 13.02
12483 896.7 9.9 531 12497 roll 0.75 - - 3169 - 2.70 0.100 3667 527.8 116.8 - - 2569 - - - - - - - - 14.57 14.18 14.57
12522 892.5 13.2 536 12536 done 0.54 0.38 0.235 3080 -234.2 2.45 0.041 2240 -582.4 116.8 - - 2569 - - - - - - - - 14.07 14.38 14.36
12884 867.4 6.7 545 12923 roll 0.57 - - 3079 - 2.75 0.103 3665 518.2 139.0 23.40 1.948 2488 -3.5 0.297 - - - - - - 14.72 14.30 13.67
12962 861.4 8.0 556 12975 done 0.57 - - 3089 - 2.42 0.041 2257 -581.8 139.0 - - 2485 - - - - - - - - 14.45 14.38 14.45
13282 838.3 7.3 566 13300 roll 0.58 - - 3089 - 2.70 0.102 3669 523.0 147.8 3.55 1.536 2464 -5.9 0.623 - - - - - - 14.71 14.43 13.29
13332 834.2 9.4 573 13347 done 0.58 - - 3100 - 2.45 0.041 2244 -581.6 147.8 1.33 0.265 2462 - - - - - - - - 14.56 14.50 14.17
13677 809.3 7.2 580 13706 done 0.59 - - 3100 - - - 2242 - 159.7 20.77 1.951 2415 -2.3 0.181 - - - - - - 14.75 14.45 13.73
14012 783.5 7.7 586 14026 roll 0.59 - - 3100 - 2.70 0.103 3668 528.1 160.2 - - 2402 - - - - - - - - 14.70 14.31 14.70
14065 779.2 8.0 593 14079 done 0.59 - - 3110 - 2.42 0.042 2260 -581.8 160.2 - - 2402 - - - - - - - - 14.56 14.48 14.58
14410 753.4 7.4 600 14423 done 0.60 - - 3110 - - - 2255 - 168.4 2.95 1.213 2378 -8.1 0.975 - - - - - - 14.76 14.57 13.31
14746 729.5 7.1 606 14785 roll 0.62 - - 3110 - 2.70 0.105 3665 522.2 181.6 22.55 1.879 2318 -2.7 0.199 - - - - - - 14.78 14.39 13.78
14810 724.3 8.2 615 14824 done 0.62 - - 3120 - 2.40 0.042 2265 -583.3 181.6 - - 2315 - - - - - - - - 14.50 14.44 14.53
15144 696.9 8.3 627 15158 roll 0.62 - - 3130 - 2.45 0.063 859 -573.9 181.6 - - 2312 - - - - - - - - 14.73 14.40 14.73
15183 693.4 8.5 632 15196 done 0.62 - - 3130 - 2.47 0.056 2278 574.5 181.6 - - 2312 - - - - - - - - 14.54 14.41 14.57
15545 662.0 8.7 641 15558 roll 0.62 - - 3128 - 2.55 0.106 3653 539.2 181.6 - - 2313 - - - - - - - - 14.78 14.35 14.78
15598 656.8 10.0 648 15612 done 0.53 0.22 0.215 3077 -231.8 2.40 0.042 2254 -582.9 181.6 - - 2312 - - - - - - - - 14.23 14.52 14.51
15942 633.4 6.7 655 15980 roll 0.56 - - 3076 - 2.67 0.103 3653 524.0 203.8 23.38 1.786 2232 -3.4 0.234 - - - - - - 14.80 14.41 13.79
16005 628.6 7.8 664 16019 done 0.56 - - 3085 - 2.38 0.041 2263 -584.0 203.8 - - 2228 - - - - - - - - 14.53 14.46 14.54
16339 604.3 7.3 676 16353 done 0.57 - - 3086 - - - 2258 - 214.0 5.05 1.895 2197 -6.1 0.378 - - - - - - 14.73 14.54 13.58
16675 581.5 6.6 682 16722 roll 0.60 - - 3086 - 2.72 0.107 3654 513.2 238.0 34.30 1.690 2096 -2.9 0.195 - - - - - - 14.75 14.28 13.68
16755 576.0 7.6 693 16768 done 0.60 - - 3094 - 2.40 0.044 2264 -579.2 240.3 - - 2091 - - - - - - - - 14.43 14.36 14.44
17124 548.1 7.9 703 17137 done 0.60 - - 3095 - - - 2262 - 240.3 - - 2088 - - - - - - - - 14.71 14.71 14.71
17460 519.3 8.6 709 17473 done 0.60 - - 3094 - - - 2261 - 240.3 - - 2088 - - - - - - - - 14.76 14.77 14.75
17796 493.0 7.7 715 17809 roll 0.61 - - 3094 - 2.65 0.105 3660 527.9 242.2 - - 2087 - - - - - - - - 14.81 14.35 14.81
17857 488.1 8.1 723 17870 done 0.61 - - 3104 - 2.40 0.043 2257 -584.6 242.2 - - 2090 - - - - - - - - 14.64 14.54 14.63
18198 463.0 7.4 736 18215 roll 0.61 - - 3104 - 2.60 0.104 3654 537.3 249.6 5.40 1.804 2059 -5.7 0.284 - - - - - - 14.80 14.52 13.75
18234 460.0 7.9 741 18247 done 0.61 - - 3112 - 2.35 0.042 2268 -589.8 249.6 1.45 0.277 2055 -2.8 0.884 - - - - - - 14.62 14.54 14.16
18596 430.1 8.4 750 18610 roll 0.61 - - 3122 - 2.45 0.062 857 -575.9 249.6 1.25 0.252 2058 2.4 -0.790 - - - - - - 14.81 14.42 14.23
18657 424.7 8.7 758 18671 done 0.61 - - 3122 - 2.47 0.055 2280 576.1 249.6 - - 2065 - - - - - - - - 14.61 14.47 14.64
18998 393.1 9.4 771 19012 roll 0.61 - - 3122 - 2.62 0.103 3661 527.1 249.6 1.52 0.253 2056 -5.9 1.775 - - - - - - 14.81 14.40 14.11
19052 387.5 10.8 778 19067 done 0.61 0.10 0.227 3102 -200.0 2.38 0.040 2265 -586.6 249.6 1.15 0.242 2057 - - - - - - - - 14.31 14.54 14.28
19396 359.4 7.9 785 19409 roll 0.61 - - 3112 - 2.42 0.060 867 -577.7 249.6 1.20 0.252 2057 - - - - - - - - 14.83 14.42 14.23
19442 355.8 7.8 791 19455 done 0.61 - - 3112 - 2.42 0.055 2268 578.9 249.6 - - 2064 - - - - - - - - 14.62 14.47 14.64
19796 328.4 7.8 799 19810 roll 0.61 - - 3112 - 2.58 0.103 3660 539.5 249.6 1.42 0.252 2059 -3.5 0.885 - - - - - - 14.83 14.40 14.19
19878 321.0 9.0 810 19892 done 0.61 - - 3121 - 2.35 0.041 2274 -589.8 249.6 1.50 0.249 2056 -2.0 0.497 - - - - - - 14.64 14.56 14.18
20199 294.6 8.3 820 20212 roll 0.61 - - 3130 - 2.50 0.062 866 -563.2 249.6 1.52 0.249 2059 2.0 -0.451 - - - - - - 14.84 14.47 14.12
20266 289.0 8.1 829 20279 done 0.61 0.10 0.213 3101 -290.0 2.45 0.055 2282 578.0 249.6 1.33 0.231 2056 -2.3 0.544 - - - - - - 14.33 14.47 14.26
20601 264.8 7.2 841 20632 roll 0.71 - - 3100 - 2.50 0.100 3653 548.4 260.9 18.12 1.431 2005 -2.8 0.100 - - - - - - 14.83 14.50 13.95
20678 258.4 8.5 852 20691 done 0.71 - - 3107 - 2.35 0.040 2266 -590.2 260.9 - - 2000 - - - - - - - - 14.59 14.52 14.60
20998 233.9 7.7 862 21012 roll 0.79 0.08 0.151 3174 837.5 2.62 0.100 3660 532.1 262.5 - - 1999 - - - - - - - - 14.51 14.35 14.54
21023 231.3 8.2 865 21036 done 0.79 - - 3184 - 2.35 0.040 2274 -589.8 262.5 - - 1999 - - - - - - - - 14.61 14.52 14.61
21343 194.3 11.7 875 21357 roll 0.79 0.08 0.272 3168 -200.0 2.42 0.059 855 -586.4 262.5 - - 1999 - - - - - - - - 14.25 14.36 14.39
21396 188.3 10.8 882 21411 done 0.79 - - 3167 - 2.45 0.054 2271 578.0 262.5 - - 1998 - - - - - - - - 14.59 14.45 14.61
21741 151.7 10.7 889 21754 roll 0.79 - - 3168 - 2.58 0.102 3660 538.4 262.5 - - 1998 - - - - - - - - 14.83 14.37 14.83
21758 149.6 10.7 891 21772 done 0.79 - - 3178 - 2.38 0.041 2260 -588.2 262.5 - - 1998 - - - - - - - - 14.65 14.57 14.66
22085 115.4 10.4 902 22099 roll 0.79 - - 3188 - 2.42 0.062 864 -576.9 262.5 - - 1999 - - - - - - - - 14.82 14.46 14.82
22146 109.1 10.0 910 22160 done 0.79 0.10 0.231 3158 -300.0 2.45 0.054 2275 575.9 262.5 - - 1998 - - - - - - - - 14.30 14.47 14.52
22489 80.8 6.9 927 22511 roll 0.81 - - 3158 - 2.53 0.099 3655 545.5 281.9 9.18 0.399 1929 -7.5 0.294 - - - - - - 14.83 14.50 14.19
22635 71.5 6.2 948 22668 done 0.85 - - 3168 - 2.33 0.040 2267 -595.7 314.9 18.15 0.385 1796 -7.3 0.263 - - - - - - 14.64 14.57 14.17
22997 56.4 4.4 966 23044 done 1.11 0.20 0.080 3276 540.0 - - 2267 - 387.9 37.55 0.341 1504 -7.8 0.248 - - - - - - 14.57 14.57 14.24
23331 32.7 8.0 978 23345 roll 1.11 - - 3276 - 2.60 0.100 3659 535.4 387.9 - - 1504 - - - - - - - - 14.78 14.37 14.78
23412 26.6 7.4 989 23432 done 1.12 - - 3285 - 2.30 0.038 2277 -600.9 395.8 4.30 0.248 1475 -6.7 0.140 - - - - - - 14.63 14.56 14.18
23761 4.5 5.7 1005 23797 roll 1.18 - - 3294 - 2.42 0.060 864 -583.9 441.1 23.10 0.179 1293 -7.9 0.038 - - - - - - 14.82 14.49 14.36
23807 end climb: SURFACE_DEPTH_REACHED
23807 begin surface coast
23837 end surface coast: CONTROL_FINISHED_OK
23837 begin surface
SM -3.88 - - - - -8.39 9.15 0.080 192 21.0 3.33 0.057 2763 -1794.9 500.14 27.35 0.157 1058 38.7 0.098 - - - - - -