SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 270 * Raw log
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• Previous call tries 1 • 102.53 of 350.00 AH used of 24V (70.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth -1.82 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 90 done -0.93 - - 152 - - - 2783 - -107.1 -76.20 - 3478 - - - - - - - - 14.64 12.79 14.65
93 0.2 -6.7 2 113 roll -0.93 11.88 0.391 2591 205.3 2.38 0.032 1362 -597.1 -107.1 - - 3482 - - - - - - - - 14.04 14.42 14.39
153 31.4 -28.6 12 160 done -0.62 0.43 0.256 2692 234.9 2.55 0.070 2764 549.8 -107.1 - - 3480 - - - - - - - - 14.08 14.31 14.28
476 83.0 -11.8 25 483 roll -0.50 0.22 0.220 2742 227.3 2.35 0.040 1374 -591.5 -107.1 - - 3481 - - - - - - - - 14.25 14.48 14.49
616 91.3 -6.1 45 623 done -0.50 - - 2732 - 2.50 0.065 2781 562.8 -107.1 - - 3482 - - - - - - - - 14.50 14.41 14.54
980 115.8 -6.9 57 987 roll -0.58 - - 2724 - 1.95 0.108 3821 533.3 -107.1 - - 3483 - - - - - - - - 14.88 14.37 14.88
1014 118.2 -7.0 62 1021 done -0.66 0.05 0.202 2664 -1200.0 1.77 0.040 2763 -597.7 -107.1 - - 3483 - - - - - - - - 14.53 14.67 14.65
1372 148.0 -8.2 71 1378 roll -0.66 - - 2655 - 2.00 0.106 3818 527.5 -107.1 - - 3482 - - - - - - - - 14.91 14.40 14.91
1428 152.8 -8.5 79 1434 done -0.66 0.08 0.211 2679 300.0 1.73 0.041 2782 -598.8 -107.1 - - 3482 - - - - - - - - 14.33 14.64 14.48
1764 180.1 -8.2 92 1770 roll -0.66 - - 2679 - 1.98 0.108 3818 523.2 -107.1 - - 3480 - - - - - - - - 14.95 14.38 14.94
1798 183.2 -8.9 97 1805 done -0.66 - - 2671 - 1.75 0.041 2778 -594.3 -107.1 - - 3480 - - - - - - - - 14.73 14.69 14.75
2156 214.0 -8.6 106 2157 done -0.66 - - 2670 - - - 2778 - -107.1 - - 3477 - - - - - - - - 14.93 14.94 14.93
2492 241.7 -8.2 112 2498 roll -0.66 - - 2671 - 2.38 0.044 1371 -591.2 -107.1 - - 3474 - - - - - - - - 14.95 14.49 14.95
2519 244.0 -8.5 116 2526 done -0.66 - - 2661 - 2.53 0.067 2771 553.4 -107.1 - - 3475 - - - - - - - - 14.56 14.46 14.61
2884 274.2 -8.2 126 2885 done -0.66 - - 2661 - - - 2776 - -107.1 - - 3472 - - - - - - - - 14.95 14.95 14.95
3220 302.0 -8.3 132 3226 roll -0.66 - - 2661 - 2.42 0.044 1383 -575.6 -107.1 - - 3470 - - - - - - - - 14.95 14.52 14.95
3268 306.2 -8.5 139 3276 done -0.66 0.10 0.219 2680 190.0 2.53 0.068 2786 554.5 -107.1 - - 3469 - - - - - - - - 14.26 14.45 14.43
3612 332.5 -7.7 146 3618 roll -0.66 - - 2680 - 2.40 0.044 1383 -584.6 -107.1 - - 3466 - - - - - - - - 14.94 14.55 14.94
3660 336.4 -7.9 153 3669 done -0.66 - - 2672 - 2.50 0.068 2777 557.6 -107.1 - - 3466 - - - - - - - - 14.54 14.45 14.59
4004 365.5 -8.6 160 4005 done -0.66 - - 2671 - - - 2776 - -107.1 - - 3464 - - - - - - - - 14.96 14.96 14.96
4340 396.5 -9.2 166 4346 roll -0.66 - - 2671 - 2.42 0.044 1384 -575.2 -107.1 - - 3462 - - - - - - - - 14.95 14.50 14.95
4381 400.4 -9.2 172 4388 done -0.66 - - 2662 - 2.50 0.069 2775 556.4 -107.1 - - 3462 - - - - - - - - 14.54 14.45 14.59
4732 432.2 -9.0 180 4738 roll -0.66 - - 2654 - 2.00 0.114 3821 523.0 -107.1 - - 3458 - - - - - - - - 14.95 14.30 14.95
4766 435.4 -9.2 185 4774 done -0.66 0.10 0.233 2683 290.0 1.80 0.045 2778 -579.4 -107.1 - - 3460 - - - - - - - - 14.32 14.66 14.54
5124 461.8 -7.2 194 5130 roll -0.66 - - 2684 - 2.42 0.045 1375 -579.8 -107.1 - - 3458 - - - - - - - - 14.95 14.48 14.95
5186 466.3 -7.2 203 5193 done -0.75 0.05 0.119 2652 -640.0 2.53 0.068 2772 552.2 -107.1 - - 3457 - - - - - - - - 14.39 14.40 14.48
5516 495.2 -9.0 215 5522 roll -0.75 - - 2651 - 2.45 0.044 1376 -569.8 -107.1 - - 3456 - - - - - - - - 14.93 14.47 14.92
5550 498.3 -9.1 220 5557 done -0.75 - - 2642 - 2.53 0.068 2770 551.0 -107.1 - - 3456 - - - - - - - - 14.50 14.40 14.54
5908 530.3 -8.9 229 5908 done -0.75 - - 2642 - - - 2770 - -107.1 - - 3455 - - - - - - - - 14.92 14.93 14.93
6244 560.5 -9.0 235 6245 done -0.75 - - 2642 - - - 2770 - -107.1 - - 3453 - - - - - - - - 14.93 14.94 14.93
6580 591.1 -9.2 241 6586 roll -0.75 - - 2634 - 2.03 0.113 3820 517.2 -107.1 - - 3452 - - - - - - - - 14.95 14.26 14.95
6614 594.5 -10.1 246 6620 done -0.75 - - 2633 - 1.83 0.044 2771 -573.2 -107.1 - - 3451 - - - - - - - - 14.69 14.63 14.71
6972 627.9 -9.3 255 6973 done -0.75 - - 2632 - - - 2772 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7308 660.2 -9.8 261 7309 done -0.75 - - 2633 - - - 2772 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7644 693.6 -9.9 267 7650 roll -0.75 - - 2633 - 2.42 0.046 1379 -575.6 -107.1 - - 3447 - - - - - - - - 14.95 14.42 14.95
7700 699.2 -9.8 275 7706 done -0.75 0.10 0.250 2650 170.0 2.55 0.070 2772 546.3 -107.1 - - 3443 - - - - - - - - 14.05 14.33 14.24
8036 729.1 -8.8 288 8037 done -0.75 - - 2650 - - - 2772 - -107.1 - - 3445 - - - - - - - - 14.92 14.92 14.92
8372 758.2 -8.6 294 8378 roll -0.75 - - 2649 - 2.47 0.045 1375 -565.6 -107.1 - - 3445 - - - - - - - - 14.92 14.33 14.92
8399 760.6 -8.7 298 8406 done -0.75 - - 2640 - 2.55 0.068 2772 547.8 -107.1 - - 3444 - - - - - - - - 14.42 14.33 14.48
8764 791.7 -8.5 308 8765 done -0.75 - - 2641 - - - 2772 - -107.1 - - 3443 - - - - - - - - 14.90 14.91 14.89
9100 819.7 -8.3 314 9106 roll -0.75 - - 2640 - 2.47 0.044 1368 -568.4 -107.1 - - 3442 - - - - - - - - 14.91 14.38 14.90
9169 825.5 -8.4 324 9176 done -0.75 - - 2630 - 2.55 0.068 2768 549.0 -107.1 - - 3442 - - - - - - - - 14.37 14.29 14.45
9492 853.7 -8.8 335 9498 roll -0.75 - - 2621 - 2.03 0.114 3816 516.3 -107.1 - - 3443 - - - - - - - - 14.90 14.15 14.90
9554 859.7 -9.5 344 9561 done -0.75 0.12 0.237 2656 291.7 1.83 0.044 2761 -576.5 -107.1 - - 3440 - - - - - - - - 14.13 14.56 14.40
9884 885.8 -7.8 356 9890 roll -0.75 - - 2656 - 2.42 0.046 1378 -571.5 -107.1 - - 3439 - - - - - - - - 14.92 14.34 14.92
9925 889.1 -6.1 362 9932 done -0.75 - - 2647 - 2.55 0.069 2769 545.5 -107.1 - - 3439 - - - - - - - - 14.39 14.28 14.44
10276 918.4 -8.4 370 10282 roll -0.75 - - 2639 - 2.05 0.116 3825 515.1 -107.1 - - 3437 - - - - - - - - 14.92 14.14 14.92
10317 922.1 -6.9 376 10323 done -0.75 - - 2638 - 1.85 0.046 2773 -568.6 -107.1 - - 3438 - - - - - - - - 14.62 14.55 14.63
10441 end dive: TARGET_DEPTH_EXCEEDED
10441 begin apogee
10448 932.8 -8.1 380 10560 roll -0.23 0.65 0.193 2821 281.5 0.10 0.162 2271 -5020.0 - 110.07 1.928 3050 -3.5 0.335 - - - - - - 14.14 13.95 13.20
10562 end apogee: CONTROL_FINISHED_OK
10562 begin climb
10564 936.9 - 382 10690 roll 0.93 1.17 0.108 3183 309.4 2.53 0.055 876 -551.4 107.1 114.70 1.965 2617 -3.8 0.354 - - - - - - 13.97 14.02 13.01
10921 914.8 7.7 434 10926 done 0.83 - - 3183 - 2.40 0.053 2241 568.8 108.4 - - 2608 - - - - - - - - 14.35 14.23 14.37
11284 883.8 8.6 444 11290 roll 0.70 0.20 0.218 3137 -230.0 2.38 0.056 878 -572.7 108.4 - - 2606 - - - - - - - - 14.16 14.35 14.42
11501 868.4 6.9 475 11523 done 0.72 - - 3137 - 2.42 0.052 2254 568.6 124.4 17.65 1.991 2552 -3.1 0.262 - - - - - - 14.42 14.34 13.62
11845 842.1 7.8 489 11851 roll 0.72 - - 3137 - 2.58 0.099 3654 542.6 124.4 - - 2543 - - - - - - - - 14.73 14.31 14.74
11957 832.7 8.5 505 11964 done 0.63 0.12 0.203 3111 -216.7 2.38 0.041 2276 -579.0 124.4 - - 2543 - - - - - - - - 14.19 14.44 14.51
12293 811.1 6.2 518 12337 roll 0.67 - - 3111 - 2.58 0.100 3650 532.6 155.4 34.78 1.878 2424 -3.4 0.290 - - - - - - 14.80 14.29 13.57
12363 806.8 6.6 528 12392 done 0.70 - - 3120 - 2.42 0.041 2262 -573.6 177.5 25.42 1.911 2343 -3.2 0.264 - - - - - - 14.38 14.34 13.41
12735 780.1 7.1 539 12748 done 0.71 - - 3120 - - - 2262 - 189.9 12.18 2.039 2293 -4.1 0.308 - - - - - - 14.68 14.39 13.57
13071 755.4 7.3 545 13078 roll 0.72 - - 3119 - 2.67 0.103 3652 520.6 198.0 2.83 1.145 2267 -9.2 1.190 - - - - - - 14.73 14.40 13.12
13139 749.6 8.7 555 13147 done 0.72 - - 3130 - 2.45 0.041 2254 -570.6 198.0 1.77 0.304 2264 -1.7 0.821 - - - - - - 14.54 14.49 13.83
13463 724.5 7.7 566 13469 roll 0.72 - - 3133 - 2.62 0.099 3654 534.4 198.1 1.83 0.317 2267 1.6 -0.736 - - - - - - 14.78 14.18 13.71
13503 720.8 9.2 572 13511 done 0.72 - - 3140 - 2.42 0.040 2262 -575.2 198.1 1.40 0.274 2263 -2.9 1.476 - - - - - - 14.58 14.52 13.82
13854 692.4 8.1 580 13861 roll 0.72 - - 3150 - 2.42 0.058 866 -576.9 198.1 1.62 0.282 2264 - - - - - - - - 14.82 14.20 13.81
13875 690.7 8.0 583 13881 done 0.72 - - 3149 - 2.45 0.052 2257 567.8 198.1 - - 2270 - - - - - - - - 14.51 14.43 14.54
14190 664.4 8.4 593 14198 roll 0.72 - - 3149 - 2.60 0.101 3658 538.8 198.1 1.40 0.266 2265 -3.6 1.752 - - - - - - 14.85 14.29 14.04
14231 660.6 9.6 599 14239 done 0.72 - - 3160 - 2.45 0.041 2256 -572.2 198.1 1.35 0.257 2262 -2.2 1.122 - - - - - - 14.58 14.54 13.95
14583 630.2 8.7 607 14589 roll 0.72 - - 3160 - 2.62 0.100 3650 532.1 198.1 1.27 0.269 2263 - - - - - - - - 14.87 14.32 14.09
14631 625.3 10.1 614 14639 done 0.72 0.10 0.217 3141 -190.0 2.40 0.041 2259 -579.6 198.1 1.15 0.243 2262 - - - - - - - - 14.19 14.50 14.12
14975 596.6 8.4 621 14982 roll 0.72 - - 3151 - 2.42 0.058 870 -574.0 198.1 1.20 0.269 2264 - - - - - - - - 14.85 14.32 14.10
15009 593.7 8.2 626 15016 done 0.72 - - 3150 - 2.47 0.054 2266 565.2 198.1 1.17 0.239 2259 -4.3 2.085 - - - - - - 14.49 14.41 14.15
15367 561.8 9.0 635 15373 roll 0.72 - - 3150 - 2.60 0.103 3661 536.5 198.1 0.98 0.282 2263 4.1 -1.597 - - - - - - 14.88 14.34 14.19
15456 552.4 10.4 648 15464 done 0.72 - - 3161 - 2.42 0.040 2268 -575.6 198.1 1.27 0.234 2262 - - - - - - - - 14.59 14.54 14.09
15814 518.1 9.6 657 15815 done 0.72 - - 3161 - - - 2263 - 198.1 - - 2270 - - - - - - - - 14.88 14.88 14.88
16150 487.4 9.0 663 16157 roll 0.72 - - 3161 - 2.62 0.099 3661 533.6 198.1 1.45 0.267 2264 -4.1 1.484 - - - - - - 14.86 14.22 13.94
16178 484.8 9.5 667 16185 done 0.72 0.10 0.216 3142 -190.0 2.42 0.041 2266 -576.4 198.1 - - 2268 - - - - - - - - 14.16 14.46 14.34
16543 456.4 7.7 677 16550 roll 0.72 - - 3151 - 2.45 0.059 859 -574.3 198.3 1.30 0.263 2263 -3.8 1.311 - - - - - - 14.88 14.27 14.05
16563 454.8 7.7 680 16570 done 0.73 - - 3151 - 2.50 0.054 2270 564.4 198.6 - - 2267 - - - - - - - - 14.47 14.36 14.50
16879 429.3 8.1 690 16885 roll 0.73 - - 3152 - 2.58 0.100 3654 536.4 198.6 1.30 0.262 2266 - - - - - - - - 14.88 14.32 14.03
16975 420.1 9.4 704 16983 done 0.73 - - 3163 - 2.42 0.040 2261 -575.6 198.6 1.70 0.275 2261 -2.9 0.882 - - - - - - 14.57 14.52 13.74
17327 388.0 9.3 712 17330 done 0.73 - - 3162 - - - 2258 - 198.6 1.62 0.283 2259 - - - - - - - - 14.85 14.34 13.76
17663 356.2 9.5 718 17669 roll 0.73 - - 3162 - 2.62 0.099 3660 535.1 198.6 1.73 0.304 2263 2.3 -0.532 - - - - - - 14.86 14.18 13.71
17718 350.4 10.6 726 17725 done 0.73 0.12 0.207 3137 -208.3 2.40 0.040 2280 -575.0 198.6 1.55 0.291 2261 - - - - - - - - 14.14 14.47 13.76
18055 323.1 7.9 739 18061 roll 0.73 - - 3137 - 2.58 0.101 3661 535.3 198.6 2.25 0.627 2260 - - - - - - - - 14.86 14.32 13.21
18075 321.4 8.0 742 18081 done 0.73 - - 3146 - 2.40 0.040 2269 -580.0 198.6 - - 2267 - - - - - - - - 14.61 14.58 14.62
18390 296.5 7.8 752 18393 done 0.73 - - 3146 - - - 2268 - 198.6 1.65 0.290 2259 -4.8 0.974 - - - - - - 14.86 14.37 13.74
18727 272.1 7.1 758 18754 roll 0.74 - - 3156 - 2.50 0.060 865 -561.2 210.7 18.42 1.441 2205 -2.9 0.109 - - - - - - 14.85 14.52 13.85
18768 269.2 6.8 764 18791 done 0.76 - - 3156 - 2.50 0.053 2284 567.6 228.8 19.02 1.401 2136 -3.6 0.137 - - - - - - 14.52 14.45 13.78
19112 241.3 8.2 778 19117 roll 0.76 - - 3156 - 2.58 0.102 3647 528.3 228.8 - - 2125 - - - - - - - - 14.74 14.23 14.74
19160 236.7 9.8 785 19169 done 0.76 - - 3166 - 2.40 0.039 2263 -576.7 228.8 - - 2125 - - - - - - - - 14.56 14.47 14.58
19504 206.1 8.9 792 19509 roll 0.76 - - 3175 - 2.42 0.060 868 -576.4 228.8 - - 2126 - - - - - - - - 14.81 14.37 14.81
19531 203.6 8.8 796 19538 done 0.76 0.08 0.203 3153 -275.0 2.47 0.051 2273 568.8 228.8 - - 2125 - - - - - - - - 14.19 14.37 14.34
19896 172.5 8.6 806 19901 roll 0.76 - - 3158 - 2.60 0.101 3654 531.2 228.8 - - 2125 - - - - - - - - 14.83 14.28 14.83
19930 169.2 9.4 811 19936 done 0.76 - - 3163 - 2.38 0.039 2284 -575.6 228.8 - - 2124 - - - - - - - - 14.57 14.52 14.59
20288 137.2 9.0 820 20293 roll 0.76 - - 3164 - 2.58 0.102 3658 532.6 228.8 - - 2125 - - - - - - - - 14.84 14.28 14.84
20322 133.7 10.0 825 20330 done 0.76 - - 3173 - 2.40 0.039 2270 -578.3 228.8 - - 2126 - - - - - - - - 14.59 14.53 14.60
20680 102.6 8.4 834 20685 roll 0.76 - - 3183 - 2.47 0.061 868 -567.6 228.8 - - 2125 - - - - - - - - 14.85 14.34 14.85
20728 98.7 7.8 841 20737 done 0.76 0.10 0.187 3152 -310.0 2.47 0.051 2282 572.5 228.8 - - 2125 - - - - - - - - 14.21 14.40 14.35
21044 82.0 4.0 853 21085 roll 0.95 0.10 0.119 3224 720.0 2.45 0.059 861 -580.0 303.3 34.97 0.420 1843 -8.1 0.309 - - - - - - 14.57 14.52 14.15
21274 68.7 6.0 886 21296 done 0.99 - - 3224 - 2.53 0.053 2292 565.6 338.5 17.67 0.372 1701 -8.0 0.291 - - - - - - 14.44 14.36 14.09
21604 47.7 5.6 900 21633 roll 1.15 0.08 0.146 3285 762.5 2.53 0.100 3664 542.3 381.1 21.48 0.313 1531 -7.9 0.237 - - - - - - 14.52 14.40 14.16
21708 39.9 8.6 915 21716 done 1.15 - - 3295 - 2.33 0.037 2300 -585.4 381.1 - - 1532 - - - - - - - - 14.51 14.47 14.52
22024 22.2 5.8 927 22052 roll 1.20 - - 3295 - 2.55 0.095 3650 529.4 420.5 19.62 0.232 1375 -8.0 0.150 - - - - - - 14.81 14.35 14.22
22144 13.5 7.0 944 22157 done 1.29 - - 3304 - 2.25 0.036 2301 -599.6 434.5 7.22 0.209 1318 -7.9 0.100 - - - - - - 14.59 14.53 14.21
22329 end climb: SURFACE_DEPTH_REACHED
22329 begin surface coast
22358 end surface coast: CONTROL_FINISHED_OK
22358 begin surface
SM -1.59 - - - - -8.41 9.27 0.071 187 20.2 0.88 0.085 2772 -7511.4 500.14 30.42 0.155 1059 34.8 0.036 - - - - - -