SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 304 * Raw log
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• Previous call tries 2 • 112.93 of 350.00 AH used of 24V (67.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth -1.52 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 91 done -0.93 - - 81 - - - 2773 - -107.1 -76.07 - 3478 - - - - - - - - 14.66 12.74 14.66
94 -0.1 -4.1 2 114 roll -0.93 11.98 0.386 2584 208.9 1.90 0.090 3821 551.6 -107.1 - - 3480 - - - - - - - - 14.04 14.33 14.40
268 61.1 -21.0 28 273 done -0.60 0.43 0.239 2698 265.1 1.75 0.038 2744 -615.4 -107.1 - - 3480 - - - - - - - - 14.12 14.50 14.39
589 85.6 -7.0 41 596 roll -0.60 - - 2690 - 2.05 0.105 3822 525.9 -107.1 - - 3482 - - - - - - - - 14.85 14.34 14.85
673 92.1 -7.8 53 680 done -0.60 - - 2689 - 1.75 0.038 2758 -608.0 -107.1 - - 3483 - - - - - - - - 14.62 14.59 14.63
1037 119.3 -6.9 64 1043 roll -0.60 - - 2689 - 2.33 0.043 1398 -583.7 -107.1 - - 3483 - - - - - - - - 14.91 14.50 14.91
1085 122.6 -6.7 71 1093 done -0.60 - - 2680 - 2.42 0.066 2758 562.0 -107.1 - - 3483 - - - - - - - - 14.54 14.44 14.59
1429 146.3 -7.0 78 1435 roll -0.60 - - 2671 - 2.00 0.108 3825 533.5 -107.1 - - 3481 - - - - - - - - 14.93 14.40 14.93
1505 152.3 -7.9 89 1513 done -0.60 0.10 0.216 2701 300.0 1.77 0.039 2770 -596.0 -107.1 - - 3480 - - - - - - - - 14.40 14.69 14.60
1821 174.5 -7.1 99 1827 roll -0.68 - - 2701 - 2.38 0.044 1385 -581.9 -107.1 - - 3475 - - - - - - - - 14.92 14.54 14.94
1890 179.5 -7.1 109 1898 done -0.78 0.08 0.088 2632 -862.5 2.47 0.067 2766 559.1 -107.1 - - 3476 - - - - - - - - 14.51 14.46 14.57
2213 210.1 -9.6 120 2219 roll -0.78 - - 2624 - 1.98 0.107 3821 532.8 -107.1 - - 3475 - - - - - - - - 14.95 14.36 14.95
2275 216.8 -10.7 129 2282 done -0.78 - - 2623 - 1.80 0.037 2733 -604.4 -107.1 - - 3475 - - - - - - - - 14.74 14.70 14.76
2605 249.8 -10.0 141 2611 roll -0.78 - - 2615 - 2.08 0.106 3820 522.6 -107.1 - - 3473 - - - - - - - - 14.95 14.37 14.95
2639 253.6 -10.8 146 2646 done -0.78 0.10 0.242 2644 290.0 1.75 0.039 2781 -593.7 -107.1 - - 3472 - - - - - - - - 14.35 14.70 14.54
2997 285.9 -9.1 155 3003 roll -0.78 - - 2641 - 2.40 0.044 1395 -577.5 -107.1 - - 3470 - - - - - - - - 14.96 14.51 14.95
3053 290.9 -8.8 163 3059 done -0.78 - - 2635 - 2.47 0.068 2767 555.5 -107.1 - - 3469 - - - - - - - - 14.53 14.43 14.57
3389 321.4 -9.0 176 3390 done -0.78 - - 2635 - - - 2766 - -107.1 - - 3468 - - - - - - - - 14.94 14.94 14.94
3725 350.1 -8.5 182 3726 done -0.78 - - 2638 - - - 2767 - -107.1 - - 3465 - - - - - - - - 14.96 14.97 14.95
4061 379.8 -9.0 188 4067 roll -0.78 - - 2626 - 2.00 0.109 3818 525.5 -107.1 - - 3463 - - - - - - - - 14.96 14.35 14.96
4173 390.0 -10.1 204 4179 done -0.78 - - 2626 - 1.77 0.042 2770 -592.1 -107.1 - - 3462 - - - - - - - - 14.66 14.63 14.66
4509 424.5 -10.5 217 4515 roll -0.78 - - 2626 - 2.40 0.044 1389 -575.4 -107.1 - - 3461 - - - - - - - - 14.94 14.49 14.95
4550 429.0 -10.5 223 4557 done -0.78 0.08 0.239 2638 150.0 2.47 0.068 2761 555.5 -107.1 - - 3460 - - - - - - - - 14.24 14.42 14.38
4901 462.5 -9.4 231 4902 done -0.78 - - 2638 - - - 2761 - -107.1 - - 3459 - - - - - - - - 14.93 14.94 14.93
5237 492.0 -8.7 237 5238 done -0.78 - - 2638 - - - 2761 - -107.1 - - 3457 - - - - - - - - 14.93 14.94 14.93
5573 519.1 -8.0 243 5574 done -0.78 - - 2638 - - - 2761 - -107.1 - - 3455 - - - - - - - - 14.93 14.93 14.93
5909 545.4 -7.8 249 5910 done -0.78 - - 2642 - - - 2761 - -107.1 - - 3453 - - - - - - - - 14.93 14.94 14.94
6245 571.6 -7.8 255 6251 roll -0.78 - - 2639 - 2.42 0.045 1387 -567.8 -107.1 - - 3452 - - - - - - - - 14.95 14.45 14.95
6286 574.8 -7.8 261 6294 done -0.78 - - 2628 - 2.53 0.069 2767 545.5 -107.1 - - 3452 - - - - - - - - 14.47 14.36 14.52
6637 602.8 -8.0 269 6644 roll -0.78 - - 2625 - 2.40 0.044 1381 -577.5 -107.1 - - 3450 - - - - - - - - 14.95 14.46 14.95
6685 606.7 -7.8 276 6693 done -0.78 - - 2618 - 2.53 0.068 2768 548.2 -107.1 - - 3450 - - - - - - - - 14.45 14.35 14.50
7029 637.0 -9.0 283 7035 roll -0.78 - - 2610 - 2.00 0.109 3818 525.0 -107.1 - - 3448 - - - - - - - - 14.92 14.26 14.92
7070 641.0 -9.6 289 7078 done -0.78 0.12 0.235 2645 291.7 1.83 0.042 2759 -578.7 -107.1 - - 3448 - - - - - - - - 14.21 14.63 14.46
7421 668.6 -7.9 297 7428 roll -0.78 - - 2646 - 2.42 0.044 1374 -572.3 -107.1 - - 3449 - - - - - - - - 14.92 14.41 14.92
7455 671.3 -7.9 302 7462 done -0.78 - - 2636 - 2.53 0.067 2763 549.0 -107.1 - - 3447 - - - - - - - - 14.45 14.35 14.50
7813 700.1 -8.1 311 7819 roll -0.78 - - 2635 - 2.42 0.045 1388 -568.2 -107.1 - - 3449 - - - - - - - - 14.92 14.40 14.94
7840 702.5 -8.5 315 7847 done -0.78 - - 2623 - 2.50 0.069 2761 549.2 -107.1 - - 3445 - - - - - - - - 14.42 14.33 14.48
8205 733.0 -8.4 325 8212 roll -0.78 - - 2626 - 2.45 0.044 1375 -565.7 -107.1 - - 3444 - - - - - - - - 14.91 14.38 14.91
8239 735.9 -8.5 330 8246 done -0.78 0.08 0.244 2638 150.0 2.55 0.067 2769 546.7 -107.1 - - 3444 - - - - - - - - 14.07 14.31 14.25
8597 763.6 -7.7 339 8603 roll -0.78 - - 2630 - 2.03 0.110 3825 520.2 -107.1 - - 3444 - - - - - - - - 14.90 14.19 14.90
8659 768.7 -8.1 348 8665 done -0.78 - - 2629 - 1.85 0.043 2752 -580.0 -107.1 - - 3443 - - - - - - - - 14.64 14.58 14.65
8989 795.0 -8.1 360 8995 roll -0.78 - - 2629 - 2.40 0.044 1380 -571.7 -107.1 - - 3442 - - - - - - - - 14.92 14.37 14.92
9079 802.5 -8.3 373 9086 done -0.78 - - 2619 - 2.53 0.068 2756 543.9 -107.1 - - 3442 - - - - - - - - 14.36 14.28 14.42
9437 832.8 -8.7 382 9443 roll -0.78 - - 2612 - 2.05 0.109 3821 519.5 -107.1 - - 3439 - - - - - - - - 14.90 14.15 14.90
9478 836.7 -8.1 388 9485 done -0.78 0.12 0.234 2647 291.7 1.85 0.043 2755 -576.2 -107.1 - - 3440 - - - - - - - - 14.13 14.56 14.40
9829 864.4 -7.8 396 9835 roll -0.78 - - 2647 - 2.42 0.045 1375 -570.2 -107.1 - - 3439 - - - - - - - - 14.89 14.34 14.89
9870 867.8 -6.4 402 9877 done -0.78 - - 2638 - 2.55 0.068 2757 542.0 -107.1 - - 3438 - - - - - - - - 14.38 14.28 14.43
10221 896.0 -8.0 410 10227 roll -0.78 - - 2637 - 2.45 0.044 1382 -561.2 -107.1 - - 3438 - - - - - - - - 14.92 14.33 14.91
10255 898.8 -5.5 415 10262 done -0.78 - - 2627 - 2.53 0.067 2755 542.7 -107.1 - - 3438 - - - - - - - - 14.35 14.26 14.41
10613 926.4 -7.6 424 10614 done -0.78 - - 2628 - - - 2755 - -107.1 - - 3437 - - - - - - - - 14.91 14.90 14.91
10667 end dive: TARGET_DEPTH_EXCEEDED
10667 begin apogee
10673 930.6 -7.5 425 10784 roll -0.23 0.68 0.183 2822 285.3 0.08 0.176 2258 -6212.5 - 107.43 1.958 3050 -3.6 0.338 - - - - - - 14.09 13.93 13.14
10785 end apogee: CONTROL_FINISHED_OK
10785 begin climb
10788 933.7 - 427 10917 roll 0.93 1.12 0.097 3183 322.3 2.47 0.056 892 -553.0 107.1 116.32 1.953 2617 -3.7 0.351 - - - - - - 13.98 14.01 12.95
10957 925.7 7.9 452 10963 done 0.80 - - 3183 - 2.47 0.051 2246 548.2 107.1 - - 2612 - - - - - - - - 13.98 13.92 14.00
11287 896.3 9.1 464 11293 roll 0.65 0.28 0.224 3107 -271.4 2.62 0.097 3658 538.9 107.1 - - 2610 - - - - - - - - 14.12 14.25 14.38
11363 890.4 7.3 475 11372 done 0.66 - - 3118 - 2.40 0.039 2276 -575.8 116.9 5.25 2.056 2585 -4.8 0.407 - - - - - - 14.42 14.38 13.24
11728 865.9 6.7 485 11757 done 0.68 - - 3118 - - - 2276 - 137.2 28.15 1.941 2505 -2.8 0.250 - - - - - - 14.75 14.33 13.49
12064 841.6 7.5 491 12071 roll 0.69 - - 3118 - 2.65 0.101 3654 520.0 142.8 2.45 0.895 2482 -9.4 1.741 - - - - - - 14.71 14.38 12.95
12098 838.8 10.2 496 12105 done 0.69 - - 3129 - 2.42 0.041 2259 -576.4 142.8 0.95 0.242 2483 - - - - - - - - 14.50 14.46 14.16
12449 811.6 7.8 504 12450 done 0.69 - - 3128 - - - 2258 - 142.8 - - 2488 - - - - - - - - 14.78 14.78 14.78
12785 785.7 7.7 510 12791 roll 0.69 - - 3128 - 2.60 0.099 3653 536.5 143.7 2.10 0.535 2481 -3.3 0.965 - - - - - - 14.81 14.26 12.91
12819 782.7 8.7 515 12826 done 0.61 0.12 0.207 3103 -208.3 2.42 0.041 2255 -577.7 143.7 1.30 0.310 2478 -2.3 1.149 - - - - - - 14.25 14.52 13.82
13177 757.5 7.0 524 13205 roll 0.63 - - 3102 - 2.70 0.103 3657 519.3 158.7 23.90 1.886 2417 -2.6 0.202 - - - - - - 14.85 14.39 13.64
13253 751.6 8.3 535 13259 done 0.63 - - 3112 - 2.45 0.040 2254 -572.7 158.7 - - 2408 - - - - - - - - 14.48 14.41 14.47
13618 724.1 7.5 545 13624 roll 0.64 - - 3112 - 2.65 0.102 3658 529.8 163.3 - - 2406 - - - - - - - - 14.76 14.30 14.76
13666 719.7 8.8 552 13674 done 0.64 - - 3123 - 2.45 0.041 2252 -573.9 163.3 - - 2407 - - - - - - - - 14.50 14.45 14.52
14010 691.8 8.2 559 14011 done 0.64 - - 3123 - - - 2251 - 163.3 - - 2405 - - - - - - - - 14.83 14.83 14.83
14346 664.4 8.2 565 14352 roll 0.64 - - 3122 - 2.65 0.102 3659 531.3 163.3 - - 2406 - - - - - - - - 14.85 14.31 14.85
14387 660.7 9.0 571 14394 done 0.64 - - 3133 - 2.42 0.041 2263 -576.9 163.3 - - 2406 - - - - - - - - 14.52 14.47 14.55
14738 632.8 7.9 579 14743 roll 0.64 - - 3133 - 2.62 0.103 3652 530.2 163.3 - - 2406 - - - - - - - - 14.85 14.30 14.85
14800 627.6 8.3 588 14807 done 0.64 0.10 0.214 3114 -190.0 2.42 0.041 2256 -576.9 163.3 0.70 0.252 2399 -10.0 4.911 - - - - - - 14.16 14.48 14.17
15132 606.2 6.4 600 15167 done 0.67 - - 3114 - - - 2255 - 189.4 34.17 1.694 2295 -3.0 0.215 - - - - - - 14.85 14.40 13.64
15466 581.3 7.6 606 15467 done 0.68 - - 3114 - - - 2255 - 193.0 - - 2285 - - - - - - - - 14.73 14.73 14.73
15802 555.5 7.6 612 15808 roll 0.68 - - 3113 - 2.65 0.102 3657 529.1 195.3 1.60 0.317 2274 -6.9 2.375 - - - - - - 14.81 14.07 13.58
15864 550.2 8.5 621 15872 done 0.68 - - 3124 - 2.42 0.041 2263 -576.0 195.3 1.38 0.268 2273 - - - - - - - - 14.50 14.45 13.73
16194 525.2 7.6 633 16201 done 0.68 - - 3123 - - - 2262 - 199.3 5.45 1.903 2257 -2.9 0.160 - - - - - - 14.83 14.54 13.51
16530 501.1 7.1 639 16557 roll 0.70 - - 3124 - 2.65 0.103 3652 524.5 212.2 20.00 1.675 2199 -2.9 0.171 - - - - - - 14.82 14.38 13.71
16586 496.8 8.1 647 16592 done 0.70 - - 3133 - 2.45 0.041 2257 -569.4 212.2 - - 2192 - - - - - - - - 14.45 14.41 14.48
16922 470.9 7.7 660 16928 roll 0.70 - - 3133 - 2.65 0.101 3656 527.9 213.6 - - 2195 - - - - - - - - 14.76 14.30 14.75
16949 468.5 8.6 664 16955 done 0.70 - - 3144 - 2.42 0.040 2268 -573.6 213.6 - - 2195 - - - - - - - - 14.50 14.45 14.51
17314 435.8 9.3 674 17319 roll 0.70 - - 3154 - 2.53 0.063 855 -558.5 213.6 - - 2194 - - - - - - - - 14.81 14.33 14.80
17341 433.1 9.5 678 17348 done 0.70 - - 3155 - 2.50 0.055 2264 563.6 213.6 - - 2194 - - - - - - - - 14.46 14.38 14.49
17706 396.1 10.2 688 17712 roll 0.70 - - 3154 - 2.62 0.103 3648 528.2 213.6 - - 2194 - - - - - - - - 14.83 14.27 14.83
17740 392.3 11.0 693 17748 done 0.70 0.12 0.208 3127 -225.0 2.40 0.040 2263 -577.1 213.6 - - 2193 - - - - - - - - 14.12 14.42 14.28
18098 362.6 8.1 702 18104 roll 0.70 - - 3128 - 2.65 0.102 3663 528.3 213.6 - - 2197 - - - - - - - - 14.84 14.30 14.84
18132 359.6 8.6 707 18139 done 0.70 - - 3137 - 2.40 0.040 2275 -578.3 213.6 - - 2193 - - - - - - - - 14.53 14.49 14.55
18490 330.5 8.2 716 18496 roll 0.70 - - 3137 - 2.65 0.103 3652 519.6 213.6 - - 2193 - - - - - - - - 14.86 14.23 14.86
18510 328.6 8.5 719 18517 done 0.70 - - 3148 - 2.40 0.040 2265 -577.9 213.6 - - 2194 - - - - - - - - 14.53 14.48 14.54
18826 299.3 9.4 729 18832 roll 0.70 - - 3158 - 2.50 0.063 866 -559.6 213.6 - - 2194 - - - - - - - - 14.88 14.33 14.88
18853 296.7 9.3 733 18861 done 0.70 0.10 0.200 3128 -300.0 2.47 0.055 2269 568.0 213.6 - - 2195 - - - - - - - - 14.18 14.37 14.33
19218 268.2 7.6 743 19223 roll 0.71 - - 3128 - 2.55 0.102 3654 543.1 217.3 - - 2194 - - - - - - - - 14.88 14.28 14.88
19266 264.2 8.5 750 19274 done 0.71 - - 3136 - 2.40 0.038 2268 -577.5 217.3 1.38 0.244 2186 -5.8 1.238 - - - - - - 14.52 14.47 13.80
19610 238.4 7.6 757 19616 done 0.71 - - 3137 - - - 2262 - 220.4 4.15 1.443 2173 -3.1 0.102 - - - - - - 14.85 14.54 13.33
19946 211.0 8.1 763 19949 done 0.71 - - 3137 - - - 2262 - 220.4 1.42 0.290 2173 - - - - - - - - 14.85 14.35 13.74
20282 185.4 7.5 769 20296 roll 0.71 - - 3137 - 2.65 0.103 3659 527.2 225.2 9.90 1.473 2147 -2.6 0.065 - - - - - - 14.85 14.52 13.85
20344 181.1 7.6 778 20351 done 0.72 - - 3151 - 2.40 0.038 2268 -579.6 228.8 - - 2147 - - - - - - - - 14.56 14.52 14.58
20667 152.8 9.0 789 20668 done 0.72 - - 3147 - - - 2262 - 228.8 - - 2146 - - - - - - - - 14.83 14.83 14.83
21003 123.5 8.4 795 21008 roll 0.72 - - 3146 - 2.67 0.102 3658 522.8 228.8 - - 2146 - - - - - - - - 14.85 14.26 14.85
21051 119.2 9.1 802 21059 done 0.72 - - 3157 - 2.40 0.037 2263 -581.2 228.8 - - 2146 - - - - - - - - 14.52 14.49 14.54
21367 95.7 7.3 809 21380 roll 0.73 - - 3171 - 2.47 0.060 866 -565.6 238.5 5.78 0.428 2102 -7.6 0.336 - - - - - - 14.87 14.45 13.97
21457 88.7 8.1 822 21464 done 0.73 0.08 0.194 3144 -337.5 2.47 0.052 2276 570.9 238.5 - - 2107 - - - - - - - - 14.23 14.40 14.38
21789 69.5 4.8 836 21829 roll 0.90 0.08 0.148 3202 725.0 2.58 0.099 3653 533.7 296.5 30.10 0.379 1870 -7.9 0.285 - - - - - - 14.53 14.42 14.14
21996 57.4 4.7 866 22031 done 0.98 - - 3211 - 2.38 0.037 2266 -582.8 356.7 29.98 0.345 1629 -8.0 0.264 - - - - - - 14.52 14.48 14.12
22349 40.0 5.3 883 22376 done 1.18 0.12 0.102 3294 691.7 - - 2265 - 404.8 23.98 0.287 1439 -7.9 0.218 - - - - - - 14.50 14.45 14.12
22683 16.1 7.1 898 22696 roll 1.20 - - 3296 - 2.60 0.098 3659 536.2 418.5 7.22 0.217 1383 -7.8 0.113 - - - - - - 14.83 14.33 14.16
22780 8.4 7.9 912 22787 done 1.20 - - 3304 - 2.35 0.035 2278 -587.7 418.5 - - 1385 - - - - - - - - 14.47 14.43 14.49
22876 end climb: SURFACE_DEPTH_REACHED
22876 begin surface coast
22905 end surface coast: CONTROL_FINISHED_OK
22905 begin surface
SM -1.34 - - - - -8.40 9.27 0.081 186 20.1 0.90 0.081 2770 1933.3 500.14 38.22 0.155 1056 27.6 0.024 - - - - - -