SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 320 * Raw log
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• Previous call tries 1 • 117.80 of 350.00 AH used of 24V (66.34% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -74.1 deg, depth -3.10 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 92 done -0.93 - - 177 - - - 2777 - -107.1 -76.25 - 3478 - - - - - - - - 14.65 12.66 14.64
95 -1.6 -4.7 2 115 roll -0.93 11.60 0.384 2593 208.3 2.40 0.040 1370 -586.2 -107.1 - - 3479 - - - - - - - - 14.02 14.39 14.39
205 39.2 -21.0 19 211 done -0.66 0.38 0.264 2680 228.9 2.53 0.068 2756 547.8 -107.1 - - 3480 - - - - - - - - 14.04 14.30 14.26
535 75.7 -7.4 33 535 done -0.66 - - 2679 - - - 2756 - -107.1 - - 3482 - - - - - - - - 14.83 14.83 14.83
843 97.2 -6.8 44 849 roll -0.66 - - 2672 - 2.00 0.106 3821 532.5 -107.1 - - 3482 - - - - - - - - 14.86 14.34 14.87
1066 114.2 -6.0 76 1073 done -0.66 - - 2671 - 1.80 0.037 2715 -614.4 -107.1 - - 3483 - - - - - - - - 14.63 14.62 14.66
1402 142.4 -8.9 89 1408 roll -0.66 - - 2663 - 2.12 0.104 3825 523.6 -107.1 - - 3482 - - - - - - - - 14.91 14.38 14.91
1450 147.7 -9.1 96 1459 done -0.66 - - 2663 - 1.75 0.038 2771 -602.3 -107.1 - - 3481 - - - - - - - - 14.74 14.70 14.75
1795 177.0 -8.4 103 1800 roll -0.66 - - 2662 - 2.35 0.043 1404 -581.7 -107.1 - - 3478 - - - - - - - - 14.95 14.52 14.95
1835 180.3 -8.2 109 1842 done -0.66 0.08 0.220 2676 175.0 2.45 0.067 2771 558.0 -107.1 - - 3479 - - - - - - - - 14.30 14.47 14.45
2186 209.9 -8.4 117 2192 roll -0.66 - - 2668 - 2.00 0.109 3826 527.5 -107.1 - - 3476 - - - - - - - - 14.94 14.38 14.94
2262 216.9 -9.1 128 2269 done -0.66 - - 2668 - 1.77 0.038 2759 -602.8 -107.1 - - 3474 - - - - - - - - 14.74 14.70 14.75
2579 244.7 -8.8 138 2584 roll -0.66 - - 2668 - 2.30 0.047 1402 -590.0 -107.1 - - 3476 - - - - - - - - 14.95 14.54 14.95
2641 250.1 -8.5 147 2647 done -0.66 - - 2659 - 2.47 0.070 2767 552.6 -107.1 - - 3472 - - - - - - - - 14.53 14.43 14.57
2970 277.7 -8.4 159 2971 done -0.66 - - 2659 - - - 2774 - -107.1 - - 3470 - - - - - - - - 14.96 14.96 14.97
3307 304.3 -7.8 165 3312 roll -0.66 - - 2651 - 2.03 0.112 3826 518.2 -107.1 - - 3467 - - - - - - - - 14.94 14.35 14.95
3363 308.3 -15.5 173 3368 done -0.66 0.10 0.200 2682 310.0 1.75 0.041 2793 -590.3 -107.1 - - 3467 - - - - - - - - 14.31 14.64 14.46
3698 330.4 -6.5 186 3704 roll -0.66 - - 2681 - 2.47 0.047 1373 -574.9 -107.1 - - 3465 - - - - - - - - 14.94 14.48 14.95
3739 334.0 -7.1 192 3747 done -0.66 - - 2671 - 2.53 0.070 2771 552.6 -107.1 - - 3463 - - - - - - - - 14.52 14.42 14.57
4090 358.2 -6.9 200 4097 roll -0.66 - - 2664 - 2.03 0.112 3826 519.7 -107.1 - - 3463 - - - - - - - - 14.96 14.33 14.96
4159 364.9 -16.3 210 4166 done -0.66 - - 2663 - 1.83 0.040 2738 -594.5 -107.1 - - 3466 - - - - - - - - 14.72 14.68 14.73
4483 390.7 -8.2 221 4488 roll -0.66 - - 2663 - 2.28 0.044 1399 -587.3 -107.1 - - 3461 - - - - - - - - 14.93 14.52 14.93
4510 392.3 -5.6 225 4516 done -0.66 0.08 0.218 2676 162.5 2.47 0.070 2764 552.6 -107.1 - - 3460 - - - - - - - - 14.23 14.40 14.39
4874 422.9 -7.9 235 4880 roll -0.66 - - 2676 - 2.40 0.045 1398 -569.2 -107.1 - - 3461 - - - - - - - - 14.93 14.47 14.94
4908 425.8 -8.1 240 4916 done -0.66 - - 2667 - 2.50 0.070 2772 549.6 -107.1 - - 3457 - - - - - - - - 14.53 14.39 14.55
5266 454.0 -7.7 249 5272 roll -0.66 - - 2659 - 2.03 0.113 3829 520.7 -107.1 - - 3457 - - - - - - - - 14.93 14.30 14.94
5307 457.3 -8.4 255 5314 done -0.66 - - 2659 - 1.80 0.041 2771 -587.8 -107.1 - - 3455 - - - - - - - - 14.72 14.67 14.73
5658 485.1 -7.8 263 5664 roll -0.66 - - 2659 - 2.40 0.042 1382 -578.8 -107.1 - - 3455 - - - - - - - - 14.96 14.47 14.95
5720 488.9 -6.1 272 5729 done -0.66 0.10 0.221 2679 200.0 2.50 0.067 2759 550.8 -107.1 - - 3455 - - - - - - - - 14.16 14.38 14.34
6051 511.8 -6.6 284 6057 roll -0.66 - - 2669 - 2.05 0.114 3819 517.1 -107.1 - - 3454 - - - - - - - - 14.93 14.26 14.93
6098 515.2 -7.0 291 6106 done -0.66 - - 2672 - 1.83 0.041 2753 -582.5 -107.1 - - 3454 - - - - - - - - 14.69 14.64 14.70
6443 538.4 -6.8 298 6443 done -0.66 - - 2671 - - - 2753 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
6778 562.1 -7.0 304 6779 done -0.66 - - 2669 - - - 2755 - -107.1 - - 3451 - - - - - - - - 14.93 14.93 14.93
7114 586.6 -7.3 310 7120 roll -0.66 - - 2663 - 2.10 0.114 3821 507.6 -107.1 - - 3449 - - - - - - - - 14.93 14.21 14.92
7170 590.9 -7.9 318 7176 done -0.66 - - 2663 - 1.80 0.044 2773 -582.2 -107.1 - - 3448 - - - - - - - - 14.59 14.56 14.60
7506 616.0 -7.5 331 7512 roll -0.66 - - 2663 - 2.40 0.044 1369 -585.0 -107.1 - - 3447 - - - - - - - - 14.95 14.45 14.95
7590 622.4 -7.7 343 7596 done -0.66 0.08 0.226 2676 162.5 2.53 0.066 2758 549.0 -107.1 - - 3447 - - - - - - - - 14.12 14.33 14.29
7955 648.2 -7.0 353 7955 done -0.66 - - 2676 - - - 2759 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
8291 672.2 -7.2 359 8296 roll -0.66 - - 2668 - 2.08 0.114 3832 515.9 -107.1 - - 3445 - - - - - - - - 14.92 14.19 14.92
8325 674.9 -7.9 364 8332 done -0.66 - - 2668 - 1.88 0.044 2755 -572.9 -107.1 - - 3445 - - - - - - - - 14.66 14.61 14.68
8683 700.9 -7.2 373 8688 roll -0.66 - - 2668 - 2.38 0.044 1370 -581.9 -107.1 - - 3444 - - - - - - - - 14.91 14.38 14.91
8745 705.5 -7.3 382 8751 done -0.74 - - 2659 - 2.58 0.067 2769 542.2 -107.1 - - 3444 - - - - - - - - 14.39 14.28 14.44
9074 728.9 -7.2 394 9075 done -0.74 - - 2659 - - - 2770 - -107.1 - - 3443 - - - - - - - - 14.91 14.91 14.91
9411 753.0 -7.1 400 9417 roll -0.74 - - 2659 - 2.42 0.045 1377 -575.6 -107.1 - - 3442 - - - - - - - - 14.90 14.42 14.90
9451 756.0 -7.4 406 9458 done -0.74 - - 2650 - 2.55 0.068 2775 548.2 -107.1 - - 3441 - - - - - - - - 14.40 14.30 14.46
9803 782.1 -7.5 414 9808 roll -0.74 - - 2650 - 2.42 0.045 1376 -578.1 -107.1 - - 3440 - - - - - - - - 14.90 14.40 14.90
9836 784.8 -8.0 419 9843 done -0.74 - - 2640 - 2.53 0.067 2760 547.0 -107.1 - - 3441 - - - - - - - - 14.38 14.28 14.43
10194 813.0 -7.9 428 10195 done -0.74 - - 2641 - - - 2759 - -107.1 - - 3439 - - - - - - - - 14.92 14.92 14.92
10530 840.2 -8.2 434 10536 roll -0.74 - - 2633 - 2.08 0.116 3821 510.6 -107.1 - - 3438 - - - - - - - - 14.92 14.10 14.93
10564 843.1 -8.8 439 10571 done -0.74 - - 2632 - 1.88 0.044 2750 -569.7 -107.1 - - 3435 - - - - - - - - 14.61 14.54 14.62
10922 873.9 -8.7 448 10929 roll -0.74 - - 2632 - 2.42 0.045 1371 -569.8 -107.1 - - 3438 - - - - - - - - 14.90 14.29 14.90
10957 877.0 -7.2 453 10963 done -0.74 0.10 0.230 2650 180.0 2.58 0.067 2764 539.9 -107.1 - - 3437 - - - - - - - - 13.97 14.23 14.16
11314 906.0 -8.1 462 11320 roll -0.74 - - 2643 - 2.08 0.115 3824 509.6 -107.1 - - 3437 - - - - - - - - 14.90 14.09 14.89
11355 909.1 -6.7 468 11363 done -0.74 - - 2642 - 1.88 0.045 2754 -569.1 -107.1 - - 3437 - - - - - - - - 14.61 14.57 14.62
11648 end dive: TARGET_DEPTH_EXCEEDED
11648 begin apogee
11654 933.8 -8.3 475 11769 roll -0.23 0.62 0.177 2822 290.3 0.08 0.179 2260 -6175.0 - 112.38 1.930 3051 -3.4 0.330 - - - - - - 14.06 13.91 13.09
11770 end apogee: CONTROL_FINISHED_OK
11771 begin climb
11773 935.8 - 477 11905 roll 0.93 1.15 0.104 3184 314.8 2.58 0.057 845 -548.4 107.1 118.35 1.958 2616 -3.7 0.349 - - - - - - 13.96 13.99 12.88
11910 936.9 6.7 498 11939 done 0.76 0.12 0.221 3151 -275.0 2.60 0.049 2254 541.9 127.3 23.15 2.017 2543 -3.2 0.291 - - - - - - 13.66 13.78 12.87
12270 909.7 8.0 514 12275 roll 0.76 - - 3151 - 2.60 0.100 3649 536.5 127.3 - - 2527 - - - - - - - - 14.59 14.22 14.59
12337 903.6 8.9 524 12345 done 0.64 0.20 0.210 3106 -225.0 2.47 0.040 2232 -573.7 127.3 - - 2529 - - - - - - - - 14.09 14.35 14.26
12660 883.0 6.3 535 12702 roll 0.67 - - 3105 - 2.75 0.100 3648 514.9 157.1 32.38 1.955 2418 -3.4 0.307 - - - - - - 14.76 14.22 13.40
12722 878.7 9.4 544 12730 done 0.67 - - 3115 - 2.45 0.041 2256 -568.2 157.1 - - 2415 - - - - - - - - 14.33 14.29 14.34
13052 854.8 7.4 556 13059 roll 0.68 - - 3115 - 2.62 0.099 3652 532.8 164.1 1.85 0.289 2400 -8.1 4.759 - - - - - - 14.72 14.12 13.71
13086 852.0 10.7 561 13093 done 0.68 - - 3125 - 2.42 0.041 2259 -575.6 164.1 0.98 0.241 2398 - - - - - - - - 14.47 14.42 14.15
13444 824.5 7.7 570 13447 done 0.68 - - 3125 - - - 2259 - 164.9 1.90 0.301 2394 -2.1 1.144 - - - - - - 14.78 14.29 13.62
13780 798.4 7.8 576 13783 done 0.68 - - 3125 - - - 2259 - 164.9 1.83 0.288 2393 - - - - - - - - 14.83 14.29 13.64
14116 771.4 8.1 582 14119 done 0.68 - - 3125 - - - 2260 - 164.9 1.65 0.269 2393 - - - - - - - - 14.85 14.35 13.88
14452 745.4 7.7 588 14459 roll 0.68 - - 3125 - 2.67 0.103 3650 520.6 166.1 2.30 0.692 2395 - - - - - - - - 14.87 14.45 13.00
14500 741.2 8.5 595 14508 done 0.68 - - 3135 - 2.42 0.041 2252 -577.7 166.1 2.28 0.672 2391 -1.8 0.384 - - - - - - 14.55 14.52 13.02
14844 714.6 7.7 602 14847 done 0.68 - - 3135 - - - 2252 - 166.3 1.80 0.298 2387 -2.2 1.057 - - - - - - 14.82 14.33 13.66
15180 688.4 7.8 608 15183 done 0.68 - - 3137 - - - 2252 - 166.3 1.65 0.275 2393 3.6 -1.806 - - - - - - 14.85 14.35 13.83
15516 661.9 7.9 614 15522 roll 0.68 - - 3136 - 2.65 0.099 3648 526.8 166.3 1.50 0.266 2390 -2.0 0.987 - - - - - - 14.88 14.20 13.92
15578 656.3 8.9 623 15585 done 0.68 - - 3144 - 2.42 0.041 2256 -575.2 166.3 1.42 0.237 2390 - - - - - - - - 14.53 14.48 14.02
15908 629.4 8.2 635 15914 roll 0.68 - - 3156 - 2.45 0.060 861 -569.4 166.3 1.75 0.295 2392 - - - - - - - - 14.88 14.07 13.59
15956 625.5 8.1 642 15965 done 0.68 0.12 0.200 3120 -300.0 2.47 0.054 2259 566.0 166.3 1.30 0.242 2391 - - - - - - - - 14.14 14.35 14.00
16300 601.8 6.8 649 16332 done 0.71 - - 3121 - - - 2259 - 185.6 30.30 1.713 2310 -2.7 0.186 - - - - - - 14.88 14.43 13.63
16636 577.1 7.5 655 16642 roll 0.71 - - 3119 - 2.62 0.102 3651 531.3 191.2 - - 2295 - - - - - - - - 14.75 14.22 14.75
16705 571.1 8.7 665 16712 done 0.71 - - 3129 - 2.42 0.040 2259 -575.2 191.2 1.02 0.230 2282 -12.7 6.279 - - - - - - 14.47 14.42 14.11
17028 544.2 8.4 676 17029 done 0.71 - - 3129 - - - 2259 - 191.2 - - 2293 - - - - - - - - 14.80 14.81 14.81
17364 516.8 8.0 682 17365 done 0.71 - - 3129 - - - 2259 - 191.2 - - 2292 - - - - - - - - 14.81 14.82 14.82
17700 491.5 7.4 688 17714 roll 0.72 - - 3129 - 2.70 0.103 3658 518.1 197.7 10.23 1.826 2260 -3.1 0.167 - - - - - - 14.84 14.48 13.66
17741 488.0 8.7 694 17749 done 0.72 - - 3139 - 2.42 0.041 2266 -575.2 197.7 - - 2256 - - - - - - - - 14.53 14.50 14.55
18085 461.5 7.6 701 18091 roll 0.73 - - 3149 - 2.53 0.062 865 -553.8 200.2 - - 2256 - - - - - - - - 14.80 14.32 14.80
18126 458.3 7.6 707 18133 done 0.73 - - 3149 - 2.47 0.054 2258 564.0 203.3 1.80 0.279 2242 -7.8 2.535 - - - - - - 14.45 14.37 13.67
18477 430.8 7.9 715 18483 roll 0.73 - - 3149 - 2.62 0.101 3658 534.4 203.3 1.60 0.266 2243 - - - - - - - - 14.84 14.12 13.80
18533 425.7 9.3 723 18539 done 0.73 - - 3160 - 2.42 0.041 2265 -575.6 203.3 1.52 0.263 2240 -2.0 0.634 - - - - - - 14.49 14.45 13.76
18869 395.8 9.1 736 18876 roll 0.73 - - 3169 - 2.47 0.061 861 -568.4 203.3 1.45 0.257 2243 2.1 -0.632 - - - - - - 14.83 14.21 13.95
18910 391.9 9.3 742 18917 done 0.73 0.10 0.200 3140 -290.0 2.50 0.054 2267 562.4 203.3 1.50 0.247 2241 - - - - - - - - 14.14 14.35 13.85
19261 362.6 8.3 750 19267 roll 0.73 - - 3140 - 2.60 0.102 3651 532.3 203.3 1.40 0.259 2243 - - - - - - - - 14.84 14.21 13.96
19309 358.3 9.0 757 19317 done 0.73 - - 3150 - 2.40 0.040 2262 -578.8 203.3 1.48 0.260 2243 - - - - - - - - 14.50 14.46 13.73
19653 330.4 8.0 764 19660 roll 0.73 - - 3160 - 2.47 0.060 856 -569.2 203.3 1.67 0.275 2244 - - - - - - - - 14.86 14.06 13.65
19687 327.6 8.3 769 19694 done 0.73 - - 3159 - 2.50 0.053 2267 564.4 203.3 1.33 0.252 2242 - - - - - - - - 14.43 14.35 13.85
20045 298.0 8.3 778 20051 roll 0.73 - - 3160 - 2.60 0.102 3653 533.1 203.3 1.58 0.262 2243 - - - - - - - - 14.85 14.13 13.81
20107 292.1 9.5 787 20114 done 0.73 0.10 0.210 3142 -180.0 2.40 0.039 2269 -576.7 203.3 1.33 0.223 2243 - - - - - - - - 14.14 14.46 14.03
20437 267.4 7.4 799 20457 roll 0.74 - - 3141 - 2.62 0.102 3647 526.0 209.6 13.15 1.502 2209 -2.6 0.091 - - - - - - 14.85 14.47 13.76
20478 264.0 8.5 805 20484 done 0.74 - - 3157 - 2.40 0.040 2262 -577.1 209.6 - - 2206 - - - - - - - - 14.54 14.50 14.56
20829 235.9 8.0 813 20835 roll 0.74 - - 3161 - 2.47 0.062 870 -563.6 209.6 - - 2205 - - - - - - - - 14.81 14.31 14.81
20863 233.0 8.4 818 20870 done 0.74 - - 3161 - 2.47 0.053 2269 566.4 209.6 - - 2203 - - - - - - - - 14.45 14.37 14.48
21221 201.2 9.1 827 21226 roll 0.74 - - 3172 - 2.50 0.062 838 -572.4 209.6 - - 2205 - - - - - - - - 14.85 14.33 14.85
21241 199.3 9.0 830 21248 done 0.74 0.10 0.194 3142 -300.0 2.53 0.054 2271 566.4 209.6 - - 2204 - - - - - - - - 14.16 14.35 14.33
21557 173.5 8.1 840 21563 roll 0.74 - - 3142 - 2.58 0.101 3659 538.0 209.6 - - 2204 - - - - - - - - 14.84 14.27 14.84
21613 168.5 8.9 848 21620 done 0.74 - - 3152 - 2.42 0.039 2258 -578.9 209.6 - - 2205 - - - - - - - - 14.50 14.45 14.52
21949 141.7 7.9 861 21954 roll 0.74 - - 3162 - 2.42 0.062 868 -574.4 209.6 - - 2205 - - - - - - - - 14.87 14.34 14.87
21983 138.9 8.1 866 21990 done 0.74 - - 3162 - 2.47 0.053 2274 569.2 209.6 - - 2205 - - - - - - - - 14.42 14.35 14.47
22341 110.4 8.0 875 22346 roll 0.74 - - 3163 - 2.58 0.103 3656 535.7 209.6 - - 2205 - - - - - - - - 14.88 14.26 14.88
22438 101.9 8.1 889 22445 done 0.74 0.10 0.208 3143 -200.0 2.40 0.038 2267 -578.8 209.6 - - 2205 - - - - - - - - 14.14 14.48 14.31
22761 81.9 6.1 901 22781 roll 0.78 - - 3143 - 2.60 0.098 3660 535.8 242.7 15.32 0.418 2084 -7.9 0.307 - - - - - - 14.83 14.36 14.04
22991 66.9 5.5 934 23020 done 0.91 0.05 0.108 3197 1080.0 2.38 0.037 2277 -581.1 287.7 23.52 0.379 1903 -7.7 0.270 - - - - - - 14.30 14.40 14.09
23351 48.4 4.8 952 23389 roll 1.07 0.08 0.150 3272 937.5 2.50 0.062 873 -561.6 347.4 29.85 0.324 1669 -7.8 0.232 - - - - - - 14.49 14.41 14.10
23593 31.8 6.6 987 23609 done 1.10 - - 3273 - 2.47 0.051 2283 570.9 369.9 11.60 0.271 1576 -8.0 0.187 - - - - - - 14.42 14.34 14.06
23932 14.3 4.8 1002 23966 roll 1.27 0.05 0.196 3322 980.0 2.62 0.101 3658 524.8 429.5 29.65 0.210 1339 -8.0 0.108 - - - - - - 14.52 14.33 14.18
24064 3.6 8.9 1021 24069 done 1.27 - - 3331 - 2.35 0.037 2293 -580.9 429.5 - - 1341 - - - - - - - - 14.47 14.44 14.50
24081 end climb: SURFACE_DEPTH_REACHED
24081 begin surface coast
24089 end surface coast: CONTROL_FINISHED_OK
24089 begin surface
SM -3.75 - - - - -8.40 9.43 0.080 183 19.4 0.88 0.081 2760 1965.9 500.14 32.88 0.165 1057 32.1 0.075 - - - - - -