SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 325 * Raw log
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• Previous call tries 1 • 119.46 of 350.00 AH used of 24V (65.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -2.76 m • Intended pitch -19.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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 - - - 92 done -1.00 - - 182 - - - 2767 - -91.4 -76.07 - 3416 - - - - - - - - 14.66 12.66 14.65
95 -1.4 -4.2 2 110 roll -1.00 11.40 0.384 2561 208.7 2.00 0.091 3838 535.5 -91.4 - - 3417 - - - - - - - - 14.03 14.33 14.39
340 67.3 -11.6 38 346 done -0.73 0.35 0.237 2654 265.7 1.85 0.040 2749 -588.6 -91.4 - - 3419 - - - - - - - - 14.09 14.50 14.28
676 92.6 -7.6 53 682 roll -0.73 - - 2654 - 2.35 0.042 1375 -584.7 -94.1 - - 3421 - - - - - - - - 14.83 14.45 14.83
892 107.8 -7.5 84 901 done -0.74 - - 2644 - 2.45 0.062 2758 564.5 -98.7 - - 3421 - - - - - - - - 14.51 14.42 14.55
1236 137.0 -8.9 91 1242 roll -0.74 - - 2636 - 2.00 0.104 3826 534.0 -98.7 - - 3421 - - - - - - - - 14.90 14.35 14.90
1333 146.3 -9.4 105 1340 done -0.74 0.08 0.252 2658 275.0 1.83 0.041 2747 -589.6 -98.7 - - 3420 - - - - - - - - 14.31 14.67 14.52
1685 177.0 -8.8 113 1685 done -0.74 - - 2658 - - - 2748 - -98.7 - - 3419 - - - - - - - - 14.90 14.90 14.90
2020 205.7 -8.5 119 2026 roll -0.74 - - 2658 - 2.33 0.044 1389 -583.3 -98.7 - - 3417 - - - - - - - - 14.94 14.51 14.94
2054 208.5 -8.4 124 2062 done -0.74 - - 2649 - 2.47 0.066 2772 559.9 -98.7 - - 3416 - - - - - - - - 14.51 14.45 14.58
2412 239.7 -8.8 133 2418 roll -0.74 - - 2640 - 2.00 0.107 3828 528.0 -98.7 - - 3414 - - - - - - - - 14.92 14.35 14.92
2530 250.9 -9.6 150 2537 done -0.74 - - 2639 - 1.80 0.043 2769 -588.3 -98.7 - - 3413 - - - - - - - - 14.71 14.67 14.73
2860 281.5 -9.3 162 2866 roll -0.74 - - 2639 - 2.38 0.044 1387 -580.7 -98.7 - - 3411 - - - - - - - - 14.95 14.51 14.93
2908 286.0 -9.0 169 2916 done -0.74 0.08 0.239 2652 162.5 2.50 0.065 2770 553.2 -98.7 - - 3411 - - - - - - - - 14.22 14.42 14.40
3252 313.8 -8.0 176 3253 done -0.74 - - 2652 - - - 2770 - -98.7 - - 3408 - - - - - - - - 14.95 14.93 14.94
3588 342.1 -8.6 182 3594 roll -0.74 - - 2644 - 2.00 0.109 3819 524.5 -98.7 - - 3406 - - - - - - - - 14.95 14.33 14.95
3622 345.2 -9.2 187 3629 done -0.74 - - 2644 - 1.80 0.042 2769 -583.3 -98.7 - - 3407 - - - - - - - - 14.72 14.67 14.73
3980 378.1 -9.3 196 3986 roll -0.74 - - 2644 - 2.40 0.043 1377 -580.0 -98.7 - - 3405 - - - - - - - - 14.95 14.49 14.95
4007 380.4 -8.3 200 4014 done -0.74 - - 2633 - 2.53 0.065 2768 549.8 -98.7 - - 3404 - - - - - - - - 14.51 14.42 14.54
4372 413.7 -9.1 210 4373 done -0.74 - - 2634 - - - 2768 - -98.7 - - 3402 - - - - - - - - 14.95 14.94 14.95
4708 444.6 -9.5 216 4715 roll -0.74 - - 2626 - 2.00 0.107 3820 526.0 -98.7 - - 3400 - - - - - - - - 14.95 14.31 14.95
4742 447.9 -9.8 221 4749 done -0.74 0.10 0.243 2657 310.0 1.83 0.041 2753 -583.1 -98.7 - - 3400 - - - - - - - - 14.25 14.66 14.41
5100 479.6 -8.9 230 5106 roll -0.74 - - 2658 - 2.38 0.044 1384 -575.2 -98.7 - - 3399 - - - - - - - - 14.95 14.47 14.95
5134 482.4 -8.4 235 5141 done -0.74 - - 2648 - 2.47 0.066 2762 557.9 -98.7 - - 3398 - - - - - - - - 14.49 14.40 14.54
5492 513.4 -8.7 244 5498 roll -0.74 - - 2648 - 2.42 0.044 1378 -571.9 -98.7 - - 3396 - - - - - - - - 14.92 14.45 14.92
5526 518.3 -15.2 249 5533 done -0.74 - - 2638 - 2.50 0.066 2759 552.4 -98.7 - - 3397 - - - - - - - - 14.48 14.38 14.53
5884 548.8 -8.3 258 5890 roll -0.74 - - 2630 - 2.03 0.109 3820 522.7 -98.7 - - 3394 - - - - - - - - 14.92 14.27 14.92
5960 555.5 -8.7 269 5967 done -0.74 0.10 0.240 2656 260.0 1.83 0.042 2756 -581.4 -98.7 - - 3395 - - - - - - - - 14.28 14.64 14.51
6276 577.6 -7.0 279 6282 roll -0.75 - - 2659 - 2.40 0.044 1353 -584.6 -107.1 - - 3393 - - - - - - - - 14.91 14.46 14.92
6318 580.6 -7.1 285 6324 done -0.83 - - 2650 - 2.55 0.064 2768 554.9 -107.1 - - 3393 - - - - - - - - 14.47 14.38 14.51
6668 606.4 -7.5 293 6674 roll -0.83 - - 2649 - 2.40 0.044 1374 -580.8 -107.1 - - 3392 - - - - - - - - 14.93 14.46 14.93
6709 609.6 -7.6 299 6716 done -0.83 - - 2640 - 2.50 0.066 2753 551.6 -107.1 - - 3392 - - - - - - - - 14.45 14.35 14.49
7060 636.5 -7.7 307 7061 done -0.83 - - 2640 - - - 2753 - -107.1 - - 3390 - - - - - - - - 14.90 14.91 14.91
7397 662.6 -7.9 313 7402 roll -0.83 - - 2632 - 2.08 0.111 3827 516.3 -107.1 - - 3389 - - - - - - - - 14.90 14.23 14.91
7458 667.9 -8.6 322 7465 done -0.83 - - 2631 - 1.85 0.044 2756 -578.9 -107.1 - - 3389 - - - - - - - - 14.67 14.64 14.69
7788 694.9 -8.2 334 7789 done -0.83 - - 2631 - - - 2757 - -107.1 - - 3388 - - - - - - - - 14.90 14.90 14.90
8124 723.0 -8.4 340 8131 roll -0.83 - - 2629 - 2.38 0.045 1373 -581.5 -107.1 - - 3387 - - - - - - - - 14.90 14.42 14.90
8165 726.0 -8.1 346 8172 done -0.83 - - 2622 - 2.53 0.066 2761 548.6 -107.1 - - 3386 - - - - - - - - 14.42 14.33 14.47
8516 755.4 -8.4 354 8522 roll -0.83 - - 2614 - 2.05 0.110 3828 520.5 -107.1 - - 3386 - - - - - - - - 14.90 14.20 14.90
8585 761.2 -9.0 364 8593 done -0.83 - - 2613 - 1.85 0.044 2772 -570.8 -107.1 - - 3385 - - - - - - - - 14.64 14.59 14.66
8908 788.3 -8.5 375 8909 done -0.83 - - 2613 - - - 2772 - -107.1 - - 3384 - - - - - - - - 14.89 14.90 14.90
9244 815.9 -8.0 381 9250 roll -0.83 - - 2613 - 2.47 0.045 1365 -569.6 -107.1 - - 3384 - - - - - - - - 14.90 14.35 14.90
9292 819.3 -7.5 388 9301 done -0.83 - - 2605 - 2.55 0.066 2759 546.7 -107.1 - - 3383 - - - - - - - - 14.37 14.27 14.42
9636 853.5 -8.6 395 9642 roll -0.83 - - 2596 - 2.05 0.111 3820 517.6 -107.1 - - 3382 - - - - - - - - 14.90 14.14 14.89
9670 856.7 -8.1 400 9678 done -0.83 0.10 0.257 2625 290.0 1.88 0.044 2745 -571.8 -107.1 - - 3381 - - - - - - - - 14.12 14.58 14.40
10028 883.0 -7.2 409 10029 done -0.83 - - 2632 - - - 2745 - -107.1 - - 3381 - - - - - - - - 14.88 14.89 14.88
10364 906.3 -6.8 415 10370 roll -0.83 - - 2625 - 2.38 0.044 1375 -575.6 -107.1 - - 3380 - - - - - - - - 14.88 14.36 14.89
10433 911.1 -6.7 425 10440 done -0.83 - - 2613 - 2.55 0.065 2758 542.4 -107.1 - - 3380 - - - - - - - - 14.34 14.24 14.38
10754 end dive: TARGET_DEPTH_EXCEEDED
10754 begin apogee
10760 933.5 -6.8 436 10854 roll -0.23 0.73 0.190 2821 284.9 0.08 0.184 2261 -6212.5 - 86.30 2.591 3050 -3.8 0.274 - - - - 1 - 14.06 13.85 12.64
10856 end apogee: CONTROL_FINISHED_OK
10856 begin climb
10859 935.3 - 437 10991 roll 1.02 1.25 0.105 3213 313.6 2.53 0.056 883 -544.7 107.1 122.90 1.929 2622 -3.5 0.336 - - - - - - 13.90 13.94 12.88
11038 926.1 9.0 469 11045 done 0.90 - - 3213 - 2.50 0.050 2242 543.6 107.1 - - 2611 - - - - - - - - 13.95 13.90 13.97
11368 894.7 9.4 481 11374 roll 0.77 0.22 0.236 3151 -281.8 2.62 0.096 3658 540.5 107.1 - - 2609 - - - - - - - - 14.12 14.26 14.39
11424 889.5 9.5 489 11430 done 0.68 0.15 0.244 3122 -193.3 2.42 0.041 2271 -573.1 107.1 - - 2609 - - - - - - - - 14.14 14.38 14.41
11760 868.7 6.0 502 11801 roll 0.71 - - 3130 - 2.58 0.060 862 -546.1 137.6 32.95 1.929 2493 -3.5 0.315 - - - - - - 14.76 14.28 13.40
11829 864.7 6.4 512 11865 done 0.74 - - 3131 - 2.50 0.052 2256 557.6 160.5 26.50 1.975 2404 -3.4 0.292 - - - - - - 14.33 14.26 13.26
12208 836.5 7.4 524 12215 roll 0.75 - - 3129 - 2.60 0.096 3656 538.5 167.0 1.33 0.262 2388 -12.0 7.633 - - - - - - 14.69 14.29 14.10
12291 829.2 8.5 536 12299 done 0.75 - - 3141 - 2.45 0.040 2252 -573.1 167.0 1.23 0.230 2387 - - - - - - - - 14.50 14.45 14.14
12656 801.4 7.5 546 12662 done 0.75 - - 3141 - - - 2252 - 170.6 4.40 1.859 2371 -3.6 0.312 - - - - - - 14.81 14.47 13.06
12992 774.7 8.0 552 12995 done 0.75 - - 3141 - - - 2252 - 170.6 1.38 0.267 2371 - - - - - - - - 14.81 14.45 14.12
13328 748.4 7.9 558 13334 roll 0.75 - - 3141 - 2.65 0.098 3659 530.9 170.6 1.45 0.272 2371 - - - - - - - - 14.83 14.28 14.00
13362 745.2 8.9 563 13369 done 0.75 - - 3152 - 2.45 0.041 2255 -573.1 170.6 1.15 0.253 2370 - - - - - - - - 14.59 14.52 14.04
13720 715.2 8.4 572 13727 roll 0.75 - - 3152 - 2.62 0.098 3651 532.8 170.6 1.40 0.270 2371 - - - - - - - - 14.84 14.26 14.01
13761 711.2 9.9 578 13768 done 0.75 - - 3162 - 2.45 0.040 2245 -573.9 170.6 1.05 0.249 2371 - - - - - - - - 14.55 14.50 14.08
14112 679.6 9.0 586 14115 done 0.75 - - 3163 - - - 2242 - 170.6 1.25 0.268 2369 - - - - - - - - 14.86 14.42 14.09
14448 649.9 8.8 592 14449 done 0.75 - - 3163 - - - 2242 - 170.6 - - 2378 - - - - - - - - 14.88 14.88 14.88
14784 620.8 8.6 598 14790 roll 0.75 - - 3163 - 2.67 0.100 3654 528.8 170.6 - - 2379 - - - - - - - - 14.89 14.32 14.89
14832 616.2 9.7 605 14841 done 0.75 0.10 0.223 3145 -180.0 2.45 0.042 2247 -574.3 170.6 1.02 0.234 2370 -8.8 4.618 - - - - - - 14.12 14.47 14.14
15176 589.5 7.7 612 15184 roll 0.75 - - 3144 - 2.62 0.100 3655 537.4 171.9 2.53 0.918 2368 - - - - - - - - 14.86 14.27 13.02
15203 587.2 8.3 616 15212 done 0.75 - - 3155 - 2.42 0.040 2254 -578.9 171.9 1.20 0.289 2368 - - - - - - - - 14.59 14.55 13.89
15568 559.3 7.5 626 15574 done 0.76 - - 3155 - - - 2252 - 175.6 4.53 1.806 2353 -3.3 0.204 - - - - - - 14.85 14.54 13.15
15904 534.2 7.5 632 15917 done 0.77 - - 3155 - - - 2253 - 180.5 11.82 1.855 2332 -1.8 0.102 - - - - - - 14.85 14.54 13.67
16240 507.0 8.2 638 16246 roll 0.77 - - 3155 - 2.65 0.100 3658 530.2 180.5 - - 2323 - - - - - - - - 14.80 14.31 14.80
16281 503.0 9.7 644 16289 done 0.77 - - 3167 - 2.42 0.041 2263 -576.4 180.5 - - 2323 - - - - - - - - 14.52 14.47 14.54
16632 471.2 9.2 652 16633 done 0.77 - - 3166 - - - 2262 - 180.5 - - 2323 - - - - - - - - 14.83 14.83 14.83
16968 440.6 9.1 658 16969 done 0.77 - - 3165 - - - 2262 - 180.5 - - 2322 - - - - - - - - 14.85 14.85 14.84
17304 410.9 8.8 664 17305 done 0.77 - - 3165 - - - 2262 - 180.5 - - 2323 - - - - - - - - 14.85 14.85 14.85
17640 382.0 8.5 670 17646 roll 0.77 - - 3166 - 2.62 0.099 3650 529.8 180.5 - - 2322 - - - - - - - - 14.86 14.30 14.86
17681 378.2 9.2 676 17689 done 0.77 0.08 0.224 3154 -150.0 2.42 0.041 2255 -576.4 180.5 - - 2323 - - - - - - - - 14.17 14.48 14.33
18032 351.7 7.4 684 18039 roll 0.77 - - 3154 - 2.62 0.097 3651 532.8 185.8 1.48 0.272 2313 -6.8 1.736 - - - - - - 14.88 14.11 13.76
18066 348.8 8.7 689 18073 done 0.77 - - 3164 - 2.40 0.041 2266 -577.1 185.8 1.05 0.246 2313 - - - - - - - - 14.52 14.48 13.98
18424 319.7 8.1 698 18430 roll 0.77 - - 3175 - 2.45 0.059 864 -572.2 185.8 1.55 0.285 2312 - - - - - - - - 14.86 14.06 13.64
18451 317.5 8.2 702 18458 done 0.77 - - 3174 - 2.47 0.053 2267 568.0 185.8 0.68 0.256 2314 - - - - - - - - 14.46 14.39 14.11
18816 287.2 8.3 712 18823 roll 0.77 - - 3175 - 2.58 0.099 3655 538.0 185.8 1.50 0.281 2313 - - - - - - - - 14.85 14.07 13.68
18878 281.4 9.4 721 18885 done 0.77 0.10 0.218 3156 -190.0 2.40 0.039 2261 -580.8 185.8 1.35 0.239 2313 - - - - - - - - 14.12 14.47 13.85
19208 255.5 7.9 733 19214 roll 0.77 - - 3165 - 2.45 0.057 864 -570.2 185.8 1.55 0.284 2314 - - - - - - - - 14.88 14.05 13.62
19249 252.2 7.8 739 19256 done 0.77 - - 3163 - 2.47 0.053 2262 566.0 185.8 1.48 0.259 2312 - - - - - - - - 14.45 14.36 13.69
19600 224.9 7.7 747 19603 done 0.77 - - 3166 - - - 2262 - 185.9 1.62 0.296 2311 - - - - - - - - 14.88 14.26 13.59
19936 199.2 7.7 753 19944 roll 0.77 - - 3165 - 2.60 0.099 3652 534.6 187.2 3.45 1.214 2306 -1.4 0.047 - - - - - - 14.86 14.50 13.24
19963 196.9 8.4 757 19970 done 0.77 - - 3176 - 2.40 0.038 2259 -580.4 187.2 0.98 0.249 2308 - - - - - - - - 14.59 14.55 14.16
20321 166.5 8.8 766 20327 roll 0.77 - - 3176 - 2.62 0.096 3655 532.8 187.2 1.50 0.285 2306 - - - - - - - - 14.88 14.14 13.69
20362 162.3 10.3 772 20370 done 0.77 0.10 0.218 3158 -180.0 2.40 0.039 2261 -580.8 187.2 1.30 0.270 2307 - - - - - - - - 14.15 14.44 13.76
20713 135.6 7.4 780 20726 done 0.78 - - 3157 - - - 2261 - 193.8 11.65 1.383 2279 -2.4 0.047 - - - - - - 14.85 14.55 13.81
21050 111.5 7.0 793 21062 roll 0.80 - - 3158 - 2.67 0.098 3654 521.7 205.9 4.90 0.463 2234 -9.2 0.440 - - - - - - 14.84 14.40 13.90
21146 103.9 8.2 807 21153 done 0.80 - - 3168 - 2.40 0.038 2262 -580.0 205.9 1.08 0.222 2232 - - - - - - - - 14.53 14.49 14.12
21469 80.8 7.0 819 21478 done 0.81 - - 3162 - - - 2260 - 218.6 7.62 0.402 2179 -7.0 0.278 - - - - - - 14.82 14.45 14.02
21777 64.2 6.2 830 21799 roll 0.94 0.05 0.198 3225 1260.0 2.60 0.098 3652 535.4 245.2 14.12 0.368 2071 -7.6 0.265 - - - - - - 14.54 14.38 14.06
22029 47.9 6.2 866 22050 done 0.98 - - 3236 - 2.38 0.040 2274 -579.0 271.1 13.35 0.319 1970 -7.6 0.226 - - - - - - 14.50 14.47 14.04
22367 34.7 2.8 881 22414 roll 1.18 0.08 0.138 3318 1025.0 2.58 0.096 3660 537.2 355.3 40.88 0.285 1634 -8.2 0.199 - - - - - - 14.54 14.33 14.09
22525 22.6 7.8 904 22534 done 1.18 0.15 0.209 3287 -206.7 2.38 0.039 2274 -582.4 355.3 - - 1636 - - - - - - - - 14.12 14.46 14.30
22841 7.8 4.3 916 22876 roll 1.36 0.10 0.114 3378 910.0 2.58 0.096 3661 537.6 414.5 28.52 0.189 1398 -8.3 0.068 - - - - - - 14.56 14.35 14.21
22889 3.8 7.9 920 22899 done 1.36 0.17 0.225 3340 -223.5 2.38 0.038 2280 -580.3 414.5 - - 1399 - - - - - - - - 14.12 14.49 14.31
22922 end climb: SURFACE_DEPTH_REACHED
22923 begin surface coast
22951 end surface coast: CONTROL_FINISHED_OK
22951 begin surface
SM -3.04 - - - - -8.38 9.45 0.080 194 20.5 0.90 0.080 2764 -2624.4 500.14 38.95 0.157 1059 27.2 0.054 - - - - - -