SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 221 * Raw log
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• Previous call tries 1 • 91.82 of 350.00 AH used of 24V (73.76% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.5 deg, depth 0.90 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 17 s • Transponder ping count: 9
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 104 VBD -0.68 - - 209 - - - 2274 - -116.8 -84.82 - 2920 - - - - - - - - 14.70 - 14.72
108 5.1 -7.3 3 132 roll -0.68 8.82 0.415 1961 198.6 2.78 2.094 3702 513.7 -116.8 -5.12 - 3219 -58.4 - - - - - - - 14.13 13.34 14.53
226 49.0 -31.8 20 231 done -0.45 0.35 0.255 2051 257.1 2.42 0.048 2275 -589.7 -116.8 - - 3222 - - - - - - - - 14.24 14.49 14.48
553 99.3 -8.4 34 554 done -0.38 - - 2051 - - - 2275 - -116.8 - - 3223 - - - - - - - - 14.83 14.85 14.85
862 124.9 -8.5 40 867 roll -0.38 - - 2051 - 2.40 0.055 870 -585.4 -116.8 - - 3223 - - - - - - - - 14.88 14.60 14.90
924 129.3 -6.9 49 930 done -0.38 0.12 0.268 2071 166.7 2.47 0.058 2299 578.5 -116.8 - - 3224 - - - - - - - - 14.40 14.60 14.63
1253 150.2 -6.7 61 1259 roll -0.38 - - 2064 - 2.42 0.083 3692 575.6 -116.8 - - 3224 - - - - - - - - 14.92 14.59 14.93
1351 157.0 -7.0 75 1356 done -0.38 - - 2066 - 2.35 0.046 2276 -602.6 -116.8 - - 3224 - - - - - - - - 14.76 14.70 14.78
1701 182.5 -7.5 83 1706 roll -0.38 - - 2064 - 2.38 0.055 889 -582.8 -116.8 - - 3222 - - - - - - - - 14.94 14.67 14.96
1749 186.5 -8.2 90 1756 done -0.38 - - 2058 - 2.50 0.060 2298 563.6 -116.8 - - 3222 - - - - - - - - 14.65 14.59 14.69
2094 213.7 -7.9 97 2099 roll -0.38 - - 2056 - 2.45 0.087 3691 568.6 -116.8 - - 3219 - - - - - - - - 14.94 14.58 14.95
2141 217.5 -7.8 104 2148 done -0.38 - - 2056 - 2.35 0.046 2299 -592.3 -116.8 - - 3219 - - - - - - - - 14.70 14.66 14.73
2485 243.1 -7.5 111 2490 roll -0.38 - - 2056 - 2.42 0.054 889 -582.6 -116.8 - - 3217 - - - - - - - - 14.96 14.65 14.98
2569 249.7 -7.7 123 2574 done -0.38 - - 2056 - 2.47 0.063 2301 571.7 -116.8 - - 3216 - - - - - - - - 14.73 14.62 14.76
2933 277.2 -7.5 133 2934 done -0.38 - - 2056 - - - 2301 - -116.8 - - 3216 - - - - - - - - 14.95 14.97 14.97
3269 302.0 -7.4 139 3274 roll -0.38 - - 2056 - 2.45 0.055 890 -575.9 -116.8 - - 3212 - - - - - - - - 14.95 14.64 14.97
3332 306.7 -7.4 148 3337 done -0.38 - - 2056 - 2.47 0.063 2295 568.8 -116.8 - - 3211 - - - - - - - - 14.73 14.62 14.76
3662 330.3 -7.3 160 3662 done -0.38 - - 2056 - - - 2295 - -116.8 - - 3211 - - - - - - - - 14.95 14.96 14.96
3997 355.4 -7.5 166 3998 done -0.38 - - 2056 - - - 2295 - -116.8 - - 3207 - - - - - - - - 14.95 14.97 14.97
4334 380.0 -7.3 172 4339 roll -0.38 - - 2056 - 2.47 0.058 885 -570.9 -116.8 - - 3205 - - - - - - - - 14.95 14.62 14.96
4381 383.6 -7.2 179 4388 done -0.38 - - 2056 - 2.53 0.065 2285 553.4 -116.8 - - 3204 - - - - - - - - 14.59 14.56 14.66
4725 407.3 -7.0 186 4730 roll -0.38 - - 2053 - 2.50 0.091 3697 564.8 -116.8 - - 3202 - - - - - - - - 14.95 14.55 14.96
4753 409.2 -7.1 190 4758 done -0.38 - - 2052 - 2.38 0.050 2285 -593.3 -116.8 - - 3202 - - - - - - - - 14.76 14.70 14.78
5118 434.6 -6.9 200 5122 roll -0.38 - - 2052 - 2.45 0.059 875 -575.5 -116.8 - - 3200 - - - - - - - - 14.95 14.57 14.97
5200 440.5 -7.0 212 5206 done -0.38 - - 2053 - 2.53 0.066 2298 562.5 -116.8 - - 3200 - - - - - - - - 14.70 14.58 14.72
5566 465.0 -6.8 222 5571 roll -0.38 - - 2043 - 2.47 0.090 3691 564.0 -116.8 - - 3198 - - - - - - - - 14.95 14.54 14.96
5606 468.0 -7.1 228 5612 done -0.38 0.08 0.201 2074 387.5 2.42 0.051 2286 -580.6 -116.8 - - 3198 - - - - - - - - 14.38 14.64 14.51
5958 490.1 -6.3 236 5962 roll -0.43 - - 2068 - 2.45 0.060 883 -572.7 -116.8 - - 3196 - - - - - - - - 14.94 14.53 14.95
6048 496.3 -6.8 249 6054 done -0.50 - - 2068 - 2.50 0.068 2286 561.2 -116.8 - - 3195 - - - - - - - - 14.69 14.57 14.72
6406 518.6 -6.3 258 6410 roll -0.55 0.12 0.138 2008 -500.0 2.50 0.088 3692 562.4 -116.8 - - 3194 - - - - - - - - 14.61 14.52 14.64
6432 520.8 -8.0 262 6438 done -0.55 - - 2007 - 2.42 0.048 2274 -586.0 -116.8 - - 3194 - - - - - - - - 14.66 14.63 14.67
6798 554.0 -9.2 272 6802 roll -0.55 - - 2008 - 2.42 0.059 886 -573.6 -116.8 - - 3192 - - - - - - - - 14.93 14.58 14.95
6838 558.0 -9.4 278 6844 done -0.55 - - 1999 - 2.50 0.067 2285 559.6 -116.8 - - 3192 - - - - - - - - 14.67 14.52 14.71
7189 591.5 -9.6 286 7194 roll -0.55 - - 1993 - 2.53 0.092 3698 558.5 -116.8 - - 3191 - - - - - - - - 14.92 14.52 14.92
7224 594.9 -10.1 291 7229 done -0.55 - - 1992 - 2.38 0.050 2288 -592.4 -116.8 - - 3190 - - - - - - - - 14.74 14.66 14.76
7581 629.0 -9.4 300 7586 roll -0.55 - - 1992 - 2.45 0.062 891 -570.2 -116.8 - - 3189 - - - - - - - - 14.92 14.56 14.95
7657 636.2 -9.0 311 7663 done -0.55 0.15 0.292 2018 173.3 2.55 0.069 2284 546.3 -116.8 - - 3189 - - - - - - - - 14.27 14.50 14.57
7974 659.7 -7.4 321 7975 done -0.55 - - 2018 - - - 2284 - -116.8 - - 3188 - - - - - - - - 14.92 14.94 14.93
8309 684.7 -7.5 327 8314 roll -0.55 - - 2018 - 2.47 0.058 885 -566.4 -116.8 - - 3190 - - - - - - - - 14.92 14.53 14.92
8350 688.2 -8.3 333 8357 done -0.55 - - 2015 - 2.58 0.070 2291 545.0 -116.8 - - 3186 - - - - - - - - 14.57 14.50 14.62
8702 715.9 -8.0 341 8707 roll -0.55 - - 2008 - 2.53 0.095 3702 557.7 -116.8 - - 3185 - - - - - - - - 14.91 14.48 14.93
8757 720.6 -8.4 349 8763 done -0.55 - - 2007 - 2.40 0.051 2276 -594.2 -116.8 - - 3183 - - - - - - - - 14.71 14.64 14.73
9093 748.3 -8.3 362 9098 roll -0.55 - - 2007 - 2.42 0.060 899 -569.0 -116.8 - - 3184 - - - - - - - - 14.92 14.52 14.95
9170 755.0 -8.5 373 9176 done -0.55 - - 2004 - 2.53 0.072 2299 553.4 -116.8 - - 3184 - - - - - - - - 14.64 14.52 14.68
9485 781.1 -8.3 383 9486 done -0.55 - - 2004 - - - 2297 - -116.8 - - 3183 - - - - - - - - 14.90 14.92 14.92
9821 808.7 -8.1 389 9822 done -0.55 - - 2004 - - - 2299 - -116.8 - - 3180 - - - - - - - - 14.90 14.92 14.92
10158 836.0 -8.0 395 10162 roll -0.55 - - 2004 - 2.53 0.064 895 -554.9 -116.8 - - 3179 - - - - - - - - 14.90 14.50 14.92
10205 840.3 -8.8 402 10212 done -0.55 - - 1999 - 2.58 0.072 2287 539.5 -116.8 - - 3180 - - - - - - - - 14.52 14.45 14.58
10549 869.2 -8.5 409 10555 roll -0.55 - - 1999 - 2.47 0.060 895 -563.6 -116.8 - - 3179 - - - - - - - - 14.88 14.50 14.92
10597 873.5 -8.8 416 10604 done -0.55 - - 1999 - 2.55 0.073 2278 542.4 -116.8 - - 3179 - - - - - - - - 14.53 14.45 14.58
10942 902.2 -8.2 423 10943 done -0.55 - - 1999 - - - 2278 - -116.8 - - 3178 - - - - - - - - 14.89 14.91 14.91
11277 929.9 -8.2 429 11278 done -0.55 - - 1999 - - - 2283 - -116.8 - - 3176 - - - - - - - - 14.92 14.94 14.93
11613 956.5 -8.0 435 11614 done -0.55 - - 1999 - - - 2278 - -116.8 - - 3177 - - - - - - - - 14.91 14.93 14.93
11950 983.1 -7.9 441 11951 done -0.55 - - 1999 - - - 2278 - -116.8 - - 3176 - - - - - - - - 14.90 14.92 14.90
12058 end dive: TARGET_DEPTH_EXCEEDED
12058 begin apogee
12066 992.0 -8.0 443 12256 roll -0.19 0.50 0.227 2134 270.0 - - 2206 - - 187.45 1.626 2740 -2.3 0.267 - - - - - - 14.28 13.98 13.32
12257 end apogee: CONTROL_FINISHED_OK
12257 begin climb
12261 997.5 - 446 12420 roll 0.68 0.93 0.159 2407 293.5 2.70 0.100 3609 519.6 116.8 146.00 1.891 2258 -3.3 0.327 - - - - - - 13.93 13.97 13.05
12496 978.7 11.1 484 12502 done 0.59 0.12 0.300 2396 -91.7 2.55 0.067 2219 -545.1 116.8 - - 2240 - - - - - - - - 13.81 14.00 14.06
12848 944.9 9.6 492 12852 roll 0.54 - - 2396 - 2.62 0.099 3616 533.2 116.8 - - 2232 - - - - - - - - 14.64 14.33 14.66
13010 928.2 10.3 515 13017 done 0.47 0.20 0.267 2358 -190.0 2.55 0.069 2196 -556.9 116.8 - - 2231 - - - - - - - - 14.19 14.41 14.47
13352 902.8 7.3 522 13357 roll 0.47 - - 2369 - 2.58 0.086 793 -543.8 118.4 - - 2229 - - - - - - - - 14.77 14.42 14.78
13408 898.8 7.1 530 13412 done 0.47 - - 2369 - 2.55 0.074 2198 551.0 122.9 - - 2228 - - - - - - - - 14.57 14.44 14.61
13743 874.3 7.3 543 13748 roll 0.47 - - 2369 - 2.60 0.101 3621 547.3 123.7 - - 2228 - - - - - - - - 14.83 14.43 14.85
13813 868.5 8.2 553 13819 done 0.47 - - 2378 - 2.50 0.068 2206 -566.0 123.7 - - 2227 - - - - - - - - 14.60 14.50 14.64
14135 842.9 8.1 564 14140 roll 0.47 - - 2389 - 2.60 0.085 783 -547.3 123.7 - - 2227 - - - - - - - - 14.83 14.43 14.85
14211 836.7 7.9 575 14217 done 0.47 0.15 0.262 2355 -226.7 2.60 0.074 2213 550.0 123.7 - - 2226 - - - - - - - - 14.23 14.45 14.52
14528 813.1 7.6 585 14533 roll 0.47 - - 2357 - 2.55 0.100 3609 547.5 123.7 - - 2226 - - - - - - - - 14.85 14.42 14.88
14610 805.7 8.9 597 14616 done 0.47 - - 2365 - 2.53 0.065 2199 -557.3 123.7 - - 2226 - - - - - - - - 14.62 14.45 14.64
14975 774.3 8.8 607 14980 roll 0.47 - - 2376 - 2.58 0.086 788 -546.9 123.7 - - 2226 - - - - - - - - 14.86 14.43 14.88
15032 769.9 8.7 615 15037 done 0.47 - - 2376 - 2.60 0.073 2218 550.0 123.7 - - 2225 - - - - - - - - 14.59 14.46 14.64
15367 740.5 8.7 628 15372 roll 0.47 - - 2375 - 2.55 0.100 3612 546.7 123.7 - - 2225 - - - - - - - - 14.85 14.41 14.85
15429 734.5 9.4 637 15436 done 0.47 0.05 0.257 2357 -360.0 2.50 0.065 2221 -556.4 123.7 - - 2225 - - - - - - - - 14.26 14.47 14.53
15760 711.3 6.7 649 15785 roll 0.48 - - 2367 - 2.65 0.086 790 -540.0 137.6 18.48 1.731 2174 -2.8 0.213 - - - - - - 14.85 14.51 13.83
15815 707.7 6.3 657 15850 done 0.50 - - 2367 - 2.62 0.073 2229 549.2 161.1 30.77 1.676 2083 -3.0 0.235 - - - - - - 14.54 14.43 13.68
16201 679.9 7.2 670 16206 roll 0.50 - - 2368 - 2.55 0.101 3613 542.7 164.2 - - 2059 - - - - - - - - 14.70 14.33 14.73
16262 674.9 7.9 679 16268 done 0.50 - - 2377 - 2.53 0.066 2216 -552.2 164.2 - - 2059 - - - - - - - - 14.54 14.38 14.57
16593 649.9 7.7 691 16598 roll 0.50 - - 2386 - 2.62 0.084 786 -545.8 164.2 - - 2058 - - - - - - - - 14.79 14.40 14.81
16654 645.1 7.7 700 16660 done 0.50 - - 2386 - 2.60 0.072 2215 549.6 164.2 - - 2057 - - - - - - - - 14.55 14.42 14.59
16985 616.7 8.7 712 16989 roll 0.50 - - 2386 - 2.55 0.099 3615 549.0 164.2 - - 2057 - - - - - - - - 14.83 14.40 14.84
17061 609.1 9.9 723 17066 done 0.50 0.15 0.252 2360 -173.3 2.45 0.066 2219 -569.8 164.2 - - 2058 - - - - - - - - 14.25 14.48 14.52
17377 584.3 7.8 733 17382 roll 0.50 - - 2370 - 2.60 0.083 796 -547.3 164.2 - - 2057 - - - - - - - - 14.83 14.42 14.85
17452 578.4 7.5 744 17458 done 0.55 - - 2370 - 2.58 0.070 2221 552.3 164.2 - - 2056 - - - - - - - - 14.59 14.46 14.64
17769 552.3 8.4 754 17774 roll 0.55 - - 2370 - 2.53 0.099 3612 549.8 164.2 - - 2059 - - - - - - - - 14.84 14.40 14.85
17844 545.0 9.5 765 17851 done 0.55 - - 2380 - 2.47 0.063 2227 -560.7 164.2 - - 2056 - - - - - - - - 14.57 14.40 14.59
18160 516.6 9.0 775 18165 roll 0.55 - - 2389 - 2.62 0.082 792 -547.7 164.2 - - 2056 - - - - - - - - 14.86 14.42 14.88
18209 512.5 8.4 782 18215 done 0.55 - - 2389 - 2.62 0.070 2233 550.0 164.2 - - 2056 - - - - - - - - 14.59 14.47 14.64
18552 484.2 8.0 789 18559 roll 0.55 - - 2389 - 2.47 0.098 3604 555.1 164.2 - - 2056 - - - - - - - - 14.85 14.38 14.88
18628 477.8 8.0 800 18634 done 0.55 - - 2398 - 2.45 0.063 2233 -559.6 164.2 - - 2055 - - - - - - - - 14.52 14.46 14.66
18945 453.7 7.7 810 18950 roll 0.55 - - 2409 - 2.62 0.080 786 -552.3 164.2 - - 2055 - - - - - - - - 14.85 14.43 14.87
19006 449.0 7.5 819 19012 done 0.55 - - 2409 - 2.62 0.070 2238 554.2 164.2 - - 2055 - - - - - - - - 14.59 14.46 14.64
19337 421.1 8.6 831 19341 roll 0.55 0.12 0.266 2368 -341.7 2.50 0.096 3617 551.6 164.2 - - 2053 - - - - - - - - 14.23 14.40 14.36
19413 414.9 7.5 842 19418 done 0.55 - - 2377 - 2.42 0.063 2233 -571.9 164.2 - - 2055 - - - - - - - - 14.61 14.50 14.67
19728 390.3 8.0 852 19733 roll 0.55 - - 2390 - 2.62 0.076 780 -554.6 164.2 - - 2055 - - - - - - - - 14.88 14.43 14.89
19826 382.2 8.1 866 19831 done 0.55 - - 2391 - 2.62 0.067 2230 553.4 164.2 - - 2055 - - - - - - - - 14.59 14.47 14.64
20176 350.3 9.3 874 20181 roll 0.55 - - 2390 - 2.50 0.096 3608 551.2 164.2 - - 2055 - - - - - - - - 14.85 14.40 14.88
20259 341.7 10.1 886 20265 done 0.55 - - 2399 - 2.45 0.060 2231 -562.0 164.2 - - 2055 - - - - - - - - 14.52 14.46 14.64
20625 307.1 9.5 896 20630 roll 0.55 - - 2408 - 2.62 0.076 787 -551.1 164.2 - - 2055 - - - - - - - - 14.88 14.42 14.90
20666 303.3 9.0 902 20671 done 0.55 - - 2407 - 2.60 0.067 2233 556.2 164.2 - - 2058 - - - - - - - - 14.60 14.47 14.65
21016 271.6 8.9 910 21021 roll 0.55 - - 2407 - 2.50 0.094 3613 552.0 164.2 - - 2055 - - - - - - - - 14.86 14.41 14.88
21065 266.8 9.9 917 21073 done 0.55 0.15 0.256 2381 -173.3 2.42 0.060 2228 -572.3 164.2 - - 2055 - - - - - - - - 14.26 14.52 14.54
21409 242.2 7.1 924 21413 roll 0.56 - - 2389 - 2.58 0.076 794 -555.8 169.2 - - 2055 - - - - - - - - 14.86 14.45 14.88
21464 238.1 7.4 932 21469 done 0.60 - - 2390 - 2.60 0.067 2236 554.6 169.2 - - 2055 - - - - - - - - 14.55 14.42 14.59
21801 209.5 8.8 945 21806 roll 0.60 - - 2390 - 2.47 0.093 3609 555.9 169.2 - - 2056 - - - - - - - - 14.88 14.40 14.90
21869 202.6 9.7 955 21875 done 0.60 - - 2399 - 2.45 0.057 2227 -564.1 169.2 - - 2055 - - - - - - - - 14.52 14.47 14.56
22192 173.7 9.0 966 22197 roll 0.60 - - 2406 - 2.60 0.076 783 -555.4 169.2 - - 2055 - - - - - - - - 14.88 14.43 14.90
22255 168.6 7.9 975 22260 done 0.60 - - 2406 - 2.60 0.067 2231 556.9 169.2 - - 2055 - - - - - - - - 14.60 14.48 14.63
22585 141.2 8.4 987 22589 roll 0.60 - - 2406 - 2.50 0.093 3617 554.4 169.2 - - 2055 - - - - - - - - 14.88 14.42 14.89
22697 131.3 8.5 1003 22702 done 0.60 - - 2416 - 2.42 0.060 2232 -572.3 169.2 - - 2055 - - - - - - - - 14.62 14.53 14.66
23032 102.3 9.0 1016 23037 roll 0.60 - - 2424 - 2.58 0.073 793 -557.8 169.2 - - 2055 - - - - - - - - 14.89 14.44 14.90
23165 92.9 6.8 1035 23178 done 0.61 - - 2424 - 2.60 0.063 2237 555.4 181.6 9.30 0.350 1998 -6.1 0.306 - - - - - - 14.60 14.48 14.19
23506 75.9 4.4 1050 23558 roll 0.70 - - 2424 - 2.53 0.090 3615 544.7 252.6 45.90 0.366 1713 -6.2 0.242 - - - - - - 14.83 14.53 14.27
23660 69.1 4.7 1072 23706 done 0.84 0.15 0.113 2489 433.3 2.38 0.056 2246 -575.2 315.9 41.28 0.343 1451 -6.3 0.240 - - - - - - 14.50 14.45 14.21
24028 49.5 5.3 1092 24067 roll 0.96 - - 2489 - 2.67 0.073 792 -544.6 363.2 31.42 0.278 1257 -6.2 0.207 - - - - - - 14.78 14.46 14.25
24091 46.7 4.2 1098 24146 done 1.15 0.22 0.087 2592 468.2 2.60 0.061 2259 564.2 436.6 47.45 0.274 959 -6.3 0.201 - - - - - - 14.53 14.46 14.23
24476 11.8 9.8 1120 24480 roll 1.15 - - 2598 - 2.62 0.067 795 -558.8 436.6 - - 966 - - - - - - - - 14.79 14.43 14.81
24569 end climb: SURFACE_DEPTH_REACHED
24569 begin surface coast
24601 end surface coast: CONTROL_FINISHED_OK
24601 begin surface
SM 1.00 - - - - -6.14 6.82 0.070 216 31.7 2.67 0.060 2280 660.7 500.17 41.75 0.138 699 16.7 -0.012 - - - - - -