SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 188 * Raw log
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• Previous call tries 1 • 73.78 of 350.00 AH used of 24V (78.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -1.86 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 98 done -0.90 - - 146 - - - 2791 - -116.8 -76.95 - 3514 - - - - - - - - 14.59 13.14 14.56
100 -1.7 -3.7 2 115 done -0.90 11.80 0.396 2603 208.2 - - 2789 - -116.8 - - 3512 - - - - - - - - 14.12 14.45 14.40
429 85.2 -14.8 17 437 roll -0.63 0.32 0.239 2685 256.2 1.90 0.099 3826 545.8 -116.8 - - 3518 - - - - - - - - 14.24 14.33 14.42
485 90.0 -8.2 25 494 done -0.55 0.10 0.216 2716 310.0 1.80 0.039 2757 -593.9 -116.8 - - 3518 - - - - - - - - 14.23 14.46 14.38
821 113.6 -5.5 36 828 roll -0.55 - - 2707 - 2.03 0.103 3817 522.2 -116.8 - - 3520 - - - - - - - - 14.71 14.33 14.68
904 123.2 -8.7 48 912 done -0.55 - - 2710 - 1.80 0.039 2752 -591.7 -116.8 - - 3523 - - - - - - - - 14.56 14.51 14.57
1269 152.4 -8.1 58 1276 roll -0.55 - - 2707 - 2.35 0.042 1385 -581.7 -116.8 - - 3520 - - - - - - - - 14.69 14.42 14.69
1325 157.0 -8.2 66 1332 done -0.55 - - 2698 - 2.47 0.064 2765 558.7 -116.8 - - 3519 - - - - - - - - 14.45 14.37 14.48
1661 184.7 -8.3 79 1664 done -0.55 - - 2698 - - - 2765 - -116.8 - - 3516 - - - - - - - - 14.69 14.69 14.69
1997 211.2 -7.8 85 2005 roll -0.55 - - 2698 - 2.42 0.044 1381 -571.9 -116.8 - - 3517 - - - - - - - - 14.69 14.42 14.69
2059 216.2 -7.7 94 2067 done -0.55 0.10 0.204 2719 210.0 2.47 0.066 2765 560.3 -116.8 - - 3512 - - - - - - - - 14.25 14.37 14.40
2389 238.6 -6.8 106 2396 roll -0.63 - - 2712 - 2.00 0.109 3820 527.5 -116.8 - - 3509 - - - - - - - - 14.69 14.31 14.69
2423 241.1 -7.0 111 2431 done -0.70 0.05 0.116 2653 -1180.0 1.80 0.043 2774 -581.1 -116.8 - - 3509 - - - - - - - - 14.38 14.50 14.46
2781 274.6 -9.6 120 2794 roll -0.70 - - 2654 - 2.35 0.044 1370 -597.4 -116.8 - - 3507 - - - - - - - - 14.84 14.57 14.84
2820 278.5 -9.9 125 2833 done -0.70 - - 2644 - 2.47 0.067 2773 568.0 -116.8 - - 3507 - - - - - - - - 14.66 14.52 14.66
3181 315.1 -10.3 134 3195 roll -0.70 - - 2635 - 1.95 0.108 3831 542.6 -116.8 - - 3504 - - - - - - - - 14.88 14.50 14.85
3242 321.7 -10.9 142 3256 done -0.63 0.20 0.210 2693 290.0 1.77 0.044 2756 -607.3 -116.8 - - 3504 - - - - - - - - 14.42 14.70 14.64
3583 349.6 -8.0 155 3596 roll -0.63 - - 2693 - 2.33 0.045 1372 -594.0 -116.8 - - 3502 - - - - - - - - 14.90 14.64 14.92
3629 353.4 -8.0 161 3642 done -0.63 - - 2684 - 2.45 0.067 2763 567.8 -116.8 - - 3502 - - - - - - - - 14.72 14.56 14.74
3983 382.4 -8.2 169 3997 roll -0.63 - - 2684 - 2.35 0.044 1377 -589.8 -116.8 - - 3499 - - - - - - - - 14.92 14.64 14.92
4036 386.7 -8.1 176 4050 done -0.63 - - 2676 - 2.47 0.067 2769 563.6 -116.8 - - 3499 - - - - - - - - 14.71 14.57 14.74
4380 414.6 -8.1 183 4393 done -0.63 - - 2675 - - - 2769 - -116.8 - - 3497 - - - - - - - - 14.92 14.92 14.92
4716 440.3 -7.6 189 4730 roll -0.63 - - 2675 - 2.38 0.046 1376 -585.3 -116.8 - - 3495 - - - - - - - - 14.95 14.64 14.93
4748 442.8 -7.7 193 4762 done -0.63 0.10 0.241 2694 190.0 2.45 0.068 2761 565.3 -116.8 - - 3495 - - - - - - - - 14.42 14.54 14.66
5118 467.7 -6.7 203 5131 roll -0.63 - - 2686 - 1.98 0.112 3831 540.4 -116.8 - - 3494 - - - - - - - - 14.93 14.51 14.93
5157 470.4 -7.2 208 5170 done -0.63 - - 2686 - 1.77 0.045 2751 -610.2 -116.8 - - 3493 - - - - - - - - 14.78 14.73 14.79
5518 496.2 -7.2 217 5531 done -0.63 - - 2686 - - - 2751 - -116.8 - - 3496 - - - - - - - - 14.94 14.95 14.94
5855 520.0 -7.0 223 5868 roll -0.63 - - 2686 - 2.33 0.045 1372 -591.8 -116.8 - - 3490 - - - - - - - - 14.93 14.63 14.93
5908 523.9 -7.1 230 5921 done -0.63 - - 2676 - 2.47 0.069 2764 563.6 -116.8 - - 3488 - - - - - - - - 14.71 14.55 14.74
6252 548.9 -7.5 237 6265 roll -0.63 - - 2676 - 2.38 0.045 1365 -587.8 -116.8 - - 3488 - - - - - - - - 14.92 14.62 14.92
6291 552.0 -8.2 242 6304 done -0.63 0.10 0.240 2696 200.0 2.47 0.068 2765 566.8 -116.8 - - 3488 - - - - - - - - 14.41 14.59 14.64
6653 577.0 -7.0 251 6666 roll -0.63 - - 2695 - 2.38 0.045 1374 -584.5 -116.8 - - 3487 - - - - - - - - 14.92 14.62 14.93
6692 580.0 -7.4 256 6705 done -0.71 - - 2687 - 2.42 0.068 2756 571.1 -116.8 - - 3487 - - - - - - - - 14.71 14.54 14.73
7054 606.7 -7.5 265 7068 roll -0.71 - - 2679 - 1.98 0.112 3824 539.4 -116.8 - - 3485 - - - - - - - - 14.91 14.47 14.91
7121 611.8 -7.6 274 7135 done -0.71 - - 2682 - 1.77 0.045 2748 -607.9 -116.8 - - 3484 - - - - - - - - 14.76 14.70 14.78
7455 634.7 -6.8 286 7468 roll -0.71 - - 2679 - 2.33 0.045 1369 -591.8 -116.8 - - 3483 - - - - - - - - 14.92 14.62 14.92
7522 639.3 -6.8 295 7535 done -0.71 - - 2671 - 2.47 0.070 2771 567.6 -116.8 - - 3483 - - - - - - - - 14.69 14.52 14.72
7856 662.8 -7.2 307 7869 done -0.71 - - 2670 - - - 2765 - -116.8 - - 3481 - - - - - - - - 14.91 14.91 14.91
8192 689.3 -8.1 313 8205 roll -0.71 - - 2669 - 2.40 0.047 1367 -582.5 -116.8 - - 3480 - - - - - - - - 14.92 14.59 14.91
8223 692.0 -8.2 317 8237 done -0.71 - - 2661 - 2.47 0.070 2756 562.3 -116.8 - - 3481 - - - - - - - - 14.69 14.52 14.71
8593 723.8 -8.7 327 8606 done -0.71 - - 2663 - - - 2756 - -116.8 - - 3479 - - - - - - - - 14.92 14.93 14.93
8929 752.1 -8.5 333 8942 done -0.71 - - 2662 - - - 2756 - -116.8 - - 3479 - - - - - - - - 14.94 14.92 14.93
9265 776.7 -7.4 339 9278 roll -0.71 - - 2661 - 2.38 0.047 1376 -579.8 -116.8 - - 3481 - - - - - - - - 14.93 14.58 14.93
9296 777.9 -9.0 343 9310 done -0.71 - - 2653 - 2.45 0.071 2755 562.9 -116.8 - - 3477 - - - - - - - - 14.69 14.51 14.71
9665 805.1 -7.3 353 9678 roll -0.71 - - 2644 - 2.00 0.115 3824 534.5 -116.8 - - 3476 - - - - - - - - 14.90 14.41 14.91
9697 807.3 -6.5 357 9711 done -0.71 - - 2644 - 1.80 0.047 2735 -605.0 -116.8 - - 3478 - - - - - - - - 14.73 14.67 14.74
10066 832.9 -7.1 367 10079 roll -0.71 - - 2644 - 2.30 0.046 1379 -589.6 -116.8 - - 3475 - - - - - - - - 14.90 14.57 14.92
10112 838.6 -6.2 373 10126 done -0.71 0.10 0.252 2666 220.0 2.45 0.070 2759 563.3 -116.8 - - 3474 - - - - - - - - 14.33 14.50 14.58
10467 862.0 -6.5 381 10480 done -0.71 - - 2666 - - - 2759 - -116.8 - - 3476 - - - - - - - - 14.92 14.92 14.92
10803 884.6 -6.8 387 10816 done -0.71 - - 2666 - - - 2759 - -116.8 - - 3471 - - - - - - - - 14.89 14.89 14.89
11139 907.4 -6.9 393 11153 roll -0.71 - - 2666 - 2.38 0.047 1379 -579.8 -116.8 - - 3471 - - - - - - - - 14.89 14.55 14.89
11185 909.8 -5.3 399 11199 done -0.71 - - 2657 - 2.45 0.073 2751 560.0 -116.8 - - 3472 - - - - - - - - 14.66 14.48 14.69
11482 end dive: TARGET_DEPTH_EXCEEDED
11482 begin apogee
11487 930.8 -7.2 406 11614 roll -0.23 0.55 0.185 2820 296.4 - - 2239 - - 116.95 1.965 3049 -3.6 0.329 - - - - - - 14.34 14.00 13.25
11616 end apogee: CONTROL_FINISHED_OK
11616 begin climb
11618 938.8 - 408 11762 roll 0.90 1.12 0.107 3178 319.6 2.50 0.058 847 -556.8 116.8 123.97 1.960 2579 -3.8 0.348 - - - - - - 14.01 14.04 13.09
11767 934.0 8.2 432 11780 done 0.65 0.22 0.231 3116 -281.8 2.55 0.053 2253 551.4 116.8 - - 2574 - - - - - - - - 13.79 13.89 13.96
12110 908.8 7.5 445 12123 roll 0.66 - - 3116 - 2.60 0.099 3653 538.5 122.6 1.00 0.271 2560 -14.0 9.010 - - - - - - 14.60 14.25 14.15
12234 897.9 8.8 462 12248 done 0.54 0.17 0.232 3078 -223.5 2.42 0.041 2234 -586.4 122.6 - - 2567 - - - - - - - - 14.17 14.44 14.41
12569 875.3 6.7 474 12614 roll 0.57 - - 3078 - 2.70 0.103 3651 524.8 145.6 30.48 1.944 2465 -3.3 0.289 - - - - - - 14.73 14.26 13.63
12653 868.9 8.3 486 12666 done 0.57 - - 3088 - 2.40 0.041 2256 -581.2 145.6 - - 2461 - - - - - - - - 14.43 14.38 14.45
13022 840.8 7.8 496 13035 done 0.57 - - 3089 - - - 2251 - 145.6 - - 2459 - - - - - - - - 14.72 14.73 14.71
13358 815.5 7.5 502 13371 roll 0.57 - - 3088 - 2.67 0.104 3657 526.6 150.2 - - 2458 - - - - - - - - 14.78 14.38 14.78
13404 812.1 7.0 508 13443 done 0.59 - - 3099 - 2.40 0.041 2240 -590.4 166.5 23.73 1.949 2380 -3.3 0.263 - - - - - - 14.64 14.56 13.73
13757 783.5 8.2 523 13771 roll 0.59 - - 3099 - 2.67 0.105 3657 530.7 166.5 - - 2373 - - - - - - - - 14.71 14.35 14.71
13796 780.0 8.6 528 13809 done 0.59 - - 3109 - 2.38 0.042 2268 -583.6 166.5 - - 2373 - - - - - - - - 14.58 14.50 14.59
14158 750.0 8.2 537 14171 roll 0.59 - - 3109 - 2.62 0.106 3657 530.2 166.5 - - 2373 - - - - - - - - 14.78 14.38 14.78
14211 745.0 9.4 544 14224 done 0.59 - - 3120 - 2.40 0.043 2258 -582.9 166.5 - - 2372 - - - - - - - - 14.62 14.54 14.64
14555 715.3 8.7 551 14568 done 0.59 - - 3120 - - - 2254 - 166.5 - - 2371 - - - - - - - - 14.83 14.83 14.83
14890 686.0 8.8 557 14904 roll 0.59 - - 3119 - 2.65 0.105 3661 530.9 166.5 - - 2371 - - - - - - - - 14.85 14.40 14.85
14952 680.3 9.4 565 14966 done 0.51 0.22 0.218 3066 -240.9 2.38 0.042 2261 -588.2 166.5 - - 2372 - - - - - - - - 14.30 14.54 14.57
15295 657.6 6.5 578 15339 roll 0.54 - - 3065 - 2.67 0.105 3653 521.3 194.6 29.62 1.795 2270 -3.4 0.242 - - - - - - 14.83 14.39 13.77
15364 652.7 7.2 588 15389 done 0.56 - - 3076 - 2.38 0.042 2257 -586.6 205.7 11.35 1.969 2227 -3.8 0.241 - - - - - - 14.53 14.46 13.69
15745 625.6 7.1 600 15771 roll 0.58 - - 3076 - 2.70 0.104 3650 515.9 219.0 14.43 1.889 2173 -3.7 0.238 - - - - - - 14.71 14.37 13.77
15818 619.6 8.6 610 15831 done 0.58 - - 3085 - 2.38 0.042 2262 -583.2 219.0 - - 2168 - - - - - - - - 14.50 14.42 14.51
16137 594.8 7.8 620 16151 roll 0.58 - - 3095 - 2.45 0.063 853 -575.1 219.0 - - 2166 - - - - - - - - 14.73 14.42 14.73
16169 592.3 7.7 624 16182 done 0.58 - - 3094 - 2.47 0.057 2272 574.5 220.2 - - 2166 - - - - - - - - 14.57 14.43 14.59
16538 563.5 7.7 634 16551 roll 0.58 - - 3094 - 2.58 0.106 3656 536.4 220.8 - - 2166 - - - - - - - - 14.79 14.40 14.79
16599 558.3 8.8 642 16612 done 0.58 - - 3104 - 2.35 0.041 2272 -588.9 220.8 - - 2166 - - - - - - - - 14.64 14.55 14.64
16939 531.5 7.8 655 16952 done 0.58 - - 3112 - - - 2267 - 220.8 - - 2166 - - - - - - - - 14.81 14.81 14.81
17276 505.9 7.6 661 17289 roll 0.58 - - 3104 - 2.62 0.105 3655 529.8 223.5 - - 2166 - - - - - - - - 14.83 14.42 14.83
17307 503.0 8.8 665 17321 done 0.58 - - 3113 - 2.35 0.042 2266 -591.1 223.5 - - 2166 - - - - - - - - 14.68 14.59 14.69
17677 472.6 8.3 675 17690 done 0.58 - - 3113 - - - 2262 - 223.5 - - 2164 - - - - - - - - 14.84 14.84 14.84
18013 444.5 8.4 681 18026 roll 0.58 - - 3114 - 2.62 0.106 3660 533.6 223.5 - - 2165 - - - - - - - - 14.85 14.42 14.84
18066 439.7 9.4 688 18080 done 0.58 0.12 0.226 3087 -225.0 2.35 0.042 2276 -588.9 223.5 - - 2165 - - - - - - - - 14.35 14.59 14.57
18410 415.9 6.8 695 18450 roll 0.68 0.05 0.205 3135 960.0 2.65 0.105 3656 520.8 244.4 26.98 1.556 2070 -3.5 0.181 - - - - - - 14.59 14.45 13.89
18482 409.3 10.5 705 18496 done 0.68 - - 3146 - 2.35 0.043 2279 -586.0 244.4 - - 2066 - - - - - - - - 14.57 14.50 14.58
18802 378.4 9.8 715 18815 roll 0.68 - - 3157 - 2.47 0.063 849 -578.9 244.4 - - 2062 - - - - - - - - 14.75 14.42 14.76
18841 374.5 10.0 720 18854 done 0.68 0.12 0.218 3120 -308.3 2.50 0.057 2281 572.8 244.4 - - 2063 - - - - - - - - 14.30 14.45 14.53
19202 343.3 8.6 729 19216 roll 0.68 - - 3120 - 2.55 0.105 3658 540.0 244.4 - - 2063 - - - - - - - - 14.79 14.38 14.78
19234 340.2 9.4 733 19248 done 0.68 - - 3128 - 2.35 0.041 2269 -591.1 244.4 - - 2063 - - - - - - - - 14.65 14.56 14.66
19603 307.2 8.9 743 19616 done 0.68 - - 3128 - - - 2264 - 244.4 - - 2061 - - - - - - - - 14.83 14.83 14.83
19939 276.7 9.2 749 19953 roll 0.68 - - 3128 - 2.60 0.103 3655 535.0 244.4 - - 2063 - - - - - - - - 14.83 14.42 14.83
19971 273.4 10.1 753 19985 done 0.68 - - 3137 - 2.33 0.042 2280 -590.1 244.4 - - 2063 - - - - - - - - 14.64 14.56 14.65
20341 237.6 9.7 763 20354 roll 0.68 - - 3148 - 2.45 0.061 857 -580.8 244.4 - - 2063 - - - - - - - - 14.86 14.49 14.86
20380 233.7 9.8 768 20393 done 0.68 - - 3148 - 2.47 0.057 2292 581.0 244.4 - - 2063 - - - - - - - - 14.64 14.50 14.69
20741 198.6 9.7 777 20754 done 0.68 - - 3147 - - - 2292 - 244.4 - - 2063 - - - - - - - - 14.85 14.85 14.85
21077 166.4 9.6 783 21090 done 0.68 - - 3148 - - - 2292 - 244.4 - - 2063 - - - - - - - - 14.87 14.86 14.86
21413 133.1 10.0 789 21427 roll 0.68 - - 3157 - 2.47 0.061 863 -578.5 244.4 - - 2063 - - - - - - - - 14.88 14.50 14.91
21452 129.0 10.4 794 21466 done 0.68 0.12 0.212 3120 -308.3 2.45 0.055 2287 581.2 244.4 - - 2063 - - - - - - - - 14.36 14.51 14.60
21815 100.5 7.7 803 21828 roll 0.69 - - 3120 - 2.53 0.103 3660 542.7 245.3 - - 2063 - - - - - - - - 14.85 14.42 14.86
21860 97.1 7.5 809 21875 done 0.69 - - 3127 - 2.33 0.040 2270 -596.6 250.0 1.45 0.250 2052 -7.6 0.565 - - - - - - 14.71 14.64 14.28
22190 78.1 4.6 822 22236 roll 0.87 0.08 0.144 3196 862.5 2.65 0.100 3658 523.8 319.0 33.90 0.418 1781 -8.0 0.287 - - - - - - 14.59 14.52 14.27
22326 65.1 10.6 841 22339 done 0.87 - - 3205 - 2.30 0.039 2288 -595.7 319.0 - - 1783 - - - - - - - - 14.64 14.57 14.66
22666 39.6 6.2 856 22699 roll 0.92 - - 3216 - 2.47 0.059 868 -574.9 352.6 16.38 0.309 1648 -8.2 0.203 - - - - - - 14.83 14.51 14.27
22928 24.3 8.1 893 22942 done 1.08 - - 3216 - 2.45 0.051 2307 587.3 352.6 - - 1649 - - - - - - - - 14.64 14.51 14.66
23263 20.6 4.3 907 23317 roll 1.38 0.28 0.066 3352 485.7 2.53 0.099 3660 534.8 427.4 36.17 0.226 1350 -8.3 0.145 - - - - - - 14.54 14.47 14.36
23476 2.9 11.1 937 23489 done 1.29 0.15 0.228 3319 -220.0 2.25 0.039 2304 -602.7 427.4 - - 1352 - - - - - - - - 14.32 14.59 14.56
23492 end climb: SURFACE_DEPTH_REACHED
23493 begin surface coast
23521 end surface coast: CONTROL_FINISHED_OK
23521 begin surface
SM -2.19 - - - - -8.40 9.10 0.072 186 20.4 0.85 0.079 2770 -2922.4 500.14 33.25 0.152 1056 31.8 0.047 - - - - - -