SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 217 * Raw log
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• Previous call tries 5 • 84.86 of 350.00 AH used of 24V (75.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth -2.43 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 640.56 (SM_CC=640.56)
• GPS1 time: 34 s
• GPS2 time: 3 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 97 done -0.90 - - 185 - - - 2788 - -116.8 -76.35 - 3515 - - - - - - - - 14.69 13.00 14.68
99 -0.8 -5.3 2 121 roll -0.90 11.27 0.385 2601 214.4 2.38 0.034 1365 -597.9 -116.8 - - 3517 - - - - - - - - 14.19 14.48 14.49
217 47.0 -25.0 20 225 done -0.60 0.38 0.250 2704 271.1 2.53 0.073 2757 550.2 -116.8 - - 3517 - - - - - - - - 14.21 14.36 14.47
540 84.9 -7.2 33 548 roll -0.60 - - 2706 - 2.35 0.042 1364 -592.8 -116.8 - - 3519 - - - - - - - - 14.78 14.52 14.78
777 103.1 -7.4 67 784 done -0.60 - - 2694 - 2.50 0.067 2779 566.0 -116.8 - - 3519 - - - - - - - - 14.54 14.46 14.58
1100 126.4 -7.3 78 1106 roll -0.60 - - 2694 - 2.38 0.042 1372 -591.2 -116.8 - - 3519 - - - - - - - - 14.84 14.56 14.84
1141 129.4 -7.0 84 1148 done -0.60 - - 2685 - 2.50 0.067 2772 560.0 -116.8 - - 3519 - - - - - - - - 14.55 14.47 14.59
1492 155.7 -7.8 92 1499 roll -0.60 - - 2677 - 1.98 0.106 3828 533.3 -116.8 - - 3516 - - - - - - - - 14.85 14.42 14.87
1526 158.8 -9.1 97 1534 done -0.60 0.10 0.218 2718 410.0 1.80 0.038 2747 -600.6 -116.8 - - 3516 - - - - - - - - 14.38 14.67 14.53
1884 185.9 -7.6 106 1890 roll -0.60 - - 2713 - 2.28 0.044 1389 -595.6 -116.8 - - 3513 - - - - - - - - 14.86 14.57 14.86
1940 190.5 -8.4 114 1946 done -0.68 - - 2704 - 2.42 0.068 2774 572.3 -116.8 - - 3513 - - - - - - - - 14.66 14.51 14.68
2276 217.1 -7.8 127 2282 roll -0.68 - - 2704 - 2.35 0.044 1387 -590.2 -116.8 - - 3509 - - - - - - - - 14.85 14.57 14.85
2317 220.2 -7.2 133 2326 done -0.68 - - 2695 - 2.47 0.069 2769 559.5 -116.8 - - 3509 - - - - - - - - 14.56 14.47 14.59
2668 245.5 -7.4 141 2670 done -0.68 - - 2694 - - - 2770 - -116.8 - - 3511 - - - - - - - - 14.85 14.85 14.85
3003 272.1 -8.0 147 3017 roll -0.68 - - 2695 - 2.35 0.044 1382 -590.6 -116.8 - - 3504 - - - - - - - - 14.90 14.61 14.90
3077 277.9 -7.6 157 3091 done -0.68 - - 2685 - 2.45 0.070 2765 564.5 -116.8 - - 3503 - - - - - - - - 14.70 14.57 14.73
3404 301.9 -7.2 168 3418 roll -0.68 - - 2677 - 1.98 0.111 3831 538.4 -116.8 - - 3501 - - - - - - - - 14.92 14.49 14.91
3457 305.8 -7.4 175 3471 done -0.68 - - 2678 - 1.75 0.044 2776 -602.9 -116.8 - - 3500 - - - - - - - - 14.76 14.69 14.77
3802 330.7 -7.3 182 3815 roll -0.68 - - 2677 - 2.35 0.042 1373 -597.0 -116.8 - - 3498 - - - - - - - - 14.92 14.63 14.92
3827 332.7 -7.4 185 3841 done -0.68 - - 2667 - 2.45 0.068 2773 571.4 -116.8 - - 3498 - - - - - - - - 14.71 14.55 14.74
4147 358.8 -8.3 195 4160 roll -0.68 - - 2660 - 1.95 0.110 3824 539.0 -116.8 - - 3496 - - - - - - - - 14.92 14.47 14.92
4214 364.8 -9.0 204 4227 done -0.68 - - 2660 - 1.75 0.043 2755 -610.9 -116.8 - - 3496 - - - - - - - - 14.75 14.71 14.80
4548 393.8 -8.6 216 4561 roll -0.68 - - 2660 - 2.33 0.044 1373 -593.1 -116.8 - - 3494 - - - - - - - - 14.92 14.62 14.92
4609 398.8 -8.2 224 4622 done -0.68 - - 2650 - 2.47 0.068 2765 563.6 -116.8 - - 3493 - - - - - - - - 14.74 14.54 14.73
4949 427.4 -8.3 237 4962 roll -0.68 - - 2642 - 1.98 0.112 3829 537.4 -116.8 - - 3491 - - - - - - - - 14.92 14.46 14.92
5030 434.7 -8.8 248 5044 done -0.68 0.12 0.220 2679 308.3 1.77 0.044 2754 -607.3 -116.8 - - 3492 - - - - - - - - 14.39 14.68 14.62
5350 458.7 -7.5 258 5364 roll -0.68 - - 2680 - 2.33 0.044 1372 -593.1 -116.8 - - 3490 - - - - - - - - 14.92 14.61 14.92
5417 464.2 -8.1 267 5431 done -0.68 - - 2669 - 2.47 0.067 2769 565.6 -116.8 - - 3489 - - - - - - - - 14.69 14.52 14.71
5751 491.4 -8.1 279 5764 done -0.68 - - 2669 - - - 2769 - -116.8 - - 3485 - - - - - - - - 14.92 14.93 14.92
6087 516.4 -7.3 285 6100 done -0.68 - - 2669 - - - 2769 - -116.8 - - 3486 - - - - - - - - 14.92 14.93 14.93
6423 540.4 -7.1 291 6437 roll -0.68 - - 2669 - 2.40 0.044 1372 -582.1 -116.8 - - 3485 - - - - - - - - 14.94 14.59 14.93
6484 544.9 -7.3 299 6497 done -0.68 - - 2660 - 2.50 0.069 2765 557.2 -116.8 - - 3485 - - - - - - - - 14.67 14.50 14.70
6825 569.6 -7.2 312 6839 roll -0.68 - - 2660 - 2.38 0.045 1380 -581.9 -116.8 - - 3483 - - - - - - - - 14.92 14.57 14.92
6886 574.1 -7.3 320 6899 done -0.68 - - 2650 - 2.47 0.070 2765 560.7 -116.8 - - 3483 - - - - - - - - 14.66 14.49 14.69
7227 599.3 -7.4 333 7240 roll -0.68 - - 2642 - 1.98 0.114 3824 534.8 -116.8 - - 3482 - - - - - - - - 14.90 14.40 14.91
7288 604.1 -7.9 341 7301 done -0.68 0.12 0.218 2679 308.3 1.77 0.046 2763 -599.4 -116.8 - - 3481 - - - - - - - - 14.35 14.67 14.58
7629 624.6 -5.9 354 7643 roll -0.68 - - 2678 - 2.38 0.046 1368 -586.1 -116.8 - - 3479 - - - - - - - - 14.90 14.56 14.90
7731 630.7 -5.7 368 7745 done -0.68 - - 2669 - 2.47 0.070 2755 561.5 -116.8 - - 3479 - - - - - - - - 14.64 14.47 14.68
8086 652.8 -6.4 376 8099 done -0.68 - - 2669 - - - 2755 - -116.8 - - 3478 - - - - - - - - 14.90 14.90 14.90
8423 675.4 -6.8 382 8436 done -0.68 - - 2668 - - - 2755 - -116.8 - - 3478 - - - - - - - - 14.88 14.90 14.90
8758 698.8 -7.0 388 8772 roll -0.68 - - 2668 - 2.40 0.047 1372 -576.2 -116.8 - - 3476 - - - - - - - - 14.90 14.52 14.90
8811 702.8 -7.7 395 8825 done -0.68 - - 2659 - 2.47 0.071 2753 559.1 -116.8 - - 3476 - - - - - - - - 14.63 14.45 14.66
9156 728.3 -7.4 402 9168 done -0.68 - - 2660 - - - 2753 - -116.8 - - 3474 - - - - - - - - 14.89 14.89 14.89
9492 752.9 -7.3 408 9505 roll -0.68 - - 2659 - 2.38 0.046 1375 -579.0 -116.8 - - 3473 - - - - - - - - 14.89 14.53 14.89
9524 755.4 -7.6 412 9537 done -0.68 - - 2650 - 2.50 0.072 2768 557.2 -116.8 - - 3473 - - - - - - - - 14.64 14.45 14.67
9892 783.1 -7.6 422 9905 done -0.68 - - 2651 - - - 2768 - -116.8 - - 3472 - - - - - - - - 14.90 14.90 14.90
10229 808.4 -7.5 428 10242 roll -0.68 - - 2650 - 2.42 0.047 1368 -578.5 -116.8 - - 3471 - - - - - - - - 14.88 14.50 14.88
10275 812.5 -8.0 434 10288 done -0.68 0.12 0.230 2677 225.0 2.47 0.072 2753 560.7 -116.8 - - 3471 - - - - - - - - 14.27 14.43 14.52
10630 835.3 -6.5 442 10643 done -0.68 - - 2677 - - - 2753 - -116.8 - - 3471 - - - - - - - - 14.88 14.88 14.88
10966 856.2 -6.0 448 10979 done -0.68 - - 2677 - - - 2752 - -116.8 - - 3469 - - - - - - - - 14.88 14.88 14.88
11302 875.8 -5.8 454 11315 roll -0.68 - - 2677 - 2.40 0.047 1365 -577.9 -116.8 - - 3469 - - - - - - - - 14.88 14.49 14.88
11363 879.4 -5.9 462 11377 done -0.77 - - 2668 - 2.50 0.073 2755 556.0 -116.8 - - 3468 - - - - - - - - 14.61 14.42 14.63
11705 899.8 -6.0 475 11718 done -0.77 - - 2669 - - - 2755 - -116.8 - - 3469 - - - - - - - - 14.86 14.87 14.85
12040 920.4 -6.2 481 12054 roll -0.77 - - 2668 - 2.40 0.047 1375 -575.0 -116.8 - - 3467 - - - - - - - - 14.87 14.49 14.87
12122 925.9 -6.6 492 12135 done -0.77 - - 2659 - 2.47 0.073 2755 558.7 -116.8 - - 3468 - - - - - - - - 14.59 14.44 14.62
12216 end dive: TARGET_DEPTH_EXCEEDED
12216 begin apogee
12221 932.3 -6.4 498 12349 roll -0.23 0.55 0.174 2823 298.2 - - 2244 - - 118.57 1.917 3050 -3.5 0.331 - - - - - - 14.29 13.99 13.26
12351 end apogee: CONTROL_FINISHED_OK
12351 begin climb
12353 936.0 - 500 12496 roll 0.90 1.10 0.101 3177 321.8 2.50 0.058 845 -559.6 116.8 124.85 1.960 2581 -3.8 0.347 - - - - - - 14.00 14.02 13.06
12515 930.0 9.1 526 12528 done 0.68 0.20 0.226 3125 -260.0 2.55 0.055 2253 552.2 116.8 - - 2573 - - - - - - - - 13.79 13.89 13.97
12843 906.4 7.2 537 12865 roll 0.62 - - 3123 - 2.67 0.106 3654 524.7 128.5 6.72 2.122 2542 -4.6 0.381 - - - - - - 14.57 14.31 13.45
12912 900.7 8.4 547 12926 done 0.49 0.28 0.225 3059 -228.6 2.45 0.042 2234 -579.6 128.5 - - 2544 - - - - - - - - 14.16 14.37 14.35
13240 882.2 5.6 558 13313 roll 0.54 - - 3059 - 2.80 0.103 3660 509.3 176.0 58.70 1.901 2345 -3.4 0.304 - - - - - - 14.70 14.04 13.41
13347 875.3 7.6 573 13362 done 0.55 - - 3069 - 2.47 0.041 2241 -574.5 179.8 - - 2337 - - - - - - - - 14.26 14.20 14.27
13690 851.7 7.0 580 13727 roll 0.57 - - 3069 - 2.75 0.105 3657 514.9 196.0 21.75 1.962 2259 -3.6 0.301 - - - - - - 14.65 14.26 13.62
13760 846.3 9.4 590 13773 done 0.57 - - 3078 - 2.40 0.041 2262 -581.2 196.0 - - 2257 - - - - - - - - 14.42 14.35 14.42
14087 822.2 7.3 601 14105 roll 0.58 - - 3078 - 2.70 0.106 3657 516.7 205.0 2.45 0.825 2240 -6.9 1.336 - - - - - - 14.69 14.40 13.22
14124 819.2 9.8 606 14137 done 0.58 - - 3088 - 2.40 0.043 2254 -584.6 205.0 1.70 0.292 2234 -3.5 1.913 - - - - - - 14.56 14.48 13.89
14479 792.4 7.6 614 14496 roll 0.58 - - 3088 - 2.62 0.105 3655 534.7 207.8 4.30 1.824 2226 -1.9 0.156 - - - - - - 14.76 14.50 13.35
14515 789.4 8.3 619 14528 done 0.58 - - 3099 - 2.38 0.041 2259 -586.6 207.8 1.10 0.282 2224 - - - - - - - - 14.59 14.52 14.26
14877 760.6 7.9 628 14890 done 0.58 - - 3099 - - - 2254 - 207.8 1.67 0.266 2222 - - - - - - - - 14.78 14.47 14.02
15213 733.7 8.1 634 15227 roll 0.58 - - 3099 - 2.65 0.105 3660 530.6 207.8 - - 2232 - - - - - - - - 14.80 14.38 14.80
15280 727.7 9.2 643 15294 done 0.58 - - 3108 - 2.38 0.042 2258 -589.1 207.8 1.60 0.262 2222 -6.2 3.354 - - - - - - 14.64 14.55 14.11
15614 698.5 8.7 655 15628 roll 0.58 - - 3119 - 2.42 0.061 858 -578.5 207.8 1.27 0.257 2224 - - - - - - - - 14.81 14.41 14.23
15646 695.6 8.8 659 15660 done 0.58 0.10 0.220 3090 -290.0 2.45 0.057 2269 575.9 207.8 - - 2230 - - - - - - - - 14.33 14.47 14.54
16015 665.9 8.0 669 16029 roll 0.58 - - 3089 - 2.58 0.103 3661 539.5 207.8 1.10 0.265 2225 -4.5 2.207 - - - - - - 14.83 14.35 14.23
16104 658.1 8.8 681 16118 done 0.58 - - 3099 - 2.38 0.042 2263 -587.4 207.8 1.42 0.257 2222 -2.1 1.045 - - - - - - 14.64 14.56 14.18
16474 628.7 7.9 691 16487 done 0.58 - - 3099 - - - 2259 - 207.8 1.10 0.261 2220 - - - - - - - - 14.83 14.53 14.27
16810 602.5 7.8 697 16824 roll 0.58 - - 3099 - 2.62 0.103 3659 534.4 207.8 1.17 0.258 2224 3.4 -1.543 - - - - - - 14.83 14.40 14.23
16842 599.6 8.4 701 16856 done 0.58 - - 3109 - 2.38 0.041 2257 -589.1 207.8 - - 2229 - - - - - - - - 14.66 14.57 14.68
17212 570.4 7.9 711 17225 done 0.58 - - 3109 - - - 2252 - 207.8 1.48 0.255 2221 -5.4 2.336 - - - - - - 14.85 14.50 14.14
17548 543.5 8.0 717 17562 roll 0.58 - - 3109 - 2.65 0.105 3657 530.2 207.8 1.38 0.254 2223 - - - - - - - - 14.85 14.35 14.14
17637 535.4 9.2 729 17651 done 0.58 - - 3118 - 2.38 0.042 2265 -584.9 207.8 1.42 0.256 2222 - - - - - - - - 14.57 14.50 14.20
18006 505.2 8.2 739 18020 done 0.58 - - 3118 - - - 2261 - 207.8 1.40 0.252 2219 -2.1 0.830 - - - - - - 14.83 14.52 14.20
18343 477.8 8.1 745 18356 roll 0.58 - - 3118 - 2.65 0.105 3662 528.7 207.8 - - 2231 - - - - - - - - 14.83 14.36 14.83
18374 475.0 8.5 749 18389 done 0.58 0.12 0.226 3100 -150.0 2.38 0.043 2265 -587.0 207.8 1.42 0.241 2223 -5.6 2.146 - - - - - - 14.28 14.57 14.19
18746 450.0 6.7 759 18791 roll 0.61 - - 3093 - 2.67 0.105 3655 520.6 231.2 32.70 1.542 2123 -3.1 0.172 - - - - - - 14.83 14.40 13.81
18817 444.6 8.0 769 18830 done 0.61 - - 3101 - 2.38 0.042 2272 -581.1 231.2 - - 2118 - - - - - - - - 14.49 14.42 14.51
19137 419.4 7.9 779 19150 done 0.61 - - 3101 - - - 2268 - 231.2 - - 2116 - - - - - - - - 14.71 14.71 14.71
19473 396.4 6.6 785 19512 roll 0.64 - - 3101 - 2.67 0.105 3655 519.5 256.0 26.60 1.501 2023 -3.5 0.178 - - - - - - 14.76 14.38 13.82
19532 392.3 6.9 793 19564 done 0.66 - - 3110 - 2.40 0.043 2256 -582.9 273.8 18.88 1.528 1958 -3.4 0.171 - - - - - - 14.50 14.42 13.73
19870 366.7 7.7 806 19884 roll 0.67 - - 3120 - 2.45 0.063 863 -568.6 275.1 - - 1944 - - - - - - - - 14.66 14.37 14.69
19903 364.1 8.1 810 19916 done 0.74 - - 3120 - 2.47 0.057 2276 572.1 275.1 - - 1943 - - - - - - - - 14.49 14.34 14.52
20271 332.6 8.6 820 20285 roll 0.74 - - 3120 - 2.58 0.105 3660 536.4 275.1 - - 1943 - - - - - - - - 14.73 14.32 14.73
20332 326.9 9.6 828 20345 done 0.74 - - 3128 - 2.38 0.041 2274 -582.4 275.1 - - 1942 - - - - - - - - 14.58 14.50 14.61
20673 296.9 8.8 841 20686 done 0.74 - - 3128 - - - 2270 - 275.1 - - 1942 - - - - - - - - 14.78 14.78 14.78
21009 266.4 9.2 847 21022 done 0.74 - - 3129 - - - 2269 - 275.1 - - 1942 - - - - - - - - 14.81 14.83 14.81
21345 236.5 8.7 853 21359 roll 0.74 - - 3139 - 2.47 0.063 862 -569.6 275.1 - - 1942 - - - - - - - - 14.83 14.42 14.83
21370 234.2 8.5 856 21383 done 0.74 - - 3139 - 2.47 0.056 2285 576.1 275.1 - - 1940 - - - - - - - - 14.60 14.45 14.62
21690 204.3 9.5 866 21703 done 0.74 - - 3139 - - - 2285 - 275.1 - - 1942 - - - - - - - - 14.84 14.84 14.84
22026 173.8 9.0 872 22039 roll 0.74 - - 3149 - 2.50 0.063 858 -570.8 275.1 - - 1942 - - - - - - - - 14.83 14.42 14.83
22058 170.7 9.1 876 22072 done 0.74 - - 3147 - 2.45 0.056 2274 578.0 275.1 - - 1942 - - - - - - - - 14.62 14.46 14.65
22427 135.6 9.4 886 22440 roll 0.74 - - 3149 - 2.55 0.103 3656 542.0 275.1 - - 1942 - - - - - - - - 14.84 14.38 14.84
22466 131.6 9.9 891 22479 done 0.74 - - 3159 - 2.35 0.043 2272 -588.9 275.1 - - 1942 - - - - - - - - 14.66 14.57 14.68
22828 99.0 8.8 900 22841 roll 0.74 - - 3169 - 2.45 0.063 857 -577.6 275.1 - - 1942 - - - - - - - - 14.86 14.44 14.85
22853 97.0 7.8 903 22867 done 0.74 0.10 0.213 3138 -310.0 2.47 0.055 2277 574.9 275.1 - - 1942 - - - - - - - - 14.32 14.46 14.57
23170 78.8 4.9 915 23214 roll 0.92 0.08 0.146 3212 925.0 2.53 0.100 3658 545.8 336.6 29.50 0.410 1712 -7.8 0.290 - - - - - - 14.56 14.50 14.25
23276 70.5 9.1 930 23290 done 0.92 - - 3223 - 2.35 0.041 2267 -591.9 336.6 - - 1714 - - - - - - - - 14.62 14.55 14.64
23591 52.7 6.1 942 23625 roll 0.96 - - 3223 - 2.60 0.102 3656 534.2 371.6 18.15 0.330 1574 -7.7 0.238 - - - - - - 14.81 14.47 14.21
23643 48.5 7.6 949 23659 done 0.97 - - 3230 - 2.35 0.041 2260 -594.0 375.4 3.17 0.291 1555 -6.0 0.193 - - - - - - 14.63 14.55 14.16
23961 33.4 5.1 961 24005 roll 1.14 0.05 0.205 3298 1360.0 2.58 0.099 3654 540.3 433.2 30.10 0.266 1323 -7.7 0.187 - - - - - - 14.54 14.44 14.29
24046 26.8 9.3 973 24059 done 1.14 0.12 0.221 3268 -250.0 2.30 0.039 2290 -593.0 433.2 - - 1326 - - - - - - - - 14.31 14.54 14.52
24389 4.5 6.3 988 24420 roll 1.27 0.05 0.198 3342 1480.0 2.50 0.060 862 -571.2 464.4 15.35 0.172 1200 -8.2 0.041 - - - - - - 14.55 14.45 14.33
24422 end climb: SURFACE_DEPTH_REACHED
24422 begin surface coast
24430 end surface coast: CONTROL_FINISHED_OK
24431 begin surface
SM -2.74 - - - - -8.39 9.38 0.087 191 20.3 3.35 0.060 2769 -2431.9 640.56 79.70 0.151 497 6.2 0.012 - - - - - -