SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 221 * Raw log
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• Previous call tries 1 • 86.41 of 350.00 AH used of 24V (75.31% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -71.3 deg, depth -2.77 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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
18 - - - 97 done -0.90 - - 156 - - - 2788 - -116.8 -76.07 - 3515 - - - - - - - - 14.60 13.00 14.60
100 -1.1 -5.1 2 116 roll -0.90 11.68 0.391 2596 208.9 1.92 0.087 3829 542.2 -116.8 - - 3516 - - - - - - - - 14.12 14.35 14.44
235 52.2 -29.2 22 242 done -0.51 0.50 0.233 2732 272.0 1.75 0.038 2740 -622.3 -116.8 - - 3518 - - - - - - - - 14.16 14.50 14.41
570 81.2 -7.0 37 577 roll -0.51 - - 2724 - 2.05 0.105 3845 539.0 -116.8 - - 3520 - - - - - - - - 14.76 14.35 14.75
788 99.6 -6.7 68 796 done -0.51 - - 2723 - 1.75 0.041 2789 -603.4 -116.8 - - 3521 - - - - - - - - 14.54 14.51 14.55
1102 121.7 -6.7 75 1109 roll -0.51 - - 2724 - 2.38 0.042 1362 -599.6 -116.8 - - 3522 - - - - - - - - 14.82 14.52 14.82
1206 128.0 -6.1 90 1215 done -0.59 - - 2716 - 2.50 0.066 2771 563.6 -116.8 - - 3521 - - - - - - - - 14.52 14.42 14.55
1550 151.1 -6.9 97 1557 roll -0.59 - - 2715 - 2.35 0.041 1377 -593.2 -116.8 - - 3518 - - - - - - - - 14.82 14.53 14.82
1606 155.3 -7.5 105 1613 done -0.67 - - 2703 - 2.45 0.067 2777 571.4 -116.8 - - 3517 - - - - - - - - 14.62 14.47 14.64
1942 181.0 -7.7 118 1949 roll -0.67 - - 2705 - 2.35 0.043 1384 -592.8 -116.8 - - 3516 - - - - - - - - 14.84 14.54 14.84
1990 184.6 -7.4 125 1999 done -0.67 - - 2696 - 2.47 0.067 2769 560.7 -116.8 - - 3515 - - - - - - - - 14.53 14.43 14.56
2334 210.1 -7.5 132 2337 done -0.67 - - 2696 - - - 2769 - -116.8 - - 3512 - - - - - - - - 14.85 14.84 14.85
2670 234.9 -7.4 138 2677 roll -0.67 - - 2698 - 2.35 0.044 1391 -586.4 -116.8 - - 3509 - - - - - - - - 14.83 14.54 14.83
2711 238.0 -7.6 144 2720 done -0.67 - - 2687 - 2.47 0.069 2764 555.9 -116.8 - - 3509 - - - - - - - - 14.53 14.43 14.57
3062 265.3 -7.9 152 3075 done -0.67 - - 2686 - - - 2764 - -116.8 - - 3507 - - - - - - - - 14.88 14.88 14.88
3398 293.6 -8.5 158 3411 done -0.67 - - 2686 - - - 2764 - -116.8 - - 3504 - - - - - - - - 14.90 14.90 14.90
3734 321.5 -8.2 164 3747 done -0.67 - - 2687 - - - 2765 - -116.8 - - 3502 - - - - - - - - 14.91 14.91 14.91
4070 346.9 -7.5 170 4083 roll -0.67 - - 2687 - 2.35 0.046 1387 -586.4 -116.8 - - 3500 - - - - - - - - 14.91 14.59 14.90
4123 351.0 -7.5 177 4137 done -0.67 - - 2677 - 2.47 0.072 2774 561.5 -116.8 - - 3499 - - - - - - - - 14.67 14.51 14.71
4467 377.8 -7.9 184 4480 done -0.67 - - 2677 - - - 2774 - -116.8 - - 3499 - - - - - - - - 14.92 14.92 14.92
4803 404.9 -8.0 190 4816 roll -0.67 - - 2677 - 2.38 0.046 1390 -581.5 -116.8 - - 3495 - - - - - - - - 14.92 14.59 14.92
4849 408.7 -8.5 196 4863 done -0.67 - - 2667 - 2.45 0.072 2767 562.0 -116.8 - - 3496 - - - - - - - - 14.67 14.50 14.71
5204 438.6 -8.4 204 5218 roll -0.67 - - 2659 - 1.98 0.113 3830 536.9 -116.8 - - 3493 - - - - - - - - 14.92 14.42 14.92
5321 448.9 -8.8 220 5335 done -0.67 - - 2659 - 1.75 0.047 2781 -599.4 -116.8 - - 3494 - - - - - - - - 14.74 14.68 14.75
5662 479.2 -9.0 233 5675 roll -0.67 - - 2659 - 2.38 0.047 1376 -590.3 -116.8 - - 3492 - - - - - - - - 14.91 14.57 14.91
5715 484.3 -9.4 240 5730 done -0.67 0.10 0.241 2678 190.0 2.50 0.072 2776 560.0 -116.8 - - 3492 - - - - - - - - 14.32 14.48 14.57
6059 512.9 -8.3 247 6072 roll -0.67 - - 2678 - 2.40 0.047 1373 -584.6 -116.8 - - 3491 - - - - - - - - 14.92 14.56 14.92
6112 517.4 -8.3 254 6126 done -0.67 - - 2668 - 2.50 0.072 2776 561.2 -116.8 - - 3491 - - - - - - - - 14.65 14.47 14.68
6456 545.6 -8.1 261 6470 roll -0.67 - - 2660 - 1.95 0.117 3823 536.9 -116.8 - - 3489 - - - - - - - - 14.90 14.38 14.90
6517 550.7 -8.4 269 6530 done -0.67 - - 2659 - 1.77 0.047 2763 -598.9 -116.8 - - 3490 - - - - - - - - 14.72 14.66 14.73
6858 577.8 -7.9 282 6871 roll -0.67 - - 2660 - 2.35 0.048 1376 -590.2 -116.8 - - 3488 - - - - - - - - 14.90 14.57 14.90
6953 585.3 -7.7 295 6966 done -0.67 0.10 0.240 2679 190.0 2.47 0.073 2762 561.1 -116.8 - - 3487 - - - - - - - - 14.30 14.45 14.54
7315 611.0 -7.1 304 7328 roll -0.67 - - 2679 - 2.40 0.047 1372 -579.2 -116.8 - - 3486 - - - - - - - - 14.90 14.53 14.90
7354 613.9 -7.8 309 7367 done -0.67 - - 2669 - 2.50 0.073 2769 558.8 -116.8 - - 3485 - - - - - - - - 14.64 14.45 14.66
7716 641.0 -7.5 318 7729 roll -0.67 - - 2669 - 2.40 0.047 1375 -580.8 -116.8 - - 3483 - - - - - - - - 14.91 14.53 14.90
7748 643.5 -7.7 322 7761 done -0.67 - - 2659 - 2.47 0.072 2763 561.9 -116.8 - - 3483 - - - - - - - - 14.63 14.45 14.66
8117 670.3 -7.2 332 8130 done -0.67 - - 2660 - - - 2763 - -116.8 - - 3483 - - - - - - - - 14.89 14.89 14.89
8453 694.7 -7.2 338 8466 done -0.67 - - 2659 - - - 2763 - -116.8 - - 3482 - - - - - - - - 14.89 14.90 14.89
8789 719.6 -7.5 344 8803 roll -0.67 - - 2660 - 2.40 0.048 1377 -577.5 -116.8 - - 3481 - - - - - - - - 14.91 14.49 14.91
8850 724.3 -7.6 352 8864 done -0.67 0.10 0.243 2678 180.0 2.50 0.073 2758 552.4 -116.8 - - 3480 - - - - - - - - 14.27 14.42 14.51
9192 746.8 -6.6 365 9205 done -0.67 - - 2678 - - - 2759 - -116.8 - - 3480 - - - - - - - - 14.88 14.88 14.88
9528 769.1 -6.8 371 9541 done -0.67 - - 2678 - - - 2759 - -116.8 - - 3479 - - - - - - - - 14.89 14.89 14.89
9864 792.1 -6.9 377 9878 roll -0.67 - - 2679 - 2.40 0.047 1367 -580.0 -116.8 - - 3477 - - - - - - - - 14.88 14.49 14.88
9904 794.9 -7.4 382 9917 done -0.67 - - 2669 - 2.50 0.074 2764 558.8 -116.8 - - 3479 - - - - - - - - 14.59 14.41 14.64
10266 821.1 -7.3 391 10279 done -0.67 - - 2669 - - - 2764 - -116.8 - - 3477 - - - - - - - - 14.89 14.89 14.90
10602 844.8 -7.0 397 10615 roll -0.67 - - 2669 - 2.40 0.049 1377 -577.9 -116.8 - - 3475 - - - - - - - - 14.89 14.47 14.89
10697 851.7 -7.0 410 10710 done -0.67 - - 2660 - 2.50 0.074 2769 556.8 -116.8 - - 3475 - - - - - - - - 14.58 14.39 14.62
11059 877.0 -7.0 419 11072 roll -0.67 - - 2660 - 2.42 0.047 1366 -579.8 -116.8 - - 3474 - - - - - - - - 14.89 14.46 14.90
11105 880.4 -5.6 425 11119 done -0.67 0.12 0.228 2686 216.7 2.50 0.073 2763 558.8 -116.8 - - 3474 - - - - - - - - 14.23 14.40 14.48
11461 901.7 -6.1 433 11474 done -0.76 - - 2686 - - - 2763 - -116.8 - - 3472 - - - - - - - - 14.85 14.86 14.86
11797 922.0 -6.2 439 11810 roll -0.85 0.10 0.119 2617 -690.0 2.40 0.045 1372 -579.6 -116.8 - - 3472 - - - - - - - - 14.54 14.45 14.60
11843 925.7 -6.7 445 11857 done -0.85 - - 2608 - 2.47 0.072 2755 559.9 -116.8 - - 3472 - - - - - - - - 14.57 14.39 14.61
11916 end dive: TARGET_DEPTH_EXCEEDED
11916 begin apogee
11922 932.3 -8.8 448 12052 roll -0.23 0.75 0.194 2824 288.0 - - 2229 - - 120.00 1.924 3053 -3.5 0.332 - - - - - - 14.25 13.99 13.24
12054 end apogee: CONTROL_FINISHED_OK
12054 begin climb
12056 936.5 - 450 12198 roll 0.90 1.08 0.100 3170 320.4 2.42 0.057 875 -559.5 116.8 124.78 1.933 2585 -3.8 0.356 - - - - - - 14.00 14.02 13.05
12238 929.5 7.4 479 12257 done 0.76 - - 3169 - 2.47 0.054 2254 558.3 124.2 2.70 1.010 2556 -10.7 1.938 - - - - - - 14.04 13.93 12.81
12598 899.3 8.6 488 12613 roll 0.61 0.22 0.223 3101 -309.1 2.62 0.100 3656 535.1 124.2 1.00 0.223 2557 - - - - - - - - 14.08 14.19 14.11
12675 893.5 7.4 498 12706 done 0.52 0.15 0.229 3071 -200.0 2.38 0.041 2262 -585.7 132.8 15.62 2.049 2514 -2.8 0.235 - - - - - - 14.13 14.39 13.62
13056 872.4 5.5 510 13120 done 0.58 - - 3071 - - - 2262 - 181.6 55.42 1.910 2325 -3.4 0.305 - - - - - - 14.68 14.14 13.40
13447 846.6 6.5 517 13492 roll 0.61 - - 3071 - 2.72 0.107 3652 511.0 208.1 28.92 1.942 2212 -3.9 0.334 - - - - - - 14.62 14.18 13.54
13517 841.2 8.2 527 13530 done 0.61 - - 3080 - 2.42 0.044 2259 -575.6 208.1 - - 2209 - - - - - - - - 14.36 14.29 14.38
13844 816.8 7.5 538 13858 roll 0.62 - - 3090 - 2.47 0.063 851 -570.0 214.1 - - 2205 - - - - - - - - 14.66 14.36 14.66
13876 814.2 7.6 542 13894 done 0.62 - - 3089 - 2.45 0.057 2252 571.8 218.0 3.60 1.545 2186 -5.3 0.545 - - - - - - 14.54 14.38 13.24
14243 785.1 8.1 552 14257 roll 0.62 - - 3090 - 2.60 0.105 3656 540.0 218.0 1.35 0.251 2184 - - - - - - - - 14.74 14.36 14.20
14332 777.0 9.1 564 14346 done 0.62 - - 3100 - 2.40 0.042 2249 -586.2 218.0 1.58 0.252 2180 -2.5 1.531 - - - - - - 14.59 14.51 14.17
14701 746.3 8.2 574 14715 roll 0.62 - - 3100 - 2.65 0.103 3665 534.3 218.0 1.42 0.250 2182 - - - - - - - - 14.78 14.37 14.18
14727 743.9 8.3 577 14740 done 0.62 - - 3109 - 2.40 0.042 2250 -589.6 218.0 - - 2187 - - - - - - - - 14.62 14.54 14.63
15047 716.8 8.5 587 15060 roll 0.62 - - 3109 - 2.65 0.106 3660 532.1 218.0 1.00 0.274 2184 -3.0 1.539 - - - - - - 14.79 14.38 14.25
15072 714.4 8.5 590 15085 done 0.62 - - 3119 - 2.40 0.042 2251 -587.1 218.0 - - 2187 - - - - - - - - 14.64 14.55 14.65
15392 685.3 9.2 600 15406 roll 0.62 - - 3129 - 2.40 0.061 862 -578.8 218.0 1.27 0.259 2182 -3.9 2.043 - - - - - - 14.81 14.40 14.21
15424 682.1 9.5 604 15438 done 0.62 - - 3129 - 2.42 0.057 2262 578.5 218.0 - - 2187 - - - - - - - - 14.61 14.50 14.61
15794 645.8 9.9 614 15807 roll 0.62 - - 3129 - 2.58 0.104 3653 539.1 218.0 1.17 0.261 2182 -4.3 2.074 - - - - - - 14.81 14.38 14.23
15861 638.3 11.1 623 15874 done 0.62 0.12 0.229 3104 -208.3 2.38 0.042 2258 -586.1 218.0 - - 2189 - - - - - - - - 14.27 14.54 14.50
16195 610.3 8.2 635 16208 done 0.62 - - 3105 - - - 2253 - 218.0 1.15 0.263 2181 -7.0 3.166 - - - - - - 14.82 14.49 14.23
16531 584.6 7.6 641 16549 roll 0.63 - - 3104 - 2.60 0.105 3660 541.2 222.1 4.55 1.805 2168 -2.9 0.181 - - - - - - 14.83 14.51 13.47
16589 579.7 8.5 649 16603 done 0.63 - - 3112 - 2.40 0.041 2250 -587.5 222.1 1.55 0.275 2165 -1.9 0.800 - - - - - - 14.64 14.58 14.10
16932 553.4 7.7 662 16949 roll 0.63 - - 3117 - 2.40 0.063 856 -580.8 224.1 3.55 1.468 2161 -1.1 0.083 - - - - - - 14.81 14.59 13.42
16960 550.9 8.0 666 16973 done 0.63 - - 3123 - 2.45 0.058 2271 577.6 224.1 - - 2166 - - - - - - - - 14.64 14.51 14.66
17329 522.1 7.8 676 17343 roll 0.63 - - 3122 - 2.58 0.103 3659 538.0 224.1 1.27 0.253 2161 -3.9 1.593 - - - - - - 14.83 14.38 14.23
17376 517.9 8.7 682 17389 done 0.63 - - 3132 - 2.38 0.041 2257 -589.1 224.1 1.45 0.274 2156 -3.4 1.278 - - - - - - 14.64 14.55 14.08
17731 488.1 8.6 690 17745 roll 0.63 - - 3143 - 2.47 0.061 865 -563.6 224.1 1.65 0.259 2159 1.8 -0.672 - - - - - - 14.82 14.47 14.02
17793 482.4 9.0 698 17810 done 0.63 0.12 0.216 3106 -308.3 2.42 0.055 2261 576.9 224.1 1.67 0.249 2159 - - - - - - - - 14.28 14.45 14.04
18132 455.3 8.0 711 18149 roll 0.63 - - 3107 - 2.62 0.103 3656 532.4 224.1 1.70 0.267 2158 - - - - - - - - 14.83 14.36 13.95
18190 449.5 9.3 719 18203 done 0.63 - - 3114 - 2.38 0.041 2259 -587.0 224.1 1.50 0.272 2157 - - - - - - - - 14.58 14.51 14.02
18531 422.3 8.2 732 18544 done 0.63 - - 3115 - - - 2254 - 224.1 1.70 0.262 2156 - - - - - - - - 14.83 14.46 14.00
18867 395.6 7.9 738 18881 roll 0.63 - - 3114 - 2.62 0.103 3661 537.0 224.1 1.40 0.252 2160 2.9 -0.880 - - - - - - 14.83 14.38 14.18
18928 390.2 9.2 746 18945 done 0.63 - - 3124 - 2.38 0.041 2260 -588.7 224.1 1.70 0.285 2159 - - - - - - - - 14.64 14.55 13.88
19266 362.3 8.2 759 19279 done 0.63 - - 3124 - - - 2260 - 224.1 1.42 0.251 2159 - - - - - - - - 14.83 14.50 14.19
19602 333.9 8.4 765 19619 roll 0.63 - - 3124 - 2.67 0.103 3656 522.8 224.1 1.77 0.282 2162 1.7 -0.394 - - - - - - 14.83 14.40 13.83
19644 329.8 9.7 771 19658 done 0.63 - - 3133 - 2.35 0.041 2268 -590.6 224.1 1.92 0.311 2158 -2.1 0.433 - - - - - - 14.64 14.56 13.85
19989 300.6 8.4 778 20006 roll 0.63 - - 3144 - 2.47 0.060 863 -568.8 224.1 1.92 0.317 2162 2.1 -0.387 - - - - - - 14.83 14.45 13.85
20031 296.8 8.7 784 20046 done 0.63 0.15 0.203 3099 -300.0 2.42 0.055 2268 580.6 224.1 1.65 0.310 2159 -1.8 0.341 - - - - - - 14.30 14.45 13.87
20387 272.6 6.6 792 20433 roll 0.66 - - 3099 - 2.55 0.106 3653 543.1 248.0 32.17 1.353 2055 -3.2 0.128 - - - - - - 14.85 14.42 13.89
20479 265.7 8.0 805 20493 done 0.66 - - 3106 - 2.35 0.041 2273 -587.2 248.0 - - 2050 - - - - - - - - 14.53 14.45 14.54
20841 237.9 7.8 814 20854 roll 0.66 - - 3117 - 2.45 0.061 858 -577.6 248.0 - - 2048 - - - - - - - - 14.73 14.38 14.73
20866 235.8 7.9 817 20880 done 0.74 - - 3117 - 2.45 0.055 2272 577.1 248.0 - - 2048 - - - - - - - - 14.53 14.40 14.57
21186 209.9 8.0 827 21200 roll 0.74 - - 3117 - 2.55 0.103 3653 541.6 248.0 - - 2048 - - - - - - - - 14.77 14.32 14.77
21218 206.4 11.0 831 21231 done 0.74 - - 3125 - 2.35 0.041 2262 -591.9 248.0 - - 2048 - - - - - - - - 14.61 14.53 14.62
21587 177.8 7.8 841 21600 roll 0.74 - - 3135 - 2.42 0.062 854 -581.8 248.0 - - 2048 - - - - - - - - 14.81 14.41 14.81
21619 175.1 8.1 845 21632 done 0.74 - - 3135 - 2.45 0.054 2275 580.0 248.0 - - 2048 - - - - - - - - 14.59 14.43 14.62
21988 144.8 8.3 855 22001 roll 0.74 - - 3144 - 2.45 0.060 865 -575.5 248.0 - - 2048 - - - - - - - - 14.83 14.41 14.85
22027 141.3 8.3 860 22040 done 0.74 - - 3144 - 2.42 0.054 2271 581.0 248.0 - - 2048 - - - - - - - - 14.59 14.44 14.62
22389 108.8 9.0 869 22402 roll 0.74 - - 3144 - 2.55 0.102 3656 543.1 248.0 - - 2048 - - - - - - - - 14.82 14.27 14.82
22421 106.5 7.4 873 22434 done 0.75 - - 3154 - 2.35 0.040 2261 -593.6 255.2 1.95 0.280 2033 -7.7 0.574 - - - - - - 14.64 14.57 13.90
22757 85.4 4.7 885 22801 done 0.83 - - 3155 - - - 2257 - 322.2 35.03 0.438 1768 -7.6 0.289 - - - - - - 14.81 14.59 14.21
23116 65.1 4.9 903 23162 roll 1.03 0.15 0.088 3249 626.7 2.60 0.100 3661 540.0 383.6 31.67 0.373 1522 -7.8 0.266 - - - - - - 14.47 14.45 14.22
23328 49.9 7.9 933 23341 done 1.03 - - 3259 - 2.38 0.040 2253 -591.6 383.6 - - 1524 - - - - - - - - 14.58 14.50 14.60
23655 27.4 5.8 946 23688 roll 1.08 - - 3269 - 2.45 0.060 861 -568.2 426.4 21.50 0.256 1351 -8.0 0.169 - - - - - - 14.78 14.48 14.24
23738 22.1 7.0 957 23760 done 1.21 - - 3269 - 2.40 0.052 2262 583.8 442.8 8.82 0.242 1285 -7.5 0.134 - - - - - - 14.58 14.45 14.23
24076 3.7 5.5 972 24108 VBD 1.40 0.15 0.090 3376 713.3 - - 2262 - 492.1 22.17 0.174 1106 -8.1 0.034 - - - - - - 14.57 - 14.58
24108 end climb: SURFACE_DEPTH_REACHED
24108 begin surface coast
24129 end surface coast: CONTROL_FINISHED_OK
24129 begin surface
SM -1.65 - - - - -8.40 9.52 0.090 187 19.6 0.90 0.077 2773 -8761.1 500.14 6.00 0.171 1056 176.0 0.174 - - - - - -