SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 239 * Raw log
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• Previous call tries 1 • 92.71 of 350.00 AH used of 24V (73.51% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -70.5 deg, depth -2.71 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 97 done -0.93 - - 168 - - - 2776 - -107.1 -75.47 - 3478 - - - - - - - - 14.61 13.01 14.62
99 -1.1 -4.9 2 121 roll -0.93 11.57 0.389 2590 209.3 2.38 0.034 1358 -595.8 -107.1 - - 3479 - - - - - - - - 14.09 14.43 14.41
140 25.7 -42.6 9 150 done -0.29 0.77 0.241 2800 272.7 2.58 0.084 2758 542.6 -107.1 - - 3480 - - - - - - - - 14.14 14.29 14.40
456 60.4 -8.3 21 463 roll -0.39 - - 2791 - 1.98 0.108 3836 544.4 -107.1 - - 3482 - - - - - - - - 14.75 14.37 14.76
540 66.3 -6.8 33 547 done -0.51 0.10 0.076 2723 -680.0 1.80 0.041 2757 -599.4 -107.1 - - 3481 - - - - - - - - 14.49 14.55 14.53
876 89.7 -7.0 48 884 roll -0.51 - - 2713 - 1.98 0.104 3827 540.4 -107.1 - - 3483 - - - - - - - - 14.83 14.43 14.83
960 96.2 -8.3 60 968 done -0.51 - - 2714 - 1.73 0.040 2781 -604.6 -107.1 - - 3482 - - - - - - - - 14.62 14.59 14.63
1296 120.0 -7.3 70 1303 roll -0.51 - - 2714 - 2.33 0.043 1381 -600.9 -107.1 - - 3482 - - - - - - - - 14.88 14.58 14.88
1533 137.5 -7.2 104 1542 done -0.61 - - 2704 - 2.50 0.067 2786 562.0 -107.1 - - 3481 - - - - - - - - 14.53 14.47 14.59
1856 159.4 -6.6 115 1863 roll -0.61 - - 2704 - 2.38 0.043 1380 -590.8 -107.1 - - 3480 - - - - - - - - 14.90 14.58 14.90
1912 163.2 -6.8 123 1919 done -0.69 - - 2695 - 2.45 0.067 2785 573.5 -107.1 - - 3479 - - - - - - - - 14.63 14.47 14.65
2248 186.2 -6.9 136 2256 roll -0.69 - - 2695 - 2.40 0.044 1378 -586.2 -107.1 - - 3476 - - - - - - - - 14.89 14.57 14.90
2289 189.2 -7.1 142 2297 done -0.69 - - 2684 - 2.50 0.067 2778 560.0 -107.1 - - 3476 - - - - - - - - 14.57 14.47 14.60
2640 215.0 -7.5 150 2647 roll -0.69 - - 2685 - 2.38 0.044 1381 -587.0 -107.1 - - 3474 - - - - - - - - 14.91 14.57 14.91
2667 217.1 -7.8 154 2675 done -0.69 - - 2676 - 2.50 0.068 2782 560.4 -107.1 - - 3473 - - - - - - - - 14.56 14.47 14.59
3032 248.0 -8.7 164 3034 done -0.69 - - 2674 - - - 2782 - -107.1 - - 3471 - - - - - - - - 14.90 14.91 14.90
3368 276.1 -8.4 170 3381 roll -0.69 - - 2676 - 2.38 0.044 1388 -585.7 -107.1 - - 3468 - - - - - - - - 14.92 14.58 14.91
3400 278.9 -8.4 174 3413 done -0.69 - - 2666 - 2.45 0.070 2782 569.0 -107.1 - - 3468 - - - - - - - - 14.67 14.51 14.70
3769 310.4 -8.6 184 3782 roll -0.69 - - 2666 - 2.38 0.044 1385 -587.0 -107.1 - - 3465 - - - - - - - - 14.91 14.58 14.91
3808 313.9 -8.9 189 3821 done -0.69 - - 2657 - 2.47 0.070 2786 567.2 -107.1 - - 3465 - - - - - - - - 14.66 14.50 14.70
4169 345.8 -8.7 198 4183 roll -0.69 - - 2657 - 2.38 0.044 1389 -587.0 -107.1 - - 3464 - - - - - - - - 14.92 14.58 14.92
4201 348.6 -8.5 202 4215 done -0.69 0.10 0.250 2675 180.0 2.45 0.070 2779 567.3 -107.1 - - 3463 - - - - - - - - 14.33 14.52 14.59
4570 378.2 -8.1 212 4584 roll -0.69 - - 2667 - 1.95 0.110 3833 540.5 -107.1 - - 3461 - - - - - - - - 14.92 14.42 14.92
4631 383.3 -8.7 220 4644 done -0.69 - - 2667 - 1.75 0.045 2776 -604.0 -107.1 - - 3461 - - - - - - - - 14.73 14.67 14.74
4972 411.9 -8.4 233 4985 roll -0.69 - - 2667 - 2.35 0.044 1380 -594.0 -107.1 - - 3459 - - - - - - - - 14.91 14.58 14.91
5018 415.8 -8.6 239 5031 done -0.69 - - 2657 - 2.47 0.070 2780 566.8 -107.1 - - 3461 - - - - - - - - 14.66 14.50 14.69
5373 446.1 -8.5 247 5386 roll -0.69 - - 2657 - 2.40 0.044 1377 -584.6 -107.1 - - 3457 - - - - - - - - 14.91 14.57 14.91
5447 452.3 -8.3 257 5460 done -0.69 0.10 0.247 2673 160.0 2.47 0.069 2775 566.0 -107.1 - - 3457 - - - - - - - - 14.31 14.48 14.55
5774 475.5 -7.0 268 5788 roll -0.69 - - 2676 - 2.40 0.046 1375 -583.3 -107.1 - - 3455 - - - - - - - - 14.92 14.56 14.92
5820 478.7 -6.8 274 5834 done -0.69 - - 2665 - 2.47 0.070 2774 566.4 -107.1 - - 3455 - - - - - - - - 14.66 14.49 14.69
6175 504.0 -7.2 282 6188 done -0.69 - - 2666 - - - 2772 - -107.1 - - 3455 - - - - - - - - 14.90 14.90 14.90
6512 528.7 -7.4 288 6525 roll -0.69 - - 2665 - 2.40 0.046 1376 -581.7 -107.1 - - 3452 - - - - - - - - 14.92 14.55 14.92
6573 533.6 -7.8 296 6586 done -0.69 - - 2656 - 2.47 0.070 2768 563.6 -107.1 - - 3452 - - - - - - - - 14.63 14.46 14.66
6914 560.8 -8.0 309 6927 done -0.69 - - 2656 - - - 2769 - -107.1 - - 3451 - - - - - - - - 14.89 14.89 14.89
7250 587.4 -7.9 315 7263 roll -0.69 - - 2656 - 2.40 0.046 1373 -581.7 -107.1 - - 3448 - - - - - - - - 14.90 14.52 14.89
7303 591.5 -7.8 322 7317 done -0.69 0.10 0.248 2674 180.0 2.50 0.071 2775 560.8 -107.1 - - 3448 - - - - - - - - 14.27 14.43 14.52
7647 616.0 -7.2 329 7660 roll -0.69 - - 2666 - 1.95 0.112 3816 533.8 -107.1 - - 3447 - - - - - - - - 14.89 14.35 14.89
7708 620.5 -7.6 337 7722 done -0.69 - - 2666 - 1.75 0.045 2767 -599.4 -107.1 - - 3447 - - - - - - - - 14.70 14.64 14.71
8049 646.7 -7.9 350 8062 done -0.69 - - 2666 - - - 2764 - -107.1 - - 3444 - - - - - - - - 14.89 14.89 14.89
8385 673.4 -8.1 356 8399 roll -0.69 - - 2666 - 2.35 0.046 1379 -589.4 -107.1 - - 3446 - - - - - - - - 14.88 14.44 14.88
8474 680.6 -8.1 368 8487 done -0.69 - - 2656 - 2.47 0.072 2760 559.1 -107.1 - - 3445 - - - - - - - - 14.59 14.41 14.63
8843 711.2 -8.4 378 8856 done -0.69 - - 2656 - - - 2760 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
9180 737.1 -7.7 384 9193 roll -0.69 - - 2656 - 2.40 0.045 1377 -576.2 -107.1 - - 3442 - - - - - - - - 14.90 14.49 14.90
9247 743.5 -24.5 393 9260 done -0.69 0.10 0.243 2674 180.0 2.50 0.071 2774 558.8 -107.1 - - 3442 - - - - - - - - 14.23 14.40 14.48
9583 766.1 -6.2 405 9596 done -0.77 - - 2678 - - - 2774 - -107.1 - - 3438 - - - - - - - - 14.85 14.89 14.86
9918 787.6 -6.0 411 9931 roll -0.85 0.08 0.146 2615 -787.5 2.40 0.043 1378 -581.7 -107.1 - - 3440 - - - - - - - - 14.55 14.47 14.58
9971 790.6 -8.0 418 9985 done -0.85 - - 2605 - 2.53 0.070 2777 553.0 -107.1 - - 3439 - - - - - - - - 14.58 14.40 14.62
10315 820.6 -8.8 425 10329 roll -0.85 - - 2604 - 2.42 0.046 1378 -578.1 -107.1 - - 3439 - - - - - - - - 14.87 14.46 14.87
10347 823.4 -8.5 429 10361 done -0.85 0.10 0.267 2621 170.0 2.50 0.073 2771 557.2 -107.1 - - 3439 - - - - - - - - 14.17 14.40 14.45
10717 854.8 -8.5 439 10730 roll -0.85 - - 2614 - 2.00 0.114 3830 529.5 -107.1 - - 3437 - - - - - - - - 14.85 14.30 14.87
10748 857.7 -8.2 443 10762 done -0.85 - - 2613 - 1.80 0.047 2762 -593.3 -107.1 - - 3437 - - - - - - - - 14.64 14.57 14.66
11117 890.7 -9.1 453 11131 roll -0.85 - - 2612 - 2.40 0.047 1368 -580.8 -107.1 - - 3437 - - - - - - - - 14.85 14.45 14.87
11171 895.7 -9.0 460 11186 done -0.85 - - 2604 - 2.53 0.072 2773 555.3 -107.1 - - 3436 - - - - - - - - 14.55 14.37 14.59
11515 927.9 -9.5 467 11527 done -0.85 - - 2603 - - - 2773 - -107.1 - - 3436 - - - - - - - - 14.88 14.88 14.88
11568 end dive: TARGET_DEPTH_EXCEEDED
11568 begin apogee
11574 932.9 -9.3 468 11693 roll -0.23 0.77 0.199 2823 285.7 - - 2226 - - 108.10 1.953 3049 -3.6 0.330 - - - - - - 14.20 14.01 13.23
11694 end apogee: CONTROL_FINISHED_OK
11694 begin climb
11696 936.9 - 470 11828 roll 0.93 1.12 0.099 3186 324.1 2.42 0.058 879 -556.6 107.1 114.90 1.982 2622 -3.7 0.339 - - - - - - 14.01 14.02 13.03
11840 932.0 8.4 492 11854 done 0.71 0.20 0.233 3133 -265.0 2.50 0.054 2261 552.8 107.1 - - 2611 - - - - - - - - 13.76 13.88 13.95
12196 907.9 6.9 500 12227 roll 0.66 - - 3133 - 2.60 0.099 3654 535.8 123.8 17.20 2.043 2550 -3.5 0.304 - - - - - - 14.59 14.25 13.53
12296 899.9 8.3 514 12310 done 0.53 0.25 0.227 3075 -232.0 2.40 0.041 2266 -578.3 123.8 - - 2547 - - - - - - - - 14.07 14.34 14.33
12651 880.3 5.3 522 12718 roll 0.59 - - 3075 - 2.67 0.103 3655 520.2 171.9 54.53 1.934 2359 -3.4 0.303 - - - - - - 14.68 14.05 13.39
12744 874.1 8.4 528 12757 done 0.59 - - 3085 - 2.45 0.041 2253 -572.2 171.9 - - 2354 - - - - - - - - 14.27 14.21 14.28
13106 849.5 6.8 537 13139 roll 0.62 - - 3085 - 2.65 0.104 3651 527.5 190.2 19.42 2.001 2285 -3.6 0.291 - - - - - - 14.65 14.26 13.59
13166 844.4 8.7 545 13179 done 0.62 - - 3095 - 2.42 0.042 2253 -577.7 190.2 - - 2281 - - - - - - - - 14.41 14.34 14.42
13506 818.5 7.5 558 13519 done 0.62 - - 3095 - - - 2250 - 195.9 - - 2278 - - - - - - - - 14.69 14.70 14.70
13843 793.7 7.3 564 13873 roll 0.63 - - 3094 - 2.70 0.105 3653 519.6 204.6 14.75 2.023 2228 -3.4 0.257 - - - - - - 14.74 14.42 13.71
13920 787.1 8.5 575 13933 done 0.63 - - 3104 - 2.40 0.043 2255 -582.5 204.6 - - 2226 - - - - - - - - 14.47 14.40 14.52
14240 761.4 8.0 585 14253 roll 0.63 - - 3104 - 2.62 0.103 3650 532.4 204.6 - - 2224 - - - - - - - - 14.72 14.34 14.73
14272 758.3 9.6 589 14285 done 0.63 - - 3114 - 2.38 0.042 2259 -584.5 204.6 - - 2224 - - - - - - - - 14.58 14.50 14.60
14641 726.2 8.7 599 14654 roll 0.63 - - 3124 - 2.45 0.064 856 -572.7 204.6 - - 2223 - - - - - - - - 14.77 14.40 14.78
14666 723.4 9.4 602 14679 done 0.63 - - 3124 - 2.45 0.059 2262 573.9 204.6 - - 2223 - - - - - - - - 14.57 14.43 14.60
14986 694.8 8.8 612 14999 roll 0.63 - - 3123 - 2.58 0.102 3656 540.3 204.6 - - 2222 - - - - - - - - 14.78 14.36 14.79
15047 688.6 10.2 620 15060 done 0.63 - - 3133 - 2.40 0.041 2257 -582.9 204.6 - - 2222 - - - - - - - - 14.61 14.52 14.63
15388 657.1 9.2 633 15401 done 0.63 - - 3134 - - - 2253 - 204.6 - - 2222 - - - - - - - - 14.82 14.83 14.83
15724 626.8 9.0 639 15738 roll 0.63 0.08 0.265 3106 -350.0 2.62 0.099 3654 534.7 204.6 - - 2222 - - - - - - - - 14.26 14.34 14.39
15770 622.2 9.0 645 15784 done 0.63 - - 3116 - 2.38 0.041 2260 -585.7 204.6 - - 2221 - - - - - - - - 14.62 14.53 14.64
16125 592.6 8.2 653 16139 roll 0.63 - - 3117 - 2.62 0.102 3658 533.6 204.6 - - 2221 - - - - - - - - 14.82 14.33 14.82
16164 588.5 9.8 658 16178 done 0.63 - - 3125 - 2.38 0.041 2260 -587.4 204.6 - - 2222 - - - - - - - - 14.62 14.53 14.64
16526 557.7 8.9 667 16539 done 0.63 - - 3126 - - - 2255 - 204.6 - - 2222 - - - - - - - - 14.85 14.85 14.84
16862 527.8 9.0 673 16876 roll 0.63 - - 3126 - 2.65 0.103 3658 529.4 204.6 - - 2221 - - - - - - - - 14.85 14.32 14.85
16909 523.1 10.2 679 16922 done 0.63 - - 3135 - 2.35 0.042 2279 -586.8 204.6 - - 2222 - - - - - - - - 14.62 14.53 14.65
17264 490.4 9.2 687 17277 roll 0.63 0.08 0.259 3118 -212.5 2.47 0.062 861 -574.1 204.6 - - 2222 - - - - - - - - 14.23 14.38 14.38
17289 488.0 9.4 690 17302 done 0.63 - - 3118 - 2.47 0.059 2280 574.5 204.6 - - 2222 - - - - - - - - 14.57 14.41 14.61
17609 461.0 8.4 700 17623 roll 0.63 - - 3118 - 2.53 0.104 3661 545.8 204.6 - - 2222 - - - - - - - - 14.82 14.31 14.82
17662 455.9 9.4 707 17676 done 0.63 - - 3128 - 2.40 0.041 2263 -582.5 204.6 - - 2222 - - - - - - - - 14.60 14.50 14.62
18007 426.6 8.5 714 18020 roll 0.63 - - 3138 - 2.45 0.066 858 -573.5 204.6 - - 2222 - - - - - - - - 14.82 14.37 14.83
18039 423.7 9.0 718 18052 done 0.63 0.10 0.223 3108 -300.0 2.47 0.059 2279 575.3 204.6 - - 2222 - - - - - - - - 14.23 14.41 14.50
18408 395.2 7.6 728 18422 roll 0.64 - - 3107 - 2.58 0.105 3657 534.1 208.1 - - 2221 - - - - - - - - 14.83 14.31 14.83
18489 390.3 8.1 739 18503 done 0.64 - - 3117 - 2.38 0.041 2266 -584.5 208.1 - - 2222 - - - - - - - - 14.59 14.51 14.62
18809 366.6 7.5 749 18827 roll 0.64 - - 3117 - 2.62 0.101 3658 531.3 212.9 2.85 1.053 2208 -4.9 0.330 - - - - - - 14.84 14.52 13.34
18852 362.9 8.4 755 18866 done 0.64 - - 3126 - 2.35 0.041 2270 -590.6 212.9 1.55 0.286 2202 -3.9 0.948 - - - - - - 14.65 14.57 13.95
19208 335.2 7.8 763 19221 roll 0.64 - - 3135 - 2.53 0.063 854 -559.7 212.9 1.50 0.268 2206 2.7 -0.644 - - - - - - 14.82 14.43 14.00
19240 332.6 7.9 767 19253 done 0.64 - - 3136 - 2.47 0.059 2280 577.3 212.9 1.52 0.291 2203 -2.0 0.436 - - - - - - 14.54 14.40 13.90
19609 302.0 8.4 777 19626 roll 0.64 - - 3136 - 2.55 0.103 3650 537.3 212.9 2.33 0.693 2206 1.3 -0.108 - - - - - - 14.84 14.50 13.38
19667 296.5 9.9 785 19681 done 0.64 0.08 0.212 3111 -312.5 2.33 0.041 2275 -590.1 212.9 1.45 0.289 2202 -2.8 0.546 - - - - - - 14.28 14.50 13.93
20010 271.4 7.2 798 20036 done 0.66 - - 3110 - - - 2270 - 223.8 17.10 1.455 2160 -2.5 0.088 - - - - - - 14.81 14.57 13.93
20345 246.5 7.4 804 20359 roll 0.74 - - 3111 - 2.65 0.103 3661 524.9 230.6 2.33 0.679 2135 -10.7 0.752 - - - - - - 14.76 14.45 13.40
20413 240.6 8.6 813 20426 done 0.74 - - 3119 - 2.35 0.041 2275 -589.8 230.6 1.45 0.278 2134 - - - - - - - - 14.60 14.52 13.95
20747 213.6 8.2 825 20760 roll 0.74 - - 3129 - 2.47 0.061 856 -574.5 230.6 1.38 0.266 2136 - - - - - - - - 14.81 14.29 14.00
20787 210.2 8.1 830 20800 done 0.74 - - 3129 - 2.47 0.057 2283 577.7 230.6 1.58 0.298 2134 - - - - - - - - 14.57 14.42 13.82
21142 179.8 8.6 838 21155 roll 0.74 - - 3129 - 2.60 0.102 3651 526.2 230.6 1.55 0.291 2136 - - - - - - - - 14.81 14.38 13.78
21223 171.7 10.1 849 21240 done 0.74 - - 3138 - 2.35 0.039 2264 -590.2 230.6 2.45 0.761 2135 - - - - - - - - 14.62 14.54 13.44
21597 139.6 8.2 860 21610 done 0.74 - - 3138 - - - 2263 - 230.6 1.42 0.272 2132 -2.1 0.209 - - - - - - 14.81 14.45 13.99
21932 112.5 8.3 866 21946 done 0.74 - - 3138 - - - 2263 - 230.6 1.45 0.278 2132 - - - - - - - - 14.84 14.45 13.94
22240 90.0 6.7 874 22266 roll 0.77 - - 3137 - 2.58 0.099 3657 540.3 251.1 11.60 0.444 2051 -7.0 0.273 - - - - - - 14.83 14.46 14.15
22319 84.7 7.7 885 22333 done 0.77 - - 3148 - 2.33 0.041 2279 -591.4 252.2 - - 2055 - - - - - - - - 14.58 14.50 14.59
22636 67.1 5.3 897 22674 roll 0.92 0.08 0.143 3218 875.0 2.55 0.099 3654 539.2 301.5 25.40 0.379 1850 -8.1 0.276 - - - - - - 14.54 14.49 14.21
22826 54.3 7.7 924 22842 done 0.92 - - 3227 - 2.33 0.041 2279 -590.1 303.5 1.38 0.265 1841 -6.5 0.258 - - - - - - 14.60 14.52 14.04
23142 37.9 5.0 936 23182 roll 0.99 - - 3238 - 2.50 0.063 869 -564.0 357.9 27.08 0.288 1625 -8.0 0.203 - - - - - - 14.80 14.47 14.25
23238 32.4 6.8 949 23263 done 1.13 - - 3238 - 2.42 0.055 2283 584.3 376.1 9.45 0.269 1548 -8.1 0.189 - - - - - - 14.57 14.43 14.15
23568 17.8 4.2 963 23618 roll 1.39 0.22 0.067 3369 595.5 2.55 0.098 3654 537.6 446.9 34.12 0.215 1269 -8.2 0.131 - - - - - - 14.53 14.42 14.30
23653 10.0 11.4 975 23667 done 1.30 0.20 0.217 3321 -240.0 2.28 0.039 2298 -594.7 446.9 - - 1269 - - - - - - - - 14.23 14.51 14.47
23741 end climb: SURFACE_DEPTH_REACHED
23741 begin surface coast
23769 end surface coast: CONTROL_FINISHED_OK
23769 begin surface
SM -1.68 - - - - -8.39 9.32 0.084 190 20.4 0.88 0.080 2773 -2819.3 500.14 23.98 0.158 1057 44.1 0.048 - - - - - -