SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 241 * Raw log
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• Previous call tries 1 • 93.40 of 350.00 AH used of 24V (73.32% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.3 deg, depth -2.67 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 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 - - - 116 done -0.93 - - 183 - - - 2775 - -107.1 -94.40 - 3478 - - - - - - - - 14.62 12.92 14.62
118 0.6 -5.7 3 140 roll -0.93 11.50 0.390 2591 209.4 2.38 0.040 1375 -588.2 -107.1 - - 3480 - - - - - - - - 14.12 14.41 14.44
208 38.8 -22.8 17 217 done -0.64 0.35 0.255 2686 271.4 2.50 0.072 2761 554.4 -107.1 - - 3480 - - - - - - - - 14.15 14.34 14.43
531 79.8 -8.5 30 538 roll -0.55 0.10 0.254 2707 210.0 1.92 0.106 3832 557.8 -107.1 - - 3478 - - - - - - - - 14.33 14.40 14.54
727 98.1 -7.6 58 734 done -0.55 - - 2707 - 1.77 0.039 2744 -614.7 -107.1 - - 3481 - - - - - - - - 14.59 14.58 14.59
1091 124.3 -7.6 68 1098 roll -0.55 - - 2698 - 2.05 0.104 3831 530.2 -107.1 - - 3480 - - - - - - - - 14.88 14.42 14.86
1132 127.3 -7.3 74 1140 done -0.55 - - 2698 - 1.73 0.041 2781 -606.9 -107.1 - - 3480 - - - - - - - - 14.66 14.64 14.67
1483 152.2 -6.9 82 1490 roll -0.55 - - 2698 - 2.33 0.044 1387 -598.3 -107.1 - - 3478 - - - - - - - - 14.89 14.59 14.89
1566 158.2 -7.1 94 1574 done -0.55 0.08 0.214 2710 150.0 2.47 0.067 2787 566.8 -107.1 - - 3478 - - - - - - - - 14.35 14.50 14.50
1931 181.2 -6.2 104 1938 roll -0.64 - - 2705 - 1.90 0.106 3824 545.8 -107.1 - - 3479 - - - - - - - - 14.90 14.45 14.90
1987 184.9 -6.9 112 1994 done -0.72 0.05 0.109 2648 -1140.0 1.75 0.042 2775 -599.4 -107.1 - - 3474 - - - - - - - - 14.52 14.64 14.59
2323 215.5 -9.4 125 2330 roll -0.72 - - 2644 - 2.35 0.044 1377 -594.9 -107.1 - - 3471 - - - - - - - - 14.91 14.58 14.91
2364 219.4 -9.3 131 2372 done -0.72 0.10 0.223 2664 200.0 2.47 0.067 2761 560.3 -107.1 - - 3470 - - - - - - - - 14.31 14.48 14.50
2715 248.8 -8.4 139 2722 roll -0.72 - - 2654 - 1.98 0.106 3818 533.8 -107.1 - - 3467 - - - - - - - - 14.91 14.40 14.91
2798 256.2 -9.0 151 2811 done -0.72 - - 2655 - 1.70 0.043 2770 -616.5 -107.1 - - 3466 - - - - - - - - 14.74 14.69 14.76
3167 287.8 -8.6 161 3180 roll -0.72 - - 2655 - 2.33 0.045 1384 -594.8 -107.1 - - 3464 - - - - - - - - 14.91 14.60 14.91
3199 290.8 -8.8 165 3212 done -0.72 - - 2645 - 2.45 0.068 2785 571.8 -107.1 - - 3464 - - - - - - - - 14.69 14.53 14.72
3568 323.6 -9.0 175 3581 roll -0.72 - - 2637 - 1.90 0.106 3825 547.4 -107.1 - - 3461 - - - - - - - - 14.92 14.45 14.93
3593 325.9 -9.0 178 3606 done -0.72 0.10 0.234 2667 300.0 1.73 0.044 2773 -608.1 -107.1 - - 3461 - - - - - - - - 14.38 14.69 14.61
3913 352.8 -8.4 188 3926 roll -0.72 - - 2666 - 2.35 0.046 1379 -593.2 -107.1 - - 3459 - - - - - - - - 14.91 14.59 14.91
3966 357.3 -8.6 195 3979 done -0.72 - - 2656 - 2.47 0.069 2778 566.4 -107.1 - - 3458 - - - - - - - - 14.66 14.52 14.70
4310 387.2 -8.7 202 4323 roll -0.72 - - 2648 - 1.92 0.108 3825 545.3 -107.1 - - 3455 - - - - - - - - 14.90 14.42 14.92
4356 391.4 -9.3 208 4369 done -0.72 - - 2647 - 1.73 0.043 2770 -609.8 -107.1 - - 3456 - - - - - - - - 14.74 14.69 14.76
4711 422.5 -8.8 216 4724 roll -0.72 - - 2647 - 2.35 0.044 1374 -594.0 -107.1 - - 3454 - - - - - - - - 14.91 14.57 14.91
4772 427.8 -8.6 224 4785 done -0.72 0.10 0.247 2666 190.0 2.47 0.067 2776 567.6 -107.1 - - 3453 - - - - - - - - 14.33 14.52 14.57
5113 454.9 -7.9 237 5126 roll -0.72 - - 2666 - 2.38 0.045 1383 -585.3 -107.1 - - 3452 - - - - - - - - 14.91 14.57 14.91
5152 457.9 -8.0 242 5165 done -0.72 - - 2656 - 2.45 0.069 2769 565.7 -107.1 - - 3451 - - - - - - - - 14.67 14.50 14.70
5514 487.3 -8.2 251 5527 done -0.72 - - 2656 - - - 2770 - -107.1 - - 3450 - - - - - - - - 14.90 14.91 14.90
5850 514.0 -8.0 257 5863 roll -0.72 - - 2657 - 2.38 0.046 1382 -583.2 -107.1 - - 3448 - - - - - - - - 14.90 14.56 14.90
5882 516.4 -7.6 261 5896 done -0.72 - - 2646 - 2.47 0.070 2777 564.8 -107.1 - - 3448 - - - - - - - - 14.66 14.49 14.69
6251 546.3 -8.1 271 6264 done -0.72 - - 2646 - - - 2778 - -107.1 - - 3447 - - - - - - - - 14.92 14.92 14.92
6588 574.5 -8.4 277 6601 roll -0.72 - - 2646 - 2.40 0.044 1381 -582.1 -107.1 - - 3445 - - - - - - - - 14.92 14.54 14.92
6634 578.4 -8.5 283 6647 done -0.72 0.10 0.252 2664 180.0 2.47 0.069 2778 565.6 -107.1 - - 3445 - - - - - - - - 14.27 14.47 14.53
6989 606.6 -8.1 291 7003 roll -0.72 - - 2656 - 1.92 0.109 3821 543.2 -107.1 - - 3443 - - - - - - - - 14.90 14.37 14.90
7028 609.8 -8.3 296 7041 done -0.72 - - 2657 - 1.75 0.044 2762 -605.1 -107.1 - - 3443 - - - - - - - - 14.71 14.66 14.73
7390 639.4 -8.3 305 7404 roll -0.72 - - 2657 - 2.35 0.044 1376 -589.8 -107.1 - - 3441 - - - - - - - - 14.92 14.52 14.90
7451 644.5 -8.4 313 7465 done -0.72 - - 2647 - 2.50 0.068 2777 560.4 -107.1 - - 3441 - - - - - - - - 14.62 14.45 14.64
7792 673.6 -8.6 326 7805 done -0.72 - - 2646 - - - 2776 - -107.1 - - 3439 - - - - - - - - 14.91 14.91 14.91
8128 701.5 -8.3 332 8142 roll -0.72 - - 2646 - 2.40 0.046 1385 -579.6 -107.1 - - 3438 - - - - - - - - 14.90 14.50 14.91
8181 705.8 -8.1 339 8195 done -0.72 0.10 0.251 2664 180.0 2.47 0.072 2766 559.1 -107.1 - - 3438 - - - - - - - - 14.23 14.42 14.49
8526 733.1 -7.0 346 8539 done -0.72 - - 2665 - - - 2767 - -107.1 - - 3437 - - - - - - - - 14.88 14.88 14.88
8862 755.4 -6.6 352 8875 roll -0.72 - - 2665 - 2.40 0.047 1381 -577.5 -107.1 - - 3436 - - - - - - - - 14.90 14.48 14.90
8901 758.1 -6.9 357 8914 done -0.72 - - 2655 - 2.47 0.070 2764 559.9 -107.1 - - 3436 - - - - - - - - 14.59 14.41 14.62
9263 782.3 -6.7 366 9276 roll -0.72 - - 2647 - 2.00 0.112 3830 533.0 -107.1 - - 3437 - - - - - - - - 14.88 14.32 14.88
9309 785.7 -7.6 372 9322 done -0.72 - - 2646 - 1.77 0.047 2776 -595.5 -107.1 - - 3434 - - - - - - - - 14.71 14.62 14.69
9664 810.6 -7.0 380 9677 roll -0.72 - - 2646 - 2.40 0.046 1372 -585.0 -107.1 - - 3433 - - - - - - - - 14.90 14.47 14.92
9710 814.2 -8.4 386 9724 done -0.72 0.10 0.247 2666 200.0 2.50 0.070 2771 559.6 -107.1 - - 3433 - - - - - - - - 14.22 14.41 14.48
10066 837.3 -6.5 394 10079 roll -0.72 - - 2657 - 1.98 0.113 3818 528.8 -107.1 - - 3432 - - - - - - - - 14.89 14.30 14.89
10098 839.6 -6.6 398 10111 done -0.72 - - 2657 - 1.77 0.047 2765 -594.9 -107.1 - - 3432 - - - - - - - - 14.66 14.60 14.68
10467 865.2 -6.9 408 10480 roll -0.72 - - 2658 - 2.40 0.047 1368 -582.1 -107.1 - - 3431 - - - - - - - - 14.88 14.45 14.88
10520 869.0 -7.0 415 10534 done -0.72 - - 2648 - 2.53 0.071 2761 550.6 -107.1 - - 3431 - - - - - - - - 14.55 14.38 14.59
10864 894.3 -7.4 422 10878 roll -0.72 - - 2640 - 2.00 0.113 3824 531.5 -107.1 - - 3431 - - - - - - - - 14.88 14.27 14.88
10897 896.6 -6.1 426 10910 done -0.72 - - 2640 - 1.80 0.046 2754 -594.4 -107.1 - - 3431 - - - - - - - - 14.64 14.58 14.63
11266 924.4 -7.4 436 11279 roll -0.72 - - 2639 - 2.38 0.046 1370 -581.5 -107.1 - - 3429 - - - - - - - - 14.85 14.44 14.85
11305 927.4 -5.1 441 11319 done -0.72 0.12 0.234 2665 216.7 2.50 0.070 2761 556.4 -107.1 - - 3429 - - - - - - - - 14.18 14.38 14.45
11386 end dive: TARGET_DEPTH_EXCEEDED
11386 begin apogee
11392 932.8 -6.3 445 11506 roll -0.23 0.52 0.171 2821 300.0 - - 2228 - - 104.70 1.964 3050 -3.6 0.334 - - - - - - 14.25 14.02 13.26
11508 end apogee: CONTROL_FINISHED_OK
11508 begin climb
11510 936.2 - 447 11645 roll 0.93 1.12 0.099 3180 320.5 2.42 0.057 877 -558.3 107.1 115.00 1.973 2618 -3.8 0.347 - - - - - - 14.01 14.03 13.04
11664 929.9 9.1 470 11678 done 0.76 0.12 0.249 3149 -258.3 2.50 0.053 2257 552.0 107.1 - - 2613 - - - - - - - - 13.74 13.88 13.95
12008 902.0 8.3 477 12022 roll 0.66 0.08 0.278 3123 -325.0 2.60 0.096 3653 536.9 107.1 - - 2609 - - - - - - - - 14.12 14.23 14.24
12104 893.9 8.2 490 12118 done 0.56 0.17 0.229 3086 -217.6 2.38 0.041 2274 -579.4 107.1 - - 2609 - - - - - - - - 14.11 14.40 14.38
12466 871.2 6.2 499 12513 roll 0.60 - - 3086 - 2.67 0.102 3653 516.5 138.6 34.10 1.919 2493 -3.4 0.300 - - - - - - 14.73 14.26 13.55
12553 865.2 7.7 511 12566 done 0.60 - - 3096 - 2.42 0.041 2249 -580.2 138.8 - - 2488 - - - - - - - - 14.40 14.33 14.41
12915 840.0 7.0 520 12941 done 0.62 - - 3096 - - - 2244 - 154.4 17.65 1.995 2435 -3.0 0.246 - - - - - - 14.69 14.40 13.65
13251 817.5 6.6 526 13289 roll 0.64 - - 3096 - 2.67 0.102 3654 528.1 176.4 24.75 1.934 2340 -3.8 0.315 - - - - - - 14.69 14.28 13.59
13343 811.0 8.0 539 13356 done 0.64 - - 3105 - 2.42 0.041 2250 -580.2 176.4 - - 2338 - - - - - - - - 14.42 14.35 14.44
13705 785.2 7.1 548 13729 roll 0.66 - - 3106 - 2.62 0.100 3653 535.5 189.0 12.75 2.043 2293 -3.5 0.264 - - - - - - 14.70 14.35 13.66
13748 782.0 7.1 554 13774 done 0.67 - - 3117 - 2.40 0.041 2254 -582.9 201.4 13.93 2.013 2249 -3.2 0.239 - - - - - - 14.49 14.42 13.57
14096 754.8 7.9 568 14109 done 0.67 - - 3120 - - - 2255 - 201.4 - - 2236 - - - - - - - - 14.68 14.68 14.68
14431 727.3 8.2 574 14444 roll 0.67 - - 3116 - 2.62 0.101 3658 535.5 201.4 - - 2235 - - - - - - - - 14.74 14.35 14.74
14477 722.9 9.7 580 14490 done 0.67 - - 3126 - 2.40 0.042 2257 -583.8 201.4 - - 2235 - - - - - - - - 14.60 14.52 14.62
14832 691.2 9.0 588 14845 done 0.67 - - 3127 - - - 2254 - 201.4 - - 2235 - - - - - - - - 14.78 14.78 14.78
15168 659.7 9.4 594 15181 roll 0.67 - - 3127 - 2.62 0.103 3658 535.9 201.4 - - 2234 - - - - - - - - 14.81 14.37 14.81
15207 655.4 10.7 599 15220 done 0.67 - - 3137 - 2.40 0.043 2255 -584.6 201.4 - - 2234 - - - - - - - - 14.63 14.54 14.66
15569 620.1 9.7 608 15582 done 0.67 - - 3143 - - - 2251 - 201.4 - - 2234 - - - - - - - - 14.83 14.83 14.83
15905 589.0 9.1 614 15918 done 0.67 - - 3137 - - - 2257 - 201.4 - - 2234 - - - - - - - - 14.85 14.85 14.85
16241 559.5 8.8 620 16254 roll 0.67 - - 3141 - 2.65 0.101 3654 527.2 201.4 - - 2234 - - - - - - - - 14.83 14.36 14.83
16287 555.0 9.8 626 16300 done 0.67 - - 3147 - 2.38 0.042 2260 -585.7 201.4 - - 2234 - - - - - - - - 14.64 14.55 14.66
16642 523.3 8.9 634 16655 done 0.67 0.10 0.242 3119 -280.0 - - 2255 - 201.4 - - 2234 - - - - - - - - 14.27 14.57 14.52
16978 497.1 7.8 640 16991 done 0.67 - - 3120 - - - 2255 - 201.4 - - 2234 - - - - - - - - 14.83 14.83 14.83
17314 469.4 8.2 646 17327 roll 0.67 - - 3119 - 2.62 0.099 3659 535.9 201.4 - - 2234 - - - - - - - - 14.83 14.35 14.83
17402 461.3 9.3 658 17415 done 0.67 - - 3128 - 2.38 0.041 2261 -587.4 201.4 - - 2234 - - - - - - - - 14.62 14.53 14.64
17771 430.9 8.2 668 17784 roll 0.67 - - 3138 - 2.45 0.063 857 -573.1 201.4 - - 2234 - - - - - - - - 14.83 14.39 14.83
17824 426.5 8.1 675 17838 done 0.67 - - 3138 - 2.47 0.054 2277 574.9 201.4 - - 2234 - - - - - - - - 14.57 14.42 14.59
18168 397.8 8.4 682 18181 roll 0.67 - - 3138 - 2.53 0.099 3651 543.1 201.4 - - 2234 - - - - - - - - 14.83 14.33 14.83
18200 394.7 9.4 686 18214 done 0.67 0.10 0.238 3119 -190.0 2.35 0.041 2263 -590.6 201.4 - - 2234 - - - - - - - - 14.23 14.54 14.50
18569 364.5 8.2 696 18583 roll 0.67 - - 3119 - 2.60 0.100 3651 533.8 201.4 - - 2234 - - - - - - - - 14.85 14.32 14.85
18608 360.8 9.1 701 18622 done 0.67 - - 3129 - 2.33 0.041 2273 -591.4 201.4 - - 2234 - - - - - - - - 14.50 14.45 14.60
18971 329.1 8.7 710 18984 roll 0.67 - - 3139 - 2.45 0.063 865 -574.7 201.4 - - 2234 - - - - - - - - 14.86 14.38 14.85
19010 325.5 9.0 715 19023 done 0.67 - - 3137 - 2.45 0.055 2281 578.0 201.4 - - 2234 - - - - - - - - 14.57 14.42 14.61
19372 293.9 8.7 724 19385 roll 0.67 - - 3139 - 2.53 0.099 3651 541.5 201.4 - - 2234 - - - - - - - - 14.83 14.33 14.83
19404 290.9 9.3 728 19417 done 0.67 0.10 0.235 3121 -180.0 2.33 0.041 2273 -591.4 201.4 - - 2234 - - - - - - - - 14.22 14.52 14.48
19773 263.1 7.4 738 19790 roll 0.68 - - 3130 - 2.47 0.062 864 -570.4 208.8 2.78 0.972 2221 -4.7 0.246 - - - - - - 14.85 14.54 13.40
19809 260.4 7.3 743 19837 done 0.69 - - 3130 - 2.42 0.055 2276 583.5 218.6 16.17 1.454 2179 -2.6 0.090 - - - - - - 14.64 14.50 13.93
20167 232.6 7.9 752 20180 roll 0.69 - - 3130 - 2.55 0.101 3660 542.7 218.6 - - 2168 - - - - - - - - 14.78 14.33 14.78
20213 228.2 9.5 758 20226 done 0.69 - - 3140 - 2.35 0.040 2270 -591.5 218.6 - - 2168 - - - - - - - - 14.59 14.50 14.59
20568 196.3 9.1 766 20581 roll 0.69 - - 3151 - 2.47 0.063 847 -576.1 218.6 - - 2167 - - - - - - - - 14.81 14.40 14.81
20614 192.0 9.1 772 20627 done 0.69 - - 3150 - 2.45 0.054 2268 580.0 218.6 - - 2169 - - - - - - - - 14.57 14.42 14.61
20969 161.1 8.7 780 20982 roll 0.69 - - 3151 - 2.55 0.099 3656 544.3 218.6 - - 2167 - - - - - - - - 14.83 14.34 14.83
21030 155.1 9.9 788 21043 done 0.69 0.12 0.225 3126 -208.3 2.38 0.040 2257 -587.8 218.6 - - 2168 - - - - - - - - 14.22 14.52 14.49
21371 128.2 7.8 801 21384 roll 0.69 - - 3135 - 2.42 0.061 854 -579.8 218.6 - - 2168 - - - - - - - - 14.82 14.40 14.85
21445 122.4 7.8 811 21458 done 0.69 - - 3134 - 2.45 0.054 2275 580.0 218.6 - - 2168 - - - - - - - - 14.57 14.42 14.61
21772 98.1 7.4 822 21786 roll 0.70 - - 3136 - 2.53 0.097 3654 545.1 226.0 2.00 0.326 2153 -7.5 0.439 - - - - - - 14.83 14.27 13.88
21862 91.4 7.5 834 21879 done 0.71 - - 3145 - 2.35 0.039 2261 -592.8 231.3 4.22 0.399 2130 -5.5 0.243 - - - - - - 14.62 14.54 14.04
22202 71.0 4.4 849 22247 roll 0.88 0.05 0.199 3209 1280.0 2.62 0.098 3653 531.3 298.6 33.42 0.389 1860 -8.1 0.287 - - - - - - 14.52 14.50 14.23
22449 52.4 8.4 884 22463 done 0.88 0.12 0.214 3183 -216.7 2.33 0.038 2280 -589.3 298.6 - - 1862 - - - - - - - - 14.23 14.51 14.45
22792 34.8 2.9 899 22852 roll 1.13 0.15 0.090 3294 740.0 2.45 0.062 857 -580.8 395.6 45.83 0.281 1474 -8.5 0.204 - - - - - - 14.50 14.45 14.24
22963 22.1 7.3 923 22980 done 1.14 - - 3294 - 2.45 0.054 2286 583.3 404.2 4.32 0.245 1440 -7.9 0.138 - - - - - - 14.55 14.41 14.17
23299 end climb: SURFACE_DEPTH_REACHED
23300 begin surface coast
23327 end surface coast: CONTROL_FINISHED_OK
23327 begin surface
SM -1.70 - - - - -8.38 9.12 0.075 195 21.4 0.85 0.081 2767 -7631.8 500.14 44.40 0.161 1056 23.8 0.026 - - - - - -