SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 245 * Raw log
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• Previous call tries 1 • 94.75 of 350.00 AH used of 24V (72.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth -4.73 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 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 -0.93 - - 149 - - - 2786 - -107.1 -75.35 - 3478 - - - - - - - - 14.62 12.88 14.63
100 -3.2 -4.9 2 121 roll -0.93 11.75 0.394 2593 208.0 2.38 0.032 1323 -614.7 -107.1 - - 3478 - - - - - - - - 14.10 14.45 14.43
168 31.3 -27.0 13 179 done -0.63 0.38 0.252 2684 239.5 2.58 0.067 2759 556.6 -107.1 - - 3476 - - - - - - - - 14.12 14.32 14.31
484 77.5 -11.5 25 492 roll -0.52 0.15 0.233 2719 233.3 1.95 0.103 3832 550.3 -107.1 - - 3481 - - - - - - - - 14.28 14.38 14.50
632 90.4 -7.4 46 638 done -0.52 - - 2719 - 1.75 0.040 2746 -620.6 -107.1 - - 3481 - - - - - - - - 14.66 14.61 14.67
988 112.5 -6.4 58 995 roll -0.52 - - 2719 - 2.25 0.040 1384 -605.3 -107.1 - - 3482 - - - - - - - - 14.85 14.56 14.86
1143 122.1 -6.0 80 1149 done -0.60 - - 2709 - 2.42 0.066 2783 578.1 -107.1 - - 3482 - - - - - - - - 14.65 14.50 14.68
1492 144.1 -6.2 88 1499 roll -0.60 - - 2701 - 1.90 0.109 3821 546.3 -107.1 - - 3480 - - - - - - - - 14.88 14.43 14.88
1548 148.1 -7.4 96 1555 done -0.60 - - 2701 - 1.73 0.041 2780 -601.7 -107.1 - - 3480 - - - - - - - - 14.64 14.62 14.66
1884 171.3 -6.8 109 1892 roll -0.60 - - 2701 - 2.33 0.041 1384 -599.1 -107.1 - - 3477 - - - - - - - - 14.90 14.59 14.90
1940 175.9 -7.0 117 1948 done -0.68 - - 2692 - 2.42 0.067 2772 573.6 -107.1 - - 3477 - - - - - - - - 14.66 14.50 14.69
2277 198.7 -6.6 130 2279 done -0.68 - - 2692 - - - 2772 - -107.1 - - 3474 - - - - - - - - 14.90 14.90 14.90
2612 222.1 -7.0 136 2619 roll -0.68 - - 2692 - 2.35 0.043 1385 -590.2 -107.1 - - 3472 - - - - - - - - 14.91 14.59 14.91
2668 226.1 -7.1 144 2675 done -0.68 - - 2682 - 2.42 0.067 2771 572.7 -107.1 - - 3472 - - - - - - - - 14.66 14.50 14.68
3006 251.5 -7.6 157 3021 roll -0.68 - - 2682 - 2.35 0.042 1382 -591.1 -107.1 - - 3470 - - - - - - - - 14.87 14.57 14.87
3033 253.8 -7.7 160 3046 done -0.68 - - 2673 - 2.47 0.069 2781 566.4 -107.1 - - 3469 - - - - - - - - 14.66 14.50 14.69
3353 279.5 -8.0 170 3366 roll -0.68 - - 2665 - 1.95 0.112 3838 542.1 -107.1 - - 3467 - - - - - - - - 14.90 14.44 14.90
3406 283.9 -8.3 177 3421 done -0.68 - - 2664 - 1.77 0.044 2764 -606.8 -107.1 - - 3467 - - - - - - - - 14.73 14.66 14.73
3750 311.2 -8.0 184 3763 roll -0.68 - - 2664 - 2.33 0.044 1381 -593.6 -107.1 - - 3465 - - - - - - - - 14.90 14.59 14.90
3803 315.7 -8.2 191 3817 done -0.68 - - 2654 - 2.47 0.069 2772 563.2 -107.1 - - 3464 - - - - - - - - 14.67 14.50 14.68
4147 345.0 -8.7 198 4161 roll -0.68 - - 2646 - 1.95 0.112 3826 540.5 -107.1 - - 3462 - - - - - - - - 14.90 14.41 14.91
4200 349.8 -9.4 205 4215 done -0.68 0.10 0.228 2677 310.0 1.75 0.043 2773 -601.7 -107.1 - - 3461 - - - - - - - - 14.36 14.66 14.58
4545 377.2 -8.0 212 4558 roll -0.68 - - 2676 - 2.35 0.043 1375 -594.9 -107.1 - - 3461 - - - - - - - - 14.90 14.58 14.91
4605 381.5 -7.3 220 4619 done -0.68 - - 2667 - 2.45 0.066 2765 567.3 -107.1 - - 3460 - - - - - - - - 14.65 14.48 14.69
4946 410.3 -8.2 233 4959 done -0.68 - - 2666 - - - 2765 - -107.1 - - 3458 - - - - - - - - 14.92 14.92 14.92
5283 436.4 -7.6 239 5296 roll -0.68 - - 2667 - 2.38 0.044 1370 -586.1 -107.1 - - 3456 - - - - - - - - 14.92 14.57 14.92
5344 441.2 -7.8 247 5357 done -0.68 - - 2657 - 2.47 0.068 2765 564.8 -107.1 - - 3457 - - - - - - - - 14.59 14.42 14.62
5684 468.7 -8.2 260 5698 roll -0.68 - - 2649 - 1.95 0.110 3821 541.5 -107.1 - - 3455 - - - - - - - - 14.92 14.34 14.92
5758 475.5 -9.2 270 5772 done -0.68 0.10 0.226 2676 270.0 1.75 0.043 2757 -608.0 -107.1 - - 3455 - - - - - - - - 14.33 14.66 14.56
6086 501.0 -7.7 281 6099 roll -0.68 - - 2679 - 2.33 0.044 1379 -591.4 -107.1 - - 3453 - - - - - - - - 14.92 14.54 14.92
6160 506.7 -7.7 291 6173 done -0.68 - - 2669 - 2.45 0.069 2762 564.5 -107.1 - - 3454 - - - - - - - - 14.62 14.45 14.66
6487 531.9 -7.7 302 6500 done -0.68 - - 2669 - - - 2763 - -107.1 - - 3452 - - - - - - - - 14.89 14.89 14.89
6823 557.0 -7.4 308 6836 done -0.68 - - 2669 - - - 2762 - -107.1 - - 3451 - - - - - - - - 14.89 14.89 14.90
7159 582.0 -7.4 314 7172 roll -0.68 - - 2669 - 2.38 0.044 1381 -580.3 -107.1 - - 3449 - - - - - - - - 14.90 14.52 14.90
7233 587.6 -7.3 324 7246 done -0.68 - - 2659 - 2.45 0.069 2768 566.1 -107.1 - - 3449 - - - - - - - - 14.62 14.43 14.65
7560 611.6 -7.4 335 7573 roll -0.68 - - 2659 - 2.38 0.044 1377 -584.5 -107.1 - - 3447 - - - - - - - - 14.88 14.52 14.88
7606 615.0 -7.5 341 7620 done -0.68 0.10 0.241 2679 200.0 2.45 0.069 2758 563.7 -107.1 - - 3448 - - - - - - - - 14.27 14.43 14.52
7962 639.0 -6.8 349 7975 roll -0.76 - - 2671 - 2.00 0.113 3826 534.0 -107.1 - - 3445 - - - - - - - - 14.90 14.31 14.90
8001 641.9 -7.6 354 8014 done -0.76 - - 2670 - 1.77 0.046 2759 -602.8 -107.1 - - 3445 - - - - - - - - 14.68 14.62 14.69
8363 668.4 -7.4 363 8376 roll -0.76 - - 2670 - 2.35 0.044 1377 -588.1 -107.1 - - 3445 - - - - - - - - 14.88 14.45 14.88
8473 676.6 -7.4 378 8486 done -0.76 - - 2661 - 2.47 0.068 2759 559.5 -107.1 - - 3444 - - - - - - - - 14.58 14.40 14.61
8817 702.9 -7.7 385 8830 roll -0.76 - - 2652 - 2.00 0.112 3824 532.5 -107.1 - - 3444 - - - - - - - - 14.88 14.30 14.88
8849 705.6 -8.0 389 8862 done -0.76 - - 2652 - 1.77 0.045 2759 -601.7 -107.1 - - 3444 - - - - - - - - 14.66 14.59 14.67
9219 733.7 -7.5 399 9232 roll -0.76 - - 2653 - 2.38 0.046 1367 -584.9 -107.1 - - 3442 - - - - - - - - 14.89 14.47 14.89
9272 738.0 -7.9 406 9285 done -0.76 - - 2643 - 2.53 0.070 2766 553.0 -107.1 - - 3442 - - - - - - - - 14.57 14.39 14.60
9616 765.0 -8.0 413 9629 done -0.76 - - 2643 - - - 2767 - -107.1 - - 3441 - - - - - - - - 14.89 14.89 14.89
9951 791.3 -7.8 419 9965 roll -0.76 - - 2643 - 2.42 0.045 1371 -576.9 -107.1 - - 3440 - - - - - - - - 14.88 14.47 14.87
10033 797.5 -7.6 430 10046 done -0.76 - - 2633 - 2.47 0.069 2753 559.5 -107.1 - - 3439 - - - - - - - - 14.56 14.38 14.59
10352 822.4 -7.9 440 10366 roll -0.76 - - 2624 - 2.03 0.114 3827 529.1 -107.1 - - 3438 - - - - - - - - 14.87 14.26 14.87
10392 825.3 -7.1 445 10405 done -0.76 0.10 0.243 2653 290.0 1.80 0.047 2757 -594.4 -107.1 - - 3438 - - - - - - - - 14.21 14.58 14.45
10754 850.2 -6.7 454 10767 roll -0.76 - - 2653 - 2.40 0.047 1357 -583.3 -107.1 - - 3437 - - - - - - - - 14.86 14.45 14.86
10815 854.3 -6.7 462 10829 done -0.76 - - 2644 - 2.53 0.069 2755 552.6 -107.1 - - 3437 - - - - - - - - 14.54 14.37 14.58
11157 878.4 -7.1 475 11170 roll -0.76 - - 2635 - 2.03 0.116 3825 527.1 -107.1 - - 3437 - - - - - - - - 14.88 14.25 14.88
11202 881.8 -7.8 481 11216 done -0.76 - - 2635 - 1.83 0.046 2735 -595.6 -107.1 - - 3437 - - - - - - - - 14.63 14.57 14.64
11558 909.1 -7.8 489 11571 roll -0.76 - - 2634 - 2.33 0.045 1377 -582.8 -107.1 - - 3436 - - - - - - - - 14.85 14.43 14.85
11619 913.6 -7.9 497 11632 done -0.76 - - 2626 - 2.47 0.068 2754 557.5 -107.1 - - 3435 - - - - - - - - 14.55 14.37 14.58
11846 end dive: TARGET_DEPTH_EXCEEDED
11846 begin apogee
11851 932.1 -8.4 508 11969 roll -0.23 0.68 0.186 2820 285.3 - - 2241 - - 107.72 1.938 3051 -3.6 0.334 - - - - - - 14.19 14.00 13.20
11971 end apogee: CONTROL_FINISHED_OK
11971 begin climb
11973 940.6 - 510 12106 roll 0.93 1.12 0.099 3182 323.2 2.50 0.056 848 -557.2 107.1 115.70 1.965 2618 -3.7 0.349 - - - - - - 14.00 14.02 13.02
12147 933.9 7.5 536 12160 done 0.80 - - 3182 - 2.53 0.053 2256 556.5 111.4 - - 2611 - - - - - - - - 14.03 13.93 14.05
12474 906.0 8.8 547 12487 roll 0.65 0.22 0.231 3115 -304.5 2.60 0.097 3654 537.7 111.4 - - 2607 - - - - - - - - 14.04 14.23 14.22
12513 902.7 10.6 552 12527 done 0.54 0.17 0.222 3078 -217.6 2.45 0.041 2224 -583.7 111.4 - - 2607 - - - - - - - - 14.09 14.38 14.33
12876 882.1 5.7 561 12937 roll 0.59 - - 3077 - 2.80 0.100 3651 509.6 152.2 48.62 1.901 2442 -3.4 0.307 - - - - - - 14.72 14.14 13.43
12970 876.0 7.5 574 12983 done 0.60 - - 3087 - 2.42 0.041 2259 -575.2 157.3 1.50 0.256 2423 -12.7 8.453 - - - - - - 14.31 14.25 13.98
13332 851.8 6.6 583 13377 roll 0.63 - - 3088 - 2.67 0.102 3654 522.5 180.3 32.15 1.904 2325 -3.0 0.266 - - - - - - 14.66 14.21 13.49
13417 845.0 8.4 595 13431 done 0.63 - - 3097 - 2.45 0.041 2242 -576.3 180.3 - - 2322 - - - - - - - - 14.34 14.26 14.39
13786 817.1 7.6 605 13800 roll 0.63 - - 3097 - 2.67 0.103 3651 527.7 182.9 - - 2318 - - - - - - - - 14.69 14.32 14.69
13826 813.7 10.0 610 13839 done 0.63 - - 3106 - 2.40 0.041 2246 -585.4 182.9 - - 2318 - - - - - - - - 14.53 14.46 14.54
14187 785.2 8.1 619 14200 done 0.63 - - 3106 - - - 2241 - 182.9 - - 2317 - - - - - - - - 14.75 14.75 14.75
14524 758.3 8.0 625 14537 roll 0.63 - - 3107 - 2.67 0.100 3653 528.8 182.9 - - 2317 - - - - - - - - 14.78 14.34 14.78
14570 754.3 9.0 631 14583 done 0.63 - - 3117 - 2.38 0.042 2262 -584.5 182.9 - - 2316 - - - - - - - - 14.61 14.52 14.62
14925 725.0 8.2 639 14938 roll 0.63 - - 3116 - 2.65 0.102 3657 526.4 182.9 - - 2317 - - - - - - - - 14.81 14.31 14.81
14957 721.9 9.3 643 14970 done 0.63 - - 3126 - 2.40 0.042 2251 -585.8 182.9 - - 2316 - - - - - - - - 14.61 14.52 14.62
15326 690.5 8.4 653 15339 done 0.63 - - 3128 - - - 2245 - 182.9 - - 2316 - - - - - - - - 14.81 14.81 14.81
15662 662.0 8.5 659 15675 roll 0.63 - - 3127 - 2.67 0.102 3656 528.5 182.9 - - 2316 - - - - - - - - 14.82 14.31 14.82
15694 659.0 9.2 663 15707 done 0.63 0.12 0.230 3102 -208.3 2.38 0.041 2257 -587.8 182.9 - - 2316 - - - - - - - - 14.21 14.52 14.46
16063 630.6 7.7 673 16077 roll 0.63 - - 3101 - 2.65 0.100 3659 529.1 184.4 - - 2315 - - - - - - - - 14.84 14.30 14.84
16095 627.9 8.1 677 16109 done 0.63 - - 3111 - 2.38 0.041 2258 -588.7 184.4 - - 2315 - - - - - - - - 14.61 14.52 14.62
16465 598.0 8.1 687 16478 roll 0.63 - - 3111 - 2.65 0.102 3658 528.3 184.4 - - 2315 - - - - - - - - 14.84 14.30 14.84
16504 594.3 9.3 692 16517 done 0.63 - - 3121 - 2.38 0.041 2261 -587.0 184.4 - - 2315 - - - - - - - - 14.62 14.52 14.63
16866 562.9 8.6 701 16879 roll 0.63 - - 3131 - 2.45 0.062 859 -572.2 184.4 - - 2315 - - - - - - - - 14.85 14.31 14.84
16891 560.6 8.7 704 16904 done 0.63 0.08 0.236 3109 -275.0 2.42 0.054 2263 580.2 184.4 - - 2315 - - - - - - - - 14.25 14.41 14.47
17212 534.7 8.1 714 17225 roll 0.63 - - 3107 - 2.60 0.103 3655 535.4 184.4 - - 2315 - - - - - - - - 14.83 14.26 14.83
17273 529.3 8.9 722 17286 done 0.63 - - 3118 - 2.38 0.040 2262 -585.3 184.4 - - 2313 - - - - - - - - 14.59 14.50 14.60
17614 502.5 7.8 735 17627 roll 0.63 - - 3118 - 2.62 0.102 3657 532.4 184.4 - - 2315 - - - - - - - - 14.82 14.29 14.81
17653 499.1 8.7 740 17666 done 0.63 - - 3128 - 2.35 0.041 2264 -592.8 184.4 - - 2315 - - - - - - - - 14.60 14.52 14.62
18015 471.5 7.5 749 18029 roll 0.64 - - 3138 - 2.47 0.060 861 -568.0 189.0 2.22 0.606 2301 -6.3 0.957 - - - - - - 14.84 14.53 13.22
18062 467.9 7.7 755 18081 done 0.64 0.10 0.228 3109 -290.0 2.42 0.053 2271 582.6 189.9 2.58 0.934 2298 -1.2 0.114 - - - - - - 14.30 14.47 13.32
18413 443.5 7.1 763 18451 roll 0.66 - - 3112 - 2.60 0.101 3655 532.3 203.8 22.30 1.592 2230 -3.0 0.166 - - - - - - 14.82 14.44 13.82
18534 433.6 8.5 780 18548 done 0.66 - - 3119 - 2.35 0.040 2272 -588.5 203.8 - - 2227 - - - - - - - - 14.52 14.45 14.54
18868 407.3 7.8 792 18881 roll 0.66 - - 3128 - 2.45 0.061 868 -573.1 203.8 - - 2226 - - - - - - - - 14.76 14.35 14.76
18921 403.2 7.8 799 18935 done 0.66 - - 3129 - 2.47 0.054 2282 572.5 203.8 - - 2225 - - - - - - - - 14.51 14.36 14.54
19265 375.8 8.0 806 19278 roll 0.66 - - 3128 - 2.55 0.101 3660 540.4 203.8 - - 2225 - - - - - - - - 14.78 14.27 14.80
19311 371.5 9.6 812 19324 done 0.66 - - 3138 - 2.35 0.040 2272 -590.6 203.8 - - 2225 - - - - - - - - 14.58 14.50 14.61
19666 340.7 8.7 820 19679 roll 0.66 - - 3149 - 2.45 0.060 858 -577.1 203.8 - - 2225 - - - - - - - - 14.79 14.37 14.79
19691 338.3 8.9 823 19705 done 0.66 0.12 0.218 3114 -291.7 2.45 0.054 2276 578.8 203.8 - - 2225 - - - - - - - - 14.21 14.40 14.47
20012 314.2 7.5 833 20025 roll 0.66 - - 3112 - 2.58 0.101 3663 537.6 209.2 - - 2226 - - - - - - - - 14.80 14.28 14.80
20079 308.7 8.2 842 20092 done 0.66 - - 3121 - 2.35 0.039 2274 -591.1 209.2 - - 2225 - - - - - - - - 14.60 14.52 14.62
20413 283.9 7.5 854 20437 roll 0.67 - - 3131 - 2.47 0.062 865 -570.4 214.7 9.90 1.572 2189 -3.6 0.128 - - - - - - 14.81 14.56 13.90
20456 280.5 7.7 860 20469 done 0.67 - - 3131 - 2.45 0.054 2287 580.4 215.6 - - 2188 - - - - - - - - 14.59 14.45 14.60
20811 250.7 8.5 868 20824 roll 0.67 - - 3130 - 2.55 0.103 3663 539.6 215.6 - - 2188 - - - - - - - - 14.80 14.31 14.80
20863 245.6 9.7 875 20877 done 0.67 - - 3141 - 2.38 0.039 2263 -588.2 215.6 - - 2188 - - - - - - - - 14.59 14.51 14.60
21208 215.2 8.8 882 21221 roll 0.67 - - 3151 - 2.42 0.061 868 -576.4 215.6 - - 2188 - - - - - - - - 14.80 14.38 14.79
21254 211.2 8.3 888 21267 done 0.67 0.12 0.214 3115 -300.0 2.42 0.051 2278 582.6 215.6 - - 2188 - - - - - - - - 14.22 14.41 14.46
21610 186.7 7.0 896 21640 roll 0.69 - - 3115 - 2.55 0.102 3650 538.0 230.3 16.42 1.344 2125 -3.8 0.104 - - - - - - 14.81 14.49 13.95
21667 182.1 8.4 904 21680 done 0.69 - - 3123 - 2.33 0.040 2274 -590.6 230.3 - - 2123 - - - - - - - - 14.60 14.53 14.62
22008 156.6 7.4 917 22022 roll 0.70 - - 3132 - 2.47 0.060 859 -572.9 237.3 2.28 0.611 2108 -6.6 0.329 - - - - - - 14.77 14.51 13.42
22174 144.4 7.5 940 22199 done 0.70 - - 3132 - 2.45 0.051 2275 578.0 243.1 11.27 1.366 2074 -3.0 0.062 - - - - - - 14.56 14.42 13.94
22521 118.2 7.8 954 22535 roll 0.70 - - 3132 - 2.55 0.102 3660 543.1 243.1 - - 2072 - - - - - - - - 14.76 14.33 14.76
22609 111.1 7.4 966 22627 done 0.71 - - 3144 - 2.35 0.038 2258 -596.6 249.7 2.22 0.366 2057 -6.8 0.400 - - - - - - 14.59 14.51 13.86
22950 87.9 6.9 978 22972 roll 0.82 - - 3152 - 2.40 0.061 875 -576.2 265.8 9.15 0.425 1993 -7.0 0.282 - - - - - - 14.78 14.50 14.13
23118 78.0 4.7 1002 23163 done 1.00 0.12 0.103 3228 633.3 2.42 0.050 2277 579.3 325.8 30.02 0.412 1753 -8.0 0.295 - - - - - - 14.51 14.43 14.14
23484 51.7 7.4 1021 23503 roll 1.01 - - 3228 - 2.60 0.102 3653 529.2 331.9 3.35 0.306 1731 -6.6 0.216 - - - - - - 14.76 14.36 14.04
23732 36.3 4.1 1056 23779 done 1.10 - - 3237 - 2.30 0.040 2276 -598.7 403.9 35.15 0.285 1442 -8.2 0.204 - - - - - - 14.60 14.52 14.21
24107 21.3 4.4 1076 24153 roll 1.35 0.20 0.073 3356 595.0 2.55 0.097 3662 543.5 471.2 31.92 0.230 1174 -8.4 0.152 - - - - - - 14.52 14.40 14.23
24296 end climb: SURFACE_DEPTH_REACHED
24296 begin surface coast
24304 end surface coast: CONTROL_FINISHED_OK
24304 begin surface
SM -0.69 - - - - -8.39 9.48 0.088 192 20.2 1.50 0.041 2766 -5262.7 500.14 13.50 0.171 1057 78.3 0.032 - - - - - -