SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 287 * Raw log
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• Previous call tries 1 • 107.72 of 350.00 AH used of 24V (69.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -1.81 m • Intended pitch -17.6 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 92 done -0.93 - - 129 - - - 2785 - -107.1 -76.95 - 3478 - - - - - - - - 14.66 12.76 14.65
95 -0.6 -3.9 2 115 roll -0.93 11.82 0.391 2593 208.5 2.38 0.034 1367 -595.8 -107.1 - - 3479 - - - - - - - - 14.07 14.42 14.42
211 43.5 -20.1 20 218 done -0.66 0.35 0.241 2678 242.9 2.50 0.070 2757 556.0 -107.1 - - 3480 - - - - - - - - 14.12 14.33 14.31
534 82.3 -10.8 33 541 roll -0.56 0.12 0.239 2706 233.3 2.00 0.108 3835 539.0 -107.1 - - 3482 - - - - - - - - 14.30 14.33 14.52
771 101.2 -8.3 67 777 done -0.56 - - 2706 - 1.80 0.041 2756 -599.4 -107.1 - - 3482 - - - - - - - - 14.69 14.64 14.70
1094 121.8 -5.8 78 1099 roll -0.56 - - 2698 - 2.05 0.108 3834 525.9 -107.1 - - 3483 - - - - - - - - 14.90 14.38 14.91
1156 126.2 -7.0 87 1163 done -0.56 - - 2698 - 1.77 0.041 2772 -600.0 -107.1 - - 3483 - - - - - - - - 14.71 14.67 14.73
1486 146.3 -6.0 99 1492 roll -0.56 - - 2698 - 2.38 0.045 1386 -582.4 -107.1 - - 3483 - - - - - - - - 14.92 14.52 14.92
1548 150.5 -6.8 108 1555 done -0.56 - - 2689 - 2.47 0.068 2778 563.6 -107.1 - - 3482 - - - - - - - - 14.57 14.48 14.62
1878 175.7 -7.9 120 1884 roll -0.56 0.10 0.237 2710 210.0 1.95 0.109 3823 535.9 -107.1 - - 3484 - - - - - - - - 14.40 14.39 14.61
1926 179.2 -7.3 127 1934 done -0.66 - - 2711 - 1.77 0.041 2759 -601.1 -107.1 - - 3480 - - - - - - - - 14.76 14.71 14.76
2270 201.8 -6.4 134 2276 roll -0.76 0.12 0.100 2627 -700.0 2.28 0.045 1398 -596.9 -107.1 - - 3477 - - - - - - - - 14.67 14.57 14.73
2326 206.6 -9.0 142 2332 done -0.76 0.10 0.226 2647 200.0 2.47 0.070 2776 557.9 -107.1 - - 3476 - - - - - - - - 14.26 14.45 14.44
2662 235.5 -8.7 155 2667 roll -0.76 - - 2639 - 2.00 0.113 3829 526.5 -107.1 - - 3474 - - - - - - - - 14.95 14.38 14.95
2724 241.5 -9.5 164 2730 done -0.76 - - 2639 - 1.77 0.041 2774 -596.0 -107.1 - - 3474 - - - - - - - - 14.70 14.64 14.73
3054 273.4 -9.8 176 3059 roll -0.76 - - 2639 - 2.38 0.047 1397 -578.6 -107.1 - - 3470 - - - - - - - - 14.96 14.52 14.96
3088 277.0 -10.2 181 3096 done -0.76 - - 2629 - 2.47 0.071 2770 555.9 -107.1 - - 3471 - - - - - - - - 14.56 14.46 14.61
3446 313.6 -10.1 190 3447 done -0.76 - - 2629 - - - 2770 - -107.1 - - 3468 - - - - - - - - 14.96 14.96 14.94
3782 345.7 -9.5 196 3782 done -0.76 - - 2629 - - - 2770 - -107.1 - - 3466 - - - - - - - - 14.94 14.95 14.95
4118 376.6 -9.1 202 4123 roll -0.76 - - 2618 - 2.00 0.113 3822 526.0 -107.1 - - 3464 - - - - - - - - 14.95 14.34 14.95
4159 380.6 -9.7 208 4166 done -0.76 0.10 0.239 2650 320.0 1.77 0.041 2776 -591.0 -107.1 - - 3465 - - - - - - - - 14.33 14.69 14.57
4510 409.0 -8.1 216 4510 done -0.76 - - 2650 - - - 2776 - -107.1 - - 3462 - - - - - - - - 14.96 14.97 14.97
4846 439.0 -9.1 222 4847 done -0.76 - - 2650 - - - 2775 - -107.1 - - 3460 - - - - - - - - 14.94 14.94 14.94
5182 469.1 -8.9 228 5188 roll -0.76 - - 2650 - 2.42 0.044 1386 -574.0 -107.1 - - 3458 - - - - - - - - 14.92 14.49 14.94
5223 472.8 -8.8 234 5229 done -0.76 - - 2640 - 2.55 0.070 2777 545.5 -107.1 - - 3458 - - - - - - - - 14.51 14.41 14.56
5574 503.8 -8.9 242 5575 done -0.76 - - 2640 - - - 2778 - -107.1 - - 3457 - - - - - - - - 14.96 14.96 14.96
5910 533.3 -8.8 248 5910 done -0.76 - - 2641 - - - 2778 - -107.1 - - 3455 - - - - - - - - 14.93 14.94 14.94
6246 561.3 -8.2 254 6251 roll -0.76 - - 2640 - 2.45 0.044 1388 -567.3 -107.1 - - 3454 - - - - - - - - 14.93 14.46 14.93
6302 565.8 -8.1 262 6307 done -0.76 - - 2630 - 2.53 0.070 2774 547.8 -107.1 - - 3451 - - - - - - - - 14.46 14.37 14.51
6638 593.5 -8.3 275 6643 roll -0.76 - - 2622 - 2.00 0.113 3820 523.0 -107.1 - - 3452 - - - - - - - - 14.93 14.26 14.95
6672 596.6 -9.1 280 6679 done -0.76 0.10 0.237 2651 290.0 1.80 0.041 2770 -583.3 -107.1 - - 3451 - - - - - - - - 14.27 14.63 14.50
7030 624.2 -7.8 289 7037 roll -0.76 - - 2652 - 2.42 0.045 1375 -576.4 -107.1 - - 3450 - - - - - - - - 14.92 14.43 14.92
7071 627.6 -8.1 295 7077 done -0.76 - - 2641 - 2.58 0.070 2776 543.0 -107.1 - - 3449 - - - - - - - - 14.45 14.34 14.50
7422 656.6 -8.4 303 7423 done -0.76 - - 2642 - - - 2776 - -107.1 - - 3448 - - - - - - - - 14.94 14.95 14.94
7758 684.7 -8.4 309 7764 roll -0.76 - - 2641 - 2.47 0.045 1377 -566.4 -107.1 - - 3447 - - - - - - - - 14.95 14.41 14.95
7827 690.6 -8.2 319 7834 done -0.76 - - 2629 - 2.58 0.071 2774 541.5 -107.1 - - 3446 - - - - - - - - 14.41 14.32 14.47
8150 717.9 -8.5 330 8155 roll -0.76 - - 2623 - 2.03 0.116 3821 515.8 -107.1 - - 3445 - - - - - - - - 14.92 14.19 14.91
8219 724.1 -9.1 340 8226 done -0.76 0.10 0.236 2652 290.0 1.83 0.042 2761 -579.2 -107.1 - - 3445 - - - - - - - - 14.23 14.62 14.47
8542 747.3 -7.1 351 8547 roll -0.76 - - 2652 - 2.40 0.045 1374 -577.9 -107.1 - - 3444 - - - - - - - - 14.90 14.29 14.90
8598 751.3 -7.1 359 8604 done -0.76 - - 2643 - 2.55 0.070 2771 547.8 -107.1 - - 3444 - - - - - - - - 14.38 14.28 14.44
8934 775.4 -7.2 372 8935 done -0.76 - - 2643 - - - 2771 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
9270 798.7 -6.8 378 9275 roll -0.76 - - 2643 - 2.42 0.046 1379 -575.2 -107.1 - - 3441 - - - - - - - - 14.90 14.41 14.90
9311 801.5 -6.8 384 9317 done -0.76 - - 2634 - 2.58 0.072 2771 539.5 -107.1 - - 3442 - - - - - - - - 14.39 14.29 14.45
9662 826.6 -7.4 392 9667 roll -0.76 - - 2626 - 2.05 0.116 3820 511.7 -107.1 - - 3441 - - - - - - - - 14.92 14.14 14.92
9696 829.3 -8.1 397 9703 done -0.76 - - 2624 - 1.83 0.043 2771 -573.2 -107.1 - - 3441 - - - - - - - - 14.63 14.57 14.64
10054 857.4 -8.0 406 10059 roll -0.76 - - 2625 - 2.45 0.045 1376 -569.4 -107.1 - - 3438 - - - - - - - - 14.92 14.35 14.92
10081 859.7 -7.7 410 10088 done -0.76 0.10 0.223 2644 190.0 2.58 0.070 2773 541.5 -107.1 - - 3438 - - - - - - - - 14.04 14.28 14.23
10446 888.4 -8.0 420 10451 roll -0.76 - - 2644 - 2.45 0.044 1385 -566.5 -107.1 - - 3437 - - - - - - - - 14.93 14.33 14.92
10494 892.4 -8.3 427 10502 done -0.76 - - 2635 - 2.55 0.070 2767 542.0 -107.1 - - 3438 - - - - - - - - 14.35 14.24 14.40
10838 921.6 -8.5 434 10839 done -0.76 - - 2635 - - - 2766 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
10947 end dive: TARGET_DEPTH_EXCEEDED
10947 begin apogee
10954 931.1 -8.5 436 11064 roll -0.23 0.65 0.176 2825 292.3 - - 2231 - - 108.05 1.946 3050 -3.6 0.337 - - - - - - 14.14 14.00 13.18
11066 end apogee: CONTROL_FINISHED_OK
11066 begin climb
11068 935.5 - 438 11196 roll 0.93 1.10 0.091 3179 321.8 2.45 0.057 876 -553.1 107.1 115.65 1.923 2616 -3.8 0.359 - - - - - - 13.99 14.01 12.98
11208 931.5 8.0 459 11215 done 0.76 0.15 0.206 3140 -260.0 2.58 0.052 2268 539.5 107.1 - - 2612 - - - - - - - - 13.74 13.83 13.87
11566 906.5 7.3 468 11574 roll 0.69 - - 3140 - 2.65 0.103 3658 524.5 116.0 3.42 1.501 2591 -6.1 0.730 - - - - - - 14.64 14.33 13.00
11693 895.8 8.6 486 11699 done 0.55 0.25 0.213 3081 -236.0 2.38 0.040 2275 -581.1 116.0 1.55 0.271 2587 -2.6 1.679 - - - - - - 14.16 14.43 13.83
12007 877.2 5.8 496 12063 done 0.60 - - 3081 - - - 2272 - 154.8 50.85 1.901 2426 -3.2 0.288 - - - - - - 14.75 14.07 13.35
12399 850.9 6.9 510 12427 roll 0.62 - - 3081 - 2.70 0.106 3652 511.1 171.9 18.60 1.992 2357 -3.7 0.312 - - - - - - 14.66 14.27 13.50
12489 843.4 8.1 523 12496 done 0.62 - - 3090 - 2.47 0.040 2251 -567.2 171.9 - - 2354 - - - - - - - - 14.38 14.34 14.40
12847 817.0 7.3 532 12855 roll 0.63 - - 3090 - 2.72 0.105 3658 517.3 180.5 3.33 1.454 2333 -6.3 0.698 - - - - - - 14.73 14.41 13.09
12902 812.5 8.5 540 12909 done 0.63 - - 3103 - 2.45 0.039 2253 -573.5 180.5 1.27 0.241 2335 - - - - - - - - 14.50 14.47 14.09
13232 787.0 7.7 552 13238 roll 0.63 - - 3100 - 2.65 0.103 3653 528.3 180.7 1.52 0.277 2331 -2.6 1.472 - - - - - - 14.78 14.20 13.85
13266 784.0 8.4 557 13274 done 0.63 - - 3110 - 2.42 0.041 2259 -576.0 180.7 - - 2337 - - - - - - - - 14.52 14.49 14.54
13624 755.9 7.9 566 13626 done 0.63 - - 3110 - - - 2255 - 180.7 1.27 0.267 2330 -5.5 3.072 - - - - - - 14.83 14.44 14.11
13960 729.5 7.8 572 13965 roll 0.63 - - 3110 - 2.67 0.106 3660 526.2 180.7 - - 2338 - - - - - - - - 14.85 14.31 14.85
14057 720.7 8.9 586 14064 done 0.63 - - 3120 - 2.42 0.040 2264 -576.9 180.7 1.20 0.233 2330 -6.7 4.060 - - - - - - 14.54 14.50 14.11
14408 691.3 8.4 594 14413 roll 0.63 - - 3120 - 2.65 0.106 3652 523.8 180.7 - - 2338 - - - - - - - - 14.85 14.29 14.85
14456 686.7 9.6 601 14465 done 0.63 - - 3130 - 2.40 0.040 2266 -577.5 180.7 - - 2338 - - - - - - - - 14.55 14.52 14.57
14800 655.6 9.1 608 14801 done 0.63 - - 3129 - - - 2265 - 180.7 - - 2338 - - - - - - - - 14.83 14.85 14.85
15136 624.9 9.1 614 15141 roll 0.63 - - 3130 - 2.67 0.106 3645 516.9 180.7 - - 2337 - - - - - - - - 14.88 14.21 14.88
15192 619.4 9.9 622 15198 done 0.63 0.10 0.206 3110 -200.0 2.40 0.041 2267 -574.2 180.7 1.15 0.234 2330 -6.1 3.172 - - - - - - 14.15 14.46 14.13
15530 593.3 7.6 635 15541 roll 0.63 - - 3110 - 2.65 0.104 3652 522.6 183.2 3.35 1.430 2325 -1.5 0.122 - - - - - - 14.86 14.51 13.21
15576 589.2 8.6 642 15584 done 0.63 - - 3120 - 2.40 0.040 2263 -578.8 183.2 1.45 0.256 2321 -2.8 1.250 - - - - - - 14.57 14.54 13.95
15920 563.7 7.3 649 15940 roll 0.64 - - 3120 - 2.62 0.106 3660 533.2 191.7 14.93 1.816 2283 -2.5 0.156 - - - - - - 14.85 14.44 13.74
15976 559.2 8.4 657 15982 done 0.64 - - 3130 - 2.42 0.041 2272 -573.6 191.7 - - 2280 - - - - - - - - 14.51 14.45 14.53
16312 533.0 7.8 670 16317 roll 0.64 - - 3130 - 2.62 0.107 3658 529.0 191.7 - - 2278 - - - - - - - - 14.79 14.28 14.79
16353 529.4 8.9 676 16360 done 0.64 0.10 0.203 3112 -180.0 2.40 0.040 2280 -574.2 191.7 - - 2278 - - - - - - - - 14.23 14.49 14.36
16704 504.4 7.2 684 16718 done 0.66 - - 3112 - - - 2277 - 203.6 13.02 1.777 2240 -2.9 0.163 - - - - - - 14.84 14.53 13.78
17040 478.7 7.8 690 17045 roll 0.66 - - 3111 - 2.60 0.105 3654 529.6 203.6 - - 2230 - - - - - - - - 14.79 14.31 14.80
17102 473.1 8.9 699 17108 done 0.66 - - 3120 - 2.40 0.040 2279 -572.9 203.6 - - 2230 - - - - - - - - 14.52 14.48 14.54
17432 446.1 8.2 711 17438 roll 0.66 - - 3121 - 2.65 0.104 3649 517.0 203.6 - - 2230 - - - - - - - - 14.81 14.26 14.81
17466 443.0 9.1 716 17472 done 0.66 - - 3130 - 2.40 0.040 2273 -573.3 203.6 - - 2230 - - - - - - - - 14.52 14.48 14.54
17824 411.8 8.7 725 17825 done 0.66 - - 3129 - - - 2269 - 203.6 - - 2230 - - - - - - - - 14.85 14.85 14.85
18160 382.5 8.6 731 18165 roll 0.66 - - 3130 - 2.62 0.106 3652 527.9 203.6 - - 2230 - - - - - - - - 14.85 14.27 14.85
18222 376.6 9.5 740 18229 done 0.66 - - 3140 - 2.40 0.039 2275 -573.8 203.6 - - 2229 - - - - - - - - 14.52 14.48 14.57
18552 348.6 8.4 752 18557 roll 0.66 - - 3140 - 2.65 0.105 3673 527.5 203.6 - - 2230 - - - - - - - - 14.87 14.25 14.87
18579 346.1 9.2 756 18586 done 0.66 0.12 0.194 3114 -216.7 2.42 0.040 2277 -576.9 203.6 - - 2231 - - - - - - - - 14.18 14.48 14.35
18944 319.3 7.3 766 18950 done 0.67 - - 3112 - - - 2273 - 212.4 4.62 1.614 2205 -5.6 0.219 - - - - - - 14.88 14.58 13.38
19280 295.0 7.2 772 19302 roll 0.68 - - 3113 - 2.65 0.106 3658 522.6 223.2 17.23 1.481 2160 -2.6 0.102 - - - - - - 14.84 14.48 13.85
19349 289.5 8.4 782 19356 done 0.68 - - 3121 - 2.40 0.038 2278 -575.0 223.2 - - 2152 - - - - - - - - 14.50 14.47 14.54
19665 266.3 7.3 792 19673 roll 0.69 - - 3121 - 2.65 0.103 3660 521.5 232.2 4.12 1.452 2130 -5.3 0.193 - - - - - - 14.79 14.47 13.37
19699 263.5 8.3 797 19708 done 0.69 - - 3130 - 2.38 0.038 2282 -579.0 232.2 2.45 0.781 2126 -1.6 0.108 - - - - - - 14.55 14.51 13.28
20050 236.3 7.8 805 20051 done 0.69 - - 3130 - - - 2281 - 232.2 - - 2134 - - - - - - - - 14.81 14.81 14.81
20386 209.8 7.9 811 20387 done 0.69 - - 3130 - - - 2281 - 232.2 - - 2133 - - - - - - - - 14.83 14.84 14.84
20722 182.8 8.2 817 20729 roll 0.69 - - 3130 - 2.60 0.105 3652 527.3 232.2 1.38 0.267 2129 -2.9 0.391 - - - - - - 14.87 14.17 13.85
20770 178.4 9.1 824 20778 done 0.69 - - 3140 - 2.38 0.039 2277 -577.7 232.2 1.42 0.261 2128 - - - - - - - - 14.55 14.52 13.77
21114 149.7 8.3 831 21120 roll 0.69 - - 3151 - 2.47 0.060 859 -574.1 232.2 1.35 0.272 2128 - - - - - - - - 14.86 14.21 13.87
21141 147.5 7.7 835 21149 done 0.69 - - 3151 - 2.53 0.055 2288 564.8 233.7 3.45 1.214 2118 -2.9 0.069 - - - - - - 14.47 14.38 13.40
21499 118.4 8.4 844 21505 roll 0.69 - - 3151 - 2.60 0.104 3657 526.5 233.7 - - 2127 - - - - - - - - 14.85 14.30 14.85
21547 114.1 8.8 851 21556 done 0.69 0.10 0.196 3129 -220.0 2.35 0.038 2290 -581.7 233.7 1.30 0.246 2122 -3.8 0.351 - - - - - - 14.24 14.54 13.94
21865 93.0 7.3 859 21876 roll 0.79 - - 3139 - 2.45 0.059 865 -581.6 242.0 5.47 0.420 2088 -6.2 0.271 - - - - - - 14.85 14.46 14.02
22018 84.2 4.9 881 22054 done 0.97 0.15 0.091 3217 520.0 2.45 0.050 2288 580.8 298.8 29.48 0.426 1860 -7.7 0.301 - - - - - - 14.53 14.45 14.14
22369 60.5 8.1 898 22374 roll 0.97 - - 3221 - 2.55 0.104 3657 536.9 298.8 - - 1859 - - - - - - - - 14.80 14.32 14.80
22452 54.0 7.1 910 22465 done 0.99 - - 3227 - 2.38 0.037 2270 -582.8 311.6 6.45 0.316 1809 -7.8 0.261 - - - - - - 14.52 14.47 14.03
22790 40.8 3.7 925 22836 roll 1.17 0.08 0.142 3301 925.0 2.47 0.061 871 -566.4 391.3 39.22 0.290 1494 -8.0 0.222 - - - - - - 14.54 14.43 14.19
23053 24.8 5.9 963 23075 done 1.21 - - 3301 - 2.45 0.051 2275 573.1 427.3 17.75 0.242 1348 -8.2 0.166 - - - - - - 14.47 14.40 14.12
23373 end climb: SURFACE_DEPTH_REACHED
23373 begin surface coast
23403 end surface coast: CONTROL_FINISHED_OK
23403 begin surface
SM -2.23 - - - - -8.40 9.18 0.073 189 20.6 0.88 0.087 2759 -7380.7 500.14 33.88 0.152 1057 31.2 0.047 - - - - - -