SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 292 * Raw log
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• Previous call tries 1 • 109.27 of 350.00 AH used of 24V (68.78% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -72.7 deg, depth -1.35 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 24 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 98 done -0.93 - - 123 - - - 2787 - -107.1 -77.97 - 3478 - - - - - - - - 14.64 12.72 14.64
101 7.5 -15.6 3 120 roll -0.93 11.85 0.392 2587 207.9 2.40 0.033 1359 -595.0 -107.1 - - 3480 - - - - - - - - 14.09 14.41 14.42
147 31.2 -35.7 10 155 done -0.48 0.57 0.236 2738 264.9 2.60 0.083 2759 538.5 -107.1 - - 3481 - - - - - - - - 14.10 14.24 14.29
463 67.4 -8.4 22 469 roll -0.48 - - 2738 - 2.40 0.044 1380 -574.6 -107.1 - - 3482 - - - - - - - - 14.80 14.42 14.81
581 74.6 -1.7 39 588 done -0.48 - - 2729 - 2.47 0.067 2773 564.0 -107.1 - - 3483 - - - - - - - - 14.48 14.40 14.53
911 97.6 -6.5 53 917 roll -0.56 - - 2721 - 1.98 0.109 3820 528.8 -107.1 - - 3484 - - - - - - - - 14.88 14.36 14.88
1148 112.6 -6.2 87 1155 done -0.65 - - 2720 - 1.80 0.040 2744 -597.8 -107.1 - - 3484 - - - - - - - - 14.71 14.66 14.71
1472 132.5 -6.4 98 1477 roll -0.74 0.12 0.096 2630 -750.0 2.25 0.042 1389 -602.2 -107.1 - - 3483 - - - - - - - - 14.66 14.57 14.71
1512 136.4 -9.8 104 1519 done -0.74 0.12 0.216 2657 225.0 2.45 0.066 2761 560.0 -107.1 - - 3483 - - - - - - - - 14.23 14.43 14.39
1863 167.2 -8.8 112 1869 roll -0.74 - - 2649 - 2.00 0.109 3816 527.5 -107.1 - - 3481 - - - - - - - - 14.92 14.32 14.92
1953 175.5 -9.2 125 1960 done -0.74 - - 2649 - 1.75 0.041 2773 -596.0 -107.1 - - 3481 - - - - - - - - 14.67 14.63 14.69
2311 208.4 -9.3 134 2317 roll -0.74 - - 2649 - 2.38 0.042 1382 -584.5 -107.1 - - 3478 - - - - - - - - 14.95 14.54 14.95
2345 211.6 -9.3 139 2352 done -0.74 - - 2640 - 2.47 0.067 2768 561.1 -107.1 - - 3478 - - - - - - - - 14.55 14.46 14.59
2703 246.3 -9.9 148 2709 roll -0.74 - - 2631 - 2.00 0.109 3824 528.0 -107.1 - - 3475 - - - - - - - - 14.96 14.31 14.95
2751 251.4 -10.4 155 2759 done -0.74 - - 2630 - 1.80 0.041 2755 -593.9 -107.1 - - 3475 - - - - - - - - 14.73 14.69 14.75
3095 285.2 -9.8 162 3096 done -0.74 - - 2630 - - - 2755 - -107.1 - - 3473 - - - - - - - - 14.97 14.97 14.97
3431 317.4 -9.6 168 3437 roll -0.74 - - 2628 - 2.35 0.043 1389 -581.3 -107.1 - - 3469 - - - - - - - - 14.95 14.52 14.95
3458 320.1 -9.5 172 3465 done -0.74 0.10 0.225 2650 220.0 2.47 0.068 2765 557.1 -107.1 - - 3470 - - - - - - - - 14.24 14.45 14.42
3823 352.0 -8.8 182 3824 done -0.74 - - 2650 - - - 2766 - -107.1 - - 3468 - - - - - - - - 14.95 14.94 14.95
4159 382.5 -9.1 188 4165 roll -0.74 - - 2642 - 2.03 0.112 3828 523.2 -107.1 - - 3465 - - - - - - - - 14.95 14.33 14.95
4221 388.3 -10.1 197 4228 done -0.74 - - 2642 - 1.80 0.043 2775 -585.0 -107.1 - - 3465 - - - - - - - - 14.73 14.67 14.74
4551 420.4 -9.7 209 4558 roll -0.74 - - 2642 - 2.40 0.044 1384 -579.6 -107.1 - - 3464 - - - - - - - - 14.95 14.47 14.95
4613 426.6 -9.7 218 4620 done -0.74 - - 2632 - 2.50 0.069 2765 552.4 -107.1 - - 3463 - - - - - - - - 14.52 14.41 14.56
4943 459.8 -10.2 230 4949 roll -0.74 - - 2622 - 2.03 0.112 3824 521.7 -107.1 - - 3462 - - - - - - - - 14.93 14.30 14.93
4991 465.1 -11.0 237 5000 done -0.74 0.10 0.232 2653 310.0 1.83 0.043 2756 -583.6 -107.1 - - 3460 - - - - - - - - 14.30 14.67 14.56
5335 496.7 -9.0 244 5341 roll -0.74 - - 2653 - 2.40 0.045 1373 -576.2 -107.1 - - 3460 - - - - - - - - 14.94 14.47 14.94
5376 500.4 -8.7 250 5383 done -0.74 - - 2644 - 2.53 0.067 2772 553.0 -107.1 - - 3459 - - - - - - - - 14.50 14.40 14.55
5727 530.5 -8.5 258 5728 done -0.74 - - 2645 - - - 2772 - -107.1 - - 3457 - - - - - - - - 14.94 14.94 14.94
6063 557.5 -8.0 264 6069 roll -0.74 - - 2643 - 2.45 0.045 1353 -579.2 -107.1 - - 3456 - - - - - - - - 14.95 14.47 14.96
6111 561.5 -8.0 271 6119 done -0.74 - - 2631 - 2.58 0.069 2764 546.9 -107.1 - - 3456 - - - - - - - - 14.47 14.36 14.51
6455 590.1 -8.4 278 6461 roll -0.74 - - 2622 - 2.03 0.112 3824 522.2 -107.1 - - 3454 - - - - - - - - 14.93 14.26 14.93
6517 595.9 -9.2 287 6524 done -0.74 0.10 0.234 2654 320.0 1.83 0.044 2772 -574.9 -107.1 - - 3455 - - - - - - - - 14.27 14.63 14.50
6847 622.3 -8.1 299 6853 roll -0.74 - - 2654 - 2.45 0.045 1367 -573.5 -107.1 - - 3453 - - - - - - - - 14.95 14.43 14.95
6909 627.4 -8.1 308 6916 done -0.74 - - 2644 - 2.53 0.068 2761 551.0 -107.1 - - 3453 - - - - - - - - 14.45 14.35 14.49
7239 655.5 -8.5 320 7240 done -0.74 - - 2644 - - - 2761 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
7575 684.2 -8.6 326 7576 done -0.74 - - 2644 - - - 2761 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
7911 712.3 -8.3 332 7912 done -0.74 - - 2645 - - - 2761 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
8247 738.8 -7.8 338 8253 roll -0.74 - - 2644 - 2.45 0.045 1375 -565.7 -107.1 - - 3447 - - - - - - - - 14.95 14.39 14.95
8281 741.6 -8.1 343 8288 done -0.74 - - 2635 - 2.53 0.068 2763 548.6 -107.1 - - 3447 - - - - - - - - 14.42 14.33 14.47
8639 771.3 -8.4 352 8645 roll -0.74 - - 2624 - 2.05 0.115 3825 518.0 -107.1 - - 3446 - - - - - - - - 14.92 14.19 14.91
8666 773.8 -9.0 356 8673 done -0.74 0.10 0.233 2655 310.0 1.88 0.044 2747 -573.4 -107.1 - - 3446 - - - - - - - - 14.21 14.58 14.45
9031 802.3 -7.8 366 9037 roll -0.74 - - 2655 - 2.42 0.045 1368 -569.8 -107.1 - - 3445 - - - - - - - - 14.91 14.36 14.91
9087 807.0 -9.1 374 9093 done -0.74 - - 2646 - 2.55 0.069 2762 546.7 -107.1 - - 3445 - - - - - - - - 14.36 14.28 14.42
9423 833.7 -8.0 387 9429 roll -0.74 - - 2638 - 2.05 0.113 3821 516.6 -107.1 - - 3444 - - - - - - - - 14.90 14.15 14.90
9479 838.4 -8.5 395 9485 done -0.74 - - 2637 - 1.83 0.045 2757 -581.4 -107.1 - - 3444 - - - - - - - - 14.53 14.50 14.54
9815 865.1 -7.9 408 9821 roll -0.74 - - 2637 - 2.40 0.044 1360 -582.1 -107.1 - - 3444 - - - - - - - - 14.92 14.39 14.92
9877 869.8 -6.6 417 9885 done -0.74 0.08 0.233 2649 150.0 2.58 0.067 2763 543.8 -107.1 - - 3443 - - - - - - - - 14.03 14.24 14.21
10207 893.9 -7.2 429 10208 done -0.74 - - 2649 - - - 2762 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
10543 917.6 -7.0 435 10544 done -0.74 - - 2649 - - - 2763 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
10765 end dive: TARGET_DEPTH_EXCEEDED
10765 begin apogee
10771 932.7 -6.7 439 10882 roll -0.23 0.60 0.170 2827 296.7 - - 2237 - - 108.80 1.940 3049 -3.6 0.342 - - - - - - 14.13 14.00 13.18
10884 end apogee: CONTROL_FINISHED_OK
10884 begin climb
10886 935.1 - 441 11013 roll 0.93 1.10 0.092 3183 323.6 2.45 0.057 877 -555.1 107.1 115.32 1.913 2618 -3.7 0.361 - - - - - - 14.00 14.01 13.00
11018 929.4 8.4 461 11025 done 0.71 0.17 0.206 3136 -276.5 2.55 0.051 2256 540.8 107.1 - - 2614 - - - - - - - - 13.71 13.82 13.83
11383 899.7 8.4 471 11389 roll 0.71 - - 3135 - 2.62 0.099 3647 530.9 107.1 - - 2610 - - - - - - - - 14.62 14.21 14.63
11474 891.5 9.0 484 11480 done 0.58 0.17 0.204 3096 -229.4 2.42 0.041 2259 -573.6 107.1 - - 2610 - - - - - - - - 14.14 14.38 14.31
11832 866.9 6.8 493 11858 roll 0.61 - - 3096 - 2.67 0.100 3650 521.0 126.6 20.33 1.973 2540 -3.4 0.299 - - - - - - 14.78 14.34 13.57
11907 861.2 7.9 504 11914 done 0.61 - - 3105 - 2.45 0.041 2250 -571.4 126.6 - - 2537 - - - - - - - - 14.42 14.38 14.45
12223 838.5 7.4 514 12231 roll 0.62 - - 3114 - 2.47 0.060 866 -560.3 134.5 3.55 1.577 2517 -5.6 0.592 - - - - - - 14.76 14.47 13.09
12257 835.9 9.6 519 12264 done 0.62 - - 3114 - 2.45 0.053 2249 564.5 134.5 1.23 0.285 2516 - - - - - - - - 14.48 14.40 13.87
12616 809.8 7.2 528 12638 roll 0.63 - - 3114 - 2.67 0.104 3654 526.2 144.8 18.12 1.972 2467 -2.7 0.219 - - - - - - 14.81 14.38 13.64
12721 801.6 8.4 543 12727 done 0.63 - - 3125 - 2.45 0.041 2259 -569.4 144.8 - - 2464 - - - - - - - - 14.45 14.42 14.47
13057 776.4 7.4 556 13063 roll 0.64 - - 3125 - 2.62 0.102 3660 534.7 151.0 2.55 0.975 2450 -5.5 0.863 - - - - - - 14.76 14.29 13.08
13084 774.0 8.2 560 13091 done 0.64 - - 3136 - 2.45 0.041 2256 -573.1 151.0 - - 2455 - - - - - - - - 14.54 14.50 14.57
13449 746.4 7.6 570 13455 done 0.64 - - 3135 - - - 2254 - 154.4 4.43 1.883 2436 -4.3 0.336 - - - - - - 14.81 14.54 13.19
13785 719.0 8.3 576 13791 roll 0.64 0.10 0.239 3106 -290.0 2.65 0.102 3659 530.2 154.4 0.88 0.269 2437 - - - - - - - - 14.27 14.35 14.19
13833 714.7 8.7 583 13841 done 0.64 - - 3116 - 2.45 0.041 2252 -574.3 154.4 - - 2443 - - - - - - - - 14.54 14.50 14.56
14177 686.9 8.1 590 14184 roll 0.64 - - 3116 - 2.70 0.104 3652 518.5 154.4 - - 2443 - - - - - - - - 14.83 14.31 14.83
14218 683.2 9.0 596 14225 done 0.64 - - 3126 - 2.42 0.041 2254 -577.7 154.4 1.23 0.247 2437 -4.9 2.665 - - - - - - 14.55 14.51 14.01
14569 653.8 8.4 604 14570 done 0.64 - - 3126 - - - 2249 - 154.4 - - 2443 - - - - - - - - 14.86 14.87 14.87
14905 626.3 8.1 610 14911 roll 0.64 - - 3126 - 2.70 0.104 3671 526.7 154.4 - - 2443 - - - - - - - - 14.88 14.28 14.88
14981 619.7 8.5 621 14988 done 0.64 - - 3136 - 2.45 0.042 2265 -573.9 154.4 - - 2443 - - - - - - - - 14.52 14.47 14.53
15297 595.5 7.7 631 15304 roll 0.64 - - 3147 - 2.50 0.061 858 -562.8 156.0 3.10 1.336 2431 -3.9 0.341 - - - - - - 14.88 14.57 13.21
15346 591.8 7.6 638 15358 done 0.65 0.10 0.207 3117 -300.0 2.50 0.055 2271 565.2 159.1 4.80 1.910 2417 -2.9 0.178 - - - - - - 14.28 14.45 13.30
15684 568.7 6.9 651 15716 roll 0.67 - - 3117 - 2.62 0.105 3653 527.5 176.0 25.25 1.706 2342 -3.0 0.196 - - - - - - 14.83 14.38 13.71
15772 561.5 8.5 664 15779 done 0.67 - - 3125 - 2.42 0.040 2262 -574.8 176.0 - - 2338 - - - - - - - - 14.45 14.42 14.47
16130 533.4 7.9 673 16131 done 0.67 - - 3123 - - - 2260 - 176.0 - - 2337 - - - - - - - - 14.76 14.76 14.76
16466 507.7 7.6 679 16472 roll 0.67 - - 3125 - 2.65 0.104 3653 525.7 179.2 - - 2337 - - - - - - - - 14.80 14.31 14.81
16542 501.2 8.4 690 16550 done 0.67 - - 3135 - 2.42 0.041 2259 -576.0 179.2 - - 2337 - - - - - - - - 14.52 14.47 14.54
16858 476.2 8.0 700 16859 done 0.67 - - 3135 - - - 2257 - 179.2 - - 2339 - - - - - - - - 14.83 14.83 14.83
17194 448.8 8.3 706 17200 roll 0.67 - - 3135 - 2.65 0.103 3655 527.5 179.2 - - 2337 - - - - - - - - 14.84 14.31 14.84
17250 443.5 9.6 714 17256 done 0.67 - - 3146 - 2.40 0.041 2278 -573.8 179.2 - - 2337 - - - - - - - - 14.42 14.41 14.47
17586 414.2 8.7 727 17592 roll 0.67 - - 3157 - 2.53 0.061 861 -560.1 179.2 - - 2334 - - - - - - - - 14.87 14.34 14.87
17634 409.9 8.6 734 17643 done 0.67 0.12 0.194 3119 -316.7 2.47 0.054 2261 566.8 179.2 - - 2337 - - - - - - - - 14.16 14.38 14.32
17978 384.3 7.3 741 17993 roll 0.68 - - 3118 - 2.62 0.103 3656 532.4 187.3 10.93 1.674 2299 -3.5 0.158 - - - - - - 14.85 14.50 13.80
18083 375.7 8.4 756 18089 done 0.68 - - 3127 - 2.42 0.040 2258 -577.7 187.3 - - 2295 - - - - - - - - 14.52 14.49 14.54
18419 350.0 7.6 769 18420 done 0.69 - - 3127 - - - 2253 - 190.2 - - 2294 - - - - - - - - 14.82 14.82 14.83
18755 324.5 7.6 775 18762 roll 0.69 - - 3127 - 2.65 0.101 3657 529.8 192.3 1.35 0.275 2286 -5.9 1.381 - - - - - - 14.84 14.19 13.86
18831 317.9 8.5 786 18839 done 0.69 - - 3137 - 2.40 0.040 2276 -575.4 192.3 1.25 0.244 2284 - - - - - - - - 14.54 14.50 13.95
19147 293.0 8.0 796 19153 roll 0.69 - - 3148 - 2.50 0.060 870 -562.4 192.3 - - 2292 - - - - - - - - 14.85 14.35 14.85
19181 290.1 8.1 801 19188 done 0.69 - - 3148 - 2.47 0.054 2272 567.6 192.3 1.12 0.230 2286 -5.4 1.334 - - - - - - 14.48 14.39 14.09
19539 260.8 8.2 810 19547 roll 0.69 - - 3147 - 2.58 0.103 3652 534.9 192.3 1.23 0.269 2288 - - - - - - - - 14.88 14.34 14.00
19559 258.9 8.4 813 19567 done 0.69 0.10 0.201 3127 -200.0 2.38 0.040 2275 -578.6 192.3 1.20 0.246 2284 -3.3 0.693 - - - - - - 14.19 14.53 13.95
19876 235.6 7.3 823 19895 roll 0.70 - - 3126 - 2.58 0.103 3656 535.3 201.1 13.93 1.451 2243 -2.9 0.094 - - - - - - 14.85 14.50 13.85
19958 228.8 8.3 835 19965 done 0.70 - - 3136 - 2.38 0.038 2282 -577.3 201.1 - - 2240 - - - - - - - - 14.54 14.49 14.57
20323 200.3 7.9 845 20324 done 0.70 - - 3136 - - - 2276 - 201.1 - - 2240 - - - - - - - - 14.84 14.85 14.84
20659 175.1 7.4 851 20664 done 0.71 - - 3136 - - - 2276 - 208.0 3.45 1.200 2222 -5.2 0.150 - - - - - - 14.86 14.54 13.40
20995 149.9 7.6 857 21009 roll 0.71 - - 3136 - 2.62 0.103 3654 526.0 211.7 4.80 1.486 2211 -2.3 0.046 - - - - - - 14.84 14.53 13.47
21043 145.8 8.6 864 21051 done 0.71 - - 3147 - 2.38 0.040 2275 -579.4 211.7 - - 2215 - - - - - - - - 14.59 14.55 14.61
21387 118.7 8.0 871 21393 roll 0.71 - - 3146 - 2.62 0.103 3647 523.7 211.7 - - 2215 - - - - - - - - 14.87 14.32 14.87
21435 114.2 9.4 878 21444 done 0.71 - - 3156 - 2.35 0.040 2280 -581.7 211.7 - - 2215 - - - - - - - - 14.56 14.53 14.59
21751 90.9 7.1 886 21764 done 0.73 - - 3156 - - - 2279 - 225.4 7.95 0.428 2157 -7.3 0.306 - - - - - - 14.85 14.51 14.06
22087 75.2 3.1 901 22144 roll 0.84 - - 3166 - 2.50 0.060 869 -564.0 318.6 47.83 0.399 1781 -7.9 0.293 - - - - - - 14.85 14.46 14.14
22242 66.9 6.1 923 22269 done 1.04 0.15 0.090 3253 580.0 2.45 0.053 2287 578.8 352.1 17.05 0.367 1649 -7.7 0.279 - - - - - - 14.49 14.40 14.07
22593 43.1 5.9 940 22619 roll 1.09 - - 3253 - 2.55 0.101 3658 537.6 389.6 19.10 0.299 1499 -7.9 0.224 - - - - - - 14.80 14.36 14.10
22779 31.2 6.3 967 22800 done 1.20 - - 3262 - 2.38 0.038 2274 -581.5 418.2 14.93 0.260 1384 -7.7 0.183 - - - - - - 14.46 14.42 14.11
23125 10.8 6.1 983 23152 roll 1.38 0.15 0.090 3373 740.0 2.50 0.060 868 -562.4 450.2 16.15 0.192 1256 -7.9 0.088 - - - - - - 14.52 14.42 14.20
23171 6.3 10.0 990 23180 done 1.38 - - 3373 - 2.47 0.051 2284 573.3 450.2 - - 1256 - - - - - - - - 14.47 14.40 14.51
23233 end climb: SURFACE_DEPTH_REACHED
23233 begin surface coast
23261 end surface coast: CONTROL_FINISHED_OK
23261 begin surface
SM -1.90 - - - - -8.39 9.05 0.047 185 20.4 0.88 0.085 2781 1989.8 500.39 23.10 0.154 1057 45.8 0.058 - - - - - -