SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 294 * Raw log
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• Previous call tries 1 • 109.90 of 350.00 AH used of 24V (68.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.7 deg, depth -2.47 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 41 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 92 done -0.93 - - 116 - - - 2786 - -107.1 -77.12 - 3477 - - - - - - - - 14.65 12.73 14.65
95 -1.2 -4.2 2 110 roll -0.93 11.88 0.388 2583 207.7 1.92 0.080 3834 545.8 -107.1 - - 3478 - - - - - - - - 14.03 14.36 14.40
340 68.2 -16.6 38 346 done -0.63 0.38 0.222 2686 271.1 1.83 0.037 2745 -595.1 -107.1 - - 3480 - - - - - - - - 14.13 14.52 14.31
676 95.8 -5.9 53 682 roll -0.63 - - 2686 - 2.33 0.041 1376 -587.6 -107.1 - - 3482 - - - - - - - - 14.85 14.47 14.85
913 113.8 -6.8 87 920 done -0.63 - - 2677 - 2.50 0.064 2789 565.2 -107.1 - - 3482 - - - - - - - - 14.52 14.42 14.57
1236 135.7 -7.1 98 1242 roll -0.63 - - 2668 - 1.92 0.106 3821 537.5 -107.1 - - 3481 - - - - - - - - 14.92 14.37 14.92
1305 141.9 -8.9 108 1312 done -0.63 - - 2669 - 1.75 0.041 2776 -597.1 -107.1 - - 3481 - - - - - - - - 14.71 14.66 14.73
1628 169.1 -8.4 119 1634 roll -0.63 - - 2669 - 2.38 0.042 1387 -583.6 -107.1 - - 3479 - - - - - - - - 14.94 14.52 14.94
1676 173.3 -8.6 126 1685 done -0.63 0.10 0.201 2688 190.0 2.47 0.066 2779 563.6 -107.1 - - 3483 - - - - - - - - 14.30 14.46 14.46
2020 201.2 -8.2 133 2026 roll -0.63 - - 2689 - 2.40 0.043 1390 -578.8 -107.1 - - 3477 - - - - - - - - 14.94 14.52 14.94
2054 204.1 -8.3 138 2061 done -0.63 - - 2679 - 2.47 0.066 2781 563.2 -107.1 - - 3474 - - - - - - - - 14.55 14.46 14.59
2412 233.5 -8.3 147 2413 done -0.63 - - 2679 - - - 2779 - -107.1 - - 3473 - - - - - - - - 14.96 14.95 14.96
2748 261.5 -8.4 153 2749 done -0.63 - - 2679 - - - 2779 - -107.1 - - 3471 - - - - - - - - 14.96 14.96 14.96
3084 289.3 -8.2 159 3090 roll -0.63 - - 2679 - 2.42 0.044 1391 -573.6 -107.1 - - 3469 - - - - - - - - 14.97 14.52 14.96
3153 295.0 -7.9 169 3160 done -0.63 - - 2669 - 2.50 0.068 2774 553.2 -107.1 - - 3469 - - - - - - - - 14.54 14.44 14.58
3476 321.7 -8.3 180 3477 done -0.63 - - 2669 - - - 2775 - -107.1 - - 3467 - - - - - - - - 14.95 14.95 14.95
3812 348.2 -7.8 186 3813 done -0.63 - - 2669 - - - 2775 - -107.1 - - 3464 - - - - - - - - 14.97 14.97 14.97
4148 373.8 -7.6 192 4154 roll -0.63 - - 2661 - 2.00 0.112 3825 525.0 -107.1 - - 3462 - - - - - - - - 14.97 14.32 14.97
4189 375.9 -4.9 198 4196 done -0.63 0.10 0.221 2691 300.0 1.80 0.046 2786 -577.2 -107.1 - - 3462 - - - - - - - - 14.35 14.66 14.57
4540 400.0 -6.9 206 4546 roll -0.71 - - 2692 - 2.45 0.045 1376 -575.5 -107.1 - - 3460 - - - - - - - - 14.94 14.50 14.95
4596 404.1 -7.3 214 4602 done -0.81 0.08 0.143 2621 -887.5 2.53 0.068 2786 557.3 -107.1 - - 3460 - - - - - - - - 14.52 14.42 14.63
4932 437.1 -9.9 227 4938 roll -0.81 - - 2614 - 1.98 0.109 3825 524.7 -107.1 - - 3459 - - - - - - - - 14.94 14.31 14.94
4959 440.0 -10.4 231 4965 done -0.81 - - 2612 - 1.80 0.044 2776 -582.8 -107.1 - - 3458 - - - - - - - - 14.72 14.66 14.73
5324 476.9 -10.1 241 5330 roll -0.81 - - 2604 - 2.03 0.108 3824 516.3 -107.1 - - 3457 - - - - - - - - 14.96 14.31 14.96
5372 482.0 -10.5 248 5381 done -0.73 0.20 0.210 2668 320.0 1.80 0.044 2778 -581.1 -107.1 - - 3456 - - - - - - - - 14.23 14.64 14.38
5716 507.4 -7.2 255 5722 roll -0.73 - - 2668 - 2.40 0.044 1373 -585.4 -107.1 - - 3455 - - - - - - - - 14.93 14.50 14.94
5786 512.6 -7.2 265 5792 done -0.73 - - 2659 - 2.55 0.067 2781 552.2 -107.1 - - 3455 - - - - - - - - 14.47 14.39 14.53
6108 535.7 -7.1 276 6109 done -0.73 - - 2659 - - - 2782 - -107.1 - - 3454 - - - - - - - - 14.93 14.94 14.93
6444 561.4 -7.8 282 6450 roll -0.73 - - 2651 - 2.00 0.112 3823 520.5 -107.1 - - 3455 - - - - - - - - 14.94 14.26 14.94
6478 564.4 -8.6 287 6484 done -0.73 - - 2651 - 1.83 0.047 2775 -572.7 -107.1 - - 3452 - - - - - - - - 14.69 14.62 14.70
6836 595.0 -8.7 296 6843 roll -0.73 - - 2650 - 2.45 0.045 1371 -573.1 -107.1 - - 3451 - - - - - - - - 14.92 14.45 14.92
6940 604.4 -8.6 311 6948 done -0.73 - - 2640 - 2.55 0.068 2777 551.4 -107.1 - - 3450 - - - - - - - - 14.46 14.35 14.50
7284 635.2 -8.9 318 7285 done -0.73 - - 2641 - - - 2776 - -107.1 - - 3448 - - - - - - - - 14.95 14.94 14.95
7620 663.6 -8.3 324 7627 roll -0.73 - - 2641 - 2.47 0.044 1373 -568.0 -107.1 - - 3446 - - - - - - - - 14.95 14.41 14.95
7654 666.4 -8.5 329 7661 done -0.73 0.10 0.217 2659 180.0 2.55 0.067 2777 550.6 -107.1 - - 3446 - - - - - - - - 14.12 14.34 14.30
8012 692.5 -7.2 338 8018 roll -0.73 - - 2660 - 2.42 0.044 1371 -581.0 -107.1 - - 3446 - - - - - - - - 14.92 14.45 14.92
8068 696.8 -7.7 346 8074 done -0.73 - - 2650 - 2.50 0.067 2775 561.6 -107.1 - - 3446 - - - - - - - - 14.54 14.36 14.58
8404 722.7 -7.8 359 8410 roll -0.73 - - 2653 - 2.47 0.045 1377 -566.0 -107.1 - - 3445 - - - - - - - - 14.92 14.38 14.92
8438 725.4 -8.7 364 8446 done -0.73 - - 2635 - 2.53 0.068 2765 548.6 -107.1 - - 3449 - - - - - - - - 14.43 14.33 14.47
8796 753.7 -7.9 373 8802 roll -0.73 - - 2632 - 2.03 0.111 3821 520.2 -107.1 - - 3445 - - - - - - - - 14.94 14.19 14.94
8837 757.3 -8.8 379 8844 done -0.73 0.10 0.229 2661 290.0 1.83 0.045 2773 -572.7 -107.1 - - 3444 - - - - - - - - 14.26 14.59 14.44
9188 781.4 -6.8 387 9194 roll -0.73 - - 2661 - 2.45 0.044 1370 -572.7 -107.1 - - 3443 - - - - - - - - 14.94 14.37 14.94
9244 785.2 -6.8 395 9250 done -0.73 - - 2652 - 2.58 0.068 2772 543.4 -107.1 - - 3442 - - - - - - - - 14.38 14.28 14.42
9580 807.9 -6.8 408 9587 roll -0.73 - - 2651 - 2.42 0.044 1374 -577.7 -107.1 - - 3441 - - - - - - - - 14.90 14.41 14.90
9614 810.4 -7.3 413 9621 done -0.73 - - 2642 - 2.55 0.067 2769 547.1 -107.1 - - 3441 - - - - - - - - 14.37 14.28 14.43
9972 835.8 -7.1 422 9973 done -0.73 - - 2642 - - - 2769 - -107.1 - - 3440 - - - - - - - - 14.92 14.93 14.93
10308 860.3 -7.3 428 10315 roll -0.73 - - 2641 - 2.47 0.045 1374 -564.8 -107.1 - - 3439 - - - - - - - - 14.90 14.33 14.91
10370 865.0 -7.6 437 10377 done -0.73 0.10 0.221 2661 200.0 2.55 0.069 2766 545.9 -107.1 - - 3439 - - - - - - - - 14.02 14.26 14.18
10700 886.9 -6.6 449 10706 roll -0.73 - - 2661 - 2.42 0.045 1372 -576.0 -107.1 - - 3438 - - - - - - - - 14.90 14.39 14.90
10749 890.3 -7.0 456 10757 done -0.81 - - 2652 - 2.55 0.068 2764 545.9 -107.1 - - 3438 - - - - - - - - 14.34 14.24 14.39
11092 914.4 -7.1 463 11093 done -0.81 - - 2649 - - - 2762 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
11314 end dive: TARGET_DEPTH_EXCEEDED
11314 begin apogee
11320 930.6 -7.2 467 11431 roll -0.23 0.57 0.168 2821 301.8 0.10 0.151 2271 -4910.0 - 108.40 1.936 3049 -3.6 0.340 - - - - - - 14.13 13.95 13.15
11433 end apogee: CONTROL_FINISHED_OK
11433 begin climb
11435 934.2 - 469 11562 roll 0.93 1.12 0.094 3184 324.1 2.53 0.055 878 -550.6 107.1 115.82 1.914 2618 -3.7 0.358 - - - - - - 13.98 14.01 12.97
11793 912.2 8.2 521 11798 done 0.79 - - 3184 - 2.42 0.054 2251 567.4 107.1 - - 2611 - - - - - - - - 14.35 14.23 14.37
12157 880.7 8.8 531 12162 roll 0.64 0.28 0.217 3116 -242.9 2.40 0.057 888 -567.9 107.1 - - 2608 - - - - - - - - 14.14 14.35 14.42
12394 864.8 6.6 565 12423 done 0.67 - - 3117 - 2.42 0.052 2249 562.4 130.4 24.45 1.936 2529 -3.2 0.285 - - - - - - 14.43 14.35 13.53
12773 836.4 7.8 577 12778 roll 0.67 - - 3116 - 2.60 0.099 3652 539.6 130.4 - - 2522 - - - - - - - - 14.73 14.30 14.73
12828 831.6 8.6 585 12834 done 0.67 - - 3127 - 2.40 0.041 2275 -573.8 130.4 - - 2521 - - - - - - - - 14.47 14.44 14.50
13165 806.0 7.6 598 13166 done 0.67 - - 3127 - - - 2275 - 133.9 - - 2520 - - - - - - - - 14.81 14.81 14.81
13500 781.3 7.4 604 13516 roll 0.68 - - 3127 - 2.62 0.100 3653 526.0 141.1 10.98 2.078 2484 -3.3 0.243 - - - - - - 14.84 14.47 13.65
13542 778.0 7.9 610 13550 done 0.60 0.12 0.215 3102 -208.3 2.42 0.041 2253 -578.5 141.1 - - 2486 - - - - - - - - 14.26 14.50 14.42
13886 755.1 6.6 617 13920 roll 0.63 - - 3102 - 2.65 0.099 3657 529.8 164.3 28.05 1.851 2391 -3.4 0.273 - - - - - - 14.79 14.31 13.59
13955 749.9 8.1 627 13961 done 0.63 - - 3111 - 2.45 0.040 2257 -571.4 164.3 - - 2385 - - - - - - - - 14.40 14.36 14.41
14278 725.6 7.6 638 14283 roll 0.63 - - 3111 - 2.62 0.100 3649 531.3 167.9 - - 2383 - - - - - - - - 14.72 14.30 14.72
14311 722.6 8.8 643 14319 done 0.63 - - 3121 - 2.45 0.041 2242 -574.3 167.9 - - 2383 - - - - - - - - 14.49 14.45 14.50
14669 694.5 7.9 652 14676 roll 0.63 - - 3122 - 2.70 0.102 3644 519.3 167.9 - - 2382 - - - - - - - - 14.81 14.28 14.81
14717 690.2 8.9 659 14726 done 0.63 - - 3132 - 2.42 0.041 2250 -576.0 167.9 - - 2381 - - - - - - - - 14.52 14.47 14.53
15062 662.4 8.1 666 15063 done 0.63 - - 3132 - - - 2250 - 167.9 - - 2382 - - - - - - - - 14.87 14.84 14.84
15397 635.5 8.0 672 15398 done 0.63 - - 3133 - - - 2250 - 167.9 - - 2381 - - - - - - - - 14.86 14.86 14.86
15733 608.8 7.9 678 15739 roll 0.63 - - 3126 - 2.70 0.103 3649 518.1 167.9 - - 2381 - - - - - - - - 14.88 14.25 14.88
15810 602.1 8.8 689 15816 done 0.63 0.12 0.210 3107 -158.3 2.42 0.041 2253 -576.9 167.9 - - 2381 - - - - - - - - 14.14 14.48 14.32
16126 581.6 6.4 699 16160 done 0.67 - - 3108 - - - 2252 - 195.1 33.38 1.674 2272 -3.3 0.224 - - - - - - 14.85 14.42 13.67
16462 557.9 7.1 705 16482 roll 0.68 - - 3107 - 2.67 0.099 3650 523.6 207.8 12.77 1.824 2217 -4.3 0.260 - - - - - - 14.72 14.37 13.63
16510 553.9 8.6 712 16518 done 0.68 - - 3116 - 2.45 0.041 2255 -569.4 207.8 - - 2216 - - - - - - - - 14.43 14.39 14.45
16854 524.8 8.6 719 16859 roll 0.68 - - 3115 - 2.65 0.100 3643 523.8 207.8 - - 2212 - - - - - - - - 14.74 14.26 14.74
16902 520.1 9.8 726 16910 done 0.68 - - 3125 - 2.40 0.041 2264 -574.6 207.8 - - 2212 - - - - - - - - 14.49 14.45 14.51
17246 489.7 8.8 733 17251 roll 0.68 - - 3126 - 2.60 0.099 3653 534.2 207.8 - - 2212 - - - - - - - - 14.83 14.30 14.80
17273 487.0 9.7 737 17279 done 0.68 - - 3135 - 2.42 0.041 2261 -575.2 207.8 - - 2212 - - - - - - - - 14.52 14.47 14.54
17638 455.1 8.6 747 17639 done 0.68 - - 3135 - - - 2258 - 207.8 - - 2211 - - - - - - - - 14.83 14.84 14.84
17974 426.7 8.5 753 17979 roll 0.68 - - 3135 - 2.62 0.101 3650 531.3 207.8 - - 2211 - - - - - - - - 14.86 14.31 14.86
18030 421.3 9.8 761 18035 done 0.68 - - 3143 - 2.42 0.042 2268 -571.1 207.8 - - 2212 - - - - - - - - 14.50 14.46 14.52
18365 391.6 8.8 774 18371 roll 0.68 - - 3155 - 2.50 0.061 858 -564.0 207.8 - - 2212 - - - - - - - - 14.85 14.33 14.85
18393 389.1 8.9 778 18400 done 0.68 0.10 0.197 3125 -300.0 2.47 0.054 2258 566.8 207.8 - - 2211 - - - - - - - - 14.17 14.37 14.33
18758 360.1 8.0 788 18764 roll 0.68 - - 3124 - 2.62 0.099 3675 540.8 207.8 - - 2211 - - - - - - - - 14.85 14.25 14.85
18834 353.0 9.2 799 18840 done 0.68 - - 3134 - 2.47 0.040 2258 -573.7 207.8 - - 2215 - - - - - - - - 14.52 14.47 14.54
19150 326.3 8.5 809 19155 roll 0.68 - - 3134 - 2.65 0.100 3659 528.7 207.8 - - 2211 - - - - - - - - 14.85 14.26 14.85
19177 323.7 9.4 813 19183 done 0.68 - - 3144 - 2.42 0.040 2263 -576.9 207.8 - - 2212 - - - - - - - - 14.53 14.49 14.55
19542 293.1 8.3 823 19547 roll 0.68 - - 3144 - 2.62 0.100 3658 532.4 207.8 - - 2211 - - - - - - - - 14.86 14.24 14.85
19576 289.9 9.3 828 19584 done 0.68 0.10 0.208 3125 -190.0 2.40 0.039 2272 -577.5 207.8 - - 2211 - - - - - - - - 14.16 14.49 14.31
19934 263.0 7.5 837 19939 roll 0.69 - - 3135 - 2.47 0.060 862 -570.9 211.9 - - 2212 - - - - - - - - 14.88 14.38 14.88
19982 259.3 7.6 844 19991 done 0.69 - - 3135 - 2.50 0.054 2277 566.0 214.2 1.62 0.260 2207 -3.1 0.607 - - - - - - 14.43 14.36 13.69
20326 232.9 7.7 851 20333 roll 0.69 - - 3134 - 2.60 0.101 3661 532.3 215.1 3.28 1.170 2196 -3.4 0.132 - - - - - - 14.85 14.50 13.31
20381 228.0 8.8 859 20388 done 0.69 - - 3145 - 2.40 0.040 2274 -577.9 215.1 1.40 0.253 2195 - - - - - - - - 14.57 14.54 13.94
20711 201.7 8.0 871 20717 roll 0.69 - - 3156 - 2.47 0.059 855 -574.5 215.1 1.42 0.268 2197 - - - - - - - - 14.85 14.22 13.89
20745 198.8 8.5 876 20753 done 0.69 0.10 0.191 3125 -310.0 2.50 0.054 2274 567.6 215.1 1.35 0.245 2196 - - - - - - - - 14.21 14.40 13.93
21103 170.9 8.0 885 21109 roll 0.69 - - 3124 - 2.58 0.098 3662 538.0 215.1 1.65 0.307 2199 1.8 -0.200 - - - - - - 14.88 14.15 13.69
21179 164.1 8.6 896 21187 done 0.69 - - 3133 - 2.40 0.038 2273 -578.8 215.1 1.55 0.275 2196 -1.9 0.228 - - - - - - 14.48 14.45 13.74
21495 140.1 7.5 906 21508 roll 0.70 - - 3144 - 2.42 0.059 862 -583.1 219.7 9.48 1.421 2172 -2.5 0.049 - - - - - - 14.86 14.46 13.86
21543 136.5 7.5 913 21551 done 0.70 - - 3142 - 2.50 0.054 2284 568.8 225.1 2.38 0.691 2155 -7.1 0.278 - - - - - - 14.52 14.43 13.35
21887 108.7 8.3 920 21894 roll 0.70 - - 3144 - 2.55 0.099 3662 540.4 225.1 1.48 0.276 2158 2.0 -0.158 - - - - - - 14.85 14.18 13.78
22054 93.1 8.7 944 22062 done 0.70 - - 3152 - 2.38 0.038 2281 -580.3 225.1 1.45 0.256 2155 -2.1 0.148 - - - - - - 14.52 14.49 13.81
22391 75.0 5.0 959 22425 roll 0.77 - - 3154 - 2.58 0.099 3665 536.4 279.9 28.67 0.399 1935 -7.7 0.285 - - - - - - 14.85 14.42 14.12
22579 62.5 6.2 986 22600 done 0.90 - - 3163 - 2.35 0.038 2297 -582.1 311.3 16.33 0.356 1810 -7.7 0.265 - - - - - - 14.51 14.46 14.08
22925 46.0 4.8 1002 22963 roll 1.16 0.22 0.073 3299 618.2 2.53 0.060 876 -561.7 370.8 29.85 0.307 1575 -7.9 0.233 - - - - - - 14.48 14.45 14.14
23195 27.7 4.3 1041 23236 done 1.24 - - 3298 - 2.55 0.051 2318 565.5 438.6 33.85 0.250 1303 -8.0 0.176 - - - - - - 14.43 14.35 14.16
23569 2.1 7.2 1061 23574 VBD 1.26 - - 3298 - - - 2318 - 449.2 3.97 0.185 1269 -8.6 0.019 - - - - - - 14.81 - 14.81
23574 end climb: SURFACE_DEPTH_REACHED
23574 begin surface coast
23578 end surface coast: CONTROL_FINISHED_OK
23578 begin surface
SM -2.33 - - - - -8.38 9.15 0.073 191 20.9 0.82 0.086 2775 -6959.8 500.14 25.02 0.161 1057 42.2 0.062 - - - - - -