SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 305 * Raw log
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• Previous call tries 1 • 113.25 of 350.00 AH used of 24V (67.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -1.79 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 4 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 - - - 90 done -0.93 - - 108 - - - 2784 - -107.1 -74.65 - 3478 - - - - - - - - 14.66 12.71 14.66
93 0.1 -6.2 2 113 roll -0.93 11.93 0.390 2585 207.6 1.90 0.084 3826 548.4 -107.1 - - 3480 - - - - - - - - 14.03 14.33 14.39
203 44.7 -23.6 19 209 done -0.55 0.45 0.222 2709 275.6 1.83 0.031 2709 -610.4 -107.1 - - 3481 - - - - - - - - 14.12 14.52 14.28
532 81.1 -8.9 33 539 roll -0.55 - - 2701 - 2.10 0.104 3818 528.1 -107.1 - - 3482 - - - - - - - - 14.82 14.33 14.82
730 95.7 -7.8 61 736 done -0.55 - - 2701 - 1.73 0.038 2745 -620.2 -107.1 - - 3482 - - - - - - - - 14.68 14.64 14.69
1064 121.0 -6.9 71 1065 done -0.55 - - 2701 - - - 2745 - -107.1 - - 3483 - - - - - - - - 14.90 14.90 14.90
1400 143.8 -7.0 77 1401 done -0.55 - - 2701 - - - 2745 - -107.1 - - 3483 - - - - - - - - 14.93 14.93 14.93
1736 166.2 -6.6 83 1742 roll -0.55 - - 2691 - 2.05 0.107 3823 525.9 -107.1 - - 3480 - - - - - - - - 14.95 14.39 14.95
1792 170.4 -7.6 91 1798 done -0.55 - - 2693 - 1.73 0.041 2781 -602.3 -107.1 - - 3480 - - - - - - - - 14.68 14.65 14.69
2128 194.7 -7.1 104 2134 roll -0.55 - - 2693 - 2.38 0.044 1399 -580.7 -107.1 - - 3476 - - - - - - - - 14.93 14.53 14.93
2197 199.7 -6.9 114 2204 done -0.64 - - 2684 - 2.45 0.067 2769 559.2 -107.1 - - 3474 - - - - - - - - 14.56 14.47 14.60
2520 225.2 -8.1 125 2521 done -0.64 - - 2684 - - - 2770 - -107.1 - - 3472 - - - - - - - - 14.94 14.93 14.93
2856 250.7 -7.5 131 2862 roll -0.64 - - 2683 - 2.40 0.044 1397 -572.1 -107.1 - - 3472 - - - - - - - - 14.94 14.52 14.94
2904 254.4 -7.6 138 2912 done -0.64 - - 2675 - 2.47 0.067 2777 558.7 -107.1 - - 3472 - - - - - - - - 14.56 14.45 14.59
3248 282.9 -8.5 145 3249 done -0.64 - - 2675 - - - 2777 - -107.1 - - 3469 - - - - - - - - 14.94 14.94 14.95
3584 311.3 -8.4 151 3590 roll -0.64 - - 2669 - 2.40 0.044 1378 -582.9 -107.1 - - 3467 - - - - - - - - 14.96 14.55 14.96
3660 317.5 -7.7 162 3667 done -0.64 - - 2665 - 2.50 0.069 2772 557.6 -107.1 - - 3466 - - - - - - - - 14.54 14.45 14.59
3976 342.1 -7.8 172 3982 roll -0.64 - - 2656 - 1.98 0.109 3819 528.8 -107.1 - - 3464 - - - - - - - - 14.94 14.35 14.94
4024 346.1 -8.1 179 4032 done -0.64 0.10 0.224 2687 310.0 1.77 0.041 2769 -593.2 -107.1 - - 3465 - - - - - - - - 14.37 14.70 14.59
4369 370.1 -6.9 186 4370 done -0.72 - - 2687 - - - 2769 - -107.1 - - 3463 - - - - - - - - 14.93 14.93 14.93
4704 393.9 -7.2 192 4710 roll -0.80 0.08 0.142 2622 -812.5 2.33 0.042 1384 -594.4 -107.1 - - 3463 - - - - - - - - 14.67 14.54 14.72
4760 399.2 -9.9 200 4766 done -0.80 - - 2613 - 2.50 0.067 2775 556.4 -107.1 - - 3460 - - - - - - - - 14.50 14.41 14.55
5096 435.3 -10.9 213 5103 roll -0.80 - - 2605 - 1.98 0.107 3822 528.8 -107.1 - - 3462 - - - - - - - - 14.95 14.32 14.96
5172 444.1 -11.3 224 5179 done -0.72 0.20 0.216 2663 290.0 1.77 0.041 2773 -592.7 -107.1 - - 3458 - - - - - - - - 14.26 14.66 14.50
5488 470.0 -8.0 234 5494 roll -0.72 - - 2663 - 2.35 0.042 1385 -590.6 -107.1 - - 3457 - - - - - - - - 14.92 14.52 14.92
5557 475.4 -7.7 244 5564 done -0.72 - - 2653 - 2.50 0.066 2770 554.0 -107.1 - - 3457 - - - - - - - - 14.49 14.40 14.54
5880 501.2 -8.0 255 5881 done -0.72 - - 2653 - - - 2772 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6216 530.6 -9.0 261 6223 roll -0.72 - - 2653 - 2.42 0.044 1390 -571.1 -107.1 - - 3454 - - - - - - - - 14.92 14.45 14.92
6264 535.3 -9.5 268 6272 done -0.72 - - 2644 - 2.53 0.068 2780 549.4 -107.1 - - 3458 - - - - - - - - 14.47 14.38 14.52
6608 568.6 -9.7 275 6614 roll -0.72 - - 2636 - 2.00 0.109 3827 523.5 -107.1 - - 3453 - - - - - - - - 14.93 14.27 14.92
6656 573.4 -10.0 282 6664 done -0.72 0.10 0.230 2665 290.0 1.80 0.043 2775 -584.4 -107.1 - - 3453 - - - - - - - - 14.29 14.64 14.52
7000 599.4 -7.2 289 7007 roll -0.72 - - 2666 - 2.42 0.044 1381 -576.0 -107.1 - - 3451 - - - - - - - - 14.94 14.43 14.94
7076 604.4 -6.4 300 7083 done -0.72 - - 2657 - 2.50 0.066 2765 553.6 -107.1 - - 3451 - - - - - - - - 14.45 14.35 14.50
7392 624.5 -6.3 310 7393 done -0.72 - - 2656 - - - 2765 - -107.1 - - 3449 - - - - - - - - 14.91 14.91 14.91
7728 646.6 -6.6 316 7734 roll -0.72 - - 2657 - 2.45 0.044 1378 -566.1 -107.1 - - 3447 - - - - - - - - 14.92 14.41 14.95
7755 648.6 -7.2 320 7762 done -0.72 - - 2647 - 2.53 0.067 2762 547.0 -107.1 - - 3447 - - - - - - - - 14.42 14.35 14.50
8121 675.3 -7.4 330 8121 done -0.72 - - 2647 - - - 2762 - -107.1 - - 3446 - - - - - - - - 14.93 14.93 14.93
8456 701.9 -8.1 336 8462 roll -0.72 - - 2647 - 2.45 0.044 1378 -564.9 -107.1 - - 3445 - - - - - - - - 14.93 14.39 14.94
8512 706.8 -9.0 344 8518 done -0.72 0.08 0.241 2659 150.0 2.55 0.069 2773 547.1 -107.1 - - 3445 - - - - - - - - 14.07 14.30 14.25
8848 733.9 -8.1 357 8855 roll -0.72 - - 2659 - 2.42 0.044 1372 -578.9 -107.1 - - 3444 - - - - - - - - 14.90 14.45 14.90
8882 736.7 -8.3 362 8889 done -0.72 - - 2651 - 2.55 0.067 2772 549.0 -107.1 - - 3444 - - - - - - - - 14.40 14.30 14.45
9240 764.1 -7.5 371 9241 done -0.72 - - 2650 - - - 2772 - -107.1 - - 3447 - - - - - - - - 14.90 14.90 14.90
9576 787.1 -6.6 377 9583 roll -0.72 - - 2650 - 2.45 0.044 1383 -566.9 -107.1 - - 3443 - - - - - - - - 14.90 14.36 14.91
9617 789.9 -6.3 383 9624 done -0.72 - - 2642 - 2.55 0.068 2762 540.8 -107.1 - - 3443 - - - - - - - - 14.38 14.28 14.44
9968 814.2 -7.0 391 9974 roll -0.72 - - 2641 - 2.45 0.044 1384 -562.4 -107.1 - - 3441 - - - - - - - - 14.90 14.34 14.90
10030 818.5 -7.2 400 10037 done -0.72 0.10 0.231 2660 190.0 2.53 0.067 2756 542.3 -107.1 - - 3441 - - - - - - - - 14.02 14.28 14.21
10360 840.9 -6.7 412 10361 done -0.72 - - 2660 - - - 2757 - -107.1 - - 3440 - - - - - - - - 14.89 14.89 14.89
10696 862.6 -6.4 418 10702 roll -0.72 - - 2660 - 2.42 0.044 1387 -566.1 -107.1 - - 3439 - - - - - - - - 14.92 14.33 14.92
10737 865.3 -4.7 424 10744 done -0.80 - - 2653 - 2.53 0.068 2757 541.5 -107.1 - - 3439 - - - - - - - - 14.34 14.24 14.40
11088 887.1 -6.0 432 11089 done -0.80 - - 2653 - - - 2757 - -107.1 - - 3437 - - - - - - - - 14.91 14.90 14.91
11424 907.7 -6.0 438 11430 roll -0.80 - - 2651 - 2.40 0.044 1375 -575.8 -107.1 - - 3437 - - - - - - - - 14.88 14.35 14.88
11481 911.3 -6.4 446 11486 done -0.80 - - 2643 - 2.53 0.068 2767 550.2 -107.1 - - 3437 - - - - - - - - 14.47 14.28 14.51
11758 end dive: TARGET_DEPTH_EXCEEDED
11758 begin apogee
11764 930.5 -6.9 458 11876 roll -0.23 0.62 0.176 2825 293.5 - - 2233 - - 108.95 1.951 3049 -3.6 0.336 - - - - - - 14.08 13.99 13.14
11877 end apogee: CONTROL_FINISHED_OK
11877 begin climb
11880 933.8 - 460 12006 roll 0.93 1.12 0.095 3188 324.1 2.45 0.057 876 -553.9 107.1 116.85 1.952 2620 -3.7 0.347 - - - - - - 13.96 14.00 12.92
12026 928.7 8.7 482 12032 done 0.74 0.15 0.213 3149 -260.0 2.55 0.051 2256 541.2 107.1 - - 2613 - - - - - - - - 13.71 13.84 13.84
12377 903.6 7.4 490 12384 roll 0.66 0.12 0.243 3113 -300.0 2.65 0.099 3656 528.3 114.6 2.78 1.138 2596 -6.1 0.960 - - - - - - 14.12 14.31 12.90
12476 896.5 7.2 504 12502 done 0.59 0.10 0.233 3096 -170.0 2.38 0.040 2257 -587.8 125.4 18.67 2.006 2544 -2.8 0.246 - - - - - - 14.18 14.42 13.43
12820 874.9 6.4 518 12858 roll 0.62 - - 3095 - 2.72 0.100 3650 512.1 152.4 30.75 1.932 2438 -3.4 0.309 - - - - - - 14.69 14.21 13.41
12901 868.7 8.1 530 12907 done 0.62 - - 3105 - 2.45 0.040 2258 -568.2 152.4 - - 2435 - - - - - - - - 14.33 14.28 14.35
13266 841.4 7.6 540 13271 roll 0.63 - - 3105 - 2.65 0.101 3656 527.5 155.1 - - 2432 - - - - - - - - 14.73 14.31 14.73
13300 838.4 9.3 545 13308 done 0.63 - - 3115 - 2.45 0.040 2253 -572.7 155.1 - - 2432 - - - - - - - - 14.48 14.43 14.50
13658 810.7 7.7 554 13658 done 0.63 - - 3115 - - - 2252 - 156.6 - - 2431 - - - - - - - - 14.79 14.79 14.78
13994 786.2 7.2 560 14014 roll 0.64 - - 3114 - 2.70 0.103 3656 520.0 167.7 16.33 1.984 2378 -3.2 0.254 - - - - - - 14.82 14.42 13.64
14042 782.3 8.1 567 14048 done 0.64 - - 3124 - 2.45 0.041 2258 -570.6 167.7 - - 2375 - - - - - - - - 14.48 14.44 14.50
14379 755.7 7.9 580 14380 done 0.64 - - 3125 - - - 2254 - 167.7 - - 2373 - - - - - - - - 14.78 14.78 14.78
14714 729.1 8.0 586 14720 roll 0.64 - - 3124 - 2.62 0.102 3651 533.2 167.7 - - 2372 - - - - - - - - 14.81 14.33 14.81
14798 721.3 9.4 598 14804 done 0.64 - - 3134 - 2.42 0.041 2259 -575.2 167.7 - - 2372 - - - - - - - - 14.53 14.49 14.54
15162 689.7 8.7 608 15163 done 0.64 - - 3135 - - - 2256 - 167.7 - - 2372 - - - - - - - - 14.85 14.85 14.85
15499 660.3 8.8 614 15500 done 0.64 0.10 0.234 3106 -290.0 - - 2256 - 167.7 - - 2372 - - - - - - - - 14.30 14.57 14.52
15835 634.9 7.4 620 15841 roll 0.65 - - 3105 - 2.62 0.099 3652 532.8 174.3 2.12 0.543 2360 -5.7 1.308 - - - - - - 14.88 14.27 13.01
15876 631.5 8.1 626 15883 done 0.65 - - 3115 - 2.42 0.041 2260 -575.2 174.3 1.40 0.317 2360 - - - - - - - - 14.56 14.52 13.82
16227 606.8 6.9 634 16260 roll 0.67 - - 3115 - 2.70 0.103 3659 518.1 191.1 25.55 1.743 2283 -3.0 0.207 - - - - - - 14.86 14.41 13.69
16283 602.8 7.3 642 16295 done 0.68 - - 3125 - 2.45 0.041 2255 -573.1 200.0 5.53 1.939 2255 -5.1 0.311 - - - - - - 14.46 14.42 13.40
16618 575.6 8.3 655 16619 done 0.68 - - 3125 - - - 2255 - 200.0 - - 2259 - - - - - - - - 14.74 14.73 14.74
16954 547.1 8.4 661 16955 done 0.68 - - 3125 - - - 2256 - 200.0 - - 2259 - - - - - - - - 14.80 14.80 14.80
17291 520.4 7.9 667 17296 roll 0.68 - - 3125 - 2.70 0.103 3650 516.3 200.0 - - 2259 - - - - - - - - 14.80 14.27 14.80
17352 514.9 8.8 676 17359 done 0.68 - - 3134 - 2.42 0.041 2262 -573.6 200.0 - - 2259 - - - - - - - - 14.51 14.46 14.54
17682 488.0 8.1 688 17688 roll 0.68 - - 3145 - 2.50 0.063 867 -558.0 200.0 - - 2259 - - - - - - - - 14.85 14.28 14.85
17752 482.2 8.3 698 17758 done 0.68 - - 3145 - 2.47 0.055 2265 566.0 200.0 - - 2259 - - - - - - - - 14.45 14.37 14.50
18074 454.7 8.6 709 18081 roll 0.68 - - 3145 - 2.65 0.103 3656 524.9 200.0 - - 2259 - - - - - - - - 14.84 14.23 14.85
18102 452.0 9.7 713 18110 done 0.68 0.10 0.208 3126 -190.0 2.42 0.041 2259 -577.3 200.0 - - 2259 - - - - - - - - 14.16 14.46 14.32
18467 422.8 8.0 723 18468 done 0.68 - - 3126 - - - 2258 - 200.0 - - 2259 - - - - - - - - 14.86 14.85 14.84
18803 396.3 7.8 729 18809 roll 0.68 - - 3132 - 2.65 0.103 3652 526.0 200.0 - - 2259 - - - - - - - - 14.86 14.23 14.86
18829 394.0 8.4 733 18837 done 0.68 - - 3135 - 2.42 0.041 2256 -576.9 200.0 - - 2259 - - - - - - - - 14.53 14.48 14.55
19194 364.3 8.2 743 19195 done 0.68 - - 3135 - - - 2256 - 200.0 - - 2259 - - - - - - - - 14.86 14.86 14.86
19530 337.7 7.8 749 19537 roll 0.68 - - 3134 - 2.67 0.102 3668 528.8 200.0 - - 2259 - - - - - - - - 14.87 14.25 14.84
19599 331.8 8.3 759 19606 done 0.68 - - 3145 - 2.42 0.040 2266 -579.3 200.0 - - 2259 - - - - - - - - 14.52 14.51 14.54
19923 307.3 7.6 770 19930 roll 0.69 - - 3157 - 2.50 0.063 861 -562.0 202.4 3.00 1.121 2246 -4.3 0.235 - - - - - - 14.86 14.54 13.26
19971 303.4 8.0 777 19979 done 0.69 0.10 0.196 3125 -320.0 2.47 0.057 2263 567.6 202.4 1.12 0.245 2247 - - - - - - - - 14.26 14.44 14.10
20308 279.3 7.2 790 20328 roll 0.70 - - 3124 - 2.62 0.102 3653 530.5 212.7 16.67 1.470 2196 -3.1 0.115 - - - - - - 14.88 14.48 13.81
20370 275.6 8.6 799 20376 done 0.70 - - 3134 - 2.42 0.040 2261 -575.2 212.7 - - 2193 - - - - - - - - 14.52 14.47 14.54
20693 249.3 8.1 810 20698 roll 0.70 - - 3144 - 2.47 0.064 865 -565.2 212.7 - - 2191 - - - - - - - - 14.80 14.32 14.80
20727 246.4 8.2 815 20733 done 0.70 - - 3151 - 2.47 0.054 2263 566.0 212.7 - - 2191 - - - - - - - - 14.44 14.36 14.47
21084 216.7 8.2 824 21090 roll 0.70 - - 3144 - 2.60 0.103 3665 539.2 212.7 - - 2191 - - - - - - - - 14.83 14.27 14.83
21140 212.0 8.6 832 21146 done 0.70 - - 3154 - 2.42 0.039 2266 -578.1 212.7 - - 2193 - - - - - - - - 14.49 14.47 14.52
21477 186.6 7.5 845 21483 roll 0.70 - - 3164 - 2.45 0.061 862 -573.1 217.9 1.33 0.265 2185 -6.0 0.837 - - - - - - 14.85 14.17 13.90
21518 183.4 7.7 851 21525 done 0.71 0.10 0.194 3134 -300.0 2.50 0.055 2274 564.8 219.3 2.92 1.029 2176 -3.1 0.109 - - - - - - 14.17 14.37 13.31
21869 158.3 7.4 859 21882 done 0.72 - - 3134 - - - 2274 - 226.7 12.18 1.382 2147 -2.4 0.054 - - - - - - 14.87 14.57 13.86
22205 132.7 7.6 865 22211 roll 0.72 - - 3133 - 2.58 0.101 3654 534.9 229.1 - - 2140 - - - - - - - - 14.83 14.35 14.83
22239 129.9 8.2 870 22245 done 0.72 - - 3144 - 2.40 0.040 2265 -578.8 229.1 - - 2140 - - - - - - - - 14.54 14.50 14.57
22596 102.3 7.8 879 22603 roll 0.72 - - 3144 - 2.62 0.103 3659 532.1 229.1 - - 2141 - - - - - - - - 14.86 14.31 14.85
22645 98.2 8.7 886 22653 done 0.72 - - 3153 - 2.42 0.039 2254 -580.6 229.1 - - 2140 - - - - - - - - 14.53 14.49 14.56
22961 77.0 5.9 898 22980 done 0.76 - - 3154 - - - 2254 - 265.7 18.67 0.400 1991 -8.0 0.304 - - - - - - 14.84 14.52 14.11
23269 60.2 4.4 909 23310 roll 0.97 0.10 0.119 3216 620.0 2.65 0.100 3649 526.4 332.6 33.85 0.353 1724 -7.9 0.266 - - - - - - 14.54 14.39 14.14
23411 52.7 6.8 929 23428 done 0.99 - - 3224 - 2.35 0.039 2262 -590.2 351.9 9.80 0.326 1651 -7.4 0.238 - - - - - - 14.58 14.50 14.04
23747 34.1 5.7 944 23773 roll 1.16 0.08 0.148 3298 925.0 2.45 0.062 867 -569.4 392.4 20.30 0.271 1491 -7.9 0.196 - - - - - - 14.51 14.33 14.09
23996 17.7 6.0 980 24018 done 1.20 - - 3299 - 2.47 0.052 2280 572.1 426.8 17.70 0.220 1350 -8.0 0.127 - - - - - - 14.45 14.37 14.18
24239 end climb: SURFACE_DEPTH_REACHED
24239 begin surface coast
24267 end surface coast: CONTROL_FINISHED_OK
24269 begin surface
SM -2.30 - - - - -8.40 9.18 0.075 186 20.2 0.88 0.080 2773 -7364.8 500.14 33.97 0.155 1056 31.1 0.047 - - - - - -