SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 368 * Raw log
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• Previous call tries 4 • 133.31 of 350.00 AH used of 24V (61.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.9 deg, depth -0.94 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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
14 - - - 92 done -0.93 - - 104 - - - 2772 - -107.1 -77.15 - 3478 - - - - - - - - 14.69 12.64 14.68
95 0.3 -3.3 2 115 roll -0.93 11.75 0.377 2583 211.0 1.92 0.081 3829 550.5 -107.1 - - 3480 - - - - - - - - 14.00 14.33 14.40
184 42.1 -26.0 16 190 done -0.52 0.52 0.248 2723 269.2 1.83 0.037 2736 -597.3 -107.1 - - 3480 - - - - - - - - 14.07 14.53 14.28
507 68.6 -5.5 29 513 roll -0.52 - - 2723 - 2.25 0.042 1385 -600.4 -107.1 - - 3481 - - - - - - - - 14.85 14.50 14.85
569 72.5 -6.4 38 575 done -0.61 - - 2713 - 2.50 0.066 2786 560.4 -107.1 - - 3482 - - - - - - - - 14.50 14.40 14.53
899 95.1 -6.8 52 904 roll -0.69 0.05 0.205 2639 -1480.0 1.88 0.106 3823 551.6 -107.1 - - 3484 - - - - - - - - 14.63 14.40 14.70
1094 113.5 -9.5 80 1100 done -0.69 0.12 0.213 2677 316.7 1.73 0.038 2777 -604.6 -107.1 - - 3482 - - - - - - - - 14.37 14.69 14.59
1459 139.5 -7.1 90 1464 roll -0.69 - - 2677 - 2.35 0.039 1395 -588.1 -107.1 - - 3480 - - - - - - - - 14.95 14.54 14.95
1549 146.2 -7.7 103 1555 done -0.69 - - 2667 - 2.50 0.066 2792 558.8 -107.1 - - 3479 - - - - - - - - 14.55 14.45 14.59
1907 174.0 -7.8 112 1907 done -0.69 - - 2667 - - - 2793 - -107.1 - - 3477 - - - - - - - - 14.93 14.94 14.94
2243 200.5 -7.9 118 2248 roll -0.69 - - 2668 - 2.38 0.041 1397 -586.6 -107.1 - - 3473 - - - - - - - - 14.95 14.59 14.95
2284 203.9 -8.1 124 2290 done -0.69 - - 2657 - 2.53 0.067 2791 551.0 -107.1 - - 3475 - - - - - - - - 14.56 14.47 14.60
2635 232.6 -8.3 132 2640 roll -0.69 - - 2658 - 2.40 0.041 1387 -585.0 -107.1 - - 3471 - - - - - - - - 14.95 14.59 14.95
2669 235.4 -8.6 137 2676 done -0.69 - - 2648 - 2.53 0.067 2792 555.3 -107.1 - - 3470 - - - - - - - - 14.57 14.46 14.60
3027 265.8 -8.5 146 3027 done -0.69 - - 2644 - - - 2792 - -107.1 - - 3468 - - - - - - - - 14.92 14.95 14.95
3363 293.2 -8.1 152 3368 roll -0.69 - - 2647 - 2.42 0.041 1397 -576.4 -107.1 - - 3465 - - - - - - - - 14.97 14.53 14.97
3432 298.9 -7.7 162 3439 done -0.69 0.10 0.216 2666 190.0 2.53 0.067 2785 548.6 -107.1 - - 3465 - - - - - - - - 14.27 14.43 14.42
3755 322.5 -7.4 173 3756 done -0.69 - - 2672 - - - 2784 - -107.1 - - 3463 - - - - - - - - 14.94 14.94 14.95
4091 349.4 -8.1 179 4096 roll -0.69 - - 2668 - 2.38 0.041 1398 -582.4 -107.1 - - 3461 - - - - - - - - 14.95 14.57 14.95
4139 353.6 -8.5 186 4147 done -0.69 - - 2659 - 2.53 0.068 2789 549.8 -107.1 - - 3461 - - - - - - - - 14.52 14.43 14.57
4483 382.1 -8.2 193 4489 roll -0.69 - - 2658 - 2.38 0.041 1397 -584.9 -107.1 - - 3459 - - - - - - - - 14.95 14.56 14.95
4539 386.6 -7.8 201 4545 done -0.69 - - 2650 - 2.50 0.068 2797 560.0 -107.1 - - 3458 - - - - - - - - 14.62 14.43 14.65
4875 412.6 -7.8 214 4875 done -0.69 - - 2650 - - - 2797 - -107.1 - - 3457 - - - - - - - - 14.97 14.96 14.96
5211 437.6 -7.4 220 5216 roll -0.69 - - 2650 - 2.40 0.041 1392 -585.4 -107.1 - - 3456 - - - - - - - - 14.96 14.57 14.96
5294 443.8 -7.2 232 5300 done -0.69 0.10 0.215 2670 200.0 2.55 0.069 2787 547.1 -107.1 - - 3455 - - - - - - - - 14.23 14.40 14.38
5659 468.8 -6.9 242 5660 done -0.69 - - 2669 - - - 2787 - -107.1 - - 3454 - - - - - - - - 14.93 14.94 14.94
5995 491.6 -6.7 248 6000 roll -0.77 - - 2669 - 2.40 0.041 1397 -579.2 -107.1 - - 3452 - - - - - - - - 14.96 14.54 14.95
6092 498.4 -6.8 262 6098 done -0.86 0.05 0.119 2609 -1200.0 2.50 0.068 2771 549.6 -107.1 - - 3452 - - - - - - - - 14.35 14.36 14.45
6443 530.4 -9.3 270 6448 roll -0.86 - - 2601 - 2.00 0.113 3817 523.0 -107.1 - - 3449 - - - - - - - - 14.93 14.27 14.93
6477 533.9 -10.4 275 6483 done -0.86 - - 2600 - 1.77 0.041 2779 -586.4 -107.1 - - 3449 - - - - - - - - 14.71 14.67 14.73
6835 569.8 -10.1 284 6840 roll -0.86 - - 2599 - 2.38 0.042 1387 -584.9 -107.1 - - 3448 - - - - - - - - 14.95 14.50 14.95
6876 574.0 -10.0 290 6883 done -0.86 0.08 0.230 2611 150.0 2.53 0.067 2771 547.0 -107.1 - - 3448 - - - - - - - - 14.18 14.37 14.34
7227 607.8 -9.7 298 7232 roll -0.86 - - 2604 - 2.03 0.113 3822 517.7 -107.1 - - 3448 - - - - - - - - 14.93 14.24 14.93
7317 616.8 -9.8 311 7323 done -0.86 - - 2604 - 1.80 0.043 2771 -583.9 -107.1 - - 3448 - - - - - - - - 14.70 14.65 14.71
7675 650.6 -9.5 320 7680 roll -0.86 - - 2603 - 2.38 0.043 1386 -581.9 -107.1 - - 3446 - - - - - - - - 14.95 14.48 14.95
7709 654.1 -10.3 325 7716 done -0.86 - - 2594 - 2.53 0.067 2771 547.4 -107.1 - - 3445 - - - - - - - - 14.45 14.35 14.50
8067 689.5 -9.9 334 8067 done -0.86 - - 2594 - - - 2771 - -107.1 - - 3444 - - - - - - - - 14.95 14.95 14.95
8403 722.6 -9.9 340 8408 roll -0.86 - - 2594 - 2.40 0.043 1383 -578.3 -107.1 - - 3442 - - - - - - - - 14.95 14.50 14.95
8444 726.9 -10.0 346 8450 done -0.86 0.10 0.230 2612 180.0 2.53 0.068 2768 547.4 -107.1 - - 3442 - - - - - - - - 14.10 14.35 14.29
8795 758.1 -8.9 354 8795 done -0.86 - - 2612 - - - 2768 - -107.1 - - 3441 - - - - - - - - 14.94 14.94 14.94
9131 787.9 -8.9 360 9136 roll -0.86 - - 2612 - 2.42 0.044 1377 -574.8 -107.1 - - 3441 - - - - - - - - 14.92 14.43 14.92
9158 790.5 -9.5 364 9164 done -0.86 - - 2603 - 2.55 0.067 2768 545.5 -107.1 - - 3440 - - - - - - - - 14.41 14.31 14.46
9523 824.0 -9.3 374 9524 done -0.86 - - 2603 - - - 2768 - -107.1 - - 3439 - - - - - - - - 14.90 14.91 14.91
9859 856.2 -9.6 380 9864 roll -0.86 - - 2601 - 2.40 0.043 1387 -575.4 -107.1 - - 3438 - - - - - - - - 14.91 14.43 14.91
9907 861.0 -7.9 387 9914 done -0.86 - - 2593 - 2.55 0.069 2767 541.2 -107.1 - - 3438 - - - - - - - - 14.30 14.21 14.35
10251 895.0 -10.0 394 10251 done -0.86 - - 2593 - - - 2768 - -107.1 - - 3437 - - - - - - - - 14.90 14.90 14.91
10587 927.6 -9.6 400 10588 done -0.86 - - 2593 - - - 2768 - -107.1 - - 3436 - - - - - - - - 14.92 14.93 14.93
10640 end dive: TARGET_DEPTH_EXCEEDED
10640 begin apogee
10647 932.7 -9.5 401 10758 roll -0.23 0.80 0.183 2824 288.8 - - 2244 - - 108.30 1.985 3049 -3.6 0.334 - - - - - - 14.10 13.99 13.01
10759 end apogee: CONTROL_FINISHED_OK
10759 begin climb
10762 936.5 - 403 10890 roll 0.93 1.10 0.090 3184 327.3 2.50 0.056 869 -550.0 107.1 116.38 1.971 2617 -3.7 0.351 - - - - - - 14.00 14.02 12.89
10917 930.8 8.5 426 10924 done 0.79 - - 3183 - 2.55 0.050 2256 543.9 107.1 - - 2611 - - - - - - - - 13.99 13.93 14.00
11261 902.7 8.4 433 11267 roll 0.66 0.22 0.224 3118 -295.5 2.62 0.100 3660 535.9 107.1 - - 2607 - - - - - - - - 14.17 14.28 14.43
11323 897.8 7.5 442 11329 done 0.67 - - 3128 - 2.45 0.040 2253 -574.3 111.5 - - 2607 - - - - - - - - 14.47 14.44 14.50
11653 875.7 6.7 454 11682 done 0.70 - - 3129 - - - 2252 - 133.3 28.05 1.959 2518 -3.2 0.282 - - - - - - 14.80 14.33 13.40
11989 851.9 7.1 460 12008 roll 0.71 - - 3129 - 2.67 0.103 3660 527.3 145.5 13.55 2.072 2464 -4.0 0.326 - - - - - - 14.76 14.35 13.45
12065 845.5 8.4 471 12071 done 0.71 - - 3140 - 2.45 0.041 2258 -572.2 145.5 - - 2461 - - - - - - - - 14.45 14.42 14.48
12381 821.4 7.6 481 12387 roll 0.71 - - 3151 - 2.45 0.060 868 -567.3 147.8 - - 2458 - - - - - - - - 14.78 14.40 14.78
12422 818.3 7.5 487 12429 done 0.72 - - 3151 - 2.47 0.053 2261 564.0 152.8 2.78 1.112 2441 -6.1 0.894 - - - - - - 14.45 14.38 12.92
12773 791.6 7.8 495 12779 roll 0.72 - - 3150 - 2.58 0.099 3651 538.8 152.8 1.45 0.273 2444 2.1 -1.192 - - - - - - 14.83 14.25 13.95
12842 785.9 8.6 505 12849 done 0.62 0.20 0.212 3105 -225.0 2.42 0.040 2254 -577.3 152.8 1.33 0.239 2442 - - - - - - - - 14.17 14.50 14.02
13165 765.3 6.3 516 13211 roll 0.66 - - 3114 - 2.53 0.061 865 -549.0 180.8 39.03 1.860 2323 -3.0 0.249 - - - - - - 14.87 14.31 13.41
13255 759.0 7.4 529 13263 done 0.67 - - 3114 - 2.50 0.052 2260 558.0 187.9 2.65 1.011 2305 -6.8 1.013 - - - - - - 14.34 14.28 12.81
13613 731.9 7.7 538 13619 roll 0.67 - - 3114 - 2.62 0.102 3657 533.2 188.9 1.67 0.301 2301 -2.4 1.157 - - - - - - 14.76 14.06 13.58
13689 725.3 8.9 549 13696 done 0.67 - - 3124 - 2.45 0.040 2253 -573.1 188.9 1.40 0.249 2301 - - - - - - - - 14.49 14.45 13.82
14005 699.7 8.2 559 14010 roll 0.67 - - 3134 - 2.45 0.058 863 -567.3 188.9 1.17 0.272 2302 - - - - - - - - 14.83 14.29 14.08
14025 698.0 8.1 562 14031 done 0.67 - - 3133 - 2.47 0.054 2258 564.8 188.9 - - 2307 - - - - - - - - 14.45 14.36 14.48
14341 672.2 8.2 572 14347 roll 0.67 - - 3134 - 2.62 0.100 3651 531.7 188.9 1.42 0.274 2300 -4.9 2.403 - - - - - - 14.85 14.19 13.88
14396 667.2 9.0 580 14402 done 0.67 - - 3144 - 2.42 0.041 2262 -574.0 188.9 1.40 0.243 2299 - - - - - - - - 14.52 14.47 13.90
14733 639.9 8.1 593 14735 done 0.67 - - 3144 - - - 2258 - 188.9 1.48 0.274 2297 - - - - - - - - 14.88 14.32 13.84
15069 612.3 8.2 599 15075 roll 0.67 - - 3145 - 2.65 0.101 3651 525.7 188.9 1.40 0.271 2301 2.9 -1.283 - - - - - - 14.88 14.16 13.87
15124 607.0 9.6 607 15131 done 0.67 0.10 0.224 3118 -270.0 2.42 0.041 2265 -572.7 188.9 1.23 0.256 2299 - - - - - - - - 14.16 14.48 14.02
15463 581.2 7.6 620 15474 roll 0.67 - - 3117 - 2.65 0.103 3648 521.9 191.9 4.28 1.731 2289 -2.3 0.156 - - - - - - 14.85 14.47 13.08
15495 578.3 8.4 625 15502 done 0.67 - - 3127 - 2.42 0.041 2253 -576.4 191.9 - - 2299 - - - - - - - - 14.59 14.54 14.61
15853 550.2 7.9 634 15859 roll 0.67 - - 3127 - 2.65 0.099 3651 527.5 191.9 1.40 0.275 2289 -7.1 2.840 - - - - - - 14.86 14.19 13.90
15887 547.1 8.9 639 15893 done 0.67 - - 3137 - 2.42 0.041 2259 -575.2 191.9 1.35 0.258 2287 - - - - - - - - 14.52 14.48 13.83
16245 518.0 8.1 648 16251 roll 0.67 - - 3137 - 2.65 0.100 3659 528.3 191.9 1.58 0.296 2288 - - - - - - - - 14.86 14.02 13.56
16293 513.6 9.2 655 16301 done 0.67 0.10 0.215 3119 -180.0 2.42 0.040 2261 -577.7 191.9 1.40 0.254 2287 - - - - - - - - 14.16 14.47 13.82
16637 489.8 6.8 662 16671 roll 0.69 - - 3118 - 2.62 0.103 3652 530.9 211.3 29.40 1.616 2202 -2.9 0.174 - - - - - - 14.86 14.29 13.59
16693 485.8 7.3 670 16705 done 0.71 - - 3128 - 2.38 0.041 2271 -580.3 220.9 4.95 1.777 2172 -6.1 0.329 - - - - - - 14.51 14.44 13.05
17029 461.0 7.4 683 17049 roll 0.71 - - 3138 - 2.53 0.063 868 -554.5 227.8 12.70 1.733 2137 -2.8 0.146 - - - - - - 14.76 14.40 13.57
17077 457.2 7.8 690 17084 done 0.71 - - 3138 - 2.50 0.052 2269 560.4 227.8 - - 2134 - - - - - - - - 14.41 14.33 14.44
17421 427.0 9.0 697 17421 done 0.71 - - 3138 - - - 2274 - 227.8 - - 2134 - - - - - - - - 14.79 14.79 14.77
17757 397.0 8.9 703 17762 roll 0.71 - - 3138 - 2.58 0.103 3657 536.0 227.8 - - 2133 - - - - - - - - 14.83 14.30 14.83
17819 390.6 10.3 712 17825 done 0.71 - - 3148 - 2.42 0.040 2263 -576.0 227.8 - - 2135 - - - - - - - - 14.50 14.46 14.52
18149 360.0 9.2 724 18154 roll 0.71 - - 3158 - 2.50 0.062 860 -561.2 227.8 - - 2133 - - - - - - - - 14.87 14.33 14.87
18197 355.7 8.9 731 18204 done 0.71 - - 3158 - 2.50 0.053 2273 565.2 227.8 - - 2133 - - - - - - - - 14.44 14.36 14.48
18541 323.2 9.7 738 18546 roll 0.71 - - 3158 - 2.58 0.103 3653 534.9 227.8 - - 2133 - - - - - - - - 14.85 14.28 14.85
18617 314.8 10.9 749 18624 done 0.71 0.10 0.209 3138 -200.0 2.40 0.039 2265 -578.3 227.8 - - 2133 - - - - - - - - 14.17 14.49 14.35
18933 288.4 8.1 759 18938 roll 0.71 - - 3148 - 2.45 0.060 856 -575.1 227.8 - - 2135 - - - - - - - - 14.86 14.38 14.86
18953 286.7 7.8 762 18959 done 0.71 - - 3148 - 2.50 0.053 2273 566.8 227.8 - - 2133 - - - - - - - - 14.45 14.37 14.49
19269 260.3 8.5 772 19274 roll 0.71 - - 3148 - 2.58 0.102 3657 536.4 227.8 - - 2133 - - - - - - - - 14.87 14.28 14.88
19303 256.8 10.1 777 19310 done 0.71 - - 3158 - 2.40 0.039 2270 -577.9 227.8 - - 2133 - - - - - - - - 14.52 14.47 14.55
19661 223.1 9.4 786 19661 done 0.71 - - 3162 - - - 2266 - 227.8 - - 2133 - - - - - - - - 14.90 14.89 14.92
19997 191.5 9.4 792 20002 roll 0.71 - - 3158 - 2.62 0.101 3653 529.4 227.8 - - 2133 - - - - - - - - 14.90 14.28 14.90
20024 188.7 10.2 796 20030 done 0.71 0.12 0.199 3132 -216.7 2.40 0.038 2271 -575.8 227.8 - - 2133 - - - - - - - - 14.14 14.50 14.31
20389 161.5 7.1 806 20408 roll 0.81 - - 3131 - 2.58 0.100 3654 536.0 241.6 14.88 1.359 2082 -3.4 0.081 - - - - - - 14.90 14.38 13.74
20430 158.3 7.7 812 20436 done 0.81 - - 3141 - 2.38 0.039 2279 -577.7 242.1 - - 2078 - - - - - - - - 14.57 14.52 14.59
20781 130.0 8.1 820 20786 roll 0.81 - - 3151 - 2.53 0.061 835 -570.8 242.1 - - 2078 - - - - - - - - 14.86 14.38 14.85
20808 127.9 7.7 824 20814 done 0.89 0.05 0.112 3200 980.0 2.55 0.051 2281 567.1 242.5 - - 2077 - - - - - - - - 14.35 14.38 14.43
21145 92.8 10.8 834 21150 roll 0.89 - - 3211 - 2.53 0.060 853 -564.4 242.5 - - 2077 - - - - - - - - 14.85 14.32 14.85
21207 86.3 10.1 843 21213 done 0.89 - - 3211 - 2.50 0.050 2277 569.6 242.5 - - 2077 - - - - - - - - 14.44 14.37 14.48
21537 61.3 5.8 857 21564 roll 0.94 - - 3221 - 2.53 0.058 860 -560.1 281.3 18.25 0.353 1930 -8.1 0.278 - - - - - - 14.85 14.43 14.07
21679 53.8 6.1 877 21705 done 0.98 - - 3221 - 2.47 0.050 2289 578.5 314.9 17.45 0.330 1796 -7.7 0.249 - - - - - - 14.56 14.42 14.04
22015 37.4 4.4 892 22055 roll 1.16 0.08 0.145 3296 937.5 2.53 0.099 3655 539.9 381.5 33.45 0.277 1530 -8.0 0.213 - - - - - - 14.54 14.33 14.07
22089 30.3 11.2 903 22097 done 1.16 0.10 0.207 3278 -180.0 2.38 0.037 2276 -579.4 381.5 - - 1530 - - - - - - - - 14.19 14.47 14.33
22405 14.8 5.1 915 22438 roll 1.31 0.08 0.141 3368 1125.0 2.47 0.060 866 -570.9 434.4 25.73 0.203 1319 -8.2 0.119 - - - - - - 14.56 14.37 14.16
22509 5.7 9.1 930 22517 done 1.31 0.15 0.198 3325 -286.7 2.47 0.050 2286 574.9 434.4 - - 1320 - - - - - - - - 14.14 14.35 14.31
22570 end climb: SURFACE_DEPTH_REACHED
22570 begin surface coast
22598 end surface coast: CONTROL_FINISHED_OK
22598 begin surface
SM -0.44 - - - - -8.40 9.18 0.069 177 19.3 0.85 0.076 2767 -2775.3 500.14 30.17 0.157 1057 35.0 0.010 - - - - - -