SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 400 * Raw log
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• Previous call tries 1 • 143.35 of 350.00 AH used of 24V (59.04% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.4 deg, depth -2.50 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
15 - - - 100 done -0.93 - - 105 - - - 2779 - -107.1 -78.65 - 3478 - - - - - - - - 14.66 12.58 14.64
103 5.8 -14.4 3 121 roll -0.93 11.82 0.385 2592 210.4 2.38 0.037 1379 -588.2 -107.1 - - 3479 - - - - - - - - 14.02 14.36 14.26
163 30.3 -23.7 12 169 done -0.70 0.30 0.225 2666 246.7 2.55 0.076 2768 544.7 -107.1 - - 3479 - - - - - - - - 14.09 14.26 14.28
493 70.9 -8.3 26 498 roll -0.70 - - 2659 - 2.00 0.108 3820 526.0 -107.1 - - 3479 - - - - - - - - 14.83 14.29 14.83
646 85.4 -9.8 48 652 done -0.70 - - 2658 - 1.75 0.040 2760 -605.7 -107.1 - - 3483 - - - - - - - - 14.62 14.59 14.62
997 115.3 -8.7 59 1002 roll -0.70 - - 2651 - 2.05 0.106 3829 521.5 -107.1 - - 3483 - - - - - - - - 14.89 14.34 14.90
1194 133.2 -9.4 87 1199 done -0.70 - - 2650 - 1.70 0.041 2779 -617.6 -107.1 - - 3482 - - - - - - - - 14.70 14.65 14.71
1556 166.3 -9.2 97 1563 roll -0.70 - - 2650 - 2.40 0.045 1386 -580.4 -107.1 - - 3481 - - - - - - - - 14.94 14.51 14.94
1626 172.9 -9.3 107 1632 done -0.70 0.10 0.207 2671 210.0 2.47 0.066 2773 561.5 -107.1 - - 3481 - - - - - - - - 14.28 14.42 14.43
1949 199.8 -8.2 118 1949 done -0.70 - - 2671 - - - 2773 - -107.1 - - 3479 - - - - - - - - 14.95 14.95 14.95
2285 226.3 -7.8 124 2290 roll -0.70 - - 2671 - 2.38 0.044 1388 -581.9 -107.1 - - 3476 - - - - - - - - 14.93 14.54 14.93
2375 233.4 -7.7 137 2382 done -0.70 - - 2662 - 2.50 0.067 2774 554.4 -107.1 - - 3474 - - - - - - - - 14.56 14.43 14.57
2733 262.8 -8.3 146 2738 roll -0.70 - - 2661 - 2.38 0.043 1383 -584.5 -107.1 - - 3473 - - - - - - - - 14.93 14.55 14.93
2781 267.0 -8.6 153 2789 done -0.70 - - 2652 - 2.53 0.066 2774 549.8 -107.1 - - 3473 - - - - - - - - 14.51 14.42 14.56
3124 296.7 -8.6 160 3125 done -0.70 - - 2654 - - - 2773 - -107.1 - - 3470 - - - - - - - - 14.94 14.94 14.94
3461 326.0 -8.8 166 3461 done -0.70 - - 2652 - - - 2774 - -107.1 - - 3468 - - - - - - - - 14.94 14.94 14.94
3797 356.0 -8.9 172 3802 roll -0.70 - - 2652 - 2.40 0.044 1390 -576.7 -107.1 - - 3466 - - - - - - - - 14.96 14.54 14.96
3866 362.2 -8.7 182 3872 done -0.70 0.08 0.232 2669 212.5 2.53 0.066 2769 545.1 -107.1 - - 3466 - - - - - - - - 14.23 14.40 14.39
4189 388.3 -8.1 193 4195 roll -0.70 - - 2666 - 2.42 0.044 1368 -578.9 -107.1 - - 3465 - - - - - - - - 14.96 14.52 14.95
4245 392.8 -8.0 201 4251 done -0.78 - - 2657 - 2.50 0.066 2772 561.6 -107.1 - - 3464 - - - - - - - - 14.62 14.45 14.64
4581 419.7 -8.0 214 4581 done -0.78 - - 2657 - - - 2773 - -107.1 - - 3462 - - - - - - - - 14.93 14.93 14.93
4917 444.8 -7.4 220 4922 roll -0.78 - - 2657 - 2.40 0.044 1382 -579.6 -107.1 - - 3461 - - - - - - - - 14.93 14.50 14.93
5007 451.4 -7.2 233 5014 done -0.78 - - 2648 - 2.53 0.067 2765 546.6 -107.1 - - 3460 - - - - - - - - 14.49 14.39 14.54
5365 478.9 -7.9 242 5370 roll -0.78 - - 2648 - 2.42 0.044 1391 -567.8 -107.1 - - 3459 - - - - - - - - 14.93 14.45 14.93
5406 482.4 -8.4 248 5412 done -0.78 - - 2640 - 2.50 0.067 2761 548.0 -107.1 - - 3458 - - - - - - - - 14.48 14.38 14.53
5757 512.5 -8.7 256 5762 roll -0.78 - - 2631 - 2.03 0.110 3818 520.7 -107.1 - - 3457 - - - - - - - - 14.95 14.28 14.95
5798 516.4 -9.3 262 5804 done -0.78 - - 2631 - 1.77 0.042 2778 -587.6 -107.1 - - 3458 - - - - - - - - 14.62 14.59 14.63
6149 549.1 -9.4 270 6154 roll -0.78 - - 2631 - 2.40 0.044 1373 -585.4 -107.1 - - 3454 - - - - - - - - 14.92 14.50 14.92
6183 552.4 -9.6 275 6189 done -0.78 - - 2622 - 2.53 0.067 2763 549.4 -107.1 - - 3455 - - - - - - - - 14.38 14.28 14.42
6541 584.5 -8.9 284 6542 done -0.78 - - 2621 - - - 2763 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
6877 611.6 -8.0 290 6882 roll -0.78 - - 2621 - 2.40 0.044 1373 -579.2 -107.1 - - 3453 - - - - - - - - 14.95 14.49 14.95
6933 616.1 -8.0 298 6938 done -0.78 0.12 0.239 2646 208.3 2.50 0.067 2771 559.2 -107.1 - - 3452 - - - - - - - - 14.14 14.34 14.39
7269 640.4 -7.3 311 7274 roll -0.78 - - 2647 - 2.42 0.044 1374 -577.3 -107.1 - - 3450 - - - - - - - - 14.92 14.48 14.92
7310 643.6 -7.8 317 7317 done -0.78 - - 2637 - 2.53 0.066 2758 547.0 -107.1 - - 3451 - - - - - - - - 14.42 14.33 14.47
7661 672.1 -8.2 325 7661 done -0.78 - - 2637 - - - 2758 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7997 699.7 -8.2 331 8002 roll -0.78 - - 2637 - 2.40 0.044 1374 -576.7 -107.1 - - 3449 - - - - - - - - 14.91 14.47 14.91
8066 705.5 -8.3 341 8073 done -0.78 - - 2628 - 2.55 0.067 2756 542.0 -107.1 - - 3448 - - - - - - - - 14.40 14.31 14.45
8389 732.1 -8.2 352 8389 done -0.78 - - 2628 - - - 2756 - -107.1 - - 3447 - - - - - - - - 14.93 14.93 14.93
8725 759.6 -8.2 358 8730 roll -0.78 - - 2627 - 2.42 0.046 1371 -572.3 -107.1 - - 3445 - - - - - - - - 14.93 14.44 14.94
8766 763.1 -8.3 364 8772 done -0.78 0.08 0.222 2640 162.5 2.55 0.067 2753 542.0 -107.1 - - 3446 - - - - - - - - 14.09 14.29 14.26
9117 790.0 -7.7 372 9122 roll -0.78 - - 2640 - 2.42 0.045 1368 -572.3 -107.1 - - 3445 - - - - - - - - 14.93 14.43 14.93
9151 792.8 -8.5 377 9158 done -0.78 - - 2632 - 2.55 0.067 2756 544.3 -107.1 - - 3445 - - - - - - - - 14.38 14.31 14.42
9509 821.2 -7.8 386 9514 roll -0.78 - - 2623 - 2.08 0.112 3828 515.4 -107.1 - - 3443 - - - - - - - - 14.90 14.14 14.90
9550 824.7 -8.5 392 9556 done -0.78 - - 2623 - 1.85 0.045 2751 -582.2 -107.1 - - 3444 - - - - - - - - 14.56 14.53 14.57
9901 852.3 -7.8 400 9902 done -0.78 - - 2622 - - - 2751 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
10237 878.1 -7.7 406 10242 roll -0.78 - - 2622 - 2.38 0.047 1377 -577.3 -107.1 - - 3442 - - - - - - - - 14.89 14.40 14.90
10306 883.5 -7.7 416 10312 done -0.78 0.10 0.211 2642 200.0 2.53 0.068 2753 543.9 -107.1 - - 3441 - - - - - - - - 14.04 14.26 14.21
10629 906.4 -7.0 427 10634 roll -0.78 - - 2642 - 2.40 0.045 1375 -574.2 -107.1 - - 3441 - - - - - - - - 14.89 14.39 14.89
10670 909.5 -5.7 433 10677 done -0.85 - - 2633 - 2.53 0.067 2746 541.9 -107.1 - - 3441 - - - - - - - - 14.33 14.23 14.38
10962 end dive: TARGET_DEPTH_EXCEEDED
10962 begin apogee
10969 932.7 -7.9 440 11081 roll -0.23 0.65 0.165 2833 307.7 - - 2226 - - 110.50 1.956 3051 -3.5 0.341 - - - - - - 14.13 13.96 12.98
11083 end apogee: CONTROL_FINISHED_OK
11083 begin climb
11086 936.9 - 442 11213 roll 0.93 1.10 0.087 3187 321.8 2.50 0.059 852 -549.6 107.1 118.32 1.966 2622 -3.6 0.350 - - - - - - 13.98 14.00 12.83
11233 933.5 7.4 464 11241 done 0.77 0.12 0.216 3154 -275.0 2.58 0.052 2256 544.2 113.4 2.33 0.728 2601 -9.0 2.341 - - - - - - 13.74 13.88 12.40
11577 911.2 6.7 471 11611 roll 0.80 - - 3153 - 2.62 0.098 3653 533.2 134.2 29.20 1.971 2510 -3.1 0.292 - - - - - - 14.69 14.07 13.25
11681 901.4 9.5 486 11689 done 0.69 0.12 0.219 3128 -208.3 2.50 0.041 2235 -567.2 134.2 - - 2506 - - - - - - - - 14.07 14.31 14.23
12025 874.7 7.8 493 12031 roll 0.69 - - 3137 - 2.40 0.063 863 -571.7 134.2 - - 2504 - - - - - - - - 14.75 14.37 14.75
12066 871.3 9.8 499 12072 done 0.69 - - 3138 - 2.45 0.052 2250 566.1 134.2 - - 2504 - - - - - - - - 14.45 14.38 14.48
12417 843.9 7.8 507 12422 roll 0.69 - - 3138 - 2.60 0.100 3654 540.0 134.2 - - 2504 - - - - - - - - 14.83 14.33 14.83
12493 836.7 8.7 518 12499 done 0.60 0.17 0.210 3105 -194.1 2.42 0.040 2253 -578.9 134.2 - - 2503 - - - - - - - - 14.16 14.47 14.33
12809 817.4 5.9 528 12856 roll 0.65 - - 3098 - 2.72 0.101 3652 514.3 170.3 40.45 1.899 2368 -3.3 0.291 - - - - - - 14.85 14.23 13.34
12921 810.2 7.6 544 12926 done 0.65 - - 3107 - 2.42 0.041 2254 -577.7 173.9 - - 2361 - - - - - - - - 14.43 14.35 14.44
13257 787.9 6.5 557 13292 done 0.68 - - 3107 - - - 2253 - 198.8 32.70 1.886 2255 -3.2 0.274 - - - - - - 14.75 14.26 13.35
13649 759.3 7.4 571 13655 roll 0.69 - - 3107 - 2.65 0.102 3648 526.4 205.1 1.50 0.278 2235 -13.3 7.377 - - - - - - 14.73 14.14 13.78
13739 751.6 8.4 584 13746 done 0.69 - - 3118 - 2.42 0.040 2261 -573.1 205.1 1.27 0.233 2236 - - - - - - - - 14.47 14.44 13.99
14097 722.5 8.3 593 14098 done 0.69 - - 3117 - - - 2258 - 205.1 - - 2242 - - - - - - - - 14.81 14.78 14.81
14433 693.5 8.6 599 14438 roll 0.69 - - 3117 - 2.65 0.101 3655 527.2 205.1 - - 2240 - - - - - - - - 14.85 14.31 14.85
14481 689.0 9.5 606 14488 done 0.69 - - 3126 - 2.42 0.041 2264 -574.8 205.1 - - 2240 - - - - - - - - 14.51 14.47 14.53
14825 660.1 8.3 613 14826 done 0.69 - - 3126 - - - 2263 - 205.1 - - 2240 - - - - - - - - 14.88 14.87 14.88
15161 633.5 7.9 619 15166 roll 0.69 - - 3125 - 2.65 0.102 3658 526.4 205.1 - - 2240 - - - - - - - - 14.86 14.29 14.86
15195 630.5 8.7 624 15201 done 0.69 - - 3134 - 2.42 0.041 2264 -576.0 205.1 - - 2239 - - - - - - - - 14.52 14.48 14.55
15553 601.1 8.3 633 15559 roll 0.69 - - 3147 - 2.47 0.063 855 -570.4 205.1 - - 2239 - - - - - - - - 14.88 14.36 14.88
15580 598.8 8.2 637 15587 done 0.69 - - 3146 - 2.47 0.054 2256 567.2 205.1 - - 2240 - - - - - - - - 14.43 14.35 14.47
15945 567.6 8.5 647 15950 roll 0.69 - - 3146 - 2.62 0.103 3659 535.5 205.1 - - 2240 - - - - - - - - 14.86 14.26 14.87
15986 563.7 9.6 653 15994 done 0.69 0.10 0.213 3128 -180.0 2.45 0.040 2251 -574.7 205.1 - - 2240 - - - - - - - - 14.14 14.45 14.29
16337 536.9 7.5 661 16349 roll 0.70 - - 3127 - 2.70 0.101 3655 520.0 210.0 5.47 1.891 2218 -4.0 0.231 - - - - - - 14.86 14.44 13.32
16371 534.1 8.0 666 16377 done 0.70 - - 3137 - 2.42 0.040 2261 -576.0 210.0 1.25 0.273 2214 -3.2 1.268 - - - - - - 14.58 14.52 13.94
16729 507.0 7.5 675 16741 roll 0.70 - - 3136 - 2.65 0.103 3647 523.0 214.3 5.38 1.857 2202 -2.2 0.123 - - - - - - 14.84 14.45 13.31
16777 502.7 9.1 682 16785 done 0.70 - - 3147 - 2.40 0.041 2264 -576.2 214.3 1.55 0.299 2195 -4.5 1.538 - - - - - - 14.54 14.50 13.78
17121 472.8 8.9 689 17128 roll 0.70 - - 3147 - 2.62 0.100 3651 529.4 214.3 1.40 0.282 2198 2.1 -0.728 - - - - - - 14.85 14.08 13.73
17155 469.3 10.3 694 17162 done 0.70 0.10 0.213 3127 -200.0 2.40 0.041 2273 -574.2 214.3 1.40 0.279 2197 - - - - - - - - 14.16 14.45 13.59
17513 438.0 8.6 703 17519 roll 0.70 - - 3137 - 2.50 0.062 855 -567.2 214.3 1.48 0.299 2199 - - - - - - - - 14.87 13.96 13.49
17569 433.3 8.5 711 17575 done 0.70 - - 3137 - 2.47 0.054 2277 575.7 214.3 1.33 0.295 2197 - - - - - - - - 14.46 14.33 13.69
17905 405.3 8.3 724 17911 roll 0.70 - - 3137 - 2.58 0.100 3652 532.9 214.3 1.45 0.296 2200 2.1 -0.574 - - - - - - 14.85 13.95 13.48
17981 398.4 8.9 735 17987 done 0.70 - - 3147 - 2.40 0.039 2270 -575.8 214.3 1.15 0.237 2198 - - - - - - - - 14.50 14.45 13.90
18297 372.4 8.3 745 18303 roll 0.70 - - 3158 - 2.47 0.060 860 -570.9 214.3 1.38 0.280 2201 2.2 -0.586 - - - - - - 14.85 14.00 13.62
18345 368.2 8.4 752 18353 done 0.70 0.10 0.197 3127 -310.0 2.50 0.054 2273 565.2 214.3 1.27 0.250 2200 - - - - - - - - 14.12 14.32 13.72
18689 343.4 7.2 759 18714 roll 0.71 - - 3127 - 2.60 0.100 3652 530.4 224.9 17.77 1.532 2147 -3.0 0.135 - - - - - - 14.88 14.45 13.64
18758 337.8 8.6 769 18765 done 0.71 - - 3136 - 2.40 0.039 2266 -577.5 224.9 - - 2145 - - - - - - - - 14.50 14.45 14.52
19081 311.4 8.3 780 19086 roll 0.71 - - 3136 - 2.62 0.100 3651 528.6 224.9 - - 2145 - - - - - - - - 14.80 14.27 14.80
19108 308.8 9.1 784 19114 done 0.71 - - 3145 - 2.40 0.039 2269 -575.8 224.9 - - 2144 - - - - - - - - 14.47 14.42 14.52
19473 277.5 8.5 794 19478 roll 0.71 - - 3157 - 2.47 0.062 858 -571.3 224.9 - - 2144 - - - - - - - - 14.83 14.34 14.83
19500 275.1 8.3 798 19506 done 0.71 - - 3157 - 2.50 0.053 2274 566.4 224.9 - - 2144 - - - - - - - - 14.42 14.35 14.43
19865 246.0 7.8 808 19870 roll 0.71 - - 3157 - 2.58 0.101 3659 536.8 224.9 - - 2144 - - - - - - - - 14.85 14.26 14.85
19927 240.7 8.7 817 19934 done 0.71 0.10 0.203 3137 -200.0 2.40 0.038 2271 -578.3 224.9 - - 2144 - - - - - - - - 14.13 14.44 14.29
20257 218.6 6.7 829 20283 roll 0.74 - - 3147 - 2.45 0.060 859 -576.3 245.9 21.55 1.340 2065 -3.7 0.121 - - - - - - 14.88 14.31 13.69
20326 213.7 7.2 839 20347 done 0.84 - - 3146 - 2.50 0.053 2278 567.6 257.8 12.25 1.422 2017 -3.9 0.119 - - - - - - 14.44 14.37 13.61
20705 184.9 7.7 851 20710 roll 0.84 - - 3145 - 2.58 0.102 3658 534.9 259.1 - - 2012 - - - - - - - - 14.78 14.31 14.78
20753 180.6 9.0 858 20760 done 0.84 - - 3157 - 2.40 0.038 2273 -577.1 259.1 - - 2014 - - - - - - - - 14.46 14.42 14.48
21097 151.2 8.7 865 21103 roll 0.84 - - 3167 - 2.47 0.064 862 -571.3 259.1 - - 2013 - - - - - - - - 14.82 14.35 14.82
21131 147.9 9.0 870 21137 done 0.84 - - 3167 - 2.50 0.053 2278 566.4 259.1 - - 2013 - - - - - - - - 14.43 14.35 14.47
21489 114.2 9.4 879 21494 roll 0.84 - - 3167 - 2.58 0.100 3660 535.7 259.1 - - 2013 - - - - - - - - 14.84 14.23 14.85
21537 109.3 10.3 886 21544 done 0.84 - - 3177 - 2.38 0.037 2271 -583.6 259.1 - - 2013 - - - - - - - - 14.50 14.46 14.52
21853 80.1 9.0 896 21858 roll 0.84 - - 3187 - 2.47 0.063 863 -570.0 259.1 - - 2013 - - - - - - - - 14.84 14.36 14.85
21901 75.9 8.4 903 21909 done 0.84 - - 3187 - 2.47 0.052 2269 569.2 259.1 - - 2010 - - - - - - - - 14.42 14.35 14.46
22217 55.1 5.4 915 22246 roll 0.90 - - 3197 - 2.55 0.062 854 -554.9 305.8 23.80 0.334 1833 -7.4 0.249 - - - - - - 14.85 14.41 14.00
22273 52.2 5.2 920 22307 done 1.08 0.10 0.116 3275 780.0 2.42 0.051 2269 584.7 355.7 25.98 0.324 1634 -7.7 0.250 - - - - - - 14.42 14.43 14.04
22639 25.8 6.2 939 22664 roll 1.12 - - 3274 - 2.62 0.098 3651 527.5 386.3 15.57 0.244 1511 -7.9 0.169 - - - - - - 14.80 14.30 14.03
22780 16.9 6.8 959 22798 done 1.14 - - 3288 - 2.38 0.038 2243 -591.6 404.4 9.40 0.218 1441 -7.4 0.117 - - - - - - 14.57 14.49 14.08
22998 end climb: SURFACE_DEPTH_REACHED
22998 begin surface coast
23026 end surface coast: CONTROL_FINISHED_OK
23026 begin surface
SM -2.50 - - - - -8.38 9.07 0.070 198 21.8 0.98 0.083 2764 -6622.4 500.39 45.12 0.153 1058 23.4 0.039 - - - - - -