SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 216 * Raw log
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• Previous call tries 2 • 84.49 of 350.00 AH used of 24V (75.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth -2.64 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
14 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 103 done -0.90 - - 188 - - - 2781 - -116.8 -77.35 - 3516 - - - - - - - - 14.62 13.03 14.62
105 6.7 -16.6 3 125 roll -0.90 11.48 0.392 2603 210.4 2.33 0.034 1367 -606.9 -116.8 - - 3516 - - - - - - - - 14.16 14.40 14.43
228 52.1 -25.2 21 237 done -0.60 0.38 0.247 2694 239.5 2.55 0.076 2758 545.5 -116.8 - - 3518 - - - - - - - - 14.14 14.32 14.33
551 87.7 -7.5 34 557 roll -0.60 - - 2685 - 1.98 0.103 3838 545.5 -116.8 - - 3519 - - - - - - - - 14.76 14.39 14.76
788 109.3 -8.8 68 796 done -0.60 - - 2685 - 1.80 0.037 2749 -605.0 -116.8 - - 3520 - - - - - - - - 14.66 14.61 14.66
1111 134.8 -7.8 79 1118 roll -0.60 - - 2677 - 2.05 0.103 3827 525.9 -116.8 - - 3520 - - - - - - - - 14.83 14.42 14.82
1215 143.4 -8.3 94 1224 done -0.60 - - 2677 - 1.75 0.038 2768 -605.1 -116.8 - - 3519 - - - - - - - - 14.69 14.64 14.70
1559 172.6 -8.7 101 1561 done -0.60 - - 2675 - - - 2768 - -116.8 - - 3517 - - - - - - - - 14.84 14.85 14.85
1895 201.6 -8.6 107 1902 roll -0.60 - - 2677 - 2.33 0.044 1401 -586.7 -116.8 - - 3515 - - - - - - - - 14.86 14.54 14.86
1922 204.0 -8.8 111 1930 done -0.60 0.10 0.207 2698 210.0 2.47 0.068 2776 556.7 -116.8 - - 3514 - - - - - - - - 14.33 14.47 14.50
2287 232.6 -7.8 121 2289 done -0.60 - - 2698 - - - 2777 - -116.8 - - 3512 - - - - - - - - 14.86 14.86 14.86
2623 257.8 -7.4 127 2636 roll -0.60 - - 2698 - 2.35 0.044 1394 -588.5 -116.8 - - 3508 - - - - - - - - 14.90 14.56 14.90
2697 263.3 -7.2 137 2710 done -0.60 - - 2689 - 2.45 0.070 2779 565.3 -116.8 - - 3508 - - - - - - - - 14.68 14.52 14.70
3024 288.6 -7.9 148 3037 done -0.60 - - 2689 - - - 2779 - -116.8 - - 3505 - - - - - - - - 14.91 14.92 14.92
3360 315.0 -7.7 154 3373 done -0.60 - - 2689 - - - 2779 - -116.8 - - 3503 - - - - - - - - 14.91 14.91 14.91
3696 339.8 -7.3 160 3709 done -0.60 - - 2689 - - - 2779 - -116.8 - - 3501 - - - - - - - - 14.91 14.95 14.92
4032 363.5 -7.1 166 4045 roll -0.60 - - 2689 - 2.38 0.044 1391 -583.2 -116.8 - - 3499 - - - - - - - - 14.96 14.60 14.93
4099 368.4 -7.3 175 4112 done -0.60 - - 2679 - 2.47 0.071 2778 561.5 -116.8 - - 3499 - - - - - - - - 14.69 14.51 14.72
4433 394.2 -7.8 187 4446 roll -0.60 - - 2672 - 1.95 0.112 3828 538.5 -116.8 - - 3497 - - - - - - - - 14.92 14.47 14.92
4471 397.1 -7.9 192 4485 done -0.60 0.10 0.223 2702 300.0 1.70 0.043 2790 -610.6 -116.8 - - 3496 - - - - - - - - 14.42 14.71 14.64
4834 420.3 -6.4 201 4847 roll -0.68 - - 2703 - 2.38 0.044 1378 -593.3 -116.8 - - 3494 - - - - - - - - 14.92 14.60 14.92
4943 429.2 -6.8 216 4957 done -0.77 0.08 0.145 2637 -825.0 2.47 0.070 2769 563.2 -116.8 - - 3493 - - - - - - - - 14.54 14.46 14.63
5287 461.9 -9.8 223 5300 roll -0.77 - - 2629 - 1.95 0.111 3823 540.5 -116.8 - - 3492 - - - - - - - - 14.91 14.44 14.92
5319 465.3 -10.5 227 5332 done -0.77 - - 2628 - 1.75 0.041 2751 -612.6 -116.8 - - 3492 - - - - - - - - 14.76 14.71 14.77
5687 502.4 -10.0 237 5701 roll -0.77 - - 2627 - 2.30 0.043 1381 -595.7 -116.8 - - 3490 - - - - - - - - 14.93 14.59 14.93
5733 507.0 -9.6 243 5747 done -0.77 0.10 0.252 2647 200.0 2.47 0.070 2775 564.4 -116.8 - - 3490 - - - - - - - - 14.33 14.50 14.58
6088 538.0 -8.7 251 6101 done -0.77 - - 2647 - - - 2775 - -116.8 - - 3489 - - - - - - - - 14.91 14.91 14.91
6424 565.8 -8.2 257 6438 roll -0.77 - - 2647 - 2.40 0.045 1377 -582.5 -116.8 - - 3487 - - - - - - - - 14.90 14.57 14.91
6456 568.5 -8.4 261 6470 done -0.77 - - 2638 - 2.47 0.072 2772 564.8 -116.8 - - 3487 - - - - - - - - 14.66 14.48 14.69
6826 600.3 -8.7 271 6839 done -0.77 - - 2638 - - - 2764 - -116.8 - - 3486 - - - - - - - - 14.90 14.90 14.90
7162 630.1 -8.9 277 7175 done -0.77 - - 2638 - - - 2765 - -116.8 - - 3484 - - - - - - - - 14.90 14.90 14.90
7497 661.8 -9.6 283 7511 roll -0.77 - - 2638 - 2.38 0.045 1386 -579.4 -116.8 - - 3482 - - - - - - - - 14.92 14.55 14.92
7536 665.7 -10.2 288 7549 done -0.77 - - 2628 - 2.45 0.073 2758 560.0 -116.8 - - 3482 - - - - - - - - 14.64 14.45 14.68
7898 701.5 -9.9 297 7911 roll -0.77 - - 2619 - 2.00 0.113 3827 534.5 -116.8 - - 3481 - - - - - - - - 14.92 14.37 14.92
7959 707.8 -10.5 305 7972 done -0.77 0.10 0.245 2648 290.0 1.77 0.044 2770 -597.2 -116.8 - - 3481 - - - - - - - - 14.31 14.65 14.54
8300 737.4 -8.5 318 8313 roll -0.77 - - 2649 - 2.40 0.047 1362 -586.7 -116.8 - - 3480 - - - - - - - - 14.92 14.53 14.92
8374 743.7 -8.2 328 8387 done -0.77 - - 2640 - 2.50 0.073 2762 560.0 -116.8 - - 3479 - - - - - - - - 14.62 14.43 14.66
8701 770.4 -8.1 339 8714 roll -0.77 - - 2632 - 2.00 0.116 3828 533.0 -116.8 - - 3478 - - - - - - - - 14.88 14.36 14.88
8746 774.3 -8.6 345 8760 done -0.77 - - 2630 - 1.80 0.044 2742 -603.3 -116.8 - - 3478 - - - - - - - - 14.71 14.65 14.72
9101 801.6 -7.7 353 9114 done -0.77 - - 2630 - - - 2741 - -116.8 - - 3477 - - - - - - - - 14.90 14.91 14.90
9437 827.5 -7.8 359 9450 done -0.77 - - 2630 - - - 2742 - -116.8 - - 3477 - - - - - - - - 14.87 14.86 14.86
9773 855.2 -8.2 365 9786 done -0.77 - - 2630 - - - 2743 - -116.8 - - 3475 - - - - - - - - 14.88 14.88 14.88
10109 884.2 -8.7 371 10123 roll -0.77 - - 2634 - 2.33 0.046 1382 -584.1 -116.8 - - 3474 - - - - - - - - 14.88 14.50 14.87
10149 888.0 -10.1 376 10162 done -0.77 - - 2622 - 2.50 0.073 2773 556.4 -116.8 - - 3474 - - - - - - - - 14.60 14.43 14.65
10511 919.3 -8.7 385 10524 done -0.77 - - 2622 - - - 2773 - -116.8 - - 3473 - - - - - - - - 14.89 14.89 14.91
10676 end dive: TARGET_DEPTH_EXCEEDED
10676 begin apogee
10682 933.7 -8.6 388 10808 roll -0.23 0.70 0.191 2825 290.0 - - 2226 - - 116.28 1.940 3049 -3.6 0.338 - - - - - - 14.26 14.01 13.25
10810 end apogee: CONTROL_FINISHED_OK
10810 begin climb
10812 937.4 - 390 10952 roll 0.90 1.08 0.099 3172 321.3 2.42 0.055 884 -554.5 116.8 123.07 1.970 2585 -3.8 0.346 - - - - - - 14.01 14.04 13.07
11182 911.2 9.5 445 11195 done 0.75 - - 3171 - 2.45 0.056 2264 563.3 116.8 - - 2571 - - - - - - - - 14.33 14.21 14.36
11523 876.9 10.1 458 11537 roll 0.59 0.25 0.224 3107 -256.0 2.42 0.055 879 -572.3 116.8 - - 2569 - - - - - - - - 14.14 14.36 14.32
11765 857.5 7.8 492 11778 done 0.59 - - 3107 - 2.40 0.055 2258 574.6 116.8 - - 2568 - - - - - - - - 14.54 14.40 14.57
12092 832.4 7.8 503 12105 roll 0.59 - - 3107 - 2.60 0.106 3651 535.8 116.8 - - 2568 - - - - - - - - 14.78 14.33 14.77
12166 826.1 8.5 513 12180 done 0.49 0.17 0.225 3064 -252.9 2.35 0.041 2268 -588.5 116.8 - - 2568 - - - - - - - - 14.19 14.50 14.47
12493 807.0 5.7 524 12555 roll 0.55 - - 3064 - 2.70 0.105 3649 511.5 162.1 49.08 1.850 2399 -3.4 0.290 - - - - - - 14.80 14.21 13.56
12588 801.0 6.9 537 12620 done 0.57 - - 3074 - 2.40 0.041 2254 -581.2 180.1 19.95 1.957 2331 -3.4 0.269 - - - - - - 14.38 14.31 13.49
12949 775.9 7.0 553 12979 roll 0.59 - - 3074 - 2.67 0.106 3658 525.8 196.1 16.38 1.968 2261 -4.3 0.325 - - - - - - 14.64 14.29 13.64
13011 771.1 7.8 562 13025 done 0.59 - - 3083 - 2.40 0.041 2259 -582.9 196.1 - - 2259 - - - - - - - - 14.44 14.37 14.45
13345 745.9 7.5 574 13358 done 0.60 - - 3083 - - - 2254 - 200.8 - - 2255 - - - - - - - - 14.70 14.70 14.70
13681 720.6 7.5 580 13700 roll 0.60 - - 3082 - 2.60 0.105 3648 536.2 206.6 4.80 1.945 2229 -5.4 0.387 - - - - - - 14.76 14.45 13.39
13753 714.5 8.6 590 13767 done 0.60 - - 3092 - 2.38 0.042 2253 -586.1 206.6 1.48 0.269 2226 -2.0 1.038 - - - - - - 14.61 14.52 14.16
14081 689.4 7.7 601 14098 roll 0.61 - - 3093 - 2.65 0.106 3647 526.0 207.8 2.50 0.894 2226 - - - - - - - - 14.78 14.50 13.31
14110 686.8 8.5 605 14124 done 0.61 - - 3102 - 2.35 0.042 2262 -589.4 207.8 - - 2230 - - - - - - - - 14.64 14.57 14.66
14479 655.2 8.6 615 14492 done 0.61 - - 3104 - - - 2258 - 207.8 1.55 0.264 2222 -5.2 2.469 - - - - - - 14.81 14.49 14.08
14816 626.2 8.6 621 14829 roll 0.61 - - 3102 - 2.62 0.106 3654 532.8 207.8 1.33 0.257 2224 - - - - - - - - 14.81 14.40 14.19
14877 620.5 9.3 629 14891 done 0.61 - - 3112 - 2.38 0.041 2261 -585.3 207.8 1.45 0.265 2223 - - - - - - - - 14.64 14.57 14.14
15219 592.2 8.2 642 15232 roll 0.61 - - 3122 - 2.42 0.060 861 -578.5 207.8 1.27 0.258 2224 - - - - - - - - 14.83 14.40 14.21
15251 589.5 8.2 646 15264 done 0.61 - - 3123 - 2.45 0.057 2272 575.9 207.8 - - 2227 - - - - - - - - 14.61 14.48 14.64
15620 557.7 8.8 656 15633 roll 0.61 - - 3122 - 2.58 0.104 3662 538.8 207.8 1.48 0.260 2223 -2.7 1.118 - - - - - - 14.85 14.35 14.09
15687 550.7 10.6 665 15701 done 0.61 0.10 0.239 3100 -220.0 2.38 0.041 2257 -590.3 207.8 1.15 0.243 2223 - - - - - - - - 14.30 14.57 14.28
16023 522.2 8.4 677 16036 roll 0.61 - - 3109 - 2.40 0.057 866 -579.6 207.8 1.35 0.256 2224 - - - - - - - - 14.83 14.40 14.18
16069 518.0 8.6 683 16082 done 0.61 - - 3109 - 2.45 0.055 2279 576.7 207.8 - - 2230 - - - - - - - - 14.63 14.48 14.66
16424 488.1 8.4 691 16437 roll 0.61 - - 3110 - 2.62 0.106 3653 524.4 207.8 1.50 0.259 2223 -4.7 1.695 - - - - - - 14.85 14.36 14.07
16498 481.3 9.1 701 16512 done 0.61 - - 3119 - 2.35 0.041 2266 -590.2 207.8 1.38 0.259 2222 - - - - - - - - 14.65 14.59 14.19
16826 456.1 7.5 712 16844 roll 0.61 - - 3128 - 2.40 0.060 866 -583.3 212.5 5.15 1.819 2209 -2.5 0.122 - - - - - - 14.85 14.53 13.73
16898 450.9 7.0 722 16937 done 0.63 - - 3129 - 2.42 0.055 2267 578.9 229.7 26.17 1.580 2133 -2.9 0.160 - - - - - - 14.62 14.48 13.83
17279 422.9 7.4 734 17296 roll 0.64 - - 3126 - 2.67 0.106 3661 522.1 236.3 1.55 0.258 2112 -13.5 4.281 - - - - - - 14.72 14.33 14.01
17342 417.4 8.5 743 17356 done 0.64 - - 3138 - 2.38 0.041 2266 -586.1 236.3 1.48 0.263 2109 -2.0 0.620 - - - - - - 14.57 14.49 14.06
17676 389.3 8.7 755 17690 done 0.64 0.10 0.239 3110 -280.0 - - 2261 - 236.3 1.25 0.236 2109 - - - - - - - - 14.28 14.47 14.20
18013 361.8 8.2 761 18026 roll 0.64 - - 3104 - 2.65 0.105 3659 527.5 236.3 - - 2118 - - - - - - - - 14.79 14.34 14.79
18045 358.7 8.9 765 18059 done 0.64 - - 3118 - 2.38 0.041 2259 -588.2 236.3 1.48 0.255 2110 -5.4 1.466 - - - - - - 14.62 14.57 14.15
18415 328.4 8.0 775 18429 roll 0.64 - - 3118 - 2.62 0.103 3657 533.6 236.3 1.45 0.255 2110 - - - - - - - - 14.82 14.35 14.10
18461 324.3 9.2 781 18476 done 0.64 - - 3127 - 2.35 0.041 2264 -592.8 236.3 1.52 0.259 2109 - - - - - - - - 14.64 14.54 14.09
18817 293.9 8.6 789 18831 roll 0.64 - - 3127 - 2.62 0.103 3663 534.0 236.3 1.08 0.259 2111 - - - - - - - - 14.84 14.39 14.25
18850 290.7 9.4 793 18864 done 0.64 - - 3136 - 2.33 0.041 2278 -594.4 236.3 1.05 0.250 2110 - - - - - - - - 14.55 14.50 14.26
19220 256.6 9.2 803 19234 roll 0.64 - - 3147 - 2.45 0.058 858 -579.6 236.3 1.05 0.262 2112 - - - - - - - - 14.83 14.43 14.26
19266 252.3 9.0 809 19280 done 0.64 0.12 0.207 3110 -308.3 2.45 0.054 2275 578.4 236.3 1.25 0.256 2108 -3.2 0.608 - - - - - - 14.33 14.47 14.16
19622 225.8 7.3 817 19653 roll 0.65 - - 3110 - 2.60 0.104 3658 531.9 246.1 15.77 1.408 2064 -2.8 0.086 - - - - - - 14.85 14.52 13.98
19680 221.3 8.0 825 19693 done 0.65 - - 3116 - 2.35 0.039 2273 -589.4 246.1 - - 2061 - - - - - - - - 14.62 14.54 14.63
20021 197.7 6.8 838 20054 roll 0.68 - - 3127 - 2.50 0.060 863 -564.0 266.0 20.30 1.320 1991 -3.4 0.100 - - - - - - 14.81 14.49 13.96
20081 193.2 7.7 846 20094 done 0.76 - - 3127 - 2.47 0.054 2286 576.1 267.9 - - 1978 - - - - - - - - 14.54 14.43 14.57
20421 163.1 9.1 859 20434 done 0.76 - - 3127 - - - 2286 - 267.9 - - 1978 - - - - - - - - 14.76 14.76 14.76
20758 135.4 8.0 865 20771 roll 0.76 - - 3126 - 2.55 0.106 3653 536.1 267.9 - - 1979 - - - - - - - - 14.78 14.36 14.78
20797 132.0 8.9 870 20810 done 0.76 - - 3135 - 2.35 0.039 2263 -591.5 267.9 - - 1978 - - - - - - - - 14.63 14.55 14.65
21159 103.6 8.1 879 21172 roll 0.76 - - 3146 - 2.40 0.061 868 -581.2 267.9 - - 1976 - - - - - - - - 14.81 14.41 14.81
21198 100.4 8.0 884 21211 done 0.76 - - 3146 - 2.42 0.054 2275 581.4 267.9 - - 1977 - - - - - - - - 14.62 14.47 14.64
21532 76.9 5.7 898 21566 roll 0.81 - - 3153 - 2.53 0.060 859 -559.7 312.7 21.85 0.404 1804 -7.9 0.291 - - - - - - 14.83 14.54 14.23
21571 74.6 5.9 903 21605 done 0.96 0.10 0.115 3218 650.0 2.42 0.054 2272 583.9 353.3 21.12 0.398 1643 -7.6 0.275 - - - - - - 14.57 14.50 14.21
21932 51.5 5.1 921 21971 done 1.11 0.05 0.203 3282 1280.0 - - 2272 - 410.3 28.95 0.326 1415 -7.9 0.240 - - - - - - 14.50 14.54 14.22
22268 26.2 8.2 933 22282 roll 1.11 0.08 0.243 3254 -350.0 2.55 0.099 3659 543.9 410.3 - - 1417 - - - - - - - - 14.28 14.38 14.41
22321 22.6 7.6 940 22336 done 1.11 - - 3263 - 2.38 0.040 2254 -590.3 413.9 2.22 0.241 1402 -6.8 0.122 - - - - - - 14.62 14.54 14.23
22639 4.3 5.1 952 22671 VBD 1.28 0.08 0.145 3345 1025.0 - - 2250 - 470.9 22.30 0.169 1222 -8.1 0.040 - - - - - - 14.57 - 14.61
22671 end climb: SURFACE_DEPTH_REACHED
22671 begin surface coast
22692 end surface coast: CONTROL_FINISHED_OK
22692 begin surface
SM -2.52 - - - - -8.39 9.40 0.090 193 20.5 0.95 0.078 2773 -8569.5 500.14 19.23 0.156 1057 55.0 0.091 - - - - - -