SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 291 * Raw log
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• Previous call tries 1 • 108.96 of 350.00 AH used of 24V (68.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth -2.31 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 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
13 - - - 91 done -0.93 - - 146 - - - 2782 - -107.1 -76.07 - 3478 - - - - - - - - 14.65 12.73 14.65
94 -0.7 -5.4 2 114 roll -0.93 11.75 0.389 2590 208.0 2.40 0.035 1362 -591.7 -107.1 - - 3480 - - - - - - - - 14.05 14.41 14.44
182 36.7 -22.6 16 189 done -0.63 0.40 0.228 2690 250.0 2.55 0.075 2762 549.0 -107.1 - - 3481 - - - - - - - - 14.08 14.32 14.26
505 75.2 -11.0 29 512 roll -0.63 - - 2690 - 2.42 0.042 1361 -578.9 -107.1 - - 3482 - - - - - - - - 14.81 14.45 14.81
553 77.6 -14.0 36 561 done -0.63 - - 2681 - 2.50 0.066 2757 558.4 -107.1 - - 3483 - - - - - - - - 14.46 14.37 14.51
869 100.6 -7.4 48 874 roll -0.63 - - 2673 - 2.00 0.107 3818 530.5 -107.1 - - 3483 - - - - - - - - 14.86 14.35 14.86
1106 120.8 -8.9 82 1112 done -0.63 - - 2673 - 1.83 0.039 2719 -600.5 -107.1 - - 3483 - - - - - - - - 14.71 14.66 14.72
1429 147.7 -8.3 93 1436 roll -0.63 - - 2664 - 2.10 0.107 3818 523.3 -107.1 - - 3483 - - - - - - - - 14.92 14.37 14.92
1519 156.0 -9.1 106 1526 done -0.63 0.10 0.217 2694 300.0 1.77 0.040 2763 -596.0 -107.1 - - 3482 - - - - - - - - 14.40 14.68 14.59
1877 180.9 -6.8 115 1883 roll -0.63 - - 2694 - 2.33 0.045 1384 -591.8 -107.1 - - 3480 - - - - - - - - 14.92 14.50 14.91
1946 185.8 -6.8 125 1953 done -0.63 - - 2685 - 2.45 0.068 2756 560.0 -107.1 - - 3479 - - - - - - - - 14.55 14.46 14.59
2269 209.4 -7.5 136 2270 done -0.63 - - 2685 - - - 2756 - -107.1 - - 3478 - - - - - - - - 14.94 14.94 14.95
2605 234.3 -7.4 142 2611 roll -0.63 - - 2685 - 2.35 0.045 1384 -583.8 -107.1 - - 3475 - - - - - - - - 14.95 14.57 14.95
2639 236.9 -7.5 147 2646 done -0.63 - - 2676 - 2.50 0.070 2760 550.4 -107.1 - - 3471 - - - - - - - - 14.57 14.45 14.59
2997 263.5 -7.5 156 3003 roll -0.63 - - 2668 - 2.03 0.112 3824 524.1 -107.1 - - 3472 - - - - - - - - 14.93 14.35 14.94
3045 267.5 -8.3 163 3053 done -0.63 - - 2667 - 1.80 0.042 2758 -592.2 -107.1 - - 3471 - - - - - - - - 14.73 14.69 14.75
3389 294.5 -7.8 170 3395 roll -0.63 - - 2668 - 2.35 0.045 1394 -580.4 -107.1 - - 3470 - - - - - - - - 14.94 14.50 14.94
3445 299.0 -8.0 178 3451 done -0.63 0.10 0.207 2688 200.0 2.47 0.072 2757 551.8 -107.1 - - 3469 - - - - - - - - 14.26 14.42 14.42
3781 322.3 -6.9 191 3782 done -0.63 - - 2688 - - - 2757 - -107.1 - - 3467 - - - - - - - - 14.95 14.95 14.95
4117 345.8 -7.1 197 4123 roll -0.63 - - 2689 - 2.40 0.049 1399 -565.8 -107.1 - - 3466 - - - - - - - - 14.95 14.48 14.95
4186 350.9 -7.1 207 4193 done -0.71 - - 2680 - 2.47 0.073 2759 550.6 -107.1 - - 3465 - - - - - - - - 14.51 14.41 14.56
4509 374.4 -7.4 218 4515 roll -0.71 - - 2671 - 2.03 0.116 3818 521.7 -107.1 - - 3463 - - - - - - - - 14.95 14.32 14.94
4536 376.6 -7.6 222 4543 done -0.71 - - 2671 - 1.83 0.043 2749 -584.2 -107.1 - - 3463 - - - - - - - - 14.72 14.66 14.73
4901 404.7 -7.7 232 4907 roll -0.71 - - 2671 - 2.35 0.044 1389 -578.7 -107.1 - - 3463 - - - - - - - - 14.93 14.49 14.93
4942 408.1 -7.8 238 4949 done -0.71 - - 2662 - 2.47 0.070 2750 551.0 -107.1 - - 3461 - - - - - - - - 14.50 14.40 14.54
5293 434.3 -7.3 246 5299 roll -0.71 - - 2662 - 2.35 0.044 1380 -583.0 -107.1 - - 3459 - - - - - - - - 14.92 14.52 14.92
5320 436.4 -7.3 250 5327 done -0.71 - - 2653 - 2.50 0.070 2756 550.4 -107.1 - - 3459 - - - - - - - - 14.51 14.40 14.56
5685 462.3 -7.1 260 5690 roll -0.71 - - 2644 - 2.05 0.113 3824 521.0 -107.1 - - 3458 - - - - - - - - 14.92 14.29 14.92
5741 466.6 -7.5 268 5747 done -0.71 - - 2643 - 1.83 0.044 2758 -582.5 -107.1 - - 3457 - - - - - - - - 14.62 14.60 14.64
6077 492.3 -7.8 281 6083 roll -0.71 - - 2644 - 2.40 0.045 1375 -576.2 -107.1 - - 3456 - - - - - - - - 14.93 14.46 14.92
6125 496.4 -8.3 288 6133 done -0.71 0.10 0.226 2663 190.0 2.53 0.068 2763 548.6 -107.1 - - 3456 - - - - - - - - 14.15 14.38 14.33
6469 522.6 -7.7 295 6470 done -0.71 - - 2662 - - - 2762 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6805 550.4 -8.3 301 6806 done -0.71 - - 2663 - - - 2767 - -107.1 - - 3454 - - - - - - - - 14.95 14.95 14.95
7141 578.5 -8.2 307 7147 roll -0.71 - - 2663 - 2.45 0.047 1378 -566.9 -107.1 - - 3452 - - - - - - - - 14.92 14.43 14.92
7175 581.4 -8.4 312 7182 done -0.71 - - 2653 - 2.53 0.070 2749 541.9 -107.1 - - 3452 - - - - - - - - 14.47 14.37 14.52
7533 609.0 -7.6 321 7534 done -0.71 - - 2653 - - - 2749 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7869 633.1 -7.1 327 7870 done -0.71 - - 2654 - - - 2750 - -107.1 - - 3449 - - - - - - - - 14.92 14.91 14.92
8205 657.9 -7.4 333 8206 done -0.71 - - 2654 - - - 2749 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
8541 683.1 -7.5 339 8547 roll -0.71 - - 2644 - 2.10 0.116 3822 511.0 -107.1 - - 3447 - - - - - - - - 14.91 14.15 14.91
8568 685.4 -8.0 343 8574 done -0.71 - - 2646 - 1.88 0.047 2756 -567.0 -107.1 - - 3447 - - - - - - - - 14.66 14.59 14.67
8933 714.3 -7.9 353 8939 roll -0.71 - - 2645 - 2.42 0.047 1372 -571.9 -107.1 - - 3445 - - - - - - - - 14.94 14.38 14.94
8967 717.1 -8.2 358 8974 done -0.71 0.10 0.217 2665 200.0 2.55 0.070 2758 543.5 -107.1 - - 3445 - - - - - - - - 14.09 14.31 14.27
9325 743.8 -7.4 367 9326 done -0.71 - - 2664 - - - 2758 - -107.1 - - 3445 - - - - - - - - 14.90 14.90 14.90
9661 768.0 -7.2 373 9668 roll -0.71 - - 2665 - 2.50 0.047 1363 -558.0 -107.1 - - 3444 - - - - - - - - 14.90 14.35 14.90
9717 772.2 -7.9 381 9724 done -0.79 - - 2656 - 2.53 0.071 2753 549.4 -107.1 - - 3443 - - - - - - - - 14.51 14.31 14.54
10053 796.4 -7.2 394 10059 roll -0.79 - - 2648 - 2.08 0.116 3818 512.0 -107.1 - - 3443 - - - - - - - - 14.90 14.16 14.90
10087 799.1 -7.9 399 10093 done -0.79 - - 2643 - 1.88 0.046 2744 -571.3 -107.1 - - 3441 - - - - - - - - 14.62 14.57 14.64
10445 826.8 -8.0 408 10451 roll -0.79 - - 2647 - 2.40 0.046 1378 -569.2 -107.1 - - 3442 - - - - - - - - 14.89 14.33 14.89
10486 829.9 -7.2 414 10493 done -0.79 - - 2639 - 2.50 0.069 2741 545.2 -107.1 - - 3442 - - - - - - - - 14.39 14.28 14.44
10837 858.9 -8.2 422 10842 roll -0.79 - - 2630 - 2.10 0.116 3821 514.3 -107.1 - - 3441 - - - - - - - - 14.91 14.14 14.91
10885 863.2 -8.9 429 10894 done -0.79 - - 2630 - 1.88 0.046 2752 -568.6 -107.1 - - 3440 - - - - - - - - 14.61 14.54 14.62
11229 893.5 -8.9 436 11235 roll -0.79 - - 2629 - 2.42 0.045 1373 -569.8 -107.1 - - 3440 - - - - - - - - 14.88 14.33 14.89
11256 896.0 -8.0 440 11262 done -0.79 - - 2620 - 2.55 0.069 2756 542.4 -107.1 - - 3440 - - - - - - - - 14.37 14.28 14.43
11621 928.7 -8.8 450 11627 roll -0.79 - - 2612 - 2.08 0.114 3823 513.0 -107.1 - - 3439 - - - - - - - - 14.88 14.12 14.88
11632 end dive: TARGET_DEPTH_EXCEEDED
11632 begin apogee
11640 930.6 -9.3 452 11751 roll -0.23 0.73 0.186 2821 286.3 - - 2235 - - 109.35 1.939 3048 -3.6 0.339 - - - - - - 14.12 13.99 13.19
11753 end apogee: CONTROL_FINISHED_OK
11753 begin climb
11755 934.1 - 454 11881 roll 0.93 1.12 0.093 3182 322.3 2.47 0.057 864 -555.1 107.1 115.85 1.945 2620 -3.7 0.350 - - - - - - 13.97 14.00 12.95
11907 928.2 9.3 477 11917 done 0.78 0.10 0.213 3157 -250.0 2.58 0.050 2255 539.1 107.1 - - 2614 - - - - - - - - 13.73 13.85 13.86
12252 900.1 8.5 484 12257 roll 0.67 0.12 0.237 3120 -308.3 2.62 0.099 3658 535.5 107.1 - - 2611 - - - - - - - - 14.12 14.21 14.37
12334 893.0 8.4 496 12341 done 0.57 0.15 0.203 3089 -206.7 2.45 0.041 2257 -571.8 107.1 - - 2611 - - - - - - - - 14.12 14.38 14.28
12700 870.1 6.1 506 12741 roll 0.61 - - 3088 - 2.67 0.101 3658 524.7 139.2 35.08 1.903 2489 -3.5 0.314 - - - - - - 14.76 14.23 13.47
12783 864.6 7.5 518 12789 done 0.62 - - 3098 - 2.47 0.041 2252 -569.2 144.0 1.23 0.234 2477 -9.8 7.113 - - - - - - 14.34 14.31 14.04
13147 840.3 6.6 528 13183 roll 0.65 - - 3098 - 2.75 0.100 3656 510.5 166.4 31.10 1.904 2382 -3.1 0.266 - - - - - - 14.71 14.22 13.46
13223 835.0 7.8 539 13230 done 0.65 - - 3108 - 2.47 0.040 2254 -567.6 166.4 - - 2378 - - - - - - - - 14.33 14.30 14.35
13588 809.4 6.9 549 13610 roll 0.67 - - 3108 - 2.72 0.100 3659 516.5 183.1 17.62 1.978 2317 -3.5 0.280 - - - - - - 14.72 14.31 13.54
13643 805.3 7.6 557 13651 done 0.67 - - 3118 - 2.47 0.041 2254 -568.8 185.5 - - 2313 - - - - - - - - 14.40 14.35 14.41
13973 778.8 8.1 569 13980 roll 0.67 - - 3118 - 2.70 0.101 3676 526.7 185.5 - - 2311 - - - - - - - - 14.73 14.28 14.72
14029 773.6 9.6 577 14036 done 0.67 - - 3127 - 2.47 0.042 2262 -572.5 185.5 - - 2311 - - - - - - - - 14.48 14.43 14.50
14365 743.6 9.0 590 14371 roll 0.67 - - 3138 - 2.50 0.061 863 -559.6 185.5 - - 2309 - - - - - - - - 14.79 14.35 14.80
14399 740.5 8.9 595 14406 done 0.67 - - 3138 - 2.50 0.055 2268 562.0 185.5 - - 2309 - - - - - - - - 14.49 14.40 14.54
14757 707.1 9.4 604 14763 roll 0.67 - - 3138 - 2.65 0.106 3658 524.5 185.5 - - 2309 - - - - - - - - 14.83 14.27 14.83
14819 700.7 10.3 613 14827 done 0.67 0.10 0.209 3117 -210.0 2.42 0.041 2263 -576.4 185.5 - - 2309 - - - - - - - - 14.21 14.49 14.36
15149 673.8 8.1 625 15150 done 0.67 - - 3120 - - - 2263 - 185.5 - - 2308 - - - - - - - - 14.84 14.84 14.84
15485 648.2 7.6 631 15491 roll 0.67 - - 3119 - 2.65 0.103 3660 527.2 189.4 1.38 0.270 2299 -6.5 3.090 - - - - - - 14.85 14.23 13.96
15533 644.0 8.6 638 15542 done 0.67 - - 3123 - 2.42 0.041 2263 -577.3 189.4 1.25 0.236 2298 - - - - - - - - 14.53 14.49 14.06
15877 617.0 7.9 645 15878 done 0.67 - - 3129 - - - 2266 - 189.4 - - 2304 - - - - - - - - 14.87 14.88 14.88
16213 590.6 7.9 651 16219 roll 0.67 - - 3129 - 2.70 0.106 3660 516.3 189.4 - - 2304 - - - - - - - - 14.89 14.23 14.88
16247 587.5 8.9 656 16254 done 0.67 - - 3139 - 2.42 0.041 2274 -572.7 189.4 1.05 0.235 2296 -7.6 3.759 - - - - - - 14.52 14.48 14.14
16605 556.7 8.7 665 16606 done 0.67 - - 3139 - - - 2270 - 189.4 - - 2304 - - - - - - - - 14.88 14.89 14.88
16941 526.3 9.0 671 16947 roll 0.67 - - 3139 - 2.67 0.105 3653 518.0 189.4 - - 2303 - - - - - - - - 14.90 14.21 14.90
16982 522.1 10.2 677 16991 done 0.67 0.10 0.203 3121 -180.0 2.42 0.041 2261 -575.2 189.4 1.20 0.235 2296 -5.8 2.557 - - - - - - 14.16 14.47 14.06
17333 493.3 8.1 685 17334 done 0.67 - - 3120 - - - 2260 - 189.4 - - 2304 - - - - - - - - 14.86 14.87 14.87
17669 466.9 7.8 691 17675 roll 0.67 - - 3120 - 2.70 0.105 3674 523.7 189.4 - - 2304 - - - - - - - - 14.87 14.20 14.87
17731 461.3 9.0 700 17738 done 0.67 - - 3130 - 2.42 0.041 2275 -578.1 189.4 1.00 0.232 2296 -8.0 3.139 - - - - - - 14.50 14.45 14.12
18061 435.0 7.9 712 18067 roll 0.67 - - 3131 - 2.65 0.102 3667 525.3 189.4 - - 2304 - - - - - - - - 14.87 14.22 14.87
18088 432.5 8.8 716 18095 done 0.67 - - 3140 - 2.42 0.041 2273 -576.0 189.4 1.15 0.233 2296 -7.0 2.548 - - - - - - 14.51 14.47 14.09
18453 402.0 8.3 726 18454 done 0.67 - - 3140 - - - 2269 - 189.4 - - 2304 - - - - - - - - 14.89 14.88 14.89
18789 375.4 7.8 732 18791 done 0.67 - - 3140 - - - 2269 - 189.4 1.20 0.266 2296 -6.7 1.857 - - - - - - 14.86 14.38 14.04
19126 350.1 7.5 738 19140 roll 0.68 - - 3140 - 2.65 0.103 3658 524.2 194.3 10.15 1.659 2272 -2.4 0.098 - - - - - - 14.87 14.51 13.75
19194 344.2 8.8 748 19201 done 0.68 0.08 0.212 3126 -175.0 2.40 0.041 2278 -575.0 194.3 - - 2267 - - - - - - - - 14.24 14.51 14.40
19510 322.3 6.8 758 19538 roll 0.70 - - 3136 - 2.53 0.060 856 -562.1 212.3 19.58 1.491 2195 -3.7 0.157 - - - - - - 14.83 14.46 13.79
19558 318.8 7.0 765 19579 done 0.72 - - 3136 - 2.53 0.054 2280 562.8 227.1 15.27 1.501 2141 -3.5 0.148 - - - - - - 14.42 14.35 13.68
19902 291.3 8.2 779 19908 roll 0.72 - - 3136 - 2.60 0.104 3651 527.3 227.1 - - 2134 - - - - - - - - 14.73 14.22 14.74
19936 288.0 9.4 784 19943 done 0.72 - - 3146 - 2.40 0.039 2274 -573.8 227.1 - - 2136 - - - - - - - - 14.47 14.41 14.48
20295 256.5 8.8 793 20296 done 0.72 - - 3147 - - - 2269 - 227.1 - - 2134 - - - - - - - - 14.78 14.78 14.78
20630 227.2 8.7 799 20636 roll 0.72 - - 3146 - 2.65 0.103 3650 521.1 227.1 - - 2134 - - - - - - - - 14.82 14.24 14.83
20657 224.5 9.5 803 20664 done 0.72 - - 3157 - 2.38 0.041 2287 -572.7 227.1 - - 2133 - - - - - - - - 14.52 14.47 14.54
21022 191.3 9.0 813 21023 done 0.72 - - 3157 - - - 2282 - 227.1 - - 2134 - - - - - - - - 14.86 14.86 14.87
21358 162.0 8.7 819 21359 done 0.72 - - 3157 - - - 2282 - 227.1 - - 2134 - - - - - - - - 14.87 14.87 14.88
21694 131.7 9.0 825 21701 roll 0.72 - - 3157 - 2.62 0.104 3649 521.8 227.1 - - 2132 - - - - - - - - 14.87 14.21 14.87
21735 127.5 10.2 831 21742 done 0.72 0.10 0.197 3136 -210.0 2.38 0.040 2273 -578.2 227.1 - - 2134 - - - - - - - - 14.20 14.52 14.36
22086 100.5 7.4 839 22093 roll 0.73 - - 3146 - 2.47 0.059 863 -570.9 233.9 1.62 0.281 2125 -5.6 0.392 - - - - - - 14.89 14.10 13.67
22148 96.0 7.0 848 22164 done 0.75 - - 3146 - 2.53 0.053 2289 563.6 249.4 9.60 0.443 2057 -7.1 0.303 - - - - - - 14.40 14.31 14.04
22480 75.3 6.2 862 22501 roll 0.86 - - 3146 - 2.60 0.103 3659 526.9 279.7 16.12 0.393 1937 -7.4 0.281 - - - - - - 14.83 14.45 14.12
22730 59.3 5.7 898 22759 done 1.02 0.15 0.066 3237 606.7 2.35 0.039 2294 -580.9 320.8 21.35 0.348 1775 -7.6 0.255 - - - - - - 14.42 14.45 14.12
23089 37.3 5.5 916 23117 roll 1.08 - - 3247 - 2.55 0.060 865 -560.4 366.0 22.08 0.284 1593 -8.2 0.214 - - - - - - 14.81 14.45 14.15
23243 30.1 4.4 938 23284 done 1.29 0.15 0.087 3331 560.0 2.50 0.051 2303 575.2 432.8 32.88 0.262 1326 -8.1 0.184 - - - - - - 14.44 14.40 14.15
23591 end climb: SURFACE_DEPTH_REACHED
23591 begin surface coast
23617 end surface coast: CONTROL_FINISHED_OK
23617 begin surface
SM -2.18 - - - - -8.40 9.43 0.086 184 19.5 0.85 0.084 2772 -10185.9 500.14 31.12 0.159 1057 34.0 0.048 - - - - - -