SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 140 * Raw log
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• Previous call tries 1 • 56.86 of 350.00 AH used of 24V (83.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth -0.38 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: 2 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 100 done -0.90 - - 131 - - - 2776 - -116.8 -79.07 - 3516 - - - - - - - - 14.66 13.26 14.66
102 0.8 -3.9 2 124 roll -0.90 11.75 0.397 2603 210.4 2.35 0.034 1362 -601.7 -116.8 - - 3518 - - - - - - - - 14.21 14.48 14.49
142 28.3 -46.9 9 153 done -0.19 0.90 0.252 2833 255.6 2.53 0.071 2760 552.6 -116.8 - - 3519 - - - - - - - - 14.25 14.39 14.43
458 59.7 -6.8 21 466 roll -0.32 0.08 0.150 2768 -812.5 2.33 0.045 1375 -594.4 -116.8 - - 3521 - - - - - - - - 14.58 14.55 14.64
486 62.2 -9.1 25 495 done -0.41 - - 2758 - 2.45 0.068 2765 567.3 -116.8 - - 3520 - - - - - - - - 14.58 14.49 14.61
822 88.7 -7.7 40 830 roll -0.41 - - 2750 - 1.98 0.106 3834 539.9 -116.8 - - 3522 - - - - - - - - 14.83 14.47 14.84
870 91.8 -6.2 47 879 done -0.41 - - 2756 - 1.80 0.042 2752 -601.1 -116.8 - - 3522 - - - - - - - - 14.72 14.68 14.73
1186 113.6 -7.2 56 1193 roll -0.49 - - 2744 - 2.03 0.105 3834 533.0 -116.8 - - 3522 - - - - - - - - 14.87 14.54 14.87
1290 121.7 -7.7 71 1300 done -0.57 - - 2744 - 1.77 0.042 2769 -601.7 -116.8 - - 3522 - - - - - - - - 14.76 14.71 14.76
1634 143.5 -5.8 78 1642 roll -0.68 0.12 0.101 2651 -775.0 2.28 0.044 1388 -605.7 -116.8 - - 3521 - - - - - - - - 14.68 14.65 14.73
1690 148.6 -9.8 86 1698 done -0.68 0.10 0.220 2671 200.0 2.45 0.068 2778 567.3 -116.8 - - 3519 - - - - - - - - 14.47 14.59 14.62
2026 180.1 -9.5 99 2033 roll -0.68 - - 2671 - 2.38 0.044 1388 -584.0 -116.8 - - 3520 - - - - - - - - 14.90 14.64 14.90
2053 182.6 -9.2 103 2062 done -0.68 - - 2661 - 2.42 0.067 2769 570.7 -116.8 - - 3519 - - - - - - - - 14.67 14.59 14.71
2418 217.5 -9.6 113 2426 roll -0.68 - - 2652 - 1.95 0.104 3827 542.6 -116.8 - - 3516 - - - - - - - - 14.90 14.57 14.90
2452 220.7 -9.7 118 2460 done -0.68 - - 2653 - 1.77 0.041 2759 -603.4 -116.8 - - 3516 - - - - - - - - 14.78 14.74 14.79
2810 256.0 -10.0 127 2823 roll -0.68 - - 2653 - 2.30 0.047 1379 -600.0 -116.8 - - 3513 - - - - - - - - 14.93 14.69 14.93
2856 260.5 -9.9 133 2870 done -0.68 0.12 0.243 2679 216.7 2.42 0.070 2769 574.4 -116.8 - - 3513 - - - - - - - - 14.52 14.64 14.73
3211 290.4 -8.3 141 3224 roll -0.68 - - 2672 - 1.90 0.108 3821 553.7 -116.8 - - 3509 - - - - - - - - 14.97 14.63 14.97
3243 293.2 -8.4 145 3256 done -0.68 - - 2672 - 1.70 0.045 2768 -619.4 -116.8 - - 3509 - - - - - - - - 14.83 14.79 14.85
3611 324.7 -8.6 155 3624 roll -0.68 - - 2670 - 2.33 0.047 1377 -597.0 -116.8 - - 3507 - - - - - - - - 14.97 14.72 14.96
3643 327.6 -9.1 159 3656 done -0.68 - - 2661 - 2.42 0.070 2764 573.1 -116.8 - - 3506 - - - - - - - - 14.81 14.68 14.84
4011 361.9 -9.4 169 4024 roll -0.68 - - 2653 - 1.95 0.109 3835 549.2 -116.8 - - 3504 - - - - - - - - 14.97 14.64 14.97
4050 365.9 -10.3 174 4063 done -0.68 - - 2653 - 1.77 0.045 2745 -615.8 -116.8 - - 3504 - - - - - - - - 14.81 14.75 14.82
4411 401.2 -9.7 183 4424 roll -0.68 0.08 0.268 2678 312.5 2.28 0.044 1374 -601.3 -116.8 - - 3502 - - - - - - - - 14.50 14.71 14.65
4485 407.6 -8.3 193 4498 done -0.68 - - 2671 - 2.42 0.070 2775 578.9 -116.8 - - 3502 - - - - - - - - 14.80 14.67 14.84
4811 434.0 -8.0 204 4825 roll -0.68 - - 2671 - 2.35 0.047 1379 -594.0 -116.8 - - 3500 - - - - - - - - 14.98 14.71 14.98
4850 437.1 -8.2 209 4863 done -0.68 - - 2662 - 2.42 0.071 2771 575.2 -116.8 - - 3499 - - - - - - - - 14.81 14.66 14.83
5211 466.1 -8.0 218 5224 done -0.68 - - 2661 - - - 2771 - -116.8 - - 3494 - - - - - - - - 14.97 14.98 14.97
5548 493.7 -8.3 224 5561 roll -0.68 - - 2653 - 1.92 0.111 3828 550.5 -116.8 - - 3496 - - - - - - - - 14.99 14.62 14.99
5586 497.4 -9.6 229 5599 done -0.68 - - 2653 - 1.73 0.047 2777 -607.5 -116.8 - - 3496 - - - - - - - - 14.85 14.78 14.85
5948 530.6 -9.3 238 5961 roll -0.68 - - 2653 - 2.35 0.047 1372 -597.9 -116.8 - - 3494 - - - - - - - - 14.98 14.70 14.98
5972 533.1 -9.4 241 5986 done -0.68 0.12 0.243 2680 225.0 2.45 0.072 2769 570.2 -116.8 - - 3494 - - - - - - - - 14.52 14.65 14.74
6292 559.2 -8.0 251 6305 done -0.68 - - 2680 - - - 2767 - -116.8 - - 3491 - - - - - - - - 14.97 14.97 14.97
6628 584.5 -7.4 257 6641 done -0.68 - - 2680 - - - 2764 - -116.8 - - 3491 - - - - - - - - 14.98 14.98 14.98
6965 608.2 -7.1 263 6978 roll -0.68 - - 2680 - 2.38 0.050 1371 -585.3 -116.8 - - 3490 - - - - - - - - 14.97 14.70 14.98
6989 610.1 -7.0 266 7002 done -0.68 - - 2671 - 2.45 0.073 2769 570.6 -116.8 - - 3490 - - - - - - - - 14.76 14.61 14.78
7308 634.9 -7.9 276 7322 roll -0.68 - - 2671 - 2.38 0.047 1369 -588.2 -116.8 - - 3488 - - - - - - - - 14.97 14.69 14.98
7347 638.2 -8.6 281 7360 done -0.68 - - 2662 - 2.45 0.073 2766 570.2 -116.8 - - 3488 - - - - - - - - 14.78 14.63 14.81
7708 669.0 -8.6 290 7722 roll -0.68 - - 2662 - 2.38 0.049 1369 -587.0 -116.8 - - 3487 - - - - - - - - 14.97 14.69 14.97
7740 671.8 -9.0 294 7753 done -0.68 - - 2653 - 2.45 0.073 2765 569.8 -116.8 - - 3485 - - - - - - - - 14.78 14.61 14.80
8108 703.5 -8.5 304 8121 done -0.68 - - 2653 - - - 2765 - -116.8 - - 3485 - - - - - - - - 14.96 14.96 14.96
8444 730.4 -7.9 310 8457 done -0.68 - - 2653 - - - 2765 - -116.8 - - 3484 - - - - - - - - 14.96 14.96 14.96
8780 756.8 -7.9 316 8793 roll -0.68 - - 2653 - 2.38 0.050 1373 -584.9 -116.8 - - 3481 - - - - - - - - 14.96 14.64 14.95
8818 760.0 -8.4 321 8832 done -0.68 0.10 0.249 2674 210.0 2.45 0.075 2767 569.0 -116.8 - - 3482 - - - - - - - - 14.45 14.58 14.69
9181 787.4 -7.7 330 9194 roll -0.68 - - 2674 - 2.38 0.050 1373 -585.7 -116.8 - - 3481 - - - - - - - - 14.95 14.66 14.95
9233 791.8 -8.1 337 9248 done -0.68 - - 2665 - 2.47 0.074 2768 564.8 -116.8 - - 3480 - - - - - - - - 14.76 14.59 14.78
9577 820.3 -8.3 344 9590 done -0.68 - - 2665 - - - 2770 - -116.8 - - 3479 - - - - - - - - 14.95 14.95 14.94
9913 846.0 -7.5 350 9927 roll -0.68 - - 2665 - 2.38 0.050 1375 -586.1 -116.8 - - 3479 - - - - - - - - 14.95 14.65 14.95
9966 850.0 -7.3 357 9981 done -0.68 - - 2656 - 2.45 0.076 2757 564.1 -116.8 - - 3479 - - - - - - - - 14.74 14.58 14.77
10310 873.9 -6.9 364 10323 roll -0.68 - - 2653 - 2.35 0.049 1376 -587.7 -116.8 - - 3479 - - - - - - - - 14.95 14.65 14.95
10348 876.6 -4.6 369 10362 done -0.68 0.10 0.246 2677 240.0 2.45 0.073 2756 563.3 -116.8 - - 3478 - - - - - - - - 14.41 14.54 14.64
10710 897.6 -5.9 378 10723 done -0.68 - - 2677 - - - 2756 - -116.8 - - 3478 - - - - - - - - 14.93 14.93 14.93
11047 916.2 -5.7 384 11059 done -0.68 - - 2677 - - - 2756 - -116.8 - - 3476 - - - - - - - - 14.93 14.93 14.93
11324 end dive: TARGET_DEPTH_EXCEEDED
11324 begin apogee
11329 932.4 -5.8 389 11454 roll -0.23 0.50 0.180 2827 300.0 - - 2229 - - 115.18 1.965 3050 -3.7 0.333 - - - - - - 14.47 14.05 13.33
11456 end apogee: CONTROL_FINISHED_OK
11456 begin climb
11458 935.0 - 391 11597 done 0.90 1.08 0.120 3167 314.8 - - 2231 - 116.8 122.12 1.929 2578 -3.9 0.356 - - - - - - 14.05 14.27 13.22
11945 896.2 9.3 421 11958 roll 0.75 - - 3165 - 2.67 0.104 3656 533.7 116.8 - - 2569 - - - - - - - - 14.63 14.33 14.64
12019 888.7 9.2 431 12032 done 0.54 0.38 0.247 3078 -228.9 2.38 0.046 2272 -581.5 116.8 - - 2569 - - - - - - - - 14.22 14.46 14.48
12346 868.8 5.8 442 12399 done 0.59 - - 3079 - - - 2268 - 158.3 44.85 1.909 2421 -3.3 0.285 - - - - - - 14.78 14.28 13.62
12685 846.7 6.8 448 12718 roll 0.62 - - 3079 - 2.70 0.107 3656 514.1 178.8 21.17 1.999 2333 -4.2 0.335 - - - - - - 14.69 14.28 13.69
12757 841.1 8.1 458 12771 done 0.62 - - 3088 - 2.42 0.046 2255 -578.9 178.8 - - 2328 - - - - - - - - 14.46 14.39 14.49
13077 817.1 7.7 468 13090 roll 0.62 - - 3089 - 2.62 0.106 3656 534.7 179.7 - - 2324 - - - - - - - - 14.73 14.43 14.74
13115 813.7 9.4 473 13129 done 0.62 - - 3097 - 2.40 0.046 2251 -585.4 179.7 - - 2324 - - - - - - - - 14.62 14.55 14.64
13477 784.6 8.2 482 13490 done 0.62 - - 3098 - - - 2247 - 179.7 - - 2324 - - - - - - - - 14.81 14.81 14.81
13813 757.6 8.0 488 13827 roll 0.62 - - 3098 - 2.62 0.107 3660 539.3 179.7 - - 2322 - - - - - - - - 14.85 14.52 14.85
13874 752.4 8.8 496 13887 done 0.62 - - 3107 - 2.40 0.046 2252 -586.7 179.7 - - 2322 - - - - - - - - 14.72 14.65 14.74
14214 724.7 8.1 509 14227 done 0.62 - - 3107 - - - 2248 - 179.7 - - 2323 - - - - - - - - 14.88 14.88 14.88
14550 696.0 8.6 515 14564 roll 0.62 - - 3107 - 2.62 0.107 3661 539.3 179.7 - - 2325 - - - - - - - - 14.88 14.54 14.89
14611 690.1 9.6 523 14624 done 0.62 - - 3117 - 2.40 0.046 2250 -587.9 179.7 - - 2322 - - - - - - - - 14.75 14.66 14.76
14951 657.6 9.6 536 14964 done 0.62 - - 3117 - - - 2246 - 179.7 - - 2322 - - - - - - - - 14.89 14.89 14.89
15287 625.3 9.5 542 15301 roll 0.62 - - 3117 - 2.62 0.106 3663 540.8 179.7 - - 2321 - - - - - - - - 14.90 14.54 14.90
15348 619.1 10.5 550 15361 done 0.62 - - 3127 - 2.38 0.045 2263 -588.2 179.7 - - 2322 - - - - - - - - 14.76 14.68 14.78
15688 588.3 8.9 563 15701 done 0.62 - - 3127 - - - 2259 - 179.7 - - 2321 - - - - - - - - 14.90 14.90 14.90
16024 559.0 8.7 569 16038 roll 0.62 - - 3127 - 2.60 0.106 3663 540.0 179.7 - - 2321 - - - - - - - - 14.90 14.54 14.90
16077 553.8 9.9 576 16091 done 0.62 0.12 0.243 3103 -200.0 2.38 0.046 2265 -587.4 179.7 - - 2321 - - - - - - - - 14.43 14.66 14.69
16421 526.9 7.8 583 16434 roll 0.62 - - 3101 - 2.58 0.104 3664 542.2 179.7 - - 2321 - - - - - - - - 14.90 14.54 14.90
16446 524.8 7.9 586 16459 done 0.62 - - 3108 - 2.35 0.045 2265 -595.3 179.7 - - 2321 - - - - - - - - 14.76 14.69 14.78
16766 500.1 7.7 596 16779 roll 0.62 - - 3111 - 2.58 0.103 3659 540.3 180.7 - - 2321 - - - - - - - - 14.91 14.54 14.92
16790 498.0 7.8 599 16804 done 0.62 - - 3120 - 2.35 0.045 2265 -593.2 180.7 - - 2321 - - - - - - - - 14.76 14.68 14.78
17110 473.8 7.6 609 17123 roll 0.62 - - 3120 - 2.60 0.105 3663 537.7 184.6 - - 2318 - - - - - - - - 14.90 14.54 14.90
17171 468.5 9.0 617 17184 done 0.62 - - 3130 - 2.35 0.045 2275 -590.6 184.6 - - 2321 - - - - - - - - 14.75 14.66 14.76
17511 440.5 8.1 630 17524 done 0.62 - - 3134 - - - 2271 - 184.6 - - 2322 - - - - - - - - 14.91 14.92 14.91
17848 414.0 7.8 636 17861 roll 0.62 - - 3129 - 2.58 0.106 3657 537.2 184.6 - - 2322 - - - - - - - - 14.91 14.55 14.91
17886 410.6 8.8 641 17900 done 0.62 0.12 0.238 3105 -200.0 2.33 0.046 2277 -592.3 184.6 - - 2321 - - - - - - - - 14.43 14.67 14.66
18248 386.2 6.6 650 18294 roll 0.65 - - 3115 - 2.50 0.066 865 -564.8 209.6 30.42 1.491 2206 -3.8 0.186 - - - - - - 14.91 14.50 13.94
18306 382.1 7.3 658 18324 done 0.67 - - 3115 - 2.45 0.058 2280 577.6 220.3 5.10 1.681 2173 -6.5 0.279 - - - - - - 14.60 14.52 13.78
18644 355.0 8.1 671 18658 roll 0.67 - - 3115 - 2.53 0.104 3654 543.1 220.3 1.30 0.260 2173 - - - - - - - - 14.78 14.44 14.30
18697 350.0 9.5 678 18711 done 0.67 - - 3124 - 2.38 0.044 2265 -583.6 220.3 1.23 0.263 2172 - - - - - - - - 14.61 14.56 14.35
19041 319.9 8.8 685 19054 done 0.67 - - 3124 - - - 2260 - 220.3 1.30 0.259 2171 - - - - - - - - 14.83 14.61 14.35
19377 292.5 8.0 691 19391 roll 0.67 - - 3124 - 2.58 0.103 3658 541.9 220.3 1.20 0.262 2173 - - - - - - - - 14.85 14.50 14.38
19438 287.4 8.5 699 19451 done 0.67 - - 3133 - 2.33 0.044 2281 -591.0 220.3 - - 2181 - - - - - - - - 14.72 14.64 14.73
19778 260.9 7.8 712 19791 roll 0.67 - - 3144 - 2.42 0.063 862 -586.4 220.3 1.35 0.259 2173 -5.9 1.134 - - - - - - 14.88 14.54 14.34
19817 257.6 8.1 717 19831 done 0.67 - - 3144 - 2.42 0.059 2283 587.2 220.3 1.20 0.267 2170 -2.5 0.458 - - - - - - 14.71 14.57 14.40
20179 225.1 9.2 726 20192 roll 0.67 - - 3144 - 2.53 0.102 3654 541.9 220.3 1.48 0.261 2175 3.4 -0.554 - - - - - - 14.90 14.52 14.29
20217 221.0 10.4 731 20231 done 0.67 0.12 0.241 3119 -208.3 2.33 0.044 2269 -594.4 220.3 1.00 0.249 2173 - - - - - - - - 14.42 14.66 14.44
20579 190.3 8.5 740 20592 roll 0.67 - - 3128 - 2.42 0.065 856 -583.9 220.3 - - 2182 - - - - - - - - 14.90 14.57 14.90
20618 186.8 9.0 745 20632 done 0.67 - - 3128 - 2.42 0.057 2277 587.2 220.3 1.48 0.259 2172 -6.8 0.926 - - - - - - 14.73 14.59 14.33
20980 156.2 8.2 754 20993 roll 0.67 - - 3128 - 2.58 0.104 3654 533.7 220.3 1.52 0.262 2174 - - - - - - - - 14.90 14.51 14.23
21033 151.5 9.0 761 21048 done 0.67 - - 3138 - 2.33 0.043 2276 -591.4 220.3 1.48 0.270 2173 - - - - - - - - 14.75 14.66 14.25
21377 125.3 7.5 768 21395 roll 0.67 - - 3138 - 2.55 0.102 3662 543.5 225.5 4.07 1.314 2156 -4.2 0.076 - - - - - - 14.90 14.61 13.80
21421 121.4 9.0 774 21434 done 0.67 0.10 0.242 3119 -190.0 2.33 0.043 2270 -597.4 225.5 1.40 0.264 2152 -2.9 0.250 - - - - - - 14.50 14.69 14.34
21777 101.2 5.1 782 21821 roll 0.82 0.08 0.149 3188 862.5 2.62 0.099 3658 529.8 282.7 28.67 0.471 1925 -7.9 0.323 - - - - - - 14.67 14.56 14.28
21869 93.2 9.7 795 21882 done 0.82 0.10 0.247 3169 -190.0 2.33 0.042 2273 -594.4 282.7 - - 1927 - - - - - - - - 14.44 14.64 14.64
22204 73.6 5.1 809 22248 roll 0.97 0.08 0.148 3233 800.0 2.60 0.098 3653 530.8 340.7 28.10 0.386 1693 -8.3 0.302 - - - - - - 14.60 14.52 14.30
22302 65.1 10.3 823 22315 done 0.97 0.10 0.236 3213 -200.0 2.30 0.042 2279 -597.4 340.7 - - 1695 - - - - - - - - 14.41 14.59 14.62
22630 42.6 6.5 836 22655 roll 1.09 0.08 0.149 3291 975.0 2.50 0.063 854 -570.0 368.1 13.48 0.289 1583 -8.3 0.233 - - - - - - 14.63 14.57 14.34
22800 31.7 6.0 860 22832 done 1.14 - - 3294 - 2.42 0.053 2294 595.0 406.0 18.70 0.260 1433 -8.0 0.186 - - - - - - 14.69 14.57 14.35
23161 3.1 8.7 878 23174 roll 1.14 - - 3291 - 2.45 0.096 3656 555.9 406.0 - - 1436 - - - - - - - - 14.86 14.54 14.86
23176 end climb: SURFACE_DEPTH_REACHED
23176 begin surface coast
23184 end surface coast: CONTROL_FINISHED_OK
23184 begin surface
SM -0.54 - - - - -8.39 9.02 0.076 190 21.1 1.50 0.038 2756 1664.0 500.14 42.58 0.154 1056 24.8 0.009 - - - - - -