SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 163 * Raw log
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• Previous call tries 1 • 64.69 of 350.00 AH used of 24V (81.52% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.5 deg, depth -1.38 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 117 done -0.90 - - 143 - - - 2781 - -116.8 -95.45 - 3519 - - - - - - - - 14.63 13.17 14.63
119 2.9 -7.6 3 141 roll -0.90 11.80 0.398 2596 207.9 1.90 0.078 3831 552.6 -116.8 - - 3521 - - - - - - - - 14.17 14.40 14.47
195 46.7 -37.4 15 202 done -0.35 0.68 0.285 2778 267.6 1.83 0.047 2771 -579.2 -116.8 - - 3520 - - - - - - - - 14.19 14.47 14.48
531 87.0 -8.2 30 538 roll -0.35 - - 2778 - 2.40 0.044 1332 -599.6 -116.8 - - 3520 - - - - - - - - 14.77 14.50 14.77
755 102.8 -6.2 62 762 done -0.48 - - 2768 - 2.47 0.063 2768 581.4 -116.8 - - 3522 - - - - - - - - 14.63 14.50 14.64
1091 119.2 -4.8 75 1094 done -0.60 0.12 0.105 2683 -708.3 - - 2769 - -116.8 - - 3522 - - - - - - - - 14.63 14.70 14.69
1427 145.2 -8.6 81 1435 roll -0.60 - - 2683 - 2.40 0.044 1368 -583.8 -116.8 - - 3521 - - - - - - - - 14.85 14.58 14.85
1483 150.3 -8.7 89 1491 done -0.60 0.10 0.246 2701 180.0 2.45 0.066 2778 575.5 -116.8 - - 3522 - - - - - - - - 14.43 14.56 14.64
1819 175.2 -7.2 102 1826 roll -0.60 - - 2701 - 2.40 0.044 1352 -594.2 -116.8 - - 3520 - - - - - - - - 14.86 14.61 14.86
1860 178.3 -7.1 108 1868 done -0.60 - - 2694 - 2.50 0.064 2767 566.0 -116.8 - - 3517 - - - - - - - - 14.63 14.55 14.71
2211 205.4 -7.9 116 2218 roll -0.60 - - 2685 - 1.95 0.103 3821 540.5 -116.8 - - 3517 - - - - - - - - 14.87 14.50 14.88
2273 210.6 -8.5 125 2282 done -0.60 - - 2685 - 1.83 0.041 2732 -595.1 -116.8 - - 3516 - - - - - - - - 14.71 14.66 14.71
2603 238.2 -8.4 137 2611 roll -0.60 - - 2685 - 2.30 0.044 1380 -587.8 -116.8 - - 3514 - - - - - - - - 14.88 14.57 14.86
2630 240.6 -8.5 141 2639 done -0.60 - - 2676 - 2.42 0.066 2751 566.5 -116.8 - - 3514 - - - - - - - - 14.62 14.54 14.66
2995 271.8 -8.5 151 3008 roll -0.60 0.08 0.267 2695 237.5 1.92 0.103 3821 557.3 -116.8 - - 3511 - - - - - - - - 14.45 14.54 14.60
3062 277.5 -8.1 160 3075 done -0.60 - - 2695 - 1.73 0.045 2759 -613.9 -116.8 - - 3510 - - - - - - - - 14.78 14.73 14.80
3395 303.5 -7.8 172 3408 roll -0.60 - - 2695 - 2.30 0.046 1376 -601.3 -116.8 - - 3507 - - - - - - - - 14.94 14.66 14.94
3455 308.3 -7.9 180 3469 done -0.60 - - 2685 - 2.42 0.068 2764 573.6 -116.8 - - 3506 - - - - - - - - 14.76 14.61 14.78
3796 335.2 -7.9 193 3809 roll -0.60 - - 2685 - 2.35 0.046 1371 -592.8 -116.8 - - 3505 - - - - - - - - 14.95 14.69 14.95
3828 337.9 -8.1 197 3841 done -0.60 0.10 0.252 2705 200.0 2.40 0.067 2754 576.2 -116.8 - - 3505 - - - - - - - - 14.48 14.63 14.71
4197 365.6 -7.6 207 4210 done -0.60 - - 2704 - - - 2754 - -116.8 - - 3503 - - - - - - - - 14.96 14.96 14.96
4533 390.6 -7.3 213 4546 done -0.60 - - 2704 - - - 2754 - -116.8 - - 3501 - - - - - - - - 14.95 14.92 14.95
4869 415.6 -7.6 219 4882 roll -0.68 - - 2705 - 2.35 0.047 1376 -586.4 -116.8 - - 3500 - - - - - - - - 14.95 14.66 14.96
4901 418.3 -8.1 223 4914 done -0.76 0.05 0.209 2646 -1180.0 2.42 0.070 2759 571.5 -116.8 - - 3500 - - - - - - - - 14.65 14.62 14.76
5269 456.0 -10.5 233 5282 done -0.76 - - 2646 - - - 2759 - -116.8 - - 3497 - - - - - - - - 14.97 14.95 14.95
5605 488.2 -9.8 239 5619 roll -0.76 - - 2637 - 1.95 0.110 3828 548.2 -116.8 - - 3494 - - - - - - - - 14.95 14.56 14.95
5644 491.7 -9.8 244 5657 done -0.76 - - 2641 - 1.77 0.047 2748 -610.2 -116.8 - - 3495 - - - - - - - - 14.81 14.76 14.83
6006 523.9 -8.8 253 6019 roll -0.76 - - 2637 - 2.30 0.048 1372 -598.3 -116.8 - - 3494 - - - - - - - - 14.97 14.66 14.97
6052 528.0 -7.4 259 6065 done -0.76 - - 2628 - 2.40 0.070 2750 574.2 -116.8 - - 3493 - - - - - - - - 14.76 14.61 14.79
6406 559.6 -8.9 267 6419 roll -0.76 - - 2620 - 1.98 0.109 3825 542.9 -116.8 - - 3492 - - - - - - - - 14.95 14.54 14.95
6467 580.4 -10.6 275 6480 done -0.68 0.20 0.217 2678 290.0 1.80 0.047 2745 -600.0 -116.8 - - 3492 - - - - - - - - 14.45 14.74 14.69
6808 607.5 -7.7 288 6821 roll -0.68 - - 2678 - 2.30 0.047 1371 -597.4 -116.8 - - 3490 - - - - - - - - 14.95 14.66 14.94
6860 611.7 -7.7 295 6874 done -0.68 - - 2668 - 2.42 0.069 2751 570.2 -116.8 - - 3489 - - - - - - - - 14.74 14.59 14.77
7205 638.4 -7.7 302 7217 done -0.68 - - 2672 - - - 2749 - -116.8 - - 3488 - - - - - - - - 14.95 14.95 14.95
7540 663.1 -7.3 308 7553 done -0.68 - - 2669 - - - 2752 - -116.8 - - 3486 - - - - - - - - 14.95 14.95 14.95
7876 686.8 -7.1 314 7890 roll -0.68 - - 2669 - 2.38 0.048 1361 -584.5 -116.8 - - 3486 - - - - - - - - 14.95 14.64 14.95
7929 690.8 -7.4 321 7944 done -0.68 - - 2660 - 2.47 0.072 2753 563.6 -116.8 - - 3485 - - - - - - - - 14.73 14.57 14.76
8273 716.9 -7.7 328 8286 roll -0.68 - - 2652 - 1.98 0.114 3822 539.9 -116.8 - - 3483 - - - - - - - - 14.93 14.50 14.93
8334 722.1 -8.5 336 8347 done -0.68 0.08 0.256 2674 275.0 1.80 0.047 2741 -600.6 -116.8 - - 3484 - - - - - - - - 14.45 14.72 14.66
8674 747.5 -7.5 349 8687 done -0.68 - - 2674 - - - 2741 - -116.8 - - 3483 - - - - - - - - 14.92 14.92 14.92
9011 772.9 -7.5 355 9024 done -0.68 - - 2674 - - - 2741 - -116.8 - - 3481 - - - - - - - - 14.92 14.92 14.92
9346 797.5 -7.3 361 9360 roll -0.68 - - 2666 - 2.05 0.113 3821 526.8 -116.8 - - 3481 - - - - - - - - 14.92 14.48 14.92
9385 800.5 -8.0 366 9398 done -0.68 - - 2666 - 1.80 0.049 2745 -597.8 -116.8 - - 3480 - - - - - - - - 14.76 14.69 14.77
9747 826.3 -7.1 375 9760 done -0.68 - - 2666 - - - 2745 - -116.8 - - 3480 - - - - - - - - 14.92 14.92 14.92
10083 850.5 -7.3 381 10096 roll -0.68 - - 2666 - 2.33 0.047 1371 -589.7 -116.8 - - 3479 - - - - - - - - 14.94 14.62 14.92
10136 854.2 -7.3 388 10150 done -0.68 - - 2657 - 2.47 0.072 2754 559.9 -116.8 - - 3478 - - - - - - - - 14.71 14.54 14.73
10480 879.3 -7.3 395 10493 roll -0.68 - - 2657 - 2.38 0.049 1372 -580.7 -116.8 - - 3478 - - - - - - - - 14.93 14.59 14.93
10519 881.7 -5.4 400 10533 done -0.68 0.10 0.248 2677 200.0 2.45 0.073 2748 561.6 -116.8 - - 3478 - - - - - - - - 14.38 14.54 14.63
10881 904.7 -6.3 409 10894 roll -0.68 - - 2670 - 2.00 0.115 3826 539.0 -116.8 - - 3476 - - - - - - - - 14.91 14.46 14.91
10976 911.0 -6.5 422 10989 done -0.68 - - 2669 - 1.83 0.049 2732 -597.8 -116.8 - - 3477 - - - - - - - - 14.75 14.68 14.76
11336 end dive: TARGET_DEPTH_EXCEEDED
11336 begin apogee
11340 933.4 -6.2 431 11465 roll -0.23 0.52 0.184 2825 300.0 - - 2229 - - 114.80 1.950 3052 -3.7 0.338 - - - - - - 14.40 14.04 13.28
11467 end apogee: CONTROL_FINISHED_OK
11467 begin climb
11468 936.1 - 433 11609 done 0.90 1.15 0.119 3186 313.9 - - 2230 - 116.8 122.12 1.948 2579 -3.9 0.355 - - - - - - 14.04 14.26 13.16
11958 893.5 10.3 463 11971 roll 0.72 0.15 0.259 3150 -240.0 2.40 0.060 858 -571.7 116.8 - - 2570 - - - - - - - - 14.15 14.38 14.32
11990 890.5 9.7 467 12003 done 0.58 0.22 0.232 3089 -277.3 2.45 0.056 2261 572.7 116.8 - - 2570 - - - - - - - - 14.19 14.38 14.44
12358 865.1 6.8 477 12392 roll 0.61 - - 3092 - 2.65 0.103 3659 527.5 137.6 21.50 1.978 2496 -3.4 0.287 - - - - - - 14.76 14.35 13.74
12431 859.5 8.1 487 12445 done 0.61 - - 3099 - 2.40 0.043 2255 -585.0 137.6 - - 2490 - - - - - - - - 14.50 14.43 14.52
12751 836.0 7.5 497 12764 roll 0.62 - - 3109 - 2.42 0.063 852 -579.8 143.7 1.35 0.262 2478 -8.9 5.414 - - - - - - 14.75 14.45 14.26
12804 832.0 7.5 504 12822 done 0.62 - - 3107 - 2.45 0.057 2255 572.7 148.4 4.72 1.955 2463 -3.2 0.258 - - - - - - 14.59 14.49 13.45
13151 805.9 7.6 518 13169 roll 0.63 - - 3117 - 2.58 0.105 3659 544.2 151.2 4.47 1.894 2452 -2.5 0.200 - - - - - - 14.79 14.52 13.50
13222 799.7 8.6 528 13236 done 0.54 0.15 0.235 3078 -260.0 2.38 0.043 2252 -591.2 151.2 1.38 0.256 2449 -2.2 1.296 - - - - - - 14.36 14.56 14.23
13550 777.3 6.8 539 13595 roll 0.56 - - 3088 - 2.42 0.063 859 -575.6 172.6 31.77 1.865 2355 -3.0 0.235 - - - - - - 14.81 14.33 13.73
13620 772.5 6.4 549 13669 done 0.60 - - 3088 - 2.42 0.057 2251 575.2 201.6 32.10 1.860 2239 -3.6 0.286 - - - - - - 14.47 14.37 13.56
14000 744.0 7.6 561 14013 roll 0.60 - - 3088 - 2.60 0.103 3653 539.2 205.2 - - 2233 - - - - - - - - 14.68 14.35 14.68
14073 737.6 8.7 571 14087 done 0.60 - - 3097 - 2.40 0.044 2243 -587.5 205.2 - - 2233 - - - - - - - - 14.57 14.50 14.58
14400 710.9 8.2 582 14413 done 0.60 - - 3097 - - - 2239 - 205.2 - - 2232 - - - - - - - - 14.78 14.78 14.78
14736 682.7 8.5 588 14749 roll 0.60 - - 3097 - 2.67 0.104 3661 532.6 205.2 - - 2231 - - - - - - - - 14.83 14.46 14.83
14789 677.6 9.7 595 14802 done 0.60 - - 3107 - 2.40 0.043 2256 -585.4 205.2 - - 2231 - - - - - - - - 14.68 14.60 14.69
15133 645.7 9.3 602 15146 roll 0.60 - - 3117 - 2.42 0.065 854 -579.3 205.2 - - 2234 - - - - - - - - 14.85 14.54 14.85
15172 642.0 9.1 607 15185 done 0.60 - - 3117 - 2.42 0.057 2263 582.2 205.2 - - 2230 - - - - - - - - 14.68 14.56 14.71
15534 606.7 9.8 616 15547 roll 0.60 - - 3117 - 2.58 0.106 3662 542.2 205.2 - - 2230 - - - - - - - - 14.85 14.50 14.86
15579 601.6 11.2 622 15593 done 0.60 0.10 0.242 3099 -180.0 2.38 0.042 2248 -594.1 205.2 - - 2230 - - - - - - - - 14.42 14.63 14.64
15934 570.3 8.7 630 15948 roll 0.60 - - 3109 - 2.40 0.063 855 -580.4 205.2 - - 2229 - - - - - - - - 14.87 14.55 14.87
15973 566.9 8.6 635 15986 done 0.60 - - 3109 - 2.42 0.057 2263 581.8 205.2 - - 2230 - - - - - - - - 14.70 14.56 14.71
16335 536.1 8.5 644 16348 roll 0.60 - - 3109 - 2.55 0.104 3651 544.3 205.2 - - 2230 - - - - - - - - 14.88 14.50 14.88
16408 529.1 9.6 654 16422 done 0.60 - - 3118 - 2.35 0.042 2256 -593.6 205.2 - - 2230 - - - - - - - - 14.72 14.64 14.73
16735 500.8 8.6 665 16748 roll 0.60 - - 3128 - 2.40 0.064 861 -581.2 205.2 - - 2229 - - - - - - - - 14.88 14.55 14.88
16809 494.4 8.4 675 16822 done 0.60 0.10 0.225 3099 -290.0 2.40 0.057 2260 582.9 205.2 - - 2230 - - - - - - - - 14.42 14.57 14.63
17135 470.5 7.3 686 17160 roll 0.62 - - 3099 - 2.53 0.102 3653 550.6 215.7 12.48 1.746 2186 -3.5 0.181 - - - - - - 14.88 14.56 13.98
17200 465.3 8.5 695 17213 done 0.62 - - 3107 - 2.38 0.042 2245 -591.6 215.7 - - 2183 - - - - - - - - 14.68 14.61 14.69
17534 439.5 7.8 707 17547 roll 0.62 - - 3117 - 2.38 0.065 861 -581.5 215.7 - - 2181 - - - - - - - - 14.83 14.52 14.83
17572 436.4 7.8 712 17585 done 0.62 - - 3117 - 2.40 0.057 2256 581.2 215.7 - - 2181 - - - - - - - - 14.63 14.53 14.65
17934 406.4 8.5 721 17947 roll 0.62 - - 3117 - 2.58 0.105 3660 544.2 215.7 - - 2181 - - - - - - - - 14.85 14.47 14.85
17972 402.5 10.1 726 17986 done 0.62 - - 3126 - 2.38 0.042 2245 -594.5 215.7 - - 2182 - - - - - - - - 14.68 14.60 14.69
18334 368.2 9.5 735 18348 roll 0.62 - - 3136 - 2.38 0.065 858 -582.8 215.7 - - 2181 - - - - - - - - 14.86 14.54 14.86
18366 365.1 9.5 739 18379 done 0.62 0.12 0.219 3100 -300.0 2.40 0.057 2255 582.1 215.7 - - 2181 - - - - - - - - 14.42 14.56 14.63
18735 335.6 7.8 749 18748 done 0.62 - - 3100 - - - 2256 - 215.7 - - 2181 - - - - - - - - 14.87 14.88 14.88
19071 309.7 7.7 755 19084 roll 0.62 - - 3100 - 2.58 0.103 3660 544.2 216.1 - - 2181 - - - - - - - - 14.88 14.48 14.88
19103 306.9 8.4 759 19116 done 0.62 - - 3107 - 2.38 0.042 2245 -594.5 216.1 - - 2181 - - - - - - - - 14.72 14.64 14.74
19471 276.8 8.2 769 19484 roll 0.62 - - 3117 - 2.38 0.065 859 -582.4 216.1 - - 2181 - - - - - - - - 14.88 14.55 14.88
19524 272.5 8.0 776 19537 done 0.62 - - 3117 - 2.42 0.057 2265 581.0 216.1 - - 2181 - - - - - - - - 14.71 14.57 14.73
19868 246.8 7.4 783 19885 roll 0.63 - - 3117 - 2.58 0.104 3655 538.8 222.9 3.30 1.195 2164 -5.2 0.203 - - - - - - 14.89 14.61 13.68
19925 242.1 8.5 791 19939 done 0.63 - - 3126 - 2.35 0.043 2251 -597.4 222.9 1.48 0.292 2163 - - - - - - - - 14.66 14.62 14.10
20266 215.3 7.9 804 20279 roll 0.63 - - 3137 - 2.45 0.064 865 -565.7 222.9 1.70 0.327 2165 - - - - - - - - 14.88 14.57 14.02
20312 211.6 8.1 810 20326 done 0.63 0.10 0.223 3107 -300.0 2.38 0.057 2256 584.5 222.9 1.35 0.256 2163 - - - - - - - - 14.41 14.53 14.20
20668 186.6 7.0 818 20701 roll 0.64 - - 3106 - 2.62 0.101 3656 534.4 238.5 21.48 1.312 2093 -3.3 0.088 - - - - - - 14.89 14.53 14.07
20740 180.7 8.4 828 20754 done 0.64 - - 3114 - 2.38 0.042 2240 -595.0 238.5 - - 2090 - - - - - - - - 14.65 14.59 14.67
21060 155.7 7.9 838 21073 roll 0.64 - - 3124 - 2.38 0.064 857 -581.1 238.5 - - 2090 - - - - - - - - 14.81 14.51 14.81
21120 151.0 7.8 846 21134 done 0.64 - - 3124 - 2.40 0.055 2257 583.3 238.5 - - 2087 - - - - - - - - 14.66 14.53 14.68
21461 123.6 8.1 859 21474 roll 0.64 - - 3124 - 2.55 0.103 3650 546.3 238.5 - - 2088 - - - - - - - - 14.84 14.47 14.85
21562 114.8 8.7 873 21576 done 0.64 - - 3133 - 2.35 0.043 2255 -593.6 238.5 - - 2088 - - - - - - - - 14.67 14.59 14.69
21889 92.9 5.6 882 21922 roll 0.70 - - 3133 - 2.65 0.100 3655 528.3 284.7 20.62 0.447 1918 -8.2 0.327 - - - - - - 14.86 14.53 14.26
22019 84.2 5.8 900 22052 done 0.84 - - 3141 - 2.35 0.041 2251 -597.4 326.7 21.00 0.421 1748 -8.1 0.309 - - - - - - 14.69 14.62 14.25
22367 68.4 4.4 916 22412 done 1.11 0.28 0.070 3274 475.0 - - 2250 - 399.9 35.40 0.373 1458 -8.2 0.287 - - - - - - 14.62 14.59 14.26
22701 42.5 6.5 928 22728 roll 1.14 - - 3283 - 2.38 0.060 860 -584.0 427.0 13.45 0.292 1350 -8.0 0.223 - - - - - - 14.81 14.50 14.27
22832 35.1 5.7 946 22865 done 1.27 - - 3283 - 2.40 0.053 2275 589.6 470.7 21.60 0.269 1176 -8.1 0.201 - - - - - - 14.65 14.53 14.31
23180 12.1 6.9 962 23199 done 1.41 0.15 0.086 3387 693.3 - - 2275 - 489.7 9.77 0.197 1099 -7.9 0.092 - - - - - - 14.62 14.60 14.38
23288 end climb: SURFACE_DEPTH_REACHED
23288 begin surface coast
23317 end surface coast: CONTROL_FINISHED_OK
23317 begin surface
SM 0.29 - - - - -8.43 9.05 0.044 181 20.0 0.85 0.085 2758 -8997.6 500.14 5.07 0.168 1058 208.7 -0.037 - - - - - -