SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 183 * Raw log
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• Previous call tries 1 • 71.91 of 350.00 AH used of 24V (79.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.1 deg, depth -3.63 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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
18 - - - 98 done -0.90 - - 161 - - - 2770 - -116.8 -76.25 - 3516 - - - - - - - - 14.61 13.15 14.57
100 -1.9 -5.6 2 122 roll -0.90 11.75 0.399 2604 207.9 2.33 0.030 1343 -612.4 -116.8 - - 3518 - - - - - - - - 14.16 14.42 14.43
162 31.8 -28.4 12 171 done -0.49 0.52 0.277 2728 238.5 2.58 0.064 2772 553.9 -116.8 - - 3519 - - - - - - - - 14.13 14.31 14.31
485 76.9 -12.3 25 492 roll -0.49 - - 2722 - 1.98 0.103 3827 532.8 -116.8 - - 3519 - - - - - - - - 14.62 14.33 14.64
722 99.8 -9.0 59 730 done -0.49 - - 2721 - 1.80 0.037 2751 -597.8 -116.8 - - 3520 - - - - - - - - 14.56 14.52 14.57
1073 120.2 -5.6 67 1080 roll -0.49 - - 2712 - 2.05 0.103 3827 524.9 -116.8 - - 3519 - - - - - - - - 14.70 14.35 14.70
1303 137.6 -7.6 100 1312 done -0.49 - - 2712 - 1.77 0.039 2776 -593.8 -116.8 - - 3521 - - - - - - - - 14.58 14.53 14.59
1633 160.8 -6.8 112 1641 roll -0.49 - - 2712 - 2.35 0.041 1377 -595.3 -116.8 - - 3519 - - - - - - - - 14.71 14.47 14.71
1737 168.8 -8.0 127 1746 done -0.49 0.10 0.207 2734 220.0 2.53 0.064 2781 554.9 -116.8 - - 3518 - - - - - - - - 14.28 14.40 14.42
2081 193.2 -7.2 134 2084 done -0.59 - - 2734 - - - 2781 - -116.8 - - 3516 - - - - - - - - 14.71 14.71 14.71
2417 216.7 -7.0 140 2425 roll -0.70 0.12 0.099 2656 -650.0 2.38 0.043 1379 -589.1 -116.8 - - 3512 - - - - - - - - 14.52 14.46 14.56
2529 227.9 -10.0 156 2537 done -0.70 - - 2646 - 2.50 0.067 2781 560.8 -116.8 - - 3512 - - - - - - - - 14.53 14.42 14.56
2865 262.7 -10.4 169 2878 roll -0.70 - - 2646 - 2.38 0.044 1381 -588.2 -116.8 - - 3509 - - - - - - - - 14.83 14.56 14.83
2896 266.4 -11.6 173 2910 done -0.70 0.10 0.252 2666 200.0 2.45 0.068 2777 569.8 -116.8 - - 3509 - - - - - - - - 14.36 14.51 14.59
3265 300.7 -9.3 183 3278 roll -0.70 - - 2666 - 2.38 0.044 1375 -589.1 -116.8 - - 3505 - - - - - - - - 14.89 14.63 14.89
3297 303.8 -9.4 187 3310 done -0.70 - - 2656 - 2.45 0.068 2778 572.7 -116.8 - - 3508 - - - - - - - - 14.71 14.57 14.73
3665 338.0 -9.3 197 3678 roll -0.70 - - 2648 - 1.92 0.109 3830 547.9 -116.8 - - 3503 - - - - - - - - 14.92 14.54 14.90
3718 343.1 -9.7 204 3732 done -0.70 - - 2648 - 1.75 0.043 2767 -607.4 -116.8 - - 3503 - - - - - - - - 14.79 14.71 14.78
4062 375.0 -9.2 211 4075 done -0.70 - - 2648 - - - 2766 - -116.8 - - 3502 - - - - - - - - 14.93 14.94 14.94
4398 406.1 -9.3 217 4411 roll -0.70 - - 2648 - 2.35 0.046 1369 -594.5 -116.8 - - 3497 - - - - - - - - 14.95 14.66 14.95
4436 409.9 -9.7 222 4450 done -0.70 0.10 0.256 2666 180.0 2.47 0.070 2772 568.0 -116.8 - - 3499 - - - - - - - - 14.43 14.59 14.67
4798 440.8 -8.7 231 4811 roll -0.70 - - 2667 - 2.38 0.044 1370 -589.1 -116.8 - - 3496 - - - - - - - - 14.94 14.64 14.94
4844 444.9 -8.6 237 4857 done -0.70 - - 2657 - 2.45 0.068 2768 570.6 -116.8 - - 3497 - - - - - - - - 14.74 14.58 14.76
5198 476.3 -8.9 245 5211 roll -0.70 - - 2649 - 1.95 0.109 3829 544.1 -116.8 - - 3495 - - - - - - - - 14.93 14.53 14.94
5230 479.2 -8.9 249 5243 done -0.70 - - 2648 - 1.75 0.043 2755 -613.7 -116.8 - - 3495 - - - - - - - - 14.80 14.74 14.81
5598 511.4 -8.6 259 5611 roll -0.70 - - 2648 - 2.30 0.044 1379 -598.3 -116.8 - - 3493 - - - - - - - - 14.95 14.65 14.95
5651 516.1 -8.7 266 5665 done -0.70 0.10 0.258 2667 190.0 2.47 0.070 2768 562.3 -116.8 - - 3493 - - - - - - - - 14.41 14.57 14.66
5995 543.3 -8.0 273 6008 done -0.70 - - 2667 - - - 2768 - -116.8 - - 3492 - - - - - - - - 14.94 14.93 14.94
6331 570.5 -8.1 279 6344 roll -0.70 - - 2667 - 2.38 0.044 1378 -584.0 -116.8 - - 3489 - - - - - - - - 14.94 14.64 14.94
6405 576.7 -8.2 289 6418 done -0.70 - - 2657 - 2.47 0.070 2773 564.8 -116.8 - - 3490 - - - - - - - - 14.73 14.57 14.76
6732 604.9 -8.7 300 6745 done -0.70 - - 2657 - - - 2772 - -116.8 - - 3488 - - - - - - - - 14.92 14.92 14.92
7067 633.5 -8.5 306 7081 roll -0.70 - - 2657 - 2.38 0.046 1383 -583.6 -116.8 - - 3486 - - - - - - - - 14.93 14.62 14.93
7113 637.5 -8.5 312 7127 done -0.70 - - 2648 - 2.45 0.071 2766 564.5 -116.8 - - 3485 - - - - - - - - 14.71 14.55 14.74
7468 668.4 -8.7 320 7481 done -0.70 - - 2648 - - - 2766 - -116.8 - - 3484 - - - - - - - - 14.94 14.94 14.94
7804 696.9 -8.4 326 7817 roll -0.70 - - 2648 - 2.38 0.047 1376 -584.0 -116.8 - - 3483 - - - - - - - - 14.94 14.60 14.94
7843 700.3 -8.7 331 7856 done -0.70 0.10 0.259 2667 190.0 2.45 0.071 2760 564.9 -116.8 - - 3483 - - - - - - - - 14.38 14.53 14.62
8205 727.4 -7.5 340 8218 done -0.70 - - 2667 - - - 2757 - -116.8 - - 3481 - - - - - - - - 14.94 14.94 14.92
8541 752.2 -7.4 346 8554 roll -0.70 - - 2667 - 2.35 0.047 1383 -584.7 -116.8 - - 3480 - - - - - - - - 14.94 14.58 14.94
8594 756.4 -7.5 353 8608 done -0.70 - - 2658 - 2.47 0.073 2764 559.1 -116.8 - - 3480 - - - - - - - - 14.69 14.51 14.71
8938 782.9 -7.8 360 8951 done -0.70 - - 2657 - - - 2764 - -116.8 - - 3479 - - - - - - - - 14.92 14.92 14.92
9274 808.4 -7.6 366 9287 roll -0.70 - - 2657 - 2.38 0.048 1381 -581.1 -116.8 - - 3478 - - - - - - - - 14.93 14.59 14.95
9362 815.0 -6.6 378 9375 done -0.70 - - 2649 - 2.45 0.073 2759 562.4 -116.8 - - 3477 - - - - - - - - 14.66 14.50 14.69
9730 844.1 -7.9 388 9743 done -0.70 - - 2649 - - - 2759 - -116.8 - - 3477 - - - - - - - - 14.90 14.90 14.91
10066 870.7 -7.9 394 10080 roll -0.70 - - 2649 - 2.35 0.046 1380 -586.8 -116.8 - - 3476 - - - - - - - - 14.92 14.58 14.92
10133 876.2 -8.0 403 10146 done -0.70 0.10 0.255 2668 190.0 2.45 0.073 2759 562.9 -116.8 - - 3475 - - - - - - - - 14.32 14.49 14.58
10467 899.9 -7.1 415 10480 roll -0.70 - - 2668 - 2.35 0.047 1383 -585.5 -116.8 - - 3474 - - - - - - - - 14.92 14.56 14.92
10520 903.6 -5.4 422 10534 done -0.70 - - 2659 - 2.47 0.074 2762 558.3 -116.8 - - 3474 - - - - - - - - 14.66 14.47 14.69
10864 928.5 -7.2 429 10877 done -0.70 - - 2659 - - - 2763 - -116.8 - - 3474 - - - - - - - - 14.90 14.90 14.90
10918 end dive: TARGET_DEPTH_EXCEEDED
10918 begin apogee
10923 932.6 -7.3 430 11047 roll -0.23 0.55 0.186 2821 294.5 - - 2251 - - 114.72 1.987 3052 -3.7 0.330 - - - - - - 14.36 14.02 13.28
11049 end apogee: CONTROL_FINISHED_OK
11049 begin climb
11051 936.4 - 432 11192 roll 0.90 1.10 0.110 3170 317.3 2.47 0.057 852 -566.4 116.8 123.62 1.953 2581 -3.8 0.349 - - - - - - 14.02 14.05 13.13
11414 912.9 8.7 486 11427 done 0.76 - - 3170 - 2.47 0.056 2257 568.8 116.8 - - 2571 - - - - - - - - 14.36 14.24 14.38
11769 881.4 8.9 494 11782 roll 0.60 0.22 0.230 3112 -263.6 2.42 0.058 855 -579.3 116.8 - - 2569 - - - - - - - - 14.19 14.40 14.38
11983 866.8 6.5 524 12023 done 0.63 - - 3112 - 2.42 0.057 2251 576.9 143.8 28.45 1.933 2477 -3.2 0.277 - - - - - - 14.58 14.45 13.66
12331 840.5 7.9 538 12344 roll 0.63 - - 3112 - 2.60 0.106 3660 541.9 143.8 - - 2465 - - - - - - - - 14.71 14.35 14.71
12405 833.9 9.0 548 12418 done 0.54 0.15 0.235 3081 -206.7 2.40 0.041 2245 -589.6 143.8 - - 2465 - - - - - - - - 14.24 14.47 14.48
12732 811.1 6.9 559 12763 roll 0.56 - - 3079 - 2.65 0.104 3659 533.6 161.2 19.10 1.971 2402 -3.3 0.260 - - - - - - 14.79 14.40 13.77
12790 807.1 7.5 567 12803 done 0.57 - - 3090 - 2.40 0.040 2257 -584.2 166.7 1.40 0.262 2385 -12.1 7.157 - - - - - - 14.56 14.47 14.23
13132 780.9 7.7 580 13146 roll 0.57 - - 3100 - 2.47 0.062 854 -568.0 168.0 1.52 0.275 2384 - - - - - - - - 14.74 14.45 14.04
13157 778.9 7.6 583 13175 done 0.58 - - 3100 - 2.42 0.057 2254 578.5 171.7 5.07 2.046 2368 -3.2 0.230 - - - - - - 14.59 14.46 13.60
13531 749.3 7.9 594 13544 roll 0.58 - - 3100 - 2.65 0.106 3656 529.1 171.7 1.52 0.288 2366 - - - - - - - - 14.80 14.43 13.98
13612 742.2 8.7 605 13626 done 0.58 - - 3110 - 2.40 0.041 2239 -590.4 171.7 1.33 0.278 2367 - - - - - - - - 14.66 14.57 14.21
13933 716.8 7.9 615 13946 roll 0.58 - - 3110 - 2.62 0.105 3652 539.3 171.7 1.35 0.272 2368 - - - - - - - - 14.83 14.43 14.19
13972 713.4 8.7 620 13986 done 0.58 0.12 0.233 3085 -208.3 2.35 0.041 2260 -592.3 171.7 1.12 0.264 2366 - - - - - - - - 14.35 14.59 14.27
14335 688.7 6.7 629 14380 roll 0.60 - - 3084 - 2.62 0.107 3653 531.7 193.4 31.20 1.807 2272 -3.0 0.220 - - - - - - 14.83 14.37 13.77
14405 683.3 7.8 639 14418 done 0.60 - - 3094 - 2.38 0.041 2262 -584.5 193.4 - - 2269 - - - - - - - - 14.51 14.45 14.52
14732 658.1 7.7 650 14745 roll 0.61 - - 3094 - 2.62 0.105 3660 533.6 194.8 - - 2266 - - - - - - - - 14.73 14.36 14.73
14792 652.8 8.9 658 14805 done 0.61 - - 3104 - 2.38 0.041 2268 -584.9 194.8 - - 2267 - - - - - - - - 14.59 14.52 14.61
15133 624.9 8.2 671 15146 done 0.61 - - 3104 - - - 2263 - 194.8 - - 2266 - - - - - - - - 14.79 14.79 14.79
15469 597.5 8.1 677 15482 roll 0.61 - - 3104 - 2.60 0.108 3651 533.8 194.8 - - 2265 - - - - - - - - 14.82 14.41 14.82
15501 594.7 8.4 681 15515 done 0.61 - - 3114 - 2.35 0.044 2263 -590.6 194.8 - - 2266 - - - - - - - - 14.66 14.59 14.68
15870 564.8 8.0 691 15884 roll 0.61 - - 3114 - 2.60 0.107 3652 534.2 194.8 - - 2265 - - - - - - - - 14.85 14.42 14.85
15902 562.0 8.7 695 15915 done 0.61 - - 3123 - 2.35 0.043 2263 -591.1 194.8 - - 2265 - - - - - - - - 14.69 14.61 14.71
16271 531.4 8.2 705 16284 roll 0.61 - - 3130 - 2.42 0.064 859 -580.2 194.8 - - 2265 - - - - - - - - 14.86 14.50 14.85
16317 527.6 8.4 711 16330 done 0.61 0.12 0.214 3097 -275.0 2.42 0.058 2265 581.0 194.8 - - 2264 - - - - - - - - 14.36 14.52 14.61
16672 501.5 7.5 719 16689 roll 0.61 - - 3096 - 2.60 0.106 3657 535.4 201.2 2.35 0.755 2253 -4.7 0.595 - - - - - - 14.86 14.54 13.45
16770 493.1 8.6 733 16784 done 0.61 - - 3106 - 2.35 0.042 2270 -590.2 201.2 1.55 0.295 2247 -3.9 1.238 - - - - - - 14.69 14.62 14.04
17126 465.1 7.9 741 17140 roll 0.61 - - 3116 - 2.42 0.061 861 -582.2 201.2 1.40 0.274 2253 4.3 -1.392 - - - - - - 14.85 14.41 14.12
17158 462.4 7.9 745 17172 done 0.61 - - 3116 - 2.45 0.057 2280 579.2 201.2 1.48 0.292 2250 -2.0 0.614 - - - - - - 14.67 14.52 14.06
17528 432.9 7.9 755 17541 roll 0.61 - - 3115 - 2.62 0.108 3661 527.1 201.2 1.50 0.287 2255 3.3 -0.962 - - - - - - 14.85 14.46 14.02
17595 426.9 8.7 764 17608 done 0.61 - - 3125 - 2.35 0.041 2268 -592.8 201.2 1.48 0.291 2249 -4.1 1.138 - - - - - - 14.66 14.59 14.01
17929 400.8 7.8 776 17942 roll 0.61 - - 3135 - 2.45 0.062 855 -576.7 201.2 1.48 0.288 2251 - - - - - - - - 14.86 14.38 14.02
17968 397.6 7.7 781 17982 done 0.61 0.12 0.217 3099 -300.0 2.45 0.058 2271 578.0 201.6 2.55 0.932 2247 -1.6 0.128 - - - - - - 14.37 14.52 13.50
18332 372.4 7.0 790 18369 roll 0.63 - - 3099 - 2.55 0.102 3663 545.9 218.9 24.73 1.511 2171 -3.1 0.145 - - - - - - 14.85 14.47 13.95
18430 364.7 8.1 804 18443 done 0.63 - - 3107 - 2.38 0.041 2259 -589.9 218.9 - - 2168 - - - - - - - - 14.59 14.53 14.61
18784 336.8 8.0 812 18797 done 0.63 - - 3107 - - - 2254 - 218.9 - - 2166 - - - - - - - - 14.77 14.78 14.78
19121 310.5 7.8 818 19134 roll 0.63 - - 3107 - 2.62 0.106 3657 535.5 218.9 - - 2167 - - - - - - - - 14.81 14.40 14.81
19173 306.0 8.7 825 19188 done 0.63 - - 3116 - 2.35 0.043 2280 -586.0 218.9 - - 2166 - - - - - - - - 14.65 14.58 14.67
19517 279.6 7.6 832 19531 roll 0.64 - - 3126 - 2.45 0.063 865 -577.6 221.6 - - 2165 - - - - - - - - 14.84 14.50 14.84
19542 277.6 7.5 835 19561 done 0.65 - - 3126 - 2.45 0.057 2284 579.2 227.6 3.80 1.371 2146 -5.0 0.194 - - - - - - 14.64 14.51 13.63
19916 247.7 8.1 846 19929 roll 0.65 - - 3130 - 2.53 0.104 3658 543.1 227.6 1.15 0.265 2146 - - - - - - - - 14.84 14.45 14.29
19955 244.1 8.9 851 19968 done 0.65 - - 3135 - 2.33 0.041 2277 -592.7 227.6 0.90 0.296 2146 - - - - - - - - 14.66 14.58 14.38
20317 213.3 8.6 860 20330 roll 0.65 - - 3146 - 2.42 0.060 862 -584.7 227.6 1.10 0.265 2146 - - - - - - - - 14.86 14.49 14.30
20378 207.9 8.8 868 20391 done 0.65 0.12 0.210 3109 -308.3 2.45 0.057 2278 578.0 227.6 1.30 0.255 2144 - - - - - - - - 14.38 14.52 14.20
20720 183.1 7.2 881 20750 roll 0.66 - - 3109 - 2.53 0.103 3659 545.8 239.7 17.60 1.347 2089 -3.1 0.081 - - - - - - 14.85 14.53 14.05
20790 177.3 8.7 891 20803 done 0.66 - - 3116 - 2.33 0.040 2275 -594.0 239.7 - - 2087 - - - - - - - - 14.64 14.58 14.66
21116 151.0 8.1 902 21129 roll 0.66 - - 3127 - 2.42 0.062 866 -582.2 239.7 - - 2088 - - - - - - - - 14.81 14.49 14.81
21148 148.3 8.1 906 21161 done 0.66 - - 3127 - 2.42 0.054 2279 583.9 239.7 - - 2085 - - - - - - - - 14.64 14.49 14.66
21516 118.9 7.9 916 21530 roll 0.66 - - 3122 - 2.53 0.105 3653 543.1 239.7 - - 2085 - - - - - - - - 14.83 14.42 14.82
21555 115.6 8.8 921 21569 done 0.66 - - 3130 - 2.33 0.040 2269 -594.0 239.7 - - 2085 - - - - - - - - 14.66 14.57 14.69
21889 93.1 5.9 931 21922 roll 0.71 - - 3142 - 2.62 0.103 3656 529.4 279.3 17.70 0.454 1941 -8.1 0.319 - - - - - - 14.85 14.49 14.23
21977 87.6 6.6 943 22002 done 0.74 - - 3143 - 2.33 0.040 2270 -594.8 304.5 13.43 0.430 1836 -7.8 0.305 - - - - - - 14.67 14.62 14.22
22317 66.6 6.4 958 22349 roll 0.90 0.08 0.147 3221 975.0 2.47 0.062 872 -566.0 333.2 14.45 0.372 1724 -7.8 0.265 - - - - - - 14.57 14.54 14.22
22418 60.0 8.2 972 22431 done 0.90 0.10 0.213 3190 -310.0 2.45 0.054 2299 582.4 333.2 - - 1722 - - - - - - - - 14.38 14.47 14.57
22746 44.6 4.1 985 22798 roll 1.12 0.12 0.103 3284 783.3 2.47 0.100 3655 549.0 411.5 38.12 0.311 1412 -8.1 0.223 - - - - - - 14.57 14.47 14.28
22984 24.4 7.6 1019 23003 done 1.12 0.10 0.227 3264 -200.0 2.28 0.040 2291 -598.2 415.5 2.28 0.243 1396 -7.0 0.135 - - - - - - 14.33 14.54 14.27
23309 5.6 5.6 1032 23346 roll 1.27 0.08 0.142 3345 1012.5 2.45 0.062 872 -579.2 461.0 22.45 0.183 1213 -8.2 0.048 - - - - - - 14.60 14.49 14.40
23363 end climb: SURFACE_DEPTH_REACHED
23363 begin surface coast
23371 end surface coast: CONTROL_FINISHED_OK
23371 begin surface
SM -2.21 - - - - -8.40 9.45 0.093 194 20.5 3.30 0.057 2762 -2470.9 500.14 17.85 0.168 1057 59.2 0.080 - - - - - -