SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 189 * Raw log
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• Previous call tries 2 • 74.18 of 350.00 AH used of 24V (78.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth -2.86 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 3 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 98 done -0.90 - - 128 - - - 2784 - -116.8 -76.47 - 3516 - - - - - - - - 14.61 13.16 14.57
101 -0.6 -4.5 2 122 roll -0.90 11.82 0.396 2592 208.5 1.90 0.082 3823 546.8 -116.8 - - 3518 - - - - - - - - 14.15 14.34 14.42
177 40.7 -35.6 14 184 done -0.40 0.60 0.249 2764 286.7 1.80 0.031 2729 -607.8 -116.8 - - 3519 - - - - - - - - 14.16 14.38 14.39
513 75.9 -8.3 29 521 roll -0.40 - - 2756 - 2.08 0.103 3819 524.0 -116.8 - - 3519 - - - - - - - - 14.66 14.31 14.66
603 83.0 -5.3 42 611 done -0.40 - - 2757 - 1.73 0.037 2771 -605.8 -116.8 - - 3520 - - - - - - - - 14.51 14.50 14.52
933 104.8 -6.2 55 940 roll -0.49 - - 2748 - 2.00 0.103 3818 523.5 -116.8 - - 3520 - - - - - - - - 14.70 14.34 14.70
1030 112.1 -7.5 69 1039 done -0.58 0.05 0.122 2694 -1080.0 1.75 0.038 2776 -595.4 -116.8 - - 3521 - - - - - - - - 14.40 14.52 14.46
1381 138.9 -7.9 77 1389 roll -0.58 - - 2694 - 2.38 0.043 1389 -582.8 -116.8 - - 3521 - - - - - - - - 14.70 14.42 14.70
1422 142.1 -7.8 83 1430 done -0.58 - - 2684 - 2.47 0.066 2768 558.3 -116.8 - - 3520 - - - - - - - - 14.45 14.37 14.48
1773 170.3 -8.0 91 1780 roll -0.58 - - 2683 - 2.38 0.044 1380 -583.2 -116.8 - - 3518 - - - - - - - - 14.71 14.46 14.71
1800 172.8 -8.7 95 1808 done -0.58 0.08 0.218 2697 175.0 2.50 0.067 2765 554.0 -116.8 - - 3520 - - - - - - - - 14.27 14.39 14.41
2165 200.9 -7.7 105 2167 done -0.58 - - 2698 - - - 2765 - -116.8 - - 3511 - - - - - - - - 14.70 14.70 14.70
2501 225.3 -7.1 111 2508 roll -0.58 - - 2698 - 2.42 0.047 1383 -571.1 -116.8 - - 3512 - - - - - - - - 14.70 14.41 14.70
2570 230.5 -7.2 121 2579 done -0.58 - - 2687 - 2.50 0.069 2762 551.6 -116.8 - - 3511 - - - - - - - - 14.45 14.37 14.49
2893 254.7 -7.5 132 2906 roll -0.58 - - 2688 - 2.35 0.045 1386 -585.5 -116.8 - - 3508 - - - - - - - - 14.81 14.54 14.81
2925 257.2 -7.7 136 2938 done -0.58 0.10 0.239 2708 200.0 2.42 0.070 2768 571.1 -116.8 - - 3508 - - - - - - - - 14.37 14.50 14.58
3294 281.4 -6.5 146 3307 roll -0.58 - - 2708 - 2.35 0.047 1386 -588.1 -116.8 - - 3505 - - - - - - - - 14.89 14.61 14.90
3326 283.6 -6.8 150 3339 done -0.66 - - 2699 - 2.42 0.070 2761 568.2 -116.8 - - 3505 - - - - - - - - 14.70 14.55 14.71
3695 307.9 -6.7 160 3708 roll -0.66 - - 2699 - 2.35 0.047 1383 -586.4 -116.8 - - 3502 - - - - - - - - 14.91 14.63 14.91
3727 310.1 -6.7 164 3740 done -0.66 - - 2690 - 2.42 0.070 2765 571.1 -116.8 - - 3502 - - - - - - - - 14.73 14.57 14.75
4095 335.0 -6.8 174 4108 done -0.66 - - 2690 - - - 2765 - -116.8 - - 3502 - - - - - - - - 14.93 14.93 14.93
4432 358.4 -7.0 180 4445 roll -0.66 - - 2690 - 2.35 0.048 1387 -586.4 -116.8 - - 3498 - - - - - - - - 14.94 14.64 14.94
4484 362.4 -7.4 187 4498 done -0.66 - - 2681 - 2.42 0.071 2758 566.5 -116.8 - - 3498 - - - - - - - - 14.73 14.57 14.75
4829 389.6 -8.1 194 4842 roll -0.66 - - 2681 - 2.33 0.047 1391 -586.7 -116.8 - - 3496 - - - - - - - - 14.94 14.57 14.93
4867 393.0 -8.6 199 4881 done -0.66 - - 2672 - 2.40 0.071 2759 570.0 -116.8 - - 3496 - - - - - - - - 14.73 14.57 14.74
5229 424.0 -8.6 208 5242 done -0.66 - - 2672 - - - 2761 - -116.8 - - 3494 - - - - - - - - 14.93 14.94 14.93
5565 453.2 -8.7 214 5578 done -0.66 - - 2667 - - - 2759 - -116.8 - - 3492 - - - - - - - - 14.95 14.95 14.95
5901 479.4 -7.7 220 5915 roll -0.66 - - 2672 - 2.33 0.047 1391 -587.1 -116.8 - - 3491 - - - - - - - - 14.93 14.62 14.94
5933 481.9 -7.8 224 5946 done -0.66 - - 2663 - 2.42 0.074 2762 566.5 -116.8 - - 3492 - - - - - - - - 14.73 14.56 14.75
6302 509.7 -7.5 234 6315 done -0.66 - - 2663 - - - 2762 - -116.8 - - 3489 - - - - - - - - 14.95 14.95 14.98
6638 535.6 -7.7 240 6651 roll -0.66 - - 2663 - 2.35 0.047 1387 -585.1 -116.8 - - 3488 - - - - - - - - 14.95 14.58 14.95
6733 543.2 -8.0 253 6746 done -0.66 0.10 0.243 2683 200.0 2.42 0.073 2755 565.3 -116.8 - - 3487 - - - - - - - - 14.40 14.54 14.63
7095 569.7 -7.4 262 7108 done -0.66 - - 2683 - - - 2755 - -116.8 - - 3486 - - - - - - - - 14.94 14.95 14.95
7431 595.5 -7.7 268 7444 done -0.66 - - 2682 - - - 2755 - -116.8 - - 3485 - - - - - - - - 14.94 14.92 14.94
7767 620.7 -7.5 274 7780 roll -0.66 - - 2683 - 2.38 0.049 1381 -577.3 -116.8 - - 3483 - - - - - - - - 14.95 14.60 14.94
7813 624.2 -7.3 280 7826 done -0.66 - - 2675 - 2.45 0.074 2753 560.0 -116.8 - - 3482 - - - - - - - - 14.70 14.52 14.73
8168 651.1 -7.7 288 8181 roll -0.66 - - 2674 - 2.33 0.048 1391 -584.5 -116.8 - - 3481 - - - - - - - - 14.92 14.59 14.92
8199 653.6 -7.7 292 8213 done -0.66 - - 2666 - 2.42 0.075 2756 564.0 -116.8 - - 3482 - - - - - - - - 14.69 14.52 14.72
8568 681.2 -7.5 302 8582 roll -0.66 - - 2666 - 2.35 0.048 1385 -583.4 -116.8 - - 3481 - - - - - - - - 14.92 14.59 14.92
8614 684.6 -7.9 308 8627 done -0.66 - - 2657 - 2.45 0.076 2761 561.6 -116.8 - - 3480 - - - - - - - - 14.69 14.50 14.71
8969 710.0 -7.1 316 8982 roll -0.66 - - 2649 - 1.98 0.115 3823 536.4 -116.8 - - 3479 - - - - - - - - 14.91 14.42 14.92
9007 712.9 -7.9 321 9021 done -0.66 0.12 0.217 2685 300.0 1.77 0.047 2761 -600.0 -116.8 - - 3479 - - - - - - - - 14.37 14.68 14.60
9370 735.5 -6.3 330 9383 roll -0.66 - - 2686 - 2.38 0.049 1369 -584.9 -116.8 - - 3477 - - - - - - - - 14.91 14.57 14.91
9431 739.7 -6.9 338 9444 done -0.74 - - 2678 - 2.50 0.075 2763 557.6 -116.8 - - 3477 - - - - - - - - 14.68 14.50 14.71
9772 764.5 -7.4 351 9785 done -0.74 - - 2670 - - - 2758 - -116.8 - - 3477 - - - - - - - - 14.90 14.90 14.90
10108 790.3 -7.8 357 10121 roll -0.74 - - 2677 - 2.38 0.048 1377 -580.3 -116.8 - - 3475 - - - - - - - - 14.90 14.56 14.90
10168 795.2 -7.9 365 10182 done -0.74 - - 2668 - 2.47 0.074 2747 554.7 -116.8 - - 3475 - - - - - - - - 14.66 14.48 14.71
10509 822.0 -7.8 378 10522 done -0.74 - - 2668 - - - 2746 - -116.8 - - 3475 - - - - - - - - 14.90 14.90 14.90
10846 848.5 -7.7 384 10859 roll -0.74 - - 2668 - 2.38 0.050 1375 -576.1 -116.8 - - 3473 - - - - - - - - 14.90 14.54 14.90
10940 856.1 -7.8 397 10954 done -0.74 - - 2660 - 2.47 0.075 2756 559.1 -116.8 - - 3471 - - - - - - - - 14.64 14.46 14.67
11303 883.9 -7.6 406 11316 done -0.74 - - 2660 - - - 2757 - -116.8 - - 3472 - - - - - - - - 14.90 14.90 14.90
11639 907.6 -6.9 412 11652 roll -0.74 - - 2660 - 2.40 0.049 1368 -578.8 -116.8 - - 3472 - - - - - - - - 14.90 14.52 14.90
11705 911.9 -5.6 421 11719 done -0.74 - - 2651 - 2.47 0.076 2748 558.7 -116.8 - - 3471 - - - - - - - - 14.64 14.45 14.66
12038 end dive: TARGET_DEPTH_EXCEEDED
12038 begin apogee
12042 934.2 -6.7 433 12169 roll -0.23 0.57 0.183 2820 296.5 - - 2231 - - 116.68 1.958 3049 -3.6 0.331 - - - - - - 14.34 14.01 13.24
12171 end apogee: CONTROL_FINISHED_OK
12171 begin climb
12173 936.3 - 435 12318 roll 0.90 1.10 0.106 3171 319.1 2.53 0.059 842 -549.0 116.8 123.88 1.946 2579 -3.8 0.350 - - - - - - 14.02 14.04 13.10
12323 929.3 9.1 459 12337 done 0.68 0.17 0.233 3126 -264.7 2.58 0.054 2257 548.4 116.8 - - 2575 - - - - - - - - 13.80 13.90 13.97
12665 901.9 7.9 472 12679 roll 0.60 0.08 0.274 3099 -337.5 2.62 0.102 3660 535.5 116.8 - - 2570 - - - - - - - - 14.14 14.24 14.30
12755 894.9 7.5 484 12769 done 0.52 0.15 0.233 3069 -200.0 2.45 0.041 2235 -581.6 123.0 1.02 0.247 2557 -12.7 8.855 - - - - - - 14.16 14.42 14.19
13126 875.4 5.1 494 13212 roll 0.59 - - 3069 - 2.85 0.104 3660 500.0 180.4 69.60 1.890 2324 -3.3 0.297 - - - - - - 14.75 14.03 13.42
13246 868.3 7.0 511 13278 done 0.61 - - 3078 - 2.45 0.041 2249 -575.9 196.9 17.88 2.031 2261 -3.5 0.289 - - - - - - 14.28 14.22 13.45
13634 842.7 6.7 524 13672 roll 0.63 - - 3078 - 2.70 0.106 3661 523.0 218.9 23.42 1.969 2172 -3.8 0.312 - - - - - - 14.65 14.25 13.62
13691 838.5 9.3 532 13704 done 0.63 - - 3087 - 2.42 0.041 2261 -578.5 218.9 - - 2168 - - - - - - - - 14.42 14.32 14.42
14032 812.3 7.8 545 14045 done 0.63 - - 3087 - - - 2257 - 218.9 - - 2164 - - - - - - - - 14.69 14.70 14.70
14368 786.0 8.0 551 14381 roll 0.63 - - 3087 - 2.65 0.106 3658 528.7 218.9 - - 2166 - - - - - - - - 14.76 14.40 14.77
14421 781.3 8.5 558 14435 done 0.63 - - 3096 - 2.40 0.042 2258 -583.3 218.9 - - 2163 - - - - - - - - 14.63 14.54 14.64
14765 752.3 8.5 565 14779 roll 0.63 - - 3096 - 2.62 0.105 3653 532.4 218.9 - - 2162 - - - - - - - - 14.81 14.43 14.81
14804 748.5 9.1 570 14817 done 0.63 - - 3106 - 2.38 0.041 2252 -588.7 218.9 - - 2162 - - - - - - - - 14.66 14.58 14.69
15166 715.7 9.1 579 15179 roll 0.63 - - 3106 - 2.62 0.104 3651 534.0 218.9 - - 2162 - - - - - - - - 14.83 14.45 14.83
15205 711.8 9.9 584 15218 done 0.63 - - 3115 - 2.35 0.041 2262 -591.1 218.9 - - 2162 - - - - - - - - 14.68 14.59 14.70
15566 678.6 9.1 593 15579 done 0.63 - - 3115 - - - 2258 - 218.9 - - 2161 - - - - - - - - 14.84 14.84 14.84
15903 649.8 8.5 599 15916 roll 0.63 - - 3115 - 2.62 0.106 3660 535.1 218.9 - - 2161 - - - - - - - - 14.85 14.42 14.85
15955 644.7 9.7 606 15969 done 0.63 - - 3120 - 2.38 0.041 2269 -584.5 218.9 - - 2161 - - - - - - - - 14.68 14.59 14.70
16299 614.7 8.8 613 16313 roll 0.63 - - 3134 - 2.45 0.063 851 -578.8 218.9 - - 2161 - - - - - - - - 14.86 14.50 14.85
16360 609.4 8.5 621 16374 done 0.63 - - 3133 - 2.47 0.057 2268 573.7 218.9 - - 2161 - - - - - - - - 14.65 14.50 14.68
16701 577.8 9.5 634 16715 roll 0.63 0.08 0.252 3109 -300.0 2.58 0.103 3662 540.3 218.9 - - 2160 - - - - - - - - 14.35 14.42 14.49
16740 574.0 9.8 639 16754 done 0.63 - - 3117 - 2.38 0.042 2258 -589.9 218.9 - - 2161 - - - - - - - - 14.68 14.61 14.71
17102 542.5 8.6 648 17115 roll 0.63 - - 3116 - 2.62 0.103 3655 533.2 218.9 - - 2161 - - - - - - - - 14.87 14.42 14.87
17127 540.2 8.6 651 17140 done 0.63 - - 3126 - 2.35 0.041 2266 -591.1 218.9 - - 2160 - - - - - - - - 14.66 14.58 14.69
17447 512.0 8.8 661 17460 roll 0.63 - - 3136 - 2.42 0.062 858 -581.8 218.9 - - 2159 - - - - - - - - 14.88 14.49 14.86
17486 508.4 8.6 666 17500 done 0.63 0.10 0.227 3108 -280.0 2.45 0.057 2273 577.6 218.9 - - 2159 - - - - - - - - 14.31 14.46 14.55
17848 478.6 8.3 675 17862 roll 0.63 - - 3107 - 2.55 0.105 3651 540.4 218.9 - - 2160 - - - - - - - - 14.85 14.41 14.85
17915 472.2 9.6 684 17928 done 0.63 - - 3116 - 2.35 0.041 2261 -591.5 218.9 - - 2160 - - - - - - - - 14.68 14.60 14.70
18249 442.0 9.1 696 18262 done 0.63 - - 3116 - - - 2255 - 218.9 - - 2161 - - - - - - - - 14.85 14.85 14.85
18585 411.6 9.0 702 18598 roll 0.63 - - 3116 - 2.62 0.105 3651 532.8 218.9 - - 2160 - - - - - - - - 14.88 14.40 14.88
18638 406.5 9.8 709 18653 done 0.63 - - 3125 - 2.38 0.041 2259 -584.9 218.9 - - 2161 - - - - - - - - 14.68 14.59 14.69
18982 376.7 8.6 716 18995 done 0.63 - - 3127 - - - 2255 - 218.9 - - 2161 - - - - - - - - 14.86 14.85 14.86
19318 348.8 8.3 722 19331 roll 0.63 - - 3125 - 2.62 0.106 3651 532.8 218.9 - - 2161 - - - - - - - - 14.87 14.40 14.87
19384 342.4 9.6 731 19398 done 0.63 - - 3135 - 2.33 0.041 2273 -591.4 218.9 - - 2164 - - - - - - - - 14.69 14.59 14.70
19718 313.8 8.6 743 19731 done 0.63 - - 3134 - - - 2267 - 218.9 - - 2160 - - - - - - - - 14.86 14.86 14.86
20054 285.2 8.5 749 20067 done 0.63 - - 3134 - - - 2267 - 218.9 - - 2161 - - - - - - - - 14.85 14.86 14.86
20390 256.4 8.6 755 20403 roll 0.63 - - 3133 - 2.62 0.104 3651 528.2 218.9 - - 2161 - - - - - - - - 14.86 14.40 14.87
20422 253.3 9.6 759 20435 done 0.63 0.12 0.226 3108 -208.3 2.35 0.041 2258 -592.8 218.9 - - 2162 - - - - - - - - 14.33 14.62 14.59
20791 225.8 7.4 769 20804 done 0.64 - - 3109 - - - 2254 - 227.3 2.33 0.630 2145 -7.3 0.501 - - - - - - 14.88 14.64 13.50
21127 199.8 7.8 775 21140 done 0.64 - - 3108 - - - 2254 - 227.3 1.75 0.267 2146 - - - - - - - - 14.87 14.51 14.00
21463 173.6 7.7 781 21481 roll 0.64 - - 3109 - 2.65 0.103 3651 527.2 227.8 2.62 0.828 2147 - - - - - - - - 14.87 14.58 13.56
21534 167.6 8.6 791 21548 done 0.64 - - 3116 - 2.33 0.040 2263 -595.7 227.8 1.60 0.268 2143 -2.5 0.300 - - - - - - 14.70 14.63 14.13
21862 145.0 6.8 802 21900 roll 0.67 - - 3126 - 2.47 0.061 862 -567.2 249.5 26.95 1.229 2050 -3.5 0.078 - - - - - - 14.85 14.52 14.02
21926 140.4 6.8 811 21959 done 0.70 - - 3125 - 2.42 0.055 2272 582.6 270.7 20.38 1.238 1970 -3.9 0.085 - - - - - - 14.57 14.45 13.91
22315 111.1 7.4 824 22333 roll 0.71 - - 3122 - 2.60 0.105 3648 529.2 278.3 1.95 0.304 1946 -12.3 0.863 - - - - - - 14.74 14.34 13.93
22359 107.1 9.2 830 22372 done 0.71 - - 3134 - 2.33 0.040 2269 -591.8 278.3 - - 1950 - - - - - - - - 14.59 14.52 14.61
22686 87.2 4.5 841 22737 roll 0.89 0.10 0.119 3200 660.0 2.67 0.102 3660 521.0 348.1 35.58 0.438 1664 -8.0 0.307 - - - - - - 14.56 14.43 14.19
22749 82.5 8.2 847 22762 done 0.89 - - 3208 - 2.33 0.039 2280 -592.3 348.1 - - 1662 - - - - - - - - 14.59 14.54 14.62
23082 55.6 7.7 861 23096 roll 0.89 - - 3209 - 2.60 0.103 3661 531.2 349.6 - - 1664 - - - - - - - - 14.78 14.38 14.78
23324 39.2 5.4 895 23364 done 1.03 - - 3216 - 2.30 0.038 2275 -602.6 400.3 25.50 0.288 1455 -8.2 0.214 - - - - - - 14.64 14.57 14.27
23679 22.0 4.3 912 23730 roll 1.35 0.25 0.073 3340 496.0 2.62 0.099 3659 528.2 475.1 36.33 0.229 1157 -8.2 0.151 - - - - - - 14.53 14.42 14.33
23839 7.6 11.6 935 23853 done 1.35 - - 3349 - 2.25 0.037 2313 -598.2 475.1 - - 1160 - - - - - - - - 14.64 14.57 14.65
23901 end climb: SURFACE_DEPTH_REACHED
23901 begin surface coast
23929 end surface coast: CONTROL_FINISHED_OK
23929 begin surface
SM -2.02 - - - - -8.38 9.38 0.087 189 20.1 0.85 0.078 2779 2057.6 500.14 11.35 0.159 1058 93.2 0.121 - - - - - -