SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 219 * Raw log
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• Previous call tries 1 • 85.68 of 350.00 AH used of 24V (75.52% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -73.3 deg, depth -3.73 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 97 done -0.90 - - 178 - - - 2789 - -116.8 -76.12 - 3515 - - - - - - - - 14.62 13.03 14.62
100 -3.6 -1.7 2 116 roll -0.90 11.43 0.388 2591 211.1 1.90 0.084 3826 545.8 -116.8 - - 3516 - - - - - - - - 14.13 14.38 14.44
191 41.8 -28.9 16 200 done -0.50 0.52 0.246 2732 271.2 1.80 0.035 2731 -608.3 -116.8 - - 3517 - - - - - - - - 14.12 14.46 14.31
514 82.9 -8.1 29 521 roll -0.50 - - 2732 - 2.22 0.042 1390 -604.1 -116.8 - - 3518 - - - - - - - - 14.74 14.48 14.75
570 87.3 -7.6 37 577 done -0.50 - - 2722 - 2.38 0.064 2757 574.4 -116.8 - - 3519 - - - - - - - - 14.57 14.43 14.59
934 110.4 -6.0 50 941 roll -0.50 - - 2712 - 1.98 0.106 3845 549.5 -116.8 - - 3520 - - - - - - - - 14.81 14.40 14.81
1094 121.8 -7.2 73 1103 done -0.50 - - 2714 - 1.80 0.039 2758 -603.9 -116.8 - - 3520 - - - - - - - - 14.62 14.60 14.64
1438 145.9 -7.1 80 1445 roll -0.50 - - 2714 - 2.28 0.042 1389 -600.4 -116.8 - - 3519 - - - - - - - - 14.83 14.54 14.83
1521 152.0 -7.2 92 1529 done -0.50 0.10 0.203 2736 220.0 2.42 0.067 2755 564.5 -116.8 - - 3519 - - - - - - - - 14.31 14.45 14.47
1886 174.9 -6.2 102 1889 done -0.61 - - 2735 - - - 2755 - -116.8 - - 3516 - - - - - - - - 14.83 14.84 14.84
2222 194.2 -5.7 108 2229 roll -0.73 0.15 0.089 2643 -613.3 2.30 0.043 1387 -594.8 -116.8 - - 3516 - - - - - - - - 14.62 14.54 14.67
2278 198.9 -9.0 116 2285 done -0.73 0.10 0.245 2665 220.0 2.40 0.067 2761 572.5 -116.8 - - 3512 - - - - - - - - 14.33 14.47 14.55
2614 227.5 -8.4 129 2621 roll -0.73 - - 2654 - 2.00 0.109 3825 532.0 -116.8 - - 3510 - - - - - - - - 14.83 14.38 14.84
2670 232.4 -8.8 137 2677 done -0.73 - - 2654 - 1.77 0.043 2773 -594.4 -116.8 - - 3508 - - - - - - - - 14.61 14.59 14.65
3006 262.0 -8.9 150 3019 roll -0.73 - - 2646 - 1.95 0.109 3823 538.5 -116.8 - - 3507 - - - - - - - - 14.90 14.44 14.90
3059 267.1 -9.7 157 3072 done -0.73 - - 2646 - 1.77 0.044 2752 -605.1 -116.8 - - 3507 - - - - - - - - 14.71 14.65 14.72
3403 299.0 -9.4 164 3416 roll -0.73 - - 2646 - 2.30 0.045 1375 -598.7 -116.8 - - 3504 - - - - - - - - 14.90 14.59 14.90
3435 302.2 -9.7 168 3448 done -0.73 - - 2637 - 2.42 0.067 2763 573.6 -116.8 - - 3502 - - - - - - - - 14.67 14.52 14.71
3804 339.2 -10.2 178 3817 roll -0.73 - - 2628 - 1.95 0.109 3827 545.6 -116.8 - - 3499 - - - - - - - - 14.90 14.44 14.90
3850 344.2 -10.9 184 3863 done -0.65 0.20 0.204 2687 295.0 1.77 0.044 2742 -613.0 -116.8 - - 3500 - - - - - - - - 14.38 14.67 14.60
4205 371.9 -7.6 192 4218 done -0.65 - - 2687 - - - 2743 - -116.8 - - 3499 - - - - - - - - 14.91 14.92 14.92
4541 396.9 -7.4 198 4555 roll -0.65 - - 2685 - 2.30 0.045 1373 -595.7 -116.8 - - 3502 - - - - - - - - 14.92 14.61 14.92
4594 400.9 -7.4 205 4608 done -0.65 - - 2677 - 2.45 0.067 2762 566.9 -116.8 - - 3496 - - - - - - - - 14.68 14.52 14.71
4939 426.7 -7.5 212 4952 roll -0.65 - - 2669 - 1.95 0.111 3823 544.1 -116.8 - - 3494 - - - - - - - - 14.93 14.42 14.92
4977 429.9 -8.1 217 4991 done -0.65 - - 2669 - 1.75 0.045 2757 -609.1 -116.8 - - 3495 - - - - - - - - 14.74 14.68 14.76
5339 458.2 -7.9 226 5353 roll -0.65 - - 2669 - 2.33 0.045 1373 -594.0 -116.8 - - 3492 - - - - - - - - 14.92 14.59 14.90
5420 464.5 -7.7 237 5433 done -0.65 - - 2659 - 2.42 0.068 2759 572.7 -116.8 - - 3492 - - - - - - - - 14.68 14.50 14.68
5740 489.9 -8.0 247 5753 roll -0.65 - - 2651 - 1.98 0.111 3831 541.4 -116.8 - - 3491 - - - - - - - - 14.91 14.42 14.91
5786 493.9 -8.9 253 5799 done -0.65 0.12 0.216 2689 316.7 1.80 0.046 2742 -605.0 -116.8 - - 3493 - - - - - - - - 14.37 14.68 14.59
6141 518.8 -7.0 261 6154 roll -0.65 - - 2689 - 2.30 0.046 1375 -594.3 -116.8 - - 3489 - - - - - - - - 14.92 14.57 14.91
6202 523.1 -7.1 269 6215 done -0.65 - - 2680 - 2.45 0.069 2760 565.3 -116.8 - - 3489 - - - - - - - - 14.66 14.49 14.68
6543 547.8 -7.3 282 6556 done -0.65 - - 2680 - - - 2759 - -116.8 - - 3488 - - - - - - - - 14.92 14.92 14.92
6879 572.6 -7.4 288 6892 roll -0.65 - - 2671 - 1.98 0.112 3825 538.4 -116.8 - - 3486 - - - - - - - - 14.91 14.38 14.92
6925 576.3 -8.0 294 6938 done -0.65 - - 2671 - 1.77 0.047 2757 -603.4 -116.8 - - 3485 - - - - - - - - 14.72 14.66 14.73
7280 602.2 -7.3 302 7293 roll -0.65 - - 2672 - 2.35 0.047 1370 -590.2 -116.8 - - 3482 - - - - - - - - 14.90 14.55 14.90
7368 608.8 -7.3 314 7381 done -0.65 - - 2662 - 2.45 0.071 2751 563.7 -116.8 - - 3484 - - - - - - - - 14.64 14.46 14.66
7737 636.7 -7.6 324 7750 done -0.65 - - 2661 - - - 2752 - -116.8 - - 3482 - - - - - - - - 14.90 14.89 14.90
8073 662.6 -7.7 330 8086 roll -0.65 - - 2662 - 2.38 0.047 1374 -579.0 -116.8 - - 3482 - - - - - - - - 14.91 14.52 14.89
8126 666.8 -7.9 337 8140 done -0.65 0.10 0.245 2681 190.0 2.47 0.071 2756 559.5 -116.8 - - 3481 - - - - - - - - 14.28 14.45 14.54
8470 691.1 -7.1 344 8483 roll -0.65 - - 2681 - 2.40 0.047 1363 -580.4 -116.8 - - 3480 - - - - - - - - 14.91 14.52 14.92
8509 694.0 -7.6 349 8523 done -0.65 - - 2672 - 2.45 0.071 2744 563.7 -116.8 - - 3480 - - - - - - - - 14.63 14.45 14.66
8871 720.2 -7.3 358 8885 roll -0.65 - - 2664 - 2.03 0.116 3827 533.5 -116.8 - - 3479 - - - - - - - - 14.89 14.35 14.89
8924 724.3 -7.8 365 8938 done -0.65 - - 2664 - 1.83 0.047 2752 -587.4 -116.8 - - 3479 - - - - - - - - 14.68 14.61 14.70
9269 749.7 -7.4 372 9282 roll -0.65 - - 2664 - 2.38 0.047 1361 -584.5 -116.8 - - 3478 - - - - - - - - 14.88 14.50 14.88
9322 753.8 -7.6 379 9337 done -0.65 0.10 0.241 2691 270.0 2.50 0.072 2750 555.6 -116.8 - - 3477 - - - - - - - - 14.28 14.44 14.52
9666 776.8 -6.7 386 9679 done -0.65 - - 2683 - - - 2750 - -116.8 - - 3477 - - - - - - - - 14.88 14.88 14.87
10002 798.2 -6.5 392 10015 roll -0.73 - - 2683 - 2.40 0.047 1359 -579.6 -116.8 - - 3476 - - - - - - - - 14.88 14.51 14.88
10069 802.3 -6.1 401 10083 done -0.82 0.08 0.147 2620 -787.5 2.47 0.072 2744 560.7 -116.8 - - 3475 - - - - - - - - 14.51 14.42 14.62
10404 829.1 -8.3 413 10417 done -0.82 - - 2620 - - - 2745 - -116.8 - - 3474 - - - - - - - - 14.88 14.88 14.87
10740 857.2 -8.5 419 10753 done -0.82 - - 2619 - - - 2745 - -116.8 - - 3474 - - - - - - - - 14.87 14.88 14.88
11075 890.3 -9.0 425 11088 done -0.82 - - 2619 - - - 2743 - -116.8 - - 3472 - - - - - - - - 14.88 14.88 14.88
11412 920.2 -8.8 431 11425 roll -0.82 - - 2619 - 2.40 0.047 1363 -575.0 -116.8 - - 3471 - - - - - - - - 14.87 14.47 14.87
11451 923.9 -6.7 436 11464 done -0.82 - - 2610 - 2.47 0.072 2749 561.1 -116.8 - - 3472 - - - - - - - - 14.59 14.40 14.62
11531 end dive: TARGET_DEPTH_EXCEEDED
11531 begin apogee
11537 931.1 -8.5 440 11658 roll -0.23 0.73 0.197 2820 287.7 - - 2228 - - 105.65 2.693 3050 -4.0 0.272 - - - - 1 - 14.25 13.85 12.77
11659 end apogee: CONTROL_FINISHED_OK
11659 begin climb
11661 935.4 - 442 11811 roll 0.90 1.10 0.101 3171 319.1 2.45 0.057 868 -555.1 116.8 129.50 1.922 2579 -3.6 0.348 - - - - - - 13.90 13.93 13.02
11858 927.0 8.1 472 11871 done 0.76 - - 3176 - 2.50 0.054 2257 555.6 116.8 - - 2574 - - - - - - - - 14.02 13.93 14.06
12213 894.9 9.1 480 12226 roll 0.60 0.22 0.222 3101 -340.9 2.60 0.101 3653 536.9 116.8 - - 2570 - - - - - - - - 14.10 14.22 14.26
12287 888.6 8.1 490 12300 done 0.51 0.17 0.226 3064 -217.6 2.38 0.042 2258 -586.1 116.8 - - 2570 - - - - - - - - 14.14 14.42 14.40
12614 868.5 6.1 501 12668 roll 0.55 - - 3064 - 2.65 0.103 3651 525.7 152.2 38.20 1.902 2437 -3.5 0.313 - - - - - - 14.73 14.22 13.55
12700 862.5 7.6 513 12714 done 0.55 - - 3073 - 2.42 0.042 2249 -579.3 155.4 - - 2435 - - - - - - - - 14.37 14.31 14.39
13069 836.5 7.1 523 13101 roll 0.57 - - 3073 - 2.65 0.104 3650 528.7 168.9 18.48 1.981 2372 -3.4 0.283 - - - - - - 14.70 14.32 13.67
13141 830.6 8.3 533 13154 done 0.57 - - 3082 - 2.40 0.042 2254 -581.7 168.9 - - 2368 - - - - - - - - 14.45 14.39 14.44
13468 806.8 7.3 544 13481 done 0.58 - - 3082 - - - 2249 - 179.2 4.65 1.919 2341 -5.8 0.480 - - - - - - 14.71 14.50 13.33
13804 782.5 7.2 550 13836 roll 0.60 - - 3083 - 2.70 0.104 3654 520.4 191.2 20.23 1.939 2284 -2.8 0.224 - - - - - - 14.75 14.36 13.72
13869 777.5 8.4 559 13882 done 0.60 - - 3092 - 2.42 0.042 2243 -583.1 191.2 - - 2279 - - - - - - - - 14.49 14.41 14.50
14196 752.3 7.7 570 14209 roll 0.60 - - 3093 - 2.67 0.104 3660 530.7 193.2 - - 2277 - - - - - - - - 14.71 14.32 14.71
14228 749.4 8.7 574 14241 done 0.60 - - 3102 - 2.40 0.041 2244 -590.0 193.2 - - 2277 - - - - - - - - 14.57 14.49 14.59
14597 719.5 8.1 584 14610 roll 0.60 - - 3102 - 2.65 0.104 3653 531.7 193.2 - - 2277 - - - - - - - - 14.77 14.37 14.77
14629 716.6 8.8 588 14642 done 0.60 - - 3112 - 2.38 0.043 2255 -587.4 193.2 - - 2277 - - - - - - - - 14.61 14.52 14.63
14997 685.4 8.5 598 15011 roll 0.60 - - 3112 - 2.65 0.106 3659 529.8 193.2 - - 2276 - - - - - - - - 14.80 14.36 14.82
15043 681.1 9.2 604 15057 done 0.60 - - 3122 - 2.38 0.042 2257 -589.1 193.2 - - 2276 - - - - - - - - 14.64 14.56 14.66
15398 650.2 8.7 612 15411 done 0.60 - - 3122 - - - 2252 - 193.2 - - 2275 - - - - - - - - 14.82 14.83 14.83
15734 622.1 8.3 618 15747 done 0.60 - - 3122 - - - 2252 - 193.2 - - 2276 - - - - - - - - 14.84 14.85 14.84
16070 594.9 8.1 624 16083 roll 0.60 - - 3122 - 2.65 0.103 3661 531.7 193.2 - - 2276 - - - - - - - - 14.85 14.35 14.85
16123 590.0 9.3 631 16139 done 0.60 0.12 0.228 3097 -208.3 2.40 0.041 2255 -585.8 193.2 - - 2275 - - - - - - - - 14.26 14.54 14.51
16467 566.0 6.9 638 16501 roll 0.62 - - 3106 - 2.47 0.063 869 -561.1 211.2 21.52 1.733 2204 -3.3 0.212 - - - - - - 14.83 14.50 13.85
16520 562.2 7.0 645 16552 done 0.64 - - 3106 - 2.42 0.055 2263 576.0 228.4 19.42 1.729 2139 -3.3 0.214 - - - - - - 14.57 14.45 13.72
16859 534.7 8.3 658 16872 roll 0.64 - - 3106 - 2.60 0.105 3661 537.7 228.4 - - 2126 - - - - - - - - 14.68 14.29 14.68
16939 526.8 9.8 669 16953 done 0.64 - - 3115 - 2.38 0.041 2268 -585.3 228.4 - - 2125 - - - - - - - - 14.54 14.47 14.56
17260 497.8 9.1 679 17272 done 0.64 - - 3115 - - - 2263 - 228.4 - - 2121 - - - - - - - - 14.76 14.76 14.76
17596 468.7 8.6 685 17609 roll 0.64 - - 3126 - 2.45 0.063 857 -573.9 228.4 - - 2124 - - - - - - - - 14.79 14.42 14.80
17621 466.5 8.5 688 17634 done 0.64 - - 3126 - 2.45 0.057 2268 575.9 228.4 - - 2124 - - - - - - - - 14.58 14.43 14.62
17941 438.5 8.8 698 17954 roll 0.64 - - 3126 - 2.58 0.106 3658 538.8 228.4 - - 2124 - - - - - - - - 14.80 14.33 14.80
17980 434.7 10.0 703 17993 done 0.64 - - 3135 - 2.38 0.042 2260 -587.4 228.4 - - 2124 - - - - - - - - 14.60 14.54 14.64
18342 402.2 8.8 712 18356 roll 0.64 0.08 0.269 3109 -325.0 2.62 0.100 3662 535.1 228.4 - - 2124 - - - - - - - - 14.26 14.36 14.41
18367 400.0 8.6 715 18381 done 0.64 - - 3118 - 2.38 0.041 2261 -588.7 228.4 - - 2124 - - - - - - - - 14.64 14.56 14.66
18687 375.5 7.6 725 18701 roll 0.65 - - 3128 - 2.42 0.063 865 -576.9 231.1 - - 2124 - - - - - - - - 14.82 14.44 14.82
18733 371.9 7.8 731 18747 done 0.65 - - 3128 - 2.42 0.054 2270 580.6 231.1 - - 2124 - - - - - - - - 14.61 14.46 14.63
19089 342.4 8.4 739 19101 done 0.65 - - 3128 - - - 2270 - 231.1 - - 2124 - - - - - - - - 14.81 14.83 14.83
19424 314.1 8.4 745 19437 done 0.65 - - 3128 - - - 2270 - 231.1 - - 2124 - - - - - - - - 14.85 14.85 14.85
19760 286.3 8.3 751 19774 roll 0.65 - - 3137 - 2.45 0.062 869 -571.8 231.1 - - 2124 - - - - - - - - 14.86 14.45 14.87
19792 283.6 8.1 755 19806 done 0.65 - - 3137 - 2.42 0.056 2272 579.8 231.1 - - 2124 - - - - - - - - 14.62 14.45 14.65
20161 251.1 8.9 765 20175 roll 0.65 - - 3137 - 2.58 0.105 3658 537.2 231.1 - - 2124 - - - - - - - - 14.85 14.35 14.85
20215 245.7 10.3 772 20229 done 0.65 0.12 0.220 3111 -216.7 2.35 0.041 2273 -589.4 231.1 - - 2124 - - - - - - - - 14.23 14.49 14.46
20558 218.6 7.7 779 20572 roll 0.65 - - 3121 - 2.45 0.061 864 -575.1 233.2 - - 2124 - - - - - - - - 14.84 14.44 14.84
20612 214.5 7.5 786 20632 done 0.66 - - 3120 - 2.42 0.054 2270 581.0 239.6 4.97 1.535 2098 -5.2 0.144 - - - - - - 14.62 14.46 13.62
20961 188.4 7.5 800 20984 roll 0.66 - - 3120 - 2.53 0.102 3660 549.4 244.5 10.30 1.457 2072 -2.5 0.064 - - - - - - 14.81 14.53 14.00
21010 184.3 8.6 807 21025 done 0.66 - - 3129 - 2.38 0.041 2253 -591.2 244.5 - - 2069 - - - - - - - - 14.64 14.57 14.64
21354 156.1 8.3 814 21367 roll 0.66 - - 3138 - 2.40 0.060 868 -577.1 244.5 - - 2069 - - - - - - - - 14.81 14.45 14.81
21386 153.3 8.4 818 21399 done 0.66 - - 3138 - 2.42 0.053 2276 581.8 244.5 - - 2068 - - - - - - - - 14.58 14.46 14.63
21755 121.3 8.7 828 21768 roll 0.66 - - 3148 - 2.47 0.061 861 -572.9 244.5 - - 2068 - - - - - - - - 14.82 14.40 14.82
21794 117.9 8.6 833 21807 done 0.66 0.10 0.215 3118 -300.0 2.42 0.054 2272 583.1 244.5 - - 2068 - - - - - - - - 14.33 14.46 14.53
22130 95.7 6.2 842 22161 roll 0.79 0.05 0.208 3172 1080.0 2.53 0.099 3659 548.2 278.7 16.67 0.455 1943 -7.5 0.310 - - - - - - 14.54 14.51 14.20
22292 83.4 7.2 865 22311 done 0.81 - - 3181 - 2.35 0.039 2264 -593.6 291.4 7.78 0.398 1889 -6.9 0.286 - - - - - - 14.63 14.55 14.09
22633 66.6 4.1 880 22694 roll 0.99 0.05 0.203 3245 1280.0 2.45 0.060 865 -571.0 371.0 41.47 0.373 1573 -7.6 0.268 - - - - - - 14.53 14.51 14.23
22790 57.9 6.4 902 22817 done 1.02 - - 3245 - 2.42 0.050 2277 583.5 399.8 15.40 0.341 1457 -7.5 0.252 - - - - - - 14.52 14.40 14.16
23139 33.6 6.7 918 23163 roll 1.15 - - 3254 - 2.50 0.060 862 -566.0 421.7 11.85 0.272 1368 -7.5 0.183 - - - - - - 14.75 14.46 14.21
23267 25.5 7.0 936 23291 done 1.28 0.12 0.098 3332 650.0 2.42 0.050 2279 585.5 437.4 9.15 0.246 1307 -6.7 0.136 - - - - - - 14.53 14.45 14.19
23583 end climb: SURFACE_DEPTH_REACHED
23583 begin surface coast
23610 end surface coast: CONTROL_FINISHED_OK
23610 begin surface
SM -1.10 - - - - -8.40 8.88 0.044 188 21.1 0.85 0.079 2765 -10194.1 500.14 29.73 0.153 1058 35.6 0.026 - - - - - -