SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 223 * Raw log
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• Previous call tries 1 • 87.15 of 350.00 AH used of 24V (75.10% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -72.9 deg, depth -3.64 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 96 done -0.90 - - 149 - - - 2783 - -116.8 -75.30 - 3516 - - - - - - - - 14.60 12.99 14.61
98 -1.7 -6.3 2 120 roll -0.90 11.82 0.397 2593 206.8 1.90 0.090 3816 543.7 -116.8 - - 3518 - - - - - - - - 14.10 14.33 14.42
209 46.2 -27.6 19 217 done -0.46 0.55 0.226 2745 276.4 1.77 0.034 2733 -611.9 -116.8 - - 3519 - - - - - - - - 14.12 14.45 14.32
539 76.4 -5.9 33 546 roll -0.46 - - 2737 - 2.05 0.103 3814 527.3 -116.8 - - 3520 - - - - - - - - 14.74 14.34 14.73
776 96.4 -6.6 67 783 done -0.46 - - 2736 - 1.73 0.043 2794 -589.6 -116.8 - - 3521 - - - - - - - - 14.62 14.57 14.64
1127 117.5 -6.0 76 1133 roll -0.55 - - 2729 - 1.90 0.103 3825 542.6 -116.8 - - 3521 - - - - - - - - 14.80 14.41 14.79
1210 122.7 -6.0 88 1218 done -0.63 0.05 0.119 2669 -1200.0 1.75 0.043 2776 -599.4 -116.8 - - 3520 - - - - - - - - 14.46 14.58 14.54
1574 155.3 -8.9 98 1581 roll -0.63 - - 2668 - 2.35 0.044 1375 -596.2 -116.8 - - 3519 - - - - - - - - 14.81 14.53 14.82
1608 158.5 -9.3 103 1617 done -0.63 0.10 0.216 2689 210.0 2.47 0.064 2773 566.0 -116.8 - - 3518 - - - - - - - - 14.30 14.45 14.46
1967 186.8 -7.8 112 1973 roll -0.63 - - 2681 - 1.95 0.106 3818 535.9 -116.8 - - 3516 - - - - - - - - 14.83 14.38 14.83
2014 190.8 -8.4 119 2024 done -0.63 - - 2680 - 1.77 0.041 2768 -593.2 -116.8 - - 3516 - - - - - - - - 14.68 14.63 14.69
2359 219.5 -8.5 126 2365 roll -0.63 - - 2680 - 2.33 0.044 1382 -594.8 -116.8 - - 3516 - - - - - - - - 14.83 14.52 14.82
2379 221.4 -8.7 129 2387 done -0.63 - - 2670 - 2.47 0.066 2776 564.4 -116.8 - - 3512 - - - - - - - - 14.53 14.45 14.57
2696 250.1 -9.2 139 2711 roll -0.63 - - 2662 - 1.92 0.106 3830 549.0 -116.8 - - 3509 - - - - - - - - 14.84 14.44 14.84
2744 254.8 -9.8 145 2757 done -0.63 0.10 0.223 2692 300.0 1.75 0.045 2762 -610.3 -116.8 - - 3509 - - - - - - - - 14.38 14.65 14.59
3099 282.2 -7.6 153 3112 roll -0.63 - - 2693 - 2.33 0.046 1377 -594.4 -116.8 - - 3507 - - - - - - - - 14.90 14.58 14.90
3138 285.2 -7.7 158 3151 done -0.63 - - 2683 - 2.45 0.068 2780 572.7 -116.8 - - 3507 - - - - - - - - 14.67 14.52 14.71
3500 311.8 -7.4 167 3513 roll -0.63 - - 2683 - 2.38 0.044 1378 -589.1 -116.8 - - 3504 - - - - - - - - 14.90 14.59 14.90
3532 314.3 -7.6 171 3545 done -0.63 - - 2673 - 2.45 0.069 2775 570.2 -116.8 - - 3503 - - - - - - - - 14.67 14.52 14.71
3901 343.9 -8.2 181 3914 roll -0.63 - - 2665 - 1.92 0.109 3826 547.4 -116.8 - - 3501 - - - - - - - - 14.92 14.45 14.92
3961 349.2 -8.8 189 3975 done -0.63 0.10 0.228 2695 300.0 1.75 0.046 2774 -601.1 -116.8 - - 3502 - - - - - - - - 14.40 14.68 14.62
4304 374.2 -7.3 202 4317 roll -0.63 - - 2692 - 2.35 0.045 1373 -596.2 -116.8 - - 3499 - - - - - - - - 14.90 14.59 14.89
4385 380.3 -7.2 213 4399 done -0.63 - - 2685 - 2.47 0.068 2778 568.8 -116.8 - - 3499 - - - - - - - - 14.68 14.52 14.71
4705 403.0 -7.1 223 4718 done -0.63 - - 2686 - - - 2779 - -116.8 - - 3497 - - - - - - - - 14.92 14.92 14.92
5041 426.3 -7.0 229 5054 done -0.63 - - 2686 - - - 2779 - -116.8 - - 3495 - - - - - - - - 14.90 14.91 14.91
5377 450.1 -7.1 235 5390 roll -0.63 - - 2686 - 2.40 0.045 1373 -585.8 -116.8 - - 3493 - - - - - - - - 14.93 14.59 14.92
5452 455.5 -7.1 245 5465 done -0.63 - - 2677 - 2.47 0.068 2778 568.8 -116.8 - - 3493 - - - - - - - - 14.67 14.50 14.70
5779 479.8 -7.5 256 5792 roll -0.63 - - 2677 - 2.40 0.044 1371 -586.2 -116.8 - - 3494 - - - - - - - - 14.90 14.58 14.91
5804 481.8 -7.5 259 5817 done -0.63 - - 2667 - 2.47 0.069 2774 568.0 -116.8 - - 3492 - - - - - - - - 14.67 14.51 14.71
6124 506.3 -7.7 269 6137 done -0.63 - - 2667 - - - 2774 - -116.8 - - 3492 - - - - - - - - 14.90 14.90 14.90
6460 533.0 -8.0 275 6473 done -0.63 - - 2667 - - - 2774 - -116.8 - - 3489 - - - - - - - - 14.90 14.91 14.90
6795 561.2 -8.5 281 6809 roll -0.63 - - 2667 - 2.40 0.046 1375 -582.9 -116.8 - - 3488 - - - - - - - - 14.90 14.55 14.90
6857 566.5 -8.8 289 6871 done -0.63 0.12 0.234 2693 216.7 2.50 0.070 2778 561.2 -116.8 - - 3488 - - - - - - - - 14.31 14.48 14.57
7199 592.0 -7.4 302 7212 roll -0.63 - - 2693 - 2.40 0.044 1374 -585.0 -116.8 - - 3486 - - - - - - - - 14.92 14.54 14.91
7245 595.4 -7.4 308 7258 done -0.71 - - 2684 - 2.47 0.068 2776 567.6 -116.8 - - 3486 - - - - - - - - 14.65 14.47 14.68
7600 620.7 -7.1 316 7613 roll -0.71 - - 2676 - 1.95 0.110 3828 539.5 -116.8 - - 3484 - - - - - - - - 14.89 14.39 14.88
7667 625.7 -7.4 325 7681 done -0.71 - - 2675 - 1.77 0.046 2756 -605.6 -116.8 - - 3484 - - - - - - - - 14.71 14.66 14.73
8001 649.8 -7.3 337 8015 roll -0.71 - - 2675 - 2.33 0.044 1378 -591.4 -116.8 - - 3483 - - - - - - - - 14.88 14.58 14.89
8068 654.8 -7.5 346 8082 done -0.71 - - 2666 - 2.47 0.069 2768 562.8 -116.8 - - 3482 - - - - - - - - 14.62 14.45 14.65
8402 680.4 -7.7 358 8415 done -0.71 - - 2666 - - - 2768 - -116.8 - - 3481 - - - - - - - - 14.90 14.90 14.90
8739 705.4 -7.4 364 8752 done -0.71 - - 2666 - - - 2768 - -116.8 - - 3480 - - - - - - - - 14.89 14.89 14.88
9075 729.7 -7.3 370 9088 roll -0.71 - - 2666 - 2.40 0.045 1376 -580.0 -116.8 - - 3480 - - - - - - - - 14.88 14.51 14.88
9136 734.1 -7.3 378 9149 done -0.71 - - 2657 - 2.50 0.069 2774 559.2 -116.8 - - 3480 - - - - - - - - 14.62 14.45 14.66
9477 759.4 -7.4 391 9490 roll -0.71 - - 2649 - 1.95 0.112 3823 537.9 -116.8 - - 3478 - - - - - - - - 14.88 14.34 14.88
9530 763.5 -7.9 398 9543 done -0.71 - - 2649 - 1.77 0.045 2767 -596.6 -116.8 - - 3478 - - - - - - - - 14.67 14.61 14.69
9874 789.5 -7.6 405 9887 roll -0.71 - - 2647 - 2.38 0.045 1372 -586.1 -116.8 - - 3477 - - - - - - - - 14.88 14.49 14.88
9927 793.6 -7.8 412 9941 done -0.71 - - 2640 - 2.50 0.069 2771 559.6 -116.8 - - 3477 - - - - - - - - 14.59 14.42 14.63
10271 820.6 -8.0 419 10284 roll -0.71 - - 2631 - 1.98 0.112 3828 533.8 -116.8 - - 3477 - - - - - - - - 14.87 14.34 14.87
10317 824.1 -7.4 425 10331 done -0.71 0.12 0.227 2668 308.3 1.80 0.047 2755 -596.1 -116.8 - - 3476 - - - - - - - - 14.25 14.62 14.50
10673 851.4 -7.5 433 10687 roll -0.71 - - 2668 - 2.38 0.045 1362 -585.3 -116.8 - - 3475 - - - - - - - - 14.88 14.47 14.88
10740 856.6 -7.5 442 10754 done -0.71 - - 2658 - 2.53 0.069 2771 556.9 -116.8 - - 3475 - - - - - - - - 14.59 14.40 14.62
11075 881.2 -7.3 454 11088 done -0.71 - - 2658 - - - 2771 - -116.8 - - 3474 - - - - - - - - 14.85 14.85 14.85
11411 904.4 -7.0 460 11424 done -0.71 - - 2659 - - - 2770 - -116.8 - - 3473 - - - - - - - - 14.86 14.85 14.86
11746 927.3 -6.8 466 11760 roll -0.71 - - 2659 - 2.45 0.047 1366 -573.1 -116.8 - - 3473 - - - - - - - - 14.89 14.45 14.88
11790 end dive: TARGET_DEPTH_EXCEEDED
11790 begin apogee
11797 930.5 -5.1 472 11924 roll -0.23 0.57 0.184 2822 286.0 - - 2256 - - 117.00 1.959 3050 -3.6 0.332 - - - - - - 14.26 13.99 13.23
11925 end apogee: CONTROL_FINISHED_OK
11925 begin climb
11927 935.6 - 474 12071 roll 0.90 1.08 0.100 3170 322.2 2.53 0.056 862 -551.0 116.8 125.30 1.959 2579 -3.8 0.347 - - - - - - 14.00 14.02 13.02
12286 913.5 8.2 528 12299 done 0.76 - - 3170 - 2.45 0.055 2254 568.2 116.8 - - 2569 - - - - - - - - 14.31 14.18 14.33
12641 882.7 8.7 536 12654 roll 0.60 0.22 0.225 3111 -268.2 2.42 0.056 861 -575.6 116.8 - - 2568 - - - - - - - - 14.12 14.34 14.29
12862 868.2 7.2 567 12880 done 0.62 - - 3111 - 2.42 0.054 2252 574.8 129.3 5.30 2.032 2538 -5.7 0.468 - - - - - - 14.51 14.38 13.52
13210 845.4 6.8 581 13254 roll 0.64 - - 3111 - 2.60 0.099 3658 540.8 150.4 31.80 1.909 2446 -2.9 0.248 - - - - - - 14.73 14.26 13.60
13344 834.4 9.0 600 13358 done 0.56 0.12 0.228 3085 -216.7 2.42 0.041 2246 -583.5 150.4 - - 2441 - - - - - - - - 14.15 14.37 14.38
13665 812.7 6.7 610 13701 done 0.59 - - 3086 - - - 2242 - 173.7 26.98 1.926 2357 -3.1 0.254 - - - - - - 14.71 14.34 13.60
14001 788.9 7.2 616 14019 roll 0.60 - - 3085 - 2.62 0.100 3651 537.8 185.1 5.70 2.054 2315 -7.4 0.547 - - - - - - 14.66 14.36 13.51
14066 783.8 7.6 625 14084 done 0.60 - - 3095 - 2.40 0.041 2244 -586.2 187.7 3.78 1.636 2300 -4.0 0.368 - - - - - - 14.51 14.44 13.24
14398 758.6 7.6 637 14415 roll 0.61 - - 3095 - 2.62 0.101 3657 539.3 190.8 4.05 1.743 2293 -1.7 0.145 - - - - - - 14.73 14.47 13.32
14434 755.4 8.2 642 14448 done 0.61 - - 3105 - 2.40 0.041 2250 -586.2 190.8 1.30 0.288 2290 -2.3 1.171 - - - - - - 14.57 14.50 14.12
14796 726.4 8.0 651 14809 done 0.61 - - 3105 - - - 2244 - 190.8 1.58 0.260 2290 - - - - - - - - 14.76 14.46 14.08
15132 700.0 7.8 657 15146 roll 0.61 - - 3105 - 2.70 0.101 3657 523.3 190.8 1.52 0.260 2292 - - - - - - - - 14.81 14.39 14.08
15194 694.6 8.8 665 15208 done 0.61 - - 3114 - 2.40 0.041 2251 -585.8 190.8 1.33 0.259 2289 -2.3 1.170 - - - - - - 14.62 14.54 14.23
15536 667.3 8.0 678 15549 roll 0.61 - - 3124 - 2.40 0.060 861 -579.2 190.8 1.27 0.257 2291 - - - - - - - - 14.81 14.38 14.19
15561 665.0 8.2 681 15574 done 0.61 - - 3124 - 2.40 0.056 2255 580.8 190.8 - - 2297 - - - - - - - - 14.57 14.42 14.59
15881 637.9 8.5 691 15895 roll 0.61 - - 3124 - 2.58 0.100 3657 543.4 190.8 1.33 0.260 2291 -4.5 2.140 - - - - - - 14.81 14.38 14.17
15927 633.1 9.6 697 15942 done 0.53 0.20 0.216 3077 -235.0 2.38 0.041 2254 -589.5 190.8 1.20 0.249 2286 -4.2 2.049 - - - - - - 14.26 14.57 14.23
16284 608.2 6.8 705 16329 roll 0.56 - - 3077 - 2.62 0.102 3654 534.4 212.3 31.58 1.721 2198 -2.8 0.190 - - - - - - 14.83 14.38 13.76
16383 603.5 7.7 719 16396 done 0.56 - - 3086 - 2.40 0.041 2256 -582.5 212.7 - - 2194 - - - - - - - - 14.49 14.42 14.51
16738 580.5 6.3 727 16783 done 0.60 - - 3086 - - - 2252 - 243.9 35.97 1.680 2078 -3.2 0.215 - - - - - - 14.73 14.33 13.64
17074 560.2 6.0 733 17126 done 0.72 0.08 0.148 3155 862.5 - - 2252 - 280.9 41.28 1.649 1929 -3.6 0.237 - - - - - - 14.40 14.23 13.58
17468 521.2 10.4 747 17481 done 0.72 - - 3155 - - - 2252 - 280.9 - - 1913 - - - - - - - - 14.66 14.66 14.66
17804 482.6 11.7 753 17818 roll 0.72 - - 3154 - 2.62 0.102 3654 535.1 280.9 - - 1914 - - - - - - - - 14.72 14.33 14.73
17866 474.5 13.5 761 17879 done 0.72 0.10 0.239 3136 -180.0 2.40 0.041 2259 -581.2 280.9 - - 1914 - - - - - - - - 14.24 14.48 14.50
18207 437.3 10.7 774 18220 roll 0.72 - - 3147 - 2.42 0.063 861 -577.7 280.9 - - 1912 - - - - - - - - 14.77 14.43 14.77
18268 431.0 10.1 782 18281 done 0.72 - - 3148 - 2.45 0.056 2267 573.9 280.9 - - 1912 - - - - - - - - 14.57 14.43 14.64
18609 397.0 9.9 795 18622 roll 0.72 - - 3147 - 2.58 0.103 3663 541.1 280.9 - - 1912 - - - - - - - - 14.79 14.35 14.79
18648 392.8 10.7 800 18661 done 0.72 - - 3157 - 2.40 0.041 2252 -587.9 280.9 - - 1912 - - - - - - - - 14.62 14.54 14.65
19009 356.6 10.0 809 19023 roll 0.72 - - 3167 - 2.42 0.063 851 -578.9 280.9 - - 1912 - - - - - - - - 14.82 14.43 14.81
19062 351.1 10.2 816 19076 done 0.72 0.10 0.230 3146 -210.0 2.45 0.056 2259 574.7 280.9 - - 1912 - - - - - - - - 14.28 14.46 14.53
19407 319.4 9.3 823 19420 roll 0.72 - - 3137 - 2.58 0.100 3659 542.6 280.9 - - 1912 - - - - - - - - 14.82 14.36 14.82
19467 313.2 10.5 831 19481 done 0.72 - - 3147 - 2.40 0.038 2249 -587.5 280.9 - - 1911 - - - - - - - - 14.63 14.54 14.67
19808 280.6 9.6 844 19822 roll 0.72 - - 3158 - 2.40 0.062 860 -578.8 280.9 - - 1912 - - - - - - - - 14.83 14.43 14.84
19854 276.1 9.5 850 19868 done 0.72 - - 3158 - 2.42 0.056 2262 579.3 280.9 - - 1911 - - - - - - - - 14.60 14.45 14.63
20209 239.8 10.4 858 20223 roll 0.72 - - 3158 - 2.58 0.101 3664 543.4 280.9 - - 1912 - - - - - - - - 14.83 14.36 14.83
20248 235.2 11.4 863 20262 done 0.72 0.10 0.241 3136 -220.0 2.38 0.041 2257 -591.2 280.9 - - 1912 - - - - - - - - 14.27 14.56 14.54
20610 199.6 9.8 872 20623 roll 0.72 - - 3148 - 2.40 0.061 864 -580.4 280.9 - - 1912 - - - - - - - - 14.84 14.43 14.85
20649 195.6 9.7 877 20663 done 0.72 - - 3148 - 2.40 0.055 2266 584.2 280.9 - - 1912 - - - - - - - - 14.48 14.40 14.52
21012 159.1 10.0 886 21025 roll 0.72 - - 3147 - 2.58 0.102 3664 541.9 280.9 - - 1912 - - - - - - - - 14.85 14.35 14.85
21058 153.9 11.1 892 21071 done 0.72 - - 3158 - 2.38 0.040 2258 -590.8 280.9 - - 1912 - - - - - - - - 14.64 14.55 14.66
21412 119.6 9.5 900 21426 roll 0.72 - - 3169 - 2.40 0.062 863 -581.2 280.9 - - 1912 - - - - - - - - 14.83 14.44 14.83
21486 112.3 9.9 910 21500 done 0.72 0.12 0.210 3131 -316.7 2.40 0.055 2258 581.2 280.9 - - 1912 - - - - - - - - 14.28 14.45 14.53
21816 89.3 5.9 924 21847 roll 0.85 0.08 0.148 3197 825.0 2.60 0.099 3654 536.9 320.9 18.17 0.434 1772 -7.7 0.307 - - - - - - 14.54 14.52 14.22
21909 78.5 12.1 937 21923 done 0.85 0.10 0.235 3178 -190.0 2.35 0.039 2257 -594.5 320.9 - - 1778 - - - - - - - - 14.28 14.56 14.52
22246 57.1 6.6 951 22276 roll 0.97 - - 3178 - 2.65 0.097 3659 529.1 345.8 13.57 0.340 1674 -7.7 0.249 - - - - - - 14.80 14.46 14.21
22443 47.4 4.2 979 22497 done 1.18 0.22 0.071 3296 536.4 2.33 0.038 2263 -599.1 422.1 38.42 0.315 1368 -8.0 0.232 - - - - - - 14.55 14.55 14.25
22811 16.7 7.4 998 22828 roll 1.19 - - 3306 - 2.45 0.061 872 -567.8 428.6 3.67 0.226 1342 -7.1 0.101 - - - - - - 14.79 14.41 14.21
22854 13.7 6.7 1004 22879 done 1.22 - - 3306 - 2.40 0.052 2281 587.1 451.2 11.85 0.216 1251 -7.7 0.094 - - - - - - 14.59 14.46 14.23
23009 end climb: SURFACE_DEPTH_REACHED
23009 begin surface coast
23038 end surface coast: CONTROL_FINISHED_OK
23038 begin surface
SM -2.44 - - - - -8.40 9.18 0.077 188 20.5 0.85 0.083 2761 -7638.8 500.14 23.05 0.169 1056 45.8 0.068 - - - - - -