SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 231 * Raw log
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• Previous call tries 2 • 89.96 of 350.00 AH used of 24V (74.30% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.8 deg, depth -2.75 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 -0.93 - - 107 - - - 2783 - -107.1 -74.70 - 3478 - - - - - - - - 14.60 12.98 14.60
98 -0.9 -5.5 2 120 roll -0.93 11.90 0.392 2590 208.7 2.38 0.037 1369 -594.1 -107.1 - - 3479 - - - - - - - - 14.10 14.38 14.42
287 60.1 -16.7 30 294 done -0.67 0.38 0.241 2682 242.1 2.47 0.067 2767 566.0 -107.1 - - 3481 - - - - - - - - 14.16 14.32 14.42
623 91.1 -9.8 45 630 roll -0.67 - - 2674 - 1.98 0.105 3825 534.3 -107.1 - - 3482 - - - - - - - - 14.75 14.31 14.74
791 105.6 -8.6 69 799 done -0.67 - - 2674 - 1.77 0.038 2746 -609.6 -107.1 - - 3483 - - - - - - - - 14.57 14.54 14.58
1127 134.3 -8.4 82 1133 roll -0.67 - - 2676 - 2.25 0.043 1395 -600.4 -107.1 - - 3483 - - - - - - - - 14.80 14.51 14.80
1203 140.7 -8.1 93 1212 done -0.67 - - 2665 - 2.47 0.067 2782 561.5 -107.1 - - 3482 - - - - - - - - 14.49 14.41 14.54
1519 167.9 -8.7 103 1525 roll -0.67 - - 2656 - 1.95 0.104 3818 531.3 -107.1 - - 3480 - - - - - - - - 14.81 14.36 14.81
1560 171.8 -9.4 109 1569 done -0.67 - - 2656 - 1.75 0.040 2772 -597.7 -107.1 - - 3480 - - - - - - - - 14.66 14.62 14.67
1911 204.9 -9.5 117 1919 roll -0.67 0.10 0.246 2685 290.0 2.30 0.044 1390 -600.9 -107.1 - - 3476 - - - - - - - - 14.33 14.51 14.54
1938 207.4 -8.8 121 1947 done -0.67 - - 2675 - 2.47 0.068 2769 558.3 -107.1 - - 3476 - - - - - - - - 14.49 14.42 14.55
2303 236.2 -7.7 131 2310 roll -0.67 - - 2675 - 2.35 0.044 1389 -587.2 -107.1 - - 3472 - - - - - - - - 14.82 14.51 14.82
2351 239.9 -7.8 138 2360 done -0.67 - - 2666 - 2.47 0.068 2763 556.3 -107.1 - - 3471 - - - - - - - - 14.50 14.40 14.54
2695 267.4 -8.1 145 2708 roll -0.67 - - 2657 - 1.95 0.107 3825 544.6 -107.1 - - 3470 - - - - - - - - 14.88 14.42 14.88
2748 272.1 -8.9 152 2761 done -0.67 - - 2657 - 1.73 0.043 2775 -606.9 -107.1 - - 3470 - - - - - - - - 14.70 14.64 14.71
3092 302.9 -9.1 159 3105 done -0.67 - - 2658 - - - 2780 - -107.1 - - 3473 - - - - - - - - 14.89 14.89 14.89
3427 333.4 -9.1 165 3441 roll -0.67 - - 2658 - 2.35 0.044 1381 -595.3 -107.1 - - 3465 - - - - - - - - 14.94 14.58 14.90
3473 337.7 -9.1 171 3487 done -0.67 0.12 0.236 2683 208.3 2.45 0.070 2767 565.7 -107.1 - - 3465 - - - - - - - - 14.35 14.50 14.58
3829 366.3 -8.0 179 3842 roll -0.67 - - 2683 - 2.38 0.044 1376 -584.5 -107.1 - - 3462 - - - - - - - - 14.90 14.59 14.90
3867 369.4 -8.0 184 3881 done -0.67 - - 2674 - 2.45 0.069 2769 568.6 -107.1 - - 3462 - - - - - - - - 14.68 14.51 14.71
4229 398.2 -7.9 193 4242 roll -0.67 - - 2668 - 1.95 0.109 3823 540.5 -107.1 - - 3460 - - - - - - - - 14.92 14.42 14.92
4268 401.4 -8.4 198 4281 done -0.67 - - 2666 - 1.73 0.044 2767 -610.4 -107.1 - - 3460 - - - - - - - - 14.73 14.69 14.74
4630 429.0 -7.6 207 4643 roll -0.67 - - 2666 - 2.33 0.045 1386 -592.7 -107.1 - - 3456 - - - - - - - - 14.91 14.57 14.91
4662 431.5 -7.7 211 4675 done -0.67 - - 2656 - 2.42 0.069 2766 570.2 -107.1 - - 3458 - - - - - - - - 14.67 14.50 14.71
5031 460.0 -7.7 221 5044 roll -0.67 0.08 0.272 2675 237.5 1.92 0.106 3821 549.5 -107.1 - - 3456 - - - - - - - - 14.34 14.42 14.49
5092 464.6 -7.3 229 5105 done -0.67 - - 2674 - 1.75 0.044 2758 -607.4 -107.1 - - 3455 - - - - - - - - 14.73 14.69 14.75
5433 488.8 -7.2 242 5446 roll -0.67 - - 2674 - 2.33 0.044 1379 -591.8 -107.1 - - 3454 - - - - - - - - 14.90 14.57 14.90
5556 498.1 -7.5 259 5569 done -0.67 - - 2664 - 2.45 0.070 2766 566.1 -107.1 - - 3454 - - - - - - - - 14.64 14.46 14.67
5890 524.3 -8.0 271 5903 done -0.67 - - 2664 - - - 2766 - -107.1 - - 3452 - - - - - - - - 14.90 14.90 14.90
6226 551.9 -8.2 277 6239 roll -0.67 - - 2664 - 2.38 0.046 1381 -581.9 -107.1 - - 3450 - - - - - - - - 14.92 14.55 14.92
6265 555.2 -8.7 282 6279 done -0.67 0.10 0.249 2683 190.0 2.47 0.071 2767 561.1 -107.1 - - 3450 - - - - - - - - 14.30 14.47 14.54
6627 580.9 -6.9 291 6640 done -0.67 - - 2683 - - - 2767 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
6964 603.0 -6.5 297 6977 roll -0.67 - - 2684 - 2.38 0.045 1385 -580.7 -107.1 - - 3446 - - - - - - - - 14.90 14.54 14.90
7038 607.9 -6.5 307 7052 done -0.75 - - 2674 - 2.45 0.071 2760 561.2 -107.1 - - 3446 - - - - - - - - 14.61 14.43 14.64
7365 629.2 -6.6 318 7379 roll -0.75 - - 2673 - 2.38 0.045 1376 -581.5 -107.1 - - 3445 - - - - - - - - 14.91 14.52 14.91
7418 633.0 -7.0 325 7433 done -0.75 - - 2664 - 2.50 0.072 2759 553.2 -107.1 - - 3445 - - - - - - - - 14.57 14.39 14.59
7763 658.0 -7.4 332 7776 roll -0.75 - - 2656 - 2.00 0.112 3827 534.0 -107.1 - - 3445 - - - - - - - - 14.88 14.34 14.88
7795 660.6 -7.6 336 7808 done -0.75 - - 2656 - 1.77 0.045 2758 -604.0 -107.1 - - 3444 - - - - - - - - 14.69 14.64 14.71
8164 688.9 -7.6 346 8177 roll -0.75 - - 2655 - 2.35 0.045 1378 -587.2 -107.1 - - 3443 - - - - - - - - 14.88 14.51 14.88
8217 693.1 -7.7 353 8232 done -0.75 - - 2646 - 2.50 0.071 2767 555.6 -107.1 - - 3443 - - - - - - - - 14.60 14.42 14.64
8561 720.0 -7.8 360 8574 done -0.75 - - 2646 - - - 2767 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
8897 747.5 -8.4 366 8910 roll -0.75 - - 2646 - 2.40 0.046 1380 -577.9 -107.1 - - 3439 - - - - - - - - 14.90 14.48 14.90
8950 752.1 -8.5 373 8965 done -0.75 - - 2636 - 2.50 0.072 2768 555.2 -107.1 - - 3440 - - - - - - - - 14.59 14.41 14.62
9294 781.3 -8.5 380 9307 done -0.75 - - 2636 - - - 2768 - -107.1 - - 3439 - - - - - - - - 14.90 14.90 14.90
9630 808.9 -8.2 386 9643 roll -0.75 - - 2635 - 2.40 0.047 1381 -577.9 -107.1 - - 3440 - - - - - - - - 14.88 14.48 14.88
9662 811.8 -9.0 390 9676 done -0.75 0.10 0.257 2653 180.0 2.47 0.072 2762 559.1 -107.1 - - 3438 - - - - - - - - 14.22 14.41 14.49
10031 838.8 -7.2 400 10044 done -0.75 - - 2652 - - - 2762 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
10368 862.7 -7.1 406 10381 roll -0.75 - - 2654 - 2.40 0.047 1376 -577.5 -107.1 - - 3441 - - - - - - - - 14.87 14.47 14.87
10414 866.1 -5.6 412 10427 done -0.75 - - 2644 - 2.50 0.072 2764 555.2 -107.1 - - 3436 - - - - - - - - 14.59 14.44 14.62
10769 892.9 -7.6 420 10782 roll -0.75 - - 2644 - 2.40 0.047 1382 -575.8 -107.1 - - 3436 - - - - - - - - 14.88 14.44 14.88
10815 896.3 -6.9 426 10828 done -0.75 - - 2634 - 2.47 0.072 2753 555.1 -107.1 - - 3436 - - - - - - - - 14.57 14.38 14.61
11170 923.8 -7.7 434 11184 roll -0.75 - - 2626 - 2.03 0.113 3823 527.1 -107.1 - - 3433 - - - - - - - - 14.85 14.29 14.85
11232 928.1 -8.2 442 11245 done -0.75 0.10 0.243 2654 280.0 1.80 0.046 2756 -592.8 -107.1 - - 3434 - - - - - - - - 14.21 14.57 14.45
11248 end dive: TARGET_DEPTH_EXCEEDED
11248 begin apogee
11253 930.2 -10.5 444 11369 roll -0.23 0.57 0.180 2823 296.5 - - 2230 - - 106.28 1.952 3049 -3.6 0.334 - - - - - - 14.27 14.02 13.22
11371 end apogee: CONTROL_FINISHED_OK
11371 begin climb
11373 932.5 - 446 11509 roll 0.93 1.12 0.099 3184 322.3 2.50 0.059 844 -554.4 107.1 114.78 1.952 2615 -3.8 0.350 - - - - - - 14.01 14.04 13.07
11514 926.7 8.3 467 11527 done 0.71 0.20 0.236 3132 -260.0 2.58 0.054 2263 550.0 107.1 - - 2611 - - - - - - - - 13.76 13.88 13.95
11876 899.4 7.8 476 11889 roll 0.71 - - 3132 - 2.60 0.099 3653 534.6 107.1 - - 2605 - - - - - - - - 14.59 14.22 14.59
11993 889.6 8.2 492 12007 done 0.58 0.20 0.233 3087 -225.0 2.45 0.041 2236 -578.4 107.1 - - 2605 - - - - - - - - 14.11 14.40 14.38
12336 868.9 5.9 505 12384 done 0.63 - - 3090 - - - 2232 - 144.3 39.30 1.912 2477 -3.3 0.286 - - - - - - 14.73 14.28 13.52
12670 847.1 6.5 511 12710 roll 0.66 - - 3089 - 2.78 0.102 3652 510.8 168.5 27.67 1.945 2374 -3.7 0.314 - - - - - - 14.65 14.21 13.54
12736 841.9 8.1 520 12749 done 0.66 - - 3099 - 2.42 0.041 2256 -576.9 168.5 - - 2369 - - - - - - - - 14.37 14.29 14.38
13063 818.3 7.2 531 13080 roll 0.67 - - 3099 - 2.62 0.103 3653 533.2 179.1 4.12 1.755 2342 -6.6 0.591 - - - - - - 14.67 14.41 13.26
13106 815.0 8.0 537 13120 done 0.67 - - 3108 - 2.40 0.041 2254 -582.9 179.1 2.42 0.813 2341 - - - - - - - - 14.52 14.45 13.13
13462 786.8 8.0 545 13476 roll 0.67 - - 3108 - 2.72 0.103 3662 517.6 179.1 1.62 0.262 2338 -1.9 1.076 - - - - - - 14.74 14.35 14.03
13488 784.3 8.4 548 13501 done 0.67 - - 3118 - 2.40 0.042 2253 -587.1 179.1 1.33 0.269 2336 - - - - - - - - 14.58 14.50 14.14
13808 756.2 8.8 558 13821 done 0.67 - - 3118 - - - 2250 - 179.1 1.50 0.254 2335 - - - - - - - - 14.78 14.47 14.14
14144 726.6 8.8 564 14158 roll 0.67 - - 3118 - 2.65 0.102 3660 532.1 179.1 1.27 0.260 2338 2.4 -1.278 - - - - - - 14.81 14.37 14.17
14183 722.5 9.9 569 14198 done 0.67 - - 3128 - 2.38 0.041 2262 -587.4 179.1 1.27 0.271 2335 -2.4 1.219 - - - - - - 14.62 14.54 14.19
14546 688.8 9.2 578 14559 done 0.67 - - 3128 - - - 2257 - 179.1 1.12 0.265 2336 - - - - - - - - 14.81 14.51 14.26
14882 660.1 8.3 584 14896 roll 0.67 - - 3128 - 2.62 0.103 3651 532.1 179.1 - - 2345 - - - - - - - - 14.83 14.36 14.82
14921 655.6 10.9 589 14936 done 0.67 - - 3138 - 2.38 0.042 2259 -584.9 179.1 1.40 0.260 2335 -7.1 3.486 - - - - - - 14.64 14.55 14.20
15284 626.3 8.4 598 15298 roll 0.67 - - 3139 - 2.62 0.101 3655 532.8 179.1 1.10 0.267 2337 - - - - - - - - 14.84 14.38 14.21
15324 622.6 9.3 603 15337 done 0.67 0.10 0.247 3121 -180.0 2.38 0.042 2259 -586.6 179.1 - - 2343 - - - - - - - - 14.25 14.54 14.50
15686 592.8 8.2 612 15699 done 0.67 - - 3121 - - - 2255 - 179.1 1.30 0.259 2334 -6.9 3.067 - - - - - - 14.83 14.50 14.21
16022 565.4 8.2 618 16036 roll 0.67 - - 3121 - 2.62 0.101 3658 535.5 179.1 1.33 0.258 2336 - - - - - - - - 14.83 14.38 14.16
16075 560.6 9.2 625 16090 done 0.67 - - 3130 - 2.38 0.041 2267 -584.5 179.1 - - 2343 - - - - - - - - 14.62 14.54 14.64
16419 532.0 8.3 632 16433 roll 0.67 - - 3141 - 2.42 0.062 866 -578.9 179.1 1.25 0.258 2336 -5.6 2.235 - - - - - - 14.85 14.38 14.19
16487 526.3 8.2 641 16500 done 0.67 - - 3141 - 2.45 0.057 2276 575.5 179.1 - - 2343 - - - - - - - - 14.58 14.43 14.61
16821 497.9 8.6 653 16834 roll 0.67 - - 3141 - 2.55 0.100 3660 542.7 179.1 1.17 0.262 2337 -5.1 1.886 - - - - - - 14.84 14.37 14.20
16902 490.0 9.7 664 16916 done 0.67 0.12 0.241 3117 -200.0 2.35 0.040 2270 -591.5 179.1 1.20 0.243 2335 - - - - - - - - 14.20 14.53 14.23
17225 466.1 7.4 674 17255 roll 0.68 - - 3126 - 2.50 0.063 858 -564.8 186.9 13.75 1.737 2296 -2.8 0.147 - - - - - - 14.82 14.54 13.83
17295 460.8 7.7 684 17308 done 0.68 - - 3126 - 2.45 0.057 2268 575.5 188.5 - - 2294 - - - - - - - - 14.54 14.40 14.57
17622 437.0 7.2 695 17647 roll 0.69 - - 3126 - 2.55 0.103 3653 543.1 198.8 12.10 1.724 2256 -3.1 0.154 - - - - - - 14.78 14.45 13.83
17694 431.2 8.4 705 17707 done 0.69 - - 3136 - 2.35 0.041 2276 -586.0 198.8 - - 2248 - - - - - - - - 14.54 14.46 14.56
18021 405.2 8.0 716 18034 done 0.69 - - 3136 - - - 2271 - 198.8 - - 2247 - - - - - - - - 14.76 14.76 14.76
18357 378.8 7.8 722 18370 roll 0.69 - - 3136 - 2.60 0.102 3656 532.7 198.8 - - 2251 - - - - - - - - 14.81 14.33 14.80
18418 373.5 8.9 730 18431 done 0.69 - - 3146 - 2.38 0.041 2265 -584.5 198.8 - - 2244 - - - - - - - - 14.59 14.50 14.61
18759 346.3 8.0 743 18772 roll 0.69 - - 3147 - 2.62 0.102 3660 532.4 198.8 - - 2246 - - - - - - - - 14.81 14.32 14.82
18798 342.7 9.4 748 18811 done 0.69 0.10 0.246 3131 -160.0 2.35 0.039 2275 -589.4 198.8 - - 2247 - - - - - - - - 14.22 14.52 14.49
19160 315.6 7.5 757 19174 roll 0.70 - - 3138 - 2.45 0.060 858 -578.4 203.5 1.15 0.256 2235 -10.4 2.490 - - - - - - 14.81 14.37 14.19
19214 311.4 7.8 764 19227 done 0.70 - - 3139 - 2.47 0.057 2276 574.1 203.5 - - 2244 - - - - - - - - 14.56 14.41 14.59
19558 285.1 7.6 771 19575 roll 0.70 - - 3139 - 2.55 0.103 3650 538.8 205.8 2.50 0.787 2233 -4.4 0.308 - - - - - - 14.83 14.51 13.43
19616 280.2 8.9 779 19629 done 0.70 - - 3150 - 2.33 0.040 2276 -589.7 205.8 1.58 0.272 2230 -1.9 0.379 - - - - - - 14.64 14.56 14.06
19957 252.5 8.2 792 19970 roll 0.70 - - 3159 - 2.53 0.064 859 -560.1 205.8 1.60 0.260 2232 - - - - - - - - 14.83 14.42 13.98
20003 248.5 8.6 798 20017 done 0.70 0.12 0.220 3123 -300.0 2.45 0.058 2274 577.6 205.8 1.58 0.271 2230 - - - - - - - - 14.26 14.44 13.93
20347 223.4 7.3 805 20378 roll 0.71 - - 3123 - 2.58 0.102 3654 534.9 215.4 16.50 1.414 2183 -2.8 0.087 - - - - - - 14.84 14.50 13.96
20439 215.6 8.7 818 20452 done 0.71 - - 3131 - 2.35 0.041 2267 -590.2 215.4 - - 2181 - - - - - - - - 14.58 14.50 14.60
20801 186.2 8.2 827 20814 roll 0.71 - - 3131 - 2.60 0.101 3652 532.7 215.4 - - 2180 - - - - - - - - 14.77 14.34 14.77
20833 183.3 8.8 831 20846 done 0.71 - - 3141 - 2.33 0.040 2280 -588.8 215.4 - - 2180 - - - - - - - - 14.62 14.52 14.62
21202 152.3 8.4 841 21215 roll 0.71 - - 3152 - 2.45 0.062 864 -578.0 215.4 - - 2180 - - - - - - - - 14.82 14.41 14.82
21234 149.6 8.2 845 21247 done 0.71 - - 3152 - 2.47 0.057 2291 577.7 215.4 - - 2178 - - - - - - - - 14.59 14.44 14.62
21603 118.5 8.5 855 21616 roll 0.71 - - 3152 - 2.50 0.101 3653 544.8 215.4 - - 2180 - - - - - - - - 14.83 14.35 14.84
21649 114.2 9.5 861 21663 done 0.71 0.10 0.242 3134 -180.0 2.33 0.041 2272 -592.7 215.4 - - 2180 - - - - - - - - 14.26 14.55 14.52
21977 90.0 7.3 870 21994 roll 0.73 - - 3143 - 2.47 0.062 865 -569.6 225.0 3.05 0.360 2154 -8.5 0.412 - - - - - - 14.83 14.45 14.02
22027 86.6 6.7 877 22052 done 0.83 - - 3144 - 2.45 0.055 2285 579.6 246.4 12.10 0.426 2073 -6.7 0.263 - - - - - - 14.59 14.45 14.16
22375 65.8 4.6 893 22419 roll 0.99 0.12 0.104 3222 650.0 2.50 0.097 3655 548.0 309.2 31.77 0.376 1818 -8.0 0.272 - - - - - - 14.52 14.47 14.21
22543 51.1 9.6 917 22557 done 0.99 - - 3232 - 2.35 0.039 2276 -586.8 309.2 - - 1821 - - - - - - - - 14.59 14.50 14.60
22884 32.3 5.3 932 22922 roll 1.05 - - 3243 - 2.42 0.063 859 -585.5 359.0 24.35 0.275 1620 -8.3 0.188 - - - - - - 14.80 14.47 14.22
23032 24.1 4.5 953 23079 done 1.23 0.10 0.117 3307 640.0 2.45 0.053 2287 582.9 423.9 31.95 0.252 1361 -8.1 0.150 - - - - - - 14.49 14.42 14.24
23390 end climb: SURFACE_DEPTH_REACHED
23390 begin surface coast
23418 end surface coast: CONTROL_FINISHED_OK
23418 begin surface
SM -3.22 - - - - -8.40 9.23 0.078 195 21.1 0.85 0.086 2763 -10196.5 500.14 34.92 0.160 1056 30.2 0.062 - - - - - -