SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 236 * Raw log
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• Previous call tries 1 • 91.67 of 350.00 AH used of 24V (73.81% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.0 deg, depth -3.54 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 43 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 -0.93 - - 120 - - - 2787 - -107.1 -76.50 - 3478 - - - - - - - - 14.58 12.97 14.56
100 -2.0 -4.7 2 122 roll -0.93 11.98 0.392 2590 206.2 2.40 0.031 1347 -600.0 -107.1 - - 3484 - - - - - - - - 14.04 14.36 14.38
254 45.9 -16.7 25 262 done -0.67 0.38 0.253 2684 247.4 2.55 0.067 2769 557.6 -107.1 - - 3480 - - - - - - - - 14.12 14.31 14.38
569 80.8 -9.8 37 575 roll -0.59 - - 2680 - 2.38 0.040 1368 -588.7 -107.1 - - 3481 - - - - - - - - 14.70 14.43 14.70
581 81.8 -8.3 39 590 done -0.59 0.10 0.213 2700 200.0 2.53 0.064 2775 556.1 -107.1 - - 3482 - - - - - - - - 14.18 14.31 14.34
904 105.1 -7.1 51 911 roll -0.59 - - 2693 - 1.98 0.106 3821 528.3 -107.1 - - 3482 - - - - - - - - 14.73 14.31 14.73
1141 124.2 -8.8 85 1149 done -0.59 - - 2692 - 1.80 0.040 2756 -591.7 -107.1 - - 3484 - - - - - - - - 14.59 14.56 14.59
1464 150.8 -8.0 96 1472 roll -0.59 - - 2693 - 2.30 0.042 1385 -596.1 -107.1 - - 3480 - - - - - - - - 14.76 14.47 14.77
1540 156.9 -7.8 107 1548 done -0.59 - - 2683 - 2.45 0.064 2760 561.2 -107.1 - - 3480 - - - - - - - - 14.47 14.38 14.50
1856 182.2 -8.1 117 1863 roll -0.59 - - 2682 - 2.35 0.041 1375 -589.4 -107.1 - - 3478 - - - - - - - - 14.78 14.48 14.78
1898 185.6 -8.0 123 1905 done -0.59 0.10 0.205 2702 200.0 2.50 0.064 2775 560.0 -107.1 - - 3477 - - - - - - - - 14.24 14.38 14.40
2249 210.5 -7.1 131 2255 roll -0.59 - - 2703 - 2.38 0.043 1391 -581.5 -107.1 - - 3474 - - - - - - - - 14.77 14.47 14.77
2290 213.5 -7.2 137 2297 done -0.67 - - 2693 - 2.50 0.067 2763 548.8 -107.1 - - 3475 - - - - - - - - 14.46 14.35 14.50
2641 239.5 -7.5 145 2647 roll -0.67 - - 2698 - 2.38 0.043 1382 -580.3 -107.1 - - 3472 - - - - - - - - 14.77 14.47 14.77
2696 243.9 -7.9 153 2703 done -0.67 - - 2684 - 2.45 0.066 2761 562.9 -107.1 - - 3472 - - - - - - - - 14.56 14.40 14.59
3032 272.1 -8.5 166 3045 done -0.67 - - 2683 - - - 2762 - -107.1 - - 3469 - - - - - - - - 14.86 14.87 14.87
3369 300.3 -8.4 172 3382 roll -0.67 - - 2684 - 2.35 0.044 1376 -589.8 -107.1 - - 3467 - - - - - - - - 14.88 14.53 14.88
3422 304.6 -8.2 179 3435 done -0.67 - - 2675 - 2.47 0.068 2760 560.3 -107.1 - - 3466 - - - - - - - - 14.65 14.49 14.68
3766 333.4 -8.4 186 3779 done -0.67 - - 2675 - - - 2760 - -107.1 - - 3465 - - - - - - - - 14.89 14.89 14.89
4101 361.5 -8.4 192 4115 roll -0.67 - - 2674 - 2.35 0.044 1383 -586.0 -107.1 - - 3463 - - - - - - - - 14.91 14.57 14.91
4148 365.2 -8.4 198 4161 done -0.67 - - 2665 - 2.42 0.069 2757 567.8 -107.1 - - 3462 - - - - - - - - 14.66 14.49 14.68
4502 395.4 -8.6 206 4516 roll -0.67 - - 2664 - 2.33 0.044 1381 -590.6 -107.1 - - 3461 - - - - - - - - 14.90 14.57 14.90
4541 400.4 -13.5 211 4554 done -0.67 - - 2655 - 2.42 0.068 2765 571.9 -107.1 - - 3461 - - - - - - - - 14.64 14.49 14.69
4903 433.3 -8.9 220 4916 done -0.67 - - 2655 - - - 2765 - -107.1 - - 3456 - - - - - - - - 14.90 14.90 14.90
5239 461.5 -8.3 226 5252 done -0.67 - - 2654 - - - 2765 - -107.1 - - 3456 - - - - - - - - 14.90 14.91 14.90
5575 488.5 -8.1 232 5588 roll -0.67 - - 2655 - 2.38 0.047 1375 -584.0 -107.1 - - 3456 - - - - - - - - 14.91 14.55 14.91
5621 492.4 -8.5 238 5635 done -0.67 0.12 0.234 2681 216.7 2.42 0.070 2751 568.6 -107.1 - - 3455 - - - - - - - - 14.30 14.47 14.55
5976 517.1 -6.9 246 5990 roll -0.67 - - 2673 - 2.00 0.112 3826 537.5 -107.1 - - 3454 - - - - - - - - 14.90 14.38 14.90
6030 521.1 -7.6 253 6043 done -0.67 - - 2673 - 1.83 0.044 2751 -587.4 -107.1 - - 3454 - - - - - - - - 14.62 14.60 14.65
6373 546.9 -7.6 260 6387 roll -0.67 - - 2671 - 2.33 0.045 1371 -592.3 -107.1 - - 3452 - - - - - - - - 14.91 14.54 14.92
6434 551.8 -8.1 268 6448 done -0.67 - - 2662 - 2.45 0.068 2755 564.9 -107.1 - - 3452 - - - - - - - - 14.63 14.45 14.66
6775 580.2 -8.4 281 6789 roll -0.67 - - 2662 - 2.35 0.044 1378 -586.0 -107.1 - - 3451 - - - - - - - - 14.89 14.54 14.90
6836 584.4 -7.6 289 6850 done -0.67 0.10 0.246 2680 180.0 2.42 0.070 2745 564.9 -107.1 - - 3451 - - - - - - - - 14.28 14.44 14.52
7179 609.8 -7.0 302 7193 roll -0.75 - - 2672 - 2.03 0.112 3834 536.5 -107.1 - - 3449 - - - - - - - - 14.89 14.35 14.89
7268 616.6 -7.3 314 7281 done -0.75 - - 2672 - 1.83 0.045 2734 -601.1 -107.1 - - 3448 - - - - - - - - 14.68 14.62 14.69
7637 640.5 -6.4 324 7650 roll -0.75 - - 2671 - 2.30 0.045 1377 -590.0 -107.1 - - 3446 - - - - - - - - 14.88 14.52 14.88
7698 644.4 -6.4 332 7712 done -0.75 - - 2662 - 2.47 0.068 2760 559.9 -107.1 - - 3446 - - - - - - - - 14.60 14.42 14.64
8040 667.3 -6.8 345 8053 roll -0.75 - - 2654 - 2.00 0.114 3827 533.5 -107.1 - - 3446 - - - - - - - - 14.90 14.33 14.90
8079 670.2 -7.7 350 8092 done -0.75 - - 2653 - 1.80 0.046 2753 -596.7 -107.1 - - 3445 - - - - - - - - 14.68 14.62 14.69
8441 697.2 -7.6 359 8454 roll -0.75 - - 2654 - 2.35 0.045 1370 -588.5 -107.1 - - 3445 - - - - - - - - 14.88 14.51 14.87
8487 700.9 -8.0 365 8500 done -0.75 - - 2644 - 2.47 0.069 2761 563.2 -107.1 - - 3445 - - - - - - - - 14.62 14.43 14.64
8842 728.9 -7.9 373 8855 done -0.75 - - 2644 - - - 2761 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
9178 754.8 -7.7 379 9191 roll -0.75 - - 2642 - 2.42 0.046 1361 -578.5 -107.1 - - 3443 - - - - - - - - 14.90 14.47 14.90
9231 759.0 -7.8 386 9245 done -0.75 - - 2634 - 2.50 0.070 2757 558.4 -107.1 - - 3443 - - - - - - - - 14.58 14.40 14.62
9575 786.6 -8.1 393 9588 roll -0.75 - - 2634 - 2.40 0.045 1368 -578.8 -107.1 - - 3442 - - - - - - - - 14.88 14.47 14.86
9600 788.8 -8.0 396 9614 done -0.75 0.10 0.253 2652 180.0 2.47 0.070 2756 561.9 -107.1 - - 3442 - - - - - - - - 14.21 14.41 14.48
9920 812.0 -7.3 406 9933 done -0.75 - - 2652 - - - 2756 - -107.1 - - 3441 - - - - - - - - 14.86 14.87 14.87
10257 835.5 -7.1 412 10270 roll -0.75 - - 2652 - 2.40 0.047 1365 -579.6 -107.1 - - 3439 - - - - - - - - 14.86 14.46 14.86
10310 839.1 -7.3 419 10324 done -0.75 - - 2649 - 2.47 0.070 2751 561.1 -107.1 - - 3438 - - - - - - - - 14.57 14.37 14.61
10654 864.8 -7.7 426 10667 done -0.75 - - 2647 - - - 2751 - -107.1 - - 3438 - - - - - - - - 14.86 14.86 14.86
10990 891.5 -8.1 432 11003 roll -0.75 - - 2634 - 2.03 0.115 3824 528.6 -107.1 - - 3437 - - - - - - - - 14.86 14.29 14.86
11022 893.6 -5.9 436 11036 done -0.75 - - 2633 - 1.83 0.046 2733 -596.2 -107.1 - - 3437 - - - - - - - - 14.65 14.58 14.67
11392 922.1 -7.8 446 11405 roll -0.75 - - 2634 - 2.33 0.045 1377 -582.0 -107.1 - - 3439 - - - - - - - - 14.86 14.45 14.85
11459 922.9 1.7 455 11473 done -0.75 0.10 0.248 2652 180.0 2.45 0.068 2749 560.0 -107.1 - - 3436 - - - - - - - - 14.18 14.39 14.45
11475 end dive: TARGET_DEPTH_EXCEEDED
11475 begin apogee
11480 931.2 -27.3 457 11597 roll -0.23 0.57 0.177 2820 294.7 - - 2243 - - 107.03 1.965 3049 -3.6 0.332 - - - - - - 14.23 14.00 13.23
11599 end apogee: CONTROL_FINISHED_OK
11599 begin climb
11601 934.4 - 459 11735 roll 0.93 1.12 0.101 3181 322.3 2.50 0.056 847 -558.4 107.1 115.28 1.969 2618 -3.7 0.344 - - - - - - 14.00 14.03 13.02
11776 926.6 7.6 485 11789 done 0.79 - - 3181 - 2.53 0.053 2255 556.5 109.7 - - 2611 - - - - - - - - 14.04 13.94 14.06
12103 896.6 9.4 496 12116 roll 0.64 0.22 0.233 3114 -304.5 2.60 0.097 3654 538.1 109.7 - - 2609 - - - - - - - - 14.05 14.22 14.23
12149 892.5 10.4 502 12163 done 0.55 0.17 0.226 3078 -211.8 2.42 0.040 2236 -586.0 109.7 - - 2609 - - - - - - - - 14.10 14.39 14.35
12504 871.7 5.8 510 12565 roll 0.60 - - 3077 - 2.72 0.100 3654 521.3 149.3 45.10 1.919 2451 -3.5 0.308 - - - - - - 14.71 14.16 13.45
12634 863.2 7.4 528 12649 done 0.60 - - 3087 - 2.45 0.041 2248 -573.9 156.6 3.25 1.405 2427 -7.4 0.879 - - - - - - 14.36 14.31 13.06
12963 841.3 6.6 539 13010 roll 0.63 - - 3088 - 2.67 0.102 3657 527.7 179.1 32.60 1.931 2329 -3.0 0.254 - - - - - - 14.66 14.14 13.50
13035 835.5 8.5 549 13049 done 0.63 - - 3097 - 2.45 0.042 2245 -576.3 179.1 - - 2326 - - - - - - - - 14.34 14.28 14.36
13362 810.9 7.6 560 13376 roll 0.63 - - 3097 - 2.67 0.102 3658 529.2 181.4 - - 2324 - - - - - - - - 14.66 14.28 14.66
13395 808.2 8.2 564 13408 done 0.63 - - 3107 - 2.40 0.041 2257 -583.8 181.4 - - 2323 - - - - - - - - 14.52 14.44 14.54
13764 779.3 7.8 574 13777 roll 0.63 - - 3107 - 2.65 0.101 3663 530.6 181.4 - - 2321 - - - - - - - - 14.76 14.33 14.76
13810 775.2 8.3 580 13824 done 0.63 - - 3116 - 2.40 0.041 2252 -587.9 181.4 - - 2321 - - - - - - - - 14.58 14.50 14.59
14166 746.8 8.0 588 14178 done 0.63 - - 3117 - - - 2247 - 181.4 - - 2321 - - - - - - - - 14.78 14.78 14.78
14502 721.0 7.6 594 14515 roll 0.64 - - 3117 - 2.65 0.103 3658 532.5 185.0 - - 2321 - - - - - - - - 14.79 14.35 14.78
14576 714.4 9.1 604 14589 done 0.64 - - 3127 - 2.38 0.041 2260 -587.4 185.0 - - 2320 - - - - - - - - 14.62 14.52 14.62
14903 688.0 8.1 615 14916 done 0.64 - - 3127 - - - 2256 - 185.0 0.77 0.301 2312 -10.4 4.599 - - - - - - 14.83 14.48 14.23
15239 659.9 8.4 621 15252 roll 0.64 - - 3127 - 2.65 0.103 3661 530.2 185.0 - - 2317 - - - - - - - - 14.84 14.32 14.84
15306 653.4 9.8 630 15319 done 0.64 - - 3137 - 2.38 0.041 2267 -585.7 185.0 - - 2318 - - - - - - - - 14.62 14.52 14.62
15640 622.4 9.5 642 15654 roll 0.64 0.08 0.267 3111 -325.0 2.60 0.098 3654 533.5 185.0 - - 2317 - - - - - - - - 14.23 14.33 14.38
15693 617.1 9.9 649 15707 done 0.64 - - 3121 - 2.40 0.041 2262 -580.0 185.0 - - 2317 - - - - - - - - 14.59 14.52 14.62
16038 587.6 8.5 656 16051 roll 0.64 - - 3130 - 2.45 0.063 857 -573.5 185.0 - - 2317 - - - - - - - - 14.82 14.39 14.82
16063 585.4 8.5 659 16076 done 0.64 - - 3130 - 2.45 0.056 2273 578.0 185.0 - - 2317 - - - - - - - - 14.57 14.42 14.60
16383 559.0 8.2 669 16396 roll 0.64 - - 3130 - 2.58 0.103 3656 536.0 185.0 - - 2317 - - - - - - - - 14.82 14.32 14.82
16457 552.2 9.2 679 16470 done 0.64 0.12 0.230 3106 -200.0 2.35 0.041 2272 -588.9 185.0 - - 2317 - - - - - - - - 14.19 14.51 14.45
16784 530.3 6.6 690 16829 roll 0.67 - - 3106 - 2.62 0.100 3651 526.3 207.9 29.70 1.650 2216 -3.4 0.212 - - - - - - 14.84 14.40 13.78
16862 524.4 8.2 701 16875 done 0.67 - - 3117 - 2.35 0.041 2279 -583.8 207.9 - - 2217 - - - - - - - - 14.50 14.42 14.51
17182 499.8 7.8 711 17195 roll 0.67 - - 3125 - 2.47 0.061 858 -575.3 207.9 - - 2210 - - - - - - - - 14.71 14.34 14.71
17221 496.6 8.1 716 17235 done 0.67 - - 3125 - 2.47 0.055 2282 576.5 207.9 - - 2210 - - - - - - - - 14.51 14.37 14.54
17583 465.5 8.7 725 17597 roll 0.67 - - 3125 - 2.55 0.103 3657 539.2 207.9 - - 2210 - - - - - - - - 14.76 14.30 14.76
17650 458.6 10.4 734 17663 done 0.67 - - 3134 - 2.35 0.040 2276 -587.7 207.9 - - 2210 - - - - - - - - 14.57 14.49 14.59
17984 427.2 9.5 746 17997 done 0.67 - - 3136 - - - 2271 - 207.9 - - 2214 - - - - - - - - 14.80 14.81 14.81
18320 395.3 9.5 752 18334 roll 0.67 - - 3134 - 2.60 0.100 3660 534.2 207.9 - - 2210 - - - - - - - - 14.81 14.30 14.82
18416 385.4 10.4 765 18429 done 0.67 - - 3145 - 2.35 0.040 2276 -588.9 207.9 - - 2210 - - - - - - - - 14.59 14.51 14.62
18777 351.5 9.3 774 18791 roll 0.67 0.08 0.270 3128 -212.5 2.45 0.059 860 -578.0 207.9 - - 2210 - - - - - - - - 14.19 14.39 14.33
18817 348.2 8.1 779 18830 done 0.67 - - 3129 - 2.45 0.054 2284 581.2 207.9 - - 2210 - - - - - - - - 14.57 14.42 14.61
19179 319.6 7.9 788 19192 roll 0.67 - - 3128 - 2.53 0.097 3659 543.5 207.9 - - 2210 - - - - - - - - 14.81 14.32 14.81
19239 314.3 8.9 796 19253 done 0.67 - - 3137 - 2.35 0.039 2273 -589.8 207.9 - - 2210 - - - - - - - - 14.60 14.52 14.62
19581 287.0 8.0 809 19594 done 0.67 - - 3137 - - - 2270 - 207.9 - - 2210 - - - - - - - - 14.81 14.81 14.81
19917 260.7 7.8 815 19930 done 0.67 - - 3136 - - - 2270 - 207.9 - - 2210 - - - - - - - - 14.82 14.82 14.82
20253 232.6 8.5 821 20266 roll 0.67 - - 3137 - 2.60 0.099 3658 533.8 207.9 - - 2210 - - - - - - - - 14.83 14.28 14.83
20314 226.7 9.9 829 20327 done 0.67 0.10 0.235 3119 -180.0 2.35 0.039 2276 -588.1 207.9 - - 2211 - - - - - - - - 14.22 14.54 14.50
20655 199.7 7.8 842 20668 done 0.67 - - 3118 - - - 2271 - 207.9 - - 2211 - - - - - - - - 14.83 14.83 14.83
20991 174.6 7.4 848 21005 roll 0.67 - - 3118 - 2.62 0.099 3657 529.0 214.2 2.15 0.503 2201 -4.7 0.313 - - - - - - 14.85 14.49 13.38
21045 170.0 8.6 855 21059 done 0.67 - - 3127 - 2.35 0.040 2274 -588.5 214.2 1.62 0.284 2199 - - - - - - - - 14.60 14.52 13.95
21389 143.5 7.7 862 21403 done 0.68 - - 3127 - - - 2271 - 215.5 2.90 0.952 2192 -2.4 0.070 - - - - - - 14.85 14.61 13.51
21725 120.1 6.8 868 21759 done 0.70 - - 3127 - - - 2271 - 235.0 24.80 1.211 2111 -3.3 0.063 - - - - - - 14.85 14.57 13.99
22062 96.1 7.3 874 22079 roll 0.79 - - 3127 - 2.62 0.100 3650 526.3 244.9 3.20 0.379 2080 -9.7 0.476 - - - - - - 14.76 14.35 14.00
22191 85.9 7.6 892 22210 done 0.80 - - 3133 - 2.30 0.040 2276 -597.4 248.6 3.30 0.360 2063 -5.2 0.238 - - - - - - 14.58 14.48 13.99
22514 67.2 4.1 905 22564 roll 1.00 0.15 0.090 3233 666.7 2.45 0.060 872 -573.1 320.6 36.03 0.382 1773 -8.0 0.274 - - - - - - 14.49 14.46 14.19
22716 52.6 7.4 934 22734 done 1.00 - - 3233 - 2.47 0.053 2304 579.8 326.6 3.35 0.303 1750 -6.9 0.231 - - - - - - 14.53 14.39 14.01
23049 31.0 7.2 948 23068 roll 1.02 - - 3242 - 2.47 0.055 879 -576.9 336.5 5.62 0.270 1711 -6.9 0.154 - - - - - - 14.76 14.35 14.12
23144 26.6 5.7 961 23181 done 1.16 - - 3242 - 2.42 0.050 2297 586.0 377.6 21.08 0.257 1546 -7.8 0.157 - - - - - - 14.52 14.38 14.22
23503 10.3 4.3 979 23549 roll 1.41 0.25 0.067 3387 580.0 2.50 0.059 875 -568.8 446.6 32.83 0.197 1272 -8.3 0.085 - - - - - - 14.52 14.46 14.30
23617 end climb: SURFACE_DEPTH_REACHED
23617 begin surface coast
23622 end surface coast: CONTROL_FINISHED_OK
23622 begin surface
SM -3.88 - - - - -8.38 9.65 0.094 192 19.9 3.33 0.060 2759 -2449.5 500.14 24.70 0.165 1058 42.8 0.103 - - - - - -