SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 252 * Raw log
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• Previous call tries 1 • 97.01 of 350.00 AH used of 24V (72.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth -4.24 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 89 done -0.93 - - 199 - - - 2780 - -107.1 -75.57 - 3478 - - - - - - - - 14.64 12.85 14.64
92 -2.3 -7.6 2 112 roll -0.93 11.60 0.389 2584 205.6 1.90 0.085 3834 554.7 -107.1 - - 3479 - - - - - - - - 14.07 14.34 14.43
195 44.7 -32.8 18 201 done -0.46 0.60 0.242 2743 265.0 1.80 0.033 2730 -613.3 -107.1 - - 3480 - - - - - - - - 14.10 14.50 14.31
530 78.0 -7.9 33 538 roll -0.46 - - 2736 - 2.08 0.102 3824 526.0 -107.1 - - 3481 - - - - - - - - 14.82 14.33 14.82
691 91.6 -6.5 56 698 done -0.46 - - 2735 - 1.75 0.039 2773 -600.6 -107.1 - - 3484 - - - - - - - - 14.67 14.62 14.69
1035 117.0 -7.5 65 1036 done -0.46 - - 2735 - - - 2773 - -107.1 - - 3482 - - - - - - - - 14.88 14.89 14.88
1371 139.4 -6.8 71 1372 done -0.54 - - 2735 - - - 2773 - -107.1 - - 3482 - - - - - - - - 14.91 14.91 14.91
1707 162.7 -6.9 77 1714 roll -0.64 0.08 0.142 2664 -887.5 2.30 0.041 1379 -606.1 -107.1 - - 3480 - - - - - - - - 14.66 14.54 14.72
1762 167.4 -8.9 85 1770 done -0.64 0.10 0.219 2684 200.0 2.47 0.065 2764 560.7 -107.1 - - 3480 - - - - - - - - 14.30 14.47 14.47
2099 196.7 -9.2 98 2104 roll -0.64 - - 2675 - 1.98 0.104 3818 532.3 -107.1 - - 3477 - - - - - - - - 14.93 14.40 14.93
2182 204.6 -9.2 110 2188 done -0.64 - - 2675 - 1.77 0.039 2754 -601.1 -107.1 - - 3477 - - - - - - - - 14.75 14.71 14.76
2547 237.5 -9.1 120 2552 roll -0.64 - - 2675 - 2.33 0.042 1390 -585.4 -107.1 - - 3474 - - - - - - - - 14.92 14.54 14.92
2588 241.3 -8.9 126 2595 done -0.64 - - 2665 - 2.45 0.064 2759 558.8 -107.1 - - 3472 - - - - - - - - 14.58 14.49 14.62
2939 273.8 -9.3 134 2944 roll -0.64 - - 2665 - 2.35 0.041 1397 -579.6 -107.1 - - 3472 - - - - - - - - 14.95 14.54 14.95
2959 275.6 -9.0 137 2967 done -0.64 0.10 0.248 2690 250.0 2.45 0.065 2766 558.8 -107.1 - - 3472 - - - - - - - - 14.31 14.50 14.46
3275 301.1 -8.1 147 3275 done -0.64 - - 2690 - - - 2766 - -107.1 - - 3470 - - - - - - - - 14.95 14.95 14.95
3610 329.0 -8.3 153 3618 roll -0.64 - - 2690 - 2.38 0.042 1398 -574.8 -107.1 - - 3467 - - - - - - - - 14.95 14.53 14.95
3659 332.2 -7.1 160 3667 done -0.64 - - 2680 - 2.42 0.064 2759 562.4 -107.1 - - 3467 - - - - - - - - 14.57 14.48 14.61
4003 362.1 -8.6 167 4008 roll -0.64 - - 2672 - 2.00 0.106 3820 530.5 -107.1 - - 3464 - - - - - - - - 14.94 14.36 14.95
4051 366.2 -9.0 174 4059 done -0.64 - - 2671 - 1.77 0.041 2769 -593.8 -107.1 - - 3464 - - - - - - - - 14.76 14.71 14.76
4395 395.3 -8.8 181 4401 roll -0.64 - - 2671 - 2.38 0.041 1378 -584.5 -107.1 - - 3462 - - - - - - - - 14.95 14.51 14.95
4443 400.5 -8.8 188 4451 done -0.64 0.08 0.264 2686 187.5 2.47 0.064 2758 558.7 -107.1 - - 3462 - - - - - - - - 14.30 14.47 14.45
4787 426.5 -7.6 195 4793 roll -0.64 - - 2679 - 2.00 0.107 3818 530.0 -107.1 - - 3460 - - - - - - - - 14.94 14.34 14.94
4814 430.4 -13.2 199 4820 done -0.64 - - 2678 - 1.80 0.041 2754 -591.1 -107.1 - - 3461 - - - - - - - - 14.73 14.69 14.74
5179 458.6 -7.7 209 5185 roll -0.64 - - 2678 - 2.35 0.042 1384 -583.0 -107.1 - - 3460 - - - - - - - - 14.94 14.50 14.94
5235 462.1 -6.6 217 5242 done -0.64 - - 2668 - 2.47 0.067 2764 558.7 -107.1 - - 3456 - - - - - - - - 14.51 14.42 14.56
5571 489.6 -8.1 230 5572 done -0.64 - - 2662 - - - 2763 - -107.1 - - 3457 - - - - - - - - 14.95 14.95 14.95
5907 515.9 -7.8 236 5912 roll -0.64 - - 2668 - 2.40 0.044 1386 -573.8 -107.1 - - 3455 - - - - - - - - 14.96 14.47 14.96
5969 520.3 -7.2 245 5977 done -0.64 0.10 0.217 2688 200.0 2.47 0.067 2758 555.5 -107.1 - - 3455 - - - - - - - - 14.22 14.42 14.39
6299 544.5 -7.1 257 6300 done -0.64 - - 2689 - - - 2758 - -107.1 - - 3456 - - - - - - - - 14.93 14.92 14.92
6635 567.0 -6.6 263 6635 done -0.64 - - 2687 - - - 2758 - -107.1 - - 3452 - - - - - - - - 14.92 14.93 14.93
6971 589.0 -6.6 269 6977 roll -0.64 - - 2687 - 2.40 0.043 1389 -570.4 -107.1 - - 3450 - - - - - - - - 14.95 14.45 14.95
7019 592.3 -6.9 276 7027 done -0.64 - - 2678 - 2.47 0.068 2759 554.7 -107.1 - - 3451 - - - - - - - - 14.49 14.39 14.54
7363 617.1 -7.3 283 7363 done -0.64 - - 2678 - - - 2758 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.92
7699 641.4 -7.2 289 7705 roll -0.64 - - 2678 - 2.40 0.044 1390 -570.0 -107.1 - - 3448 - - - - - - - - 14.92 14.43 14.92
7768 646.6 -7.3 299 7774 done -0.64 - - 2668 - 2.47 0.067 2753 551.8 -107.1 - - 3447 - - - - - - - - 14.48 14.38 14.53
8091 671.2 -7.7 310 8092 done -0.64 - - 2669 - - - 2755 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
8427 698.3 -8.1 316 8432 roll -0.64 - - 2668 - 2.40 0.044 1386 -570.4 -107.1 - - 3445 - - - - - - - - 14.92 14.42 14.92
8468 701.8 -8.4 322 8475 done -0.64 0.10 0.217 2688 200.0 2.47 0.068 2745 550.2 -107.1 - - 3445 - - - - - - - - 14.16 14.38 14.33
8819 727.0 -7.1 330 8820 done -0.72 - - 2688 - - - 2745 - -107.1 - - 3444 - - - - - - - - 14.93 14.93 14.96
9155 750.2 -6.8 336 9161 roll -0.79 0.08 0.147 2631 -712.5 2.38 0.044 1386 -571.0 -107.1 - - 3444 - - - - - - - - 14.60 14.38 14.65
9238 757.4 -8.9 348 9244 done -0.79 - - 2622 - 2.53 0.068 2764 544.7 -107.1 - - 3444 - - - - - - - - 14.52 14.38 14.54
9603 791.0 -9.3 358 9603 done -0.79 - - 2622 - - - 2765 - -107.1 - - 3442 - - - - - - - - 14.91 14.90 14.91
9938 822.7 -9.4 364 9944 roll -0.79 - - 2621 - 2.42 0.044 1392 -567.4 -107.1 - - 3442 - - - - - - - - 14.91 14.38 14.91
9973 826.0 -7.7 369 9981 done -0.79 - - 2612 - 2.45 0.068 2740 550.2 -107.1 - - 3442 - - - - - - - - 14.45 14.35 14.50
10331 860.6 -9.7 378 10337 roll -0.79 0.10 0.267 2631 190.0 2.05 0.109 3820 526.8 -107.1 - - 3440 - - - - - - - - 14.18 14.19 14.42
10372 864.4 -7.5 384 10378 done -0.79 - - 2630 - 1.85 0.043 2752 -577.3 -107.1 - - 3440 - - - - - - - - 14.64 14.58 14.66
10722 893.7 -8.1 392 10728 roll -0.79 - - 2630 - 2.40 0.044 1377 -572.9 -107.1 - - 3439 - - - - - - - - 14.92 14.37 14.92
10750 896.0 -7.3 396 10756 done -0.79 - - 2621 - 2.50 0.067 2749 548.8 -107.1 - - 3439 - - - - - - - - 14.42 14.31 14.47
11115 925.7 -8.1 406 11115 done -0.79 - - 2621 - - - 2749 - -107.1 - - 3438 - - - - - - - - 14.91 14.91 14.92
11168 end dive: TARGET_DEPTH_EXCEEDED
11169 begin apogee
11174 930.3 -8.1 407 11284 roll -0.23 0.70 0.196 2818 281.4 - - 2227 - - 107.35 1.959 3049 -3.6 0.336 - - - - - - 14.17 14.01 13.20
11285 end apogee: CONTROL_FINISHED_OK
11286 begin climb
11288 933.5 - 409 11409 roll 0.93 1.15 0.106 3180 314.8 2.47 0.057 851 -557.1 107.1 114.45 1.928 2623 -3.7 0.352 - - - - - - 13.97 14.01 13.02
11444 926.0 7.4 432 11453 done 0.82 - - 3179 - 2.58 0.050 2256 544.6 113.1 1.73 0.257 2601 -12.7 8.957 - - - - - - 13.95 13.90 13.48
11788 897.0 8.5 439 11795 roll 0.68 0.20 0.224 3126 -265.0 2.60 0.096 3652 536.9 113.1 1.17 0.248 2600 - - - - - - - - 14.09 14.22 14.04
11857 891.5 7.7 449 11864 done 0.59 0.15 0.205 3095 -206.7 2.47 0.039 2232 -574.9 114.3 1.25 0.238 2597 -2.4 1.757 - - - - - - 14.09 14.37 13.99
12180 873.1 5.7 460 12242 roll 0.64 - - 3094 - 2.78 0.097 3650 510.1 156.0 53.88 1.906 2422 -3.2 0.291 - - - - - - 14.74 14.12 13.40
12277 866.7 7.5 474 12285 done 0.65 - - 3104 - 2.47 0.040 2252 -566.0 161.7 1.40 0.227 2405 -12.1 9.063 - - - - - - 14.25 14.21 13.97
12628 841.6 7.3 482 12643 done 0.66 - - 3104 - - - 2253 - 170.0 14.18 2.051 2373 -2.3 0.181 - - - - - - 14.68 14.39 13.59
12964 816.8 7.4 488 12971 roll 0.67 - - 3104 - 2.67 0.099 3651 523.6 177.7 2.62 1.009 2347 -9.9 1.570 - - - - - - 14.71 14.42 13.13
13047 810.1 8.5 500 13054 done 0.67 - - 3114 - 2.42 0.041 2257 -576.0 177.7 1.48 0.255 2344 -2.0 1.259 - - - - - - 14.50 14.45 13.93
13405 783.0 7.5 509 13425 roll 0.68 - - 3114 - 2.67 0.100 3654 523.2 183.3 11.95 2.066 2316 -2.3 0.174 - - - - - - 14.78 14.45 13.70
13461 778.3 8.7 517 13467 done 0.68 - - 3123 - 2.45 0.041 2252 -572.2 183.3 - - 2313 - - - - - - - - 14.48 14.43 14.50
13797 751.5 8.0 530 13798 done 0.68 - - 3124 - - - 2248 - 183.3 - - 2312 - - - - - - - - 14.76 14.76 14.76
14133 725.2 7.8 536 14134 done 0.68 - - 3124 - - - 2247 - 183.3 - - 2312 - - - - - - - - 14.81 14.81 14.81
14469 698.3 8.1 542 14475 roll 0.68 - - 3124 - 2.67 0.101 3650 525.5 183.3 - - 2311 - - - - - - - - 14.85 14.31 14.85
14525 693.2 9.2 550 14532 done 0.68 - - 3134 - 2.42 0.041 2255 -576.4 183.3 - - 2311 - - - - - - - - 14.52 14.49 14.55
14861 664.6 8.5 563 14862 done 0.68 - - 3135 - - - 2250 - 183.3 - - 2310 - - - - - - - - 14.84 14.84 14.84
15197 636.6 8.3 569 15203 roll 0.68 - - 3134 - 2.67 0.099 3651 524.7 183.3 - - 2309 - - - - - - - - 14.85 14.29 14.85
15224 634.1 9.1 573 15231 done 0.68 - - 3144 - 2.45 0.041 2253 -570.6 183.3 - - 2311 - - - - - - - - 14.60 14.54 14.61
15589 603.0 8.5 583 15595 roll 0.68 - - 3144 - 2.65 0.099 3660 530.9 183.3 - - 2310 - - - - - - - - 14.85 14.31 14.85
15616 600.3 9.5 587 15623 done 0.68 0.10 0.212 3125 -190.0 2.45 0.040 2245 -577.6 183.3 - - 2311 - - - - - - - - 14.19 14.51 14.35
15981 571.4 7.9 597 15982 done 0.68 - - 3126 - - - 2242 - 183.3 - - 2310 - - - - - - - - 14.88 14.88 14.88
16317 544.7 7.9 603 16323 roll 0.68 - - 3124 - 2.70 0.101 3677 531.5 183.3 - - 2310 - - - - - - - - 14.88 14.27 14.88
16421 535.4 8.8 618 16430 done 0.68 - - 3134 - 2.47 0.040 2252 -576.9 183.3 - - 2314 - - - - - - - - 14.51 14.46 14.54
16765 508.7 7.7 625 16766 done 0.68 - - 3135 - - - 2252 - 183.9 - - 2310 - - - - - - - - 14.86 14.86 14.86
17101 483.7 7.4 631 17109 roll 0.69 - - 3133 - 2.65 0.099 3656 529.8 191.7 3.97 1.597 2286 -6.0 0.358 - - - - - - 14.88 14.57 13.38
17150 479.7 8.5 638 17157 done 0.69 - - 3145 - 2.40 0.040 2264 -580.0 191.7 1.38 0.253 2288 - - - - - - - - 14.59 14.54 14.05
17486 453.3 8.0 651 17492 roll 0.69 - - 3144 - 2.60 0.098 3654 534.6 191.7 1.55 0.291 2288 - - - - - - - - 14.85 14.23 13.83
17527 449.4 9.5 657 17534 done 0.69 0.10 0.208 3125 -190.0 2.40 0.040 2265 -578.8 191.7 1.35 0.262 2288 - - - - - - - - 14.22 14.52 13.95
17878 420.8 8.3 665 17880 done 0.69 - - 3126 - - - 2262 - 191.7 1.40 0.272 2286 - - - - - - - - 14.87 14.42 13.98
18214 392.6 8.3 671 18220 roll 0.69 - - 3126 - 2.62 0.100 3660 533.6 191.7 1.50 0.283 2293 4.7 -1.266 - - - - - - 14.85 14.23 13.85
18276 387.1 8.9 680 18283 done 0.69 - - 3134 - 2.42 0.040 2263 -577.3 191.7 1.52 0.295 2288 -3.3 0.844 - - - - - - 14.62 14.54 13.83
18606 361.0 7.8 692 18608 done 0.69 - - 3135 - - - 2262 - 191.7 1.10 0.271 2286 - - - - - - - - 14.88 14.47 14.17
18942 336.0 7.5 698 18955 done 0.69 - - 3135 - - - 2262 - 197.6 11.93 1.615 2264 -1.8 0.075 - - - - - - 14.85 14.60 13.88
19278 309.3 7.9 704 19279 done 0.69 - - 3134 - - - 2262 - 197.6 - - 2254 - - - - - - - - 14.81 14.81 14.81
19614 283.9 7.5 710 19621 roll 0.70 - - 3134 - 2.62 0.101 3659 533.2 202.6 1.35 0.264 2245 -6.7 1.401 - - - - - - 14.83 14.35 14.06
19648 281.1 8.2 715 19655 done 0.70 - - 3144 - 2.42 0.040 2269 -574.4 202.6 0.95 0.232 2243 - - - - - - - - 14.58 14.52 14.22
20006 254.3 7.6 724 20014 roll 0.70 - - 3144 - 2.62 0.099 3653 528.2 206.4 4.25 1.487 2231 -2.8 0.094 - - - - - - 14.84 14.54 13.48
20040 251.3 8.7 729 20048 done 0.70 - - 3155 - 2.40 0.040 2267 -577.5 206.4 1.05 0.294 2232 - - - - - - - - 14.66 14.58 14.21
20391 220.9 8.8 737 20398 roll 0.70 - - 3166 - 2.42 0.060 857 -582.6 206.4 2.45 0.782 2230 - - - - - - - - 14.86 14.42 13.43
20418 218.4 8.6 741 20426 done 0.70 0.10 0.195 3135 -310.0 2.50 0.054 2275 567.2 206.4 1.10 0.255 2229 - - - - - - - - 14.33 14.49 14.13
20783 190.8 7.6 751 20796 roll 0.71 - - 3134 - 2.58 0.099 3660 536.8 209.9 4.82 1.534 2218 -2.3 0.055 - - - - - - 14.87 14.56 13.56
20817 187.9 8.5 756 20824 done 0.71 - - 3143 - 2.40 0.038 2270 -579.2 209.9 - - 2222 - - - - - - - - 14.65 14.58 14.67
21176 160.6 7.6 765 21188 roll 0.71 - - 3143 - 2.62 0.099 3653 527.9 213.3 4.53 1.460 2205 -3.8 0.081 - - - - - - 14.86 14.54 13.56
21209 157.6 8.8 770 21218 done 0.71 - - 3154 - 2.38 0.039 2275 -579.0 213.3 1.35 0.354 2205 - - - - - - - - 14.65 14.58 13.95
21567 128.6 8.0 779 21574 roll 0.71 - - 3154 - 2.58 0.098 3656 535.3 213.3 1.50 0.311 2204 - - - - - - - - 14.85 14.22 13.76
21643 121.9 8.7 790 21652 done 0.71 0.10 0.226 3129 -250.0 2.38 0.038 2276 -579.8 213.3 1.50 0.297 2202 - - - - - - - - 14.28 14.56 13.83
21961 100.2 6.9 800 21975 roll 0.82 0.05 0.200 3194 1300.0 2.50 0.060 870 -562.4 229.6 9.15 0.467 2136 -7.2 0.303 - - - - - - 14.60 14.50 14.10
22008 96.5 8.0 807 22014 done 0.82 - - 3194 - 2.47 0.053 2280 570.9 229.6 - - 2142 - - - - - - - - 14.52 14.43 14.55
22345 76.0 5.1 822 22379 roll 0.89 - - 3203 - 2.53 0.060 869 -557.7 281.5 25.83 0.412 1931 -8.2 0.295 - - - - - - 14.84 14.49 14.18
22407 72.8 5.4 831 22436 done 0.94 - - 3203 - 2.47 0.052 2281 571.7 327.9 22.95 0.400 1745 -8.1 0.288 - - - - - - 14.50 14.43 14.14
22766 54.6 4.7 849 22800 roll 1.20 0.15 0.091 3299 640.0 2.60 0.099 3660 530.4 388.9 29.40 0.350 1501 -8.3 0.253 - - - - - - 14.51 14.42 14.15
23030 36.3 6.5 887 23050 done 1.23 - - 3308 - 2.35 0.036 2287 -584.3 414.6 12.88 0.288 1398 -8.0 0.197 - - - - - - 14.53 14.54 14.14
23375 14.4 6.7 903 23393 roll 1.25 - - 3324 - 2.53 0.062 866 -561.7 435.6 10.75 0.220 1314 -7.8 0.100 - - - - - - 14.81 14.43 14.23
23493 6.3 6.8 920 23507 done 1.36 - - 3318 - 2.42 0.051 2287 587.2 454.7 9.57 0.193 1238 -7.9 0.051 - - - - - - 14.59 14.47 14.27
23560 end climb: SURFACE_DEPTH_REACHED
23560 begin surface coast
23588 end surface coast: CONTROL_FINISHED_OK
23588 begin surface
SM -2.87 - - - - -8.39 9.30 0.076 201 21.6 0.85 0.084 2763 -7787.1 500.14 21.10 0.167 1057 50.1 0.088 - - - - - -