SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 380 * Raw log
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• Previous call tries 1 • 137.04 of 350.00 AH used of 24V (60.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -0.27 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 99 done -0.93 - - 105 - - - 2776 - -107.1 -78.45 - 3478 - - - - - - - - 14.67 12.60 14.66
102 8.3 -15.0 3 120 roll -0.93 11.93 0.389 2594 208.6 2.38 0.036 1372 -589.9 -107.1 - - 3479 - - - - - - - - 14.00 14.35 14.27
156 32.6 -27.5 11 161 done -0.65 0.38 0.250 2685 239.5 2.50 0.068 2775 561.2 -107.1 - - 3479 - - - - - - - - 14.12 14.35 14.38
492 75.4 -10.2 26 497 roll -0.65 - - 2678 - 1.98 0.108 3821 528.3 -107.1 - - 3481 - - - - - - - - 14.83 14.31 14.83
525 78.0 -7.8 31 532 done -0.65 - - 2677 - 1.80 0.039 2743 -598.9 -107.1 - - 3481 - - - - - - - - 14.64 14.61 14.70
856 99.3 -5.6 45 862 roll -0.65 - - 2677 - 2.25 0.042 1394 -599.6 -107.1 - - 3482 - - - - - - - - 14.88 14.53 14.88
912 103.0 -6.6 53 918 done -0.65 - - 2667 - 2.40 0.065 2765 571.2 -107.1 - - 3482 - - - - - - - - 14.62 14.45 14.64
1248 128.9 -7.7 66 1253 roll -0.65 - - 2659 - 1.95 0.106 3819 540.5 -107.1 - - 3482 - - - - - - - - 14.92 14.36 14.92
1338 136.0 -8.0 79 1344 done -0.65 - - 2659 - 1.77 0.039 2750 -604.0 -107.1 - - 3482 - - - - - - - - 14.71 14.69 14.71
1695 164.5 -8.2 88 1701 roll -0.65 - - 2659 - 2.30 0.041 1381 -595.2 -107.1 - - 3480 - - - - - - - - 14.92 14.54 14.93
1722 167.0 -8.8 92 1729 done -0.65 0.10 0.207 2681 220.0 2.45 0.066 2750 558.8 -107.1 - - 3480 - - - - - - - - 14.30 14.45 14.45
2088 194.1 -7.2 102 2093 roll -0.65 - - 2672 - 2.05 0.107 3829 526.3 -107.1 - - 3477 - - - - - - - - 14.92 14.33 14.93
2122 196.6 -7.2 107 2128 done -0.65 - - 2680 - 1.80 0.041 2753 -597.8 -107.1 - - 3477 - - - - - - - - 14.70 14.69 14.71
2480 224.2 -8.0 116 2485 roll -0.65 - - 2673 - 2.33 0.044 1379 -589.7 -107.1 - - 3474 - - - - - - - - 14.94 14.55 14.94
2513 227.2 -8.7 121 2521 done -0.65 - - 2664 - 2.47 0.067 2761 559.5 -107.1 - - 3472 - - - - - - - - 14.54 14.44 14.59
2872 258.2 -8.5 130 2877 roll -0.65 - - 2655 - 2.03 0.109 3824 523.6 -107.1 - - 3472 - - - - - - - - 14.97 14.36 14.96
2919 262.4 -8.9 137 2928 done -0.65 0.10 0.227 2692 370.0 1.83 0.043 2750 -586.9 -107.1 - - 3471 - - - - - - - - 14.35 14.69 14.49
3264 287.7 -7.4 144 3269 roll -0.76 0.05 0.203 2631 -1220.0 2.30 0.044 1381 -595.2 -107.1 - - 3469 - - - - - - - - 14.66 14.56 14.72
3305 291.6 -9.7 150 3311 done -0.76 0.10 0.218 2651 200.0 2.47 0.067 2760 558.3 -107.1 - - 3469 - - - - - - - - 14.25 14.42 14.42
3656 323.7 -9.0 158 3657 done -0.76 - - 2651 - - - 2760 - -107.1 - - 3467 - - - - - - - - 14.94 14.94 14.94
3992 352.0 -8.4 164 3997 roll -0.76 - - 2651 - 2.35 0.044 1385 -585.1 -107.1 - - 3465 - - - - - - - - 14.96 14.54 14.97
4033 355.5 -8.2 170 4039 done -0.76 - - 2641 - 2.47 0.068 2753 553.8 -107.1 - - 3464 - - - - - - - - 14.51 14.42 14.56
4383 384.4 -8.2 178 4384 done -0.76 - - 2641 - - - 2753 - -107.1 - - 3463 - - - - - - - - 14.95 14.94 14.94
4719 411.1 -7.9 184 4725 roll -0.76 - - 2633 - 2.05 0.111 3828 524.4 -107.1 - - 3461 - - - - - - - - 14.96 14.33 14.97
4761 414.5 -8.4 190 4767 done -0.76 - - 2633 - 1.83 0.044 2758 -584.7 -107.1 - - 3461 - - - - - - - - 14.73 14.68 14.74
5112 444.6 -8.8 198 5117 roll -0.76 - - 2632 - 2.35 0.044 1380 -586.4 -107.1 - - 3460 - - - - - - - - 14.95 14.54 14.95
5139 447.0 -8.9 202 5145 done -0.76 0.10 0.220 2652 200.0 2.50 0.068 2756 550.4 -107.1 - - 3460 - - - - - - - - 14.21 14.40 14.37
5504 476.6 -8.2 212 5509 roll -0.76 - - 2644 - 2.05 0.110 3826 522.0 -107.1 - - 3458 - - - - - - - - 14.95 14.31 14.95
5559 481.5 -8.9 220 5565 done -0.76 - - 2644 - 1.83 0.045 2751 -587.4 -107.1 - - 3456 - - - - - - - - 14.62 14.59 14.63
5895 510.0 -8.4 233 5902 roll -0.76 - - 2644 - 2.35 0.044 1377 -584.7 -107.1 - - 3457 - - - - - - - - 14.95 14.51 14.95
5964 516.0 -8.4 243 5971 done -0.76 - - 2635 - 2.50 0.067 2754 550.8 -107.1 - - 3457 - - - - - - - - 14.47 14.38 14.52
6288 543.6 -8.6 254 6288 done -0.76 - - 2635 - - - 2754 - -107.1 - - 3455 - - - - - - - - 14.95 14.95 14.95
6623 570.5 -7.9 260 6629 roll -0.76 - - 2627 - 2.05 0.112 3823 521.5 -107.1 - - 3454 - - - - - - - - 14.93 14.26 14.93
6693 576.5 -8.6 270 6699 done -0.76 0.08 0.208 2650 287.5 1.83 0.045 2758 -582.0 -107.1 - - 3454 - - - - - - - - 14.28 14.62 14.42
7016 600.7 -7.5 281 7022 roll -0.76 - - 2650 - 2.38 0.044 1375 -581.1 -107.1 - - 3452 - - - - - - - - 14.92 14.50 14.92
7071 605.2 -8.0 289 7078 done -0.76 - - 2641 - 2.47 0.067 2761 561.1 -107.1 - - 3451 - - - - - - - - 14.57 14.38 14.61
7408 632.9 -8.3 302 7409 done -0.76 - - 2641 - - - 2761 - -107.1 - - 3451 - - - - - - - - 14.92 14.92 14.92
7743 661.4 -8.5 308 7744 done -0.76 - - 2641 - - - 2761 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.92
8079 688.9 -8.0 314 8080 done -0.76 - - 2641 - - - 2765 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
8416 714.0 -7.4 320 8421 roll -0.76 - - 2640 - 2.42 0.047 1377 -573.6 -107.1 - - 3448 - - - - - - - - 14.92 14.43 14.92
8472 718.1 -7.3 328 8477 done -0.76 - - 2631 - 2.50 0.069 2756 551.6 -107.1 - - 3448 - - - - - - - - 14.54 14.35 14.57
8808 743.7 -7.6 341 8813 roll -0.76 - - 2624 - 2.05 0.114 3819 518.5 -107.1 - - 3447 - - - - - - - - 14.91 14.14 14.92
8870 748.9 -8.2 350 8876 done -0.76 0.08 0.218 2646 275.0 1.85 0.044 2757 -574.1 -107.1 - - 3446 - - - - - - - - 14.21 14.60 14.36
9200 772.9 -7.3 362 9205 roll -0.76 - - 2646 - 2.40 0.045 1367 -579.2 -107.1 - - 3445 - - - - - - - - 14.91 14.43 14.91
9234 775.5 -7.7 367 9240 done -0.76 - - 2637 - 2.55 0.068 2753 543.5 -107.1 - - 3444 - - - - - - - - 14.40 14.33 14.45
9592 801.6 -7.3 376 9592 done -0.76 - - 2637 - - - 2753 - -107.1 - - 3443 - - - - - - - - 14.93 14.94 14.93
9928 825.2 -7.1 382 9929 done -0.76 - - 2637 - - - 2753 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
10264 848.1 -6.8 388 10269 roll -0.76 - - 2637 - 2.42 0.047 1371 -571.1 -107.1 - - 3441 - - - - - - - - 14.90 14.42 14.90
10305 851.0 -6.8 394 10311 done -0.76 - - 2628 - 2.55 0.069 2750 540.8 -107.1 - - 3441 - - - - - - - - 14.36 14.26 14.41
10656 874.8 -6.8 402 10661 roll -0.76 - - 2620 - 2.08 0.114 3819 513.9 -107.1 - - 3441 - - - - - - - - 14.90 14.13 14.90
10704 878.3 -7.3 409 10713 done -0.76 0.10 0.208 2649 290.0 1.85 0.047 2754 -575.7 -107.1 - - 3440 - - - - - - - - 14.10 14.49 14.26
11048 898.6 -5.8 416 11053 roll -0.84 - - 2649 - 2.40 0.045 1366 -578.3 -107.1 - - 3441 - - - - - - - - 14.92 14.40 14.92
11145 904.9 -6.2 430 11151 done -0.93 0.05 0.114 2587 -1240.0 2.55 0.068 2744 540.4 -107.1 - - 3440 - - - - - - - - 14.23 14.23 14.32
11437 end dive: TARGET_DEPTH_EXCEEDED
11437 begin apogee
11444 930.8 -9.1 437 11558 roll -0.23 0.82 0.186 2823 287.8 0.10 0.161 2271 -4730.0 - 110.45 1.978 3050 -3.5 0.331 - - - - - - 14.04 13.93 13.00
11559 end apogee: CONTROL_FINISHED_OK
11559 begin climb
11562 934.9 - 439 11688 roll 0.93 1.10 0.090 3181 325.5 2.53 0.057 888 -546.6 107.1 117.12 1.952 2625 -3.6 0.346 - - - - - - 13.97 14.00 12.86
11764 925.1 6.1 469 11806 done 0.87 - - 3182 - 2.45 0.051 2237 550.6 140.3 37.62 1.976 2491 -3.6 0.332 - - - - - - 14.12 14.04 13.00
12166 894.6 7.9 484 12171 roll 0.77 0.10 0.250 3149 -330.0 2.65 0.096 3650 533.2 140.3 - - 2478 - - - - - - - - 14.16 14.28 14.33
12247 887.9 7.8 496 12253 done 0.66 0.15 0.213 3117 -213.3 2.40 0.041 2283 -569.6 140.3 - - 2478 - - - - - - - - 14.15 14.44 14.32
12612 866.1 6.0 506 12659 roll 0.70 - - 3127 - 2.60 0.062 863 -546.2 175.5 39.10 1.941 2345 -3.4 0.303 - - - - - - 14.76 14.25 13.33
12681 861.2 9.0 516 12687 done 0.70 - - 3126 - 2.50 0.053 2252 555.6 175.5 - - 2342 - - - - - - - - 14.31 14.22 14.32
13004 835.5 8.1 527 13009 roll 0.70 - - 3126 - 2.62 0.100 3657 536.3 175.5 - - 2339 - - - - - - - - 14.72 14.28 14.72
13087 827.6 9.4 539 13093 done 0.70 - - 3137 - 2.45 0.041 2255 -572.2 175.5 - - 2339 - - - - - - - - 14.48 14.44 14.50
13452 794.9 9.1 549 13458 roll 0.70 - - 3137 - 2.65 0.101 3653 527.5 175.5 - - 2338 - - - - - - - - 14.79 14.33 14.80
13486 791.4 10.1 554 13492 done 0.70 - - 3147 - 2.45 0.040 2255 -570.6 175.5 - - 2338 - - - - - - - - 14.52 14.47 14.54
13843 757.1 9.6 563 13849 roll 0.70 - - 3160 - 2.45 0.063 856 -571.0 175.5 - - 2340 - - - - - - - - 14.82 14.40 14.83
13871 754.4 9.5 567 13877 done 0.70 - - 3157 - 2.50 0.054 2262 562.4 175.5 - - 2337 - - - - - - - - 14.47 14.40 14.51
14235 717.7 10.2 577 14242 roll 0.70 0.10 0.239 3128 -290.0 2.60 0.100 3651 534.2 175.5 - - 2337 - - - - - - - - 14.28 14.31 14.52
14305 710.7 10.0 587 14311 done 0.70 - - 3138 - 2.42 0.040 2256 -576.4 175.5 - - 2337 - - - - - - - - 14.52 14.47 14.54
14628 680.5 9.4 598 14628 done 0.70 - - 3139 - - - 2252 - 175.5 - - 2336 - - - - - - - - 14.86 14.88 14.89
14964 649.5 9.2 604 14969 roll 0.70 - - 3139 - 2.65 0.099 3653 528.7 175.5 - - 2335 - - - - - - - - 14.86 14.30 14.87
14998 646.0 10.0 609 15005 done 0.70 - - 3146 - 2.45 0.040 2253 -571.4 175.5 - - 2336 - - - - - - - - 14.52 14.46 14.54
15356 614.2 8.7 618 15361 roll 0.70 - - 3152 - 2.65 0.099 3653 528.3 175.5 - - 2336 - - - - - - - - 14.85 14.29 14.88
15390 610.9 9.5 623 15396 done 0.70 0.10 0.220 3131 -210.0 2.42 0.040 2263 -574.4 175.5 - - 2336 - - - - - - - - 14.12 14.46 14.31
15748 584.2 7.3 632 15755 roll 0.72 - - 3141 - 2.50 0.062 862 -560.4 184.2 3.35 1.421 2318 -5.4 0.440 - - - - - - 14.87 14.47 13.01
15782 581.6 7.2 637 15804 done 0.73 - - 3141 - 2.47 0.054 2264 567.6 194.4 17.95 1.802 2276 -2.3 0.151 - - - - - - 14.53 14.46 13.57
16126 555.3 7.7 651 16131 roll 0.73 - - 3141 - 2.62 0.103 3653 530.2 196.1 - - 2265 - - - - - - - - 14.78 14.27 14.79
16182 550.5 8.8 659 16187 done 0.73 - - 3152 - 2.40 0.040 2257 -581.7 196.1 - - 2266 - - - - - - - - 14.54 14.45 14.57
16518 523.9 7.9 672 16523 roll 0.73 - - 3152 - 2.67 0.101 3657 524.3 196.1 - - 2265 - - - - - - - - 14.80 14.27 14.81
16552 520.8 9.1 677 16559 done 0.73 - - 3163 - 2.42 0.041 2269 -573.6 196.1 - - 2266 - - - - - - - - 14.49 14.44 14.50
16910 490.6 8.5 686 16915 roll 0.73 - - 3173 - 2.50 0.064 857 -564.8 196.1 - - 2265 - - - - - - - - 14.82 14.33 14.83
16958 486.5 8.5 693 16966 done 0.73 0.10 0.203 3143 -300.0 2.50 0.054 2265 563.2 196.1 - - 2265 - - - - - - - - 14.12 14.35 14.28
17302 459.9 7.7 700 17307 roll 0.73 - - 3143 - 2.62 0.103 3659 532.1 196.2 - - 2265 - - - - - - - - 14.83 14.26 14.83
17336 456.9 8.9 705 17344 done 0.73 - - 3153 - 2.45 0.040 2257 -572.2 196.2 - - 2265 - - - - - - - - 14.50 14.45 14.52
17694 426.8 8.5 714 17699 roll 0.73 - - 3153 - 2.67 0.101 3659 525.1 196.2 - - 2265 - - - - - - - - 14.85 14.25 14.87
17742 422.0 9.8 721 17750 done 0.73 - - 3164 - 2.42 0.040 2269 -574.4 196.2 - - 2265 - - - - - - - - 14.49 14.44 14.51
18086 391.1 8.9 728 18091 roll 0.73 - - 3174 - 2.50 0.064 858 -564.4 196.2 - - 2265 - - - - - - - - 14.85 14.33 14.85
18120 387.9 9.6 733 18127 done 0.73 0.10 0.197 3144 -300.0 2.50 0.054 2266 563.2 196.2 - - 2265 - - - - - - - - 14.11 14.33 14.27
18478 359.7 7.8 742 18483 roll 0.73 - - 3143 - 2.62 0.102 3660 532.1 196.2 - - 2265 - - - - - - - - 14.86 14.24 14.86
18540 354.2 8.9 751 18546 done 0.73 - - 3154 - 2.45 0.039 2256 -573.1 196.2 - - 2264 - - - - - - - - 14.48 14.43 14.50
18870 327.4 8.2 763 18870 done 0.73 - - 3154 - - - 2253 - 196.2 - - 2265 - - - - - - - - 14.89 14.88 14.88
19206 299.4 8.5 769 19212 roll 0.73 - - 3165 - 2.45 0.064 864 -566.9 196.2 - - 2265 - - - - - - - - 14.88 14.32 14.89
19233 297.0 8.6 773 19240 done 0.73 - - 3164 - 2.47 0.054 2264 566.8 196.2 - - 2265 - - - - - - - - 14.40 14.33 14.45
19598 264.0 9.1 783 19603 roll 0.73 - - 3164 - 2.62 0.103 3658 532.1 196.2 - - 2265 - - - - - - - - 14.86 14.23 14.87
19639 259.9 9.9 789 19647 done 0.73 0.12 0.207 3139 -208.3 2.42 0.038 2260 -577.7 196.2 - - 2266 - - - - - - - - 14.07 14.43 14.23
19990 233.3 7.5 797 19995 done 0.74 - - 3138 - - - 2259 - 202.0 3.78 1.333 2246 -5.3 0.185 - - - - - - 14.87 14.41 13.16
20326 207.7 7.7 803 20333 roll 0.74 - - 3139 - 2.67 0.099 3653 522.1 203.2 2.83 0.997 2244 - - - - - - - - 14.92 14.43 13.12
20381 202.8 9.1 811 20387 done 0.74 - - 3148 - 2.40 0.040 2268 -577.1 203.2 1.33 0.263 2243 - - - - - - - - 14.54 14.49 13.81
20711 175.9 8.3 823 20717 roll 0.74 - - 3159 - 2.47 0.061 859 -570.4 203.2 1.62 0.333 2246 1.9 -0.195 - - - - - - 14.86 14.05 13.59
20752 172.4 8.3 829 20759 done 0.74 - - 3158 - 2.50 0.054 2269 564.0 203.2 1.20 0.241 2244 - - - - - - - - 14.44 14.36 13.92
21103 145.1 7.6 837 21115 roll 0.74 - - 3159 - 2.60 0.103 3654 532.7 206.5 5.07 1.530 2232 -2.4 0.045 - - - - - - 14.87 14.48 13.46
21165 139.9 8.4 846 21172 done 0.74 0.08 0.213 3146 -162.5 2.40 0.038 2264 -579.2 206.5 1.25 0.256 2228 -3.2 0.349 - - - - - - 14.19 14.45 13.90
21495 115.5 7.8 858 21501 roll 0.74 - - 3146 - 2.62 0.097 3654 530.5 206.5 1.33 0.286 2230 - - - - - - - - 14.85 14.07 13.68
21522 112.7 10.0 862 21528 done 0.74 - - 3156 - 2.40 0.038 2265 -578.8 206.5 1.17 0.256 2230 - - - - - - - - 14.51 14.47 13.81
21859 84.0 7.6 875 21866 roll 0.75 - - 3156 - 2.70 0.098 3653 514.1 209.3 2.78 0.369 2217 -4.7 0.212 - - - - - - 14.85 14.33 13.80
21908 80.4 7.5 882 21915 done 0.75 - - 3167 - 2.35 0.038 2273 -587.2 213.6 3.22 0.368 2198 -5.9 0.257 - - - - - - 14.59 14.50 13.86
22237 60.1 6.1 896 22258 roll 0.79 - - 3166 - 2.67 0.098 3661 519.9 246.6 17.15 0.349 2070 -7.5 0.256 - - - - - - 14.85 14.35 14.04
22357 53.8 5.0 913 22390 done 0.86 - - 3176 - 2.35 0.038 2266 -593.6 302.2 27.85 0.331 1846 -8.0 0.261 - - - - - - 14.59 14.52 14.07
22708 37.8 3.5 930 22754 roll 1.11 0.15 0.091 3268 613.3 2.60 0.098 3657 535.0 386.7 40.90 0.278 1508 -8.3 0.224 - - - - - - 14.47 14.28 14.07
22986 17.2 6.0 970 23007 done 1.16 - - 3278 - 2.35 0.037 2265 -592.3 422.5 17.33 0.216 1367 -8.1 0.129 - - - - - - 14.55 14.47 14.09
23228 end climb: SURFACE_DEPTH_REACHED
23228 begin surface coast
23256 end surface coast: CONTROL_FINISHED_OK
23256 begin surface
SM 0.12 - - - - -8.40 8.82 0.044 179 20.3 0.95 0.087 2765 -6830.5 500.14 35.88 0.156 1056 29.4 -0.002 - - - - - -