SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 387 * Raw log
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• Previous call tries 1 • 139.26 of 350.00 AH used of 24V (60.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.3 deg, depth -1.18 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 101 VBD -0.93 - - 105 - - - 2775 - -107.1 -85.80 - 3020 - - - - - - - - 14.66 - 14.66
105 4.6 -5.3 3 129 roll -0.93 12.05 0.384 2588 206.1 2.75 2.031 1371 -510.5 -107.1 -7.55 - 3479 -60.8 - - - - - - - 13.92 12.96 14.21
256 46.3 -19.0 25 262 done -0.70 0.32 0.243 2667 246.9 2.47 0.070 2767 565.2 -107.1 - - 3480 - - - - - - - - 14.13 14.35 14.40
577 76.0 -10.3 38 582 roll -0.70 - - 2659 - 1.98 0.109 3819 531.3 -107.1 - - 3482 - - - - - - - - 14.83 14.31 14.83
618 76.4 -276.5 44 625 done -0.70 - - 2657 - 1.80 0.037 2717 -612.2 -107.1 - - 3482 - - - - - - - - 14.64 14.59 14.64
969 105.3 -7.9 57 974 roll -0.70 - - 2651 - 2.10 0.103 3827 528.6 -107.1 - - 3482 - - - - - - - - 14.89 14.35 14.89
1101 116.8 -8.9 76 1107 done -0.70 - - 2650 - 1.73 0.037 2773 -609.2 -107.1 - - 3482 - - - - - - - - 14.71 14.66 14.72
1417 143.5 -8.3 86 1423 roll -0.70 - - 2650 - 2.33 0.042 1409 -585.4 -107.1 - - 3481 - - - - - - - - 14.93 14.51 14.93
1479 148.8 -8.3 95 1485 done -0.70 0.10 0.208 2671 210.0 2.42 0.066 2770 562.4 -107.1 - - 3481 - - - - - - - - 14.28 14.45 14.43
1809 174.0 -7.7 107 1810 done -0.70 - - 2671 - - - 2770 - -107.1 - - 3478 - - - - - - - - 14.94 14.94 14.94
2145 200.9 -8.0 113 2146 done -0.70 - - 2672 - - - 2769 - -107.1 - - 3476 - - - - - - - - 14.95 14.92 14.95
2481 226.8 -7.7 119 2486 roll -0.70 - - 2671 - 2.35 0.043 1405 -580.4 -107.1 - - 3474 - - - - - - - - 14.93 14.56 14.94
2515 229.5 -8.0 124 2521 done -0.70 - - 2661 - 2.47 0.068 2777 555.5 -107.1 - - 3473 - - - - - - - - 14.54 14.45 14.59
2873 259.9 -8.7 133 2878 roll -0.70 - - 2662 - 2.40 0.043 1410 -569.6 -107.1 - - 3471 - - - - - - - - 14.96 14.51 14.96
2907 263.0 -9.0 138 2914 done -0.70 - - 2652 - 2.45 0.068 2770 555.1 -107.1 - - 3470 - - - - - - - - 14.53 14.43 14.57
3265 295.3 -9.0 147 3265 done -0.70 - - 2652 - - - 2770 - -107.1 - - 3468 - - - - - - - - 14.94 14.94 14.94
3601 325.1 -8.9 153 3606 roll -0.70 - - 2652 - 2.35 0.044 1404 -581.3 -107.1 - - 3465 - - - - - - - - 14.94 14.53 14.95
3628 327.5 -9.0 157 3634 done -0.70 0.08 0.225 2666 175.0 2.47 0.068 2774 554.7 -107.1 - - 3465 - - - - - - - - 14.26 14.43 14.41
3993 355.5 -7.5 167 3994 done -0.70 - - 2667 - - - 2774 - -107.1 - - 3462 - - - - - - - - 14.94 14.94 14.94
4329 379.2 -6.9 173 4334 roll -0.70 - - 2667 - 2.35 0.044 1409 -580.9 -107.1 - - 3461 - - - - - - - - 14.92 14.54 14.94
4377 382.8 -7.4 180 4385 done -0.77 - - 2658 - 2.47 0.069 2768 550.2 -107.1 - - 3461 - - - - - - - - 14.45 14.35 14.50
4721 410.3 -8.2 187 4722 done -0.77 - - 2658 - - - 2768 - -107.1 - - 3459 - - - - - - - - 14.93 14.94 14.94
5057 438.4 -8.4 193 5062 roll -0.77 - - 2658 - 2.40 0.044 1409 -566.2 -107.1 - - 3460 - - - - - - - - 14.93 14.47 14.94
5098 442.1 -8.6 199 5104 done -0.77 - - 2650 - 2.47 0.069 2768 550.2 -107.1 - - 3455 - - - - - - - - 14.50 14.40 14.53
5449 474.0 -9.3 207 5449 done -0.77 - - 2650 - - - 2768 - -107.1 - - 3455 - - - - - - - - 14.95 14.95 14.95
5785 506.0 -9.5 213 5790 roll -0.77 - - 2641 - 2.00 0.111 3816 524.0 -107.1 - - 3454 - - - - - - - - 14.93 14.28 14.93
5833 510.6 -9.5 220 5840 done -0.77 - - 2641 - 1.75 0.043 2795 -583.4 -107.1 - - 3454 - - - - - - - - 14.71 14.66 14.72
6177 542.1 -9.0 227 6182 roll -0.77 - - 2641 - 2.42 0.043 1374 -587.2 -107.1 - - 3452 - - - - - - - - 14.94 14.51 14.94
6233 547.1 -9.0 235 6238 done -0.77 - - 2633 - 2.53 0.067 2769 551.4 -107.1 - - 3452 - - - - - - - - 14.47 14.37 14.51
6569 577.3 -8.9 248 6570 done -0.77 - - 2633 - - - 2769 - -107.1 - - 3451 - - - - - - - - 14.92 14.92 14.92
6905 605.5 -8.3 254 6906 done -0.77 - - 2632 - - - 2770 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7241 632.4 -8.0 260 7246 roll -0.77 - - 2631 - 2.42 0.044 1379 -574.8 -107.1 - - 3450 - - - - - - - - 14.95 14.48 14.95
7303 637.5 -8.0 269 7309 done -0.77 - - 2622 - 2.53 0.068 2760 545.8 -107.1 - - 3448 - - - - - - - - 14.43 14.33 14.47
7633 667.2 -9.3 281 7638 roll -0.77 - - 2614 - 2.05 0.112 3850 531.7 -107.1 - - 3447 - - - - - - - - 14.92 14.24 14.92
7674 671.7 -9.9 287 7681 done -0.77 0.10 0.213 2644 300.0 1.85 0.044 2775 -581.1 -107.1 - - 3446 - - - - - - - - 14.19 14.59 14.34
8025 699.5 -7.2 295 8030 roll -0.77 - - 2644 - 2.45 0.044 1362 -576.7 -107.1 - - 3445 - - - - - - - - 14.91 14.47 14.91
8081 703.5 -7.2 303 8086 done -0.77 - - 2635 - 2.55 0.067 2771 552.5 -107.1 - - 3445 - - - - - - - - 14.54 14.37 14.57
8417 727.2 -7.1 316 8422 roll -0.77 - - 2626 - 2.05 0.112 3835 519.0 -107.1 - - 3443 - - - - - - - - 14.92 14.19 14.92
8444 729.4 -8.0 320 8450 done -0.77 - - 2624 - 1.88 0.043 2749 -577.7 -107.1 - - 3444 - - - - - - - - 14.63 14.59 14.66
8809 754.7 -6.9 330 8810 done -0.77 - - 2626 - - - 2750 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
9145 778.7 -7.2 336 9150 roll -0.77 - - 2625 - 2.38 0.044 1376 -577.3 -107.1 - - 3441 - - - - - - - - 14.90 14.45 14.90
9186 781.7 -7.4 342 9193 done -0.77 0.10 0.220 2645 200.0 2.58 0.067 2773 541.5 -107.1 - - 3441 - - - - - - - - 14.06 14.28 14.23
9537 806.1 -7.0 350 9543 roll -0.77 - - 2638 - 2.03 0.112 3820 515.8 -107.1 - - 3440 - - - - - - - - 14.90 14.16 14.90
9578 809.4 -8.3 356 9584 done -0.77 - - 2636 - 1.85 0.044 2762 -571.9 -107.1 - - 3440 - - - - - - - - 14.58 14.52 14.59
9929 836.1 -7.9 364 9934 roll -0.77 - - 2636 - 2.45 0.044 1376 -565.7 -107.1 - - 3438 - - - - - - - - 14.92 14.38 14.92
9977 839.5 -7.3 371 9984 done -0.77 - - 2627 - 2.55 0.067 2763 543.9 -107.1 - - 3439 - - - - - - - - 14.35 14.25 14.40
10321 867.8 -8.3 378 10327 roll -0.77 - - 2619 - 2.05 0.111 3821 516.1 -107.1 - - 3440 - - - - - - - - 14.92 14.16 14.92
10362 871.4 -9.0 384 10369 done -0.77 0.08 0.251 2645 325.0 1.85 0.044 2764 -571.4 -107.1 - - 3440 - - - - - - - - 14.17 14.57 14.32
10713 897.3 -7.3 392 10718 roll -0.77 - - 2645 - 2.42 0.045 1366 -577.7 -107.1 - - 3437 - - - - - - - - 14.92 14.39 14.90
10789 902.3 -6.2 403 10795 done -0.85 - - 2637 - 2.58 0.067 2764 541.9 -107.1 - - 3437 - - - - - - - - 14.33 14.23 14.38
11105 922.7 -6.3 413 11110 roll -0.85 - - 2636 - 2.45 0.044 1368 -569.8 -107.1 - - 3436 - - - - - - - - 14.88 14.38 14.89
11146 924.8 -7.3 419 11152 done -0.85 - - 2627 - 2.58 0.068 2764 541.1 -107.1 - - 3436 - - - - - - - - 14.32 14.22 14.37
11270 end dive: TARGET_DEPTH_EXCEEDED
11270 begin apogee
11278 931.9 -5.7 423 11391 roll -0.23 0.68 0.174 2824 289.7 0.10 0.158 2272 -4920.0 - 110.57 1.971 3050 -3.5 0.338 - - - - - - 14.09 13.93 12.96
11392 end apogee: CONTROL_FINISHED_OK
11392 begin climb
11395 931.2 - 425 11525 roll 0.93 1.10 0.088 3183 326.4 2.53 0.056 891 -545.8 107.1 117.40 1.955 2617 -3.7 0.360 - - - - - - 13.98 14.00 12.85
11559 923.8 7.5 450 11566 done 0.82 - - 3183 - 2.47 0.050 2240 546.2 111.0 - - 2610 - - - - - - - - 13.99 13.94 14.02
11889 894.8 9.1 462 11895 roll 0.70 0.20 0.223 3125 -290.0 2.62 0.096 3655 540.1 111.0 - - 2607 - - - - - - - - 14.16 14.28 14.38
11937 890.6 8.3 469 11945 done 0.62 0.10 0.220 3108 -170.0 2.40 0.041 2277 -574.2 111.0 - - 2607 - - - - - - - - 14.14 14.41 14.31
12281 868.4 6.3 476 12321 roll 0.66 - - 3116 - 2.53 0.061 865 -558.1 139.5 34.65 1.942 2489 -3.4 0.312 - - - - - - 14.78 14.27 13.33
12350 863.8 8.1 486 12358 done 0.66 - - 3118 - 2.47 0.053 2248 559.9 139.5 - - 2484 - - - - - - - - 14.32 14.25 14.35
12673 840.5 7.4 497 12679 roll 0.67 - - 3117 - 2.70 0.099 3653 520.4 147.0 2.00 0.276 2468 -8.0 4.992 - - - - - - 14.73 14.33 12.26
12778 831.9 8.2 512 12784 done 0.67 - - 3128 - 2.40 0.041 2256 -582.1 147.0 1.83 0.264 2462 -3.3 2.117 - - - - - - 14.50 14.42 13.87
13114 806.6 7.5 525 13129 roll 0.67 - - 3128 - 2.70 0.099 3655 518.1 151.5 10.68 2.102 2445 -1.6 0.125 - - - - - - 14.83 14.43 13.43
13163 802.5 8.9 532 13169 done 0.67 - - 3138 - 2.42 0.041 2247 -581.8 151.5 - - 2442 - - - - - - - - 14.55 14.44 14.57
13499 773.7 8.7 545 13500 done 0.67 - - 3139 - - - 2244 - 151.5 - - 2441 - - - - - - - - 14.81 14.81 14.81
13835 743.0 9.2 551 13841 roll 0.67 - - 3139 - 2.67 0.098 3658 529.6 151.5 - - 2440 - - - - - - - - 14.85 14.32 14.85
13891 737.4 10.0 559 13897 done 0.67 0.10 0.247 3122 -170.0 2.42 0.041 2244 -584.3 151.5 - - 2440 - - - - - - - - 14.22 14.52 14.46
14227 710.3 7.9 572 14233 roll 0.67 - - 3121 - 2.67 0.099 3654 528.1 151.5 - - 2439 - - - - - - - - 14.85 14.31 14.82
14261 707.4 8.3 577 14268 done 0.67 - - 3131 - 2.45 0.040 2253 -571.8 151.5 - - 2440 - - - - - - - - 14.52 14.48 14.54
14620 681.6 7.0 586 14640 done 0.69 - - 3129 - - - 2249 - 166.6 19.33 1.877 2386 -2.8 0.208 - - - - - - 14.87 14.45 13.54
14956 658.4 6.9 592 14982 roll 0.71 - - 3131 - 2.70 0.103 3651 519.3 183.9 19.15 1.851 2309 -4.0 0.293 - - - - - - 14.78 14.33 13.50
15031 652.6 8.1 603 15037 done 0.71 - - 3142 - 2.45 0.041 2260 -567.8 183.9 - - 2304 - - - - - - - - 14.43 14.38 14.44
15347 629.1 7.5 613 15348 done 0.72 - - 3142 - - - 2255 - 189.6 - - 2302 - - - - - - - - 14.78 14.78 14.78
15683 603.7 7.6 619 15687 done 0.72 - - 3141 - - - 2255 - 192.9 2.60 0.911 2282 -7.7 1.044 - - - - - - 14.82 14.39 12.96
16019 577.2 8.0 625 16025 roll 0.72 - - 3142 - 2.65 0.100 3653 527.5 192.9 1.70 0.256 2284 - - - - - - - - 14.84 14.18 13.89
16081 571.4 9.3 634 16089 done 0.72 - - 3152 - 2.45 0.041 2255 -570.6 192.9 1.62 0.243 2282 - - - - - - - - 14.51 14.46 13.85
16411 542.1 9.0 646 16414 done 0.72 - - 3146 - - - 2252 - 192.9 1.48 0.249 2282 - - - - - - - - 14.84 14.37 14.04
16747 510.3 9.5 652 16753 roll 0.72 - - 3152 - 2.65 0.099 3653 528.7 192.9 1.70 0.256 2284 - - - - - - - - 14.85 14.13 13.84
16788 506.1 10.4 658 16796 done 0.72 - - 3163 - 2.42 0.040 2263 -574.4 192.9 1.55 0.231 2283 - - - - - - - - 14.51 14.47 13.94
17139 474.2 8.8 666 17142 done 0.72 - - 3163 - - - 2258 - 192.9 1.65 0.251 2281 - - - - - - - - 14.88 14.31 13.91
17476 447.9 7.6 672 17483 roll 0.73 - - 3163 - 2.67 0.099 3654 522.8 195.3 3.60 1.392 2275 -1.7 0.110 - - - - - - 14.85 14.47 13.08
17531 443.3 8.5 680 17538 done 0.73 0.12 0.213 3138 -208.3 2.42 0.040 2261 -575.6 195.3 1.42 0.239 2274 - - - - - - - - 14.21 14.52 14.04
17863 422.4 6.4 692 17903 done 0.76 - - 3137 - - - 2258 - 222.7 37.88 1.514 2167 -2.8 0.161 - - - - - - 14.82 14.35 13.53
18246 391.2 8.5 705 18251 roll 0.76 - - 3136 - 2.65 0.101 3652 526.0 222.7 - - 2148 - - - - - - - - 14.76 14.25 14.77
18273 388.3 10.2 709 18279 done 0.76 - - 3146 - 2.45 0.041 2261 -567.8 222.7 - - 2148 - - - - - - - - 14.44 14.40 14.46
18638 352.0 10.1 719 18643 roll 0.76 - - 3157 - 2.47 0.063 858 -568.0 222.7 - - 2147 - - - - - - - - 14.81 14.28 14.81
18665 349.2 10.0 723 18671 done 0.76 - - 3155 - 2.50 0.054 2266 563.2 222.7 - - 2147 - - - - - - - - 14.41 14.33 14.45
19030 312.8 9.9 733 19035 roll 0.76 - - 3157 - 2.60 0.099 3658 535.4 222.7 - - 2147 - - - - - - - - 14.83 14.26 14.83
19078 307.6 10.9 740 19085 done 0.76 - - 3167 - 2.42 0.039 2267 -574.8 222.7 - - 2147 - - - - - - - - 14.42 14.39 14.45
19422 273.8 9.7 747 19427 roll 0.76 - - 3177 - 2.47 0.064 856 -571.3 222.7 - - 2147 - - - - - - - - 14.85 14.34 14.85
19449 271.1 9.8 751 19455 done 0.76 0.08 0.209 3155 -275.0 2.50 0.054 2266 564.0 222.7 - - 2147 - - - - - - - - 14.14 14.37 14.31
19814 238.7 8.8 761 19814 done 0.76 - - 3154 - - - 2266 - 222.7 - - 2147 - - - - - - - - 14.88 14.89 14.88
20150 209.9 8.5 767 20155 roll 0.76 - - 3164 - 2.50 0.063 852 -565.6 222.7 - - 2147 - - - - - - - - 14.88 14.35 14.89
20177 207.5 8.6 771 20183 done 0.76 - - 3164 - 2.53 0.055 2272 561.3 222.7 - - 2147 - - - - - - - - 14.42 14.34 14.47
20542 175.1 8.9 781 20547 roll 0.76 - - 3164 - 2.58 0.100 3654 535.7 222.7 - - 2147 - - - - - - - - 14.89 14.29 14.89
20583 170.8 10.6 787 20589 done 0.76 - - 3174 - 2.42 0.038 2266 -573.6 222.7 - - 2152 - - - - - - - - 14.51 14.46 14.53
20934 138.2 9.2 795 20939 roll 0.76 - - 3185 - 2.47 0.063 857 -570.4 222.7 - - 2146 - - - - - - - - 14.90 14.35 14.89
20968 135.0 9.1 800 20974 done 0.76 0.12 0.192 3148 -308.3 2.50 0.054 2268 564.4 222.7 - - 2147 - - - - - - - - 14.05 14.28 14.22
21326 107.2 7.7 809 21331 roll 0.76 - - 3147 - 2.58 0.100 3653 536.8 223.3 - - 2148 - - - - - - - - 14.88 14.27 14.88
21353 104.9 8.1 813 21359 done 0.76 - - 3158 - 2.40 0.038 2267 -577.5 223.3 - - 2148 - - - - - - - - 14.52 14.48 14.54
21690 81.3 6.4 827 21709 roll 0.79 - - 3158 - 2.65 0.099 3647 520.8 250.3 12.32 0.397 2058 -7.3 0.307 - - - - - - 14.88 14.28 13.89
21731 78.2 7.7 833 21737 done 0.80 - - 3167 - 2.40 0.039 2263 -576.7 251.3 2.03 0.257 2050 -3.9 0.246 - - - - - - 14.45 14.40 13.78
22054 56.4 5.0 846 22089 roll 0.95 0.05 0.194 3240 1460.0 2.47 0.061 851 -571.7 305.5 28.80 0.336 1835 -7.5 0.257 - - - - - - 14.55 14.31 14.03
22291 40.2 4.9 880 22326 done 1.02 - - 3240 - 2.50 0.054 2268 566.8 363.2 29.10 0.287 1602 -8.0 0.230 - - - - - - 14.40 14.33 14.06
22645 22.4 3.7 897 22690 roll 1.26 0.10 0.112 3338 980.0 2.60 0.102 3657 534.2 444.3 39.20 0.228 1280 -8.2 0.165 - - - - - - 14.52 14.31 14.12
22776 10.5 9.5 916 22783 done 1.26 0.12 0.223 3311 -225.0 2.38 0.039 2265 -584.9 444.3 - - 1288 - - - - - - - - 14.17 14.45 14.40
22891 end climb: SURFACE_DEPTH_REACHED
22891 begin surface coast
22919 end surface coast: CONTROL_FINISHED_OK
22919 begin surface
SM -0.09 - - - - -8.41 8.80 0.036 163 18.5 0.93 0.076 2756 -2548.4 500.14 25.83 0.158 1059 41.0 0.002 - - - - - -