SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 390 * Raw log
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• Previous call tries 1 • 140.20 of 350.00 AH used of 24V (59.94% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -71.3 deg, depth -0.42 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 1 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 - - - 99 done -0.93 - - 106 - - - 2779 - -107.1 -78.38 - 3478 - - - - - - - - 14.67 12.60 14.67
102 7.9 -14.3 3 120 roll -0.93 11.77 0.383 2586 210.7 1.92 0.085 3833 549.0 -107.1 - - 3480 - - - - - - - - 14.03 14.35 14.37
134 27.0 -55.1 8 140 done 0.07 1.23 0.271 2909 262.6 1.83 0.044 2771 -580.3 -107.1 - - 3480 - - - - - - - - 14.09 14.45 14.38
464 47.2 -5.0 22 469 roll -0.34 0.30 0.093 2795 -380.0 2.38 0.044 1354 -595.4 -107.1 - - 3481 - - - - - - - - 14.48 14.48 14.58
606 56.7 -7.6 42 611 done -0.54 0.15 0.084 2692 -686.7 2.47 0.070 2764 570.9 -107.1 - - 3486 - - - - - - - - 14.57 14.43 14.63
940 81.7 -7.2 57 945 roll -0.54 0.10 0.224 2714 220.0 1.90 0.106 3818 554.7 -107.1 - - 3483 - - - - - - - - 14.39 14.41 14.57
973 84.3 -7.9 62 980 done -0.54 - - 2714 - 1.80 0.040 2733 -602.8 -107.1 - - 3483 - - - - - - - - 14.71 14.66 14.72
1332 107.8 -6.4 75 1337 roll -0.64 - - 2707 - 2.03 0.106 3821 536.0 -107.1 - - 3483 - - - - - - - - 14.92 14.42 14.92
1388 111.5 -6.5 83 1393 done -0.73 0.08 0.085 2629 -975.0 1.73 0.041 2779 -602.3 -107.1 - - 3483 - - - - - - - - 14.51 14.59 14.56
1724 142.1 -9.3 96 1730 roll -0.73 - - 2628 - 2.38 0.044 1379 -588.2 -107.1 - - 3482 - - - - - - - - 14.93 14.57 14.93
1793 148.4 -8.8 106 1799 done -0.73 0.12 0.211 2654 216.7 2.47 0.067 2767 561.9 -107.1 - - 3481 - - - - - - - - 14.30 14.47 14.47
2116 174.0 -7.9 117 2121 roll -0.73 - - 2648 - 2.00 0.106 3826 529.5 -107.1 - - 3480 - - - - - - - - 14.94 14.40 14.94
2157 177.5 -8.4 123 2163 done -0.73 - - 2648 - 1.77 0.040 2748 -609.0 -107.1 - - 3479 - - - - - - - - 14.70 14.68 14.71
2508 206.0 -8.2 131 2513 roll -0.73 - - 2647 - 2.30 0.044 1393 -589.1 -107.1 - - 3475 - - - - - - - - 14.95 14.54 14.95
2563 210.7 -8.4 139 2569 done -0.73 - - 2639 - 2.45 0.067 2774 563.7 -107.1 - - 3476 - - - - - - - - 14.66 14.50 14.69
2900 240.2 -8.9 152 2901 done -0.73 - - 2638 - - - 2774 - -107.1 - - 3474 - - - - - - - - 14.98 14.96 14.96
3235 269.7 -8.8 158 3236 done -0.73 - - 2638 - - - 2774 - -107.1 - - 3471 - - - - - - - - 14.97 14.97 14.97
3571 299.4 -8.9 164 3578 roll -0.73 - - 2638 - 2.38 0.044 1399 -577.7 -107.1 - - 3472 - - - - - - - - 14.97 14.57 14.97
3599 302.0 -9.4 168 3606 done -0.73 0.10 0.215 2659 210.0 2.47 0.067 2761 551.4 -107.1 - - 3469 - - - - - - - - 14.27 14.44 14.43
3964 333.2 -8.5 178 3969 roll -0.73 - - 2651 - 1.98 0.109 3823 536.4 -107.1 - - 3466 - - - - - - - - 14.94 14.39 14.95
4005 336.8 -8.8 184 4012 done -0.73 - - 2651 - 1.80 0.042 2767 -586.7 -107.1 - - 3466 - - - - - - - - 14.74 14.69 14.75
4355 365.5 -8.1 192 4361 roll -0.73 - - 2650 - 2.38 0.044 1376 -584.5 -107.1 - - 3464 - - - - - - - - 14.96 14.55 14.97
4390 368.3 -8.3 197 4396 done -0.73 - - 2642 - 2.50 0.067 2767 556.4 -107.1 - - 3464 - - - - - - - - 14.52 14.43 14.57
4748 396.5 -7.8 206 4753 roll -0.73 - - 2641 - 2.45 0.044 1374 -568.6 -107.1 - - 3462 - - - - - - - - 14.95 14.50 14.95
4775 398.8 -8.2 210 4781 done -0.73 0.08 0.229 2655 175.0 2.47 0.067 2749 556.7 -107.1 - - 3462 - - - - - - - - 14.24 14.42 14.40
5140 427.0 -7.8 220 5146 roll -0.73 - - 2646 - 2.05 0.109 3826 525.4 -107.1 - - 3460 - - - - - - - - 14.94 14.34 14.94
5174 430.0 -9.0 225 5180 done -0.73 - - 2646 - 1.83 0.042 2748 -589.1 -107.1 - - 3461 - - - - - - - - 14.66 14.63 14.67
5532 458.8 -8.0 234 5541 roll -0.73 - - 2646 - 2.33 0.044 1375 -589.3 -107.1 - - 3456 - - - - - - - - 14.94 14.54 14.94
5574 462.2 -8.1 240 5581 done -0.73 - - 2637 - 2.50 0.067 2759 553.6 -107.1 - - 3458 - - - - - - - - 14.51 14.42 14.56
5925 490.0 -8.0 248 5931 roll -0.73 - - 2637 - 2.40 0.044 1370 -578.8 -107.1 - - 3457 - - - - - - - - 14.93 14.53 14.93
5966 493.4 -8.1 254 5973 done -0.73 0.10 0.217 2657 200.0 2.50 0.067 2754 553.6 -107.1 - - 3457 - - - - - - - - 14.21 14.41 14.38
6317 518.4 -7.1 262 6318 done -0.73 - - 2657 - - - 2753 - -107.1 - - 3456 - - - - - - - - 14.95 14.95 14.94
6653 542.8 -7.3 268 6654 done -0.73 - - 2657 - - - 2754 - -107.1 - - 3454 - - - - - - - - 14.95 14.95 14.95
6989 567.6 -7.4 274 6990 done -0.73 - - 2657 - - - 2753 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.96
7325 592.3 -7.3 280 7331 roll -0.73 - - 2657 - 2.40 0.044 1376 -573.8 -107.1 - - 3451 - - - - - - - - 14.93 14.52 14.93
7394 597.5 -7.4 290 7400 done -0.81 - - 2648 - 2.53 0.069 2762 547.8 -107.1 - - 3450 - - - - - - - - 14.46 14.36 14.51
7717 621.3 -7.4 301 7722 roll -0.81 - - 2635 - 2.03 0.110 3841 531.5 -107.1 - - 3449 - - - - - - - - 14.91 14.28 14.92
7751 624.0 -8.0 306 7757 done -0.81 - - 2638 - 1.85 0.043 2753 -588.1 -107.1 - - 3449 - - - - - - - - 14.62 14.59 14.64
8109 650.4 -7.3 315 8114 roll -0.81 - - 2639 - 2.38 0.044 1375 -579.0 -107.1 - - 3448 - - - - - - - - 14.94 14.49 14.94
8178 655.6 -7.2 325 8184 done -0.81 - - 2631 - 2.50 0.066 2751 550.4 -107.1 - - 3448 - - - - - - - - 14.42 14.33 14.47
8501 680.1 -7.7 336 8507 roll -0.81 - - 2622 - 2.05 0.109 3819 521.0 -107.1 - - 3447 - - - - - - - - 14.91 14.23 14.91
8591 687.5 -8.2 349 8597 done -0.81 - - 2621 - 1.83 0.043 2757 -580.3 -107.1 - - 3446 - - - - - - - - 14.65 14.63 14.66
8949 716.4 -8.2 358 8954 roll -0.81 - - 2621 - 2.38 0.044 1377 -579.8 -107.1 - - 3446 - - - - - - - - 14.93 14.45 14.93
9011 721.9 -8.6 367 9017 done -0.81 - - 2612 - 2.50 0.066 2751 549.6 -107.1 - - 3445 - - - - - - - - 14.41 14.31 14.45
9341 751.4 -9.1 379 9346 roll -0.81 - - 2604 - 2.05 0.110 3839 530.7 -107.1 - - 3445 - - - - - - - - 14.90 14.21 14.90
9375 754.8 -9.8 384 9383 done -0.81 0.10 0.217 2633 290.0 1.88 0.043 2754 -577.1 -107.1 - - 3445 - - - - - - - - 14.16 14.59 14.32
9733 784.8 -8.4 393 9738 roll -0.81 - - 2633 - 2.38 0.045 1378 -578.2 -107.1 - - 3443 - - - - - - - - 14.90 14.43 14.90
9767 787.8 -8.8 398 9773 done -0.81 - - 2624 - 2.53 0.067 2756 544.7 -107.1 - - 3444 - - - - - - - - 14.39 14.28 14.43
10125 818.8 -8.8 407 10126 done -0.81 - - 2624 - - - 2756 - -107.1 - - 3442 - - - - - - - - 14.91 14.90 14.90
10461 847.6 -8.6 413 10462 done -0.81 - - 2624 - - - 2756 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.93
10797 874.8 -8.0 419 10802 roll -0.81 - - 2623 - 2.47 0.046 1378 -557.9 -107.1 - - 3440 - - - - - - - - 14.92 14.29 14.93
10831 877.5 -8.1 424 10838 done -0.81 - - 2614 - 2.53 0.068 2751 542.7 -107.1 - - 3440 - - - - - - - - 14.35 14.26 14.40
11189 904.3 -7.4 433 11194 roll -0.81 - - 2606 - 2.08 0.111 3844 525.5 -107.1 - - 3439 - - - - - - - - 14.90 14.17 14.90
11223 907.0 -6.1 438 11230 done -0.81 0.10 0.216 2634 280.0 1.90 0.044 2755 -573.2 -107.1 - - 3439 - - - - - - - - 14.06 14.46 14.22
11581 929.6 -6.3 447 11586 roll -0.81 - - 2634 - 2.42 0.046 1367 -573.6 -107.1 - - 3438 - - - - - - - - 14.88 14.35 14.89
11591 end dive: TARGET_DEPTH_EXCEEDED
11591 begin apogee
11599 930.5 -6.3 449 11712 roll -0.23 0.65 0.169 2822 289.2 - - 2257 - - 110.85 1.975 3049 -3.5 0.330 - - - - - - 14.14 13.97 12.97
11714 end apogee: CONTROL_FINISHED_OK
11714 begin climb
11717 932.6 - 451 11843 roll 0.93 1.12 0.090 3188 326.8 2.55 0.057 851 -551.4 107.1 117.32 1.949 2623 -3.6 0.346 - - - - - - 13.98 14.00 12.88
11855 926.7 9.0 472 11863 done 0.74 0.15 0.205 3147 -273.3 2.55 0.050 2250 548.6 107.1 - - 2613 - - - - - - - - 13.73 13.87 13.87
12206 899.1 8.0 480 12213 roll 0.74 - - 3146 - 2.58 0.096 3650 542.6 107.1 - - 2609 - - - - - - - - 14.70 14.29 14.70
12355 886.6 8.4 501 12360 done 0.62 0.20 0.224 3101 -225.0 2.42 0.040 2238 -583.5 107.1 - - 2608 - - - - - - - - 14.19 14.49 14.45
12710 864.9 5.9 510 12759 roll 0.67 - - 3101 - 2.75 0.099 3654 514.9 143.9 40.45 1.926 2470 -3.4 0.305 - - - - - - 14.80 14.21 13.30
12814 857.6 6.9 525 12843 done 0.69 - - 3111 - 2.47 0.040 2252 -567.6 160.7 20.15 1.997 2401 -3.4 0.293 - - - - - - 14.35 14.31 13.24
13158 833.0 7.2 539 13171 roll 0.70 - - 3110 - 2.70 0.099 3654 519.3 171.0 4.50 1.884 2374 -6.0 0.529 - - - - - - 14.71 14.38 12.90
13192 830.2 9.6 544 13200 done 0.70 - - 3121 - 2.45 0.040 2254 -571.4 171.0 - - 2377 - - - - - - - - 14.47 14.42 14.48
13550 803.1 7.6 553 13562 roll 0.71 - - 3120 - 2.67 0.099 3650 522.8 173.8 4.20 1.805 2364 -3.1 0.275 - - - - - - 14.78 14.44 12.95
13591 799.7 8.2 559 13598 done 0.71 - - 3130 - 2.42 0.041 2262 -573.6 173.8 1.33 0.250 2361 -2.3 1.438 - - - - - - 14.53 14.48 14.00
13942 770.6 8.4 567 13948 roll 0.71 - - 3130 - 2.62 0.098 3650 529.8 173.8 1.45 0.269 2366 3.4 -1.969 - - - - - - 14.83 14.23 13.96
13976 767.4 8.7 572 13984 done 0.71 - - 3141 - 2.42 0.041 2259 -574.8 173.8 1.20 0.239 2362 -3.3 2.134 - - - - - - 14.54 14.50 14.04
14334 734.3 9.4 581 14337 done 0.71 - - 3141 - - - 2258 - 173.8 1.38 0.264 2357 -3.6 2.009 - - - - - - 14.84 14.40 14.04
14670 703.1 9.2 587 14676 roll 0.71 - - 3141 - 2.65 0.099 3659 528.7 173.8 - - 2366 - - - - - - - - 14.87 14.32 14.87
14711 698.9 10.3 593 14718 done 0.71 - - 3151 - 2.42 0.041 2265 -576.0 173.8 - - 2367 - - - - - - - - 14.53 14.48 14.54
15062 665.9 9.4 601 15063 done 0.71 - - 3151 - - - 2261 - 173.8 - - 2367 - - - - - - - - 14.85 14.85 14.85
15398 636.4 8.7 607 15404 roll 0.71 - - 3151 - 2.62 0.097 3655 532.1 173.8 1.25 0.264 2359 -6.4 3.076 - - - - - - 14.87 14.23 14.02
15454 631.1 9.6 615 15460 done 0.71 0.12 0.236 3127 -200.0 2.40 0.041 2256 -582.9 173.8 - - 2365 - - - - - - - - 14.19 14.49 14.44
15790 606.9 7.1 628 15817 roll 0.72 - - 3126 - 2.62 0.100 3653 533.2 186.6 21.05 1.794 2298 -3.2 0.215 - - - - - - 14.86 14.42 13.56
15853 602.0 8.4 637 15859 done 0.72 - - 3136 - 2.42 0.040 2267 -572.7 186.6 - - 2296 - - - - - - - - 14.49 14.44 14.51
16182 576.1 7.9 649 16183 done 0.72 - - 3136 - - - 2263 - 186.6 - - 2294 - - - - - - - - 14.78 14.78 14.78
16518 548.8 8.2 655 16524 roll 0.72 - - 3136 - 2.62 0.100 3651 529.8 186.6 - - 2294 - - - - - - - - 14.85 14.29 14.85
16552 545.7 9.1 660 16560 done 0.72 - - 3146 - 2.42 0.041 2268 -571.5 186.6 - - 2293 - - - - - - - - 14.50 14.45 14.52
16911 515.3 8.5 669 16911 done 0.72 - - 3144 - - - 2267 - 186.6 - - 2293 - - - - - - - - 14.85 14.86 14.86
17246 486.9 8.5 675 17252 roll 0.72 - - 3146 - 2.60 0.100 3655 533.8 186.6 - - 2294 - - - - - - - - 14.88 14.30 14.88
17288 483.0 9.5 681 17294 done 0.72 - - 3156 - 2.42 0.041 2266 -574.0 186.6 - - 2293 - - - - - - - - 14.51 14.47 14.53
17639 452.7 8.5 689 17644 roll 0.72 - - 3167 - 2.47 0.064 858 -570.0 186.6 - - 2293 - - - - - - - - 14.88 14.37 14.88
17686 448.4 9.0 696 17695 done 0.72 0.10 0.194 3137 -300.0 2.50 0.055 2273 566.0 186.6 - - 2292 - - - - - - - - 14.13 14.34 14.29
18030 420.6 8.1 703 18036 roll 0.72 - - 3138 - 2.58 0.101 3659 537.2 186.6 - - 2293 - - - - - - - - 14.85 14.26 14.86
18078 416.2 9.0 710 18086 done 0.72 - - 3148 - 2.42 0.039 2265 -576.0 186.6 - - 2297 - - - - - - - - 14.50 14.46 14.52
18423 389.1 7.8 717 18423 done 0.72 - - 3147 - - - 2260 - 186.6 - - 2293 - - - - - - - - 14.85 14.85 14.84
18758 363.8 7.6 723 18764 roll 0.72 - - 3147 - 2.65 0.099 3652 525.3 188.9 - - 2293 - - - - - - - - 14.86 14.26 14.87
18806 359.5 8.8 730 18814 done 0.72 - - 3162 - 2.40 0.040 2272 -575.0 188.9 - - 2292 - - - - - - - - 14.47 14.43 14.50
19151 332.0 8.0 737 19156 roll 0.72 - - 3158 - 2.62 0.099 3653 527.1 188.9 - - 2293 - - - - - - - - 14.88 14.24 14.89
19177 329.6 8.7 741 19184 done 0.72 0.10 0.211 3139 -190.0 2.40 0.040 2275 -574.2 188.9 - - 2293 - - - - - - - - 14.09 14.44 14.26
19542 301.8 7.7 751 19543 done 0.73 - - 3140 - - - 2272 - 190.4 - - 2293 - - - - - - - - 14.89 14.89 14.89
19878 277.0 7.3 757 19898 roll 0.74 - - 3139 - 2.62 0.099 3651 526.3 198.7 12.30 1.514 2252 -3.3 0.122 - - - - - - 14.89 14.47 13.62
19962 270.2 8.3 769 19968 done 0.74 - - 3149 - 2.40 0.039 2272 -574.6 198.7 - - 2249 - - - - - - - - 14.52 14.48 14.54
20326 242.7 7.5 779 20327 done 0.74 - - 3149 - - - 2268 - 203.2 - - 2248 - - - - - - - - 14.85 14.85 14.85
20662 217.0 7.7 785 20669 roll 0.74 - - 3149 - 2.58 0.097 3657 538.4 204.2 1.55 0.259 2241 -4.5 0.754 - - - - - - 14.87 14.12 13.80
20697 214.1 8.5 790 20703 done 0.74 - - 3160 - 2.40 0.039 2273 -576.7 204.2 1.35 0.226 2237 -3.0 0.560 - - - - - - 14.51 14.45 14.00
21055 185.3 8.0 799 21060 roll 0.74 - - 3170 - 2.47 0.061 858 -572.9 204.2 1.33 0.252 2238 - - - - - - - - 14.88 14.19 13.95
21110 180.7 8.1 807 21116 done 0.74 - - 3170 - 2.47 0.054 2288 578.9 204.2 1.27 0.252 2236 - - - - - - - - 14.52 14.37 14.07
21446 154.3 8.0 820 21453 roll 0.74 0.10 0.229 3140 -300.0 2.55 0.097 3660 538.0 204.2 1.35 0.238 2239 2.2 -0.287 - - - - - - 14.30 14.17 13.96
21508 149.2 8.1 829 21515 done 0.74 - - 3149 - 2.40 0.037 2264 -581.7 204.2 1.35 0.227 2237 - - - - - - - - 14.50 14.46 13.90
21839 127.0 6.5 841 21872 roll 0.77 - - 3150 - 2.60 0.097 3655 535.0 228.4 29.38 1.203 2134 -3.5 0.074 - - - - - - 14.88 14.30 13.73
21894 123.9 7.6 849 21900 done 0.77 - - 3160 - 2.33 0.038 2287 -587.1 230.6 - - 2130 - - - - - - - - 14.57 14.49 14.57
22230 97.2 7.9 862 22236 roll 0.77 - - 3170 - 2.50 0.061 863 -569.6 230.6 - - 2127 - - - - - - - - 14.78 14.34 14.79
22287 92.6 8.1 870 22292 done 0.77 - - 3170 - 2.47 0.054 2288 576.9 230.6 - - 2127 - - - - - - - - 14.52 14.38 14.54
22622 67.6 6.8 885 22635 roll 0.80 - - 3170 - 2.55 0.098 3657 536.9 249.2 8.88 0.357 2057 -7.9 0.298 - - - - - - 14.81 14.22 13.91
22684 63.0 7.8 894 22691 done 0.80 - - 3179 - 2.38 0.037 2284 -576.9 249.2 - - 2063 - - - - - - - - 14.50 14.47 14.52
23015 47.7 3.1 908 23070 roll 1.01 0.08 0.147 3250 887.5 2.55 0.062 860 -558.4 341.1 46.15 0.308 1692 -8.0 0.248 - - - - - - 14.53 14.42 14.09
23203 36.4 6.4 935 23223 done 1.13 - - 3250 - 2.50 0.053 2284 569.6 368.0 13.62 0.269 1582 -8.1 0.218 - - - - - - 14.40 14.33 14.00
23549 19.6 4.4 951 23587 roll 1.35 0.20 0.073 3372 610.0 2.55 0.099 3656 538.0 435.1 32.53 0.216 1317 -8.1 0.147 - - - - - - 14.54 14.31 14.08
23609 14.4 9.7 957 23615 done 1.27 0.25 0.210 3313 -236.0 2.35 0.037 2292 -580.4 435.1 - - 1318 - - - - - - - - 14.09 14.43 14.27
23767 end climb: SURFACE_DEPTH_REACHED
23767 begin surface coast
23796 end surface coast: CONTROL_FINISHED_OK
23796 begin surface
SM -0.23 - - - - -8.41 9.10 0.062 162 17.8 0.90 0.096 2759 -2772.2 500.14 30.15 0.156 1056 35.0 0.005 - - - - - -