SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 119 * Raw log
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• Previous call tries 1 • 49.42 of 350.00 AH used of 24V (85.88% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -1.51 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 97 done -0.90 - - 180 - - - 2787 - -116.8 -76.35 - 3516 - - - - - - - - 14.66 13.35 14.68
99 0.1 -4.8 2 120 roll -0.90 11.35 0.392 2595 212.8 1.88 0.085 3826 552.7 -116.8 - - 3517 - - - - - - - - 14.25 14.44 14.52
147 32.1 -45.6 10 154 done -0.18 0.90 0.286 2836 267.8 1.77 0.041 2773 -594.9 -116.8 - - 3518 - - - - - - - - 14.28 14.54 14.52
484 71.5 -6.7 25 491 roll -0.30 0.05 0.207 2772 -1280.0 2.30 0.041 1373 -608.7 -116.8 - - 3519 - - - - - - - - 14.59 14.61 14.68
559 77.2 -7.7 36 568 done -0.38 - - 2763 - 2.45 0.064 2776 572.7 -116.8 - - 3519 - - - - - - - - 14.64 14.57 14.66
875 95.0 -5.8 48 882 roll -0.48 - - 2756 - 1.92 0.109 3825 546.4 -116.8 - - 3521 - - - - - - - - 14.88 14.57 14.87
1015 101.7 -6.1 68 1022 done -0.57 0.05 0.119 2698 -1160.0 1.77 0.041 2742 -611.9 -116.8 - - 3521 - - - - - - - - 14.62 14.70 14.69
1379 132.4 -9.4 78 1386 roll -0.57 - - 2698 - 2.28 0.042 1385 -595.2 -116.8 - - 3519 - - - - - - - - 14.91 14.67 14.91
1427 136.3 -7.8 85 1437 done -0.57 - - 2688 - 2.42 0.068 2770 572.3 -116.8 - - 3523 - - - - - - - - 14.71 14.64 14.73
1770 165.2 -8.6 92 1773 done -0.57 - - 2688 - - - 2769 - -116.8 - - 3518 - - - - - - - - 14.92 14.92 14.92
2107 193.5 -8.3 98 2114 roll -0.57 - - 2689 - 2.35 0.045 1388 -587.7 -116.8 - - 3516 - - - - - - - - 14.92 14.67 14.90
2204 201.4 -7.8 112 2212 done -0.57 0.10 0.205 2710 210.0 2.47 0.072 2777 562.3 -116.8 - - 3515 - - - - - - - - 14.56 14.66 14.69
2555 226.7 -7.3 120 2562 roll -0.57 - - 2701 - 1.95 0.115 3823 536.4 -116.8 - - 3512 - - - - - - - - 14.92 14.60 14.92
2596 230.0 -8.1 126 2603 done -0.57 - - 2701 - 1.77 0.044 2769 -595.5 -116.8 - - 3510 - - - - - - - - 14.79 14.76 14.82
2947 258.2 -8.1 134 2960 roll -0.57 - - 2701 - 2.30 0.044 1376 -605.7 -116.8 - - 3509 - - - - - - - - 14.95 14.73 14.95
3020 264.2 -8.2 144 3033 done -0.57 - - 2692 - 2.40 0.070 2764 578.3 -116.8 - - 3507 - - - - - - - - 14.81 14.68 14.83
3346 290.0 -7.8 155 3359 done -0.57 - - 2692 - - - 2763 - -116.8 - - 3505 - - - - - - - - 14.97 14.98 14.98
3683 314.6 -7.3 161 3696 roll -0.57 - - 2692 - 2.33 0.045 1375 -595.7 -116.8 - - 3503 - - - - - - - - 14.99 14.76 14.99
3756 320.2 -7.6 171 3769 done -0.57 - - 2682 - 2.40 0.071 2760 577.1 -116.8 - - 3502 - - - - - - - - 14.84 14.70 14.84
4082 347.4 -8.6 182 4096 roll -0.57 0.08 0.260 2703 262.5 1.92 0.112 3824 554.2 -116.8 - - 3501 - - - - - - - - 14.62 14.68 14.75
4177 355.1 -7.9 195 4190 done -0.57 - - 2703 - 1.77 0.045 2734 -615.8 -116.8 - - 3500 - - - - - - - - 14.86 14.81 14.88
4538 382.0 -7.3 204 4551 roll -0.57 - - 2703 - 2.25 0.045 1373 -604.9 -116.8 - - 3498 - - - - - - - - 15.00 14.76 15.00
4591 385.8 -7.2 211 4605 done -0.65 - - 2694 - 2.42 0.072 2767 576.0 -116.8 - - 3498 - - - - - - - - 14.84 14.71 14.85
4935 410.6 -7.3 218 4948 roll -0.65 - - 2686 - 1.92 0.118 3833 555.2 -116.8 - - 3496 - - - - - - - - 15.00 14.67 15.00
5001 415.9 -7.9 227 5014 done -0.65 - - 2686 - 1.73 0.047 2767 -616.2 -116.8 - - 3496 - - - - - - - - 14.87 14.81 14.88
5334 441.5 -7.8 239 5347 roll -0.65 - - 2685 - 2.33 0.047 1369 -600.0 -116.8 - - 3493 - - - - - - - - 15.00 14.76 15.00
5415 447.9 -7.9 250 5428 done -0.65 - - 2676 - 2.42 0.073 2767 577.7 -116.8 - - 3493 - - - - - - - - 14.83 14.69 14.85
5734 473.6 -8.1 260 5747 done -0.65 - - 2676 - - - 2767 - -116.8 - - 3492 - - - - - - - - 15.00 15.00 15.00
6070 500.9 -8.1 266 6083 roll -0.65 - - 2668 - 1.95 0.119 3833 546.7 -116.8 - - 3490 - - - - - - - - 15.00 14.66 15.00
6122 505.4 -8.5 273 6137 done -0.65 - - 2667 - 1.77 0.047 2758 -607.3 -116.8 - - 3490 - - - - - - - - 14.86 14.81 14.87
6467 534.1 -8.4 280 6480 roll -0.65 - - 2668 - 2.30 0.048 1370 -603.5 -116.8 - - 3488 - - - - - - - - 15.00 14.74 15.00
6519 538.8 -8.7 287 6533 done -0.65 0.10 0.243 2689 210.0 2.42 0.075 2760 574.4 -116.8 - - 3486 - - - - - - - - 14.57 14.66 14.76
6863 565.1 -7.6 294 6876 roll -0.65 - - 2689 - 2.35 0.047 1362 -594.9 -116.8 - - 3489 - - - - - - - - 14.99 14.74 15.00
6924 569.7 -7.4 302 6937 done -0.65 - - 2680 - 2.45 0.074 2761 571.0 -116.8 - - 3486 - - - - - - - - 14.83 14.69 14.85
7264 595.0 -7.4 315 7277 roll -0.65 - - 2672 - 1.95 0.120 3823 544.6 -116.8 - - 3485 - - - - - - - - 14.99 14.64 14.99
7302 598.0 -8.1 320 7315 done -0.65 - - 2672 - 1.75 0.049 2757 -609.1 -116.8 - - 3485 - - - - - - - - 14.85 14.80 14.87
7664 625.1 -7.5 329 7677 roll -0.65 - - 2673 - 2.33 0.049 1361 -599.1 -116.8 - - 3483 - - - - - - - - 14.98 14.74 14.98
7716 629.0 -7.3 336 7730 done -0.65 - - 2664 - 2.47 0.076 2759 566.0 -116.8 - - 3484 - - - - - - - - 14.81 14.66 14.83
8060 655.4 -7.7 343 8073 roll -0.65 - - 2655 - 1.98 0.122 3829 540.4 -116.8 - - 3482 - - - - - - - - 14.98 14.63 14.98
8113 659.8 -8.3 350 8127 done -0.65 0.10 0.235 2685 300.0 1.80 0.050 2757 -595.6 -116.8 - - 3482 - - - - - - - - 14.56 14.78 14.76
8457 684.1 -7.1 357 8470 roll -0.65 - - 2685 - 2.33 0.049 1367 -596.6 -116.8 - - 3481 - - - - - - - - 14.98 14.72 14.99
8538 690.1 -7.1 368 8551 done -0.65 - - 2677 - 2.45 0.076 2765 570.6 -116.8 - - 3480 - - - - - - - - 14.79 14.64 14.82
8857 713.1 -7.3 378 8870 done -0.65 - - 2676 - - - 2765 - -116.8 - - 3479 - - - - - - - - 14.97 14.98 14.98
9193 736.9 -7.1 384 9206 roll -0.65 - - 2677 - 2.38 0.050 1363 -589.1 -116.8 - - 3478 - - - - - - - - 14.97 14.71 14.97
9246 740.8 -7.1 391 9260 done -0.65 - - 2668 - 2.47 0.076 2758 564.8 -116.8 - - 3478 - - - - - - - - 14.80 14.64 14.81
9590 765.8 -7.3 398 9603 done -0.65 - - 2668 - - - 2758 - -116.8 - - 3477 - - - - - - - - 14.97 14.97 14.97
9925 790.0 -7.2 404 9938 done -0.65 - - 2668 - - - 2758 - -116.8 - - 3476 - - - - - - - - 14.97 14.97 14.97
10262 814.5 -7.3 410 10275 roll -0.65 - - 2668 - 2.38 0.050 1365 -585.3 -116.8 - - 3475 - - - - - - - - 15.00 14.70 14.97
10300 817.4 -7.5 415 10314 done -0.65 0.10 0.248 2688 200.0 2.45 0.077 2756 567.8 -116.8 - - 3475 - - - - - - - - 14.52 14.64 14.73
10662 842.9 -7.0 424 10675 done -0.73 - - 2687 - - - 2756 - -116.8 - - 3474 - - - - - - - - 14.95 14.96 14.96
10999 865.9 -6.8 430 11012 roll -0.81 0.08 0.151 2625 -775.0 2.35 0.047 1366 -591.5 -116.8 - - 3473 - - - - - - - - 14.71 14.69 14.75
11079 873.0 -9.0 441 11092 done -0.81 - - 2615 - 2.45 0.077 2750 564.9 -116.8 - - 3473 - - - - - - - - 14.77 14.62 14.79
11399 902.5 -9.3 451 11412 roll -0.81 - - 2607 - 2.00 0.122 3828 539.0 -116.8 - - 3472 - - - - - - - - 14.95 14.57 14.95
11459 908.1 -8.4 459 11472 done -0.81 0.10 0.248 2636 290.0 1.83 0.050 2735 -597.3 -116.8 - - 3472 - - - - - - - - 14.48 14.75 14.71
11742 end dive: TARGET_DEPTH_EXCEEDED
11742 begin apogee
11746 930.6 -7.8 471 11869 roll -0.23 0.62 0.190 2820 296.8 - - 2231 - - 113.40 1.978 3050 -3.7 0.332 - - - - - - 14.49 14.07 13.35
11871 end apogee: CONTROL_FINISHED_OK
11871 begin climb
11872 933.7 - 473 12015 roll 0.90 1.10 0.110 3170 318.2 2.45 0.058 858 -560.4 116.8 121.60 1.937 2579 -3.9 0.354 - - - - - - 14.07 14.10 13.26
12236 905.9 9.8 527 12249 done 0.76 - - 3170 - 2.45 0.058 2258 571.4 116.8 - - 2570 - - - - - - - - 14.43 14.33 14.45
12591 870.4 10.1 535 12604 roll 0.61 0.22 0.243 3112 -263.6 2.42 0.059 855 -579.8 116.8 - - 2569 - - - - - - - - 14.33 14.50 14.50
12804 854.0 7.3 565 12826 done 0.62 - - 3112 - 2.40 0.060 2251 581.7 126.9 4.60 1.929 2549 -4.3 0.365 - - - - - - 14.65 14.54 13.53
13155 827.2 7.8 573 13169 roll 0.62 - - 3112 - 2.58 0.106 3659 545.7 126.9 1.35 0.286 2545 -3.0 1.623 - - - - - - 14.83 14.53 14.30
13201 823.4 9.7 579 13215 done 0.52 0.17 0.242 3072 -235.3 2.38 0.044 2242 -595.4 126.9 1.20 0.265 2543 - - - - - - - - 14.42 14.64 14.38
13556 800.7 6.2 587 13611 roll 0.56 - - 3073 - 2.75 0.109 3659 515.3 159.6 42.60 1.885 2408 -3.2 0.255 - - - - - - 14.87 14.28 13.72
13644 794.4 7.5 599 13657 done 0.57 - - 3083 - 2.40 0.044 2258 -583.8 165.7 1.62 0.295 2390 -11.1 5.668 - - - - - - 14.47 14.41 14.10
13998 768.6 7.2 607 14032 roll 0.58 - - 3083 - 2.65 0.109 3656 527.5 178.1 19.25 1.968 2333 -3.0 0.219 - - - - - - 14.76 14.35 13.78
14058 764.0 7.9 615 14071 done 0.58 - - 3092 - 2.42 0.044 2247 -582.2 178.1 - - 2331 - - - - - - - - 14.51 14.45 14.53
14398 738.3 7.5 628 14411 done 0.59 - - 3099 - - - 2243 - 182.7 - - 2329 - - - - - - - - 14.77 14.77 14.77
14734 713.2 7.5 634 14752 roll 0.59 - - 3093 - 2.65 0.110 3663 535.8 187.8 4.57 1.913 2304 -5.5 0.386 - - - - - - 14.83 14.57 13.62
14792 708.3 8.6 642 14806 done 0.59 - - 3103 - 2.40 0.045 2254 -587.1 187.8 1.27 0.290 2301 -2.4 1.093 - - - - - - 14.69 14.62 14.37
15133 680.6 8.1 655 15146 done 0.59 - - 3103 - - - 2249 - 187.8 1.17 0.282 2301 - - - - - - - - 14.85 14.67 14.44
15469 653.0 8.2 661 15483 roll 0.59 - - 3107 - 2.62 0.111 3659 538.2 187.8 - - 2310 - - - - - - - - 14.88 14.57 14.88
15508 649.4 9.3 666 15522 done 0.59 - - 3117 - 2.38 0.045 2251 -591.6 187.8 - - 2310 - - - - - - - - 14.75 14.68 14.77
15870 618.6 8.5 675 15883 roll 0.59 - - 3112 - 2.62 0.111 3658 537.0 187.8 - - 2310 - - - - - - - - 14.90 14.57 14.90
15901 615.6 9.2 679 15915 done 0.59 0.10 0.252 3095 -170.0 2.35 0.046 2259 -595.3 187.8 - - 2310 - - - - - - - - 14.52 14.70 14.71
16270 587.9 7.3 689 16295 done 0.61 - - 3094 - - - 2254 - 197.9 15.85 1.844 2263 -3.0 0.179 - - - - - - 14.91 14.63 14.00
16606 563.7 7.2 695 16631 roll 0.62 - - 3094 - 2.60 0.107 3657 539.6 210.1 12.60 1.863 2208 -4.4 0.250 - - - - - - 14.87 14.50 13.95
16656 559.7 8.1 702 16671 done 0.62 - - 3105 - 2.40 0.045 2255 -584.2 210.1 - - 2205 - - - - - - - - 14.63 14.57 14.64
17000 532.7 7.9 709 17013 roll 0.62 - - 3114 - 2.40 0.065 858 -582.1 210.1 - - 2204 - - - - - - - - 14.82 14.57 14.82
17046 528.8 8.5 715 17059 done 0.62 - - 3114 - 2.42 0.060 2269 583.1 210.1 - - 2204 - - - - - - - - 14.69 14.57 14.71
17400 498.7 8.6 723 17414 roll 0.62 - - 3115 - 2.53 0.110 3653 547.0 210.1 - - 2205 - - - - - - - - 14.86 14.57 14.86
17446 494.3 9.9 729 17459 done 0.62 - - 3124 - 2.35 0.045 2258 -593.6 210.1 - - 2201 - - - - - - - - 14.74 14.67 14.76
17800 462.6 8.9 737 17813 roll 0.62 - - 3131 - 2.60 0.109 3662 540.0 210.1 - - 2204 - - - - - - - - 14.88 14.59 14.89
17838 458.8 10.1 742 17853 done 0.62 0.12 0.236 3099 -266.7 2.35 0.044 2261 -596.2 210.1 - - 2203 - - - - - - - - 14.52 14.69 14.72
18201 429.9 7.9 751 18214 done 0.62 - - 3098 - - - 2256 - 210.1 - - 2203 - - - - - - - - 14.90 14.90 14.90
18537 403.3 7.9 757 18550 done 0.62 - - 3098 - - - 2256 - 210.1 - - 2204 - - - - - - - - 14.92 14.92 14.91
18873 377.6 7.6 763 18886 roll 0.63 - - 3098 - 2.60 0.107 3660 540.0 214.1 - - 2203 - - - - - - - - 14.92 14.60 14.92
18904 375.0 7.8 767 18917 done 0.63 - - 3107 - 2.35 0.044 2263 -594.5 214.1 - - 2203 - - - - - - - - 14.80 14.72 14.81
19272 349.1 6.9 777 19304 done 0.65 - - 3107 - - - 2260 - 232.7 23.10 1.512 2124 -3.4 0.150 - - - - - - 14.93 14.62 14.04
19609 324.8 7.3 783 19626 roll 0.66 - - 3106 - 2.60 0.109 3658 537.7 241.4 3.92 1.452 2093 -7.9 0.335 - - - - - - 14.83 14.56 13.71
19651 321.2 8.3 789 19665 done 0.66 - - 3116 - 2.35 0.044 2265 -592.8 241.4 1.10 0.293 2090 -2.7 0.566 - - - - - - 14.69 14.62 14.39
20006 292.5 8.1 797 20019 roll 0.66 - - 3126 - 2.40 0.060 852 -588.8 241.4 1.42 0.309 2091 - - - - - - - - 14.86 14.53 14.18
20044 289.4 7.8 802 20058 done 0.66 - - 3126 - 2.42 0.058 2273 587.2 241.4 - - 2097 - - - - - - - - 14.72 14.60 14.73
20406 259.4 8.4 811 20419 roll 0.66 - - 3126 - 2.53 0.107 3660 548.2 241.4 1.00 0.285 2093 -4.0 0.690 - - - - - - 14.89 14.58 14.46
20451 254.9 9.9 817 20464 done 0.66 - - 3135 - 2.35 0.042 2256 -597.4 241.4 - - 2098 - - - - - - - - 14.76 14.70 14.78
20805 222.3 9.2 825 20819 done 0.66 - - 3135 - - - 2252 - 241.4 1.73 0.356 2088 -5.8 0.684 - - - - - - 14.95 14.66 14.16
21142 191.6 9.1 831 21158 roll 0.66 - - 3146 - 2.45 0.061 854 -570.6 241.4 1.75 0.376 2094 3.4 -0.331 - - - - - - 14.91 14.66 14.17
21198 186.3 9.2 839 21216 done 0.66 0.10 0.232 3117 -290.0 2.40 0.057 2266 588.3 241.4 2.33 0.720 2091 -1.3 0.063 - - - - - - 14.53 14.65 13.74
21537 159.2 7.9 852 21551 roll 0.66 - - 3116 - 2.60 0.105 3665 538.1 241.4 1.55 0.355 2090 - - - - - - - - 14.92 14.61 14.18
21598 154.0 9.0 860 21611 done 0.66 - - 3124 - 2.35 0.042 2259 -598.3 241.4 - - 2098 - - - - - - - - 14.78 14.71 14.79
21938 128.4 7.2 873 21970 roll 0.67 - - 3135 - 2.42 0.061 866 -575.6 253.3 16.52 1.305 2033 -3.9 0.073 - - - - - - 14.92 14.61 14.14
22009 122.9 7.9 883 22023 done 0.76 - - 3134 - 2.40 0.057 2277 587.9 253.3 - - 2031 - - - - - - - - 14.71 14.60 14.72
22336 96.9 8.1 894 22349 roll 0.76 - - 3134 - 2.50 0.108 3655 551.2 253.3 - - 2031 - - - - - - - - 14.87 14.57 14.87
22369 94.1 8.5 898 22382 done 0.76 - - 3142 - 2.33 0.041 2253 -601.7 253.3 - - 2031 - - - - - - - - 14.75 14.68 14.76
22710 73.8 4.6 913 22757 roll 0.92 0.08 0.148 3214 900.0 2.60 0.106 3662 541.9 321.0 30.52 0.397 1772 -8.5 0.299 - - - - - - 14.67 14.54 14.33
22894 58.3 8.5 939 22907 done 0.92 - - 3222 - 2.30 0.041 2271 -604.8 321.0 - - 1772 - - - - - - - - 14.72 14.66 14.73
23220 47.9 4.4 952 23266 roll 1.13 0.08 0.150 3300 975.0 2.53 0.101 3657 547.8 393.5 33.90 0.315 1483 -8.5 0.246 - - - - - - 14.66 14.55 14.35
23347 40.7 8.9 970 23361 done 1.13 0.15 0.222 3266 -226.7 2.28 0.040 2280 -603.9 393.5 - - 1483 - - - - - - - - 14.48 14.64 14.66
23676 22.4 5.2 983 23714 roll 1.29 0.08 0.145 3346 1000.0 2.38 0.057 872 -591.6 448.5 26.17 0.229 1262 -8.4 0.156 - - - - - - 14.71 14.62 14.45
23803 10.6 8.9 1001 23816 done 1.29 0.10 0.226 3316 -300.0 2.35 0.052 2278 598.3 448.5 - - 1264 - - - - - - - - 14.51 14.62 14.69
23932 end climb: SURFACE_DEPTH_REACHED
23932 begin surface coast
23960 end surface coast: CONTROL_FINISHED_OK
23960 begin surface
SM -2.60 - - - - -8.39 9.05 0.072 196 21.7 0.85 0.080 2770 -2771.8 500.14 23.23 0.156 1057 45.5 0.077 - - - - - -