SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 1 • 45.21 of 350.00 AH used of 24V (87.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.2 deg, depth -2.05 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 96 done -0.90 - - 179 - - - 2769 - -116.8 -75.75 - 3516 - - - - - - - - 14.69 13.35 14.68
98 -0.3 -5.1 2 119 roll -0.90 11.45 0.396 2592 210.7 1.92 0.087 3825 550.0 -116.8 - - 3522 - - - - - - - - 14.23 14.44 14.50
348 75.7 -23.0 39 356 done -0.49 0.50 0.254 2732 280.0 1.80 0.037 2737 -604.4 -116.8 - - 3520 - - - - - - - - 14.38 14.62 14.54
677 98.1 -6.1 53 686 roll -0.49 - - 2725 - 2.00 0.106 3813 538.0 -116.8 - - 3522 - - - - - - - - 14.86 14.54 14.85
859 110.6 -5.5 79 867 done -0.49 - - 2724 - 1.73 0.040 2764 -606.4 -116.8 - - 3523 - - - - - - - - 14.73 14.70 14.73
1182 127.2 -6.0 90 1184 done -0.49 - - 2724 - - - 2760 - -116.8 - - 3522 - - - - - - - - 14.90 14.90 14.90
1518 150.1 -6.9 96 1525 roll -0.49 - - 2717 - 1.98 0.108 3815 532.8 -116.8 - - 3520 - - - - - - - - 14.92 14.62 14.92
1615 157.3 -6.7 110 1622 done -0.49 - - 2717 - 1.75 0.040 2760 -602.9 -116.8 - - 3519 - - - - - - - - 14.80 14.76 14.81
1966 180.1 -6.8 118 1973 roll -0.49 - - 2717 - 2.30 0.041 1386 -597.4 -116.8 - - 3517 - - - - - - - - 14.92 14.68 14.92
2022 184.1 -7.1 126 2029 done -0.57 - - 2715 - 2.40 0.067 2758 571.7 -116.8 - - 3516 - - - - - - - - 14.72 14.64 14.74
2357 209.0 -7.4 139 2360 done -0.57 - - 2708 - - - 2758 - -116.8 - - 3514 - - - - - - - - 14.93 14.93 14.93
2694 232.8 -7.1 145 2702 roll -0.57 - - 2707 - 2.33 0.042 1388 -588.0 -116.8 - - 3510 - - - - - - - - 14.94 14.70 14.92
2749 236.9 -7.3 153 2758 done -0.57 - - 2698 - 2.42 0.070 2762 567.8 -116.8 - - 3510 - - - - - - - - 14.72 14.64 14.75
3086 260.1 -6.9 166 3098 done -0.57 - - 2698 - - - 2762 - -116.8 - - 3508 - - - - - - - - 14.97 14.97 14.97
3422 283.5 -7.0 172 3435 roll -0.57 - - 2690 - 1.92 0.115 3823 552.6 -116.8 - - 3506 - - - - - - - - 14.98 14.67 14.96
3467 287.0 -7.7 178 3480 done -0.57 - - 2690 - 1.70 0.045 2771 -618.8 -116.8 - - 3506 - - - - - - - - 14.87 14.82 14.88
3821 313.4 -7.5 186 3835 roll -0.57 - - 2690 - 2.30 0.044 1379 -605.2 -116.8 - - 3503 - - - - - - - - 15.00 14.74 15.00
3888 318.5 -7.5 195 3901 done -0.57 0.10 0.245 2710 200.0 2.40 0.071 2766 577.9 -116.8 - - 3503 - - - - - - - - 14.62 14.69 14.81
4222 340.5 -6.6 207 4235 done -0.65 - - 2710 - - - 2766 - -116.8 - - 3503 - - - - - - - - 14.99 15.00 14.99
4558 362.6 -6.6 213 4571 roll -0.73 0.08 0.150 2638 -900.0 2.30 0.042 1378 -603.5 -116.8 - - 3499 - - - - - - - - 14.80 14.77 14.83
4610 367.3 -9.2 220 4624 done -0.73 0.12 0.241 2665 225.0 2.42 0.073 2767 574.0 -116.8 - - 3498 - - - - - - - - 14.60 14.71 14.81
4954 397.0 -8.7 227 4967 roll -0.73 - - 2657 - 1.92 0.118 3825 551.0 -116.8 - - 3497 - - - - - - - - 15.00 14.68 15.00
4999 401.2 -9.5 233 5012 done -0.73 - - 2656 - 1.73 0.047 2758 -616.8 -116.8 - - 3494 - - - - - - - - 14.88 14.83 14.88
5354 432.8 -8.8 241 5367 roll -0.73 - - 2657 - 2.28 0.045 1376 -606.1 -116.8 - - 3495 - - - - - - - - 14.99 14.77 15.02
5378 435.1 -9.0 244 5391 done -0.73 - - 2647 - 2.40 0.073 2759 576.2 -116.8 - - 3494 - - - - - - - - 14.84 14.71 14.86
5697 463.8 -9.1 254 5710 roll -0.73 - - 2638 - 1.95 0.116 3830 549.2 -116.8 - - 3493 - - - - - - - - 15.00 14.68 14.99
5735 467.5 -9.4 259 5748 done -0.73 - - 2638 - 1.75 0.046 2752 -616.0 -116.8 - - 3493 - - - - - - - - 14.92 14.86 14.89
6096 500.0 -9.0 268 6109 roll -0.73 - - 2635 - 1.98 0.115 3823 540.9 -116.8 - - 3491 - - - - - - - - 15.00 14.66 15.00
6148 505.0 -9.7 275 6162 done -0.73 0.10 0.246 2662 270.0 1.75 0.045 2754 -610.9 -116.8 - - 3491 - - - - - - - - 14.59 14.81 14.79
6493 532.4 -7.9 282 6505 done -0.73 - - 2659 - - - 2754 - -116.8 - - 3489 - - - - - - - - 15.00 15.00 15.00
6828 558.9 -7.9 288 6841 roll -0.73 - - 2650 - 2.00 0.118 3830 538.0 -116.8 - - 3488 - - - - - - - - 15.01 14.66 15.01
6888 563.9 -8.3 296 6902 done -0.73 - - 2650 - 1.75 0.048 2767 -607.4 -116.8 - - 3488 - - - - - - - - 14.87 14.83 14.88
7229 590.7 -7.8 309 7242 roll -0.73 - - 2643 - 1.95 0.116 3822 541.0 -116.8 - - 3487 - - - - - - - - 15.00 14.65 15.00
7295 596.1 -8.2 318 7308 done -0.73 - - 2643 - 1.75 0.047 2753 -610.9 -116.8 - - 3486 - - - - - - - - 14.86 14.79 14.87
7628 622.6 -8.0 330 7641 roll -0.73 - - 2643 - 2.30 0.046 1361 -605.2 -116.8 - - 3484 - - - - - - - - 14.99 14.73 14.99
7680 627.1 -8.4 337 7695 done -0.73 0.10 0.252 2662 190.0 2.45 0.072 2762 571.8 -116.8 - - 3484 - - - - - - - - 14.57 14.66 14.77
8024 653.1 -7.7 344 8038 roll -0.73 - - 2654 - 1.95 0.118 3830 547.7 -116.8 - - 3483 - - - - - - - - 14.98 14.64 14.98
8084 658.3 -8.7 352 8098 done -0.73 - - 2654 - 1.77 0.049 2756 -606.8 -116.8 - - 3482 - - - - - - - - 14.85 14.79 14.86
8425 687.0 -8.6 365 8438 roll -0.73 - - 2653 - 2.33 0.047 1358 -600.0 -116.8 - - 3481 - - - - - - - - 15.02 14.73 14.98
8485 692.3 -8.9 373 8498 done -0.73 - - 2644 - 2.47 0.073 2770 571.7 -116.8 - - 3481 - - - - - - - - 14.82 14.66 14.83
8825 722.8 -9.0 386 8838 done -0.73 - - 2642 - - - 2770 - -116.8 - - 3480 - - - - - - - - 14.98 14.98 14.98
9161 752.1 -8.7 392 9174 roll -0.73 - - 2636 - 1.95 0.120 3833 545.1 -116.8 - - 3480 - - - - - - - - 14.97 14.62 14.97
9192 755.0 -8.7 396 9205 done -0.73 - - 2636 - 1.77 0.050 2756 -608.5 -116.8 - - 3479 - - - - - - - - 14.85 14.78 14.86
9561 785.5 -8.0 406 9574 roll -0.73 - - 2636 - 2.33 0.047 1364 -597.4 -116.8 - - 3478 - - - - - - - - 14.98 14.72 14.98
9613 789.8 -8.0 413 9628 done -0.73 0.12 0.242 2657 175.0 2.47 0.074 2769 568.8 -116.8 - - 3478 - - - - - - - - 14.52 14.65 14.74
9957 813.3 -6.8 420 9970 roll -0.73 - - 2655 - 1.95 0.122 3831 544.6 -116.8 - - 3477 - - - - - - - - 14.99 14.60 14.97
10031 818.9 -7.6 430 10044 done -0.73 - - 2655 - 1.77 0.050 2757 -606.8 -116.8 - - 3477 - - - - - - - - 14.83 14.77 14.84
10357 843.6 -7.6 441 10370 done -0.73 - - 2655 - - - 2757 - -116.8 - - 3475 - - - - - - - - 14.96 14.96 14.96
10693 869.9 -7.8 447 10706 roll -0.73 - - 2647 - 2.00 0.120 3824 533.5 -116.8 - - 3475 - - - - - - - - 14.96 14.59 14.96
10745 874.5 -8.6 454 10759 done -0.73 - - 2646 - 1.80 0.050 2753 -595.0 -116.8 - - 3474 - - - - - - - - 14.81 14.76 14.83
11090 902.4 -8.1 461 11103 roll -0.73 - - 2647 - 2.33 0.047 1365 -595.7 -116.8 - - 3475 - - - - - - - - 14.97 14.71 14.96
11121 905.1 -7.9 465 11134 done -0.73 - - 2638 - 2.45 0.073 2763 570.6 -116.8 - - 3474 - - - - - - - - 14.78 14.65 14.81
11432 end dive: TARGET_DEPTH_EXCEEDED
11432 begin apogee
11436 930.8 -8.3 474 11560 roll -0.23 0.62 0.194 2821 295.2 - - 2228 - - 114.12 1.987 3050 -3.7 0.329 - - - - - - 14.51 14.06 13.38
11562 end apogee: CONTROL_FINISHED_OK
11562 begin climb
11563 935.0 - 476 11706 roll 0.90 1.10 0.111 3170 317.3 2.42 0.057 866 -562.8 116.8 122.00 1.929 2579 -3.9 0.354 - - - - - - 14.08 14.09 13.27
11724 928.3 9.6 501 11738 done 0.73 0.12 0.251 3138 -266.7 2.47 0.055 2258 563.6 116.8 - - 2574 - - - - - - - - 13.95 14.04 14.11
12059 900.7 8.5 513 12072 roll 0.62 0.10 0.271 3105 -330.0 2.58 0.103 3658 542.6 116.8 - - 2570 - - - - - - - - 14.29 14.37 14.42
12139 893.7 9.2 524 12153 done 0.52 0.17 0.243 3069 -211.8 2.38 0.044 2257 -588.7 116.8 - - 2570 - - - - - - - - 14.31 14.51 14.53
12459 873.5 6.2 534 12503 done 0.56 - - 3068 - - - 2253 - 149.4 34.75 1.972 2455 -3.3 0.277 - - - - - - 14.79 14.34 13.71
12795 851.0 6.8 540 12833 roll 0.59 - - 3069 - 2.70 0.107 3652 518.1 170.5 22.40 2.024 2364 -4.1 0.323 - - - - - - 14.73 14.29 13.71
12886 843.8 7.9 553 12900 done 0.59 - - 3078 - 2.40 0.044 2248 -585.0 170.5 - - 2361 - - - - - - - - 14.49 14.43 14.50
13248 817.8 7.1 562 13270 done 0.60 - - 3078 - - - 2248 - 183.5 12.82 2.090 2318 -3.4 0.248 - - - - - - 14.77 14.50 13.81
13584 794.4 6.9 568 13616 roll 0.62 - - 3078 - 2.65 0.110 3652 529.8 200.9 18.75 2.018 2243 -4.0 0.298 - - - - - - 14.78 14.38 13.78
13662 788.6 8.2 579 13675 done 0.62 - - 3087 - 2.40 0.046 2248 -585.0 200.9 - - 2240 - - - - - - - - 14.54 14.48 14.56
13981 764.7 7.4 589 13999 roll 0.63 - - 3097 - 2.42 0.063 863 -572.3 208.5 3.15 1.379 2222 -5.7 0.600 - - - - - - 14.78 14.54 13.52
14024 761.4 7.3 595 14057 done 0.65 - - 3098 - 2.40 0.059 2260 582.1 219.2 17.85 1.997 2170 -2.9 0.210 - - - - - - 14.65 14.55 13.77
14377 733.2 8.1 610 14390 roll 0.65 - - 3098 - 2.55 0.109 3655 547.1 219.2 - - 2166 - - - - - - - - 14.77 14.50 14.77
14443 727.1 9.4 619 14456 done 0.65 - - 3106 - 2.35 0.044 2236 -603.8 219.2 - - 2170 - - - - - - - - 14.66 14.59 14.68
14777 698.5 8.6 631 14789 done 0.65 - - 3106 - - - 2234 - 219.2 - - 2165 - - - - - - - - 14.85 14.85 14.85
15113 669.2 8.8 637 15125 done 0.65 - - 3106 - - - 2234 - 219.2 - - 2165 - - - - - - - - 14.88 14.88 14.88
15448 639.5 8.8 643 15461 roll 0.65 - - 3106 - 2.62 0.110 3655 542.4 219.2 - - 2165 - - - - - - - - 14.90 14.61 14.90
15501 634.3 10.1 650 15515 done 0.65 - - 3116 - 2.38 0.046 2252 -589.5 219.2 - - 2165 - - - - - - - - 14.78 14.71 14.79
15844 604.6 8.5 657 15858 roll 0.65 - - 3126 - 2.40 0.066 847 -585.4 219.2 - - 2164 - - - - - - - - 14.91 14.66 14.91
15876 601.9 8.1 661 15889 done 0.65 - - 3126 - 2.42 0.060 2268 587.2 219.2 - - 2164 - - - - - - - - 14.78 14.66 14.79
16245 571.3 8.3 671 16258 roll 0.65 - - 3127 - 2.53 0.111 3659 549.8 219.2 - - 2164 - - - - - - - - 14.92 14.63 14.92
16290 567.0 9.9 677 16303 done 0.65 - - 3136 - 2.35 0.045 2257 -596.6 219.2 - - 2168 - - - - - - - - 14.81 14.73 14.82
16644 534.3 9.4 685 16657 done 0.65 - - 3137 - - - 2254 - 219.2 - - 2163 - - - - - - - - 14.92 14.92 14.92
16981 502.0 9.6 691 16993 done 0.65 - - 3136 - - - 2253 - 219.2 - - 2164 - - - - - - - - 14.93 14.93 14.93
17316 470.2 9.5 697 17330 roll 0.65 - - 3137 - 2.58 0.110 3653 542.6 219.2 - - 2164 - - - - - - - - 14.97 14.63 14.94
17348 466.8 10.6 701 17362 done 0.65 0.12 0.241 3112 -208.3 2.35 0.047 2256 -594.5 219.2 - - 2164 - - - - - - - - 14.54 14.71 14.75
17717 434.8 8.6 711 17730 roll 0.65 - - 3121 - 2.40 0.065 849 -586.2 219.2 - - 2164 - - - - - - - - 14.94 14.68 14.94
17748 432.0 8.5 715 17761 done 0.65 - - 3121 - 2.42 0.062 2269 586.8 219.2 - - 2163 - - - - - - - - 14.80 14.68 14.82
18116 401.6 8.2 725 18130 roll 0.65 - - 3121 - 2.53 0.108 3662 550.6 219.2 - - 2163 - - - - - - - - 14.94 14.62 14.94
18169 396.8 9.3 732 18182 done 0.65 - - 3131 - 2.38 0.044 2252 -592.4 219.2 - - 2163 - - - - - - - - 14.81 14.73 14.82
18513 365.7 9.2 739 18526 roll 0.65 - - 3142 - 2.38 0.064 852 -588.2 219.2 - - 2164 - - - - - - - - 14.93 14.67 14.94
18558 361.3 9.6 745 18572 done 0.65 0.10 0.236 3113 -290.0 2.40 0.060 2263 587.9 219.2 - - 2164 - - - - - - - - 14.57 14.67 14.77
18913 332.4 8.0 753 18926 roll 0.65 - - 3111 - 2.53 0.106 3662 553.0 219.2 - - 2163 - - - - - - - - 14.93 14.62 14.94
18986 326.1 8.6 763 19000 done 0.65 - - 3121 - 2.35 0.043 2246 -602.6 219.2 - - 2163 - - - - - - - - 14.81 14.74 14.83
19313 300.9 7.8 774 19326 roll 0.65 - - 3130 - 2.35 0.063 856 -591.5 219.2 - - 2164 - - - - - - - - 14.93 14.66 14.93
19351 297.8 7.8 779 19364 done 0.65 - - 3131 - 2.40 0.059 2275 591.2 219.2 - - 2164 - - - - - - - - 14.79 14.67 14.85
19712 269.4 7.9 788 19725 roll 0.65 - - 3131 - 2.50 0.108 3650 550.0 219.2 - - 2163 - - - - - - - - 14.93 14.62 14.94
19750 265.9 8.9 793 19764 done 0.65 0.10 0.256 3112 -190.0 2.33 0.044 2255 -598.7 219.2 - - 2164 - - - - - - - - 14.54 14.73 14.76
20112 237.6 7.9 802 20125 roll 0.65 - - 3122 - 2.35 0.062 861 -593.2 219.2 - - 2164 - - - - - - - - 14.94 14.68 14.96
20143 234.9 8.2 806 20156 done 0.65 - - 3122 - 2.38 0.056 2265 589.9 219.2 - - 2165 - - - - - - - - 14.79 14.68 14.81
20511 204.5 8.2 816 20525 roll 0.65 - - 3122 - 2.50 0.104 3657 556.8 219.2 - - 2165 - - - - - - - - 14.93 14.62 14.93
20564 199.6 9.4 823 20577 done 0.65 - - 3131 - 2.35 0.043 2252 -597.9 219.2 - - 2166 - - - - - - - - 14.81 14.73 14.82
20908 170.4 8.5 830 20921 roll 0.65 - - 3141 - 2.35 0.062 860 -592.3 219.2 - - 2166 - - - - - - - - 14.95 14.65 14.95
20960 165.9 8.6 837 20975 done 0.65 0.10 0.228 3111 -300.0 2.40 0.057 2270 587.5 219.2 - - 2166 - - - - - - - - 14.54 14.67 14.76
21304 140.3 7.4 844 21323 roll 0.65 - - 3111 - 2.53 0.103 3643 542.7 225.7 2.70 0.897 2155 -4.1 0.121 - - - - - - 14.94 14.66 13.79
21369 135.1 8.1 853 21383 done 0.65 - - 3119 - 2.30 0.043 2254 -603.9 225.7 1.48 0.315 2152 -2.0 0.165 - - - - - - 14.81 14.74 14.24
21703 111.1 7.0 865 21727 roll 0.67 - - 3120 - 2.62 0.106 3650 532.8 241.8 8.88 0.503 2090 -7.0 0.292 - - - - - - 14.93 14.61 14.31
21817 102.5 7.5 881 21836 done 0.68 - - 3127 - 2.30 0.043 2260 -604.3 248.0 4.20 0.435 2063 -6.4 0.287 - - - - - - 14.81 14.72 14.28
22157 80.3 5.9 899 22190 roll 0.81 0.05 0.207 3189 1240.0 2.42 0.060 873 -573.1 288.6 20.20 0.422 1902 -8.0 0.287 - - - - - - 14.68 14.63 14.35
22320 69.7 6.0 922 22354 done 0.86 - - 3189 - 2.42 0.055 2294 587.2 327.6 19.08 0.391 1746 -8.2 0.276 - - - - - - 14.73 14.62 14.33
22668 52.1 4.6 938 22713 roll 1.05 0.08 0.154 3262 912.5 2.47 0.105 3659 552.6 396.8 32.95 0.334 1468 -8.4 0.249 - - - - - - 14.67 14.53 14.34
22865 36.2 7.2 966 22883 done 1.07 - - 3271 - 2.25 0.041 2304 -602.2 409.6 6.35 0.285 1418 -7.9 0.189 - - - - - - 14.72 14.65 14.40
23204 17.8 5.3 981 23244 roll 1.22 - - 3270 - 2.45 0.101 3653 550.6 462.5 25.30 0.224 1207 -8.3 0.125 - - - - - - 14.88 14.55 14.43
23291 12.1 7.3 993 23309 done 1.32 0.08 0.141 3340 875.0 2.20 0.040 2301 -614.5 472.1 4.65 0.213 1169 -8.2 0.088 - - - - - - 14.66 14.68 14.47
23431 end climb: SURFACE_DEPTH_REACHED
23431 begin surface coast
23461 end surface coast: CONTROL_FINISHED_OK
23461 begin surface
SM -1.70 - - - - -8.40 8.88 0.045 185 20.8 0.82 0.085 2760 -10573.2 500.14 13.02 0.163 1057 81.2 0.087 - - - - - -