SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 110 * Raw log
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• Previous call tries 1 • 46.27 of 350.00 AH used of 24V (86.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.6 deg, depth -3.09 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
18 - - - 96 done -0.90 - - 188 - - - 2783 - -116.8 -74.97 - 3517 - - - - - - - - 14.68 13.40 14.68
98 -1.2 -6.4 2 119 roll -0.90 11.38 0.396 2597 211.7 1.92 0.106 3824 542.2 -116.8 - - 3518 - - - - - - - - 14.25 14.42 14.50
347 79.4 -14.1 39 356 done -0.61 0.35 0.243 2700 294.3 1.80 0.037 2734 -605.6 -116.8 - - 3519 - - - - - - - - 14.40 14.62 14.54
677 101.1 -6.1 53 686 roll -0.61 - - 2690 - 2.03 0.107 3819 534.5 -116.8 - - 3521 - - - - - - - - 14.85 14.55 14.87
915 119.0 -5.3 87 923 done -0.61 - - 2690 - 1.75 0.040 2765 -602.3 -116.8 - - 3521 - - - - - - - - 14.76 14.72 14.77
1238 138.5 -6.2 98 1245 roll -0.61 - - 2682 - 1.98 0.108 3818 531.8 -116.8 - - 3520 - - - - - - - - 14.91 14.60 14.90
1426 156.8 -7.6 125 1435 done -0.61 - - 2682 - 1.73 0.041 2759 -612.1 -116.8 - - 3520 - - - - - - - - 14.77 14.75 14.78
1741 183.5 -8.5 135 1749 roll -0.61 - - 2682 - 2.30 0.047 1389 -595.7 -116.8 - - 3522 - - - - - - - - 14.92 14.67 14.92
1790 187.8 -8.4 142 1799 done -0.61 0.08 0.218 2696 175.0 2.42 0.070 2764 568.2 -116.8 - - 3517 - - - - - - - - 14.56 14.64 14.69
2133 217.0 -8.5 149 2142 roll -0.61 - - 2696 - 2.33 0.047 1401 -585.0 -116.8 - - 3514 - - - - - - - - 14.93 14.69 14.92
2174 220.7 -8.4 155 2183 done -0.61 - - 2687 - 2.42 0.072 2766 564.0 -116.8 - - 3513 - - - - - - - - 14.78 14.66 14.80
2525 249.8 -8.3 163 2528 done -0.61 - - 2691 - - - 2765 - -116.8 - - 3510 - - - - - - - - 14.92 14.92 14.92
2861 276.7 -7.9 169 2875 roll -0.61 - - 2687 - 2.30 0.048 1396 -595.2 -116.8 - - 3508 - - - - - - - - 14.97 14.73 14.97
2907 280.3 -7.7 175 2920 done -0.61 - - 2678 - 2.40 0.073 2774 574.2 -116.8 - - 3508 - - - - - - - - 14.83 14.70 14.85
3261 307.8 -7.7 183 3274 done -0.61 - - 2678 - - - 2774 - -116.8 - - 3505 - - - - - - - - 14.99 14.99 14.98
3597 334.0 -7.8 189 3610 roll -0.61 - - 2678 - 2.33 0.048 1390 -594.0 -116.8 - - 3502 - - - - - - - - 15.00 14.76 15.00
3636 337.2 -8.4 194 3649 done -0.61 0.10 0.236 2699 210.0 2.40 0.074 2771 575.4 -116.8 - - 3502 - - - - - - - - 14.64 14.72 14.78
3998 363.2 -7.1 203 4011 roll -0.61 - - 2699 - 2.33 0.047 1384 -595.3 -116.8 - - 3500 - - - - - - - - 15.01 14.76 15.00
4050 367.1 -7.2 210 4064 done -0.61 - - 2690 - 2.42 0.075 2767 571.5 -116.8 - - 3500 - - - - - - - - 14.85 14.71 14.87
4394 391.4 -7.0 217 4407 roll -0.61 - - 2682 - 1.92 0.116 3828 552.6 -116.8 - - 3497 - - - - - - - - 15.00 14.69 15.00
4447 395.4 -7.6 224 4460 done -0.61 - - 2682 - 1.73 0.047 2775 -608.7 -116.8 - - 3498 - - - - - - - - 14.88 14.82 14.88
4791 420.2 -7.2 231 4804 roll -0.61 - - 2681 - 2.33 0.047 1373 -601.7 -116.8 - - 3496 - - - - - - - - 15.00 14.77 15.00
4857 425.2 -7.3 240 4870 done -0.61 - - 2672 - 2.42 0.075 2768 576.4 -116.8 - - 3495 - - - - - - - - 14.85 14.70 14.86
5190 450.4 -7.6 252 5204 roll -0.61 0.08 0.259 2700 350.0 2.33 0.046 1376 -597.4 -116.8 - - 3494 - - - - - - - - 14.62 14.79 14.74
5264 455.7 -6.8 262 5277 done -0.69 - - 2692 - 2.40 0.075 2755 574.6 -116.8 - - 3493 - - - - - - - - 14.83 14.71 14.86
5590 479.0 -7.2 273 5604 roll -0.69 - - 2683 - 1.95 0.119 3823 547.7 -116.8 - - 3492 - - - - - - - - 14.97 14.67 15.00
5643 483.1 -7.8 280 5656 done -0.69 - - 2682 - 1.75 0.047 2752 -612.0 -116.8 - - 3491 - - - - - - - - 14.86 14.82 14.88
5987 509.3 -7.6 287 6000 roll -0.69 - - 2683 - 2.28 0.048 1383 -600.4 -116.8 - - 3489 - - - - - - - - 15.00 14.75 14.99
6047 514.1 -7.9 295 6060 done -0.69 - - 2675 - 2.42 0.076 2766 571.5 -116.8 - - 3489 - - - - - - - - 14.84 14.70 14.85
6387 541.4 -8.0 308 6400 roll -0.69 - - 2674 - 2.33 0.049 1383 -593.6 -116.8 - - 3488 - - - - - - - - 15.00 14.75 15.00
6425 544.5 -8.2 313 6439 done -0.69 - - 2666 - 2.40 0.076 2758 572.9 -116.8 - - 3487 - - - - - - - - 14.83 14.69 14.85
6787 572.3 -7.6 322 6800 roll -0.69 - - 2656 - 1.95 0.119 3833 551.3 -116.8 - - 3485 - - - - - - - - 14.99 14.66 14.99
6867 578.6 -7.6 333 6881 done -0.69 - - 2657 - 1.75 0.047 2758 -614.3 -116.8 - - 3485 - - - - - - - - 14.86 14.81 14.87
7187 601.4 -7.2 343 7200 roll -0.69 - - 2658 - 2.30 0.050 1377 -600.4 -116.8 - - 3485 - - - - - - - - 15.00 14.75 15.00
7239 605.4 -7.5 350 7253 done -0.69 - - 2649 - 2.42 0.077 2756 569.8 -116.8 - - 3484 - - - - - - - - 14.83 14.69 14.85
7583 631.5 -7.6 357 7596 done -0.69 - - 2649 - - - 2756 - -116.8 - - 3483 - - - - - - - - 14.99 14.99 14.98
7919 657.8 -7.9 363 7932 roll -0.69 - - 2649 - 2.35 0.051 1377 -586.8 -116.8 - - 3482 - - - - - - - - 14.99 14.71 14.99
7957 661.0 -8.1 368 7970 done -0.69 0.12 0.232 2676 225.0 2.42 0.079 2756 569.8 -116.8 - - 3482 - - - - - - - - 14.58 14.69 14.78
8318 685.4 -6.8 377 8331 done -0.69 - - 2677 - - - 2756 - -116.8 - - 3481 - - - - - - - - 14.99 14.98 14.98
8655 708.0 -6.7 383 8668 roll -0.69 - - 2677 - 2.35 0.052 1375 -587.7 -116.8 - - 3479 - - - - - - - - 14.99 14.72 14.99
8721 712.6 -6.8 392 8734 done -0.69 - - 2668 - 2.42 0.080 2750 568.2 -116.8 - - 3479 - - - - - - - - 14.81 14.66 14.83
9054 735.7 -7.0 404 9067 roll -0.69 - - 2660 - 2.00 0.122 3835 542.5 -116.8 - - 3478 - - - - - - - - 14.97 14.62 14.97
9092 738.6 -7.9 409 9106 done -0.69 - - 2659 - 1.80 0.050 2752 -601.7 -116.8 - - 3478 - - - - - - - - 14.84 14.78 14.85
9454 765.2 -7.4 418 9467 roll -0.69 - - 2660 - 2.33 0.052 1370 -593.1 -116.8 - - 3477 - - - - - - - - 14.96 14.71 14.96
9570 774.1 -7.5 434 9584 done -0.69 - - 2652 - 2.45 0.079 2754 564.9 -116.8 - - 3477 - - - - - - - - 14.80 14.65 14.82
9911 799.9 -7.7 447 9924 done -0.69 - - 2652 - - - 2754 - -116.8 - - 3476 - - - - - - - - 14.96 14.97 14.97
10247 824.8 -7.3 453 10260 done -0.69 - - 2650 - - - 2754 - -116.8 - - 3475 - - - - - - - - 14.97 14.97 14.97
10583 850.2 -7.4 459 10596 roll -0.69 - - 2652 - 2.38 0.054 1369 -581.9 -116.8 - - 3474 - - - - - - - - 14.97 14.69 14.97
10656 855.7 -5.9 469 10670 done -0.69 0.10 0.244 2673 210.0 2.42 0.080 2744 568.2 -116.8 - - 3474 - - - - - - - - 14.53 14.64 14.74
10983 878.9 -7.0 480 10996 done -0.69 - - 2673 - - - 2746 - -116.8 - - 3472 - - - - - - - - 14.95 14.95 14.95
11319 902.7 -7.1 486 11332 roll -0.69 - - 2674 - 2.35 0.054 1369 -586.0 -116.8 - - 3471 - - - - - - - - 14.95 14.68 14.95
11358 905.6 -5.1 491 11371 done -0.69 - - 2665 - 2.45 0.079 2758 566.9 -116.8 - - 3471 - - - - - - - - 14.78 14.63 14.78
11718 end dive: TARGET_DEPTH_EXCEEDED
11718 begin apogee
11723 931.6 -7.2 500 11850 roll -0.23 0.52 0.184 2822 301.9 - - 2227 - - 117.55 1.949 3050 -3.6 0.324 - - - - - - 14.52 14.06 13.38
11851 end apogee: CONTROL_FINISHED_OK
11852 begin climb
11853 935.6 - 502 11992 roll 0.90 1.10 0.112 3172 318.2 2.45 0.062 865 -555.9 116.8 122.88 1.912 2585 -3.8 0.351 - - - - - - 14.07 14.09 13.26
12206 912.9 8.7 555 12220 done 0.76 - - 3171 - 2.45 0.061 2260 569.4 116.8 - - 2572 - - - - - - - - 14.42 14.31 14.43
12561 880.9 9.1 563 12574 roll 0.60 0.25 0.235 3107 -256.0 2.42 0.063 866 -576.0 116.8 - - 2570 - - - - - - - - 14.34 14.49 14.50
12789 865.4 7.0 595 12816 done 0.62 - - 3107 - 2.40 0.060 2254 578.3 132.3 14.90 2.075 2521 -3.3 0.260 - - - - - - 14.65 14.54 13.83
13130 841.9 7.1 608 13156 roll 0.64 - - 3107 - 2.65 0.112 3652 527.5 145.9 14.23 2.080 2464 -4.0 0.307 - - - - - - 14.78 14.41 13.80
13224 834.4 8.2 621 13238 done 0.56 0.10 0.258 3086 -210.0 2.38 0.044 2257 -586.1 145.9 - - 2460 - - - - - - - - 14.35 14.52 14.47
13580 810.8 6.6 629 13620 roll 0.59 - - 3086 - 2.70 0.110 3651 516.3 170.6 27.67 1.962 2365 -3.4 0.269 - - - - - - 14.81 14.33 13.76
13659 805.3 8.0 640 13673 done 0.59 - - 3094 - 2.40 0.047 2256 -581.2 170.6 - - 2361 - - - - - - - - 14.50 14.43 14.51
13979 781.3 7.5 650 13992 roll 0.60 - - 3094 - 2.62 0.111 3651 532.4 175.7 - - 2358 - - - - - - - - 14.76 14.48 14.76
14017 777.9 8.3 655 14030 done 0.60 - - 3105 - 2.38 0.047 2252 -587.8 175.7 - - 2358 - - - - - - - - 14.65 14.58 14.66
14378 748.9 8.0 664 14391 done 0.60 - - 3105 - - - 2251 - 175.7 - - 2357 - - - - - - - - 14.84 14.84 14.84
14714 721.9 8.0 670 14728 roll 0.60 - - 3105 - 2.60 0.112 3650 538.1 175.7 - - 2357 - - - - - - - - 14.87 14.56 14.88
14816 712.7 9.1 684 14829 done 0.60 - - 3115 - 2.35 0.046 2261 -591.1 175.7 - - 2356 - - - - - - - - 14.75 14.68 14.76
15170 684.1 8.0 692 15183 roll 0.60 - - 3115 - 2.60 0.112 3657 536.9 175.7 - - 2356 - - - - - - - - 14.90 14.59 14.89
15208 680.6 8.7 697 15222 done 0.60 0.10 0.249 3097 -180.0 2.35 0.047 2262 -593.6 175.7 - - 2356 - - - - - - - - 14.56 14.69 14.71
15570 653.8 7.3 706 15595 roll 0.61 - - 3096 - 2.58 0.110 3653 539.1 184.6 12.88 1.969 2310 -3.6 0.225 - - - - - - 14.90 14.56 13.97
15649 647.3 8.5 717 15662 done 0.61 - - 3105 - 2.35 0.045 2259 -593.2 184.6 - - 2306 - - - - - - - - 14.69 14.62 14.71
15968 622.9 7.6 727 15981 roll 0.61 - - 3106 - 2.60 0.109 3649 534.6 187.1 - - 2306 - - - - - - - - 14.85 14.56 14.85
16006 619.6 8.3 732 16019 done 0.61 - - 3115 - 2.33 0.045 2269 -592.3 187.1 - - 2305 - - - - - - - - 14.73 14.66 14.74
16368 591.0 7.9 741 16381 roll 0.61 - - 3116 - 2.58 0.111 3654 536.8 187.1 - - 2305 - - - - - - - - 14.89 14.59 14.89
16428 585.6 9.1 749 16441 done 0.61 - - 3125 - 2.35 0.044 2265 -591.1 187.1 - - 2304 - - - - - - - - 14.76 14.69 14.78
16768 557.4 8.2 762 16781 roll 0.61 - - 3126 - 2.58 0.111 3651 537.2 187.1 - - 2305 - - - - - - - - 14.90 14.60 14.90
16800 554.5 8.9 766 16813 done 0.61 0.12 0.245 3100 -216.7 2.30 0.044 2279 -596.5 187.1 - - 2305 - - - - - - - - 14.52 14.70 14.72
17168 527.9 7.1 776 17200 roll 0.63 - - 3099 - 2.60 0.108 3653 528.5 200.3 16.65 1.782 2245 -3.6 0.202 - - - - - - 14.91 14.53 14.00
17246 521.6 8.4 787 17259 done 0.63 - - 3108 - 2.33 0.044 2277 -590.6 200.3 - - 2242 - - - - - - - - 14.67 14.61 14.68
17565 497.5 7.6 797 17578 done 0.63 - - 3108 - - - 2274 - 203.5 - - 2240 - - - - - - - - 14.84 14.84 14.85
17902 471.6 7.7 803 17915 roll 0.63 - - 3107 - 2.55 0.112 3651 540.0 204.6 - - 2240 - - - - - - - - 14.86 14.57 14.88
17968 465.8 8.8 812 17981 done 0.63 - - 3117 - 2.30 0.044 2280 -596.1 204.6 - - 2241 - - - - - - - - 14.75 14.68 14.76
18301 439.1 8.0 824 18314 done 0.63 - - 3116 - - - 2276 - 204.6 - - 2241 - - - - - - - - 14.90 14.90 14.90
18637 412.2 8.0 830 18650 roll 0.63 - - 3115 - 2.55 0.108 3654 540.4 204.6 - - 2240 - - - - - - - - 14.91 14.58 14.91
18697 406.7 9.3 838 18710 done 0.63 - - 3126 - 2.33 0.044 2278 -590.6 204.6 - - 2240 - - - - - - - - 14.76 14.68 14.76
19037 377.5 8.6 851 19051 roll 0.63 - - 3126 - 2.55 0.110 3652 538.8 204.6 - - 2241 - - - - - - - - 14.92 14.59 14.92
19069 374.4 9.5 855 19082 done 0.63 0.10 0.257 3108 -180.0 2.30 0.044 2279 -597.0 204.6 - - 2241 - - - - - - - - 14.53 14.71 14.73
19437 345.1 7.9 865 19450 done 0.63 - - 3108 - - - 2275 - 204.6 - - 2241 - - - - - - - - 14.92 14.92 14.93
19773 320.0 7.4 871 19799 roll 0.64 - - 3106 - 2.58 0.108 3645 531.0 212.1 10.20 1.640 2205 -3.5 0.130 - - - - - - 14.92 14.61 14.09
19852 313.6 8.3 882 19865 done 0.64 - - 3116 - 2.28 0.044 2284 -596.9 212.1 - - 2200 - - - - - - - - 14.74 14.68 14.80
20171 290.2 7.3 892 20196 roll 0.66 - - 3116 - 2.58 0.108 3648 528.7 222.0 9.93 1.609 2162 -3.8 0.131 - - - - - - 14.88 14.56 14.06
20214 286.7 8.1 898 20227 done 0.66 - - 3125 - 2.28 0.044 2292 -594.7 222.0 - - 2161 - - - - - - - - 14.70 14.64 14.71
20568 259.3 7.8 906 20581 done 0.66 - - 3125 - - - 2287 - 222.0 - - 2160 - - - - - - - - 14.86 14.86 14.85
20904 232.3 8.2 912 20917 roll 0.66 - - 3125 - 2.53 0.109 3652 539.5 222.0 - - 2160 - - - - - - - - 14.89 14.59 14.88
20956 227.5 9.4 919 20970 done 0.66 - - 3133 - 2.30 0.043 2286 -593.9 222.0 - - 2160 - - - - - - - - 14.76 14.69 14.77
21300 197.3 8.8 926 21313 done 0.66 - - 3133 - - - 2279 - 222.0 - - 2160 - - - - - - - - 14.91 14.90 14.90
21636 167.5 8.8 932 21649 done 0.66 - - 3133 - - - 2282 - 222.0 - - 2159 - - - - - - - - 14.95 14.92 14.92
21972 138.7 8.5 938 21985 roll 0.66 - - 3134 - 2.53 0.109 3649 540.3 222.0 - - 2160 - - - - - - - - 14.92 14.62 14.92
22003 136.0 8.2 942 22017 done 0.66 0.10 0.246 3114 -200.0 2.28 0.044 2286 -597.8 222.0 - - 2160 - - - - - - - - 14.55 14.73 14.74
22372 110.0 7.1 952 22386 done 0.67 - - 3114 - - - 2279 - 235.4 5.70 0.475 2112 -8.4 0.369 - - - - - - 14.93 14.71 14.30
22680 87.7 6.9 960 22705 roll 0.78 0.05 0.207 3173 1180.0 2.55 0.102 3658 540.8 252.8 9.60 0.429 2044 -7.1 0.274 - - - - - - 14.68 14.61 14.32
22738 83.1 8.7 968 22751 done 0.78 0.10 0.259 3154 -190.0 2.25 0.043 2292 -607.1 252.8 - - 2048 - - - - - - - - 14.50 14.70 14.72
23079 62.7 5.3 983 23117 roll 0.92 0.08 0.142 3220 825.0 2.50 0.101 3656 545.6 305.4 25.38 0.369 1836 -8.4 0.269 - - - - - - 14.69 14.58 14.35
23165 56.8 7.5 995 23183 done 0.93 0.10 0.239 3199 -210.0 2.28 0.041 2287 -600.4 310.4 3.05 0.316 1814 -7.2 0.246 - - - - - - 14.51 14.67 14.35
23504 44.3 3.5 1010 23563 done 1.17 0.17 0.083 3302 605.9 - - 2286 - 402.9 44.85 0.311 1444 -8.2 0.223 - - - - - - 14.71 14.64 14.38
23867 19.1 7.5 1023 23884 roll 1.17 - - 3310 - 2.55 0.100 3655 536.9 408.1 2.45 0.246 1425 -7.8 0.114 - - - - - - 14.87 14.57 14.47
23980 8.9 10.0 1039 23994 done 1.17 0.10 0.245 3282 -280.0 2.22 0.039 2294 -613.1 408.1 - - 1428 - - - - - - - - 14.52 14.69 14.70
24095 end climb: SURFACE_DEPTH_REACHED
24096 begin surface coast
24123 end surface coast: CONTROL_FINISHED_OK
24123 begin surface
SM -2.79 - - - - -8.39 8.95 0.076 195 21.8 0.85 0.081 2764 -2778.8 500.14 42.20 0.159 1057 25.0 0.045 - - - - - -