SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 92 * Raw log
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• Previous call tries 1 • 40.10 of 350.00 AH used of 24V (88.54% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth 0.44 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 18 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 105 done -0.90 - - 170 - - - 2791 - -116.8 -83.03 - 3516 - - - - - - - - 14.70 13.51 14.70
107 8.1 -13.4 3 126 roll -0.90 11.52 0.398 2607 211.5 2.35 0.031 1343 -616.2 -116.8 - - 3517 - - - - - - - - 14.28 14.52 14.47
165 35.3 -31.0 12 174 done -0.67 0.30 0.275 2676 230.0 2.53 0.070 2763 561.3 -116.8 - - 3517 - - - - - - - - 14.35 14.47 14.51
495 86.3 -12.2 26 503 roll -0.59 0.10 0.259 2705 290.0 2.33 0.044 1357 -603.4 -116.8 - - 3519 - - - - - - - - 14.52 14.63 14.68
515 87.8 -8.0 29 526 done -0.59 - - 2695 - 2.47 0.070 2766 570.4 -116.8 - - 3520 - - - - - - - - 14.66 14.58 14.69
859 114.9 -8.8 39 867 roll -0.59 - - 2696 - 2.38 0.044 1363 -589.5 -116.8 - - 3521 - - - - - - - - 14.89 14.66 14.89
921 120.2 -8.1 48 930 done -0.59 - - 2685 - 2.45 0.070 2763 571.4 -116.8 - - 3520 - - - - - - - - 14.71 14.64 14.73
1251 148.5 -8.8 60 1253 done -0.59 - - 2685 - - - 2763 - -116.8 - - 3520 - - - - - - - - 14.92 14.92 14.92
1587 178.1 -8.8 66 1595 roll -0.59 - - 2685 - 2.38 0.046 1372 -584.5 -116.8 - - 3518 - - - - - - - - 14.93 14.71 14.92
1621 181.2 -9.0 71 1630 done -0.59 0.10 0.243 2705 200.0 2.45 0.071 2757 565.3 -116.8 - - 3517 - - - - - - - - 14.62 14.69 14.75
1979 206.6 -6.8 80 1986 roll -0.59 - - 2697 - 1.98 0.117 3823 538.4 -116.8 - - 3515 - - - - - - - - 14.94 14.66 14.95
2020 209.7 -7.5 86 2028 done -0.59 - - 2704 - 1.80 0.044 2741 -601.1 -116.8 - - 3513 - - - - - - - - 14.83 14.78 14.84
2371 235.7 -7.6 94 2379 roll -0.59 - - 2697 - 2.28 0.049 1394 -590.8 -116.8 - - 3511 - - - - - - - - 14.95 14.71 14.95
2461 243.0 -8.0 107 2470 done -0.59 - - 2688 - 2.42 0.074 2753 561.6 -116.8 - - 3510 - - - - - - - - 14.80 14.69 14.83
2819 272.6 -8.2 116 2832 done -0.59 - - 2688 - - - 2753 - -116.8 - - 3507 - - - - - - - - 14.98 14.98 14.98
3155 298.4 -7.5 122 3168 done -0.59 - - 2688 - - - 2753 - -116.8 - - 3504 - - - - - - - - 15.00 15.00 15.00
3491 323.6 -7.5 128 3504 roll -0.59 - - 2688 - 2.30 0.050 1388 -593.5 -116.8 - - 3502 - - - - - - - - 15.00 14.78 15.00
3529 326.6 -8.0 133 3543 done -0.59 0.10 0.247 2708 200.0 2.38 0.078 2757 575.2 -116.8 - - 3502 - - - - - - - - 14.66 14.74 14.85
3891 351.9 -7.0 142 3904 roll -0.63 - - 2708 - 2.30 0.050 1386 -596.1 -116.8 - - 3500 - - - - - - - - 15.01 14.78 15.01
3964 357.4 -7.2 152 3978 done -0.68 - - 2699 - 2.38 0.079 2747 571.8 -116.8 - - 3499 - - - - - - - - 14.87 14.75 14.90
4291 381.7 -7.5 163 4304 done -0.68 - - 2699 - - - 2747 - -116.8 - - 3497 - - - - - - - - 15.01 15.00 15.01
4627 406.7 -7.4 169 4640 roll -0.68 - - 2699 - 2.30 0.050 1380 -594.3 -116.8 - - 3495 - - - - - - - - 15.01 14.78 15.01
4665 409.7 -7.6 174 4679 done -0.68 - - 2690 - 2.35 0.080 2747 581.7 -116.8 - - 3495 - - - - - - - - 14.88 14.75 14.89
5027 436.9 -7.5 183 5040 done -0.68 - - 2690 - - - 2747 - -116.8 - - 3493 - - - - - - - - 15.00 15.02 15.01
5363 460.7 -7.1 189 5376 roll -0.68 - - 2690 - 2.30 0.051 1388 -590.9 -116.8 - - 3493 - - - - - - - - 15.01 14.78 15.02
5443 466.5 -7.0 200 5456 done -0.68 - - 2681 - 2.38 0.081 2743 569.3 -116.8 - - 3492 - - - - - - - - 14.87 14.74 14.89
5763 490.8 -7.7 210 5776 roll -0.68 - - 2672 - 1.98 0.122 3826 547.0 -116.8 - - 3492 - - - - - - - - 15.01 14.71 15.01
5808 494.7 -8.7 216 5821 done -0.68 - - 2672 - 1.77 0.050 2734 -616.9 -116.8 - - 3490 - - - - - - - - 14.90 14.84 14.90
6162 525.5 -8.8 224 6175 done -0.68 - - 2672 - - - 2736 - -116.8 - - 3493 - - - - - - - - 15.01 15.01 15.01
6498 554.6 -8.6 230 6511 roll -0.68 - - 2672 - 2.28 0.050 1375 -596.9 -116.8 - - 3487 - - - - - - - - 15.02 14.78 15.02
6578 561.4 -8.4 241 6592 done -0.68 - - 2664 - 2.40 0.078 2746 571.2 -116.8 - - 3485 - - - - - - - - 14.86 14.73 14.88
6898 587.9 -8.3 251 6911 done -0.68 - - 2664 - - - 2746 - -116.8 - - 3485 - - - - - - - - 15.00 15.01 15.00
7233 614.7 -7.9 257 7246 done -0.68 - - 2667 - - - 2746 - -116.8 - - 3481 - - - - - - - - 15.01 15.01 15.00
7570 641.3 -7.9 263 7583 done -0.68 - - 2669 - - - 2746 - -116.8 - - 3482 - - - - - - - - 15.00 15.00 15.00
7906 666.3 -7.3 269 7919 roll -0.68 - - 2663 - 2.33 0.052 1385 -584.1 -116.8 - - 3481 - - - - - - - - 15.00 14.77 15.00
7937 668.5 -7.0 273 7950 done -0.68 - - 2655 - 2.38 0.080 2742 570.2 -116.8 - - 3481 - - - - - - - - 14.86 14.73 14.88
8305 695.6 -7.5 283 8319 roll -0.68 - - 2655 - 2.30 0.051 1383 -590.9 -116.8 - - 3480 - - - - - - - - 15.00 14.77 15.00
8337 698.2 -8.1 287 8350 done -0.68 0.10 0.248 2676 210.0 2.40 0.081 2746 567.9 -116.8 - - 3480 - - - - - - - - 14.62 14.72 14.81
8705 724.6 -7.3 297 8718 done -0.68 - - 2676 - - - 2746 - -116.8 - - 3480 - - - - - - - - 15.00 15.00 15.00
9041 750.5 -7.8 303 9054 roll -0.68 - - 2676 - 2.33 0.053 1378 -587.1 -116.8 - - 3478 - - - - - - - - 14.99 14.74 14.99
9093 754.7 -7.8 310 9107 done -0.68 - - 2667 - 2.42 0.080 2745 564.9 -116.8 - - 3478 - - - - - - - - 14.84 14.70 14.85
9437 782.3 -8.1 317 9450 done -0.68 - - 2667 - - - 2744 - -116.8 - - 3477 - - - - - - - - 14.98 14.98 14.98
9773 808.3 -7.7 323 9786 roll -0.68 - - 2667 - 2.33 0.053 1381 -585.0 -116.8 - - 3476 - - - - - - - - 14.99 14.70 14.99
9833 813.3 -7.9 331 9846 done -0.68 - - 2659 - 2.40 0.080 2737 565.0 -116.8 - - 3476 - - - - - - - - 14.81 14.66 14.83
10174 839.8 -7.9 344 10186 done -0.68 - - 2659 - - - 2737 - -116.8 - - 3474 - - - - - - - - 14.98 14.98 14.98
10509 865.8 -7.7 350 10523 roll -0.68 - - 2659 - 2.33 0.053 1376 -584.1 -116.8 - - 3476 - - - - - - - - 14.98 14.73 14.98
10548 868.9 -6.1 355 10561 done -0.68 - - 2651 - 2.40 0.082 2740 568.3 -116.8 - - 3473 - - - - - - - - 14.82 14.68 14.84
10909 897.6 -7.8 364 10922 roll -0.68 - - 2650 - 2.30 0.053 1386 -588.7 -116.8 - - 3472 - - - - - - - - 14.97 14.73 14.97
10947 900.7 -5.9 369 10961 done -0.68 0.12 0.243 2678 233.3 2.38 0.081 2732 565.5 -116.8 - - 3472 - - - - - - - - 14.57 14.69 14.77
11309 924.4 -6.4 378 11322 done -0.68 - - 2679 - - - 2733 - -116.8 - - 3472 - - - - - - - - 14.97 14.96 14.97
11419 end dive: TARGET_DEPTH_EXCEEDED
11419 begin apogee
11423 931.5 -6.3 380 11547 roll -0.23 0.47 0.183 2821 302.1 - - 2302 - - 114.07 1.953 3050 -3.7 0.333 - - - - - - 14.59 14.07 13.43
11549 end apogee: CONTROL_FINISHED_OK
11549 begin climb
11550 934.7 - 382 11691 roll 0.90 1.10 0.113 3171 318.2 2.53 0.063 895 -556.1 116.8 121.53 1.893 2578 -3.9 0.362 - - - - - - 14.08 14.10 13.31
11906 909.0 9.0 435 11919 done 0.82 - - 3171 - 2.47 0.066 2296 567.2 116.8 - - 2570 - - - - - - - - 14.45 14.35 14.46
12267 875.0 9.5 444 12280 roll 0.72 0.10 0.272 3149 -220.0 2.42 0.064 901 -576.4 116.8 - - 2568 - - - - - - - - 14.38 14.51 14.53
12474 858.1 8.0 473 12488 done 0.67 0.12 0.256 3115 -283.3 2.42 0.067 2298 577.3 116.8 - - 2567 - - - - - - - - 14.44 14.57 14.64
12836 831.3 7.5 482 12849 roll 0.67 - - 3115 - 2.58 0.116 3694 541.1 122.3 - - 2566 - - - - - - - - 14.86 14.55 14.86
12916 824.5 8.6 493 12930 done 0.61 - - 3125 - 2.38 0.047 2289 -590.3 122.3 - - 2566 - - - - - - - - 14.73 14.66 14.75
13236 800.8 7.3 503 13258 done 0.62 - - 3125 - - - 2285 - 131.8 13.25 2.072 2529 -2.8 0.204 - - - - - - 14.88 14.59 13.93
13572 773.9 8.1 509 13585 done 0.62 - - 3125 - - - 2285 - 131.8 - - 2514 - - - - - - - - 14.84 14.84 14.84
13907 746.7 8.2 515 13920 done 0.62 - - 3125 - - - 2285 - 131.8 - - 2513 - - - - - - - - 14.88 14.87 14.88
14244 717.9 8.7 521 14257 roll 0.62 - - 3125 - 2.62 0.118 3697 538.9 131.8 - - 2512 - - - - - - - - 14.90 14.59 14.90
14310 711.4 10.0 530 14324 done 0.55 0.20 0.249 3081 -220.0 2.38 0.050 2295 -589.1 131.8 - - 2513 - - - - - - - - 14.53 14.71 14.74
14644 687.0 7.2 542 14666 done 0.56 - - 3081 - - - 2291 - 144.7 12.35 2.017 2474 -3.2 0.203 - - - - - - 14.91 14.64 14.00
14980 663.3 7.0 548 15011 roll 0.58 - - 3081 - 2.67 0.113 3691 524.3 160.5 17.42 1.903 2403 -4.1 0.268 - - - - - - 14.86 14.45 13.92
15030 659.6 7.4 555 15044 done 0.59 - - 3090 - 2.42 0.049 2278 -583.9 167.6 2.80 1.122 2383 -7.1 0.793 - - - - - - 14.61 14.54 13.54
15374 635.9 6.9 562 15410 done 0.61 - - 3091 - - - 2278 - 187.0 27.23 1.805 2304 -2.9 0.193 - - - - - - 14.81 14.42 13.85
15710 611.5 7.4 568 15728 roll 0.63 - - 3091 - 2.70 0.117 3686 521.5 195.6 3.25 1.372 2273 -9.5 0.802 - - - - - - 14.76 14.47 13.57
15760 607.2 8.6 575 15775 done 0.63 - - 3101 - 2.38 0.048 2306 -579.8 195.6 1.12 0.288 2271 - - - - - - - - 14.64 14.56 14.38
16105 581.5 7.4 582 16130 roll 0.63 - - 3100 - 2.60 0.114 3689 531.9 203.4 13.23 1.880 2237 -2.6 0.150 - - - - - - 14.83 14.47 13.91
16148 578.0 8.1 588 16161 done 0.63 - - 3111 - 2.38 0.048 2302 -582.8 203.4 - - 2233 - - - - - - - - 14.61 14.54 14.62
16502 550.4 7.7 596 16515 roll 0.64 - - 3120 - 2.42 0.068 893 -582.2 203.6 - - 2231 - - - - - - - - 14.82 14.59 14.82
16540 547.2 8.1 601 16554 done 0.64 - - 3120 - 2.45 0.067 2306 576.7 203.6 - - 2231 - - - - - - - - 14.71 14.58 14.71
16902 516.2 8.7 610 16915 roll 0.64 - - 3121 - 2.55 0.116 3696 545.1 203.6 - - 2231 - - - - - - - - 14.87 14.57 14.87
16940 512.4 9.9 615 16953 done 0.64 - - 3130 - 2.35 0.047 2303 -592.8 203.6 - - 2231 - - - - - - - - 14.75 14.68 14.76
17301 479.3 9.2 624 17314 done 0.64 - - 3130 - - - 2298 - 203.6 - - 2231 - - - - - - - - 14.90 14.90 14.90
17637 448.7 9.1 630 17650 done 0.64 - - 3130 - - - 2298 - 203.6 - - 2231 - - - - - - - - 14.92 14.92 14.90
17973 419.4 8.6 636 17986 roll 0.64 - - 3140 - 2.42 0.067 893 -580.6 203.6 - - 2231 - - - - - - - - 14.93 14.69 14.92
18018 415.4 8.7 642 18032 done 0.64 0.10 0.237 3109 -310.0 2.45 0.067 2308 577.6 203.6 - - 2231 - - - - - - - - 14.59 14.68 14.77
18373 387.8 7.9 650 18386 roll 0.64 - - 3109 - 2.53 0.115 3698 549.4 203.6 - - 2231 - - - - - - - - 14.94 14.63 14.93
18439 381.8 9.1 659 18452 done 0.64 - - 3118 - 2.35 0.046 2297 -596.2 203.6 - - 2229 - - - - - - - - 14.81 14.74 14.82
18772 354.3 8.3 671 18785 roll 0.64 - - 3128 - 2.38 0.067 898 -587.8 203.6 - - 2231 - - - - - - - - 14.93 14.69 14.94
18824 349.9 8.3 678 18838 done 0.64 - - 3128 - 2.45 0.066 2314 578.0 203.6 - - 2231 - - - - - - - - 14.80 14.68 14.81
19168 321.4 8.3 685 19182 roll 0.64 - - 3128 - 2.53 0.115 3703 549.0 203.6 - - 2229 - - - - - - - - 14.93 14.67 14.94
19214 317.1 9.4 691 19227 done 0.64 0.10 0.259 3111 -170.0 2.35 0.046 2296 -598.7 203.6 - - 2230 - - - - - - - - 14.57 14.75 14.78
19568 290.6 7.4 699 19582 done 0.64 - - 3111 - - - 2292 - 210.6 3.53 1.306 2210 -5.7 0.238 - - - - - - 14.94 14.74 13.82
19905 264.5 7.9 705 19918 done 0.64 - - 3111 - - - 2290 - 210.6 1.55 0.299 2211 - - - - - - - - 14.93 14.73 14.31
20240 237.3 8.1 711 20253 done 0.64 - - 3111 - - - 2291 - 210.6 2.05 0.439 2211 - - - - - - - - 14.94 14.73 13.36
20576 209.8 8.2 717 20589 done 0.64 - - 3110 - - - 2291 - 210.6 1.42 0.288 2212 - - - - - - - - 14.94 14.74 14.40
20912 184.1 7.4 723 20933 done 0.65 - - 3111 - - - 2291 - 217.4 11.80 1.438 2183 -2.5 0.059 - - - - - - 14.95 14.70 14.16
21248 160.4 7.1 729 21275 roll 0.67 - - 3121 - 2.47 0.066 892 -566.4 232.4 14.35 1.363 2116 -4.7 0.104 - - - - - - 14.90 14.60 14.13
21286 157.7 7.0 734 21313 done 0.69 - - 3121 - 2.45 0.063 2314 580.4 249.0 15.57 1.330 2057 -3.8 0.085 - - - - - - 14.69 14.59 14.04
21634 130.9 7.7 748 21647 roll 0.69 - - 3121 - 2.55 0.114 3702 544.3 250.6 - - 2046 - - - - - - - - 14.82 14.53 14.82
21728 122.4 9.4 761 21741 done 0.69 - - 3129 - 2.35 0.045 2304 -594.9 250.6 - - 2047 - - - - - - - - 14.71 14.65 14.73
22062 98.0 7.1 770 22080 roll 0.71 - - 3129 - 2.58 0.109 3696 539.5 265.2 6.28 0.438 1993 -8.6 0.363 - - - - - - 14.88 14.58 14.34
22155 91.3 7.7 783 22168 done 0.76 - - 3137 - 2.30 0.044 2322 -597.4 266.5 1.58 0.308 1990 -1.9 0.106 - - - - - - 14.74 14.67 14.33
22489 72.8 5.4 797 22529 roll 0.89 0.08 0.155 3208 887.5 2.55 0.112 3694 538.0 316.4 24.77 0.385 1790 -8.1 0.288 - - - - - - 14.68 14.55 14.40
22610 63.9 7.5 814 22624 done 0.90 - - 3218 - 2.30 0.044 2313 -600.4 321.4 2.80 0.324 1770 -7.1 0.266 - - - - - - 14.73 14.68 14.40
22938 46.4 4.5 827 22984 roll 0.98 - - 3228 - 2.40 0.060 903 -587.5 390.8 33.30 0.303 1494 -8.3 0.240 - - - - - - 14.88 14.60 14.42
23024 41.6 5.7 839 23057 done 1.12 - - 3228 - 2.45 0.060 2339 586.1 434.4 20.98 0.291 1320 -8.3 0.224 - - - - - - 14.71 14.60 14.42
23361 23.3 5.7 854 23396 roll 1.27 0.15 0.091 3325 646.7 2.53 0.107 3697 536.8 478.8 20.77 0.229 1143 -8.5 0.164 - - - - - - 14.70 14.57 14.49
23505 6.2 13.0 874 23519 done 1.27 - - 3334 - 2.25 0.041 2334 -605.8 478.8 - - 1145 - - - - - - - - 14.75 14.68 14.76
23564 end climb: SURFACE_DEPTH_REACHED
23564 begin surface coast
23592 end surface coast: CONTROL_FINISHED_OK
23592 begin surface
SM 1.01 - - - - -8.38 8.90 0.057 189 21.2 0.80 0.086 2774 2180.0 500.64 9.77 0.164 1057 108.2 -0.068 - - - - - -