SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 95 * Raw log
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• Previous call tries 1 • 41.05 of 350.00 AH used of 24V (88.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth -0.15 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 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
17 - - - 104 done -0.90 - - 184 - - - 2781 - -116.8 -79.00 - 3517 - - - - - - - - 14.69 13.45 14.69
106 8.4 -15.1 3 126 roll -0.90 11.43 0.397 2593 210.8 1.90 0.097 3817 545.3 -116.8 - - 3518 - - - - - - - - 14.27 14.41 14.51
144 31.9 -50.6 9 154 done -0.40 0.60 0.265 2757 273.3 1.80 0.033 2742 -597.2 -116.8 - - 3519 - - - - - - - - 14.33 14.52 14.48
467 80.0 -9.9 22 474 roll -0.40 - - 2748 - 2.03 0.111 3818 530.0 -116.8 - - 3521 - - - - - - - - 14.81 14.52 14.81
620 90.1 -6.6 44 628 done -0.40 - - 2750 - 1.75 0.041 2760 -604.6 -116.8 - - 3521 - - - - - - - - 14.73 14.69 14.74
971 110.1 -5.3 55 974 done -0.45 - - 2750 - - - 2761 - -116.8 - - 3522 - - - - - - - - 14.89 14.89 14.90
1307 127.4 -6.0 61 1316 roll -0.52 - - 2750 - 2.25 0.044 1385 -611.6 -116.8 - - 3526 - - - - - - - - 14.92 14.70 14.92
1404 127.5 5.8 75 1413 done -0.60 0.03 0.200 2696 -1800.0 2.42 0.071 2766 570.7 -116.8 - - 3522 - - - - - - - - 14.60 14.66 14.72
1755 162.5 -8.1 83 1757 done -0.60 - - 2694 - - - 2766 - -116.8 - - 3521 - - - - - - - - 14.93 14.95 14.93
2091 188.0 -7.6 89 2099 roll -0.60 - - 2688 - 1.95 0.113 3818 539.5 -116.8 - - 3518 - - - - - - - - 14.95 14.63 14.94
2147 192.4 -7.8 97 2155 done -0.60 - - 2688 - 1.73 0.043 2773 -604.0 -116.8 - - 3518 - - - - - - - - 14.80 14.77 14.81
2483 217.2 -7.3 110 2491 roll -0.60 - - 2688 - 2.35 0.047 1381 -592.3 -116.8 - - 3515 - - - - - - - - 14.95 14.71 14.97
2559 222.7 -7.0 121 2568 done -0.60 - - 2678 - 2.45 0.073 2762 563.7 -116.8 - - 3512 - - - - - - - - 14.76 14.67 14.78
2875 246.3 -7.5 131 2883 roll -0.60 - - 2670 - 1.98 0.116 3826 537.4 -116.8 - - 3511 - - - - - - - - 14.95 14.64 14.95
2951 252.5 -8.1 142 2964 done -0.60 0.10 0.227 2700 300.0 1.70 0.045 2774 -618.8 -116.8 - - 3510 - - - - - - - - 14.64 14.82 14.78
3271 275.2 -7.2 152 3284 roll -0.60 - - 2700 - 2.33 0.047 1366 -604.3 -116.8 - - 3509 - - - - - - - - 14.98 14.76 14.98
3331 279.7 -7.4 160 3344 done -0.60 - - 2691 - 2.45 0.075 2773 574.3 -116.8 - - 3509 - - - - - - - - 14.85 14.72 14.86
3671 305.3 -7.5 173 3684 roll -0.60 - - 2690 - 2.35 0.047 1368 -597.9 -116.8 - - 3506 - - - - - - - - 15.00 14.78 15.00
3709 308.3 -7.6 178 3722 done -0.60 - - 2682 - 2.42 0.076 2766 577.7 -116.8 - - 3506 - - - - - - - - 14.85 14.73 14.87
4070 336.3 -7.9 187 4083 roll -0.60 - - 2682 - 2.33 0.047 1376 -596.6 -116.8 - - 3504 - - - - - - - - 15.00 14.78 15.00
4122 340.7 -8.3 194 4136 done -0.60 0.10 0.247 2702 200.0 2.42 0.075 2762 572.7 -116.8 - - 3504 - - - - - - - - 14.66 14.73 14.83
4467 365.7 -7.2 201 4480 roll -0.60 - - 2694 - 1.92 0.119 3824 553.1 -116.8 - - 3502 - - - - - - - - 15.02 14.73 15.04
4519 369.6 -7.4 208 4533 done -0.60 - - 2694 - 1.75 0.046 2756 -610.3 -116.8 - - 3501 - - - - - - - - 14.89 14.84 14.90
4863 393.0 -6.7 215 4877 roll -0.60 - - 2693 - 2.28 0.045 1377 -604.8 -116.8 - - 3499 - - - - - - - - 15.01 14.79 15.00
4916 396.7 -7.0 222 4929 done -0.60 - - 2684 - 2.42 0.075 2762 572.3 -116.8 - - 3499 - - - - - - - - 14.86 14.73 14.87
5260 421.9 -7.4 229 5273 roll -0.60 - - 2684 - 2.33 0.046 1372 -596.6 -116.8 - - 3497 - - - - - - - - 15.02 14.79 15.01
5299 425.0 -8.3 234 5312 done -0.60 0.08 0.265 2700 200.0 2.40 0.075 2757 577.1 -116.8 - - 3499 - - - - - - - - 14.66 14.73 14.83
5660 451.7 -7.5 243 5673 roll -0.60 - - 2693 - 1.95 0.122 3825 547.7 -116.8 - - 3495 - - - - - - - - 15.02 14.71 15.01
5720 456.5 -7.9 251 5733 done -0.60 - - 2692 - 1.77 0.049 2749 -607.9 -116.8 - - 3495 - - - - - - - - 14.90 14.84 14.90
6060 483.0 -7.7 264 6074 roll -0.60 - - 2692 - 2.30 0.048 1362 -603.0 -116.8 - - 3497 - - - - - - - - 15.01 14.78 15.01
6134 488.7 -7.5 274 6147 done -0.60 - - 2683 - 2.45 0.076 2766 573.1 -116.8 - - 3494 - - - - - - - - 14.86 14.73 14.88
6460 513.1 -7.5 285 6473 roll -0.60 - - 2683 - 2.35 0.048 1368 -594.9 -116.8 - - 3493 - - - - - - - - 15.00 14.78 15.01
6526 518.1 -7.4 294 6540 done -0.60 0.10 0.246 2704 210.0 2.42 0.076 2762 576.0 -116.8 - - 3492 - - - - - - - - 14.64 14.72 14.82
6861 539.1 -6.3 306 6873 done -0.65 - - 2704 - - - 2761 - -116.8 - - 3491 - - - - - - - - 15.00 15.00 15.00
7196 561.6 -6.9 312 7209 roll -0.70 - - 2705 - 2.35 0.048 1365 -594.0 -116.8 - - 3489 - - - - - - - - 15.00 14.78 15.00
7242 564.9 -7.4 318 7255 done -0.76 0.08 0.149 2638 -837.5 2.42 0.078 2753 573.6 -116.8 - - 3488 - - - - - - - - 14.78 14.72 14.85
7596 599.2 -9.8 326 7609 roll -0.76 - - 2638 - 2.33 0.049 1374 -591.8 -116.8 - - 3487 - - - - - - - - 15.00 14.76 15.00
7627 602.5 -10.5 330 7641 done -0.76 - - 2628 - 2.42 0.078 2759 572.3 -116.8 - - 3487 - - - - - - - - 14.85 14.71 14.87
7995 639.3 -9.8 340 8009 roll -0.76 - - 2627 - 2.35 0.048 1369 -591.5 -116.8 - - 3485 - - - - - - - - 15.00 14.76 15.00
8034 643.1 -10.1 345 8047 done -0.76 0.12 0.249 2655 233.3 2.42 0.078 2752 571.5 -116.8 - - 3486 - - - - - - - - 14.59 14.71 14.80
8395 674.0 -8.6 354 8408 roll -0.76 - - 2647 - 1.98 0.123 3826 542.4 -116.8 - - 3484 - - - - - - - - 14.99 14.68 15.00
8511 684.4 -9.0 370 8524 done -0.76 - - 2647 - 1.77 0.048 2746 -610.2 -116.8 - - 3483 - - - - - - - - 14.88 14.82 14.87
8851 713.7 -8.5 383 8864 roll -0.76 - - 2648 - 2.30 0.050 1372 -597.4 -116.8 - - 3483 - - - - - - - - 14.99 14.76 14.99
8904 718.2 -8.5 390 8917 done -0.76 - - 2638 - 2.45 0.076 2759 566.1 -116.8 - - 3479 - - - - - - - - 14.83 14.69 14.87
9248 746.9 -8.4 397 9261 roll -0.76 - - 2630 - 1.98 0.122 3832 541.9 -116.8 - - 3481 - - - - - - - - 15.00 14.66 15.00
9293 750.9 -9.5 403 9306 done -0.76 - - 2629 - 1.77 0.050 2755 -608.5 -116.8 - - 3481 - - - - - - - - 14.86 14.81 14.88
9647 781.0 -8.5 411 9660 roll -0.76 - - 2629 - 2.33 0.050 1369 -594.8 -116.8 - - 3481 - - - - - - - - 14.99 14.74 14.99
9692 785.1 -9.0 417 9706 done -0.76 0.10 0.257 2650 210.0 2.42 0.078 2749 570.2 -116.8 - - 3480 - - - - - - - - 14.56 14.67 14.78
10047 813.4 -7.9 425 10060 done -0.76 - - 2650 - - - 2749 - -116.8 - - 3480 - - - - - - - - 14.98 14.98 14.98
10383 841.1 -8.3 431 10396 done -0.76 - - 2650 - - - 2749 - -116.8 - - 3479 - - - - - - - - 14.98 14.98 14.98
10719 868.9 -8.2 437 10733 roll -0.76 - - 2650 - 2.35 0.051 1369 -587.2 -116.8 - - 3478 - - - - - - - - 14.99 14.73 14.99
10758 872.2 -6.6 442 10771 done -0.76 - - 2642 - 2.45 0.080 2760 567.8 -116.8 - - 3477 - - - - - - - - 14.82 14.67 14.83
11119 902.0 -8.1 451 11132 done -0.76 - - 2642 - - - 2760 - -116.8 - - 3474 - - - - - - - - 14.97 14.97 14.97
11455 929.0 -8.0 457 11468 roll -0.76 - - 2642 - 2.38 0.050 1370 -584.0 -116.8 - - 3474 - - - - - - - - 14.98 14.72 14.98
11471 end dive: TARGET_DEPTH_EXCEEDED
11471 begin apogee
11476 930.4 -8.0 459 11599 roll -0.23 0.62 0.200 2820 287.1 - - 2298 - - 113.38 1.982 3050 -3.7 0.331 - - - - - - 14.54 14.07 13.42
11601 end apogee: CONTROL_FINISHED_OK
11601 begin climb
11602 934.0 - 461 11744 roll 0.90 1.12 0.116 3174 316.1 2.53 0.059 892 -555.7 116.8 121.25 1.916 2579 -3.9 0.357 - - - - - - 14.09 14.11 13.31
11945 909.5 11.1 512 11958 done 0.81 - - 3174 - 2.45 0.063 2290 570.6 116.8 - - 2572 - - - - - - - - 14.44 14.33 14.45
12264 879.3 9.5 522 12278 roll 0.71 0.12 0.275 3146 -233.3 2.42 0.060 893 -577.3 116.8 - - 2570 - - - - - - - - 14.36 14.51 14.50
12493 861.1 7.6 554 12507 done 0.66 0.10 0.258 3119 -270.0 2.42 0.063 2292 578.1 120.6 - - 2570 - - - - - - - - 14.43 14.55 14.64
12834 837.3 6.9 567 12872 roll 0.68 - - 3118 - 2.67 0.113 3696 525.8 139.3 22.48 1.988 2488 -3.6 0.290 - - - - - - 14.84 14.41 13.82
12918 830.4 8.6 579 12931 done 0.62 - - 3128 - 2.40 0.045 2287 -587.1 139.3 - - 2487 - - - - - - - - 14.58 14.52 14.59
13286 802.6 7.6 589 13299 done 0.62 - - 3129 - - - 2282 - 143.0 - - 2485 - - - - - - - - 14.82 14.82 14.82
13622 774.9 8.3 595 13635 done 0.62 - - 3129 - - - 2282 - 143.0 - - 2485 - - - - - - - - 14.88 14.86 14.88
13958 745.5 8.8 601 13971 roll 0.62 - - 3129 - 2.65 0.116 3699 534.7 143.0 - - 2484 - - - - - - - - 14.90 14.59 14.90
13996 741.8 9.0 606 14010 done 0.56 0.20 0.247 3085 -220.0 2.38 0.047 2293 -590.8 143.0 - - 2485 - - - - - - - - 14.52 14.70 14.72
14358 715.4 7.1 615 14386 done 0.57 - - 3085 - - - 2291 - 157.1 19.02 1.937 2423 -3.3 0.227 - - - - - - 14.92 14.59 13.95
14695 692.1 6.9 621 14727 roll 0.60 - - 3084 - 2.70 0.112 3692 518.9 176.1 20.27 1.921 2342 -4.0 0.272 - - - - - - 14.83 14.42 13.86
14766 686.9 7.9 631 14779 done 0.60 - - 3094 - 2.40 0.047 2289 -584.6 176.1 - - 2340 - - - - - - - - 14.57 14.51 14.59
15085 664.6 7.0 641 15110 done 0.62 - - 3094 - - - 2284 - 191.8 15.90 1.941 2286 -3.4 0.219 - - - - - - 14.80 14.50 13.85
15421 640.0 7.4 647 15439 roll 0.63 - - 3094 - 2.65 0.116 3697 533.2 199.4 4.05 1.742 2259 -6.7 0.462 - - - - - - 14.78 14.50 13.59
15513 631.9 8.9 660 15526 done 0.63 - - 3100 - 2.40 0.047 2294 -584.6 199.4 - - 2263 - - - - - - - - 14.66 14.60 14.68
15874 602.4 8.2 669 15887 roll 0.63 - - 3114 - 2.40 0.067 894 -583.3 199.4 - - 2263 - - - - - - - - 14.85 14.62 14.85
15926 597.9 8.4 676 15940 done 0.63 - - 3113 - 2.45 0.067 2302 574.7 199.4 - - 2264 - - - - - - - - 14.70 14.59 14.71
16271 568.1 8.8 683 16284 roll 0.63 - - 3113 - 2.58 0.117 3699 541.5 199.4 - - 2263 - - - - - - - - 14.89 14.59 14.88
16309 564.3 9.5 688 16322 done 0.63 - - 3123 - 2.38 0.047 2291 -591.6 199.4 - - 2263 - - - - - - - - 14.77 14.69 14.78
16670 532.1 8.9 697 16683 roll 0.63 - - 3124 - 2.62 0.116 3700 537.8 199.4 - - 2263 - - - - - - - - 14.90 14.61 14.90
16701 529.1 9.4 701 16714 done 0.63 0.10 0.256 3107 -170.0 2.38 0.048 2293 -591.2 199.4 - - 2263 - - - - - - - - 14.55 14.71 14.73
17069 501.3 7.4 711 17091 done 0.64 - - 3105 - - - 2288 - 207.5 12.88 1.812 2223 -3.1 0.162 - - - - - - 14.92 14.66 14.04
17405 477.3 7.1 717 17432 roll 0.65 - - 3116 - 2.47 0.067 896 -563.6 221.7 14.70 1.758 2162 -4.1 0.213 - - - - - - 14.87 14.54 13.97
17450 474.1 7.0 723 17484 done 0.67 - - 3115 - 2.45 0.066 2298 572.2 238.0 17.42 1.708 2096 -3.8 0.198 - - - - - - 14.64 14.53 13.88
17796 445.7 8.4 737 17810 roll 0.67 - - 3116 - 2.58 0.116 3693 540.7 238.0 - - 2091 - - - - - - - - 14.77 14.49 14.77
17842 441.2 10.0 743 17855 done 0.67 - - 3126 - 2.38 0.047 2295 -587.4 238.0 - - 2091 - - - - - - - - 14.70 14.59 14.68
18196 407.2 9.7 751 18209 done 0.67 - - 3125 - - - 2290 - 238.0 - - 2090 - - - - - - - - 14.84 14.84 14.85
18532 376.1 9.1 757 18545 done 0.67 - - 3126 - - - 2290 - 238.0 - - 2090 - - - - - - - - 14.88 14.88 14.88
18868 348.1 8.1 763 18881 roll 0.67 - - 3125 - 2.62 0.116 3703 539.3 238.0 - - 2090 - - - - - - - - 14.91 14.60 14.91
18899 345.3 8.7 767 18912 done 0.67 - - 3134 - 2.38 0.046 2295 -591.6 238.0 - - 2090 - - - - - - - - 14.78 14.71 14.80
19267 315.0 8.3 777 19280 roll 0.67 - - 3145 - 2.38 0.063 896 -587.8 238.0 - - 2090 - - - - - - - - 14.90 14.69 14.92
19298 312.3 8.3 781 19311 done 0.67 - - 3145 - 2.40 0.064 2299 584.6 238.0 - - 2090 - - - - - - - - 14.78 14.67 14.80
19666 278.9 9.3 791 19679 roll 0.67 - - 3145 - 2.55 0.114 3699 549.0 238.0 - - 2090 - - - - - - - - 14.93 14.61 14.91
19718 273.1 11.2 798 19733 done 0.67 0.12 0.257 3120 -208.3 2.38 0.045 2287 -593.3 238.0 - - 2090 - - - - - - - - 14.57 14.73 14.77
20062 242.9 8.8 805 20076 roll 0.67 - - 3125 - 2.35 0.064 900 -590.2 238.0 - - 2090 - - - - - - - - 14.94 14.70 14.93
20093 240.1 8.9 809 20107 done 0.67 - - 3130 - 2.42 0.064 2313 583.9 238.0 - - 2090 - - - - - - - - 14.81 14.69 14.82
20462 207.1 9.0 819 20475 roll 0.67 - - 3130 - 2.53 0.116 3690 544.3 238.0 - - 2090 - - - - - - - - 14.94 14.64 14.94
20507 202.6 10.0 825 20520 done 0.67 - - 3146 - 2.35 0.045 2290 -595.7 238.0 - - 2094 - - - - - - - - 14.81 14.74 14.83
20861 170.7 9.0 833 20874 roll 0.67 - - 3150 - 2.35 0.065 896 -593.2 238.0 - - 2091 - - - - - - - - 14.94 14.70 14.94
20899 167.1 9.0 838 20913 done 0.67 0.10 0.238 3120 -300.0 2.40 0.063 2304 586.7 238.0 - - 2089 - - - - - - - - 14.59 14.69 14.78
21261 137.6 8.1 847 21274 roll 0.67 - - 3119 - 2.53 0.112 3697 550.6 238.0 - - 2091 - - - - - - - - 14.94 14.64 14.95
21334 131.1 8.9 857 21347 done 0.67 - - 3128 - 2.35 0.044 2285 -600.9 238.0 - - 2090 - - - - - - - - 14.82 14.76 14.84
21660 106.0 7.5 868 21677 roll 0.68 - - 3137 - 2.42 0.063 891 -576.0 244.5 2.05 0.384 2080 -4.9 0.254 - - - - - - 14.94 14.70 14.33
21723 101.6 6.8 877 21749 done 0.76 - - 3137 - 2.38 0.061 2299 591.6 266.0 11.38 0.473 1991 -7.8 0.317 - - - - - - 14.73 14.67 14.36
22056 80.4 4.9 894 22101 roll 0.89 0.08 0.150 3202 812.5 2.60 0.112 3694 536.5 326.9 29.58 0.416 1750 -8.1 0.297 - - - - - - 14.70 14.55 14.38
22315 60.0 7.2 931 22334 done 0.90 - - 3211 - 2.35 0.046 2285 -599.6 338.3 5.88 0.346 1702 -8.2 0.267 - - - - - - 14.76 14.69 14.38
22648 39.0 5.4 945 22686 roll 1.03 - - 3220 - 2.38 0.063 893 -584.9 388.5 24.52 0.304 1501 -8.2 0.198 - - - - - - 14.88 14.62 14.43
22718 33.6 8.2 955 22731 done 1.13 0.08 0.151 3281 762.5 2.40 0.060 2308 589.6 388.5 - - 1502 - - - - - - - - 14.65 14.62 14.72
23044 13.7 5.5 968 23078 done 1.19 - - 3281 - - - 2308 - 437.0 23.45 0.216 1308 -8.3 0.099 - - - - - - 14.90 14.71 14.52
23211 end climb: SURFACE_DEPTH_REACHED
23211 begin surface coast
23239 end surface coast: CONTROL_FINISHED_OK
23239 begin surface
SM -1.05 - - - - -8.38 8.98 0.080 194 21.6 0.80 0.093 2763 -6833.8 500.14 28.42 0.165 1057 37.2 0.024 - - - - - -