SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 100 * Raw log
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• Previous call tries 2 • 42.89 of 350.00 AH used of 24V (87.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -1.80 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: 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 - - 185 - - - 2778 - -116.8 -75.30 - 3515 - - - - - - - - 14.71 13.46 14.69
98 0.1 -6.0 2 119 roll -0.90 11.40 0.396 2600 211.8 2.35 0.031 1345 -609.8 -116.8 - - 3517 - - - - - - - - 14.26 14.51 14.52
138 26.6 -41.5 9 149 done -0.22 0.88 0.272 2818 247.7 2.50 0.067 2760 566.0 -116.8 - - 3519 - - - - - - - - 14.33 14.45 14.49
453 63.5 -9.1 21 462 roll -0.22 - - 2811 - 1.95 0.109 3817 542.1 -116.8 - - 3519 - - - - - - - - 14.82 14.54 14.82
516 66.1 -3.7 30 524 done -0.35 - - 2810 - 1.77 0.042 2752 -601.7 -116.8 - - 3520 - - - - - - - - 14.72 14.69 14.73
846 85.9 -4.3 44 853 roll -0.53 0.17 0.086 2711 -582.4 2.25 0.040 1381 -609.3 -116.8 - - 3520 - - - - - - - - 14.72 14.66 14.76
915 90.3 -5.9 54 923 done -0.53 - - 2701 - 2.40 0.064 2768 577.9 -116.8 - - 3520 - - - - - - - - 14.71 14.64 14.73
1237 116.6 -9.4 64 1245 roll -0.53 - - 2693 - 1.92 0.106 3823 549.5 -116.8 - - 3520 - - - - - - - - 14.92 14.65 14.92
1475 135.1 -7.5 98 1483 done -0.53 0.10 0.232 2723 300.0 1.75 0.042 2769 -602.3 -116.8 - - 3520 - - - - - - - - 14.61 14.77 14.76
1798 156.5 -6.6 109 1806 roll -0.53 - - 2716 - 1.95 0.107 3818 537.9 -116.8 - - 3518 - - - - - - - - 14.94 14.65 14.94
1944 166.8 -7.0 130 1952 done -0.53 - - 2716 - 1.73 0.043 2778 -601.2 -116.8 - - 3517 - - - - - - - - 14.83 14.78 14.83
2301 190.8 -6.7 139 2309 roll -0.53 - - 2715 - 2.33 0.042 1381 -599.6 -116.8 - - 3515 - - - - - - - - 14.95 14.72 14.95
2378 196.1 -6.7 150 2386 done -0.60 - - 2706 - 2.42 0.067 2773 575.2 -116.8 - - 3514 - - - - - - - - 14.76 14.69 14.78
2693 218.3 -7.1 160 2701 roll -0.60 - - 2698 - 1.92 0.110 3822 546.4 -116.8 - - 3512 - - - - - - - - 14.95 14.66 14.95
2735 221.5 -7.7 166 2742 done -0.60 - - 2698 - 1.75 0.044 2776 -597.7 -116.8 - - 3511 - - - - - - - - 14.83 14.79 14.84
3085 249.0 -8.0 174 3093 roll -0.60 - - 2698 - 2.35 0.043 1375 -596.2 -116.8 - - 3508 - - - - - - - - 14.95 14.72 14.95
3161 255.5 -8.5 185 3175 done -0.60 - - 2689 - 2.40 0.068 2778 584.6 -116.8 - - 3507 - - - - - - - - 14.83 14.71 14.85
3480 283.3 -8.9 195 3494 roll -0.60 - - 2680 - 1.88 0.112 3823 555.9 -116.8 - - 3505 - - - - - - - - 14.99 14.70 14.99
3526 287.6 -9.5 201 3539 done -0.60 - - 2680 - 1.70 0.047 2773 -617.6 -116.8 - - 3504 - - - - - - - - 14.88 14.83 14.88
3880 320.3 -9.3 209 3892 done -0.60 - - 2680 - - - 2773 - -116.8 - - 3502 - - - - - - - - 15.00 15.00 15.00
4216 349.2 -8.4 215 4229 roll -0.60 - - 2680 - 2.30 0.045 1375 -607.8 -116.8 - - 3496 - - - - - - - - 15.01 14.80 15.01
4254 352.5 -8.5 220 4268 done -0.60 0.10 0.247 2700 200.0 2.42 0.071 2781 581.0 -116.8 - - 3499 - - - - - - - - 14.66 14.73 14.84
4616 378.1 -7.0 229 4629 roll -0.60 - - 2701 - 2.35 0.044 1370 -600.4 -116.8 - - 3498 - - - - - - - - 15.02 14.80 15.02
4662 381.4 -7.0 235 4675 done -0.60 - - 2691 - 2.42 0.071 2777 581.4 -116.8 - - 3497 - - - - - - - - 14.88 14.76 14.89
5016 405.2 -6.7 243 5029 done -0.60 - - 2691 - - - 2775 - -116.8 - - 3495 - - - - - - - - 15.02 15.01 15.01
5352 426.6 -6.3 249 5365 roll -0.60 - - 2691 - 2.35 0.046 1374 -596.2 -116.8 - - 3493 - - - - - - - - 15.02 14.79 15.02
5453 433.1 -6.3 263 5467 done -0.60 - - 2681 - 2.40 0.071 2772 582.5 -116.8 - - 3493 - - - - - - - - 14.85 14.73 14.87
5808 457.9 -7.3 271 5821 done -0.60 - - 2681 - - - 2772 - -116.8 - - 3492 - - - - - - - - 15.02 15.02 15.02
6144 484.6 -8.1 277 6157 roll -0.60 - - 2681 - 2.35 0.047 1366 -598.3 -116.8 - - 3489 - - - - - - - - 15.02 14.78 15.02
6175 487.3 -8.5 281 6189 done -0.60 0.10 0.248 2701 200.0 2.45 0.073 2781 577.6 -116.8 - - 3488 - - - - - - - - 14.65 14.74 14.83
6544 514.8 -7.5 291 6557 done -0.60 - - 2701 - - - 2781 - -116.8 - - 3487 - - - - - - - - 15.01 15.02 15.00
6880 539.2 -7.2 297 6893 roll -0.68 - - 2700 - 2.35 0.047 1374 -598.7 -116.8 - - 3485 - - - - - - - - 15.01 14.78 15.01
6941 543.6 -7.3 305 6954 done -0.77 0.08 0.147 2635 -812.5 2.42 0.072 2770 576.9 -116.8 - - 3485 - - - - - - - - 14.79 14.73 14.87
7281 574.4 -9.0 318 7295 roll -0.77 - - 2626 - 1.92 0.116 3832 553.1 -116.8 - - 3483 - - - - - - - - 15.00 14.70 15.00
7334 579.4 -9.3 325 7348 done -0.77 - - 2626 - 1.75 0.050 2776 -603.4 -116.8 - - 3484 - - - - - - - - 14.88 14.83 14.89
7678 610.8 -9.2 332 7691 roll -0.77 - - 2626 - 2.35 0.046 1354 -605.1 -116.8 - - 3483 - - - - - - - - 15.01 14.77 15.01
7723 615.1 -9.1 338 7737 done -0.77 0.10 0.259 2646 200.0 2.45 0.072 2771 578.4 -116.8 - - 3482 - - - - - - - - 14.58 14.71 14.79
8078 643.8 -8.1 346 8091 roll -0.77 - - 2638 - 1.92 0.119 3829 551.0 -116.8 - - 3481 - - - - - - - - 15.00 14.68 15.01
8138 648.9 -8.5 354 8151 done -0.77 - - 2637 - 1.75 0.049 2762 -609.7 -116.8 - - 3481 - - - - - - - - 14.88 14.82 14.88
8478 677.1 -8.3 367 8491 roll -0.77 - - 2637 - 2.30 0.047 1373 -603.9 -116.8 - - 3479 - - - - - - - - 14.99 14.76 15.00
8530 681.6 -8.6 374 8544 done -0.77 - - 2628 - 2.45 0.072 2779 573.9 -116.8 - - 3479 - - - - - - - - 14.84 14.71 14.86
8874 712.7 -9.2 381 8887 roll -0.77 - - 2620 - 1.90 0.117 3825 550.5 -116.8 - - 3477 - - - - - - - - 15.00 14.69 15.00
8913 716.5 -10.4 386 8926 done -0.77 0.10 0.252 2649 290.0 1.73 0.050 2776 -606.4 -116.8 - - 3477 - - - - - - - - 14.58 14.81 14.80
9274 747.0 -8.4 395 9288 roll -0.77 - - 2649 - 2.35 0.047 1362 -601.7 -116.8 - - 3477 - - - - - - - - 14.99 14.74 14.98
9341 752.7 -8.4 404 9354 done -0.77 - - 2640 - 2.45 0.073 2770 574.7 -116.8 - - 3476 - - - - - - - - 14.83 14.70 14.85
9674 782.0 -8.9 416 9686 done -0.77 - - 2640 - - - 2772 - -116.8 - - 3475 - - - - - - - - 14.99 14.99 14.99
10010 811.4 -8.8 422 10023 roll -0.77 - - 2639 - 2.38 0.049 1362 -592.4 -116.8 - - 3474 - - - - - - - - 14.98 14.74 14.98
10076 816.9 -7.7 431 10089 done -0.77 - - 2631 - 2.45 0.074 2766 573.1 -116.8 - - 3474 - - - - - - - - 14.83 14.67 14.84
10409 846.3 -8.9 443 10423 roll -0.77 - - 2622 - 1.95 0.120 3832 546.7 -116.8 - - 3475 - - - - - - - - 14.99 14.63 14.99
10462 851.2 -9.4 450 10476 done -0.77 0.10 0.254 2651 290.0 1.77 0.051 2771 -599.4 -116.8 - - 3470 - - - - - - - - 14.54 14.78 14.76
10806 878.6 -7.9 457 10819 roll -0.77 - - 2650 - 2.35 0.049 1361 -600.0 -116.8 - - 3471 - - - - - - - - 14.97 14.72 14.97
10886 885.0 -7.6 468 10900 done -0.77 - - 2643 - 2.45 0.073 2769 574.7 -116.8 - - 3471 - - - - - - - - 14.81 14.66 14.83
11205 910.8 -8.1 478 11218 done -0.77 - - 2643 - - - 2770 - -116.8 - - 3469 - - - - - - - - 14.97 14.97 14.97
11484 end dive: TARGET_DEPTH_EXCEEDED
11484 begin apogee
11489 933.9 -8.3 483 11611 roll -0.23 0.60 0.194 2820 295.0 - - 2229 - - 112.45 1.978 3050 -3.7 0.332 - - - - - - 14.54 14.08 13.42
11613 end apogee: CONTROL_FINISHED_OK
11613 begin climb
11614 938.1 - 485 11751 roll 0.90 1.10 0.116 3170 318.2 2.42 0.058 862 -564.9 116.8 121.00 1.906 2585 -3.8 0.357 - - - - - - 14.09 14.13 13.31
11770 931.7 9.6 509 11783 done 0.72 0.12 0.251 3137 -275.0 2.47 0.057 2254 563.6 116.8 - - 2574 - - - - - - - - 13.97 14.05 14.12
12104 905.3 8.0 521 12117 roll 0.62 0.10 0.269 3104 -330.0 2.55 0.102 3654 549.0 116.8 - - 2570 - - - - - - - - 14.31 14.39 14.45
12177 899.3 7.9 531 12191 done 0.53 0.15 0.246 3072 -213.3 2.35 0.044 2261 -592.8 116.8 - - 2570 - - - - - - - - 14.35 14.52 14.54
12504 880.0 5.9 542 12564 roll 0.58 - - 3073 - 2.70 0.105 3652 515.2 157.9 43.40 1.934 2414 -3.6 0.309 - - - - - - 14.80 14.22 13.64
12575 875.3 8.7 552 12588 done 0.58 - - 3081 - 2.40 0.045 2258 -580.8 157.9 - - 2412 - - - - - - - - 14.40 14.33 14.40
12902 852.1 7.2 563 12926 done 0.60 - - 3081 - - - 2253 - 170.4 11.88 2.110 2366 -3.9 0.295 - - - - - - 14.74 14.47 13.77
13239 827.4 7.3 576 13257 roll 0.61 - - 3082 - 2.60 0.109 3654 538.8 179.2 4.80 1.986 2338 -5.8 0.459 - - - - - - 14.78 14.50 13.53
13303 822.1 8.5 585 13316 done 0.61 - - 3091 - 2.38 0.047 2252 -589.1 179.2 - - 2344 - - - - - - - - 14.64 14.57 14.65
13636 797.2 7.5 597 13656 done 0.62 - - 3091 - - - 2248 - 185.5 11.45 2.092 2311 -2.9 0.207 - - - - - - 14.83 14.57 13.89
13972 771.5 7.6 603 13985 roll 0.62 - - 3092 - 2.60 0.108 3652 540.0 189.6 - - 2303 - - - - - - - - 14.82 14.54 14.83
14003 768.8 8.5 607 14017 done 0.62 - - 3101 - 2.35 0.046 2257 -593.6 189.6 - - 2303 - - - - - - - - 14.71 14.64 14.72
14372 739.4 8.0 617 14385 roll 0.62 - - 3111 - 2.40 0.065 851 -585.8 189.6 - - 2302 - - - - - - - - 14.88 14.64 14.88
14403 736.8 7.6 621 14422 done 0.62 - - 3111 - 2.40 0.060 2259 586.7 192.0 2.83 1.191 2288 -4.9 0.578 - - - - - - 14.75 14.65 13.58
14770 706.2 8.4 631 14783 roll 0.62 - - 3111 - 2.53 0.107 3657 552.6 192.0 1.38 0.303 2285 -2.2 0.956 - - - - - - 14.89 14.61 14.35
14850 698.5 9.7 642 14863 done 0.62 - - 3121 - 2.35 0.045 2253 -597.4 192.0 - - 2293 - - - - - - - - 14.78 14.71 14.79
15169 669.9 9.0 652 15183 roll 0.62 - - 3131 - 2.38 0.063 855 -587.4 192.0 1.25 0.291 2285 -6.4 2.781 - - - - - - 14.91 14.66 14.43
15215 665.8 9.0 658 15228 done 0.62 - - 3131 - 2.40 0.060 2263 586.7 192.0 - - 2292 - - - - - - - - 14.78 14.68 14.79
15569 633.5 9.2 666 15582 roll 0.62 - - 3132 - 2.53 0.108 3653 549.4 192.0 - - 2293 - - - - - - - - 14.92 14.63 14.92
15629 627.4 10.4 674 15643 done 0.53 0.22 0.235 3078 -245.5 2.35 0.045 2252 -596.2 192.0 - - 2293 - - - - - - - - 14.54 14.73 14.75
15970 603.0 7.0 687 16003 done 0.55 - - 3078 - - - 2248 - 208.8 23.77 1.786 2217 -3.2 0.204 - - - - - - 14.92 14.58 13.95
16306 579.1 7.2 693 16331 roll 0.65 - - 3078 - 2.60 0.103 3655 541.2 221.4 12.90 1.868 2162 -4.3 0.249 - - - - - - 14.82 14.47 13.90
16364 574.5 8.4 701 16377 done 0.65 - - 3083 - 2.38 0.046 2261 -585.7 221.4 - - 2159 - - - - - - - - 14.62 14.55 14.64
16704 548.6 7.6 714 16717 done 0.65 - - 3081 - - - 2256 - 225.0 - - 2158 - - - - - - - - 14.82 14.82 14.82
17040 525.1 6.8 720 17079 roll 0.68 - - 3086 - 2.60 0.109 3653 537.3 245.0 25.08 1.709 2070 -3.5 0.203 - - - - - - 14.87 14.43 13.93
17111 520.0 7.9 730 17124 done 0.68 - - 3096 - 2.38 0.046 2258 -586.1 245.0 - - 2065 - - - - - - - - 14.59 14.52 14.59
17438 497.6 6.9 741 17466 done 0.70 - - 3096 - - - 2254 - 263.5 19.40 1.715 1999 -3.4 0.186 - - - - - - 14.80 14.49 13.90
17774 472.7 7.6 747 17788 roll 0.79 0.08 0.148 3175 987.5 2.60 0.105 3659 540.4 267.8 0.73 0.249 1980 -26.0 9.325 - - - - - - 14.60 14.51 14.46
17827 466.3 13.1 754 17842 done 0.68 0.22 0.241 3123 -236.4 2.38 0.045 2258 -588.7 267.8 - - 1984 - - - - - - - - 14.44 14.60 14.63
18171 433.8 9.3 761 18184 roll 0.68 - - 3132 - 2.40 0.065 858 -583.3 267.8 - - 1986 - - - - - - - - 14.85 14.62 14.85
18216 429.5 9.5 767 18229 done 0.68 - - 3132 - 2.40 0.059 2266 586.7 267.8 - - 1985 - - - - - - - - 14.73 14.62 14.73
18571 396.2 9.4 775 18584 done 0.68 - - 3133 - - - 2266 - 267.8 - - 1984 - - - - - - - - 14.89 14.89 14.89
18906 365.0 9.2 781 18919 done 0.68 - - 3132 - - - 2267 - 267.8 - - 1985 - - - - - - - - 14.90 14.91 14.91
19242 333.9 9.2 787 19256 roll 0.68 - - 3133 - 2.53 0.109 3661 551.0 267.8 - - 1984 - - - - - - - - 14.90 14.64 14.92
19274 330.7 10.1 791 19287 done 0.68 - - 3142 - 2.33 0.044 2262 -600.4 267.8 - - 1985 - - - - - - - - 14.80 14.73 14.81
19642 295.6 9.5 801 19655 roll 0.68 - - 3153 - 2.38 0.065 859 -589.5 267.8 - - 1985 - - - - - - - - 14.92 14.69 14.92
19673 292.5 9.5 805 19687 done 0.68 0.10 0.233 3124 -290.0 2.40 0.060 2269 587.5 267.8 - - 1986 - - - - - - - - 14.59 14.69 14.76
20042 260.7 8.8 815 20055 roll 0.68 - - 3122 - 2.53 0.107 3661 550.2 267.8 - - 1985 - - - - - - - - 14.93 14.65 14.94
20115 253.3 10.0 825 20128 done 0.68 - - 3131 - 2.33 0.044 2259 -601.7 267.8 - - 1986 - - - - - - - - 14.81 14.75 14.83
20441 222.9 9.4 836 20454 roll 0.68 - - 3141 - 2.38 0.064 857 -589.1 267.8 - - 1986 - - - - - - - - 14.94 14.69 14.94
20472 219.8 9.7 840 20485 done 0.68 - - 3140 - 2.40 0.060 2272 589.6 267.8 - - 1985 - - - - - - - - 14.81 14.70 14.83
20840 184.1 9.7 850 20853 roll 0.68 - - 3140 - 2.50 0.108 3659 554.8 267.8 - - 1985 - - - - - - - - 14.95 14.65 14.95
20885 179.1 11.0 856 20899 done 0.68 0.10 0.251 3122 -180.0 2.30 0.043 2269 -604.3 267.8 - - 1985 - - - - - - - - 14.58 14.75 14.76
21240 148.8 8.4 864 21253 roll 0.68 - - 3131 - 2.40 0.063 851 -590.8 267.8 - - 1986 - - - - - - - - 14.95 14.70 14.95
21300 143.9 8.1 872 21313 done 0.68 - - 3131 - 2.40 0.056 2272 592.1 267.8 - - 1986 - - - - - - - - 14.81 14.71 14.83
21640 115.7 8.3 885 21653 roll 0.68 - - 3132 - 2.50 0.106 3655 553.2 267.8 - - 1986 - - - - - - - - 14.95 14.66 14.95
21727 108.3 8.0 897 21740 done 0.68 - - 3140 - 2.30 0.044 2268 -603.0 267.8 - - 1987 - - - - - - - - 14.83 14.76 14.83
22068 85.3 5.6 910 22107 roll 0.83 - - 3151 - 2.42 0.062 864 -580.2 313.8 22.60 0.429 1801 -8.2 0.309 - - - - - - 14.94 14.65 14.38
22154 80.1 6.3 922 22187 done 1.00 0.15 0.092 3235 560.0 2.40 0.054 2282 590.8 344.9 15.80 0.406 1675 -8.0 0.297 - - - - - - 14.71 14.66 14.36
22491 55.5 6.2 937 22523 roll 1.04 - - 3235 - 2.53 0.104 3653 541.9 378.7 16.55 0.337 1543 -8.0 0.248 - - - - - - 14.89 14.57 14.40
22626 47.9 6.3 956 22653 done 1.08 - - 3243 - 2.30 0.042 2268 -602.2 409.6 15.32 0.312 1419 -8.1 0.235 - - - - - - 14.76 14.69 14.42
22967 29.5 5.2 971 23007 roll 1.29 0.12 0.103 3330 725.0 2.58 0.101 3653 536.8 465.4 27.27 0.249 1195 -8.2 0.184 - - - - - - 14.71 14.57 14.47
23131 14.5 10.2 994 23144 done 1.29 - - 3338 - 2.25 0.041 2283 -608.9 465.4 - - 1194 - - - - - - - - 14.76 14.69 14.77
23274 end climb: SURFACE_DEPTH_REACHED
23274 begin surface coast
23302 end surface coast: CONTROL_FINISHED_OK
23302 begin surface
SM -0.30 - - - - -8.41 8.90 0.053 184 20.7 0.88 0.087 2767 1973.9 500.14 15.93 0.161 1057 66.4 0.013 - - - - - -