SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 94 * Raw log
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• Previous call tries 2 • 40.70 of 350.00 AH used of 24V (88.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth -0.62 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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 - - - 99 done -0.90 - - 178 - - - 2785 - -116.8 -78.97 - 3516 - - - - - - - - 14.71 13.48 14.71
101 0.5 -3.3 2 122 roll -0.90 11.35 0.394 2596 213.0 1.88 0.091 3819 550.0 -116.8 - - 3518 - - - - - - - - 14.31 14.45 14.55
261 61.3 -25.2 26 268 done -0.68 0.28 0.245 2673 275.0 1.77 0.037 2736 -611.9 -116.8 - - 3518 - - - - - - - - 14.42 14.62 14.56
596 99.2 -9.0 41 605 roll -0.62 - - 2665 - 2.03 0.107 3820 534.0 -116.8 - - 3520 - - - - - - - - 14.87 14.58 14.87
694 103.3 0.7 55 702 done -0.56 0.17 0.226 2716 300.0 1.73 0.041 2779 -601.7 -116.8 - - 3520 - - - - - - - - 14.54 14.72 14.71
1016 132.2 -6.5 63 1024 roll -0.56 - - 2715 - 2.35 0.045 1380 -595.3 -116.8 - - 3524 - - - - - - - - 14.92 14.69 14.91
1113 138.9 -6.8 77 1123 done -0.56 - - 2705 - 2.42 0.070 2762 571.1 -116.8 - - 3521 - - - - - - - - 14.73 14.66 14.75
1464 165.7 -7.8 85 1467 done -0.56 - - 2707 - - - 2762 - -116.8 - - 3518 - - - - - - - - 14.93 14.94 14.95
1800 190.5 -7.3 91 1808 roll -0.56 - - 2706 - 2.35 0.045 1380 -588.1 -116.8 - - 3516 - - - - - - - - 14.95 14.72 14.95
1856 194.5 -7.2 99 1864 done -0.56 - - 2700 - 2.42 0.073 2760 570.2 -116.8 - - 3515 - - - - - - - - 14.75 14.66 14.78
2193 219.0 -7.3 112 2195 done -0.56 - - 2698 - - - 2760 - -116.8 - - 3512 - - - - - - - - 14.95 14.95 14.95
2529 244.4 -7.7 118 2536 roll -0.56 - - 2698 - 2.35 0.047 1383 -586.0 -116.8 - - 3509 - - - - - - - - 14.95 14.71 14.95
2555 246.6 -7.9 122 2564 done -0.56 - - 2688 - 2.45 0.075 2763 563.3 -116.8 - - 3513 - - - - - - - - 14.76 14.68 14.78
2920 275.7 -8.0 132 2933 roll -0.56 - - 2688 - 2.33 0.047 1382 -592.7 -116.8 - - 3506 - - - - - - - - 14.98 14.77 14.99
2965 279.4 -8.2 138 2979 done -0.56 0.12 0.230 2716 233.3 2.40 0.076 2763 575.4 -116.8 - - 3503 - - - - - - - - 14.65 14.72 14.82
3320 303.7 -6.9 146 3333 roll -0.61 - - 2716 - 2.33 0.049 1378 -594.4 -116.8 - - 3503 - - - - - - - - 15.01 14.78 15.01
3373 307.6 -7.3 153 3387 done -0.67 - - 2707 - 2.40 0.077 2760 575.8 -116.8 - - 3504 - - - - - - - - 14.86 14.73 14.88
3716 333.0 -7.4 160 3730 roll -0.67 - - 2707 - 2.30 0.049 1385 -597.8 -116.8 - - 3501 - - - - - - - - 15.05 14.79 15.02
3777 337.7 -7.8 168 3790 done -0.72 - - 2699 - 2.40 0.077 2760 572.9 -116.8 - - 3500 - - - - - - - - 14.87 14.73 14.88
4117 363.1 -7.4 181 4130 done -0.72 - - 2699 - - - 2760 - -116.8 - - 3499 - - - - - - - - 15.02 15.02 15.02
4453 386.8 -7.0 187 4466 roll -0.72 - - 2699 - 2.30 0.048 1388 -596.5 -116.8 - - 3496 - - - - - - - - 15.02 14.78 15.02
4506 390.6 -7.1 194 4519 done -0.72 - - 2687 - 2.40 0.078 2757 570.4 -116.8 - - 3496 - - - - - - - - 14.87 14.73 14.88
4850 414.7 -7.0 201 4863 roll -0.72 - - 2689 - 2.30 0.049 1388 -595.2 -116.8 - - 3494 - - - - - - - - 15.02 14.77 15.02
4888 417.5 -7.2 206 4902 done -0.72 - - 2680 - 2.38 0.078 2752 573.1 -116.8 - - 3493 - - - - - - - - 14.87 14.74 14.88
5250 443.2 -7.2 215 5263 done -0.72 - - 2680 - - - 2753 - -116.8 - - 3492 - - - - - - - - 15.01 15.02 15.02
5586 467.4 -7.2 221 5599 done -0.72 - - 2680 - - - 2753 - -116.8 - - 3491 - - - - - - - - 15.02 15.02 15.02
5922 493.3 -7.8 227 5935 roll -0.72 - - 2679 - 2.30 0.050 1390 -592.6 -116.8 - - 3487 - - - - - - - - 15.01 14.78 15.01
5946 495.3 -7.7 230 5959 done -0.72 - - 2671 - 2.40 0.079 2760 570.8 -116.8 - - 3489 - - - - - - - - 14.86 14.73 14.88
6265 521.4 -8.2 240 6278 roll -0.72 - - 2671 - 2.33 0.049 1385 -590.1 -116.8 - - 3488 - - - - - - - - 15.02 14.78 15.01
6303 524.6 -8.8 245 6317 done -0.72 - - 2662 - 2.40 0.080 2760 572.9 -116.8 - - 3487 - - - - - - - - 14.86 14.72 14.88
6665 554.9 -8.4 254 6678 roll -0.72 - - 2662 - 2.33 0.050 1379 -592.7 -116.8 - - 3486 - - - - - - - - 15.01 14.78 15.01
6703 558.3 -8.8 259 6716 done -0.72 - - 2652 - 2.40 0.080 2757 574.2 -116.8 - - 3486 - - - - - - - - 14.86 14.72 14.88
7064 587.8 -8.1 268 7077 roll -0.72 - - 2652 - 2.30 0.050 1390 -594.3 -116.8 - - 3484 - - - - - - - - 15.00 14.75 15.00
7095 590.5 -8.1 272 7108 done -0.72 - - 2643 - 2.38 0.079 2752 572.3 -116.8 - - 3484 - - - - - - - - 14.86 14.72 14.88
7463 620.1 -8.0 282 7476 done -0.72 - - 2644 - - - 2753 - -116.8 - - 3483 - - - - - - - - 15.00 15.00 15.00
7799 646.5 -8.0 288 7812 roll -0.72 - - 2635 - 1.95 0.122 3822 548.2 -116.8 - - 3481 - - - - - - - - 15.01 14.67 15.01
7837 649.9 -9.1 293 7851 done -0.72 0.10 0.246 2664 290.0 1.75 0.049 2756 -609.1 -116.8 - - 3481 - - - - - - - - 14.61 14.83 14.81
8199 678.4 -8.0 302 8212 roll -0.72 - - 2664 - 2.33 0.051 1369 -595.3 -116.8 - - 3480 - - - - - - - - 15.00 14.73 15.00
8272 684.7 -8.4 312 8285 done -0.72 - - 2655 - 2.40 0.079 2740 571.2 -116.8 - - 3479 - - - - - - - - 14.84 14.71 14.86
8598 713.2 -8.9 323 8611 done -0.72 - - 2655 - - - 2740 - -116.8 - - 3479 - - - - - - - - 15.00 15.00 15.00
8934 743.6 -9.0 329 8947 done -0.72 - - 2655 - - - 2741 - -116.8 - - 3477 - - - - - - - - 15.00 15.00 15.00
9270 772.5 -8.5 335 9283 roll -0.72 - - 2655 - 2.33 0.052 1372 -587.6 -116.8 - - 3476 - - - - - - - - 14.99 14.75 15.00
9315 776.5 -8.8 341 9329 done -0.72 - - 2647 - 2.42 0.080 2744 566.9 -116.8 - - 3476 - - - - - - - - 14.84 14.70 14.85
9670 805.4 -8.1 349 9683 roll -0.72 - - 2639 - 2.00 0.123 3829 542.5 -116.8 - - 3474 - - - - - - - - 14.99 14.64 14.99
9730 810.8 -8.4 357 9744 done -0.72 0.10 0.246 2667 280.0 1.83 0.051 2733 -598.9 -116.8 - - 3475 - - - - - - - - 14.57 14.80 14.78
10071 833.8 -6.8 370 10084 roll -0.72 - - 2667 - 2.30 0.052 1367 -593.9 -116.8 - - 3474 - - - - - - - - 14.97 14.73 14.97
10116 837.1 -5.5 376 10130 done -0.72 - - 2659 - 2.42 0.080 2744 569.0 -116.8 - - 3472 - - - - - - - - 14.82 14.69 14.84
10471 861.3 -6.9 384 10484 done -0.72 - - 2659 - - - 2744 - -116.8 - - 3473 - - - - - - - - 14.98 14.98 14.98
10807 883.0 -6.4 390 10820 done -0.72 - - 2658 - - - 2744 - -116.8 - - 3470 - - - - - - - - 14.98 14.98 14.97
11143 905.0 -6.5 396 11156 roll -0.72 - - 2659 - 2.35 0.053 1374 -583.0 -116.8 - - 3470 - - - - - - - - 14.98 14.72 14.98
11259 912.8 -6.6 412 11272 done -0.72 - - 2651 - 2.42 0.080 2742 565.3 -116.8 - - 3470 - - - - - - - - 14.78 14.62 14.80
11541 end dive: TARGET_DEPTH_EXCEEDED
11541 begin apogee
11545 933.1 -7.2 424 11668 roll -0.23 0.57 0.194 2821 298.2 - - 2281 - - 112.85 1.978 3050 -3.7 0.332 - - - - - - 14.55 14.07 13.40
11670 end apogee: CONTROL_FINISHED_OK
11670 begin climb
11671 936.7 - 426 11813 roll 0.90 1.10 0.116 3170 317.3 2.45 0.062 912 -558.8 116.8 121.88 1.915 2580 -3.9 0.357 - - - - - - 14.09 14.10 13.28
11825 930.6 9.4 450 11838 done 0.78 - - 3170 - 2.50 0.063 2295 553.2 116.8 - - 2576 - - - - - - - - 14.12 14.02 14.17
12165 900.5 9.0 463 12179 roll 0.69 0.15 0.259 3123 -313.3 2.60 0.110 3696 538.8 116.8 - - 2572 - - - - - - - - 14.31 14.38 14.45
12218 895.8 8.7 470 12232 done 0.60 0.12 0.265 3101 -183.3 2.42 0.047 2294 -579.3 116.8 - - 2572 - - - - - - - - 14.33 14.50 14.54
12562 872.8 6.7 477 12602 roll 0.63 - - 3111 - 2.50 0.067 892 -560.8 140.5 24.02 2.013 2483 -3.7 0.304 - - - - - - 14.78 14.39 13.76
12613 869.1 9.0 484 12627 done 0.63 - - 3110 - 2.47 0.065 2293 567.2 140.5 - - 2483 - - - - - - - - 14.50 14.38 14.50
12957 841.9 8.1 491 12970 roll 0.63 - - 3111 - 2.60 0.115 3701 541.5 140.5 - - 2482 - - - - - - - - 14.78 14.49 14.78
13010 836.9 9.5 498 13024 done 0.58 0.12 0.253 3087 -200.0 2.42 0.047 2279 -587.6 140.5 - - 2482 - - - - - - - - 14.44 14.60 14.64
13354 811.2 7.5 505 13367 done 0.58 - - 3087 - - - 2277 - 146.8 2.50 0.965 2466 -6.4 1.018 - - - - - - 14.85 14.65 13.54
13690 787.5 7.1 511 13722 roll 0.60 - - 3087 - 2.72 0.112 3696 521.7 160.5 20.55 1.982 2404 -3.0 0.227 - - - - - - 14.88 14.47 13.88
13748 783.3 7.2 519 13774 done 0.62 - - 3096 - 2.40 0.049 2290 -585.8 173.3 12.70 2.073 2358 -3.6 0.259 - - - - - - 14.59 14.52 13.77
14080 758.4 7.5 531 14094 done 0.62 - - 3097 - - - 2290 - 178.7 3.15 1.416 2337 -6.7 0.675 - - - - - - 14.76 14.56 13.50
14417 733.2 7.5 537 14441 roll 0.63 - - 3096 - 2.67 0.116 3693 525.5 184.3 9.93 2.079 2311 -2.6 0.175 - - - - - - 14.83 14.47 13.90
14459 729.6 7.8 543 14472 done 0.63 - - 3106 - 2.38 0.047 2299 -585.7 184.3 - - 2311 - - - - - - - - 14.63 14.56 14.64
14813 701.4 8.0 551 14826 done 0.63 - - 3106 - - - 2294 - 184.3 - - 2309 - - - - - - - - 14.83 14.83 14.83
15149 673.3 8.4 557 15162 done 0.63 - - 3106 - - - 2294 - 184.3 - - 2309 - - - - - - - - 14.88 14.88 14.88
15485 645.3 8.4 563 15499 roll 0.63 - - 3106 - 2.62 0.115 3704 538.2 184.3 - - 2308 - - - - - - - - 14.92 14.59 14.90
15524 641.5 9.6 568 15537 done 0.63 - - 3116 - 2.40 0.047 2283 -592.1 184.3 - - 2308 - - - - - - - - 14.78 14.71 14.79
15885 609.6 8.9 577 15898 roll 0.63 - - 3116 - 2.62 0.115 3698 540.1 184.3 - - 2308 - - - - - - - - 14.92 14.61 14.92
15923 605.7 9.9 582 15936 done 0.63 - - 3126 - 2.38 0.047 2290 -591.6 184.3 - - 2308 - - - - - - - - 14.79 14.71 14.81
16284 573.1 9.0 591 16297 done 0.63 - - 3127 - - - 2285 - 184.3 - - 2308 - - - - - - - - 14.93 14.92 14.93
16621 543.0 8.9 597 16634 roll 0.63 - - 3127 - 2.60 0.113 3696 542.7 184.3 - - 2308 - - - - - - - - 14.93 14.62 14.94
16652 539.9 9.3 601 16666 done 0.63 0.10 0.268 3109 -180.0 2.35 0.047 2297 -595.3 184.3 - - 2306 - - - - - - - - 14.56 14.73 14.77
17022 511.9 7.3 611 17042 roll 0.64 - - 3118 - 2.47 0.065 887 -570.9 193.7 8.38 1.922 2278 -3.3 0.168 - - - - - - 14.93 14.66 14.04
17081 507.6 7.3 619 17108 done 0.66 - - 3118 - 2.42 0.064 2301 584.3 204.1 12.00 1.822 2232 -3.8 0.202 - - - - - - 14.74 14.64 14.00
17414 483.0 7.4 631 17427 done 0.66 - - 3118 - - - 2301 - 210.8 4.10 1.675 2209 -5.6 0.306 - - - - - - 14.83 14.63 13.66
17750 458.4 7.3 637 17777 roll 0.68 - - 3118 - 2.65 0.116 3700 527.9 220.8 14.15 1.740 2167 -3.0 0.148 - - - - - - 14.86 14.49 13.97
17803 454.1 8.2 644 17816 done 0.68 - - 3128 - 2.40 0.047 2293 -586.2 220.8 - - 2164 - - - - - - - - 14.64 14.57 14.65
18143 426.0 8.3 657 18156 roll 0.68 - - 3128 - 2.65 0.113 3708 534.0 220.8 - - 2167 - - - - - - - - 14.83 14.54 14.83
18181 422.3 9.8 662 18195 done 0.68 - - 3138 - 2.38 0.046 2303 -590.3 220.8 - - 2164 - - - - - - - - 14.71 14.64 14.73
18542 389.5 9.1 671 18556 roll 0.68 - - 3148 - 2.42 0.066 889 -584.3 220.8 - - 2164 - - - - - - - - 14.88 14.64 14.88
18602 383.9 9.2 679 18616 done 0.68 - - 3148 - 2.47 0.064 2322 580.2 220.8 - - 2163 - - - - - - - - 14.75 14.64 14.76
18943 352.1 9.3 692 18956 roll 0.68 - - 3148 - 2.53 0.116 3702 545.5 220.8 - - 2164 - - - - - - - - 14.90 14.60 14.90
18988 347.4 10.2 698 19001 done 0.68 0.12 0.255 3124 -200.0 2.35 0.045 2301 -596.2 220.8 - - 2163 - - - - - - - - 14.54 14.71 14.74
19342 318.9 7.9 706 19356 roll 0.68 - - 3140 - 2.38 0.063 898 -589.5 220.8 - - 2164 - - - - - - - - 14.92 14.68 14.92
19408 313.3 8.4 715 19422 done 0.68 - - 3133 - 2.42 0.063 2315 585.5 220.8 - - 2163 - - - - - - - - 14.78 14.67 14.80
19742 283.6 9.1 727 19755 roll 0.68 - - 3133 - 2.53 0.113 3697 546.2 220.8 - - 2163 - - - - - - - - 14.93 14.62 14.93
19766 281.1 9.3 730 19779 done 0.68 - - 3144 - 2.35 0.044 2290 -598.7 220.8 - - 2164 - - - - - - - - 14.81 14.73 14.82
20085 250.5 9.6 740 20098 roll 0.68 - - 3151 - 2.35 0.066 900 -591.5 220.8 - - 2163 - - - - - - - - 14.94 14.69 14.94
20158 243.6 9.3 750 20172 done 0.68 0.10 0.242 3122 -290.0 2.40 0.063 2304 585.0 220.8 - - 2163 - - - - - - - - 14.58 14.69 14.76
20485 217.0 8.1 761 20498 roll 0.68 - - 3122 - 2.53 0.112 3696 550.2 220.8 - - 2164 - - - - - - - - 14.94 14.62 14.94
20545 211.5 9.3 769 20558 done 0.68 - - 3130 - 2.35 0.044 2292 -597.4 220.8 - - 2164 - - - - - - - - 14.81 14.74 14.82
20885 184.1 7.9 782 20898 roll 0.68 - - 3139 - 2.38 0.063 895 -587.0 220.8 - - 2164 - - - - - - - - 14.94 14.69 14.95
20923 181.0 7.6 787 20936 done 0.68 - - 3139 - 2.35 0.063 2306 600.4 224.0 - - 2165 - - - - - - - - 14.80 14.68 14.81
21284 150.2 8.8 796 21298 roll 0.68 - - 3139 - 2.53 0.114 3694 548.6 224.0 - - 2165 - - - - - - - - 14.92 14.62 14.95
21364 142.2 9.8 807 21378 done 0.68 - - 3149 - 2.33 0.044 2295 -600.4 224.0 - - 2165 - - - - - - - - 14.81 14.75 14.83
21684 113.9 9.0 817 21697 roll 0.68 - - 3159 - 2.38 0.062 892 -589.5 224.0 - - 2164 - - - - - - - - 14.95 14.70 14.95
21736 109.5 8.4 824 21750 done 0.68 0.12 0.230 3122 -308.3 2.42 0.061 2306 584.3 224.0 - - 2166 - - - - - - - - 14.58 14.66 14.76
22052 88.4 6.5 833 22078 roll 0.71 - - 3122 - 2.60 0.110 3699 535.8 251.4 13.90 0.436 2048 -8.5 0.326 - - - - - - 14.94 14.61 14.39
22272 76.0 5.5 864 22311 done 0.83 0.05 0.205 3180 1160.0 2.33 0.044 2300 -600.4 299.8 23.48 0.398 1855 -8.2 0.297 - - - - - - 14.66 14.73 14.38
22638 57.8 4.3 883 22685 roll 0.99 0.05 0.207 3238 1160.0 2.45 0.062 903 -570.2 375.3 35.15 0.343 1557 -8.5 0.270 - - - - - - 14.66 14.61 14.40
22725 52.6 6.7 895 22752 done 1.07 - - 3237 - 2.42 0.061 2321 586.0 397.9 11.38 0.326 1464 -8.2 0.249 - - - - - - 14.69 14.58 14.37
23055 32.9 5.8 909 23088 roll 1.19 0.08 0.146 3304 837.5 2.58 0.110 3699 534.1 439.1 19.90 0.263 1299 -8.3 0.196 - - - - - - 14.69 14.54 14.45
23114 27.9 9.7 917 23128 done 1.19 0.10 0.244 3286 -180.0 2.30 0.041 2312 -603.0 439.1 - - 1299 - - - - - - - - 14.49 14.66 14.69
23426 end climb: SURFACE_DEPTH_REACHED
23426 begin surface coast
23455 end surface coast: CONTROL_FINISHED_OK
23455 begin surface
SM -0.09 - - - - -8.39 8.70 0.051 190 21.8 0.82 0.085 2768 -2875.6 500.14 27.33 0.158 1058 38.7 0.002 - - - - - -