SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 96 * Raw log
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• Previous call tries 1 • 41.48 of 350.00 AH used of 24V (88.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -2.31 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 512.95, SM_CC=500)
• GPS1 time: 28 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 - - - 104 done -0.90 - - 190 - - - 2776 - -116.8 -78.47 - 3516 - - - - - - - - 14.69 13.46 14.69
106 5.5 -15.0 3 126 roll -0.90 11.45 0.399 2594 210.0 1.90 0.078 3837 558.4 -116.8 - - 3518 - - - - - - - - 14.26 14.43 14.50
152 33.8 -41.4 10 161 done -0.25 0.80 0.272 2807 266.2 1.83 0.036 2734 -602.7 -116.8 - - 3518 - - - - - - - - 14.31 14.53 14.46
467 72.5 -8.6 22 474 roll -0.25 - - 2807 - 2.25 0.046 1398 -593.8 -116.8 - - 3517 - - - - - - - - 14.81 14.58 14.81
523 76.7 -7.0 30 530 done -0.39 - - 2798 - 2.40 0.072 2763 568.8 -116.8 - - 3520 - - - - - - - - 14.64 14.55 14.66
859 94.6 -5.4 45 867 roll -0.55 0.17 0.087 2693 -617.6 1.92 0.112 3816 548.4 -116.8 - - 3522 - - - - - - - - 14.70 14.59 14.74
1096 112.3 -6.5 79 1105 done -0.55 0.10 0.230 2723 300.0 1.70 0.041 2790 -603.5 -116.8 - - 3522 - - - - - - - - 14.59 14.75 14.74
1419 130.4 -6.4 90 1427 roll -0.55 - - 2723 - 2.35 0.047 1396 -593.2 -116.8 - - 3522 - - - - - - - - 14.92 14.68 14.92
1516 136.2 -5.5 104 1525 done -0.55 - - 2713 - 2.45 0.071 2787 567.8 -116.8 - - 3522 - - - - - - - - 14.74 14.66 14.77
1867 151.7 -4.4 112 1869 done -0.55 - - 2714 - - - 2787 - -116.8 - - 3519 - - - - - - - - 14.94 14.94 14.94
2203 178.4 -8.1 118 2211 roll -0.55 - - 2714 - 2.40 0.047 1381 -585.8 -116.8 - - 3516 - - - - - - - - 14.95 14.72 14.95
2265 181.9 -6.2 127 2274 done -0.62 - - 2705 - 2.47 0.073 2783 567.6 -116.8 - - 3516 - - - - - - - - 14.76 14.68 14.79
2595 207.3 -7.3 139 2603 roll -0.62 - - 2705 - 2.38 0.046 1389 -585.7 -116.8 - - 3514 - - - - - - - - 14.95 14.71 14.95
2657 212.1 -7.5 148 2665 done -0.62 - - 2697 - 2.45 0.073 2771 564.1 -116.8 - - 3514 - - - - - - - - 14.75 14.68 14.78
2987 238.8 -8.3 160 2994 roll -0.62 - - 2696 - 2.38 0.047 1388 -581.1 -116.8 - - 3510 - - - - - - - - 14.95 14.70 14.95
3021 241.6 -8.2 165 3031 done -0.62 - - 2691 - 2.47 0.074 2778 562.8 -116.8 - - 3511 - - - - - - - - 14.81 14.69 14.82
3379 271.7 -8.5 174 3392 roll -0.62 - - 2688 - 2.33 0.047 1388 -596.6 -116.8 - - 3507 - - - - - - - - 14.97 14.76 14.97
3403 273.7 -8.3 177 3417 done -0.62 - - 2678 - 2.38 0.077 2773 581.9 -116.8 - - 3507 - - - - - - - - 14.84 14.71 14.85
3723 299.7 -8.1 187 3736 roll -0.62 - - 2678 - 2.33 0.048 1388 -594.4 -116.8 - - 3505 - - - - - - - - 14.99 14.77 14.99
3761 302.9 -8.1 192 3774 done -0.62 0.10 0.243 2698 200.0 2.42 0.077 2781 575.6 -116.8 - - 3505 - - - - - - - - 14.66 14.73 14.83
4123 329.3 -7.4 201 4136 roll -0.62 - - 2699 - 2.35 0.049 1383 -594.9 -116.8 - - 3503 - - - - - - - - 15.01 14.76 15.00
4196 335.3 -8.1 211 4209 done -0.62 - - 2689 - 2.42 0.077 2776 575.6 -116.8 - - 3502 - - - - - - - - 14.86 14.74 14.88
4522 362.6 -8.5 222 4535 done -0.62 - - 2689 - - - 2777 - -116.8 - - 3501 - - - - - - - - 15.01 15.02 15.01
4859 389.0 -7.7 228 4872 roll -0.62 - - 2689 - 2.35 0.050 1376 -596.2 -116.8 - - 3498 - - - - - - - - 15.02 14.78 15.02
4939 395.1 -7.4 239 4952 done -0.62 - - 2679 - 2.42 0.079 2766 574.4 -116.8 - - 3498 - - - - - - - - 14.87 14.73 14.88
5258 419.5 -7.7 249 5271 roll -0.62 - - 2680 - 2.33 0.050 1386 -592.3 -116.8 - - 3496 - - - - - - - - 15.02 14.78 15.02
5289 422.1 -8.4 253 5303 done -0.62 - - 2670 - 2.40 0.080 2762 573.3 -116.8 - - 3496 - - - - - - - - 14.86 14.76 14.89
5657 453.3 -8.5 263 5671 roll -0.62 - - 2661 - 1.95 0.121 3830 547.7 -116.8 - - 3493 - - - - - - - - 15.01 14.71 15.01
5723 459.2 -8.9 272 5737 done -0.62 0.12 0.224 2699 316.7 1.73 0.050 2777 -608.7 -116.8 - - 3494 - - - - - - - - 14.65 14.84 14.83
6058 482.1 -6.8 284 6071 roll -0.62 - - 2699 - 2.35 0.051 1367 -600.0 -116.8 - - 3492 - - - - - - - - 15.01 14.77 15.01
6152 488.5 -6.5 297 6166 done -0.70 - - 2690 - 2.45 0.079 2762 569.4 -116.8 - - 3492 - - - - - - - - 14.85 14.72 14.88
6514 512.0 -6.4 306 6527 roll -0.70 - - 2689 - 2.35 0.050 1372 -591.5 -116.8 - - 3491 - - - - - - - - 15.00 14.77 14.99
6587 516.8 -6.6 316 6600 done -0.70 - - 2681 - 2.42 0.079 2759 573.1 -116.8 - - 3490 - - - - - - - - 14.85 14.71 14.87
6914 539.2 -6.9 327 6927 roll -0.70 - - 2680 - 2.35 0.050 1371 -590.6 -116.8 - - 3488 - - - - - - - - 15.00 14.77 15.00
6945 541.5 -7.2 331 6958 done -0.70 - - 2672 - 2.42 0.078 2757 572.7 -116.8 - - 3488 - - - - - - - - 14.85 14.72 14.87
7313 570.4 -7.9 341 7327 roll -0.70 - - 2672 - 2.35 0.050 1373 -588.9 -116.8 - - 3486 - - - - - - - - 15.00 14.77 15.00
7380 575.8 -8.1 350 7393 done -0.70 - - 2663 - 2.40 0.079 2750 573.8 -116.8 - - 3486 - - - - - - - - 14.85 14.72 14.88
7713 603.5 -8.4 362 7726 roll -0.70 - - 2662 - 2.33 0.051 1375 -590.1 -116.8 - - 3485 - - - - - - - - 14.98 14.76 15.00
7786 609.9 -8.6 372 7799 done -0.70 - - 2654 - 2.40 0.080 2743 570.0 -116.8 - - 3485 - - - - - - - - 14.84 14.71 14.86
8112 638.5 -8.8 383 8125 roll -0.70 - - 2646 - 2.00 0.123 3829 543.0 -116.8 - - 3484 - - - - - - - - 14.99 14.66 14.99
8199 646.8 -9.5 395 8212 done -0.70 - - 2645 - 1.80 0.050 2747 -601.1 -116.8 - - 3483 - - - - - - - - 14.86 14.78 14.88
8567 679.0 -8.7 405 8580 roll -0.70 - - 2645 - 2.30 0.051 1373 -597.4 -116.8 - - 3483 - - - - - - - - 15.00 14.75 15.00
8619 683.7 -8.8 412 8634 done -0.70 0.12 0.243 2673 233.3 2.42 0.078 2748 568.2 -116.8 - - 3482 - - - - - - - - 14.59 14.71 14.79
8963 709.3 -7.5 419 8977 roll -0.70 - - 2673 - 2.35 0.052 1368 -587.2 -116.8 - - 3481 - - - - - - - - 14.99 14.74 14.99
9002 712.4 -8.1 424 9015 done -0.70 - - 2665 - 2.42 0.080 2746 569.4 -116.8 - - 3481 - - - - - - - - 14.83 14.69 14.85
9363 740.4 -7.9 433 9376 roll -0.70 - - 2665 - 2.35 0.051 1363 -588.5 -116.8 - - 3479 - - - - - - - - 14.98 14.74 14.97
9415 744.7 -7.9 440 9428 done -0.70 - - 2656 - 2.45 0.080 2744 563.7 -116.8 - - 3479 - - - - - - - - 14.82 14.69 14.84
9759 772.2 -8.2 447 9772 roll -0.70 - - 2656 - 2.35 0.051 1361 -588.5 -116.8 - - 3479 - - - - - - - - 14.99 14.73 14.99
9811 776.5 -8.2 454 9825 done -0.70 - - 2648 - 2.45 0.080 2743 564.1 -116.8 - - 3478 - - - - - - - - 14.83 14.69 14.84
10155 805.3 -8.4 461 10168 done -0.70 - - 2648 - - - 2743 - -116.8 - - 3478 - - - - - - - - 14.97 14.98 14.97
10491 832.1 -7.9 467 10504 roll -0.70 - - 2647 - 2.35 0.051 1368 -585.1 -116.8 - - 3477 - - - - - - - - 14.97 14.73 14.97
10529 835.2 -6.5 472 10543 done -0.70 0.10 0.256 2669 220.0 2.42 0.080 2743 568.2 -116.8 - - 3477 - - - - - - - - 14.56 14.68 14.78
10891 859.7 -6.6 481 10904 done -0.70 - - 2668 - - - 2743 - -116.8 - - 3477 - - - - - - - - 14.97 14.97 14.97
11227 881.7 -6.6 487 11240 roll -0.70 - - 2668 - 2.35 0.052 1366 -586.0 -116.8 - - 3474 - - - - - - - - 14.97 14.69 14.97
11314 887.7 -6.7 499 11327 done -0.70 - - 2660 - 2.42 0.080 2742 568.6 -116.8 - - 3474 - - - - - - - - 14.81 14.66 14.83
11683 914.2 -7.2 509 11696 roll -0.70 - - 2660 - 2.35 0.051 1361 -587.7 -116.8 - - 3474 - - - - - - - - 14.97 14.71 14.97
11728 917.8 -5.7 515 11741 done -0.70 - - 2652 - 2.42 0.080 2736 568.2 -116.8 - - 3473 - - - - - - - - 14.81 14.66 14.83
11913 end dive: TARGET_DEPTH_EXCEEDED
11913 begin apogee
11916 932.2 -7.7 520 12041 roll -0.23 0.57 0.194 2822 298.2 - - 2230 - - 114.25 1.987 3050 -3.7 0.329 - - - - - - 14.55 14.07 13.40
12042 end apogee: CONTROL_FINISHED_OK
12042 begin climb
12044 936.3 - 522 12185 roll 0.90 1.10 0.116 3169 315.5 2.47 0.062 849 -559.1 116.8 122.60 1.914 2580 -3.8 0.355 - - - - - - 14.07 14.09 13.28
12413 912.6 8.5 577 12428 done 0.76 - - 3169 - 2.47 0.063 2254 568.8 116.8 - - 2572 - - - - - - - - 14.45 14.35 14.47
12758 881.8 9.0 584 12771 roll 0.61 0.20 0.254 3119 -250.0 2.45 0.063 848 -573.9 116.8 - - 2570 - - - - - - - - 14.37 14.51 14.52
12986 865.1 9.0 616 12999 done 0.61 - - 3118 - 2.45 0.064 2260 576.3 116.8 - - 2569 - - - - - - - - 14.67 14.57 14.69
13326 839.0 7.9 629 13339 roll 0.61 - - 3118 - 2.55 0.114 3653 546.3 116.8 - - 2568 - - - - - - - - 14.85 14.55 14.85
13407 831.9 9.6 640 13420 done 0.49 0.25 0.244 3060 -232.0 2.38 0.046 2246 -591.2 116.8 - - 2568 - - - - - - - - 14.47 14.66 14.69
13726 812.0 6.1 650 13779 roll 0.54 - - 3060 - 2.75 0.111 3659 513.8 151.8 37.03 1.926 2438 -3.5 0.280 - - - - - - 14.88 14.33 13.74
13818 806.0 7.6 663 13831 done 0.54 - - 3070 - 2.42 0.048 2252 -581.4 154.9 - - 2435 - - - - - - - - 14.50 14.43 14.50
14179 781.2 6.8 672 14218 roll 0.56 - - 3070 - 2.72 0.116 3677 523.9 174.6 24.55 1.963 2347 -3.6 0.270 - - - - - - 14.78 14.33 13.79
14237 777.1 6.6 680 14276 done 0.59 - - 3080 - 2.47 0.048 2251 -577.3 198.7 26.05 1.900 2255 -3.5 0.273 - - - - - - 14.50 14.42 13.64
14631 747.8 7.4 694 14644 done 0.60 - - 3080 - - - 2251 - 206.5 2.80 1.157 2227 -10.0 1.223 - - - - - - 14.72 14.53 13.46
14967 723.1 7.3 700 14998 roll 0.61 - - 3080 - 2.72 0.115 3659 517.6 216.1 15.85 1.991 2187 -2.5 0.173 - - - - - - 14.82 14.42 13.83
15038 717.3 8.7 710 15051 done 0.61 - - 3088 - 2.40 0.047 2259 -583.3 216.1 - - 2181 - - - - - - - - 14.58 14.51 14.59
15364 691.5 7.9 721 15377 done 0.61 - - 3089 - - - 2253 - 216.1 - - 2180 - - - - - - - - 14.79 14.80 14.80
15700 664.1 8.2 727 15713 roll 0.61 - - 3089 - 2.60 0.115 3653 538.5 216.1 - - 2179 - - - - - - - - 14.85 14.56 14.85
15745 659.8 9.4 733 15758 done 0.61 - - 3097 - 2.38 0.047 2252 -588.7 216.1 - - 2179 - - - - - - - - 14.73 14.67 14.75
16099 631.1 8.0 741 16113 roll 0.61 - - 3098 - 2.60 0.114 3654 539.2 216.1 - - 2179 - - - - - - - - 14.88 14.59 14.89
16131 628.3 8.3 745 16145 done 0.61 - - 3106 - 2.35 0.047 2264 -591.5 216.1 - - 2178 - - - - - - - - 14.76 14.69 14.78
16500 598.6 7.9 755 16513 roll 0.61 - - 3104 - 2.60 0.114 3658 536.2 216.1 - - 2178 - - - - - - - - 14.90 14.62 14.90
16545 594.6 8.6 761 16559 done 0.61 - - 3117 - 2.35 0.047 2262 -594.0 216.1 - - 2178 - - - - - - - - 14.78 14.71 14.81
16899 566.5 7.9 769 16913 roll 0.61 - - 3126 - 2.42 0.069 847 -584.7 216.1 - - 2178 - - - - - - - - 14.92 14.66 14.92
16945 562.8 7.9 775 16958 done 0.61 - - 3126 - 2.42 0.065 2261 584.3 216.1 - - 2178 - - - - - - - - 14.78 14.68 14.81
17299 533.2 8.5 783 17312 roll 0.61 - - 3126 - 2.55 0.112 3664 550.2 216.1 - - 2178 - - - - - - - - 14.93 14.64 14.93
17365 526.9 9.7 792 17379 done 0.61 0.12 0.248 3102 -200.0 2.35 0.046 2264 -595.7 216.1 - - 2178 - - - - - - - - 14.56 14.73 14.77
17699 501.3 7.7 804 17712 roll 0.62 - - 3111 - 2.40 0.067 857 -586.2 217.7 - - 2178 - - - - - - - - 14.93 14.68 14.93
17737 498.2 7.6 809 17750 done 0.62 - - 3112 - 2.42 0.066 2270 583.9 220.7 - - 2178 - - - - - - - - 14.79 14.68 14.81
18098 468.8 8.2 818 18111 roll 0.62 - - 3113 - 2.55 0.115 3663 546.3 220.7 - - 2178 - - - - - - - - 14.93 14.62 14.94
18171 461.8 9.4 828 18184 done 0.62 - - 3121 - 2.35 0.046 2262 -596.2 220.7 - - 2178 - - - - - - - - 14.81 14.73 14.82
18497 434.3 8.4 839 18511 roll 0.62 - - 3130 - 2.42 0.068 847 -584.7 220.7 - - 2178 - - - - - - - - 14.93 14.68 14.93
18529 431.6 8.3 843 18542 done 0.62 0.10 0.228 3102 -280.0 2.45 0.065 2276 583.3 220.7 - - 2178 - - - - - - - - 14.58 14.68 14.76
18897 405.2 7.1 853 18929 roll 0.64 - - 3100 - 2.55 0.113 3657 541.6 234.7 18.80 1.625 2108 -3.7 0.176 - - - - - - 14.93 14.55 14.05
19004 401.3 -4.8 868 19310 done 0.97 0.25 0.071 3230 520.0 2.35 0.044 2261 -594.0 506.0 290.23 1.300 1034 -3.7 0.216 - - - - - - 14.64 14.63 13.50
19630 302.2 16.9 922 19644 roll 0.97 - - 3241 - 2.45 0.069 863 -570.6 506.0 - - 1016 - - - - - - - - 14.62 14.40 14.62
19718 287.7 15.6 934 19731 done 0.97 - - 3240 - 2.47 0.067 2268 568.8 506.0 - - 1015 - - - - - - - - 14.52 14.41 14.54
20086 222.5 18.0 944 20099 done 0.97 - - 3242 - - - 2268 - 506.0 - - 1014 - - - - - - - - 14.78 14.79 14.78
20422 160.8 18.4 950 20435 roll 0.97 - - 3251 - 2.45 0.071 862 -573.9 506.0 - - 1013 - - - - - - - - 14.85 14.59 14.85
20467 152.4 18.2 956 20480 done 0.97 0.12 0.232 3214 -308.3 2.42 0.067 2270 581.8 506.0 - - 1013 - - - - - - - - 14.52 14.61 14.73
20822 96.8 15.5 964 20834 done 0.97 - - 3214 - - - 2270 - 506.0 - - 1013 - - - - - - - - 14.88 14.88 14.87
21129 62.6 8.3 975 21143 roll 1.08 0.05 0.219 3267 1060.0 2.53 0.110 3659 549.0 506.0 - - 1013 - - - - - - - - 14.67 14.61 14.75
21196 55.1 11.4 984 21209 done 1.08 - - 3274 - 2.33 0.045 2269 -596.6 506.0 - - 1011 - - - - - - - - 14.77 14.69 14.78
21530 27.1 7.4 998 21543 roll 1.19 - - 3283 - 2.42 0.069 855 -584.3 512.9 - - 1011 - - - - - - - - 14.90 14.66 14.90
21632 19.8 7.6 1012 21645 done 1.32 0.08 0.150 3341 725.0 2.40 0.062 2271 590.0 515.3 1.52 0.212 998 -8.6 0.151 - - - - - - 14.70 14.66 14.57
21806 end climb: SURFACE_DEPTH_REACHED
21806 begin surface coast
21835 end surface coast: CONTROL_FINISHED_OK
21835 begin surface
SM -1.03 - - - - -8.40 8.95 0.057 185 20.6 0.88 0.104 2761 -9851.1 512.95 - - 1008 - - - - - - - -