SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 99 * Raw log
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• Previous call tries 1 • 42.52 of 350.00 AH used of 24V (87.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -1.05 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 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 - - - 97 done -0.90 - - 172 - - - 2790 - -116.8 -76.72 - 3513 - - - - - - - - 14.70 13.48 14.70
99 0.5 -4.5 2 121 roll -0.90 11.35 0.393 2601 214.0 2.38 0.032 1340 -609.2 -116.8 - - 3515 - - - - - - - - 14.28 14.52 14.54
139 27.4 -41.5 9 150 done -0.23 0.85 0.259 2818 255.3 2.55 0.079 2762 557.6 -116.8 - - 3517 - - - - - - - - 14.34 14.45 14.50
455 61.5 -8.5 21 464 roll -0.23 - - 2805 - 1.98 0.114 3821 534.8 -116.8 - - 3517 - - - - - - - - 14.83 14.54 14.80
503 65.4 -7.5 28 512 done -0.37 - - 2810 - 1.77 0.043 2756 -601.7 -116.8 - - 3517 - - - - - - - - 14.71 14.67 14.72
819 85.4 -5.3 40 826 roll -0.52 0.17 0.084 2709 -594.1 1.98 0.112 3822 538.4 -116.8 - - 3518 - - - - - - - - 14.70 14.59 14.75
874 90.2 -8.9 48 882 done -0.52 - - 2709 - 1.73 0.041 2759 -614.5 -116.8 - - 3518 - - - - - - - - 14.74 14.73 14.76
1211 113.5 -7.1 60 1218 roll -0.52 - - 2701 - 2.00 0.111 3829 535.0 -116.8 - - 3519 - - - - - - - - 14.91 14.64 14.92
1448 132.3 -7.8 94 1456 done -0.52 0.08 0.243 2725 300.0 1.73 0.042 2791 -600.0 -116.8 - - 3518 - - - - - - - - 14.60 14.79 14.75
1771 155.4 -7.1 105 1779 roll -0.52 - - 2717 - 1.92 0.113 3820 535.9 -116.8 - - 3517 - - - - - - - - 14.94 14.64 14.93
1854 161.4 -7.2 117 1863 done -0.52 - - 2717 - 1.73 0.042 2775 -604.0 -116.8 - - 3517 - - - - - - - - 14.83 14.78 14.84
2219 185.8 -6.7 127 2226 roll -0.52 - - 2712 - 2.33 0.046 1394 -592.7 -116.8 - - 3514 - - - - - - - - 14.95 14.71 14.95
2302 191.5 -6.8 139 2310 done -0.52 - - 2708 - 2.47 0.073 2794 566.8 -116.8 - - 3513 - - - - - - - - 14.77 14.69 14.78
2667 216.0 -6.6 149 2675 roll -0.52 - - 2701 - 1.92 0.116 3830 539.6 -116.8 - - 3511 - - - - - - - - 14.95 14.66 14.95
2723 220.0 -7.3 157 2731 done -0.52 0.08 0.200 2724 287.5 1.70 0.046 2813 -598.2 -116.8 - - 3510 - - - - - - - - 14.62 14.77 14.73
3059 241.3 -6.4 170 3066 roll -0.61 - - 2724 - 2.45 0.045 1361 -592.7 -116.8 - - 3505 - - - - - - - - 14.95 14.71 14.95
3163 248.3 -6.7 185 3173 done -0.71 0.08 0.090 2656 -850.0 2.53 0.073 2784 562.5 -116.8 - - 3507 - - - - - - - - 14.73 14.67 14.78
3507 281.0 -9.8 192 3520 roll -0.71 - - 2641 - 1.90 0.118 3824 547.4 -116.8 - - 3504 - - - - - - - - 14.97 14.70 14.98
3552 285.7 -10.6 198 3565 done -0.71 0.05 0.186 2670 580.0 1.73 0.047 2794 -595.4 -116.8 - - 3504 - - - - - - - - 14.64 14.81 14.82
3906 317.5 -8.9 206 3919 roll -0.71 - - 2662 - 1.90 0.119 3825 542.6 -116.8 - - 3501 - - - - - - - - 15.00 14.71 15.00
3958 322.5 -9.3 213 3973 done -0.71 - - 2662 - 1.73 0.049 2779 -604.6 -116.8 - - 3501 - - - - - - - - 14.88 14.83 14.89
4302 352.9 -8.9 220 4315 roll -0.71 - - 2662 - 2.33 0.046 1371 -604.3 -116.8 - - 3499 - - - - - - - - 15.00 14.79 15.01
4369 358.8 -8.7 229 4382 done -0.71 - - 2652 - 2.45 0.072 2789 578.8 -116.8 - - 3499 - - - - - - - - 14.87 14.75 14.88
4702 387.8 -8.7 241 4715 done -0.71 - - 2652 - - - 2789 - -116.8 - - 3497 - - - - - - - - 15.01 15.01 15.02
5038 415.6 -8.3 247 5051 done -0.71 - - 2652 - - - 2789 - -116.8 - - 3495 - - - - - - - - 15.01 15.01 15.02
5374 444.2 -8.6 253 5387 roll -0.71 - - 2651 - 2.40 0.048 1367 -592.5 -116.8 - - 3493 - - - - - - - - 15.02 14.79 15.02
5447 450.7 -8.8 263 5460 done -0.71 - - 2642 - 2.45 0.074 2789 580.4 -116.8 - - 3492 - - - - - - - - 14.88 14.76 14.89
5774 481.9 -9.7 274 5787 roll -0.71 - - 2633 - 1.88 0.119 3824 550.5 -116.8 - - 3491 - - - - - - - - 15.01 14.71 15.01
5861 491.2 -10.6 286 5874 done -0.71 0.10 0.249 2664 310.0 1.70 0.050 2781 -613.5 -116.8 - - 3490 - - - - - - - - 14.64 14.84 14.83
6229 524.4 -9.0 296 6242 done -0.71 - - 2664 - - - 2780 - -116.8 - - 3489 - - - - - - - - 15.02 15.02 15.02
6565 552.6 -8.3 302 6579 roll -0.71 - - 2664 - 2.35 0.050 1362 -603.4 -116.8 - - 3487 - - - - - - - - 15.01 14.79 15.02
6646 559.2 -7.9 313 6659 done -0.71 - - 2654 - 2.47 0.075 2792 578.9 -116.8 - - 3485 - - - - - - - - 14.88 14.74 14.88
6965 584.8 -8.1 323 6978 roll -0.71 - - 2646 - 1.88 0.120 3826 550.0 -116.8 - - 3485 - - - - - - - - 15.01 14.70 15.00
6996 587.5 -8.4 327 7009 done -0.71 - - 2646 - 1.70 0.051 2789 -610.0 -116.8 - - 3485 - - - - - - - - 14.89 14.83 14.90
7364 619.0 -8.7 337 7377 roll -0.71 - - 2646 - 2.35 0.048 1369 -604.3 -116.8 - - 3484 - - - - - - - - 15.01 14.77 15.02
7424 624.4 -8.9 345 7438 done -0.71 0.10 0.254 2666 200.0 2.47 0.073 2787 574.1 -116.8 - - 3484 - - - - - - - - 14.62 14.73 14.81
7765 650.2 -7.5 358 7778 done -0.71 - - 2666 - - - 2787 - -116.8 - - 3482 - - - - - - - - 15.00 15.00 15.00
8101 674.2 -7.0 364 8114 roll -0.71 - - 2666 - 2.40 0.049 1360 -594.6 -116.8 - - 3481 - - - - - - - - 15.00 14.76 15.00
8153 678.0 -6.9 371 8167 done -0.71 - - 2656 - 2.50 0.076 2784 569.6 -116.8 - - 3481 - - - - - - - - 14.85 14.71 14.86
8498 701.3 -6.8 378 8511 roll -0.71 - - 2656 - 2.40 0.049 1357 -594.6 -116.8 - - 3479 - - - - - - - - 15.00 14.76 15.00
8543 704.5 -6.9 384 8556 done -0.71 - - 2648 - 2.50 0.076 2787 572.0 -116.8 - - 3479 - - - - - - - - 14.82 14.69 14.83
8897 729.5 -7.1 392 8911 roll -0.71 - - 2639 - 1.90 0.122 3824 545.8 -116.8 - - 3478 - - - - - - - - 15.01 14.67 14.99
8936 732.5 -8.4 397 8949 done -0.71 0.10 0.243 2669 300.0 1.73 0.053 2782 -602.3 -116.8 - - 3478 - - - - - - - - 14.61 14.82 14.81
9298 757.7 -7.1 406 9311 roll -0.71 - - 2670 - 2.38 0.050 1360 -597.5 -116.8 - - 3477 - - - - - - - - 14.99 14.76 14.99
9371 763.4 -7.7 416 9384 done -0.71 - - 2661 - 2.50 0.077 2787 570.8 -116.8 - - 3477 - - - - - - - - 14.83 14.69 14.85
9697 789.5 -8.1 427 9710 done -0.71 - - 2661 - - - 2787 - -116.8 - - 3475 - - - - - - - - 14.98 14.98 14.99
10033 817.2 -8.3 433 10046 done -0.71 - - 2661 - - - 2786 - -116.8 - - 3474 - - - - - - - - 15.00 15.00 15.00
10369 843.8 -7.8 439 10382 roll -0.71 - - 2653 - 1.92 0.125 3824 540.6 -116.8 - - 3473 - - - - - - - - 14.99 14.65 14.99
10414 847.5 -6.9 445 10428 done -0.71 - - 2652 - 1.77 0.055 2761 -600.6 -116.8 - - 3473 - - - - - - - - 14.83 14.76 14.84
10769 874.7 -7.7 453 10782 roll -0.71 - - 2653 - 2.35 0.050 1356 -597.9 -116.8 - - 3471 - - - - - - - - 14.97 14.73 14.97
10800 877.2 -8.2 457 10814 done -0.71 - - 2644 - 2.50 0.076 2781 570.0 -116.8 - - 3471 - - - - - - - - 14.82 14.68 14.84
11169 905.5 -7.6 467 11182 roll -0.71 - - 2636 - 1.92 0.122 3829 545.8 -116.8 - - 3470 - - - - - - - - 14.97 14.62 14.97
11285 914.3 -8.0 483 11299 done -0.71 0.10 0.245 2665 290.0 1.77 0.052 2766 -600.6 -116.8 - - 3471 - - - - - - - - 14.54 14.78 14.76
11512 end dive: TARGET_DEPTH_EXCEEDED
11512 begin apogee
11517 930.0 -6.9 494 11640 roll -0.23 0.52 0.185 2822 301.9 - - 2232 - - 113.72 1.972 3049 -3.7 0.330 - - - - - - 14.57 14.07 13.42
11642 end apogee: CONTROL_FINISHED_OK
11642 begin climb
11643 933.8 - 496 11786 roll 0.90 1.10 0.114 3171 317.3 2.47 0.059 844 -561.9 116.8 121.85 1.911 2578 -3.9 0.356 - - - - - - 14.09 14.11 13.31
12014 908.8 8.7 551 12028 done 0.76 - - 3171 - 2.47 0.057 2261 573.7 116.8 - - 2572 - - - - - - - - 14.46 14.36 14.47
12358 878.4 8.8 558 12372 roll 0.61 0.22 0.246 3103 -309.1 2.55 0.104 3661 549.0 116.8 - - 2571 - - - - - - - - 14.38 14.47 14.54
12600 860.0 7.4 592 12620 done 0.52 0.15 0.250 3072 -206.7 2.40 0.045 2230 -596.2 125.4 3.30 1.471 2553 -5.5 0.602 - - - - - - 14.45 14.63 13.52
12927 841.7 5.7 603 12993 roll 0.58 - - 3072 - 2.70 0.104 3658 528.9 169.4 54.22 1.894 2370 -3.4 0.283 - - - - - - 14.85 14.19 13.62
13025 835.2 7.8 617 13039 done 0.58 - - 3081 - 2.42 0.045 2251 -581.4 169.4 - - 2366 - - - - - - - - 14.40 14.33 14.41
13380 809.7 7.2 625 13399 done 0.59 - - 3077 - - - 2251 - 180.3 10.15 2.115 2331 -3.4 0.249 - - - - - - 14.74 14.50 13.80
13716 784.2 7.8 631 13729 roll 0.59 - - 3081 - 2.60 0.109 3657 540.8 180.3 - - 2324 - - - - - - - - 14.78 14.51 14.78
13761 780.4 8.5 637 13775 done 0.59 - - 3091 - 2.40 0.046 2236 -592.1 180.3 - - 2324 - - - - - - - - 14.69 14.62 14.70
14116 750.9 8.4 645 14129 done 0.59 - - 3091 - - - 2233 - 180.3 - - 2322 - - - - - - - - 14.85 14.88 14.85
14452 722.3 8.5 651 14465 roll 0.59 - - 3091 - 2.62 0.109 3655 542.7 180.3 - - 2322 - - - - - - - - 14.88 14.60 14.89
14525 715.2 9.7 661 14539 done 0.59 - - 3100 - 2.38 0.046 2241 -594.1 180.3 - - 2322 - - - - - - - - 14.76 14.70 14.78
14852 687.9 8.3 672 14865 roll 0.59 - - 3101 - 2.60 0.108 3658 545.0 180.3 - - 2321 - - - - - - - - 14.91 14.62 14.91
14890 684.5 8.5 677 14904 done 0.59 - - 3111 - 2.35 0.046 2255 -597.0 180.3 - - 2323 - - - - - - - - 14.78 14.70 14.78
15252 656.7 7.6 686 15265 roll 0.60 - - 3121 - 2.40 0.065 851 -585.0 184.5 - - 2322 - - - - - - - - 14.91 14.67 14.92
15290 653.8 6.9 691 15329 done 0.62 - - 3121 - 2.38 0.060 2254 589.5 203.1 23.95 1.849 2236 -3.6 0.240 - - - - - - 14.78 14.68 13.92
15650 625.3 8.0 707 15664 roll 0.62 - - 3121 - 2.58 0.111 3656 543.4 203.1 - - 2232 - - - - - - - - 14.81 14.53 14.81
15711 619.6 9.8 715 15724 done 0.62 - - 3130 - 2.38 0.045 2253 -589.5 203.1 - - 2232 - - - - - - - - 14.71 14.64 14.71
16051 587.9 9.6 728 16064 done 0.62 0.10 0.261 3104 -260.0 - - 2248 - 203.1 - - 2231 - - - - - - - - 14.51 14.73 14.71
16387 557.9 9.0 734 16400 roll 0.62 - - 3103 - 2.55 0.106 3654 551.4 203.1 - - 2231 - - - - - - - - 14.88 14.57 14.90
16425 554.1 9.9 739 16438 done 0.62 - - 3112 - 2.35 0.046 2251 -597.0 203.1 - - 2231 - - - - - - - - 14.78 14.71 14.78
16786 521.4 9.0 748 16799 done 0.62 - - 3113 - - - 2247 - 203.1 - - 2231 - - - - - - - - 14.92 14.92 14.92
17122 492.2 8.6 754 17135 roll 0.62 - - 3112 - 2.58 0.106 3654 545.3 203.1 - - 2231 - - - - - - - - 14.91 14.63 14.92
17154 489.1 9.4 758 17167 done 0.62 - - 3122 - 2.35 0.047 2258 -594.0 203.1 - - 2231 - - - - - - - - 14.81 14.73 14.82
17522 458.3 8.2 768 17535 roll 0.62 - - 3122 - 2.55 0.105 3649 545.5 203.1 - - 2231 - - - - - - - - 14.92 14.64 14.92
17567 454.2 9.1 774 17581 done 0.62 0.10 0.252 3104 -180.0 2.35 0.046 2249 -595.7 203.1 - - 2231 - - - - - - - - 14.56 14.73 14.77
17922 429.0 7.0 782 17947 done 0.64 - - 3104 - - - 2244 - 219.2 16.38 1.670 2177 -3.3 0.160 - - - - - - 14.93 14.66 14.07
18258 405.9 6.9 788 18287 done 0.66 - - 3102 - - - 2243 - 238.6 20.05 1.624 2100 -3.8 0.181 - - - - - - 14.86 14.55 13.97
18594 381.6 7.3 794 18618 roll 0.68 - - 3104 - 2.67 0.106 3653 528.1 248.6 8.52 1.733 2058 -4.9 0.205 - - - - - - 14.81 14.50 13.96
18643 377.5 8.4 801 18658 done 0.68 - - 3110 - 2.38 0.044 2256 -587.0 248.6 - - 2058 - - - - - - - - 14.64 14.58 14.65
18987 349.4 8.3 808 19000 roll 0.68 - - 3122 - 2.40 0.065 856 -583.3 248.6 - - 2057 - - - - - - - - 14.83 14.57 14.83
19026 345.8 9.1 813 19039 done 0.68 - - 3121 - 2.40 0.059 2263 586.2 248.6 - - 2056 - - - - - - - - 14.71 14.61 14.73
19387 311.5 9.6 822 19400 roll 0.68 - - 3122 - 2.53 0.107 3655 550.2 248.6 - - 2055 - - - - - - - - 14.88 14.58 14.88
19439 306.0 10.6 829 19454 done 0.68 - - 3137 - 2.35 0.045 2259 -594.0 248.6 - - 2054 - - - - - - - - 14.76 14.69 14.77
19784 273.1 9.5 836 19797 roll 0.68 - - 3131 - 2.58 0.107 3659 542.6 248.6 - - 2056 - - - - - - - - 14.91 14.62 14.91
19815 269.8 10.3 840 19828 done 0.68 - - 3141 - 2.33 0.044 2266 -597.9 248.6 - - 2059 - - - - - - - - 14.78 14.71 14.80
20183 236.1 8.9 850 20196 roll 0.68 - - 3151 - 2.40 0.064 847 -591.2 248.6 - - 2056 - - - - - - - - 14.92 14.67 14.92
20228 232.1 8.5 856 20241 done 0.68 0.10 0.236 3121 -300.0 2.42 0.059 2277 590.9 248.6 - - 2056 - - - - - - - - 14.57 14.67 14.75
20582 204.6 7.8 864 20596 roll 0.68 - - 3121 - 2.50 0.106 3662 554.0 248.6 - - 2056 - - - - - - - - 14.92 14.64 14.92
20628 200.6 9.0 870 20641 done 0.68 - - 3128 - 2.33 0.044 2260 -601.7 248.6 - - 2055 - - - - - - - - 14.78 14.72 14.79
20982 170.6 8.6 878 20995 roll 0.68 - - 3140 - 2.35 0.063 864 -594.0 248.6 - - 2056 - - - - - - - - 14.93 14.66 14.93
21048 164.8 8.6 887 21061 done 0.68 - - 3140 - 2.38 0.057 2271 591.2 248.6 - - 2056 - - - - - - - - 14.80 14.69 14.81
21381 136.3 8.5 899 21394 roll 0.68 - - 3139 - 2.50 0.107 3657 554.4 248.6 - - 2056 - - - - - - - - 14.94 14.64 14.95
21426 132.0 9.7 905 21440 done 0.68 - - 3149 - 2.30 0.043 2265 -605.2 248.6 - - 2057 - - - - - - - - 14.82 14.76 14.83
21781 102.2 7.9 913 21795 roll 0.68 0.08 0.271 3131 -225.0 2.38 0.060 852 -593.7 248.6 - - 2056 - - - - - - - - 14.57 14.69 14.70
21806 100.4 7.6 916 21819 done 0.68 - - 3131 - 2.38 0.056 2267 594.5 251.9 1.48 0.326 2046 -6.8 0.393 - - - - - - 14.81 14.71 14.31
22126 81.5 5.1 931 22166 roll 0.84 0.08 0.147 3213 1025.0 2.47 0.060 858 -570.4 308.5 27.95 0.422 1819 -8.1 0.296 - - - - - - 14.74 14.64 14.36
22227 74.7 7.2 945 22247 done 0.86 0.12 0.217 3176 -308.3 2.40 0.055 2283 593.8 320.2 5.70 0.381 1777 -7.4 0.273 - - - - - - 14.52 14.63 14.35
22575 54.8 5.3 961 22615 roll 1.03 0.08 0.146 3244 850.0 2.47 0.100 3660 557.5 373.2 25.88 0.337 1563 -8.3 0.254 - - - - - - 14.71 14.57 14.39
22759 40.4 8.0 987 22772 done 1.03 - - 3253 - 2.30 0.042 2275 -602.2 373.2 - - 1563 - - - - - - - - 14.75 14.69 14.78
23086 25.9 3.5 1000 23146 roll 1.24 0.08 0.148 3336 1037.5 2.45 0.060 862 -576.7 465.8 43.20 0.243 1194 -8.5 0.172 - - - - - - 14.70 14.61 14.45
23332 4.7 9.2 1035 23346 done 1.24 0.12 0.206 3298 -316.7 2.42 0.054 2299 593.8 465.8 - - 1192 - - - - - - - - 14.54 14.62 14.70
23367 end climb: SURFACE_DEPTH_REACHED
23367 begin surface coast
23395 end surface coast: CONTROL_FINISHED_OK
23395 begin surface
SM -1.23 - - - - -8.38 9.05 0.080 199 22.0 0.80 0.083 2764 -2952.5 500.14 15.23 0.165 1057 69.4 0.053 - - - - - -