SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 59 * Raw log
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• Previous call tries 1 • 26.87 of 350.00 AH used of 24V (92.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.3 deg, depth -1.90 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 36 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 124 done -0.82 - - 167 - - - 2768 - -146.0 -101.62 - 3635 - - - - - - - - 14.64 13.78 14.64
125 8.9 -12.6 5 147 roll -0.82 11.60 0.401 2619 211.4 2.33 0.037 1338 -613.7 -146.0 - - 3636 - - - - - - - - 14.24 14.47 14.47
150 26.8 -60.5 9 159 done -0.09 0.93 0.268 2857 255.9 2.62 0.078 2772 547.3 -146.0 - - 3635 - - - - - - - - 14.31 14.41 14.48
481 62.4 -7.1 26 488 roll -0.16 - - 2849 - 1.98 0.119 3831 534.8 -146.0 - - 3643 - - - - - - - - 14.78 14.53 14.79
564 67.8 -5.5 38 573 done -0.27 0.05 0.136 2810 -780.0 1.80 0.050 2769 -590.0 -146.0 - - 3637 - - - - - - - - 14.59 14.64 14.66
901 83.2 -3.2 56 908 roll -0.35 - - 2810 - 2.30 0.044 1365 -610.4 -146.0 - - 3638 - - - - - - - - 14.87 14.67 14.87
1012 88.7 -4.0 72 1021 done -0.44 0.08 0.098 2748 -775.0 2.45 0.070 2764 571.0 -146.0 - - 3639 - - - - - - - - 14.69 14.64 14.71
1356 108.7 -5.4 87 1365 roll -0.44 - - 2742 - 1.95 0.116 3822 542.6 -146.0 - - 3639 - - - - - - - - 14.89 14.66 14.90
1481 117.1 -6.7 105 1489 done -0.44 - - 2741 - 1.80 0.047 2751 -595.0 -146.0 - - 3639 - - - - - - - - 14.81 14.76 14.82
1811 137.0 -5.3 116 1814 done -0.44 - - 2741 - - - 2751 - -146.0 - - 3638 - - - - - - - - 14.93 14.94 14.96
2125 156.4 -6.0 125 2133 roll -0.44 - - 2742 - 2.30 0.045 1375 -598.3 -146.0 - - 3636 - - - - - - - - 14.94 14.73 14.94
2209 162.0 -6.7 137 2217 done -0.49 - - 2735 - 2.42 0.071 2762 573.1 -146.0 - - 3635 - - - - - - - - 14.78 14.71 14.80
2546 181.7 -5.7 149 2548 done -0.49 - - 2735 - - - 2762 - -146.0 - - 3634 - - - - - - - - 14.95 14.95 14.95
2860 201.2 -6.4 158 2868 roll -0.49 - - 2735 - 2.35 0.045 1376 -589.8 -146.0 - - 3632 - - - - - - - - 14.95 14.79 14.96
2916 204.8 -6.6 166 2924 done -0.54 - - 2727 - 2.47 0.074 2777 567.2 -146.0 - - 3632 - - - - - - - - 14.79 14.72 14.81
3245 225.4 -6.0 177 3253 roll -0.54 - - 2720 - 1.92 0.119 3815 540.6 -146.0 - - 3629 - - - - - - - - 14.97 14.71 14.97
3294 228.5 -6.3 184 3302 done -0.54 - - 2721 - 1.77 0.050 2769 -591.0 -146.0 - - 3629 - - - - - - - - 14.86 14.82 14.87
3631 248.3 -6.1 196 3638 roll -0.54 - - 2721 - 2.35 0.047 1369 -595.7 -146.0 - - 3626 - - - - - - - - 14.98 14.77 14.97
3700 253.0 -7.0 206 3714 done -0.54 - - 2711 - 2.45 0.077 2774 573.5 -146.0 - - 3626 - - - - - - - - 14.85 14.75 14.87
4054 277.7 -7.0 220 4067 done -0.54 - - 2711 - - - 2774 - -146.0 - - 3624 - - - - - - - - 15.02 15.00 15.00
4369 299.9 -7.1 229 4383 roll -0.54 - - 2711 - 2.35 0.048 1371 -597.0 -146.0 - - 3622 - - - - - - - - 15.00 14.81 15.00
4414 303.5 -7.7 235 4428 done -0.54 - - 2702 - 2.42 0.078 2763 575.2 -146.0 - - 3621 - - - - - - - - 14.86 14.76 14.88
4762 332.1 -8.4 248 4775 done -0.54 - - 2702 - - - 2763 - -146.0 - - 3620 - - - - - - - - 15.00 15.01 15.00
5077 358.3 -8.1 257 5090 roll -0.54 - - 2702 - 2.33 0.048 1370 -597.9 -146.0 - - 3618 - - - - - - - - 15.01 14.83 15.02
5164 365.3 -7.8 269 5177 done -0.54 0.10 0.247 2723 210.0 2.42 0.077 2764 576.0 -146.0 - - 3622 - - - - - - - - 14.72 14.78 14.86
5504 386.9 -6.1 281 5517 roll -0.54 - - 2723 - 2.33 0.047 1370 -598.3 -146.0 - - 3614 - - - - - - - - 15.00 14.81 15.01
5535 388.8 -6.1 285 5549 done -0.54 - - 2715 - 2.42 0.077 2758 573.6 -146.0 - - 3615 - - - - - - - - 14.88 14.76 14.90
5858 407.4 -5.6 295 5871 done -0.54 - - 2714 - - - 2763 - -146.0 - - 3615 - - - - - - - - 15.02 15.02 15.02
6173 425.6 -5.7 304 6186 roll -0.54 - - 2717 - 2.33 0.048 1367 -599.1 -146.0 - - 3614 - - - - - - - - 15.02 14.82 15.02
6212 427.9 -6.3 309 6225 done -0.54 - - 2706 - 2.42 0.077 2763 576.9 -146.0 - - 3614 - - - - - - - - 14.89 14.77 14.90
6566 450.6 -6.4 323 6579 done -0.54 - - 2705 - - - 2763 - -146.0 - - 3609 - - - - - - - - 15.01 15.02 15.02
6881 472.6 -7.1 332 6894 done -0.54 - - 2705 - - - 2763 - -146.0 - - 3610 - - - - - - - - 15.02 15.02 15.01
7196 495.8 -7.4 341 7209 roll -0.54 - - 2705 - 2.33 0.049 1371 -597.4 -146.0 - - 3610 - - - - - - - - 15.02 14.82 15.02
7262 500.9 -7.4 350 7276 done -0.54 0.08 0.267 2720 187.5 2.42 0.079 2757 572.7 -146.0 - - 3609 - - - - - - - - 14.71 14.77 14.87
7585 521.6 -6.3 360 7598 roll -0.54 - - 2712 - 1.95 0.126 3826 548.2 -146.0 - - 3609 - - - - - - - - 15.02 14.75 15.02
7624 524.1 -6.9 365 7637 done -0.54 - - 2712 - 1.77 0.054 2756 -604.5 -146.0 - - 3608 - - - - - - - - 14.90 14.85 14.91
7978 546.1 -6.1 379 7991 roll -0.54 - - 2712 - 2.30 0.050 1366 -604.3 -146.0 - - 3607 - - - - - - - - 15.05 14.81 15.02
8058 551.1 -6.2 390 8071 done -0.54 - - 2703 - 2.42 0.080 2754 573.6 -146.0 - - 3607 - - - - - - - - 14.88 14.77 14.90
8405 572.6 -6.2 403 8418 done -0.54 - - 2703 - - - 2753 - -146.0 - - 3604 - - - - - - - - 15.02 15.02 15.02
8720 592.5 -6.4 412 8733 done -0.54 - - 2703 - - - 2754 - -146.0 - - 3604 - - - - - - - - 15.01 15.01 15.01
9035 612.2 -6.2 421 9048 roll -0.54 - - 2699 - 2.35 0.051 1357 -594.5 -146.0 - - 3603 - - - - - - - - 15.02 14.81 15.01
9087 615.6 -6.5 428 9101 done -0.54 0.10 0.246 2724 250.0 2.45 0.080 2760 572.7 -146.0 - - 3603 - - - - - - - - 14.71 14.76 14.86
9428 633.2 -5.1 440 9441 done -0.59 - - 2724 - - - 2760 - -146.0 - - 3602 - - - - - - - - 15.00 15.00 15.00
9743 650.5 -5.5 449 9756 roll -0.65 0.05 0.216 2677 -940.0 2.33 0.047 1367 -597.9 -146.0 - - 3601 - - - - - - - - 14.79 14.81 14.86
9817 655.8 -7.6 459 9830 done -0.65 - - 2667 - 2.42 0.080 2755 573.6 -146.0 - - 3601 - - - - - - - - 14.87 14.76 14.89
10171 683.4 -7.8 473 10184 done -0.65 - - 2668 - - - 2755 - -146.0 - - 3600 - - - - - - - - 15.00 15.00 15.01
10486 707.7 -7.7 482 10499 roll -0.65 - - 2665 - 2.35 0.052 1361 -593.2 -146.0 - - 3599 - - - - - - - - 15.00 14.80 15.00
10531 711.5 -8.3 488 10545 done -0.65 0.10 0.250 2688 230.0 2.45 0.083 2757 569.8 -146.0 - - 3599 - - - - - - - - 14.70 14.73 14.85
10879 736.0 -7.0 501 10893 roll -0.65 - - 2679 - 1.98 0.130 3829 541.4 -146.0 - - 3598 - - - - - - - - 15.00 14.71 15.00
10931 739.9 -7.7 508 10945 done -0.65 - - 2679 - 1.80 0.056 2746 -601.7 -146.0 - - 3598 - - - - - - - - 14.88 14.83 14.90
11271 764.7 -7.4 520 11285 roll -0.65 - - 2679 - 2.30 0.052 1367 -599.6 -146.0 - - 3597 - - - - - - - - 14.99 14.78 15.00
11311 767.7 -8.0 525 11324 done -0.65 - - 2670 - 2.42 0.080 2746 569.8 -146.0 - - 3597 - - - - - - - - 14.86 14.75 14.88
11665 795.7 -8.1 539 11678 roll -0.65 - - 2670 - 2.33 0.052 1367 -591.8 -146.0 - - 3596 - - - - - - - - 14.99 14.78 14.99
11704 799.2 -9.2 544 11717 done -0.65 - - 2661 - 2.42 0.081 2751 571.9 -146.0 - - 3596 - - - - - - - - 14.83 14.74 14.87
12058 828.7 -8.6 558 12071 roll -0.65 - - 2653 - 1.98 0.130 3825 542.4 -146.0 - - 3596 - - - - - - - - 14.98 14.70 14.98
12117 834.1 -8.9 566 12130 done -0.65 0.12 0.243 2689 300.0 1.80 0.055 2736 -605.0 -146.0 - - 3595 - - - - - - - - 14.66 14.82 14.83
12450 858.3 -7.1 577 12463 roll -0.65 - - 2689 - 2.28 0.051 1369 -599.6 -146.0 - - 3594 - - - - - - - - 14.98 14.78 14.98
12481 860.6 -6.8 581 12495 done -0.65 - - 2681 - 2.42 0.080 2746 569.0 -146.0 - - 3593 - - - - - - - - 14.85 14.73 14.86
12804 884.1 -7.3 591 12818 roll -0.65 - - 2673 - 2.00 0.130 3832 543.0 -146.0 - - 3593 - - - - - - - - 14.97 14.69 14.98
12836 886.3 -6.2 595 12851 done -0.65 - - 2672 - 1.83 0.054 2744 -594.5 -146.0 - - 3591 - - - - - - - - 14.86 14.81 14.88
13159 909.0 -7.0 605 13172 roll -0.65 - - 2673 - 2.30 0.052 1363 -600.4 -146.0 - - 3593 - - - - - - - - 14.98 14.77 14.98
13198 911.7 -4.6 610 13211 done -0.65 - - 2665 - 2.42 0.080 2745 571.1 -146.0 - - 3592 - - - - - - - - 14.85 14.73 14.85
13481 end dive: TARGET_DEPTH_EXCEEDED
13481 begin apogee
13484 932.2 -7.0 622 13628 roll -0.23 0.52 0.191 2822 301.9 - - 2279 - - 128.88 2.709 3050 -4.2 0.282 - - - - 1 - 14.67 13.85 12.91
13630 end apogee: CONTROL_FINISHED_OK
13630 begin climb
13631 936.3 - 626 13815 roll 0.82 1.02 0.118 3144 315.7 2.50 0.060 897 -552.8 146.0 165.30 1.892 2460 -3.6 0.344 - - - - - - 13.93 13.95 13.25
13988 911.3 9.2 678 14001 done 0.75 - - 3144 - 2.47 0.064 2298 567.2 146.0 - - 2449 - - - - - - - - 14.36 14.27 14.39
14328 878.3 9.7 690 14341 roll 0.66 - - 3147 - 2.42 0.063 896 -579.3 146.0 - - 2448 - - - - - - - - 14.70 14.50 14.71
14555 857.1 9.1 722 14568 done 0.58 0.22 0.239 3092 -250.0 2.40 0.064 2290 580.8 146.0 - - 2447 - - - - - - - - 14.47 14.56 14.63
14895 832.5 7.0 734 14928 roll 0.60 - - 3092 - 2.62 0.118 3694 535.9 166.7 19.35 2.044 2380 -3.5 0.274 - - - - - - 14.84 14.40 13.83
14968 827.0 8.7 744 14981 done 0.55 - - 3102 - 2.40 0.049 2291 -584.6 166.7 - - 2375 - - - - - - - - 14.57 14.51 14.58
15321 800.9 7.4 758 15335 done 0.56 - - 3101 - - - 2289 - 175.4 2.67 0.948 2349 -9.7 1.601 - - - - - - 14.80 14.60 13.59
15637 778.0 7.4 767 15668 roll 0.57 - - 3111 - 2.47 0.068 899 -562.8 184.1 16.00 2.068 2308 -2.6 0.188 - - - - - - 14.85 14.48 13.85
15700 773.2 7.8 776 15714 done 0.57 - - 3111 - 2.42 0.066 2288 574.0 184.1 - - 2305 - - - - - - - - 14.59 14.50 14.61
16023 747.1 8.2 786 16036 roll 0.57 - - 3111 - 2.60 0.116 3701 543.5 184.1 - - 2307 - - - - - - - - 14.81 14.55 14.81
16062 743.7 9.1 791 16076 done 0.52 0.17 0.238 3071 -235.3 2.40 0.049 2282 -591.2 184.1 - - 2304 - - - - - - - - 14.52 14.64 14.68
16417 719.9 6.5 805 16470 roll 0.56 - - 3071 - 2.75 0.115 3696 514.2 216.8 36.72 1.825 2179 -3.4 0.261 - - - - - - 14.86 14.31 13.79
16481 715.4 6.3 810 16537 done 0.60 - - 3080 - 2.45 0.050 2281 -577.6 254.9 44.22 1.716 2035 -3.3 0.264 - - - - - - 14.47 14.41 13.59
16872 687.3 7.2 829 16898 roll 0.62 - - 3089 - 2.50 0.068 894 -554.8 270.7 13.57 1.979 1966 -5.1 0.344 - - - - - - 14.69 14.36 13.76
16923 683.4 7.1 836 16958 done 0.64 - - 3086 - 2.45 0.066 2297 572.7 287.7 18.75 1.890 1896 -3.7 0.263 - - - - - - 14.47 14.39 13.70
17299 654.6 7.7 853 17313 roll 0.64 - - 3089 - 2.60 0.119 3697 538.5 288.0 - - 1886 - - - - - - - - 14.76 14.45 14.71
17330 651.8 8.1 857 17344 done 0.64 - - 3098 - 2.40 0.048 2295 -584.2 288.0 - - 1886 - - - - - - - - 14.62 14.55 14.63
17653 624.5 8.7 867 17667 roll 0.64 - - 3108 - 2.40 0.068 887 -586.7 288.0 - - 1885 - - - - - - - - 14.81 14.57 14.81
17693 621.0 8.5 872 17706 done 0.64 - - 3107 - 2.42 0.066 2288 578.9 288.0 - - 1884 - - - - - - - - 14.69 14.59 14.71
18046 587.7 9.5 886 18060 roll 0.64 - - 3107 - 2.58 0.119 3692 544.2 288.0 - - 1884 - - - - - - - - 14.85 14.59 14.86
18085 583.6 10.2 891 18099 done 0.64 - - 3116 - 2.40 0.049 2274 -590.8 288.0 - - 1884 - - - - - - - - 14.74 14.68 14.76
18440 548.0 9.9 905 18453 roll 0.64 - - 3126 - 2.35 0.068 892 -588.1 288.0 - - 1884 - - - - - - - - 14.89 14.67 14.89
18479 544.1 10.0 910 18492 done 0.64 - - 3125 - 2.42 0.067 2297 580.6 288.0 - - 1883 - - - - - - - - 14.77 14.67 14.79
18833 509.0 9.7 924 18846 done 0.64 - - 3126 - - - 2298 - 288.0 - - 1883 - - - - - - - - 14.90 14.91 14.91
19148 480.3 8.9 933 19161 roll 0.64 - - 3133 - 2.40 0.067 899 -582.9 288.0 - - 1883 - - - - - - - - 14.92 14.70 14.92
19179 477.4 8.9 937 19193 done 0.64 - - 3133 - 2.42 0.067 2295 576.9 288.0 - - 1883 - - - - - - - - 14.80 14.70 14.81
19502 448.5 9.1 947 19515 roll 0.64 - - 3133 - 2.58 0.118 3702 545.3 288.0 - - 1882 - - - - - - - - 14.93 14.66 14.93
19533 445.2 10.2 951 19548 done 0.64 0.12 0.241 3108 -208.3 2.40 0.049 2280 -592.5 288.0 - - 1883 - - - - - - - - 14.63 14.73 14.79
19856 418.5 8.4 961 19869 roll 0.64 - - 3117 - 2.35 0.067 891 -591.1 288.0 - - 1883 - - - - - - - - 14.93 14.70 14.93
19908 413.8 8.9 968 19921 done 0.64 - - 3117 - 2.40 0.065 2298 586.2 288.0 - - 1883 - - - - - - - - 14.81 14.71 14.83
20248 382.6 9.3 980 20261 roll 0.64 - - 3117 - 2.55 0.117 3700 549.8 288.0 - - 1883 - - - - - - - - 14.93 14.66 14.93
20287 378.6 10.5 985 20300 done 0.64 - - 3126 - 2.38 0.048 2284 -595.0 288.0 - - 1883 - - - - - - - - 14.82 14.75 14.83
20641 345.7 9.0 999 20654 roll 0.64 - - 3135 - 2.35 0.067 891 -592.8 288.0 - - 1883 - - - - - - - - 14.94 14.72 14.94
20707 339.7 9.0 1008 20721 done 0.64 - - 3134 - 2.40 0.063 2291 583.3 288.0 - - 1883 - - - - - - - - 14.81 14.71 14.83
21030 310.6 9.0 1018 21043 done 0.64 - - 3135 - - - 2291 - 288.0 - - 1883 - - - - - - - - 14.94 14.93 14.94
21345 283.4 8.6 1027 21358 roll 0.64 - - 3151 - 2.38 0.067 898 -585.3 288.0 - - 1882 - - - - - - - - 14.95 14.73 14.95
21369 281.2 8.9 1030 21382 done 0.64 0.12 0.217 3106 -375.0 2.38 0.065 2290 584.9 288.0 - - 1883 - - - - - - - - 14.66 14.72 14.81
21702 255.1 8.1 1041 21715 done 0.64 - - 3106 - - - 2289 - 288.0 - - 1883 - - - - - - - - 14.95 14.95 14.95
22017 228.4 8.5 1050 22024 roll 0.64 - - 3115 - 2.42 0.066 893 -576.9 288.0 - - 1883 - - - - - - - - 14.93 14.69 14.93
22044 226.0 8.5 1054 22054 done 0.64 - - 3115 - 2.42 0.062 2284 574.8 288.0 - - 1883 - - - - - - - - 14.81 14.71 14.82
22367 198.4 8.7 1064 22374 roll 0.64 - - 3116 - 2.60 0.117 3692 541.5 288.0 - - 1883 - - - - - - - - 14.92 14.64 14.92
22402 194.9 9.9 1069 22409 done 0.64 - - 3123 - 2.40 0.047 2280 -588.3 288.0 - - 1883 - - - - - - - - 14.76 14.71 14.78
22752 162.3 9.1 1083 22760 roll 0.64 - - 3133 - 2.38 0.065 896 -581.5 288.0 - - 1883 - - - - - - - - 14.90 14.69 14.90
22814 156.7 8.9 1092 22824 done 0.64 - - 3132 - 2.42 0.062 2282 572.7 288.0 - - 1883 - - - - - - - - 14.77 14.67 14.78
23137 128.3 8.9 1102 23144 roll 0.64 - - 3141 - 2.40 0.064 902 -575.0 288.0 - - 1883 - - - - - - - - 14.89 14.66 14.89
23164 126.0 8.2 1106 23174 done 0.64 0.10 0.223 3111 -300.0 2.42 0.063 2288 572.7 288.0 - - 1884 - - - - - - - - 14.61 14.66 14.73
23487 102.8 7.0 1116 23509 roll 0.67 - - 3111 - 2.58 0.110 3696 545.7 307.3 15.68 1.243 1821 -4.0 0.065 - - - - - - 14.88 14.53 14.12
23557 97.9 7.7 1126 23565 done 0.67 - - 3116 - 2.42 0.046 2280 -585.1 308.0 - - 1814 - - - - - - - - 14.65 14.62 14.66
23887 78.6 4.9 1143 23931 roll 0.83 0.10 0.133 3196 800.0 2.35 0.062 896 -588.9 383.6 35.78 0.418 1520 -8.2 0.301 - - - - - - 14.65 14.53 14.34
23934 74.7 8.4 1150 23943 done 0.83 - - 3196 - 2.45 0.060 2290 569.0 383.6 - - 1523 - - - - - - - - 14.63 14.51 14.64
24265 51.0 7.4 1167 24279 roll 0.84 - - 3196 - 2.62 0.113 3693 535.5 393.4 5.32 0.300 1482 -7.7 0.255 - - - - - - 14.81 14.53 14.43
24291 49.2 6.5 1171 24315 done 0.88 - - 3203 - 2.45 0.045 2261 -584.5 427.1 17.90 0.333 1349 -7.4 0.214 - - - - - - 14.70 14.64 14.40
24643 31.3 4.7 1191 24693 roll 1.07 0.08 0.158 3259 700.0 2.38 0.063 896 -573.5 507.7 39.70 0.268 1030 -8.0 0.183 - - - - - - 14.65 14.55 14.45
24775 22.5 6.6 1210 24798 done 1.18 - - 3258 - 2.38 0.055 2276 579.8 539.6 16.50 0.237 900 -7.9 0.146 - - - - - - 14.64 14.59 14.46
25103 end climb: SURFACE_DEPTH_REACHED
25104 begin surface coast
25125 end surface coast: CONTROL_FINISHED_OK
25125 begin surface
SM -1.76 - - - - -8.40 8.88 0.073 196 22.0 0.88 0.091 2774 -7509.1 610.16 33.42 0.157 619 18.5 0.021 - - - - - -