SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 70 * Raw log
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• Previous call tries 1 • 31.56 of 350.00 AH used of 24V (90.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.1 deg, depth -2.24 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 639.30, SM_CC=500)
• GPS1 time: 17 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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 - - - 104 VBD -0.82 - - 152 - - - 2777 - -146.0 -86.00 - 3446 - - - - - - - - 14.69 - 14.69
106 3.2 -9.6 3 126 roll -0.82 11.62 0.397 2616 212.0 2.12 2.142 3837 500.0 -146.0 -2.53 - 3635 -74.7 - - - - - - - 14.31 13.62 14.50
354 80.4 -17.1 39 362 done -0.62 0.28 0.252 2693 275.0 1.83 0.041 2742 -598.4 -146.0 - - 3636 - - - - - - - - 14.47 14.65 14.64
684 110.4 -7.8 51 691 roll -0.57 - - 2693 - 2.28 0.044 1379 -597.8 -146.0 - - 3637 - - - - - - - - 14.88 14.68 14.89
920 126.7 -9.1 85 930 done -0.57 0.10 0.242 2712 190.0 2.50 0.072 2796 566.8 -146.0 - - 3637 - - - - - - - - 14.62 14.68 14.76
1244 148.7 -6.8 96 1246 done -0.57 - - 2712 - - - 2796 - -146.0 - - 3637 - - - - - - - - 14.96 14.94 14.94
1580 172.7 -7.1 102 1587 roll -0.57 - - 2711 - 2.38 0.046 1389 -591.2 -146.0 - - 3635 - - - - - - - - 14.95 14.75 14.95
1613 175.4 -7.8 107 1622 done -0.57 - - 2702 - 2.47 0.073 2788 566.4 -146.0 - - 3634 - - - - - - - - 14.82 14.75 14.83
1972 203.2 -8.0 116 1979 roll -0.57 - - 2702 - 2.38 0.046 1386 -589.1 -146.0 - - 3631 - - - - - - - - 14.97 14.76 14.97
2005 206.0 -8.5 121 2015 done -0.57 - - 2693 - 2.47 0.074 2786 566.8 -146.0 - - 3631 - - - - - - - - 14.85 14.73 14.85
2363 235.3 -8.2 130 2366 done -0.57 - - 2693 - - - 2786 - -146.0 - - 3627 - - - - - - - - 14.98 14.98 14.98
2699 262.8 -8.1 136 2713 roll -0.57 - - 2694 - 2.33 0.047 1385 -601.3 -146.0 - - 3625 - - - - - - - - 15.00 14.79 15.00
2730 265.5 -8.9 140 2744 done -0.57 0.10 0.236 2714 200.0 2.42 0.078 2783 577.7 -146.0 - - 3624 - - - - - - - - 14.70 14.74 14.84
3099 292.7 -7.3 150 3112 roll -0.57 - - 2714 - 2.33 0.047 1387 -599.1 -146.0 - - 3621 - - - - - - - - 15.01 14.81 15.01
3130 295.2 -7.9 154 3143 done -0.57 - - 2705 - 2.40 0.076 2781 580.8 -146.0 - - 3621 - - - - - - - - 14.88 14.76 14.89
3498 324.1 -7.7 164 3511 roll -0.57 - - 2705 - 2.33 0.047 1382 -600.4 -146.0 - - 3619 - - - - - - - - 15.02 14.81 15.02
3550 328.3 -7.9 171 3563 done -0.57 - - 2696 - 2.45 0.078 2784 572.2 -146.0 - - 3619 - - - - - - - - 14.89 14.77 14.90
3894 354.5 -7.6 178 3907 done -0.57 - - 2696 - - - 2784 - -146.0 - - 3617 - - - - - - - - 15.02 15.02 15.02
4230 379.3 -7.5 184 4243 done -0.57 - - 2699 - - - 2791 - -146.0 - - 3614 - - - - - - - - 15.03 15.03 15.03
4566 405.9 -7.8 190 4579 roll -0.57 - - 2696 - 2.35 0.049 1380 -600.4 -146.0 - - 3612 - - - - - - - - 15.03 14.81 15.05
4626 410.4 -7.6 198 4639 done -0.57 0.10 0.241 2717 210.0 2.45 0.078 2779 571.0 -146.0 - - 3611 - - - - - - - - 14.71 14.76 14.87
4967 430.9 -5.8 211 4980 roll -0.57 - - 2717 - 2.35 0.048 1378 -596.2 -146.0 - - 3609 - - - - - - - - 15.02 14.82 15.02
5027 434.2 -5.3 219 5040 done -0.57 - - 2707 - 2.45 0.078 2780 572.2 -146.0 - - 3609 - - - - - - - - 14.89 14.77 14.90
5367 452.2 -5.4 232 5380 roll -0.57 - - 2707 - 2.33 0.048 1386 -598.3 -146.0 - - 3608 - - - - - - - - 15.02 14.80 15.02
5454 457.2 -5.5 244 5467 done -0.57 - - 2699 - 2.40 0.078 2768 575.8 -146.0 - - 3608 - - - - - - - - 14.93 14.78 14.90
5822 479.0 -6.0 254 5835 roll -0.57 - - 2699 - 2.33 0.049 1382 -594.8 -146.0 - - 3605 - - - - - - - - 15.01 14.81 15.02
5860 481.7 -6.5 259 5874 done -0.57 - - 2690 - 2.42 0.079 2776 576.0 -146.0 - - 3605 - - - - - - - - 14.89 14.77 14.90
6221 506.2 -6.9 268 6235 roll -0.57 - - 2682 - 1.92 0.125 3832 550.0 -146.0 - - 3603 - - - - - - - - 15.02 14.73 15.02
6267 509.7 -7.6 274 6280 done -0.57 0.10 0.233 2712 300.0 1.73 0.054 2785 -605.2 -146.0 - - 3603 - - - - - - - - 14.69 14.83 14.85
6621 531.6 -6.1 282 6634 roll -0.57 - - 2712 - 2.38 0.050 1363 -597.5 -146.0 - - 3602 - - - - - - - - 15.02 14.81 15.02
6729 538.6 -6.5 297 6744 done -0.57 - - 2703 - 2.47 0.080 2774 571.3 -146.0 - - 3602 - - - - - - - - 14.88 14.76 14.90
7073 560.6 -6.5 304 7086 done -0.57 - - 2703 - - - 2774 - -146.0 - - 3600 - - - - - - - - 15.02 15.02 15.02
7409 582.3 -6.4 310 7422 roll -0.57 - - 2703 - 2.38 0.050 1363 -592.9 -146.0 - - 3599 - - - - - - - - 15.02 14.81 15.03
7496 588.0 -6.6 322 7510 done -0.57 - - 2695 - 2.42 0.078 2760 577.3 -146.0 - - 3600 - - - - - - - - 14.88 14.76 14.90
7865 610.3 -6.0 332 7877 done -0.57 - - 2694 - - - 2760 - -146.0 - - 3597 - - - - - - - - 15.01 15.01 15.01
8201 630.5 -6.0 338 8214 roll -0.57 - - 2694 - 2.35 0.049 1360 -595.7 -146.0 - - 3596 - - - - - - - - 15.01 14.81 15.01
8274 635.1 -6.4 348 8287 done -0.57 0.10 0.238 2715 210.0 2.45 0.080 2765 573.5 -146.0 - - 3596 - - - - - - - - 14.69 14.74 14.85
8601 651.3 -4.8 359 8614 done -0.61 - - 2715 - - - 2762 - -146.0 - - 3595 - - - - - - - - 15.01 15.01 15.01
8937 667.7 -4.8 365 8950 roll -0.66 - - 2715 - 2.35 0.050 1366 -594.0 -146.0 - - 3594 - - - - - - - - 15.01 14.79 15.01
9017 672.3 -5.4 376 9030 done -0.71 0.05 0.210 2659 -1120.0 2.42 0.080 2759 575.6 -146.0 - - 3594 - - - - - - - - 14.76 14.73 14.85
9336 696.4 -7.8 386 9349 done -0.71 - - 2658 - - - 2759 - -146.0 - - 3593 - - - - - - - - 15.00 15.00 15.00
9672 724.7 -8.5 392 9685 roll -0.71 - - 2659 - 2.35 0.051 1366 -592.8 -146.0 - - 3592 - - - - - - - - 14.99 14.78 15.00
9724 729.4 -9.0 399 9738 done -0.71 - - 2650 - 2.45 0.080 2756 567.3 -146.0 - - 3591 - - - - - - - - 14.86 14.73 14.88
10069 760.1 -8.9 406 10082 roll -0.71 - - 2649 - 2.35 0.051 1365 -591.9 -146.0 - - 3591 - - - - - - - - 15.00 14.78 15.00
10107 763.5 -9.3 411 10120 done -0.71 0.10 0.260 2670 210.0 2.42 0.080 2753 573.6 -146.0 - - 3591 - - - - - - - - 14.65 14.73 14.83
10469 789.9 -7.0 420 10482 done -0.71 - - 2670 - - - 2753 - -146.0 - - 3590 - - - - - - - - 14.99 15.00 15.00
10804 811.5 -6.2 426 10818 roll -0.71 - - 2670 - 2.35 0.052 1371 -588.1 -146.0 - - 3588 - - - - - - - - 15.00 14.78 15.00
10836 814.2 -8.4 430 10849 done -0.71 - - 2661 - 2.42 0.080 2757 572.7 -146.0 - - 3589 - - - - - - - - 14.85 14.72 14.88
11204 838.1 -6.6 440 11217 done -0.71 - - 2661 - - - 2757 - -146.0 - - 3588 - - - - - - - - 15.00 15.00 14.99
11540 860.2 -6.5 446 11553 roll -0.71 - - 2661 - 2.35 0.052 1370 -590.2 -146.0 - - 3586 - - - - - - - - 14.99 14.76 15.00
11585 863.4 -5.0 452 11598 done -0.71 - - 2651 - 2.42 0.082 2750 570.2 -146.0 - - 3587 - - - - - - - - 14.85 14.71 14.87
11940 888.9 -7.2 460 11953 roll -0.71 - - 2651 - 2.35 0.052 1365 -589.4 -146.0 - - 3586 - - - - - - - - 15.00 14.76 15.00
11992 892.8 -7.3 467 12006 done -0.71 - - 2648 - 2.45 0.081 2754 566.9 -146.0 - - 3585 - - - - - - - - 14.84 14.71 14.86
12336 920.0 -8.0 474 12349 done -0.71 0.10 0.270 2671 230.0 - - 2754 - -146.0 - - 3585 - - - - - - - - 14.62 14.84 14.81
12502 end dive: TARGET_DEPTH_EXCEEDED
12502 begin apogee
12506 932.6 -7.6 477 12645 roll -0.23 0.50 0.185 2822 302.0 - - 2277 - - 124.22 2.777 3050 -4.3 0.281 - - - - 1 - 14.64 13.86 12.92
12647 end apogee: CONTROL_FINISHED_OK
12647 begin climb
12648 936.9 - 479 12826 done 0.82 1.02 0.119 3144 315.7 - - 2276 - 146.0 163.88 1.916 2466 -3.6 0.339 - - - - - - 13.93 14.13 13.24
13174 900.6 8.6 516 13187 done 0.73 - - 3144 - - - 2277 - 146.0 - - 2450 - - - - - - - - 14.62 14.62 14.65
13510 871.8 8.6 522 13524 roll 0.64 0.10 0.272 3122 -220.0 2.40 0.064 888 -578.8 146.0 - - 2450 - - - - - - - - 14.45 14.54 14.57
13563 867.9 6.7 529 13605 done 0.62 - - 3122 - 2.47 0.065 2304 573.3 173.6 28.83 1.994 2355 -3.3 0.279 - - - - - - 14.65 14.54 13.72
13911 838.0 8.8 543 13925 roll 0.57 0.10 0.245 3088 -340.0 2.58 0.112 3700 541.1 173.6 - - 2338 - - - - - - - - 14.45 14.48 14.55
13949 834.8 9.6 548 13963 done 0.57 - - 3095 - 2.40 0.049 2288 -588.3 173.6 - - 2340 - - - - - - - - 14.64 14.57 14.66
14311 805.4 8.1 557 14323 done 0.57 - - 3098 - - - 2283 - 173.6 - - 2337 - - - - - - - - 14.83 14.83 14.83
14647 777.4 8.3 563 14660 roll 0.57 - - 3098 - 2.62 0.116 3701 541.2 173.6 - - 2338 - - - - - - - - 14.88 14.60 14.88
14692 773.0 9.8 569 14706 done 0.51 0.15 0.236 3065 -220.0 2.40 0.050 2272 -595.4 173.6 - - 2337 - - - - - - - - 14.57 14.70 14.73
15047 748.1 6.9 577 15079 done 0.54 - - 3065 - - - 2273 - 197.1 23.55 1.958 2263 -3.1 0.233 - - - - - - 14.92 14.52 13.86
15383 725.5 6.7 583 15429 roll 0.57 - - 3065 - 2.75 0.116 3688 514.5 225.2 30.80 1.862 2145 -3.8 0.290 - - - - - - 14.78 14.28 13.78
15454 720.4 6.8 593 15495 done 0.61 - - 3075 - 2.40 0.049 2294 -580.8 250.8 28.15 1.805 2047 -3.5 0.270 - - - - - - 14.48 14.42 13.65
15836 693.0 7.3 605 15854 roll 0.62 - - 3084 - 2.45 0.067 892 -572.2 264.2 4.55 1.727 1998 -10.8 0.840 - - - - - - 14.71 14.47 13.53
15872 690.3 6.5 610 15926 done 0.66 - - 3084 - 2.45 0.066 2298 573.9 296.4 34.25 2.341 1869 -3.8 0.216 - - - - 1 - 14.57 14.47 13.26
16233 661.6 8.0 626 16246 roll 0.66 - - 3083 - 2.60 0.119 3695 537.3 296.4 - - 1874 - - - - - - - - 14.71 14.42 14.68
16278 657.3 9.6 632 16291 done 0.66 - - 3092 - 2.40 0.049 2290 -585.4 296.4 - - 1874 - - - - - - - - 14.59 14.53 14.60
16632 627.6 8.5 640 16645 done 0.66 - - 3092 - - - 2284 - 296.4 - - 1874 - - - - - - - - 14.81 14.81 14.81
16968 600.1 8.1 646 16981 done 0.66 - - 3092 - - - 2284 - 296.4 - - 1871 - - - - - - - - 14.85 14.86 14.85
17304 575.0 7.5 652 17329 roll 0.67 - - 3092 - 2.65 0.117 3700 534.3 304.2 12.05 1.948 1833 -3.2 0.181 - - - - - - 14.88 14.53 13.95
17354 570.9 8.5 659 17367 done 0.67 - - 3100 - 2.42 0.050 2286 -584.3 304.2 - - 1831 - - - - - - - - 14.67 14.61 14.69
17698 542.5 8.5 666 17711 roll 0.67 - - 3110 - 2.38 0.068 896 -584.0 304.2 - - 1828 - - - - - - - - 14.85 14.63 14.85
17729 539.5 9.0 670 17742 done 0.67 - - 3110 - 2.42 0.067 2297 578.9 304.2 - - 1828 - - - - - - - - 14.73 14.64 14.75
18097 506.0 9.2 680 18110 roll 0.67 - - 3114 - 2.58 0.118 3700 543.8 304.2 - - 1828 - - - - - - - - 14.89 14.62 14.89
18142 501.1 9.7 686 18155 done 0.67 - - 3120 - 2.38 0.050 2296 -589.9 304.2 - - 1827 - - - - - - - - 14.78 14.71 14.78
18496 468.6 9.0 694 18510 roll 0.67 - - 3129 - 2.38 0.067 896 -588.2 304.2 - - 1828 - - - - - - - - 14.91 14.68 14.91
18527 465.7 9.2 698 18541 done 0.67 - - 3129 - 2.40 0.067 2295 582.9 304.2 - - 1827 - - - - - - - - 14.79 14.69 14.80
18895 430.8 9.7 708 18909 roll 0.67 - - 3129 - 2.55 0.117 3697 549.8 304.2 - - 1828 - - - - - - - - 14.92 14.64 14.92
18920 428.1 10.0 711 18933 done 0.67 - - 3138 - 2.35 0.048 2292 -597.9 304.2 - - 1827 - - - - - - - - 14.81 14.74 14.82
19239 394.8 10.5 721 19252 roll 0.67 - - 3151 - 2.38 0.067 890 -589.1 304.2 - - 1827 - - - - - - - - 14.92 14.70 14.92
19305 387.8 10.3 730 19318 done 0.67 0.10 0.233 3119 -320.0 2.40 0.065 2293 584.6 304.2 - - 1827 - - - - - - - - 14.62 14.71 14.79
19638 359.0 8.5 742 19651 roll 0.67 - - 3117 - 2.55 0.114 3700 551.8 304.2 - - 1827 - - - - - - - - 14.93 14.66 14.93
19698 353.5 9.2 750 19711 done 0.67 - - 3126 - 2.38 0.047 2283 -595.4 304.2 - - 1827 - - - - - - - - 14.83 14.76 14.85
20038 325.8 8.0 763 20051 done 0.67 - - 3126 - - - 2277 - 304.2 - - 1827 - - - - - - - - 14.94 14.94 14.94
20374 296.5 8.9 769 20387 done 0.67 - - 3126 - - - 2277 - 304.2 - - 1827 - - - - - - - - 14.95 14.95 14.95
20710 265.7 9.2 775 20723 done 0.67 - - 3126 - - - 2277 - 304.2 - - 1827 - - - - - - - - 14.95 14.95 14.95
21046 235.1 9.2 781 21055 roll 0.67 - - 3124 - 2.65 0.113 3699 536.6 304.2 - - 1827 - - - - - - - - 14.95 14.65 14.95
21066 233.1 9.2 784 21075 done 0.67 - - 3135 - 2.42 0.046 2284 -584.7 304.2 - - 1827 - - - - - - - - 14.82 14.76 14.83
21382 203.3 9.4 794 21390 roll 0.67 - - 3146 - 2.38 0.063 902 -580.7 304.2 - - 1827 - - - - - - - - 14.93 14.69 14.93
21416 199.8 9.7 799 21425 done 0.67 - - 3145 - 2.45 0.062 2302 571.4 304.2 - - 1827 - - - - - - - - 14.80 14.69 14.81
21774 165.2 9.6 808 21782 roll 0.67 0.10 0.230 3115 -300.0 2.55 0.112 3693 545.5 304.2 - - 1827 - - - - - - - - 14.60 14.62 14.76
21794 163.2 9.3 811 21803 done 0.67 - - 3123 - 2.40 0.046 2291 -584.2 304.2 - - 1827 - - - - - - - - 14.79 14.73 14.81
22110 138.4 7.9 821 22119 roll 0.67 - - 3132 - 2.38 0.063 904 -582.8 304.2 - - 1827 - - - - - - - - 14.89 14.65 14.90
22137 136.1 8.1 825 22147 done 0.67 - - 3132 - 2.45 0.060 2309 573.5 304.2 - - 1831 - - - - - - - - 14.77 14.66 14.79
22502 106.4 8.1 835 22510 roll 0.67 - - 3133 - 2.55 0.113 3694 543.1 304.2 - - 1827 - - - - - - - - 14.89 14.59 14.90
22543 102.4 9.6 841 22553 done 0.67 - - 3143 - 2.40 0.044 2287 -586.2 304.2 - - 1827 - - - - - - - - 14.76 14.71 14.77
22866 77.8 6.8 853 22883 roll 0.70 - - 3143 - 2.67 0.111 3701 529.6 328.7 11.05 0.412 1739 -8.0 0.292 - - - - - - 14.89 14.59 14.40
22944 72.9 6.5 864 22968 done 0.74 - - 3151 - 2.38 0.043 2300 -588.7 363.3 18.45 0.406 1600 -7.5 0.263 - - - - - - 14.70 14.66 14.38
23274 56.0 3.4 878 23338 roll 0.97 0.12 0.112 3230 658.3 2.40 0.060 903 -582.1 480.3 57.17 0.360 1135 -8.1 0.246 - - - - - - 14.66 14.52 14.34
23419 47.4 6.1 899 23449 done 1.07 - - 3230 - 2.45 0.057 2303 571.4 524.1 22.00 0.327 962 -7.9 0.222 - - - - - - 14.60 14.54 14.33
23778 28.7 2.7 917 23843 roll 1.41 0.30 0.096 3342 373.3 2.55 0.108 3697 546.7 659.9 56.08 0.259 499 -8.3 0.178 - - - - - - 14.59 14.47 14.40
23896 17.0 12.1 934 23905 done 1.41 - - 3349 - 2.38 0.041 2298 -587.8 659.9 0.85 0.213 497 - - - - - - - - 14.62 14.57 14.49
24028 end climb: SURFACE_DEPTH_REACHED
24028 begin surface coast
24057 end surface coast: CONTROL_FINISHED_OK
24057 begin surface
SM -2.77 - - - - -8.41 8.90 0.045 189 21.2 0.88 0.108 2761 -7342.0 639.30 - - 505 - - - - - - - -