SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 71 * Raw log
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• Previous call tries 1 • 31.98 of 350.00 AH used of 24V (90.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.3 deg, depth -2.73 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 607.40, SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 2 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16 - - - 117 done -0.82 - - 161 - - - 2775 - -146.0 -97.85 - 3634 - - - - - - - - 14.68 13.62 14.69
119 0.3 -5.0 3 140 roll -0.82 11.60 0.399 2618 211.8 1.90 0.088 3829 554.7 -146.0 - - 3636 - - - - - - - - 14.33 14.46 14.54
368 81.2 -14.3 40 377 done -0.66 0.22 0.252 2680 281.8 1.83 0.042 2735 -597.8 -146.0 - - 3637 - - - - - - - - 14.48 14.65 14.66
726 110.6 -7.9 53 734 roll -0.60 - - 2681 - 2.25 0.042 1381 -601.8 -146.0 - - 3638 - - - - - - - - 14.89 14.67 14.89
963 122.0 -2.0 87 972 done -0.60 0.10 0.210 2701 200.0 2.45 0.070 2781 571.4 -146.0 - - 3638 - - - - - - - - 14.62 14.66 14.73
1286 154.6 -7.8 98 1295 roll -0.60 - - 2700 - 2.35 0.042 1384 -594.5 -146.0 - - 3636 - - - - - - - - 14.93 14.73 14.94
1362 161.1 -7.5 109 1371 done -0.60 - - 2692 - 2.47 0.072 2780 565.2 -146.0 - - 3639 - - - - - - - - 14.81 14.69 14.83
1678 187.8 -8.7 119 1681 done -0.60 - - 2692 - - - 2780 - -146.0 - - 3633 - - - - - - - - 14.95 14.95 14.95
2014 216.1 -8.3 125 2022 roll -0.60 - - 2691 - 2.38 0.044 1378 -589.1 -146.0 - - 3630 - - - - - - - - 14.97 14.76 14.97
2055 219.5 -7.9 131 2064 done -0.60 - - 2682 - 2.47 0.073 2775 565.6 -146.0 - - 3630 - - - - - - - - 14.84 14.73 14.85
2407 250.0 -8.9 139 2423 roll -0.60 - - 2674 - 1.90 0.121 3818 548.9 -146.0 - - 3622 - - - - - - - - 14.97 14.71 14.97
2497 258.2 -8.7 151 2511 done -0.60 0.10 0.231 2704 300.0 1.70 0.049 2773 -614.7 -146.0 - - 3625 - - - - - - - - 14.69 14.83 14.83
2866 283.8 -7.6 161 2879 roll -0.60 - - 2705 - 2.33 0.046 1362 -605.6 -146.0 - - 3622 - - - - - - - - 14.99 14.81 14.99
2904 287.1 -8.1 166 2917 done -0.60 - - 2695 - 2.42 0.075 2770 581.8 -146.0 - - 3622 - - - - - - - - 14.88 14.77 14.89
3265 314.3 -7.6 175 3278 done -0.60 - - 2695 - - - 2770 - -146.0 - - 3619 - - - - - - - - 15.01 15.01 15.01
3601 339.4 -7.3 181 3615 roll -0.60 - - 2695 - 2.33 0.047 1372 -600.0 -146.0 - - 3617 - - - - - - - - 15.02 14.82 15.01
3653 344.1 -7.9 188 3667 done -0.60 - - 2686 - 2.42 0.076 2770 577.7 -146.0 - - 3616 - - - - - - - - 14.89 14.78 14.90
3998 370.8 -7.8 195 4011 done -0.60 - - 2686 - - - 2770 - -146.0 - - 3614 - - - - - - - - 15.02 15.02 15.02
4333 397.5 -8.0 201 4346 done -0.60 - - 2686 - - - 2770 - -146.0 - - 3612 - - - - - - - - 15.05 15.03 15.04
4670 424.7 -8.1 207 4683 roll -0.60 - - 2686 - 2.35 0.049 1371 -595.3 -146.0 - - 3610 - - - - - - - - 15.02 14.82 15.02
4722 429.0 -8.2 214 4737 done -0.60 0.10 0.243 2706 200.0 2.47 0.078 2782 571.3 -146.0 - - 3610 - - - - - - - - 14.71 14.77 14.86
5066 452.5 -6.8 221 5079 roll -0.60 - - 2706 - 2.38 0.047 1361 -597.1 -146.0 - - 3608 - - - - - - - - 15.02 14.81 15.02
5112 455.6 -6.6 227 5125 done -0.60 - - 2698 - 2.45 0.076 2770 575.1 -146.0 - - 3608 - - - - - - - - 14.89 14.78 14.90
5466 481.1 -7.3 235 5479 roll -0.60 - - 2697 - 2.35 0.048 1367 -597.0 -146.0 - - 3605 - - - - - - - - 15.02 14.81 15.02
5504 484.1 -7.9 240 5517 done -0.60 - - 2688 - 2.42 0.077 2767 578.5 -146.0 - - 3603 - - - - - - - - 14.89 14.77 14.90
5865 512.3 -7.8 249 5878 done -0.60 - - 2688 - - - 2767 - -146.0 - - 3603 - - - - - - - - 15.02 15.02 15.02
6201 536.8 -7.3 255 6215 roll -0.60 - - 2688 - 2.35 0.049 1372 -593.6 -146.0 - - 3602 - - - - - - - - 15.02 14.81 15.02
6268 541.8 -7.4 264 6281 done -0.60 - - 2679 - 2.42 0.078 2772 578.5 -146.0 - - 3602 - - - - - - - - 14.88 14.77 14.90
6601 565.1 -7.0 276 6614 roll -0.60 0.08 0.272 2699 250.0 1.92 0.125 3830 551.0 -146.0 - - 3600 - - - - - - - - 14.66 14.72 14.80
6632 567.5 -7.1 280 6645 done -0.60 - - 2699 - 1.75 0.054 2774 -603.4 -146.0 - - 3600 - - - - - - - - 14.90 14.84 14.91
7000 588.4 -5.7 290 7014 roll -0.60 - - 2699 - 2.35 0.049 1358 -602.6 -146.0 - - 3599 - - - - - - - - 15.02 14.80 15.02
7081 593.4 -6.0 301 7094 done -0.60 - - 2690 - 2.45 0.077 2763 573.5 -146.0 - - 3599 - - - - - - - - 14.88 14.76 14.89
7400 613.4 -6.4 311 7413 roll -0.60 - - 2689 - 2.35 0.049 1363 -595.7 -146.0 - - 3596 - - - - - - - - 15.00 14.80 15.01
7460 617.5 -7.5 319 7473 done -0.60 - - 2681 - 2.45 0.079 2763 571.4 -146.0 - - 3596 - - - - - - - - 14.87 14.74 14.89
7800 640.5 -6.9 332 7813 done -0.60 - - 2680 - - - 2764 - -146.0 - - 3595 - - - - - - - - 15.01 15.01 15.00
8136 664.9 -7.3 338 8150 roll -0.60 - - 2680 - 2.38 0.051 1355 -592.0 -146.0 - - 3594 - - - - - - - - 15.01 14.78 15.01
8182 668.2 -7.9 344 8195 done -0.60 0.10 0.242 2700 200.0 2.47 0.081 2764 570.4 -146.0 - - 3594 - - - - - - - - 14.67 14.73 14.84
8536 692.3 -6.9 352 8549 roll -0.60 - - 2700 - 2.38 0.050 1358 -590.8 -146.0 - - 3592 - - - - - - - - 15.00 14.78 15.00
8575 695.4 -7.9 357 8588 done -0.60 - - 2693 - 2.45 0.080 2758 571.4 -146.0 - - 3592 - - - - - - - - 14.86 14.75 14.87
8936 721.4 -7.2 366 8949 roll -0.60 - - 2692 - 2.35 0.051 1366 -592.3 -146.0 - - 3591 - - - - - - - - 15.00 14.78 15.00
8974 724.7 -8.4 371 8987 done -0.60 - - 2683 - 2.42 0.080 2757 574.8 -146.0 - - 3591 - - - - - - - - 14.86 14.73 14.88
9336 751.7 -7.4 380 9349 roll -0.60 - - 2682 - 2.35 0.050 1362 -593.6 -146.0 - - 3590 - - - - - - - - 15.00 14.78 15.00
9381 755.3 -8.7 386 9395 done -0.60 0.10 0.247 2703 210.0 2.45 0.082 2760 570.6 -146.0 - - 3590 - - - - - - - - 14.66 14.76 14.83
9736 778.6 -6.5 394 9749 roll -0.60 - - 2704 - 2.35 0.051 1365 -593.6 -146.0 - - 3589 - - - - - - - - 14.99 14.77 14.99
9774 781.2 -7.0 399 9788 done -0.60 - - 2694 - 2.42 0.080 2749 571.9 -146.0 - - 3589 - - - - - - - - 14.85 14.73 14.87
10136 803.4 -6.1 408 10149 roll -0.60 - - 2695 - 2.35 0.050 1362 -590.2 -146.0 - - 3589 - - - - - - - - 14.99 14.77 14.99
10167 805.5 -6.4 412 10180 done -0.60 - - 2685 - 2.45 0.080 2748 565.7 -146.0 - - 3588 - - - - - - - - 14.85 14.71 14.87
10535 827.4 -6.0 422 10548 done -0.60 - - 2686 - - - 2748 - -146.0 - - 3587 - - - - - - - - 15.00 15.00 14.99
10871 846.5 -5.7 428 10884 roll -0.60 - - 2686 - 2.35 0.051 1364 -588.9 -146.0 - - 3586 - - - - - - - - 14.99 14.76 14.98
10910 848.4 -2.1 433 10923 done -0.60 - - 2677 - 2.45 0.081 2758 569.0 -146.0 - - 3586 - - - - - - - - 14.85 14.69 14.86
11271 869.8 -5.9 442 11284 roll -0.60 - - 2677 - 2.38 0.051 1356 -589.1 -146.0 - - 3585 - - - - - - - - 14.98 14.76 14.98
11310 872.2 -4.0 447 11323 done -0.60 0.12 0.230 2705 233.3 2.45 0.082 2744 566.5 -146.0 - - 3585 - - - - - - - - 14.63 14.71 14.81
11671 890.8 -5.2 456 11685 roll -0.64 - - 2705 - 2.35 0.052 1360 -588.9 -146.0 - - 3584 - - - - - - - - 14.98 14.75 14.97
11717 893.1 -5.7 462 11730 done -0.69 - - 2697 - 2.45 0.080 2753 568.6 -146.0 - - 3585 - - - - - - - - 14.84 14.70 14.85
12071 914.4 -6.0 470 12084 roll -0.69 - - 2697 - 2.38 0.052 1356 -587.0 -146.0 - - 3584 - - - - - - - - 14.98 14.75 14.98
12123 918.2 -7.1 477 12137 done -0.69 - - 2688 - 2.47 0.081 2751 564.8 -146.0 - - 3584 - - - - - - - - 14.85 14.70 14.85
12298 end dive: TARGET_DEPTH_EXCEEDED
12298 begin apogee
12301 930.4 -6.8 481 12461 roll -0.23 0.45 0.180 2825 304.4 - - 2276 - - 149.68 1.941 3049 -3.6 0.325 - - - - - - 14.64 13.99 13.36
12462 end apogee: CONTROL_FINISHED_OK
12462 begin climb
12464 935.1 - 483 12642 roll 0.82 1.02 0.116 3149 317.6 2.47 0.061 893 -559.9 146.0 158.12 1.874 2459 -3.7 0.353 - - - - - - 14.02 14.04 13.25
12808 916.4 8.6 539 12821 done 0.74 - - 3148 - 2.50 0.066 2302 563.6 146.0 - - 2447 - - - - - - - - 14.35 14.26 14.37
13148 885.7 9.2 552 13162 roll 0.65 0.10 0.262 3126 -220.0 2.47 0.063 881 -575.3 146.0 - - 2446 - - - - - - - - 14.40 14.50 14.52
13334 870.3 8.4 578 13348 done 0.60 0.10 0.241 3105 -210.0 2.45 0.065 2294 576.7 146.0 - - 2445 - - - - - - - - 14.44 14.53 14.62
13660 844.7 7.9 589 13674 roll 0.60 - - 3098 - 2.58 0.117 3696 543.4 146.0 - - 2444 - - - - - - - - 14.83 14.54 14.83
13720 839.5 8.8 597 13734 done 0.53 0.12 0.254 3078 -166.7 2.40 0.048 2281 -589.6 146.0 - - 2444 - - - - - - - - 14.51 14.66 14.69
14061 816.1 6.7 610 14107 roll 0.56 - - 3083 - 2.47 0.066 898 -559.9 175.3 30.00 1.939 2340 -3.5 0.277 - - - - - - 14.87 14.40 13.78
14125 812.0 5.6 619 14201 done 0.63 - - 3083 - 2.45 0.066 2298 571.4 231.5 64.35 1.773 2127 -3.3 0.287 - - - - - - 14.52 14.42 13.50
14508 783.9 7.3 638 14526 roll 0.65 - - 3083 - 2.65 0.116 3697 527.9 244.2 3.90 1.463 2078 -12.6 1.276 - - - - - - 14.67 14.38 13.55
14566 779.0 8.7 646 14579 done 0.65 - - 3092 - 2.40 0.047 2298 -582.9 244.2 1.98 0.239 2075 -1.5 0.936 - - - - - - 14.57 14.51 14.37
14906 751.5 8.1 659 14920 roll 0.65 - - 3101 - 2.47 0.065 895 -568.0 244.2 1.52 0.249 2077 - - - - - - - - 14.78 14.56 14.49
14945 748.4 8.2 664 14958 done 0.65 - - 3101 - 2.42 0.065 2298 579.8 244.2 - - 2082 - - - - - - - - 14.67 14.58 14.69
15306 717.6 8.6 673 15319 roll 0.65 - - 3101 - 2.60 0.116 3702 540.0 244.2 1.48 0.252 2076 -4.1 2.189 - - - - - - 14.85 14.60 14.54
15337 714.7 8.6 677 15350 done 0.65 - - 3111 - 2.40 0.047 2280 -592.5 244.2 - - 2081 - - - - - - - - 14.73 14.66 14.75
15705 683.2 8.5 687 15718 roll 0.65 - - 3121 - 2.42 0.065 899 -570.7 244.2 1.52 0.248 2074 -4.6 2.405 - - - - - - 14.88 14.66 14.57
15736 680.3 8.9 691 15750 done 0.65 - - 3121 - 2.40 0.066 2297 582.5 244.2 - - 2081 - - - - - - - - 14.76 14.66 14.76
16105 647.8 8.9 701 16118 roll 0.65 - - 3121 - 2.58 0.117 3700 543.8 244.2 1.25 0.265 2076 -4.0 1.854 - - - - - - 14.90 14.62 14.59
16150 643.2 10.4 707 16164 done 0.60 0.12 0.243 3095 -216.7 2.38 0.048 2287 -593.7 244.2 - - 2082 - - - - - - - - 14.59 14.72 14.75
16504 613.2 8.5 715 16518 roll 0.60 - - 3105 - 2.38 0.065 892 -586.1 244.2 0.88 0.301 2078 -4.5 1.756 - - - - - - 14.92 14.69 14.61
16557 608.6 8.6 722 16572 done 0.60 - - 3105 - 2.42 0.067 2296 580.2 244.2 - - 2083 - - - - - - - - 14.79 14.69 14.80
16901 578.4 8.8 729 16914 roll 0.60 - - 3105 - 2.58 0.119 3699 543.8 244.2 - - 2085 - - - - - - - - 14.90 14.64 14.96
16946 574.0 10.0 735 16960 done 0.60 - - 3114 - 2.38 0.048 2281 -595.8 244.2 1.00 0.279 2076 -9.0 3.510 - - - - - - 14.81 14.74 14.62
17301 542.4 8.8 743 17314 done 0.60 - - 3114 - - - 2276 - 244.2 - - 2086 - - - - - - - - 14.93 14.93 14.93
17637 513.3 8.6 749 17650 roll 0.60 - - 3114 - 2.65 0.119 3702 538.1 244.2 - - 2085 - - - - - - - - 14.94 14.66 14.97
17661 510.9 8.7 752 17675 done 0.60 0.10 0.245 3096 -180.0 2.35 0.048 2301 -596.2 244.2 1.40 0.241 2076 -6.4 2.584 - - - - - - 14.62 14.76 14.62
17981 486.2 7.7 762 17995 roll 0.60 - - 3105 - 2.45 0.064 896 -573.5 246.1 2.08 0.349 2070 -2.9 0.762 - - - - - - 14.94 14.71 13.56
18013 483.6 7.8 766 18026 done 0.60 - - 3105 - 2.40 0.064 2302 585.8 246.1 - - 2078 - - - - - - - - 14.80 14.69 14.81
18381 453.7 8.2 776 18398 roll 0.60 - - 3105 - 2.62 0.117 3700 533.6 246.1 1.95 0.246 2071 -3.6 1.255 - - - - - - 14.93 14.65 14.57
18416 450.5 8.8 781 18429 done 0.60 - - 3114 - 2.38 0.048 2281 -596.2 246.1 - - 2078 - - - - - - - - 14.82 14.75 14.83
18777 420.7 8.2 790 18790 done 0.60 - - 3114 - - - 2276 - 246.1 1.75 0.245 2071 -4.0 1.302 - - - - - - 14.94 14.78 14.62
19113 392.9 8.2 796 19127 done 0.60 - - 3114 - - - 2276 - 246.1 2.20 0.474 2068 -1.4 0.214 - - - - - - 14.95 14.73 13.76
19449 364.0 8.6 802 19463 roll 0.60 - - 3114 - 2.70 0.117 3698 526.7 246.1 1.85 0.243 2070 - - - - - - - - 14.95 14.64 14.58
19488 360.1 9.6 807 19502 done 0.60 - - 3122 - 2.35 0.049 2297 -596.2 246.1 - - 2078 - - - - - - - - 14.81 14.73 14.83
19849 327.7 8.9 816 19863 done 0.60 - - 3123 - - - 2293 - 246.1 1.92 0.239 2070 -4.2 1.083 - - - - - - 14.95 14.78 14.59
20185 298.5 8.6 822 20199 done 0.60 - - 3123 - - - 2293 - 246.1 2.10 0.370 2069 - - - - - - - - 14.95 14.73 13.66
20521 270.4 8.3 828 20535 done 0.60 - - 3123 - - - 2293 - 246.1 2.05 0.309 2068 - - - - - - - - 14.95 14.72 13.28
20857 242.7 8.1 834 20862 done 0.60 - - 3123 - - - 2293 - 246.1 2.05 0.308 2069 - - - - - - - - 14.95 14.71 13.25
21194 216.8 7.6 840 21203 roll 0.60 - - 3123 - 2.65 0.116 3695 529.1 250.3 4.12 1.222 2055 -3.4 0.114 - - - - - - 14.93 14.63 13.82
21228 213.6 8.8 845 21238 done 0.60 0.12 0.231 3095 -233.3 2.42 0.047 2280 -584.7 250.3 2.95 1.027 2053 - - - - - - - - 14.59 14.72 13.81
21579 190.2 6.6 853 21623 roll 0.64 - - 3105 - 2.38 0.064 909 -576.1 279.8 36.10 1.274 1926 -3.5 0.100 - - - - - - 14.89 14.45 14.02
21641 185.6 7.0 862 21666 done 0.66 - - 3105 - 2.47 0.060 2303 564.4 299.7 18.90 1.339 1856 -3.7 0.097 - - - - - - 14.54 14.47 13.90
22021 157.5 7.2 874 22042 roll 0.68 - - 3105 - 2.65 0.114 3698 526.4 314.2 11.40 1.373 1793 -5.5 0.120 - - - - - - 14.76 14.42 14.01
22076 153.1 8.1 882 22085 done 0.68 - - 3112 - 2.40 0.044 2303 -581.2 314.2 - - 1790 - - - - - - - - 14.54 14.51 14.57
22413 129.2 7.0 895 22442 roll 0.71 - - 3116 - 2.47 0.062 902 -567.2 333.9 19.80 1.268 1708 -4.1 0.080 - - - - - - 14.78 14.45 13.97
22482 123.9 7.7 905 22490 done 0.71 - - 3121 - 2.50 0.059 2311 563.6 334.4 - - 1704 - - - - - - - - 14.56 14.46 14.56
22805 98.9 7.8 916 22812 roll 0.71 - - 3122 - 2.58 0.114 3694 536.0 334.4 - - 1702 - - - - - - - - 14.77 14.48 14.78
22860 93.9 9.1 924 22868 done 0.71 - - 3129 - 2.38 0.044 2301 -585.3 334.4 - - 1702 - - - - - - - - 14.64 14.59 14.64
23197 70.2 6.1 939 23228 roll 0.82 0.05 0.208 3173 880.0 2.65 0.113 3697 526.8 379.9 20.30 0.399 1537 -8.1 0.271 - - - - - - 14.60 14.49 14.34
23232 67.8 6.9 944 23249 done 0.85 - - 3181 - 2.40 0.044 2299 -582.5 402.4 11.77 0.392 1448 -7.6 0.248 - - - - - - 14.66 14.60 14.34
23555 48.1 5.1 957 23600 roll 1.01 0.08 0.154 3240 737.5 2.38 0.060 908 -584.5 473.7 35.35 0.338 1171 -7.8 0.211 - - - - - - 14.62 14.52 14.35
23625 41.6 4.7 967 23670 done 1.15 - - 3238 - 2.42 0.057 2312 580.2 555.9 39.95 0.324 837 -8.4 0.204 - - - - - - 14.62 14.52 14.31
23976 21.1 5.8 984 24012 roll 1.39 0.25 0.093 3338 400.0 2.55 0.108 3680 536.5 609.0 26.23 0.243 627 -8.0 0.132 - - - - - - 14.59 14.49 14.42
24080 7.5 10.5 999 24089 done 1.39 - - 3344 - 2.30 0.041 2331 -586.5 609.0 - - 633 - - - - - - - - 14.66 14.60 14.67
24142 end climb: SURFACE_DEPTH_REACHED
24142 begin surface coast
24170 end surface coast: CONTROL_FINISHED_OK
24170 begin surface
SM -7.99 - - - - -8.38 9.32 0.090 197 21.1 0.80 0.088 2765 2168.8 607.40 - - 632 - - - - - - - -