SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 72 * Raw log
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• Previous call tries 1 • 32.37 of 350.00 AH used of 24V (90.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth -3.83 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 536.56, SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 116 done -0.82 - - 145 - - - 2779 - -146.0 -94.53 - 3634 - - - - - - - - 14.68 13.60 14.69
118 - -6.7 3 135 roll -0.82 11.70 0.399 2618 211.4 1.90 0.083 3833 554.7 -146.0 - - 3635 - - - - - - - - 14.29 14.47 14.53
356 79.6 -14.9 38 366 done -0.65 0.22 0.235 2682 290.9 1.80 0.038 2733 -611.1 -146.0 - - 3637 - - - - - - - - 14.47 14.64 14.63
700 109.4 -7.8 49 709 roll -0.58 0.08 0.278 2696 175.0 2.03 0.113 3822 536.5 -146.0 - - 3638 - - - - - - - - 14.57 14.63 14.70
825 120.9 -8.2 67 833 done -0.54 0.10 0.239 2726 300.0 1.75 0.041 2765 -604.0 -146.0 - - 3638 - - - - - - - - 14.59 14.73 14.73
1148 142.8 -6.8 78 1155 roll -0.54 - - 2726 - 2.30 0.042 1381 -601.7 -146.0 - - 3637 - - - - - - - - 14.90 14.70 14.90
1266 153.1 -8.8 95 1274 done -0.54 - - 2716 - 2.45 0.071 2764 564.5 -146.0 - - 3636 - - - - - - - - 14.77 14.66 14.78
1596 176.6 -7.3 107 1598 done -0.54 - - 2717 - - - 2764 - -146.0 - - 3634 - - - - - - - - 14.92 14.92 14.92
1931 203.0 -7.9 113 1934 done -0.54 - - 2717 - - - 2764 - -146.0 - - 3631 - - - - - - - - 14.93 14.93 14.93
2268 228.6 -7.6 119 2275 roll -0.54 - - 2716 - 2.33 0.042 1387 -591.0 -146.0 - - 3628 - - - - - - - - 14.95 14.73 14.95
2336 234.1 -7.8 129 2346 done -0.54 - - 2708 - 2.45 0.073 2761 560.8 -146.0 - - 3626 - - - - - - - - 14.81 14.71 14.87
2660 260.7 -8.3 140 2673 roll -0.54 - - 2700 - 1.95 0.123 3832 549.2 -146.0 - - 3630 - - - - - - - - 14.97 14.70 14.97
2720 266.0 -9.0 148 2733 done -0.54 - - 2700 - 1.75 0.050 2767 -608.6 -146.0 - - 3624 - - - - - - - - 14.86 14.81 14.87
3060 294.2 -8.2 161 3073 roll -0.54 - - 2700 - 2.30 0.046 1371 -607.0 -146.0 - - 3621 - - - - - - - - 14.99 14.79 14.99
3091 296.8 -8.0 165 3104 done -0.54 0.10 0.239 2721 210.0 2.42 0.076 2770 578.1 -146.0 - - 3621 - - - - - - - - 14.69 14.76 14.84
3459 320.2 -6.1 175 3472 roll -0.54 - - 2721 - 2.35 0.046 1360 -600.0 -146.0 - - 3618 - - - - - - - - 15.00 14.80 15.01
3519 323.8 -6.0 183 3532 done -0.54 - - 2712 - 2.42 0.075 2760 578.5 -146.0 - - 3618 - - - - - - - - 14.87 14.75 14.88
3859 345.8 -6.6 196 3873 roll -0.54 - - 2708 - 1.95 0.126 3831 549.2 -146.0 - - 3616 - - - - - - - - 15.00 14.73 15.01
3946 352.2 -7.5 208 3960 done -0.54 - - 2704 - 1.80 0.050 2734 -609.4 -146.0 - - 3615 - - - - - - - - 14.90 14.85 14.90
4316 379.3 -7.5 218 4329 roll -0.54 - - 2704 - 2.25 0.044 1366 -608.0 -146.0 - - 3613 - - - - - - - - 15.01 14.81 15.02
4347 381.9 -8.0 222 4360 done -0.54 - - 2696 - 2.40 0.076 2760 580.8 -146.0 - - 3613 - - - - - - - - 14.88 14.74 14.90
4715 410.3 -7.8 232 4728 roll -0.54 - - 2688 - 1.95 0.126 3829 548.2 -146.0 - - 3611 - - - - - - - - 15.00 14.73 15.01
4775 415.2 -8.1 240 4788 done -0.54 0.12 0.222 2726 316.7 1.77 0.050 2752 -608.5 -146.0 - - 3611 - - - - - - - - 14.71 14.85 14.85
5116 436.3 -6.1 253 5129 roll -0.54 - - 2726 - 2.30 0.046 1357 -606.5 -146.0 - - 3609 - - - - - - - - 15.02 14.81 15.02
5210 442.3 -6.3 266 5223 done -0.59 - - 2719 - 2.45 0.076 2763 573.9 -146.0 - - 3607 - - - - - - - - 14.88 14.79 14.90
5571 464.9 -6.3 275 5584 done -0.59 - - 2718 - - - 2762 - -146.0 - - 3606 - - - - - - - - 15.01 15.01 15.01
5907 486.1 -6.2 281 5920 roll -0.59 - - 2719 - 2.35 0.047 1356 -598.3 -146.0 - - 3604 - - - - - - - - 15.02 14.81 15.02
5967 489.8 -6.3 289 5980 done -0.59 - - 2711 - 2.45 0.076 2760 573.1 -146.0 - - 3605 - - - - - - - - 14.88 14.76 14.90
6307 511.4 -6.3 302 6320 done -0.59 - - 2710 - - - 2760 - -146.0 - - 3603 - - - - - - - - 15.02 15.02 15.02
6643 532.0 -6.1 308 6657 roll -0.59 - - 2710 - 2.33 0.046 1369 -597.0 -146.0 - - 3601 - - - - - - - - 15.02 14.81 15.02
6709 536.2 -6.2 317 6723 done -0.59 - - 2701 - 2.40 0.076 2751 575.8 -146.0 - - 3601 - - - - - - - - 14.88 14.76 14.90
7043 557.0 -6.3 329 7055 done -0.59 - - 2702 - - - 2751 - -146.0 - - 3600 - - - - - - - - 15.01 15.02 15.02
7379 577.9 -6.3 335 7392 done -0.59 - - 2701 - - - 2751 - -146.0 - - 3599 - - - - - - - - 15.04 15.02 15.01
7714 599.3 -6.4 341 7728 roll -0.59 - - 2701 - 2.33 0.048 1370 -592.7 -146.0 - - 3597 - - - - - - - - 15.02 14.81 15.02
7774 603.3 -6.5 349 7788 done -0.59 - - 2694 - 2.42 0.077 2753 571.5 -146.0 - - 3597 - - - - - - - - 14.88 14.76 14.90
8115 626.8 -7.0 362 8128 roll -0.59 - - 2693 - 2.33 0.047 1369 -594.0 -146.0 - - 3596 - - - - - - - - 15.00 14.80 15.01
8167 630.7 -7.1 369 8182 done -0.59 - - 2683 - 2.42 0.078 2753 571.9 -146.0 - - 3595 - - - - - - - - 14.87 14.75 14.88
8511 655.7 -7.3 376 8524 done -0.59 - - 2683 - - - 2753 - -146.0 - - 3595 - - - - - - - - 15.00 15.00 15.00
8847 678.9 -6.8 382 8860 roll -0.59 - - 2683 - 2.35 0.048 1359 -593.2 -146.0 - - 3594 - - - - - - - - 15.01 14.79 15.00
8892 682.0 -6.9 388 8906 done -0.59 0.10 0.244 2704 210.0 2.42 0.079 2746 573.1 -146.0 - - 3594 - - - - - - - - 14.67 14.74 14.84
9247 702.4 -5.7 396 9260 done -0.59 - - 2704 - - - 2747 - -146.0 - - 3592 - - - - - - - - 15.00 15.00 15.00
9583 722.4 -6.0 402 9596 roll -0.59 - - 2704 - 2.33 0.048 1362 -594.4 -146.0 - - 3591 - - - - - - - - 15.00 14.76 15.00
9643 726.4 -6.6 410 9656 done -0.59 - - 2696 - 2.42 0.078 2749 573.1 -146.0 - - 3591 - - - - - - - - 14.86 14.73 14.88
9983 749.0 -6.8 423 9996 roll -0.59 - - 2695 - 2.33 0.048 1362 -595.3 -146.0 - - 3589 - - - - - - - - 15.00 14.78 15.00
10021 751.8 -7.4 428 10035 done -0.59 - - 2686 - 2.42 0.079 2752 574.4 -146.0 - - 3589 - - - - - - - - 14.86 14.73 14.88
10382 776.3 -6.7 437 10396 roll -0.59 - - 2686 - 2.33 0.048 1366 -594.8 -146.0 - - 3589 - - - - - - - - 15.00 14.76 15.00
10435 780.1 -6.9 444 10449 done -0.59 0.10 0.246 2706 200.0 2.42 0.078 2746 570.2 -146.0 - - 3589 - - - - - - - - 14.64 14.72 14.82
10779 799.3 -5.6 451 10792 roll -0.59 - - 2706 - 2.33 0.048 1359 -595.3 -146.0 - - 3586 - - - - - - - - 14.99 14.76 14.99
10810 801.5 -6.5 455 10823 done -0.59 - - 2698 - 2.42 0.078 2745 572.7 -146.0 - - 3588 - - - - - - - - 14.85 14.72 14.87
11178 822.8 -5.9 465 11191 done -0.59 - - 2698 - - - 2744 - -146.0 - - 3587 - - - - - - - - 14.99 14.99 14.99
11515 842.4 -5.8 471 11527 done -0.59 - - 2698 - - - 2744 - -146.0 - - 3587 - - - - - - - - 14.99 14.99 14.99
11850 861.9 -5.8 477 11864 roll -0.59 - - 2698 - 2.33 0.050 1371 -589.3 -146.0 - - 3585 - - - - - - - - 15.00 14.74 15.00
11911 865.7 -6.2 485 11924 done -0.59 - - 2689 - 2.42 0.080 2751 570.2 -146.0 - - 3585 - - - - - - - - 14.84 14.71 14.85
12251 887.1 -6.4 498 12264 done -0.59 - - 2690 - - - 2752 - -146.0 - - 3585 - - - - - - - - 14.99 14.99 14.98
12587 909.0 -6.4 504 12600 roll -0.59 - - 2689 - 2.35 0.049 1359 -592.8 -146.0 - - 3584 - - - - - - - - 14.97 14.76 14.97
12667 914.6 -6.8 515 12680 done -0.59 - - 2680 - 2.42 0.080 2742 571.5 -146.0 - - 3584 - - - - - - - - 14.83 14.69 14.85
12928 end dive: TARGET_DEPTH_EXCEEDED
12928 begin apogee
12932 932.7 -6.9 524 13090 roll -0.23 0.47 0.186 2823 304.3 - - 2274 - - 148.65 1.935 3049 -3.6 0.328 - - - - - - 14.63 14.00 13.35
13092 end apogee: CONTROL_FINISHED_OK
13092 begin climb
13093 936.6 - 526 13273 roll 0.82 1.02 0.119 3146 316.7 2.45 0.057 889 -565.3 146.0 156.85 1.863 2456 -3.8 0.360 - - - - - - 14.02 14.04 13.27
13424 915.1 9.2 580 13437 done 0.75 - - 3146 - 2.47 0.062 2296 569.6 146.0 - - 2447 - - - - - - - - 14.35 14.27 14.37
13778 879.5 10.4 588 13791 roll 0.66 0.10 0.259 3123 -230.0 2.40 0.060 899 -582.1 146.0 - - 2444 - - - - - - - - 14.40 14.48 14.52
13977 860.9 9.0 616 13990 done 0.61 - - 3123 - 2.42 0.063 2298 578.1 146.0 - - 2444 - - - - - - - - 14.65 14.54 14.66
14346 826.1 9.5 626 14359 roll 0.54 0.12 0.239 3081 -350.0 2.55 0.112 3700 549.8 146.0 - - 2443 - - - - - - - - 14.52 14.56 14.64
14426 818.8 8.8 637 14440 done 0.49 0.10 0.261 3063 -180.0 2.38 0.046 2272 -600.0 146.0 - - 2443 - - - - - - - - 14.51 14.67 14.70
14746 796.9 6.8 647 14785 roll 0.52 - - 3063 - 2.65 0.112 3696 537.4 172.6 26.40 1.923 2354 -3.4 0.264 - - - - - - 14.88 14.40 13.83
14804 793.0 6.4 655 14858 done 0.57 - - 3073 - 2.40 0.047 2283 -588.8 208.3 39.38 1.818 2214 -3.6 0.294 - - - - - - 14.55 14.49 13.62
15199 762.6 7.7 669 15212 done 0.57 - - 3073 - - - 2285 - 209.7 - - 2200 - - - - - - - - 14.71 14.71 14.71
15535 737.5 7.4 675 15548 done 0.58 - - 3073 - - - 2285 - 218.8 2.67 0.891 2174 -9.7 1.526 - - - - - - 14.81 14.62 13.64
15871 713.6 7.1 681 15912 roll 0.60 - - 3072 - 2.72 0.116 3699 519.9 236.8 28.05 1.864 2098 -2.7 0.196 - - - - - - 14.85 14.36 13.85
15931 709.1 7.6 689 15945 done 0.61 - - 3081 - 2.40 0.048 2302 -582.1 240.1 - - 2091 - - - - - - - - 14.52 14.46 14.53
16272 683.2 7.6 702 16285 roll 0.61 - - 3090 - 2.45 0.063 898 -573.1 244.5 1.52 0.251 2073 -11.8 6.102 - - - - - - 14.78 14.56 14.47
16317 679.7 7.7 708 16331 done 0.61 - - 3090 - 2.42 0.063 2308 582.6 246.6 1.73 0.265 2066 -4.0 1.965 - - - - - - 14.66 14.56 14.43
16661 653.1 7.8 715 16679 roll 0.61 - - 3090 - 2.62 0.119 3700 531.3 246.6 1.92 0.243 2070 2.1 -1.060 - - - - - - 14.84 14.57 14.52
16710 648.7 8.9 722 16725 done 0.61 - - 3097 - 2.38 0.047 2286 -594.1 246.6 1.67 0.256 2066 -2.4 1.149 - - - - - - 14.73 14.66 14.51
17055 620.7 8.2 729 17068 done 0.61 - - 3097 - - - 2284 - 246.6 1.98 0.241 2066 - - - - - - - - 14.89 14.73 14.54
17391 592.8 8.3 735 17404 roll 0.61 - - 3107 - 2.40 0.063 903 -575.4 246.6 1.83 0.246 2066 - - - - - - - - 14.90 14.68 14.57
17422 590.2 8.2 739 17435 done 0.61 - - 3107 - 2.40 0.067 2305 584.2 246.6 - - 2073 - - - - - - - - 14.78 14.66 14.79
17783 558.7 8.8 748 17796 roll 0.61 - - 3107 - 2.60 0.117 3699 536.2 246.6 1.67 0.251 2067 -3.6 1.514 - - - - - - 14.91 14.63 14.59
17828 554.3 10.0 754 17842 done 0.61 - - 3116 - 2.35 0.047 2293 -598.3 246.6 - - 2076 - - - - - - - - 14.80 14.73 14.83
18172 522.5 9.2 761 18187 roll 0.61 - - 3126 - 2.40 0.063 903 -579.2 246.6 1.70 0.249 2067 -5.3 2.103 - - - - - - 14.92 14.70 14.59
18219 518.2 9.1 767 18232 done 0.61 - - 3126 - 2.38 0.066 2296 585.3 246.6 - - 2076 - - - - - - - - 14.80 14.66 14.81
18572 485.6 9.1 775 18586 roll 0.61 - - 3126 - 2.60 0.116 3693 537.3 246.6 1.73 0.249 2067 -5.2 1.921 - - - - - - 14.93 14.64 14.59
18604 482.5 9.6 779 18617 done 0.61 0.12 0.252 3101 -208.3 2.33 0.047 2294 -600.4 246.6 - - 2076 - - - - - - - - 14.60 14.75 14.77
18965 455.0 7.5 788 18991 roll 0.62 - - 3110 - 2.42 0.063 902 -575.2 254.4 14.02 1.715 2035 -2.9 0.147 - - - - - - 14.94 14.64 14.08
19015 451.1 7.4 795 19035 done 0.64 - - 3110 - 2.40 0.063 2296 580.8 264.4 3.78 1.279 1998 -9.8 0.654 - - - - - - 14.71 14.61 13.72
19361 423.1 8.2 809 19375 roll 0.64 - - 3110 - 2.62 0.113 3702 536.6 264.4 1.95 0.244 1997 - - - - - - - - 14.85 14.58 14.51
19393 420.0 9.2 813 19408 done 0.64 - - 3119 - 2.35 0.046 2294 -599.1 264.4 1.42 0.265 1998 - - - - - - - - 14.74 14.68 14.53
19762 387.6 8.7 823 19780 roll 0.64 - - 3129 - 2.45 0.063 892 -572.2 264.4 2.12 0.403 1997 - - - - - - - - 14.88 14.66 13.68
19819 382.8 8.6 831 19833 done 0.64 - - 3128 - 2.40 0.062 2295 584.6 264.4 1.42 0.268 1995 - - - - - - - - 14.76 14.66 14.54
20160 353.4 8.6 844 20177 roll 0.64 - - 3128 - 2.62 0.117 3699 535.9 264.4 1.90 0.243 2000 2.6 -0.724 - - - - - - 14.90 14.61 14.55
20209 348.5 10.1 851 20224 done 0.64 0.10 0.251 3117 -110.0 2.38 0.046 2281 -595.8 264.4 1.52 0.240 1997 -2.0 0.543 - - - - - - 14.58 14.72 14.56
20554 322.1 7.6 858 20567 done 0.64 - - 3110 - - - 2277 - 268.9 4.47 1.428 1980 -3.8 0.162 - - - - - - 14.92 14.71 13.81
20890 296.3 7.7 864 20903 done 0.64 - - 3110 - - - 2277 - 270.7 3.40 1.089 1975 -1.5 0.076 - - - - - - 14.91 14.71 13.81
21226 269.7 8.0 870 21239 done 0.64 - - 3110 - - - 2277 - 270.7 2.55 0.690 1971 -1.6 0.116 - - - - - - 14.92 14.71 13.88
21561 243.0 8.0 876 21575 done 0.64 - - 3110 - - - 2277 - 270.7 2.10 0.375 1972 - - - - - - - - 14.93 14.73 13.70
21898 216.3 7.9 882 21915 roll 0.64 - - 3110 - 2.67 0.113 3697 531.8 270.7 1.88 0.241 1974 - - - - - - - - 14.94 14.64 14.57
21940 212.4 9.1 888 21953 done 0.64 - - 3118 - 2.33 0.047 2299 -600.0 270.7 1.83 0.247 1972 - - - - - - - - 14.82 14.76 14.57
22284 184.7 8.0 895 22301 roll 0.64 - - 3127 - 2.42 0.063 902 -577.3 270.7 2.15 0.415 1973 - - - - - - - - 14.93 14.71 13.83
22341 180.1 8.2 903 22355 done 0.64 - - 3127 - 2.38 0.061 2300 587.4 270.7 1.98 0.242 1970 -1.5 0.213 - - - - - - 14.81 14.71 14.52
22675 152.1 8.5 915 22692 roll 0.64 - - 3127 - 2.60 0.116 3693 535.8 270.7 2.05 0.314 1974 2.0 -0.179 - - - - - - 14.92 14.65 13.28
22738 146.1 9.6 924 22751 done 0.64 - - 3135 - 2.33 0.046 2293 -600.9 270.7 1.77 0.252 1971 -1.7 0.186 - - - - - - 14.80 14.73 14.54
23064 117.7 8.6 935 23077 roll 0.64 - - 3146 - 2.42 0.063 896 -577.3 270.7 1.98 0.240 1971 - - - - - - - - 14.93 14.69 14.55
23117 113.0 8.8 942 23131 done 0.64 0.12 0.212 3107 -325.0 2.40 0.063 2302 585.8 270.7 1.40 0.238 1973 - - - - - - - - 14.61 14.66 14.58
23458 91.1 5.7 957 23495 done 0.71 - - 3107 - - - 2303 - 324.9 28.10 0.453 1754 -7.8 0.297 - - - - - - 14.92 14.70 14.39
23794 69.7 6.4 969 23828 roll 0.84 0.08 0.158 3169 775.0 2.58 0.115 3699 541.1 360.8 18.50 0.382 1613 -7.6 0.263 - - - - - - 14.70 14.57 14.41
23971 59.1 5.3 994 24018 done 0.91 - - 3175 - 2.35 0.044 2278 -604.7 425.4 32.83 0.360 1355 -7.9 0.244 - - - - - - 14.76 14.70 14.39
24332 42.0 4.8 1012 24385 roll 1.15 0.22 0.095 3275 454.5 2.33 0.060 904 -589.7 505.3 39.28 0.306 1038 -8.1 0.210 - - - - - - 14.66 14.60 14.41
24390 38.4 6.5 1017 24423 done 1.26 - - 3275 - 2.38 0.055 2314 592.4 538.3 16.33 0.296 907 -8.0 0.197 - - - - - - 14.67 14.57 14.41
24726 13.6 7.9 1032 24740 roll 1.38 0.12 0.107 3348 608.3 2.50 0.109 3697 553.2 538.3 - - 914 - - - - - - - - 14.67 14.57 14.71
24829 2.6 11.4 1046 24842 done 1.33 - - 3357 - 2.25 0.041 2333 -606.2 538.3 - - 915 - - - - - - - - 14.76 14.69 14.77
24845 end climb: SURFACE_DEPTH_REACHED
24845 begin surface coast
24873 end surface coast: CONTROL_FINISHED_OK
24874 begin surface
SM -2.79 - - - - -8.39 8.95 0.054 194 21.7 0.80 0.086 2773 2018.8 536.56 - - 914 - - - - - - - -