SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 75 * Raw log
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• Previous call tries 1 • 33.40 of 350.00 AH used of 24V (90.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth -3.35 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 527.02, SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16 - - - 103 done -0.82 - - 178 - - - 2789 - -146.0 -78.62 - 3633 - - - - - - - - 14.70 13.52 14.70
105 6.9 -18.2 3 125 roll -0.82 11.57 0.397 2617 210.8 1.88 0.091 3825 551.1 -146.0 - - 3635 - - - - - - - - 14.28 14.44 14.50
354 79.6 -14.4 39 362 done -0.63 0.25 0.246 2687 280.0 1.77 0.042 2758 -602.8 -146.0 - - 3636 - - - - - - - - 14.45 14.62 14.57
690 110.5 -8.5 52 698 roll -0.57 0.10 0.253 2714 270.0 2.30 0.044 1367 -604.8 -146.0 - - 3637 - - - - - - - - 14.56 14.64 14.72
858 126.5 -8.0 76 866 done -0.57 - - 2707 - 2.45 0.073 2762 569.4 -146.0 - - 3638 - - - - - - - - 14.71 14.64 14.73
1194 150.3 -7.0 89 1203 roll -0.57 - - 2699 - 1.95 0.116 3816 540.5 -146.0 - - 3637 - - - - - - - - 14.91 14.62 14.91
1306 160.0 -8.9 105 1314 done -0.57 - - 2698 - 1.75 0.044 2749 -609.7 -146.0 - - 3636 - - - - - - - - 14.77 14.73 14.79
1642 188.8 -8.5 118 1650 roll -0.57 - - 2699 - 2.28 0.047 1393 -594.7 -146.0 - - 3634 - - - - - - - - 14.93 14.70 14.93
1732 196.5 -8.4 131 1740 done -0.57 - - 2690 - 2.45 0.076 2766 560.4 -146.0 - - 3633 - - - - - - - - 14.80 14.68 14.81
2090 226.1 -8.2 140 2098 roll -0.57 - - 2682 - 1.98 0.120 3824 534.3 -146.0 - - 3631 - - - - - - - - 14.94 14.66 14.94
2131 229.6 -8.5 146 2139 done -0.57 0.10 0.230 2712 300.0 1.77 0.045 2763 -599.4 -146.0 - - 3630 - - - - - - - - 14.64 14.79 14.78
2483 253.6 -6.7 154 2499 roll -0.57 - - 2712 - 2.30 0.047 1368 -606.5 -146.0 - - 3627 - - - - - - - - 14.95 14.74 14.95
2573 260.1 -7.1 166 2587 done -0.57 - - 2702 - 2.42 0.079 2763 576.4 -146.0 - - 3625 - - - - - - - - 14.83 14.71 14.85
2941 287.5 -7.5 176 2954 done -0.57 - - 2703 - - - 2764 - -146.0 - - 3624 - - - - - - - - 14.99 14.99 14.99
3278 311.5 -7.0 182 3291 roll -0.57 - - 2702 - 2.30 0.048 1380 -601.7 -146.0 - - 3621 - - - - - - - - 15.00 14.79 15.01
3316 314.3 -7.3 187 3329 done -0.57 - - 2694 - 2.42 0.080 2771 574.8 -146.0 - - 3621 - - - - - - - - 14.87 14.75 14.89
3677 340.3 -7.2 196 3691 roll -0.57 - - 2693 - 2.33 0.048 1378 -597.9 -146.0 - - 3619 - - - - - - - - 15.01 14.80 15.00
3737 344.9 -7.4 204 3751 done -0.57 0.10 0.238 2715 220.0 2.42 0.080 2763 572.3 -146.0 - - 3618 - - - - - - - - 14.69 14.75 14.85
4078 367.3 -6.6 217 4091 roll -0.57 - - 2715 - 2.33 0.049 1372 -597.0 -146.0 - - 3617 - - - - - - - - 15.02 14.79 15.02
4158 372.9 -6.9 228 4172 done -0.57 - - 2706 - 2.42 0.080 2766 576.0 -146.0 - - 3616 - - - - - - - - 14.88 14.75 14.89
4478 396.4 -7.5 238 4491 roll -0.57 - - 2706 - 2.33 0.049 1377 -596.1 -146.0 - - 3615 - - - - - - - - 15.01 14.80 15.01
4516 399.5 -8.3 243 4529 done -0.57 - - 2698 - 2.40 0.080 2759 575.8 -146.0 - - 3614 - - - - - - - - 14.88 14.74 14.89
4876 428.1 -7.9 252 4890 roll -0.57 - - 2690 - 1.95 0.125 3832 550.3 -146.0 - - 3612 - - - - - - - - 15.01 14.72 15.01
4936 432.8 -7.9 260 4950 done -0.57 - - 2690 - 1.75 0.052 2766 -609.1 -146.0 - - 3611 - - - - - - - - 14.90 14.85 14.91
5276 457.1 -6.9 273 5290 roll -0.57 - - 2690 - 2.33 0.051 1363 -602.1 -146.0 - - 3608 - - - - - - - - 15.00 14.79 15.02
5337 461.2 -6.7 281 5350 done -0.57 0.10 0.245 2710 200.0 2.45 0.082 2762 571.0 -146.0 - - 3610 - - - - - - - - 14.67 14.74 14.85
5677 481.4 -6.0 294 5691 roll -0.57 - - 2710 - 2.33 0.049 1371 -597.0 -146.0 - - 3608 - - - - - - - - 15.00 14.80 15.01
5730 485.0 -6.8 301 5744 done -0.57 - - 2701 - 2.45 0.080 2761 567.3 -146.0 - - 3608 - - - - - - - - 14.85 14.73 14.88
6074 509.9 -7.4 308 6087 roll -0.57 - - 2701 - 2.35 0.050 1362 -595.3 -146.0 - - 3607 - - - - - - - - 15.01 14.78 15.01
6119 513.5 -7.9 314 6132 done -0.57 - - 2696 - 2.42 0.082 2749 573.1 -146.0 - - 3607 - - - - - - - - 14.88 14.74 14.89
6473 540.9 -7.7 322 6487 roll -0.57 - - 2687 - 2.33 0.050 1370 -591.8 -146.0 - - 3605 - - - - - - - - 15.01 14.78 15.01
6512 544.0 -8.2 327 6525 done -0.57 0.10 0.239 2713 260.0 2.42 0.082 2757 573.1 -146.0 - - 3604 - - - - - - - - 14.66 14.73 14.84
6873 567.2 -6.2 336 6887 roll -0.57 - - 2714 - 2.33 0.050 1373 -594.0 -146.0 - - 3602 - - - - - - - - 15.01 14.78 15.02
6934 571.0 -6.3 344 6947 done -0.57 - - 2709 - 2.40 0.081 2744 571.2 -146.0 - - 3603 - - - - - - - - 14.87 14.73 14.88
7274 591.0 -5.8 357 7287 roll -0.57 - - 2706 - 2.33 0.052 1363 -592.7 -146.0 - - 3601 - - - - - - - - 15.00 14.78 15.00
7319 593.8 -6.0 363 7332 done -0.57 - - 2698 - 2.40 0.082 2741 574.2 -146.0 - - 3601 - - - - - - - - 14.86 14.71 14.88
7673 614.7 -6.0 371 7686 roll -0.57 - - 2698 - 2.30 0.051 1373 -594.8 -146.0 - - 3599 - - - - - - - - 15.00 14.77 15.00
7711 617.3 -7.0 376 7724 done -0.57 - - 2690 - 2.40 0.082 2747 572.5 -146.0 - - 3599 - - - - - - - - 14.86 14.73 14.88
8072 642.9 -7.3 385 8085 done -0.57 - - 2690 - - - 2747 - -146.0 - - 3598 - - - - - - - - 15.00 15.00 15.00
8408 669.3 -7.9 391 8421 roll -0.57 - - 2690 - 2.33 0.052 1370 -591.0 -146.0 - - 3597 - - - - - - - - 15.00 14.77 15.00
8488 675.9 -8.0 402 8502 done -0.57 0.10 0.246 2711 210.0 2.40 0.082 2739 570.4 -146.0 - - 3597 - - - - - - - - 14.64 14.73 14.82
8808 698.0 -6.9 412 8821 roll -0.57 - - 2711 - 2.33 0.050 1362 -591.0 -146.0 - - 3594 - - - - - - - - 15.00 14.76 15.00
8860 701.6 -6.9 419 8874 done -0.61 - - 2703 - 2.42 0.082 2735 567.4 -146.0 - - 3595 - - - - - - - - 14.84 14.71 14.86
9204 724.5 -6.6 426 9217 roll -0.61 - - 2695 - 2.03 0.131 3827 537.9 -146.0 - - 3594 - - - - - - - - 14.99 14.66 15.00
9236 726.7 -6.8 430 9249 done -0.61 - - 2695 - 1.83 0.054 2730 -599.5 -146.0 - - 3594 - - - - - - - - 14.85 14.81 14.88
9604 751.0 -6.6 440 9617 roll -0.61 - - 2694 - 2.28 0.053 1368 -597.4 -146.0 - - 3593 - - - - - - - - 14.99 14.76 14.99
9691 756.9 -6.6 452 9704 done -0.61 - - 2686 - 2.40 0.083 2733 568.8 -146.0 - - 3594 - - - - - - - - 14.84 14.70 14.85
10059 780.1 -6.3 462 10072 done -0.61 - - 2686 - - - 2733 - -146.0 - - 3593 - - - - - - - - 15.00 14.99 15.00
10396 801.2 -6.3 468 10409 roll -0.61 - - 2686 - 2.33 0.054 1366 -586.7 -146.0 - - 3591 - - - - - - - - 14.99 14.74 14.99
10462 805.7 -6.6 477 10475 done -0.61 - - 2674 - 2.42 0.085 2737 566.5 -146.0 - - 3591 - - - - - - - - 14.82 14.69 14.83
10795 828.9 -7.2 489 10808 done -0.61 - - 2678 - - - 2738 - -146.0 - - 3590 - - - - - - - - 15.01 14.98 14.98
11131 853.7 -7.5 495 11144 roll -0.61 - - 2678 - 2.33 0.053 1368 -588.0 -146.0 - - 3590 - - - - - - - - 14.97 14.73 14.98
11212 860.0 -7.7 506 11225 done -0.61 0.10 0.246 2699 210.0 2.40 0.084 2726 565.8 -146.0 - - 3590 - - - - - - - - 14.59 14.69 14.78
11531 880.9 -6.4 516 11544 done -0.61 - - 2699 - - - 2726 - -146.0 - - 3588 - - - - - - - - 14.97 14.97 14.97
11867 900.8 -5.7 522 11880 roll -0.61 - - 2699 - 2.33 0.054 1359 -586.7 -146.0 - - 3588 - - - - - - - - 14.97 14.73 14.99
11940 905.2 -5.9 532 11954 done -0.61 - - 2691 - 2.42 0.083 2736 569.0 -146.0 - - 3588 - - - - - - - - 14.82 14.67 14.83
12266 924.4 -5.8 543 12279 done -0.61 - - 2691 - - - 2736 - -146.0 - - 3586 - - - - - - - - 14.97 14.97 14.97
12377 end dive: TARGET_DEPTH_EXCEEDED
12377 begin apogee
12381 931.2 -6.0 545 12544 roll -0.23 0.43 0.178 2821 302.3 - - 2274 - - 153.38 1.883 3049 -3.5 0.328 - - - - - - 14.59 14.00 13.40
12545 end apogee: CONTROL_FINISHED_OK
12545 begin climb
12547 934.9 - 547 12720 roll 0.82 1.02 0.117 3144 316.7 2.47 0.061 895 -558.3 146.0 155.80 1.839 2463 -3.8 0.362 - - - - - - 14.02 14.04 13.28
12892 913.8 8.5 604 12905 done 0.74 - - 3143 - 2.50 0.067 2302 562.8 146.0 - - 2449 - - - - - - - - 14.38 14.28 14.40
13226 884.2 9.0 616 13239 roll 0.66 0.08 0.278 3127 -200.0 2.42 0.063 906 -576.9 146.0 - - 2447 - - - - - - - - 14.39 14.49 14.52
13404 870.2 7.4 641 13419 done 0.61 0.12 0.237 3092 -291.7 2.40 0.067 2291 577.1 155.2 1.75 0.227 2431 -9.1 6.630 - - - - - - 14.45 14.53 14.42
13739 847.9 6.7 653 13792 roll 0.64 - - 3093 - 2.65 0.118 3692 528.7 184.3 39.92 1.917 2308 -3.1 0.258 - - - - - - 14.82 14.24 13.71
13838 840.3 8.4 667 13852 done 0.60 - - 3100 - 2.40 0.052 2303 -578.8 184.3 - - 2301 - - - - - - - - 14.47 14.40 14.47
14193 813.3 7.7 675 14206 done 0.60 - - 3101 - - - 2300 - 184.8 - - 2297 - - - - - - - - 14.76 14.76 14.76
14529 787.0 7.8 681 14542 roll 0.60 - - 3100 - 2.60 0.119 3696 536.9 184.8 - - 2296 - - - - - - - - 14.83 14.55 14.84
14574 783.0 9.1 687 14588 done 0.55 0.10 0.246 3082 -180.0 2.38 0.050 2295 -588.7 184.8 - - 2297 - - - - - - - - 14.52 14.66 14.70
14928 757.8 7.1 695 14961 roll 0.57 - - 3081 - 2.70 0.118 3699 520.0 202.6 17.30 1.992 2234 -3.6 0.262 - - - - - - 14.88 14.47 13.90
14979 754.1 7.3 702 14998 done 0.58 - - 3090 - 2.42 0.050 2285 -584.3 214.3 4.78 1.868 2198 -7.5 0.575 - - - - - - 14.62 14.55 13.54
15325 728.0 7.5 716 15351 roll 0.59 - - 3090 - 2.72 0.119 3693 517.6 220.7 13.55 2.033 2166 -2.4 0.160 - - - - - - 14.80 14.42 13.85
15369 724.3 8.2 722 15383 done 0.59 - - 3100 - 2.40 0.050 2304 -578.8 220.7 - - 2162 - - - - - - - - 14.58 14.51 14.59
15713 696.9 7.9 729 15726 done 0.59 - - 3100 - - - 2299 - 220.7 - - 2159 - - - - - - - - 14.81 14.81 14.81
16049 670.6 7.8 735 16062 roll 0.59 - - 3099 - 2.60 0.117 3696 537.3 220.7 - - 2159 - - - - - - - - 14.86 14.57 14.86
16080 667.8 8.6 739 16093 done 0.59 - - 3110 - 2.38 0.050 2294 -589.1 220.7 - - 2159 - - - - - - - - 14.74 14.68 14.76
16448 636.7 8.6 749 16461 done 0.59 - - 3109 - - - 2288 - 220.7 - - 2161 - - - - - - - - 14.89 14.89 14.89
16784 607.6 8.7 755 16797 roll 0.59 - - 3109 - 2.60 0.119 3692 540.0 220.7 - - 2159 - - - - - - - - 14.90 14.62 14.91
16829 603.3 9.6 761 16843 done 0.59 - - 3118 - 2.35 0.050 2298 -593.2 220.7 - - 2159 - - - - - - - - 14.79 14.72 14.81
17183 572.7 8.6 769 17197 roll 0.59 - - 3125 - 2.40 0.068 886 -588.3 220.7 - - 2159 - - - - - - - - 14.92 14.67 14.92
17208 570.5 8.6 772 17221 done 0.59 0.12 0.220 3091 -283.3 2.45 0.069 2308 580.4 220.7 - - 2158 - - - - - - - - 14.63 14.68 14.78
17527 545.7 7.8 782 17540 roll 0.59 - - 3089 - 2.55 0.120 3703 547.1 220.7 - - 2158 - - - - - - - - 14.93 14.64 14.93
17565 542.2 8.7 787 17579 done 0.59 - - 3099 - 2.38 0.047 2282 -597.1 220.7 - - 2158 - - - - - - - - 14.81 14.74 14.83
17927 512.2 8.2 796 17940 done 0.59 - - 3099 - - - 2277 - 220.7 - - 2158 - - - - - - - - 14.93 14.93 14.94
18263 486.7 7.5 802 18280 roll 0.60 - - 3099 - 2.70 0.116 3700 527.0 227.6 1.77 0.257 2144 -7.9 2.833 - - - - - - 14.94 14.65 14.55
18333 480.6 8.5 812 18346 done 0.60 - - 3107 - 2.35 0.049 2300 -595.7 227.6 1.73 0.256 2141 -1.7 0.616 - - - - - - 14.80 14.73 14.54
18652 456.8 7.4 822 18679 roll 0.61 - - 3117 - 2.47 0.067 893 -569.6 236.2 14.82 1.723 2103 -2.6 0.129 - - - - - - 14.93 14.62 14.07
18690 454.0 7.0 827 18723 done 0.63 - - 3117 - 2.45 0.068 2309 578.0 255.4 19.65 1.656 2028 -3.8 0.198 - - - - - - 14.69 14.59 13.93
19043 426.1 8.0 842 19056 roll 0.63 - - 3117 - 2.55 0.119 3697 544.3 255.4 - - 2017 - - - - - - - - 14.79 14.51 14.79
19095 421.2 9.4 849 19109 done 0.63 - - 3127 - 2.38 0.047 2301 -586.6 255.4 - - 2017 - - - - - - - - 14.66 14.62 14.70
19439 391.6 8.7 856 19452 roll 0.63 - - 3127 - 2.60 0.116 3700 538.1 255.4 - - 2017 - - - - - - - - 14.85 14.57 14.85
19470 388.5 9.7 860 19483 done 0.63 - - 3135 - 2.35 0.047 2302 -594.9 255.4 - - 2017 - - - - - - - - 14.74 14.68 14.76
19838 353.7 9.6 870 19852 roll 0.63 0.08 0.276 3118 -212.5 2.38 0.063 896 -590.8 255.4 - - 2017 - - - - - - - - 14.57 14.66 14.69
19890 348.9 8.8 877 19905 done 0.63 - - 3118 - 2.45 0.066 2314 578.8 255.4 - - 2016 - - - - - - - - 14.76 14.66 14.78
20235 318.9 8.7 884 20248 roll 0.63 - - 3117 - 2.53 0.117 3700 547.8 255.4 - - 2016 - - - - - - - - 14.91 14.62 14.91
20322 310.5 9.6 896 20335 done 0.63 - - 3127 - 2.33 0.047 2308 -597.4 255.4 - - 2016 - - - - - - - - 14.79 14.73 14.81
20690 279.8 8.2 906 20703 done 0.63 - - 3127 - - - 2302 - 255.4 - - 2016 - - - - - - - - 14.92 14.92 14.92
21026 252.2 8.3 912 21039 roll 0.63 - - 3127 - 2.58 0.116 3700 541.9 255.4 - - 2016 - - - - - - - - 14.94 14.64 14.96
21078 247.1 9.8 919 21092 done 0.63 - - 3135 - 2.35 0.047 2302 -594.9 255.4 - - 2016 - - - - - - - - 14.82 14.75 14.83
21422 217.1 8.7 926 21436 roll 0.63 0.08 0.275 3118 -212.5 2.38 0.061 893 -592.0 255.4 - - 2016 - - - - - - - - 14.60 14.71 14.73
21447 215.0 8.4 929 21461 done 0.63 - - 3118 - 2.45 0.065 2322 583.3 255.4 - - 2016 - - - - - - - - 14.81 14.70 14.83
21767 190.2 7.8 939 21780 roll 0.63 - - 3117 - 2.50 0.116 3701 551.6 255.4 - - 2016 - - - - - - - - 14.93 14.63 14.93
21812 186.1 9.1 945 21825 done 0.63 - - 3126 - 2.30 0.045 2314 -603.0 255.4 - - 2017 - - - - - - - - 14.82 14.75 14.83
22166 157.1 8.2 953 22179 roll 0.63 - - 3136 - 2.38 0.064 903 -592.9 255.4 - - 2017 - - - - - - - - 14.94 14.71 14.94
22204 154.0 7.6 958 22218 done 0.64 - - 3135 - 2.42 0.067 2323 586.8 258.4 - - 2017 - - - - - - - - 14.81 14.70 14.83
22566 124.3 8.3 967 22579 roll 0.64 - - 3133 - 2.50 0.119 3694 548.4 258.4 - - 2017 - - - - - - - - 14.94 14.64 14.95
22667 114.6 9.6 981 22680 done 0.64 0.10 0.247 3110 -230.0 2.30 0.045 2302 -605.2 258.4 - - 2018 - - - - - - - - 14.62 14.76 14.80
22993 92.3 6.2 990 23027 done 0.69 - - 3110 - - - 2304 - 301.1 20.45 0.449 1850 -8.2 0.319 - - - - - - 14.95 14.63 14.38
23330 75.0 5.2 1002 23376 roll 0.87 0.12 0.121 3186 633.3 2.45 0.064 906 -570.6 370.7 34.38 0.404 1573 -8.1 0.283 - - - - - - 14.69 14.62 14.40
23528 63.7 4.8 1030 23582 done 1.01 0.08 0.151 3242 700.0 2.42 0.060 2322 585.1 449.9 38.92 0.369 1258 -8.1 0.264 - - - - - - 14.66 14.64 14.36
23894 42.3 8.2 1049 23907 done 1.10 - - 3242 - - - 2322 - 449.9 - - 1263 - - - - - - - - 14.85 14.85 14.85
24203 26.2 4.8 1060 24256 roll 1.31 0.15 0.100 3328 573.3 2.55 0.110 3698 539.6 528.4 37.90 0.238 948 -8.3 0.173 - - - - - - 14.71 14.56 14.51
24336 12.3 13.1 1079 24350 done 1.31 - - 3333 - 2.25 0.043 2341 -603.1 528.4 - - 953 - - - - - - - - 14.75 14.68 14.76
24455 end climb: SURFACE_DEPTH_REACHED
24455 begin surface coast
24483 end surface coast: CONTROL_FINISHED_OK
24484 begin surface
SM -4.15 - - - - -8.40 8.80 0.045 188 21.4 0.80 0.099 2769 2173.8 527.02 - - 952 - - - - - - - -