SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 80 * Raw log
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• Previous call tries 1 • 35.43 of 350.00 AH used of 24V (89.88% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.5 deg, depth 1.70 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 540.58, SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 8
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 106 done -0.82 - - 188 - - - 2764 - -146.0 -86.03 - 3633 - - - - - - - - 14.68 13.59 14.68
107 9.3 -13.1 3 126 roll -0.82 11.52 0.399 2616 210.8 1.90 0.086 3837 564.7 -146.0 - - 3635 - - - - - - - - 14.28 14.47 14.49
355 93.1 -17.2 39 363 done -0.65 0.22 0.237 2680 290.9 1.80 0.041 2752 -602.8 -146.0 - - 3636 - - - - - - - - 14.47 14.64 14.59
719 118.5 -4.9 50 727 roll -0.58 0.10 0.253 2702 220.0 2.00 0.112 3828 538.0 -146.0 - - 3638 - - - - - - - - 14.58 14.62 14.73
823 126.6 -7.8 65 833 done -0.58 - - 2702 - 1.80 0.043 2735 -607.2 -146.0 - - 3637 - - - - - - - - 14.78 14.74 14.78
1167 152.2 -7.4 72 1174 roll -0.58 - - 2694 - 2.03 0.112 3819 534.0 -146.0 - - 3637 - - - - - - - - 14.91 14.64 14.90
1215 156.1 -8.1 79 1224 done -0.58 - - 2694 - 1.75 0.043 2762 -604.0 -146.0 - - 3635 - - - - - - - - 14.81 14.76 14.81
1559 183.9 -8.3 86 1567 roll -0.58 - - 2694 - 2.30 0.046 1392 -595.7 -146.0 - - 3634 - - - - - - - - 14.92 14.71 14.92
1621 189.1 -8.4 95 1630 done -0.58 - - 2684 - 2.42 0.075 2763 566.5 -146.0 - - 3634 - - - - - - - - 14.78 14.68 14.79
1951 217.3 -8.6 107 1959 roll -0.58 - - 2681 - 1.98 0.119 3827 537.4 -146.0 - - 3631 - - - - - - - - 14.94 14.67 14.95
2007 222.3 -9.1 115 2015 done -0.58 0.10 0.204 2704 230.0 1.77 0.044 2774 -594.9 -146.0 - - 3630 - - - - - - - - 14.62 14.78 14.73
2343 248.3 -7.6 128 2350 roll -0.58 - - 2706 - 2.35 0.047 1374 -595.7 -146.0 - - 3627 - - - - - - - - 14.95 14.73 14.95
2384 251.5 -7.9 134 2397 done -0.58 - - 2697 - 2.40 0.077 2760 577.5 -146.0 - - 3627 - - - - - - - - 14.82 14.71 14.84
2738 279.2 -7.8 142 2751 roll -0.58 - - 2697 - 2.33 0.047 1365 -598.7 -146.0 - - 3624 - - - - - - - - 14.95 14.78 14.98
2777 282.3 -8.0 147 2790 done -0.58 - - 2688 - 2.42 0.078 2767 579.3 -146.0 - - 3624 - - - - - - - - 14.85 14.73 14.87
3138 310.2 -7.7 156 3151 done -0.58 - - 2688 - - - 2767 - -146.0 - - 3621 - - - - - - - - 15.00 15.00 15.00
3473 336.4 -7.8 162 3487 roll -0.58 - - 2689 - 2.35 0.049 1366 -596.2 -146.0 - - 3618 - - - - - - - - 15.01 14.81 15.01
3547 342.5 -8.1 172 3560 done -0.58 0.10 0.250 2707 180.0 2.42 0.080 2761 576.4 -146.0 - - 3618 - - - - - - - - 14.68 14.74 14.84
3873 366.9 -7.6 183 3886 roll -0.58 - - 2707 - 2.33 0.049 1371 -596.6 -146.0 - - 3615 - - - - - - - - 15.02 14.81 15.02
3911 369.9 -8.1 188 3924 done -0.58 - - 2698 - 2.40 0.079 2754 576.2 -146.0 - - 3616 - - - - - - - - 14.88 14.76 14.90
4272 397.5 -7.6 197 4285 done -0.58 - - 2699 - - - 2755 - -146.0 - - 3614 - - - - - - - - 15.00 15.01 15.01
4608 421.9 -7.1 203 4621 roll -0.58 - - 2699 - 2.33 0.050 1370 -594.4 -146.0 - - 3612 - - - - - - - - 15.02 14.80 15.02
4632 423.7 -7.0 206 4646 done -0.58 - - 2690 - 2.42 0.080 2756 572.7 -146.0 - - 3611 - - - - - - - - 14.88 14.76 14.90
4951 446.8 -7.3 216 4965 roll -0.58 - - 2681 - 1.98 0.126 3833 543.9 -146.0 - - 3610 - - - - - - - - 15.02 14.73 15.02
4983 449.3 -7.4 220 4996 done -0.58 0.10 0.238 2711 300.0 1.80 0.052 2740 -607.2 -146.0 - - 3609 - - - - - - - - 14.69 14.85 14.85
5351 472.3 -6.2 230 5364 roll -0.58 - - 2712 - 2.30 0.050 1361 -599.6 -146.0 - - 3608 - - - - - - - - 15.00 14.80 15.00
5403 475.7 -6.4 237 5418 done -0.58 - - 2702 - 2.42 0.081 2747 572.7 -146.0 - - 3607 - - - - - - - - 14.88 14.76 14.89
5747 497.7 -6.4 244 5760 roll -0.58 - - 2694 - 1.98 0.127 3826 544.9 -146.0 - - 3605 - - - - - - - - 15.02 14.73 15.02
5792 500.9 -7.1 250 5806 done -0.58 - - 2693 - 1.77 0.053 2746 -610.2 -146.0 - - 3605 - - - - - - - - 14.88 14.84 14.90
6146 525.4 -7.0 258 6160 roll -0.58 - - 2694 - 2.30 0.050 1362 -601.7 -146.0 - - 3603 - - - - - - - - 15.01 14.79 15.01
6220 530.7 -7.1 268 6233 done -0.58 - - 2685 - 2.42 0.081 2753 574.8 -146.0 - - 3603 - - - - - - - - 14.89 14.75 14.89
6546 555.2 -7.6 279 6559 done -0.58 - - 2685 - - - 2753 - -146.0 - - 3602 - - - - - - - - 15.00 15.01 15.00
6882 580.1 -7.4 285 6895 roll -0.58 - - 2685 - 2.33 0.051 1373 -592.3 -146.0 - - 3600 - - - - - - - - 15.01 14.79 15.01
6976 587.3 -7.5 298 6990 done -0.58 0.12 0.240 2712 225.0 2.42 0.081 2758 572.3 -146.0 - - 3600 - - - - - - - - 14.67 14.73 14.83
7338 609.7 -6.1 307 7351 roll -0.58 - - 2712 - 2.35 0.050 1366 -592.3 -146.0 - - 3598 - - - - - - - - 15.01 14.78 15.01
7376 612.1 -6.2 312 7389 done -0.58 - - 2704 - 2.42 0.081 2757 574.8 -146.0 - - 3597 - - - - - - - - 14.85 14.73 14.88
7737 633.9 -6.1 321 7750 roll -0.58 - - 2704 - 2.35 0.052 1363 -593.2 -146.0 - - 3597 - - - - - - - - 15.00 14.78 15.00
7797 637.7 -6.3 329 7810 done -0.58 - - 2697 - 2.42 0.082 2742 569.8 -146.0 - - 3598 - - - - - - - - 14.86 14.73 14.88
8137 659.7 -6.5 342 8151 roll -0.58 - - 2687 - 2.00 0.129 3825 541.5 -146.0 - - 3596 - - - - - - - - 15.00 14.70 15.00
8176 662.5 -7.1 347 8189 done -0.58 - - 2687 - 1.80 0.053 2738 -603.9 -146.0 - - 3595 - - - - - - - - 14.88 14.82 14.89
8537 688.2 -7.3 356 8550 roll -0.58 - - 2687 - 2.30 0.053 1363 -597.8 -146.0 - - 3595 - - - - - - - - 15.00 14.77 15.00
8631 695.2 -7.5 369 8645 done -0.58 0.10 0.252 2708 210.0 2.45 0.083 2752 566.9 -146.0 - - 3593 - - - - - - - - 14.64 14.73 14.83
8993 719.0 -6.6 378 9006 roll -0.58 - - 2708 - 2.35 0.053 1371 -587.7 -146.0 - - 3592 - - - - - - - - 15.00 14.76 15.00
9031 721.7 -7.1 383 9044 done -0.58 - - 2700 - 2.40 0.082 2737 569.2 -146.0 - - 3593 - - - - - - - - 14.85 14.72 14.86
9392 746.3 -6.8 392 9405 done -0.58 - - 2700 - - - 2737 - -146.0 - - 3592 - - - - - - - - 15.00 15.00 15.00
9728 768.7 -6.7 398 9741 roll -0.58 - - 2700 - 2.33 0.053 1367 -588.0 -146.0 - - 3591 - - - - - - - - 15.00 14.76 15.00
9780 772.3 -6.6 405 9795 done -0.58 - - 2693 - 2.42 0.083 2737 566.1 -146.0 - - 3591 - - - - - - - - 14.85 14.71 14.85
10125 794.9 -6.6 412 10138 done -0.58 - - 2693 - - - 2737 - -146.0 - - 3590 - - - - - - - - 14.99 15.00 14.99
10460 817.1 -6.7 418 10474 roll -0.58 - - 2693 - 2.33 0.054 1372 -585.8 -146.0 - - 3589 - - - - - - - - 15.00 14.76 15.02
10521 821.4 -7.1 426 10534 done -0.58 - - 2685 - 2.42 0.083 2739 564.9 -146.0 - - 3589 - - - - - - - - 14.84 14.70 14.85
10861 846.5 -7.5 439 10874 roll -0.58 - - 2685 - 2.33 0.052 1370 -587.6 -146.0 - - 3587 - - - - - - - - 14.98 14.74 14.98
10913 850.7 -7.9 446 10927 done -0.58 0.12 0.238 2713 233.3 2.42 0.083 2742 566.9 -146.0 - - 3588 - - - - - - - - 14.60 14.69 14.79
11257 874.0 -6.8 453 11270 done -0.63 - - 2713 - - - 2741 - -146.0 - - 3586 - - - - - - - - 14.97 14.97 14.97
11593 896.2 -6.4 459 11607 roll -0.68 - - 2713 - 2.35 0.054 1369 -583.8 -146.0 - - 3585 - - - - - - - - 14.97 14.74 14.97
11632 898.8 -4.1 464 11645 done -0.74 0.08 0.155 2647 -825.0 2.40 0.084 2733 568.3 -146.0 - - 3585 - - - - - - - - 14.74 14.69 14.83
11993 929.1 -8.2 473 12006 roll -0.74 - - 2639 - 2.03 0.131 3827 538.9 -146.0 - - 3584 - - - - - - - - 14.97 14.65 14.97
12009 end dive: TARGET_DEPTH_EXCEEDED
12009 begin apogee
12015 930.5 -8.5 475 12174 roll -0.23 0.62 0.200 2822 295.2 - - 2286 - - 149.23 1.930 3050 -3.6 0.331 - - - - - - 14.59 14.00 13.38
12175 end apogee: CONTROL_FINISHED_OK
12175 begin climb
12177 934.5 - 477 12352 roll 0.82 1.02 0.118 3145 316.7 2.50 0.063 897 -555.6 146.0 154.48 1.871 2458 -3.8 0.367 - - - - - - 14.01 14.04 13.28
12539 909.9 9.2 536 12552 done 0.74 - - 3147 - 2.47 0.068 2292 564.8 146.0 - - 2447 - - - - - - - - 14.39 14.29 14.40
12858 879.7 9.6 546 12872 roll 0.66 0.08 0.278 3119 -350.0 2.60 0.115 3696 540.0 146.0 - - 2445 - - - - - - - - 14.38 14.42 14.52
13058 860.6 9.2 574 13072 done 0.56 0.17 0.245 3081 -223.5 2.40 0.050 2290 -585.8 146.0 - - 2445 - - - - - - - - 14.44 14.59 14.62
13427 835.6 6.6 584 13472 roll 0.60 - - 3091 - 2.50 0.069 900 -556.0 175.6 30.05 1.962 2338 -3.6 0.291 - - - - - - 14.84 14.38 13.76
13511 829.8 6.7 596 13552 done 0.63 - - 3091 - 2.45 0.067 2293 568.6 203.6 28.55 1.919 2241 -3.4 0.282 - - - - - - 14.50 14.40 13.63
13879 800.1 8.2 613 13892 roll 0.63 - - 3090 - 2.62 0.120 3701 537.4 203.6 - - 2222 - - - - - - - - 14.71 14.45 14.71
13910 797.0 9.5 617 13923 done 0.63 - - 3101 - 2.42 0.050 2285 -585.1 203.6 - - 2221 - - - - - - - - 14.61 14.54 14.62
14278 763.8 9.0 627 14291 done 0.63 - - 3101 - - - 2279 - 203.6 - - 2218 - - - - - - - - 14.82 14.82 14.83
14614 734.3 8.7 633 14628 roll 0.63 - - 3100 - 2.65 0.118 3702 537.0 203.6 - - 2220 - - - - - - - - 14.86 14.59 14.87
14645 731.4 9.1 637 14659 done 0.63 - - 3111 - 2.40 0.050 2284 -590.8 203.6 - - 2220 - - - - - - - - 14.75 14.68 14.76
15013 700.1 8.4 647 15027 roll 0.63 - - 3121 - 2.38 0.069 892 -584.9 203.6 - - 2219 - - - - - - - - 14.90 14.66 14.90
15037 698.0 8.3 650 15051 done 0.63 - - 3121 - 2.42 0.070 2295 579.8 203.6 - - 2219 - - - - - - - - 14.77 14.66 14.79
15357 671.1 8.5 660 15369 done 0.63 - - 3121 - - - 2295 - 203.6 - - 2217 - - - - - - - - 14.91 14.91 14.91
15692 643.0 8.4 666 15705 done 0.63 - - 3121 - - - 2295 - 203.6 - - 2219 - - - - - - - - 14.92 14.92 14.92
16029 614.3 8.5 672 16042 roll 0.63 - - 3129 - 2.40 0.068 893 -584.2 203.6 - - 2218 - - - - - - - - 14.93 14.71 14.93
16074 610.3 8.5 678 16087 done 0.63 - - 3129 - 2.40 0.070 2289 581.7 203.6 - - 2218 - - - - - - - - 14.81 14.69 14.83
16428 579.0 8.9 686 16441 done 0.63 - - 3129 - - - 2289 - 203.6 - - 2218 - - - - - - - - 14.94 14.95 14.94
16764 550.4 8.4 692 16777 roll 0.63 - - 3138 - 2.40 0.068 893 -581.7 203.6 - - 2219 - - - - - - - - 14.95 14.71 14.95
16809 546.6 8.4 698 16823 done 0.63 0.12 0.227 3101 -308.3 2.40 0.068 2288 581.2 203.6 - - 2218 - - - - - - - - 14.62 14.70 14.79
17164 520.5 7.4 706 17178 roll 0.64 - - 3100 - 2.55 0.114 3695 551.8 212.1 1.65 0.246 2204 -8.5 3.443 - - - - - - 14.94 14.63 14.62
17238 514.1 8.6 716 17251 done 0.64 - - 3110 - 2.38 0.047 2277 -595.8 212.1 - - 2213 - - - - - - - - 14.83 14.75 14.83
17564 487.9 8.1 727 17577 done 0.64 - - 3117 - - - 2272 - 212.1 1.55 0.249 2201 -7.7 2.909 - - - - - - 14.95 14.78 14.60
17900 460.9 8.0 733 17914 roll 0.64 - - 3110 - 2.62 0.115 3695 543.1 212.1 1.42 0.253 2202 - - - - - - - - 14.95 14.64 14.59
17946 456.8 9.0 739 17959 done 0.64 - - 3120 - 2.38 0.048 2279 -595.0 212.1 - - 2211 - - - - - - - - 14.83 14.76 14.84
18300 428.6 7.9 747 18313 done 0.64 - - 3120 - - - 2274 - 212.1 1.23 0.262 2204 -5.7 1.785 - - - - - - 14.95 14.78 14.61
18636 402.1 8.0 753 18649 roll 0.64 - - 3120 - 2.62 0.115 3697 543.1 212.1 1.42 0.251 2204 - - - - - - - - 14.95 14.64 14.59
18703 395.8 9.5 762 18717 done 0.59 0.12 0.242 3096 -200.0 2.38 0.046 2279 -595.8 212.1 1.25 0.243 2204 - - - - - - - - 14.59 14.75 14.59
19037 371.7 7.1 774 19070 done 0.61 - - 3094 - - - 2274 - 228.4 24.12 1.507 2139 -2.7 0.127 - - - - - - 14.94 14.62 14.07
19373 347.4 7.3 780 19390 roll 0.62 - - 3093 - 2.65 0.112 3700 538.1 241.0 3.85 1.232 2093 -11.9 0.646 - - - - - - 14.84 14.56 13.76
19401 345.0 8.1 784 19415 done 0.62 - - 3101 - 2.38 0.047 2291 -592.0 241.0 1.50 0.290 2089 -2.7 0.608 - - - - - - 14.69 14.63 14.42
19769 316.5 7.8 794 19783 roll 0.62 - - 3111 - 2.45 0.066 893 -570.6 241.0 2.25 0.495 2090 - - - - - - - - 14.86 14.65 13.78
19822 312.3 8.1 801 19837 done 0.62 - - 3111 - 2.42 0.065 2298 580.6 241.0 1.55 0.259 2089 - - - - - - - - 14.73 14.64 14.50
20167 285.2 7.8 808 20184 roll 0.62 - - 3111 - 2.62 0.116 3699 534.7 241.0 2.00 0.240 2092 1.5 -0.342 - - - - - - 14.90 14.61 13.10
20209 281.4 8.8 814 20223 done 0.62 - - 3117 - 2.38 0.046 2280 -596.2 241.0 1.38 0.265 2089 -2.2 0.443 - - - - - - 14.77 14.71 14.53
20564 252.9 8.0 822 20578 roll 0.62 - - 3130 - 2.42 0.064 892 -573.6 241.0 2.08 0.345 2089 - - - - - - - - 14.91 14.69 13.55
20610 249.2 8.0 828 20623 done 0.62 - - 3130 - 2.40 0.067 2294 584.2 241.0 1.30 0.269 2089 - - - - - - - - 14.78 14.67 14.55
20964 220.1 8.3 836 20982 roll 0.62 0.08 0.245 3101 -362.5 2.62 0.114 3701 537.0 241.0 1.92 0.213 2093 2.1 -0.413 - - - - - - 14.59 14.62 14.55
21000 217.1 8.2 841 21013 done 0.62 - - 3110 - 2.38 0.046 2281 -596.6 241.0 1.48 0.265 2089 -2.7 0.425 - - - - - - 14.82 14.73 14.52
21361 190.6 7.3 850 21390 done 0.64 - - 3109 - - - 2274 - 253.8 20.08 1.317 2039 -2.5 0.069 - - - - - - 14.92 14.64 14.13
21697 165.8 7.4 856 21715 roll 0.65 - - 3110 - 2.70 0.112 3698 527.4 262.6 2.17 0.418 2005 -15.7 1.192 - - - - - - 14.85 14.57 13.86
21747 161.6 8.7 863 21761 done 0.65 - - 3119 - 2.40 0.046 2280 -590.8 262.6 1.42 0.256 2002 -2.1 0.256 - - - - - - 14.73 14.67 14.52
22091 135.4 7.5 870 22110 roll 0.66 - - 3127 - 2.42 0.063 893 -573.1 268.7 7.75 1.353 1982 -2.6 0.050 - - - - - - 14.88 14.63 14.11
22156 130.4 7.7 879 22170 done 0.66 - - 3133 - 2.40 0.062 2298 585.4 269.7 - - 1985 - - - - - - - - 14.72 14.62 14.73
22483 106.4 7.2 890 22507 roll 0.68 - - 3127 - 2.62 0.116 3696 533.6 285.4 8.77 0.455 1918 -7.6 0.343 - - - - - - 14.88 14.57 14.34
22553 100.5 8.6 900 22566 done 0.68 - - 3135 - 2.35 0.045 2287 -599.6 285.4 2.25 0.243 1911 -3.1 0.247 - - - - - - 14.73 14.69 14.43
22873 77.1 7.5 915 22890 roll 0.69 - - 3135 - 2.62 0.113 3702 540.1 290.9 4.65 0.339 1893 -3.9 0.169 - - - - - - 14.88 14.59 14.40
22908 74.7 6.9 920 22937 done 0.71 - - 3144 - 2.35 0.045 2286 -602.6 313.7 12.60 0.396 1800 -7.4 0.267 - - - - - - 14.76 14.70 14.38
23239 59.4 3.7 934 23306 roll 0.91 0.08 0.158 3211 837.5 2.65 0.115 3701 534.0 422.8 52.95 0.357 1365 -8.2 0.262 - - - - - - 14.66 14.51 14.37
23373 51.1 6.8 953 23399 done 0.94 - - 3219 - 2.33 0.044 2304 -599.6 447.5 12.90 0.323 1268 -7.5 0.228 - - - - - - 14.69 14.62 14.38
23720 32.0 4.2 969 23781 roll 1.14 0.08 0.164 3299 1000.0 2.42 0.063 897 -581.4 541.9 45.47 0.270 892 -8.3 0.188 - - - - - - 14.68 14.57 14.43
23835 27.8 9.0 985 23849 done 1.14 0.08 0.231 3274 -312.5 2.40 0.059 2315 590.8 541.9 1.15 0.220 891 - - - - - - - - 14.54 14.57 14.50
24147 end climb: SURFACE_DEPTH_REACHED
24147 begin surface coast
24203 end surface coast: CONTROL_FINISHED_OK
24203 begin surface
SM 1.01 - - - - -8.39 8.82 0.066 193 21.9 0.80 0.086 2775 -13178.8 540.58 - - 898 - - - - - - - -