SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 82 * Raw log
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• Previous call tries 1 • 36.24 of 350.00 AH used of 24V (89.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.2 deg, depth 1.60 m • Intended pitch -13.2 deg, speed -7.381 cm/s
• No surface pump (final VBD was 606.65, SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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 VBD -0.78 - - 187 - - - 2743 - -146.0 -86.25 - 3151 - - - - - - - - 14.69 - 14.69
108 5.5 -6.6 3 134 roll -0.78 11.52 0.396 2636 212.6 2.45 2.097 1386 -553.9 -146.0 -7.30 - 3633 -66.0 - - - - - - - 14.28 13.70 14.48
209 42.0 -27.3 18 219 done -0.54 0.32 0.260 2708 225.0 2.45 0.073 2756 559.2 -146.0 - - 3635 - - - - - - - - 14.37 14.48 14.52
524 89.3 -8.9 30 532 roll -0.47 0.10 0.253 2736 280.0 1.95 0.115 3819 545.1 -146.0 - - 3636 - - - - - - - - 14.53 14.55 14.67
733 104.8 -6.7 60 741 done -0.47 - - 2736 - 1.77 0.041 2743 -607.9 -146.0 - - 3636 - - - - - - - - 14.76 14.71 14.79
1084 122.4 -6.5 68 1092 roll -0.47 - - 2727 - 2.03 0.114 3825 533.0 -146.0 - - 3636 - - - - - - - - 14.91 14.64 14.91
1146 126.6 -6.8 77 1154 done -0.47 - - 2728 - 1.75 0.043 2763 -606.9 -146.0 - - 3636 - - - - - - - - 14.83 14.76 14.81
1476 148.5 -6.7 89 1484 roll -0.47 - - 2728 - 2.30 0.044 1389 -597.4 -146.0 - - 3636 - - - - - - - - 14.93 14.71 14.94
1566 154.7 -6.6 102 1576 done -0.47 - - 2720 - 2.45 0.072 2771 564.1 -146.0 - - 3635 - - - - - - - - 14.81 14.69 14.81
1924 179.1 -7.1 111 1932 roll -0.47 - - 2720 - 2.35 0.044 1388 -588.5 -146.0 - - 3632 - - - - - - - - 14.94 14.72 14.94
1980 183.2 -7.3 119 1988 done -0.47 0.10 0.201 2743 230.0 2.45 0.074 2775 566.1 -146.0 - - 3632 - - - - - - - - 14.64 14.69 14.74
2316 204.9 -6.5 132 2324 roll -0.47 - - 2743 - 2.35 0.047 1391 -588.9 -146.0 - - 3629 - - - - - - - - 14.95 14.73 14.95
2364 208.2 -6.7 139 2374 done -0.47 - - 2735 - 2.42 0.076 2764 567.4 -146.0 - - 3629 - - - - - - - - 14.77 14.69 14.80
2708 230.5 -6.4 146 2717 roll -0.47 - - 2736 - 2.33 0.047 1393 -588.4 -146.0 - - 3625 - - - - - - - - 14.95 14.73 14.95
2770 234.7 -6.8 155 2779 done -0.47 - - 2730 - 2.45 0.075 2771 562.4 -146.0 - - 3623 - - - - - - - - 14.79 14.71 14.81
3100 255.7 -6.3 167 3114 roll -0.47 - - 2726 - 2.30 0.047 1391 -600.0 -146.0 - - 3623 - - - - - - - - 14.97 14.73 14.97
3174 260.5 -6.4 177 3187 done -0.47 - - 2724 - 2.38 0.076 2763 576.5 -146.0 - - 3622 - - - - - - - - 14.84 14.71 14.85
3500 281.5 -6.5 188 3513 roll -0.47 - - 2724 - 2.30 0.048 1385 -599.1 -146.0 - - 3624 - - - - - - - - 14.99 14.78 15.00
3545 284.6 -6.6 194 3558 done -0.47 0.10 0.226 2748 240.0 2.38 0.077 2759 577.3 -146.0 - - 3619 - - - - - - - - 14.69 14.73 14.84
3899 304.6 -5.6 202 3913 roll -0.52 - - 2749 - 2.30 0.048 1381 -599.1 -146.0 - - 3618 - - - - - - - - 15.01 14.80 15.01
3938 306.9 -6.2 207 3951 done -0.57 - - 2742 - 2.38 0.078 2757 578.2 -146.0 - - 3617 - - - - - - - - 14.88 14.75 14.89
4299 327.9 -5.8 216 4312 roll -0.57 - - 2741 - 2.30 0.048 1381 -598.3 -146.0 - - 3614 - - - - - - - - 15.01 14.81 15.01
4351 331.1 -6.2 223 4365 done -0.62 0.05 0.215 2681 -1200.0 2.40 0.079 2753 571.7 -146.0 - - 3615 - - - - - - - - 14.76 14.76 14.86
4695 359.3 -8.4 230 4709 roll -0.62 - - 2681 - 2.28 0.049 1393 -596.5 -146.0 - - 3610 - - - - - - - - 15.02 14.81 15.02
4734 362.8 -9.1 235 4747 done -0.62 - - 2672 - 2.38 0.080 2760 574.4 -146.0 - - 3610 - - - - - - - - 14.88 14.75 14.90
5095 397.0 -9.6 244 5108 done -0.62 - - 2672 - - - 2758 - -146.0 - - 3608 - - - - - - - - 15.02 15.02 15.02
5431 429.0 -9.4 250 5445 roll -0.62 - - 2672 - 2.30 0.049 1392 -593.9 -146.0 - - 3608 - - - - - - - - 15.02 14.81 15.02
5505 435.9 -9.1 260 5518 done -0.62 0.10 0.240 2693 210.0 2.38 0.080 2754 572.3 -146.0 - - 3608 - - - - - - - - 14.69 14.76 14.85
5831 462.1 -8.0 271 5844 roll -0.62 - - 2693 - 2.30 0.050 1384 -595.7 -146.0 - - 3606 - - - - - - - - 15.02 14.79 15.02
5876 465.8 -8.1 277 5889 done -0.62 - - 2684 - 2.38 0.079 2749 573.5 -146.0 - - 3604 - - - - - - - - 14.88 14.76 14.90
6230 493.4 -7.8 285 6243 done -0.62 - - 2683 - - - 2749 - -146.0 - - 3607 - - - - - - - - 15.02 15.02 15.02
6566 518.1 -7.4 291 6580 roll -0.62 - - 2684 - 2.30 0.051 1383 -593.9 -146.0 - - 3602 - - - - - - - - 15.02 14.79 15.02
6605 521.0 -7.8 296 6618 done -0.62 - - 2676 - 2.38 0.081 2743 571.4 -146.0 - - 3602 - - - - - - - - 14.88 14.76 14.90
6966 548.0 -7.5 305 6979 roll -0.62 - - 2675 - 2.28 0.051 1391 -593.0 -146.0 - - 3597 - - - - - - - - 15.01 14.79 15.02
7011 551.6 -8.0 311 7025 done -0.62 0.12 0.231 2701 216.7 2.35 0.080 2742 574.9 -146.0 - - 3601 - - - - - - - - 14.67 14.74 14.84
7366 575.5 -6.7 319 7379 roll -0.62 - - 2695 - 2.00 0.126 3837 547.5 -146.0 - - 3599 - - - - - - - - 15.01 14.71 15.01
7404 578.3 -7.4 324 7417 done -0.62 - - 2695 - 1.77 0.051 2757 -610.2 -146.0 - - 3599 - - - - - - - - 14.90 14.84 14.90
7765 603.1 -6.9 333 7779 roll -0.62 - - 2695 - 2.33 0.053 1363 -598.3 -146.0 - - 3597 - - - - - - - - 15.01 14.78 15.01
7811 606.5 -7.3 339 7824 done -0.62 - - 2686 - 2.42 0.081 2753 574.4 -146.0 - - 3597 - - - - - - - - 14.88 14.74 14.89
8165 632.1 -7.3 347 8178 roll -0.62 - - 2690 - 2.35 0.054 1364 -591.1 -146.0 - - 3596 - - - - - - - - 15.01 14.78 15.01
8245 638.2 -7.4 358 8259 done -0.62 - - 2677 - 2.40 0.080 2739 572.9 -146.0 - - 3596 - - - - - - - - 14.86 14.73 14.88
8565 662.6 -7.7 368 8578 done -0.62 - - 2678 - - - 2739 - -146.0 - - 3595 - - - - - - - - 15.01 15.01 15.01
8901 688.5 -7.7 374 8914 roll -0.62 - - 2678 - 2.33 0.054 1362 -591.0 -146.0 - - 3593 - - - - - - - - 15.00 14.78 15.00
8953 692.7 -7.8 381 8967 done -0.62 0.10 0.243 2698 200.0 2.42 0.082 2732 566.1 -146.0 - - 3593 - - - - - - - - 14.64 14.73 14.83
9297 716.1 -6.8 388 9310 done -0.62 - - 2699 - - - 2732 - -146.0 - - 3592 - - - - - - - - 15.01 15.01 15.00
9633 738.0 -6.5 394 9646 roll -0.62 - - 2699 - 2.33 0.054 1370 -584.5 -146.0 - - 3591 - - - - - - - - 15.00 14.77 15.00
9685 741.6 -6.7 401 9699 done -0.62 - - 2690 - 2.40 0.082 2730 566.7 -146.0 - - 3591 - - - - - - - - 14.85 14.72 14.87
10029 764.2 -6.6 408 10042 roll -0.62 - - 2690 - 2.33 0.054 1364 -586.3 -146.0 - - 3589 - - - - - - - - 15.00 14.76 15.00
10095 769.0 -6.6 417 10108 done -0.62 - - 2684 - 2.40 0.081 2735 571.2 -146.0 - - 3590 - - - - - - - - 14.85 14.76 14.87
10428 792.1 -6.9 429 10441 done -0.62 - - 2680 - - - 2733 - -146.0 - - 3589 - - - - - - - - 14.99 14.99 14.99
10765 815.0 -6.8 435 10778 roll -0.62 - - 2682 - 2.33 0.054 1364 -587.6 -146.0 - - 3588 - - - - - - - - 14.99 14.75 14.99
10825 819.0 -6.9 443 10838 done -0.62 - - 2674 - 2.40 0.082 2727 567.9 -146.0 - - 3587 - - - - - - - - 14.85 14.71 14.85
11165 843.2 -7.3 456 11178 done -0.62 - - 2673 - - - 2726 - -146.0 - - 3586 - - - - - - - - 14.99 14.99 14.99
11501 868.0 -7.5 462 11514 roll -0.62 - - 2674 - 2.30 0.056 1374 -587.8 -146.0 - - 3585 - - - - - - - - 14.99 14.73 14.99
11540 871.1 -5.9 467 11553 done -0.62 0.10 0.245 2694 200.0 2.40 0.082 2734 566.7 -146.0 - - 3586 - - - - - - - - 14.60 14.69 14.79
11901 895.3 -6.7 476 11914 roll -0.62 - - 2695 - 2.33 0.054 1372 -584.5 -146.0 - - 3585 - - - - - - - - 14.98 14.73 14.98
11953 898.9 -6.8 483 11967 done -0.62 - - 2687 - 2.42 0.083 2734 562.8 -146.0 - - 3585 - - - - - - - - 14.80 14.66 14.82
12298 921.1 -6.3 490 12311 roll -0.62 - - 2686 - 2.33 0.054 1367 -586.7 -146.0 - - 3584 - - - - - - - - 14.97 14.73 14.97
12350 924.5 -6.3 497 12364 done -0.62 - - 2679 - 2.40 0.083 2719 563.3 -146.0 - - 3583 - - - - - - - - 14.82 14.69 14.83
12469 end dive: TARGET_DEPTH_EXCEEDED
12469 begin apogee
12472 931.7 -6.0 500 12627 roll -0.23 0.47 0.184 2822 304.3 - - 2285 - - 144.93 1.960 3049 -3.7 0.332 - - - - - - 14.60 14.01 13.37
12629 end apogee: CONTROL_FINISHED_OK
12629 begin climb
12630 934.8 - 502 12804 roll 0.78 1.00 0.117 3136 314.0 2.50 0.064 896 -555.6 146.0 153.27 1.877 2458 -3.9 0.364 - - - - - - 14.02 14.05 13.26
12977 910.2 9.3 558 12990 done 0.69 - - 3136 - 2.50 0.067 2302 562.4 146.0 - - 2448 - - - - - - - - 14.38 14.28 14.40
13318 877.3 9.7 571 13331 roll 0.60 0.12 0.244 3106 -250.0 2.45 0.067 895 -574.3 146.0 - - 2448 - - - - - - - - 14.38 14.49 14.52
13490 863.0 8.1 595 13504 done 0.55 - - 3106 - 2.45 0.067 2300 573.5 146.0 - - 2447 - - - - - - - - 14.64 14.54 14.66
13831 835.3 8.2 608 13844 roll 0.49 0.12 0.238 3065 -341.7 2.58 0.113 3702 543.4 146.0 - - 2446 - - - - - - - - 14.50 14.54 14.63
13883 831.1 7.8 615 13898 done 0.44 0.10 0.259 3048 -170.0 2.40 0.049 2292 -587.5 146.0 - - 2445 - - - - - - - - 14.50 14.66 14.69
14227 810.9 5.7 622 14288 done 0.49 - - 3048 - - - 2291 - 192.0 48.00 1.870 2277 -3.5 0.288 - - - - - - 14.88 14.26 13.70
14619 786.4 6.4 629 14660 roll 0.53 - - 3047 - 2.75 0.115 3698 511.6 219.2 28.52 1.921 2172 -3.7 0.286 - - - - - - 14.74 14.26 13.73
14706 780.2 7.6 641 14719 done 0.53 - - 3054 - 2.42 0.049 2299 -578.1 219.2 - - 2163 - - - - - - - - 14.47 14.40 14.48
15067 755.7 6.8 650 15091 done 0.55 - - 3054 - - - 2295 - 235.4 15.02 2.030 2114 -3.3 0.230 - - - - - - 14.76 14.46 13.78
15403 733.2 6.7 656 15434 done 0.57 - - 3054 - - - 2295 - 254.7 21.58 1.945 2035 -3.7 0.261 - - - - - - 14.77 14.42 13.81
15739 710.7 6.7 662 15772 roll 0.60 0.05 0.209 3096 840.0 2.75 0.119 3700 510.9 274.7 20.67 1.929 1949 -4.2 0.290 - - - - - - 14.56 14.33 13.80
15811 704.2 9.9 672 15825 done 0.60 - - 3105 - 2.45 0.050 2281 -579.2 274.7 - - 1941 - - - - - - - - 14.50 14.43 14.52
16130 675.1 9.2 682 16143 roll 0.60 - - 3114 - 2.40 0.071 893 -578.3 274.7 - - 1938 - - - - - - - - 14.77 14.54 14.76
16168 671.4 9.4 687 16182 done 0.60 - - 3115 - 2.45 0.068 2303 575.5 274.7 - - 1937 - - - - - - - - 14.65 14.55 14.67
16530 636.0 9.8 696 16543 roll 0.60 - - 3115 - 2.55 0.117 3694 545.5 274.7 - - 1935 - - - - - - - - 14.84 14.57 14.84
16561 632.6 10.5 700 16574 done 0.60 0.10 0.243 3096 -190.0 2.38 0.048 2292 -589.1 274.7 - - 1937 - - - - - - - - 14.54 14.66 14.71
16929 600.4 8.6 710 16943 roll 0.60 - - 3105 - 2.40 0.070 889 -584.6 274.7 - - 1941 - - - - - - - - 14.88 14.62 14.88
16975 596.5 8.4 716 16988 done 0.60 - - 3105 - 2.42 0.065 2302 583.9 274.7 - - 1937 - - - - - - - - 14.76 14.66 14.78
17329 566.2 8.5 724 17342 roll 0.60 - - 3105 - 2.55 0.116 3702 549.0 274.7 - - 1937 - - - - - - - - 14.91 14.62 14.91
17389 560.6 9.5 732 17402 done 0.60 - - 3114 - 2.40 0.048 2283 -591.2 274.7 - - 1936 - - - - - - - - 14.79 14.71 14.81
17729 530.9 8.7 745 17742 roll 0.60 - - 3115 - 2.62 0.115 3700 540.8 274.7 - - 1936 - - - - - - - - 14.92 14.63 14.92
17760 527.8 9.7 749 17774 done 0.60 0.10 0.243 3095 -200.0 2.38 0.047 2291 -592.0 274.7 - - 1936 - - - - - - - - 14.60 14.72 14.77
18128 498.6 7.9 759 18142 roll 0.60 - - 3105 - 2.38 0.070 895 -586.6 274.7 - - 1936 - - - - - - - - 14.92 14.69 14.92
18153 496.5 7.9 762 18166 done 0.60 - - 3105 - 2.40 0.066 2297 584.2 274.7 - - 1936 - - - - - - - - 14.81 14.70 14.82
18472 469.7 8.4 772 18485 roll 0.60 - - 3105 - 2.55 0.114 3700 550.2 274.7 - - 1935 - - - - - - - - 14.94 14.65 14.93
18503 466.7 9.3 776 18516 done 0.60 - - 3114 - 2.35 0.047 2298 -596.6 274.7 - - 1938 - - - - - - - - 14.81 14.74 14.83
18871 434.6 8.7 786 18884 roll 0.60 - - 3124 - 2.40 0.069 887 -587.9 274.7 - - 1935 - - - - - - - - 14.94 14.69 14.94
18923 429.9 8.9 793 18937 done 0.60 0.10 0.212 3093 -310.0 2.42 0.067 2295 581.8 274.7 - - 1935 - - - - - - - - 14.64 14.70 14.80
19267 404.0 7.5 800 19281 roll 0.60 - - 3094 - 2.53 0.113 3695 553.4 274.7 - - 1935 - - - - - - - - 14.94 14.65 14.94
19313 400.0 9.0 806 19326 done 0.60 - - 3099 - 2.35 0.048 2293 -596.6 274.7 - - 1935 - - - - - - - - 14.83 14.75 14.83
19667 371.4 8.1 814 19679 done 0.60 - - 3100 - - - 2289 - 274.7 - - 1935 - - - - - - - - 14.95 14.98 14.95
20003 345.2 7.8 820 20016 roll 0.60 - - 3100 - 2.60 0.115 3701 543.1 274.7 - - 1935 - - - - - - - - 14.95 14.65 14.95
20034 342.3 8.8 824 20047 done 0.60 - - 3108 - 2.35 0.048 2300 -596.2 274.7 - - 1936 - - - - - - - - 14.83 14.76 14.83
20402 311.8 8.3 834 20415 roll 0.60 - - 3118 - 2.40 0.068 887 -588.8 274.7 - - 1935 - - - - - - - - 14.95 14.70 14.95
20440 308.6 8.4 839 20453 done 0.60 - - 3118 - 2.42 0.066 2308 587.2 274.7 - - 1936 - - - - - - - - 14.82 14.70 14.84
20801 278.1 8.5 848 20814 roll 0.60 - - 3118 - 2.53 0.116 3697 549.0 274.7 - - 1936 - - - - - - - - 14.95 14.66 14.95
20839 274.5 9.5 853 20853 done 0.60 0.12 0.232 3090 -233.3 2.35 0.047 2295 -596.6 274.7 - - 1936 - - - - - - - - 14.63 14.76 14.80
21201 249.6 6.8 862 21228 roll 0.62 - - 3100 - 2.47 0.069 889 -569.2 292.2 15.45 1.444 1879 -3.7 0.121 - - - - - - 14.94 14.64 14.14
21254 245.8 7.1 869 21271 done 0.63 - - 3100 - 2.45 0.064 2309 579.6 300.0 2.15 0.407 1855 -11.2 1.277 - - - - - - 14.73 14.62 13.85
21591 221.0 7.3 882 21608 roll 0.63 - - 3100 - 2.60 0.115 3694 532.7 300.9 1.70 0.240 1854 - - - - - - - - 14.88 14.60 14.55
21633 217.4 8.4 888 21646 done 0.63 - - 3107 - 2.35 0.047 2298 -594.0 300.9 - - 1860 - - - - - - - - 14.77 14.70 14.76
21987 190.3 7.7 896 22001 roll 0.63 - - 3117 - 2.45 0.067 896 -572.2 300.9 1.73 0.239 1850 -5.8 0.872 - - - - - - 14.92 14.68 14.57
22026 187.2 7.9 901 22039 done 0.63 - - 3117 - 2.40 0.063 2302 585.8 300.9 - - 1860 - - - - - - - - 14.78 14.68 14.83
22387 157.2 8.3 910 22400 roll 0.63 - - 3117 - 2.62 0.116 3702 534.4 300.9 1.77 0.239 1853 -4.0 0.493 - - - - - - 14.93 14.64 14.57
22425 153.6 9.4 915 22439 done 0.63 - - 3125 - 2.35 0.045 2298 -597.4 300.9 - - 1860 - - - - - - - - 14.81 14.74 14.82
22780 124.1 8.2 923 22794 roll 0.63 - - 3134 - 2.45 0.066 893 -573.5 300.9 1.75 0.236 1851 -5.1 0.512 - - - - - - 14.94 14.69 14.58
22826 120.5 7.6 929 22839 done 0.63 0.10 0.217 3104 -300.0 2.40 0.063 2304 587.9 300.9 1.48 0.237 1852 - - - - - - - - 14.63 14.70 14.58
23180 97.1 6.7 937 23206 roll 0.65 - - 3104 - 2.55 0.112 3702 548.2 320.6 11.48 0.445 1774 -6.8 0.281 - - - - - - 14.94 14.64 14.40
23280 89.7 7.6 951 23293 done 0.65 - - 3110 - 2.35 0.046 2298 -597.4 320.6 1.60 0.237 1772 - - - - - - - - 14.78 14.71 14.58
23607 72.7 4.9 964 23659 roll 0.81 0.08 0.164 3166 700.0 2.67 0.112 3701 525.5 390.9 35.65 0.393 1494 -7.8 0.273 - - - - - - 14.71 14.57 14.41
23713 66.5 5.9 979 23746 done 0.86 - - 3173 - 2.35 0.044 2300 -596.2 433.6 21.98 0.372 1321 -7.9 0.267 - - - - - - 14.74 14.67 14.38
24050 49.2 4.8 994 24094 done 1.04 0.10 0.134 3236 630.0 - - 2300 - 505.6 35.30 0.321 1036 -8.1 0.234 - - - - - - 14.67 14.65 14.41
24386 33.7 4.3 1009 24440 roll 1.23 0.10 0.125 3319 830.0 2.45 0.066 907 -568.6 592.8 42.12 0.269 690 -8.2 0.195 - - - - - - 14.69 14.59 14.45
24487 27.6 6.8 1023 24508 done 1.25 - - 3319 - 2.40 0.060 2320 588.8 609.1 9.05 0.241 624 -7.3 0.158 - - - - - - 14.70 14.59 14.46
24724 end climb: SURFACE_DEPTH_REACHED
24724 begin surface coast
24752 end surface coast: CONTROL_FINISHED_OK
24752 begin surface
SM -1.73 - - - - -8.38 9.12 0.078 194 21.2 0.80 0.093 2776 -8097.5 606.65 - - 636 - - - - - - - -