SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 90 * Raw log
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• Previous call tries 1 • 39.37 of 350.00 AH used of 24V (88.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -0.15 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 578.01, SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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 - - - 105 done -0.82 - - 168 - - - 2790 - -146.0 -84.45 - 3634 - - - - - - - - 14.71 13.54 14.71
107 8.3 -14.7 3 126 roll -0.82 11.57 0.396 2623 212.2 2.35 0.034 1366 -606.0 -146.0 - - 3636 - - - - - - - - 14.30 14.52 14.49
165 36.8 -29.1 12 174 done -0.57 0.35 0.277 2705 234.3 2.47 0.070 2759 564.0 -146.0 - - 3637 - - - - - - - - 14.37 14.49 14.52
495 90.2 -11.8 26 503 roll -0.50 0.10 0.257 2727 220.0 1.95 0.115 3818 543.1 -146.0 - - 3636 - - - - - - - - 14.53 14.56 14.69
676 104.8 -5.8 52 684 done -0.50 - - 2726 - 1.77 0.041 2736 -611.3 -146.0 - - 3638 - - - - - - - - 14.76 14.73 14.78
999 130.6 -9.0 63 1007 roll -0.50 - - 2718 - 2.03 0.112 3819 533.5 -146.0 - - 3638 - - - - - - - - 14.90 14.64 14.91
1103 138.1 -6.6 78 1113 done -0.50 - - 2718 - 1.73 0.042 2778 -601.7 -146.0 - - 3638 - - - - - - - - 14.79 14.76 14.81
1447 162.4 -7.2 85 1449 done -0.50 - - 2716 - - - 2778 - -146.0 - - 3636 - - - - - - - - 14.93 14.93 14.93
1783 187.1 -7.4 91 1791 roll -0.50 - - 2711 - 1.98 0.116 3824 528.3 -146.0 - - 3633 - - - - - - - - 14.95 14.66 14.95
1817 189.8 -7.9 96 1825 done -0.50 - - 2711 - 1.75 0.045 2779 -597.1 -146.0 - - 3633 - - - - - - - - 14.83 14.78 14.84
2175 216.3 -7.3 105 2183 roll -0.50 - - 2711 - 2.38 0.047 1379 -588.2 -146.0 - - 3630 - - - - - - - - 14.95 14.73 14.94
2209 218.9 -7.5 110 2218 done -0.50 0.10 0.206 2733 220.0 2.47 0.076 2771 563.6 -146.0 - - 3630 - - - - - - - - 14.63 14.69 14.73
2567 241.7 -6.5 119 2575 roll -0.50 - - 2733 - 2.38 0.049 1386 -581.9 -146.0 - - 3627 - - - - - - - - 14.95 14.72 14.95
2615 245.0 -6.7 126 2625 done -0.54 - - 2726 - 2.45 0.076 2766 563.3 -146.0 - - 3626 - - - - - - - - 14.76 14.68 14.78
2959 269.2 -7.2 133 2973 roll -0.54 - - 2726 - 2.33 0.048 1379 -595.3 -146.0 - - 3624 - - - - - - - - 14.98 14.77 14.98
2998 272.3 -7.8 138 3011 done -0.54 - - 2718 - 2.42 0.079 2771 575.2 -146.0 - - 3624 - - - - - - - - 14.85 14.72 14.88
3359 299.1 -7.3 147 3372 roll -0.54 - - 2718 - 2.33 0.048 1385 -594.8 -146.0 - - 3621 - - - - - - - - 15.00 14.78 15.00
3425 303.9 -7.2 156 3438 done -0.54 - - 2711 - 2.40 0.078 2762 573.8 -146.0 - - 3620 - - - - - - - - 14.86 14.73 14.88
3758 326.8 -6.8 168 3771 roll -0.54 - - 2702 - 1.95 0.124 3828 546.7 -146.0 - - 3619 - - - - - - - - 15.00 14.72 15.00
3810 330.7 -7.4 175 3824 done -0.54 - - 2701 - 1.75 0.049 2764 -608.0 -146.0 - - 3617 - - - - - - - - 14.87 14.83 14.90
4154 355.8 -7.4 182 4168 roll -0.54 - - 2702 - 2.30 0.048 1375 -603.9 -146.0 - - 3616 - - - - - - - - 15.02 14.80 15.02
4228 361.5 -7.6 192 4241 done -0.54 - - 2693 - 2.42 0.078 2766 574.8 -146.0 - - 3615 - - - - - - - - 14.87 14.74 14.88
4554 386.6 -7.7 203 4567 done -0.54 0.10 0.240 2723 300.0 - - 2766 - -146.0 - - 3614 - - - - - - - - 14.68 14.88 14.85
4890 407.4 -6.1 209 4903 roll -0.54 - - 2723 - 2.35 0.049 1367 -595.3 -146.0 - - 3612 - - - - - - - - 15.02 14.80 15.02
4942 410.7 -6.1 216 4956 done -0.54 - - 2714 - 2.45 0.079 2760 568.6 -146.0 - - 3611 - - - - - - - - 14.87 14.73 14.89
5286 431.6 -6.2 223 5300 roll -0.54 - - 2706 - 1.95 0.125 3823 545.1 -146.0 - - 3610 - - - - - - - - 15.02 14.72 15.02
5346 435.7 -6.8 231 5360 done -0.54 - - 2707 - 1.75 0.050 2759 -608.0 -146.0 - - 3609 - - - - - - - - 14.90 14.84 14.90
5687 459.3 -7.0 244 5700 roll -0.54 - - 2707 - 2.30 0.049 1372 -603.0 -146.0 - - 3608 - - - - - - - - 15.02 14.79 15.02
5788 466.9 -7.3 258 5801 done -0.54 - - 2698 - 2.42 0.078 2757 572.3 -146.0 - - 3608 - - - - - - - - 14.87 14.74 14.88
6142 493.8 -7.7 266 6156 roll -0.54 - - 2698 - 2.33 0.049 1374 -593.6 -146.0 - - 3606 - - - - - - - - 15.01 14.79 15.01
6174 496.3 -8.0 270 6187 done -0.54 0.10 0.236 2719 210.0 2.42 0.080 2765 574.8 -146.0 - - 3606 - - - - - - - - 14.66 14.73 14.84
6542 520.9 -6.6 280 6555 done -0.54 - - 2720 - - - 2761 - -146.0 - - 3604 - - - - - - - - 15.01 15.01 15.01
6878 544.1 -7.0 286 6891 done -0.54 - - 2719 - - - 2762 - -146.0 - - 3602 - - - - - - - - 15.00 15.02 15.01
7214 567.4 -6.9 292 7227 roll -0.54 - - 2720 - 2.35 0.051 1373 -591.1 -146.0 - - 3601 - - - - - - - - 15.02 14.78 15.01
7287 572.7 -7.1 302 7301 done -0.59 - - 2712 - 2.40 0.078 2745 571.7 -146.0 - - 3600 - - - - - - - - 14.86 14.73 14.88
7614 595.0 -6.8 313 7627 roll -0.59 - - 2712 - 2.33 0.052 1367 -591.4 -146.0 - - 3599 - - - - - - - - 15.00 14.77 15.01
7659 598.1 -6.7 319 7672 done -0.59 - - 2704 - 2.42 0.080 2757 574.4 -146.0 - - 3599 - - - - - - - - 14.85 14.72 14.87
8013 621.2 -6.5 327 8026 done -0.59 - - 2703 - - - 2756 - -146.0 - - 3596 - - - - - - - - 15.00 15.00 15.00
8349 642.8 -6.4 333 8362 done -0.59 - - 2704 - - - 2757 - -146.0 - - 3597 - - - - - - - - 15.00 15.00 15.00
8685 663.6 -6.2 339 8698 roll -0.59 - - 2703 - 2.35 0.053 1376 -587.7 -146.0 - - 3596 - - - - - - - - 15.00 14.76 15.00
8758 668.3 -6.2 349 8772 done -0.59 - - 2696 - 2.40 0.080 2751 572.9 -146.0 - - 3595 - - - - - - - - 14.83 14.70 14.84
9085 689.2 -6.4 360 9098 done -0.59 - - 2696 - - - 2745 - -146.0 - - 3595 - - - - - - - - 15.00 15.00 15.00
9421 710.9 -6.5 366 9434 roll -0.59 - - 2696 - 2.33 0.054 1372 -589.3 -146.0 - - 3593 - - - - - - - - 14.99 14.75 15.00
9481 715.1 -7.2 374 9495 done -0.59 - - 2687 - 2.42 0.080 2746 567.8 -146.0 - - 3593 - - - - - - - - 14.85 14.71 14.86
9822 739.1 -7.1 387 9834 done -0.59 - - 2687 - - - 2746 - -146.0 - - 3592 - - - - - - - - 14.99 14.99 14.99
10158 761.8 -6.7 393 10171 done -0.59 - - 2687 - - - 2746 - -146.0 - - 3591 - - - - - - - - 14.99 14.99 14.99
10494 783.8 -6.5 399 10507 roll -0.59 - - 2690 - 2.35 0.054 1370 -585.5 -146.0 - - 3590 - - - - - - - - 14.99 14.73 14.99
10546 787.6 -6.7 406 10560 done -0.59 - - 2679 - 2.42 0.081 2746 568.6 -146.0 - - 3590 - - - - - - - - 14.83 14.69 14.85
10890 811.0 -6.9 413 10903 done -0.59 - - 2679 - - - 2746 - -146.0 - - 3589 - - - - - - - - 14.98 14.98 14.98
11226 835.9 -7.5 419 11239 roll -0.59 - - 2678 - 2.33 0.054 1378 -587.1 -146.0 - - 3588 - - - - - - - - 14.98 14.73 14.98
11257 838.4 -7.5 423 11271 done -0.59 0.12 0.231 2707 241.7 2.42 0.083 2747 565.7 -146.0 - - 3588 - - - - - - - - 14.59 14.69 14.78
11626 863.2 -6.8 433 11639 roll -0.59 - - 2707 - 2.35 0.054 1367 -587.2 -146.0 - - 3587 - - - - - - - - 14.97 14.73 14.97
11664 866.0 -5.3 438 11677 done -0.64 - - 2700 - 2.42 0.082 2743 568.6 -146.0 - - 3587 - - - - - - - - 14.82 14.68 14.83
12026 893.2 -7.6 447 12038 done -0.64 - - 2700 - - - 2743 - -146.0 - - 3586 - - - - - - - - 14.98 14.98 14.98
12362 918.5 -7.5 453 12375 roll -0.64 - - 2699 - 2.33 0.054 1374 -587.6 -146.0 - - 3582 - - - - - - - - 14.97 14.71 14.96
12407 921.8 -7.6 459 12420 done -0.64 - - 2692 - 2.42 0.083 2747 567.4 -146.0 - - 3585 - - - - - - - - 14.81 14.67 14.83
12536 end dive: TARGET_DEPTH_EXCEEDED
12536 begin apogee
12540 931.4 -7.1 463 12695 roll -0.23 0.43 0.179 2821 300.0 - - 2279 - - 145.40 1.909 3049 -3.7 0.340 - - - - - - 14.59 14.02 13.38
12696 end apogee: CONTROL_FINISHED_OK
12696 begin climb
12698 935.8 - 465 12866 roll 0.82 1.05 0.121 3150 313.3 2.45 0.062 902 -562.0 146.0 151.62 1.839 2469 -3.8 0.368 - - - - - - 14.03 14.06 13.27
12870 929.5 9.0 496 12884 done 0.68 0.10 0.246 3124 -260.0 2.55 0.063 2297 547.1 146.0 - - 2453 - - - - - - - - 13.87 13.94 14.01
13214 899.6 8.8 503 13228 roll 0.61 - - 3123 - 2.60 0.114 3695 537.7 146.0 - - 2448 - - - - - - - - 14.64 14.35 14.64
13253 896.1 8.9 508 13266 done 0.51 0.25 0.230 3064 -236.0 2.40 0.047 2298 -582.1 146.0 - - 2448 - - - - - - - - 14.33 14.47 14.51
13614 871.7 6.5 517 13656 done 0.55 - - 3064 - - - 2294 - 178.9 33.45 1.947 2338 -3.3 0.279 - - - - - - 14.78 14.34 13.71
13950 849.0 6.8 523 13985 done 0.58 - - 3063 - - - 2294 - 203.9 25.50 1.967 2238 -3.9 0.320 - - - - - - 14.73 14.35 13.73
14286 824.9 7.3 529 14299 done 0.59 - - 3064 - - - 2294 - 214.9 3.28 1.270 2191 -14.3 1.762 - - - - - - 14.74 14.54 13.50
14622 799.7 7.5 535 14654 roll 0.60 - - 3064 - 2.70 0.114 3698 520.0 222.8 15.70 2.034 2154 -2.4 0.175 - - - - - - 14.81 14.42 13.84
14665 796.0 7.3 541 14686 done 0.62 - - 3073 - 2.42 0.048 2273 -588.8 234.3 4.72 1.825 2119 -7.4 0.612 - - - - - - 14.57 14.50 13.47
15016 767.4 8.2 549 15030 done 0.62 - - 3072 - - - 2279 - 234.3 1.85 0.247 2117 - - - - - - - - 14.78 14.63 14.44
15353 742.5 7.2 555 15391 roll 0.63 0.05 0.207 3116 880.0 2.70 0.112 3693 523.7 248.0 23.83 1.922 2052 -2.7 0.199 - - - - - - 14.64 14.39 13.85
15411 737.3 9.5 563 15424 done 0.59 0.12 0.239 3091 -208.3 2.40 0.048 2303 -579.2 248.0 - - 2048 - - - - - - - - 14.37 14.48 14.52
15752 710.7 7.7 576 15765 roll 0.59 - - 3100 - 2.42 0.067 893 -582.6 249.3 - - 2044 - - - - - - - - 14.79 14.57 14.79
15818 705.2 8.2 585 15831 done 0.59 - - 3100 - 2.42 0.064 2296 579.8 249.3 - - 2044 - - - - - - - - 14.68 14.57 14.69
16151 676.4 8.8 597 16164 roll 0.59 - - 3100 - 2.58 0.115 3700 544.2 249.3 - - 2044 - - - - - - - - 14.85 14.57 14.85
16182 673.2 9.9 601 16195 done 0.59 - - 3110 - 2.40 0.047 2280 -591.7 249.3 - - 2044 - - - - - - - - 14.72 14.65 14.73
16550 638.8 9.3 611 16564 roll 0.59 - - 3120 - 2.38 0.067 886 -585.7 249.3 - - 2043 - - - - - - - - 14.89 14.66 14.90
16588 635.2 9.1 616 16602 done 0.59 - - 3120 - 2.42 0.066 2294 581.8 249.3 - - 2043 - - - - - - - - 14.76 14.66 14.78
16949 602.7 9.0 625 16963 roll 0.59 - - 3121 - 2.55 0.116 3696 549.8 249.3 - - 2043 - - - - - - - - 14.91 14.62 14.91
16988 598.8 10.0 630 17002 done 0.59 0.12 0.240 3094 -225.0 2.38 0.047 2283 -593.7 249.3 - - 2043 - - - - - - - - 14.58 14.71 14.76
17350 570.9 7.7 639 17363 roll 0.59 - - 3104 - 2.38 0.067 893 -584.0 251.1 - - 2043 - - - - - - - - 14.92 14.69 14.92
17423 565.0 7.9 649 17436 done 0.59 - - 3103 - 2.40 0.064 2295 584.2 251.1 - - 2043 - - - - - - - - 14.79 14.68 14.83
17749 539.1 8.0 660 17762 roll 0.59 - - 3104 - 2.55 0.115 3693 548.2 251.1 - - 2043 - - - - - - - - 14.92 14.63 14.93
17801 534.4 9.2 667 17815 done 0.59 - - 3112 - 2.38 0.046 2284 -592.0 251.1 - - 2043 - - - - - - - - 14.81 14.73 14.81
18145 506.4 8.1 674 18159 roll 0.59 - - 3122 - 2.38 0.068 893 -584.5 251.1 - - 2043 - - - - - - - - 14.93 14.71 14.94
18191 502.3 8.6 680 18204 done 0.59 0.10 0.216 3092 -300.0 2.40 0.066 2292 582.9 251.1 - - 2043 - - - - - - - - 14.62 14.69 14.78
18545 474.1 8.1 688 18558 roll 0.59 - - 3092 - 2.55 0.116 3695 550.2 251.1 - - 2042 - - - - - - - - 14.93 14.64 14.94
18590 469.9 9.5 694 18604 done 0.59 - - 3100 - 2.38 0.047 2278 -595.4 251.1 - - 2043 - - - - - - - - 14.82 14.75 14.84
18945 440.2 8.3 702 18958 roll 0.59 - - 3106 - 2.35 0.067 892 -589.8 251.1 - - 2043 - - - - - - - - 14.94 14.70 14.95
18969 438.2 8.2 705 18982 done 0.59 - - 3109 - 2.40 0.065 2293 583.8 251.1 - - 2043 - - - - - - - - 14.81 14.69 14.82
19288 411.2 8.5 715 19302 roll 0.59 - - 3109 - 2.58 0.116 3700 545.3 251.1 - - 2043 - - - - - - - - 14.95 14.63 14.95
19340 406.1 9.8 722 19355 done 0.59 - - 3118 - 2.40 0.046 2279 -592.1 251.1 - - 2043 - - - - - - - - 14.81 14.74 14.83
19685 375.1 9.1 729 19698 roll 0.59 - - 3128 - 2.35 0.066 893 -589.8 251.1 - - 2043 - - - - - - - - 14.94 14.71 14.95
19716 372.1 9.0 733 19729 done 0.59 0.12 0.207 3089 -325.0 2.40 0.063 2294 583.8 251.1 - - 2043 - - - - - - - - 14.62 14.69 14.78
20084 343.9 7.5 743 20101 roll 0.60 - - 3088 - 2.60 0.111 3687 535.8 256.9 1.90 0.243 2027 -8.4 2.256 - - - - - - 14.95 14.65 14.54
20126 340.4 8.3 749 20140 done 0.60 - - 3097 - 2.35 0.046 2279 -599.1 256.9 1.30 0.271 2026 - - - - - - - - 14.83 14.76 14.57
20481 313.6 7.6 757 20494 done 0.60 - - 3097 - - - 2275 - 261.0 4.03 1.310 2011 -3.7 0.169 - - - - - - 14.94 14.73 13.82
20817 287.3 7.9 763 20834 roll 0.60 - - 3096 - 2.67 0.112 3692 530.7 261.0 2.10 0.380 2014 1.4 -0.204 - - - - - - 14.94 14.66 13.78
20852 284.1 8.7 768 20865 done 0.60 - - 3105 - 2.35 0.046 2285 -598.7 261.0 1.55 0.271 2011 -1.9 0.384 - - - - - - 14.81 14.74 14.50
21213 254.3 8.3 777 21227 done 0.60 - - 3106 - - - 2281 - 261.0 2.15 0.418 2010 - - - - - - - - 14.94 14.73 13.83
21550 226.5 8.2 783 21563 done 0.60 - - 3105 - - - 2280 - 261.0 2.25 0.493 2009 - - - - - - - - 14.94 14.73 13.85
21886 202.4 7.0 789 21926 roll 0.63 - - 3105 - 2.70 0.113 3694 523.7 281.7 27.90 1.291 1920 -3.2 0.095 - - - - - - 14.95 14.52 14.10
21972 195.9 8.1 801 21985 done 0.63 - - 3113 - 2.38 0.045 2285 -592.0 281.7 - - 1913 - - - - - - - - 14.68 14.61 14.69
22333 166.4 8.6 810 22346 roll 0.63 - - 3122 - 2.38 0.064 890 -586.1 281.7 - - 1911 - - - - - - - - 14.86 14.63 14.86
22364 163.4 9.2 814 22378 done 0.63 - - 3122 - 2.40 0.061 2294 585.0 281.7 - - 1910 - - - - - - - - 14.73 14.62 14.76
22732 130.7 8.8 824 22746 roll 0.63 - - 3123 - 2.58 0.114 3704 546.5 281.7 - - 1910 - - - - - - - - 14.90 14.61 14.89
22777 126.5 9.5 830 22791 done 0.63 - - 3138 - 2.38 0.044 2284 -596.6 281.7 - - 1912 - - - - - - - - 14.78 14.71 14.79
23132 99.2 7.7 838 23146 roll 0.63 - - 3139 - 2.35 0.064 893 -591.9 284.2 - - 1913 - - - - - - - - 14.92 14.67 14.92
23227 92.3 6.2 851 23261 done 0.68 - - 3139 - 2.40 0.060 2297 585.0 324.8 18.42 0.431 1757 -8.5 0.343 - - - - - - 14.76 14.66 14.38
23589 72.5 4.9 869 23641 roll 0.83 - - 3139 - 2.60 0.112 3693 536.9 400.2 37.15 0.383 1455 -8.1 0.291 - - - - - - 14.90 14.52 14.38
23779 63.0 4.7 896 23833 done 1.03 0.22 0.080 3245 481.8 2.35 0.044 2280 -601.3 482.4 39.78 0.353 1130 -8.2 0.276 - - - - - - 14.67 14.68 14.35
24153 38.0 5.9 916 24192 roll 1.09 - - 3250 - 2.38 0.064 907 -576.9 531.5 23.90 0.275 937 -8.1 0.211 - - - - - - 14.85 14.57 14.44
24301 29.4 6.0 937 24341 done 1.24 0.10 0.129 3307 570.0 2.38 0.057 2311 589.9 579.3 24.10 0.247 742 -8.1 0.182 - - - - - - 14.65 14.61 14.45
24631 end climb: SURFACE_DEPTH_REACHED
24631 begin surface coast
24659 end surface coast: CONTROL_FINISHED_OK
24660 begin surface
SM 0.35 - - - - -8.41 8.85 0.057 185 20.9 0.77 0.074 2764 -11254.5 578.01 - - 751 - - - - - - - -