SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 1 • 32.77 of 350.00 AH used of 24V (90.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth -5.05 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 545.86, SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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 - - 175 - - - 2785 - -146.0 -83.53 - 3633 - - - - - - - - 14.69 13.58 14.69
107 3.0 -14.2 3 126 roll -0.82 11.55 0.396 2617 211.4 1.85 0.087 3829 564.3 -146.0 - - 3635 - - - - - - - - 14.30 14.45 14.52
179 38.1 -33.8 14 189 done -0.51 0.40 0.263 2725 270.0 1.83 0.034 2727 -602.2 -146.0 - - 3639 - - - - - - - - 14.39 14.60 14.55
495 80.1 -8.0 26 502 roll -0.51 - - 2717 - 2.08 0.116 3819 525.0 -146.0 - - 3637 - - - - - - - - 14.83 14.57 14.83
641 92.2 -8.2 47 649 done -0.51 - - 2717 - 1.75 0.043 2762 -604.0 -146.0 - - 3636 - - - - - - - - 14.75 14.71 14.76
971 116.0 -6.6 57 980 roll -0.51 - - 2709 - 2.00 0.117 3819 528.5 -146.0 - - 3637 - - - - - - - - 14.90 14.62 14.90
1005 118.8 -7.1 62 1014 done -0.51 - - 2708 - 1.73 0.044 2778 -601.7 -146.0 - - 3638 - - - - - - - - 14.79 14.75 14.80
1363 146.6 -8.1 71 1371 roll -0.51 - - 2709 - 2.33 0.042 1380 -600.0 -146.0 - - 3636 - - - - - - - - 14.92 14.70 14.92
1460 153.6 -10.5 85 1470 done -0.51 0.10 0.239 2729 200.0 2.45 0.073 2766 565.7 -146.0 - - 3635 - - - - - - - - 14.62 14.69 14.77
1811 177.8 -7.0 93 1814 done -0.51 - - 2729 - - - 2766 - -146.0 - - 3632 - - - - - - - - 14.93 14.93 14.93
2147 200.8 -6.6 99 2155 roll -0.51 - - 2729 - 2.35 0.045 1380 -589.8 -146.0 - - 3630 - - - - - - - - 14.93 14.73 14.93
2181 203.0 -6.2 104 2190 done -0.51 - - 2722 - 2.45 0.076 2766 565.7 -146.0 - - 3632 - - - - - - - - 14.77 14.73 14.78
2539 225.2 -6.2 113 2547 roll -0.51 - - 2722 - 2.35 0.045 1379 -590.2 -146.0 - - 3627 - - - - - - - - 14.95 14.73 14.95
2573 227.4 -6.4 118 2582 done -0.51 - - 2713 - 2.50 0.078 2783 561.6 -146.0 - - 3626 - - - - - - - - 14.81 14.70 14.79
2932 252.2 -7.1 127 2948 roll -0.51 - - 2713 - 2.33 0.046 1386 -599.6 -146.0 - - 3623 - - - - - - - - 14.95 14.76 14.95
3001 254.4 -9.8 136 3014 done -0.51 - - 2705 - 2.40 0.079 2770 576.7 -146.0 - - 3623 - - - - - - - - 14.83 14.72 14.85
3334 275.5 -6.9 148 3348 roll -0.51 - - 2697 - 1.92 0.128 3823 548.4 -146.0 - - 3620 - - - - - - - - 14.99 14.71 14.99
3365 280.7 -15.5 152 3379 done -0.51 0.10 0.233 2727 300.0 1.70 0.050 2778 -614.7 -146.0 - - 3621 - - - - - - - - 14.69 14.82 14.83
3734 301.7 -6.5 162 3747 roll -0.51 - - 2730 - 2.33 0.047 1368 -605.2 -146.0 - - 3618 - - - - - - - - 15.00 14.80 15.00
3828 312.1 -5.1 175 3841 done -0.51 - - 2721 - 2.42 0.079 2762 576.0 -146.0 - - 3617 - - - - - - - - 14.84 14.75 14.85
4189 335.8 -6.9 184 4202 roll -0.51 - - 2712 - 1.95 0.129 3823 544.1 -146.0 - - 3615 - - - - - - - - 15.02 14.73 15.02
4269 343.2 -10.1 195 4282 done -0.51 - - 2712 - 1.75 0.051 2750 -613.1 -146.0 - - 3615 - - - - - - - - 14.89 14.85 14.90
4588 365.9 -7.4 205 4602 roll -0.51 - - 2713 - 2.28 0.048 1371 -604.8 -146.0 - - 3613 - - - - - - - - 15.02 14.81 15.02
4641 369.9 -9.9 212 4655 done -0.51 - - 2704 - 2.45 0.080 2767 569.8 -146.0 - - 3612 - - - - - - - - 14.88 14.75 14.88
4985 394.0 -7.1 219 4998 done -0.51 - - 2704 - - - 2767 - -146.0 - - 3611 - - - - - - - - 15.02 15.02 15.02
5321 414.6 -6.3 225 5334 roll -0.51 - - 2704 - 2.35 0.049 1372 -593.6 -146.0 - - 3609 - - - - - - - - 15.02 14.81 15.02
5373 417.0 -6.7 232 5388 done -0.51 0.12 0.229 2728 200.0 2.42 0.080 2760 573.6 -146.0 - - 3609 - - - - - - - - 14.69 14.75 14.85
5718 434.7 -4.9 239 5731 roll -0.57 - - 2734 - 2.33 0.049 1372 -595.7 -146.0 - - 3605 - - - - - - - - 15.02 14.81 15.02
5770 436.7 -5.3 246 5784 done -0.63 - - 2726 - 2.45 0.080 2766 569.0 -146.0 - - 3604 - - - - - - - - 14.88 14.76 14.90
6114 456.7 -6.0 253 6128 roll -0.67 0.08 0.159 2654 -900.0 2.33 0.047 1372 -598.3 -146.0 - - 3606 - - - - - - - - 14.83 14.85 14.86
6153 460.0 -8.5 258 6166 done -0.67 0.12 0.238 2681 225.0 2.42 0.081 2758 572.7 -146.0 - - 3605 - - - - - - - - 14.72 14.76 14.85
6514 489.7 -8.5 267 6527 roll -0.67 - - 2674 - 1.98 0.131 3835 543.9 -146.0 - - 3603 - - - - - - - - 15.02 14.72 15.02
6552 492.4 -8.7 272 6565 done -0.67 - - 2673 - 1.77 0.051 2755 -610.2 -146.0 - - 3604 - - - - - - - - 14.90 14.85 14.91
6913 522.4 -8.1 281 6926 roll -0.67 - - 2674 - 2.30 0.050 1369 -602.6 -146.0 - - 3600 - - - - - - - - 15.02 14.81 15.02
6951 525.8 -9.8 286 6964 done -0.67 - - 2665 - 2.42 0.081 2759 574.4 -146.0 - - 3602 - - - - - - - - 14.88 14.75 14.90
7312 553.8 -7.8 295 7325 done -0.67 - - 2665 - - - 2760 - -146.0 - - 3601 - - - - - - - - 15.02 15.02 15.02
7648 579.2 -7.8 301 7661 done -0.67 - - 2665 - - - 2759 - -146.0 - - 3600 - - - - - - - - 15.02 15.02 15.02
7984 605.8 -8.1 307 7997 roll -0.67 - - 2665 - 2.35 0.050 1369 -591.5 -146.0 - - 3598 - - - - - - - - 15.02 14.80 15.02
8029 609.1 -9.1 313 8043 done -0.67 - - 2656 - 2.42 0.082 2756 573.1 -146.0 - - 3597 - - - - - - - - 14.88 14.74 14.89
8384 638.4 -8.1 321 8397 done -0.67 - - 2655 - - - 2756 - -146.0 - - 3596 - - - - - - - - 15.01 15.01 15.01
8720 665.3 -8.1 327 8733 roll -0.67 - - 2655 - 2.35 0.052 1362 -593.2 -146.0 - - 3596 - - - - - - - - 15.01 14.79 15.02
8751 667.6 -8.1 331 8765 done -0.67 0.10 0.250 2677 220.0 2.45 0.084 2757 569.4 -146.0 - - 3596 - - - - - - - - 14.66 14.73 14.84
9119 694.3 -7.2 341 9132 done -0.67 - - 2676 - - - 2757 - -146.0 - - 3594 - - - - - - - - 15.01 15.01 15.01
9456 718.9 -7.5 347 9469 roll -0.67 - - 2677 - 2.35 0.054 1365 -592.3 -146.0 - - 3593 - - - - - - - - 15.01 14.78 15.01
9516 722.2 -6.0 355 9529 done -0.67 - - 2667 - 2.45 0.085 2749 564.9 -146.0 - - 3594 - - - - - - - - 14.84 14.71 14.85
9856 746.6 -7.2 368 9869 roll -0.67 - - 2668 - 2.35 0.054 1364 -589.4 -146.0 - - 3592 - - - - - - - - 15.00 14.77 15.00
9908 749.8 -7.7 375 9922 done -0.67 - - 2659 - 2.47 0.085 2758 564.4 -146.0 - - 3592 - - - - - - - - 14.85 14.71 14.87
10252 777.4 -8.2 382 10266 roll -0.67 - - 2659 - 2.35 0.053 1372 -589.8 -146.0 - - 3591 - - - - - - - - 15.00 14.76 15.00
10284 779.5 -6.7 386 10297 done -0.67 0.10 0.246 2680 210.0 2.42 0.084 2740 565.3 -146.0 - - 3591 - - - - - - - - 14.64 14.69 14.82
10652 808.0 -7.5 396 10665 roll -0.67 - - 2672 - 2.03 0.132 3833 538.4 -146.0 - - 3590 - - - - - - - - 14.99 14.66 15.00
10697 811.8 -10.5 402 10711 done -0.67 - - 2672 - 1.83 0.054 2739 -597.8 -146.0 - - 3589 - - - - - - - - 14.87 14.81 14.88
11051 839.8 -7.9 410 11065 roll -0.67 - - 2672 - 2.30 0.054 1367 -596.5 -146.0 - - 3589 - - - - - - - - 14.98 14.76 14.99
11083 842.2 -6.9 414 11096 done -0.67 - - 2663 - 2.45 0.085 2758 567.8 -146.0 - - 3589 - - - - - - - - 14.84 14.69 14.85
11450 870.7 -7.8 424 11463 done -0.67 - - 2663 - - - 2758 - -146.0 - - 3588 - - - - - - - - 14.98 14.98 14.98
11787 894.9 -7.1 430 11800 roll -0.67 - - 2663 - 2.38 0.054 1363 -586.1 -146.0 - - 3586 - - - - - - - - 14.98 14.75 14.98
11832 897.9 -6.8 436 11845 done -0.67 - - 2654 - 2.45 0.085 2747 564.9 -146.0 - - 3585 - - - - - - - - 14.83 14.70 14.85
12187 924.6 -7.9 444 12200 done -0.67 - - 2654 - - - 2747 - -146.0 - - 3586 - - - - - - - - 14.97 14.96 14.97
12297 end dive: TARGET_DEPTH_EXCEEDED
12297 begin apogee
12301 932.6 -7.5 446 12463 roll -0.23 0.57 0.191 2825 300.0 - - 2276 - - 152.43 1.918 3050 -3.5 0.323 - - - - - - 14.59 14.00 13.38
12465 end apogee: CONTROL_FINISHED_OK
12465 begin climb
12466 934.2 - 448 12640 roll 0.82 1.02 0.112 3150 318.6 2.47 0.061 898 -557.9 146.0 153.95 1.875 2460 -3.8 0.361 - - - - - - 14.02 14.04 13.28
12826 910.3 7.8 507 12839 done 0.74 - - 3150 - 2.47 0.067 2298 566.8 146.0 - - 2448 - - - - - - - - 14.40 14.30 14.41
13145 882.2 8.9 517 13159 roll 0.64 0.10 0.265 3126 -240.0 2.42 0.063 903 -576.4 146.0 - - 2446 - - - - - - - - 14.39 14.50 14.52
13359 865.9 7.9 547 13372 done 0.59 0.12 0.229 3091 -291.7 2.42 0.067 2290 573.1 146.0 - - 2446 - - - - - - - - 14.46 14.54 14.63
13713 843.4 6.4 555 13767 roll 0.63 - - 3090 - 2.72 0.121 3696 516.9 181.5 37.28 1.931 2315 -3.5 0.290 - - - - - - 14.84 14.26 13.72
13807 836.9 6.5 568 13855 done 0.62 - - 3100 - 2.42 0.050 2284 -583.5 214.2 35.65 1.857 2197 -3.3 0.282 - - - - - - 14.47 14.41 13.57
14169 809.4 7.6 584 14182 done 0.62 - - 3100 - - - 2284 - 217.5 - - 2176 - - - - - - - - 14.70 14.69 14.69
14504 783.0 8.0 590 14517 roll 0.62 - - 3099 - 2.62 0.119 3694 538.2 217.5 - - 2175 - - - - - - - - 14.79 14.52 14.80
14528 780.8 8.2 593 14542 done 0.62 - - 3109 - 2.38 0.052 2301 -585.3 217.5 - - 2175 - - - - - - - - 14.69 14.62 14.71
14848 755.8 8.0 603 14861 roll 0.62 - - 3119 - 2.42 0.070 885 -585.1 217.5 - - 2174 - - - - - - - - 14.86 14.64 14.84
14887 752.4 7.6 608 14900 done 0.63 - - 3119 - 2.45 0.070 2300 577.6 220.9 - - 2174 - - - - - - - - 14.72 14.63 14.75
15248 721.1 8.5 617 15261 done 0.63 - - 3119 - - - 2299 - 220.9 - - 2173 - - - - - - - - 14.89 14.89 14.89
15583 693.5 8.1 623 15596 done 0.63 - - 3119 - - - 2300 - 220.9 - - 2173 - - - - - - - - 14.91 14.91 14.95
15920 665.4 8.4 629 15933 done 0.63 - - 3119 - - - 2300 - 220.9 - - 2173 - - - - - - - - 14.92 14.93 14.93
16256 637.5 8.3 635 16269 done 0.63 - - 3121 - - - 2300 - 220.9 - - 2173 - - - - - - - - 14.94 14.94 14.93
16592 608.2 8.6 641 16605 roll 0.63 - - 3128 - 2.45 0.069 884 -578.0 220.9 - - 2172 - - - - - - - - 14.94 14.71 14.94
16630 603.9 8.6 646 16644 done 0.63 - - 3127 - 2.45 0.070 2300 578.0 220.9 - - 2173 - - - - - - - - 14.78 14.67 14.81
16992 569.9 9.8 655 17005 done 0.63 0.08 0.256 3107 -250.0 - - 2301 - 220.9 - - 2173 - - - - - - - - 14.63 14.80 14.79
17327 538.6 9.3 661 17341 roll 0.63 - - 3105 - 2.58 0.119 3699 541.9 220.9 - - 2172 - - - - - - - - 14.95 14.66 14.95
17352 535.9 9.5 664 17365 done 0.63 - - 3115 - 2.38 0.051 2289 -592.4 220.9 - - 2172 - - - - - - - - 14.83 14.76 14.85
17671 507.3 8.9 674 17684 roll 0.63 - - 3125 - 2.38 0.069 897 -584.9 220.9 - - 2172 - - - - - - - - 14.96 14.71 14.96
17702 504.1 10.1 678 17715 done 0.63 - - 3125 - 2.40 0.072 2291 580.8 220.9 - - 2173 - - - - - - - - 14.83 14.71 14.84
18070 473.6 8.2 688 18083 roll 0.63 - - 3124 - 2.60 0.125 3699 541.5 220.9 - - 2172 - - - - - - - - 14.96 14.64 14.96
18108 469.4 8.9 693 18123 done 0.58 0.15 0.239 3092 -213.3 2.38 0.051 2288 -592.9 220.9 - - 2172 - - - - - - - - 14.61 14.76 14.78
18470 446.7 6.2 702 18534 roll 0.63 - - 3101 - 2.50 0.069 896 -556.8 261.5 49.17 1.505 2000 -3.5 0.196 - - - - - - 14.95 14.40 13.92
18544 441.1 7.0 712 18577 done 0.65 - - 3101 - 2.45 0.069 2292 569.8 280.9 19.35 1.530 1928 -3.7 0.203 - - - - - - 14.51 14.41 13.82
18926 413.3 7.4 724 18943 roll 0.66 - - 3101 - 2.67 0.119 3697 526.2 289.2 1.52 0.245 1896 -21.1 6.718 - - - - - - 14.74 14.47 14.44
18975 408.6 9.2 731 18989 done 0.66 - - 3110 - 2.40 0.050 2293 -585.0 289.2 - - 1901 - - - - - - - - 14.67 14.57 14.64
19319 381.3 7.9 738 19333 roll 0.66 - - 3120 - 2.40 0.068 897 -581.7 289.2 - - 1904 - - - - - - - - 14.83 14.62 14.83
19379 376.3 8.3 746 19393 done 0.66 - - 3120 - 2.42 0.067 2297 578.5 289.2 - - 1903 - - - - - - - - 14.71 14.60 14.71
19719 347.2 8.5 759 19733 roll 0.66 - - 3119 - 2.60 0.122 3701 540.0 289.2 - - 1903 - - - - - - - - 14.88 14.59 14.88
19772 342.0 9.9 766 19785 done 0.66 - - 3128 - 2.40 0.049 2290 -587.9 289.2 - - 1904 - - - - - - - - 14.76 14.69 14.77
20116 312.3 8.7 773 20129 roll 0.66 - - 3138 - 2.38 0.069 896 -585.7 289.2 - - 1904 - - - - - - - - 14.90 14.67 14.90
20140 309.8 9.0 776 20153 done 0.66 - - 3138 - 2.40 0.069 2294 582.5 289.2 - - 1904 - - - - - - - - 14.78 14.66 14.79
20459 279.1 9.8 786 20472 roll 0.66 - - 3138 - 2.60 0.122 3703 541.9 289.2 - - 1904 - - - - - - - - 14.91 14.66 14.91
20504 273.9 11.1 792 20518 done 0.66 0.10 0.249 3119 -190.0 2.38 0.048 2288 -594.5 289.2 - - 1904 - - - - - - - - 14.59 14.73 14.76
20858 242.7 8.7 800 20871 roll 0.66 - - 3128 - 2.38 0.067 896 -584.9 289.2 - - 1904 - - - - - - - - 14.93 14.69 14.92
20918 237.6 8.1 808 20931 done 0.66 - - 3128 - 2.40 0.066 2293 582.1 289.2 - - 1902 - - - - - - - - 14.80 14.69 14.81
21258 208.3 8.7 821 21272 roll 0.66 - - 3128 - 2.58 0.119 3699 545.0 289.2 - - 1904 - - - - - - - - 14.93 14.64 14.93
21297 204.5 9.5 826 21310 done 0.66 - - 3137 - 2.35 0.048 2290 -599.6 289.2 - - 1905 - - - - - - - - 14.81 14.74 14.83
21658 172.3 8.9 835 21671 roll 0.66 - - 3147 - 2.38 0.067 890 -588.2 289.2 - - 1905 - - - - - - - - 14.93 14.71 14.93
21689 169.3 9.2 839 21702 done 0.66 0.10 0.226 3117 -300.0 2.40 0.067 2293 584.6 289.2 - - 1905 - - - - - - - - 14.62 14.69 14.78
22057 138.9 8.3 849 22070 roll 0.66 - - 3116 - 2.58 0.117 3700 545.3 289.2 - - 1905 - - - - - - - - 14.94 14.65 14.94
22137 130.8 9.8 860 22150 done 0.66 - - 3124 - 2.35 0.047 2288 -600.9 289.2 - - 1905 - - - - - - - - 14.82 14.75 14.83
22456 104.4 8.1 870 22469 done 0.66 - - 3126 - - - 2283 - 289.2 - - 1905 - - - - - - - - 14.94 14.94 14.94
22764 83.6 6.5 879 22798 roll 0.71 - - 3124 - 2.67 0.119 3701 531.1 323.3 17.88 0.428 1763 -7.9 0.293 - - - - - - 14.94 14.59 14.42
22816 79.7 7.2 886 22836 done 0.72 - - 3131 - 2.38 0.046 2281 -596.6 338.7 9.10 0.403 1700 -6.9 0.259 - - - - - - 14.78 14.71 14.40
23157 62.0 4.7 901 23210 roll 0.90 0.10 0.129 3207 760.0 2.62 0.112 3698 540.8 419.7 40.67 0.373 1377 -7.9 0.250 - - - - - - 14.69 14.53 14.38
23319 51.4 7.4 924 23339 done 0.92 - - 3212 - 2.35 0.045 2295 -597.0 429.6 6.22 0.300 1339 -6.1 0.198 - - - - - - 14.73 14.66 14.40
23667 33.4 4.5 940 23727 roll 1.10 0.08 0.166 3284 900.0 2.42 0.063 905 -574.4 515.8 42.80 0.277 998 -8.0 0.182 - - - - - - 14.67 14.60 14.45
23738 26.9 6.5 950 23766 done 1.14 - - 3286 - 2.40 0.060 2315 587.5 548.1 16.60 0.263 866 -8.0 0.154 - - - - - - 14.71 14.59 14.42
24085 end climb: SURFACE_DEPTH_REACHED
24086 begin surface coast
24113 end surface coast: CONTROL_FINISHED_OK
24113 begin surface
SM -5.36 - - - - -8.39 9.00 0.077 197 21.9 0.80 0.093 2770 -8105.0 545.86 - - 878 - - - - - - - -