SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 33.79 of 350.00 AH used of 24V (90.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -2.47 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 524.76, SM_CC=500)
• GPS1 time: 32 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 - - 185 - - - 2780 - -146.0 -81.65 - 3629 - - - - - - - - 14.68 13.74 14.68
107 -10.8 -7.6 3 126 roll -0.82 11.52 0.396 2617 211.1 1.88 0.091 3830 558.5 -146.0 - - 3630 - - - - - - - - 14.28 14.43 14.51
355 81.3 -17.5 39 363 done -0.62 0.28 0.256 2692 267.9 1.77 0.042 2758 -605.6 -146.0 - - 3631 - - - - - - - - 14.45 14.64 14.59
691 121.3 -11.2 51 699 roll -0.56 - - 2693 - 2.33 0.045 1374 -594.0 -146.0 - - 3633 - - - - - - - - 14.88 14.66 14.88
872 137.7 -8.0 77 882 done -0.56 0.12 0.231 2724 258.3 2.47 0.073 2773 566.4 -146.0 - - 3633 - - - - - - - - 14.57 14.66 14.70
1195 158.6 -6.4 88 1203 roll -0.56 - - 2717 - 1.92 0.118 3813 541.7 -146.0 - - 3632 - - - - - - - - 14.92 14.64 14.92
1271 163.8 -6.8 99 1279 done -0.56 - - 2717 - 1.75 0.044 2758 -602.9 -146.0 - - 3631 - - - - - - - - 14.81 14.76 14.82
1587 185.4 -6.9 109 1596 roll -0.56 - - 2716 - 2.30 0.046 1385 -597.0 -146.0 - - 3629 - - - - - - - - 14.94 14.72 14.93
1699 193.6 -7.5 125 1708 done -0.56 - - 2708 - 2.45 0.076 2763 562.4 -146.0 - - 3628 - - - - - - - - 14.76 14.69 14.78
2035 220.2 -8.0 138 2037 done -0.56 - - 2707 - - - 2764 - -146.0 - - 3625 - - - - - - - - 14.98 14.95 14.95
2371 247.1 -8.0 144 2379 roll -0.56 - - 2708 - 2.35 0.047 1387 -586.0 -146.0 - - 3622 - - - - - - - - 14.95 14.73 14.96
2398 249.4 -8.1 148 2407 done -0.56 - - 2699 - 2.47 0.077 2774 561.5 -146.0 - - 3622 - - - - - - - - 14.82 14.71 14.83
2763 278.1 -7.8 158 2776 roll -0.56 - - 2690 - 1.92 0.125 3835 552.6 -146.0 - - 3619 - - - - - - - - 15.00 14.71 15.00
2823 283.0 -8.2 166 2836 done -0.56 - - 2690 - 1.73 0.048 2773 -613.9 -146.0 - - 3619 - - - - - - - - 14.87 14.84 14.89
3163 308.9 -7.6 179 3176 roll -0.56 - - 2690 - 2.30 0.049 1378 -606.5 -146.0 - - 3616 - - - - - - - - 15.00 14.78 15.01
3243 315.0 -7.4 190 3257 done -0.56 0.12 0.231 2719 241.7 2.42 0.081 2771 575.6 -146.0 - - 3615 - - - - - - - - 14.69 14.76 14.85
3563 334.2 -5.9 200 3576 roll -0.56 - - 2718 - 2.33 0.050 1379 -597.4 -146.0 - - 3613 - - - - - - - - 15.02 14.79 15.02
3587 335.7 -6.0 203 3600 done -0.56 - - 2710 - 2.42 0.081 2770 574.8 -146.0 - - 3610 - - - - - - - - 14.88 14.76 14.90
3906 356.5 -6.6 213 3919 done -0.56 - - 2710 - - - 2770 - -146.0 - - 3611 - - - - - - - - 15.02 15.02 15.02
4242 379.8 -7.0 219 4255 roll -0.56 - - 2710 - 2.35 0.050 1371 -595.3 -146.0 - - 3608 - - - - - - - - 15.02 14.81 15.03
4322 385.6 -6.9 230 4335 done -0.56 - - 2701 - 2.42 0.080 2762 574.8 -146.0 - - 3608 - - - - - - - - 14.86 14.76 14.88
4641 408.5 -7.3 240 4654 done -0.56 - - 2701 - - - 2762 - -146.0 - - 3606 - - - - - - - - 15.02 15.02 15.02
4977 434.0 -7.6 246 4991 roll -0.56 - - 2700 - 2.35 0.050 1369 -592.8 -146.0 - - 3603 - - - - - - - - 15.02 14.80 15.02
5023 437.6 -7.6 252 5036 done -0.56 - - 2692 - 2.45 0.083 2766 570.2 -146.0 - - 3604 - - - - - - - - 14.88 14.75 14.89
5377 465.0 -7.7 260 5390 roll -0.56 - - 2683 - 1.95 0.126 3828 544.6 -146.0 - - 3601 - - - - - - - - 15.02 14.71 15.02
5408 467.5 -7.7 264 5421 done -0.56 0.10 0.233 2714 310.0 1.77 0.053 2753 -607.3 -146.0 - - 3605 - - - - - - - - 14.70 14.85 14.86
5776 490.0 -6.0 274 5789 roll -0.56 - - 2714 - 2.33 0.051 1359 -598.3 -146.0 - - 3600 - - - - - - - - 15.02 14.80 15.02
5863 495.5 -6.1 286 5877 done -0.56 - - 2705 - 2.45 0.082 2764 573.5 -146.0 - - 3599 - - - - - - - - 14.88 14.76 14.89
6232 519.3 -6.6 296 6244 done -0.56 - - 2706 - - - 2771 - -146.0 - - 3598 - - - - - - - - 15.02 15.02 15.02
6568 542.0 -6.7 302 6581 roll -0.56 - - 2705 - 2.35 0.051 1364 -598.7 -146.0 - - 3596 - - - - - - - - 15.02 14.80 15.02
6634 546.5 -6.7 311 6647 done -0.56 - - 2697 - 2.42 0.081 2757 575.6 -146.0 - - 3595 - - - - - - - - 14.88 14.74 14.93
6967 568.7 -6.7 323 6980 roll -0.56 - - 2696 - 2.35 0.051 1359 -594.9 -146.0 - - 3595 - - - - - - - - 15.02 14.78 15.02
7019 572.3 -6.8 330 7033 done -0.56 0.10 0.237 2717 210.0 2.47 0.082 2766 569.6 -146.0 - - 3598 - - - - - - - - 14.70 14.74 14.84
7363 592.0 -5.7 337 7376 done -0.56 - - 2717 - - - 2766 - -146.0 - - 3592 - - - - - - - - 15.02 15.02 15.02
7699 610.6 -5.5 343 7712 roll -0.56 - - 2718 - 2.38 0.052 1361 -590.3 -146.0 - - 3591 - - - - - - - - 15.01 14.78 15.01
7794 616.0 -5.7 356 7807 done -0.61 - - 2710 - 2.45 0.082 2760 571.0 -146.0 - - 3592 - - - - - - - - 14.87 14.73 14.88
8155 636.3 -5.6 365 8168 roll -0.61 - - 2710 - 2.35 0.051 1364 -594.0 -146.0 - - 3591 - - - - - - - - 15.00 14.78 15.01
8200 639.0 -5.9 371 8213 done -0.61 - - 2701 - 2.42 0.083 2752 573.6 -146.0 - - 3590 - - - - - - - - 14.86 14.73 14.88
8554 659.6 -5.9 379 8567 done -0.61 - - 2701 - - - 2750 - -146.0 - - 3589 - - - - - - - - 15.00 15.00 15.00
8890 680.0 -6.1 385 8903 roll -0.61 - - 2701 - 2.35 0.053 1360 -591.5 -146.0 - - 3586 - - - - - - - - 15.00 14.78 15.00
8956 684.3 -6.3 394 8969 done -0.61 - - 2693 - 2.45 0.083 2754 569.0 -146.0 - - 3587 - - - - - - - - 14.85 14.72 14.88
9289 705.5 -6.4 406 9303 roll -0.61 - - 2692 - 2.35 0.052 1365 -591.1 -146.0 - - 3585 - - - - - - - - 15.00 14.76 15.00
9335 708.5 -7.0 412 9348 done -0.61 - - 2684 - 2.42 0.083 2743 569.4 -146.0 - - 3585 - - - - - - - - 14.85 14.71 14.87
9689 732.0 -6.6 420 9702 done -0.61 - - 2685 - - - 2742 - -146.0 - - 3584 - - - - - - - - 15.00 14.99 14.97
10025 754.4 -6.7 426 10038 roll -0.61 - - 2685 - 2.33 0.053 1373 -587.6 -146.0 - - 3584 - - - - - - - - 15.00 14.76 15.00
10091 759.3 -7.2 435 10104 done -0.61 - - 2677 - 2.42 0.083 2752 569.8 -146.0 - - 3584 - - - - - - - - 14.84 14.71 14.85
10424 784.1 -7.6 447 10437 done -0.61 - - 2677 - - - 2752 - -146.0 - - 3581 - - - - - - - - 14.99 15.00 15.00
10760 809.9 -7.7 453 10774 roll -0.61 - - 2677 - 2.35 0.052 1365 -590.2 -146.0 - - 3582 - - - - - - - - 14.99 14.78 14.99
10799 813.5 -8.1 458 10812 done -0.61 0.10 0.246 2697 200.0 2.42 0.084 2737 566.9 -146.0 - - 3582 - - - - - - - - 14.61 14.69 14.80
11160 838.1 -6.9 467 11173 roll -0.61 - - 2698 - 2.33 0.052 1367 -588.0 -146.0 - - 3584 - - - - - - - - 14.98 14.75 15.00
11198 841.0 -7.7 472 11212 done -0.61 - - 2689 - 2.42 0.083 2740 567.4 -146.0 - - 3581 - - - - - - - - 14.84 14.69 14.85
11560 865.0 -6.6 481 11572 done -0.61 - - 2690 - - - 2740 - -146.0 - - 3581 - - - - - - - - 14.99 14.99 14.99
11896 885.6 -6.2 487 11909 roll -0.61 - - 2689 - 2.33 0.054 1373 -586.7 -146.0 - - 3581 - - - - - - - - 14.98 14.73 14.97
11962 889.9 -6.4 496 11975 done -0.61 - - 2682 - 2.42 0.083 2745 566.9 -146.0 - - 3581 - - - - - - - - 14.81 14.66 14.83
12295 911.5 -6.6 508 12308 roll -0.61 - - 2682 - 2.35 0.054 1365 -587.2 -146.0 - - 3580 - - - - - - - - 14.97 14.73 14.97
12333 914.0 -6.5 513 12347 done -0.61 - - 2673 - 2.42 0.083 2741 568.6 -146.0 - - 3579 - - - - - - - - 14.82 14.67 14.84
12581 end dive: TARGET_DEPTH_EXCEEDED
12582 begin apogee
12585 931.5 -7.1 520 12741 roll -0.23 0.50 0.186 2823 300.0 - - 2274 - - 145.55 1.920 3051 -3.6 0.333 - - - - - - 14.60 14.00 13.38
12742 end apogee: CONTROL_FINISHED_OK
12742 begin climb
12743 935.7 - 522 12917 roll 0.82 1.02 0.115 3148 318.6 2.45 0.061 905 -558.8 146.0 155.07 1.868 2461 -3.8 0.361 - - - - - - 14.04 14.06 13.28
13103 914.2 8.3 580 13116 done 0.74 - - 3147 - 2.45 0.066 2294 566.9 146.0 - - 2448 - - - - - - - - 14.40 14.30 14.41
13430 885.5 8.9 591 13443 roll 0.65 0.10 0.270 3125 -220.0 2.42 0.062 899 -576.4 146.0 - - 2446 - - - - - - - - 14.38 14.50 14.52
13622 870.6 7.6 618 13636 done 0.60 0.10 0.239 3097 -280.0 2.42 0.067 2295 576.9 151.2 - - 2445 - - - - - - - - 14.45 14.54 14.61
13942 847.0 7.5 628 13960 roll 0.61 - - 3098 - 2.62 0.117 3695 534.4 158.9 3.53 1.386 2417 -7.9 0.917 - - - - - - 14.83 14.54 13.62
14000 842.0 9.0 636 14019 done 0.54 0.10 0.263 3080 -180.0 2.38 0.048 2277 -595.8 158.9 1.98 0.247 2417 - - - - - - - - 14.50 14.64 14.40
14339 817.4 7.2 649 14379 done 0.56 - - 3079 - - - 2279 - 174.7 25.40 1.960 2346 -2.8 0.221 - - - - - - 14.86 14.47 13.84
14733 787.4 7.7 663 14747 roll 0.56 - - 3079 - 2.65 0.117 3700 536.2 176.8 - - 2338 - - - - - - - - 14.78 14.51 14.79
14779 783.4 8.6 669 14792 done 0.56 - - 3088 - 2.38 0.049 2296 -589.9 176.8 - - 2338 - - - - - - - - 14.69 14.62 14.69
15133 755.9 7.7 677 15146 done 0.56 - - 3087 - - - 2294 - 177.2 - - 2337 - - - - - - - - 14.85 14.85 14.85
15469 730.9 7.4 683 15483 done 0.57 - - 3088 - - - 2294 - 187.1 4.05 1.609 2305 -7.9 0.679 - - - - - - 14.89 14.69 13.66
15806 705.9 7.4 689 15833 done 0.58 - - 3088 - - - 2294 - 196.4 18.92 1.929 2266 -2.1 0.143 - - - - - - 14.90 14.57 13.93
16141 680.6 7.6 695 16155 roll 0.59 - - 3088 - 2.62 0.117 3700 536.6 200.5 - - 2251 - - - - - - - - 14.82 14.54 14.83
16172 677.8 8.1 699 16186 done 0.59 - - 3098 - 2.40 0.050 2285 -589.6 200.5 - - 2251 - - - - - - - - 14.71 14.64 14.71
16540 648.4 8.0 709 16554 roll 0.59 - - 3107 - 2.38 0.067 900 -581.9 200.5 - - 2250 - - - - - - - - 14.88 14.64 14.88
16572 645.7 8.1 713 16585 done 0.59 - - 3107 - 2.42 0.069 2304 580.2 200.5 - - 2251 - - - - - - - - 14.75 14.64 14.76
16940 614.4 8.6 723 16953 roll 0.59 - - 3107 - 2.58 0.119 3703 542.2 200.5 - - 2250 - - - - - - - - 14.90 14.62 14.90
17000 608.7 9.7 731 17013 done 0.53 0.15 0.242 3074 -220.0 2.38 0.047 2291 -593.3 200.5 - - 2250 - - - - - - - - 14.56 14.71 14.74
17341 584.4 7.0 744 17380 roll 0.56 - - 3084 - 2.40 0.066 900 -579.6 221.1 26.12 1.748 2160 -3.4 0.218 - - - - - - 14.92 14.47 13.93
17412 579.4 7.1 754 17438 done 0.58 - - 3084 - 2.42 0.067 2292 575.2 237.9 14.90 1.838 2106 -3.6 0.216 - - - - - - 14.60 14.50 13.82
17786 552.2 7.3 765 17806 roll 0.60 - - 3084 - 2.67 0.119 3695 525.5 250.9 7.60 1.856 2054 -6.8 0.385 - - - - - - 14.78 14.45 13.85
17838 548.0 8.2 772 17852 done 0.60 - - 3093 - 2.40 0.049 2293 -584.2 250.9 - - 2057 - - - - - - - - 14.62 14.54 14.62
18179 522.4 7.5 785 18197 roll 0.60 - - 3102 - 2.42 0.069 888 -580.6 257.1 4.57 1.649 2028 -6.3 0.380 - - - - - - 14.81 14.57 13.64
18228 518.5 7.5 792 18255 done 0.61 - - 3103 - 2.47 0.069 2300 571.7 264.4 14.20 1.796 1999 -2.0 0.112 - - - - - - 14.66 14.58 13.88
18575 491.7 7.8 806 18588 roll 0.61 - - 3103 - 2.58 0.117 3696 541.1 264.4 - - 1987 - - - - - - - - 14.78 14.51 14.78
18613 488.4 8.7 811 18626 done 0.61 - - 3113 - 2.40 0.048 2281 -589.6 264.4 - - 1988 - - - - - - - - 14.68 14.61 14.69
18974 459.5 7.9 820 18987 roll 0.61 - - 3121 - 2.38 0.068 890 -584.5 264.4 - - 1987 - - - - - - - - 14.85 14.66 14.85
19019 455.8 7.9 826 19032 done 0.61 - - 3121 - 2.42 0.067 2297 581.4 264.4 - - 1986 - - - - - - - - 14.73 14.62 14.75
19373 425.3 8.9 834 19386 roll 0.61 - - 3121 - 2.58 0.119 3701 544.2 264.4 - - 1987 - - - - - - - - 14.88 14.61 14.88
19404 422.1 10.0 838 19417 done 0.61 0.10 0.246 3101 -200.0 2.38 0.048 2286 -594.5 264.4 - - 1987 - - - - - - - - 14.57 14.71 14.74
19772 390.9 8.4 848 19785 roll 0.61 - - 3111 - 2.35 0.067 899 -590.2 264.4 - - 1986 - - - - - - - - 14.90 14.68 14.90
19810 387.7 8.4 853 19823 done 0.61 - - 3111 - 2.40 0.067 2299 583.3 264.4 - - 1987 - - - - - - - - 14.78 14.67 14.80
20171 357.2 8.5 862 20184 roll 0.61 - - 3111 - 2.55 0.117 3698 548.6 264.4 - - 1987 - - - - - - - - 14.90 14.63 14.92
20216 352.9 9.8 868 20229 done 0.61 - - 3120 - 2.35 0.047 2292 -598.3 264.4 - - 1987 - - - - - - - - 14.80 14.73 14.82
20570 321.3 8.9 876 20583 done 0.61 - - 3120 - - - 2286 - 264.4 - - 1987 - - - - - - - - 14.92 14.93 14.93
20907 291.1 8.9 882 20920 roll 0.61 - - 3129 - 2.38 0.067 889 -587.0 264.4 - - 1986 - - - - - - - - 14.94 14.72 14.94
20945 287.6 8.9 887 20958 done 0.61 0.10 0.221 3099 -300.0 2.40 0.067 2296 586.2 264.4 - - 1987 - - - - - - - - 14.64 14.71 14.79
21306 259.6 7.7 896 21320 roll 0.61 - - 3099 - 2.55 0.116 3696 549.0 265.7 - - 1987 - - - - - - - - 14.94 14.65 14.95
21345 256.2 8.4 901 21359 done 0.61 - - 3106 - 2.35 0.047 2284 -600.9 265.7 - - 1987 - - - - - - - - 14.82 14.76 14.83
21707 227.7 7.8 910 21720 roll 0.61 - - 3106 - 2.62 0.116 3700 540.5 265.7 - - 1987 - - - - - - - - 14.95 14.65 14.95
21744 224.3 8.5 915 21758 done 0.61 - - 3114 - 2.35 0.047 2292 -599.1 265.7 - - 1987 - - - - - - - - 14.83 14.76 14.83
22105 195.6 7.9 924 22119 roll 0.61 - - 3123 - 2.38 0.067 893 -587.8 265.7 - - 1987 - - - - - - - - 14.95 14.71 14.95
22151 191.9 8.0 930 22164 done 0.61 - - 3123 - 2.40 0.067 2298 585.4 265.7 - - 1987 - - - - - - - - 14.81 14.71 14.83
22505 161.9 8.6 938 22518 roll 0.61 - - 3131 - 2.40 0.066 895 -584.6 265.7 - - 1987 - - - - - - - - 14.94 14.71 14.94
22536 159.2 8.6 942 22549 done 0.61 0.10 0.220 3099 -320.0 2.40 0.067 2302 586.2 265.7 - - 1987 - - - - - - - - 14.62 14.69 14.77
22904 132.5 7.1 952 22936 roll 0.64 - - 3099 - 2.55 0.115 3696 546.7 282.8 18.92 1.256 1914 -3.9 0.077 - - - - - - 14.95 14.57 14.16
22954 128.8 7.4 959 22969 done 0.65 - - 3107 - 2.38 0.047 2292 -589.9 291.1 2.20 0.426 1890 -10.9 0.624 - - - - - - 14.72 14.65 13.93
23299 104.0 7.3 966 23319 roll 0.66 - - 3106 - 2.67 0.113 3699 527.0 304.4 8.00 0.443 1838 -6.5 0.289 - - - - - - 14.88 14.58 14.35
23330 101.4 7.9 970 23343 done 0.66 - - 3113 - 2.35 0.047 2295 -597.4 304.4 1.15 0.275 1839 - - - - - - - - 14.71 14.68 14.52
23664 77.6 6.9 984 23688 roll 0.69 - - 3113 - 2.60 0.112 3699 540.0 326.6 12.62 0.396 1749 -7.1 0.264 - - - - - - 14.88 14.58 14.40
23756 70.9 6.7 997 23783 done 0.78 0.03 0.358 3157 1466.7 2.35 0.045 2293 -598.3 353.4 14.62 0.379 1642 -7.3 0.259 - - - - - - 14.57 14.68 14.41
24086 53.6 4.2 1011 24147 roll 0.96 0.08 0.151 3226 862.5 2.38 0.063 898 -586.1 449.5 47.45 0.341 1260 -8.1 0.239 - - - - - - 14.67 14.57 14.38
24180 48.4 6.7 1024 24207 done 1.05 - - 3226 - 2.40 0.060 2308 587.5 478.8 14.90 0.321 1142 -7.9 0.226 - - - - - - 14.68 14.57 14.38
24510 26.4 6.0 1038 24548 roll 1.24 0.12 0.108 3304 650.0 2.58 0.111 3697 538.4 526.4 23.62 0.255 954 -8.0 0.156 - - - - - - 14.66 14.53 14.46
24602 18.7 9.3 1051 24615 done 1.24 - - 3310 - 2.28 0.044 2328 -600.4 526.4 - - 960 - - - - - - - - 14.72 14.65 14.73
24793 end climb: SURFACE_DEPTH_REACHED
24793 begin surface coast
24821 end surface coast: CONTROL_FINISHED_OK
24821 begin surface
SM -3.35 - - - - -8.40 9.15 0.082 194 21.2 0.80 0.093 2761 2163.8 524.76 - - 961 - - - - - - - -