SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 1 • 34.19 of 350.00 AH used of 24V (90.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.8 deg, depth -3.91 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 509.94, SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 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 - - - 104 done -0.82 - - 190 - - - 2773 - -146.0 -81.65 - 3633 - - - - - - - - 14.69 13.74 14.69
106 5.0 -15.7 3 125 roll -0.82 11.52 0.398 2625 211.4 2.35 0.034 1355 -603.4 -146.0 - - 3633 - - - - - - - - 14.28 14.49 14.50
354 71.3 -13.4 39 362 done -0.66 0.22 0.240 2678 240.9 2.50 0.073 2762 562.8 -146.0 - - 3636 - - - - - - - - 14.46 14.53 14.59
690 101.7 -9.0 54 697 roll -0.60 - - 2671 - 1.98 0.116 3822 535.4 -146.0 - - 3637 - - - - - - - - 14.86 14.58 14.86
802 112.2 -10.3 70 810 done -0.52 0.17 0.201 2724 311.8 1.75 0.043 2760 -606.9 -146.0 - - 3637 - - - - - - - - 14.55 14.70 14.66
1138 139.6 -7.1 83 1146 roll -0.52 - - 2716 - 2.00 0.118 3820 530.0 -146.0 - - 3636 - - - - - - - - 14.90 14.62 14.90
1207 144.7 -7.3 93 1216 done -0.52 - - 2716 - 1.75 0.043 2764 -603.4 -146.0 - - 3636 - - - - - - - - 14.80 14.76 14.81
1530 167.1 -6.9 104 1538 roll -0.52 - - 2717 - 2.33 0.047 1376 -595.7 -146.0 - - 3634 - - - - - - - - 14.92 14.70 14.92
1655 175.7 -6.8 122 1663 done -0.52 - - 2707 - 2.47 0.076 2769 564.0 -146.0 - - 3634 - - - - - - - - 14.75 14.68 14.77
1978 198.3 -7.1 133 1986 roll -0.52 - - 2707 - 2.35 0.047 1390 -586.8 -146.0 - - 3631 - - - - - - - - 14.93 14.71 14.93
2012 200.9 -7.6 138 2021 done -0.52 0.08 0.223 2723 200.0 2.45 0.077 2771 563.7 -146.0 - - 3630 - - - - - - - - 14.62 14.68 14.73
2370 224.4 -6.6 147 2378 roll -0.52 - - 2723 - 2.35 0.048 1396 -585.1 -146.0 - - 3627 - - - - - - - - 14.95 14.73 14.95
2418 227.7 -6.7 154 2428 done -0.52 - - 2714 - 2.45 0.079 2764 558.4 -146.0 - - 3627 - - - - - - - - 14.78 14.69 14.78
2765 252.6 -7.5 161 2781 roll -0.52 - - 2706 - 1.95 0.125 3832 547.7 -146.0 - - 3624 - - - - - - - - 14.95 14.68 14.95
2827 257.9 -8.3 169 2841 done -0.52 - - 2706 - 1.73 0.049 2777 -609.8 -146.0 - - 3624 - - - - - - - - 14.82 14.78 14.83
3167 286.0 -8.4 182 3181 roll -0.52 - - 2706 - 2.33 0.048 1370 -603.9 -146.0 - - 3621 - - - - - - - - 14.99 14.78 14.99
3284 295.8 -8.4 198 3297 done -0.52 0.10 0.236 2728 220.0 2.42 0.080 2762 575.2 -146.0 - - 3621 - - - - - - - - 14.67 14.73 14.83
3624 319.5 -6.8 211 3637 done -0.52 - - 2728 - - - 2761 - -146.0 - - 3619 - - - - - - - - 15.00 15.00 15.00
3960 340.3 -6.1 217 3973 roll -0.52 - - 2728 - 2.33 0.050 1371 -596.6 -146.0 - - 3616 - - - - - - - - 14.99 14.80 15.00
4006 343.1 -6.1 223 4019 done -0.56 - - 2720 - 2.42 0.082 2761 574.4 -146.0 - - 3616 - - - - - - - - 14.88 14.75 14.90
4360 364.3 -6.0 231 4373 done -0.56 - - 2720 - - - 2761 - -146.0 - - 3614 - - - - - - - - 15.01 15.01 15.01
4696 384.2 -5.9 237 4709 roll -0.56 - - 2720 - 2.33 0.049 1377 -594.0 -146.0 - - 3616 - - - - - - - - 15.02 14.81 15.02
4783 389.5 -6.0 249 4797 done -0.56 - - 2716 - 2.42 0.081 2767 574.4 -146.0 - - 3611 - - - - - - - - 14.88 14.73 14.89
5151 412.5 -6.4 259 5165 roll -0.56 - - 2711 - 2.33 0.050 1379 -595.7 -146.0 - - 3610 - - - - - - - - 15.02 14.80 15.02
5225 417.7 -7.1 269 5238 done -0.56 - - 2702 - 2.42 0.083 2766 573.1 -146.0 - - 3610 - - - - - - - - 14.88 14.76 14.89
5551 443.5 -8.1 280 5564 roll -0.56 - - 2703 - 2.33 0.050 1378 -595.7 -146.0 - - 3610 - - - - - - - - 15.01 14.80 15.01
5603 447.9 -8.4 287 5616 done -0.56 - - 2694 - 2.40 0.081 2750 571.7 -146.0 - - 3608 - - - - - - - - 14.88 14.75 14.88
5947 476.0 -8.1 294 5960 roll -0.56 - - 2695 - 2.30 0.050 1378 -596.5 -146.0 - - 3607 - - - - - - - - 15.01 14.79 15.01
5992 479.7 -8.1 300 6005 done -0.56 0.10 0.239 2714 190.0 2.40 0.083 2757 574.6 -146.0 - - 3607 - - - - - - - - 14.69 14.74 14.85
6347 503.6 -6.8 308 6360 roll -0.56 - - 2715 - 2.33 0.051 1376 -592.7 -146.0 - - 3605 - - - - - - - - 15.01 14.78 15.01
6392 506.8 -6.9 314 6405 done -0.56 - - 2703 - 2.40 0.081 2752 573.3 -146.0 - - 3607 - - - - - - - - 14.87 14.73 14.89
6746 531.5 -7.0 322 6759 done -0.56 - - 2706 - - - 2751 - -146.0 - - 3603 - - - - - - - - 15.02 15.02 15.02
7082 553.9 -6.6 328 7095 roll -0.56 - - 2707 - 2.33 0.051 1371 -592.3 -146.0 - - 3602 - - - - - - - - 15.01 14.79 15.02
7156 559.0 -6.8 338 7169 done -0.56 - - 2698 - 2.40 0.082 2743 571.7 -146.0 - - 3602 - - - - - - - - 14.87 14.74 14.88
7482 580.4 -6.6 349 7495 roll -0.56 - - 2698 - 2.33 0.051 1364 -591.8 -146.0 - - 3600 - - - - - - - - 15.01 14.78 15.01
7513 582.6 -6.9 353 7526 done -0.56 - - 2690 - 2.42 0.082 2744 570.2 -146.0 - - 3600 - - - - - - - - 14.87 14.76 14.88
7881 607.6 -6.8 363 7894 done -0.56 - - 2690 - - - 2746 - -146.0 - - 3599 - - - - - - - - 15.00 15.00 15.00
8218 630.3 -6.8 369 8231 roll -0.56 - - 2689 - 2.33 0.052 1370 -590.6 -146.0 - - 3597 - - - - - - - - 15.01 14.78 15.01
8284 634.1 -4.1 378 8298 done -0.56 0.12 0.236 2717 233.3 2.42 0.081 2754 571.9 -146.0 - - 3597 - - - - - - - - 14.65 14.73 14.83
8618 654.4 -6.2 390 8631 done -0.61 - - 2715 - - - 2754 - -146.0 - - 3597 - - - - - - - - 15.00 15.00 15.00
8954 676.9 -6.8 396 8967 roll -0.66 - - 2716 - 2.33 0.051 1376 -591.4 -146.0 - - 3595 - - - - - - - - 15.00 14.78 15.00
9014 681.2 -7.2 404 9027 done -0.71 0.08 0.151 2652 -800.0 2.40 0.081 2740 568.3 -146.0 - - 3595 - - - - - - - - 14.78 14.73 14.86
9354 713.6 -9.7 417 9368 roll -0.71 - - 2645 - 2.00 0.129 3822 541.0 -146.0 - - 3594 - - - - - - - - 15.00 14.69 15.00
9393 717.5 -10.0 422 9406 done -0.71 - - 2644 - 1.77 0.053 2746 -607.9 -146.0 - - 3593 - - - - - - - - 14.88 14.83 14.89
9753 752.9 -9.8 431 9767 roll -0.71 - - 2644 - 2.30 0.052 1369 -598.7 -146.0 - - 3593 - - - - - - - - 15.00 14.76 15.00
9813 758.9 -9.8 439 9827 done -0.71 0.10 0.256 2666 220.0 2.42 0.082 2742 567.4 -146.0 - - 3592 - - - - - - - - 14.62 14.71 14.81
10154 788.9 -8.8 452 10167 roll -0.71 - - 2666 - 2.33 0.051 1368 -589.7 -146.0 - - 3592 - - - - - - - - 14.99 14.76 14.98
10213 794.0 -8.5 460 10227 done -0.71 - - 2658 - 2.42 0.083 2739 566.5 -146.0 - - 3592 - - - - - - - - 14.83 14.70 14.85
10553 821.6 -8.1 473 10566 done -0.71 - - 2658 - - - 2739 - -146.0 - - 3594 - - - - - - - - 14.99 14.99 14.99
10890 847.3 -7.6 479 10903 roll -0.71 - - 2657 - 2.33 0.053 1370 -587.6 -146.0 - - 3590 - - - - - - - - 15.00 14.75 14.98
10950 851.6 -6.0 487 10963 done -0.71 - - 2649 - 2.42 0.084 2736 564.5 -146.0 - - 3590 - - - - - - - - 14.83 14.69 14.85
11290 877.9 -7.7 500 11303 roll -0.71 - - 2641 - 2.03 0.130 3828 537.9 -146.0 - - 3589 - - - - - - - - 14.98 14.66 14.98
11335 881.7 -6.9 506 11349 done -0.71 0.10 0.246 2670 290.0 1.83 0.054 2732 -598.9 -146.0 - - 3589 - - - - - - - - 14.60 14.81 14.80
11690 907.0 -7.2 514 11703 roll -0.71 - - 2670 - 2.30 0.054 1362 -595.7 -146.0 - - 3588 - - - - - - - - 14.97 14.74 14.97
11770 912.9 -7.2 525 11783 done -0.71 - - 2662 - 2.42 0.084 2740 569.4 -146.0 - - 3588 - - - - - - - - 14.83 14.68 14.84
12032 end dive: TARGET_DEPTH_EXCEEDED
12032 begin apogee
12036 932.4 -7.5 534 12207 roll -0.23 0.52 0.185 2819 301.9 - - 2274 - - 160.23 1.841 3047 -3.4 0.323 - - - - - - 14.61 13.93 13.40
12209 end apogee: CONTROL_FINISHED_OK
12209 begin climb
12210 937.6 - 537 12381 roll 0.82 1.05 0.117 3149 314.3 2.47 0.062 895 -558.3 146.0 154.00 1.858 2466 -3.8 0.360 - - - - - - 14.04 14.05 13.30
12561 913.4 9.3 588 12574 done 0.74 - - 3149 - 2.47 0.067 2291 565.2 146.0 - - 2447 - - - - - - - - 14.39 14.30 14.40
12880 882.2 9.8 598 12893 roll 0.64 0.10 0.265 3126 -230.0 2.42 0.064 900 -574.8 146.0 - - 2446 - - - - - - - - 14.38 14.48 14.52
13044 868.0 8.3 621 13059 done 0.59 0.12 0.231 3091 -291.7 2.45 0.067 2299 571.0 146.0 - - 2445 - - - - - - - - 14.44 14.53 14.62
13389 842.9 7.2 628 13406 roll 0.60 - - 3090 - 2.58 0.118 3692 539.9 160.6 4.35 1.689 2414 -7.1 0.672 - - - - - - 14.83 14.54 13.59
13495 834.2 7.9 643 13510 done 0.54 - - 3100 - 2.38 0.050 2289 -589.5 160.6 2.38 0.671 2409 -2.1 0.493 - - - - - - 14.69 14.63 13.62
13838 810.1 6.9 650 13885 roll 0.57 - - 3110 - 2.45 0.067 896 -568.6 183.4 34.22 1.911 2311 -2.9 0.229 - - - - - - 14.86 14.33 13.78
13917 805.0 7.1 661 13949 done 0.59 - - 3110 - 2.45 0.069 2289 568.6 200.7 17.02 2.017 2241 -4.1 0.310 - - - - - - 14.49 14.39 13.69
14290 776.5 7.7 672 14303 roll 0.59 - - 3110 - 2.62 0.120 3701 538.9 202.5 - - 2232 - - - - - - - - 14.73 14.47 14.74
14328 773.3 8.2 677 14342 done 0.54 0.17 0.233 3072 -223.5 2.40 0.048 2290 -587.9 202.5 - - 2232 - - - - - - - - 14.43 14.57 14.59
14690 751.5 5.8 686 14759 done 0.61 - - 3071 - - - 2285 - 254.2 60.75 1.749 2037 -3.2 0.260 - - - - - - 14.83 14.23 13.64
15082 726.3 6.5 693 15134 roll 0.65 0.05 0.204 3117 920.0 2.78 0.118 3696 507.6 287.5 36.45 1.774 1894 -3.9 0.303 - - - - - - 14.51 14.19 13.68
15159 719.4 9.3 704 15172 done 0.65 - - 3128 - 2.42 0.050 2303 -575.6 287.5 - - 1889 - - - - - - - - 14.39 14.33 14.40
15478 688.7 9.7 714 15492 roll 0.65 - - 3135 - 2.45 0.070 887 -578.0 287.5 - - 1883 - - - - - - - - 14.72 14.50 14.72
15517 684.8 9.5 719 15530 done 0.65 - - 3135 - 2.47 0.070 2301 572.5 287.5 - - 1883 - - - - - - - - 14.62 14.50 14.64
15877 647.3 10.5 728 15891 roll 0.65 - - 3135 - 2.58 0.120 3697 541.1 287.5 - - 1882 - - - - - - - - 14.82 14.54 14.82
15915 642.7 11.3 733 15929 done 0.65 0.12 0.243 3110 -208.3 2.40 0.049 2280 -590.4 287.5 - - 1882 - - - - - - - - 14.52 14.64 14.69
16277 608.7 9.3 742 16289 done 0.65 - - 3111 - - - 2275 - 287.5 - - 1883 - - - - - - - - 14.85 14.88 14.87
16613 579.3 8.6 748 16626 roll 0.65 - - 3111 - 2.62 0.114 3700 543.9 287.5 - - 1882 - - - - - - - - 14.89 14.62 14.89
16644 576.3 9.4 752 16657 done 0.65 - - 3119 - 2.38 0.049 2291 -592.0 287.5 - - 1882 - - - - - - - - 14.78 14.71 14.79
17012 543.4 8.9 762 17025 roll 0.65 - - 3129 - 2.38 0.068 895 -586.6 287.5 - - 1882 - - - - - - - - 14.92 14.69 14.91
17043 540.5 9.1 766 17056 done 0.65 - - 3128 - 2.42 0.069 2303 581.8 287.5 - - 1882 - - - - - - - - 14.78 14.66 14.81
17411 505.6 9.6 776 17424 roll 0.65 - - 3128 - 2.55 0.118 3701 548.2 287.5 - - 1881 - - - - - - - - 14.92 14.64 14.92
17464 499.9 11.1 783 17477 done 0.65 - - 3137 - 2.38 0.047 2296 -590.3 287.5 - - 1881 - - - - - - - - 14.81 14.74 14.82
17808 465.5 10.0 790 17821 roll 0.65 - - 3148 - 2.38 0.067 895 -588.7 287.5 - - 1881 - - - - - - - - 14.93 14.69 14.93
17868 459.5 9.9 798 17881 done 0.65 0.12 0.227 3112 -300.0 2.42 0.069 2297 579.3 287.5 - - 1880 - - - - - - - - 14.60 14.68 14.77
18208 431.0 8.3 811 18221 roll 0.65 - - 3118 - 2.53 0.113 3697 553.4 287.5 - - 1881 - - - - - - - - 14.93 14.65 14.93
18239 428.1 9.1 815 18252 done 0.65 - - 3119 - 2.35 0.047 2292 -597.9 287.5 - - 1881 - - - - - - - - 14.82 14.76 14.83
18607 395.2 9.1 825 18620 done 0.65 - - 3119 - - - 2287 - 287.5 - - 1881 - - - - - - - - 14.93 14.94 14.94
18943 364.3 9.2 831 18956 done 0.65 - - 3119 - - - 2287 - 287.5 - - 1885 - - - - - - - - 14.95 14.95 14.98
19279 333.7 9.1 837 19292 roll 0.65 - - 3119 - 2.60 0.116 3696 541.9 287.5 - - 1880 - - - - - - - - 14.95 14.66 14.95
19324 329.1 10.2 843 19337 done 0.65 - - 3127 - 2.35 0.047 2298 -594.9 287.5 - - 1881 - - - - - - - - 14.83 14.76 14.85
19678 295.2 9.6 851 19691 roll 0.65 - - 3137 - 2.38 0.066 892 -590.8 287.5 - - 1881 - - - - - - - - 14.95 14.72 14.95
19709 292.0 9.7 855 19722 done 0.65 - - 3140 - 2.40 0.065 2297 585.4 287.5 - - 1881 - - - - - - - - 14.83 14.72 14.83
20077 256.5 9.6 865 20090 done 0.65 - - 3138 - - - 2297 - 287.5 - - 1880 - - - - - - - - 14.95 14.95 14.95
20414 224.7 9.4 871 20427 roll 0.65 - - 3137 - 2.55 0.117 3701 550.6 287.5 - - 1881 - - - - - - - - 14.96 14.66 14.96
20451 220.6 10.3 876 20465 done 0.65 0.12 0.235 3110 -225.0 2.35 0.047 2290 -600.4 287.5 - - 1881 - - - - - - - - 14.63 14.77 14.81
20813 191.5 7.9 885 20826 roll 0.65 - - 3120 - 2.35 0.066 896 -593.2 287.5 - - 1881 - - - - - - - - 14.96 14.72 14.95
20858 187.7 8.0 891 20871 done 0.65 - - 3117 - 2.40 0.065 2305 587.1 287.5 - - 1880 - - - - - - - - 14.83 14.71 14.85
21212 157.4 8.8 899 21225 done 0.65 - - 3120 - - - 2305 - 287.5 - - 1881 - - - - - - - - 14.95 14.95 14.95
21548 128.7 8.6 905 21561 roll 0.65 - - 3120 - 2.53 0.117 3697 550.2 287.5 - - 1881 - - - - - - - - 14.95 14.66 14.95
21579 125.6 9.5 909 21592 done 0.65 - - 3128 - 2.35 0.046 2286 -600.4 287.5 - - 1882 - - - - - - - - 14.81 14.75 14.83
21919 95.6 8.8 919 21932 roll 0.65 - - 3138 - 2.35 0.065 892 -593.2 287.5 - - 1882 - - - - - - - - 14.95 14.70 14.95
21951 93.1 7.8 923 21964 done 0.65 - - 3138 - 2.38 0.062 2293 588.7 287.5 - - 1882 - - - - - - - - 14.80 14.69 14.82
22291 68.7 6.9 938 22311 roll 0.67 - - 3138 - 2.62 0.117 3697 535.9 310.9 8.48 0.360 1813 -8.1 0.293 - - - - - - 14.94 14.64 14.45
22462 61.2 4.8 962 22518 done 0.83 - - 3145 - 2.35 0.045 2271 -606.8 389.0 39.42 0.367 1500 -7.9 0.250 - - - - - - 14.79 14.73 14.40
22821 43.4 4.7 980 22874 roll 1.09 0.22 0.110 3240 431.8 2.30 0.060 909 -592.2 471.0 40.40 0.308 1175 -8.0 0.214 - - - - - - 14.65 14.61 14.42
22914 36.8 7.6 993 22933 done 1.17 0.05 0.212 3279 780.0 2.35 0.060 2296 590.2 475.7 4.00 0.249 1156 -4.8 0.133 - - - - - - 14.59 14.61 14.41
23246 14.9 6.4 1007 23280 roll 1.22 - - 3280 - 2.55 0.109 3698 549.8 511.5 18.85 0.220 1011 -7.7 0.098 - - - - - - 14.88 14.57 14.50
23382 4.0 8.0 1026 23397 done 1.22 - - 3286 - 2.33 0.043 2299 -600.4 511.5 - - 1018 - - - - - - - - 14.76 14.69 14.77
23416 end climb: SURFACE_DEPTH_REACHED
23416 begin surface coast
23445 end surface coast: CONTROL_FINISHED_OK
23445 begin surface
SM -4.68 - - - - -8.40 8.98 0.076 193 21.5 0.85 0.086 2767 2043.5 509.94 - - 1020 - - - - - - - -