SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 85 * Raw log
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• Previous call tries 1 • 37.44 of 350.00 AH used of 24V (89.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth -3.71 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 507.93, SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 189 - - - 2775 - -146.0 -79.80 - 3633 - - - - - - - - 14.70 13.49 14.70
107 9.3 -23.4 3 126 roll -0.82 11.57 0.398 2620 210.1 1.88 0.086 3828 560.1 -146.0 - - 3636 - - - - - - - - 14.26 14.44 14.44
215 56.1 -26.2 19 223 done -0.58 0.30 0.219 2706 286.7 1.80 0.038 2733 -608.3 -146.0 - - 3638 - - - - - - - - 14.40 14.57 14.52
551 101.3 -12.3 34 554 done -0.52 - - 2706 - - - 2733 - -146.0 - - 3637 - - - - - - - - 14.83 14.83 14.83
859 125.0 -8.1 40 867 roll -0.52 - - 2697 - 2.03 0.110 3814 532.5 -146.0 - - 3639 - - - - - - - - 14.89 14.61 14.89
1096 143.5 -7.2 74 1105 done -0.52 0.10 0.228 2728 310.0 1.75 0.042 2762 -601.1 -146.0 - - 3638 - - - - - - - - 14.60 14.76 14.75
1419 165.0 -6.8 85 1428 roll -0.52 - - 2729 - 2.33 0.048 1388 -589.7 -146.0 - - 3636 - - - - - - - - 14.92 14.69 14.93
1467 168.4 -7.0 92 1477 done -0.52 - - 2720 - 2.42 0.074 2755 564.9 -146.0 - - 3636 - - - - - - - - 14.79 14.68 14.81
1811 193.5 -7.4 99 1813 done -0.52 - - 2717 - - - 2756 - -146.0 - - 3634 - - - - - - - - 14.93 14.94 14.94
2147 216.6 -6.8 105 2156 roll -0.52 - - 2720 - 2.35 0.048 1384 -583.8 -146.0 - - 3631 - - - - - - - - 14.94 14.72 14.95
2265 224.8 -6.9 122 2274 done -0.52 - - 2718 - 2.45 0.076 2765 563.7 -146.0 - - 3630 - - - - - - - - 14.76 14.69 14.78
2595 248.5 -7.3 134 2603 roll -0.52 - - 2712 - 2.35 0.047 1389 -585.5 -146.0 - - 3627 - - - - - - - - 14.93 14.71 14.95
2623 250.6 -7.4 138 2636 done -0.52 - - 2703 - 2.38 0.077 2760 576.1 -146.0 - - 3627 - - - - - - - - 14.82 14.69 14.83
2991 277.5 -7.3 148 3003 done -0.52 - - 2703 - - - 2760 - -146.0 - - 3622 - - - - - - - - 14.98 14.98 15.00
3327 302.9 -7.7 154 3340 roll -0.52 - - 2703 - 2.30 0.047 1385 -597.8 -146.0 - - 3622 - - - - - - - - 15.00 14.78 15.00
3400 309.0 -8.2 164 3413 done -0.52 0.12 0.223 2732 241.7 2.40 0.079 2761 573.3 -146.0 - - 3620 - - - - - - - - 14.68 14.73 14.83
3727 332.2 -7.1 175 3740 roll -0.57 - - 2733 - 2.33 0.050 1377 -594.0 -146.0 - - 3619 - - - - - - - - 15.00 14.78 15.00
3766 335.0 -7.3 180 3779 done -0.62 - - 2724 - 2.40 0.078 2757 575.0 -146.0 - - 3619 - - - - - - - - 14.87 14.74 14.89
4127 359.2 -6.6 189 4140 roll -0.62 - - 2724 - 2.30 0.050 1387 -595.7 -146.0 - - 3617 - - - - - - - - 15.02 14.79 15.02
4179 362.7 -6.4 196 4193 done -0.62 - - 2717 - 2.38 0.079 2743 569.7 -146.0 - - 3617 - - - - - - - - 14.87 14.75 14.88
4523 384.1 -6.2 203 4536 done -0.62 - - 2717 - - - 2743 - -146.0 - - 3617 - - - - - - - - 15.01 15.01 15.01
4859 404.5 -6.1 209 4872 roll -0.62 - - 2716 - 2.30 0.051 1379 -593.0 -146.0 - - 3613 - - - - - - - - 15.01 14.79 15.02
4904 407.5 -6.6 215 4917 done -0.62 - - 2708 - 2.40 0.080 2752 572.1 -146.0 - - 3612 - - - - - - - - 14.86 14.75 14.90
5258 431.5 -6.9 223 5272 roll -0.62 - - 2708 - 2.30 0.050 1382 -595.7 -146.0 - - 3610 - - - - - - - - 15.02 14.79 15.02
5297 434.4 -7.7 228 5310 done -0.62 - - 2700 - 2.38 0.080 2746 573.1 -146.0 - - 3610 - - - - - - - - 14.88 14.75 14.90
5658 461.3 -7.5 237 5671 done -0.62 - - 2700 - - - 2746 - -146.0 - - 3609 - - - - - - - - 15.02 15.02 15.02
5994 486.1 -7.2 243 6007 roll -0.62 - - 2700 - 2.30 0.051 1378 -594.8 -146.0 - - 3608 - - - - - - - - 15.02 14.78 15.02
6060 491.1 -7.4 252 6073 done -0.62 - - 2691 - 2.40 0.080 2749 571.2 -146.0 - - 3608 - - - - - - - - 14.87 14.74 14.88
6393 516.6 -7.7 264 6407 roll -0.62 - - 2683 - 1.98 0.125 3825 543.4 -146.0 - - 3606 - - - - - - - - 15.01 14.70 15.01
6431 519.9 -8.7 269 6445 done -0.62 - - 2682 - 1.77 0.051 2752 -606.2 -146.0 - - 3606 - - - - - - - - 14.88 14.84 14.90
6793 548.8 -8.0 278 6806 roll -0.62 - - 2682 - 2.30 0.050 1371 -600.4 -146.0 - - 3604 - - - - - - - - 15.01 14.77 15.01
6894 557.0 -7.9 292 6907 done -0.62 - - 2674 - 2.42 0.080 2747 568.6 -146.0 - - 3603 - - - - - - - - 14.86 14.73 14.88
7248 585.9 -8.2 300 7261 roll -0.62 - - 2673 - 2.35 0.050 1362 -589.4 -146.0 - - 3602 - - - - - - - - 15.00 14.78 15.01
7279 588.6 -8.6 304 7292 done -0.62 0.10 0.240 2695 220.0 2.42 0.080 2745 571.5 -146.0 - - 3602 - - - - - - - - 14.63 14.71 14.82
7647 616.8 -7.7 314 7661 roll -0.62 - - 2686 - 1.98 0.125 3821 543.4 -146.0 - - 3600 - - - - - - - - 15.01 14.69 15.01
7685 620.0 -8.5 319 7699 done -0.62 - - 2686 - 1.80 0.050 2724 -609.4 -146.0 - - 3600 - - - - - - - - 14.88 14.83 14.89
8046 648.7 -7.9 328 8059 roll -0.62 - - 2687 - 2.25 0.050 1374 -600.0 -146.0 - - 3599 - - - - - - - - 15.01 14.77 15.01
8112 654.1 -8.0 337 8126 done -0.62 - - 2679 - 2.40 0.079 2744 570.8 -146.0 - - 3599 - - - - - - - - 14.87 14.72 14.87
8446 679.8 -7.7 349 8459 roll -0.62 - - 2680 - 2.33 0.050 1371 -589.3 -146.0 - - 3598 - - - - - - - - 15.00 14.76 15.00
8484 682.8 -8.0 354 8497 done -0.62 - - 2670 - 2.35 0.079 2735 580.4 -146.0 - - 3597 - - - - - - - - 14.85 14.72 14.87
8845 711.0 -7.8 363 8858 done -0.62 - - 2670 - - - 2734 - -146.0 - - 3596 - - - - - - - - 14.99 15.00 14.99
9181 738.0 -8.1 369 9194 roll -0.62 - - 2670 - 2.33 0.053 1367 -586.7 -146.0 - - 3595 - - - - - - - - 14.99 14.75 14.99
9282 746.3 -7.9 383 9295 done -0.62 0.12 0.233 2699 241.7 2.40 0.081 2730 567.9 -146.0 - - 3593 - - - - - - - - 14.61 14.71 14.81
9636 768.9 -6.3 391 9649 done -0.62 - - 2699 - - - 2730 - -146.0 - - 3593 - - - - - - - - 14.99 14.99 14.99
9973 789.5 -6.1 397 9986 roll -0.62 - - 2699 - 2.30 0.052 1376 -588.7 -146.0 - - 3592 - - - - - - - - 15.00 14.74 15.00
10046 794.3 -6.4 407 10059 done -0.62 - - 2692 - 2.38 0.080 2727 567.6 -146.0 - - 3593 - - - - - - - - 14.83 14.71 14.85
10372 815.7 -6.6 418 10385 done -0.62 - - 2692 - - - 2727 - -146.0 - - 3592 - - - - - - - - 14.98 14.98 14.98
10708 837.3 -6.4 424 10722 roll -0.62 - - 2691 - 2.30 0.054 1377 -587.0 -146.0 - - 3591 - - - - - - - - 14.98 14.72 14.98
10747 839.8 -5.5 429 10760 done -0.62 - - 2684 - 2.38 0.082 2723 565.5 -146.0 - - 3591 - - - - - - - - 14.83 14.69 14.84
11108 862.7 -6.3 438 11122 roll -0.62 - - 2684 - 2.30 0.054 1372 -587.4 -146.0 - - 3589 - - - - - - - - 14.98 14.72 14.98
11147 865.3 -4.5 443 11160 done -0.62 - - 2676 - 2.38 0.081 2722 567.2 -146.0 - - 3589 - - - - - - - - 14.82 14.69 14.83
11508 889.4 -6.6 452 11522 roll -0.62 - - 2676 - 2.30 0.053 1370 -587.8 -146.0 - - 3589 - - - - - - - - 14.97 14.69 14.97
11540 891.7 -6.4 456 11553 done -0.62 0.10 0.244 2697 210.0 2.40 0.083 2718 561.7 -146.0 - - 3589 - - - - - - - - 14.57 14.66 14.77
11908 913.9 -6.0 466 11921 done -0.62 - - 2697 - - - 2724 - -146.0 - - 3588 - - - - - - - - 14.97 14.96 14.97
12186 end dive: TARGET_DEPTH_EXCEEDED
12186 begin apogee
12190 931.2 -6.2 471 12351 roll -0.23 0.43 0.177 2827 302.3 - - 2284 - - 150.68 1.888 3050 -3.6 0.333 - - - - - - 14.59 14.02 13.38
12352 end apogee: CONTROL_FINISHED_OK
12352 begin climb
12354 935.3 - 473 12522 done 0.82 1.05 0.121 3161 318.1 - - 2283 - 146.0 150.88 1.872 2458 -3.9 0.371 - - - - - - 14.02 14.23 13.27
12863 896.6 9.8 511 12876 roll 0.72 0.08 0.291 3145 -200.0 2.42 0.066 897 -572.7 146.0 - - 2448 - - - - - - - - 14.31 14.41 14.45
12936 889.4 9.0 521 12950 done 0.64 0.12 0.248 3111 -283.3 2.47 0.067 2309 571.7 146.0 - - 2447 - - - - - - - - 14.34 14.43 14.53
13264 863.3 8.0 532 13277 roll 0.58 - - 3111 - 2.58 0.114 3704 540.7 146.0 - - 2447 - - - - - - - - 14.78 14.49 14.78
13302 859.8 10.0 537 13316 done 0.50 0.20 0.240 3065 -230.0 2.40 0.047 2292 -588.3 146.0 - - 2446 - - - - - - - - 14.45 14.61 14.64
13663 836.0 6.6 546 13704 done 0.54 - - 3069 - - - 2287 - 176.9 31.33 1.915 2344 -3.3 0.269 - - - - - - 14.85 14.42 13.77
14000 812.2 7.2 552 14017 roll 0.56 - - 3065 - 2.65 0.115 3696 531.7 190.8 4.65 1.781 2292 -11.2 0.965 - - - - - - 14.76 14.47 13.50
14058 807.5 8.4 560 14075 done 0.56 - - 3074 - 2.42 0.048 2277 -586.4 190.8 2.10 0.399 2289 -1.4 0.547 - - - - - - 14.63 14.56 13.41
14395 781.6 7.7 573 14413 roll 0.56 - - 3084 - 2.45 0.068 890 -566.1 192.6 2.97 1.105 2286 -1.0 0.135 - - - - - - 14.83 14.56 13.62
14438 778.0 7.9 579 14452 done 0.56 - - 3083 - 2.45 0.067 2302 576.3 192.6 1.60 0.277 2282 -2.5 1.329 - - - - - - 14.69 14.59 14.42
14782 750.9 7.9 586 14797 roll 0.56 - - 3089 - 2.65 0.119 3701 527.9 192.6 2.20 0.501 2285 1.4 -0.387 - - - - - - 14.87 14.59 13.61
14850 745.1 8.8 595 14864 done 0.56 - - 3093 - 2.38 0.048 2298 -589.5 192.6 2.12 0.416 2282 -1.4 0.480 - - - - - - 14.74 14.68 13.57
15176 720.2 7.5 606 15203 roll 0.57 - - 3103 - 2.50 0.069 891 -562.8 200.4 14.75 1.982 2249 -2.2 0.154 - - - - - - 14.90 14.55 13.94
15229 716.3 7.2 613 15255 done 0.58 - - 3103 - 2.45 0.067 2294 572.7 214.4 14.77 1.946 2195 -3.7 0.255 - - - - - - 14.64 14.54 13.83
15561 690.2 7.9 625 15575 roll 0.58 - - 3103 - 2.60 0.119 3696 539.2 214.4 - - 2182 - - - - - - - - 14.76 14.49 14.77
15621 684.9 9.1 633 15635 done 0.54 0.12 0.244 3078 -208.3 2.40 0.047 2292 -585.0 214.4 - - 2182 - - - - - - - - 14.46 14.60 14.64
15963 660.9 7.0 646 15991 done 0.56 - - 3078 - - - 2287 - 233.6 19.73 1.854 2121 -3.1 0.209 - - - - - - 14.84 14.52 13.90
16298 636.2 7.4 652 16316 roll 0.58 - - 3078 - 2.67 0.115 3694 527.0 244.1 3.08 1.108 2080 -13.3 1.447 - - - - - - 14.80 14.52 13.63
16341 632.6 8.3 658 16355 done 0.58 - - 3086 - 2.40 0.049 2284 -587.5 244.1 1.67 0.278 2077 -1.8 0.774 - - - - - - 14.66 14.61 14.38
16696 603.3 8.3 666 16709 done 0.58 - - 3087 - - - 2280 - 244.1 2.17 0.461 2076 - - - - - - - - 14.85 14.65 13.63
17032 575.9 8.1 672 17049 roll 0.58 - - 3087 - 2.72 0.115 3706 524.3 244.1 1.73 0.248 2079 1.7 -0.762 - - - - - - 14.88 14.60 14.54
17067 572.8 8.5 677 17080 done 0.58 - - 3094 - 2.38 0.048 2305 -588.7 244.1 - - 2085 - - - - - - - - 14.76 14.69 14.77
17428 545.9 7.3 686 17462 roll 0.59 - - 3106 - 2.53 0.068 885 -561.3 257.1 21.75 1.725 2019 -3.0 0.182 - - - - - - 14.90 14.52 13.97
17487 541.5 7.1 694 17520 done 0.61 - - 3105 - 2.47 0.067 2306 575.3 274.9 17.45 1.750 1948 -4.1 0.238 - - - - - - 14.62 14.51 13.85
17875 509.5 8.4 707 17888 roll 0.61 - - 3105 - 2.58 0.117 3700 540.3 274.9 - - 1939 - - - - - - - - 14.78 14.50 14.78
17913 505.8 9.4 712 17926 done 0.61 - - 3114 - 2.40 0.047 2290 -587.5 274.9 - - 1939 - - - - - - - - 14.66 14.60 14.68
18274 473.5 9.0 721 18287 roll 0.61 - - 3124 - 2.40 0.068 887 -584.6 274.9 - - 1939 - - - - - - - - 14.85 14.62 14.85
18305 470.7 9.0 725 18318 done 0.61 - - 3124 - 2.45 0.067 2301 577.1 274.9 - - 1938 - - - - - - - - 14.72 14.62 14.74
18673 436.5 9.4 735 18686 done 0.61 - - 3124 - - - 2302 - 274.9 - - 1938 - - - - - - - - 14.88 14.88 14.88
19009 404.3 9.6 741 19023 roll 0.61 - - 3131 - 2.55 0.118 3696 546.7 274.9 - - 1937 - - - - - - - - 14.90 14.61 14.90
19047 400.2 10.6 746 19062 done 0.61 0.12 0.233 3098 -275.0 2.38 0.047 2284 -593.3 274.9 - - 1937 - - - - - - - - 14.59 14.71 14.76
19410 371.6 7.8 755 19423 roll 0.61 - - 3107 - 2.35 0.067 899 -589.4 274.9 - - 1937 - - - - - - - - 14.92 14.68 14.92
19441 369.1 7.6 759 19454 done 0.62 - - 3107 - 2.40 0.066 2298 582.9 278.0 - - 1937 - - - - - - - - 14.79 14.69 14.82
19809 338.1 8.5 769 19822 roll 0.62 - - 3107 - 2.55 0.117 3696 548.2 278.0 - - 1937 - - - - - - - - 14.93 14.63 14.93
19854 333.8 9.5 775 19867 done 0.62 - - 3116 - 2.35 0.045 2291 -597.9 278.0 - - 1939 - - - - - - - - 14.81 14.74 14.83
20208 301.9 9.0 783 20221 roll 0.62 - - 3126 - 2.38 0.067 898 -585.3 278.0 - - 1937 - - - - - - - - 14.92 14.70 14.93
20246 298.4 9.1 788 20259 done 0.62 - - 3126 - 2.40 0.065 2299 583.8 278.0 - - 1938 - - - - - - - - 14.81 14.69 14.82
20607 265.6 9.0 797 20620 roll 0.62 - - 3126 - 2.55 0.116 3697 548.2 278.0 - - 1938 - - - - - - - - 14.94 14.64 14.95
20631 263.2 9.1 800 20645 done 0.62 0.12 0.240 3100 -216.7 2.35 0.044 2286 -600.4 278.0 - - 1937 - - - - - - - - 14.61 14.76 14.79
20951 238.4 7.7 810 20964 done 0.62 - - 3099 - - - 2281 - 278.9 - - 1938 - - - - - - - - 14.94 14.94 14.94
21286 213.1 7.5 816 21300 done 0.63 - - 3098 - - - 2281 - 286.2 3.47 1.013 1910 -8.1 0.321 - - - - - - 14.95 14.74 13.88
21623 189.6 6.8 822 21669 roll 0.66 - - 3108 - 2.42 0.068 892 -574.0 310.6 32.80 1.269 1802 -3.3 0.093 - - - - - - 14.95 14.54 14.08
21694 185.0 6.4 832 21742 done 0.70 - - 3109 - 2.45 0.063 2308 578.0 345.9 33.47 1.207 1666 -4.1 0.118 - - - - - - 14.64 14.53 13.95
22074 157.9 7.3 844 22091 roll 0.76 0.05 0.209 3154 900.0 2.58 0.116 3698 538.8 357.4 3.28 0.877 1629 -11.3 0.384 - - - - - - 14.56 14.47 13.81
22116 153.6 10.6 850 22130 done 0.76 - - 3163 - 2.38 0.045 2296 -589.1 357.4 1.80 0.236 1624 -2.8 0.342 - - - - - - 14.64 14.58 14.42
22471 113.6 11.4 858 22485 roll 0.76 - - 3173 - 2.40 0.063 889 -586.2 357.4 1.30 0.248 1627 2.3 -0.200 - - - - - - 14.84 14.62 14.52
22532 107.4 10.1 866 22545 done 0.76 - - 3173 - 2.42 0.063 2300 583.1 357.4 - - 1634 - - - - - - - - 14.73 14.62 14.73
22873 77.1 8.1 883 22886 roll 0.76 - - 3173 - 2.55 0.113 3696 547.5 357.4 - - 1635 - - - - - - - - 14.88 14.60 14.88
23023 65.5 6.1 904 23062 done 0.82 - - 3182 - 2.33 0.044 2294 -601.7 402.7 23.42 0.365 1447 -8.0 0.273 - - - - - - 14.77 14.71 14.41
23383 47.4 5.3 922 23428 roll 0.97 - - 3177 - 2.38 0.063 895 -587.8 468.7 32.50 0.308 1184 -8.1 0.236 - - - - - - 14.88 14.61 14.43
23657 31.4 7.2 961 23678 done 1.22 0.30 0.111 3291 380.0 2.42 0.057 2322 589.7 484.3 8.82 0.249 1119 -7.4 0.176 - - - - - - 14.63 14.64 14.48
23999 8.5 6.8 976 24024 roll 1.33 0.05 0.208 3358 1340.0 2.50 0.063 897 -570.0 508.8 12.75 0.178 1021 -7.7 0.069 - - - - - - 14.69 14.66 14.58
24048 3.5 10.9 983 24063 done 1.33 0.10 0.227 3327 -310.0 2.38 0.062 2289 584.9 508.8 - - 1025 - - - - - - - - 14.58 14.63 14.73
24083 end climb: SURFACE_DEPTH_REACHED
24083 begin surface coast
24111 end surface coast: CONTROL_FINISHED_OK
24111 begin surface
SM 0.23 - - - - -8.39 8.95 0.064 189 21.1 0.85 0.088 2775 -2765.9 507.93 - - 1027 - - - - - - - -