SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 86 * Raw log
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• Previous call tries 1 • 37.81 of 350.00 AH used of 24V (89.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 0.24 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 530.53, SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - 188 - - - 2777 - -146.0 -79.50 - 3634 - - - - - - - - 14.71 13.56 14.71
107 10.9 -18.7 3 126 roll -0.82 11.45 0.395 2617 212.1 1.85 0.083 3833 570.8 -146.0 - - 3635 - - - - - - - - 14.28 14.45 14.51
215 59.0 -27.1 19 223 done -0.58 0.32 0.241 2707 281.2 1.80 0.037 2730 -612.8 -146.0 - - 3636 - - - - - - - - 14.40 14.57 14.54
551 99.9 -8.6 34 558 roll -0.53 - - 2699 - 2.05 0.112 3819 531.2 -146.0 - - 3637 - - - - - - - - 14.84 14.62 14.84
788 116.9 -9.1 68 796 done -0.53 0.10 0.236 2729 300.0 1.73 0.041 2780 -600.6 -146.0 - - 3637 - - - - - - - - 14.59 14.72 14.73
1111 142.1 -6.7 79 1119 roll -0.53 - - 2721 - 1.95 0.114 3818 532.3 -146.0 - - 3637 - - - - - - - - 14.91 14.64 14.91
1173 146.6 -7.3 88 1181 done -0.53 - - 2722 - 1.75 0.042 2760 -604.6 -146.0 - - 3637 - - - - - - - - 14.81 14.77 14.81
1503 170.9 -7.5 100 1511 roll -0.53 - - 2721 - 2.30 0.046 1391 -595.2 -146.0 - - 3635 - - - - - - - - 14.95 14.70 14.93
1559 175.2 -7.5 108 1567 done -0.53 - - 2713 - 2.45 0.073 2777 565.7 -146.0 - - 3634 - - - - - - - - 14.76 14.68 14.78
1895 201.0 -7.7 121 1903 roll -0.53 - - 2713 - 2.35 0.047 1395 -588.1 -146.0 - - 3632 - - - - - - - - 14.96 14.72 14.96
1929 203.5 -7.3 126 1938 done -0.53 - - 2704 - 2.45 0.075 2781 565.7 -146.0 - - 3631 - - - - - - - - 14.75 14.67 14.78
2287 229.3 -7.2 135 2295 roll -0.53 - - 2704 - 2.38 0.047 1387 -585.7 -146.0 - - 3629 - - - - - - - - 14.95 14.72 14.95
2328 232.4 -7.3 141 2338 done -0.53 0.10 0.206 2726 220.0 2.45 0.076 2774 566.1 -146.0 - - 3627 - - - - - - - - 14.64 14.71 14.74
2679 254.6 -6.4 149 2692 roll -0.53 - - 2718 - 1.92 0.122 3833 551.6 -146.0 - - 3623 - - - - - - - - 14.95 14.69 14.97
2724 257.8 -7.2 155 2738 done -0.53 - - 2717 - 1.73 0.048 2776 -611.0 -146.0 - - 3625 - - - - - - - - 14.84 14.79 14.83
3079 282.1 -6.9 163 3092 roll -0.53 - - 2718 - 2.33 0.045 1362 -606.9 -146.0 - - 3621 - - - - - - - - 15.00 14.80 15.00
3173 289.1 -7.4 176 3186 done -0.53 - - 2709 - 2.42 0.073 2769 581.4 -146.0 - - 3621 - - - - - - - - 14.87 14.75 14.88
3534 315.5 -7.3 185 3548 roll -0.53 - - 2708 - 2.35 0.046 1361 -599.1 -146.0 - - 3619 - - - - - - - - 15.00 14.80 15.01
3573 318.4 -7.7 190 3587 done -0.53 - - 2700 - 2.42 0.073 2769 581.8 -146.0 - - 3618 - - - - - - - - 14.88 14.76 14.89
3935 344.2 -7.1 199 3947 done -0.53 - - 2699 - - - 2769 - -146.0 - - 3614 - - - - - - - - 15.01 15.01 15.01
4271 367.5 -6.9 205 4284 roll -0.53 - - 2699 - 2.33 0.046 1371 -600.0 -146.0 - - 3614 - - - - - - - - 15.02 14.81 15.02
4302 369.8 -7.0 209 4316 done -0.53 0.12 0.224 2728 241.7 2.42 0.074 2767 576.9 -146.0 - - 3614 - - - - - - - - 14.69 14.76 14.85
4671 390.9 -5.7 219 4684 done -0.53 - - 2728 - - - 2767 - -146.0 - - 3611 - - - - - - - - 15.02 15.02 15.02
5007 409.1 -5.4 225 5020 roll -0.53 - - 2728 - 2.35 0.047 1366 -596.2 -146.0 - - 3610 - - - - - - - - 15.02 14.81 15.02
5046 411.4 -6.2 230 5059 done -0.58 - - 2719 - 2.42 0.074 2764 577.7 -146.0 - - 3609 - - - - - - - - 14.88 14.76 14.90
5407 433.4 -6.2 239 5420 done -0.58 - - 2720 - - - 2764 - -146.0 - - 3608 - - - - - - - - 15.01 15.02 15.02
5743 456.0 -6.9 245 5756 roll -0.58 - - 2719 - 2.35 0.047 1366 -594.9 -146.0 - - 3606 - - - - - - - - 15.02 14.80 15.02
5774 458.3 -7.5 249 5787 done -0.58 - - 2710 - 2.42 0.075 2762 576.9 -146.0 - - 3606 - - - - - - - - 14.88 14.75 14.90
6142 484.5 -7.0 259 6155 roll -0.58 - - 2711 - 2.33 0.047 1372 -596.6 -146.0 - - 3604 - - - - - - - - 15.00 14.81 15.00
6174 486.7 -7.0 263 6187 done -0.58 - - 2702 - 2.40 0.075 2756 576.7 -146.0 - - 3604 - - - - - - - - 14.88 14.75 14.89
6542 510.1 -6.3 273 6555 done -0.58 - - 2701 - - - 2756 - -146.0 - - 3602 - - - - - - - - 15.02 15.02 15.01
6878 531.4 -6.3 279 6891 roll -0.58 - - 2701 - 2.33 0.047 1372 -594.0 -146.0 - - 3600 - - - - - - - - 15.02 14.77 15.02
6930 534.9 -6.6 286 6944 done -0.58 - - 2693 - 2.42 0.075 2755 571.5 -146.0 - - 3598 - - - - - - - - 14.90 14.74 14.88
7275 558.2 -6.8 293 7288 roll -0.58 - - 2693 - 2.33 0.049 1373 -593.1 -146.0 - - 3597 - - - - - - - - 15.02 14.81 15.02
7327 561.9 -6.8 300 7341 done -0.58 - - 2684 - 2.42 0.076 2750 569.0 -146.0 - - 3600 - - - - - - - - 14.85 14.72 14.86
7671 585.6 -6.9 307 7684 roll -0.58 - - 2684 - 2.33 0.050 1373 -591.0 -146.0 - - 3598 - - - - - - - - 15.01 14.78 15.01
7695 587.5 -7.1 310 7709 done -0.58 0.12 0.230 2712 233.3 2.40 0.076 2749 573.3 -146.0 - - 3598 - - - - - - - - 14.66 14.74 14.83
8015 607.0 -6.1 320 8028 roll -0.58 - - 2704 - 2.00 0.127 3833 542.0 -146.0 - - 3597 - - - - - - - - 15.00 14.69 15.00
8067 610.6 -6.8 327 8081 done -0.58 - - 2704 - 1.83 0.051 2757 -588.0 -146.0 - - 3597 - - - - - - - - 14.84 14.81 14.85
8411 633.4 -6.7 334 8424 roll -0.58 - - 2707 - 2.33 0.050 1361 -599.1 -146.0 - - 3596 - - - - - - - - 15.00 14.77 15.00
8442 635.6 -7.1 338 8456 done -0.58 - - 2695 - 2.42 0.077 2752 574.8 -146.0 - - 3597 - - - - - - - - 14.87 14.73 14.88
8811 659.6 -6.4 348 8824 roll -0.58 - - 2687 - 1.98 0.125 3829 543.9 -146.0 - - 3595 - - - - - - - - 15.02 14.69 15.00
8849 662.3 -6.9 353 8862 done -0.58 - - 2687 - 1.80 0.051 2736 -607.2 -146.0 - - 3594 - - - - - - - - 14.87 14.82 14.88
9210 686.3 -6.6 362 9223 roll -0.58 - - 2687 - 2.28 0.050 1373 -597.8 -146.0 - - 3593 - - - - - - - - 15.00 14.76 15.00
9276 690.9 -7.0 371 9290 done -0.58 0.10 0.244 2708 210.0 2.40 0.076 2747 572.5 -146.0 - - 3592 - - - - - - - - 14.63 14.72 14.81
9610 709.9 -5.7 383 9623 done -0.58 - - 2708 - - - 2747 - -146.0 - - 3592 - - - - - - - - 14.99 15.00 14.99
9946 729.0 -5.7 389 9959 roll -0.58 - - 2708 - 2.33 0.050 1373 -589.7 -146.0 - - 3591 - - - - - - - - 14.98 14.76 14.99
10006 732.6 -6.0 397 10020 done -0.63 - - 2700 - 2.42 0.076 2752 569.8 -146.0 - - 3591 - - - - - - - - 14.84 14.71 14.86
10347 753.5 -6.2 410 10360 done -0.63 - - 2699 - - - 2752 - -146.0 - - 3590 - - - - - - - - 14.98 14.99 14.99
10683 775.2 -6.5 416 10697 roll -0.63 - - 2700 - 2.35 0.050 1364 -590.6 -146.0 - - 3589 - - - - - - - - 14.98 14.73 14.99
10722 777.9 -7.5 421 10735 done -0.63 - - 2693 - 2.42 0.078 2745 570.7 -146.0 - - 3589 - - - - - - - - 14.84 14.71 14.86
11084 801.8 -6.6 430 11097 roll -0.63 - - 2692 - 2.33 0.050 1372 -589.3 -146.0 - - 3587 - - - - - - - - 14.98 14.74 14.98
11115 803.9 -6.4 434 11128 done -0.63 - - 2684 - 2.42 0.079 2754 571.1 -146.0 - - 3588 - - - - - - - - 14.83 14.69 14.85
11483 829.0 -6.8 444 11496 roll -0.63 - - 2676 - 2.00 0.128 3833 539.5 -146.0 - - 3587 - - - - - - - - 14.98 14.64 14.97
11522 831.7 -7.1 449 11535 done -0.63 - - 2676 - 1.83 0.051 2735 -600.0 -146.0 - - 3587 - - - - - - - - 14.85 14.79 14.87
11883 858.4 -7.5 458 11897 roll -0.63 - - 2676 - 2.30 0.050 1361 -597.4 -146.0 - - 3586 - - - - - - - - 14.97 14.71 14.97
11950 863.7 -7.9 467 11963 done -0.63 0.10 0.240 2696 200.0 2.42 0.079 2739 569.4 -146.0 - - 3586 - - - - - - - - 14.59 14.68 14.78
12283 886.8 -6.9 479 12296 roll -0.63 - - 2689 - 2.03 0.129 3827 536.0 -146.0 - - 3583 - - - - - - - - 14.97 14.62 14.97
12343 891.1 -7.3 487 12356 done -0.63 - - 2688 - 1.83 0.052 2739 -594.5 -146.0 - - 3585 - - - - - - - - 14.84 14.78 14.85
12683 914.8 -7.0 500 12697 roll -0.63 - - 2689 - 2.33 0.050 1356 -593.6 -146.0 - - 3584 - - - - - - - - 14.97 14.73 14.97
12729 918.5 -7.1 506 12742 done -0.63 - - 2680 - 2.45 0.079 2742 565.7 -146.0 - - 3584 - - - - - - - - 14.81 14.65 14.81
12913 end dive: TARGET_DEPTH_EXCEEDED
12913 begin apogee
12917 930.8 -6.6 511 13076 roll -0.23 0.47 0.182 2824 306.4 - - 2281 - - 148.93 1.901 3050 -3.6 0.332 - - - - - - 14.58 14.01 13.37
13077 end apogee: CONTROL_FINISHED_OK
13077 begin climb
13079 934.8 - 513 13249 roll 0.82 1.02 0.118 3145 314.7 2.50 0.060 888 -557.2 146.0 151.75 1.861 2461 -3.9 0.369 - - - - - - 14.02 14.05 13.27
13428 912.5 9.0 570 13442 done 0.74 - - 3142 - 2.50 0.062 2300 564.8 146.0 - - 2448 - - - - - - - - 14.39 14.29 14.40
13762 880.6 9.8 582 13776 roll 0.65 0.08 0.278 3118 -300.0 2.60 0.110 3702 539.2 146.0 - - 2446 - - - - - - - - 14.35 14.42 14.51
13948 862.1 9.9 608 13961 done 0.56 0.17 0.246 3082 -211.8 2.40 0.045 2279 -592.9 146.0 - - 2446 - - - - - - - - 14.42 14.57 14.61
14274 837.0 7.6 619 14288 roll 0.56 - - 3092 - 2.35 0.064 898 -587.7 148.8 - - 2445 - - - - - - - - 14.83 14.59 14.83
14320 833.4 9.1 625 14333 done 0.56 - - 3092 - 2.40 0.063 2292 580.8 148.8 - - 2445 - - - - - - - - 14.70 14.59 14.73
14674 805.3 7.9 633 14687 roll 0.56 - - 3093 - 2.58 0.115 3698 545.0 148.8 - - 2444 - - - - - - - - 14.88 14.56 14.88
14712 801.9 8.3 638 14726 done 0.50 0.12 0.256 3067 -216.7 2.38 0.047 2278 -596.6 148.8 - - 2445 - - - - - - - - 14.51 14.69 14.71
15074 777.4 6.6 647 15121 roll 0.54 - - 3065 - 2.75 0.113 3700 517.1 179.9 34.72 1.859 2327 -3.4 0.269 - - - - - - 14.90 14.37 13.83
15146 772.5 7.3 657 15166 done 0.55 - - 3076 - 2.40 0.047 2292 -586.7 192.0 3.75 1.421 2289 -10.1 1.043 - - - - - - 14.54 14.47 13.46
15521 747.3 6.6 668 15582 roll 0.59 - - 3085 - 2.53 0.067 901 -549.8 222.4 43.45 1.781 2152 -3.2 0.250 - - - - - - 14.78 14.25 13.69
15600 741.9 6.1 679 15662 done 0.65 - - 3085 - 2.45 0.063 2291 567.3 267.1 49.53 1.704 1984 -3.4 0.280 - - - - - - 14.40 14.30 13.52
15976 712.1 8.2 697 15989 roll 0.65 - - 3086 - 2.62 0.119 3699 537.4 267.1 - - 1965 - - - - - - - - 14.67 14.40 14.67
16021 707.6 9.6 703 16034 done 0.65 - - 3092 - 2.40 0.047 2293 -585.8 267.1 - - 1965 - - - - - - - - 14.58 14.52 14.59
16375 675.1 9.3 711 16388 roll 0.65 - - 3105 - 2.40 0.066 892 -583.8 267.1 - - 1963 - - - - - - - - 14.80 14.57 14.80
16406 672.1 9.2 715 16420 done 0.65 - - 3104 - 2.42 0.064 2293 578.9 267.1 - - 1963 - - - - - - - - 14.70 14.58 14.70
16774 637.4 9.5 725 16787 done 0.65 - - 3104 - - - 2293 - 267.1 - - 1962 - - - - - - - - 14.85 14.85 14.85
17111 606.0 9.3 731 17124 roll 0.65 - - 3099 - 2.55 0.115 3696 550.2 267.1 - - 1961 - - - - - - - - 14.88 14.59 14.88
17156 601.3 10.5 737 17169 done 0.65 - - 3112 - 2.38 0.046 2278 -595.8 267.1 - - 1962 - - - - - - - - 14.77 14.72 14.79
17510 568.0 9.3 745 17523 roll 0.65 - - 3123 - 2.35 0.066 893 -589.4 267.1 - - 1961 - - - - - - - - 14.90 14.68 14.90
17541 565.0 9.2 749 17554 done 0.65 - - 3122 - 2.40 0.064 2292 582.9 267.1 - - 1961 - - - - - - - - 14.78 14.67 14.79
17909 530.8 9.4 759 17922 roll 0.65 - - 3119 - 2.58 0.117 3701 546.1 267.1 - - 1961 - - - - - - - - 14.94 14.62 14.92
17940 527.4 10.4 763 17953 done 0.65 - - 3132 - 2.38 0.047 2284 -595.4 267.1 - - 1961 - - - - - - - - 14.81 14.73 14.82
18308 489.9 10.3 773 18321 roll 0.65 - - 3143 - 2.35 0.067 897 -590.2 267.1 - - 1960 - - - - - - - - 14.93 14.69 14.94
18346 485.9 10.2 778 18360 done 0.65 0.10 0.241 3113 -300.0 2.40 0.065 2297 583.3 267.1 - - 1965 - - - - - - - - 14.59 14.69 14.78
18708 452.9 9.1 787 18721 roll 0.65 - - 3112 - 2.55 0.113 3700 550.2 267.1 - - 1961 - - - - - - - - 14.94 14.63 14.94
18739 449.8 9.7 791 18752 done 0.65 - - 3121 - 2.35 0.047 2288 -600.9 267.1 - - 1961 - - - - - - - - 14.82 14.73 14.83
19107 415.8 9.3 801 19120 roll 0.65 - - 3131 - 2.35 0.065 899 -591.1 267.1 - - 1961 - - - - - - - - 14.94 14.70 14.94
19167 410.1 9.5 809 19180 done 0.65 - - 3131 - 2.40 0.063 2298 582.9 267.1 - - 1961 - - - - - - - - 14.81 14.69 14.82
19507 377.4 9.7 822 19520 roll 0.65 - - 3131 - 2.55 0.116 3697 548.6 267.1 - - 1960 - - - - - - - - 14.94 14.63 14.94
19552 372.5 10.9 828 19566 done 0.65 0.12 0.251 3105 -216.7 2.35 0.046 2290 -598.7 267.1 - - 1961 - - - - - - - - 14.59 14.75 14.78
19907 344.5 7.7 836 19920 roll 0.65 - - 3115 - 2.35 0.064 902 -590.6 267.8 - - 1960 - - - - - - - - 14.94 14.70 14.94
19938 342.0 7.6 840 19951 done 0.65 - - 3115 - 2.38 0.063 2294 584.9 273.1 - - 1961 - - - - - - - - 14.81 14.70 14.83
20306 312.4 8.2 850 20319 roll 0.65 - - 3115 - 2.58 0.113 3703 546.1 273.1 - - 1961 - - - - - - - - 14.95 14.64 14.95
20337 309.4 9.3 854 20351 done 0.65 - - 3120 - 2.38 0.045 2280 -597.9 273.1 - - 1961 - - - - - - - - 14.82 14.75 14.83
20706 275.0 9.4 864 20719 roll 0.65 - - 3134 - 2.35 0.064 897 -588.5 273.1 - - 1961 - - - - - - - - 14.94 14.70 14.95
20751 270.7 9.2 870 20764 done 0.65 - - 3133 - 2.38 0.061 2293 586.6 273.1 - - 1962 - - - - - - - - 14.81 14.69 14.83
21105 237.9 9.3 878 21118 done 0.65 - - 3133 - - - 2293 - 273.1 - - 1961 - - - - - - - - 14.95 14.95 14.95
21441 207.1 9.2 884 21454 done 0.65 - - 3133 - - - 2293 - 273.1 - - 1961 - - - - - - - - 14.96 14.98 14.99
21777 174.2 9.9 890 21790 roll 0.65 - - 3142 - 2.40 0.063 898 -581.2 273.1 - - 1961 - - - - - - - - 14.96 14.71 14.96
21844 167.6 9.7 899 21857 done 0.65 0.10 0.227 3112 -300.0 2.38 0.062 2293 586.1 273.1 - - 1961 - - - - - - - - 14.61 14.70 14.78
22177 140.3 8.1 911 22190 roll 0.65 - - 3111 - 2.55 0.112 3693 549.0 273.1 - - 1961 - - - - - - - - 14.96 14.64 14.95
22222 136.2 9.2 917 22235 done 0.65 - - 3118 - 2.35 0.047 2281 -600.9 273.1 - - 1962 - - - - - - - - 14.83 14.77 14.85
22576 107.1 8.2 925 22589 roll 0.65 - - 3128 - 2.35 0.064 895 -589.8 273.1 - - 1962 - - - - - - - - 14.95 14.71 14.95
22607 104.3 8.6 929 22621 done 0.65 - - 3128 - 2.38 0.061 2294 587.8 273.1 - - 1965 - - - - - - - - 14.81 14.70 14.83
22948 81.1 5.6 943 22987 roll 0.72 - - 3128 - 2.62 0.114 3693 534.0 331.3 28.02 0.409 1730 -8.4 0.315 - - - - - - 14.95 14.59 14.39
23027 76.3 6.8 951 23053 done 0.75 - - 3135 - 2.38 0.044 2269 -598.3 355.9 13.38 0.379 1632 -7.3 0.279 - - - - - - 14.78 14.71 14.35
23367 57.9 4.8 966 23416 done 0.98 0.15 0.109 3212 513.3 - - 2268 - 435.7 39.78 0.338 1313 -8.0 0.260 - - - - - - 14.68 14.66 14.39
23703 37.7 5.2 981 23749 roll 1.18 0.10 0.129 3290 780.0 2.33 0.060 900 -587.1 503.3 32.95 0.275 1048 -8.0 0.209 - - - - - - 14.66 14.59 14.41
23767 33.7 6.7 990 23794 done 1.21 - - 3290 - 2.38 0.056 2307 591.2 530.6 14.27 0.266 936 -7.8 0.188 - - - - - - 14.70 14.60 14.42
24098 8.5 7.7 1004 24115 roll 1.21 - - 3297 - 2.47 0.063 901 -569.2 532.4 1.88 0.214 934 - - - - - - - - 14.86 14.63 14.52
24147 4.6 8.5 1011 24161 done 1.21 - - 3297 - 2.38 0.060 2296 586.1 532.4 1.77 0.215 928 -3.4 0.014 - - - - - - 14.73 14.64 14.52
24181 end climb: SURFACE_DEPTH_REACHED
24181 begin surface coast
24209 end surface coast: CONTROL_FINISHED_OK
24209 begin surface
SM 0.28 - - - - -8.38 8.75 0.052 191 21.8 0.80 0.069 2772 -8062.5 530.53 - - 938 - - - - - - - -