SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 89 * Raw log
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• Previous call tries 1 • 38.99 of 350.00 AH used of 24V (88.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth 0.17 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 540.83, SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - 178 - - - 2782 - -146.0 -83.93 - 3630 - - - - - - - - 14.70 13.52 14.70
107 8.8 -15.1 3 126 roll -0.82 11.65 0.401 2628 210.3 2.33 0.029 1336 -620.6 -146.0 - - 3632 - - - - - - - - 14.28 14.53 14.48
215 51.2 -27.5 19 223 done -0.59 0.30 0.259 2702 246.7 2.55 0.075 2769 562.0 -146.0 - - 3633 - - - - - - - - 14.40 14.50 14.58
551 93.0 -8.5 34 559 roll -0.53 - - 2702 - 2.38 0.044 1373 -586.6 -146.0 - - 3635 - - - - - - - - 14.85 14.64 14.85
697 104.1 -7.9 55 706 done -0.53 0.10 0.247 2727 250.0 2.50 0.070 2790 566.8 -146.0 - - 3634 - - - - - - - - 14.54 14.62 14.66
1055 130.8 -7.3 64 1063 roll -0.53 - - 2720 - 1.90 0.115 3819 541.6 -146.0 - - 3637 - - - - - - - - 14.90 14.63 14.91
1089 133.3 -7.0 69 1098 done -0.53 - - 2720 - 1.77 0.042 2744 -607.3 -146.0 - - 3635 - - - - - - - - 14.80 14.76 14.81
1447 158.6 -7.3 78 1450 done -0.53 - - 2720 - - - 2745 - -146.0 - - 3634 - - - - - - - - 14.92 14.93 14.92
1783 184.7 -7.8 84 1790 roll -0.53 - - 2719 - 2.28 0.047 1391 -593.9 -146.0 - - 3631 - - - - - - - - 14.94 14.71 14.95
1817 187.4 -7.8 89 1827 done -0.53 - - 2711 - 2.47 0.074 2780 562.3 -146.0 - - 3630 - - - - - - - - 14.83 14.69 14.84
2175 214.7 -7.8 98 2182 roll -0.53 - - 2711 - 2.38 0.047 1384 -586.6 -146.0 - - 3628 - - - - - - - - 14.95 14.71 14.95
2202 217.0 -8.1 102 2211 done -0.53 - - 2702 - 2.47 0.075 2776 563.6 -146.0 - - 3627 - - - - - - - - 14.75 14.68 14.76
2567 246.1 -8.0 112 2569 done -0.53 - - 2702 - - - 2776 - -146.0 - - 3624 - - - - - - - - 14.95 14.95 14.95
2903 271.0 -7.3 118 2916 roll -0.53 - - 2702 - 2.33 0.049 1393 -593.6 -146.0 - - 3619 - - - - - - - - 15.01 14.76 14.98
2948 274.5 -7.7 124 2962 done -0.53 0.10 0.236 2723 210.0 2.42 0.078 2782 574.0 -146.0 - - 3622 - - - - - - - - 14.66 14.71 14.82
3303 299.1 -7.0 132 3316 roll -0.53 - - 2724 - 2.35 0.049 1389 -592.8 -146.0 - - 3618 - - - - - - - - 15.00 14.79 15.00
3334 301.4 -7.4 136 3347 done -0.53 - - 2715 - 2.42 0.078 2776 573.1 -146.0 - - 3618 - - - - - - - - 14.87 14.75 14.88
3702 329.4 -7.6 146 3715 done -0.53 - - 2715 - - - 2776 - -146.0 - - 3616 - - - - - - - - 15.01 15.01 15.01
4038 354.6 -7.4 152 4052 roll -0.53 - - 2715 - 2.33 0.050 1393 -593.6 -146.0 - - 3614 - - - - - - - - 15.02 14.79 15.02
4119 360.4 -7.0 163 4132 done -0.53 - - 2707 - 2.42 0.080 2780 573.1 -146.0 - - 3613 - - - - - - - - 14.86 14.73 14.88
4438 382.5 -7.0 173 4452 roll -0.53 - - 2706 - 2.33 0.049 1393 -595.3 -146.0 - - 3612 - - - - - - - - 15.02 14.79 15.02
4484 385.8 -7.1 179 4497 done -0.53 0.10 0.233 2729 230.0 2.40 0.079 2767 572.5 -146.0 - - 3612 - - - - - - - - 14.68 14.74 14.84
4838 407.0 -5.9 187 4851 roll -0.53 - - 2729 - 2.33 0.050 1381 -594.8 -146.0 - - 3609 - - - - - - - - 15.02 14.78 15.02
4870 409.1 -6.4 191 4883 done -0.58 - - 2722 - 2.42 0.080 2771 574.4 -146.0 - - 3609 - - - - - - - - 14.86 14.75 14.89
5238 432.2 -6.4 201 5251 roll -0.58 - - 2721 - 2.33 0.050 1387 -594.0 -146.0 - - 3608 - - - - - - - - 15.01 14.79 15.02
5283 435.3 -6.7 207 5296 done -0.58 - - 2709 - 2.40 0.080 2762 572.9 -146.0 - - 3608 - - - - - - - - 14.87 14.73 14.89
5637 458.4 -6.6 215 5650 roll -0.58 - - 2713 - 2.30 0.050 1390 -596.5 -146.0 - - 3605 - - - - - - - - 15.01 14.79 15.01
5676 461.0 -7.0 220 5689 done -0.58 - - 2705 - 2.40 0.080 2769 574.6 -146.0 - - 3605 - - - - - - - - 14.88 14.74 14.89
6037 485.2 -6.7 229 6050 roll -0.58 - - 2705 - 2.33 0.050 1385 -594.0 -146.0 - - 3603 - - - - - - - - 15.01 14.78 15.02
6097 489.4 -6.9 237 6111 done -0.58 - - 2697 - 2.40 0.080 2755 570.8 -146.0 - - 3603 - - - - - - - - 14.86 14.73 14.88
6438 513.5 -7.2 250 6451 roll -0.58 - - 2689 - 1.95 0.125 3823 547.7 -146.0 - - 3601 - - - - - - - - 15.00 14.70 15.01
6498 518.1 -7.5 258 6511 done -0.58 - - 2688 - 1.73 0.052 2779 -603.5 -146.0 - - 3601 - - - - - - - - 14.89 14.84 14.90
6838 541.9 -6.9 271 6851 roll -0.58 - - 2689 - 2.35 0.052 1370 -599.6 -146.0 - - 3600 - - - - - - - - 15.02 14.78 15.01
6911 546.8 -6.6 281 6925 done -0.58 0.10 0.243 2709 200.0 2.42 0.081 2753 571.5 -146.0 - - 3600 - - - - - - - - 14.64 14.73 14.83
7238 564.5 -5.4 292 7251 done -0.58 - - 2709 - - - 2753 - -146.0 - - 3598 - - - - - - - - 15.00 15.00 15.02
7574 585.1 -6.4 298 7587 roll -0.58 - - 2708 - 2.35 0.053 1365 -590.6 -146.0 - - 3597 - - - - - - - - 15.00 14.77 15.00
7634 589.5 -7.2 306 7647 done -0.58 - - 2701 - 2.45 0.081 2759 569.0 -146.0 - - 3597 - - - - - - - - 14.85 14.72 14.88
7974 616.1 -8.0 319 7987 roll -0.58 - - 2693 - 1.95 0.125 3820 544.1 -146.0 - - 3596 - - - - - - - - 15.00 14.69 15.00
8019 619.8 -8.3 325 8032 done -0.58 - - 2693 - 1.77 0.051 2735 -613.0 -146.0 - - 3596 - - - - - - - - 14.86 14.81 14.87
8373 645.4 -7.0 333 8387 roll -0.58 - - 2693 - 2.28 0.051 1372 -597.8 -146.0 - - 3594 - - - - - - - - 14.99 14.76 15.00
8419 648.6 -6.8 339 8432 done -0.58 - - 2684 - 2.42 0.079 2756 571.9 -146.0 - - 3594 - - - - - - - - 14.85 14.71 14.85
8773 672.2 -6.7 347 8786 roll -0.58 - - 2687 - 2.33 0.051 1381 -590.1 -146.0 - - 3593 - - - - - - - - 15.00 14.76 15.00
8804 674.5 -7.1 351 8818 done -0.58 0.10 0.243 2708 210.0 2.40 0.080 2746 568.8 -146.0 - - 3593 - - - - - - - - 14.62 14.71 14.83
9173 696.3 -6.0 361 9186 done -0.58 - - 2708 - - - 2754 - -146.0 - - 3592 - - - - - - - - 14.99 15.00 14.99
9509 717.0 -6.2 367 9522 roll -0.58 - - 2708 - 2.33 0.054 1379 -590.1 -146.0 - - 3591 - - - - - - - - 15.00 14.74 15.00
9603 723.5 -6.8 380 9616 done -0.58 - - 2700 - 2.40 0.081 2747 570.0 -146.0 - - 3591 - - - - - - - - 14.83 14.71 14.85
9964 748.9 -7.1 389 9978 roll -0.58 - - 2694 - 2.00 0.128 3827 540.0 -146.0 - - 3590 - - - - - - - - 14.99 14.66 14.97
10025 753.3 -7.4 397 10038 done -0.58 - - 2692 - 1.80 0.053 2754 -596.1 -146.0 - - 3589 - - - - - - - - 14.85 14.80 14.86
10365 777.5 -7.0 410 10379 roll -0.58 - - 2693 - 2.33 0.052 1368 -594.8 -146.0 - - 3589 - - - - - - - - 14.99 14.73 14.98
10453 783.8 -7.0 422 10466 done -0.58 - - 2684 - 2.45 0.081 2752 564.9 -146.0 - - 3588 - - - - - - - - 14.83 14.69 14.84
10821 809.4 -7.0 432 10834 done -0.58 0.10 0.242 2713 290.0 - - 2752 - -146.0 - - 3587 - - - - - - - - 14.59 14.82 14.78
11157 828.5 -5.7 438 11171 roll -0.62 - - 2713 - 2.38 0.053 1357 -586.1 -146.0 - - 3587 - - - - - - - - 14.97 14.73 14.97
11224 832.5 -6.0 447 11237 done -0.68 - - 2706 - 2.45 0.080 2745 566.5 -146.0 - - 3586 - - - - - - - - 14.83 14.68 14.83
11557 852.1 -5.9 459 11570 done -0.68 - - 2706 - - - 2745 - -146.0 - - 3585 - - - - - - - - 14.97 14.97 14.97
11893 871.1 -5.6 465 11906 roll -0.68 - - 2706 - 2.35 0.054 1364 -587.7 -146.0 - - 3584 - - - - - - - - 14.97 14.71 14.97
11946 874.4 -6.0 472 11959 done -0.73 - - 2698 - 2.45 0.081 2742 562.4 -146.0 - - 3584 - - - - - - - - 14.81 14.66 14.82
12290 895.5 -6.2 479 12302 done -0.73 - - 2698 - - - 2744 - -146.0 - - 3582 - - - - - - - - 14.97 14.97 14.97
12625 916.9 -6.4 485 12639 roll -0.73 - - 2698 - 2.35 0.054 1370 -584.7 -146.0 - - 3583 - - - - - - - - 14.97 14.71 14.97
12692 921.2 -6.8 494 12705 done -0.73 - - 2690 - 2.42 0.082 2736 564.5 -146.0 - - 3583 - - - - - - - - 14.81 14.66 14.83
12855 end dive: TARGET_DEPTH_EXCEEDED
12856 begin apogee
12859 932.1 -6.7 503 13013 roll -0.23 0.45 0.180 2826 302.2 - - 2272 - - 144.20 1.932 3050 -3.7 0.337 - - - - - - 14.57 14.01 13.38
13015 end apogee: CONTROL_FINISHED_OK
13015 begin climb
13016 936.3 - 505 13186 roll 0.82 1.02 0.119 3146 313.7 2.45 0.060 904 -558.4 146.0 151.57 1.846 2466 -3.9 0.370 - - - - - - 14.02 14.05 13.28
13190 930.4 9.2 536 13204 done 0.67 0.10 0.244 3121 -250.0 2.53 0.063 2293 549.0 146.0 - - 2455 - - - - - - - - 13.87 13.93 14.01
13534 900.9 8.7 543 13547 roll 0.61 - - 3121 - 2.62 0.113 3700 537.0 146.0 - - 2453 - - - - - - - - 14.63 14.35 14.64
13565 897.5 10.3 547 13579 done 0.52 0.22 0.235 3070 -231.8 2.42 0.048 2292 -581.8 146.0 - - 2450 - - - - - - - - 14.32 14.47 14.50
13934 871.4 7.1 557 13960 roll 0.54 - - 3080 - 2.50 0.068 895 -558.8 162.6 14.57 2.091 2397 -3.6 0.287 - - - - - - 14.78 14.45 13.79
13978 868.1 9.1 563 13992 done 0.54 - - 3079 - 2.47 0.067 2298 568.0 162.6 - - 2392 - - - - - - - - 14.54 14.45 14.56
14322 842.7 7.3 570 14340 roll 0.55 - - 3080 - 2.62 0.117 3692 532.1 173.3 4.18 1.748 2362 -7.2 0.654 - - - - - - 14.79 14.50 13.54
14380 837.9 8.4 578 14395 done 0.55 - - 3088 - 2.40 0.048 2283 -587.1 173.3 2.12 0.444 2358 -1.9 0.674 - - - - - - 14.66 14.60 13.43
14722 813.2 7.2 591 14761 roll 0.57 - - 3098 - 2.47 0.070 895 -561.9 188.2 23.33 1.996 2290 -2.9 0.225 - - - - - - 14.83 14.41 13.80
14786 808.7 7.2 600 14813 done 0.59 - - 3097 - 2.45 0.067 2293 570.6 203.5 14.60 2.078 2238 -3.6 0.262 - - - - - - 14.53 14.43 13.71
15119 783.1 7.8 612 15132 roll 0.59 - - 3098 - 2.60 0.119 3694 538.8 203.5 - - 2228 - - - - - - - - 14.73 14.46 14.73
15150 780.4 8.3 616 15163 done 0.59 - - 3107 - 2.40 0.049 2287 -586.2 203.5 - - 2227 - - - - - - - - 14.63 14.56 14.64
15518 751.2 8.0 626 15531 roll 0.59 - - 3117 - 2.40 0.070 890 -582.1 203.5 - - 2226 - - - - - - - - 14.83 14.59 14.83
15563 747.5 8.2 632 15576 done 0.59 - - 3117 - 2.42 0.067 2292 579.3 203.5 - - 2226 - - - - - - - - 14.71 14.59 14.73
15917 717.1 8.7 640 15931 roll 0.59 - - 3116 - 2.58 0.116 3695 543.8 203.5 - - 2226 - - - - - - - - 14.88 14.58 14.88
15949 713.9 9.8 644 15962 done 0.54 0.17 0.235 3077 -229.4 2.40 0.047 2274 -592.1 203.5 - - 2226 - - - - - - - - 14.54 14.69 14.73
16317 687.2 7.2 654 16344 roll 0.56 - - 3088 - 2.45 0.070 895 -562.9 218.9 15.02 1.975 2174 -3.5 0.228 - - - - - - 14.90 14.56 13.95
16362 683.9 6.9 660 16401 done 0.58 - - 3088 - 2.42 0.064 2287 575.2 240.7 24.05 1.846 2082 -3.8 0.268 - - - - - - 14.65 14.55 13.83
16707 657.1 7.8 674 16721 roll 0.58 - - 3088 - 2.60 0.114 3694 541.2 240.7 - - 2074 - - - - - - - - 14.75 14.47 14.76
16746 653.8 8.7 679 16759 done 0.58 - - 3097 - 2.40 0.048 2283 -587.9 240.7 - - 2074 - - - - - - - - 14.64 14.57 14.66
17107 624.5 8.1 688 17120 roll 0.58 - - 3106 - 2.38 0.069 897 -582.4 240.7 - - 2073 - - - - - - - - 14.83 14.60 14.83
17159 620.0 8.6 695 17173 done 0.58 - - 3105 - 2.42 0.066 2290 575.6 240.7 - - 2073 - - - - - - - - 14.71 14.60 14.73
17503 588.8 9.3 702 17517 roll 0.58 - - 3105 - 2.58 0.118 3695 544.6 240.7 - - 2073 - - - - - - - - 14.88 14.58 14.88
17534 585.4 10.6 706 17548 done 0.58 - - 3116 - 2.38 0.049 2283 -593.3 240.7 - - 2073 - - - - - - - - 14.76 14.69 14.77
17903 546.5 10.7 716 17916 roll 0.58 - - 3125 - 2.38 0.069 892 -584.5 240.7 - - 2073 - - - - - - - - 14.91 14.67 14.91
17941 542.4 10.5 721 17954 done 0.58 0.12 0.209 3088 -308.3 2.40 0.066 2285 580.4 240.7 - - 2072 - - - - - - - - 14.59 14.62 14.76
18302 510.6 8.6 730 18316 roll 0.58 - - 3088 - 2.58 0.112 3699 548.1 240.7 - - 2072 - - - - - - - - 14.92 14.62 14.92
18362 505.1 9.3 738 18376 done 0.58 - - 3095 - 2.40 0.047 2278 -592.1 240.7 - - 2072 - - - - - - - - 14.83 14.73 14.81
18703 476.8 8.2 751 18716 roll 0.58 - - 3105 - 2.35 0.067 896 -588.1 240.7 - - 2072 - - - - - - - - 14.92 14.69 14.92
18727 474.7 8.2 754 18740 done 0.58 - - 3105 - 2.40 0.064 2296 583.3 240.7 - - 2072 - - - - - - - - 14.79 14.68 14.81
19046 448.2 8.3 764 19059 roll 0.58 - - 3113 - 2.40 0.067 898 -582.5 240.7 - - 2072 - - - - - - - - 14.92 14.69 14.92
19070 446.1 8.1 767 19083 done 0.58 - - 3113 - 2.40 0.066 2290 580.0 240.7 - - 2072 - - - - - - - - 14.79 14.68 14.81
19389 419.3 8.5 777 19402 roll 0.58 - - 3113 - 2.58 0.117 3696 545.0 240.7 - - 2072 - - - - - - - - 14.93 14.62 14.94
19441 414.3 9.7 784 19456 done 0.58 0.12 0.241 3087 -216.7 2.40 0.046 2276 -591.7 240.7 - - 2072 - - - - - - - - 14.58 14.73 14.77
19786 389.8 7.0 791 19813 done 0.61 - - 3087 - - - 2272 - 260.9 18.75 1.587 2010 -3.3 0.154 - - - - - - 14.93 14.64 14.07
20122 365.1 7.4 797 20135 done 0.62 - - 3086 - - - 2271 - 269.6 2.42 0.656 1976 -14.0 1.479 - - - - - - 14.86 14.66 13.74
20458 340.2 7.3 803 20485 done 0.63 - - 3086 - - - 2270 - 280.9 18.60 1.528 1931 -2.4 0.102 - - - - - - 14.88 14.59 14.02
20794 315.2 7.5 809 20811 roll 0.64 - - 3087 - 2.72 0.112 3696 524.3 287.9 1.62 0.248 1905 -16.0 3.858 - - - - - - 14.83 14.54 14.48
20836 311.5 8.8 815 20849 done 0.64 - - 3094 - 2.38 0.046 2294 -589.1 287.9 - - 1910 - - - - - - - - 14.72 14.65 14.73
21190 283.9 7.7 823 21204 roll 0.64 - - 3104 - 2.45 0.066 896 -570.6 288.2 1.52 0.248 1900 -6.6 1.425 - - - - - - 14.88 14.55 14.54
21243 279.8 7.8 830 21257 done 0.64 - - 3104 - 2.42 0.063 2299 579.8 288.2 - - 1909 - - - - - - - - 14.75 14.64 14.76
21587 254.4 7.3 837 21618 roll 0.66 - - 3104 - 2.58 0.117 3693 540.3 300.1 18.40 1.429 1845 -3.5 0.117 - - - - - - 14.90 14.53 14.08
21636 250.5 7.9 844 21650 done 0.66 - - 3113 - 2.40 0.047 2283 -587.5 300.1 - - 1841 - - - - - - - - 14.67 14.61 14.69
21981 224.1 7.7 851 21994 roll 0.66 - - 3121 - 2.38 0.067 889 -585.7 301.0 - - 1839 - - - - - - - - 14.85 14.61 14.85
22019 220.7 8.4 856 22032 done 0.66 - - 3122 - 2.40 0.063 2291 584.2 301.0 - - 1838 - - - - - - - - 14.73 14.62 14.75
22380 189.2 8.8 865 22394 roll 0.66 - - 3122 - 2.58 0.115 3700 546.1 301.0 - - 1838 - - - - - - - - 14.89 14.58 14.89
22432 184.0 10.1 872 22446 done 0.66 - - 3130 - 2.38 0.046 2293 -591.2 301.0 - - 1838 - - - - - - - - 14.77 14.70 14.78
22777 151.8 9.5 879 22790 roll 0.66 - - 3139 - 2.38 0.066 890 -589.5 301.0 - - 1838 - - - - - - - - 14.92 14.68 14.92
22801 149.4 9.7 882 22815 done 0.66 - - 3139 - 2.40 0.063 2294 585.0 301.0 - - 1838 - - - - - - - - 14.76 14.66 14.78
23120 120.0 9.2 892 23134 roll 0.66 - - 3148 - 2.40 0.064 894 -583.3 301.0 - - 1839 - - - - - - - - 14.92 14.68 14.92
23172 115.0 9.3 899 23187 done 0.66 0.10 0.220 3116 -320.0 2.40 0.062 2290 581.7 301.0 - - 1838 - - - - - - - - 14.63 14.69 14.81
23489 93.1 6.8 907 23513 roll 0.69 - - 3126 - 2.45 0.067 873 -578.4 326.4 10.95 0.431 1750 -8.0 0.328 - - - - - - 14.93 14.67 14.40
23595 86.9 5.3 922 23642 done 0.83 0.08 0.154 3187 762.5 2.45 0.060 2311 586.9 391.6 33.08 0.428 1489 -7.9 0.303 - - - - - - 14.69 14.66 14.36
23969 60.4 5.2 942 24015 roll 0.96 - - 3186 - 2.53 0.112 3695 547.0 460.1 33.53 0.350 1220 -8.0 0.262 - - - - - - 14.88 14.54 14.38
24055 56.0 6.8 954 24081 done 1.06 0.10 0.130 3262 760.0 2.33 0.044 2295 -600.9 485.8 13.55 0.326 1115 -7.7 0.252 - - - - - - 14.62 14.63 14.38
24395 29.1 6.7 969 24421 roll 1.10 - - 3266 - 2.42 0.065 900 -576.4 514.7 14.85 0.252 1000 -7.7 0.169 - - - - - - 14.86 14.62 14.48
24532 19.5 6.7 988 24558 done 1.19 - - 3266 - 2.38 0.058 2304 589.9 541.8 14.07 0.223 891 -7.7 0.128 - - - - - - 14.74 14.63 14.51
24831 end climb: SURFACE_DEPTH_REACHED
24831 begin surface coast
24860 end surface coast: CONTROL_FINISHED_OK
24860 begin surface
SM 0.02 - - - - -8.40 8.82 0.063 189 21.4 0.82 0.090 2776 -8056.1 540.83 - - 899 - - - - - - - -