SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 78 * Raw log
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• Previous call tries 1 • 34.63 of 350.00 AH used of 24V (90.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth 0.12 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 639.30, SM_CC=500)
• GPS1 time: 31 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 - - - 104 done -0.82 - - 191 - - - 2774 - -146.0 -79.45 - 3635 - - - - - - - - 14.69 13.54 14.70
106 10.5 -18.6 3 126 roll -0.82 11.62 0.402 2617 208.8 1.90 0.089 3833 557.4 -146.0 - - 3637 - - - - - - - - 14.27 14.45 14.51
355 86.2 -11.8 39 363 done -0.66 0.20 0.232 2674 285.0 1.80 0.041 2756 -598.3 -146.0 - - 3636 - - - - - - - - 14.46 14.63 14.59
719 112.6 -7.5 52 727 roll -0.59 0.10 0.250 2696 220.0 1.98 0.112 3818 536.4 -146.0 - - 3637 - - - - - - - - 14.57 14.59 14.72
844 125.8 -7.0 70 852 done -0.59 - - 2695 - 1.77 0.041 2735 -611.9 -146.0 - - 3639 - - - - - - - - 14.77 14.74 14.78
1167 144.4 -6.4 81 1176 roll -0.59 - - 2688 - 2.03 0.114 3818 533.5 -146.0 - - 3637 - - - - - - - - 14.91 14.64 14.91
1243 151.7 -9.2 92 1251 done -0.59 - - 2687 - 1.73 0.043 2777 -601.7 -146.0 - - 3637 - - - - - - - - 14.81 14.76 14.82
1559 178.2 -8.2 102 1567 roll -0.59 - - 2687 - 2.33 0.046 1391 -594.8 -146.0 - - 3634 - - - - - - - - 14.92 14.71 14.92
1643 185.2 -7.2 114 1651 done -0.59 - - 2678 - 2.42 0.076 2761 566.1 -146.0 - - 3634 - - - - - - - - 14.76 14.69 14.81
2007 214.8 -8.0 124 2010 done -0.59 - - 2678 - - - 2761 - -146.0 - - 3631 - - - - - - - - 14.94 14.94 14.94
2343 243.4 -8.8 130 2351 roll -0.59 - - 2670 - 1.98 0.120 3822 535.9 -146.0 - - 3628 - - - - - - - - 14.95 14.67 14.95
2377 246.6 -10.0 135 2386 done -0.59 0.12 0.224 2707 308.3 1.77 0.046 2764 -597.7 -146.0 - - 3628 - - - - - - - - 14.64 14.78 14.79
2735 274.4 -7.3 144 2749 roll -0.59 - - 2707 - 2.30 0.049 1379 -602.2 -146.0 - - 3625 - - - - - - - - 14.98 14.78 14.98
2809 280.5 -7.5 154 2822 done -0.59 - - 2699 - 2.40 0.080 2759 575.0 -146.0 - - 3624 - - - - - - - - 14.85 14.73 14.86
3135 306.2 -8.1 165 3148 roll -0.59 - - 2699 - 2.33 0.049 1370 -596.1 -146.0 - - 3621 - - - - - - - - 15.00 14.79 15.00
3188 310.0 -7.2 172 3201 done -0.59 - - 2690 - 2.42 0.080 2760 574.4 -146.0 - - 3625 - - - - - - - - 14.85 14.72 14.86
3532 335.4 -7.2 179 3545 roll -0.59 - - 2681 - 1.95 0.125 3827 547.2 -146.0 - - 3619 - - - - - - - - 15.02 14.73 15.01
3619 342.0 -7.5 191 3632 done -0.59 - - 2681 - 1.75 0.050 2754 -613.1 -146.0 - - 3618 - - - - - - - - 14.90 14.85 14.90
3987 368.3 -7.2 201 4000 roll -0.59 - - 2681 - 2.28 0.049 1373 -605.7 -146.0 - - 3616 - - - - - - - - 15.03 14.80 15.02
4060 374.6 -8.1 211 4074 done -0.59 0.10 0.240 2702 210.0 2.40 0.080 2758 577.1 -146.0 - - 3616 - - - - - - - - 14.69 14.75 14.85
4386 398.0 -7.3 222 4400 roll -0.59 - - 2694 - 1.95 0.126 3826 547.7 -146.0 - - 3614 - - - - - - - - 15.02 14.73 15.01
4418 400.7 -8.1 226 4431 done -0.59 - - 2694 - 1.75 0.052 2757 -610.9 -146.0 - - 3614 - - - - - - - - 14.90 14.88 14.90
4786 429.1 -7.7 236 4799 roll -0.59 - - 2694 - 2.30 0.049 1366 -604.8 -146.0 - - 3611 - - - - - - - - 15.01 14.80 15.02
4873 435.6 -7.6 248 4886 done -0.59 - - 2685 - 2.42 0.080 2757 574.8 -146.0 - - 3611 - - - - - - - - 14.88 14.75 14.90
5241 463.4 -7.6 258 5254 roll -0.59 - - 2685 - 2.33 0.050 1372 -594.4 -146.0 - - 3610 - - - - - - - - 15.01 14.80 15.02
5286 466.9 -7.7 264 5300 done -0.59 0.10 0.249 2705 200.0 2.42 0.082 2760 573.6 -146.0 - - 3609 - - - - - - - - 14.68 14.74 14.85
5641 490.6 -6.6 272 5654 roll -0.59 - - 2697 - 1.95 0.129 3820 543.6 -146.0 - - 3607 - - - - - - - - 15.01 14.72 15.02
5693 493.7 -6.7 279 5706 done -0.59 - - 2697 - 1.77 0.051 2747 -606.2 -146.0 - - 3607 - - - - - - - - 14.89 14.84 14.90
6037 513.8 -5.7 286 6050 roll -0.59 - - 2697 - 2.28 0.050 1377 -600.9 -146.0 - - 3606 - - - - - - - - 15.01 14.79 15.04
6131 519.5 -6.0 299 6144 done -0.59 - - 2688 - 2.40 0.080 2751 572.5 -146.0 - - 3605 - - - - - - - - 14.88 14.75 14.89
6492 542.0 -6.3 308 6505 roll -0.59 - - 2687 - 2.33 0.050 1371 -592.3 -146.0 - - 3603 - - - - - - - - 15.00 14.79 15.00
6537 545.1 -6.7 314 6551 done -0.59 - - 2679 - 2.42 0.081 2750 569.8 -146.0 - - 3602 - - - - - - - - 14.87 14.73 14.88
6892 569.8 -7.1 322 6905 roll -0.59 - - 2671 - 1.98 0.129 3822 541.4 -146.0 - - 3602 - - - - - - - - 15.01 14.71 15.01
6937 573.7 -8.8 328 6950 done -0.59 0.12 0.223 2708 308.3 1.77 0.051 2736 -613.6 -146.0 - - 3601 - - - - - - - - 14.66 14.84 14.83
7291 597.8 -6.9 336 7304 roll -0.59 - - 2708 - 2.28 0.050 1370 -599.1 -146.0 - - 3600 - - - - - - - - 15.00 14.77 15.00
7351 602.1 -7.0 344 7364 done -0.59 - - 2701 - 2.42 0.080 2750 570.2 -146.0 - - 3600 - - - - - - - - 14.87 14.73 14.88
7691 625.9 -7.0 357 7704 done -0.59 - - 2698 - - - 2750 - -146.0 - - 3598 - - - - - - - - 15.00 15.00 15.00
8027 648.4 -6.6 363 8041 roll -0.59 - - 2700 - 2.33 0.051 1372 -591.4 -146.0 - - 3597 - - - - - - - - 15.00 14.78 15.01
8108 653.9 -6.5 374 8121 done -0.59 - - 2692 - 2.40 0.080 2745 572.1 -146.0 - - 3597 - - - - - - - - 14.86 14.73 14.88
8427 672.6 -6.0 384 8440 roll -0.59 - - 2684 - 2.00 0.129 3836 545.5 -146.0 - - 3596 - - - - - - - - 15.00 14.69 15.00
8472 675.7 -6.2 390 8485 done -0.59 - - 2683 - 1.80 0.053 2743 -607.2 -146.0 - - 3596 - - - - - - - - 14.88 14.83 14.89
8826 697.0 -6.0 398 8839 roll -0.59 - - 2684 - 2.30 0.051 1366 -598.7 -146.0 - - 3595 - - - - - - - - 15.00 14.77 15.00
8878 700.3 -5.7 405 8893 done -0.59 0.10 0.249 2705 210.0 2.45 0.080 2756 567.3 -146.0 - - 3594 - - - - - - - - 14.63 14.71 14.81
9222 717.8 -5.0 412 9236 roll -0.59 - - 2705 - 2.35 0.050 1367 -591.1 -146.0 - - 3593 - - - - - - - - 14.99 14.76 14.99
9268 720.7 -5.7 418 9281 done -0.59 - - 2697 - 2.42 0.082 2744 569.0 -146.0 - - 3593 - - - - - - - - 14.84 14.71 14.85
9622 740.2 -5.7 426 9635 done -0.59 - - 2698 - - - 2744 - -146.0 - - 3592 - - - - - - - - 14.98 14.99 14.99
9958 760.8 -6.2 432 9971 roll -0.59 - - 2698 - 2.35 0.053 1365 -586.8 -146.0 - - 3592 - - - - - - - - 15.00 14.76 15.00
10031 765.8 -7.0 442 10044 done -0.59 - - 2690 - 2.42 0.081 2742 569.0 -146.0 - - 3591 - - - - - - - - 14.82 14.69 14.83
10357 787.6 -6.7 453 10370 roll -0.59 - - 2690 - 2.33 0.052 1371 -588.4 -146.0 - - 3591 - - - - - - - - 14.98 14.75 14.98
10388 789.7 -6.5 457 10401 done -0.59 - - 2682 - 2.42 0.082 2744 567.4 -146.0 - - 3591 - - - - - - - - 14.81 14.68 14.83
10756 814.3 -6.7 467 10770 roll -0.59 - - 2674 - 2.00 0.129 3824 540.0 -146.0 - - 3593 - - - - - - - - 14.98 14.66 14.98
10795 817.2 -6.1 472 10808 done -0.59 0.12 0.223 2711 308.3 1.80 0.054 2743 -600.6 -146.0 - - 3589 - - - - - - - - 14.61 14.79 14.79
11157 835.7 -5.1 481 11170 roll -0.64 - - 2711 - 2.30 0.053 1370 -597.0 -146.0 - - 3586 - - - - - - - - 14.97 14.73 14.99
11244 840.6 -5.4 493 11257 done -0.70 - - 2705 - 2.42 0.083 2739 565.7 -146.0 - - 3588 - - - - - - - - 14.83 14.69 14.85
11612 861.2 -5.8 503 11625 done -0.70 - - 2704 - - - 2740 - -146.0 - - 3585 - - - - - - - - 14.97 14.97 14.97
11949 881.1 -6.0 509 11962 roll -0.74 0.08 0.155 2639 -812.5 2.33 0.050 1363 -591.0 -146.0 - - 3587 - - - - - - - - 14.76 14.73 14.79
12009 885.9 -9.5 517 12022 done -0.74 - - 2631 - 2.45 0.084 2739 561.6 -146.0 - - 3586 - - - - - - - - 14.81 14.67 14.83
12349 915.1 -8.8 530 12363 roll -0.74 - - 2622 - 2.03 0.131 3826 535.5 -146.0 - - 3585 - - - - - - - - 14.97 14.63 14.97
12402 919.8 -9.6 537 12417 done -0.70 0.17 0.226 2673 300.0 1.85 0.055 2730 -592.4 -146.0 - - 3585 - - - - - - - - 14.56 14.78 14.76
12576 end dive: TARGET_DEPTH_EXCEEDED
12576 begin apogee
12580 932.3 -6.9 541 12724 roll -0.23 0.50 0.182 2824 302.0 - - 2280 - - 129.62 2.759 3049 -4.1 0.272 - - - - 1 - 14.59 13.85 12.89
12726 end apogee: CONTROL_FINISHED_OK
12726 begin climb
12727 936.2 - 543 12906 roll 0.82 1.02 0.112 3146 315.7 2.50 0.063 893 -554.8 146.0 161.73 1.944 2468 -3.6 0.337 - - - - - - 13.93 13.95 13.21
13050 917.9 8.6 594 13064 done 0.74 - - 3146 - 2.50 0.068 2305 564.8 146.0 - - 2452 - - - - - - - - 14.31 14.20 14.32
13418 884.5 9.0 604 13432 roll 0.65 0.10 0.262 3124 -220.0 2.42 0.063 904 -578.9 146.0 - - 2450 - - - - - - - - 14.36 14.47 14.50
13632 867.3 8.5 634 13645 done 0.59 0.12 0.224 3089 -291.7 2.40 0.067 2294 579.2 146.0 - - 2449 - - - - - - - - 14.44 14.52 14.62
13987 843.5 6.8 642 14026 roll 0.62 - - 3088 - 2.60 0.113 3694 538.5 171.2 25.95 2.004 2359 -3.5 0.284 - - - - - - 14.83 14.35 13.76
14072 836.9 8.4 654 14085 done 0.57 - - 3098 - 2.40 0.049 2287 -586.2 171.2 - - 2355 - - - - - - - - 14.52 14.45 14.52
14440 809.9 7.4 664 14453 done 0.58 - - 3098 - - - 2282 - 180.9 2.95 1.199 2330 -8.5 1.116 - - - - - - 14.79 14.63 13.51
14776 784.2 7.8 670 14793 roll 0.58 - - 3099 - 2.70 0.118 3700 525.2 180.9 1.83 0.272 2333 1.6 -0.921 - - - - - - 14.85 14.56 14.40
14818 780.2 8.4 676 14832 done 0.52 0.12 0.253 3074 -208.3 2.38 0.050 2291 -592.0 180.9 1.45 0.269 2330 -2.1 1.169 - - - - - - 14.52 14.66 14.42
15173 755.4 6.8 684 15221 roll 0.55 - - 3083 - 2.50 0.070 895 -558.4 206.4 35.92 1.905 2221 -3.0 0.234 - - - - - - 14.88 14.36 13.79
15239 751.1 5.5 693 15321 done 0.63 - - 3083 - 2.45 0.069 2293 570.6 267.3 69.30 1.743 1982 -3.4 0.290 - - - - - - 14.47 14.38 13.50
15628 722.0 7.6 713 15641 roll 0.64 - - 3084 - 2.62 0.119 3700 537.0 272.6 - - 1964 - - - - - - - - 14.66 14.40 14.66
15688 716.8 7.6 721 15702 done 0.64 - - 3093 - 2.42 0.049 2283 -585.5 276.6 2.15 0.447 1947 -7.9 2.471 - - - - - - 14.57 14.50 13.48
16029 690.7 7.5 734 16055 roll 0.65 - - 3102 - 2.47 0.070 895 -561.9 284.6 14.35 2.000 1912 -2.4 0.164 - - - - - - 14.78 14.45 13.83
16073 687.7 6.5 740 16127 done 0.69 - - 3102 - 2.45 0.070 2298 572.7 317.7 38.55 1.782 1777 -3.5 0.263 - - - - - - 14.53 14.45 13.64
16476 656.8 7.7 755 16489 roll 0.69 - - 3102 - 2.60 0.119 3701 539.6 320.2 - - 1765 - - - - - - - - 14.71 14.45 14.71
16521 652.6 9.0 761 16534 done 0.69 - - 3110 - 2.40 0.049 2287 -589.2 320.2 - - 1765 - - - - - - - - 14.62 14.54 14.62
16875 623.7 8.2 769 16889 roll 0.69 - - 3121 - 2.38 0.069 895 -584.9 320.2 - - 1764 - - - - - - - - 14.83 14.59 14.81
16914 620.5 7.9 774 16927 done 0.69 - - 3121 - 2.42 0.070 2300 580.6 320.2 - - 1763 - - - - - - - - 14.69 14.59 14.71
17275 589.0 8.9 783 17288 roll 0.69 - - 3121 - 2.55 0.120 3695 547.1 320.2 - - 1763 - - - - - - - - 14.85 14.58 14.86
17306 585.8 10.0 787 17319 done 0.69 - - 3129 - 2.38 0.048 2287 -591.6 320.2 - - 1762 - - - - - - - - 14.75 14.68 14.76
17674 549.4 10.0 797 17687 roll 0.69 - - 3140 - 2.38 0.070 889 -587.4 320.2 - - 1763 - - - - - - - - 14.90 14.66 14.90
17705 546.1 10.6 801 17718 done 0.69 - - 3140 - 2.42 0.070 2297 581.8 320.2 - - 1762 - - - - - - - - 14.76 14.65 14.78
18073 506.3 10.9 811 18086 done 0.69 - - 3140 - - - 2296 - 320.2 - - 1762 - - - - - - - - 14.91 14.91 14.91
18409 469.8 10.9 817 18422 roll 0.69 - - 3149 - 2.42 0.070 885 -583.1 320.2 - - 1763 - - - - - - - - 14.92 14.69 14.92
18433 467.1 10.7 820 18446 done 0.69 - - 3149 - 2.42 0.070 2293 581.8 320.2 - - 1762 - - - - - - - - 14.79 14.69 14.81
18752 432.3 10.9 830 18765 roll 0.69 - - 3158 - 2.40 0.068 892 -583.8 320.2 - - 1761 - - - - - - - - 14.93 14.70 14.92
18790 428.2 10.6 835 18804 done 0.69 0.10 0.240 3128 -300.0 2.40 0.070 2291 582.9 320.2 - - 1761 - - - - - - - - 14.61 14.69 14.78
19152 394.1 9.4 844 19165 roll 0.69 - - 3127 - 2.58 0.119 3701 546.5 320.2 - - 1762 - - - - - - - - 14.93 14.63 14.93
19190 390.1 10.3 849 19203 done 0.69 - - 3136 - 2.38 0.049 2283 -595.8 320.2 - - 1761 - - - - - - - - 14.81 14.74 14.83
19551 355.2 9.7 858 19564 roll 0.69 - - 3147 - 2.35 0.068 892 -591.9 320.2 - - 1762 - - - - - - - - 14.92 14.71 14.94
19603 349.9 9.9 865 19618 done 0.69 - - 3147 - 2.42 0.070 2299 581.4 320.2 - - 1762 - - - - - - - - 14.80 14.69 14.82
19947 314.7 10.3 872 19960 done 0.69 - - 3147 - - - 2299 - 320.2 - - 1762 - - - - - - - - 14.95 14.95 14.95
20283 279.6 10.4 878 20296 done 0.69 - - 3147 - - - 2299 - 320.2 - - 1762 - - - - - - - - 14.95 14.95 14.95
20619 245.0 10.3 884 20632 roll 0.69 - - 3156 - 2.40 0.067 893 -585.8 320.2 - - 1762 - - - - - - - - 14.95 14.72 14.95
20664 240.8 9.9 890 20678 done 0.69 0.10 0.233 3126 -300.0 2.40 0.069 2295 584.2 320.2 - - 1760 - - - - - - - - 14.63 14.71 14.80
21019 209.2 8.8 898 21032 roll 0.69 - - 3125 - 2.55 0.118 3702 551.8 320.2 - - 1762 - - - - - - - - 14.95 14.66 14.95
21057 205.6 9.8 903 21070 done 0.69 - - 3133 - 2.38 0.047 2274 -600.0 320.2 - - 1761 - - - - - - - - 14.83 14.76 14.84
21418 172.8 9.2 912 21431 roll 0.69 - - 3141 - 2.33 0.067 895 -591.8 320.2 - - 1761 - - - - - - - - 14.95 14.71 14.95
21442 170.6 8.8 915 21455 done 0.69 - - 3144 - 2.38 0.067 2291 586.6 320.2 - - 1762 - - - - - - - - 14.82 14.71 14.84
21761 139.6 9.7 925 21775 roll 0.69 - - 3151 - 2.38 0.067 892 -587.8 320.2 - - 1762 - - - - - - - - 14.95 14.71 14.95
21807 135.3 9.2 931 21820 done 0.69 - - 3152 - 2.38 0.067 2287 586.1 320.2 - - 1762 - - - - - - - - 14.82 14.71 14.83
22161 102.6 9.2 939 22174 roll 0.69 - - 3151 - 2.58 0.119 3700 547.7 320.2 - - 1762 - - - - - - - - 14.95 14.64 14.95
22206 98.2 10.3 945 22220 done 0.69 0.12 0.235 3125 -216.7 2.38 0.047 2274 -599.2 320.2 - - 1762 - - - - - - - - 14.62 14.75 14.79
22533 74.2 6.8 958 22557 roll 0.73 - - 3133 - 2.35 0.065 887 -590.2 345.7 11.18 0.403 1672 -8.1 0.289 - - - - - - 14.94 14.69 14.42
22610 69.0 6.2 969 22644 done 0.84 0.05 0.214 3182 980.0 2.40 0.063 2289 584.2 385.9 21.05 0.399 1512 -7.6 0.256 - - - - - - 14.67 14.67 14.40
22958 46.9 5.2 985 23003 roll 0.98 - - 3187 - 2.47 0.066 893 -565.2 454.7 33.72 0.343 1238 -8.1 0.217 - - - - - - 14.90 14.59 14.42
23057 41.9 7.0 999 23083 done 1.10 0.15 0.106 3262 500.0 2.35 0.060 2282 591.1 474.9 10.70 0.314 1158 -7.5 0.194 - - - - - - 14.66 14.62 14.40
23410 18.7 5.1 1016 23457 roll 1.19 - - 3267 - 2.38 0.063 893 -583.6 545.6 34.08 0.252 876 -8.3 0.120 - - - - - - 14.88 14.61 14.46
23476 14.8 2.6 1025 23536 done 1.43 0.22 0.074 3381 518.2 2.35 0.060 2283 591.5 684.3 44.15 0.233 498 -8.6 0.106 - - - - - - 14.66 14.59 14.45
23609 end climb: SURFACE_DEPTH_REACHED
23609 begin surface coast
23637 end surface coast: CONTROL_FINISHED_OK
23637 begin surface
SM -9.90 - - - - -8.39 9.50 0.094 194 20.4 0.85 0.092 2764 -10195.3 639.30 - - 505 - - - - - - - -