SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 79 * Raw log
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• Previous call tries 1 • 35.05 of 350.00 AH used of 24V (89.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 deg, depth -6.97 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 551.89, SM_CC=500)
• GPS1 time: 46 s
• GPS2 time: 3 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 - - - 118 done -0.82 - - 192 - - - 2773 - -146.0 -97.60 - 3634 - - - - - - - - 14.68 13.54 14.69
120 -3.9 -5.0 3 136 roll -0.82 11.52 0.402 2617 210.5 1.92 0.090 3833 552.1 -146.0 - - 3634 - - - - - - - - 14.28 14.45 14.52
365 74.4 -12.5 39 373 done -0.66 0.22 0.236 2680 286.4 1.80 0.041 2750 -601.7 -146.0 - - 3636 - - - - - - - - 14.45 14.64 14.59
729 104.8 -8.5 54 737 roll -0.60 - - 2673 - 2.00 0.112 3819 534.5 -146.0 - - 3637 - - - - - - - - 14.85 14.59 14.85
966 131.6 -25.2 88 975 done -0.54 0.17 0.209 2726 311.8 1.77 0.041 2742 -608.5 -146.0 - - 3638 - - - - - - - - 14.57 14.71 14.71
1289 153.8 -10.2 99 1297 roll -0.54 - - 2726 - 2.25 0.047 1405 -594.2 -146.0 - - 3636 - - - - - - - - 14.90 14.69 14.90
1372 159.5 -17.4 111 1381 done -0.54 - - 2724 - 2.42 0.076 2771 564.5 -146.0 - - 3635 - - - - - - - - 14.77 14.66 14.78
1737 185.2 -7.0 121 1746 roll -0.54 - - 2717 - 2.35 0.047 1389 -588.1 -146.0 - - 3632 - - - - - - - - 14.91 14.70 14.91
1764 187.0 -6.3 125 1774 done -0.54 - - 2709 - 2.45 0.077 2765 561.6 -146.0 - - 3631 - - - - - - - - 14.78 14.67 14.80
2129 211.8 -6.9 135 2131 done -0.54 - - 2709 - - - 2765 - -146.0 - - 3628 - - - - - - - - 14.92 14.92 14.92
2465 226.8 -2.8 141 2473 roll -0.54 - - 2709 - 2.35 0.049 1385 -587.2 -146.0 - - 3626 - - - - - - - - 14.93 14.71 14.93
2506 238.7 -7.1 147 2515 done -0.54 - - 2700 - 2.47 0.078 2773 561.9 -146.0 - - 3626 - - - - - - - - 14.80 14.68 14.81
2857 264.4 -7.4 155 2870 roll -0.54 - - 2700 - 2.33 0.049 1381 -597.4 -146.0 - - 3623 - - - - - - - - 14.97 14.76 14.97
2937 270.7 -7.7 166 2951 done -0.54 0.10 0.240 2721 210.0 2.40 0.080 2762 575.4 -146.0 - - 3621 - - - - - - - - 14.64 14.71 14.81
3257 292.7 -7.0 176 3270 done -0.54 - - 2721 - - - 2762 - -146.0 - - 3620 - - - - - - - - 14.99 14.99 14.99
3593 316.2 -7.0 182 3606 roll -0.54 - - 2721 - 2.30 0.050 1384 -599.1 -146.0 - - 3617 - - - - - - - - 15.00 14.79 15.00
3680 322.3 -6.7 194 3693 done -0.54 - - 2713 - 2.40 0.082 2760 573.3 -146.0 - - 3616 - - - - - - - - 14.86 14.73 14.88
4048 346.8 -6.6 204 4061 roll -0.54 - - 2705 - 1.95 0.124 3830 548.7 -146.0 - - 3614 - - - - - - - - 15.00 14.72 15.01
4079 349.0 -6.7 208 4093 done -0.54 - - 2705 - 1.73 0.052 2776 -609.2 -146.0 - - 3614 - - - - - - - - 14.89 14.86 14.89
4447 373.4 -6.7 218 4461 roll -0.54 - - 2709 - 2.33 0.050 1371 -603.0 -146.0 - - 3612 - - - - - - - - 15.01 14.79 15.00
4542 379.9 -6.9 231 4555 done -0.54 0.10 0.246 2726 170.0 2.42 0.080 2760 574.0 -146.0 - - 3611 - - - - - - - - 14.67 14.75 14.85
4903 401.3 -6.0 240 4916 roll -0.54 - - 2726 - 2.35 0.049 1361 -595.3 -146.0 - - 3609 - - - - - - - - 15.00 14.80 15.00
4949 404.2 -6.3 246 4962 done -0.59 - - 2718 - 2.42 0.078 2754 575.6 -146.0 - - 3609 - - - - - - - - 14.88 14.75 14.89
5303 427.1 -6.6 254 5316 roll -0.59 - - 2718 - 2.33 0.049 1369 -594.4 -146.0 - - 3607 - - - - - - - - 15.01 14.79 15.01
5341 429.8 -6.9 259 5354 done -0.59 - - 2710 - 2.42 0.080 2760 574.8 -146.0 - - 3606 - - - - - - - - 14.87 14.74 14.88
5702 455.0 -7.1 268 5715 roll -0.59 - - 2709 - 2.35 0.049 1359 -596.2 -146.0 - - 3604 - - - - - - - - 15.00 14.79 15.00
5762 459.3 -7.3 276 5775 done -0.59 - - 2701 - 2.45 0.080 2757 570.6 -146.0 - - 3604 - - - - - - - - 14.87 14.74 14.88
6102 483.7 -7.1 289 6115 roll -0.59 - - 2693 - 1.95 0.125 3820 545.1 -146.0 - - 3603 - - - - - - - - 15.00 14.71 15.00
6147 487.1 -7.6 295 6161 done -0.59 - - 2690 - 1.75 0.050 2752 -610.3 -146.0 - - 3603 - - - - - - - - 14.89 14.84 14.90
6501 510.5 -6.5 303 6515 roll -0.59 - - 2693 - 2.30 0.050 1367 -602.2 -146.0 - - 3601 - - - - - - - - 15.00 14.78 15.01
6610 517.6 -6.5 318 6624 done -0.59 - - 2683 - 2.42 0.080 2753 572.7 -146.0 - - 3601 - - - - - - - - 14.86 14.73 14.88
6954 540.3 -6.5 325 6967 done -0.59 - - 2683 - - - 2755 - -146.0 - - 3600 - - - - - - - - 15.00 15.00 15.00
7290 563.1 -6.9 331 7303 roll -0.59 - - 2683 - 2.35 0.051 1361 -593.2 -146.0 - - 3598 - - - - - - - - 15.00 14.78 15.00
7356 568.1 -7.7 340 7370 done -0.59 0.10 0.251 2704 210.0 2.42 0.083 2742 570.7 -146.0 - - 3598 - - - - - - - - 14.65 14.73 14.82
7690 589.9 -6.6 352 7703 roll -0.59 - - 2696 - 2.00 0.128 3826 542.0 -146.0 - - 3597 - - - - - - - - 15.00 14.70 15.00
7721 592.2 -7.2 356 7734 done -0.59 - - 2696 - 1.80 0.054 2737 -605.0 -146.0 - - 3597 - - - - - - - - 14.88 14.83 14.90
8089 617.5 -6.8 366 8102 roll -0.59 - - 2696 - 2.30 0.053 1359 -599.1 -146.0 - - 3595 - - - - - - - - 15.00 14.77 15.00
8155 622.0 -6.8 375 8168 done -0.59 - - 2687 - 2.42 0.082 2743 571.9 -146.0 - - 3595 - - - - - - - - 14.85 14.72 14.86
8488 644.4 -6.7 387 8501 done -0.59 - - 2687 - - - 2743 - -146.0 - - 3594 - - - - - - - - 15.00 15.00 14.99
8824 667.1 -6.7 393 8838 roll -0.59 - - 2687 - 2.33 0.054 1369 -589.7 -146.0 - - 3593 - - - - - - - - 15.00 14.76 15.00
8863 669.8 -7.4 398 8876 done -0.59 0.10 0.249 2708 210.0 2.42 0.083 2753 571.9 -146.0 - - 3593 - - - - - - - - 14.67 14.71 14.81
9224 691.3 -6.0 407 9237 roll -0.59 - - 2708 - 2.35 0.053 1365 -590.6 -146.0 - - 3591 - - - - - - - - 15.00 14.76 15.00
9270 694.0 -6.5 413 9283 done -0.59 - - 2700 - 2.40 0.081 2739 572.5 -146.0 - - 3591 - - - - - - - - 14.87 14.71 14.86
9624 716.9 -6.5 421 9637 done -0.59 - - 2700 - - - 2740 - -146.0 - - 3591 - - - - - - - - 14.99 14.99 14.99
9960 738.6 -6.3 427 9973 roll -0.59 - - 2700 - 2.33 0.052 1362 -591.4 -146.0 - - 3589 - - - - - - - - 14.99 14.75 14.99
10033 743.4 -6.2 437 10047 done -0.59 - - 2693 - 2.42 0.083 2739 569.0 -146.0 - - 3594 - - - - - - - - 14.84 14.70 14.85
10360 764.2 -6.3 448 10374 roll -0.59 - - 2690 - 2.33 0.053 1369 -588.0 -146.0 - - 3589 - - - - - - - - 14.98 14.74 14.98
10392 766.2 -6.7 452 10405 done -0.59 - - 2684 - 2.40 0.084 2737 570.0 -146.0 - - 3588 - - - - - - - - 14.84 14.70 14.85
10760 789.6 -6.5 462 10773 roll -0.59 - - 2684 - 2.33 0.053 1366 -588.4 -146.0 - - 3588 - - - - - - - - 14.98 14.74 14.98
10805 792.4 -6.6 468 10818 done -0.59 0.10 0.249 2705 210.0 2.40 0.083 2733 569.6 -146.0 - - 3588 - - - - - - - - 14.58 14.69 14.78
11159 811.1 -5.2 476 11173 roll -0.59 - - 2705 - 2.33 0.053 1362 -588.4 -146.0 - - 3588 - - - - - - - - 14.97 14.73 14.97
11198 813.8 -6.4 481 11211 done -0.59 - - 2697 - 2.42 0.083 2739 569.0 -146.0 - - 3586 - - - - - - - - 14.82 14.68 14.84
11559 834.4 -5.9 490 11572 roll -0.59 - - 2697 - 2.33 0.052 1369 -588.0 -146.0 - - 3587 - - - - - - - - 14.97 14.73 14.97
11611 837.7 -6.3 497 11625 done -0.59 - - 2690 - 2.42 0.083 2735 564.5 -146.0 - - 3587 - - - - - - - - 14.85 14.68 14.83
11955 858.9 -6.1 504 11969 roll -0.59 - - 2689 - 2.33 0.054 1367 -587.1 -146.0 - - 3586 - - - - - - - - 14.97 14.73 14.97
12001 861.9 -4.9 510 12014 done -0.59 - - 2682 - 2.40 0.084 2733 569.2 -146.0 - - 3586 - - - - - - - - 14.82 14.69 14.84
12355 884.5 -6.4 518 12368 done -0.59 - - 2682 - - - 2733 - -146.0 - - 3585 - - - - - - - - 14.96 14.97 14.98
12691 905.5 -6.2 524 12704 done -0.59 - - 2682 - - - 2731 - -146.0 - - 3583 - - - - - - - - 14.96 14.97 14.95
13027 925.7 -6.1 530 13040 roll -0.59 - - 2681 - 2.33 0.054 1369 -584.5 -146.0 - - 3583 - - - - - - - - 14.97 14.72 14.97
13072 928.6 -4.7 536 13086 done -0.59 0.10 0.250 2702 210.0 2.40 0.085 2727 565.8 -146.0 - - 3583 - - - - - - - - 14.57 14.67 14.77
13145 end dive: TARGET_DEPTH_EXCEEDED
13145 begin apogee
13149 932.7 -5.4 539 13307 roll -0.23 0.40 0.175 2826 310.0 - - 2281 - - 148.15 1.969 3050 -3.6 0.323 - - - - - - 14.61 13.98 13.33
13308 end apogee: CONTROL_FINISHED_OK
13308 begin climb
13309 935.9 - 541 13487 roll 0.82 1.02 0.116 3145 312.7 2.50 0.063 893 -555.2 146.0 156.65 1.899 2458 -3.8 0.353 - - - - - - 14.01 14.03 13.25
13499 928.1 10.3 575 13512 done 0.71 - - 3145 - 2.55 0.067 2294 549.4 146.0 - - 2451 - - - - - - - - 14.04 13.95 14.06
13825 897.3 9.5 586 13838 roll 0.62 0.12 0.249 3106 -325.0 2.62 0.112 3700 536.6 146.0 - - 2446 - - - - - - - - 14.29 14.35 14.42
13885 891.3 11.5 594 13899 done 0.53 0.15 0.243 3076 -200.0 2.42 0.048 2292 -581.8 146.0 - - 2445 - - - - - - - - 14.33 14.47 14.51
14226 867.0 7.1 607 14250 done 0.56 - - 3076 - - - 2287 - 163.5 14.88 2.098 2399 -3.1 0.242 - - - - - - 14.77 14.47 13.76
14562 842.9 7.1 613 14593 roll 0.58 - - 3076 - 2.72 0.116 3697 518.4 179.6 15.82 2.111 2327 -4.6 0.345 - - - - - - 14.77 14.36 13.76
14632 837.3 8.5 623 14646 done 0.58 - - 3085 - 2.42 0.050 2284 -583.9 179.6 - - 2325 - - - - - - - - 14.54 14.47 14.55
14958 813.3 7.5 634 14972 done 0.58 - - 3090 - - - 2279 - 186.2 1.60 0.248 2305 -12.5 7.772 - - - - - - 14.78 14.64 14.47
15295 788.3 7.5 640 15309 done 0.59 - - 3085 - - - 2279 - 192.2 4.93 1.909 2283 -4.5 0.349 - - - - - - 14.84 14.62 13.59
15631 762.7 7.6 646 15656 roll 0.60 - - 3085 - 2.67 0.119 3699 531.8 197.4 12.73 2.101 2260 -1.8 0.124 - - - - - - 14.85 14.47 13.88
15674 759.1 8.1 652 15687 done 0.60 - - 3094 - 2.40 0.050 2294 -585.4 197.4 - - 2255 - - - - - - - - 14.62 14.55 14.63
16028 731.6 7.6 660 16041 done 0.60 - - 3094 - - - 2290 - 202.1 - - 2253 - - - - - - - - 14.82 14.81 14.82
16364 706.4 7.4 666 16387 done 0.61 - - 3094 - - - 2290 - 211.0 14.57 2.023 2208 -3.1 0.204 - - - - - - 14.86 14.57 13.93
16700 680.6 7.6 672 16713 roll 0.62 - - 3094 - 2.65 0.117 3703 533.2 214.3 - - 2197 - - - - - - - - 14.81 14.55 14.82
16731 677.8 8.6 676 16744 done 0.62 - - 3104 - 2.40 0.048 2286 -590.4 214.3 - - 2196 - - - - - - - - 14.71 14.64 14.72
17099 649.7 7.7 686 17112 roll 0.62 - - 3113 - 2.40 0.070 892 -580.8 216.6 - - 2195 - - - - - - - - 14.87 14.64 14.87
17123 647.8 7.6 689 17137 done 0.63 - - 3114 - 2.42 0.070 2296 580.2 220.5 2.35 0.640 2173 -9.4 1.796 - - - - - - 14.74 14.64 13.66
17493 618.5 7.9 699 17510 roll 0.63 - - 3113 - 2.65 0.120 3701 530.2 220.5 2.25 0.549 2173 - - - - - - - - 14.89 14.61 13.67
17535 614.4 9.4 705 17549 done 0.57 0.12 0.246 3088 -208.3 2.38 0.048 2290 -592.9 220.5 1.30 0.260 2171 - - - - - - - - 14.56 14.70 14.53
17890 587.5 7.6 713 17903 done 0.57 - - 3089 - - - 2284 - 224.3 4.20 1.615 2157 -3.3 0.230 - - - - - - 14.90 14.69 13.69
18226 559.7 8.4 719 18244 roll 0.57 - - 3088 - 2.67 0.114 3697 529.2 224.3 2.08 0.353 2161 1.9 -0.578 - - - - - - 14.90 14.62 13.59
18262 556.4 9.0 724 18275 done 0.57 - - 3097 - 2.38 0.050 2290 -591.2 224.3 1.62 0.291 2156 -3.1 1.119 - - - - - - 14.78 14.71 14.45
18623 525.0 8.6 733 18641 roll 0.57 - - 3107 - 2.45 0.068 896 -569.0 224.3 2.20 0.497 2159 1.4 -0.273 - - - - - - 14.90 14.69 13.67
18666 521.5 7.9 739 18679 done 0.57 - - 3106 - 2.42 0.069 2304 581.8 224.3 1.40 0.282 2156 -2.1 0.751 - - - - - - 14.77 14.66 14.52
19020 493.2 7.9 747 19033 done 0.57 - - 3107 - - - 2305 - 224.3 1.98 0.249 2156 - - - - - - - - 14.91 14.76 14.53
19356 468.0 7.5 753 19383 roll 0.58 - - 3106 - 2.65 0.118 3706 528.7 232.2 14.90 1.756 2122 -2.3 0.115 - - - - - - 14.92 14.55 14.04
19409 463.5 8.5 760 19422 done 0.58 - - 3115 - 2.40 0.047 2291 -589.6 232.2 - - 2117 - - - - - - - - 14.69 14.63 14.71
19749 436.0 8.1 773 19762 roll 0.58 - - 3124 - 2.38 0.068 898 -585.3 232.2 - - 2115 - - - - - - - - 14.86 14.63 14.86
19794 432.3 8.2 779 19808 done 0.58 0.12 0.213 3087 -308.3 2.42 0.068 2305 581.4 232.2 - - 2115 - - - - - - - - 14.56 14.61 14.71
20149 407.7 6.9 787 20187 roll 0.61 - - 3087 - 2.62 0.115 3693 529.8 254.8 24.77 1.578 2025 -3.6 0.178 - - - - - - 14.89 14.43 13.97
20233 401.1 8.4 799 20247 done 0.61 - - 3094 - 2.38 0.047 2290 -589.5 254.8 - - 2019 - - - - - - - - 14.62 14.56 14.62
20601 372.6 7.9 809 20615 roll 0.61 - - 3104 - 2.38 0.068 899 -584.5 254.8 - - 2016 - - - - - - - - 14.81 14.59 14.83
20639 369.4 8.2 814 20653 done 0.61 - - 3104 - 2.42 0.067 2307 581.8 254.8 - - 2019 - - - - - - - - 14.71 14.59 14.72
21001 340.3 8.0 823 21014 roll 0.61 - - 3105 - 2.55 0.118 3699 545.9 254.8 - - 2015 - - - - - - - - 14.88 14.59 14.88
21046 336.2 9.4 829 21059 done 0.61 - - 3112 - 2.35 0.046 2298 -596.2 254.8 - - 2016 - - - - - - - - 14.76 14.69 14.77
21400 307.4 8.0 837 21413 roll 0.61 - - 3122 - 2.38 0.067 899 -587.8 254.8 - - 2016 - - - - - - - - 14.90 14.66 14.90
21438 304.4 7.7 842 21451 done 0.61 - - 3121 - 2.40 0.067 2300 583.8 255.7 - - 2019 - - - - - - - - 14.77 14.66 14.78
21799 276.2 7.9 851 21812 roll 0.61 - - 3122 - 2.55 0.116 3699 548.6 255.7 - - 2015 - - - - - - - - 14.92 14.62 14.92
21837 272.7 9.3 856 21851 done 0.61 0.12 0.233 3095 -225.0 2.35 0.046 2290 -599.6 255.7 - - 2016 - - - - - - - - 14.59 14.73 14.77
22198 248.4 6.6 865 22244 roll 0.65 - - 3104 - 2.47 0.067 894 -565.2 285.8 30.10 1.368 1900 -3.9 0.133 - - - - - - 14.92 14.52 14.05
22269 243.6 6.8 875 22309 done 0.68 - - 3105 - 2.42 0.063 2301 581.4 311.0 24.27 1.337 1805 -3.9 0.135 - - - - - - 14.62 14.53 13.94
22650 216.9 7.1 887 22676 roll 0.70 - - 3105 - 2.65 0.116 3694 525.7 327.2 14.15 1.405 1741 -4.5 0.132 - - - - - - 14.77 14.42 13.98
22708 212.1 8.5 895 22721 done 0.70 - - 3112 - 2.38 0.046 2295 -587.8 327.2 - - 1734 - - - - - - - - 14.59 14.52 14.59
23041 185.4 8.1 907 23054 roll 0.70 - - 3121 - 2.40 0.066 890 -585.4 327.2 - - 1732 - - - - - - - - 14.80 14.57 14.80
23072 182.7 8.4 911 23085 done 0.70 - - 3120 - 2.42 0.063 2304 584.3 327.2 - - 1730 - - - - - - - - 14.68 14.57 14.70
23440 150.7 8.7 921 23453 done 0.70 - - 3121 - - - 2300 - 327.2 - - 1731 - - - - - - - - 14.85 14.86 14.85
23776 123.3 8.0 927 23789 done 0.70 - - 3120 - - - 2304 - 327.2 - - 1731 - - - - - - - - 14.88 14.88 14.91
24112 98.2 7.4 933 24131 roll 0.71 - - 3126 - 2.45 0.064 899 -573.5 337.8 3.17 0.323 1708 -7.3 0.418 - - - - - - 14.90 14.66 14.39
24156 95.2 6.8 939 24182 done 0.75 - - 3126 - 2.40 0.063 2310 587.9 363.2 14.38 0.470 1603 -7.3 0.280 - - - - - - 14.77 14.66 14.37
24510 74.6 4.7 956 24565 roll 0.92 0.12 0.109 3206 666.7 2.60 0.114 3694 532.3 445.2 41.53 0.419 1275 -7.9 0.267 - - - - - - 14.71 14.52 14.34
24654 63.6 8.1 976 24667 done 0.92 - - 3215 - 2.33 0.044 2303 -597.0 445.2 - - 1280 - - - - - - - - 14.69 14.62 14.69
24995 43.0 5.3 991 25040 roll 1.07 - - 3217 - 2.40 0.066 900 -584.6 511.3 32.15 0.321 1017 -8.2 0.208 - - - - - - 14.87 14.59 14.42
25101 35.3 6.2 1006 25135 done 1.24 0.20 0.093 3310 465.0 2.40 0.057 2317 590.4 553.6 21.40 0.300 846 -8.0 0.178 - - - - - - 14.65 14.61 14.42
25438 10.4 8.0 1021 25451 roll 1.24 - - 3317 - 2.42 0.061 894 -588.0 553.6 1.02 0.253 849 2.9 -0.023 - - - - - - 14.86 14.64 14.57
25498 3.2 8.8 1029 25511 done 1.24 - - 3317 - 2.40 0.062 2306 588.3 553.6 1.25 0.237 846 -2.4 0.006 - - - - - - 14.73 14.62 14.58
25514 end climb: SURFACE_DEPTH_REACHED
25514 begin surface coast
25521 end surface coast: CONTROL_FINISHED_OK
25521 begin surface
SM -6.40 - - - - -8.40 9.18 0.082 192 20.9 0.80 0.095 2761 -8076.2 551.89 - - 852 - - - - - - - -