SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 111 * Raw log
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• Previous call tries 1 • 46.61 of 350.00 AH used of 24V (86.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth -2.83 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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 - - - 96 done -0.90 - - 148 - - - 2778 - -116.8 -75.45 - 3516 - - - - - - - - 14.68 13.39 14.68
98 -0.9 -5.8 2 119 roll -0.90 11.57 0.396 2594 211.4 1.90 0.089 3825 551.1 -116.8 - - 3518 - - - - - - - - 14.23 14.44 14.50
348 77.5 -16.6 39 356 done -0.55 0.45 0.231 2721 282.2 1.77 0.035 2741 -612.4 -116.8 - - 3520 - - - - - - - - 14.41 14.62 14.61
678 99.1 -6.5 53 686 roll -0.55 - - 2721 - 2.25 0.043 1401 -595.6 -116.8 - - 3521 - - - - - - - - 14.86 14.62 14.85
915 111.2 -3.5 87 923 done -0.55 - - 2710 - 2.40 0.067 2770 570.4 -116.8 - - 3521 - - - - - - - - 14.68 14.61 14.71
1238 133.7 -6.8 98 1245 roll -0.55 - - 2711 - 2.33 0.044 1399 -588.4 -116.8 - - 3521 - - - - - - - - 14.90 14.66 14.90
1264 136.8 -11.6 102 1273 done -0.55 - - 2702 - 2.42 0.068 2773 567.8 -116.8 - - 3522 - - - - - - - - 14.73 14.64 14.74
1629 166.2 -7.8 112 1632 done -0.55 - - 2701 - - - 2773 - -116.8 - - 3518 - - - - - - - - 14.92 14.92 14.92
1966 192.9 -7.9 118 1973 roll -0.55 - - 2700 - 2.33 0.044 1404 -587.6 -116.8 - - 3515 - - - - - - - - 14.92 14.68 14.92
2056 200.0 -7.2 131 2064 done -0.55 - - 2693 - 2.40 0.070 2762 565.8 -116.8 - - 3514 - - - - - - - - 14.73 14.65 14.76
2414 226.6 -7.4 140 2416 done -0.55 - - 2694 - - - 2762 - -116.8 - - 3511 - - - - - - - - 14.93 14.93 14.93
2752 252.1 -7.7 146 2768 done -0.55 - - 2693 - - - 2761 - -116.8 - - 3509 - - - - - - - - 14.94 14.93 14.94
3085 279.2 -8.1 152 3098 done -0.55 - - 2693 - - - 2762 - -116.8 - - 3506 - - - - - - - - 14.98 14.98 14.98
3422 305.9 -7.8 158 3434 done -0.55 - - 2694 - - - 2762 - -116.8 - - 3504 - - - - - - - - 14.99 14.99 14.99
3757 330.3 -7.2 164 3770 done -0.55 - - 2693 - - - 2761 - -116.8 - - 3503 - - - - - - - - 15.00 15.00 15.04
4094 354.4 -7.2 170 4107 roll -0.55 - - 2693 - 2.30 0.048 1394 -594.3 -116.8 - - 3500 - - - - - - - - 15.01 14.76 15.00
4125 356.9 -7.6 174 4139 done -0.55 0.10 0.205 2715 220.0 2.40 0.076 2767 572.1 -116.8 - - 3500 - - - - - - - - 14.61 14.71 14.74
4494 381.7 -6.8 184 4507 done -0.64 - - 2715 - - - 2767 - -116.8 - - 3497 - - - - - - - - 15.00 15.00 15.02
4830 405.2 -7.0 190 4844 roll -0.73 0.08 0.148 2645 -875.0 2.30 0.047 1394 -597.0 -116.8 - - 3496 - - - - - - - - 14.80 14.75 14.83
4876 409.4 -9.6 196 4889 done -0.73 - - 2635 - 2.38 0.076 2760 573.9 -116.8 - - 3495 - - - - - - - - 14.85 14.71 14.87
5230 443.6 -9.5 204 5243 roll -0.73 - - 2627 - 1.92 0.116 3822 553.1 -116.8 - - 3494 - - - - - - - - 15.00 14.69 15.00
5268 447.4 -9.8 209 5282 done -0.73 0.12 0.231 2664 308.3 1.70 0.048 2778 -614.1 -116.8 - - 3494 - - - - - - - - 14.62 14.83 14.81
5630 475.4 -7.6 218 5643 done -0.73 - - 2664 - - - 2778 - -116.8 - - 3492 - - - - - - - - 15.00 15.01 15.00
5966 500.3 -7.4 224 5979 roll -0.73 - - 2664 - 2.35 0.048 1375 -597.0 -116.8 - - 3490 - - - - - - - - 15.00 14.76 15.00
6026 504.9 -7.6 232 6039 done -0.73 - - 2655 - 2.45 0.071 2770 569.4 -116.8 - - 3491 - - - - - - - - 14.84 14.71 14.86
6366 532.7 -8.4 245 6379 done -0.73 - - 2654 - - - 2769 - -116.8 - - 3489 - - - - - - - - 14.99 14.99 14.99
6702 561.8 -8.7 251 6715 roll -0.73 - - 2646 - 1.95 0.116 3829 543.6 -116.8 - - 3487 - - - - - - - - 15.00 14.67 15.00
6747 565.9 -9.0 257 6760 done -0.73 - - 2646 - 1.77 0.049 2758 -605.1 -116.8 - - 3487 - - - - - - - - 14.86 14.80 14.88
7101 595.3 -8.2 265 7115 roll -0.73 - - 2646 - 2.33 0.049 1362 -599.1 -116.8 - - 3486 - - - - - - - - 15.00 14.75 14.99
7133 597.9 -8.4 269 7146 done -0.73 - - 2637 - 2.45 0.073 2766 573.1 -116.8 - - 3486 - - - - - - - - 14.83 14.70 14.85
7501 630.3 -9.0 279 7514 roll -0.73 - - 2629 - 1.92 0.116 3822 550.0 -116.8 - - 3485 - - - - - - - - 14.98 14.65 14.99
7574 637.4 -9.6 289 7588 done -0.73 0.10 0.242 2658 290.0 1.75 0.050 2757 -608.6 -116.8 - - 3484 - - - - - - - - 14.58 14.81 14.78
7900 665.1 -8.6 300 7914 roll -0.73 - - 2658 - 2.33 0.050 1366 -597.0 -116.8 - - 3482 - - - - - - - - 14.99 14.74 15.00
7953 669.8 -8.9 307 7966 done -0.73 - - 2651 - 2.45 0.073 2759 568.6 -116.8 - - 3482 - - - - - - - - 14.82 14.68 14.84
8297 700.0 -8.8 314 8310 roll -0.73 - - 2642 - 1.95 0.118 3825 546.7 -116.8 - - 3481 - - - - - - - - 14.98 14.64 14.98
8357 705.5 -9.3 322 8370 done -0.73 - - 2642 - 1.77 0.048 2754 -605.1 -116.8 - - 3481 - - - - - - - - 14.85 14.80 14.86
8697 734.1 -8.3 335 8710 roll -0.73 - - 2636 - 2.33 0.048 1362 -597.4 -116.8 - - 3480 - - - - - - - - 14.98 14.73 14.98
8749 738.4 -8.0 342 8764 done -0.73 0.10 0.250 2662 260.0 2.47 0.073 2767 568.8 -116.8 - - 3480 - - - - - - - - 14.55 14.67 14.76
9094 761.8 -6.7 349 9107 roll -0.73 - - 2654 - 1.95 0.119 3826 543.1 -116.8 - - 3479 - - - - - - - - 14.97 14.62 14.99
9154 766.2 -7.3 357 9167 done -0.73 - - 2653 - 1.77 0.050 2757 -604.0 -116.8 - - 3477 - - - - - - - - 14.83 14.78 14.85
9495 789.5 -7.0 370 9508 roll -0.73 - - 2653 - 2.33 0.049 1373 -594.0 -116.8 - - 3478 - - - - - - - - 14.97 14.71 14.97
9561 794.4 -7.1 379 9574 done -0.73 - - 2645 - 2.42 0.073 2756 571.5 -116.8 - - 3478 - - - - - - - - 14.80 14.66 14.83
9894 818.6 -7.4 391 9907 roll -0.73 - - 2638 - 1.98 0.119 3827 540.9 -116.8 - - 3477 - - - - - - - - 14.96 14.62 14.96
9925 821.2 -7.5 395 9939 done -0.73 - - 2638 - 1.77 0.050 2759 -603.4 -116.8 - - 3477 - - - - - - - - 14.83 14.77 14.85
10294 851.3 -8.4 405 10307 done -0.73 - - 2637 - - - 2758 - -116.8 - - 3475 - - - - - - - - 14.96 14.95 14.96
10630 879.8 -8.5 411 10643 done -0.73 - - 2637 - - - 2758 - -116.8 - - 3475 - - - - - - - - 14.96 14.96 14.96
10965 906.9 -8.1 417 10978 done -0.73 - - 2637 - - - 2758 - -116.8 - - 3474 - - - - - - - - 14.98 14.97 14.97
11300 end dive: TARGET_DEPTH_EXCEEDED
11300 begin apogee
11304 932.6 -7.6 423 11428 roll -0.23 0.62 0.194 2821 296.8 - - 2229 - - 113.85 1.994 3050 -3.7 0.330 - - - - - - 14.52 14.07 13.38
11430 end apogee: CONTROL_FINISHED_OK
11430 begin climb
11431 935.7 - 425 11574 roll 0.90 1.10 0.112 3170 317.3 2.47 0.061 850 -558.3 116.8 121.88 1.929 2579 -3.9 0.355 - - - - - - 14.07 14.09 13.25
11578 928.4 9.5 448 11592 done 0.68 0.17 0.239 3124 -270.6 2.55 0.059 2258 552.2 116.8 - - 2575 - - - - - - - - 13.90 13.99 14.06
11922 898.1 8.8 455 11935 roll 0.68 - - 3123 - 2.60 0.106 3662 540.0 116.8 - - 2571 - - - - - - - - 14.65 14.37 14.65
12009 889.4 10.1 467 12023 done 0.55 0.20 0.243 3080 -215.0 2.40 0.046 2244 -590.8 116.8 - - 2571 - - - - - - - - 14.31 14.50 14.52
12378 861.3 7.5 477 12391 roll 0.56 - - 3080 - 2.62 0.106 3655 538.5 121.8 - - 2569 - - - - - - - - 14.80 14.50 14.80
12416 858.1 10.4 482 12430 done 0.56 - - 3090 - 2.38 0.048 2251 -589.9 121.8 - - 2569 - - - - - - - - 14.69 14.62 14.70
12778 831.7 7.3 491 12804 roll 0.57 - - 3090 - 2.67 0.109 3653 525.1 132.2 14.23 2.068 2518 -3.6 0.273 - - - - - - 14.86 14.50 13.88
12857 825.5 8.1 502 12871 done 0.57 - - 3100 - 2.38 0.046 2252 -588.7 132.2 - - 2515 - - - - - - - - 14.64 14.57 14.65
13226 799.9 6.8 512 13259 done 0.60 - - 3100 - - - 2252 - 153.7 24.10 1.967 2437 -3.2 0.250 - - - - - - 14.83 14.47 13.81
13562 775.8 7.2 518 13587 roll 0.61 - - 3101 - 2.62 0.106 3658 536.6 165.9 12.15 2.079 2385 -4.3 0.303 - - - - - - 14.76 14.42 13.81
13620 771.6 7.4 526 13638 done 0.62 - - 3110 - 2.42 0.046 2243 -584.7 173.5 4.43 1.891 2359 -5.9 0.454 - - - - - - 14.57 14.50 13.47
13958 746.8 7.3 539 13990 roll 0.63 - - 3121 - 2.47 0.067 863 -558.7 183.4 15.77 2.014 2311 -3.0 0.214 - - - - - - 14.78 14.43 13.79
14016 742.5 6.9 547 14050 done 0.66 - - 3120 - 2.45 0.062 2259 569.8 202.9 20.85 1.946 2240 -3.4 0.246 - - - - - - 14.54 14.44 13.71
14356 714.9 8.2 560 14369 roll 0.66 - - 3120 - 2.60 0.110 3660 538.8 202.9 - - 2232 - - - - - - - - 14.72 14.45 14.72
14429 708.0 9.4 570 14442 done 0.66 - - 3130 - 2.40 0.047 2251 -587.1 202.9 - - 2231 - - - - - - - - 14.63 14.56 14.64
14755 679.5 8.8 581 14768 done 0.66 - - 3130 - - - 2249 - 202.9 - - 2230 - - - - - - - - 14.82 14.81 14.82
15092 649.9 8.9 587 15104 done 0.66 - - 3130 - - - 2250 - 202.9 - - 2230 - - - - - - - - 14.85 14.85 14.86
15427 619.6 9.0 593 15440 roll 0.66 - - 3130 - 2.62 0.110 3662 538.9 202.9 - - 2229 - - - - - - - - 14.89 14.60 14.89
15465 615.7 10.1 598 15479 done 0.66 - - 3141 - 2.40 0.047 2249 -588.8 202.9 - - 2229 - - - - - - - - 14.76 14.69 14.78
15827 580.6 9.8 607 15840 done 0.66 - - 3140 - - - 2244 - 202.9 - - 2229 - - - - - - - - 14.90 14.90 14.90
16164 548.3 9.6 613 16177 roll 0.66 - - 3151 - 2.38 0.066 856 -583.2 202.9 - - 2229 - - - - - - - - 14.91 14.66 14.92
16195 545.1 9.7 617 16208 done 0.66 0.12 0.233 3115 -300.0 2.40 0.061 2262 585.8 202.9 - - 2229 - - - - - - - - 14.54 14.67 14.76
16563 514.0 8.5 627 16577 roll 0.66 - - 3115 - 2.53 0.109 3654 550.2 202.9 - - 2229 - - - - - - - - 14.92 14.62 14.92
16630 507.7 9.5 636 16643 done 0.66 - - 3124 - 2.35 0.046 2255 -595.3 202.9 - - 2227 - - - - - - - - 14.80 14.73 14.81
16963 478.8 8.6 648 16976 roll 0.66 - - 3134 - 2.40 0.067 846 -587.1 202.9 - - 2229 - - - - - - - - 14.92 14.67 14.92
17008 474.7 8.6 654 17021 done 0.66 - - 3133 - 2.40 0.060 2258 588.3 202.9 - - 2229 - - - - - - - - 14.79 14.67 14.79
17362 443.8 8.7 662 17376 roll 0.66 - - 3133 - 2.55 0.109 3661 550.2 202.9 - - 2228 - - - - - - - - 14.93 14.62 14.93
17387 441.4 8.8 665 17400 done 0.66 0.10 0.252 3117 -160.0 2.35 0.045 2253 -599.1 202.9 - - 2229 - - - - - - - - 14.54 14.73 14.79
17706 417.3 7.3 675 17724 roll 0.67 - - 3126 - 2.42 0.065 830 -588.0 211.6 3.90 1.552 2211 -4.6 0.235 - - - - - - 14.92 14.69 13.74
17749 414.1 7.1 681 17782 done 0.69 - - 3126 - 2.42 0.059 2257 589.7 226.0 20.73 1.616 2148 -3.0 0.148 - - - - - - 14.78 14.66 14.00
18103 387.2 7.6 696 18116 roll 0.69 - - 3126 - 2.55 0.107 3655 548.2 228.4 - - 2140 - - - - - - - - 14.82 14.54 14.82
18164 382.0 8.7 704 18177 done 0.69 - - 3143 - 2.38 0.044 2247 -591.6 228.4 - - 2139 - - - - - - - - 14.71 14.64 14.72
18504 354.1 8.3 717 18517 roll 0.69 - - 3146 - 2.38 0.066 859 -583.2 228.4 - - 2139 - - - - - - - - 14.87 14.62 14.90
18535 351.3 8.4 721 18548 done 0.69 - - 3146 - 2.40 0.060 2263 585.0 228.4 - - 2139 - - - - - - - - 14.73 14.62 14.76
18903 317.8 9.2 731 18916 roll 0.69 - - 3146 - 2.55 0.108 3661 548.2 228.4 - - 2139 - - - - - - - - 14.89 14.59 14.90
18963 311.7 10.4 739 18977 done 0.69 0.10 0.251 3127 -190.0 2.38 0.044 2252 -592.0 228.4 - - 2139 - - - - - - - - 14.52 14.70 14.71
19304 282.7 8.5 752 19317 roll 0.69 - - 3138 - 2.38 0.065 858 -585.7 228.4 - - 2137 - - - - - - - - 14.91 14.65 14.90
19342 279.2 8.5 757 19355 done 0.69 - - 3138 - 2.40 0.060 2269 587.9 228.4 - - 2139 - - - - - - - - 14.77 14.66 14.78
19703 246.9 9.0 766 19716 roll 0.69 - - 3138 - 2.53 0.107 3660 549.8 228.4 - - 2139 - - - - - - - - 14.92 14.62 14.92
19741 243.0 10.2 771 19755 done 0.69 - - 3149 - 2.35 0.045 2256 -597.4 228.4 - - 2139 - - - - - - - - 14.78 14.72 14.80
20103 209.5 9.2 780 20116 roll 0.69 - - 3149 - 2.58 0.106 3656 542.6 228.4 - - 2139 - - - - - - - - 14.93 14.62 14.93
20127 207.0 9.3 783 20140 done 0.69 0.12 0.239 3123 -216.7 2.35 0.045 2252 -597.4 228.4 - - 2139 - - - - - - - - 14.54 14.72 14.71
20446 180.8 8.1 793 20460 roll 0.69 - - 3133 - 2.40 0.065 844 -586.7 228.4 - - 2139 - - - - - - - - 14.92 14.67 14.92
20492 177.0 8.2 799 20505 done 0.69 - - 3133 - 2.40 0.057 2264 591.7 228.4 - - 2139 - - - - - - - - 14.79 14.67 14.81
20846 147.8 8.5 807 20859 roll 0.69 - - 3133 - 2.53 0.106 3656 550.2 228.4 - - 2139 - - - - - - - - 14.92 14.62 14.93
20906 141.8 10.0 815 20919 done 0.69 - - 3143 - 2.35 0.045 2255 -596.2 228.4 - - 2140 - - - - - - - - 14.80 14.73 14.81
21246 112.1 8.6 828 21260 roll 0.69 - - 3143 - 2.58 0.106 3656 543.0 228.4 - - 2140 - - - - - - - - 14.93 14.62 14.93
21285 108.8 8.6 833 21298 done 0.69 0.10 0.243 3121 -220.0 2.33 0.044 2258 -600.0 228.4 - - 2140 - - - - - - - - 14.54 14.73 14.73
21619 88.8 5.2 845 21657 roll 0.84 0.08 0.147 3198 962.5 2.55 0.103 3653 547.1 282.6 25.42 0.449 1925 -8.5 0.317 - - - - - - 14.72 14.58 14.33
21886 67.7 6.9 883 21910 done 0.86 - - 3208 - 2.30 0.044 2264 -603.9 301.9 9.70 0.378 1847 -8.0 0.273 - - - - - - 14.76 14.71 14.34
22238 55.2 3.2 900 22299 roll 1.06 0.05 0.207 3271 1260.0 2.38 0.062 872 -584.9 401.0 46.80 0.346 1452 -8.4 0.255 - - - - - - 14.66 14.56 14.34
22303 52.8 4.3 909 22351 done 1.16 - - 3271 - 2.40 0.055 2283 587.9 475.6 35.00 0.339 1154 -8.5 0.251 - - - - - - 14.70 14.57 14.32
22665 28.3 7.0 927 22689 roll 1.29 0.08 0.145 3342 887.5 2.55 0.101 3660 540.0 492.2 8.23 0.253 1090 -7.8 0.165 - - - - - - 14.64 14.54 14.42
22742 19.7 12.1 938 22757 done 1.29 0.12 0.233 3315 -225.0 2.30 0.040 2281 -599.6 492.2 - - 1092 - - - - - - - - 14.45 14.64 14.66
22973 end climb: SURFACE_DEPTH_REACHED
22973 begin surface coast
23001 end surface coast: CONTROL_FINISHED_OK
23001 begin surface
SM -1.23 - - - - -8.38 9.12 0.079 191 20.9 0.88 0.076 2771 -2676.1 500.14 3.88 0.180 1059 272.9 0.191 - - - - - -