SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 102 * Raw log
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• Previous call tries 1 • 43.55 of 350.00 AH used of 24V (87.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth -0.27 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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 - - - 96 done -0.90 - - 177 - - - 2790 - -116.8 -75.95 - 3515 - - - - - - - - 14.70 13.43 14.70
98 1.5 -5.4 2 114 roll -0.90 11.50 0.398 2595 210.3 1.88 0.082 3826 551.1 -116.8 - - 3516 - - - - - - - - 14.25 14.47 14.52
301 74.1 -20.6 32 310 done -0.59 0.35 0.238 2699 297.1 1.80 0.037 2738 -604.4 -116.8 - - 3518 - - - - - - - - 14.41 14.64 14.57
624 101.0 -7.6 45 626 done -0.59 - - 2699 - - - 2736 - -116.8 - - 3520 - - - - - - - - 14.85 14.85 14.85
959 124.6 -7.9 51 967 roll -0.59 - - 2690 - 2.03 0.109 3821 534.5 -116.8 - - 3520 - - - - - - - - 14.90 14.60 14.90
1021 129.8 -8.4 60 1030 done -0.59 - - 2690 - 1.75 0.041 2756 -608.6 -116.8 - - 3520 - - - - - - - - 14.79 14.75 14.80
1351 156.9 -8.3 72 1360 roll -0.59 - - 2690 - 2.28 0.042 1392 -598.2 -116.8 - - 3518 - - - - - - - - 14.91 14.69 14.92
1385 159.8 -8.4 77 1394 done -0.59 - - 2681 - 2.42 0.070 2768 568.6 -116.8 - - 3518 - - - - - - - - 14.78 14.66 14.79
1744 189.1 -8.2 86 1746 done -0.59 - - 2679 - - - 2767 - -116.8 - - 3515 - - - - - - - - 14.92 14.92 14.93
2080 218.1 -8.7 92 2088 roll -0.59 - - 2681 - 2.33 0.045 1393 -589.7 -116.8 - - 3513 - - - - - - - - 14.94 14.70 14.94
2162 225.5 -8.7 104 2172 done -0.59 0.10 0.240 2706 250.0 2.45 0.073 2766 560.4 -116.8 - - 3512 - - - - - - - - 14.58 14.66 14.71
2530 253.1 -7.4 114 2545 done -0.59 - - 2706 - - - 2765 - -116.8 - - 3510 - - - - - - - - 14.95 14.95 14.95
2863 278.4 -7.6 120 2877 roll -0.59 - - 2699 - 1.92 0.118 3822 550.5 -116.8 - - 3505 - - - - - - - - 14.97 14.68 14.97
2902 281.6 -8.2 125 2915 done -0.59 - - 2698 - 1.75 0.047 2768 -602.3 -116.8 - - 3506 - - - - - - - - 14.86 14.81 14.88
3263 310.8 -8.1 134 3276 roll -0.59 - - 2698 - 2.30 0.046 1372 -607.0 -116.8 - - 3503 - - - - - - - - 15.00 14.77 15.00
3350 318.3 -8.5 146 3364 done -0.59 - - 2689 - 2.42 0.073 2764 575.2 -116.8 - - 3499 - - - - - - - - 14.85 14.72 14.88
3718 350.4 -8.8 156 3732 roll -0.59 - - 2681 - 1.95 0.119 3832 547.7 -116.8 - - 3500 - - - - - - - - 15.00 14.70 15.01
3743 352.6 -8.6 159 3756 done -0.59 - - 2679 - 1.75 0.046 2752 -617.1 -116.8 - - 3501 - - - - - - - - 14.88 14.83 14.89
4062 380.7 -8.8 169 4075 done -0.59 - - 2680 - - - 2752 - -116.8 - - 3498 - - - - - - - - 15.00 15.00 15.00
4398 409.5 -8.6 175 4411 done -0.59 - - 2680 - - - 2752 - -116.8 - - 3496 - - - - - - - - 15.01 15.01 15.02
4734 436.3 -7.8 181 4747 roll -0.59 - - 2680 - 2.28 0.046 1375 -603.9 -116.8 - - 3494 - - - - - - - - 15.02 14.78 15.01
4786 440.4 -7.7 188 4801 done -0.59 0.12 0.230 2708 233.3 2.40 0.074 2757 575.8 -116.8 - - 3493 - - - - - - - - 14.64 14.73 14.83
5130 461.3 -6.0 195 5143 done -0.67 - - 2708 - - - 2757 - -116.8 - - 3492 - - - - - - - - 15.00 15.00 15.00
5466 480.8 -5.8 201 5480 done -0.75 0.10 0.116 2634 -740.0 - - 2757 - -116.8 - - 3491 - - - - - - - - 14.82 14.90 14.88
5802 510.8 -9.2 207 5815 done -0.75 - - 2634 - - - 2756 - -116.8 - - 3489 - - - - - - - - 15.00 15.01 15.00
6138 542.5 -9.5 213 6151 done -0.75 - - 2634 - - - 2757 - -116.8 - - 3487 - - - - - - - - 15.00 15.00 15.00
6474 575.0 -9.7 219 6487 done -0.75 - - 2634 - - - 2757 - -116.8 - - 3485 - - - - - - - - 15.00 15.01 15.01
6810 606.4 -9.2 225 6823 done -0.75 - - 2632 - - - 2756 - -116.8 - - 3485 - - - - - - - - 14.98 15.02 15.01
7146 636.2 -8.8 231 7159 roll -0.75 - - 2633 - 2.35 0.050 1366 -591.5 -116.8 - - 3484 - - - - - - - - 15.01 14.77 15.01
7184 639.7 -9.4 236 7198 done -0.75 0.10 0.250 2653 200.0 2.45 0.078 2766 571.4 -116.8 - - 3483 - - - - - - - - 14.60 14.71 14.81
7546 667.5 -7.6 245 7559 roll -0.75 - - 2644 - 1.95 0.124 3825 543.1 -116.8 - - 3482 - - - - - - - - 15.00 14.66 15.00
7577 670.0 -7.8 249 7590 done -0.75 - - 2644 - 1.75 0.050 2760 -608.6 -116.8 - - 3482 - - - - - - - - 14.87 14.81 14.88
7945 697.5 -7.5 259 7958 roll -0.75 - - 2644 - 2.33 0.050 1368 -597.4 -116.8 - - 3480 - - - - - - - - 15.00 14.76 15.01
7983 700.6 -8.2 264 7997 done -0.75 - - 2635 - 2.45 0.079 2761 568.6 -116.8 - - 3480 - - - - - - - - 14.83 14.68 14.85
8345 730.2 -8.3 273 8358 roll -0.75 - - 2627 - 1.98 0.124 3834 541.9 -116.8 - - 3478 - - - - - - - - 15.00 14.64 14.97
8411 736.4 -9.4 282 8424 done -0.75 0.10 0.248 2655 280.0 1.77 0.050 2756 -609.0 -116.8 - - 3477 - - - - - - - - 14.57 14.81 14.78
8744 763.2 -8.1 294 8757 roll -0.75 - - 2656 - 2.33 0.049 1363 -597.9 -116.8 - - 3477 - - - - - - - - 14.98 14.74 14.98
8804 768.2 -8.3 302 8817 done -0.75 - - 2647 - 2.47 0.079 2763 566.8 -116.8 - - 3477 - - - - - - - - 14.83 14.66 14.84
9144 797.4 -8.7 315 9157 done -0.75 - - 2647 - - - 2763 - -116.8 - - 3476 - - - - - - - - 14.97 14.97 14.98
9481 826.7 -8.5 321 9494 roll -0.75 - - 2647 - 2.38 0.050 1364 -587.8 -116.8 - - 3476 - - - - - - - - 14.97 14.72 14.97
9533 831.5 -8.9 328 9548 done -0.75 - - 2638 - 2.47 0.080 2757 564.0 -116.8 - - 3475 - - - - - - - - 14.81 14.66 14.83
9877 862.3 -9.0 335 9890 roll -0.75 - - 2630 - 1.98 0.125 3825 539.4 -116.8 - - 3474 - - - - - - - - 14.97 14.64 14.97
9901 864.7 -9.4 338 9915 done -0.75 - - 2629 - 1.77 0.050 2752 -606.2 -116.8 - - 3473 - - - - - - - - 14.85 14.79 14.85
10221 893.5 -9.0 348 10234 roll -0.75 - - 2629 - 2.33 0.050 1365 -595.3 -116.8 - - 3473 - - - - - - - - 14.97 14.71 14.96
10287 899.7 -9.0 357 10300 done -0.75 0.08 0.269 2649 250.0 2.45 0.079 2749 564.9 -116.8 - - 3472 - - - - - - - - 14.53 14.65 14.75
10620 926.8 -8.1 369 10634 roll -0.75 - - 2641 - 2.00 0.126 3830 540.5 -116.8 - - 3472 - - - - - - - - 14.97 14.60 14.97
10657 end dive: TARGET_DEPTH_EXCEEDED
10657 begin apogee
10664 930.1 -6.9 374 10787 roll -0.23 0.62 0.197 2824 295.2 - - 2246 - - 113.18 1.978 3050 -3.7 0.332 - - - - - - 14.53 14.07 13.40
10788 end apogee: CONTROL_FINISHED_OK
10788 begin climb
10790 934.4 - 376 10932 roll 0.90 1.08 0.112 3167 317.6 2.47 0.060 853 -564.0 116.8 120.88 1.917 2579 -3.9 0.359 - - - - - - 14.09 14.11 13.28
11153 910.4 8.7 430 11166 done 0.77 - - 3167 - 2.45 0.060 2260 574.3 116.8 - - 2572 - - - - - - - - 14.45 14.35 14.47
11507 877.4 9.5 438 11521 roll 0.62 0.20 0.244 3116 -255.0 2.38 0.060 856 -589.9 116.8 - - 2570 - - - - - - - - 14.37 14.52 14.51
11721 861.1 7.4 468 11735 done 0.63 - - 3116 - 2.40 0.060 2257 583.8 124.6 2.45 0.879 2553 -6.9 1.286 - - - - - - 14.67 14.56 13.45
12065 834.6 7.9 475 12078 roll 0.63 - - 3116 - 2.55 0.110 3653 547.5 124.6 1.35 0.289 2555 - - - - - - - - 14.85 14.54 14.32
12146 827.2 8.8 486 12159 done 0.52 0.20 0.243 3072 -220.0 2.35 0.044 2252 -596.2 124.6 1.25 0.269 2553 - - - - - - - - 14.46 14.66 14.38
12466 807.0 6.2 496 12519 done 0.56 - - 3071 - - - 2248 - 158.5 43.78 1.891 2419 -3.1 0.247 - - - - - - 14.88 14.37 13.74
12804 784.3 6.8 502 12838 roll 0.58 - - 3071 - 2.75 0.112 3664 514.9 179.6 21.20 1.980 2333 -4.1 0.304 - - - - - - 14.73 14.32 13.74
12864 780.3 6.5 510 12910 done 0.62 - - 3081 - 2.42 0.046 2254 -582.6 207.7 31.17 1.870 2217 -3.7 0.294 - - - - - - 14.47 14.40 13.62
13258 752.6 7.0 524 13284 done 0.64 - - 3081 - - - 2254 - 224.4 17.12 1.978 2156 -3.6 0.256 - - - - - - 14.70 14.41 13.75
13594 728.4 7.2 530 13613 done 0.65 - - 3081 - - - 2254 - 235.4 10.48 2.051 2113 -4.1 0.276 - - - - - - 14.75 14.50 13.81
13930 702.3 7.9 536 13943 roll 0.65 - - 3081 - 2.60 0.113 3653 538.1 235.4 - - 2105 - - - - - - - - 14.78 14.51 14.78
13982 697.5 9.3 543 13996 done 0.65 - - 3091 - 2.40 0.046 2250 -584.6 235.4 - - 2105 - - - - - - - - 14.67 14.61 14.69
14326 667.2 9.0 550 14339 roll 0.65 - - 3100 - 2.40 0.067 851 -582.9 235.4 - - 2105 - - - - - - - - 14.85 14.62 14.88
14350 664.8 9.1 553 14364 done 0.65 - - 3100 - 2.40 0.063 2254 584.6 235.4 - - 2104 - - - - - - - - 14.73 14.62 14.74
14670 634.5 9.6 563 14683 roll 0.65 - - 3100 - 2.58 0.113 3660 545.0 235.4 - - 2104 - - - - - - - - 14.88 14.60 14.88
14715 629.7 10.5 569 14729 done 0.65 - - 3114 - 2.38 0.045 2249 -592.9 235.4 - - 2104 - - - - - - - - 14.76 14.69 14.78
15070 595.9 9.4 577 15083 roll 0.65 - - 3120 - 2.38 0.067 853 -586.6 235.4 - - 2103 - - - - - - - - 14.90 14.66 14.90
15122 591.0 9.2 584 15136 done 0.65 - - 3120 - 2.42 0.063 2257 580.2 235.4 - - 2103 - - - - - - - - 14.80 14.66 14.78
15466 559.9 9.1 591 15479 roll 0.65 - - 3119 - 2.55 0.115 3655 548.2 235.4 - - 2103 - - - - - - - - 14.92 14.63 14.92
15518 554.6 10.2 598 15532 done 0.65 - - 3128 - 2.38 0.045 2253 -589.1 235.4 - - 2103 - - - - - - - - 14.79 14.72 14.81
15862 522.2 9.5 605 15875 done 0.65 - - 3129 - - - 2248 - 235.4 - - 2102 - - - - - - - - 14.93 14.93 14.93
16198 490.4 9.4 611 16211 roll 0.65 - - 3139 - 2.38 0.067 856 -584.9 235.4 - - 2103 - - - - - - - - 14.94 14.69 14.93
16237 486.7 9.4 616 16250 done 0.65 - - 3139 - 2.40 0.063 2261 585.4 235.4 - - 2101 - - - - - - - - 14.81 14.69 14.83
16598 451.9 9.7 625 16611 roll 0.65 - - 3139 - 2.53 0.112 3655 551.0 235.4 - - 2102 - - - - - - - - 14.94 14.64 14.94
16629 448.5 10.5 629 16643 done 0.65 0.12 0.247 3114 -208.3 2.35 0.045 2248 -598.7 235.4 - - 2103 - - - - - - - - 14.57 14.73 14.77
16998 417.2 8.4 639 17011 roll 0.65 - - 3123 - 2.35 0.065 859 -591.1 235.4 - - 2102 - - - - - - - - 14.94 14.69 14.94
17036 414.0 8.2 644 17049 done 0.65 - - 3123 - 2.38 0.061 2254 586.1 235.4 - - 2103 - - - - - - - - 14.80 14.69 14.82
17397 384.3 8.2 653 17411 roll 0.65 - - 3123 - 2.55 0.112 3657 550.2 235.4 - - 2102 - - - - - - - - 14.94 14.62 14.94
17429 381.4 9.1 657 17442 done 0.65 - - 3133 - 2.35 0.044 2253 -597.4 235.4 - - 2102 - - - - - - - - 14.81 14.73 14.83
17797 348.9 8.8 667 17810 roll 0.65 - - 3144 - 2.38 0.066 849 -589.9 235.4 - - 2103 - - - - - - - - 14.94 14.69 14.94
17828 346.0 9.1 671 17842 done 0.65 0.10 0.229 3114 -300.0 2.40 0.062 2259 587.5 235.4 - - 2103 - - - - - - - - 14.59 14.69 14.78
18197 315.9 8.2 681 18210 roll 0.65 - - 3113 - 2.53 0.112 3651 550.2 235.4 - - 2102 - - - - - - - - 14.94 14.64 14.94
18257 310.4 9.2 689 18271 done 0.65 - - 3120 - 2.35 0.045 2250 -596.2 235.4 - - 2102 - - - - - - - - 14.81 14.74 14.83
18598 280.5 8.9 702 18611 roll 0.65 - - 3131 - 2.35 0.064 859 -591.9 235.4 - - 2103 - - - - - - - - 14.95 14.69 14.95
18650 275.8 8.8 709 18665 done 0.65 - - 3131 - 2.40 0.061 2260 583.8 235.4 - - 2103 - - - - - - - - 14.80 14.68 14.83
18994 244.4 9.3 716 19007 roll 0.65 - - 3131 - 2.55 0.112 3659 548.6 235.4 - - 2103 - - - - - - - - 14.95 14.63 14.95
19025 241.1 10.5 720 19039 done 0.65 0.10 0.256 3113 -180.0 2.35 0.044 2252 -598.7 235.4 - - 2103 - - - - - - - - 14.56 14.74 14.77
19394 210.9 8.0 730 19407 roll 0.65 - - 3122 - 2.38 0.064 848 -589.9 235.4 - - 2102 - - - - - - - - 14.95 14.66 14.95
19439 207.2 8.2 736 19452 done 0.65 - - 3122 - 2.40 0.060 2263 589.6 235.4 - - 2103 - - - - - - - - 14.80 14.69 14.82
19793 177.8 8.4 744 19806 done 0.65 - - 3122 - - - 2263 - 235.4 - - 2103 - - - - - - - - 14.95 14.99 14.95
20130 150.3 8.1 750 20143 roll 0.65 - - 3120 - 2.53 0.109 3660 552.2 235.4 - - 2104 - - - - - - - - 14.95 14.64 14.95
20161 147.5 8.6 754 20174 done 0.65 - - 3131 - 2.35 0.043 2244 -602.6 235.4 - - 2105 - - - - - - - - 14.82 14.75 14.83
20529 118.9 7.6 764 20542 done 0.66 - - 3131 - - - 2240 - 239.2 - - 2104 - - - - - - - - 14.95 14.95 14.95
20837 95.4 7.7 770 20851 roll 0.66 - - 3132 - 2.60 0.107 3655 544.2 239.9 1.27 0.276 2098 -4.7 0.309 - - - - - - 14.95 14.62 14.42
20898 90.8 7.7 778 20911 done 0.66 - - 3140 - 2.35 0.045 2250 -597.9 240.2 1.80 0.336 2091 -3.9 0.199 - - - - - - 14.81 14.75 14.29
21232 70.2 5.0 792 21270 done 0.82 - - 3140 - - - 2245 - 300.4 29.05 0.387 1857 -8.1 0.276 - - - - - - 14.94 14.69 14.38
21568 57.8 3.7 807 21622 roll 1.16 0.30 0.071 3282 473.3 2.67 0.106 3662 530.7 388.7 41.22 0.347 1501 -8.6 0.272 - - - - - - 14.70 14.56 14.38
21696 47.2 9.6 825 21710 done 1.16 - - 3292 - 2.35 0.042 2257 -597.9 388.7 - - 1503 - - - - - - - - 14.72 14.65 14.73
22023 26.3 5.7 838 22058 roll 1.21 - - 3293 - 2.65 0.106 3660 529.4 432.1 20.48 0.246 1329 -8.5 0.172 - - - - - - 14.88 14.56 14.46
22188 13.4 8.6 861 22203 done 1.21 - - 3302 - 2.33 0.041 2254 -603.4 432.1 - - 1329 - - - - - - - - 14.76 14.69 14.76
22363 end climb: SURFACE_DEPTH_REACHED
22363 begin surface coast
22390 end surface coast: CONTROL_FINISHED_OK
22390 begin surface
SM -1.24 - - - - -8.39 9.07 0.083 194 21.4 0.93 0.086 2769 1869.9 500.14 30.65 0.155 1056 34.5 0.028 - - - - - -