SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 1 • 44.23 of 350.00 AH used of 24V (87.36% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.3 deg, depth -1.30 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 47 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - 160 - - - 2777 - -116.8 -75.72 - 3516 - - - - - - - - 14.69 13.40 14.69
98 0.5 -5.4 2 114 roll -0.90 11.60 0.399 2602 210.5 2.35 0.033 1371 -598.3 -116.8 - - 3518 - - - - - - - - 14.24 14.52 14.52
133 25.4 -48.1 8 142 done -0.07 1.02 0.259 2865 257.8 2.50 0.071 2760 555.6 -116.8 - - 3521 - - - - - - - - 14.33 14.45 14.48
456 58.9 -8.0 21 463 roll -0.21 0.05 0.206 2808 -1140.0 1.95 0.110 3829 548.2 -116.8 - - 3519 - - - - - - - - 14.61 14.52 14.68
574 69.8 -7.5 38 582 done -0.33 - - 2803 - 1.80 0.044 2756 -596.1 -116.8 - - 3520 - - - - - - - - 14.72 14.68 14.73
904 87.0 -4.6 52 912 roll -0.49 0.12 0.099 2720 -691.7 2.22 0.041 1369 -624.8 -116.8 - - 3522 - - - - - - - - 14.69 14.67 14.73
938 89.3 -6.9 57 946 done -0.49 0.08 0.221 2734 175.0 2.42 0.065 2771 579.3 -116.8 - - 3522 - - - - - - - - 14.54 14.62 14.66
1268 112.0 -6.5 68 1270 done -0.49 - - 2734 - - - 2772 - -116.8 - - 3522 - - - - - - - - 14.91 14.91 14.91
1604 135.1 -7.0 74 1611 roll -0.49 - - 2725 - 1.92 0.109 3826 549.0 -116.8 - - 3522 - - - - - - - - 14.94 14.64 14.94
1659 139.2 -7.5 82 1667 done -0.49 - - 2726 - 1.75 0.044 2762 -608.0 -116.8 - - 3521 - - - - - - - - 14.79 14.76 14.80
1996 161.8 -6.5 95 2003 roll -0.57 - - 2726 - 2.30 0.044 1380 -600.9 -116.8 - - 3519 - - - - - - - - 14.94 14.71 14.94
2093 168.3 -6.8 109 2101 done -0.66 - - 2718 - 2.40 0.067 2761 575.4 -116.8 - - 3518 - - - - - - - - 14.74 14.66 14.77
2444 190.9 -6.4 117 2451 roll -0.66 - - 2710 - 1.95 0.110 3822 544.1 -116.8 - - 3518 - - - - - - - - 14.94 14.64 14.94
2500 194.9 -7.2 125 2507 done -0.66 - - 2710 - 1.77 0.046 2754 -603.4 -116.8 - - 3515 - - - - - - - - 14.78 14.76 14.80
2836 218.8 -7.2 138 2843 roll -0.66 - - 2710 - 2.28 0.044 1371 -606.6 -116.8 - - 3512 - - - - - - - - 14.95 14.73 14.95
2919 225.3 -7.6 150 2927 done -0.66 - - 2701 - 2.42 0.067 2754 571.5 -116.8 - - 3511 - - - - - - - - 14.75 14.67 14.77
3285 254.3 -8.1 160 3301 done -0.66 - - 2701 - - - 2754 - -116.8 - - 3507 - - - - - - - - 14.95 14.98 14.95
3619 281.0 -7.9 166 3633 roll -0.66 - - 2701 - 2.30 0.045 1378 -598.3 -116.8 - - 3507 - - - - - - - - 14.99 14.76 14.98
3707 287.8 -7.7 178 3720 done -0.66 - - 2692 - 2.38 0.071 2757 579.4 -116.8 - - 3506 - - - - - - - - 14.85 14.72 14.86
4075 315.8 -7.5 188 4088 done -0.66 - - 2692 - - - 2758 - -116.8 - - 3504 - - - - - - - - 15.01 15.00 15.00
4411 339.5 -6.9 194 4424 roll -0.66 - - 2691 - 2.30 0.047 1379 -599.6 -116.8 - - 3501 - - - - - - - - 15.00 14.78 15.00
4450 342.2 -7.2 199 4463 done -0.66 - - 2682 - 2.38 0.073 2753 577.3 -116.8 - - 3502 - - - - - - - - 14.86 14.73 14.88
4811 367.0 -6.9 208 4824 roll -0.66 - - 2674 - 1.95 0.116 3830 552.3 -116.8 - - 3499 - - - - - - - - 15.02 14.71 15.02
4878 371.9 -7.5 217 4891 done -0.66 - - 2673 - 1.75 0.050 2757 -613.1 -116.8 - - 3499 - - - - - - - - 14.88 14.83 14.90
5211 397.4 -7.9 229 5224 done -0.66 - - 2673 - - - 2758 - -116.8 - - 3497 - - - - - - - - 15.02 15.01 15.01
5547 425.4 -8.4 235 5560 roll -0.66 - - 2673 - 2.30 0.047 1369 -603.9 -116.8 - - 3496 - - - - - - - - 15.01 14.78 15.01
5592 429.4 -8.7 241 5606 done -0.66 - - 2664 - 2.40 0.073 2754 577.1 -116.8 - - 3495 - - - - - - - - 14.86 14.73 14.88
5947 459.3 -8.4 249 5960 roll -0.66 - - 2655 - 1.95 0.116 3835 554.4 -116.8 - - 3495 - - - - - - - - 15.00 14.69 15.00
6041 467.7 -8.8 262 6054 done -0.66 0.10 0.238 2685 300.0 1.77 0.050 2743 -616.9 -116.8 - - 3493 - - - - - - - - 14.64 14.83 14.82
6403 493.3 -7.0 271 6416 roll -0.66 - - 2686 - 2.28 0.048 1370 -602.2 -116.8 - - 3491 - - - - - - - - 15.01 14.78 15.01
6504 500.6 -7.1 285 6517 done -0.66 - - 2677 - 2.40 0.072 2750 575.0 -116.8 - - 3490 - - - - - - - - 14.83 14.70 14.84
6858 527.5 -7.8 293 6871 roll -0.66 - - 2669 - 1.98 0.117 3836 548.5 -116.8 - - 3489 - - - - - - - - 15.00 14.67 15.01
6889 530.1 -8.2 297 6902 done -0.66 - - 2668 - 1.80 0.050 2739 -609.4 -116.8 - - 3488 - - - - - - - - 14.90 14.81 14.88
7257 560.7 -8.3 307 7270 roll -0.66 - - 2668 - 2.28 0.048 1366 -602.2 -116.8 - - 3486 - - - - - - - - 15.00 14.76 15.00
7282 562.9 -8.4 310 7295 done -0.66 - - 2659 - 2.40 0.073 2754 578.3 -116.8 - - 3487 - - - - - - - - 14.85 14.72 14.86
7601 590.4 -8.6 320 7614 done -0.66 - - 2659 - - - 2755 - -116.8 - - 3485 - - - - - - - - 15.00 15.00 15.00
7937 618.6 -8.4 326 7950 roll -0.66 - - 2659 - 2.35 0.048 1358 -594.5 -116.8 - - 3485 - - - - - - - - 15.00 14.76 15.00
7975 622.0 -8.7 331 7988 done -0.66 0.12 0.238 2687 233.3 2.42 0.073 2757 578.1 -116.8 - - 3484 - - - - - - - - 14.59 14.71 14.78
8336 649.4 -7.6 340 8349 done -0.66 - - 2687 - - - 2757 - -116.8 - - 3483 - - - - - - - - 14.99 15.00 15.00
8673 674.3 -7.4 346 8686 roll -0.66 - - 2687 - 2.35 0.050 1363 -593.2 -116.8 - - 3482 - - - - - - - - 14.99 14.75 15.00
8704 676.8 -7.6 350 8717 done -0.66 - - 2678 - 2.45 0.075 2760 570.2 -116.8 - - 3481 - - - - - - - - 14.83 14.69 14.85
9072 703.3 -7.1 360 9086 roll -0.66 - - 2671 - 1.95 0.120 3820 543.6 -116.8 - - 3480 - - - - - - - - 14.99 14.64 14.99
9153 709.3 -7.4 371 9166 done -0.66 - - 2671 - 1.77 0.050 2749 -605.1 -116.8 - - 3480 - - - - - - - - 14.85 14.80 14.86
9472 731.3 -6.9 381 9485 roll -0.66 - - 2671 - 2.33 0.050 1357 -597.4 -116.8 - - 3479 - - - - - - - - 14.98 14.73 14.98
9525 735.0 -6.9 388 9539 done -0.66 - - 2661 - 2.45 0.073 2750 568.6 -116.8 - - 3483 - - - - - - - - 14.83 14.69 14.84
9869 758.7 -6.8 395 9882 done -0.66 - - 2662 - - - 2751 - -116.8 - - 3478 - - - - - - - - 14.98 14.98 14.98
10205 782.0 -6.9 401 10217 done -0.66 - - 2659 - - - 2750 - -116.8 - - 3477 - - - - - - - - 14.98 14.98 14.98
10541 803.5 -6.3 407 10554 done -0.66 - - 2662 - - - 2749 - -116.8 - - 3476 - - - - - - - - 14.98 14.98 14.98
10877 823.3 -5.8 413 10890 roll -0.66 - - 2661 - 2.35 0.051 1370 -586.8 -116.8 - - 3475 - - - - - - - - 14.97 14.71 14.98
10915 825.6 -4.2 418 10928 done -0.66 0.10 0.246 2682 210.0 2.42 0.075 2755 572.3 -116.8 - - 3475 - - - - - - - - 14.54 14.66 14.76
11276 844.0 -5.1 427 11289 done -0.66 - - 2682 - - - 2754 - -116.8 - - 3474 - - - - - - - - 14.97 14.97 14.97
11613 863.0 -5.8 433 11626 roll -0.66 - - 2682 - 2.35 0.050 1369 -589.4 -116.8 - - 3473 - - - - - - - - 14.97 14.71 14.97
11679 866.9 -6.3 442 11692 done -0.74 - - 2674 - 2.42 0.076 2754 572.3 -116.8 - - 3473 - - - - - - - - 14.80 14.65 14.82
12012 889.0 -6.7 454 12025 done -0.74 - - 2674 - - - 2753 - -116.8 - - 3473 - - - - - - - - 14.97 14.97 14.97
12349 913.6 -7.4 460 12362 roll -0.74 - - 2674 - 2.35 0.050 1372 -587.7 -116.8 - - 3471 - - - - - - - - 14.97 14.70 14.97
12395 916.6 -3.9 466 12408 done -0.74 - - 2664 - 2.42 0.076 2753 570.7 -116.8 - - 3470 - - - - - - - - 14.79 14.67 14.81
12579 end dive: TARGET_DEPTH_EXCEEDED
12579 begin apogee
12583 930.7 -7.2 471 12710 roll -0.23 0.52 0.187 2821 301.9 - - 2234 - - 117.03 1.932 3050 -3.6 0.327 - - - - - - 14.53 14.07 13.42
12712 end apogee: CONTROL_FINISHED_OK
12712 begin climb
12713 934.8 - 473 12852 roll 0.90 1.10 0.114 3169 316.4 2.47 0.060 845 -562.3 116.8 122.22 1.908 2585 -3.8 0.353 - - - - - - 14.08 14.10 13.28
12864 928.7 9.5 497 12878 done 0.68 0.17 0.236 3123 -270.6 2.53 0.058 2258 558.5 116.8 - - 2574 - - - - - - - - 13.93 14.01 14.09
13205 900.4 8.3 510 13218 roll 0.68 - - 3122 - 2.58 0.107 3658 542.6 116.8 - - 2569 - - - - - - - - 14.66 14.37 14.66
13285 892.5 9.8 521 13299 done 0.55 0.20 0.241 3079 -215.0 2.40 0.046 2245 -588.8 116.8 - - 2569 - - - - - - - - 14.31 14.51 14.54
13605 868.3 7.5 531 13618 done 0.55 - - 3079 - - - 2241 - 121.2 - - 2568 - - - - - - - - 14.80 14.80 14.80
13941 843.4 7.4 537 13965 roll 0.56 - - 3078 - 2.67 0.109 3655 529.6 129.5 9.98 2.147 2530 -3.8 0.283 - - - - - - 14.85 14.52 13.89
14005 838.2 8.5 546 14018 done 0.56 - - 3089 - 2.38 0.047 2254 -588.7 129.5 - - 2529 - - - - - - - - 14.66 14.59 14.67
14338 813.4 7.4 558 14351 done 0.57 - - 3089 - - - 2250 - 137.8 4.50 1.886 2500 -6.4 0.526 - - - - - - 14.83 14.63 13.58
14674 790.3 7.0 564 14714 roll 0.59 - - 3089 - 2.65 0.111 3661 532.5 154.6 25.75 1.928 2425 -2.9 0.226 - - - - - - 14.85 14.42 13.83
14739 785.5 8.0 573 14752 done 0.59 - - 3099 - 2.42 0.047 2245 -585.1 154.6 - - 2423 - - - - - - - - 14.55 14.50 14.56
15072 759.7 7.7 585 15086 roll 0.60 - - 3109 - 2.40 0.068 857 -578.3 156.6 - - 2421 - - - - - - - - 14.79 14.54 14.79
15111 756.6 7.5 590 15124 done 0.60 - - 3109 - 2.42 0.061 2264 581.4 161.0 1.52 0.272 2406 -9.9 5.192 - - - - - - 14.66 14.56 14.37
15472 727.2 8.2 599 15486 roll 0.60 - - 3109 - 2.55 0.109 3658 546.7 161.0 1.20 0.281 2409 2.5 -1.224 - - - - - - 14.85 14.56 14.47
15546 720.5 9.1 609 15559 done 0.60 - - 3119 - 2.38 0.047 2252 -590.8 161.0 - - 2416 - - - - - - - - 14.73 14.66 14.74
15872 693.2 8.3 620 15886 roll 0.60 - - 3129 - 2.35 0.064 853 -595.3 161.0 0.95 0.296 2409 -7.4 3.264 - - - - - - 14.89 14.64 14.50
15904 690.5 7.9 624 15917 done 0.60 0.12 0.226 3094 -291.7 2.40 0.062 2257 585.0 161.0 - - 2413 - - - - - - - - 14.53 14.64 14.71
16273 665.1 6.8 634 16313 roll 0.63 - - 3093 - 2.65 0.108 3659 529.1 181.9 28.42 1.818 2320 -3.3 0.226 - - - - - - 14.90 14.44 13.87
16359 658.5 8.1 646 16372 done 0.63 - - 3103 - 2.40 0.047 2247 -588.3 181.9 - - 2314 - - - - - - - - 14.59 14.52 14.60
16720 631.3 7.6 655 16734 roll 0.63 - - 3103 - 2.62 0.108 3657 538.2 186.0 - - 2312 - - - - - - - - 14.81 14.52 14.81
16759 627.9 8.7 660 16772 done 0.63 - - 3113 - 2.38 0.046 2250 -591.2 186.0 - - 2313 - - - - - - - - 14.69 14.62 14.70
17120 598.0 8.3 669 17134 roll 0.63 - - 3123 - 2.40 0.067 851 -582.9 186.0 - - 2312 - - - - - - - - 14.86 14.61 14.86
17159 594.7 8.6 674 17172 done 0.63 - - 3122 - 2.42 0.060 2266 584.7 186.0 - - 2312 - - - - - - - - 14.73 14.62 14.74
17520 562.8 8.9 683 17533 roll 0.63 - - 3123 - 2.55 0.110 3661 547.1 186.0 - - 2312 - - - - - - - - 14.88 14.59 14.89
17593 555.5 10.0 693 17606 done 0.63 - - 3132 - 2.35 0.045 2259 -596.6 186.0 - - 2312 - - - - - - - - 14.77 14.70 14.78
17919 526.6 8.8 704 17932 roll 0.63 - - 3144 - 2.40 0.066 856 -584.6 186.0 - - 2312 - - - - - - - - 14.90 14.65 14.90
17971 522.0 8.8 711 17986 done 0.63 0.12 0.233 3108 -300.0 2.42 0.060 2264 581.8 186.0 - - 2312 - - - - - - - - 14.52 14.66 14.72
18316 496.2 7.4 718 18333 roll 0.64 - - 3107 - 2.53 0.109 3659 551.4 192.6 4.78 1.798 2286 -5.4 0.284 - - - - - - 14.92 14.64 13.75
18393 489.7 8.3 729 18407 done 0.64 - - 3117 - 2.35 0.046 2257 -596.6 192.6 1.45 0.297 2282 -2.8 0.860 - - - - - - 14.76 14.69 14.35
18713 465.8 7.5 739 18738 roll 0.65 - - 3126 - 2.45 0.066 851 -573.9 197.5 9.93 1.816 2258 -2.4 0.117 - - - - - - 14.90 14.62 14.02
18756 462.4 7.3 745 18777 done 0.66 - - 3126 - 2.42 0.061 2267 585.1 207.1 9.27 1.806 2227 -3.3 0.162 - - - - - - 14.71 14.60 13.97
19105 432.7 8.7 759 19118 done 0.66 - - 3127 - - - 2267 - 207.1 - - 2221 - - - - - - - - 14.82 14.82 14.82
19440 401.5 9.4 765 19453 done 0.66 - - 3126 - - - 2267 - 207.1 - - 2221 - - - - - - - - 14.87 14.86 14.87
19776 371.2 8.9 771 19789 roll 0.66 - - 3127 - 2.55 0.109 3663 547.5 207.1 - - 2221 - - - - - - - - 14.90 14.59 14.90
19800 368.9 8.8 774 19813 done 0.66 - - 3137 - 2.35 0.046 2259 -597.4 207.1 - - 2221 - - - - - - - - 14.77 14.70 14.78
20119 341.1 8.6 784 20132 done 0.66 - - 3136 - - - 2255 - 207.1 - - 2221 - - - - - - - - 14.91 14.91 14.91
20455 313.4 8.1 790 20468 done 0.66 - - 3137 - - - 2255 - 207.1 - - 2221 - - - - - - - - 14.92 14.92 14.92
20791 285.6 8.3 796 20804 done 0.66 - - 3137 - - - 2255 - 207.1 - - 2221 - - - - - - - - 14.92 14.92 14.92
21127 258.0 8.2 802 21140 done 0.66 - - 3137 - - - 2255 - 207.1 - - 2221 - - - - - - - - 14.93 14.91 14.93
21463 230.1 8.4 808 21476 roll 0.66 - - 3147 - 2.40 0.067 857 -582.5 207.1 - - 2221 - - - - - - - - 14.93 14.68 14.94
21508 226.1 8.6 814 21522 done 0.66 0.10 0.233 3117 -300.0 2.40 0.063 2259 584.2 207.1 - - 2221 - - - - - - - - 14.56 14.67 14.75
21863 198.7 7.8 822 21876 roll 0.66 - - 3114 - 2.55 0.108 3666 551.8 207.1 - - 2221 - - - - - - - - 14.94 14.62 14.94
21943 191.5 9.0 833 21956 done 0.66 - - 3125 - 2.35 0.045 2257 -599.6 207.1 - - 2221 - - - - - - - - 14.81 14.73 14.81
22262 164.9 8.4 843 22275 roll 0.66 - - 3135 - 2.38 0.065 859 -587.4 207.1 - - 2221 - - - - - - - - 14.95 14.68 14.95
22286 162.8 8.4 846 22300 done 0.66 - - 3135 - 2.40 0.060 2276 590.4 207.1 - - 2222 - - - - - - - - 14.80 14.68 14.81
22606 137.4 8.0 856 22619 roll 0.66 - - 3135 - 2.50 0.109 3652 550.4 207.1 - - 2222 - - - - - - - - 14.94 14.62 14.93
22672 131.8 8.2 865 22686 done 0.66 0.10 0.241 3117 -180.0 2.30 0.044 2266 -602.6 207.1 - - 2222 - - - - - - - - 14.55 14.73 14.75
23007 110.8 6.3 877 23038 roll 0.70 - - 3116 - 2.60 0.104 3652 533.1 239.1 14.80 0.505 2101 -8.2 0.339 - - - - - - 14.94 14.62 14.33
23134 99.7 8.4 895 23147 done 0.70 - - 3125 - 2.30 0.044 2267 -602.2 239.1 - - 2103 - - - - - - - - 14.78 14.72 14.79
23461 81.3 4.7 911 23508 roll 0.87 0.08 0.150 3197 900.0 2.55 0.106 3650 542.4 304.1 31.00 0.417 1842 -8.4 0.310 - - - - - - 14.69 14.55 14.35
23576 70.7 11.1 927 23590 done 0.87 - - 3205 - 2.30 0.043 2272 -599.1 304.1 - - 1842 - - - - - - - - 14.72 14.66 14.74
23917 51.0 4.4 942 23960 done 0.96 - - 3205 - - - 2268 - 377.3 34.60 0.327 1547 -8.5 0.252 - - - - - - 14.88 14.65 14.38
24253 34.2 4.8 954 24293 done 1.20 0.15 0.096 3306 673.3 - - 2268 - 441.4 30.65 0.269 1292 -8.3 0.200 - - - - - - 14.68 14.66 14.42
24589 7.4 7.8 969 24602 roll 1.20 - - 3314 - 2.38 0.063 866 -589.1 441.4 - - 1290 - - - - - - - - 14.88 14.62 14.88
24661 end climb: SURFACE_DEPTH_REACHED
24661 begin surface coast
24668 end surface coast: CONTROL_FINISHED_OK
24668 begin surface
SM -0.54 - - - - -8.39 9.23 0.090 197 21.3 3.30 0.063 2765 681.5 500.14 26.58 0.162 1057 39.8 0.014 - - - - - -