SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 105 * Raw log
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• Previous call tries 1 • 44.59 of 350.00 AH used of 24V (87.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -1.23 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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 - - - 96 done -0.90 - - 180 - - - 2779 - -116.8 -75.55 - 3515 - - - - - - - - 14.67 13.40 14.68
98 0.7 -5.6 2 119 roll -0.90 11.38 0.394 2600 212.7 2.33 0.033 1358 -609.9 -116.8 - - 3518 - - - - - - - - 14.25 14.50 14.50
123 22.6 -54.2 7 132 done 0.20 1.30 0.267 2952 270.8 2.50 0.070 2760 560.8 -116.8 - - 3517 - - - - - - - - 14.31 14.43 14.52
454 48.6 -7.4 21 461 roll -0.29 0.35 0.095 2813 -397.1 2.30 0.042 1371 -603.9 -116.8 - - 3520 - - - - - - - - 14.58 14.60 14.67
509 53.2 -7.8 29 517 done -0.48 0.12 0.063 2724 -741.7 2.45 0.067 2766 569.4 -116.8 - - 3520 - - - - - - - - 14.63 14.55 14.66
845 84.7 -7.6 44 854 roll -0.48 - - 2715 - 1.92 0.106 3820 549.0 -116.8 - - 3521 - - - - - - - - 14.87 14.57 14.87
1082 101.8 -5.3 78 1090 done -0.48 - - 2716 - 1.77 0.041 2750 -604.5 -116.8 - - 3522 - - - - - - - - 14.76 14.73 14.78
1405 120.6 -5.6 89 1413 roll -0.48 - - 2708 - 2.00 0.106 3825 537.5 -116.8 - - 3521 - - - - - - - - 14.93 14.62 14.92
1509 128.5 -7.4 104 1520 done -0.48 0.10 0.219 2740 320.0 1.75 0.043 2774 -600.6 -116.8 - - 3522 - - - - - - - - 14.60 14.76 14.75
1854 148.4 -5.7 111 1861 roll -0.59 - - 2741 - 2.33 0.043 1379 -598.7 -116.8 - - 3521 - - - - - - - - 14.93 14.70 14.93
1902 151.4 -6.0 118 1911 done -0.70 0.10 0.074 2649 -920.0 2.42 0.065 2770 574.8 -116.8 - - 3520 - - - - - - - - 14.73 14.66 14.76
2245 180.8 -8.6 125 2253 roll -0.70 - - 2641 - 1.92 0.106 3820 546.9 -116.8 - - 3518 - - - - - - - - 14.95 14.64 14.95
2349 190.4 -8.9 140 2360 done -0.62 0.20 0.208 2701 300.0 1.77 0.043 2755 -601.7 -116.8 - - 3517 - - - - - - - - 14.59 14.78 14.76
2694 213.0 -6.6 147 2701 roll -0.62 - - 2701 - 2.30 0.043 1381 -597.4 -116.8 - - 3514 - - - - - - - - 14.95 14.71 14.95
2720 214.9 -7.0 151 2729 done -0.62 - - 2692 - 2.42 0.066 2772 574.8 -116.8 - - 3514 - - - - - - - - 14.75 14.68 14.78
3085 241.8 -7.5 161 3093 roll -0.62 - - 2691 - 2.35 0.044 1385 -590.2 -116.8 - - 3510 - - - - - - - - 14.94 14.70 14.95
3141 246.2 -7.9 169 3149 done -0.62 - - 2680 - 2.42 0.067 2767 571.1 -116.8 - - 3511 - - - - - - - - 14.73 14.66 14.77
3477 274.4 -8.5 182 3491 roll -0.62 - - 2681 - 2.30 0.044 1384 -601.3 -116.8 - - 3508 - - - - - - - - 14.97 14.76 14.97
3516 277.7 -8.8 187 3529 done -0.62 0.10 0.238 2702 210.0 2.38 0.070 2772 583.2 -116.8 - - 3507 - - - - - - - - 14.64 14.70 14.81
3878 303.9 -7.1 196 3891 done -0.62 - - 2701 - - - 2773 - -116.8 - - 3505 - - - - - - - - 15.00 15.00 15.00
4213 327.6 -7.1 202 4227 roll -0.62 - - 2702 - 2.33 0.045 1380 -597.9 -116.8 - - 3503 - - - - - - - - 15.00 14.78 15.01
4301 333.8 -6.9 214 4314 done -0.62 - - 2693 - 2.38 0.070 2767 582.8 -116.8 - - 3502 - - - - - - - - 14.85 14.73 14.87
4669 359.7 -7.1 224 4682 roll -0.62 - - 2685 - 1.90 0.114 3822 555.3 -116.8 - - 3498 - - - - - - - - 15.00 14.70 15.01
4714 363.1 -7.5 230 4728 done -0.62 - - 2685 - 1.70 0.048 2776 -615.3 -116.8 - - 3500 - - - - - - - - 14.87 14.81 14.88
5069 388.2 -7.0 238 5082 roll -0.62 - - 2685 - 2.33 0.046 1370 -603.4 -116.8 - - 3496 - - - - - - - - 15.01 14.77 15.01
5114 391.5 -7.0 244 5127 done -0.62 - - 2676 - 2.40 0.070 2763 580.4 -116.8 - - 3497 - - - - - - - - 14.83 14.71 14.85
5468 417.4 -7.4 252 5481 roll -0.62 - - 2668 - 1.92 0.116 3826 553.6 -116.8 - - 3495 - - - - - - - - 15.00 14.73 15.01
5513 421.1 -8.2 258 5527 done -0.62 0.10 0.233 2697 290.0 1.75 0.050 2757 -610.9 -116.8 - - 3495 - - - - - - - - 14.63 14.83 14.81
5868 444.9 -6.7 266 5881 roll -0.62 - - 2698 - 2.30 0.048 1362 -606.5 -116.8 - - 3494 - - - - - - - - 15.00 14.74 15.00
5955 451.1 -6.9 278 5969 done -0.69 - - 2689 - 2.42 0.073 2761 578.1 -116.8 - - 3493 - - - - - - - - 14.86 14.72 14.88
6324 477.3 -7.2 288 6337 roll -0.69 - - 2689 - 2.33 0.047 1369 -597.4 -116.8 - - 3491 - - - - - - - - 15.00 14.78 15.00
6369 480.6 -7.2 294 6382 done -0.69 - - 2679 - 2.40 0.073 2760 579.6 -116.8 - - 3490 - - - - - - - - 14.85 14.72 14.90
6723 507.0 -7.5 302 6736 roll -0.69 - - 2672 - 1.92 0.116 3822 553.1 -116.8 - - 3488 - - - - - - - - 15.00 14.67 15.00
6754 509.5 -7.9 306 6768 done -0.69 - - 2672 - 1.75 0.049 2754 -610.3 -116.8 - - 3489 - - - - - - - - 14.88 14.82 14.88
7123 537.5 -7.6 316 7136 roll -0.69 - - 2672 - 2.30 0.048 1365 -603.9 -116.8 - - 3487 - - - - - - - - 15.00 14.75 15.00
7217 544.8 -7.6 329 7230 done -0.69 - - 2667 - 2.42 0.073 2760 576.4 -116.8 - - 3487 - - - - - - - - 14.83 14.70 14.85
7578 572.5 -7.7 338 7592 roll -0.69 - - 2656 - 1.95 0.117 3824 545.6 -116.8 - - 3485 - - - - - - - - 15.00 14.66 15.00
7645 577.9 -8.3 347 7658 done -0.69 - - 2655 - 1.77 0.048 2734 -615.8 -116.8 - - 3485 - - - - - - - - 14.87 14.82 14.88
7978 604.0 -7.8 359 7991 roll -0.69 - - 2655 - 2.25 0.047 1378 -602.7 -116.8 - - 3483 - - - - - - - - 14.99 14.76 14.98
8044 609.4 -7.9 368 8057 done -0.69 - - 2647 - 2.40 0.073 2759 575.4 -116.8 - - 3483 - - - - - - - - 14.83 14.69 14.85
8377 637.1 -8.4 380 8390 roll -0.69 - - 2639 - 1.95 0.118 3826 547.2 -116.8 - - 3481 - - - - - - - - 14.99 14.65 14.99
8486 646.8 -8.8 395 8500 done -0.69 0.12 0.230 2676 308.3 1.77 0.050 2759 -602.8 -116.8 - - 3481 - - - - - - - - 14.57 14.79 14.78
8830 671.4 -7.1 402 8843 roll -0.69 - - 2676 - 2.33 0.049 1367 -597.4 -116.8 - - 3480 - - - - - - - - 14.98 14.73 15.00
8917 677.9 -7.1 414 8930 done -0.69 - - 2666 - 2.42 0.073 2757 574.4 -116.8 - - 3480 - - - - - - - - 14.82 14.68 14.83
9285 704.1 -7.2 424 9298 done -0.69 - - 2667 - - - 2757 - -116.8 - - 3479 - - - - - - - - 14.98 14.98 14.98
9621 727.8 -7.0 430 9635 roll -0.69 - - 2667 - 2.35 0.050 1369 -590.6 -116.8 - - 3478 - - - - - - - - 14.99 14.73 14.99
9653 730.1 -7.4 434 9666 done -0.69 - - 2658 - 2.42 0.074 2753 571.9 -116.8 - - 3478 - - - - - - - - 14.82 14.68 14.84
10021 756.2 -7.1 444 10035 roll -0.69 - - 2658 - 2.35 0.049 1370 -588.5 -116.8 - - 3477 - - - - - - - - 14.97 14.72 14.98
10067 759.8 -8.0 450 10080 done -0.69 - - 2650 - 2.42 0.075 2751 570.7 -116.8 - - 3477 - - - - - - - - 14.81 14.66 14.83
10421 785.8 -7.5 458 10434 roll -0.69 - - 2641 - 1.98 0.119 3825 542.4 -116.8 - - 3476 - - - - - - - - 14.97 14.62 14.97
10487 791.1 -8.1 467 10501 done -0.69 0.10 0.237 2671 300.0 1.77 0.050 2750 -607.3 -116.8 - - 3476 - - - - - - - - 14.58 14.78 14.76
10821 813.7 -6.7 479 10834 roll -0.69 - - 2671 - 2.33 0.049 1362 -595.7 -116.8 - - 3475 - - - - - - - - 14.97 14.71 14.97
10881 818.0 -7.1 487 10894 done -0.69 - - 2663 - 2.45 0.074 2753 567.8 -116.8 - - 3475 - - - - - - - - 14.79 14.65 14.81
11221 843.3 -7.5 500 11234 done -0.69 - - 2662 - - - 2754 - -116.8 - - 3474 - - - - - - - - 14.96 14.96 14.95
11558 867.7 -7.2 506 11571 roll -0.69 - - 2662 - 2.35 0.050 1371 -588.5 -116.8 - - 3474 - - - - - - - - 14.96 14.70 14.96
11610 871.7 -7.3 513 11624 done -0.69 - - 2654 - 2.45 0.074 2760 566.9 -116.8 - - 3473 - - - - - - - - 14.78 14.64 14.81
11954 896.7 -7.3 520 11967 done -0.69 - - 2654 - - - 2760 - -116.8 - - 3470 - - - - - - - - 14.96 14.96 14.95
12290 919.8 -6.8 526 12303 roll -0.69 - - 2654 - 2.38 0.049 1366 -585.7 -116.8 - - 3471 - - - - - - - - 14.96 14.69 14.95
12335 923.0 -5.0 532 12350 done -0.69 0.10 0.246 2675 210.0 2.45 0.075 2753 566.1 -116.8 - - 3471 - - - - - - - - 14.51 14.63 14.72
12465 end dive: TARGET_DEPTH_EXCEEDED
12465 begin apogee
12469 930.8 -5.8 536 12594 roll -0.23 0.50 0.178 2826 302.0 - - 2235 - - 114.72 1.975 3050 -3.7 0.328 - - - - - - 14.53 14.06 13.40
12595 end apogee: CONTROL_FINISHED_OK
12595 begin climb
12597 933.8 - 538 12737 roll 0.90 1.08 0.111 3167 315.7 2.47 0.059 846 -562.3 116.8 122.68 1.921 2581 -3.8 0.352 - - - - - - 14.07 14.14 13.26
12742 928.0 7.0 561 12775 done 0.69 0.15 0.243 3128 -260.0 2.53 0.057 2255 556.9 132.6 16.15 2.101 2515 -4.1 0.342 - - - - - - 13.90 13.97 13.31
13089 898.1 8.4 575 13103 roll 0.61 0.08 0.285 3101 -337.5 2.58 0.104 3652 541.5 132.6 - - 2508 - - - - - - - - 14.27 14.34 14.41
13135 894.0 10.4 581 13148 done 0.53 0.15 0.240 3070 -206.7 2.40 0.044 2241 -587.9 132.6 - - 2509 - - - - - - - - 14.30 14.46 14.50
13490 872.7 5.8 589 13552 roll 0.58 - - 3070 - 2.72 0.106 3646 516.5 174.6 45.35 1.923 2348 -3.6 0.305 - - - - - - 14.78 14.19 13.63
13584 866.4 8.9 602 13597 done 0.58 - - 3080 - 2.40 0.045 2257 -578.8 174.6 - - 2345 - - - - - - - - 14.40 14.34 14.42
13945 842.0 6.8 611 13975 done 0.60 - - 3080 - - - 2251 - 195.3 21.38 2.027 2273 -3.4 0.265 - - - - - - 14.75 14.40 13.71
14281 817.3 7.3 617 14299 roll 0.61 - - 3081 - 2.65 0.109 3672 536.2 204.3 3.67 1.631 2241 -8.7 0.828 - - - - - - 14.74 14.46 13.49
14324 813.7 8.7 623 14337 done 0.61 - - 3090 - 2.42 0.046 2247 -588.8 204.3 1.85 0.412 2237 -2.2 0.809 - - - - - - 14.62 14.55 14.16
14668 787.5 7.7 630 14681 done 0.61 - - 3090 - - - 2242 - 204.7 1.73 0.347 2236 - - - - - - - - 14.82 14.62 14.19
15004 762.9 7.3 636 15036 roll 0.63 - - 3090 - 2.67 0.108 3651 527.7 214.3 17.25 1.990 2189 -2.7 0.198 - - - - - - 14.86 14.47 13.89
15103 754.7 8.6 650 15116 done 0.63 - - 3099 - 2.38 0.046 2251 -588.2 214.3 - - 2187 - - - - - - - - 14.62 14.56 14.63
15457 727.4 7.7 658 15470 roll 0.63 - - 3110 - 2.40 0.067 857 -580.8 214.4 - - 2185 - - - - - - - - 14.82 14.59 14.82
15488 725.0 7.5 662 15502 done 0.63 - - 3110 - 2.40 0.060 2259 584.2 219.8 1.33 0.286 2173 -9.0 4.333 - - - - - - 14.70 14.59 14.39
15857 695.0 8.2 672 15870 roll 0.63 - - 3110 - 2.55 0.109 3656 547.8 219.8 - - 2182 - - - - - - - - 14.87 14.59 14.85
15917 689.3 9.6 680 15930 done 0.63 - - 3119 - 2.38 0.045 2250 -590.8 219.8 - - 2182 - - - - - - - - 14.75 14.68 14.76
16257 659.8 8.7 693 16270 roll 0.63 - - 3129 - 2.38 0.065 861 -583.6 219.8 - - 2184 - - - - - - - - 14.90 14.64 14.90
16281 657.5 8.8 696 16295 done 0.63 - - 3129 - 2.40 0.060 2261 583.3 219.8 - - 2182 - - - - - - - - 14.76 14.65 14.78
16601 628.4 9.1 706 16615 roll 0.63 - - 3129 - 2.47 0.108 3657 565.2 219.8 - - 2182 - - - - - - - - 14.91 14.60 14.91
16647 623.6 10.6 712 16661 done 0.63 0.12 0.240 3104 -208.3 2.35 0.045 2252 -597.9 219.8 - - 2182 - - - - - - - - 14.54 14.71 14.73
17002 594.5 8.1 720 17015 roll 0.63 - - 3115 - 2.38 0.064 859 -585.3 219.8 - - 2182 - - - - - - - - 14.92 14.66 14.92
17033 591.8 7.9 724 17047 done 0.63 - - 3114 - 2.40 0.060 2264 585.4 219.8 - - 2182 - - - - - - - - 14.78 14.67 14.79
17402 560.4 8.6 734 17415 roll 0.63 - - 3114 - 2.55 0.109 3661 547.8 219.8 - - 2182 - - - - - - - - 14.92 14.62 14.96
17475 553.1 10.2 744 17489 done 0.63 - - 3123 - 2.35 0.045 2257 -597.4 219.8 - - 2182 - - - - - - - - 14.79 14.72 14.81
17802 522.5 9.5 755 17815 roll 0.63 - - 3133 - 2.40 0.065 849 -586.7 219.8 - - 2182 - - - - - - - - 14.92 14.66 14.92
17854 517.4 9.4 762 17868 done 0.63 - - 3133 - 2.45 0.060 2277 582.9 219.8 - - 2182 - - - - - - - - 14.78 14.66 14.79
18198 485.3 9.3 769 18211 roll 0.63 - - 3133 - 2.50 0.108 3655 551.2 219.8 - - 2182 - - - - - - - - 14.93 14.62 14.93
18236 481.4 10.1 774 18250 done 0.63 0.12 0.243 3109 -200.0 2.33 0.045 2261 -598.3 219.8 - - 2183 - - - - - - - - 14.54 14.73 14.74
18598 453.6 7.6 783 18611 done 0.64 - - 3109 - - - 2258 - 223.4 4.03 1.613 2159 -6.0 0.317 - - - - - - 14.94 14.73 13.74
18934 428.9 7.3 789 18966 roll 0.65 - - 3119 - 2.45 0.066 859 -571.0 233.7 16.55 1.673 2111 -2.9 0.141 - - - - - - 14.91 14.57 14.04
18977 425.6 7.1 795 19003 done 0.67 - - 3119 - 2.42 0.060 2277 586.0 247.7 14.18 1.671 2063 -3.4 0.163 - - - - - - 14.68 14.61 14.00
19331 397.5 8.0 810 19344 roll 0.67 - - 3116 - 2.53 0.108 3661 547.0 247.7 - - 2053 - - - - - - - - 14.79 14.50 14.79
19404 390.8 9.0 820 19418 done 0.67 - - 3129 - 2.35 0.044 2263 -594.9 247.7 - - 2055 - - - - - - - - 14.69 14.62 14.69
19731 363.9 8.2 831 19744 done 0.67 - - 3128 - - - 2258 - 247.7 - - 2050 - - - - - - - - 14.83 14.85 14.85
20067 336.6 8.2 837 20080 done 0.67 - - 3128 - - - 2258 - 247.7 - - 2053 - - - - - - - - 14.87 14.89 14.88
20402 309.5 8.1 843 20416 roll 0.67 - - 3134 - 2.58 0.104 3663 544.6 247.7 - - 2053 - - - - - - - - 14.90 14.61 14.90
20441 306.0 9.2 848 20455 done 0.67 - - 3138 - 2.35 0.044 2261 -596.6 247.7 - - 2051 - - - - - - - - 14.78 14.71 14.79
20803 274.7 8.7 857 20816 roll 0.67 - - 3149 - 2.38 0.065 860 -588.7 247.7 - - 2053 - - - - - - - - 14.91 14.64 14.90
20855 269.8 9.2 864 20870 done 0.67 0.12 0.223 3112 -308.3 2.42 0.059 2276 585.1 247.7 - - 2052 - - - - - - - - 14.55 14.66 14.75
21199 243.2 7.8 871 21212 roll 0.67 - - 3111 - 2.47 0.104 3655 558.3 247.7 - - 2051 - - - - - - - - 14.92 14.61 14.93
21251 238.6 8.8 878 21265 done 0.67 - - 3120 - 2.33 0.044 2268 -595.3 247.7 - - 2053 - - - - - - - - 14.77 14.70 14.78
21596 211.7 7.8 885 21609 done 0.67 - - 3120 - - - 2265 - 247.7 - - 2052 - - - - - - - - 14.93 14.93 14.93
21932 186.7 7.4 891 21950 roll 0.68 - - 3120 - 2.58 0.105 3655 538.8 255.4 3.53 1.243 2038 -4.0 0.113 - - - - - - 14.95 14.66 13.83
21968 183.5 8.3 896 21982 done 0.68 - - 3129 - 2.30 0.044 2272 -601.3 255.4 - - 2042 - - - - - - - - 14.80 14.73 14.81
22330 153.6 8.2 905 22343 done 0.68 - - 3128 - - - 2268 - 255.4 2.38 0.741 2032 -4.2 0.165 - - - - - - 14.92 14.72 13.78
22666 126.7 7.9 911 22679 roll 0.68 - - 3139 - 2.40 0.063 858 -587.5 255.4 - - 2042 - - - - - - - - 14.93 14.67 14.93
22705 123.8 7.6 916 22723 done 0.68 - - 3139 - 2.40 0.056 2278 591.7 259.0 4.70 1.455 2019 -4.9 0.079 - - - - - - 14.78 14.66 13.89
23064 96.2 7.9 925 23077 roll 0.68 - - 3139 - 2.50 0.106 3660 552.8 259.0 - - 2026 - - - - - - - - 14.91 14.59 14.91
23166 86.6 8.5 939 23179 done 0.68 - - 3148 - 2.28 0.041 2280 -605.3 259.0 - - 2026 - - - - - - - - 14.79 14.73 14.78
23492 67.9 4.5 952 23535 done 0.86 - - 3148 - - - 2276 - 328.8 34.08 0.389 1738 -8.5 0.279 - - - - - - 14.92 14.68 14.38
23829 51.3 4.3 967 23880 roll 1.15 0.25 0.072 3277 516.0 2.60 0.102 3662 533.1 404.1 35.30 0.333 1440 -8.4 0.246 - - - - - - 14.69 14.54 14.38
24031 34.7 8.4 996 24045 done 1.15 - - 3285 - 2.28 0.041 2297 -598.7 404.1 - - 1440 - - - - - - - - 14.69 14.63 14.71
24365 14.6 6.1 1010 24398 roll 1.19 - - 3285 - 2.53 0.099 3658 537.9 440.9 17.10 0.215 1292 -8.7 0.111 - - - - - - 14.88 14.57 14.50
24536 3.0 6.8 1034 24562 done 1.22 - - 3294 - 2.28 0.040 2271 -608.3 461.0 9.40 0.181 1214 -8.3 0.026 - - - - - - 14.74 14.68 14.52
24565 end climb: SURFACE_DEPTH_REACHED
24565 begin surface coast
24594 end surface coast: CONTROL_FINISHED_OK
24594 begin surface
SM -2.25 - - - - -8.40 9.10 0.083 194 21.3 0.90 0.077 2778 -7195.6 500.14 17.58 0.161 1056 60.1 0.086 - - - - - -