SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 44.87 of 350.00 AH used of 24V (87.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -2.01 m • Intended pitch -22.5 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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 - - - 93 done -1.11 - - 177 - - - 2792 - -72.7 -72.68 - 3340 - - - - - - - - 14.68 13.40 14.69
95 -0.4 -4.7 2 111 roll -1.11 11.12 0.396 2524 211.1 1.83 0.073 3829 566.7 -72.7 - - 3342 - - - - - - - - 14.23 14.46 14.45
145 27.6 -37.5 10 152 done -0.63 0.62 0.273 2687 262.9 1.77 0.033 2745 -612.4 -72.7 - - 3342 - - - - - - - - 14.31 14.54 14.47
480 77.5 -10.8 25 488 roll -0.63 - - 2680 - 2.00 0.106 3819 537.0 -72.7 - - 3344 - - - - - - - - 14.82 14.52 14.82
717 95.5 -6.9 59 727 done -0.65 - - 2678 - 1.73 0.040 2780 -600.6 -83.8 - - 3345 - - - - - - - - 14.72 14.70 14.73
1041 116.3 -6.7 68 1048 roll -0.67 - - 2671 - 1.92 0.104 3816 539.6 -98.7 - - 3345 - - - - - - - - 14.89 14.58 14.89
1278 132.6 -5.9 102 1286 done -0.69 - - 2671 - 1.73 0.040 2774 -602.3 -116.8 - - 3345 - - - - - - - - 14.78 14.75 14.80
1601 153.2 -7.0 113 1603 done -0.77 - - 2670 - - - 2774 - -116.8 - - 3344 - - - - - - - - 14.92 14.92 14.92
1937 178.7 -7.7 119 1945 roll -0.86 0.10 0.117 2588 -820.0 1.90 0.106 3827 554.2 -116.8 - - 3341 - - - - - - - - 14.76 14.65 14.81
2005 186.3 -10.8 129 2014 done -0.86 0.10 0.269 2616 280.0 1.73 0.042 2797 -595.4 -116.8 - - 3341 - - - - - - - - 14.56 14.77 14.76
2328 218.9 -10.0 140 2336 roll -0.86 - - 2607 - 1.90 0.103 3820 538.4 -116.8 - - 3339 - - - - - - - - 14.94 14.64 14.93
2377 224.1 -10.6 147 2387 done -0.86 - - 2613 - 1.73 0.041 2782 -600.0 -116.8 - - 3340 - - - - - - - - 14.82 14.77 14.83
2721 260.7 -10.9 154 2734 roll -0.86 - - 2601 - 1.90 0.106 3827 550.0 -116.8 - - 3335 - - - - - - - - 14.97 14.66 14.94
2801 269.3 -10.4 165 2814 done -0.86 - - 2600 - 1.67 0.044 2786 -623.4 -116.8 - - 3335 - - - - - - - - 14.85 14.80 14.85
3120 300.4 -9.7 175 3133 roll -0.86 - - 2593 - 1.90 0.108 3829 548.9 -116.8 - - 3333 - - - - - - - - 14.97 14.66 14.98
3158 304.3 -10.1 180 3171 done -0.86 - - 2592 - 1.67 0.045 2794 -619.8 -116.8 - - 3332 - - - - - - - - 14.86 14.81 14.87
3519 338.7 -9.6 189 3533 roll -0.86 0.08 0.298 2618 325.0 2.35 0.043 1363 -608.9 -116.8 - - 3330 - - - - - - - - 14.59 14.75 14.74
3558 342.2 -9.1 194 3571 done -0.86 - - 2608 - 2.45 0.068 2791 582.9 -116.8 - - 3330 - - - - - - - - 14.85 14.73 14.87
3919 375.5 -9.3 203 3932 roll -0.86 - - 2600 - 1.85 0.110 3826 559.5 -116.8 - - 3328 - - - - - - - - 15.00 14.70 14.99
3992 382.9 -10.1 213 4005 done -0.86 - - 2598 - 1.67 0.047 2794 -618.0 -116.8 - - 3327 - - - - - - - - 14.91 14.83 14.89
4318 414.9 -9.9 224 4331 roll -0.86 - - 2591 - 1.90 0.109 3836 548.4 -116.8 - - 3325 - - - - - - - - 15.00 14.70 15.00
4370 420.4 -10.4 231 4385 done -0.86 0.10 0.273 2618 270.0 1.73 0.047 2785 -607.5 -116.8 - - 3325 - - - - - - - - 14.59 14.83 14.81
4715 451.1 -8.7 238 4728 roll -0.86 - - 2619 - 2.35 0.046 1367 -603.4 -116.8 - - 3323 - - - - - - - - 15.01 14.78 15.01
4781 456.7 -8.2 247 4794 done -0.86 - - 2609 - 2.47 0.070 2804 581.8 -116.8 - - 3322 - - - - - - - - 14.85 14.73 14.87
5114 484.6 -8.4 259 5127 roll -0.86 - - 2601 - 1.83 0.111 3824 557.4 -116.8 - - 3321 - - - - - - - - 15.01 14.69 15.00
5145 487.5 -9.1 263 5159 done -0.86 - - 2599 - 1.67 0.047 2794 -616.8 -116.8 - - 3320 - - - - - - - - 14.88 14.83 14.88
5514 520.7 -9.0 273 5527 done -0.86 - - 2599 - - - 2794 - -116.8 - - 3318 - - - - - - - - 15.00 15.00 15.00
5850 551.0 -9.0 279 5863 roll -0.86 - - 2599 - 2.38 0.046 1362 -601.7 -116.8 - - 3316 - - - - - - - - 15.00 14.78 15.00
5902 555.7 -8.8 286 5916 done -0.86 0.10 0.282 2616 170.0 2.50 0.070 2796 573.6 -116.8 - - 3316 - - - - - - - - 14.57 14.73 14.80
6246 585.2 -8.8 293 6260 roll -0.86 - - 2609 - 1.85 0.114 3823 555.1 -116.8 - - 3315 - - - - - - - - 15.00 14.68 15.00
6341 594.2 -9.5 306 6354 done -0.86 - - 2609 - 1.67 0.048 2797 -614.4 -116.8 - - 3314 - - - - - - - - 14.88 14.82 14.88
6702 627.5 -9.3 315 6714 done -0.86 - - 2608 - - - 2797 - -116.8 - - 3315 - - - - - - - - 15.00 14.99 15.00
7038 658.9 -9.3 321 7051 roll -0.86 - - 2609 - 2.38 0.046 1365 -601.7 -116.8 - - 3311 - - - - - - - - 15.00 14.76 15.00
7118 666.3 -9.1 332 7131 done -0.86 - - 2599 - 2.50 0.071 2803 575.2 -116.8 - - 3310 - - - - - - - - 14.83 14.70 14.85
7437 695.3 -9.1 342 7450 done -0.86 - - 2598 - - - 2804 - -116.8 - - 3310 - - - - - - - - 14.99 14.99 14.99
7774 724.7 -8.7 348 7787 done -0.86 - - 2600 - - - 2804 - -116.8 - - 3308 - - - - - - - - 15.00 15.00 15.00
8109 753.9 -8.6 354 8122 roll -0.86 - - 2597 - 2.42 0.046 1367 -593.8 -116.8 - - 3307 - - - - - - - - 15.00 14.74 15.00
8161 758.4 -8.4 361 8176 done -0.86 0.12 0.265 2621 200.0 2.50 0.072 2798 572.4 -116.8 - - 3307 - - - - - - - - 14.53 14.69 14.77
8506 785.2 -7.8 368 8519 roll -0.86 - - 2614 - 1.88 0.116 3827 547.3 -116.8 - - 3306 - - - - - - - - 14.98 14.64 14.98
8572 790.7 -8.4 377 8585 done -0.86 - - 2615 - 1.70 0.050 2798 -605.3 -116.8 - - 3306 - - - - - - - - 14.85 14.80 14.86
8905 815.9 -7.3 389 8918 roll -0.86 - - 2614 - 2.40 0.046 1359 -599.6 -116.8 - - 3305 - - - - - - - - 14.98 14.73 14.98
8957 819.8 -7.4 396 8971 done -0.86 - - 2604 - 2.53 0.072 2794 567.2 -116.8 - - 3304 - - - - - - - - 14.81 14.67 14.83
9301 846.3 -7.8 403 9314 done -0.86 - - 2604 - - - 2794 - -116.8 - - 3303 - - - - - - - - 14.97 14.97 14.97
9637 871.6 -7.5 409 9650 roll -0.86 - - 2603 - 2.42 0.047 1366 -590.1 -116.8 - - 3302 - - - - - - - - 14.97 14.72 14.97
9698 876.3 -7.7 417 9711 done -0.86 0.10 0.277 2620 170.0 2.50 0.073 2792 570.4 -116.8 - - 3301 - - - - - - - - 14.50 14.67 14.75
10039 901.3 -7.5 430 10052 roll -0.86 - - 2620 - 2.42 0.047 1360 -591.7 -116.8 - - 3301 - - - - - - - - 14.96 14.71 14.96
10085 905.0 -6.3 436 10098 done -0.94 - - 2610 - 2.53 0.073 2799 568.8 -116.8 - - 3300 - - - - - - - - 14.80 14.64 14.81
10438 end dive: TARGET_DEPTH_EXCEEDED
10438 begin apogee
10442 934.5 -8.5 444 10521 roll -0.23 0.73 0.208 2820 287.7 - - 2232 - - 68.65 2.031 3050 -3.6 0.316 - - - - - - 14.51 14.24 13.56
10523 end apogee: CONTROL_FINISHED_OK
10523 begin climb
10524 937.3 - 445 10663 roll 1.17 1.38 0.113 3259 318.1 2.42 0.060 859 -567.4 116.8 122.30 1.939 2584 -3.8 0.348 - - - - - - 14.21 14.23 13.31
10892 906.7 11.2 501 10905 done 1.03 - - 3258 - 2.42 0.057 2256 577.3 116.8 - - 2570 - - - - - - - - 14.46 14.36 14.48
11225 866.7 12.0 513 11238 roll 0.88 0.25 0.269 3188 -280.0 2.55 0.100 3653 547.8 116.8 - - 2568 - - - - - - - - 14.32 14.47 14.51
11454 840.0 11.6 545 11467 done 0.77 0.17 0.273 3153 -205.9 2.35 0.045 2260 -592.8 116.8 - - 2567 - - - - - - - - 14.38 14.62 14.63
11794 808.4 9.2 558 11807 roll 0.77 - - 3163 - 2.40 0.064 852 -586.7 116.8 - - 2566 - - - - - - - - 14.85 14.60 14.85
11895 798.6 9.3 572 11908 done 0.77 - - 3170 - 2.40 0.059 2252 583.3 116.8 - - 2566 - - - - - - - - 14.72 14.61 14.74
12249 765.8 9.2 580 12263 roll 0.77 - - 3162 - 2.55 0.106 3658 551.4 116.8 - - 2565 - - - - - - - - 14.90 14.57 14.90
12316 759.1 10.0 589 12329 done 0.77 - - 3174 - 2.38 0.045 2242 -595.0 116.8 - - 2566 - - - - - - - - 14.76 14.69 14.78
12649 729.9 8.7 601 12662 roll 0.77 - - 3184 - 2.35 0.066 861 -587.7 116.8 - - 2565 - - - - - - - - 14.90 14.64 14.90
12729 723.3 8.0 612 12742 done 0.77 0.12 0.272 3152 -266.7 2.38 0.060 2257 586.6 116.8 - - 2562 - - - - - - - - 14.46 14.64 14.72
13049 700.8 7.0 622 13067 roll 0.78 - - 3151 - 2.58 0.106 3657 542.6 126.4 2.85 1.194 2548 -4.9 0.544 - - - - - - 14.91 14.65 13.59
13078 698.5 7.4 626 13104 done 0.79 - - 3162 - 2.38 0.045 2235 -597.5 131.9 10.65 2.062 2521 -2.5 0.162 - - - - - - 14.76 14.69 13.97
13445 670.0 7.9 636 13458 done 0.79 - - 3162 - - - 2235 - 131.9 - - 2519 - - - - - - - - 14.87 14.86 14.87
13781 642.7 8.2 642 13794 done 0.79 - - 3162 - - - 2234 - 131.9 - - 2518 - - - - - - - - 14.89 14.89 14.88
14117 614.1 8.6 648 14130 done 0.79 - - 3162 - - - 2234 - 131.9 - - 2518 - - - - - - - - 14.92 14.92 14.92
14453 585.3 8.5 654 14466 roll 0.79 - - 3172 - 2.35 0.067 864 -583.0 131.9 - - 2518 - - - - - - - - 14.92 14.64 14.92
14485 582.7 8.2 658 14498 done 0.79 - - 3172 - 2.35 0.061 2244 587.2 131.9 - - 2519 - - - - - - - - 14.78 14.66 14.79
14853 550.2 9.0 668 14866 roll 0.79 - - 3172 - 2.58 0.109 3655 546.9 131.9 - - 2517 - - - - - - - - 14.93 14.59 14.93
14926 543.1 9.5 678 14939 done 0.79 - - 3182 - 2.38 0.047 2242 -593.7 131.9 - - 2517 - - - - - - - - 14.79 14.71 14.81
15252 513.6 9.0 689 15266 roll 0.79 - - 3193 - 2.35 0.067 859 -588.5 131.9 - - 2517 - - - - - - - - 14.93 14.65 14.93
15305 508.6 9.4 696 15319 done 0.79 0.12 0.260 3159 -283.3 2.40 0.060 2257 582.5 131.9 - - 2517 - - - - - - - - 14.47 14.66 14.74
15649 480.1 8.4 703 15662 done 0.79 - - 3160 - - - 2257 - 131.9 - - 2517 - - - - - - - - 14.92 14.93 14.93
15985 452.3 8.3 709 15998 done 0.79 - - 3159 - - - 2257 - 131.9 - - 2517 - - - - - - - - 14.93 14.92 14.93
16321 426.2 7.6 715 16334 roll 0.79 - - 3169 - 2.42 0.065 852 -580.6 133.9 - - 2517 - - - - - - - - 14.93 14.65 14.95
16360 423.2 7.5 720 16377 done 0.80 - - 3169 - 2.38 0.062 2246 585.7 137.8 2.40 0.819 2505 -5.0 0.488 - - - - - - 14.78 14.65 13.66
16718 396.2 7.4 729 16736 roll 0.80 - - 3169 - 2.55 0.110 3655 552.5 141.9 5.05 1.782 2490 -3.0 0.125 - - - - - - 14.93 14.66 13.96
16810 388.2 8.9 742 16824 done 0.80 - - 3179 - 2.40 0.047 2235 -591.7 141.9 1.58 0.350 2486 -2.5 0.530 - - - - - - 14.77 14.69 14.26
17172 358.0 8.4 751 17186 roll 0.80 - - 3190 - 2.42 0.067 853 -571.1 141.9 1.70 0.373 2490 2.4 -0.426 - - - - - - 14.90 14.64 14.19
17225 353.4 8.4 758 17240 done 0.80 0.10 0.268 3163 -270.0 2.40 0.061 2252 582.9 141.9 2.50 0.896 2485 -2.0 0.149 - - - - - - 14.47 14.64 13.68
17569 325.4 8.2 765 17582 done 0.80 - - 3163 - - - 2251 - 141.9 1.12 0.291 2486 - - - - - - - - 14.90 14.70 14.40
17905 299.5 7.7 771 17918 done 0.80 - - 3163 - - - 2250 - 143.1 2.92 1.119 2479 -2.4 0.121 - - - - - - 14.92 14.73 13.77
18241 274.2 7.5 777 18259 roll 0.81 - - 3163 - 2.53 0.106 3649 553.0 146.7 6.07 1.670 2465 -2.3 0.071 - - - - - - 14.92 14.64 14.04
18319 267.4 9.0 788 18332 done 0.81 - - 3174 - 2.38 0.046 2234 -594.5 146.7 - - 2470 - - - - - - - - 14.76 14.69 14.76
18638 241.2 8.2 798 18652 roll 0.81 - - 3184 - 2.35 0.066 857 -586.0 146.7 - - 2471 - - - - - - - - 14.88 14.62 14.90
18677 237.8 8.6 803 18690 done 0.81 - - 3184 - 2.35 0.059 2244 590.2 146.7 - - 2471 - - - - - - - - 14.76 14.64 14.78
19038 206.0 8.9 812 19051 roll 0.81 - - 3184 - 2.55 0.106 3654 552.9 146.7 - - 2471 - - - - - - - - 14.91 14.57 14.92
19111 198.7 10.0 822 19125 done 0.81 0.12 0.271 3161 -191.7 2.38 0.044 2234 -596.6 146.7 - - 2472 - - - - - - - - 14.47 14.71 14.71
19438 171.7 8.1 833 19450 done 0.81 - - 3161 - - - 2229 - 146.7 - - 2472 - - - - - - - - 14.92 14.92 14.92
19774 146.8 7.3 839 19793 done 0.89 - - 3162 - - - 2229 - 153.1 9.70 1.440 2439 -3.4 0.065 - - - - - - 14.93 14.71 14.14
20110 120.8 7.7 845 20124 roll 0.98 0.08 0.151 3237 937.5 2.35 0.063 848 -587.7 154.1 - - 2434 - - - - - - - - 14.69 14.63 14.72
20156 116.9 9.0 851 20169 done 0.98 - - 3237 - 2.35 0.058 2241 592.8 154.1 - - 2434 - - - - - - - - 14.76 14.65 14.78
20482 87.1 9.5 860 20496 roll 0.98 - - 3238 - 2.58 0.105 3659 549.6 154.1 - - 2434 - - - - - - - - 14.90 14.60 14.91
20528 83.5 8.2 866 20541 done 0.89 0.20 0.257 3194 -220.0 2.38 0.044 2231 -600.0 154.1 - - 2434 - - - - - - - - 14.48 14.72 14.70
20855 73.8 1.5 879 20907 roll 1.00 - - 3195 - 2.60 0.103 3650 545.8 239.2 38.28 0.405 2097 -8.8 0.303 - - - - - - 14.92 14.56 14.35
20969 68.9 5.5 895 20995 done 1.04 - - 3203 - 2.35 0.044 2239 -600.4 269.6 14.38 0.384 1977 -8.3 0.283 - - - - - - 14.73 14.66 14.31
21298 52.2 4.3 909 21336 roll 1.26 0.20 0.079 3311 540.0 2.62 0.102 3648 537.8 316.5 22.55 0.332 1788 -8.4 0.249 - - - - - - 14.66 14.53 14.36
21361 47.7 8.5 918 21375 done 1.26 - - 3322 - 2.30 0.044 2269 -599.6 316.5 - - 1788 - - - - - - - - 14.71 14.64 14.72
21695 28.0 5.4 932 21728 roll 1.30 - - 3322 - 2.60 0.099 3660 535.0 349.3 15.45 0.258 1659 -8.3 0.171 - - - - - - 14.88 14.57 14.42
21746 25.1 5.8 939 21772 done 1.34 - - 3333 - 2.35 0.041 2245 -602.1 375.9 13.05 0.249 1552 -8.2 0.156 - - - - - - 14.73 14.67 14.43
22093 3.3 6.3 955 22117 roll 1.47 0.08 0.140 3406 912.5 2.58 0.093 3649 544.2 396.4 9.68 0.175 1469 -8.6 0.031 - - - - - - 14.74 14.54 14.54
22120 end climb: SURFACE_DEPTH_REACHED
22120 begin surface coast
22127 end surface coast: CONTROL_FINISHED_OK
22127 begin surface
SM -1.92 - - - - -8.39 9.82 0.114 195 19.8 1.48 0.044 2769 -5331.8 500.14 46.45 0.158 1057 22.8 0.028 - - - - - -