SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 1 • 37.04 of 350.00 AH used of 24V (89.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -2.47 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 510.19, SM_CC=500)
• GPS1 time: 16 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 - - - 105 done -0.82 - - 192 - - - 2771 - -146.0 -82.35 - 3632 - - - - - - - - 14.69 13.50 14.69
107 6.4 -16.6 3 126 roll -0.82 11.55 0.399 2628 210.9 2.35 0.034 1361 -600.0 -146.0 - - 3635 - - - - - - - - 14.27 14.50 14.47
151 31.7 -40.7 10 161 done -0.46 0.45 0.249 2741 251.1 2.53 0.082 2759 552.6 -146.0 - - 3635 - - - - - - - - 14.34 14.45 14.47
467 79.0 -8.0 22 474 roll -0.46 - - 2733 - 1.98 0.117 3818 534.8 -146.0 - - 3636 - - - - - - - - 14.83 14.52 14.83
536 84.8 -7.0 32 544 done -0.46 - - 2734 - 1.77 0.043 2751 -602.8 -146.0 - - 3637 - - - - - - - - 14.73 14.69 14.73
887 113.1 -8.0 43 895 roll -0.46 - - 2726 - 2.00 0.115 3816 532.5 -146.0 - - 3637 - - - - - - - - 14.89 14.60 14.89
1026 123.1 -7.1 63 1034 done -0.46 - - 2726 - 1.75 0.042 2758 -604.6 -146.0 - - 3637 - - - - - - - - 14.79 14.75 14.80
1391 147.8 -6.9 73 1400 roll -0.46 - - 2726 - 2.30 0.046 1383 -597.8 -146.0 - - 3638 - - - - - - - - 14.92 14.72 14.92
1453 152.4 -7.3 82 1462 done -0.46 - - 2717 - 2.42 0.073 2760 569.0 -146.0 - - 3634 - - - - - - - - 14.75 14.66 14.77
1783 176.6 -7.4 94 1791 roll -0.46 0.10 0.226 2749 320.0 2.30 0.047 1397 -592.6 -146.0 - - 3632 - - - - - - - - 14.64 14.71 14.78
1817 179.0 -6.8 99 1826 done -0.51 - - 2741 - 2.40 0.075 2757 566.7 -146.0 - - 3632 - - - - - - - - 14.74 14.66 14.77
2175 201.0 -6.1 108 2178 done -0.56 - - 2741 - - - 2757 - -146.0 - - 3629 - - - - - - - - 14.95 14.95 14.95
2511 221.2 -6.0 114 2519 roll -0.61 0.05 0.210 2689 -1040.0 2.33 0.047 1387 -588.0 -146.0 - - 3626 - - - - - - - - 14.73 14.73 14.81
2601 228.5 -8.2 127 2610 done -0.61 - - 2680 - 2.47 0.077 2772 560.7 -146.0 - - 3625 - - - - - - - - 14.82 14.70 14.83
2959 258.9 -8.6 136 2972 roll -0.61 - - 2672 - 1.92 0.122 3820 545.8 -146.0 - - 3623 - - - - - - - - 14.95 14.68 14.97
3011 263.8 -9.3 143 3025 done -0.61 0.10 0.233 2702 300.0 1.73 0.047 2765 -609.8 -146.0 - - 3623 - - - - - - - - 14.64 14.81 14.81
3356 291.3 -8.0 150 3369 roll -0.61 - - 2702 - 2.30 0.051 1378 -603.0 -146.0 - - 3620 - - - - - - - - 14.99 14.78 14.99
3422 296.8 -8.1 159 3435 done -0.61 - - 2693 - 2.40 0.080 2757 574.6 -146.0 - - 3619 - - - - - - - - 14.85 14.73 14.87
3755 322.9 -7.8 171 3767 done -0.61 - - 2693 - - - 2757 - -146.0 - - 3617 - - - - - - - - 15.00 15.00 15.00
4091 348.6 -7.6 177 4104 roll -0.61 - - 2693 - 2.33 0.050 1372 -594.4 -146.0 - - 3615 - - - - - - - - 15.02 14.80 15.02
4143 352.8 -7.8 184 4157 done -0.61 - - 2684 - 2.42 0.080 2754 571.1 -146.0 - - 3614 - - - - - - - - 14.87 14.74 14.89
4487 380.4 -8.1 191 4500 roll -0.61 - - 2683 - 2.30 0.050 1380 -597.4 -146.0 - - 3613 - - - - - - - - 15.02 14.79 15.02
4511 382.5 -8.1 194 4525 done -0.61 - - 2675 - 2.40 0.080 2755 572.9 -146.0 - - 3613 - - - - - - - - 14.88 14.74 14.89
4830 409.8 -8.6 204 4844 roll -0.61 - - 2666 - 1.98 0.125 3832 543.9 -146.0 - - 3610 - - - - - - - - 15.01 14.72 15.01
4868 413.3 -9.5 209 4882 done -0.61 0.10 0.234 2698 320.0 1.77 0.050 2751 -610.7 -146.0 - - 3611 - - - - - - - - 14.67 14.84 14.85
5230 442.0 -7.9 218 5243 roll -0.61 - - 2695 - 2.30 0.053 1367 -601.7 -146.0 - - 3609 - - - - - - - - 15.02 14.80 15.02
5290 446.7 -7.8 226 5303 done -0.61 - - 2688 - 2.42 0.080 2750 571.5 -146.0 - - 3608 - - - - - - - - 14.88 14.75 14.92
5630 473.9 -8.0 239 5643 roll -0.61 - - 2680 - 1.98 0.125 3829 544.9 -146.0 - - 3606 - - - - - - - - 15.02 14.71 15.02
5668 477.1 -8.7 244 5681 done -0.61 - - 2679 - 1.77 0.050 2743 -613.6 -146.0 - - 3607 - - - - - - - - 14.90 14.84 14.90
6029 506.4 -8.1 253 6042 done -0.61 - - 2679 - - - 2747 - -146.0 - - 3605 - - - - - - - - 15.01 15.02 15.02
6365 532.7 -7.7 259 6379 roll -0.61 - - 2679 - 2.28 0.052 1376 -601.3 -146.0 - - 3603 - - - - - - - - 15.02 14.78 14.99
6404 535.9 -8.4 264 6417 done -0.61 0.12 0.227 2707 233.3 2.40 0.080 2755 574.6 -146.0 - - 3603 - - - - - - - - 14.65 14.72 14.82
6765 559.1 -6.4 273 6778 done -0.61 - - 2708 - - - 2757 - -146.0 - - 3602 - - - - - - - - 15.01 15.02 15.01
7101 580.3 -6.3 279 7114 roll -0.61 - - 2708 - 2.35 0.053 1371 -589.8 -146.0 - - 3599 - - - - - - - - 15.02 14.78 15.02
7188 585.8 -6.3 291 7202 done -0.61 - - 2700 - 2.42 0.080 2759 573.6 -146.0 - - 3599 - - - - - - - - 14.87 14.73 14.89
7557 609.1 -6.4 301 7570 roll -0.61 - - 2700 - 2.33 0.051 1379 -592.3 -146.0 - - 3598 - - - - - - - - 15.01 14.78 15.01
7623 613.7 -6.9 310 7636 done -0.61 - - 2693 - 2.40 0.080 2746 569.6 -146.0 - - 3598 - - - - - - - - 14.86 14.73 14.88
7956 638.2 -7.6 322 7969 roll -0.61 - - 2692 - 2.33 0.052 1372 -589.7 -146.0 - - 3596 - - - - - - - - 15.00 14.77 15.01
7987 640.8 -8.2 326 8000 done -0.61 - - 2683 - 2.42 0.080 2757 572.3 -146.0 - - 3597 - - - - - - - - 14.86 14.72 14.88
8355 668.7 -7.5 336 8368 done -0.61 - - 2683 - - - 2757 - -146.0 - - 3595 - - - - - - - - 15.00 15.00 15.00
8691 691.1 -6.6 342 8705 roll -0.61 - - 2683 - 2.35 0.052 1366 -591.9 -146.0 - - 3594 - - - - - - - - 15.00 14.76 15.00
8772 696.4 -6.3 353 8786 done -0.61 0.10 0.243 2705 220.0 2.40 0.080 2755 578.8 -146.0 - - 3594 - - - - - - - - 14.63 14.71 14.81
9092 714.3 -5.6 363 9104 done -0.61 - - 2705 - - - 2754 - -146.0 - - 3593 - - - - - - - - 15.00 15.00 15.04
9428 734.4 -6.1 369 9441 roll -0.61 - - 2705 - 2.35 0.054 1369 -589.4 -146.0 - - 3592 - - - - - - - - 14.99 14.75 15.00
9488 738.4 -6.6 377 9502 done -0.61 - - 2698 - 2.42 0.081 2743 567.8 -146.0 - - 3592 - - - - - - - - 14.84 14.71 14.85
9829 761.8 -7.0 390 9842 roll -0.61 - - 2698 - 2.33 0.054 1374 -587.6 -146.0 - - 3591 - - - - - - - - 14.98 14.75 14.99
9860 764.2 -7.2 394 9873 done -0.61 - - 2690 - 2.42 0.080 2755 570.7 -146.0 - - 3590 - - - - - - - - 14.84 14.70 14.85
10228 790.3 -7.1 404 10241 roll -0.61 - - 2688 - 2.35 0.053 1372 -588.5 -146.0 - - 3589 - - - - - - - - 14.98 14.73 14.98
10267 793.1 -7.4 409 10280 done -0.61 - - 2682 - 2.40 0.081 2739 569.6 -146.0 - - 3589 - - - - - - - - 14.83 14.69 14.85
10628 818.1 -6.8 418 10641 roll -0.61 - - 2673 - 2.00 0.128 3820 540.5 -146.0 - - 3588 - - - - - - - - 14.98 14.65 14.98
10666 820.6 -6.7 423 10680 done -0.61 - - 2673 - 1.80 0.051 2734 -603.3 -146.0 - - 3587 - - - - - - - - 14.85 14.80 14.87
11027 846.1 -7.0 432 11041 roll -0.61 0.08 0.262 2704 387.5 2.28 0.051 1372 -597.4 -146.0 - - 3587 - - - - - - - - 14.57 14.73 14.71
11094 850.3 -6.0 441 11107 done -0.61 - - 2694 - 2.40 0.081 2737 568.8 -146.0 - - 3587 - - - - - - - - 14.82 14.66 14.83
11427 869.4 -5.6 453 11440 roll -0.61 - - 2694 - 2.33 0.054 1371 -586.3 -146.0 - - 3586 - - - - - - - - 14.97 14.72 14.97
11466 871.7 -4.6 458 11479 done -0.61 - - 2686 - 2.40 0.083 2733 567.5 -146.0 - - 3586 - - - - - - - - 14.81 14.67 14.83
11827 893.1 -6.0 467 11840 done -0.61 - - 2686 - - - 2733 - -146.0 - - 3584 - - - - - - - - 14.97 14.97 14.97
12163 913.8 -6.1 473 12176 roll -0.61 - - 2685 - 2.33 0.055 1371 -584.5 -146.0 - - 3583 - - - - - - - - 14.97 14.71 14.97
12229 918.2 -6.5 482 12242 done -0.61 - - 2676 - 2.40 0.082 2735 568.3 -146.0 - - 3584 - - - - - - - - 14.81 14.66 14.83
12449 end dive: TARGET_DEPTH_EXCEEDED
12449 begin apogee
12453 933.0 -6.8 492 12615 roll -0.23 0.47 0.182 2820 306.4 - - 2270 - - 152.43 1.899 3049 -3.5 0.327 - - - - - - 14.58 14.00 13.37
12617 end apogee: CONTROL_FINISHED_OK
12617 begin climb
12618 937.0 - 494 12793 roll 0.82 1.02 0.119 3144 317.6 2.45 0.063 907 -556.3 146.0 153.18 1.881 2456 -3.9 0.366 - - - - - - 14.02 14.04 13.24
12972 915.1 8.5 552 12985 done 0.74 - - 3144 - 2.45 0.066 2292 565.3 146.0 - - 2446 - - - - - - - - 14.38 14.28 14.40
13299 885.7 9.3 563 13312 roll 0.65 0.08 0.272 3127 -212.5 2.45 0.065 892 -571.4 146.0 - - 2444 - - - - - - - - 14.38 14.47 14.49
13498 869.3 7.9 591 13512 done 0.59 0.12 0.229 3092 -291.7 2.45 0.065 2293 571.8 146.0 - - 2444 - - - - - - - - 14.43 14.53 14.62
13867 841.9 7.5 601 13880 roll 0.60 - - 3093 - 2.60 0.116 3696 539.6 151.5 - - 2443 - - - - - - - - 14.84 14.53 14.84
13912 838.0 10.1 607 13926 done 0.53 - - 3101 - 2.38 0.048 2300 -586.6 151.5 - - 2443 - - - - - - - - 14.69 14.62 14.71
14266 810.0 8.0 615 14279 done 0.53 - - 3101 - - - 2296 - 151.5 - - 2443 - - - - - - - - 14.88 14.89 14.88
14603 784.0 7.7 621 14616 roll 0.54 - - 3101 - 2.62 0.119 3699 535.5 152.6 - - 2442 - - - - - - - - 14.90 14.58 14.90
14641 780.7 8.6 626 14655 done 0.47 0.20 0.230 3054 -235.0 2.38 0.047 2292 -591.2 152.6 - - 2441 - - - - - - - - 14.54 14.70 14.73
15003 759.8 5.6 635 15080 done 0.54 - - 3054 - - - 2287 - 209.7 68.15 1.770 2215 -3.3 0.270 - - - - - - 14.91 14.25 13.64
15395 736.8 5.9 642 15463 roll 0.60 0.08 0.151 3112 725.0 2.80 0.117 3696 503.2 259.4 55.38 1.721 2010 -3.7 0.301 - - - - - - 14.57 14.09 13.60
15482 729.5 9.1 654 15495 done 0.60 - - 3121 - 2.45 0.049 2299 -570.2 259.4 - - 2001 - - - - - - - - 14.31 14.24 14.33
15843 695.0 9.6 663 15856 roll 0.60 - - 3131 - 2.45 0.070 887 -576.3 259.4 - - 1996 - - - - - - - - 14.75 14.49 14.71
15881 691.1 9.7 668 15895 done 0.60 0.12 0.216 3093 -316.7 2.47 0.068 2299 571.7 259.4 - - 1995 - - - - - - - - 14.42 14.49 14.57
16242 660.4 8.4 677 16256 roll 0.60 - - 3093 - 2.58 0.113 3701 543.4 259.4 - - 1994 - - - - - - - - 14.82 14.53 14.82
16274 657.4 9.2 681 16288 done 0.60 - - 3103 - 2.40 0.047 2286 -589.6 259.4 - - 1994 - - - - - - - - 14.70 14.63 14.71
16642 624.2 9.0 691 16655 done 0.60 - - 3103 - - - 2281 - 259.4 - - 1993 - - - - - - - - 14.86 14.86 14.86
16979 594.3 8.9 697 16992 done 0.60 - - 3103 - - - 2281 - 259.4 - - 1993 - - - - - - - - 14.89 14.88 14.89
17314 564.8 8.7 703 17328 roll 0.60 - - 3103 - 2.60 0.116 3692 542.7 259.4 - - 1993 - - - - - - - - 14.90 14.59 14.94
17353 561.1 9.7 708 17366 done 0.60 - - 3112 - 2.38 0.049 2295 -587.0 259.4 - - 1993 - - - - - - - - 14.78 14.71 14.80
17714 528.5 9.1 717 17727 roll 0.60 - - 3121 - 2.40 0.070 893 -584.2 259.4 - - 1993 - - - - - - - - 14.92 14.68 14.92
17752 524.9 9.1 722 17765 done 0.60 - - 3121 - 2.42 0.067 2295 579.3 259.4 - - 1992 - - - - - - - - 14.77 14.66 14.79
18113 491.6 9.1 731 18127 roll 0.60 - - 3122 - 2.58 0.116 3699 544.2 259.4 - - 1992 - - - - - - - - 14.92 14.62 14.92
18145 488.5 9.6 735 18158 done 0.60 0.12 0.234 3095 -225.0 2.38 0.047 2289 -592.4 259.4 - - 1992 - - - - - - - - 14.58 14.73 14.77
18513 461.4 7.3 745 18527 roll 0.61 - - 3105 - 2.45 0.069 893 -569.8 270.6 2.40 0.630 1969 -9.6 1.332 - - - - - - 14.93 14.70 13.79
18545 458.9 7.3 749 18580 done 0.63 - - 3105 - 2.40 0.066 2293 583.3 281.8 19.25 1.685 1920 -2.5 0.132 - - - - - - 14.80 14.69 14.04
18910 430.4 7.9 759 18924 roll 0.63 - - 3105 - 2.58 0.116 3700 545.3 281.8 - - 1912 - - - - - - - - 14.85 14.55 14.85
18949 426.9 8.9 764 18962 done 0.63 - - 3113 - 2.38 0.047 2301 -587.8 281.8 - - 1912 - - - - - - - - 14.71 14.66 14.75
19309 397.7 8.1 773 19323 roll 0.63 - - 3123 - 2.40 0.069 889 -588.3 281.8 - - 1912 - - - - - - - - 14.88 14.65 14.89
19355 393.8 8.3 779 19368 done 0.63 - - 3123 - 2.45 0.066 2310 580.0 281.8 - - 1911 - - - - - - - - 14.76 14.64 14.77
19709 363.3 8.7 787 19722 roll 0.63 - - 3123 - 2.53 0.116 3690 545.5 281.8 - - 1911 - - - - - - - - 14.90 14.60 14.90
19747 359.5 9.7 792 19760 done 0.63 - - 3131 - 2.38 0.047 2280 -592.4 281.8 - - 1911 - - - - - - - - 14.78 14.71 14.79
20108 324.8 9.6 801 20121 roll 0.63 - - 3141 - 2.38 0.068 883 -587.0 281.8 - - 1911 - - - - - - - - 14.92 14.67 14.92
20146 321.0 9.5 806 20159 done 0.63 0.12 0.214 3103 -316.7 2.42 0.067 2305 587.6 281.8 - - 1911 - - - - - - - - 14.59 14.67 14.76
20507 290.5 8.4 815 20521 roll 0.63 - - 3103 - 2.53 0.114 3686 545.8 281.8 - - 1911 - - - - - - - - 14.93 14.63 14.93
20552 286.2 9.8 821 20566 done 0.63 - - 3108 - 2.35 0.047 2281 -597.9 281.8 - - 1911 - - - - - - - - 14.78 14.71 14.80
20907 255.4 8.7 829 20920 done 0.63 - - 3109 - - - 2278 - 281.8 - - 1911 - - - - - - - - 14.93 14.93 14.93
21243 228.4 7.9 835 21256 roll 0.63 - - 3109 - 2.60 0.114 3689 542.7 281.8 - - 1911 - - - - - - - - 14.94 14.64 14.94
21281 225.1 8.4 840 21294 done 0.63 - - 3117 - 2.33 0.047 2302 -595.3 281.8 - - 1911 - - - - - - - - 14.81 14.74 14.83
21642 197.2 7.6 849 21655 roll 0.63 - - 3126 - 2.40 0.066 890 -588.3 284.5 - - 1911 - - - - - - - - 14.95 14.67 14.95
21715 191.5 7.5 859 21729 done 0.64 - - 3126 - 2.40 0.062 2300 587.5 290.0 2.08 0.334 1898 -6.2 0.680 - - - - - - 14.81 14.70 13.64
22035 166.4 8.0 869 22048 done 0.64 - - 3126 - - - 2300 - 290.0 1.85 0.232 1896 - - - - - - - - 14.95 14.77 14.58
22371 137.4 8.8 875 22384 done 0.64 - - 3126 - - - 2300 - 290.0 1.83 0.236 1894 - - - - - - - - 14.95 14.78 14.59
22707 110.0 8.1 881 22721 roll 0.64 - - 3133 - 2.47 0.064 896 -568.4 290.0 1.62 0.235 1895 - - - - - - - - 14.95 14.70 14.59
22732 108.0 8.3 884 22745 done 0.64 - - 3133 - 2.38 0.063 2292 586.6 290.0 - - 1902 - - - - - - - - 14.78 14.67 14.81
23051 85.8 6.8 897 23077 roll 0.67 - - 3139 - 2.47 0.066 893 -566.4 316.5 14.40 0.416 1792 -7.6 0.299 - - - - - - 14.97 14.68 14.40
23201 77.9 4.8 918 23254 done 0.82 - - 3139 - 2.40 0.062 2305 588.3 394.4 38.95 0.409 1478 -8.1 0.291 - - - - - - 14.78 14.67 14.36
23582 55.3 5.9 939 23620 roll 1.04 0.20 0.102 3233 470.0 2.42 0.063 894 -583.1 442.8 24.33 0.335 1288 -7.8 0.245 - - - - - - 14.66 14.59 14.40
23765 45.7 5.2 965 23813 done 1.19 0.10 0.124 3303 700.0 2.38 0.060 2290 586.6 511.8 34.25 0.306 1011 -8.1 0.229 - - - - - - 14.67 14.59 14.39
24116 17.8 8.6 982 24129 done 1.19 - - 3303 - - - 2290 - 511.8 1.33 0.229 1010 - - - - - - - - 14.86 14.71 14.57
24310 end climb: SURFACE_DEPTH_REACHED
24310 begin surface coast
24338 end surface coast: CONTROL_FINISHED_OK
24338 begin surface
SM -1.89 - - - - -8.40 9.07 0.078 190 20.9 0.85 0.093 2773 -6382.4 510.19 - - 1019 - - - - - - - -