SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 91 * Raw log
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• Previous call tries 1 • 39.77 of 350.00 AH used of 24V (88.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth 0.42 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 542.84, SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - - 106 VBD -0.82 - - 180 - - - 2778 - -146.0 -86.12 - 3452 - - - - - - - - 14.71 - 14.71
108 6.6 -10.7 3 134 roll -0.82 11.55 0.397 2624 211.6 2.58 2.080 1362 -548.8 -146.0 -2.42 - 3635 -75.6 - - - - - - - 14.26 13.55 14.47
173 36.3 -29.3 13 182 done -0.58 0.32 0.267 2695 221.9 2.50 0.071 2762 560.0 -146.0 - - 3635 - - - - - - - - 14.34 14.44 14.49
496 93.1 -11.6 26 503 roll -0.48 0.15 0.246 2734 260.0 1.98 0.114 3838 543.4 -146.0 - - 3636 - - - - - - - - 14.51 14.55 14.67
586 102.8 -8.0 39 594 done -0.48 - - 2736 - 1.77 0.042 2772 -602.3 -146.0 - - 3637 - - - - - - - - 14.73 14.69 14.74
944 126.6 -7.0 48 946 done -0.48 - - 2735 - - - 2772 - -146.0 - - 3638 - - - - - - - - 14.90 14.90 14.90
1280 148.6 -6.6 54 1287 roll -0.48 - - 2735 - 2.33 0.046 1381 -597.0 -146.0 - - 3637 - - - - - - - - 14.92 14.70 14.92
1328 152.0 -6.9 61 1338 done -0.48 - - 2728 - 2.47 0.073 2784 568.0 -146.0 - - 3637 - - - - - - - - 14.74 14.66 14.77
1672 174.3 -6.4 68 1679 roll -0.48 - - 2719 - 1.92 0.116 3819 539.1 -146.0 - - 3635 - - - - - - - - 14.94 14.66 14.94
1706 176.6 -6.8 73 1714 done -0.48 - - 2720 - 1.75 0.044 2774 -597.1 -146.0 - - 3635 - - - - - - - - 14.83 14.78 14.83
2064 201.4 -7.1 82 2071 roll -0.48 - - 2719 - 2.35 0.046 1382 -592.3 -146.0 - - 3632 - - - - - - - - 14.95 14.72 14.95
2133 206.2 -7.0 92 2142 done -0.48 0.08 0.211 2735 200.0 2.50 0.074 2789 562.8 -146.0 - - 3631 - - - - - - - - 14.64 14.69 14.73
2456 225.2 -5.9 103 2458 done -0.48 - - 2735 - - - 2788 - -146.0 - - 3629 - - - - - - - - 14.95 14.95 14.95
2792 246.5 -6.4 109 2800 roll -0.48 - - 2736 - 2.40 0.048 1386 -584.2 -146.0 - - 3625 - - - - - - - - 14.95 14.76 14.95
2882 252.7 -6.8 122 2895 done -0.54 - - 2729 - 2.42 0.077 2777 574.8 -146.0 - - 3624 - - - - - - - - 14.83 14.71 14.84
3243 276.5 -6.5 131 3256 roll -0.54 - - 2729 - 2.35 0.049 1378 -595.3 -146.0 - - 3622 - - - - - - - - 14.99 14.77 14.99
3281 279.1 -6.9 136 3294 done -0.54 - - 2722 - 2.42 0.079 2767 574.0 -146.0 - - 3626 - - - - - - - - 14.85 14.73 14.87
3642 303.6 -6.8 145 3656 roll -0.54 - - 2722 - 2.33 0.049 1384 -593.6 -146.0 - - 3624 - - - - - - - - 15.00 14.79 15.00
3681 306.3 -7.3 150 3694 done -0.54 - - 2715 - 2.42 0.079 2775 574.8 -146.0 - - 3619 - - - - - - - - 14.87 14.75 14.89
4042 331.7 -7.0 159 4055 roll -0.54 - - 2714 - 2.35 0.049 1376 -595.3 -146.0 - - 3617 - - - - - - - - 15.01 14.79 15.01
4087 334.9 -7.2 165 4100 done -0.54 - - 2705 - 2.42 0.079 2766 574.4 -146.0 - - 3615 - - - - - - - - 14.88 14.75 14.88
4441 359.3 -6.8 173 4455 roll -0.54 - - 2705 - 2.30 0.049 1388 -599.1 -146.0 - - 3614 - - - - - - - - 15.01 14.78 15.01
4501 363.5 -7.1 181 4515 done -0.54 0.10 0.243 2726 210.0 2.42 0.080 2772 571.9 -146.0 - - 3613 - - - - - - - - 14.68 14.76 14.85
4842 385.0 -6.3 194 4856 roll -0.54 - - 2726 - 2.33 0.048 1388 -594.0 -146.0 - - 3611 - - - - - - - - 15.01 14.79 15.01
4881 387.5 -6.6 199 4894 done -0.58 - - 2718 - 2.40 0.079 2765 573.8 -146.0 - - 3611 - - - - - - - - 14.88 14.75 14.90
5242 410.1 -6.3 208 5255 roll -0.58 - - 2718 - 2.33 0.049 1379 -594.8 -146.0 - - 3610 - - - - - - - - 15.02 14.79 15.02
5280 412.7 -7.0 213 5294 done -0.58 - - 2710 - 2.42 0.079 2769 574.4 -146.0 - - 3609 - - - - - - - - 14.88 14.75 14.89
5642 438.4 -7.3 222 5655 roll -0.58 - - 2701 - 1.92 0.121 3823 549.0 -146.0 - - 3608 - - - - - - - - 15.01 14.71 15.01
5673 441.0 -8.2 226 5686 done -0.58 - - 2702 - 1.73 0.050 2769 -609.2 -146.0 - - 3608 - - - - - - - - 14.89 14.84 14.90
6041 469.4 -7.7 236 6055 roll -0.58 - - 2701 - 2.33 0.049 1374 -598.7 -146.0 - - 3606 - - - - - - - - 15.01 14.78 15.01
6158 478.1 -7.4 252 6171 done -0.58 - - 2693 - 2.42 0.077 2763 574.0 -146.0 - - 3604 - - - - - - - - 14.87 14.73 14.88
6498 502.9 -7.2 265 6511 done -0.58 - - 2692 - - - 2763 - -146.0 - - 3603 - - - - - - - - 15.01 15.01 15.02
6834 527.7 -7.4 271 6847 roll -0.58 - - 2693 - 2.35 0.050 1366 -594.5 -146.0 - - 3603 - - - - - - - - 15.02 14.78 15.01
6873 530.8 -8.2 276 6886 done -0.58 - - 2683 - 2.42 0.079 2752 572.7 -146.0 - - 3603 - - - - - - - - 14.87 14.74 14.89
7234 558.5 -7.6 285 7247 done -0.58 - - 2684 - - - 2753 - -146.0 - - 3601 - - - - - - - - 15.00 15.01 15.00
7570 583.9 -7.6 291 7583 roll -0.58 - - 2682 - 2.35 0.050 1366 -590.2 -146.0 - - 3599 - - - - - - - - 15.01 14.77 15.02
7630 588.7 -7.8 299 7643 done -0.58 0.12 0.233 2712 250.0 2.45 0.079 2753 566.1 -146.0 - - 3599 - - - - - - - - 14.64 14.73 14.83
7971 611.4 -6.6 312 7984 roll -0.58 - - 2711 - 2.33 0.049 1372 -592.7 -146.0 - - 3598 - - - - - - - - 14.99 14.76 15.01
8002 613.6 -6.7 316 8015 done -0.58 - - 2703 - 2.42 0.077 2752 570.2 -146.0 - - 3598 - - - - - - - - 14.86 14.73 14.87
8370 638.0 -6.6 326 8383 roll -0.58 - - 2704 - 2.35 0.050 1372 -587.2 -146.0 - - 3596 - - - - - - - - 15.00 14.76 15.00
8416 641.1 -6.9 332 8429 done -0.58 - - 2696 - 2.42 0.077 2756 571.9 -146.0 - - 3596 - - - - - - - - 14.85 14.73 14.87
8770 664.1 -6.5 340 8783 roll -0.58 - - 2688 - 1.95 0.123 3820 545.6 -146.0 - - 3595 - - - - - - - - 15.00 14.68 15.00
8808 666.8 -7.0 345 8821 done -0.58 - - 2688 - 1.77 0.050 2742 -609.0 -146.0 - - 3595 - - - - - - - - 14.88 14.82 14.88
9169 690.7 -6.6 354 9182 roll -0.58 - - 2688 - 2.28 0.051 1370 -601.8 -146.0 - - 3592 - - - - - - - - 15.00 14.71 15.01
9264 697.3 -6.9 367 9277 done -0.58 0.10 0.244 2709 210.0 2.42 0.079 2750 570.2 -146.0 - - 3593 - - - - - - - - 14.60 14.69 14.78
9625 720.0 -6.4 376 9638 roll -0.58 - - 2710 - 2.35 0.051 1374 -585.5 -146.0 - - 3593 - - - - - - - - 15.00 14.75 14.99
9663 722.7 -7.2 381 9677 done -0.58 - - 2701 - 2.40 0.079 2745 571.2 -146.0 - - 3592 - - - - - - - - 14.85 14.71 14.86
10025 746.8 -6.6 390 10038 roll -0.58 - - 2701 - 2.33 0.051 1374 -588.4 -146.0 - - 3592 - - - - - - - - 14.98 14.73 14.99
10077 750.5 -6.7 397 10092 done -0.58 - - 2693 - 2.42 0.080 2744 566.1 -146.0 - - 3595 - - - - - - - - 14.83 14.69 14.85
10422 773.0 -6.6 404 10435 done -0.58 - - 2694 - - - 2746 - -146.0 - - 3590 - - - - - - - - 14.99 14.99 14.99
10757 793.9 -6.1 410 10771 roll -0.58 - - 2694 - 2.35 0.052 1368 -586.4 -146.0 - - 3589 - - - - - - - - 14.99 14.73 14.99
10818 797.6 -6.1 418 10831 done -0.58 - - 2685 - 2.45 0.080 2745 562.0 -146.0 - - 3593 - - - - - - - - 14.83 14.69 14.84
11158 818.8 -6.2 431 11171 done -0.58 - - 2685 - - - 2746 - -146.0 - - 3588 - - - - - - - - 14.97 14.97 14.97
11494 840.6 -6.6 437 11508 roll -0.58 - - 2683 - 2.35 0.054 1376 -583.0 -146.0 - - 3586 - - - - - - - - 14.97 14.72 14.97
11555 844.8 -7.0 445 11569 done -0.58 0.10 0.246 2707 240.0 2.42 0.081 2736 562.0 -146.0 - - 3587 - - - - - - - - 14.58 14.68 14.78
11897 866.3 -6.4 458 11910 done -0.58 - - 2707 - - - 2736 - -146.0 - - 3587 - - - - - - - - 14.97 14.97 14.97
12233 888.5 -6.6 464 12246 roll -0.63 - - 2708 - 2.35 0.053 1365 -583.4 -146.0 - - 3586 - - - - - - - - 14.98 14.71 14.97
12271 891.2 -4.6 469 12284 done -0.67 - - 2699 - 2.42 0.080 2742 569.0 -146.0 - - 3586 - - - - - - - - 14.81 14.66 14.83
12632 915.5 -6.7 478 12646 roll -0.67 - - 2700 - 2.33 0.052 1373 -587.6 -146.0 - - 3584 - - - - - - - - 14.96 14.71 14.97
12671 918.2 -5.5 483 12684 done -0.67 - - 2692 - 2.40 0.080 2736 567.9 -146.0 - - 3584 - - - - - - - - 14.81 14.66 14.83
12862 end dive: TARGET_DEPTH_EXCEEDED
12862 begin apogee
12866 930.9 -6.4 489 13020 roll -0.23 0.43 0.177 2822 302.3 - - 2287 - - 138.82 2.376 3050 -3.8 0.293 - - - - 1 - 14.57 13.88 12.92
13021 end apogee: CONTROL_FINISHED_OK
13021 begin climb
13023 935.0 - 491 13199 roll 0.82 1.05 0.116 3150 312.4 2.53 0.063 895 -550.2 146.0 158.52 1.880 2463 -3.7 0.358 - - - - - - 13.95 13.97 13.22
13210 928.5 9.4 524 13224 done 0.69 - - 3150 - 2.55 0.066 2293 548.2 146.0 - - 2454 - - - - - - - - 14.02 13.93 14.04
13544 895.0 10.3 536 13557 roll 0.60 0.17 0.237 3096 -317.6 2.62 0.113 3698 536.3 146.0 - - 2449 - - - - - - - - 14.29 14.31 14.42
13589 890.4 11.6 542 13603 done 0.52 0.12 0.249 3073 -191.7 2.42 0.049 2288 -582.6 146.0 - - 2450 - - - - - - - - 14.32 14.46 14.50
13944 863.4 7.7 550 13957 done 0.53 - - 3074 - - - 2284 - 148.5 - - 2449 - - - - - - - - 14.78 14.78 14.77
14280 837.9 7.6 556 14293 roll 0.53 - - 3073 - 2.65 0.116 3700 534.3 152.1 - - 2448 - - - - - - - - 14.84 14.54 14.84
14318 834.6 10.3 561 14332 done 0.53 - - 3082 - 2.40 0.050 2287 -588.8 152.1 - - 2448 - - - - - - - - 14.72 14.64 14.73
14680 807.3 7.4 570 14702 done 0.54 - - 3082 - - - 2284 - 161.5 13.30 2.073 2406 -3.2 0.239 - - - - - - 14.88 14.60 13.95
15016 782.7 7.2 576 15042 roll 0.56 - - 3082 - 2.72 0.116 3697 519.5 175.5 13.85 2.059 2346 -4.3 0.320 - - - - - - 14.83 14.46 13.88
15068 778.7 7.8 583 15081 done 0.51 - - 3092 - 2.42 0.050 2293 -580.2 175.5 - - 2341 - - - - - - - - 14.60 14.54 14.62
15408 753.0 7.5 596 15421 done 0.52 - - 3092 - - - 2284 - 181.3 1.38 0.262 2325 -11.6 6.479 - - - - - - 14.82 14.66 14.49
15745 727.7 7.5 602 15765 done 0.53 - - 3092 - - - 2285 - 188.5 12.00 2.052 2299 -2.2 0.149 - - - - - - 14.87 14.60 13.93
16080 702.4 7.5 608 16098 roll 0.54 - - 3092 - 2.72 0.119 3700 520.2 194.7 1.92 0.289 2275 -12.5 5.907 - - - - - - 14.83 14.55 14.28
16109 700.0 8.4 612 16123 done 0.54 - - 3102 - 2.40 0.051 2293 -586.2 194.7 - - 2282 - - - - - - - - 14.72 14.65 14.73
16477 670.5 8.0 622 16491 roll 0.54 - - 3111 - 2.50 0.071 885 -563.2 194.7 1.58 0.263 2275 -4.4 2.196 - - - - - - 14.88 14.64 14.49
16516 667.3 8.1 627 16530 done 0.54 0.12 0.213 3075 -300.0 2.45 0.069 2300 577.6 194.7 1.48 0.252 2274 - - - - - - - - 14.56 14.64 14.48
16872 640.5 7.6 635 16889 roll 0.54 - - 3075 - 2.58 0.116 3702 543.4 198.0 4.35 1.797 2263 -2.5 0.175 - - - - - - 14.90 14.62 13.69
16935 634.8 9.2 644 16948 done 0.54 - - 3083 - 2.40 0.048 2282 -591.7 198.0 1.83 0.287 2260 -1.6 0.705 - - - - - - 14.75 14.68 14.34
17261 607.6 8.3 655 17278 roll 0.54 - - 3083 - 2.70 0.115 3697 524.1 198.0 1.58 0.269 2264 2.5 -1.112 - - - - - - 14.88 14.59 14.47
17303 603.8 9.0 661 17318 done 0.54 - - 3092 - 2.38 0.049 2291 -590.8 198.0 1.58 0.295 2261 -1.9 0.756 - - - - - - 14.77 14.70 14.37
17658 575.1 7.9 669 17672 roll 0.54 - - 3102 - 2.47 0.070 890 -567.2 198.0 1.70 0.275 2262 - - - - - - - - 14.91 14.68 14.42
17712 571.0 7.7 676 17726 done 0.54 - - 3103 - 2.45 0.069 2301 575.9 198.4 1.48 0.285 2261 - - - - - - - - 14.78 14.70 14.45
18056 546.6 7.0 683 18101 roll 0.57 - - 3102 - 2.67 0.118 3699 523.6 219.1 29.67 1.697 2167 -3.2 0.198 - - - - - - 14.92 14.42 13.93
18126 541.2 8.1 693 18139 done 0.57 - - 3112 - 2.40 0.048 2297 -584.2 219.1 - - 2164 - - - - - - - - 14.59 14.52 14.60
18452 515.7 8.0 704 18465 done 0.57 - - 3112 - - - 2293 - 219.1 - - 2162 - - - - - - - - 14.81 14.81 14.81
18788 485.5 9.1 710 18802 roll 0.57 - - 3112 - 2.60 0.116 3694 538.8 219.1 - - 2162 - - - - - - - - 14.85 14.57 14.86
18820 482.3 10.1 714 18833 done 0.57 0.12 0.245 3086 -216.7 2.38 0.049 2293 -588.7 219.1 - - 2162 - - - - - - - - 14.52 14.67 14.71
19188 454.2 7.4 724 19207 roll 0.58 - - 3097 - 2.42 0.069 889 -580.2 229.1 4.32 1.644 2138 -5.6 0.298 - - - - - - 14.89 14.65 13.74
19239 450.5 7.0 731 19279 done 0.60 - - 3096 - 2.45 0.066 2301 576.3 248.2 26.08 1.626 2056 -3.1 0.169 - - - - - - 14.73 14.63 13.91
19586 425.0 7.4 745 19599 done 0.61 - - 3096 - - - 2301 - 256.8 3.45 1.339 2026 -8.7 0.537 - - - - - - 14.78 14.60 13.65
19921 398.6 8.0 751 19934 roll 0.61 - - 3096 - 2.58 0.114 3703 543.4 256.8 1.10 0.273 2028 - - - - - - - - 14.83 14.56 14.50
19959 395.1 9.3 756 19973 done 0.61 - - 3105 - 2.38 0.046 2295 -591.6 256.8 0.88 0.311 2028 - - - - - - - - 14.73 14.66 14.51
20321 365.1 8.2 765 20334 done 0.61 - - 3104 - - - 2291 - 256.8 1.12 0.276 2027 - - - - - - - - 14.88 14.41 14.53
20657 337.2 8.4 771 20670 done 0.61 - - 3105 - - - 2291 - 256.8 - - 2035 - - - - - - - - 14.90 14.90 14.90
20993 308.5 8.6 777 21006 roll 0.61 - - 3115 - 2.42 0.069 892 -578.1 256.8 - - 2037 - - - - - - - - 14.92 14.68 14.92
21017 306.4 8.6 780 21031 done 0.61 - - 3115 - 2.42 0.066 2305 583.9 256.8 1.27 0.270 2026 -8.7 1.911 - - - - - - 14.77 14.66 14.54
21336 278.8 8.6 790 21350 roll 0.61 - - 3115 - 2.53 0.112 3701 551.8 256.8 1.33 0.271 2028 - - - - - - - - 14.93 14.62 14.52
21389 273.7 9.9 797 21404 done 0.61 - - 3124 - 2.38 0.046 2289 -593.3 256.8 - - 2035 - - - - - - - - 14.80 14.73 14.81
21733 242.6 9.0 804 21747 roll 0.61 - - 3133 - 2.38 0.066 893 -586.6 256.8 1.45 0.270 2028 -4.8 0.843 - - - - - - 14.92 14.69 14.48
21764 239.6 9.4 808 21778 done 0.61 0.12 0.208 3095 -316.7 2.42 0.067 2307 584.3 256.8 - - 2035 - - - - - - - - 14.62 14.67 14.80
22133 211.9 7.4 818 22159 roll 0.63 - - 3094 - 2.62 0.114 3703 532.8 266.2 14.45 1.431 1984 -3.5 0.102 - - - - - - 14.93 14.59 14.14
22177 208.3 8.2 824 22191 done 0.63 - - 3103 - 2.40 0.047 2291 -588.3 266.2 - - 1981 - - - - - - - - 14.72 14.64 14.73
22521 181.2 7.9 831 22535 roll 0.63 - - 3111 - 2.38 0.069 898 -585.3 266.2 - - 1980 - - - - - - - - 14.89 14.65 14.88
22546 179.2 7.9 834 22559 done 0.63 - - 3111 - 2.42 0.065 2307 582.2 266.2 - - 1984 - - - - - - - - 14.76 14.64 14.78
22865 153.5 8.2 844 22878 roll 0.63 - - 3111 - 2.53 0.116 3692 547.4 266.2 - - 1980 - - - - - - - - 14.90 14.62 14.90
22889 151.3 8.2 847 22902 done 0.63 - - 3120 - 2.35 0.047 2293 -595.3 266.2 - - 1980 - - - - - - - - 14.78 14.72 14.80
23208 123.9 8.6 857 23221 roll 0.63 - - 3129 - 2.40 0.068 889 -585.0 266.2 - - 1980 - - - - - - - - 14.92 14.68 14.92
23239 121.2 8.6 861 23253 done 0.63 - - 3129 - 2.42 0.064 2303 584.3 266.2 - - 1980 - - - - - - - - 14.79 14.67 14.81
23580 93.0 7.8 872 23593 roll 0.63 - - 3129 - 2.55 0.116 3696 546.3 266.2 - - 1978 - - - - - - - - 14.92 14.63 14.93
23618 90.1 7.3 877 23637 done 0.64 0.10 0.242 3109 -200.0 2.38 0.046 2275 -597.1 277.4 4.35 0.389 1945 -7.6 0.342 - - - - - - 14.59 14.73 14.40
23951 71.2 5.0 891 23996 done 0.79 0.08 0.155 3172 787.5 - - 2273 - 350.1 35.55 0.382 1655 -8.2 0.296 - - - - - - 14.72 14.69 14.40
24287 51.5 5.3 906 24332 roll 0.95 0.05 0.205 3211 780.0 2.65 0.112 3703 539.6 415.2 30.88 0.321 1397 -8.4 0.261 - - - - - - 14.68 14.56 14.40
24413 43.9 5.3 924 24462 done 1.08 - - 3214 - 2.35 0.044 2297 -598.3 481.1 31.30 0.299 1133 -8.4 0.241 - - - - - - 14.73 14.66 14.40
24765 25.3 5.4 941 24809 roll 1.25 0.15 0.099 3316 680.0 2.42 0.065 906 -574.8 543.0 28.70 0.237 889 -8.5 0.176 - - - - - - 14.68 14.60 14.46
24953 9.0 9.1 968 24967 done 1.25 - - 3316 - 2.38 0.060 2304 587.4 543.0 - - 890 - - - - - - - - 14.73 14.61 14.74
25044 end climb: SURFACE_DEPTH_REACHED
25044 begin surface coast
25072 end surface coast: CONTROL_FINISHED_OK
25072 begin surface
SM 0.59 - - - - -8.40 8.75 0.045 186 21.3 0.82 0.087 2777 2130.5 542.84 - - 889 - - - - - - - -