SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 98 * Raw log
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• Previous call tries 1 • 42.17 of 350.00 AH used of 24V (87.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.7 deg, depth -1.91 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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 - - - 97 done -0.90 - - 176 - - - 2775 - -116.8 -76.25 - 3518 - - - - - - - - 14.69 13.47 14.69
99 -0.3 -5.3 2 121 roll -0.90 11.40 0.396 2600 212.6 2.35 0.036 1364 -600.4 -116.8 - - 3517 - - - - - - - - 14.27 14.50 14.52
147 28.8 -34.4 10 155 done -0.38 0.62 0.272 2767 269.4 2.50 0.070 2768 561.6 -116.8 - - 3515 - - - - - - - - 14.34 14.45 14.54
483 71.9 -10.0 25 492 roll -0.38 - - 2759 - 1.95 0.116 3820 539.5 -116.8 - - 3519 - - - - - - - - 14.82 14.54 14.82
587 85.6 -6.8 40 596 done -0.38 - - 2759 - 1.77 0.042 2744 -607.9 -116.8 - - 3520 - - - - - - - - 14.73 14.69 14.74
931 105.5 -6.4 51 938 roll -0.38 - - 2751 - 2.03 0.111 3826 533.0 -116.8 - - 3521 - - - - - - - - 14.89 14.61 14.89
1092 116.3 -7.0 74 1101 done -0.49 - - 2751 - 1.73 0.043 2778 -605.8 -116.8 - - 3523 - - - - - - - - 14.75 14.73 14.77
1435 137.3 -6.1 81 1438 done -0.59 0.08 0.161 2679 -900.0 - - 2778 - -116.8 - - 3521 - - - - - - - - 14.71 14.81 14.78
1771 167.5 -9.2 87 1778 roll -0.59 - - 2671 - 1.98 0.111 3831 531.8 -116.8 - - 3519 - - - - - - - - 14.93 14.65 14.93
1812 171.7 -10.1 93 1821 done -0.59 0.12 0.222 2708 308.3 1.75 0.043 2780 -600.6 -116.8 - - 3518 - - - - - - - - 14.62 14.78 14.79
2163 198.8 -7.5 101 2171 roll -0.59 - - 2708 - 2.35 0.047 1389 -591.9 -116.8 - - 3516 - - - - - - - - 14.94 14.71 14.94
2239 204.6 -7.4 112 2247 done -0.59 - - 2699 - 2.47 0.073 2787 566.0 -116.8 - - 3516 - - - - - - - - 14.76 14.68 14.78
2555 228.8 -7.8 122 2562 roll -0.59 - - 2689 - 1.92 0.115 3822 539.1 -116.8 - - 3513 - - - - - - - - 14.93 14.65 14.93
2589 231.6 -8.2 127 2597 done -0.59 - - 2691 - 1.75 0.044 2775 -598.3 -116.8 - - 3512 - - - - - - - - 14.83 14.78 14.83
2947 259.1 -7.7 136 2960 roll -0.59 - - 2691 - 2.30 0.047 1386 -603.9 -116.8 - - 3510 - - - - - - - - 14.97 14.74 14.97
3007 263.8 -7.7 144 3020 done -0.59 - - 2682 - 2.45 0.076 2785 571.0 -116.8 - - 3510 - - - - - - - - 14.83 14.71 14.85
3347 290.9 -8.0 157 3360 roll -0.59 - - 2673 - 1.90 0.118 3830 550.0 -116.8 - - 3508 - - - - - - - - 14.99 14.70 14.99
3407 296.2 -8.9 165 3420 done -0.59 0.10 0.233 2704 310.0 1.70 0.047 2786 -614.1 -116.8 - - 3507 - - - - - - - - 14.65 14.83 14.82
3747 323.2 -7.9 178 3760 roll -0.59 - - 2704 - 2.33 0.047 1374 -606.0 -116.8 - - 3505 - - - - - - - - 14.98 14.79 14.99
3813 328.6 -8.0 187 3827 done -0.59 - - 2695 - 2.45 0.075 2783 575.1 -116.8 - - 3504 - - - - - - - - 14.85 14.73 14.85
4146 355.8 -8.2 199 4160 roll -0.59 - - 2694 - 2.35 0.046 1376 -598.7 -116.8 - - 3502 - - - - - - - - 15.01 14.79 15.00
4198 360.2 -8.3 206 4212 done -0.59 - - 2688 - 2.47 0.076 2782 569.2 -116.8 - - 3502 - - - - - - - - 14.86 14.73 14.87
4543 388.1 -8.1 213 4556 done -0.59 - - 2685 - - - 2782 - -116.8 - - 3500 - - - - - - - - 15.02 15.01 15.01
4879 413.1 -7.3 219 4892 roll -0.59 - - 2685 - 2.38 0.047 1367 -594.5 -116.8 - - 3498 - - - - - - - - 15.01 14.80 15.01
4910 415.3 -6.9 223 4923 done -0.59 0.10 0.246 2706 210.0 2.45 0.076 2776 575.1 -116.8 - - 3498 - - - - - - - - 14.66 14.74 14.83
5278 437.0 -5.8 233 5291 roll -0.59 - - 2698 - 1.92 0.123 3830 549.0 -116.8 - - 3496 - - - - - - - - 15.02 14.71 15.01
5324 439.8 -6.3 239 5337 done -0.59 - - 2698 - 1.73 0.050 2777 -608.7 -116.8 - - 3496 - - - - - - - - 14.90 14.85 14.90
5678 460.9 -6.0 247 5691 roll -0.59 - - 2697 - 2.35 0.047 1363 -601.7 -116.8 - - 3494 - - - - - - - - 15.00 14.79 15.01
5751 465.6 -6.2 257 5765 done -0.59 - - 2688 - 2.45 0.076 2777 577.1 -116.8 - - 3493 - - - - - - - - 14.86 14.73 14.88
6078 488.6 -7.3 268 6091 roll -0.59 - - 2681 - 1.92 0.123 3834 550.5 -116.8 - - 3493 - - - - - - - - 15.00 14.70 15.01
6123 492.4 -8.2 274 6136 done -0.59 - - 2680 - 1.75 0.050 2763 -612.0 -116.8 - - 3492 - - - - - - - - 14.88 14.83 14.90
6477 521.0 -8.2 282 6490 roll -0.59 - - 2677 - 2.33 0.048 1366 -599.6 -116.8 - - 3490 - - - - - - - - 15.00 14.78 15.00
6508 523.7 -8.5 286 6521 done -0.59 0.12 0.230 2709 266.7 2.47 0.077 2784 574.1 -116.8 - - 3490 - - - - - - - - 14.64 14.73 14.82
6877 549.0 -6.8 296 6890 roll -0.68 - - 2708 - 2.38 0.048 1371 -593.7 -116.8 - - 3489 - - - - - - - - 15.00 14.78 15.00
6937 553.2 -7.0 304 6951 done -0.78 0.10 0.122 2635 -730.0 2.47 0.077 2781 570.9 -116.8 - - 3489 - - - - - - - - 14.81 14.72 14.87
7278 584.4 -9.2 317 7291 roll -0.78 - - 2627 - 1.90 0.122 3823 548.4 -116.8 - - 3487 - - - - - - - - 15.00 14.69 15.00
7316 588.2 -10.1 322 7329 done -0.78 - - 2627 - 1.73 0.047 2770 -608.7 -116.8 - - 3487 - - - - - - - - 14.88 14.83 14.89
7677 622.0 -9.4 331 7690 done -0.78 - - 2627 - - - 2770 - -116.8 - - 3486 - - - - - - - - 15.00 15.00 15.00
8013 653.5 -9.3 337 8026 done -0.78 - - 2627 - - - 2770 - -116.8 - - 3484 - - - - - - - - 15.00 15.00 15.00
8349 684.3 -9.3 343 8362 done -0.78 - - 2627 - - - 2770 - -116.8 - - 3483 - - - - - - - - 15.00 15.01 15.01
8685 716.1 -9.5 349 8698 roll -0.78 - - 2627 - 2.35 0.050 1367 -597.0 -116.8 - - 3482 - - - - - - - - 15.00 14.76 15.00
8751 722.6 -9.4 358 8764 done -0.78 0.08 0.277 2641 175.0 2.47 0.078 2777 570.9 -116.8 - - 3482 - - - - - - - - 14.60 14.71 14.80
9084 751.8 -8.8 370 9097 done -0.78 - - 2641 - - - 2784 - -116.8 - - 3478 - - - - - - - - 15.00 15.00 14.99
9420 781.0 -8.7 376 9434 roll -0.78 - - 2642 - 2.40 0.050 1366 -590.8 -116.8 - - 3479 - - - - - - - - 14.99 14.76 14.99
9466 785.4 -9.3 382 9479 done -0.78 - - 2633 - 2.47 0.080 2771 568.8 -116.8 - - 3480 - - - - - - - - 14.84 14.71 14.86
9820 816.9 -9.0 390 9833 done -0.78 - - 2633 - - - 2771 - -116.8 - - 3478 - - - - - - - - 14.99 14.99 14.99
10156 847.2 -9.0 396 10169 done -0.78 - - 2633 - - - 2771 - -116.8 - - 3478 - - - - - - - - 14.99 15.00 15.03
10492 877.1 -8.8 402 10505 done -0.78 - - 2633 - - - 2770 - -116.8 - - 3477 - - - - - - - - 14.98 14.99 14.99
10828 906.2 -8.7 408 10841 roll -0.78 - - 2632 - 2.40 0.051 1370 -583.3 -116.8 - - 3476 - - - - - - - - 14.98 14.74 14.98
10866 909.7 -6.7 413 10880 done -0.78 - - 2624 - 2.47 0.082 2770 566.8 -116.8 - - 3476 - - - - - - - - 14.82 14.68 14.85
11114 end dive: TARGET_DEPTH_EXCEEDED
11114 begin apogee
11119 931.8 -8.9 420 11242 roll -0.23 0.68 0.202 2821 289.7 - - 2235 - - 113.65 1.978 3050 -3.7 0.334 - - - - - - 14.56 14.07 13.41
11244 end apogee: CONTROL_FINISHED_OK
11244 begin climb
11245 935.9 - 422 11382 roll 0.90 1.10 0.116 3172 319.1 2.45 0.062 868 -558.0 116.8 120.40 1.917 2585 -3.9 0.356 - - - - - - 14.09 14.11 13.29
11407 928.6 9.5 447 11421 done 0.73 0.12 0.249 3139 -275.0 2.47 0.060 2254 561.1 116.8 - - 2573 - - - - - - - - 13.99 14.07 14.14
11735 900.7 8.7 458 11748 roll 0.63 0.10 0.274 3105 -340.0 2.60 0.108 3658 540.0 116.8 - - 2570 - - - - - - - - 14.31 14.39 14.46
11801 894.6 9.0 467 11815 done 0.53 0.15 0.249 3076 -193.3 2.38 0.046 2262 -586.6 116.8 - - 2570 - - - - - - - - 14.35 14.52 14.55
12135 871.3 6.9 479 12160 done 0.55 - - 3076 - - - 2258 - 134.4 16.83 2.056 2518 -3.1 0.247 - - - - - - 14.81 14.50 13.82
12471 847.5 7.2 485 12496 roll 0.57 - - 3076 - 2.62 0.111 3661 535.5 146.9 12.93 2.096 2459 -4.6 0.349 - - - - - - 14.79 14.41 13.83
12529 843.1 9.3 493 12542 done 0.57 - - 3086 - 2.42 0.046 2245 -585.1 146.9 - - 2458 - - - - - - - - 14.58 14.52 14.59
12870 817.9 7.4 506 12887 roll 0.58 - - 3086 - 2.67 0.113 3651 526.6 154.5 3.40 1.515 2439 -5.6 0.570 - - - - - - 14.81 14.53 13.56
12912 814.4 8.8 512 12926 done 0.58 - - 3095 - 2.38 0.047 2252 -587.8 154.5 1.52 0.356 2435 -2.6 1.138 - - - - - - 14.68 14.62 14.24
13267 787.0 7.9 520 13280 done 0.58 - - 3095 - - - 2248 - 154.5 1.85 0.373 2435 - - - - - - - - 14.85 14.67 14.24
13603 761.4 7.5 526 13627 roll 0.58 - - 3094 - 2.67 0.114 3654 526.6 159.8 10.60 2.098 2409 -2.5 0.168 - - - - - - 14.90 14.54 13.95
13660 756.5 9.2 534 13674 done 0.58 - - 3105 - 2.40 0.047 2248 -585.8 159.8 - - 2408 - - - - - - - - 14.69 14.60 14.70
14001 729.4 7.9 547 14014 done 0.58 - - 3105 - - - 2244 - 159.8 - - 2407 - - - - - - - - 14.86 14.86 14.86
14337 704.1 7.5 553 14351 roll 0.59 - - 3105 - 2.67 0.111 3656 528.8 165.5 2.55 0.991 2394 -5.1 0.685 - - - - - - 14.89 14.62 13.59
14369 701.4 7.8 557 14383 done 0.59 - - 3115 - 2.38 0.047 2250 -590.8 165.5 1.40 0.320 2391 -2.1 0.888 - - - - - - 14.77 14.70 14.30
14738 673.5 7.6 567 14756 roll 0.59 - - 3126 - 2.40 0.066 848 -584.2 169.6 5.12 2.020 2377 -2.7 0.172 - - - - - - 14.90 14.65 13.84
14781 670.2 7.3 573 14808 done 0.60 0.10 0.236 3097 -290.0 2.42 0.063 2260 583.5 178.4 15.18 1.942 2338 -2.6 0.168 - - - - - - 14.56 14.64 13.94
15129 645.7 7.1 587 15155 roll 0.62 - - 3095 - 2.65 0.112 3655 526.4 192.1 14.10 1.922 2279 -4.2 0.266 - - - - - - 14.81 14.45 13.88
15208 639.1 8.8 598 15221 done 0.62 - - 3111 - 2.38 0.046 2261 -585.7 192.1 - - 2277 - - - - - - - - 14.61 14.54 14.62
15576 608.9 8.4 608 15589 done 0.62 - - 3106 - - - 2256 - 192.1 - - 2276 - - - - - - - - 14.83 14.83 14.83
15913 579.8 8.7 614 15926 roll 0.62 - - 3106 - 2.60 0.112 3655 538.1 192.1 - - 2275 - - - - - - - - 14.87 14.58 14.86
15965 574.7 9.8 621 15980 done 0.62 - - 3113 - 2.38 0.046 2258 -587.0 192.1 - - 2275 - - - - - - - - 14.75 14.69 14.75
16309 543.9 8.9 628 16322 done 0.62 - - 3116 - - - 2254 - 192.1 - - 2275 - - - - - - - - 14.90 14.90 14.90
16645 514.9 8.5 634 16658 done 0.62 - - 3116 - - - 2254 - 192.1 - - 2275 - - - - - - - - 14.92 14.92 14.92
16981 488.0 7.8 640 16994 roll 0.62 - - 3116 - 2.60 0.111 3662 541.5 192.1 - - 2275 - - - - - - - - 14.93 14.64 14.93
17026 484.2 8.3 646 17039 done 0.62 - - 3126 - 2.35 0.046 2261 -596.2 192.1 - - 2275 - - - - - - - - 14.81 14.74 14.83
17380 457.8 7.4 654 17398 roll 0.63 - - 3136 - 2.40 0.066 852 -587.1 200.5 4.53 1.734 2253 -4.9 0.242 - - - - - - 14.93 14.69 13.78
17444 453.1 7.3 663 17471 done 0.64 - - 3135 - 2.42 0.063 2270 586.0 210.0 14.45 1.719 2211 -2.9 0.145 - - - - - - 14.78 14.67 14.03
17778 426.4 8.2 675 17791 roll 0.64 - - 3135 - 2.55 0.115 3661 545.5 210.0 - - 2205 - - - - - - - - 14.84 14.57 14.85
17816 422.7 9.2 680 17829 done 0.64 0.12 0.246 3112 -191.7 2.38 0.046 2252 -592.0 210.0 - - 2205 - - - - - - - - 14.50 14.66 14.69
18177 395.4 7.5 689 18190 done 0.65 - - 3111 - - - 2248 - 214.4 1.17 0.287 2193 -10.3 2.671 - - - - - - 14.89 14.71 14.47
18513 369.9 7.6 695 18527 done 0.65 - - 3112 - - - 2248 - 216.9 2.75 1.058 2188 -1.8 0.120 - - - - - - 14.90 14.71 13.75
18854 344.7 7.3 708 18878 done 0.66 - - 3111 - - - 2248 - 226.1 14.98 1.586 2148 -2.7 0.110 - - - - - - 14.92 14.64 14.07
19190 320.3 7.3 714 19209 done 0.68 - - 3112 - - - 2248 - 236.9 10.15 1.626 2107 -4.0 0.150 - - - - - - 14.85 14.62 14.04
19526 294.6 7.7 720 19539 roll 0.68 - - 3110 - 2.62 0.111 3656 537.4 237.6 - - 2100 - - - - - - - - 14.84 14.57 14.85
19578 289.9 9.2 727 19592 done 0.68 - - 3121 - 2.38 0.046 2258 -587.4 237.6 - - 2104 - - - - - - - - 14.73 14.67 14.75
19922 260.4 8.6 734 19935 done 0.68 - - 3121 - - - 2254 - 237.6 - - 2099 - - - - - - - - 14.90 14.89 14.88
20258 231.9 8.5 740 20271 done 0.68 - - 3121 - - - 2254 - 237.6 - - 2099 - - - - - - - - 14.91 14.92 14.92
20594 203.4 8.4 746 20607 roll 0.68 - - 3121 - 2.58 0.109 3654 542.6 237.6 - - 2100 - - - - - - - - 14.93 14.64 14.93
20646 198.6 9.3 753 20661 done 0.68 - - 3129 - 2.35 0.045 2254 -595.7 237.6 - - 2099 - - - - - - - - 14.80 14.73 14.81
20991 169.7 8.4 760 21004 roll 0.68 - - 3140 - 2.38 0.063 862 -584.9 237.6 - - 2100 - - - - - - - - 14.94 14.69 14.94
21043 165.0 8.8 767 21056 done 0.68 - - 3140 - 2.40 0.059 2270 586.7 237.6 - - 2099 - - - - - - - - 14.80 14.68 14.83
21387 134.8 8.6 774 21400 roll 0.68 - - 3140 - 2.53 0.110 3659 549.0 237.6 - - 2099 - - - - - - - - 14.94 14.66 14.95
21460 127.5 10.1 784 21473 done 0.68 - - 3149 - 2.33 0.044 2259 -600.9 237.6 - - 2100 - - - - - - - - 14.82 14.75 14.83
21786 100.2 7.9 795 21799 done 0.68 0.10 0.259 3121 -280.0 - - 2253 - 237.6 - - 2100 - - - - - - - - 14.60 14.85 14.78
22094 83.2 4.4 805 22141 roll 0.87 0.12 0.103 3201 666.7 2.55 0.103 3655 549.8 310.4 33.72 0.425 1812 -8.5 0.316 - - - - - - 14.78 14.61 14.38
22187 76.7 8.8 815 22200 done 0.87 - - 3210 - 2.30 0.044 2274 -600.4 310.4 - - 1814 - - - - - - - - 14.76 14.71 14.78
22520 54.4 6.7 829 22540 done 0.90 - - 3210 - - - 2268 - 334.0 11.18 0.335 1718 -8.6 0.264 - - - - - - 14.90 14.71 14.43
22828 38.0 4.2 840 22876 roll 1.10 0.08 0.152 3296 1075.0 2.45 0.061 857 -575.9 409.8 35.78 0.283 1416 -8.4 0.214 - - - - - - 14.71 14.61 14.46
23104 20.7 6.5 879 23131 done 1.14 - - 3296 - 2.42 0.056 2287 590.9 437.6 13.18 0.231 1306 -8.3 0.141 - - - - - - 14.73 14.62 14.51
23365 end climb: SURFACE_DEPTH_REACHED
23365 begin surface coast
23394 end surface coast: CONTROL_FINISHED_OK
23394 begin surface
SM -0.92 - - - - -8.40 9.00 0.077 187 20.8 0.85 0.086 2776 -7621.2 500.14 28.20 0.159 1057 37.5 0.022 - - - - - -