SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 184 * Raw log
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• Previous call tries 1 • 72.20 of 350.00 AH used of 24V (79.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth -2.74 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 51 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 95 done -1.19 - - 160 - - - 2775 - -63.1 -72.95 - 3304 - - - - - - - - 14.59 13.16 14.57
97 -1.4 -3.3 2 114 roll -1.19 11.38 0.403 2507 206.2 2.35 0.031 1331 -614.5 -63.1 - - 3305 - - - - - - - - 14.14 14.45 14.41
210 43.0 -25.2 19 218 done -0.90 0.43 0.298 2599 214.0 2.55 0.060 2769 563.9 -63.1 - - 3306 - - - - - - - - 14.10 14.32 14.31
540 92.8 -12.0 33 547 roll -0.82 0.12 0.278 2632 275.0 2.38 0.043 1367 -589.1 -63.1 - - 3308 - - - - - - - - 14.21 14.42 14.45
777 113.1 -9.0 67 785 done -0.82 - - 2623 - 2.50 0.063 2777 564.0 -63.1 - - 3309 - - - - - - - - 14.47 14.39 14.48
1100 140.1 -8.3 78 1107 roll -0.82 - - 2622 - 2.42 0.043 1376 -578.9 -63.1 - - 3308 - - - - - - - - 14.70 14.43 14.70
1204 149.1 -8.6 93 1213 done -0.82 - - 2612 - 2.50 0.064 2777 560.4 -63.1 - - 3308 - - - - - - - - 14.48 14.41 14.51
1548 180.7 -9.3 100 1550 done -0.82 - - 2612 - - - 2777 - -63.1 - - 3306 - - - - - - - - 14.71 14.71 14.73
1884 213.6 -9.8 106 1886 done -0.82 - - 2612 - - - 2777 - -63.1 - - 3305 - - - - - - - - 14.71 14.71 14.71
2220 244.8 -9.2 112 2228 roll -0.82 - - 2612 - 2.45 0.045 1376 -571.8 -63.1 - - 3301 - - - - - - - - 14.71 14.43 14.71
2254 248.1 -9.8 117 2262 done -0.82 0.10 0.252 2633 210.0 2.55 0.067 2785 552.5 -63.1 - - 3301 - - - - - - - - 14.21 14.38 14.39
2612 279.1 -8.6 126 2625 roll -0.90 - - 2629 - 2.42 0.047 1364 -587.2 -63.1 - - 3300 - - - - - - - - 14.85 14.59 14.86
2673 284.4 -8.4 134 2686 done -1.01 0.08 0.151 2564 -812.5 2.50 0.070 2782 567.2 -63.1 - - 3298 - - - - - - - - 14.59 14.54 14.68
3014 320.3 -10.7 147 3027 roll -1.01 - - 2555 - 1.90 0.105 3827 550.0 -63.1 - - 3296 - - - - - - - - 14.90 14.52 14.90
3087 329.1 -12.1 157 3100 done -1.01 - - 2553 - 1.73 0.041 2756 -619.1 -63.1 - - 3296 - - - - - - - - 14.76 14.72 14.78
3414 365.1 -10.9 168 3427 roll -1.01 - - 2546 - 2.00 0.105 3839 541.5 -63.1 - - 3294 - - - - - - - - 14.92 14.54 14.92
3467 371.2 -11.6 175 3481 done -0.93 0.17 0.265 2592 270.6 1.73 0.041 2784 -609.8 -63.1 - - 3292 - - - - - - - - 14.35 14.71 14.64
3810 406.0 -10.0 182 3823 done -0.93 - - 2593 - - - 2784 - -63.1 - - 3290 - - - - - - - - 14.93 14.93 14.93
4146 439.4 -9.9 188 4160 roll -0.93 - - 2592 - 2.38 0.046 1374 -592.4 -63.1 - - 3288 - - - - - - - - 14.94 14.64 14.94
4213 446.1 -9.7 197 4227 done -0.93 - - 2583 - 2.47 0.069 2780 569.2 -63.1 - - 3289 - - - - - - - - 14.75 14.59 14.77
4547 479.8 -10.1 209 4560 roll -0.93 - - 2575 - 1.92 0.109 3829 546.4 -63.1 - - 3287 - - - - - - - - 14.95 14.53 14.95
4593 484.9 -11.3 215 4606 done -0.93 - - 2574 - 1.73 0.044 2776 -608.7 -63.1 - - 3286 - - - - - - - - 14.79 14.73 14.80
4947 521.3 -10.3 223 4960 roll -0.93 - - 2574 - 2.35 0.045 1375 -596.2 -63.1 - - 3284 - - - - - - - - 14.93 14.65 14.94
4993 526.2 -10.7 229 5006 done -0.93 0.12 0.273 2594 166.7 2.47 0.068 2780 568.8 -63.1 - - 3284 - - - - - - - - 14.35 14.58 14.63
5348 560.9 -9.9 237 5361 roll -0.93 - - 2590 - 1.92 0.109 3827 545.3 -63.1 - - 3282 - - - - - - - - 14.94 14.52 14.94
5386 564.9 -10.6 242 5400 done -0.93 - - 2588 - 1.73 0.044 2777 -606.9 -63.1 - - 3281 - - - - - - - - 14.79 14.73 14.81
5748 599.7 -9.6 251 5761 done -0.93 - - 2588 - - - 2776 - -63.1 - - 3280 - - - - - - - - 14.95 14.95 14.95
6084 629.3 -8.7 257 6097 roll -0.93 - - 2588 - 2.38 0.047 1374 -589.1 -63.1 - - 3277 - - - - - - - - 14.95 14.64 14.95
6137 633.6 -8.0 264 6151 done -0.93 - - 2580 - 2.50 0.070 2779 562.0 -63.1 - - 3277 - - - - - - - - 14.72 14.56 14.75
6481 662.5 -8.5 271 6494 done -0.93 - - 2579 - - - 2779 - -63.1 - - 3276 - - - - - - - - 14.92 14.93 14.92
6817 691.9 -8.8 277 6830 roll -0.93 - - 2571 - 1.95 0.109 3831 539.5 -63.1 - - 3274 - - - - - - - - 14.92 14.50 14.93
6925 702.7 -9.8 292 6940 done -0.93 0.10 0.277 2596 250.0 1.75 0.045 2789 -595.4 -63.1 - - 3274 - - - - - - - - 14.33 14.69 14.61
7270 733.3 -9.0 299 7283 roll -0.93 - - 2596 - 2.40 0.047 1367 -592.5 -63.1 - - 3273 - - - - - - - - 14.94 14.61 14.94
7343 740.2 -9.0 309 7357 done -1.01 - - 2587 - 2.53 0.070 2789 562.1 -63.1 - - 3272 - - - - - - - - 14.70 14.54 14.73
7670 771.1 -9.6 320 7683 roll -1.01 - - 2579 - 1.92 0.112 3824 539.1 -63.1 - - 3271 - - - - - - - - 14.92 14.46 14.92
7709 775.1 -10.5 325 7722 done -1.01 - - 2578 - 1.75 0.044 2767 -604.0 -63.1 - - 3269 - - - - - - - - 14.75 14.69 14.76
8070 810.6 -9.9 334 8083 roll -1.01 - - 2578 - 2.38 0.046 1366 -588.7 -63.1 - - 3269 - - - - - - - - 14.91 14.60 14.91
8116 815.5 -10.3 340 8129 done -1.01 - - 2569 - 2.50 0.069 2784 567.2 -63.1 - - 3269 - - - - - - - - 14.70 14.54 14.73
8470 850.0 -9.7 348 8484 roll -1.01 - - 2568 - 2.42 0.044 1360 -588.4 -63.1 - - 3271 - - - - - - - - 14.91 14.60 14.92
8516 854.5 -7.9 354 8529 done -1.01 - - 2558 - 2.50 0.068 2779 567.6 -63.1 - - 3268 - - - - - - - - 14.69 14.53 14.72
8871 888.4 -9.5 362 8884 done -1.01 - - 2558 - - - 2779 - -63.1 - - 3267 - - - - - - - - 14.92 14.93 14.93
9207 918.5 -8.9 368 9220 roll -1.01 - - 2558 - 2.42 0.044 1359 -586.8 -63.1 - - 3265 - - - - - - - - 14.92 14.57 14.92
9253 922.4 -7.6 374 9266 done -1.02 - - 2548 - 2.53 0.069 2781 562.1 -64.7 - - 3265 - - - - - - - - 14.68 14.51 14.70
9382 end dive: TARGET_DEPTH_EXCEEDED
9382 begin apogee
9387 933.8 -8.4 378 9457 roll -0.23 1.00 0.233 2821 273.0 - - 2229 - - 59.97 1.994 3051 -3.6 0.325 - - - - - - 14.31 14.26 13.50
9459 end apogee: CONTROL_FINISHED_OK
9459 begin climb
9461 936.0 - 379 9544 roll 1.19 1.38 0.106 3264 321.0 2.40 0.056 865 -568.3 64.7 67.78 1.996 2790 -3.9 0.351 - - - - - - 14.21 14.24 13.27
9606 927.8 8.0 402 9620 done 1.06 - - 3264 - 2.45 0.051 2258 568.6 64.7 - - 2783 - - - - - - - - 14.26 14.15 14.27
9950 896.7 9.2 409 9963 roll 0.92 0.22 0.288 3204 -272.7 2.58 0.096 3650 539.5 64.7 - - 2783 - - - - - - - - 14.07 14.32 14.30
10011 891.2 8.9 417 10024 done 0.81 0.20 0.276 3163 -205.0 2.35 0.040 2266 -588.9 64.7 - - 2780 - - - - - - - - 14.14 14.49 14.45
10353 867.2 6.9 430 10371 roll 0.82 - - 3174 - 2.50 0.058 854 -564.8 75.1 5.78 2.101 2754 -4.5 0.361 - - - - - - 14.76 14.55 13.65
10396 864.2 8.5 436 10411 done 0.82 - - 3173 - 2.42 0.054 2249 576.4 75.1 - - 2759 - - - - - - - - 14.59 14.48 14.61
10740 841.4 6.7 443 10772 roll 0.83 - - 3173 - 2.60 0.102 3657 541.5 87.6 18.00 2.013 2697 -3.4 0.280 - - - - - - 14.81 14.43 13.79
10825 834.9 8.2 455 10838 done 0.83 - - 3185 - 2.40 0.040 2242 -589.6 87.6 - - 2694 - - - - - - - - 14.54 14.49 14.56
11194 808.3 7.1 465 11211 roll 0.84 - - 3195 - 2.38 0.061 862 -579.8 95.4 4.18 1.819 2673 -5.0 0.434 - - - - - - 14.77 14.56 13.43
11258 803.5 7.3 474 11284 done 0.85 - - 3194 - 2.40 0.054 2251 578.8 100.8 11.57 2.088 2643 -2.6 0.194 - - - - - - 14.61 14.49 13.76
11591 777.1 8.1 486 11604 roll 0.85 - - 3195 - 2.60 0.103 3653 539.2 100.8 - - 2639 - - - - - - - - 14.76 14.40 14.76
11651 771.7 9.3 494 11665 done 0.77 0.20 0.267 3154 -205.0 2.38 0.041 2256 -587.0 100.8 - - 2639 - - - - - - - - 14.24 14.56 14.54
11993 746.8 7.2 507 12011 roll 0.78 - - 3154 - 2.60 0.103 3653 537.3 107.6 3.20 1.424 2625 -4.4 0.446 - - - - - - 14.81 14.55 13.42
12022 744.3 7.7 511 12041 done 0.78 - - 3165 - 2.38 0.042 2246 -591.2 108.5 2.62 1.092 2622 -1.1 0.152 - - - - - - 14.69 14.60 13.43
12390 715.8 7.8 521 12403 done 0.78 - - 3164 - - - 2245 - 108.5 1.23 0.291 2617 -4.1 1.946 - - - - - - 14.82 14.55 14.16
12726 689.4 7.9 527 12739 done 0.78 - - 3165 - - - 2246 - 108.5 1.17 0.289 2616 - - - - - - - - 14.85 14.57 14.21
13062 662.9 7.9 533 13075 roll 0.78 - - 3164 - 2.62 0.103 3655 537.8 108.5 1.23 0.295 2618 - - - - - - - - 14.88 14.42 14.12
13193 651.2 9.0 551 13206 done 0.78 - - 3175 - 2.38 0.041 2246 -592.0 108.5 0.75 0.315 2619 - - - - - - - - 14.71 14.64 14.40
13520 623.9 8.3 562 13533 roll 0.78 - - 3175 - 2.62 0.103 3653 537.0 108.5 1.15 0.289 2617 - - - - - - - - 14.87 14.46 14.21
13581 618.3 9.5 570 13594 done 0.78 0.12 0.273 3154 -175.0 2.38 0.041 2248 -590.3 108.5 - - 2626 - - - - - - - - 14.30 14.64 14.59
13923 593.5 7.1 583 13945 done 0.87 - - 3153 - - - 2245 - 116.3 13.15 1.886 2587 -3.0 0.182 - - - - - - 14.87 14.63 13.95
14258 569.6 7.1 589 14276 roll 0.96 0.08 0.151 3213 750.0 2.60 0.100 3651 540.8 124.1 4.53 1.814 2563 -5.3 0.324 - - - - - - 14.55 14.51 13.54
14374 558.4 10.3 605 14387 done 0.88 0.12 0.275 3191 -183.3 2.38 0.041 2255 -586.6 124.1 1.10 0.268 2555 -7.3 2.949 - - - - - - 14.28 14.58 14.22
14716 530.1 8.2 618 14730 roll 0.88 - - 3190 - 2.55 0.099 3651 547.5 124.1 0.95 0.289 2558 3.2 -1.127 - - - - - - 14.83 14.45 14.26
14762 525.7 9.3 624 14776 done 0.88 - - 3201 - 2.35 0.041 2257 -593.2 124.1 1.17 0.304 2556 - - - - - - - - 14.67 14.60 14.11
15118 494.2 8.9 632 15132 roll 0.88 - - 3212 - 2.40 0.060 868 -578.8 124.1 0.98 0.291 2559 3.1 -1.012 - - - - - - 14.85 14.47 14.26
15157 490.6 8.7 637 15170 done 0.88 - - 3211 - 2.40 0.055 2264 581.7 124.1 0.88 0.304 2556 -3.4 1.070 - - - - - - 14.66 14.53 14.31
15519 457.9 9.1 646 15533 roll 0.88 - - 3222 - 2.40 0.058 868 -581.7 124.1 1.23 0.298 2557 - - - - - - - - 14.86 14.40 14.07
15558 454.2 8.9 651 15571 done 0.88 0.12 0.265 3189 -275.0 2.40 0.055 2266 582.5 124.1 - - 2563 - - - - - - - - 14.30 14.54 14.57
15920 423.7 8.5 660 15934 roll 0.88 - - 3189 - 2.55 0.101 3658 545.9 124.1 1.20 0.295 2559 -3.3 0.932 - - - - - - 14.85 14.41 14.09
15959 419.9 9.4 665 15972 done 0.88 - - 3199 - 2.35 0.041 2260 -594.9 124.1 - - 2564 - - - - - - - - 14.71 14.63 14.72
16321 388.1 8.9 674 16334 done 0.88 - - 3200 - - - 2255 - 124.1 1.05 0.282 2556 -7.6 2.040 - - - - - - 14.86 14.58 14.24
16657 359.2 8.5 680 16671 roll 0.88 - - 3200 - 2.60 0.102 3654 538.1 124.1 1.30 0.309 2558 - - - - - - - - 14.88 14.36 13.98
16689 356.1 9.3 684 16703 done 0.88 - - 3211 - 2.35 0.042 2256 -594.9 124.1 1.27 0.319 2557 - - - - - - - - 14.71 14.64 13.97
17059 323.0 8.9 694 17076 roll 0.88 - - 3212 - 2.67 0.103 3659 525.5 124.1 1.52 0.356 2563 3.9 -0.697 - - - - - - 14.88 14.47 13.95
17122 316.7 10.0 703 17136 done 0.88 0.10 0.264 3188 -240.0 2.33 0.042 2271 -595.7 124.1 1.40 0.333 2556 -5.0 0.925 - - - - - - 14.27 14.57 13.98
17458 288.9 8.3 715 17475 roll 0.88 - - 3199 - 2.47 0.060 858 -572.1 124.1 2.00 0.424 2561 2.5 -0.331 - - - - - - 14.86 14.57 12.91
17487 286.4 7.8 719 17500 done 0.88 - - 3198 - 2.42 0.056 2272 584.3 124.1 1.38 0.345 2556 -3.6 0.585 - - - - - - 14.69 14.56 14.06
17856 256.2 8.2 729 17869 roll 0.88 - - 3208 - 2.45 0.060 860 -576.3 124.1 1.08 0.291 2559 2.8 -0.476 - - - - - - 14.88 14.43 14.17
17930 249.9 8.4 739 17943 done 0.88 - - 3208 - 2.42 0.056 2274 584.3 124.1 1.98 0.421 2557 - - - - - - - - 14.68 14.54 14.02
18250 222.8 8.5 749 18263 done 0.88 - - 3208 - - - 2274 - 124.1 2.50 0.867 2557 - - - - - - - - 14.87 14.66 13.56
18586 195.0 8.2 755 18599 done 0.88 - - 3208 - - - 2274 - 124.1 1.17 0.298 2559 - - - - - - - - 14.87 14.56 14.09
18922 168.8 7.7 761 18936 roll 0.88 - - 3219 - 2.45 0.059 857 -578.4 124.4 1.30 0.330 2559 - - - - - - - - 14.88 14.37 13.95
18996 162.9 7.8 771 19015 done 0.88 0.12 0.259 3187 -266.7 2.42 0.056 2267 582.6 124.4 2.17 0.617 2558 - - - - - - - - 14.31 14.56 13.56
19323 139.6 7.2 782 19347 roll 0.89 - - 3186 - 2.53 0.104 3656 549.0 130.5 10.43 1.414 2523 -3.4 0.064 - - - - - - 14.87 14.58 14.08
19380 135.0 8.3 790 19393 done 0.89 - - 3196 - 2.33 0.041 2266 -596.6 130.5 - - 2522 - - - - - - - - 14.62 14.59 14.64
19721 108.9 7.7 803 19734 roll 0.89 - - 3207 - 2.42 0.061 857 -582.2 131.5 - - 2524 - - - - - - - - 14.84 14.52 14.84
19852 100.3 6.6 821 19869 done 0.91 - - 3207 - 2.42 0.054 2276 586.4 144.9 5.80 0.457 2474 -8.6 0.368 - - - - - - 14.66 14.55 14.19
20177 82.7 4.7 837 20208 done 0.95 - - 3207 - - - 2275 - 181.4 18.15 0.423 2329 -8.0 0.304 - - - - - - 14.87 14.52 14.24
20512 68.4 4.1 849 20547 roll 1.13 0.08 0.148 3292 1062.5 2.50 0.059 855 -568.0 224.5 20.30 0.385 2159 -8.4 0.289 - - - - - - 14.55 14.56 14.25
20691 57.8 6.9 874 20710 done 1.14 - - 3292 - 2.42 0.053 2271 585.1 235.0 5.80 0.347 2112 -8.1 0.263 - - - - - - 14.63 14.51 14.20
21025 46.4 3.5 888 21063 roll 1.20 - - 3292 - 2.53 0.097 3663 550.2 285.4 24.70 0.321 1912 -8.1 0.228 - - - - - - 14.82 14.48 14.26
21292 32.0 5.4 926 21319 done 1.24 - - 3303 - 2.33 0.038 2258 -603.0 313.6 13.48 0.274 1799 -8.4 0.190 - - - - - - 14.67 14.61 14.28
21648 23.8 3.6 943 21685 roll 1.47 0.12 0.095 3406 858.3 2.35 0.057 871 -590.2 362.8 24.20 0.234 1605 -8.0 0.159 - - - - - - 14.60 14.52 14.33
21912 end climb: SURFACE_DEPTH_REACHED
21912 begin surface coast
21919 end surface coast: CONTROL_FINISHED_OK
21919 begin surface
SM -1.30 - - - - -8.38 9.62 0.095 199 20.7 3.30 0.060 2759 -2471.8 500.39 61.72 0.155 1058 17.1 0.015 - - - - - -