SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 1 • 35.84 of 350.00 AH used of 24V (89.76% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth 0.30 m • Intended pitch -14.1 deg, speed -7.750 cm/s
• No surface pump (final VBD was 629.76, SM_CC=500)
• GPS1 time: 23 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 done -0.82 - - 189 - - - 2789 - -146.0 -84.93 - 3632 - - - - - - - - 14.69 13.57 14.70
107 8.1 -13.7 3 126 roll -0.82 11.57 0.402 2614 209.6 1.85 0.084 3826 560.5 -146.0 - - 3634 - - - - - - - - 14.30 14.47 14.49
179 46.7 -39.2 14 189 done -0.48 0.45 0.285 2735 268.9 1.80 0.041 2752 -596.7 -146.0 - - 3635 - - - - - - - - 14.38 14.59 14.52
495 87.5 -10.3 26 502 roll -0.48 - - 2727 - 2.03 0.116 3822 527.1 -146.0 - - 3637 - - - - - - - - 14.83 14.55 14.83
627 69.9 -10.0 45 638 done -0.48 - - 2727 - 1.77 0.043 2754 -603.4 -146.0 - - 3636 - - - - - - - - 14.75 14.71 14.76
971 116.8 -8.5 53 974 done -0.48 - - 2727 - - - 2754 - -146.0 - - 3637 - - - - - - - - 14.90 14.90 14.90
1307 142.1 -7.5 59 1314 roll -0.48 - - 2725 - 2.30 0.046 1378 -598.3 -146.0 - - 3636 - - - - - - - - 14.92 14.71 14.92
1383 147.4 -6.7 70 1391 done -0.48 - - 2719 - 2.45 0.073 2766 566.5 -146.0 - - 3635 - - - - - - - - 14.77 14.68 14.78
1699 168.2 -6.7 80 1701 done -0.48 - - 2719 - - - 2761 - -146.0 - - 3633 - - - - - - - - 14.93 14.93 14.93
2035 193.0 -7.4 86 2043 roll -0.48 - - 2710 - 1.98 0.119 3825 537.4 -146.0 - - 3631 - - - - - - - - 14.94 14.66 14.94
2083 196.7 -7.8 93 2094 done -0.48 0.10 0.217 2742 320.0 1.77 0.046 2768 -597.2 -146.0 - - 3631 - - - - - - - - 14.65 14.79 14.78
2428 216.8 -5.7 100 2434 roll -0.53 - - 2742 - 2.35 0.047 1372 -594.0 -146.0 - - 3627 - - - - - - - - 14.95 14.72 14.95
2503 221.3 -5.9 111 2512 done -0.59 - - 2735 - 2.45 0.076 2760 566.5 -146.0 - - 3626 - - - - - - - - 14.76 14.69 14.79
2820 239.0 -5.6 121 2822 done -0.63 0.08 0.158 2676 -737.5 - - 2761 - -146.0 - - 3624 - - - - - - - - 14.76 14.83 14.82
3155 265.2 -8.0 127 3168 roll -0.63 - - 2677 - 2.33 0.047 1369 -597.4 -146.0 - - 3621 - - - - - - - - 14.97 14.77 15.01
3215 270.2 -8.2 135 3228 done -0.63 - - 2667 - 2.45 0.080 2767 570.6 -146.0 - - 3621 - - - - - - - - 14.85 14.73 14.86
3555 300.1 -8.9 148 3568 roll -0.63 - - 2659 - 1.92 0.125 3823 550.0 -146.0 - - 3618 - - - - - - - - 15.00 14.72 15.00
3593 303.9 -9.7 153 3606 done -0.63 0.10 0.238 2688 290.0 1.73 0.049 2759 -615.0 -146.0 - - 3618 - - - - - - - - 14.67 14.84 14.84
3954 333.7 -8.3 162 3967 roll -0.63 - - 2688 - 2.30 0.048 1367 -605.2 -146.0 - - 3616 - - - - - - - - 15.00 14.80 15.01
4048 341.5 -8.1 175 4061 done -0.63 - - 2679 - 2.45 0.080 2767 571.4 -146.0 - - 3614 - - - - - - - - 14.87 14.75 14.88
4409 371.5 -8.4 184 4422 roll -0.63 - - 2679 - 2.35 0.049 1373 -593.2 -146.0 - - 3613 - - - - - - - - 15.02 14.80 15.02
4440 374.2 -8.7 188 4453 done -0.63 - - 2669 - 2.42 0.080 2761 573.6 -146.0 - - 3613 - - - - - - - - 14.88 14.76 14.89
4808 406.9 -9.0 198 4821 roll -0.63 - - 2661 - 1.95 0.125 3830 548.2 -146.0 - - 3611 - - - - - - - - 15.01 14.71 15.01
4860 411.8 -9.5 205 4875 done -0.63 0.10 0.241 2690 290.0 1.77 0.051 2754 -607.9 -146.0 - - 3611 - - - - - - - - 14.67 14.85 14.85
5204 439.2 -7.9 212 5218 roll -0.63 - - 2691 - 2.30 0.050 1366 -603.5 -146.0 - - 3609 - - - - - - - - 15.02 14.81 15.02
5250 442.9 -8.0 218 5263 done -0.63 - - 2682 - 2.42 0.080 2760 576.0 -146.0 - - 3609 - - - - - - - - 14.88 14.75 14.90
5604 471.1 -8.1 226 5617 done -0.63 - - 2682 - - - 2761 - -146.0 - - 3609 - - - - - - - - 15.01 15.02 15.02
5940 497.3 -7.8 232 5953 done -0.63 - - 2682 - - - 2760 - -146.0 - - 3605 - - - - - - - - 15.02 15.02 15.02
6276 522.0 -7.3 238 6289 done -0.63 - - 2682 - - - 2760 - -146.0 - - 3604 - - - - - - - - 15.02 15.01 15.02
6612 546.6 -7.4 244 6625 roll -0.63 - - 2682 - 2.35 0.050 1370 -591.5 -146.0 - - 3601 - - - - - - - - 15.02 14.82 15.02
6643 549.1 -7.7 248 6656 done -0.63 - - 2673 - 2.42 0.081 2755 572.3 -146.0 - - 3601 - - - - - - - - 14.88 14.75 14.89
7011 578.4 -8.1 258 7024 roll -0.63 - - 2672 - 2.33 0.050 1374 -592.7 -146.0 - - 3599 - - - - - - - - 15.02 14.79 15.02
7056 582.3 -8.9 264 7070 done -0.63 0.10 0.243 2694 220.0 2.40 0.081 2753 574.6 -146.0 - - 3600 - - - - - - - - 14.67 14.74 14.84
7410 611.0 -8.2 272 7423 roll -0.63 - - 2694 - 2.33 0.050 1372 -592.7 -146.0 - - 3598 - - - - - - - - 15.01 14.78 15.01
7470 615.9 -8.2 280 7483 done -0.63 - - 2684 - 2.42 0.080 2759 573.1 -146.0 - - 3598 - - - - - - - - 14.88 14.73 14.88
7810 642.6 -7.8 293 7823 roll -0.63 - - 2686 - 2.33 0.050 1374 -594.4 -146.0 - - 3597 - - - - - - - - 15.01 14.78 15.01
7848 645.5 -7.9 298 7861 done -0.63 - - 2678 - 2.40 0.080 2745 571.2 -146.0 - - 3597 - - - - - - - - 14.86 14.73 14.88
8209 672.7 -7.5 307 8223 roll -0.63 - - 2670 - 2.00 0.129 3827 541.0 -146.0 - - 3595 - - - - - - - - 15.01 14.69 15.01
8240 675.1 -7.7 311 8254 done -0.63 - - 2669 - 1.80 0.054 2740 -603.9 -146.0 - - 3596 - - - - - - - - 14.88 14.83 14.90
8609 701.7 -7.2 321 8622 roll -0.63 - - 2670 - 2.30 0.052 1364 -598.3 -146.0 - - 3594 - - - - - - - - 15.01 14.77 15.00
8675 706.8 -7.7 330 8688 done -0.63 0.10 0.251 2690 200.0 2.42 0.083 2745 570.7 -146.0 - - 3594 - - - - - - - - 14.63 14.72 14.82
9008 729.0 -6.7 342 9021 done -0.63 - - 2690 - - - 2745 - -146.0 - - 3592 - - - - - - - - 15.00 15.00 15.00
9344 752.4 -7.0 348 9358 roll -0.63 - - 2690 - 2.33 0.053 1370 -590.1 -146.0 - - 3592 - - - - - - - - 15.00 14.76 15.00
9390 755.8 -8.2 354 9403 done -0.63 - - 2685 - 2.42 0.083 2747 569.0 -146.0 - - 3591 - - - - - - - - 14.85 14.71 14.86
9744 781.0 -7.2 362 9757 roll -0.63 - - 2682 - 2.35 0.052 1360 -590.2 -146.0 - - 3590 - - - - - - - - 15.00 14.76 15.00
9775 783.5 -8.0 366 9788 done -0.63 - - 2675 - 2.45 0.083 2744 564.9 -146.0 - - 3590 - - - - - - - - 14.85 14.71 14.88
10143 810.5 -7.3 376 10157 roll -0.63 - - 2666 - 2.00 0.131 3822 539.0 -146.0 - - 3589 - - - - - - - - 15.00 14.66 15.00
10181 814.0 -8.8 381 10195 done -0.63 - - 2666 - 1.80 0.054 2739 -601.7 -146.0 - - 3589 - - - - - - - - 14.87 14.81 14.88
10543 841.6 -7.8 390 10556 roll -0.63 - - 2666 - 2.30 0.052 1365 -597.4 -146.0 - - 3588 - - - - - - - - 14.99 14.75 14.99
10588 845.1 -6.5 396 10602 done -0.63 0.12 0.238 2694 233.3 2.42 0.082 2742 569.0 -146.0 - - 3588 - - - - - - - - 14.60 14.70 14.80
10943 869.3 -6.8 404 10956 roll -0.63 - - 2694 - 2.33 0.051 1370 -588.8 -146.0 - - 3588 - - - - - - - - 14.98 14.74 14.97
10995 872.7 -8.0 411 11008 done -0.63 - - 2687 - 2.45 0.082 2748 562.4 -146.0 - - 3587 - - - - - - - - 14.83 14.69 14.84
11339 897.7 -7.4 418 11352 roll -0.63 - - 2679 - 2.00 0.132 3824 538.0 -146.0 - - 3586 - - - - - - - - 14.97 14.63 14.98
11370 900.2 -7.0 422 11384 done -0.63 - - 2679 - 1.80 0.054 2740 -602.2 -146.0 - - 3586 - - - - - - - - 14.85 14.80 14.87
11739 928.3 -7.6 432 11752 roll -0.63 - - 2679 - 2.30 0.052 1371 -595.2 -146.0 - - 3585 - - - - - - - - 14.97 14.71 14.97
11754 end dive: TARGET_DEPTH_EXCEEDED
11754 begin apogee
11759 930.3 -8.1 434 11903 roll -0.23 0.50 0.189 2824 290.0 - - 2294 - - 128.55 2.650 3049 -4.2 0.284 - - - - 1 - 14.59 13.88 12.93
11904 end apogee: CONTROL_FINISHED_OK
11904 begin climb
11906 934.6 - 436 12084 done 0.82 1.02 0.124 3146 315.7 - - 2294 - 146.0 159.48 1.932 2459 -3.7 0.348 - - - - - - 13.94 14.14 13.22
12432 898.0 9.3 474 12445 roll 0.73 - - 3156 - 2.45 0.065 900 -569.0 146.0 - - 2449 - - - - - - - - 14.63 14.41 14.63
12484 893.0 9.4 481 12499 done 0.64 0.17 0.233 3108 -282.4 2.45 0.067 2290 567.3 146.0 - - 2449 - - - - - - - - 14.34 14.43 14.52
12828 864.1 8.6 488 12841 done 0.59 - - 3113 - - - 2286 - 146.0 - - 2448 - - - - - - - - 14.78 14.79 14.78
13164 835.8 8.7 494 13177 done 0.54 0.12 0.248 3072 -341.7 - - 2291 - 146.0 - - 2447 - - - - - - - - 14.52 14.72 14.71
13500 812.4 6.8 500 13535 done 0.57 - - 3073 - - - 2289 - 171.5 25.77 1.985 2366 -3.1 0.250 - - - - - - 14.88 14.49 13.81
13836 789.2 6.9 506 13870 roll 0.59 - - 3072 - 2.70 0.119 3693 520.0 194.0 21.85 2.020 2274 -4.2 0.320 - - - - - - 14.79 14.34 13.78
13909 783.6 8.3 516 13922 done 0.59 - - 3081 - 2.42 0.051 2286 -581.4 194.0 - - 2268 - - - - - - - - 14.51 14.46 14.55
14235 759.8 7.3 527 14253 roll 0.61 - - 3091 - 2.42 0.070 889 -577.3 205.3 4.90 1.955 2233 -7.1 0.539 - - - - - - 14.78 14.53 13.53
14264 757.5 7.5 531 14292 done 0.62 - - 3091 - 2.47 0.068 2300 571.3 211.5 13.75 2.092 2203 -2.2 0.153 - - - - - - 14.62 14.52 13.76
14633 728.1 8.0 541 14645 done 0.62 - - 3091 - - - 2305 - 211.5 - - 2196 - - - - - - - - 14.78 14.78 14.78
14969 701.9 7.7 547 14982 done 0.62 - - 3090 - - - 2300 - 211.6 - - 2196 - - - - - - - - 14.83 14.85 14.85
15305 674.6 8.2 553 15317 done 0.62 - - 3091 - - - 2299 - 211.6 - - 2195 - - - - - - - - 14.88 14.88 14.88
15641 646.8 8.3 559 15654 done 0.62 - - 3090 - - - 2300 - 211.6 - - 2195 - - - - - - - - 14.90 14.90 14.90
15977 620.1 7.8 565 15990 roll 0.62 - - 3100 - 2.42 0.068 896 -580.2 211.6 - - 2195 - - - - - - - - 14.92 14.70 14.92
16008 617.6 7.6 569 16022 done 0.62 - - 3099 - 2.40 0.069 2290 580.8 216.3 - - 2194 - - - - - - - - 14.80 14.69 14.81
16377 590.9 7.1 579 16410 done 0.64 - - 3099 - - - 2290 - 234.2 24.12 1.834 2117 -3.2 0.200 - - - - - - 14.94 14.57 13.95
16713 566.1 7.4 585 16726 done 0.65 - - 3106 - - - 2291 - 242.6 2.83 1.097 2083 -12.0 1.204 - - - - - - 14.82 14.62 13.59
17049 539.5 8.0 591 17065 roll 0.65 - - 3099 - 2.67 0.122 3700 527.7 242.6 1.55 0.267 2085 - - - - - - - - 14.86 14.58 14.47
17083 536.3 9.0 596 17096 done 0.65 - - 3108 - 2.42 0.052 2281 -586.4 242.6 - - 2091 - - - - - - - - 14.74 14.67 14.75
17444 504.5 8.8 605 17458 roll 0.65 - - 3117 - 2.45 0.070 890 -567.8 242.6 1.52 0.265 2084 -4.6 1.703 - - - - - - 14.89 14.66 14.51
17497 499.5 9.1 612 17511 done 0.65 - - 3117 - 2.45 0.070 2296 573.9 242.6 - - 2091 - - - - - - - - 14.76 14.66 14.78
17842 468.2 9.1 619 17855 roll 0.65 - - 3117 - 2.58 0.121 3696 542.6 242.6 - - 2093 - - - - - - - - 14.91 14.62 14.92
17894 462.8 10.1 626 17908 done 0.65 - - 3126 - 2.40 0.050 2283 -588.8 242.6 1.50 0.263 2085 -5.3 1.823 - - - - - - 14.79 14.71 14.52
18238 431.8 8.9 633 18251 done 0.65 - - 3129 - - - 2277 - 242.6 1.45 0.264 2086 - - - - - - - - 14.92 14.76 14.53
18574 402.7 8.6 639 18587 done 0.65 - - 3127 - - - 2277 - 242.6 1.45 0.264 2083 -2.1 0.613 - - - - - - 14.92 14.77 14.56
18910 374.0 8.6 645 18923 done 0.65 - - 3127 - - - 2275 - 242.6 - - 2093 - - - - - - - - 14.94 14.94 14.94
19246 346.6 8.0 651 19259 roll 0.65 - - 3137 - 2.35 0.065 896 -586.8 242.6 1.60 0.267 2084 -5.6 1.419 - - - - - - 14.95 14.71 14.55
19291 342.9 8.2 657 19305 done 0.65 - - 3136 - 2.40 0.067 2295 582.9 242.6 1.38 0.273 2083 - - - - - - - - 14.82 14.71 14.55
19646 314.6 8.0 665 19659 roll 0.65 - - 3146 - 2.40 0.063 893 -584.2 242.6 1.40 0.265 2085 - - - - - - - - 14.95 14.71 14.56
19678 311.9 8.3 669 19691 done 0.65 0.10 0.236 3116 -300.0 2.40 0.067 2293 583.3 242.6 - - 2093 - - - - - - - - 14.62 14.70 14.78
20046 285.4 7.2 679 20079 roll 0.67 - - 3116 - 2.58 0.114 3699 545.0 256.9 20.55 1.485 2020 -3.6 0.133 - - - - - - 14.95 14.55 14.09
20118 279.3 9.0 689 20131 done 0.67 - - 3124 - 2.38 0.047 2287 -593.3 256.9 - - 2015 - - - - - - - - 14.70 14.63 14.71
20444 250.9 8.9 700 20457 roll 0.67 - - 3133 - 2.38 0.066 889 -587.4 256.9 - - 2013 - - - - - - - - 14.87 14.64 14.86
20489 246.6 9.6 706 20502 done 0.67 - - 3133 - 2.42 0.066 2302 583.9 256.9 - - 2013 - - - - - - - - 14.74 14.64 14.76
20843 212.5 9.7 714 20856 roll 0.67 - - 3133 - 2.55 0.119 3696 546.7 256.9 - - 2013 - - - - - - - - 14.90 14.61 14.90
20867 209.8 9.9 717 20881 done 0.67 - - 3143 - 2.35 0.047 2292 -597.4 256.9 - - 2013 - - - - - - - - 14.78 14.71 14.80
21187 179.4 9.3 727 21200 roll 0.67 - - 3153 - 2.35 0.066 898 -593.2 256.9 - - 2013 - - - - - - - - 14.92 14.68 14.91
21225 175.7 9.0 732 21238 done 0.67 0.12 0.218 3116 -308.3 2.40 0.065 2302 585.0 256.9 - - 2013 - - - - - - - - 14.59 14.67 14.77
21586 149.2 7.1 741 21610 done 0.69 - - 3116 - - - 2302 - 273.3 15.07 1.356 1963 -3.3 0.071 - - - - - - 14.92 14.66 14.15
21923 123.7 7.6 747 21936 roll 0.70 - - 3116 - 2.55 0.115 3700 548.2 277.9 - - 1951 - - - - - - - - 14.88 14.59 14.88
21961 120.3 8.5 752 21974 done 0.70 - - 3122 - 2.35 0.047 2292 -599.1 277.9 - - 1951 - - - - - - - - 14.77 14.70 14.78
22294 97.3 6.9 761 22315 done 0.73 - - 3123 - - - 2287 - 300.8 12.10 0.470 1850 -8.3 0.336 - - - - - - 14.90 14.71 14.38
22602 74.1 7.4 772 22621 roll 0.74 - - 3123 - 2.60 0.114 3696 541.9 308.9 4.80 0.376 1821 -6.0 0.231 - - - - - - 14.89 14.60 14.41
22702 69.1 6.0 786 22741 done 0.79 - - 3129 - 2.35 0.046 2286 -600.0 355.4 24.00 0.402 1634 -7.8 0.260 - - - - - - 14.76 14.70 14.38
23055 52.2 4.7 803 23108 roll 1.04 0.22 0.095 3235 481.8 2.35 0.062 908 -586.4 437.3 39.83 0.349 1309 -8.2 0.237 - - - - - - 14.67 14.59 14.40
23266 39.7 5.9 833 23306 done 1.17 0.08 0.151 3296 762.5 2.42 0.058 2326 586.0 487.1 24.05 0.308 1112 -8.2 0.205 - - - - - - 14.64 14.62 14.41
23619 18.8 2.4 850 23700 roll 1.35 0.05 0.208 3358 1240.0 2.53 0.110 3688 538.3 630.1 66.32 0.210 540 -8.6 0.150 - - - - - - 14.66 14.52 14.49
23725 end climb: SURFACE_DEPTH_REACHED
23725 begin surface coast
23732 end surface coast: CONTROL_FINISHED_OK
23732 begin surface
SM -5.05 - - - - -8.38 9.38 0.090 193 20.6 1.58 0.041 2749 -4925.9 629.76 - - 543 - - - - - - - -