SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 199 * Raw log
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• Previous call tries 1 • 78.03 of 350.00 AH used of 24V (77.70% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -4.20 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
19 - - - 94 done -1.19 - - 180 - - - 2779 - -63.1 -72.15 - 3304 - - - - - - - - 14.59 13.11 14.55
96 -2.3 -5.2 2 118 roll -1.19 11.15 0.396 2499 208.0 1.90 0.075 3824 550.0 -63.1 - - 3305 - - - - - - - - 14.13 14.34 14.41
271 66.0 -19.7 28 278 done -0.94 0.32 0.265 2588 278.1 1.80 0.034 2744 -600.0 -63.1 - - 3306 - - - - - - - - 14.13 14.42 14.38
592 96.6 -9.2 41 600 roll -0.94 - - 2588 - 2.30 0.039 1386 -590.4 -63.1 - - 3308 - - - - - - - - 14.64 14.38 14.66
829 116.2 -8.0 75 837 done -0.94 - - 2579 - 2.47 0.061 2782 565.2 -63.1 - - 3308 - - - - - - - - 14.44 14.36 14.47
1152 143.5 -10.2 86 1159 roll -0.94 - - 2571 - 1.95 0.099 3829 536.9 -63.1 - - 3311 - - - - - - - - 14.66 14.33 14.68
1368 167.6 -11.3 117 1379 done -0.94 - - 2571 - 1.75 0.037 2781 -598.9 -63.1 - - 3307 - - - - - - - - 14.57 14.52 14.57
1712 203.8 -10.4 124 1715 done -0.94 - - 2577 - - - 2782 - -63.1 - - 3307 - - - - - - - - 14.68 14.69 14.68
2048 238.4 -10.3 130 2051 done -0.94 - - 2572 - - - 2782 - -63.1 - - 3302 - - - - - - - - 14.68 14.69 14.69
2384 273.3 -10.4 136 2397 roll -0.94 - - 2564 - 1.95 0.103 3825 534.9 -63.1 - - 3300 - - - - - - - - 14.84 14.47 14.84
2437 279.4 -11.4 143 2451 done -0.94 0.10 0.272 2590 260.0 1.73 0.042 2779 -604.6 -63.1 - - 3300 - - - - - - - - 14.33 14.64 14.57
2781 312.4 -9.5 150 2794 done -0.94 - - 2589 - - - 2779 - -63.1 - - 3297 - - - - - - - - 14.88 14.88 14.88
3117 343.5 -9.3 156 3130 roll -0.94 - - 2591 - 2.38 0.044 1369 -592.4 -63.1 - - 3294 - - - - - - - - 14.90 14.63 14.91
3253 356.1 -8.9 175 3267 done -0.94 - - 2581 - 2.50 0.065 2788 567.6 -63.1 - - 3293 - - - - - - - - 14.68 14.53 14.70
3573 387.9 -10.1 185 3586 roll -0.94 - - 2573 - 1.90 0.103 3829 547.9 -63.1 - - 3291 - - - - - - - - 14.93 14.52 14.92
3690 400.8 -11.2 201 3703 done -0.94 - - 2573 - 1.73 0.043 2775 -609.2 -63.1 - - 3290 - - - - - - - - 14.77 14.71 14.78
4030 436.9 -10.6 214 4044 roll -0.94 - - 2565 - 1.95 0.103 3827 539.5 -63.1 - - 3289 - - - - - - - - 14.92 14.51 14.92
4125 447.9 -11.5 227 4139 done -0.94 0.05 0.220 2590 500.0 1.73 0.041 2802 -592.5 -63.1 - - 3289 - - - - - - - - 14.36 14.69 14.63
4487 482.6 -9.5 236 4500 roll -0.94 - - 2590 - 2.40 0.044 1371 -596.2 -63.1 - - 3286 - - - - - - - - 14.92 14.64 14.95
4512 485.1 -9.6 239 4525 done -0.94 - - 2581 - 2.50 0.065 2795 569.6 -63.1 - - 3286 - - - - - - - - 14.73 14.57 14.75
4832 515.8 -9.5 249 4844 done -0.94 - - 2581 - - - 2795 - -63.1 - - 3284 - - - - - - - - 14.92 14.92 14.92
5167 546.6 -9.2 255 5180 roll -0.94 - - 2580 - 2.42 0.044 1373 -587.6 -63.1 - - 3282 - - - - - - - - 14.91 14.63 14.92
5241 553.5 -9.1 265 5255 done -0.94 - - 2570 - 2.50 0.066 2795 568.8 -63.1 - - 3281 - - - - - - - - 14.71 14.54 14.73
5568 584.2 -9.4 276 5582 roll -0.94 - - 2569 - 2.42 0.044 1367 -590.1 -63.1 - - 3280 - - - - - - - - 14.93 14.62 14.94
5614 588.9 -9.8 282 5628 done -0.94 0.12 0.266 2592 191.7 2.53 0.066 2798 565.6 -63.1 - - 3280 - - - - - - - - 14.31 14.55 14.59
5969 622.2 -9.4 290 5982 roll -0.94 - - 2585 - 1.90 0.106 3828 542.1 -63.1 - - 3278 - - - - - - - - 14.94 14.47 14.93
6001 625.4 -9.7 294 6014 done -0.94 - - 2585 - 1.73 0.044 2781 -605.2 -63.1 - - 3279 - - - - - - - - 14.75 14.70 14.76
6369 661.4 -9.8 304 6382 roll -0.94 - - 2585 - 2.38 0.046 1375 -590.8 -63.1 - - 3276 - - - - - - - - 14.92 14.59 14.92
6436 668.0 -9.5 313 6449 done -0.94 - - 2572 - 2.50 0.066 2789 565.6 -63.1 - - 3273 - - - - - - - - 14.69 14.57 14.76
6770 699.3 -9.2 325 6782 done -0.94 - - 2575 - - - 2789 - -63.1 - - 3274 - - - - - - - - 14.92 14.91 14.91
7106 728.0 -8.4 331 7119 roll -0.94 - - 2574 - 2.42 0.044 1375 -584.3 -63.1 - - 3273 - - - - - - - - 14.91 14.59 14.91
7179 734.6 -8.6 341 7193 done -0.94 0.10 0.282 2590 160.0 2.53 0.067 2790 559.3 -63.1 - - 3272 - - - - - - - - 14.26 14.50 14.56
7507 761.7 -8.3 352 7520 roll -0.94 - - 2583 - 1.92 0.109 3829 541.1 -63.1 - - 3271 - - - - - - - - 14.90 14.43 14.92
7608 771.1 -9.4 366 7622 done -0.94 - - 2582 - 1.77 0.044 2760 -604.0 -63.1 - - 3271 - - - - - - - - 14.71 14.64 14.72
7963 802.4 -8.8 374 7976 done -0.94 - - 2582 - - - 2760 - -63.1 - - 3269 - - - - - - - - 14.90 14.90 14.90
8299 830.6 -8.4 380 8312 roll -0.94 - - 2582 - 2.35 0.047 1378 -588.1 -63.1 - - 3268 - - - - - - - - 14.92 14.56 14.92
8345 834.5 -6.9 386 8358 done -0.95 - - 2573 - 2.53 0.069 2792 558.9 -73.5 - - 3267 - - - - - - - - 14.66 14.49 14.69
8700 864.8 -8.6 394 8713 done -0.95 - - 2573 - - - 2792 - -73.5 - - 3266 - - - - - - - - 14.92 14.92 14.92
9036 893.3 -8.5 400 9049 roll -0.95 - - 2571 - 2.45 0.046 1374 -578.8 -73.5 - - 3265 - - - - - - - - 14.90 14.57 14.90
9103 899.3 -8.7 409 9116 done -0.95 - - 2562 - 2.55 0.069 2798 558.4 -73.5 - - 3265 - - - - - - - - 14.64 14.45 14.67
9437 929.0 -8.8 421 9449 done -0.95 - - 2562 - - - 2798 - -73.5 - - 3264 - - - - - - - - 14.90 14.90 14.90
9491 end dive: TARGET_DEPTH_EXCEEDED
9491 begin apogee
9496 934.0 -8.8 422 9567 roll -0.23 0.93 0.223 2819 276.3 - - 2234 - - 60.40 1.991 3048 -3.6 0.321 - - - - - - 14.26 14.26 13.47
9568 end apogee: CONTROL_FINISHED_OK
9569 begin climb
9570 936.7 - 423 9665 done 1.20 1.40 0.113 3269 321.4 - - 2234 - 73.5 77.60 1.962 2750 -3.8 0.351 - - - - - - 14.19 14.45 13.23
9997 904.4 9.1 445 10010 roll 1.06 - - 3279 - 2.38 0.060 878 -569.7 73.5 - - 2748 - - - - - - - - 14.62 14.32 14.63
10043 900.1 10.9 451 10056 done 0.92 0.30 0.271 3202 -256.7 2.40 0.055 2257 574.6 73.5 - - 2744 - - - - - - - - 14.09 14.35 14.40
10398 873.2 7.5 459 10411 roll 0.92 - - 3202 - 2.60 0.100 3658 538.8 76.2 - - 2743 - - - - - - - - 14.74 14.34 14.74
10444 869.4 9.9 465 10458 done 0.81 0.17 0.268 3167 -205.9 2.38 0.044 2257 -588.7 76.2 - - 2743 - - - - - - - - 14.16 14.52 14.45
10799 846.7 6.2 473 10838 roll 0.83 - - 3167 - 2.67 0.100 3653 522.8 94.9 22.05 1.965 2665 -3.5 0.292 - - - - - - 14.79 14.41 13.76
10892 839.5 8.4 486 10905 done 0.83 - - 3177 - 2.40 0.042 2250 -584.6 94.9 - - 2663 - - - - - - - - 14.51 14.45 14.52
11253 812.0 7.7 495 11266 done 0.83 - - 3177 - - - 2251 - 96.0 - - 2662 - - - - - - - - 14.75 14.72 14.75
11589 787.1 7.5 501 11602 done 0.83 - - 3177 - - - 2250 - 98.4 - - 2661 - - - - - - - - 14.79 14.79 14.79
11925 763.0 7.1 507 11951 roll 0.84 - - 3177 - 2.62 0.102 3661 538.5 106.5 12.12 2.051 2619 -3.5 0.247 - - - - - - 14.82 14.50 13.84
12004 756.3 8.8 518 12017 done 0.84 - - 3195 - 2.40 0.043 2251 -587.5 106.5 - - 2615 - - - - - - - - 14.56 14.49 14.58
12324 730.1 8.3 528 12337 roll 0.84 - - 3188 - 2.65 0.102 3657 530.6 106.5 - - 2615 - - - - - - - - 14.78 14.38 14.78
12385 724.5 9.5 536 12398 done 0.84 - - 3198 - 2.40 0.041 2253 -585.0 106.5 - - 2614 - - - - - - - - 14.62 14.54 14.64
12725 695.2 8.7 549 12738 roll 0.84 - - 3209 - 2.42 0.063 856 -577.3 106.5 - - 2614 - - - - - - - - 14.83 14.45 14.81
12786 690.0 8.4 557 12800 done 0.84 0.12 0.276 3177 -266.7 2.42 0.056 2254 577.7 106.5 - - 2614 - - - - - - - - 14.19 14.46 14.52
13127 662.6 8.1 570 13140 roll 0.84 - - 3177 - 2.58 0.101 3650 541.1 106.5 - - 2614 - - - - - - - - 14.83 14.38 14.84
13194 656.4 9.4 579 13207 done 0.84 - - 3188 - 2.38 0.042 2249 -588.7 106.5 - - 2614 - - - - - - - - 14.64 14.57 14.68
13527 628.1 8.5 591 13540 roll 0.84 - - 3185 - 2.62 0.101 3656 537.0 106.5 - - 2612 - - - - - - - - 14.84 14.40 14.84
13559 625.1 8.8 595 13572 done 0.84 - - 3197 - 2.38 0.041 2251 -590.3 106.5 - - 2613 - - - - - - - - 14.67 14.57 14.69
13928 593.7 8.4 605 13940 done 0.84 - - 3198 - - - 2247 - 106.5 - - 2613 - - - - - - - - 14.84 14.85 14.85
14264 567.3 7.8 611 14277 done 0.84 - - 3198 - - - 2247 - 106.5 - - 2613 - - - - - - - - 14.86 14.88 14.86
14600 541.7 7.5 617 14613 done 0.85 - - 3198 - - - 2248 - 109.7 - - 2613 - - - - - - - - 14.86 14.86 14.86
14936 516.5 7.5 623 14949 done 0.85 - - 3198 - - - 2248 - 112.2 1.15 0.265 2602 -9.6 3.572 - - - - - - 14.86 14.54 14.25
15272 490.0 7.8 629 15285 done 0.85 - - 3198 - - - 2247 - 112.2 - - 2611 - - - - - - - - 14.88 14.88 14.87
15608 464.6 7.4 635 15621 done 0.86 - - 3206 - - - 2247 - 116.1 4.70 1.761 2588 -4.9 0.247 - - - - - - 14.85 14.68 13.54
15944 440.3 7.3 641 15968 roll 0.86 - - 3196 - 2.62 0.103 3659 538.9 121.9 11.35 1.751 2559 -2.6 0.123 - - - - - - 14.83 14.54 13.95
16134 423.4 8.6 668 16147 done 0.86 0.10 0.282 3184 -120.0 2.40 0.041 2249 -587.5 121.9 - - 2556 - - - - - - - - 14.20 14.53 14.48
16454 400.7 7.0 678 16471 roll 0.87 - - 3183 - 2.60 0.096 3653 540.0 130.9 4.88 1.735 2534 -4.5 0.199 - - - - - - 14.81 14.50 13.57
16518 395.3 8.5 687 16532 done 0.87 - - 3194 - 2.38 0.041 2251 -589.1 130.9 1.45 0.307 2529 -3.4 0.851 - - - - - - 14.63 14.56 13.96
16852 369.0 8.0 699 16869 roll 0.87 - - 3195 - 2.70 0.098 3660 521.9 130.9 1.60 0.315 2533 2.5 -0.561 - - - - - - 14.80 14.36 13.88
16910 363.9 9.3 707 16923 done 0.87 - - 3205 - 2.38 0.040 2261 -587.8 130.9 1.48 0.303 2529 -2.7 0.622 - - - - - - 14.64 14.57 13.90
17251 334.7 8.6 720 17264 done 0.87 - - 3205 - - - 2257 - 130.9 1.83 0.350 2531 - - - - - - - - 14.82 14.48 13.90
17587 305.8 8.7 726 17600 roll 0.87 - - 3216 - 2.50 0.060 852 -562.0 130.9 1.52 0.307 2531 - - - - - - - - 14.83 14.50 13.88
17682 297.5 8.5 739 17700 done 0.87 0.12 0.264 3183 -275.0 2.42 0.054 2259 581.4 130.9 2.25 0.651 2533 - - - - - - - - 14.23 14.49 13.45
18041 269.2 7.9 748 18054 roll 0.87 - - 3183 - 2.65 0.100 3664 530.2 130.9 1.50 0.307 2532 - - - - - - - - 14.85 14.44 13.89
18094 264.5 9.2 755 18108 done 0.87 - - 3194 - 2.40 0.041 2252 -588.3 130.9 1.40 0.296 2530 - - - - - - - - 14.61 14.53 13.95
18438 237.7 7.7 762 18455 roll 0.87 - - 3204 - 2.42 0.062 864 -573.6 131.4 2.88 1.039 2529 - - - - - - - - 14.84 14.60 13.56
18481 234.8 7.2 768 18506 done 0.88 - - 3204 - 2.40 0.055 2262 582.5 137.6 10.85 1.512 2496 -3.0 0.090 - - - - - - 14.66 14.53 14.00
18835 203.6 9.0 783 18848 roll 0.88 - - 3203 - 2.55 0.099 3653 545.5 137.6 - - 2493 - - - - - - - - 14.80 14.40 14.80
18874 199.6 10.0 788 18887 done 0.88 - - 3215 - 2.35 0.040 2254 -595.3 137.6 - - 2493 - - - - - - - - 14.64 14.57 14.66
19235 166.9 8.9 797 19249 roll 0.88 0.08 0.295 3200 -187.5 2.40 0.057 852 -584.2 137.6 - - 2494 - - - - - - - - 14.25 14.48 14.42
19281 163.1 7.9 803 19295 done 0.88 - - 3200 - 2.42 0.054 2268 585.1 137.6 - - 2493 - - - - - - - - 14.63 14.50 14.69
19636 135.2 8.0 811 19649 roll 0.88 - - 3200 - 2.55 0.097 3663 547.1 137.6 - - 2493 - - - - - - - - 14.83 14.42 14.83
19675 131.8 8.9 816 19688 done 0.88 - - 3211 - 2.38 0.041 2250 -593.7 137.6 - - 2493 - - - - - - - - 14.64 14.57 14.67
20036 106.0 6.9 825 20054 roll 0.89 - - 3211 - 2.62 0.096 3668 541.2 147.6 4.07 0.435 2465 -6.9 0.321 - - - - - - 14.86 14.50 14.13
20213 89.4 9.6 850 20226 done 0.89 0.10 0.262 3193 -180.0 2.38 0.040 2251 -595.4 147.6 1.35 0.262 2461 -3.0 0.194 - - - - - - 14.30 14.59 14.04
20548 78.5 2.2 864 20594 roll 1.07 0.08 0.154 3255 775.0 2.65 0.096 3661 532.1 214.3 33.28 0.404 2196 -8.0 0.296 - - - - - - 14.56 14.52 14.27
20627 73.3 9.4 875 20641 done 1.07 - - 3266 - 2.35 0.040 2264 -594.5 214.3 - - 2199 - - - - - - - - 14.65 14.59 14.66
20943 54.9 3.6 887 20981 roll 1.14 - - 3266 - 2.58 0.095 3661 541.5 264.0 24.52 0.334 2000 -8.1 0.256 - - - - - - 14.81 14.47 14.26
21001 52.5 5.0 895 21034 done 1.18 - - 3277 - 2.33 0.038 2277 -594.0 296.7 17.12 0.325 1866 -7.8 0.242 - - - - - - 14.64 14.56 14.23
21339 37.4 1.9 910 21385 roll 1.44 0.15 0.090 3382 700.0 2.45 0.058 867 -575.5 366.0 33.85 0.280 1592 -8.1 0.207 - - - - - - 14.54 14.50 14.26
21522 26.2 5.8 936 21548 done 1.47 - - 3383 - 2.45 0.051 2299 584.5 389.2 11.80 0.250 1503 -7.5 0.151 - - - - - - 14.59 14.47 14.23
21810 end climb: SURFACE_DEPTH_REACHED
21810 begin surface coast
21840 end surface coast: CONTROL_FINISHED_OK
21840 begin surface
SM -2.49 - - - - -8.38 9.18 0.057 192 20.9 0.82 0.073 2773 -7903.7 500.14 51.20 0.152 1057 20.6 0.035 - - - - - -