SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 1 • 79.19 of 350.00 AH used of 24V (77.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth -2.22 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 35 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
19 - - - 97 done -0.90 - - 177 - - - 2755 - -116.8 -75.20 - 3515 - - - - - - - - 14.59 13.10 14.57
99 -0.6 -5.1 2 121 roll -0.90 11.85 0.404 2600 204.5 2.30 0.029 1363 -605.2 -116.8 - - 3517 - - - - - - - - 14.12 14.37 14.42
233 48.5 -25.2 22 240 done -0.53 0.50 0.239 2726 252.0 2.50 0.068 2766 561.2 -116.8 - - 3518 - - - - - - - - 14.14 14.30 14.38
568 79.1 -7.6 37 574 roll -0.53 - - 2718 - 1.98 0.103 3817 530.8 -116.8 - - 3519 - - - - - - - - 14.64 14.28 14.64
805 101.5 -7.5 71 813 done -0.53 - - 2718 - 1.80 0.037 2744 -596.1 -116.8 - - 3520 - - - - - - - - 14.53 14.49 14.54
1128 119.6 -5.3 82 1134 roll -0.53 - - 2718 - 2.30 0.040 1373 -596.1 -116.8 - - 3520 - - - - - - - - 14.68 14.42 14.68
1155 121.1 -5.3 86 1163 done -0.53 - - 2709 - 2.47 0.062 2761 561.9 -116.8 - - 3520 - - - - - - - - 14.45 14.37 14.47
1520 146.4 -7.1 96 1522 done -0.53 - - 2709 - - - 2760 - -116.8 - - 3518 - - - - - - - - 14.68 14.69 14.68
1856 169.1 -6.9 102 1862 roll -0.53 - - 2709 - 2.35 0.042 1388 -583.8 -116.8 - - 3518 - - - - - - - - 14.69 14.43 14.68
1890 171.7 -7.6 107 1897 done -0.53 - - 2700 - 2.47 0.064 2756 553.8 -116.8 - - 3516 - - - - - - - - 14.45 14.36 14.48
2247 201.6 -8.6 116 2256 roll -0.53 - - 2700 - 2.38 0.043 1373 -581.1 -116.8 - - 3512 - - - - - - - - 14.66 14.42 14.68
2274 204.0 -8.5 120 2284 done -0.53 0.10 0.210 2721 210.0 2.50 0.065 2763 556.0 -116.8 - - 3512 - - - - - - - - 14.22 14.35 14.38
2640 230.6 -7.3 130 2642 done -0.62 - - 2721 - - - 2763 - -116.8 - - 3510 - - - - - - - - 14.67 14.67 14.67
2976 254.5 -7.0 136 2989 roll -0.72 0.08 0.145 2650 -887.5 2.33 0.041 1389 -589.7 -116.8 - - 3508 - - - - - - - - 14.52 14.52 14.56
3029 259.4 -9.2 143 3043 done -0.72 - - 2640 - 2.45 0.067 2761 560.0 -116.8 - - 3507 - - - - - - - - 14.62 14.47 14.64
3373 294.1 -10.2 150 3386 roll -0.72 - - 2631 - 1.98 0.107 3829 539.4 -116.8 - - 3505 - - - - - - - - 14.87 14.46 14.86
3419 299.0 -10.9 156 3432 done -0.63 0.20 0.207 2690 295.0 1.75 0.044 2764 -608.6 -116.8 - - 3503 - - - - - - - - 14.38 14.66 14.59
3774 326.2 -7.5 164 3788 roll -0.63 - - 2690 - 2.35 0.045 1367 -594.5 -116.8 - - 3504 - - - - - - - - 14.90 14.62 14.90
3863 332.7 -7.2 176 3876 done -0.63 - - 2681 - 2.47 0.067 2768 567.2 -116.8 - - 3501 - - - - - - - - 14.70 14.53 14.72
4232 360.5 -7.7 186 4245 roll -0.63 - - 2682 - 2.38 0.044 1370 -587.4 -116.8 - - 3499 - - - - - - - - 14.91 14.61 14.91
4278 364.1 -7.9 192 4291 done -0.63 - - 2671 - 2.42 0.067 2750 570.2 -116.8 - - 3499 - - - - - - - - 14.71 14.55 14.73
4632 394.2 -8.8 200 4645 done -0.63 - - 2672 - - - 2751 - -116.8 - - 3498 - - - - - - - - 14.92 14.93 14.92
4968 424.2 -8.9 206 4981 done -0.63 - - 2672 - - - 2751 - -116.8 - - 3496 - - - - - - - - 14.93 14.94 14.94
5304 453.1 -8.6 212 5317 roll -0.63 - - 2662 - 2.00 0.111 3827 538.0 -116.8 - - 3494 - - - - - - - - 14.92 14.48 14.92
5343 456.4 -8.5 217 5356 done -0.63 0.10 0.226 2694 320.0 1.80 0.044 2734 -607.2 -116.8 - - 3494 - - - - - - - - 14.42 14.69 14.64
5705 480.1 -6.3 226 5718 roll -0.63 - - 2693 - 2.30 0.047 1370 -593.0 -116.8 - - 3492 - - - - - - - - 14.92 14.64 14.92
5772 484.2 -6.0 235 5785 done -0.71 - - 2684 - 2.45 0.069 2749 562.9 -116.8 - - 3492 - - - - - - - - 14.70 14.53 14.73
6106 506.0 -6.7 247 6119 roll -0.71 - - 2684 - 2.35 0.045 1374 -585.1 -116.8 - - 3491 - - - - - - - - 14.94 14.62 14.96
6145 508.8 -7.4 252 6158 done -0.71 - - 2674 - 2.45 0.068 2750 561.6 -116.8 - - 3491 - - - - - - - - 14.66 14.50 14.69
6507 537.3 -8.0 261 6519 done -0.71 - - 2677 - - - 2750 - -116.8 - - 3489 - - - - - - - - 14.93 14.93 14.93
6843 564.2 -8.0 267 6856 done -0.71 - - 2675 - - - 2750 - -116.8 - - 3487 - - - - - - - - 14.93 14.93 14.93
7179 589.9 -7.5 273 7192 done -0.71 - - 2675 - - - 2751 - -116.8 - - 3487 - - - - - - - - 14.93 14.93 14.92
7515 614.0 -7.1 279 7528 roll -0.71 - - 2675 - 2.38 0.047 1372 -579.4 -116.8 - - 3484 - - - - - - - - 14.92 14.59 14.93
7603 620.2 -7.0 291 7616 done -0.71 - - 2673 - 2.47 0.069 2753 559.1 -116.8 - - 3484 - - - - - - - - 14.67 14.50 14.70
7972 647.0 -7.4 301 7985 done -0.71 - - 2666 - - - 2753 - -116.8 - - 3483 - - - - - - - - 14.91 14.91 14.90
8308 671.5 -7.3 307 8321 roll -0.71 - - 2666 - 2.38 0.046 1372 -580.3 -116.8 - - 3482 - - - - - - - - 14.92 14.57 14.92
8339 673.9 -7.4 311 8353 done -0.71 - - 2658 - 2.45 0.070 2745 560.4 -116.8 - - 3482 - - - - - - - - 14.66 14.48 14.69
8708 702.6 -7.9 321 8721 roll -0.71 - - 2650 - 2.03 0.112 3827 533.0 -116.8 - - 3481 - - - - - - - - 14.90 14.41 14.90
8754 706.5 -9.3 327 8767 done -0.71 - - 2650 - 1.80 0.045 2745 -601.1 -116.8 - - 3480 - - - - - - - - 14.68 14.61 14.69
9108 736.2 -8.4 335 9121 roll -0.71 - - 2649 - 2.33 0.046 1375 -588.0 -116.8 - - 3480 - - - - - - - - 14.90 14.56 14.90
9161 740.7 -8.5 342 9175 done -0.71 0.10 0.249 2669 200.0 2.45 0.069 2742 558.0 -116.8 - - 3479 - - - - - - - - 14.32 14.47 14.58
9505 766.4 -7.4 349 9518 done -0.71 - - 2670 - - - 2742 - -116.8 - - 3478 - - - - - - - - 14.90 14.90 14.88
9841 791.2 -7.3 355 9854 roll -0.71 - - 2670 - 2.38 0.047 1369 -576.9 -116.8 - - 3477 - - - - - - - - 14.90 14.54 14.90
9887 794.5 -8.1 361 9900 done -0.71 - - 2662 - 2.45 0.072 2742 560.4 -116.8 - - 3478 - - - - - - - - 14.65 14.47 14.68
10241 820.3 -7.2 369 10254 done -0.71 - - 2661 - - - 2742 - -116.8 - - 3476 - - - - - - - - 14.89 14.89 14.89
10578 846.6 -7.8 375 10591 roll -0.71 - - 2660 - 2.35 0.047 1373 -582.6 -116.8 - - 3476 - - - - - - - - 14.89 14.54 14.89
10617 849.7 -6.4 380 10630 done -0.71 - - 2652 - 2.45 0.072 2747 560.8 -116.8 - - 3474 - - - - - - - - 14.64 14.46 14.67
10979 880.5 -8.7 389 10992 done -0.71 - - 2652 - - - 2746 - -116.8 - - 3474 - - - - - - - - 14.90 14.90 14.90
11315 908.7 -8.3 395 11328 roll -0.71 - - 2652 - 2.38 0.047 1368 -579.0 -116.8 - - 3473 - - - - - - - - 14.88 14.56 14.88
11346 911.4 -7.4 399 11360 done -0.71 - - 2644 - 2.45 0.072 2743 561.2 -116.8 - - 3472 - - - - - - - - 14.64 14.45 14.66
11601 end dive: TARGET_DEPTH_EXCEEDED
11601 begin apogee
11606 932.3 -8.3 407 11735 roll -0.23 0.62 0.187 2826 293.5 0.08 0.181 2261 -6025.0 - 118.30 1.942 3051 -3.6 0.328 - - - - - - 14.31 13.93 13.27
11737 end apogee: CONTROL_FINISHED_OK
11737 begin climb
11739 936.1 - 409 11881 roll 0.90 1.08 0.102 3170 318.5 2.53 0.056 845 -559.7 116.8 123.88 1.965 2580 -3.8 0.348 - - - - - - 14.01 14.04 13.07
11893 929.8 10.2 434 11906 done 0.70 0.15 0.236 3130 -266.7 2.53 0.052 2248 554.5 116.8 - - 2574 - - - - - - - - 13.79 13.90 13.97
12228 903.0 8.2 446 12242 roll 0.60 0.08 0.262 3104 -325.0 2.62 0.099 3656 537.4 116.8 - - 2571 - - - - - - - - 14.14 14.22 14.28
12303 896.2 8.8 456 12317 done 0.51 0.17 0.229 3066 -223.5 2.42 0.041 2232 -588.4 116.8 - - 2570 - - - - - - - - 14.14 14.41 14.40
12630 875.6 6.1 467 12682 roll 0.55 - - 3066 - 2.72 0.101 3649 521.0 151.5 37.40 1.934 2440 -3.5 0.302 - - - - - - 14.72 14.21 13.54
12729 868.5 7.9 481 12742 done 0.55 - - 3076 - 2.40 0.041 2252 -582.1 151.5 - - 2436 - - - - - - - - 14.39 14.33 14.40
13084 843.9 7.1 489 13109 done 0.57 - - 3076 - - - 2248 - 166.2 15.93 2.025 2387 -3.1 0.246 - - - - - - 14.70 14.42 13.71
13415 821.0 6.9 501 13449 roll 0.59 - - 3077 - 2.70 0.103 3653 520.4 184.7 20.25 1.984 2306 -4.0 0.318 - - - - - - 14.71 14.32 13.67
13488 815.3 8.2 511 13502 done 0.59 - - 3086 - 2.40 0.041 2252 -583.8 184.7 - - 2303 - - - - - - - - 14.45 14.38 14.47
13815 791.3 7.5 522 13828 done 0.60 - - 3086 - - - 2249 - 190.5 1.12 0.260 2289 -12.5 7.312 - - - - - - 14.71 14.49 14.26
14151 765.9 7.6 528 14169 roll 0.60 - - 3088 - 2.65 0.104 3653 529.8 193.9 3.65 1.597 2279 -2.7 0.253 - - - - - - 14.78 14.50 13.38
14216 760.3 8.5 537 14229 done 0.60 - - 3095 - 2.38 0.042 2254 -587.8 193.9 1.40 0.272 2277 - - - - - - - - 14.62 14.54 14.16
14550 733.4 8.1 549 14563 roll 0.60 - - 3106 - 2.42 0.060 851 -579.8 193.9 1.10 0.264 2277 - - - - - - - - 14.80 14.45 14.27
14582 730.7 8.0 553 14595 done 0.60 - - 3105 - 2.45 0.055 2263 576.3 193.9 - - 2285 - - - - - - - - 14.64 14.49 14.64
14950 700.7 8.1 563 14964 roll 0.60 - - 3105 - 2.58 0.101 3657 540.3 193.9 1.12 0.263 2281 -3.6 1.829 - - - - - - 14.81 14.37 14.24
15017 694.4 9.2 572 15031 done 0.60 - - 3115 - 2.38 0.041 2251 -590.8 193.9 - - 2286 - - - - - - - - 14.66 14.58 14.68
15351 666.5 8.3 584 15365 roll 0.60 - - 3116 - 2.65 0.102 3654 529.4 193.9 1.45 0.261 2277 -6.2 3.046 - - - - - - 14.83 14.39 14.12
15384 663.5 9.3 588 15398 done 0.60 0.10 0.243 3097 -190.0 2.35 0.041 2259 -593.6 193.9 - - 2284 - - - - - - - - 14.33 14.59 14.56
15754 635.4 7.5 598 15768 done 0.61 - - 3097 - - - 2258 - 198.6 5.90 2.017 2260 -4.1 0.246 - - - - - - 14.85 14.64 13.74
16090 609.6 7.8 604 16103 roll 0.61 - - 3096 - 2.62 0.104 3654 532.8 198.6 - - 2266 - - - - - - - - 14.82 14.40 14.82
16143 604.7 9.0 611 16156 done 0.61 - - 3105 - 2.38 0.043 2267 -582.8 198.6 - - 2267 - - - - - - - - 14.65 14.57 14.66
16487 577.0 8.0 618 16500 done 0.61 - - 3105 - - - 2259 - 198.6 - - 2266 - - - - - - - - 14.83 14.83 14.83
16823 551.9 7.3 624 16853 roll 0.62 - - 3105 - 2.67 0.103 3666 527.0 207.9 15.00 1.812 2214 -3.5 0.203 - - - - - - 14.81 14.52 13.90
16907 545.1 8.3 636 16920 done 0.62 - - 3115 - 2.38 0.041 2259 -591.2 207.9 - - 2214 - - - - - - - - 14.60 14.53 14.62
17276 517.9 7.3 646 17295 done 0.63 - - 3115 - - - 2254 - 218.5 10.25 1.857 2182 -3.1 0.167 - - - - - - 14.78 14.57 13.87
17612 491.2 8.1 652 17625 roll 0.63 - - 3117 - 2.65 0.104 3660 530.6 218.5 - - 2175 - - - - - - - - 14.76 14.37 14.76
17651 487.5 9.3 657 17664 done 0.63 - - 3124 - 2.35 0.041 2273 -590.2 218.5 - - 2174 - - - - - - - - 14.62 14.54 14.64
18013 454.3 9.3 666 18026 done 0.63 - - 3124 - - - 2268 - 218.5 - - 2174 - - - - - - - - 14.80 14.81 14.80
18349 423.1 9.3 672 18362 roll 0.63 - - 3124 - 2.62 0.105 3658 530.5 218.5 - - 2175 - - - - - - - - 14.83 14.38 14.82
18416 416.1 10.3 681 18429 done 0.63 - - 3133 - 2.35 0.041 2280 -586.4 218.5 - - 2175 - - - - - - - - 14.66 14.57 14.67
18750 384.9 9.3 693 18763 roll 0.63 - - 3144 - 2.47 0.063 848 -579.8 218.5 - - 2174 - - - - - - - - 14.83 14.47 14.83
18788 381.1 9.6 698 18802 done 0.63 0.12 0.213 3108 -300.0 2.45 0.054 2273 581.6 218.5 - - 2175 - - - - - - - - 14.33 14.49 14.56
19150 352.6 7.8 707 19164 roll 0.63 - - 3106 - 2.55 0.102 3660 543.9 218.5 - - 2175 - - - - - - - - 14.85 14.40 14.85
19217 346.5 9.0 716 19231 done 0.63 - - 3116 - 2.35 0.040 2259 -596.2 218.5 - - 2175 - - - - - - - - 14.66 14.58 14.67
19551 319.2 8.2 728 19564 roll 0.63 - - 3116 - 2.62 0.102 3655 532.8 218.5 - - 2175 - - - - - - - - 14.84 14.40 14.84
19590 315.5 9.1 733 19603 done 0.63 - - 3125 - 2.33 0.041 2277 -591.4 218.5 - - 2173 - - - - - - - - 14.67 14.59 14.69
19952 285.1 8.3 742 19965 done 0.63 - - 3125 - - - 2272 - 218.5 - - 2175 - - - - - - - - 14.87 14.86 14.87
20288 257.8 8.1 748 20301 roll 0.63 - - 3125 - 2.60 0.102 3658 533.1 218.5 - - 2175 - - - - - - - - 14.88 14.38 14.87
20320 254.8 9.1 752 20334 done 0.63 - - 3134 - 2.35 0.041 2261 -594.5 218.5 - - 2175 - - - - - - - - 14.67 14.59 14.69
20690 223.3 8.4 762 20703 roll 0.63 0.08 0.267 3117 -212.5 2.40 0.058 865 -581.7 218.5 - - 2175 - - - - - - - - 14.31 14.47 14.45
20722 220.7 7.9 766 20735 done 0.63 - - 3117 - 2.45 0.053 2291 582.0 218.5 - - 2175 - - - - - - - - 14.59 14.45 14.62
21091 193.1 7.5 776 21108 roll 0.64 - - 3117 - 2.53 0.099 3659 540.7 224.7 3.50 1.222 2159 -4.6 0.139 - - - - - - 14.86 14.58 13.59
21155 187.6 8.7 785 21169 done 0.64 - - 3124 - 2.30 0.040 2280 -599.6 224.7 1.52 0.275 2155 -2.6 0.345 - - - - - - 14.69 14.62 14.07
21491 161.9 7.7 797 21504 done 0.64 - - 3124 - - - 2275 - 225.8 3.03 1.042 2151 -1.3 0.039 - - - - - - 14.83 14.64 13.60
21825 138.1 7.0 803 21858 roll 0.66 - - 3124 - 2.62 0.099 3661 529.0 241.3 20.60 1.265 2083 -3.3 0.069 - - - - - - 14.84 14.51 14.04
21898 132.0 8.9 813 21911 done 0.66 - - 3135 - 2.33 0.039 2280 -592.7 241.3 - - 2081 - - - - - - - - 14.64 14.54 14.64
22217 104.6 8.6 823 22230 done 0.66 - - 3133 - - - 2274 - 241.3 - - 2079 - - - - - - - - 14.78 14.79 14.78
22525 82.9 5.8 833 22560 roll 0.71 - - 3133 - 2.62 0.097 3658 528.2 284.4 20.73 0.423 1919 -7.7 0.291 - - - - - - 14.80 14.47 14.21
22684 72.6 4.7 855 22732 done 0.79 - - 3140 - 2.33 0.038 2263 -598.7 350.2 34.65 0.396 1655 -7.6 0.268 - - - - - - 14.64 14.58 14.19
23036 55.6 3.8 872 23096 roll 1.15 0.28 0.076 3278 492.9 2.42 0.060 878 -572.3 435.9 44.08 0.348 1315 -7.7 0.237 - - - - - - 14.50 14.45 14.21
23137 48.9 5.9 886 23170 done 1.20 - - 3277 - 2.42 0.049 2286 581.8 476.0 21.02 0.325 1154 -7.7 0.221 - - - - - - 14.52 14.41 14.19
23485 20.8 8.3 902 23498 roll 1.28 - - 3278 - 2.53 0.099 3658 542.3 476.0 - - 1157 - - - - - - - - 14.76 14.38 14.73
23623 9.7 7.3 921 23642 done 1.38 0.12 0.100 3382 866.7 2.30 0.037 2279 -599.6 486.1 5.65 0.203 1113 -7.8 0.072 - - - - - - 14.54 14.55 14.30
23715 end climb: SURFACE_DEPTH_REACHED
23715 begin surface coast
23744 end surface coast: CONTROL_FINISHED_OK
23745 begin surface
SM -3.72 - - - - -8.39 9.27 0.069 190 20.5 0.90 0.080 2776 -9615.6 500.39 7.03 0.164 1059 150.6 0.349 - - - - - -