SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 213 * Raw log
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• Previous call tries 2 • 83.43 of 350.00 AH used of 24V (76.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth -2.44 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 99 done -0.90 - - 183 - - - 2776 - -116.8 -76.25 - 3515 - - - - - - - - 14.62 13.03 14.62
102 -0.9 -5.0 2 123 roll -0.90 11.73 0.402 2593 205.5 1.90 0.080 3838 558.9 -116.8 - - 3518 - - - - - - - - 14.14 14.38 14.45
352 80.8 -15.7 39 360 done -0.59 0.40 0.226 2703 275.0 1.83 0.038 2756 -591.3 -116.8 - - 3518 - - - - - - - - 14.19 14.50 14.36
682 101.9 -3.9 53 690 roll -0.59 - - 2694 - 2.03 0.104 3821 524.6 -116.8 - - 3520 - - - - - - - - 14.78 14.38 14.78
919 125.0 -8.0 87 927 done -0.59 - - 2695 - 1.77 0.038 2761 -598.9 -116.8 - - 3519 - - - - - - - - 14.68 14.63 14.66
1242 149.3 -7.6 98 1249 roll -0.59 - - 2695 - 2.30 0.042 1380 -600.4 -116.8 - - 3518 - - - - - - - - 14.84 14.56 14.83
1332 156.2 -7.5 111 1340 done -0.59 - - 2686 - 2.50 0.067 2778 559.2 -116.8 - - 3517 - - - - - - - - 14.54 14.46 14.59
1690 185.8 -8.5 120 1697 roll -0.59 - - 2678 - 1.98 0.108 3826 529.3 -116.8 - - 3515 - - - - - - - - 14.85 14.41 14.85
1710 187.5 -8.4 123 1718 done -0.59 0.10 0.225 2715 370.0 1.77 0.041 2775 -593.8 -116.8 - - 3515 - - - - - - - - 14.36 14.65 14.50
2026 209.9 -7.0 133 2028 done -0.66 - - 2715 - - - 2775 - -116.8 - - 3512 - - - - - - - - 14.85 14.85 14.84
2362 233.1 -6.9 139 2369 roll -0.74 0.10 0.116 2643 -720.0 2.33 0.043 1375 -600.9 -116.8 - - 3509 - - - - - - - - 14.62 14.54 14.68
2410 237.4 -9.4 146 2419 done -0.74 - - 2633 - 2.53 0.068 2775 553.4 -116.8 - - 3508 - - - - - - - - 14.54 14.46 14.58
2754 273.3 -10.6 153 2767 roll -0.74 - - 2624 - 1.95 0.110 3833 542.6 -116.8 - - 3506 - - - - - - - - 14.89 14.47 14.89
2856 284.2 -10.8 167 2869 done -0.65 0.20 0.213 2684 300.0 1.77 0.043 2754 -609.6 -116.8 - - 3505 - - - - - - - - 14.38 14.67 14.61
3211 315.5 -8.7 175 3224 roll -0.65 - - 2684 - 2.30 0.044 1378 -598.3 -116.8 - - 3503 - - - - - - - - 14.91 14.62 14.91
3257 319.6 -8.9 181 3270 done -0.65 - - 2675 - 2.45 0.070 2775 570.2 -116.8 - - 3502 - - - - - - - - 14.70 14.54 14.73
3612 350.7 -8.7 189 3625 roll -0.65 - - 2674 - 2.38 0.044 1376 -587.8 -116.8 - - 3500 - - - - - - - - 14.91 14.63 14.91
3657 354.8 -8.7 195 3670 done -0.65 - - 2665 - 2.45 0.070 2773 570.2 -116.8 - - 3502 - - - - - - - - 14.71 14.54 14.73
4012 384.9 -8.5 203 4025 roll -0.65 - - 2656 - 1.95 0.112 3830 542.1 -116.8 - - 3498 - - - - - - - - 14.92 14.47 14.92
4073 390.2 -8.8 211 4086 done -0.65 0.10 0.232 2686 300.0 1.75 0.044 2771 -605.1 -116.8 - - 3497 - - - - - - - - 14.42 14.70 14.62
4414 415.4 -7.3 224 4427 roll -0.65 - - 2686 - 2.35 0.045 1375 -594.0 -116.8 - - 3495 - - - - - - - - 14.92 14.61 14.92
4481 420.4 -7.3 233 4494 done -0.65 - - 2677 - 2.47 0.070 2770 564.8 -116.8 - - 3491 - - - - - - - - 14.68 14.52 14.71
4815 444.6 -7.3 245 4828 roll -0.65 - - 2669 - 1.95 0.112 3823 540.0 -116.8 - - 3493 - - - - - - - - 14.91 14.45 14.91
4875 449.1 -7.4 253 4889 done -0.65 - - 2669 - 1.75 0.043 2770 -601.7 -116.8 - - 3493 - - - - - - - - 14.74 14.70 14.76
5216 475.3 -8.0 266 5229 done -0.65 - - 2668 - - - 2769 - -116.8 - - 3492 - - - - - - - - 14.92 14.92 14.92
5552 503.7 -8.5 272 5566 roll -0.65 - - 2668 - 2.38 0.044 1364 -590.3 -116.8 - - 3490 - - - - - - - - 14.91 14.59 14.91
5584 506.5 -8.6 276 5598 done -0.65 0.10 0.243 2688 200.0 2.50 0.070 2765 560.4 -116.8 - - 3490 - - - - - - - - 14.37 14.52 14.60
5953 534.8 -7.7 286 5967 roll -0.65 - - 2688 - 2.40 0.046 1368 -582.1 -116.8 - - 3488 - - - - - - - - 14.92 14.58 14.92
5992 537.9 -8.1 291 6005 done -0.65 - - 2679 - 2.47 0.071 2761 564.0 -116.8 - - 3488 - - - - - - - - 14.67 14.50 14.70
6354 565.5 -7.6 300 6367 roll -0.65 - - 2673 - 2.00 0.113 3833 536.0 -116.8 - - 3486 - - - - - - - - 14.91 14.39 14.91
6393 568.5 -8.1 305 6406 done -0.65 - - 2672 - 1.77 0.044 2756 -608.5 -116.8 - - 3486 - - - - - - - - 14.73 14.68 14.74
6755 593.9 -7.0 314 6768 roll -0.65 - - 2666 - 2.33 0.044 1379 -591.0 -116.8 - - 3484 - - - - - - - - 14.90 14.58 14.90
6836 599.8 -7.2 325 6849 done -0.65 - - 2662 - 2.47 0.071 2764 560.7 -116.8 - - 3483 - - - - - - - - 14.66 14.48 14.69
7156 624.6 -7.9 335 7169 done -0.65 - - 2662 - - - 2764 - -116.8 - - 3483 - - - - - - - - 14.92 14.91 14.92
7492 652.4 -8.4 341 7505 roll -0.65 - - 2663 - 2.38 0.045 1380 -581.5 -116.8 - - 3482 - - - - - - - - 14.92 14.55 14.92
7531 655.7 -8.8 346 7544 done -0.65 0.12 0.229 2690 225.0 2.47 0.071 2770 562.8 -116.8 - - 3482 - - - - - - - - 14.32 14.47 14.57
7893 680.8 -6.8 355 7907 roll -0.73 - - 2690 - 2.40 0.044 1370 -583.3 -116.8 - - 3480 - - - - - - - - 14.89 14.55 14.90
7925 682.9 -6.3 359 7939 done -0.81 0.08 0.146 2626 -800.0 2.47 0.070 2760 562.8 -116.8 - - 3480 - - - - - - - - 14.54 14.47 14.65
8294 714.2 -8.6 369 8308 roll -0.81 - - 2618 - 2.00 0.113 3829 534.5 -116.8 - - 3478 - - - - - - - - 14.91 14.38 14.91
8340 718.1 -9.1 375 8353 done -0.81 - - 2617 - 1.77 0.044 2754 -607.3 -116.8 - - 3478 - - - - - - - - 14.72 14.66 14.73
8695 748.3 -8.5 383 8708 done -0.81 - - 2616 - - - 2754 - -116.8 - - 3478 - - - - - - - - 14.91 14.91 14.92
9031 778.2 -9.1 389 9044 done -0.81 - - 2617 - - - 2754 - -116.8 - - 3477 - - - - - - - - 14.91 14.91 14.91
9367 809.9 -9.5 395 9380 roll -0.81 - - 2617 - 2.35 0.045 1379 -585.1 -116.8 - - 3475 - - - - - - - - 14.89 14.54 14.89
9412 814.5 -9.7 401 9426 done -0.81 - - 2609 - 2.47 0.072 2762 559.9 -116.8 - - 3475 - - - - - - - - 14.64 14.45 14.66
9768 848.5 -9.8 409 9781 roll -0.81 - - 2601 - 2.00 0.115 3827 532.5 -116.8 - - 3474 - - - - - - - - 14.88 14.36 14.88
9835 854.4 -10.4 418 9848 done -0.73 0.22 0.216 2665 290.9 1.80 0.044 2753 -596.7 -116.8 - - 3474 - - - - - - - - 14.25 14.63 14.51
10170 881.5 -7.7 430 10183 roll -0.73 - - 2665 - 2.38 0.046 1365 -583.2 -116.8 - - 3472 - - - - - - - - 14.90 14.50 14.88
10209 885.1 -8.9 435 10222 done -0.73 - - 2656 - 2.50 0.072 2758 557.2 -116.8 - - 3471 - - - - - - - - 14.61 14.43 14.64
10571 912.7 -7.7 444 10584 done -0.73 - - 2656 - - - 2758 - -116.8 - - 3471 - - - - - - - - 14.87 14.87 14.87
10793 end dive: TARGET_DEPTH_EXCEEDED
10793 begin apogee
10798 930.1 -7.8 448 10924 roll -0.23 0.57 0.181 2825 296.5 0.08 0.173 2260 -6225.0 - 115.85 1.964 3050 -3.6 0.332 - - - - - - 14.29 13.93 13.24
10926 end apogee: CONTROL_FINISHED_OK
10926 begin climb
10928 933.6 - 450 11068 roll 0.90 1.08 0.101 3171 320.4 2.47 0.054 888 -555.5 116.8 123.47 1.968 2585 -3.8 0.344 - - - - - - 14.01 14.03 13.07
11074 933.5 7.6 473 11088 done 0.64 0.22 0.228 3112 -268.2 2.47 0.052 2247 550.2 120.3 - - 2573 - - - - - - - - 13.76 13.86 13.93
11415 910.1 6.9 486 11453 roll 0.66 - - 3111 - 2.72 0.104 3656 518.0 138.1 22.25 1.994 2491 -3.7 0.324 - - - - - - 14.59 14.19 13.52
11507 902.7 8.5 499 11521 done 0.56 0.12 0.235 3087 -200.0 2.38 0.041 2282 -577.3 138.1 - - 2488 - - - - - - - - 14.10 14.31 14.31
11869 877.7 6.8 508 11906 roll 0.59 - - 3088 - 2.67 0.105 3651 512.7 157.8 21.80 1.995 2413 -3.4 0.292 - - - - - - 14.69 14.28 13.64
11946 871.7 8.4 519 11959 done 0.59 - - 3097 - 2.42 0.042 2242 -582.2 157.8 - - 2409 - - - - - - - - 14.43 14.38 14.45
12266 846.2 8.2 529 12279 roll 0.59 - - 3097 - 2.62 0.106 3651 537.8 157.8 - - 2407 - - - - - - - - 14.71 14.33 14.70
12305 842.5 10.9 534 12318 done 0.59 - - 3107 - 2.38 0.041 2257 -585.7 157.8 - - 2407 - - - - - - - - 14.57 14.49 14.58
12667 811.3 8.7 543 12680 roll 0.59 - - 3107 - 2.62 0.104 3653 532.8 157.8 - - 2411 - - - - - - - - 14.77 14.38 14.77
12713 807.3 8.6 549 12726 done 0.59 - - 3118 - 2.38 0.041 2254 -587.8 157.8 - - 2406 - - - - - - - - 14.62 14.54 14.64
13068 776.9 8.5 557 13081 done 0.59 - - 3117 - - - 2252 - 157.8 - - 2405 - - - - - - - - 14.81 14.81 14.81
13404 750.2 7.9 563 13417 roll 0.59 - - 3116 - 2.62 0.105 3652 534.4 157.8 - - 2405 - - - - - - - - 14.82 14.39 14.82
13450 746.0 8.3 569 13464 done 0.50 0.22 0.219 3063 -240.9 2.38 0.042 2251 -588.7 157.8 - - 2405 - - - - - - - - 14.26 14.57 14.54
13806 722.4 6.6 577 13845 roll 0.53 - - 3063 - 2.62 0.103 3651 534.4 182.6 26.27 1.852 2316 -3.4 0.255 - - - - - - 14.84 14.39 13.77
13871 717.5 7.6 586 13884 done 0.53 - - 3073 - 2.38 0.041 2259 -584.9 186.4 - - 2311 - - - - - - - - 14.52 14.45 14.54
14205 692.2 7.5 598 14222 roll 0.54 - - 3073 - 2.67 0.106 3653 522.1 190.9 2.20 0.544 2293 -8.2 2.007 - - - - - - 14.73 14.40 13.22
14248 688.8 7.7 604 14267 done 0.54 - - 3082 - 2.38 0.041 2255 -587.4 191.4 2.38 0.788 2292 - - - - - - - - 14.59 14.50 13.27
14599 663.2 7.2 612 14631 roll 0.55 - - 3082 - 2.65 0.106 3656 528.7 202.5 20.10 1.840 2237 -2.7 0.190 - - - - - - 14.77 14.40 13.78
14657 658.5 8.3 620 14670 done 0.55 - - 3091 - 2.38 0.041 2266 -584.0 202.5 - - 2232 - - - - - - - - 14.53 14.45 14.54
14991 632.3 7.9 632 15004 done 0.55 - - 3091 - - - 2260 - 202.5 - - 2229 - - - - - - - - 14.72 14.73 14.72
15327 606.1 7.8 638 15340 roll 0.55 - - 3091 - 2.62 0.106 3655 532.4 202.5 - - 2229 - - - - - - - - 14.77 14.36 14.77
15373 602.1 8.9 644 15386 done 0.55 - - 3100 - 2.38 0.042 2264 -584.5 202.5 - - 2229 - - - - - - - - 14.62 14.54 14.64
15727 573.8 7.9 652 15740 done 0.55 - - 3101 - - - 2259 - 202.5 - - 2229 - - - - - - - - 14.80 14.81 14.81
16064 547.6 7.8 658 16077 roll 0.55 - - 3101 - 2.62 0.105 3657 533.6 202.5 - - 2227 - - - - - - - - 14.83 14.37 14.83
16131 541.6 9.1 667 16144 done 0.55 0.10 0.236 3082 -190.0 2.38 0.041 2259 -587.4 202.5 - - 2229 - - - - - - - - 14.29 14.56 14.54
16465 516.8 7.4 679 16482 roll 0.56 - - 3091 - 2.50 0.062 854 -562.0 209.9 1.67 0.254 2218 -6.6 2.584 - - - - - - 14.82 14.47 14.05
16501 514.0 7.4 684 16527 done 0.65 - - 3091 - 2.47 0.058 2281 577.7 217.2 14.20 1.774 2184 -2.4 0.134 - - - - - - 14.62 14.47 13.90
16859 486.6 7.6 693 16872 roll 0.65 - - 3091 - 2.58 0.109 3654 532.2 220.7 - - 2175 - - - - - - - - 14.78 14.34 14.77
16920 481.7 8.0 701 16933 done 0.65 - - 3101 - 2.38 0.042 2268 -582.4 220.7 - - 2175 - - - - - - - - 14.61 14.52 14.62
17261 459.0 6.5 714 17308 roll 0.69 - - 3100 - 2.70 0.106 3658 514.8 248.4 34.35 1.551 2056 -3.5 0.198 - - - - - - 14.79 14.35 13.77
17326 454.6 7.0 723 17359 done 0.71 - - 3108 - 2.38 0.043 2273 -581.9 264.7 17.88 1.633 1990 -3.7 0.198 - - - - - - 14.49 14.41 13.69
17707 427.3 7.3 735 17725 roll 0.72 - - 3119 - 2.47 0.063 863 -570.9 275.1 4.30 1.587 1957 -7.7 0.398 - - - - - - 14.68 14.42 13.41
17736 425.0 7.3 739 17764 done 0.73 - - 3119 - 2.47 0.057 2278 572.9 284.0 15.60 1.637 1921 -2.3 0.116 - - - - - - 14.51 14.39 13.74
18094 395.1 8.5 748 18108 roll 0.73 - - 3119 - 2.58 0.106 3660 535.7 284.0 - - 1910 - - - - - - - - 14.71 14.33 14.69
18147 389.8 10.1 755 18161 done 0.73 - - 3127 - 2.38 0.040 2277 -581.1 284.0 - - 1909 - - - - - - - - 14.56 14.48 14.57
18492 357.3 9.6 762 18505 roll 0.73 - - 3138 - 2.45 0.063 862 -577.6 284.0 - - 1908 - - - - - - - - 14.78 14.40 14.78
18524 354.0 9.7 766 18537 done 0.73 - - 3136 - 2.47 0.057 2285 576.1 284.0 - - 1907 - - - - - - - - 14.59 14.45 14.62
18892 317.9 9.8 776 18905 done 0.73 - - 3138 - - - 2286 - 284.0 - - 1908 - - - - - - - - 14.80 14.81 14.81
19229 285.6 9.6 782 19242 roll 0.73 - - 3147 - 2.50 0.063 852 -573.6 284.0 - - 1907 - - - - - - - - 14.82 14.47 14.81
19268 281.7 9.9 787 19281 done 0.73 - - 3147 - 2.47 0.057 2279 577.7 284.0 - - 1907 - - - - - - - - 14.62 14.48 14.66
19630 244.9 10.2 796 19643 done 0.73 - - 3147 - - - 2279 - 284.0 - - 1907 - - - - - - - - 14.84 14.84 14.84
19965 212.5 9.5 802 19979 roll 0.73 - - 3147 - 2.55 0.106 3656 540.0 284.0 - - 1908 - - - - - - - - 14.83 14.41 14.83
19997 209.1 10.3 806 20011 done 0.73 - - 3156 - 2.35 0.041 2269 -590.2 284.0 - - 1907 - - - - - - - - 14.67 14.59 14.69
20366 171.4 10.2 816 20380 roll 0.73 - - 3167 - 2.45 0.063 855 -577.1 284.0 - - 1907 - - - - - - - - 14.85 14.47 14.85
20427 165.1 10.2 824 20441 done 0.73 0.10 0.220 3137 -300.0 2.47 0.057 2275 574.9 284.0 - - 1907 - - - - - - - - 14.34 14.47 14.57
20768 133.3 9.3 837 20781 done 0.73 - - 3138 - - - 2275 - 284.0 - - 1908 - - - - - - - - 14.84 14.85 14.85
21104 103.6 8.6 843 21117 roll 0.73 - - 3147 - 2.47 0.061 856 -574.5 284.0 - - 1907 - - - - - - - - 14.87 14.47 14.87
21136 100.9 8.4 847 21149 done 0.73 - - 3147 - 2.45 0.055 2280 581.2 284.0 - - 1907 - - - - - - - - 14.64 14.49 14.67
21478 78.0 5.8 862 21511 roll 0.78 - - 3147 - 2.60 0.104 3661 531.2 326.2 20.15 0.407 1754 -7.6 0.281 - - - - - - 14.83 14.52 14.25
21573 72.1 6.7 875 21600 done 0.91 0.05 0.197 3212 1300.0 2.35 0.039 2254 -598.7 349.1 12.82 0.381 1660 -7.3 0.268 - - - - - - 14.49 14.61 14.18
21903 49.8 5.9 889 21935 roll 0.96 - - 3221 - 2.45 0.061 872 -564.1 388.5 20.52 0.330 1502 -7.7 0.224 - - - - - - 14.80 14.52 14.24
21940 48.7 4.8 894 21988 done 1.13 0.08 0.150 3283 775.0 2.40 0.054 2276 585.0 453.3 32.97 0.327 1250 -7.6 0.219 - - - - - - 14.54 14.50 14.24
22292 23.5 6.9 911 22316 roll 1.16 - - 3283 - 2.55 0.105 3654 540.4 472.4 9.75 0.243 1172 -8.0 0.149 - - - - - - 14.77 14.40 14.24
22398 13.8 9.3 926 22412 done 1.16 - - 3292 - 2.30 0.037 2283 -596.1 472.4 - - 1173 - - - - - - - - 14.62 14.54 14.62
22572 end climb: SURFACE_DEPTH_REACHED
22572 begin surface coast
22600 end surface coast: CONTROL_FINISHED_OK
22600 begin surface
SM -3.34 - - - - -8.40 9.18 0.082 190 20.7 0.90 0.080 2770 1933.3 500.14 13.60 0.159 1057 77.7 0.167 - - - - - -