SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 226 * Raw log
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• Previous call tries 4 • 88.22 of 350.00 AH used of 24V (74.80% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -73.5 deg, depth -3.10 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 2 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 95 done -0.93 - - 152 - - - 2779 - -107.1 -74.12 - 3477 - - - - - - - - 14.60 13.02 14.60
97 -1.4 -5.2 2 114 roll -0.93 11.55 0.388 2583 210.5 1.90 0.076 3825 550.5 -107.1 - - 3478 - - - - - - - - 14.11 14.38 14.41
344 75.0 -14.8 38 351 done -0.61 0.40 0.213 2696 282.5 1.80 0.035 2734 -606.1 -107.1 - - 3480 - - - - - - - - 14.21 14.48 14.36
680 101.2 -9.9 53 686 roll -0.61 - - 2696 - 2.22 0.041 1387 -606.8 -107.1 - - 3482 - - - - - - - - 14.76 14.50 14.76
896 118.4 -7.9 84 906 done -0.61 - - 2687 - 2.45 0.063 2770 564.5 -107.1 - - 3482 - - - - - - - - 14.50 14.42 14.54
1240 146.9 -8.5 91 1247 roll -0.61 - - 2679 - 1.95 0.106 3819 537.9 -107.1 - - 3479 - - - - - - - - 14.81 14.41 14.81
1281 150.5 -8.8 97 1289 done -0.61 - - 2679 - 1.75 0.039 2775 -596.6 -107.1 - - 3478 - - - - - - - - 14.66 14.62 14.68
1632 177.4 -7.6 105 1638 roll -0.61 - - 2678 - 2.33 0.041 1378 -599.6 -107.1 - - 3477 - - - - - - - - 14.82 14.54 14.81
1680 181.0 -7.5 112 1690 done -0.61 0.08 0.220 2692 175.0 2.50 0.067 2774 558.4 -107.1 - - 3477 - - - - - - - - 14.28 14.42 14.45
2024 205.8 -7.3 119 2031 roll -0.61 - - 2691 - 2.38 0.042 1378 -586.6 -107.1 - - 3473 - - - - - - - - 14.83 14.54 14.83
2051 207.8 -7.4 123 2058 done -0.61 - - 2682 - 2.50 0.067 2770 556.8 -107.1 - - 3473 - - - - - - - - 14.53 14.43 14.54
2416 234.8 -7.4 133 2422 roll -0.61 - - 2682 - 2.35 0.042 1383 -590.2 -107.1 - - 3468 - - - - - - - - 14.82 14.53 14.82
2464 238.2 -7.4 140 2474 done -0.61 - - 2673 - 2.50 0.068 2770 554.8 -107.1 - - 3470 - - - - - - - - 14.51 14.42 14.55
2808 265.0 -8.0 147 2821 done -0.61 - - 2673 - - - 2770 - -107.1 - - 3467 - - - - - - - - 14.89 14.89 14.89
3144 291.5 -8.3 153 3157 roll -0.61 - - 2672 - 2.35 0.043 1377 -592.8 -107.1 - - 3464 - - - - - - - - 14.91 14.59 14.91
3197 296.4 -8.3 160 3212 done -0.61 0.12 0.226 2698 216.7 2.47 0.070 2771 564.4 -107.1 - - 3464 - - - - - - - - 14.36 14.50 14.59
3541 319.8 -6.7 167 3554 done -0.70 - - 2699 - - - 2771 - -107.1 - - 3462 - - - - - - - - 14.90 14.91 14.91
3877 343.5 -7.2 173 3891 roll -0.78 0.08 0.141 2630 -862.5 2.35 0.040 1381 -591.5 -107.1 - - 3460 - - - - - - - - 14.65 14.60 14.69
3916 347.2 -9.5 178 3930 done -0.78 - - 2620 - 2.45 0.070 2774 568.6 -107.1 - - 3459 - - - - - - - - 14.69 14.52 14.71
4278 384.3 -10.3 187 4291 roll -0.78 - - 2612 - 1.95 0.111 3834 543.6 -107.1 - - 3457 - - - - - - - - 14.93 14.45 14.93
4339 390.9 -10.9 195 4352 done -0.69 0.20 0.218 2670 290.0 1.75 0.042 2775 -605.1 -107.1 - - 3457 - - - - - - - - 14.34 14.69 14.59
4682 417.9 -7.7 208 4695 roll -0.69 - - 2671 - 2.35 0.043 1373 -596.6 -107.1 - - 3455 - - - - - - - - 14.90 14.59 14.90
4743 422.7 -7.6 216 4756 done -0.69 - - 2660 - 2.47 0.067 2777 568.4 -107.1 - - 3454 - - - - - - - - 14.68 14.51 14.71
5084 449.4 -7.9 229 5097 roll -0.69 - - 2660 - 2.38 0.043 1375 -589.1 -107.1 - - 3453 - - - - - - - - 14.91 14.59 14.91
5102 450.8 -7.9 231 5115 done -0.69 - - 2651 - 2.45 0.068 2767 568.2 -107.1 - - 3454 - - - - - - - - 14.68 14.50 14.70
5429 477.5 -8.1 242 5442 done -0.69 - - 2653 - - - 2767 - -107.1 - - 3452 - - - - - - - - 14.90 14.90 14.90
5764 503.9 -7.9 248 5778 roll -0.69 - - 2642 - 1.98 0.112 3828 535.9 -107.1 - - 3450 - - - - - - - - 14.91 14.40 14.91
5873 513.2 -8.7 263 5887 done -0.69 0.10 0.232 2672 300.0 1.77 0.044 2761 -602.8 -107.1 - - 3449 - - - - - - - - 14.35 14.66 14.57
6218 539.0 -7.7 270 6231 roll -0.69 - - 2673 - 2.35 0.044 1370 -591.9 -107.1 - - 3447 - - - - - - - - 14.94 14.56 14.90
6292 544.5 -7.7 280 6305 done -0.69 - - 2663 - 2.47 0.070 2769 566.4 -107.1 - - 3446 - - - - - - - - 14.65 14.48 14.69
6619 573.4 -8.7 291 6632 roll -0.69 - - 2655 - 1.98 0.113 3830 535.9 -107.1 - - 3445 - - - - - - - - 14.92 14.39 14.92
6651 576.4 -9.1 295 6664 done -0.69 - - 2654 - 1.75 0.045 2773 -604.0 -107.1 - - 3445 - - - - - - - - 14.73 14.67 14.75
7019 608.2 -8.7 305 7032 done -0.69 - - 2655 - - - 2775 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
7355 634.9 -7.8 311 7369 roll -0.69 - - 2655 - 2.38 0.044 1373 -589.1 -107.1 - - 3443 - - - - - - - - 14.92 14.54 14.92
7408 639.1 -7.7 318 7423 done -0.69 0.10 0.244 2676 210.0 2.50 0.069 2768 558.0 -107.1 - - 3443 - - - - - - - - 14.29 14.45 14.54
7753 662.3 -6.7 325 7766 done -0.69 - - 2674 - - - 2768 - -107.1 - - 3442 - - - - - - - - 14.89 14.89 14.89
8088 685.2 -6.9 331 8102 roll -0.69 - - 2674 - 2.40 0.044 1375 -580.4 -107.1 - - 3440 - - - - - - - - 14.91 14.52 14.91
8142 689.0 -6.9 338 8156 done -0.77 - - 2664 - 2.50 0.070 2774 559.6 -107.1 - - 3440 - - - - - - - - 14.62 14.43 14.65
8485 712.8 -7.0 345 8499 roll -0.77 - - 2664 - 2.42 0.044 1369 -580.6 -107.1 - - 3439 - - - - - - - - 14.88 14.50 14.88
8553 717.7 -7.1 354 8566 done -0.77 - - 2655 - 2.50 0.071 2771 560.8 -107.1 - - 3439 - - - - - - - - 14.62 14.44 14.64
8887 742.3 -7.5 366 8900 done -0.77 - - 2655 - - - 2771 - -107.1 - - 3437 - - - - - - - - 14.88 14.88 14.88
9223 768.0 -7.6 372 9236 roll -0.77 - - 2655 - 2.40 0.046 1375 -581.7 -107.1 - - 3437 - - - - - - - - 14.88 14.51 14.88
9262 771.1 -8.1 377 9275 done -0.77 - - 2645 - 2.50 0.071 2775 560.0 -107.1 - - 3437 - - - - - - - - 14.62 14.44 14.65
9624 799.0 -7.7 386 9637 roll -0.77 - - 2645 - 2.42 0.044 1367 -581.8 -107.1 - - 3435 - - - - - - - - 14.90 14.50 14.88
9691 804.5 -7.9 395 9704 done -0.77 - - 2636 - 2.50 0.070 2770 561.2 -107.1 - - 3434 - - - - - - - - 14.59 14.41 14.62
10025 830.3 -7.7 407 10038 roll -0.77 - - 2627 - 1.98 0.116 3821 530.8 -107.1 - - 3432 - - - - - - - - 14.90 14.31 14.90
10092 836.0 -8.4 416 10105 done -0.77 - - 2626 - 1.77 0.045 2753 -603.4 -107.1 - - 3433 - - - - - - - - 14.66 14.61 14.68
10426 863.2 -8.2 428 10439 roll -0.77 - - 2627 - 2.35 0.044 1373 -587.2 -107.1 - - 3432 - - - - - - - - 14.88 14.49 14.88
10479 867.6 -8.3 435 10493 done -0.77 0.10 0.252 2645 180.0 2.50 0.070 2764 556.4 -107.1 - - 3430 - - - - - - - - 14.21 14.39 14.47
10823 894.0 -7.7 442 10836 done -0.77 - - 2645 - - - 2764 - -107.1 - - 3432 - - - - - - - - 14.88 14.88 14.88
11159 919.8 -7.7 448 11172 done -0.77 - - 2645 - - - 2764 - -107.1 - - 3432 - - - - - - - - 14.88 14.86 14.86
11325 end dive: TARGET_DEPTH_EXCEEDED
11325 begin apogee
11331 932.7 -7.7 451 11446 roll -0.23 0.60 0.183 2820 291.7 - - 2238 - - 105.70 1.973 3049 -3.6 0.330 - - - - - - 14.25 14.02 13.24
11448 end apogee: CONTROL_FINISHED_OK
11448 begin climb
11450 936.6 - 453 11585 roll 0.93 1.12 0.101 3181 322.3 2.45 0.057 871 -558.0 107.1 115.47 1.974 2616 -3.7 0.343 - - - - - - 14.02 14.04 13.07
11590 932.1 7.5 474 11604 done 0.69 0.20 0.233 3129 -260.0 2.50 0.053 2256 554.0 112.6 1.15 0.231 2601 -13.0 10.154 - - - - - - 13.77 13.88 13.78
11954 907.5 6.9 483 11991 roll 0.71 - - 3129 - 2.62 0.102 3649 531.7 129.6 24.05 1.984 2526 -3.1 0.275 - - - - - - 14.59 14.18 13.52
12081 897.2 8.5 501 12095 done 0.60 0.15 0.236 3099 -200.0 2.40 0.041 2250 -582.9 129.6 - - 2521 - - - - - - - - 14.10 14.33 14.34
12409 876.1 6.5 512 12445 done 0.63 - - 3099 - - - 2246 - 153.8 26.80 1.968 2437 -3.1 0.269 - - - - - - 14.68 14.32 13.57
12745 852.8 7.0 518 12776 roll 0.65 - - 3099 - 2.67 0.104 3659 529.2 169.6 18.08 2.021 2367 -3.9 0.315 - - - - - - 14.66 14.31 13.61
12802 848.0 9.0 526 12816 done 0.65 - - 3108 - 2.42 0.041 2256 -579.8 169.6 - - 2364 - - - - - - - - 14.43 14.37 14.44
13144 820.5 8.2 539 13157 roll 0.65 - - 3108 - 2.62 0.102 3653 533.2 169.6 - - 2359 - - - - - - - - 14.69 14.33 14.69
13183 816.8 11.2 544 13196 done 0.65 - - 3118 - 2.40 0.041 2243 -587.5 169.6 - - 2360 - - - - - - - - 14.57 14.50 14.58
13545 784.8 9.0 553 13558 roll 0.65 - - 3128 - 2.40 0.061 857 -577.5 169.6 - - 2359 - - - - - - - - 14.78 14.42 14.78
13584 781.1 9.1 558 13597 done 0.65 - - 3128 - 2.42 0.055 2256 578.1 169.6 - - 2359 - - - - - - - - 14.54 14.40 14.57
13946 747.8 9.1 567 13959 roll 0.65 - - 3128 - 2.60 0.104 3652 536.9 169.6 - - 2359 - - - - - - - - 14.80 14.36 14.80
13999 742.6 9.7 574 14012 done 0.65 - - 3139 - 2.40 0.041 2248 -585.0 169.6 - - 2359 - - - - - - - - 14.62 14.54 14.64
14343 710.3 9.3 581 14356 done 0.65 0.10 0.258 3111 -280.0 - - 2244 - 169.6 - - 2358 - - - - - - - - 14.26 14.58 14.52
14679 682.2 8.3 587 14692 roll 0.65 - - 3110 - 2.65 0.101 3660 534.3 169.6 - - 2358 - - - - - - - - 14.83 14.35 14.83
14717 678.5 9.5 592 14732 done 0.65 - - 3123 - 2.38 0.041 2253 -591.2 169.6 - - 2358 - - - - - - - - 14.64 14.57 14.66
15080 647.3 8.6 601 15093 done 0.65 - - 3121 - - - 2256 - 169.6 - - 2358 - - - - - - - - 14.85 14.83 14.83
15416 619.5 8.1 607 15430 roll 0.65 - - 3121 - 2.65 0.102 3660 529.8 169.6 - - 2358 - - - - - - - - 14.83 14.35 14.83
15455 615.7 9.2 612 15469 done 0.65 - - 3130 - 2.38 0.040 2257 -589.5 169.6 - - 2358 - - - - - - - - 14.64 14.56 14.66
15818 585.4 8.2 621 15831 done 0.65 - - 3131 - - - 2253 - 169.6 - - 2358 - - - - - - - - 14.83 14.83 14.83
16154 557.0 8.4 627 16167 roll 0.65 - - 3131 - 2.62 0.103 3654 534.7 169.6 - - 2358 - - - - - - - - 14.84 14.32 14.84
16221 548.8 10.8 636 16235 done 0.65 0.10 0.246 3113 -180.0 2.38 0.041 2254 -588.2 169.6 - - 2357 - - - - - - - - 14.23 14.57 14.51
16556 526.8 7.3 648 16569 done 0.66 - - 3113 - - - 2251 - 177.8 1.67 0.269 2342 -9.0 3.394 - - - - - - 14.83 14.42 13.93
16892 502.3 7.3 654 16918 done 0.67 - - 3113 - - - 2251 - 187.3 16.77 1.736 2304 -2.3 0.126 - - - - - - 14.83 14.58 13.86
17228 477.4 7.5 660 17242 roll 0.68 - - 3113 - 2.62 0.101 3652 534.7 192.9 1.15 0.261 2283 -18.3 6.444 - - - - - - 14.74 14.34 14.19
17275 473.4 8.9 666 17288 done 0.68 - - 3123 - 2.38 0.041 2259 -585.3 192.9 - - 2289 - - - - - - - - 14.59 14.52 14.60
17630 444.9 8.0 674 17643 roll 0.68 - - 3122 - 2.62 0.102 3652 531.7 192.9 - - 2290 - - - - - - - - 14.82 14.31 14.78
17704 438.6 8.3 684 17717 done 0.68 - - 3131 - 2.38 0.041 2257 -586.1 192.9 - - 2290 - - - - - - - - 14.58 14.47 14.57
18031 413.7 7.6 695 18049 roll 0.68 - - 3142 - 2.45 0.060 861 -569.8 195.9 3.00 1.149 2277 -4.3 0.301 - - - - - - 14.80 14.56 13.40
18075 410.3 7.5 701 18100 done 0.68 - - 3142 - 2.38 0.054 2267 590.8 200.4 11.32 1.714 2248 -2.6 0.118 - - - - - - 14.61 14.45 13.87
18427 382.1 8.1 716 18441 roll 0.68 - - 3142 - 2.58 0.104 3655 538.0 200.4 - - 2242 - - - - - - - - 14.76 14.32 14.77
18466 378.5 8.9 721 18480 done 0.68 0.10 0.238 3124 -180.0 2.38 0.041 2258 -587.0 200.4 - - 2243 - - - - - - - - 14.23 14.50 14.49
18829 352.2 7.1 730 18854 roll 0.70 - - 3124 - 2.67 0.103 3657 524.0 212.7 13.12 1.602 2197 -3.5 0.149 - - - - - - 14.78 14.48 13.90
18880 348.0 8.4 737 18894 done 0.70 - - 3133 - 2.38 0.040 2268 -583.6 212.7 - - 2193 - - - - - - - - 14.58 14.51 14.59
19224 318.4 8.8 744 19238 roll 0.70 - - 3144 - 2.45 0.061 858 -575.5 212.7 - - 2192 - - - - - - - - 14.77 14.36 14.77
19270 314.1 9.0 750 19283 done 0.70 - - 3144 - 2.45 0.054 2272 577.1 212.7 - - 2190 - - - - - - - - 14.56 14.41 14.58
19625 281.1 9.4 758 19638 roll 0.70 - - 3143 - 2.58 0.103 3662 538.8 212.7 - - 2192 - - - - - - - - 14.79 14.33 14.79
19671 276.3 10.3 764 19685 done 0.70 - - 3154 - 2.35 0.040 2273 -591.1 212.7 - - 2192 - - - - - - - - 14.62 14.54 14.64
20026 242.7 9.4 772 20040 roll 0.70 - - 3164 - 2.42 0.060 864 -582.2 212.7 - - 2192 - - - - - - - - 14.82 14.42 14.82
20073 238.2 9.6 778 20086 done 0.70 0.12 0.220 3128 -300.0 2.42 0.054 2272 581.8 212.7 - - 2192 - - - - - - - - 14.25 14.43 14.51
20428 209.5 7.9 786 20441 roll 0.70 - - 3128 - 2.50 0.100 3655 553.2 212.7 - - 2192 - - - - - - - - 14.82 14.35 14.82
20474 205.5 9.0 792 20487 done 0.70 - - 3137 - 2.35 0.039 2259 -594.0 212.7 - - 2192 - - - - - - - - 14.59 14.50 14.61
20829 177.3 8.0 800 20842 done 0.70 - - 3137 - - - 2254 - 212.7 - - 2192 - - - - - - - - 14.83 14.83 14.83
21165 151.2 7.7 806 21178 done 0.70 - - 3137 - - - 2254 - 214.7 - - 2193 - - - - - - - - 14.83 14.83 14.83
21501 126.8 7.2 812 21526 roll 0.72 - - 3137 - 2.65 0.103 3654 528.3 226.3 13.40 1.327 2142 -3.8 0.070 - - - - - - 14.84 14.54 14.03
21559 121.9 8.8 820 21573 done 0.72 - - 3146 - 2.33 0.040 2277 -591.0 226.3 - - 2139 - - - - - - - - 14.64 14.57 14.66
21893 95.0 8.1 833 21907 roll 0.72 - - 3157 - 2.45 0.060 856 -580.0 226.3 - - 2138 - - - - - - - - 14.78 14.38 14.79
21939 91.2 7.6 839 21953 done 0.72 - - 3157 - 2.42 0.052 2268 583.5 228.4 - - 2138 - - - - - - - - 14.58 14.45 14.61
22266 71.2 5.7 852 22299 roll 0.77 - - 3158 - 2.60 0.100 3657 534.2 269.9 20.17 0.391 1976 -8.0 0.282 - - - - - - 14.79 14.47 14.21
22529 56.1 4.0 889 22583 done 0.96 0.08 0.142 3222 800.0 2.33 0.039 2265 -597.4 344.7 37.80 0.347 1674 -8.0 0.249 - - - - - - 14.44 14.48 14.21
22886 36.9 5.3 907 22925 roll 1.13 0.08 0.146 3289 837.5 2.60 0.100 3663 537.7 393.7 23.92 0.287 1481 -8.1 0.200 - - - - - - 14.50 14.40 14.21
23098 21.0 6.7 937 23122 done 1.16 - - 3298 - 2.30 0.037 2280 -601.3 414.9 10.95 0.236 1397 -7.7 0.132 - - - - - - 14.61 14.53 14.16
23449 end climb: SURFACE_DEPTH_REACHED
23450 begin surface coast
23476 end surface coast: CONTROL_FINISHED_OK
23476 begin surface
SM -2.58 - - - - -8.39 9.18 0.080 195 21.2 0.88 0.078 2765 -7373.9 500.14 39.50 0.155 1057 26.8 0.046 - - - - - -