SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 268 * Raw log
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• Previous call tries 3 • 101.90 of 350.00 AH used of 24V (70.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth -1.71 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 89 done -0.93 - - 216 - - - 2780 - -107.1 -74.50 - 3478 - - - - - - - - 14.68 12.81 14.68
92 0.3 -6.5 2 112 roll -0.93 11.77 0.392 2589 201.6 2.38 0.030 1362 -595.8 -107.1 - - 3479 - - - - - - - - 14.10 14.46 14.45
139 27.5 -35.0 10 145 done -0.43 0.65 0.262 2756 256.9 2.53 0.071 2754 550.2 -107.1 - - 3480 - - - - - - - - 14.14 14.33 14.42
475 70.2 -9.0 25 481 roll -0.43 0.15 0.226 2757 - 2.35 0.041 1374 -587.2 -107.1 - - 3481 - - - - - - - - 14.27 14.47 14.50
677 83.0 -5.2 54 684 done -0.52 - - 2748 - 2.50 0.065 2788 565.6 -107.1 - - 3481 - - - - - - - - 14.50 14.40 14.53
1035 104.4 -5.7 68 1042 roll -0.62 0.10 0.119 2662 -860.0 1.92 0.108 3830 542.7 -107.1 - - 3481 - - - - - - - - 14.64 14.38 14.71
1147 114.2 -8.5 84 1154 done -0.62 0.10 0.197 2692 300.0 1.75 0.040 2779 -600.6 -107.1 - - 3481 - - - - - - - - 14.33 14.66 14.50
1483 138.8 -7.3 97 1489 roll -0.62 - - 2693 - 2.35 0.041 1387 -592.3 -107.1 - - 3480 - - - - - - - - 14.95 14.57 14.95
1510 140.9 -7.3 101 1517 done -0.62 - - 2683 - 2.50 0.067 2798 564.4 -107.1 - - 3480 - - - - - - - - 14.59 14.49 14.63
1875 169.6 -8.2 111 1881 roll -0.62 - - 2683 - 2.42 0.042 1384 -584.3 -107.1 - - 3478 - - - - - - - - 14.97 14.54 14.97
1916 173.1 -8.6 117 1923 done -0.62 - - 2674 - 2.53 0.069 2798 558.9 -107.1 - - 3476 - - - - - - - - 14.59 14.50 14.64
2267 203.7 -8.7 125 2268 done -0.62 - - 2674 - - - 2797 - -107.1 - - 3474 - - - - - - - - 14.95 14.95 14.95
2603 232.4 -8.5 131 2609 roll -0.62 - - 2674 - 2.45 0.043 1384 -576.7 -107.1 - - 3471 - - - - - - - - 14.96 14.55 14.96
2637 235.3 -8.6 136 2645 done -0.62 0.10 0.212 2693 190.0 2.50 0.069 2777 557.2 -107.1 - - 3471 - - - - - - - - 14.27 14.49 14.42
2995 263.1 -7.8 145 2996 done -0.62 - - 2693 - - - 2777 - -107.1 - - 3468 - - - - - - - - 14.96 14.96 14.96
3331 290.9 -8.4 151 3337 roll -0.62 - - 2694 - 2.40 0.043 1387 -579.2 -107.1 - - 3466 - - - - - - - - 14.97 14.54 14.97
3379 295.1 -8.6 158 3387 done -0.71 - - 2684 - 2.50 0.070 2783 558.4 -107.1 - - 3465 - - - - - - - - 14.56 14.47 14.61
3723 323.7 -8.2 165 3724 done -0.71 - - 2684 - - - 2783 - -107.1 - - 3463 - - - - - - - - 14.98 14.98 14.98
4059 349.7 -7.6 171 4065 roll -0.71 - - 2684 - 2.42 0.044 1389 -576.0 -107.1 - - 3460 - - - - - - - - 14.98 14.56 14.98
4121 354.5 -7.5 180 4129 done -0.71 - - 2675 - 2.50 0.070 2780 556.4 -107.1 - - 3460 - - - - - - - - 14.54 14.45 14.59
4451 381.0 -8.1 192 4457 roll -0.71 - - 2675 - 2.42 0.044 1382 -577.7 -107.1 - - 3458 - - - - - - - - 14.95 14.52 14.95
4485 383.9 -8.3 197 4492 done -0.71 - - 2665 - 2.53 0.070 2786 554.9 -107.1 - - 3458 - - - - - - - - 14.54 14.43 14.59
4843 414.7 -8.6 206 4849 roll -0.71 - - 2664 - 2.42 0.044 1388 -577.7 -107.1 - - 3456 - - - - - - - - 14.95 14.50 14.95
4891 418.9 -8.7 213 4899 done -0.71 - - 2655 - 2.47 0.069 2770 559.5 -107.1 - - 3455 - - - - - - - - 14.52 14.43 14.57
5235 448.5 -8.6 220 5236 done -0.71 - - 2655 - - - 2770 - -107.1 - - 3453 - - - - - - - - 14.97 14.97 14.97
5571 475.8 -8.1 226 5577 roll -0.71 - - 2655 - 2.42 0.044 1385 -572.3 -107.1 - - 3453 - - - - - - - - 14.97 14.48 14.97
5619 479.8 -8.2 233 5627 done -0.71 - - 2645 - 2.53 0.070 2779 551.0 -107.1 - - 3452 - - - - - - - - 14.50 14.41 14.56
5963 508.7 -8.4 240 5964 done -0.71 - - 2657 - - - 2779 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
6299 538.2 -8.8 246 6305 roll -0.71 - - 2656 - 2.45 0.044 1380 -571.0 -107.1 - - 3449 - - - - - - - - 14.97 14.47 14.97
6347 542.7 -9.1 253 6355 done -0.71 - - 2646 - 2.53 0.069 2772 550.2 -107.1 - - 3448 - - - - - - - - 14.48 14.40 14.54
6691 574.6 -9.3 260 6698 roll -0.71 - - 2646 - 2.42 0.043 1381 -574.8 -107.1 - - 3447 - - - - - - - - 14.95 14.47 14.95
6725 577.9 -9.5 265 6732 done -0.71 0.10 0.231 2665 190.0 2.50 0.069 2767 554.4 -107.1 - - 3446 - - - - - - - - 14.15 14.38 14.34
7083 606.9 -8.0 274 7089 roll -0.71 - - 2656 - 2.03 0.114 3825 521.2 -107.1 - - 3445 - - - - - - - - 14.94 14.27 14.95
7124 610.4 -8.6 280 7131 done -0.71 - - 2657 - 1.80 0.043 2776 -582.8 -107.1 - - 3445 - - - - - - - - 14.71 14.65 14.72
7475 639.0 -8.1 288 7482 roll -0.71 - - 2656 - 2.42 0.044 1375 -578.9 -107.1 - - 3444 - - - - - - - - 14.94 14.44 14.94
7572 647.1 -8.1 302 7579 done -0.71 - - 2646 - 2.53 0.067 2770 551.4 -107.1 - - 3444 - - - - - - - - 14.46 14.38 14.52
7923 677.8 -9.0 310 7929 roll -0.71 - - 2638 - 2.03 0.114 3821 517.7 -107.1 - - 3443 - - - - - - - - 14.93 14.23 14.93
7964 681.8 -9.7 316 7972 done -0.71 0.10 0.240 2667 290.0 1.83 0.044 2764 -577.6 -107.1 - - 3445 - - - - - - - - 14.23 14.61 14.48
8315 709.3 -7.7 324 8322 roll -0.71 - - 2667 - 2.40 0.044 1376 -578.3 -107.1 - - 3441 - - - - - - - - 14.93 14.41 14.92
8371 713.6 -7.8 332 8378 done -0.71 - - 2658 - 2.53 0.067 2769 550.6 -107.1 - - 3440 - - - - - - - - 14.42 14.33 14.47
8707 738.5 -7.4 345 8713 roll -0.71 - - 2657 - 2.45 0.044 1375 -569.0 -107.1 - - 3439 - - - - - - - - 14.92 14.34 14.92
8734 740.6 -7.5 349 8741 done -0.71 - - 2648 - 2.50 0.067 2761 554.4 -107.1 - - 3439 - - - - - - - - 14.43 14.33 14.48
9099 767.9 -7.5 359 9105 roll -0.71 - - 2647 - 2.42 0.044 1379 -571.1 -107.1 - - 3438 - - - - - - - - 14.92 14.39 14.92
9140 771.1 -8.0 365 9147 done -0.71 0.10 0.230 2666 190.0 2.53 0.068 2763 547.0 -107.1 - - 3437 - - - - - - - - 14.08 14.31 14.27
9491 796.4 -7.4 373 9497 roll -0.71 - - 2666 - 2.45 0.044 1375 -566.5 -107.1 - - 3436 - - - - - - - - 14.91 14.38 14.92
9518 798.5 -7.8 377 9525 done -0.71 - - 2656 - 2.53 0.069 2757 546.2 -107.1 - - 3437 - - - - - - - - 14.43 14.33 14.47
9883 827.4 -8.1 387 9889 roll -0.71 - - 2656 - 2.42 0.044 1375 -571.1 -107.1 - - 3436 - - - - - - - - 14.91 14.38 14.91
9917 830.4 -6.5 392 9924 done -0.71 - - 2643 - 2.53 0.067 2760 547.4 -107.1 - - 3435 - - - - - - - - 14.42 14.33 14.47
10275 860.8 -8.4 401 10276 done -0.71 - - 2646 - - - 2760 - -107.1 - - 3434 - - - - - - - - 14.93 14.93 14.91
10611 888.9 -8.3 407 10617 roll -0.71 - - 2647 - 2.42 0.044 1377 -571.5 -107.1 - - 3433 - - - - - - - - 14.94 14.35 14.94
10659 893.0 -8.3 414 10667 done -0.71 0.10 0.228 2665 180.0 2.55 0.070 2763 543.5 -107.1 - - 3432 - - - - - - - - 14.05 14.28 14.23
11003 918.0 -7.2 421 11004 done -0.71 - - 2665 - - - 2763 - -107.1 - - 3432 - - - - - - - - 14.90 14.90 14.90
11225 end dive: TARGET_DEPTH_EXCEEDED
11225 begin apogee
11231 934.0 -7.1 425 11340 roll -0.23 0.55 0.174 2824 289.1 - - 2233 - - 106.35 1.958 3047 -3.6 0.339 - - - - - - 14.16 14.02 13.19
11342 end apogee: CONTROL_FINISHED_OK
11342 begin climb
11344 937.6 - 427 11466 roll 0.93 1.12 0.101 3181 318.7 2.45 0.057 875 -554.3 107.1 115.28 1.955 2622 -3.7 0.347 - - - - - - 13.99 14.02 13.01
11698 915.4 8.0 478 11703 done 0.81 - - 3181 - 2.42 0.054 2257 571.1 107.1 - - 2610 - - - - - - - - 14.33 14.22 14.36
12013 888.5 8.6 488 12019 roll 0.68 0.22 0.224 3129 -236.4 2.40 0.057 879 -574.2 107.1 - - 2608 - - - - - - - - 14.12 14.33 14.40
12250 872.0 6.8 522 12273 done 0.70 - - 3129 - 2.42 0.053 2250 566.5 125.2 18.90 1.992 2551 -3.0 0.259 - - - - - - 14.43 14.35 13.60
12629 843.7 7.6 534 12634 roll 0.70 - - 3123 - 2.65 0.103 3652 529.1 127.4 - - 2540 - - - - - - - - 14.76 14.26 14.76
12712 836.3 8.5 546 12719 done 0.62 0.12 0.210 3104 -158.3 2.40 0.040 2259 -580.4 127.4 - - 2539 - - - - - - - - 14.17 14.46 14.33
13076 813.2 6.1 556 13116 done 0.66 - - 3105 - - - 2259 - 159.4 38.65 1.880 2415 -3.2 0.272 - - - - - - 14.81 14.32 13.52
13413 791.5 6.7 562 13442 roll 0.69 - - 3103 - 2.72 0.103 3655 513.2 181.1 24.60 1.912 2322 -3.8 0.307 - - - - - - 14.69 14.25 13.53
13482 786.7 7.6 572 13490 done 0.69 - - 3113 - 2.45 0.041 2264 -567.8 184.3 - - 2317 - - - - - - - - 14.35 14.31 14.37
13798 764.5 7.0 582 13819 done 0.71 - - 3114 - - - 2262 - 199.0 19.58 1.929 2256 -3.1 0.242 - - - - - - 14.71 14.37 13.57
14134 740.3 7.3 588 14147 roll 0.72 - - 3114 - 2.70 0.106 3661 518.1 208.9 4.97 1.994 2220 -7.2 0.527 - - - - - - 14.71 14.40 13.21
14168 737.5 8.0 593 14175 done 0.72 - - 3123 - 2.45 0.041 2264 -570.2 208.9 - - 2226 - - - - - - - - 14.47 14.42 14.49
14526 709.9 7.8 602 14527 done 0.72 - - 3123 - - - 2260 - 208.9 - - 2226 - - - - - - - - 14.77 14.76 14.76
14862 683.2 8.1 608 14869 roll 0.72 - - 3123 - 2.65 0.105 3657 527.2 208.9 - - 2226 - - - - - - - - 14.82 14.32 14.82
14910 678.7 9.2 615 14918 done 0.72 - - 3133 - 2.45 0.041 2247 -575.5 208.9 - - 2226 - - - - - - - - 14.53 14.49 14.54
15254 647.6 9.1 622 15259 roll 0.72 - - 3133 - 2.70 0.103 3652 520.4 208.9 - - 2226 - - - - - - - - 14.84 14.31 14.83
15310 641.7 10.8 630 15316 done 0.72 - - 3143 - 2.40 0.041 2274 -574.2 208.9 1.15 0.239 2217 -7.8 4.120 - - - - - - 14.52 14.47 14.14
15646 608.0 10.0 643 15651 roll 0.72 - - 3154 - 2.50 0.062 866 -563.2 208.9 - - 2224 - - - - - - - - 14.84 14.35 14.85
15694 603.0 10.1 650 15702 done 0.72 - - 3154 - 2.47 0.054 2265 566.4 208.9 - - 2224 - - - - - - - - 14.48 14.41 14.52
16038 568.1 10.2 657 16044 roll 0.72 - - 3154 - 2.62 0.104 3648 527.9 208.9 - - 2223 - - - - - - - - 14.85 14.27 14.85
16128 557.9 11.2 670 16135 done 0.72 0.10 0.218 3136 -180.0 2.42 0.040 2256 -575.2 208.9 - - 2225 - - - - - - - - 14.19 14.54 14.35
16486 526.5 8.6 679 16487 done 0.72 - - 3136 - - - 2252 - 208.9 - - 2224 - - - - - - - - 14.88 14.88 14.86
16822 499.6 7.9 685 16827 roll 0.72 - - 3136 - 2.70 0.105 3650 517.8 208.9 - - 2224 - - - - - - - - 14.87 14.23 14.88
16856 496.6 8.5 690 16862 done 0.72 - - 3148 - 2.40 0.040 2266 -576.7 208.9 - - 2224 - - - - - - - - 14.52 14.48 14.54
17214 469.2 7.6 699 17219 done 0.73 - - 3145 - - - 2262 - 212.5 3.90 1.560 2204 -5.1 0.302 - - - - - - 14.86 14.59 13.34
17550 443.0 7.9 705 17556 roll 0.73 - - 3145 - 2.62 0.104 3654 531.3 212.5 1.48 0.286 2208 2.7 -0.821 - - - - - - 14.85 14.25 13.89
17577 440.5 9.0 709 17584 done 0.73 - - 3156 - 2.40 0.041 2269 -577.1 212.5 1.33 0.272 2206 - - - - - - - - 14.57 14.52 13.86
17942 406.8 9.4 719 17944 done 0.73 - - 3157 - - - 2263 - 212.5 1.42 0.276 2204 - - - - - - - - 14.85 14.40 13.90
18278 374.5 9.6 725 18280 done 0.73 - - 3156 - - - 2265 - 212.5 1.52 0.288 2204 - - - - - - - - 14.86 14.30 13.77
18614 342.8 9.4 731 18617 done 0.73 - - 3157 - - - 2265 - 212.5 1.55 0.292 2205 - - - - - - - - 14.88 14.35 13.74
18950 312.4 9.0 737 18956 roll 0.73 - - 3156 - 2.62 0.102 3660 532.4 212.5 1.55 0.295 2209 2.6 -0.536 - - - - - - 14.87 14.17 13.71
18977 309.7 9.7 741 18984 done 0.73 0.10 0.210 3137 -190.0 2.42 0.041 2258 -579.3 212.5 1.40 0.269 2207 - - - - - - - - 14.15 14.45 13.83
19342 280.3 8.0 751 19345 done 0.73 - - 3137 - - - 2254 - 212.5 2.12 0.520 2204 -1.4 0.150 - - - - - - 14.86 14.54 13.27
19678 253.6 8.0 757 19684 roll 0.73 - - 3137 - 2.62 0.103 3653 534.0 212.5 1.58 0.311 2208 2.5 -0.405 - - - - - - 14.87 14.21 13.77
19705 251.1 8.8 761 19712 done 0.73 - - 3147 - 2.40 0.041 2266 -577.9 212.5 1.40 0.299 2206 - - - - - - - - 14.57 14.53 13.85
20070 220.6 8.4 771 20073 done 0.73 - - 3147 - - - 2265 - 212.5 1.70 0.326 2206 - - - - - - - - 14.87 14.41 13.78
20406 190.8 8.9 777 20412 roll 0.73 - - 3147 - 2.62 0.102 3661 532.8 212.5 1.35 0.275 2211 3.7 -0.504 - - - - - - 14.87 14.24 13.92
20475 183.8 10.3 787 20482 done 0.73 - - 3157 - 2.42 0.040 2263 -577.7 212.5 2.53 0.812 2204 -2.8 0.123 - - - - - - 14.59 14.54 13.38
20798 154.4 9.0 798 20800 done 0.73 - - 3157 - - - 2260 - 212.5 1.38 0.275 2204 - - - - - - - - 14.88 14.42 13.95
21134 126.4 8.4 804 21141 roll 0.73 - - 3157 - 2.62 0.100 3660 534.4 212.5 1.45 0.288 2209 3.4 -0.297 - - - - - - 14.90 14.20 13.77
21175 122.5 9.5 810 21182 done 0.73 0.10 0.205 3137 -200.0 2.42 0.038 2258 -579.3 212.5 1.25 0.252 2207 - - - - - - - - 14.23 14.55 13.95
21526 98.3 6.8 818 21541 roll 0.75 - - 3146 - 2.45 0.059 871 -566.1 231.8 10.98 0.460 2128 -7.2 0.302 - - - - - - 14.87 14.52 14.12
21568 95.3 7.2 824 21581 done 0.85 - - 3147 - 2.45 0.051 2275 573.1 243.7 7.03 0.435 2079 -7.0 0.299 - - - - - - 14.51 14.42 14.07
21913 74.9 4.7 840 21948 roll 1.03 0.15 0.095 3241 626.7 2.50 0.059 859 -566.4 304.9 30.27 0.397 1837 -8.0 0.296 - - - - - - 14.50 14.51 14.17
22039 65.7 7.5 858 22045 done 1.04 - - 3242 - 2.47 0.051 2297 582.2 309.1 2.50 0.321 1818 -7.6 0.305 - - - - - - 14.55 14.42 14.00
22353 43.5 5.9 870 22381 roll 1.08 - - 3241 - 2.55 0.101 3653 531.8 345.5 18.65 0.302 1672 -7.8 0.221 - - - - - - 14.81 14.39 14.16
22611 29.4 4.4 907 22648 done 1.25 0.08 0.089 3310 862.5 2.33 0.037 2291 -584.5 412.0 32.42 0.256 1408 -8.1 0.183 - - - - - - 14.42 14.48 14.22
22964 8.5 6.4 924 22982 roll 1.28 - - 3313 - 2.45 0.059 863 -582.9 438.7 12.85 0.190 1301 -8.3 0.073 - - - - - - 14.80 14.38 14.24
23057 end climb: SURFACE_DEPTH_REACHED
23057 begin surface coast
23066 end surface coast: CONTROL_FINISHED_OK
23066 begin surface
SM -1.65 - - - - -8.40 9.38 0.083 194 20.7 3.35 0.059 2766 -1783.3 500.14 28.12 0.159 1057 37.6 0.040 - - - - - -