SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 351 * Raw log
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• Previous call tries 1 • 127.99 of 350.00 AH used of 24V (63.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.6 deg, depth -3.28 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 93 done -0.93 - - 106 - - - 2791 - -107.1 -77.07 - 3480 - - - - - - - - 14.67 12.63 14.66
96 -1.6 -4.8 2 116 roll -0.93 11.60 0.375 2590 214.1 2.40 0.032 1359 -596.7 -107.1 - - 3482 - - - - - - - - 14.02 14.40 14.39
164 30.1 -22.9 13 172 done -0.65 0.38 0.251 2680 236.8 2.58 0.070 2768 546.1 -107.1 - - 3483 - - - - - - - - 14.06 14.30 14.26
480 67.1 -7.8 25 485 roll -0.65 - - 2672 - 2.00 0.109 3821 526.5 -107.1 - - 3485 - - - - - - - - 14.83 14.31 14.83
620 78.9 -9.9 45 625 done -0.65 - - 2672 - 1.77 0.038 2739 -611.3 -107.1 - - 3485 - - - - - - - - 14.60 14.58 14.62
956 109.6 -7.5 58 961 roll -0.65 - - 2672 - 2.25 0.042 1392 -598.7 -107.1 - - 3486 - - - - - - - - 14.90 14.54 14.90
990 112.4 -8.1 63 996 done -0.65 - - 2663 - 2.47 0.068 2779 561.5 -107.1 - - 3485 - - - - - - - - 14.53 14.46 14.57
1348 143.1 -8.7 72 1354 roll -0.65 - - 2662 - 2.38 0.041 1388 -584.5 -107.1 - - 3484 - - - - - - - - 14.90 14.52 14.90
1410 148.7 -8.7 81 1417 done -0.65 0.10 0.203 2682 200.0 2.47 0.067 2775 561.5 -107.1 - - 3484 - - - - - - - - 14.30 14.45 14.45
1740 174.4 -7.8 93 1745 roll -0.65 - - 2683 - 2.35 0.042 1392 -588.5 -107.1 - - 3482 - - - - - - - - 14.95 14.56 14.95
1788 178.3 -7.8 100 1797 done -0.65 - - 2674 - 2.50 0.067 2781 555.6 -107.1 - - 3484 - - - - - - - - 14.48 14.40 14.54
2132 206.4 -8.3 107 2133 done -0.65 - - 2674 - - - 2782 - -107.1 - - 3479 - - - - - - - - 14.94 14.94 14.94
2468 233.7 -8.0 113 2473 roll -0.65 - - 2674 - 2.38 0.043 1396 -582.4 -107.1 - - 3477 - - - - - - - - 14.94 14.52 14.94
2509 237.0 -7.8 119 2515 done -0.65 - - 2664 - 2.47 0.067 2773 557.5 -107.1 - - 3476 - - - - - - - - 14.54 14.45 14.59
2860 266.1 -8.5 127 2865 roll -0.65 - - 2656 - 2.00 0.114 3829 528.0 -107.1 - - 3475 - - - - - - - - 14.94 14.36 14.95
2901 270.0 -9.4 133 2907 done -0.65 0.10 0.223 2686 300.0 1.77 0.043 2792 -585.9 -107.1 - - 3474 - - - - - - - - 14.38 14.69 14.59
3252 296.9 -7.6 141 3257 roll -0.73 - - 2685 - 2.40 0.044 1375 -590.4 -107.1 - - 3469 - - - - - - - - 14.94 14.57 14.94
3335 303.0 -7.2 153 3341 done -0.83 0.08 0.087 2610 -937.5 2.53 0.067 2777 554.2 -107.1 - - 3471 - - - - - - - - 14.50 14.45 14.57
3700 338.1 -9.7 163 3705 roll -0.83 - - 2605 - 1.98 0.110 3822 527.8 -107.1 - - 3469 - - - - - - - - 14.96 14.34 14.96
3734 341.7 -10.5 168 3741 done -0.83 - - 2605 - 1.80 0.041 2759 -590.6 -107.1 - - 3469 - - - - - - - - 14.73 14.68 14.74
4092 377.4 -9.9 177 4097 roll -0.83 - - 2596 - 2.05 0.109 3825 520.0 -107.1 - - 3467 - - - - - - - - 14.94 14.34 14.94
4133 381.7 -10.4 183 4139 done -0.75 0.17 0.206 2648 305.9 1.77 0.041 2778 -591.5 -107.1 - - 3467 - - - - - - - - 14.25 14.64 14.42
4484 409.3 -7.7 191 4489 roll -0.75 - - 2648 - 2.38 0.044 1375 -589.5 -107.1 - - 3465 - - - - - - - - 14.94 14.54 14.93
4581 416.9 -7.8 205 4587 done -0.75 - - 2639 - 2.53 0.067 2779 554.9 -107.1 - - 3465 - - - - - - - - 14.51 14.42 14.55
4932 445.4 -8.2 213 4937 roll -0.75 - - 2631 - 1.98 0.110 3816 523.7 -107.1 - - 3463 - - - - - - - - 14.95 14.33 14.96
4980 449.7 -9.0 220 4988 done -0.75 - - 2630 - 1.80 0.041 2754 -590.0 -107.1 - - 3462 - - - - - - - - 14.73 14.69 14.74
5324 479.4 -8.7 227 5329 roll -0.75 - - 2631 - 2.38 0.043 1379 -577.7 -107.1 - - 3461 - - - - - - - - 14.95 14.49 14.95
5400 486.1 -8.6 238 5407 done -0.75 0.10 0.220 2650 190.0 2.50 0.066 2765 554.4 -107.1 - - 3461 - - - - - - - - 14.19 14.40 14.36
5716 511.7 -8.1 248 5716 done -0.75 - - 2650 - - - 2765 - -107.1 - - 3459 - - - - - - - - 14.93 14.93 14.93
6052 539.6 -8.3 254 6052 done -0.75 - - 2650 - - - 2765 - -107.1 - - 3458 - - - - - - - - 14.93 14.94 14.93
6388 567.4 -8.3 260 6394 roll -0.75 - - 2643 - 2.03 0.113 3826 522.7 -107.1 - - 3456 - - - - - - - - 14.96 14.28 14.96
6422 570.5 -8.9 265 6428 done -0.75 - - 2642 - 1.83 0.044 2770 -577.0 -107.1 - - 3456 - - - - - - - - 14.70 14.64 14.71
6780 599.4 -8.0 274 6785 roll -0.75 - - 2642 - 2.42 0.043 1376 -576.0 -107.1 - - 3454 - - - - - - - - 14.93 14.45 14.94
6814 602.1 -7.9 279 6820 done -0.75 - - 2632 - 2.53 0.066 2770 551.0 -107.1 - - 3455 - - - - - - - - 14.47 14.35 14.52
7172 630.2 -7.8 288 7172 done -0.75 - - 2632 - - - 2770 - -107.1 - - 3453 - - - - - - - - 14.93 14.93 14.93
7508 656.4 -7.8 294 7513 roll -0.75 - - 2631 - 2.42 0.044 1363 -581.4 -107.1 - - 3451 - - - - - - - - 14.92 14.49 14.92
7549 659.8 -7.9 300 7556 done -0.75 0.10 0.222 2651 200.0 2.55 0.067 2764 549.4 -107.1 - - 3451 - - - - - - - - 14.12 14.35 14.31
7900 686.2 -7.6 308 7906 roll -0.75 - - 2643 - 2.03 0.114 3814 517.2 -107.1 - - 3449 - - - - - - - - 14.92 14.23 14.92
7934 689.0 -8.4 313 7940 done -0.75 - - 2643 - 1.80 0.044 2770 -580.0 -107.1 - - 3446 - - - - - - - - 14.58 14.56 14.60
8292 717.7 -8.1 322 8297 roll -0.75 - - 2650 - 2.40 0.044 1367 -584.6 -107.1 - - 3448 - - - - - - - - 14.91 14.45 14.92
8340 721.7 -8.0 329 8348 done -0.75 - - 2633 - 2.53 0.067 2758 549.8 -107.1 - - 3448 - - - - - - - - 14.42 14.32 14.48
8684 749.1 -8.0 336 8690 roll -0.75 - - 2633 - 2.40 0.044 1370 -578.3 -107.1 - - 3447 - - - - - - - - 14.91 14.46 14.91
8760 755.2 -7.8 347 8766 done -0.75 0.10 0.220 2652 190.0 2.55 0.067 2761 545.5 -107.1 - - 3447 - - - - - - - - 14.09 14.31 14.26
9076 777.1 -7.0 357 9077 done -0.75 - - 2652 - - - 2762 - -107.1 - - 3446 - - - - - - - - 14.92 14.93 14.93
9412 799.7 -6.8 363 9417 roll -0.75 - - 2649 - 2.42 0.045 1373 -574.0 -107.1 - - 3445 - - - - - - - - 14.93 14.45 14.93
9468 803.5 -6.8 371 9474 done -0.83 - - 2643 - 2.50 0.068 2766 557.2 -107.1 - - 3444 - - - - - - - - 14.50 14.30 14.54
9804 827.5 -7.2 384 9805 done -0.83 - - 2643 - - - 2766 - -107.1 - - 3441 - - - - - - - - 14.90 14.91 14.90
10140 852.2 -7.4 390 10145 roll -0.83 - - 2643 - 2.45 0.045 1368 -570.6 -107.1 - - 3443 - - - - - - - - 14.92 14.42 14.92
10196 856.5 -7.8 398 10201 done -0.83 - - 2633 - 2.55 0.069 2753 543.1 -107.1 - - 3447 - - - - - - - - 14.36 14.26 14.40
10532 881.9 -7.6 411 10533 done -0.83 - - 2633 - - - 2756 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.92
10868 906.7 -7.2 417 10873 roll -0.83 - - 2632 - 2.42 0.045 1364 -575.2 -107.1 - - 3441 - - - - - - - - 14.89 14.41 14.89
10916 910.2 -7.0 424 10925 done -0.83 - - 2623 - 2.55 0.067 2754 545.1 -107.1 - - 3441 - - - - - - - - 14.34 14.26 14.40
11201 end dive: TARGET_DEPTH_EXCEEDED
11201 begin apogee
11208 930.6 -7.1 430 11322 roll -0.23 0.68 0.179 2820 289.7 0.08 0.174 2258 -6200.0 - 111.40 1.975 3050 -3.5 0.329 - - - - - - 14.13 13.93 13.05
11324 end apogee: CONTROL_FINISHED_OK
11324 begin climb
11326 933.1 - 432 11452 roll 0.93 1.12 0.093 3182 323.2 2.50 0.057 884 -549.6 107.1 116.53 1.953 2629 -3.6 0.343 - - - - - - 13.97 14.00 12.87
11485 925.6 9.5 456 11491 done 0.80 - - 3183 - 2.50 0.050 2247 545.2 107.1 - - 2614 - - - - - - - - 13.96 13.90 13.99
11815 895.7 9.2 468 11821 roll 0.67 0.22 0.226 3120 -286.4 2.62 0.099 3663 540.5 107.1 - - 2611 - - - - - - - - 14.19 14.27 14.41
11891 889.2 8.3 479 11898 done 0.59 0.12 0.209 3096 -200.0 2.42 0.040 2264 -578.1 107.1 - - 2611 - - - - - - - - 14.15 14.41 14.32
12207 869.9 6.0 489 12248 done 0.64 - - 3096 - - - 2264 - 142.7 39.70 1.929 2479 -3.3 0.298 - - - - - - 14.80 14.25 13.33
12543 848.5 6.5 495 12577 roll 0.67 - - 3094 - 2.65 0.100 3656 525.3 167.6 28.40 1.952 2376 -3.6 0.314 - - - - - - 14.69 14.20 13.36
12619 843.3 7.4 506 12626 done 0.68 - - 3105 - 2.45 0.040 2262 -569.0 175.5 3.08 1.267 2351 -8.1 1.075 - - - - - - 14.31 14.28 12.81
12935 822.7 6.5 516 12972 done 0.71 - - 3105 - - - 2261 - 200.5 36.05 1.914 2251 -2.8 0.237 - - - - - - 14.73 14.23 13.35
13271 800.3 6.9 522 13299 roll 0.73 - - 3105 - 2.70 0.102 3653 515.6 217.4 18.92 1.987 2176 -4.0 0.318 - - - - - - 14.71 14.27 13.42
13327 796.2 7.3 530 13335 done 0.74 - - 3115 - 2.42 0.041 2251 -579.3 227.2 3.90 1.653 2147 -7.4 0.712 - - - - - - 14.43 14.35 12.88
13656 770.5 7.9 542 13662 roll 0.74 - - 3125 - 2.45 0.062 858 -568.6 227.2 1.58 0.256 2146 - - - - - - - - 14.73 14.28 14.07
13683 768.3 7.8 546 13689 done 0.74 - - 3125 - 2.50 0.054 2261 561.2 227.2 - - 2152 - - - - - - - - 14.45 14.42 14.48
14048 736.2 8.9 556 14054 roll 0.74 - - 3132 - 2.58 0.099 3652 539.1 227.2 1.55 0.253 2145 -4.5 2.614 - - - - - - 14.82 14.31 14.07
14089 731.9 10.4 562 14096 done 0.74 - - 3134 - 2.42 0.041 2256 -576.9 227.2 0.98 0.239 2146 - - - - - - - - 14.47 14.43 14.19
14440 698.9 9.4 570 14445 roll 0.74 - - 3142 - 2.45 0.063 854 -572.2 227.2 - - 2153 - - - - - - - - 14.85 14.41 14.85
14481 694.9 9.5 576 14488 done 0.74 - - 3145 - 2.47 0.052 2256 567.6 227.2 1.12 0.226 2145 -7.1 4.368 - - - - - - 14.49 14.42 14.16
14832 661.0 9.7 584 14837 roll 0.74 - - 3145 - 2.60 0.103 3651 536.5 227.2 - - 2153 - - - - - - - - 14.87 14.33 14.87
14901 653.5 10.8 594 14908 done 0.74 - - 3155 - 2.42 0.041 2256 -576.4 227.2 0.85 0.235 2145 -9.4 5.206 - - - - - - 14.53 14.48 14.19
15224 621.0 10.1 605 15230 roll 0.74 - - 3166 - 2.45 0.063 860 -569.8 227.2 - - 2152 - - - - - - - - 14.85 14.38 14.85
15251 618.1 10.2 609 15259 done 0.74 - - 3166 - 2.47 0.054 2261 567.2 227.2 - - 2152 - - - - - - - - 14.47 14.40 14.52
15616 579.0 10.9 619 15617 done 0.74 - - 3165 - - - 2261 - 227.2 - - 2152 - - - - - - - - 14.86 14.86 14.86
15952 543.5 10.4 625 15958 roll 0.74 - - 3166 - 2.60 0.104 3648 533.5 227.2 - - 2152 - - - - - - - - 14.89 14.31 14.89
15986 539.7 10.9 630 15993 done 0.74 0.10 0.216 3147 -190.0 2.40 0.041 2260 -578.3 227.2 - - 2152 - - - - - - - - 14.16 14.50 14.33
16344 509.9 8.1 639 16345 done 0.74 - - 3147 - - - 2257 - 227.2 - - 2152 - - - - - - - - 14.87 14.87 14.88
16680 483.3 8.0 645 16687 roll 0.74 - - 3145 - 2.70 0.104 3648 515.2 227.2 - - 2152 - - - - - - - - 14.87 14.23 14.88
16707 480.7 9.0 649 16715 done 0.74 - - 3157 - 2.42 0.041 2252 -576.9 227.2 - - 2152 - - - - - - - - 14.54 14.47 14.56
17072 449.3 8.7 659 17077 roll 0.74 - - 3168 - 2.45 0.063 861 -567.8 227.2 - - 2152 - - - - - - - - 14.89 14.35 14.89
17128 444.4 8.8 667 17134 done 0.74 - - 3168 - 2.42 0.054 2256 576.4 227.2 1.10 0.265 2144 -7.3 2.426 - - - - - - 14.54 14.38 14.12
17464 415.1 8.7 680 17469 roll 0.74 - - 3168 - 2.62 0.102 3656 534.4 227.2 - - 2152 - - - - - - - - 14.89 14.26 14.89
17484 413.1 8.9 683 17491 done 0.74 0.12 0.211 3142 -216.7 2.45 0.041 2254 -572.2 227.2 - - 2153 - - - - - - - - 14.09 14.45 14.26
17800 387.3 8.3 693 17807 roll 0.74 - - 3153 - 2.45 0.060 860 -569.0 227.2 1.27 0.249 2145 -6.3 1.949 - - - - - - 14.89 14.23 14.03
17827 384.8 8.9 697 17834 done 0.74 - - 3153 - 2.45 0.054 2248 566.5 227.2 - - 2150 - - - - - - - - 14.42 14.34 14.46
18192 351.9 9.0 707 18197 roll 0.74 - - 3153 - 2.62 0.103 3650 535.1 227.2 - - 2152 - - - - - - - - 14.86 14.26 14.86
18268 344.3 9.8 718 18275 done 0.74 - - 3163 - 2.42 0.039 2248 -579.3 227.2 1.12 0.217 2145 -6.2 1.972 - - - - - - 14.50 14.45 14.09
18584 316.3 8.8 728 18585 done 0.74 - - 3159 - - - 2244 - 227.2 - - 2153 - - - - - - - - 14.86 14.86 14.87
18920 286.9 8.8 734 18921 done 0.74 - - 3163 - - - 2244 - 227.2 - - 2154 - - - - - - - - 14.90 14.90 14.90
19256 257.4 8.8 740 19258 done 0.74 - - 3163 - - - 2244 - 227.2 1.33 0.245 2145 -6.8 1.414 - - - - - - 14.88 14.36 14.06
19592 228.1 8.8 746 19598 roll 0.74 - - 3163 - 2.65 0.099 3650 530.6 227.2 1.30 0.245 2148 2.3 -0.427 - - - - - - 14.90 14.21 14.02
19648 222.6 10.1 754 19654 done 0.74 0.08 0.215 3142 -262.5 2.42 0.040 2255 -576.4 227.2 1.40 0.229 2145 -2.1 0.414 - - - - - - 14.13 14.44 14.00
19984 194.7 8.3 767 19987 done 0.74 - - 3142 - - - 2250 - 227.2 1.45 0.243 2145 - - - - - - - - 14.90 14.35 14.04
20320 167.2 8.0 773 20327 roll 0.74 - - 3142 - 2.67 0.100 3658 527.3 227.2 1.73 0.248 2146 - - - - - - - - 14.87 14.04 13.74
20361 163.6 8.8 779 20368 done 0.74 - - 3152 - 2.42 0.038 2259 -578.1 227.2 1.25 0.225 2145 - - - - - - - - 14.49 14.45 14.00
20712 137.4 7.3 787 20733 roll 0.75 - - 3162 - 2.40 0.060 866 -580.4 235.7 14.93 1.323 2103 -2.8 0.058 - - - - - - 14.87 14.33 13.69
20781 131.8 8.2 797 20788 done 0.75 - - 3162 - 2.45 0.051 2257 567.8 235.7 - - 2100 - - - - - - - - 14.48 14.38 14.52
21104 105.7 8.0 808 21105 done 0.75 - - 3162 - - - 2257 - 235.7 - - 2099 - - - - - - - - 14.85 14.85 14.85
21412 82.7 7.0 817 21425 roll 0.77 - - 3162 - 2.62 0.101 3650 531.7 251.2 6.20 0.380 2053 -7.4 0.321 - - - - - - 14.85 14.34 13.95
21496 76.0 8.5 829 21503 done 0.77 - - 3172 - 2.40 0.038 2257 -580.4 251.2 1.35 0.211 2050 -2.2 0.159 - - - - - - 14.51 14.46 14.13
21834 57.8 3.7 844 21878 done 0.97 0.05 0.199 3223 1020.0 - - 2253 - 332.5 41.58 0.347 1726 -7.8 0.258 - - - - - - 14.53 14.45 14.07
22170 37.9 4.0 859 22217 roll 1.15 0.08 0.142 3286 787.5 2.67 0.099 3645 521.3 406.8 37.17 0.288 1430 -8.0 0.208 - - - - - - 14.52 14.35 14.10
22349 23.3 5.1 885 22379 done 1.22 - - 3295 - 2.40 0.037 2254 -579.6 458.9 25.95 0.240 1223 -8.0 0.154 - - - - - - 14.45 14.40 14.12
22663 end climb: SURFACE_DEPTH_REACHED
22663 begin surface coast
22693 end surface coast: CONTROL_FINISHED_OK
22693 begin surface
SM -2.74 - - - - -8.39 9.18 0.070 172 18.7 0.95 0.083 2762 -6833.7 500.14 19.75 0.161 1057 53.5 0.093 - - - - - -