SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 115 * Raw log
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• Previous call tries 1 • 48.01 of 350.00 AH used of 24V (86.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth -1.59 m • Intended pitch -18.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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
17 - - - 95 done -0.96 - - 164 - - - 2791 - -99.0 -74.70 - 3447 - - - - - - - - 14.69 13.38 14.69
97 0.1 -5.4 2 113 roll -0.96 11.43 0.396 2572 210.7 1.90 0.085 3833 548.4 -99.0 - - 3447 - - - - - - - - 14.25 14.45 14.54
132 25.8 -51.9 7 140 done -0.07 1.10 0.262 2866 267.3 1.83 0.034 2731 -602.2 -99.0 - - 3448 - - - - - - - - 14.31 14.55 14.47
462 62.9 -7.2 21 469 roll -0.27 0.10 0.119 2783 -830.0 2.22 0.044 1400 -599.5 -109.6 - - 3450 - - - - - - - - 14.64 14.57 14.69
531 68.3 -7.1 31 539 done -0.37 - - 2773 - 2.42 0.065 2789 574.0 -116.8 - - 3449 - - - - - - - - 14.64 14.58 14.66
854 87.5 -5.5 44 861 roll -0.51 0.05 0.206 2712 -1220.0 1.88 0.104 3826 551.6 -116.8 - - 3451 - - - - - - - - 14.64 14.59 14.72
1091 102.2 -5.2 78 1099 done -0.51 - - 2712 - 1.70 0.043 2798 -604.7 -116.8 - - 3451 - - - - - - - - 14.78 14.74 14.78
1413 120.8 -5.2 89 1422 roll -0.51 - - 2704 - 1.88 0.103 3812 539.4 -116.8 - - 3451 - - - - - - - - 14.92 14.62 14.92
1476 123.9 -5.5 98 1484 done -0.51 0.10 0.223 2735 310.0 1.70 0.043 2790 -601.2 -116.8 - - 3451 - - - - - - - - 14.59 14.76 14.75
1806 145.6 -5.7 110 1813 roll -0.63 0.08 0.150 2660 -937.5 2.30 0.044 1379 -613.5 -116.8 - - 3449 - - - - - - - - 14.73 14.69 14.80
1888 152.7 -8.5 122 1897 done -0.63 0.12 0.216 2686 216.7 2.45 0.067 2781 572.2 -116.8 - - 3449 - - - - - - - - 14.54 14.66 14.70
2254 179.4 -7.2 132 2261 roll -0.63 - - 2688 - 2.38 0.044 1379 -589.1 -116.8 - - 3447 - - - - - - - - 14.94 14.70 14.94
2337 185.6 -7.3 144 2345 done -0.63 - - 2678 - 2.45 0.067 2783 573.1 -116.8 - - 3446 - - - - - - - - 14.72 14.65 14.75
2702 212.5 -7.3 154 2704 done -0.63 - - 2678 - - - 2782 - -116.8 - - 3445 - - - - - - - - 14.94 14.94 14.94
3037 236.7 -7.3 160 3040 done -0.63 - - 2678 - - - 2785 - -116.8 - - 3441 - - - - - - - - 14.95 14.95 14.94
3374 261.6 -7.4 166 3387 roll -0.63 - - 2678 - 2.35 0.047 1376 -599.6 -116.8 - - 3438 - - - - - - - - 14.97 14.74 14.97
3412 264.6 -7.7 171 3425 done -0.63 - - 2668 - 2.42 0.070 2781 580.6 -116.8 - - 3441 - - - - - - - - 14.83 14.71 14.85
3773 291.4 -7.4 180 3787 roll -0.63 - - 2668 - 2.35 0.046 1373 -599.1 -116.8 - - 3436 - - - - - - - - 15.00 14.74 15.00
3812 294.5 -8.1 185 3825 done -0.63 0.12 0.235 2695 225.0 2.42 0.069 2786 583.9 -116.8 - - 3435 - - - - - - - - 14.62 14.72 14.81
4174 320.1 -7.2 194 4187 roll -0.72 - - 2687 - 1.88 0.111 3830 555.3 -116.8 - - 3433 - - - - - - - - 15.00 14.68 15.00
4212 323.2 -8.2 199 4225 done -0.72 - - 2687 - 1.70 0.049 2780 -617.6 -116.8 - - 3433 - - - - - - - - 14.88 14.82 14.88
4573 350.9 -7.7 208 4587 roll -0.79 0.08 0.146 2618 -862.5 2.33 0.044 1368 -606.0 -116.8 - - 3430 - - - - - - - - 14.81 14.78 14.84
4668 360.5 -10.4 221 4682 done -0.79 0.10 0.264 2637 190.0 2.45 0.071 2781 576.7 -116.8 - - 3430 - - - - - - - - 14.61 14.74 14.81
5030 395.3 -9.5 230 5043 roll -0.79 - - 2637 - 2.38 0.047 1370 -592.9 -116.8 - - 3428 - - - - - - - - 15.01 14.78 15.00
5054 397.8 -9.6 233 5067 done -0.79 - - 2627 - 2.42 0.070 2777 581.4 -116.8 - - 3428 - - - - - - - - 14.85 14.73 14.85
5373 427.9 -9.4 243 5386 done -0.79 - - 2627 - - - 2777 - -116.8 - - 3426 - - - - - - - - 15.01 15.02 15.02
5709 457.8 -8.7 249 5722 done -0.79 - - 2627 - - - 2777 - -116.8 - - 3425 - - - - - - - - 15.00 15.01 15.00
6045 485.6 -8.2 255 6058 roll -0.79 - - 2626 - 2.38 0.048 1370 -591.2 -116.8 - - 3423 - - - - - - - - 15.01 14.77 15.01
6105 490.4 -8.0 263 6118 done -0.79 - - 2616 - 2.47 0.072 2784 572.5 -116.8 - - 3422 - - - - - - - - 14.85 14.72 14.86
6446 519.4 -8.7 276 6458 done -0.79 - - 2616 - - - 2783 - -116.8 - - 3420 - - - - - - - - 15.01 15.01 15.01
6781 550.9 -9.5 282 6795 roll -0.79 - - 2616 - 2.38 0.047 1376 -591.2 -116.8 - - 3419 - - - - - - - - 15.02 14.77 15.00
6820 554.8 -10.1 287 6833 done -0.79 0.12 0.259 2642 216.7 2.42 0.073 2771 576.4 -116.8 - - 3419 - - - - - - - - 14.59 14.71 14.81
7181 587.5 -9.1 296 7194 done -0.79 - - 2642 - - - 2771 - -116.8 - - 3417 - - - - - - - - 15.00 15.00 15.00
7517 618.1 -9.0 302 7531 roll -0.79 - - 2645 - 2.35 0.050 1376 -593.6 -116.8 - - 3415 - - - - - - - - 15.00 14.75 15.02
7570 622.9 -9.0 309 7584 done -0.79 - - 2633 - 2.45 0.073 2770 569.0 -116.8 - - 3416 - - - - - - - - 14.85 14.69 14.85
7914 653.9 -9.0 316 7927 done -0.79 - - 2633 - - - 2770 - -116.8 - - 3414 - - - - - - - - 14.99 14.99 14.99
8250 683.7 -8.8 322 8263 roll -0.79 - - 2632 - 2.38 0.049 1372 -587.4 -116.8 - - 3413 - - - - - - - - 14.97 14.75 15.00
8295 687.8 -9.0 328 8308 done -0.79 - - 2623 - 2.45 0.073 2768 569.8 -116.8 - - 3413 - - - - - - - - 14.83 14.68 14.85
8649 718.7 -8.7 336 8662 roll -0.79 - - 2615 - 1.92 0.116 3822 549.0 -116.8 - - 3411 - - - - - - - - 14.98 14.65 14.99
8715 724.9 -9.3 345 8729 done -0.79 - - 2615 - 1.73 0.048 2774 -605.8 -116.8 - - 3408 - - - - - - - - 14.83 14.79 14.86
9049 754.6 -8.9 357 9062 roll -0.79 - - 2613 - 2.35 0.047 1366 -599.1 -116.8 - - 3415 - - - - - - - - 14.99 14.73 14.98
9115 760.7 -9.0 366 9129 done -0.79 0.12 0.262 2640 225.0 2.45 0.073 2767 571.8 -116.8 - - 3410 - - - - - - - - 14.52 14.66 14.77
9449 786.8 -7.7 378 9462 roll -0.79 - - 2632 - 1.95 0.117 3831 545.6 -116.8 - - 3409 - - - - - - - - 14.95 14.62 14.97
9494 790.7 -9.0 384 9507 done -0.79 - - 2632 - 1.77 0.049 2756 -607.3 -116.8 - - 3409 - - - - - - - - 14.83 14.77 14.85
9849 818.8 -7.9 392 9862 roll -0.79 - - 2632 - 2.33 0.048 1362 -598.3 -116.8 - - 3407 - - - - - - - - 14.98 14.71 14.97
9894 822.3 -8.2 398 9907 done -0.79 - - 2623 - 2.45 0.073 2765 572.7 -116.8 - - 3407 - - - - - - - - 14.80 14.66 14.82
10248 851.2 -8.1 406 10261 roll -0.79 - - 2615 - 1.95 0.114 3833 547.7 -116.8 - - 3407 - - - - - - - - 14.97 14.62 14.97
10300 855.8 -8.7 413 10315 done -0.79 - - 2615 - 1.77 0.049 2762 -605.1 -116.8 - - 3406 - - - - - - - - 14.83 14.73 14.83
10645 884.5 -8.3 420 10658 roll -0.79 - - 2615 - 2.33 0.047 1371 -597.0 -116.8 - - 3403 - - - - - - - - 14.96 14.71 14.97
10697 889.1 -8.5 427 10711 done -0.79 0.12 0.264 2640 208.3 2.45 0.072 2763 568.2 -116.8 - - 3404 - - - - - - - - 14.49 14.64 14.73
11041 914.3 -7.3 434 11055 roll -0.79 - - 2640 - 2.38 0.048 1361 -589.1 -116.8 - - 3404 - - - - - - - - 14.95 14.69 14.95
11087 917.6 -7.7 440 11100 done -0.79 - - 2631 - 2.47 0.073 2773 571.7 -116.8 - - 3401 - - - - - - - - 14.79 14.64 14.81
11271 end dive: TARGET_DEPTH_EXCEEDED
11271 begin apogee
11276 931.5 -7.2 445 11383 roll -0.23 0.68 0.199 2826 286.8 0.08 0.184 2261 -6400.0 - 96.20 2.000 3049 -3.7 0.323 - - - - - - 14.50 14.04 13.40
11384 end apogee: CONTROL_FINISHED_OK
11384 begin climb
11386 933.8 - 446 11524 roll 0.99 1.15 0.109 3196 321.7 2.47 0.058 873 -561.9 116.8 121.05 1.949 2587 -3.8 0.346 - - - - - - 14.12 14.14 13.27
11535 927.3 10.4 474 11548 done 0.79 0.15 0.260 3157 -260.0 2.45 0.057 2248 561.2 116.8 - - 2577 - - - - - - - - 13.93 14.02 14.09
11904 893.8 9.2 484 11917 roll 0.70 0.08 0.298 3132 -312.5 2.58 0.101 3658 546.5 116.8 - - 2572 - - - - - - - - 14.28 14.39 14.45
11942 889.7 10.6 489 11956 done 0.60 0.17 0.248 3096 -211.8 2.35 0.045 2268 -591.5 116.8 - - 2572 - - - - - - - - 14.33 14.52 14.54
12304 863.0 7.4 498 12318 roll 0.61 - - 3095 - 2.55 0.103 3653 543.1 123.4 1.40 0.282 2560 -8.6 4.966 - - - - - - 14.81 14.50 14.28
12336 860.4 8.7 502 12350 done 0.61 - - 3105 - 2.38 0.045 2247 -590.8 123.4 1.33 0.297 2557 -2.3 1.237 - - - - - - 14.68 14.60 14.25
12705 833.2 7.5 512 12724 roll 0.62 - - 3106 - 2.60 0.106 3657 542.3 127.7 5.05 2.037 2545 -2.4 0.184 - - - - - - 14.85 14.58 13.74
12756 829.1 8.2 519 12770 done 0.62 - - 3116 - 2.38 0.045 2241 -595.0 127.7 1.35 0.316 2543 - - - - - - - - 14.71 14.63 14.26
13100 803.6 7.3 526 13126 roll 0.62 - - 3116 - 2.67 0.104 3651 528.1 135.3 13.70 2.070 2505 -2.8 0.204 - - - - - - 14.86 14.51 13.90
13153 799.6 7.6 533 13166 done 0.63 - - 3126 - 2.38 0.045 2252 -587.8 138.9 0.75 0.321 2495 -13.3 6.287 - - - - - - 14.64 14.57 14.45
13494 773.1 7.7 546 13507 done 0.63 - - 3127 - - - 2252 - 139.7 - - 2504 - - - - - - - - 14.82 14.82 14.82
13830 747.9 7.4 552 13854 roll 0.64 - - 3127 - 2.60 0.107 3654 539.2 146.3 10.62 2.095 2466 -3.6 0.242 - - - - - - 14.86 14.54 13.93
13887 743.1 8.6 560 13901 done 0.64 0.10 0.259 3111 -160.0 2.38 0.046 2257 -587.0 146.3 - - 2462 - - - - - - - - 14.45 14.60 14.63
14229 718.5 7.1 573 14254 roll 0.65 - - 3120 - 2.50 0.066 849 -563.2 158.3 13.88 2.008 2415 -3.4 0.229 - - - - - - 14.84 14.51 13.90
14280 714.5 7.3 580 14299 done 0.66 - - 3121 - 2.45 0.060 2263 577.1 166.5 4.72 1.961 2389 -5.5 0.380 - - - - - - 14.61 14.52 13.54
14620 688.2 7.8 593 14633 roll 0.66 - - 3121 - 2.55 0.109 3655 545.9 166.5 - - 2395 - - - - - - - - 14.81 14.51 14.81
14700 681.0 9.0 604 14713 done 0.66 - - 3130 - 2.38 0.045 2245 -592.4 166.5 - - 2395 - - - - - - - - 14.69 14.62 14.70
15019 655.2 8.1 614 15032 done 0.66 - - 3131 - - - 2243 - 166.5 - - 2395 - - - - - - - - 14.85 14.85 14.85
15355 627.7 8.3 620 15369 roll 0.66 - - 3130 - 2.58 0.106 3662 550.0 166.5 - - 2395 - - - - - - - - 14.88 14.59 14.89
15387 624.7 9.1 624 15400 done 0.66 - - 3141 - 2.35 0.046 2260 -596.6 166.5 - - 2397 - - - - - - - - 14.76 14.69 14.77
15755 591.7 9.0 634 15768 roll 0.66 - - 3151 - 2.42 0.067 848 -583.5 166.5 - - 2394 - - - - - - - - 14.90 14.64 14.90
15786 588.7 8.9 638 15800 done 0.66 0.12 0.237 3116 -291.7 2.42 0.061 2268 586.8 166.5 - - 2394 - - - - - - - - 14.52 14.65 14.72
16155 558.7 8.1 648 16168 roll 0.66 - - 3116 - 2.53 0.106 3660 550.2 166.5 - - 2394 - - - - - - - - 14.92 14.61 14.92
16228 552.0 9.1 658 16242 done 0.66 - - 3125 - 2.35 0.044 2252 -599.1 166.5 - - 2394 - - - - - - - - 14.78 14.71 14.80
16555 525.2 8.2 669 16568 done 0.66 - - 3126 - - - 2249 - 166.5 - - 2394 - - - - - - - - 14.92 14.92 14.92
16891 498.7 7.9 675 16904 roll 0.66 - - 3126 - 2.60 0.107 3655 540.8 166.5 - - 2394 - - - - - - - - 14.92 14.61 14.92
16929 495.3 8.9 680 16942 done 0.66 - - 3136 - 2.33 0.046 2265 -596.6 166.5 - - 2394 - - - - - - - - 14.77 14.72 14.78
17290 465.6 8.2 689 17304 roll 0.66 - - 3146 - 2.40 0.066 862 -584.6 166.5 - - 2394 - - - - - - - - 14.93 14.65 14.93
17329 462.3 8.3 694 17342 done 0.66 0.10 0.249 3118 -280.0 2.40 0.062 2269 586.2 166.5 - - 2394 - - - - - - - - 14.52 14.66 14.73
17691 435.9 7.3 703 17717 roll 0.67 - - 3117 - 2.60 0.107 3663 536.2 175.7 13.85 1.724 2344 -3.6 0.173 - - - - - - 14.94 14.59 14.07
17777 429.2 8.0 715 17790 done 0.67 - - 3127 - 2.35 0.044 2265 -594.9 175.7 - - 2342 - - - - - - - - 14.71 14.64 14.73
18145 402.4 7.2 725 18165 done 0.69 - - 3128 - - - 2260 - 186.4 10.57 1.734 2309 -3.1 0.137 - - - - - - 14.87 14.64 14.03
18482 377.5 7.5 731 18495 done 0.69 - - 3127 - - - 2261 - 190.5 - - 2299 - - - - - - - - 14.85 14.85 14.84
18817 350.5 8.2 737 18831 roll 0.69 - - 3128 - 2.60 0.108 3662 538.8 190.5 - - 2299 - - - - - - - - 14.88 14.57 14.88
18878 344.8 9.6 745 18891 done 0.69 - - 3138 - 2.35 0.044 2269 -592.8 190.5 - - 2299 - - - - - - - - 14.75 14.68 14.78
19219 313.8 9.1 758 19232 done 0.69 - - 3138 - - - 2265 - 190.5 - - 2299 - - - - - - - - 14.90 14.90 14.90
19555 284.1 8.8 764 19568 done 0.69 - - 3138 - - - 2265 - 190.5 - - 2299 - - - - - - - - 14.91 14.91 14.92
19890 256.6 8.0 770 19904 roll 0.69 - - 3138 - 2.58 0.107 3658 539.9 190.5 - - 2299 - - - - - - - - 14.92 14.60 14.92
19922 253.8 8.7 774 19935 done 0.69 - - 3149 - 2.35 0.045 2265 -592.8 190.5 0.70 0.324 2291 -11.4 1.695 - - - - - - 14.79 14.75 14.54
20291 223.8 8.3 784 20304 done 0.69 - - 3149 - - - 2261 - 190.5 - - 2298 - - - - - - - - 14.92 14.92 14.92
20626 195.5 8.4 790 20640 roll 0.69 - - 3149 - 2.58 0.105 3659 541.9 190.5 - - 2299 - - - - - - - - 14.93 14.61 14.93
20687 189.8 9.8 798 20700 done 0.69 0.12 0.246 3125 -200.0 2.35 0.044 2258 -596.2 190.5 - - 2304 - - - - - - - - 14.52 14.73 14.73
21028 163.8 7.5 811 21041 done 0.70 - - 3124 - - - 2254 - 194.3 4.00 1.375 2278 -6.5 0.147 - - - - - - 14.93 14.73 13.84
21364 140.2 6.9 817 21396 roll 0.79 - - 3134 - 2.47 0.065 855 -566.4 210.4 20.75 1.288 2203 -3.6 0.074 - - - - - - 14.92 14.59 14.14
21429 135.7 6.8 826 21462 done 0.91 0.12 0.104 3201 558.3 2.42 0.058 2274 586.4 227.5 16.27 1.301 2136 -4.1 0.081 - - - - - - 14.62 14.58 14.06
21810 94.1 11.5 838 21824 roll 0.91 - - 3204 - 2.50 0.103 3658 553.6 227.5 - - 2132 - - - - - - - - 14.81 14.52 14.82
21884 86.1 10.5 848 21897 done 0.91 - - 3214 - 2.33 0.044 2275 -593.6 227.5 - - 2132 - - - - - - - - 14.70 14.64 14.73
22210 64.9 4.0 861 22256 roll 0.99 - - 3214 - 2.62 0.103 3662 529.4 295.9 30.08 0.380 1872 -8.6 0.279 - - - - - - 14.85 14.53 14.33
22484 50.7 4.1 900 22531 done 1.08 - - 3223 - 2.33 0.043 2273 -596.1 363.2 31.67 0.334 1603 -8.5 0.244 - - - - - - 14.71 14.65 14.32
22859 36.6 3.8 920 22906 roll 1.36 0.22 0.073 3342 540.9 2.60 0.099 3662 534.2 435.3 33.88 0.279 1315 -8.5 0.211 - - - - - - 14.66 14.50 14.39
22946 29.7 9.5 932 22959 done 1.36 - - 3357 - 2.30 0.043 2285 -598.7 435.3 - - 1317 - - - - - - - - 14.69 14.62 14.70
23229 end climb: SURFACE_DEPTH_REACHED
23229 begin surface coast
23258 end surface coast: CONTROL_FINISHED_OK
23258 begin surface
SM -1.34 - - - - -8.40 8.90 0.043 187 21.0 0.88 0.076 2777 1985.2 500.14 29.38 0.158 1057 36.0 0.031 - - - - - -