SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 195 * Raw log
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• Previous call tries 1 • 76.49 of 350.00 AH used of 24V (78.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth -0.93 m • Intended pitch -16.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 97 done -0.90 - - 136 - - - 2779 - -116.8 -75.40 - 3516 - - - - - - - - 14.59 13.13 14.55
99 1.0 -6.0 2 121 roll -0.90 11.88 0.396 2596 207.1 2.38 0.034 1362 -595.4 -116.8 - - 3517 - - - - - - - - 14.12 14.36 14.41
161 35.7 -28.6 12 169 done -0.55 0.45 0.264 2709 251.1 2.55 0.070 2764 549.8 -116.8 - - 3518 - - - - - - - - 14.09 14.28 14.28
484 79.8 -9.7 25 492 roll -0.47 0.12 0.233 2746 308.3 2.35 0.042 1369 -593.6 -116.8 - - 3519 - - - - - - - - 14.21 14.40 14.40
638 90.4 -6.3 47 645 done -0.47 - - 2735 - 2.50 0.065 2791 568.8 -116.8 - - 3519 - - - - - - - - 14.50 14.38 14.52
960 111.6 -6.0 57 968 roll -0.47 - - 2736 - 2.42 0.043 1361 -590.9 -116.8 - - 3520 - - - - - - - - 14.68 14.43 14.68
1029 116.7 -7.3 67 1037 done -0.55 - - 2727 - 2.53 0.065 2776 559.3 -116.8 - - 3520 - - - - - - - - 14.45 14.37 14.47
1352 138.7 -6.7 78 1359 roll -0.55 - - 2719 - 1.92 0.106 3828 547.9 -116.8 - - 3520 - - - - - - - - 14.69 14.35 14.69
1400 142.0 -6.9 85 1411 done -0.55 - - 2719 - 1.77 0.040 2769 -598.3 -116.8 - - 3519 - - - - - - - - 14.55 14.50 14.53
1744 165.1 -6.9 92 1751 roll -0.55 - - 2719 - 2.35 0.044 1385 -588.9 -116.8 - - 3517 - - - - - - - - 14.69 14.43 14.67
1813 170.2 -7.3 102 1821 done -0.63 - - 2711 - 2.53 0.067 2780 551.4 -116.8 - - 3516 - - - - - - - - 14.45 14.38 14.49
2136 193.1 -7.2 113 2144 roll -0.63 - - 2711 - 2.40 0.044 1384 -581.7 -116.8 - - 3514 - - - - - - - - 14.69 14.40 14.69
2184 196.7 -7.2 120 2193 done -0.63 - - 2704 - 2.53 0.067 2780 551.8 -116.8 - - 3513 - - - - - - - - 14.44 14.35 14.47
2528 221.9 -7.4 127 2530 done -0.63 - - 2704 - - - 2781 - -116.8 - - 3511 - - - - - - - - 14.69 14.69 14.68
2864 246.4 -7.2 133 2872 roll -0.63 - - 2703 - 2.42 0.045 1378 -579.8 -116.8 - - 3508 - - - - - - - - 14.69 14.42 14.69
2905 249.4 -7.1 139 2913 done -0.63 - - 2694 - 2.53 0.067 2776 552.6 -116.8 - - 3508 - - - - - - - - 14.43 14.35 14.47
3256 274.7 -7.2 147 3269 done -0.63 - - 2695 - - - 2777 - -116.8 - - 3505 - - - - - - - - 14.85 14.85 14.85
3592 299.5 -7.4 153 3605 roll -0.63 - - 2694 - 2.38 0.047 1383 -585.7 -116.8 - - 3503 - - - - - - - - 14.90 14.60 14.90
3659 304.7 -7.6 162 3673 done -0.63 - - 2685 - 2.45 0.071 2778 569.4 -116.8 - - 3503 - - - - - - - - 14.69 14.54 14.72
3993 331.8 -8.2 174 4006 roll -0.63 - - 2677 - 1.92 0.110 3826 545.8 -116.8 - - 3502 - - - - - - - - 14.93 14.50 14.91
4039 335.9 -9.1 180 4052 done -0.63 - - 2677 - 1.73 0.041 2769 -611.0 -116.8 - - 3501 - - - - - - - - 14.77 14.73 14.78
4393 366.5 -8.6 188 4406 roll -0.63 - - 2677 - 2.33 0.044 1378 -597.0 -116.8 - - 3505 - - - - - - - - 14.93 14.59 14.93
4425 369.3 -8.6 192 4438 done -0.63 - - 2668 - 2.45 0.070 2777 571.0 -116.8 - - 3498 - - - - - - - - 14.71 14.57 14.71
4794 401.1 -8.6 202 4807 roll -0.63 - - 2667 - 2.38 0.045 1377 -588.2 -116.8 - - 3496 - - - - - - - - 14.94 14.60 14.95
4846 405.6 -8.5 209 4861 done -0.63 0.12 0.234 2689 183.3 2.47 0.070 2774 565.6 -116.8 - - 3496 - - - - - - - - 14.41 14.56 14.64
5191 430.7 -7.3 216 5204 roll -0.63 - - 2695 - 2.38 0.044 1375 -587.8 -116.8 - - 3494 - - - - - - - - 14.92 14.63 14.92
5229 433.8 -7.9 221 5243 done -0.63 - - 2685 - 2.45 0.070 2768 568.6 -116.8 - - 3494 - - - - - - - - 14.71 14.55 14.74
5592 462.2 -8.0 230 5605 done -0.63 - - 2685 - - - 2768 - -116.8 - - 3493 - - - - - - - - 14.93 14.93 14.93
5927 488.1 -7.7 236 5941 roll -0.63 - - 2683 - 1.95 0.112 3823 541.0 -116.8 - - 3493 - - - - - - - - 14.94 14.48 14.94
5988 492.8 -7.9 244 6001 done -0.63 - - 2677 - 1.73 0.043 2773 -606.9 -116.8 - - 3491 - - - - - - - - 14.77 14.71 14.78
6329 517.8 -7.3 257 6342 roll -0.63 - - 2677 - 2.35 0.044 1378 -593.6 -116.8 - - 3489 - - - - - - - - 14.94 14.62 14.94
6410 523.9 -7.2 268 6423 done -0.63 - - 2668 - 2.47 0.069 2770 563.6 -116.8 - - 3489 - - - - - - - - 14.70 14.53 14.73
6729 548.5 -7.8 278 6743 roll -0.63 - - 2659 - 1.95 0.112 3823 540.0 -116.8 - - 3487 - - - - - - - - 14.93 14.46 14.93
6768 551.8 -8.7 283 6782 done -0.63 0.12 0.215 2697 316.7 1.75 0.044 2768 -602.9 -116.8 - - 3486 - - - - - - - - 14.42 14.70 14.63
7130 576.4 -6.8 292 7144 roll -0.70 - - 2697 - 2.35 0.046 1372 -594.0 -116.8 - - 3486 - - - - - - - - 14.92 14.60 14.92
7205 581.5 -6.8 302 7218 done -0.79 0.08 0.146 2634 -787.5 2.47 0.069 2767 564.8 -116.8 - - 3486 - - - - - - - - 14.61 14.53 14.70
7532 610.8 -9.2 313 7545 roll -0.79 - - 2625 - 1.98 0.112 3830 536.9 -116.8 - - 3484 - - - - - - - - 14.93 14.46 14.93
7577 615.3 -10.0 319 7590 done -0.79 - - 2625 - 1.77 0.044 2754 -607.9 -116.8 - - 3487 - - - - - - - - 14.76 14.70 14.77
7932 648.4 -9.4 327 7945 roll -0.79 - - 2625 - 2.33 0.044 1373 -592.7 -116.8 - - 3483 - - - - - - - - 14.92 14.60 14.92
8013 656.0 -9.4 338 8026 done -0.79 0.10 0.250 2644 190.0 2.45 0.069 2763 567.3 -116.8 - - 3483 - - - - - - - - 14.34 14.50 14.59
8333 683.3 -8.6 348 8346 roll -0.79 - - 2643 - 1.98 0.113 3823 535.4 -116.8 - - 3482 - - - - - - - - 14.92 14.42 14.93
8393 688.9 -9.2 356 8406 done -0.79 - - 2635 - 1.77 0.044 2755 -603.4 -116.8 - - 3481 - - - - - - - - 14.73 14.68 14.74
8734 719.3 -9.0 369 8747 roll -0.79 - - 2635 - 2.33 0.045 1378 -591.0 -116.8 - - 3480 - - - - - - - - 14.90 14.58 14.91
8780 723.4 -9.0 375 8793 done -0.79 - - 2626 - 2.47 0.070 2764 561.1 -116.8 - - 3480 - - - - - - - - 14.68 14.50 14.71
9134 754.4 -8.8 383 9147 done -0.79 - - 2626 - - - 2764 - -116.8 - - 3478 - - - - - - - - 14.92 14.92 14.92
9470 782.4 -8.2 389 9483 done -0.79 - - 2626 - - - 2763 - -116.8 - - 3477 - - - - - - - - 14.92 14.92 14.92
9806 809.4 -8.0 395 9819 roll -0.79 - - 2617 - 2.00 0.115 3830 533.5 -116.8 - - 3477 - - - - - - - - 14.92 14.40 14.92
9880 815.6 -6.7 405 9893 done -0.79 - - 2616 - 1.77 0.045 2763 -602.8 -116.8 - - 3477 - - - - - - - - 14.71 14.66 14.73
10207 843.0 -8.4 416 10220 roll -0.79 - - 2609 - 2.03 0.112 3827 524.1 -116.8 - - 3475 - - - - - - - - 14.89 14.40 14.90
10267 848.6 -9.4 424 10281 done -0.79 0.10 0.249 2637 280.0 1.80 0.045 2754 -596.1 -116.8 - - 3475 - - - - - - - - 14.31 14.66 14.57
10608 875.6 -7.9 437 10622 roll -0.79 - - 2630 - 2.03 0.112 3821 525.6 -116.8 - - 3474 - - - - - - - - 14.90 14.38 14.89
10661 880.1 -8.5 444 10675 done -0.79 - - 2629 - 1.80 0.044 2753 -593.3 -116.8 - - 3474 - - - - - - - - 14.71 14.64 14.71
11005 908.6 -8.4 451 11019 roll -0.79 - - 2629 - 2.35 0.046 1372 -587.7 -116.8 - - 3473 - - - - - - - - 14.88 14.54 14.90
11037 911.1 -7.4 455 11050 done -0.79 - - 2619 - 2.50 0.071 2765 557.2 -116.8 - - 3473 - - - - - - - - 14.65 14.47 14.68
11292 end dive: TARGET_DEPTH_EXCEEDED
11292 begin apogee
11297 932.7 -8.5 463 11424 roll -0.23 0.70 0.197 2821 288.6 - - 2229 - - 116.22 1.959 3050 -3.6 0.333 - - - - - - 14.31 14.05 13.24
11425 end apogee: CONTROL_FINISHED_OK
11425 begin climb
11427 936.4 - 465 11567 roll 0.90 1.10 0.106 3171 318.2 2.42 0.057 878 -558.3 116.8 123.45 1.959 2585 -3.8 0.346 - - - - - - 14.02 14.04 13.09
11621 926.2 8.8 495 11635 done 0.76 - - 3171 - 2.50 0.054 2262 553.6 116.8 - - 2573 - - - - - - - - 14.11 14.01 14.13
11965 893.7 9.6 502 11979 roll 0.60 0.22 0.230 3104 -304.5 2.60 0.099 3661 538.1 116.8 - - 2570 - - - - - - - - 14.12 14.26 14.30
12004 890.1 10.4 507 12018 done 0.50 0.20 0.229 3059 -225.0 2.40 0.041 2257 -585.0 116.8 - - 2570 - - - - - - - - 14.17 14.44 14.42
12367 868.3 5.9 516 12419 done 0.55 - - 3060 - - - 2251 - 156.4 43.15 1.913 2426 -3.3 0.291 - - - - - - 14.75 14.26 13.54
12704 846.1 6.7 522 12744 roll 0.57 - - 3060 - 2.67 0.103 3654 525.5 180.0 25.98 1.952 2327 -3.8 0.317 - - - - - - 14.66 14.23 13.59
12763 842.0 9.0 530 12777 done 0.57 - - 3069 - 2.45 0.041 2242 -576.3 180.0 - - 2325 - - - - - - - - 14.39 14.33 14.40
13105 817.8 7.1 543 13136 roll 0.59 - - 3080 - 2.50 0.063 854 -555.2 194.5 15.25 2.014 2267 -3.8 0.296 - - - - - - 14.69 14.38 13.71
13155 814.5 6.8 550 13196 done 0.62 - - 3079 - 2.47 0.057 2254 566.8 215.0 23.80 1.949 2185 -3.4 0.276 - - - - - - 14.47 14.36 13.56
13502 787.6 7.8 564 13515 roll 0.62 - - 3079 - 2.62 0.108 3660 536.6 215.0 - - 2179 - - - - - - - - 14.66 14.33 14.66
13563 782.6 8.5 572 13576 done 0.62 - - 3088 - 2.42 0.040 2242 -586.0 215.0 - - 2179 - - - - - - - - 14.56 14.48 14.57
13903 755.3 7.9 585 13916 done 0.62 - - 3089 - - - 2236 - 215.0 - - 2178 - - - - - - - - 14.76 14.76 14.76
14240 729.4 7.7 591 14253 roll 0.62 - - 3089 - 2.65 0.106 3657 536.2 216.6 - - 2176 - - - - - - - - 14.80 14.42 14.81
14272 726.6 8.3 595 14285 done 0.62 - - 3099 - 2.38 0.041 2256 -588.7 216.6 - - 2177 - - - - - - - - 14.66 14.58 14.68
14640 697.2 8.0 605 14653 roll 0.62 - - 3109 - 2.42 0.064 851 -580.6 216.6 - - 2177 - - - - - - - - 14.84 14.50 14.84
14686 693.6 7.7 611 14699 done 0.62 - - 3109 - 2.42 0.057 2264 583.9 217.4 - - 2177 - - - - - - - - 14.66 14.49 14.68
15041 663.5 8.5 619 15054 roll 0.62 - - 3109 - 2.60 0.109 3651 533.5 217.4 - - 2177 - - - - - - - - 14.84 14.43 14.85
15121 655.6 9.9 630 15135 done 0.62 - - 3118 - 2.38 0.041 2252 -587.8 217.4 - - 2177 - - - - - - - - 14.64 14.57 14.65
15441 626.0 9.3 640 15455 roll 0.62 - - 3128 - 2.42 0.064 851 -578.9 217.4 - - 2177 - - - - - - - - 14.85 14.50 14.85
15502 620.3 9.5 648 15515 done 0.62 - - 3128 - 2.42 0.056 2248 577.3 217.4 - - 2176 - - - - - - - - 14.65 14.50 14.67
15843 587.6 9.7 661 15856 roll 0.62 - - 3128 - 2.60 0.107 3651 539.6 217.4 - - 2176 - - - - - - - - 14.85 14.42 14.85
15874 584.3 10.0 665 15888 done 0.62 0.12 0.233 3103 -208.3 2.38 0.042 2245 -590.8 217.4 - - 2176 - - - - - - - - 14.34 14.62 14.59
16243 553.6 8.2 675 16257 roll 0.62 - - 3103 - 2.65 0.106 3657 532.8 217.4 - - 2176 - - - - - - - - 14.86 14.42 14.86
16282 550.0 9.2 680 16295 done 0.62 - - 3110 - 2.38 0.042 2249 -591.6 217.4 - - 2176 - - - - - - - - 14.68 14.60 14.70
16644 519.5 8.4 689 16657 done 0.62 - - 3111 - - - 2253 - 217.4 - - 2176 - - - - - - - - 14.85 14.85 14.85
16980 491.8 8.2 695 16993 done 0.62 - - 3111 - - - 2246 - 217.4 - - 2177 - - - - - - - - 14.88 14.88 14.88
17316 466.1 7.6 701 17329 roll 0.63 - - 3111 - 2.67 0.107 3660 529.6 221.5 - - 2176 - - - - - - - - 14.86 14.40 14.86
17383 460.3 8.8 710 17396 done 0.63 - - 3121 - 2.38 0.041 2251 -592.0 221.5 - - 2176 - - - - - - - - 14.67 14.59 14.69
17716 433.2 8.2 722 17730 roll 0.63 - - 3131 - 2.40 0.063 870 -575.4 221.5 - - 2176 - - - - - - - - 14.87 14.47 14.87
17749 430.3 8.7 726 17762 done 0.63 - - 3131 - 2.40 0.057 2255 577.1 221.5 - - 2177 - - - - - - - - 14.64 14.50 14.67
18118 397.0 9.2 736 18131 roll 0.63 - - 3131 - 2.62 0.108 3663 537.4 221.5 - - 2176 - - - - - - - - 14.86 14.38 14.86
18156 393.1 10.1 741 18170 done 0.63 0.12 0.234 3105 -216.7 2.38 0.041 2257 -590.8 221.5 - - 2176 - - - - - - - - 14.31 14.59 14.54
18518 364.4 7.8 750 18531 roll 0.63 - - 3116 - 2.42 0.063 855 -579.3 221.5 - - 2177 - - - - - - - - 14.88 14.48 14.88
18564 360.8 7.7 756 18577 done 0.63 - - 3115 - 2.42 0.056 2259 580.2 222.4 1.42 0.265 2163 -9.9 2.576 - - - - - - 14.65 14.50 14.16
18919 332.7 8.0 764 18932 roll 0.63 - - 3115 - 2.58 0.104 3656 541.5 222.4 1.27 0.262 2168 3.9 -0.959 - - - - - - 14.88 14.42 14.20
18972 327.9 9.2 771 18986 done 0.63 - - 3122 - 2.40 0.041 2243 -588.8 222.4 1.48 0.274 2163 -3.4 0.776 - - - - - - 14.67 14.59 14.09
19316 299.4 8.3 778 19329 done 0.63 - - 3125 - - - 2238 - 222.4 1.23 0.261 2164 - - - - - - - - 14.88 14.56 14.24
19652 272.3 8.1 784 19669 roll 0.63 - - 3124 - 2.72 0.104 3656 521.3 222.4 1.52 0.286 2168 2.6 -0.481 - - - - - - 14.88 14.44 13.93
19694 268.4 9.2 790 19709 done 0.63 0.10 0.236 3105 -190.0 2.35 0.041 2253 -597.0 222.4 1.17 0.253 2165 -2.6 0.522 - - - - - - 14.35 14.56 14.23
20051 241.4 7.6 798 20064 done 0.63 - - 3105 - - - 2252 - 225.8 4.10 1.432 2152 -3.2 0.103 - - - - - - 14.87 14.66 13.59
20387 216.0 7.5 804 20407 done 0.64 - - 3105 - - - 2253 - 230.9 11.18 1.484 2130 -2.0 0.055 - - - - - - 14.85 14.64 14.02
20723 190.8 7.5 810 20737 roll 0.72 - - 3105 - 2.67 0.103 3654 524.7 237.0 2.38 0.719 2109 -8.8 0.449 - - - - - - 14.81 14.51 13.54
20763 187.5 8.2 815 20777 done 0.72 - - 3114 - 2.38 0.041 2245 -592.0 237.0 1.42 0.302 2106 -2.1 0.252 - - - - - - 14.69 14.58 14.00
21125 158.5 8.1 824 21138 done 0.72 - - 3114 - - - 2242 - 237.0 1.48 0.286 2106 - - - - - - - - 14.83 14.50 13.96
21461 132.9 7.5 830 21486 roll 0.73 - - 3113 - 2.65 0.105 3663 536.2 243.0 11.02 1.378 2076 -2.7 0.050 - - - - - - 14.84 14.56 14.05
21546 125.8 8.4 842 21559 done 0.73 - - 3121 - 2.38 0.041 2252 -592.9 243.0 - - 2074 - - - - - - - - 14.65 14.57 14.66
21915 99.9 6.8 852 21940 roll 0.75 - - 3131 - 2.42 0.061 865 -573.1 264.3 9.40 0.461 2000 -7.9 0.327 - - - - - - 14.83 14.52 14.17
21980 95.7 6.4 861 22008 done 0.88 0.10 0.116 3199 680.0 2.40 0.054 2268 584.6 292.7 15.07 0.455 1884 -7.7 0.311 - - - - - - 14.57 14.50 14.18
22312 68.9 7.2 875 22334 roll 0.89 - - 3207 - 2.50 0.060 862 -562.4 304.5 6.53 0.363 1838 -7.0 0.257 - - - - - - 14.80 14.51 14.15
22430 62.6 6.5 892 22458 done 0.93 - - 3208 - 2.42 0.054 2279 585.5 332.5 14.70 0.353 1725 -7.7 0.262 - - - - - - 14.62 14.48 14.21
22761 46.8 3.9 906 22814 roll 1.14 0.08 0.151 3284 950.0 2.60 0.102 3660 531.2 415.3 40.75 0.307 1396 -8.1 0.236 - - - - - - 14.56 14.45 14.27
23043 28.6 7.2 946 23061 done 1.15 - - 3294 - 2.33 0.037 2258 -601.7 427.8 6.45 0.251 1346 -7.8 0.170 - - - - - - 14.64 14.56 14.25
23376 5.0 6.9 960 23400 roll 1.17 - - 3294 - 2.62 0.100 3653 532.4 445.3 8.90 0.177 1275 -8.0 0.043 - - - - - - 14.82 14.40 14.38
23411 2.2 7.4 965 23425 VBD 1.18 - - 3302 - 2.28 0.040 2285 -600.0 452.3 1.73 0.215 1263 -6.9 0.014 - - - - - - 14.63 14.56 14.64
23425 end climb: SURFACE_DEPTH_REACHED
23425 begin surface coast
23428 end surface coast: CONTROL_FINISHED_OK
23428 begin surface
SM -0.78 - - - - -8.38 9.20 0.082 197 21.4 0.88 0.079 2762 -7372.7 500.14 23.85 0.155 1056 44.3 0.023 - - - - - -