SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 222 * Raw log
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• Previous call tries 1 • 86.77 of 350.00 AH used of 24V (75.21% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.8 deg, depth -3.19 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 46 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 97 done -0.90 - - 171 - - - 2788 - -116.8 -75.93 - 3516 - - - - - - - - 14.61 13.02 14.61
99 -1.7 -4.7 2 119 roll -0.90 11.77 0.396 2597 206.1 1.88 0.094 3821 549.5 -116.8 - - 3517 - - - - - - - - 14.13 14.35 14.43
160 30.9 -27.1 11 167 done -0.49 0.47 0.249 2736 295.7 1.77 0.034 2735 -613.6 -116.8 - - 3518 - - - - - - - - 14.13 14.45 14.39
496 76.9 -8.5 26 503 roll -0.49 - - 2728 - 2.05 0.104 3815 526.8 -116.8 - - 3515 - - - - - - - - 14.74 14.33 14.74
544 80.3 -6.9 33 553 done -0.49 - - 2728 - 1.75 0.038 2755 -605.7 -116.8 - - 3519 - - - - - - - - 14.57 14.54 14.58
860 105.1 -6.5 44 868 roll -0.49 - - 2728 - 2.28 0.044 1389 -599.1 -116.8 - - 3521 - - - - - - - - 14.79 14.51 14.78
950 111.3 -6.7 57 958 done -0.49 - - 2719 - 2.42 0.067 2758 565.7 -116.8 - - 3520 - - - - - - - - 14.52 14.44 14.56
1308 133.5 -6.0 66 1315 roll -0.49 - - 2719 - 2.30 0.043 1389 -595.2 -116.8 - - 3520 - - - - - - - - 14.83 14.55 14.83
1364 136.9 -6.2 74 1371 done -0.49 0.10 0.230 2740 210.0 2.40 0.067 2766 573.8 -116.8 - - 3520 - - - - - - - - 14.35 14.47 14.56
1700 154.3 -5.1 87 1707 roll -0.60 - - 2740 - 2.33 0.044 1390 -590.6 -116.8 - - 3518 - - - - - - - - 14.84 14.54 14.85
1734 156.2 -5.5 92 1743 done -0.72 0.12 0.066 2651 -741.7 2.45 0.068 2758 558.4 -116.8 - - 3517 - - - - - - - - 14.54 14.44 14.62
2092 188.6 -9.4 101 2094 done -0.72 - - 2652 - - - 2758 - -116.8 - - 3511 - - - - - - - - 14.84 14.84 14.84
2428 220.8 -9.6 107 2430 done -0.72 - - 2651 - - - 2758 - -116.8 - - 3513 - - - - - - - - 14.85 14.85 14.85
2765 251.0 -8.8 113 2781 roll -0.72 - - 2643 - 1.98 0.109 3833 542.9 -116.8 - - 3508 - - - - - - - - 14.85 14.44 14.85
2848 258.7 -9.1 124 2861 done -0.72 - - 2643 - 1.73 0.042 2771 -613.9 -116.8 - - 3509 - - - - - - - - 14.72 14.67 14.73
3168 287.5 -9.2 134 3181 done -0.72 - - 2643 - - - 2771 - -116.8 - - 3505 - - - - - - - - 14.90 14.90 14.90
3504 319.4 -9.5 140 3517 done -0.72 - - 2643 - - - 2770 - -116.8 - - 3503 - - - - - - - - 14.91 14.91 14.91
3840 350.2 -9.1 146 3853 done -0.72 - - 2643 - - - 2771 - -116.8 - - 3501 - - - - - - - - 14.93 14.93 14.93
4176 379.7 -8.8 152 4189 roll -0.72 - - 2634 - 2.00 0.110 3835 532.0 -116.8 - - 3498 - - - - - - - - 14.94 14.45 14.94
4250 386.6 -9.2 162 4263 done -0.72 0.10 0.230 2665 310.0 1.75 0.046 2775 -605.7 -116.8 - - 3498 - - - - - - - - 14.40 14.71 14.62
4577 412.8 -8.1 173 4590 done -0.72 - - 2664 - - - 2775 - -116.8 - - 3496 - - - - - - - - 14.94 14.95 14.94
4913 439.5 -7.8 179 4926 done -0.72 - - 2665 - - - 2775 - -116.8 - - 3494 - - - - - - - - 14.92 14.92 14.92
5249 466.0 -8.0 185 5262 roll -0.72 - - 2665 - 2.40 0.047 1366 -587.1 -116.8 - - 3492 - - - - - - - - 14.92 14.58 14.92
5316 471.5 -8.2 194 5329 done -0.72 - - 2654 - 2.47 0.070 2774 570.0 -116.8 - - 3492 - - - - - - - - 14.68 14.51 14.71
5650 500.0 -8.7 206 5663 done -0.72 - - 2655 - - - 2773 - -116.8 - - 3491 - - - - - - - - 14.93 14.92 14.91
5986 529.2 -8.7 212 5999 roll -0.72 - - 2655 - 2.40 0.046 1370 -584.6 -116.8 - - 3489 - - - - - - - - 14.93 14.56 14.92
6032 533.1 -8.6 218 6045 done -0.72 - - 2645 - 2.47 0.070 2768 566.0 -116.8 - - 3489 - - - - - - - - 14.66 14.48 14.69
6387 564.2 -8.8 226 6400 roll -0.72 - - 2636 - 1.95 0.110 3820 539.5 -116.8 - - 3487 - - - - - - - - 14.91 14.40 14.91
6454 570.4 -9.1 235 6467 done -0.72 0.10 0.233 2666 300.0 1.75 0.044 2761 -605.1 -116.8 - - 3486 - - - - - - - - 14.34 14.65 14.57
6788 596.1 -7.7 247 6801 roll -0.72 - - 2666 - 2.35 0.047 1375 -589.8 -116.8 - - 3485 - - - - - - - - 14.90 14.54 14.90
6827 599.3 -8.2 252 6840 done -0.72 - - 2655 - 2.45 0.069 2761 565.7 -116.8 - - 3485 - - - - - - - - 14.64 14.47 14.67
7189 628.3 -8.1 261 7202 roll -0.72 - - 2648 - 1.98 0.113 3823 536.4 -116.8 - - 3483 - - - - - - - - 14.92 14.33 14.90
7235 632.2 -9.1 267 7248 done -0.72 - - 2647 - 1.77 0.046 2754 -604.0 -116.8 - - 3483 - - - - - - - - 14.72 14.70 14.73
7590 662.7 -8.7 275 7602 done -0.72 - - 2647 - - - 2754 - -116.8 - - 3482 - - - - - - - - 14.90 14.88 14.90
7926 690.9 -8.4 281 7939 done -0.72 - - 2647 - - - 2754 - -116.8 - - 3480 - - - - - - - - 14.89 14.89 14.90
8261 717.6 -7.9 287 8274 done -0.72 - - 2647 - - - 2754 - -116.8 - - 3479 - - - - - - - - 14.89 14.89 14.89
8598 743.6 -7.7 293 8611 done -0.72 - - 2643 - - - 2754 - -116.8 - - 3478 - - - - - - - - 14.89 14.89 14.89
8934 769.1 -7.6 299 8947 roll -0.72 - - 2655 - 2.38 0.047 1368 -582.4 -116.8 - - 3477 - - - - - - - - 14.88 14.51 14.89
8980 772.7 -8.0 305 8993 done -0.72 - - 2638 - 2.50 0.072 2767 559.6 -116.8 - - 3477 - - - - - - - - 14.62 14.44 14.65
9335 800.7 -7.9 313 9348 roll -0.72 - - 2630 - 1.98 0.112 3823 533.3 -116.8 - - 3476 - - - - - - - - 14.90 14.32 14.90
9416 807.6 -8.4 324 9429 done -0.72 0.12 0.223 2666 300.0 1.77 0.047 2761 -600.0 -116.8 - - 3475 - - - - - - - - 14.25 14.57 14.50
9736 828.9 -6.7 334 9749 roll -0.72 - - 2666 - 2.38 0.045 1369 -584.9 -116.8 - - 3474 - - - - - - - - 14.86 14.49 14.86
9789 832.9 -7.7 341 9803 done -0.72 - - 2657 - 2.50 0.070 2761 556.8 -116.8 - - 3474 - - - - - - - - 14.59 14.41 14.62
10133 856.9 -7.0 348 10146 done -0.72 - - 2657 - - - 2761 - -116.8 - - 3473 - - - - - - - - 14.86 14.88 14.87
10469 882.6 -7.8 354 10482 done -0.72 - - 2658 - - - 2763 - -116.8 - - 3472 - - - - - - - - 14.87 14.87 14.88
10805 908.2 -7.8 360 10819 roll -0.72 - - 2657 - 2.40 0.047 1377 -577.5 -116.8 - - 3472 - - - - - - - - 14.88 14.46 14.89
10852 911.7 -6.1 366 10865 done -0.72 - - 2648 - 2.47 0.070 2760 559.9 -116.8 - - 3474 - - - - - - - - 14.59 14.40 14.62
11092 end dive: TARGET_DEPTH_EXCEEDED
11092 begin apogee
11098 930.1 -7.5 372 11228 roll -0.23 0.60 0.181 2824 293.3 - - 2237 - - 119.57 1.915 3050 -3.5 0.332 - - - - - - 14.27 14.00 13.26
11229 end apogee: CONTROL_FINISHED_OK
11229 begin climb
11231 934.8 - 374 11374 roll 0.90 1.08 0.099 3172 322.2 2.45 0.057 877 -555.1 116.8 124.10 1.934 2581 -3.8 0.352 - - - - - - 14.00 14.02 13.07
11413 926.8 7.9 403 11427 done 0.75 - - 3172 - 2.47 0.054 2258 559.1 116.8 - - 2572 - - - - - - - - 14.05 13.95 14.07
11775 894.4 9.1 412 11789 roll 0.59 0.28 0.219 3091 -289.3 2.60 0.098 3651 535.8 116.8 - - 2569 - - - - - - - - 14.09 14.24 14.26
11822 890.2 8.1 418 11835 done 0.59 - - 3102 - 2.38 0.042 2262 -583.6 116.8 - - 2568 - - - - - - - - 14.48 14.41 14.50
12176 864.9 7.0 426 12201 done 0.60 - - 3102 - - - 2258 - 132.2 15.30 2.052 2522 -3.0 0.244 - - - - - - 14.73 14.45 13.75
12513 840.0 7.7 432 12526 roll 0.60 - - 3101 - 2.65 0.103 3658 528.3 132.4 - - 2514 - - - - - - - - 14.72 14.32 14.72
12574 834.4 8.6 440 12588 done 0.52 0.15 0.228 3071 -200.0 2.42 0.043 2243 -584.7 132.4 - - 2509 - - - - - - - - 14.26 14.49 14.48
12916 810.2 7.0 453 12942 done 0.54 - - 3071 - - - 2244 - 148.0 17.30 2.001 2460 -2.8 0.221 - - - - - - 14.76 14.49 13.75
13252 785.7 7.2 459 13270 roll 0.55 - - 3071 - 2.62 0.103 3652 537.4 159.1 5.03 1.996 2420 -8.0 0.604 - - - - - - 14.71 14.41 13.49
13345 777.9 7.0 472 13385 done 0.57 - - 3080 - 2.40 0.043 2248 -585.0 174.7 25.77 1.902 2349 -2.8 0.217 - - - - - - 14.57 14.50 13.64
13707 753.1 7.4 488 13720 done 0.58 - - 3080 - - - 2248 - 181.7 1.55 0.246 2324 -16.1 9.527 - - - - - - 14.67 14.42 14.14
14042 728.2 7.5 494 14067 roll 0.59 - - 3081 - 2.70 0.104 3653 520.4 188.2 12.88 2.010 2294 -2.3 0.163 - - - - - - 14.75 14.41 13.76
14101 723.5 8.6 502 14114 done 0.59 - - 3089 - 2.40 0.042 2259 -580.8 188.2 - - 2290 - - - - - - - - 14.58 14.46 14.55
14441 696.0 8.1 515 14455 roll 0.59 - - 3100 - 2.42 0.063 863 -576.9 188.2 - - 2288 - - - - - - - - 14.73 14.42 14.73
14466 693.9 8.2 518 14479 done 0.59 - - 3100 - 2.42 0.057 2263 578.5 188.2 - - 2288 - - - - - - - - 14.57 14.44 14.58
14786 666.1 8.8 528 14800 roll 0.59 - - 3100 - 2.58 0.104 3656 539.9 188.2 - - 2287 - - - - - - - - 14.78 14.35 14.78
14853 659.3 10.0 537 14867 done 0.59 - - 3109 - 2.38 0.041 2261 -586.1 188.2 - - 2288 - - - - - - - - 14.62 14.53 14.63
15187 628.3 9.4 549 15200 done 0.59 - - 3109 - - - 2254 - 188.2 - - 2287 - - - - - - - - 14.83 14.84 14.81
15523 597.3 9.2 555 15537 roll 0.59 - - 3109 - 2.62 0.103 3655 534.7 188.2 - - 2287 - - - - - - - - 14.83 14.36 14.83
15604 589.1 10.3 566 15618 done 0.59 - - 3118 - 2.38 0.043 2259 -586.6 188.2 - - 2287 - - - - - - - - 14.63 14.54 14.65
15924 559.7 9.1 576 15937 roll 0.59 - - 3129 - 2.42 0.064 863 -576.9 188.2 - - 2284 - - - - - - - - 14.82 14.42 14.83
15977 554.9 8.8 583 15991 done 0.59 0.12 0.213 3093 -300.0 2.45 0.057 2262 571.0 188.2 - - 2287 - - - - - - - - 14.28 14.45 14.52
16321 530.1 7.1 590 16352 roll 0.61 - - 3093 - 2.62 0.103 3660 533.6 202.8 15.20 1.778 2232 -3.6 0.208 - - - - - - 14.83 14.51 13.88
16392 524.9 7.7 600 16405 done 0.61 - - 3102 - 2.38 0.041 2260 -588.2 204.8 - - 2231 - - - - - - - - 14.59 14.51 14.60
16719 502.5 6.9 611 16757 roll 0.63 - - 3112 - 2.50 0.065 858 -560.8 223.9 23.35 1.656 2149 -3.5 0.206 - - - - - - 14.76 14.41 13.79
16777 498.4 6.8 619 16815 done 0.66 - - 3111 - 2.47 0.057 2271 572.1 244.5 22.50 1.636 2068 -3.6 0.212 - - - - - - 14.50 14.38 13.67
17172 466.8 8.2 633 17185 roll 0.66 - - 3111 - 2.58 0.104 3654 536.0 244.5 - - 2060 - - - - - - - - 14.66 14.29 14.67
17260 458.3 9.4 645 17273 done 0.66 - - 3120 - 2.38 0.042 2263 -584.5 244.5 - - 2060 - - - - - - - - 14.54 14.47 14.57
17628 426.5 8.7 655 17642 roll 0.66 - - 3130 - 2.45 0.065 856 -574.3 244.5 - - 2059 - - - - - - - - 14.75 14.39 14.75
17681 421.8 8.6 662 17695 done 0.66 - - 3130 - 2.47 0.058 2272 573.3 244.5 - - 2059 - - - - - - - - 14.56 14.41 14.58
18025 391.8 8.7 669 18038 roll 0.66 - - 3130 - 2.58 0.104 3660 538.0 244.5 - - 2058 - - - - - - - - 14.80 14.35 14.81
18058 388.6 9.8 673 18071 done 0.66 - - 3140 - 2.38 0.042 2261 -587.8 244.5 - - 2058 - - - - - - - - 14.62 14.53 14.64
18426 355.6 8.8 683 18439 done 0.66 - - 3148 - - - 2257 - 244.5 - - 2060 - - - - - - - - 14.81 14.81 14.81
18763 326.0 8.3 689 18776 roll 0.66 - - 3144 - 2.62 0.103 3657 534.4 244.5 - - 2058 - - - - - - - - 14.82 14.36 14.82
18801 322.3 9.7 694 18815 done 0.66 0.12 0.226 3115 -241.7 2.38 0.041 2262 -586.1 244.5 - - 2058 - - - - - - - - 14.28 14.56 14.54
19164 294.4 7.6 703 19177 roll 0.66 - - 3124 - 2.42 0.062 854 -581.8 247.1 - - 2058 - - - - - - - - 14.82 14.45 14.82
19210 290.2 8.3 709 19223 done 0.66 - - 3124 - 2.45 0.056 2273 579.2 247.1 - - 2058 - - - - - - - - 14.61 14.46 14.64
19565 263.3 7.8 717 19578 roll 0.66 - - 3124 - 2.55 0.103 3658 543.1 247.1 - - 2057 - - - - - - - - 14.83 14.33 14.83
19618 258.6 9.1 724 19632 done 0.66 - - 3134 - 2.38 0.041 2259 -587.8 247.1 - - 2058 - - - - - - - - 14.64 14.56 14.66
19962 228.8 8.8 731 19975 roll 0.66 - - 3144 - 2.40 0.063 864 -581.2 247.1 - - 2059 - - - - - - - - 14.83 14.43 14.83
19987 226.5 8.8 734 20000 done 0.66 - - 3144 - 2.42 0.056 2267 579.8 247.1 - - 2058 - - - - - - - - 14.61 14.46 14.64
20306 196.7 9.4 744 20319 done 0.66 - - 3144 - - - 2266 - 247.1 - - 2058 - - - - - - - - 14.83 14.83 14.82
20643 166.1 9.1 750 20656 roll 0.66 - - 3144 - 2.58 0.103 3662 541.1 247.1 - - 2058 - - - - - - - - 14.84 14.34 14.84
20674 162.9 9.7 754 20688 done 0.66 0.12 0.223 3117 -225.0 2.38 0.041 2254 -591.6 247.1 - - 2059 - - - - - - - - 14.22 14.56 14.45
21044 135.3 7.3 764 21061 roll 0.67 - - 3126 - 2.38 0.063 859 -586.1 256.5 5.05 1.457 2033 -5.1 0.092 - - - - - - 14.85 14.62 13.85
21094 131.7 7.2 771 21126 done 0.77 - - 3126 - 2.42 0.054 2264 580.6 267.9 18.45 1.270 1975 -3.1 0.063 - - - - - - 14.64 14.50 14.03
21441 103.5 8.5 785 21454 done 0.77 - - 3126 - - - 2264 - 267.9 - - 1968 - - - - - - - - 14.76 14.77 14.77
21748 81.2 7.4 795 21762 roll 0.88 0.08 0.147 3210 1050.0 2.50 0.060 862 -560.8 274.6 1.40 0.205 1956 -8.6 0.655 - - - - - - 14.53 14.41 14.23
21788 78.2 7.8 800 21802 done 0.88 0.08 0.242 3186 -300.0 2.40 0.055 2262 583.3 274.6 - - 1962 - - - - - - - - 14.32 14.47 14.53
22123 59.7 5.2 814 22167 roll 0.95 - - 3195 - 2.50 0.061 855 -562.8 330.2 29.27 0.356 1734 -7.8 0.252 - - - - - - 14.82 14.52 14.22
22244 53.1 4.8 831 22290 done 1.14 0.15 0.092 3286 606.7 2.45 0.054 2282 582.4 393.8 32.25 0.334 1482 -7.8 0.240 - - - - - - 14.53 14.45 14.19
22604 22.4 9.9 849 22617 roll 1.14 - - 3295 - 2.47 0.063 861 -575.3 393.8 - - 1484 - - - - - - - - 14.80 14.42 14.76
22685 17.3 5.4 860 22726 done 1.20 - - 3294 - 2.40 0.054 2272 587.9 444.1 25.00 0.224 1281 -8.1 0.121 - - - - - - 14.54 14.40 14.22
22943 end climb: SURFACE_DEPTH_REACHED
22943 begin surface coast
22972 end surface coast: CONTROL_FINISHED_OK
22972 begin surface
SM -5.85 - - - - -8.39 9.07 0.073 187 20.6 0.88 0.081 2768 -7370.5 500.14 26.48 0.164 1056 39.9 0.145 - - - - - -