SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 234 * Raw log
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• Previous call tries 1 • 90.95 of 350.00 AH used of 24V (74.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -3.74 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 3 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
18 - - - 96 done -0.93 - - 118 - - - 2781 - -107.1 -75.05 - 3478 - - - - - - - - 14.59 12.96 14.59
98 -1.9 -6.3 2 120 roll -0.93 11.93 0.393 2592 207.4 2.38 0.035 1363 -595.8 -107.1 - - 3479 - - - - - - - - 14.09 14.39 14.40
125 20.5 -54.9 7 133 done 0.12 1.20 0.246 2915 269.2 2.55 0.073 2759 547.5 -107.1 - - 3479 - - - - - - - - 14.12 14.30 14.36
455 42.6 -5.2 21 462 roll -0.18 0.20 0.084 2820 -475.0 2.33 0.043 1379 -592.3 -107.1 - - 3482 - - - - - - - - 14.49 14.45 14.54
489 45.3 -8.0 26 497 done -0.35 - - 2812 - 2.47 0.066 2760 559.1 -107.1 - - 3481 - - - - - - - - 14.45 14.36 14.48
819 68.5 -6.5 40 827 roll -0.52 0.20 0.076 2698 -570.0 1.95 0.106 3835 551.3 -107.1 - - 3482 - - - - - - - - 14.52 14.38 14.57
909 77.0 -9.1 53 917 done -0.52 0.08 0.211 2721 287.5 1.80 0.037 2753 -601.1 -107.1 - - 3483 - - - - - - - - 14.30 14.57 14.45
1239 98.7 -5.8 67 1246 roll -0.52 - - 2713 - 2.05 0.104 3833 526.8 -107.1 - - 3487 - - - - - - - - 14.79 14.38 14.79
1322 104.2 -7.0 79 1330 done -0.52 - - 2712 - 1.77 0.038 2754 -609.6 -107.1 - - 3483 - - - - - - - - 14.59 14.57 14.59
1687 127.2 -6.1 89 1690 done -0.52 - - 2713 - - - 2754 - -107.1 - - 3483 - - - - - - - - 14.81 14.81 14.82
2023 148.2 -6.3 95 2030 roll -0.60 - - 2713 - 2.30 0.044 1386 -594.8 -107.1 - - 3481 - - - - - - - - 14.83 14.53 14.83
2092 152.8 -6.6 105 2100 done -0.70 - - 2703 - 2.47 0.067 2774 561.9 -107.1 - - 3480 - - - - - - - - 14.54 14.45 14.57
2415 176.3 -7.4 116 2418 done -0.70 - - 2703 - - - 2774 - -107.1 - - 3475 - - - - - - - - 14.83 14.83 14.83
2751 201.2 -7.4 122 2758 roll -0.77 0.10 0.116 2632 -710.0 2.35 0.044 1381 -592.8 -107.1 - - 3475 - - - - - - - - 14.60 14.48 14.66
2807 206.6 -10.1 130 2814 done -0.77 - - 2622 - 2.45 0.067 2769 566.5 -107.1 - - 3475 - - - - - - - - 14.61 14.45 14.64
3143 243.0 -10.9 143 3146 done -0.77 - - 2623 - - - 2769 - -107.1 - - 3472 - - - - - - - - 14.83 14.82 14.82
3479 277.8 -10.2 149 3492 roll -0.77 - - 2614 - 1.95 0.106 3833 545.6 -107.1 - - 3470 - - - - - - - - 14.89 14.45 14.89
3532 283.3 -10.5 156 3547 done -0.68 0.22 0.210 2679 295.5 1.75 0.043 2773 -605.7 -107.1 - - 3470 - - - - - - - - 14.34 14.66 14.57
3876 308.9 -7.4 163 3889 roll -0.68 - - 2680 - 2.35 0.045 1376 -594.5 -107.1 - - 3467 - - - - - - - - 14.92 14.59 14.95
3950 314.4 -7.2 173 3963 done -0.68 - - 2670 - 2.47 0.068 2778 567.6 -107.1 - - 3467 - - - - - - - - 14.67 14.52 14.70
4277 339.3 -7.7 184 4290 done -0.68 - - 2670 - - - 2778 - -107.1 - - 3465 - - - - - - - - 14.92 14.92 14.92
4613 365.0 -7.6 190 4626 done -0.68 - - 2670 - - - 2778 - -107.1 - - 3463 - - - - - - - - 14.93 14.93 14.93
4949 392.4 -8.3 196 4962 roll -0.68 - - 2670 - 2.40 0.044 1378 -583.3 -107.1 - - 3461 - - - - - - - - 14.93 14.57 14.94
5051 401.3 -8.6 210 5064 done -0.68 - - 2660 - 2.47 0.069 2774 565.2 -107.1 - - 3461 - - - - - - - - 14.67 14.51 14.70
5406 432.9 -9.0 218 5419 roll -0.68 - - 2660 - 2.38 0.045 1381 -585.3 -107.1 - - 3458 - - - - - - - - 14.92 14.57 14.92
5487 440.1 -8.7 229 5500 done -0.68 0.10 0.240 2679 190.0 2.47 0.070 2775 564.4 -107.1 - - 3458 - - - - - - - - 14.34 14.51 14.58
5807 464.4 -7.5 239 5820 roll -0.68 - - 2679 - 2.38 0.045 1385 -584.0 -107.1 - - 3457 - - - - - - - - 14.91 14.57 14.92
5860 468.3 -7.3 246 5874 done -0.68 - - 2669 - 2.47 0.071 2771 561.1 -107.1 - - 3456 - - - - - - - - 14.66 14.49 14.69
6204 492.6 -7.0 253 6218 roll -0.68 - - 2661 - 1.95 0.111 3826 541.0 -107.1 - - 3455 - - - - - - - - 14.90 14.41 14.91
6285 498.5 -7.1 264 6299 done -0.68 - - 2661 - 1.75 0.044 2757 -610.9 -107.1 - - 3454 - - - - - - - - 14.72 14.67 14.73
6606 520.2 -6.8 274 6619 roll -0.68 - - 2660 - 2.33 0.045 1377 -592.3 -107.1 - - 3453 - - - - - - - - 14.92 14.55 14.92
6694 526.6 -6.9 286 6707 done -0.68 - - 2651 - 2.47 0.070 2759 559.5 -107.1 - - 3452 - - - - - - - - 14.64 14.47 14.67
7063 554.5 -7.7 296 7076 done -0.68 - - 2651 - - - 2760 - -107.1 - - 3449 - - - - - - - - 14.94 14.92 14.92
7399 581.1 -8.0 302 7412 roll -0.68 0.08 0.262 2677 325.0 2.35 0.044 1384 -585.5 -107.1 - - 3449 - - - - - - - - 14.35 14.53 14.45
7438 584.2 -7.9 307 7452 done -0.68 - - 2674 - 2.47 0.071 2767 559.9 -107.1 - - 3446 - - - - - - - - 14.59 14.45 14.62
7800 613.6 -8.5 316 7814 roll -0.68 - - 2659 - 1.98 0.111 3826 534.8 -107.1 - - 3448 - - - - - - - - 14.92 14.38 14.92
7854 618.6 -9.3 323 7867 done -0.68 - - 2659 - 1.77 0.044 2769 -597.2 -107.1 - - 3447 - - - - - - - - 14.70 14.63 14.71
8198 648.2 -8.5 330 8211 roll -0.68 - - 2659 - 2.38 0.046 1370 -587.8 -107.1 - - 3446 - - - - - - - - 14.89 14.53 14.92
8315 657.9 -8.1 346 8328 done -0.68 0.10 0.241 2677 180.0 2.50 0.070 2757 554.8 -107.1 - - 3444 - - - - - - - - 14.26 14.42 14.50
8658 681.7 -6.8 359 8671 done -0.76 - - 2677 - - - 2757 - -107.1 - - 3445 - - - - - - - - 14.89 14.89 14.88
8992 702.6 -6.2 365 9005 done -0.84 0.10 0.119 2616 -610.0 - - 2757 - -107.1 - - 3444 - - - - - - - - 14.60 14.69 14.66
9328 730.7 -8.6 371 9341 roll -0.84 - - 2615 - 2.40 0.046 1369 -578.3 -107.1 - - 3444 - - - - - - - - 14.90 14.42 14.90
9389 736.0 -8.8 379 9402 done -0.84 - - 2606 - 2.50 0.070 2754 554.0 -107.1 - - 3444 - - - - - - - - 14.59 14.41 14.62
9730 768.2 -9.6 392 9743 roll -0.84 - - 2598 - 2.00 0.110 3821 533.5 -107.1 - - 3442 - - - - - - - - 14.88 14.33 14.88
9762 771.6 -10.5 396 9776 done -0.84 0.10 0.253 2625 270.0 1.80 0.044 2737 -602.2 -107.1 - - 3442 - - - - - - - - 14.26 14.63 14.50
10131 805.8 -9.3 406 10144 roll -0.84 - - 2625 - 2.33 0.046 1375 -584.5 -107.1 - - 3440 - - - - - - - - 14.90 14.48 14.90
10170 809.4 -9.6 411 10183 done -0.84 - - 2616 - 2.47 0.069 2754 558.3 -107.1 - - 3440 - - - - - - - - 14.58 14.41 14.59
10532 843.1 -9.4 420 10545 roll -0.84 - - 2608 - 2.00 0.110 3823 534.5 -107.1 - - 3439 - - - - - - - - 14.86 14.32 14.88
10571 847.0 -9.1 425 10584 done -0.84 - - 2613 - 1.77 0.045 2756 -602.8 -107.1 - - 3439 - - - - - - - - 14.66 14.60 14.68
10933 879.5 -8.9 434 10946 done -0.84 - - 2606 - - - 2756 - -107.1 - - 3438 - - - - - - - - 14.89 14.89 14.89
11269 907.9 -8.3 440 11282 roll -0.84 - - 2606 - 2.38 0.047 1372 -581.5 -107.1 - - 3437 - - - - - - - - 14.88 14.47 14.87
11309 911.2 -6.0 445 11322 done -0.84 0.10 0.268 2623 170.0 2.50 0.070 2757 554.0 -107.1 - - 3437 - - - - - - - - 14.16 14.34 14.45
11613 end dive: TARGET_DEPTH_EXCEEDED
11613 begin apogee
11619 933.8 -7.4 453 11736 roll -0.23 0.68 0.189 2820 289.7 - - 2227 - - 107.43 1.958 3049 -3.6 0.334 - - - - - - 14.22 14.02 13.24
11738 end apogee: CONTROL_FINISHED_OK
11738 begin climb
11740 936.9 - 455 11872 roll 0.93 1.12 0.099 3182 323.2 2.42 0.057 877 -557.9 107.1 114.82 1.965 2621 -3.7 0.344 - - - - - - 14.01 14.03 13.04
12101 912.0 8.7 508 12114 done 0.79 - - 3182 - 2.45 0.056 2262 565.3 107.1 - - 2609 - - - - - - - - 14.33 14.21 14.34
12463 880.0 9.0 517 12477 roll 0.63 0.25 0.230 3119 -252.0 2.42 0.057 877 -572.3 107.1 - - 2608 - - - - - - - - 14.11 14.35 14.29
12685 865.8 6.1 548 12731 done 0.67 - - 3117 - 2.42 0.057 2258 570.7 139.6 34.47 1.925 2494 -3.3 0.288 - - - - - - 14.52 14.38 13.54
13088 837.3 7.4 563 13106 roll 0.68 - - 3118 - 2.62 0.103 3649 530.9 146.7 2.67 1.054 2469 -9.4 1.442 - - - - - - 14.67 14.40 13.19
13189 829.0 8.2 577 13203 done 0.60 0.12 0.236 3094 -200.0 2.35 0.041 2273 -585.5 146.7 1.52 0.273 2465 -2.6 1.549 - - - - - - 14.19 14.47 13.90
13547 805.6 6.4 585 13597 roll 0.63 - - 3088 - 2.62 0.102 3652 526.3 173.1 36.97 1.870 2356 -2.9 0.246 - - - - - - 14.74 14.26 13.57
13644 797.6 8.8 599 13657 done 0.63 - - 3103 - 2.42 0.041 2253 -578.1 173.1 - - 2351 - - - - - - - - 14.40 14.33 14.42
13999 768.5 8.3 607 14012 roll 0.63 - - 3104 - 2.65 0.103 3651 527.5 173.1 - - 2348 - - - - - - - - 14.69 14.31 14.69
14031 765.6 8.9 611 14044 done 0.63 - - 3113 - 2.40 0.042 2248 -584.6 173.1 - - 2348 - - - - - - - - 14.53 14.46 14.55
14400 733.9 8.5 621 14413 roll 0.63 - - 3113 - 2.65 0.103 3656 531.3 173.1 - - 2348 - - - - - - - - 14.76 14.35 14.76
14453 728.6 9.7 628 14467 done 0.63 - - 3123 - 2.40 0.041 2258 -582.5 173.1 - - 2348 - - - - - - - - 14.59 14.52 14.61
14797 699.0 8.5 635 14810 roll 0.63 - - 3133 - 2.42 0.064 863 -576.4 173.1 - - 2347 - - - - - - - - 14.78 14.41 14.78
14829 696.0 9.1 639 14842 done 0.63 - - 3133 - 2.42 0.057 2262 578.1 173.1 - - 2347 - - - - - - - - 14.59 14.45 14.62
15198 664.2 8.6 649 15211 roll 0.63 - - 3133 - 2.58 0.100 3657 540.7 173.1 - - 2346 - - - - - - - - 14.81 14.35 14.81
15300 654.3 9.7 663 15314 done 0.63 0.12 0.237 3110 -191.7 2.40 0.041 2257 -583.3 173.1 - - 2347 - - - - - - - - 14.26 14.54 14.50
15655 627.0 7.5 671 15668 roll 0.64 - - 3119 - 2.45 0.063 861 -569.8 177.9 - - 2346 - - - - - - - - 14.85 14.40 14.82
15687 624.5 7.1 675 15721 done 0.66 - - 3118 - 2.45 0.058 2268 574.3 191.8 19.83 1.810 2280 -3.3 0.223 - - - - - - 14.59 14.43 13.81
16053 593.9 8.8 685 16066 roll 0.66 - - 3119 - 2.58 0.103 3650 535.7 191.8 - - 2275 - - - - - - - - 14.73 14.32 14.78
16098 589.3 9.8 691 16112 done 0.66 - - 3128 - 2.38 0.041 2260 -584.0 191.8 - - 2274 - - - - - - - - 14.58 14.50 14.60
16453 556.5 9.2 699 16467 roll 0.66 - - 3129 - 2.58 0.101 3651 539.1 191.8 - - 2274 - - - - - - - - 14.79 14.27 14.79
16492 552.5 9.7 704 16506 done 0.66 - - 3139 - 2.38 0.041 2259 -584.9 191.8 - - 2274 - - - - - - - - 14.59 14.51 14.62
16855 521.2 8.5 713 16868 done 0.66 - - 3140 - - - 2254 - 191.8 - - 2274 - - - - - - - - 14.80 14.80 14.80
17191 493.1 8.3 719 17204 roll 0.66 - - 3139 - 2.62 0.100 3654 534.4 191.8 - - 2274 - - - - - - - - 14.79 14.33 14.81
17223 489.9 9.8 723 17236 done 0.66 0.12 0.233 3116 -191.7 2.38 0.042 2261 -585.3 191.8 - - 2274 - - - - - - - - 14.21 14.52 14.53
17592 461.7 7.6 733 17605 roll 0.66 - - 3116 - 2.62 0.102 3650 530.2 195.6 - - 2274 - - - - - - - - 14.84 14.33 14.84
17695 453.9 8.5 747 17708 done 0.66 - - 3124 - 2.38 0.041 2262 -583.2 195.6 - - 2274 - - - - - - - - 14.61 14.52 14.62
18049 425.7 8.0 755 18063 roll 0.66 - - 3134 - 2.45 0.064 862 -571.4 195.6 - - 2273 - - - - - - - - 14.83 14.39 14.82
18081 423.1 7.8 759 18095 done 0.66 - - 3133 - 2.45 0.057 2274 576.3 195.6 - - 2274 - - - - - - - - 14.58 14.43 14.61
18450 392.3 8.5 769 18463 done 0.66 - - 3134 - - - 2274 - 195.6 - - 2274 - - - - - - - - 14.83 14.83 14.82
18786 363.3 8.6 775 18800 roll 0.66 - - 3134 - 2.58 0.103 3659 536.8 195.6 - - 2274 - - - - - - - - 14.83 14.32 14.83
18818 360.2 9.3 779 18832 done 0.66 0.10 0.240 3116 -180.0 2.35 0.041 2275 -588.9 195.6 - - 2273 - - - - - - - - 14.23 14.55 14.47
19188 332.5 7.4 789 19206 done 0.67 - - 3117 - - - 2270 - 202.9 9.60 1.660 2243 -3.1 0.121 - - - - - - 14.85 14.62 13.90
19524 307.9 7.3 795 19548 roll 0.68 - - 3117 - 2.60 0.102 3648 530.0 212.0 9.98 1.618 2200 -4.3 0.159 - - - - - - 14.79 14.51 13.90
19566 304.4 7.8 801 19580 done 0.68 - - 3125 - 2.33 0.041 2276 -588.8 212.0 - - 2198 - - - - - - - - 14.61 14.53 14.62
19922 277.1 7.7 809 19935 done 0.68 - - 3125 - - - 2273 - 212.9 - - 2197 - - - - - - - - 14.77 14.77 14.77
20258 250.2 8.1 815 20271 roll 0.68 - - 3122 - 2.60 0.102 3654 531.2 212.9 - - 2197 - - - - - - - - 14.79 14.35 14.79
20290 247.2 9.1 819 20303 done 0.68 - - 3133 - 2.35 0.041 2272 -588.1 212.9 - - 2197 - - - - - - - - 14.62 14.54 14.64
20658 216.4 8.3 829 20671 done 0.68 - - 3134 - - - 2267 - 212.9 - - 2197 - - - - - - - - 14.83 14.83 14.83
20995 190.6 7.8 835 21007 done 0.68 - - 3134 - - - 2267 - 212.9 - - 2193 - - - - - - - - 14.82 14.82 14.83
21330 162.7 8.4 841 21344 roll 0.68 - - 3140 - 2.62 0.102 3660 531.7 212.9 - - 2197 - - - - - - - - 14.83 14.32 14.83
21355 162.2 6.4 844 21397 done 0.72 - - 3145 - 2.35 0.040 2265 -593.6 240.0 28.02 1.248 2088 -3.9 0.098 - - - - - - 14.63 14.54 13.98
21728 130.3 8.4 855 21741 roll 0.72 - - 3155 - 2.45 0.063 859 -573.9 240.0 - - 2082 - - - - - - - - 14.74 14.37 14.74
21760 127.7 7.8 859 21773 done 0.72 - - 3155 - 2.45 0.056 2278 579.2 240.0 - - 2081 - - - - - - - - 14.54 14.40 14.57
22129 97.8 8.3 869 22142 roll 0.72 - - 3155 - 2.55 0.102 3657 540.8 240.0 - - 2081 - - - - - - - - 14.78 14.29 14.78
22260 86.3 8.4 887 22274 done 0.72 0.12 0.220 3128 -225.0 2.33 0.039 2281 -590.6 240.0 - - 2081 - - - - - - - - 14.23 14.51 14.49
22589 67.0 5.4 900 22627 roll 0.89 0.10 0.117 3207 790.0 2.50 0.063 862 -567.6 287.8 21.73 0.378 1904 -8.1 0.280 - - - - - - 14.52 14.50 14.20
22716 57.6 6.9 918 22737 done 0.91 - - 3207 - 2.45 0.054 2286 581.2 303.9 8.65 0.342 1839 -7.5 0.245 - - - - - - 14.57 14.44 14.13
23066 40.2 3.8 934 23119 roll 1.10 0.08 0.150 3274 837.5 2.50 0.097 3659 549.2 382.2 38.53 0.298 1528 -8.1 0.211 - - - - - - 14.47 14.45 14.23
23270 22.1 9.8 963 23284 done 1.10 - - 3283 - 2.30 0.038 2289 -595.7 382.2 - - 1527 - - - - - - - - 14.59 14.52 14.61
23605 3.4 6.1 977 23638 roll 1.14 - - 3283 - 2.58 0.099 3651 527.9 414.7 15.52 0.183 1397 -8.4 0.030 - - - - - - 14.79 14.38 14.30
23641 end climb: SURFACE_DEPTH_REACHED
23641 begin surface coast
23648 end surface coast: CONTROL_FINISHED_OK
23648 begin surface
SM -4.11 - - - - -8.40 9.20 0.081 194 21.1 1.52 0.037 2723 -3790.1 500.14 38.85 0.162 1058 27.2 0.071 - - - - - -