SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 267 * Raw log
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• Previous call tries 1 • 101.58 of 350.00 AH used of 24V (70.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth -1.66 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 44 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 182 - - - 2779 - -107.1 -76.45 - 3479 - - - - - - - - 14.64 12.81 14.64
94 - -4.9 2 114 roll -0.93 11.50 0.389 2594 209.7 2.38 0.032 1358 -597.1 -107.1 - - 3480 - - - - - - - - 14.09 14.42 14.42
147 29.1 -28.6 11 154 done -0.57 0.47 0.261 2707 240.4 2.55 0.070 2760 549.8 -107.1 - - 3480 - - - - - - - - 14.06 14.28 14.26
477 73.9 -8.6 25 484 roll -0.57 - - 2699 - 2.00 0.109 3820 530.0 -107.1 - - 3477 - - - - - - - - 14.81 14.32 14.82
680 94.3 -17.1 54 686 done -0.57 - - 2700 - 1.75 0.040 2760 -605.7 -107.1 - - 3483 - - - - - - - - 14.60 14.57 14.65
1037 121.4 -7.1 64 1043 roll -0.57 - - 2700 - 2.33 0.044 1397 -585.0 -107.1 - - 3484 - - - - - - - - 14.90 14.50 14.90
1199 133.6 -7.2 87 1205 done -0.57 - - 2690 - 2.47 0.070 2786 562.3 -107.1 - - 3483 - - - - - - - - 14.55 14.45 14.59
1541 158.8 -7.3 94 1547 roll -0.57 - - 2690 - 2.40 0.042 1384 -584.2 -107.1 - - 3483 - - - - - - - - 14.93 14.54 14.92
1617 164.6 -7.3 105 1625 done -0.57 0.10 0.207 2711 210.0 2.50 0.068 2778 557.6 -107.1 - - 3483 - - - - - - - - 14.33 14.47 14.48
1933 185.7 -6.7 115 1934 done -0.66 - - 2711 - - - 2779 - -107.1 - - 3481 - - - - - - - - 14.94 14.94 14.94
2269 207.9 -6.7 121 2276 roll -0.76 0.10 0.112 2639 -720.0 2.33 0.042 1393 -594.8 -107.1 - - 3479 - - - - - - - - 14.68 14.57 14.73
2394 219.4 -9.2 139 2401 done -0.76 - - 2629 - 2.50 0.067 2779 554.4 -107.1 - - 3478 - - - - - - - - 14.56 14.47 14.61
2717 251.1 -9.9 150 2723 roll -0.76 - - 2621 - 1.98 0.110 3824 527.8 -107.1 - - 3475 - - - - - - - - 14.95 14.37 14.95
2779 257.6 -10.5 159 2786 done -0.68 0.20 0.211 2680 295.0 1.75 0.041 2796 -587.4 -107.1 - - 3474 - - - - - - - - 14.33 14.69 14.57
3109 283.5 -7.9 171 3114 roll -0.68 - - 2680 - 2.42 0.043 1377 -586.4 -107.1 - - 3473 - - - - - - - - 14.94 14.52 14.94
3157 287.4 -7.8 178 3165 done -0.68 - - 2670 - 2.53 0.067 2778 553.8 -107.1 - - 3472 - - - - - - - - 14.54 14.44 14.59
3501 314.9 -8.1 185 3502 done -0.68 - - 2669 - - - 2779 - -107.1 - - 3470 - - - - - - - - 14.94 14.94 14.93
3837 341.5 -7.9 191 3843 roll -0.68 - - 2669 - 2.42 0.043 1378 -578.9 -107.1 - - 3472 - - - - - - - - 14.94 14.52 14.93
3934 349.3 -7.8 205 3941 done -0.68 - - 2661 - 2.53 0.067 2779 553.8 -107.1 - - 3467 - - - - - - - - 14.54 14.45 14.58
4285 377.5 -8.1 213 4291 roll -0.68 - - 2660 - 2.42 0.042 1378 -578.9 -107.1 - - 3466 - - - - - - - - 14.93 14.50 14.94
4361 383.7 -7.9 224 4368 done -0.68 - - 2651 - 2.50 0.067 2772 557.6 -107.1 - - 3465 - - - - - - - - 14.54 14.44 14.58
4677 409.0 -8.1 234 4683 roll -0.68 0.17 0.083 2674 135.3 2.38 0.042 1368 -589.9 -107.1 - - 3463 - - - - - - - - 14.63 14.55 14.70
4718 413.4 -10.8 240 4725 done -0.54 0.25 0.235 2713 156.0 2.53 0.066 2774 555.7 -107.1 - - 3463 - - - - - - - - 14.14 14.43 14.33
5069 446.8 -9.5 248 5075 roll -0.54 - - 2703 - 2.00 0.110 3828 527.0 -107.1 - - 3461 - - - - - - - - 14.93 14.31 14.93
5103 450.3 -10.3 253 5111 done -0.45 0.12 0.230 2750 391.7 1.83 0.041 2754 -586.9 -107.1 - - 3461 - - - - - - - - 14.28 14.66 14.42
5461 478.7 -7.8 262 5467 roll -0.45 - - 2732 - 2.08 0.109 3827 515.9 -107.1 - - 3458 - - - - - - - - 14.95 14.31 14.95
5495 481.5 -8.4 267 5501 done -0.45 - - 2734 - 1.83 0.043 2769 -578.1 -107.1 - - 3459 - - - - - - - - 14.71 14.65 14.72
5853 509.7 -7.9 276 5859 roll -0.45 - - 2729 - 2.40 0.043 1377 -580.0 -107.1 - - 3458 - - - - - - - - 14.93 14.47 14.91
5915 514.7 -7.9 285 5923 done -0.45 0.10 0.227 2745 160.0 2.53 0.066 2772 551.4 -107.1 - - 3458 - - - - - - - - 14.19 14.44 14.36
6245 537.5 -6.9 297 6246 done -0.45 - - 2744 - - - 2772 - -107.1 - - 3456 - - - - - - - - 14.94 14.92 14.92
6581 561.5 -7.1 303 6587 roll -0.45 - - 2745 - 2.45 0.044 1378 -569.0 -107.1 - - 3455 - - - - - - - - 14.92 14.44 14.92
6650 566.5 -7.1 313 6657 done -0.45 - - 2732 - 2.53 0.067 2771 550.6 -107.1 - - 3454 - - - - - - - - 14.47 14.38 14.52
6973 590.7 -7.6 324 6979 roll -0.45 - - 2722 - 2.00 0.113 3818 523.5 -107.1 - - 3453 - - - - - - - - 14.95 14.25 14.94
7014 594.2 -8.4 330 7021 done -0.45 0.10 0.227 2753 310.0 1.83 0.044 2762 -577.0 -107.1 - - 3453 - - - - - - - - 14.28 14.62 14.50
7365 619.7 -7.4 338 7371 roll -0.45 - - 2748 - 2.40 0.044 1375 -577.9 -107.1 - - 3451 - - - - - - - - 14.94 14.45 14.94
7448 626.0 -7.5 350 7455 done -0.53 - - 2733 - 2.53 0.067 2766 549.8 -107.1 - - 3451 - - - - - - - - 14.44 14.33 14.48
7813 655.0 -8.1 360 7813 done -0.53 - - 2733 - - - 2766 - -107.1 - - 3449 - - - - - - - - 14.91 14.91 14.92
8149 681.3 -7.8 366 8150 done -0.53 - - 2732 - - - 2766 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
8485 704.3 -6.7 372 8491 roll -0.53 - - 2724 - 2.05 0.116 3830 519.0 -107.1 - - 3447 - - - - - - - - 14.94 14.21 14.94
8526 707.1 -7.0 378 8532 done -0.53 - - 2723 - 1.85 0.046 2773 -571.4 -107.1 - - 3447 - - - - - - - - 14.65 14.59 14.67
8877 729.1 -6.1 386 8883 roll -0.53 - - 2722 - 2.45 0.044 1370 -572.7 -107.1 - - 3446 - - - - - - - - 14.91 14.38 14.91
8925 732.3 -6.8 393 8934 done -0.53 - - 2714 - 2.58 0.070 2777 545.3 -107.1 - - 3445 - - - - - - - - 14.40 14.30 14.45
9269 754.9 -6.6 400 9275 roll -0.53 - - 2714 - 2.50 0.044 1367 -564.0 -107.1 - - 3443 - - - - - - - - 14.90 14.38 14.90
9317 758.2 -6.9 407 9325 done -0.53 - - 2708 - 2.55 0.068 2762 547.1 -107.1 - - 3448 - - - - - - - - 14.41 14.31 14.45
9661 783.3 -7.4 414 9667 roll -0.53 - - 2695 - 2.05 0.114 3824 518.0 -107.1 - - 3445 - - - - - - - - 14.90 14.18 14.90
9709 787.5 -9.0 421 9718 done -0.53 0.10 0.238 2722 270.0 1.88 0.044 2749 -571.8 -107.1 - - 3444 - - - - - - - - 14.20 14.59 14.45
10053 811.2 -6.9 428 10059 roll -0.53 - - 2723 - 2.40 0.044 1375 -572.5 -107.1 - - 3443 - - - - - - - - 14.89 14.35 14.89
10087 814.1 -7.2 433 10095 done -0.53 - - 2714 - 2.55 0.069 2770 547.1 -107.1 - - 3444 - - - - - - - - 14.42 14.32 14.46
10445 839.5 -7.2 442 10451 roll -0.53 - - 2713 - 2.47 0.045 1371 -566.4 -107.1 - - 3442 - - - - - - - - 14.91 14.33 14.91
10479 842.0 -7.4 447 10486 done -0.53 - - 2704 - 2.55 0.068 2766 547.1 -107.1 - - 3442 - - - - - - - - 14.39 14.28 14.45
10837 867.3 -7.1 456 10843 roll -0.53 - - 2698 - 2.05 0.115 3821 514.6 -107.1 - - 3441 - - - - - - - - 14.89 14.14 14.88
10885 870.9 -7.6 463 10893 done -0.53 0.10 0.236 2725 270.0 1.88 0.045 2750 -569.7 -107.1 - - 3441 - - - - - - - - 14.15 14.54 14.41
11229 892.4 -6.2 470 11235 roll -0.53 - - 2725 - 2.40 0.045 1376 -572.5 -107.1 - - 3439 - - - - - - - - 14.91 14.34 14.91
11270 895.0 -4.7 476 11277 done -0.53 - - 2717 - 2.55 0.068 2765 544.7 -107.1 - - 3439 - - - - - - - - 14.38 14.28 14.44
11621 918.1 -6.6 484 11627 roll -0.53 - - 2718 - 2.42 0.046 1368 -577.3 -107.1 - - 3438 - - - - - - - - 14.90 14.39 14.90
11662 921.0 -4.9 490 11669 done -0.53 - - 2707 - 2.55 0.068 2757 544.7 -107.1 - - 3443 - - - - - - - - 14.32 14.22 14.37
11842 end dive: TARGET_DEPTH_EXCEEDED
11842 begin apogee
11849 933.5 -6.5 495 11962 roll -0.23 0.40 0.187 2820 282.5 0.08 0.177 2264 -6162.5 - 111.18 1.933 3051 -3.5 0.334 - - - - - - 14.16 13.93 13.16
11964 end apogee: CONTROL_FINISHED_OK
11964 begin climb
11966 938.1 - 497 12093 roll 0.93 1.25 0.130 3181 288.8 2.50 0.054 891 -549.2 107.1 117.97 1.945 2623 -3.6 0.343 - - - - - - 13.95 14.00 12.97
12126 931.7 6.4 521 12161 done 0.96 - - 3180 - 2.47 0.050 2240 546.2 133.4 29.15 2.001 2515 -3.7 0.338 - - - - - - 13.92 13.85 13.01
12512 899.9 8.4 534 12518 roll 0.96 - - 3180 - 2.67 0.099 3646 526.6 133.4 - - 2506 - - - - - - - - 14.60 14.20 14.57
12616 890.2 9.3 549 12624 done 0.85 - - 3190 - 2.40 0.041 2267 -574.6 133.4 - - 2506 - - - - - - - - 14.41 14.38 14.43
12960 861.0 8.4 556 12961 done 0.76 0.15 0.232 3150 -266.7 - - 2266 - 133.4 - - 2505 - - - - - - - - 14.14 14.49 14.44
13296 837.9 6.8 562 13323 roll 0.79 - - 3150 - 2.65 0.102 3651 522.6 151.8 20.15 1.967 2437 -3.4 0.282 - - - - - - 14.81 14.37 13.66
13365 832.6 8.0 572 13372 done 0.79 - - 3159 - 2.45 0.041 2256 -569.4 151.8 - - 2435 - - - - - - - - 14.47 14.43 14.51
13688 809.2 7.2 583 13699 done 0.80 - - 3160 - - - 2255 - 162.8 9.95 2.112 2407 -2.8 0.211 - - - - - - 14.74 14.48 13.61
14024 783.1 7.7 589 14029 roll 0.80 - - 3161 - 2.62 0.103 3650 532.4 163.3 - - 2397 - - - - - - - - 14.75 14.31 14.75
14051 780.6 8.6 593 14057 done 0.80 - - 3170 - 2.45 0.041 2252 -570.6 163.3 - - 2397 - - - - - - - - 14.54 14.47 14.56
14416 750.9 8.1 603 14421 roll 0.80 - - 3169 - 2.70 0.101 3653 518.9 163.3 - - 2396 - - - - - - - - 14.80 14.28 14.80
14450 747.7 9.0 608 14456 done 0.80 - - 3179 - 2.42 0.041 2254 -578.1 163.3 - - 2396 - - - - - - - - 14.53 14.49 14.56
14808 717.1 8.6 617 14814 roll 0.80 - - 3189 - 2.45 0.060 874 -563.3 163.3 - - 2396 - - - - - - - - 14.84 14.36 14.84
14828 715.3 8.5 620 14835 done 0.80 0.10 0.212 3161 -280.0 2.47 0.054 2275 567.2 163.3 - - 2396 - - - - - - - - 14.19 14.42 14.36
15144 690.1 7.9 630 15150 roll 0.80 - - 3161 - 2.60 0.104 3648 528.1 163.3 - - 2395 - - - - - - - - 14.86 14.27 14.86
15199 685.2 8.9 638 15206 done 0.80 - - 3170 - 2.42 0.041 2252 -576.9 163.3 - - 2395 - - - - - - - - 14.50 14.47 14.54
15536 658.7 7.8 651 15541 roll 0.80 - - 3171 - 2.70 0.103 3656 520.0 163.3 - - 2395 - - - - - - - - 14.84 14.23 14.84
15592 653.9 8.7 659 15597 done 0.80 - - 3181 - 2.42 0.040 2261 -576.4 163.3 - - 2395 - - - - - - - - 14.51 14.46 14.53
15928 627.3 7.9 672 15933 roll 0.80 - - 3182 - 2.65 0.103 3657 526.8 163.3 - - 2395 - - - - - - - - 14.85 14.28 14.85
15955 624.8 8.8 676 15962 done 0.80 0.10 0.219 3164 -180.0 2.45 0.041 2254 -572.7 163.3 - - 2395 - - - - - - - - 14.14 14.52 14.32
16320 598.8 7.1 686 16337 done 0.82 - - 3164 - - - 2254 - 176.3 16.12 1.834 2347 -3.0 0.191 - - - - - - 14.85 14.55 13.77
16656 573.0 7.7 692 16661 roll 0.82 - - 3163 - 2.62 0.103 3650 532.8 176.3 - - 2337 - - - - - - - - 14.83 14.30 14.80
16753 564.3 8.9 706 16760 done 0.82 - - 3171 - 2.42 0.041 2255 -576.4 176.3 - - 2337 - - - - - - - - 14.50 14.45 14.52
17104 535.3 8.3 714 17105 done 0.82 - - 3172 - - - 2254 - 176.3 - - 2337 - - - - - - - - 14.81 14.81 14.81
17440 507.3 8.3 720 17445 roll 0.82 - - 3173 - 2.67 0.103 3647 521.7 176.3 - - 2336 - - - - - - - - 14.83 14.24 14.83
17488 502.9 9.0 727 17496 done 0.82 - - 3181 - 2.40 0.042 2262 -577.1 176.3 - - 2337 - - - - - - - - 14.52 14.48 14.54
17832 475.4 7.9 734 17838 roll 0.82 - - 3193 - 2.47 0.060 872 -562.8 176.3 - - 2336 - - - - - - - - 14.84 14.31 14.85
17888 471.1 7.7 742 17895 done 0.82 0.08 0.214 3171 -275.0 2.47 0.054 2267 564.8 177.6 - - 2336 - - - - - - - - 14.16 14.35 14.31
18224 448.5 6.7 755 18253 roll 0.84 - - 3171 - 2.65 0.104 3662 526.4 199.4 24.85 1.583 2250 -3.5 0.192 - - - - - - 14.87 14.42 13.78
18321 440.7 8.6 769 18327 done 0.84 - - 3180 - 2.42 0.041 2268 -576.0 199.4 - - 2245 - - - - - - - - 14.45 14.40 14.44
18672 412.9 8.0 777 18677 roll 0.84 - - 3189 - 2.50 0.060 860 -563.2 199.4 - - 2244 - - - - - - - - 14.76 14.29 14.76
18699 410.6 7.9 781 18706 done 0.84 - - 3190 - 2.47 0.054 2265 568.8 199.4 - - 2243 - - - - - - - - 14.44 14.36 14.47
19064 378.9 8.8 791 19069 roll 0.84 - - 3190 - 2.58 0.103 3653 538.0 199.4 - - 2244 - - - - - - - - 14.80 14.26 14.81
19098 375.4 9.9 796 19105 done 0.84 - - 3198 - 2.42 0.041 2260 -575.6 199.4 - - 2244 - - - - - - - - 14.57 14.49 14.59
19456 342.3 9.3 805 19462 roll 0.84 0.10 0.245 3183 -150.0 2.42 0.060 868 -575.2 199.4 - - 2244 - - - - - - - - 14.22 14.34 14.46
19483 339.9 8.5 809 19489 done 0.84 - - 3182 - 2.47 0.053 2274 569.2 199.4 - - 2243 - - - - - - - - 14.45 14.37 14.49
19848 308.2 8.7 819 19853 roll 0.84 - - 3182 - 2.60 0.103 3656 531.5 199.4 - - 2244 - - - - - - - - 14.82 14.21 14.83
19882 304.8 9.7 824 19888 done 0.84 - - 3191 - 2.42 0.040 2252 -580.2 199.4 - - 2244 - - - - - - - - 14.54 14.50 14.56
20240 273.1 8.7 833 20241 done 0.84 - - 3192 - - - 2248 - 199.4 - - 2243 - - - - - - - - 14.84 14.84 14.84
20576 245.0 8.4 839 20581 roll 0.84 - - 3192 - 2.70 0.103 3658 522.2 199.4 - - 2244 - - - - - - - - 14.85 14.19 14.85
20624 240.5 9.4 846 20633 done 0.84 0.08 0.226 3176 -200.0 2.42 0.040 2258 -578.5 199.4 - - 2244 - - - - - - - - 14.14 14.53 14.33
20968 213.1 8.0 853 20974 roll 0.84 - - 3181 - 2.67 0.101 3658 524.3 199.4 - - 2243 - - - - - - - - 14.88 14.22 14.88
20995 210.6 8.9 857 21001 done 0.84 - - 3192 - 2.40 0.039 2275 -576.2 199.4 - - 2244 - - - - - - - - 14.57 14.52 14.58
21360 178.9 8.7 867 21365 roll 0.84 - - 3196 - 2.47 0.060 875 -566.8 199.4 - - 2244 - - - - - - - - 14.85 14.31 14.85
21408 174.7 8.6 874 21417 done 0.84 - - 3201 - 2.45 0.052 2268 568.6 199.4 - - 2244 - - - - - - - - 14.43 14.34 14.47
21752 144.9 8.7 881 21757 roll 0.84 - - 3199 - 2.62 0.103 3658 530.5 199.4 - - 2244 - - - - - - - - 14.86 14.22 14.86
21821 138.1 9.9 891 21828 done 0.84 0.12 0.212 3175 -200.0 2.40 0.037 2259 -582.9 199.4 - - 2245 - - - - - - - - 14.09 14.50 14.28
22144 112.7 7.8 902 22150 roll 0.84 - - 3176 - 2.62 0.099 3661 535.1 199.4 - - 2245 - - - - - - - - 14.85 14.26 14.86
22192 108.6 8.4 909 22200 done 0.84 - - 3189 - 2.40 0.038 2272 -578.8 199.4 - - 2245 - - - - - - - - 14.62 14.54 14.64
22508 89.1 5.6 918 22536 roll 0.90 - - 3186 - 2.60 0.100 3651 530.4 241.4 19.38 0.438 2093 -7.8 0.313 - - - - - - 14.87 14.47 14.16
22738 73.8 5.3 951 22767 done 0.96 - - 3195 - 2.33 0.038 2296 -581.5 290.8 25.08 0.392 1891 -8.1 0.297 - - - - - - 14.50 14.47 14.16
23098 56.4 4.3 969 23139 roll 1.21 0.20 0.080 3298 515.0 2.53 0.099 3658 538.3 359.7 33.78 0.338 1617 -8.1 0.265 - - - - - - 14.45 14.41 14.17
23236 44.4 9.2 989 23241 done 1.21 - - 3307 - 2.35 0.038 2308 -574.5 359.7 - - 1617 - - - - - - - - 14.47 14.42 14.49
23572 27.0 4.9 1004 23606 roll 1.28 - - 3304 - 2.58 0.100 3660 524.0 415.9 27.55 0.247 1395 -8.1 0.173 - - - - - - 14.81 14.35 14.21
23733 15.5 8.1 1027 23740 done 1.28 - - 3312 - 2.30 0.037 2311 -586.5 415.9 - - 1395 - - - - - - - - 14.56 14.45 14.58
23961 end climb: SURFACE_DEPTH_REACHED
23961 begin surface coast
23990 end surface coast: CONTROL_FINISHED_OK
23990 begin surface
SM -1.84 - - - - -8.40 9.50 0.073 199 20.9 0.85 0.077 2779 2057.6 500.64 38.90 0.151 1058 27.2 0.034 - - - - - -