SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 365 * Raw log
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• Previous call tries 2 • 132.34 of 350.00 AH used of 24V (62.19% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -70.5 deg, depth -0.71 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 3 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 93 done -0.93 - - 104 - - - 2775 - -107.1 -77.10 - 3478 - - - - - - - - 14.67 12.63 14.67
96 0.6 -4.0 2 116 roll -0.93 11.65 0.375 2585 213.0 1.95 0.088 3840 546.2 -107.1 - - 3479 - - - - - - - - 14.01 14.29 14.38
206 45.5 -21.7 19 212 done -0.63 0.38 0.216 2690 276.3 1.83 0.035 2729 -607.1 -107.1 - - 3480 - - - - - - - - 14.13 14.51 14.31
536 79.4 -6.6 33 542 roll -0.63 - - 2682 - 2.10 0.108 3826 522.4 -107.1 - - 3481 - - - - - - - - 14.85 14.33 14.85
772 97.0 -8.0 67 779 done -0.63 - - 2682 - 1.75 0.038 2757 -610.9 -107.1 - - 3482 - - - - - - - - 14.70 14.66 14.71
1096 121.8 -7.7 75 1101 roll -0.63 - - 2681 - 2.25 0.042 1411 -598.2 -107.1 - - 3480 - - - - - - - - 14.91 14.55 14.91
1165 127.8 -8.6 85 1172 done -0.63 - - 2672 - 2.42 0.067 2772 562.4 -107.1 - - 3481 - - - - - - - - 14.54 14.45 14.59
1488 153.9 -7.9 96 1493 roll -0.63 - - 2663 - 1.98 0.109 3826 532.3 -107.1 - - 3480 - - - - - - - - 14.95 14.38 14.95
1613 164.3 -8.5 114 1619 done -0.63 0.10 0.221 2695 320.0 1.73 0.038 2796 -595.4 -107.1 - - 3479 - - - - - - - - 14.42 14.71 14.60
1936 186.4 -6.8 125 1942 roll -0.72 - - 2694 - 2.40 0.043 1379 -590.4 -107.1 - - 3476 - - - - - - - - 14.93 14.57 14.94
2033 193.2 -6.8 139 2039 done -0.82 0.08 0.087 2622 -900.0 2.50 0.067 2766 554.8 -107.1 - - 3476 - - - - - - - - 14.46 14.40 14.51
2384 227.0 -9.9 147 2389 roll -0.82 - - 2613 - 1.98 0.107 3818 531.3 -107.1 - - 3473 - - - - - - - - 14.96 14.33 14.96
2424 231.5 -10.9 153 2432 done -0.82 - - 2607 - 1.77 0.037 2750 -603.4 -107.1 - - 3473 - - - - - - - - 14.75 14.71 14.76
2775 270.2 -11.2 161 2782 roll -0.82 - - 2613 - 2.33 0.043 1399 -579.8 -107.1 - - 3473 - - - - - - - - 14.97 14.52 14.97
2810 274.1 -11.2 166 2816 done -0.82 0.08 0.233 2622 112.5 2.47 0.068 2770 555.1 -107.1 - - 3469 - - - - - - - - 14.26 14.46 14.43
3168 310.7 -10.1 175 3173 roll -0.82 - - 2625 - 2.35 0.044 1396 -584.7 -107.1 - - 3467 - - - - - - - - 14.95 14.55 14.95
3202 314.2 -10.0 180 3208 done -0.82 - - 2616 - 2.45 0.067 2764 558.4 -107.1 - - 3467 - - - - - - - - 14.56 14.46 14.60
3560 350.9 -10.4 189 3566 roll -0.82 - - 2607 - 2.00 0.106 3827 531.5 -107.1 - - 3465 - - - - - - - - 14.95 14.37 14.95
3622 357.6 -10.7 198 3628 done -0.82 - - 2607 - 1.77 0.041 2771 -596.6 -107.1 - - 3464 - - - - - - - - 14.75 14.71 14.76
3952 391.3 -10.3 210 3957 roll -0.82 - - 2607 - 2.35 0.042 1388 -588.5 -107.1 - - 3462 - - - - - - - - 14.97 14.55 14.96
4013 397.8 -10.2 219 4020 done -0.82 0.10 0.230 2626 190.0 2.50 0.067 2768 552.0 -107.1 - - 3460 - - - - - - - - 14.22 14.45 14.40
4344 429.4 -9.6 231 4349 roll -0.82 - - 2618 - 2.00 0.107 3830 531.0 -107.1 - - 3460 - - - - - - - - 14.94 14.34 14.94
4476 442.6 -9.8 250 4482 done -0.82 - - 2617 - 1.77 0.041 2778 -594.4 -107.1 - - 3459 - - - - - - - - 14.73 14.68 14.74
4792 472.0 -9.3 260 4792 done -0.82 - - 2618 - - - 2778 - -107.1 - - 3456 - - - - - - - - 14.95 14.95 14.96
5128 504.5 -9.8 266 5133 roll -0.82 - - 2617 - 2.40 0.044 1383 -581.2 -107.1 - - 3456 - - - - - - - - 14.94 14.52 14.95
5190 510.9 -10.1 275 5196 done -0.82 - - 2608 - 2.53 0.067 2775 550.2 -107.1 - - 3456 - - - - - - - - 14.50 14.42 14.54
5520 544.7 -10.4 287 5525 roll -0.82 - - 2600 - 1.98 0.108 3814 524.7 -107.1 - - 3454 - - - - - - - - 14.95 14.31 14.96
5561 549.4 -11.3 293 5568 done -0.82 0.10 0.243 2628 280.0 1.77 0.041 2777 -585.9 -107.1 - - 3454 - - - - - - - - 14.31 14.66 14.54
5912 581.1 -8.7 301 5918 roll -0.82 - - 2629 - 2.42 0.044 1387 -574.4 -107.1 - - 3452 - - - - - - - - 14.92 14.50 14.93
5980 587.2 -8.5 311 5987 done -0.82 - - 2619 - 2.53 0.067 2780 550.6 -107.1 - - 3452 - - - - - - - - 14.50 14.42 14.54
6304 616.5 -9.2 322 6309 roll -0.82 - - 2619 - 2.42 0.042 1378 -579.3 -107.1 - - 3451 - - - - - - - - 14.93 14.51 14.93
6345 620.5 -9.8 328 6351 done -0.82 - - 2610 - 2.50 0.067 2764 554.4 -107.1 - - 3449 - - - - - - - - 14.48 14.38 14.53
6696 655.2 -9.9 336 6701 roll -0.82 - - 2602 - 2.00 0.109 3814 525.0 -107.1 - - 3449 - - - - - - - - 14.95 14.34 14.95
6793 665.1 -10.1 350 6799 done -0.82 0.10 0.241 2635 330.0 1.80 0.042 2768 -581.1 -107.1 - - 3447 - - - - - - - - 14.21 14.64 14.39
7144 692.8 -7.7 358 7149 roll -0.82 - - 2635 - 2.40 0.044 1374 -580.8 -107.1 - - 3445 - - - - - - - - 14.94 14.51 14.93
7206 697.5 -7.6 367 7212 done -0.82 - - 2625 - 2.55 0.069 2771 547.8 -107.1 - - 3446 - - - - - - - - 14.44 14.35 14.49
7536 721.6 -7.3 379 7541 roll -0.82 - - 2617 - 2.03 0.110 3829 521.2 -107.1 - - 3446 - - - - - - - - 14.94 14.26 14.95
7598 726.5 -7.9 388 7604 done -0.82 - - 2617 - 1.83 0.044 2773 -577.0 -107.1 - - 3449 - - - - - - - - 14.67 14.62 14.69
7928 752.2 -7.9 400 7933 roll -0.82 - - 2616 - 2.40 0.044 1379 -580.8 -107.1 - - 3444 - - - - - - - - 14.92 14.46 14.92
7969 755.7 -8.6 406 7975 done -0.82 - - 2607 - 2.55 0.067 2779 549.0 -107.1 - - 3444 - - - - - - - - 14.45 14.35 14.49
8320 785.9 -8.7 414 8325 roll -0.82 - - 2606 - 2.42 0.044 1382 -577.3 -107.1 - - 3443 - - - - - - - - 14.91 14.47 14.92
8382 791.4 -8.4 423 8388 done -0.82 0.10 0.231 2625 190.0 2.55 0.068 2773 545.5 -107.1 - - 3441 - - - - - - - - 14.08 14.33 14.26
8712 816.1 -7.4 435 8712 done -0.82 - - 2625 - - - 2773 - -107.1 - - 3441 - - - - - - - - 14.91 14.91 14.92
9048 840.8 -7.3 441 9054 roll -0.82 - - 2618 - 2.00 0.111 3829 528.0 -107.1 - - 3440 - - - - - - - - 14.91 14.24 14.91
9089 844.0 -6.5 447 9095 done -0.82 - - 2617 - 1.85 0.044 2775 -569.7 -107.1 - - 3440 - - - - - - - - 14.64 14.61 14.63
9440 870.3 -7.5 455 9445 roll -0.82 - - 2617 - 2.42 0.044 1368 -581.4 -107.1 - - 3439 - - - - - - - - 14.93 14.43 14.93
9488 874.1 -6.1 462 9495 done -0.82 - - 2607 - 2.58 0.068 2774 545.0 -107.1 - - 3436 - - - - - - - - 14.38 14.28 14.42
9832 900.5 -7.7 469 9838 roll -0.82 - - 2598 - 2.03 0.110 3826 518.2 -107.1 - - 3438 - - - - - - - - 14.91 14.18 14.90
9859 902.8 -7.4 473 9866 done -0.82 0.10 0.210 2627 290.0 1.85 0.044 2770 -570.8 -107.1 - - 3437 - - - - - - - - 14.13 14.57 14.28
10224 929.7 -7.4 483 10229 roll -0.82 - - 2627 - 2.45 0.044 1363 -574.3 -107.1 - - 3436 - - - - - - - - 14.90 14.40 14.90
10234 end dive: TARGET_DEPTH_EXCEEDED
10234 begin apogee
10242 931.4 -7.9 485 10352 roll -0.23 0.68 0.175 2821 285.3 - - 2262 - - 107.88 1.983 3050 -3.6 0.334 - - - - - - 14.13 13.99 13.02
10353 end apogee: CONTROL_FINISHED_OK
10353 begin climb
10356 933.9 - 487 10485 roll 0.93 1.12 0.092 3186 325.9 2.58 0.057 855 -545.3 107.1 116.07 1.963 2616 -3.7 0.354 - - - - - - 13.99 14.01 12.88
10491 929.3 7.5 507 10497 done 0.72 0.17 0.211 3139 -276.5 2.58 0.051 2257 543.4 111.4 - - 2613 - - - - - - - - 13.72 13.85 13.86
10855 904.6 6.9 517 10883 roll 0.74 - - 3139 - 2.67 0.098 3653 522.8 128.4 23.23 1.985 2532 -3.5 0.316 - - - - - - 14.72 14.25 13.33
10961 896.1 8.6 532 10966 done 0.65 0.12 0.239 3115 -200.0 2.45 0.040 2250 -572.7 128.4 - - 2527 - - - - - - - - 14.14 14.38 14.38
11297 872.9 6.9 545 11323 roll 0.67 - - 3115 - 2.67 0.098 3645 522.5 145.7 19.23 2.016 2461 -3.4 0.296 - - - - - - 14.76 14.32 13.44
11372 866.9 8.3 556 11379 done 0.67 - - 3124 - 2.45 0.040 2256 -566.9 145.7 - - 2458 - - - - - - - - 14.42 14.39 14.43
11688 842.9 7.8 566 11689 done 0.67 - - 3124 - - - 2253 - 145.7 - - 2455 - - - - - - - - 14.78 14.78 14.78
12024 815.4 8.3 572 12030 roll 0.67 - - 3124 - 2.62 0.099 3661 537.4 145.7 - - 2455 - - - - - - - - 14.82 14.36 14.82
12107 807.8 9.6 584 12114 done 0.67 - - 3134 - 2.45 0.040 2252 -575.1 145.7 - - 2456 - - - - - - - - 14.55 14.51 14.57
12472 774.4 9.1 594 12473 done 0.67 - - 3134 - - - 2248 - 145.7 - - 2455 - - - - - - - - 14.86 14.86 14.89
12808 745.5 8.4 600 12814 roll 0.67 - - 3133 - 2.65 0.101 3657 531.7 145.7 - - 2454 - - - - - - - - 14.86 14.33 14.87
12835 743.0 8.8 604 12842 done 0.67 - - 3145 - 2.45 0.041 2255 -572.2 145.7 - - 2454 - - - - - - - - 14.55 14.51 14.57
13201 714.4 7.7 614 13202 done 0.67 - - 3145 - - - 2251 - 146.4 - - 2453 - - - - - - - - 14.86 14.86 14.86
13536 690.8 6.9 620 13558 roll 0.69 - - 3145 - 2.67 0.099 3651 524.3 162.4 17.38 1.916 2397 -3.2 0.231 - - - - - - 14.88 14.46 13.57
13606 685.5 8.3 630 13612 done 0.69 0.10 0.216 3127 -180.0 2.42 0.040 2260 -574.8 162.4 - - 2392 - - - - - - - - 14.22 14.47 14.38
13921 664.4 6.6 640 13950 roll 0.72 - - 3136 - 2.55 0.064 861 -548.6 184.8 24.55 1.819 2310 -3.3 0.243 - - - - - - 14.81 14.37 13.50
13971 661.1 6.4 647 14006 done 0.75 - - 3136 - 2.45 0.056 2258 570.2 212.1 31.23 1.785 2206 -3.3 0.245 - - - - - - 14.46 14.35 13.34
14356 631.6 7.8 660 14361 roll 0.75 - - 3136 - 2.60 0.102 3651 535.8 212.1 - - 2192 - - - - - - - - 14.72 14.28 14.71
14411 626.5 9.4 668 14417 done 0.75 - - 3146 - 2.45 0.040 2259 -568.2 212.1 - - 2191 - - - - - - - - 14.45 14.40 14.47
14748 596.7 8.9 681 14754 roll 0.75 - - 3157 - 2.47 0.065 860 -566.4 212.1 - - 2191 - - - - - - - - 14.79 14.37 14.78
14775 594.1 9.1 685 14782 done 0.75 - - 3157 - 2.50 0.056 2265 562.0 212.1 - - 2191 - - - - - - - - 14.46 14.38 14.50
15140 559.0 9.7 695 15145 roll 0.75 - - 3157 - 2.58 0.101 3653 538.0 212.1 - - 2190 - - - - - - - - 14.85 14.32 14.85
15188 553.9 10.7 702 15195 done 0.75 - - 3167 - 2.42 0.040 2261 -575.2 212.1 - - 2191 - - - - - - - - 14.52 14.47 14.51
15532 518.1 10.6 709 15533 done 0.75 - - 3168 - - - 2258 - 212.1 - - 2189 - - - - - - - - 14.87 14.88 14.87
15867 482.4 10.5 715 15873 roll 0.75 - - 3167 - 2.62 0.100 3653 532.4 212.1 - - 2190 - - - - - - - - 14.88 14.32 14.88
15909 477.7 11.4 721 15916 done 0.75 0.10 0.213 3149 -180.0 2.42 0.040 2268 -572.3 212.1 - - 2189 - - - - - - - - 14.16 14.47 14.33
16260 445.5 9.1 729 16260 done 0.75 - - 3149 - - - 2265 - 212.1 - - 2189 - - - - - - - - 14.88 14.88 14.87
16596 416.8 8.4 735 16601 roll 0.75 - - 3148 - 2.60 0.101 3652 533.5 212.1 - - 2189 - - - - - - - - 14.88 14.30 14.88
16623 414.4 8.6 739 16629 done 0.75 - - 3159 - 2.42 0.040 2260 -575.2 212.1 - - 2190 - - - - - - - - 14.53 14.48 14.56
16988 382.2 9.0 749 16994 roll 0.75 - - 3159 - 2.62 0.100 3656 532.8 212.1 - - 2190 - - - - - - - - 14.89 14.31 14.90
17015 379.3 10.3 753 17022 done 0.75 - - 3169 - 2.42 0.040 2267 -574.0 212.1 - - 2189 - - - - - - - - 14.52 14.47 14.55
17380 343.7 9.7 763 17385 roll 0.75 - - 3179 - 2.47 0.064 864 -568.0 212.1 - - 2189 - - - - - - - - 14.90 14.37 14.90
17442 337.7 9.4 772 17448 done 0.75 0.10 0.201 3149 -300.0 2.47 0.056 2261 565.6 212.1 - - 2190 - - - - - - - - 14.14 14.36 14.30
17772 308.6 9.0 784 17777 roll 0.75 - - 3149 - 2.58 0.101 3651 538.8 212.1 - - 2190 - - - - - - - - 14.88 14.28 14.88
17834 302.1 10.6 793 17841 done 0.75 - - 3159 - 2.40 0.038 2266 -577.1 212.1 - - 2189 - - - - - - - - 14.52 14.47 14.54
18164 270.0 9.8 805 18170 roll 0.75 - - 3169 - 2.50 0.066 867 -559.6 212.1 - - 2189 - - - - - - - - 14.87 14.29 14.87
18205 266.0 9.7 811 18211 done 0.75 - - 3169 - 2.50 0.054 2275 563.2 212.1 - - 2190 - - - - - - - - 14.43 14.35 14.47
18556 232.8 9.4 819 18561 roll 0.75 - - 3169 - 2.55 0.101 3653 540.4 212.1 - - 2189 - - - - - - - - 14.90 14.28 14.90
18597 228.6 10.2 825 18604 done 0.75 0.10 0.214 3149 -200.0 2.40 0.038 2273 -575.0 212.1 - - 2190 - - - - - - - - 14.12 14.45 14.29
18948 200.3 8.1 833 18948 done 0.75 - - 3149 - - - 2268 - 212.1 - - 2190 - - - - - - - - 14.90 14.90 14.92
19284 173.5 7.8 839 19285 done 0.75 - - 3149 - - - 2268 - 212.1 - - 2190 - - - - - - - - 14.90 14.90 14.90
19620 146.1 8.3 845 19626 roll 0.75 - - 3160 - 2.47 0.063 863 -568.8 212.1 - - 2191 - - - - - - - - 14.88 14.33 14.88
19654 143.1 8.6 850 19660 done 0.75 - - 3159 - 2.50 0.055 2274 564.4 212.1 - - 2191 - - - - - - - - 14.42 14.33 14.46
20012 113.8 7.9 859 20017 roll 0.75 - - 3159 - 2.58 0.099 3660 537.2 212.1 - - 2192 - - - - - - - - 14.88 14.25 14.88
20095 106.9 8.4 871 20101 done 0.75 - - 3170 - 2.42 0.037 2267 -575.6 212.1 - - 2192 - - - - - - - - 14.52 14.48 14.54
20432 79.0 8.5 884 20437 roll 0.75 - - 3180 - 2.47 0.063 854 -572.1 212.1 - - 2194 - - - - - - - - 14.90 14.33 14.90
20557 70.2 6.4 902 20572 done 0.78 - - 3180 - 2.50 0.054 2267 565.2 238.4 11.50 0.366 2100 -8.2 0.312 - - - - - - 14.39 14.31 13.87
20880 51.6 5.0 915 20913 roll 0.85 - - 3189 - 2.50 0.064 855 -564.8 293.0 28.02 0.324 1882 -7.8 0.246 - - - - - - 14.89 14.42 14.06
21104 41.8 3.8 947 21153 done 1.09 0.10 0.116 3268 790.0 2.50 0.053 2291 574.4 372.3 39.35 0.293 1567 -8.0 0.227 - - - - - - 14.39 14.33 14.08
21470 21.0 4.0 966 21511 roll 1.27 0.08 0.141 3361 1162.5 2.60 0.098 3660 526.5 446.8 36.17 0.225 1271 -8.2 0.152 - - - - - - 14.51 14.33 14.13
21621 6.7 7.7 988 21629 done 1.27 0.20 0.198 3314 -235.0 2.40 0.037 2277 -576.2 448.1 - - 1273 - - - - - - - - 14.09 14.42 14.26
21710 end climb: SURFACE_DEPTH_REACHED
21711 begin surface coast
21739 end surface coast: CONTROL_FINISHED_OK
21739 begin surface
SM -0.58 - - - - -8.38 8.85 0.045 151 17.1 0.93 0.090 2763 -2575.3 500.14 24.73 0.157 1058 42.8 0.016 - - - - - -