SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 417 * Raw log
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• Previous call tries 1 • 148.62 of 350.00 AH used of 24V (57.54% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -70.6 deg, depth -1.22 m • Intended pitch -17.6 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: 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 100 done -0.93 - - 105 - - - 2786 - -107.1 -78.10 - 3478 - - - - - - - - 14.66 12.55 14.65
104 7.8 -15.8 3 121 roll -0.93 11.80 0.384 2584 210.1 1.90 0.084 3829 548.9 -107.1 - - 3480 - - - - - - - - 13.99 14.33 14.24
353 61.4 -10.2 39 358 done -0.72 0.25 0.214 2665 324.0 1.80 0.039 2756 -596.1 -107.1 - - 3481 - - - - - - - - 14.15 14.49 14.38
689 90.3 -8.7 54 694 roll -0.72 - - 2660 - 2.00 0.105 3827 535.5 -107.1 - - 3483 - - - - - - - - 14.84 14.32 14.85
801 100.9 -9.4 70 806 done -0.72 - - 2660 - 1.77 0.041 2758 -604.0 -107.1 - - 3483 - - - - - - - - 14.58 14.57 14.61
1137 128.8 -8.3 83 1142 roll -0.72 - - 2659 - 2.33 0.044 1388 -588.0 -107.1 - - 3482 - - - - - - - - 14.89 14.52 14.89
1199 133.9 -7.9 92 1205 done -0.72 - - 2650 - 2.47 0.067 2771 559.9 -107.1 - - 3482 - - - - - - - - 14.50 14.40 14.55
1529 161.7 -8.5 104 1534 roll -0.72 - - 2650 - 2.38 0.044 1392 -579.4 -107.1 - - 3480 - - - - - - - - 14.92 14.50 14.92
1585 166.6 -8.6 112 1590 done -0.72 - - 2641 - 2.45 0.067 2777 565.3 -107.1 - - 3480 - - - - - - - - 14.60 14.44 14.63
1921 195.9 -8.7 125 1926 roll -0.72 - - 2626 - 1.98 0.107 3829 531.3 -107.1 - - 3477 - - - - - - - - 14.92 14.33 14.92
1990 202.2 -8.9 135 1996 done -0.72 0.10 0.193 2664 380.0 1.77 0.042 2779 -593.2 -107.1 - - 3478 - - - - - - - - 14.36 14.64 14.45
2313 227.1 -7.7 146 2318 roll -0.72 - - 2664 - 2.40 0.044 1378 -583.8 -107.1 - - 3474 - - - - - - - - 14.92 14.52 14.92
2403 234.6 -8.3 159 2409 done -0.72 - - 2655 - 2.53 0.067 2774 551.8 -107.1 - - 3474 - - - - - - - - 14.50 14.38 14.54
2761 266.8 -9.2 168 2766 roll -0.72 - - 2647 - 1.98 0.108 3820 528.3 -107.1 - - 3471 - - - - - - - - 14.92 14.31 14.93
2795 270.2 -9.8 173 2802 done -0.72 - - 2653 - 1.77 0.041 2767 -594.9 -107.1 - - 3472 - - - - - - - - 14.63 14.62 14.65
3153 303.8 -9.4 182 3158 roll -0.72 - - 2646 - 2.38 0.044 1379 -583.2 -107.1 - - 3470 - - - - - - - - 14.92 14.51 14.92
3222 310.3 -9.1 192 3228 done -0.72 - - 2637 - 2.53 0.067 2770 549.8 -107.1 - - 3469 - - - - - - - - 14.50 14.44 14.53
3545 340.1 -9.3 203 3545 done -0.72 - - 2637 - - - 2770 - -107.1 - - 3467 - - - - - - - - 14.92 14.93 14.93
3881 371.0 -9.2 209 3881 done -0.72 - - 2637 - - - 2770 - -107.1 - - 3464 - - - - - - - - 14.92 14.92 14.92
4217 400.0 -8.5 215 4222 roll -0.72 0.10 0.249 2667 300.0 2.40 0.044 1381 -578.8 -107.1 - - 3464 - - - - - - - - 14.35 14.51 14.56
4286 405.3 -7.1 225 4293 done -0.81 - - 2657 - 2.50 0.067 2763 552.8 -107.1 - - 3464 - - - - - - - - 14.47 14.40 14.52
4609 429.0 -7.4 236 4610 done -0.81 - - 2657 - - - 2763 - -107.1 - - 3462 - - - - - - - - 14.92 14.91 14.92
4945 454.9 -7.7 242 4950 roll -0.81 - - 2657 - 2.40 0.044 1382 -575.4 -107.1 - - 3461 - - - - - - - - 14.92 14.50 14.92
5021 460.9 -7.7 253 5028 done -0.81 - - 2648 - 2.50 0.067 2758 550.4 -107.1 - - 3460 - - - - - - - - 14.44 14.33 14.49
5337 485.8 -7.9 263 5337 done -0.81 - - 2648 - - - 2758 - -107.1 - - 3459 - - - - - - - - 14.92 14.91 14.91
5673 512.2 -7.9 269 5673 done -0.81 - - 2649 - - - 2758 - -107.1 - - 3458 - - - - - - - - 14.92 14.92 14.92
6009 538.8 -7.9 275 6014 roll -0.81 - - 2648 - 2.42 0.044 1372 -572.7 -107.1 - - 3457 - - - - - - - - 14.94 14.48 14.90
6043 541.5 -7.8 280 6049 done -0.81 - - 2639 - 2.55 0.067 2768 547.5 -107.1 - - 3459 - - - - - - - - 14.45 14.35 14.48
6401 568.3 -7.5 289 6402 done -0.81 - - 2640 - - - 2768 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6737 595.0 -8.2 295 6742 roll -0.81 - - 2639 - 2.42 0.044 1381 -573.1 -107.1 - - 3454 - - - - - - - - 14.92 14.46 14.92
6813 601.8 -8.7 306 6819 done -0.81 - - 2630 - 2.53 0.068 2757 543.9 -107.1 - - 3454 - - - - - - - - 14.40 14.29 14.45
7129 630.1 -9.0 316 7134 roll -0.81 - - 2621 - 2.05 0.111 3827 522.0 -107.1 - - 3452 - - - - - - - - 14.94 14.19 14.94
7191 636.0 -9.4 325 7198 done -0.81 - - 2621 - 1.83 0.044 2769 -578.1 -107.1 - - 3448 - - - - - - - - 14.57 14.55 14.59
7521 664.5 -8.6 337 7526 roll -0.81 - - 2620 - 2.42 0.044 1365 -580.2 -107.1 - - 3450 - - - - - - - - 14.90 14.44 14.91
7590 670.7 -8.7 347 7596 done -0.81 - - 2611 - 2.55 0.067 2762 547.8 -107.1 - - 3450 - - - - - - - - 14.40 14.30 14.45
7913 699.7 -9.1 358 7914 done -0.81 - - 2611 - - - 2762 - -107.1 - - 3450 - - - - - - - - 14.90 14.90 14.90
8249 730.1 -9.0 364 8249 done -0.81 - - 2611 - - - 2762 - -107.1 - - 3447 - - - - - - - - 14.90 14.90 14.90
8585 759.1 -8.6 370 8586 done -0.81 - - 2611 - - - 2762 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
8921 787.4 -8.4 376 8926 roll -0.81 - - 2610 - 2.42 0.045 1374 -573.6 -107.1 - - 3446 - - - - - - - - 14.92 14.43 14.92
8990 793.5 -8.2 386 8996 done -0.81 0.12 0.216 2637 225.0 2.55 0.067 2754 541.2 -107.1 - - 3446 - - - - - - - - 14.03 14.26 14.21
9313 816.3 -7.0 397 9314 done -0.81 - - 2637 - - - 2754 - -107.1 - - 3445 - - - - - - - - 14.93 14.89 14.89
9649 841.1 -7.3 403 9654 roll -0.81 - - 2637 - 2.45 0.044 1372 -564.1 -107.1 - - 3444 - - - - - - - - 14.90 14.40 14.90
9711 846.1 -7.9 412 9717 done -0.81 - - 2628 - 2.53 0.066 2752 545.5 -107.1 - - 3444 - - - - - - - - 14.34 14.24 14.38
10041 873.0 -8.3 424 10046 roll -0.81 - - 2619 - 2.08 0.112 3824 515.4 -107.1 - - 3442 - - - - - - - - 14.89 14.10 14.89
10097 878.0 -9.1 432 10102 done -0.81 - - 2619 - 1.88 0.044 2749 -571.8 -107.1 - - 3442 - - - - - - - - 14.48 14.45 14.49
10433 908.4 -9.0 445 10439 roll -0.81 - - 2619 - 2.40 0.044 1364 -577.1 -107.1 - - 3447 - - - - - - - - 14.92 14.40 14.91
10467 911.6 -6.6 450 10473 done -0.81 - - 2610 - 2.55 0.067 2752 544.3 -107.1 - - 3442 - - - - - - - - 14.32 14.22 14.37
10710 end dive: TARGET_DEPTH_EXCEEDED
10710 begin apogee
10717 934.5 -9.3 457 10831 roll -0.23 0.73 0.171 2823 291.8 0.10 0.156 2273 -4790.0 - 110.62 1.987 3051 -3.5 0.337 - - - - - - 14.08 13.92 12.93
10832 end apogee: CONTROL_FINISHED_OK
10832 begin climb
10835 939.2 - 459 10966 roll 0.93 1.10 0.087 3184 328.2 2.55 0.056 885 -544.3 107.1 117.95 1.945 2617 -3.7 0.361 - - - - - - 13.97 14.00 12.83
10986 935.9 7.4 482 10994 done 0.79 - - 3184 - 2.47 0.050 2241 549.0 114.7 2.60 0.946 2599 -6.9 1.390 - - - - - - 13.97 13.91 12.38
11330 911.3 7.5 489 11348 roll 0.68 0.22 0.216 3114 -318.2 2.70 0.097 3659 525.2 119.5 9.98 2.143 2572 -2.7 0.233 - - - - - - 14.14 14.32 13.28
11406 906.2 6.7 500 11441 done 0.70 - - 3124 - 2.42 0.039 2273 -572.7 140.0 26.15 1.991 2484 -3.4 0.311 - - - - - - 14.40 14.36 13.23
11778 881.5 6.7 511 11806 roll 0.73 - - 3124 - 2.67 0.099 3652 516.5 161.0 23.80 1.996 2404 -3.4 0.301 - - - - - - 14.71 14.26 13.30
11861 875.1 8.3 523 11867 done 0.73 - - 3134 - 2.47 0.040 2254 -566.0 161.0 - - 2398 - - - - - - - - 14.38 14.34 14.39
12219 847.3 7.9 532 12219 done 0.73 - - 3134 - - - 2251 - 161.0 - - 2396 - - - - - - - - 14.75 14.75 14.75
12555 819.2 8.5 538 12555 done 0.73 - - 3134 - - - 2251 - 161.0 - - 2396 - - - - - - - - 14.81 14.84 14.83
12891 789.4 8.8 544 12896 roll 0.73 - - 3134 - 2.65 0.099 3659 531.3 161.0 - - 2395 - - - - - - - - 14.84 14.31 14.84
12960 782.5 9.9 554 12966 done 0.73 - - 3145 - 2.45 0.040 2256 -572.7 161.0 - - 2395 - - - - - - - - 14.51 14.47 14.54
13283 753.4 9.0 565 13283 done 0.73 - - 3145 - - - 2252 - 161.0 - - 2394 - - - - - - - - 14.84 14.84 14.84
13619 725.7 8.1 571 13624 roll 0.73 - - 3146 - 2.65 0.100 3658 530.6 161.0 - - 2394 - - - - - - - - 14.85 14.28 14.85
13681 720.2 8.6 580 13687 done 0.73 - - 3156 - 2.45 0.040 2256 -572.2 161.0 - - 2394 - - - - - - - - 14.52 14.47 14.54
14011 693.6 8.1 592 14011 done 0.73 - - 3157 - - - 2253 - 161.0 - - 2394 - - - - - - - - 14.85 14.85 14.85
14347 664.9 8.6 598 14352 roll 0.73 - - 3156 - 2.65 0.099 3659 530.6 161.0 - - 2394 - - - - - - - - 14.85 14.26 14.85
14403 659.6 9.5 606 14408 done 0.65 0.20 0.213 3110 -230.0 2.42 0.040 2248 -583.1 161.0 - - 2393 - - - - - - - - 14.14 14.52 14.44
14739 636.9 6.6 619 14771 roll 0.67 - - 3120 - 2.50 0.061 865 -553.2 184.2 24.42 1.792 2309 -3.4 0.248 - - - - - - 14.85 14.43 13.47
14795 633.2 6.2 627 14835 done 0.71 - - 3120 - 2.45 0.054 2269 573.1 214.8 35.05 1.741 2192 -3.3 0.246 - - - - - - 14.50 14.38 13.32
15187 604.5 7.4 641 15193 roll 0.72 - - 3120 - 2.65 0.103 3652 521.9 222.5 2.62 0.955 2168 -9.2 1.177 - - - - - - 14.71 14.31 12.83
15284 596.3 8.7 655 15290 done 0.72 - - 3129 - 2.42 0.039 2265 -573.1 222.5 1.30 0.226 2165 -2.3 1.235 - - - - - - 14.45 14.40 14.02
15635 567.1 8.4 663 15640 roll 0.72 - - 3140 - 2.50 0.062 855 -564.0 222.5 - - 2173 - - - - - - - - 14.78 14.33 14.79
15676 563.6 8.6 669 15683 done 0.72 - - 3140 - 2.50 0.054 2262 562.8 222.5 1.05 0.226 2166 -6.7 3.373 - - - - - - 14.42 14.34 14.09
16027 532.0 9.1 677 16033 roll 0.72 - - 3140 - 2.60 0.101 3654 535.4 222.5 - - 2171 - - - - - - - - 14.84 14.27 14.84
16083 526.4 10.2 685 16089 done 0.72 - - 3150 - 2.40 0.040 2254 -583.3 222.5 1.35 0.258 2164 -5.2 2.147 - - - - - - 14.57 14.48 14.01
16419 494.6 9.4 698 16424 roll 0.72 - - 3150 - 2.65 0.099 3652 527.5 222.5 - - 2172 - - - - - - - - 14.85 14.25 14.85
16488 487.6 10.0 708 16494 done 0.72 - - 3160 - 2.40 0.039 2277 -572.9 222.5 - - 2172 - - - - - - - - 14.48 14.43 14.50
16811 458.4 9.0 719 16816 roll 0.72 - - 3170 - 2.53 0.062 854 -562.5 222.5 - - 2172 - - - - - - - - 14.86 14.33 14.86
16838 455.9 8.8 723 16845 done 0.72 0.10 0.195 3141 -290.0 2.53 0.055 2273 560.9 222.5 1.20 0.222 2164 -6.7 2.778 - - - - - - 14.12 14.32 14.04
17203 427.4 7.7 733 17210 roll 0.72 - - 3140 - 2.58 0.100 3653 534.9 223.7 1.90 0.315 2160 -2.1 0.580 - - - - - - 14.85 13.91 13.43
17272 421.6 8.3 743 17278 done 0.72 - - 3150 - 2.40 0.039 2270 -576.2 223.7 2.20 0.583 2163 1.4 -0.200 - - - - - - 14.47 14.43 12.96
17595 396.5 7.8 754 17598 done 0.72 - - 3150 - - - 2267 - 223.7 2.12 0.494 2159 -1.9 0.307 - - - - - - 14.86 14.35 12.93
17931 368.9 8.3 760 17937 roll 0.72 - - 3150 - 2.62 0.099 3657 530.5 223.7 1.67 0.291 2163 2.4 -0.616 - - - - - - 14.86 13.93 13.44
17965 365.7 9.4 765 17973 done 0.72 - - 3160 - 2.42 0.039 2262 -576.4 223.7 1.42 0.262 2163 - - - - - - - - 14.49 14.44 13.66
18323 332.9 9.3 774 18325 done 0.72 - - 3161 - - - 2258 - 223.7 1.67 0.285 2160 -1.8 0.426 - - - - - - 14.85 14.13 13.43
18659 301.3 9.4 780 18664 roll 0.72 - - 3161 - 2.65 0.100 3657 527.9 223.7 1.27 0.258 2161 - - - - - - - - 14.85 14.13 13.89
18686 298.6 9.6 784 18692 done 0.72 0.10 0.203 3146 -150.0 2.40 0.039 2281 -573.3 223.7 1.23 0.269 2160 - - - - - - - - 14.12 14.43 13.62
19051 269.1 7.9 794 19056 roll 0.72 - - 3151 - 2.50 0.060 860 -568.4 223.7 1.62 0.285 2162 - - - - - - - - 14.85 13.89 13.42
19078 266.9 7.8 798 19084 done 0.72 - - 3151 - 2.50 0.054 2273 565.2 223.7 1.70 0.371 2160 - - - - - - - - 14.40 14.33 13.56
19443 239.1 7.5 808 19462 roll 0.73 - - 3151 - 2.58 0.101 3651 534.1 229.5 12.35 1.476 2130 -2.4 0.080 - - - - - - 14.85 14.44 13.59
19526 232.1 8.6 820 19532 done 0.73 - - 3161 - 2.40 0.038 2265 -577.5 229.5 - - 2127 - - - - - - - - 14.50 14.47 14.54
19891 199.7 9.2 830 19896 roll 0.73 - - 3171 - 2.47 0.063 857 -570.0 229.5 - - 2126 - - - - - - - - 14.83 14.33 14.84
19932 195.6 9.7 836 19938 done 0.73 0.08 0.190 3148 -287.5 2.53 0.055 2280 562.5 229.5 - - 2126 - - - - - - - - 14.16 14.33 14.32
20283 165.5 8.4 844 20288 roll 0.73 - - 3146 - 2.55 0.101 3656 539.6 229.5 - - 2130 - - - - - - - - 14.85 14.26 14.86
20345 159.6 9.4 853 20352 done 0.73 - - 3156 - 2.40 0.038 2275 -575.4 229.5 - - 2125 - - - - - - - - 14.48 14.45 14.51
20675 132.2 8.2 865 20681 roll 0.73 - - 3166 - 2.47 0.061 861 -572.5 229.5 - - 2126 - - - - - - - - 14.87 14.33 14.87
20716 128.7 8.3 871 20722 done 0.73 0.10 0.179 3135 -310.0 2.50 0.054 2274 565.2 229.5 - - 2126 - - - - - - - - 14.15 14.32 14.29
21067 100.8 8.1 879 21072 roll 0.81 - - 3134 - 2.58 0.100 3659 536.8 229.5 - - 2126 - - - - - - - - 14.87 14.25 14.87
21129 95.7 8.3 888 21135 done 0.81 - - 3145 - 2.40 0.038 2273 -577.5 229.5 - - 2126 - - - - - - - - 14.41 14.37 14.42
21459 72.4 7.4 902 21466 roll 0.90 0.08 0.136 3205 750.0 2.70 0.099 3668 516.7 236.7 2.53 0.307 2110 -6.3 0.303 - - - - - - 14.54 14.28 13.73
21542 63.2 10.9 914 21549 done 0.90 - - 3216 - 2.40 0.037 2283 -577.1 236.7 1.42 0.233 2107 -2.1 0.116 - - - - - - 14.47 14.43 13.76
21872 40.1 4.7 928 21913 roll 0.98 - - 3217 - 2.65 0.098 3665 521.5 298.4 31.75 0.291 1862 -7.7 0.216 - - - - - - 14.85 14.38 14.11
22144 26.0 3.9 967 22186 done 1.07 - - 3226 - 2.42 0.038 2257 -581.8 375.1 37.80 0.246 1555 -8.1 0.174 - - - - - - 14.47 14.43 14.12
22512 11.4 4.7 986 22549 roll 1.35 0.22 0.066 3368 645.5 2.47 0.060 868 -562.3 434.9 29.00 0.194 1317 -8.2 0.098 - - - - - - 14.50 14.35 14.13
22613 2.3 10.3 1001 22621 done 1.35 0.10 0.205 3335 -330.0 2.47 0.053 2276 570.0 434.9 - - 1318 - - - - - - - - 14.05 14.24 14.21
22646 end climb: SURFACE_DEPTH_REACHED
22646 begin surface coast
22674 end surface coast: CONTROL_FINISHED_OK
22674 begin surface
SM -0.86 - - - - -8.40 9.00 0.049 177 19.7 0.88 0.075 2763 -2685.2 500.14 30.25 0.155 1056 34.9 0.020 - - - - - -