SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 438 * Raw log
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• Previous call tries 1 • 155.21 of 350.00 AH used of 24V (55.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -0.98 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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 - - 106 - - - 2778 - -107.1 -80.30 - 3478 - - - - - - - - 14.66 13.12 14.65
104 6.0 -12.2 3 121 roll -0.93 11.70 0.379 2586 212.0 2.38 0.034 1373 -590.3 -107.1 - - 3479 - - - - - - - - 13.97 14.34 14.23
142 24.9 -39.2 9 149 done -0.29 0.77 0.226 2802 280.5 2.55 0.069 2765 545.9 -107.1 - - 3479 - - - - - - - - 14.08 14.29 14.34
465 46.4 -5.6 22 470 roll -0.47 0.10 0.114 2726 -760.0 1.98 0.116 3833 539.4 -107.1 - - 3480 - - - - - - - - 14.52 14.28 14.57
562 52.9 -6.0 36 568 done -0.55 - - 2726 - 1.77 0.041 2762 -605.1 -107.1 - - 3481 - - - - - - - - 14.57 14.54 14.58
885 72.4 -6.1 49 891 roll -0.65 0.05 0.206 2657 -1380.0 2.33 0.039 1375 -595.3 -107.1 - - 3482 - - - - - - - - 14.56 14.51 14.61
989 81.4 -9.1 64 996 done -0.65 0.12 0.197 2685 233.3 2.50 0.069 2766 556.4 -107.1 - - 3482 - - - - - - - - 14.22 14.37 14.38
1305 105.5 -7.8 75 1310 roll -0.65 - - 2685 - 2.35 0.041 1379 -590.2 -107.1 - - 3482 - - - - - - - - 14.90 14.52 14.90
1381 111.5 -7.6 86 1387 done -0.73 - - 2676 - 2.50 0.070 2766 554.8 -107.1 - - 3482 - - - - - - - - 14.49 14.39 14.52
1697 135.6 -7.5 96 1698 done -0.73 - - 2677 - - - 2766 - -107.1 - - 3480 - - - - - - - - 14.93 14.93 14.93
2033 161.4 -7.7 102 2038 roll -0.73 - - 2678 - 2.38 0.041 1376 -584.0 -107.1 - - 3478 - - - - - - - - 14.94 14.50 14.94
2060 163.7 -8.5 106 2066 done -0.73 - - 2667 - 2.53 0.070 2765 549.0 -107.1 - - 3478 - - - - - - - - 14.50 14.40 14.54
2425 193.0 -8.0 116 2430 roll -0.73 - - 2659 - 1.98 0.115 3826 535.9 -107.1 - - 3476 - - - - - - - - 14.95 14.36 14.95
2481 197.8 -8.6 124 2486 done -0.73 - - 2658 - 1.77 0.044 2767 -598.3 -107.1 - - 3475 - - - - - - - - 14.63 14.59 14.64
2817 226.7 -8.8 137 2823 roll -0.73 - - 2659 - 2.38 0.041 1378 -583.6 -107.1 - - 3473 - - - - - - - - 14.92 14.53 14.92
2858 230.4 -8.8 143 2864 done -0.73 - - 2650 - 2.53 0.070 2776 552.6 -107.1 - - 3473 - - - - - - - - 14.48 14.39 14.54
3209 262.1 -9.0 151 3214 roll -0.73 - - 2650 - 2.40 0.042 1379 -582.1 -107.1 - - 3470 - - - - - - - - 14.92 14.53 14.92
3257 266.6 -9.1 158 3264 done -0.73 - - 2641 - 2.55 0.071 2772 546.3 -107.1 - - 3470 - - - - - - - - 14.48 14.38 14.52
3601 297.8 -9.1 165 3607 roll -0.73 - - 2633 - 2.03 0.116 3833 522.7 -107.1 - - 3468 - - - - - - - - 14.92 14.28 14.93
3635 300.9 -9.2 170 3641 done -0.73 0.08 0.205 2657 300.0 1.80 0.044 2775 -587.8 -107.1 - - 3468 - - - - - - - - 14.31 14.61 14.45
3993 330.1 -8.1 179 3998 roll -0.73 - - 2657 - 2.40 0.044 1370 -585.4 -107.1 - - 3466 - - - - - - - - 14.92 14.45 14.92
4069 336.5 -8.3 190 4075 done -0.73 - - 2648 - 2.55 0.070 2770 549.0 -107.1 - - 3465 - - - - - - - - 14.47 14.37 14.51
4385 363.6 -8.6 200 4390 roll -0.73 - - 2640 - 2.03 0.118 3825 519.7 -107.1 - - 3464 - - - - - - - - 14.94 14.25 14.94
4426 367.5 -9.3 206 4432 done -0.73 - - 2640 - 1.83 0.046 2749 -588.0 -107.1 - - 3464 - - - - - - - - 14.62 14.59 14.63
4777 396.2 -8.0 214 4782 roll -0.73 - - 2639 - 2.33 0.042 1381 -587.1 -107.1 - - 3462 - - - - - - - - 14.95 14.51 14.95
4846 401.4 -7.4 224 4852 done -0.73 0.10 0.217 2660 210.0 2.53 0.069 2767 547.8 -107.1 - - 3462 - - - - - - - - 14.16 14.35 14.33
5169 422.8 -6.7 235 5170 done -0.73 - - 2660 - - - 2767 - -107.1 - - 3460 - - - - - - - - 14.92 14.92 14.92
5505 448.3 -7.8 241 5506 done -0.73 - - 2660 - - - 2767 - -107.1 - - 3460 - - - - - - - - 14.92 14.92 14.92
5841 476.3 -8.4 247 5841 done -0.73 - - 2660 - - - 2767 - -107.1 - - 3457 - - - - - - - - 14.95 14.95 14.95
6177 502.4 -7.7 253 6183 roll -0.73 - - 2660 - 2.40 0.044 1377 -579.2 -107.1 - - 3457 - - - - - - - - 14.94 14.50 14.94
6218 505.6 -7.4 259 6224 done -0.81 - - 2652 - 2.53 0.070 2759 546.2 -107.1 - - 3457 - - - - - - - - 14.42 14.33 14.47
6569 532.2 -7.7 267 6574 roll -0.81 - - 2645 - 2.03 0.120 3836 530.5 -107.1 - - 3455 - - - - - - - - 14.94 14.24 14.94
6596 534.4 -8.2 271 6602 done -0.81 - - 2644 - 1.80 0.046 2778 -587.8 -107.1 - - 3455 - - - - - - - - 14.59 14.56 14.60
6961 565.6 -8.7 281 6967 roll -0.81 - - 2644 - 2.42 0.044 1364 -584.3 -107.1 - - 3456 - - - - - - - - 14.92 14.47 14.92
7017 570.5 -8.8 289 7023 done -0.81 - - 2635 - 2.53 0.069 2762 552.6 -107.1 - - 3453 - - - - - - - - 14.53 14.36 14.57
7353 599.8 -8.6 302 7354 done -0.81 - - 2636 - - - 2762 - -107.1 - - 3452 - - - - - - - - 14.90 14.90 14.92
7689 626.8 -7.9 308 7694 roll -0.81 - - 2635 - 2.42 0.044 1370 -575.2 -107.1 - - 3451 - - - - - - - - 14.90 14.44 14.90
7716 628.9 -7.9 312 7722 done -0.81 - - 2626 - 2.55 0.069 2761 545.5 -107.1 - - 3449 - - - - - - - - 14.38 14.29 14.43
8081 662.0 -10.5 322 8086 roll -0.81 - - 2625 - 2.40 0.044 1375 -577.5 -107.1 - - 3449 - - - - - - - - 14.90 14.43 14.90
8115 664.8 -7.9 327 8121 done -0.81 - - 2613 - 2.53 0.069 2752 544.3 -107.1 - - 3449 - - - - - - - - 14.38 14.28 14.43
8473 693.2 -8.1 336 8478 roll -0.81 - - 2608 - 2.05 0.117 3836 528.8 -107.1 - - 3448 - - - - - - - - 14.90 14.21 14.90
8514 697.0 -9.2 342 8520 done -0.81 0.10 0.213 2637 290.0 1.88 0.045 2749 -578.2 -107.1 - - 3448 - - - - - - - - 14.14 14.52 14.26
8865 724.6 -8.1 350 8870 roll -0.81 - - 2637 - 2.38 0.044 1370 -579.4 -107.1 - - 3447 - - - - - - - - 14.92 14.42 14.94
8906 728.1 -8.3 356 8912 done -0.81 - - 2628 - 2.55 0.069 2757 543.9 -107.1 - - 3447 - - - - - - - - 14.35 14.24 14.40
9257 760.1 -9.3 364 9262 roll -0.81 - - 2620 - 2.03 0.117 3828 527.6 -107.1 - - 3446 - - - - - - - - 14.90 14.17 14.90
9326 767.1 -10.1 374 9332 done -0.81 - - 2618 - 1.85 0.047 2762 -576.2 -107.1 - - 3446 - - - - - - - - 14.53 14.50 14.55
9649 798.8 -9.8 385 9655 roll -0.81 - - 2619 - 2.42 0.044 1365 -577.3 -107.1 - - 3444 - - - - - - - - 14.89 14.40 14.89
9690 802.9 -9.7 391 9696 done -0.81 - - 2611 - 2.58 0.069 2761 541.1 -107.1 - - 3444 - - - - - - - - 14.33 14.23 14.38
10041 835.2 -9.3 399 10046 roll -0.81 - - 2602 - 2.08 0.118 3828 513.0 -107.1 - - 3444 - - - - - - - - 14.88 14.09 14.88
10110 841.8 -9.5 409 10117 done -0.81 0.10 0.217 2631 290.0 1.88 0.047 2751 -572.9 -107.1 - - 3443 - - - - - - - - 14.04 14.46 14.21
10433 866.9 -7.6 420 10438 roll -0.81 - - 2631 - 2.45 0.044 1357 -569.0 -107.1 - - 3442 - - - - - - - - 14.92 14.35 14.91
10474 870.2 -6.1 426 10480 done -0.81 - - 2623 - 2.60 0.070 2756 538.1 -107.1 - - 3442 - - - - - - - - 14.29 14.19 14.34
10825 896.9 -7.5 434 10826 done -0.81 - - 2623 - - - 2755 - -107.1 - - 3442 - - - - - - - - 14.91 14.90 14.91
11161 922.4 -7.5 440 11166 roll -0.81 - - 2622 - 2.42 0.044 1367 -573.6 -107.1 - - 3441 - - - - - - - - 14.91 14.38 14.91
11188 924.5 -7.7 444 11194 done -0.81 - - 2613 - 2.58 0.070 2752 536.8 -107.1 - - 3441 - - - - - - - - 14.28 14.17 14.34
11270 end dive: TARGET_DEPTH_EXCEEDED
11270 begin apogee
11278 930.6 -7.5 449 11391 roll -0.23 0.73 0.172 2825 290.4 0.10 0.164 2267 -4850.0 - 111.03 1.946 3049 -3.5 0.339 - - - - - - 14.06 13.91 12.93
11393 end apogee: CONTROL_FINISHED_OK
11393 begin climb
11396 933.7 - 451 11526 roll 0.93 1.10 0.086 3184 326.4 2.50 0.056 889 -551.2 107.1 117.55 1.942 2616 -3.7 0.355 - - - - - - 13.99 14.01 12.84
11574 926.3 7.3 478 11582 done 0.83 - - 3183 - 2.45 0.052 2244 553.1 116.4 4.45 1.847 2586 -6.7 0.678 - - - - - - 14.08 14.03 12.52
11939 896.7 8.1 488 11945 roll 0.71 0.17 0.226 3134 -288.2 2.62 0.100 3650 536.6 116.4 1.25 0.239 2587 - - - - - - - - 14.15 14.25 14.06
12009 891.4 7.4 498 12029 done 0.62 0.12 0.210 3102 -266.7 2.40 0.041 2273 -573.8 122.5 12.75 2.082 2556 -2.4 0.209 - - - - - - 14.16 14.42 13.33
12387 869.8 5.6 510 12443 done 0.68 - - 3102 - - - 2272 - 165.1 49.25 1.915 2385 -3.5 0.316 - - - - - - 14.78 14.16 13.23
12779 843.6 6.7 517 12806 roll 0.70 - - 3101 - 2.65 0.106 3658 523.0 185.0 22.27 1.971 2308 -3.5 0.297 - - - - - - 14.73 14.14 13.32
12862 837.2 8.1 529 12869 done 0.70 - - 3110 - 2.47 0.041 2254 -568.4 185.0 - - 2302 - - - - - - - - 14.38 14.33 14.40
13227 810.6 7.3 539 13239 roll 0.71 - - 3110 - 2.70 0.104 3650 517.0 194.8 4.15 1.770 2279 -5.5 0.509 - - - - - - 14.76 14.37 12.90
13254 808.3 8.0 543 13261 done 0.71 - - 3120 - 2.45 0.042 2254 -569.8 194.8 1.75 0.363 2278 - - - - - - - - 14.50 14.45 13.76
13619 779.5 8.0 553 13626 roll 0.71 - - 3120 - 2.65 0.103 3650 526.8 194.8 1.60 0.264 2278 - - - - - - - - 14.80 14.15 13.83
13653 776.4 9.0 558 13659 done 0.71 - - 3129 - 2.45 0.041 2250 -571.4 194.8 - - 2284 - - - - - - - - 14.51 14.46 14.53
14011 746.2 8.5 567 14017 roll 0.71 - - 3130 - 2.67 0.104 3656 526.6 194.8 1.52 0.259 2275 -5.9 3.423 - - - - - - 14.85 14.16 13.88
14073 740.5 9.1 576 14079 done 0.71 - - 3141 - 2.45 0.041 2254 -572.2 194.8 1.25 0.236 2276 - - - - - - - - 14.50 14.42 13.98
14403 712.7 8.3 588 14409 roll 0.71 - - 3150 - 2.45 0.060 861 -568.6 194.8 1.33 0.257 2275 - - - - - - - - 14.89 14.21 13.99
14430 710.4 8.0 592 14436 done 0.71 - - 3149 - 2.47 0.055 2255 564.4 194.8 - - 2282 - - - - - - - - 14.42 14.34 14.47
14795 679.7 8.4 602 14801 roll 0.71 - - 3150 - 2.65 0.105 3661 530.6 194.8 1.30 0.258 2275 -5.4 2.846 - - - - - - 14.87 14.20 13.98
14864 673.0 9.8 612 14871 done 0.71 - - 3161 - 2.45 0.041 2256 -573.5 194.8 1.17 0.232 2273 - - - - - - - - 14.48 14.43 14.01
15187 643.5 9.3 623 15192 roll 0.71 0.10 0.243 3142 -190.0 2.45 0.063 855 -571.8 194.8 - - 2283 - - - - - - - - 14.27 14.35 14.46
15228 639.7 8.8 629 15236 done 0.71 - - 3142 - 2.50 0.056 2260 562.0 194.8 1.10 0.223 2278 -4.5 2.616 - - - - - - 14.40 14.33 14.04
15579 607.8 9.2 637 15586 roll 0.71 - - 3142 - 2.62 0.105 3653 531.7 194.8 1.10 0.264 2276 - - - - - - - - 14.85 14.19 14.01
15620 603.5 10.3 643 15626 done 0.71 - - 3151 - 2.42 0.041 2262 -574.8 194.8 0.93 0.233 2272 -4.3 2.235 - - - - - - 14.48 14.44 14.07
15971 570.9 9.3 651 15972 done 0.71 - - 3152 - - - 2258 - 194.8 - - 2281 - - - - - - - - 14.85 14.85 14.85
16307 542.3 8.3 657 16308 done 0.71 - - 3152 - - - 2258 - 194.8 - - 2282 - - - - - - - - 14.88 14.89 14.89
16643 515.0 8.1 663 16648 roll 0.71 - - 3151 - 2.67 0.105 3653 522.5 194.8 - - 2285 - - - - - - - - 14.86 14.18 14.86
16691 510.7 9.0 670 16699 done 0.71 0.08 0.222 3139 -150.0 2.42 0.041 2260 -575.6 194.8 0.93 0.226 2276 -9.7 4.388 - - - - - - 14.09 14.40 14.03
17035 485.8 7.1 677 17056 done 0.73 - - 3139 - - - 2258 - 207.4 19.65 1.669 2226 -2.5 0.149 - - - - - - 14.88 14.41 13.50
17371 458.3 8.5 683 17376 roll 0.73 - - 3139 - 2.65 0.105 3653 526.4 207.4 - - 2214 - - - - - - - - 14.81 14.21 14.81
17440 451.5 9.9 693 17447 done 0.73 - - 3149 - 2.42 0.041 2263 -574.4 207.4 - - 2214 - - - - - - - - 14.45 14.40 14.47
17763 422.7 8.9 704 17768 roll 0.73 - - 3159 - 2.45 0.063 869 -569.0 207.4 - - 2214 - - - - - - - - 14.82 14.31 14.82
17790 420.2 8.8 708 17796 done 0.73 - - 3159 - 2.50 0.055 2269 560.0 207.4 - - 2214 - - - - - - - - 14.38 14.28 14.41
18155 387.8 9.0 718 18160 roll 0.73 - - 3159 - 2.60 0.106 3655 533.1 207.4 - - 2214 - - - - - - - - 14.84 14.20 14.84
18196 383.5 10.6 724 18202 done 0.73 0.10 0.209 3140 -190.0 2.40 0.041 2274 -575.4 207.4 - - 2214 - - - - - - - - 14.11 14.42 14.27
18547 353.4 8.5 732 18552 roll 0.73 - - 3150 - 2.50 0.063 852 -568.8 207.4 - - 2214 - - - - - - - - 14.87 14.31 14.87
18588 349.9 8.5 738 18594 done 0.73 - - 3150 - 2.53 0.055 2270 560.5 207.4 - - 2214 - - - - - - - - 14.38 14.28 14.41
18939 321.2 8.2 746 18944 roll 0.73 - - 3150 - 2.60 0.106 3656 533.1 207.4 - - 2214 - - - - - - - - 14.85 14.19 14.85
19001 315.3 9.4 755 19007 done 0.73 - - 3161 - 2.42 0.041 2258 -577.7 207.4 - - 2216 - - - - - - - - 14.46 14.42 14.50
19331 285.5 9.2 767 19336 roll 0.73 - - 3171 - 2.45 0.063 863 -569.4 207.4 - - 2213 - - - - - - - - 14.85 14.30 14.85
19373 281.6 9.4 773 19380 done 0.73 0.12 0.213 3135 -300.0 2.45 0.054 2270 574.3 207.4 - - 2212 - - - - - - - - 14.14 14.32 14.40
19723 253.5 8.0 781 19729 roll 0.73 - - 3135 - 2.60 0.104 3653 531.9 207.4 - - 2214 - - - - - - - - 14.87 14.17 14.88
19771 249.2 9.0 788 19779 done 0.73 - - 3145 - 2.42 0.040 2260 -575.6 207.4 - - 2214 - - - - - - - - 14.44 14.40 14.47
20115 221.9 7.9 795 20116 done 0.73 - - 3145 - - - 2255 - 207.4 - - 2214 - - - - - - - - 14.88 14.88 14.88
20451 194.8 8.2 801 20457 roll 0.73 - - 3145 - 2.67 0.103 3658 525.5 207.4 - - 2214 - - - - - - - - 14.88 14.18 14.88
20492 190.9 9.5 807 20498 done 0.73 - - 3157 - 2.42 0.040 2270 -573.6 207.4 - - 2214 - - - - - - - - 14.45 14.41 14.47
20843 159.8 8.8 815 20848 roll 0.73 - - 3154 - 2.62 0.101 3654 528.2 207.4 - - 2215 - - - - - - - - 14.88 14.17 14.88
20905 153.7 9.9 824 20911 done 0.73 - - 3165 - 2.40 0.039 2274 -575.0 207.4 - - 2215 - - - - - - - - 14.45 14.41 14.47
21235 123.6 9.4 836 21240 roll 0.73 - - 3175 - 2.47 0.062 858 -573.3 207.4 - - 2215 - - - - - - - - 14.85 14.29 14.86
21283 118.7 10.0 843 21291 done 0.73 0.12 0.182 3138 -308.3 2.53 0.054 2281 562.5 207.4 - - 2216 - - - - - - - - 14.04 14.26 14.21
21599 93.4 7.6 851 21604 roll 0.81 - - 3137 - 2.60 0.104 3656 528.8 210.0 - - 2216 - - - - - - - - 14.84 14.09 14.84
21703 85.1 7.7 866 21711 done 0.81 - - 3147 - 2.40 0.039 2271 -577.1 210.2 - - 2216 - - - - - - - - 14.45 14.38 14.47
22019 66.1 5.8 878 22048 roll 0.86 - - 3158 - 2.50 0.062 859 -564.8 248.6 20.50 0.360 2061 -7.6 0.279 - - - - - - 14.84 14.40 13.96
22076 63.5 4.5 886 22116 done 1.04 0.17 0.082 3262 611.8 2.50 0.053 2293 573.6 313.3 34.17 0.354 1801 -7.6 0.274 - - - - - - 14.47 14.38 14.01
22442 30.9 7.9 905 22448 roll 1.04 - - 3261 - 2.58 0.104 3659 529.5 313.3 - - 1800 - - - - - - - - 14.78 14.19 14.76
22678 20.6 3.4 939 22728 done 1.15 - - 3272 - 2.38 0.038 2271 -583.2 400.4 43.05 0.225 1454 -8.0 0.148 - - - - - - 14.46 14.42 14.10
22998 end climb: SURFACE_DEPTH_REACHED
23000 begin surface coast
23026 end surface coast: CONTROL_FINISHED_OK
23026 begin surface
SM -1.76 - - - - -8.39 9.12 0.072 185 20.3 0.93 0.090 2760 -6982.8 500.14 46.78 0.154 1057 22.6 0.026 - - - - - -