SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 449 * Raw log
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• Previous call tries 1 • 158.84 of 350.00 AH used of 24V (54.62% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -70.1 deg, depth -3.63 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 4 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 101 done -0.93 - - 105 - - - 2776 - -107.1 -78.85 - 3479 - - - - - - - - 14.64 12.50 14.64
105 5.7 -16.9 3 122 roll -0.93 11.85 0.385 2589 209.6 2.38 0.027 1341 -602.9 -107.1 - - 3480 - - - - - - - - 13.97 14.34 14.23
354 54.6 -8.6 39 359 done -0.75 0.28 0.234 2663 264.3 2.58 0.065 2773 555.0 -107.1 - - 3482 - - - - - - - - 14.09 14.33 14.36
690 83.4 -7.8 54 695 roll -0.75 - - 2655 - 2.40 0.041 1377 -581.7 -107.1 - - 3483 - - - - - - - - 14.83 14.47 14.84
780 91.2 -8.0 67 786 done -0.75 - - 2646 - 2.50 0.065 2766 555.6 -107.1 - - 3483 - - - - - - - - 14.44 14.35 14.49
1110 118.4 -8.2 77 1116 roll -0.75 - - 2637 - 2.00 0.109 3819 526.5 -107.1 - - 3482 - - - - - - - - 14.88 14.27 14.88
1151 122.4 -9.6 83 1157 done -0.75 - - 2637 - 1.77 0.039 2747 -605.6 -107.1 - - 3483 - - - - - - - - 14.62 14.60 14.64
1502 156.1 -9.8 91 1503 done -0.75 - - 2637 - - - 2751 - -107.1 - - 3481 - - - - - - - - 14.89 14.90 14.90
1838 189.9 -10.0 97 1844 roll -0.75 - - 2629 - 2.05 0.108 3831 526.8 -107.1 - - 3480 - - - - - - - - 14.91 14.32 14.91
1914 198.0 -10.2 108 1920 done -0.75 - - 2628 - 1.77 0.041 2770 -599.4 -107.1 - - 3479 - - - - - - - - 14.59 14.54 14.60
2230 227.1 -9.0 118 2235 roll -0.75 - - 2628 - 2.35 0.041 1382 -590.6 -107.1 - - 3477 - - - - - - - - 14.93 14.51 14.93
2292 232.5 -8.5 127 2298 done -0.75 0.10 0.211 2649 210.0 2.47 0.066 2758 557.1 -107.1 - - 3477 - - - - - - - - 14.17 14.35 14.33
2622 257.4 -7.5 139 2627 roll -0.75 - - 2641 - 2.00 0.111 3834 538.0 -107.1 - - 3474 - - - - - - - - 14.92 14.31 14.92
2670 261.4 -8.4 146 2677 done -0.75 - - 2640 - 1.80 0.041 2765 -593.9 -107.1 - - 3474 - - - - - - - - 14.62 14.59 14.62
3014 290.4 -8.6 153 3020 roll -0.75 - - 2640 - 2.38 0.042 1378 -582.8 -107.1 - - 3472 - - - - - - - - 14.91 14.50 14.92
3041 293.0 -9.4 157 3048 done -0.75 - - 2631 - 2.50 0.067 2763 554.0 -107.1 - - 3472 - - - - - - - - 14.45 14.35 14.50
3406 328.6 -9.9 167 3411 roll -0.75 - - 2622 - 2.03 0.111 3818 519.7 -107.1 - - 3470 - - - - - - - - 14.91 14.26 14.91
3440 332.2 -10.6 172 3446 done -0.75 0.10 0.207 2652 300.0 1.77 0.042 2769 -592.7 -107.1 - - 3469 - - - - - - - - 14.24 14.58 14.38
3798 363.9 -8.8 181 3803 roll -0.75 - - 2653 - 2.38 0.041 1382 -582.8 -107.1 - - 3468 - - - - - - - - 14.91 14.50 14.91
3854 369.0 -9.2 189 3860 done -0.75 - - 2644 - 2.45 0.067 2761 562.9 -107.1 - - 3468 - - - - - - - - 14.57 14.40 14.62
4190 399.7 -9.2 202 4195 roll -0.75 - - 2643 - 2.38 0.041 1384 -578.6 -107.1 - - 3466 - - - - - - - - 14.93 14.50 14.93
4224 403.0 -9.7 207 4230 done -0.75 - - 2635 - 2.50 0.066 2759 550.0 -107.1 - - 3466 - - - - - - - - 14.43 14.35 14.48
4582 434.7 -8.7 216 4587 roll -0.75 - - 2627 - 2.00 0.112 3828 534.5 -107.1 - - 3464 - - - - - - - - 14.93 14.28 14.93
4609 437.1 -8.7 220 4615 done -0.75 0.08 0.205 2649 275.0 1.83 0.044 2764 -581.4 -107.1 - - 3464 - - - - - - - - 14.23 14.56 14.38
4974 464.3 -7.4 230 4979 roll -0.75 - - 2651 - 2.40 0.043 1369 -581.2 -107.1 - - 3463 - - - - - - - - 14.90 14.47 14.90
5008 466.9 -7.7 235 5014 done -0.75 - - 2642 - 2.53 0.067 2758 549.0 -107.1 - - 3463 - - - - - - - - 14.41 14.31 14.45
5366 493.5 -7.5 244 5367 done -0.75 - - 2640 - - - 2761 - -107.1 - - 3460 - - - - - - - - 14.89 14.90 14.90
5702 519.8 -7.9 250 5703 done -0.75 - - 2642 - - - 2759 - -107.1 - - 3460 - - - - - - - - 14.90 14.90 14.90
6038 546.8 -8.0 256 6043 roll -0.75 - - 2642 - 2.42 0.043 1371 -573.6 -107.1 - - 3458 - - - - - - - - 14.90 14.44 14.91
6100 552.0 -8.1 265 6107 done -0.75 - - 2633 - 2.53 0.067 2754 546.6 -107.1 - - 3458 - - - - - - - - 14.40 14.31 14.45
6430 578.8 -8.2 277 6431 done -0.75 - - 2633 - - - 2754 - -107.1 - - 3457 - - - - - - - - 14.90 14.90 14.90
6766 605.5 -7.9 283 6771 roll -0.75 - - 2632 - 2.40 0.043 1371 -576.2 -107.1 - - 3455 - - - - - - - - 14.90 14.43 14.90
6793 607.7 -7.8 287 6799 done -0.75 0.10 0.217 2652 200.0 2.53 0.066 2760 549.0 -107.1 - - 3455 - - - - - - - - 14.07 14.28 14.24
7158 634.2 -7.3 297 7164 roll -0.75 - - 2652 - 2.42 0.044 1367 -575.6 -107.1 - - 3455 - - - - - - - - 14.92 14.42 14.92
7206 637.8 -7.8 304 7213 done -0.83 - - 2644 - 2.55 0.068 2749 542.0 -107.1 - - 3454 - - - - - - - - 14.34 14.24 14.39
7550 663.1 -7.4 311 7555 roll -0.83 - - 2635 - 2.10 0.116 3825 512.4 -107.1 - - 3452 - - - - - - - - 14.90 14.12 14.89
7598 667.0 -8.5 318 7605 done -0.83 - - 2635 - 1.88 0.045 2743 -575.5 -107.1 - - 3453 - - - - - - - - 14.52 14.50 14.54
7942 693.2 -7.7 325 7948 roll -0.83 - - 2635 - 2.38 0.044 1370 -576.9 -107.1 - - 3452 - - - - - - - - 14.92 14.40 14.95
8018 699.3 -8.1 336 8024 done -0.83 - - 2626 - 2.55 0.067 2753 542.4 -107.1 - - 3451 - - - - - - - - 14.33 14.23 14.37
8334 724.8 -8.2 346 8339 roll -0.83 - - 2619 - 2.05 0.112 3833 526.8 -107.1 - - 3450 - - - - - - - - 14.91 14.15 14.92
8375 728.5 -9.8 352 8381 done -0.83 - - 2618 - 1.88 0.044 2747 -577.7 -107.1 - - 3449 - - - - - - - - 14.50 14.48 14.52
8726 758.0 -8.4 360 8731 roll -0.83 - - 2618 - 2.40 0.044 1371 -573.3 -107.1 - - 3449 - - - - - - - - 14.92 14.41 14.91
8774 762.4 -9.5 367 8781 done -0.83 - - 2609 - 2.53 0.067 2745 543.1 -107.1 - - 3449 - - - - - - - - 14.31 14.21 14.35
9118 792.0 -8.6 374 9123 roll -0.83 - - 2601 - 2.08 0.114 3837 525.0 -107.1 - - 3448 - - - - - - - - 14.91 14.14 14.90
9180 797.6 -9.0 383 9186 done -0.83 0.10 0.220 2627 260.0 1.88 0.044 2753 -576.6 -107.1 - - 3448 - - - - - - - - 14.04 14.46 14.19
9510 821.9 -7.3 395 9515 roll -0.83 - - 2628 - 2.42 0.045 1363 -574.4 -107.1 - - 3448 - - - - - - - - 14.88 14.35 14.88
9586 827.4 -7.4 406 9592 done -0.83 - - 2619 - 2.55 0.067 2747 542.7 -107.1 - - 3447 - - - - - - - - 14.31 14.21 14.35
9902 851.6 -7.7 416 9907 roll -0.83 - - 2611 - 2.05 0.114 3821 523.9 -107.1 - - 3446 - - - - - - - - 14.88 14.10 14.87
9943 855.1 -8.9 422 9949 done -0.83 - - 2610 - 1.88 0.046 2744 -572.9 -107.1 - - 3446 - - - - - - - - 14.49 14.45 14.50
10294 883.2 -8.1 430 10299 roll -0.83 - - 2608 - 2.40 0.045 1370 -572.5 -107.1 - - 3444 - - - - - - - - 14.89 14.34 14.91
10370 889.2 -8.0 441 10377 done -0.83 0.08 0.233 2622 175.0 2.55 0.067 2741 537.6 -107.1 - - 3445 - - - - - - - - 13.93 14.16 14.10
10686 912.9 -7.5 451 10687 done -0.83 - - 2622 - - - 2741 - -107.1 - - 3444 - - - - - - - - 14.89 14.89 14.90
10963 end dive: TARGET_DEPTH_EXCEEDED
10963 begin apogee
10971 933.6 -7.4 456 11079 roll -0.23 0.68 0.166 2823 295.6 0.10 0.161 2270 -4710.0 - 100.47 2.853 3051 -3.9 0.259 - - - - 1 - 14.05 13.73 12.42
11081 end apogee: CONTROL_FINISHED_OK
11081 begin climb
11084 937.0 - 458 11220 roll 0.93 1.12 0.086 3185 323.2 2.55 0.057 890 -541.2 107.1 125.90 1.944 2619 -3.4 0.335 - - - - - - 13.83 13.85 12.73
11261 932.1 6.6 484 11295 done 0.84 - - 3185 - 2.47 0.050 2244 548.2 130.1 25.85 2.023 2526 -3.6 0.335 - - - - - - 14.00 13.94 12.88
11640 900.0 8.7 496 11645 roll 0.72 0.17 0.220 3135 -294.1 2.62 0.100 3651 537.0 130.1 - - 2517 - - - - - - - - 14.16 14.24 14.38
11752 890.8 8.0 512 11758 done 0.64 0.12 0.229 3113 -183.3 2.38 0.041 2272 -579.4 130.1 - - 2517 - - - - - - - - 14.17 14.45 14.42
12088 870.2 6.0 525 12136 roll 0.68 - - 3110 - 2.70 0.100 3651 510.7 165.4 39.67 1.939 2384 -3.4 0.304 - - - - - - 14.81 14.18 13.23
12171 864.5 7.0 537 12193 done 0.70 - - 3120 - 2.45 0.041 2262 -566.9 180.5 17.52 2.044 2331 -3.0 0.259 - - - - - - 14.33 14.29 13.17
12530 837.6 7.6 546 12530 done 0.70 - - 3120 - - - 2262 - 183.7 - - 2316 - - - - - - - - 14.71 14.71 14.71
12865 812.9 7.3 552 12878 roll 0.71 - - 3120 - 2.67 0.103 3650 519.9 191.7 4.65 1.907 2294 -4.7 0.408 - - - - - - 14.78 14.39 12.91
12921 808.2 8.2 560 12927 done 0.71 - - 3130 - 2.42 0.041 2244 -581.0 191.7 1.75 0.262 2286 -4.6 2.852 - - - - - - 14.57 14.49 13.93
13257 781.5 7.9 573 13260 done 0.71 - - 3130 - - - 2240 - 191.7 1.60 0.249 2285 - - - - - - - - 14.81 14.37 14.00
13593 754.0 8.2 579 13599 roll 0.71 - - 3130 - 2.67 0.101 3653 529.2 191.7 1.50 0.251 2287 - - - - - - - - 14.83 14.21 13.97
13669 746.9 9.4 590 13675 done 0.71 - - 3140 - 2.42 0.041 2265 -573.6 191.7 1.45 0.225 2285 - - - - - - - - 14.49 14.43 14.01
13985 719.7 8.6 600 13987 done 0.71 - - 3141 - - - 2261 - 191.7 1.25 0.255 2285 - - - - - - - - 14.83 14.39 14.07
14321 690.9 8.5 606 14326 roll 0.71 - - 3140 - 2.65 0.103 3655 526.0 191.7 - - 2295 - - - - - - - - 14.85 14.25 14.85
14377 685.7 9.5 614 14382 done 0.71 - - 3150 - 2.40 0.041 2253 -584.2 191.7 - - 2295 - - - - - - - - 14.57 14.47 14.60
14713 657.3 8.4 627 14718 roll 0.71 - - 3151 - 2.65 0.099 3650 527.2 191.7 - - 2295 - - - - - - - - 14.85 14.23 14.85
14754 653.6 9.2 633 14762 done 0.71 0.10 0.211 3132 -190.0 2.42 0.041 2259 -574.8 191.7 1.20 0.221 2286 -7.5 4.486 - - - - - - 14.11 14.42 14.05
15105 625.6 8.1 641 15106 done 0.71 - - 3132 - - - 2259 - 191.7 - - 2294 - - - - - - - - 14.85 14.85 14.85
15441 597.0 8.6 647 15446 roll 0.71 - - 3132 - 2.65 0.103 3652 525.7 191.7 - - 2294 - - - - - - - - 14.88 14.20 14.88
15482 593.1 8.9 653 15490 done 0.71 - - 3143 - 2.42 0.041 2265 -573.1 191.7 1.25 0.219 2285 -7.2 3.944 - - - - - - 14.45 14.42 14.03
15833 563.1 8.4 661 15834 done 0.71 - - 3140 - - - 2265 - 191.7 - - 2294 - - - - - - - - 14.88 14.88 14.88
16169 537.3 7.6 667 16182 roll 0.72 - - 3143 - 2.67 0.103 3651 519.1 195.7 4.55 1.754 2273 -4.6 0.286 - - - - - - 14.88 14.39 13.05
16231 531.9 8.7 676 16237 done 0.72 - - 3153 - 2.40 0.041 2272 -574.6 195.7 1.58 0.271 2272 - - - - - - - - 14.53 14.50 13.77
16561 506.5 7.7 688 16567 roll 0.72 - - 3153 - 2.67 0.101 3658 519.1 196.7 2.08 0.407 2272 - - - - - - - - 14.83 14.32 12.81
16595 503.5 8.6 693 16603 done 0.72 0.10 0.210 3133 -200.0 2.42 0.041 2260 -577.7 196.7 2.62 0.960 2267 -1.9 0.202 - - - - - - 14.16 14.45 12.91
16946 479.1 6.9 701 16973 done 0.74 - - 3133 - - - 2259 - 213.3 25.88 1.618 2204 -2.4 0.146 - - - - - - 14.83 14.37 13.50
17282 454.5 7.4 707 17288 roll 0.75 - - 3133 - 2.72 0.101 3654 512.9 219.6 1.77 0.259 2179 -14.1 5.013 - - - - - - 14.75 14.20 13.66
17344 448.9 9.1 716 17351 done 0.75 - - 3144 - 2.42 0.041 2273 -570.7 219.6 1.62 0.233 2175 -2.5 0.962 - - - - - - 14.42 14.38 13.77
17667 420.3 9.0 727 17673 roll 0.75 - - 3154 - 2.50 0.061 858 -566.0 219.6 1.70 0.254 2177 - - - - - - - - 14.79 14.02 13.72
17694 417.9 8.6 731 17700 done 0.75 - - 3154 - 2.53 0.054 2274 559.7 219.6 - - 2182 - - - - - - - - 14.36 14.28 14.40
18059 385.9 8.7 741 18065 roll 0.75 - - 3154 - 2.60 0.102 3659 532.7 219.6 1.62 0.249 2178 -2.5 0.774 - - - - - - 14.82 14.05 13.76
18100 381.8 9.4 747 18106 done 0.75 - - 3164 - 2.42 0.040 2269 -574.4 219.6 1.48 0.231 2175 -2.0 0.678 - - - - - - 14.47 14.39 13.82
18451 349.0 9.4 755 18457 roll 0.75 - - 3174 - 2.50 0.060 855 -565.6 219.6 1.67 0.249 2178 1.8 -0.509 - - - - - - 14.83 14.01 13.69
18492 345.0 9.5 761 18499 done 0.75 0.10 0.190 3145 -290.0 2.53 0.054 2275 561.3 219.6 1.55 0.225 2176 - - - - - - - - 14.09 14.29 13.83
18843 314.6 8.7 769 18850 roll 0.75 - - 3144 - 2.58 0.099 3654 534.5 219.6 1.65 0.249 2179 1.8 -0.465 - - - - - - 14.86 14.02 13.69
18884 310.6 9.5 775 18890 done 0.75 - - 3152 - 2.40 0.039 2275 -574.6 219.6 1.60 0.232 2176 -1.9 0.508 - - - - - - 14.45 14.40 13.71
19235 279.3 8.9 783 19238 done 0.75 - - 3155 - - - 2272 - 219.6 1.55 0.242 2176 - - - - - - - - 14.84 14.21 13.82
19571 251.5 8.1 789 19577 roll 0.75 - - 3155 - 2.62 0.097 3656 528.2 219.6 1.65 0.246 2180 2.4 -0.501 - - - - - - 14.85 13.97 13.67
19599 249.1 8.6 793 19606 done 0.75 - - 3166 - 2.42 0.040 2269 -573.1 219.6 1.67 0.271 2179 - - - - - - - - 14.53 14.39 13.56
19963 219.2 8.3 803 19969 roll 0.75 - - 3175 - 2.55 0.061 863 -551.4 219.6 1.92 0.283 2177 - - - - - - - - 14.85 14.14 13.38
20004 215.7 8.2 809 20011 done 0.75 0.08 0.194 3149 -325.0 2.50 0.053 2274 564.4 219.6 1.48 0.248 2177 - - - - - - - - 14.09 14.29 13.60
20355 186.4 8.5 817 20362 roll 0.75 - - 3151 - 2.65 0.102 3660 523.0 219.6 2.08 0.389 2181 1.9 -0.186 - - - - - - 14.85 14.27 12.98
20424 179.7 9.6 827 20431 done 0.75 - - 3161 - 2.40 0.038 2275 -577.1 219.6 1.73 0.258 2176 -2.9 0.407 - - - - - - 14.45 14.41 13.54
20747 152.9 8.1 838 20753 roll 0.75 - - 3171 - 2.50 0.060 856 -567.6 219.6 1.60 0.249 2180 2.5 -0.310 - - - - - - 14.87 14.00 13.69
20781 150.1 7.8 843 20788 done 0.75 0.10 0.185 3141 -300.0 2.53 0.053 2280 562.8 219.6 1.65 0.252 2176 -2.4 0.292 - - - - - - 14.07 14.26 13.57
21139 123.4 7.6 852 21152 roll 0.75 - - 3141 - 2.60 0.102 3661 531.2 222.6 4.60 1.385 2169 -1.5 0.027 - - - - - - 14.88 14.40 13.19
21195 118.4 9.3 860 21201 done 0.75 - - 3150 - 2.35 0.038 2256 -597.9 222.6 1.60 0.261 2163 -3.8 0.344 - - - - - - 14.62 14.54 13.83
21534 91.1 7.3 875 21544 roll 0.76 - - 3151 - 2.62 0.096 3653 533.2 231.1 6.10 0.406 2133 -4.9 0.223 - - - - - - 14.80 14.19 13.83
21572 88.0 7.3 881 21587 done 0.77 - - 3160 - 2.38 0.038 2276 -578.6 239.5 5.90 0.392 2100 -5.6 0.254 - - - - - - 14.45 14.42 13.91
21895 68.3 5.3 894 21924 done 0.83 - - 3161 - - - 2276 - 288.4 26.58 0.374 1902 -7.4 0.275 - - - - - - 14.83 14.42 14.01
22231 48.6 5.7 909 22259 roll 1.01 0.12 0.101 3247 716.7 2.47 0.060 869 -569.6 329.6 21.67 0.314 1737 -7.6 0.238 - - - - - - 14.51 14.23 13.97
22405 34.5 7.8 934 22411 done 1.01 - - 3247 - 2.53 0.053 2290 561.7 329.6 - - 1738 - - - - - - - - 14.35 14.28 14.39
22735 22.9 3.0 948 22791 roll 1.24 0.10 0.117 3315 680.0 2.58 0.106 3653 528.3 425.2 47.95 0.233 1357 -7.9 0.158 - - - - - - 14.52 14.26 14.06
22856 13.7 10.1 965 22861 done 1.24 - - 3326 - 2.30 0.037 2294 -590.9 425.2 - - 1358 - - - - - - - - 14.54 14.46 14.56
22984 end climb: SURFACE_DEPTH_REACHED
22984 begin surface coast
23012 end surface coast: CONTROL_FINISHED_OK
23012 begin surface
SM -1.88 - - - - -8.41 9.35 0.076 170 18.2 0.90 0.088 2766 1928.9 500.14 35.05 0.155 1057 30.2 0.037 - - - - - -