SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 750 * Raw log
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• Previous call tries 1 • 254.87 of 350.00 AH used of 24V (27.18% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.3 deg, depth -2.45 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 106 - - - 2790 - -107.1 -81.88 - 3479 - - - - - - - - 14.49 12.64 14.42
108 2.9 -9.1 3 124 roll -0.93 11.88 0.371 2582 208.4 2.05 0.131 3829 506.8 -107.1 - - 3479 - - - - - - - - 13.86 14.02 14.23
160 24.4 -27.9 11 165 done -0.54 0.52 0.246 2717 259.6 1.85 0.051 2686 -617.8 -107.1 - - 3482 - - - - - - - - 13.76 14.31 14.07
496 66.6 -8.5 26 501 roll -0.54 - - 2708 - 2.38 0.167 3823 477.7 -107.1 - - 3480 - - - - - - - - 14.67 13.85 14.67
642 78.5 -7.3 47 647 done -0.54 - - 2708 - 1.88 0.060 2723 -585.1 -107.1 - - 3482 - - - - - - - - 14.24 14.19 14.26
973 98.1 -5.8 61 978 roll -0.65 - - 2708 - 2.38 0.041 1383 -563.0 -107.1 - - 3482 - - - - - - - - 14.65 13.96 14.65
1056 102.7 -5.1 73 1062 done -0.77 0.10 0.108 2622 -860.0 2.72 0.106 2771 510.3 -107.1 - - 3482 - - - - - - - - 14.15 13.89 14.23
1420 132.7 -8.6 83 1421 done -0.77 0.10 0.225 2651 290.0 - - 2771 - -107.1 - - 3481 - - - - - - - - 13.90 14.09 14.03
1757 159.6 -7.9 89 1763 roll -0.77 - - 2651 - 2.50 0.043 1387 -553.6 -107.1 - - 3479 - - - - - - - - 14.66 13.91 14.66
1813 164.4 -8.2 97 1819 done -0.77 - - 2643 - 2.75 0.107 2765 501.1 -107.1 - - 3479 - - - - - - - - 14.12 13.87 14.18
2149 194.2 -9.0 110 2153 roll -0.77 - - 2634 - 2.20 0.173 3822 480.5 -107.1 - - 3476 - - - - - - - - 14.71 13.87 14.71
2176 197.1 -10.3 114 2180 done -0.77 - - 2634 - 1.83 0.061 2778 -570.5 -107.1 - - 3477 - - - - - - - - 14.21 14.16 14.23
2541 231.7 -9.6 124 2546 roll -0.77 - - 2634 - 2.53 0.041 1368 -557.3 -107.1 - - 3473 - - - - - - - - 14.71 13.87 14.71
2617 238.5 -8.9 135 2622 done -0.77 - - 2624 - 2.78 0.104 2762 501.4 -107.1 - - 3473 - - - - - - - - 14.17 13.90 14.22
2933 265.4 -8.5 145 2938 roll -0.77 - - 2616 - 2.20 0.171 3823 482.3 -107.1 - - 3471 - - - - - - - - 14.66 13.86 14.66
2974 269.5 -9.5 151 2979 done -0.77 0.12 0.210 2652 300.0 1.88 0.062 2765 -562.8 -107.1 - - 3471 - - - - - - - - 13.74 14.14 13.98
3325 295.2 -7.3 159 3330 roll -0.77 - - 2652 - 2.53 0.041 1363 -554.2 -107.1 - - 3469 - - - - - - - - 14.66 13.93 14.66
3352 297.5 -8.1 163 3357 done -0.77 - - 2644 - 2.78 0.106 2769 505.8 -107.1 - - 3468 - - - - - - - - 14.21 13.98 14.25
3717 326.1 -8.0 173 3722 roll -0.77 - - 2636 - 2.20 0.173 3822 478.6 -107.1 - - 3466 - - - - - - - - 14.71 13.85 14.70
3765 330.3 -8.6 180 3771 done -0.77 - - 2634 - 1.90 0.064 2768 -554.7 -107.1 - - 3465 - - - - - - - - 14.23 14.16 14.25
4109 358.5 -8.2 187 4114 roll -0.77 - - 2635 - 2.55 0.042 1359 -552.5 -107.1 - - 3464 - - - - - - - - 14.71 13.85 14.71
4185 364.9 -8.3 198 4190 done -0.77 - - 2623 - 2.78 0.102 2754 501.8 -107.1 - - 3463 - - - - - - - - 14.18 13.93 14.22
4501 392.3 -8.8 208 4502 done -0.77 - - 2626 - - - 2753 - -107.1 - - 3462 - - - - - - - - 14.70 14.71 14.70
4837 421.8 -8.8 214 4841 roll -0.77 - - 2625 - 2.58 0.042 1353 -542.6 -107.1 - - 3460 - - - - - - - - 14.64 13.87 14.64
4871 424.7 -8.5 219 4876 done -0.77 0.12 0.222 2651 216.7 2.83 0.105 2767 499.6 -107.1 - - 3456 - - - - - - - - 13.87 13.90 14.12
5229 451.8 -7.4 228 5230 done -0.77 - - 2651 - - - 2766 - -107.1 - - 3458 - - - - - - - - 14.70 14.69 14.70
5565 475.8 -7.0 234 5570 roll -0.77 - - 2651 - 2.60 0.043 1359 -541.2 -107.1 - - 3456 - - - - - - - - 14.69 13.90 14.69
5627 480.9 -7.2 243 5632 done -0.85 - - 2643 - 2.78 0.105 2751 500.7 -107.1 - - 3456 - - - - - - - - 14.16 13.90 14.21
5957 506.2 -7.6 255 5962 roll -0.85 - - 2643 - 2.58 0.042 1353 -541.9 -107.1 - - 3455 - - - - - - - - 14.69 13.88 14.69
6005 510.2 -7.4 262 6011 done -0.85 - - 2633 - 2.83 0.106 2763 498.2 -107.1 - - 3454 - - - - - - - - 14.16 13.90 14.22
6349 535.5 -7.4 269 6350 done -0.85 - - 2634 - - - 2762 - -107.1 - - 3454 - - - - - - - - 14.62 14.62 14.62
6685 561.1 -7.7 275 6689 roll -0.85 - - 2633 - 2.60 0.043 1351 -542.7 -107.1 - - 3452 - - - - - - - - 14.62 13.94 14.62
6712 563.6 -8.8 279 6717 done -0.85 - - 2626 - 2.80 0.105 2748 498.9 -107.1 - - 3452 - - - - - - - - 14.16 13.89 14.21
7077 597.2 -9.5 289 7083 roll -0.85 - - 2615 - 2.25 0.172 3828 480.0 -107.1 - - 3450 - - - - - - - - 14.62 13.85 14.62
7133 603.0 -10.0 297 7138 done -0.85 - - 2615 - 1.95 0.067 2743 -556.4 -107.1 - - 3450 - - - - - - - - 14.20 14.13 14.21
7469 636.4 -10.0 310 7473 roll -0.85 - - 2614 - 2.53 0.041 1356 -548.2 -107.1 - - 3449 - - - - - - - - 14.69 13.90 14.68
7525 642.2 -10.4 318 7529 done -0.85 - - 2605 - 2.80 0.100 2754 499.3 -107.1 - - 3449 - - - - - - - - 14.16 13.90 14.21
7861 676.8 -10.3 331 7865 roll -0.85 - - 2597 - 2.22 0.167 3829 484.2 -107.1 - - 3448 - - - - - - - - 14.68 13.83 14.68
7909 681.7 -10.3 338 7915 done -0.85 - - 2597 - 1.95 0.063 2745 -555.9 -107.1 - - 3448 - - - - - - - - 14.19 14.12 14.21
8253 713.8 -9.1 345 8254 done -0.85 - - 2597 - - - 2743 - -107.1 - - 3446 - - - - - - - - 14.60 14.60 14.60
8589 742.5 -8.4 351 8589 done -0.85 - - 2596 - - - 2745 - -107.1 - - 3446 - - - - - - - - 14.66 14.65 14.66
8925 768.9 -7.8 357 8925 done -0.85 - - 2597 - - - 2747 - -107.1 - - 3445 - - - - - - - - 14.59 14.59 14.59
9261 794.4 -7.6 363 9262 done -0.85 - - 2597 - - - 2745 - -107.1 - - 3443 - - - - - - - - 14.59 14.59 14.58
9368 end dive: TARGET_DEPTH_EXCEEDED
9368 begin apogee
9379 803.0 -7.8 365 9497 roll -0.23 0.82 0.175 2826 279.3 0.12 0.181 2275 -3916.7 - 110.43 2.105 3050 -3.6 0.270 - - - - 1 - 13.81 13.76 12.64
9499 end apogee: CONTROL_FINISHED_OK
9499 begin climb
9503 805.8 - 367 9640 roll 0.93 1.12 0.086 3185 320.5 2.60 0.051 881 -536.2 107.1 125.43 1.786 2620 -3.4 0.307 - - - - - - 13.64 13.71 13.02
9711 801.9 7.1 399 9722 done 0.81 - - 3184 - 2.53 0.070 2237 536.0 119.3 5.05 1.642 2578 -8.3 0.807 - - - - - - 14.07 13.88 12.98
10047 777.3 7.4 412 10066 roll 0.68 0.20 0.218 3124 -300.0 2.85 0.150 3670 502.8 125.4 13.15 1.917 2544 -2.6 0.208 - - - - - - 13.81 14.01 13.39
10096 773.9 6.5 419 10129 done 0.63 - - 3135 - 2.45 0.053 2270 -571.4 150.7 29.20 1.822 2450 -3.2 0.272 - - - - - - 14.31 14.23 13.28
10489 744.5 7.7 433 10494 roll 0.63 0.08 0.258 3108 -337.5 2.83 0.147 3657 490.1 150.7 - - 2433 - - - - - - - - 13.97 13.90 14.09
10516 742.3 7.6 437 10521 done 0.64 - - 3119 - 2.45 0.053 2245 -576.3 152.7 - - 2434 - - - - - - - - 14.37 14.30 14.40
10881 714.9 7.5 447 10882 done 0.64 - - 3120 - - - 2241 - 156.7 - - 2432 - - - - - - - - 14.62 14.62 14.63
11217 690.0 7.4 453 11228 roll 0.65 - - 3119 - 2.90 0.152 3664 490.7 163.4 4.53 1.651 2405 -6.0 0.495 - - - - - - 14.63 13.97 13.19
11251 687.2 8.0 458 11257 done 0.65 - - 3130 - 2.47 0.052 2248 -573.3 163.4 2.22 0.565 2398 -3.2 0.762 - - - - - - 14.39 14.32 12.88
11602 662.9 6.8 466 11641 roll 0.67 - - 3129 - 2.90 0.152 3651 483.8 182.2 31.05 1.769 2314 -2.7 0.201 - - - - - - 14.62 14.01 13.41
11664 658.4 7.4 475 11669 done 0.68 - - 3141 - 2.45 0.051 2256 -569.4 188.9 1.70 0.220 2296 -10.6 6.297 - - - - - - 14.30 14.23 13.89
11987 634.2 7.5 486 11998 roll 0.69 - - 3151 - 2.53 0.056 863 -550.6 193.1 3.50 1.240 2283 -3.7 0.378 - - - - - - 14.63 14.12 13.20
12035 630.7 7.1 493 12063 done 0.70 - - 3151 - 2.58 0.073 2253 538.8 206.3 18.80 1.691 2226 -3.0 0.225 - - - - 1 - 14.26 14.05 12.90
12372 603.2 8.4 506 12377 roll 0.70 - - 3151 - 2.88 0.155 3657 487.5 206.3 - - 2231 - - - - - - - - 14.62 13.84 14.61
12428 597.8 10.1 514 12433 done 0.62 0.20 0.215 3106 -225.0 2.47 0.050 2246 -571.3 206.3 - - 2231 - - - - - - - - 13.88 14.23 14.14
12764 573.6 7.1 527 12786 done 0.64 - - 3106 - - - 2242 - 219.2 20.48 1.748 2178 -2.6 0.169 - - - - - - 14.60 14.27 13.48
13100 549.6 7.0 533 13119 roll 0.66 - - 3105 - 2.88 0.150 3658 491.7 232.9 13.95 1.779 2116 -4.4 0.273 - - - - - - 14.62 13.99 13.45
13162 545.0 7.8 542 13167 done 0.66 - - 3114 - 2.45 0.052 2260 -570.6 232.9 - - 2109 - - - - - - - - 14.38 14.31 14.40
13485 521.8 7.2 553 13490 done 0.67 - - 3114 - - - 2254 - 242.5 3.53 1.177 2083 -7.4 0.649 - - - - - - 14.60 14.33 13.26
13821 494.6 8.4 559 13831 roll 0.67 - - 3114 - 2.97 0.153 3668 476.1 242.5 1.73 0.223 2086 1.7 -0.764 - - - - - - 14.64 13.90 13.88
13848 492.1 8.8 563 13853 done 0.67 - - 3122 - 2.47 0.051 2254 -572.5 242.5 - - 2090 - - - - - - - - 14.35 14.26 14.36
14213 459.8 8.7 573 14216 done 0.67 - - 3123 - - - 2250 - 242.5 1.67 0.220 2084 -3.6 1.492 - - - - - - 14.60 14.13 13.86
14549 433.3 7.7 579 14554 roll 0.67 - - 3124 - 2.90 0.153 3659 485.9 242.5 1.05 0.244 2087 2.9 -1.008 - - - - - - 14.65 13.88 13.89
14583 430.4 8.6 584 14589 done 0.67 - - 3133 - 2.45 0.052 2261 -570.6 242.5 1.55 0.227 2084 -1.9 0.729 - - - - - - 14.28 14.20 13.84
14941 401.9 8.1 593 14947 roll 0.67 - - 3144 - 2.53 0.055 851 -557.3 242.5 1.35 0.230 2084 - - - - - - - - 14.62 13.98 13.91
14983 398.4 8.2 599 14988 done 0.67 - - 3144 - 2.62 0.076 2259 537.4 242.5 1.50 0.226 2084 - - - - - - - - 14.13 13.88 13.87
15327 369.5 8.4 606 15332 roll 0.67 - - 3144 - 2.90 0.154 3658 482.4 242.5 1.52 0.226 2084 - - - - - - - - 14.65 13.88 13.92
15361 366.4 8.9 611 15366 done 0.67 0.12 0.220 3117 -225.0 2.47 0.050 2253 -568.8 242.5 - - 2091 - - - - - - - - 13.79 14.15 14.04
15712 340.7 7.2 619 15731 done 0.68 - - 3119 - - - 2248 - 252.9 18.38 1.477 2044 -2.6 0.117 - - - - - - 14.59 14.31 13.57
16048 314.9 7.8 625 16054 roll 0.76 - - 3118 - 2.90 0.149 3661 487.2 252.9 - - 2028 - - - - - - - - 14.61 13.87 14.62
16089 311.2 8.9 631 16094 done 0.76 - - 3126 - 2.45 0.050 2263 -570.6 252.9 - - 2028 - - - - - - - - 14.33 14.26 14.35
16440 282.8 8.2 639 16441 done 0.76 - - 3126 - - - 2259 - 252.9 - - 2027 - - - - - - - - 14.60 14.60 14.60
16776 255.7 8.0 645 16782 roll 0.76 - - 3126 - 2.90 0.151 3658 482.4 252.9 - - 2028 - - - - - - - - 14.63 13.78 14.60
16817 252.1 8.8 651 16822 done 0.76 - - 3135 - 2.45 0.051 2265 -568.6 252.9 - - 2027 - - - - - - - - 14.28 14.19 14.30
17168 224.1 7.9 659 17173 roll 0.76 - - 3145 - 2.55 0.055 860 -551.0 252.9 - - 2026 - - - - - - - - 14.64 13.91 14.64
17195 221.9 7.7 663 17200 done 0.76 - - 3146 - 2.62 0.076 2265 536.3 254.3 - - 2028 - - - - - - - - 14.12 13.86 14.17
17560 192.9 8.0 673 17566 roll 0.76 - - 3145 - 2.88 0.155 3660 484.4 254.3 - - 2027 - - - - - - - - 14.58 13.81 14.58
17608 188.5 9.2 680 17614 done 0.76 - - 3155 - 2.47 0.050 2262 -566.0 254.3 - - 2027 - - - - - - - - 14.17 14.13 14.22
17953 158.6 8.9 687 17958 roll 0.76 - - 3164 - 2.55 0.056 855 -551.8 254.3 - - 2028 - - - - - - - - 14.63 13.87 14.63
18008 153.5 9.3 695 18013 done 0.76 - - 3165 - 2.67 0.076 2268 529.2 254.3 - - 2028 - - - - - - - - 14.07 13.80 14.13
18344 123.0 8.9 708 18349 roll 0.76 - - 3165 - 2.88 0.156 3664 484.7 254.3 - - 2027 - - - - - - - - 14.64 13.84 14.64
18400 117.6 9.9 716 18405 done 0.76 0.10 0.239 3148 -170.0 2.47 0.050 2262 -567.6 254.3 - - 2028 - - - - - - - - 13.71 14.08 14.00
18740 92.8 6.3 731 18762 roll 0.79 - - 3158 - 2.53 0.056 855 -556.1 283.3 15.27 0.428 1926 -6.7 0.288 - - - - - - 14.52 14.12 13.88
18852 85.0 7.1 747 18867 done 0.89 - - 3158 - 2.62 0.073 2264 537.8 296.2 9.27 0.386 1873 -5.7 0.250 - - - - - - 14.17 13.93 13.81
19188 64.2 6.5 762 19212 roll 1.02 0.12 0.092 3255 808.3 2.78 0.149 3663 503.2 320.6 15.88 0.348 1776 -6.1 0.224 - - - - - - 14.14 14.02 13.88
19415 56.6 5.5 795 19448 done 1.07 - - 3266 - 2.47 0.050 2238 -576.9 364.1 26.12 0.336 1602 -6.7 0.223 - - - - - - 14.23 14.16 13.88
19778 31.5 6.8 813 19799 roll 1.10 - - 3266 - 2.97 0.153 3667 481.1 382.6 12.02 0.252 1527 -6.2 0.155 - - - - - - 14.55 13.95 13.93
19835 26.4 8.3 822 19840 done 1.10 - - 3275 - 2.40 0.048 2284 -576.2 382.6 - - 1534 - - - - - - - - 14.28 14.20 14.30
20105 end climb: SURFACE_DEPTH_REACHED
20105 begin surface coast
20133 end surface coast: CONTROL_FINISHED_OK
20133 begin surface
SM -2.16 - - - - -8.41 9.35 0.073 166 17.8 1.02 0.113 2781 1716.7 500.14 61.50 0.148 1057 17.2 0.026 - - - - - -