SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 778 * Raw log
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• Previous call tries 1 • 263.66 of 350.00 AH used of 24V (24.67% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -64.2 deg, depth -2.48 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
18 - - - 101 done -0.93 - - 106 - - - 2782 - -107.1 -79.88 - 3478 - - - - - - - - 14.46 12.45 14.42
106 3.5 -10.6 3 123 roll -0.93 11.95 0.377 2591 207.9 2.47 0.032 1369 -572.1 -107.1 - - 3479 - - - - - - - - 13.92 14.26 14.27
208 34.8 -20.0 18 214 done -0.70 0.32 0.239 2667 237.5 2.83 0.120 2762 492.2 -107.1 - - 3480 - - - - - - - - 13.73 13.84 14.05
524 74.4 -7.4 30 528 roll -0.70 - - 2659 - 2.22 0.183 3832 482.0 -107.1 - - 3480 - - - - - - - - 14.66 13.85 14.67
691 87.3 -8.3 54 696 done -0.70 - - 2658 - 1.77 0.055 2761 -605.1 -107.1 - - 3481 - - - - - - - - 14.27 14.21 14.28
1028 111.7 -6.9 66 1032 roll -0.70 - - 2659 - 2.42 0.040 1392 -565.7 -107.1 - - 3481 - - - - - - - - 14.71 14.02 14.71
1055 114.8 -11.3 70 1059 done -0.70 - - 2649 - 2.78 0.104 2790 502.9 -107.1 - - 3486 - - - - - - - - 14.09 13.79 14.14
1420 143.3 -8.2 80 1424 roll -0.70 - - 2648 - 2.53 0.042 1392 -552.6 -107.1 - - 3480 - - - - - - - - 14.71 14.00 14.71
1502 152.0 -8.3 92 1508 done -0.70 0.10 0.234 2668 200.0 2.78 0.109 2779 498.9 -107.1 - - 3479 - - - - - - - - 13.94 13.96 14.17
1867 182.5 -8.4 102 1872 roll -0.70 - - 2668 - 2.53 0.043 1390 -549.0 -107.1 - - 3479 - - - - - - - - 14.67 13.96 14.67
1924 187.1 -8.2 110 1928 done -0.79 - - 2658 - 2.78 0.105 2780 500.0 -107.1 - - 3476 - - - - - - - - 14.14 13.87 14.19
2260 213.2 -7.6 123 2264 roll -0.79 - - 2658 - 2.53 0.041 1391 -549.0 -107.1 - - 3472 - - - - - - - - 14.67 13.97 14.66
2322 217.9 -7.1 132 2327 done -0.87 - - 2652 - 2.75 0.105 2771 501.8 -107.1 - - 3472 - - - - - - - - 14.13 13.87 14.17
2651 243.0 -7.8 144 2656 roll -0.87 - - 2649 - 2.50 0.041 1397 -549.6 -107.1 - - 3471 - - - - - - - - 14.72 13.94 14.72
2699 246.9 -7.8 151 2706 done -0.87 - - 2640 - 2.72 0.097 2763 502.2 -107.1 - - 3471 - - - - - - - - 14.09 13.81 14.15
3044 275.5 -8.5 158 3048 roll -0.87 - - 2640 - 2.50 0.041 1397 -546.4 -107.1 - - 3468 - - - - - - - - 14.66 13.93 14.66
3091 280.1 -8.9 165 3098 done -0.87 - - 2630 - 2.72 0.094 2773 505.9 -107.1 - - 3467 - - - - - - - - 14.09 13.81 14.13
3435 310.7 -8.9 172 3440 roll -0.87 - - 2630 - 2.53 0.041 1391 -546.2 -107.1 - - 3465 - - - - - - - - 14.66 13.92 14.66
3476 314.7 -9.0 178 3481 done -0.87 - - 2621 - 2.70 0.095 2757 505.9 -107.1 - - 3465 - - - - - - - - 14.07 13.79 14.13
3827 348.5 -9.9 186 3832 roll -0.87 - - 2613 - 2.17 0.155 3825 492.2 -107.1 - - 3463 - - - - - - - - 14.66 13.72 14.66
3868 353.0 -10.6 192 3873 done -0.87 - - 2612 - 1.80 0.047 2760 -591.7 -107.1 - - 3463 - - - - - - - - 14.20 14.14 14.22
4219 387.8 -9.9 200 4224 roll -0.87 - - 2612 - 2.50 0.040 1382 -551.2 -107.1 - - 3461 - - - - - - - - 14.66 13.91 14.66
4281 393.9 -9.6 209 4287 done -0.87 - - 2603 - 2.67 0.082 2755 514.2 -107.1 - - 3460 - - - - - - - - 14.02 13.76 14.04
4611 425.6 -9.6 221 4617 roll -0.87 - - 2602 - 2.53 0.041 1382 -542.7 -107.1 - - 3459 - - - - - - - - 14.66 13.90 14.66
4646 428.9 -9.8 226 4650 done -0.87 - - 2592 - 2.70 0.086 2759 510.0 -107.1 - - 3458 - - - - - - - - 14.05 13.78 14.09
5004 462.1 -9.2 235 5004 done -0.87 - - 2592 - - - 2758 - -107.1 - - 3457 - - - - - - - - 14.71 14.71 14.70
5339 493.3 -9.4 241 5345 roll -0.87 - - 2591 - 2.55 0.041 1376 -542.0 -107.1 - - 3456 - - - - - - - - 14.65 13.87 14.65
5387 498.2 -9.7 248 5394 done -0.87 0.12 0.222 2615 200.0 2.75 0.088 2757 502.2 -107.1 - - 3456 - - - - - - - - 13.72 13.77 13.99
5732 528.7 -9.1 255 5736 roll -0.87 - - 2615 - 2.55 0.042 1377 -541.2 -107.1 - - 3453 - - - - - - - - 14.65 13.81 14.66
5765 532.2 -9.8 260 5770 done -0.87 - - 2606 - 2.72 0.090 2751 505.1 -107.1 - - 3456 - - - - - - - - 14.06 13.78 14.12
6123 567.8 -10.1 269 6129 roll -0.87 - - 2605 - 2.53 0.041 1381 -541.5 -107.1 - - 3452 - - - - - - - - 14.71 13.92 14.70
6171 573.2 -10.2 276 6178 done -0.87 - - 2596 - 2.75 0.093 2750 497.8 -107.1 - - 3451 - - - - - - - - 14.05 13.76 14.11
6515 608.6 -10.3 283 6516 done -0.87 - - 2596 - - - 2750 - -107.1 - - 3450 - - - - - - - - 14.70 14.70 14.70
6852 641.8 -9.8 289 6857 roll -0.87 - - 2599 - 2.55 0.041 1373 -540.0 -107.1 - - 3449 - - - - - - - - 14.69 13.85 14.70
6885 645.1 -9.8 294 6891 done -0.87 0.12 0.228 2618 158.3 2.75 0.094 2750 500.7 -107.1 - - 3449 - - - - - - - - 13.72 13.76 13.99
7244 673.2 -7.7 303 7248 roll -0.87 - - 2619 - 2.55 0.042 1374 -539.6 -107.1 - - 3447 - - - - - - - - 14.69 13.85 14.69
7292 677.2 -7.6 310 7298 done -0.87 - - 2609 - 2.78 0.096 2755 496.8 -107.1 - - 3447 - - - - - - - - 14.02 13.74 14.07
7635 703.6 -7.8 317 7641 roll -0.87 - - 2608 - 2.55 0.041 1381 -538.8 -107.1 - - 3445 - - - - - - - - 14.63 13.85 14.63
7684 707.5 -7.5 324 7690 done -0.87 - - 2599 - 2.75 0.097 2743 495.3 -107.1 - - 3445 - - - - - - - - 14.09 13.81 14.14
8028 736.0 -8.3 331 8032 roll -0.87 - - 2591 - 2.22 0.160 3822 486.0 -107.1 - - 3444 - - - - - - - - 14.63 13.71 14.63
8062 739.3 -9.3 336 8067 done -0.87 0.10 0.240 2617 260.0 1.88 0.054 2749 -570.7 -107.1 - - 3444 - - - - - - - - 13.64 14.09 13.88
8420 768.6 -8.4 345 8426 roll -0.87 - - 2617 - 2.55 0.042 1364 -543.1 -107.1 - - 3442 - - - - - - - - 14.68 13.83 14.68
8524 777.7 -8.4 360 8530 done -0.87 - - 2608 - 2.78 0.089 2743 496.0 -107.1 - - 3442 - - - - - - - - 14.04 13.76 14.10
8807 end dive: TARGET_DEPTH_EXCEEDED
8807 begin apogee
8818 803.1 -8.9 366 8935 roll -0.23 0.77 0.179 2821 276.6 0.10 0.215 2266 -4770.0 - 114.03 1.807 3051 -3.4 0.307 - - - - - - 13.66 13.81 13.12
8937 end apogee: CONTROL_FINISHED_OK
8937 begin climb
8941 806.9 - 368 9072 roll 0.93 1.12 0.087 3182 322.3 2.60 0.051 872 -536.2 107.1 118.57 1.755 2618 -3.7 0.339 - - - - - - 13.78 13.83 12.86
9157 803.3 6.1 401 9197 done 0.84 - - 3183 - 2.60 0.064 2239 525.8 139.8 35.45 1.787 2493 -3.5 0.320 - - - - - - 13.89 13.70 13.12
9543 771.9 8.4 414 9548 roll 0.72 0.15 0.223 3135 -320.0 2.83 0.135 3665 503.9 139.8 - - 2474 - - - - - - - - 13.84 13.93 14.01
9599 767.3 8.1 422 9604 done 0.62 0.15 0.220 3105 -200.0 2.42 0.046 2261 -580.2 139.8 - - 2474 - - - - - - - - 13.87 14.23 14.16
9935 746.1 6.4 435 9966 done 0.66 - - 3105 - - - 2256 - 167.1 29.65 1.798 2383 -3.1 0.257 - - - - - - 14.66 14.27 13.52
10271 722.0 7.4 441 10278 roll 0.67 - - 3105 - 2.90 0.136 3669 487.2 173.8 1.52 0.216 2353 -19.7 13.311 - - - - - - 14.62 13.90 13.91
10306 719.0 8.3 446 10311 done 0.67 - - 3114 - 2.45 0.046 2254 -577.6 173.8 - - 2358 - - - - - - - - 14.30 14.22 14.32
10664 690.7 8.0 455 10669 roll 0.67 - - 3124 - 2.55 0.056 859 -547.1 173.8 - - 2361 - - - - - - - - 14.61 13.95 14.62
10698 687.9 7.8 460 10703 done 0.67 - - 3120 - 2.62 0.068 2256 533.2 173.8 - - 2361 - - - - - - - - 14.14 13.91 14.19
11056 659.2 8.0 469 11062 roll 0.67 - - 3124 - 2.85 0.142 3662 493.3 173.8 - - 2361 - - - - - - - - 14.60 13.81 14.61
11112 654.3 8.8 477 11118 done 0.67 - - 3134 - 2.47 0.044 2253 -570.4 173.8 - - 2361 - - - - - - - - 14.24 14.16 14.26
11448 628.8 7.5 490 11452 done 0.67 - - 3135 - - - 2249 - 177.8 2.85 0.908 2342 -6.7 0.932 - - - - - - 14.64 14.37 13.23
11784 604.3 7.3 496 11803 done 0.68 - - 3134 - - - 2248 - 187.0 17.98 1.733 2305 -2.1 0.145 - - - - - - 14.65 14.33 13.54
12120 579.4 7.5 502 12125 roll 0.69 - - 3134 - 2.88 0.139 3661 490.6 192.6 - - 2288 - - - - - - - - 14.63 13.78 14.63
12161 576.0 8.5 508 12166 done 0.69 - - 3146 - 2.47 0.044 2250 -571.3 192.6 - - 2288 - - - - - - - - 14.26 14.19 14.28
12512 549.4 7.7 516 12518 roll 0.69 - - 3156 - 2.53 0.056 848 -554.2 193.8 1.33 0.225 2277 -8.3 4.075 - - - - - - 14.64 14.05 13.91
12553 546.3 7.5 522 12566 done 0.69 - - 3155 - 2.65 0.069 2256 531.3 198.0 3.45 1.150 2264 -3.8 0.361 - - - - - - 14.09 13.88 13.22
12904 518.2 8.1 530 12915 roll 0.69 0.08 0.248 3127 -350.0 2.83 0.136 3667 498.6 198.0 2.20 0.431 2264 - - - - - - - - 13.81 13.97 12.99
12966 513.0 8.6 539 12971 done 0.69 - - 3137 - 2.47 0.044 2250 -573.7 198.0 - - 2272 - - - - - - - - 14.23 14.16 14.26
13296 487.4 7.8 551 13299 done 0.69 - - 3137 - - - 2244 - 198.0 2.22 0.467 2260 -5.4 1.138 - - - - - - 14.59 14.24 12.95
13632 459.2 8.5 557 13639 roll 0.69 - - 3137 - 2.90 0.133 3667 490.7 198.0 1.85 0.215 2261 - - - - - - - - 14.64 13.95 13.93
13660 456.5 9.3 561 13666 done 0.69 - - 3147 - 2.47 0.044 2254 -572.1 198.0 - - 2268 - - - - - - - - 14.17 14.13 14.19
14025 424.8 8.7 571 14031 roll 0.69 - - 3158 - 2.60 0.057 859 -536.5 198.0 1.90 0.215 2260 -4.2 1.679 - - - - - - 14.59 14.02 13.88
14059 421.8 8.6 576 14065 done 0.69 0.10 0.213 3128 -300.0 2.65 0.066 2266 530.9 198.0 - - 2269 - - - - - - - - 13.72 13.81 13.95
14411 395.0 7.5 584 14422 roll 0.70 - - 3128 - 2.75 0.134 3656 505.5 202.0 4.10 1.252 2248 -5.1 0.326 - - - - - - 14.65 13.95 13.16
14438 392.9 7.4 588 14458 done 0.71 - - 3137 - 2.45 0.044 2248 -574.7 208.8 15.70 1.620 2219 -1.8 0.090 - - - - - - 14.21 14.13 13.62
14796 365.6 7.6 597 14802 roll 0.71 - - 3148 - 2.55 0.056 860 -544.3 210.9 - - 2204 - - - - - - - - 14.58 13.97 14.58
14823 363.3 8.0 601 14829 done 0.71 - - 3147 - 2.60 0.064 2257 537.3 210.9 - - 2203 - - - - - - - - 14.14 13.93 14.18
15188 331.8 8.8 611 15189 done 0.71 - - 3145 - - - 2256 - 210.9 - - 2203 - - - - - - - - 14.64 14.64 14.64
15524 300.8 9.2 617 15530 roll 0.71 - - 3147 - 2.85 0.138 3669 495.8 210.9 - - 2203 - - - - - - - - 14.59 13.83 14.59
15558 297.3 10.4 622 15563 done 0.71 - - 3157 - 2.47 0.044 2253 -573.3 210.9 - - 2205 - - - - - - - - 14.16 14.07 14.18
15916 265.2 8.8 631 15917 done 0.71 - - 3164 - - - 2248 - 210.9 - - 2203 - - - - - - - - 14.58 14.58 14.59
16253 237.0 8.2 637 16258 roll 0.71 - - 3168 - 2.58 0.057 856 -539.5 210.9 - - 2204 - - - - - - - - 14.59 13.81 14.59
16280 234.9 7.4 641 16291 done 0.72 0.12 0.200 3133 -291.7 2.65 0.067 2257 528.7 218.3 3.15 0.861 2182 -7.0 0.384 - - - - - - 13.72 13.81 13.26
16645 211.5 6.3 651 16691 roll 0.75 - - 3132 - 2.78 0.135 3661 505.0 246.8 38.90 1.252 2057 -3.2 0.110 - - - - - - 14.68 14.03 13.60
16749 204.3 7.5 666 16755 done 0.76 - - 3142 - 2.47 0.043 2251 -570.9 251.2 - - 2050 - - - - - - - - 14.21 14.14 14.23
17093 180.1 7.2 673 17104 roll 0.77 - - 3152 - 2.50 0.057 848 -561.2 261.2 6.78 1.244 2013 -5.5 0.159 - - - - - - 14.58 14.19 13.60
17141 176.1 8.2 680 17147 done 0.77 - - 3152 - 2.65 0.066 2265 534.7 261.2 - - 2021 - - - - - - - - 14.18 13.97 14.22
17485 147.3 8.3 687 17490 roll 0.77 - - 3152 - 2.80 0.138 3657 497.1 261.2 - - 2017 - - - - - - - - 14.62 13.78 14.63
17533 142.7 9.8 694 17539 done 0.77 - - 3162 - 2.45 0.041 2254 -572.7 261.2 - - 2018 - - - - - - - - 14.21 14.13 14.23
17877 109.3 10.0 701 17883 roll 0.77 - - 3172 - 2.60 0.057 855 -538.1 261.2 - - 2017 - - - - - - - - 14.59 13.85 14.59
17904 106.6 9.6 705 17910 done 0.77 - - 3172 - 2.62 0.065 2264 537.8 261.2 - - 2017 - - - - - - - - 14.02 13.81 14.06
18241 78.2 7.6 719 18252 roll 0.78 - - 3172 - 2.80 0.135 3663 499.6 264.1 3.25 0.259 2007 -3.1 0.187 - - - - - - 14.57 13.92 13.72
18282 74.9 8.1 725 18288 done 0.78 - - 3182 - 2.45 0.041 2248 -577.6 264.1 2.47 0.223 1997 -4.0 0.274 - - - - - - 14.23 14.15 13.71
18605 56.0 5.6 738 18633 done 0.83 - - 3181 - - - 2245 - 307.2 26.73 0.338 1827 -6.4 0.213 - - - - - - 14.58 14.29 13.95
18941 48.1 3.0 753 18997 done 1.12 0.15 0.091 3281 666.7 - - 2243 - 400.8 54.08 0.313 1453 -6.9 0.214 - - - - - - 14.12 14.35 14.02
19309 20.8 7.1 772 19324 roll 1.13 - - 3289 - 2.58 0.061 858 -536.8 412.7 7.88 0.220 1407 -5.8 0.111 - - - - - - 14.59 14.06 13.93
19381 15.1 7.9 783 19387 done 1.13 - - 3289 - 2.60 0.063 2261 539.6 412.7 - - 1414 - - - - - - - - 14.16 13.97 14.19
19552 end climb: SURFACE_DEPTH_REACHED
19552 begin surface coast
19580 end surface coast: CONTROL_FINISHED_OK
19580 begin surface
SM -2.17 - - - - -8.40 9.32 0.067 189 20.3 1.00 0.106 2767 1737.0 500.14 46.12 0.148 1055 22.9 0.034 - - - - - -