SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 814 * Raw log
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• Previous call tries 2 • 275.92 of 350.00 AH used of 24V (21.17% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.5 deg, depth -5.16 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
15 - - - 98 done -0.95 - - 140 - - - 2767 - -97.3 -79.18 - 3438 - - - - - - - - 11.86 11.00 11.86
103 0.9 -11.5 3 126 done -0.95 16.83 0.374 2581 145.0 - - 2767 - -97.3 - - 3439 - - 1 - - - - - 11.41 11.69 11.64
436 61.9 -8.1 18 441 roll -0.80 0.22 0.231 2622 186.4 2.62 0.142 3827 404.6 -97.3 - - 3440 - - - - - - - - 11.52 11.57 11.67
478 64.8 -7.1 24 483 done -0.72 0.17 0.199 2663 241.2 2.22 0.047 2745 -487.4 -97.3 - - 3441 - - - - - - - - 11.57 11.76 11.74
800 85.6 -6.7 37 806 roll -0.72 - - 2663 - 2.95 0.035 1375 -464.4 -97.3 - - 3441 - - - - - - - - 12.02 11.76 12.02
940 93.8 -5.5 57 946 done -0.72 - - 2653 - 3.25 0.085 2758 425.5 -97.3 - - 3441 - - - - - - - - 11.83 11.67 11.84
1276 114.7 -5.8 68 1281 roll -0.72 - - 2653 - 3.03 0.037 1369 -458.4 -97.3 - - 3440 - - - - - - - - 12.03 11.78 12.03
1325 117.7 -6.7 75 1331 done -0.72 - - 2644 - 3.30 0.088 2755 420.0 -97.3 - - 3440 - - - - - - - - 11.84 11.67 11.86
1668 146.8 -9.0 82 1673 roll -0.72 - - 2635 - 2.62 0.146 3831 410.7 -97.3 - - 3438 - - - - - - - - 12.04 11.62 12.05
1724 152.9 -10.8 90 1729 done -0.72 0.12 0.194 2664 241.7 2.22 0.047 2757 -483.8 -97.3 - - 3438 - - - - - - - - 11.65 11.86 11.83
2060 179.4 -7.9 103 2065 roll -0.79 - - 2664 - 3.03 0.037 1367 -458.7 -97.3 - - 3435 - - - - - - - - 12.05 11.78 12.05
2172 187.0 -7.0 119 2177 done -0.88 0.08 0.120 2604 -750.0 3.30 0.083 2759 421.8 -97.3 - - 3435 - - - - - - - - 11.80 11.69 11.87
2508 217.9 -9.4 132 2512 roll -0.88 - - 2596 - 2.60 0.140 3831 412.3 -97.3 - - 3433 - - - - - - - - 12.05 11.64 12.05
2570 225.0 -11.2 141 2576 done -0.88 - - 2598 - 2.22 0.044 2748 -487.8 -97.3 - - 3432 - - - - - - - - 11.91 11.87 11.92
2900 258.1 -10.3 153 2905 roll -0.88 - - 2595 - 2.97 0.036 1374 -462.6 -97.3 - - 3430 - - - - - - - - 12.07 11.81 12.07
2976 266.0 -8.5 164 2981 done -0.88 - - 2586 - 3.28 0.081 2760 422.6 -97.3 - - 3429 - - - - - - - - 11.82 11.67 11.86
3292 298.2 -10.2 174 3293 done -0.88 - - 2586 - - - 2760 - -97.3 - - 3427 - - - - - - - - 12.07 12.07 12.07
3628 333.2 -10.6 180 3628 done -0.88 - - 2586 - - - 2760 - -97.3 - - 3425 - - - - - - - - 12.06 12.06 12.06
3964 366.8 -9.8 186 3969 roll -0.88 - - 2584 - 3.05 0.037 1374 -454.4 -97.3 - - 3424 - - - - - - - - 12.09 11.83 12.09
3985 369.5 -10.4 189 3991 done -0.88 0.15 0.203 2607 153.3 3.28 0.085 2755 421.0 -97.3 - - 3424 - - - - - - - - 11.67 11.72 11.85
4300 396.1 -8.3 199 4301 done -0.88 - - 2607 - - - 2755 - -97.3 - - 3422 - - - - - - - - 12.09 12.08 12.09
4636 423.4 -8.1 205 4641 roll -0.88 - - 2607 - 3.05 0.037 1373 -453.1 -97.3 - - 3420 - - - - - - - - 12.07 11.83 12.07
4678 426.7 -6.8 211 4682 done -0.88 - - 2597 - 3.28 0.083 2754 421.0 -97.3 - - 3420 - - - - - - - - 11.88 11.71 11.90
5028 454.9 -8.1 219 5033 roll -0.88 - - 2596 - 3.05 0.037 1373 -452.8 -97.3 - - 3418 - - - - - - - - 12.08 11.83 12.08
5091 461.3 -7.8 228 5096 done -0.88 - - 2588 - 3.28 0.086 2752 420.4 -97.3 - - 3419 - - - - - - - - 11.87 11.69 11.90
5420 493.0 -9.8 240 5425 roll -0.88 - - 2580 - 2.65 0.151 3828 406.0 -97.3 - - 3416 - - - - - - - - 12.08 11.66 12.09
5482 500.4 -10.5 249 5488 done -0.88 0.12 0.218 2608 233.3 2.25 0.047 2754 -477.3 -97.3 - - 3416 - - - - - - - - 11.66 11.88 11.85
5812 530.2 -9.1 261 5818 roll -0.88 - - 2606 - 3.05 0.037 1361 -456.7 -97.3 - - 3415 - - - - - - - - 12.07 11.82 12.07
5854 535.1 -9.9 267 5859 done -0.88 - - 2597 - 3.30 0.080 2755 422.4 -97.3 - - 3414 - - - - - - - - 11.88 11.71 11.90
6204 568.0 -9.4 275 6205 done -0.88 - - 2597 - - - 2755 - -97.3 - - 3412 - - - - - - - - 12.09 12.09 12.08
6540 598.6 -9.2 281 6545 roll -0.88 - - 2596 - 3.10 0.039 1362 -449.4 -97.3 - - 3411 - - - - - - - - 12.09 11.81 12.09
6575 602.1 -9.8 286 6579 done -0.88 - - 2588 - 3.30 0.083 2751 420.9 -97.3 - - 3411 - - - - - - - - 11.87 11.69 11.89
6932 634.8 -9.3 295 6937 roll -0.88 - - 2587 - 3.08 0.038 1367 -449.4 -97.3 - - 3409 - - - - - - - - 12.07 11.81 12.05
6960 637.9 -11.4 299 6965 done -0.88 0.15 0.208 2609 146.7 3.28 0.085 2746 420.4 -97.3 - - 3410 - - - - - - - - 11.65 11.69 11.84
7324 670.1 -8.9 309 7325 done -0.88 - - 2609 - - - 2746 - -97.3 - - 3408 - - - - - - - - 12.07 12.07 12.07
7660 700.1 -8.9 315 7664 roll -0.88 - - 2609 - 3.08 0.037 1367 -447.7 -97.3 - - 3407 - - - - - - - - 12.09 11.81 12.09
7716 706.0 -8.7 323 7721 done -0.88 - - 2600 - 3.30 0.084 2748 418.5 -97.3 - - 3407 - - - - - - - - 11.90 11.69 11.89
8052 734.7 -8.4 336 8056 roll -0.88 - - 2591 - 2.67 0.149 3831 405.6 -97.3 - - 3405 - - - - - - - - 12.07 11.64 12.07
8080 737.2 -8.7 340 8084 done -0.88 - - 2590 - 2.30 0.052 2746 -471.7 -97.3 - - 3405 - - - - - - - - 11.92 11.86 11.93
8444 764.2 -6.9 350 8449 roll -0.88 - - 2590 - 3.05 0.038 1357 -455.4 -97.3 - - 3404 - - - - - - - - 12.08 11.81 12.09
8598 774.6 -7.1 372 8603 done -0.88 0.12 0.207 2607 141.7 3.30 0.083 2738 418.5 -97.3 - - 3403 - - - - - - - - 11.64 11.70 11.83
8948 795.7 -6.0 380 8953 roll -0.88 - - 2608 - 3.08 0.038 1358 -448.1 -97.3 - - 3402 - - - - - - - - 12.06 11.81 12.06
9006 end dive: TARGET_DEPTH_EXCEEDED
9006 begin apogee
9018 800.2 -7.3 389 9134 roll -0.23 0.98 0.176 2822 218.4 - - 2249 - - 113.10 1.958 3050 -3.1 0.310 - - - - - - 11.67 11.45 10.70
9135 end apogee: CONTROL_FINISHED_OK
9135 begin climb
9140 802.1 - 391 9278 roll 0.95 1.40 0.081 3186 260.0 3.20 0.047 847 -438.1 97.3 123.03 1.864 2655 -3.2 0.337 - - - - - - 11.46 11.47 10.64
9321 800.9 5.8 419 9368 done 0.88 - - 3186 - 3.25 0.058 2252 432.3 131.0 35.83 2.220 2531 -3.5 0.304 - - - - 1 - 11.53 11.42 10.32
9685 772.1 8.2 436 9696 roll 0.76 0.15 0.211 3152 -226.7 3.62 0.131 3664 390.1 131.0 1.70 0.176 2529 - - - - - - - - 11.34 11.35 11.36
9755 766.6 8.1 446 9760 done 0.64 0.22 0.206 3115 -168.2 3.10 0.045 2245 -457.7 131.0 - - 2534 - - - - - - - - 11.36 11.54 11.54
10077 747.9 5.6 457 10138 roll 0.69 - - 3124 - 3.22 0.053 851 -432.9 168.2 48.65 2.390 2382 -3.1 0.238 - - - - 1 - 11.77 11.36 10.36
10160 743.6 5.3 469 10228 done 0.74 - - 3124 - 3.28 0.062 2250 426.5 210.4 56.03 2.461 2214 -3.0 0.221 - - - - 1 - 11.48 11.36 10.30
10585 709.5 8.5 487 10590 roll 0.74 - - 3124 - 3.62 0.138 3664 390.6 210.4 - - 2217 - - - - - - - - 11.69 11.33 11.69
10639 703.9 9.7 495 10644 done 0.74 - - 3133 - 3.12 0.043 2249 -453.5 210.4 - - 2217 - - - - - - - - 11.56 11.51 11.57
10975 671.8 9.6 508 10980 roll 0.74 - - 3144 - 3.20 0.054 854 -435.9 210.4 - - 2215 - - - - - - - - 11.73 11.47 11.73
11010 668.5 9.7 513 11016 done 0.74 - - 3144 - 3.25 0.063 2251 429.8 210.4 - - 2215 - - - - - - - - 11.57 11.42 11.59
11367 634.0 9.5 522 11372 roll 0.74 - - 3144 - 3.60 0.138 3659 391.1 210.4 - - 2214 - - - - - - - - 11.77 11.36 11.76
11430 627.7 10.7 531 11435 done 0.74 - - 3154 - 3.05 0.044 2250 -462.0 210.4 - - 2214 - - - - - - - - 11.61 11.55 11.62
11760 598.2 9.0 543 11764 roll 0.74 - - 3165 - 3.20 0.053 848 -438.1 210.4 - - 2213 - - - - - - - - 11.77 11.50 11.77
11815 593.4 8.3 551 11820 done 0.74 - - 3165 - 3.28 0.065 2253 428.4 210.4 - - 2213 - - - - - - - - 11.60 11.43 11.62
12152 564.9 8.4 564 12157 roll 0.74 - - 3165 - 3.60 0.142 3660 390.8 210.4 - - 2214 - - - - - - - - 11.79 11.37 11.79
12180 562.7 7.5 568 12192 done 0.74 0.15 0.207 3143 -146.7 3.08 0.044 2249 -458.1 213.0 2.42 0.630 2203 -4.5 0.990 - - - - - - 11.39 11.59 10.59
12543 533.1 8.2 578 12548 roll 0.74 - - 3154 - 3.17 0.052 856 -439.4 213.0 - - 2209 - - - - - - - - 11.84 11.53 11.84
12585 529.8 9.0 584 12590 done 0.74 - - 3154 - 3.25 0.067 2254 430.2 213.0 - - 2209 - - - - - - - - 11.63 11.47 11.65
12935 499.4 8.6 592 12940 roll 0.74 - - 3153 - 3.60 0.142 3665 391.9 213.0 - - 2209 - - - - - - - - 11.88 11.42 11.88
12970 496.4 8.7 597 12976 done 0.74 - - 3164 - 3.08 0.044 2249 -459.7 213.0 - - 2209 - - - - - - - - 11.69 11.62 11.69
13327 465.8 8.5 606 13332 roll 0.74 - - 3175 - 3.17 0.054 849 -441.6 213.0 - - 2209 - - - - - - - - 11.87 11.57 11.87
13362 463.1 8.1 611 13367 done 0.74 0.12 0.190 3147 -233.3 3.25 0.067 2251 431.4 213.0 - - 2209 - - - - - - - - 11.47 11.51 11.64
13719 435.6 7.7 620 13720 done 0.74 - - 3147 - - - 2250 - 213.0 - - 2209 - - - - - - - - 11.93 11.93 11.92
14055 408.1 8.4 626 14056 done 0.74 - - 3147 - - - 2250 - 213.0 - - 2209 - - - - - - - - 11.89 11.90 11.90
14391 378.7 8.7 632 14392 done 0.74 - - 3147 - - - 2251 - 213.0 - - 2209 - - - - - - - - 11.94 11.94 11.94
14728 353.4 7.4 638 14733 done 0.75 - - 3146 - - - 2250 - 216.6 4.03 1.216 2190 -4.7 0.334 - - - - - - 11.90 11.64 10.68
15063 329.3 7.1 644 15091 roll 0.76 - - 3146 - 3.62 0.142 3661 389.8 225.4 17.23 1.421 2150 -2.3 0.131 - - - - 1 - 11.93 11.48 10.97
15134 323.7 8.5 654 15138 done 0.76 - - 3157 - 3.10 0.044 2236 -459.7 225.4 - - 2150 - - - - - - - - 11.71 11.65 11.71
15449 298.5 8.0 664 15454 roll 0.76 - - 3167 - 3.15 0.055 849 -440.3 225.4 - - 2149 - - - - - - - - 11.91 11.57 11.91
15484 295.8 7.6 669 15490 done 0.76 - - 3167 - 3.25 0.067 2252 431.7 226.1 - - 2150 - - - - - - - - 11.69 11.52 11.71
15841 265.2 8.6 678 15846 roll 0.76 - - 3167 - 3.60 0.144 3663 391.9 226.1 - - 2150 - - - - - - - - 11.90 11.45 11.90
15875 261.8 9.8 683 15881 done 0.76 0.12 0.206 3150 -141.7 3.05 0.043 2251 -463.0 226.1 - - 2150 - - - - - - - - 11.48 11.67 11.66
16233 234.8 7.4 692 16245 roll 0.77 - - 3160 - 3.17 0.053 856 -440.1 230.1 3.60 0.985 2137 -3.6 0.210 - - - - - - 11.90 11.63 10.80
16261 232.9 6.6 696 16300 done 0.79 - - 3159 - 3.20 0.067 2252 436.2 249.8 25.50 1.421 2059 -3.1 0.122 - - - - 1 - 11.72 11.57 10.68
16625 204.1 8.0 713 16630 roll 0.79 - - 3160 - 3.60 0.142 3663 391.9 249.8 - - 2062 - - - - - - - - 11.88 11.45 11.88
16652 201.5 9.3 717 16659 done 0.79 - - 3170 - 3.08 0.044 2250 -458.8 249.8 - - 2063 - - - - - - - - 11.70 11.64 11.71
17017 166.9 9.7 727 17022 roll 0.79 - - 3179 - 3.17 0.054 848 -442.3 249.8 - - 2062 - - - - - - - - 11.90 11.58 11.90
17052 163.5 9.7 732 17057 done 0.79 - - 3179 - 3.25 0.066 2253 432.3 249.8 - - 2063 - - - - - - - - 11.68 11.50 11.69
17409 128.1 9.8 741 17410 done 0.79 - - 3179 - - - 2253 - 249.8 - - 2062 - - - - - - - - 11.95 11.95 11.95
17745 96.0 9.6 747 17746 done 0.79 - - 3179 - - - 2253 - 249.8 - - 2063 - - - - - - - - 11.93 11.92 11.92
18053 70.1 7.7 758 18058 roll 0.79 - - 3179 - 3.60 0.145 3666 392.5 249.8 - - 2063 - - - - - - - - 11.93 11.48 11.92
18081 68.3 6.5 762 18108 done 0.82 - - 3190 - 3.08 0.045 2243 -462.0 270.6 17.40 0.356 1976 -5.0 0.234 - - - - - - 11.76 11.70 11.37
18417 45.3 5.6 777 18455 roll 0.86 - - 3199 - 3.20 0.052 853 -434.4 307.6 30.23 0.297 1824 -5.0 0.187 - - - - - - 11.95 11.62 11.41
18568 38.4 5.7 798 18603 done 1.02 - - 3199 - 3.22 0.066 2253 434.8 342.2 27.23 0.274 1686 -5.1 0.173 - - - - - - 11.70 11.54 11.40
18925 25.3 4.3 816 18976 roll 1.31 0.32 0.050 3319 375.0 3.58 0.145 3661 393.3 403.5 44.55 0.232 1445 -5.4 0.144 - - - - - - 11.67 11.47 11.43
19110 10.4 8.5 843 19116 done 1.31 - - 3330 - 3.03 0.043 2257 -463.4 403.5 - - 1445 - - - - - - - - 11.71 11.66 11.73
19224 end climb: SURFACE_DEPTH_REACHED
19224 begin surface coast
19252 end surface coast: CONTROL_FINISHED_OK
19252 begin surface
SM -3.20 - - - - -8.40 12.15 0.090 199 16.4 1.33 0.106 2771 1309.0 500.14 62.53 0.136 1058 16.9 0.041 - - - - - -