SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 284 * Raw log
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• Previous call tries 1 • 106.78 of 350.00 AH used of 24V (69.49% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -71.8 deg, depth -1.38 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 91 done -0.93 - - 223 - - - 2780 - -107.1 -76.15 - 3478 - - - - - - - - 14.65 12.76 14.65
94 0.2 -4.7 2 114 roll -0.93 11.55 0.389 2594 205.3 2.40 0.035 1360 -591.7 -107.1 - - 3479 - - - - - - - - 14.08 14.40 14.42
227 48.9 -21.9 22 232 done -0.60 0.43 0.245 2697 239.5 2.53 0.075 2767 556.1 -107.1 - - 3480 - - - - - - - - 14.11 14.35 14.38
561 88.0 -9.2 37 568 roll -0.52 0.10 0.247 2720 230.0 1.98 0.106 3825 534.3 -107.1 - - 3482 - - - - - - - - 14.31 14.32 14.53
798 108.7 -9.2 71 804 done -0.52 - - 2719 - 1.80 0.039 2743 -601.1 -107.1 - - 3482 - - - - - - - - 14.68 14.64 14.68
1121 132.5 -7.2 82 1126 roll -0.52 - - 2711 - 2.05 0.106 3817 523.9 -107.1 - - 3483 - - - - - - - - 14.89 14.36 14.89
1183 137.3 -7.6 91 1189 done -0.52 - - 2711 - 1.73 0.039 2777 -601.2 -107.1 - - 3479 - - - - - - - - 14.73 14.68 14.73
1513 162.5 -7.8 103 1518 roll -0.52 - - 2710 - 2.33 0.044 1390 -595.3 -107.1 - - 3481 - - - - - - - - 14.91 14.54 14.91
1569 167.0 -8.0 111 1575 done -0.52 0.08 0.213 2724 175.0 2.47 0.068 2766 557.1 -107.1 - - 3481 - - - - - - - - 14.31 14.45 14.47
1905 192.7 -7.8 124 1905 done -0.52 - - 2722 - - - 2767 - -107.1 - - 3479 - - - - - - - - 14.95 14.95 14.95
2241 218.2 -7.5 130 2246 roll -0.52 - - 2721 - 2.35 0.045 1398 -582.6 -107.1 - - 3477 - - - - - - - - 14.95 14.51 14.95
2282 221.3 -7.3 136 2288 done -0.60 - - 2712 - 2.50 0.072 2775 550.8 -107.1 - - 3475 - - - - - - - - 14.54 14.43 14.58
2633 247.1 -7.3 144 2638 roll -0.60 - - 2704 - 2.00 0.113 3821 523.0 -107.1 - - 3472 - - - - - - - - 14.95 14.36 14.95
2667 249.7 -7.6 149 2674 done -0.60 - - 2704 - 1.77 0.041 2769 -594.4 -107.1 - - 3473 - - - - - - - - 14.74 14.69 14.75
3025 274.6 -6.8 158 3030 roll -0.60 - - 2703 - 2.38 0.046 1390 -579.4 -107.1 - - 3470 - - - - - - - - 14.96 14.51 14.96
3081 278.4 -6.6 166 3086 done -0.60 - - 2693 - 2.50 0.071 2770 552.0 -107.1 - - 3471 - - - - - - - - 14.53 14.42 14.57
3417 303.1 -7.5 179 3422 roll -0.60 - - 2685 - 2.00 0.113 3819 524.5 -107.1 - - 3468 - - - - - - - - 14.95 14.33 14.95
3444 305.4 -8.3 183 3450 done -0.60 - - 2685 - 1.80 0.041 2758 -589.4 -107.1 - - 3468 - - - - - - - - 14.73 14.68 14.74
3809 337.7 -9.0 193 3809 done -0.60 - - 2685 - - - 2758 - -107.1 - - 3465 - - - - - - - - 14.94 14.94 14.95
4145 368.2 -9.0 199 4146 done -0.60 0.15 0.216 2704 126.7 - - 2757 - -107.1 - - 3463 - - - - - - - - 14.32 14.62 14.55
4481 391.6 -6.8 205 4487 roll -0.71 - - 2704 - 2.40 0.049 1385 -571.7 -107.1 - - 3461 - - - - - - - - 14.96 14.48 15.00
4557 396.9 -6.8 216 4564 done -0.83 0.12 0.074 2620 -700.0 2.53 0.075 2771 547.8 -107.1 - - 3459 - - - - - - - - 14.50 14.40 14.55
4873 427.6 -10.0 226 4878 roll -0.83 - - 2612 - 2.00 0.113 3818 523.5 -107.1 - - 3460 - - - - - - - - 14.94 14.29 14.93
4914 432.0 -10.7 232 4920 done -0.83 - - 2612 - 1.77 0.042 2774 -589.8 -107.1 - - 3460 - - - - - - - - 14.71 14.66 14.73
5265 466.8 -9.8 240 5265 done -0.83 - - 2612 - - - 2774 - -107.1 - - 3458 - - - - - - - - 14.93 14.93 14.93
5601 499.9 -9.8 246 5607 roll -0.83 - - 2603 - 2.05 0.112 3820 510.2 -107.1 - - 3457 - - - - - - - - 14.96 14.28 14.96
5628 502.9 -10.7 250 5634 done -0.83 - - 2604 - 1.80 0.043 2772 -582.2 -107.1 - - 3457 - - - - - - - - 14.65 14.59 14.66
5993 542.4 -11.1 260 5998 roll -0.83 - - 2595 - 2.05 0.112 3819 510.7 -107.1 - - 3454 - - - - - - - - 14.93 14.27 14.94
6027 546.5 -12.0 265 6035 done -0.74 0.20 0.216 2659 320.0 1.80 0.041 2766 -585.0 -107.1 - - 3454 - - - - - - - - 14.19 14.66 14.35
6385 578.6 -8.8 274 6391 roll -0.74 - - 2659 - 2.40 0.047 1390 -573.3 -107.1 - - 3453 - - - - - - - - 14.92 14.44 14.93
6447 584.1 -8.6 283 6454 done -0.74 - - 2650 - 2.53 0.073 2772 546.2 -107.1 - - 3453 - - - - - - - - 14.46 14.35 14.51
6777 611.6 -8.2 295 6777 done -0.74 - - 2650 - - - 2772 - -107.1 - - 3451 - - - - - - - - 14.95 14.95 14.95
7113 636.5 -7.3 301 7114 done -0.74 - - 2650 - - - 2772 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7449 660.7 -7.2 307 7450 done -0.74 - - 2650 - - - 2772 - -107.1 - - 3449 - - - - - - - - 14.94 14.95 14.94
7785 686.0 -7.6 313 7791 roll -0.74 - - 2646 - 2.45 0.047 1389 -564.5 -107.1 - - 3447 - - - - - - - - 14.95 14.41 14.95
7847 691.0 -7.9 322 7853 done -0.74 - - 2640 - 2.53 0.073 2765 543.9 -107.1 - - 3446 - - - - - - - - 14.42 14.31 14.47
8177 717.9 -8.3 334 8178 done -0.74 - - 2640 - - - 2765 - -107.1 - - 3445 - - - - - - - - 14.93 14.93 14.94
8513 746.3 -8.5 340 8518 roll -0.74 - - 2639 - 2.45 0.047 1384 -563.7 -107.1 - - 3445 - - - - - - - - 14.92 14.37 14.92
8569 751.2 -8.7 348 8575 done -0.74 0.08 0.235 2652 162.5 2.55 0.073 2768 542.7 -107.1 - - 3445 - - - - - - - - 14.07 14.28 14.23
8905 778.7 -8.2 361 8911 roll -0.74 - - 2644 - 2.05 0.115 3828 517.1 -107.1 - - 3444 - - - - - - - - 14.93 14.18 14.93
8967 784.3 -9.4 370 8973 done -0.74 - - 2644 - 1.83 0.044 2774 -576.0 -107.1 - - 3444 - - - - - - - - 14.64 14.57 14.65
9297 810.7 -7.9 382 9303 roll -0.74 - - 2644 - 2.45 0.046 1381 -568.6 -107.1 - - 3442 - - - - - - - - 14.92 14.33 14.92
9380 817.3 -7.8 394 9386 done -0.74 - - 2634 - 2.58 0.073 2773 539.5 -107.1 - - 3442 - - - - - - - - 14.36 14.26 14.42
9745 845.9 -7.9 404 9745 done -0.74 - - 2634 - - - 2774 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
10081 871.9 -7.9 410 10082 done -0.74 - - 2634 - - - 2772 - -107.1 - - 3440 - - - - - - - - 14.90 14.90 14.90
10417 899.1 -8.1 416 10422 roll -0.74 - - 2634 - 2.50 0.047 1376 -558.4 -107.1 - - 3439 - - - - - - - - 14.89 14.32 14.89
10451 902.1 -5.8 421 10459 done -0.74 0.10 0.223 2653 190.0 2.60 0.073 2771 536.5 -107.1 - - 3440 - - - - - - - - 14.03 14.26 14.21
10809 929.8 -7.7 430 10810 done -0.74 - - 2653 - - - 2771 - -107.1 - - 3438 - - - - - - - - 14.87 14.88 14.88
10862 end dive: TARGET_DEPTH_EXCEEDED
10862 begin apogee
10869 934.2 -7.8 431 10980 roll -0.23 0.57 0.168 2824 300.0 - - 2241 - - 109.03 1.939 3050 -3.6 0.338 - - - - - - 14.16 14.01 13.18
10981 end apogee: CONTROL_FINISHED_OK
10981 begin climb
10984 938.8 - 433 11111 roll 0.93 1.12 0.093 3188 325.0 2.50 0.060 864 -550.8 107.1 115.72 1.910 2616 -3.8 0.363 - - - - - - 13.98 14.01 12.99
11145 934.0 6.3 457 11182 done 0.82 - - 3188 - 2.58 0.056 2255 539.1 136.2 32.12 1.972 2507 -3.4 0.316 - - - - - - 13.95 13.89 13.00
11531 899.4 9.1 470 11538 roll 0.68 0.25 0.215 3114 -296.0 2.62 0.102 3657 535.1 136.2 - - 2494 - - - - - - - - 14.12 14.23 14.37
11587 894.7 8.2 478 11594 done 0.60 0.10 0.210 3100 -140.0 2.45 0.041 2267 -567.3 136.2 - - 2494 - - - - - - - - 14.13 14.35 14.25
11923 872.9 6.5 491 11957 roll 0.63 - - 3100 - 2.70 0.106 3651 512.6 161.5 27.33 1.932 2401 -3.4 0.303 - - - - - - 14.76 14.27 13.53
11985 868.3 9.1 500 11991 done 0.63 - - 3109 - 2.50 0.042 2247 -561.6 161.5 - - 2399 - - - - - - - - 14.36 14.33 14.38
12315 842.9 7.8 512 12316 done 0.63 - - 3109 - - - 2247 - 161.5 - - 2397 - - - - - - - - 14.72 14.72 14.72
12651 816.2 7.8 518 12657 roll 0.63 - - 3109 - 2.70 0.106 3649 519.3 161.5 - - 2396 - - - - - - - - 14.78 14.29 14.79
12699 812.3 8.3 525 12707 done 0.63 - - 3120 - 2.45 0.042 2256 -568.6 161.5 - - 2396 - - - - - - - - 14.52 14.47 14.54
13043 785.2 7.8 532 13044 done 0.63 - - 3120 - - - 2255 - 161.5 - - 2394 - - - - - - - - 14.82 14.81 14.82
13379 759.2 7.7 538 13385 roll 0.63 - - 3120 - 2.67 0.106 3660 526.2 163.0 - - 2395 - - - - - - - - 14.83 14.32 14.84
13434 754.4 8.7 546 13441 done 0.63 - - 3130 - 2.47 0.041 2245 -572.9 163.0 - - 2394 - - - - - - - - 14.52 14.47 14.53
13771 728.0 7.9 559 13776 roll 0.63 - - 3141 - 2.45 0.066 855 -567.3 163.0 - - 2394 - - - - - - - - 14.87 14.38 14.87
13875 719.8 7.7 574 13884 done 0.63 0.10 0.198 3111 -300.0 2.47 0.057 2252 565.6 164.2 - - 2394 - - - - - - - - 14.18 14.36 14.33
14219 695.1 7.3 581 14234 roll 0.64 - - 3111 - 2.65 0.106 3654 529.1 173.1 10.95 2.017 2357 -3.4 0.229 - - - - - - 14.85 14.52 13.72
14295 688.6 8.7 592 14302 done 0.64 - - 3121 - 2.45 0.041 2255 -571.0 173.1 - - 2353 - - - - - - - - 14.52 14.49 14.55
14660 660.0 7.9 602 14661 done 0.64 - - 3121 - - - 2255 - 173.1 - - 2353 - - - - - - - - 14.82 14.82 14.82
14996 632.9 8.1 608 15002 roll 0.64 - - 3121 - 2.70 0.106 3652 517.4 173.1 - - 2352 - - - - - - - - 14.84 14.26 14.85
15052 627.8 9.2 616 15058 done 0.64 - - 3130 - 2.45 0.041 2254 -570.6 173.1 - - 2352 - - - - - - - - 14.51 14.47 14.53
15388 599.5 8.4 629 15394 roll 0.64 - - 3130 - 2.70 0.106 3678 527.4 173.1 - - 2352 - - - - - - - - 14.85 14.26 14.85
15429 595.6 9.6 635 15436 done 0.64 0.10 0.216 3113 -170.0 2.47 0.041 2263 -572.9 173.1 - - 2350 - - - - - - - - 14.16 14.46 14.32
15780 570.3 7.0 643 15798 done 0.66 - - 3113 - - - 2260 - 187.9 16.85 1.786 2301 -2.9 0.183 - - - - - - 14.85 14.54 13.77
16116 547.2 6.9 649 16143 roll 0.68 - - 3112 - 2.70 0.105 3656 517.0 205.1 18.83 1.724 2227 -3.9 0.246 - - - - - - 14.78 14.40 13.71
16172 543.0 7.9 657 16178 done 0.68 - - 3121 - 2.45 0.041 2262 -569.0 205.1 - - 2225 - - - - - - - - 14.43 14.39 14.47
16508 516.6 7.9 670 16515 roll 0.68 - - 3121 - 2.65 0.106 3652 524.5 205.1 - - 2223 - - - - - - - - 14.76 14.28 14.76
16535 514.1 9.1 674 16543 done 0.68 - - 3131 - 2.45 0.041 2257 -569.4 205.1 - - 2223 - - - - - - - - 14.50 14.45 14.52
16900 481.7 9.0 684 16906 roll 0.68 - - 3132 - 2.67 0.106 3650 521.7 205.1 - - 2223 - - - - - - - - 14.82 14.25 14.83
16934 478.2 10.0 689 16941 done 0.68 - - 3142 - 2.40 0.040 2272 -574.2 205.1 - - 2223 - - - - - - - - 14.52 14.45 14.53
17292 444.7 9.4 698 17293 done 0.68 - - 3142 - - - 2270 - 205.1 - - 2223 - - - - - - - - 14.85 14.85 14.85
17628 415.2 8.7 704 17629 done 0.68 - - 3141 - - - 2268 - 205.1 - - 2223 - - - - - - - - 14.87 14.87 14.87
17964 387.2 8.3 710 17965 done 0.68 - - 3142 - - - 2268 - 205.1 - - 2223 - - - - - - - - 14.86 14.86 14.86
18300 359.5 8.3 716 18306 roll 0.68 - - 3141 - 2.67 0.106 3655 519.5 205.1 - - 2223 - - - - - - - - 14.87 14.23 14.87
18356 354.3 9.6 724 18362 done 0.68 0.10 0.213 3122 -190.0 2.42 0.041 2266 -574.0 205.1 - - 2223 - - - - - - - - 14.14 14.45 14.31
18692 327.9 7.9 737 18693 done 0.68 - - 3122 - - - 2265 - 205.1 - - 2223 - - - - - - - - 14.87 14.86 14.87
19028 300.1 8.3 743 19034 roll 0.68 - - 3122 - 2.67 0.103 3674 527.7 205.1 - - 2223 - - - - - - - - 14.88 14.26 14.88
19076 295.4 9.8 750 19085 done 0.68 - - 3131 - 2.45 0.040 2264 -575.5 205.1 - - 2223 - - - - - - - - 14.52 14.47 14.54
19420 265.1 8.9 757 19421 done 0.68 - - 3131 - - - 2263 - 205.1 - - 2223 - - - - - - - - 14.87 14.87 14.87
19756 237.9 7.9 763 19762 roll 0.68 - - 3130 - 2.70 0.106 3682 525.6 205.1 - - 2223 - - - - - - - - 14.87 14.23 14.87
19812 233.2 8.9 771 19818 done 0.68 - - 3141 - 2.45 0.041 2272 -575.5 205.1 - - 2223 - - - - - - - - 14.50 14.45 14.52
20148 206.8 7.8 784 20154 roll 0.68 - - 3141 - 2.62 0.104 3658 529.0 205.1 - - 2223 - - - - - - - - 14.87 14.27 14.87
20182 203.7 9.2 789 20189 done 0.68 - - 3151 - 2.42 0.039 2263 -576.4 205.1 - - 2223 - - - - - - - - 14.52 14.48 14.54
20540 174.4 8.2 798 20541 done 0.68 - - 3151 - - - 2261 - 205.1 - - 2223 - - - - - - - - 14.88 14.88 14.88
20876 146.6 8.3 804 20882 roll 0.68 0.10 0.233 3134 -170.0 2.50 0.065 863 -559.2 205.1 - - 2224 - - - - - - - - 14.26 14.29 14.49
20910 144.0 7.1 809 20933 done 0.70 - - 3129 - 2.50 0.057 2270 562.8 218.2 13.50 1.346 2174 -3.7 0.078 - - - - - - 14.42 14.33 13.91
21268 118.7 7.2 818 21281 roll 0.71 - - 3130 - 2.65 0.106 3664 526.0 228.9 5.05 0.493 2141 -6.5 0.310 - - - - - - 14.83 14.41 13.97
21324 114.0 8.7 826 21331 done 0.71 - - 3140 - 2.42 0.040 2270 -576.0 228.9 - - 2144 - - - - - - - - 14.52 14.47 14.54
21660 87.9 7.3 841 21674 roll 0.72 - - 3149 - 2.50 0.063 858 -564.8 238.1 5.60 0.409 2105 -7.0 0.295 - - - - - - 14.83 14.45 14.02
21750 81.7 6.4 854 21773 done 0.75 - - 3149 - 2.47 0.053 2261 568.0 264.0 13.88 0.409 2001 -7.5 0.295 - - - - - - 14.46 14.38 14.08
22082 63.2 5.3 868 22114 roll 0.93 0.08 0.145 3215 825.0 2.65 0.104 3663 529.1 313.3 24.77 0.361 1802 -8.0 0.277 - - - - - - 14.52 14.40 14.15
22317 44.1 8.1 902 22325 done 0.93 - - 3225 - 2.42 0.038 2265 -577.7 313.3 - - 1803 - - - - - - - - 14.45 14.41 14.48
22640 30.4 3.8 915 22683 roll 1.12 0.05 0.202 3287 1240.0 2.70 0.101 3668 519.6 391.4 37.40 0.264 1490 -8.4 0.190 - - - - - - 14.51 14.40 14.21
22913 11.7 7.3 954 22921 done 1.13 0.10 0.186 3266 -210.0 2.42 0.039 2255 -583.9 400.4 3.83 0.207 1459 -8.1 0.090 - - - - - - 14.20 14.45 14.14
23079 end climb: SURFACE_DEPTH_REACHED
23079 begin surface coast
23109 end surface coast: CONTROL_FINISHED_OK
23109 begin surface
SM -2.80 - - - - -8.39 9.02 0.069 189 20.9 0.98 0.087 2777 -10788.8 500.14 46.55 0.158 1057 22.7 0.041 - - - - - -