SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 228 * Raw log
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• Previous call tries 1 • 88.93 of 350.00 AH used of 24V (74.59% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -73.4 deg, depth -2.73 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 95 done -0.93 - - 140 - - - 2790 - -107.1 -74.30 - 3477 - - - - - - - - 14.59 13.00 14.59
98 -0.8 -5.9 2 119 roll -0.93 11.82 0.395 2592 207.4 2.38 0.034 1369 -597.1 -107.1 - - 3479 - - - - - - - - 14.09 14.40 14.40
159 32.3 -24.6 12 167 done -0.66 0.35 0.248 2676 240.0 2.53 0.070 2762 550.6 -107.1 - - 3480 - - - - - - - - 14.11 14.28 14.29
482 74.6 -7.3 25 490 roll -0.56 0.12 0.243 2712 300.0 2.33 0.041 1373 -596.1 -107.1 - - 3482 - - - - - - - - 14.25 14.45 14.47
530 78.4 -7.4 32 539 done -0.56 - - 2702 - 2.47 0.065 2764 563.2 -107.1 - - 3482 - - - - - - - - 14.45 14.36 14.50
846 101.7 -6.3 44 853 roll -0.56 - - 2694 - 1.98 0.104 3821 533.8 -107.1 - - 3483 - - - - - - - - 14.76 14.38 14.77
915 107.0 -8.3 54 923 done -0.56 - - 2694 - 1.80 0.037 2728 -607.2 -107.1 - - 3483 - - - - - - - - 14.63 14.60 14.64
1238 131.2 -7.5 65 1246 roll -0.56 - - 2685 - 2.08 0.103 3820 525.0 -107.1 - - 3482 - - - - - - - - 14.80 14.36 14.80
1300 136.6 -8.8 74 1308 done -0.56 0.08 0.245 2712 337.5 1.75 0.037 2772 -598.9 -107.1 - - 3482 - - - - - - - - 14.31 14.61 14.45
1630 159.7 -6.9 86 1637 roll -0.64 - - 2712 - 2.33 0.041 1377 -598.7 -107.1 - - 3480 - - - - - - - - 14.82 14.52 14.82
1699 164.4 -6.7 96 1707 done -0.73 0.05 0.119 2651 -1220.0 2.47 0.064 2759 559.5 -107.1 - - 3479 - - - - - - - - 14.41 14.41 14.50
2022 194.3 -9.5 107 2029 roll -0.73 - - 2642 - 1.98 0.106 3834 542.9 -107.1 - - 3477 - - - - - - - - 14.83 14.37 14.83
2078 200.0 -10.0 115 2085 done -0.73 - - 2636 - 1.80 0.041 2758 -597.8 -107.1 - - 3477 - - - - - - - - 14.59 14.57 14.61
2414 231.5 -9.3 128 2421 roll -0.73 - - 2642 - 2.35 0.043 1386 -583.8 -107.1 - - 3474 - - - - - - - - 14.82 14.47 14.83
2448 234.8 -9.5 133 2457 done -0.73 0.08 0.241 2654 150.0 2.47 0.065 2768 559.5 -107.1 - - 3474 - - - - - - - - 14.24 14.41 14.41
2806 265.4 -8.6 142 2819 roll -0.73 - - 2646 - 1.95 0.107 3826 542.6 -107.1 - - 3471 - - - - - - - - 14.88 14.42 14.88
2838 268.4 -9.3 146 2851 done -0.73 - - 2646 - 1.75 0.042 2755 -612.0 -107.1 - - 3467 - - - - - - - - 14.71 14.66 14.73
3207 302.6 -9.5 156 3220 done -0.73 - - 2651 - - - 2751 - -107.1 - - 3468 - - - - - - - - 14.90 14.89 14.90
3543 335.1 -9.7 162 3556 done -0.73 - - 2646 - - - 2755 - -107.1 - - 3465 - - - - - - - - 14.92 14.92 14.92
3879 366.5 -9.4 168 3892 roll -0.73 - - 2646 - 2.33 0.044 1378 -591.0 -107.1 - - 3464 - - - - - - - - 14.93 14.59 14.93
3939 372.1 -9.2 176 3953 done -0.73 - - 2636 - 2.47 0.067 2778 566.8 -107.1 - - 3463 - - - - - - - - 14.57 14.49 14.59
4280 403.9 -9.4 189 4293 done -0.73 - - 2636 - - - 2777 - -107.1 - - 3461 - - - - - - - - 14.92 14.92 14.92
4616 435.1 -9.2 195 4629 roll -0.73 - - 2635 - 2.40 0.044 1376 -583.8 -107.1 - - 3459 - - - - - - - - 14.92 14.59 14.91
4648 438.1 -9.3 199 4661 done -0.73 0.12 0.243 2661 216.7 2.45 0.067 2765 566.9 -107.1 - - 3459 - - - - - - - - 14.28 14.44 14.53
5017 468.1 -8.0 209 5030 roll -0.73 - - 2653 - 1.98 0.110 3831 538.4 -107.1 - - 3457 - - - - - - - - 14.91 14.42 14.91
5098 475.2 -9.0 220 5111 done -0.73 - - 2653 - 1.77 0.046 2760 -605.1 -107.1 - - 3457 - - - - - - - - 14.72 14.65 14.73
5418 501.3 -8.1 230 5431 roll -0.73 - - 2654 - 2.35 0.045 1369 -591.9 -107.1 - - 3455 - - - - - - - - 14.91 14.57 14.90
5499 507.8 -7.9 241 5512 done -0.73 - - 2644 - 2.47 0.068 2766 565.6 -107.1 - - 3455 - - - - - - - - 14.60 14.43 14.63
5819 533.8 -8.2 251 5832 roll -0.73 - - 2644 - 2.38 0.044 1375 -584.5 -107.1 - - 3454 - - - - - - - - 14.91 14.55 14.91
5851 536.6 -8.6 255 5864 done -0.73 - - 2634 - 2.45 0.067 2765 567.3 -107.1 - - 3453 - - - - - - - - 14.65 14.47 14.68
6219 569.0 -9.0 265 6232 done -0.73 - - 2634 - - - 2765 - -107.1 - - 3452 - - - - - - - - 14.90 14.90 14.88
6556 600.1 -9.3 271 6569 roll -0.73 - - 2626 - 1.98 0.111 3825 535.4 -107.1 - - 3450 - - - - - - - - 14.92 14.37 14.92
6588 603.3 -9.9 275 6601 done -0.73 0.12 0.234 2662 300.0 1.77 0.045 2756 -604.0 -107.1 - - 3450 - - - - - - - - 14.29 14.65 14.54
6957 633.6 -8.1 285 6970 roll -0.73 - - 2662 - 2.35 0.045 1368 -590.6 -107.1 - - 3448 - - - - - - - - 14.90 14.54 14.90
7003 637.4 -8.2 291 7016 done -0.73 - - 2652 - 2.47 0.068 2762 564.4 -107.1 - - 3448 - - - - - - - - 14.64 14.46 14.67
7358 665.6 -7.9 299 7371 done -0.73 - - 2652 - - - 2763 - -107.1 - - 3446 - - - - - - - - 14.89 14.89 14.88
7694 690.5 -7.4 305 7707 roll -0.73 - - 2652 - 2.38 0.045 1378 -581.9 -107.1 - - 3447 - - - - - - - - 14.89 14.53 14.89
7719 692.5 -7.1 308 7732 done -0.73 - - 2642 - 2.45 0.069 2754 561.6 -107.1 - - 3445 - - - - - - - - 14.63 14.45 14.67
8039 716.6 -7.6 318 8052 done -0.73 - - 2650 - - - 2754 - -107.1 - - 3448 - - - - - - - - 14.89 14.89 14.89
8375 743.6 -8.1 324 8388 done -0.73 - - 2642 - - - 2754 - -107.1 - - 3443 - - - - - - - - 14.91 14.90 14.91
8711 771.3 -8.3 330 8724 roll -0.73 - - 2642 - 2.40 0.047 1370 -576.7 -107.1 - - 3443 - - - - - - - - 14.90 14.50 14.90
8799 778.7 -8.1 342 8812 done -0.73 0.10 0.252 2661 190.0 2.47 0.070 2758 561.9 -107.1 - - 3441 - - - - - - - - 14.23 14.42 14.49
9168 805.5 -7.2 352 9181 done -0.73 - - 2661 - - - 2758 - -107.1 - - 3441 - - - - - - - - 14.88 14.88 14.88
9504 828.3 -6.9 358 9518 roll -0.73 - - 2661 - 2.40 0.047 1369 -578.8 -107.1 - - 3439 - - - - - - - - 14.88 14.48 14.88
9565 832.5 -7.3 366 9579 done -0.73 - - 2652 - 2.47 0.070 2754 560.7 -107.1 - - 3439 - - - - - - - - 14.60 14.42 14.63
9907 858.3 -7.5 379 9920 roll -0.73 - - 2643 - 2.03 0.115 3828 529.1 -107.1 - - 3438 - - - - - - - - 14.87 14.31 14.87
9946 861.4 -6.1 384 9959 done -0.73 - - 2642 - 1.80 0.047 2758 -594.4 -107.1 - - 3438 - - - - - - - - 14.67 14.60 14.68
10307 890.0 -8.0 393 10321 roll -0.73 - - 2642 - 2.38 0.047 1371 -582.8 -107.1 - - 3437 - - - - - - - - 14.90 14.46 14.89
10374 895.5 -8.0 402 10388 done -0.73 0.10 0.256 2661 190.0 2.47 0.070 2758 561.5 -107.1 - - 3438 - - - - - - - - 14.20 14.39 14.46
10709 919.4 -7.2 414 10722 done -0.73 - - 2661 - - - 2758 - -107.1 - - 3436 - - - - - - - - 14.85 14.85 14.85
10874 end dive: TARGET_DEPTH_EXCEEDED
10874 begin apogee
10880 930.7 -6.7 417 10997 roll -0.23 0.55 0.177 2823 294.5 - - 2228 - - 106.93 1.961 3050 -3.6 0.331 - - - - - - 14.25 14.02 13.24
10999 end apogee: CONTROL_FINISHED_OK
10999 begin climb
11001 934.0 - 419 11134 roll 0.93 1.12 0.099 3182 320.5 2.42 0.057 876 -558.7 107.1 114.93 1.965 2618 -3.8 0.345 - - - - - - 14.02 14.04 13.07
11153 927.7 9.1 442 11167 done 0.74 0.17 0.241 3139 -252.9 2.50 0.053 2254 551.2 107.1 - - 2610 - - - - - - - - 13.78 13.90 13.97
11497 901.7 7.6 449 11511 roll 0.66 - - 3139 - 2.62 0.103 3651 533.2 109.6 - - 2607 - - - - - - - - 14.58 14.22 14.59
11621 890.8 8.7 466 11634 done 0.52 0.30 0.230 3068 -236.7 2.38 0.041 2260 -584.5 109.6 - - 2607 - - - - - - - - 14.10 14.42 14.36
11956 871.7 5.5 478 12021 roll 0.57 - - 3067 - 2.72 0.103 3653 512.1 153.7 50.55 1.907 2433 -3.4 0.304 - - - - - - 14.72 14.12 13.44
12054 863.9 7.3 492 12075 done 0.58 - - 3078 - 2.42 0.041 2253 -578.5 162.5 4.15 1.760 2406 -6.5 0.617 - - - - - - 14.30 14.23 13.11
12406 840.2 6.9 500 12441 done 0.60 - - 3078 - - - 2252 - 179.2 26.02 1.948 2338 -2.6 0.218 - - - - - - 14.66 14.32 13.56
12742 816.0 7.2 506 12759 roll 0.61 - - 3077 - 2.62 0.101 3654 535.1 189.9 4.70 1.929 2295 -9.1 0.748 - - - - - - 14.66 14.33 13.26
12805 810.5 8.6 515 12819 done 0.61 - - 3088 - 2.40 0.042 2258 -581.7 189.9 1.42 0.276 2294 - - - - - - - - 14.52 14.45 14.04
13141 785.3 7.5 527 13165 roll 0.62 - - 3087 - 2.55 0.101 3652 546.7 194.5 10.52 2.103 2272 -2.1 0.151 - - - - - - 14.73 14.40 13.69
13184 781.5 6.9 533 13217 done 0.64 - - 3097 - 2.40 0.042 2245 -586.2 211.7 21.35 1.927 2207 -3.0 0.239 - - - - - - 14.53 14.46 13.61
13533 753.2 8.4 547 13546 done 0.64 - - 3097 - - - 2245 - 211.7 - - 2192 - - - - - - - - 14.67 14.67 14.67
13867 724.7 8.5 553 13881 roll 0.64 - - 3097 - 2.65 0.103 3660 534.0 211.7 - - 2192 - - - - - - - - 14.76 14.37 14.76
13899 721.6 9.4 557 13913 done 0.64 - - 3106 - 2.38 0.041 2262 -587.4 211.7 - - 2192 - - - - - - - - 14.61 14.53 14.62
14269 690.1 8.4 567 14282 done 0.64 - - 3107 - - - 2258 - 211.7 - - 2191 - - - - - - - - 14.81 14.79 14.81
14605 663.5 7.8 573 14618 roll 0.64 - - 3106 - 2.62 0.104 3660 535.1 211.7 - - 2190 - - - - - - - - 14.81 14.38 14.83
14666 657.6 9.1 581 14679 done 0.64 - - 3117 - 2.38 0.041 2264 -586.6 211.7 - - 2190 - - - - - - - - 14.64 14.57 14.66
15007 631.9 7.9 594 15021 roll 0.64 - - 3117 - 2.60 0.102 3654 534.6 211.7 - - 2190 - - - - - - - - 14.81 14.39 14.81
15039 629.0 8.5 598 15053 done 0.64 - - 3126 - 2.35 0.042 2270 -588.9 211.7 - - 2190 - - - - - - - - 14.66 14.57 14.67
15408 597.2 8.7 608 15421 roll 0.64 - - 3136 - 2.45 0.063 855 -577.6 211.7 - - 2190 - - - - - - - - 14.85 14.45 14.85
15440 594.3 9.0 612 15453 done 0.64 - - 3136 - 2.45 0.056 2270 577.6 211.7 - - 2189 - - - - - - - - 14.62 14.47 14.64
15809 560.0 9.3 622 15822 roll 0.64 - - 3136 - 2.58 0.104 3659 538.4 211.7 - - 2190 - - - - - - - - 14.84 14.36 14.83
15897 550.9 10.3 634 15910 done 0.64 0.12 0.230 3112 -200.0 2.38 0.041 2264 -586.1 211.7 - - 2190 - - - - - - - - 14.26 14.56 14.54
16266 522.5 7.5 644 16279 roll 0.65 - - 3122 - 2.45 0.061 856 -574.7 217.6 - - 2190 - - - - - - - - 14.83 14.45 14.84
16305 519.5 7.4 649 16331 done 0.66 - - 3122 - 2.45 0.054 2270 577.1 224.6 10.60 1.860 2153 -3.5 0.188 - - - - - - 14.62 14.47 13.87
16663 492.2 7.7 658 16677 roll 0.66 - - 3122 - 2.58 0.103 3654 536.4 225.7 - - 2152 - - - - - - - - 14.78 14.37 14.78
16695 489.4 8.2 662 16709 done 0.66 - - 3131 - 2.38 0.041 2258 -586.6 225.7 - - 2150 - - - - - - - - 14.62 14.54 14.64
17064 459.2 8.3 672 17077 roll 0.66 - - 3138 - 2.65 0.103 3653 526.4 225.7 - - 2149 - - - - - - - - 14.82 14.35 14.82
17145 451.5 9.5 683 17159 done 0.66 - - 3141 - 2.35 0.041 2267 -589.8 225.7 - - 2150 - - - - - - - - 14.62 14.54 14.64
17465 422.1 9.4 693 17478 roll 0.66 - - 3152 - 2.45 0.062 858 -575.1 225.7 - - 2149 - - - - - - - - 14.82 14.43 14.81
17504 418.2 9.4 698 17518 done 0.66 0.15 0.211 3108 -293.3 2.45 0.055 2275 578.4 225.7 - - 2149 - - - - - - - - 14.28 14.45 14.51
17867 388.5 8.2 707 17880 done 0.66 - - 3108 - - - 2275 - 225.7 - - 2149 - - - - - - - - 14.82 14.82 14.82
18202 361.6 7.9 713 18216 roll 0.66 - - 3107 - 2.55 0.103 3653 540.4 225.7 - - 2149 - - - - - - - - 14.83 14.35 14.83
18248 357.7 8.7 719 18261 done 0.66 - - 3116 - 2.35 0.041 2261 -592.3 225.7 - - 2149 - - - - - - - - 14.64 14.56 14.66
18603 329.5 8.0 727 18616 done 0.66 - - 3116 - - - 2256 - 225.7 - - 2149 - - - - - - - - 14.88 14.85 14.85
18939 304.1 7.5 733 18954 roll 0.66 - - 3117 - 2.65 0.101 3655 527.9 230.9 2.72 0.940 2135 -5.1 0.322 - - - - - - 14.86 14.56 13.45
19001 299.0 8.4 741 19015 done 0.66 - - 3126 - 2.38 0.041 2257 -587.4 230.9 2.38 0.729 2131 -1.7 0.133 - - - - - - 14.67 14.59 13.47
19343 273.0 7.5 754 19368 roll 0.67 - - 3139 - 2.42 0.063 858 -578.1 236.3 11.00 1.548 2104 -2.5 0.084 - - - - - - 14.84 14.57 13.95
19380 270.6 4.1 759 19468 done 0.76 - - 3136 - 2.45 0.054 2282 581.2 308.3 75.03 1.296 1819 -3.8 0.153 - - - - - - 14.64 14.52 13.66
19795 232.4 9.5 783 19809 roll 0.76 - - 3136 - 2.58 0.103 3658 533.3 308.3 - - 1803 - - - - - - - - 14.64 14.26 14.64
19841 227.4 10.8 789 19855 done 0.76 - - 3143 - 2.38 0.041 2268 -584.0 308.3 - - 1805 - - - - - - - - 14.51 14.43 14.53
20197 191.7 10.1 797 20210 roll 0.76 - - 3156 - 2.45 0.062 855 -576.7 308.3 - - 1803 - - - - - - - - 14.73 14.38 14.74
20243 186.9 10.4 803 20256 done 0.76 - - 3156 - 2.45 0.055 2271 578.0 308.3 - - 1801 - - - - - - - - 14.54 14.40 14.57
20598 149.6 10.6 811 20611 roll 0.76 - - 3154 - 2.55 0.101 3653 542.0 308.3 - - 1802 - - - - - - - - 14.77 14.35 14.77
20623 146.4 10.9 814 20636 done 0.76 - - 3165 - 2.35 0.041 2270 -588.5 308.3 - - 1802 - - - - - - - - 14.61 14.52 14.63
20943 114.4 10.4 824 20956 roll 0.76 - - 3176 - 2.45 0.062 850 -579.6 308.3 - - 1803 - - - - - - - - 14.79 14.43 14.80
20996 109.2 9.4 831 21010 done 0.76 0.10 0.217 3145 -310.0 2.47 0.054 2275 576.9 308.3 - - 1801 - - - - - - - - 14.30 14.44 14.53
21313 83.7 7.5 841 21327 roll 0.87 0.05 0.201 3206 1220.0 2.55 0.099 3660 543.1 314.1 - - 1802 - - - - - - - - 14.53 14.36 14.59
21375 77.5 10.1 849 21389 done 0.87 0.12 0.220 3180 -216.7 2.38 0.039 2260 -588.2 314.1 - - 1802 - - - - - - - - 14.27 14.51 14.51
21718 53.5 4.8 864 21763 roll 1.05 0.08 0.141 3257 962.5 2.40 0.060 858 -584.2 373.6 29.80 0.340 1562 -8.1 0.245 - - - - - - 14.55 14.52 14.25
21845 45.2 7.2 882 21865 done 1.06 - - 3256 - 2.42 0.050 2278 586.8 383.7 5.40 0.298 1523 -7.2 0.212 - - - - - - 14.59 14.46 14.16
22170 26.2 5.8 895 22206 roll 1.19 - - 3256 - 2.58 0.100 3654 533.3 422.1 20.33 0.253 1368 -7.6 0.153 - - - - - - 14.80 14.44 14.26
22344 16.4 5.1 920 22383 done 1.38 0.17 0.077 3372 682.4 2.33 0.037 2253 -601.3 475.1 26.05 0.217 1157 -8.1 0.118 - - - - - - 14.56 14.57 14.28
22505 end climb: SURFACE_DEPTH_REACHED
22505 begin surface coast
22534 end surface coast: CONTROL_FINISHED_OK
22534 begin surface
SM -2.43 - - - - -8.41 9.30 0.070 189 20.3 0.95 0.078 2774 -9111.6 500.14 11.88 0.164 1057 89.0 0.135 - - - - - -