SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 1 • 90.60 of 350.00 AH used of 24V (74.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth -2.92 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 98 done -0.93 - - 134 - - - 2774 - -107.1 -76.10 - 3479 - - - - - - - - 14.59 12.98 14.59
100 -1.5 -4.3 2 122 roll -0.93 11.75 0.391 2590 209.0 2.35 0.035 1372 -596.6 -107.1 - - 3482 - - - - - - - - 14.11 14.38 14.42
134 23.8 -47.3 8 143 done -0.08 1.02 0.248 2865 269.6 2.53 0.068 2767 551.4 -107.1 - - 3483 - - - - - - - - 14.16 14.31 14.40
457 49.5 -6.2 21 464 roll -0.28 0.12 0.103 2774 -758.3 1.92 0.108 3827 552.1 -107.1 - - 3483 - - - - - - - - 14.50 14.31 14.56
485 51.6 -7.6 25 492 done -0.38 - - 2774 - 1.77 0.039 2756 -605.1 -107.1 - - 3483 - - - - - - - - 14.53 14.52 14.54
821 75.7 -6.0 40 829 roll -0.50 0.05 0.204 2714 -1200.0 1.98 0.105 3833 543.9 -107.1 - - 3485 - - - - - - - - 14.51 14.38 14.57
974 87.2 -10.8 62 982 done -0.50 - - 2714 - 1.80 0.039 2753 -600.0 -107.1 - - 3485 - - - - - - - - 14.64 14.60 14.64
1297 109.0 -6.6 73 1304 roll -0.50 - - 2714 - 2.28 0.043 1387 -599.1 -107.1 - - 3484 - - - - - - - - 14.81 14.52 14.81
1331 111.1 -6.0 78 1339 done -0.50 0.08 0.216 2728 175.0 2.45 0.066 2767 563.3 -107.1 - - 3485 - - - - - - - - 14.30 14.41 14.45
1689 132.2 -6.0 87 1692 done -0.60 - - 2727 - - - 2768 - -107.1 - - 3484 - - - - - - - - 14.82 14.82 14.81
2026 152.9 -6.1 93 2032 roll -0.72 0.10 0.117 2651 -760.0 2.33 0.041 1393 -590.1 -107.1 - - 3482 - - - - - - - - 14.59 14.53 14.62
2087 158.1 -8.7 102 2095 done -0.72 - - 2639 - 2.45 0.066 2759 557.6 -107.1 - - 3481 - - - - - - - - 14.53 14.44 14.57
2417 190.1 -9.8 114 2424 roll -0.72 - - 2635 - 1.95 0.103 3824 546.2 -107.1 - - 3479 - - - - - - - - 14.83 14.40 14.83
2507 199.6 -10.6 127 2515 done -0.72 0.10 0.231 2665 300.0 1.80 0.041 2759 -591.7 -107.1 - - 3479 - - - - - - - - 14.29 14.65 14.43
2865 232.3 -9.2 136 2872 roll -0.72 - - 2665 - 2.33 0.045 1378 -592.7 -107.1 - - 3475 - - - - - - - - 14.83 14.52 14.83
2913 236.9 -9.4 143 2922 done -0.72 - - 2655 - 2.50 0.067 2761 553.2 -107.1 - - 3475 - - - - - - - - 14.51 14.42 14.54
3257 267.8 -8.9 150 3270 roll -0.72 - - 2647 - 1.95 0.106 3823 544.6 -107.1 - - 3472 - - - - - - - - 14.90 14.43 14.90
3296 269.9 -5.2 155 3309 done -0.72 - - 2650 - 1.73 0.044 2767 -610.4 -107.1 - - 3472 - - - - - - - - 14.72 14.67 14.73
3658 303.8 -9.0 164 3671 roll -0.72 - - 2646 - 2.33 0.045 1380 -595.3 -107.1 - - 3468 - - - - - - - - 14.90 14.59 14.90
3710 308.6 -9.2 171 3725 done -0.72 0.10 0.249 2666 200.0 2.45 0.068 2761 563.7 -107.1 - - 3469 - - - - - - - - 14.34 14.50 14.58
4055 337.0 -8.2 178 4068 roll -0.72 - - 2657 - 1.95 0.108 3824 545.1 -107.1 - - 3467 - - - - - - - - 14.90 14.44 14.90
4108 341.5 -8.7 185 4121 done -0.72 - - 2657 - 1.77 0.044 2751 -606.2 -107.1 - - 3466 - - - - - - - - 14.73 14.67 14.73
4452 370.5 -8.5 192 4465 roll -0.72 - - 2657 - 2.30 0.044 1379 -596.5 -107.1 - - 3465 - - - - - - - - 14.91 14.60 14.90
4505 374.7 -8.3 199 4518 done -0.72 - - 2648 - 2.45 0.068 2762 564.5 -107.1 - - 3465 - - - - - - - - 14.67 14.50 14.70
4849 404.9 -9.0 206 4862 roll -0.72 - - 2639 - 1.95 0.108 3823 544.1 -107.1 - - 3462 - - - - - - - - 14.91 14.43 14.91
4874 406.6 -8.0 209 4887 done -0.72 - - 2639 - 1.75 0.043 2752 -612.0 -107.1 - - 3462 - - - - - - - - 14.76 14.70 14.76
5194 438.2 -9.1 219 5207 roll -0.72 - - 2639 - 2.30 0.044 1380 -596.5 -107.1 - - 3460 - - - - - - - - 14.91 14.59 14.91
5261 444.3 -8.9 228 5275 done -0.72 0.12 0.238 2665 216.7 2.45 0.067 2766 565.7 -107.1 - - 3460 - - - - - - - - 14.31 14.50 14.57
5595 470.4 -7.7 240 5609 roll -0.72 - - 2665 - 2.38 0.044 1372 -585.7 -107.1 - - 3459 - - - - - - - - 14.92 14.57 14.92
5621 472.4 -7.7 243 5634 done -0.72 - - 2655 - 2.42 0.068 2757 572.3 -107.1 - - 3459 - - - - - - - - 14.66 14.50 14.69
5941 498.5 -8.3 253 5954 done -0.72 - - 2655 - - - 2757 - -107.1 - - 3457 - - - - - - - - 14.90 14.90 14.90
6276 527.4 -8.6 259 6290 roll -0.72 - - 2655 - 2.35 0.044 1379 -586.4 -107.1 - - 3456 - - - - - - - - 14.92 14.56 14.92
6322 531.5 -9.0 265 6336 done -0.72 - - 2645 - 2.47 0.069 2772 564.0 -107.1 - - 3456 - - - - - - - - 14.66 14.48 14.69
6677 562.6 -8.8 273 6690 roll -0.72 - - 2633 - 1.95 0.109 3821 537.9 -107.1 - - 3454 - - - - - - - - 14.90 14.40 14.90
6751 569.1 -9.0 283 6765 done -0.72 0.10 0.234 2666 330.0 1.75 0.043 2754 -609.7 -107.1 - - 3453 - - - - - - - - 14.32 14.66 14.55
7078 591.9 -7.0 294 7092 roll -0.72 - - 2665 - 2.33 0.044 1376 -591.4 -107.1 - - 3452 - - - - - - - - 14.92 14.55 14.92
7152 595.8 -5.6 304 7166 done -0.72 - - 2656 - 2.45 0.067 2759 564.5 -107.1 - - 3453 - - - - - - - - 14.64 14.47 14.66
7479 621.7 -7.5 315 7492 roll -0.72 - - 2649 - 1.98 0.109 3823 537.4 -107.1 - - 3450 - - - - - - - - 14.90 14.38 14.90
7560 628.0 -7.9 326 7573 done -0.72 - - 2648 - 1.77 0.044 2754 -604.0 -107.1 - - 3450 - - - - - - - - 14.73 14.61 14.70
7880 652.2 -7.8 336 7893 roll -0.72 - - 2647 - 2.33 0.044 1379 -590.1 -107.1 - - 3448 - - - - - - - - 14.91 14.52 14.91
7997 661.7 -7.9 352 8011 done -0.72 0.10 0.250 2667 200.0 2.47 0.068 2764 560.7 -107.1 - - 3448 - - - - - - - - 14.26 14.45 14.52
8339 686.5 -7.2 365 8352 roll -0.72 - - 2666 - 2.38 0.044 1378 -582.4 -107.1 - - 3446 - - - - - - - - 14.90 14.50 14.90
8371 689.0 -7.6 369 8384 done -0.72 - - 2658 - 2.45 0.070 2759 563.7 -107.1 - - 3446 - - - - - - - - 14.62 14.44 14.66
8740 717.1 -7.7 379 8753 roll -0.72 - - 2649 - 2.00 0.111 3830 535.5 -107.1 - - 3445 - - - - - - - - 14.90 14.33 14.89
8779 720.4 -8.5 384 8792 done -0.72 - - 2651 - 1.80 0.046 2751 -599.4 -107.1 - - 3445 - - - - - - - - 14.69 14.62 14.69
9141 749.1 -7.9 393 9154 roll -0.72 - - 2649 - 2.35 0.044 1370 -587.7 -107.1 - - 3444 - - - - - - - - 14.88 14.52 14.88
9236 756.7 -7.9 406 9249 done -0.72 - - 2640 - 2.47 0.069 2753 559.9 -107.1 - - 3444 - - - - - - - - 14.61 14.43 14.64
9598 785.3 -7.9 415 9610 done -0.72 - - 2640 - - - 2754 - -107.1 - - 3444 - - - - - - - - 14.88 14.88 14.88
9934 811.3 -7.6 421 9947 roll -0.72 - - 2643 - 2.40 0.046 1368 -577.5 -107.1 - - 3441 - - - - - - - - 14.87 14.49 14.87
9966 814.3 -8.9 425 9979 done -0.72 0.12 0.241 2665 183.3 2.47 0.070 2745 557.5 -107.1 - - 3443 - - - - - - - - 14.22 14.42 14.49
10335 838.5 -6.7 435 10348 done -0.72 - - 2666 - - - 2746 - -107.1 - - 3442 - - - - - - - - 14.91 14.88 14.88
10672 860.9 -6.6 441 10685 roll -0.72 - - 2665 - 2.38 0.047 1374 -576.5 -107.1 - - 3440 - - - - - - - - 14.88 14.46 14.88
10704 863.2 -6.5 445 10717 done -0.80 - - 2655 - 2.50 0.070 2756 552.8 -107.1 - - 3440 - - - - - - - - 14.59 14.44 14.62
11073 889.0 -7.1 455 11086 done -0.80 - - 2654 - - - 2756 - -107.1 - - 3439 - - - - - - - - 14.87 14.88 14.88
11409 912.9 -7.2 461 11422 roll -0.80 - - 2655 - 2.40 0.046 1374 -575.8 -107.1 - - 3437 - - - - - - - - 14.85 14.46 14.85
11476 918.0 -7.4 470 11489 done -0.80 - - 2646 - 2.47 0.069 2751 557.5 -107.1 - - 3437 - - - - - - - - 14.57 14.40 14.62
11640 end dive: TARGET_DEPTH_EXCEEDED
11640 begin apogee
11645 930.4 -7.6 479 11762 roll -0.23 0.60 0.187 2820 290.0 - - 2228 - - 106.95 1.971 3051 -3.6 0.330 - - - - - - 14.23 14.02 13.24
11764 end apogee: CONTROL_FINISHED_OK
11764 begin climb
11766 933.9 - 481 11900 roll 0.93 1.12 0.102 3181 322.3 2.47 0.056 848 -558.7 107.1 115.00 1.935 2618 -3.8 0.352 - - - - - - 14.00 14.04 13.06
11919 925.8 9.7 504 11934 done 0.73 0.17 0.231 3135 -270.6 2.55 0.052 2257 552.5 107.1 - - 2613 - - - - - - - - 13.78 13.93 13.97
12263 902.6 7.2 511 12282 roll 0.66 - - 3134 - 2.65 0.100 3652 526.4 118.0 6.45 2.124 2583 -4.7 0.383 - - - - - - 14.59 14.34 13.43
12323 897.2 8.3 519 12336 done 0.53 0.25 0.226 3077 -228.0 2.45 0.041 2231 -580.0 118.0 - - 2586 - - - - - - - - 14.14 14.39 14.37
12666 878.5 5.7 532 12731 roll 0.58 - - 3077 - 2.75 0.100 3650 516.0 159.2 50.97 1.921 2412 -3.4 0.302 - - - - - - 14.70 14.12 13.41
12781 871.2 7.7 548 12794 done 0.58 - - 3087 - 2.45 0.041 2242 -574.7 160.7 - - 2408 - - - - - - - - 14.32 14.23 14.33
13122 847.6 6.7 561 13160 roll 0.61 - - 3088 - 2.67 0.102 3650 527.3 180.6 24.92 1.953 2323 -3.4 0.286 - - - - - - 14.66 14.26 13.57
13214 840.1 8.5 574 13227 done 0.61 - - 3096 - 2.40 0.041 2258 -580.0 180.6 - - 2318 - - - - - - - - 14.41 14.34 14.40
13576 812.5 7.6 583 13589 done 0.61 - - 3097 - - - 2254 - 183.0 - - 2315 - - - - - - - - 14.71 14.71 14.71
13912 786.6 7.9 589 13926 roll 0.61 - - 3096 - 2.62 0.102 3650 532.8 183.0 - - 2314 - - - - - - - - 14.77 14.35 14.76
13986 779.7 9.4 599 13999 done 0.61 - - 3106 - 2.38 0.042 2255 -586.1 183.0 - - 2317 - - - - - - - - 14.59 14.52 14.61
14313 751.2 8.7 610 14326 roll 0.61 - - 3106 - 2.62 0.099 3653 533.6 183.0 - - 2312 - - - - - - - - 14.80 14.36 14.81
14345 748.0 9.6 614 14358 done 0.61 - - 3116 - 2.38 0.042 2258 -586.1 183.0 - - 2314 - - - - - - - - 14.62 14.53 14.64
14714 714.1 9.1 624 14727 done 0.61 - - 3116 - - - 2254 - 183.0 - - 2313 - - - - - - - - 14.81 14.81 14.81
15050 683.7 9.0 630 15064 roll 0.61 - - 3116 - 2.65 0.102 3660 530.6 183.0 - - 2312 - - - - - - - - 14.85 14.35 14.82
15117 680.3 9.6 639 15130 done 0.61 - - 3126 - 2.38 0.041 2262 -587.4 183.0 - - 2313 - - - - - - - - 14.63 14.54 14.65
15451 651.4 8.6 651 15464 done 0.61 - - 3126 - - - 2257 - 183.0 - - 2312 - - - - - - - - 14.82 14.83 14.83
15787 622.9 8.4 657 15800 done 0.61 - - 3126 - - - 2257 - 183.0 - - 2312 - - - - - - - - 14.83 14.83 14.83
16123 595.2 8.0 663 16136 roll 0.61 - - 3126 - 2.62 0.100 3653 532.8 183.0 - - 2313 - - - - - - - - 14.83 14.33 14.83
16169 589.9 9.2 669 16183 done 0.61 0.12 0.235 3101 -208.3 2.38 0.041 2260 -585.3 183.0 - - 2312 - - - - - - - - 14.21 14.53 14.50
16525 568.1 6.9 677 16556 roll 0.63 - - 3111 - 2.40 0.060 865 -581.2 199.3 18.40 1.776 2248 -3.5 0.215 - - - - - - 14.83 14.47 13.84
16583 563.9 7.0 685 16616 done 0.65 - - 3110 - 2.45 0.055 2269 573.1 214.5 16.25 1.774 2189 -3.6 0.223 - - - - - - 14.56 14.43 13.74
16923 537.1 8.1 698 16936 roll 0.65 - - 3111 - 2.58 0.103 3654 536.8 214.5 - - 2183 - - - - - - - - 14.70 14.31 14.69
17004 529.7 9.1 709 17017 done 0.65 - - 3120 - 2.38 0.041 2265 -583.6 214.5 - - 2184 - - - - - - - - 14.56 14.47 14.57
17324 502.1 8.7 719 17338 roll 0.65 - - 3121 - 2.62 0.101 3660 532.4 214.5 - - 2184 - - - - - - - - 14.76 14.33 14.75
17363 498.3 9.7 724 17377 done 0.65 - - 3130 - 2.38 0.041 2257 -589.5 214.5 - - 2183 - - - - - - - - 14.59 14.51 14.62
17726 464.7 9.4 733 17739 roll 0.65 - - 3129 - 2.62 0.101 3657 534.4 214.5 - - 2183 - - - - - - - - 14.81 14.33 14.81
17779 459.1 10.7 740 17794 done 0.65 0.10 0.236 3112 -170.0 2.38 0.041 2267 -584.0 214.5 - - 2183 - - - - - - - - 14.25 14.52 14.51
18123 429.8 8.3 747 18136 done 0.65 - - 3113 - - - 2266 - 214.5 - - 2183 - - - - - - - - 14.81 14.81 14.81
18459 403.5 7.7 753 18472 done 0.65 - - 3112 - - - 2266 - 214.8 - - 2183 - - - - - - - - 14.82 14.81 14.82
18795 378.5 7.4 759 18808 done 0.66 - - 3112 - - - 2266 - 222.4 2.97 1.131 2164 -6.4 0.414 - - - - - - 14.83 14.62 13.44
19131 352.6 7.7 765 19148 roll 0.66 - - 3112 - 2.62 0.099 3651 528.6 223.1 1.77 0.323 2168 2.3 -0.477 - - - - - - 14.83 14.40 13.88
19174 348.8 8.7 771 19188 done 0.66 - - 3122 - 2.35 0.042 2262 -591.1 223.1 2.12 0.532 2164 -1.9 0.239 - - - - - - 14.66 14.57 13.37
19518 321.2 8.0 778 19535 roll 0.66 - - 3122 - 2.65 0.099 3651 524.2 223.1 1.98 0.354 2168 2.0 -0.355 - - - - - - 14.85 14.41 13.90
19554 317.9 8.9 783 19567 done 0.66 - - 3124 - 2.33 0.041 2277 -589.7 223.1 1.83 0.370 2162 -3.3 0.545 - - - - - - 14.65 14.57 13.93
19909 287.6 8.6 791 19927 roll 0.66 - - 3130 - 2.60 0.101 3654 529.6 223.1 2.53 0.849 2166 1.6 -0.104 - - - - - - 14.83 14.52 13.45
19939 284.6 9.8 795 19952 done 0.66 - - 3141 - 2.33 0.041 2274 -592.3 223.1 - - 2169 - - - - - - - - 14.67 14.59 14.69
20308 250.5 9.1 805 20321 roll 0.66 - - 3151 - 2.42 0.060 866 -581.8 223.1 1.45 0.279 2168 - - - - - - - - 14.83 14.32 13.97
20340 247.2 9.6 809 20353 done 0.66 0.12 0.216 3114 -308.3 2.45 0.054 2287 580.0 223.1 - - 2171 - - - - - - - - 14.31 14.48 14.54
20709 217.5 7.9 819 20723 roll 0.66 - - 3113 - 2.60 0.100 3661 528.5 223.1 1.52 0.289 2166 -3.3 0.479 - - - - - - 14.83 14.41 13.81
20762 213.2 8.5 826 20777 done 0.66 - - 3122 - 2.35 0.039 2272 -591.1 223.1 1.55 0.306 2165 - - - - - - - - 14.65 14.57 13.86
21107 187.2 7.5 833 21124 roll 0.67 - - 3132 - 2.40 0.059 866 -585.8 227.5 5.30 1.560 2147 -3.4 0.079 - - - - - - 14.83 14.54 13.85
21143 184.5 7.1 838 21175 done 0.68 - - 3135 - 2.42 0.054 2281 584.7 241.4 20.35 1.323 2087 -2.9 0.080 - - - - - - 14.65 14.52 13.95
21504 157.4 7.6 854 21517 roll 0.69 - - 3132 - 2.55 0.101 3660 540.8 243.5 - - 2077 - - - - - - - - 14.75 14.38 14.76
21557 152.6 9.2 861 21571 done 0.69 - - 3143 - 2.35 0.039 2283 -586.0 243.5 - - 2077 - - - - - - - - 14.59 14.52 14.61
21902 122.7 8.8 868 21915 roll 0.69 - - 3152 - 2.45 0.062 866 -578.4 243.5 - - 2077 - - - - - - - - 14.81 14.43 14.80
21934 119.7 8.7 872 21948 done 0.69 0.10 0.220 3123 -290.0 2.42 0.054 2278 583.5 243.5 - - 2075 - - - - - - - - 14.31 14.45 14.52
22277 94.3 7.3 882 22294 roll 0.79 - - 3123 - 2.53 0.096 3659 545.8 253.1 4.28 0.414 2045 -7.0 0.309 - - - - - - 14.79 14.37 14.02
22363 87.8 7.2 894 22381 done 0.80 - - 3131 - 2.33 0.039 2269 -596.6 263.6 6.47 0.416 2000 -7.0 0.284 - - - - - - 14.64 14.57 14.09
22696 67.1 6.4 908 22727 roll 0.96 0.15 0.090 3218 580.0 2.60 0.097 3648 530.4 291.2 14.60 0.376 1891 -7.5 0.258 - - - - - - 14.48 14.45 14.16
22767 61.9 7.6 918 22781 done 0.97 - - 3227 - 2.30 0.038 2278 -595.7 293.7 2.05 0.308 1879 -5.9 0.228 - - - - - - 14.63 14.56 14.07
23085 41.6 6.0 930 23116 roll 1.01 - - 3227 - 2.58 0.096 3660 535.7 327.9 17.52 0.305 1743 -7.8 0.205 - - - - - - 14.79 14.43 14.19
23177 35.3 7.4 943 23196 done 1.01 - - 3236 - 2.30 0.037 2277 -601.3 334.2 3.25 0.280 1720 -7.1 0.173 - - - - - - 14.62 14.56 14.13
23512 18.7 4.1 957 23562 roll 1.21 0.08 0.143 3310 925.0 2.47 0.061 868 -570.4 407.3 35.83 0.232 1427 -8.2 0.128 - - - - - - 14.52 14.47 14.29
23644 9.7 6.7 976 23669 done 1.23 - - 3310 - 2.42 0.051 2291 588.0 427.9 10.27 0.209 1344 -8.1 0.073 - - - - - - 14.54 14.40 14.20
23763 end climb: SURFACE_DEPTH_REACHED
23764 begin surface coast
23792 end surface coast: CONTROL_FINISHED_OK
23792 begin surface
SM -4.59 - - - - -8.39 9.25 0.080 193 20.8 0.85 0.083 2769 -7629.4 500.14 33.05 0.159 1057 32.0 0.094 - - - - - -