SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 238 * Raw log
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• Previous call tries 1 • 92.37 of 350.00 AH used of 24V (73.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -2.67 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.89 (SM_CC=500)
• GPS1 time: 28 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 97 done -0.93 - - 170 - - - 2787 - -107.1 -76.12 - 3477 - - - - - - - - 14.59 12.96 14.58
100 -0.8 -4.1 2 122 roll -0.93 11.77 0.396 2590 205.6 2.35 0.031 1357 -608.5 -107.1 - - 3478 - - - - - - - - 14.04 14.39 14.38
134 23.9 -46.1 8 143 done -0.12 0.98 0.251 2850 265.3 2.55 0.076 2756 548.6 -107.1 - - 3479 - - - - - - - - 14.12 14.30 14.38
457 53.2 -6.8 21 463 roll -0.29 0.08 0.149 2775 -937.5 1.98 0.108 3839 547.0 -107.1 - - 3479 - - - - - - - - 14.47 14.28 14.54
512 58.0 -8.8 29 519 done -0.29 0.08 0.186 2799 300.0 1.80 0.041 2768 -595.0 -107.1 - - 3479 - - - - - - - - 14.23 14.45 14.35
850 76.4 -4.7 44 853 done -0.45 0.08 0.142 2734 -812.5 - - 2768 - -107.1 - - 3481 - - - - - - - - 14.52 14.61 14.59
1156 98.5 -7.8 55 1163 roll -0.45 - - 2734 - 2.33 0.041 1370 -600.0 -107.1 - - 3481 - - - - - - - - 14.78 14.50 14.78
1394 113.6 -6.2 89 1401 done -0.57 - - 2724 - 2.50 0.065 2774 561.6 -107.1 - - 3481 - - - - - - - - 14.50 14.41 14.53
1717 134.1 -6.4 100 1724 roll -0.66 0.05 0.207 2657 -1340.0 2.35 0.041 1374 -595.7 -107.1 - - 3479 - - - - - - - - 14.54 14.52 14.62
1772 138.8 -8.8 108 1781 done -0.66 0.12 0.227 2681 200.0 2.42 0.064 2766 575.2 -107.1 - - 3479 - - - - - - - - 14.31 14.44 14.52
2108 166.3 -8.2 121 2111 done -0.66 - - 2685 - - - 2766 - -107.1 - - 3477 - - - - - - - - 14.81 14.81 14.81
2444 193.7 -8.3 127 2451 roll -0.66 - - 2682 - 2.38 0.043 1373 -585.3 -107.1 - - 3474 - - - - - - - - 14.82 14.52 14.82
2492 198.0 -8.7 134 2502 done -0.66 - - 2673 - 2.47 0.065 2756 559.9 -107.1 - - 3474 - - - - - - - - 14.50 14.41 14.54
2837 229.4 -9.4 141 2839 done -0.66 - - 2673 - - - 2756 - -107.1 - - 3472 - - - - - - - - 14.83 14.82 14.83
3172 260.9 -9.3 147 3186 roll -0.66 - - 2673 - 2.35 0.043 1374 -588.1 -107.1 - - 3470 - - - - - - - - 14.88 14.57 14.88
3239 267.2 -9.2 156 3252 done -0.66 - - 2663 - 2.42 0.066 2760 572.7 -107.1 - - 3469 - - - - - - - - 14.64 14.48 14.67
3573 296.5 -8.6 168 3586 roll -0.66 - - 2654 - 1.95 0.109 3823 545.1 -107.1 - - 3467 - - - - - - - - 14.91 14.42 14.91
3598 298.7 -8.4 171 3611 done -0.66 0.10 0.223 2685 310.0 1.75 0.044 2758 -608.6 -107.1 - - 3467 - - - - - - - - 14.38 14.67 14.59
3918 322.2 -7.3 181 3932 roll -0.66 - - 2684 - 2.33 0.044 1374 -594.0 -107.1 - - 3464 - - - - - - - - 14.90 14.53 14.90
4014 329.5 -7.6 194 4027 done -0.66 - - 2680 - 2.42 0.067 2763 574.0 -107.1 - - 3464 - - - - - - - - 14.67 14.50 14.71
4376 358.6 -8.2 203 4389 roll -0.66 - - 2675 - 2.35 0.043 1376 -590.2 -107.1 - - 3462 - - - - - - - - 14.90 14.58 14.91
4414 361.9 -8.2 208 4428 done -0.66 - - 2665 - 2.42 0.067 2757 570.7 -107.1 - - 3462 - - - - - - - - 14.67 14.50 14.69
4777 393.1 -8.7 217 4789 done -0.66 - - 2665 - - - 2758 - -107.1 - - 3460 - - - - - - - - 14.92 14.92 14.92
5113 422.3 -8.6 223 5126 done -0.66 - - 2665 - - - 2757 - -107.1 - - 3458 - - - - - - - - 14.94 14.92 14.92
5449 450.6 -8.4 229 5461 done -0.66 - - 2665 - - - 2758 - -107.1 - - 3458 - - - - - - - - 14.93 14.93 14.92
5785 479.7 -8.7 235 5798 roll -0.66 - - 2665 - 2.38 0.044 1370 -583.2 -107.1 - - 3455 - - - - - - - - 14.92 14.56 14.92
5887 488.6 -8.8 249 5900 done -0.66 0.10 0.246 2684 190.0 2.45 0.067 2754 564.9 -107.1 - - 3454 - - - - - - - - 14.30 14.47 14.55
6242 515.1 -7.3 257 6255 done -0.66 - - 2684 - - - 2755 - -107.1 - - 3453 - - - - - - - - 14.90 14.91 14.91
6578 535.6 -5.9 263 6591 roll -0.66 - - 2684 - 2.38 0.045 1373 -580.7 -107.1 - - 3451 - - - - - - - - 14.93 14.55 14.92
6624 538.2 -5.7 269 6638 done -0.74 - - 2673 - 2.42 0.067 2749 568.6 -107.1 - - 3451 - - - - - - - - 14.64 14.46 14.67
6980 557.3 -5.3 277 6993 roll -0.74 - - 2666 - 2.00 0.112 3824 537.5 -107.1 - - 3447 - - - - - - - - 14.90 14.38 14.90
7019 559.6 -6.2 282 7032 done -0.74 - - 2666 - 1.80 0.046 2741 -601.7 -107.1 - - 3449 - - - - - - - - 14.71 14.66 14.73
7381 581.2 -6.1 291 7394 roll -0.74 - - 2666 - 2.33 0.045 1368 -589.3 -107.1 - - 3447 - - - - - - - - 14.91 14.52 14.91
7442 585.3 -6.9 299 7455 done -0.74 - - 2656 - 2.47 0.068 2759 563.2 -107.1 - - 3447 - - - - - - - - 14.63 14.45 14.65
7783 611.3 -7.8 312 7796 done -0.74 - - 2654 - - - 2759 - -107.1 - - 3446 - - - - - - - - 14.89 14.90 14.90
8119 640.0 -8.6 318 8132 done -0.74 - - 2656 - - - 2758 - -107.1 - - 3445 - - - - - - - - 14.92 14.92 14.92
8455 668.1 -8.3 324 8468 roll -0.74 - - 2656 - 2.40 0.046 1369 -578.8 -107.1 - - 3444 - - - - - - - - 14.90 14.52 14.90
8508 672.4 -8.1 331 8522 done -0.74 - - 2646 - 2.47 0.070 2758 562.3 -107.1 - - 3444 - - - - - - - - 14.54 14.37 14.58
8852 699.4 -7.8 338 8865 roll -0.74 - - 2646 - 2.38 0.045 1375 -581.1 -107.1 - - 3444 - - - - - - - - 14.88 14.51 14.88
8905 703.5 -7.8 345 8919 done -0.74 - - 2637 - 2.47 0.069 2754 558.3 -107.1 - - 3444 - - - - - - - - 14.59 14.42 14.63
9250 729.9 -7.7 352 9263 done -0.74 - - 2637 - - - 2754 - -107.1 - - 3443 - - - - - - - - 14.90 14.89 14.90
9585 756.0 -7.9 358 9598 done -0.74 - - 2636 - - - 2754 - -107.1 - - 3440 - - - - - - - - 14.90 14.90 14.90
9922 784.2 -8.5 364 9935 roll -0.74 - - 2636 - 2.40 0.047 1370 -576.7 -107.1 - - 3439 - - - - - - - - 14.88 14.48 14.88
9989 790.2 -8.5 373 10002 done -0.74 0.10 0.256 2654 180.0 2.45 0.070 2741 559.6 -107.1 - - 3438 - - - - - - - - 14.19 14.39 14.46
10323 816.5 -7.8 385 10336 done -0.74 - - 2653 - - - 2741 - -107.1 - - 3438 - - - - - - - - 14.89 14.90 14.90
10659 842.7 -7.8 391 10672 roll -0.74 - - 2654 - 2.38 0.048 1377 -573.1 -107.1 - - 3437 - - - - - - - - 14.88 14.47 14.88
10720 847.3 -7.7 399 10733 done -0.74 - - 2649 - 2.47 0.070 2754 557.5 -107.1 - - 3437 - - - - - - - - 14.56 14.38 14.63
11061 873.0 -7.4 412 11075 roll -0.74 - - 2637 - 2.03 0.116 3826 528.1 -107.1 - - 3437 - - - - - - - - 14.89 14.27 14.89
11093 875.4 -6.6 416 11107 done -0.74 - - 2636 - 1.83 0.048 2734 -596.7 -107.1 - - 3436 - - - - - - - - 14.64 14.58 14.66
11463 902.1 -7.3 426 11476 roll -0.74 - - 2636 - 2.33 0.047 1376 -582.8 -107.1 - - 3435 - - - - - - - - 14.85 14.45 14.85
11516 905.9 -7.3 433 11530 done -0.74 0.12 0.236 2662 216.7 2.47 0.070 2743 553.4 -107.1 - - 3434 - - - - - - - - 14.17 14.36 14.43
11860 927.5 -6.2 440 11874 roll -0.74 - - 2654 - 2.05 0.116 3827 528.8 -107.1 - - 3434 - - - - - - - - 14.88 14.26 14.87
11898 end dive: TARGET_DEPTH_EXCEEDED
11898 begin apogee
11906 930.0 -3.9 445 12021 roll -0.23 0.57 0.179 2822 294.7 - - 2248 - - 105.95 1.961 3053 -3.6 0.331 - - - - - - 14.24 14.02 13.23
12023 end apogee: CONTROL_FINISHED_OK
12023 begin climb
12025 931.8 - 447 12158 roll 0.93 1.12 0.099 3182 321.4 2.47 0.057 866 -559.5 107.1 115.68 1.968 2622 -3.7 0.342 - - - - - - 14.00 14.04 13.02
12163 926.2 8.2 468 12177 done 0.68 0.22 0.228 3123 -268.2 2.53 0.053 2263 552.2 107.1 - - 2612 - - - - - - - - 13.75 13.86 13.93
12526 898.7 7.8 477 12539 roll 0.68 - - 3123 - 2.60 0.101 3656 535.8 107.1 - - 2610 - - - - - - - - 14.59 14.21 14.59
12628 890.1 8.4 491 12641 done 0.57 0.15 0.233 3097 -173.3 2.40 0.041 2253 -584.6 107.1 - - 2608 - - - - - - - - 14.12 14.42 14.39
12983 867.0 6.5 499 13022 roll 0.60 - - 3090 - 2.72 0.103 3655 515.4 132.8 27.08 1.946 2515 -3.4 0.297 - - - - - - 14.74 14.30 13.59
13069 860.7 7.9 511 13082 done 0.60 - - 3100 - 2.42 0.041 2250 -580.6 132.8 - - 2511 - - - - - - - - 14.42 14.34 14.44
13431 835.2 7.1 520 13456 roll 0.62 - - 3100 - 2.72 0.103 3662 519.1 145.3 13.12 2.073 2466 -3.4 0.268 - - - - - - 14.70 14.38 13.66
13503 829.5 8.4 530 13516 done 0.62 - - 3111 - 2.42 0.041 2249 -583.9 145.3 - - 2462 - - - - - - - - 14.48 14.41 14.50
13823 805.9 7.3 540 13836 done 0.63 - - 3111 - - - 2245 - 153.3 2.72 1.065 2440 -8.1 1.186 - - - - - - 14.73 14.50 13.16
14159 781.7 7.2 546 14192 roll 0.64 - - 3111 - 2.72 0.102 3662 521.0 164.8 20.88 1.941 2388 -2.5 0.194 - - - - - - 14.77 14.38 13.70
14260 773.6 8.4 560 14275 done 0.64 - - 3122 - 2.40 0.041 2257 -585.4 164.8 - - 2383 - - - - - - - - 14.48 14.40 14.50
14604 747.3 7.6 567 14617 roll 0.65 - - 3132 - 2.45 0.062 858 -571.0 166.9 - - 2381 - - - - - - - - 14.72 14.39 14.72
14643 744.2 7.8 572 14657 done 0.65 - - 3131 - 2.45 0.056 2268 575.5 166.9 - - 2381 - - - - - - - - 14.55 14.42 14.57
15005 713.6 8.6 581 15019 roll 0.65 - - 3131 - 2.58 0.104 3655 537.6 166.9 - - 2380 - - - - - - - - 14.78 14.34 14.78
15094 704.8 10.0 593 15107 done 0.57 0.20 0.217 3086 -225.0 2.38 0.041 2257 -587.4 166.9 - - 2380 - - - - - - - - 14.21 14.51 14.47
15463 676.7 7.5 603 15476 done 0.57 - - 3087 - - - 2253 - 171.8 1.62 0.264 2365 -9.3 4.600 - - - - - - 14.80 14.42 13.99
15799 652.9 7.0 609 15837 roll 0.59 - - 3086 - 2.62 0.102 3657 535.9 187.5 24.92 1.799 2295 -2.8 0.198 - - - - - - 14.81 14.42 13.78
15877 647.1 8.0 620 15891 done 0.59 - - 3095 - 2.40 0.041 2255 -584.2 187.5 - - 2292 - - - - - - - - 14.51 14.44 14.57
16198 624.7 6.9 630 16224 done 0.61 - - 3095 - - - 2251 - 203.6 17.20 1.844 2244 -2.8 0.183 - - - - - - 14.73 14.45 13.74
16534 601.8 6.8 636 16566 roll 0.64 - - 3095 - 2.70 0.103 3651 518.5 221.8 20.02 1.784 2161 -4.1 0.271 - - - - - - 14.71 14.34 13.69
16633 593.8 8.3 650 16648 done 0.64 - - 3105 - 2.40 0.041 2255 -581.7 221.8 - - 2155 - - - - - - - - 14.45 14.38 14.47
16978 567.4 7.7 657 16991 done 0.64 - - 3103 - - - 2252 - 222.8 - - 2152 - - - - - - - - 14.71 14.71 14.71
17314 541.0 7.9 663 17327 roll 0.64 - - 3105 - 2.65 0.103 3657 530.2 222.8 - - 2152 - - - - - - - - 14.76 14.32 14.77
17375 535.6 8.9 671 17388 done 0.64 - - 3114 - 2.38 0.041 2267 -584.0 222.8 - - 2152 - - - - - - - - 14.58 14.50 14.60
17715 507.7 8.2 684 17728 done 0.64 - - 3115 - - - 2262 - 222.8 - - 2153 - - - - - - - - 14.78 14.78 14.78
18052 480.6 8.0 690 18065 roll 0.64 - - 3114 - 2.60 0.103 3652 534.6 222.8 - - 2152 - - - - - - - - 14.80 14.34 14.80
18113 475.1 9.0 698 18126 done 0.64 - - 3124 - 2.38 0.041 2260 -584.9 222.8 - - 2153 - - - - - - - - 14.62 14.54 14.64
18453 446.7 8.3 711 18467 roll 0.64 - - 3134 - 2.42 0.063 864 -576.9 222.8 - - 2153 - - - - - - - - 14.80 14.41 14.81
18500 442.8 8.1 717 18513 done 0.64 - - 3134 - 2.45 0.055 2276 576.3 222.8 - - 2153 - - - - - - - - 14.58 14.44 14.62
18855 412.7 8.6 725 18868 roll 0.64 - - 3134 - 2.55 0.103 3652 539.6 222.8 - - 2152 - - - - - - - - 14.83 14.33 14.83
18916 406.9 9.6 733 18929 done 0.64 0.12 0.224 3109 -208.3 2.38 0.041 2260 -584.9 222.8 - - 2152 - - - - - - - - 14.23 14.52 14.50
19259 382.1 7.1 746 19283 roll 0.65 - - 3108 - 2.65 0.102 3653 525.7 235.2 12.85 1.651 2107 -3.5 0.157 - - - - - - 14.81 14.53 13.90
19323 376.8 8.4 755 19336 done 0.65 - - 3117 - 2.35 0.041 2264 -591.1 235.2 - - 2103 - - - - - - - - 14.60 14.52 14.62
19650 350.8 8.1 766 19663 roll 0.65 - - 3117 - 2.60 0.099 3654 534.6 235.2 - - 2104 - - - - - - - - 14.77 14.33 14.77
19682 347.7 9.3 770 19695 done 0.65 - - 3127 - 2.35 0.040 2267 -590.2 235.2 - - 2103 - - - - - - - - 14.60 14.52 14.62
20051 314.9 8.9 780 20064 roll 0.65 - - 3136 - 2.45 0.062 855 -576.3 235.2 - - 2103 - - - - - - - - 14.80 14.41 14.80
20083 311.9 8.9 784 20096 done 0.65 - - 3136 - 2.47 0.057 2284 578.5 235.2 - - 2103 - - - - - - - - 14.58 14.43 14.62
20452 278.1 9.1 794 20465 roll 0.65 - - 3136 - 2.55 0.103 3663 540.8 235.2 - - 2103 - - - - - - - - 14.81 14.34 14.81
20491 274.2 10.0 799 20505 done 0.65 0.15 0.209 3104 -213.3 2.35 0.041 2276 -590.2 235.2 - - 2103 - - - - - - - - 14.25 14.54 14.48
20854 248.4 6.9 808 20881 done 0.77 0.08 0.145 3162 725.0 - - 2271 - 252.2 17.98 1.416 2045 -3.2 0.110 - - - - - - 14.55 14.57 13.94
21189 216.9 9.5 814 21203 roll 0.77 - - 3162 - 2.60 0.102 3657 533.1 252.2 - - 2033 - - - - - - - - 14.77 14.32 14.78
21215 214.2 9.7 817 21228 done 0.77 - - 3172 - 2.35 0.041 2280 -586.0 252.2 - - 2033 - - - - - - - - 14.59 14.51 14.61
21535 182.5 9.9 827 21548 roll 0.77 - - 3183 - 2.47 0.063 851 -578.5 252.2 - - 2033 - - - - - - - - 14.81 14.40 14.81
21560 179.9 10.0 830 21573 done 0.77 0.10 0.236 3154 -290.0 2.47 0.056 2277 577.3 252.2 - - 2032 - - - - - - - - 14.23 14.42 14.50
21880 149.6 9.4 840 21893 roll 0.77 - - 3153 - 2.55 0.101 3661 542.7 252.2 - - 2032 - - - - - - - - 14.80 14.33 14.80
21905 146.8 9.9 843 21918 done 0.77 - - 3163 - 2.35 0.040 2270 -591.9 252.2 - - 2032 - - - - - - - - 14.62 14.53 14.64
22225 114.1 10.2 853 22238 roll 0.77 - - 3174 - 2.42 0.060 862 -581.8 252.2 - - 2032 - - - - - - - - 14.81 14.42 14.82
22271 109.8 8.8 859 22284 done 0.77 - - 3174 - 2.45 0.054 2286 581.2 252.2 - - 2035 - - - - - - - - 14.59 14.45 14.62
22598 81.0 8.4 870 22611 done 0.77 - - 3174 - - - 2287 - 252.2 - - 2033 - - - - - - - - 14.80 14.81 14.81
22906 62.6 4.2 881 22952 roll 0.86 - - 3174 - 2.50 0.100 3660 549.2 323.0 32.90 0.371 1763 -8.2 0.268 - - - - - - 14.83 14.48 14.23
23125 50.0 5.8 912 23157 done 1.01 0.08 0.148 3240 825.0 2.35 0.038 2258 -596.6 362.7 19.98 0.326 1604 -8.0 0.237 - - - - - - 14.46 14.53 14.19
23472 27.8 6.9 928 23490 done 1.11 - - 3240 - - - 2258 - 379.5 8.60 0.259 1538 -7.7 0.160 - - - - - - 14.76 14.46 14.15
23779 12.8 5.0 939 23818 roll 1.36 0.20 0.074 3365 625.0 2.42 0.060 872 -572.7 433.6 27.05 0.213 1319 -8.1 0.094 - - - - - - 14.52 14.47 14.28
23919 end climb: SURFACE_DEPTH_REACHED
23919 begin surface coast
23926 end surface coast: CONTROL_FINISHED_OK
23926 begin surface
SM -5.14 - - - - -8.40 9.60 0.093 191 19.9 3.35 0.063 2761 -2510.7 500.89 30.73 0.170 1056 34.4 0.106 - - - - - -