SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 246 * Raw log
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• Previous call tries 1 • 95.08 of 350.00 AH used of 24V (72.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -2.69 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 2 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 - - - 96 done -0.93 - - 151 - - - 2764 - -107.1 -74.60 - 3476 - - - - - - - - 14.63 12.88 14.63
99 -0.9 -5.6 2 115 roll -0.93 11.85 0.398 2582 205.1 2.00 0.094 3824 530.0 -107.1 - - 3478 - - - - - - - - 14.09 14.35 14.42
345 72.9 -18.4 38 352 done -0.64 0.38 0.233 2686 273.7 1.75 0.036 2761 -607.4 -107.1 - - 3478 - - - - - - - - 14.16 14.52 14.50
681 101.1 -9.1 53 688 roll -0.64 - - 2678 - 2.00 0.103 3816 527.5 -107.1 - - 3481 - - - - - - - - 14.82 14.36 14.81
918 121.2 -10.4 87 926 done -0.64 - - 2678 - 1.75 0.038 2765 -600.6 -107.1 - - 3481 - - - - - - - - 14.66 14.60 14.68
1241 148.2 -8.4 98 1243 done -0.64 - - 2678 - - - 2765 - -107.1 - - 3481 - - - - - - - - 14.87 14.87 14.87
1577 175.8 -8.2 104 1585 roll -0.64 - - 2678 - 2.30 0.041 1390 -597.8 -107.1 - - 3479 - - - - - - - - 14.88 14.53 14.89
1625 179.9 -8.3 111 1634 done -0.64 - - 2667 - 2.45 0.064 2771 563.7 -107.1 - - 3479 - - - - - - - - 14.55 14.46 14.59
1969 208.7 -8.4 118 1976 roll -0.64 - - 2668 - 2.35 0.041 1380 -591.9 -107.1 - - 3475 - - - - - - - - 14.90 14.58 14.93
1996 211.1 -8.5 122 2004 done -0.64 0.10 0.216 2688 200.0 2.45 0.064 2762 564.1 -107.1 - - 3476 - - - - - - - - 14.32 14.46 14.47
2361 239.0 -7.7 132 2368 roll -0.64 - - 2680 - 1.98 0.108 3818 533.3 -107.1 - - 3473 - - - - - - - - 14.91 14.37 14.91
2444 245.7 -8.0 144 2453 done -0.64 - - 2680 - 1.75 0.040 2767 -600.6 -107.1 - - 3472 - - - - - - - - 14.67 14.65 14.68
2809 273.1 -7.5 154 2822 roll -0.64 - - 2680 - 2.33 0.041 1378 -596.1 -107.1 - - 3469 - - - - - - - - 14.90 14.59 14.90
2855 276.5 -7.3 160 2869 done -0.64 - - 2670 - 2.45 0.065 2771 568.6 -107.1 - - 3469 - - - - - - - - 14.66 14.50 14.69
3211 302.2 -7.2 168 3224 done -0.64 - - 2671 - - - 2771 - -107.1 - - 3466 - - - - - - - - 14.90 14.90 14.90
3547 327.5 -7.6 174 3560 roll -0.64 - - 2670 - 2.35 0.042 1386 -589.4 -107.1 - - 3465 - - - - - - - - 14.90 14.59 14.90
3600 331.9 -8.2 181 3614 done -0.64 0.10 0.246 2689 190.0 2.45 0.067 2782 569.8 -107.1 - - 3464 - - - - - - - - 14.34 14.51 14.57
3944 358.6 -7.9 188 3957 roll -0.64 - - 2682 - 1.92 0.111 3819 540.1 -107.1 - - 3462 - - - - - - - - 14.90 14.35 14.90
3983 361.9 -8.8 193 3996 done -0.64 - - 2681 - 1.73 0.044 2768 -607.5 -107.1 - - 3461 - - - - - - - - 14.74 14.69 14.76
4345 390.5 -7.8 202 4358 roll -0.64 - - 2681 - 2.35 0.043 1372 -594.0 -107.1 - - 3460 - - - - - - - - 14.92 14.57 14.93
4384 393.7 -8.1 207 4397 done -0.64 - - 2671 - 2.47 0.067 2773 567.2 -107.1 - - 3459 - - - - - - - - 14.65 14.48 14.69
4747 420.9 -7.5 216 4760 roll -0.64 - - 2662 - 1.95 0.110 3824 539.0 -107.1 - - 3457 - - - - - - - - 14.90 14.39 14.90
4828 427.4 -8.0 227 4841 done -0.64 0.10 0.221 2693 310.0 1.75 0.043 2757 -609.7 -107.1 - - 3457 - - - - - - - - 14.36 14.67 14.58
5150 448.9 -6.7 237 5163 roll -0.72 - - 2693 - 2.33 0.043 1373 -594.0 -107.1 - - 3456 - - - - - - - - 14.89 14.57 14.89
5217 453.6 -6.8 246 5230 done -0.82 0.10 0.121 2617 -760.0 2.45 0.067 2772 571.0 -107.1 - - 3455 - - - - - - - - 14.57 14.47 14.65
5551 485.4 -9.8 258 5564 done -0.82 - - 2617 - - - 2772 - -107.1 - - 3454 - - - - - - - - 14.90 14.90 14.90
5887 518.7 -9.8 264 5900 done -0.82 - - 2617 - - - 2772 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
6223 551.4 -9.8 270 6236 done -0.82 - - 2617 - - - 2773 - -107.1 - - 3451 - - - - - - - - 14.92 14.92 14.96
6559 584.0 -9.7 276 6572 roll -0.82 - - 2609 - 1.95 0.112 3820 536.9 -107.1 - - 3449 - - - - - - - - 14.90 14.34 14.90
6612 589.4 -10.3 283 6626 done -0.82 - - 2609 - 1.77 0.044 2760 -598.9 -107.1 - - 3449 - - - - - - - - 14.68 14.62 14.70
6956 623.9 -10.1 290 6969 done -0.82 - - 2609 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
7292 657.6 -10.0 296 7306 roll -0.82 - - 2610 - 2.35 0.043 1375 -589.4 -107.1 - - 3446 - - - - - - - - 14.90 14.51 14.88
7324 660.8 -9.6 300 7338 done -0.82 0.12 0.254 2632 183.3 2.47 0.067 2769 564.4 -107.1 - - 3446 - - - - - - - - 14.20 14.43 14.48
7694 692.5 -8.5 310 7707 roll -0.82 - - 2625 - 1.98 0.112 3826 533.8 -107.1 - - 3445 - - - - - - - - 14.91 14.32 14.91
7761 698.2 -8.6 319 7774 done -0.82 - - 2624 - 1.77 0.044 2757 -604.0 -107.1 - - 3444 - - - - - - - - 14.67 14.62 14.69
8095 724.3 -8.0 331 8108 roll -0.82 - - 2624 - 2.35 0.044 1377 -587.2 -107.1 - - 3444 - - - - - - - - 14.88 14.48 14.88
8141 730.3 -8.7 337 8154 done -0.82 - - 2615 - 2.47 0.067 2766 562.3 -107.1 - - 3444 - - - - - - - - 14.58 14.42 14.62
8496 760.7 -8.7 345 8509 done -0.82 - - 2615 - - - 2767 - -107.1 - - 3443 - - - - - - - - 14.89 14.90 14.90
8832 789.8 -8.7 351 8845 done -0.82 - - 2615 - - - 2767 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
9168 819.2 -8.9 357 9181 roll -0.82 - - 2612 - 2.40 0.044 1378 -578.8 -107.1 - - 3440 - - - - - - - - 14.90 14.47 14.90
9221 824.1 -9.2 364 9236 done -0.82 0.10 0.264 2631 190.0 2.50 0.069 2775 558.8 -107.1 - - 3440 - - - - - - - - 14.16 14.39 14.44
9565 852.7 -8.2 371 9578 roll -0.82 - - 2623 - 1.98 0.115 3824 529.8 -107.1 - - 3439 - - - - - - - - 14.87 14.27 14.87
9626 858.0 -8.8 379 9639 done -0.82 - - 2623 - 1.80 0.045 2757 -592.8 -107.1 - - 3438 - - - - - - - - 14.68 14.59 14.66
9967 886.0 -8.1 392 9980 roll -0.82 - - 2622 - 2.38 0.045 1368 -583.6 -107.1 - - 3437 - - - - - - - - 14.85 14.45 14.85
9999 889.3 -9.1 396 10012 done -0.82 - - 2613 - 2.53 0.069 2774 555.7 -107.1 - - 3437 - - - - - - - - 14.57 14.38 14.60
10368 918.8 -8.0 406 10381 roll -0.82 - - 2605 - 2.00 0.114 3832 529.0 -107.1 - - 3437 - - - - - - - - 14.86 14.25 14.86
10407 922.2 -6.1 411 10421 done -0.82 0.10 0.249 2633 280.0 1.80 0.046 2763 -593.9 -107.1 - - 3436 - - - - - - - - 14.18 14.56 14.43
10543 end dive: TARGET_DEPTH_EXCEEDED
10543 begin apogee
10549 932.3 -6.8 416 10665 roll -0.23 0.65 0.182 2822 290.8 - - 2231 - - 106.35 1.961 3050 -3.6 0.337 - - - - - - 14.21 14.02 13.24
10666 end apogee: CONTROL_FINISHED_OK
10667 begin climb
10669 935.2 - 418 10797 done 0.93 1.10 0.105 3179 324.5 - - 2231 - 107.1 114.28 1.931 2626 -3.7 0.350 - - - - - - 14.00 14.23 13.05
11111 900.5 9.7 447 11123 done 0.78 - - 3179 - - - 2230 - 107.1 - - 2608 - - - - - - - - 14.56 14.56 14.56
11447 869.2 9.2 453 11460 roll 0.64 0.22 0.230 3112 -304.5 2.67 0.096 3659 535.2 107.1 - - 2608 - - - - - - - - 14.12 14.29 14.29
11508 863.9 8.3 461 11522 done 0.55 0.15 0.227 3082 -200.0 2.45 0.041 2233 -582.0 107.1 - - 2608 - - - - - - - - 14.16 14.47 14.43
11851 842.9 6.0 474 11903 roll 0.60 - - 3079 - 2.70 0.099 3658 527.8 142.0 37.50 1.883 2478 -3.5 0.303 - - - - - - 14.75 14.23 13.55
11957 834.9 7.8 489 11971 done 0.60 - - 3091 - 2.45 0.041 2252 -573.9 142.0 - - 2474 - - - - - - - - 14.40 14.33 14.42
12301 810.8 7.1 496 12327 roll 0.61 - - 3091 - 2.72 0.103 3664 519.1 155.2 13.52 2.038 2428 -3.4 0.264 - - - - - - 14.69 14.35 13.66
12359 806.5 8.0 504 12373 done 0.61 - - 3101 - 2.40 0.041 2261 -584.6 155.2 - - 2423 - - - - - - - - 14.46 14.40 14.48
12694 781.7 7.5 516 12707 done 0.62 - - 3101 - - - 2256 - 160.9 1.27 0.269 2411 -9.4 5.355 - - - - - - 14.71 14.42 14.11
13030 756.3 7.5 522 13055 roll 0.63 - - 3104 - 2.65 0.106 3662 530.6 166.5 11.10 2.067 2383 -2.5 0.180 - - - - - - 14.76 14.45 13.73
13115 748.7 9.0 534 13129 done 0.63 - - 3111 - 2.40 0.041 2257 -585.4 166.5 - - 2382 - - - - - - - - 14.55 14.47 14.57
13484 718.9 8.1 544 13497 done 0.63 - - 3112 - - - 2252 - 166.5 - - 2380 - - - - - - - - 14.77 14.77 14.77
13821 692.1 7.9 550 13834 roll 0.63 - - 3112 - 2.65 0.103 3663 532.5 166.5 - - 2379 - - - - - - - - 14.78 14.33 14.78
13867 688.0 8.6 556 13881 done 0.63 - - 3122 - 2.38 0.041 2264 -587.8 166.5 - - 2381 - - - - - - - - 14.60 14.52 14.62
14222 659.2 8.0 564 14235 done 0.63 - - 3122 - - - 2259 - 166.5 - - 2379 - - - - - - - - 14.82 14.82 14.82
14558 632.6 7.9 570 14572 roll 0.63 - - 3122 - 2.62 0.101 3663 535.9 166.5 - - 2379 - - - - - - - - 14.81 14.33 14.81
14653 623.7 9.2 583 14667 done 0.63 - - 3137 - 2.38 0.041 2269 -585.7 166.5 - - 2380 - - - - - - - - 14.61 14.52 14.63
15015 593.8 8.2 592 15028 done 0.63 - - 3133 - - - 2265 - 166.5 - - 2378 - - - - - - - - 14.82 14.82 14.82
15352 566.3 8.1 598 15365 done 0.63 - - 3132 - - - 2265 - 166.5 - - 2379 - - - - - - - - 14.83 14.83 14.83
15687 537.6 8.4 604 15701 roll 0.63 0.08 0.259 3105 -337.5 2.62 0.099 3666 534.7 166.5 - - 2378 - - - - - - - - 14.24 14.30 14.38
15762 531.7 8.5 614 15775 done 0.63 - - 3115 - 2.35 0.041 2266 -595.7 166.5 - - 2378 - - - - - - - - 14.59 14.46 14.62
16089 507.8 7.2 625 16113 roll 0.64 - - 3115 - 2.60 0.103 3665 538.1 177.2 10.70 1.839 2341 -3.5 0.186 - - - - - - 14.82 14.54 13.83
16139 504.0 7.9 632 16154 done 0.64 - - 3125 - 2.40 0.041 2258 -586.2 177.2 - - 2338 - - - - - - - - 14.62 14.54 14.63
16483 479.7 7.0 639 16514 done 0.66 - - 3125 - - - 2258 - 193.1 17.98 1.681 2275 -3.5 0.195 - - - - - - 14.77 14.52 13.83
16821 454.6 7.6 652 16834 roll 0.66 - - 3125 - 2.67 0.103 3664 526.6 196.8 - - 2270 - - - - - - - - 14.73 14.29 14.73
16909 446.7 9.1 664 16923 done 0.66 - - 3135 - 2.38 0.041 2275 -583.6 196.8 - - 2267 - - - - - - - - 14.56 14.47 14.57
17278 416.2 8.4 674 17291 roll 0.66 - - 3146 - 2.47 0.061 863 -571.7 196.8 - - 2272 - - - - - - - - 14.78 14.38 14.78
17310 413.3 8.8 678 17324 done 0.66 0.10 0.225 3117 -290.0 2.45 0.054 2281 578.8 196.8 - - 2269 - - - - - - - - 14.23 14.40 14.46
17679 383.9 8.1 688 17693 roll 0.66 - - 3116 - 2.55 0.102 3656 539.2 196.8 - - 2269 - - - - - - - - 14.80 14.32 14.79
17747 377.6 9.2 697 17760 done 0.66 - - 3124 - 2.35 0.040 2264 -592.3 196.8 - - 2269 - - - - - - - - 14.59 14.52 14.61
18081 350.2 8.1 709 18094 done 0.66 - - 3125 - - - 2259 - 196.8 - - 2268 - - - - - - - - 14.80 14.80 14.80
18417 323.2 8.0 715 18430 roll 0.66 - - 3124 - 2.62 0.099 3654 532.4 196.8 - - 2269 - - - - - - - - 14.81 14.32 14.81
18463 320.3 8.8 721 18476 done 0.66 - - 3134 - 2.33 0.040 2281 -589.3 196.8 - - 2269 - - - - - - - - 14.63 14.54 14.64
18818 291.4 8.2 729 18831 roll 0.66 - - 3145 - 2.47 0.060 858 -576.1 196.8 - - 2269 - - - - - - - - 14.83 14.38 14.82
18885 285.8 8.2 738 18899 done 0.66 0.08 0.239 3118 -337.5 2.45 0.053 2282 581.2 196.8 - - 2270 - - - - - - - - 14.24 14.42 14.47
19220 261.4 7.3 750 19245 roll 0.67 - - 3118 - 2.47 0.099 3650 553.8 206.1 12.68 1.500 2223 -3.7 0.126 - - - - - - 14.82 14.51 13.93
19306 254.4 8.3 762 19319 done 0.67 - - 3127 - 2.33 0.039 2266 -594.0 206.1 - - 2222 - - - - - - - - 14.61 14.54 14.62
19675 226.5 7.6 772 19688 roll 0.68 - - 3136 - 2.42 0.060 868 -577.7 209.4 - - 2221 - - - - - - - - 14.78 14.39 14.78
19721 222.9 7.7 778 19734 done 0.68 - - 3136 - 2.42 0.053 2278 582.6 210.1 - - 2220 - - - - - - - - 14.56 14.41 14.59
20076 195.9 7.6 786 20093 roll 0.68 - - 3136 - 2.55 0.102 3649 537.6 212.5 2.42 0.745 2212 -3.3 0.170 - - - - - - 14.80 14.47 13.43
20175 187.1 8.8 800 20189 done 0.68 - - 3147 - 2.33 0.039 2274 -590.1 212.5 1.60 0.298 2207 -3.1 0.383 - - - - - - 14.63 14.54 13.85
20531 158.2 8.1 808 20545 roll 0.68 - - 3157 - 2.50 0.060 868 -562.4 212.5 1.52 0.285 2208 - - - - - - - - 14.84 14.45 13.81
20585 153.6 8.4 815 20600 done 0.68 0.12 0.215 3120 -308.3 2.45 0.052 2281 576.7 212.5 1.33 0.266 2206 - - - - - - - - 14.27 14.44 13.98
20930 129.4 7.0 822 20962 roll 0.70 - - 3120 - 2.58 0.101 3657 533.3 227.3 20.20 1.259 2139 -3.3 0.066 - - - - - - 14.84 14.50 13.98
21002 123.7 8.3 832 21015 done 0.70 - - 3128 - 2.33 0.038 2275 -593.1 227.3 - - 2136 - - - - - - - - 14.59 14.52 14.60
21322 100.0 7.4 842 21339 roll 0.71 - - 3128 - 2.62 0.099 3654 526.3 233.8 1.80 0.323 2127 -5.0 0.302 - - - - - - 14.78 14.33 13.85
21393 94.6 7.1 852 21413 done 0.72 - - 3138 - 2.33 0.038 2264 -596.6 246.1 7.32 0.442 2070 -7.8 0.325 - - - - - - 14.60 14.50 14.06
21717 77.6 5.0 865 21761 roll 0.89 0.08 0.146 3198 750.0 2.62 0.098 3656 531.3 301.3 28.12 0.412 1850 -7.8 0.287 - - - - - - 14.51 14.42 14.16
21858 66.9 8.2 885 21871 done 0.89 - - 3207 - 2.28 0.037 2304 -593.0 301.3 - - 1852 - - - - - - - - 14.58 14.48 14.57
22200 45.3 5.7 900 22237 roll 1.02 - - 3217 - 2.53 0.057 871 -566.4 343.0 20.48 0.321 1684 -8.2 0.226 - - - - - - 14.77 14.47 14.18
22277 44.1 5.9 911 22309 done 1.19 0.15 0.090 3301 560.0 2.47 0.050 2307 581.4 379.5 18.45 0.310 1538 -7.9 0.220 - - - - - - 14.47 14.39 14.16
22624 23.2 5.7 927 22655 done 1.24 - - 3301 - - - 2307 - 419.4 20.00 0.241 1379 -8.0 0.149 - - - - - - 14.78 14.45 14.19
22959 2.7 6.1 939 22984 VBD 1.37 0.05 0.201 3362 1220.0 - - 2306 - 451.7 15.32 0.171 1252 -8.3 0.026 - - - - - - 14.51 - 14.58
22984 end climb: SURFACE_DEPTH_REACHED
22984 begin surface coast
23016 end surface coast: CONTROL_FINISHED_OK
23016 begin surface
SM -3.12 - - - - -8.39 9.43 0.084 188 19.9 0.82 0.088 2770 -9619.5 500.14 22.12 0.157 1057 47.8 0.097 - - - - - -