SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 361 * Raw log
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• Previous call tries 2 • 131.09 of 350.00 AH used of 24V (62.55% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -71.4 deg, depth 0.23 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 93 done -0.93 - - 106 - - - 2790 - -107.1 -76.62 - 3478 - - - - - - - - 14.66 12.63 14.66
96 1.5 -3.7 2 116 roll -0.93 11.80 0.381 2586 210.2 1.88 0.087 3809 542.0 -107.1 - - 3480 - - - - - - - - 14.01 14.28 14.38
346 70.9 -14.5 39 352 done -0.64 0.35 0.230 2682 274.3 1.77 0.041 2759 -593.2 -107.1 - - 3482 - - - - - - - - 14.13 14.54 14.31
676 94.6 -5.5 53 682 roll -0.64 - - 2674 - 1.98 0.105 3800 525.8 -107.1 - - 3483 - - - - - - - - 14.87 14.33 14.88
912 111.5 -7.9 87 919 done -0.64 - - 2674 - 1.77 0.040 2743 -597.2 -107.1 - - 3483 - - - - - - - - 14.70 14.66 14.71
1236 136.7 -7.8 98 1236 done -0.64 - - 2674 - - - 2743 - -107.1 - - 3482 - - - - - - - - 14.92 14.92 14.92
1571 164.1 -8.0 104 1577 roll -0.64 - - 2667 - 2.03 0.105 3802 521.7 -107.1 - - 3480 - - - - - - - - 14.93 14.38 14.92
1620 168.4 -8.7 111 1627 done -0.64 - - 2666 - 1.77 0.041 2756 -591.0 -107.1 - - 3480 - - - - - - - - 14.73 14.69 14.74
1964 197.3 -8.4 118 1969 roll -0.64 - - 2665 - 2.33 0.044 1385 -588.4 -107.1 - - 3477 - - - - - - - - 14.91 14.57 14.94
2020 202.1 -8.5 126 2026 done -0.64 0.10 0.198 2687 220.0 2.45 0.067 2740 553.1 -107.1 - - 3477 - - - - - - - - 14.31 14.45 14.61
2356 227.2 -7.4 139 2357 done -0.72 - - 2687 - - - 2740 - -107.1 - - 3474 - - - - - - - - 14.95 14.95 14.95
2692 253.6 -8.0 145 2693 done -0.80 0.08 0.138 2619 -850.0 - - 2740 - -107.1 - - 3472 - - - - - - - - 14.69 14.76 14.73
3027 288.7 -10.5 151 3028 done -0.80 - - 2619 - - - 2740 - -107.1 - - 3470 - - - - - - - - 14.97 14.97 14.97
3363 322.4 -10.0 157 3370 roll -0.80 - - 2610 - 2.05 0.108 3819 526.3 -107.1 - - 3467 - - - - - - - - 14.97 14.34 14.97
3440 330.6 -10.8 168 3446 done -0.80 0.10 0.236 2644 340.0 1.83 0.042 2756 -580.9 -107.1 - - 3467 - - - - - - - - 14.32 14.69 14.47
3756 360.5 -9.5 178 3761 roll -0.80 - - 2646 - 2.38 0.045 1371 -581.9 -107.1 - - 3465 - - - - - - - - 14.93 14.54 14.93
3832 367.7 -9.2 189 3839 done -0.80 - - 2636 - 2.50 0.066 2755 553.6 -107.1 - - 3465 - - - - - - - - 14.53 14.44 14.58
4148 397.7 -9.5 199 4148 done -0.80 - - 2636 - - - 2755 - -107.1 - - 3463 - - - - - - - - 14.94 14.94 14.93
4483 428.7 -9.2 205 4484 done -0.80 - - 2642 - - - 2755 - -107.1 - - 3462 - - - - - - - - 14.95 14.95 14.94
4820 459.5 -9.1 211 4825 roll -0.80 - - 2627 - 2.05 0.109 3826 522.4 -107.1 - - 3460 - - - - - - - - 14.94 14.33 14.95
4910 467.8 -8.9 224 4916 done -0.80 - - 2627 - 1.85 0.042 2750 -581.6 -107.1 - - 3459 - - - - - - - - 14.73 14.68 14.74
5268 497.7 -8.3 233 5274 roll -0.80 - - 2627 - 2.35 0.043 1373 -586.0 -107.1 - - 3458 - - - - - - - - 14.96 14.46 14.95
5323 502.3 -8.1 241 5330 done -0.80 - - 2617 - 2.47 0.065 2751 557.9 -107.1 - - 3457 - - - - - - - - 14.49 14.39 14.52
5660 531.3 -8.7 254 5661 done -0.80 - - 2617 - - - 2751 - -107.1 - - 3456 - - - - - - - - 14.96 14.95 14.96
5996 562.2 -9.2 260 6001 roll -0.80 - - 2609 - 2.05 0.110 3824 523.4 -107.1 - - 3455 - - - - - - - - 14.94 14.30 14.94
6079 570.3 -9.6 272 6085 done -0.80 0.10 0.236 2638 290.0 1.85 0.044 2757 -576.8 -107.1 - - 3454 - - - - - - - - 14.24 14.59 14.41
6444 599.6 -7.9 282 6449 roll -0.80 - - 2638 - 2.38 0.044 1376 -580.3 -107.1 - - 3452 - - - - - - - - 14.93 14.50 14.92
6492 603.5 -7.9 289 6500 done -0.80 - - 2629 - 2.50 0.066 2754 551.2 -107.1 - - 3451 - - - - - - - - 14.45 14.36 14.50
6836 630.9 -8.0 296 6841 roll -0.80 - - 2628 - 2.40 0.043 1371 -576.2 -107.1 - - 3449 - - - - - - - - 14.93 14.49 14.93
6891 635.5 -8.1 304 6897 done -0.80 - - 2619 - 2.53 0.067 2753 546.2 -107.1 - - 3449 - - - - - - - - 14.59 14.35 14.62
7227 663.8 -8.5 317 7234 roll -0.80 - - 2610 - 2.03 0.109 3816 523.6 -107.1 - - 3449 - - - - - - - - 14.94 14.29 14.94
7269 667.7 -9.4 323 7275 done -0.80 0.10 0.237 2645 350.0 1.85 0.043 2749 -576.8 -107.1 - - 3448 - - - - - - - - 14.23 14.64 14.39
7620 694.8 -7.7 331 7625 roll -0.80 - - 2645 - 2.40 0.045 1378 -571.2 -107.1 - - 3446 - - - - - - - - 14.92 14.43 14.92
7654 697.5 -7.9 336 7660 done -0.80 - - 2636 - 2.50 0.067 2755 550.8 -107.1 - - 3447 - - - - - - - - 14.43 14.34 14.48
8012 724.8 -7.6 345 8018 roll -0.80 - - 2627 - 2.05 0.111 3827 522.9 -107.1 - - 3446 - - - - - - - - 14.93 14.23 14.92
8053 728.3 -8.5 351 8059 done -0.80 - - 2626 - 1.88 0.044 2751 -572.3 -107.1 - - 3445 - - - - - - - - 14.68 14.62 14.69
8404 755.3 -7.7 359 8409 roll -0.80 - - 2626 - 2.38 0.044 1374 -578.6 -107.1 - - 3445 - - - - - - - - 14.94 14.45 14.94
8466 760.2 -7.8 368 8472 done -0.80 - - 2617 - 2.53 0.067 2755 545.8 -107.1 - - 3445 - - - - - - - - 14.40 14.30 14.45
8796 786.0 -7.8 380 8796 done -0.80 - - 2616 - - - 2756 - -107.1 - - 3444 - - - - - - - - 14.90 14.91 14.91
9132 811.3 -7.6 386 9133 done -0.80 - - 2617 - - - 2756 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
9468 837.4 -7.8 392 9473 roll -0.80 - - 2616 - 2.42 0.045 1371 -572.3 -107.1 - - 3442 - - - - - - - - 14.91 14.37 14.91
9502 840.3 -6.4 397 9509 done -0.80 0.10 0.221 2636 200.0 2.53 0.067 2749 544.7 -107.1 - - 3441 - - - - - - - - 14.04 14.29 14.23
9860 865.8 -7.6 406 9865 roll -0.80 - - 2627 - 2.08 0.112 3817 513.5 -107.1 - - 3440 - - - - - - - - 14.90 14.14 14.90
9908 869.9 -8.3 413 9916 done -0.80 - - 2626 - 1.88 0.044 2744 -570.7 -107.1 - - 3440 - - - - - - - - 14.63 14.57 14.64
10251 897.9 -8.2 420 10252 done -0.80 - - 2627 - - - 2745 - -107.1 - - 3439 - - - - - - - - 14.90 14.90 14.90
10588 925.6 -8.3 426 10593 roll -0.80 - - 2627 - 2.40 0.046 1369 -573.3 -107.1 - - 3437 - - - - - - - - 14.89 14.43 14.89
10641 end dive: TARGET_DEPTH_EXCEEDED
10641 begin apogee
10649 930.1 -7.7 434 10761 roll -0.23 0.68 0.177 2820 283.8 - - 2263 - - 109.90 1.979 3049 -3.5 0.330 - - - - - - 14.12 13.98 13.03
10762 end apogee: CONTROL_FINISHED_OK
10762 begin climb
10765 934.2 - 436 10891 roll 0.93 1.12 0.092 3184 325.0 2.55 0.057 868 -547.1 107.1 116.70 1.946 2623 -3.7 0.349 - - - - - - 13.98 14.01 12.88
10924 928.8 8.3 460 10931 done 0.81 - - 3184 - 2.53 0.050 2250 546.2 107.1 - - 2612 - - - - - - - - 13.99 13.92 14.00
11254 901.7 8.5 472 11256 done 0.68 0.22 0.226 3123 -277.3 - - 2255 - 107.1 - - 2608 - - - - - - - - 14.15 14.46 14.42
11590 877.5 7.1 478 11609 roll 0.69 - - 3122 - 2.65 0.099 3654 527.9 119.1 11.23 2.110 2569 -3.5 0.287 - - - - - - 14.78 14.42 13.48
11659 872.1 8.2 488 11666 done 0.69 - - 3132 - 2.45 0.041 2250 -573.1 119.1 - - 2567 - - - - - - - - 14.49 14.45 14.51
11982 847.7 7.6 499 11987 roll 0.69 - - 3132 - 2.62 0.099 3650 534.4 122.5 - - 2566 - - - - - - - - 14.78 14.35 14.78
12038 843.3 8.0 507 12044 done 0.61 0.17 0.225 3095 -217.6 2.40 0.041 2252 -582.5 122.5 - - 2566 - - - - - - - - 14.21 14.51 14.46
12374 824.9 5.3 520 12435 done 0.67 - - 3093 - - - 2248 - 171.2 59.95 1.880 2368 -3.3 0.288 - - - - - - 14.84 14.16 13.31
12766 800.6 6.5 527 12800 roll 0.70 - - 3095 - 2.62 0.102 3654 536.6 196.8 28.15 1.922 2260 -3.8 0.318 - - - - - - 14.71 14.22 13.35
12870 792.6 8.2 542 12878 done 0.70 - - 3104 - 2.47 0.041 2255 -566.4 196.8 - - 2255 - - - - - - - - 14.35 14.32 14.38
13214 765.4 8.0 549 13215 done 0.70 - - 3104 - - - 2254 - 196.8 - - 2252 - - - - - - - - 14.74 14.75 14.74
13550 737.6 8.3 555 13555 roll 0.70 - - 3104 - 2.62 0.100 3648 532.1 196.8 - - 2252 - - - - - - - - 14.83 14.34 14.83
13612 732.0 8.8 564 13619 done 0.70 - - 3113 - 2.45 0.041 2256 -568.2 196.8 - - 2251 - - - - - - - - 14.53 14.49 14.55
13942 704.3 8.4 576 13947 roll 0.70 - - 3123 - 2.45 0.063 854 -572.2 196.8 - - 2250 - - - - - - - - 14.84 14.40 14.85
13976 701.4 8.2 581 13983 done 0.70 - - 3123 - 2.47 0.054 2255 567.2 196.8 - - 2250 - - - - - - - - 14.49 14.42 14.53
14334 672.4 8.0 590 14340 roll 0.70 - - 3122 - 2.60 0.101 3654 538.1 196.8 - - 2250 - - - - - - - - 14.87 14.32 14.88
14417 665.1 8.7 602 14424 done 0.70 - - 3132 - 2.45 0.040 2254 -571.4 196.8 - - 2250 - - - - - - - - 14.52 14.48 14.55
14782 636.0 8.0 612 14783 done 0.70 - - 3133 - - - 2250 - 196.8 - - 2250 - - - - - - - - 14.85 14.86 14.86
15118 611.1 7.2 618 15130 roll 0.71 - - 3133 - 2.67 0.101 3651 524.7 207.5 4.68 1.828 2226 -5.1 0.341 - - - - - - 14.86 14.51 13.10
15166 607.3 8.2 625 15175 done 0.71 - - 3144 - 2.42 0.041 2253 -577.7 207.5 - - 2231 - - - - - - - - 14.58 14.54 14.62
15510 582.1 7.4 632 15530 roll 0.72 - - 3154 - 2.42 0.062 865 -573.6 215.2 14.75 1.844 2187 -3.0 0.187 - - - - - - 14.85 14.35 13.61
15572 577.2 8.1 641 15580 done 0.72 - - 3154 - 2.47 0.054 2258 564.0 215.2 - - 2181 - - - - - - - - 14.48 14.41 14.51
15902 549.1 8.7 653 15908 roll 0.72 - - 3154 - 2.58 0.101 3650 539.5 215.2 - - 2182 - - - - - - - - 14.80 14.33 14.80
15929 546.3 9.8 657 15937 done 0.72 0.10 0.212 3135 -190.0 2.42 0.040 2262 -573.6 215.2 - - 2182 - - - - - - - - 14.18 14.47 14.35
16294 515.4 8.5 667 16300 roll 0.72 - - 3134 - 2.62 0.101 3651 530.2 215.2 - - 2180 - - - - - - - - 14.83 14.29 14.83
16328 512.0 9.7 672 16334 done 0.72 - - 3148 - 2.42 0.041 2260 -574.8 215.2 - - 2181 - - - - - - - - 14.53 14.48 14.56
16686 479.9 9.0 681 16692 roll 0.72 - - 3156 - 2.45 0.064 861 -571.0 215.2 - - 2182 - - - - - - - - 14.87 14.37 14.87
16762 473.1 8.7 692 16769 done 0.72 - - 3156 - 2.47 0.054 2258 565.6 215.2 - - 2181 - - - - - - - - 14.46 14.38 14.50
17078 445.1 8.8 702 17084 roll 0.72 - - 3155 - 2.60 0.100 3657 538.1 215.2 - - 2182 - - - - - - - - 14.85 14.29 14.85
17119 441.2 9.7 708 17126 done 0.72 0.10 0.213 3136 -190.0 2.42 0.039 2265 -575.2 215.2 - - 2182 - - - - - - - - 14.14 14.47 14.32
17470 415.8 7.2 716 17490 roll 0.73 - - 3137 - 2.65 0.100 3654 524.2 226.9 12.38 1.692 2140 -3.4 0.166 - - - - - - 14.88 14.45 13.65
17539 410.2 8.4 726 17545 done 0.73 - - 3146 - 2.42 0.040 2266 -573.6 226.9 - - 2137 - - - - - - - - 14.52 14.48 14.54
17862 384.1 8.2 737 17868 roll 0.73 - - 3157 - 2.45 0.063 862 -573.1 226.9 - - 2136 - - - - - - - - 14.81 14.35 14.82
17889 381.6 8.6 741 17897 done 0.73 - - 3157 - 2.50 0.055 2267 562.0 226.9 - - 2136 - - - - - - - - 14.44 14.35 14.48
18254 348.5 9.2 751 18255 done 0.73 - - 3157 - - - 2267 - 226.9 - - 2136 - - - - - - - - 14.86 14.86 14.86
18590 317.8 9.1 757 18591 done 0.73 - - 3157 - - - 2267 - 226.9 - - 2136 - - - - - - - - 14.86 14.85 14.85
18926 287.5 9.2 763 18931 roll 0.73 - - 3157 - 2.58 0.104 3653 537.2 226.9 - - 2136 - - - - - - - - 14.87 14.29 14.87
18982 281.8 10.4 771 18988 done 0.73 0.08 0.213 3145 -150.0 2.42 0.041 2266 -573.1 226.9 - - 2136 - - - - - - - - 14.17 14.45 14.33
19318 254.0 8.2 784 19319 done 0.73 - - 3145 - - - 2262 - 226.9 - - 2132 - - - - - - - - 14.88 14.88 14.88
19654 227.6 7.8 790 19659 roll 0.73 - - 3147 - 2.62 0.101 3655 531.7 226.9 - - 2136 - - - - - - - - 14.89 14.28 14.90
19688 224.5 9.0 795 19694 done 0.73 - - 3155 - 2.42 0.040 2267 -573.6 226.9 - - 2136 - - - - - - - - 14.46 14.41 14.49
20046 195.4 8.1 804 20052 roll 0.73 - - 3173 - 2.47 0.063 853 -572.5 226.9 - - 2136 - - - - - - - - 14.89 14.36 14.89
20080 192.5 8.1 809 20087 done 0.73 - - 3165 - 2.50 0.054 2264 564.4 226.9 - - 2136 - - - - - - - - 14.44 14.36 14.47
20438 161.4 8.9 818 20444 roll 0.73 - - 3165 - 2.58 0.101 3653 538.4 226.9 - - 2136 - - - - - - - - 14.87 14.21 14.87
20486 156.4 10.5 825 20495 done 0.73 0.12 0.199 3138 -225.0 2.40 0.039 2273 -575.0 226.9 - - 2136 - - - - - - - - 14.12 14.46 14.29
20830 128.3 8.2 832 20831 done 0.73 - - 3138 - - - 2269 - 226.9 - - 2136 - - - - - - - - 14.88 14.87 14.88
21167 106.8 5.9 838 21186 done 0.78 - - 3138 - - - 2269 - 264.6 17.88 0.483 1996 -7.8 0.344 - - - - - - 14.88 14.47 13.99
21503 80.8 6.6 855 21524 roll 0.92 0.12 0.096 3215 641.7 2.62 0.099 3645 525.2 287.8 12.75 0.397 1906 -7.1 0.286 - - - - - - 14.56 14.37 13.96
21655 64.0 10.6 877 21663 done 0.92 - - 3224 - 2.40 0.039 2266 -574.6 287.8 - - 1908 - - - - - - - - 14.50 14.47 14.50
21978 48.0 3.2 890 22034 roll 1.03 - - 3225 - 2.67 0.099 3657 521.0 378.3 45.62 0.312 1544 -8.0 0.244 - - - - - - 14.83 14.38 14.12
22113 40.5 6.9 909 22126 done 1.15 0.05 0.194 3293 1360.0 2.35 0.039 2271 -589.8 395.2 8.85 0.280 1476 -7.7 0.221 - - - - - - 14.40 14.49 14.03
22449 20.6 5.9 924 22475 roll 1.20 - - 3303 - 2.47 0.062 861 -570.9 432.9 19.52 0.223 1325 -7.7 0.142 - - - - - - 14.80 14.37 14.12
22495 17.3 6.9 931 22509 done 1.31 - - 3301 - 2.47 0.052 2278 573.7 450.6 8.75 0.213 1257 -7.8 0.126 - - - - - - 14.43 14.35 14.13
22697 end climb: SURFACE_DEPTH_REACHED
22697 begin surface coast
22724 end surface coast: CONTROL_FINISHED_OK
22725 begin surface
SM -0.67 - - - - -8.44 8.95 0.048 162 18.1 0.90 0.092 2769 -7347.8 500.14 23.95 0.155 1057 44.1 0.019 - - - - - -