SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 388 * Raw log
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• Previous call tries 1 • 139.57 of 350.00 AH used of 24V (60.12% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 deg, depth -0.38 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 56 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
14 - - - 92 done -0.93 - - 104 - - - 2771 - -107.1 -76.88 - 3478 - - - - - - - - 14.67 12.59 14.66
95 1.1 -4.0 2 115 roll -0.93 11.98 0.385 2591 207.6 2.40 0.041 1359 -588.3 -107.1 - - 3479 - - - - - - - - 13.97 14.37 14.35
205 41.1 -18.3 19 211 done -0.69 0.28 0.234 2668 275.0 2.60 0.071 2775 544.6 -107.1 - - 3481 - - - - - - - - 14.10 14.29 14.37
535 74.0 -7.7 33 541 roll -0.69 - - 2662 - 2.00 0.109 3829 527.0 -107.1 - - 3483 - - - - - - - - 14.84 14.28 14.83
632 82.6 -8.3 47 638 done -0.69 - - 2660 - 1.85 0.040 2727 -595.7 -107.1 - - 3483 - - - - - - - - 14.64 14.62 14.65
955 111.4 -9.3 58 960 roll -0.69 - - 2651 - 2.10 0.105 3826 523.3 -107.1 - - 3484 - - - - - - - - 14.89 14.33 14.88
989 114.7 -9.6 63 995 done -0.69 - - 2651 - 1.80 0.040 2752 -596.7 -107.1 - - 3483 - - - - - - - - 14.69 14.66 14.71
1347 148.1 -9.2 72 1352 roll -0.69 - - 2651 - 2.30 0.044 1390 -592.2 -107.1 - - 3482 - - - - - - - - 14.91 14.50 14.90
1388 152.1 -9.4 78 1394 done -0.69 0.08 0.223 2665 175.0 2.45 0.067 2760 559.2 -107.1 - - 3482 - - - - - - - - 14.26 14.42 14.42
1739 182.2 -8.4 86 1744 roll -0.69 - - 2657 - 1.98 0.107 3824 537.4 -107.1 - - 3480 - - - - - - - - 14.92 14.38 14.91
1773 185.0 -8.1 91 1779 done -0.69 - - 2657 - 1.75 0.042 2776 -598.9 -107.1 - - 3480 - - - - - - - - 14.66 14.64 14.68
2131 212.7 -7.7 100 2136 roll -0.69 - - 2657 - 2.38 0.046 1379 -587.0 -107.1 - - 3478 - - - - - - - - 14.95 14.54 14.95
2158 215.0 -8.1 104 2164 done -0.69 - - 2648 - 2.50 0.067 2771 556.8 -107.1 - - 3478 - - - - - - - - 14.52 14.42 14.56
2523 245.1 -8.2 114 2528 roll -0.69 - - 2648 - 2.40 0.045 1375 -581.7 -107.1 - - 3475 - - - - - - - - 14.92 14.54 14.92
2557 248.0 -8.3 119 2563 done -0.69 0.10 0.218 2668 200.0 2.50 0.067 2764 555.6 -107.1 - - 3475 - - - - - - - - 14.19 14.42 14.35
2915 275.0 -7.7 128 2920 roll -0.69 - - 2668 - 2.38 0.045 1380 -581.5 -107.1 - - 3473 - - - - - - - - 14.95 14.58 14.95
2949 277.8 -8.0 133 2956 done -0.69 - - 2664 - 2.50 0.067 2762 552.8 -107.1 - - 3472 - - - - - - - - 14.52 14.43 14.57
3307 307.2 -8.2 142 3312 roll -0.69 - - 2651 - 2.03 0.110 3820 521.2 -107.1 - - 3470 - - - - - - - - 14.95 14.34 14.95
3348 310.8 -8.7 148 3354 done -0.69 - - 2651 - 1.83 0.042 2750 -584.7 -107.1 - - 3470 - - - - - - - - 14.72 14.71 14.73
3699 340.4 -8.5 156 3704 roll -0.69 - - 2651 - 2.35 0.045 1375 -585.1 -107.1 - - 3467 - - - - - - - - 14.93 14.54 14.93
3733 343.6 -8.9 161 3740 done -0.69 0.10 0.213 2671 200.0 2.50 0.067 2760 554.0 -107.1 - - 3467 - - - - - - - - 14.23 14.40 14.40
4091 371.6 -7.9 170 4096 roll -0.69 - - 2663 - 2.03 0.112 3823 523.6 -107.1 - - 3465 - - - - - - - - 14.93 14.31 14.93
4125 374.6 -8.7 175 4131 done -0.69 - - 2663 - 1.80 0.044 2768 -586.1 -107.1 - - 3465 - - - - - - - - 14.66 14.62 14.66
4483 405.3 -8.6 184 4488 roll -0.69 - - 2663 - 2.40 0.045 1370 -582.5 -107.1 - - 3462 - - - - - - - - 14.95 14.52 14.95
4566 412.4 -8.3 196 4572 done -0.69 - - 2654 - 2.53 0.067 2767 552.2 -107.1 - - 3463 - - - - - - - - 14.48 14.39 14.53
4931 441.7 -8.1 206 4936 roll -0.69 - - 2654 - 2.42 0.044 1366 -578.9 -107.1 - - 3461 - - - - - - - - 14.92 14.55 14.92
4965 444.6 -8.3 211 4971 done -0.69 - - 2645 - 2.53 0.068 2758 550.2 -107.1 - - 3461 - - - - - - - - 14.49 14.40 14.55
5323 474.2 -8.3 220 5328 roll -0.69 0.10 0.244 2667 220.0 2.03 0.111 3824 525.1 -107.1 - - 3460 - - - - - - - - 14.36 14.28 14.57
5350 476.4 -8.1 224 5356 done -0.69 - - 2667 - 1.85 0.043 2747 -582.2 -107.1 - - 3460 - - - - - - - - 14.69 14.66 14.69
5715 504.0 -7.6 234 5716 done -0.77 - - 2666 - - - 2747 - -107.1 - - 3458 - - - - - - - - 14.92 14.92 14.92
6051 529.4 -7.5 240 6052 done -0.85 0.08 0.148 2603 -787.5 - - 2747 - -107.1 - - 3457 - - - - - - - - 14.64 14.71 14.71
6387 562.9 -10.0 246 6392 roll -0.85 - - 2602 - 2.35 0.044 1380 -581.7 -107.1 - - 3455 - - - - - - - - 14.94 14.50 14.94
6421 566.3 -9.8 251 6427 done -0.85 0.10 0.230 2620 180.0 2.53 0.067 2761 545.8 -107.1 - - 3455 - - - - - - - - 14.12 14.35 14.31
6779 598.1 -8.9 260 6784 roll -0.85 - - 2612 - 2.03 0.111 3820 521.7 -107.1 - - 3454 - - - - - - - - 14.92 14.25 14.92
6806 600.6 -9.2 264 6812 done -0.85 - - 2612 - 1.85 0.043 2748 -579.5 -107.1 - - 3454 - - - - - - - - 14.67 14.64 14.68
7171 634.2 -9.3 274 7172 done -0.85 - - 2612 - - - 2748 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
7507 665.5 -9.3 280 7512 roll -0.85 - - 2603 - 2.08 0.109 3833 521.6 -107.1 - - 3450 - - - - - - - - 14.94 14.27 14.95
7563 670.9 -9.8 288 7568 done -0.85 - - 2603 - 1.83 0.044 2772 -579.8 -107.1 - - 3451 - - - - - - - - 14.56 14.53 14.57
7899 703.8 -9.8 301 7905 roll -0.85 - - 2603 - 2.45 0.044 1381 -567.8 -107.1 - - 3449 - - - - - - - - 14.91 14.41 14.91
7955 709.4 -10.0 309 7961 done -0.85 0.10 0.256 2620 170.0 2.50 0.067 2769 555.2 -107.1 - - 3449 - - - - - - - - 14.14 14.36 14.42
8291 739.4 -8.9 322 8296 roll -0.85 - - 2613 - 2.03 0.110 3825 520.2 -107.1 - - 3448 - - - - - - - - 14.90 14.21 14.91
8318 742.1 -9.5 326 8324 done -0.85 - - 2612 - 1.83 0.044 2755 -584.7 -107.1 - - 3448 - - - - - - - - 14.61 14.57 14.62
8683 772.9 -8.3 336 8688 roll -0.85 - - 2612 - 2.42 0.045 1380 -568.2 -107.1 - - 3446 - - - - - - - - 14.90 14.38 14.90
8731 777.0 -8.7 343 8738 done -0.85 - - 2603 - 2.55 0.068 2763 542.4 -107.1 - - 3447 - - - - - - - - 14.37 14.28 14.43
9075 805.4 -8.4 350 9076 done -0.85 - - 2603 - - - 2764 - -107.1 - - 3446 - - - - - - - - 14.90 14.90 14.90
9411 833.4 -8.5 356 9416 roll -0.85 - - 2594 - 2.05 0.110 3819 514.6 -107.1 - - 3445 - - - - - - - - 14.92 14.16 14.90
9452 837.3 -8.0 362 9458 done -0.85 0.10 0.213 2622 280.0 1.83 0.044 2771 -572.7 -107.1 - - 3444 - - - - - - - - 14.13 14.55 14.29
9803 865.2 -8.0 370 9808 roll -0.85 - - 2623 - 2.47 0.045 1370 -567.2 -107.1 - - 3443 - - - - - - - - 14.90 14.35 14.90
9837 868.1 -5.9 375 9843 done -0.85 - - 2614 - 2.55 0.065 2761 545.5 -107.1 - - 3444 - - - - - - - - 14.38 14.28 14.42
10195 897.7 -8.2 384 10200 roll -0.85 - - 2613 - 2.45 0.045 1363 -570.6 -107.1 - - 3443 - - - - - - - - 14.92 14.40 14.92
10222 900.2 -7.8 388 10228 done -0.85 - - 2599 - 2.58 0.068 2761 541.9 -107.1 - - 3443 - - - - - - - - 14.34 14.25 14.39
10584 end dive: TARGET_DEPTH_EXCEEDED
10584 begin apogee
10592 933.0 -9.1 398 10706 roll -0.23 0.75 0.179 2821 296.0 0.10 0.158 2269 -4920.0 - 111.53 1.972 3049 -3.5 0.333 - - - - - - 14.08 13.93 12.94
10707 end apogee: CONTROL_FINISHED_OK
10707 begin climb
10710 937.0 - 400 10840 roll 0.93 1.12 0.093 3185 325.0 2.53 0.057 890 -545.1 107.1 117.65 1.958 2616 -3.7 0.351 - - - - - - 13.97 14.00 12.82
10881 930.8 6.8 426 10910 done 0.84 - - 3185 - 2.47 0.050 2240 546.6 126.7 22.23 2.031 2539 -3.5 0.317 - - - - - - 14.03 13.96 12.95
11260 897.0 9.4 438 11266 roll 0.73 0.17 0.225 3136 -288.2 2.62 0.097 3648 537.4 126.7 - - 2530 - - - - - - - - 14.17 14.24 14.42
11322 891.3 9.0 447 11328 done 0.64 0.12 0.209 3111 -208.3 2.40 0.041 2275 -572.1 126.7 - - 2532 - - - - - - - - 14.16 14.42 14.33
11652 867.9 7.0 459 11672 roll 0.66 - - 3118 - 2.50 0.062 858 -566.8 140.7 14.00 2.075 2482 -3.6 0.298 - - - - - - 14.80 14.42 13.42
11692 865.0 9.2 465 11700 done 0.66 - - 3121 - 2.47 0.051 2249 563.2 140.7 - - 2480 - - - - - - - - 14.43 14.36 14.46
12044 839.6 7.3 473 12051 roll 0.67 - - 3121 - 2.67 0.100 3657 527.3 149.1 3.38 1.468 2460 -5.9 0.675 - - - - - - 14.77 14.42 12.90
12126 832.8 8.2 485 12134 done 0.67 - - 3131 - 2.45 0.041 2252 -573.5 149.1 1.65 0.267 2458 - - - - - - - - 14.52 14.48 13.74
12492 806.1 7.3 495 12518 roll 0.68 - - 3131 - 2.70 0.099 3651 518.1 158.9 18.67 1.989 2409 -2.6 0.212 - - - - - - 14.83 14.38 13.49
12560 800.2 9.0 505 12568 done 0.68 - - 3143 - 2.45 0.040 2252 -571.0 158.9 - - 2406 - - - - - - - - 14.45 14.41 14.47
12883 771.9 8.8 516 12884 done 0.68 - - 3143 - - - 2251 - 158.9 - - 2405 - - - - - - - - 14.76 14.77 14.77
13219 742.1 8.8 522 13225 roll 0.68 - - 3142 - 2.65 0.099 3656 530.2 158.9 - - 2404 - - - - - - - - 14.83 14.31 14.83
13253 738.8 9.5 527 13260 done 0.68 0.10 0.219 3127 -150.0 2.45 0.041 2257 -571.0 158.9 - - 2404 - - - - - - - - 14.17 14.47 14.34
13612 712.1 7.2 536 13618 done 0.69 - - 3124 - - - 2256 - 169.0 4.88 1.964 2377 -5.5 0.400 - - - - - - 14.84 14.46 13.05
13948 689.8 6.5 542 13989 roll 0.72 - - 3123 - 2.65 0.099 3651 526.4 193.5 35.45 1.793 2273 -2.9 0.225 - - - - - - 14.85 14.19 13.41
14031 683.7 8.0 554 14037 done 0.72 - - 3133 - 2.47 0.041 2256 -564.8 193.5 - - 2269 - - - - - - - - 14.38 14.34 14.40
14396 656.7 7.5 564 14396 done 0.73 - - 3133 - - - 2252 - 198.0 - - 2269 - - - - - - - - 14.75 14.75 14.75
14731 629.5 8.2 570 14737 roll 0.73 - - 3133 - 2.67 0.099 3653 524.7 198.0 - - 2266 - - - - - - - - 14.81 14.29 14.81
14800 622.6 10.0 580 14807 done 0.73 - - 3144 - 2.45 0.041 2257 -569.8 198.0 - - 2266 - - - - - - - - 14.50 14.46 14.53
15124 592.5 9.5 591 15129 roll 0.73 - - 3154 - 2.47 0.064 863 -564.4 198.0 - - 2266 - - - - - - - - 14.83 14.36 14.83
15172 587.8 9.6 598 15179 done 0.73 - - 3155 - 2.50 0.055 2266 561.2 198.0 - - 2266 - - - - - - - - 14.44 14.37 14.49
15516 556.0 9.2 605 15516 done 0.73 - - 3155 - - - 2266 - 198.0 - - 2265 - - - - - - - - 14.86 14.87 14.86
15852 528.0 8.2 611 15852 done 0.73 - - 3155 - - - 2266 - 198.0 - - 2265 - - - - - - - - 14.85 14.85 14.85
16187 501.6 7.8 617 16194 roll 0.73 - - 3149 - 2.62 0.103 3654 529.8 198.0 - - 2265 - - - - - - - - 14.88 14.27 14.88
16243 496.7 9.0 625 16250 done 0.73 - - 3165 - 2.42 0.041 2250 -580.2 198.0 - - 2265 - - - - - - - - 14.57 14.47 14.59
16580 469.1 8.2 638 16581 done 0.73 0.10 0.233 3135 -300.0 - - 2245 - 198.0 - - 2265 - - - - - - - - 14.28 14.53 14.48
16916 444.9 7.1 644 16937 roll 0.74 - - 3135 - 2.70 0.102 3651 520.7 210.5 17.02 1.652 2210 -3.2 0.174 - - - - - - 14.88 14.45 13.62
16971 440.5 8.5 652 16977 done 0.74 - - 3146 - 2.45 0.041 2249 -572.2 210.5 - - 2204 - - - - - - - - 14.51 14.46 14.54
17301 413.3 8.4 664 17306 roll 0.74 - - 3146 - 2.65 0.101 3653 529.8 210.5 - - 2202 - - - - - - - - 14.81 14.28 14.81
17328 410.7 9.5 668 17334 done 0.74 - - 3156 - 2.42 0.040 2260 -575.6 210.5 - - 2202 - - - - - - - - 14.48 14.43 14.50
17693 377.1 9.2 678 17698 roll 0.74 - - 3167 - 2.45 0.063 867 -568.6 210.5 - - 2201 - - - - - - - - 14.83 14.33 14.87
17733 373.1 9.5 684 17740 done 0.74 - - 3167 - 2.47 0.053 2266 566.4 210.5 - - 2201 - - - - - - - - 14.41 14.34 14.45
18085 340.6 9.2 692 18090 roll 0.74 - - 3166 - 2.60 0.102 3661 536.5 210.5 - - 2201 - - - - - - - - 14.84 14.26 14.84
18147 334.3 10.3 701 18154 done 0.74 0.10 0.209 3144 -220.0 2.42 0.040 2274 -573.1 210.5 - - 2201 - - - - - - - - 14.13 14.43 14.29
18477 308.8 7.5 713 18483 roll 0.75 - - 3157 - 2.50 0.062 858 -566.4 215.1 - - 2201 - - - - - - - - 14.86 14.35 14.87
18511 306.3 7.2 718 18533 done 0.76 - - 3157 - 2.50 0.054 2269 564.4 225.7 15.90 1.502 2148 -3.3 0.136 - - - - - - 14.42 14.34 13.67
18869 277.8 8.1 727 18874 roll 0.76 - - 3157 - 2.58 0.101 3652 536.0 225.7 - - 2140 - - - - - - - - 14.80 14.28 14.80
18909 274.0 9.2 733 18918 done 0.76 - - 3167 - 2.42 0.039 2260 -575.2 225.7 - - 2141 - - - - - - - - 14.49 14.44 14.50
19261 245.1 8.8 741 19267 roll 0.76 - - 3178 - 2.45 0.063 863 -570.2 225.7 - - 2141 - - - - - - - - 14.83 14.35 14.82
19323 239.0 9.8 750 19329 done 0.76 0.10 0.187 3148 -300.0 2.47 0.054 2260 565.6 225.7 - - 2141 - - - - - - - - 14.16 14.33 14.26
19653 210.9 8.5 762 19658 roll 0.76 - - 3147 - 2.60 0.100 3664 540.0 225.7 - - 2140 - - - - - - - - 14.86 14.20 14.87
19700 206.3 9.8 769 19709 done 0.76 - - 3157 - 2.42 0.039 2262 -579.3 225.7 - - 2141 - - - - - - - - 14.48 14.45 14.51
20044 176.3 8.7 776 20045 done 0.76 - - 3158 - - - 2260 - 225.7 - - 2141 - - - - - - - - 14.85 14.85 14.85
20381 147.7 8.4 782 20386 roll 0.76 - - 3167 - 2.45 0.062 865 -569.4 225.7 - - 2141 - - - - - - - - 14.86 14.36 14.86
20415 144.8 8.2 787 20421 done 0.76 - - 3168 - 2.50 0.053 2271 562.4 225.7 - - 2141 - - - - - - - - 14.42 14.34 14.45
20772 115.6 8.2 796 20778 roll 0.76 - - 3167 - 2.55 0.100 3654 542.4 225.7 - - 2141 - - - - - - - - 14.87 14.20 14.85
20799 113.2 8.4 800 20806 done 0.76 - - 3178 - 2.42 0.038 2257 -577.3 225.7 - - 2141 - - - - - - - - 14.51 14.46 14.52
21137 86.2 7.7 812 21142 roll 0.76 0.10 0.230 3147 -310.0 2.62 0.098 3654 533.2 226.9 - - 2141 - - - - - - - - 14.29 14.28 14.48
21206 80.3 8.7 822 21212 done 0.76 - - 3157 - 2.40 0.037 2265 -578.8 226.9 - - 2141 - - - - - - - - 14.50 14.46 14.52
21529 58.0 6.2 835 21550 roll 0.89 - - 3158 - 2.62 0.099 3659 532.1 258.5 15.35 0.337 2020 -7.9 0.271 - - - - - - 14.85 14.26 13.97
21717 49.9 3.3 862 21766 done 1.10 0.17 0.060 3265 629.4 2.40 0.037 2252 -586.2 346.2 44.17 0.315 1671 -7.9 0.250 - - - - - - 14.44 14.45 14.09
22089 29.0 3.5 882 22137 roll 1.28 0.08 0.146 3344 987.5 2.42 0.064 877 -568.2 430.4 41.47 0.249 1334 -8.1 0.189 - - - - - - 14.52 14.38 14.07
22242 18.3 7.5 904 22248 done 1.29 - - 3343 - 2.45 0.053 2273 569.8 435.8 2.40 0.212 1317 -7.1 0.122 - - - - - - 14.40 14.32 14.07
22450 end climb: SURFACE_DEPTH_REACHED
22450 begin surface coast
22478 end surface coast: CONTROL_FINISHED_OK
22478 begin surface
SM -0.14 - - - - -8.44 9.00 0.040 148 16.4 0.90 0.091 2768 -7206.7 500.14 31.15 0.155 1055 33.9 0.003 - - - - - -