SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 395 * Raw log
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• Previous call tries 1 • 141.76 of 350.00 AH used of 24V (59.50% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.5 deg, depth -1.95 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 3 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 - - - 94 done -0.93 - - 102 - - - 2789 - -107.1 -78.22 - 3478 - - - - - - - - 14.68 12.59 14.67
97 -1.6 -2.0 2 117 roll -0.93 11.93 0.386 2588 208.4 2.40 0.035 1358 -596.2 -107.1 - - 3479 - - - - - - - - 13.95 14.42 14.35
193 36.2 -19.8 17 202 done -0.69 0.32 0.243 2667 246.9 2.55 0.068 2756 548.2 -107.1 - - 3480 - - - - - - - - 14.05 14.30 14.26
509 76.9 -10.5 29 515 roll -0.69 - - 2659 - 2.00 0.108 3818 531.0 -107.1 - - 3485 - - - - - - - - 14.83 14.31 14.83
713 96.1 -9.0 58 718 done -0.69 - - 2658 - 1.73 0.038 2726 -631.2 -107.1 - - 3482 - - - - - - - - 14.64 14.59 14.64
1069 122.1 -7.3 68 1074 roll -0.69 - - 2650 - 2.05 0.104 3829 538.0 -107.1 - - 3483 - - - - - - - - 14.92 14.39 14.92
1152 129.7 -9.0 80 1158 done -0.69 - - 2650 - 1.75 0.037 2760 -610.9 -107.1 - - 3482 - - - - - - - - 14.72 14.69 14.73
1517 163.9 -9.9 90 1522 roll -0.69 - - 2650 - 2.28 0.041 1407 -593.4 -107.1 - - 3481 - - - - - - - - 14.92 14.56 14.92
1565 169.8 -10.1 97 1574 done -0.69 0.10 0.207 2670 200.0 2.45 0.066 2768 555.5 -107.1 - - 3481 - - - - - - - - 14.28 14.44 14.45
1909 198.6 -8.2 104 1914 roll -0.69 - - 2671 - 2.33 0.041 1404 -585.4 -107.1 - - 3479 - - - - - - - - 14.95 14.57 14.95
1971 203.6 -7.7 113 1978 done -0.69 - - 2661 - 2.45 0.067 2773 558.8 -107.1 - - 3478 - - - - - - - - 14.53 14.44 14.57
2301 229.2 -7.8 125 2302 done -0.69 - - 2662 - - - 2773 - -107.1 - - 3475 - - - - - - - - 14.93 14.93 14.93
2637 254.5 -7.6 131 2642 roll -0.69 - - 2661 - 2.35 0.042 1401 -583.8 -107.1 - - 3473 - - - - - - - - 14.96 14.54 14.96
2727 261.7 -7.9 144 2733 done -0.69 - - 2653 - 2.47 0.068 2759 549.8 -107.1 - - 3472 - - - - - - - - 14.54 14.42 14.57
3085 292.7 -8.9 153 3086 done -0.69 - - 2653 - - - 2759 - -107.1 - - 3470 - - - - - - - - 14.94 14.94 14.94
3421 321.1 -8.3 159 3422 done -0.69 - - 2653 - - - 2759 - -107.1 - - 3468 - - - - - - - - 14.95 14.95 14.95
3757 348.1 -8.0 165 3763 roll -0.69 - - 2653 - 2.33 0.042 1406 -580.7 -107.1 - - 3465 - - - - - - - - 14.95 14.54 14.95
3813 352.7 -8.2 173 3819 done -0.69 0.10 0.237 2673 200.0 2.42 0.069 2769 563.2 -107.1 - - 3465 - - - - - - - - 14.32 14.42 14.54
4149 377.6 -7.4 186 4154 roll -0.77 - - 2673 - 2.33 0.043 1412 -582.4 -107.1 - - 3464 - - - - - - - - 14.93 14.55 14.97
4211 382.3 -7.4 195 4217 done -0.86 0.08 0.092 2601 -900.0 2.45 0.068 2758 549.4 -107.1 - - 3463 - - - - - - - - 14.47 14.40 14.54
4541 415.3 -10.2 207 4541 done -0.86 - - 2601 - - - 2759 - -107.1 - - 3461 - - - - - - - - 14.93 14.93 14.93
4877 449.6 -10.2 213 4883 roll -0.86 - - 2593 - 2.05 0.111 3853 533.7 -107.1 - - 3460 - - - - - - - - 14.93 14.33 14.92
4918 453.9 -10.4 219 4924 done -0.86 - - 2592 - 1.83 0.041 2789 -581.4 -107.1 - - 3459 - - - - - - - - 14.68 14.66 14.70
5269 490.0 -10.3 227 5270 done -0.86 0.10 0.254 2620 280.0 - - 2789 - -107.1 - - 3457 - - - - - - - - 14.34 14.62 14.57
5605 520.7 -9.1 233 5612 roll -0.86 - - 2618 - 2.45 0.044 1362 -582.4 -107.1 - - 3456 - - - - - - - - 14.93 14.50 14.93
5667 526.7 -9.3 242 5673 done -0.86 - - 2611 - 2.53 0.067 2758 551.8 -107.1 - - 3456 - - - - - - - - 14.49 14.38 14.53
5997 559.1 -9.9 254 5998 done -0.86 - - 2607 - - - 2758 - -107.1 - - 3458 - - - - - - - - 14.95 14.95 14.95
6333 591.1 -9.5 260 6338 roll -0.86 - - 2609 - 2.40 0.043 1375 -576.2 -107.1 - - 3454 - - - - - - - - 14.95 14.52 14.95
6367 594.3 -9.3 265 6374 done -0.86 - - 2601 - 2.53 0.067 2753 544.7 -107.1 - - 3454 - - - - - - - - 14.45 14.36 14.50
6725 626.8 -9.0 274 6726 done -0.86 - - 2601 - - - 2753 - -107.1 - - 3451 - - - - - - - - 14.95 14.95 14.95
7061 657.7 -9.3 280 7061 done -0.86 - - 2601 - - - 2753 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.90
7397 689.8 -9.6 286 7402 roll -0.86 - - 2600 - 2.40 0.044 1376 -573.8 -107.1 - - 3449 - - - - - - - - 14.95 14.50 14.95
7438 694.0 -10.0 292 7444 done -0.86 0.08 0.230 2611 137.5 2.50 0.067 2749 549.2 -107.1 - - 3448 - - - - - - - - 14.14 14.34 14.31
7789 726.8 -9.4 300 7794 roll -0.86 - - 2604 - 2.08 0.111 3826 517.8 -107.1 - - 3447 - - - - - - - - 14.92 14.23 14.92
7830 731.0 -10.2 306 7836 done -0.86 - - 2604 - 1.85 0.043 2746 -583.8 -107.1 - - 3447 - - - - - - - - 14.60 14.57 14.62
8181 764.2 -9.5 314 8186 roll -0.86 - - 2603 - 2.35 0.044 1379 -581.7 -107.1 - - 3446 - - - - - - - - 14.91 14.46 14.91
8215 767.5 -9.4 319 8221 done -0.86 - - 2594 - 2.50 0.066 2749 548.0 -107.1 - - 3446 - - - - - - - - 14.42 14.33 14.47
8573 800.0 -9.0 328 8574 done -0.86 - - 2594 - - - 2749 - -107.1 - - 3445 - - - - - - - - 14.92 14.93 14.92
8909 828.7 -8.7 334 8914 roll -0.86 - - 2593 - 2.40 0.044 1371 -574.2 -107.1 - - 3443 - - - - - - - - 14.90 14.45 14.90
8957 832.7 -8.1 341 8966 done -0.86 0.10 0.223 2613 200.0 2.53 0.067 2752 545.8 -107.1 - - 3443 - - - - - - - - 14.07 14.30 14.23
9301 858.7 -7.5 348 9306 roll -0.86 - - 2605 - 2.03 0.113 3827 529.6 -107.1 - - 3442 - - - - - - - - 14.92 14.22 14.92
9357 863.2 -8.3 356 9362 done -0.86 - - 2605 - 1.88 0.044 2747 -574.5 -107.1 - - 3442 - - - - - - - - 14.52 14.49 14.54
9693 890.2 -8.0 369 9699 roll -0.86 - - 2605 - 2.42 0.045 1375 -566.9 -107.1 - - 3440 - - - - - - - - 14.90 14.36 14.90
9769 896.2 -7.9 380 9775 done -0.86 - - 2595 - 2.53 0.066 2744 541.1 -107.1 - - 3440 - - - - - - - - 14.38 14.27 14.41
10085 922.4 -8.3 390 10090 roll -0.86 - - 2587 - 2.10 0.114 3825 514.8 -107.1 - - 3441 - - - - - - - - 14.90 14.14 14.90
10119 925.6 -7.4 395 10125 done -0.86 0.10 0.214 2615 280.0 1.85 0.044 2752 -580.0 -107.1 - - 3440 - - - - - - - - 14.09 14.50 14.26
10194 end dive: TARGET_DEPTH_EXCEEDED
10194 begin apogee
10201 931.5 -7.2 399 10313 roll -0.23 0.70 0.171 2823 297.1 0.10 0.152 2271 -4810.0 - 109.32 1.981 3051 -3.6 0.334 - - - - - - 14.12 13.93 12.98
10314 end apogee: CONTROL_FINISHED_OK
10314 begin climb
10317 934.4 - 401 10443 roll 0.93 1.10 0.090 3184 328.2 2.60 0.057 846 -548.1 107.1 117.18 1.954 2622 -3.7 0.349 - - - - - - 13.98 14.02 12.86
10675 912.0 8.3 453 10680 done 0.82 - - 3184 - 2.45 0.051 2243 570.2 107.1 - - 2610 - - - - - - - - 14.42 14.30 14.45
11038 880.6 8.7 463 11043 roll 0.70 0.20 0.222 3138 -230.0 2.42 0.058 845 -577.7 107.1 - - 2608 - - - - - - - - 14.20 14.40 14.47
11275 864.3 6.5 497 11304 done 0.73 - - 3138 - 2.47 0.051 2250 568.8 131.0 25.50 1.945 2528 -3.1 0.278 - - - - - - 14.47 14.40 13.39
11647 836.1 7.8 508 11652 roll 0.73 - - 3137 - 2.60 0.101 3658 541.5 131.0 - - 2517 - - - - - - - - 14.78 14.35 14.78
11709 830.7 8.8 517 11715 done 0.64 0.12 0.211 3113 -200.0 2.47 0.039 2232 -577.3 131.0 - - 2517 - - - - - - - - 14.17 14.46 14.34
12039 809.3 6.4 529 12075 roll 0.68 - - 3112 - 2.78 0.101 3658 512.9 158.4 31.17 1.911 2415 -3.3 0.277 - - - - - - 14.83 14.29 13.38
12150 800.7 8.1 545 12157 done 0.68 - - 3122 - 2.45 0.039 2253 -573.5 158.4 - - 2411 - - - - - - - - 14.38 14.34 14.39
12480 776.3 7.4 557 12487 roll 0.68 - - 3122 - 2.72 0.100 3662 518.0 165.1 2.80 1.159 2395 -5.7 0.764 - - - - - - 14.76 14.38 12.87
12514 773.5 8.3 562 12522 done 0.68 - - 3132 - 2.42 0.040 2270 -575.2 165.1 - - 2400 - - - - - - - - 14.50 14.47 14.52
12866 746.3 7.7 570 12869 done 0.69 - - 3133 - - - 2270 - 166.1 2.62 1.034 2388 -4.6 0.660 - - - - - - 14.81 14.40 12.91
13202 720.4 7.8 576 13207 roll 0.69 - - 3133 - 2.62 0.099 3658 529.8 166.1 1.23 0.272 2390 - - - - - - - - 14.83 14.19 13.94
13270 714.3 8.9 586 13277 done 0.69 - - 3144 - 2.45 0.040 2252 -573.9 166.1 - - 2397 - - - - - - - - 14.53 14.49 14.54
13593 688.1 8.2 597 13599 roll 0.69 - - 3144 - 2.65 0.098 3656 529.8 166.1 1.27 0.276 2389 -6.3 3.133 - - - - - - 14.86 14.18 13.88
13641 683.7 9.2 604 13649 done 0.69 0.10 0.213 3125 -190.0 2.42 0.040 2264 -575.2 166.1 - - 2395 - - - - - - - - 14.18 14.48 14.33
13986 658.1 7.4 611 13999 done 0.69 - - 3125 - - - 2264 - 172.9 12.45 1.944 2363 -2.6 0.174 - - - - - - 14.85 14.50 13.56
14322 633.5 7.3 617 14335 roll 0.70 - - 3125 - 2.70 0.103 3662 517.8 181.5 9.55 1.984 2324 -4.1 0.260 - - - - - - 14.80 14.43 13.51
14377 628.9 8.6 625 14383 done 0.70 - - 3135 - 2.40 0.041 2266 -581.7 181.5 - - 2321 - - - - - - - - 14.56 14.48 14.57
14713 602.5 7.9 638 14714 done 0.70 - - 3135 - - - 2262 - 181.5 - - 2320 - - - - - - - - 14.79 14.79 14.79
15049 575.2 8.2 644 15055 roll 0.70 - - 3135 - 2.65 0.103 3656 526.0 181.5 - - 2320 - - - - - - - - 14.83 14.30 14.83
15111 569.4 9.3 653 15118 done 0.70 - - 3146 - 2.42 0.041 2265 -574.8 181.5 - - 2320 - - - - - - - - 14.52 14.47 14.53
15441 540.5 8.9 665 15442 done 0.70 - - 3147 - - - 2264 - 181.5 - - 2320 - - - - - - - - 14.87 14.87 14.87
15777 510.8 8.8 671 15778 done 0.70 - - 3147 - - - 2262 - 181.5 - - 2320 - - - - - - - - 14.85 14.85 14.86
16114 482.6 8.3 677 16119 roll 0.70 - - 3146 - 2.65 0.102 3656 526.0 181.5 - - 2318 - - - - - - - - 14.85 14.27 14.85
16154 478.8 9.2 683 16161 done 0.70 0.08 0.221 3134 -150.0 2.42 0.041 2268 -573.6 181.5 - - 2320 - - - - - - - - 14.17 14.46 14.33
16506 453.3 7.2 691 16525 roll 0.72 - - 3134 - 2.65 0.102 3655 523.4 193.4 13.07 1.716 2275 -3.4 0.181 - - - - - - 14.86 14.45 13.62
16574 447.8 8.2 701 16581 done 0.72 - - 3145 - 2.42 0.040 2267 -573.6 193.4 - - 2273 - - - - - - - - 14.54 14.49 14.55
16897 423.5 7.5 712 16900 done 0.72 - - 3145 - - - 2264 - 197.7 1.17 0.271 2262 -9.4 2.931 - - - - - - 14.80 14.35 13.99
17233 396.7 8.0 718 17240 roll 0.72 - - 3145 - 2.65 0.101 3657 525.7 197.7 - - 2270 - - - - - - - - 14.85 14.29 14.85
17267 393.6 9.1 723 17274 done 0.72 - - 3155 - 2.42 0.041 2268 -574.0 197.7 - - 2269 - - - - - - - - 14.51 14.47 14.54
17625 363.7 8.3 732 17626 done 0.72 - - 3155 - - - 2262 - 197.7 - - 2269 - - - - - - - - 14.85 14.85 14.85
17961 337.6 7.7 738 17968 roll 0.73 - - 3155 - 2.70 0.101 3665 519.6 198.7 2.35 0.744 2258 -4.7 0.424 - - - - - - 14.88 14.39 13.06
17995 334.6 8.6 743 18002 done 0.73 0.08 0.216 3142 -162.5 2.42 0.041 2272 -575.6 198.7 1.12 0.275 2259 - - - - - - - - 14.23 14.50 13.77
18354 307.6 7.7 752 18357 done 0.73 - - 3142 - - - 2270 - 199.4 2.58 0.907 2256 -1.2 0.079 - - - - - - 14.88 14.41 13.10
18690 280.1 8.3 758 18695 roll 0.73 - - 3142 - 2.62 0.102 3655 528.6 199.4 - - 2263 - - - - - - - - 14.88 14.26 14.88
18745 275.0 9.4 766 18752 done 0.73 - - 3152 - 2.38 0.040 2265 -584.0 199.4 - - 2265 - - - - - - - - 14.60 14.52 14.62
19081 246.4 8.5 779 19082 done 0.73 - - 3152 - - - 2262 - 199.4 - - 2265 - - - - - - - - 14.88 14.88 14.88
19418 220.2 7.7 785 19424 roll 0.73 - - 3152 - 2.67 0.100 3657 522.5 199.6 2.55 0.871 2258 -2.7 0.138 - - - - - - 14.88 14.37 13.13
19466 216.0 8.9 792 19472 done 0.73 - - 3162 - 2.35 0.039 2272 -589.4 199.6 - - 2262 - - - - - - - - 14.62 14.52 14.64
19803 188.4 8.2 805 19808 roll 0.73 - - 3162 - 2.62 0.100 3656 528.2 199.6 - - 2263 - - - - - - - - 14.87 14.28 14.89
19843 184.6 9.2 811 19850 done 0.73 0.12 0.199 3135 -225.0 2.38 0.039 2284 -576.5 199.6 1.20 0.252 2258 -4.2 0.609 - - - - - - 14.14 14.47 13.80
20195 160.0 7.0 819 20222 roll 0.75 - - 3134 - 2.58 0.102 3663 534.5 215.3 20.25 1.300 2189 -3.4 0.084 - - - - - - 14.88 14.45 13.74
20242 156.3 7.8 826 20251 done 0.75 - - 3146 - 2.40 0.038 2277 -577.5 215.3 - - 2187 - - - - - - - - 14.52 14.49 14.54
20586 129.5 8.0 833 20592 roll 0.75 - - 3156 - 2.50 0.061 861 -566.4 215.3 - - 2186 - - - - - - - - 14.81 14.35 14.81
20614 127.2 7.9 837 20620 done 0.75 - - 3156 - 2.50 0.051 2285 569.6 215.3 - - 2186 - - - - - - - - 14.42 14.35 14.45
20978 98.7 7.9 847 20984 roll 0.75 - - 3156 - 2.55 0.101 3653 536.5 215.3 - - 2185 - - - - - - - - 14.84 14.28 14.84
21062 90.7 9.9 859 21068 done 0.75 - - 3166 - 2.33 0.039 2289 -585.4 215.3 - - 2185 - - - - - - - - 14.59 14.50 14.60
21399 66.5 6.1 874 21418 roll 0.79 - - 3166 - 2.60 0.098 3657 526.2 247.9 15.80 0.367 2064 -7.7 0.277 - - - - - - 14.84 14.29 13.97
21461 62.4 7.3 883 21473 done 0.80 - - 3175 - 2.38 0.038 2282 -577.7 257.2 5.32 0.336 2026 -7.1 0.265 - - - - - - 14.49 14.46 13.95
21793 46.1 4.4 897 21833 roll 0.99 0.08 0.142 3253 975.0 2.65 0.097 3655 518.1 324.1 34.42 0.306 1762 -7.7 0.231 - - - - - - 14.52 14.37 14.06
22028 30.8 6.7 931 22043 done 1.02 0.10 0.191 3231 -220.0 2.38 0.038 2277 -579.0 345.9 10.98 0.256 1672 -8.2 0.197 - - - - - - 14.17 14.45 14.02
22353 16.8 4.3 944 22392 roll 1.24 0.10 0.114 3323 920.0 2.47 0.062 869 -570.0 413.8 33.35 0.208 1400 -8.2 0.131 - - - - - - 14.54 14.29 14.10
22529 end climb: SURFACE_DEPTH_REACHED
22529 begin surface coast
22536 end surface coast: CONTROL_FINISHED_OK
22536 begin surface
SM -1.01 - - - - -8.42 9.30 0.078 167 17.9 3.38 0.063 2758 -2413.6 500.14 39.42 0.158 1058 26.8 0.018 - - - - - -