SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 458 * Raw log
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• Previous call tries 1 • 161.80 of 350.00 AH used of 24V (53.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -1.18 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.89 (SM_CC=500)
• GPS1 time: 31 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 100 done -0.93 - - 127 - - - 2779 - -107.1 -79.60 - 3477 - - - - - - - - 14.66 13.07 14.64
104 6.2 -12.9 3 121 roll -0.93 11.82 0.387 2582 207.7 1.95 0.086 3841 544.6 -107.1 - - 3479 - - - - - - - - 13.97 14.33 14.24
213 40.7 -15.0 19 218 done -0.69 0.32 0.216 2673 284.4 1.80 0.034 2712 -627.2 -107.1 - - 3479 - - - - - - - - 14.09 14.44 14.35
549 72.1 -9.4 34 554 roll -0.69 - - 2674 - 2.28 0.041 1368 -589.5 -107.1 - - 3481 - - - - - - - - 14.84 14.45 14.84
625 78.3 -7.4 45 633 done -0.69 - - 2663 - 2.53 0.066 2766 552.6 -107.1 - - 3482 - - - - - - - - 14.40 14.33 14.46
941 100.0 -8.1 57 947 roll -0.69 - - 2663 - 2.38 0.041 1375 -584.5 -107.1 - - 3481 - - - - - - - - 14.87 14.49 14.87
1038 108.0 -7.8 71 1044 done -0.69 - - 2654 - 2.47 0.066 2755 558.7 -107.1 - - 3481 - - - - - - - - 14.40 14.31 14.45
1389 136.1 -8.3 79 1394 roll -0.69 - - 2645 - 2.00 0.110 3828 536.5 -107.1 - - 3481 - - - - - - - - 14.91 14.31 14.91
1423 139.4 -9.4 84 1429 done -0.69 0.08 0.199 2669 300.0 1.83 0.041 2750 -589.1 -107.1 - - 3480 - - - - - - - - 14.27 14.58 14.40
1781 169.6 -8.9 93 1787 roll -0.69 - - 2670 - 2.33 0.041 1375 -590.1 -107.1 - - 3478 - - - - - - - - 14.93 14.50 14.93
1837 174.8 -8.9 101 1843 done -0.69 - - 2660 - 2.45 0.067 2758 564.5 -107.1 - - 3478 - - - - - - - - 14.57 14.40 14.60
2173 204.0 -8.6 114 2178 roll -0.69 - - 2653 - 2.00 0.112 3828 535.0 -107.1 - - 3476 - - - - - - - - 14.91 14.31 14.91
2242 210.0 -8.3 124 2248 done -0.69 - - 2651 - 1.83 0.042 2746 -591.3 -107.1 - - 3475 - - - - - - - - 14.62 14.61 14.64
2565 236.1 -8.2 135 2570 roll -0.69 - - 2653 - 2.33 0.041 1383 -585.0 -107.1 - - 3473 - - - - - - - - 14.91 14.51 14.91
2613 240.1 -8.1 142 2620 done -0.69 0.10 0.207 2676 230.0 2.50 0.067 2761 551.2 -107.1 - - 3473 - - - - - - - - 14.17 14.34 14.33
2957 264.8 -7.0 149 2963 roll -0.69 - - 2674 - 2.38 0.041 1380 -580.3 -107.1 - - 3471 - - - - - - - - 14.93 14.52 14.93
2991 267.3 -7.3 154 2997 done -0.77 - - 2665 - 2.50 0.067 2762 552.8 -107.1 - - 3471 - - - - - - - - 14.45 14.35 14.49
3349 292.4 -7.1 163 3354 roll -0.77 - - 2665 - 2.38 0.041 1386 -578.2 -107.1 - - 3469 - - - - - - - - 14.91 14.50 14.92
3405 296.7 -7.5 171 3410 done -0.77 - - 2656 - 2.47 0.067 2758 555.5 -107.1 - - 3468 - - - - - - - - 14.56 14.38 14.59
3741 324.6 -8.5 184 3746 roll -0.77 - - 2656 - 2.38 0.041 1385 -576.9 -107.1 - - 3466 - - - - - - - - 14.90 14.48 14.90
3775 327.8 -9.0 189 3782 done -0.77 - - 2646 - 2.47 0.068 2747 551.4 -107.1 - - 3464 - - - - - - - - 14.45 14.35 14.48
4133 359.1 -8.7 198 4134 done -0.77 - - 2648 - - - 2747 - -107.1 - - 3464 - - - - - - - - 14.92 14.92 14.91
4469 386.1 -7.8 204 4474 roll -0.77 - - 2648 - 2.38 0.043 1386 -571.8 -107.1 - - 3463 - - - - - - - - 14.92 14.47 14.92
4531 391.0 -7.6 213 4537 done -0.77 - - 2639 - 2.50 0.069 2744 543.2 -107.1 - - 3463 - - - - - - - - 14.42 14.33 14.47
4861 415.8 -7.5 225 4867 roll -0.77 - - 2639 - 2.38 0.043 1378 -573.9 -107.1 - - 3461 - - - - - - - - 14.90 14.47 14.91
4888 418.0 -8.0 229 4895 done -0.77 - - 2630 - 2.53 0.067 2757 545.1 -107.1 - - 3461 - - - - - - - - 14.40 14.30 14.46
5253 449.0 -8.7 239 5258 roll -0.77 - - 2621 - 2.05 0.114 3828 522.4 -107.1 - - 3460 - - - - - - - - 14.91 14.19 14.91
5301 453.4 -9.1 246 5309 done -0.77 0.08 0.215 2644 287.5 1.85 0.044 2753 -581.1 -107.1 - - 3460 - - - - - - - - 14.22 14.55 14.37
5645 482.0 -8.4 253 5646 done -0.77 - - 2644 - - - 2753 - -107.1 - - 3461 - - - - - - - - 14.93 14.93 14.93
5981 509.2 -8.0 259 5982 done -0.77 - - 2644 - - - 2753 - -107.1 - - 3457 - - - - - - - - 14.90 14.91 14.91
6317 534.0 -7.3 265 6323 roll -0.77 - - 2644 - 2.38 0.044 1377 -578.2 -107.1 - - 3456 - - - - - - - - 14.92 14.39 14.92
6358 537.1 -7.5 271 6364 done -0.77 - - 2634 - 2.53 0.067 2752 543.5 -107.1 - - 3456 - - - - - - - - 14.38 14.27 14.42
6709 564.7 -8.0 279 6714 roll -0.77 - - 2634 - 2.40 0.043 1376 -573.3 -107.1 - - 3453 - - - - - - - - 14.90 14.44 14.90
6743 567.7 -8.5 284 6749 done -0.77 - - 2625 - 2.50 0.066 2746 548.0 -107.1 - - 3453 - - - - - - - - 14.38 14.28 14.42
7101 599.8 -9.2 293 7102 done -0.77 0.08 0.274 2647 275.0 - - 2744 - -107.1 - - 3453 - - - - - - - - 14.31 14.55 14.50
7437 627.6 -8.3 299 7442 roll -0.77 - - 2647 - 2.38 0.043 1379 -573.5 -107.1 - - 3451 - - - - - - - - 14.89 14.42 14.89
7493 632.2 -8.1 307 7498 done -0.77 - - 2638 - 2.50 0.068 2750 548.4 -107.1 - - 3451 - - - - - - - - 14.47 14.29 14.50
7829 658.2 -7.7 320 7834 roll -0.77 - - 2638 - 2.42 0.044 1370 -570.2 -107.1 - - 3450 - - - - - - - - 14.90 14.41 14.89
7898 663.6 -7.6 330 7904 done -0.77 - - 2630 - 2.55 0.068 2746 539.6 -107.1 - - 3449 - - - - - - - - 14.32 14.22 14.36
8221 687.9 -7.5 341 8227 roll -0.77 - - 2621 - 2.05 0.115 3826 526.8 -107.1 - - 3448 - - - - - - - - 14.91 14.16 14.92
8262 691.4 -8.6 347 8268 done -0.77 0.08 0.212 2644 287.5 1.88 0.046 2748 -573.4 -107.1 - - 3448 - - - - - - - - 14.14 14.50 14.29
8613 716.1 -7.0 355 8618 roll -0.77 - - 2644 - 2.40 0.044 1363 -577.1 -107.1 - - 3448 - - - - - - - - 14.91 14.41 14.91
8661 719.6 -7.2 362 8668 done -0.77 - - 2636 - 2.55 0.067 2746 542.4 -107.1 - - 3448 - - - - - - - - 14.31 14.21 14.35
9005 745.1 -7.4 369 9006 done -0.77 - - 2636 - - - 2746 - -107.1 - - 3445 - - - - - - - - 14.91 14.91 14.91
9341 769.1 -7.1 375 9342 done -0.77 - - 2636 - - - 2753 - -107.1 - - 3446 - - - - - - - - 14.88 14.88 14.88
9677 793.4 -7.1 381 9683 roll -0.77 - - 2636 - 2.42 0.045 1368 -572.3 -107.1 - - 3445 - - - - - - - - 14.88 14.29 14.88
9746 798.4 -7.1 391 9752 done -0.77 - - 2626 - 2.55 0.068 2743 539.2 -107.1 - - 3445 - - - - - - - - 14.30 14.19 14.34
10069 821.7 -7.4 402 10070 done -0.77 - - 2626 - - - 2743 - -107.1 - - 3443 - - - - - - - - 14.88 14.88 14.88
10405 846.9 -7.4 408 10406 done -0.77 - - 2626 - - - 2743 - -107.1 - - 3442 - - - - - - - - 14.88 14.87 14.88
10741 872.6 -7.7 414 10746 roll -0.77 - - 2625 - 2.42 0.046 1365 -569.4 -107.1 - - 3442 - - - - - - - - 14.90 14.34 14.90
10803 877.1 -6.9 423 10809 done -0.77 0.10 0.211 2645 200.0 2.55 0.068 2736 537.6 -107.1 - - 3442 - - - - - - - - 13.94 14.19 14.28
11133 899.2 -6.7 435 11134 done -0.84 - - 2645 - - - 2736 - -107.1 - - 3441 - - - - - - - - 14.87 14.87 14.86
11469 921.9 -6.8 441 11475 roll -0.92 0.08 0.146 2582 -787.5 2.40 0.044 1368 -570.0 -107.1 - - 3441 - - - - - - - - 14.53 14.31 14.57
11531 927.5 -9.2 450 11537 done -0.92 - - 2572 - 2.58 0.068 2743 532.9 -107.1 - - 3440 - - - - - - - - 14.23 14.14 14.28
11556 end dive: TARGET_DEPTH_EXCEEDED
11556 begin apogee
11564 930.1 -8.2 454 11681 roll -0.23 0.88 0.186 2821 283.0 0.10 0.160 2272 -4710.0 - 114.72 1.933 3051 -3.4 0.319 - - - - - - 13.95 13.90 12.90
11683 end apogee: CONTROL_FINISHED_OK
11683 begin climb
11686 934.1 - 456 11815 roll 0.93 1.12 0.089 3188 327.7 2.53 0.055 887 -547.4 107.1 119.53 1.934 2623 -3.6 0.339 - - - - - - 13.97 14.00 12.83
11863 928.6 6.6 483 11897 done 0.84 - - 3186 - 2.47 0.050 2247 550.6 130.5 26.92 2.003 2524 -3.7 0.334 - - - - - - 14.08 14.02 12.95
12231 897.8 8.7 500 12236 roll 0.72 0.17 0.225 3133 -311.8 2.65 0.100 3654 530.9 130.5 - - 2516 - - - - - - - - 14.10 14.23 14.28
12285 893.1 8.1 508 12290 done 0.64 0.10 0.239 3111 -220.0 2.38 0.041 2272 -580.7 130.5 - - 2515 - - - - - - - - 14.16 14.43 14.41
12621 872.9 5.9 521 12668 roll 0.68 - - 3110 - 2.67 0.103 3664 521.3 166.5 40.62 1.941 2379 -3.3 0.295 - - - - - - 14.78 14.16 13.24
12696 867.5 8.6 532 12702 done 0.68 - - 3121 - 2.50 0.041 2258 -562.4 166.5 - - 2376 - - - - - - - - 14.31 14.27 14.33
13012 844.2 7.5 542 13018 roll 0.69 - - 3121 - 2.67 0.104 3656 523.6 172.3 - - 2373 - - - - - - - - 14.73 14.22 14.72
13046 841.3 9.2 547 13053 done 0.69 - - 3130 - 2.45 0.041 2260 -569.8 172.3 1.08 0.220 2361 -11.1 8.319 - - - - - - 14.45 14.40 14.12
13404 812.4 8.1 556 13409 roll 0.69 - - 3131 - 2.65 0.104 3652 525.3 172.3 - - 2368 - - - - - - - - 14.81 14.25 14.82
13445 808.6 8.8 562 13451 done 0.69 - - 3141 - 2.45 0.042 2252 -571.4 172.3 - - 2368 - - - - - - - - 14.48 14.44 14.51
13796 777.5 8.9 570 13797 done 0.69 - - 3141 - - - 2250 - 172.3 - - 2368 - - - - - - - - 14.81 14.82 14.82
14133 747.9 8.7 576 14137 roll 0.69 - - 3141 - 2.67 0.105 3652 525.1 172.3 - - 2368 - - - - - - - - 14.83 14.21 14.83
14188 742.5 9.8 584 14193 done 0.69 - - 3151 - 2.42 0.041 2242 -582.6 172.3 - - 2368 - - - - - - - - 14.58 14.50 14.59
14525 713.5 8.5 597 14530 roll 0.69 - - 3151 - 2.67 0.104 3647 526.2 172.3 - - 2368 - - - - - - - - 14.83 14.20 14.83
14565 709.6 9.4 603 14572 done 0.61 0.20 0.202 3104 -235.0 2.42 0.041 2259 -573.6 172.3 - - 2368 - - - - - - - - 14.06 14.43 14.23
14917 685.9 6.7 611 14950 roll 0.63 - - 3104 - 2.62 0.104 3647 529.8 192.6 28.20 1.808 2277 -3.2 0.240 - - - - - - 14.86 14.17 13.38
14992 680.2 8.0 622 14998 done 0.63 - - 3115 - 2.42 0.041 2270 -569.0 192.6 - - 2273 - - - - - - - - 14.42 14.38 14.43
15309 657.1 7.3 632 15320 roll 0.64 - - 3112 - 2.67 0.105 3650 516.9 201.4 3.33 1.380 2252 -6.3 0.588 - - - - - - 14.75 14.33 12.85
15342 654.3 8.0 637 15350 done 0.64 - - 3121 - 2.42 0.041 2257 -575.6 201.4 1.15 0.243 2252 - - - - - - - - 14.47 14.43 14.02
15701 627.9 7.4 646 15721 roll 0.65 - - 3121 - 2.70 0.104 3653 517.0 208.9 15.82 1.865 2214 -2.4 0.158 - - - - - - 14.81 14.36 13.45
15756 623.4 8.5 654 15761 done 0.65 - - 3131 - 2.42 0.041 2276 -569.0 208.9 - - 2208 - - - - - - - - 14.43 14.38 14.45
16086 598.2 7.5 666 16090 roll 0.66 - - 3132 - 2.62 0.104 3652 525.2 212.9 - - 2202 - - - - - - - - 14.76 14.19 14.76
16105 596.5 7.7 669 16113 done 0.66 - - 3142 - 2.42 0.041 2271 -570.7 213.3 - - 2206 - - - - - - - - 14.42 14.38 14.44
16421 571.1 8.1 679 16422 done 0.66 - - 3141 - - - 2269 - 213.3 - - 2208 - - - - - - - - 14.80 14.81 14.81
16757 543.4 8.3 685 16763 roll 0.66 - - 3141 - 2.65 0.105 3650 521.1 213.3 - - 2206 - - - - - - - - 14.83 14.19 14.83
16798 539.6 9.1 691 16804 done 0.66 0.10 0.209 3121 -200.0 2.42 0.041 2270 -570.2 213.3 - - 2206 - - - - - - - - 14.07 14.40 14.24
17150 514.3 7.1 699 17176 roll 0.68 - - 3121 - 2.65 0.104 3649 520.4 226.0 19.35 1.707 2144 -3.2 0.189 - - - - - - 14.83 14.37 13.51
17205 510.0 8.1 707 17210 done 0.68 - - 3129 - 2.38 0.041 2276 -576.9 226.0 - - 2138 - - - - - - - - 14.54 14.46 14.55
17541 484.5 7.6 720 17542 done 0.68 - - 3129 - - - 2272 - 229.1 - - 2136 - - - - - - - - 14.78 14.78 14.79
17877 460.0 7.2 726 17897 roll 0.69 - - 3133 - 2.58 0.103 3649 533.7 239.5 14.48 1.705 2089 -3.2 0.171 - - - - - - 14.81 14.23 13.47
17939 454.9 8.5 735 17945 done 0.69 - - 3139 - 2.40 0.041 2278 -571.2 239.5 - - 2085 - - - - - - - - 14.45 14.40 14.48
18269 429.2 7.8 747 18274 roll 0.69 - - 3149 - 2.50 0.063 861 -566.8 239.5 - - 2083 - - - - - - - - 14.79 14.24 14.80
18296 427.0 7.7 751 18303 done 0.69 - - 3149 - 2.53 0.055 2274 558.5 240.5 - - 2087 - - - - - - - - 14.37 14.28 14.39
18661 396.3 8.6 761 18667 roll 0.69 - - 3149 - 2.60 0.106 3660 533.1 240.5 - - 2083 - - - - - - - - 14.83 14.19 14.83
18730 389.2 10.1 771 18736 done 0.69 0.10 0.199 3129 -200.0 2.42 0.041 2282 -569.4 240.5 - - 2083 - - - - - - - - 14.09 14.39 14.25
19054 363.0 8.2 782 19054 done 0.77 - - 3128 - - - 2279 - 240.5 - - 2083 - - - - - - - - 14.83 14.82 14.83
19389 336.2 7.9 788 19391 done 0.85 0.08 0.137 3181 662.5 - - 2278 - 240.5 - - 2083 - - - - - - - - 14.54 14.61 14.59
19726 302.7 10.0 794 19730 roll 0.85 - - 3184 - 2.62 0.104 3655 525.6 240.5 - - 2082 - - - - - - - - 14.83 14.17 14.84
19760 298.9 11.0 799 19766 done 0.85 - - 3194 - 2.42 0.041 2277 -569.4 240.5 - - 2083 - - - - - - - - 14.42 14.38 14.45
20117 262.0 10.3 808 20122 roll 0.85 - - 3204 - 2.53 0.063 848 -564.8 240.5 - - 2083 - - - - - - - - 14.87 14.30 14.88
20186 254.8 10.0 818 20193 done 0.85 0.10 0.194 3175 -290.0 2.55 0.054 2276 560.0 240.5 - - 2083 - - - - - - - - 14.04 14.26 14.21
20509 225.3 9.2 829 20515 roll 0.85 - - 3175 - 2.60 0.103 3656 530.8 240.5 - - 2083 - - - - - - - - 14.84 14.09 14.84
20550 220.9 10.6 835 20556 done 0.85 - - 3185 - 2.42 0.040 2270 -572.7 240.5 - - 2079 - - - - - - - - 14.44 14.40 14.47
20901 186.1 10.0 843 20907 roll 0.85 - - 3195 - 2.50 0.062 860 -564.0 240.5 - - 2083 - - - - - - - - 14.87 14.27 14.87
20949 181.2 10.1 850 20957 done 0.85 - - 3195 - 2.53 0.054 2277 560.1 240.5 - - 2081 - - - - - - - - 14.26 14.19 14.28
21294 146.0 10.3 857 21299 roll 0.85 - - 3195 - 2.60 0.103 3659 531.5 240.5 - - 2083 - - - - - - - - 14.84 14.16 14.84
21349 139.6 11.6 865 21356 done 0.85 0.10 0.243 3178 -170.0 2.38 0.039 2271 -583.2 240.5 - - 2083 - - - - - - - - 14.02 14.35 14.29
21686 109.5 8.7 878 21691 roll 0.85 - - 3177 - 2.65 0.101 3660 524.2 240.5 - - 2083 - - - - - - - - 14.84 14.17 14.84
21712 106.9 9.5 882 21719 done 0.85 - - 3187 - 2.40 0.039 2284 -573.3 240.5 - - 2083 - - - - - - - - 14.44 14.40 14.47
22050 75.7 9.5 896 22055 roll 0.85 - - 3198 - 2.53 0.061 852 -566.0 240.5 - - 2080 - - - - - - - - 14.83 14.26 14.83
22118 69.0 9.3 906 22125 done 0.85 - - 3198 - 2.53 0.053 2280 564.4 240.5 - - 2084 - - - - - - - - 14.32 14.24 14.37
22441 40.9 7.7 919 22447 roll 0.85 - - 3207 - 2.53 0.060 862 -560.5 241.9 - - 2083 - - - - - - - - 14.85 14.28 14.85
22546 35.0 4.8 934 22581 done 0.92 - - 3207 - 2.50 0.050 2278 566.4 301.1 30.30 0.274 1851 -7.7 0.191 - - - - - - 14.33 14.26 14.02
22892 20.6 2.6 950 22951 roll 1.16 0.10 0.119 3292 850.0 2.50 0.060 852 -570.4 404.7 52.03 0.226 1442 -7.9 0.140 - - - - - - 14.47 14.35 14.09
23024 14.2 6.1 969 23049 done 1.20 - - 3291 - 2.50 0.051 2282 572.0 437.5 16.95 0.207 1308 -7.9 0.106 - - - - - - 14.39 14.26 14.06
23166 end climb: SURFACE_DEPTH_REACHED
23166 begin surface coast
23194 end surface coast: CONTROL_FINISHED_OK
23194 begin surface
SM -1.10 - - - - -8.40 9.00 0.050 153 17.0 0.90 0.096 2767 -7207.8 500.89 30.02 0.159 1059 35.3 0.025 - - - - - -