SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 471 * Raw log
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• Previous call tries 1 • 167.16 of 350.00 AH used of 24V (52.24% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -67.8 deg, depth -4.20 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 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 - - - 100 done -0.93 - - 105 - - - 2781 - -107.1 -80.12 - 3478 - - - - - - - - 14.66 13.09 14.65
104 3.6 -12.5 3 121 roll -0.93 11.88 0.383 2590 209.2 2.40 0.034 1362 -591.2 -107.1 - - 3479 - - - - - - - - 13.97 14.34 14.23
129 18.4 -51.9 7 135 done 0.23 1.35 0.213 2951 267.4 2.58 0.081 2762 542.6 -107.1 - - 3480 - - - - - - - - 14.13 14.30 14.38
465 40.2 -7.3 22 471 roll -0.24 0.30 0.106 2834 -390.0 2.40 0.041 1359 -584.6 -107.1 - - 3481 - - - - - - - - 14.36 14.45 14.45
656 51.0 -6.1 49 663 done -0.66 0.38 0.076 2686 -389.5 2.50 0.069 2768 563.6 -107.1 - - 3481 - - - - - - - - 14.48 14.38 14.56
969 71.4 -7.1 61 974 roll -0.66 - - 2686 - 2.40 0.043 1370 -582.5 -107.1 - - 3482 - - - - - - - - 14.89 14.49 14.89
1066 78.7 -7.4 75 1072 done -0.74 - - 2677 - 2.53 0.067 2788 560.5 -107.1 - - 3482 - - - - - - - - 14.57 14.39 14.59
1417 105.4 -6.9 88 1418 done -0.74 - - 2677 - - - 2789 - -107.1 - - 3482 - - - - - - - - 14.91 14.91 14.91
1753 129.1 -6.9 94 1759 roll -0.82 0.08 0.144 2601 -950.0 2.45 0.041 1366 -580.8 -107.1 - - 3480 - - - - - - - - 14.63 14.52 14.65
1787 131.9 -8.7 99 1793 done -0.82 0.12 0.216 2628 225.0 2.53 0.067 2760 551.0 -107.1 - - 3480 - - - - - - - - 14.15 14.35 14.32
2145 164.9 -9.4 108 2150 roll -0.82 - - 2628 - 2.40 0.043 1370 -579.2 -107.1 - - 3478 - - - - - - - - 14.94 14.51 14.94
2186 169.0 -9.6 114 2193 done -0.82 - - 2617 - 2.50 0.067 2752 552.8 -107.1 - - 3477 - - - - - - - - 14.47 14.37 14.51
2537 204.3 -10.2 122 2538 done -0.82 - - 2618 - - - 2752 - -107.1 - - 3476 - - - - - - - - 14.93 14.93 14.95
2873 239.4 -10.3 128 2878 roll -0.82 - - 2610 - 2.03 0.111 3832 532.0 -107.1 - - 3473 - - - - - - - - 14.91 14.32 14.91
2914 243.6 -10.7 134 2921 done -0.82 - - 2610 - 1.85 0.042 2727 -597.3 -107.1 - - 3476 - - - - - - - - 14.62 14.62 14.65
3265 277.8 -9.5 142 3271 roll -0.82 - - 2609 - 2.28 0.042 1391 -586.0 -107.1 - - 3472 - - - - - - - - 14.94 14.52 14.94
3285 279.8 -8.9 145 3291 done -0.82 0.10 0.219 2629 200.0 2.47 0.067 2757 553.0 -107.1 - - 3474 - - - - - - - - 14.18 14.36 14.35
3601 307.0 -8.6 155 3602 done -0.82 - - 2630 - - - 2757 - -107.1 - - 3469 - - - - - - - - 14.94 14.94 14.94
3937 334.4 -8.2 161 3938 done -0.82 - - 2629 - - - 2756 - -107.1 - - 3468 - - - - - - - - 14.91 14.91 14.91
4273 363.1 -8.7 167 4278 roll -0.82 - - 2629 - 2.38 0.044 1388 -574.8 -107.1 - - 3465 - - - - - - - - 14.92 14.50 14.92
4307 364.9 -4.8 172 4313 done -0.82 - - 2620 - 2.50 0.067 2755 546.8 -107.1 - - 3465 - - - - - - - - 14.40 14.29 14.44
4665 406.6 -9.9 181 4670 roll -0.82 - - 2611 - 2.08 0.113 3829 516.3 -107.1 - - 3464 - - - - - - - - 14.91 14.23 14.92
4734 413.6 -10.2 191 4740 done -0.82 - - 2610 - 1.80 0.044 2779 -583.3 -107.1 - - 3463 - - - - - - - - 14.59 14.57 14.61
5057 444.9 -9.7 202 5063 roll -0.82 - - 2610 - 2.42 0.044 1375 -580.2 -107.1 - - 3462 - - - - - - - - 14.90 14.47 14.90
5161 454.3 -8.9 217 5168 done -0.82 0.10 0.223 2630 200.0 2.53 0.067 2752 544.3 -107.1 - - 3462 - - - - - - - - 14.10 14.29 14.28
5505 481.5 -7.9 224 5510 roll -0.82 - - 2621 - 2.05 0.114 3837 529.3 -107.1 - - 3460 - - - - - - - - 14.92 14.23 14.93
5553 485.3 -7.9 231 5560 done -0.82 - - 2622 - 1.88 0.044 2746 -580.3 -107.1 - - 3460 - - - - - - - - 14.57 14.54 14.58
5897 507.7 -6.3 238 5898 done -0.82 - - 2621 - - - 2748 - -107.1 - - 3459 - - - - - - - - 14.92 14.92 14.92
6233 536.7 -8.1 244 6238 roll -0.82 - - 2622 - 2.38 0.044 1375 -576.9 -107.1 - - 3457 - - - - - - - - 14.90 14.45 14.91
6267 539.0 -6.1 249 6273 done -0.82 - - 2613 - 2.53 0.067 2753 544.7 -107.1 - - 3457 - - - - - - - - 14.33 14.23 14.38
6625 571.2 -9.0 258 6631 roll -0.82 - - 2604 - 2.03 0.113 3826 528.6 -107.1 - - 3456 - - - - - - - - 14.90 14.23 14.90
6666 574.6 -9.0 264 6672 done -0.82 0.08 0.212 2626 275.0 1.85 0.045 2763 -574.6 -107.1 - - 3456 - - - - - - - - 14.19 14.53 14.33
7017 603.4 -9.9 272 7022 roll -0.82 - - 2627 - 2.42 0.044 1370 -575.6 -107.1 - - 3454 - - - - - - - - 14.92 14.38 14.92
7065 603.2 -0.2 279 7072 done -0.82 - - 2617 - 2.53 0.067 2749 545.1 -107.1 - - 3454 - - - - - - - - 14.35 14.26 14.40
7409 638.3 -7.6 286 7410 done -0.82 - - 2617 - - - 2754 - -107.1 - - 3453 - - - - - - - - 14.90 14.90 14.90
7745 664.6 -7.9 292 7746 done -0.82 - - 2617 - - - 2751 - -107.1 - - 3451 - - - - - - - - 14.90 14.90 14.90
8081 692.8 -8.4 298 8087 roll -0.82 - - 2617 - 2.45 0.044 1359 -568.2 -107.1 - - 3450 - - - - - - - - 14.92 14.40 14.92
8108 695.5 -9.5 302 8115 done -0.82 - - 2608 - 2.58 0.067 2752 539.9 -107.1 - - 3449 - - - - - - - - 14.33 14.24 14.38
8473 729.2 -9.3 312 8478 roll -0.82 - - 2607 - 2.42 0.044 1368 -571.9 -107.1 - - 3448 - - - - - - - - 14.89 14.40 14.89
8500 731.9 -10.0 316 8506 done -0.82 0.10 0.227 2628 210.0 2.55 0.067 2751 542.4 -107.1 - - 3448 - - - - - - - - 13.99 14.22 14.16
8865 762.0 -8.2 326 8871 roll -0.82 - - 2620 - 2.05 0.114 3834 528.3 -107.1 - - 3448 - - - - - - - - 14.84 14.14 14.85
8921 766.8 -8.8 334 8926 done -0.82 - - 2619 - 1.90 0.045 2745 -573.2 -107.1 - - 3448 - - - - - - - - 14.47 14.43 14.49
9257 793.9 -8.1 347 9262 roll -0.82 - - 2619 - 2.40 0.044 1369 -573.3 -107.1 - - 3447 - - - - - - - - 14.91 14.40 14.91
9326 799.4 -7.7 357 9332 done -0.82 - - 2610 - 2.55 0.067 2742 538.4 -107.1 - - 3447 - - - - - - - - 14.29 14.20 14.34
9337 end dive: TARGET_DEPTH_EXCEEDED
9337 begin apogee
9345 800.6 -8.0 359 9452 roll -0.23 0.73 0.172 2824 293.2 - - 2229 - - 95.35 2.671 3059 -4.1 0.258 - - - - 1 - 14.08 13.87 12.53
9454 end apogee: CONTROL_FINISHED_OK
9454 begin climb
9457 803.7 - 361 9581 roll 0.93 1.10 0.088 3184 327.3 2.53 0.057 842 -548.2 107.1 105.30 2.733 2626 -4.1 0.256 - - - - 1 - 13.95 13.97 12.40
9665 798.6 6.8 391 9698 done 0.83 - - 3184 - 2.58 0.050 2266 551.9 124.9 27.73 1.867 2547 -2.8 0.258 - - - - - - 14.19 14.12 13.12
10018 768.1 8.8 406 10024 roll 0.70 0.17 0.232 3140 -258.8 2.47 0.057 844 -575.7 124.9 - - 2533 - - - - - - - - 14.16 14.36 14.33
10051 765.2 7.6 411 10057 done 0.71 - - 3139 - 2.50 0.051 2257 565.2 128.2 - - 2533 - - - - - - - - 14.43 14.37 14.47
10409 739.5 7.2 420 10429 roll 0.72 - - 3139 - 2.60 0.101 3647 534.6 139.0 12.45 1.985 2490 -3.5 0.273 - - - - - - 14.81 14.39 13.38
10530 729.9 8.3 437 10535 done 0.62 0.17 0.227 3101 -223.5 2.42 0.041 2230 -585.5 139.0 - - 2487 - - - - - - - - 14.21 14.48 14.47
10857 709.8 5.9 449 10900 done 0.67 - - 3101 - - - 2227 - 174.9 41.70 1.789 2352 -3.2 0.272 - - - - - - 14.82 14.25 13.31
11193 687.2 6.9 455 11219 roll 0.69 - - 3101 - 2.78 0.101 3658 514.7 191.7 17.33 1.880 2277 -4.3 0.335 - - - - - - 14.73 14.32 13.38
11241 683.6 7.2 462 11250 done 0.70 - - 3110 - 2.47 0.041 2252 -569.2 202.4 3.95 1.504 2248 -7.3 0.707 - - - - - - 14.41 14.38 12.85
11585 657.7 7.6 469 11590 done 0.71 - - 3110 - - - 2252 - 205.2 3.65 1.423 2234 -3.8 0.375 - - - - - - 14.78 14.32 12.94
11921 631.8 7.7 475 11927 roll 0.71 - - 3110 - 2.72 0.101 3652 514.7 205.2 1.95 0.244 2238 2.1 -1.125 - - - - - - 14.83 14.31 13.90
11962 628.2 8.7 481 11969 done 0.71 - - 3120 - 2.45 0.041 2257 -569.4 205.2 1.90 0.231 2233 -2.6 1.516 - - - - - - 14.50 14.46 13.90
12306 601.4 7.7 488 12309 done 0.71 - - 3119 - - - 2256 - 205.4 1.62 0.241 2233 - - - - - - - - 14.85 14.38 14.06
12642 574.9 7.9 494 12649 roll 0.71 - - 3119 - 2.72 0.102 3650 512.5 205.4 1.98 0.246 2234 - - - - - - - - 14.87 14.28 13.81
12698 570.0 8.8 502 12704 done 0.71 - - 3129 - 2.42 0.041 2248 -579.3 205.4 1.70 0.254 2230 -2.4 1.118 - - - - - - 14.59 14.52 13.91
13034 543.7 7.8 515 13037 done 0.71 - - 3129 - - - 2245 - 205.4 1.85 0.244 2229 - - - - - - - - 14.85 14.31 13.93
13370 517.7 7.7 521 13376 roll 0.71 - - 3140 - 2.53 0.062 856 -549.0 206.0 2.40 0.689 2231 - - - - - - - - 14.85 14.40 13.03
13404 514.9 8.0 526 13411 done 0.71 - - 3140 - 2.47 0.054 2254 566.0 206.0 1.45 0.251 2230 - - - - - - - - 14.47 14.40 13.95
13755 485.7 8.5 534 13761 roll 0.71 - - 3139 - 2.62 0.102 3650 532.8 206.0 1.52 0.244 2231 - - - - - - - - 14.88 14.19 13.98
13796 481.6 10.1 540 13802 done 0.71 - - 3150 - 2.42 0.040 2259 -574.8 206.0 1.45 0.233 2229 - - - - - - - - 14.49 14.44 13.92
14147 449.9 9.0 548 14152 roll 0.71 - - 3150 - 2.67 0.102 3658 524.0 206.0 1.65 0.243 2231 - - - - - - - - 14.85 14.14 13.93
14188 445.8 10.0 554 14196 done 0.71 0.10 0.213 3132 -180.0 2.47 0.041 2250 -570.0 206.0 1.80 0.226 2230 - - - - - - - - 14.12 14.44 13.81
14539 418.4 7.6 562 14550 roll 0.71 - - 3142 - 2.53 0.063 855 -551.4 209.4 4.05 1.482 2223 -1.7 0.103 - - - - - - 14.88 14.39 13.11
14601 413.5 7.8 571 14607 done 0.71 - - 3142 - 2.47 0.054 2250 564.8 209.4 2.22 0.534 2216 -3.2 0.517 - - - - - - 14.47 14.40 12.93
14931 387.6 8.0 583 14937 roll 0.71 - - 3141 - 2.72 0.103 3658 517.6 209.4 1.92 0.247 2220 2.1 -0.692 - - - - - - 14.85 14.25 13.76
14986 382.5 9.4 591 14992 done 0.71 - - 3150 - 2.42 0.039 2262 -576.9 209.4 2.12 0.411 2216 -1.9 0.372 - - - - - - 14.47 14.42 12.85
15316 354.1 8.7 603 15322 roll 0.71 - - 3163 - 2.58 0.062 850 -547.3 209.4 1.98 0.252 2220 2.0 -0.601 - - - - - - 14.84 14.24 13.67
15350 351.0 8.9 608 15356 done 0.71 0.10 0.200 3133 -300.0 2.50 0.054 2263 565.2 209.4 1.92 0.240 2216 -2.1 0.645 - - - - - - 14.11 14.33 13.71
15701 323.0 7.9 616 15707 roll 0.71 - - 3132 - 2.67 0.103 3652 520.2 209.4 2.00 0.252 2219 1.5 -0.407 - - - - - - 14.84 14.24 11.86
15750 318.8 8.9 623 15755 done 0.71 - - 3142 - 2.40 0.040 2247 -585.4 209.4 1.42 0.245 2218 - - - - - - - - 14.57 14.49 14.05
16086 293.4 7.4 636 16106 roll 0.72 - - 3153 - 2.42 0.062 859 -573.6 216.3 15.25 1.502 2180 -2.5 0.103 - - - - - - 14.88 14.23 13.52
16134 289.9 7.2 643 16142 done 0.73 - - 3153 - 2.47 0.054 2259 566.8 227.0 4.47 1.451 2146 -7.6 0.322 - - - - - - 14.47 14.40 13.03
16471 262.4 8.4 656 16477 roll 0.73 - - 3153 - 2.60 0.101 3652 535.8 227.0 1.83 0.240 2148 - - - - - - - - 14.80 14.12 13.84
16498 259.8 9.5 660 16505 done 0.73 0.08 0.222 3141 -150.0 2.42 0.039 2267 -572.3 227.0 1.60 0.226 2145 -1.9 0.457 - - - - - - 14.13 14.41 13.86
16864 226.8 9.2 670 16870 roll 0.73 - - 3152 - 2.58 0.061 849 -549.6 227.0 1.80 0.242 2147 - - - - - - - - 14.82 14.28 13.82
16890 224.2 9.3 674 16897 done 0.73 - - 3151 - 2.50 0.053 2258 563.6 227.0 1.40 0.230 2148 - - - - - - - - 14.35 14.26 13.93
17255 191.2 9.0 684 17261 roll 0.73 - - 3151 - 2.70 0.101 3659 518.9 227.0 1.77 0.240 2150 - - - - - - - - 14.87 14.21 13.78
17317 185.0 9.9 693 17324 done 0.73 - - 3162 - 2.45 0.039 2256 -572.7 227.0 1.83 0.224 2145 -2.7 0.478 - - - - - - 14.46 14.41 13.77
17640 156.2 8.9 704 17646 roll 0.73 - - 3172 - 2.55 0.062 856 -549.0 227.0 1.85 0.244 2148 1.6 -0.220 - - - - - - 14.85 14.17 13.73
17702 150.5 9.0 713 17709 done 0.73 0.10 0.199 3141 -310.0 2.50 0.053 2266 564.0 227.0 1.80 0.222 2147 - - - - - - - - 14.09 14.31 13.80
18032 124.4 7.8 725 18035 done 0.73 - - 3142 - - - 2266 - 227.0 1.95 0.244 2145 - - - - - - - - 14.85 14.16 13.67
18369 100.4 7.3 731 18381 roll 0.74 - - 3141 - 2.60 0.101 3658 535.4 235.9 6.88 0.430 2112 -4.8 0.237 - - - - - - 14.85 14.26 13.72
18444 93.0 9.9 742 18453 done 0.74 - - 3152 - 2.42 0.038 2257 -578.9 235.9 1.85 0.223 2112 - - - - - - - - 14.47 14.41 13.80
18760 66.8 7.5 754 18772 roll 0.75 - - 3160 - 2.53 0.061 866 -549.8 240.7 4.32 0.326 2094 -4.2 0.181 - - - - - - 14.86 14.27 13.74
18845 60.8 6.8 766 18863 done 0.77 - - 3161 - 2.42 0.051 2263 577.3 258.7 11.23 0.346 2018 -6.8 0.252 - - - - - - 14.52 14.38 13.92
19183 38.8 6.5 781 19207 roll 0.88 - - 3161 - 2.65 0.101 3651 523.8 284.1 14.73 0.293 1919 -6.7 0.189 - - - - - - 14.80 14.29 13.97
19264 33.6 7.0 793 19278 done 0.90 - - 3171 - 2.38 0.038 2254 -587.0 297.8 8.45 0.276 1862 -6.7 0.174 - - - - - - 14.56 14.49 13.96
19603 18.1 3.7 808 19650 roll 1.14 0.17 0.080 3290 700.0 2.47 0.062 868 -561.1 377.8 41.17 0.232 1547 -7.7 0.126 - - - - - - 14.47 14.33 14.09
19789 7.2 7.4 835 19797 done 1.14 - - 3290 - 2.45 0.050 2260 568.2 383.6 3.17 0.200 1519 -8.8 0.067 - - - - - - 14.36 14.28 14.03
19822 end climb: SURFACE_DEPTH_REACHED
19822 begin surface coast
19850 end surface coast: CONTROL_FINISHED_OK
19850 begin surface
SM -5.67 - - - - -8.38 9.25 0.080 190 20.5 0.93 0.085 2764 -6978.5 500.14 56.35 0.168 1056 18.7 0.065 - - - - - -