SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 809 * Raw log
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• Previous call tries 2 • 273.96 of 350.00 AH used of 24V (21.73% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -71.0 deg, depth -4.27 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
14 - - - 98 done -0.95 - - 110 - - - 2783 - -97.3 -79.10 - 3437 - - - - - - - - 12.97 11.73 12.97
103 2.2 -11.0 3 126 roll -0.95 14.35 0.377 2575 171.8 2.35 0.136 3832 446.4 -97.3 - - 3439 - - - - - - - - 12.45 12.59 12.75
156 24.8 -28.9 11 161 done -0.53 0.65 0.245 2720 223.1 2.03 0.048 2722 -546.8 -97.3 - - 3439 - - - - - - - - 12.46 12.83 12.72
492 59.0 -6.2 26 497 roll -0.61 - - 2711 - 2.58 0.169 3825 427.5 -97.3 - - 3441 - - - - - - - - 13.19 12.56 13.19
527 61.5 -7.6 31 532 done -0.70 0.08 0.122 2646 -812.5 1.95 0.063 2814 -518.5 -97.3 - - 3440 - - - - - - - - 12.84 12.88 12.91
856 86.3 -7.6 45 861 roll -0.70 - - 2646 - 2.85 0.040 1359 -510.5 -97.3 - - 3441 - - - - - - - - 13.28 12.84 13.28
960 94.3 -8.1 60 967 done -0.70 0.12 0.219 2667 175.0 3.10 0.106 2773 456.1 -97.3 - - 3441 - - - - - - - - 12.64 12.66 12.87
1276 115.8 -6.7 68 1281 roll -0.70 - - 2658 - 2.45 0.181 3825 429.4 -97.3 - - 3440 - - - - - - - - 13.37 12.65 13.37
1388 123.9 -6.2 84 1393 done -0.70 - - 2658 - 2.05 0.062 2761 -519.0 -97.3 - - 3440 - - - - - - - - 13.01 12.96 13.02
1724 149.7 -8.0 97 1730 roll -0.70 - - 2658 - 2.75 0.041 1357 -510.5 -97.3 - - 3438 - - - - - - - - 13.47 12.93 13.47
1836 158.1 -6.4 113 1841 done -0.70 - - 2649 - 3.10 0.105 2770 455.8 -97.3 - - 3437 - - - - - - - - 12.98 12.72 13.02
2172 181.1 -6.6 126 2177 roll -0.70 - - 2640 - 2.42 0.173 3824 435.5 -97.3 - - 3435 - - - - - - - - 13.51 12.71 13.51
2221 185.1 -8.9 133 2228 done -0.70 0.10 0.211 2666 260.0 2.03 0.059 2762 -523.2 -97.3 - - 3435 - - - - - - - - 12.78 13.08 12.97
2564 207.5 -6.4 140 2569 roll -0.78 - - 2666 - 2.75 0.040 1358 -510.5 -97.3 - - 3433 - - - - - - - - 13.48 12.98 13.48
2669 215.9 -7.0 155 2675 done -0.89 0.08 0.132 2600 -825.0 3.05 0.097 2765 461.3 -97.3 - - 3432 - - - - - - - - 12.97 12.77 13.07
3012 249.3 -9.6 162 3017 roll -0.89 - - 2599 - 2.80 0.041 1355 -503.6 -97.3 - - 3430 - - - - - - - - 13.57 12.99 13.57
3046 253.3 -11.1 167 3051 done -0.89 - - 2589 - 3.05 0.099 2763 461.6 -97.3 - - 3429 - - - - - - - - 13.06 12.81 13.11
3404 289.4 -9.9 176 3405 done -0.89 - - 2589 - - - 2763 - -97.3 - - 3427 - - - - - - - - 13.58 13.58 13.58
3740 320.2 -8.8 182 3744 roll -0.89 - - 2588 - 2.78 0.041 1363 -503.6 -97.3 - - 3426 - - - - - - - - 13.54 13.02 13.54
3796 324.8 -8.3 190 3801 done -0.89 0.12 0.223 2609 175.0 3.05 0.102 2760 458.0 -97.3 - - 3425 - - - - - - - - 12.76 12.81 13.02
4132 352.1 -7.8 203 4136 roll -0.89 - - 2608 - 2.78 0.041 1363 -502.5 -97.3 - - 3423 - - - - - - - - 13.55 13.03 13.55
4166 357.0 -11.4 208 4171 done -0.89 - - 2599 - 3.05 0.104 2764 459.3 -97.3 - - 3423 - - - - - - - - 13.09 12.83 13.14
4524 388.8 -9.4 217 4530 roll -0.89 - - 2598 - 2.80 0.041 1359 -501.8 -97.3 - - 3422 - - - - - - - - 13.55 13.04 13.56
4566 393.4 -10.1 223 4570 done -0.89 - - 2589 - 3.05 0.106 2762 460.0 -97.3 - - 3422 - - - - - - - - 13.09 12.81 13.14
4916 428.5 -9.9 231 4917 done -0.89 - - 2588 - - - 2763 - -97.3 - - 3420 - - - - - - - - 13.56 13.56 13.56
5252 463.4 -10.6 237 5252 done -0.89 - - 2588 - - - 2762 - -97.3 - - 3418 - - - - - - - - 13.57 13.57 13.57
5588 496.7 -9.7 243 5592 roll -0.89 - - 2587 - 2.80 0.042 1360 -500.7 -97.3 - - 3416 - - - - - - - - 13.62 13.00 13.63
5665 505.2 -11.8 254 5670 done -0.89 0.12 0.223 2607 166.7 3.05 0.105 2753 456.7 -97.3 - - 3418 - - - - - - - - 12.78 12.79 13.03
5980 532.5 -8.6 264 5985 roll -0.89 - - 2608 - 2.78 0.042 1363 -500.0 -97.3 - - 3415 - - - - - - - - 13.61 13.03 13.63
6043 538.0 -8.1 273 6048 done -0.89 - - 2598 - 3.03 0.106 2750 457.8 -97.3 - - 3415 - - - - - - - - 13.07 12.79 13.13
6372 568.6 -9.5 285 6373 done -0.89 - - 2598 - - - 2750 - -97.3 - - 3413 - - - - - - - - 13.57 13.57 13.57
6708 599.5 -9.4 291 6708 done -0.89 - - 2598 - - - 2750 - -97.3 - - 3412 - - - - - - - - 13.63 13.63 13.63
7044 627.5 -8.1 297 7049 roll -0.89 - - 2597 - 2.78 0.043 1362 -499.3 -97.3 - - 3410 - - - - - - - - 13.64 13.03 13.64
7100 631.7 -8.2 305 7106 done -0.89 - - 2588 - 3.08 0.107 2753 451.6 -97.3 - - 3410 - - - - - - - - 13.09 12.78 13.14
7436 656.6 -7.4 318 7441 roll -0.89 - - 2586 - 2.80 0.042 1357 -498.6 -97.3 - - 3409 - - - - - - - - 13.58 13.02 13.58
7471 659.9 -8.3 323 7476 done -0.89 0.12 0.226 2608 183.3 3.05 0.107 2746 455.4 -97.3 - - 3409 - - - - - - - - 12.79 12.80 13.05
7828 687.3 -7.6 332 7833 roll -0.89 - - 2608 - 2.80 0.044 1361 -494.6 -97.3 - - 3407 - - - - - - - - 13.64 13.02 13.64
7905 693.7 -8.6 343 7910 done -0.89 - - 2598 - 3.05 0.107 2742 452.8 -97.3 - - 3408 - - - - - - - - 13.08 12.78 13.13
8220 719.9 -8.2 353 8221 done -0.89 - - 2598 - - - 2741 - -97.3 - - 3406 - - - - - - - - 13.63 13.63 13.63
8556 750.3 -9.0 359 8560 roll -0.89 - - 2597 - 2.78 0.042 1363 -495.7 -97.3 - - 3405 - - - - - - - - 13.59 13.03 13.59
8612 755.5 -9.4 367 8616 done -0.89 - - 2588 - 3.05 0.107 2738 450.8 -97.3 - - 3405 - - - - - - - - 13.09 12.78 13.14
8948 785.5 -8.7 380 8952 roll -0.89 - - 2587 - 2.78 0.043 1359 -496.0 -97.3 - - 3404 - - - - - - - - 13.58 13.02 13.58
8976 787.7 -7.9 384 8981 done -0.89 0.12 0.225 2608 175.0 3.03 0.109 2740 455.8 -97.3 - - 3404 - - - - - - - - 12.81 12.82 13.07
9167 end dive: TARGET_DEPTH_EXCEEDED
9167 begin apogee
9178 801.9 -7.0 391 9292 roll -0.23 0.82 0.177 2821 259.8 0.08 0.217 2250 -6125.0 - 111.47 1.880 3050 -3.2 0.322 - - - - - - 12.86 12.26 11.55
9293 end apogee: CONTROL_FINISHED_OK
9293 begin climb
9298 805.6 - 393 9428 roll 0.95 1.30 0.086 3191 284.6 2.92 0.050 863 -475.0 97.3 117.93 1.828 2661 -3.3 0.345 - - - - - - 12.37 12.40 11.31
9540 798.6 5.1 429 9602 done 0.89 - - 3190 - 3.03 0.070 2253 458.7 143.2 56.38 1.808 2479 -3.2 0.339 - - - - - - 12.40 12.21 11.31
9947 761.7 9.2 445 9952 roll 0.77 0.12 0.210 3156 -283.3 3.38 0.152 3665 417.8 143.2 - - 2461 - - - - - - - - 12.17 12.17 12.31
10002 757.3 8.5 453 10007 done 0.66 0.20 0.216 3119 -185.0 2.85 0.049 2262 -492.3 143.2 - - 2461 - - - - - - - - 12.16 12.44 12.42
10338 735.8 6.1 466 10373 roll 0.69 - - 3129 - 2.92 0.053 859 -480.5 171.1 23.90 1.791 2370 -3.8 0.371 - - - - 1 - 12.89 12.28 11.41
10401 732.5 5.9 475 10449 done 0.73 - - 3128 - 3.00 0.067 2249 463.3 202.7 37.45 2.191 2245 -3.3 0.265 - - - - 1 - 12.44 12.27 11.12
10786 704.7 7.4 488 10798 roll 0.74 - - 3128 - 3.33 0.151 3664 424.9 206.3 4.80 1.538 2233 -2.5 0.272 - - - - - - 12.71 12.33 11.36
10870 697.2 9.1 500 10877 done 0.74 - - 3139 - 2.85 0.046 2256 -494.0 206.3 2.12 0.362 2229 -1.9 0.863 - - - - - - 12.50 12.44 11.22
11227 667.0 8.6 509 11234 roll 0.74 - - 3149 - 3.00 0.055 850 -468.7 206.3 2.00 0.197 2228 - - - - - - - - 12.88 12.49 10.58
11262 664.4 8.6 514 11268 done 0.74 - - 3150 - 3.00 0.067 2256 468.7 206.3 - - 2235 - - - - - - - - 12.55 12.34 12.58
11612 630.9 9.6 522 11618 roll 0.74 - - 3149 - 3.33 0.146 3661 421.9 206.3 1.80 0.201 2227 -4.4 3.312 - - - - - - 12.95 12.38 12.35
11654 626.7 11.5 528 11659 done 0.74 - - 3159 - 2.83 0.044 2244 -500.7 206.3 - - 2234 - - - - - - - - 12.66 12.59 12.67
12004 592.1 9.8 536 12010 roll 0.74 - - 3170 - 2.95 0.055 853 -471.5 206.3 1.62 0.202 2227 -4.3 3.007 - - - - - - 13.00 12.57 12.42
12046 588.2 9.8 542 12053 done 0.74 0.12 0.195 3140 -250.0 2.95 0.063 2248 472.9 206.3 - - 2233 - - - - - - - - 12.37 12.45 12.58
12389 558.7 8.3 549 12394 roll 0.74 - - 3139 - 3.28 0.138 3666 432.3 206.3 - - 2236 - - - - - - - - 13.02 12.36 13.02
12431 554.5 10.9 555 12436 done 0.74 - - 3149 - 2.83 0.045 2242 -503.2 206.3 - - 2236 - - - - - - - - 12.72 12.65 12.74
12781 524.7 8.3 563 12788 roll 0.74 - - 3149 - 3.35 0.136 3665 424.8 206.3 1.55 0.203 2228 -5.2 3.167 - - - - - - 13.03 12.44 12.44
12816 522.0 8.2 568 12821 done 0.74 - - 3160 - 2.80 0.043 2252 -504.6 206.3 - - 2235 - - - - - - - - 12.72 12.67 12.76
13166 491.5 8.8 576 13171 roll 0.74 - - 3171 - 2.90 0.055 852 -482.8 206.3 - - 2235 - - - - - - - - 13.03 12.55 13.03
13222 487.0 6.7 584 13255 done 0.76 - - 3171 - 2.95 0.060 2260 477.3 223.0 21.02 1.550 2161 -3.5 0.263 - - - - 1 - 12.65 12.45 11.71
13614 454.0 8.8 598 13620 roll 0.76 - - 3170 - 3.20 0.135 3657 436.6 223.0 - - 2169 - - - - - - - - 12.97 12.37 12.96
13642 451.5 9.2 602 13648 done 0.76 0.12 0.220 3151 -158.3 2.80 0.043 2245 -504.3 223.0 - - 2169 - - - - - - - - 12.36 12.64 12.59
14006 420.3 8.3 612 14011 roll 0.76 - - 3160 - 2.83 0.054 852 -492.2 223.0 - - 2169 - - - - - - - - 13.02 12.52 13.00
14034 417.7 11.1 616 14039 done 0.76 - - 3161 - 2.92 0.059 2248 478.1 223.0 - - 2169 - - - - - - - - 12.66 12.47 12.69
14399 381.9 9.8 626 14400 done 0.76 - - 3160 - - - 2248 - 223.0 - - 2168 - - - - - - - - 13.01 13.01 13.01
14734 351.3 8.1 632 14739 roll 0.76 - - 3171 - 2.92 0.056 850 -478.8 223.0 - - 2169 - - - - - - - - 13.00 12.54 13.00
14762 348.9 7.7 636 14767 done 0.76 - - 3171 - 2.95 0.062 2255 476.3 223.0 - - 2169 - - - - - - - - 12.66 12.45 12.69
15126 315.7 9.5 646 15127 done 0.76 - - 3170 - - - 2257 - 223.0 - - 2169 - - - - - - - - 13.05 13.05 13.05
15462 286.9 8.2 652 15463 done 0.76 - - 3171 - - - 2257 - 223.0 - - 2169 - - - - - - - - 13.01 13.01 13.01
15798 255.0 9.4 658 15805 roll 0.76 - - 3180 - 2.90 0.054 851 -484.8 223.0 1.60 0.201 2161 -5.0 1.506 - - - - - - 13.07 12.57 12.44
15840 253.1 8.3 664 15845 done 0.76 0.12 0.191 3149 -258.3 2.95 0.065 2250 474.2 223.0 - - 2169 - - - - - - - - 12.43 12.47 12.63
16190 223.4 8.6 672 16195 roll 0.76 - - 3148 - 3.22 0.134 3660 437.9 223.0 - - 2170 - - - - - - - - 13.07 12.31 13.08
16232 219.6 8.4 678 16238 done 0.76 - - 3158 - 2.80 0.045 2245 -505.4 223.0 - - 2170 - - - - - - - - 12.77 12.70 12.78
16582 188.7 8.9 686 16588 roll 0.76 - - 3169 - 2.90 0.057 850 -481.0 223.0 - - 2171 - - - - - - - - 13.03 12.55 13.03
16631 185.2 8.2 693 16638 done 0.76 - - 3169 - 2.92 0.063 2246 478.1 223.0 1.50 0.201 2162 -6.0 1.313 - - - - - - 12.64 12.43 12.46
16974 154.7 9.0 700 16981 roll 0.76 - - 3168 - 3.25 0.139 3666 436.9 223.0 1.77 0.194 2161 - - - - - - - - 13.04 12.43 12.40
17009 151.7 9.0 705 17014 done 0.76 0.12 0.217 3149 -158.3 2.80 0.045 2243 -508.2 223.0 - - 2168 - - - - - - - - 12.41 12.72 12.64
17360 125.3 7.3 713 17379 roll 0.77 - - 3159 - 2.90 0.055 851 -480.0 229.5 14.40 1.159 2130 -2.6 0.068 - - - - - - 13.09 12.71 12.05
17422 120.4 7.9 722 17428 done 0.77 - - 3160 - 2.92 0.064 2250 479.1 229.5 - - 2123 - - - - - - - - 12.71 12.52 12.75
17745 97.6 7.2 733 17756 roll 0.77 - - 3159 - 3.30 0.140 3669 430.0 237.2 2.75 0.202 2109 -5.1 0.584 - - - - - - 13.00 12.46 12.33
17786 94.2 8.7 739 17793 done 0.77 - - 3170 - 2.83 0.047 2240 -504.9 237.2 2.15 0.205 2104 -2.3 0.254 - - - - - - 12.74 12.65 12.38
18101 72.0 6.1 751 18130 roll 0.81 - - 3179 - 2.83 0.054 853 -490.1 266.2 21.85 0.379 1994 -5.0 0.227 - - - - - - 13.00 12.59 12.33
18186 66.3 6.1 763 18215 done 0.85 - - 3179 - 2.95 0.066 2252 474.2 294.7 21.25 0.365 1875 -5.6 0.242 - - - - - - 12.69 12.48 12.34
18527 46.3 5.2 778 18563 roll 0.98 0.05 0.177 3224 900.0 3.22 0.145 3664 438.5 338.8 30.75 0.316 1701 -5.7 0.197 - - - - - - 12.67 12.48 12.37
18669 36.2 8.3 799 18674 done 0.98 - - 3234 - 2.78 0.047 2254 -507.2 338.8 - - 1706 - - - - - - - - 12.72 12.65 12.74
18992 22.6 3.6 812 19047 roll 1.19 0.08 0.123 3306 900.0 2.92 0.057 860 -477.4 413.8 49.58 0.243 1402 -6.1 0.135 - - - - - - 12.70 12.62 12.45
19069 19.4 6.6 823 19087 done 1.21 - - 3306 - 2.97 0.072 2266 473.4 433.5 13.82 0.229 1324 -5.6 0.114 - - - - - - 12.68 12.47 12.43
19295 end climb: SURFACE_DEPTH_REACHED
19295 begin surface coast
19323 end surface coast: CONTROL_FINISHED_OK
19323 begin surface
SM -6.33 - - - - -8.40 10.70 0.077 197 18.4 1.17 0.132 2770 -5541.9 500.14 40.17 0.146 1057 26.3 0.117 - - - - - -