SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 323 * Raw log
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• Previous call tries 1 • 118.77 of 350.00 AH used of 24V (66.07% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -72.3 deg, depth -3.50 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 34 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 - - 180 - - - 2767 - -107.1 -76.75 - 3478 - - - - - - - - 14.64 12.66 14.64
95 -2.2 -4.0 2 115 roll -0.93 11.70 0.389 2585 205.6 1.92 0.084 3824 550.5 -107.1 - - 3479 - - - - - - - - 14.00 14.31 14.38
219 45.7 -23.9 21 227 done -0.58 0.45 0.242 2704 264.4 1.83 0.036 2737 -594.0 -107.1 - - 3479 - - - - - - - - 14.09 14.47 14.27
534 77.0 -5.6 33 541 roll -0.58 - - 2705 - 2.33 0.042 1380 -582.4 -107.1 - - 3479 - - - - - - - - 14.81 14.45 14.82
603 83.2 -6.4 43 610 done -0.58 - - 2695 - 2.45 0.063 2758 562.4 -107.1 - - 3482 - - - - - - - - 14.47 14.35 14.52
926 110.0 -8.7 54 932 roll -0.58 - - 2687 - 2.00 0.107 3822 532.0 -107.1 - - 3482 - - - - - - - - 14.88 14.34 14.88
1163 131.1 -8.4 88 1170 done -0.58 - - 2686 - 1.80 0.040 2753 -593.9 -107.1 - - 3483 - - - - - - - - 14.70 14.65 14.71
1486 155.2 -7.5 99 1492 roll -0.58 - - 2678 - 2.05 0.108 3821 521.0 -107.1 - - 3481 - - - - - - - - 14.90 14.35 14.90
1618 166.1 -8.1 118 1625 done -0.58 0.10 0.215 2709 310.0 1.80 0.041 2760 -589.4 -107.1 - - 3480 - - - - - - - - 14.35 14.62 14.54
1934 187.9 -6.9 128 1940 roll -0.66 - - 2709 - 2.33 0.044 1382 -591.4 -107.1 - - 3478 - - - - - - - - 14.93 14.57 14.93
2046 196.7 -6.6 144 2052 done -0.76 0.08 0.139 2640 -862.5 2.42 0.065 2764 571.1 -107.1 - - 3477 - - - - - - - - 14.57 14.47 14.65
2382 229.1 -10.0 157 2389 roll -0.76 - - 2632 - 2.00 0.109 3820 528.0 -107.1 - - 3475 - - - - - - - - 14.94 14.36 14.94
2423 233.7 -10.9 163 2430 done -0.76 - - 2631 - 1.83 0.041 2745 -587.4 -107.1 - - 3474 - - - - - - - - 14.73 14.68 14.74
2774 270.7 -10.5 171 2775 done -0.76 - - 2632 - - - 2744 - -107.1 - - 3472 - - - - - - - - 14.93 14.93 14.92
3110 305.4 -10.3 177 3116 roll -0.76 - - 2624 - 2.08 0.109 3819 516.8 -107.1 - - 3470 - - - - - - - - 14.94 14.35 14.95
3172 312.1 -10.7 186 3179 done -0.76 0.10 0.236 2652 280.0 1.80 0.041 2760 -588.3 -107.1 - - 3470 - - - - - - - - 14.36 14.69 14.59
3502 340.9 -8.6 198 3508 roll -0.76 - - 2653 - 2.38 0.044 1386 -577.3 -107.1 - - 3467 - - - - - - - - 14.95 14.50 14.95
3558 345.6 -8.5 206 3564 done -0.76 - - 2642 - 2.50 0.066 2763 550.8 -107.1 - - 3467 - - - - - - - - 14.52 14.42 14.56
3894 375.9 -9.1 219 3900 roll -0.76 - - 2635 - 2.03 0.111 3821 521.2 -107.1 - - 3464 - - - - - - - - 14.93 14.33 14.93
3942 380.5 -9.5 226 3950 done -0.76 - - 2635 - 1.83 0.042 2751 -584.7 -107.1 - - 3465 - - - - - - - - 14.72 14.67 14.73
4286 411.6 -9.0 233 4293 roll -0.76 - - 2634 - 2.35 0.044 1389 -579.6 -107.1 - - 3463 - - - - - - - - 14.93 14.51 14.93
4320 414.8 -9.2 238 4327 done -0.76 - - 2625 - 2.47 0.067 2761 555.5 -107.1 - - 3463 - - - - - - - - 14.52 14.43 14.57
4678 448.7 -9.8 247 4679 done -0.76 0.10 0.260 2653 280.0 - - 2762 - -107.1 - - 3461 - - - - - - - - 14.33 14.62 14.56
5014 477.2 -8.3 253 5021 roll -0.76 - - 2645 - 2.03 0.111 3821 521.7 -107.1 - - 3459 - - - - - - - - 14.95 14.31 14.95
5041 479.5 -8.4 257 5049 done -0.76 - - 2645 - 1.83 0.043 2757 -581.4 -107.1 - - 3459 - - - - - - - - 14.71 14.66 14.72
5406 509.9 -8.4 267 5407 done -0.76 - - 2644 - - - 2757 - -107.1 - - 3458 - - - - - - - - 14.95 14.95 14.95
5742 538.7 -8.6 273 5743 done -0.76 - - 2644 - - - 2757 - -107.1 - - 3457 - - - - - - - - 14.93 14.92 14.92
6078 567.9 -8.8 279 6084 roll -0.76 - - 2636 - 2.08 0.111 3816 509.1 -107.1 - - 3454 - - - - - - - - 14.92 14.28 14.93
6119 571.8 -9.3 285 6127 done -0.76 - - 2636 - 1.85 0.044 2753 -574.6 -107.1 - - 3454 - - - - - - - - 14.69 14.63 14.69
6470 603.5 -9.1 293 6477 roll -0.76 - - 2628 - 2.08 0.110 3820 513.0 -107.1 - - 3455 - - - - - - - - 14.95 14.26 14.95
6497 606.1 -9.4 297 6505 done -0.76 - - 2628 - 1.83 0.044 2769 -574.3 -107.1 - - 3452 - - - - - - - - 14.69 14.63 14.70
6862 638.2 -8.6 307 6868 roll -0.76 - - 2627 - 2.45 0.046 1363 -573.9 -107.1 - - 3452 - - - - - - - - 14.95 14.42 14.95
6918 642.9 -8.3 315 6924 done -0.76 0.10 0.241 2645 180.0 2.55 0.068 2758 547.1 -107.1 - - 3450 - - - - - - - - 14.08 14.33 14.27
7255 668.1 -7.4 328 7260 roll -0.76 - - 2637 - 2.05 0.113 3826 521.0 -107.1 - - 3449 - - - - - - - - 14.91 14.23 14.91
7323 673.7 -8.2 338 7330 done -0.76 - - 2637 - 1.88 0.045 2751 -571.8 -107.1 - - 3448 - - - - - - - - 14.67 14.62 14.69
7646 698.6 -7.7 349 7653 roll -0.76 - - 2636 - 2.40 0.046 1375 -573.3 -107.1 - - 3447 - - - - - - - - 14.91 14.38 14.91
7687 701.9 -7.9 355 7694 done -0.76 - - 2627 - 2.53 0.067 2763 548.6 -107.1 - - 3447 - - - - - - - - 14.44 14.34 14.48
8038 731.0 -8.3 363 8039 done -0.76 - - 2628 - - - 2763 - -107.1 - - 3446 - - - - - - - - 14.90 14.90 14.90
8374 759.8 -8.6 369 8380 roll -0.76 - - 2619 - 2.05 0.114 3821 516.1 -107.1 - - 3445 - - - - - - - - 14.90 14.17 14.91
8408 762.9 -9.5 374 8415 done -0.76 0.12 0.228 2661 350.0 1.88 0.045 2759 -564.9 -107.1 - - 3445 - - - - - - - - 14.14 14.59 14.30
8766 788.2 -6.9 383 8772 roll -0.76 - - 2661 - 2.42 0.045 1369 -574.4 -107.1 - - 3444 - - - - - - - - 14.90 14.38 14.90
8800 790.7 -7.6 388 8807 done -0.76 - - 2652 - 2.55 0.067 2762 546.3 -107.1 - - 3443 - - - - - - - - 14.40 14.31 14.45
9158 816.0 -7.2 397 9164 roll -0.76 - - 2651 - 2.42 0.045 1366 -576.9 -107.1 - - 3444 - - - - - - - - 14.92 14.42 14.91
9199 819.1 -6.2 403 9206 done -0.76 - - 2643 - 2.55 0.067 2759 546.3 -107.1 - - 3442 - - - - - - - - 14.38 14.27 14.44
9550 846.6 -8.1 411 9551 done -0.76 - - 2643 - - - 2759 - -107.1 - - 3442 - - - - - - - - 14.89 14.89 14.90
9886 873.8 -8.0 417 9887 done -0.76 - - 2643 - - - 2759 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.92
10223 900.1 -7.7 423 10228 roll -0.76 - - 2641 - 2.45 0.046 1357 -572.2 -107.1 - - 3440 - - - - - - - - 14.91 14.42 14.92
10263 903.3 -5.8 429 10271 done -0.76 - - 2632 - 2.60 0.068 2762 540.4 -107.1 - - 3439 - - - - - - - - 14.36 14.26 14.42
10612 end dive: TARGET_DEPTH_EXCEEDED
10612 begin apogee
10619 930.5 -7.8 437 10731 roll -0.23 0.65 0.181 2819 287.7 0.08 0.179 2261 -6262.5 - 109.72 1.967 3049 -3.6 0.334 - - - - - - 14.07 13.93 13.10
10733 end apogee: CONTROL_FINISHED_OK
10733 begin climb
10735 933.4 - 439 10862 roll 0.93 1.15 0.104 3179 313.0 2.50 0.056 886 -550.0 107.1 117.07 1.965 2619 -3.7 0.346 - - - - - - 13.96 14.00 12.90
10888 927.8 8.1 462 10896 done 0.78 - - 3179 - 2.53 0.051 2251 539.5 107.1 - - 2610 - - - - - - - - 13.90 13.83 13.91
11232 899.7 8.5 469 11239 roll 0.66 0.22 0.221 3115 -290.9 2.60 0.098 3653 539.2 107.1 - - 2606 - - - - - - - - 14.14 14.25 14.38
11308 893.7 7.5 480 11315 done 0.66 - - 3127 - 2.42 0.040 2273 -570.2 111.3 - - 2607 - - - - - - - - 14.42 14.40 14.45
11624 872.0 6.9 490 11653 roll 0.68 - - 3137 - 2.47 0.060 865 -570.0 128.4 22.85 1.971 2530 -3.4 0.296 - - - - - - 14.76 14.24 13.47
11680 867.9 8.3 498 11686 done 0.68 - - 3137 - 2.47 0.053 2250 560.7 128.4 - - 2526 - - - - - - - - 14.36 14.30 14.39
12016 842.3 7.7 511 12022 roll 0.68 - - 3137 - 2.60 0.099 3657 541.2 129.5 - - 2524 - - - - - - - - 14.73 14.31 14.71
12092 835.6 8.6 522 12099 done 0.59 0.17 0.204 3099 -223.5 2.45 0.040 2248 -575.1 129.5 - - 2525 - - - - - - - - 14.16 14.46 14.34
12408 815.6 6.2 532 12450 roll 0.63 - - 3098 - 2.67 0.102 3652 525.8 159.6 34.75 1.904 2409 -3.3 0.284 - - - - - - 14.81 14.26 13.45
12477 810.7 6.6 542 12508 done 0.66 - - 3108 - 2.47 0.041 2247 -568.8 181.9 25.95 1.948 2325 -3.2 0.267 - - - - - - 14.35 14.32 13.29
12850 781.9 7.7 553 12851 done 0.66 - - 3107 - - - 2247 - 183.4 - - 2310 - - - - - - - - 14.68 14.68 14.69
13186 756.1 7.6 559 13191 roll 0.66 - - 3108 - 2.67 0.100 3655 527.3 185.5 - - 2308 - - - - - - - - 14.77 14.32 14.77
13255 750.0 8.7 569 13262 done 0.66 - - 3118 - 2.42 0.041 2255 -578.5 185.5 - - 2308 - - - - - - - - 14.52 14.48 14.54
13578 724.3 7.9 580 13583 roll 0.66 - - 3118 - 2.65 0.102 3653 527.5 185.5 - - 2308 - - - - - - - - 14.81 14.33 14.82
13605 721.5 10.4 584 13611 done 0.66 - - 3128 - 2.42 0.041 2260 -575.6 185.5 - - 2308 - - - - - - - - 14.54 14.49 14.56
13970 691.7 8.2 594 13970 done 0.66 - - 3128 - - - 2257 - 185.5 - - 2308 - - - - - - - - 14.85 14.85 14.85
14306 663.5 8.4 600 14311 roll 0.66 - - 3128 - 2.65 0.103 3658 528.7 185.5 - - 2308 - - - - - - - - 14.87 14.32 14.87
14326 661.0 9.1 603 14332 done 0.66 - - 3138 - 2.45 0.041 2251 -574.3 185.5 - - 2305 - - - - - - - - 14.54 14.49 14.56
14642 636.5 8.2 613 14648 roll 0.66 - - 3138 - 2.65 0.098 3658 530.9 185.5 - - 2308 - - - - - - - - 14.85 14.31 14.85
14683 633.1 8.2 619 14689 done 0.66 0.10 0.211 3120 -180.0 2.45 0.041 2251 -574.3 185.5 - - 2308 - - - - - - - - 14.17 14.50 14.33
15034 609.1 6.7 627 15063 roll 0.69 - - 3119 - 2.70 0.101 3652 518.9 205.4 24.62 1.760 2226 -3.3 0.229 - - - - - - 14.88 14.41 13.64
15089 605.2 7.1 635 15110 done 0.70 - - 3129 - 2.42 0.041 2263 -574.0 217.8 12.95 1.868 2177 -3.8 0.243 - - - - - - 14.47 14.42 13.51
15419 580.6 7.5 647 15425 roll 0.71 - - 3129 - 2.65 0.101 3658 526.4 221.9 - - 2171 - - - - - - - - 14.71 14.27 14.71
15453 577.6 8.5 652 15460 done 0.71 - - 3138 - 2.45 0.041 2261 -570.2 221.9 - - 2170 - - - - - - - - 14.46 14.42 14.47
15811 548.6 8.1 661 15818 roll 0.71 - - 3138 - 2.70 0.102 3653 515.6 221.9 - - 2171 - - - - - - - - 14.78 14.26 14.79
15845 545.5 8.9 666 15852 done 0.71 - - 3149 - 2.42 0.041 2263 -574.4 221.9 - - 2171 - - - - - - - - 14.50 14.46 14.53
16203 514.6 8.7 675 16204 done 0.71 - - 3148 - - - 2259 - 221.9 - - 2170 - - - - - - - - 14.82 14.82 14.81
16539 486.5 8.4 681 16545 roll 0.71 - - 3149 - 2.65 0.100 3656 527.2 221.9 - - 2170 - - - - - - - - 14.83 14.28 14.83
16601 480.5 9.6 690 16608 done 0.71 0.08 0.216 3135 -175.0 2.42 0.040 2263 -575.6 221.9 - - 2171 - - - - - - - - 14.20 14.48 14.35
16931 454.3 8.0 702 16937 roll 0.71 - - 3135 - 2.62 0.100 3651 529.8 221.9 - - 2171 - - - - - - - - 14.84 14.30 14.83
16965 451.2 8.8 707 16972 done 0.71 - - 3144 - 2.38 0.041 2279 -576.5 221.9 - - 2170 - - - - - - - - 14.54 14.50 14.55
17323 421.2 8.4 716 17329 roll 0.71 - - 3144 - 2.60 0.103 3651 527.7 221.9 - - 2170 - - - - - - - - 14.85 14.28 14.85
17357 417.8 9.5 721 17365 done 0.71 - - 3155 - 2.38 0.040 2283 -574.8 221.9 - - 2170 - - - - - - - - 14.53 14.48 14.54
17715 386.8 8.6 730 17721 roll 0.71 - - 3164 - 2.50 0.061 861 -568.8 221.9 - - 2170 - - - - - - - - 14.88 14.34 14.88
17735 384.9 8.8 733 17743 done 0.71 0.10 0.192 3135 -290.0 2.50 0.054 2276 566.0 221.9 - - 2170 - - - - - - - - 14.16 14.35 14.31
18051 359.2 8.1 743 18057 roll 0.71 - - 3135 - 2.60 0.100 3642 525.4 221.9 - - 2171 - - - - - - - - 14.85 14.22 14.85
18099 354.6 9.4 750 18107 done 0.71 - - 3143 - 2.38 0.039 2272 -575.6 221.9 - - 2170 - - - - - - - - 14.50 14.46 14.52
18443 325.7 7.9 757 18450 roll 0.71 - - 3143 - 2.60 0.102 3651 530.4 221.9 - - 2170 - - - - - - - - 14.85 14.26 14.85
18463 323.9 7.9 760 18470 done 0.71 - - 3154 - 2.38 0.039 2278 -576.9 221.9 - - 2170 - - - - - - - - 14.51 14.47 14.54
18779 296.3 8.7 770 18780 done 0.71 - - 3153 - - - 2276 - 221.9 - - 2170 - - - - - - - - 14.88 14.88 14.88
19115 268.6 8.2 776 19121 roll 0.71 - - 3157 - 2.62 0.101 3659 527.9 221.9 - - 2170 - - - - - - - - 14.86 14.25 14.86
19142 266.2 8.8 780 19149 done 0.71 0.10 0.205 3133 -240.0 2.40 0.040 2276 -576.2 221.9 - - 2171 - - - - - - - - 14.14 14.46 14.29
19507 240.0 7.1 790 19526 done 0.72 - - 3133 - - - 2273 - 234.6 17.62 1.408 2115 -3.2 0.107 - - - - - - 14.86 14.52 13.77
19843 214.4 7.7 796 19849 roll 0.72 - - 3132 - 2.60 0.100 3652 530.4 234.8 - - 2103 - - - - - - - - 14.80 14.30 14.80
19912 208.3 8.8 806 19919 done 0.72 - - 3141 - 2.38 0.040 2287 -573.5 234.8 - - 2103 - - - - - - - - 14.50 14.47 14.52
20235 180.4 8.7 817 20236 done 0.72 - - 3142 - - - 2285 - 234.8 - - 2103 - - - - - - - - 14.85 14.85 14.85
20571 152.8 8.1 823 20572 done 0.72 - - 3142 - - - 2285 - 234.8 - - 2103 - - - - - - - - 14.86 14.87 14.86
20907 125.7 8.0 829 20908 done 0.72 - - 3142 - - - 2284 - 234.8 - - 2103 - - - - - - - - 14.86 14.87 14.86
21243 101.9 6.9 835 21256 roll 0.74 - - 3143 - 2.58 0.102 3652 530.2 252.3 7.40 0.450 2046 -7.7 0.346 - - - - - - 14.87 14.43 13.92
21347 94.1 7.6 850 21356 done 0.75 - - 3152 - 2.38 0.040 2274 -579.0 255.6 2.83 0.332 2034 -4.2 0.238 - - - - - - 14.53 14.50 13.85
21663 73.1 6.8 862 21682 roll 0.85 - - 3151 - 2.65 0.100 3654 520.8 273.9 10.93 0.386 1962 -6.6 0.248 - - - - - - 14.83 14.41 14.04
21760 65.1 8.3 876 21767 done 0.85 - - 3160 - 2.35 0.039 2297 -577.4 273.9 1.33 0.210 1959 -2.3 0.139 - - - - - - 14.53 14.49 14.12
22083 45.7 4.9 889 22119 roll 1.03 0.15 0.091 3252 613.3 2.50 0.061 862 -574.0 329.9 28.40 0.320 1739 -7.7 0.220 - - - - - - 14.54 14.38 14.12
22211 36.9 7.3 907 22224 done 1.04 - - 3253 - 2.45 0.051 2287 581.6 338.0 4.93 0.281 1703 -7.3 0.190 - - - - - - 14.54 14.40 14.00
22532 18.5 4.6 920 22567 roll 1.19 - - 3252 - 2.58 0.101 3651 528.7 400.6 30.95 0.238 1455 -8.0 0.124 - - - - - - 14.82 14.32 14.16
22615 15.4 7.4 932 22623 done 1.32 0.12 0.067 3334 683.3 2.35 0.039 2286 -580.9 407.2 3.85 0.222 1427 -7.3 0.100 - - - - - - 14.43 14.47 14.12
22795 end climb: SURFACE_DEPTH_REACHED
22795 begin surface coast
22825 end surface coast: CONTROL_FINISHED_OK
22825 begin surface
SM -3.53 - - - - -8.39 9.50 0.083 186 19.6 0.90 0.084 2768 -9624.4 500.39 43.25 0.162 1057 24.4 0.054 - - - - - -