SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 309 * Raw log
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• Previous call tries 1 • 114.42 of 350.00 AH used of 24V (67.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -2.73 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 169 - - - 2786 - -107.1 -76.55 - 3478 - - - - - - - - 14.65 12.69 14.64
95 -1.3 -4.2 2 115 roll -0.93 11.82 0.397 2583 204.2 1.95 0.096 3826 533.3 -107.1 - - 3479 - - - - - - - - 14.02 14.31 14.40
142 27.9 -38.7 10 148 done -0.32 0.75 0.257 2789 274.7 1.80 0.035 2731 -608.3 -107.1 - - 3480 - - - - - - - - 14.08 14.47 14.38
480 62.3 -7.7 25 487 roll -0.42 - - 2789 - 2.22 0.041 1401 -599.1 -107.1 - - 3482 - - - - - - - - 14.79 14.47 14.79
555 67.8 -6.7 36 563 done -0.58 0.12 0.068 2697 -766.7 2.45 0.067 2770 558.8 -107.1 - - 3481 - - - - - - - - 14.47 14.37 14.50
871 93.3 -8.0 48 876 roll -0.58 - - 2697 - 2.35 0.041 1399 -583.4 -107.1 - - 3483 - - - - - - - - 14.89 14.48 14.87
968 100.9 -7.3 62 974 done -0.58 - - 2688 - 2.45 0.066 2774 561.2 -107.1 - - 3483 - - - - - - - - 14.48 14.38 14.49
1319 126.1 -7.2 70 1324 roll -0.58 - - 2688 - 2.33 0.041 1398 -590.6 -107.1 - - 3483 - - - - - - - - 14.90 14.55 14.90
1353 128.9 -8.0 75 1359 done -0.58 0.10 0.207 2712 240.0 2.45 0.067 2772 560.8 -107.1 - - 3483 - - - - - - - - 14.27 14.43 14.43
1711 152.7 -6.5 84 1712 done -0.66 - - 2708 - - - 2772 - -107.1 - - 3482 - - - - - - - - 14.93 14.94 14.94
2047 175.0 -6.6 90 2053 roll -0.76 0.10 0.113 2630 -780.0 2.33 0.041 1395 -591.0 -107.1 - - 3479 - - - - - - - - 14.67 14.58 14.72
2109 180.8 -9.7 99 2116 done -0.76 0.08 0.229 2645 187.5 2.47 0.067 2772 557.5 -107.1 - - 3479 - - - - - - - - 14.26 14.46 14.45
2439 210.6 -9.0 111 2444 roll -0.76 - - 2645 - 2.35 0.042 1405 -581.7 -107.1 - - 3476 - - - - - - - - 14.93 14.52 14.93
2480 214.3 -8.7 117 2487 done -0.76 - - 2635 - 2.45 0.068 2765 555.1 -107.1 - - 3476 - - - - - - - - 14.54 14.45 14.59
2831 247.2 -9.7 125 2837 roll -0.76 - - 2627 - 2.00 0.110 3818 526.5 -107.1 - - 3473 - - - - - - - - 14.96 14.35 14.96
2914 256.2 -10.7 137 2921 done -0.76 - - 2626 - 1.75 0.039 2776 -595.4 -107.1 - - 3473 - - - - - - - - 14.73 14.68 14.73
3279 295.0 -10.7 147 3284 roll -0.76 - - 2626 - 2.38 0.042 1389 -582.8 -107.1 - - 3470 - - - - - - - - 14.96 14.52 14.96
3313 298.6 -10.5 152 3320 done -0.76 0.10 0.226 2646 200.0 2.47 0.068 2760 555.1 -107.1 - - 3471 - - - - - - - - 14.23 14.43 14.40
3671 331.1 -8.8 161 3671 done -0.76 - - 2646 - - - 2761 - -107.1 - - 3468 - - - - - - - - 14.94 14.94 14.94
4007 358.6 -8.1 167 4012 roll -0.76 - - 2647 - 2.40 0.042 1382 -574.6 -107.1 - - 3466 - - - - - - - - 14.95 14.50 14.95
4034 360.8 -7.9 171 4040 done -0.76 - - 2637 - 2.50 0.067 2768 554.4 -107.1 - - 3467 - - - - - - - - 14.52 14.42 14.57
4399 393.4 -9.3 181 4405 roll -0.76 - - 2629 - 2.00 0.112 3817 524.5 -107.1 - - 3464 - - - - - - - - 14.96 14.32 14.96
4433 396.5 -9.3 186 4439 done -0.76 - - 2628 - 1.77 0.041 2771 -591.0 -107.1 - - 3464 - - - - - - - - 14.74 14.69 14.75
4791 434.0 -10.8 195 4796 roll -0.76 - - 2628 - 2.40 0.043 1374 -582.1 -107.1 - - 3462 - - - - - - - - 14.94 14.48 14.95
4839 438.8 -9.6 202 4847 done -0.76 0.10 0.228 2647 190.0 2.53 0.068 2756 546.2 -107.1 - - 3461 - - - - - - - - 14.19 14.40 14.36
5183 466.9 -8.1 209 5189 roll -0.76 - - 2639 - 2.05 0.112 3820 519.0 -107.1 - - 3460 - - - - - - - - 14.93 14.28 14.94
5239 471.6 -8.4 217 5245 done -0.76 - - 2638 - 1.80 0.041 2751 -593.9 -107.1 - - 3460 - - - - - - - - 14.62 14.59 14.63
5575 497.1 -7.4 230 5576 done -0.76 - - 2640 - - - 2750 - -107.1 - - 3458 - - - - - - - - 14.93 14.93 14.93
5911 522.3 -7.5 236 5916 roll -0.76 - - 2640 - 2.33 0.041 1375 -590.1 -107.1 - - 3457 - - - - - - - - 14.93 14.52 14.92
5994 528.7 -7.4 248 6000 done -0.76 - - 2630 - 2.53 0.067 2763 548.6 -107.1 - - 3456 - - - - - - - - 14.47 14.38 14.52
6359 559.2 -8.5 258 6360 done -0.76 - - 2630 - - - 2763 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6695 588.8 -8.9 264 6700 roll -0.76 - - 2629 - 2.40 0.042 1384 -574.6 -107.1 - - 3453 - - - - - - - - 14.95 14.45 14.95
6722 591.3 -9.0 268 6729 done -0.76 0.10 0.230 2648 190.0 2.47 0.068 2749 552.6 -107.1 - - 3453 - - - - - - - - 14.12 14.36 14.30
7087 621.9 -8.5 278 7092 roll -0.76 - - 2648 - 2.08 0.113 3825 517.3 -107.1 - - 3448 - - - - - - - - 14.92 14.23 14.93
7121 625.1 -9.4 283 7127 done -0.76 - - 2640 - 1.83 0.042 2753 -585.8 -107.1 - - 3451 - - - - - - - - 14.68 14.62 14.69
7479 656.8 -8.9 292 7479 done -0.76 - - 2640 - - - 2753 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7815 686.0 -8.7 298 7820 roll -0.76 - - 2640 - 2.38 0.044 1385 -574.8 -107.1 - - 3448 - - - - - - - - 14.95 14.40 14.95
7871 690.6 -8.1 306 7876 done -0.76 - - 2630 - 2.50 0.068 2754 547.6 -107.1 - - 3447 - - - - - - - - 14.42 14.31 14.46
8207 719.1 -8.3 319 8212 roll -0.76 - - 2621 - 2.05 0.112 3824 522.0 -107.1 - - 3446 - - - - - - - - 14.92 14.19 14.92
8255 723.1 -8.3 326 8263 done -0.76 0.10 0.245 2650 290.0 1.83 0.042 2758 -582.5 -107.1 - - 3446 - - - - - - - - 14.20 14.60 14.45
8599 746.6 -6.8 333 8605 roll -0.76 - - 2650 - 2.40 0.044 1378 -575.0 -107.1 - - 3446 - - - - - - - - 14.91 14.38 14.91
8661 750.9 -6.8 342 8667 done -0.76 - - 2641 - 2.50 0.067 2756 551.2 -107.1 - - 3445 - - - - - - - - 14.40 14.31 14.45
8991 774.1 -7.2 354 8996 roll -0.76 - - 2640 - 2.40 0.042 1357 -582.9 -107.1 - - 3445 - - - - - - - - 14.93 14.42 14.93
9025 776.7 -7.6 359 9031 done -0.76 - - 2630 - 2.55 0.068 2758 549.4 -107.1 - - 3444 - - - - - - - - 14.41 14.31 14.46
9383 805.0 -8.1 368 9383 done -0.76 - - 2631 - - - 2758 - -107.1 - - 3446 - - - - - - - - 14.93 14.93 14.93
9719 832.7 -8.2 374 9719 done -0.76 - - 2625 - - - 2757 - -107.1 - - 3443 - - - - - - - - 14.92 14.92 14.93
10055 859.5 -7.9 380 10060 roll -0.76 - - 2630 - 2.40 0.044 1373 -576.7 -107.1 - - 3442 - - - - - - - - 14.90 14.38 14.90
10111 863.6 -7.1 388 10117 done -0.76 0.10 0.228 2649 190.0 2.55 0.069 2744 537.6 -107.1 - - 3442 - - - - - - - - 13.99 14.24 14.17
10447 886.1 -6.7 401 10453 roll -0.76 - - 2641 - 2.10 0.115 3822 513.3 -107.1 - - 3443 - - - - - - - - 14.92 14.11 14.92
10516 890.8 -7.7 411 10522 done -0.76 - - 2641 - 1.85 0.044 2751 -578.9 -107.1 - - 3440 - - - - - - - - 14.54 14.51 14.54
10839 911.7 -6.5 422 10844 roll -0.76 - - 2641 - 2.42 0.044 1369 -571.1 -107.1 - - 3439 - - - - - - - - 14.89 14.31 14.89
10887 914.9 -6.6 429 10896 done -0.76 - - 2632 - 2.55 0.068 2751 542.0 -107.1 - - 3439 - - - - - - - - 14.33 14.23 14.38
11116 end dive: TARGET_DEPTH_EXCEEDED
11116 begin apogee
11123 930.7 -6.6 434 11235 roll -0.23 0.65 0.182 2819 287.7 0.10 0.159 2269 -4820.0 - 109.03 1.951 3050 -3.6 0.337 - - - - - - 14.09 13.95 13.12
11236 end apogee: CONTROL_FINISHED_OK
11236 begin climb
11239 933.4 - 436 11365 roll 0.93 1.15 0.105 3184 317.4 2.50 0.054 888 -552.4 107.1 116.15 1.954 2620 -3.7 0.350 - - - - - - 13.97 14.00 12.94
11391 926.4 8.6 459 11400 done 0.78 0.10 0.223 3158 -260.0 2.50 0.050 2247 543.6 107.1 - - 2611 - - - - - - - - 13.71 13.84 13.85
11735 899.4 8.0 466 11741 roll 0.69 0.12 0.246 3123 -291.7 2.65 0.099 3658 532.5 107.1 - - 2609 - - - - - - - - 14.13 14.23 14.38
11791 894.9 7.9 474 11797 done 0.59 0.12 0.210 3098 -208.3 2.40 0.040 2276 -575.8 107.1 - - 2609 - - - - - - - - 14.12 14.37 14.28
12127 874.9 5.9 487 12176 roll 0.63 - - 3107 - 2.55 0.060 865 -553.3 144.6 40.62 1.909 2468 -3.5 0.315 - - - - - - 14.76 14.21 13.40
12189 870.9 8.0 496 12196 done 0.63 - - 3107 - 2.47 0.052 2247 559.5 144.6 - - 2468 - - - - - - - - 14.28 14.21 14.30
12520 847.0 7.4 508 12526 roll 0.64 - - 3107 - 2.62 0.099 3653 536.6 151.1 1.65 0.277 2451 -10.3 6.236 - - - - - - 14.70 14.19 13.85
12588 841.2 8.4 518 12595 done 0.64 - - 3116 - 2.42 0.039 2253 -578.5 151.1 1.58 0.255 2449 - - - - - - - - 14.47 14.45 13.85
12911 815.9 7.9 529 12918 roll 0.64 - - 3127 - 2.42 0.059 861 -575.2 151.1 1.55 0.273 2449 - - - - - - - - 14.78 14.22 13.90
12952 812.8 7.5 535 12968 done 0.65 - - 3127 - 2.47 0.055 2253 563.6 155.6 10.12 2.121 2429 -2.0 0.150 - - - - - - 14.46 14.37 13.58
13303 783.9 8.2 543 13309 roll 0.65 - - 3126 - 2.62 0.104 3653 534.4 155.6 - - 2425 - - - - - - - - 14.78 14.32 14.78
13365 778.3 8.7 552 13372 done 0.65 - - 3136 - 2.42 0.039 2247 -581.0 155.6 - - 2424 - - - - - - - - 14.53 14.48 14.54
13695 750.8 8.3 564 13701 roll 0.65 - - 3147 - 2.45 0.060 870 -562.0 155.6 - - 2424 - - - - - - - - 14.82 14.36 14.82
13729 747.9 8.0 569 13737 done 0.65 0.12 0.210 3111 -300.0 2.45 0.054 2256 565.7 155.6 - - 2425 - - - - - - - - 14.21 14.41 14.35
14087 721.4 7.4 578 14094 roll 0.66 - - 3112 - 2.65 0.103 3662 530.6 162.4 2.92 1.227 2407 -6.2 0.717 - - - - - - 14.86 14.48 13.13
14121 718.5 8.2 583 14128 done 0.66 - - 3121 - 2.42 0.039 2252 -582.6 162.4 1.25 0.288 2407 - - - - - - - - 14.54 14.53 13.87
14472 690.5 8.1 591 14478 roll 0.66 - - 3121 - 2.67 0.103 3662 528.1 162.4 1.50 0.280 2406 - - - - - - - - 14.85 14.21 13.85
14513 686.7 9.1 597 14522 done 0.66 - - 3131 - 2.45 0.039 2238 -581.2 162.4 1.38 0.300 2406 - - - - - - - - 14.53 14.50 13.71
14864 657.7 8.2 605 14871 roll 0.66 - - 3131 - 2.67 0.101 3654 530.3 162.4 1.48 0.282 2406 - - - - - - - - 14.88 14.19 13.84
14898 654.5 9.0 610 14906 done 0.66 0.08 0.226 3119 -150.0 2.40 0.040 2261 -580.4 162.4 1.20 0.304 2405 - - - - - - - - 14.20 14.50 13.71
15256 627.6 7.4 619 15271 done 0.66 - - 3119 - - - 2260 - 169.3 13.65 1.912 2377 -2.1 0.133 - - - - - - 14.86 14.54 13.70
15593 604.2 6.8 625 15615 done 0.69 - - 3119 - - - 2261 - 187.6 21.35 1.766 2303 -3.5 0.235 - - - - - - 14.82 14.44 13.64
15929 580.7 7.1 631 15949 roll 0.70 - - 3119 - 2.65 0.102 3659 527.5 200.5 13.60 1.836 2243 -4.4 0.276 - - - - - - 14.76 14.37 13.62
16004 574.4 8.5 642 16011 done 0.70 - - 3128 - 2.45 0.039 2256 -572.7 200.5 - - 2243 - - - - - - - - 14.43 14.40 14.46
16320 548.0 8.5 652 16326 roll 0.70 - - 3139 - 2.47 0.062 865 -563.2 200.5 - - 2240 - - - - - - - - 14.76 14.33 14.76
16340 546.2 8.6 655 16347 done 0.70 - - 3139 - 2.47 0.054 2260 564.8 200.5 - - 2238 - - - - - - - - 14.43 14.35 14.47
16656 517.9 9.0 665 16663 roll 0.70 - - 3139 - 2.60 0.104 3655 536.5 200.5 - - 2239 - - - - - - - - 14.81 14.29 14.82
16718 511.5 10.3 674 16725 done 0.70 - - 3149 - 2.42 0.039 2257 -577.7 200.5 - - 2239 - - - - - - - - 14.50 14.45 14.53
17049 481.0 9.2 686 17054 roll 0.70 - - 3160 - 2.42 0.061 855 -579.3 200.5 - - 2238 - - - - - - - - 14.82 14.39 14.83
17082 477.6 9.5 691 17089 done 0.70 0.10 0.205 3130 -300.0 2.50 0.056 2261 562.4 200.5 - - 2238 - - - - - - - - 14.18 14.38 14.33
17440 447.8 8.2 700 17446 roll 0.70 - - 3130 - 2.60 0.103 3659 537.7 200.5 - - 2236 - - - - - - - - 14.83 14.30 14.84
17523 440.2 9.1 712 17530 done 0.70 - - 3138 - 2.40 0.038 2265 -580.8 200.5 - - 2237 - - - - - - - - 14.52 14.48 14.54
17888 411.1 7.8 722 17889 done 0.70 - - 3139 - - - 2260 - 200.5 - - 2238 - - - - - - - - 14.88 14.88 14.88
18224 384.8 7.9 728 18230 roll 0.70 - - 3138 - 2.65 0.103 3662 529.1 200.5 - - 2238 - - - - - - - - 14.89 14.26 14.88
18272 380.2 9.5 735 18280 done 0.70 - - 3149 - 2.42 0.039 2258 -580.2 200.5 - - 2238 - - - - - - - - 14.51 14.47 14.54
18617 350.1 8.7 742 18617 done 0.70 - - 3149 - - - 2254 - 200.5 - - 2238 - - - - - - - - 14.86 14.86 14.86
18952 322.9 7.6 748 18953 done 0.71 - - 3149 - - - 2255 - 203.8 - - 2238 - - - - - - - - 14.87 14.87 14.87
19288 294.0 8.7 754 19294 roll 0.71 - - 3149 - 2.67 0.104 3661 526.6 203.8 - - 2238 - - - - - - - - 14.92 14.26 14.90
19329 289.8 10.1 760 19336 done 0.71 0.10 0.209 3130 -190.0 2.40 0.039 2270 -579.6 203.8 - - 2240 - - - - - - - - 14.14 14.47 14.31
19680 260.8 8.2 768 19681 done 0.71 - - 3130 - - - 2267 - 203.8 - - 2238 - - - - - - - - 14.88 14.87 14.87
20016 235.0 7.6 774 20020 done 0.71 - - 3130 - - - 2265 - 206.8 2.22 0.580 2226 -5.4 0.434 - - - - - - 14.88 14.47 13.18
20353 210.2 7.4 780 20372 roll 0.72 - - 3129 - 2.60 0.103 3660 536.5 214.3 13.62 1.416 2188 -2.8 0.082 - - - - - - 14.90 14.51 13.84
20414 204.7 8.8 789 20422 done 0.72 - - 3138 - 2.40 0.038 2261 -582.9 214.3 - - 2185 - - - - - - - - 14.55 14.51 14.57
20744 178.7 7.9 801 20751 roll 0.72 - - 3149 - 2.45 0.060 869 -568.2 214.3 - - 2185 - - - - - - - - 14.88 14.35 14.85
20771 176.6 7.3 805 20780 done 0.73 - - 3149 - 2.47 0.053 2273 568.4 223.1 4.28 1.385 2161 -5.6 0.142 - - - - - - 14.42 14.32 13.34
21136 148.1 8.0 815 21137 done 0.73 - - 3149 - - - 2273 - 223.1 - - 2170 - - - - - - - - 14.85 14.86 14.85
21472 120.4 8.3 821 21479 roll 0.73 - - 3146 - 2.58 0.100 3659 537.2 223.1 1.45 0.262 2165 -3.4 0.314 - - - - - - 14.88 14.16 13.85
21506 117.2 9.3 826 21513 done 0.73 - - 3159 - 2.38 0.037 2271 -583.2 223.1 1.23 0.223 2162 -2.4 0.254 - - - - - - 14.53 14.50 14.08
21836 89.4 8.7 836 21842 roll 0.73 - - 3169 - 2.42 0.057 867 -580.2 223.1 1.40 0.260 2165 2.1 -0.146 - - - - - - 14.85 14.21 13.93
21870 86.7 7.7 841 21879 done 0.73 0.10 0.190 3139 -300.0 2.47 0.051 2278 571.3 224.6 2.15 0.324 2155 -4.7 0.246 - - - - - - 14.19 14.38 13.84
22202 66.8 5.4 855 22234 roll 0.88 0.08 0.146 3198 737.5 2.60 0.099 3662 532.3 271.2 23.92 0.377 1972 -7.7 0.268 - - - - - - 14.54 14.44 14.14
22249 63.5 7.2 862 22262 done 0.89 - - 3207 - 2.38 0.037 2267 -586.1 282.5 6.45 0.350 1925 -7.3 0.262 - - - - - - 14.54 14.51 14.05
22593 46.2 3.3 878 22641 roll 1.00 - - 3218 - 2.42 0.057 863 -580.2 371.7 43.47 0.317 1569 -8.2 0.236 - - - - - - 14.82 14.37 14.13
22669 42.8 5.0 889 22706 done 1.21 0.12 0.067 3296 650.0 2.47 0.050 2277 572.5 426.0 26.55 0.306 1355 -8.1 0.223 - - - - - - 14.45 14.38 14.12
23014 18.0 6.9 905 23026 roll 1.23 - - 3305 - 2.53 0.060 871 -555.7 442.6 7.90 0.228 1289 -8.4 0.131 - - - - - - 14.79 14.38 14.09
23161 6.9 6.9 926 23174 done 1.33 - - 3305 - 2.40 0.051 2271 583.3 458.7 8.62 0.194 1222 -7.8 0.055 - - - - - - 14.54 14.40 14.19
23227 end climb: SURFACE_DEPTH_REACHED
23227 begin surface coast
23255 end surface coast: CONTROL_FINISHED_OK
23255 begin surface
SM -2.39 - - - - -8.38 9.20 0.073 191 20.7 0.90 0.086 2769 -7347.8 500.14 19.35 0.166 1058 54.7 0.080 - - - - - -