SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 312 * Raw log
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• Previous call tries 1 • 115.38 of 350.00 AH used of 24V (67.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -2.93 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 3 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 - - - 91 done -0.93 - - 119 - - - 2747 - -107.1 -75.93 - 3478 - - - - - - - - 14.65 12.66 14.65
94 -1.4 -5.2 2 114 roll -0.93 12.00 0.395 2590 205.9 2.30 0.031 1344 -610.0 -107.1 - - 3479 - - - - - - - - 14.01 14.46 14.39
189 37.4 -21.4 17 199 done -0.68 0.35 0.256 2672 234.3 2.58 0.070 2758 548.1 -107.1 - - 3480 - - - - - - - - 14.04 14.28 14.26
505 75.0 -8.2 29 512 roll -0.68 - - 2673 - 2.38 0.040 1383 -577.7 -107.1 - - 3482 - - - - - - - - 14.85 14.45 14.82
742 93.8 -7.7 63 749 done -0.68 - - 2662 - 2.47 0.065 2756 555.9 -107.1 - - 3483 - - - - - - - - 14.45 14.37 14.50
1065 119.9 -8.3 72 1071 roll -0.68 - - 2653 - 2.00 0.106 3826 535.0 -107.1 - - 3483 - - - - - - - - 14.90 14.35 14.91
1141 127.0 -9.4 83 1148 done -0.68 - - 2653 - 1.80 0.039 2749 -598.3 -107.1 - - 3484 - - - - - - - - 14.71 14.66 14.71
1457 154.2 -8.6 93 1463 roll -0.68 - - 2646 - 2.05 0.106 3819 522.0 -107.1 - - 3482 - - - - - - - - 14.91 14.35 14.91
1526 160.7 -9.3 103 1533 done -0.68 0.10 0.230 2676 300.0 1.77 0.040 2762 -597.2 -107.1 - - 3482 - - - - - - - - 14.36 14.68 14.59
1849 187.7 -8.7 114 1855 roll -0.68 - - 2676 - 2.33 0.042 1379 -593.6 -107.1 - - 3480 - - - - - - - - 14.92 14.54 14.92
1897 192.1 -8.7 121 1906 done -0.68 - - 2666 - 2.47 0.066 2764 560.7 -107.1 - - 3479 - - - - - - - - 14.55 14.45 14.58
2241 222.3 -8.8 128 2247 roll -0.68 - - 2666 - 2.38 0.042 1391 -576.9 -107.1 - - 3477 - - - - - - - - 14.95 14.52 14.95
2261 224.1 -8.5 131 2268 done -0.68 - - 2657 - 2.45 0.067 2749 554.3 -107.1 - - 3477 - - - - - - - - 14.54 14.45 14.58
2577 249.9 -8.1 141 2583 roll -0.68 - - 2657 - 2.38 0.042 1385 -573.1 -107.1 - - 3474 - - - - - - - - 14.95 14.45 14.95
2618 253.3 -7.8 147 2625 done -0.68 0.10 0.217 2677 200.0 2.50 0.068 2763 551.2 -107.1 - - 3474 - - - - - - - - 14.26 14.43 14.42
2969 277.6 -6.9 155 2970 done -0.68 - - 2677 - - - 2770 - -107.1 - - 3472 - - - - - - - - 14.94 14.94 14.94
3305 301.9 -7.3 161 3312 roll -0.68 - - 2669 - 2.03 0.111 3819 516.7 -107.1 - - 3470 - - - - - - - - 14.93 14.33 14.94
3339 304.6 -7.9 166 3346 done -0.68 - - 2669 - 1.83 0.042 2750 -584.2 -107.1 - - 3470 - - - - - - - - 14.74 14.69 14.76
3697 332.9 -8.1 175 3703 roll -0.68 - - 2669 - 2.38 0.043 1373 -578.6 -107.1 - - 3468 - - - - - - - - 14.96 14.50 14.96
3746 337.1 -8.5 182 3753 done -0.68 - - 2660 - 2.50 0.067 2752 551.6 -107.1 - - 3467 - - - - - - - - 14.51 14.40 14.54
4089 368.4 -9.3 189 4090 done -0.68 - - 2660 - - - 2752 - -107.1 - - 3465 - - - - - - - - 14.96 14.97 14.97
4425 399.6 -9.2 195 4431 roll -0.68 - - 2659 - 2.40 0.044 1383 -570.4 -107.1 - - 3464 - - - - - - - - 14.92 14.49 14.95
4481 404.6 -8.9 203 4487 done -0.68 - - 2651 - 2.47 0.068 2751 553.8 -107.1 - - 3463 - - - - - - - - 14.50 14.40 14.57
4817 433.9 -8.6 216 4823 roll -0.68 - - 2644 - 2.05 0.110 3834 528.3 -107.1 - - 3461 - - - - - - - - 14.95 14.31 14.96
4873 438.9 -9.0 224 4879 done -0.68 0.10 0.199 2674 300.0 1.83 0.043 2763 -585.2 -107.1 - - 3461 - - - - - - - - 14.26 14.60 14.40
5209 462.4 -6.9 237 5216 roll -0.68 - - 2674 - 2.38 0.044 1366 -587.0 -107.1 - - 3460 - - - - - - - - 14.94 14.50 14.93
5251 465.3 -6.9 243 5257 done -0.76 - - 2666 - 2.53 0.068 2757 549.8 -107.1 - - 3460 - - - - - - - - 14.47 14.41 14.52
5601 491.3 -7.6 251 5607 roll -0.76 - - 2665 - 2.42 0.044 1344 -583.9 -107.1 - - 3458 - - - - - - - - 14.95 14.48 14.93
5642 494.7 -8.0 257 5650 done -0.76 - - 2656 - 2.55 0.067 2753 552.5 -107.1 - - 3458 - - - - - - - - 14.45 14.36 14.51
5993 523.8 -8.4 265 6000 roll -0.76 - - 2648 - 2.08 0.113 3831 518.3 -107.1 - - 3458 - - - - - - - - 14.92 14.26 14.93
6027 526.9 -9.1 270 6034 done -0.76 - - 2647 - 1.88 0.043 2738 -581.4 -107.1 - - 3457 - - - - - - - - 14.71 14.64 14.71
6385 557.5 -8.6 279 6386 done -0.76 - - 2648 - - - 2739 - -107.1 - - 3455 - - - - - - - - 14.92 14.93 14.93
6721 586.0 -8.5 285 6728 roll -0.76 - - 2648 - 2.38 0.045 1377 -572.3 -107.1 - - 3454 - - - - - - - - 14.93 14.43 14.93
6769 590.3 -8.7 292 6777 done -0.76 - - 2640 - 2.50 0.069 2754 550.8 -107.1 - - 3454 - - - - - - - - 14.46 14.35 14.51
7113 621.5 -9.1 299 7114 done -0.76 - - 2639 - - - 2754 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
7449 650.9 -8.6 305 7450 done -0.76 - - 2640 - - - 2755 - -107.1 - - 3451 - - - - - - - - 14.95 14.95 14.95
7785 676.9 -7.6 311 7791 roll -0.76 - - 2639 - 2.42 0.045 1379 -568.6 -107.1 - - 3449 - - - - - - - - 14.95 14.40 14.95
7826 680.0 -7.4 317 7834 done -0.76 - - 2630 - 2.53 0.070 2752 542.7 -107.1 - - 3449 - - - - - - - - 14.42 14.32 14.47
8177 706.7 -7.7 325 8184 roll -0.76 - - 2622 - 2.08 0.114 3824 515.4 -107.1 - - 3448 - - - - - - - - 14.94 14.20 14.94
8247 712.5 -8.4 335 8253 done -0.76 0.10 0.213 2650 280.0 1.85 0.045 2755 -577.8 -107.1 - - 3447 - - - - - - - - 14.14 14.57 14.30
8569 736.7 -7.6 346 8575 roll -0.76 - - 2650 - 2.42 0.046 1368 -573.1 -107.1 - - 3446 - - - - - - - - 14.93 14.36 14.93
8617 740.6 -8.1 353 8626 done -0.76 - - 2641 - 2.53 0.068 2742 543.1 -107.1 - - 3446 - - - - - - - - 14.33 14.22 14.38
8961 768.8 -8.3 360 8967 roll -0.76 - - 2633 - 2.10 0.116 3829 517.6 -107.1 - - 3445 - - - - - - - - 14.90 14.15 14.91
8995 771.7 -8.6 365 9003 done -0.76 - - 2632 - 1.90 0.045 2733 -576.8 -107.1 - - 3445 - - - - - - - - 14.63 14.57 14.64
9353 801.1 -8.3 374 9359 roll -0.76 - - 2624 - 2.15 0.114 3825 507.9 -107.1 - - 3443 - - - - - - - - 14.93 14.15 14.90
9387 804.1 -9.0 379 9394 done -0.76 0.10 0.233 2653 290.0 1.88 0.045 2753 -570.2 -107.1 - - 3445 - - - - - - - - 14.20 14.58 14.38
9745 830.5 -7.5 388 9751 roll -0.76 - - 2653 - 2.42 0.046 1366 -573.1 -107.1 - - 3443 - - - - - - - - 14.91 14.35 14.91
9793 834.0 -7.1 395 9801 done -0.76 - - 2644 - 2.55 0.069 2759 546.3 -107.1 - - 3444 - - - - - - - - 14.37 14.27 14.40
10138 860.2 -7.6 402 10138 done -0.76 - - 2644 - - - 2759 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
10473 886.1 -7.7 408 10474 done -0.76 - - 2644 - - - 2761 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
10809 912.0 -7.8 414 10815 roll -0.76 - - 2644 - 2.47 0.046 1371 -562.8 -107.1 - - 3441 - - - - - - - - 14.90 14.31 14.89
10878 917.6 -7.9 424 10885 done -0.76 - - 2635 - 2.55 0.071 2750 540.8 -107.1 - - 3441 - - - - - - - - 14.33 14.23 14.39
11087 end dive: TARGET_DEPTH_EXCEEDED
11087 begin apogee
11093 934.5 -8.1 433 11206 roll -0.23 0.65 0.180 2824 290.8 - - 2226 - - 110.60 1.944 3049 -3.5 0.338 - - - - - - 14.11 13.99 13.12
11208 end apogee: CONTROL_FINISHED_OK
11208 begin climb
11210 938.3 - 435 11337 roll 0.93 1.12 0.102 3182 319.6 2.45 0.056 870 -553.5 107.1 116.40 1.945 2621 -3.7 0.352 - - - - - - 13.96 14.00 12.90
11377 932.1 6.6 460 11406 done 0.82 - - 3182 - 2.55 0.051 2257 543.9 129.1 24.10 2.008 2538 -3.4 0.317 - - - - - - 13.95 13.88 12.95
11763 897.3 9.4 473 11770 roll 0.69 0.22 0.226 3120 -281.8 2.60 0.097 3653 536.9 129.1 - - 2525 - - - - - - - - 14.11 14.24 14.38
11811 893.0 8.6 480 11819 done 0.62 0.10 0.209 3102 -180.0 2.42 0.041 2262 -574.8 129.1 - - 2525 - - - - - - - - 14.12 14.37 14.28
12156 870.0 6.7 487 12181 done 0.64 - - 3097 - - - 2262 - 150.9 24.85 1.955 2448 -3.1 0.274 - - - - - - 14.76 14.35 13.48
12491 846.7 7.1 493 12511 roll 0.66 - - 3102 - 2.65 0.100 3659 527.2 164.6 15.48 2.039 2388 -3.9 0.319 - - - - - - 14.72 14.26 13.50
12560 841.3 8.1 503 12567 done 0.66 - - 3112 - 2.47 0.041 2252 -569.6 164.6 - - 2383 - - - - - - - - 14.40 14.37 14.42
12883 817.3 7.5 514 12889 roll 0.67 - - 3111 - 2.65 0.099 3656 529.8 170.1 1.17 0.272 2372 -9.4 5.605 - - - - - - 14.74 14.30 14.12
12924 814.2 8.7 520 12931 done 0.67 - - 3122 - 2.45 0.041 2252 -573.1 170.1 - - 2377 - - - - - - - - 14.50 14.45 14.51
13275 786.0 8.2 528 13281 roll 0.67 - - 3122 - 2.65 0.100 3655 529.4 170.1 - - 2378 - - - - - - - - 14.79 14.33 14.79
13331 780.9 8.9 536 13337 done 0.67 - - 3132 - 2.42 0.041 2263 -575.2 170.1 - - 2377 - - - - - - - - 14.51 14.47 14.53
13667 751.0 8.9 549 13668 done 0.67 - - 3132 - - - 2258 - 170.1 - - 2378 - - - - - - - - 14.82 14.83 14.83
14003 720.3 9.2 555 14009 roll 0.67 - - 3132 - 2.65 0.103 3658 528.3 170.1 - - 2377 - - - - - - - - 14.85 14.26 14.86
14059 714.7 9.8 563 14065 done 0.67 - - 3142 - 2.45 0.042 2256 -572.2 170.1 - - 2378 - - - - - - - - 14.54 14.47 14.54
14395 683.6 9.2 576 14396 done 0.67 - - 3143 - - - 2252 - 170.1 - - 2376 - - - - - - - - 14.85 14.83 14.85
14731 654.5 8.6 582 14737 roll 0.67 - - 3143 - 2.65 0.101 3653 528.7 170.1 - - 2377 - - - - - - - - 14.88 14.31 14.87
14772 650.5 9.6 588 14779 done 0.59 0.20 0.208 3096 -235.0 2.42 0.041 2261 -575.2 170.1 - - 2378 - - - - - - - - 14.12 14.48 14.30
15123 628.0 6.2 596 15170 roll 0.62 - - 3095 - 2.70 0.104 3653 515.6 200.6 38.88 1.715 2244 -3.4 0.250 - - - - - - 14.85 14.32 13.57
15192 623.3 7.1 606 15213 done 0.64 - - 3105 - 2.45 0.041 2264 -566.9 213.7 14.57 1.860 2194 -3.4 0.228 - - - - - - 14.39 14.35 13.45
15571 596.1 7.3 618 15579 roll 0.65 - - 3105 - 2.67 0.105 3650 519.1 222.5 3.83 1.592 2166 -7.3 0.543 - - - - - - 14.71 14.38 13.07
15599 593.8 8.1 622 15605 done 0.65 - - 3114 - 2.42 0.041 2265 -572.3 222.5 - - 2171 - - - - - - - - 14.47 14.45 14.49
15956 564.2 8.4 631 15957 done 0.65 - - 3114 - - - 2262 - 222.5 - - 2172 - - - - - - - - 14.78 14.78 14.78
16293 536.9 8.0 637 16299 roll 0.65 - - 3114 - 2.62 0.104 3651 530.2 222.5 - - 2172 - - - - - - - - 14.81 14.31 14.80
16349 532.0 9.1 645 16355 done 0.65 - - 3122 - 2.42 0.040 2259 -575.2 222.5 - - 2172 - - - - - - - - 14.50 14.45 14.52
16685 505.7 7.8 658 16690 roll 0.65 - - 3124 - 2.67 0.103 3649 520.6 222.5 - - 2172 - - - - - - - - 14.85 14.27 14.85
16712 503.3 8.5 662 16718 done 0.65 - - 3134 - 2.42 0.041 2259 -574.4 222.5 - - 2172 - - - - - - - - 14.52 14.47 14.53
17076 472.0 8.7 672 17082 roll 0.65 - - 3145 - 2.50 0.063 864 -558.0 222.5 - - 2172 - - - - - - - - 14.84 14.33 14.84
17118 468.2 9.1 678 17124 done 0.65 0.10 0.189 3115 -300.0 2.47 0.054 2264 566.8 222.5 - - 2172 - - - - - - - - 14.19 14.38 14.33
17469 440.0 8.0 686 17474 roll 0.65 - - 3114 - 2.65 0.104 3653 524.2 222.5 - - 2172 - - - - - - - - 14.85 14.25 14.85
17524 435.0 8.9 694 17530 done 0.65 - - 3123 - 2.42 0.040 2262 -574.8 222.5 - - 2172 - - - - - - - - 14.50 14.45 14.52
17861 409.7 7.3 707 17882 roll 0.66 - - 3123 - 2.67 0.103 3658 522.8 232.2 16.40 1.626 2118 -3.3 0.165 - - - - - - 14.85 14.47 13.76
17916 405.3 8.3 715 17922 done 0.66 - - 3132 - 2.42 0.041 2267 -574.8 232.2 - - 2114 - - - - - - - - 14.51 14.47 14.53
18253 380.2 7.5 728 18259 roll 0.67 - - 3142 - 2.47 0.062 862 -568.8 237.5 0.98 0.277 2104 -10.2 2.779 - - - - - - 14.81 14.38 14.16
18286 377.4 7.8 733 18294 done 0.67 - - 3143 - 2.50 0.054 2273 564.4 237.5 - - 2108 - - - - - - - - 14.45 14.37 14.49
18645 346.7 8.7 742 18650 roll 0.67 - - 3143 - 2.58 0.103 3651 534.1 237.5 - - 2109 - - - - - - - - 14.81 14.30 14.84
18678 343.3 9.8 747 18686 done 0.67 0.10 0.206 3123 -200.0 2.40 0.038 2267 -576.7 237.5 - - 2110 - - - - - - - - 14.18 14.47 14.34
19036 314.7 7.9 756 19042 roll 0.67 - - 3133 - 2.50 0.060 864 -561.2 237.5 - - 2110 - - - - - - - - 14.86 14.33 14.86
19056 313.1 7.9 759 19063 done 0.67 - - 3132 - 2.50 0.054 2280 566.4 237.5 - - 2110 - - - - - - - - 14.45 14.37 14.48
19372 288.5 7.8 769 19379 roll 0.67 - - 3133 - 2.62 0.103 3656 525.2 237.5 - - 2109 - - - - - - - - 14.88 14.19 14.88
19420 284.3 8.8 776 19429 done 0.67 - - 3142 - 2.40 0.039 2270 -577.5 237.5 - - 2111 - - - - - - - - 14.52 14.47 14.54
19764 256.5 8.1 783 19765 done 0.67 - - 3143 - - - 2269 - 237.5 - - 2110 - - - - - - - - 14.88 14.88 14.88
20101 229.0 8.2 789 20101 done 0.67 - - 3142 - - - 2268 - 237.5 - - 2110 - - - - - - - - 14.89 14.89 14.90
20436 202.2 7.9 795 20446 roll 0.67 - - 3142 - 2.65 0.103 3650 521.5 237.5 - - 2111 - - - - - - - - 14.89 14.21 14.90
20465 199.6 8.9 799 20472 done 0.67 0.10 0.202 3122 -200.0 2.40 0.039 2270 -575.0 237.5 - - 2111 - - - - - - - - 14.17 14.48 14.35
20830 172.5 7.4 809 20844 done 0.76 - - 3122 - - - 2269 - 244.5 12.18 1.392 2076 -2.9 0.071 - - - - - - 14.86 14.57 13.83
21167 147.7 7.2 815 21179 roll 0.87 0.12 0.099 3193 591.7 2.62 0.100 3658 530.2 254.6 5.45 1.489 2040 -6.6 0.130 - - - - - - 14.54 14.45 13.69
21235 140.6 10.7 825 21243 done 0.87 - - 3203 - 2.38 0.037 2284 -577.3 254.6 0.98 0.225 2038 - - - - - - - - 14.55 14.51 14.23
21558 106.3 10.9 836 21564 roll 0.87 - - 3214 - 2.53 0.060 859 -563.2 254.6 - - 2045 - - - - - - - - 14.84 14.35 14.85
21627 99.0 10.2 846 21634 done 0.87 0.10 0.206 3184 -300.0 2.47 0.054 2271 571.7 254.6 1.20 0.219 2037 -6.7 0.598 - - - - - - 14.18 14.38 14.15
21952 70.6 7.9 862 21957 roll 0.87 - - 3193 - 2.47 0.057 853 -574.1 254.6 - - 2044 - - - - - - - - 14.81 14.41 14.81
22048 64.3 5.6 876 22075 done 0.92 - - 3194 - 2.50 0.052 2277 569.6 296.9 22.23 0.373 1870 -7.8 0.268 - - - - - - 14.45 14.37 14.12
22400 46.9 4.2 893 22440 roll 1.10 0.10 0.122 3269 750.0 2.60 0.102 3652 528.8 368.4 35.35 0.319 1584 -8.1 0.236 - - - - - - 14.46 14.40 14.13
22643 28.6 5.5 928 22672 done 1.16 - - 3278 - 2.38 0.037 2267 -581.9 412.4 21.55 0.262 1408 -8.2 0.177 - - - - - - 14.43 14.40 14.12
22981 9.1 6.4 943 23001 roll 1.28 0.05 0.200 3331 1060.0 2.58 0.098 3653 537.2 439.8 13.60 0.194 1298 -8.1 0.075 - - - - - - 14.51 14.29 14.09
23053 end climb: SURFACE_DEPTH_REACHED
23053 begin surface coast
23063 end surface coast: CONTROL_FINISHED_OK
23063 begin surface
SM -3.34 - - - - -8.41 9.43 0.085 182 19.3 1.52 0.037 2734 -5214.5 500.14 28.12 0.164 1056 37.5 0.078 - - - - - -