SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 316 * Raw log
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• Previous call tries 1 • 116.55 of 350.00 AH used of 24V (66.70% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.1 deg, depth -2.91 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 45 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 - - - 91 done -0.93 - - 168 - - - 2778 - -107.1 -75.55 - 3478 - - - - - - - - 14.65 12.66 14.65
94 -1.1 -6.0 2 114 roll -0.93 11.73 0.389 2590 206.5 2.38 0.032 1363 -594.5 -107.1 - - 3479 - - - - - - - - 14.02 14.41 14.39
169 34.1 -27.3 14 175 done -0.60 0.47 0.272 2701 236.2 2.47 0.063 2766 568.0 -107.1 - - 3480 - - - - - - - - 14.07 14.33 14.38
505 71.0 -7.9 29 512 roll -0.60 - - 2693 - 1.98 0.109 3818 531.3 -107.1 - - 3482 - - - - - - - - 14.83 14.30 14.83
567 76.5 -14.2 38 574 done -0.60 - - 2693 - 1.77 0.037 2742 -607.9 -107.1 - - 3482 - - - - - - - - 14.65 14.65 14.66
925 105.2 -8.1 52 931 roll -0.60 - - 2690 - 2.28 0.041 1410 -584.2 -107.1 - - 3482 - - - - - - - - 14.89 14.49 14.89
1057 115.9 -7.7 71 1064 done -0.60 - - 2683 - 2.40 0.067 2760 562.5 -107.1 - - 3483 - - - - - - - - 14.53 14.44 14.58
1373 141.6 -8.2 81 1374 done -0.60 - - 2683 - - - 2760 - -107.1 - - 3483 - - - - - - - - 14.90 14.90 14.90
1709 169.3 -8.2 87 1715 roll -0.60 - - 2684 - 2.35 0.043 1402 -577.9 -107.1 - - 3481 - - - - - - - - 14.92 14.51 14.91
1765 173.9 -8.2 95 1771 done -0.60 0.08 0.210 2697 162.5 2.45 0.070 2767 557.1 -107.1 - - 3480 - - - - - - - - 14.29 14.43 14.45
2101 198.4 -7.2 108 2102 done -0.60 - - 2696 - - - 2767 - -107.1 - - 3478 - - - - - - - - 14.92 14.92 14.92
2437 222.9 -7.4 114 2443 roll -0.60 - - 2697 - 2.38 0.042 1403 -573.1 -107.1 - - 3476 - - - - - - - - 14.93 14.52 14.97
2464 225.0 -7.6 118 2471 done -0.60 - - 2688 - 2.45 0.069 2765 555.9 -107.1 - - 3475 - - - - - - - - 14.53 14.44 14.57
2829 252.9 -7.6 128 2830 done -0.60 - - 2688 - - - 2765 - -107.1 - - 3473 - - - - - - - - 14.93 14.93 14.93
3165 277.9 -7.4 134 3166 done -0.60 - - 2688 - - - 2765 - -107.1 - - 3469 - - - - - - - - 14.94 14.94 14.94
3501 303.0 -7.5 140 3507 roll -0.60 - - 2688 - 2.33 0.044 1402 -585.0 -107.1 - - 3469 - - - - - - - - 14.95 14.56 14.94
3542 306.2 -7.8 146 3549 done -0.60 - - 2679 - 2.47 0.071 2767 552.6 -107.1 - - 3468 - - - - - - - - 14.52 14.42 14.59
3893 335.2 -8.4 154 3894 done -0.60 - - 2678 - - - 2767 - -107.1 - - 3466 - - - - - - - - 14.93 14.92 14.93
4229 365.2 -9.0 160 4235 roll -0.60 - - 2678 - 2.40 0.044 1401 -569.2 -107.1 - - 3465 - - - - - - - - 14.94 14.50 14.94
4270 369.0 -9.0 166 4277 done -0.60 0.10 0.209 2699 210.0 2.47 0.070 2762 551.0 -107.1 - - 3465 - - - - - - - - 14.24 14.42 14.41
4622 395.1 -7.2 174 4622 done -0.69 - - 2703 - - - 2763 - -107.1 - - 3463 - - - - - - - - 14.93 14.93 14.93
4958 415.8 -6.1 180 4963 roll -0.78 0.10 0.112 2626 -770.0 2.33 0.044 1407 -582.0 -107.1 - - 3461 - - - - - - - - 14.66 14.53 14.71
5013 420.5 -8.8 188 5019 done -0.78 0.10 0.230 2644 180.0 2.47 0.071 2760 547.8 -107.1 - - 3461 - - - - - - - - 14.14 14.36 14.33
5349 448.1 -8.2 201 5356 roll -0.78 - - 2637 - 2.03 0.111 3820 522.2 -107.1 - - 3459 - - - - - - - - 14.95 14.28 14.95
5405 453.0 -8.9 209 5412 done -0.78 - - 2636 - 1.77 0.043 2795 -579.1 -107.1 - - 3459 - - - - - - - - 14.62 14.59 14.63
5741 484.6 -9.7 222 5747 roll -0.78 - - 2628 - 2.00 0.112 3825 515.0 -107.1 - - 3457 - - - - - - - - 14.92 14.26 14.92
5768 487.5 -10.6 226 5775 done -0.78 - - 2628 - 1.85 0.043 2744 -584.3 -107.1 - - 3457 - - - - - - - - 14.69 14.64 14.71
6133 524.6 -10.2 236 6139 roll -0.78 - - 2627 - 2.35 0.044 1368 -585.5 -107.1 - - 3456 - - - - - - - - 14.91 14.47 14.92
6174 529.0 -10.4 242 6181 done -0.78 0.08 0.242 2639 150.0 2.53 0.068 2764 551.8 -107.1 - - 3456 - - - - - - - - 14.14 14.35 14.31
6525 562.1 -9.4 250 6526 done -0.78 - - 2639 - - - 2764 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.90
6861 591.8 -8.8 256 6862 done -0.78 - - 2639 - - - 2763 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
7197 621.6 -8.8 262 7198 done -0.78 - - 2639 - - - 2764 - -107.1 - - 3452 - - - - - - - - 14.92 14.92 14.92
7533 652.1 -9.1 268 7534 done -0.78 - - 2639 - - - 2764 - -107.1 - - 3449 - - - - - - - - 14.95 14.95 14.95
7869 683.1 -9.3 274 7870 done -0.78 - - 2639 - - - 2764 - -107.1 - - 3449 - - - - - - - - 14.94 14.94 14.94
8205 713.5 -9.0 280 8211 roll -0.78 - - 2639 - 2.45 0.044 1389 -561.2 -107.1 - - 3447 - - - - - - - - 14.92 14.40 14.92
8232 716.0 -9.1 284 8239 done -0.78 - - 2630 - 2.53 0.070 2768 545.1 -107.1 - - 3448 - - - - - - - - 14.41 14.31 14.46
8597 748.9 -9.2 294 8598 done -0.78 - - 2630 - - - 2768 - -107.1 - - 3447 - - - - - - - - 14.92 14.90 14.91
8933 780.6 -9.5 300 8934 done -0.78 - - 2630 - - - 2768 - -107.1 - - 3445 - - - - - - - - 14.90 14.90 14.90
9269 812.2 -9.4 306 9275 roll -0.78 - - 2629 - 2.42 0.046 1384 -571.9 -107.1 - - 3445 - - - - - - - - 14.90 14.42 14.90
9317 816.5 -8.5 313 9326 done -0.78 - - 2621 - 2.53 0.070 2759 543.5 -107.1 - - 3446 - - - - - - - - 14.38 14.26 14.42
9661 848.1 -9.1 320 9667 roll -0.78 - - 2613 - 2.05 0.112 3818 516.6 -107.1 - - 3444 - - - - - - - - 14.90 14.14 14.90
9695 851.2 -7.8 325 9703 done -0.78 0.12 0.235 2647 283.3 1.83 0.044 2773 -571.0 -107.1 - - 3444 - - - - - - - - 14.12 14.57 14.40
10053 877.3 -7.2 334 10059 roll -0.78 - - 2648 - 2.45 0.044 1375 -570.6 -107.1 - - 3443 - - - - - - - - 14.92 14.33 14.92
10129 882.3 -6.8 345 10137 done -0.78 - - 2638 - 2.55 0.068 2758 542.4 -107.1 - - 3443 - - - - - - - - 14.38 14.25 14.40
10445 903.2 -6.6 355 10446 done -0.78 - - 2639 - - - 2759 - -107.1 - - 3441 - - - - - - - - 14.88 14.88 14.89
10781 926.0 -6.8 361 10788 roll -0.78 - - 2638 - 2.47 0.045 1368 -563.2 -107.1 - - 3441 - - - - - - - - 14.89 14.31 14.89
10808 928.0 -6.2 365 10816 done -0.78 - - 2629 - 2.58 0.070 2763 540.7 -107.1 - - 3440 - - - - - - - - 14.33 14.23 14.37
10891 end dive: TARGET_DEPTH_EXCEEDED
10891 begin apogee
10897 934.3 -6.8 370 11009 roll -0.23 0.68 0.187 2821 282.4 0.08 0.175 2258 -6312.5 - 109.03 1.965 3051 -3.6 0.340 - - - - - - 14.06 13.93 13.12
11011 end apogee: CONTROL_FINISHED_OK
11011 begin climb
11013 937.0 - 372 11140 roll 0.93 1.15 0.109 3181 313.0 2.50 0.057 885 -549.2 107.1 117.30 1.948 2621 -3.7 0.353 - - - - - - 13.96 14.00 12.93
11174 930.1 7.3 396 11187 done 0.82 - - 3181 - 2.50 0.051 2267 552.8 116.0 4.43 1.864 2591 -6.8 0.677 - - - - - - 14.00 13.90 12.54
11510 902.5 8.4 409 11516 roll 0.69 0.20 0.226 3125 -280.0 2.60 0.099 3660 535.8 116.0 - - 2596 - - - - - - - - 14.09 14.23 14.35
11537 900.3 8.6 413 11545 done 0.59 0.15 0.203 3095 -200.0 2.45 0.040 2258 -572.2 116.0 1.05 0.235 2587 -8.6 6.578 - - - - - - 14.09 14.36 14.07
11902 881.0 5.2 423 11965 done 0.65 - - 3095 - - - 2257 - 166.0 62.42 1.917 2390 -3.2 0.291 - - - - - - 14.76 14.11 13.28
12294 856.3 6.6 430 12327 roll 0.68 - - 3102 - 2.75 0.103 3654 508.0 188.8 25.15 1.957 2292 -3.9 0.342 - - - - - - 14.66 14.20 13.38
12370 850.7 7.9 441 12378 done 0.68 - - 3103 - 2.47 0.041 2252 -567.6 188.8 - - 2289 - - - - - - - - 14.33 14.29 14.35
12686 826.6 7.8 451 12687 done 0.68 - - 3103 - - - 2252 - 188.8 - - 2286 - - - - - - - - 14.71 14.71 14.71
13022 799.7 8.1 457 13028 roll 0.68 - - 3111 - 2.65 0.099 3658 530.6 188.8 - - 2283 - - - - - - - - 14.78 14.31 14.78
13070 795.5 8.2 464 13078 done 0.68 - - 3113 - 2.45 0.040 2248 -575.5 188.8 - - 2284 - - - - - - - - 14.51 14.47 14.54
13414 765.7 8.7 471 13414 done 0.68 - - 3113 - - - 2247 - 188.8 - - 2283 - - - - - - - - 14.82 14.82 14.82
13750 737.5 8.3 477 13756 roll 0.68 - - 3113 - 2.65 0.103 3651 529.8 188.8 - - 2286 - - - - - - - - 14.83 14.33 14.83
13806 732.5 8.9 485 13812 done 0.68 - - 3122 - 2.42 0.041 2258 -575.6 188.8 - - 2284 - - - - - - - - 14.52 14.47 14.53
14142 705.2 8.0 498 14143 done 0.68 - - 3121 - - - 2253 - 188.8 - - 2283 - - - - - - - - 14.84 14.85 14.85
14478 678.3 8.0 504 14483 roll 0.68 - - 3122 - 2.62 0.103 3650 533.2 188.8 - - 2283 - - - - - - - - 14.85 14.31 14.85
14505 675.8 8.7 508 14511 done 0.68 - - 3131 - 2.42 0.041 2254 -576.9 188.8 - - 2283 - - - - - - - - 14.53 14.49 14.55
14870 645.9 8.1 518 14875 roll 0.68 - - 3131 - 2.65 0.103 3658 529.8 188.8 - - 2283 - - - - - - - - 14.86 14.28 14.86
14911 642.0 9.4 524 14917 done 0.68 - - 3142 - 2.42 0.040 2259 -578.1 188.8 - - 2283 - - - - - - - - 14.54 14.48 14.55
15262 612.4 8.4 532 15267 roll 0.68 - - 3152 - 2.45 0.062 853 -573.9 188.8 - - 2282 - - - - - - - - 14.88 14.37 14.88
15289 609.9 8.8 536 15296 done 0.68 0.10 0.194 3122 -300.0 2.47 0.054 2251 566.0 188.8 - - 2282 - - - - - - - - 14.16 14.36 14.32
15654 580.8 8.0 546 15659 roll 0.68 - - 3123 - 2.60 0.103 3644 535.8 188.8 - - 2279 - - - - - - - - 14.86 14.27 14.86
15730 573.8 9.2 557 15737 done 0.68 - - 3131 - 2.42 0.039 2252 -575.2 188.8 - - 2282 - - - - - - - - 14.50 14.46 14.52
16046 546.9 8.6 567 16051 roll 0.68 - - 3141 - 2.47 0.061 864 -561.9 188.8 - - 2282 - - - - - - - - 14.88 14.30 14.90
16073 544.4 8.7 571 16080 done 0.68 - - 3141 - 2.47 0.054 2263 566.4 188.8 - - 2282 - - - - - - - - 14.42 14.35 14.47
16438 511.9 8.9 581 16444 roll 0.68 - - 3141 - 2.60 0.101 3660 537.3 188.8 - - 2282 - - - - - - - - 14.85 14.23 14.86
16494 506.5 9.9 589 16500 done 0.68 0.10 0.210 3123 -180.0 2.42 0.040 2267 -575.6 188.8 - - 2282 - - - - - - - - 14.09 14.42 14.25
16830 481.4 7.2 602 16842 roll 0.69 - - 3132 - 2.50 0.061 861 -562.4 199.8 4.93 1.806 2257 -5.1 0.271 - - - - - - 14.88 14.56 13.18
16878 478.0 7.2 609 16901 done 0.71 - - 3133 - 2.47 0.055 2259 566.0 210.8 18.95 1.685 2210 -2.5 0.141 - - - - - - 14.52 14.44 13.68
17215 453.3 7.3 622 17222 roll 0.72 - - 3132 - 2.65 0.104 3656 527.2 219.4 3.03 1.183 2181 -9.6 0.735 - - - - - - 14.76 14.40 13.12
17305 445.9 8.2 635 17312 done 0.72 - - 3141 - 2.42 0.039 2260 -576.9 219.4 2.30 0.688 2178 -1.3 0.169 - - - - - - 14.50 14.46 13.09
17656 419.2 7.7 643 17662 roll 0.72 - - 3152 - 2.50 0.062 862 -559.2 220.1 2.60 0.931 2174 -1.5 0.139 - - - - - - 14.81 14.47 13.15
17704 415.1 8.5 650 17712 done 0.72 - - 3152 - 2.47 0.055 2258 565.2 220.1 - - 2181 - - - - - - - - 14.47 14.39 14.51
18048 385.6 8.7 657 18055 roll 0.72 - - 3152 - 2.60 0.101 3652 536.2 220.1 1.42 0.274 2175 -4.2 1.191 - - - - - - 14.83 14.19 13.88
18096 380.8 9.9 664 18104 done 0.72 - - 3163 - 2.42 0.040 2259 -575.6 220.1 - - 2181 - - - - - - - - 14.50 14.45 14.52
18440 350.8 8.7 671 18443 done 0.72 - - 3163 - - - 2255 - 220.1 1.33 0.265 2173 -6.0 1.595 - - - - - - 14.85 14.37 13.97
18776 320.6 9.0 677 18779 done 0.72 0.10 0.235 3133 -300.0 - - 2254 - 220.1 1.48 0.263 2173 - - - - - - - - 14.28 14.33 13.81
19112 293.8 8.0 683 19118 roll 0.72 - - 3132 - 2.65 0.100 3656 529.1 220.1 1.35 0.265 2178 3.7 -0.823 - - - - - - 14.85 14.19 13.91
19139 291.3 8.7 687 19146 done 0.72 - - 3142 - 2.42 0.040 2259 -577.3 220.1 1.33 0.244 2176 - - - - - - - - 14.54 14.50 13.91
19504 261.1 8.3 697 19511 roll 0.72 - - 3141 - 2.65 0.100 3659 528.3 220.1 1.60 0.293 2177 - - - - - - - - 14.88 14.05 13.57
19538 257.9 9.2 702 19545 done 0.72 - - 3152 - 2.42 0.039 2261 -577.7 220.1 1.17 0.240 2176 - - - - - - - - 14.53 14.50 13.95
19896 227.2 8.5 711 19899 done 0.72 - - 3153 - - - 2256 - 220.1 2.00 0.352 2173 -1.5 0.194 - - - - - - 14.88 14.46 12.55
20232 198.9 8.3 717 20239 roll 0.72 - - 3162 - 2.42 0.060 864 -575.2 220.1 2.25 0.625 2175 - - - - - - - - 14.88 14.27 13.19
20266 196.0 8.3 722 20273 done 0.72 0.08 0.192 3139 -287.5 2.47 0.054 2265 567.2 220.1 1.27 0.252 2174 - - - - - - - - 14.23 14.39 14.01
20624 167.2 8.2 731 20630 roll 0.72 - - 3138 - 2.60 0.101 3660 536.5 220.1 1.58 0.299 2177 1.9 -0.213 - - - - - - 14.87 14.12 13.64
20700 160.2 9.0 742 20707 done 0.72 - - 3147 - 2.40 0.037 2268 -580.0 220.1 1.48 0.267 2175 - - - - - - - - 14.52 14.49 13.69
21016 134.4 8.1 752 21022 roll 0.72 - - 3158 - 2.45 0.057 856 -576.3 220.1 1.62 0.312 2177 - - - - - - - - 14.88 14.12 13.65
21050 131.5 8.4 757 21058 done 0.72 - - 3158 - 2.50 0.053 2273 566.8 220.1 1.35 0.278 2176 - - - - - - - - 14.46 14.38 13.70
21408 103.5 7.5 766 21414 done 0.73 - - 3158 - - - 2272 - 225.0 4.15 0.433 2153 -5.5 0.265 - - - - - - 14.85 14.42 13.88
21716 80.8 6.5 776 21736 roll 0.76 - - 3168 - 2.50 0.060 868 -561.6 249.0 13.00 0.416 2060 -7.2 0.278 - - - - - - 14.84 14.47 14.07
21778 77.1 5.7 785 21806 done 0.88 - - 3167 - 2.45 0.052 2261 568.6 289.4 20.77 0.409 1899 -7.8 0.293 - - - - - - 14.47 14.38 14.07
22138 57.8 4.3 803 22177 roll 1.09 0.15 0.096 3259 613.3 2.58 0.098 3659 541.9 358.3 34.03 0.353 1623 -8.1 0.266 - - - - - - 14.42 14.37 14.10
22360 37.5 8.0 835 22366 done 1.09 - - 3268 - 2.40 0.037 2269 -579.2 358.3 - - 1623 - - - - - - - - 14.45 14.42 14.48
22696 19.5 4.6 850 22731 roll 1.27 0.05 0.200 3317 980.0 2.60 0.099 3663 536.2 421.3 30.38 0.229 1372 -8.3 0.141 - - - - - - 14.52 14.34 14.14
22836 7.9 8.6 870 22842 done 1.27 - - 3326 - 2.35 0.037 2296 -581.7 421.3 - - 1373 - - - - - - - - 14.41 14.38 14.45
22918 end climb: SURFACE_DEPTH_REACHED
22918 begin surface coast
22946 end surface coast: CONTROL_FINISHED_OK
22946 begin surface
SM -2.36 - - - - -8.39 9.45 0.083 182 19.3 0.90 0.082 2776 1940.0 500.14 36.25 0.159 1058 29.2 0.044 - - - - - -