SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 317 * Raw log
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• Previous call tries 1 • 116.86 of 350.00 AH used of 24V (66.61% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.1 deg, depth -3.05 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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 - - 176 - - - 2789 - -107.1 -76.53 - 3478 - - - - - - - - 14.65 12.67 14.64
95 -1.5 -4.9 2 115 roll -0.93 11.62 0.386 2584 207.2 1.90 0.083 3828 546.8 -107.1 - - 3478 - - - - - - - - 14.02 14.32 14.39
310 66.2 -12.6 34 316 done -0.65 0.38 0.238 2684 263.2 1.83 0.037 2743 -592.9 -107.1 - - 3480 - - - - - - - - 14.09 14.50 14.28
646 96.7 -9.0 49 652 roll -0.65 - - 2685 - 2.33 0.040 1380 -585.0 -107.1 - - 3481 - - - - - - - - 14.83 14.47 14.83
694 100.2 -7.2 56 702 done -0.65 - - 2680 - 2.45 0.063 2759 562.9 -107.1 - - 3482 - - - - - - - - 14.49 14.40 14.53
1038 127.8 -8.5 63 1044 roll -0.65 - - 2682 - 2.38 0.041 1381 -579.0 -107.1 - - 3482 - - - - - - - - 14.88 14.45 14.88
1079 131.4 -8.3 69 1087 done -0.65 - - 2664 - 2.45 0.065 2757 561.6 -107.1 - - 3482 - - - - - - - - 14.53 14.43 14.57
1430 162.0 -8.9 77 1436 roll -0.65 - - 2665 - 2.40 0.041 1374 -576.2 -107.1 - - 3483 - - - - - - - - 14.90 14.51 14.90
1457 164.4 -8.8 81 1465 done -0.65 0.10 0.220 2685 200.0 2.47 0.067 2755 559.1 -107.1 - - 3485 - - - - - - - - 14.27 14.45 14.45
1822 192.7 -7.7 91 1823 done -0.65 - - 2684 - - - 2755 - -107.1 - - 3478 - - - - - - - - 14.94 14.93 14.97
2158 220.4 -8.3 97 2165 roll -0.65 - - 2685 - 2.40 0.043 1381 -572.5 -107.1 - - 3476 - - - - - - - - 14.94 14.50 14.94
2192 223.2 -8.1 102 2199 done -0.65 - - 2672 - 2.47 0.067 2758 557.5 -107.1 - - 3475 - - - - - - - - 14.53 14.43 14.58
2550 250.7 -7.5 111 2556 roll -0.65 - - 2669 - 2.03 0.108 3822 524.1 -107.1 - - 3473 - - - - - - - - 14.93 14.35 14.95
2577 252.8 -7.6 115 2584 done -0.65 - - 2667 - 1.85 0.042 2735 -587.6 -107.1 - - 3473 - - - - - - - - 14.73 14.68 14.73
2942 281.4 -7.9 125 2948 roll -0.65 - - 2667 - 2.33 0.044 1384 -579.8 -107.1 - - 3470 - - - - - - - - 14.93 14.50 14.93
2976 284.0 -7.6 130 2983 done -0.65 0.10 0.217 2687 200.0 2.45 0.068 2750 557.6 -107.1 - - 3470 - - - - - - - - 14.24 14.43 14.43
3335 310.6 -7.2 139 3340 roll -0.65 - - 2679 - 2.05 0.110 3852 537.6 -107.1 - - 3468 - - - - - - - - 14.93 14.36 14.93
3390 315.1 -8.0 147 3396 done -0.65 - - 2678 - 1.85 0.044 2765 -587.6 -107.1 - - 3468 - - - - - - - - 14.61 14.62 14.66
3726 340.8 -7.6 160 3732 roll -0.65 - - 2679 - 2.40 0.044 1373 -580.0 -107.1 - - 3466 - - - - - - - - 14.98 14.50 14.94
3753 343.0 -7.8 164 3760 done -0.65 - - 2670 - 2.50 0.067 2760 554.8 -107.1 - - 3466 - - - - - - - - 14.51 14.41 14.55
4118 371.3 -7.8 174 4119 done -0.65 - - 2669 - - - 2760 - -107.1 - - 3464 - - - - - - - - 14.93 14.95 14.95
4454 397.8 -7.9 180 4455 done -0.65 - - 2669 - - - 2761 - -107.1 - - 3462 - - - - - - - - 14.93 14.93 14.93
4790 423.6 -7.5 186 4796 roll -0.65 - - 2669 - 2.38 0.044 1377 -581.5 -107.1 - - 3460 - - - - - - - - 14.93 14.51 14.94
4838 427.4 -7.7 193 4847 done -0.65 - - 2661 - 2.50 0.069 2756 551.6 -107.1 - - 3461 - - - - - - - - 14.49 14.40 14.54
5182 454.3 -7.9 200 5188 roll -0.65 - - 2660 - 2.38 0.043 1375 -580.3 -107.1 - - 3459 - - - - - - - - 14.95 14.57 14.95
5216 457.1 -7.9 205 5224 done -0.65 0.10 0.223 2681 210.0 2.47 0.067 2743 553.8 -107.1 - - 3459 - - - - - - - - 14.19 14.40 14.37
5574 480.7 -6.6 214 5580 roll -0.65 - - 2673 - 2.08 0.112 3823 519.2 -107.1 - - 3457 - - - - - - - - 14.95 14.27 14.95
5650 486.2 -7.3 225 5657 done -0.65 - - 2672 - 1.85 0.044 2749 -580.5 -107.1 - - 3457 - - - - - - - - 14.69 14.64 14.70
5966 508.8 -7.2 235 5972 roll -0.65 - - 2672 - 2.38 0.044 1353 -586.6 -107.1 - - 3455 - - - - - - - - 14.92 14.47 14.92
6070 516.6 -7.2 250 6078 done -0.65 - - 2664 - 2.53 0.067 2747 551.0 -107.1 - - 3454 - - - - - - - - 14.45 14.35 14.50
6414 543.9 -8.1 257 6420 roll -0.65 - - 2655 - 2.08 0.111 3828 519.7 -107.1 - - 3455 - - - - - - - - 14.94 14.26 14.94
6455 547.7 -9.1 263 6462 done -0.65 0.10 0.222 2684 290.0 1.88 0.043 2738 -579.8 -107.1 - - 3454 - - - - - - - - 14.28 14.62 14.50
6807 574.6 -7.7 271 6812 roll -0.73 - - 2685 - 2.33 0.044 1379 -583.3 -107.1 - - 3452 - - - - - - - - 14.90 14.49 14.90
6875 580.0 -7.7 281 6883 done -0.82 0.05 0.116 2626 -1180.0 2.47 0.067 2740 551.0 -107.1 - - 3452 - - - - - - - - 14.33 14.33 14.43
7198 610.1 -9.4 292 7199 done -0.82 - - 2625 - - - 2740 - -107.1 - - 3451 - - - - - - - - 14.93 14.93 14.93
7534 640.2 -8.8 298 7540 roll -0.82 - - 2617 - 2.10 0.112 3831 519.5 -107.1 - - 3449 - - - - - - - - 14.92 14.21 14.92
7568 643.5 -9.7 303 7574 done -0.82 - - 2616 - 1.88 0.044 2747 -576.6 -107.1 - - 3449 - - - - - - - - 14.66 14.61 14.68
7926 676.6 -9.3 312 7927 done -0.82 - - 2617 - - - 2747 - -107.1 - - 3447 - - - - - - - - 14.91 14.91 14.91
8262 708.7 -9.6 318 8268 roll -0.82 - - 2608 - 2.12 0.110 3831 511.3 -107.1 - - 3446 - - - - - - - - 14.90 14.21 14.90
8310 713.6 -10.2 325 8319 done -0.82 - - 2607 - 1.88 0.044 2750 -575.0 -107.1 - - 3446 - - - - - - - - 14.66 14.61 14.68
8654 746.5 -9.5 332 8660 roll -0.82 - - 2607 - 2.40 0.043 1376 -572.5 -107.1 - - 3445 - - - - - - - - 14.91 14.39 14.91
8688 749.7 -9.4 337 8696 done -0.82 0.10 0.233 2625 180.0 2.53 0.067 2759 546.6 -107.1 - - 3445 - - - - - - - - 14.03 14.30 14.21
9046 780.9 -8.9 346 9047 done -0.82 - - 2625 - - - 2758 - -107.1 - - 3445 - - - - - - - - 14.90 14.90 14.90
9382 810.0 -8.7 352 9383 done -0.82 - - 2625 - - - 2759 - -107.1 - - 3444 - - - - - - - - 14.90 14.89 14.90
9718 839.8 -8.9 358 9724 roll -0.82 - - 2625 - 2.45 0.044 1375 -564.9 -107.1 - - 3443 - - - - - - - - 14.90 14.36 14.90
9780 845.1 -7.8 367 9787 done -0.82 - - 2616 - 2.50 0.067 2742 546.8 -107.1 - - 3443 - - - - - - - - 14.37 14.26 14.42
10110 874.7 -9.1 379 10111 done -0.82 - - 2616 - - - 2742 - -107.1 - - 3442 - - - - - - - - 14.88 14.89 14.89
10446 906.6 -9.6 385 10452 roll -0.82 - - 2608 - 2.10 0.112 3828 517.1 -107.1 - - 3441 - - - - - - - - 14.89 14.13 14.90
10487 910.7 -8.3 391 10493 done -0.82 - - 2606 - 1.90 0.044 2739 -573.2 -107.1 - - 3440 - - - - - - - - 14.62 14.56 14.64
10723 end dive: TARGET_DEPTH_EXCEEDED
10724 begin apogee
10730 933.8 -9.4 397 10841 roll -0.23 0.77 0.191 2825 284.4 0.10 0.158 2283 -4560.0 - 108.35 1.966 3051 -3.6 0.338 - - - - - - 14.04 13.93 13.12
10842 end apogee: CONTROL_FINISHED_OK
10842 begin climb
10845 938.1 - 399 10974 roll 0.93 1.15 0.106 3184 312.2 2.60 0.054 855 -549.2 107.1 116.82 1.948 2616 -3.7 0.356 - - - - - - 13.97 14.00 12.92
10979 934.2 7.1 419 11001 done 0.74 0.15 0.220 3145 -260.0 2.55 0.049 2240 543.1 119.6 14.05 2.088 2566 -3.6 0.316 - - - - - - 13.68 13.80 12.94
11344 909.5 7.0 429 11364 roll 0.75 - - 3144 - 2.67 0.099 3648 527.3 133.6 13.55 2.087 2514 -3.8 0.332 - - - - - - 14.62 14.25 13.43
11420 902.9 8.5 440 11427 done 0.64 0.15 0.220 3111 -220.0 2.47 0.040 2235 -572.1 133.6 - - 2510 - - - - - - - - 14.10 14.33 14.26
11736 882.4 6.5 450 11767 done 0.67 - - 3114 - - - 2234 - 158.9 29.58 1.956 2417 -3.1 0.281 - - - - - - 14.74 14.28 13.40
12072 856.3 7.7 456 12077 roll 0.68 - - 3114 - 2.70 0.098 3658 527.4 160.4 - - 2405 - - - - - - - - 14.70 14.30 14.69
12155 848.5 8.6 468 12161 done 0.68 - - 3123 - 2.45 0.040 2251 -574.3 160.4 - - 2406 - - - - - - - - 14.48 14.45 14.50
12520 818.6 8.5 478 12521 done 0.68 - - 3123 - - - 2250 - 160.4 - - 2405 - - - - - - - - 14.79 14.79 14.78
12856 790.5 8.5 484 12861 roll 0.68 - - 3124 - 2.65 0.101 3658 531.3 160.4 - - 2404 - - - - - - - - 14.85 14.31 14.85
12883 787.7 10.0 488 12889 done 0.68 - - 3134 - 2.45 0.040 2250 -574.7 160.4 - - 2404 - - - - - - - - 14.56 14.50 14.56
13248 751.4 11.1 498 13254 roll 0.68 - - 3134 - 2.65 0.103 3650 528.3 160.4 - - 2404 - - - - - - - - 14.84 14.27 14.84
13282 752.5 6.5 503 13317 done 0.71 - - 3144 - 2.42 0.040 2253 -577.3 184.8 28.42 1.867 2309 -3.3 0.267 - - - - - - 14.54 14.49 13.55
13640 720.0 9.2 519 13640 done 0.71 - - 3144 - - - 2253 - 184.8 - - 2301 - - - - - - - - 14.76 14.76 14.76
13976 691.6 8.3 525 13976 done 0.71 - - 3144 - - - 2254 - 184.8 - - 2301 - - - - - - - - 14.81 14.81 14.81
14312 664.8 7.9 531 14317 roll 0.71 - - 3143 - 2.67 0.104 3650 522.8 184.8 - - 2301 - - - - - - - - 14.84 14.28 14.85
14368 659.5 9.5 539 14374 done 0.71 - - 3153 - 2.42 0.041 2259 -574.8 184.8 - - 2301 - - - - - - - - 14.51 14.46 14.54
14704 630.2 8.6 552 14709 roll 0.71 - - 3166 - 2.47 0.061 863 -565.2 184.8 - - 2300 - - - - - - - - 14.84 14.34 14.84
14731 629.2 6.4 556 14766 done 0.74 - - 3165 - 2.47 0.054 2259 565.2 211.8 29.40 1.755 2205 -3.2 0.230 - - - - - - 14.49 14.38 13.60
15098 594.8 10.0 573 15103 roll 0.74 - - 3165 - 2.60 0.102 3659 538.5 211.8 - - 2197 - - - - - - - - 14.72 14.28 14.73
15130 591.0 11.3 578 15137 done 0.74 0.10 0.220 3146 -190.0 2.45 0.039 2256 -572.7 211.8 - - 2196 - - - - - - - - 14.14 14.43 14.32
15488 557.0 9.5 587 15493 roll 0.74 - - 3156 - 2.45 0.060 849 -574.3 211.8 - - 2196 - - - - - - - - 14.80 14.38 14.78
15529 553.0 9.6 593 15536 done 0.74 - - 3156 - 2.50 0.054 2264 566.0 211.8 - - 2193 - - - - - - - - 14.45 14.37 14.50
15880 519.8 9.4 601 15886 roll 0.74 - - 3156 - 2.58 0.103 3649 536.8 211.8 - - 2196 - - - - - - - - 14.85 14.30 14.84
15970 510.2 10.6 614 15977 done 0.74 - - 3166 - 2.42 0.039 2258 -574.8 211.8 - - 2195 - - - - - - - - 14.51 14.47 14.50
16328 475.4 9.8 623 16328 done 0.74 - - 3166 - - - 2256 - 211.8 - - 2195 - - - - - - - - 14.83 14.83 14.83
16664 443.9 9.3 629 16670 roll 0.74 - - 3166 - 2.62 0.101 3649 531.7 211.8 - - 2195 - - - - - - - - 14.86 14.28 14.88
16684 441.7 9.4 632 16691 done 0.74 0.12 0.213 3140 -216.7 2.40 0.040 2273 -573.3 211.8 - - 2195 - - - - - - - - 14.13 14.47 14.31
17000 417.5 7.4 642 17006 roll 0.75 - - 3152 - 2.47 0.059 863 -570.9 217.8 1.52 0.265 2185 -6.6 2.055 - - - - - - 14.88 14.14 13.84
17041 414.3 7.6 648 17056 done 0.75 - - 3152 - 2.50 0.054 2270 562.8 221.6 5.12 1.758 2172 -2.5 0.119 - - - - - - 14.45 14.35 13.47
17392 388.2 7.2 656 17411 done 0.76 - - 3152 - - - 2270 - 232.8 18.00 1.584 2124 -2.7 0.130 - - - - - - 14.83 14.51 13.75
17728 360.1 8.7 662 17733 roll 0.76 - - 3152 - 2.58 0.102 3659 538.4 232.8 - - 2113 - - - - - - - - 14.77 14.31 14.77
17762 356.6 10.0 667 17769 done 0.76 - - 3162 - 2.42 0.039 2262 -577.3 232.8 - - 2112 - - - - - - - - 14.50 14.45 14.52
18120 322.7 9.5 676 18120 done 0.76 - - 3162 - - - 2254 - 232.8 - - 2112 - - - - - - - - 14.82 14.82 14.81
18456 291.0 9.4 682 18461 roll 0.76 - - 3172 - 2.42 0.060 863 -574.8 232.8 - - 2112 - - - - - - - - 14.84 14.37 14.84
18490 287.7 9.3 687 18497 done 0.76 0.08 0.203 3150 -275.0 2.50 0.055 2273 564.0 232.8 - - 2112 - - - - - - - - 14.19 14.38 14.35
18848 257.6 8.4 696 18853 roll 0.76 - - 3149 - 2.55 0.101 3653 541.2 232.8 - - 2112 - - - - - - - - 14.86 14.31 14.87
18868 255.7 8.3 699 18875 done 0.76 - - 3160 - 2.40 0.039 2266 -577.9 232.8 - - 2109 - - - - - - - - 14.53 14.48 14.55
19184 228.3 8.7 709 19190 roll 0.76 - - 3159 - 2.60 0.101 3654 533.8 232.8 - - 2112 - - - - - - - - 14.88 14.31 14.88
19204 226.2 9.1 712 19211 done 0.76 - - 3170 - 2.40 0.039 2270 -576.7 232.8 - - 2112 - - - - - - - - 14.54 14.49 14.57
19520 196.1 9.6 722 19525 roll 0.76 - - 3180 - 2.50 0.060 857 -565.2 232.8 - - 2112 - - - - - - - - 14.85 14.33 14.85
19547 193.4 9.7 726 19554 done 0.76 0.10 0.195 3153 -270.0 2.50 0.054 2270 565.2 232.8 - - 2112 - - - - - - - - 14.16 14.35 14.33
19912 162.4 8.2 736 19913 done 0.76 - - 3150 - - - 2270 - 232.8 - - 2112 - - - - - - - - 14.86 14.87 14.87
20248 132.9 9.0 742 20253 roll 0.76 - - 3147 - 2.55 0.100 3654 542.7 232.8 - - 2112 - - - - - - - - 14.87 14.25 14.87
20304 127.3 10.2 750 20309 done 0.76 - - 3159 - 2.40 0.038 2263 -579.6 232.8 - - 2113 - - - - - - - - 14.60 14.47 14.63
20640 98.5 8.4 763 20646 roll 0.76 - - 3170 - 2.47 0.060 861 -567.6 232.8 - - 2113 - - - - - - - - 14.87 14.33 14.87
20681 94.6 9.4 769 20688 done 0.76 - - 3170 - 2.50 0.054 2271 564.0 232.8 - - 2113 - - - - - - - - 14.44 14.35 14.49
21004 70.4 6.9 782 21017 roll 0.78 - - 3179 - 2.47 0.060 865 -569.2 249.4 7.05 0.373 2061 -7.4 0.276 - - - - - - 14.86 14.45 13.97
21052 67.1 6.6 789 21072 done 0.89 - - 3178 - 2.47 0.052 2274 570.4 271.4 12.38 0.372 1970 -7.4 0.263 - - - - - - 14.45 14.37 14.07
21398 51.3 4.1 805 21439 roll 1.09 0.12 0.103 3261 691.7 2.60 0.099 3655 531.2 343.4 36.35 0.335 1681 -8.0 0.241 - - - - - - 14.51 14.42 14.14
21669 30.7 6.1 844 21690 done 1.13 - - 3271 - 2.40 0.037 2263 -580.0 376.3 16.42 0.272 1551 -7.9 0.177 - - - - - - 14.48 14.45 14.10
22007 14.3 4.8 859 22038 done 1.29 0.08 0.141 3331 750.0 - - 2262 - 434.7 28.88 0.211 1318 -8.1 0.108 - - - - - - 14.54 14.46 14.19
22171 end climb: SURFACE_DEPTH_REACHED
22171 begin surface coast
22199 end surface coast: CONTROL_FINISHED_OK
22199 begin surface
SM -3.15 - - - - -8.39 9.40 0.078 185 19.7 0.95 0.085 2771 -8036.8 500.14 30.20 0.158 1057 35.0 0.071 - - - - - -