SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 319 * Raw log
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• Previous call tries 1 • 117.49 of 350.00 AH used of 24V (66.43% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.5 deg, depth -3.07 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 37 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 - - 153 - - - 2775 - -107.1 -76.78 - 3478 - - - - - - - - 14.65 12.67 14.64
95 -1.7 -4.2 2 115 roll -0.93 11.73 0.384 2591 207.8 2.42 0.039 1361 -584.3 -107.1 - - 3480 - - - - - - - - 14.02 14.38 14.38
190 35.8 -20.5 17 199 done -0.66 0.38 0.259 2679 231.6 2.55 0.069 2768 551.8 -107.1 - - 3480 - - - - - - - - 14.04 14.31 14.26
506 74.1 -8.4 29 513 roll -0.66 - - 2671 - 1.98 0.107 3816 529.3 -107.1 - - 3482 - - - - - - - - 14.80 14.30 14.81
526 75.4 -6.8 32 534 done -0.66 - - 2671 - 1.80 0.038 2736 -600.0 -107.1 - - 3481 - - - - - - - - 14.64 14.59 14.66
842 100.5 -7.8 44 848 roll -0.66 - - 2663 - 2.08 0.104 3827 524.5 -107.1 - - 3483 - - - - - - - - 14.85 14.34 14.86
981 113.7 -9.5 64 987 done -0.66 - - 2658 - 1.75 0.038 2778 -599.4 -107.1 - - 3483 - - - - - - - - 14.70 14.66 14.71
1347 146.8 -9.2 74 1352 roll -0.66 - - 2655 - 1.95 0.105 3821 534.9 -107.1 - - 3482 - - - - - - - - 14.89 14.41 14.89
1380 150.1 -9.6 79 1387 done -0.66 0.10 0.224 2684 290.0 1.75 0.038 2779 -595.4 -107.1 - - 3482 - - - - - - - - 14.37 14.69 14.58
1738 179.5 -8.2 88 1744 roll -0.66 - - 2684 - 2.40 0.041 1379 -583.3 -107.1 - - 3480 - - - - - - - - 14.93 14.49 14.93
1779 183.0 -8.4 94 1786 done -0.66 - - 2675 - 2.53 0.065 2783 554.9 -107.1 - - 3479 - - - - - - - - 14.55 14.46 14.59
2130 213.4 -8.8 102 2131 done -0.66 - - 2675 - - - 2783 - -107.1 - - 3475 - - - - - - - - 14.94 14.95 14.95
2466 242.6 -8.8 108 2472 roll -0.66 - - 2667 - 1.98 0.107 3821 524.2 -107.1 - - 3474 - - - - - - - - 14.95 14.35 14.95
2598 255.7 -9.5 127 2604 done -0.66 - - 2666 - 1.75 0.040 2786 -591.4 -107.1 - - 3473 - - - - - - - - 14.69 14.65 14.71
2914 284.4 -9.1 137 2921 roll -0.66 - - 2666 - 2.40 0.042 1390 -581.7 -107.1 - - 3471 - - - - - - - - 14.92 14.52 14.93
2941 286.4 -7.2 141 2949 done -0.66 - - 2657 - 2.53 0.067 2794 554.9 -107.1 - - 3470 - - - - - - - - 14.55 14.46 14.59
3306 320.2 -8.7 151 3312 roll -0.66 - - 2657 - 2.45 0.041 1382 -576.3 -107.1 - - 3468 - - - - - - - - 14.95 14.50 14.95
3333 322.6 -8.5 155 3340 done -0.66 0.10 0.224 2677 200.0 2.55 0.067 2792 552.9 -107.1 - - 3468 - - - - - - - - 14.23 14.44 14.41
3698 351.5 -7.9 165 3705 roll -0.66 - - 2669 - 1.95 0.109 3819 526.7 -107.1 - - 3466 - - - - - - - - 14.95 14.31 14.95
3732 354.4 -8.5 170 3739 done -0.66 - - 2669 - 1.75 0.041 2791 -587.4 -107.1 - - 3465 - - - - - - - - 14.73 14.68 14.74
4090 383.0 -7.9 179 4096 roll -0.66 - - 2668 - 2.42 0.041 1386 -580.6 -107.1 - - 3464 - - - - - - - - 14.93 14.50 14.93
4138 386.8 -7.7 186 4146 done -0.66 - - 2659 - 2.53 0.067 2786 553.4 -107.1 - - 3464 - - - - - - - - 14.50 14.40 14.55
4482 414.2 -8.1 193 4489 roll -0.66 - - 2659 - 2.40 0.042 1383 -584.6 -107.1 - - 3462 - - - - - - - - 14.92 14.54 14.92
4538 418.8 -8.2 201 4545 done -0.66 0.10 0.225 2678 190.0 2.55 0.067 2792 552.5 -107.1 - - 3461 - - - - - - - - 14.19 14.36 14.36
4874 444.2 -7.5 214 4880 roll -0.66 - - 2669 - 1.98 0.111 3824 521.2 -107.1 - - 3459 - - - - - - - - 14.92 14.31 14.92
4908 447.2 -8.5 219 4915 done -0.66 - - 2670 - 1.77 0.043 2793 -582.5 -107.1 - - 3459 - - - - - - - - 14.73 14.67 14.73
5266 475.5 -7.9 228 5272 roll -0.66 - - 2670 - 2.45 0.043 1374 -579.2 -107.1 - - 3458 - - - - - - - - 14.95 14.47 14.95
5314 479.3 -7.8 235 5322 done -0.66 - - 2661 - 2.55 0.067 2783 552.5 -107.1 - - 3458 - - - - - - - - 14.48 14.40 14.52
5658 506.1 -7.8 242 5664 roll -0.66 - - 2661 - 2.45 0.042 1380 -572.7 -107.1 - - 3458 - - - - - - - - 14.92 14.46 14.92
5678 507.8 -7.9 245 5686 done -0.66 0.10 0.222 2680 190.0 2.55 0.068 2785 551.0 -107.1 - - 3456 - - - - - - - - 14.17 14.40 14.35
5994 530.2 -7.2 255 5995 done -0.66 - - 2680 - - - 2785 - -107.1 - - 3455 - - - - - - - - 14.92 14.92 14.92
6330 555.6 -7.6 261 6331 done -0.66 - - 2680 - - - 2784 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
6666 579.8 -7.2 267 6672 roll -0.66 - - 2680 - 2.42 0.043 1376 -581.8 -107.1 - - 3452 - - - - - - - - 14.92 14.47 14.92
6729 584.3 -6.9 276 6735 done -0.75 - - 2671 - 2.55 0.067 2777 549.4 -107.1 - - 3452 - - - - - - - - 14.45 14.35 14.50
7058 607.6 -7.1 288 7064 roll -0.75 - - 2663 - 2.00 0.112 3816 519.5 -107.1 - - 3450 - - - - - - - - 14.94 14.24 14.94
7114 611.9 -7.6 296 7120 done -0.75 - - 2663 - 1.77 0.043 2778 -586.4 -107.1 - - 3450 - - - - - - - - 14.58 14.55 14.59
7451 636.9 -7.5 309 7457 roll -0.75 - - 2663 - 2.40 0.043 1378 -583.3 -107.1 - - 3448 - - - - - - - - 14.91 14.47 14.91
7533 643.3 -7.5 321 7541 done -0.75 - - 2653 - 2.55 0.067 2771 546.3 -107.1 - - 3448 - - - - - - - - 14.43 14.33 14.47
7898 672.4 -8.0 331 7899 done -0.75 - - 2654 - - - 2771 - -107.1 - - 3447 - - - - - - - - 14.90 14.90 14.90
8234 699.1 -8.0 337 8240 roll -0.75 - - 2646 - 2.03 0.110 3821 517.2 -107.1 - - 3446 - - - - - - - - 14.91 14.21 14.91
8261 701.3 -8.0 341 8269 done -0.75 - - 2645 - 1.80 0.044 2782 -577.2 -107.1 - - 3446 - - - - - - - - 14.66 14.61 14.68
8626 729.2 -7.6 351 8632 roll -0.75 - - 2645 - 2.45 0.044 1381 -571.8 -107.1 - - 3445 - - - - - - - - 14.92 14.38 14.92
8702 735.0 -7.6 362 8709 done -0.75 - - 2636 - 2.58 0.068 2786 544.6 -107.1 - - 3445 - - - - - - - - 14.38 14.28 14.42
9018 759.9 -8.0 372 9024 roll -0.75 - - 2627 - 2.00 0.112 3819 516.5 -107.1 - - 3444 - - - - - - - - 14.92 14.14 14.92
9060 763.5 -8.7 378 9066 done -0.75 0.08 0.261 2653 325.0 1.83 0.044 2773 -571.6 -107.1 - - 3444 - - - - - - - - 14.16 14.59 14.31
9410 789.4 -7.4 386 9416 roll -0.75 - - 2653 - 2.40 0.043 1375 -582.5 -107.1 - - 3442 - - - - - - - - 14.92 14.42 14.92
9451 792.5 -7.5 392 9458 done -0.75 - - 2645 - 2.58 0.068 2782 545.3 -107.1 - - 3441 - - - - - - - - 14.38 14.28 14.42
9803 819.1 -7.6 400 9803 done -0.75 - - 2645 - - - 2782 - -107.1 - - 3442 - - - - - - - - 14.91 14.91 14.91
10138 844.7 -7.6 406 10139 done -0.75 - - 2645 - - - 2781 - -107.1 - - 3441 - - - - - - - - 14.89 14.88 14.88
10474 869.7 -7.5 412 10480 roll -0.75 - - 2644 - 2.45 0.044 1374 -574.3 -107.1 - - 3440 - - - - - - - - 14.89 14.38 14.90
10516 872.5 -6.5 418 10522 done -0.75 - - 2634 - 2.60 0.068 2778 540.0 -107.1 - - 3440 - - - - - - - - 14.35 14.24 14.40
10866 899.0 -7.6 426 10872 roll -0.75 - - 2634 - 2.50 0.044 1376 -560.8 -107.1 - - 3439 - - - - - - - - 14.88 14.34 14.88
10893 901.1 -6.6 430 10900 done -0.75 0.10 0.228 2653 190.0 2.60 0.069 2786 542.3 -107.1 - - 3437 - - - - - - - - 13.99 14.25 14.17
11258 925.8 -6.7 440 11259 done -0.75 - - 2653 - - - 2783 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
11368 end dive: TARGET_DEPTH_EXCEEDED
11368 begin apogee
11374 933.4 -6.7 442 11487 roll -0.23 0.57 0.174 2819 291.2 0.10 0.152 2271 -5120.0 - 109.55 1.957 3051 -3.5 0.334 - - - - - - 14.09 13.94 13.09
11488 end apogee: CONTROL_FINISHED_OK
11488 begin climb
11491 935.6 - 444 11617 roll 0.93 1.15 0.107 3181 314.8 2.53 0.055 886 -547.4 107.1 117.90 1.962 2622 -3.6 0.344 - - - - - - 13.95 14.00 12.90
11629 929.3 7.8 465 11637 done 0.73 0.15 0.213 3141 -266.7 2.53 0.050 2249 538.7 107.1 - - 2613 - - - - - - - - 13.68 13.81 13.81
11980 903.3 7.7 473 11987 roll 0.73 - - 3140 - 2.67 0.099 3653 525.8 108.7 - - 2609 - - - - - - - - 14.62 14.21 14.62
12056 896.9 8.4 484 12063 done 0.61 0.17 0.220 3109 -182.4 2.42 0.040 2264 -574.0 108.7 - - 2613 - - - - - - - - 14.10 14.39 14.27
12372 877.5 6.0 494 12414 done 0.65 - - 3104 - - - 2264 - 143.7 40.42 1.942 2476 -3.4 0.304 - - - - - - 14.76 14.23 13.37
12758 850.8 6.7 507 12786 roll 0.68 - - 3103 - 2.72 0.102 3655 511.4 165.3 24.38 1.970 2387 -3.7 0.313 - - - - - - 14.69 14.23 13.40
12826 841.6 11.6 517 12834 done 0.68 - - 3112 - 2.47 0.040 2251 -568.4 165.3 - - 2382 - - - - - - - - 14.33 14.31 14.38
13143 819.3 7.7 527 13148 roll 0.68 - - 3122 - 2.45 0.060 862 -566.9 166.6 - - 2379 - - - - - - - - 14.71 14.36 14.71
13169 816.7 9.3 531 13176 done 0.68 - - 3122 - 2.47 0.054 2252 562.8 166.6 - - 2379 - - - - - - - - 14.43 14.36 14.45
13534 785.2 8.6 541 13541 roll 0.68 - - 3122 - 2.60 0.102 3653 538.8 166.6 - - 2379 - - - - - - - - 14.79 14.31 14.79
13604 783.4 9.0 551 13610 done 0.68 - - 3132 - 2.42 0.040 2255 -577.7 166.6 - - 2379 - - - - - - - - 14.51 14.45 14.55
13926 755.6 8.9 562 13927 done 0.68 - - 3132 - - - 2251 - 166.6 - - 2378 - - - - - - - - 14.81 14.83 14.81
14262 727.1 8.3 568 14268 roll 0.68 - - 3132 - 2.65 0.101 3654 529.4 166.6 - - 2378 - - - - - - - - 14.84 14.31 14.84
14289 724.6 9.0 572 14296 done 0.68 - - 3142 - 2.45 0.041 2243 -575.9 166.6 - - 2377 - - - - - - - - 14.54 14.50 14.57
14655 694.4 8.1 582 14655 done 0.68 - - 3142 - - - 2241 - 166.6 - - 2377 - - - - - - - - 14.85 14.85 14.85
14990 669.3 7.3 588 14995 done 0.69 - - 3142 - - - 2240 - 174.6 3.80 1.651 2354 -6.1 0.486 - - - - - - 14.88 14.54 13.13
15327 644.6 7.3 594 15348 roll 0.70 - - 3140 - 2.72 0.103 3648 517.6 183.4 16.33 1.887 2313 -2.5 0.170 - - - - - - 14.87 14.45 13.67
15416 636.9 8.8 607 15423 done 0.70 - - 3152 - 2.45 0.041 2256 -568.2 183.4 - - 2309 - - - - - - - - 14.50 14.45 14.52
15767 607.5 8.5 615 15773 roll 0.70 - - 3163 - 2.45 0.060 856 -571.4 183.4 - - 2307 - - - - - - - - 14.79 14.37 14.77
15801 604.4 8.7 620 15809 done 0.70 0.10 0.210 3133 -300.0 2.47 0.054 2252 565.2 183.4 - - 2307 - - - - - - - - 14.18 14.38 14.35
16159 575.2 8.2 629 16166 roll 0.70 - - 3132 - 2.62 0.103 3658 536.6 183.4 - - 2307 - - - - - - - - 14.85 14.31 14.85
16249 566.7 9.2 642 16256 done 0.70 - - 3142 - 2.45 0.040 2255 -572.7 183.4 - - 2307 - - - - - - - - 14.51 14.47 14.54
16607 535.7 8.7 651 16608 done 0.70 - - 3142 - - - 2250 - 183.4 - - 2306 - - - - - - - - 14.84 14.85 14.85
16943 507.5 8.3 657 16950 roll 0.70 - - 3142 - 2.67 0.102 3659 527.7 183.4 - - 2306 - - - - - - - - 14.85 14.28 14.85
16971 504.9 8.9 661 16978 done 0.70 - - 3152 - 2.45 0.040 2252 -574.3 183.4 - - 2307 - - - - - - - - 14.53 14.49 14.56
17336 475.4 7.9 671 17341 roll 0.70 - - 3169 - 2.42 0.060 863 -574.0 183.4 - - 2307 - - - - - - - - 14.88 14.39 14.88
17369 472.7 7.7 676 17376 done 0.71 0.10 0.208 3133 -360.0 2.47 0.054 2260 565.6 185.3 - - 2306 - - - - - - - - 14.14 14.38 14.31
17727 448.6 6.7 685 17755 roll 0.73 - - 3133 - 2.65 0.103 3654 526.0 205.6 23.70 1.600 2226 -3.4 0.188 - - - - - - 14.86 14.43 13.72
17825 440.8 8.4 699 17832 done 0.73 - - 3142 - 2.42 0.039 2260 -576.0 205.6 - - 2221 - - - - - - - - 14.47 14.42 14.48
18169 414.0 8.0 706 18170 done 0.73 - - 3142 - - - 2259 - 205.6 - - 2220 - - - - - - - - 14.80 14.79 14.80
18504 386.4 8.2 712 18505 done 0.73 - - 3142 - - - 2259 - 205.6 - - 2220 - - - - - - - - 14.81 14.81 14.81
18840 359.6 7.9 718 18846 roll 0.73 - - 3142 - 2.65 0.101 3655 526.8 205.6 - - 2220 - - - - - - - - 14.84 14.28 14.84
18874 356.5 8.9 723 18881 done 0.73 - - 3152 - 2.42 0.040 2259 -576.9 205.6 - - 2220 - - - - - - - - 14.50 14.45 14.53
19233 326.2 8.6 732 19238 roll 0.73 - - 3162 - 2.42 0.060 862 -577.3 205.6 - - 2220 - - - - - - - - 14.88 14.35 14.88
19266 323.0 9.0 737 19274 done 0.73 - - 3162 - 2.47 0.054 2257 564.8 205.6 - - 2220 - - - - - - - - 14.44 14.35 14.48
19624 290.0 9.3 746 19630 roll 0.73 - - 3162 - 2.60 0.103 3656 538.1 205.6 - - 2220 - - - - - - - - 14.85 14.28 14.85
19680 284.4 10.1 754 19686 done 0.73 0.10 0.220 3143 -190.0 2.42 0.040 2261 -576.4 205.6 - - 2220 - - - - - - - - 14.09 14.44 14.29
20016 258.0 7.6 767 20022 roll 0.73 - - 3151 - 2.45 0.060 855 -573.9 207.9 - - 2220 - - - - - - - - 14.88 14.35 14.89
20058 254.8 7.6 773 20065 done 0.74 - - 3153 - 2.50 0.053 2264 563.6 211.0 1.35 0.223 2210 -7.4 1.678 - - - - - - 14.42 14.33 14.04
20409 228.9 7.4 781 20428 roll 0.75 - - 3154 - 2.60 0.100 3655 535.0 218.8 13.25 1.444 2172 -2.9 0.090 - - - - - - 14.86 14.48 13.80
20457 225.0 8.5 788 20465 done 0.75 - - 3164 - 2.42 0.039 2256 -578.1 218.8 - - 2167 - - - - - - - - 14.54 14.49 14.55
20800 196.6 8.3 795 20806 roll 0.75 - - 3164 - 2.67 0.099 3652 522.8 218.8 - - 2169 - - - - - - - - 14.81 14.28 14.82
20834 193.2 9.9 800 20841 done 0.75 0.10 0.211 3145 -190.0 2.40 0.038 2266 -577.5 218.8 - - 2168 - - - - - - - - 14.17 14.47 14.33
21192 165.8 7.6 809 21199 roll 0.75 - - 3155 - 2.45 0.059 861 -573.5 221.6 - - 2168 - - - - - - - - 14.86 14.37 14.86
21219 163.6 7.8 813 21227 done 0.75 - - 3155 - 2.47 0.053 2261 566.8 221.6 - - 2168 - - - - - - - - 14.46 14.38 14.50
21584 134.3 8.0 823 21590 roll 0.75 - - 3155 - 2.60 0.099 3658 537.3 221.6 - - 2169 - - - - - - - - 14.85 14.29 14.85
21653 128.0 9.0 833 21661 done 0.75 - - 3165 - 2.40 0.037 2266 -580.0 221.6 - - 2168 - - - - - - - - 14.48 14.47 14.50
21976 101.2 8.4 844 21982 roll 0.75 - - 3164 - 2.62 0.099 3654 529.8 221.6 - - 2169 - - - - - - - - 14.86 14.30 14.86
22032 96.2 9.1 852 22038 done 0.75 0.10 0.210 3145 -190.0 2.38 0.038 2278 -578.2 221.6 - - 2169 - - - - - - - - 14.14 14.47 14.30
22371 72.8 6.2 867 22388 done 0.87 0.05 0.200 3221 1520.0 - - 2274 - 253.1 16.05 0.391 2042 -7.9 0.292 - - - - - - 14.54 14.50 14.07
22676 53.7 4.6 878 22710 done 0.95 - - 3221 - - - 2274 - 315.1 31.70 0.341 1795 -7.8 0.243 - - - - - - 14.84 14.50 14.14
23013 33.5 4.8 893 23048 roll 1.13 0.08 0.145 3298 962.5 2.53 0.060 866 -556.5 374.4 29.65 0.282 1557 -8.0 0.189 - - - - - - 14.54 14.43 14.12
23096 29.7 8.0 905 23103 done 1.13 0.10 0.192 3268 -300.0 2.50 0.050 2282 566.4 374.4 - - 1558 - - - - - - - - 14.17 14.35 14.32
23435 12.1 5.2 920 23466 roll 1.29 0.08 0.139 3360 1150.0 2.55 0.060 860 -557.6 424.3 24.25 0.201 1359 -8.2 0.098 - - - - - - 14.52 14.38 14.20
23488 8.0 7.9 928 23494 done 1.29 0.15 0.194 3318 -280.0 2.47 0.051 2274 572.5 424.3 - - 1360 - - - - - - - - 14.12 14.33 14.28
23570 end climb: SURFACE_DEPTH_REACHED
23570 begin surface coast
23598 end surface coast: CONTROL_FINISHED_OK
23598 begin surface
SM -2.44 - - - - -8.41 9.35 0.077 187 20.0 0.88 0.081 2764 -2684.1 500.14 34.72 0.159 1057 30.4 0.048 - - - - - -