SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 309 * Raw log
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• Previous call tries 1 • 118.30 of 350.00 AH used of 24V (66.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 deg, depth 1.09 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 19 s • Transponder ping count: 3
• 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 111 done -0.84 - - 156 - - - 1822 - -116.8 -79.62 - 3273 - - - - - - - - 14.69 13.50 14.71
115 9.3 -14.3 3 133 roll -0.84 11.95 0.378 2660 209.5 2.42 0.054 428 -576.0 -116.8 - - 3272 - - - - - - - - 14.19 14.52 14.51
283 61.0 -17.6 27 290 done -0.48 0.47 0.260 2767 227.7 2.33 0.031 1844 607.7 -116.8 - - 3273 - - - - - - - - 14.20 14.54 14.45
619 90.4 -7.6 42 625 roll -0.48 - - 2759 - 2.33 0.051 3231 595.3 -116.8 - - 3275 - - - - - - - - 14.81 14.54 14.83
759 102.2 -8.0 62 766 done -0.48 - - 2759 - 2.30 0.035 1828 -610.0 -116.8 - - 3274 - - - - - - - - 14.64 14.59 14.67
1123 133.0 -8.4 72 1129 roll -0.48 - - 2747 - 2.38 0.053 3232 589.9 -116.8 - - 3274 - - - - - - - - 14.85 14.55 14.88
1213 140.8 -8.6 85 1220 done -0.48 - - 2751 - 2.33 0.036 1826 -603.4 -116.8 - - 3272 - - - - - - - - 14.66 14.59 14.69
1572 173.3 -9.1 94 1578 roll -0.48 - - 2750 - 2.40 0.057 428 -582.5 -116.8 - - 3271 - - - - - - - - 14.85 14.54 14.91
1696 185.8 -9.9 112 1703 done -0.48 0.12 0.249 2767 141.7 2.35 0.032 1829 596.2 -116.8 - - 3273 - - - - - - - - 14.32 14.58 14.54
2020 213.4 -8.6 123 2026 roll -0.48 - - 2759 - 2.35 0.055 3220 591.9 -116.8 - - 3267 - - - - - - - - 14.87 14.55 14.89
2081 218.8 -8.7 132 2088 done -0.48 - - 2760 - 2.30 0.037 1832 -603.5 -116.8 - - 3268 - - - - - - - - 14.66 14.59 14.69
2411 245.9 -8.1 144 2417 roll -0.48 - - 2760 - 2.42 0.060 427 -580.6 -116.8 - - 3264 - - - - - - - - 14.85 14.53 14.88
2544 257.2 -8.3 163 2557 done -0.48 - - 2750 - 2.30 0.032 1831 610.4 -116.8 - - 3263 - - - - - - - - 14.73 14.67 14.74
2865 282.6 -7.9 173 2878 roll -0.48 - - 2740 - 2.35 0.056 3222 591.9 -116.8 - - 3260 - - - - - - - - 14.94 14.59 14.96
2933 287.9 -7.8 182 2946 done -0.48 - - 2740 - 2.30 0.037 1828 -606.1 -116.8 - - 3259 - - - - - - - - 14.72 14.65 14.74
3268 315.2 -8.3 194 3282 roll -0.48 0.12 0.257 2772 266.7 2.40 0.057 431 -582.1 -116.8 - - 3257 - - - - - - - - 14.33 14.56 14.46
3411 326.0 -7.5 213 3424 done -0.48 - - 2766 - 2.30 0.033 1833 609.6 -116.8 - - 3256 - - - - - - - - 14.74 14.69 14.76
3732 351.0 -7.9 223 3745 done -0.48 - - 2765 - - - 1833 - -116.8 - - 3254 - - - - - - - - 14.94 14.96 14.96
4068 378.8 -8.4 229 4081 done -0.48 - - 2765 - - - 1835 - -116.8 - - 3253 - - - - - - - - 14.95 14.96 14.96
4404 407.8 -8.7 235 4418 roll -0.48 - - 2766 - 2.45 0.057 426 -575.1 -116.8 - - 3250 - - - - - - - - 14.95 14.59 14.96
4473 414.2 -9.2 244 4486 done -0.48 - - 2757 - 2.33 0.033 1838 606.0 -116.8 - - 3249 - - - - - - - - 14.73 14.68 14.76
4808 442.3 -8.3 256 4821 done -0.48 - - 2757 - - - 1838 - -116.8 - - 3249 - - - - - - - - 14.97 14.99 14.99
5145 466.9 -7.2 262 5159 roll -0.48 - - 2747 - 2.35 0.055 3222 588.9 -116.8 - - 3246 - - - - - - - - 14.95 14.57 14.97
5186 469.8 -7.2 267 5199 done -0.48 - - 2744 - 2.30 0.037 1828 -606.1 -116.8 - - 3246 - - - - - - - - 14.62 14.59 14.66
5549 495.8 -7.1 276 5562 roll -0.48 - - 2747 - 2.42 0.060 427 -578.9 -116.8 - - 3245 - - - - - - - - 14.92 14.55 14.98
5751 511.3 -7.9 304 5764 done -0.48 0.15 0.242 2769 146.7 2.33 0.033 1836 604.7 -116.8 - - 3245 - - - - - - - - 14.28 14.67 14.52
6122 536.1 -6.8 314 6135 done -0.58 - - 2769 - - - 1836 - -116.8 - - 3243 - - - - - - - - 14.95 14.97 14.97
6459 560.4 -7.3 320 6473 roll -0.69 0.17 0.116 2690 -464.7 2.35 0.053 3216 587.2 -116.8 - - 3241 - - - - - - - - 14.55 14.47 14.59
6521 566.4 -10.0 328 6535 done -0.69 - - 2690 - 2.33 0.038 1825 -597.0 -116.8 - - 3241 - - - - - - - - 14.67 14.60 14.70
6864 601.8 -10.4 341 6878 roll -0.69 - - 2690 - 2.42 0.060 427 -577.7 -116.8 - - 3240 - - - - - - - - 14.92 14.52 14.94
6975 614.2 -11.0 356 6989 done -0.59 0.22 0.254 2733 195.5 2.35 0.034 1832 597.9 -116.8 - - 3239 - - - - - - - - 14.14 14.62 14.44
7320 644.3 -8.7 363 7333 roll -0.59 - - 2733 - 2.47 0.061 424 -570.0 -116.8 - - 3238 - - - - - - - - 14.92 14.47 14.93
7374 649.6 -9.5 370 7388 done -0.59 - - 2726 - 2.38 0.035 1833 592.0 -116.8 - - 3237 - - - - - - - - 14.67 14.60 14.72
7718 680.3 -8.9 377 7731 roll -0.59 - - 2715 - 2.40 0.058 3228 581.2 -116.8 - - 3236 - - - - - - - - 14.94 14.50 14.95
7752 683.3 -8.9 381 7766 done -0.59 - - 2715 - 2.35 0.038 1824 -597.4 -116.8 - - 3236 - - - - - - - - 14.66 14.58 14.69
8122 716.7 -9.0 391 8136 roll -0.59 - - 2715 - 2.42 0.062 432 -575.2 -116.8 - - 3235 - - - - - - - - 14.91 14.49 14.93
8233 726.9 -8.8 406 8247 done -0.59 0.12 0.264 2731 133.3 2.38 0.035 1836 589.9 -116.8 - - 3234 - - - - - - - - 14.14 14.52 14.39
8577 753.3 -7.6 413 8591 roll -0.59 - - 2723 - 2.38 0.057 3222 582.4 -116.8 - - 3233 - - - - - - - - 14.90 14.48 14.95
8618 756.4 -7.7 418 8631 done -0.59 - - 2723 - 2.35 0.039 1829 -592.8 -116.8 - - 3231 - - - - - - - - 14.64 14.57 14.66
8982 783.5 -7.4 427 8995 roll -0.59 - - 2723 - 2.47 0.063 431 -566.0 -116.8 - - 3232 - - - - - - - - 14.91 14.45 14.93
9144 796.8 -8.3 449 9157 done -0.59 - - 2714 - 2.35 0.036 1836 597.9 -116.8 - - 3231 - - - - - - - - 14.66 14.59 14.69
9501 826.4 -8.4 457 9514 done -0.59 - - 2714 - - - 1836 - -116.8 - - 3233 - - - - - - - - 14.92 14.95 14.94
9837 854.8 -8.5 463 9850 done -0.59 - - 2714 - - - 1836 - -116.8 - - 3230 - - - - - - - - 14.91 14.94 14.93
10173 883.6 -8.6 469 10186 done -0.59 - - 2714 - - - 1836 - -116.8 - - 3227 - - - - - - - - 14.92 14.95 14.94
10508 911.6 -8.5 475 10522 roll -0.59 - - 2714 - 2.50 0.060 427 -563.6 -116.8 - - 3228 - - - - - - - - 14.92 14.42 14.95
10564 916.4 -8.7 482 10578 done -0.59 0.15 0.252 2736 146.7 2.38 0.035 1836 592.0 -116.8 - - 3228 - - - - - - - - 14.12 14.54 14.38
10907 941.3 -7.2 489 10920 roll -0.59 - - 2727 - 2.40 0.057 3221 577.1 -116.8 - - 3228 - - - - - - - - 14.88 14.42 14.90
10947 944.4 -4.7 494 10960 done -0.59 - - 2728 - 2.35 0.038 1828 -592.8 -116.8 - - 3227 - - - - - - - - 14.60 14.52 14.63
11311 971.9 -7.7 503 11325 roll -0.59 - - 2728 - 2.47 0.063 427 -567.2 -116.8 - - 3227 - - - - - - - - 14.90 14.40 14.92
11408 980.3 -8.5 516 11421 done -0.59 - - 2718 - 2.38 0.035 1836 592.0 -116.8 - - 3226 - - - - - - - - 14.61 14.54 14.63
11543 end dive: TARGET_DEPTH_EXCEEDED
11543 begin apogee
11552 991.6 -7.6 521 11682 done -0.21 0.55 0.228 2858 254.5 - - 1709 - - 120.00 2.184 2792 -3.6 0.312 - - - - - - 14.14 13.97 13.12
11684 end apogee: CONTROL_FINISHED_OK
11684 begin climb
11687 996.9 - 523 11830 roll 0.84 1.17 0.151 3207 298.3 2.60 0.066 355 -520.8 116.8 125.43 2.162 2304 -3.9 0.341 - - - - - - 13.95 13.69 12.89
11868 987.7 11.2 538 11882 done 0.73 0.17 0.247 3172 -205.9 2.40 0.031 1749 580.8 116.8 - - 2298 - - - - - - - - 13.72 13.97 13.95
12232 959.6 7.7 547 12245 roll 0.73 - - 3171 - 2.35 0.050 3110 579.1 119.5 - - 2294 - - - - - - - - 14.68 14.39 14.70
12351 949.9 9.6 563 12364 done 0.73 - - 3177 - 2.30 0.040 1749 -591.7 119.5 - - 2291 - - - - - - - - 14.54 14.47 14.57
12693 922.2 8.1 576 12707 roll 0.73 - - 3189 - 2.53 0.067 332 -560.1 119.5 - - 2291 - - - - - - - - 14.78 14.45 14.81
12790 914.0 8.6 589 12804 done 0.73 - - 3188 - 2.35 0.033 1732 595.7 119.5 - - 2291 - - - - - - - - 14.62 14.56 14.64
13154 884.2 8.2 598 13168 roll 0.73 - - 3189 - 2.38 0.051 3114 580.7 119.5 - - 2290 - - - - - - - - 14.82 14.46 14.85
13265 874.6 8.5 613 13280 done 0.73 0.15 0.285 3169 -133.3 2.38 0.041 1722 -584.9 119.5 - - 2290 - - - - - - - - 14.12 14.51 14.45
13610 848.9 7.5 620 13629 roll 0.74 - - 3177 - 2.50 0.067 337 -554.0 126.0 1.88 0.165 2274 -8.5 8.333 - - - - - - 14.85 14.43 14.33
13663 844.9 8.2 627 13677 done 0.74 - - 3177 - 2.33 0.032 1732 598.7 126.0 - - 2276 - - - - - - - - 14.64 14.58 14.65
14008 816.5 8.3 634 14021 roll 0.74 - - 3177 - 2.35 0.050 3110 586.4 126.0 - - 2277 - - - - - - - - 14.83 14.46 14.85
14083 809.8 8.7 644 14097 done 0.74 - - 3186 - 2.33 0.041 1733 -591.0 126.0 - - 2276 - - - - - - - - 14.61 14.52 14.64
14412 782.3 8.4 655 14425 roll 0.74 - - 3197 - 2.50 0.067 324 -563.6 126.0 - - 2276 - - - - - - - - 14.85 14.41 14.87
14467 777.6 8.8 662 14481 done 0.74 - - 3197 - 2.35 0.032 1728 597.4 126.0 - - 2277 - - - - - - - - 14.62 14.57 14.64
14810 749.1 8.2 669 14823 roll 0.74 - - 3197 - 2.38 0.050 3118 584.0 126.0 - - 2279 - - - - - - - - 14.87 14.45 14.89
14865 744.4 8.7 676 14879 done 0.74 0.15 0.277 3176 -140.0 2.38 0.040 1725 -585.3 126.0 - - 2277 - - - - - - - - 14.08 14.49 14.38
15209 720.1 7.0 683 15240 done 0.76 - - 3176 - - - 1725 - 141.6 22.12 1.886 2214 -2.8 0.207 - - - - - - 14.85 14.55 13.71
15597 691.2 7.5 696 15610 done 0.77 - - 3176 - - - 1725 - 148.1 1.77 0.171 2184 -16.9 13.038 - - - - - - 14.76 14.47 14.28
15934 665.5 7.7 702 15948 done 0.77 - - 3175 - - - 1725 - 151.7 2.53 0.667 2173 -4.3 0.826 - - - - - - 14.79 14.59 13.46
16271 639.7 7.6 708 16288 roll 0.78 - - 3184 - 2.45 0.065 332 -568.6 156.2 5.03 1.462 2156 -3.4 0.281 - - - - - - 14.81 14.44 13.61
16331 634.8 8.4 716 16344 done 0.78 - - 3184 - 2.33 0.033 1730 600.0 156.2 - - 2163 - - - - - - - - 14.64 14.59 14.66
16673 607.1 8.0 729 16686 roll 0.78 - - 3184 - 2.38 0.050 3121 584.5 156.2 - - 2163 - - - - - - - - 14.84 14.45 14.85
16748 600.8 8.4 739 16762 done 0.78 - - 3193 - 2.38 0.043 1728 -585.3 156.2 - - 2163 - - - - - - - - 14.51 14.42 14.54
17078 573.2 8.5 750 17091 roll 0.78 - - 3204 - 2.47 0.067 329 -566.4 156.2 - - 2163 - - - - - - - - 14.81 14.41 14.85
17118 569.4 8.8 755 17131 done 0.78 - - 3204 - 2.33 0.033 1730 601.3 156.2 - - 2163 - - - - - - - - 14.64 14.58 14.69
17481 537.2 8.8 764 17494 roll 0.78 - - 3204 - 2.38 0.050 3119 583.6 156.2 - - 2163 - - - - - - - - 14.85 14.44 14.88
17564 529.4 9.3 775 17578 done 0.78 0.15 0.268 3183 -140.0 2.38 0.040 1727 -584.9 156.2 - - 2163 - - - - - - - - 14.09 14.49 14.38
17885 504.0 7.9 785 17899 roll 0.78 - - 3191 - 2.47 0.065 331 -565.2 156.2 - - 2163 - - - - - - - - 14.84 14.40 14.86
17983 495.9 8.2 798 17996 done 0.78 - - 3191 - 2.35 0.032 1736 597.9 156.2 - - 2163 - - - - - - - - 14.62 14.55 14.63
18346 467.4 7.8 807 18363 roll 0.78 - - 3195 - 2.38 0.051 3111 577.7 157.1 3.25 0.944 2150 -4.0 0.377 - - - - - - 14.83 14.64 13.59
18398 463.1 8.4 814 18412 done 0.78 - - 3200 - 2.35 0.040 1729 -588.1 157.1 - - 2155 - - - - - - - - 14.62 14.53 14.64
18741 434.9 8.2 821 18755 roll 0.78 - - 3211 - 2.47 0.066 330 -566.4 157.1 - - 2155 - - - - - - - - 14.84 14.42 14.86
18804 429.4 9.1 829 18817 done 0.78 - - 3211 - 2.33 0.031 1735 603.0 157.1 - - 2156 - - - - - - - - 14.63 14.57 14.64
19147 399.6 8.7 842 19160 roll 0.78 - - 3211 - 2.35 0.050 3111 585.5 157.1 - - 2155 - - - - - - - - 14.87 14.45 14.88
19222 392.8 8.8 852 19236 done 0.78 0.17 0.263 3184 -158.8 2.35 0.040 1720 -591.9 157.1 - - 2156 - - - - - - - - 14.09 14.50 14.38
19552 368.9 7.2 863 19588 roll 0.80 - - 3192 - 2.47 0.067 333 -561.5 168.8 21.00 1.424 2098 -2.8 0.136 - - - - - - 14.83 14.58 13.90
19609 364.6 7.8 871 19622 done 0.80 - - 3192 - 2.33 0.031 1734 601.3 170.7 - - 2095 - - - - - - - - 14.60 14.54 14.62
19951 337.1 8.1 884 19964 roll 0.80 - - 3192 - 2.35 0.050 3110 585.5 170.7 - - 2093 - - - - - - - - 14.80 14.43 14.82
19992 333.5 8.5 889 20005 done 0.80 - - 3201 - 2.35 0.040 1724 -589.8 170.7 - - 2093 - - - - - - - - 14.54 14.47 14.59
20355 302.2 8.6 898 20368 done 0.80 - - 3201 - - - 1723 - 170.7 - - 2093 - - - - - - - - 14.83 14.84 14.84
20691 271.9 9.1 904 20705 roll 0.80 - - 3211 - 2.47 0.065 324 -566.4 170.7 - - 2093 - - - - - - - - 14.86 14.40 14.85
20726 268.6 9.3 908 20739 done 0.80 - - 3211 - 2.33 0.032 1727 602.1 170.7 - - 2093 - - - - - - - - 14.63 14.58 14.65
21096 233.2 9.5 918 21109 roll 0.80 - - 3212 - 2.35 0.047 3111 588.9 170.7 - - 2093 - - - - - - - - 14.87 14.45 14.89
21216 221.4 9.9 934 21229 done 0.80 0.15 0.259 3190 -146.7 2.33 0.038 1728 -593.6 170.7 - - 2093 - - - - - - - - 14.12 14.50 14.39
21558 193.4 7.9 947 21571 roll 0.80 - - 3198 - 2.47 0.064 329 -566.4 170.7 - - 2092 - - - - - - - - 14.85 14.35 14.91
21612 189.0 8.3 954 21626 done 0.80 - - 3198 - 2.35 0.031 1737 599.1 170.7 - - 2093 - - - - - - - - 14.62 14.57 14.64
21958 162.0 7.8 961 21971 roll 0.80 - - 3198 - 2.33 0.047 3108 588.4 171.2 - - 2093 - - - - - - - - 14.86 14.43 14.88
22047 154.6 8.2 973 22060 done 0.80 - - 3207 - 2.33 0.039 1730 -591.4 171.2 - - 2092 - - - - - - - - 14.58 14.50 14.61
22418 126.3 7.7 983 22435 roll 0.80 - - 3219 - 2.53 0.063 323 -556.1 174.0 1.75 0.162 2082 -5.7 0.848 - - - - - - 14.87 14.45 14.33
22448 123.7 8.1 987 22461 done 0.80 - - 3218 - 2.33 0.031 1734 605.6 174.0 - - 2083 - - - - - - - - 14.57 14.51 14.63
22790 94.7 8.6 997 22803 roll 0.80 - - 3214 - 2.33 0.047 3109 590.1 174.0 - - 2085 - - - - - - - - 14.85 14.46 14.87
22977 80.2 6.8 1023 23009 done 0.82 0.15 0.256 3197 -113.3 2.35 0.038 1720 -591.1 192.8 19.17 0.317 2005 -4.2 0.201 - - - - - - 14.12 14.51 14.28
23331 64.2 4.0 1040 23410 done 1.04 0.20 0.103 3270 365.0 - - 1720 - 264.6 67.72 0.296 1713 -4.3 0.178 - - - - - - 14.50 14.59 14.31
23728 43.6 4.3 1060 23803 roll 1.21 0.12 0.135 3324 450.0 2.42 0.044 3117 577.3 331.2 59.28 0.237 1447 -4.5 0.157 - - - - - - 14.45 14.52 14.31
23821 38.1 6.8 1073 23855 done 1.23 - - 3333 - 2.33 0.037 1729 -595.7 350.6 18.75 0.217 1366 -4.3 0.144 - - - - - - 14.59 14.52 14.28
24180 15.6 6.5 1091 24214 roll 1.27 - - 3343 - 2.45 0.060 321 -574.7 376.3 21.38 0.159 1256 -5.1 0.096 - - - - - - 14.78 14.44 14.32
24368 2.6 7.6 1118 24383 VBD 1.38 - - 3343 - 2.30 0.028 1753 622.6 381.7 3.62 0.137 1249 -1.9 0.007 - - - - - - 14.56 14.52 14.57
24384 end climb: SURFACE_DEPTH_REACHED
24384 begin surface coast
24386 end surface coast: CONTROL_FINISHED_OK
24386 begin surface
SM 1.01 - - - - -8.60 9.40 0.065 159 16.9 - - 1761 - 515.13 81.53 0.122 690 8.5 -0.007 - - - - - -