SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 326 * Raw log
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• Previous call tries 1 • 119.78 of 350.00 AH used of 24V (65.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth -3.08 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 93 done -0.93 - - 189 - - - 2775 - -107.1 -77.47 - 3482 - - - - - - - - 14.66 12.67 14.66
96 -1.9 -3.7 2 111 roll -0.93 11.60 0.386 2584 206.5 1.95 0.086 3825 538.5 -107.1 - - 3479 - - - - - - - - 14.02 14.35 14.39
138 24.6 -39.8 9 146 done -0.24 0.90 0.261 2813 254.4 1.83 0.035 2728 -599.5 -107.1 - - 3479 - - - - - - - - 14.04 14.52 14.24
454 55.5 -7.2 21 459 roll -0.38 0.08 0.140 2739 -925.0 2.05 0.109 3828 536.6 -107.1 - - 3481 - - - - - - - - 14.56 14.33 14.62
690 73.1 -6.2 55 697 done -0.38 0.10 0.212 2769 300.0 1.75 0.041 2788 -594.3 -107.1 - - 3481 - - - - - - - - 14.40 14.64 14.55
1014 88.3 -4.5 68 1020 roll -0.54 0.08 0.146 2695 -925.0 2.33 0.039 1379 -604.7 -107.1 - - 3482 - - - - - - - - 14.62 14.56 14.69
1138 96.2 -6.6 86 1145 done -0.54 0.12 0.208 2721 216.7 2.45 0.064 2762 564.5 -107.1 - - 3482 - - - - - - - - 14.26 14.42 14.43
1490 118.5 -6.5 95 1495 roll -0.62 - - 2713 - 1.95 0.109 3821 543.1 -107.1 - - 3482 - - - - - - - - 14.92 14.42 14.92
1652 129.5 -7.0 118 1658 done -0.70 0.08 0.140 2647 -825.0 1.75 0.041 2753 -610.3 -107.1 - - 3482 - - - - - - - - 14.60 14.66 14.68
1993 160.8 -9.3 125 1994 done -0.70 - - 2647 - - - 2753 - -107.1 - - 3479 - - - - - - - - 14.95 14.95 14.96
2329 193.9 -9.8 131 2335 roll -0.70 - - 2638 - 2.05 0.105 3823 522.0 -107.1 - - 3477 - - - - - - - - 14.95 14.39 14.95
2426 204.3 -10.7 145 2433 done -0.70 0.10 0.229 2669 310.0 1.80 0.040 2752 -595.0 -107.1 - - 3477 - - - - - - - - 14.39 14.71 14.61
2777 235.0 -8.7 153 2783 roll -0.70 - - 2669 - 2.33 0.042 1393 -583.3 -107.1 - - 3473 - - - - - - - - 14.97 14.54 14.97
2833 239.6 -8.1 161 2839 done -0.70 - - 2656 - 2.47 0.065 2765 555.5 -107.1 - - 3473 - - - - - - - - 14.50 14.41 14.55
3169 268.3 -8.6 174 3175 roll -0.70 - - 2659 - 2.40 0.043 1383 -575.8 -107.1 - - 3471 - - - - - - - - 14.95 14.53 14.95
3203 271.4 -8.9 179 3210 done -0.70 - - 2649 - 2.47 0.065 2758 556.7 -107.1 - - 3471 - - - - - - - - 14.51 14.41 14.55
3561 304.0 -9.2 188 3568 roll -0.70 - - 2641 - 2.00 0.106 3820 531.0 -107.1 - - 3469 - - - - - - - - 14.95 14.36 14.95
3644 312.0 -9.6 200 3652 done -0.70 0.10 0.227 2670 290.0 1.80 0.041 2754 -592.2 -107.1 - - 3468 - - - - - - - - 14.37 14.69 14.59
4009 340.6 -7.7 210 4015 roll -0.70 - - 2671 - 2.35 0.043 1388 -581.3 -107.1 - - 3466 - - - - - - - - 14.95 14.52 14.95
4050 343.8 -7.4 216 4058 done -0.70 - - 2661 - 2.45 0.064 2758 559.2 -107.1 - - 3465 - - - - - - - - 14.54 14.45 14.59
4401 371.1 -7.9 224 4408 roll -0.70 - - 2653 - 2.03 0.108 3824 525.1 -107.1 - - 3464 - - - - - - - - 14.95 14.35 14.95
4457 375.9 -8.7 232 4464 done -0.70 - - 2653 - 1.80 0.042 2759 -591.7 -107.1 - - 3462 - - - - - - - - 14.66 14.63 14.66
4794 404.9 -8.7 245 4799 roll -0.70 - - 2645 - 2.08 0.108 3824 512.0 -107.1 - - 3461 - - - - - - - - 14.96 14.34 14.95
4841 409.5 -9.7 252 4850 done -0.70 - - 2643 - 1.83 0.042 2758 -582.5 -107.1 - - 3464 - - - - - - - - 14.73 14.67 14.74
5185 441.5 -9.3 259 5191 roll -0.70 - - 2645 - 2.38 0.044 1379 -579.4 -107.1 - - 3460 - - - - - - - - 14.97 14.50 14.97
5219 444.1 -8.0 264 5227 done -0.70 0.10 0.224 2663 180.0 2.50 0.067 2758 551.6 -107.1 - - 3459 - - - - - - - - 14.19 14.42 14.38
5577 474.7 -8.6 273 5583 roll -0.70 - - 2664 - 2.42 0.044 1377 -570.7 -107.1 - - 3457 - - - - - - - - 14.94 14.48 14.92
5604 477.1 -8.7 277 5611 done -0.70 - - 2654 - 2.53 0.067 2760 546.6 -107.1 - - 3457 - - - - - - - - 14.50 14.40 14.55
5969 508.5 -8.5 287 5970 done -0.70 - - 2654 - - - 2760 - -107.1 - - 3454 - - - - - - - - 14.94 14.95 14.94
6305 535.5 -8.0 293 6311 roll -0.70 - - 2646 - 2.05 0.111 3825 519.5 -107.1 - - 3454 - - - - - - - - 14.94 14.33 14.94
6339 538.2 -8.1 298 6346 done -0.70 - - 2645 - 1.85 0.044 2752 -580.0 -107.1 - - 3454 - - - - - - - - 14.70 14.64 14.71
6697 565.7 -7.6 307 6703 roll -0.70 - - 2645 - 2.38 0.044 1380 -576.5 -107.1 - - 3453 - - - - - - - - 14.94 14.46 14.94
6753 570.0 -7.9 315 6759 done -0.70 0.12 0.223 2671 216.7 2.50 0.068 2755 550.0 -107.1 - - 3452 - - - - - - - - 14.12 14.35 14.31
7089 593.2 -6.9 328 7096 roll -0.70 - - 2663 - 2.08 0.112 3824 513.9 -107.1 - - 3450 - - - - - - - - 14.93 14.26 14.93
7158 598.5 -7.6 338 7165 done -0.70 - - 2663 - 1.85 0.044 2753 -578.9 -107.1 - - 3451 - - - - - - - - 14.69 14.64 14.71
7482 621.9 -7.3 349 7487 roll -0.70 - - 2663 - 2.35 0.044 1378 -585.1 -107.1 - - 3449 - - - - - - - - 14.92 14.47 14.92
7537 626.0 -7.2 357 7543 done -0.70 - - 2653 - 2.50 0.067 2763 554.0 -107.1 - - 3450 - - - - - - - - 14.56 14.38 14.59
7874 651.5 -7.7 370 7875 done -0.70 - - 2653 - - - 2762 - -107.1 - - 3447 - - - - - - - - 14.94 14.95 14.95
8209 678.1 -8.0 376 8210 done -0.70 - - 2653 - - - 2763 - -107.1 - - 3446 - - - - - - - - 14.95 14.95 14.96
8545 704.7 -7.9 382 8546 done -0.70 - - 2653 - - - 2762 - -107.1 - - 3445 - - - - - - - - 14.95 14.95 14.95
8881 731.0 -7.8 388 8888 roll -0.70 - - 2653 - 2.45 0.047 1384 -562.4 -107.1 - - 3444 - - - - - - - - 14.95 14.40 14.95
8937 735.2 -7.6 396 8944 done -0.70 - - 2644 - 2.53 0.069 2758 543.1 -107.1 - - 3443 - - - - - - - - 14.39 14.31 14.56
9273 760.8 -7.7 409 9279 roll -0.70 - - 2636 - 2.08 0.112 3828 514.4 -107.1 - - 3444 - - - - - - - - 14.92 14.17 14.92
9307 763.5 -7.9 414 9314 done -0.70 0.12 0.220 2672 300.0 1.88 0.046 2755 -570.7 -107.1 - - 3444 - - - - - - - - 14.19 14.58 14.44
9665 786.5 -6.5 423 9671 roll -0.70 - - 2672 - 2.42 0.047 1373 -571.1 -107.1 - - 3443 - - - - - - - - 14.91 14.36 14.91
9714 785.5 7.9 430 9721 done -0.79 - - 2664 - 2.55 0.068 2756 542.4 -107.1 - - 3443 - - - - - - - - 14.38 14.29 14.42
10058 814.0 -6.9 437 10059 done -0.79 - - 2664 - - - 2756 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.92
10393 837.3 -6.9 443 10394 done -0.79 - - 2664 - - - 2756 - -107.1 - - 3440 - - - - - - - - 14.90 14.90 14.91
10730 860.8 -7.0 449 10735 roll -0.79 - - 2663 - 2.45 0.046 1363 -568.6 -107.1 - - 3438 - - - - - - - - 14.93 14.43 14.93
10764 863.3 -4.9 454 10770 done -0.87 0.05 0.117 2603 -1200.0 2.58 0.069 2756 539.9 -107.1 - - 3438 - - - - - - - - 14.23 14.24 14.33
11121 895.5 -9.1 463 11122 done -0.87 - - 2603 - - - 2756 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
11458 926.4 -9.1 469 11458 done -0.87 - - 2603 - - - 2756 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
11511 end dive: TARGET_DEPTH_EXCEEDED
11511 begin apogee
11517 931.4 -9.0 470 11629 roll -0.23 0.77 0.189 2821 283.1 - - 2225 - - 109.15 1.967 3051 -3.5 0.332 - - - - - - 14.05 14.00 13.12
11631 end apogee: CONTROL_FINISHED_OK
11631 begin climb
11633 934.9 - 472 11760 roll 0.93 1.15 0.102 3185 316.5 2.45 0.058 874 -551.4 107.1 118.05 1.958 2622 -3.6 0.344 - - - - - - 13.97 14.00 12.90
11786 928.8 8.4 495 11794 done 0.78 0.10 0.220 3158 -270.0 2.55 0.052 2255 541.6 107.1 - - 2611 - - - - - - - - 13.71 13.85 13.85
12130 903.1 7.6 502 12136 roll 0.69 0.12 0.240 3124 -283.3 2.60 0.099 3655 538.5 109.1 - - 2608 - - - - - - - - 14.16 14.25 14.38
12193 898.4 7.3 511 12206 done 0.62 0.10 0.203 3106 -180.0 2.42 0.041 2263 -575.2 118.1 5.43 2.052 2584 -4.4 0.384 - - - - - - 14.16 14.40 13.23
12522 879.1 5.8 523 12579 roll 0.66 - - 3105 - 2.67 0.099 3650 519.5 156.8 51.00 1.932 2419 -3.2 0.292 - - - - - - 14.74 14.04 13.30
12612 873.1 7.6 536 12619 done 0.67 - - 3115 - 2.50 0.041 2244 -562.4 159.6 - - 2415 - - - - - - - - 14.26 14.22 14.28
12970 848.3 7.0 545 12997 roll 0.68 - - 3115 - 2.72 0.099 3650 516.9 174.7 19.38 1.994 2348 -3.5 0.292 - - - - - - 14.71 14.28 13.45
13026 844.0 10.0 553 13033 done 0.68 - - 3125 - 2.45 0.041 2257 -568.6 174.7 - - 2344 - - - - - - - - 14.38 14.33 14.40
13362 819.2 7.3 566 13369 roll 0.69 - - 3125 - 2.67 0.099 3648 521.0 183.0 3.12 1.335 2324 -6.4 0.780 - - - - - - 14.73 14.40 12.97
13417 814.4 8.7 574 13424 done 0.69 - - 3135 - 2.42 0.041 2258 -574.4 183.0 1.27 0.252 2322 - - - - - - - - 14.50 14.46 14.04
13747 789.2 7.7 586 13750 done 0.70 - - 3135 - - - 2255 - 183.9 1.75 0.295 2318 -2.3 1.212 - - - - - - 14.78 14.33 13.69
14083 762.4 8.0 592 14089 roll 0.70 - - 3135 - 2.62 0.099 3649 532.1 183.9 1.55 0.275 2323 3.2 -1.773 - - - - - - 14.82 14.23 13.92
14152 756.0 9.3 602 14159 done 0.70 - - 3145 - 2.42 0.041 2258 -574.8 183.9 1.58 0.261 2319 -2.5 1.454 - - - - - - 14.54 14.50 13.80
14475 728.2 8.7 613 14478 done 0.70 - - 3145 - - - 2255 - 183.9 1.50 0.272 2316 -2.0 1.062 - - - - - - 14.85 14.39 13.97
14811 698.8 8.8 619 14817 roll 0.70 - - 3145 - 2.65 0.101 3647 525.3 183.9 1.25 0.266 2321 4.0 -2.083 - - - - - - 14.87 14.29 14.07
14852 694.8 10.0 625 14861 done 0.70 0.10 0.211 3127 -180.0 2.42 0.043 2257 -574.4 183.9 1.35 0.250 2319 - - - - - - - - 14.19 14.50 13.97
15203 666.5 8.0 633 15206 done 0.70 - - 3127 - - - 2257 - 183.9 1.48 0.268 2317 - - - - - - - - 14.87 14.37 13.96
15539 639.5 8.0 639 15545 roll 0.70 - - 3126 - 2.62 0.098 3648 530.9 183.9 1.38 0.267 2319 - - - - - - - - 14.88 14.23 13.97
15595 634.3 9.3 647 15601 done 0.70 - - 3136 - 2.42 0.041 2262 -572.7 183.9 1.17 0.244 2319 - - - - - - - - 14.51 14.47 14.01
15931 606.6 8.2 660 15937 roll 0.70 - - 3136 - 2.62 0.097 3648 529.0 183.9 1.33 0.266 2320 - - - - - - - - 14.88 14.23 13.97
15958 604.0 9.0 664 15965 done 0.70 - - 3146 - 2.42 0.041 2262 -572.7 183.9 - - 2325 - - - - - - - - 14.53 14.47 14.54
16323 573.5 8.3 674 16329 roll 0.70 - - 3157 - 2.45 0.060 865 -570.2 183.9 1.42 0.267 2320 -3.5 1.500 - - - - - - 14.88 14.17 13.90
16350 571.1 8.4 678 16357 done 0.70 0.10 0.197 3128 -290.0 2.47 0.054 2267 567.6 183.9 1.10 0.240 2318 - - - - - - - - 14.15 14.37 14.08
16715 544.3 7.2 688 16741 roll 0.71 - - 3127 - 2.62 0.099 3650 527.9 194.3 18.48 1.763 2265 -2.9 0.176 - - - - - - 14.85 14.46 13.65
16805 536.8 8.5 701 16812 done 0.71 - - 3136 - 2.42 0.041 2260 -574.4 194.3 - - 2264 - - - - - - - - 14.50 14.43 14.52
17163 509.3 7.8 710 17164 done 0.71 - - 3136 - - - 2258 - 194.3 - - 2264 - - - - - - - - 14.81 14.81 14.81
17499 482.6 8.0 716 17505 roll 0.71 - - 3136 - 2.62 0.100 3650 531.3 194.3 - - 2264 - - - - - - - - 14.82 14.29 14.82
17526 480.2 8.7 720 17533 done 0.71 - - 3145 - 2.40 0.041 2282 -570.0 194.3 - - 2264 - - - - - - - - 14.52 14.47 14.54
17891 452.4 7.4 730 17894 done 0.72 - - 3145 - - - 2274 - 201.2 1.70 0.278 2249 -8.8 2.847 - - - - - - 14.85 14.26 13.67
18227 428.8 7.0 736 18253 done 0.74 - - 3146 - - - 2273 - 216.4 24.55 1.578 2187 -2.5 0.136 - - - - - - 14.86 14.52 13.69
18563 404.1 7.7 742 18569 roll 0.74 - - 3146 - 2.60 0.102 3647 528.5 217.3 - - 2175 - - - - - - - - 14.76 14.28 14.76
18597 401.0 9.0 747 18604 done 0.74 - - 3156 - 2.42 0.041 2264 -571.5 217.3 - - 2174 - - - - - - - - 14.47 14.43 14.50
18955 369.4 8.9 756 18961 roll 0.74 - - 3155 - 2.62 0.100 3651 529.4 217.3 - - 2174 - - - - - - - - 14.81 14.28 14.81
18982 366.6 9.8 760 18989 done 0.74 - - 3166 - 2.40 0.040 2273 -574.2 217.3 - - 2174 - - - - - - - - 14.51 14.47 14.53
19347 331.5 9.8 770 19348 done 0.74 - - 3166 - - - 2269 - 217.3 - - 2174 - - - - - - - - 14.84 14.84 14.84
19683 298.1 10.0 776 19684 done 0.74 - - 3166 - - - 2269 - 217.3 - - 2174 - - - - - - - - 14.83 14.85 14.85
20019 265.5 9.6 782 20025 roll 0.74 - - 3166 - 2.60 0.103 3648 530.4 217.3 - - 2174 - - - - - - - - 14.85 14.27 14.85
20053 261.8 10.7 787 20060 done 0.74 0.12 0.203 3140 -216.7 2.40 0.041 2269 -574.6 217.3 - - 2175 - - - - - - - - 14.14 14.47 14.31
20412 231.3 8.4 796 20417 roll 0.74 - - 3150 - 2.45 0.062 865 -573.1 217.3 - - 2176 - - - - - - - - 14.85 14.36 14.85
20438 229.0 8.0 800 20445 done 0.74 - - 3150 - 2.47 0.053 2266 567.2 217.3 - - 2176 - - - - - - - - 14.45 14.37 14.49
20803 201.6 7.3 810 20815 roll 0.75 - - 3150 - 2.62 0.100 3659 531.7 226.1 4.38 1.419 2155 -4.8 0.135 - - - - - - 14.88 14.51 13.31
20837 198.9 7.9 815 20844 done 0.75 - - 3160 - 2.40 0.039 2270 -578.8 226.1 1.33 0.245 2151 -3.0 0.484 - - - - - - 14.58 14.57 14.07
21195 170.8 8.1 824 21201 roll 0.75 - - 3160 - 2.62 0.097 3660 530.5 226.1 1.52 0.258 2154 2.0 -0.259 - - - - - - 14.88 14.21 13.92
21236 166.9 9.5 830 21243 done 0.75 - - 3170 - 2.40 0.038 2275 -577.1 226.1 1.48 0.243 2152 - - - - - - - - 14.48 14.44 13.91
21587 134.8 9.2 838 21593 roll 0.75 - - 3179 - 2.45 0.060 866 -575.1 226.1 1.77 0.291 2154 - - - - - - - - 14.88 14.09 13.61
21649 129.5 8.5 847 21656 done 0.75 0.12 0.189 3143 -300.0 2.50 0.052 2279 565.2 226.1 1.48 0.236 2151 -2.0 0.221 - - - - - - 14.18 14.38 13.92
21979 106.3 7.0 859 21993 roll 0.77 - - 3142 - 2.58 0.099 3654 532.9 241.9 9.57 0.480 2089 -6.5 0.284 - - - - - - 14.88 14.45 13.98
22069 99.5 8.2 872 22076 done 0.77 - - 3152 - 2.38 0.038 2278 -578.2 241.9 1.30 0.220 2086 -2.3 0.207 - - - - - - 14.54 14.50 14.11
22395 76.6 6.6 885 22412 roll 0.87 - - 3161 - 2.47 0.061 855 -576.1 264.0 12.02 0.402 2000 -7.2 0.270 - - - - - - 14.81 14.47 14.04
22476 71.1 7.2 897 22489 done 1.01 0.12 0.099 3232 591.7 2.50 0.054 2289 573.6 274.7 6.72 0.367 1956 -6.5 0.251 - - - - - - 14.48 14.35 13.97
22814 48.0 5.0 912 22846 roll 1.07 - - 3232 - 2.53 0.096 3660 541.9 330.2 27.75 0.327 1735 -8.0 0.232 - - - - - - 14.81 14.35 14.09
22993 35.3 7.2 938 23008 done 1.09 - - 3242 - 2.38 0.037 2274 -582.4 341.7 6.18 0.278 1689 -7.4 0.187 - - - - - - 14.51 14.50 14.03
23316 21.0 2.6 951 23373 roll 1.35 0.22 0.070 3355 513.6 2.58 0.096 3661 537.6 444.5 50.15 0.240 1278 -8.2 0.142 - - - - - - 14.54 14.35 14.15
23462 8.0 9.2 972 23469 done 1.35 0.10 0.208 3336 -190.0 2.33 0.037 2313 -578.5 444.5 - - 1279 - - - - - - - - 14.16 14.45 14.31
23537 end climb: SURFACE_DEPTH_REACHED
23538 begin surface coast
23566 end surface coast: CONTROL_FINISHED_OK
23566 begin surface
SM -4.28 - - - - -8.40 9.45 0.080 185 19.6 0.85 0.075 2771 -2770.6 500.14 25.52 0.167 1056 41.4 0.108 - - - - - -