SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 327 * Raw log
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• Previous call tries 1 • 120.09 of 350.00 AH used of 24V (65.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth -3.31 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 2 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 93 done -0.93 - - 165 - - - 2785 - -107.1 -77.80 - 3478 - - - - - - - - 14.66 12.66 14.64
96 -2.1 -3.6 2 116 roll -0.93 11.75 0.387 2593 206.6 2.40 0.036 1368 -590.4 -107.1 - - 3479 - - - - - - - - 14.00 14.34 14.38
199 35.8 -17.7 18 205 done -0.67 0.32 0.259 2674 253.1 2.53 0.070 2758 549.4 -107.1 - - 3480 - - - - - - - - 14.07 14.31 14.38
535 74.8 -7.9 33 542 roll -0.67 - - 2666 - 2.00 0.105 3821 531.5 -107.1 - - 3482 - - - - - - - - 14.82 14.31 14.82
597 80.2 -9.3 42 604 done -0.57 0.12 0.226 2706 333.3 1.80 0.039 2749 -595.6 -107.1 - - 3483 - - - - - - - - 14.25 14.62 14.40
927 101.5 -5.8 56 933 roll -0.57 - - 2706 - 2.33 0.043 1392 -582.4 -107.1 - - 3483 - - - - - - - - 14.87 14.49 14.87
955 103.3 -6.4 60 961 done -0.57 - - 2697 - 2.47 0.065 2771 558.3 -107.1 - - 3484 - - - - - - - - 14.51 14.42 14.56
1320 130.3 -7.6 70 1325 roll -0.57 - - 2689 - 1.98 0.106 3819 529.3 -107.1 - - 3483 - - - - - - - - 14.90 14.37 14.90
1509 144.8 -7.1 97 1515 done -0.57 - - 2689 - 1.73 0.041 2764 -609.8 -107.1 - - 3482 - - - - - - - - 14.72 14.66 14.73
1823 168.8 -7.7 107 1824 done -0.57 - - 2689 - - - 2764 - -107.1 - - 3480 - - - - - - - - 14.91 14.92 14.91
2159 196.3 -8.2 113 2166 roll -0.57 - - 2681 - 2.03 0.106 3821 520.7 -107.1 - - 3478 - - - - - - - - 14.93 14.37 14.93
2242 203.5 -8.7 125 2250 done -0.57 0.10 0.213 2710 290.0 1.77 0.042 2773 -592.1 -107.1 - - 3477 - - - - - - - - 14.40 14.69 14.58
2608 228.9 -6.8 135 2613 roll -0.67 - - 2712 - 2.35 0.042 1380 -592.8 -107.1 - - 3473 - - - - - - - - 14.92 14.57 14.92
2677 233.6 -6.6 145 2684 done -0.78 0.10 0.072 2632 -800.0 2.47 0.064 2769 562.3 -107.1 - - 3474 - - - - - - - - 14.53 14.45 14.58
2999 264.3 -9.7 156 3005 roll -0.78 - - 2631 - 2.40 0.042 1385 -576.7 -107.1 - - 3472 - - - - - - - - 14.92 14.50 14.93
3019 266.3 -9.7 159 3026 done -0.78 - - 2622 - 2.47 0.065 2772 561.5 -107.1 - - 3472 - - - - - - - - 14.55 14.46 14.59
3335 296.4 -9.5 169 3342 roll -0.78 - - 2614 - 1.98 0.106 3821 529.8 -107.1 - - 3473 - - - - - - - - 14.93 14.33 14.93
3404 303.4 -10.1 179 3411 done -0.69 0.17 0.220 2668 317.6 1.80 0.041 2760 -589.4 -107.1 - - 3470 - - - - - - - - 14.25 14.68 14.40
3727 328.0 -7.6 190 3733 roll -0.69 - - 2668 - 2.38 0.043 1383 -578.6 -107.1 - - 3467 - - - - - - - - 14.93 14.50 14.93
3761 330.8 -8.0 195 3768 done -0.69 - - 2659 - 2.50 0.065 2774 556.4 -107.1 - - 3467 - - - - - - - - 14.54 14.44 14.59
4119 360.3 -8.3 204 4120 done -0.69 - - 2659 - - - 2774 - -107.1 - - 3465 - - - - - - - - 14.95 14.95 14.95
4455 389.4 -8.7 210 4461 roll -0.69 - - 2651 - 2.00 0.110 3822 524.0 -107.1 - - 3464 - - - - - - - - 14.95 14.34 14.95
4503 393.9 -9.4 217 4512 done -0.69 - - 2650 - 1.80 0.043 2771 -583.9 -107.1 - - 3463 - - - - - - - - 14.66 14.63 14.68
4847 424.1 -8.7 224 4853 roll -0.69 - - 2643 - 2.03 0.108 3820 516.7 -107.1 - - 3461 - - - - - - - - 14.95 14.32 14.95
4881 427.2 -9.2 229 4889 done -0.69 0.10 0.224 2671 280.0 1.80 0.041 2768 -584.4 -107.1 - - 3461 - - - - - - - - 14.34 14.68 14.57
5239 453.5 -7.3 238 5245 roll -0.69 - - 2672 - 2.35 0.043 1380 -590.6 -107.1 - - 3459 - - - - - - - - 14.95 14.53 14.95
5295 457.6 -7.4 246 5301 done -0.69 - - 2663 - 2.50 0.065 2795 566.0 -107.1 - - 3460 - - - - - - - - 14.60 14.42 14.64
5631 483.4 -7.8 259 5637 roll -0.69 - - 2662 - 2.42 0.043 1378 -585.5 -107.1 - - 3457 - - - - - - - - 14.95 14.52 14.95
5679 487.5 -8.3 266 5687 done -0.69 - - 2653 - 2.50 0.066 2764 554.4 -107.1 - - 3457 - - - - - - - - 14.47 14.38 14.53
6023 517.5 -8.9 273 6030 roll -0.69 - - 2644 - 2.03 0.109 3825 522.7 -107.1 - - 3457 - - - - - - - - 14.94 14.31 14.94
6064 521.5 -9.5 279 6071 done -0.69 0.10 0.232 2674 300.0 1.83 0.043 2766 -578.7 -107.1 - - 3457 - - - - - - - - 14.31 14.66 14.54
6415 550.2 -8.2 287 6421 roll -0.69 - - 2674 - 2.40 0.044 1379 -577.9 -107.1 - - 3455 - - - - - - - - 14.92 14.45 14.92
6449 553.1 -8.5 292 6456 done -0.69 - - 2666 - 2.50 0.065 2766 554.8 -107.1 - - 3454 - - - - - - - - 14.49 14.39 14.52
6807 583.9 -8.6 301 6808 done -0.69 - - 2666 - - - 2767 - -107.1 - - 3453 - - - - - - - - 14.94 14.95 14.95
7143 611.5 -8.1 307 7144 done -0.69 - - 2666 - - - 2768 - -107.1 - - 3452 - - - - - - - - 14.95 14.95 14.95
7479 635.8 -7.1 313 7486 roll -0.69 - - 2665 - 2.42 0.044 1374 -576.0 -107.1 - - 3451 - - - - - - - - 14.92 14.45 14.92
7513 638.2 -7.0 318 7520 done -0.69 - - 2657 - 2.55 0.067 2767 546.3 -107.1 - - 3451 - - - - - - - - 14.45 14.35 14.49
7872 662.1 -6.7 327 7877 roll -0.69 - - 2648 - 2.05 0.112 3826 516.6 -107.1 - - 3449 - - - - - - - - 14.93 14.22 14.94
7919 665.4 -7.0 334 7928 done -0.69 0.10 0.224 2683 350.0 1.85 0.044 2756 -578.4 -107.1 - - 3448 - - - - - - - - 14.22 14.60 14.36
8263 684.3 -5.5 341 8271 roll -0.78 0.05 0.207 2628 -1100.0 2.35 0.044 1375 -587.7 -107.1 - - 3445 - - - - - - - - 14.62 14.46 14.67
8304 687.4 -7.5 347 8311 done -0.78 - - 2620 - 2.55 0.066 2772 547.8 -107.1 - - 3447 - - - - - - - - 14.42 14.33 14.47
8655 716.8 -8.6 355 8661 roll -0.78 0.10 0.259 2638 180.0 2.00 0.109 3821 524.5 -107.1 - - 3446 - - - - - - - - 14.19 14.21 14.42
8703 720.9 -8.4 362 8711 done -0.78 - - 2638 - 1.83 0.044 2770 -574.3 -107.1 - - 3446 - - - - - - - - 14.64 14.57 14.65
9047 748.6 -8.2 369 9054 roll -0.78 - - 2638 - 2.45 0.045 1372 -570.6 -107.1 - - 3449 - - - - - - - - 14.90 14.40 14.90
9081 751.5 -8.3 374 9088 done -0.78 - - 2629 - 2.53 0.067 2763 549.8 -107.1 - - 3446 - - - - - - - - 14.40 14.31 14.45
9439 781.5 -8.4 383 9445 roll -0.78 - - 2621 - 2.03 0.110 3815 518.2 -107.1 - - 3444 - - - - - - - - 14.90 14.17 14.90
9495 786.5 -9.1 391 9501 done -0.78 - - 2621 - 1.83 0.044 2754 -579.8 -107.1 - - 3444 - - - - - - - - 14.53 14.50 14.54
9831 814.5 -8.2 404 9837 roll -0.78 0.10 0.256 2649 280.0 2.40 0.044 1374 -575.0 -107.1 - - 3444 - - - - - - - - 14.21 14.35 14.44
9865 817.1 -5.9 409 9873 done -0.78 - - 2639 - 2.53 0.066 2761 548.2 -107.1 - - 3443 - - - - - - - - 14.39 14.29 14.43
10224 842.3 -6.9 418 10229 roll -0.78 - - 2631 - 2.03 0.111 3829 526.1 -107.1 - - 3443 - - - - - - - - 14.88 14.20 14.88
10313 848.5 -7.0 431 10320 done -0.78 - - 2630 - 1.85 0.046 2778 -568.1 -107.1 - - 3442 - - - - - - - - 14.61 14.54 14.62
10671 873.0 -6.9 440 10677 roll -0.78 - - 2630 - 2.42 0.045 1368 -582.6 -107.1 - - 3441 - - - - - - - - 14.91 14.41 14.91
10712 875.8 -5.2 446 10719 done -0.78 - - 2622 - 2.58 0.066 2768 542.6 -107.1 - - 3441 - - - - - - - - 14.35 14.26 14.40
11063 901.0 -7.3 454 11069 roll -0.78 - - 2613 - 2.05 0.109 3824 515.1 -107.1 - - 3440 - - - - - - - - 14.90 14.14 14.90
11119 905.6 -8.4 462 11125 done -0.78 0.10 0.213 2641 280.0 1.85 0.044 2763 -573.5 -107.1 - - 3440 - - - - - - - - 14.02 14.46 14.20
11455 929.7 -7.3 475 11461 roll -0.78 - - 2642 - 2.42 0.046 1368 -576.4 -107.1 - - 3439 - - - - - - - - 14.90 14.39 14.90
11466 end dive: TARGET_DEPTH_EXCEEDED
11466 begin apogee
11473 931.4 -7.9 477 11585 roll -0.23 0.65 0.179 2824 280.0 - - 2265 - - 109.78 1.970 3049 -3.6 0.333 - - - - - - 14.11 13.98 13.07
11587 end apogee: CONTROL_FINISHED_OK
11587 begin climb
11589 934.2 - 479 11717 roll 0.93 1.12 0.102 3179 317.0 2.55 0.055 863 -549.8 107.1 116.90 1.966 2619 -3.7 0.347 - - - - - - 13.96 14.00 12.90
11722 930.2 6.9 499 11745 done 0.73 0.15 0.210 3139 -266.7 2.55 0.049 2251 544.3 123.4 18.58 2.063 2559 -3.2 0.289 - - - - - - 13.68 13.78 12.89
12080 905.9 7.0 508 12100 roll 0.75 - - 3138 - 2.62 0.098 3649 533.6 138.0 15.32 2.071 2493 -4.3 0.374 - - - - - - 14.62 14.16 13.38
12177 897.1 8.6 522 12184 done 0.66 0.12 0.206 3114 -200.0 2.45 0.041 2252 -570.2 138.0 - - 2489 - - - - - - - - 14.12 14.34 14.28
12528 872.6 7.0 530 12549 roll 0.68 - - 3114 - 2.72 0.097 3654 515.4 152.5 16.20 2.052 2436 -3.3 0.276 - - - - - - 14.73 14.34 13.49
12569 869.3 10.2 536 12577 done 0.68 - - 3124 - 2.47 0.040 2247 -569.6 152.5 - - 2432 - - - - - - - - 14.43 14.39 14.45
12913 841.7 8.0 543 12914 done 0.68 - - 3124 - - - 2246 - 152.5 - - 2429 - - - - - - - - 14.75 14.75 14.74
13249 814.5 8.0 549 13255 roll 0.68 - - 3124 - 2.67 0.100 3657 528.5 152.5 - - 2429 - - - - - - - - 14.80 14.33 14.80
13332 807.0 9.1 561 13339 done 0.68 - - 3133 - 2.45 0.041 2247 -575.5 152.5 - - 2429 - - - - - - - - 14.48 14.45 14.50
13697 778.0 7.8 571 13698 done 0.68 - - 3133 - - - 2246 - 152.5 - - 2428 - - - - - - - - 14.85 14.85 14.85
14033 752.6 7.5 577 14039 roll 0.68 - - 3133 - 2.65 0.099 3649 529.4 157.0 - - 2428 - - - - - - - - 14.87 14.35 14.87
14081 748.4 8.6 584 14089 done 0.68 - - 3143 - 2.42 0.041 2251 -577.7 157.0 - - 2428 - - - - - - - - 14.55 14.52 14.58
14425 721.2 7.9 591 14426 done 0.68 - - 3143 - - - 2251 - 157.0 - - 2427 - - - - - - - - 14.88 14.88 14.88
14761 693.5 8.4 597 14767 roll 0.68 - - 3143 - 2.67 0.099 3659 527.3 157.0 - - 2427 - - - - - - - - 14.85 14.31 14.88
14809 688.9 9.4 604 14817 done 0.60 0.20 0.204 3097 -230.0 2.45 0.041 2251 -574.7 157.0 - - 2427 - - - - - - - - 14.09 14.47 14.30
15153 665.7 6.6 611 15184 done 0.63 - - 3097 - - - 2251 - 179.0 29.33 1.793 2337 -3.1 0.226 - - - - - - 14.88 14.48 13.58
15489 641.9 7.1 617 15509 roll 0.72 0.05 0.205 3142 900.0 2.65 0.100 3657 530.6 192.0 13.57 1.909 2279 -4.3 0.285 - - - - - - 14.47 14.38 13.56
15586 632.5 10.1 631 15593 done 0.72 - - 3153 - 2.45 0.041 2255 -572.2 192.0 - - 2275 - - - - - - - - 14.44 14.40 14.46
15937 600.7 8.9 639 15938 done 0.72 - - 3152 - - - 2252 - 192.0 - - 2274 - - - - - - - - 14.76 14.76 14.76
16273 571.5 8.6 645 16274 done 0.72 - - 3153 - - - 2252 - 192.0 - - 2274 - - - - - - - - 14.81 14.80 14.81
16609 543.8 8.1 651 16614 roll 0.72 - - 3153 - 2.65 0.099 3662 532.1 192.0 - - 2275 - - - - - - - - 14.85 14.30 14.85
16650 539.9 9.5 657 16658 done 0.72 0.08 0.221 3148 -62.5 2.45 0.041 2250 -576.3 192.0 - - 2278 - - - - - - - - 14.18 14.47 14.34
17001 512.4 7.9 665 17008 roll 0.72 - - 3151 - 2.42 0.062 863 -573.1 192.0 - - 2274 - - - - - - - - 14.81 14.37 14.81
17035 509.6 8.2 670 17042 done 0.72 - - 3150 - 2.47 0.054 2260 565.6 192.0 - - 2277 - - - - - - - - 14.46 14.38 14.50
17393 480.2 8.3 679 17399 roll 0.72 - - 3151 - 2.60 0.101 3651 535.0 192.0 - - 2274 - - - - - - - - 14.89 14.29 14.85
17462 473.6 9.6 689 17469 done 0.72 - - 3161 - 2.45 0.040 2249 -572.2 192.0 - - 2274 - - - - - - - - 14.50 14.45 14.53
17785 446.0 8.6 700 17791 roll 0.72 - - 3172 - 2.45 0.062 846 -572.7 192.0 - - 2274 - - - - - - - - 14.88 14.33 14.88
17882 437.5 8.7 714 17889 done 0.72 0.12 0.196 3135 -308.3 2.50 0.054 2262 566.4 192.0 - - 2274 - - - - - - - - 14.12 14.36 14.28
18233 411.0 7.6 722 18239 roll 0.73 - - 3135 - 2.60 0.100 3655 535.8 195.4 - - 2274 - - - - - - - - 14.85 14.26 14.85
18274 407.5 8.5 728 18281 done 0.73 - - 3145 - 2.42 0.040 2256 -578.1 195.4 - - 2274 - - - - - - - - 14.51 14.45 14.54
18625 380.7 7.6 736 18631 roll 0.73 - - 3141 - 2.65 0.097 3651 526.4 197.9 1.38 0.258 2264 -7.2 2.122 - - - - - - 14.85 14.17 13.94
18681 375.9 8.9 744 18687 done 0.73 - - 3154 - 2.40 0.040 2268 -576.2 197.9 1.15 0.235 2261 -2.6 0.828 - - - - - - 14.50 14.45 14.04
19017 349.1 8.0 757 19018 done 0.73 - - 3155 - - - 2265 - 197.9 - - 2270 - - - - - - - - 14.85 14.85 14.85
19353 320.8 8.5 763 19358 roll 0.73 - - 3155 - 2.65 0.100 3653 523.8 197.9 - - 2271 - - - - - - - - 14.86 14.24 14.87
19394 316.7 9.9 769 19403 done 0.73 0.08 0.216 3143 -150.0 2.42 0.040 2258 -576.4 197.9 1.25 0.225 2262 -7.2 2.011 - - - - - - 14.15 14.46 14.06
19745 288.3 8.0 777 19747 done 0.73 - - 3143 - - - 2258 - 197.9 1.17 0.259 2262 - - - - - - - - 14.88 14.38 14.07
20081 262.6 7.6 783 20087 done 0.73 - - 3143 - - - 2258 - 201.4 4.43 1.499 2248 -3.2 0.110 - - - - - - 14.86 14.51 13.24
20417 239.0 6.9 789 20445 roll 0.76 - - 3142 - 2.70 0.100 3663 520.4 218.1 23.17 1.371 2177 -3.1 0.106 - - - - - - 14.85 14.44 13.76
20514 231.2 8.4 803 20522 done 0.76 - - 3153 - 2.42 0.040 2266 -577.3 218.1 - - 2173 - - - - - - - - 14.47 14.43 14.49
20858 204.3 7.9 810 20864 roll 0.76 - - 3163 - 2.45 0.061 861 -573.5 218.1 - - 2171 - - - - - - - - 14.81 14.35 14.81
20927 198.6 8.1 820 20934 done 0.76 - - 3163 - 2.47 0.053 2262 567.2 218.1 - - 2172 - - - - - - - - 14.44 14.34 14.47
21250 172.9 8.0 831 21256 roll 0.76 - - 3163 - 2.58 0.099 3655 539.9 218.1 - - 2172 - - - - - - - - 14.81 14.28 14.82
21306 167.9 9.1 839 21312 done 0.76 - - 3173 - 2.42 0.039 2234 -587.2 218.1 - - 2171 - - - - - - - - 14.57 14.47 14.59
21642 138.3 8.9 852 21648 roll 0.76 - - 3173 - 2.70 0.096 3651 524.8 218.1 - - 2171 - - - - - - - - 14.83 14.19 14.83
21662 136.2 9.1 855 21669 done 0.76 0.12 0.199 3147 -216.7 2.40 0.039 2263 -578.3 218.1 - - 2172 - - - - - - - - 14.11 14.42 14.28
21978 112.6 7.2 865 21984 done 0.77 - - 3147 - - - 2259 - 229.7 4.68 0.449 2135 -7.9 0.393 - - - - - - 14.85 14.40 13.82
22286 90.3 7.7 872 22292 roll 0.77 - - 3147 - 2.62 0.096 3661 535.1 230.3 1.90 0.299 2136 - - - - - - - - 14.84 14.12 13.70
22454 76.9 7.6 896 22460 done 0.77 - - 3157 - 2.42 0.037 2259 -579.3 232.3 2.40 0.304 2125 -4.6 0.230 - - - - - - 14.50 14.46 13.85
22792 58.4 4.4 911 22831 roll 0.94 0.08 0.145 3224 837.5 2.42 0.060 862 -577.3 299.0 33.83 0.356 1858 -7.9 0.257 - - - - - - 14.54 14.39 14.11
22896 51.7 7.4 926 22907 done 0.95 - - 3224 - 2.45 0.053 2273 575.9 305.3 3.65 0.307 1835 -6.3 0.211 - - - - - - 14.54 14.41 13.97
23240 33.4 4.7 942 23279 roll 1.12 0.05 0.207 3276 1040.0 2.62 0.097 3660 529.4 366.9 30.35 0.283 1589 -8.1 0.190 - - - - - - 14.50 14.38 14.13
23384 23.5 8.4 963 23391 done 1.12 - - 3285 - 2.40 0.037 2271 -578.8 366.9 - - 1590 - - - - - - - - 14.47 14.45 14.50
23714 5.4 4.3 977 23754 roll 1.21 - - 3295 - 2.53 0.061 850 -561.7 434.7 32.20 0.184 1319 -8.4 0.049 - - - - - - 14.83 14.40 14.23
23780 end climb: SURFACE_DEPTH_REACHED
23781 begin surface coast
23795 end surface coast: CONTROL_FINISHED_OK
23796 begin surface
SM -4.29 - - - - -8.39 9.25 0.075 194 21.0 3.40 0.061 2766 -1757.1 500.39 29.95 0.165 1058 35.3 0.094 - - - - - -