SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 330 * Raw log
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• Previous call tries 1 • 121.23 of 350.00 AH used of 24V (65.36% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.5 deg, depth -2.97 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: 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 - - 125 - - - 2777 - -107.1 -76.57 - 3479 - - - - - - - - 14.66 12.66 14.65
95 -1.4 -5.1 2 115 roll -0.93 11.80 0.386 2583 208.3 1.95 0.085 3832 541.0 -107.1 - - 3480 - - - - - - - - 14.01 14.32 14.39
120 19.2 -54.8 7 127 done 0.19 1.42 0.279 2937 249.3 1.85 0.046 2765 -576.8 -107.1 - - 3480 - - - - - - - - 14.05 14.48 14.27
451 41.5 -6.9 21 456 roll -0.30 0.35 0.099 2810 -362.9 2.35 0.042 1362 -597.0 -107.1 - - 3482 - - - - - - - - 14.43 14.48 14.56
593 50.2 -6.0 41 598 done -0.54 0.17 0.084 2717 -547.1 2.45 0.067 2767 573.5 -107.1 - - 3483 - - - - - - - - 14.50 14.40 14.57
926 72.3 -6.6 56 932 roll -0.54 - - 2716 - 2.38 0.042 1357 -592.4 -107.1 - - 3485 - - - - - - - - 14.90 14.53 14.90
1024 78.6 -6.3 70 1030 done -0.61 - - 2707 - 2.50 0.064 2769 564.8 -107.1 - - 3487 - - - - - - - - 14.52 14.43 14.57
1347 98.4 -6.4 83 1353 roll -0.61 - - 2699 - 1.92 0.106 3824 549.5 -107.1 - - 3483 - - - - - - - - 14.89 14.40 14.89
1584 115.1 -6.8 117 1590 done -0.69 - - 2699 - 1.80 0.041 2750 -596.7 -107.1 - - 3484 - - - - - - - - 14.68 14.63 14.69
1907 136.1 -6.6 128 1912 roll -0.77 0.10 0.116 2622 -770.0 2.28 0.042 1378 -601.8 -107.1 - - 3483 - - - - - - - - 14.68 14.57 14.73
1934 138.4 -8.4 132 1940 done -0.77 0.10 0.218 2643 210.0 2.47 0.065 2771 564.0 -107.1 - - 3483 - - - - - - - - 14.26 14.46 14.44
2298 170.6 -8.7 142 2304 roll -0.77 - - 2635 - 1.98 0.106 3822 530.8 -107.1 - - 3481 - - - - - - - - 14.94 14.38 14.94
2374 177.4 -9.1 153 2381 done -0.77 - - 2634 - 1.77 0.040 2761 -599.4 -107.1 - - 3480 - - - - - - - - 14.76 14.70 14.76
2690 204.6 -8.6 163 2697 roll -0.77 - - 2634 - 2.30 0.044 1392 -595.2 -107.1 - - 3478 - - - - - - - - 14.95 14.56 14.95
2738 208.7 -8.5 170 2746 done -0.77 - - 2621 - 2.50 0.066 2776 553.6 -107.1 - - 3477 - - - - - - - - 14.54 14.46 14.59
3082 239.6 -9.2 177 3088 roll -0.77 - - 2616 - 1.98 0.106 3820 527.3 -107.1 - - 3475 - - - - - - - - 14.96 14.36 14.96
3151 246.5 -9.8 187 3159 done -0.77 0.10 0.236 2645 290.0 1.75 0.041 2782 -593.1 -107.1 - - 3475 - - - - - - - - 14.35 14.69 14.58
3474 274.5 -8.7 198 3480 roll -0.77 - - 2646 - 2.40 0.044 1390 -580.0 -107.1 - - 3473 - - - - - - - - 14.95 14.50 14.95
3501 277.0 -8.7 202 3508 done -0.77 - - 2635 - 2.50 0.066 2784 557.6 -107.1 - - 3472 - - - - - - - - 14.54 14.46 14.59
3866 309.7 -9.1 212 3867 done -0.77 - - 2636 - - - 2784 - -107.1 - - 3471 - - - - - - - - 14.95 14.95 14.95
4202 340.1 -9.0 218 4208 roll -0.77 - - 2635 - 2.45 0.044 1382 -572.2 -107.1 - - 3469 - - - - - - - - 14.95 14.51 14.95
4236 343.3 -9.3 223 4244 done -0.77 - - 2626 - 2.50 0.067 2772 556.0 -107.1 - - 3468 - - - - - - - - 14.54 14.45 14.59
4594 377.5 -9.6 232 4595 done -0.77 - - 2626 - - - 2772 - -107.1 - - 3466 - - - - - - - - 14.95 14.95 14.97
4930 409.7 -9.6 238 4936 roll -0.77 - - 2626 - 2.42 0.044 1384 -573.6 -107.1 - - 3465 - - - - - - - - 14.95 14.50 14.95
4992 415.6 -9.3 247 5000 done -0.77 0.10 0.226 2644 180.0 2.53 0.067 2776 550.2 -107.1 - - 3465 - - - - - - - - 14.16 14.36 14.31
5322 441.3 -7.6 259 5323 done -0.77 - - 2644 - - - 2776 - -107.1 - - 3463 - - - - - - - - 14.94 14.94 14.94
5658 466.5 -7.4 265 5659 done -0.77 - - 2644 - - - 2776 - -107.1 - - 3462 - - - - - - - - 14.95 14.95 14.95
5994 490.9 -7.2 271 6000 roll -0.77 - - 2636 - 2.03 0.110 3822 515.3 -107.1 - - 3460 - - - - - - - - 14.97 14.30 14.97
6021 493.1 -7.8 275 6029 done -0.77 - - 2635 - 1.80 0.044 2771 -583.9 -107.1 - - 3460 - - - - - - - - 14.71 14.66 14.73
6386 521.8 -8.2 285 6392 roll -0.77 - - 2668 - 2.38 0.044 1372 -587.8 -107.1 - - 3458 - - - - - - - - 14.94 14.51 14.94
6427 525.4 -8.6 291 6435 done -0.77 - - 2660 - 2.53 0.065 2768 551.8 -107.1 - - 3458 - - - - - - - - 14.49 14.39 14.54
6778 556.6 -9.0 299 6785 roll -0.77 - - 2652 - 2.03 0.109 3828 522.2 -107.1 - - 3457 - - - - - - - - 14.94 14.28 14.94
6834 561.8 -9.5 307 6841 done -0.77 - - 2652 - 1.80 0.044 2772 -586.7 -107.1 - - 3457 - - - - - - - - 14.60 14.57 14.62
7170 593.0 -9.3 320 7176 roll -0.77 - - 2651 - 2.38 0.043 1376 -586.6 -107.1 - - 3455 - - - - - - - - 14.92 14.50 14.93
7204 596.2 -9.4 325 7211 done -0.77 - - 2642 - 2.55 0.065 2779 550.2 -107.1 - - 3455 - - - - - - - - 14.48 14.38 14.52
7562 629.8 -9.4 334 7563 done -0.77 - - 2642 - - - 2780 - -107.1 - - 3454 - - - - - - - - 14.95 14.95 14.95
7898 660.3 -9.0 340 7904 roll -0.77 - - 2635 - 2.00 0.110 3828 524.0 -107.1 - - 3453 - - - - - - - - 14.95 14.26 14.96
7925 662.9 -9.6 344 7932 done -0.77 - - 2634 - 1.83 0.044 2773 -576.5 -107.1 - - 3453 - - - - - - - - 14.67 14.59 14.69
8290 696.9 -9.3 354 8296 roll -0.77 - - 2627 - 2.05 0.109 3825 513.2 -107.1 - - 3451 - - - - - - - - 14.92 14.22 14.92
8324 700.3 -10.2 359 8332 done -0.77 - - 2626 - 1.83 0.044 2773 -574.9 -107.1 - - 3451 - - - - - - - - 14.66 14.61 14.68
8682 734.3 -9.5 368 8683 done -0.77 - - 2626 - - - 2772 - -107.1 - - 3449 - - - - - - - - 14.91 14.92 14.92
9018 766.2 -9.5 374 9019 done -0.77 - - 2626 - - - 2772 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
9354 797.9 -9.5 380 9355 done -0.77 - - 2627 - - - 2773 - -107.1 - - 3447 - - - - - - - - 14.92 14.92 14.92
9690 829.0 -9.1 386 9696 roll -0.77 - - 2619 - 2.08 0.109 3825 505.8 -107.1 - - 3446 - - - - - - - - 14.92 14.19 14.92
9724 832.4 -8.6 391 9732 done -0.77 0.10 0.250 2651 320.0 1.83 0.044 2778 -572.1 -107.1 - - 3446 - - - - - - - - 14.12 14.58 14.28
10082 861.7 -8.2 400 10088 roll -0.77 - - 2651 - 2.42 0.044 1369 -582.2 -107.1 - - 3447 - - - - - - - - 14.90 14.38 14.90
10116 864.5 -8.2 405 10123 done -0.77 - - 2645 - 2.58 0.066 2775 545.0 -107.1 - - 3445 - - - - - - - - 14.38 14.30 14.43
10474 894.5 -8.6 414 10480 roll -0.77 - - 2632 - 2.03 0.110 3825 517.2 -107.1 - - 3444 - - - - - - - - 14.90 14.14 14.92
10508 897.7 -7.8 419 10516 done -0.77 - - 2632 - 1.83 0.044 2773 -574.9 -107.1 - - 3445 - - - - - - - - 14.64 14.57 14.65
10866 929.6 -9.0 428 10867 done -0.77 - - 2632 - - - 2774 - -107.1 - - 3443 - - - - - - - - 14.92 14.92 14.92
10920 end dive: TARGET_DEPTH_EXCEEDED
10920 begin apogee
10927 934.8 -9.1 429 11041 roll -0.23 0.68 0.188 2821 277.9 0.10 0.158 2281 -4930.0 - 112.18 1.987 3050 -3.5 0.327 - - - - - - 14.07 13.94 13.05
11043 end apogee: CONTROL_FINISHED_OK
11043 begin climb
11046 938.0 - 431 11175 roll 0.93 1.17 0.111 3180 306.8 2.53 0.055 887 -551.0 107.1 117.32 1.975 2616 -3.7 0.349 - - - - - - 13.97 14.01 12.91
11195 935.6 8.3 454 11202 done 0.81 - - 3180 - 2.47 0.049 2236 546.2 107.1 - - 2612 - - - - - - - - 13.93 13.86 13.95
11539 910.1 7.6 461 11545 roll 0.71 0.17 0.220 3131 -288.2 2.65 0.096 3656 535.8 110.1 - - 2608 - - - - - - - - 14.18 14.28 14.40
11636 903.0 7.1 475 11657 done 0.73 - - 3141 - 2.40 0.039 2275 -575.4 123.9 17.83 2.039 2556 -2.9 0.256 - - - - - - 14.48 14.44 13.44
11980 879.9 6.8 489 12003 done 0.75 - - 3141 - - - 2275 - 143.6 22.05 2.007 2478 -3.5 0.308 - - - - - - 14.76 14.35 13.45
12316 854.9 7.5 495 12321 roll 0.76 - - 3141 - 2.62 0.098 3659 528.2 148.6 - - 2466 - - - - - - - - 14.73 14.33 14.73
12364 850.8 8.3 502 12372 done 0.76 - - 3152 - 2.45 0.040 2252 -574.3 148.6 0.95 0.235 2456 -10.5 7.562 - - - - - - 14.51 14.47 14.18
12708 825.6 7.3 509 12724 done 0.77 - - 3151 - - - 2252 - 158.0 15.73 2.043 2420 -2.3 0.184 - - - - - - 14.81 14.46 13.56
13044 800.8 7.4 515 13050 roll 0.78 - - 3150 - 2.65 0.096 3658 530.6 164.7 1.83 0.315 2398 -12.0 6.064 - - - - - - 14.77 14.15 13.68
13099 796.0 8.7 523 13105 done 0.78 - - 3161 - 2.45 0.040 2252 -573.9 164.7 1.58 0.283 2395 -1.9 1.060 - - - - - - 14.52 14.47 13.71
13435 768.8 8.2 536 13438 done 0.78 - - 3161 - - - 2248 - 164.7 1.58 0.276 2394 - - - - - - - - 14.84 14.38 13.89
13772 741.4 8.1 542 13778 roll 0.78 - - 3162 - 2.65 0.098 3652 529.8 164.7 1.27 0.267 2397 2.4 -1.302 - - - - - - 14.87 14.31 14.09
13820 737.0 9.0 549 13828 done 0.69 0.15 0.207 3129 -220.0 2.42 0.041 2251 -578.9 164.7 1.15 0.251 2397 - - - - - - - - 14.19 14.50 14.00
14164 713.0 6.8 556 14194 done 0.71 - - 3129 - - - 2251 - 182.7 28.70 1.844 2321 -2.6 0.203 - - - - - - 14.88 14.42 13.57
14500 688.3 7.2 562 14512 roll 0.72 - - 3128 - 2.70 0.099 3655 520.0 192.9 4.95 1.974 2284 -7.5 0.517 - - - - - - 14.76 14.42 13.05
14576 680.4 9.8 573 14582 done 0.72 - - 3138 - 2.42 0.041 2261 -576.0 192.9 1.25 0.241 2285 - - - - - - - - 14.50 14.46 14.07
14892 659.0 7.5 583 14906 roll 0.73 - - 3147 - 2.50 0.063 866 -558.0 197.9 9.95 2.024 2260 -2.5 0.162 - - - - - - 14.79 14.47 13.55
14926 656.4 7.3 588 14938 done 0.74 - - 3145 - 2.47 0.054 2265 566.4 206.7 5.55 2.000 2231 -5.2 0.340 - - - - - - 14.49 14.41 13.33
15284 626.6 8.4 597 15290 roll 0.74 - - 3147 - 2.60 0.099 3660 536.5 206.7 1.48 0.278 2228 -2.0 0.907 - - - - - - 14.79 14.23 13.90
15353 620.0 9.6 607 15359 done 0.74 - - 3157 - 2.42 0.040 2265 -576.4 206.7 - - 2235 - - - - - - - - 14.51 14.47 14.53
15676 590.9 9.1 618 15681 roll 0.74 - - 3167 - 2.47 0.062 855 -570.9 206.7 - - 2232 - - - - - - - - 14.82 14.40 14.81
15709 587.7 8.9 623 15717 done 0.74 - - 3167 - 2.50 0.054 2267 564.8 206.7 1.25 0.234 2227 -4.0 1.993 - - - - - - 14.48 14.40 14.08
16067 554.9 9.2 632 16074 roll 0.74 - - 3167 - 2.62 0.102 3650 527.9 206.7 - - 2235 - - - - - - - - 14.83 14.30 14.84
16137 547.9 10.0 642 16143 done 0.74 0.12 0.205 3142 -208.3 2.40 0.041 2267 -576.2 206.7 - - 2235 - - - - - - - - 14.19 14.50 14.35
16460 522.9 7.7 653 16466 roll 0.74 - - 3151 - 2.50 0.061 861 -562.4 208.2 2.80 1.116 2222 -4.6 0.432 - - - - - - 14.85 14.54 13.10
16494 520.2 7.6 658 16502 done 0.74 - - 3151 - 2.47 0.056 2265 568.4 210.5 4.20 1.745 2211 -2.6 0.155 - - - - - - 14.52 14.44 13.20
16845 493.2 7.7 666 16852 roll 0.74 - - 3151 - 2.62 0.102 3652 529.4 212.1 2.92 1.183 2208 -1.0 0.085 - - - - - - 14.85 14.48 13.14
16907 487.7 9.0 675 16914 done 0.74 - - 3161 - 2.40 0.040 2265 -577.9 212.1 2.20 0.637 2206 - - - - - - - - 14.56 14.52 13.10
17230 461.3 8.2 686 17236 roll 0.74 - - 3162 - 2.62 0.098 3652 529.4 212.1 1.65 0.337 2207 - - - - - - - - 14.86 14.12 13.64
17271 457.4 9.5 692 17279 done 0.74 0.08 0.218 3149 -162.5 2.40 0.041 2269 -576.2 212.1 - - 2213 - - - - - - - - 14.23 14.51 14.39
17622 430.5 7.6 700 17634 roll 0.75 - - 3149 - 2.65 0.100 3658 524.2 214.6 4.10 1.613 2199 -3.4 0.181 - - - - - - 14.85 14.51 13.24
17656 427.5 8.4 705 17662 done 0.75 - - 3158 - 2.40 0.040 2269 -578.8 214.6 - - 2202 - - - - - - - - 14.59 14.55 14.62
18013 399.3 7.8 714 18020 roll 0.75 - - 3169 - 2.45 0.060 866 -572.7 214.6 1.10 0.275 2199 -2.7 0.786 - - - - - - 14.85 14.40 14.12
18048 396.6 7.7 719 18055 done 0.75 - - 3168 - 2.47 0.053 2271 568.8 216.5 3.53 1.406 2188 -3.1 0.174 - - - - - - 14.52 14.44 13.26
18405 366.3 8.6 728 18413 roll 0.75 - - 3168 - 2.58 0.099 3658 537.6 216.5 1.27 0.281 2191 2.4 -0.611 - - - - - - 14.85 14.23 13.93
18475 359.3 10.0 738 18482 done 0.75 0.10 0.207 3149 -190.0 2.38 0.039 2281 -578.6 216.5 1.10 0.240 2190 - - - - - - - - 14.24 14.52 14.07
18798 334.2 7.7 749 18801 done 0.75 - - 3149 - - - 2278 - 216.9 2.45 0.837 2187 -1.2 0.097 - - - - - - 14.85 14.50 13.19
19134 309.1 7.4 755 19153 roll 0.76 - - 3158 - 2.50 0.063 872 -562.4 224.5 13.52 1.569 2149 -2.8 0.110 - - - - - - 14.87 14.51 13.78
19175 306.1 7.1 761 19195 done 0.78 - - 3158 - 2.50 0.055 2279 562.8 238.3 15.07 1.513 2096 -3.5 0.141 - - - - - - 14.53 14.45 13.71
19526 279.6 7.6 776 19532 roll 0.78 - - 3158 - 2.58 0.102 3658 534.5 242.2 - - 2090 - - - - - - - - 14.79 14.32 14.81
19553 277.2 8.7 780 19560 done 0.78 - - 3168 - 2.40 0.039 2276 -575.8 242.2 - - 2092 - - - - - - - - 14.52 14.47 14.54
19918 247.3 8.3 790 19923 roll 0.78 - - 3179 - 2.47 0.062 862 -572.5 242.2 - - 2091 - - - - - - - - 14.83 14.40 14.83
19944 244.8 8.7 794 19951 done 0.78 - - 3179 - 2.50 0.054 2280 567.2 242.2 - - 2089 - - - - - - - - 14.48 14.39 14.52
20309 212.0 9.1 804 20316 roll 0.78 - - 3179 - 2.55 0.101 3658 540.4 242.2 - - 2089 - - - - - - - - 14.85 14.34 14.85
20357 207.0 10.3 811 20366 done 0.78 0.10 0.203 3159 -200.0 2.38 0.038 2278 -579.8 242.2 - - 2089 - - - - - - - - 14.21 14.50 14.37
20702 179.8 7.8 818 20707 roll 0.78 - - 3175 - 2.47 0.060 860 -574.1 242.2 - - 2089 - - - - - - - - 14.86 14.44 14.86
20742 176.5 8.1 824 20750 done 0.78 - - 3169 - 2.50 0.054 2285 570.0 242.2 - - 2089 - - - - - - - - 14.50 14.42 14.54
21094 147.1 8.5 832 21094 done 0.78 - - 3170 - - - 2286 - 242.2 - - 2089 - - - - - - - - 14.87 14.88 14.87
21429 118.6 8.5 838 21430 done 0.78 - - 3169 - - - 2285 - 242.2 - - 2089 - - - - - - - - 14.88 14.88 14.88
21737 93.9 7.8 844 21744 roll 0.78 - - 3169 - 2.58 0.101 3675 538.8 242.2 - - 2089 - - - - - - - - 14.88 14.31 14.88
21842 84.4 9.7 859 21849 done 0.78 - - 3179 - 2.40 0.038 2279 -581.7 242.2 - - 2089 - - - - - - - - 14.55 14.52 14.57
22158 61.4 6.5 871 22177 roll 0.81 - - 3189 - 2.50 0.061 867 -564.8 267.5 13.48 0.365 1987 -7.6 0.253 - - - - - - 14.87 14.43 14.02
22285 54.3 5.6 889 22313 done 0.97 - - 3189 - 2.42 0.050 2281 584.3 309.9 22.02 0.349 1816 -7.8 0.240 - - - - - - 14.58 14.46 14.12
22636 37.7 4.9 906 22669 roll 1.20 0.20 0.079 3301 560.0 2.60 0.098 3657 529.2 366.6 28.35 0.298 1590 -8.0 0.200 - - - - - - 14.47 14.40 14.13
22871 19.9 7.0 940 22885 done 1.22 - - 3311 - 2.38 0.037 2265 -584.9 381.3 7.43 0.235 1531 -7.9 0.133 - - - - - - 14.52 14.47 14.05
23217 2.3 5.6 956 23224 VBD 1.35 - - 3308 - - - 2264 - 423.9 5.38 0.188 1490 -7.6 0.018 - - - - - - 14.82 - 14.82
23224 end climb: SURFACE_DEPTH_REACHED
23224 begin surface coast
23270 end surface coast: CONTROL_FINISHED_OK
23270 begin surface
SM -3.61 - - - - -8.38 9.48 0.074 191 20.1 0.93 0.082 2766 -6559.1 500.14 50.15 0.157 1057 21.1 0.050 - - - - - -