SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 331 * Raw log
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• Previous call tries 1 • 121.55 of 350.00 AH used of 24V (65.27% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.9 deg, depth -3.12 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 3 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 - - - 93 done -0.93 - - 125 - - - 2768 - -107.1 -77.85 - 3477 - - - - - - - - 14.67 12.67 14.67
96 -2.0 -3.0 2 116 roll -0.93 11.93 0.386 2591 206.7 2.38 0.034 1348 -596.6 -107.1 - - 3480 - - - - - - - - 14.02 14.44 14.40
199 35.6 -20.3 18 205 done -0.66 0.40 0.253 2679 220.0 2.55 0.065 2758 552.9 -107.1 - - 3480 - - - - - - - - 14.11 14.33 14.40
535 72.6 -7.5 33 542 roll -0.66 - - 2672 - 2.00 0.106 3824 533.0 -107.1 - - 3482 - - - - - - - - 14.83 14.33 14.84
625 81.8 -8.2 46 632 done -0.66 - - 2671 - 1.80 0.041 2749 -597.2 -107.1 - - 3482 - - - - - - - - 14.67 14.63 14.69
955 105.8 -7.2 59 961 roll -0.66 - - 2663 - 2.03 0.105 3819 527.1 -107.1 - - 3483 - - - - - - - - 14.89 14.37 14.89
1192 127.4 -9.3 93 1199 done -0.66 - - 2662 - 1.75 0.038 2772 -598.3 -107.1 - - 3483 - - - - - - - - 14.73 14.68 14.74
1515 157.7 -9.5 104 1516 done -0.66 - - 2663 - - - 2772 - -107.1 - - 3482 - - - - - - - - 14.93 14.93 14.93
1851 185.0 -7.8 110 1857 roll -0.66 - - 2663 - 2.38 0.042 1381 -584.5 -107.1 - - 3479 - - - - - - - - 14.95 14.54 14.95
1900 188.4 -7.1 117 1908 done -0.66 0.10 0.205 2683 200.0 2.47 0.065 2773 563.6 -107.1 - - 3480 - - - - - - - - 14.30 14.46 14.47
2243 210.6 -6.9 124 2249 roll -0.66 - - 2683 - 2.38 0.041 1371 -589.1 -107.1 - - 3477 - - - - - - - - 14.96 14.57 14.95
2277 212.6 -5.7 129 2285 done -0.66 - - 2674 - 2.50 0.064 2772 560.4 -107.1 - - 3476 - - - - - - - - 14.53 14.54 14.55
2636 242.2 -8.1 138 2641 roll -0.66 - - 2666 - 1.98 0.109 3842 540.4 -107.1 - - 3474 - - - - - - - - 14.94 14.40 14.93
2683 246.3 -8.7 145 2692 done -0.66 - - 2666 - 1.80 0.041 2773 -593.9 -107.1 - - 3474 - - - - - - - - 14.75 14.70 14.76
3027 274.5 -8.1 152 3033 roll -0.66 - - 2666 - 2.38 0.042 1386 -582.8 -107.1 - - 3471 - - - - - - - - 14.95 14.54 14.95
3103 280.7 -8.2 163 3110 done -0.66 0.08 0.219 2680 175.0 2.50 0.067 2767 552.4 -107.1 - - 3470 - - - - - - - - 14.31 14.46 14.47
3419 304.3 -7.5 173 3420 done -0.66 - - 2680 - - - 2767 - -107.1 - - 3470 - - - - - - - - 14.94 14.94 14.93
3755 330.7 -8.0 179 3761 roll -0.66 - - 2680 - 2.40 0.043 1388 -574.6 -107.1 - - 3467 - - - - - - - - 14.95 14.53 14.95
3811 334.6 -7.2 187 3817 done -0.74 - - 2671 - 2.45 0.067 2779 567.8 -107.1 - - 3466 - - - - - - - - 14.65 14.47 14.69
4147 361.8 -7.7 200 4153 roll -0.74 - - 2671 - 2.38 0.043 1376 -589.5 -107.1 - - 3464 - - - - - - - - 14.96 14.51 14.96
4174 364.1 -8.1 204 4181 done -0.74 - - 2662 - 2.47 0.066 2765 562.3 -107.1 - - 3465 - - - - - - - - 14.55 14.45 14.60
4539 391.8 -7.6 214 4540 done -0.74 - - 2662 - - - 2765 - -107.1 - - 3463 - - - - - - - - 14.93 14.94 14.94
4875 416.1 -7.2 220 4881 roll -0.74 - - 2662 - 2.40 0.044 1386 -574.6 -107.1 - - 3461 - - - - - - - - 14.96 14.50 14.96
4951 421.6 -7.2 231 4958 done -0.74 - - 2654 - 2.47 0.067 2758 555.5 -107.1 - - 3460 - - - - - - - - 14.53 14.43 14.57
5267 444.1 -7.1 241 5268 done -0.74 - - 2654 - - - 2758 - -107.1 - - 3459 - - - - - - - - 14.95 14.95 14.95
5603 468.6 -7.3 247 5604 done -0.74 - - 2654 - - - 2759 - -107.1 - - 3458 - - - - - - - - 14.95 14.95 14.95
5940 493.1 -7.2 253 5946 roll -0.74 - - 2646 - 2.08 0.114 3834 516.8 -107.1 - - 3457 - - - - - - - - 14.93 14.29 14.93
5987 496.7 -7.6 260 5995 done -0.74 - - 2646 - 1.83 0.044 2776 -578.1 -107.1 - - 3456 - - - - - - - - 14.73 14.67 14.73
6331 520.8 -6.8 267 6337 roll -0.74 - - 2648 - 2.40 0.044 1371 -585.4 -107.1 - - 3454 - - - - - - - - 14.95 14.51 14.95
6393 525.5 -7.4 276 6400 done -0.74 - - 2639 - 2.55 0.067 2768 547.8 -107.1 - - 3454 - - - - - - - - 14.48 14.39 14.52
6723 551.0 -7.8 288 6724 done -0.74 - - 2639 - - - 2768 - -107.1 - - 3453 - - - - - - - - 14.93 14.93 14.92
7059 578.1 -8.0 294 7060 done -0.74 - - 2639 - - - 2768 - -107.1 - - 3452 - - - - - - - - 14.97 14.95 14.95
7395 605.7 -8.2 300 7396 done -0.74 - - 2639 - - - 2769 - -107.1 - - 3451 - - - - - - - - 14.95 14.95 14.95
7731 634.2 -8.5 306 7737 roll -0.74 - - 2638 - 2.47 0.046 1373 -565.2 -107.1 - - 3449 - - - - - - - - 14.95 14.43 14.95
7787 639.0 -8.6 314 7793 done -0.74 0.08 0.232 2659 262.5 2.55 0.068 2757 542.7 -107.1 - - 3449 - - - - - - - - 14.09 14.28 14.38
8123 664.8 -7.7 327 8129 roll -0.74 - - 2651 - 2.10 0.116 3837 514.3 -107.1 - - 3448 - - - - - - - - 14.92 14.22 14.92
8185 669.9 -8.2 336 8192 done -0.74 - - 2651 - 1.88 0.044 2753 -576.6 -107.1 - - 3447 - - - - - - - - 14.68 14.62 14.69
8515 695.1 -7.7 348 8521 roll -0.74 - - 2651 - 2.38 0.044 1361 -584.9 -107.1 - - 3446 - - - - - - - - 14.91 14.46 14.91
8577 699.9 -7.7 357 8585 done -0.74 - - 2642 - 2.55 0.067 2765 550.6 -107.1 - - 3446 - - - - - - - - 14.41 14.31 14.45
8908 725.4 -7.7 369 8913 roll -0.74 - - 2633 - 2.05 0.113 3846 527.3 -107.1 - - 3445 - - - - - - - - 14.92 14.23 14.92
8948 728.7 -8.3 375 8955 done -0.74 - - 2633 - 1.88 0.044 2759 -578.2 -107.1 - - 3445 - - - - - - - - 14.64 14.59 14.66
9299 756.4 -7.9 383 9305 roll -0.74 - - 2632 - 2.40 0.044 1380 -574.6 -107.1 - - 3444 - - - - - - - - 14.90 14.39 14.90
9340 759.8 -8.1 389 9348 done -0.74 0.10 0.221 2653 210.0 2.50 0.066 2751 548.4 -107.1 - - 3444 - - - - - - - - 14.07 14.31 14.25
9691 784.3 -6.9 397 9692 done -0.74 - - 2652 - - - 2751 - -107.1 - - 3444 - - - - - - - - 14.90 14.90 14.90
10028 808.2 -7.1 403 10033 roll -0.74 - - 2653 - 2.38 0.044 1378 -576.9 -107.1 - - 3443 - - - - - - - - 14.90 14.44 14.90
10054 810.2 -7.2 407 10061 done -0.74 - - 2644 - 2.53 0.067 2763 547.4 -107.1 - - 3443 - - - - - - - - 14.39 14.29 14.44
10419 836.9 -7.4 417 10420 done -0.74 - - 2641 - - - 2763 - -107.1 - - 3441 - - - - - - - - 14.92 14.91 14.92
10755 861.7 -7.3 423 10756 done -0.74 - - 2645 - - - 2763 - -107.1 - - 3440 - - - - - - - - 14.92 14.92 14.94
11091 886.7 -7.5 429 11098 roll -0.74 - - 2643 - 2.45 0.045 1381 -564.1 -107.1 - - 3439 - - - - - - - - 14.92 14.35 14.92
11126 889.2 -4.7 434 11132 done -0.74 - - 2635 - 2.53 0.067 2760 545.1 -107.1 - - 3439 - - - - - - - - 14.35 14.24 14.40
11484 915.7 -7.4 443 11489 roll -0.74 - - 2626 - 2.08 0.115 3818 508.7 -107.1 - - 3439 - - - - - - - - 14.89 14.11 14.88
11525 918.8 -5.9 449 11532 done -0.74 0.10 0.203 2655 290.0 1.83 0.044 2764 -576.0 -107.1 - - 3438 - - - - - - - - 14.07 14.50 14.23
11705 end dive: TARGET_DEPTH_EXCEEDED
11705 begin apogee
11712 930.5 -6.2 454 11824 roll -0.23 0.55 0.165 2825 309.1 0.08 0.173 2257 -6337.5 - 110.22 1.992 3049 -3.5 0.327 - - - - - - 14.12 13.93 13.09
11826 end apogee: CONTROL_FINISHED_OK
11826 begin climb
11828 936.4 - 456 11951 done 0.93 1.15 0.097 3194 320.9 - - 2256 - 107.1 117.57 1.972 2623 -3.6 0.341 - - - - - - 13.98 14.21 12.90
12268 906.9 8.9 485 12269 done 0.77 0.17 0.249 3149 -264.7 - - 2256 - 107.1 - - 2609 - - - - - - - - 14.11 14.42 14.38
12604 882.8 7.3 491 12611 roll 0.70 - - 3148 - 2.67 0.099 3652 522.8 116.2 3.53 1.561 2590 -5.4 0.604 - - - - - - 14.78 14.44 12.98
12666 877.9 7.9 500 12673 done 0.57 0.25 0.215 3089 -236.0 2.38 0.040 2281 -576.1 116.2 1.38 0.257 2590 - - - - - - - - 14.21 14.47 13.96
12989 860.2 5.5 511 13051 roll 0.62 - - 3089 - 2.65 0.101 3652 517.4 160.4 57.65 1.919 2406 -3.2 0.284 - - - - - - 14.81 14.09 13.33
13079 854.5 8.2 517 13086 done 0.62 - - 3098 - 2.47 0.041 2252 -566.8 160.4 - - 2401 - - - - - - - - 14.27 14.23 14.31
13437 828.4 7.5 526 13443 roll 0.63 - - 3098 - 2.65 0.098 3655 529.4 166.3 1.15 0.272 2387 -12.2 7.351 - - - - - - 14.72 14.31 14.12
13478 824.9 9.9 532 13484 done 0.63 - - 3108 - 2.42 0.040 2254 -578.9 166.3 1.10 0.235 2387 - - - - - - - - 14.50 14.45 14.13
13829 796.6 8.2 540 13834 roll 0.63 - - 3108 - 2.65 0.100 3658 529.8 166.3 - - 2393 - - - - - - - - 14.79 14.33 14.80
13870 792.7 9.3 546 13876 done 0.63 - - 3118 - 2.42 0.041 2258 -578.5 166.3 - - 2393 - - - - - - - - 14.53 14.50 14.56
14221 763.6 8.3 554 14221 done 0.63 - - 3118 - - - 2258 - 166.3 - - 2393 - - - - - - - - 14.83 14.83 14.83
14556 735.8 8.3 560 14562 roll 0.63 - - 3117 - 2.65 0.103 3652 526.0 166.3 - - 2393 - - - - - - - - 14.89 14.33 14.85
14605 731.4 8.9 567 14612 done 0.63 - - 3128 - 2.40 0.041 2267 -577.1 166.3 - - 2393 - - - - - - - - 14.56 14.51 14.58
14949 703.1 8.3 574 14950 done 0.63 - - 3126 - - - 2266 - 166.3 - - 2393 - - - - - - - - 14.88 14.88 14.88
15285 676.5 7.8 580 15290 roll 0.63 - - 3128 - 2.62 0.103 3649 527.9 166.3 - - 2393 - - - - - - - - 14.89 14.31 14.89
15326 673.0 8.9 586 15332 done 0.63 0.10 0.214 3107 -210.0 2.40 0.041 2260 -578.8 166.3 - - 2393 - - - - - - - - 14.16 14.50 14.33
15677 648.6 6.9 594 15706 roll 0.65 - - 3108 - 2.67 0.100 3650 520.6 183.7 24.48 1.803 2316 -3.1 0.224 - - - - - - 14.90 14.42 13.63
15739 643.7 8.6 603 15745 done 0.65 - - 3116 - 2.42 0.041 2259 -574.8 183.7 - - 2310 - - - - - - - - 14.48 14.45 14.50
16069 618.0 7.9 615 16074 roll 0.65 - - 3116 - 2.62 0.102 3649 530.5 183.7 - - 2308 - - - - - - - - 14.78 14.30 14.78
16117 613.6 9.0 622 16125 done 0.65 - - 3126 - 2.40 0.041 2265 -576.7 183.7 - - 2307 - - - - - - - - 14.49 14.45 14.51
16461 584.7 8.4 629 16462 done 0.65 - - 3126 - - - 2265 - 183.7 - - 2308 - - - - - - - - 14.82 14.82 14.82
16797 557.5 8.0 635 16802 roll 0.65 - - 3126 - 2.62 0.103 3651 529.0 183.7 - - 2307 - - - - - - - - 14.84 14.30 14.84
16831 554.4 8.9 640 16837 done 0.65 - - 3136 - 2.40 0.041 2268 -576.2 183.7 - - 2307 - - - - - - - - 14.53 14.48 14.55
17189 526.2 7.7 649 17195 roll 0.65 - - 3136 - 2.60 0.100 3650 531.5 183.7 - - 2307 - - - - - - - - 14.82 14.31 14.81
17245 521.3 8.8 657 17251 done 0.65 0.10 0.210 3117 -190.0 2.38 0.041 2277 -576.9 183.7 - - 2308 - - - - - - - - 14.13 14.47 14.31
17581 498.4 6.7 670 17609 roll 0.68 - - 3126 - 2.53 0.061 868 -556.9 204.5 23.45 1.665 2229 -3.4 0.200 - - - - - - 14.88 14.47 13.66
17637 494.6 6.8 678 17665 done 0.70 - - 3126 - 2.45 0.054 2280 576.3 223.9 21.48 1.671 2154 -3.5 0.205 - - - - - - 14.52 14.40 13.52
17973 469.3 7.6 691 17978 roll 0.70 - - 3126 - 2.58 0.102 3655 532.9 226.9 - - 2144 - - - - - - - - 14.73 14.26 14.73
18035 463.8 8.7 700 18041 done 0.70 - - 3135 - 2.40 0.039 2276 -574.6 226.9 - - 2144 - - - - - - - - 14.46 14.42 14.48
18365 437.0 8.2 712 18366 done 0.70 - - 3136 - - - 2275 - 226.9 - - 2144 - - - - - - - - 14.81 14.78 14.81
18701 409.8 8.0 718 18706 roll 0.70 - - 3136 - 2.62 0.099 3650 524.8 226.9 - - 2143 - - - - - - - - 14.83 14.29 14.83
18757 404.8 9.3 726 18762 done 0.70 - - 3146 - 2.40 0.040 2276 -572.5 226.9 - - 2144 - - - - - - - - 14.50 14.45 14.52
19093 376.3 8.5 739 19094 done 0.70 - - 3146 - - - 2272 - 226.9 - - 2145 - - - - - - - - 14.86 14.86 14.86
19429 347.7 8.5 745 19435 roll 0.70 - - 3157 - 2.53 0.062 858 -558.9 226.9 - - 2144 - - - - - - - - 14.88 14.33 14.88
19456 345.3 8.4 749 19463 done 0.70 - - 3157 - 2.50 0.054 2276 567.2 226.9 - - 2143 - - - - - - - - 14.45 14.37 14.50
19821 313.6 8.7 759 19827 roll 0.70 0.10 0.225 3126 -310.0 2.58 0.103 3663 537.6 226.9 - - 2145 - - - - - - - - 14.31 14.29 14.51
19897 306.8 8.7 770 19903 done 0.70 - - 3135 - 2.40 0.039 2268 -581.2 226.9 - - 2143 - - - - - - - - 14.53 14.49 14.55
20213 282.2 7.8 780 20218 roll 0.70 - - 3146 - 2.45 0.060 865 -572.7 226.9 - - 2141 - - - - - - - - 14.88 14.38 14.89
20254 278.8 8.3 786 20260 done 0.70 - - 3147 - 2.50 0.051 2286 568.4 226.9 - - 2143 - - - - - - - - 14.45 14.37 14.48
20605 249.9 8.2 794 20610 roll 0.70 - - 3146 - 2.58 0.102 3658 531.8 226.9 - - 2143 - - - - - - - - 14.87 14.26 14.87
20646 246.0 9.7 800 20653 done 0.70 0.08 0.209 3133 -162.5 2.38 0.037 2280 -579.0 226.9 - - 2143 - - - - - - - - 14.19 14.48 14.33
20997 219.7 7.5 808 21002 done 0.71 - - 3133 - - - 2279 - 232.2 3.22 1.126 2125 -5.6 0.216 - - - - - - 14.89 14.49 13.23
21333 193.2 8.0 814 21339 roll 0.71 - - 3133 - 2.60 0.100 3655 529.2 232.2 1.67 0.289 2127 - - - - - - - - 14.88 14.10 13.63
21374 189.3 9.2 820 21381 done 0.71 - - 3142 - 2.35 0.038 2281 -584.7 232.2 1.48 0.249 2126 - - - - - - - - 14.55 14.52 13.83
21725 161.2 7.9 828 21731 roll 0.71 - - 3152 - 2.45 0.058 870 -575.9 232.2 1.65 0.287 2128 - - - - - - - - 14.87 14.07 13.60
21766 158.0 8.0 834 21773 done 0.71 - - 3152 - 2.50 0.053 2290 568.0 232.2 1.35 0.249 2127 - - - - - - - - 14.46 14.38 13.85
22117 130.1 7.9 842 22123 roll 0.71 - - 3162 - 2.47 0.058 874 -573.3 232.2 1.55 0.272 2126 - - - - - - - - 14.87 14.09 13.69
22137 128.4 8.0 845 22145 done 0.71 0.10 0.188 3134 -280.0 2.47 0.053 2282 570.0 232.2 - - 2133 - - - - - - - - 14.19 14.36 14.34
22453 104.5 7.7 855 22460 roll 0.79 - - 3131 - 2.62 0.101 3654 523.7 233.6 2.53 0.378 2121 -4.7 0.260 - - - - - - 14.86 14.34 13.78
22573 94.2 8.0 872 22578 done 0.79 - - 3140 - 2.30 0.038 2290 -593.0 233.6 1.52 0.269 2119 - - - - - - - - 14.62 14.54 13.78
22894 73.1 6.6 885 22914 roll 0.89 0.08 0.144 3194 675.0 2.62 0.102 3653 520.2 257.3 13.10 0.392 2025 -7.2 0.265 - - - - - - 14.54 14.39 14.05
23034 60.7 8.2 905 23040 done 0.89 - - 3205 - 2.33 0.039 2308 -577.3 257.3 - - 2031 - - - - - - - - 14.51 14.47 14.52
23370 41.0 6.7 920 23385 roll 0.92 - - 3215 - 2.55 0.060 873 -562.7 278.0 11.05 0.302 1942 -8.1 0.217 - - - - - - 14.85 14.39 14.09
23615 29.8 4.2 955 23656 done 1.12 0.08 0.145 3277 775.0 2.45 0.053 2298 581.6 349.4 34.85 0.272 1659 -8.1 0.176 - - - - - - 14.45 14.40 14.12
23981 13.8 3.8 974 24027 roll 1.21 - - 3286 - 2.55 0.060 873 -558.8 428.1 37.58 0.212 1344 -8.4 0.108 - - - - - - 14.81 14.41 14.19
24099 7.8 6.0 991 24122 done 1.38 0.12 0.099 3368 683.3 2.42 0.053 2288 584.7 463.0 16.73 0.191 1203 -8.4 0.068 - - - - - - 14.47 14.40 14.19
24172 end climb: SURFACE_DEPTH_REACHED
24172 begin surface coast
24201 end surface coast: CONTROL_FINISHED_OK
24201 begin surface
SM -3.09 - - - - -8.39 9.02 0.037 175 19.4 0.88 0.086 2771 -9839.8 500.64 16.85 0.161 1057 62.7 0.123 - - - - - -