SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 335 * Raw log
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• Previous call tries 1 • 122.83 of 350.00 AH used of 24V (64.91% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.1 deg, depth -3.54 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 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 - - - 92 done -0.93 - - 145 - - - 2782 - -107.1 -76.60 - 3478 - - - - - - - - 14.66 12.66 14.66
95 -1.9 -4.1 2 115 roll -0.93 11.80 0.386 2595 207.6 2.38 0.031 1344 -604.2 -107.1 - - 3480 - - - - - - - - 14.00 14.46 14.38
212 40.8 -18.4 20 218 done -0.69 0.32 0.254 2667 225.0 2.58 0.072 2768 551.9 -107.1 - - 3480 - - - - - - - - 14.05 14.30 14.26
534 75.1 -7.8 33 541 roll -0.69 - - 2650 - 2.00 0.106 3829 530.5 -107.1 - - 3485 - - - - - - - - 14.83 14.31 14.83
646 84.7 -9.3 49 653 done -0.60 0.17 0.192 2701 300.0 1.77 0.038 2768 -599.4 -107.1 - - 3483 - - - - - - - - 14.24 14.57 14.39
982 107.9 -6.8 62 988 roll -0.60 - - 2702 - 2.38 0.042 1377 -584.5 -107.1 - - 3483 - - - - - - - - 14.90 14.48 14.88
1058 113.2 -6.8 73 1066 done -0.60 - - 2692 - 2.50 0.063 2775 559.2 -107.1 - - 3483 - - - - - - - - 14.52 14.44 14.57
1374 136.0 -7.2 83 1380 roll -0.60 - - 2684 - 1.98 0.106 3827 531.3 -107.1 - - 3483 - - - - - - - - 14.90 14.35 14.91
1506 146.8 -7.9 102 1513 done -0.60 - - 2684 - 1.77 0.040 2770 -597.2 -107.1 - - 3482 - - - - - - - - 14.72 14.68 14.73
1823 169.7 -7.2 112 1823 done -0.60 - - 2684 - - - 2769 - -107.1 - - 3480 - - - - - - - - 14.92 14.92 14.92
2158 193.8 -7.2 118 2164 roll -0.60 - - 2684 - 2.35 0.042 1377 -592.3 -107.1 - - 3477 - - - - - - - - 14.93 14.54 14.93
2185 195.9 -7.5 122 2192 done -0.60 0.10 0.205 2705 210.0 2.53 0.065 2773 551.8 -107.1 - - 3480 - - - - - - - - 14.28 14.45 14.44
2551 218.5 -6.1 132 2556 roll -0.70 - - 2705 - 2.38 0.041 1382 -584.5 -107.1 - - 3475 - - - - - - - - 14.91 14.57 14.91
2585 220.6 -6.2 137 2592 done -0.82 0.10 0.076 2628 -770.0 2.50 0.065 2775 557.2 -107.1 - - 3474 - - - - - - - - 14.54 14.45 14.59
2943 253.0 -9.3 146 2948 roll -0.82 - - 2619 - 2.00 0.109 3827 526.0 -107.1 - - 3472 - - - - - - - - 14.95 14.35 14.95
2998 258.6 -10.1 154 3004 done -0.82 - - 2619 - 1.75 0.042 2788 -593.7 -107.1 - - 3472 - - - - - - - - 14.60 14.57 14.62
3334 292.1 -9.9 167 3340 roll -0.82 - - 2612 - 2.00 0.107 3822 517.0 -107.1 - - 3470 - - - - - - - - 14.94 14.35 14.94
3446 304.0 -10.5 183 3452 done -0.82 - - 2611 - 1.75 0.041 2778 -596.6 -107.1 - - 3469 - - - - - - - - 14.64 14.62 14.69
3782 338.2 -10.2 196 3788 roll -0.82 - - 2604 - 2.03 0.107 3827 516.7 -107.1 - - 3467 - - - - - - - - 14.93 14.42 14.93
4019 363.1 -10.4 230 4026 done -0.73 0.17 0.215 2658 317.6 1.77 0.041 2785 -588.7 -107.1 - - 3466 - - - - - - - - 14.26 14.67 14.42
4342 387.0 -7.2 241 4349 roll -0.73 - - 2650 - 2.03 0.108 3828 513.8 -107.1 - - 3465 - - - - - - - - 14.92 14.32 14.92
4558 403.3 -7.4 272 4566 done -0.73 - - 2650 - 1.77 0.043 2792 -585.3 -107.1 - - 3463 - - - - - - - - 14.66 14.59 14.68
4903 428.1 -7.2 279 4908 roll -0.73 - - 2642 - 1.98 0.109 3835 526.8 -107.1 - - 3461 - - - - - - - - 14.92 14.35 14.92
5014 436.8 -7.8 295 5020 done -0.73 - - 2642 - 1.77 0.043 2794 -588.1 -107.1 - - 3461 - - - - - - - - 14.62 14.59 14.63
5350 462.1 -7.5 308 5356 roll -0.73 - - 2636 - 2.00 0.109 3825 515.5 -107.1 - - 3459 - - - - - - - - 14.92 14.28 14.92
5566 479.5 -7.9 339 5574 done -0.73 - - 2634 - 1.77 0.043 2792 -583.6 -107.1 - - 3458 - - - - - - - - 14.70 14.63 14.71
5910 505.9 -7.7 346 5911 done -0.73 - - 2634 - - - 2792 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.92
6246 534.0 -8.5 352 6252 roll -0.73 - - 2634 - 2.45 0.044 1381 -575.9 -107.1 - - 3456 - - - - - - - - 14.92 14.45 14.92
6294 538.3 -8.7 359 6303 done -0.73 0.10 0.218 2653 190.0 2.60 0.067 2814 551.2 -107.1 - - 3455 - - - - - - - - 14.15 14.37 14.33
6639 565.9 -8.0 366 6639 done -0.73 - - 2659 - - - 2816 - -107.1 - - 3454 - - - - - - - - 14.92 14.91 14.92
6974 592.6 -7.8 372 6980 roll -0.73 - - 2659 - 2.53 0.044 1377 -568.8 -107.1 - - 3453 - - - - - - - - 14.92 14.43 14.92
7043 598.1 -7.8 382 7050 done -0.73 - - 2649 - 2.60 0.067 2803 548.5 -107.1 - - 3453 - - - - - - - - 14.44 14.34 14.49
7367 622.5 -7.5 393 7373 roll -0.73 - - 2649 - 2.45 0.043 1379 -581.2 -107.1 - - 3451 - - - - - - - - 14.93 14.49 14.94
7393 624.6 -7.6 397 7401 done -0.73 - - 2639 - 2.60 0.067 2808 549.6 -107.1 - - 3451 - - - - - - - - 14.44 14.34 14.48
7758 651.7 -7.4 407 7764 roll -0.73 - - 2639 - 2.47 0.044 1376 -579.8 -107.1 - - 3449 - - - - - - - - 14.91 14.47 14.91
7792 654.4 -7.9 412 7799 done -0.73 0.10 0.226 2658 190.0 2.60 0.067 2801 548.1 -107.1 - - 3449 - - - - - - - - 14.08 14.33 14.28
8150 679.7 -7.2 421 8157 roll -0.73 - - 2658 - 2.50 0.043 1378 -569.2 -107.1 - - 3446 - - - - - - - - 14.91 14.41 14.91
8198 683.4 -7.4 428 8206 done -0.73 - - 2649 - 2.60 0.068 2798 546.2 -107.1 - - 3447 - - - - - - - - 14.40 14.30 14.44
8542 710.7 -8.0 435 8548 roll -0.73 - - 2649 - 2.47 0.044 1371 -577.7 -107.1 - - 3446 - - - - - - - - 14.90 14.38 14.90
8569 713.0 -8.3 439 8576 done -0.73 - - 2639 - 2.60 0.067 2797 548.5 -107.1 - - 3446 - - - - - - - - 14.42 14.33 14.47
8934 743.2 -8.3 449 8941 roll -0.73 - - 2631 - 1.98 0.111 3818 515.7 -107.1 - - 3445 - - - - - - - - 14.95 14.19 14.93
8968 746.2 -8.8 454 8975 done -0.73 0.10 0.230 2660 290.0 1.77 0.044 2795 -578.0 -107.1 - - 3445 - - - - - - - - 14.22 14.58 14.45
9327 772.0 -7.2 463 9332 roll -0.73 - - 2661 - 2.45 0.044 1373 -580.4 -107.1 - - 3444 - - - - - - - - 14.90 14.43 14.90
9396 777.3 -7.7 473 9403 done -0.73 - - 2652 - 2.60 0.067 2798 548.1 -107.1 - - 3444 - - - - - - - - 14.38 14.28 14.43
9718 801.5 -7.6 484 9724 roll -0.73 - - 2651 - 2.50 0.045 1356 -576.8 -107.1 - - 3444 - - - - - - - - 14.90 14.37 14.89
9774 806.0 -8.1 492 9780 done -0.73 - - 2643 - 2.62 0.069 2800 551.1 -107.1 - - 3444 - - - - - - - - 14.49 14.28 14.52
10110 832.4 -8.1 505 10111 done -0.73 - - 2643 - - - 2800 - -107.1 - - 3443 - - - - - - - - 14.89 14.89 14.90
10446 858.1 -7.7 511 10452 roll -0.73 - - 2642 - 2.50 0.044 1367 -573.2 -107.1 - - 3442 - - - - - - - - 14.92 14.38 14.92
10494 861.9 -7.7 518 10502 done -0.73 - - 2633 - 2.62 0.067 2787 542.0 -107.1 - - 3441 - - - - - - - - 14.33 14.23 14.38
10838 888.7 -7.8 525 10845 roll -0.73 0.10 0.252 2661 280.0 2.45 0.044 1372 -577.6 -107.1 - - 3441 - - - - - - - - 14.22 14.39 14.43
10908 893.6 -6.8 535 10914 done -0.82 - - 2652 - 2.62 0.067 2785 539.3 -107.1 - - 3439 - - - - - - - - 14.32 14.22 14.38
11231 916.5 -7.1 546 11231 done -0.82 - - 2652 - - - 2785 - -107.1 - - 3439 - - - - - - - - 14.88 14.88 14.88
11452 end dive: TARGET_DEPTH_EXCEEDED
11452 begin apogee
11459 931.5 -6.7 550 11572 roll -0.23 0.57 0.168 2821 296.5 0.08 0.175 2262 -6537.5 - 110.40 1.986 3049 -3.5 0.329 - - - - - - 14.12 13.93 13.05
11573 end apogee: CONTROL_FINISHED_OK
11573 begin climb
11576 935.0 - 552 11702 roll 0.93 1.12 0.100 3181 321.4 2.50 0.056 887 -550.0 107.1 117.65 1.966 2623 -3.6 0.342 - - - - - - 13.97 14.00 12.89
11715 930.6 8.0 573 11722 done 0.71 0.17 0.207 3133 -282.4 2.53 0.050 2250 538.7 107.1 - - 2613 - - - - - - - - 13.70 13.80 13.83
12065 907.8 6.7 581 12092 roll 0.74 - - 3132 - 2.62 0.098 3651 534.7 128.0 22.38 1.997 2537 -3.4 0.306 - - - - - - 14.66 14.13 13.33
12199 897.4 8.2 600 12205 done 0.64 0.12 0.228 3110 -183.3 2.38 0.040 2265 -582.4 128.0 - - 2532 - - - - - - - - 14.15 14.38 14.39
12513 876.8 6.5 610 12547 roll 0.67 - - 3118 - 2.47 0.059 862 -568.0 153.2 29.27 1.978 2434 -3.3 0.294 - - - - - - 14.77 14.18 13.37
12569 872.9 8.9 618 12575 done 0.67 - - 3118 - 2.50 0.054 2250 555.2 153.2 - - 2431 - - - - - - - - 14.31 14.24 14.35
12906 846.9 7.9 631 12911 roll 0.67 - - 3118 - 2.62 0.101 3656 536.6 153.2 - - 2429 - - - - - - - - 14.73 14.31 14.73
12988 839.5 8.8 643 12995 done 0.67 - - 3128 - 2.42 0.040 2258 -577.7 153.2 - - 2429 - - - - - - - - 14.52 14.48 14.54
13354 810.0 8.1 653 13360 roll 0.67 - - 3128 - 2.65 0.101 3666 531.3 153.2 - - 2427 - - - - - - - - 14.87 14.34 14.83
13402 805.7 8.8 660 13409 done 0.67 - - 3138 - 2.42 0.041 2262 -580.2 153.2 - - 2429 - - - - - - - - 14.53 14.49 14.55
13745 777.8 8.1 667 13751 roll 0.67 - - 3149 - 2.50 0.062 857 -562.0 153.2 - - 2427 - - - - - - - - 14.85 14.37 14.85
13772 775.5 8.0 671 13779 done 0.67 0.10 0.204 3121 -280.0 2.47 0.054 2258 567.2 153.2 - - 2427 - - - - - - - - 14.23 14.43 14.38
14138 749.3 7.2 681 14156 roll 0.69 - - 3120 - 2.65 0.103 3655 527.2 164.4 10.75 2.074 2391 -3.3 0.240 - - - - - - 14.87 14.46 13.59
14227 741.9 8.2 694 14234 done 0.69 - - 3129 - 2.42 0.041 2258 -577.3 164.4 - - 2389 - - - - - - - - 14.57 14.51 14.54
14585 714.5 7.7 703 14591 roll 0.69 - - 3128 - 2.65 0.101 3652 526.0 165.7 - - 2388 - - - - - - - - 14.82 14.34 14.83
14633 710.2 8.9 710 14641 done 0.69 - - 3138 - 2.42 0.041 2256 -576.9 165.7 - - 2388 - - - - - - - - 14.54 14.50 14.57
14977 683.3 7.8 717 14978 done 0.69 - - 3138 - - - 2255 - 165.7 - - 2387 - - - - - - - - 14.86 14.87 14.86
15314 659.1 7.1 723 15339 roll 0.71 - - 3138 - 2.70 0.103 3657 519.3 179.5 17.80 1.875 2328 -3.3 0.231 - - - - - - 14.85 14.45 13.63
15369 654.8 8.0 731 15375 done 0.71 - - 3149 - 2.42 0.042 2271 -572.7 179.5 - - 2325 - - - - - - - - 14.51 14.47 14.53
15706 629.9 7.4 744 15708 done 0.71 - - 3149 - - - 2271 - 185.7 1.58 0.291 2314 -7.0 2.990 - - - - - - 14.81 14.30 13.68
16041 603.1 8.2 750 16048 roll 0.71 - - 3149 - 2.62 0.099 3649 526.0 185.7 1.38 0.277 2314 - - - - - - - - 14.83 14.19 13.89
16076 599.9 9.4 755 16082 done 0.71 - - 3159 - 2.40 0.041 2262 -577.9 185.7 1.23 0.254 2312 - - - - - - - - 14.53 14.48 13.94
16434 566.0 9.6 764 16439 roll 0.71 - - 3169 - 2.45 0.061 867 -569.4 185.7 1.12 0.272 2312 - - - - - - - - 14.87 14.27 14.04
16461 563.3 9.7 768 16468 done 0.71 0.12 0.199 3133 -300.0 2.47 0.056 2261 564.4 185.7 1.00 0.251 2311 - - - - - - - - 14.16 14.38 14.07
16825 530.8 8.9 778 16831 roll 0.71 - - 3132 - 2.65 0.103 3652 524.9 185.7 - - 2320 - - - - - - - - 14.88 14.24 14.88
16895 523.9 9.9 788 16901 done 0.71 - - 3142 - 2.40 0.041 2271 -575.4 185.7 - - 2319 - - - - - - - - 14.52 14.47 14.54
17217 495.1 8.9 799 17220 done 0.71 - - 3142 - - - 2269 - 185.7 1.27 0.270 2309 -7.9 2.865 - - - - - - 14.88 14.34 13.98
17554 466.2 8.5 805 17560 roll 0.71 - - 3153 - 2.47 0.061 861 -570.0 185.7 - - 2318 - - - - - - - - 14.87 14.37 14.87
17609 461.5 8.5 813 17616 done 0.71 - - 3152 - 2.47 0.055 2276 572.9 185.7 - - 2318 - - - - - - - - 14.54 14.39 14.57
17946 433.9 8.1 826 17951 roll 0.71 - - 3153 - 2.60 0.103 3656 530.8 185.7 - - 2319 - - - - - - - - 14.89 14.27 14.89
18021 427.1 8.9 837 18029 done 0.71 0.10 0.213 3133 -200.0 2.40 0.040 2272 -576.7 185.7 1.02 0.231 2312 -6.9 2.518 - - - - - - 14.14 14.47 14.08
18337 405.0 6.9 847 18366 roll 0.73 - - 3144 - 2.53 0.062 860 -558.1 202.8 24.88 1.551 2236 -3.1 0.158 - - - - - - 14.87 14.50 13.69
18387 401.6 6.8 854 18414 done 0.76 - - 3144 - 2.47 0.055 2277 573.7 221.8 20.52 1.551 2161 -3.7 0.188 - - - - - - 14.53 14.41 13.57
18723 374.4 8.2 867 18728 roll 0.76 - - 3144 - 2.60 0.103 3662 532.7 221.8 - - 2154 - - - - - - - - 14.73 14.26 14.72
18757 371.2 9.6 872 18763 done 0.76 - - 3154 - 2.42 0.040 2268 -576.0 221.8 - - 2153 - - - - - - - - 14.45 14.40 14.47
19115 339.4 8.9 881 19115 done 0.76 - - 3154 - - - 2265 - 221.8 - - 2153 - - - - - - - - 14.80 14.80 14.80
19451 310.1 8.7 887 19456 roll 0.76 - - 3154 - 2.65 0.102 3659 526.0 221.8 - - 2153 - - - - - - - - 14.84 14.29 14.84
19513 304.0 9.8 896 19519 done 0.76 - - 3164 - 2.40 0.040 2277 -575.8 221.8 - - 2153 - - - - - - - - 14.51 14.47 14.53
19843 273.9 9.2 908 19848 roll 0.76 - - 3174 - 2.50 0.061 865 -564.8 221.8 - - 2152 - - - - - - - - 14.85 14.32 14.85
19899 268.4 9.8 916 19904 done 0.76 - - 3174 - 2.50 0.054 2273 563.2 221.8 - - 2152 - - - - - - - - 14.38 14.30 14.42
20235 234.5 10.1 929 20241 roll 0.76 - - 3174 - 2.58 0.103 3656 536.0 221.8 - - 2153 - - - - - - - - 14.86 14.29 14.86
20283 229.2 11.1 936 20291 done 0.76 0.12 0.201 3148 -216.7 2.40 0.038 2259 -582.1 221.8 - - 2153 - - - - - - - - 14.14 14.47 14.31
20627 199.6 8.5 943 20628 done 0.76 - - 3148 - - - 2258 - 221.8 - - 2153 - - - - - - - - 14.88 14.88 14.88
20963 171.2 8.4 949 20963 done 0.76 - - 3148 - - - 2259 - 221.8 - - 2154 - - - - - - - - 14.90 14.90 14.90
21299 145.0 7.8 955 21304 roll 0.76 - - 3148 - 2.65 0.100 3656 527.2 221.8 - - 2153 - - - - - - - - 14.90 14.23 14.90
21347 140.7 9.1 962 21355 done 0.76 - - 3164 - 2.38 0.040 2274 -580.7 221.8 - - 2153 - - - - - - - - 14.52 14.47 14.54
21691 111.8 8.4 969 21697 roll 0.76 - - 3158 - 2.62 0.101 3659 528.6 221.8 - - 2153 - - - - - - - - 14.87 14.28 14.88
21816 99.8 9.9 987 21822 done 0.76 - - 3168 - 2.38 0.039 2281 -579.0 221.8 - - 2153 - - - - - - - - 14.52 14.47 14.54
22139 74.8 7.2 1003 22151 roll 0.77 - - 3178 - 2.55 0.062 855 -559.2 233.3 4.50 0.369 2123 -6.7 0.268 - - - - - - 14.85 14.36 13.84
22180 71.8 7.2 1009 22195 done 0.78 - - 3179 - 2.53 0.054 2287 566.0 243.5 6.43 0.372 2082 -6.4 0.244 - - - - - - 14.44 14.35 13.93
22503 55.2 3.2 1022 22559 roll 0.90 - - 3188 - 2.55 0.062 866 -557.3 334.6 46.53 0.347 1716 -7.9 0.248 - - - - - - 14.86 14.45 14.12
22671 46.6 5.3 1046 22701 done 1.14 0.17 0.082 3284 564.7 2.50 0.053 2307 576.4 383.7 24.85 0.319 1522 -7.8 0.226 - - - - - - 14.47 14.38 14.07
23009 21.5 5.3 1061 23042 roll 1.20 - - 3284 - 2.58 0.103 3658 523.6 432.4 24.08 0.243 1328 -8.1 0.141 - - - - - - 14.78 14.24 14.12
23104 14.2 7.2 1075 23113 done 1.21 - - 3293 - 2.33 0.038 2302 -582.0 442.4 5.18 0.219 1288 -7.7 0.099 - - - - - - 14.48 14.40 14.07
23333 end climb: SURFACE_DEPTH_REACHED
23333 begin surface coast
23361 end surface coast: CONTROL_FINISHED_OK
23361 begin surface
SM -3.56 - - - - -8.38 9.18 0.068 191 20.8 0.88 0.082 2772 -7365.9 500.14 27.40 0.163 1058 38.6 0.086 - - - - - -