SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 340 * Raw log
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• Previous call tries 1 • 124.45 of 350.00 AH used of 24V (64.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth -2.43 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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 - - - 93 done -0.93 - - 176 - - - 2784 - -107.1 -77.55 - 3478 - - - - - - - - 14.66 12.64 14.66
96 -1.3 -3.3 2 116 roll -0.93 11.73 0.392 2591 205.9 2.38 0.032 1362 -597.5 -107.1 - - 3480 - - - - - - - - 13.99 14.40 14.38
200 37.0 -18.7 18 206 done -0.68 0.32 0.237 2676 265.6 2.55 0.070 2764 549.8 -107.1 - - 3480 - - - - - - - - 14.11 14.29 14.39
536 69.9 -6.6 33 541 roll -0.68 - - 2668 - 2.00 0.109 3829 532.5 -107.1 - - 3482 - - - - - - - - 14.84 14.31 14.85
612 76.3 -9.4 44 621 done -0.68 - - 2668 - 1.80 0.037 2744 -602.8 -107.1 - - 3483 - - - - - - - - 14.66 14.62 14.68
928 101.7 -6.3 56 934 roll -0.68 - - 2659 - 2.05 0.106 3822 525.9 -107.1 - - 3483 - - - - - - - - 14.88 14.35 14.88
1088 115.5 -8.4 79 1095 done -0.68 - - 2659 - 1.75 0.038 2770 -601.1 -107.1 - - 3483 - - - - - - - - 14.71 14.66 14.72
1432 141.7 -7.9 86 1437 roll -0.68 - - 2659 - 2.30 0.041 1395 -597.8 -107.1 - - 3482 - - - - - - - - 14.93 14.57 14.93
1522 148.6 -7.5 99 1528 done -0.68 - - 2650 - 2.47 0.063 2780 560.7 -107.1 - - 3482 - - - - - - - - 14.54 14.45 14.58
1880 179.4 -8.9 108 1886 roll -0.68 - - 2641 - 1.98 0.108 3824 527.3 -107.1 - - 3480 - - - - - - - - 14.92 14.38 14.92
1914 182.7 -9.5 113 1920 done -0.68 0.12 0.213 2678 308.3 1.75 0.040 2789 -591.4 -107.1 - - 3480 - - - - - - - - 14.33 14.65 14.54
2272 211.4 -8.0 122 2277 roll -0.68 - - 2679 - 2.42 0.042 1378 -583.1 -107.1 - - 3477 - - - - - - - - 14.93 14.52 14.93
2313 214.8 -8.0 128 2320 done -0.68 - - 2669 - 2.50 0.064 2770 556.8 -107.1 - - 3477 - - - - - - - - 14.50 14.39 14.53
2664 244.4 -8.5 136 2664 done -0.68 - - 2669 - - - 2771 - -107.1 - - 3479 - - - - - - - - 14.95 14.95 14.95
3000 271.9 -8.1 142 3005 roll -0.68 - - 2669 - 2.42 0.044 1385 -572.7 -107.1 - - 3475 - - - - - - - - 14.95 14.52 14.95
3056 276.5 -8.2 150 3061 done -0.68 - - 2660 - 2.50 0.067 2773 555.2 -107.1 - - 3472 - - - - - - - - 14.54 14.45 14.58
3392 304.5 -8.2 163 3397 roll -0.68 - - 2652 - 2.00 0.110 3831 529.0 -107.1 - - 3470 - - - - - - - - 14.94 14.35 14.95
3440 308.6 -8.6 170 3447 done -0.68 - - 2651 - 1.80 0.042 2771 -588.9 -107.1 - - 3470 - - - - - - - - 14.75 14.69 14.76
3784 336.6 -8.2 177 3789 roll -0.68 - - 2652 - 2.40 0.043 1384 -577.9 -107.1 - - 3468 - - - - - - - - 14.94 14.50 14.94
3818 339.4 -8.2 182 3824 done -0.68 0.10 0.221 2672 200.0 2.53 0.067 2777 550.6 -107.1 - - 3467 - - - - - - - - 14.25 14.45 14.42
4176 364.2 -6.8 191 4181 roll -0.68 - - 2672 - 2.40 0.041 1371 -585.8 -107.1 - - 3465 - - - - - - - - 14.96 14.55 14.96
4210 366.7 -7.2 196 4217 done -0.68 - - 2663 - 2.55 0.066 2784 554.1 -107.1 - - 3465 - - - - - - - - 14.51 14.42 14.56
4568 393.0 -7.6 205 4573 roll -0.68 - - 2663 - 2.40 0.042 1379 -585.4 -107.1 - - 3463 - - - - - - - - 14.94 14.55 14.94
4630 398.1 -8.2 214 4636 done -0.68 - - 2654 - 2.50 0.067 2773 557.6 -107.1 - - 3462 - - - - - - - - 14.52 14.42 14.57
4960 425.2 -8.2 226 4965 roll -0.68 - - 2653 - 2.42 0.044 1378 -576.4 -107.1 - - 3462 - - - - - - - - 14.95 14.52 14.96
5016 429.7 -8.0 234 5021 done -0.68 0.10 0.216 2674 210.0 2.53 0.067 2774 551.8 -107.1 - - 3461 - - - - - - - - 14.21 14.40 14.52
5352 453.5 -7.1 247 5357 roll -0.68 - - 2666 - 2.00 0.114 3819 522.5 -107.1 - - 3465 - - - - - - - - 14.95 14.29 14.95
5400 457.2 -7.8 254 5407 done -0.68 - - 2666 - 1.80 0.042 2766 -585.0 -107.1 - - 3460 - - - - - - - - 14.71 14.66 14.71
5744 482.8 -7.5 261 5749 roll -0.68 - - 2666 - 2.35 0.043 1381 -589.4 -107.1 - - 3458 - - - - - - - - 14.92 14.51 14.92
5827 489.3 -7.6 273 5833 done -0.76 - - 2657 - 2.53 0.067 2770 549.0 -107.1 - - 3458 - - - - - - - - 14.50 14.40 14.53
6192 518.2 -7.9 283 6197 roll -0.76 - - 2649 - 2.03 0.112 3825 519.7 -107.1 - - 3456 - - - - - - - - 14.92 14.28 14.92
6233 521.8 -8.8 289 6239 done -0.76 - - 2648 - 1.83 0.044 2765 -579.2 -107.1 - - 3457 - - - - - - - - 14.71 14.66 14.71
6584 550.7 -8.3 297 6584 done -0.76 - - 2648 - - - 2765 - -107.1 - - 3455 - - - - - - - - 14.95 14.94 14.95
6920 578.3 -8.2 303 6925 roll -0.76 - - 2648 - 2.38 0.043 1372 -585.3 -107.1 - - 3454 - - - - - - - - 14.93 14.51 14.93
6982 583.5 -8.1 312 6989 done -0.76 - - 2640 - 2.55 0.066 2773 549.4 -107.1 - - 3454 - - - - - - - - 14.46 14.37 14.50
7312 610.8 -8.3 324 7318 roll -0.76 - - 2639 - 2.45 0.044 1379 -569.0 -107.1 - - 3452 - - - - - - - - 14.95 14.44 14.95
7339 613.2 -8.5 328 7346 done -0.76 - - 2630 - 2.50 0.067 2758 551.6 -107.1 - - 3452 - - - - - - - - 14.44 14.34 14.48
7704 644.5 -8.6 338 7704 done -0.76 - - 2630 - - - 2758 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
8040 673.4 -8.6 344 8040 done -0.76 - - 2631 - - - 2759 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
8376 701.6 -8.3 350 8381 roll -0.76 - - 2630 - 2.45 0.045 1372 -566.1 -107.1 - - 3448 - - - - - - - - 14.92 14.41 14.96
8410 704.6 -8.7 355 8416 done -0.76 0.10 0.218 2649 190.0 2.55 0.067 2766 546.7 -107.1 - - 3448 - - - - - - - - 14.12 14.34 14.29
8768 731.8 -7.6 364 8769 done -0.76 - - 2649 - - - 2767 - -107.1 - - 3447 - - - - - - - - 14.91 14.91 14.92
9104 757.0 -7.5 370 9109 roll -0.76 - - 2649 - 2.42 0.044 1375 -575.2 -107.1 - - 3447 - - - - - - - - 14.91 14.42 14.92
9180 762.6 -7.0 381 9186 done -0.76 - - 2640 - 2.58 0.067 2773 541.9 -107.1 - - 3446 - - - - - - - - 14.41 14.31 14.45
9496 784.9 -7.1 391 9501 roll -0.76 - - 2639 - 2.45 0.045 1367 -573.9 -107.1 - - 3445 - - - - - - - - 14.90 14.45 14.90
9552 788.9 -7.1 399 9557 done -0.76 - - 2630 - 2.58 0.068 2770 543.8 -107.1 - - 3445 - - - - - - - - 14.40 14.28 14.45
9888 813.9 -7.6 412 9894 roll -0.76 - - 2622 - 2.03 0.114 3816 515.3 -107.1 - - 3444 - - - - - - - - 14.90 14.16 14.90
9922 816.2 -6.5 417 9928 done -0.76 0.08 0.247 2648 325.0 1.85 0.044 2750 -576.2 -107.1 - - 3447 - - - - - - - - 14.18 14.57 14.33
10280 841.9 -7.3 426 10285 roll -0.76 - - 2648 - 2.35 0.044 1375 -585.1 -107.1 - - 3443 - - - - - - - - 14.90 14.40 14.90
10342 845.5 -7.9 435 10348 done -0.76 - - 2638 - 2.55 0.066 2765 545.1 -107.1 - - 3441 - - - - - - - - 14.38 14.28 14.42
10672 871.5 -7.8 447 10673 done -0.76 - - 2638 - - - 2765 - -107.1 - - 3442 - - - - - - - - 14.89 14.90 14.90
11008 898.7 -8.1 453 11013 roll -0.76 - - 2637 - 2.45 0.044 1354 -575.9 -107.1 - - 3441 - - - - - - - - 14.90 14.36 14.90
11056 902.8 -8.3 460 11065 done -0.76 - - 2629 - 2.58 0.067 2757 543.8 -107.1 - - 3441 - - - - - - - - 14.33 14.23 14.38
11397 end dive: TARGET_DEPTH_EXCEEDED
11397 begin apogee
11404 931.8 -8.5 467 11518 roll -0.23 0.68 0.181 2824 286.8 0.08 0.178 2261 -6200.0 - 110.93 1.961 3050 -3.5 0.333 - - - - - - 14.08 13.93 13.06
11519 end apogee: CONTROL_FINISHED_OK
11519 begin climb
11522 936.1 - 469 11648 roll 0.93 1.12 0.097 3185 322.3 2.50 0.055 881 -552.0 107.1 117.35 1.969 2622 -3.6 0.345 - - - - - - 13.97 14.01 12.89
11688 931.1 6.3 494 11725 done 0.84 - - 3186 - 2.50 0.050 2248 546.8 136.2 32.28 2.004 2507 -3.6 0.329 - - - - - - 13.97 13.91 12.92
12060 898.0 9.2 505 12066 roll 0.71 0.20 0.233 3131 -275.0 2.62 0.099 3660 538.9 136.2 - - 2494 - - - - - - - - 14.13 14.26 14.40
12116 893.0 8.8 513 12122 done 0.62 0.15 0.235 3102 -193.3 2.40 0.041 2255 -585.4 136.2 - - 2493 - - - - - - - - 14.16 14.42 14.42
12453 870.1 6.8 526 12479 roll 0.64 - - 3099 - 2.62 0.096 3652 533.2 155.4 21.23 1.985 2425 -3.2 0.279 - - - - - - 14.77 14.24 13.48
12514 865.0 9.0 535 12520 done 0.64 - - 3110 - 2.45 0.040 2245 -574.3 155.4 - - 2420 - - - - - - - - 14.43 14.40 14.44
12844 838.7 8.1 547 12845 done 0.64 - - 3110 - - - 2246 - 155.4 - - 2419 - - - - - - - - 14.78 14.77 14.77
13180 812.1 7.8 553 13185 roll 0.64 - - 3109 - 2.65 0.100 3658 532.8 155.4 - - 2418 - - - - - - - - 14.83 14.33 14.83
13228 807.9 8.4 560 13237 done 0.64 - - 3120 - 2.42 0.041 2255 -579.8 155.4 - - 2418 - - - - - - - - 14.54 14.50 14.56
13572 781.2 7.6 567 13573 done 0.65 - - 3120 - - - 2254 - 157.6 - - 2417 - - - - - - - - 14.85 14.85 14.85
13908 755.4 7.7 573 13913 roll 0.65 - - 3121 - 2.65 0.102 3659 530.2 159.0 - - 2417 - - - - - - - - 14.85 14.32 14.85
13949 752.0 8.4 579 13955 done 0.65 - - 3130 - 2.42 0.041 2255 -580.2 159.0 - - 2416 - - - - - - - - 14.57 14.53 14.58
14300 724.1 8.0 587 14306 roll 0.65 - - 3130 - 2.67 0.100 3660 526.2 159.0 - - 2416 - - - - - - - - 14.88 14.30 14.88
14327 721.6 9.2 591 14334 done 0.65 0.10 0.216 3112 -180.0 2.42 0.041 2254 -581.0 159.0 - - 2416 - - - - - - - - 14.18 14.52 14.38
14692 694.7 7.2 601 14712 roll 0.66 - - 3111 - 2.62 0.099 3650 532.8 169.3 13.75 1.976 2370 -3.3 0.234 - - - - - - 14.88 14.45 13.61
14740 691.0 8.1 608 14749 done 0.66 - - 3121 - 2.40 0.041 2270 -575.0 169.3 - - 2368 - - - - - - - - 14.54 14.50 14.55
15084 665.4 7.4 615 15087 done 0.67 - - 3121 - - - 2266 - 175.7 1.83 0.315 2352 -8.7 3.670 - - - - - - 14.81 14.29 13.62
15420 641.2 7.2 621 15448 roll 0.68 - - 3121 - 2.65 0.100 3650 522.3 186.1 18.80 1.847 2300 -2.8 0.191 - - - - - - 14.85 14.42 13.64
15489 635.5 9.0 631 15495 done 0.68 - - 3130 - 2.42 0.041 2256 -576.0 186.1 - - 2299 - - - - - - - - 14.47 14.44 14.50
15812 609.0 8.3 642 15817 roll 0.68 - - 3131 - 2.65 0.101 3651 526.4 186.1 - - 2296 - - - - - - - - 14.78 14.30 14.78
15832 607.1 8.5 645 15839 done 0.68 - - 3144 - 2.42 0.041 2259 -575.2 186.1 - - 2296 - - - - - - - - 14.50 14.45 14.52
16148 578.7 9.1 655 16153 roll 0.68 - - 3151 - 2.47 0.062 863 -565.2 186.1 - - 2297 - - - - - - - - 14.82 14.33 14.81
16182 575.5 9.0 660 16190 done 0.68 0.08 0.203 3128 -287.5 2.47 0.054 2262 566.4 186.1 - - 2296 - - - - - - - - 14.19 14.38 14.35
16540 545.3 8.4 669 16546 roll 0.68 - - 3127 - 2.60 0.099 3641 530.4 186.1 - - 2296 - - - - - - - - 14.84 14.26 14.84
16602 539.5 9.3 678 16609 done 0.68 - - 3137 - 2.38 0.040 2263 -579.0 186.1 - - 2295 - - - - - - - - 14.54 14.50 14.56
16932 512.1 8.3 690 16937 roll 0.68 - - 3137 - 2.62 0.101 3650 529.4 186.1 - - 2296 - - - - - - - - 14.86 14.29 14.85
16973 508.3 9.2 696 16981 done 0.68 - - 3148 - 2.38 0.041 2275 -577.7 186.1 - - 2296 - - - - - - - - 14.55 14.47 14.56
17324 478.9 8.4 704 17325 done 0.68 - - 3147 - - - 2275 - 186.1 - - 2296 - - - - - - - - 14.85 14.85 14.85
17660 450.9 8.3 710 17665 roll 0.68 - - 3158 - 2.47 0.061 853 -575.7 186.1 - - 2296 - - - - - - - - 14.86 14.37 14.86
17687 448.7 8.0 714 17694 done 0.68 0.10 0.196 3127 -310.0 2.50 0.053 2265 564.8 186.1 - - 2296 - - - - - - - - 14.15 14.36 14.31
18052 421.6 7.5 724 18058 roll 0.69 - - 3126 - 2.58 0.100 3651 537.2 190.6 - - 2296 - - - - - - - - 14.87 14.28 14.87
18142 413.8 8.6 737 18149 done 0.69 - - 3137 - 2.40 0.039 2259 -580.0 190.6 - - 2296 - - - - - - - - 14.51 14.47 14.53
18500 384.8 8.2 746 18501 done 0.69 - - 3137 - - - 2257 - 190.6 - - 2296 - - - - - - - - 14.87 14.87 14.87
18836 358.1 7.9 752 18842 roll 0.69 - - 3137 - 2.65 0.100 3651 526.0 190.6 - - 2296 - - - - - - - - 14.87 14.26 14.87
18892 353.2 8.9 760 18898 done 0.69 - - 3147 - 2.38 0.040 2277 -577.3 190.6 - - 2297 - - - - - - - - 14.50 14.46 14.52
19228 325.5 8.3 773 19233 roll 0.69 - - 3158 - 2.47 0.060 863 -572.5 190.6 - - 2296 - - - - - - - - 14.87 14.33 14.87
19269 322.0 8.5 779 19276 done 0.69 0.10 0.193 3127 -310.0 2.50 0.053 2279 566.4 190.6 - - 2296 - - - - - - - - 14.14 14.38 14.28
19620 296.2 7.4 787 19639 roll 0.70 - - 3120 - 2.60 0.100 3659 530.8 198.5 11.27 1.557 2257 -3.5 0.131 - - - - - - 14.89 14.50 13.70
19689 290.4 8.6 797 19695 done 0.70 - - 3136 - 2.38 0.038 2276 -581.1 198.5 - - 2255 - - - - - - - - 14.55 14.52 14.57
20012 264.9 8.0 808 20018 roll 0.70 - - 3146 - 2.47 0.060 856 -574.9 198.5 - - 2254 - - - - - - - - 14.85 14.38 14.84
20060 260.9 8.1 815 20068 done 0.70 - - 3147 - 2.50 0.051 2275 567.6 198.5 - - 2254 - - - - - - - - 14.44 14.35 14.47
20404 232.1 8.5 822 20409 roll 0.70 - - 3147 - 2.58 0.102 3653 534.1 198.5 - - 2254 - - - - - - - - 14.86 14.27 14.86
20473 225.5 9.7 832 20481 done 0.70 0.10 0.210 3127 -200.0 2.38 0.039 2274 -579.4 198.5 - - 2253 - - - - - - - - 14.15 14.47 14.31
20796 202.1 7.1 843 20816 roll 0.71 - - 3137 - 2.47 0.060 866 -570.0 211.1 13.50 1.412 2203 -3.7 0.105 - - - - - - 14.88 14.50 13.78
20837 199.2 6.7 849 20866 done 0.74 - - 3138 - 2.47 0.050 2277 571.3 231.6 20.67 1.322 2122 -3.9 0.117 - - - - - - 14.50 14.44 13.71
21188 174.7 6.9 864 21210 roll 0.76 - - 3137 - 2.62 0.101 3660 527.9 249.0 17.88 1.324 2051 -4.0 0.104 - - - - - - 14.76 14.38 13.71
21271 168.2 8.0 876 21279 done 0.76 - - 3147 - 2.40 0.038 2272 -578.3 249.0 - - 2047 - - - - - - - - 14.46 14.42 14.48
21630 138.6 8.6 885 21635 roll 0.76 - - 3158 - 2.45 0.061 865 -574.3 249.0 - - 2045 - - - - - - - - 14.82 14.37 14.80
21685 133.7 8.7 893 21691 done 0.76 - - 3157 - 2.50 0.053 2279 565.6 249.0 - - 2045 - - - - - - - - 14.43 14.37 14.56
22022 108.5 7.0 906 22034 roll 0.78 - - 3167 - 2.53 0.060 867 -558.1 263.7 5.80 0.451 2004 -7.1 0.338 - - - - - - 14.85 14.40 13.85
22070 104.9 8.0 913 22077 done 0.78 - - 3167 - 2.45 0.051 2263 569.8 263.7 - - 2007 - - - - - - - - 14.46 14.39 14.50
22385 78.5 8.5 924 22392 roll 0.78 - - 3167 - 2.60 0.099 3657 536.2 263.7 - - 2007 - - - - - - - - 14.84 14.31 14.84
22568 63.7 8.0 950 22573 done 0.78 - - 3176 - 2.33 0.038 2277 -592.3 263.7 - - 2008 - - - - - - - - 14.62 14.55 14.64
22890 43.7 3.9 963 22938 roll 0.98 0.05 0.210 3237 1220.0 2.50 0.061 869 -563.2 340.3 40.38 0.314 1694 -7.8 0.215 - - - - - - 14.55 14.42 14.12
23099 33.1 1.9 993 23162 done 1.21 0.08 0.086 3295 725.0 2.47 0.054 2265 565.2 456.1 58.50 0.277 1233 -7.9 0.187 - - - - - - 14.38 14.37 14.09
23471 4.2 6.3 1013 23490 roll 1.33 - - 3293 - 2.62 0.103 3660 532.4 484.1 13.95 0.191 1122 -8.0 0.035 - - - - - - 14.79 14.29 14.16
23530 end climb: SURFACE_DEPTH_REACHED
23530 begin surface coast
23537 end surface coast: CONTROL_FINISHED_OK
23537 begin surface
SM 0.94 - - - - -8.39 9.20 0.073 187 20.3 1.52 0.037 2741 -3862.5 500.14 7.78 0.177 1057 135.9 -0.074 - - - - - -