SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 341 * Raw log
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• Previous call tries 1 • 124.78 of 350.00 AH used of 24V (64.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth -2.78 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 50 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 91 done -0.93 - - 163 - - - 2736 - -107.1 -75.72 - 3478 - - - - - - - - 14.66 12.68 14.66
94 -0.9 -6.0 2 114 roll -0.93 11.73 0.390 2589 206.8 2.25 0.031 1350 -616.0 -107.1 - - 3480 - - - - - - - - 13.98 14.47 14.38
183 34.9 -20.9 16 189 done -0.66 0.38 0.237 2681 242.1 2.58 0.070 2766 548.8 -107.1 - - 3481 - - - - - - - - 14.07 14.28 14.24
505 69.5 -8.4 29 512 roll -0.66 - - 2673 - 2.00 0.107 3828 531.0 -107.1 - - 3481 - - - - - - - - 14.85 14.33 14.85
617 79.1 -7.9 45 624 done -0.66 - - 2673 - 1.75 0.039 2776 -601.1 -107.1 - - 3483 - - - - - - - - 14.61 14.59 14.62
954 106.2 -7.5 59 959 roll -0.66 - - 2665 - 2.00 0.107 3821 522.5 -107.1 - - 3484 - - - - - - - - 14.91 14.35 14.91
1015 111.4 -8.7 68 1022 done -0.66 - - 2665 - 1.75 0.038 2767 -602.3 -107.1 - - 3484 - - - - - - - - 14.71 14.67 14.72
1346 131.6 -5.2 80 1351 roll -0.66 - - 2664 - 2.28 0.040 1402 -598.7 -107.1 - - 3483 - - - - - - - - 14.90 14.58 14.90
1464 140.8 -6.5 97 1471 done -0.66 0.08 0.215 2678 175.0 2.45 0.063 2774 560.0 -107.1 - - 3483 - - - - - - - - 14.31 14.46 14.45
1794 162.5 -6.5 109 1800 roll -0.66 - - 2679 - 2.35 0.041 1388 -589.8 -107.1 - - 3481 - - - - - - - - 14.93 14.57 14.93
1835 167.0 -7.1 115 1841 done -0.66 - - 2669 - 2.47 0.065 2775 561.5 -107.1 - - 3481 - - - - - - - - 14.57 14.47 14.61
2185 193.2 -8.2 123 2191 roll -0.66 - - 2662 - 2.00 0.109 3828 526.5 -107.1 - - 3478 - - - - - - - - 14.95 14.38 14.94
2219 196.7 -8.8 128 2226 done -0.66 - - 2661 - 1.75 0.040 2787 -594.9 -107.1 - - 3477 - - - - - - - - 14.75 14.69 14.76
2577 228.3 -8.7 137 2584 roll -0.66 - - 2658 - 2.42 0.041 1376 -583.1 -107.1 - - 3475 - - - - - - - - 14.95 14.54 14.94
2660 236.0 -8.8 149 2668 done -0.66 0.10 0.210 2681 230.0 2.53 0.064 2776 553.4 -107.1 - - 3475 - - - - - - - - 14.29 14.46 14.45
3025 264.2 -7.6 159 3031 roll -0.66 - - 2681 - 2.38 0.041 1374 -589.1 -107.1 - - 3473 - - - - - - - - 14.95 14.56 14.95
3067 267.4 -7.7 165 3074 done -0.74 - - 2671 - 2.50 0.064 2774 560.0 -107.1 - - 3472 - - - - - - - - 14.54 14.43 14.59
3418 294.1 -7.6 173 3424 roll -0.74 - - 2672 - 2.38 0.042 1380 -585.7 -107.1 - - 3470 - - - - - - - - 14.95 14.57 14.95
3473 298.4 -7.5 181 3480 done -0.74 - - 2663 - 2.53 0.067 2800 561.3 -107.1 - - 3470 - - - - - - - - 14.64 14.46 14.66
3810 323.3 -7.5 194 3815 roll -0.74 - - 2663 - 2.42 0.042 1375 -588.8 -107.1 - - 3470 - - - - - - - - 14.97 14.58 14.97
3844 326.0 -7.6 199 3850 done -0.74 - - 2654 - 2.53 0.066 2771 551.8 -107.1 - - 3468 - - - - - - - - 14.54 14.44 14.58
4201 354.3 -8.0 208 4207 roll -0.74 - - 2653 - 2.42 0.042 1377 -576.0 -107.1 - - 3465 - - - - - - - - 14.97 14.52 14.96
4235 357.1 -8.0 213 4243 done -0.74 - - 2645 - 2.53 0.066 2769 550.2 -107.1 - - 3466 - - - - - - - - 14.54 14.45 14.59
4594 384.8 -7.6 222 4595 done -0.74 - - 2645 - - - 2769 - -107.1 - - 3464 - - - - - - - - 14.96 14.96 14.96
4929 409.5 -7.2 228 4935 roll -0.74 - - 2645 - 2.40 0.044 1380 -578.8 -107.1 - - 3462 - - - - - - - - 14.95 14.52 14.95
4985 413.7 -7.4 236 4991 done -0.74 - - 2636 - 2.50 0.068 2771 556.4 -107.1 - - 3462 - - - - - - - - 14.62 14.44 14.65
5322 441.4 -8.5 249 5328 roll -0.74 - - 2628 - 2.00 0.112 3818 523.5 -107.1 - - 3460 - - - - - - - - 14.95 14.31 14.95
5411 449.9 -9.3 262 5418 done -0.74 0.10 0.236 2657 290.0 1.80 0.042 2766 -584.4 -107.1 - - 3460 - - - - - - - - 14.33 14.66 14.54
5770 478.4 -8.0 271 5775 roll -0.74 - - 2656 - 2.38 0.044 1370 -586.6 -107.1 - - 3458 - - - - - - - - 14.95 14.53 14.95
5845 484.6 -8.6 282 5852 done -0.74 - - 2647 - 2.55 0.066 2776 551.4 -107.1 - - 3458 - - - - - - - - 14.49 14.40 14.54
6161 509.1 -7.7 292 6167 roll -0.74 - - 2639 - 2.00 0.112 3819 521.5 -107.1 - - 3457 - - - - - - - - 14.93 14.28 14.94
6231 514.6 -7.9 302 6237 done -0.74 - - 2638 - 1.80 0.043 2760 -588.3 -107.1 - - 3457 - - - - - - - - 14.69 14.66 14.70
6553 544.4 -8.0 313 6560 roll -0.74 - - 2638 - 2.38 0.042 1388 -576.5 -107.1 - - 3455 - - - - - - - - 14.93 14.46 14.93
6609 548.9 -8.0 321 6616 done -0.74 0.10 0.223 2657 190.0 2.50 0.066 2767 551.6 -107.1 - - 3456 - - - - - - - - 14.15 14.37 14.32
6946 573.3 -7.2 334 6946 done -0.74 - - 2657 - - - 2767 - -107.1 - - 3454 - - - - - - - - 14.96 14.95 14.95
7281 597.7 -7.2 340 7287 roll -0.74 - - 2658 - 2.38 0.044 1382 -581.9 -107.1 - - 3452 - - - - - - - - 14.93 14.47 14.93
7330 601.4 -7.5 347 7337 done -0.81 - - 2647 - 2.50 0.067 2760 551.2 -107.1 - - 3452 - - - - - - - - 14.44 14.33 14.50
7674 627.1 -7.5 354 7675 done -0.81 - - 2649 - - - 2761 - -107.1 - - 3451 - - - - - - - - 14.94 14.95 14.95
8009 652.9 -7.6 360 8015 roll -0.81 - - 2649 - 2.38 0.044 1383 -579.0 -107.1 - - 3450 - - - - - - - - 14.93 14.45 14.93
8050 656.2 -8.0 366 8057 done -0.81 - - 2640 - 2.53 0.068 2759 543.9 -107.1 - - 3449 - - - - - - - - 14.44 14.33 14.49
8401 684.5 -8.0 374 8402 done -0.81 - - 2640 - - - 2760 - -107.1 - - 3449 - - - - - - - - 14.92 14.92 14.92
8737 711.3 -7.9 380 8738 done -0.81 - - 2641 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.93
9074 737.0 -7.6 386 9074 done -0.81 - - 2640 - - - 2760 - -107.1 - - 3447 - - - - - - - - 14.95 14.94 14.95
9410 761.9 -7.4 392 9415 roll -0.81 - - 2640 - 2.40 0.045 1385 -572.9 -107.1 - - 3446 - - - - - - - - 14.92 14.45 14.92
9472 766.5 -7.0 401 9479 done -0.81 - - 2630 - 2.53 0.067 2764 545.1 -107.1 - - 3445 - - - - - - - - 14.40 14.29 14.45
9802 790.4 -7.4 413 9808 roll -0.81 - - 2631 - 2.42 0.044 1386 -569.4 -107.1 - - 3445 - - - - - - - - 14.93 14.39 14.94
9850 794.1 -7.7 420 9857 done -0.81 - - 2621 - 2.53 0.068 2757 541.9 -107.1 - - 3444 - - - - - - - - 14.36 14.28 14.42
10194 821.3 -7.9 427 10194 done -0.81 - - 2621 - - - 2757 - -107.1 - - 3444 - - - - - - - - 14.93 14.92 14.93
10529 847.8 -8.0 433 10536 roll -0.81 - - 2621 - 2.45 0.045 1382 -561.2 -107.1 - - 3442 - - - - - - - - 14.93 14.35 14.94
10571 851.2 -8.3 439 10577 done -0.81 - - 2612 - 2.55 0.067 2757 539.2 -107.1 - - 3442 - - - - - - - - 14.36 14.26 14.40
10921 881.3 -9.1 447 10927 roll -0.81 - - 2603 - 2.08 0.114 3819 510.6 -107.1 - - 3441 - - - - - - - - 14.90 14.12 14.90
10962 885.2 -9.4 453 10970 done -0.81 0.12 0.236 2637 283.3 1.85 0.044 2755 -575.1 -107.1 - - 3441 - - - - - - - - 14.09 14.55 14.39
11314 914.7 -8.4 461 11320 roll -0.81 - - 2638 - 2.38 0.044 1377 -579.0 -107.1 - - 3440 - - - - - - - - 14.89 14.39 14.88
11369 919.5 -8.6 469 11376 done -0.81 - - 2629 - 2.55 0.067 2762 543.1 -107.1 - - 3439 - - - - - - - - 14.33 14.22 14.38
11535 end dive: TARGET_DEPTH_EXCEEDED
11535 begin apogee
11542 934.1 -8.7 479 11657 roll -0.23 0.68 0.181 2824 286.8 - - 2227 - - 113.30 1.941 3049 -3.4 0.328 - - - - - - 14.09 13.99 13.05
11659 end apogee: CONTROL_FINISHED_OK
11659 begin climb
11661 938.8 - 481 11791 roll 0.93 1.12 0.099 3185 322.3 2.42 0.055 880 -556.6 107.1 116.97 1.965 2617 -3.7 0.350 - - - - - - 13.97 14.01 12.90
11838 933.7 6.3 508 11875 done 0.84 - - 3185 - 2.53 0.050 2260 545.5 135.8 31.73 2.000 2508 -3.4 0.318 - - - - - - 14.02 13.95 12.93
12210 901.3 9.1 519 12216 roll 0.71 0.20 0.231 3130 -275.0 2.62 0.100 3654 532.1 135.8 - - 2498 - - - - - - - - 14.14 14.26 14.38
12272 896.3 7.1 528 12294 done 0.64 0.10 0.221 3113 -170.0 2.40 0.040 2272 -575.8 149.1 14.18 2.076 2451 -3.3 0.283 - - - - - - 14.17 14.42 13.40
12604 871.3 7.5 540 12605 done 0.65 - - 3113 - - - 2271 - 153.6 - - 2445 - - - - - - - - 14.72 14.71 14.71
12938 845.5 7.8 546 12944 roll 0.65 - - 3112 - 2.60 0.099 3650 530.4 153.6 - - 2444 - - - - - - - - 14.80 14.34 14.80
13000 840.0 8.7 555 13006 done 0.65 - - 3122 - 2.42 0.041 2249 -578.9 153.6 - - 2444 - - - - - - - - 14.54 14.50 14.56
13330 814.2 7.8 567 13331 done 0.65 - - 3122 - - - 2249 - 153.6 - - 2443 - - - - - - - - 14.85 14.85 14.85
13666 789.3 7.4 573 13678 done 0.66 - - 3122 - - - 2250 - 160.9 11.02 2.100 2411 -2.9 0.216 - - - - - - 14.88 14.51 13.52
14002 764.1 7.6 579 14007 roll 0.66 - - 3122 - 2.67 0.101 3657 527.0 163.2 - - 2404 - - - - - - - - 14.81 14.33 14.81
14043 760.5 8.7 585 14050 done 0.66 - - 3132 - 2.42 0.041 2255 -579.3 163.2 - - 2404 - - - - - - - - 14.55 14.50 14.57
14394 733.2 7.8 593 14395 done 0.66 - - 3133 - - - 2254 - 163.2 - - 2403 - - - - - - - - 14.87 14.86 14.86
14730 707.2 7.7 599 14735 roll 0.66 - - 3132 - 2.65 0.101 3653 527.9 164.1 - - 2403 - - - - - - - - 14.88 14.32 14.88
14792 701.7 9.0 608 14798 done 0.66 - - 3143 - 2.42 0.041 2251 -579.3 164.1 - - 2402 - - - - - - - - 14.54 14.50 14.56
15122 675.6 7.8 620 15127 roll 0.66 - - 3142 - 2.65 0.100 3650 527.9 164.1 - - 2402 - - - - - - - - 14.87 14.31 14.85
15163 671.9 9.0 626 15171 done 0.58 0.22 0.203 3090 -236.4 2.40 0.040 2258 -580.0 164.1 - - 2402 - - - - - - - - 14.12 14.48 14.31
15514 649.7 6.2 634 15555 done 0.62 - - 3091 - - - 2256 - 194.5 39.72 1.760 2274 -3.2 0.236 - - - - - - 14.85 14.35 13.50
15850 625.3 7.4 640 15856 roll 0.72 0.08 0.142 3151 750.0 2.65 0.100 3649 525.7 201.7 1.58 0.242 2248 -16.5 8.423 - - - - - - 14.46 14.22 13.98
15898 620.3 11.0 647 15906 done 0.64 0.17 0.210 3113 -223.5 2.42 0.041 2256 -575.6 201.7 1.08 0.238 2245 -2.8 1.434 - - - - - - 14.12 14.42 14.10
16242 589.7 8.9 654 16249 roll 0.64 - - 3112 - 2.65 0.099 3655 527.9 201.7 1.25 0.259 2248 2.4 -1.083 - - - - - - 14.79 14.28 14.08
16276 586.2 9.9 659 16282 done 0.64 - - 3122 - 2.42 0.041 2255 -578.5 201.7 - - 2253 - - - - - - - - 14.49 14.45 14.51
16634 552.5 9.4 668 16640 roll 0.64 - - 3132 - 2.47 0.062 866 -562.3 201.7 - - 2255 - - - - - - - - 14.83 14.31 14.83
16668 549.2 9.3 673 16674 done 0.64 - - 3133 - 2.47 0.051 2263 565.6 201.7 - - 2255 - - - - - - - - 14.45 14.38 14.49
17026 516.6 9.1 682 17032 roll 0.64 - - 3132 - 2.60 0.101 3652 534.2 201.7 - - 2254 - - - - - - - - 14.84 14.28 14.85
17088 510.5 9.7 691 17095 done 0.64 0.12 0.207 3107 -208.3 2.40 0.040 2264 -578.3 201.7 - - 2255 - - - - - - - - 14.14 14.47 14.30
17418 486.1 7.3 703 17439 roll 0.65 - - 3106 - 2.67 0.100 3657 521.7 211.0 16.80 1.707 2203 -3.1 0.175 - - - - - - 14.87 14.45 13.66
17487 480.5 8.5 713 17493 done 0.65 - - 3115 - 2.42 0.040 2263 -576.0 211.0 - - 2197 - - - - - - - - 14.50 14.45 14.52
17803 457.2 7.3 723 17810 roll 0.66 - - 3115 - 2.67 0.100 3651 519.9 219.1 2.75 0.984 2179 -6.5 0.602 - - - - - - 14.81 14.42 13.09
17852 453.4 8.0 730 17859 done 0.66 - - 3124 - 2.40 0.040 2271 -575.0 219.1 1.23 0.230 2179 - - - - - - - - 14.52 14.48 14.13
18188 428.2 7.4 743 18208 roll 0.67 - - 3132 - 2.45 0.061 866 -573.5 226.0 13.85 1.680 2143 -2.6 0.131 - - - - - - 14.83 14.48 13.67
18229 425.1 7.2 749 18245 done 0.68 - - 3134 - 2.50 0.052 2275 563.6 236.2 6.93 1.744 2112 -4.5 0.216 - - - - - - 14.46 14.40 13.49
18580 397.8 7.9 757 18585 roll 0.68 - - 3134 - 2.60 0.103 3655 530.8 236.2 - - 2115 - - - - - - - - 14.76 14.29 14.76
18656 391.1 8.7 768 18662 done 0.68 - - 3145 - 2.40 0.039 2268 -577.9 236.2 - - 2115 - - - - - - - - 14.54 14.46 14.52
18972 365.3 8.2 778 18978 roll 0.68 - - 3156 - 2.50 0.062 866 -560.8 236.2 - - 2112 - - - - - - - - 14.81 14.33 14.81
19013 361.7 8.6 784 19020 done 0.68 0.10 0.187 3125 -310.0 2.47 0.052 2271 568.8 236.2 - - 2112 - - - - - - - - 14.21 14.39 14.35
19364 334.2 7.9 792 19369 roll 0.68 - - 3124 - 2.58 0.102 3651 534.9 236.2 - - 2113 - - - - - - - - 14.84 14.31 14.84
19426 328.5 9.1 801 19432 done 0.68 - - 3133 - 2.38 0.039 2278 -576.9 236.2 - - 2113 - - - - - - - - 14.54 14.50 14.55
19756 301.2 8.3 813 19761 roll 0.68 - - 3144 - 2.47 0.060 861 -573.7 236.2 - - 2113 - - - - - - - - 14.85 14.38 14.85
19797 297.9 8.2 819 19803 done 0.68 - - 3144 - 2.50 0.053 2277 566.4 236.2 - - 2112 - - - - - - - - 14.46 14.38 14.50
20148 269.9 7.9 827 20153 roll 0.68 - - 3144 - 2.58 0.102 3654 533.7 236.2 - - 2112 - - - - - - - - 14.86 14.29 14.87
20175 267.5 8.6 831 20182 done 0.68 0.10 0.200 3124 -200.0 2.40 0.039 2263 -579.6 236.2 - - 2115 - - - - - - - - 14.17 14.49 14.33
20540 241.5 7.2 841 20561 roll 0.78 - - 3134 - 2.50 0.061 862 -560.4 247.9 16.92 1.421 2056 -3.5 0.117 - - - - - - 14.86 14.52 13.77
20589 237.8 7.5 848 20595 done 0.88 0.10 0.116 3195 610.0 2.45 0.054 2280 578.8 253.8 1.35 0.230 2039 -12.6 2.579 - - - - - - 14.50 14.45 14.23
20925 203.0 10.4 861 20930 roll 0.88 - - 3195 - 2.58 0.102 3653 532.2 253.8 - - 2046 - - - - - - - - 14.81 14.30 14.81
20952 199.8 11.2 865 20958 done 0.88 - - 3205 - 2.38 0.038 2275 -579.0 253.8 - - 2047 - - - - - - - - 14.53 14.49 14.54
21317 160.8 10.9 875 21322 roll 0.88 - - 3216 - 2.47 0.062 857 -574.1 253.8 - - 2046 - - - - - - - - 14.85 14.38 14.85
21358 156.0 11.2 881 21365 done 0.88 0.10 0.200 3187 -290.0 2.47 0.054 2263 569.2 253.8 - - 2046 - - - - - - - - 14.16 14.38 14.31
21709 118.3 10.9 889 21714 roll 0.88 - - 3186 - 2.60 0.099 3658 536.5 253.8 - - 2047 - - - - - - - - 14.85 14.30 14.86
21743 114.2 11.9 894 21751 done 0.88 - - 3196 - 2.40 0.037 2267 -579.6 253.8 1.12 0.213 2039 -7.1 0.759 - - - - - - 14.51 14.48 14.14
22073 81.3 9.9 905 22078 roll 0.88 - - 3196 - 2.62 0.100 3651 528.2 253.8 - - 2047 - - - - - - - - 14.85 14.31 14.85
22157 72.0 6.1 917 22179 done 0.92 - - 3206 - 2.38 0.038 2273 -579.0 286.6 17.95 0.389 1910 -7.6 0.280 - - - - - - 14.52 14.52 14.06
22486 48.4 6.6 931 22506 roll 0.95 - - 3207 - 2.62 0.099 3651 526.0 309.7 13.07 0.324 1817 -7.1 0.211 - - - - - - 14.83 14.31 14.05
22674 35.6 5.0 958 22712 done 1.02 - - 3216 - 2.33 0.038 2290 -584.1 364.7 28.60 0.292 1596 -7.7 0.187 - - - - - - 14.52 14.50 14.09
23020 24.7 3.4 974 23068 roll 1.29 0.20 0.076 3336 600.0 2.55 0.061 869 -557.3 450.5 42.65 0.239 1256 -8.0 0.163 - - - - - - 14.51 14.36 14.15
23276 4.2 7.4 1011 23284 done 1.30 - - 3336 - 2.45 0.051 2267 570.6 457.6 3.83 0.181 1226 -7.8 0.036 - - - - - - 14.45 14.35 14.19
23310 end climb: SURFACE_DEPTH_REACHED
23310 begin surface coast
23337 end surface coast: CONTROL_FINISHED_OK
23338 begin surface
SM -2.02 - - - - -8.40 9.38 0.078 176 18.7 0.90 0.090 2760 -7215.6 500.14 20.15 0.157 1058 52.5 0.069 - - - - - -