SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 345 * Raw log
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• Previous call tries 1 • 126.07 of 350.00 AH used of 24V (63.98% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -73.4 deg, depth -2.38 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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 - - 117 - - - 2783 - -107.1 -77.18 - 3478 - - - - - - - - 14.66 12.64 14.66
96 -1.1 -4.0 2 116 roll -0.93 11.95 0.391 2590 206.9 2.35 0.031 1355 -607.7 -107.1 - - 3479 - - - - - - - - 14.02 14.43 14.39
144 25.6 -31.1 10 149 done -0.49 0.60 0.260 2736 243.3 2.55 0.073 2772 555.7 -107.1 - - 3480 - - - - - - - - 14.08 14.33 14.38
479 61.7 -8.0 25 486 roll -0.49 - - 2728 - 1.98 0.109 3819 528.8 -107.1 - - 3482 - - - - - - - - 14.83 14.29 14.83
535 64.2 -3.1 33 543 done -0.49 - - 2728 - 1.80 0.040 2740 -599.4 -107.1 - - 3482 - - - - - - - - 14.59 14.57 14.60
872 86.6 -6.4 48 877 roll -0.59 - - 2728 - 2.28 0.041 1376 -598.2 -107.1 - - 3482 - - - - - - - - 14.88 14.54 14.87
920 89.8 -6.5 55 927 done -0.70 0.08 0.086 2648 -1000.0 2.47 0.065 2760 560.3 -107.1 - - 3483 - - - - - - - - 14.47 14.41 14.54
1235 115.0 -8.1 64 1241 roll -0.70 - - 2640 - 2.03 0.107 3835 529.6 -107.1 - - 3483 - - - - - - - - 14.92 14.38 14.92
1325 123.2 -9.2 77 1333 done -0.70 0.10 0.234 2667 270.0 1.80 0.037 2760 -597.2 -107.1 - - 3483 - - - - - - - - 14.35 14.69 14.58
1683 151.1 -7.9 86 1689 roll -0.70 - - 2670 - 2.33 0.043 1376 -594.0 -107.1 - - 3481 - - - - - - - - 14.92 14.52 14.92
1752 156.3 -7.2 96 1759 done -0.70 - - 2661 - 2.50 0.065 2780 561.6 -107.1 - - 3480 - - - - - - - - 14.54 14.45 14.59
2076 182.2 -8.2 107 2076 done -0.70 - - 2660 - - - 2779 - -107.1 - - 3478 - - - - - - - - 14.95 14.95 14.95
2411 212.1 -9.0 113 2418 roll -0.70 - - 2661 - 2.40 0.042 1398 -575.4 -107.1 - - 3476 - - - - - - - - 14.95 14.54 14.95
2473 217.9 -9.1 122 2480 done -0.70 - - 2651 - 2.47 0.066 2766 553.8 -107.1 - - 3475 - - - - - - - - 14.52 14.43 14.58
2804 248.6 -9.4 134 2812 roll -0.70 - - 2643 - 2.00 0.110 3822 528.0 -107.1 - - 3470 - - - - - - - - 14.95 14.33 14.95
2846 252.8 -9.6 140 2852 done -0.70 0.08 0.246 2670 337.5 1.77 0.041 2778 -589.8 -107.1 - - 3472 - - - - - - - - 14.36 14.69 14.50
3196 283.5 -8.8 148 3202 roll -0.70 - - 2671 - 2.42 0.044 1373 -580.6 -107.1 - - 3471 - - - - - - - - 14.96 14.56 14.97
3230 286.6 -8.8 153 3238 done -0.70 - - 2658 - 2.50 0.065 2768 558.0 -107.1 - - 3471 - - - - - - - - 14.56 14.45 14.60
3589 317.3 -8.4 162 3594 roll -0.70 - - 2651 - 2.03 0.112 3826 521.2 -107.1 - - 3467 - - - - - - - - 14.96 14.35 14.97
3629 320.8 -8.6 168 3636 done -0.70 - - 2653 - 1.83 0.042 2758 -583.6 -107.1 - - 3467 - - - - - - - - 14.73 14.68 14.75
3981 348.2 -7.8 176 3986 roll -0.70 - - 2653 - 2.35 0.044 1372 -589.8 -107.1 - - 3463 - - - - - - - - 14.95 14.54 14.95
4022 351.5 -7.8 182 4028 done -0.70 - - 2644 - 2.53 0.067 2770 552.6 -107.1 - - 3465 - - - - - - - - 14.53 14.43 14.57
4373 381.1 -8.7 190 4378 roll -0.70 - - 2643 - 2.42 0.043 1381 -574.0 -107.1 - - 3464 - - - - - - - - 14.94 14.50 14.94
4413 384.8 -8.6 196 4420 done -0.70 0.10 0.216 2663 200.0 2.53 0.067 2771 549.4 -107.1 - - 3463 - - - - - - - - 14.23 14.43 14.40
4764 413.0 -8.1 204 4765 done -0.70 - - 2663 - - - 2771 - -107.1 - - 3462 - - - - - - - - 14.96 14.96 14.96
5101 438.7 -7.5 210 5106 roll -0.70 - - 2663 - 2.42 0.044 1371 -578.5 -107.1 - - 3460 - - - - - - - - 14.96 14.56 14.96
5142 441.8 -7.6 216 5148 done -0.70 - - 2654 - 2.53 0.067 2758 548.2 -107.1 - - 3460 - - - - - - - - 14.52 14.41 14.56
5492 469.3 -7.9 224 5498 roll -0.70 - - 2646 - 2.05 0.114 3819 517.6 -107.1 - - 3458 - - - - - - - - 14.95 14.29 14.96
5526 472.3 -8.8 229 5534 done -0.70 - - 2645 - 1.83 0.042 2751 -583.6 -107.1 - - 3458 - - - - - - - - 14.71 14.66 14.73
5885 502.9 -8.7 238 5890 roll -0.70 - - 2646 - 2.35 0.042 1365 -589.8 -107.1 - - 3457 - - - - - - - - 14.94 14.50 14.94
5925 506.6 -8.7 244 5932 done -0.70 0.10 0.221 2666 200.0 2.53 0.066 2763 552.6 -107.1 - - 3456 - - - - - - - - 14.19 14.40 14.36
6276 534.3 -8.0 252 6282 roll -0.70 - - 2665 - 2.42 0.043 1376 -573.1 -107.1 - - 3455 - - - - - - - - 14.93 14.46 14.93
6311 537.1 -8.2 257 6318 done -0.78 - - 2657 - 2.50 0.067 2758 552.8 -107.1 - - 3455 - - - - - - - - 14.48 14.38 14.53
6669 564.9 -7.7 266 6670 done -0.78 - - 2657 - - - 2756 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
7005 589.6 -7.3 272 7005 done -0.78 - - 2657 - - - 2758 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
7341 613.2 -7.0 278 7346 roll -0.78 - - 2656 - 2.38 0.044 1384 -577.3 -107.1 - - 3451 - - - - - - - - 14.95 14.49 14.95
7403 617.5 -7.0 287 7409 done -0.78 - - 2648 - 2.53 0.069 2770 547.8 -107.1 - - 3450 - - - - - - - - 14.45 14.35 14.49
7733 640.4 -6.9 299 7738 roll -0.78 - - 2640 - 2.03 0.114 3819 516.7 -107.1 - - 3449 - - - - - - - - 14.95 14.24 14.95
7760 642.5 -7.5 303 7766 done -0.78 - - 2639 - 1.80 0.044 2772 -581.7 -107.1 - - 3449 - - - - - - - - 14.62 14.59 14.63
8124 670.5 -7.9 313 8131 roll -0.78 - - 2639 - 2.45 0.044 1344 -582.9 -107.1 - - 3448 - - - - - - - - 14.92 14.44 14.92
8193 676.1 -8.1 323 8200 done -0.78 - - 2630 - 2.58 0.067 2766 551.2 -107.1 - - 3448 - - - - - - - - 14.44 14.34 14.48
8517 702.4 -8.2 334 8517 done -0.78 - - 2630 - - - 2759 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
8853 727.7 -7.4 340 8853 done -0.78 - - 2630 - - - 2759 - -107.1 - - 3445 - - - - - - - - 14.88 14.88 14.88
9189 752.5 -7.4 346 9194 roll -0.78 - - 2629 - 2.42 0.045 1361 -577.7 -107.1 - - 3445 - - - - - - - - 14.92 14.45 14.92
9222 755.2 -7.9 351 9229 done -0.78 - - 2619 - 2.55 0.067 2757 547.5 -107.1 - - 3445 - - - - - - - - 14.41 14.31 14.45
9581 785.0 -8.5 360 9586 roll -0.78 - - 2612 - 2.08 0.116 3825 513.5 -107.1 - - 3444 - - - - - - - - 14.94 14.17 14.94
9614 788.2 -9.4 365 9622 done -0.78 0.12 0.238 2647 291.7 1.88 0.044 2749 -572.3 -107.1 - - 3444 - - - - - - - - 14.18 14.64 14.39
9973 816.1 -7.9 374 9978 roll -0.78 - - 2647 - 2.38 0.044 1371 -579.0 -107.1 - - 3442 - - - - - - - - 14.92 14.40 14.92
10028 820.7 -8.0 382 10034 done -0.78 - - 2638 - 2.53 0.067 2764 550.6 -107.1 - - 3442 - - - - - - - - 14.50 14.30 14.54
10364 847.9 -8.1 395 10365 done -0.78 - - 2638 - - - 2764 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
10701 874.1 -7.6 401 10707 roll -0.78 - - 2637 - 2.45 0.044 1361 -572.7 -107.1 - - 3445 - - - - - - - - 14.90 14.41 14.90
10735 876.9 -5.5 406 10741 done -0.78 - - 2627 - 2.58 0.067 2757 541.1 -107.1 - - 3440 - - - - - - - - 14.35 14.26 14.38
11093 905.0 -7.9 415 11098 roll -0.78 - - 2619 - 2.08 0.115 3822 512.0 -107.1 - - 3439 - - - - - - - - 14.90 14.12 14.90
11113 906.7 -8.3 418 11119 done -0.78 - - 2619 - 1.88 0.045 2752 -569.1 -107.1 - - 3438 - - - - - - - - 14.62 14.54 14.62
11426 end dive: TARGET_DEPTH_EXCEEDED
11426 begin apogee
11432 932.1 -8.1 428 11545 roll -0.23 0.70 0.184 2821 288.6 0.10 0.154 2280 -4720.0 - 110.30 1.971 3046 -3.6 0.334 - - - - - - 14.07 13.95 13.08
11547 end apogee: CONTROL_FINISHED_OK
11547 begin climb
11550 935.3 - 430 11673 done 0.93 1.15 0.096 3197 327.0 - - 2280 - 107.1 117.45 1.966 2619 -3.6 0.344 - - - - - - 13.99 14.21 12.88
11989 902.7 9.2 459 11995 roll 0.77 0.17 0.240 3160 -217.6 2.55 0.058 847 -562.0 107.1 - - 2609 - - - - - - - - 14.12 14.31 14.39
12037 898.7 8.1 466 12045 done 0.69 0.10 0.225 3131 -290.0 2.47 0.050 2240 564.0 107.1 - - 2608 - - - - - - - - 14.12 14.32 14.28
12381 874.6 7.0 473 12401 roll 0.71 - - 3131 - 2.62 0.097 3657 540.8 123.0 16.40 2.039 2554 -3.3 0.281 - - - - - - 14.79 14.28 13.49
12464 868.1 8.2 485 12472 done 0.62 0.12 0.227 3107 -200.0 2.50 0.040 2229 -571.2 123.0 - - 2550 - - - - - - - - 14.16 14.41 14.32
12829 845.1 6.3 495 12870 roll 0.65 - - 3106 - 2.78 0.099 3653 512.2 151.4 32.45 1.932 2440 -3.4 0.295 - - - - - - 14.78 14.26 13.39
12905 839.7 9.1 506 12911 done 0.65 - - 3116 - 2.47 0.040 2247 -569.2 151.4 - - 2437 - - - - - - - - 14.38 14.34 14.39
13221 817.5 7.1 516 13237 done 0.67 - - 3116 - - - 2245 - 165.3 14.95 2.031 2393 -2.9 0.235 - - - - - - 14.73 14.38 13.46
13557 792.8 7.5 522 13563 roll 0.68 - - 3116 - 2.67 0.099 3652 527.0 169.4 - - 2382 - - - - - - - - 14.76 14.33 14.76
13598 789.3 8.6 528 13605 done 0.68 - - 3126 - 2.45 0.040 2242 -575.5 169.4 - - 2382 - - - - - - - - 14.51 14.47 14.53
13949 762.0 7.8 536 13950 done 0.68 - - 3126 - - - 2246 - 169.4 - - 2381 - - - - - - - - 14.83 14.81 14.81
14285 736.6 7.5 542 14293 roll 0.68 - - 3126 - 2.70 0.102 3650 520.0 173.7 3.90 1.689 2360 -5.4 0.467 - - - - - - 14.85 14.47 13.09
14340 731.9 8.4 550 14347 done 0.68 - - 3137 - 2.42 0.041 2252 -577.7 173.7 1.33 0.263 2359 - - - - - - - - 14.57 14.52 13.97
14670 705.6 8.0 562 14671 done 0.68 - - 3136 - - - 2250 - 173.7 - - 2367 - - - - - - - - 14.85 14.85 14.85
15006 678.1 8.3 568 15009 done 0.68 - - 3134 - - - 2251 - 173.7 1.42 0.265 2357 -7.0 3.581 - - - - - - 14.87 14.40 14.00
15343 648.9 8.7 574 15345 done 0.68 - - 3137 - - - 2251 - 173.7 1.10 0.269 2359 - - - - - - - - 14.86 14.42 14.14
15678 619.2 8.9 580 15684 roll 0.68 - - 3137 - 2.67 0.100 3654 525.5 173.7 1.27 0.263 2360 - - - - - - - - 14.88 14.26 14.02
15734 613.7 10.0 588 15740 done 0.68 - - 3148 - 2.45 0.041 2223 -584.1 173.7 - - 2366 - - - - - - - - 14.61 14.51 14.62
16070 583.2 9.0 601 16071 done 0.68 - - 3148 - - - 2218 - 173.7 - - 2367 - - - - - - - - 14.88 14.88 14.88
16406 554.2 8.5 607 16412 roll 0.68 - - 3148 - 2.72 0.099 3652 527.2 173.7 1.27 0.262 2359 -6.3 2.648 - - - - - - 14.90 14.22 13.99
16455 549.7 9.2 614 16463 done 0.68 0.12 0.225 3124 -200.0 2.42 0.041 2253 -578.1 173.7 - - 2368 - - - - - - - - 14.11 14.48 14.28
16799 525.4 7.0 621 16826 roll 0.70 - - 3133 - 2.50 0.061 859 -557.6 189.0 23.12 1.698 2291 -3.3 0.205 - - - - - - 14.90 14.47 13.64
16854 521.3 7.2 629 16868 done 0.71 - - 3133 - 2.47 0.053 2259 566.8 199.5 10.60 1.821 2256 -3.3 0.188 - - - - - - 14.45 14.39 13.52
17176 495.1 8.3 640 17182 roll 0.71 - - 3133 - 2.60 0.102 3653 536.2 199.5 - - 2246 - - - - - - - - 14.75 14.27 14.75
17218 491.0 9.8 646 17224 done 0.71 - - 3143 - 2.45 0.041 2254 -571.0 199.5 - - 2245 - - - - - - - - 14.47 14.42 14.50
17569 460.2 8.8 654 17574 roll 0.71 - - 3144 - 2.65 0.100 3650 526.8 199.5 - - 2249 - - - - - - - - 14.83 14.28 14.83
17596 457.5 9.6 658 17602 done 0.71 - - 3155 - 2.42 0.040 2257 -575.6 199.5 - - 2244 - - - - - - - - 14.50 14.45 14.52
17960 425.5 8.7 668 17961 done 0.71 - - 3155 - - - 2253 - 199.5 - - 2249 - - - - - - - - 14.84 14.84 14.84
18297 397.6 8.2 674 18297 done 0.71 - - 3155 - - - 2251 - 199.5 - - 2243 - - - - - - - - 14.85 14.85 14.87
18633 371.0 8.0 680 18638 roll 0.71 - - 3155 - 2.65 0.099 3655 529.8 199.5 - - 2245 - - - - - - - - 14.86 14.27 14.87
18674 367.2 9.2 686 18680 done 0.71 0.10 0.222 3136 -190.0 2.45 0.039 2252 -572.7 199.5 - - 2245 - - - - - - - - 14.12 14.48 14.31
19025 341.1 7.4 694 19031 roll 0.72 - - 3146 - 2.45 0.060 851 -571.8 205.5 1.90 0.324 2235 -5.3 1.101 - - - - - - 14.87 14.02 13.52
19066 337.9 7.7 700 19072 done 0.72 - - 3145 - 2.47 0.053 2253 567.6 206.0 1.58 0.305 2234 - - - - - - - - 14.44 14.35 13.64
19417 310.4 7.9 708 19423 roll 0.72 - - 3146 - 2.65 0.101 3652 527.9 206.0 2.42 0.767 2232 - - - - - - - - 14.87 14.43 13.12
19458 306.6 9.1 714 19466 done 0.72 - - 3157 - 2.42 0.040 2248 -580.2 206.0 1.62 0.313 2232 - - - - - - - - 14.55 14.51 13.76
19802 277.2 8.7 721 19809 roll 0.72 - - 3157 - 2.65 0.098 3652 529.8 206.0 1.48 0.272 2232 - - - - - - - - 14.88 14.13 13.78
19828 274.4 10.0 725 19837 done 0.72 0.10 0.220 3138 -190.0 2.40 0.039 2258 -580.8 206.0 1.38 0.281 2232 - - - - - - - - 14.15 14.49 13.64
20194 250.9 7.6 735 20206 roll 0.72 - - 3138 - 2.65 0.099 3652 526.0 209.3 4.97 1.585 2225 -1.4 0.044 - - - - - - 14.90 14.51 13.25
20227 247.9 8.3 740 20234 done 0.72 - - 3148 - 2.40 0.039 2261 -579.6 209.3 1.27 0.255 2216 -7.1 1.369 - - - - - - 14.60 14.54 14.00
20586 220.5 7.6 749 20597 roll 0.73 - - 3158 - 2.50 0.061 856 -562.0 212.2 4.32 1.456 2209 -1.6 0.049 - - - - - - 14.85 14.54 13.28
20613 218.5 7.4 753 20633 done 0.74 - - 3158 - 2.47 0.053 2262 569.2 219.4 13.38 1.452 2170 -2.9 0.087 - - - - - - 14.49 14.41 13.73
20977 189.4 8.1 763 20978 done 0.74 - - 3158 - - - 2261 - 219.4 - - 2166 - - - - - - - - 14.81 14.81 14.81
21313 162.2 8.2 769 21320 roll 0.74 - - 3158 - 2.58 0.101 3652 539.1 219.4 - - 2166 - - - - - - - - 14.86 14.31 14.85
21382 155.5 9.7 779 21389 done 0.74 0.10 0.213 3139 -190.0 2.40 0.039 2266 -577.5 219.4 - - 2166 - - - - - - - - 14.13 14.44 14.29
21706 131.5 7.4 790 21709 done 0.74 - - 3140 - - - 2263 - 225.8 2.45 0.731 2151 -6.1 0.219 - - - - - - 14.88 14.45 13.26
22042 106.6 7.4 796 22055 roll 0.75 - - 3140 - 2.67 0.100 3652 520.2 232.2 4.85 0.438 2130 -4.3 0.209 - - - - - - 14.88 14.40 13.90
22138 98.3 8.9 810 22146 done 0.75 - - 3150 - 2.40 0.039 2258 -580.8 232.2 1.38 0.239 2126 -2.9 0.237 - - - - - - 14.55 14.50 13.89
22462 75.2 6.9 823 22475 roll 0.77 - - 3165 - 2.50 0.062 856 -560.8 249.3 9.82 0.392 2059 -6.8 0.260 - - - - - - 14.87 14.47 14.01
22496 72.7 7.1 828 22512 done 0.87 - - 3160 - 2.47 0.051 2268 571.7 262.4 7.78 0.377 2005 -6.9 0.266 - - - - - - 14.49 14.40 14.00
22819 52.0 3.5 841 22867 roll 1.09 0.20 0.077 3263 515.0 2.58 0.099 3664 541.1 347.9 42.80 0.339 1660 -8.1 0.246 - - - - - - 14.55 14.34 14.10
23070 40.6 6.5 877 23090 done 1.12 - - 3273 - 2.40 0.038 2275 -578.8 373.1 12.30 0.283 1564 -7.8 0.223 - - - - - - 14.50 14.45 14.04
23409 21.1 5.7 892 23435 roll 1.25 - - 3273 - 2.58 0.098 3654 534.5 413.2 19.95 0.224 1404 -8.0 0.150 - - - - - - 14.81 14.31 14.11
23588 9.0 6.9 918 23603 done 1.36 0.10 0.073 3363 900.0 2.35 0.039 2284 -583.0 430.1 8.52 0.187 1335 -8.1 0.077 - - - - - - 14.43 14.44 14.19
23684 end climb: SURFACE_DEPTH_REACHED
23684 begin surface coast
23712 end surface coast: CONTROL_FINISHED_OK
23712 begin surface
SM -0.52 - - - - -8.42 8.98 0.040 173 19.2 0.90 0.071 2778 -9613.3 500.14 32.10 0.154 1058 33.0 0.011 - - - - - -