SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 346 * Raw log
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• Previous call tries 1 • 126.39 of 350.00 AH used of 24V (63.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.66 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• No surface pump (final VBD was 511.95, SM_CC=500)
• GPS1 time: 34 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 - - - 73 VBD -0.93 - - 106 - - - 2792 - -107.1 -57.25 - 2711 - - - - - - - - 14.67 - 14.67
76 3.5 -5.6 2 107 roll -0.93 11.93 0.382 2590 208.2 2.70 2.044 1370 -526.7 -107.1 -14.35 - 3477 -53.4 - - - - - - - 13.96 13.23 14.25
135 20.2 -26.9 11 141 done -0.59 0.45 0.252 2699 242.2 2.55 0.070 2761 545.5 -107.1 - - 3477 - - - - - - - - 14.09 14.32 14.30
464 69.4 -10.3 25 470 roll -0.59 - - 2691 - 2.00 0.108 3819 529.0 -107.1 - - 3479 - - - - - - - - 14.81 14.33 14.81
492 71.9 -8.9 29 498 done -0.59 - - 2691 - 1.80 0.038 2721 -610.0 -107.1 - - 3478 - - - - - - - - 14.59 14.58 14.62
829 80.3 -3.6 44 835 roll -0.59 - - 2682 - 2.10 0.106 3827 526.7 -107.1 - - 3480 - - - - - - - - 14.88 14.36 14.88
904 87.0 -18.6 55 912 done -0.59 - - 2682 - 1.77 0.038 2757 -604.5 -107.1 - - 3480 - - - - - - - - 14.71 14.66 14.72
1220 114.5 -8.4 64 1227 roll -0.59 - - 2674 - 2.03 0.106 3822 524.6 -107.1 - - 3480 - - - - - - - - 14.93 14.39 14.94
1324 123.3 -11.7 79 1333 done -0.59 0.10 0.223 2704 300.0 1.75 0.039 2776 -597.7 -107.1 - - 3480 - - - - - - - - 14.40 14.69 14.61
1669 147.4 -7.4 86 1674 roll -0.69 - - 2704 - 2.33 0.042 1388 -595.7 -107.1 - - 3479 - - - - - - - - 14.95 14.59 14.95
1738 152.3 -6.7 96 1745 done -0.80 0.10 0.076 2620 -840.0 2.47 0.065 2768 558.7 -107.1 - - 3479 - - - - - - - - 14.52 14.41 14.57
2060 184.7 -10.6 107 2066 roll -0.80 - - 2612 - 2.00 0.108 3827 529.5 -107.1 - - 3476 - - - - - - - - 14.96 14.40 14.97
2095 188.3 -10.6 112 2102 done -0.80 0.08 0.257 2637 312.5 1.77 0.039 2768 -598.3 -107.1 - - 3476 - - - - - - - - 14.36 14.71 14.52
2452 220.0 -9.0 121 2458 roll -0.80 - - 2637 - 2.38 0.041 1385 -581.1 -107.1 - - 3474 - - - - - - - - 14.95 14.56 14.95
2479 224.2 -16.2 125 2486 done -0.80 - - 2628 - 2.47 0.066 2763 557.9 -107.1 - - 3473 - - - - - - - - 14.56 14.47 14.60
2844 256.9 -9.0 135 2850 roll -0.80 - - 2619 - 2.00 0.109 3822 529.5 -107.1 - - 3470 - - - - - - - - 14.95 14.38 14.95
2906 262.7 -9.4 144 2914 done -0.80 - - 2619 - 1.77 0.040 2769 -594.9 -107.1 - - 3471 - - - - - - - - 14.75 14.70 14.76
3237 294.0 -9.7 156 3242 roll -0.80 - - 2611 - 2.03 0.108 3821 518.2 -107.1 - - 3468 - - - - - - - - 14.96 14.37 14.96
3284 299.1 -10.3 163 3293 done -0.80 0.10 0.244 2640 290.0 1.77 0.040 2771 -593.2 -107.1 - - 3468 - - - - - - - - 14.35 14.70 14.59
3628 330.2 -9.1 170 3629 done -0.80 - - 2641 - - - 2771 - -107.1 - - 3465 - - - - - - - - 14.95 14.95 14.95
3964 359.1 -8.5 176 3971 roll -0.80 - - 2640 - 2.35 0.041 1378 -592.8 -107.1 - - 3463 - - - - - - - - 14.95 14.57 14.95
3998 362.0 -8.2 181 4005 done -0.80 - - 2631 - 2.50 0.066 2773 558.0 -107.1 - - 3463 - - - - - - - - 14.54 14.45 14.58
4357 391.9 -8.4 190 4362 roll -0.80 - - 2630 - 2.38 0.042 1381 -584.9 -107.1 - - 3462 - - - - - - - - 14.96 14.57 14.94
4412 396.6 -8.2 198 4418 done -0.80 - - 2620 - 2.53 0.067 2770 549.0 -107.1 - - 3461 - - - - - - - - 14.52 14.44 14.58
4748 426.6 -9.1 211 4754 roll -0.80 - - 2612 - 2.00 0.111 3818 524.0 -107.1 - - 3459 - - - - - - - - 14.97 14.29 14.97
4782 429.9 -9.7 216 4790 done -0.80 0.10 0.247 2637 250.0 1.77 0.041 2773 -590.4 -107.1 - - 3459 - - - - - - - - 14.33 14.68 14.57
5141 458.4 -7.9 225 5146 roll -0.80 - - 2640 - 2.38 0.044 1372 -588.7 -107.1 - - 3457 - - - - - - - - 14.95 14.55 14.94
5181 461.7 -8.0 231 5188 done -0.80 - - 2631 - 2.53 0.065 2769 552.2 -107.1 - - 3457 - - - - - - - - 14.52 14.42 14.55
5532 490.1 -8.1 239 5538 roll -0.80 - - 2622 - 2.03 0.112 3829 522.2 -107.1 - - 3455 - - - - - - - - 14.94 14.33 14.94
5629 498.9 -8.9 253 5636 done -0.80 - - 2622 - 1.83 0.043 2771 -578.1 -107.1 - - 3455 - - - - - - - - 14.71 14.66 14.73
5981 528.8 -8.6 261 5986 roll -0.80 - - 2622 - 2.38 0.043 1374 -587.0 -107.1 - - 3453 - - - - - - - - 14.96 14.54 14.96
6014 531.8 -8.9 266 6021 done -0.80 0.08 0.235 2634 150.0 2.53 0.066 2776 554.2 -107.1 - - 3453 - - - - - - - - 14.19 14.41 14.38
6372 559.1 -7.6 275 6373 done -0.80 - - 2634 - - - 2776 - -107.1 - - 3453 - - - - - - - - 14.93 14.93 14.92
6709 585.2 -7.8 281 6709 done -0.80 - - 2634 - - - 2776 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.96
7044 612.3 -8.1 287 7050 roll -0.80 - - 2634 - 2.47 0.043 1369 -569.6 -107.1 - - 3448 - - - - - - - - 14.94 14.47 14.95
7071 614.6 -8.1 291 7078 done -0.80 - - 2621 - 2.55 0.067 2770 549.4 -107.1 - - 3448 - - - - - - - - 14.48 14.38 14.52
7436 644.1 -8.1 301 7437 done -0.80 - - 2624 - - - 2770 - -107.1 - - 3447 - - - - - - - - 14.93 14.92 14.94
7772 670.9 -7.8 307 7778 roll -0.80 - - 2623 - 2.47 0.044 1374 -565.2 -107.1 - - 3446 - - - - - - - - 14.96 14.44 14.96
7820 674.7 -7.8 314 7828 done -0.80 - - 2614 - 2.55 0.067 2774 549.0 -107.1 - - 3445 - - - - - - - - 14.45 14.35 14.50
8165 702.0 -7.9 321 8165 done -0.80 - - 2614 - - - 2774 - -107.1 - - 3444 - - - - - - - - 14.92 14.92 14.92
8500 728.3 -7.8 327 8501 done -0.80 - - 2614 - - - 2774 - -107.1 - - 3443 - - - - - - - - 14.95 14.95 14.95
8836 756.6 -8.6 333 8842 roll -0.80 - - 2606 - 2.05 0.116 3828 514.1 -107.1 - - 3440 - - - - - - - - 14.95 14.23 14.95
8863 759.2 -9.5 337 8870 done -0.80 0.10 0.247 2639 330.0 1.85 0.046 2772 -570.8 -107.1 - - 3441 - - - - - - - - 14.18 14.62 14.35
9228 789.7 -8.7 347 9234 roll -0.80 - - 2639 - 2.47 0.045 1368 -568.4 -107.1 - - 3441 - - - - - - - - 14.92 14.39 14.91
9298 794.7 -5.8 357 9304 done -0.80 - - 2630 - 2.60 0.068 2771 539.6 -107.1 - - 3441 - - - - - - - - 14.40 14.30 14.44
9620 823.6 -8.3 368 9627 roll -0.80 - - 2622 - 2.05 0.117 3822 512.7 -107.1 - - 3440 - - - - - - - - 14.91 14.17 14.91
9676 828.7 -9.1 376 9683 done -0.80 - - 2621 - 1.83 0.045 2771 -574.3 -107.1 - - 3439 - - - - - - - - 14.54 14.50 14.56
10012 857.5 -8.4 389 10018 roll -0.80 - - 2621 - 2.42 0.045 1364 -581.4 -107.1 - - 3439 - - - - - - - - 14.93 14.40 14.94
10068 862.4 -9.5 397 10074 done -0.80 0.10 0.253 2639 180.0 2.55 0.067 2777 554.1 -107.1 - - 3439 - - - - - - - - 14.12 14.31 14.38
10405 888.7 -7.5 410 10405 done -0.80 - - 2639 - - - 2777 - -107.1 - - 3438 - - - - - - - - 14.93 14.93 14.93
10741 913.1 -7.2 416 10747 roll -0.80 - - 2639 - 2.47 0.044 1358 -574.5 -107.1 - - 3436 - - - - - - - - 14.90 14.41 14.91
10775 915.5 -7.0 421 10781 done -0.80 - - 2630 - 2.58 0.069 2759 543.0 -107.1 - - 3435 - - - - - - - - 14.35 14.24 14.40
11018 end dive: TARGET_DEPTH_EXCEEDED
11018 begin apogee
11025 933.2 -7.3 428 11137 roll -0.23 0.68 0.182 2825 286.8 0.08 0.174 2258 -6262.5 - 109.75 1.977 3049 -3.5 0.324 - - - - - - 14.11 13.94 13.05
11139 end apogee: CONTROL_FINISHED_OK
11139 begin climb
11141 935.7 - 430 11268 roll 0.93 1.10 0.095 3181 323.6 2.53 0.057 875 -546.6 107.1 117.57 1.965 2621 -3.6 0.338 - - - - - - 13.99 14.02 12.88
11309 928.7 7.5 455 11315 done 0.81 - - 3181 - 2.53 0.051 2251 543.9 112.3 1.00 0.223 2602 -19.0 15.432 - - - - - - 14.00 13.93 13.82
11639 900.1 8.9 467 11644 roll 0.68 0.20 0.231 3125 -280.0 2.60 0.099 3654 539.6 112.3 - - 2606 - - - - - - - - 14.16 14.28 14.40
11715 893.8 7.9 478 11721 done 0.59 0.15 0.212 3094 -206.7 2.42 0.040 2261 -575.6 112.3 - - 2605 - - - - - - - - 14.15 14.38 14.32
12031 875.0 5.9 488 12078 done 0.63 - - 3094 - - - 2261 - 149.4 46.42 1.929 2455 -3.2 0.286 - - - - - - 14.81 14.21 13.33
12367 853.1 6.6 494 12400 roll 0.66 - - 3093 - 2.70 0.102 3644 512.2 171.6 26.15 1.964 2359 -3.7 0.311 - - - - - - 14.71 14.22 13.35
12450 846.7 8.0 506 12456 done 0.66 - - 3102 - 2.45 0.041 2258 -565.7 171.6 - - 2354 - - - - - - - - 14.36 14.32 14.38
12815 820.3 7.2 516 12827 roll 0.67 - - 3111 - 2.53 0.063 854 -554.9 182.3 4.65 1.916 2329 -5.4 0.449 - - - - - - 14.75 14.45 13.01
12849 817.8 8.7 521 12855 done 0.67 - - 3110 - 2.50 0.054 2257 561.2 182.3 0.85 0.246 2327 - - - - - - - - 14.46 14.39 14.22
13207 791.9 7.3 530 13228 roll 0.68 - - 3112 - 2.60 0.101 3652 536.5 190.4 15.50 2.013 2288 -2.5 0.193 - - - - - - 14.80 14.31 13.54
13297 784.6 8.5 543 13303 done 0.68 - - 3122 - 2.45 0.040 2254 -570.6 190.4 - - 2283 - - - - - - - - 14.48 14.43 14.49
13655 757.0 7.7 552 13655 done 0.68 - - 3122 - - - 2253 - 191.4 - - 2281 - - - - - - - - 14.81 14.81 14.81
13991 731.8 7.5 558 13997 roll 0.69 - - 3122 - 2.65 0.100 3652 527.9 195.9 1.35 0.258 2271 -7.4 4.098 - - - - - - 14.85 14.33 14.12
14025 728.9 8.5 563 14031 done 0.69 - - 3132 - 2.42 0.041 2259 -575.6 195.9 - - 2275 - - - - - - - - 14.50 14.45 14.51
14383 699.5 8.3 572 14384 done 0.69 - - 3132 - - - 2259 - 195.9 - - 2277 - - - - - - - - 14.87 14.87 14.88
14718 670.2 8.8 578 14724 roll 0.69 - - 3133 - 2.65 0.102 3653 526.0 195.9 - - 2277 - - - - - - - - 14.88 14.34 14.89
14752 666.7 9.9 583 14759 done 0.69 - - 3143 - 2.42 0.041 2254 -578.1 195.9 - - 2277 - - - - - - - - 14.57 14.52 14.59
15111 633.9 9.1 592 15117 roll 0.69 - - 3152 - 2.45 0.063 864 -567.3 195.9 - - 2277 - - - - - - - - 14.89 14.40 14.89
15138 631.4 9.0 596 15145 done 0.69 0.08 0.210 3129 -287.5 2.47 0.054 2263 566.4 195.9 - - 2277 - - - - - - - - 14.20 14.40 14.38
15503 602.4 7.8 606 15508 roll 0.69 - - 3129 - 2.60 0.101 3651 533.8 195.9 - - 2276 - - - - - - - - 14.87 14.31 14.88
15530 600.0 8.3 610 15536 done 0.69 - - 3140 - 2.42 0.040 2255 -576.9 195.9 - - 2277 - - - - - - - - 14.54 14.50 14.56
15895 572.3 7.6 620 15900 done 0.69 - - 3139 - - - 2253 - 199.2 3.33 1.373 2257 -6.0 0.488 - - - - - - 14.87 14.50 13.07
16231 545.4 8.2 626 16237 roll 0.69 - - 3139 - 2.65 0.099 3652 527.9 199.2 1.73 0.278 2260 1.7 -0.664 - - - - - - 14.87 14.14 13.73
16265 542.1 9.7 631 16271 done 0.69 - - 3150 - 2.42 0.041 2255 -577.3 199.2 1.27 0.246 2260 - - - - - - - - 14.57 14.52 14.01
16622 509.4 9.1 640 16629 roll 0.69 - - 3160 - 2.45 0.060 854 -571.8 199.2 1.73 0.279 2260 - - - - - - - - 14.89 14.07 13.65
16643 507.5 9.2 643 16650 done 0.69 0.10 0.197 3129 -310.0 2.50 0.054 2267 565.2 199.2 0.95 0.258 2260 - - - - - - - - 14.19 14.40 14.04
16959 483.1 7.6 653 16965 done 0.70 - - 3129 - - - 2268 - 202.5 4.95 1.800 2243 -3.4 0.180 - - - - - - 14.88 14.52 13.19
17295 458.5 7.2 659 17321 roll 0.71 - - 3129 - 2.65 0.103 3654 523.0 212.5 18.40 1.672 2191 -2.8 0.151 - - - - - - 14.87 14.44 13.68
17350 454.0 8.3 667 17356 done 0.71 - - 3138 - 2.42 0.041 2263 -574.8 212.5 - - 2192 - - - - - - - - 14.50 14.46 14.51
17687 426.8 8.1 680 17693 roll 0.71 - - 3149 - 2.45 0.062 859 -573.1 212.5 - - 2190 - - - - - - - - 14.81 14.36 14.81
17721 423.9 8.1 685 17727 done 0.71 - - 3149 - 2.47 0.053 2257 566.0 212.5 - - 2190 - - - - - - - - 14.44 14.36 14.48
18078 393.6 8.6 694 18084 roll 0.71 - - 3148 - 2.60 0.103 3647 534.6 212.5 - - 2190 - - - - - - - - 14.83 14.29 14.83
18127 388.9 9.9 701 18135 done 0.71 0.08 0.220 3136 -150.0 2.42 0.041 2252 -576.4 212.5 - - 2188 - - - - - - - - 14.17 14.46 14.33
18470 361.8 7.8 708 18478 roll 0.71 - - 3146 - 2.47 0.063 861 -563.2 212.5 - - 2190 - - - - - - - - 14.85 14.33 14.85
18519 358.1 8.0 715 18526 done 0.71 - - 3146 - 2.47 0.054 2258 565.6 212.5 - - 2190 - - - - - - - - 14.45 14.36 14.49
18863 331.8 7.7 722 18868 roll 0.71 - - 3146 - 2.62 0.103 3654 532.8 214.5 - - 2190 - - - - - - - - 14.85 14.29 14.85
18911 327.6 8.9 729 18918 done 0.71 - - 3157 - 2.42 0.040 2253 -578.9 214.5 - - 2190 - - - - - - - - 14.52 14.47 14.54
19254 298.9 8.5 736 19261 roll 0.71 - - 3167 - 2.47 0.063 869 -560.3 214.5 - - 2190 - - - - - - - - 14.86 14.32 14.87
19282 296.4 8.7 740 19289 done 0.71 0.10 0.194 3136 -310.0 2.45 0.054 2259 567.3 214.5 - - 2190 - - - - - - - - 14.17 14.39 14.35
19647 267.8 7.8 750 19652 roll 0.71 - - 3135 - 2.62 0.104 3653 532.1 214.5 - - 2190 - - - - - - - - 14.87 14.28 14.88
19716 261.5 9.1 760 19723 done 0.71 - - 3146 - 2.40 0.039 2262 -579.6 214.5 - - 2189 - - - - - - - - 14.52 14.48 14.54
20038 235.1 8.1 771 20044 roll 0.71 - - 3156 - 2.50 0.063 869 -557.2 214.5 - - 2190 - - - - - - - - 14.90 14.31 14.90
20087 231.2 8.0 778 20094 done 0.71 - - 3154 - 2.47 0.053 2270 567.2 214.5 - - 2190 - - - - - - - - 14.42 14.33 14.46
20431 204.2 7.8 785 20436 roll 0.71 - - 3156 - 2.60 0.103 3658 533.8 214.5 - - 2190 - - - - - - - - 14.90 14.29 14.90
20451 202.5 7.8 788 20459 done 0.71 0.10 0.207 3136 -200.0 2.42 0.039 2253 -580.6 214.5 - - 2190 - - - - - - - - 14.16 14.47 14.33
20767 179.8 7.2 798 20787 roll 0.73 - - 3146 - 2.45 0.062 867 -565.7 226.1 13.50 1.395 2142 -3.6 0.089 - - - - - - 14.88 14.52 13.78
20808 176.7 7.2 804 20823 done 0.74 - - 3146 - 2.45 0.053 2262 569.4 236.9 9.90 1.423 2105 -3.7 0.091 - - - - - - 14.52 14.45 13.73
21159 148.5 8.1 812 21165 roll 0.74 - - 3146 - 2.60 0.103 3660 537.7 236.9 - - 2100 - - - - - - - - 14.82 14.30 14.82
21215 143.6 8.9 820 21221 done 0.74 - - 3157 - 2.38 0.039 2259 -588.7 236.9 - - 2099 - - - - - - - - 14.58 14.50 14.60
21551 114.3 9.1 833 21551 done 0.74 - - 3156 - - - 2256 - 236.9 - - 2097 - - - - - - - - 14.84 14.84 14.84
21859 89.0 8.0 840 21865 roll 0.74 - - 3157 - 2.62 0.103 3654 533.6 236.9 - - 2099 - - - - - - - - 14.85 14.26 14.85
22061 72.3 7.9 869 22067 done 0.74 - - 3167 - 2.40 0.040 2268 -577.5 236.9 - - 2099 - - - - - - - - 14.52 14.48 14.55
22391 55.7 4.1 883 22432 roll 0.93 - - 3176 - 2.45 0.059 855 -576.7 308.8 35.10 0.340 1821 -7.9 0.253 - - - - - - 14.87 14.43 14.09
22607 46.8 4.0 914 22650 done 1.20 0.25 0.052 3295 476.0 2.47 0.051 2262 569.6 384.0 38.20 0.309 1520 -7.9 0.233 - - - - - - 14.45 14.37 14.11
22974 21.3 6.7 933 22991 roll 1.22 - - 3295 - 2.65 0.103 3652 524.5 404.0 10.43 0.233 1443 -7.4 0.132 - - - - - - 14.80 14.27 14.09
23174 4.9 2.4 962 23230 done 1.35 - - 3304 - 2.40 0.040 2260 -580.0 510.9 51.08 0.174 1012 -8.4 0.046 - - - - - - 14.47 14.45 14.23
23234 end climb: SURFACE_DEPTH_REACHED
23234 begin surface coast
23241 end surface coast: CONTROL_FINISHED_OK
23241 begin surface
SM -2.25 - - - - -8.38 9.12 0.070 185 20.3 0.95 0.083 2769 -6826.3 511.95 - - 1012 - - - - - - - -