SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 332 * Raw log
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• Previous call tries 3 • 121.88 of 350.00 AH used of 24V (65.18% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.3 deg, depth -3.04 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 3 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 - - - 91 done -0.93 - - 121 - - - 2786 - -107.1 -76.00 - 3478 - - - - - - - - 14.67 12.67 14.66
94 -1.5 -5.0 2 114 roll -0.93 11.93 0.387 2592 207.1 2.38 0.033 1360 -599.2 -107.1 - - 3480 - - - - - - - - 14.02 14.44 14.39
183 31.8 -19.2 16 189 done -0.70 0.32 0.248 2667 234.4 2.55 0.067 2768 552.2 -107.1 - - 3480 - - - - - - - - 14.04 14.28 14.25
506 69.2 -9.7 29 512 roll -0.63 0.10 0.254 2689 220.0 1.98 0.107 3825 533.8 -107.1 - - 3482 - - - - - - - - 14.31 14.33 14.53
540 71.9 -7.7 34 546 done -0.63 - - 2689 - 1.80 0.038 2734 -606.1 -107.1 - - 3482 - - - - - - - - 14.66 14.62 14.68
870 95.5 -7.2 48 875 roll -0.63 - - 2680 - 2.08 0.107 3819 521.6 -107.1 - - 3482 - - - - - - - - 14.88 14.36 14.88
1107 114.9 -7.8 82 1113 done -0.63 - - 2680 - 1.73 0.039 2779 -601.2 -107.1 - - 3482 - - - - - - - - 14.73 14.69 14.74
1430 140.2 -8.0 93 1436 roll -0.63 - - 2672 - 2.00 0.107 3819 520.0 -107.1 - - 3482 - - - - - - - - 14.92 14.37 14.92
1526 148.9 -8.8 107 1533 done -0.63 - - 2672 - 1.75 0.041 2775 -596.6 -107.1 - - 3481 - - - - - - - - 14.73 14.69 14.75
1878 178.1 -8.2 115 1883 roll -0.63 - - 2672 - 2.33 0.043 1385 -596.6 -107.1 - - 3479 - - - - - - - - 14.93 14.53 14.93
1954 184.4 -8.1 126 1960 done -0.63 0.10 0.201 2692 200.0 2.47 0.066 2775 562.8 -107.1 - - 3477 - - - - - - - - 14.31 14.48 14.47
2270 206.9 -7.0 136 2271 done -0.71 - - 2692 - - - 2776 - -107.1 - - 3475 - - - - - - - - 14.94 14.95 14.94
2606 229.2 -6.6 142 2607 done -0.79 0.10 0.114 2618 -740.0 - - 2776 - -107.1 - - 3472 - - - - - - - - 14.69 14.76 14.73
2941 260.2 -9.4 148 2947 roll -0.79 - - 2617 - 2.42 0.044 1383 -575.6 -107.1 - - 3470 - - - - - - - - 14.95 14.53 14.95
2975 263.6 -9.7 153 2983 done -0.79 0.10 0.225 2636 190.0 2.53 0.067 2778 551.4 -107.1 - - 3469 - - - - - - - - 14.26 14.45 14.44
3333 296.7 -9.3 162 3339 roll -0.79 - - 2629 - 2.00 0.109 3823 522.5 -107.1 - - 3468 - - - - - - - - 14.97 14.35 14.97
3382 301.6 -10.0 169 3390 done -0.79 - - 2628 - 1.77 0.041 2775 -592.1 -107.1 - - 3467 - - - - - - - - 14.74 14.69 14.76
3726 334.2 -9.5 176 3731 roll -0.79 - - 2620 - 2.03 0.108 3822 515.8 -107.1 - - 3464 - - - - - - - - 14.95 14.35 14.95
3767 338.3 -10.1 182 3773 done -0.79 - - 2620 - 1.80 0.041 2758 -591.1 -107.1 - - 3464 - - - - - - - - 14.74 14.69 14.75
4117 371.8 -9.6 190 4123 roll -0.79 - - 2621 - 2.35 0.042 1389 -582.6 -107.1 - - 3463 - - - - - - - - 14.95 14.52 14.94
4151 375.2 -9.9 195 4158 done -0.79 0.10 0.230 2639 180.0 2.47 0.065 2770 559.1 -107.1 - - 3462 - - - - - - - - 14.23 14.45 14.42
4509 408.2 -9.3 204 4515 roll -0.79 - - 2631 - 2.03 0.109 3827 520.7 -107.1 - - 3460 - - - - - - - - 14.95 14.33 14.95
4557 413.1 -10.1 211 4565 done -0.79 - - 2631 - 1.80 0.042 2769 -587.8 -107.1 - - 3460 - - - - - - - - 14.74 14.69 14.75
4902 446.3 -9.7 218 4903 done -0.79 - - 2631 - - - 2769 - -107.1 - - 3461 - - - - - - - - 14.94 14.94 14.94
5237 477.4 -9.1 224 5243 roll -0.79 - - 2623 - 2.05 0.109 3825 515.1 -107.1 - - 3457 - - - - - - - - 14.94 14.33 14.94
5293 482.6 -9.4 232 5299 done -0.79 - - 2617 - 1.77 0.043 2772 -594.9 -107.1 - - 3456 - - - - - - - - 14.64 14.61 14.65
5630 510.3 -8.1 245 5636 roll -0.79 - - 2620 - 2.03 0.107 3815 513.8 -107.1 - - 3455 - - - - - - - - 14.96 14.31 14.95
5692 515.9 -8.9 254 5698 done -0.79 - - 2617 - 1.77 0.041 2772 -589.3 -107.1 - - 3454 - - - - - - - - 14.71 14.66 14.71
6022 544.0 -8.6 266 6022 done -0.79 - - 2620 - - - 2772 - -107.1 - - 3453 - - - - - - - - 14.93 14.93 14.93
6358 573.1 -8.6 272 6363 roll -0.79 - - 2612 - 2.05 0.107 3821 511.7 -107.1 - - 3451 - - - - - - - - 14.93 14.29 14.93
6384 575.5 -8.6 276 6391 done -0.79 0.10 0.242 2640 280.0 1.77 0.043 2786 -584.7 -107.1 - - 3451 - - - - - - - - 14.28 14.65 14.52
6749 604.0 -7.8 286 6755 roll -0.79 - - 2640 - 2.45 0.043 1378 -574.7 -107.1 - - 3450 - - - - - - - - 14.94 14.46 14.93
6790 607.4 -8.1 292 6797 done -0.79 - - 2631 - 2.55 0.065 2784 551.4 -107.1 - - 3449 - - - - - - - - 14.48 14.38 14.52
7141 637.1 -8.6 300 7147 roll -0.79 - - 2622 - 2.00 0.112 3825 520.5 -107.1 - - 3447 - - - - - - - - 14.93 14.25 14.93
7203 642.8 -9.1 309 7211 done -0.79 - - 2622 - 1.80 0.044 2777 -582.2 -107.1 - - 3447 - - - - - - - - 14.66 14.62 14.68
7534 671.8 -8.7 321 7534 done -0.79 - - 2621 - - - 2777 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
7870 700.4 -8.5 327 7870 done -0.79 - - 2622 - - - 2777 - -107.1 - - 3445 - - - - - - - - 14.92 14.92 14.92
8206 728.3 -8.3 333 8207 done -0.79 - - 2621 - - - 2776 - -107.1 - - 3445 - - - - - - - - 14.95 14.95 14.95
8541 756.7 -8.5 339 8542 done -0.79 - - 2622 - - - 2777 - -107.1 - - 3443 - - - - - - - - 14.95 14.94 14.95
8877 785.4 -8.5 345 8884 roll -0.79 - - 2621 - 2.45 0.044 1382 -569.4 -107.1 - - 3444 - - - - - - - - 14.95 14.40 14.95
8918 789.1 -8.7 351 8925 done -0.79 0.10 0.230 2640 190.0 2.55 0.066 2772 545.1 -107.1 - - 3441 - - - - - - - - 14.05 14.31 14.23
9269 817.1 -8.0 359 9270 done -0.79 - - 2640 - - - 2767 - -107.1 - - 3441 - - - - - - - - 14.95 14.94 14.95
9606 843.7 -7.9 365 9612 roll -0.79 - - 2633 - 2.05 0.112 3824 515.6 -107.1 - - 3439 - - - - - - - - 14.91 14.16 14.91
9640 846.5 -7.2 370 9646 done -0.79 - - 2632 - 1.80 0.045 2777 -581.7 -107.1 - - 3439 - - - - - - - - 14.58 14.55 14.59
9998 874.1 -7.7 379 10003 roll -0.79 - - 2632 - 2.42 0.044 1367 -582.6 -107.1 - - 3438 - - - - - - - - 14.93 14.36 14.94
10074 880.0 -7.6 390 10080 done -0.79 - - 2623 - 2.58 0.067 2777 546.5 -107.1 - - 3438 - - - - - - - - 14.35 14.26 14.41
10390 904.5 -7.7 400 10395 roll -0.79 - - 2615 - 2.03 0.111 3819 513.3 -107.1 - - 3437 - - - - - - - - 14.90 14.13 14.90
10437 908.5 -8.4 407 10446 done -0.79 0.10 0.239 2643 280.0 1.83 0.044 2772 -572.1 -107.1 - - 3436 - - - - - - - - 14.17 14.57 14.41
10779 end dive: TARGET_DEPTH_EXCEEDED
10779 begin apogee
10786 932.9 -7.1 414 10897 roll -0.23 0.60 0.169 2820 295.0 0.10 0.150 2273 -4990.0 - 108.68 2.005 3049 -3.6 0.328 - - - - - - 14.14 13.95 13.07
10899 end apogee: CONTROL_FINISHED_OK
10899 begin climb
10902 936.1 - 416 11026 done 0.93 1.17 0.099 3198 323.1 - - 2273 - 107.1 117.03 1.970 2616 -3.7 0.349 - - - - - - 13.99 14.22 12.93
11342 904.9 8.7 445 11343 done 0.77 0.17 0.239 3153 -264.7 - - 2273 - 107.1 - - 2608 - - - - - - - - 14.14 14.44 14.40
11678 880.5 7.0 451 11699 roll 0.70 - - 3152 - 2.62 0.099 3641 522.1 121.0 13.50 2.080 2562 -3.4 0.286 - - - - - - 14.78 14.38 13.52
11734 876.0 8.2 459 11740 done 0.56 0.25 0.216 3085 -268.0 2.38 0.040 2279 -572.3 121.0 - - 2560 - - - - - - - - 14.21 14.43 14.46
12070 857.0 5.5 472 12126 done 0.61 - - 3085 - - - 2279 - 166.2 51.97 1.926 2382 -3.4 0.302 - - - - - - 14.78 14.18 13.34
12462 830.9 6.6 479 12495 roll 0.64 - - 3085 - 2.67 0.099 3642 510.5 189.6 25.95 1.958 2288 -3.6 0.305 - - - - - - 14.72 14.23 13.38
12545 828.1 7.7 491 12551 done 0.64 - - 3093 - 2.45 0.041 2252 -567.3 190.8 - - 2285 - - - - - - - - 14.37 14.33 14.40
12910 802.3 7.1 501 12930 roll 0.66 - - 3094 - 2.62 0.099 3640 529.8 202.9 14.45 2.033 2235 -3.5 0.271 - - - - - - 14.75 14.36 13.50
12958 798.8 7.4 508 12966 done 0.67 - - 3103 - 2.42 0.040 2251 -574.0 210.6 3.53 1.546 2213 -6.2 0.638 - - - - - - 14.45 14.41 12.96
13302 772.1 7.8 515 13307 roll 0.67 - - 3103 - 2.62 0.099 3640 530.2 210.6 - - 2217 - - - - - - - - 14.80 14.34 14.76
13329 769.7 8.6 519 13335 done 0.67 - - 3112 - 2.40 0.040 2262 -574.2 210.6 - - 2218 - - - - - - - - 14.51 14.48 14.54
13694 739.6 8.3 529 13700 roll 0.67 - - 3112 - 2.62 0.099 3640 526.0 210.6 - - 2218 - - - - - - - - 14.82 14.37 14.82
13728 736.4 9.0 534 13734 done 0.67 - - 3121 - 2.40 0.041 2257 -576.2 210.6 0.82 0.243 2213 -6.1 3.664 - - - - - - 14.55 14.50 14.19
14086 706.5 8.4 543 14091 roll 0.67 - - 3121 - 2.62 0.097 3649 531.3 210.6 - - 2217 - - - - - - - - 14.86 14.36 14.86
14120 703.3 9.3 548 14126 done 0.67 - - 3130 - 2.42 0.041 2255 -576.0 210.6 - - 2217 - - - - - - - - 14.55 14.51 14.58
14478 673.5 8.3 557 14478 done 0.67 - - 3130 - - - 2251 - 210.6 - - 2216 - - - - - - - - 14.88 14.88 14.88
14814 646.4 8.0 563 14819 roll 0.67 - - 3131 - 2.62 0.099 3646 532.4 210.6 - - 2217 - - - - - - - - 14.90 14.35 14.88
14890 639.4 9.2 574 14896 done 0.67 - - 3140 - 2.40 0.040 2255 -579.6 210.6 - - 2217 - - - - - - - - 14.54 14.50 14.57
15206 612.3 8.6 584 15211 roll 0.67 - - 3140 - 2.65 0.099 3637 521.5 210.6 - - 2217 - - - - - - - - 14.89 14.28 14.90
15240 608.9 9.7 589 15248 done 0.67 0.10 0.214 3121 -190.0 2.38 0.040 2262 -577.7 210.6 - - 2217 - - - - - - - - 14.19 14.50 14.35
15598 581.1 7.6 598 15603 done 0.67 - - 3122 - - - 2261 - 213.7 3.22 1.368 2200 -5.3 0.445 - - - - - - 14.86 14.52 13.10
15934 556.8 7.2 604 15960 roll 0.68 - - 3120 - 2.60 0.099 3646 532.7 225.1 20.05 1.750 2147 -2.6 0.167 - - - - - - 14.86 14.45 13.66
15989 552.4 8.1 612 15995 done 0.68 - - 3130 - 2.40 0.041 2270 -573.3 225.1 - - 2146 - - - - - - - - 14.50 14.45 14.51
16326 525.5 8.1 625 16332 roll 0.68 - - 3130 - 2.60 0.099 3645 528.8 225.1 - - 2143 - - - - - - - - 14.78 14.31 14.79
16346 523.6 8.5 628 16352 done 0.68 - - 3138 - 2.40 0.041 2262 -576.2 225.1 - - 2143 - - - - - - - - 14.52 14.47 14.54
16662 495.2 9.0 638 16663 done 0.68 - - 3139 - - - 2260 - 225.1 - - 2143 - - - - - - - - 14.83 14.82 14.83
16998 464.8 9.0 644 17003 roll 0.68 - - 3139 - 2.62 0.100 3649 530.2 225.1 - - 2143 - - - - - - - - 14.84 14.31 14.85
17025 462.0 9.9 648 17031 done 0.68 - - 3149 - 2.40 0.041 2266 -576.2 225.1 - - 2143 - - - - - - - - 14.48 14.43 14.50
17390 429.0 8.9 658 17395 roll 0.68 - - 3149 - 2.60 0.100 3643 529.6 225.1 - - 2143 - - - - - - - - 14.85 14.30 14.86
17438 424.2 9.9 665 17447 done 0.68 0.12 0.203 3123 -216.7 2.38 0.041 2272 -576.1 225.1 - - 2143 - - - - - - - - 14.16 14.49 14.33
17782 398.6 7.3 672 17790 roll 0.69 - - 3132 - 2.53 0.061 857 -559.3 233.3 3.88 1.490 2124 -4.9 0.260 - - - - - - 14.86 14.56 13.19
17844 393.9 7.4 681 17865 done 0.78 - - 3132 - 2.47 0.051 2270 572.1 241.0 14.35 1.646 2085 -2.7 0.129 - - - - - - 14.47 14.42 13.70
18223 364.9 7.7 693 18229 roll 0.78 - - 3132 - 2.58 0.100 3657 537.6 241.2 - - 2079 - - - - - - - - 14.82 14.32 14.82
18313 356.8 9.0 706 18320 done 0.78 - - 3140 - 2.40 0.039 2267 -579.2 241.2 - - 2080 - - - - - - - - 14.52 14.48 14.54
18671 326.3 8.6 715 18676 roll 0.78 - - 3144 - 2.62 0.100 3660 531.7 241.2 - - 2080 - - - - - - - - 14.83 14.31 14.84
18705 322.7 10.3 720 18711 done 0.78 - - 3150 - 2.38 0.038 2287 -576.9 241.2 - - 2081 - - - - - - - - 14.47 14.42 14.49
19063 289.3 9.3 729 19069 roll 0.78 - - 3161 - 2.47 0.060 859 -578.1 241.2 - - 2080 - - - - - - - - 14.85 14.40 14.85
19132 282.7 9.2 739 19138 done 0.78 - - 3161 - 2.50 0.053 2284 570.0 241.2 - - 2080 - - - - - - - - 14.46 14.37 14.50
19455 252.2 9.5 750 19460 roll 0.78 - - 3161 - 2.55 0.101 3658 538.8 241.2 - - 2080 - - - - - - - - 14.88 14.31 14.88
19489 248.4 10.9 755 19496 done 0.78 - - 3171 - 2.38 0.039 2280 -579.0 241.2 - - 2080 - - - - - - - - 14.54 14.50 14.57
19847 213.1 9.8 764 19848 done 0.78 - - 3171 - - - 2275 - 241.2 - - 2080 - - - - - - - - 14.89 14.89 14.89
20183 180.8 9.5 770 20188 roll 0.78 - - 3182 - 2.47 0.060 848 -577.7 241.2 - - 2080 - - - - - - - - 14.89 14.38 14.90
20210 178.1 9.8 774 20216 done 0.78 - - 3179 - 2.53 0.054 2280 566.0 241.2 - - 2080 - - - - - - - - 14.47 14.38 14.51
20575 142.5 9.6 784 20576 done 0.78 - - 3182 - - - 2279 - 241.2 - - 2080 - - - - - - - - 14.89 14.90 14.90
20911 112.6 8.9 790 20916 roll 0.78 - - 3182 - 2.55 0.101 3653 538.8 241.2 - - 2080 - - - - - - - - 14.88 14.31 14.88
20980 104.9 11.4 800 20987 done 0.78 0.12 0.200 3155 -225.0 2.38 0.038 2279 -577.3 241.2 - - 2081 - - - - - - - - 14.16 14.49 14.33
21303 79.8 7.7 815 21308 roll 0.79 - - 3155 - 2.62 0.099 3659 526.7 242.7 - - 2080 - - - - - - - - 14.87 14.29 14.87
21365 74.6 8.5 824 21371 done 0.79 - - 3165 - 2.35 0.037 2292 -581.7 242.7 - - 2081 - - - - - - - - 14.47 14.44 14.50
21695 53.3 5.9 838 21723 roll 0.91 - - 3175 - 2.55 0.060 856 -563.1 279.2 18.12 0.339 1938 -7.9 0.246 - - - - - - 14.88 14.47 14.08
21822 45.3 6.1 856 21848 done 1.07 0.15 0.092 3261 573.3 2.47 0.052 2295 582.6 311.8 17.17 0.314 1808 -7.6 0.217 - - - - - - 14.51 14.42 14.14
22173 24.7 4.0 873 22214 roll 1.17 - - 3268 - 2.60 0.099 3661 525.4 385.5 36.75 0.255 1514 -8.0 0.154 - - - - - - 14.82 14.38 14.16
22445 13.0 5.7 912 22473 done 1.31 0.10 0.117 3334 660.0 2.33 0.037 2275 -594.8 426.3 20.27 0.209 1351 -8.0 0.099 - - - - - - 14.42 14.47 14.13
22581 end climb: SURFACE_DEPTH_REACHED
22582 begin surface coast
22610 end surface coast: CONTROL_FINISHED_OK
22612 begin surface
SM -2.72 - - - - -8.40 9.43 0.083 180 19.1 0.93 0.086 2769 -9312.9 500.14 34.10 0.160 1058 31.0 0.054 - - - - - -