SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 334 * Raw log
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• Previous call tries 1 • 122.51 of 350.00 AH used of 24V (65.00% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth -3.58 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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 - - - 92 done -0.93 - - 136 - - - 2780 - -107.1 -76.00 - 3476 - - - - - - - - 14.69 12.66 14.67
95 -1.9 -4.9 2 115 roll -0.93 11.60 0.383 2589 211.5 2.35 0.029 1355 -606.4 -107.1 - - 3479 - - - - - - - - 14.03 14.47 14.40
199 38.1 -21.5 18 205 done -0.65 0.32 0.239 2680 284.4 2.55 0.069 2762 551.8 -107.1 - - 3480 - - - - - - - - 14.13 14.32 14.40
534 76.0 -10.5 33 540 roll -0.65 - - 2673 - 1.98 0.106 3818 533.3 -107.1 - - 3481 - - - - - - - - 14.85 14.31 14.84
771 94.2 -7.8 67 779 done -0.65 - - 2672 - 1.77 0.039 2752 -602.3 -107.1 - - 3482 - - - - - - - - 14.71 14.66 14.71
1123 123.4 -8.2 76 1128 roll -0.65 - - 2664 - 2.03 0.104 3819 525.6 -107.1 - - 3483 - - - - - - - - 14.92 14.38 14.92
1234 132.7 -8.3 92 1240 done -0.65 - - 2664 - 1.75 0.041 2766 -601.7 -107.1 - - 3483 - - - - - - - - 14.66 14.63 14.67
1570 159.8 -7.9 105 1571 done -0.65 - - 2664 - - - 2766 - -107.1 - - 3481 - - - - - - - - 14.95 14.95 14.94
1906 186.2 -7.8 111 1907 done -0.65 - - 2664 - - - 2766 - -107.1 - - 3479 - - - - - - - - 14.95 14.95 14.96
2243 211.8 -7.6 117 2248 roll -0.65 - - 2664 - 2.38 0.044 1389 -578.6 -107.1 - - 3476 - - - - - - - - 14.97 14.55 14.97
2277 214.5 -7.6 122 2283 done -0.65 0.10 0.204 2684 200.0 2.45 0.065 2761 560.0 -107.1 - - 3476 - - - - - - - - 14.32 14.47 14.47
2635 238.8 -6.8 131 2641 roll -0.65 - - 2677 - 2.00 0.109 3819 529.0 -107.1 - - 3474 - - - - - - - - 14.97 14.37 14.97
2676 241.6 -7.0 137 2682 done -0.65 - - 2677 - 1.77 0.041 2770 -592.7 -107.1 - - 3473 - - - - - - - - 14.75 14.69 14.76
3027 266.4 -7.2 145 3032 roll -0.65 - - 2676 - 2.35 0.043 1373 -594.5 -107.1 - - 3470 - - - - - - - - 14.96 14.58 14.96
3103 272.1 -7.3 156 3109 done -0.65 - - 2667 - 2.47 0.064 2762 562.3 -107.1 - - 3470 - - - - - - - - 14.54 14.45 14.59
3418 297.0 -8.0 166 3419 done -0.65 - - 2667 - - - 2762 - -107.1 - - 3468 - - - - - - - - 14.95 14.95 14.95
3754 324.2 -8.1 172 3755 done -0.65 - - 2666 - - - 2762 - -107.1 - - 3470 - - - - - - - - 14.97 14.96 14.96
4090 350.8 -7.8 178 4096 roll -0.65 - - 2666 - 2.40 0.043 1382 -575.0 -107.1 - - 3464 - - - - - - - - 14.97 14.53 14.97
4139 354.4 -7.4 185 4147 done -0.65 0.08 0.216 2680 175.0 2.50 0.065 2760 551.2 -107.1 - - 3464 - - - - - - - - 14.26 14.43 14.41
4483 376.3 -6.4 192 4488 roll -0.73 - - 2672 - 2.00 0.109 3829 534.5 -107.1 - - 3462 - - - - - - - - 14.95 14.38 14.96
4572 383.3 -8.8 205 4579 done -0.73 - - 2670 - 1.83 0.044 2760 -584.2 -107.1 - - 3461 - - - - - - - - 14.73 14.67 14.74
4931 408.0 -7.0 214 4936 roll -0.73 - - 2672 - 2.35 0.042 1374 -589.8 -107.1 - - 3459 - - - - - - - - 14.94 14.54 14.94
4993 412.9 -7.5 223 5000 done -0.81 - - 2663 - 2.50 0.065 2763 555.6 -107.1 - - 3459 - - - - - - - - 14.50 14.41 14.55
5322 438.7 -7.9 235 5329 roll -0.81 - - 2655 - 2.00 0.109 3818 527.5 -107.1 - - 3458 - - - - - - - - 14.96 14.32 14.96
5405 445.8 -8.2 247 5413 done -0.81 - - 2654 - 1.83 0.042 2750 -583.6 -107.1 - - 3457 - - - - - - - - 14.73 14.64 14.72
5770 474.5 -7.8 257 5776 roll -0.81 - - 2658 - 2.38 0.043 1373 -578.6 -107.1 - - 3456 - - - - - - - - 14.95 14.47 14.96
5840 479.9 -7.5 267 5847 done -0.81 - - 2645 - 2.50 0.065 2755 552.8 -107.1 - - 3455 - - - - - - - - 14.49 14.39 14.54
6162 505.1 -7.8 278 6168 roll -0.81 - - 2637 - 2.05 0.109 3828 523.4 -107.1 - - 3454 - - - - - - - - 14.93 14.30 14.93
6252 512.4 -8.1 291 6260 done -0.81 - - 2637 - 1.85 0.043 2748 -583.8 -107.1 - - 3453 - - - - - - - - 14.71 14.66 14.73
6610 540.5 -7.9 300 6616 roll -0.81 - - 2637 - 2.38 0.043 1379 -575.2 -107.1 - - 3452 - - - - - - - - 14.95 14.45 14.95
6630 542.1 -8.0 303 6638 done -0.81 - - 2628 - 2.53 0.066 2764 547.4 -107.1 - - 3452 - - - - - - - - 14.47 14.38 14.52
6946 567.7 -8.5 313 6952 roll -0.81 - - 2626 - 2.03 0.109 3823 521.7 -107.1 - - 3450 - - - - - - - - 14.95 14.29 14.94
6980 571.0 -9.6 318 6987 done -0.81 - - 2627 - 1.83 0.044 2759 -581.4 -107.1 - - 3450 - - - - - - - - 14.71 14.65 14.71
7339 602.0 -8.7 327 7345 roll -0.81 - - 2626 - 2.35 0.043 1381 -586.4 -107.1 - - 3449 - - - - - - - - 14.95 14.48 14.95
7386 606.3 -8.7 334 7395 done -0.81 - - 2617 - 2.53 0.065 2767 547.8 -107.1 - - 3449 - - - - - - - - 14.46 14.36 14.50
7730 637.8 -9.2 341 7736 roll -0.81 - - 2609 - 2.03 0.111 3821 519.2 -107.1 - - 3448 - - - - - - - - 14.95 14.25 14.95
7821 646.9 -10.0 354 7827 done -0.81 0.10 0.246 2636 270.0 1.85 0.043 2751 -578.4 -107.1 - - 3446 - - - - - - - - 14.23 14.62 14.49
8179 676.9 -8.3 363 8185 roll -0.81 - - 2633 - 2.35 0.043 1370 -587.7 -107.1 - - 3445 - - - - - - - - 14.92 14.46 14.92
8254 683.5 -8.5 374 8261 done -0.81 - - 2627 - 2.53 0.065 2757 548.2 -107.1 - - 3445 - - - - - - - - 14.45 14.35 14.50
8571 711.2 -8.8 384 8576 roll -0.81 - - 2618 - 2.03 0.110 3818 522.7 -107.1 - - 3445 - - - - - - - - 14.92 14.22 14.92
8654 719.0 -9.3 396 8660 done -0.81 - - 2618 - 1.83 0.044 2762 -577.0 -107.1 - - 3445 - - - - - - - - 14.66 14.59 14.66
9019 751.8 -9.0 406 9024 roll -0.81 - - 2617 - 2.38 0.044 1375 -582.8 -107.1 - - 3444 - - - - - - - - 14.89 14.44 14.91
9052 755.0 -9.2 411 9060 done -0.81 - - 2609 - 2.53 0.066 2757 546.2 -107.1 - - 3444 - - - - - - - - 14.40 14.31 14.47
9410 787.2 -9.0 420 9416 roll -0.81 0.10 0.264 2627 180.0 2.05 0.109 3828 522.4 -107.1 - - 3443 - - - - - - - - 14.21 14.20 14.45
9445 790.2 -8.8 425 9451 done -0.81 - - 2627 - 1.88 0.045 2737 -580.3 -107.1 - - 3443 - - - - - - - - 14.59 14.58 14.60
9802 819.3 -8.2 434 9808 roll -0.81 - - 2627 - 2.38 0.044 1375 -572.3 -107.1 - - 3442 - - - - - - - - 14.93 14.37 14.93
9829 821.6 -7.9 438 9836 done -0.81 - - 2618 - 2.55 0.067 2770 547.1 -107.1 - - 3441 - - - - - - - - 14.39 14.28 14.40
10195 853.4 -8.6 448 10200 roll -0.81 - - 2610 - 2.03 0.112 3818 516.3 -107.1 - - 3441 - - - - - - - - 14.90 14.16 14.90
10229 856.6 -7.1 453 10235 done -0.81 - - 2609 - 1.85 0.044 2755 -574.6 -107.1 - - 3440 - - - - - - - - 14.56 14.49 14.59
10587 887.5 -8.7 462 10592 roll -0.81 - - 2616 - 2.38 0.044 1376 -579.4 -107.1 - - 3439 - - - - - - - - 14.90 14.36 14.88
10620 890.5 -8.8 467 10628 done -0.81 0.12 0.236 2633 141.7 2.53 0.067 2757 545.8 -107.1 - - 3439 - - - - - - - - 13.97 14.28 14.16
10979 916.0 -7.0 476 10984 roll -0.81 - - 2625 - 2.03 0.113 3826 526.6 -107.1 - - 3438 - - - - - - - - 14.92 14.16 14.92
11020 919.0 -7.5 482 11026 done -0.81 - - 2624 - 1.88 0.046 2754 -570.2 -107.1 - - 3438 - - - - - - - - 14.62 14.56 14.64
11200 end dive: TARGET_DEPTH_EXCEEDED
11200 begin apogee
11206 932.2 -6.8 487 11319 roll -0.23 0.68 0.177 2824 294.1 0.10 0.154 2274 -4800.0 - 109.78 1.994 3049 -3.5 0.329 - - - - - - 14.09 13.95 13.10
11320 end apogee: CONTROL_FINISHED_OK
11320 begin climb
11323 935.3 - 489 11450 roll 0.93 1.15 0.105 3181 310.4 2.60 0.056 844 -550.0 107.1 116.75 1.977 2619 -3.7 0.346 - - - - - - 13.98 14.01 12.90
11484 928.4 7.2 513 11505 done 0.82 - - 3181 - 2.50 0.049 2238 557.6 118.3 12.20 2.122 2575 -3.6 0.313 - - - - - - 14.02 13.93 12.94
11820 898.9 9.1 526 11826 roll 0.70 0.20 0.229 3125 -280.0 2.62 0.096 3661 543.1 118.3 - - 2566 - - - - - - - - 14.15 14.27 14.40
11917 890.9 7.8 540 11924 done 0.62 0.10 0.207 3107 -180.0 2.47 0.040 2234 -577.7 118.3 - - 2567 - - - - - - - - 14.16 14.42 14.33
12269 869.5 6.0 548 12310 done 0.66 - - 3107 - - - 2233 - 153.9 39.62 1.956 2434 -3.4 0.296 - - - - - - 14.78 14.26 13.38
12653 845.5 6.3 561 12693 roll 0.69 - - 3101 - 2.80 0.100 3660 509.6 182.9 32.28 1.950 2315 -3.7 0.317 - - - - - - 14.72 14.21 13.38
12780 835.7 7.7 579 12786 done 0.70 - - 3115 - 2.45 0.040 2251 -575.1 183.3 - - 2314 - - - - - - - - 14.43 14.36 14.45
13101 813.5 6.9 590 13128 roll 0.72 - - 3116 - 2.70 0.100 3650 518.1 200.7 20.17 1.969 2245 -3.4 0.280 - - - - - - 14.76 14.30 13.46
13157 809.3 7.7 598 13163 done 0.72 - - 3125 - 2.45 0.041 2257 -568.6 201.5 - - 2242 - - - - - - - - 14.40 14.35 14.42
13493 782.5 8.0 611 13499 roll 0.72 - - 3135 - 2.42 0.062 865 -575.2 201.5 - - 2239 - - - - - - - - 14.76 14.39 14.76
13527 779.4 8.3 616 13534 done 0.72 - - 3135 - 2.47 0.054 2259 564.4 201.5 - - 2239 - - - - - - - - 14.47 14.39 14.50
13885 746.8 9.3 625 13891 roll 0.72 - - 3135 - 2.60 0.101 3658 538.1 201.5 - - 2237 - - - - - - - - 14.81 14.35 14.81
13961 738.8 10.5 636 13968 done 0.72 - - 3145 - 2.42 0.040 2258 -578.5 201.5 - - 2239 - - - - - - - - 14.54 14.51 14.57
14277 708.1 9.7 646 14278 done 0.72 - - 3145 - - - 2255 - 201.5 - - 2238 - - - - - - - - 14.83 14.83 14.83
14613 676.5 9.3 652 14619 roll 0.72 - - 3145 - 2.65 0.100 3661 530.6 201.5 - - 2238 - - - - - - - - 14.85 14.33 14.85
14654 672.1 10.5 658 14661 done 0.72 - - 3156 - 2.42 0.041 2265 -576.9 201.5 - - 2237 - - - - - - - - 14.54 14.50 14.57
15005 639.5 9.3 666 15011 roll 0.72 - - 3166 - 2.45 0.063 856 -575.1 201.5 - - 2237 - - - - - - - - 14.85 14.40 14.85
15025 637.6 9.2 669 15032 done 0.72 0.10 0.201 3137 -290.0 2.47 0.054 2260 568.4 201.5 - - 2237 - - - - - - - - 14.20 14.42 14.35
15341 612.1 8.0 679 15347 roll 0.72 - - 3137 - 2.60 0.101 3664 540.0 201.5 - - 2237 - - - - - - - - 14.86 14.31 14.85
15397 607.3 8.8 687 15403 done 0.72 - - 3146 - 2.42 0.041 2261 -579.8 201.5 - - 2237 - - - - - - - - 14.52 14.47 14.57
15733 579.7 8.3 700 15739 roll 0.72 - - 3157 - 2.45 0.063 858 -572.7 201.5 - - 2237 - - - - - - - - 14.86 14.37 14.86
15767 576.7 8.4 705 15774 done 0.72 - - 3157 - 2.47 0.055 2257 566.4 201.5 - - 2236 - - - - - - - - 14.48 14.40 14.52
16125 544.7 9.1 714 16131 roll 0.72 - - 3157 - 2.60 0.103 3652 536.5 201.5 - - 2236 - - - - - - - - 14.87 14.29 14.87
16181 539.0 10.4 722 16187 done 0.72 0.10 0.214 3138 -190.0 2.42 0.041 2261 -574.8 201.5 - - 2236 - - - - - - - - 14.14 14.45 14.31
16517 509.5 8.8 735 16524 roll 0.72 - - 3148 - 2.50 0.063 856 -562.0 201.5 - - 2238 - - - - - - - - 14.88 14.31 14.89
16544 507.1 8.7 739 16551 done 0.72 - - 3148 - 2.50 0.054 2266 564.0 201.5 - - 2236 - - - - - - - - 14.44 14.36 14.48
16910 476.1 8.4 749 16915 roll 0.72 - - 3148 - 2.60 0.104 3655 534.2 201.5 - - 2236 - - - - - - - - 14.88 14.27 14.88
16943 473.1 8.8 754 16950 done 0.72 - - 3158 - 2.42 0.041 2261 -576.0 201.5 - - 2236 - - - - - - - - 14.50 14.45 14.52
17301 444.4 7.9 763 17308 roll 0.72 - - 3172 - 2.50 0.065 858 -561.2 201.5 - - 2238 - - - - - - - - 14.89 14.28 14.89
17349 440.6 7.6 770 17357 done 0.72 0.10 0.200 3139 -330.0 2.53 0.056 2275 560.1 203.5 - - 2236 - - - - - - - - 14.11 14.34 14.27
17694 417.1 6.9 777 17720 roll 0.74 - - 3138 - 2.58 0.104 3655 534.9 220.3 20.67 1.588 2166 -3.4 0.176 - - - - - - 14.86 14.44 13.68
17797 408.6 8.5 792 17805 done 0.74 - - 3149 - 2.42 0.040 2262 -575.6 220.3 - - 2162 - - - - - - - - 14.49 14.45 14.50
18141 379.8 8.5 799 18148 roll 0.74 - - 3159 - 2.45 0.063 864 -570.6 220.3 - - 2161 - - - - - - - - 14.81 14.33 14.81
18168 377.4 8.8 803 18176 done 0.74 - - 3156 - 2.50 0.056 2269 562.0 220.3 - - 2161 - - - - - - - - 14.47 14.35 14.48
18533 344.3 9.1 813 18539 roll 0.74 - - 3159 - 2.60 0.104 3661 535.4 220.3 - - 2161 - - - - - - - - 14.83 14.28 14.83
18609 336.5 10.1 824 18616 done 0.74 0.08 0.218 3146 -162.5 2.40 0.039 2279 -575.8 220.3 - - 2161 - - - - - - - - 14.17 14.47 14.33
18925 310.4 8.2 834 18926 done 0.74 - - 3146 - - - 2276 - 220.3 - - 2161 - - - - - - - - 14.84 14.84 14.84
19261 283.6 7.9 840 19267 roll 0.74 - - 3146 - 2.62 0.099 3663 529.4 220.3 - - 2161 - - - - - - - - 14.85 14.27 14.85
19282 281.8 7.9 843 19289 done 0.74 - - 3156 - 2.42 0.041 2268 -576.4 220.3 - - 2161 - - - - - - - - 14.50 14.45 14.52
19597 256.5 8.0 853 19603 roll 0.74 - - 3166 - 2.50 0.063 866 -560.8 220.3 - - 2161 - - - - - - - - 14.88 14.31 14.90
19645 252.6 8.2 860 19653 done 0.74 - - 3166 - 2.50 0.054 2287 568.4 220.3 - - 2161 - - - - - - - - 14.43 14.35 14.47
19989 223.2 8.6 867 19996 roll 0.74 - - 3166 - 2.55 0.103 3641 531.0 220.3 - - 2161 - - - - - - - - 14.88 14.27 14.88
20030 219.1 10.3 873 20037 done 0.74 0.10 0.207 3147 -190.0 2.38 0.040 2278 -572.7 220.3 - - 2161 - - - - - - - - 14.14 14.46 14.30
20382 190.4 8.2 881 20387 roll 0.74 - - 3157 - 2.47 0.061 854 -576.5 220.3 - - 2162 - - - - - - - - 14.88 14.35 14.88
20422 187.1 8.0 887 20430 done 0.74 - - 3156 - 2.50 0.054 2268 565.6 220.3 - - 2161 - - - - - - - - 14.43 14.34 14.47
20773 158.0 8.3 895 20780 roll 0.74 - - 3157 - 2.60 0.103 3659 535.0 220.3 - - 2161 - - - - - - - - 14.87 14.25 14.87
20814 154.2 9.3 901 20821 done 0.74 - - 3166 - 2.40 0.038 2271 -578.3 220.3 - - 2162 - - - - - - - - 14.50 14.47 14.53
21165 124.3 8.5 909 21166 done 0.74 - - 3166 - - - 2266 - 220.3 - - 2162 - - - - - - - - 14.86 14.86 14.86
21501 96.5 8.2 915 21507 roll 0.74 - - 3166 - 2.62 0.100 3654 529.8 220.3 - - 2159 - - - - - - - - 14.90 14.25 14.89
21677 81.8 8.0 940 21682 done 0.74 0.12 0.219 3140 -216.7 2.35 0.039 2272 -588.1 220.3 - - 2163 - - - - - - - - 14.19 14.52 14.45
22008 62.8 5.6 954 22034 roll 0.89 0.08 0.142 3201 762.5 2.65 0.097 3655 521.9 263.8 20.88 0.366 1999 -7.9 0.267 - - - - - - 14.51 14.43 14.09
22264 46.8 5.0 991 22299 done 0.96 - - 3210 - 2.35 0.038 2287 -582.1 319.0 28.20 0.321 1779 -7.8 0.226 - - - - - - 14.50 14.46 14.09
22624 29.7 3.8 1009 22671 roll 1.18 0.12 0.102 3294 700.0 2.58 0.100 3653 529.5 398.5 39.47 0.269 1463 -8.0 0.175 - - - - - - 14.51 14.36 14.15
22902 10.8 5.6 1049 22930 done 1.24 - - 3302 - 2.33 0.037 2303 -579.4 442.2 21.38 0.205 1288 -8.2 0.086 - - - - - - 14.48 14.44 14.17
23067 end climb: SURFACE_DEPTH_REACHED
23067 begin surface coast
23095 end surface coast: CONTROL_FINISHED_OK
23095 begin surface
SM -3.44 - - - - -8.39 9.25 0.073 193 20.8 0.88 0.086 2768 -7370.5 500.14 26.77 0.158 1059 39.6 0.088 - - - - - -