SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 336 * Raw log
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• Previous call tries 1 • 123.15 of 350.00 AH used of 24V (64.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth -3.43 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 56 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 - - - 93 done -0.93 - - 142 - - - 2787 - -107.1 -76.70 - 3479 - - - - - - - - 14.67 12.65 14.67
96 -2.1 -3.5 2 116 roll -0.93 11.75 0.387 2590 208.3 2.42 0.043 1376 -583.1 -107.1 - - 3480 - - - - - - - - 14.02 14.38 14.40
206 38.8 -20.1 19 213 done -0.67 0.35 0.252 2673 237.1 2.50 0.068 2753 550.8 -107.1 - - 3481 - - - - - - - - 14.08 14.31 14.27
536 75.6 -9.2 33 541 roll -0.67 - - 2659 - 2.03 0.108 3828 529.6 -107.1 - - 3483 - - - - - - - - 14.83 14.30 14.83
668 86.4 -8.5 52 675 done -0.67 - - 2659 - 1.80 0.040 2752 -597.8 -107.1 - - 3488 - - - - - - - - 14.67 14.63 14.69
984 109.3 -7.4 62 985 done -0.67 - - 2658 - - - 2753 - -107.1 - - 3483 - - - - - - - - 14.89 14.90 14.90
1320 135.7 -8.1 68 1325 roll -0.67 - - 2650 - 2.05 0.106 3821 521.0 -107.1 - - 3483 - - - - - - - - 14.92 14.37 14.92
1517 152.6 -8.4 96 1522 done -0.67 0.10 0.225 2681 310.0 1.70 0.043 2775 -615.3 -107.1 - - 3482 - - - - - - - - 14.37 14.68 14.58
1880 178.1 -7.0 106 1885 roll -0.67 - - 2681 - 2.38 0.044 1391 -581.5 -107.1 - - 3479 - - - - - - - - 14.95 14.52 14.95
1977 185.3 -7.3 120 1983 done -0.67 - - 2671 - 2.50 0.067 2773 552.8 -107.1 - - 3479 - - - - - - - - 14.54 14.45 14.58
2328 212.3 -7.8 128 2333 roll -0.67 - - 2671 - 2.40 0.044 1389 -576.7 -107.1 - - 3476 - - - - - - - - 14.95 14.52 14.95
2362 215.1 -7.9 133 2368 done -0.67 - - 2662 - 2.47 0.067 2772 559.9 -107.1 - - 3476 - - - - - - - - 14.55 14.45 14.59
2719 244.2 -8.2 142 2720 done -0.67 - - 2662 - - - 2772 - -107.1 - - 3473 - - - - - - - - 14.96 14.96 14.96
3056 273.1 -8.6 148 3056 done -0.67 - - 2662 - - - 2772 - -107.1 - - 3471 - - - - - - - - 14.96 14.96 14.95
3392 301.7 -8.5 154 3397 roll -0.67 - - 2662 - 2.42 0.045 1384 -573.6 -107.1 - - 3469 - - - - - - - - 14.97 14.50 14.96
3454 307.1 -8.5 163 3461 done -0.67 - - 2650 - 2.50 0.068 2770 554.4 -107.1 - - 3469 - - - - - - - - 14.53 14.43 14.57
3784 335.4 -8.7 175 3790 roll -0.67 0.10 0.243 2675 250.0 2.00 0.110 3830 530.0 -107.1 - - 3467 - - - - - - - - 14.38 14.33 14.59
3839 339.9 -7.8 183 3846 done -0.67 - - 2674 - 1.77 0.045 2786 -589.8 -107.1 - - 3467 - - - - - - - - 14.64 14.62 14.66
4176 364.5 -7.3 196 4181 roll -0.67 - - 2675 - 2.40 0.044 1373 -588.8 -107.1 - - 3465 - - - - - - - - 14.94 14.53 14.94
4203 366.5 -7.2 200 4209 done -0.67 - - 2665 - 2.55 0.067 2777 550.6 -107.1 - - 3465 - - - - - - - - 14.47 14.40 14.54
4568 393.2 -7.2 210 4573 roll -0.67 - - 2665 - 2.42 0.044 1365 -583.5 -107.1 - - 3463 - - - - - - - - 14.94 14.47 14.94
4609 396.2 -7.2 216 4615 done -0.67 - - 2656 - 2.55 0.067 2777 553.7 -107.1 - - 3462 - - - - - - - - 14.50 14.41 14.54
4960 421.9 -7.4 224 4965 roll -0.67 - - 2656 - 2.42 0.044 1364 -583.9 -107.1 - - 3460 - - - - - - - - 14.93 14.54 14.93
4987 424.0 -7.7 228 4993 done -0.67 0.10 0.211 2676 200.0 2.55 0.067 2770 551.4 -107.1 - - 3461 - - - - - - - - 14.21 14.40 14.38
5352 450.0 -7.3 238 5357 roll -0.75 - - 2669 - 2.03 0.112 3822 518.2 -107.1 - - 3459 - - - - - - - - 14.93 14.30 14.93
5379 452.1 -7.7 242 5385 done -0.75 - - 2668 - 1.83 0.043 2756 -582.5 -107.1 - - 3459 - - - - - - - - 14.72 14.66 14.73
5744 479.2 -7.4 252 5749 roll -0.75 - - 2668 - 2.38 0.044 1382 -577.3 -107.1 - - 3457 - - - - - - - - 14.95 14.46 14.95
5813 484.6 -7.7 262 5819 done -0.82 - - 2660 - 2.50 0.067 2760 551.2 -107.1 - - 3457 - - - - - - - - 14.47 14.37 14.51
6136 510.2 -8.0 273 6136 done -0.82 - - 2660 - - - 2760 - -107.1 - - 3456 - - - - - - - - 14.95 14.95 14.95
6471 536.8 -7.9 279 6478 roll -0.82 - - 2659 - 2.42 0.044 1376 -571.9 -107.1 - - 3454 - - - - - - - - 14.94 14.45 14.94
6513 540.2 -7.8 285 6519 done -0.82 - - 2653 - 2.53 0.067 2770 551.0 -107.1 - - 3454 - - - - - - - - 14.49 14.37 14.53
6864 568.1 -7.9 293 6864 done -0.82 - - 2651 - - - 2770 - -107.1 - - 3453 - - - - - - - - 14.95 14.95 14.95
7199 594.2 -7.9 299 7206 roll -0.82 - - 2651 - 2.45 0.044 1376 -569.0 -107.1 - - 3451 - - - - - - - - 14.93 14.43 14.93
7248 598.0 -7.9 306 7255 done -0.82 - - 2641 - 2.53 0.067 2764 548.6 -107.1 - - 3449 - - - - - - - - 14.45 14.35 14.50
7592 626.1 -8.2 313 7592 done -0.82 - - 2641 - - - 2765 - -107.1 - - 3450 - - - - - - - - 14.95 14.95 14.95
7928 653.4 -8.1 319 7934 roll -0.82 - - 2641 - 2.40 0.044 1376 -578.8 -107.1 - - 3449 - - - - - - - - 14.95 14.47 14.95
7997 659.1 -8.0 329 8003 done -0.82 - - 2632 - 2.53 0.067 2763 548.2 -107.1 - - 3448 - - - - - - - - 14.43 14.33 14.47
8320 685.5 -8.2 340 8325 roll -0.82 - - 2631 - 2.42 0.045 1390 -567.4 -107.1 - - 3448 - - - - - - - - 14.94 14.40 14.94
8354 688.4 -8.6 345 8360 done -0.82 - - 2622 - 2.50 0.067 2764 549.6 -107.1 - - 3448 - - - - - - - - 14.44 14.33 14.49
8711 719.5 -8.7 354 8717 roll -0.82 - - 2614 - 2.05 0.110 3823 516.6 -107.1 - - 3446 - - - - - - - - 14.92 14.21 14.92
8760 724.1 -9.6 361 8767 done -0.82 - - 2613 - 1.85 0.044 2753 -578.4 -107.1 - - 3446 - - - - - - - - 14.65 14.59 14.66
9104 754.7 -8.9 368 9109 roll -0.82 - - 2613 - 2.38 0.045 1386 -574.4 -107.1 - - 3445 - - - - - - - - 14.91 14.38 14.91
9145 758.4 -8.8 374 9151 done -0.82 - - 2605 - 2.50 0.067 2756 548.0 -107.1 - - 3445 - - - - - - - - 14.42 14.32 14.46
9496 789.8 -9.0 382 9505 roll -0.82 - - 2597 - 2.03 0.110 3815 521.7 -107.1 - - 3445 - - - - - - - - 14.90 14.17 14.91
9553 795.2 -9.5 390 9559 done -0.82 0.10 0.216 2625 280.0 1.80 0.044 2774 -578.3 -107.1 - - 3440 - - - - - - - - 14.10 14.52 14.26
9889 822.0 -7.9 403 9895 roll -0.82 - - 2625 - 2.42 0.044 1368 -581.0 -107.1 - - 3443 - - - - - - - - 14.90 14.41 14.90
9930 825.5 -6.9 409 9936 done -0.82 - - 2616 - 2.55 0.065 2757 544.7 -107.1 - - 3443 - - - - - - - - 14.38 14.28 14.43
10281 855.1 -8.5 417 10281 done -0.82 - - 2616 - - - 2757 - -107.1 - - 3442 - - - - - - - - 14.90 14.90 14.90
10617 883.4 -8.5 423 10623 roll -0.82 - - 2615 - 2.45 0.044 1372 -565.3 -107.1 - - 3441 - - - - - - - - 14.90 14.33 14.90
10651 886.3 -8.7 428 10657 done -0.82 - - 2607 - 2.55 0.067 2762 545.1 -107.1 - - 3441 - - - - - - - - 14.34 14.23 14.39
11009 914.1 -7.1 437 11015 roll -0.82 0.10 0.269 2632 250.0 2.42 0.044 1363 -578.1 -107.1 - - 3440 - - - - - - - - 14.18 14.38 14.41
11036 916.6 -7.8 441 11042 done -0.82 - - 2623 - 2.55 0.066 2758 547.1 -107.1 - - 3440 - - - - - - - - 14.36 14.26 14.41
11230 end dive: TARGET_DEPTH_EXCEEDED
11230 begin apogee
11237 932.4 -8.1 448 11350 roll -0.23 0.70 0.181 2825 288.6 0.08 0.179 2260 -6225.0 - 110.32 1.982 3049 -3.5 0.331 - - - - - - 14.09 13.93 13.07
11352 end apogee: CONTROL_FINISHED_OK
11352 begin climb
11354 936.3 - 450 11480 roll 0.93 1.10 0.096 3181 323.6 2.50 0.057 878 -552.8 107.1 117.32 1.972 2622 -3.6 0.343 - - - - - - 13.98 14.01 12.88
11528 929.8 6.6 476 11557 done 0.83 - - 3181 - 2.53 0.051 2256 544.7 129.6 24.92 2.036 2533 -3.6 0.324 - - - - - - 14.00 13.96 12.92
11900 897.6 8.9 487 11906 roll 0.70 0.17 0.231 3131 -294.1 2.60 0.099 3649 535.8 129.6 - - 2521 - - - - - - - - 14.09 14.27 14.35
11948 893.4 8.4 494 11956 done 0.61 0.15 0.205 3099 -213.3 2.40 0.041 2274 -572.9 129.6 - - 2521 - - - - - - - - 14.14 14.40 14.31
12291 872.9 5.8 501 12341 roll 0.66 - - 3107 - 2.50 0.060 868 -562.4 168.7 43.70 1.945 2372 -3.4 0.304 - - - - - - 14.80 14.11 13.34
12360 868.7 7.8 511 12368 done 0.66 - - 3109 - 2.50 0.053 2256 555.2 168.7 - - 2367 - - - - - - - - 14.27 14.21 14.30
12684 847.5 6.7 522 12712 roll 0.69 - - 3109 - 2.70 0.103 3655 518.1 190.3 24.10 1.981 2286 -3.4 0.286 - - - - - - 14.71 14.25 13.42
12774 840.6 8.0 535 12781 done 0.69 - - 3119 - 2.45 0.041 2256 -571.0 190.3 - - 2281 - - - - - - - - 14.39 14.34 14.41
13125 814.5 7.5 543 13131 roll 0.69 - - 3119 - 2.65 0.102 3650 526.0 195.1 - - 2278 - - - - - - - - 14.76 14.33 14.76
13152 812.0 8.9 547 13160 done 0.69 - - 3128 - 2.42 0.041 2256 -576.0 195.1 - - 2278 - - - - - - - - 14.50 14.47 14.52
13517 780.5 8.9 557 13522 roll 0.69 - - 3128 - 2.70 0.101 3659 519.6 195.1 - - 2278 - - - - - - - - 14.81 14.31 14.81
13551 777.0 10.0 562 13557 done 0.69 - - 3139 - 2.42 0.041 2261 -577.7 195.1 - - 2278 - - - - - - - - 14.54 14.52 14.57
13909 741.7 10.0 571 13909 done 0.69 - - 3139 - - - 2258 - 195.1 - - 2277 - - - - - - - - 14.86 14.86 14.85
14245 707.4 10.2 577 14250 roll 0.69 - - 3136 - 2.65 0.103 3650 525.3 195.1 - - 2276 - - - - - - - - 14.85 14.33 14.85
14286 702.7 11.2 583 14293 done 0.69 - - 3150 - 2.42 0.042 2253 -577.3 195.1 - - 2277 - - - - - - - - 14.55 14.52 14.58
14637 667.9 9.7 591 14638 done 0.69 - - 3149 - - - 2252 - 195.1 - - 2276 - - - - - - - - 14.88 14.88 14.88
14973 638.2 8.6 597 14978 roll 0.69 - - 3159 - 2.47 0.062 870 -559.5 195.1 - - 2276 - - - - - - - - 14.89 14.35 14.89
15007 635.3 8.2 602 15014 done 0.69 0.10 0.206 3129 -300.0 2.47 0.055 2263 564.0 195.1 - - 2276 - - - - - - - - 14.17 14.40 14.33
15365 609.2 7.3 611 15385 roll 0.70 - - 3127 - 2.60 0.103 3643 530.8 204.1 12.73 1.910 2231 -3.5 0.224 - - - - - - 14.87 14.48 13.62
15434 603.4 8.9 621 15440 done 0.70 - - 3138 - 2.40 0.041 2256 -577.9 204.1 - - 2229 - - - - - - - - 14.53 14.50 14.56
15757 577.4 8.1 632 15762 roll 0.70 - - 3139 - 2.65 0.100 3657 528.7 204.1 - - 2228 - - - - - - - - 14.82 14.32 14.82
15791 574.1 9.6 637 15797 done 0.70 - - 3150 - 2.42 0.041 2266 -574.8 204.1 - - 2228 - - - - - - - - 14.51 14.47 14.54
16149 542.3 9.0 646 16150 done 0.70 - - 3150 - - - 2262 - 204.1 - - 2227 - - - - - - - - 14.86 14.86 14.85
16485 511.7 9.1 652 16490 roll 0.70 - - 3150 - 2.62 0.102 3651 530.2 204.1 - - 2228 - - - - - - - - 14.88 14.34 14.88
16512 508.9 9.9 656 16518 done 0.70 0.10 0.216 3131 -190.0 2.42 0.041 2263 -573.6 204.1 - - 2228 - - - - - - - - 14.15 14.48 14.33
16877 478.7 8.2 666 16882 roll 0.70 - - 3141 - 2.45 0.062 856 -574.3 204.1 - - 2228 - - - - - - - - 14.88 14.38 14.88
16933 474.1 8.3 674 16938 done 0.70 - - 3141 - 2.50 0.055 2262 562.4 204.1 - - 2227 - - - - - - - - 14.45 14.36 14.47
17269 446.3 8.3 687 17275 roll 0.70 - - 3141 - 2.60 0.103 3652 534.6 204.1 - - 2228 - - - - - - - - 14.89 14.27 14.89
17310 442.4 9.4 693 17316 done 0.70 - - 3151 - 2.42 0.041 2259 -575.6 204.1 - - 2228 - - - - - - - - 14.51 14.47 14.54
17661 411.4 9.0 701 17667 roll 0.70 - - 3152 - 2.65 0.102 3651 525.3 204.1 - - 2228 - - - - - - - - 14.86 14.27 14.86
17717 405.8 10.3 709 17723 done 0.70 0.10 0.215 3133 -190.0 2.42 0.041 2261 -574.4 204.1 - - 2227 - - - - - - - - 14.12 14.43 14.30
18053 377.9 8.2 722 18058 roll 0.70 - - 3143 - 2.47 0.063 867 -564.4 204.1 - - 2228 - - - - - - - - 14.87 14.28 14.87
18087 374.9 8.4 727 18094 done 0.70 - - 3143 - 2.47 0.054 2265 566.0 204.1 - - 2228 - - - - - - - - 14.43 14.34 14.48
18445 344.5 8.5 736 18450 roll 0.70 - - 3141 - 2.58 0.103 3651 537.2 204.1 - - 2228 - - - - - - - - 14.89 14.27 14.89
18521 337.3 9.4 747 18528 done 0.70 - - 3153 - 2.40 0.040 2264 -577.9 204.1 - - 2228 - - - - - - - - 14.50 14.45 14.52
18837 311.1 8.2 757 18842 roll 0.70 - - 3163 - 2.50 0.063 859 -562.0 204.1 - - 2229 - - - - - - - - 14.88 14.28 14.88
18857 309.5 8.1 760 18863 done 0.70 0.10 0.195 3133 -300.0 2.50 0.056 2270 564.4 204.1 - - 2228 - - - - - - - - 14.12 14.34 14.28
19173 286.5 7.2 770 19192 roll 0.72 - - 3133 - 2.62 0.103 3660 530.5 214.7 11.15 1.557 2189 -3.5 0.128 - - - - - - 14.89 14.50 13.70
19235 281.5 8.6 779 19242 done 0.72 - - 3143 - 2.42 0.040 2262 -577.7 214.7 - - 2188 - - - - - - - - 14.54 14.50 14.56
19565 256.0 7.8 791 19571 roll 0.72 - - 3143 - 2.62 0.103 3652 530.5 214.7 - - 2189 - - - - - - - - 14.83 14.29 14.81
19599 253.1 8.7 796 19605 done 0.72 - - 3153 - 2.40 0.041 2272 -575.0 214.7 - - 2186 - - - - - - - - 14.50 14.46 14.52
19957 225.5 7.6 805 19962 roll 0.72 - - 3163 - 2.53 0.063 859 -558.5 217.1 - - 2184 - - - - - - - - 14.84 14.31 14.84
19998 222.2 7.9 811 20006 done 0.72 0.10 0.192 3133 -300.0 2.50 0.056 2269 564.0 217.1 - - 2186 - - - - - - - - 14.14 14.34 14.31
20349 197.2 7.2 819 20369 roll 0.73 - - 3133 - 2.58 0.102 3660 539.1 227.9 13.60 1.415 2135 -3.8 0.104 - - - - - - 14.88 14.48 13.78
20453 188.8 8.2 834 20461 done 0.73 - - 3143 - 2.40 0.040 2272 -578.3 227.9 - - 2133 - - - - - - - - 14.51 14.47 14.54
20797 162.9 7.6 841 20802 roll 0.74 - - 3153 - 2.47 0.062 859 -572.1 231.7 - - 2130 - - - - - - - - 14.82 14.37 14.82
20853 158.6 7.9 849 20858 done 0.74 - - 3153 - 2.50 0.055 2278 567.6 231.7 - - 2132 - - - - - - - - 14.44 14.36 14.48
21189 131.0 8.4 862 21194 roll 0.74 - - 3153 - 2.58 0.103 3653 532.9 231.7 - - 2133 - - - - - - - - 14.85 14.28 14.85
21216 128.9 7.5 866 21225 done 0.74 - - 3163 - 2.38 0.039 2277 -578.2 237.4 4.88 1.441 2105 -5.7 0.102 - - - - - - 14.52 14.48 13.38
21574 96.8 8.7 875 21581 roll 0.74 - - 3163 - 2.60 0.099 3662 532.7 237.4 1.45 0.252 2108 2.1 -0.158 - - - - - - 14.85 14.23 13.97
21798 75.6 9.5 907 21805 done 0.74 0.10 0.200 3144 -190.0 2.40 0.039 2275 -577.9 237.4 1.27 0.216 2108 - - - - - - - - 14.12 14.39 14.04
22137 55.6 5.3 922 22168 roll 0.90 0.08 0.143 3205 762.5 2.58 0.099 3658 536.0 285.4 25.55 0.350 1916 -7.5 0.237 - - - - - - 14.54 14.39 14.12
22330 42.3 7.5 950 22336 done 0.91 - - 3216 - 2.35 0.038 2294 -580.4 289.5 2.70 0.270 1897 -7.0 0.219 - - - - - - 14.51 14.47 13.95
22668 31.4 3.0 965 22723 roll 1.12 0.08 0.150 3285 862.5 2.55 0.098 3663 536.9 384.4 47.58 0.275 1518 -8.0 0.181 - - - - - - 14.52 14.37 14.14
22882 17.7 6.5 996 22898 done 1.15 - - 3295 - 2.33 0.038 2305 -582.8 408.9 12.32 0.226 1421 -7.9 0.122 - - - - - - 14.45 14.42 14.14
23161 end climb: SURFACE_DEPTH_REACHED
23161 begin surface coast
23191 end surface coast: CONTROL_FINISHED_OK
23191 begin surface
SM -2.72 - - - - -8.40 9.18 0.077 187 20.3 0.85 0.083 2768 -7630.6 500.14 42.47 0.158 1061 25.0 0.044 - - - - - -