SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 343 * Raw log
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• Previous call tries 1 • 125.43 of 350.00 AH used of 24V (64.16% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -70.2 deg, depth -0.29 m • Intended pitch -17.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 2 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
14 - - - 91 done -0.93 - - 104 - - - 2814 - -107.1 -76.12 - 3478 - - - - - - - - 14.67 12.65 14.66
94 1.2 -4.7 2 114 roll -0.93 11.95 0.388 2590 208.0 2.42 0.033 1369 -597.1 -107.1 - - 3479 - - - - - - - - 14.00 14.42 14.38
155 32.6 -28.3 12 162 done -0.63 0.40 0.235 2689 247.5 2.47 0.068 2735 553.0 -107.1 - - 3480 - - - - - - - - 14.10 14.31 14.28
478 71.4 -9.2 25 483 roll -0.63 - - 2681 - 2.05 0.108 3825 531.7 -107.1 - - 3481 - - - - - - - - 14.84 14.28 14.84
715 92.1 -7.4 59 721 done -0.63 - - 2681 - 1.80 0.038 2745 -600.0 -107.1 - - 3483 - - - - - - - - 14.69 14.64 14.70
1038 114.2 -6.1 68 1044 roll -0.63 - - 2673 - 2.05 0.106 3821 524.9 -107.1 - - 3483 - - - - - - - - 14.90 14.32 14.90
1086 117.5 -6.7 75 1093 done -0.63 - - 2672 - 1.75 0.039 2768 -601.7 -107.1 - - 3480 - - - - - - - - 14.73 14.69 14.74
1430 145.1 -9.4 82 1435 roll -0.63 - - 2664 - 2.03 0.107 3820 518.2 -107.1 - - 3482 - - - - - - - - 14.97 14.38 14.95
1506 151.9 -8.8 93 1512 done -0.63 0.10 0.220 2693 290.0 1.75 0.039 2776 -596.6 -107.1 - - 3481 - - - - - - - - 14.40 14.70 14.60
1822 176.5 -7.8 103 1827 roll -0.71 - - 2695 - 2.33 0.040 1385 -597.0 -107.1 - - 3479 - - - - - - - - 14.93 14.59 14.93
1912 183.8 -7.7 116 1919 done -0.81 0.08 0.085 2621 -925.0 2.45 0.063 2768 564.5 -107.1 - - 3478 - - - - - - - - 14.52 14.47 14.60
2270 220.2 -10.2 125 2275 roll -0.81 - - 2613 - 2.00 0.107 3826 529.0 -107.1 - - 3476 - - - - - - - - 14.95 14.42 14.95
2318 225.2 -10.2 132 2326 done -0.81 - - 2612 - 1.77 0.038 2767 -598.3 -107.1 - - 3475 - - - - - - - - 14.74 14.71 14.74
2662 258.2 -9.6 139 2662 done -0.81 - - 2612 - - - 2767 - -107.1 - - 3474 - - - - - - - - 14.97 14.97 14.97
2998 289.9 -9.5 145 2998 done -0.81 - - 2612 - - - 2767 - -107.1 - - 3470 - - - - - - - - 14.97 14.97 14.97
3334 322.7 -9.9 151 3339 roll -0.81 - - 2604 - 2.05 0.109 3824 515.6 -107.1 - - 3468 - - - - - - - - 14.95 14.37 14.95
3390 328.5 -10.5 159 3395 done -0.81 0.10 0.221 2633 290.0 1.77 0.041 2778 -591.0 -107.1 - - 3468 - - - - - - - - 14.28 14.64 14.45
3726 357.9 -8.6 172 3732 roll -0.81 - - 2633 - 2.42 0.042 1375 -579.8 -107.1 - - 3465 - - - - - - - - 14.97 14.55 14.97
3767 361.3 -8.2 178 3773 done -0.81 - - 2623 - 2.50 0.063 2770 558.0 -107.1 - - 3466 - - - - - - - - 14.55 14.45 14.59
4118 386.6 -6.7 186 4123 roll -0.81 - - 2615 - 2.00 0.109 3825 527.5 -107.1 - - 3464 - - - - - - - - 14.95 14.35 14.94
4173 392.4 -13.2 194 4179 done -0.81 - - 2615 - 1.80 0.041 2765 -588.9 -107.1 - - 3463 - - - - - - - - 14.64 14.63 14.67
4510 427.0 -9.9 207 4515 roll -0.81 - - 2614 - 2.35 0.042 1365 -595.7 -107.1 - - 3462 - - - - - - - - 14.95 14.56 14.95
4537 430.2 -10.7 211 4543 done -0.81 0.10 0.230 2633 190.0 2.53 0.064 2768 554.5 -107.1 - - 3461 - - - - - - - - 14.21 14.44 14.40
4902 462.7 -8.7 221 4907 roll -0.81 - - 2624 - 2.03 0.109 3822 519.2 -107.1 - - 3459 - - - - - - - - 14.95 14.33 15.00
4978 472.1 -8.3 232 4985 done -0.81 - - 2625 - 1.80 0.041 2767 -586.1 -107.1 - - 3459 - - - - - - - - 14.72 14.67 14.71
5294 497.2 -6.4 242 5299 roll -0.81 - - 2625 - 2.35 0.041 1375 -592.3 -107.1 - - 3458 - - - - - - - - 14.96 14.54 14.96
5391 509.2 -13.3 256 5398 done -0.81 - - 2615 - 2.50 0.063 2775 560.0 -107.1 - - 3457 - - - - - - - - 14.50 14.42 14.55
5742 541.7 -9.2 264 5748 roll -0.81 - - 2607 - 2.00 0.109 3821 523.0 -107.1 - - 3453 - - - - - - - - 14.93 14.31 14.93
5790 547.6 -10.2 271 5798 done -0.81 0.10 0.248 2635 280.0 1.80 0.042 2770 -583.9 -107.1 - - 3455 - - - - - - - - 14.29 14.67 14.54
6134 573.7 -7.7 278 6139 roll -0.81 - - 2635 - 2.42 0.043 1371 -578.1 -107.1 - - 3454 - - - - - - - - 14.94 14.47 14.94
6189 579.2 -7.8 286 6195 done -0.81 - - 2626 - 2.53 0.065 2767 551.8 -107.1 - - 3453 - - - - - - - - 14.47 14.38 14.52
6526 605.6 -8.0 299 6527 done -0.81 - - 2626 - - - 2767 - -107.1 - - 3451 - - - - - - - - 14.95 14.95 14.95
6862 633.0 -8.4 305 6867 roll -0.81 - - 2625 - 2.45 0.043 1368 -571.0 -107.1 - - 3449 - - - - - - - - 14.93 14.46 14.93
6918 637.8 -8.9 313 6923 done -0.81 - - 2615 - 2.53 0.065 2767 553.0 -107.1 - - 3449 - - - - - - - - 14.45 14.36 14.50
7253 667.2 -8.4 326 7254 done -0.81 - - 2615 - - - 2766 - -107.1 - - 3448 - - - - - - - - 14.95 14.95 14.95
7590 696.8 -8.6 332 7596 roll -0.81 - - 2615 - 2.45 0.044 1373 -568.6 -107.1 - - 3446 - - - - - - - - 14.95 14.43 14.95
7666 703.5 -8.9 343 7672 done -0.81 0.10 0.230 2633 180.0 2.53 0.065 2763 549.4 -107.1 - - 3446 - - - - - - - - 14.09 14.34 14.28
7982 728.3 -7.7 353 7983 done -0.81 - - 2634 - - - 2763 - -107.1 - - 3445 - - - - - - - - 14.92 14.92 14.92
8318 755.1 -7.7 359 8323 roll -0.81 - - 2634 - 2.40 0.044 1374 -578.8 -107.1 - - 3444 - - - - - - - - 14.92 14.46 14.92
8352 757.9 -8.6 364 8359 done -0.81 - - 2624 - 2.55 0.067 2764 545.1 -107.1 - - 3448 - - - - - - - - 14.42 14.32 14.47
8710 786.9 -8.2 373 8715 roll -0.81 - - 2616 - 2.05 0.112 3817 513.7 -107.1 - - 3443 - - - - - - - - 14.91 14.20 14.91
8766 792.3 -9.1 381 8771 done -0.81 - - 2613 - 1.80 0.044 2770 -581.7 -107.1 - - 3443 - - - - - - - - 14.54 14.52 14.57
9102 801.6 -1.8 394 9102 done -0.81 - - 2615 - - - 2770 - -107.1 - - 3441 - - - - - - - - 14.93 14.93 14.93
9438 840.9 -9.9 400 9439 done -0.81 - - 2615 - - - 2770 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
9773 872.9 -9.9 406 9779 roll -0.81 - - 2614 - 2.45 0.044 1373 -570.2 -107.1 - - 3439 - - - - - - - - 14.93 14.36 14.94
9822 875.8 -8.0 413 9830 done -0.81 0.10 0.230 2633 190.0 2.53 0.066 2760 548.2 -107.1 - - 3440 - - - - - - - - 14.01 14.27 14.19
10166 903.2 -7.2 420 10166 done -0.81 - - 2633 - - - 2760 - -107.1 - - 3438 - - - - - - - - 14.93 14.92 14.92
10502 926.9 -7.1 426 10503 done -0.81 - - 2631 - - - 2759 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
10555 end dive: TARGET_DEPTH_EXCEEDED
10555 begin apogee
10562 930.3 -7.0 427 10674 roll -0.23 0.65 0.177 2822 293.8 0.10 0.159 2282 -4770.0 - 109.62 1.980 3049 -3.5 0.331 - - - - - - 14.12 13.95 13.06
10676 end apogee: CONTROL_FINISHED_OK
10676 begin climb
10678 935.0 - 429 10805 roll 0.93 1.12 0.098 3185 324.1 2.55 0.056 882 -549.0 107.1 117.40 1.980 2622 -3.6 0.341 - - - - - - 14.00 14.02 12.90
10824 930.5 9.0 451 10832 done 0.75 0.15 0.216 3145 -266.7 2.50 0.050 2241 543.6 107.1 - - 2610 - - - - - - - - 13.72 13.86 13.87
11168 903.9 7.9 458 11174 roll 0.75 - - 3145 - 2.65 0.096 3648 530.9 107.1 - - 2606 - - - - - - - - 14.69 14.26 14.69
11244 897.2 8.7 469 11251 done 0.62 0.17 0.221 3107 -223.5 2.38 0.040 2275 -576.9 107.1 - - 2607 - - - - - - - - 14.13 14.42 14.31
11560 874.4 7.3 479 11563 done 0.63 - - 3106 - - - 2275 - 116.2 2.25 0.616 2589 -8.0 2.255 - - - - - - 14.78 14.41 12.89
11896 851.4 6.8 485 11930 roll 0.65 - - 3106 - 2.60 0.097 3654 530.4 134.5 28.67 1.940 2510 -2.8 0.240 - - - - - - 14.84 14.24 13.48
11965 846.6 10.1 495 11971 done 0.65 - - 3116 - 2.45 0.039 2250 -573.1 134.5 - - 2505 - - - - - - - - 14.42 14.38 14.45
12288 823.4 7.3 506 12294 done 0.67 - - 3116 - - - 2251 - 143.2 4.25 1.800 2479 -6.1 0.556 - - - - - - 14.77 14.43 13.00
12624 799.9 7.0 512 12658 roll 0.68 - - 3116 - 2.72 0.100 3653 515.4 158.4 25.08 1.935 2411 -2.7 0.223 - - - - - - 14.82 14.33 13.49
12721 792.2 8.8 526 12727 done 0.68 - - 3126 - 2.45 0.040 2254 -571.0 158.4 - - 2408 - - - - - - - - 14.44 14.40 14.46
13072 764.9 7.8 534 13073 done 0.68 - - 3126 - - - 2254 - 158.4 - - 2406 - - - - - - - - 14.77 14.77 14.77
13408 740.4 7.2 540 13420 roll 0.70 - - 3126 - 2.67 0.100 3650 522.8 168.8 4.68 1.910 2383 -4.9 0.378 - - - - - - 14.82 14.48 13.09
13484 734.1 9.2 551 13491 done 0.70 - - 3137 - 2.42 0.041 2251 -578.1 168.8 1.58 0.252 2379 -2.5 1.464 - - - - - - 14.54 14.50 13.95
13800 710.3 7.8 561 13802 done 0.70 - - 3137 - - - 2248 - 168.8 1.20 0.263 2378 - - - - - - - - 14.83 14.46 14.16
14136 685.4 7.5 567 14149 roll 0.70 - - 3136 - 2.65 0.102 3644 526.8 172.8 5.28 2.000 2368 -1.9 0.129 - - - - - - 14.87 14.49 13.35
14177 683.1 5.8 573 14235 done 0.75 - - 3148 - 2.40 0.041 2255 -578.8 211.9 53.50 1.762 2205 -3.0 0.235 - - - - - - 14.57 14.54 13.39
14577 647.4 9.2 588 14583 roll 0.75 - - 3158 - 2.45 0.062 860 -569.4 211.9 - - 2190 - - - - - - - - 14.71 14.34 14.72
14604 645.0 8.4 592 14612 done 0.75 - - 3157 - 2.47 0.054 2256 565.2 211.9 - - 2190 - - - - - - - - 14.43 14.35 14.47
14969 608.8 10.0 602 14970 done 0.75 - - 3158 - - - 2257 - 211.9 - - 2189 - - - - - - - - 14.81 14.81 14.81
15305 574.9 10.2 608 15312 roll 0.75 - - 3165 - 2.47 0.062 870 -561.5 211.9 - - 2189 - - - - - - - - 14.85 14.36 14.85
15332 572.1 9.9 612 15339 done 0.75 - - 3167 - 2.45 0.054 2257 566.1 211.9 - - 2189 - - - - - - - - 14.47 14.40 14.51
15697 534.3 10.4 622 15703 roll 0.75 - - 3167 - 2.60 0.102 3657 538.5 211.9 - - 2189 - - - - - - - - 14.86 14.32 14.86
15753 528.1 11.3 630 15759 done 0.67 0.22 0.223 3115 -236.4 2.42 0.041 2236 -587.2 211.9 - - 2189 - - - - - - - - 14.18 14.50 14.49
16089 501.3 7.9 643 16095 roll 0.67 - - 3116 - 2.67 0.101 3655 531.5 211.9 - - 2189 - - - - - - - - 14.85 14.32 14.85
16137 497.1 7.5 650 16145 done 0.67 - - 3125 - 2.40 0.041 2262 -580.4 216.4 - - 2189 - - - - - - - - 14.54 14.49 14.55
16481 470.1 7.7 657 16487 roll 0.67 - - 3135 - 2.50 0.063 866 -558.4 217.0 - - 2189 - - - - - - - - 14.85 14.29 14.86
16529 466.4 9.4 664 16538 done 0.67 - - 3135 - 2.45 0.053 2257 567.8 217.0 - - 2188 - - - - - - - - 14.47 14.38 14.50
16873 438.1 8.3 671 16879 roll 0.67 - - 3134 - 2.60 0.103 3651 536.2 217.0 - - 2188 - - - - - - - - 14.88 14.30 14.88
16942 431.8 9.8 681 16949 done 0.67 - - 3146 - 2.40 0.041 2266 -577.1 217.0 - - 2188 - - - - - - - - 14.52 14.47 14.54
17265 402.4 9.1 692 17271 roll 0.67 - - 3156 - 2.50 0.063 865 -560.4 217.0 - - 2189 - - - - - - - - 14.88 14.32 14.89
17328 397.3 7.6 701 17334 done 0.68 0.10 0.201 3125 -310.0 2.47 0.053 2263 566.0 219.5 1.50 0.224 2176 -8.7 3.052 - - - - - - 14.14 14.36 14.00
17657 372.9 7.3 713 17677 roll 0.69 - - 3125 - 2.58 0.103 3660 541.5 227.5 14.40 1.610 2139 -2.6 0.118 - - - - - - 14.86 14.47 13.69
17705 369.1 8.6 720 17714 done 0.69 - - 3134 - 2.42 0.040 2257 -579.8 227.5 - - 2135 - - - - - - - - 14.53 14.48 14.54
18049 343.6 7.5 727 18052 done 0.69 - - 3134 - - - 2256 - 232.4 1.23 0.253 2122 -10.6 2.850 - - - - - - 14.82 14.42 14.15
18385 318.0 7.7 733 18391 roll 0.69 - - 3134 - 2.62 0.102 3652 532.8 233.3 - - 2130 - - - - - - - - 14.84 14.30 14.83
18426 314.8 7.8 739 18433 done 0.69 - - 3144 - 2.40 0.039 2262 -579.2 233.3 1.42 0.223 2121 -6.3 1.777 - - - - - - 14.52 14.47 14.06
18777 285.9 8.1 747 18778 done 0.69 - - 3145 - - - 2261 - 233.3 - - 2129 - - - - - - - - 14.85 14.85 14.89
19113 268.6 6.0 753 19161 roll 0.74 - - 3147 - 2.62 0.102 3654 531.7 268.0 41.62 1.342 1976 -3.7 0.146 - - - - - - 14.88 14.33 13.67
19182 262.6 9.1 763 19189 done 0.74 - - 3154 - 2.40 0.039 2278 -573.3 268.0 - - 1977 - - - - - - - - 14.43 14.39 14.45
19505 233.3 9.1 774 19511 roll 0.74 - - 3165 - 2.53 0.062 856 -562.1 268.0 - - 1969 - - - - - - - - 14.75 14.30 14.75
19539 230.1 9.1 779 19545 done 0.74 - - 3164 - 2.47 0.052 2264 570.0 268.0 - - 1969 - - - - - - - - 14.42 14.34 14.46
19897 197.5 9.1 788 19904 roll 0.74 - - 3164 - 2.58 0.100 3657 539.9 268.0 - - 1969 - - - - - - - - 14.81 14.30 14.81
19924 194.7 9.9 792 19932 done 0.74 0.10 0.206 3145 -190.0 2.42 0.039 2259 -577.7 268.0 - - 1968 - - - - - - - - 14.16 14.45 14.33
20289 163.8 8.5 802 20295 roll 0.74 - - 3154 - 2.45 0.060 869 -567.3 268.0 - - 1968 - - - - - - - - 14.84 14.33 14.84
20323 160.6 8.9 807 20330 done 0.74 - - 3155 - 2.45 0.051 2267 570.6 268.0 - - 1968 - - - - - - - - 14.46 14.37 14.50
20681 128.6 8.9 816 20687 roll 0.74 - - 3155 - 2.58 0.099 3657 538.8 268.0 - - 1968 - - - - - - - - 14.87 14.26 14.87
20757 120.7 10.7 827 20764 done 0.74 - - 3167 - 2.40 0.039 2269 -578.3 268.0 - - 1968 - - - - - - - - 14.53 14.47 14.54
21073 92.0 8.6 838 21074 done 0.74 - - 3164 - - - 2265 - 268.0 - - 1968 - - - - - - - - 14.86 14.88 14.88
21382 68.9 6.4 849 21401 roll 0.86 - - 3175 - 2.47 0.060 867 -566.0 295.0 12.38 0.363 1877 -7.4 0.277 - - - - - - 14.85 14.42 14.00
21536 60.1 5.6 871 21564 done 1.03 0.10 0.116 3242 670.0 2.45 0.050 2278 575.9 337.9 23.12 0.343 1704 -7.5 0.260 - - - - - - 14.43 14.38 14.09
21880 38.9 5.4 887 21912 roll 1.08 - - 3242 - 2.60 0.099 3648 526.9 385.1 24.23 0.281 1519 -7.6 0.210 - - - - - - 14.81 14.33 14.11
22081 28.9 4.6 916 22117 done 1.26 0.10 0.066 3331 890.0 2.38 0.039 2253 -586.1 447.2 31.98 0.247 1267 -7.9 0.183 - - - - - - 14.45 14.48 14.14
22410 end climb: SURFACE_DEPTH_REACHED
22411 begin surface coast
22436 end surface coast: CONTROL_FINISHED_OK
22436 begin surface
SM -0.11 - - - - -8.39 8.93 0.046 190 21.2 0.95 0.082 2759 -9127.4 500.14 24.98 0.155 1056 42.3 0.003 - - - - - -