SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 347 * Raw log
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• Previous call tries 1 • 126.71 of 350.00 AH used of 24V (63.80% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.6 deg, depth -1.45 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 94 done -0.93 - - 142 - - - 2784 - -107.1 -78.57 - 3478 - - - - - - - - 14.67 12.65 14.67
97 1.0 -4.7 2 117 roll -0.93 11.82 0.389 2592 207.3 2.38 0.029 1347 -603.8 -107.1 - - 3479 - - - - - - - - 14.01 14.45 14.38
151 30.3 -25.5 11 157 done -0.61 0.43 0.256 2694 237.2 2.58 0.073 2756 546.1 -107.1 - - 3479 - - - - - - - - 14.06 14.29 14.26
481 71.2 -6.9 25 487 roll -0.61 - - 2685 - 2.03 0.108 3829 528.6 -107.1 - - 3481 - - - - - - - - 14.85 14.33 14.85
585 75.5 -2.4 40 592 done -0.61 - - 2685 - 1.80 0.039 2730 -610.6 -107.1 - - 3482 - - - - - - - - 14.62 14.59 14.62
901 98.9 -6.0 52 906 roll -0.61 - - 2685 - 2.22 0.043 1400 -599.1 -107.1 - - 3483 - - - - - - - - 14.88 14.54 14.88
956 102.4 -6.0 60 962 done -0.61 - - 2676 - 2.42 0.067 2761 562.4 -107.1 - - 3483 - - - - - - - - 14.52 14.43 14.57
1293 127.1 -7.6 73 1299 roll -0.61 - - 2668 - 2.00 0.108 3823 531.0 -107.1 - - 3482 - - - - - - - - 14.92 14.38 14.92
1431 138.0 -7.9 93 1439 done -0.61 0.10 0.220 2698 300.0 1.77 0.039 2765 -597.7 -107.1 - - 3481 - - - - - - - - 14.40 14.69 14.60
1797 162.2 -7.2 103 1802 roll -0.70 - - 2698 - 2.33 0.041 1377 -595.7 -107.1 - - 3479 - - - - - - - - 14.95 14.59 14.95
1887 169.5 -6.8 116 1893 done -0.80 0.08 0.084 2624 -925.0 2.47 0.065 2758 559.1 -107.1 - - 3478 - - - - - - - - 14.52 14.45 14.58
2244 203.6 -9.7 125 2251 roll -0.80 - - 2616 - 2.00 0.109 3819 530.5 -107.1 - - 3475 - - - - - - - - 14.94 14.38 14.95
2285 208.2 -10.7 131 2292 done -0.80 - - 2616 - 1.80 0.039 2732 -603.9 -107.1 - - 3475 - - - - - - - - 14.76 14.71 14.77
2637 246.9 -11.2 139 2642 roll -0.80 - - 2616 - 2.28 0.042 1404 -582.5 -107.1 - - 3473 - - - - - - - - 14.96 14.53 14.96
2692 253.1 -10.8 147 2698 done -0.80 0.10 0.225 2635 190.0 2.42 0.070 2754 557.9 -107.1 - - 3473 - - - - - - - - 14.23 14.44 14.42
3028 285.6 -9.4 160 3029 done -0.80 - - 2635 - - - 2754 - -107.1 - - 3466 - - - - - - - - 14.97 14.97 14.97
3364 316.0 -8.9 166 3370 roll -0.80 - - 2627 - 2.03 0.112 3822 526.1 -107.1 - - 3467 - - - - - - - - 14.97 14.35 14.96
3461 325.0 -9.1 180 3468 done -0.80 - - 2626 - 1.80 0.042 2766 -586.7 -107.1 - - 3468 - - - - - - - - 14.74 14.69 14.75
3813 356.9 -9.2 188 3818 roll -0.80 - - 2626 - 2.35 0.042 1374 -592.3 -107.1 - - 3465 - - - - - - - - 14.95 14.51 14.92
3868 362.2 -9.3 196 3874 done -0.80 - - 2616 - 2.47 0.067 2752 557.9 -107.1 - - 3465 - - - - - - - - 14.53 14.42 14.57
4205 395.4 -9.8 209 4211 roll -0.80 - - 2616 - 2.38 0.044 1365 -582.8 -107.1 - - 3464 - - - - - - - - 14.94 14.54 14.94
4253 400.2 -9.8 216 4261 done -0.80 0.10 0.224 2635 190.0 2.50 0.067 2754 555.6 -107.1 - - 3463 - - - - - - - - 14.18 14.38 14.35
4596 431.1 -8.9 223 4597 done -0.80 - - 2635 - - - 2754 - -107.1 - - 3463 - - - - - - - - 14.95 14.95 14.95
4932 459.4 -8.3 229 4933 done -0.80 - - 2634 - - - 2754 - -107.1 - - 3460 - - - - - - - - 14.95 14.95 14.95
5269 488.2 -8.7 235 5269 done -0.80 - - 2635 - - - 2754 - -107.1 - - 3459 - - - - - - - - 14.94 14.95 14.95
5604 517.3 -8.5 241 5611 roll -0.80 - - 2635 - 2.42 0.044 1379 -568.2 -107.1 - - 3457 - - - - - - - - 14.95 14.49 14.95
5646 520.8 -8.3 247 5652 done -0.80 - - 2625 - 2.50 0.067 2749 548.0 -107.1 - - 3457 - - - - - - - - 14.50 14.40 14.55
5996 551.7 -8.9 255 6002 roll -0.80 - - 2619 - 2.08 0.113 3822 515.9 -107.1 - - 3455 - - - - - - - - 14.94 14.32 14.95
6052 557.1 -9.7 263 6058 done -0.80 - - 2617 - 1.83 0.044 2751 -585.2 -107.1 - - 3455 - - - - - - - - 14.62 14.59 14.64
6388 589.1 -9.5 276 6394 roll -0.80 - - 2616 - 2.40 0.044 1373 -574.2 -107.1 - - 3454 - - - - - - - - 14.94 14.47 14.94
6437 593.6 -9.2 283 6445 done -0.80 0.10 0.223 2635 190.0 2.50 0.067 2744 548.4 -107.1 - - 3453 - - - - - - - - 14.16 14.36 14.33
6781 621.3 -7.9 290 6786 roll -0.80 - - 2627 - 2.08 0.114 3819 516.8 -107.1 - - 3451 - - - - - - - - 14.93 14.26 14.96
6814 624.2 -8.5 295 6821 done -0.80 - - 2626 - 1.88 0.043 2727 -580.9 -107.1 - - 3451 - - - - - - - - 14.70 14.65 14.72
7173 652.6 -8.0 304 7178 roll -0.80 - - 2627 - 2.30 0.044 1375 -587.8 -107.1 - - 3450 - - - - - - - - 14.92 14.43 14.96
7221 656.7 -8.5 311 7229 done -0.80 - - 2617 - 2.50 0.065 2752 550.8 -107.1 - - 3449 - - - - - - - - 14.47 14.38 14.51
7565 686.4 -8.7 318 7570 roll -0.80 - - 2616 - 2.38 0.044 1377 -577.7 -107.1 - - 3448 - - - - - - - - 14.92 14.47 14.92
7592 688.9 -9.0 322 7598 done -0.80 0.10 0.226 2636 200.0 2.50 0.067 2739 544.8 -107.1 - - 3448 - - - - - - - - 14.14 14.35 14.31
7957 716.7 -7.5 332 7962 roll -0.80 - - 2628 - 2.10 0.114 3824 516.7 -107.1 - - 3446 - - - - - - - - 14.92 14.23 14.92
8026 722.3 -8.1 342 8032 done -0.80 - - 2628 - 1.85 0.044 2749 -581.1 -107.1 - - 3446 - - - - - - - - 14.62 14.60 14.64
8349 746.7 -7.6 353 8349 done -0.80 - - 2628 - - - 2749 - -107.1 - - 3446 - - - - - - - - 14.92 14.92 14.92
8685 772.3 -7.6 359 8690 roll -0.80 - - 2626 - 2.38 0.044 1366 -581.1 -107.1 - - 3445 - - - - - - - - 14.92 14.47 14.92
8733 776.2 -7.9 366 8741 done -0.80 - - 2618 - 2.53 0.067 2746 545.5 -107.1 - - 3444 - - - - - - - - 14.34 14.24 14.38
9076 804.7 -8.4 373 9083 roll -0.80 - - 2610 - 2.08 0.115 3821 516.8 -107.1 - - 3443 - - - - - - - - 14.94 14.19 14.94
9117 808.4 -9.0 379 9124 done -0.80 0.10 0.246 2636 260.0 1.88 0.044 2742 -573.9 -107.1 - - 3443 - - - - - - - - 14.20 14.62 14.39
9469 835.8 -8.0 387 9474 roll -0.80 - - 2638 - 2.35 0.044 1382 -578.7 -107.1 - - 3442 - - - - - - - - 14.91 14.43 14.91
9503 838.6 -6.0 392 9509 done -0.80 - - 2629 - 2.50 0.065 2741 543.6 -107.1 - - 3441 - - - - - - - - 14.39 14.33 14.43
9860 866.8 -7.8 401 9861 done -0.80 - - 2629 - - - 2741 - -107.1 - - 3441 - - - - - - - - 14.93 14.93 14.93
10197 892.5 -7.6 407 10197 done -0.80 - - 2629 - - - 2740 - -107.1 - - 3440 - - - - - - - - 14.93 14.93 14.93
10533 917.7 -7.5 413 10539 roll -0.80 - - 2628 - 2.40 0.044 1371 -570.4 -107.1 - - 3439 - - - - - - - - 14.93 14.32 14.93
10560 919.8 -7.5 417 10567 done -0.80 - - 2617 - 2.55 0.067 2746 539.2 -107.1 - - 3439 - - - - - - - - 14.35 14.26 14.40
10698 end dive: TARGET_DEPTH_EXCEEDED
10698 begin apogee
10704 930.1 -7.6 423 10817 roll -0.23 0.70 0.184 2820 290.0 - - 2232 - - 110.05 1.966 3049 -3.5 0.333 - - - - - - 14.09 14.00 13.06
10818 end apogee: CONTROL_FINISHED_OK
10818 begin climb
10821 933.0 - 425 10947 roll 0.93 1.12 0.098 3182 323.2 2.50 0.057 845 -554.8 107.1 117.07 1.958 2622 -3.6 0.345 - - - - - - 13.99 14.02 12.90
10988 925.6 7.6 450 10995 done 0.81 - - 3182 - 2.60 0.049 2262 545.0 110.6 - - 2610 - - - - - - - - 14.01 13.94 14.03
11318 897.3 8.8 462 11319 done 0.68 0.22 0.227 3120 -281.8 - - 2263 - 110.6 - - 2604 - - - - - - - - 14.16 14.45 14.40
11653 874.7 6.6 468 11687 roll 0.71 - - 3119 - 2.65 0.103 3651 523.8 133.0 27.45 1.950 2513 -3.3 0.295 - - - - - - 14.78 14.30 13.41
11743 867.9 8.2 481 11750 done 0.71 - - 3130 - 2.47 0.040 2237 -572.5 133.0 - - 2509 - - - - - - - - 14.41 14.38 14.43
12101 840.7 7.8 490 12108 roll 0.71 - - 3140 - 2.42 0.063 852 -572.3 133.0 - - 2511 - - - - - - - - 14.77 14.38 14.77
12128 838.5 8.4 494 12136 done 0.71 - - 3140 - 2.47 0.053 2247 564.8 133.0 - - 2507 - - - - - - - - 14.46 14.38 14.50
12493 809.8 8.0 504 12499 roll 0.71 - - 3141 - 2.62 0.102 3653 536.6 133.0 - - 2506 - - - - - - - - 14.83 14.35 14.83
12591 801.4 8.9 518 12598 done 0.61 0.17 0.213 3102 -229.4 2.42 0.040 2252 -578.9 133.0 - - 2507 - - - - - - - - 14.19 14.51 14.36
12942 778.2 6.5 526 12977 roll 0.64 - - 3102 - 2.67 0.102 3658 526.6 157.6 27.77 1.893 2415 -3.3 0.270 - - - - - - 14.87 14.35 13.50
13004 773.6 7.6 535 13010 done 0.65 - - 3111 - 2.47 0.040 2241 -573.7 160.7 - - 2411 - - - - - - - - 14.43 14.40 14.46
13334 748.8 7.6 547 13336 done 0.65 - - 3111 - - - 2238 - 164.0 1.25 0.258 2396 -12.0 6.916 - - - - - - 14.78 14.43 14.16
13669 723.2 7.6 553 13676 roll 0.65 - - 3111 - 2.72 0.101 3651 519.5 166.4 2.65 0.975 2389 -2.6 0.389 - - - - - - 14.83 14.44 13.01
13724 718.6 8.1 561 13731 done 0.65 - - 3120 - 2.42 0.041 2254 -577.3 166.4 1.65 0.248 2389 - - - - - - - - 14.55 14.51 13.91
14055 694.0 7.4 573 14070 done 0.66 - - 3121 - - - 2253 - 173.0 14.75 1.955 2361 -1.9 0.134 - - - - - - 14.84 14.48 13.59
14391 669.5 7.2 579 14403 roll 0.67 - - 3121 - 2.70 0.102 3654 518.9 182.9 4.78 1.875 2325 -7.5 0.534 - - - - - - 14.79 14.45 13.09
14446 665.0 8.1 587 14452 done 0.67 - - 3130 - 2.42 0.041 2266 -573.6 182.9 1.50 0.245 2321 -2.7 1.437 - - - - - - 14.52 14.48 14.02
14782 639.2 7.7 600 14785 done 0.67 - - 3130 - - - 2261 - 183.6 1.85 0.268 2319 - - - - - - - - 14.83 14.35 13.81
15119 612.5 8.0 606 15125 roll 0.67 - - 3142 - 2.47 0.062 852 -570.4 183.6 1.75 0.263 2323 2.3 -1.057 - - - - - - 14.84 14.17 13.86
15145 610.3 7.9 610 15153 done 0.67 - - 3141 - 2.50 0.054 2259 562.8 183.6 1.35 0.235 2320 -2.2 1.146 - - - - - - 14.48 14.41 14.05
15510 581.2 7.8 620 15516 roll 0.67 - - 3141 - 2.60 0.102 3651 535.4 183.6 1.65 0.257 2321 - - - - - - - - 14.88 14.21 13.93
15537 578.9 8.4 624 15544 done 0.67 0.10 0.220 3122 -190.0 2.42 0.041 2254 -577.3 183.6 1.12 0.250 2321 - - - - - - - - 14.19 14.51 14.04
15902 554.3 6.6 634 15937 done 0.70 - - 3122 - - - 2253 - 205.5 33.40 1.665 2231 -2.7 0.178 - - - - - - 14.86 14.40 13.59
16239 530.9 7.0 640 16259 roll 0.72 - - 3122 - 2.65 0.102 3652 527.9 219.9 14.23 1.778 2169 -4.4 0.258 - - - - - - 14.75 14.35 13.55
16322 524.2 8.3 652 16328 done 0.72 - - 3131 - 2.42 0.041 2272 -570.2 219.9 - - 2165 - - - - - - - - 14.44 14.39 14.46
16687 496.3 7.7 662 16693 roll 0.72 - - 3141 - 2.50 0.064 850 -568.8 221.4 - - 2162 - - - - - - - - 14.79 14.35 14.79
16721 493.6 7.7 667 16727 done 0.72 - - 3141 - 2.50 0.054 2257 562.8 221.6 - - 2163 - - - - - - - - 14.44 14.35 14.47
17078 463.2 8.7 676 17079 done 0.72 - - 3142 - - - 2257 - 221.6 - - 2161 - - - - - - - - 14.84 14.84 14.84
17415 433.5 8.8 682 17421 roll 0.72 - - 3141 - 2.62 0.103 3654 533.2 221.6 - - 2162 - - - - - - - - 14.85 14.31 14.85
17471 428.2 9.6 690 17477 done 0.72 - - 3151 - 2.40 0.041 2252 -584.2 221.6 - - 2162 - - - - - - - - 14.59 14.50 14.62
17807 399.7 8.4 703 17812 roll 0.72 - - 3161 - 2.47 0.064 855 -565.6 221.6 - - 2162 - - - - - - - - 14.88 14.36 14.88
17826 397.9 8.4 706 17834 done 0.72 0.08 0.200 3138 -287.5 2.50 0.054 2262 562.8 221.6 - - 2161 - - - - - - - - 14.19 14.39 14.35
18143 372.9 7.9 716 18148 roll 0.72 - - 3148 - 2.47 0.063 865 -565.6 221.6 - - 2162 - - - - - - - - 14.88 14.38 14.88
18169 370.6 8.2 720 18176 done 0.72 - - 3147 - 2.47 0.054 2258 564.0 221.6 - - 2165 - - - - - - - - 14.46 14.38 14.50
18534 339.4 8.6 730 18541 roll 0.72 - - 3147 - 2.62 0.104 3654 532.8 221.6 - - 2162 - - - - - - - - 14.86 14.28 14.87
18554 337.5 8.8 733 18561 done 0.72 - - 3158 - 2.42 0.040 2257 -577.3 221.6 - - 2162 - - - - - - - - 14.52 14.47 14.54
18870 309.5 8.8 743 18876 roll 0.72 - - 3166 - 2.50 0.065 860 -558.8 221.6 - - 2162 - - - - - - - - 14.88 14.31 14.88
18918 305.1 9.1 750 18927 done 0.72 0.10 0.190 3142 -240.0 2.45 0.054 2250 567.3 221.6 - - 2162 - - - - - - - - 14.16 14.35 14.31
19263 278.7 7.7 757 19268 roll 0.72 - - 3137 - 2.62 0.102 3653 535.5 223.3 - - 2166 - - - - - - - - 14.87 14.29 14.87
19319 273.7 9.1 765 19324 done 0.72 - - 3147 - 2.38 0.040 2256 -587.0 223.3 - - 2162 - - - - - - - - 14.59 14.50 14.65
19654 245.3 8.5 778 19655 done 0.72 - - 3147 - - - 2253 - 223.3 - - 2163 - - - - - - - - 14.90 14.90 14.90
19991 216.2 8.6 784 19996 roll 0.72 - - 3157 - 2.45 0.063 859 -569.0 223.3 - - 2162 - - - - - - - - 14.88 14.36 14.88
20032 212.5 9.1 790 20039 done 0.72 - - 3158 - 2.47 0.054 2257 566.0 223.3 - - 2162 - - - - - - - - 14.43 14.35 14.48
20382 181.7 8.7 798 20389 roll 0.72 - - 3157 - 2.62 0.102 3652 532.4 223.3 - - 2162 - - - - - - - - 14.88 14.28 14.88
20409 179.1 9.4 802 20417 done 0.72 0.10 0.206 3138 -190.0 2.40 0.038 2259 -580.4 223.3 - - 2162 - - - - - - - - 14.16 14.49 14.32
20775 152.1 7.2 812 20792 done 0.74 - - 3138 - - - 2259 - 235.0 15.60 1.322 2114 -3.1 0.070 - - - - - - 14.90 14.52 13.77
21111 125.7 8.1 818 21117 roll 0.74 - - 3148 - 2.42 0.062 864 -576.4 235.0 - - 2102 - - - - - - - - 14.85 14.38 14.85
21131 124.0 8.3 821 21137 done 0.81 - - 3148 - 2.47 0.052 2264 566.8 235.0 - - 2102 - - - - - - - - 14.45 14.37 14.50
21447 99.0 7.7 831 21452 roll 0.81 - - 3147 - 2.60 0.103 3659 536.5 235.3 - - 2102 - - - - - - - - 14.87 14.29 14.87
21515 93.6 7.8 841 21522 done 0.81 - - 3158 - 2.42 0.037 2256 -579.8 235.3 - - 2102 - - - - - - - - 14.53 14.47 14.54
21839 71.2 6.3 854 21858 roll 0.85 - - 3168 - 2.47 0.062 866 -562.8 264.5 13.20 0.371 2000 -7.7 0.294 - - - - - - 14.85 14.42 14.04
21915 65.7 7.1 865 21930 done 0.95 0.05 0.112 3209 820.0 2.47 0.051 2266 566.8 277.2 8.02 0.342 1947 -6.6 0.252 - - - - - - 14.33 14.38 14.02
22261 46.8 4.2 881 22302 roll 1.03 - - 3213 - 2.65 0.102 3654 523.8 348.0 36.60 0.310 1665 -7.7 0.231 - - - - - - 14.84 14.38 14.12
22380 39.8 6.3 898 22400 done 1.15 0.10 0.110 3287 740.0 2.38 0.041 2250 -589.9 377.2 15.55 0.285 1547 -7.6 0.210 - - - - - - 14.50 14.51 14.07
22723 16.7 6.5 914 22737 done 1.18 - - 3287 - - - 2250 - 401.8 12.62 0.216 1451 -7.6 0.117 - - - - - - 14.79 14.40 14.12
22970 end climb: SURFACE_DEPTH_REACHED
22970 begin surface coast
22998 end surface coast: CONTROL_FINISHED_OK
22998 begin surface
SM -2.07 - - - - -8.39 9.15 0.073 184 20.1 0.98 0.086 2767 -5574.5 500.14 46.58 0.157 1057 22.7 0.031 - - - - - -