SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 348 * Raw log
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• Previous call tries 1 • 127.03 of 350.00 AH used of 24V (63.71% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -73.2 deg, depth -2.22 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
14 - - - 93 done -0.93 - - 152 - - - 2781 - -107.1 -77.62 - 3478 - - - - - - - - 14.67 12.64 14.67
96 -1.1 -3.4 2 113 roll -0.93 11.62 0.385 2586 209.5 2.35 0.028 1332 -616.6 -107.1 - - 3479 - - - - - - - - 14.01 14.39 14.28
120 18.6 -39.4 6 128 done 0.23 1.40 0.248 2956 264.3 2.62 0.078 2757 543.9 -107.1 - - 3481 - - - - - - - - 14.13 14.30 14.40
436 39.8 -6.1 18 437 done -0.26 0.38 0.091 2818 -363.2 - - 2758 - -107.1 - - 3481 - - - - - - - - 14.47 14.61 14.57
744 57.6 -6.2 29 750 roll -0.57 0.25 0.067 2698 -480.0 2.33 0.041 1369 -596.1 -107.1 - - 3483 - - - - - - - - 14.62 14.55 14.67
806 61.8 -7.5 38 812 done -0.65 - - 2688 - 2.47 0.066 2767 566.0 -107.1 - - 3485 - - - - - - - - 14.52 14.43 14.56
1135 87.6 -13.3 52 1141 roll -0.65 - - 2680 - 1.98 0.108 3825 534.3 -107.1 - - 3482 - - - - - - - - 14.91 14.39 14.91
1169 90.3 -7.1 57 1177 done -0.65 - - 2680 - 1.80 0.039 2738 -603.9 -107.1 - - 3483 - - - - - - - - 14.73 14.69 14.73
1499 116.2 -8.8 68 1505 roll -0.65 - - 2672 - 2.08 0.106 3823 521.6 -107.1 - - 3483 - - - - - - - - 14.93 14.40 14.93
1645 129.3 -8.7 89 1652 done -0.65 - - 2672 - 1.75 0.040 2772 -600.6 -107.1 - - 3483 - - - - - - - - 14.75 14.70 14.76
2003 159.3 -8.4 98 2009 roll -0.65 - - 2672 - 2.35 0.041 1397 -585.1 -107.1 - - 3481 - - - - - - - - 14.95 14.55 14.92
2052 163.5 -8.6 105 2060 done -0.65 - - 2670 - 2.45 0.067 2761 556.7 -107.1 - - 3480 - - - - - - - - 14.56 14.47 14.60
2395 193.6 -8.8 112 2396 done -0.65 - - 2663 - - - 2762 - -107.1 - - 3478 - - - - - - - - 14.95 14.95 14.95
2731 222.2 -8.4 118 2737 roll -0.65 - - 2662 - 2.38 0.043 1398 -573.1 -107.1 - - 3475 - - - - - - - - 14.95 14.54 14.95
2765 225.1 -8.5 123 2772 done -0.65 0.10 0.202 2683 210.0 2.47 0.068 2765 553.4 -107.1 - - 3475 - - - - - - - - 14.33 14.47 14.48
3124 251.0 -7.2 132 3129 roll -0.65 - - 2683 - 2.33 0.042 1394 -588.4 -107.1 - - 3472 - - - - - - - - 14.95 14.59 14.95
3180 255.0 -7.1 140 3185 done -0.74 - - 2675 - 2.42 0.067 2765 566.5 -107.1 - - 3472 - - - - - - - - 14.66 14.49 14.69
3516 278.5 -7.0 153 3517 done -0.74 - - 2675 - - - 2765 - -107.1 - - 3470 - - - - - - - - 14.97 14.97 14.97
3851 301.0 -6.7 159 3857 roll -0.74 - - 2675 - 2.35 0.043 1384 -587.7 -107.1 - - 3468 - - - - - - - - 14.96 14.56 14.97
3885 303.5 -7.3 164 3892 done -0.74 - - 2666 - 2.47 0.068 2762 557.9 -107.1 - - 3468 - - - - - - - - 14.54 14.44 14.59
4244 330.0 -7.6 173 4250 roll -0.74 - - 2666 - 2.33 0.042 1389 -589.3 -107.1 - - 3466 - - - - - - - - 14.97 14.58 14.97
4270 332.3 -8.3 177 4278 done -0.74 - - 2657 - 2.47 0.067 2757 553.8 -107.1 - - 3465 - - - - - - - - 14.54 14.47 14.58
4636 362.2 -8.2 187 4641 roll -0.74 - - 2657 - 2.33 0.042 1390 -586.7 -107.1 - - 3464 - - - - - - - - 14.97 14.58 14.97
4669 365.0 -8.3 192 4676 done -0.74 - - 2648 - 2.47 0.067 2757 553.4 -107.1 - - 3463 - - - - - - - - 14.54 14.45 14.59
5027 394.1 -8.2 201 5034 roll -0.74 - - 2648 - 2.38 0.043 1396 -571.8 -107.1 - - 3462 - - - - - - - - 14.97 14.51 14.97
5083 398.9 -8.6 209 5090 done -0.74 - - 2639 - 2.47 0.069 2760 552.2 -107.1 - - 3462 - - - - - - - - 14.51 14.41 14.55
5420 430.0 -9.5 222 5420 done -0.74 - - 2639 - - - 2759 - -107.1 - - 3460 - - - - - - - - 14.95 14.95 14.95
5755 461.5 -9.3 228 5761 roll -0.74 - - 2631 - 2.05 0.115 3826 520.5 -107.1 - - 3458 - - - - - - - - 14.95 14.32 14.95
5782 464.2 -9.6 232 5789 done -0.74 0.10 0.235 2660 290.0 1.83 0.044 2767 -578.7 -107.1 - - 3459 - - - - - - - - 14.33 14.66 14.56
6148 491.9 -7.4 242 6153 roll -0.74 - - 2660 - 2.38 0.044 1372 -586.1 -107.1 - - 3456 - - - - - - - - 14.94 14.54 14.94
6287 501.7 -6.7 262 6293 done -0.74 - - 2651 - 2.50 0.067 2748 550.4 -107.1 - - 3456 - - - - - - - - 14.50 14.40 14.53
6651 528.9 -7.6 272 6657 roll -0.74 - - 2642 - 2.08 0.115 3823 516.8 -107.1 - - 3459 - - - - - - - - 14.94 14.29 14.94
6692 532.4 -8.6 278 6699 done -0.74 - - 2642 - 1.85 0.043 2750 -580.0 -107.1 - - 3454 - - - - - - - - 14.71 14.66 14.73
7043 562.5 -8.7 286 7049 roll -0.74 - - 2642 - 2.35 0.044 1368 -588.1 -107.1 - - 3453 - - - - - - - - 14.96 14.50 14.96
7084 566.2 -8.9 292 7091 done -0.74 - - 2632 - 2.50 0.068 2745 550.8 -107.1 - - 3453 - - - - - - - - 14.48 14.38 14.52
7435 597.3 -8.8 300 7441 roll -0.74 - - 2624 - 2.08 0.115 3820 516.8 -107.1 - - 3451 - - - - - - - - 14.93 14.24 14.92
7497 602.9 -8.9 309 7505 done -0.74 0.12 0.225 2661 308.3 1.85 0.043 2747 -580.0 -107.1 - - 3451 - - - - - - - - 14.27 14.69 14.48
7828 625.6 -6.7 321 7834 roll -0.74 - - 2661 - 2.38 0.044 1377 -575.6 -107.1 - - 3449 - - - - - - - - 14.92 14.45 14.92
7911 631.3 -6.7 333 7918 done -0.82 - - 2656 - 2.50 0.068 2741 545.6 -107.1 - - 3449 - - - - - - - - 14.45 14.34 14.49
8275 657.1 -7.1 343 8281 roll -0.82 - - 2652 - 2.40 0.044 1376 -568.8 -107.1 - - 3448 - - - - - - - - 14.95 14.43 14.95
8309 659.6 -7.4 348 8316 done -0.82 - - 2644 - 2.50 0.067 2749 549.2 -107.1 - - 3448 - - - - - - - - 14.45 14.33 14.49
8667 687.1 -7.7 357 8668 done -0.82 - - 2644 - - - 2749 - -107.1 - - 3447 - - - - - - - - 14.92 14.92 14.92
9003 713.2 -7.8 363 9009 roll -0.82 - - 2646 - 2.42 0.044 1375 -567.8 -107.1 - - 3446 - - - - - - - - 14.93 14.42 14.93
9037 716.2 -8.5 368 9044 done -0.82 - - 2634 - 2.50 0.068 2744 547.6 -107.1 - - 3446 - - - - - - - - 14.42 14.33 14.47
9395 744.8 -7.9 377 9402 roll -0.82 - - 2626 - 2.08 0.114 3825 519.7 -107.1 - - 3445 - - - - - - - - 14.92 14.21 14.92
9422 746.9 -7.6 381 9430 done -0.82 - - 2625 - 1.88 0.044 2736 -579.3 -107.1 - - 3445 - - - - - - - - 14.64 14.60 14.64
9787 775.8 -7.8 391 9793 roll -0.82 - - 2625 - 2.38 0.044 1377 -571.0 -107.1 - - 3443 - - - - - - - - 14.92 14.38 14.92
9843 779.9 -7.1 399 9849 done -0.82 - - 2616 - 2.45 0.067 2741 556.7 -107.1 - - 3445 - - - - - - - - 14.53 14.33 14.57
10180 805.2 -7.5 412 10180 done -0.82 - - 2615 - - - 2741 - -107.1 - - 3443 - - - - - - - - 14.91 14.91 14.91
10515 837.4 -11.3 418 10521 roll -0.82 - - 2607 - 2.10 0.116 3828 517.6 -107.1 - - 3441 - - - - - - - - 14.94 14.16 14.94
10550 840.4 -6.9 423 10556 done -0.82 - - 2607 - 1.88 0.045 2743 -577.1 -107.1 - - 3441 - - - - - - - - 14.56 14.52 14.57
10907 871.3 -8.7 432 10908 done -0.82 - - 2612 - - - 2746 - -107.1 - - 3441 - - - - - - - - 14.91 14.91 14.91
11243 901.7 -9.1 438 11249 roll -0.82 - - 2606 - 2.40 0.044 1375 -571.2 -107.1 - - 3440 - - - - - - - - 14.90 14.34 14.91
11277 904.7 -8.6 443 11284 done -0.82 0.10 0.231 2624 180.0 2.50 0.067 2736 544.4 -107.1 - - 3439 - - - - - - - - 14.00 14.28 14.19
11633 end dive: TARGET_DEPTH_EXCEEDED
11633 begin apogee
11639 933.7 -8.0 452 11753 roll -0.23 0.68 0.177 2822 291.2 0.10 0.161 2270 -4660.0 - 111.28 1.961 3049 -3.5 0.335 - - - - - - 14.11 13.94 13.03
11755 end apogee: CONTROL_FINISHED_OK
11755 begin climb
11758 937.2 - 454 11884 roll 0.93 1.12 0.094 3186 325.0 2.60 0.057 838 -550.8 107.1 117.30 1.967 2622 -3.6 0.349 - - - - - - 13.98 14.01 12.90
11917 931.0 7.3 478 11925 done 0.81 - - 3186 - 2.58 0.049 2247 546.1 115.6 3.47 1.486 2590 -9.2 1.161 - - - - - - 13.97 13.91 12.50
12240 902.6 9.1 489 12247 roll 0.67 0.25 0.225 3117 -276.0 2.62 0.099 3651 535.9 115.6 1.35 0.243 2590 - - - - - - - - 14.14 14.26 14.04
12296 897.9 8.1 497 12303 done 0.59 0.12 0.238 3094 -191.7 2.42 0.040 2231 -586.8 115.6 - - 2597 - - - - - - - - 14.16 14.42 14.40
12632 876.7 6.2 510 12676 done 0.63 - - 3094 - - - 2231 - 147.2 42.33 1.946 2463 -3.2 0.287 - - - - - - 14.78 14.23 13.35
12968 853.5 7.0 516 12989 roll 0.65 - - 3093 - 2.78 0.101 3659 513.7 162.3 16.80 2.039 2397 -3.9 0.330 - - - - - - 14.72 14.29 13.43
13073 845.2 8.1 531 13079 done 0.65 - - 3103 - 2.45 0.041 2263 -569.8 162.3 - - 2392 - - - - - - - - 14.42 14.38 14.44
13409 821.5 6.9 544 13428 done 0.67 - - 3103 - - - 2260 - 179.0 18.10 2.007 2339 -2.9 0.241 - - - - - - 14.76 14.39 13.47
13745 798.6 6.9 550 13773 roll 0.69 - - 3102 - 2.67 0.103 3646 519.1 195.9 19.65 1.980 2262 -3.9 0.318 - - - - - - 14.75 14.31 13.50
13828 792.1 8.2 562 13834 done 0.69 - - 3112 - 2.45 0.041 2248 -570.6 195.9 - - 2257 - - - - - - - - 14.42 14.38 14.44
14193 764.2 7.8 572 14194 done 0.69 - - 3112 - - - 2246 - 195.9 - - 2256 - - - - - - - - 14.77 14.77 14.77
14529 737.1 8.1 578 14534 roll 0.69 - - 3112 - 2.65 0.103 3650 529.8 195.9 - - 2255 - - - - - - - - 14.83 14.34 14.84
14556 734.8 8.3 582 14562 done 0.69 - - 3122 - 2.42 0.041 2254 -576.9 195.9 - - 2255 - - - - - - - - 14.54 14.50 14.57
14921 703.3 8.6 592 14926 roll 0.69 - - 3122 - 2.62 0.103 3655 534.7 195.9 - - 2254 - - - - - - - - 14.84 14.33 14.84
14955 700.0 9.6 597 14963 done 0.69 - - 3132 - 2.42 0.041 2258 -577.3 195.9 - - 2253 - - - - - - - - 14.54 14.50 14.57
15313 668.7 8.7 606 15318 roll 0.69 - - 3143 - 2.45 0.062 857 -571.8 195.9 - - 2254 - - - - - - - - 14.85 14.40 14.85
15340 666.3 8.5 610 15346 done 0.69 - - 3143 - 2.47 0.054 2259 567.6 195.9 - - 2254 - - - - - - - - 14.49 14.42 14.53
15705 633.6 9.0 620 15710 roll 0.69 - - 3144 - 2.60 0.104 3655 536.9 195.9 - - 2254 - - - - - - - - 14.88 14.32 14.88
15746 629.4 10.4 626 15753 done 0.69 0.08 0.221 3130 -175.0 2.42 0.041 2254 -578.9 195.9 - - 2253 - - - - - - - - 14.20 14.50 14.35
16097 598.0 9.0 634 16102 roll 0.69 - - 3140 - 2.42 0.061 862 -575.2 195.9 - - 2253 - - - - - - - - 14.87 14.39 14.87
16145 593.4 9.4 641 16153 done 0.69 - - 3140 - 2.47 0.054 2258 565.2 195.9 - - 2253 - - - - - - - - 14.47 14.40 14.54
16489 561.0 9.5 648 16494 roll 0.69 - - 3140 - 2.65 0.104 3650 525.3 195.9 - - 2253 - - - - - - - - 14.88 14.26 14.88
16565 552.8 10.8 659 16571 done 0.69 - - 3150 - 2.40 0.040 2260 -579.2 195.9 - - 2253 - - - - - - - - 14.54 14.50 14.57
16881 522.8 9.4 669 16882 done 0.69 - - 3151 - - - 2258 - 195.9 - - 2252 - - - - - - - - 14.87 14.88 14.87
17217 494.3 8.3 675 17218 done 0.69 - - 3151 - - - 2258 - 195.9 - - 2253 - - - - - - - - 14.88 14.88 14.88
17553 466.3 8.4 681 17559 roll 0.69 - - 3161 - 2.47 0.061 843 -572.9 195.9 - - 2253 - - - - - - - - 14.90 14.35 14.90
17587 463.3 8.3 686 17594 done 0.69 0.12 0.200 3124 -308.3 2.50 0.053 2257 565.6 195.9 - - 2253 - - - - - - - - 14.12 14.36 14.29
17945 435.4 7.8 695 17950 roll 0.69 - - 3123 - 2.60 0.103 3653 536.9 195.9 - - 2251 - - - - - - - - 14.90 14.26 14.90
18035 427.2 9.2 708 18042 done 0.69 - - 3133 - 2.40 0.041 2270 -576.2 195.9 - - 2253 - - - - - - - - 14.52 14.47 14.54
18393 397.1 8.4 717 18394 done 0.69 - - 3133 - - - 2269 - 195.9 - - 2252 - - - - - - - - 14.88 14.88 14.88
18729 369.8 8.0 723 18734 roll 0.69 - - 3144 - 2.47 0.062 856 -572.1 195.9 - - 2254 - - - - - - - - 14.90 14.33 14.90
18756 367.7 7.6 727 18762 done 0.69 - - 3144 - 2.50 0.054 2266 564.0 199.0 - - 2253 - - - - - - - - 14.42 14.34 14.45
19121 337.6 8.5 737 19127 roll 0.69 - - 3143 - 2.62 0.104 3660 532.1 199.0 - - 2253 - - - - - - - - 14.90 14.26 14.90
19155 334.2 9.8 742 19162 done 0.69 - - 3154 - 2.42 0.040 2262 -577.7 199.0 - - 2253 - - - - - - - - 14.49 14.47 14.53
19513 300.8 9.3 751 19514 done 0.69 - - 3154 - - - 2258 - 199.0 - - 2253 - - - - - - - - 14.87 14.88 14.87
19849 273.4 7.9 757 19849 done 0.69 - - 3154 - - - 2258 - 199.0 - - 2253 - - - - - - - - 14.88 14.88 14.88
20185 246.4 8.2 763 20190 roll 0.69 - - 3153 - 2.70 0.103 3654 517.0 199.0 - - 2253 - - - - - - - - 14.88 14.19 14.88
20226 242.4 9.6 769 20234 done 0.69 0.12 0.207 3127 -216.7 2.40 0.041 2268 -577.5 199.0 - - 2254 - - - - - - - - 14.10 14.47 14.27
20577 216.9 7.1 777 20597 roll 0.71 - - 3137 - 2.53 0.062 855 -558.5 212.6 16.40 1.390 2196 -3.5 0.111 - - - - - - 14.88 14.52 13.71
20639 212.5 7.1 786 20660 done 0.73 - - 3137 - 2.50 0.054 2272 566.8 226.1 13.30 1.420 2141 -4.1 0.124 - - - - - - 14.50 14.42 13.68
20969 186.9 7.9 798 20974 roll 0.73 - - 3137 - 2.58 0.103 3654 535.7 226.1 - - 2138 - - - - - - - - 14.78 14.27 14.78
21038 180.5 9.2 808 21044 done 0.73 - - 3147 - 2.40 0.039 2274 -575.0 226.1 - - 2137 - - - - - - - - 14.51 14.46 14.52
21361 152.4 8.9 819 21366 roll 0.73 - - 3158 - 2.47 0.062 858 -573.3 226.1 - - 2137 - - - - - - - - 14.82 14.34 14.83
21402 148.5 9.4 825 21409 done 0.73 - - 3157 - 2.50 0.053 2272 565.6 226.1 - - 2136 - - - - - - - - 14.44 14.35 14.48
21753 118.5 8.2 833 21759 roll 0.73 - - 3158 - 2.58 0.102 3655 536.0 226.1 - - 2137 - - - - - - - - 14.87 14.29 14.87
21801 114.1 9.2 840 21809 done 0.73 0.10 0.204 3138 -200.0 2.40 0.038 2260 -581.2 226.1 - - 2136 - - - - - - - - 14.16 14.45 14.31
22117 90.5 7.7 848 22122 roll 0.81 - - 3138 - 2.62 0.100 3656 532.8 227.3 - - 2137 - - - - - - - - 14.85 14.29 14.85
22151 87.1 9.5 853 22159 done 0.81 - - 3147 - 2.38 0.038 2281 -577.7 227.3 - - 2137 - - - - - - - - 14.50 14.45 14.53
22481 63.9 6.8 867 22494 roll 0.91 0.08 0.142 3218 887.5 2.65 0.099 3655 518.5 246.9 8.95 0.364 2065 -8.0 0.284 - - - - - - 14.57 14.35 13.98
22725 46.1 3.5 902 22774 done 1.02 - - 3229 - 2.40 0.038 2256 -582.9 331.2 43.20 0.327 1730 -7.8 0.220 - - - - - - 14.45 14.41 14.12
23099 29.6 1.3 922 23167 roll 1.27 0.15 0.086 3355 840.0 2.50 0.063 866 -556.0 460.6 62.90 0.266 1215 -8.2 0.183 - - - - - - 14.50 14.40 14.13
23264 15.4 10.6 946 23271 done 1.27 0.15 0.196 3313 -280.0 2.47 0.053 2265 566.4 460.6 - - 1217 - - - - - - - - 14.11 14.32 14.28
23451 end climb: SURFACE_DEPTH_REACHED
23451 begin surface coast
23479 end surface coast: CONTROL_FINISHED_OK
23479 begin surface
SM -3.74 - - - - -8.39 9.23 0.076 176 19.1 0.90 0.087 2765 -2623.3 500.14 18.42 0.165 1057 57.4 0.133 - - - - - -