SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 354 * Raw log
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• Previous call tries 1 • 128.95 of 350.00 AH used of 24V (63.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.3 deg, depth -2.17 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
14 - - - 92 done -0.93 - - 106 - - - 2751 - -107.1 -77.35 - 3478 - - - - - - - - 14.67 12.62 14.66
95 -0.8 -4.2 2 115 roll -0.93 11.90 0.384 2590 208.7 2.33 0.036 1378 -589.3 -107.1 - - 3479 - - - - - - - - 13.99 14.36 14.37
163 31.0 -22.8 13 172 done -0.68 0.35 0.240 2675 242.9 2.53 0.070 2767 549.0 -107.1 - - 3477 - - - - - - - - 14.07 14.30 14.27
478 70.1 -9.9 25 485 roll -0.68 - - 2675 - 2.35 0.041 1381 -589.8 -107.1 - - 3482 - - - - - - - - 14.84 14.47 14.85
499 71.7 -8.3 28 506 done -0.68 - - 2665 - 2.45 0.066 2757 561.6 -107.1 - - 3482 - - - - - - - - 14.46 14.38 14.50
815 97.7 -7.3 40 820 roll -0.68 - - 2661 - 2.00 0.107 3823 533.0 -107.1 - - 3483 - - - - - - - - 14.89 14.34 14.89
982 112.5 -9.3 64 988 done -0.68 - - 2656 - 1.77 0.039 2754 -604.0 -107.1 - - 3483 - - - - - - - - 14.64 14.61 14.65
1319 141.4 -8.5 77 1319 done -0.68 - - 2656 - - - 2755 - -107.1 - - 3482 - - - - - - - - 14.93 14.93 14.94
1654 171.7 -9.1 83 1655 done -0.68 - - 2656 - - - 2754 - -107.1 - - 3481 - - - - - - - - 14.95 14.94 14.95
1990 201.5 -8.9 89 1991 done -0.68 - - 2656 - - - 2754 - -107.1 - - 3478 - - - - - - - - 14.96 14.96 14.96
2326 233.1 -9.5 95 2332 roll -0.68 - - 2656 - 2.35 0.044 1390 -580.4 -107.1 - - 3476 - - - - - - - - 14.96 14.53 14.96
2353 235.8 -9.5 99 2360 done -0.68 0.10 0.210 2677 210.0 2.47 0.067 2760 554.7 -107.1 - - 3476 - - - - - - - - 14.29 14.45 14.45
2718 265.3 -8.0 109 2719 done -0.68 - - 2677 - - - 2764 - -107.1 - - 3474 - - - - - - - - 14.95 14.95 14.95
3054 291.2 -7.6 115 3055 done -0.68 - - 2677 - - - 2760 - -107.1 - - 3471 - - - - - - - - 14.95 14.95 14.95
3390 316.2 -7.5 121 3397 roll -0.68 - - 2677 - 2.35 0.043 1386 -584.7 -107.1 - - 3469 - - - - - - - - 14.95 14.56 14.95
3460 321.5 -7.5 131 3466 done -0.77 - - 2668 - 2.47 0.067 2763 557.5 -107.1 - - 3468 - - - - - - - - 14.54 14.45 14.58
3782 347.6 -8.2 142 3788 roll -0.77 - - 2668 - 2.35 0.043 1386 -586.0 -107.1 - - 3466 - - - - - - - - 14.95 14.54 14.95
3809 350.0 -8.8 146 3816 done -0.77 - - 2659 - 2.50 0.068 2762 550.4 -107.1 - - 3466 - - - - - - - - 14.54 14.43 14.58
4174 383.2 -9.1 156 4175 done -0.77 - - 2659 - - - 2761 - -107.1 - - 3464 - - - - - - - - 14.97 14.97 14.97
4510 410.9 -8.0 162 4511 done -0.77 - - 2659 - - - 2762 - -107.1 - - 3463 - - - - - - - - 14.95 14.95 14.95
4847 435.1 -7.1 168 4852 roll -0.77 - - 2659 - 2.38 0.044 1379 -581.1 -107.1 - - 3461 - - - - - - - - 14.95 14.54 14.94
4888 438.1 -7.0 174 4894 done -0.77 - - 2650 - 2.50 0.068 2746 546.8 -107.1 - - 3461 - - - - - - - - 14.48 14.38 14.54
5239 463.4 -7.2 182 5239 done -0.77 - - 2651 - - - 2746 - -107.1 - - 3459 - - - - - - - - 14.94 14.94 14.94
5574 489.2 -7.8 188 5575 done -0.77 - - 2650 - - - 2747 - -107.1 - - 3458 - - - - - - - - 14.97 14.97 14.97
5910 516.4 -8.1 194 5911 done -0.77 - - 2650 - - - 2746 - -107.1 - - 3457 - - - - - - - - 14.95 14.95 14.95
6247 544.0 -8.2 200 6247 done -0.77 - - 2651 - - - 2747 - -107.1 - - 3455 - - - - - - - - 14.96 14.96 14.97
6582 571.8 -8.3 206 6588 roll -0.77 - - 2650 - 2.40 0.045 1373 -572.5 -107.1 - - 3454 - - - - - - - - 14.94 14.50 14.94
6658 578.2 -8.2 217 6666 done -0.77 - - 2640 - 2.53 0.068 2765 550.2 -107.1 - - 3453 - - - - - - - - 14.48 14.38 14.53
6975 602.9 -7.8 227 6980 roll -0.77 - - 2641 - 2.38 0.044 1384 -580.3 -107.1 - - 3452 - - - - - - - - 14.93 14.50 14.93
7016 606.1 -7.6 233 7023 done -0.77 - - 2632 - 2.50 0.068 2749 546.0 -107.1 - - 3451 - - - - - - - - 14.45 14.35 14.50
7367 631.9 -7.2 241 7367 done -0.77 - - 2632 - - - 2748 - -107.1 - - 3450 - - - - - - - - 14.92 14.92 14.92
7702 655.4 -7.0 247 7708 roll -0.77 - - 2631 - 2.35 0.044 1389 -578.3 -107.1 - - 3449 - - - - - - - - 14.93 14.46 14.93
7744 658.5 -7.4 253 7751 done -0.77 - - 2622 - 2.47 0.067 2752 551.8 -107.1 - - 3448 - - - - - - - - 14.43 14.34 14.48
8094 686.2 -8.1 261 8101 roll -0.77 - - 2614 - 2.05 0.114 3817 519.5 -107.1 - - 3448 - - - - - - - - 14.92 14.21 14.92
8164 692.4 -9.1 271 8170 done -0.77 0.10 0.216 2643 290.0 1.80 0.043 2768 -582.8 -107.1 - - 3447 - - - - - - - - 14.19 14.59 14.33
8486 718.1 -8.0 282 8492 roll -0.77 - - 2643 - 2.45 0.045 1365 -572.7 -107.1 - - 3446 - - - - - - - - 14.94 14.40 14.94
8555 724.0 -8.4 292 8562 done -0.77 - - 2634 - 2.53 0.066 2748 546.6 -107.1 - - 3446 - - - - - - - - 14.41 14.31 14.47
8878 752.2 -8.9 303 8884 roll -0.77 - - 2625 - 2.08 0.114 3821 515.9 -107.1 - - 3446 - - - - - - - - 14.92 14.18 14.91
8912 755.4 -9.4 308 8919 done -0.77 - - 2625 - 1.88 0.044 2740 -575.0 -107.1 - - 3443 - - - - - - - - 14.64 14.58 14.65
9271 788.1 -9.1 317 9277 roll -0.77 - - 2625 - 2.35 0.044 1375 -580.9 -107.1 - - 3444 - - - - - - - - 14.91 14.44 14.91
9326 793.1 -9.0 325 9333 done -0.77 0.10 0.224 2644 190.0 2.53 0.067 2750 543.5 -107.1 - - 3444 - - - - - - - - 14.02 14.28 14.21
9662 820.2 -7.9 338 9668 roll -0.77 - - 2636 - 2.08 0.115 3821 514.9 -107.1 - - 3443 - - - - - - - - 14.90 14.14 14.91
9696 823.1 -8.7 343 9703 done -0.77 - - 2636 - 1.88 0.044 2742 -573.9 -107.1 - - 3442 - - - - - - - - 14.65 14.59 14.66
10054 851.6 -8.1 352 10060 roll -0.77 - - 2635 - 2.40 0.044 1375 -569.6 -107.1 - - 3442 - - - - - - - - 14.93 14.35 14.93
10096 854.9 -7.8 358 10102 done -0.77 - - 2626 - 2.53 0.066 2755 545.5 -107.1 - - 3441 - - - - - - - - 14.35 14.26 14.41
10446 882.4 -7.8 366 10447 done -0.77 - - 2626 - - - 2755 - -107.1 - - 3441 - - - - - - - - 14.92 14.92 14.93
10782 907.3 -7.2 372 10783 done -0.77 - - 2626 - - - 2755 - -107.1 - - 3440 - - - - - - - - 14.92 14.93 14.93
11116 end dive: TARGET_DEPTH_EXCEEDED
11116 begin apogee
11123 930.9 -7.0 378 11238 roll -0.23 0.68 0.175 2824 291.2 0.08 0.174 2260 -6187.5 - 112.28 1.963 3050 -3.5 0.328 - - - - - - 14.11 13.93 13.03
11240 end apogee: CONTROL_FINISHED_OK
11240 begin climb
11242 933.5 - 380 11372 roll 0.93 1.10 0.091 3184 327.3 2.50 0.056 886 -549.6 107.1 118.25 1.953 2617 -3.7 0.348 - - - - - - 13.97 14.01 12.88
11399 926.8 8.7 404 11404 done 0.80 - - 3184 - 2.45 0.050 2250 556.7 107.1 - - 2611 - - - - - - - - 14.01 13.92 14.04
11735 897.4 9.0 417 11742 roll 0.67 0.22 0.220 3119 -295.5 2.62 0.097 3654 535.9 107.1 - - 2606 - - - - - - - - 14.16 14.28 14.42
11825 890.2 7.7 430 11832 done 0.60 0.10 0.219 3102 -170.0 2.40 0.040 2275 -574.6 108.0 - - 2606 - - - - - - - - 14.16 14.41 14.33
12183 868.3 6.1 439 12224 roll 0.64 - - 3100 - 2.60 0.099 3648 528.1 141.2 36.90 1.931 2482 -3.4 0.301 - - - - - - 14.79 14.15 13.35
12266 862.6 7.6 451 12272 done 0.64 - - 3109 - 2.47 0.040 2238 -570.9 144.1 - - 2477 - - - - - - - - 14.35 14.32 14.37
12631 837.8 6.8 461 12657 done 0.66 - - 3110 - - - 2238 - 162.4 24.85 1.960 2402 -3.0 0.257 - - - - - - 14.75 14.32 13.40
12967 815.5 6.6 467 13001 roll 0.69 - - 3110 - 2.72 0.100 3648 518.4 185.6 26.00 1.956 2303 -3.8 0.316 - - - - - - 14.73 14.25 13.39
13050 809.7 7.9 479 13056 done 0.69 - - 3120 - 2.45 0.041 2255 -568.6 185.6 - - 2299 - - - - - - - - 14.38 14.35 14.40
13415 783.4 7.1 489 13435 roll 0.71 - - 3120 - 2.67 0.101 3649 522.1 197.8 12.18 2.062 2256 -3.5 0.267 - - - - - - 14.75 14.37 13.45
13456 780.0 8.0 495 13462 done 0.71 - - 3130 - 2.45 0.041 2248 -571.8 197.8 - - 2253 - - - - - - - - 14.45 14.41 14.49
13807 750.3 8.7 503 13813 roll 0.71 - - 3140 - 2.47 0.062 863 -560.7 197.8 - - 2251 - - - - - - - - 14.78 14.35 14.78
13827 748.3 9.0 506 13833 done 0.71 - - 3140 - 2.47 0.053 2254 563.2 197.8 - - 2251 - - - - - - - - 14.45 14.38 14.48
14143 717.2 10.0 516 14148 roll 0.71 - - 3140 - 2.60 0.102 3655 538.8 197.8 - - 2250 - - - - - - - - 14.81 14.33 14.81
14205 710.2 11.3 525 14212 done 0.71 - - 3151 - 2.42 0.040 2256 -578.1 197.8 - - 2250 - - - - - - - - 14.53 14.49 14.56
14535 675.8 10.5 537 14536 done 0.71 - - 3150 - - - 2254 - 197.8 - - 2250 - - - - - - - - 14.84 14.83 14.84
14871 642.5 9.8 543 14876 roll 0.71 - - 3151 - 2.65 0.101 3659 530.2 197.8 - - 2249 - - - - - - - - 14.88 14.32 14.88
14898 639.6 10.2 547 14905 done 0.71 0.10 0.213 3131 -200.0 2.42 0.041 2269 -574.4 197.8 - - 2249 - - - - - - - - 14.20 14.50 14.37
15263 608.7 8.4 557 15269 roll 0.71 - - 3142 - 2.45 0.061 859 -575.5 197.8 - - 2249 - - - - - - - - 14.86 14.40 14.86
15304 605.3 8.3 563 15310 done 0.71 - - 3142 - 2.47 0.053 2262 568.0 197.8 - - 2249 - - - - - - - - 14.47 14.40 14.52
15655 575.5 8.6 571 15661 roll 0.71 - - 3141 - 2.62 0.102 3666 535.9 197.8 - - 2249 - - - - - - - - 14.86 14.22 14.88
15689 572.1 9.9 576 15695 done 0.71 - - 3152 - 2.47 0.040 2245 -575.3 197.8 - - 2248 - - - - - - - - 14.54 14.50 14.57
16047 539.2 9.3 585 16048 done 0.71 - - 3152 - - - 2241 - 197.8 - - 2249 - - - - - - - - 14.87 14.87 14.87
16383 508.5 9.1 591 16388 roll 0.71 - - 3152 - 2.67 0.102 3659 531.1 197.8 - - 2249 - - - - - - - - 14.90 14.28 14.90
16439 502.9 10.3 599 16445 done 0.71 0.08 0.220 3131 -262.5 2.45 0.040 2256 -572.7 197.8 - - 2249 - - - - - - - - 14.17 14.46 14.45
16775 476.6 7.7 612 16780 roll 0.71 - - 3141 - 2.42 0.062 861 -576.4 199.2 - - 2248 - - - - - - - - 14.85 14.31 14.86
16809 473.9 7.5 617 16817 done 0.71 - - 3141 - 2.47 0.053 2260 566.4 203.4 1.00 0.225 2238 -10.0 4.192 - - - - - - 14.42 14.35 14.13
17167 446.0 7.8 626 17172 roll 0.71 - - 3149 - 2.62 0.103 3660 534.4 203.4 - - 2245 - - - - - - - - 14.86 14.26 14.88
17236 439.7 9.1 636 17242 done 0.71 - - 3152 - 2.42 0.039 2257 -579.8 203.4 - - 2246 - - - - - - - - 14.50 14.45 14.52
17559 412.4 8.5 647 17560 done 0.71 - - 3152 - - - 2254 - 203.4 - - 2246 - - - - - - - - 14.87 14.87 14.86
17895 384.2 8.4 653 17901 roll 0.71 - - 3152 - 2.67 0.102 3658 525.8 203.4 - - 2246 - - - - - - - - 14.87 14.19 14.87
17936 380.4 9.4 659 17943 done 0.71 0.10 0.209 3133 -190.0 2.42 0.040 2260 -577.7 203.4 - - 2246 - - - - - - - - 14.15 14.43 14.28
18287 354.9 7.2 667 18305 done 0.73 - - 3133 - - - 2258 - 214.2 16.33 1.571 2199 -2.9 0.129 - - - - - - 14.89 14.50 13.66
18623 329.6 7.6 673 18624 done 0.73 - - 3133 - - - 2258 - 217.6 - - 2187 - - - - - - - - 14.78 14.81 14.81
18959 303.7 7.8 679 18964 roll 0.73 - - 3133 - 2.65 0.102 3656 527.5 217.6 - - 2187 - - - - - - - - 14.84 14.28 14.84
18993 300.6 9.0 684 18999 done 0.73 - - 3143 - 2.42 0.040 2260 -576.9 217.6 - - 2187 - - - - - - - - 14.51 14.48 14.54
19351 269.4 8.9 693 19357 roll 0.73 - - 3153 - 2.45 0.062 860 -571.4 217.6 - - 2188 - - - - - - - - 14.88 14.38 14.88
19385 266.2 8.9 698 19391 done 0.73 - - 3151 - 2.47 0.052 2265 568.8 217.6 - - 2187 - - - - - - - - 14.44 14.36 14.49
19743 234.0 9.0 707 19744 done 0.73 - - 3153 - - - 2265 - 217.6 - - 2187 - - - - - - - - 14.88 14.89 14.88
20079 202.3 9.5 713 20085 roll 0.73 - - 3153 - 2.60 0.102 3653 533.8 217.6 - - 2187 - - - - - - - - 14.89 14.27 14.90
20127 197.1 10.6 720 20135 done 0.73 - - 3164 - 2.42 0.038 2256 -577.3 217.6 - - 2187 - - - - - - - - 14.52 14.48 14.54
20471 165.8 9.0 727 20476 roll 0.73 - - 3174 - 2.45 0.062 864 -568.2 217.6 - - 2188 - - - - - - - - 14.87 14.35 14.87
20505 162.6 8.9 732 20512 done 0.73 0.10 0.197 3144 -300.0 2.47 0.052 2263 566.4 217.6 - - 2187 - - - - - - - - 14.07 14.35 14.23
20863 133.4 8.2 741 20869 roll 0.73 - - 3143 - 2.62 0.100 3661 533.6 217.6 - - 2188 - - - - - - - - 14.88 14.26 14.88
20919 128.4 8.8 749 20925 done 0.73 - - 3154 - 2.42 0.038 2258 -579.8 217.6 - - 2189 - - - - - - - - 14.50 14.46 14.52
21255 102.2 7.6 762 21261 roll 0.73 - - 3163 - 2.42 0.058 866 -575.2 220.0 1.98 0.286 2178 -5.6 0.395 - - - - - - 14.89 14.02 13.59
21317 98.0 6.4 771 21340 done 0.77 - - 3162 - 2.47 0.050 2273 569.6 245.9 14.45 0.451 2074 -7.2 0.311 - - - - - - 14.42 14.34 13.95
21647 73.9 8.0 785 21654 roll 0.77 - - 3164 - 2.58 0.100 3655 535.7 245.9 1.45 0.243 2073 - - - - - - - - 14.83 14.22 14.00
21779 63.0 8.7 804 21787 done 0.77 - - 3174 - 2.40 0.037 2260 -581.2 245.9 1.40 0.214 2071 - - - - - - - - 14.49 14.45 14.02
22095 49.9 3.3 816 22145 roll 0.98 0.08 0.142 3242 850.0 2.67 0.099 3653 521.7 335.3 44.75 0.324 1715 -8.0 0.244 - - - - - - 14.55 14.40 14.12
22256 37.4 8.0 839 22262 done 0.98 0.10 0.198 3220 -220.0 2.38 0.037 2277 -578.2 335.3 - - 1717 - - - - - - - - 14.16 14.44 14.31
22595 22.4 4.1 854 22635 roll 1.23 0.12 0.099 3311 758.3 2.65 0.100 3655 520.0 408.8 35.78 0.241 1421 -8.3 0.153 - - - - - - 14.52 14.33 14.14
22794 6.7 9.4 883 22801 done 1.23 - - 3321 - 2.40 0.037 2254 -583.8 408.8 - - 1423 - - - - - - - - 14.52 14.47 14.52
22863 end climb: SURFACE_DEPTH_REACHED
22863 begin surface coast
22891 end surface coast: CONTROL_FINISHED_OK
22891 begin surface
SM -2.93 - - - - -8.40 9.30 0.080 177 19.0 0.95 0.083 2761 1822.1 500.14 42.03 0.160 1058 25.2 0.047 - - - - - -