SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 671 * Raw log
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• Previous call tries 1 • 229.96 of 350.00 AH used of 24V (34.30% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.5 deg, depth -5.86 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 101 done -0.93 - - 109 - - - 2784 - -107.1 -80.80 - 3479 - - - - - - - - 14.61 12.66 14.55
106 0.1 -10.6 3 123 roll -0.93 11.98 0.383 2583 206.5 2.03 0.123 3829 514.8 -107.1 - - 3480 - - - - - - - - 13.90 14.19 14.29
131 13.6 -47.1 7 136 done 0.28 1.52 0.262 2967 252.6 1.80 0.053 2728 -611.7 -107.1 - - 3480 - - - - - - - - 14.00 14.47 14.31
467 41.0 -6.0 22 472 roll -0.25 0.38 0.097 2826 -371.1 2.30 0.044 1401 -577.0 -107.1 - - 3481 - - - - - - - - 14.14 14.15 14.21
579 46.2 -3.6 38 585 done -0.71 0.47 0.091 2661 -351.1 2.62 0.105 2768 521.8 -107.1 - - 3482 - - - - - - - - 14.19 13.95 14.32
915 70.7 -7.4 53 920 roll -0.71 - - 2655 - 2.15 0.162 3825 491.6 -107.1 - - 3483 - - - - - - - - 14.78 13.83 14.78
1152 89.6 -9.9 87 1157 done -0.71 - - 2655 - 1.80 0.054 2792 -573.9 -107.1 - - 3483 - - - - - - - - 14.33 14.30 14.35
1475 112.7 -7.0 97 1480 roll -0.71 - - 2654 - 2.47 0.045 1375 -573.7 -107.1 - - 3483 - - - - - - - - 14.82 14.22 14.81
1621 124.3 -7.8 118 1626 done -0.71 - - 2646 - 2.70 0.106 2769 516.3 -107.1 - - 3482 - - - - - - - - 14.16 13.85 14.22
1979 154.3 -8.6 127 1984 roll -0.71 - - 2645 - 2.47 0.045 1373 -565.2 -107.1 - - 3480 - - - - - - - - 14.81 14.20 14.81
2013 157.4 -7.8 132 2019 done -0.71 - - 2640 - 2.72 0.106 2763 511.0 -107.1 - - 3480 - - - - - - - - 14.14 13.87 14.20
2371 189.6 -9.0 141 2376 roll -0.71 - - 2640 - 2.47 0.046 1370 -564.0 -107.1 - - 3478 - - - - - - - - 14.85 14.19 14.85
2412 193.5 -8.8 147 2417 done -0.71 0.12 0.236 2665 208.3 2.72 0.106 2766 513.2 -107.1 - - 3477 - - - - - - - - 13.76 13.75 14.00
2763 220.5 -7.4 155 2764 done -0.71 - - 2664 - - - 2767 - -107.1 - - 3474 - - - - - - - - 14.81 14.81 14.81
3099 245.2 -7.3 161 3104 roll -0.71 - - 2664 - 2.50 0.047 1370 -558.8 -107.1 - - 3473 - - - - - - - - 14.81 14.16 14.81
3168 250.4 -7.7 171 3173 done -0.80 - - 2655 - 2.72 0.109 2756 509.6 -107.1 - - 3472 - - - - - - - - 14.16 13.86 14.26
3491 274.8 -7.6 182 3496 roll -0.80 - - 2655 - 2.47 0.044 1366 -562.8 -107.1 - - 3470 - - - - - - - - 14.81 14.16 14.78
3553 279.2 -7.4 191 3558 done -0.80 - - 2646 - 2.72 0.104 2763 513.6 -107.1 - - 3470 - - - - - - - - 14.10 13.78 14.16
3883 304.3 -7.6 203 3884 done -0.80 - - 2646 - - - 2763 - -107.1 - - 3468 - - - - - - - - 14.79 14.79 14.80
4219 327.9 -6.3 209 4224 roll -0.80 - - 2646 - 2.50 0.046 1365 -559.2 -107.1 - - 3467 - - - - - - - - 14.84 14.12 14.84
4309 332.3 15.7 222 4314 done -0.80 - - 2640 - 2.72 0.103 2754 510.7 -107.1 - - 3466 - - - - - - - - 14.07 13.76 14.15
4667 372.4 -9.0 231 4672 roll -0.80 - - 2639 - 2.47 0.045 1373 -559.1 -107.1 - - 3465 - - - - - - - - 14.80 14.14 14.79
4701 376.1 -10.0 236 4707 done -0.80 - - 2630 - 2.70 0.103 2750 510.0 -107.1 - - 3464 - - - - - - - - 14.16 13.87 14.22
5059 406.2 -8.2 245 5064 roll -0.80 - - 2629 - 2.47 0.044 1368 -559.5 -107.1 - - 3463 - - - - - - - - 14.80 14.13 14.80
5093 408.7 -7.3 250 5098 done -0.80 - - 2620 - 2.70 0.101 2751 512.2 -107.1 - - 3463 - - - - - - - - 14.16 13.88 14.22
5451 439.9 -8.9 259 5456 roll -0.80 - - 2611 - 2.22 0.156 3829 485.6 -107.1 - - 3461 - - - - - - - - 14.83 13.67 14.83
5485 442.6 -8.2 264 5491 done -0.80 0.08 0.211 2640 362.5 1.92 0.057 2757 -558.3 -107.1 - - 3465 - - - - - - - - 13.78 14.18 14.04
5843 469.9 -7.8 273 5848 roll -0.80 - - 2641 - 2.47 0.045 1362 -564.8 -107.1 - - 3459 - - - - - - - - 14.78 14.07 14.78
5919 486.0 -11.7 284 5925 done -0.80 - - 2631 - 2.70 0.098 2748 513.3 -107.1 - - 3459 - - - - - - - - 14.03 13.71 14.09
6235 513.9 -8.3 294 6240 roll -0.80 - - 2631 - 2.47 0.044 1361 -561.5 -107.1 - - 3458 - - - - - - - - 14.82 14.07 14.82
6262 516.2 -8.0 298 6267 done -0.80 - - 2622 - 2.72 0.099 2754 512.1 -107.1 - - 3457 - - - - - - - - 14.02 13.71 14.09
6627 546.7 -8.3 308 6632 roll -0.80 - - 2621 - 2.50 0.046 1367 -554.8 -107.1 - - 3456 - - - - - - - - 14.78 14.05 14.78
6647 548.6 -7.8 311 6652 done -0.80 0.10 0.239 2639 180.0 2.72 0.100 2751 508.8 -107.1 - - 3456 - - - - - - - - 13.69 13.69 13.95
6963 571.4 -7.4 321 6964 done -0.80 - - 2639 - - - 2751 - -107.1 - - 3455 - - - - - - - - 14.78 14.78 14.78
7299 596.9 -7.6 327 7300 done -0.80 - - 2639 - - - 2751 - -107.1 - - 3454 - - - - - - - - 14.78 14.78 14.78
7635 623.5 -7.9 333 7640 roll -0.80 - - 2638 - 2.53 0.046 1364 -548.2 -107.1 - - 3452 - - - - - - - - 14.77 14.02 14.77
7691 627.8 -7.1 341 7696 done -0.80 - - 2629 - 2.72 0.101 2742 506.6 -107.1 - - 3452 - - - - - - - - 13.96 13.64 14.03
8027 655.2 -8.0 354 8031 roll -0.80 - - 2617 - 2.28 0.161 3842 482.5 -107.1 - - 3450 - - - - - - - - 14.81 13.63 14.82
8068 658.0 -6.0 360 8074 done -0.80 - - 2620 - 1.95 0.057 2732 -569.2 -107.1 - - 3450 - - - - - - - - 14.23 14.16 14.26
8419 685.0 -7.7 368 8425 roll -0.80 - - 2620 - 2.45 0.044 1359 -560.4 -107.1 - - 3449 - - - - - - - - 14.76 13.99 14.76
8467 688.8 -7.5 375 8474 done -0.80 0.10 0.236 2639 190.0 2.78 0.098 2750 500.4 -107.1 - - 3450 - - - - - - - - 13.69 13.69 13.95
8811 713.2 -7.2 382 8816 roll -0.80 - - 2639 - 2.53 0.045 1359 -549.8 -107.1 - - 3448 - - - - - - - - 14.75 13.97 14.76
8845 715.9 -9.0 387 8850 done -0.80 - - 2630 - 2.72 0.100 2744 509.2 -107.1 - - 3448 - - - - - - - - 14.12 13.81 14.16
9203 743.5 -8.0 396 9204 done -0.80 - - 2630 - - - 2744 - -107.1 - - 3448 - - - - - - - - 14.80 14.80 14.80
9539 769.3 -7.6 402 9544 roll -0.80 - - 2630 - 2.53 0.046 1359 -547.4 -107.1 - - 3446 - - - - - - - - 14.80 13.93 14.80
9595 773.4 -9.6 410 9600 done -0.80 - - 2621 - 2.75 0.099 2742 502.9 -107.1 - - 3450 - - - - - - - - 13.96 13.64 14.02
9931 799.7 -8.1 423 9932 done -0.80 - - 2621 - - - 2742 - -107.1 - - 3444 - - - - - - - - 14.80 14.80 14.80
9983 end dive: TARGET_DEPTH_EXCEEDED
9983 begin apogee
9993 803.8 -8.2 424 10101 roll -0.23 0.73 0.177 2823 276.7 0.12 0.183 2277 -3875.0 - 100.15 2.577 3051 -3.9 0.254 - - - - 1 - 13.62 13.76 12.61
10102 end apogee: CONTROL_FINISHED_OK
10102 begin climb
10107 808.7 - 426 10247 roll 0.93 1.12 0.091 3185 323.2 2.60 0.057 876 -538.8 107.1 127.57 1.812 2616 -3.4 0.316 - - - - - - 13.86 13.91 12.93
10331 805.7 6.0 459 10373 done 0.85 - - 3184 - 2.50 0.073 2243 546.8 141.1 36.78 1.836 2488 -3.5 0.317 - - - - - - 14.29 14.12 13.05
10717 774.2 8.4 472 10723 roll 0.72 0.15 0.229 3137 -313.3 2.83 0.145 3654 498.6 141.1 - - 2472 - - - - - - - - 13.94 13.95 14.12
10779 768.6 7.9 481 10784 done 0.63 0.15 0.240 3108 -193.3 2.40 0.049 2266 -578.3 141.1 - - 2472 - - - - - - - - 13.95 14.35 14.26
11109 747.8 6.1 493 11146 done 0.66 - - 3108 - - - 2262 - 172.7 35.72 1.828 2361 -3.1 0.264 - - - - - - 14.72 14.18 13.26
11445 724.3 7.2 499 11457 roll 0.68 - - 3106 - 2.85 0.148 3657 489.5 184.1 4.25 1.580 2323 -8.9 0.850 - - - - - - 14.68 14.12 13.03
11507 718.6 9.8 508 11514 done 0.68 - - 3117 - 2.42 0.048 2249 -581.8 184.1 2.00 0.232 2317 -3.0 1.928 - - - - - - 14.49 14.41 12.11
11837 692.5 7.9 520 11840 done 0.68 - - 3117 - - - 2245 - 184.1 1.75 0.221 2317 - - - - - - - - 14.75 14.19 13.89
12173 666.6 7.7 526 12179 roll 0.68 - - 3117 - 2.95 0.149 3659 479.3 184.6 1.92 0.221 2318 - - - - - - - - 14.73 13.94 13.80
12263 658.5 9.3 539 12269 done 0.68 - - 3126 - 2.45 0.048 2257 -572.2 184.6 1.98 0.225 2317 - - - - - - - - 14.40 14.31 13.83
12614 632.9 7.2 547 12640 roll 0.69 - - 3127 - 2.83 0.153 3655 494.0 195.1 20.12 1.818 2265 -2.6 0.187 - - - - - - 14.74 14.14 13.36
12670 628.9 8.2 555 12675 done 0.69 - - 3136 - 2.42 0.047 2245 -582.6 195.1 - - 2258 - - - - - - - - 14.50 14.42 14.52
13006 604.9 7.2 568 13012 done 0.71 - - 3136 - - - 2241 - 206.6 4.82 1.740 2226 -6.6 0.479 - - - - - - 14.71 14.31 13.09
13342 580.6 7.2 574 13368 roll 0.72 - - 3135 - 2.85 0.154 3655 496.1 216.6 19.73 1.808 2181 -2.3 0.152 - - - - - - 14.73 14.14 13.35
13454 570.8 9.8 590 13459 done 0.72 - - 3147 - 2.42 0.047 2249 -581.0 216.6 - - 2174 - - - - - - - - 14.45 14.37 14.47
13790 539.5 9.6 603 13795 roll 0.72 - - 3147 - 2.88 0.152 3655 488.2 216.6 - - 2172 - - - - - - - - 14.74 13.92 14.74
13824 535.8 11.1 608 13831 done 0.72 - - 3157 - 2.42 0.048 2259 -576.9 216.6 - - 2172 - - - - - - - - 14.42 14.33 14.45
14182 500.3 9.8 617 14187 roll 0.72 - - 3168 - 2.50 0.060 857 -560.8 216.6 - - 2171 - - - - - - - - 14.76 14.09 14.77
14209 497.6 10.1 621 14215 done 0.72 0.12 0.211 3132 -300.0 2.60 0.077 2263 540.8 216.6 - - 2171 - - - - - - - - 13.95 14.04 14.22
14574 469.3 7.5 631 14579 roll 0.72 - - 3132 - 2.88 0.151 3660 485.1 221.4 - - 2175 - - - - - - - - 14.74 13.81 14.74
14651 463.2 8.0 642 14655 done 0.72 - - 3140 - 2.45 0.048 2260 -571.4 221.4 - - 2171 - - - - - - - - 14.38 14.28 14.40
14966 440.8 7.0 652 14992 roll 0.74 - - 3151 - 2.47 0.060 856 -568.4 236.1 21.40 1.639 2105 -3.1 0.172 - - - - - - 14.78 14.12 13.38
15007 437.4 7.8 658 15012 done 0.74 - - 3151 - 2.58 0.077 2267 546.9 236.1 - - 2095 - - - - - - - - 14.43 14.24 14.47
15358 405.7 9.4 666 15363 roll 0.74 - - 3150 - 2.83 0.155 3659 491.9 236.1 - - 2093 - - - - - - - - 14.71 13.93 14.71
15420 398.9 11.4 675 15425 done 0.74 - - 3160 - 2.42 0.048 2264 -576.4 236.1 - - 2093 - - - - - - - - 14.39 14.30 14.42
15750 365.1 10.3 687 15755 roll 0.74 - - 3170 - 2.53 0.061 853 -557.7 236.1 - - 2092 - - - - - - - - 14.77 14.08 14.76
15784 361.6 9.8 692 15791 done 0.74 0.10 0.215 3142 -280.0 2.62 0.080 2270 540.8 236.1 - - 2093 - - - - - - - - 13.97 14.03 14.23
16142 330.0 8.7 701 16147 roll 0.74 - - 3141 - 2.85 0.152 3664 489.1 236.1 - - 2091 - - - - - - - - 14.77 13.80 14.77
16176 326.6 9.7 706 16181 done 0.74 - - 3150 - 2.45 0.049 2254 -575.5 236.1 - - 2092 - - - - - - - - 14.38 14.28 14.40
16534 295.5 8.5 715 16535 done 0.74 - - 3150 - - - 2250 - 236.1 - - 2093 - - - - - - - - 14.73 14.74 14.74
16870 268.5 8.0 721 16875 roll 0.74 - - 3150 - 2.95 0.152 3665 479.7 236.1 - - 2093 - - - - - - - - 14.73 13.74 14.74
16911 264.9 9.1 727 16916 done 0.74 - - 3160 - 2.45 0.048 2258 -574.3 236.1 - - 2093 - - - - - - - - 14.36 14.25 14.37
17263 234.7 8.9 735 17268 roll 0.74 - - 3175 - 2.53 0.060 853 -555.3 236.1 - - 2093 - - - - - - - - 14.76 13.97 14.76
17310 230.2 9.9 742 17317 done 0.74 0.10 0.213 3144 -310.0 2.65 0.077 2266 533.2 236.1 - - 2093 - - - - - - - - 13.87 13.93 14.13
17654 203.4 7.7 749 17659 roll 0.74 - - 3141 - 2.88 0.151 3660 484.0 236.1 - - 2093 - - - - - - - - 14.73 13.74 14.73
17716 198.2 8.4 758 17721 done 0.74 - - 3151 - 2.45 0.048 2259 -571.8 236.1 - - 2093 - - - - - - - - 14.31 14.22 14.34
18046 173.1 7.5 770 18047 done 0.75 - - 3151 - - - 2254 - 239.9 - - 2093 - - - - - - - - 14.78 14.78 14.78
18382 144.7 8.6 776 18388 roll 0.75 - - 3151 - 2.97 0.152 3662 474.1 239.9 - - 2093 - - - - - - - - 14.77 13.72 14.78
18430 140.0 9.8 783 18437 done 0.75 - - 3160 - 2.47 0.047 2268 -564.4 239.9 - - 2093 - - - - - - - - 14.28 14.19 14.31
18774 112.6 7.5 790 18785 roll 0.75 - - 3179 - 2.60 0.059 854 -543.8 244.9 2.78 0.279 2078 -5.4 0.452 - - - - - - 14.78 14.06 13.45
18843 107.5 7.9 800 18850 done 0.75 - - 3171 - 2.60 0.076 2265 542.7 244.9 2.30 0.236 2073 -2.2 0.205 - - - - - - 14.20 13.97 13.57
19166 79.7 8.3 815 19171 done 0.75 - - 3171 - - - 2265 - 244.9 2.30 0.226 2075 - - - - - - - - 14.71 14.04 13.58
19502 55.4 5.6 830 19534 roll 0.80 - - 3171 - 2.80 0.155 3660 498.2 287.0 26.23 0.354 1906 -6.4 0.209 - - - - - - 14.76 14.07 13.85
19559 52.8 5.1 838 19593 done 0.87 - - 3181 - 2.42 0.047 2249 -583.1 339.6 30.00 0.349 1698 -6.9 0.218 - - - - - - 14.46 14.38 13.90
19920 38.6 2.0 856 19990 roll 1.20 0.22 0.070 3305 563.6 2.88 0.153 3663 491.0 453.2 63.88 0.301 1246 -7.1 0.188 - - - - - - 14.25 14.07 13.96
20076 27.1 9.7 879 20082 done 1.20 - - 3313 - 2.42 0.044 2284 -569.8 453.2 - - 1248 - - - - - - - - 14.37 14.28 14.39
20331 end climb: SURFACE_DEPTH_REACHED
20332 begin surface coast
20360 end surface coast: CONTROL_FINISHED_OK
20360 begin surface
SM -4.46 - - - - -8.40 9.48 0.081 177 18.7 1.00 0.119 2769 1739.0 500.14 24.40 0.155 1057 43.3 0.127 - - - - - -