SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 675 * Raw log
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• Previous call tries 1 • 231.14 of 350.00 AH used of 24V (33.96% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.8 deg, depth -4.37 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 3 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
12 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 101 done -0.93 - - 105 - - - 2782 - -107.1 -80.43 - 3478 - - - - - - - - 14.62 12.68 14.56
106 3.0 -12.9 3 123 roll -0.93 11.93 0.379 2591 208.4 2.45 0.034 1366 -578.0 -107.1 - - 3479 - - - - - - - - 13.90 14.39 14.30
187 29.5 -20.8 15 192 done -0.71 0.32 0.248 2666 234.4 2.70 0.107 2770 520.0 -107.1 - - 3479 - - - - - - - - 13.92 14.06 14.21
523 72.3 -9.8 30 528 roll -0.71 - - 2658 - 2.15 0.162 3826 491.2 -107.1 - - 3478 - - - - - - - - 14.78 13.80 14.78
655 85.7 -9.1 49 662 done -0.71 - - 2657 - 1.85 0.053 2767 -572.4 -107.1 - - 3481 - - - - - - - - 14.31 14.28 14.33
971 110.6 -7.7 59 972 done -0.71 - - 2658 - - - 2767 - -107.1 - - 3485 - - - - - - - - 14.83 14.83 14.83
1307 137.6 -7.8 65 1312 roll -0.71 - - 2650 - 2.20 0.158 3825 480.9 -107.1 - - 3481 - - - - - - - - 14.83 13.76 14.83
1369 142.5 -7.9 74 1374 done -0.71 - - 2650 - 1.85 0.053 2756 -577.8 -107.1 - - 3481 - - - - - - - - 14.38 14.27 14.40
1699 168.9 -8.1 86 1704 roll -0.71 - - 2649 - 2.40 0.041 1385 -571.2 -107.1 - - 3479 - - - - - - - - 14.84 14.20 14.84
1811 177.7 -7.7 102 1816 done -0.71 - - 2640 - 2.67 0.102 2764 516.5 -107.1 - - 3478 - - - - - - - - 14.14 13.83 14.20
2147 206.3 -8.6 115 2148 done -0.71 - - 2640 - - - 2763 - -107.1 - - 3476 - - - - - - - - 14.80 14.81 14.80
2483 234.3 -8.1 121 2489 roll -0.71 - - 2639 - 2.45 0.044 1388 -561.2 -107.1 - - 3473 - - - - - - - - 14.79 14.14 14.80
2559 240.1 -7.1 132 2564 done -0.71 0.12 0.224 2666 225.0 2.67 0.103 2756 512.4 -107.1 - - 3472 - - - - - - - - 13.77 13.78 14.02
2876 259.5 -6.1 142 2876 done -0.79 - - 2667 - - - 2756 - -107.1 - - 3471 - - - - - - - - 14.83 14.83 14.83
3211 283.1 -7.2 148 3216 roll -0.87 0.08 0.145 2581 -1075.0 2.45 0.041 1380 -561.6 -107.1 - - 3467 - - - - - - - - 14.42 14.16 14.42
3259 288.0 -10.6 155 3266 done -0.87 0.15 0.221 2613 213.3 2.72 0.102 2756 505.9 -107.1 - - 3468 - - - - - - - - 13.70 13.75 13.98
3603 322.3 -9.9 162 3608 roll -0.87 - - 2606 - 2.22 0.161 3827 482.4 -107.1 - - 3466 - - - - - - - - 14.83 13.71 14.83
3637 325.8 -10.2 167 3642 done -0.87 - - 2605 - 1.83 0.053 2773 -576.0 -107.1 - - 3465 - - - - - - - - 14.33 14.26 14.35
3995 361.1 -9.9 176 4000 roll -0.87 - - 2604 - 2.50 0.044 1367 -562.4 -107.1 - - 3464 - - - - - - - - 14.78 14.10 14.78
4029 364.7 -10.5 181 4035 done -0.87 - - 2595 - 2.72 0.098 2756 510.7 -107.1 - - 3464 - - - - - - - - 14.05 13.75 14.12
4387 404.2 -11.3 190 4388 done -0.87 - - 2595 - - - 2756 - -107.1 - - 3462 - - - - - - - - 14.79 14.79 14.79
4723 443.5 -11.7 196 4727 roll -0.87 - - 2587 - 2.22 0.158 3826 482.0 -107.1 - - 3460 - - - - - - - - 14.78 13.59 14.79
4771 449.3 -12.1 203 4777 done -0.87 0.10 0.210 2613 260.0 1.92 0.054 2753 -558.9 -107.1 - - 3460 - - - - - - - - 13.69 14.15 13.85
5115 482.4 -9.3 210 5120 roll -0.87 - - 2614 - 2.47 0.043 1361 -563.6 -107.1 - - 3458 - - - - - - - - 14.82 14.07 14.82
5163 486.7 -8.6 217 5170 done -0.87 - - 2605 - 2.78 0.096 2764 504.7 -107.1 - - 3458 - - - - - - - - 14.07 13.77 14.13
5507 515.5 -8.3 224 5511 roll -0.87 - - 2596 - 2.20 0.158 3826 482.7 -107.1 - - 3457 - - - - - - - - 14.78 13.66 14.78
5563 520.1 -8.3 232 5567 done -0.87 - - 2594 - 1.88 0.055 2750 -572.3 -107.1 - - 3456 - - - - - - - - 14.29 14.22 14.30
5899 548.3 -8.4 245 5904 roll -0.87 - - 2594 - 2.45 0.042 1369 -563.7 -107.1 - - 3455 - - - - - - - - 14.78 14.04 14.78
5933 551.3 -8.8 250 5938 done -0.87 0.10 0.235 2613 190.0 2.72 0.096 2761 511.8 -107.1 - - 3455 - - - - - - - - 13.69 13.69 13.95
6291 580.9 -8.5 259 6296 roll -0.87 - - 2614 - 2.50 0.042 1370 -556.4 -107.1 - - 3454 - - - - - - - - 14.77 14.04 14.78
6325 584.0 -9.0 264 6330 done -0.87 - - 2605 - 2.72 0.096 2753 508.5 -107.1 - - 3454 - - - - - - - - 14.00 13.69 14.07
6683 617.4 -9.5 273 6689 roll -0.87 - - 2598 - 2.25 0.158 3833 480.0 -107.1 - - 3452 - - - - - - - - 14.77 13.64 14.77
6710 620.2 -10.0 277 6716 done -0.87 - - 2595 - 1.95 0.054 2719 -571.3 -107.1 - - 3451 - - - - - - - - 14.21 14.12 14.23
7075 656.4 -10.0 287 7080 roll -0.87 - - 2587 - 2.35 0.154 3831 473.2 -107.1 - - 3450 - - - - - - - - 14.76 13.63 14.76
7102 659.3 -10.4 291 7107 done -0.87 0.10 0.207 2614 270.0 1.92 0.054 2765 -555.2 -107.1 - - 3450 - - - - - - - - 13.61 14.06 13.77
7467 692.0 -8.9 301 7472 roll -0.87 - - 2616 - 2.53 0.043 1356 -556.9 -107.1 - - 3448 - - - - - - - - 14.76 13.97 14.76
7536 698.4 -9.1 311 7541 done -0.87 - - 2605 - 2.78 0.096 2755 503.2 -107.1 - - 3448 - - - - - - - - 13.98 13.67 14.04
7859 727.9 -9.2 322 7860 done -0.87 - - 2605 - - - 2754 - -107.1 - - 3448 - - - - - - - - 14.81 14.81 14.81
8195 758.3 -9.0 328 8200 roll -0.87 - - 2601 - 2.25 0.159 3830 478.2 -107.1 - - 3446 - - - - - - - - 14.81 13.66 14.79
8229 761.5 -9.5 333 8235 done -0.87 - - 2596 - 1.92 0.055 2743 -566.1 -107.1 - - 3446 - - - - - - - - 14.16 14.07 14.19
8587 794.0 -9.0 342 8592 roll -0.87 - - 2595 - 2.47 0.043 1364 -558.3 -107.1 - - 3443 - - - - - - - - 14.74 13.94 14.75
8628 797.9 -9.3 348 8634 done -0.87 0.10 0.240 2612 170.0 2.75 0.094 2755 505.8 -107.1 - - 3444 - - - - - - - - 13.67 13.70 13.94
8695 end dive: TARGET_DEPTH_EXCEEDED
8695 begin apogee
8705 803.8 -8.5 351 8822 roll -0.23 0.75 0.181 2821 278.7 0.12 0.176 2268 -4058.3 - 114.53 1.800 3050 -3.4 0.304 - - - - - - 13.69 13.90 13.07
8824 end apogee: CONTROL_FINISHED_OK
8824 begin climb
8828 806.9 - 353 8958 roll 0.93 1.12 0.095 3181 321.4 2.53 0.053 887 -545.8 107.1 116.38 1.743 2615 -3.7 0.343 - - - - - - 13.91 13.97 13.02
9042 801.1 6.8 386 9068 done 0.83 - - 3181 - 2.47 0.071 2241 548.2 124.8 18.42 1.891 2545 -3.8 0.319 - - - - - - 14.26 14.10 13.11
9428 767.9 9.0 399 9433 roll 0.70 0.15 0.235 3133 -320.0 2.83 0.144 3650 497.9 124.8 - - 2535 - - - - - - - - 13.90 13.97 14.08
9490 762.5 8.5 408 9495 done 0.60 0.17 0.231 3098 -205.9 2.38 0.048 2278 -576.5 124.8 - - 2539 - - - - - - - - 13.91 14.32 14.23
9820 741.0 6.4 420 9852 roll 0.63 - - 3093 - 2.75 0.146 3654 500.4 150.6 27.75 1.837 2443 -3.5 0.276 - - - - - - 14.73 14.07 13.32
9896 735.8 7.6 431 9901 done 0.64 - - 3107 - 2.42 0.047 2254 -578.5 152.5 - - 2436 - - - - - - - - 14.45 14.38 14.46
10212 714.6 6.6 441 10244 roll 0.66 - - 3107 - 2.83 0.148 3650 493.3 174.4 26.08 1.817 2348 -3.4 0.263 - - - - - - 14.73 14.12 13.30
10274 710.2 7.2 450 10286 done 0.68 - - 3117 - 2.42 0.047 2250 -578.5 185.7 4.25 1.486 2312 -8.5 0.802 - - - - - - 14.42 14.35 12.93
10604 687.3 6.9 462 10638 roll 0.70 - - 3117 - 2.83 0.149 3652 495.4 202.8 28.10 1.789 2233 -2.8 0.214 - - - - - - 14.72 14.06 13.28
10673 682.1 8.3 472 10678 done 0.70 - - 3126 - 2.42 0.047 2254 -577.7 202.8 - - 2226 - - - - - - - - 14.42 14.33 14.44
10996 657.4 7.8 483 10997 done 0.70 - - 3126 - - - 2250 - 202.8 - - 2223 - - - - - - - - 14.69 14.69 14.69
11332 630.4 8.1 489 11337 roll 0.70 - - 3126 - 2.88 0.151 3649 485.8 202.8 - - 2222 - - - - - - - - 14.76 13.90 14.76
11401 624.0 9.3 499 11406 done 0.70 - - 3135 - 2.42 0.047 2253 -576.9 202.8 - - 2222 - - - - - - - - 14.40 14.31 14.43
11724 597.2 8.3 510 11729 roll 0.70 - - 3146 - 2.50 0.060 856 -558.8 202.8 - - 2221 - - - - - - - - 14.73 14.09 14.73
11744 595.4 8.2 513 11749 done 0.70 - - 3146 - 2.58 0.074 2252 541.1 202.8 - - 2221 - - - - - - - - 14.28 14.07 14.33
12060 568.5 8.6 523 12065 roll 0.70 - - 3146 - 2.90 0.153 3665 487.2 202.8 - - 2221 - - - - - - - - 14.77 13.82 14.78
12108 563.7 10.1 530 12116 done 0.70 0.10 0.247 3129 -170.0 2.47 0.047 2256 -570.4 202.8 - - 2221 - - - - - - - - 13.90 14.28 14.20
12452 533.8 8.8 537 12457 roll 0.70 - - 3128 - 2.90 0.147 3659 483.8 202.8 - - 2221 - - - - - - - - 14.74 13.80 14.73
12479 531.1 9.7 541 12484 done 0.70 - - 3138 - 2.47 0.048 2248 -571.3 202.8 - - 2220 - - - - - - - - 14.36 14.26 14.38
12844 496.4 9.5 551 12849 roll 0.70 - - 3138 - 2.92 0.148 3658 482.9 202.8 - - 2220 - - - - - - - - 14.78 13.76 14.78
12878 492.8 10.5 556 12883 done 0.70 - - 3148 - 2.42 0.048 2266 -575.2 202.8 - - 2220 - - - - - - - - 14.35 14.26 14.38
13236 459.9 9.1 565 13237 done 0.70 - - 3148 - - - 2263 - 202.8 - - 2220 - - - - - - - - 14.77 14.77 14.78
13572 431.8 8.2 571 13577 roll 0.70 - - 3148 - 2.90 0.149 3657 480.7 202.8 - - 2220 - - - - - - - - 14.77 13.76 14.77
13613 428.2 8.9 577 13618 done 0.70 0.10 0.243 3130 -180.0 2.45 0.047 2260 -570.2 202.8 - - 2220 - - - - - - - - 13.84 14.22 14.13
13964 403.9 6.9 585 13984 roll 0.72 - - 3130 - 2.88 0.150 3658 485.4 219.4 15.45 1.564 2170 -3.2 0.166 - - - - - - 14.76 14.13 13.46
14005 400.8 7.4 591 14012 done 0.73 - - 3139 - 2.42 0.047 2261 -577.3 225.3 1.20 0.238 2150 -16.7 5.560 - - - - - - 14.50 14.42 14.16
14349 373.8 7.9 598 14350 done 0.73 - - 3140 - - - 2259 - 225.3 - - 2156 - - - - - - - - 14.73 14.73 14.72
14685 347.6 7.8 604 14690 roll 0.73 - - 3140 - 2.90 0.150 3658 482.4 225.3 - - 2156 - - - - - - - - 14.73 13.88 14.73
14734 343.3 8.9 611 14740 done 0.73 - - 3149 - 2.42 0.048 2267 -574.8 225.3 - - 2156 - - - - - - - - 14.38 14.29 14.40
15077 314.8 8.4 618 15078 done 0.73 - - 3149 - - - 2266 - 225.3 - - 2156 - - - - - - - - 14.78 14.78 14.78
15413 285.5 8.7 624 15414 done 0.73 - - 3149 - - - 2263 - 225.3 - - 2155 - - - - - - - - 14.73 14.73 14.73
15749 256.0 8.8 630 15755 roll 0.73 - - 3149 - 2.92 0.151 3658 477.7 225.3 - - 2156 - - - - - - - - 14.78 13.76 14.78
15790 251.9 10.2 636 15795 done 0.73 - - 3159 - 2.42 0.047 2268 -574.4 225.3 - - 2156 - - - - - - - - 14.33 14.25 14.36
16141 218.7 9.5 644 16146 roll 0.73 - - 3159 - 2.92 0.151 3661 477.1 225.3 - - 2156 - - - - - - - - 14.73 13.78 14.73
16175 215.1 10.5 649 16180 done 0.73 0.12 0.235 3135 -200.0 2.42 0.046 2272 -574.0 225.3 - - 2156 - - - - - - - - 13.85 14.25 14.12
16533 188.4 7.0 658 16559 roll 0.74 - - 3145 - 2.50 0.058 857 -566.0 240.3 21.02 1.265 2085 -3.4 0.100 - - - - - - 14.77 14.14 13.50
16589 184.5 7.3 666 16595 done 0.76 - - 3145 - 2.58 0.073 2276 550.0 248.5 2.10 0.337 2058 -12.9 1.394 - - - - - - 14.42 14.21 13.09
16925 157.0 8.3 679 16931 roll 0.76 - - 3145 - 2.88 0.151 3660 480.6 248.5 1.52 0.216 2059 - - - - - - - - 14.71 13.93 13.89
16966 153.3 9.0 685 16973 done 0.76 - - 3155 - 2.45 0.047 2259 -571.8 248.5 - - 2066 - - - - - - - - 14.38 14.29 14.40
17311 125.9 8.2 692 17315 roll 0.76 - - 3154 - 2.92 0.149 3658 479.1 248.5 - - 2068 - - - - - - - - 14.73 13.80 14.72
17359 121.1 9.9 699 17366 done 0.76 - - 3164 - 2.42 0.047 2276 -571.1 248.5 1.58 0.215 2059 -5.7 0.636 - - - - - - 14.35 14.26 13.83
17675 92.2 9.3 706 17680 roll 0.76 - - 3165 - 2.90 0.151 3661 477.6 248.5 - - 2069 - - - - - - - - 14.76 13.80 14.76
17702 89.5 9.6 710 17709 done 0.76 0.10 0.239 3147 -180.0 2.42 0.047 2272 -574.0 248.5 1.55 0.203 2058 -7.1 0.620 - - - - - - 13.90 14.26 13.89
18043 67.7 5.2 725 18080 roll 0.82 - - 3154 - 2.78 0.148 3655 497.5 299.2 29.58 0.376 1864 -6.6 0.234 - - - - - - 14.68 14.14 13.89
18235 54.3 6.5 753 18256 done 0.93 0.08 0.135 3211 712.5 2.40 0.047 2273 -575.8 323.6 15.90 0.328 1759 -6.6 0.217 - - - - - - 14.26 14.33 13.89
18568 39.2 4.9 767 18605 roll 1.11 0.08 0.139 3294 1037.5 2.58 0.060 856 -549.2 379.6 32.20 0.288 1542 -6.7 0.182 - - - - - - 14.31 14.27 13.96
18686 30.9 8.9 784 18691 done 1.11 0.12 0.213 3261 -275.0 2.62 0.077 2284 545.0 379.6 - - 1546 - - - - - - - - 13.95 14.01 14.21
19007 7.5 7.3 797 19015 done 1.12 - - 3261 - - - 2281 - 388.5 6.47 0.187 1501 -7.0 0.055 - - - - - - 14.71 14.18 13.90
19087 end climb: SURFACE_DEPTH_REACHED
19087 begin surface coast
19115 end surface coast: CONTROL_FINISHED_OK
19115 begin surface
SM -3.19 - - - - -8.39 9.20 0.070 191 20.7 0.98 0.128 2769 -5572.4 500.14 57.42 0.151 1057 18.4 0.040 - - - - - -