SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 678 * Raw log
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• Previous call tries 1 • 232.06 of 350.00 AH used of 24V (33.70% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.5 deg, depth -4.14 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 s
• GPS2 time: 4 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 - - - 102 done -0.93 - - 106 - - - 2783 - -107.1 -81.72 - 3478 - - - - - - - - 14.62 12.66 14.57
106 0.9 -8.7 3 123 roll -0.93 12.00 0.381 2591 207.1 2.50 0.040 1358 -570.0 -107.1 - - 3479 - - - - - - - - 13.90 14.36 14.30
165 23.6 -23.2 12 170 done -0.68 0.35 0.245 2672 231.4 2.72 0.109 2766 517.6 -107.1 - - 3479 - - - - - - - - 13.97 14.08 14.26
495 66.6 -7.8 26 500 roll -0.68 - - 2666 - 2.12 0.155 3825 499.5 -107.1 - - 3482 - - - - - - - - 14.78 13.85 14.78
732 85.9 -8.4 60 737 done -0.68 - - 2666 - 1.85 0.051 2735 -589.2 -107.1 - - 3481 - - - - - - - - 14.32 14.30 14.33
1083 113.7 -8.0 71 1088 roll -0.68 - - 2657 - 2.22 0.148 3826 491.4 -107.1 - - 3482 - - - - - - - - 14.83 13.80 14.83
1173 121.9 -8.9 84 1178 done -0.68 - - 2657 - 1.80 0.053 2781 -580.6 -107.1 - - 3482 - - - - - - - - 14.28 14.25 14.29
1531 148.7 -7.2 93 1536 roll -0.68 - - 2657 - 2.45 0.046 1390 -567.8 -107.1 - - 3481 - - - - - - - - 14.80 14.17 14.80
1656 158.1 -7.8 111 1661 done -0.68 0.10 0.225 2676 190.0 2.67 0.103 2775 518.7 -107.1 - - 3479 - - - - - - - - 13.83 13.84 14.08
1979 184.6 -8.4 122 1984 roll -0.76 - - 2670 - 2.47 0.046 1387 -561.9 -107.1 - - 3477 - - - - - - - - 14.83 14.21 14.83
2013 187.4 -8.3 127 2018 done -0.85 0.08 0.140 2601 -862.5 2.65 0.097 2763 519.2 -107.1 - - 3477 - - - - - - - - 14.11 13.85 14.23
2371 223.5 -9.9 136 2372 done -0.85 - - 2600 - - - 2764 - -107.1 - - 3474 - - - - - - - - 14.83 14.83 14.84
2707 257.0 -10.1 142 2712 roll -0.85 - - 2592 - 2.15 0.150 3825 493.5 -107.1 - - 3472 - - - - - - - - 14.84 13.82 14.84
2763 263.0 -10.9 150 2768 done -0.85 0.12 0.230 2625 275.0 1.83 0.054 2769 -577.0 -107.1 - - 3472 - - - - - - - - 13.82 14.28 14.09
3099 293.5 -9.1 163 3100 done -0.85 - - 2625 - - - 2769 - -107.1 - - 3469 - - - - - - - - 14.83 14.83 14.83
3435 324.7 -9.3 169 3441 roll -0.85 - - 2625 - 2.50 0.044 1376 -557.2 -107.1 - - 3467 - - - - - - - - 14.84 14.11 14.84
3476 328.4 -9.1 175 3481 done -0.85 - - 2614 - 2.70 0.093 2768 515.6 -107.1 - - 3465 - - - - - - - - 14.07 13.78 14.13
3827 359.3 -8.8 183 3832 roll -0.85 - - 2615 - 2.53 0.045 1364 -554.9 -107.1 - - 3464 - - - - - - - - 14.79 13.99 14.79
4019 375.3 -8.1 210 4023 done -0.85 - - 2606 - 2.70 0.093 2759 516.7 -107.1 - - 3464 - - - - - - - - 14.04 13.74 14.09
4332 402.6 -8.7 220 4337 roll -0.85 - - 2605 - 2.50 0.043 1372 -554.8 -107.1 - - 3461 - - - - - - - - 14.78 14.09 14.78
4517 418.6 -8.6 246 4522 done -0.85 0.10 0.246 2622 170.0 2.70 0.094 2756 512.6 -107.1 - - 3461 - - - - - - - - 13.66 13.72 13.93
4838 445.6 -8.3 257 4843 roll -0.85 - - 2622 - 2.50 0.044 1365 -556.4 -107.1 - - 3458 - - - - - - - - 14.81 14.05 14.82
4963 456.5 -8.3 275 4968 done -0.85 - - 2611 - 2.70 0.093 2755 514.8 -107.1 - - 3459 - - - - - - - - 14.04 13.74 14.10
5286 487.1 -9.5 286 5290 roll -0.85 - - 2605 - 2.20 0.150 3825 486.4 -107.1 - - 3457 - - - - - - - - 14.76 13.67 14.77
5327 491.3 -10.2 292 5332 done -0.85 - - 2603 - 1.92 0.055 2753 -558.3 -107.1 - - 3456 - - - - - - - - 14.16 14.14 14.19
5678 522.4 -8.7 300 5679 done -0.85 - - 2603 - - - 2753 - -107.1 - - 3456 - - - - - - - - 14.76 14.76 14.76
6014 550.2 -8.3 306 6014 done -0.85 - - 2603 - - - 2752 - -107.1 - - 3453 - - - - - - - - 14.76 14.76 14.76
6350 578.6 -8.5 312 6350 done -0.85 - - 2603 - - - 2753 - -107.1 - - 3452 - - - - - - - - 14.77 14.76 14.76
6686 608.2 -8.9 318 6687 done -0.85 - - 2603 - - - 2753 - -107.1 - - 3451 - - - - - - - - 14.76 14.76 14.75
7022 638.0 -8.9 324 7026 roll -0.85 - - 2596 - 2.25 0.142 3829 478.2 -107.1 - - 3449 - - - - - - - - 14.75 13.65 14.75
7078 643.2 -9.5 332 7083 done -0.85 0.10 0.231 2622 260.0 1.92 0.055 2738 -568.2 -107.1 - - 3449 - - - - - - - - 13.74 14.17 13.98
7414 669.2 -7.7 345 7419 roll -0.85 - - 2622 - 2.47 0.043 1358 -558.7 -107.1 - - 3451 - - - - - - - - 14.74 13.95 14.74
7441 671.3 -7.7 349 7447 done -0.85 - - 2614 - 2.72 0.090 2758 514.7 -107.1 - - 3448 - - - - - - - - 14.12 13.84 14.16
7806 701.7 -8.4 359 7811 roll -0.85 - - 2606 - 2.20 0.147 3836 490.0 -107.1 - - 3447 - - - - - - - - 14.79 13.68 14.79
7862 706.8 -9.2 367 7866 done -0.85 - - 2605 - 1.92 0.057 2756 -562.5 -107.1 - - 3450 - - - - - - - - 14.20 14.13 14.22
8198 737.0 -9.0 380 8199 done -0.85 - - 2605 - - - 2749 - -107.1 - - 3443 - - - - - - - - 14.74 14.73 14.73
8534 766.7 -8.8 386 8538 roll -0.85 - - 2598 - 2.20 0.143 3823 488.2 -107.1 - - 3442 - - - - - - - - 14.78 13.80 14.78
8590 771.9 -9.8 394 8595 done -0.85 0.10 0.228 2624 260.0 1.92 0.055 2737 -565.6 -107.1 - - 3443 - - - - - - - - 13.73 14.14 13.96
8926 798.4 -8.0 407 8930 roll -0.85 - - 2624 - 2.47 0.043 1358 -558.3 -107.1 - - 3442 - - - - - - - - 14.78 13.91 14.78
8942 end dive: TARGET_DEPTH_EXCEEDED
8942 begin apogee
8953 800.0 -7.8 410 9069 roll -0.23 0.73 0.183 2820 268.5 - - 2261 - - 114.00 1.810 3049 -3.4 0.302 - - - - - - 13.64 13.95 13.07
9070 end apogee: CONTROL_FINISHED_OK
9070 begin climb
9075 803.1 - 412 9206 roll 0.93 1.15 0.095 3188 320.0 2.58 0.053 846 -548.4 107.1 117.32 1.751 2614 -3.7 0.337 - - - - - - 13.90 13.97 13.00
9248 800.6 6.2 439 9288 done 0.82 - - 3189 - 2.58 0.065 2252 545.0 137.8 32.60 1.801 2494 -3.7 0.325 - - - - - - 14.20 14.04 13.03
9623 768.4 8.9 457 9629 roll 0.69 0.20 0.223 3128 -305.0 2.75 0.129 3656 510.5 137.8 - - 2483 - - - - - - - - 13.90 14.01 14.09
9671 764.2 8.6 464 9678 done 0.61 0.15 0.236 3098 -200.0 2.47 0.047 2228 -578.1 137.8 - - 2483 - - - - - - - - 13.95 14.33 14.25
10015 741.6 6.5 471 10047 roll 0.64 - - 3098 - 2.83 0.133 3659 505.7 162.2 25.88 1.851 2396 -3.4 0.267 - - - - - - 14.73 14.15 13.29
10105 735.3 6.7 484 10133 done 0.67 - - 3108 - 2.42 0.047 2249 -582.6 183.4 23.60 1.822 2319 -3.3 0.261 - - - - - - 14.44 14.37 13.25
10460 710.0 7.2 499 10469 roll 0.68 - - 3107 - 2.78 0.134 3654 505.4 194.1 3.22 1.129 2279 -12.4 1.550 - - - - - - 14.66 14.14 13.16
10497 707.0 7.9 505 10503 done 0.68 - - 3117 - 2.40 0.047 2262 -580.0 194.1 - - 2285 - - - - - - - - 14.48 14.40 14.50
10848 682.1 7.0 513 10881 roll 0.70 - - 3117 - 2.83 0.136 3657 492.9 207.7 23.88 1.831 2212 -3.1 0.226 - - - - - - 14.73 14.17 13.35
10910 677.0 8.5 522 10915 done 0.70 - - 3126 - 2.42 0.047 2254 -579.8 207.7 - - 2208 - - - - - - - - 14.45 14.38 14.47
11240 650.3 8.3 534 11245 roll 0.70 - - 3126 - 2.75 0.135 3656 509.8 207.7 - - 2203 - - - - - - - - 14.74 13.97 14.74
11267 647.7 9.8 538 11272 done 0.70 - - 3136 - 2.42 0.047 2257 -578.1 207.7 - - 2207 - - - - - - - - 14.42 14.33 14.45
11632 616.4 8.6 548 11637 roll 0.70 - - 3136 - 2.83 0.135 3658 495.1 207.7 - - 2203 - - - - - - - - 14.78 13.91 14.78
11673 612.7 9.2 554 11678 done 0.70 - - 3146 - 2.42 0.047 2265 -575.6 207.7 - - 2203 - - - - - - - - 14.41 14.32 14.43
12024 579.9 9.2 562 12029 roll 0.70 - - 3157 - 2.53 0.060 859 -555.7 207.7 - - 2203 - - - - - - - - 14.78 14.07 14.78
12065 576.0 9.0 568 12071 done 0.70 0.10 0.218 3128 -290.0 2.58 0.068 2265 545.0 207.7 - - 2203 - - - - - - - - 13.93 14.07 14.20
12416 546.5 8.4 576 12421 roll 0.70 - - 3128 - 2.78 0.134 3657 500.7 207.7 - - 2202 - - - - - - - - 14.78 13.83 14.78
12478 540.9 9.1 585 12484 done 0.70 - - 3137 - 2.45 0.047 2248 -575.1 207.7 - - 2201 - - - - - - - - 14.35 14.26 14.38
12808 512.2 8.7 597 12809 done 0.70 - - 3137 - - - 2249 - 207.7 - - 2202 - - - - - - - - 14.73 14.74 14.73
13144 483.5 8.5 603 13149 roll 0.70 - - 3134 - 2.88 0.134 3657 488.9 207.7 - - 2202 - - - - - - - - 14.74 13.79 14.74
13192 478.9 9.6 610 13199 done 0.70 - - 3148 - 2.45 0.046 2271 -565.7 207.7 - - 2202 - - - - - - - - 14.31 14.21 14.34
13536 448.9 8.8 617 13537 done 0.70 - - 3147 - - - 2269 - 207.7 - - 2202 - - - - - - - - 14.78 14.78 14.78
13872 420.9 8.1 623 13877 roll 0.70 - - 3155 - 2.60 0.060 854 -544.2 207.7 - - 2201 - - - - - - - - 14.78 13.94 14.78
13906 418.0 8.2 628 13911 done 0.70 0.10 0.220 3129 -260.0 2.62 0.069 2272 541.2 207.7 - - 2201 - - - - - - - - 13.84 13.97 14.11
14264 392.3 7.3 637 14271 roll 0.71 - - 3128 - 2.83 0.135 3660 490.5 217.0 2.12 0.375 2183 -8.5 1.762 - - - - - - 14.73 13.93 13.04
14298 389.3 8.0 642 14303 done 0.71 - - 3138 - 2.45 0.047 2260 -571.4 217.0 - - 2192 - - - - - - - - 14.38 14.30 14.40
14657 361.4 7.9 651 14659 done 0.71 - - 3138 - - - 2256 - 217.0 1.73 0.218 2186 -3.5 1.141 - - - - - - 14.72 14.07 13.79
14992 335.3 7.7 657 14996 done 0.71 - - 3138 - - - 2256 - 217.1 1.98 0.210 2184 - - - - - - - - 14.72 14.06 13.75
15329 309.1 7.8 663 15335 roll 0.71 - - 3138 - 2.92 0.134 3662 481.5 217.1 1.83 0.214 2185 - - - - - - - - 14.76 13.85 13.82
15405 302.3 8.3 674 15411 done 0.71 - - 3148 - 2.45 0.047 2262 -571.4 217.1 1.67 0.221 2185 - - - - - - - - 14.32 14.23 13.81
15763 273.1 8.2 683 15765 done 0.71 - - 3147 - - - 2259 - 217.1 1.27 0.230 2187 - - - - - - - - 14.71 14.07 13.82
16099 245.3 8.3 689 16101 done 0.71 - - 3147 - - - 2260 - 217.1 1.40 0.224 2186 - - - - - - - - 14.76 14.01 13.75
16435 219.1 7.8 695 16441 roll 0.71 - - 3147 - 2.92 0.135 3661 479.8 217.1 1.80 0.216 2186 - - - - - - - - 14.76 13.83 13.80
16462 216.5 9.3 699 16467 done 0.71 - - 3157 - 2.45 0.047 2264 -570.2 217.1 - - 2193 - - - - - - - - 14.31 14.22 14.33
16820 188.2 8.0 708 16826 roll 0.71 - - 3171 - 2.60 0.059 858 -540.8 217.1 1.92 0.216 2186 -3.6 0.630 - - - - - - 14.76 14.02 13.78
16854 185.2 9.0 713 16861 done 0.71 0.12 0.203 3131 -333.3 2.60 0.069 2275 545.0 217.1 1.73 0.210 2184 - - - - - - - - 13.83 13.97 13.77
17205 159.9 7.2 721 17230 roll 0.72 - - 3131 - 2.78 0.137 3660 498.2 227.0 16.83 1.257 2138 -2.7 0.069 - - - - - - 14.76 14.11 13.58
17274 154.5 7.2 731 17286 done 0.74 - - 3141 - 2.42 0.047 2250 -582.6 238.3 4.55 1.127 2103 -7.7 0.209 - - - - - - 14.48 14.40 13.21
17597 129.3 7.9 742 17603 roll 0.74 - - 3151 - 2.55 0.060 862 -544.3 238.3 2.08 0.314 2101 - - - - - - - - 14.74 14.19 12.87
17639 125.5 7.3 748 17658 done 0.75 - - 3149 - 2.58 0.067 2272 546.5 246.7 14.73 1.265 2070 -2.1 0.041 - - - - - - 14.32 14.12 13.52
17982 99.7 7.4 762 17988 roll 0.76 - - 3158 - 2.55 0.057 859 -554.1 253.5 1.92 0.216 2039 -16.1 1.479 - - - - - - 14.71 14.05 13.85
18002 98.0 7.5 765 18010 done 0.76 - - 3159 - 2.58 0.069 2266 545.3 257.3 3.05 0.379 2024 -4.9 0.252 - - - - - - 14.26 14.07 13.66
18318 71.7 8.0 777 18324 roll 0.76 - - 3159 - 2.83 0.136 3657 491.5 257.3 2.35 0.224 2028 1.7 -0.108 - - - - - - 14.71 13.97 13.68
18359 68.7 7.8 783 18365 done 0.76 - - 3170 - 2.42 0.046 2262 -576.4 257.3 2.25 0.230 2023 -2.2 0.132 - - - - - - 14.40 14.32 13.71
18675 53.3 3.7 795 18730 roll 0.86 - - 3168 - 2.78 0.135 3659 502.5 338.7 47.45 0.343 1701 -6.8 0.209 - - - - - - 14.71 14.19 13.94
18962 41.2 2.8 836 19023 done 1.15 0.22 0.068 3293 568.2 2.40 0.046 2259 -583.3 436.7 55.30 0.304 1310 -7.1 0.190 - - - - - - 14.27 14.27 13.94
19347 9.0 9.2 858 19352 roll 1.15 - - 3302 - 2.50 0.062 880 -551.6 436.7 - - 1315 - - - - - - - - 14.73 13.96 14.73
19388 5.0 9.2 864 19394 done 1.15 0.12 0.201 3266 -300.0 2.55 0.069 2277 547.8 436.7 - - 1313 - - - - - - - - 13.88 13.99 14.12
19427 end climb: SURFACE_DEPTH_REACHED
19427 begin surface coast
19455 end surface coast: CONTROL_FINISHED_OK
19455 begin surface
SM -4.52 - - - - -8.40 9.25 0.073 189 20.4 0.98 0.117 2771 -2403.1 500.14 33.00 0.156 1057 32.0 0.095 - - - - - -