SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 680 * Raw log
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• Previous call tries 1 • 232.68 of 350.00 AH used of 24V (33.52% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.0 deg, depth -2.60 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: 2 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 - - 106 - - - 2787 - -107.1 -81.12 - 3477 - - - - - - - - 14.65 12.66 14.54
106 3.3 -9.9 3 123 roll -0.93 11.98 0.380 2590 207.3 2.47 0.038 1369 -574.1 -107.1 - - 3478 - - - - - - - - 13.90 14.37 14.29
187 30.6 -20.2 15 192 done -0.70 0.32 0.245 2666 237.5 2.67 0.103 2761 521.3 -107.1 - - 3478 - - - - - - - - 13.93 14.02 14.23
523 71.1 -8.5 30 528 roll -0.70 - - 2667 - 2.45 0.044 1379 -564.1 -107.1 - - 3479 - - - - - - - - 14.76 14.21 14.74
743 86.9 -7.5 61 749 done -0.70 - - 2656 - 2.72 0.100 2790 518.8 -107.1 - - 3481 - - - - - - - - 14.18 13.89 14.23
1083 114.0 -8.0 71 1087 roll -0.70 - - 2648 - 2.08 0.148 3825 497.6 -107.1 - - 3480 - - - - - - - - 14.83 13.78 14.83
1110 116.2 -7.8 75 1115 done -0.70 - - 2648 - 1.77 0.053 2777 -592.1 -107.1 - - 3484 - - - - - - - - 14.40 14.34 14.42
1475 146.0 -8.3 85 1481 roll -0.70 - - 2648 - 2.45 0.044 1385 -568.2 -107.1 - - 3481 - - - - - - - - 14.83 14.16 14.83
1587 155.7 -8.8 101 1593 done -0.70 0.10 0.230 2667 190.0 2.67 0.096 2774 520.2 -107.1 - - 3478 - - - - - - - - 13.74 13.78 13.98
1923 182.6 -7.9 114 1928 roll -0.70 - - 2668 - 2.50 0.045 1379 -558.0 -107.1 - - 3476 - - - - - - - - 14.80 14.14 14.83
1979 187.0 -7.8 122 1984 done -0.79 - - 2657 - 2.70 0.094 2778 518.1 -107.1 - - 3476 - - - - - - - - 14.12 13.85 14.18
2315 213.7 -8.0 135 2320 roll -0.79 - - 2658 - 2.50 0.044 1375 -561.2 -107.1 - - 3473 - - - - - - - - 14.79 14.13 14.80
2371 218.3 -8.1 143 2376 done -0.79 - - 2649 - 2.70 0.093 2775 518.5 -107.1 - - 3472 - - - - - - - - 14.09 13.80 14.13
2707 246.3 -8.4 156 2712 roll -0.79 - - 2637 - 2.12 0.145 3826 495.8 -107.1 - - 3471 - - - - - - - - 14.83 13.69 14.83
2734 248.7 -8.8 160 2739 done -0.79 - - 2648 - 1.88 0.056 2780 -556.4 -107.1 - - 3470 - - - - - - - - 14.20 14.17 14.31
3099 280.4 -8.6 170 3104 roll -0.79 - - 2641 - 2.53 0.044 1356 -562.8 -107.1 - - 3468 - - - - - - - - 14.83 14.10 14.83
3155 285.3 -8.7 178 3160 done -0.79 - - 2629 - 2.72 0.090 2769 519.5 -107.1 - - 3467 - - - - - - - - 14.05 13.76 14.11
3491 314.8 -8.8 191 3496 roll -0.79 - - 2630 - 2.53 0.044 1358 -557.7 -107.1 - - 3465 - - - - - - - - 14.82 14.10 14.83
3518 317.1 -8.5 195 3523 done -0.79 - - 2621 - 2.72 0.091 2766 517.6 -107.1 - - 3465 - - - - - - - - 14.07 13.78 14.14
3883 349.4 -9.0 205 3888 roll -0.79 - - 2613 - 2.15 0.146 3827 493.5 -107.1 - - 3463 - - - - - - - - 14.83 13.87 14.83
3945 355.6 -9.9 214 3950 done -0.79 0.10 0.229 2641 280.0 1.88 0.055 2745 -575.5 -107.1 - - 3463 - - - - - - - - 13.84 14.21 14.07
4275 384.2 -8.8 226 4280 roll -0.79 - - 2641 - 2.45 0.043 1374 -559.6 -107.1 - - 3461 - - - - - - - - 14.78 14.08 14.78
4331 389.2 -8.9 234 4336 done -0.79 - - 2631 - 2.70 0.092 2769 516.7 -107.1 - - 3461 - - - - - - - - 14.14 13.86 14.19
4667 418.6 -8.7 247 4672 roll -0.79 - - 2631 - 2.50 0.043 1373 -558.4 -107.1 - - 3459 - - - - - - - - 14.82 14.05 14.82
4694 421.0 -8.7 251 4699 done -0.79 - - 2622 - 2.67 0.090 2759 519.1 -107.1 - - 3459 - - - - - - - - 14.03 13.74 14.09
5059 452.8 -8.8 261 5065 roll -0.79 - - 2613 - 2.17 0.141 3832 494.5 -107.1 - - 3457 - - - - - - - - 14.77 13.66 14.77
5107 457.4 -9.6 268 5114 done -0.79 0.10 0.225 2641 280.0 1.90 0.056 2762 -563.2 -107.1 - - 3458 - - - - - - - - 13.77 14.15 14.00
5451 485.3 -8.1 275 5456 roll -0.79 - - 2644 - 2.50 0.043 1366 -558.4 -107.1 - - 3455 - - - - - - - - 14.77 14.00 14.77
5499 489.3 -8.2 282 5505 done -0.79 - - 2632 - 2.72 0.086 2764 514.0 -107.1 - - 3456 - - - - - - - - 14.00 13.73 14.07
5843 518.5 -8.5 289 5844 done -0.79 - - 2632 - - - 2765 - -107.1 - - 3456 - - - - - - - - 14.77 14.77 14.77
6179 545.5 -7.9 295 6180 done -0.79 - - 2631 - - - 2765 - -107.1 - - 3453 - - - - - - - - 14.81 14.81 14.81
6515 571.9 -7.9 301 6516 done -0.79 - - 2631 - - - 2765 - -107.1 - - 3451 - - - - - - - - 14.80 14.81 14.82
6851 600.6 -8.7 307 6856 roll -0.79 - - 2631 - 2.55 0.044 1363 -549.8 -107.1 - - 3450 - - - - - - - - 14.81 13.96 14.81
6885 603.8 -9.4 312 6890 done -0.79 - - 2622 - 2.75 0.087 2767 510.5 -107.1 - - 3450 - - - - - - - - 13.98 13.68 14.04
7243 637.2 -9.5 321 7248 roll -0.79 - - 2614 - 2.15 0.140 3824 491.6 -107.1 - - 3448 - - - - - - - - 14.78 13.69 14.76
7277 640.6 -10.1 326 7282 done -0.79 0.10 0.223 2642 280.0 1.88 0.057 2765 -563.3 -107.1 - - 3447 - - - - - - - - 13.71 14.07 13.94
7635 671.5 -8.5 335 7640 roll -0.79 - - 2642 - 2.53 0.044 1364 -553.8 -107.1 - - 3448 - - - - - - - - 14.75 13.93 14.75
7725 678.9 -8.0 348 7730 done -0.87 - - 2632 - 2.70 0.085 2758 516.3 -107.1 - - 3447 - - - - - - - - 13.30 13.67 13.67
8083 707.3 -7.9 357 8089 roll -0.87 - - 2624 - 2.17 0.142 3827 492.6 -107.1 - - 3446 - - - - - - - - 14.79 13.71 14.79
8117 710.1 -8.3 362 8122 done -0.87 - - 2623 - 1.95 0.056 2757 -548.7 -107.1 - - 3445 - - - - - - - - 14.02 13.99 14.05
8475 737.2 -7.5 371 8476 done -0.87 - - 2622 - - - 2757 - -107.1 - - 3444 - - - - - - - - 14.79 14.79 14.79
8811 761.3 -7.2 377 8817 roll -0.87 - - 2623 - 2.53 0.044 1361 -551.8 -107.1 - - 3443 - - - - - - - - 14.73 13.91 14.73
8845 763.9 -7.4 382 8850 done -0.87 - - 2614 - 2.75 0.087 2760 508.7 -107.1 - - 3442 - - - - - - - - 13.88 12.75 13.98
9203 791.8 -8.0 391 9204 done -0.87 - - 2614 - - - 2760 - -107.1 - - 3442 - - - - - - - - 14.73 14.73 14.73
9311 end dive: TARGET_DEPTH_EXCEEDED
9311 begin apogee
9321 801.0 -8.2 393 9428 roll -0.23 0.75 0.184 2820 274.7 0.12 0.162 2272 -4066.7 - 99.45 2.515 3050 -3.9 0.250 - - - - 1 - 13.64 13.79 12.63
9430 end apogee: CONTROL_FINISHED_OK
9430 begin climb
9434 804.4 - 395 9569 roll 0.93 1.12 0.093 3180 321.4 2.55 0.054 889 -542.4 107.1 124.78 1.782 2625 -3.4 0.306 - - - - - - 13.84 13.90 12.99
9647 801.4 5.8 426 9693 done 0.86 - - 3180 - 2.45 0.063 2245 553.5 145.3 41.45 1.779 2468 -3.8 0.339 - - - - - - 14.23 14.09 13.09
10039 768.5 8.8 440 10044 roll 0.74 0.10 0.255 3147 -330.0 2.75 0.125 3653 512.0 145.3 - - 2453 - - - - - - - - 13.95 14.03 14.13
10073 765.3 9.1 445 10079 done 0.63 0.17 0.233 3110 -217.6 2.38 0.047 2267 -582.4 145.3 - - 2453 - - - - - - - - 13.96 14.35 14.27
10431 740.4 7.0 454 10446 done 0.65 - - 3110 - - - 2264 - 160.0 13.45 1.901 2413 -3.0 0.230 - - - - - - 14.76 14.29 13.36
10767 715.6 7.4 460 10778 roll 0.66 - - 3110 - 2.78 0.127 3648 497.8 167.5 2.47 0.708 2386 -10.9 2.197 - - - - - - 14.74 14.14 13.12
10836 710.0 8.3 470 10841 done 0.66 - - 3120 - 2.40 0.047 2259 -578.8 167.5 1.77 0.220 2383 -1.7 1.088 - - - - - - 14.46 14.38 14.01
11159 687.1 7.0 481 11192 roll 0.68 - - 3120 - 2.78 0.129 3646 498.9 181.9 24.35 1.814 2315 -2.8 0.210 - - - - - - 14.72 14.16 13.33
11235 681.2 8.2 492 11240 done 0.68 - - 3129 - 2.40 0.047 2254 -580.0 181.9 - - 2310 - - - - - - - - 14.46 14.38 14.47
11551 658.2 7.2 502 11561 roll 0.69 - - 3140 - 2.53 0.059 859 -551.4 191.8 3.05 1.080 2289 -6.9 0.835 - - - - - - 14.70 14.32 13.14
11592 655.2 7.1 508 11619 done 0.71 - - 3140 - 2.50 0.066 2250 556.4 204.9 18.45 1.713 2232 -3.1 0.235 - - - - 1 - 14.43 14.27 13.33
11936 629.7 7.5 522 11947 roll 0.71 - - 3140 - 2.78 0.133 3659 506.8 210.4 4.15 1.537 2214 -4.3 0.353 - - - - - - 14.69 14.16 13.07
12033 621.7 8.3 536 12039 done 0.71 - - 3150 - 2.42 0.046 2256 -579.8 210.4 1.73 0.230 2213 - - - - - - - - 14.47 14.38 14.01
12384 595.1 7.6 544 12396 roll 0.72 - - 3160 - 2.50 0.058 866 -556.0 213.3 3.85 1.452 2208 -1.3 0.106 - - - - - - 14.70 14.31 13.13
12418 592.4 7.5 549 12430 done 0.72 - - 3160 - 2.53 0.067 2268 554.2 217.1 5.30 1.851 2192 -3.0 0.192 - - - - - - 14.47 14.28 13.32
12776 561.4 8.9 558 12782 roll 0.72 - - 3160 - 2.78 0.135 3656 499.3 217.1 2.28 0.555 2186 -2.6 0.529 - - - - - - 14.72 14.12 13.06
12838 554.9 10.6 567 12844 done 0.64 0.22 0.220 3109 -231.8 2.40 0.046 2265 -579.6 217.1 1.73 0.226 2184 - - - - - - - - 13.96 14.35 13.88
13154 530.1 7.8 577 13157 done 0.64 - - 3109 - - - 2262 - 217.1 1.95 0.229 2184 - - - - - - - - 14.73 14.07 13.70
13490 502.5 8.3 583 13496 roll 0.64 - - 3109 - 2.85 0.127 3656 489.1 217.1 1.67 0.227 2188 2.4 -1.055 - - - - - - 14.73 13.92 13.77
13545 497.4 9.4 591 13551 done 0.64 - - 3118 - 2.45 0.046 2247 -575.1 217.1 1.85 0.229 2184 -2.2 0.934 - - - - - - 14.35 14.26 13.74
13875 469.3 8.5 603 13881 roll 0.64 - - 3118 - 2.90 0.129 3654 485.2 217.1 1.80 0.230 2184 - - - - - - - - 14.77 13.86 13.74
13916 465.5 9.6 609 13924 done 0.64 - - 3127 - 2.45 0.047 2264 -567.3 217.1 1.60 0.243 2185 - - - - - - - - 14.33 14.26 13.74
14260 436.3 8.4 616 14266 roll 0.64 - - 3127 - 2.88 0.129 3661 485.1 217.1 1.80 0.230 2186 - - - - - - - - 14.70 13.85 13.73
14302 432.5 9.1 622 14308 done 0.64 - - 3136 - 2.45 0.047 2266 -569.4 217.1 1.58 0.240 2184 - - - - - - - - 14.32 14.22 13.74
14645 404.5 8.0 629 14652 roll 0.64 0.08 0.265 3120 -200.0 2.60 0.057 863 -539.6 217.1 1.73 0.205 2186 - - - - - - - - 13.88 14.02 13.74
14680 401.9 7.2 634 14707 done 0.65 - - 3120 - 2.58 0.063 2271 545.7 228.6 19.90 1.584 2134 -2.6 0.132 - - - - - - 14.21 14.02 13.45
15042 376.5 7.0 650 15063 roll 0.67 - - 3120 - 2.75 0.129 3659 504.7 242.2 13.25 1.587 2079 -4.2 0.196 - - - - - - 14.66 14.18 13.43
15121 369.9 8.2 662 15126 done 0.67 - - 3128 - 2.40 0.046 2262 -582.1 242.2 - - 2075 - - - - - - - - 14.49 14.41 14.50
15486 343.0 7.4 672 15492 roll 0.67 - - 3128 - 2.83 0.128 3656 492.6 249.0 2.10 0.359 2059 -7.6 1.448 - - - - - - 14.71 14.05 12.97
15520 340.1 8.2 677 15527 done 0.67 - - 3137 - 2.40 0.045 2264 -580.0 249.0 - - 2065 - - - - - - - - 14.45 14.36 14.47
15871 312.0 8.0 685 15878 roll 0.67 - - 3147 - 2.58 0.058 861 -543.8 249.0 1.73 0.223 2058 -4.0 1.126 - - - - - - 14.72 14.12 13.78
15906 309.1 8.4 690 15911 done 0.67 - - 3147 - 2.58 0.066 2279 549.6 249.0 - - 2065 - - - - - - - - 14.28 14.08 14.32
16264 277.5 9.0 699 16270 roll 0.67 - - 3147 - 2.80 0.132 3658 492.5 249.0 1.65 0.220 2055 -6.1 1.520 - - - - - - 14.76 13.90 13.79
16298 274.0 10.3 704 16304 done 0.67 0.12 0.223 3122 -208.3 2.40 0.045 2272 -577.5 249.0 1.45 0.213 2058 2.1 -0.529 - - - - - - 13.91 14.28 13.89
16649 245.6 7.9 712 16655 roll 0.67 - - 3131 - 2.60 0.057 866 -540.8 249.0 1.70 0.219 2058 - - - - - - - - 14.76 14.08 13.80
16683 242.9 7.9 717 16689 done 0.67 - - 3131 - 2.55 0.063 2273 551.8 249.0 - - 2066 - - - - - - - - 14.26 14.07 14.30
17034 215.5 7.8 725 17040 roll 0.67 - - 3131 - 2.83 0.129 3661 490.5 249.0 1.67 0.223 2059 -4.2 0.806 - - - - - - 14.72 13.88 13.78
17082 210.9 9.4 732 17088 done 0.67 - - 3141 - 2.42 0.045 2275 -572.7 249.0 - - 2067 - - - - - - - - 14.33 14.21 14.35
17426 181.4 8.6 739 17432 roll 0.67 - - 3150 - 2.60 0.057 864 -542.7 249.0 1.75 0.222 2058 -5.1 0.836 - - - - - - 14.71 14.07 13.76
17453 178.9 8.7 743 17458 done 0.67 0.10 0.203 3120 -300.0 2.58 0.064 2279 548.4 249.0 - - 2064 - - - - - - - - 13.94 14.03 14.14
17811 152.2 7.3 752 17831 roll 0.77 - - 3119 - 2.75 0.132 3661 502.5 257.2 15.12 1.288 2020 -2.9 0.068 - - - - - - 14.75 14.12 13.54
17880 146.7 8.2 762 17885 done 0.77 - - 3126 - 2.38 0.047 2274 -582.8 257.2 - - 2012 - - - - - - - - 14.50 14.43 14.52
18196 123.5 7.5 772 18201 roll 0.85 0.08 0.137 3205 987.5 2.53 0.057 861 -558.5 261.8 - - 2011 - - - - - - - - 14.37 14.13 14.38
18252 117.8 10.5 780 18257 done 0.85 0.10 0.228 3177 -280.0 2.60 0.068 2284 547.3 261.8 - - 2011 - - - - - - - - 13.95 14.09 14.21
18588 87.4 9.2 795 18593 roll 0.85 - - 3177 - 2.72 0.129 3660 505.9 261.8 - - 2010 - - - - - - - - 14.70 13.92 14.71
18608 85.5 8.8 798 18614 done 0.85 - - 3187 - 2.42 0.046 2274 -572.7 261.8 - - 2011 - - - - - - - - 14.38 14.29 14.40
18924 64.2 5.4 810 18952 done 0.91 - - 3187 - - - 2270 - 307.4 25.90 0.357 1828 -7.1 0.253 - - - - - - 14.70 14.30 13.89
19260 48.7 3.0 825 19322 roll 1.17 0.17 0.082 3297 647.1 2.78 0.131 3659 499.6 401.4 53.25 0.317 1452 -7.1 0.216 - - - - - - 14.26 14.14 13.94
19484 27.6 10.7 857 19490 done 1.17 0.10 0.239 3281 -160.0 2.40 0.044 2280 -574.6 401.4 - - 1454 - - - - - - - - 13.94 14.26 14.16
19788 end climb: SURFACE_DEPTH_REACHED
19788 begin surface coast
19820 end surface coast: CONTROL_FINISHED_OK
19820 begin surface
SM -2.61 - - - - -8.39 8.77 0.032 184 21.0 0.98 0.096 2770 -2404.1 500.14 50.38 0.150 1058 21.0 0.037 - - - - - -