SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 681 * Raw log
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• Previous call tries 1 • 232.99 of 350.00 AH used of 24V (33.43% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.0 deg, depth -2.61 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 102 done -0.93 - - 107 - - - 2785 - -107.1 -81.50 - 3478 - - - - - - - - 14.61 12.66 14.56
106 2.9 -9.7 3 123 roll -0.93 12.05 0.382 2592 206.2 2.47 0.034 1355 -578.9 -107.1 - - 3480 - - - - - - - - 13.88 14.38 14.31
200 34.0 -21.4 17 207 done -0.71 0.30 0.241 2664 240.0 2.70 0.099 2767 523.0 -107.1 - - 3480 - - - - - - - - 13.87 14.02 14.19
523 74.6 -9.4 30 528 roll -0.71 - - 2655 - 2.10 0.145 3825 503.8 -107.1 - - 3481 - - - - - - - - 14.77 13.81 14.78
760 92.0 -6.7 64 765 done -0.71 - - 2655 - 1.83 0.054 2761 -581.4 -107.1 - - 3482 - - - - - - - - 14.35 14.27 14.38
1111 122.2 -9.1 74 1112 done -0.71 - - 2656 - - - 2761 - -107.1 - - 3482 - - - - - - - - 14.79 14.79 14.79
1447 149.2 -7.9 80 1452 roll -0.71 - - 2656 - 2.45 0.044 1370 -567.8 -107.1 - - 3481 - - - - - - - - 14.80 14.16 14.79
1523 155.3 -7.7 91 1528 done -0.71 - - 2646 - 2.70 0.091 2770 518.5 -107.1 - - 3481 - - - - - - - - 14.12 13.84 14.17
1839 182.6 -8.9 101 1845 roll -0.71 - - 2645 - 2.50 0.044 1371 -559.6 -107.1 - - 3478 - - - - - - - - 14.79 14.12 14.80
1895 187.7 -8.8 109 1901 done -0.71 0.10 0.232 2665 200.0 2.70 0.092 2770 518.1 -107.1 - - 3478 - - - - - - - - 13.78 13.83 14.04
2231 213.9 -7.6 122 2236 roll -0.71 - - 2665 - 2.47 0.044 1383 -561.5 -107.1 - - 3475 - - - - - - - - 14.83 14.18 14.83
2272 217.1 -7.5 128 2277 done -0.79 - - 2656 - 2.65 0.092 2759 519.2 -107.1 - - 3475 - - - - - - - - 13.47 13.76 13.80
2623 244.0 -7.7 136 2628 roll -0.79 - - 2647 - 2.15 0.143 3825 495.8 -107.1 - - 3473 - - - - - - - - 14.78 13.71 14.78
2657 246.8 -8.0 141 2663 done -0.79 - - 2647 - 1.88 0.055 2771 -560.6 -107.1 - - 3472 - - - - - - - - 14.21 14.18 14.22
3015 275.2 -8.0 150 3020 roll -0.79 - - 2648 - 2.53 0.044 1353 -560.5 -107.1 - - 3470 - - - - - - - - 14.79 14.11 14.79
3063 279.2 -8.1 157 3070 done -0.79 - - 2640 - 2.72 0.089 2762 518.0 -107.1 - - 3470 - - - - - - - - 14.06 13.77 14.12
3407 307.6 -8.3 164 3412 roll -0.79 - - 2639 - 2.53 0.044 1354 -556.5 -107.1 - - 3470 - - - - - - - - 14.78 14.08 14.78
3469 312.7 -7.9 173 3475 done -0.79 - - 2629 - 2.72 0.090 2764 518.4 -107.1 - - 3467 - - - - - - - - 14.06 13.77 14.12
3799 340.9 -8.7 185 3804 roll -0.79 - - 2622 - 2.15 0.142 3831 496.3 -107.1 - - 3465 - - - - - - - - 14.78 13.68 14.78
3855 346.2 -9.7 193 3860 done -0.79 - - 2620 - 1.90 0.057 2749 -569.5 -107.1 - - 3465 - - - - - - - - 14.30 14.23 14.31
4191 379.3 -10.0 206 4196 roll -0.79 - - 2620 - 2.47 0.044 1363 -561.1 -107.1 - - 3463 - - - - - - - - 14.82 14.04 14.82
4225 382.8 -10.3 211 4230 done -0.79 0.10 0.239 2641 210.0 2.70 0.090 2754 515.2 -107.1 - - 3463 - - - - - - - - 13.70 13.76 13.97
4583 415.7 -9.1 220 4588 roll -0.79 - - 2639 - 2.50 0.045 1367 -554.8 -107.1 - - 3461 - - - - - - - - 14.81 14.04 14.81
4610 418.2 -9.1 224 4615 done -0.79 - - 2629 - 2.67 0.088 2751 518.4 -107.1 - - 3461 - - - - - - - - 14.02 13.74 14.09
4975 449.4 -8.4 234 4976 done -0.79 - - 2629 - - - 2750 - -107.1 - - 3459 - - - - - - - - 14.77 14.77 14.77
5311 473.8 -7.0 240 5316 roll -0.79 - - 2621 - 2.17 0.142 3824 494.9 -107.1 - - 3458 - - - - - - - - 14.82 13.64 14.82
5345 476.3 -7.2 245 5351 done -0.79 - - 2620 - 1.95 0.057 2745 -553.3 -107.1 - - 3458 - - - - - - - - 14.21 14.09 14.24
5703 501.1 -7.0 254 5704 done -0.79 - - 2620 - - - 2745 - -107.1 - - 3456 - - - - - - - - 14.76 14.75 14.76
6039 528.2 -8.3 260 6044 roll -0.79 - - 2619 - 2.47 0.043 1364 -559.1 -107.1 - - 3454 - - - - - - - - 14.81 14.00 14.81
6073 531.4 -9.1 265 6079 done -0.79 0.10 0.238 2638 190.0 2.70 0.087 2755 515.2 -107.1 - - 3454 - - - - - - - - 13.68 13.74 13.94
6431 561.2 -8.4 274 6432 done -0.79 - - 2638 - - - 2754 - -107.1 - - 3454 - - - - - - - - 14.76 14.76 14.80
6767 589.2 -8.3 280 6768 done -0.79 - - 2640 - - - 2754 - -107.1 - - 3452 - - - - - - - - 14.76 14.76 14.77
7103 615.4 -7.7 286 7108 roll -0.79 - - 2638 - 2.53 0.045 1365 -549.0 -107.1 - - 3450 - - - - - - - - 14.80 13.95 14.80
7151 619.3 -7.7 293 7158 done -0.79 - - 2629 - 2.72 0.088 2748 508.5 -107.1 - - 3450 - - - - - - - - 14.00 13.71 14.06
7495 646.2 -7.9 300 7499 roll -0.79 - - 2621 - 2.20 0.143 3826 490.0 -107.1 - - 3450 - - - - - - - - 14.74 13.69 14.75
7522 648.6 -8.5 304 7527 done -0.79 - - 2620 - 1.92 0.057 2744 -563.5 -107.1 - - 3449 - - - - - - - - 14.15 14.04 14.17
7887 679.0 -8.4 314 7892 roll -0.79 - - 2620 - 2.50 0.044 1356 -555.2 -107.1 - - 3448 - - - - - - - - 14.79 13.93 14.81
7935 683.2 -8.6 321 7943 done -0.79 0.10 0.232 2638 180.0 2.72 0.086 2749 512.1 -107.1 - - 3448 - - - - - - - - 13.69 13.72 13.94
8279 709.1 -7.5 328 8284 roll -0.79 - - 2631 - 2.20 0.143 3825 489.1 -107.1 - - 3448 - - - - - - - - 14.73 13.71 14.73
8341 714.2 -8.5 337 8347 done -0.79 - - 2630 - 1.92 0.057 2744 -563.0 -107.1 - - 3447 - - - - - - - - 14.16 14.06 14.18
8671 739.0 -7.5 349 8676 roll -0.79 - - 2630 - 2.50 0.044 1359 -554.0 -107.1 - - 3446 - - - - - - - - 14.73 13.92 14.73
8733 743.8 -7.5 358 8738 done -0.79 - - 2621 - 2.72 0.086 2750 511.4 -107.1 - - 3445 - - - - - - - - 13.96 13.68 14.02
9063 769.3 -7.8 370 9064 done -0.79 - - 2621 - - - 2750 - -107.1 - - 3444 - - - - - - - - 14.73 14.73 14.73
9399 795.3 -7.7 376 9404 roll -0.79 - - 2620 - 2.55 0.044 1364 -543.5 -107.1 - - 3443 - - - - - - - - 14.78 13.89 14.79
9440 798.6 -7.8 382 9445 done -0.79 0.10 0.236 2639 190.0 2.72 0.090 2751 509.9 -107.1 - - 3442 - - - - - - - - 13.74 13.78 14.00
9507 end dive: TARGET_DEPTH_EXCEEDED
9507 begin apogee
9517 803.5 -7.0 385 9633 roll -0.23 0.65 0.173 2822 281.5 0.12 0.168 2279 -3933.3 - 113.88 1.813 3050 -3.4 0.321 - - - - - - 13.62 13.91 13.02
9635 end apogee: CONTROL_FINISHED_OK
9635 begin climb
9639 806.2 - 387 9771 roll 0.93 1.12 0.089 3186 325.0 2.58 0.054 877 -543.4 107.1 118.05 1.746 2615 -3.7 0.358 - - - - - - 13.89 13.96 13.02
9869 799.9 6.9 422 9890 done 0.82 - - 3186 - 2.47 0.066 2243 553.0 123.0 16.25 1.910 2560 -3.4 0.298 - - - - - - 14.26 14.12 13.11
10234 770.5 8.2 432 10239 roll 0.68 0.20 0.232 3127 -295.0 2.78 0.126 3658 509.0 123.0 - - 2541 - - - - - - - - 13.87 14.01 14.06
10275 767.3 7.5 438 10280 done 0.60 0.15 0.230 3097 -200.0 2.42 0.048 2265 -575.6 126.9 - - 2543 - - - - - - - - 13.94 14.33 14.22
10626 748.1 5.3 446 10686 done 0.66 - - 3097 - - - 2261 - 174.4 58.17 1.736 2355 -3.2 0.293 - - - - - - 14.71 14.07 13.20
11018 723.6 6.4 453 11052 roll 0.69 - - 3096 - 2.75 0.129 3657 507.6 200.0 27.70 1.786 2244 -4.0 0.342 - - - - - - 14.69 14.03 13.26
11080 719.2 7.1 462 11092 done 0.71 - - 3106 - 2.45 0.047 2240 -578.4 212.6 5.00 1.633 2204 -8.0 0.742 - - - - - - 14.39 14.32 12.92
11410 696.2 7.0 474 11442 roll 0.72 - - 3106 - 2.78 0.131 3651 507.6 228.1 26.85 1.782 2133 -2.6 0.218 - - - - - - 14.71 14.12 13.31
11479 691.1 7.8 484 11484 done 0.72 - - 3116 - 2.40 0.047 2262 -578.8 228.1 - - 2126 - - - - - - - - 14.41 14.33 14.43
11802 667.5 7.3 495 11808 roll 0.73 - - 3116 - 2.85 0.132 3656 489.1 236.3 1.80 0.217 2105 -11.7 7.556 - - - - - - 14.71 14.02 13.92
11829 665.2 8.2 499 11834 done 0.73 - - 3124 - 2.42 0.047 2256 -578.5 236.3 - - 2112 - - - - - - - - 14.43 14.35 14.45
12187 636.2 8.2 508 12188 done 0.73 - - 3125 - - - 2253 - 236.3 - - 2116 - - - - - - - - 14.76 14.76 14.75
12523 607.1 8.7 514 12528 roll 0.73 - - 3125 - 2.85 0.132 3655 491.9 236.3 - - 2115 - - - - - - - - 14.78 13.89 14.78
12564 603.1 9.9 520 12569 done 0.73 - - 3134 - 2.45 0.047 2250 -573.5 236.3 - - 2116 - - - - - - - - 14.40 14.29 14.40
12915 572.3 8.7 528 12916 done 0.73 - - 3135 - - - 2246 - 236.3 - - 2116 - - - - - - - - 14.73 14.73 14.73
13251 543.7 8.5 534 13256 roll 0.73 - - 3135 - 2.85 0.130 3651 493.0 236.3 - - 2115 - - - - - - - - 14.78 13.81 14.78
13299 539.1 9.7 541 13306 done 0.73 - - 3145 - 2.47 0.047 2247 -568.4 236.3 - - 2116 - - - - - - - - 14.34 14.25 14.36
13643 509.0 8.7 548 13644 done 0.73 - - 3145 - - - 2243 - 236.3 - - 2116 - - - - - - - - 14.73 14.73 14.73
13979 480.4 8.4 554 13984 roll 0.73 - - 3145 - 2.88 0.129 3661 492.4 236.3 - - 2116 - - - - - - - - 14.73 13.76 14.73
14013 477.1 9.6 559 14018 done 0.73 - - 3155 - 2.45 0.046 2260 -571.8 236.3 - - 2116 - - - - - - - - 14.31 14.22 14.33
14371 444.4 9.2 568 14372 done 0.73 - - 3155 - - - 2257 - 236.3 - - 2116 - - - - - - - - 14.73 14.73 14.73
14707 413.1 9.3 574 14712 roll 0.73 - - 3155 - 2.85 0.131 3656 490.9 236.3 - - 2116 - - - - - - - - 14.72 13.77 14.73
14734 410.3 10.2 578 14739 done 0.73 - - 3165 - 2.45 0.046 2260 -569.8 236.3 - - 2116 - - - - - - - - 14.32 14.22 14.34
15099 376.4 9.1 588 15104 roll 0.73 - - 3174 - 2.55 0.060 858 -549.8 236.3 - - 2115 - - - - - - - - 14.72 13.93 14.72
15126 374.0 8.7 592 15131 done 0.73 0.12 0.223 3141 -275.0 2.58 0.067 2261 543.8 236.3 - - 2116 - - - - - - - - 13.78 13.97 14.04
15491 346.5 7.5 602 15502 roll 0.74 - - 3141 - 2.75 0.132 3654 506.5 241.6 4.12 1.197 2092 -5.8 0.355 - - - - - - 14.76 14.04 13.31
15553 341.1 9.0 611 15559 done 0.74 - - 3151 - 2.38 0.047 2248 -590.8 241.6 1.92 0.223 2087 -2.6 0.839 - - - - - - 14.46 14.35 14.00
15876 313.7 8.6 622 15879 done 0.74 - - 3151 - - - 2243 - 241.6 2.22 0.441 2088 - - - - - - - - 14.73 14.26 13.19
16212 285.0 8.5 628 16218 roll 0.74 - - 3151 - 2.92 0.129 3658 484.6 241.6 1.85 0.212 2090 - - - - - - - - 14.77 13.91 13.81
16239 282.4 9.5 632 16245 done 0.74 - - 3161 - 2.45 0.046 2256 -572.2 241.6 1.60 0.231 2093 1.9 -0.483 - - - - - - 14.35 14.27 13.83
16597 249.1 9.4 641 16601 done 0.74 - - 3160 - - - 2252 - 241.6 2.25 0.457 2087 -2.7 0.306 - - - - - - 14.77 14.26 13.24
16933 218.1 9.2 647 16937 done 0.74 - - 3162 - - - 2257 - 241.6 2.00 0.210 2087 - - - - - - - - 14.71 14.15 11.93
17269 187.6 9.0 653 17276 roll 0.74 - - 3161 - 2.90 0.132 3656 482.4 241.6 1.77 0.215 2088 - - - - - - - - 14.71 13.85 13.77
17297 184.7 9.8 657 17304 done 0.74 0.10 0.245 3144 -170.0 2.45 0.045 2256 -571.4 241.6 1.55 0.213 2088 - - - - - - - - 13.85 14.23 13.81
17662 153.6 8.4 667 17668 roll 0.74 - - 3154 - 2.60 0.058 852 -540.0 241.6 1.88 0.213 2089 - - - - - - - - 14.71 14.02 13.78
17711 149.9 7.6 674 17722 done 0.74 - - 3154 - 2.58 0.064 2264 547.3 244.2 3.53 0.921 2084 -1.4 0.049 - - - - - - 14.18 13.99 13.35
18048 124.1 7.6 687 18058 roll 0.75 - - 3155 - 2.75 0.132 3651 504.4 246.6 3.72 0.962 2072 -3.2 0.088 - - - - - - 14.71 14.00 13.37
18103 119.5 8.4 695 18110 done 0.75 - - 3164 - 2.40 0.045 2259 -580.0 246.6 2.58 0.242 2067 -1.9 0.202 - - - - - - 14.47 14.40 13.69
18436 94.2 7.7 708 18447 roll 0.75 - - 3175 - 2.53 0.059 845 -558.9 248.1 3.33 0.299 2068 - - - - - - - - 14.66 14.15 13.61
18475 91.1 7.3 714 18488 done 0.76 - - 3175 - 2.58 0.063 2267 551.2 257.0 7.20 0.391 2027 -5.7 0.279 - - - - - - 14.28 14.09 13.72
18798 68.2 6.2 727 18823 done 0.80 - - 3174 - - - 2268 - 287.1 19.40 0.366 1910 -6.0 0.237 - - - - - - 14.70 14.26 13.83
19134 60.6 1.4 739 19210 roll 1.09 0.15 0.089 3284 733.3 2.78 0.132 3659 500.4 412.5 70.40 0.353 1407 -7.1 0.258 - - - - - - 14.24 14.14 13.88
19302 49.1 10.3 763 19307 done 1.09 0.12 0.223 3255 -241.7 2.45 0.045 2249 -575.5 412.5 - - 1411 - - - - - - - - 13.85 14.20 14.11
19642 20.1 8.8 778 19647 roll 1.18 - - 3266 - 2.50 0.060 860 -555.6 412.5 - - 1411 - - - - - - - - 14.69 13.94 14.69
19689 16.4 7.5 785 19697 done 1.29 0.10 0.106 3340 740.0 2.58 0.069 2260 542.6 417.6 3.62 0.200 1387 -6.6 0.114 - - - - - - 14.15 13.99 13.81
19860 end climb: SURFACE_DEPTH_REACHED
19860 begin surface coast
19888 end surface coast: CONTROL_FINISHED_OK
19888 begin surface
SM -2.52 - - - - -8.44 9.12 0.043 158 17.3 1.00 0.108 2770 -8660.0 500.14 43.58 0.148 1058 24.3 0.042 - - - - - -