SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 682 * Raw log
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• Previous call tries 1 • 233.31 of 350.00 AH used of 24V (33.34% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.8 deg, depth -2.69 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 47 s
• GPS2 time: 4 s • Transponder ping count: 3
• 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 - - - 2784 - -107.1 -81.15 - 3478 - - - - - - - - 14.61 12.66 14.55
106 3.0 -10.0 3 123 roll -0.93 12.00 0.380 2589 206.9 2.47 0.035 1358 -577.3 -107.1 - - 3479 - - - - - - - - 13.88 14.38 14.28
193 33.3 -22.5 16 198 done -0.71 0.32 0.245 2666 240.6 2.70 0.102 2762 520.0 -107.1 - - 3479 - - - - - - - - 13.90 14.04 14.21
523 75.0 -7.3 30 528 roll -0.71 - - 2666 - 2.47 0.043 1366 -565.2 -107.1 - - 3480 - - - - - - - - 14.74 14.19 14.74
760 89.3 -6.5 64 765 done -0.71 - - 2656 - 2.72 0.096 2791 523.9 -107.1 - - 3481 - - - - - - - - 14.18 13.90 14.23
1083 114.1 -7.7 74 1084 done -0.71 - - 2656 - - - 2791 - -107.1 - - 3481 - - - - - - - - 14.82 14.83 14.83
1419 140.1 -7.7 80 1424 roll -0.71 - - 2655 - 2.55 0.045 1361 -560.8 -107.1 - - 3481 - - - - - - - - 14.83 14.13 14.83
1460 143.5 -8.3 86 1465 done -0.71 0.08 0.246 2667 150.0 2.75 0.096 2792 520.4 -107.1 - - 3480 - - - - - - - - 13.85 13.84 14.09
1811 171.2 -7.9 94 1816 roll -0.71 - - 2667 - 2.55 0.044 1364 -560.0 -107.1 - - 3478 - - - - - - - - 14.83 14.12 14.83
1853 174.5 -7.8 100 1857 done -0.79 - - 2657 - 2.72 0.094 2781 521.0 -107.1 - - 3478 - - - - - - - - 14.12 13.83 14.17
2203 202.4 -8.0 108 2208 roll -0.79 - - 2657 - 2.53 0.044 1371 -557.3 -107.1 - - 3475 - - - - - - - - 14.79 14.14 14.79
2237 205.2 -8.2 113 2243 done -0.79 - - 2648 - 2.75 0.095 2788 515.3 -107.1 - - 3475 - - - - - - - - 14.02 13.79 14.07
2595 234.1 -8.0 122 2600 roll -0.79 - - 2648 - 2.55 0.043 1361 -559.6 -107.1 - - 3472 - - - - - - - - 14.79 14.12 14.79
2629 237.0 -8.2 127 2634 done -0.79 - - 2640 - 2.75 0.093 2777 514.9 -107.1 - - 3472 - - - - - - - - 14.09 13.81 14.14
2987 266.0 -8.1 136 2988 done -0.79 - - 2639 - - - 2777 - -107.1 - - 3469 - - - - - - - - 14.79 14.79 14.80
3323 293.4 -8.3 142 3328 roll -0.79 - - 2639 - 2.53 0.044 1372 -555.3 -107.1 - - 3467 - - - - - - - - 14.79 14.09 14.79
3364 297.0 -8.5 148 3369 done -0.79 - - 2630 - 2.78 0.093 2789 509.7 -107.1 - - 3467 - - - - - - - - 14.05 13.75 14.11
3715 329.0 -9.2 156 3720 roll -0.79 - - 2629 - 2.55 0.044 1374 -554.9 -107.1 - - 3464 - - - - - - - - 14.79 14.07 14.79
3756 332.9 -9.3 162 3761 done -0.79 - - 2620 - 2.78 0.095 2783 506.8 -107.1 - - 3464 - - - - - - - - 14.04 13.62 14.10
4107 366.4 -9.5 170 4112 roll -0.79 - - 2613 - 2.12 0.148 3826 492.0 -107.1 - - 3462 - - - - - - - - 14.78 13.71 14.78
4169 372.6 -10.0 179 4174 done -0.79 0.08 0.213 2641 350.0 1.88 0.055 2789 -551.6 -107.1 - - 3462 - - - - - - - - 13.74 14.12 13.98
4499 399.6 -8.0 191 4504 roll -0.79 - - 2638 - 2.55 0.044 1364 -558.8 -107.1 - - 3460 - - - - - - - - 14.82 14.04 14.83
4582 406.2 -7.7 203 4587 done -0.79 - - 2630 - 2.72 0.090 2776 519.1 -107.1 - - 3460 - - - - - - - - 14.02 13.74 14.08
4947 436.7 -8.5 213 4948 done -0.79 - - 2631 - - - 2776 - -107.1 - - 3457 - - - - - - - - 14.78 14.78 14.78
5283 465.5 -8.6 219 5284 done -0.79 - - 2631 - - - 2775 - -107.1 - - 3457 - - - - - - - - 14.83 14.83 14.83
5619 494.4 -8.6 225 5620 done -0.79 - - 2631 - - - 2776 - -107.1 - - 3456 - - - - - - - - 14.77 14.78 14.77
5955 523.6 -8.7 231 5956 done -0.79 - - 2631 - - - 2776 - -107.1 - - 3453 - - - - - - - - 14.83 14.82 14.83
6291 552.1 -8.4 237 6292 done -0.79 - - 2631 - - - 2776 - -107.1 - - 3453 - - - - - - - - 14.76 14.76 14.76
6627 578.9 -7.9 243 6632 roll -0.79 - - 2630 - 2.60 0.045 1356 -546.2 -107.1 - - 3451 - - - - - - - - 14.81 14.00 14.81
6683 583.3 -7.8 251 6688 done -0.79 - - 2621 - 2.78 0.090 2773 509.7 -107.1 - - 3451 - - - - - - - - 13.97 13.67 14.03
7019 610.3 -8.1 264 7024 roll -0.79 - - 2613 - 2.15 0.145 3827 490.2 -107.1 - - 3449 - - - - - - - - 14.76 13.68 14.76
7053 613.3 -8.7 269 7059 done -0.79 0.10 0.193 2641 280.0 1.92 0.057 2774 -548.4 -107.1 - - 3449 - - - - - - - - 13.59 14.00 13.74
7411 639.3 -7.2 278 7416 roll -0.79 - - 2641 - 2.55 0.043 1361 -554.1 -107.1 - - 3448 - - - - - - - - 14.76 13.95 14.75
7480 644.5 -7.3 288 7485 done -0.87 - - 2632 - 2.78 0.088 2774 508.3 -107.1 - - 3448 - - - - - - - - 13.97 13.69 14.03
7803 669.1 -7.7 299 7808 roll -0.87 - - 2623 - 2.15 0.142 3827 489.8 -107.1 - - 3448 - - - - - - - - 14.75 13.71 14.76
7837 672.0 -8.4 304 7842 done -0.87 - - 2623 - 1.90 0.058 2760 -561.6 -107.1 - - 3448 - - - - - - - - 14.17 14.07 14.19
8195 701.1 -8.2 313 8200 roll -0.87 - - 2623 - 2.53 0.044 1362 -552.6 -107.1 - - 3446 - - - - - - - - 14.74 13.93 14.75
8257 706.4 -8.4 322 8262 done -0.87 - - 2614 - 2.78 0.089 2775 508.3 -107.1 - - 3445 - - - - - - - - 13.95 13.67 14.00
8587 735.5 -8.9 334 8588 done -0.87 - - 2614 - - - 2775 - -107.1 - - 3444 - - - - - - - - 14.79 14.79 14.79
8923 766.8 -9.3 340 8924 done -0.87 - - 2614 - - - 2775 - -107.1 - - 3442 - - - - - - - - 14.73 14.73 14.73
9259 797.4 -9.1 346 9264 roll -0.87 - - 2613 - 2.60 0.044 1360 -544.2 -107.1 - - 3442 - - - - - - - - 14.73 13.86 14.72
9289 end dive: TARGET_DEPTH_EXCEEDED
9289 begin apogee
9299 800.5 -9.1 351 9406 roll -0.23 0.77 0.186 2819 267.5 - - 2258 - - 99.30 2.518 3051 -3.9 0.249 - - - - 1 - 13.66 13.81 12.64
9408 end apogee: CONTROL_FINISHED_OK
9408 begin climb
9412 804.1 - 353 9547 roll 0.93 1.12 0.093 3181 323.2 2.60 0.054 851 -541.2 107.1 124.78 1.796 2624 -3.4 0.304 - - - - - - 13.85 13.90 13.01
9596 801.7 5.8 380 9645 done 0.85 - - 3182 - 2.58 0.065 2261 546.5 146.2 42.78 1.779 2466 -3.7 0.331 - - - - - - 14.21 14.05 13.06
9972 767.3 9.7 398 9973 done 0.74 0.15 0.235 3141 -273.3 - - 2261 - 146.2 - - 2451 - - - - - - - - 14.00 14.35 14.28
10304 739.2 8.2 404 10305 done 0.74 - - 3140 - - - 2264 - 146.2 - - 2450 - - - - - - - - 14.72 14.73 14.73
10640 713.0 7.7 410 10646 roll 0.74 - - 3140 - 2.75 0.131 3656 506.2 146.2 - - 2449 - - - - - - - - 14.71 13.94 14.71
10702 707.8 8.2 419 10708 done 0.64 0.15 0.234 3111 -193.3 2.50 0.048 2224 -572.8 146.2 - - 2449 - - - - - - - - 13.88 14.33 14.20
11032 686.9 6.2 431 11071 roll 0.68 - - 3111 - 2.85 0.130 3660 503.9 175.9 32.60 1.755 2341 -3.3 0.258 - - - - - - 14.75 14.12 13.31
11116 680.9 8.1 443 11120 done 0.68 - - 3120 - 2.45 0.047 2251 -575.1 175.9 - - 2335 - - - - - - - - 14.43 14.36 14.45
11480 653.6 7.5 453 11485 roll 0.68 - - 3120 - 2.83 0.131 3658 497.2 179.9 - - 2332 - - - - - - - - 14.71 13.95 14.71
11514 650.6 8.7 458 11521 done 0.68 - - 3129 - 2.45 0.047 2251 -574.3 179.9 - - 2332 - - - - - - - - 14.41 14.30 14.43
11873 623.8 7.4 467 11883 roll 0.69 - - 3130 - 2.85 0.134 3657 493.3 186.2 2.70 0.843 2314 -6.7 0.980 - - - - - - 14.73 14.10 13.22
11913 620.5 7.8 473 11919 done 0.69 - - 3141 - 2.42 0.047 2258 -578.1 186.2 2.38 0.616 2307 -2.9 0.589 - - - - - - 14.48 14.39 13.13
12258 595.2 7.3 480 12282 roll 0.70 - - 3141 - 2.83 0.135 3656 494.0 194.5 16.25 1.767 2267 -2.5 0.165 - - - - - - 14.72 14.16 13.40
12305 591.3 8.3 487 12312 done 0.70 - - 3151 - 2.45 0.047 2244 -576.3 194.5 - - 2263 - - - - - - - - 14.50 14.42 14.52
12649 563.1 8.3 494 12650 done 0.70 - - 3146 - - - 2241 - 194.5 - - 2259 - - - - - - - - 14.72 14.72 14.72
12985 533.9 8.8 500 12990 roll 0.70 - - 3151 - 2.85 0.132 3657 496.8 194.5 - - 2259 - - - - - - - - 14.73 13.90 14.73
13047 527.5 10.4 509 13053 done 0.70 0.12 0.239 3127 -200.0 2.45 0.047 2256 -571.8 194.5 - - 2259 - - - - - - - - 13.93 14.36 14.23
13377 500.7 8.1 521 13382 roll 0.70 - - 3127 - 2.85 0.131 3662 493.3 194.5 - - 2259 - - - - - - - - 14.73 13.88 14.73
13418 497.2 8.8 527 13423 done 0.70 - - 3136 - 2.45 0.048 2263 -571.0 194.5 - - 2260 - - - - - - - - 14.39 14.31 14.42
13769 469.8 7.7 535 13770 done 0.70 - - 3137 - - - 2260 - 194.5 - - 2259 - - - - - - - - 14.79 14.77 14.77
14105 444.7 7.5 541 14110 roll 0.71 - - 3137 - 2.88 0.132 3658 485.4 200.0 - - 2259 - - - - - - - - 14.78 13.78 14.77
14161 440.1 8.5 549 14166 done 0.71 - - 3147 - 2.45 0.047 2265 -568.6 200.0 - - 2259 - - - - - - - - 14.33 14.25 14.35
14497 413.7 7.8 562 14498 done 0.71 - - 3147 - - - 2263 - 200.0 - - 2259 - - - - - - - - 14.77 14.77 14.77
14833 388.0 7.6 568 14837 done 0.71 - - 3147 - - - 2263 - 202.7 2.35 0.555 2242 -7.2 1.005 - - - - - - 14.77 14.30 13.19
15169 363.5 7.2 574 15194 roll 0.72 - - 3147 - 2.78 0.135 3659 502.2 213.7 19.48 1.495 2190 -2.7 0.129 - - - - - - 14.72 14.12 13.45
15238 358.1 8.4 584 15243 done 0.72 - - 3158 - 2.42 0.047 2264 -576.4 213.7 - - 2184 - - - - - - - - 14.49 14.41 14.51
15561 333.5 7.7 595 15562 done 0.73 - - 3158 - - - 2260 - 214.5 - - 2183 - - - - - - - - 14.71 14.71 14.71
15897 305.0 8.7 601 15898 done 0.73 - - 3158 - - - 2260 - 214.5 - - 2182 - - - - - - - - 14.73 14.73 14.73
16233 274.8 9.0 607 16238 roll 0.73 - - 3158 - 2.83 0.136 3655 492.9 214.5 - - 2182 - - - - - - - - 14.73 13.84 14.73
16267 271.3 10.0 612 16273 done 0.73 0.12 0.233 3134 -200.0 2.45 0.046 2258 -570.2 214.5 - - 2180 - - - - - - - - 13.90 14.28 14.19
16626 244.1 7.3 621 16630 done 0.74 - - 3133 - - - 2254 - 223.0 3.03 0.838 2161 -6.3 0.363 - - - - - - 14.72 14.32 13.34
16962 223.4 5.9 627 17017 roll 0.78 - - 3133 - 2.80 0.134 3651 498.9 258.7 45.20 1.258 2008 -3.4 0.119 - - - - - - 14.73 14.11 13.45
17058 216.7 7.9 641 17064 done 0.78 - - 3142 - 2.40 0.047 2266 -577.1 258.7 - - 2004 - - - - - - - - 14.40 14.33 14.42
17410 189.6 7.9 649 17414 roll 0.78 - - 3152 - 2.53 0.059 857 -556.9 258.7 - - 2001 - - - - - - - - 14.69 14.12 14.69
17443 186.7 8.3 654 17450 done 0.78 - - 3152 - 2.55 0.067 2269 553.7 258.7 - - 2000 - - - - - - - - 14.27 14.08 14.33
17802 154.1 9.3 663 17806 roll 0.78 - - 3152 - 2.75 0.135 3658 505.1 258.7 - - 2000 - - - - - - - - 14.72 13.85 14.72
17892 144.5 10.8 676 17897 done 0.78 - - 3162 - 2.42 0.046 2266 -575.2 258.7 - - 1998 - - - - - - - - 14.38 14.28 14.40
18250 112.4 8.4 685 18254 roll 0.78 - - 3161 - 2.83 0.133 3658 491.9 258.7 - - 2000 - - - - - - - - 14.76 13.82 14.76
18284 109.2 9.2 690 18290 done 0.78 - - 3171 - 2.42 0.046 2268 -574.4 258.7 - - 1999 - - - - - - - - 14.35 14.27 14.38
18614 81.9 7.1 702 18625 roll 0.79 - - 3181 - 2.58 0.058 855 -547.7 270.5 3.88 0.298 1973 -6.7 0.366 - - - - - - 14.71 14.13 13.69
18655 78.9 7.3 708 18668 done 0.80 - - 3181 - 2.60 0.070 2283 549.2 278.2 6.45 0.369 1945 -4.3 0.184 - - - - - - 14.21 14.00 13.76
18978 62.8 2.7 721 19045 roll 0.93 - - 3181 - 2.72 0.135 3660 506.2 379.3 58.70 0.364 1541 -6.9 0.236 - - - - - - 14.71 14.15 13.90
19208 51.2 6.1 754 19234 done 1.13 0.17 0.078 3288 629.4 2.42 0.047 2257 -579.8 411.2 19.25 0.318 1412 -6.7 0.214 - - - - - - 14.28 14.30 13.85
19569 21.0 8.9 772 19574 roll 1.13 - - 3295 - 2.50 0.060 873 -553.6 411.2 - - 1418 - - - - - - - - 14.66 14.04 14.66
19637 14.4 9.1 782 19643 done 1.13 - - 3295 - 2.55 0.065 2276 550.2 411.2 - - 1418 - - - - - - - - 14.22 14.02 14.26
19788 end climb: SURFACE_DEPTH_REACHED
19788 begin surface coast
19816 end surface coast: CONTROL_FINISHED_OK
19816 begin surface
SM -2.53 - - - - -8.39 9.05 0.052 149 16.5 0.95 0.100 2765 1826.3 500.14 46.28 0.149 1056 22.8 0.040 - - - - - -