SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 683 * Raw log
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• Previous call tries 1 • 233.62 of 350.00 AH used of 24V (33.25% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.5 deg, depth -2.74 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 done -0.93 - - 105 - - - 2779 - -107.1 -82.45 - 3479 - - - - - - - - 14.62 12.67 14.57
106 2.2 -8.6 3 123 roll -0.93 12.05 0.379 2591 206.3 2.45 0.034 1360 -579.2 -107.1 - - 3481 - - - - - - - - 13.87 14.37 14.26
215 34.3 -20.6 19 220 done -0.71 0.32 0.241 2668 240.6 2.70 0.099 2767 521.1 -107.1 - - 3479 - - - - - - - - 13.83 13.98 14.14
551 76.5 -7.6 34 556 roll -0.71 - - 2667 - 2.45 0.041 1380 -566.1 -107.1 - - 3481 - - - - - - - - 14.75 14.20 14.75
669 84.2 -6.3 51 674 done -0.71 - - 2657 - 2.67 0.094 2782 525.1 -107.1 - - 3482 - - - - - - - - 14.18 13.90 14.23
999 109.6 -7.4 63 1004 roll -0.71 - - 2649 - 2.10 0.148 3830 499.0 -107.1 - - 3482 - - - - - - - - 14.82 13.79 14.83
1103 117.7 -7.9 78 1109 done -0.71 - - 2649 - 1.83 0.055 2787 -569.9 -107.1 - - 3482 - - - - - - - - 14.19 14.16 14.20
1447 145.9 -8.1 85 1453 roll -0.71 - - 2642 - 2.12 0.142 3836 494.8 -107.1 - - 3481 - - - - - - - - 14.80 13.75 14.80
1488 149.3 -8.3 91 1493 done -0.71 - - 2642 - 1.85 0.054 2781 -570.3 -107.1 - - 3481 - - - - - - - - 14.28 14.26 14.31
1839 178.2 -8.6 99 1840 done -0.71 0.10 0.220 2672 300.0 - - 2780 - -107.1 - - 3479 - - - - - - - - 14.11 14.32 14.27
2175 203.7 -7.4 105 2181 roll -0.78 - - 2664 - 2.15 0.140 3833 489.8 -107.1 - - 3476 - - - - - - - - 14.83 13.70 14.83
2202 205.9 -7.7 109 2208 done -0.78 - - 2664 - 1.85 0.054 2783 -567.6 -107.1 - - 3477 - - - - - - - - 14.33 14.22 14.35
2567 234.2 -7.8 119 2568 done -0.78 - - 2665 - - - 2783 - -107.1 - - 3472 - - - - - - - - 14.73 14.74 14.74
2903 257.1 -6.6 125 2909 roll -0.78 - - 2656 - 2.15 0.140 3829 486.5 -107.1 - - 3472 - - - - - - - - 14.79 13.71 14.79
2944 260.0 -7.0 131 2949 done -0.78 - - 2656 - 1.83 0.056 2785 -570.5 -107.1 - - 3471 - - - - - - - - 14.31 14.23 14.33
3296 285.5 -7.5 139 3300 roll -0.78 - - 2648 - 2.15 0.140 3834 487.9 -107.1 - - 3469 - - - - - - - - 14.82 13.66 14.82
3329 288.4 -8.5 144 3334 done -0.78 - - 2646 - 1.88 0.055 2786 -557.4 -107.1 - - 3469 - - - - - - - - 14.20 14.16 14.21
3687 320.9 -9.3 153 3693 roll -0.78 - - 2648 - 2.53 0.044 1365 -561.7 -107.1 - - 3467 - - - - - - - - 14.83 14.07 14.83
3714 323.5 -9.6 157 3720 done -0.78 - - 2639 - 2.75 0.092 2791 518.5 -107.1 - - 3466 - - - - - - - - 14.05 13.76 14.10
4079 354.9 -8.2 167 4084 roll -0.78 - - 2631 - 2.10 0.146 3826 492.9 -107.1 - - 3464 - - - - - - - - 14.82 13.65 14.83
4191 363.6 -7.7 183 4196 done -0.78 - - 2631 - 1.83 0.057 2791 -565.6 -107.1 - - 3464 - - - - - - - - 14.28 14.21 14.30
4527 388.7 -7.5 196 4532 roll -0.78 - - 2624 - 2.12 0.141 3825 487.7 -107.1 - - 3462 - - - - - - - - 14.78 13.67 14.78
4603 395.2 -8.4 207 4608 done -0.78 - - 2623 - 1.85 0.056 2800 -554.1 -107.1 - - 3462 - - - - - - - - 14.04 14.01 14.06
4919 422.0 -8.6 217 4925 roll -0.78 - - 2618 - 2.12 0.142 3831 486.3 -107.1 - - 3460 - - - - - - - - 14.77 13.66 14.77
4967 426.6 -9.4 224 4974 done -0.78 0.08 0.205 2638 250.0 1.85 0.055 2802 -556.2 -107.1 - - 3460 - - - - - - - - 13.74 14.13 13.88
5311 454.2 -8.0 231 5312 done -0.78 - - 2638 - - - 2803 - -107.1 - - 3459 - - - - - - - - 14.78 14.76 14.78
5647 480.4 -7.8 237 5653 roll -0.78 - - 2630 - 2.12 0.142 3830 484.4 -107.1 - - 3457 - - - - - - - - 14.82 13.62 14.82
5716 486.3 -8.6 247 5721 done -0.78 - - 2630 - 1.88 0.057 2801 -547.3 -107.1 - - 3456 - - - - - - - - 14.10 14.07 14.12
6039 512.9 -8.3 258 6044 roll -0.78 - - 2622 - 2.12 0.140 3829 484.9 -107.1 - - 3456 - - - - - - - - 14.81 13.64 14.81
6101 518.4 -8.7 267 6106 done -0.78 - - 2621 - 1.83 0.057 2797 -563.9 -107.1 - - 3455 - - - - - - - - 14.23 14.16 14.25
6431 547.1 -8.7 279 6436 roll -0.78 - - 2613 - 2.15 0.142 3835 482.8 -107.1 - - 3453 - - - - - - - - 14.81 13.63 14.81
6507 554.3 -9.3 290 6512 done -0.78 0.10 0.223 2644 310.0 1.88 0.056 2779 -561.7 -107.1 - - 3453 - - - - - - - - 13.73 14.08 13.96
6823 579.3 -7.9 300 6824 done -0.78 - - 2642 - - - 2778 - -107.1 - - 3452 - - - - - - - - 14.81 14.80 14.81
7159 605.5 -7.8 306 7164 roll -0.78 - - 2634 - 2.17 0.140 3828 483.9 -107.1 - - 3451 - - - - - - - - 14.76 13.67 14.76
7200 608.9 -8.6 312 7205 done -0.78 - - 2634 - 1.85 0.059 2815 -547.6 -107.1 - - 3450 - - - - - - - - 14.08 14.04 14.10
7551 638.4 -8.5 320 7552 done -0.78 - - 2634 - - - 2821 - -107.1 - - 3449 - - - - - - - - 14.80 14.80 14.80
7887 666.0 -8.2 326 7888 done -0.78 - - 2635 - - - 2815 - -107.1 - - 3448 - - - - - - - - 14.79 14.79 14.80
8223 692.8 -7.9 332 8228 roll -0.78 - - 2626 - 2.12 0.142 3830 478.8 -107.1 - - 3447 - - - - - - - - 14.75 13.69 14.74
8279 697.6 -8.9 340 8284 done -0.78 - - 2625 - 1.88 0.057 2801 -547.3 -107.1 - - 3447 - - - - - - - - 14.11 14.01 14.14
8615 725.4 -8.2 353 8616 done -0.78 - - 2625 - - - 2801 - -107.1 - - 3446 - - - - - - - - 14.78 14.79 14.79
8951 752.9 -8.1 359 8956 roll -0.78 - - 2618 - 2.15 0.141 3829 478.1 -107.1 - - 3444 - - - - - - - - 14.73 13.69 14.73
8992 756.4 -9.0 365 8998 done -0.78 0.10 0.220 2646 280.0 1.83 0.059 2813 -555.2 -107.1 - - 3444 - - - - - - - - 13.69 14.07 13.92
9343 781.9 -7.2 373 9349 roll -0.86 - - 2645 - 2.65 0.042 1351 -551.7 -107.1 - - 3443 - - - - - - - - 14.78 13.90 14.78
9391 785.4 -7.1 380 9398 done -0.96 0.10 0.111 2566 -790.0 2.90 0.089 2817 505.5 -107.1 - - 3443 - - - - - - - - 13.98 13.71 14.08
9563 end dive: TARGET_DEPTH_EXCEEDED
9563 begin apogee
9573 802.7 -9.9 384 9681 roll -0.23 0.95 0.200 2819 266.3 0.15 0.141 2269 -3653.3 - 100.28 2.515 3051 -3.9 0.257 - - - - 1 - 13.71 13.80 12.60
9683 end apogee: CONTROL_FINISHED_OK
9683 begin climb
9687 806.0 - 386 9822 roll 0.93 1.12 0.092 3180 322.3 2.55 0.053 884 -543.1 107.1 124.85 1.813 2622 -3.4 0.314 - - - - - - 13.84 13.90 13.00
9963 797.5 7.1 426 9974 done 0.83 - - 3180 - 2.47 0.064 2252 553.8 119.2 5.07 1.779 2581 -8.1 0.746 - - - - - - 14.32 14.17 13.09
10293 772.3 7.7 438 10303 roll 0.70 0.17 0.237 3128 -305.9 2.80 0.129 3653 500.4 119.2 2.08 0.317 2578 -1.4 0.723 - - - - - - 13.81 14.02 12.75
10341 768.6 7.7 445 10349 done 0.60 0.15 0.233 3097 -206.7 2.40 0.047 2267 -577.5 120.2 2.17 0.476 2572 -2.8 0.919 - - - - - - 13.95 14.33 12.86
10685 748.5 5.8 452 10740 done 0.65 - - 3099 - - - 2267 - 159.7 54.05 1.773 2413 -2.9 0.255 - - - - - - 14.72 14.11 13.25
11077 720.9 7.3 459 11087 roll 0.66 - - 3098 - 2.80 0.131 3651 494.3 169.1 3.08 1.128 2382 -10.1 1.323 - - - - - - 14.67 14.10 13.07
11124 717.1 7.9 466 11131 done 0.66 - - 3107 - 2.42 0.047 2259 -575.2 169.1 2.00 0.254 2377 -2.5 1.452 - - - - - - 14.45 14.37 12.21
11469 692.6 7.1 473 11495 roll 0.67 - - 3108 - 2.83 0.135 3655 493.3 181.8 22.38 1.827 2320 -2.5 0.199 - - - - - - 14.71 14.14 13.33
11523 688.4 7.8 481 11529 done 0.67 - - 3117 - 2.42 0.048 2257 -577.7 181.8 - - 2310 - - - - - - - - 14.45 14.38 14.47
11853 663.6 7.6 493 11859 roll 0.68 - - 3116 - 2.83 0.134 3659 495.4 185.3 - - 2309 - - - - - - - - 14.73 13.95 14.73
11894 660.2 8.3 499 11899 done 0.68 - - 3127 - 2.45 0.047 2252 -574.3 185.3 - - 2310 - - - - - - - - 14.42 14.34 14.44
12246 634.4 7.3 507 12256 done 0.69 - - 3127 - - - 2250 - 194.0 5.53 1.867 2279 -5.6 0.392 - - - - - - 14.73 14.33 13.32
12581 609.8 7.3 520 12605 roll 0.70 - - 3126 - 2.85 0.136 3659 494.4 202.0 16.27 1.836 2237 -2.6 0.176 - - - - - - 14.73 14.17 13.38
12658 603.4 8.9 531 12663 done 0.70 - - 3137 - 2.40 0.048 2263 -581.7 202.0 - - 2233 - - - - - - - - 14.40 14.36 14.42
12973 577.8 8.1 541 12979 roll 0.70 - - 3147 - 2.50 0.059 858 -562.0 202.0 - - 2231 - - - - - - - - 14.71 14.19 14.71
13000 575.6 8.0 545 13007 done 0.70 - - 3147 - 2.55 0.069 2253 547.1 202.0 - - 2230 - - - - - - - - 14.35 14.16 14.39
13365 545.9 8.2 555 13370 roll 0.70 - - 3147 - 2.80 0.135 3658 501.8 202.0 - - 2230 - - - - - - - - 14.76 13.88 14.76
13421 540.7 9.6 563 13426 done 0.70 0.10 0.242 3130 -170.0 2.45 0.047 2258 -571.4 202.0 - - 2230 - - - - - - - - 13.94 14.30 14.22
13757 514.6 7.7 576 13762 roll 0.70 - - 3130 - 2.83 0.132 3657 494.3 202.3 - - 2230 - - - - - - - - 14.73 13.84 14.73
13805 510.3 9.0 583 13812 done 0.70 - - 3140 - 2.45 0.047 2258 -571.0 202.3 - - 2229 - - - - - - - - 14.35 14.27 14.38
14150 482.8 7.9 590 14154 roll 0.70 - - 3140 - 2.85 0.131 3657 490.9 202.3 - - 2229 - - - - - - - - 14.76 13.78 14.77
14184 479.7 9.0 595 14188 done 0.70 - - 3150 - 2.45 0.047 2260 -570.2 202.3 - - 2230 - - - - - - - - 14.35 14.26 14.38
14541 450.2 8.3 604 14546 roll 0.70 - - 3150 - 2.85 0.134 3659 490.9 202.3 - - 2230 - - - - - - - - 14.73 13.79 14.73
14582 446.3 9.4 610 14588 done 0.70 0.12 0.233 3126 -200.0 2.47 0.047 2253 -569.2 202.3 - - 2230 - - - - - - - - 13.83 14.23 14.14
14934 418.7 7.9 618 14934 done 0.70 - - 3126 - - - 2249 - 202.3 - - 2230 - - - - - - - - 14.71 14.71 14.71
15270 392.3 7.8 624 15275 roll 0.70 - - 3126 - 2.88 0.133 3658 489.2 202.3 - - 2230 - - - - - - - - 14.71 13.73 14.72
15303 389.2 9.0 629 15310 done 0.70 - - 3134 - 2.45 0.047 2267 -567.8 202.3 - - 2230 - - - - - - - - 14.30 14.21 14.31
15661 359.7 8.3 638 15666 roll 0.70 - - 3134 - 2.85 0.133 3660 488.8 202.3 - - 2230 - - - - - - - - 14.76 13.77 14.76
15695 356.5 9.0 643 15700 done 0.70 - - 3144 - 2.45 0.047 2268 -568.2 202.3 - - 2230 - - - - - - - - 14.30 14.22 14.33
16054 326.9 8.2 652 16058 roll 0.70 - - 3145 - 2.85 0.133 3658 487.7 202.3 - - 2229 - - - - - - - - 14.75 13.74 14.75
16101 322.7 8.9 659 16108 done 0.70 - - 3154 - 2.45 0.047 2269 -566.9 202.3 - - 2229 - - - - - - - - 14.25 14.17 14.30
16445 295.1 8.0 666 16450 roll 0.70 - - 3164 - 2.55 0.057 863 -551.4 202.3 - - 2232 - - - - - - - - 14.71 13.90 14.71
16486 291.7 8.3 672 16492 done 0.70 0.15 0.203 3123 -273.3 2.60 0.069 2273 542.3 202.3 - - 2229 - - - - - - - - 13.74 13.90 14.04
16838 268.8 6.4 680 16871 roll 0.73 - - 3122 - 2.78 0.138 3659 498.6 229.5 29.02 1.372 2128 -3.5 0.140 - - - - - - 14.71 14.09 13.45
16927 262.3 7.8 693 16933 done 0.73 - - 3131 - 2.40 0.047 2270 -578.8 229.5 - - 2121 - - - - - - - - 14.44 14.36 14.46
17278 234.9 8.1 701 17279 done 0.73 - - 3130 - - - 2267 - 229.5 - - 2119 - - - - - - - - 14.73 14.73 14.73
17614 208.5 7.8 707 17619 roll 0.73 - - 3131 - 2.83 0.135 3662 492.9 229.5 - - 2119 - - - - - - - - 14.71 13.89 14.71
17649 205.7 8.2 712 17654 done 0.73 - - 3140 - 2.40 0.048 2281 -575.4 229.5 - - 2119 - - - - - - - - 14.39 14.31 14.41
18007 177.6 8.0 721 18012 roll 0.73 - - 3151 - 2.55 0.057 863 -556.1 229.5 - - 2119 - - - - - - - - 14.76 14.02 14.76
18033 175.2 8.5 725 18040 done 0.73 - - 3150 - 2.60 0.068 2284 546.5 229.5 - - 2119 - - - - - - - - 14.22 14.00 14.31
18398 142.9 8.8 735 18403 roll 0.73 - - 3151 - 2.75 0.138 3657 499.3 229.5 - - 2119 - - - - - - - - 14.72 13.79 14.72
18475 136.0 9.1 746 18479 done 0.73 - - 3160 - 2.40 0.046 2277 -575.0 229.5 - - 2119 - - - - - - - - 14.34 14.26 14.37
18791 111.4 7.7 756 18791 done 0.73 - - 3161 - - - 2274 - 229.8 - - 2118 - - - - - - - - 14.72 14.72 14.72
19099 86.8 7.8 764 19099 done 0.73 - - 3161 - - - 2275 - 229.8 - - 2119 - - - - - - - - 14.71 14.71 14.71
19406 65.7 6.0 775 19433 roll 0.77 - - 3171 - 2.58 0.057 861 -548.1 264.1 17.45 0.363 1999 -6.9 0.256 - - - - - - 14.70 14.26 13.83
19491 62.9 3.4 787 19546 done 0.96 0.08 0.142 3228 712.5 2.60 0.067 2289 549.2 351.5 49.85 0.364 1651 -7.0 0.248 - - - - - - 14.24 14.12 13.88
19858 45.1 4.9 806 19896 roll 1.15 0.08 0.143 3300 900.0 2.75 0.137 3661 498.9 408.9 32.97 0.306 1423 -6.9 0.210 - - - - - - 14.33 14.12 13.92
19964 36.3 10.5 821 19971 done 1.15 0.12 0.227 3275 -208.3 2.42 0.044 2268 -575.6 408.9 - - 1426 - - - - - - - - 13.94 14.31 14.20
20301 9.8 6.2 836 20327 roll 1.19 - - 3285 - 2.55 0.061 864 -550.6 440.3 18.10 0.193 1297 -7.1 0.074 - - - - - - 14.70 14.16 14.00
20386 end climb: SURFACE_DEPTH_REACHED
20386 begin surface coast
20397 end surface coast: CONTROL_FINISHED_OK
20397 begin surface
SM -2.90 - - - - -8.38 9.23 0.074 169 18.3 3.60 0.084 2768 -1658.9 500.14 31.17 0.152 1056 33.9 0.066 - - - - - -