SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 690 * Raw log
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• Previous call tries 1 • 235.77 of 350.00 AH used of 24V (32.64% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.9 deg, depth -3.33 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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 - - - 2780 - -107.1 -80.18 - 3477 - - - - - - - - 14.59 12.64 14.54
106 3.0 -11.3 3 123 roll -0.93 12.02 0.381 2585 206.2 2.05 0.130 3834 514.1 -107.1 - - 3477 - - - - - - - - 13.89 14.16 14.28
179 31.3 -24.7 14 186 done -0.64 0.40 0.252 2689 260.0 1.85 0.049 2712 -606.5 -107.1 - - 3479 - - - - - - - - 13.89 14.40 14.21
495 67.4 -7.3 26 500 roll -0.64 - - 2681 - 2.28 0.150 3829 489.9 -107.1 - - 3479 - - - - - - - - 14.73 13.89 14.73
515 69.2 -7.7 29 523 done -0.64 - - 2680 - 1.88 0.057 2767 -564.9 -107.1 - - 3479 - - - - - - - - 14.31 14.28 14.33
831 92.3 -6.8 41 837 roll -0.64 - - 2680 - 2.45 0.043 1364 -572.7 -107.1 - - 3481 - - - - - - - - 14.76 14.16 14.76
995 103.3 -7.1 64 1001 done -0.64 - - 2671 - 2.72 0.099 2783 521.7 -107.1 - - 3481 - - - - - - - - 14.14 13.85 14.20
1335 128.4 -7.2 71 1340 roll -0.64 - - 2662 - 2.12 0.157 3832 494.8 -107.1 - - 3480 - - - - - - - - 14.81 13.74 14.79
1418 135.0 -7.9 83 1423 done -0.64 0.10 0.213 2691 290.0 1.83 0.060 2767 -582.0 -107.1 - - 3480 - - - - - - - - 13.84 14.16 14.05
1783 158.5 -6.6 93 1790 roll -0.74 - - 2692 - 2.45 0.045 1377 -567.3 -107.1 - - 3477 - - - - - - - - 14.78 14.15 14.78
1874 165.6 -7.6 106 1879 done -0.88 0.15 0.081 2582 -733.3 2.72 0.101 2780 515.8 -107.1 - - 3476 - - - - - - - - 14.13 13.78 14.23
2232 207.0 -11.8 115 2237 roll -0.79 0.20 0.220 2635 265.0 2.15 0.156 3826 486.5 -107.1 - - 3473 - - - - - - - - 13.70 13.74 13.87
2258 209.9 -10.4 119 2263 done -0.79 - - 2635 - 1.85 0.057 2775 -568.1 -107.1 - - 3473 - - - - - - - - 14.26 14.09 14.28
2624 241.9 -8.7 129 2629 roll -0.79 - - 2632 - 2.47 0.044 1369 -569.2 -107.1 - - 3471 - - - - - - - - 14.76 14.07 14.76
2680 246.9 -8.7 137 2685 done -0.79 - - 2625 - 2.78 0.099 2789 510.8 -107.1 - - 3470 - - - - - - - - 14.06 13.76 14.12
3016 277.3 -9.1 150 3020 roll -0.79 - - 2617 - 2.12 0.157 3824 488.2 -107.1 - - 3468 - - - - - - - - 14.76 13.73 14.77
3071 282.8 -9.9 158 3076 done -0.79 0.10 0.223 2645 280.0 1.83 0.057 2777 -572.1 -107.1 - - 3468 - - - - - - - - 13.86 14.26 14.07
3408 310.6 -8.2 171 3412 roll -0.79 - - 2646 - 2.50 0.044 1367 -564.0 -107.1 - - 3465 - - - - - - - - 14.76 13.93 14.76
3498 317.8 -7.8 184 3503 done -0.79 - - 2636 - 2.75 0.103 2778 513.1 -107.1 - - 3465 - - - - - - - - 14.16 13.87 14.21
3856 346.0 -7.9 193 3856 done -0.79 - - 2636 - - - 2778 - -107.1 - - 3462 - - - - - - - - 14.81 14.81 14.81
4191 373.9 -8.4 199 4196 roll -0.79 - - 2636 - 2.55 0.045 1363 -554.9 -107.1 - - 3461 - - - - - - - - 14.81 14.00 14.76
4254 379.4 -8.7 208 4259 done -0.79 - - 2626 - 2.78 0.101 2775 507.9 -107.1 - - 3460 - - - - - - - - 14.04 13.75 14.10
4584 409.3 -9.0 220 4588 roll -0.79 - - 2626 - 2.55 0.044 1361 -554.5 -107.1 - - 3459 - - - - - - - - 14.74 14.02 14.76
4618 412.5 -9.0 225 4624 done -0.79 - - 2617 - 2.78 0.102 2774 508.3 -107.1 - - 3459 - - - - - - - - 14.15 13.86 14.20
4976 445.3 -9.1 234 4977 done -0.79 - - 2616 - - - 2774 - -107.1 - - 3457 - - - - - - - - 14.76 14.74 14.74
5311 475.1 -8.9 240 5313 done -0.79 0.10 0.256 2644 280.0 - - 2774 - -107.1 - - 3455 - - - - - - - - 13.91 14.15 14.08
5648 502.8 -8.3 246 5652 roll -0.79 - - 2644 - 2.58 0.047 1369 -544.6 -107.1 - - 3453 - - - - - - - - 14.75 13.83 14.75
5675 505.2 -8.6 250 5680 done -0.79 - - 2635 - 2.80 0.106 2778 503.2 -107.1 - - 3454 - - - - - - - - 14.14 13.85 14.19
6040 537.4 -8.8 260 6040 done -0.79 - - 2635 - - - 2778 - -107.1 - - 3452 - - - - - - - - 14.75 14.75 14.75
6375 565.9 -8.4 266 6380 roll -0.79 - - 2634 - 2.58 0.046 1369 -546.1 -107.1 - - 3451 - - - - - - - - 14.74 13.93 14.74
6445 571.7 -8.1 276 6450 done -0.79 - - 2625 - 2.80 0.104 2772 501.1 -107.1 - - 3451 - - - - - - - - 14.13 13.83 14.18
6767 599.4 -8.7 287 6772 roll -0.79 - - 2625 - 2.55 0.045 1371 -549.4 -107.1 - - 3449 - - - - - - - - 14.74 13.92 14.73
6795 601.9 -8.9 291 6800 done -0.79 0.10 0.237 2644 190.0 2.78 0.103 2771 503.6 -107.1 - - 3449 - - - - - - - - 13.74 13.75 14.00
7159 632.0 -8.3 301 7165 roll -0.79 - - 2637 - 2.20 0.165 3826 479.5 -107.1 - - 3448 - - - - - - - - 14.72 13.82 14.77
7200 635.5 -8.7 307 7205 done -0.79 - - 2636 - 1.88 0.057 2749 -572.9 -107.1 - - 3448 - - - - - - - - 14.19 14.10 14.20
7551 663.9 -8.0 315 7556 roll -0.79 - - 2636 - 2.47 0.046 1373 -557.1 -107.1 - - 3447 - - - - - - - - 14.77 13.90 14.77
7586 666.5 -7.5 320 7591 done -0.79 - - 2627 - 2.75 0.104 2776 510.2 -107.1 - - 3446 - - - - - - - - 14.11 13.81 14.16
7944 694.4 -7.8 329 7949 roll -0.79 - - 2625 - 2.55 0.046 1372 -550.6 -107.1 - - 3445 - - - - - - - - 14.77 13.90 14.77
7978 697.2 -7.9 334 7983 done -0.79 - - 2617 - 2.78 0.103 2774 504.3 -107.1 - - 3445 - - - - - - - - 14.13 13.84 14.18
8336 725.8 -8.0 343 8340 roll -0.79 - - 2609 - 2.17 0.161 3828 485.7 -107.1 - - 3442 - - - - - - - - 14.72 13.81 14.71
8363 728.2 -8.5 347 8368 done -0.79 0.12 0.216 2644 291.7 1.90 0.060 2742 -571.6 -107.1 - - 3443 - - - - - - - - 13.66 14.07 13.91
8728 754.7 -7.3 357 8734 roll -0.86 - - 2644 - 2.47 0.047 1374 -553.8 -107.1 - - 3442 - - - - - - - - 14.76 13.85 14.76
8818 761.4 -7.3 370 8823 done -0.95 0.08 0.131 2570 -925.0 2.78 0.103 2772 502.9 -107.1 - - 3442 - - - - - - - - 14.00 13.73 14.12
9175 796.8 -10.0 379 9176 done -0.95 - - 2570 - - - 2772 - -107.1 - - 3440 - - - - - - - - 14.71 14.71 14.72
9227 end dive: TARGET_DEPTH_EXCEEDED
9227 begin apogee
9237 802.7 -10.2 380 9344 roll -0.23 0.93 0.199 2819 267.7 0.08 0.228 2251 -6512.5 - 98.65 2.526 3051 -3.9 0.249 - - - - 1 - 13.72 13.72 12.62
9345 end apogee: CONTROL_FINISHED_OK
9345 begin climb
9350 806.0 - 382 9486 roll 0.93 1.15 0.088 3187 320.0 2.53 0.054 878 -542.7 107.1 124.90 1.802 2619 -3.5 0.308 - - - - - - 13.78 13.87 13.01
9564 801.6 6.3 413 9602 done 0.83 - - 3187 - 2.55 0.073 2257 540.8 136.1 31.02 1.821 2501 -3.8 0.333 - - - - - - 14.23 14.06 13.09
9963 767.4 8.7 428 9968 roll 0.70 0.20 0.239 3128 -295.0 2.80 0.146 3665 502.9 136.1 - - 2491 - - - - - - - - 13.88 13.97 14.07
10019 763.1 7.9 436 10024 done 0.61 0.15 0.232 3099 -193.3 2.40 0.048 2268 -582.1 136.1 - - 2491 - - - - - - - - 13.96 14.33 14.26
10355 744.3 5.4 449 10411 done 0.67 - - 3098 - - - 2263 - 182.3 52.10 1.754 2318 -3.3 0.280 - - - - - - 14.71 14.11 13.23
10747 720.2 6.2 456 10788 roll 0.70 - - 3098 - 2.83 0.149 3660 493.6 212.4 33.40 1.765 2194 -3.7 0.302 - - - - - - 14.66 14.05 13.28
10816 715.3 7.6 466 10821 done 0.71 - - 3108 - 2.45 0.049 2247 -576.7 214.4 - - 2190 - - - - - - - - 14.39 14.30 14.39
11139 691.2 7.5 477 11140 done 0.71 - - 3108 - - - 2244 - 218.1 - - 2185 - - - - - - - - 14.71 14.71 14.71
11475 663.5 8.4 483 11480 roll 0.71 - - 3108 - 2.90 0.145 3662 489.0 218.1 - - 2185 - - - - - - - - 14.72 13.91 14.72
11537 657.5 9.7 492 11542 done 0.71 - - 3117 - 2.45 0.049 2246 -578.0 218.1 - - 2184 - - - - - - - - 14.39 14.31 14.41
11867 628.6 8.7 504 11872 roll 0.71 - - 3117 - 2.90 0.147 3657 486.6 218.1 - - 2184 - - - - - - - - 14.77 13.84 14.76
11908 624.7 9.6 510 11913 done 0.71 - - 3126 - 2.42 0.047 2257 -578.5 218.1 - - 2184 - - - - - - - - 14.39 14.31 14.40
12260 595.3 8.3 518 12264 roll 0.71 - - 3126 - 2.90 0.148 3658 483.1 218.1 - - 2183 - - - - - - - - 14.73 13.81 14.73
12300 591.5 9.2 524 12305 done 0.71 - - 3136 - 2.42 0.047 2260 -577.7 218.1 - - 2183 - - - - - - - - 14.37 14.28 14.39
12651 563.8 7.8 532 12656 roll 0.71 - - 3146 - 2.53 0.057 862 -552.6 218.1 - - 2183 - - - - - - - - 14.73 14.03 14.73
12685 561.2 7.4 537 12697 done 0.72 - - 3146 - 2.58 0.074 2264 543.4 224.7 3.90 1.306 2156 -6.9 0.592 - - - - - - 14.23 14.00 13.22
13043 534.0 7.6 546 13054 roll 0.72 - - 3146 - 2.83 0.152 3661 493.6 227.2 3.65 1.219 2148 -2.2 0.191 - - - - - - 14.73 14.07 13.25
13112 528.1 8.5 556 13118 done 0.72 - - 3157 - 2.42 0.047 2256 -580.6 227.2 2.20 0.454 2146 - - - - - - - - 14.47 14.39 13.07
13428 502.3 8.3 566 13431 done 0.72 - - 3157 - - - 2252 - 227.2 1.90 0.216 2145 - - - - - - - - 14.76 14.12 13.81
13764 473.6 8.7 572 13771 roll 0.72 - - 3157 - 2.95 0.148 3658 476.6 227.2 1.98 0.220 2149 2.0 -0.866 - - - - - - 14.71 13.85 13.77
13813 468.8 10.2 579 13819 done 0.72 0.12 0.230 3132 -208.3 2.45 0.046 2258 -571.4 227.2 - - 2153 - - - - - - - - 13.88 14.26 14.14
14150 440.2 8.5 592 14152 done 0.72 - - 3132 - - - 2256 - 227.2 1.77 0.217 2145 -4.5 1.825 - - - - - - 14.71 14.07 13.77
14486 411.2 8.7 598 14492 roll 0.72 - - 3143 - 2.60 0.057 849 -541.2 227.2 1.75 0.218 2145 - - - - - - - - 14.69 14.06 13.80
14520 408.0 8.9 603 14525 done 0.72 - - 3143 - 2.60 0.070 2267 545.4 227.2 - - 2152 - - - - - - - - 14.20 13.97 14.24
14871 377.3 8.7 611 14877 roll 0.72 - - 3142 - 2.90 0.145 3660 480.3 227.2 1.90 0.217 2145 -3.7 1.275 - - - - - - 14.74 13.81 13.79
14926 372.1 9.4 619 14932 done 0.72 - - 3152 - 2.45 0.047 2255 -573.5 227.2 1.73 0.227 2144 - - - - - - - - 14.34 14.23 13.77
15256 344.4 8.4 631 15261 done 0.72 - - 3152 - - - 2252 - 227.2 1.60 0.223 2145 - - - - - - - - 14.76 14.11 13.83
15592 316.2 8.4 644 15598 roll 0.72 - - 3152 - 2.97 0.145 3660 474.1 227.2 1.50 0.222 2147 - - - - - - - - 14.76 13.80 13.79
15633 312.3 9.6 650 15640 done 0.72 - - 3162 - 2.47 0.047 2266 -564.4 227.2 1.30 0.234 2146 - - - - - - - - 14.30 14.19 13.83
15977 282.4 8.7 657 15981 done 0.72 0.12 0.228 3127 -291.7 - - 2261 - 227.2 1.95 0.207 2144 - - - - - - - - 13.81 14.07 13.75
16313 258.6 7.0 663 16340 roll 0.74 - - 3127 - 2.88 0.145 3664 487.2 240.8 22.33 1.346 2083 -2.7 0.104 - - - - - - 14.76 14.04 13.51
16396 251.8 8.7 675 16401 done 0.74 - - 3136 - 2.42 0.050 2254 -582.6 240.8 - - 2075 - - - - - - - - 14.45 14.37 14.44
16754 222.4 8.4 684 16759 roll 0.74 - - 3136 - 2.88 0.144 3662 488.9 240.8 - - 2073 - - - - - - - - 14.69 13.90 14.69
16781 219.8 9.4 688 16786 done 0.74 - - 3146 - 2.42 0.049 2267 -576.4 240.8 - - 2072 - - - - - - - - 14.39 14.31 14.42
17147 186.7 9.0 698 17152 roll 0.74 - - 3146 - 2.85 0.145 3658 488.1 240.8 - - 2072 - - - - - - - - 14.70 13.81 14.70
17181 183.2 10.2 703 17185 done 0.74 - - 3156 - 2.40 0.048 2272 -577.5 240.8 - - 2073 - - - - - - - - 14.37 14.28 14.39
17538 151.4 8.7 712 17543 roll 0.74 - - 3166 - 2.53 0.056 863 -556.9 240.8 - - 2073 - - - - - - - - 14.76 14.00 14.76
17594 146.6 8.7 720 17599 done 0.74 - - 3166 - 2.60 0.071 2275 543.1 240.8 - - 2073 - - - - - - - - 14.19 13.96 14.25
17930 117.3 8.8 733 17931 done 0.74 - - 3166 - - - 2275 - 240.8 - - 2073 - - - - - - - - 14.77 14.76 14.76
18238 90.0 8.6 740 18243 roll 0.74 - - 3176 - 2.55 0.056 864 -553.3 240.8 - - 2073 - - - - - - - - 14.74 13.97 14.74
18286 86.2 7.9 747 18293 done 0.74 0.12 0.210 3140 -300.0 2.62 0.074 2281 540.8 240.8 - - 2073 - - - - - - - - 13.83 13.93 14.11
18602 66.1 5.9 759 18622 done 0.87 0.08 0.136 3216 950.0 - - 2280 - 276.7 18.10 0.361 1947 -7.0 0.254 - - - - - - 14.35 14.26 13.83
18910 52.1 3.0 770 18971 roll 0.98 - - 3216 - 2.75 0.145 3665 503.6 370.9 54.30 0.331 1576 -6.8 0.214 - - - - - - 14.69 14.09 13.88
19119 42.3 6.8 800 19135 done 1.09 - - 3224 - 2.42 0.048 2260 -580.6 389.3 11.40 0.288 1501 -6.6 0.192 - - - - - - 14.35 14.28 13.84
19443 21.4 6.2 813 19469 done 1.25 0.15 0.084 3333 726.7 - - 2258 - 420.6 19.73 0.226 1374 -6.4 0.121 - - - - - - 14.26 14.12 13.92
19634 end climb: SURFACE_DEPTH_REACHED
19634 begin surface coast
19662 end surface coast: CONTROL_FINISHED_OK
19662 begin surface
SM -2.78 - - - - -8.39 9.02 0.039 181 20.0 1.02 0.109 2766 -7992.2 500.14 41.40 0.150 1058 25.6 0.048 - - - - - -