SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 691 * Raw log
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• Previous call tries 1 • 236.08 of 350.00 AH used of 24V (32.55% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -70.6 deg, depth -2.94 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: 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 - - - 102 done -0.93 - - 107 - - - 2781 - -107.1 -81.07 - 3478 - - - - - - - - 14.59 12.66 14.54
106 2.6 -9.8 3 123 roll -0.93 12.05 0.381 2590 206.1 2.42 0.034 1372 -582.2 -107.1 - - 3480 - - - - - - - - 13.88 14.38 14.26
172 27.1 -21.8 13 178 done -0.71 0.32 0.243 2667 240.6 2.67 0.103 2765 521.7 -107.1 - - 3480 - - - - - - - - 13.89 14.00 14.19
495 68.2 -7.9 26 500 roll -0.71 - - 2667 - 2.45 0.043 1379 -565.7 -107.1 - - 3481 - - - - - - - - 14.73 14.21 14.73
725 85.7 -7.4 59 730 done -0.71 - - 2656 - 2.70 0.101 2786 521.1 -107.1 - - 3482 - - - - - - - - 14.16 13.87 14.22
1083 117.2 -9.0 71 1088 roll -0.71 - - 2654 - 2.50 0.043 1374 -564.8 -107.1 - - 3482 - - - - - - - - 14.78 14.16 14.78
1145 122.5 -8.2 80 1150 done -0.71 - - 2646 - 2.72 0.103 2792 521.3 -107.1 - - 3481 - - - - - - - - 14.16 13.82 14.19
1475 149.4 -8.1 92 1480 roll -0.71 - - 2647 - 2.50 0.043 1378 -565.6 -107.1 - - 3480 - - - - - - - - 14.78 14.14 14.78
1531 154.1 -8.4 100 1536 done -0.71 0.10 0.233 2668 210.0 2.72 0.103 2783 516.5 -107.1 - - 3480 - - - - - - - - 13.80 13.78 14.05
1867 179.2 -7.4 113 1872 roll -0.71 - - 2668 - 2.50 0.044 1375 -563.2 -107.1 - - 3477 - - - - - - - - 14.78 14.05 14.78
1915 182.6 -7.0 120 1921 done -0.80 - - 2658 - 2.75 0.102 2781 511.3 -107.1 - - 3477 - - - - - - - - 14.07 13.76 14.12
2259 207.0 -7.1 127 2260 done -0.80 - - 2657 - - - 2782 - -107.1 - - 3474 - - - - - - - - 14.82 14.81 14.81
2595 233.9 -8.2 133 2601 roll -0.80 - - 2657 - 2.53 0.044 1373 -556.9 -107.1 - - 3472 - - - - - - - - 14.82 14.12 14.82
2651 238.7 -8.5 141 2657 done -0.88 - - 2648 - 2.78 0.100 2782 506.8 -107.1 - - 3474 - - - - - - - - 14.04 13.74 14.11
2987 267.3 -8.5 154 2988 done -0.88 - - 2649 - - - 2781 - -107.1 - - 3469 - - - - - - - - 14.83 14.83 14.82
3323 296.4 -8.8 160 3328 roll -0.88 - - 2642 - 2.20 0.161 3835 479.1 -107.1 - - 3467 - - - - - - - - 14.78 13.71 14.78
3379 301.5 -9.2 168 3384 done -0.88 - - 2641 - 1.85 0.062 2798 -560.5 -107.1 - - 3466 - - - - - - - - 14.26 14.16 14.27
3715 331.3 -8.9 181 3720 roll -0.88 - - 2641 - 2.55 0.041 1354 -566.3 -107.1 - - 3464 - - - - - - - - 14.78 14.09 14.77
3791 337.9 -8.4 192 3796 done -0.88 - - 2631 - 2.78 0.099 2776 511.5 -107.1 - - 3463 - - - - - - - - 14.15 13.87 14.21
4107 364.0 -8.2 202 4108 done -0.88 - - 2632 - - - 2776 - -107.1 - - 3463 - - - - - - - - 14.77 14.77 14.77
4443 390.2 -7.8 208 4448 roll -0.88 - - 2631 - 2.55 0.043 1359 -555.7 -107.1 - - 3460 - - - - - - - - 14.77 14.05 14.78
4499 394.5 -7.7 216 4504 done -0.88 - - 2622 - 2.78 0.098 2776 509.7 -107.1 - - 3462 - - - - - - - - 14.04 13.73 14.09
4835 422.5 -8.4 229 4840 roll -0.88 - - 2621 - 2.55 0.043 1358 -556.1 -107.1 - - 3458 - - - - - - - - 14.81 14.05 14.81
4869 425.6 -9.0 234 4874 done -0.88 - - 2613 - 2.78 0.100 2772 508.6 -107.1 - - 3459 - - - - - - - - 14.14 13.85 14.20
5227 459.3 -9.6 243 5232 roll -0.88 - - 2604 - 2.17 0.158 3828 486.6 -107.1 - - 3455 - - - - - - - - 14.81 13.77 14.81
5261 462.8 -10.3 248 5266 done -0.88 - - 2603 - 1.92 0.060 2767 -552.6 -107.1 - - 3457 - - - - - - - - 14.10 14.07 14.14
5619 499.6 -10.4 257 5624 roll -0.88 - - 2596 - 2.22 0.154 3830 478.8 -107.1 - - 3455 - - - - - - - - 14.76 13.78 14.76
5667 504.8 -10.6 264 5673 done -0.88 - - 2595 - 1.95 0.060 2766 -545.6 -107.1 - - 3454 - - - - - - - - 14.07 14.03 14.14
6011 539.4 -10.0 271 6012 done -0.88 - - 2595 - - - 2765 - -107.1 - - 3453 - - - - - - - - 14.83 14.81 14.81
6347 570.5 -9.1 277 6348 done -0.88 - - 2595 - - - 2766 - -107.1 - - 3452 - - - - - - - - 14.80 14.80 14.80
6683 602.0 -9.4 283 6688 roll -0.88 - - 2594 - 2.55 0.044 1355 -553.3 -107.1 - - 3450 - - - - - - - - 14.75 13.93 14.75
6724 606.2 -10.0 289 6730 done -0.88 0.10 0.238 2612 180.0 2.83 0.098 2785 505.3 -107.1 - - 3450 - - - - - - - - 13.81 13.85 14.07
7075 639.3 -9.5 297 7081 roll -0.88 - - 2605 - 2.15 0.157 3825 483.7 -107.1 - - 3450 - - - - - - - - 14.74 13.78 14.74
7172 649.2 -10.2 311 7177 done -0.88 - - 2603 - 1.92 0.060 2775 -546.9 -107.1 - - 3448 - - - - - - - - 14.03 13.98 14.04
7523 682.8 -9.5 319 7528 roll -0.88 - - 2603 - 2.58 0.043 1350 -552.3 -107.1 - - 3448 - - - - - - - - 14.73 13.92 14.73
7579 688.0 -9.1 327 7584 done -0.88 - - 2594 - 2.80 0.096 2776 509.3 -107.1 - - 3446 - - - - - - - - 14.02 13.70 14.07
7915 720.0 -9.6 340 7920 roll -0.88 - - 2586 - 2.17 0.155 3827 484.3 -107.1 - - 3446 - - - - - - - - 14.78 13.76 14.78
7963 724.9 -10.1 347 7969 done -0.88 0.08 0.213 2614 350.0 1.92 0.060 2779 -545.8 -107.1 - - 3445 - - - - - - - - 13.55 13.96 13.83
8307 753.9 -8.3 354 8312 roll -0.88 - - 2614 - 2.53 0.042 1356 -562.5 -107.1 - - 3444 - - - - - - - - 14.72 13.87 14.73
8376 759.8 -8.5 364 8381 done -0.88 - - 2605 - 2.80 0.095 2774 506.4 -107.1 - - 3444 - - - - - - - - 14.12 13.83 14.16
8699 785.8 -8.0 375 8704 roll -0.88 - - 2603 - 2.60 0.044 1350 -547.7 -107.1 - - 3443 - - - - - - - - 14.78 13.89 14.78
8726 788.0 -7.8 379 8731 done -0.88 - - 2594 - 2.80 0.096 2773 508.2 -107.1 - - 3442 - - - - - - - - 14.04 13.74 14.12
8919 end dive: TARGET_DEPTH_EXCEEDED
8919 begin apogee
8929 803.3 -7.9 386 9045 roll -0.23 0.82 0.187 2819 274.4 0.12 0.185 2273 -4166.7 - 113.68 1.803 3050 -3.4 0.307 - - - - - - 13.71 13.92 13.09
9047 end apogee: CONTROL_FINISHED_OK
9047 begin climb
9051 805.0 - 388 9179 roll 0.93 1.12 0.090 3182 324.1 2.55 0.050 877 -547.5 107.1 116.85 1.754 2624 -3.6 0.334 - - - - - - 13.88 13.95 13.06
9291 795.0 8.0 424 9296 done 0.80 - - 3183 - 2.50 0.069 2246 547.6 107.1 - - 2606 - - - - - - - - 14.26 14.09 14.29
9649 767.7 7.5 433 9655 roll 0.67 0.20 0.240 3123 -300.0 2.80 0.141 3655 503.2 112.6 - - 2604 - - - - - - - - 13.85 13.96 14.04
9739 761.7 6.4 446 9779 done 0.61 0.12 0.239 3101 -183.3 2.40 0.051 2269 -577.5 139.5 34.08 1.782 2492 -3.3 0.280 - - - - - - 13.93 14.34 13.27
10101 742.4 5.4 462 10154 done 0.67 - - 3101 - - - 2269 - 185.1 51.97 1.737 2310 -3.5 0.299 - - - - - - 14.67 14.08 13.20
10489 717.5 6.5 476 10521 roll 0.70 - - 3100 - 2.78 0.145 3654 498.2 209.3 25.67 1.778 2207 -4.0 0.323 - - - - - - 14.69 14.07 13.32
10551 712.8 7.8 485 10557 done 0.70 - - 3109 - 2.42 0.050 2260 -576.0 209.3 - - 2200 - - - - - - - - 14.40 14.34 14.42
10881 686.9 7.9 497 10886 roll 0.70 - - 3109 - 2.83 0.145 3656 493.3 209.3 - - 2196 - - - - - - - - 14.69 13.94 14.69
10908 684.4 8.9 501 10914 done 0.70 - - 3119 - 2.45 0.049 2246 -575.5 209.3 - - 2197 - - - - - - - - 14.42 14.34 14.44
11273 652.4 8.9 511 11278 roll 0.70 - - 3119 - 2.88 0.145 3655 489.2 209.3 - - 2195 - - - - - - - - 14.71 13.89 14.72
11307 649.1 9.6 516 11312 done 0.70 - - 3127 - 2.45 0.048 2247 -574.7 209.3 - - 2195 - - - - - - - - 14.41 14.33 14.43
11665 617.5 8.7 525 11671 roll 0.70 - - 3128 - 2.90 0.147 3658 486.6 209.3 - - 2194 - - - - - - - - 14.72 13.85 14.73
11699 614.2 9.2 530 11704 done 0.70 - - 3137 - 2.45 0.049 2255 -572.7 209.3 - - 2194 - - - - - - - - 14.39 14.31 14.42
12057 584.6 8.2 539 12058 done 0.70 - - 3137 - - - 2251 - 209.3 - - 2194 - - - - - - - - 14.72 14.72 14.73
12393 557.9 7.9 545 12399 roll 0.70 - - 3137 - 2.90 0.148 3661 486.2 209.3 - - 2194 - - - - - - - - 14.76 13.78 14.76
12427 554.9 8.6 550 12432 done 0.70 - - 3147 - 2.45 0.050 2257 -573.1 209.3 - - 2193 - - - - - - - - 14.35 14.27 14.37
12785 524.1 8.8 559 12786 done 0.70 - - 3147 - - - 2253 - 209.3 - - 2194 - - - - - - - - 14.76 14.76 14.76
13121 492.7 9.4 565 13127 roll 0.70 - - 3147 - 2.92 0.149 3659 481.5 209.3 - - 2193 - - - - - - - - 14.73 13.76 14.76
13169 487.4 11.0 572 13176 done 0.70 0.10 0.246 3129 -180.0 2.47 0.048 2253 -569.2 209.3 - - 2193 - - - - - - - - 13.85 14.26 14.13
13513 456.2 9.0 579 13518 roll 0.70 - - 3128 - 2.90 0.146 3656 483.8 209.3 - - 2193 - - - - - - - - 14.75 13.76 14.76
13569 450.6 10.2 587 13574 done 0.70 - - 3138 - 2.45 0.050 2264 -568.2 209.3 - - 2191 - - - - - - - - 14.31 14.23 14.34
13905 419.8 9.1 600 13910 roll 0.70 - - 3139 - 2.88 0.145 3652 481.9 209.3 - - 2195 - - - - - - - - 14.75 13.75 14.75
13932 417.0 9.8 604 13937 done 0.70 - - 3148 - 2.42 0.048 2271 -570.7 209.3 - - 2193 - - - - - - - - 14.32 14.23 14.35
14297 382.7 9.4 614 14301 roll 0.70 - - 3158 - 2.55 0.056 858 -554.1 209.3 - - 2196 - - - - - - - - 14.70 13.96 14.71
14338 378.9 9.2 620 14343 done 0.70 0.10 0.221 3129 -290.0 2.60 0.073 2266 541.5 209.3 - - 2193 - - - - - - - - 13.81 13.91 14.09
14689 351.9 7.5 628 14694 roll 0.70 - - 3128 - 2.88 0.147 3662 484.7 214.2 - - 2193 - - - - - - - - 14.74 13.76 14.74
14730 348.6 8.2 634 14735 done 0.70 - - 3142 - 2.47 0.050 2252 -570.9 214.2 - - 2192 - - - - - - - - 14.30 14.21 14.31
15081 323.0 7.2 642 15092 roll 0.71 - - 3138 - 2.85 0.147 3660 494.0 223.8 4.82 1.245 2164 -5.8 0.301 - - - - - - 14.69 14.04 13.34
15122 319.6 8.2 648 15128 done 0.71 - - 3148 - 2.40 0.049 2268 -580.0 223.8 2.55 0.646 2156 -3.1 0.310 - - - - - - 14.50 14.42 13.26
15466 292.7 7.9 655 15471 roll 0.71 - - 3158 - 2.58 0.056 863 -544.6 223.8 1.55 0.215 2159 1.9 -0.526 - - - - - - 14.70 14.15 13.90
15493 290.5 7.9 659 15498 done 0.71 - - 3158 - 2.58 0.071 2270 545.3 223.8 - - 2165 - - - - - - - - 14.28 14.07 14.31
15858 260.0 8.5 669 15865 roll 0.71 - - 3158 - 2.90 0.151 3663 480.3 223.8 1.90 0.208 2158 -3.7 0.919 - - - - - - 14.73 13.85 13.83
15921 253.6 10.3 678 15926 done 0.71 0.12 0.230 3133 -208.3 2.42 0.048 2272 -574.8 223.8 - - 2167 - - - - - - - - 13.84 14.23 14.11
16250 225.8 8.5 690 16257 roll 0.71 - - 3134 - 2.92 0.146 3664 476.7 223.8 1.90 0.207 2158 -4.7 1.031 - - - - - - 14.70 13.84 13.83
16278 223.3 8.8 694 16283 done 0.71 - - 3143 - 2.42 0.050 2276 -573.6 223.8 - - 2166 - - - - - - - - 14.35 14.28 14.38
16636 192.8 8.4 703 16639 done 0.71 - - 3141 - - - 2272 - 223.8 1.80 0.208 2158 -4.4 0.822 - - - - - - 14.69 14.08 13.81
16972 166.1 7.9 709 16978 roll 0.71 - - 3143 - 2.92 0.148 3661 475.7 223.8 1.90 0.207 2160 - - - - - - - - 14.69 13.74 13.83
17055 158.8 8.6 721 17062 done 0.71 - - 3151 - 2.45 0.048 2263 -570.6 223.8 2.05 0.280 2158 - - - - - - - - 14.31 14.23 12.59
17421 129.3 8.1 731 17426 roll 0.71 - - 3162 - 2.60 0.055 856 -541.2 223.8 1.55 0.212 2159 - - - - - - - - 14.74 14.00 13.85
17468 125.5 7.7 738 17476 done 0.71 0.10 0.216 3133 -290.0 2.65 0.071 2284 538.9 224.0 1.90 0.198 2156 -1.6 0.200 - - - - - - 13.84 13.91 13.80
17812 103.0 6.4 745 17837 roll 0.75 - - 3132 - 2.80 0.148 3659 491.1 249.7 16.70 0.457 2057 -5.9 0.267 - - - - - - 14.69 14.00 13.78
17868 98.9 7.9 753 17875 done 0.75 - - 3141 - 2.38 0.049 2276 -581.1 249.7 1.77 0.229 2054 -1.7 0.146 - - - - - - 14.39 14.31 13.85
18205 76.3 6.5 768 18230 roll 0.78 - - 3153 - 2.55 0.056 855 -557.3 274.8 16.45 0.381 1956 -6.0 0.238 - - - - - - 14.69 14.24 13.77
18253 73.2 6.4 775 18278 done 0.91 0.08 0.135 3211 725.0 2.58 0.070 2285 554.3 301.5 17.12 0.379 1849 -6.2 0.241 - - - - - - 14.23 14.08 13.78
18600 49.8 4.5 791 18644 roll 0.99 - - 3211 - 2.70 0.147 3657 508.1 366.6 38.08 0.325 1592 -6.7 0.206 - - - - - - 14.68 14.04 13.88
18765 42.1 5.3 815 18797 done 1.14 0.10 0.109 3297 860.0 2.38 0.048 2272 -581.9 414.2 27.58 0.298 1404 -6.8 0.192 - - - - - - 14.23 14.25 13.88
19133 10.1 9.4 834 19139 roll 1.14 0.08 0.244 3281 -200.0 2.50 0.054 880 -556.8 414.2 0.93 0.198 1401 -3.2 0.033 - - - - - - 13.95 13.96 13.85
19225 end climb: SURFACE_DEPTH_REACHED
19225 begin surface coast
19232 end surface coast: CONTROL_FINISHED_OK
19232 begin surface
SM -3.19 - - - - -8.40 9.40 0.082 170 18.1 3.58 0.085 2764 -2804.5 500.14 44.53 0.153 1058 23.8 0.051 - - - - - -