SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 604 * Raw log
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• Previous call tries 1 • 209.26 of 350.00 AH used of 24V (40.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 deg, depth -7.65 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: 1
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 101 done -0.93 - - 106 - - - 2778 - -107.1 -81.22 - 3481 - - - - - - - - 14.64 12.60 14.60
105 -1.6 -10.2 3 122 roll -0.93 12.20 0.392 2585 203.2 2.03 0.106 3837 521.7 -107.1 - - 3480 - - - - - - - - 13.92 14.27 14.32
220 36.2 -21.8 20 230 done -0.70 0.28 0.229 2672 310.7 1.83 0.037 2720 -610.4 -107.1 - - 3481 - - - - - - - - 13.97 14.42 14.26
552 69.0 -8.3 34 557 roll -0.70 - - 2672 - 2.25 0.041 1404 -584.9 -107.1 - - 3484 - - - - - - - - 14.79 14.28 14.78
586 71.5 -7.8 39 592 done -0.70 - - 2662 - 2.50 0.080 2767 545.2 -107.1 - - 3485 - - - - - - - - 14.38 14.16 14.42
917 95.2 -7.7 53 922 roll -0.70 - - 2661 - 2.35 0.040 1403 -580.4 -107.1 - - 3483 - - - - - - - - 14.82 14.37 14.81
957 97.9 -8.0 59 963 done -0.70 - - 2653 - 2.50 0.074 2774 548.4 -107.1 - - 3483 - - - - - - - - 14.36 14.13 14.40
1280 123.8 -8.2 67 1285 roll -0.70 - - 2653 - 2.38 0.041 1403 -576.1 -107.1 - - 3483 - - - - - - - - 14.87 14.36 14.85
1307 126.6 -9.8 71 1313 done -0.70 0.10 0.239 2673 200.0 2.50 0.073 2770 546.8 -107.1 - - 3482 - - - - - - - - 14.04 14.10 14.28
1672 156.4 -8.2 81 1678 roll -0.70 - - 2672 - 2.35 0.041 1406 -580.4 -107.1 - - 3481 - - - - - - - - 14.88 14.36 14.88
1728 160.8 -8.4 89 1734 done -0.79 - - 2663 - 2.50 0.075 2768 544.8 -107.1 - - 3480 - - - - - - - - 14.38 14.17 14.42
2065 186.9 -7.7 102 2069 roll -0.79 - - 2667 - 2.38 0.042 1398 -575.6 -107.1 - - 3479 - - - - - - - - 14.85 14.36 14.85
2099 189.3 -7.6 107 2104 done -0.87 - - 2654 - 2.50 0.074 2771 549.2 -107.1 - - 3478 - - - - - - - - 14.39 14.18 14.43
2457 215.3 -7.1 116 2461 roll -0.87 - - 2654 - 2.38 0.041 1399 -576.5 -107.1 - - 3476 - - - - - - - - 14.85 14.35 14.85
2512 219.1 -7.2 124 2517 done -0.87 - - 2645 - 2.50 0.075 2754 542.0 -107.1 - - 3478 - - - - - - - - 14.38 14.17 14.42
2848 248.4 -9.0 137 2849 done -0.87 - - 2645 - - - 2755 - -107.1 - - 3474 - - - - - - - - 14.84 14.83 14.84
3184 278.5 -8.7 143 3189 roll -0.87 - - 2645 - 2.35 0.042 1409 -572.8 -107.1 - - 3471 - - - - - - - - 14.88 14.33 14.88
3211 280.7 -8.2 147 3217 done -0.87 - - 2637 - 2.50 0.076 2758 539.6 -107.1 - - 3471 - - - - - - - - 14.35 14.13 14.39
3576 315.0 -9.7 157 3577 done -0.87 - - 2637 - - - 2764 - -107.1 - - 3469 - - - - - - - - 14.85 14.85 14.85
3912 345.6 -9.0 163 3917 roll -0.87 - - 2636 - 2.38 0.042 1401 -572.7 -107.1 - - 3464 - - - - - - - - 14.85 14.30 14.85
3968 350.4 -8.7 171 3973 done -0.87 - - 2627 - 2.53 0.078 2759 536.8 -107.1 - - 3467 - - - - - - - - 14.33 14.12 14.38
4304 379.5 -8.6 184 4309 roll -0.87 - - 2626 - 2.38 0.042 1399 -571.4 -107.1 - - 3466 - - - - - - - - 14.84 14.31 14.85
4360 383.5 -8.0 192 4365 done -0.87 - - 2617 - 2.53 0.077 2757 536.8 -107.1 - - 3466 - - - - - - - - 14.32 14.09 14.36
4696 412.3 -8.5 205 4702 roll -0.87 - - 2617 - 2.38 0.043 1401 -569.7 -107.1 - - 3464 - - - - - - - - 14.84 14.29 14.84
4724 414.4 -7.5 209 4730 done -0.87 - - 2608 - 2.50 0.080 2749 539.2 -107.1 - - 3468 - - - - - - - - 14.31 14.07 14.35
5088 445.4 -8.4 219 5093 roll -0.87 - - 2601 - 2.08 0.125 3828 518.8 -107.1 - - 3462 - - - - - - - - 14.83 13.97 14.83
5115 448.5 -11.2 223 5121 done -0.87 - - 2599 - 1.80 0.045 2783 -580.6 -107.1 - - 3462 - - - - - - - - 14.40 14.38 14.42
5481 480.9 -8.7 233 5486 roll -0.87 - - 2598 - 2.47 0.042 1363 -574.9 -107.1 - - 3461 - - - - - - - - 14.83 14.27 14.84
5528 485.0 -11.0 240 5536 done -0.87 0.10 0.222 2616 180.0 2.60 0.076 2743 530.8 -107.1 - - 3461 - - - - - - - - 13.78 13.96 13.96
5872 513.0 -8.1 247 5873 done -0.87 - - 2616 - - - 2742 - -107.1 - - 3460 - - - - - - - - 14.87 14.86 14.87
6208 541.1 -8.5 253 6214 roll -0.87 - - 2616 - 2.42 0.043 1372 -566.1 -107.1 - - 3457 - - - - - - - - 14.87 14.25 14.87
6249 544.9 -8.8 259 6255 done -0.87 - - 2608 - 2.55 0.074 2743 537.6 -107.1 - - 3457 - - - - - - - - 14.26 14.02 14.31
6600 575.5 -8.7 267 6605 roll -0.87 - - 2599 - 2.12 0.127 3836 515.6 -107.1 - - 3457 - - - - - - - - 14.83 13.90 14.83
6635 578.6 -10.6 272 6640 done -0.87 - - 2598 - 1.88 0.046 2720 -593.6 -107.1 - - 3456 - - - - - - - - 14.42 14.33 14.43
6992 611.4 -9.4 281 6998 roll -0.87 - - 2597 - 2.35 0.042 1381 -569.8 -107.1 - - 3455 - - - - - - - - 14.83 14.23 14.82
7068 619.2 -9.9 292 7074 done -0.87 0.10 0.245 2614 170.0 2.58 0.076 2756 532.9 -107.1 - - 3459 - - - - - - - - 13.83 13.96 14.11
7384 649.2 -9.6 302 7389 roll -0.87 - - 2607 - 2.12 0.134 3835 509.0 -107.1 - - 3452 - - - - - - - - 14.82 13.83 14.82
7440 654.6 -8.7 310 7445 done -0.87 - - 2606 - 1.88 0.047 2741 -581.9 -107.1 - - 3452 - - - - - - - - 14.42 14.35 14.43
7776 687.3 -9.8 323 7781 roll -0.87 - - 2607 - 2.40 0.043 1370 -571.2 -107.1 - - 3452 - - - - - - - - 14.85 14.20 14.85
7818 691.8 -10.9 329 7824 done -0.87 - - 2597 - 2.60 0.079 2751 531.2 -107.1 - - 3450 - - - - - - - - 14.20 13.96 14.25
8169 723.9 -9.2 337 8174 roll -0.87 - - 2596 - 2.45 0.044 1373 -562.4 -107.1 - - 3450 - - - - - - - - 14.80 14.19 14.81
8195 726.4 -9.4 341 8202 done -0.87 0.12 0.239 2620 200.0 2.60 0.080 2746 528.1 -107.1 - - 3450 - - - - - - - - 13.74 13.93 14.03
8561 754.0 -7.6 351 8561 done -0.87 - - 2620 - - - 2748 - -107.1 - - 3449 - - - - - - - - 14.80 14.80 14.81
8896 778.9 -7.5 357 8902 roll -0.87 - - 2620 - 2.45 0.044 1371 -562.0 -107.1 - - 3448 - - - - - - - - 14.81 14.19 14.81
8931 780.9 -7.0 362 8936 done -0.87 - - 2612 - 2.60 0.080 2743 527.7 -107.1 - - 3448 - - - - - - - - 14.18 13.93 14.23
9229 end dive: TARGET_DEPTH_EXCEEDED
9229 begin apogee
9238 804.0 -7.8 370 9350 roll -0.23 0.77 0.191 2826 277.9 0.10 0.182 2276 -4670.0 - 103.30 2.580 3051 -3.8 0.241 - - - - 1 - 13.61 13.76 12.46
9351 end apogee: CONTROL_FINISHED_OK
9351 begin climb
9355 806.8 - 372 9493 roll 0.93 1.12 0.106 3179 315.2 2.53 0.055 885 -549.8 107.1 126.65 1.834 2619 -3.4 0.303 - - - - - - 13.90 13.96 12.93
9583 801.7 7.1 406 9603 done 0.83 - - 3175 - 2.42 0.062 2239 559.5 120.6 13.30 1.987 2565 -4.1 0.330 - - - - - - 14.33 14.19 13.08
9962 774.2 7.4 418 9968 roll 0.71 0.15 0.242 3132 -286.7 2.80 0.123 3651 504.3 126.5 1.33 0.200 2545 -15.0 11.736 - - - - - - 14.00 14.11 14.02
10003 771.1 5.8 424 10059 done 0.67 - - 3144 - 2.38 0.045 2272 -579.4 165.5 50.85 1.826 2391 -3.0 0.258 - - - - - - 14.47 14.39 13.16
10396 742.6 7.8 438 10397 done 0.67 - - 3144 - - - 2272 - 165.5 - - 2374 - - - - - - - - 14.71 14.71 14.71
10732 717.9 7.3 444 10735 done 0.68 - - 3144 - - - 2272 - 173.8 2.10 0.363 2356 -8.6 3.418 - - - - - - 14.80 14.23 12.86
11068 690.6 7.9 450 11071 done 0.68 - - 3144 - - - 2271 - 173.8 1.58 0.229 2358 - - - - - - - - 14.79 14.23 13.93
11404 664.3 8.2 456 11405 done 0.68 - - 3144 - - - 2272 - 173.8 - - 2366 - - - - - - - - 14.81 14.81 14.81
11740 636.5 8.2 462 11745 roll 0.68 - - 3144 - 2.75 0.129 3649 500.7 173.8 - - 2366 - - - - - - - - 14.80 13.97 14.80
11781 632.9 10.2 468 11787 done 0.59 0.22 0.233 3094 -227.3 2.42 0.045 2253 -576.9 173.8 - - 2365 - - - - - - - - 13.90 14.38 14.20
12132 609.5 6.3 476 12179 roll 0.63 - - 3093 - 2.80 0.131 3649 498.6 202.0 38.78 1.732 2238 -3.3 0.232 - - - - - - 14.81 14.18 13.28
12222 603.0 7.0 489 12244 done 0.65 - - 3102 - 2.42 0.044 2247 -579.3 217.1 17.05 1.814 2186 -3.0 0.204 - - - - - - 14.43 14.35 13.24
12580 580.8 6.1 498 12622 roll 0.68 - - 3112 - 2.55 0.063 858 -544.7 249.1 37.15 1.675 2053 -3.6 0.250 - - - - - - 14.73 14.23 13.28
12643 576.4 7.9 507 12648 done 0.68 - - 3110 - 2.50 0.065 2247 555.6 249.1 - - 2044 - - - - - - - - 14.35 14.22 14.39
12966 554.4 6.9 518 12992 roll 0.71 - - 3111 - 2.78 0.135 3651 505.0 266.4 18.15 1.760 1982 -3.4 0.217 - - - - - - 14.73 14.21 13.29
13055 547.2 8.7 531 13061 done 0.71 - - 3122 - 2.42 0.044 2247 -580.2 266.4 - - 1976 - - - - - - - - 14.45 14.37 14.47
13413 519.0 7.9 540 13414 done 0.71 - - 3120 - - - 2245 - 266.4 - - 1973 - - - - - - - - 14.74 14.74 14.74
13749 490.2 8.6 546 13754 roll 0.71 - - 3121 - 2.83 0.134 3660 500.0 266.4 - - 1971 - - - - - - - - 14.77 13.99 14.78
13783 486.8 9.5 551 13789 done 0.71 - - 3129 - 2.42 0.045 2251 -582.2 266.4 - - 1972 - - - - - - - - 14.47 14.38 14.50
14142 456.3 8.7 560 14143 done 0.71 - - 3129 - - - 2250 - 266.4 - - 1971 - - - - - - - - 14.78 14.78 14.78
14477 427.7 8.5 566 14482 roll 0.71 - - 3129 - 2.83 0.134 3660 498.2 266.4 - - 1971 - - - - - - - - 14.80 13.93 14.80
14525 422.7 10.3 573 14533 done 0.71 - - 3138 - 2.47 0.044 2252 -570.0 266.4 - - 1971 - - - - - - - - 14.42 14.27 14.45
14870 391.9 9.2 580 14870 done 0.71 - - 3138 - - - 2250 - 266.4 - - 1971 - - - - - - - - 14.79 14.80 14.80
15205 360.5 9.2 586 15206 done 0.71 - - 3138 - - - 2249 - 266.4 - - 1971 - - - - - - - - 14.80 14.81 14.80
15541 330.9 8.6 592 15542 done 0.71 - - 3138 - - - 2249 - 266.4 - - 1974 - - - - - - - - 14.80 14.80 14.80
15878 302.9 8.6 598 15878 done 0.71 - - 3138 - - - 2249 - 266.4 - - 1971 - - - - - - - - 14.80 14.81 14.79
16214 272.5 9.2 604 16218 roll 0.71 - - 3138 - 2.83 0.132 3654 496.5 266.4 - - 1971 - - - - - - - - 14.83 13.85 14.83
16254 268.2 10.1 610 16260 done 0.71 - - 3147 - 2.42 0.044 2255 -578.1 266.4 - - 1971 - - - - - - - - 14.42 14.33 14.45
16606 236.7 8.7 618 16606 done 0.71 - - 3148 - - - 2253 - 266.4 - - 1971 - - - - - - - - 14.83 14.82 14.84
16941 208.3 8.5 624 16946 roll 0.71 - - 3147 - 2.83 0.130 3660 497.2 266.4 - - 1971 - - - - - - - - 14.79 13.83 14.79
16997 202.5 10.6 632 17002 done 0.71 - - 3157 - 2.45 0.044 2251 -575.1 266.4 - - 1971 - - - - - - - - 14.40 14.30 14.42
17333 170.6 9.6 645 17339 roll 0.71 0.08 0.253 3140 -212.5 2.50 0.060 856 -558.0 266.4 - - 1971 - - - - - - - - 14.07 14.07 14.18
17367 167.2 9.6 650 17373 done 0.71 - - 3140 - 2.53 0.063 2262 555.7 266.4 - - 1971 - - - - - - - - 14.18 14.00 14.22
17726 136.8 8.4 659 17730 roll 0.71 - - 3140 - 2.75 0.129 3653 505.8 266.4 - - 1971 - - - - - - - - 14.79 13.81 14.79
17781 131.9 8.6 667 17786 done 0.71 - - 3147 - 2.42 0.044 2260 -575.6 266.4 - - 1971 - - - - - - - - 14.38 14.30 14.42
18117 106.3 7.8 680 18122 roll 0.71 - - 3157 - 2.50 0.062 859 -560.4 266.4 - - 1971 - - - - - - - - 14.79 13.98 14.79
18151 103.4 9.0 685 18158 done 0.71 0.10 0.207 3128 -290.0 2.53 0.064 2263 554.9 266.4 - - 1971 - - - - - - - - 13.96 14.08 14.21
18482 76.4 8.4 698 18486 roll 0.80 - - 3127 - 2.78 0.129 3662 503.2 266.4 - - 1971 - - - - - - - - 14.77 13.80 14.76
18551 70.5 7.7 708 18556 done 0.80 - - 3134 - 2.42 0.044 2261 -578.9 267.3 - - 1971 - - - - - - - - 14.38 14.29 14.41
18874 51.6 5.5 721 18903 roll 0.96 0.15 0.086 3231 646.7 2.55 0.060 856 -551.0 311.0 23.12 0.349 1812 -6.9 0.205 - - - - - - 14.41 14.29 13.82
18923 47.3 8.2 725 18931 done 0.96 - - 3231 - 2.55 0.066 2266 552.9 311.0 - - 1817 - - - - - - - - 14.38 14.19 14.42
19239 25.9 3.7 737 19294 roll 1.06 - - 3231 - 2.78 0.132 3655 499.6 390.6 45.08 0.277 1494 -7.2 0.135 - - - - - - 14.76 14.16 13.98
19383 19.8 6.5 757 19406 done 1.16 0.05 0.199 3294 1260.0 2.42 0.041 2245 -582.6 416.0 15.15 0.247 1393 -6.7 0.108 - - - - - - 14.19 14.28 13.88
19627 end climb: SURFACE_DEPTH_REACHED
19627 begin surface coast
19659 end surface coast: CONTROL_FINISHED_OK
19659 begin surface
SM -8.50 - - - - -8.39 9.45 0.086 186 19.7 1.05 0.110 2768 -8249.5 500.14 43.05 0.158 1058 24.6 0.135 - - - - - -