SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 656 * Raw log
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• Previous call tries 1 • 225.07 of 350.00 AH used of 24V (35.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.3 deg, depth -8.19 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 5
• 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 - - - 2778 - -107.1 -80.95 - 3478 - - - - - - - - 14.62 12.65 14.56
106 -1.7 -11.9 3 122 roll -0.93 11.95 0.380 2583 207.3 2.03 0.108 3838 522.2 -107.1 - - 3480 - - - - - - - - 13.91 14.20 14.31
355 58.5 -16.5 39 360 done -0.76 0.25 0.229 2651 272.0 1.83 0.047 2738 -601.1 -107.1 - - 3481 - - - - - - - - 13.89 14.41 14.19
691 85.3 -8.2 54 696 roll -0.76 - - 2651 - 2.35 0.044 1381 -577.4 -107.1 - - 3483 - - - - - - - - 14.78 14.23 14.78
725 89.4 -12.2 59 730 done -0.76 - - 2644 - 2.60 0.086 2770 534.2 -107.1 - - 3482 - - - - - - - - 14.28 14.04 14.33
1083 120.6 -9.0 70 1088 roll -0.76 - - 2633 - 2.08 0.136 3826 507.7 -107.1 - - 3482 - - - - - - - - 14.83 13.85 14.83
1145 127.0 -14.8 79 1150 done -0.76 - - 2632 - 1.83 0.047 2757 -584.2 -107.1 - - 3482 - - - - - - - - 14.34 14.32 14.36
1475 153.8 -8.9 91 1480 roll -0.76 - - 2633 - 2.40 0.041 1376 -575.4 -107.1 - - 3480 - - - - - - - - 14.81 14.24 14.82
1516 157.3 -8.5 97 1522 done -0.76 0.10 0.233 2651 180.0 2.60 0.083 2760 532.3 -107.1 - - 3482 - - - - - - - - 13.89 13.97 14.15
1867 184.1 -7.3 105 1873 roll -0.76 - - 2643 - 2.12 0.138 3834 506.6 -107.1 - - 3477 - - - - - - - - 14.81 13.83 14.81
1908 187.0 -9.6 111 1913 done -0.76 - - 2643 - 1.83 0.047 2737 -599.5 -107.1 - - 3478 - - - - - - - - 14.45 14.38 14.46
2259 217.2 -8.5 119 2260 done -0.76 - - 2642 - - - 2737 - -107.1 - - 3475 - - - - - - - - 14.82 14.82 14.82
2595 245.1 -8.1 125 2600 roll -0.76 - - 2643 - 2.35 0.040 1387 -574.5 -107.1 - - 3473 - - - - - - - - 14.81 14.23 14.81
2636 248.0 -8.7 131 2641 done -0.76 - - 2634 - 2.60 0.083 2757 526.9 -107.1 - - 3472 - - - - - - - - 14.08 13.52 14.16
2987 275.6 -8.2 139 2992 roll -0.76 - - 2634 - 2.40 0.041 1399 -565.8 -107.1 - - 3471 - - - - - - - - 14.82 14.20 14.82
3035 281.6 -9.9 146 3042 done -0.76 0.10 0.238 2652 180.0 2.60 0.083 2765 525.4 -107.1 - - 3469 - - - - - - - - 13.82 13.89 14.07
3379 307.7 -6.9 153 3385 roll -0.76 - - 2652 - 2.42 0.043 1397 -565.3 -107.1 - - 3468 - - - - - - - - 14.81 14.19 14.81
3441 312.3 -10.2 162 3446 done -0.76 - - 2644 - 2.58 0.085 2754 526.0 -107.1 - - 3467 - - - - - - - - 14.16 13.88 14.20
3771 339.1 -8.6 174 3776 roll -0.76 - - 2644 - 2.38 0.042 1386 -574.8 -107.1 - - 3465 - - - - - - - - 14.84 14.14 14.83
3798 341.1 -7.2 178 3803 done -0.76 - - 2636 - 2.62 0.090 2756 522.9 -107.1 - - 3465 - - - - - - - - 13.86 13.26 14.02
4163 368.6 -7.6 188 4168 roll -0.76 - - 2628 - 2.15 0.139 3825 497.2 -107.1 - - 3463 - - - - - - - - 14.85 13.71 14.85
4197 373.1 -11.7 193 4203 done -0.76 0.08 0.201 2648 250.0 1.85 0.052 2783 -563.2 -107.1 - - 3463 - - - - - - - - 13.85 14.21 13.99
4555 400.6 -7.4 202 4560 roll -0.76 - - 2650 - 2.50 0.042 1364 -567.6 -107.1 - - 3461 - - - - - - - - 14.84 14.15 14.83
4617 406.3 -8.8 211 4622 done -0.84 - - 2645 - 2.62 0.082 2751 529.4 -107.1 - - 3461 - - - - - - - - 14.12 13.85 14.18
4947 432.5 -7.7 223 4952 roll -0.84 - - 2642 - 2.47 0.043 1366 -560.7 -107.1 - - 3459 - - - - - - - - 14.81 14.14 14.79
4981 435.9 -9.2 228 4986 done -0.84 - - 2633 - 2.62 0.084 2749 527.9 -107.1 - - 3459 - - - - - - - - 14.16 13.89 14.21
5339 463.3 -7.4 237 5340 done -0.84 - - 2633 - - - 2749 - -107.1 - - 3458 - - - - - - - - 14.84 14.84 14.84
5675 488.1 -7.2 243 5680 roll -0.84 - - 2633 - 2.47 0.044 1368 -559.1 -107.1 - - 3453 - - - - - - - - 14.83 14.11 14.82
5737 491.4 -6.7 252 5742 done -0.84 - - 2623 - 2.65 0.083 2750 521.5 -107.1 - - 3456 - - - - - - - - 14.08 13.81 14.14
6067 517.5 -8.5 264 6071 roll -0.84 - - 2615 - 2.15 0.135 3826 500.5 -107.1 - - 3455 - - - - - - - - 14.83 13.69 14.83
6143 523.8 -10.8 275 6148 done -0.84 - - 2614 - 1.92 0.051 2744 -563.5 -107.1 - - 3455 - - - - - - - - 14.09 14.06 14.11
6459 552.0 -9.0 285 6464 roll -0.84 - - 2614 - 2.45 0.044 1364 -563.3 -107.1 - - 3451 - - - - - - - - 14.83 14.09 14.83
6515 557.0 -9.6 293 6520 done -0.84 - - 2605 - 2.62 0.080 2745 527.1 -107.1 - - 3453 - - - - - - - - 14.05 13.78 14.11
6851 590.7 -9.7 306 6856 roll -0.84 - - 2604 - 2.50 0.044 1357 -555.2 -107.1 - - 3451 - - - - - - - - 14.83 14.06 14.83
6892 594.7 -10.3 312 6897 done -0.84 0.12 0.230 2629 208.3 2.67 0.082 2748 521.0 -107.1 - - 3451 - - - - - - - - 13.57 13.69 13.85
7243 623.4 -7.6 320 7248 roll -0.84 - - 2621 - 2.17 0.132 3831 499.1 -107.1 - - 3449 - - - - - - - - 14.78 13.62 14.78
7277 626.0 -8.6 325 7283 done -0.84 - - 2620 - 1.95 0.051 2739 -560.0 -107.1 - - 3450 - - - - - - - - 14.15 14.12 14.16
7635 653.7 -7.9 334 7640 roll -0.84 - - 2620 - 2.45 0.043 1367 -560.0 -107.1 - - 3449 - - - - - - - - 14.78 14.04 14.81
7697 657.1 -8.4 343 7702 done -0.84 - - 2612 - 2.62 0.080 2741 524.4 -107.1 - - 3448 - - - - - - - - 14.02 13.76 14.09
8027 681.4 -7.0 355 8028 done -0.84 - - 2612 - - - 2742 - -107.1 - - 3448 - - - - - - - - 14.78 14.78 14.78
8363 708.2 -8.6 361 8364 done -0.84 - - 2612 - - - 2741 - -107.1 - - 3445 - - - - - - - - 14.83 14.81 14.83
8699 731.7 -7.1 367 8700 done -0.84 - - 2612 - - - 2741 - -107.1 - - 3446 - - - - - - - - 14.77 14.77 14.77
9035 755.8 -7.3 373 9041 roll -0.84 - - 2611 - 2.50 0.044 1367 -549.6 -107.1 - - 3444 - - - - - - - - 14.76 14.00 14.76
9069 758.4 -6.5 378 9074 done -0.84 - - 2603 - 2.67 0.081 2748 517.2 -107.1 - - 3444 - - - - - - - - 14.04 13.72 14.09
9427 788.2 -8.4 387 9428 done -0.84 - - 2603 - - - 2747 - -107.1 - - 3443 - - - - - - - - 14.81 14.81 14.81
9591 end dive: TARGET_DEPTH_EXCEEDED
9591 begin apogee
9601 802.4 -8.2 390 9710 roll -0.23 0.80 0.179 2824 276.2 0.08 0.190 2256 -6137.5 - 101.43 2.578 3050 -3.9 0.241 - - - - 1 - 13.61 13.72 12.55
9711 end apogee: CONTROL_FINISHED_OK
9712 begin climb
9716 805.8 - 392 9855 roll 0.93 1.12 0.089 3188 325.0 2.55 0.056 871 -543.1 107.1 127.22 1.845 2624 -3.3 0.293 - - - - - - 13.88 13.91 12.92
9946 801.0 4.5 426 10029 done 0.88 - - 3189 - 2.50 0.060 2256 554.0 171.7 73.60 1.806 2358 -3.6 0.321 - - - - - - 14.31 14.18 12.97
10385 764.8 10.2 446 10390 roll 0.76 0.10 0.243 3154 -350.0 2.72 0.119 3659 515.8 171.7 - - 2346 - - - - - - - - 14.01 14.03 14.16
10431 759.1 11.1 453 10439 done 0.66 0.17 0.222 3116 -223.5 2.45 0.045 2261 -570.6 171.7 - - 2346 - - - - - - - - 13.95 14.34 14.25
10776 732.4 7.4 460 10780 roll 0.67 - - 3126 - 2.53 0.060 855 -555.7 177.8 - - 2344 - - - - - - - - 14.76 14.16 14.77
10802 731.1 5.1 464 10877 done 0.73 - - 3126 - 2.50 0.060 2250 558.0 230.4 66.75 1.745 2124 -3.3 0.276 - - - - - - 14.35 14.19 13.14
11227 698.5 8.1 482 11232 roll 0.73 - - 3126 - 2.75 0.125 3658 512.0 230.4 - - 2111 - - - - - - - - 14.68 14.02 14.68
11308 690.7 13.4 494 11314 done 0.73 - - 3135 - 2.45 0.044 2249 -575.1 230.4 - - 2110 - - - - - - - - 14.42 14.34 14.46
11673 659.5 8.6 504 11674 done 0.73 - - 3135 - - - 2245 - 230.4 - - 2110 - - - - - - - - 14.78 14.78 14.77
12010 631.8 8.0 510 12010 done 0.73 - - 3135 - - - 2245 - 230.4 - - 2110 - - - - - - - - 14.79 14.79 14.79
12345 604.6 8.4 516 12350 roll 0.73 - - 3134 - 2.80 0.122 3654 503.2 230.4 - - 2109 - - - - - - - - 14.80 13.90 14.81
12401 598.9 10.6 524 12406 done 0.73 - - 3146 - 2.45 0.044 2255 -571.0 230.4 - - 2109 - - - - - - - - 14.40 14.31 14.42
12737 568.9 9.1 537 12743 roll 0.73 - - 3160 - 2.53 0.061 853 -554.2 230.4 - - 2108 - - - - - - - - 14.80 14.07 14.80
12786 563.9 9.8 544 12792 done 0.73 - - 3156 - 2.55 0.062 2251 548.2 230.4 - - 2107 - - - - - - - - 14.28 14.12 14.33
13130 531.3 9.6 551 13134 roll 0.73 - - 3156 - 2.78 0.125 3657 505.8 230.4 - - 2107 - - - - - - - - 14.76 13.85 14.76
13185 525.7 10.3 559 13190 done 0.73 0.10 0.234 3138 -180.0 2.47 0.044 2245 -571.7 230.4 - - 2108 - - - - - - - - 13.93 14.28 14.20
13522 496.8 8.4 572 13522 done 0.73 - - 3138 - - - 2241 - 230.4 - - 2107 - - - - - - - - 14.76 14.76 14.76
13857 468.6 8.7 578 13862 roll 0.73 - - 3138 - 2.83 0.121 3657 500.4 230.4 - - 2107 - - - - - - - - 14.76 13.82 14.76
13898 464.9 10.1 584 13903 done 0.73 - - 3148 - 2.47 0.045 2247 -570.9 230.4 - - 2107 - - - - - - - - 14.36 14.26 14.38
14250 433.4 9.2 592 14254 roll 0.73 - - 3158 - 2.50 0.059 855 -556.8 230.4 - - 2107 - - - - - - - - 14.75 14.00 14.76
14269 432.2 8.6 595 14274 done 0.73 - - 3158 - 2.55 0.060 2260 551.0 230.4 - - 2107 - - - - - - - - 14.21 14.03 14.27
14585 404.6 8.4 605 14591 roll 0.73 - - 3158 - 2.75 0.122 3654 506.9 230.4 - - 2107 - - - - - - - - 14.79 13.76 14.79
14619 401.6 9.1 610 14625 done 0.73 0.10 0.239 3140 -180.0 2.45 0.044 2250 -573.1 230.4 - - 2107 - - - - - - - - 13.86 14.21 14.13
14978 373.2 8.0 619 14982 roll 0.73 - - 3140 - 2.83 0.120 3659 497.9 230.4 - - 2107 - - - - - - - - 14.75 13.76 14.74
15011 370.5 8.0 624 15017 done 0.73 - - 3150 - 2.45 0.044 2258 -571.8 230.4 - - 2107 - - - - - - - - 14.31 14.21 14.33
15369 341.1 8.2 633 15375 roll 0.73 - - 3149 - 2.83 0.122 3657 494.3 230.4 - - 2107 - - - - - - - - 14.74 13.76 14.74
15411 336.5 10.7 639 15416 done 0.73 - - 3160 - 2.45 0.044 2258 -571.0 230.4 - - 2107 - - - - - - - - 14.32 14.23 14.35
15762 305.4 8.9 647 15766 roll 0.73 - - 3170 - 2.53 0.060 850 -556.5 230.4 - - 2107 - - - - - - - - 14.78 13.96 14.78
15788 303.6 6.7 651 15816 done 0.76 - - 3170 - 2.55 0.060 2259 552.5 251.6 19.95 1.379 2039 -3.4 0.150 - - - - - - 14.11 13.93 13.41
16154 269.6 9.8 661 16159 roll 0.76 - - 3170 - 2.72 0.125 3656 513.6 251.6 - - 2030 - - - - - - - - 14.76 13.97 14.76
16209 262.8 12.1 669 16215 done 0.76 0.12 0.222 3146 -200.0 2.42 0.044 2257 -578.1 251.6 - - 2031 - - - - - - - - 13.95 14.23 14.22
16545 233.0 8.5 682 16550 roll 0.76 - - 3156 - 2.50 0.060 851 -562.4 251.6 - - 2030 - - - - - - - - 14.73 14.09 14.74
16587 229.3 10.3 688 16592 done 0.76 - - 3157 - 2.55 0.059 2270 556.5 251.6 - - 2029 - - - - - - - - 14.30 14.12 14.32
16938 199.3 8.7 696 16943 roll 0.76 - - 3156 - 2.72 0.123 3658 510.3 251.6 - - 2030 - - - - - - - - 14.73 13.88 14.73
16993 194.4 9.7 704 16998 done 0.76 - - 3166 - 2.45 0.043 2261 -570.2 251.6 - - 2030 - - - - - - - - 14.38 14.28 14.40
17329 165.6 8.5 717 17335 roll 0.76 - - 3176 - 2.53 0.060 858 -554.5 251.6 - - 2030 - - - - - - - - 14.74 14.03 14.75
17356 162.8 9.8 721 17363 done 0.76 0.10 0.214 3147 -290.0 2.53 0.062 2262 554.9 251.6 - - 2031 - - - - - - - - 13.93 14.09 14.19
17722 130.4 9.1 731 17727 roll 0.76 - - 3146 - 2.72 0.122 3653 511.4 251.6 - - 2030 - - - - - - - - 14.78 13.81 14.78
17783 124.4 9.1 740 17789 done 0.76 - - 3156 - 2.42 0.044 2267 -572.7 251.6 - - 2029 - - - - - - - - 14.33 14.23 14.35
18114 97.8 8.0 752 18115 done 0.76 - - 3156 - - - 2258 - 251.6 - - 2030 - - - - - - - - 14.75 14.75 14.75
18421 74.4 7.4 763 18426 roll 0.76 - - 3156 - 2.80 0.121 3659 500.4 257.4 - - 2030 - - - - - - - - 14.78 13.81 14.77
18497 66.8 9.6 774 18504 done 0.76 - - 3167 - 2.45 0.043 2262 -570.2 257.4 - - 2032 - - - - - - - - 14.31 14.20 14.33
18814 50.7 3.6 786 18869 roll 0.87 - - 3166 - 2.75 0.122 3661 508.7 340.2 47.25 0.346 1695 -7.1 0.209 - - - - - - 14.73 14.20 13.90
18971 43.0 5.9 808 19000 done 1.03 0.10 0.115 3244 780.0 2.40 0.044 2264 -582.1 377.0 21.92 0.322 1551 -6.6 0.176 - - - - - - 14.28 14.37 13.89
19321 23.8 5.3 825 19357 roll 1.17 - - 3252 - 2.53 0.061 873 -549.8 425.6 28.27 0.259 1356 -6.9 0.127 - - - - - - 14.71 14.24 13.96
19374 20.7 6.5 833 19393 done 1.31 0.15 0.083 3343 606.7 2.53 0.058 2290 560.1 449.3 14.35 0.249 1260 -6.7 0.111 - - - - - - 14.30 14.16 13.93
19558 end climb: SURFACE_DEPTH_REACHED
19558 begin surface coast
19590 end surface coast: CONTROL_FINISHED_OK
19590 begin surface
SM -7.63 - - - - -8.41 9.68 0.085 188 19.4 0.93 0.114 2763 -9319.4 500.14 27.17 0.161 1057 38.9 0.188 - - - - - -