SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 658 * Raw log
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• Previous call tries 1 • 225.65 of 350.00 AH used of 24V (35.53% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.6 deg, depth -2.64 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 105 - - - 2780 - -107.1 -81.78 - 3480 - - - - - - - - 14.62 12.65 14.57
107 3.0 -9.7 3 124 roll -0.93 11.95 0.380 2583 207.4 1.98 0.100 3829 529.8 -107.1 - - 3480 - - - - - - - - 13.92 14.27 14.31
229 42.4 -24.5 21 235 done -0.64 0.38 0.207 2689 278.9 1.80 0.042 2712 -620.6 -107.1 - - 3481 - - - - - - - - 13.95 14.34 14.23
552 74.6 -8.6 34 557 roll -0.64 - - 2689 - 2.35 0.044 1365 -573.2 -107.1 - - 3482 - - - - - - - - 14.79 14.23 14.77
698 83.5 -5.0 55 703 done -0.64 - - 2679 - 2.62 0.083 2773 537.4 -107.1 - - 3483 - - - - - - - - 14.22 13.96 14.25
1028 105.2 -6.8 68 1033 roll -0.64 - - 2671 - 2.05 0.133 3826 513.7 -107.1 - - 3483 - - - - - - - - 14.84 13.92 14.84
1140 113.7 -7.9 84 1145 done -0.64 - - 2670 - 1.83 0.050 2746 -590.2 -107.1 - - 3482 - - - - - - - - 14.44 14.38 14.46
1476 141.8 -8.6 97 1482 roll -0.64 - - 2671 - 2.38 0.043 1383 -572.7 -107.1 - - 3481 - - - - - - - - 14.82 14.23 14.82
1559 148.3 -7.5 109 1565 done -0.72 - - 2661 - 2.60 0.083 2769 533.1 -107.1 - - 3481 - - - - - - - - 14.24 13.99 14.30
1924 176.4 -7.9 119 1929 roll -0.72 - - 2661 - 2.45 0.043 1382 -566.1 -107.1 - - 3477 - - - - - - - - 14.85 14.22 14.85
1972 180.7 -8.7 126 1979 done -0.72 - - 2653 - 2.62 0.083 2770 529.8 -107.1 - - 3478 - - - - - - - - 14.19 13.93 14.24
2316 211.5 -8.9 133 2322 roll -0.72 - - 2653 - 2.47 0.044 1376 -564.4 -107.1 - - 3475 - - - - - - - - 14.85 14.21 14.85
2372 216.2 -8.2 141 2377 done -0.72 - - 2644 - 2.62 0.083 2769 531.7 -107.1 - - 3476 - - - - - - - - 14.20 13.93 14.25
2708 243.2 -8.0 154 2713 roll -0.72 - - 2644 - 2.47 0.044 1376 -564.0 -107.1 - - 3473 - - - - - - - - 14.85 14.12 14.85
2742 246.1 -8.5 159 2747 done -0.72 0.10 0.239 2665 210.0 2.60 0.082 2759 531.9 -107.1 - - 3472 - - - - - - - - 13.84 13.93 14.10
3100 273.5 -7.7 168 3105 roll -0.72 - - 2664 - 2.45 0.044 1381 -562.4 -107.1 - - 3470 - - - - - - - - 14.81 14.19 14.82
3162 278.2 -7.3 177 3168 done -0.81 - - 2656 - 2.60 0.083 2765 532.3 -107.1 - - 3472 - - - - - - - - 14.18 13.90 14.23
3492 302.9 -7.5 189 3493 done -0.81 - - 2657 - - - 2765 - -107.1 - - 3468 - - - - - - - - 14.81 14.81 14.81
3828 329.7 -8.2 195 3832 roll -0.81 - - 2664 - 2.47 0.044 1379 -561.1 -107.1 - - 3466 - - - - - - - - 14.81 14.17 14.81
3876 334.0 -8.7 202 3882 done -0.89 - - 2648 - 2.62 0.083 2763 528.2 -107.1 - - 3466 - - - - - - - - 14.14 13.86 14.19
4220 364.8 -9.0 209 4221 done -0.89 - - 2648 - - - 2764 - -107.1 - - 3465 - - - - - - - - 14.85 14.85 14.85
4556 392.3 -7.9 215 4560 roll -0.89 - - 2648 - 2.47 0.044 1375 -562.3 -107.1 - - 3463 - - - - - - - - 14.85 14.18 14.85
4583 394.5 -7.9 219 4588 done -0.89 - - 2638 - 2.62 0.082 2760 528.6 -107.1 - - 3462 - - - - - - - - 14.14 13.88 14.20
4948 423.5 -7.9 229 4953 roll -0.89 - - 2632 - 2.12 0.134 3832 505.7 -107.1 - - 3461 - - - - - - - - 14.81 13.71 14.81
4975 425.8 -8.2 233 4981 done -0.89 - - 2631 - 1.88 0.052 2772 -563.8 -107.1 - - 3460 - - - - - - - - 14.26 14.22 14.27
5340 455.8 -8.2 243 5345 roll -0.89 - - 2631 - 2.50 0.044 1369 -561.2 -107.1 - - 3460 - - - - - - - - 14.84 14.11 14.85
5409 461.7 -8.4 253 5415 done -0.89 - - 2620 - 2.62 0.079 2757 529.8 -107.1 - - 3459 - - - - - - - - 14.10 13.85 14.16
5732 490.9 -9.1 264 5733 done -0.89 - - 2622 - - - 2756 - -107.1 - - 3458 - - - - - - - - 14.80 14.80 14.80
6068 522.2 -9.3 270 6072 roll -0.89 - - 2622 - 2.53 0.044 1365 -549.8 -107.1 - - 3456 - - - - - - - - 14.84 14.09 14.84
6124 527.2 -9.0 278 6129 done -0.89 - - 2613 - 2.65 0.078 2753 523.8 -107.1 - - 3456 - - - - - - - - 14.08 13.83 14.14
6460 557.4 -8.9 291 6465 roll -0.89 - - 2611 - 2.50 0.044 1368 -554.0 -107.1 - - 3455 - - - - - - - - 14.80 14.07 14.80
6516 562.3 -8.6 299 6520 done -0.89 - - 2603 - 2.65 0.082 2750 521.5 -107.1 - - 3454 - - - - - - - - 14.08 13.82 14.14
6852 593.2 -9.3 312 6853 done -0.89 - - 2602 - - - 2750 - -107.1 - - 3457 - - - - - - - - 14.79 14.79 14.79
7188 625.0 -9.5 318 7192 roll -0.89 - - 2602 - 2.53 0.044 1362 -548.6 -107.1 - - 3452 - - - - - - - - 14.79 13.95 14.78
7236 629.6 -9.3 325 7243 done -0.89 - - 2593 - 2.67 0.081 2749 519.5 -107.1 - - 3452 - - - - - - - - 14.02 13.75 14.08
7580 662.3 -9.5 332 7585 roll -0.89 - - 2584 - 2.17 0.129 3832 499.1 -107.1 - - 3451 - - - - - - - - 14.78 13.64 14.78
7607 665.0 -9.8 336 7612 done -0.89 0.08 0.227 2605 262.5 1.95 0.050 2740 -560.0 -107.1 - - 3450 - - - - - - - - 13.70 14.14 13.85
7972 695.4 -8.2 346 7977 roll -0.89 - - 2604 - 2.45 0.044 1367 -560.4 -107.1 - - 3451 - - - - - - - - 14.78 14.04 14.78
8006 698.3 -8.3 351 8011 done -0.89 - - 2595 - 2.62 0.080 2746 526.3 -107.1 - - 3450 - - - - - - - - 14.03 13.76 14.09
8364 727.6 -8.2 360 8369 roll -0.89 - - 2587 - 2.15 0.130 3827 502.8 -107.1 - - 3448 - - - - - - - - 14.82 13.84 14.82
8398 730.7 -9.1 365 8404 done -0.89 - - 2586 - 1.92 0.052 2743 -564.6 -107.1 - - 3448 - - - - - - - - 14.16 14.12 14.17
8756 762.6 -9.0 374 8757 done -0.89 - - 2586 - - - 2743 - -107.1 - - 3447 - - - - - - - - 14.82 14.82 14.82
9092 794.8 -9.7 380 9093 done -0.89 - - 2586 - - - 2743 - -107.1 - - 3446 - - - - - - - - 14.81 14.81 14.81
9144 end dive: TARGET_DEPTH_EXCEEDED
9144 begin apogee
9153 800.5 -9.8 381 9271 roll -0.23 0.85 0.184 2820 275.3 0.10 0.170 2277 -4660.0 - 115.20 1.805 3049 -3.4 0.303 - - - - - - 13.62 13.89 13.03
9273 end apogee: CONTROL_FINISHED_OK
9273 begin climb
9277 804.6 - 383 9407 roll 0.93 1.12 0.094 3182 323.2 2.60 0.054 841 -552.3 107.1 116.70 1.769 2614 -3.7 0.337 - - - - - - 13.93 14.00 12.96
9456 802.7 5.1 411 9518 done 0.87 - - 3182 - 2.50 0.055 2241 560.0 159.2 57.38 1.757 2415 -3.5 0.315 - - - - - - 14.26 14.13 13.02
9880 767.0 9.1 429 9886 roll 0.76 0.10 0.242 3148 -340.0 2.70 0.113 3647 520.7 159.2 - - 2396 - - - - - - - - 14.02 14.05 14.16
9963 758.7 9.6 441 9970 done 0.66 0.15 0.226 3118 -200.0 2.45 0.044 2234 -576.7 159.2 - - 2395 - - - - - - - - 13.95 14.34 14.25
10328 730.2 7.9 451 10333 roll 0.66 - - 3118 - 2.80 0.117 3654 507.1 159.2 - - 2393 - - - - - - - - 14.78 13.95 14.78
10397 724.2 8.7 461 10403 done 0.66 - - 3127 - 2.42 0.044 2250 -580.2 159.2 - - 2393 - - - - - - - - 14.41 14.32 14.43
10720 698.3 8.0 472 10721 done 0.66 - - 3127 - - - 2249 - 159.2 - - 2392 - - - - - - - - 14.77 14.77 14.77
11056 672.6 7.6 478 11061 roll 0.67 - - 3127 - 2.75 0.119 3649 509.1 162.6 - - 2391 - - - - - - - - 14.78 13.90 14.78
11112 667.9 8.5 486 11117 done 0.67 - - 3137 - 2.42 0.045 2262 -573.1 162.6 - - 2391 - - - - - - - - 14.40 14.31 14.42
11448 642.2 7.6 499 11453 roll 0.67 - - 3138 - 2.78 0.119 3656 501.4 164.6 - - 2391 - - - - - - - - 14.77 13.88 14.77
11489 638.7 8.5 505 11496 done 0.67 0.10 0.242 3121 -170.0 2.42 0.044 2260 -576.9 164.6 - - 2391 - - - - - - - - 13.91 14.30 14.16
11840 614.8 6.7 513 11873 roll 0.69 - - 3130 - 2.50 0.060 859 -560.4 185.7 26.27 1.698 2301 -3.4 0.246 - - - - - - 14.80 14.28 13.31
11902 610.4 7.1 522 11914 done 0.71 - - 3130 - 2.47 0.059 2253 564.4 199.1 5.55 1.636 2261 -7.2 0.534 - - - - - - 14.44 14.30 13.15
12232 584.9 7.8 534 12238 roll 0.71 - - 3130 - 2.78 0.121 3658 505.4 199.1 2.28 0.519 2258 -1.3 0.294 - - - - - - 14.71 14.13 13.04
12308 577.8 9.4 545 12315 done 0.71 - - 3141 - 2.42 0.044 2254 -580.2 199.1 1.95 0.219 2255 -1.5 0.806 - - - - - - 14.45 14.37 13.95
12673 546.4 8.5 555 12679 roll 0.71 - - 3151 - 2.58 0.059 852 -543.4 199.1 1.77 0.218 2255 - - - - - - - - 14.75 14.17 13.85
12722 542.2 8.6 562 12727 done 0.71 - - 3151 - 2.55 0.060 2267 554.9 199.1 - - 2265 - - - - - - - - 14.32 14.15 14.35
13058 514.4 8.2 575 13064 roll 0.71 - - 3150 - 2.80 0.122 3661 497.9 199.1 1.65 0.222 2256 -5.5 2.510 - - - - - - 14.76 13.97 13.82
13113 509.2 9.7 583 13119 done 0.71 0.10 0.239 3133 -170.0 2.42 0.044 2262 -578.1 199.1 1.65 0.208 2256 - - - - - - - - 13.94 14.28 13.90
13443 483.3 7.9 595 13449 roll 0.71 - - 3144 - 2.60 0.058 853 -541.9 199.1 1.55 0.221 2256 - - - - - - - - 14.79 14.12 13.80
13477 480.5 8.3 600 13482 done 0.71 - - 3146 - 2.53 0.059 2261 556.5 199.1 - - 2264 - - - - - - - - 14.30 14.13 14.33
13835 448.3 9.2 609 13842 roll 0.71 - - 3144 - 2.80 0.120 3658 498.9 199.1 1.62 0.222 2254 -6.2 2.475 - - - - - - 14.76 13.91 13.79
13898 442.0 10.1 618 13903 done 0.71 - - 3153 - 2.42 0.044 2260 -577.7 199.1 - - 2265 - - - - - - - - 14.38 14.30 14.40
14228 413.2 8.5 630 14233 roll 0.71 - - 3153 - 2.85 0.118 3657 490.2 199.1 1.58 0.224 2258 -4.4 1.623 - - - - - - 14.75 13.85 13.78
14276 408.8 9.2 637 14283 done 0.71 - - 3164 - 2.45 0.044 2261 -569.8 199.1 1.52 0.226 2256 - - - - - - - - 14.35 14.26 13.85
14613 381.7 8.0 650 14616 done 0.71 0.12 0.218 3128 -300.0 - - 2250 - 199.1 1.60 0.209 2255 - - - - - - - - 13.93 14.05 13.76
14949 357.4 7.2 656 14974 roll 0.72 - - 3127 - 2.75 0.119 3661 513.1 209.8 19.17 1.479 2205 -2.6 0.125 - - - - - - 14.74 14.19 13.44
15025 351.2 8.5 667 15030 done 0.72 - - 3137 - 2.42 0.045 2254 -581.4 209.8 - - 2198 - - - - - - - - 14.50 14.42 14.52
15341 326.2 8.0 677 15346 roll 0.72 - - 3136 - 2.78 0.120 3656 504.3 209.8 - - 2196 - - - - - - - - 14.76 13.98 14.76
15375 323.1 9.0 682 15380 done 0.72 - - 3146 - 2.42 0.044 2262 -576.0 209.8 - - 2196 - - - - - - - - 14.42 14.33 14.45
15733 293.2 8.4 691 15733 done 0.72 - - 3147 - - - 2258 - 209.8 - - 2196 - - - - - - - - 14.74 14.74 14.73
16069 264.2 8.6 697 16074 roll 0.72 - - 3147 - 2.78 0.121 3654 502.2 209.8 - - 2196 - - - - - - - - 14.75 13.88 14.75
16124 259.0 9.4 705 16130 done 0.72 - - 3157 - 2.42 0.044 2264 -574.4 209.8 - - 2195 - - - - - - - - 14.38 14.30 14.41
16461 231.4 8.1 718 16466 roll 0.72 - - 3167 - 2.53 0.060 856 -556.5 209.8 - - 2197 - - - - - - - - 14.74 14.04 14.74
16495 228.5 8.1 723 16500 done 0.72 0.10 0.212 3137 -300.0 2.55 0.062 2270 554.5 209.8 - - 2196 - - - - - - - - 13.95 14.10 14.21
16853 201.8 7.5 732 16857 roll 0.73 - - 3134 - 2.72 0.121 3656 509.6 214.7 - - 2196 - - - - - - - - 14.74 13.84 14.73
16880 199.6 8.0 736 16885 done 0.73 - - 3148 - 2.42 0.044 2259 -577.3 214.7 - - 2196 - - - - - - - - 14.28 14.19 14.31
17245 172.4 7.4 746 17250 done 0.74 - - 3148 - - - 2256 - 220.5 3.75 0.991 2171 -6.7 0.230 - - - - - - 14.77 14.32 13.33
17581 146.9 7.5 752 17592 roll 0.74 - - 3147 - 2.75 0.121 3650 506.9 224.2 4.15 1.073 2167 -1.0 0.026 - - - - - - 14.78 14.14 13.29
17643 141.4 9.1 761 17649 done 0.74 - - 3157 - 2.40 0.045 2257 -580.4 224.2 2.67 0.654 2156 -4.1 0.177 - - - - - - 14.54 14.43 13.32
17972 112.6 8.8 773 17976 done 0.74 - - 3157 - - - 2254 - 224.2 2.17 0.216 2155 - - - - - - - - 14.78 14.12 13.76
18281 89.3 7.3 781 18292 roll 0.75 - - 3157 - 2.72 0.120 3658 516.2 232.3 6.75 0.375 2129 -3.9 0.182 - - - - - - 14.73 14.07 13.71
18337 85.0 8.1 789 18343 done 0.75 - - 3167 - 2.42 0.045 2266 -575.2 232.3 2.20 0.218 2125 -1.8 0.141 - - - - - - 14.43 14.35 13.83
18673 62.7 6.4 804 18699 roll 0.78 - - 3177 - 2.58 0.060 851 -548.4 258.5 16.95 0.347 2024 -6.0 0.214 - - - - - - 14.73 14.31 13.85
18777 55.9 6.3 819 18802 done 0.82 - - 3177 - 2.55 0.058 2275 558.4 287.3 17.85 0.331 1905 -6.7 0.224 - - - - - - 14.35 14.16 13.89
19125 42.9 1.7 835 19198 roll 1.09 0.12 0.099 3276 825.0 2.60 0.061 846 -549.6 407.2 67.05 0.301 1430 -7.1 0.201 - - - - - - 14.30 14.28 13.94
19274 34.9 6.9 857 19289 done 1.11 - - 3277 - 2.53 0.057 2267 561.7 424.0 10.57 0.267 1360 -6.6 0.172 - - - - - - 14.28 14.12 13.88
19619 4.8 9.6 873 19625 roll 1.11 - - 3276 - 2.70 0.121 3649 511.9 424.0 - - 1367 - - - - - - - - 14.75 13.77 14.75
19643 end climb: SURFACE_DEPTH_REACHED
19643 begin surface coast
19649 end surface coast: CONTROL_FINISHED_OK
19649 begin surface
SM -2.71 - - - - -8.40 9.40 0.079 188 20.0 1.55 0.047 2726 1591.0 500.14 39.47 0.158 1057 26.8 0.047 - - - - - -