SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 668 * Raw log
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• Previous call tries 1 • 228.92 of 350.00 AH used of 24V (34.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth -7.24 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
13 begin dive
17 - - - 102 done -0.93 - - 106 - - - 2784 - -107.1 -83.18 - 3478 - - - - - - - - 14.62 12.66 14.57
106 -3.6 -6.4 3 123 roll -0.93 12.12 0.381 2594 205.3 2.50 0.042 1360 -569.6 -107.1 - - 3479 - - - - - - - - 13.84 14.35 14.26
215 29.0 -18.7 19 220 done -0.71 0.30 0.248 2664 233.3 2.72 0.106 2766 516.9 -107.1 - - 3479 - - - - - - - - 13.83 13.97 14.16
551 66.2 -8.0 34 556 roll -0.71 - - 2656 - 2.12 0.158 3824 499.1 -107.1 - - 3481 - - - - - - - - 14.76 13.87 14.76
613 71.3 -8.1 43 618 done -0.71 - - 2655 - 1.83 0.051 2733 -596.2 -107.1 - - 3481 - - - - - - - - 14.33 14.26 14.35
943 96.7 -7.6 57 949 roll -0.71 - - 2655 - 2.35 0.045 1395 -569.4 -107.1 - - 3482 - - - - - - - - 14.78 14.17 14.78
1061 106.3 -9.0 74 1066 done -0.71 - - 2646 - 2.65 0.100 2771 519.2 -107.1 - - 3482 - - - - - - - - 14.19 13.89 14.23
1392 130.8 -8.4 86 1397 roll -0.71 - - 2637 - 2.15 0.157 3835 494.9 -107.1 - - 3481 - - - - - - - - 14.79 13.78 14.78
1425 134.8 -10.5 91 1430 done -0.71 0.10 0.191 2667 300.0 1.85 0.050 2778 -571.4 -107.1 - - 3481 - - - - - - - - 13.90 14.29 14.20
1783 162.4 -7.7 100 1788 roll -0.71 - - 2667 - 2.50 0.045 1360 -567.2 -107.1 - - 3478 - - - - - - - - 14.80 14.18 14.80
1866 169.4 -7.6 112 1871 done -0.79 - - 2657 - 2.70 0.101 2760 518.5 -107.1 - - 3478 - - - - - - - - 14.15 13.85 14.21
2231 197.7 -8.1 122 2236 roll -0.79 - - 2657 - 2.50 0.045 1355 -562.0 -107.1 - - 3476 - - - - - - - - 14.85 14.16 14.85
2293 202.7 -8.5 131 2298 done -0.79 - - 2648 - 2.75 0.099 2764 512.4 -107.1 - - 3475 - - - - - - - - 14.13 13.83 14.19
2623 228.8 -7.9 143 2628 roll -0.79 - - 2648 - 2.50 0.045 1365 -559.6 -107.1 - - 3473 - - - - - - - - 14.80 14.13 14.80
2657 231.7 -8.4 148 2662 done -0.79 - - 2640 - 2.70 0.098 2760 516.7 -107.1 - - 3471 - - - - - - - - 14.13 13.83 14.19
3015 262.4 -8.7 157 3016 done -0.79 - - 2640 - - - 2760 - -107.1 - - 3470 - - - - - - - - 14.84 14.84 14.84
3351 291.0 -8.4 163 3352 done -0.79 - - 2640 - - - 2760 - -107.1 - - 3468 - - - - - - - - 14.85 14.84 14.84
3687 316.5 -7.3 169 3693 roll -0.79 - - 2640 - 2.53 0.046 1358 -554.2 -107.1 - - 3466 - - - - - - - - 14.81 14.12 14.81
3728 319.5 -6.6 175 3733 done -0.79 - - 2630 - 2.70 0.095 2753 516.7 -107.1 - - 3465 - - - - - - - - 14.09 13.80 14.16
4079 347.3 -8.1 183 4080 done -0.79 - - 2631 - - - 2752 - -107.1 - - 3464 - - - - - - - - 14.80 14.80 14.80
4415 376.7 -8.8 189 4420 roll -0.79 - - 2630 - 2.50 0.047 1366 -554.4 -107.1 - - 3462 - - - - - - - - 14.80 14.12 14.80
4463 381.4 -9.0 196 4469 done -0.79 - - 2621 - 2.75 0.096 2755 505.1 -107.1 - - 3462 - - - - - - - - 14.07 13.76 14.12
4807 414.4 -9.6 203 4808 done -0.79 - - 2621 - - - 2760 - -107.1 - - 3461 - - - - - - - - 14.83 14.83 14.83
5143 446.9 -9.6 209 5148 roll -0.79 - - 2620 - 2.53 0.046 1364 -551.8 -107.1 - - 3459 - - - - - - - - 14.79 14.04 14.79
5177 449.7 -8.0 214 5182 done -0.79 0.10 0.234 2638 180.0 2.70 0.096 2752 514.1 -107.1 - - 3459 - - - - - - - - 13.74 13.76 14.00
5535 480.5 -8.5 223 5536 done -0.79 - - 2638 - - - 2752 - -107.1 - - 3457 - - - - - - - - 14.78 14.78 14.78
5871 507.6 -8.0 229 5876 roll -0.79 - - 2638 - 2.53 0.047 1357 -551.4 -107.1 - - 3455 - - - - - - - - 14.79 14.07 14.79
5940 512.8 -6.4 239 5945 done -0.79 - - 2629 - 2.75 0.096 2757 509.1 -107.1 - - 3456 - - - - - - - - 14.13 13.84 14.19
6263 539.2 -8.3 250 6264 done -0.79 - - 2629 - - - 2755 - -107.1 - - 3453 - - - - - - - - 14.78 14.78 14.78
6599 567.8 -8.3 256 6603 roll -0.79 - - 2621 - 2.22 0.155 3834 486.0 -107.1 - - 3453 - - - - - - - - 14.78 13.67 14.78
6640 571.3 -10.2 262 6645 done -0.79 - - 2620 - 1.92 0.057 2736 -571.9 -107.1 - - 3453 - - - - - - - - 14.28 14.18 14.29
6991 601.0 -8.4 270 6996 roll -0.79 - - 2619 - 2.45 0.044 1365 -559.6 -107.1 - - 3451 - - - - - - - - 14.78 14.02 14.78
7060 606.1 -9.3 280 7065 done -0.79 0.10 0.232 2638 190.0 2.70 0.091 2750 513.0 -107.1 - - 3451 - - - - - - - - 13.69 13.70 13.95
7383 632.5 -8.0 291 7388 roll -0.79 - - 2630 - 2.22 0.152 3827 485.1 -107.1 - - 3450 - - - - - - - - 14.81 13.76 14.82
7417 634.9 -7.0 296 7422 done -0.79 - - 2630 - 1.95 0.055 2749 -552.8 -107.1 - - 3450 - - - - - - - - 14.13 14.08 14.15
7775 659.6 -8.3 305 7776 done -0.79 - - 2630 - - - 2749 - -107.1 - - 3448 - - - - - - - - 14.77 14.77 14.77
8111 680.7 -7.0 311 8116 roll -0.79 - - 2630 - 2.50 0.044 1354 -558.0 -107.1 - - 3448 - - - - - - - - 14.81 14.01 14.81
8145 689.6 -27.0 316 8150 done -0.79 - - 2620 - 2.72 0.091 2749 512.9 -107.1 - - 3448 - - - - - - - - 14.08 13.80 14.14
8503 721.8 -7.2 325 8504 done -0.79 - - 2620 - - - 2748 - -107.1 - - 3447 - - - - - - - - 14.80 14.80 14.80
8839 744.8 -7.1 331 8840 done -0.79 - - 2620 - - - 2748 - -107.1 - - 3445 - - - - - - - - 14.80 14.80 14.80
9175 767.4 -6.7 337 9181 roll -0.79 - - 2620 - 2.53 0.045 1360 -548.6 -107.1 - - 3443 - - - - - - - - 14.75 13.95 14.75
9237 771.5 -7.7 346 9242 done -0.79 0.10 0.235 2638 180.0 2.72 0.090 2738 506.6 -107.1 - - 3443 - - - - - - - - 13.64 13.65 13.90
9567 795.9 -7.5 358 9568 done -0.79 - - 2638 - - - 2742 - -107.1 - - 3443 - - - - - - - - 14.79 14.79 14.79
9675 end dive: TARGET_DEPTH_EXCEEDED
9675 begin apogee
9685 804.0 -7.2 360 9795 roll -0.23 0.65 0.171 2822 283.1 0.12 0.158 2273 -3908.3 - 102.70 2.528 3051 -3.8 0.242 - - - - 1 - 13.62 13.78 12.58
9797 end apogee: CONTROL_FINISHED_OK
9797 begin climb
9801 820.2 - 362 9939 roll 0.93 1.12 0.090 3184 323.2 2.58 0.056 878 -540.7 107.1 128.02 1.850 2622 -3.4 0.297 - - - - - - 13.85 13.90 12.93
10045 821.1 6.7 398 10074 done 0.83 - - 3184 - 2.47 0.067 2243 552.6 128.6 22.80 1.887 2532 -3.9 0.343 - - - - - - 14.32 14.16 13.09
10410 796.7 7.2 408 10422 roll 0.71 0.17 0.229 3132 -305.9 2.83 0.139 3652 497.9 138.7 3.28 1.156 2501 -9.5 1.301 - - - - - - 13.90 14.08 13.12
10465 792.7 6.4 416 10512 done 0.65 0.12 0.243 3109 -191.7 2.38 0.047 2263 -583.6 165.1 40.03 1.832 2387 -2.8 0.246 - - - - - - 14.06 14.40 13.17
10861 767.7 6.5 430 10891 roll 0.68 - - 3118 - 2.55 0.061 869 -546.7 188.8 25.48 1.877 2291 -3.8 0.308 - - - - - - 14.68 14.21 13.30
10912 764.1 6.6 438 10946 done 0.71 - - 3118 - 2.50 0.069 2248 551.6 212.1 26.58 1.841 2198 -3.5 0.290 - - - - - - 14.38 14.23 13.15
11298 735.3 7.6 451 11303 roll 0.71 - - 3121 - 2.80 0.141 3658 503.6 215.2 - - 2184 - - - - - - - - 14.71 13.97 14.71
11374 729.1 8.6 462 11379 done 0.71 - - 3127 - 2.42 0.047 2264 -576.0 215.2 - - 2186 - - - - - - - - 14.42 14.31 14.45
11690 703.5 8.3 472 11691 done 0.71 - - 3127 - - - 2257 - 215.2 - - 2183 - - - - - - - - 14.77 14.77 14.77
12026 674.0 8.9 478 12031 roll 0.71 - - 3127 - 2.85 0.141 3657 491.2 215.2 - - 2182 - - - - - - - - 14.79 13.86 14.78
12102 666.0 11.2 489 12108 done 0.71 - - 3137 - 2.45 0.047 2245 -576.3 215.2 - - 2183 - - - - - - - - 14.40 14.31 14.42
12418 634.9 9.9 499 12423 roll 0.71 - - 3137 - 2.88 0.141 3655 489.6 215.2 - - 2182 - - - - - - - - 14.76 13.82 14.76
12445 631.9 10.9 503 12450 done 0.71 - - 3148 - 2.42 0.046 2261 -576.0 215.2 - - 2182 - - - - - - - - 14.38 14.29 14.41
12810 594.9 10.2 513 12811 done 0.71 - - 3147 - - - 2258 - 215.2 - - 2181 - - - - - - - - 14.76 14.76 14.76
13146 561.7 9.8 519 13147 done 0.71 - - 3147 - - - 2258 - 215.2 - - 2181 - - - - - - - - 14.75 14.75 14.75
13482 532.4 8.6 525 13488 roll 0.71 - - 3147 - 2.88 0.144 3653 484.4 215.2 - - 2181 - - - - - - - - 14.76 13.76 14.76
13544 526.8 8.9 534 13549 done 0.71 - - 3157 - 2.45 0.046 2253 -571.4 215.2 - - 2181 - - - - - - - - 14.33 14.24 14.36
13875 500.8 7.7 546 13879 roll 0.71 - - 3167 - 2.53 0.061 850 -554.5 216.0 - - 2181 - - - - - - - - 14.74 14.02 14.74
13936 496.0 7.9 555 13942 done 0.71 0.12 0.207 3132 -291.7 2.58 0.071 2248 541.9 216.0 - - 2177 - - - - - - - - 13.83 13.98 14.11
14267 474.5 6.6 567 14298 roll 0.74 - - 3131 - 2.80 0.144 3660 504.3 237.7 25.60 1.599 2094 -3.2 0.192 - - - - - - 14.78 14.12 13.36
14363 467.1 8.4 581 14369 done 0.74 - - 3141 - 2.45 0.047 2244 -578.0 237.7 - - 2090 - - - - - - - - 14.45 14.37 14.47
14714 438.0 8.6 589 14715 done 0.74 - - 3141 - - - 2240 - 237.7 - - 2086 - - - - - - - - 14.72 14.71 14.71
15050 405.4 9.9 595 15055 roll 0.74 - - 3141 - 2.90 0.142 3658 489.0 237.7 - - 2085 - - - - - - - - 14.73 13.87 14.74
15084 401.6 11.9 600 15089 done 0.74 - - 3151 - 2.45 0.047 2252 -573.9 237.7 - - 2088 - - - - - - - - 14.30 14.21 14.33
15442 369.3 8.7 609 15448 roll 0.74 - - 3162 - 2.50 0.060 852 -560.0 237.7 - - 2085 - - - - - - - - 14.74 14.07 14.74
15469 367.2 7.4 613 15475 done 0.75 - - 3161 - 2.55 0.070 2258 551.4 243.5 - - 2085 - - - - - - - - 14.11 14.02 14.19
15834 337.4 8.2 623 15835 done 0.75 - - 3161 - - - 2258 - 243.5 - - 2085 - - - - - - - - 14.78 14.78 14.78
16171 307.1 9.2 629 16177 roll 0.75 - - 3161 - 2.88 0.146 3659 486.5 243.5 - - 2085 - - - - - - - - 14.78 13.77 14.78
16218 302.2 10.2 636 16225 done 0.75 0.10 0.249 3147 -140.0 2.47 0.046 2253 -569.2 243.5 - - 2085 - - - - - - - - 13.85 14.18 14.12
16562 273.2 8.4 643 16563 done 0.75 - - 3144 - - - 2250 - 243.5 - - 2085 - - - - - - - - 14.74 14.74 14.74
16898 244.5 8.5 649 16904 roll 0.75 - - 3143 - 2.90 0.141 3658 485.5 243.5 - - 2085 - - - - - - - - 14.74 13.74 14.73
16954 239.3 10.0 657 16960 done 0.75 - - 3152 - 2.45 0.047 2261 -570.2 243.5 - - 2085 - - - - - - - - 14.33 14.22 14.35
17291 209.3 8.9 670 17295 roll 0.75 - - 3163 - 2.55 0.061 856 -551.0 243.5 - - 2085 - - - - - - - - 14.78 13.97 14.78
17347 204.3 8.8 678 17351 done 0.75 - - 3163 - 2.58 0.068 2261 544.6 243.5 - - 2085 - - - - - - - - 14.19 13.97 14.23
17683 172.7 9.6 691 17687 roll 0.75 - - 3162 - 2.85 0.144 3657 489.8 243.5 - - 2086 - - - - - - - - 14.73 13.71 14.73
17772 163.4 10.2 704 17778 done 0.75 0.10 0.245 3145 -170.0 2.42 0.045 2258 -578.1 243.5 - - 2083 - - - - - - - - 13.84 14.23 14.09
18130 135.5 7.6 713 18133 done 0.75 - - 3145 - - - 2255 - 245.2 1.95 0.211 2071 -6.2 0.789 - - - - - - 14.78 14.04 13.74
18466 108.9 8.0 719 18472 roll 0.75 - - 3155 - 2.58 0.060 860 -540.7 245.2 1.75 0.209 2072 - - - - - - - - 14.77 14.04 13.82
18500 105.9 8.6 724 18505 done 0.75 - - 3155 - 2.58 0.070 2265 544.6 245.2 - - 2080 - - - - - - - - 14.21 14.00 14.25
18824 83.0 6.3 735 18850 roll 0.78 - - 3155 - 2.80 0.142 3656 496.8 272.8 17.45 0.415 1968 -6.4 0.256 - - - - - - 14.71 13.98 13.78
18872 80.1 6.6 742 18891 done 0.81 - - 3164 - 2.42 0.046 2255 -578.9 296.2 15.40 0.407 1870 -6.4 0.250 - - - - - - 14.45 14.36 13.80
19219 56.3 7.1 758 19234 roll 0.91 - - 3159 - 2.83 0.140 3658 495.8 308.9 8.85 0.324 1824 -5.2 0.180 - - - - - - 14.71 14.00 13.78
19291 51.5 6.0 769 19318 done 0.95 - - 3173 - 2.42 0.046 2259 -578.1 343.8 22.05 0.334 1680 -6.5 0.201 - - - - - - 14.38 14.30 13.86
19639 35.1 3.3 785 19698 roll 1.27 0.30 0.063 3332 530.0 2.45 0.062 880 -562.9 433.1 51.53 0.284 1326 -6.9 0.170 - - - - - - 14.25 14.19 13.95
19719 29.7 8.8 797 19725 done 1.27 - - 3332 - 2.58 0.070 2288 545.7 433.1 - - 1329 - - - - - - - - 14.36 14.16 14.40
19995 end climb: SURFACE_DEPTH_REACHED
19995 begin surface coast
20023 end surface coast: CONTROL_FINISHED_OK
20023 begin surface
SM -4.18 - - - - -8.40 9.45 0.073 163 17.2 0.95 0.116 2770 1831.6 500.14 34.97 0.158 1057 30.2 0.082 - - - - - -