SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 670 * Raw log
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• Previous call tries 1 • 229.63 of 350.00 AH used of 24V (34.39% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth -5.18 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - 106 - - - 2784 - -107.1 -81.12 - 3480 - - - - - - - - 14.62 12.66 14.55
106 -0.5 -11.4 3 123 roll -0.93 11.98 0.380 2585 206.9 2.03 0.116 3836 518.2 -107.1 - - 3480 - - - - - - - - 13.88 14.19 14.28
281 46.6 -19.1 28 286 done -0.70 0.30 0.244 2666 270.0 1.83 0.053 2767 -584.2 -107.1 - - 3478 - - - - - - - - 13.85 14.34 14.16
609 74.0 -7.4 42 614 roll -0.70 - - 2657 - 2.17 0.151 3836 492.6 -107.1 - - 3479 - - - - - - - - 14.78 13.85 14.78
734 82.5 -9.0 60 739 done -0.70 - - 2657 - 1.83 0.051 2750 -593.4 -107.1 - - 3480 - - - - - - - - 14.42 14.35 14.43
1057 107.1 -8.3 72 1061 roll -0.70 - - 2657 - 2.40 0.042 1383 -569.6 -107.1 - - 3482 - - - - - - - - 14.83 14.14 14.82
1210 117.6 -1.7 94 1215 done -0.70 - - 2647 - 2.65 0.097 2771 523.8 -107.1 - - 3479 - - - - - - - - 14.19 13.90 14.25
1561 147.4 -8.4 102 1565 roll -0.70 - - 2649 - 2.45 0.043 1381 -567.3 -107.1 - - 3477 - - - - - - - - 14.84 14.21 14.83
1602 151.5 -8.4 108 1607 done -0.70 0.10 0.233 2667 180.0 2.65 0.099 2763 521.5 -107.1 - - 3477 - - - - - - - - 13.86 13.85 14.11
1953 178.4 -7.6 116 1953 done -0.70 - - 2667 - - - 2762 - -107.1 - - 3475 - - - - - - - - 14.80 14.81 14.80
2289 203.4 -7.1 122 2293 roll -0.70 - - 2667 - 2.45 0.044 1382 -563.3 -107.1 - - 3472 - - - - - - - - 14.80 14.18 14.80
2351 207.0 -6.3 131 2356 done -0.79 - - 2657 - 2.67 0.098 2758 515.4 -107.1 - - 3474 - - - - - - - - 14.13 13.82 14.19
2681 230.2 -7.5 143 2686 roll -0.79 - - 2658 - 2.45 0.044 1381 -562.0 -107.1 - - 3470 - - - - - - - - 14.79 14.17 14.80
2715 233.1 -7.4 148 2720 done -0.79 - - 2650 - 2.67 0.099 2764 518.0 -107.1 - - 3469 - - - - - - - - 14.10 13.78 14.16
3073 259.9 -7.7 157 3079 roll -0.79 - - 2641 - 2.20 0.161 3833 485.9 -107.1 - - 3468 - - - - - - - - 14.80 13.66 14.80
3114 263.9 -12.1 163 3119 done -0.79 - - 2641 - 1.85 0.057 2766 -576.8 -107.1 - - 3467 - - - - - - - - 14.38 14.30 14.40
3465 288.5 -6.7 171 3469 roll -0.79 - - 2641 - 2.47 0.044 1367 -566.4 -107.1 - - 3463 - - - - - - - - 14.78 14.16 14.79
3569 300.6 -10.0 186 3575 done -0.79 - - 2631 - 2.72 0.096 2763 513.2 -107.1 - - 3465 - - - - - - - - 14.07 13.76 14.13
3913 327.0 -7.9 193 3919 roll -0.79 - - 2623 - 2.20 0.157 3832 485.9 -107.1 - - 3463 - - - - - - - - 14.83 13.65 14.83
3975 334.9 -10.3 202 3980 done -0.79 - - 2624 - 1.88 0.056 2754 -573.4 -107.1 - - 3462 - - - - - - - - 14.31 14.22 14.33
4305 366.2 -9.3 214 4310 roll -0.79 - - 2623 - 2.47 0.043 1361 -564.0 -107.1 - - 3461 - - - - - - - - 14.78 14.12 14.78
4361 370.5 -9.2 222 4366 done -0.79 0.10 0.239 2641 180.0 2.70 0.093 2752 515.2 -107.1 - - 3461 - - - - - - - - 13.75 13.77 14.01
4697 397.1 -8.1 235 4702 roll -0.79 - - 2641 - 2.50 0.044 1359 -557.2 -107.1 - - 3459 - - - - - - - - 14.78 14.12 14.78
4738 401.0 -9.4 241 4744 done -0.79 - - 2629 - 2.72 0.097 2754 512.9 -107.1 - - 3458 - - - - - - - - 14.14 13.85 14.20
5089 432.0 -9.0 249 5089 done -0.79 - - 2631 - - - 2754 - -107.1 - - 3457 - - - - - - - - 14.78 14.78 14.78
5425 461.7 -8.2 255 5426 done -0.79 - - 2631 - - - 2754 - -107.1 - - 3455 - - - - - - - - 14.78 14.78 14.78
5761 485.8 -6.8 261 5761 done -0.79 - - 2631 - - - 2754 - -107.1 - - 3454 - - - - - - - - 14.78 14.78 14.78
6097 509.7 -7.0 267 6098 done -0.79 - - 2631 - - - 2754 - -107.1 - - 3453 - - - - - - - - 14.78 14.78 14.78
6433 534.5 -7.9 273 6438 roll -0.79 - - 2631 - 2.53 0.045 1369 -547.4 -107.1 - - 3452 - - - - - - - - 14.78 14.00 14.78
6523 541.4 -6.2 286 6528 done -0.79 - - 2621 - 2.75 0.094 2760 505.8 -107.1 - - 3451 - - - - - - - - 14.11 13.81 14.16
6881 572.9 -8.6 295 6881 done -0.79 - - 2621 - - - 2760 - -107.1 - - 3449 - - - - - - - - 14.81 14.81 14.81
7217 604.3 -9.1 301 7217 done -0.79 - - 2621 - - - 2760 - -107.1 - - 3449 - - - - - - - - 14.81 14.81 14.81
7553 634.1 -8.6 307 7557 roll -0.79 - - 2620 - 2.53 0.044 1370 -549.4 -107.1 - - 3448 - - - - - - - - 14.81 14.02 14.81
7615 637.9 -5.3 316 7620 done -0.79 0.10 0.231 2637 170.0 2.72 0.094 2751 507.7 -107.1 - - 3447 - - - - - - - - 13.66 13.66 13.92
7945 668.7 -7.9 328 7949 roll -0.79 - - 2629 - 2.25 0.158 3834 481.3 -107.1 - - 3446 - - - - - - - - 14.79 13.64 14.79
8014 674.0 -7.9 338 8019 done -0.79 - - 2629 - 1.90 0.057 2760 -565.3 -107.1 - - 3446 - - - - - - - - 14.18 14.07 14.21
8337 698.1 -6.9 349 8343 roll -0.79 - - 2629 - 2.53 0.044 1358 -554.2 -107.1 - - 3444 - - - - - - - - 14.74 13.97 14.74
8393 702.3 -7.7 357 8399 done -0.79 - - 2620 - 2.78 0.093 2757 503.2 -107.1 - - 3444 - - - - - - - - 13.97 13.66 14.04
8729 726.0 -7.0 370 8734 roll -0.79 - - 2619 - 2.55 0.044 1352 -551.0 -107.1 - - 3443 - - - - - - - - 14.75 13.99 14.75
8756 728.4 -8.2 374 8761 done -0.79 0.10 0.233 2638 190.0 2.78 0.094 2754 504.3 -107.1 - - 3443 - - - - - - - - 13.77 13.78 14.02
9121 757.5 -7.5 384 9126 roll -0.79 - - 2630 - 2.25 0.158 3830 478.2 -107.1 - - 3441 - - - - - - - - 14.80 13.71 14.80
9155 760.7 -10.1 389 9161 done -0.79 - - 2629 - 1.98 0.056 2714 -563.6 -107.1 - - 3442 - - - - - - - - 14.16 14.06 14.19
9513 788.2 -8.1 398 9518 roll -0.79 - - 2630 - 2.42 0.044 1362 -558.7 -107.1 - - 3441 - - - - - - - - 14.75 13.93 14.75
9554 794.6 -7.2 404 9559 done -0.79 - - 2621 - 2.78 0.094 2754 500.7 -107.1 - - 3441 - - - - - - - - 14.00 13.69 14.05
9677 end dive: TARGET_DEPTH_EXCEEDED
9677 begin apogee
9687 803.8 -7.4 408 9795 roll -0.23 0.73 0.178 2822 275.3 0.10 0.192 2268 -4860.0 - 100.15 2.564 3051 -3.9 0.246 - - - - 1 - 13.62 13.72 12.58
9796 end apogee: CONTROL_FINISHED_OK
9796 begin climb
9800 809.4 - 410 9922 roll 0.93 1.12 0.090 3185 324.1 2.58 0.055 874 -540.3 107.1 106.62 2.792 2623 -4.0 0.235 - - - - 1 - 13.85 13.90 12.45
10006 807.0 7.5 440 10019 done 0.80 - - 3185 - 2.53 0.067 2246 542.3 111.5 5.07 1.992 2608 -3.0 0.242 - - - - - - 14.26 14.12 12.93
10354 783.8 7.4 454 10377 roll 0.67 0.20 0.226 3123 -310.0 2.83 0.145 3648 495.4 118.1 13.10 2.033 2572 -2.7 0.214 - - - - - - 13.95 14.13 13.28
10406 778.9 9.6 462 10411 done 0.58 0.17 0.232 3087 -211.8 2.38 0.049 2267 -580.3 118.1 - - 2571 - - - - - - - - 14.11 14.39 14.37
10742 760.3 5.2 475 10809 roll 0.64 - - 3087 - 2.88 0.145 3653 481.2 168.5 58.95 1.821 2371 -3.4 0.286 - - - - - - 14.75 14.00 13.16
10860 753.0 6.1 492 10903 done 0.68 - - 3096 - 2.42 0.047 2248 -580.6 201.8 38.17 1.809 2245 -3.3 0.277 - - - - - - 14.34 14.28 13.09
11239 726.2 7.0 504 11258 roll 0.70 - - 3096 - 2.83 0.149 3659 498.6 215.7 13.68 1.976 2185 -4.4 0.325 - - - - - - 14.67 14.09 13.27
11301 721.9 6.0 513 11350 done 0.74 0.05 0.197 3174 1560.0 2.42 0.047 2251 -581.8 251.0 41.88 1.784 2045 -3.3 0.273 - - - - - - 14.29 14.38 13.12
11687 676.0 12.1 526 11692 roll 0.74 0.10 0.233 3151 -230.0 2.47 0.057 866 -560.7 251.0 - - 2031 - - - - - - - - 14.04 14.19 14.19
11721 674.9 5.2 531 11784 done 0.81 - - 3151 - 2.55 0.073 2258 545.9 301.2 58.30 1.702 1851 -3.1 0.247 - - - - - - 14.34 14.13 13.20
12128 632.2 10.5 547 12133 roll 0.81 - - 3150 - 2.80 0.150 3650 497.1 301.2 - - 1829 - - - - - - - - 14.67 13.91 14.68
12176 627.6 10.6 554 12183 done 0.81 - - 3161 - 2.45 0.046 2259 -567.8 301.2 - - 1829 - - - - - - - - 14.40 14.30 14.42
12520 592.1 10.6 561 12521 done 0.81 - - 3161 - - - 2254 - 301.2 - - 1829 - - - - - - - - 14.72 14.73 14.73
12856 556.4 10.6 567 12857 done 0.81 - - 3161 - - - 2254 - 301.2 - - 1829 - - - - - - - - 14.78 14.78 14.78
13192 522.9 10.3 573 13198 roll 0.81 - - 3161 - 2.92 0.151 3662 482.2 301.2 - - 1827 - - - - - - - - 14.76 13.81 14.76
13212 519.9 11.0 576 13217 done 0.81 - - 3171 - 2.47 0.048 2257 -568.8 301.2 - - 1827 - - - - - - - - 14.38 14.28 14.41
13528 484.4 11.5 586 13533 roll 0.81 - - 3181 - 2.53 0.062 855 -554.2 301.2 - - 1824 - - - - - - - - 14.79 14.06 14.79
13555 481.2 10.7 590 13560 done 0.81 - - 3181 - 2.60 0.076 2256 538.8 301.2 - - 1826 - - - - - - - - 14.23 14.01 14.30
13920 439.7 11.6 600 13925 roll 0.81 - - 3181 - 2.88 0.151 3659 487.2 301.2 - - 1826 - - - - - - - - 14.75 13.74 14.76
13968 433.6 13.8 607 13975 done 0.81 0.10 0.246 3164 -170.0 2.47 0.047 2253 -569.2 301.2 - - 1826 - - - - - - - - 13.88 14.23 14.16
14312 397.1 10.4 614 14317 roll 0.81 - - 3174 - 2.50 0.060 858 -558.0 301.2 - - 1826 - - - - - - - - 14.75 14.03 14.75
14339 394.2 10.1 618 14344 done 0.81 - - 3174 - 2.58 0.073 2258 542.6 301.2 - - 1825 - - - - - - - - 14.21 13.99 14.28
14704 355.4 10.6 628 14709 roll 0.81 - - 3171 - 2.88 0.148 3659 486.5 301.2 - - 1825 - - - - - - - - 14.74 13.71 14.74
14752 349.5 12.0 635 14758 done 0.81 - - 3183 - 2.47 0.047 2254 -568.8 301.2 - - 1826 - - - - - - - - 14.33 14.22 14.35
15097 310.9 11.1 642 15098 done 0.81 - - 3181 - - - 2250 - 301.2 - - 1826 - - - - - - - - 14.73 14.73 14.74
15432 274.6 10.8 648 15433 done 0.81 - - 3184 - - - 2250 - 301.2 - - 1825 - - - - - - - - 14.75 14.75 14.75
15768 238.8 10.8 654 15773 roll 0.81 - - 3194 - 2.53 0.061 859 -549.8 301.2 - - 1826 - - - - - - - - 14.74 13.97 14.75
15795 235.8 10.5 658 15800 done 0.81 0.10 0.218 3164 -300.0 2.58 0.073 2255 541.1 301.2 - - 1825 - - - - - - - - 13.85 13.93 14.11
16160 199.3 10.0 668 16165 roll 0.81 - - 3164 - 2.88 0.147 3658 487.2 301.2 - - 1826 - - - - - - - - 14.78 13.67 14.78
16216 193.2 10.3 676 16221 done 0.81 - - 3174 - 2.47 0.047 2251 -569.6 301.2 - - 1825 - - - - - - - - 14.29 14.19 14.32
16552 158.0 10.6 689 16558 roll 0.81 - - 3184 - 2.53 0.061 851 -553.4 301.2 - - 1823 - - - - - - - - 14.78 13.94 14.79
16586 154.3 10.3 694 16591 done 0.81 - - 3184 - 2.60 0.072 2259 541.5 301.2 - - 1824 - - - - - - - - 14.13 13.90 14.20
16944 115.6 11.0 703 16949 roll 0.81 - - 3184 - 2.88 0.150 3659 486.1 301.2 - - 1826 - - - - - - - - 14.78 13.72 14.78
16985 110.2 13.1 709 16992 done 0.81 0.12 0.226 3160 -200.0 2.47 0.046 2247 -571.7 301.2 - - 1826 - - - - - - - - 13.78 14.17 14.08
17308 80.8 8.9 720 17313 roll 0.81 - - 3170 - 2.53 0.060 850 -552.2 301.2 - - 1826 - - - - - - - - 14.76 13.86 14.76
17342 79.7 5.9 725 17367 done 0.85 - - 3170 - 2.62 0.072 2265 540.1 337.4 17.60 0.413 1707 -6.8 0.263 - - - - - - 14.13 13.89 13.78
17705 55.6 5.6 743 17733 done 1.00 0.08 0.144 3240 875.0 - - 2265 - 380.1 26.50 0.352 1532 -6.6 0.210 - - - - - - 14.33 14.27 13.85
18068 28.2 6.3 762 18093 roll 1.14 - - 3248 - 2.53 0.059 847 -560.5 408.3 16.75 0.266 1427 -6.3 0.134 - - - - - - 14.68 14.12 13.88
18181 20.2 7.2 778 18196 done 1.26 0.10 0.112 3317 690.0 2.58 0.070 2260 547.7 419.4 8.00 0.234 1378 -6.1 0.107 - - - - - - 14.21 14.04 13.85
18369 end climb: SURFACE_DEPTH_REACHED
18369 begin surface coast
18398 end surface coast: CONTROL_FINISHED_OK
18401 begin surface
SM -5.76 - - - - -8.39 9.48 0.080 190 20.0 1.02 0.125 2769 -8491.2 500.14 42.47 0.158 1057 24.9 0.093 - - - - - -