SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 674 * Raw log
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• Previous call tries 1 • 230.84 of 350.00 AH used of 24V (34.04% remains)
• Previous NAKs 2, Timeouts 1
• Surface angle -69.8 deg, depth -3.70 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: 2
• 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 - - 109 - - - 2772 - -107.1 -82.03 - 3479 - - - - - - - - 14.62 12.66 14.57
106 1.2 -8.7 3 123 roll -0.93 11.93 0.378 2591 208.0 2.42 0.037 1377 -576.4 -107.1 - - 3480 - - - - - - - - 13.89 14.39 14.29
179 27.1 -21.3 14 186 done -0.71 0.30 0.243 2662 236.7 2.72 0.112 2765 510.3 -107.1 - - 3480 - - - - - - - - 13.92 14.02 14.22
495 68.3 -7.0 26 500 roll -0.71 - - 2654 - 2.20 0.168 3835 486.4 -107.1 - - 3481 - - - - - - - - 14.76 13.82 14.76
620 78.6 -9.1 44 625 done -0.71 - - 2654 - 1.85 0.053 2749 -587.0 -107.1 - - 3482 - - - - - - - - 14.31 14.30 14.33
971 106.8 -8.1 57 972 done -0.71 - - 2654 - - - 2748 - -107.1 - - 3485 - - - - - - - - 14.79 14.80 14.80
1307 135.4 -8.6 63 1311 roll -0.71 - - 2645 - 2.28 0.165 3832 475.4 -107.1 - - 3482 - - - - - - - - 14.81 13.72 14.80
1397 143.0 -8.3 76 1402 done -0.71 - - 2646 - 1.85 0.054 2752 -583.8 -107.1 - - 3481 - - - - - - - - 14.31 14.28 14.33
1755 171.8 -8.1 85 1761 roll -0.71 - - 2645 - 2.38 0.044 1396 -569.7 -107.1 - - 3483 - - - - - - - - 14.81 14.18 14.81
1824 177.8 -8.6 95 1829 done -0.71 0.10 0.230 2666 210.0 2.67 0.110 2768 513.9 -107.1 - - 3478 - - - - - - - - 13.83 13.81 14.08
2147 203.1 -7.8 106 2152 roll -0.71 - - 2666 - 2.42 0.045 1401 -564.9 -107.1 - - 3476 - - - - - - - - 14.81 14.05 14.81
2195 207.0 -8.1 113 2202 done -0.80 - - 2656 - 2.70 0.110 2759 503.0 -107.1 - - 3479 - - - - - - - - 14.09 13.77 14.15
2539 235.4 -8.2 120 2544 roll -0.80 - - 2656 - 2.42 0.044 1402 -560.7 -107.1 - - 3473 - - - - - - - - 14.81 14.14 14.79
2573 238.2 -8.3 125 2579 done -0.80 - - 2648 - 2.65 0.111 2759 512.1 -107.1 - - 3473 - - - - - - - - 14.18 13.88 14.23
2931 267.1 -8.0 134 2936 roll -0.80 - - 2639 - 2.22 0.167 3825 480.2 -107.1 - - 3471 - - - - - - - - 14.84 13.66 14.83
2979 271.1 -8.4 141 2986 done -0.80 - - 2637 - 1.85 0.057 2793 -557.8 -107.1 - - 3470 - - - - - - - - 14.21 14.17 14.23
3323 297.9 -7.7 148 3328 roll -0.80 - - 2639 - 2.53 0.044 1366 -564.0 -107.1 - - 3468 - - - - - - - - 14.80 14.14 14.80
3379 302.2 -7.7 156 3384 done -0.80 - - 2629 - 2.72 0.103 2757 511.4 -107.1 - - 3468 - - - - - - - - 14.07 13.76 14.13
3715 329.9 -8.3 169 3716 done -0.80 - - 2629 - - - 2757 - -107.1 - - 3465 - - - - - - - - 14.80 14.80 14.80
4051 359.1 -8.8 175 4055 roll -0.80 - - 2616 - 2.25 0.164 3835 479.1 -107.1 - - 3464 - - - - - - - - 14.79 13.62 14.79
4099 363.6 -9.3 182 4105 done -0.80 - - 2620 - 1.95 0.055 2744 -559.5 -107.1 - - 3464 - - - - - - - - 14.19 14.15 14.20
4443 393.0 -8.5 189 4448 roll -0.80 - - 2621 - 2.42 0.044 1376 -565.3 -107.1 - - 3462 - - - - - - - - 14.83 14.09 14.83
4477 396.0 -8.5 194 4482 done -0.80 0.10 0.235 2638 170.0 2.70 0.101 2754 510.4 -107.1 - - 3462 - - - - - - - - 13.66 13.66 13.93
4835 423.6 -7.8 203 4840 roll -0.80 - - 2630 - 2.25 0.165 3829 477.8 -107.1 - - 3460 - - - - - - - - 14.79 13.64 14.81
4904 429.4 -8.4 213 4910 done -0.80 - - 2629 - 1.92 0.057 2728 -573.4 -107.1 - - 3460 - - - - - - - - 14.28 14.19 14.31
5227 456.7 -8.6 224 5231 roll -0.80 - - 2629 - 2.40 0.043 1373 -564.6 -107.1 - - 3458 - - - - - - - - 14.79 14.07 14.79
5261 459.8 -8.9 229 5267 done -0.80 - - 2620 - 2.70 0.096 2756 512.2 -107.1 - - 3458 - - - - - - - - 14.02 13.71 14.09
5619 491.8 -9.0 238 5620 done -0.80 - - 2620 - - - 2757 - -107.1 - - 3456 - - - - - - - - 14.78 14.78 14.78
5955 521.7 -8.8 244 5960 roll -0.80 - - 2612 - 2.22 0.159 3832 484.2 -107.1 - - 3456 - - - - - - - - 14.78 13.65 14.78
6011 526.9 -9.4 252 6016 done -0.80 0.10 0.226 2639 270.0 1.90 0.056 2744 -572.6 -107.1 - - 3456 - - - - - - - - 13.81 14.21 14.02
6347 552.6 -7.5 265 6353 roll -0.80 - - 2637 - 2.40 0.043 1371 -572.1 -107.1 - - 3454 - - - - - - - - 14.81 13.98 14.82
6403 556.7 -7.4 273 6409 done -0.87 - - 2629 - 2.75 0.098 2756 503.6 -107.1 - - 3457 - - - - - - - - 13.97 13.66 14.04
6739 582.0 -7.5 286 6740 done -0.87 - - 2630 - - - 2756 - -107.1 - - 3453 - - - - - - - - 14.81 14.81 14.81
7075 607.2 -7.6 292 7080 roll -0.87 - - 2629 - 2.53 0.044 1365 -549.8 -107.1 - - 3452 - - - - - - - - 14.81 14.01 14.82
7116 610.6 -7.9 298 7121 done -0.87 - - 2620 - 2.75 0.099 2758 506.5 -107.1 - - 3451 - - - - - - - - 13.99 13.68 14.05
7467 639.4 -8.3 306 7472 roll -0.87 - - 2612 - 2.25 0.161 3831 476.9 -107.1 - - 3450 - - - - - - - - 14.76 13.66 14.76
7523 644.3 -9.0 314 7528 done -0.87 - - 2611 - 1.92 0.057 2748 -564.1 -107.1 - - 3449 - - - - - - - - 14.23 14.15 14.24
7859 672.6 -8.4 327 7864 roll -0.87 - - 2611 - 2.47 0.044 1364 -560.3 -107.1 - - 3449 - - - - - - - - 14.76 14.00 14.76
7907 676.8 -8.4 334 7914 done -0.87 - - 2603 - 2.75 0.097 2753 505.1 -107.1 - - 3449 - - - - - - - - 14.00 13.69 14.07
8251 706.1 -8.5 341 8256 roll -0.87 - - 2594 - 2.22 0.161 3828 484.2 -107.1 - - 3446 - - - - - - - - 14.81 13.81 14.81
8292 710.0 -9.6 347 8297 done -0.87 - - 2593 - 1.95 0.054 2717 -569.7 -107.1 - - 3447 - - - - - - - - 14.23 14.14 14.26
8643 741.1 -8.9 355 8648 roll -0.87 - - 2586 - 2.33 0.156 3825 475.5 -107.1 - - 3445 - - - - - - - - 14.75 13.68 14.76
8699 746.4 -9.6 363 8704 done -0.87 0.10 0.235 2618 320.0 1.90 0.054 2749 -566.3 -107.1 - - 3443 - - - - - - - - 13.74 14.18 13.97
9035 773.7 -8.1 376 9040 roll -0.87 - - 2612 - 2.50 0.044 1358 -556.4 -107.1 - - 3444 - - - - - - - - 14.75 13.94 14.75
9097 779.2 -8.9 385 9103 done -0.87 - - 2605 - 2.75 0.096 2753 507.3 -107.1 - - 3444 - - - - - - - - 13.96 13.66 14.02
9367 end dive: TARGET_DEPTH_EXCEEDED
9367 begin apogee
9377 803.4 -8.9 396 9485 roll -0.23 0.80 0.187 2822 271.2 0.10 0.202 2272 -4810.0 - 100.72 2.539 3047 -3.9 0.255 - - - - 1 - 13.63 13.72 12.60
9487 end apogee: CONTROL_FINISHED_OK
9487 begin climb
9491 807.3 - 398 9626 roll 0.93 1.12 0.092 3182 321.4 2.55 0.054 882 -545.1 107.1 124.93 1.792 2626 -3.4 0.310 - - - - - - 13.84 13.90 12.99
9738 803.6 5.6 434 9793 done 0.86 - - 3181 - 2.50 0.073 2249 546.8 149.0 45.88 1.802 2450 -3.8 0.349 - - - - - - 14.31 14.14 13.08
10107 775.9 7.9 451 10112 roll 0.74 0.12 0.238 3142 -325.0 2.83 0.147 3655 496.8 149.0 - - 2439 - - - - - - - - 13.96 13.97 14.13
10162 771.0 8.1 459 10167 done 0.64 0.15 0.240 3112 -200.0 2.40 0.048 2265 -579.2 149.0 - - 2440 - - - - - - - - 13.95 14.35 14.25
10498 750.4 6.2 472 10533 done 0.68 - - 3112 - - - 2262 - 180.2 33.85 1.816 2334 -3.1 0.264 - - - - - - 14.76 14.19 13.29
10834 725.9 7.5 478 10839 roll 0.68 - - 3111 - 2.85 0.148 3654 488.4 185.0 - - 2317 - - - - - - - - 14.72 13.97 14.72
10917 718.6 8.9 490 10922 done 0.68 - - 3121 - 2.42 0.048 2255 -578.1 185.0 - - 2317 - - - - - - - - 14.42 14.33 14.44
11282 688.0 8.4 500 11283 done 0.68 - - 3120 - - - 2252 - 185.0 - - 2315 - - - - - - - - 14.74 14.75 14.75
11618 659.9 8.3 506 11623 roll 0.68 - - 3121 - 2.92 0.151 3659 481.8 185.0 - - 2315 - - - - - - - - 14.79 13.85 14.79
11666 655.6 8.9 513 11673 done 0.68 - - 3130 - 2.47 0.048 2250 -570.4 185.0 - - 2314 - - - - - - - - 14.37 14.26 14.39
12010 629.4 7.5 520 12021 roll 0.69 - - 3130 - 2.92 0.152 3656 481.5 190.2 3.00 1.024 2296 -6.0 0.753 - - - - - - 14.76 14.08 13.21
12058 625.5 8.3 527 12065 done 0.69 - - 3141 - 2.45 0.047 2249 -574.3 190.2 2.00 0.222 2291 -2.5 1.437 - - - - - - 14.47 14.39 12.31
12402 599.4 7.6 534 12407 done 0.69 - - 3141 - - - 2245 - 193.1 3.10 1.054 2282 -2.9 0.337 - - - - - - 14.74 14.35 13.21
12738 572.8 8.1 540 12749 roll 0.69 - - 3139 - 2.92 0.151 3655 482.9 193.1 2.50 0.713 2287 2.0 -0.328 - - - - - - 14.75 14.05 13.17
12772 569.6 9.2 545 12779 done 0.69 - - 3148 - 2.42 0.047 2247 -581.8 193.1 1.88 0.226 2281 -3.2 1.641 - - - - - - 14.47 14.39 13.96
13130 537.6 9.0 554 13136 roll 0.69 - - 3151 - 2.97 0.150 3655 474.1 193.1 1.77 0.220 2281 - - - - - - - - 14.74 13.87 13.78
13179 532.5 10.6 561 13186 done 0.61 0.22 0.221 3100 -231.8 2.45 0.047 2252 -572.7 193.1 1.55 0.222 2279 - - - - - - - - 13.82 14.27 13.83
13519 507.5 7.2 574 13540 done 0.62 - - 3100 - - - 2249 - 203.5 19.40 1.675 2239 -2.1 0.127 - - - - - - 14.70 14.27 13.44
13852 484.2 6.8 580 13878 roll 0.65 - - 3100 - 2.92 0.151 3659 482.9 222.5 21.40 1.669 2155 -3.9 0.232 - - - - - - 14.71 14.09 13.35
13935 478.4 7.2 592 13942 done 0.66 - - 3107 - 2.42 0.047 2264 -576.4 233.1 3.60 1.209 2121 -9.4 0.763 - - - - - - 14.46 14.38 13.03
14286 456.7 6.1 600 14340 roll 0.70 - - 3107 - 2.85 0.151 3646 484.9 265.2 45.45 1.500 1983 -3.0 0.189 - - - - - - 14.73 14.06 13.31
14369 451.2 7.1 612 14388 done 0.72 - - 3115 - 2.42 0.047 2249 -577.3 278.6 12.02 1.617 1938 -3.7 0.213 - - - - - - 14.38 14.30 13.21
14735 425.2 7.3 622 14740 done 0.81 0.08 0.146 3183 850.0 - - 2247 - 287.6 3.65 1.125 1905 -9.0 0.697 - - - - - - 14.34 14.27 13.20
15070 389.3 10.9 628 15071 done 0.81 - - 3183 - - - 2247 - 287.6 - - 1913 - - - - - - - - 14.72 14.72 14.72
15406 352.4 11.0 634 15409 done 0.81 - - 3182 - - - 2247 - 287.6 1.70 0.215 1903 -5.9 1.967 - - - - - - 14.76 14.13 13.85
15742 315.2 11.1 640 15747 roll 0.81 - - 3183 - 2.95 0.155 3655 477.3 287.6 - - 1911 - - - - - - - - 14.78 13.80 14.78
15776 310.9 12.4 645 15782 done 0.81 - - 3193 - 2.42 0.047 2271 -571.9 287.6 - - 1912 - - - - - - - - 14.36 14.26 14.38
16134 269.3 11.6 654 16139 roll 0.81 0.08 0.256 3176 -212.5 2.58 0.059 846 -552.3 287.6 - - 1912 - - - - - - - - 13.97 13.93 14.07
16196 262.9 9.8 663 16201 done 0.81 - - 3176 - 2.62 0.075 2261 540.1 287.6 - - 1912 - - - - - - - - 14.24 13.98 14.25
16526 229.9 10.0 675 16531 roll 0.81 - - 3176 - 2.90 0.152 3659 482.1 287.6 - - 1911 - - - - - - - - 14.73 13.77 14.77
16582 223.8 11.2 683 16587 done 0.81 - - 3186 - 2.45 0.047 2263 -569.8 287.6 - - 1912 - - - - - - - - 14.31 14.21 14.33
16918 189.9 10.0 696 16923 roll 0.81 - - 3196 - 2.55 0.060 852 -553.3 287.6 - - 1909 - - - - - - - - 14.78 13.95 14.78
16980 183.4 10.4 705 16987 done 0.81 0.10 0.181 3166 -300.0 2.62 0.077 2271 541.6 287.6 - - 1912 - - - - - - - - 13.74 13.88 13.90
17310 151.3 9.8 717 17311 done 0.81 - - 3166 - - - 2271 - 287.6 - - 1911 - - - - - - - - 14.78 14.78 14.78
17646 120.5 9.1 723 17651 roll 0.81 - - 3166 - 2.90 0.151 3660 479.0 287.6 - - 1912 - - - - - - - - 14.73 13.76 14.73
17680 117.2 9.9 728 17686 done 0.81 - - 3176 - 2.47 0.046 2248 -571.7 287.6 1.65 0.213 1904 -4.8 0.544 - - - - - - 14.31 14.22 13.81
18010 87.2 9.2 738 18015 roll 0.81 - - 3176 - 2.97 0.150 3659 475.1 287.6 - - 1912 - - - - - - - - 14.71 13.77 14.71
18038 84.6 9.3 742 18043 done 0.81 - - 3185 - 2.42 0.047 2271 -573.6 287.6 1.17 0.233 1904 -6.8 0.507 - - - - - - 14.31 14.21 13.82
18374 55.5 8.0 757 18380 roll 0.81 - - 3186 - 2.92 0.147 3669 478.8 287.6 - - 1913 - - - - - - - - 14.76 13.78 14.76
18611 46.0 0.7 791 18695 done 1.06 0.08 0.137 3261 937.5 2.47 0.046 2243 -577.3 427.4 78.88 0.318 1348 -7.2 0.211 - - - - - - 14.14 14.23 13.95
19011 18.0 7.7 815 19012 done 1.14 - - 3261 - - - 2243 - 428.3 - - 1352 - - - - - - - - 14.73 14.69 14.69
19231 end climb: SURFACE_DEPTH_REACHED
19231 begin surface coast
19259 end surface coast: CONTROL_FINISHED_OK
19259 begin surface
SM -4.30 - - - - -8.39 9.18 0.067 168 18.3 1.10 0.128 2770 2367.3 500.14 37.75 0.153 1057 28.0 0.080 - - - - - -