SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 676 * Raw log
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• Previous call tries 1 • 231.46 of 350.00 AH used of 24V (33.87% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.7 deg, depth -3.14 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 3 s • Transponder ping count: 6
• 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 - - 123 - - - 2782 - -107.1 -81.60 - 3479 - - - - - - - - 14.62 12.66 14.57
106 2.2 -9.5 3 123 roll -0.93 11.85 0.378 2593 208.4 2.45 0.034 1362 -579.6 -107.1 - - 3479 - - - - - - - - 13.90 14.39 14.29
165 25.4 -23.8 12 170 done -0.68 0.35 0.240 2676 237.1 2.75 0.112 2770 512.0 -107.1 - - 3479 - - - - - - - - 13.96 14.07 14.26
495 65.7 -7.5 26 500 roll -0.68 - - 2668 - 2.17 0.166 3834 490.3 -107.1 - - 3481 - - - - - - - - 14.74 13.85 14.74
557 70.7 -7.7 35 562 done -0.68 - - 2667 - 1.88 0.051 2753 -575.0 -107.1 - - 3481 - - - - - - - - 14.32 14.28 14.33
887 96.5 -7.7 49 893 roll -0.68 - - 2659 - 2.22 0.156 3828 484.2 -107.1 - - 3482 - - - - - - - - 14.81 13.78 14.81
963 102.4 -8.1 60 968 done -0.68 - - 2658 - 1.85 0.053 2760 -577.3 -107.1 - - 3482 - - - - - - - - 14.28 14.26 14.29
1279 128.8 -8.5 70 1284 roll -0.68 - - 2659 - 2.40 0.041 1386 -572.5 -107.1 - - 3478 - - - - - - - - 14.83 14.19 14.83
1348 134.8 -8.5 80 1353 done -0.68 - - 2650 - 2.67 0.103 2766 516.9 -107.1 - - 3481 - - - - - - - - 14.13 13.83 14.19
1671 160.9 -8.0 91 1676 roll -0.68 0.08 0.257 2677 337.5 2.45 0.039 1385 -563.7 -107.1 - - 3479 - - - - - - - - 14.07 14.19 14.17
1705 163.4 -7.0 96 1710 done -0.77 - - 2667 - 2.72 0.103 2772 509.9 -107.1 - - 3479 - - - - - - - - 14.12 13.81 14.18
2063 188.2 -7.1 105 2069 roll -0.77 - - 2667 - 2.47 0.044 1383 -562.3 -107.1 - - 3476 - - - - - - - - 14.80 14.19 14.80
2104 191.5 -7.6 111 2109 done -0.85 - - 2657 - 2.72 0.105 2769 509.6 -107.1 - - 3476 - - - - - - - - 14.11 13.79 14.17
2455 219.4 -8.0 119 2460 roll -0.85 - - 2658 - 2.47 0.043 1380 -562.3 -107.1 - - 3475 - - - - - - - - 14.84 14.17 14.84
2489 222.2 -8.2 124 2494 done -0.85 - - 2648 - 2.70 0.103 2761 511.5 -107.1 - - 3473 - - - - - - - - 14.09 13.78 14.15
2847 252.1 -8.3 133 2853 roll -0.85 - - 2640 - 2.22 0.164 3832 482.4 -107.1 - - 3471 - - - - - - - - 14.79 13.66 14.79
2874 254.5 -8.6 137 2880 done -0.85 - - 2641 - 1.88 0.056 2770 -564.9 -107.1 - - 3471 - - - - - - - - 14.22 14.19 14.24
3239 287.2 -9.1 147 3244 roll -0.85 - - 2641 - 2.47 0.043 1375 -564.8 -107.1 - - 3468 - - - - - - - - 14.79 14.14 14.79
3273 290.4 -9.4 152 3278 done -0.85 - - 2631 - 2.72 0.101 2761 509.6 -107.1 - - 3469 - - - - - - - - 14.16 13.88 14.23
3631 323.9 -9.3 161 3636 roll -0.85 - - 2634 - 2.50 0.043 1365 -558.4 -107.1 - - 3466 - - - - - - - - 14.83 14.13 14.83
3672 327.7 -9.1 167 3677 done -0.85 - - 2622 - 2.72 0.106 2756 511.4 -107.1 - - 3466 - - - - - - - - 14.16 13.88 14.21
4023 359.4 -9.0 175 4028 roll -0.85 - - 2613 - 2.22 0.161 3832 484.7 -107.1 - - 3464 - - - - - - - - 14.83 13.85 14.83
4064 363.3 -9.4 181 4070 done -0.85 - - 2613 - 1.90 0.055 2762 -563.2 -107.1 - - 3464 - - - - - - - - 14.23 14.20 14.24
4415 394.3 -8.8 189 4420 roll -0.85 - - 2613 - 2.47 0.043 1368 -564.4 -107.1 - - 3462 - - - - - - - - 14.83 14.08 14.83
4449 397.4 -8.9 194 4454 done -0.85 - - 2604 - 2.75 0.098 2763 507.3 -107.1 - - 3461 - - - - - - - - 14.04 13.74 14.10
4807 430.5 -9.4 203 4812 roll -0.85 - - 2595 - 2.20 0.157 3828 484.1 -107.1 - - 3460 - - - - - - - - 14.78 13.66 14.82
4834 433.2 -9.9 207 4839 done -0.85 0.08 0.205 2616 262.5 1.92 0.054 2752 -560.4 -107.1 - - 3460 - - - - - - - - 13.76 14.13 13.89
5199 466.1 -9.0 217 5204 roll -0.85 - - 2616 - 2.47 0.042 1362 -562.8 -107.1 - - 3458 - - - - - - - - 14.77 14.07 14.78
5233 469.3 -9.3 222 5238 done -0.85 - - 2608 - 2.72 0.099 2757 512.9 -107.1 - - 3458 - - - - - - - - 14.14 13.85 14.21
5591 504.0 -9.9 231 5592 done -0.85 - - 2608 - - - 2756 - -107.1 - - 3456 - - - - - - - - 14.83 14.81 14.82
5927 538.0 -10.2 237 5928 done -0.85 - - 2607 - - - 2757 - -107.1 - - 3456 - - - - - - - - 14.82 14.82 14.82
6263 571.5 -9.9 243 6264 done -0.85 - - 2608 - - - 2757 - -107.1 - - 3452 - - - - - - - - 14.81 14.82 14.81
6599 604.3 -9.7 249 6604 roll -0.85 - - 2600 - 2.25 0.158 3833 478.2 -107.1 - - 3453 - - - - - - - - 14.82 13.62 14.82
6640 608.5 -10.0 255 6645 done -0.85 - - 2598 - 1.95 0.057 2738 -561.5 -107.1 - - 3452 - - - - - - - - 14.19 14.09 14.22
6991 641.3 -9.3 263 6992 done -0.85 - - 2598 - - - 2739 - -107.1 - - 3451 - - - - - - - - 14.81 14.81 14.81
7327 670.1 -8.5 269 7328 done -0.85 - - 2598 - - - 2741 - -107.1 - - 3450 - - - - - - - - 14.81 14.81 14.81
7663 697.5 -8.2 275 7668 roll -0.85 - - 2590 - 2.33 0.155 3833 468.7 -107.1 - - 3449 - - - - - - - - 14.81 13.64 14.81
7711 701.9 -9.1 282 7718 done -0.85 0.12 0.204 2623 275.0 1.95 0.057 2762 -549.2 -107.1 - - 3448 - - - - - - - - 13.52 14.02 13.69
8055 729.0 -8.0 289 8061 roll -0.85 - - 2623 - 2.53 0.044 1359 -554.5 -107.1 - - 3447 - - - - - - - - 14.76 13.94 14.76
8117 734.3 -8.4 298 8122 done -0.85 - - 2614 - 2.78 0.096 2765 505.8 -107.1 - - 3447 - - - - - - - - 13.99 13.68 14.05
8447 762.9 -8.8 310 8452 roll -0.85 - - 2607 - 2.20 0.158 3825 481.8 -107.1 - - 3446 - - - - - - - - 14.74 13.74 14.74
8495 767.4 -9.4 317 8502 done -0.85 - - 2606 - 1.95 0.056 2750 -551.3 -107.1 - - 3445 - - - - - - - - 14.04 14.01 14.07
8839 797.8 -8.9 324 8844 roll -0.85 - - 2605 - 2.50 0.043 1357 -557.2 -107.1 - - 3443 - - - - - - - - 14.73 13.94 14.73
8862 end dive: TARGET_DEPTH_EXCEEDED
8862 begin apogee
8872 800.4 -9.0 328 8978 roll -0.23 0.80 0.187 2820 268.8 - - 2260 - - 95.85 2.686 3054 -4.1 0.241 - - - - 1 - 13.66 13.80 12.60
8980 end apogee: CONTROL_FINISHED_OK
8980 begin climb
8984 803.7 - 330 9122 roll 0.93 1.12 0.092 3180 321.4 2.58 0.053 848 -547.3 107.1 125.30 1.794 2616 -3.5 0.312 - - - - - - 13.83 13.88 13.02
9164 801.7 5.8 356 9211 done 0.85 - - 3179 - 2.58 0.070 2251 543.8 145.4 41.35 1.762 2467 -3.6 0.327 - - - - - - 14.25 14.04 13.06
9546 767.9 9.3 375 9551 roll 0.74 0.10 0.244 3146 -330.0 2.80 0.141 3657 502.1 145.4 - - 2452 - - - - - - - - 13.98 14.00 14.15
9579 764.3 9.4 380 9585 done 0.63 0.20 0.231 3103 -215.0 2.47 0.048 2227 -578.9 145.4 - - 2452 - - - - - - - - 13.95 14.33 14.26
9937 740.4 6.5 389 9971 roll 0.66 - - 3100 - 2.88 0.143 3658 496.9 170.9 27.23 1.811 2361 -3.3 0.272 - - - - - - 14.76 14.09 13.33
10034 733.6 7.5 403 10039 done 0.67 - - 3112 - 2.42 0.047 2259 -578.1 175.3 - - 2355 - - - - - - - - 14.44 14.37 14.45
10385 710.5 6.4 411 10424 roll 0.70 - - 3112 - 2.83 0.145 3659 494.7 200.9 33.30 1.762 2241 -3.4 0.275 - - - - - - 14.71 14.12 13.31
10461 705.1 7.9 422 10466 done 0.70 - - 3121 - 2.45 0.047 2249 -575.5 200.9 - - 2235 - - - - - - - - 14.41 14.33 14.43
10777 682.5 7.2 432 10789 roll 0.71 - - 3121 - 2.88 0.145 3657 488.9 212.2 3.75 1.320 2211 -6.4 0.660 - - - - - - 14.69 14.12 13.16
10825 678.5 8.8 439 10832 done 0.71 - - 3130 - 2.42 0.047 2257 -578.5 212.2 2.12 0.394 2205 -2.8 0.972 - - - - - - 14.48 14.40 12.93
11169 650.6 8.2 446 11176 roll 0.71 - - 3130 - 2.92 0.145 3655 478.8 212.2 1.80 0.215 2205 - - - - - - - - 14.76 13.98 13.91
11196 648.1 9.1 450 11202 done 0.71 - - 3142 - 2.42 0.047 2263 -575.2 212.2 - - 2211 - - - - - - - - 14.43 14.34 14.45
11554 615.5 9.2 459 11560 roll 0.71 - - 3141 - 2.85 0.146 3657 489.1 212.2 1.75 0.220 2204 -4.0 2.231 - - - - - - 14.74 13.93 13.80
11588 611.8 10.8 464 11593 done 0.71 - - 3151 - 2.42 0.047 2261 -576.9 212.2 - - 2210 - - - - - - - - 14.40 14.32 14.42
11939 578.1 9.5 472 11944 roll 0.71 - - 3151 - 2.90 0.148 3657 481.4 212.2 - - 2213 - - - - - - - - 14.73 13.81 14.73
11980 573.8 10.6 478 11987 done 0.71 0.10 0.249 3134 -170.0 2.42 0.046 2266 -574.8 212.2 1.55 0.212 2203 -6.5 3.481 - - - - - - 13.89 14.27 13.88
12331 542.9 8.8 486 12336 roll 0.71 - - 3145 - 2.55 0.059 854 -553.7 212.2 - - 2213 - - - - - - - - 14.77 14.02 14.78
12359 540.5 8.7 490 12363 done 0.71 - - 3144 - 2.60 0.070 2268 543.8 212.2 - - 2213 - - - - - - - - 14.21 14.00 14.26
12723 507.7 9.0 500 12728 roll 0.71 - - 3144 - 2.85 0.148 3657 487.4 212.2 - - 2211 - - - - - - - - 14.73 13.75 14.73
12771 502.8 10.1 507 12778 done 0.71 - - 3154 - 2.47 0.047 2258 -566.4 212.2 - - 2213 - - - - - - - - 14.31 14.21 14.33
13116 470.4 9.5 514 13120 roll 0.71 - - 3164 - 2.55 0.060 856 -549.8 212.2 - - 2213 - - - - - - - - 14.73 13.96 14.73
13142 467.7 9.6 518 13148 done 0.71 0.12 0.209 3129 -291.7 2.62 0.073 2271 540.1 212.2 - - 2213 - - - - - - - - 13.81 13.94 14.07
13507 437.4 8.2 528 13512 roll 0.71 - - 3128 - 2.85 0.145 3658 486.7 212.2 - - 2213 - - - - - - - - 14.77 13.76 14.78
13583 430.6 9.2 539 13588 done 0.71 - - 3137 - 2.45 0.047 2261 -570.2 212.2 - - 2214 - - - - - - - - 14.29 14.21 14.32
13899 405.9 7.7 549 13902 done 0.71 - - 3138 - - - 2258 - 212.2 1.35 0.224 2204 -7.4 2.676 - - - - - - 14.80 14.07 13.81
14235 381.4 7.3 555 14252 done 0.72 - - 3138 - - - 2258 - 221.0 15.98 1.527 2170 -2.1 0.106 - - - - - - 14.73 14.30 13.49
14572 355.9 7.7 561 14577 roll 0.72 - - 3138 - 2.88 0.145 3664 488.2 222.1 - - 2153 - - - - - - - - 14.76 13.96 14.76
14627 351.0 9.2 569 14633 done 0.72 - - 3147 - 2.42 0.048 2272 -575.2 222.1 - - 2154 - - - - - - - - 14.32 14.23 14.35
14964 322.4 8.6 582 14964 done 0.72 - - 3147 - - - 2269 - 222.1 - - 2153 - - - - - - - - 14.73 14.73 14.73
15300 294.7 8.1 588 15304 roll 0.72 - - 3158 - 2.55 0.058 858 -553.3 222.1 - - 2153 - - - - - - - - 14.72 14.04 14.72
15333 291.9 8.3 593 15339 done 0.72 - - 3158 - 2.62 0.073 2275 540.8 222.1 - - 2153 - - - - - - - - 14.24 14.01 14.30
15692 263.2 8.0 602 15696 roll 0.72 - - 3158 - 2.83 0.149 3659 489.0 222.1 - - 2153 - - - - - - - - 14.73 13.79 14.73
15753 257.4 9.4 611 15759 done 0.72 0.12 0.230 3134 -200.0 2.42 0.047 2265 -576.0 222.1 - - 2153 - - - - - - - - 13.88 14.28 14.16
16083 233.6 7.2 623 16090 done 0.74 - - 3133 - - - 2262 - 233.2 5.03 1.306 2121 -6.4 0.227 - - - - - - 14.77 14.34 13.43
16420 209.2 7.3 629 16440 roll 0.75 - - 3133 - 2.85 0.144 3659 490.2 241.0 16.00 1.327 2084 -2.3 0.073 - - - - - - 14.76 14.14 13.52
16503 201.9 9.3 641 16509 done 0.75 - - 3144 - 2.38 0.047 2278 -580.3 241.0 - - 2076 - - - - - - - - 14.49 14.41 14.52
16861 170.8 8.8 650 16866 roll 0.75 - - 3153 - 2.55 0.058 852 -559.2 241.0 - - 2074 - - - - - - - - 14.72 14.12 14.71
16910 166.5 8.9 657 16917 done 0.75 - - 3152 - 2.65 0.072 2283 540.0 241.0 - - 2073 - - - - - - - - 14.28 14.06 14.31
17253 137.0 8.5 664 17258 roll 0.75 - - 3153 - 2.80 0.146 3661 492.1 241.0 - - 2073 - - - - - - - - 14.76 13.85 14.73
17280 134.4 9.1 668 17285 done 0.75 - - 3162 - 2.42 0.047 2266 -576.4 241.0 - - 2073 - - - - - - - - 14.38 14.31 14.41
17645 104.9 7.9 678 17650 roll 0.75 - - 3173 - 2.53 0.058 858 -556.5 241.0 - - 2073 - - - - - - - - 14.78 14.01 14.77
17666 103.3 7.9 681 17672 done 0.75 0.10 0.207 3142 -310.0 2.62 0.074 2279 542.4 241.0 - - 2073 - - - - - - - - 13.92 13.98 14.19
17981 79.0 7.4 695 17986 roll 0.75 - - 3143 - 2.83 0.145 3660 488.0 246.7 - - 2073 - - - - - - - - 14.71 13.77 14.71
18058 72.8 7.6 706 18065 done 0.76 - - 3149 - 2.45 0.047 2262 -570.6 249.2 2.50 0.225 2058 -6.0 0.387 - - - - - - 14.28 14.18 13.63
18374 56.5 3.8 718 18430 roll 0.94 0.08 0.140 3227 975.0 2.83 0.142 3657 492.9 327.1 45.53 0.344 1747 -6.8 0.224 - - - - - - 14.33 14.13 13.92
18496 48.8 6.0 735 18520 done 0.98 - - 3237 - 2.38 0.047 2266 -584.5 361.3 20.25 0.319 1610 -6.8 0.206 - - - - - - 14.43 14.35 13.92
18847 32.8 4.7 752 18890 roll 1.06 - - 3245 - 2.53 0.060 874 -550.2 422.5 35.92 0.269 1368 -6.7 0.164 - - - - - - 14.66 14.25 13.97
18965 24.1 8.4 769 18972 done 1.18 0.05 0.195 3299 1080.0 2.58 0.071 2286 547.3 422.5 - - 1371 - - - - - - - - 14.16 14.06 14.29
19179 end climb: SURFACE_DEPTH_REACHED
19179 begin surface coast
19207 end surface coast: CONTROL_FINISHED_OK
19207 begin surface
SM -3.37 - - - - -8.38 9.45 0.083 190 20.1 0.95 0.112 2768 -461.1 500.14 40.15 0.151 1056 26.3 0.060 - - - - - -