SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 688 * Raw log
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• Previous call tries 1 • 235.10 of 350.00 AH used of 24V (32.83% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -72.4 deg, depth -2.88 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 3 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 102 done -0.93 - - 106 - - - 2781 - -107.1 -80.72 - 3475 - - - - - - - - 14.59 12.66 14.53
107 2.9 -10.1 3 124 roll -0.93 12.00 0.380 2585 206.6 2.03 0.117 3828 515.8 -107.1 - - 3477 - - - - - - - - 13.88 14.22 14.28
166 26.7 -25.6 12 171 done -0.59 0.47 0.259 2705 255.3 1.83 0.047 2701 -615.8 -107.1 - - 3478 - - - - - - - - 13.91 14.44 14.23
496 68.2 -6.7 26 501 roll -0.59 - - 2696 - 2.28 0.145 3826 493.4 -107.1 - - 3479 - - - - - - - - 14.73 13.90 14.73
733 86.5 -7.9 60 738 done -0.59 - - 2696 - 1.88 0.055 2764 -564.9 -107.1 - - 3479 - - - - - - - - 14.28 14.27 14.31
1056 107.6 -6.2 71 1061 roll -0.67 - - 2696 - 2.47 0.046 1361 -568.0 -107.1 - - 3479 - - - - - - - - 14.78 14.05 14.78
1146 113.4 -6.8 84 1152 done -0.77 0.05 0.193 2621 -1500.0 2.70 0.098 2762 518.9 -107.1 - - 3483 - - - - - - - - 14.04 13.85 14.19
1504 146.3 -9.4 93 1510 roll -0.77 - - 2612 - 2.15 0.148 3829 496.3 -107.1 - - 3478 - - - - - - - - 14.78 13.76 14.79
1616 156.9 -9.4 109 1622 done -0.77 0.12 0.219 2648 300.0 1.88 0.056 2734 -582.4 -107.1 - - 3477 - - - - - - - - 13.85 14.31 14.09
1952 184.3 -8.2 122 1957 roll -0.77 - - 2648 - 2.40 0.044 1388 -560.8 -107.1 - - 3475 - - - - - - - - 14.78 14.10 14.78
2077 194.8 -8.2 140 2082 done -0.77 - - 2639 - 2.67 0.097 2757 512.7 -107.1 - - 3473 - - - - - - - - 14.07 13.77 14.12
2400 221.7 -8.3 151 2401 done -0.77 - - 2639 - - - 2757 - -107.1 - - 3471 - - - - - - - - 14.82 14.82 14.82
2736 249.9 -8.4 157 2737 done -0.77 - - 2637 - - - 2757 - -107.1 - - 3468 - - - - - - - - 14.78 14.78 14.78
3072 281.4 -9.5 163 3073 done -0.77 - - 2639 - - - 2757 - -107.1 - - 3467 - - - - - - - - 14.78 14.78 14.78
3408 312.6 -9.2 169 3414 roll -0.77 - - 2631 - 2.20 0.148 3828 486.8 -107.1 - - 3465 - - - - - - - - 14.78 13.68 14.78
3477 319.1 -9.3 179 3482 done -0.77 - - 2629 - 1.85 0.057 2767 -573.5 -107.1 - - 3464 - - - - - - - - 14.30 14.23 14.32
3800 348.4 -9.1 190 3805 roll -0.77 - - 2631 - 2.50 0.044 1375 -556.8 -107.1 - - 3462 - - - - - - - - 14.77 14.05 14.77
3841 352.3 -9.3 196 3846 done -0.77 - - 2622 - 2.72 0.095 2764 510.7 -107.1 - - 3461 - - - - - - - - 14.14 13.86 14.20
4192 385.2 -9.4 204 4197 roll -0.77 - - 2613 - 2.15 0.145 3826 494.0 -107.1 - - 3459 - - - - - - - - 14.82 13.74 14.82
4226 388.6 -10.1 209 4232 done -0.77 0.12 0.220 2648 291.7 1.88 0.058 2750 -572.3 -107.1 - - 3458 - - - - - - - - 13.76 14.19 14.00
4584 417.2 -8.0 218 4589 roll -0.77 - - 2648 - 2.47 0.044 1367 -559.9 -107.1 - - 3458 - - - - - - - - 14.81 14.01 14.82
4640 422.8 -13.4 226 4645 done -0.77 - - 2640 - 2.72 0.095 2752 509.2 -107.1 - - 3457 - - - - - - - - 14.01 13.72 14.07
4976 452.8 -8.3 239 4981 roll -0.77 - - 2640 - 2.50 0.044 1373 -551.6 -107.1 - - 3457 - - - - - - - - 14.76 13.99 14.76
5010 455.7 -8.4 244 5015 done -0.77 - - 2630 - 2.70 0.097 2754 511.5 -107.1 - - 3455 - - - - - - - - 14.14 13.86 14.20
5368 484.8 -8.0 253 5373 roll -0.77 - - 2622 - 2.20 0.147 3829 488.6 -107.1 - - 3454 - - - - - - - - 14.76 13.76 14.76
5416 489.1 -8.8 260 5422 done -0.77 - - 2621 - 1.95 0.060 2762 -547.2 -107.1 - - 3454 - - - - - - - - 14.08 14.06 14.10
5760 517.8 -8.5 267 5765 roll -0.77 - - 2621 - 2.47 0.044 1355 -569.6 -107.1 - - 3452 - - - - - - - - 14.81 13.95 14.81
5816 522.8 -8.8 275 5821 done -0.77 0.12 0.229 2647 216.7 2.78 0.093 2758 504.7 -107.1 - - 3452 - - - - - - - - 13.65 13.71 13.93
6152 548.7 -7.6 288 6153 done -0.77 - - 2647 - - - 2758 - -107.1 - - 3450 - - - - - - - - 14.76 14.76 14.76
6488 573.7 -7.3 294 6493 roll -0.77 - - 2647 - 2.55 0.044 1361 -547.8 -107.1 - - 3449 - - - - - - - - 14.76 13.91 14.76
6522 576.3 -7.7 299 6527 done -0.85 - - 2640 - 2.72 0.093 2748 509.9 -107.1 - - 3449 - - - - - - - - 14.00 13.71 14.06
6880 603.6 -7.8 308 6885 roll -0.85 - - 2639 - 2.53 0.044 1361 -548.2 -107.1 - - 3447 - - - - - - - - 14.75 13.91 14.75
6914 606.5 -8.2 313 6920 done -0.85 - - 2630 - 2.72 0.093 2748 509.9 -107.1 - - 3448 - - - - - - - - 13.74 13.72 13.92
7272 637.5 -8.8 322 7273 done -0.85 - - 2629 - - - 2748 - -107.1 - - 3446 - - - - - - - - 14.74 14.74 14.74
7608 667.6 -9.0 328 7613 roll -0.85 - - 2622 - 2.22 0.148 3831 487.8 -107.1 - - 3449 - - - - - - - - 14.73 13.75 14.73
7642 670.8 -9.2 333 7648 done -0.85 - - 2620 - 2.00 0.060 2740 -545.5 -107.1 - - 3444 - - - - - - - - 14.04 14.00 14.07
8000 702.4 -8.8 342 8005 roll -0.85 - - 2621 - 2.50 0.044 1362 -551.2 -107.1 - - 3443 - - - - - - - - 14.72 13.90 14.72
8048 706.7 -8.8 349 8055 done -0.85 - - 2613 - 2.78 0.093 2756 501.4 -107.1 - - 3443 - - - - - - - - 14.07 13.79 14.12
8392 737.0 -8.9 356 8397 roll -0.85 - - 2604 - 2.17 0.146 3827 493.5 -107.1 - - 3442 - - - - - - - - 14.78 13.76 14.77
8433 740.8 -9.3 362 8438 done -0.85 - - 2603 - 1.95 0.060 2740 -557.4 -107.1 - - 3441 - - - - - - - - 14.14 14.06 14.15
8784 770.3 -8.2 370 8789 roll -0.85 - - 2603 - 2.53 0.044 1352 -548.6 -107.1 - - 3439 - - - - - - - - 14.78 13.83 14.78
8825 773.8 -8.2 376 8830 done -0.85 0.10 0.245 2621 180.0 2.75 0.091 2746 506.9 -107.1 - - 3440 - - - - - - - - 13.67 13.71 13.95
9176 798.9 -7.1 384 9177 done -0.85 - - 2620 - - - 2746 - -107.1 - - 3439 - - - - - - - - 14.77 14.78 14.77
9228 end dive: TARGET_DEPTH_EXCEEDED
9228 begin apogee
9238 803.1 -7.2 385 9357 roll -0.23 0.73 0.177 2823 278.1 0.12 0.171 2270 -3966.7 - 116.25 1.784 3048 -3.4 0.300 - - - - - - 13.66 13.91 13.05
9358 end apogee: CONTROL_FINISHED_OK
9358 begin climb
9363 805.5 - 387 9492 roll 0.93 1.12 0.089 3183 321.4 2.55 0.053 882 -544.3 107.1 118.00 1.769 2618 -3.6 0.329 - - - - - - 13.86 13.94 13.00
9576 799.8 6.4 420 9610 done 0.84 - - 3183 - 2.50 0.069 2247 546.0 133.5 27.92 1.824 2516 -3.7 0.318 - - - - - - 14.22 14.06 13.09
9962 768.8 8.2 433 9968 roll 0.71 0.15 0.249 3137 -306.7 2.78 0.133 3653 505.8 133.5 - - 2499 - - - - - - - - 13.88 13.98 14.06
10004 765.5 7.3 439 10010 done 0.62 0.17 0.233 3101 -211.8 2.40 0.049 2267 -577.5 141.4 1.85 0.198 2485 -7.6 5.805 - - - - - - 13.93 14.33 13.97
10348 745.7 5.8 446 10407 roll 0.67 - - 3100 - 2.83 0.136 3648 488.0 180.7 52.58 1.754 2320 -3.1 0.265 - - - - - - 14.72 14.04 13.24
10430 740.2 6.7 451 10458 done 0.69 - - 3109 - 2.42 0.050 2258 -574.4 200.7 21.50 1.799 2248 -3.3 0.273 - - - - - - 14.33 14.26 13.09
10795 711.2 8.1 461 10801 roll 0.69 - - 3109 - 2.80 0.137 3656 499.3 200.7 - - 2229 - - - - - - - - 14.67 13.96 14.67
10830 708.1 9.1 466 10834 done 0.69 - - 3119 - 2.45 0.047 2252 -573.1 200.7 - - 2229 - - - - - - - - 14.41 14.32 14.43
11187 677.7 8.4 475 11192 roll 0.69 - - 3128 - 2.50 0.060 859 -557.2 200.7 - - 2227 - - - - - - - - 14.75 14.13 14.74
11221 674.7 8.4 480 11226 done 0.69 - - 3130 - 2.55 0.070 2251 545.9 200.7 - - 2228 - - - - - - - - 14.31 14.13 14.36
11579 645.4 8.1 489 11585 roll 0.69 - - 3129 - 2.85 0.139 3663 495.4 200.7 - - 2227 - - - - - - - - 14.77 13.88 14.77
11627 641.1 8.8 496 11634 done 0.69 - - 3137 - 2.47 0.047 2257 -569.2 200.7 - - 2227 - - - - - - - - 14.38 14.29 14.40
11971 614.0 7.8 503 11976 roll 0.69 - - 3150 - 2.53 0.060 856 -553.8 200.7 - - 2226 - - - - - - - - 14.73 14.05 14.73
12027 609.9 7.5 511 12032 done 0.70 - - 3149 - 2.60 0.071 2262 540.8 205.8 - - 2226 - - - - - - - - 14.26 14.05 14.30
12364 584.4 7.6 524 12368 roll 0.70 - - 3149 - 2.83 0.142 3655 492.2 207.6 - - 2225 - - - - - - - - 14.72 13.81 14.71
12397 581.5 8.6 529 12404 done 0.70 0.12 0.236 3126 -191.7 2.45 0.046 2253 -572.2 207.6 - - 2226 - - - - - - - - 13.87 14.19 14.14
12755 557.1 6.8 538 12781 done 0.72 - - 3126 - - - 2249 - 225.4 24.88 1.649 2154 -2.9 0.194 - - - - - - 14.77 14.26 13.38
13091 531.9 7.6 544 13096 roll 0.73 - - 3135 - 2.50 0.060 860 -555.6 227.8 - - 2135 - - - - - - - - 14.73 14.15 14.73
13118 529.7 7.8 548 13123 done 0.73 - - 3136 - 2.55 0.070 2254 546.7 227.8 - - 2136 - - - - - - - - 14.32 14.13 14.37
13483 499.3 8.5 558 13488 roll 0.73 - - 3136 - 2.83 0.140 3660 496.8 227.8 - - 2134 - - - - - - - - 14.72 13.88 14.72
13531 494.6 9.7 565 13539 done 0.73 - - 3146 - 2.47 0.047 2256 -568.4 227.8 - - 2134 - - - - - - - - 14.37 14.28 14.39
13875 463.0 9.3 572 13880 roll 0.73 - - 3157 - 2.53 0.059 856 -553.4 227.8 - - 2134 - - - - - - - - 14.71 14.00 14.72
13909 459.8 9.3 577 13915 done 0.73 - - 3156 - 2.58 0.071 2254 541.9 227.8 - - 2132 - - - - - - - - 14.26 14.06 14.31
14267 425.0 9.8 586 14268 done 0.73 - - 3157 - - - 2254 - 227.8 - - 2132 - - - - - - - - 14.76 14.76 14.76
14603 393.3 9.3 592 14604 done 0.73 - - 3156 - - - 2254 - 227.8 - - 2133 - - - - - - - - 14.76 14.76 14.76
14939 363.5 8.9 598 14940 done 0.73 - - 3156 - - - 2254 - 227.8 - - 2134 - - - - - - - - 14.71 14.71 14.71
15275 332.3 9.4 604 15276 done 0.73 - - 3156 - - - 2253 - 227.8 - - 2133 - - - - - - - - 14.71 14.71 14.72
15612 300.5 9.3 610 15617 roll 0.73 - - 3156 - 2.88 0.141 3661 488.9 227.8 - - 2133 - - - - - - - - 14.71 13.80 14.71
15645 297.0 10.2 615 15651 done 0.73 0.08 0.259 3142 -175.0 2.47 0.047 2250 -571.3 227.8 - - 2133 - - - - - - - - 13.83 14.23 13.97
16003 268.1 7.9 624 16004 done 0.73 - - 3142 - - - 2248 - 227.8 - - 2133 - - - - - - - - 14.76 14.76 14.78
16339 242.4 7.7 630 16344 roll 0.73 - - 3141 - 2.92 0.138 3660 483.6 229.0 - - 2134 - - - - - - - - 14.75 13.76 14.75
16380 238.7 9.1 636 16385 done 0.73 - - 3146 - 2.47 0.048 2256 -568.4 229.0 - - 2133 - - - - - - - - 14.30 14.21 14.32
16732 208.6 8.7 644 16732 done 0.73 - - 3150 - - - 2252 - 229.0 - - 2133 - - - - - - - - 14.70 14.70 14.70
17067 180.3 8.3 650 17068 done 0.73 - - 3150 - - - 2252 - 229.0 - - 2134 - - - - - - - - 14.69 14.70 14.70
17403 153.3 8.0 656 17408 roll 0.73 - - 3160 - 2.55 0.061 863 -544.7 229.0 - - 2134 - - - - - - - - 14.76 13.89 14.76
17465 148.3 8.1 665 17471 done 0.73 - - 3160 - 2.58 0.070 2257 540.3 229.0 - - 2134 - - - - - - - - 14.03 13.85 14.09
17795 121.4 8.3 677 17801 roll 0.73 - - 3160 - 2.88 0.142 3659 486.8 229.0 - - 2134 - - - - - - - - 14.69 13.72 14.70
17836 117.5 9.4 683 17842 done 0.73 0.12 0.230 3136 -200.0 2.47 0.047 2251 -570.0 229.0 - - 2134 - - - - - - - - 13.79 14.17 14.05
18159 93.6 7.3 692 18171 roll 0.74 - - 3135 - 2.88 0.139 3660 489.2 238.0 4.82 0.328 2107 -5.6 0.317 - - - - - - 14.69 13.91 13.71
18215 89.4 7.7 700 18227 done 0.74 - - 3146 - 2.47 0.047 2245 -572.9 238.2 2.90 0.232 2102 -1.7 0.132 - - - - - - 14.35 14.26 13.56
18552 70.9 4.2 715 18598 roll 0.83 - - 3150 - 2.47 0.059 855 -562.8 307.9 41.38 0.386 1829 -6.6 0.240 - - - - - - 14.68 14.16 13.84
18635 66.5 6.1 727 18662 done 1.03 0.17 0.076 3246 564.7 2.55 0.069 2255 549.0 340.8 20.15 0.364 1694 -6.7 0.243 - - - - - - 14.26 14.09 13.85
18975 48.1 4.4 742 19018 roll 1.11 - - 3254 - 2.58 0.063 857 -541.9 407.0 38.83 0.314 1429 -6.8 0.207 - - - - - - 14.64 14.28 13.91
19146 35.9 7.3 767 19159 done 1.21 0.05 0.190 3306 1040.0 2.60 0.074 2261 540.0 414.6 5.78 0.249 1398 -5.4 0.153 - - - - - - 14.04 13.95 13.78
19468 4.8 8.8 780 19471 done 1.21 - - 3306 - - - 2263 - 414.6 1.52 0.206 1397 - - - - - - - - 14.69 14.09 13.84
19492 end climb: SURFACE_DEPTH_REACHED
19492 begin surface coast
19520 end surface coast: CONTROL_FINISHED_OK
19520 begin surface
SM -2.82 - - - - -8.39 9.68 0.096 170 17.5 1.00 0.116 2762 -5436.0 500.14 45.12 0.151 1058 23.4 0.045 - - - - - -