SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 700 * Raw log
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• Previous call tries 1 • 239.00 of 350.00 AH used of 24V (31.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth -4.62 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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 - - - 103 done -0.93 - - 166 - - - 2782 - -107.1 -82.10 - 3477 - - - - - - - - 14.58 12.66 14.52
107 0.6 -9.4 3 124 roll -0.93 12.00 0.388 2583 201.4 2.05 0.129 3832 512.2 -107.1 - - 3479 - - - - - - - - 13.82 14.14 14.23
208 34.6 -22.8 18 215 done -0.63 0.38 0.248 2690 281.6 1.88 0.047 2737 -582.4 -107.1 - - 3481 - - - - - - - - 13.74 14.23 14.07
524 75.0 -9.5 30 529 roll -0.63 - - 2685 - 2.38 0.041 1385 -568.1 -107.1 - - 3482 - - - - - - - - 14.71 14.13 14.71
580 80.3 -8.7 38 585 done -0.63 - - 2680 - 2.65 0.097 2756 517.4 -107.1 - - 3482 - - - - - - - - 14.14 13.86 14.19
944 104.6 -6.2 53 950 roll -0.63 - - 2672 - 2.17 0.151 3832 495.9 -107.1 - - 3483 - - - - - - - - 14.78 13.78 14.78
992 107.4 -5.9 60 998 done -0.63 - - 2672 - 1.88 0.059 2773 -563.3 -107.1 - - 3482 - - - - - - - - 14.20 14.17 14.22
1336 130.1 -6.9 67 1341 roll -0.63 - - 2672 - 2.47 0.041 1363 -570.9 -107.1 - - 3482 - - - - - - - - 14.76 14.11 14.76
1377 133.4 -7.6 73 1383 done -0.63 0.10 0.231 2691 190.0 2.70 0.096 2764 518.9 -107.1 - - 3483 - - - - - - - - 13.78 13.78 14.02
1729 159.3 -7.6 81 1734 roll -0.73 - - 2683 - 2.17 0.155 3827 489.9 -107.1 - - 3481 - - - - - - - - 14.80 13.72 14.80
1776 163.4 -8.4 88 1783 done -0.83 0.10 0.106 2607 -760.0 1.90 0.057 2744 -570.0 -107.1 - - 3480 - - - - - - - - 14.15 14.19 14.23
2120 198.5 -10.0 95 2125 roll -0.83 - - 2598 - 2.22 0.145 3826 487.4 -107.1 - - 3478 - - - - - - - - 14.81 13.87 14.81
2196 206.5 -10.3 106 2202 done -0.83 0.12 0.225 2632 283.3 1.85 0.054 2755 -578.9 -107.1 - - 3478 - - - - - - - - 13.75 14.20 14.00
2512 234.6 -9.0 116 2513 done -0.83 - - 2627 - - - 2755 - -107.1 - - 3476 - - - - - - - - 14.80 14.81 14.81
2848 266.8 -9.8 122 2853 roll -0.83 - - 2625 - 2.22 0.149 3830 484.2 -107.1 - - 3474 - - - - - - - - 14.80 13.78 14.80
2882 270.3 -10.5 127 2887 done -0.83 - - 2624 - 1.85 0.058 2770 -573.0 -107.1 - - 3473 - - - - - - - - 14.26 14.17 14.28
3240 307.8 -10.5 136 3245 roll -0.83 - - 2624 - 2.50 0.042 1370 -560.0 -107.1 - - 3470 - - - - - - - - 14.80 14.02 14.81
3281 312.0 -9.6 142 3287 done -0.83 - - 2613 - 2.75 0.097 2772 509.8 -107.1 - - 3471 - - - - - - - - 14.06 13.77 14.10
3632 342.6 -8.4 150 3637 roll -0.83 - - 2606 - 2.17 0.151 3835 489.9 -107.1 - - 3469 - - - - - - - - 14.80 13.69 14.80
3673 346.2 -8.9 156 3678 done -0.83 - - 2606 - 1.88 0.057 2765 -569.1 -107.1 - - 3469 - - - - - - - - 14.12 14.04 14.14
4025 377.3 -9.0 164 4025 done -0.83 - - 2606 - - - 2765 - -107.1 - - 3467 - - - - - - - - 14.74 14.73 14.74
4360 410.1 -9.9 170 4365 roll -0.83 - - 2598 - 2.20 0.145 3826 482.3 -107.1 - - 3465 - - - - - - - - 14.75 13.70 14.75
4416 416.1 -10.9 178 4421 done -0.83 0.12 0.221 2626 233.3 1.88 0.059 2768 -562.8 -107.1 - - 3464 - - - - - - - - 13.69 14.13 13.97
4752 446.7 -9.1 191 4757 roll -0.83 - - 2632 - 2.53 0.042 1363 -555.3 -107.1 - - 3462 - - - - - - - - 14.74 13.89 14.74
4808 451.9 -9.1 199 4813 done -0.83 - - 2623 - 2.75 0.099 2770 511.6 -107.1 - - 3463 - - - - - - - - 14.14 13.88 14.19
5144 483.4 -9.4 212 5145 done -0.83 - - 2622 - - - 2770 - -107.1 - - 3460 - - - - - - - - 14.73 14.73 14.73
5480 512.8 -8.6 218 5485 roll -0.83 - - 2621 - 2.55 0.042 1372 -548.2 -107.1 - - 3459 - - - - - - - - 14.73 13.93 14.73
5528 516.9 -8.2 225 5536 done -0.83 - - 2613 - 2.78 0.098 2766 501.4 -107.1 - - 3459 - - - - - - - - 14.06 13.77 14.12
5873 544.9 -8.1 232 5877 roll -0.83 - - 2604 - 2.17 0.151 3829 489.9 -107.1 - - 3457 - - - - - - - - 14.73 13.76 14.73
5962 552.9 -8.8 245 5968 done -0.83 0.08 0.249 2626 275.0 1.88 0.059 2766 -565.4 -107.1 - - 3457 - - - - - - - - 13.71 14.09 13.93
6320 581.3 -8.1 254 6325 roll -0.83 - - 2626 - 2.53 0.043 1369 -552.2 -107.1 - - 3455 - - - - - - - - 14.78 13.90 14.78
6376 585.9 -8.1 262 6381 done -0.83 - - 2618 - 2.72 0.094 2769 514.7 -107.1 - - 3455 - - - - - - - - 14.04 13.75 14.10
6712 616.9 -9.4 275 6717 roll -0.83 - - 2610 - 2.15 0.150 3825 491.2 -107.1 - - 3454 - - - - - - - - 14.72 13.77 14.72
6740 619.8 -10.4 279 6744 done -0.83 - - 2608 - 1.88 0.060 2770 -561.2 -107.1 - - 3454 - - - - - - - - 14.16 14.09 14.18
7104 655.9 -9.9 289 7110 roll -0.83 - - 2609 - 2.55 0.042 1361 -552.5 -107.1 - - 3454 - - - - - - - - 14.71 13.89 14.71
7145 660.1 -10.0 295 7151 done -0.83 0.10 0.246 2627 180.0 2.78 0.094 2769 506.5 -107.1 - - 3452 - - - - - - - - 13.78 13.85 14.04
7496 689.8 -8.3 303 7501 roll -0.83 - - 2620 - 2.15 0.149 3825 491.2 -107.1 - - 3450 - - - - - - - - 14.71 13.81 14.71
7530 692.8 -8.8 308 7535 done -0.83 - - 2615 - 1.90 0.059 2760 -560.5 -107.1 - - 3450 - - - - - - - - 14.14 14.04 14.16
7888 722.8 -8.4 317 7889 done -0.83 - - 2618 - - - 2760 - -107.1 - - 3449 - - - - - - - - 14.76 14.76 14.76
8225 749.6 -7.9 323 8229 roll -0.83 - - 2611 - 2.20 0.145 3825 484.1 -107.1 - - 3448 - - - - - - - - 14.76 13.77 14.76
8258 752.4 -8.3 328 8263 done -0.83 - - 2610 - 1.95 0.058 2767 -542.6 -107.1 - - 3447 - - - - - - - - 13.98 13.94 13.99
8616 781.3 -8.0 337 8617 done -0.83 - - 2610 - - - 2767 - -107.1 - - 3447 - - - - - - - - 14.70 14.70 14.70
8892 end dive: TARGET_DEPTH_EXCEEDED
8892 begin apogee
8902 804.7 -8.4 342 9012 roll -0.23 0.77 0.181 2824 277.9 0.12 0.172 2277 -4083.3 - 101.78 2.532 3050 -3.9 0.247 - - - - 1 - 13.68 13.76 12.63
9013 end apogee: CONTROL_FINISHED_OK
9013 begin climb
9018 808.0 - 344 9156 roll 0.93 1.12 0.080 3188 325.0 2.60 0.053 877 -538.5 107.1 124.57 1.815 2616 -3.5 0.308 - - - - - - 13.79 13.83 13.03
9248 804.5 5.9 378 9295 done 0.84 - - 3188 - 2.50 0.070 2246 547.6 144.3 40.60 1.818 2471 -3.6 0.314 - - - - - - 14.25 14.09 13.09
9630 773.8 8.4 397 9636 roll 0.71 0.17 0.233 3134 -317.6 2.78 0.133 3656 507.2 144.3 - - 2456 - - - - - - - - 13.92 14.02 14.10
9699 768.0 7.8 407 9704 done 0.62 0.15 0.227 3104 -200.0 2.42 0.049 2264 -575.2 144.3 - - 2458 - - - - - - - - 13.98 14.35 14.27
10022 749.5 5.6 418 10070 done 0.67 - - 3104 - - - 2260 - 186.0 46.60 1.776 2308 -3.2 0.270 - - - - - - 14.70 14.13 13.26
10358 727.0 6.8 424 10383 roll 0.69 - - 3103 - 2.75 0.136 3653 506.5 205.4 20.90 1.848 2225 -4.0 0.311 - - - - - - 14.64 14.06 13.31
10470 718.2 8.0 440 10475 done 0.69 - - 3117 - 2.45 0.048 2257 -569.8 205.4 - - 2216 - - - - - - - - 14.42 14.33 14.42
10806 691.0 8.2 453 10807 done 0.69 - - 3112 - - - 2254 - 205.4 - - 2213 - - - - - - - - 14.68 14.68 14.68
11142 663.8 8.1 459 11147 roll 0.69 - - 3112 - 2.83 0.138 3654 494.7 205.4 - - 2213 - - - - - - - - 14.71 13.93 14.71
11218 657.1 8.8 470 11223 done 0.69 - - 3122 - 2.45 0.048 2253 -571.8 205.4 - - 2212 - - - - - - - - 14.40 14.32 14.43
11534 632.2 7.8 480 11535 done 0.69 - - 3122 - - - 2249 - 205.4 - - 2211 - - - - - - - - 14.71 14.71 14.71
11870 606.5 7.6 486 11875 roll 0.70 - - 3122 - 2.88 0.138 3659 489.6 208.7 - - 2211 - - - - - - - - 14.71 13.88 14.71
11897 604.3 7.9 490 11902 done 0.70 - - 3132 - 2.45 0.049 2258 -571.8 208.7 - - 2211 - - - - - - - - 14.38 14.30 14.41
12262 577.0 7.4 500 12266 done 0.70 - - 3132 - - - 2254 - 215.2 2.60 0.762 2191 -7.7 1.158 - - - - - - 14.75 14.34 13.22
12598 550.8 7.9 506 12601 done 0.70 - - 3132 - - - 2254 - 215.2 1.77 0.215 2195 2.3 -1.151 - - - - - - 14.71 14.14 13.86
12934 523.4 8.2 512 12939 roll 0.70 - - 3132 - 2.88 0.138 3653 485.8 215.2 - - 2201 - - - - - - - - 14.69 13.84 14.69
12968 520.2 9.1 517 12975 done 0.70 - - 3141 - 2.47 0.050 2250 -568.0 215.2 1.23 0.231 2193 -6.5 2.913 - - - - - - 14.35 14.27 13.93
13326 492.2 7.7 526 13332 roll 0.70 - - 3153 - 2.58 0.059 861 -538.4 215.9 1.85 0.215 2189 -2.2 0.984 - - - - - - 14.69 14.06 13.81
13353 490.0 7.4 530 13374 done 0.71 - - 3152 - 2.58 0.073 2257 541.1 222.9 15.18 1.746 2158 -2.0 0.114 - - - - - - 14.23 14.02 13.47
13711 461.5 8.0 539 13716 roll 0.71 - - 3166 - 2.53 0.060 861 -551.8 222.9 - - 2149 - - - - - - - - 14.73 14.14 14.72
13745 458.6 8.2 544 13751 done 0.71 0.10 0.219 3133 -330.0 2.58 0.076 2260 542.2 222.9 - - 2147 - - - - - - - - 14.00 14.11 14.26
14103 430.8 7.9 553 14109 roll 0.71 - - 3132 - 2.83 0.138 3665 496.5 222.9 - - 2146 - - - - - - - - 14.74 13.88 14.74
14172 424.2 9.7 563 14177 done 0.71 - - 3142 - 2.47 0.050 2257 -570.0 222.9 - - 2146 - - - - - - - - 14.35 14.27 14.38
14495 395.7 8.9 574 14496 done 0.71 - - 3141 - - - 2254 - 222.9 - - 2147 - - - - - - - - 14.74 14.74 14.74
14831 366.0 8.9 580 14836 roll 0.71 - - 3142 - 2.88 0.138 3660 488.2 222.9 - - 2148 - - - - - - - - 14.70 13.81 14.70
14865 362.6 10.0 585 14871 done 0.71 - - 3153 - 2.47 0.049 2253 -569.6 222.9 - - 2147 - - - - - - - - 14.33 14.24 14.35
15223 330.9 8.6 594 15224 done 0.71 - - 3153 - - - 2250 - 222.9 - - 2147 - - - - - - - - 14.74 14.74 14.74
15559 301.9 8.7 600 15564 roll 0.71 - - 3163 - 2.55 0.060 859 -545.5 222.9 - - 2147 - - - - - - - - 14.75 13.90 14.75
15586 299.4 9.0 604 15592 done 0.71 0.10 0.219 3134 -290.0 2.60 0.073 2264 540.4 222.9 - - 2147 - - - - - - - - 13.83 13.94 14.09
15952 269.4 8.1 614 15957 roll 0.71 - - 3133 - 2.83 0.138 3655 491.5 222.9 - - 2147 - - - - - - - - 14.73 13.78 14.73
15978 267.0 8.4 618 15983 done 0.71 - - 3137 - 2.50 0.049 2253 -560.8 222.9 - - 2147 - - - - - - - - 14.28 14.18 14.30
16343 237.7 8.1 628 16348 roll 0.71 - - 3144 - 2.90 0.138 3656 483.8 222.9 - - 2147 - - - - - - - - 14.69 13.78 14.69
16377 234.6 9.2 633 16383 done 0.71 - - 3154 - 2.47 0.047 2256 -566.8 222.9 - - 2147 - - - - - - - - 14.26 14.17 14.29
16735 203.2 8.9 642 16740 roll 0.71 - - 3163 - 2.55 0.060 860 -547.5 222.9 - - 2147 - - - - - - - - 14.73 13.85 14.73
16769 200.1 9.0 647 16775 done 0.71 0.10 0.215 3135 -280.0 2.62 0.077 2264 535.9 222.9 - - 2147 - - - - - - - - 13.78 13.88 14.05
17127 172.6 7.4 656 17133 roll 0.72 - - 3134 - 2.88 0.141 3661 485.1 228.8 1.52 0.220 2136 -7.2 1.129 - - - - - - 14.74 13.84 13.83
17197 166.6 9.0 666 17202 done 0.72 - - 3145 - 2.47 0.050 2261 -566.8 228.8 - - 2145 - - - - - - - - 14.28 14.19 14.31
17513 140.9 8.0 676 17513 done 0.72 - - 3145 - - - 2258 - 228.8 - - 2146 - - - - - - - - 14.73 14.73 14.71
17849 114.6 7.7 682 17859 roll 0.72 - - 3145 - 2.92 0.139 3660 480.1 230.1 2.17 0.215 2137 -4.1 0.440 - - - - - - 14.73 13.84 13.72
17918 108.4 8.8 692 17924 done 0.72 - - 3155 - 2.45 0.047 2269 -567.8 230.1 2.17 0.220 2133 -1.8 0.181 - - - - - - 14.29 14.21 13.66
18234 87.8 5.7 705 18267 roll 0.77 - - 3164 - 2.53 0.060 859 -557.3 271.6 25.55 0.435 1968 -6.5 0.259 - - - - - - 14.66 14.20 13.83
18282 84.6 6.6 712 18301 done 0.80 - - 3164 - 2.62 0.076 2269 538.2 293.4 13.73 0.424 1881 -6.3 0.251 - - - - - - 14.28 14.07 13.71
18630 60.1 6.7 728 18652 roll 0.91 - - 3172 - 2.58 0.059 859 -546.5 314.1 13.45 0.345 1803 -5.8 0.201 - - - - - - 14.64 14.21 13.79
18884 52.5 2.5 765 18952 done 1.23 0.30 0.057 3313 470.0 2.58 0.070 2262 543.8 419.5 61.30 0.337 1379 -6.9 0.214 - - - - - - 14.25 14.02 13.89
19270 17.3 10.3 787 19274 roll 1.23 - - 3324 - 2.58 0.061 856 -545.0 419.5 - - 1382 - - - - - - - - 14.71 13.99 14.70
19318 12.6 9.3 794 19324 done 1.23 - - 3323 - 2.60 0.077 2250 536.2 419.5 - - 1382 - - - - - - - - 14.16 13.95 14.21
19433 end climb: SURFACE_DEPTH_REACHED
19433 begin surface coast
19461 end surface coast: CONTROL_FINISHED_OK
19461 begin surface
SM -4.09 - - - - -8.41 9.23 0.052 182 19.7 1.05 0.122 2767 1654.3 500.14 41.50 0.151 1056 25.4 0.070 - - - - - -