SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 706 * Raw log
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• Previous call tries 1 • 240.95 of 350.00 AH used of 24V (31.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth -4.14 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 158 - - - 2780 - -107.1 -81.35 - 3478 - - - - - - - - 14.57 12.66 14.50
107 1.5 -9.8 3 124 roll -0.93 11.77 0.379 2583 206.0 2.08 0.135 3837 508.2 -107.1 - - 3480 - - - - - - - - 13.84 14.13 14.23
180 28.5 -24.0 14 187 done -0.62 0.43 0.249 2692 253.5 1.80 0.048 2721 -620.0 -107.1 - - 3480 - - - - - - - - 13.84 14.34 14.16
496 64.6 -6.7 26 501 roll -0.62 - - 2683 - 2.25 0.151 3826 491.1 -107.1 - - 3481 - - - - - - - - 14.73 13.79 14.71
580 71.4 -7.9 38 585 done -0.62 - - 2683 - 1.75 0.058 2817 -576.6 -107.1 - - 3482 - - - - - - - - 14.22 14.19 14.29
916 95.5 -6.9 53 922 roll -0.62 - - 2683 - 2.42 0.041 1416 -578.9 -107.1 - - 3483 - - - - - - - - 14.73 14.12 14.73
1059 105.4 -7.4 73 1065 done -0.70 - - 2675 - 2.62 0.104 2762 513.7 -107.1 - - 3482 - - - - - - - - 14.07 13.79 14.13
1423 133.5 -7.8 83 1428 roll -0.70 - - 2674 - 2.38 0.043 1422 -563.0 -107.1 - - 3481 - - - - - - - - 14.79 13.95 14.81
1485 138.5 -7.8 92 1490 done -0.79 - - 2666 - 2.62 0.104 2762 511.5 -107.1 - - 3481 - - - - - - - - 14.08 13.78 14.14
1815 166.1 -8.3 104 1816 done -0.79 - - 2666 - - - 2760 - -107.1 - - 3477 - - - - - - - - 14.73 14.73 14.73
2151 191.4 -7.3 110 2156 roll -0.79 - - 2666 - 2.38 0.043 1426 -560.5 -107.1 - - 3476 - - - - - - - - 14.79 14.02 14.79
2213 195.8 -7.0 119 2218 done -0.87 0.08 0.142 2593 -912.5 2.62 0.102 2769 512.6 -107.1 - - 3476 - - - - - - - - 14.04 13.78 14.16
2543 228.8 -10.4 131 2548 roll -0.87 - - 2583 - 2.15 0.149 3835 495.8 -107.1 - - 3473 - - - - - - - - 14.79 13.72 14.78
2577 232.6 -10.7 136 2582 done -0.79 0.17 0.195 2641 341.2 1.83 0.059 2814 -557.9 -107.1 - - 3473 - - - - - - - - 13.66 14.09 13.95
2935 264.1 -8.8 145 2941 roll -0.79 - - 2641 - 2.58 0.043 1361 -563.2 -107.1 - - 3471 - - - - - - - - 14.78 14.00 14.78
3018 271.3 -8.6 157 3024 done -0.79 - - 2631 - 2.70 0.094 2752 515.2 -107.1 - - 3470 - - - - - - - - 14.06 13.76 14.11
3383 304.5 -9.1 167 3384 done -0.79 - - 2631 - - - 2752 - -107.1 - - 3469 - - - - - - - - 14.73 14.74 14.73
3719 336.3 -9.5 173 3720 done -0.79 - - 2631 - - - 2752 - -107.1 - - 3466 - - - - - - - - 14.73 14.73 14.73
4055 367.3 -9.0 179 4059 roll -0.79 - - 2623 - 2.20 0.148 3828 489.1 -107.1 - - 3464 - - - - - - - - 14.73 13.72 14.73
4103 371.6 -8.7 186 4109 done -0.79 - - 2623 - 1.95 0.061 2753 -551.3 -107.1 - - 3464 - - - - - - - - 14.06 13.98 14.08
4447 402.3 -9.0 193 4453 roll -0.79 - - 2621 - 2.47 0.042 1361 -563.6 -107.1 - - 3462 - - - - - - - - 14.73 13.97 14.73
4503 407.4 -9.1 201 4509 done -0.79 0.10 0.235 2641 200.0 2.75 0.094 2760 508.7 -107.1 - - 3462 - - - - - - - - 13.78 13.81 14.04
4839 435.3 -8.2 214 4844 roll -0.79 - - 2633 - 2.17 0.150 3827 491.7 -107.1 - - 3460 - - - - - - - - 14.77 13.77 14.77
4873 438.4 -9.1 219 4878 done -0.79 - - 2632 - 1.95 0.061 2753 -550.8 -107.1 - - 3460 - - - - - - - - 14.04 14.00 14.07
5231 469.1 -8.5 228 5235 roll -0.79 - - 2633 - 2.50 0.042 1353 -560.0 -107.1 - - 3459 - - - - - - - - 14.78 13.93 14.78
5265 472.0 -8.3 233 5271 done -0.79 - - 2623 - 2.75 0.093 2754 509.5 -107.1 - - 3458 - - - - - - - - 14.05 13.76 14.10
5623 500.5 -7.8 242 5628 roll -0.79 - - 2616 - 2.20 0.147 3834 490.9 -107.1 - - 3457 - - - - - - - - 14.77 13.71 14.77
5679 505.1 -8.4 250 5684 done -0.79 0.10 0.219 2643 270.0 1.92 0.062 2750 -564.6 -107.1 - - 3456 - - - - - - - - 13.72 14.10 13.94
6015 529.1 -7.2 263 6020 roll -0.79 - - 2644 - 2.50 0.043 1359 -556.4 -107.1 - - 3456 - - - - - - - - 14.71 13.90 14.71
6077 533.8 -7.4 272 6082 done -0.87 - - 2635 - 2.75 0.093 2761 509.8 -107.1 - - 3455 - - - - - - - - 14.03 13.74 14.09
6407 559.6 -8.0 284 6411 roll -0.87 - - 2628 - 2.17 0.148 3828 491.7 -107.1 - - 3453 - - - - - - - - 14.71 13.77 14.71
6455 563.6 -8.4 291 6461 done -0.87 - - 2626 - 1.95 0.062 2760 -547.7 -107.1 - - 3453 - - - - - - - - 14.00 13.98 14.02
6799 591.6 -8.1 298 6804 roll -0.87 - - 2626 - 2.53 0.042 1359 -553.8 -107.1 - - 3452 - - - - - - - - 14.71 13.85 14.71
6833 594.4 -8.0 303 6838 done -0.87 - - 2618 - 2.72 0.092 2756 513.6 -107.1 - - 3451 - - - - - - - - 14.14 13.86 14.19
7191 624.5 -8.5 312 7192 done -0.87 - - 2618 - - - 2756 - -107.1 - - 3451 - - - - - - - - 14.71 14.71 14.71
7527 653.9 -8.7 318 7532 roll -0.87 - - 2616 - 2.55 0.042 1356 -549.0 -107.1 - - 3449 - - - - - - - - 14.75 13.84 14.75
7561 657.0 -8.7 323 7566 done -0.87 - - 2609 - 2.72 0.093 2751 512.9 -107.1 - - 3450 - - - - - - - - 14.07 13.77 14.12
7919 689.7 -9.1 332 7923 roll -0.87 - - 2600 - 2.20 0.151 3829 490.0 -107.1 - - 3449 - - - - - - - - 14.69 13.79 14.69
7960 693.7 -10.2 338 7965 done -0.87 - - 2600 - 1.95 0.062 2744 -556.4 -107.1 - - 3448 - - - - - - - - 14.14 14.06 14.16
8311 727.3 -9.7 346 8316 roll -0.87 - - 2599 - 2.50 0.041 1359 -554.0 -107.1 - - 3447 - - - - - - - - 14.69 13.85 14.69
8338 730.0 -9.5 350 8343 done -0.87 0.10 0.241 2617 180.0 2.75 0.093 2751 506.2 -107.1 - - 3447 - - - - - - - - 13.71 13.75 13.98
8703 761.0 -8.3 360 8707 roll -0.87 - - 2610 - 2.20 0.150 3827 489.1 -107.1 - - 3445 - - - - - - - - 14.74 13.78 14.74
8772 766.5 -7.8 370 8777 done -0.87 - - 2609 - 1.95 0.062 2744 -555.4 -107.1 - - 3445 - - - - - - - - 14.12 14.04 14.14
9095 790.8 -7.3 381 9096 done -0.87 - - 2608 - - - 2743 - -107.1 - - 3444 - - - - - - - - 14.67 14.67 14.68
9259 end dive: TARGET_DEPTH_EXCEEDED
9259 begin apogee
9269 803.0 -7.2 384 9387 roll -0.23 0.77 0.174 2824 280.5 0.12 0.169 2269 -3950.0 - 115.10 1.813 3050 -3.4 0.301 - - - - - - 13.71 13.91 13.09
9389 end apogee: CONTROL_FINISHED_OK
9389 begin climb
9393 802.6 - 386 9523 roll 0.93 1.10 0.079 3185 328.2 2.50 0.050 889 -552.0 107.1 117.80 1.754 2618 -3.7 0.333 - - - - - - 13.87 13.93 13.05
9635 792.8 7.8 423 9640 done 0.80 - - 3185 - 2.47 0.067 2250 551.0 107.1 - - 2606 - - - - - - - - 14.24 14.07 14.28
9993 765.1 7.8 432 9998 roll 0.66 0.22 0.220 3118 -304.5 2.75 0.131 3656 511.3 107.1 - - 2604 - - - - - - - - 13.88 14.00 14.06
10055 760.9 6.8 441 10082 done 0.59 0.12 0.228 3095 -191.7 2.40 0.053 2264 -580.0 126.0 18.88 1.860 2543 -3.2 0.262 - - - - - - 13.95 14.31 13.31
10445 741.2 5.0 454 10515 roll 0.66 - - 3094 - 2.80 0.135 3660 498.6 181.3 63.67 1.726 2321 -3.5 0.297 - - - - - - 14.67 14.00 13.21
10559 736.2 6.3 471 10599 done 0.70 - - 3102 - 2.45 0.051 2257 -572.7 209.9 31.88 1.731 2207 -3.6 0.302 - - - - - - 14.29 14.23 13.13
10945 710.0 7.0 484 10959 done 0.71 - - 3103 - - - 2258 - 224.7 13.02 1.857 2156 -3.9 0.297 - - - - - - 14.67 14.24 13.33
11281 685.4 7.4 490 11291 roll 0.72 - - 3103 - 2.88 0.137 3663 487.8 231.5 2.15 0.400 2129 -12.6 4.270 - - - - - - 14.69 14.01 12.97
11337 680.9 8.2 498 11342 done 0.72 - - 3112 - 2.45 0.051 2259 -573.1 231.5 - - 2135 - - - - - - - - 14.42 14.34 14.43
11673 654.2 8.1 511 11677 roll 0.72 - - 3122 - 2.53 0.057 851 -556.5 231.5 - - 2136 - - - - - - - - 14.69 14.11 14.69
11693 652.6 8.1 514 11698 done 0.72 - - 3122 - 2.55 0.069 2250 548.6 231.5 - - 2135 - - - - - - - - 14.29 14.09 14.32
12009 624.3 9.0 524 12014 roll 0.72 - - 3122 - 2.83 0.139 3658 497.5 231.5 - - 2132 - - - - - - - - 14.70 13.85 14.70
12065 618.6 10.2 532 12070 done 0.72 - - 3132 - 2.45 0.050 2254 -573.1 231.5 - - 2136 - - - - - - - - 14.38 14.28 14.40
12401 588.0 9.1 545 12406 roll 0.72 - - 3142 - 2.50 0.057 862 -556.8 231.5 - - 2136 - - - - - - - - 14.69 14.04 14.70
12449 583.7 8.8 552 12455 done 0.72 - - 3142 - 2.60 0.070 2258 536.9 231.5 - - 2135 - - - - - - - - 14.22 14.02 14.26
12793 552.4 9.2 559 12798 roll 0.72 - - 3142 - 2.85 0.142 3661 492.3 231.5 - - 2135 - - - - - - - - 14.69 13.81 14.69
12855 545.9 10.6 568 12860 done 0.72 - - 3152 - 2.47 0.049 2247 -572.5 231.5 - - 2135 - - - - - - - - 14.32 14.23 14.33
13185 515.6 9.2 580 13186 done 0.72 - - 3152 - - - 2244 - 231.5 - - 2132 - - - - - - - - 14.73 14.73 14.73
13521 487.6 8.2 586 13526 roll 0.72 - - 3153 - 2.92 0.136 3665 486.6 231.5 - - 2135 - - - - - - - - 14.73 13.78 14.73
13555 484.6 8.7 591 13560 done 0.72 - - 3163 - 2.47 0.049 2260 -568.8 231.5 - - 2135 - - - - - - - - 14.30 14.21 14.32
13913 455.5 8.2 600 13918 roll 0.72 - - 3174 - 2.55 0.058 857 -550.2 231.5 - - 2135 - - - - - - - - 14.67 13.93 14.67
13961 451.2 8.6 607 13968 done 0.72 0.12 0.221 3137 -308.3 2.62 0.072 2265 537.4 231.5 - - 2135 - - - - - - - - 13.79 13.93 14.05
14305 425.2 7.6 614 14311 roll 0.73 - - 3137 - 2.85 0.138 3661 489.8 233.1 2.12 0.369 2120 -7.1 1.618 - - - - - - 14.68 13.87 13.04
14354 420.8 9.1 621 14360 done 0.73 - - 3141 - 2.47 0.050 2250 -571.3 233.1 - - 2129 - - - - - - - - 14.35 14.26 14.36
14690 393.0 8.3 634 14693 done 0.73 - - 3148 - - - 2247 - 233.1 1.77 0.211 2120 -5.1 1.879 - - - - - - 14.68 14.09 13.84
15027 366.0 8.0 640 15032 roll 0.73 - - 3158 - 2.53 0.057 859 -548.6 233.1 - - 2131 - - - - - - - - 14.67 13.94 14.67
15053 363.8 8.0 644 15059 done 0.73 - - 3157 - 2.60 0.070 2266 541.2 233.1 1.83 0.213 2118 -7.1 2.407 - - - - - - 14.14 13.91 13.81
15411 332.3 9.0 653 15418 roll 0.73 - - 3157 - 2.88 0.141 3661 484.4 233.1 1.77 0.212 2123 2.8 -0.879 - - - - - - 14.72 13.82 13.86
15488 324.6 10.1 664 15494 done 0.73 0.10 0.229 3140 -170.0 2.47 0.048 2248 -572.1 233.1 1.45 0.209 2121 - - - - - - - - 13.85 14.19 13.84
15804 298.5 8.2 674 15810 roll 0.73 - - 3150 - 2.55 0.056 855 -546.3 233.1 1.75 0.211 2120 - - - - - - - - 14.72 13.98 13.84
15853 294.5 8.3 681 15859 done 0.73 - - 3150 - 2.60 0.069 2260 540.4 233.1 1.58 0.216 2120 - - - - - - - - 14.15 13.95 13.83
16189 266.5 8.4 694 16195 roll 0.73 - - 3149 - 2.90 0.142 3662 483.4 233.1 1.67 0.213 2121 - - - - - - - - 14.66 13.83 13.86
16223 263.3 9.2 699 16228 done 0.73 - - 3160 - 2.47 0.050 2256 -569.2 233.1 - - 2128 - - - - - - - - 14.27 14.19 14.29
16574 233.3 8.7 707 16581 roll 0.73 - - 3160 - 2.95 0.139 3666 478.0 233.1 1.83 0.213 2121 -3.8 0.831 - - - - - - 14.73 13.83 13.83
16602 230.6 9.5 711 16607 done 0.73 0.12 0.219 3136 -200.0 2.47 0.049 2254 -571.7 233.1 - - 2128 - - - - - - - - 13.81 14.19 14.06
16961 202.1 7.9 720 16967 roll 0.73 - - 3146 - 2.58 0.057 862 -539.5 233.1 1.88 0.215 2121 -3.7 0.694 - - - - - - 14.71 13.97 13.82
17002 198.7 8.1 726 17009 done 0.73 - - 3146 - 2.60 0.066 2268 540.8 233.1 1.48 0.227 2121 - - - - - - - - 14.14 13.92 13.83
17346 172.2 7.6 733 17357 roll 0.73 - - 3146 - 2.83 0.142 3658 491.2 234.9 3.03 0.789 2118 -1.0 0.043 - - - - - - 14.66 13.90 13.42
17402 167.7 8.3 741 17408 done 0.73 - - 3156 - 2.45 0.049 2248 -575.5 234.9 2.15 0.378 2113 -2.3 0.205 - - - - - - 14.38 14.30 13.17
17738 139.8 8.6 754 17744 roll 0.73 - - 3166 - 2.55 0.056 861 -543.9 234.9 1.88 0.212 2114 - - - - - - - - 14.66 14.03 13.85
17779 135.9 9.2 760 17786 done 0.73 0.10 0.217 3137 -290.0 2.60 0.071 2262 538.8 234.9 1.77 0.201 2113 - - - - - - - - 13.83 13.93 13.81
18123 108.7 7.7 767 18134 roll 0.73 - - 3137 - 2.88 0.141 3664 486.8 236.2 2.85 0.252 2115 - - - - - - - - 14.71 13.84 13.50
18164 105.6 7.6 773 18177 done 0.73 - - 3147 - 2.47 0.050 2249 -572.9 238.9 4.25 0.351 2100 -3.5 0.211 - - - - - - 14.29 14.21 13.71
18487 87.3 4.9 784 18528 roll 0.80 - - 3146 - 2.72 0.139 3660 518.8 296.0 34.83 0.435 1871 -6.6 0.262 - - - - - - 14.66 14.09 13.81
18571 82.5 6.9 796 18589 done 0.82 - - 3156 - 2.45 0.049 2254 -573.9 311.8 10.82 0.390 1809 -5.7 0.241 - - - - - - 14.28 14.20 13.69
18912 58.0 6.5 811 18934 roll 0.96 0.08 0.136 3240 1050.0 2.47 0.055 864 -562.8 336.1 15.43 0.339 1712 -6.3 0.213 - - - - - - 14.26 14.20 13.81
18963 53.6 8.2 819 18968 done 0.96 0.10 0.215 3211 -290.0 2.55 0.068 2267 550.2 336.1 - - 1716 - - - - - - - - 13.97 14.05 14.20
19303 38.0 5.4 834 19338 roll 1.12 0.08 0.142 3300 1112.5 2.78 0.137 3655 499.3 381.8 27.10 0.286 1531 -6.8 0.180 - - - - - - 14.23 13.98 13.90
19361 32.5 10.0 843 19366 done 1.12 0.17 0.217 3263 -217.6 2.40 0.046 2261 -580.8 381.8 - - 1535 - - - - - - - - 13.89 14.23 14.16
19691 6.8 7.2 857 19702 roll 1.13 - - 3273 - 2.47 0.053 862 -566.4 391.4 6.88 0.190 1489 -6.7 0.047 - - - - - - 14.71 14.00 13.83
19749 end climb: SURFACE_DEPTH_REACHED
19749 begin surface coast
19756 end surface coast: CONTROL_FINISHED_OK
19756 begin surface
SM -4.23 - - - - -8.40 9.43 0.083 189 20.0 3.62 0.088 2760 -1651.9 500.14 56.28 0.155 1056 18.8 0.052 - - - - - -