SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 712 * Raw log
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• Previous call tries 1 • 242.89 of 350.00 AH used of 24V (30.60% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.7 deg, depth -4.61 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - - 101 done -0.93 - - 107 - - - 2785 - -107.1 -80.25 - 3478 - - - - - - - - 14.57 12.66 14.50
106 1.0 -10.1 3 123 roll -0.93 12.00 0.377 2590 206.9 2.45 0.033 1371 -577.1 -107.1 - - 3478 - - - - - - - - 13.83 14.34 14.24
247 39.3 -20.9 23 252 done -0.70 0.32 0.245 2665 234.4 2.72 0.106 2772 515.1 -107.1 - - 3479 - - - - - - - - 13.78 13.94 14.09
582 78.5 -5.7 38 587 roll -0.70 - - 2657 - 2.15 0.161 3825 489.8 -107.1 - - 3480 - - - - - - - - 14.70 13.81 14.70
658 84.1 -6.8 49 665 done -0.70 - - 2657 - 1.85 0.059 2777 -566.5 -107.1 - - 3480 - - - - - - - - 14.15 14.13 14.16
974 109.6 -8.5 59 979 roll -0.70 - - 2649 - 2.17 0.153 3833 486.6 -107.1 - - 3481 - - - - - - - - 14.73 13.78 14.73
1008 113.1 -9.7 64 1013 done -0.70 - - 2649 - 1.83 0.057 2755 -589.1 -107.1 - - 3481 - - - - - - - - 14.23 14.20 14.26
1366 141.4 -7.5 73 1372 roll -0.70 - - 2641 - 2.22 0.155 3827 482.9 -107.1 - - 3479 - - - - - - - - 14.71 13.80 14.71
1442 147.5 -8.0 84 1447 done -0.70 0.10 0.216 2670 290.0 1.80 0.057 2785 -578.9 -107.1 - - 3480 - - - - - - - - 13.85 14.19 14.06
1758 170.8 -7.7 94 1763 roll -0.70 - - 2671 - 2.50 0.041 1368 -566.8 -107.1 - - 3474 - - - - - - - - 14.78 14.02 14.78
1841 177.5 -7.9 106 1846 done -0.78 - - 2661 - 2.75 0.099 2773 510.9 -107.1 - - 3476 - - - - - - - - 14.07 13.78 14.13
2206 205.8 -7.8 116 2211 roll -0.78 - - 2661 - 2.53 0.042 1364 -556.9 -107.1 - - 3474 - - - - - - - - 14.73 14.04 14.73
2240 208.5 -7.7 121 2246 done -0.78 - - 2653 - 2.75 0.100 2764 509.1 -107.1 - - 3474 - - - - - - - - 14.19 13.90 14.23
2598 238.4 -8.3 130 2599 done -0.78 - - 2653 - - - 2766 - -107.1 - - 3472 - - - - - - - - 14.73 14.73 14.73
2934 262.3 -7.1 136 2939 roll -0.78 - - 2656 - 2.53 0.043 1369 -552.2 -107.1 - - 3468 - - - - - - - - 14.73 13.98 14.73
2968 265.1 -8.1 141 2974 done -0.78 - - 2645 - 2.75 0.099 2763 506.9 -107.1 - - 3469 - - - - - - - - 14.12 13.83 14.16
3326 295.8 -9.0 150 3327 done -0.78 - - 2644 - - - 2763 - -107.1 - - 3466 - - - - - - - - 14.73 14.73 14.73
3662 323.1 -7.8 156 3667 roll -0.78 - - 2644 - 2.53 0.042 1365 -552.6 -107.1 - - 3465 - - - - - - - - 14.72 13.97 14.72
3731 328.6 -7.2 166 3736 done -0.78 - - 2636 - 2.75 0.100 2758 506.5 -107.1 - - 3463 - - - - - - - - 14.16 13.88 14.20
4054 354.6 -8.2 177 4055 done -0.78 - - 2636 - - - 2759 - -107.1 - - 3462 - - - - - - - - 14.73 14.73 14.73
4390 384.1 -8.8 183 4395 roll -0.78 - - 2637 - 2.53 0.043 1368 -549.8 -107.1 - - 3460 - - - - - - - - 14.72 13.94 14.73
4431 388.2 -9.0 189 4437 done -0.78 - - 2627 - 2.75 0.099 2760 506.2 -107.1 - - 3459 - - - - - - - - 14.09 13.81 14.14
4782 419.2 -8.8 197 4788 roll -0.78 - - 2618 - 2.20 0.159 3826 484.5 -107.1 - - 3458 - - - - - - - - 14.71 13.81 14.71
4823 422.8 -8.5 203 4828 done -0.78 - - 2617 - 1.90 0.063 2756 -563.2 -107.1 - - 3458 - - - - - - - - 14.19 14.11 14.21
5174 451.7 -8.3 211 5179 roll -0.78 - - 2618 - 2.50 0.041 1364 -556.8 -107.1 - - 3456 - - - - - - - - 14.76 13.90 14.76
5236 457.4 -9.1 220 5241 done -0.78 0.12 0.233 2643 208.3 2.75 0.096 2757 506.5 -107.1 - - 3461 - - - - - - - - 13.74 13.81 14.02
5567 480.9 -7.1 232 5571 roll -0.78 - - 2635 - 2.20 0.157 3825 485.5 -107.1 - - 3455 - - - - - - - - 14.75 13.79 14.75
5593 483.2 -8.4 236 5598 done -0.78 - - 2634 - 1.95 0.063 2764 -544.1 -107.1 - - 3454 - - - - - - - - 14.04 14.01 14.06
5958 511.7 -8.0 246 5963 roll -0.78 - - 2638 - 2.55 0.043 1355 -552.5 -107.1 - - 3453 - - - - - - - - 14.70 13.88 14.71
5999 515.5 -8.2 252 6004 done -0.78 - - 2625 - 2.75 0.094 2755 509.1 -107.1 - - 3453 - - - - - - - - 14.11 13.83 14.16
6350 545.9 -8.9 260 6355 roll -0.78 - - 2617 - 2.20 0.155 3828 487.7 -107.1 - - 3451 - - - - - - - - 14.70 13.79 14.70
6391 549.8 -9.4 266 6396 done -0.78 0.10 0.221 2645 280.0 1.95 0.063 2742 -556.9 -107.1 - - 3451 - - - - - - - - 13.71 14.09 13.94
6742 576.8 -7.7 274 6747 roll -0.78 - - 2644 - 2.50 0.041 1358 -553.6 -107.1 - - 3450 - - - - - - - - 14.69 13.89 14.69
6776 579.5 -7.5 279 6781 done -0.78 - - 2636 - 2.78 0.096 2762 505.0 -107.1 - - 3450 - - - - - - - - 14.15 13.88 14.19
7134 607.4 -7.8 288 7139 roll -0.78 - - 2636 - 2.58 0.042 1355 -545.3 -107.1 - - 3448 - - - - - - - - 14.75 13.86 14.75
7168 610.3 -8.0 293 7174 done -0.78 - - 2626 - 2.78 0.096 2753 502.9 -107.1 - - 3448 - - - - - - - - 14.12 13.85 14.19
7526 639.3 -8.2 302 7531 roll -0.78 - - 2626 - 2.58 0.043 1352 -543.0 -107.1 - - 3447 - - - - - - - - 14.75 13.85 14.75
7560 642.2 -7.8 307 7565 done -0.78 - - 2617 - 2.78 0.097 2750 502.9 -107.1 - - 3445 - - - - - - - - 14.09 13.81 14.14
7918 672.0 -8.4 316 7923 roll -0.78 - - 2609 - 2.22 0.156 3827 485.1 -107.1 - - 3445 - - - - - - - - 14.69 13.78 14.69
7959 676.1 -9.2 322 7964 done -0.78 0.12 0.212 2644 291.7 1.95 0.063 2745 -554.9 -107.1 - - 3445 - - - - - - - - 13.66 14.07 13.90
8310 699.6 -6.6 330 8315 roll -0.78 - - 2645 - 2.53 0.041 1356 -549.0 -107.1 - - 3444 - - - - - - - - 14.67 13.85 14.67
8351 702.4 -6.4 336 8356 done -0.87 - - 2636 - 2.75 0.094 2750 506.9 -107.1 - - 3444 - - - - - - - - 14.13 13.85 14.18
8702 725.8 -6.7 344 8703 done -0.87 - - 2636 - - - 2748 - -107.1 - - 3442 - - - - - - - - 14.73 14.73 14.73
9038 748.7 -6.8 350 9039 done -0.87 - - 2636 - - - 2750 - -107.1 - - 3441 - - - - - - - - 14.73 14.73 14.75
9374 772.0 -7.0 356 9379 roll -0.87 - - 2635 - 2.58 0.044 1355 -540.7 -107.1 - - 3439 - - - - - - - - 14.66 13.83 14.66
9415 775.2 -7.4 362 9420 done -0.87 - - 2626 - 2.78 0.096 2751 502.2 -107.1 - - 3440 - - - - - - - - 14.07 13.78 14.13
9762 end dive: TARGET_DEPTH_EXCEEDED
9762 begin apogee
9772 801.9 -7.8 370 9877 roll -0.23 0.70 0.167 2831 292.9 0.10 0.198 2267 -4840.0 - 95.38 2.712 3053 -4.1 0.238 - - - - 1 - 13.71 13.71 12.64
9879 end apogee: CONTROL_FINISHED_OK
9879 begin climb
9883 806.0 - 372 10025 roll 0.93 1.12 0.082 3186 317.0 2.58 0.050 881 -537.2 107.1 128.30 1.818 2614 -3.4 0.301 - - - - - - 13.72 13.77 13.02
10054 806.9 3.3 397 10158 done 0.90 - - 3187 - 2.53 0.069 2243 538.3 194.6 98.55 1.738 2274 -3.5 0.318 - - - - - - 14.07 13.92 13.05
10500 766.8 9.9 418 10505 roll 0.79 0.08 0.262 3162 -312.5 2.80 0.141 3653 503.6 194.6 - - 2253 - - - - - - - - 14.00 14.01 14.16
10533 762.8 10.3 423 10538 done 0.68 0.17 0.218 3124 -223.5 2.40 0.052 2274 -574.6 194.6 - - 2253 - - - - - - - - 13.99 14.34 14.26
10891 734.5 8.0 432 10896 roll 0.68 - - 3123 - 2.80 0.142 3658 494.3 194.6 - - 2252 - - - - - - - - 14.72 13.93 14.71
10918 732.1 8.6 436 10923 done 0.68 - - 3133 - 2.47 0.052 2245 -572.1 194.6 - - 2252 - - - - - - - - 14.40 14.32 14.42
11283 699.8 9.0 446 11288 roll 0.68 - - 3132 - 2.88 0.142 3652 488.5 194.6 - - 2251 - - - - - - - - 14.73 13.87 14.73
11317 696.4 9.9 451 11322 done 0.68 - - 3144 - 2.47 0.052 2244 -570.0 194.6 - - 2251 - - - - - - - - 14.37 14.28 14.40
11675 663.0 9.3 460 11680 roll 0.68 - - 3144 - 2.90 0.142 3656 486.9 194.6 - - 2250 - - - - - - - - 14.73 13.81 14.73
11702 660.4 9.4 464 11707 done 0.68 0.10 0.236 3126 -180.0 2.47 0.052 2250 -569.2 194.6 - - 2250 - - - - - - - - 13.91 14.27 14.19
12067 631.6 7.7 474 12068 done 0.68 - - 3125 - - - 2247 - 196.0 - - 2248 - - - - - - - - 14.73 14.73 14.73
12403 607.2 7.2 480 12414 roll 0.70 - - 3125 - 2.92 0.145 3658 483.2 205.8 2.47 0.669 2233 -6.1 1.095 - - - - - - 14.73 13.88 13.21
12437 604.5 7.9 485 12443 done 0.70 - - 3134 - 2.47 0.052 2249 -570.4 205.8 - - 2238 - - - - - - - - 14.35 14.25 14.38
12795 576.0 8.0 494 12798 done 0.70 - - 3134 - - - 2246 - 205.8 1.92 0.210 2229 -4.7 2.555 - - - - - - 14.69 14.12 13.84
13131 548.9 8.0 500 13137 roll 0.70 - - 3133 - 2.95 0.144 3654 477.3 205.8 1.77 0.211 2231 - - - - - - - - 14.73 13.83 13.85
13186 544.0 9.2 508 13191 done 0.70 - - 3145 - 2.47 0.051 2248 -569.2 205.8 - - 2239 - - - - - - - - 14.30 14.21 14.32
13516 517.7 8.0 520 13522 roll 0.70 - - 3145 - 2.95 0.144 3653 476.3 205.8 1.77 0.212 2230 -5.1 2.468 - - - - - - 14.71 13.83 13.88
13578 512.1 9.2 529 13584 done 0.70 - - 3157 - 2.45 0.051 2264 -566.9 205.8 1.48 0.223 2230 - - - - - - - - 14.29 14.21 13.86
13901 485.5 8.2 540 13902 done 0.70 0.10 0.231 3127 -300.0 - - 2261 - 205.8 - - 2239 - - - - - - - - 13.88 14.09 14.04
14237 463.1 6.5 546 14279 roll 0.73 - - 3126 - 2.88 0.147 3657 484.7 230.7 36.67 1.511 2124 -3.1 0.191 - - - - - - 14.66 14.01 13.38
14343 455.7 7.6 561 14348 done 0.73 - - 3136 - 2.45 0.051 2262 -569.4 232.8 - - 2115 - - - - - - - - 14.35 14.27 14.37
14679 431.7 7.2 574 14690 roll 0.74 - - 3146 - 2.53 0.057 846 -559.7 244.2 5.72 1.510 2080 -6.1 0.348 - - - - - - 14.68 14.25 13.38
14713 429.1 7.2 579 14740 done 0.76 - - 3149 - 2.58 0.073 2262 548.8 255.3 17.52 1.559 2032 -2.7 0.150 - - - - 1 - 14.38 14.18 13.38
15064 401.8 7.9 594 15069 roll 0.76 - - 3146 - 2.83 0.150 3660 494.0 255.3 - - 2029 - - - - - - - - 14.68 13.92 14.68
15140 394.8 9.4 605 15145 done 0.76 - - 3156 - 2.45 0.050 2261 -571.0 255.3 - - 2029 - - - - - - - - 14.37 14.28 14.39
15456 367.0 8.9 615 15461 roll 0.76 - - 3167 - 2.55 0.057 851 -552.9 255.3 - - 2029 - - - - - - - - 14.67 14.07 14.67
15512 361.9 9.0 623 15516 done 0.76 - - 3167 - 2.62 0.073 2267 540.5 255.3 - - 2028 - - - - - - - - 14.26 14.04 14.30
15848 329.6 9.8 636 15852 roll 0.76 - - 3167 - 2.85 0.148 3657 487.7 255.3 - - 2028 - - - - - - - - 14.72 13.81 14.72
15889 325.1 11.4 642 15894 done 0.76 0.10 0.231 3149 -180.0 2.45 0.049 2261 -569.8 255.3 - - 2028 - - - - - - - - 13.92 14.25 14.16
16240 292.0 9.5 650 16245 roll 0.76 - - 3159 - 2.55 0.057 859 -549.8 255.3 - - 2028 - - - - - - - - 14.66 13.97 14.66
16288 287.3 9.7 657 16295 done 0.76 - - 3153 - 2.65 0.073 2268 531.7 255.3 - - 2028 - - - - - - - - 14.18 13.95 14.22
16632 254.6 9.4 664 16636 roll 0.76 - - 3159 - 2.85 0.149 3663 489.5 255.3 - - 2028 - - - - - - - - 14.67 13.77 14.68
16688 249.1 10.1 672 16692 done 0.76 - - 3169 - 2.47 0.048 2257 -569.2 255.3 - - 2028 - - - - - - - - 14.28 14.19 14.30
17024 218.9 9.0 685 17029 roll 0.76 - - 3180 - 2.55 0.058 861 -547.5 255.3 - - 2029 - - - - - - - - 14.72 13.93 14.72
17080 213.8 9.3 693 17086 done 0.76 0.12 0.211 3145 -291.7 2.62 0.075 2261 534.4 255.3 - - 2028 - - - - - - - - 13.81 13.90 14.05
17416 186.1 8.1 706 17421 roll 0.76 - - 3145 - 2.88 0.147 3658 485.1 255.3 - - 2028 - - - - - - - - 14.71 13.80 14.71
17472 181.4 8.6 714 17476 done 0.76 - - 3154 - 2.47 0.051 2260 -566.0 255.3 - - 2028 - - - - - - - - 14.27 14.19 14.29
17808 156.0 7.5 727 17814 roll 0.76 - - 3164 - 2.60 0.057 856 -540.0 259.2 1.83 0.212 2016 -6.6 0.959 - - - - - - 14.71 14.00 13.88
17857 152.2 7.9 734 17861 done 0.76 - - 3164 - 2.62 0.073 2265 537.8 259.2 - - 2023 - - - - - - - - 14.14 13.92 14.19
18193 124.1 8.6 747 18198 roll 0.76 - - 3164 - 2.88 0.148 3662 485.1 259.2 - - 2027 - - - - - - - - 14.66 13.78 14.66
18227 120.8 9.6 752 18232 done 0.76 - - 3175 - 2.47 0.050 2260 -567.6 259.2 1.42 0.220 2017 -7.0 0.768 - - - - - - 14.25 14.15 13.84
18557 89.8 9.5 762 18562 roll 0.76 - - 3174 - 2.88 0.147 3658 485.4 259.2 1.33 0.222 2019 - - - - - - - - 14.70 13.81 13.85
18598 85.6 10.5 768 18605 done 0.76 0.12 0.212 3149 -208.3 2.47 0.049 2255 -568.0 259.2 1.50 0.204 2017 - - - - - - - - 13.81 14.12 13.83
18918 69.3 3.6 780 18975 roll 0.95 0.08 0.139 3229 1000.0 2.85 0.148 3651 489.8 340.9 47.72 0.386 1691 -6.8 0.244 - - - - - - 14.23 14.06 13.88
19074 55.8 10.8 803 19080 done 0.95 0.10 0.215 3206 -230.0 2.42 0.048 2269 -571.1 340.9 - - 1696 - - - - - - - - 13.95 14.24 14.16
19391 40.2 7.0 815 19409 roll 1.09 0.08 0.140 3318 1400.0 2.58 0.057 859 -546.5 355.7 9.05 0.279 1638 -6.4 0.184 - - - - - - 14.35 14.16 13.82
19480 34.4 8.0 828 19486 done 1.09 0.25 0.226 3254 -256.0 2.60 0.069 2277 545.4 355.7 1.40 0.200 1634 -2.9 0.098 - - - - - - 13.81 14.01 13.90
19807 19.0 5.7 841 19837 roll 1.14 - - 3264 - 2.60 0.056 858 -545.8 396.2 25.00 0.223 1471 -6.5 0.110 - - - - - - 14.62 14.23 13.97
19859 14.7 9.0 849 19865 done 1.22 - - 3265 - 2.60 0.072 2278 546.2 396.2 - - 1473 - - - - - - - - 14.27 14.04 14.31
20022 end climb: SURFACE_DEPTH_REACHED
20022 begin surface coast
20050 end surface coast: CONTROL_FINISHED_OK
20050 begin surface
SM -4.64 - - - - -8.39 9.25 0.072 191 20.6 0.98 0.118 2768 1642.9 500.14 53.92 0.149 1058 19.6 0.062 - - - - - -