SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 713 * Raw log
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• Previous call tries 1 • 243.20 of 350.00 AH used of 24V (30.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.3 deg, depth -4.77 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: 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
12 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 101 done -0.93 - - 106 - - - 2782 - -107.1 -79.40 - 3476 - - - - - - - - 14.57 12.87 14.50
106 1.6 -11.1 3 123 roll -0.93 12.05 0.379 2583 205.6 2.05 0.132 3830 511.2 -107.1 - - 3478 - - - - - - - - 13.84 14.14 14.24
267 47.8 -23.1 26 273 done -0.64 0.40 0.237 2688 262.5 1.83 0.053 2728 -602.2 -107.1 - - 3478 - - - - - - - - 13.80 14.33 14.12
579 81.0 -8.7 38 584 roll -0.64 - - 2680 - 2.25 0.155 3824 487.1 -107.1 - - 3479 - - - - - - - - 14.71 13.82 14.71
704 91.1 -7.4 56 709 done -0.64 - - 2680 - 1.75 0.059 2813 -577.7 -107.1 - - 3479 - - - - - - - - 14.31 14.25 14.33
1028 111.2 -6.2 66 1032 roll -0.64 - - 2679 - 2.55 0.041 1360 -569.8 -107.1 - - 3479 - - - - - - - - 14.73 14.09 14.74
1054 112.9 -6.2 70 1059 done -0.64 - - 2670 - 2.78 0.101 2780 510.8 -107.1 - - 3480 - - - - - - - - 14.11 13.83 14.16
1419 137.6 -6.9 80 1424 roll -0.64 - - 2662 - 2.15 0.163 3826 486.5 -107.1 - - 3478 - - - - - - - - 14.75 13.79 14.75
1467 141.0 -7.3 87 1474 done -0.64 0.10 0.213 2691 290.0 1.85 0.061 2774 -568.6 -107.1 - - 3478 - - - - - - - - 13.84 14.15 14.04
1812 163.7 -6.6 94 1817 roll -0.75 0.05 0.200 2623 -1360.0 2.50 0.038 1356 -567.2 -107.1 - - 3478 - - - - - - - - 14.44 14.04 14.45
1887 170.0 -8.6 105 1893 done -0.75 0.12 0.223 2650 225.0 2.80 0.101 2778 507.9 -107.1 - - 3475 - - - - - - - - 13.76 13.79 14.02
2203 193.6 -7.5 115 2208 roll -0.75 - - 2650 - 2.55 0.043 1358 -556.9 -107.1 - - 3472 - - - - - - - - 14.78 14.02 14.78
2237 196.3 -7.9 120 2242 done -0.75 - - 2642 - 2.80 0.106 2772 505.0 -107.1 - - 3472 - - - - - - - - 14.11 13.81 14.16
2595 225.4 -8.2 129 2596 done -0.75 - - 2642 - - - 2772 - -107.1 - - 3470 - - - - - - - - 14.78 14.78 14.78
2931 252.7 -8.2 135 2936 roll -0.75 - - 2641 - 2.55 0.043 1362 -552.9 -107.1 - - 3467 - - - - - - - - 14.78 13.98 14.79
2972 256.3 -8.6 141 2978 done -0.75 - - 2632 - 2.80 0.103 2774 504.3 -107.1 - - 3467 - - - - - - - - 14.06 13.77 14.11
3323 285.9 -8.9 149 3329 roll -0.75 - - 2624 - 2.20 0.165 3831 480.5 -107.1 - - 3465 - - - - - - - - 14.73 13.78 14.73
3364 289.3 -18.3 155 3369 done -0.75 0.10 0.223 2653 290.0 1.88 0.064 2774 -562.2 -107.1 - - 3464 - - - - - - - - 13.76 14.12 13.97
3715 312.3 -6.6 163 3720 roll -0.75 - - 2653 - 2.53 0.043 1363 -557.7 -107.1 - - 3463 - - - - - - - - 14.73 13.97 14.73
3777 319.7 -7.9 172 3782 done -0.75 - - 2644 - 2.80 0.098 2774 503.9 -107.1 - - 3462 - - - - - - - - 14.07 13.78 14.13
4107 345.5 -8.0 184 4108 done -0.75 - - 2644 - - - 2774 - -107.1 - - 3460 - - - - - - - - 14.78 14.78 14.78
4443 373.5 -8.4 190 4448 roll -0.75 - - 2644 - 2.58 0.044 1360 -548.1 -107.1 - - 3458 - - - - - - - - 14.78 13.91 14.78
4505 378.9 -8.3 199 4510 done -0.75 - - 2636 - 2.78 0.099 2768 506.5 -107.1 - - 3458 - - - - - - - - 14.09 13.79 14.14
4835 407.9 -8.9 211 4836 done -0.75 - - 2636 - - - 2767 - -107.1 - - 3456 - - - - - - - - 14.73 14.73 14.73
5171 436.9 -8.4 217 5172 done -0.75 - - 2633 - - - 2768 - -107.1 - - 3455 - - - - - - - - 14.78 14.78 14.78
5507 463.0 -7.6 223 5512 roll -0.75 - - 2635 - 2.58 0.044 1364 -544.2 -107.1 - - 3454 - - - - - - - - 14.71 13.86 14.71
5541 465.8 -8.0 228 5546 done -0.75 0.10 0.242 2654 190.0 2.80 0.100 2774 503.6 -107.1 - - 3453 - - - - - - - - 13.78 13.80 14.03
5899 489.9 -6.7 237 5905 roll -0.75 - - 2646 - 2.20 0.166 3828 479.1 -107.1 - - 3452 - - - - - - - - 14.71 13.78 14.71
5940 493.0 -7.4 243 5945 done -0.75 - - 2645 - 1.92 0.064 2760 -556.2 -107.1 - - 3452 - - - - - - - - 14.16 14.09 14.19
6291 516.6 -6.7 251 6296 roll -0.75 - - 2645 - 2.55 0.044 1356 -550.6 -107.1 - - 3451 - - - - - - - - 14.71 13.86 14.71
6332 519.6 -6.6 257 6338 done -0.75 - - 2639 - 2.83 0.099 2774 501.1 -107.1 - - 3450 - - - - - - - - 14.09 13.81 14.14
6683 545.3 -7.6 265 6689 roll -0.75 - - 2631 - 2.17 0.164 3826 484.8 -107.1 - - 3448 - - - - - - - - 14.76 13.86 14.76
6717 548.3 -8.4 270 6722 done -0.75 - - 2630 - 1.92 0.064 2751 -559.9 -107.1 - - 3448 - - - - - - - - 14.19 14.11 14.21
7075 577.7 -8.2 279 7080 roll -0.75 - - 2630 - 2.53 0.043 1356 -551.4 -107.1 - - 3448 - - - - - - - - 14.75 13.86 14.75
7102 580.0 -8.2 283 7107 done -0.75 0.12 0.228 2655 208.3 2.80 0.099 2766 503.6 -107.1 - - 3448 - - - - - - - - 13.81 13.85 14.07
7467 604.5 -6.6 293 7473 roll -0.84 - - 2653 - 2.60 0.044 1352 -543.8 -107.1 - - 3446 - - - - - - - - 14.75 13.84 14.74
7523 608.3 -6.6 301 7529 done -0.94 0.10 0.112 2567 -860.0 2.83 0.098 2769 500.7 -107.1 - - 3446 - - - - - - - - 14.07 13.79 14.17
7859 640.4 -9.8 314 7861 done -0.94 0.10 0.233 2593 260.0 - - 2769 - -107.1 - - 3444 - - - - - - - - 13.84 14.03 13.98
8195 669.3 -8.5 320 8196 done -0.94 - - 2592 - - - 2768 - -107.1 - - 3441 - - - - - - - - 14.69 14.69 14.69
8532 699.4 -9.1 326 8536 roll -0.94 - - 2586 - 2.20 0.162 3827 481.4 -107.1 - - 3442 - - - - - - - - 14.68 13.77 14.68
8558 702.0 -9.6 330 8563 done -0.94 - - 2585 - 1.98 0.064 2735 -551.5 -107.1 - - 3442 - - - - - - - - 14.10 14.02 14.13
8923 737.6 -9.8 340 8928 roll -0.94 - - 2578 - 2.28 0.152 3825 478.1 -107.1 - - 3441 - - - - - - - - 14.68 13.81 14.68
8992 744.8 -10.4 350 8997 done -0.94 - - 2576 - 1.92 0.063 2758 -555.7 -107.1 - - 3441 - - - - - - - - 14.14 14.06 14.16
9315 777.3 -10.2 361 9316 done -0.94 - - 2577 - - - 2759 - -107.1 - - 3439 - - - - - - - - 14.73 14.73 14.73
9591 end dive: TARGET_DEPTH_EXCEEDED
9591 begin apogee
9601 805.3 -10.0 366 9718 roll -0.23 0.90 0.186 2823 273.3 0.12 0.183 2278 -4008.3 - 114.18 1.831 3049 -3.4 0.302 - - - - - - 13.75 13.90 13.07
9720 end apogee: CONTROL_FINISHED_OK
9720 begin climb
9724 808.6 - 368 9855 roll 0.93 1.12 0.084 3190 327.7 2.55 0.050 884 -546.7 107.1 119.22 1.780 2618 -3.6 0.330 - - - - - - 13.84 13.91 13.04
9919 804.9 5.8 398 9966 done 0.83 - - 3190 - 2.50 0.070 2242 543.2 144.6 40.88 1.805 2470 -3.6 0.324 - - - - - - 14.16 14.00 13.11
10329 768.8 9.2 414 10331 done 0.69 0.22 0.220 3128 -281.8 - - 2243 - 144.6 - - 2457 - - - - - - - - 13.95 14.30 14.24
10662 746.1 6.6 420 10693 roll 0.72 - - 3127 - 2.85 0.146 3654 495.1 167.4 24.38 1.835 2373 -3.4 0.281 - - - - - - 14.69 14.03 13.35
10751 739.4 7.9 433 10757 done 0.72 - - 3138 - 2.42 0.054 2259 -576.4 167.4 - - 2370 - - - - - - - - 14.40 14.32 14.42
11110 713.7 7.2 442 11120 roll 0.74 - - 3138 - 2.85 0.144 3652 488.8 178.6 3.88 1.359 2341 -7.5 0.788 - - - - - - 14.71 14.02 13.18
11143 710.8 8.3 447 11149 done 0.74 - - 3150 - 2.42 0.052 2258 -576.0 178.6 1.90 0.232 2336 -2.6 1.619 - - - - - - 14.45 14.38 13.97
11495 683.6 7.8 455 11501 roll 0.74 - - 3149 - 2.92 0.145 3658 479.5 178.6 1.70 0.216 2339 1.8 -1.121 - - - - - - 14.69 13.93 13.89
11529 680.6 8.6 460 11535 done 0.65 0.17 0.215 3110 -229.4 2.47 0.050 2253 -568.8 178.6 1.70 0.210 2336 -1.8 1.148 - - - - - - 13.94 14.30 13.93
11873 658.6 6.3 467 11908 done 0.68 - - 3110 - - - 2249 - 207.2 29.12 2.021 2224 -3.8 0.252 - - - - 1 - 14.68 14.17 13.00
12209 635.7 6.8 473 12247 roll 0.71 - - 3110 - 2.90 0.148 3655 484.8 225.0 29.65 1.758 2146 -2.6 0.191 - - - - - - 14.69 14.03 13.33
12271 630.6 8.3 482 12276 done 0.71 - - 3118 - 2.45 0.052 2256 -571.0 225.0 - - 2141 - - - - - - - - 14.37 14.29 14.38
12601 604.0 8.2 494 12602 done 0.71 - - 3119 - - - 2253 - 225.0 - - 2137 - - - - - - - - 14.67 14.68 14.68
12937 578.1 7.6 500 12942 roll 0.71 - - 3119 - 2.88 0.148 3653 486.1 227.4 - - 2136 - - - - - - - - 14.68 13.85 14.68
12964 575.8 8.1 504 12969 done 0.71 - - 3130 - 2.45 0.053 2258 -569.4 227.4 - - 2136 - - - - - - - - 14.40 14.31 14.40
13329 549.2 7.2 514 13340 roll 0.72 - - 3128 - 2.85 0.147 3647 487.4 237.0 4.10 1.407 2109 -6.6 0.516 - - - - - - 14.68 14.03 13.19
13363 546.3 8.2 519 13369 done 0.72 - - 3138 - 2.42 0.052 2252 -576.4 237.0 2.08 0.365 2105 -1.9 0.578 - - - - - - 14.49 14.41 12.73
13714 518.0 8.2 527 13720 roll 0.72 - - 3138 - 2.95 0.146 3657 476.3 237.0 1.67 0.220 2109 2.4 -1.132 - - - - - - 14.72 13.89 13.88
13741 515.4 9.3 531 13746 done 0.72 - - 3148 - 2.45 0.051 2257 -571.4 237.0 1.77 0.220 2105 -2.3 1.063 - - - - - - 14.28 14.27 13.78
14099 483.1 9.0 540 14110 roll 0.72 - - 3148 - 2.92 0.147 3655 478.8 237.0 2.15 0.404 2111 2.8 -0.670 - - - - - - 14.66 13.88 13.04
14140 479.0 9.8 546 14146 done 0.72 - - 3158 - 2.47 0.052 2247 -570.0 237.0 1.83 0.222 2106 -2.7 1.184 - - - - - - 14.36 14.28 13.87
14484 448.5 8.7 553 14487 done 0.72 - - 3158 - - - 2244 - 237.0 2.05 0.289 2103 -1.5 0.456 - - - - - - 14.66 14.21 12.51
14820 420.1 8.4 559 14826 roll 0.72 - - 3158 - 2.97 0.148 3658 476.1 237.0 1.77 0.216 2106 1.7 -0.662 - - - - - - 14.66 13.83 13.85
14889 413.4 9.9 569 14896 done 0.72 0.12 0.216 3132 -216.7 2.47 0.050 2257 -567.2 237.0 1.27 0.220 2107 - - - - - - - - 13.85 14.20 13.85
15206 387.8 8.2 579 15211 roll 0.72 - - 3143 - 2.60 0.056 855 -539.2 237.0 1.80 0.219 2106 - - - - - - - - 14.70 13.93 13.84
15239 384.8 8.4 584 15244 done 0.72 - - 3143 - 2.60 0.073 2257 539.2 237.0 - - 2113 - - - - - - - - 14.16 13.94 14.20
15590 354.6 8.6 592 15597 roll 0.72 - - 3143 - 2.92 0.153 3658 479.8 237.0 1.67 0.220 2106 -4.2 1.357 - - - - - - 14.71 13.81 13.86
15653 348.9 9.1 601 15659 done 0.72 - - 3152 - 2.47 0.050 2252 -569.2 237.0 1.52 0.232 2105 - - - - - - - - 14.28 14.18 13.81
15975 322.7 8.0 612 15981 roll 0.72 - - 3163 - 2.60 0.057 853 -538.1 237.0 1.77 0.221 2106 - - - - - - - - 14.71 13.96 13.84
16031 318.0 8.3 620 16036 done 0.72 0.10 0.221 3134 -290.0 2.65 0.075 2268 534.0 237.0 1.35 0.220 2106 - - - - - - - - 13.81 13.89 13.82
16361 292.9 7.8 632 16367 roll 0.72 - - 3133 - 2.90 0.148 3661 480.3 237.0 1.67 0.221 2106 - - - - - - - - 14.64 13.81 13.85
16430 286.8 8.8 642 16435 done 0.72 - - 3143 - 2.47 0.051 2265 -565.2 237.0 1.58 0.226 2106 - - - - - - - - 14.28 14.20 13.79
16746 261.9 7.9 652 16752 roll 0.72 - - 3143 - 2.95 0.148 3659 472.5 237.0 1.85 0.219 2106 - - - - - - - - 14.71 13.81 13.83
16780 258.8 8.9 657 16787 done 0.72 - - 3154 - 2.47 0.050 2262 -565.6 237.0 1.23 0.255 2105 - - - - - - - - 14.27 14.19 13.79
17132 228.8 8.5 665 17138 roll 0.72 - - 3164 - 2.62 0.056 850 -538.9 237.0 1.83 0.216 2106 - - - - - - - - 14.69 13.96 13.80
17180 224.8 8.3 672 17187 done 0.72 0.10 0.223 3135 -290.0 2.67 0.073 2269 531.5 237.0 1.80 0.208 2105 - - - - - - - - 13.80 13.88 13.78
17524 200.0 7.2 679 17549 roll 0.73 - - 3134 - 2.80 0.151 3663 497.9 247.9 18.77 1.306 2054 -2.7 0.084 - - - - - - 14.64 13.97 13.62
17628 191.3 8.7 694 17634 done 0.73 - - 3144 - 2.45 0.052 2265 -570.6 247.9 - - 2049 - - - - - - - - 14.41 14.33 14.43
17972 162.4 8.6 701 17978 roll 0.73 - - 3153 - 2.53 0.057 858 -556.1 247.9 - - 2047 - - - - - - - - 14.66 14.09 14.66
18013 158.7 8.8 707 18018 done 0.73 - - 3153 - 2.60 0.073 2268 542.3 247.9 - - 2047 - - - - - - - - 14.24 14.01 14.30
18364 128.4 8.7 715 18369 roll 0.73 - - 3153 - 2.85 0.153 3658 487.7 247.9 - - 2047 - - - - - - - - 14.71 13.78 14.71
18405 124.5 9.6 721 18411 done 0.73 - - 3163 - 2.45 0.050 2261 -570.2 247.9 - - 2047 - - - - - - - - 14.31 14.23 14.34
18756 97.1 7.5 729 18762 roll 0.74 - - 3174 - 2.55 0.057 857 -550.6 252.4 - - 2046 - - - - - - - - 14.68 13.94 14.66
18791 94.5 7.7 734 18796 done 0.74 0.12 0.207 3137 -308.3 2.65 0.076 2274 534.7 253.0 - - 2047 - - - - - - - - 13.84 13.92 14.08
19121 74.9 5.6 748 19153 roll 0.88 0.08 0.137 3221 1050.0 2.80 0.149 3657 493.9 294.7 23.88 0.393 1881 -7.0 0.266 - - - - - - 14.32 14.00 13.84
19294 61.2 7.8 773 19301 done 0.88 0.15 0.207 3187 -226.7 2.45 0.050 2259 -570.6 294.7 1.40 0.207 1876 -3.6 0.212 - - - - - - 13.91 14.25 13.90
19629 47.8 1.2 787 19708 roll 1.17 0.17 0.077 3319 776.5 2.55 0.057 854 -551.0 425.4 73.82 0.321 1356 -7.0 0.211 - - - - - - 14.18 14.28 13.92
19747 41.8 8.0 804 19752 done 1.17 0.17 0.226 3276 -252.9 2.60 0.073 2272 545.4 425.4 - - 1362 - - - - - - - - 13.81 14.04 14.09
20075 10.8 9.2 818 20076 done 1.17 - - 3276 - - - 2272 - 425.4 - - 1360 - - - - - - - - 14.64 14.63 14.64
20154 end climb: SURFACE_DEPTH_REACHED
20154 begin surface coast
20182 end surface coast: CONTROL_FINISHED_OK
20182 begin surface
SM -4.32 - - - - -8.41 9.23 0.063 189 20.5 1.00 0.122 2769 2763.0 500.14 38.90 0.153 1056 27.1 0.078 - - - - - -