SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 685 * Raw log
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• Previous call tries 2 • 234.26 of 350.00 AH used of 24V (33.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.1 deg, depth -2.23 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 done -0.93 - - 105 - - - 2774 - -107.1 -80.90 - 3478 - - - - - - - - 14.63 12.69 14.57
106 3.3 -9.6 3 123 roll -0.93 11.98 0.380 2591 207.5 2.42 0.034 1377 -577.3 -107.1 - - 3479 - - - - - - - - 13.92 14.40 14.31
159 25.3 -26.7 11 164 done -0.63 0.40 0.231 2690 247.5 2.65 0.103 2766 524.2 -107.1 - - 3483 - - - - - - - - 13.99 14.09 14.28
495 67.6 -8.9 26 500 roll -0.63 - - 2690 - 2.45 0.043 1381 -565.3 -107.1 - - 3479 - - - - - - - - 14.78 14.23 14.79
607 75.9 -6.8 42 612 done -0.63 - - 2679 - 2.70 0.099 2785 520.0 -107.1 - - 3480 - - - - - - - - 14.15 13.86 14.20
943 99.7 -6.5 57 949 roll -0.63 - - 2671 - 2.10 0.153 3829 497.1 -107.1 - - 3481 - - - - - - - - 14.78 13.76 14.78
1012 104.5 -7.0 67 1017 done -0.63 - - 2672 - 1.77 0.054 2781 -592.1 -107.1 - - 3481 - - - - - - - - 14.38 14.31 14.39
1335 126.5 -6.8 78 1340 roll -0.63 - - 2672 - 2.45 0.042 1380 -571.8 -107.1 - - 3480 - - - - - - - - 14.80 14.21 14.80
1499 138.6 -7.8 101 1506 done -0.70 - - 2662 - 2.75 0.098 2789 512.4 -107.1 - - 3478 - - - - - - - - 14.10 13.79 14.16
1839 167.4 -8.5 108 1840 done -0.70 - - 2662 - - - 2789 - -107.1 - - 3476 - - - - - - - - 14.79 14.79 14.80
2175 195.4 -8.4 114 2180 roll -0.70 - - 2662 - 2.53 0.044 1371 -560.5 -107.1 - - 3473 - - - - - - - - 14.83 14.17 14.83
2223 199.6 -8.5 121 2230 done -0.70 - - 2654 - 2.75 0.096 2777 511.3 -107.1 - - 3473 - - - - - - - - 14.08 13.77 14.14
2567 228.4 -8.3 128 2572 roll -0.70 - - 2653 - 2.50 0.043 1377 -560.0 -107.1 - - 3471 - - - - - - - - 14.78 14.04 14.78
2623 233.1 -8.3 136 2628 done -0.70 - - 2644 - 2.72 0.096 2773 513.2 -107.1 - - 3470 - - - - - - - - 14.07 13.76 14.13
2959 262.2 -8.8 149 2965 roll -0.70 - - 2644 - 2.50 0.044 1374 -559.6 -107.1 - - 3467 - - - - - - - - 14.78 14.12 14.78
3000 266.1 -9.0 155 3006 done -0.70 0.12 0.218 2671 225.0 2.72 0.096 2778 516.2 -107.1 - - 3467 - - - - - - - - 13.76 13.76 14.01
3351 292.5 -7.3 163 3356 roll -0.79 - - 2671 - 2.50 0.044 1373 -562.0 -107.1 - - 3465 - - - - - - - - 14.83 14.13 14.83
3399 295.9 -6.8 170 3406 done -0.89 0.10 0.112 2581 -900.0 2.72 0.098 2772 514.3 -107.1 - - 3464 - - - - - - - - 14.14 13.85 14.24
3743 329.9 -10.0 177 3749 roll -0.82 0.15 0.226 2627 306.7 2.50 0.041 1375 -558.8 -107.1 - - 3462 - - - - - - - - 13.77 14.02 13.93
3805 335.2 -7.9 186 3810 done -0.82 - - 2617 - 2.72 0.095 2770 512.9 -107.1 - - 3462 - - - - - - - - 14.04 13.74 14.11
4136 362.8 -8.5 198 4140 roll -0.82 - - 2610 - 2.17 0.151 3839 492.6 -107.1 - - 3460 - - - - - - - - 14.78 13.66 14.78
4177 366.7 -9.5 204 4181 done -0.82 - - 2608 - 1.85 0.057 2777 -574.1 -107.1 - - 3459 - - - - - - - - 14.32 14.24 14.33
4527 399.5 -9.5 212 4532 roll -0.82 - - 2608 - 2.53 0.043 1363 -558.9 -107.1 - - 3458 - - - - - - - - 14.81 13.96 14.82
4583 404.8 -9.3 220 4588 done -0.82 0.12 0.232 2632 200.0 2.75 0.093 2769 511.3 -107.1 - - 3457 - - - - - - - - 13.66 13.70 13.94
4919 434.1 -8.7 233 4920 done -0.82 - - 2632 - - - 2769 - -107.1 - - 3456 - - - - - - - - 14.76 14.77 14.77
5255 464.6 -9.0 239 5260 roll -0.82 - - 2632 - 2.55 0.044 1364 -551.0 -107.1 - - 3455 - - - - - - - - 14.78 14.02 14.78
5289 467.8 -9.5 244 5294 done -0.82 - - 2622 - 2.72 0.093 2758 512.5 -107.1 - - 3454 - - - - - - - - 14.02 13.68 14.07
5647 500.5 -9.1 253 5648 done -0.82 - - 2623 - - - 2758 - -107.1 - - 3453 - - - - - - - - 14.77 14.77 14.77
5983 530.3 -8.8 259 5984 done -0.82 - - 2623 - - - 2758 - -107.1 - - 3451 - - - - - - - - 14.76 14.77 14.77
6319 560.7 -9.1 265 6325 roll -0.82 - - 2614 - 2.20 0.146 3834 489.1 -107.1 - - 3446 - - - - - - - - 14.75 13.61 14.76
6346 563.4 -9.7 269 6352 done -0.82 - - 2614 - 1.95 0.057 2765 -548.2 -107.1 - - 3449 - - - - - - - - 14.07 14.07 14.11
6711 596.9 -9.1 279 6716 roll -0.82 - - 2613 - 2.53 0.044 1358 -556.1 -107.1 - - 3448 - - - - - - - - 14.81 13.98 14.80
6780 603.1 -8.6 289 6787 done -0.82 0.10 0.246 2631 180.0 2.78 0.092 2766 506.5 -107.1 - - 3448 - - - - - - - - 13.65 13.68 13.92
7103 627.8 -7.6 300 7104 done -0.82 - - 2631 - - - 2766 - -107.1 - - 3447 - - - - - - - - 14.75 14.75 14.75
7439 652.7 -7.4 306 7440 done -0.82 - - 2631 - - - 2765 - -107.1 - - 3445 - - - - - - - - 14.75 14.75 14.75
7776 677.0 -7.2 312 7780 roll -0.82 - - 2631 - 2.58 0.045 1361 -544.2 -107.1 - - 3444 - - - - - - - - 14.75 13.92 14.75
7858 683.1 -7.2 324 7863 done -0.82 - - 2622 - 2.75 0.092 2761 509.1 -107.1 - - 3443 - - - - - - - - 14.09 13.80 14.15
8223 710.1 -7.4 334 8228 roll -0.82 - - 2620 - 2.58 0.044 1353 -545.7 -107.1 - - 3442 - - - - - - - - 14.77 13.93 14.74
8257 712.7 -7.6 339 8263 done -0.82 - - 2612 - 2.80 0.093 2765 504.3 -107.1 - - 3442 - - - - - - - - 14.06 13.75 14.12
8615 740.2 -7.7 348 8616 done -0.82 - - 2612 - - - 2766 - -107.1 - - 3441 - - - - - - - - 14.78 14.78 14.78
8952 767.2 -8.1 354 8956 roll -0.82 - - 2611 - 2.55 0.045 1355 -553.3 -107.1 - - 3440 - - - - - - - - 14.78 13.85 14.78
8992 770.8 -8.5 360 8998 done -0.82 0.12 0.226 2636 208.3 2.78 0.093 2754 503.2 -107.1 - - 3440 - - - - - - - - 13.69 13.71 13.96
9343 797.6 -7.8 368 9344 done -0.82 - - 2636 - - - 2753 - -107.1 - - 3438 - - - - - - - - 14.73 14.73 14.73
9395 end dive: TARGET_DEPTH_EXCEEDED
9395 begin apogee
9405 802.1 -7.9 369 9511 roll -0.23 0.65 0.172 2819 281.5 0.10 0.198 2272 -4810.0 - 94.60 2.664 3054 -4.1 0.243 - - - - 1 - 13.63 13.74 12.66
9512 end apogee: CONTROL_FINISHED_OK
9512 begin climb
9516 805.9 - 371 9653 roll 0.93 1.15 0.090 3185 318.3 2.58 0.053 879 -539.9 107.1 126.20 1.796 2625 -3.4 0.303 - - - - - - 13.80 13.87 13.01
9709 804.9 5.3 399 9770 done 0.85 - - 3185 - 2.50 0.067 2246 546.8 154.6 53.05 1.779 2427 -3.7 0.335 - - - - - - 14.17 14.06 13.05
10133 769.9 8.7 417 10139 roll 0.73 0.15 0.243 3139 -306.7 2.78 0.135 3653 506.1 154.6 - - 2415 - - - - - - - - 13.93 14.01 14.10
10223 762.1 8.5 430 10229 done 0.64 0.15 0.236 3110 -193.3 2.42 0.049 2260 -575.6 154.6 - - 2414 - - - - - - - - 13.96 14.35 14.26
10581 738.1 6.8 439 10602 done 0.67 - - 3110 - - - 2256 - 174.1 19.52 1.828 2356 -3.0 0.238 - - - - - - 14.72 14.27 13.36
10917 712.9 7.6 445 10923 roll 0.67 - - 3108 - 2.83 0.135 3658 495.4 176.9 - - 2340 - - - - - - - - 14.70 14.00 14.69
10965 708.7 8.8 452 10971 done 0.67 - - 3120 - 2.47 0.049 2248 -570.9 176.9 - - 2340 - - - - - - - - 14.40 14.35 14.45
11309 680.7 8.1 459 11310 done 0.67 - - 3120 - - - 2244 - 176.9 - - 2339 - - - - - - - - 14.73 14.73 14.72
11645 654.8 7.6 465 11651 roll 0.67 - - 3120 - 2.88 0.135 3658 491.0 179.4 - - 2338 - - - - - - - - 14.73 13.90 14.73
11693 650.8 8.2 472 11699 done 0.67 - - 3129 - 2.47 0.048 2251 -569.6 179.4 - - 2338 - - - - - - - - 14.38 14.30 14.40
12037 626.9 6.8 479 12065 done 0.70 - - 3129 - - - 2248 - 198.3 26.67 1.732 2259 -3.0 0.213 - - - - - - 14.77 14.25 13.36
12373 603.6 7.0 485 12391 roll 0.71 - - 3129 - 2.80 0.140 3657 503.2 212.5 12.38 1.792 2201 -4.7 0.313 - - - - - - 14.72 14.16 13.35
12435 598.5 8.7 494 12440 done 0.71 - - 3139 - 2.42 0.047 2259 -577.7 212.5 - - 2195 - - - - - - - - 14.48 14.40 14.50
12765 571.5 8.2 506 12770 roll 0.71 - - 3140 - 2.83 0.138 3658 494.3 212.5 - - 2193 - - - - - - - - 14.73 13.97 14.73
12792 568.9 9.3 510 12797 done 0.71 - - 3150 - 2.45 0.047 2249 -575.1 212.5 - - 2193 - - - - - - - - 14.47 14.35 14.45
13157 536.6 8.9 520 13158 done 0.71 - - 3150 - - - 2243 - 212.5 - - 2193 - - - - - - - - 14.76 14.76 14.76
13493 506.8 8.9 526 13498 roll 0.71 - - 3150 - 2.83 0.137 3658 500.0 212.5 - - 2190 - - - - - - - - 14.72 13.86 14.72
13562 499.7 10.3 536 13567 done 0.71 - - 3162 - 2.45 0.047 2253 -573.5 212.5 - - 2193 - - - - - - - - 14.40 14.31 14.42
13885 469.1 9.5 547 13890 roll 0.71 0.08 0.267 3144 -225.0 2.53 0.057 851 -554.2 212.5 - - 2192 - - - - - - - - 13.97 14.07 14.05
13919 466.0 8.8 552 13924 done 0.71 - - 3145 - 2.58 0.068 2258 545.3 212.5 - - 2192 - - - - - - - - 14.20 14.00 14.25
14277 435.5 8.5 561 14283 roll 0.71 - - 3145 - 2.85 0.138 3658 491.2 212.5 - - 2192 - - - - - - - - 14.72 13.81 14.72
14360 427.5 9.5 573 14366 done 0.71 - - 3154 - 2.45 0.047 2259 -571.0 212.5 - - 2191 - - - - - - - - 14.30 14.20 14.35
14725 395.6 8.8 583 14729 roll 0.71 - - 3164 - 2.53 0.057 855 -554.9 212.5 - - 2196 - - - - - - - - 14.76 13.98 14.76
14759 392.5 9.1 588 14764 done 0.71 0.10 0.217 3135 -290.0 2.58 0.070 2260 544.6 212.5 - - 2192 - - - - - - - - 13.83 13.93 14.07
15117 364.3 7.7 597 15123 roll 0.71 - - 3135 - 2.83 0.136 3657 493.6 212.5 - - 2192 - - - - - - - - 14.71 13.77 14.71
15186 358.5 8.4 607 15191 done 0.71 - - 3145 - 2.45 0.048 2258 -571.0 212.5 - - 2192 - - - - - - - - 14.33 14.23 14.35
15510 334.2 7.5 618 15510 done 0.72 - - 3145 - - - 2254 - 216.9 - - 2192 - - - - - - - - 14.71 14.71 14.71
15845 308.0 7.9 624 15850 roll 0.72 - - 3148 - 2.90 0.137 3657 483.8 216.9 - - 2192 - - - - - - - - 14.72 13.75 14.72
15893 303.6 9.1 631 15900 done 0.72 - - 3156 - 2.47 0.047 2266 -563.2 216.9 - - 2192 - - - - - - - - 14.27 14.19 14.29
16237 275.0 8.3 638 16242 roll 0.72 - - 3166 - 2.58 0.059 859 -545.3 216.9 - - 2192 - - - - - - - - 14.76 13.89 14.76
16285 270.8 8.6 645 16293 done 0.72 0.12 0.205 3128 -316.7 2.62 0.070 2264 536.3 216.9 - - 2192 - - - - - - - - 13.78 13.90 14.03
16629 244.4 7.8 652 16634 roll 0.72 - - 3128 - 2.85 0.138 3659 489.5 216.9 - - 2192 - - - - - - - - 14.76 13.73 14.76
16698 238.3 8.9 662 16703 done 0.72 - - 3138 - 2.45 0.047 2260 -571.0 216.9 - - 2192 - - - - - - - - 14.28 14.19 14.29
17021 212.6 8.0 673 17022 done 0.72 - - 3139 - - - 2257 - 216.9 - - 2192 - - - - - - - - 14.72 14.70 14.71
17357 186.2 7.8 679 17358 done 0.72 - - 3139 - - - 2257 - 216.9 - - 2192 - - - - - - - - 14.76 14.76 14.76
17693 163.0 6.8 685 17726 roll 0.74 - - 3137 - 2.80 0.144 3657 500.0 236.4 25.58 1.202 2098 -3.7 0.099 - - - - - - 14.70 14.06 13.50
17784 156.2 8.0 698 17789 done 0.74 - - 3148 - 2.38 0.048 2262 -586.1 236.4 - - 2093 - - - - - - - - 14.43 14.33 14.45
18141 128.2 8.0 707 18146 roll 0.74 - - 3148 - 2.85 0.139 3660 490.5 236.4 - - 2091 - - - - - - - - 14.70 13.90 14.71
18175 125.0 9.3 712 18180 done 0.74 - - 3152 - 2.45 0.047 2257 -572.7 236.4 - - 2091 - - - - - - - - 14.38 14.30 14.40
18505 97.6 8.1 721 18506 done 0.74 - - 3158 - - - 2253 - 236.4 - - 2091 - - - - - - - - 14.69 14.70 14.70
18813 73.4 7.4 732 18814 done 0.75 - - 3158 - - - 2255 - 243.5 - - 2091 - - - - - - - - 14.71 14.71 14.71
19121 57.9 3.2 743 19181 roll 0.86 - - 3168 - 2.55 0.060 855 -549.0 333.3 51.47 0.344 1722 -7.2 0.239 - - - - - - 14.71 14.31 13.92
19250 52.0 5.0 761 19288 done 1.07 0.17 0.078 3268 588.2 2.55 0.063 2272 555.7 387.8 31.62 0.326 1505 -6.9 0.217 - - - - - - 14.33 14.16 13.91
19601 29.4 7.6 778 19610 roll 1.07 - - 3267 - 2.80 0.136 3654 493.6 389.4 1.60 0.208 1500 -3.1 0.088 - - - - - - 14.65 13.83 13.86
19687 22.2 7.7 791 19693 done 1.07 0.10 0.235 3249 -180.0 2.42 0.043 2267 -573.1 390.2 1.73 0.190 1495 -2.9 0.067 - - - - - - 13.89 14.26 13.82
19957 end climb: SURFACE_DEPTH_REACHED
19957 begin surface coast
19989 end surface coast: CONTROL_FINISHED_OK
19989 begin surface
SM -2.32 - - - - -8.39 9.10 0.065 169 18.6 1.05 0.119 2769 -10077.1 500.64 57.47 0.149 1057 18.4 0.029 - - - - - -