SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 689 * Raw log
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• Previous call tries 1 • 235.44 of 350.00 AH used of 24V (32.73% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -69.2 deg, depth -2.90 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 102 done -0.93 - - 106 - - - 2776 - -107.1 -81.60 - 3479 - - - - - - - - 14.60 12.66 14.57
107 2.1 -8.8 3 120 done -0.93 12.12 0.378 2593 205.2 - - 2773 - -107.1 - - 3479 - - - - - - - - 13.87 14.34 14.26
411 65.1 -11.0 14 416 roll -0.77 0.17 0.240 2635 247.1 2.12 0.145 3830 498.6 -107.1 - - 3480 - - - - - - - - 13.78 13.88 13.96
648 87.2 -8.9 48 653 done -0.77 - - 2638 - 1.88 0.055 2720 -590.4 -107.1 - - 3482 - - - - - - - - 14.29 14.22 14.31
971 114.4 -8.3 58 976 roll -0.77 - - 2629 - 2.28 0.148 3830 486.8 -107.1 - - 3482 - - - - - - - - 14.77 13.78 14.77
1110 126.2 -8.8 78 1115 done -0.77 - - 2629 - 1.83 0.058 2777 -575.4 -107.1 - - 3482 - - - - - - - - 14.33 14.25 14.34
1475 159.8 -9.6 88 1480 roll -0.77 - - 2629 - 2.45 0.044 1368 -575.1 -107.1 - - 3481 - - - - - - - - 14.78 14.09 14.78
1523 164.6 -9.9 95 1530 done -0.77 0.10 0.233 2647 180.0 2.72 0.096 2767 514.3 -107.1 - - 3480 - - - - - - - - 13.77 13.78 14.02
1867 194.4 -8.6 102 1872 roll -0.77 - - 2647 - 2.53 0.046 1373 -551.0 -107.1 - - 3478 - - - - - - - - 14.83 14.00 14.83
1923 199.1 -8.3 110 1928 done -0.77 - - 2639 - 2.72 0.101 2769 513.2 -107.1 - - 3477 - - - - - - - - 14.07 13.76 14.12
2259 227.9 -8.5 123 2260 done -0.77 - - 2640 - - - 2770 - -107.1 - - 3475 - - - - - - - - 14.77 14.78 14.77
2595 256.9 -8.6 129 2596 done -0.77 - - 2639 - - - 2770 - -107.1 - - 3472 - - - - - - - - 14.81 14.78 14.78
2931 285.9 -8.7 135 2932 done -0.77 - - 2639 - - - 2769 - -107.1 - - 3469 - - - - - - - - 14.81 14.81 14.83
3267 316.3 -9.0 141 3272 roll -0.77 - - 2631 - 2.17 0.158 3830 488.9 -107.1 - - 3468 - - - - - - - - 14.83 13.86 14.83
3294 318.8 -9.2 145 3300 done -0.77 - - 2630 - 1.88 0.058 2761 -568.6 -107.1 - - 3467 - - - - - - - - 14.31 14.24 14.33
3659 352.0 -9.1 155 3664 roll -0.77 - - 2634 - 2.50 0.044 1356 -562.0 -107.1 - - 3465 - - - - - - - - 14.81 14.03 14.82
3693 355.2 -9.2 160 3698 done -0.77 0.10 0.239 2649 150.0 2.78 0.096 2770 508.6 -107.1 - - 3465 - - - - - - - - 13.73 13.74 13.99
4051 384.5 -8.2 169 4056 roll -0.77 - - 2649 - 2.55 0.047 1367 -550.2 -107.1 - - 3463 - - - - - - - - 14.76 14.00 14.76
4099 388.7 -8.3 176 4106 done -0.77 - - 2641 - 2.80 0.102 2769 500.7 -107.1 - - 3463 - - - - - - - - 14.07 13.76 14.12
4443 418.8 -8.9 183 4444 done -0.77 - - 2641 - - - 2771 - -107.1 - - 3460 - - - - - - - - 14.77 14.77 14.77
4779 448.3 -8.8 189 4785 roll -0.77 - - 2641 - 2.58 0.046 1361 -546.5 -107.1 - - 3459 - - - - - - - - 14.76 13.96 14.76
4855 455.0 -8.6 200 4860 done -0.77 - - 2632 - 2.78 0.100 2766 505.4 -107.1 - - 3456 - - - - - - - - 14.02 13.71 14.08
5171 483.1 -8.9 210 5176 roll -0.77 - - 2631 - 2.55 0.046 1369 -547.8 -107.1 - - 3458 - - - - - - - - 14.80 13.96 14.80
5198 485.7 -9.3 214 5203 done -0.77 - - 2623 - 2.78 0.101 2766 502.5 -107.1 - - 3457 - - - - - - - - 14.07 13.77 14.13
5563 519.8 -9.3 224 5564 done -0.77 - - 2620 - - - 2765 - -107.1 - - 3457 - - - - - - - - 14.75 14.75 14.75
5899 548.4 -8.3 230 5904 roll -0.77 - - 2622 - 2.58 0.047 1365 -542.6 -107.1 - - 3454 - - - - - - - - 14.76 13.92 14.76
5955 552.8 -7.7 238 5960 done -0.77 0.12 0.229 2648 216.7 2.80 0.101 2761 498.6 -107.1 - - 3454 - - - - - - - - 13.70 13.72 13.97
6291 573.4 -5.9 251 6296 roll -0.77 - - 2639 - 2.22 0.158 3831 482.0 -107.1 - - 3453 - - - - - - - - 14.74 13.77 14.75
6339 576.5 -6.4 258 6345 done -0.77 - - 2639 - 1.92 0.057 2743 -566.7 -107.1 - - 3452 - - - - - - - - 14.21 14.12 14.23
6683 598.0 -6.4 265 6689 roll -0.77 - - 2639 - 2.47 0.047 1376 -553.4 -107.1 - - 3451 - - - - - - - - 14.74 13.91 14.74
6766 603.7 -6.9 277 6772 done -0.77 - - 2630 - 2.75 0.099 2760 503.3 -107.1 - - 3450 - - - - - - - - 14.02 13.71 14.08
7131 631.4 -7.8 287 7136 roll -0.77 - - 2622 - 2.20 0.155 3825 484.1 -107.1 - - 3448 - - - - - - - - 14.74 13.77 14.74
7165 634.4 -8.9 292 7170 done -0.77 0.10 0.218 2650 280.0 1.90 0.057 2745 -568.4 -107.1 - - 3449 - - - - - - - - 13.70 14.07 13.93
7524 661.4 -7.6 301 7529 roll -0.85 - - 2649 - 2.47 0.046 1383 -551.4 -107.1 - - 3448 - - - - - - - - 14.73 13.93 14.73
7564 664.6 -7.5 307 7570 done -0.94 0.08 0.142 2577 -900.0 2.72 0.102 2752 503.3 -107.1 - - 3448 - - - - - - - - 14.06 13.84 14.17
7915 700.0 -10.2 315 7916 done -0.94 - - 2577 - - - 2758 - -107.1 - - 3447 - - - - - - - - 14.73 14.73 14.73
8251 733.5 -9.9 321 8257 roll -0.94 - - 2568 - 2.22 0.152 3830 482.9 -107.1 - - 3445 - - - - - - - - 14.73 13.77 14.73
8271 735.6 -9.9 324 8276 done -0.94 - - 2568 - 1.95 0.054 2740 -559.0 -107.1 - - 3445 - - - - - - - - 14.04 13.99 14.04
8587 766.9 -9.9 334 8588 done -0.94 - - 2568 - - - 2740 - -107.1 - - 3444 - - - - - - - - 14.72 14.71 14.72
8923 799.2 -9.6 340 8924 done -0.94 - - 2568 - - - 2740 - -107.1 - - 3443 - - - - - - - - 14.76 14.77 14.77
8975 end dive: TARGET_DEPTH_EXCEEDED
8975 begin apogee
8985 804.5 -9.6 341 9090 roll -0.23 0.95 0.197 2823 268.4 - - 2234 - - 95.72 2.693 3056 -4.0 0.240 - - - - 1 - 13.73 13.79 12.63
9092 end apogee: CONTROL_FINISHED_OK
9092 begin climb
9096 806.9 - 343 9232 roll 0.93 1.12 0.088 3183 321.4 2.58 0.058 845 -538.4 107.1 124.45 1.802 2620 -3.5 0.312 - - - - - - 13.80 13.85 13.00
9309 801.2 6.8 374 9336 done 0.82 - - 3183 - 2.62 0.075 2254 537.8 125.2 18.83 1.896 2546 -3.9 0.330 - - - - - - 14.20 14.00 13.09
9653 772.1 8.5 388 9658 roll 0.69 0.17 0.242 3130 -311.8 2.80 0.139 3664 503.6 125.2 - - 2537 - - - - - - - - 13.90 14.01 14.09
9709 767.2 8.9 396 9714 done 0.59 0.17 0.230 3094 -211.8 2.50 0.048 2233 -572.4 125.2 - - 2537 - - - - - - - - 13.97 14.34 14.26
10045 747.0 6.0 409 10085 done 0.63 - - 3094 - - - 2234 - 159.4 38.03 1.812 2415 -3.2 0.263 - - - - - - 14.72 14.17 13.28
10430 721.0 6.8 422 10457 roll 0.66 - - 3093 - 2.88 0.145 3658 494.4 178.0 21.10 1.860 2333 -3.9 0.300 - - - - - - 14.70 14.02 13.29
10499 715.7 8.1 432 10504 done 0.66 - - 3104 - 2.45 0.047 2254 -573.1 178.0 - - 2327 - - - - - - - - 14.42 14.34 14.44
10822 692.3 7.3 443 10826 done 0.67 - - 3103 - - - 2254 - 187.3 2.53 0.747 2304 -9.1 1.676 - - - - - - 14.69 14.29 13.14
11158 668.9 6.9 449 11192 roll 0.69 - - 3104 - 2.83 0.145 3660 496.8 204.3 27.92 1.779 2229 -2.7 0.201 - - - - - - 14.72 14.09 13.33
11234 663.2 8.1 460 11239 done 0.69 - - 3112 - 2.45 0.046 2254 -573.9 204.3 - - 2222 - - - - - - - - 14.43 14.35 14.45
11550 639.8 7.4 470 11551 done 0.70 - - 3113 - - - 2254 - 210.0 - - 2220 - - - - - - - - 14.69 14.69 14.69
11886 614.5 7.6 476 11893 roll 0.70 - - 3112 - 2.92 0.146 3661 481.8 212.6 2.25 0.518 2203 -7.6 1.783 - - - - - - 14.72 13.97 13.07
11941 609.6 8.8 484 11947 done 0.70 - - 3121 - 2.45 0.045 2250 -575.9 212.6 - - 2212 - - - - - - - - 14.42 14.33 14.44
12272 582.7 8.2 496 12277 roll 0.70 - - 3121 - 2.90 0.147 3663 487.2 212.6 1.45 0.225 2204 -5.5 2.842 - - - - - - 14.72 13.91 13.81
12298 580.3 8.6 500 12304 done 0.70 - - 3130 - 2.45 0.047 2264 -571.0 212.6 - - 2208 - - - - - - - - 14.38 14.29 14.40
12657 550.3 8.4 509 12662 roll 0.70 - - 3141 - 2.55 0.060 852 -553.7 212.6 - - 2211 - - - - - - - - 14.72 14.05 14.72
12691 547.4 8.2 514 12696 done 0.70 - - 3141 - 2.62 0.076 2261 537.8 212.6 - - 2212 - - - - - - - - 14.23 14.00 14.27
13049 516.6 8.7 523 13054 roll 0.70 - - 3138 - 2.88 0.149 3663 486.8 212.6 1.38 0.231 2203 -6.5 2.901 - - - - - - 14.71 13.85 13.82
13132 508.2 10.1 535 13137 done 0.70 - - 3150 - 2.47 0.046 2255 -570.0 212.6 - - 2211 - - - - - - - - 14.34 14.24 14.37
13489 476.3 8.8 544 13494 roll 0.70 - - 3161 - 2.55 0.062 857 -548.2 212.6 - - 2211 - - - - - - - - 14.71 13.96 14.71
13523 473.3 8.5 549 13530 done 0.70 0.12 0.211 3125 -300.0 2.62 0.079 2262 536.3 212.6 - - 2212 - - - - - - - - 13.85 13.95 14.10
13882 447.4 7.1 558 13908 roll 0.71 - - 3133 - 2.78 0.149 3659 502.5 224.9 20.80 1.588 2146 -3.2 0.178 - - - - - - 14.70 14.10 13.42
13971 440.5 7.9 571 13977 done 0.71 - - 3134 - 2.42 0.046 2263 -576.9 224.9 - - 2141 - - - - - - - - 14.46 14.37 14.47
14330 414.8 7.2 580 14341 roll 0.73 - - 3145 - 2.55 0.061 859 -550.6 236.4 4.68 1.508 2110 -6.6 0.362 - - - - - - 14.73 14.26 13.17
14392 410.0 7.5 589 14404 done 0.73 - - 3145 - 2.58 0.076 2262 543.8 240.6 5.22 1.669 2100 -1.9 0.094 - - - - - - 14.41 14.21 13.34
14721 384.0 8.0 601 14728 roll 0.73 - - 3144 - 2.88 0.151 3658 484.7 240.6 2.10 0.364 2093 -3.3 0.699 - - - - - - 14.70 14.01 12.93
14778 378.8 9.7 609 14784 done 0.73 - - 3155 - 2.45 0.046 2257 -571.8 240.6 1.98 0.228 2091 - - - - - - - - 14.40 14.31 13.89
15114 347.7 9.4 622 15120 roll 0.73 - - 3165 - 2.60 0.063 851 -540.8 240.6 1.77 0.223 2092 - - - - - - - - 14.70 14.14 13.83
15155 343.5 9.9 628 15162 done 0.73 - - 3165 - 2.65 0.081 2262 532.5 240.6 1.40 0.243 2092 - - - - - - - - 14.25 14.02 13.87
15499 309.1 10.1 635 15505 roll 0.73 - - 3164 - 2.92 0.151 3660 478.8 240.6 1.85 0.223 2092 - - - - - - - - 14.70 13.87 13.76
15568 301.2 11.5 645 15575 done 0.73 0.12 0.232 3141 -191.7 2.45 0.044 2264 -569.8 240.6 1.50 0.219 2092 - - - - - - - - 13.85 14.21 13.83
15884 272.4 9.0 655 15887 done 0.73 - - 3141 - - - 2264 - 240.6 1.88 0.220 2091 - - - - - - - - 14.74 14.04 13.71
16220 242.5 8.8 661 16227 roll 0.73 - - 3140 - 2.95 0.142 3663 474.2 240.6 1.83 0.223 2094 1.6 -0.355 - - - - - - 14.74 13.87 13.78
16255 239.2 9.2 666 16260 done 0.73 - - 3150 - 2.47 0.047 2257 -569.2 240.6 1.62 0.233 2092 - - - - - - - - 14.32 14.23 13.76
16613 207.3 8.9 675 16619 roll 0.73 - - 3160 - 2.62 0.063 846 -538.5 240.6 1.88 0.221 2093 - - - - - - - - 14.69 14.04 13.73
16662 202.8 9.3 682 16667 done 0.73 - - 3161 - 2.67 0.080 2269 533.0 240.6 1.52 0.228 2093 - - - - - - - - 14.17 13.94 13.81
16991 172.5 9.1 694 16997 roll 0.73 - - 3160 - 2.90 0.150 3660 479.7 240.6 1.98 0.227 2097 2.0 -0.305 - - - - - - 14.74 13.82 13.70
17067 165.2 9.4 705 17074 done 0.73 0.12 0.226 3136 -200.0 2.45 0.044 2261 -571.0 240.6 1.73 0.212 2093 -2.3 0.358 - - - - - - 13.83 14.20 13.72
17433 140.9 6.5 715 17471 roll 0.76 - - 3146 - 2.55 0.063 862 -548.6 264.6 32.05 1.211 1987 -3.3 0.077 - - - - - - 14.68 14.21 13.48
17508 135.2 7.9 726 17513 done 0.84 - - 3145 - 2.58 0.076 2268 545.0 264.6 - - 1980 - - - - - - - - 14.34 14.14 14.38
17824 109.1 8.4 736 17829 roll 0.84 - - 3146 - 2.83 0.148 3663 492.9 264.6 - - 1979 - - - - - - - - 14.68 13.89 14.67
17893 102.7 9.1 746 17898 done 0.84 - - 3155 - 2.45 0.045 2255 -574.7 264.6 - - 1978 - - - - - - - - 14.37 14.28 14.40
18216 76.0 7.9 762 18221 roll 0.84 - - 3165 - 2.55 0.063 849 -551.4 264.6 - - 1978 - - - - - - - - 14.72 14.07 14.72
18341 67.8 5.5 780 18368 done 0.89 - - 3164 - 2.62 0.076 2269 542.0 309.6 23.17 0.373 1816 -7.0 0.253 - - - - - - 14.26 14.03 13.85
18689 49.6 4.6 796 18732 roll 1.11 0.17 0.082 3276 658.8 2.78 0.143 3669 503.6 372.8 36.90 0.324 1566 -6.8 0.206 - - - - - - 14.23 14.12 13.88
18965 31.2 8.9 836 18969 done 1.11 - - 3287 - 2.45 0.044 2272 -570.2 372.8 - - 1569 - - - - - - - - 14.33 14.23 14.35
19302 5.1 7.9 851 19306 roll 1.11 - - 3296 - 2.58 0.063 851 -550.8 372.8 - - 1568 - - - - - - - - 14.69 14.02 14.69
19345 end climb: SURFACE_DEPTH_REACHED
19345 begin surface coast
19353 end surface coast: CONTROL_FINISHED_OK
19353 begin surface
SM -2.88 - - - - -8.41 9.40 0.083 183 19.5 3.65 0.090 2766 616.4 500.14 65.07 0.154 1057 16.2 0.031 - - - - - -