SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 692 * Raw log
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• Previous call tries 1 • 236.40 of 350.00 AH used of 24V (32.46% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.3 deg, depth -3.24 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 3 s • Transponder ping count: 5
• 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 - - 108 - - - 2779 - -107.1 -82.62 - 3478 - - - - - - - - 14.59 12.65 14.53
106 1.3 -8.0 3 123 roll -0.93 12.10 0.380 2593 205.4 2.40 0.034 1357 -592.5 -107.1 - - 3479 - - - - - - - - 13.83 14.31 14.23
151 20.2 -30.7 10 158 done -0.46 0.60 0.236 2743 250.0 2.72 0.108 2766 518.0 -107.1 - - 3479 - - - - - - - - 13.83 14.00 14.14
467 56.7 -8.4 22 472 roll -0.46 - - 2735 - 2.17 0.166 3832 491.2 -107.1 - - 3480 - - - - - - - - 14.67 13.76 14.67
639 65.0 -5.4 46 644 done -0.61 - - 2735 - 1.83 0.062 2789 -569.9 -107.1 - - 3480 - - - - - - - - 14.30 14.21 14.32
974 86.3 -4.9 61 980 roll -0.74 0.15 0.084 2627 -720.0 2.50 0.041 1352 -574.8 -107.1 - - 3481 - - - - - - - - 14.35 14.12 14.35
1058 93.0 -9.1 73 1064 done -0.74 0.12 0.233 2653 216.7 2.78 0.101 2781 514.0 -107.1 - - 3481 - - - - - - - - 13.81 13.84 14.07
1394 121.4 -8.8 84 1395 done -0.74 - - 2653 - - - 2781 - -107.1 - - 3481 - - - - - - - - 14.81 14.81 14.81
1730 147.5 -7.7 90 1735 roll -0.74 - - 2653 - 2.53 0.044 1355 -563.6 -107.1 - - 3478 - - - - - - - - 14.82 14.09 14.82
1771 150.3 -5.9 96 1776 done -0.74 - - 2644 - 2.75 0.103 2773 515.6 -107.1 - - 3478 - - - - - - - - 14.07 13.78 14.13
2122 178.6 -8.3 104 2127 roll -0.74 - - 2636 - 2.17 0.168 3826 485.3 -107.1 - - 3476 - - - - - - - - 14.82 13.86 14.83
2178 183.2 -9.9 112 2183 done -0.74 - - 2635 - 1.85 0.057 2754 -579.5 -107.1 - - 3476 - - - - - - - - 14.35 14.27 14.35
2514 212.5 -9.0 125 2520 roll -0.74 - - 2635 - 2.45 0.042 1362 -568.2 -107.1 - - 3472 - - - - - - - - 14.81 14.09 14.81
2548 215.9 -8.8 130 2554 done -0.74 0.10 0.241 2654 190.0 2.78 0.099 2779 509.7 -107.1 - - 3472 - - - - - - - - 13.74 13.76 14.00
2906 243.5 -7.7 139 2907 done -0.74 - - 2654 - - - 2779 - -107.1 - - 3470 - - - - - - - - 14.77 14.77 14.77
3242 275.9 -11.0 145 3248 roll -0.74 - - 2654 - 2.53 0.044 1373 -555.7 -107.1 - - 3468 - - - - - - - - 14.78 14.03 14.78
3283 279.7 -8.1 151 3289 done -0.74 - - 2645 - 2.75 0.103 2773 509.1 -107.1 - - 3468 - - - - - - - - 14.07 13.74 14.11
3634 307.9 -7.9 159 3639 roll -0.74 - - 2644 - 2.53 0.044 1368 -555.3 -107.1 - - 3465 - - - - - - - - 14.77 14.05 14.77
3696 313.3 -8.1 168 3701 done -0.74 - - 2636 - 2.80 0.104 2780 504.3 -107.1 - - 3465 - - - - - - - - 14.04 13.74 14.10
4026 340.9 -8.4 180 4027 done -0.74 - - 2636 - - - 2780 - -107.1 - - 3463 - - - - - - - - 14.81 14.81 14.81
4362 370.1 -8.8 186 4367 roll -0.74 - - 2635 - 2.55 0.044 1365 -554.9 -107.1 - - 3461 - - - - - - - - 14.81 14.01 14.81
4438 377.0 -8.7 197 4445 done -0.74 0.10 0.240 2654 190.0 2.78 0.102 2774 506.8 -107.1 - - 3460 - - - - - - - - 13.74 13.74 14.00
4754 402.7 -8.1 207 4759 roll -0.74 - - 2654 - 2.53 0.044 1373 -553.8 -107.1 - - 3459 - - - - - - - - 14.83 14.00 14.81
4803 406.8 -8.0 214 4809 done -0.83 - - 2645 - 2.75 0.101 2764 505.8 -107.1 - - 3459 - - - - - - - - 14.04 13.72 14.10
5147 434.8 -8.2 221 5152 roll -0.83 - - 2645 - 2.50 0.044 1373 -556.4 -107.1 - - 3457 - - - - - - - - 14.79 14.00 14.80
5180 437.8 -8.6 226 5185 done -0.83 - - 2636 - 2.75 0.101 2761 504.7 -107.1 - - 3457 - - - - - - - - 14.03 13.73 14.09
5538 468.1 -8.4 235 5543 roll -0.83 - - 2628 - 2.17 0.160 3827 491.2 -107.1 - - 3456 - - - - - - - - 14.80 13.85 14.80
5579 471.8 -8.8 241 5585 done -0.83 - - 2627 - 1.90 0.062 2750 -566.8 -107.1 - - 3456 - - - - - - - - 14.23 14.14 14.26
5931 502.9 -8.9 249 5931 done -0.83 - - 2627 - - - 2750 - -107.1 - - 3454 - - - - - - - - 14.74 14.75 14.74
6266 531.6 -8.3 255 6271 roll -0.83 - - 2628 - 2.50 0.044 1356 -557.6 -107.1 - - 3451 - - - - - - - - 14.74 13.95 14.76
6300 534.6 -8.8 260 6305 done -0.83 - - 2618 - 2.78 0.098 2764 506.5 -107.1 - - 3453 - - - - - - - - 14.04 13.72 14.09
6659 564.1 -8.2 269 6659 done -0.83 - - 2618 - - - 2764 - -107.1 - - 3450 - - - - - - - - 14.74 14.74 14.74
6994 593.1 -8.7 275 6999 roll -0.83 - - 2621 - 2.55 0.044 1364 -549.0 -107.1 - - 3450 - - - - - - - - 14.73 13.90 14.73
7028 596.1 -9.0 280 7033 done -0.83 - - 2609 - 2.75 0.100 2766 509.8 -107.1 - - 3449 - - - - - - - - 14.13 13.84 14.18
7387 629.8 -9.4 289 7392 roll -0.83 - - 2601 - 2.17 0.158 3824 487.6 -107.1 - - 3448 - - - - - - - - 14.78 13.76 14.78
7421 633.2 -9.6 294 7426 done -0.83 0.10 0.232 2628 270.0 1.90 0.060 2765 -557.4 -107.1 - - 3448 - - - - - - - - 13.69 14.10 13.93
7778 662.8 -8.1 303 7783 roll -0.83 - - 2628 - 2.55 0.044 1355 -552.9 -107.1 - - 3449 - - - - - - - - 14.73 13.89 14.72
7834 667.3 -8.4 311 7839 done -0.83 - - 2620 - 2.80 0.096 2766 503.9 -107.1 - - 3447 - - - - - - - - 14.03 13.73 14.11
8170 696.3 -8.8 324 8175 roll -0.83 - - 2618 - 2.58 0.044 1358 -545.7 -107.1 - - 3445 - - - - - - - - 14.72 13.91 14.72
8204 699.6 -9.5 329 8210 done -0.83 - - 2609 - 2.78 0.099 2766 506.5 -107.1 - - 3445 - - - - - - - - 14.12 13.83 14.16
8563 733.1 -9.5 338 8567 roll -0.83 - - 2601 - 2.17 0.159 3830 490.3 -107.1 - - 3444 - - - - - - - - 14.77 13.85 14.77
8596 736.7 -10.2 343 8602 done -0.83 0.10 0.206 2628 270.0 1.95 0.060 2764 -546.7 -107.1 - - 3443 - - - - - - - - 13.62 14.04 13.80
8954 766.3 -8.2 352 8959 roll -0.83 - - 2628 - 2.55 0.044 1355 -552.5 -107.1 - - 3443 - - - - - - - - 14.76 13.87 14.76
9010 770.7 -8.5 360 9015 done -0.83 - - 2619 - 2.78 0.096 2753 502.9 -107.1 - - 3442 - - - - - - - - 14.04 13.73 14.09
9346 796.7 -7.8 373 9352 roll -0.83 - - 2611 - 2.22 0.158 3829 484.7 -107.1 - - 3442 - - - - - - - - 14.71 13.77 14.71
9383 end dive: TARGET_DEPTH_EXCEEDED
9383 begin apogee
9395 800.2 -8.4 379 9502 roll -0.23 0.77 0.187 2824 276.6 0.10 0.201 2272 -15570.0 - 99.10 2.495 3052 -3.9 0.251 - - - - 1 - 13.69 13.74 12.64
9503 end apogee: CONTROL_FINISHED_OK
9503 begin climb
9508 802.8 - 381 9648 roll 0.93 1.10 0.083 3181 324.5 2.62 0.054 846 -544.3 107.1 126.40 1.786 2613 -3.5 0.310 - - - - - - 13.83 13.88 13.08
9726 797.5 7.0 413 9744 done 0.82 - - 3184 - 2.55 0.070 2246 549.0 122.0 14.02 1.913 2564 -3.5 0.290 - - - - - - 14.25 14.09 13.12
10062 769.8 8.3 426 10068 roll 0.69 0.20 0.232 3123 -305.0 2.80 0.142 3657 503.9 122.0 - - 2549 - - - - - - - - 13.90 13.98 14.09
10166 761.8 7.1 441 10185 done 0.61 0.12 0.242 3101 -183.3 2.47 0.050 2231 -577.3 135.0 11.70 1.929 2510 -3.3 0.262 - - - - - - 13.96 14.35 13.31
10514 741.4 5.9 455 10565 roll 0.66 - - 3096 - 2.88 0.146 3651 493.1 172.2 43.58 1.770 2357 -3.5 0.292 - - - - - - 14.66 14.05 13.24
10600 735.1 7.6 468 10605 done 0.66 - - 3110 - 2.42 0.050 2261 -574.4 173.9 - - 2352 - - - - - - - - 14.35 14.29 14.38
10959 709.3 7.2 477 10970 roll 0.68 - - 3110 - 2.80 0.148 3657 498.6 185.4 5.82 1.793 2316 -6.2 0.486 - - - - - - 14.68 14.12 13.27
10992 706.7 7.0 482 11027 done 0.69 - - 3120 - 2.42 0.050 2251 -581.0 200.3 26.20 1.828 2244 -2.7 0.211 - - - - - - 14.50 14.42 13.28
11350 678.0 8.1 498 11356 roll 0.69 - - 3119 - 2.88 0.150 3657 488.2 200.3 - - 2231 - - - - - - - - 14.68 13.94 14.68
11377 675.6 8.6 502 11384 done 0.69 - - 3129 - 2.45 0.050 2251 -573.9 200.3 - - 2233 - - - - - - - - 14.42 14.33 14.45
11742 645.0 8.2 512 11747 roll 0.69 - - 3140 - 2.50 0.059 858 -557.2 200.3 - - 2232 - - - - - - - - 14.71 14.13 14.71
11769 642.6 8.5 516 11774 done 0.69 - - 3140 - 2.58 0.076 2258 542.6 200.3 - - 2232 - - - - - - - - 14.28 14.07 14.34
12134 612.6 8.2 526 12140 roll 0.69 - - 3140 - 2.85 0.154 3658 491.2 200.3 - - 2231 - - - - - - - - 14.76 13.81 14.76
12203 606.3 9.0 536 12208 done 0.69 - - 3150 - 2.45 0.049 2257 -571.8 200.3 - - 2231 - - - - - - - - 14.35 14.27 14.38
12526 578.3 8.9 547 12527 done 0.69 - - 3151 - - - 2253 - 200.3 - - 2230 - - - - - - - - 14.76 14.76 14.76
12862 546.9 9.4 553 12867 roll 0.69 - - 3161 - 2.55 0.059 849 -550.6 200.3 - - 2231 - - - - - - - - 14.76 14.00 14.76
12903 543.0 9.7 559 12909 done 0.69 0.12 0.224 3125 -300.0 2.62 0.076 2260 538.5 200.3 - - 2230 - - - - - - - - 13.83 13.96 14.12
13254 514.5 8.0 567 13259 roll 0.69 - - 3125 - 2.88 0.151 3663 487.2 200.3 - - 2230 - - - - - - - - 14.76 13.76 14.76
13302 510.3 9.0 574 13310 done 0.69 - - 3136 - 2.50 0.050 2248 -566.0 200.3 - - 2230 - - - - - - - - 14.31 14.22 14.38
13646 482.5 8.1 581 13651 roll 0.69 - - 3135 - 2.95 0.151 3661 479.0 200.3 - - 2230 - - - - - - - - 14.71 13.76 14.71
13702 477.6 9.2 589 13707 done 0.69 - - 3146 - 2.47 0.050 2258 -568.0 200.3 - - 2230 - - - - - - - - 14.31 14.23 14.35
14039 451.2 7.7 602 14039 done 0.69 - - 3147 - - - 2256 - 200.4 - - 2230 - - - - - - - - 14.71 14.71 14.71
14374 426.6 7.3 608 14377 done 0.70 - - 3147 - - - 2256 - 208.2 1.50 0.223 2218 -8.0 3.041 - - - - - - 14.71 14.09 13.81
14711 400.5 7.8 614 14716 roll 0.70 - - 3146 - 2.97 0.153 3664 474.1 208.2 - - 2226 - - - - - - - - 14.71 13.78 14.71
14745 397.4 9.5 619 14749 done 0.70 - - 3159 - 2.47 0.050 2262 -567.6 208.2 - - 2226 - - - - - - - - 14.29 14.20 14.31
15102 365.4 9.1 628 15103 done 0.70 0.10 0.248 3129 -300.0 - - 2258 - 208.2 - - 2226 - - - - - - - - 13.86 14.11 14.04
15439 338.6 7.9 634 15439 done 0.70 - - 3129 - - - 2258 - 208.2 - - 2226 - - - - - - - - 14.70 14.70 14.70
15774 312.0 7.9 640 15779 roll 0.70 - - 3128 - 2.95 0.150 3660 475.3 208.2 - - 2226 - - - - - - - - 14.70 13.76 14.71
15801 309.6 8.5 644 15806 done 0.70 - - 3139 - 2.47 0.050 2263 -565.6 208.2 - - 2226 - - - - - - - - 14.26 14.18 14.28
16166 279.6 8.2 654 16172 roll 0.70 - - 3149 - 2.58 0.059 857 -545.0 208.2 - - 2231 - - - - - - - - 14.69 13.88 14.69
16200 276.7 8.3 659 16205 done 0.70 - - 3149 - 2.62 0.076 2266 537.8 208.2 - - 2227 - - - - - - - - 14.08 13.84 14.13
16558 247.0 8.3 668 16563 roll 0.70 - - 3149 - 2.90 0.155 3665 482.4 208.2 - - 2227 - - - - - - - - 14.75 13.77 14.75
16620 241.2 9.5 677 16626 done 0.70 0.10 0.239 3132 -170.0 2.47 0.048 2256 -570.4 208.2 - - 2228 - - - - - - - - 13.69 14.14 13.94
16950 216.8 7.2 689 16975 roll 0.72 - - 3132 - 2.92 0.153 3662 481.5 218.2 16.27 1.302 2171 -3.5 0.116 - - - - - - 14.69 14.04 13.55
17012 211.9 8.2 698 17018 done 0.72 - - 3143 - 2.40 0.050 2266 -581.7 218.2 - - 2166 - - - - - - - - 14.47 14.40 14.50
17342 187.1 7.6 710 17343 done 0.72 - - 3143 - - - 2261 - 221.3 - - 2165 - - - - - - - - 14.70 14.70 14.69
17679 159.4 8.3 716 17683 roll 0.72 - - 3143 - 2.90 0.151 3660 482.4 221.3 - - 2165 - - - - - - - - 14.71 13.85 14.71
17761 152.1 8.6 728 17767 done 0.72 - - 3152 - 2.45 0.047 2272 -566.5 221.3 - - 2165 - - - - - - - - 14.34 14.26 14.36
18126 123.2 7.9 738 18132 roll 0.72 - - 3152 - 2.90 0.152 3655 476.9 221.3 - - 2165 - - - - - - - - 14.75 13.78 14.76
18146 121.4 7.9 741 18151 done 0.72 - - 3162 - 2.42 0.047 2274 -570.7 221.3 - - 2163 - - - - - - - - 14.34 14.24 14.35
18462 97.2 7.4 751 18473 roll 0.73 - - 3173 - 2.62 0.060 859 -540.1 227.3 2.88 0.255 2149 -4.9 0.368 - - - - - - 14.70 14.03 13.54
18524 92.5 7.5 760 18537 done 0.73 0.12 0.213 3136 -308.3 2.62 0.080 2274 540.1 231.1 4.62 0.340 2131 -3.9 0.211 - - - - - - 13.88 13.97 13.69
18858 73.4 4.4 774 18903 roll 0.89 0.08 0.138 3220 1050.0 2.85 0.161 3661 486.7 297.3 39.80 0.392 1868 -6.6 0.246 - - - - - - 14.27 14.09 13.87
19050 61.0 4.4 802 19098 done 0.98 - - 3230 - 2.42 0.049 2268 -575.6 364.2 38.92 0.360 1602 -6.8 0.230 - - - - - - 14.36 14.28 13.85
19412 43.4 5.9 820 19440 roll 1.10 - - 3230 - 2.90 0.158 3659 479.7 400.0 21.52 0.300 1458 -6.7 0.192 - - - - - - 14.64 13.99 13.88
19538 33.5 7.5 838 19550 done 1.20 0.08 0.135 3312 1025.0 2.40 0.047 2273 -577.5 404.3 3.90 0.234 1440 -4.6 0.131 - - - - - - 14.21 14.26 13.74
19856 3.4 9.4 851 19861 roll 1.20 - - 3323 - 2.55 0.060 871 -549.8 404.3 - - 1448 - - - - - - - - 14.69 13.97 14.69
19872 end climb: SURFACE_DEPTH_REACHED
19872 begin surface coast
19880 end surface coast: CONTROL_FINISHED_OK
19880 begin surface
SM -3.71 - - - - -8.40 9.60 0.090 187 19.5 3.67 0.098 2769 613.9 500.14 50.62 0.154 1056 20.9 0.051 - - - - - -