SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 701 * Raw log
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• Previous call tries 1 • 239.32 of 350.00 AH used of 24V (31.62% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -67.2 deg, depth -3.98 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - 177 - - - 2776 - -107.1 -82.22 - 3478 - - - - - - - - 14.59 12.66 14.52
106 0.9 -8.6 3 123 roll -0.93 11.95 0.386 2583 201.3 2.05 0.123 3834 516.1 -107.1 - - 3479 - - - - - - - - 13.81 14.14 14.22
221 35.8 -21.9 20 226 done -0.65 0.40 0.246 2685 255.0 1.83 0.046 2712 -613.1 -107.1 - - 3479 - - - - - - - - 13.74 14.35 14.07
551 71.1 -7.4 34 556 roll -0.65 - - 2686 - 2.38 0.043 1361 -567.6 -107.1 - - 3481 - - - - - - - - 14.74 14.12 14.72
683 80.9 -6.4 53 691 done -0.65 - - 2677 - 2.72 0.096 2763 515.4 -107.1 - - 3481 - - - - - - - - 14.11 13.83 14.16
999 104.4 -7.5 64 1004 roll -0.65 - - 2668 - 2.15 0.153 3825 494.0 -107.1 - - 3482 - - - - - - - - 14.75 13.81 14.75
1068 110.6 -8.7 74 1073 done -0.65 - - 2668 - 1.88 0.057 2734 -580.3 -107.1 - - 3482 - - - - - - - - 14.26 14.19 14.27
1391 133.2 -6.5 85 1392 done -0.65 - - 2668 - - - 2734 - -107.1 - - 3480 - - - - - - - - 14.76 14.76 14.76
1727 158.3 -7.9 91 1732 roll -0.65 - - 2658 - 2.25 0.144 3826 485.3 -107.1 - - 3479 - - - - - - - - 14.77 13.71 14.76
1761 161.3 -8.6 96 1766 done -0.65 0.10 0.213 2689 310.0 1.88 0.059 2751 -571.8 -107.1 - - 3479 - - - - - - - - 13.87 14.21 14.07
2120 186.5 -6.8 105 2125 roll -0.76 - - 2689 - 2.45 0.042 1372 -562.9 -107.1 - - 3477 - - - - - - - - 14.75 14.04 14.75
2160 189.5 -7.2 111 2166 done -0.88 0.12 0.095 2590 -825.0 2.70 0.095 2759 513.7 -107.1 - - 3476 - - - - - - - - 14.09 13.77 14.18
2511 224.6 -10.1 119 2516 roll -0.88 - - 2582 - 2.17 0.147 3829 493.1 -107.1 - - 3473 - - - - - - - - 14.76 13.72 14.76
2552 229.0 -10.6 125 2558 done -0.78 0.22 0.210 2644 281.8 1.88 0.056 2748 -575.0 -107.1 - - 3473 - - - - - - - - 13.65 14.21 13.91
2903 255.2 -7.2 133 2904 done -0.78 - - 2642 - - - 2748 - -107.1 - - 3471 - - - - - - - - 14.76 14.76 14.76
3239 282.6 -8.3 139 3244 roll -0.78 - - 2643 - 2.47 0.044 1369 -558.3 -107.1 - - 3469 - - - - - - - - 14.75 14.00 14.75
3295 287.5 -8.3 147 3300 done -0.78 - - 2634 - 2.75 0.097 2759 505.5 -107.1 - - 3469 - - - - - - - - 14.04 13.75 14.10
3631 318.2 -9.3 160 3632 done -0.78 - - 2634 - - - 2759 - -107.1 - - 3467 - - - - - - - - 14.76 14.76 14.76
3967 351.3 -10.0 166 3972 roll -0.78 - - 2635 - 2.53 0.043 1372 -548.2 -107.1 - - 3465 - - - - - - - - 14.79 13.88 14.80
3994 354.2 -10.3 170 3999 done -0.78 - - 2624 - 2.72 0.096 2751 507.0 -107.1 - - 3464 - - - - - - - - 14.04 13.76 14.11
4359 387.7 -8.9 180 4360 done -0.78 - - 2624 - - - 2751 - -107.1 - - 3464 - - - - - - - - 14.74 14.74 14.73
4695 415.9 -8.3 186 4700 roll -0.78 - - 2615 - 2.22 0.150 3833 487.4 -107.1 - - 3460 - - - - - - - - 14.74 13.71 14.75
4757 421.5 -9.0 195 4762 done -0.78 0.10 0.223 2644 290.0 1.90 0.057 2752 -568.9 -107.1 - - 3462 - - - - - - - - 13.75 14.17 13.97
5087 445.9 -7.4 207 5088 done -0.78 - - 2644 - - - 2751 - -107.1 - - 3460 - - - - - - - - 14.74 14.73 14.73
5423 468.9 -6.7 213 5429 roll -0.78 - - 2649 - 2.50 0.043 1364 -554.8 -107.1 - - 3458 - - - - - - - - 14.78 13.93 14.78
5485 473.3 -7.0 222 5490 done -0.78 - - 2635 - 2.78 0.098 2771 506.1 -107.1 - - 3458 - - - - - - - - 14.04 13.75 14.10
5816 498.3 -7.7 234 5820 roll -0.78 - - 2634 - 2.17 0.153 3830 488.0 -107.1 - - 3456 - - - - - - - - 14.78 13.74 14.78
5856 501.8 -8.3 240 5861 done -0.78 - - 2626 - 1.90 0.057 2755 -565.8 -107.1 - - 3456 - - - - - - - - 14.19 14.12 14.21
6207 532.1 -8.9 248 6212 roll -0.78 - - 2626 - 2.50 0.043 1371 -553.6 -107.1 - - 3455 - - - - - - - - 14.73 13.90 14.73
6290 539.8 -9.1 260 6295 done -0.78 - - 2617 - 2.75 0.098 2754 502.9 -107.1 - - 3454 - - - - - - - - 14.12 13.85 14.17
6655 573.7 -9.3 270 6656 done -0.78 - - 2618 - - - 2754 - -107.1 - - 3453 - - - - - - - - 14.78 14.78 14.78
6991 606.0 -9.7 276 6996 roll -0.78 0.08 0.281 2644 325.0 2.55 0.042 1365 -544.7 -107.1 - - 3451 - - - - - - - - 13.89 13.89 13.97
7025 609.4 -9.4 281 7032 done -0.78 - - 2634 - 2.75 0.101 2753 504.7 -107.1 - - 3451 - - - - - - - - 14.14 13.85 14.18
7383 643.1 -9.6 290 7388 roll -0.78 - - 2625 - 2.22 0.152 3837 488.3 -107.1 - - 3450 - - - - - - - - 14.76 13.76 14.76
7417 646.7 -10.4 295 7422 done -0.78 - - 2624 - 1.92 0.058 2749 -566.7 -107.1 - - 3449 - - - - - - - - 14.15 14.07 14.16
7775 678.6 -8.7 304 7780 roll -0.78 - - 2625 - 2.53 0.044 1361 -548.6 -107.1 - - 3449 - - - - - - - - 14.71 13.84 14.73
7823 682.5 -7.9 311 7830 done -0.78 0.10 0.234 2644 190.0 2.78 0.096 2750 499.6 -107.1 - - 3448 - - - - - - - - 13.74 13.78 14.00
8168 704.5 -6.2 318 8172 roll -0.78 - - 2639 - 2.22 0.152 3835 488.7 -107.1 - - 3448 - - - - - - - - 14.71 13.78 14.71
8229 708.6 -6.9 327 8234 done -0.78 - - 2635 - 1.95 0.056 2722 -570.8 -107.1 - - 3448 - - - - - - - - 14.15 14.09 14.17
8560 729.2 -6.3 339 8564 roll -0.78 - - 2627 - 2.30 0.146 3832 482.6 -107.1 - - 3446 - - - - - - - - 14.75 13.80 14.76
8593 731.6 -7.0 344 8598 done -0.78 - - 2626 - 1.92 0.057 2771 -552.6 -107.1 - - 3446 - - - - - - - - 14.00 13.98 14.10
8951 758.3 -7.7 353 8957 roll -0.78 - - 2626 - 2.58 0.044 1360 -546.9 -107.1 - - 3444 - - - - - - - - 14.69 13.82 14.70
8999 762.3 -8.1 360 9006 done -0.78 - - 2618 - 2.78 0.095 2751 500.4 -107.1 - - 3444 - - - - - - - - 14.07 13.79 14.12
9343 792.0 -8.9 367 9348 roll -0.78 - - 2610 - 2.20 0.148 3829 490.0 -107.1 - - 3441 - - - - - - - - 14.69 13.79 14.69
9399 797.2 -9.8 375 9404 done -0.78 0.12 0.213 2644 283.3 1.92 0.057 2749 -562.5 -107.1 - - 3442 - - - - - - - - 13.63 14.07 13.88
9429 end dive: TARGET_DEPTH_EXCEEDED
9429 begin apogee
9439 800.2 -8.1 380 9548 roll -0.23 0.62 0.168 2821 285.5 0.10 0.192 2272 -4770.0 - 100.68 2.518 3049 -3.9 0.247 - - - - 1 - 13.64 13.72 12.62
9549 end apogee: CONTROL_FINISHED_OK
9549 begin climb
9554 803.7 - 382 9694 roll 0.93 1.12 0.080 3187 326.8 2.60 0.055 875 -537.3 107.1 127.07 1.809 2615 -3.4 0.302 - - - - - - 13.81 13.83 13.02
9772 801.2 6.0 414 9818 done 0.83 - - 3187 - 2.50 0.070 2243 547.2 141.9 37.28 1.819 2479 -3.6 0.320 - - - - - - 14.23 14.08 13.09
10164 767.0 9.1 428 10169 roll 0.70 0.17 0.230 3132 -323.5 2.78 0.131 3656 508.3 141.9 - - 2469 - - - - - - - - 13.90 14.02 14.09
10233 760.9 9.0 438 10239 done 0.61 0.15 0.224 3103 -193.3 2.42 0.049 2258 -577.7 141.9 - - 2468 - - - - - - - - 13.98 14.35 14.27
10556 740.4 6.2 449 10596 roll 0.65 - - 3102 - 2.85 0.135 3659 491.6 173.4 35.30 1.808 2351 -3.3 0.270 - - - - - - 14.74 14.09 13.31
10625 735.3 6.8 459 10651 done 0.67 - - 3111 - 2.45 0.049 2252 -574.3 191.6 18.83 1.860 2280 -3.8 0.297 - - - - - - 14.36 14.29 13.18
10997 711.6 6.5 470 11030 roll 0.70 - - 3111 - 2.80 0.138 3657 501.8 215.8 26.92 1.817 2183 -3.6 0.281 - - - - - - 14.66 14.05 13.30
11087 705.3 7.8 483 11092 done 0.70 - - 3121 - 2.45 0.049 2256 -571.8 215.8 - - 2176 - - - - - - - - 14.36 14.28 14.39
11445 678.5 7.7 492 11450 roll 0.70 - - 3121 - 2.83 0.138 3656 494.7 216.9 - - 2172 - - - - - - - - 14.71 13.95 14.71
11493 674.1 9.2 499 11499 done 0.70 - - 3130 - 2.47 0.048 2258 -566.0 216.9 - - 2172 - - - - - - - - 14.39 14.31 14.41
11837 643.1 9.2 506 11842 roll 0.70 - - 3141 - 2.55 0.061 850 -552.2 216.9 - - 2171 - - - - - - - - 14.71 14.09 14.71
11864 640.5 9.3 510 11869 done 0.70 - - 3141 - 2.60 0.076 2258 541.5 216.9 - - 2171 - - - - - - - - 14.28 14.08 14.33
12229 606.0 9.5 520 12234 roll 0.70 - - 3141 - 2.83 0.138 3662 496.1 216.9 - - 2171 - - - - - - - - 14.71 13.88 14.71
12277 601.0 10.1 527 12283 done 0.70 - - 3151 - 2.50 0.049 2255 -562.8 216.9 - - 2170 - - - - - - - - 14.35 14.26 14.37
12621 568.2 9.5 534 12626 roll 0.70 - - 3161 - 2.53 0.062 858 -552.2 216.9 - - 2170 - - - - - - - - 14.79 14.02 14.76
12662 564.2 9.5 540 12668 done 0.70 0.12 0.214 3126 -291.7 2.62 0.076 2268 538.2 216.9 - - 2170 - - - - - - - - 13.88 14.00 14.16
13013 536.8 7.6 548 13018 roll 0.71 - - 3126 - 2.83 0.140 3664 493.3 218.6 - - 2171 - - - - - - - - 14.71 13.82 14.71
13069 532.2 8.2 556 13074 done 0.71 - - 3134 - 2.50 0.049 2253 -564.4 218.6 - - 2170 - - - - - - - - 14.31 14.23 14.35
13405 507.1 7.5 569 13412 roll 0.71 - - 3146 - 2.60 0.060 852 -538.8 223.6 1.55 0.219 2156 -9.0 4.163 - - - - - - 14.75 14.04 13.85
13454 503.2 7.9 576 13460 done 0.71 - - 3146 - 2.65 0.077 2266 533.6 223.6 - - 2163 - - - - - - - - 14.21 14.00 14.26
13798 474.1 8.7 583 13803 roll 0.71 - - 3146 - 2.85 0.143 3661 489.5 223.6 - - 2164 - - - - - - - - 14.69 13.80 14.69
13846 469.3 10.1 590 13852 done 0.71 - - 3156 - 2.50 0.048 2259 -560.8 223.6 - - 2165 - - - - - - - - 14.30 14.21 14.32
14189 437.1 9.4 597 14195 roll 0.71 - - 3165 - 2.58 0.062 856 -543.8 223.6 - - 2165 - - - - - - - - 14.69 13.95 14.71
14224 433.8 9.6 602 14229 done 0.71 0.12 0.211 3131 -283.3 2.62 0.076 2261 536.3 223.6 - - 2165 - - - - - - - - 13.82 13.94 14.07
14582 405.6 7.6 611 14592 roll 0.71 - - 3130 - 2.85 0.144 3666 493.0 225.2 1.92 0.213 2153 -6.2 2.369 - - - - - - 14.69 13.86 13.82
14665 398.7 8.1 623 14669 done 0.71 - - 3140 - 2.47 0.047 2261 -568.8 225.2 - - 2159 - - - - - - - - 14.30 14.21 14.32
15030 370.9 7.7 633 15033 done 0.72 - - 3140 - - - 2261 - 225.9 2.30 0.515 2148 -4.8 0.686 - - - - - - 14.73 14.28 13.19
15366 343.8 8.2 639 15376 roll 0.72 - - 3140 - 2.92 0.139 3661 479.5 225.9 2.08 0.317 2151 1.4 -0.311 - - - - - - 14.74 13.88 12.84
15400 340.6 9.5 644 15405 done 0.72 - - 3150 - 2.47 0.047 2247 -572.5 225.9 - - 2157 - - - - - - - - 14.35 14.27 14.37
15758 310.6 8.2 653 15761 done 0.72 - - 3150 - - - 2246 - 225.9 1.73 0.216 2150 -4.0 1.158 - - - - - - 14.73 14.09 13.78
16094 285.1 7.6 659 16099 done 0.72 - - 3150 - - - 2248 - 229.4 3.95 1.128 2133 -4.3 0.217 - - - - - - 14.69 14.34 13.32
16430 258.2 8.2 665 16440 roll 0.72 - - 3150 - 2.92 0.141 3659 483.2 229.4 2.33 0.518 2139 2.6 -0.255 - - - - - - 14.71 13.97 13.24
16457 255.7 9.0 669 16463 done 0.72 - - 3161 - 2.45 0.050 2260 -571.0 229.4 1.48 0.260 2138 - - - - - - - - 14.34 14.26 13.80
16822 222.3 9.3 679 16828 roll 0.72 - - 3159 - 2.90 0.138 3660 482.8 229.4 2.17 0.408 2137 - - - - - - - - 14.73 13.90 13.21
16849 219.4 10.6 683 16855 done 0.72 0.12 0.223 3135 -200.0 2.45 0.049 2258 -572.2 229.4 - - 2145 - - - - - - - - 13.92 14.29 14.17
17208 190.2 7.8 692 17214 roll 0.72 - - 3145 - 2.58 0.054 865 -539.9 229.4 1.80 0.216 2138 -3.9 0.682 - - - - - - 14.72 14.02 13.83
17235 188.2 7.0 696 17262 done 0.74 - - 3145 - 2.58 0.067 2267 543.4 243.7 23.00 1.300 2078 -2.6 0.075 - - - - - - 14.18 13.97 13.54
17590 161.7 7.6 711 17595 roll 0.74 - - 3145 - 2.78 0.142 3658 500.4 245.6 - - 2060 - - - - - - - - 14.64 13.90 14.64
17651 155.2 10.1 720 17656 done 0.74 - - 3155 - 2.42 0.049 2265 -575.6 245.6 - - 2060 - - - - - - - - 14.38 14.30 14.40
17981 125.8 8.8 732 17985 roll 0.74 - - 3155 - 2.83 0.139 3658 492.2 245.6 - - 2060 - - - - - - - - 14.64 13.83 14.64
18008 123.3 9.1 736 18013 done 0.74 - - 3165 - 2.42 0.048 2266 -575.2 245.6 - - 2060 - - - - - - - - 14.35 14.27 14.38
18345 92.4 9.4 746 18350 roll 0.74 - - 3175 - 2.53 0.056 860 -555.7 245.6 - - 2061 - - - - - - - - 14.67 14.00 14.68
18373 89.9 8.7 750 18378 done 0.74 0.12 0.209 3139 -300.0 2.62 0.070 2280 542.0 245.6 - - 2060 - - - - - - - - 13.87 13.95 14.14
18713 69.1 6.2 765 18735 done 0.87 0.08 0.138 3219 1000.0 - - 2280 - 275.9 15.62 0.369 1954 -6.8 0.253 - - - - - - 14.28 14.23 13.83
19045 49.6 4.4 780 19091 roll 0.95 - - 3218 - 2.72 0.138 3655 505.5 343.1 39.05 0.330 1685 -6.9 0.206 - - - - - - 14.68 14.08 13.89
19282 40.9 4.8 814 19323 done 1.02 - - 3227 - 2.42 0.049 2255 -578.5 402.2 34.97 0.300 1446 -6.8 0.185 - - - - - - 14.26 14.19 13.91
19637 21.0 6.0 831 19660 done 1.20 0.12 0.093 3324 808.3 - - 2255 - 437.5 21.20 0.229 1307 -6.6 0.120 - - - - - - 14.30 14.25 13.95
19824 end climb: SURFACE_DEPTH_REACHED
19824 begin surface coast
19852 end surface coast: CONTROL_FINISHED_OK
19852 begin surface
SM -4.31 - - - - -8.40 9.73 0.095 187 19.2 1.05 0.122 2761 -7281.0 500.14 33.10 0.150 1058 32.0 0.094 - - - - - -