SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 702 * Raw log
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• Previous call tries 1 • 239.64 of 350.00 AH used of 24V (31.53% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -70.4 deg, depth -4.18 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: 2 s • Transponder ping count: 0
• 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 - - 162 - - - 2776 - -107.1 -81.75 - 3480 - - - - - - - - 14.59 12.66 14.53
106 0.8 -8.8 3 123 roll -0.93 11.98 0.386 2583 202.1 2.05 0.119 3837 517.6 -107.1 - - 3479 - - - - - - - - 13.83 14.16 14.24
207 33.8 -23.0 18 214 done -0.64 0.38 0.243 2689 278.9 1.85 0.046 2734 -596.2 -107.1 - - 3480 - - - - - - - - 13.74 14.30 14.06
523 70.9 -8.2 30 528 roll -0.64 - - 2690 - 2.33 0.041 1397 -573.8 -107.1 - - 3481 - - - - - - - - 14.71 14.10 14.72
564 73.8 -7.0 36 569 done -0.64 - - 2680 - 2.60 0.093 2757 523.1 -107.1 - - 3481 - - - - - - - - 14.16 13.88 14.21
887 97.6 -7.9 49 888 done -0.64 - - 2680 - - - 2756 - -107.1 - - 3482 - - - - - - - - 14.75 14.74 14.75
1223 120.6 -6.5 56 1224 done -0.64 - - 2680 - - - 2757 - -107.1 - - 3482 - - - - - - - - 14.76 14.76 14.76
1559 141.4 -6.4 62 1564 roll -0.64 - - 2672 - 2.17 0.149 3828 493.5 -107.1 - - 3480 - - - - - - - - 14.76 13.78 14.74
1607 145.2 -7.7 69 1614 done -0.64 - - 2672 - 1.85 0.059 2792 -560.0 -107.1 - - 3480 - - - - - - - - 14.18 14.15 14.20
1951 169.5 -6.9 76 1956 roll -0.64 - - 2671 - 2.53 0.041 1361 -565.6 -107.1 - - 3477 - - - - - - - - 14.76 14.10 14.76
2013 174.1 -7.4 85 2019 done -0.73 - - 2662 - 2.65 0.092 2761 528.3 -107.1 - - 3477 - - - - - - - - 14.06 13.77 14.12
2343 199.4 -7.7 97 2344 done -0.73 - - 2662 - - - 2761 - -107.1 - - 3478 - - - - - - - - 14.76 14.76 14.78
2679 221.5 -6.5 103 2684 roll -0.73 - - 2662 - 2.50 0.041 1368 -557.2 -107.1 - - 3472 - - - - - - - - 14.75 14.07 14.76
2706 223.5 -7.1 107 2711 done -0.73 - - 2653 - 2.72 0.094 2767 514.3 -107.1 - - 3472 - - - - - - - - 14.04 13.75 14.10
3071 252.3 -8.3 117 3077 roll -0.73 - - 2645 - 2.17 0.151 3832 490.8 -107.1 - - 3469 - - - - - - - - 14.75 13.73 14.73
3119 256.8 -9.5 124 3125 done -0.73 - - 2645 - 1.92 0.060 2766 -555.2 -107.1 - - 3469 - - - - - - - - 14.10 14.07 14.12
3463 285.3 -8.3 131 3468 roll -0.73 - - 2646 - 2.50 0.042 1360 -562.4 -107.1 - - 3467 - - - - - - - - 14.80 14.05 14.80
3539 292.8 -9.1 142 3544 done -0.73 - - 2637 - 2.72 0.092 2754 512.5 -107.1 - - 3467 - - - - - - - - 14.02 13.73 14.08
3855 318.6 -8.2 152 3860 roll -0.73 - - 2629 - 2.20 0.147 3833 490.5 -107.1 - - 3464 - - - - - - - - 14.76 13.72 14.76
3917 323.9 -8.6 161 3923 done -0.73 0.10 0.224 2657 280.0 1.92 0.060 2743 -567.7 -107.1 - - 3464 - - - - - - - - 13.77 14.16 14.00
4247 347.5 -7.2 173 4253 roll -0.73 - - 2657 - 2.47 0.042 1362 -559.1 -107.1 - - 3462 - - - - - - - - 14.75 13.89 14.75
4281 350.3 -7.9 178 4286 done -0.81 - - 2648 - 2.72 0.090 2761 514.3 -107.1 - - 3462 - - - - - - - - 14.03 13.74 14.09
4639 380.1 -8.5 187 4640 done -0.81 - - 2648 - - - 2760 - -107.1 - - 3460 - - - - - - - - 14.79 14.79 14.79
4975 408.6 -8.5 193 4980 roll -0.81 - - 2640 - 2.17 0.148 3824 490.3 -107.1 - - 3460 - - - - - - - - 14.78 13.71 14.78
5009 411.2 -7.5 198 5014 done -0.81 - - 2639 - 1.92 0.061 2751 -558.9 -107.1 - - 3459 - - - - - - - - 14.18 14.09 14.20
5367 441.8 -8.6 207 5372 roll -0.81 - - 2632 - 2.22 0.143 3829 485.6 -107.1 - - 3457 - - - - - - - - 14.74 13.72 14.74
5401 446.8 -15.1 212 5406 done -0.81 - - 2627 - 1.92 0.060 2744 -565.1 -107.1 - - 3457 - - - - - - - - 14.20 14.12 14.22
5759 475.6 -7.8 221 5765 roll -0.81 - - 2631 - 2.47 0.041 1361 -559.9 -107.1 - - 3456 - - - - - - - - 14.73 13.94 14.73
5807 479.5 -8.1 228 5814 done -0.81 - - 2622 - 2.75 0.090 2755 506.9 -107.1 - - 3455 - - - - - - - - 14.01 13.74 14.06
6151 507.9 -8.2 235 6156 roll -0.81 - - 2614 - 2.17 0.145 3825 493.1 -107.1 - - 3454 - - - - - - - - 14.73 13.77 14.74
6213 513.5 -8.7 244 6218 done -0.81 - - 2612 - 1.92 0.061 2747 -561.5 -107.1 - - 3454 - - - - - - - - 14.12 14.04 14.15
6543 540.6 -8.3 256 6548 roll -0.81 - - 2613 - 2.50 0.041 1355 -556.8 -107.1 - - 3453 - - - - - - - - 14.78 13.95 14.78
6605 545.7 -8.1 265 6611 done -0.81 0.10 0.244 2632 190.0 2.75 0.090 2756 509.5 -107.1 - - 3452 - - - - - - - - 13.66 13.73 13.94
6935 571.3 -7.9 277 6941 roll -0.81 - - 2623 - 2.20 0.147 3837 491.4 -107.1 - - 3450 - - - - - - - - 14.73 13.75 14.73
6969 574.3 -8.4 282 6974 done -0.81 - - 2627 - 1.92 0.060 2756 -563.0 -107.1 - - 3450 - - - - - - - - 14.16 14.09 14.19
7327 603.4 -8.2 291 7332 roll -0.81 - - 2624 - 2.53 0.041 1356 -553.4 -107.1 - - 3449 - - - - - - - - 14.72 13.91 14.72
7383 608.1 -8.2 299 7388 done -0.81 - - 2614 - 2.75 0.090 2762 511.3 -107.1 - - 3449 - - - - - - - - 14.02 13.72 14.06
7719 637.3 -8.7 312 7724 roll -0.81 - - 2605 - 2.17 0.146 3831 492.6 -107.1 - - 3446 - - - - - - - - 14.76 13.75 14.76
7781 643.1 -9.3 321 7787 done -0.81 0.10 0.234 2631 260.0 1.92 0.060 2756 -559.9 -107.1 - - 3448 - - - - - - - - 13.65 14.04 13.88
8111 668.6 -7.6 333 8117 roll -0.81 - - 2633 - 2.53 0.041 1364 -550.2 -107.1 - - 3446 - - - - - - - - 14.70 13.86 14.71
8152 671.8 -7.8 339 8157 done -0.81 - - 2623 - 2.75 0.089 2758 506.9 -107.1 - - 3447 - - - - - - - - 14.02 13.74 14.08
8503 698.7 -7.8 347 8508 roll -0.81 - - 2610 - 2.17 0.144 3827 492.6 -107.1 - - 3445 - - - - - - - - 14.70 13.79 14.70
8586 704.7 -7.2 359 8591 done -0.81 - - 2614 - 1.92 0.062 2754 -558.9 -107.1 - - 3445 - - - - - - - - 14.14 14.05 14.16
8951 732.4 -7.8 369 8952 done -0.81 - - 2614 - - - 2754 - -107.1 - - 3442 - - - - - - - - 14.75 14.77 14.76
9287 758.5 -7.9 375 9292 roll -0.81 - - 2614 - 2.55 0.041 1353 -549.4 -107.1 - - 3443 - - - - - - - - 14.76 13.82 14.76
9314 760.6 -7.4 379 9319 done -0.81 0.10 0.243 2632 180.0 2.78 0.089 2763 507.2 -107.1 - - 3443 - - - - - - - - 13.69 13.73 13.96
9679 786.7 -7.1 389 9685 roll -0.81 - - 2632 - 2.58 0.043 1362 -543.0 -107.1 - - 3442 - - - - - - - - 14.69 13.83 14.69
9713 787.4 -2.5 394 9718 done -0.81 - - 2623 - 2.75 0.091 2753 505.8 -107.1 - - 3442 - - - - - - - - 14.04 13.76 14.09
9843 end dive: TARGET_DEPTH_EXCEEDED
9843 begin apogee
9853 800.2 -9.0 399 9960 roll -0.23 0.73 0.174 2826 278.1 0.12 0.175 2272 -4008.3 - 99.43 2.532 3052 -3.9 0.247 - - - - 1 - 13.67 13.76 12.63
9962 end apogee: CONTROL_FINISHED_OK
9962 begin climb
9966 806.5 - 401 10107 roll 0.93 1.12 0.079 3190 325.0 2.55 0.051 880 -545.9 107.1 126.43 1.811 2618 -3.4 0.304 - - - - - - 13.78 13.83 13.03
10212 802.4 6.2 437 10253 done 0.83 - - 3190 - 2.50 0.069 2247 546.8 137.1 32.97 1.839 2497 -3.7 0.318 - - - - - - 14.26 14.10 13.12
10580 773.4 8.1 454 10582 done 0.69 0.22 0.222 3128 -281.8 - - 2247 - 137.1 - - 2487 - - - - - - - - 13.95 14.31 14.24
10913 752.0 6.3 460 10952 roll 0.73 - - 3126 - 2.80 0.136 3667 507.1 166.4 32.40 1.825 2379 -3.3 0.273 - - - - - - 14.69 14.07 13.29
11003 745.1 8.6 473 11008 done 0.73 - - 3137 - 2.42 0.052 2270 -577.3 166.4 - - 2374 - - - - - - - - 14.39 14.31 14.41
11361 717.5 7.7 482 11361 done 0.73 - - 3137 - - - 2267 - 167.3 - - 2371 - - - - - - - - 14.70 14.71 14.70
11696 691.3 7.8 488 11701 roll 0.73 - - 3138 - 2.80 0.135 3656 496.1 167.3 - - 2368 - - - - - - - - 14.71 13.93 14.71
11738 687.7 8.6 494 11744 done 0.65 0.12 0.233 3114 -200.0 2.45 0.050 2255 -571.8 167.3 - - 2369 - - - - - - - - 13.94 14.33 14.23
12089 662.8 7.0 502 12107 roll 0.67 - - 3113 - 2.78 0.136 3658 504.7 181.1 13.15 1.882 2324 -3.4 0.240 - - - - - - 14.76 14.13 13.40
12137 659.1 7.8 509 12143 done 0.67 - - 3123 - 2.47 0.050 2239 -574.5 181.1 - - 2318 - - - - - - - - 14.50 14.42 14.52
12481 634.6 7.0 516 12498 done 0.68 - - 3123 - - - 2237 - 195.1 16.12 1.828 2273 -2.8 0.193 - - - - - - 14.70 14.28 13.42
12817 610.6 7.1 522 12828 roll 0.70 - - 3122 - 2.83 0.138 3660 502.8 207.3 4.82 1.642 2226 -9.8 0.721 - - - - - - 14.69 14.14 13.12
12879 605.4 8.6 531 12885 done 0.70 - - 3133 - 2.45 0.050 2248 -576.3 207.3 2.28 0.545 2224 - - - - - - - - 14.47 14.40 12.98
13202 579.4 8.1 542 13208 roll 0.70 - - 3143 - 2.55 0.056 860 -544.3 207.3 1.88 0.217 2222 - - - - - - - - 14.73 14.16 13.86
13250 575.3 8.4 549 13257 done 0.70 - - 3143 - 2.58 0.070 2259 542.2 207.3 1.60 0.223 2223 - - - - - - - - 14.30 14.10 13.97
13594 546.7 8.3 556 13600 roll 0.70 - - 3143 - 2.88 0.138 3661 486.8 207.3 1.55 0.222 2224 - - - - - - - - 14.63 13.90 13.83
13649 541.6 9.3 564 13654 done 0.70 - - 3153 - 2.47 0.050 2250 -571.3 207.3 1.52 0.225 2223 - - - - - - - - 14.35 14.28 13.93
13979 515.2 7.9 576 13981 done 0.70 - - 3154 - - - 2246 - 207.3 1.62 0.221 2224 - - - - - - - - 14.73 14.09 13.80
14315 487.3 8.4 582 14316 done 0.70 - - 3153 - - - 2245 - 207.3 - - 2233 - - - - - - - - 14.69 14.69 14.69
14651 459.1 8.4 588 14653 done 0.70 - - 3153 - - - 2245 - 207.3 1.30 0.231 2224 -6.9 2.737 - - - - - - 14.68 14.09 13.83
14987 430.8 8.4 594 14989 done 0.70 - - 3154 - - - 2246 - 207.3 1.15 0.237 2225 - - - - - - - - 14.69 14.10 13.85
15323 402.9 8.3 600 15329 roll 0.70 - - 3152 - 2.95 0.137 3659 479.0 207.3 1.52 0.224 2224 - - - - - - - - 14.67 13.84 13.83
15378 397.5 9.8 608 15384 done 0.70 0.12 0.219 3128 -200.0 2.47 0.049 2257 -567.6 207.3 1.25 0.216 2224 - - - - - - - - 13.86 14.22 13.87
15708 372.0 7.7 620 15709 done 0.70 - - 3128 - - - 2253 - 207.5 - - 2233 - - - - - - - - 14.69 14.72 14.68
16044 346.9 7.4 626 16063 roll 0.71 - - 3139 - 2.50 0.055 851 -560.8 214.2 13.43 1.546 2190 -3.2 0.143 - - - - - - 14.73 14.18 13.50
16085 343.6 7.7 632 16090 done 0.71 - - 3138 - 2.55 0.069 2258 551.8 215.5 - - 2185 - - - - - - - - 14.38 14.20 14.42
16436 315.8 7.9 640 16441 roll 0.71 - - 3139 - 2.80 0.141 3657 499.6 215.5 - - 2185 - - - - - - - - 14.70 13.93 14.69
16498 310.5 8.6 649 16503 done 0.71 - - 3156 - 2.45 0.048 2250 -574.3 215.5 - - 2184 - - - - - - - - 14.39 14.31 14.40
16829 285.2 7.6 661 16833 roll 0.71 - - 3159 - 2.50 0.057 863 -554.8 218.4 - - 2184 - - - - - - - - 14.69 14.05 14.69
16862 282.5 8.1 666 16868 done 0.71 - - 3159 - 2.58 0.070 2263 542.6 218.4 - - 2185 - - - - - - - - 14.23 14.02 14.28
17220 252.4 8.6 675 17225 roll 0.71 - - 3159 - 2.85 0.142 3664 491.6 218.4 - - 2185 - - - - - - - - 14.69 13.83 14.71
17254 249.1 9.5 680 17260 done 0.71 0.12 0.221 3131 -233.3 2.47 0.048 2248 -573.3 218.4 - - 2185 - - - - - - - - 13.88 14.25 14.12
17613 223.5 7.0 689 17634 done 0.73 - - 3134 - - - 2244 - 232.5 20.23 1.324 2124 -3.0 0.101 - - - - - - 14.73 14.29 13.52
17949 195.7 8.5 695 17950 done 0.73 - - 3134 - - - 2243 - 232.5 - - 2105 - - - - - - - - 14.69 14.69 14.69
18284 168.7 7.9 701 18289 roll 0.73 - - 3133 - 2.88 0.136 3659 491.7 232.5 - - 2105 - - - - - - - - 14.69 13.89 14.69
18311 166.2 8.7 705 18316 done 0.73 - - 3143 - 2.47 0.051 2253 -569.2 232.5 - - 2104 - - - - - - - - 14.38 14.30 14.40
18677 137.8 7.4 715 18679 done 0.74 - - 3143 - - - 2250 - 239.4 1.52 0.216 2094 -6.6 0.835 - - - - - - 14.73 14.09 13.83
19012 112.4 7.8 721 19017 roll 0.74 - - 3144 - 2.90 0.139 3658 485.5 239.4 - - 2102 - - - - - - - - 14.69 13.80 14.69
19074 106.8 9.2 730 19080 done 0.74 - - 3154 - 2.47 0.050 2250 -570.0 239.4 - - 2102 - - - - - - - - 14.33 14.24 14.35
19404 82.2 6.1 746 19431 roll 0.78 - - 3164 - 2.47 0.057 860 -562.8 272.0 19.45 0.413 1968 -6.9 0.273 - - - - - - 14.71 14.19 13.83
19473 78.0 6.5 756 19494 done 0.81 - - 3164 - 2.53 0.069 2257 552.2 295.5 15.40 0.399 1872 -6.2 0.242 - - - - - - 14.33 14.14 13.77
19828 56.2 5.3 773 19865 roll 0.96 0.08 0.141 3249 1062.5 2.53 0.057 855 -554.2 343.5 28.52 0.343 1683 -6.6 0.216 - - - - - - 14.29 14.23 13.88
20068 43.6 5.1 808 20104 done 1.03 - - 3250 - 2.60 0.070 2266 542.7 395.9 31.12 0.308 1472 -6.8 0.191 - - - - - - 14.21 14.00 13.90
20438 17.3 7.8 827 20439 done 1.11 - - 3250 - - - 2266 - 395.9 - - 1477 - - - - - - - - 14.66 14.66 14.67
20654 end climb: SURFACE_DEPTH_REACHED
20654 begin surface coast
20682 end surface coast: CONTROL_FINISHED_OK
20682 begin surface
SM -3.89 - - - - -8.39 9.27 0.073 188 20.3 1.00 0.125 2760 2626.0 500.14 53.80 0.151 1057 19.6 0.052 - - - - - -