SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 51 * Raw log
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• Previous call tries 1 • 23.15 of 350.00 AH used of 24V (93.39% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth -7.33 m • Intended pitch -14.1 deg, speed -7.750 cm/s
VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 33 s
• GPS2 time: 2 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 112 done -0.82 - - 195 - - - 2782 - -146.0 -93.53 - 3632 - - - - - - - - 14.69 13.74 14.69
113 -3.1 -6.1 4 131 roll -0.82 11.40 0.399 2618 212.5 1.90 0.091 3829 551.1 -146.0 - - 3634 - - - - - - - - 14.33 14.48 14.55
360 76.1 -15.1 40 368 done -0.63 0.25 0.225 2690 288.0 1.77 0.040 2758 -605.1 -146.0 - - 3635 - - - - - - - - 14.52 14.68 14.64
704 106.1 -8.6 57 711 roll -0.57 - - 2691 - 2.30 0.045 1347 -613.5 -146.0 - - 3636 - - - - - - - - 14.90 14.70 14.90
800 113.1 -6.1 71 811 done -0.57 0.08 0.275 2707 200.0 2.53 0.073 2782 567.2 -146.0 - - 3636 - - - - - - - - 14.62 14.68 14.73
1123 128.5 -5.9 81 1131 roll -0.57 - - 2705 - 2.35 0.044 1381 -596.2 -146.0 - - 3633 - - - - - - - - 14.94 14.73 14.94
1171 135.1 -5.0 88 1180 done -0.57 - - 2698 - 2.45 0.072 2772 567.8 -146.0 - - 3635 - - - - - - - - 14.82 14.71 14.83
1508 161.6 -9.3 100 1516 roll -0.57 - - 2699 - 2.35 0.046 1377 -593.6 -146.0 - - 3634 - - - - - - - - 14.96 14.77 14.96
1535 163.6 -7.2 104 1545 done -0.57 - - 2688 - 2.47 0.073 2783 569.2 -146.0 - - 3632 - - - - - - - - 14.84 14.73 14.85
1858 188.0 -7.7 114 1861 done -0.57 - - 2689 - - - 2783 - -146.0 - - 3630 - - - - - - - - 14.97 14.97 14.97
2173 214.1 -8.4 123 2175 done -0.57 - - 2689 - - - 2783 - -146.0 - - 3626 - - - - - - - - 14.98 14.99 14.99
2488 238.7 -7.5 132 2496 roll -0.57 - - 2688 - 2.38 0.047 1378 -590.3 -146.0 - - 3623 - - - - - - - - 15.00 14.78 15.00
2523 241.1 -6.3 137 2531 done -0.57 0.10 0.222 2710 220.0 2.45 0.075 2765 566.1 -146.0 - - 3623 - - - - - - - - 14.71 14.76 14.81
2873 260.6 -5.2 151 2886 done -0.57 - - 2710 - - - 2765 - -146.0 - - 3621 - - - - - - - - 15.00 15.00 15.00
3188 282.2 -5.8 160 3201 roll -0.57 - - 2710 - 2.30 0.047 1378 -603.0 -146.0 - - 3618 - - - - - - - - 15.02 14.82 15.01
3268 286.9 -5.8 171 3281 done -0.57 - - 2700 - 2.42 0.076 2778 578.5 -146.0 - - 3616 - - - - - - - - 14.89 14.78 14.90
3615 309.0 -6.5 184 3628 roll -0.57 - - 2693 - 1.88 0.117 3821 554.8 -146.0 - - 3613 - - - - - - - - 15.02 14.78 15.02
3654 311.7 -7.6 189 3667 done -0.57 - - 2692 - 1.70 0.050 2778 -613.5 -146.0 - - 3614 - - - - - - - - 14.92 14.87 14.92
4008 336.7 -7.4 203 4021 roll -0.57 - - 2692 - 2.33 0.049 1364 -606.9 -146.0 - - 3612 - - - - - - - - 15.02 14.83 15.02
4067 336.0 -12.0 211 4080 done -0.57 0.10 0.243 2718 260.0 2.42 0.077 2776 583.5 -146.0 - - 3611 - - - - - - - - 14.74 14.78 14.88
4400 364.3 -7.1 222 4413 done -0.57 - - 2713 - - - 2772 - -146.0 - - 3610 - - - - - - - - 15.02 15.03 15.02
4715 381.2 -7.6 231 4728 roll -0.57 - - 2713 - 2.33 0.049 1373 -600.4 -146.0 - - 3608 - - - - - - - - 15.03 14.85 15.04
4774 383.7 -2.1 239 4787 done -0.57 - - 2704 - 2.40 0.076 2763 579.2 -146.0 - - 3607 - - - - - - - - 14.90 14.80 14.92
5107 408.5 -6.0 250 5120 done -0.57 - - 2703 - - - 2763 - -146.0 - - 3606 - - - - - - - - 15.04 15.04 15.04
5422 428.5 -6.5 259 5435 roll -0.57 - - 2704 - 2.33 0.049 1369 -598.3 -146.0 - - 3604 - - - - - - - - 15.03 14.84 15.03
5446 429.9 -6.5 262 5460 done -0.57 - - 2695 - 2.42 0.078 2765 576.9 -146.0 - - 3603 - - - - - - - - 14.90 14.78 14.91
5780 450.4 -6.2 273 5793 roll -0.57 - - 2695 - 2.33 0.050 1371 -598.3 -146.0 - - 3602 - - - - - - - - 15.02 14.83 15.02
5818 453.2 -6.0 278 5832 done -0.57 - - 2686 - 2.42 0.078 2759 573.6 -146.0 - - 3602 - - - - - - - - 14.90 14.79 14.92
6173 474.7 -5.3 292 6186 done -0.57 - - 2686 - - - 2763 - -146.0 - - 3600 - - - - - - - - 15.02 15.02 15.02
6488 492.8 -4.1 301 6501 roll -0.57 - - 2686 - 2.33 0.050 1369 -598.3 -146.0 - - 3597 - - - - - - - - 15.02 14.83 15.02
6533 504.8 -6.8 307 6546 done -0.57 0.12 0.235 2714 233.3 2.42 0.080 2769 578.5 -146.0 - - 3598 - - - - - - - - 14.77 14.79 14.88
6881 524.1 -5.2 320 6894 roll -0.57 - - 2714 - 2.35 0.051 1361 -599.1 -146.0 - - 3597 - - - - - - - - 15.02 14.83 15.02
6940 527.3 -5.5 328 6953 done -0.57 - - 2705 - 2.42 0.080 2763 579.3 -146.0 - - 3597 - - - - - - - - 14.90 14.78 14.91
7273 545.7 -5.5 339 7286 done -0.57 - - 2705 - - - 2762 - -146.0 - - 3595 - - - - - - - - 15.02 15.02 15.03
7588 562.5 -5.2 348 7601 roll -0.57 - - 2705 - 2.33 0.050 1371 -597.0 -146.0 - - 3594 - - - - - - - - 15.02 14.83 15.02
7647 565.5 -5.3 356 7660 done -0.57 - - 2696 - 2.42 0.080 2763 575.2 -146.0 - - 3594 - - - - - - - - 14.90 14.78 14.91
7980 583.5 -5.3 367 7993 roll -0.57 - - 2688 - 1.95 0.124 3835 549.7 -146.0 - - 3592 - - - - - - - - 15.02 14.75 15.02
8019 586.1 -6.3 372 8032 done -0.57 - - 2688 - 1.77 0.052 2764 -605.1 -146.0 - - 3594 - - - - - - - - 14.91 14.85 14.92
8373 607.1 -6.1 386 8386 roll -0.57 - - 2687 - 2.33 0.051 1354 -605.2 -146.0 - - 3591 - - - - - - - - 15.02 14.81 15.02
8482 614.3 -7.5 401 8495 done -0.57 0.12 0.235 2716 241.7 2.45 0.081 2753 571.0 -146.0 - - 3591 - - - - - - - - 14.71 14.76 14.86
8837 633.1 -5.2 415 8850 done -0.62 - - 2716 - - - 2751 - -146.0 - - 3590 - - - - - - - - 15.01 15.02 15.01
9151 649.2 -5.0 424 9164 done -0.67 - - 2716 - - - 2752 - -146.0 - - 3589 - - - - - - - - 15.01 15.01 15.01
9466 663.4 -4.5 433 9480 roll -0.72 0.08 0.151 2649 -837.5 2.33 0.050 1361 -597.0 -146.0 - - 3588 - - - - - - - - 14.84 14.80 14.87
9533 664.7 -12.0 442 9547 done -0.72 - - 2641 - 2.45 0.082 2759 570.6 -146.0 - - 3588 - - - - - - - - 14.88 14.76 14.89
9855 695.1 -7.9 452 9869 roll -0.72 - - 2632 - 1.95 0.125 3833 550.8 -146.0 - - 3588 - - - - - - - - 15.01 14.73 15.01
9886 697.4 -7.5 456 9900 done -0.72 0.10 0.234 2662 300.0 1.83 0.054 2733 -601.1 -146.0 - - 3588 - - - - - - - - 14.70 14.84 14.84
10209 767.6 -7.9 466 10222 roll -0.72 - - 2662 - 2.28 0.053 1360 -602.2 -146.0 - - 3587 - - - - - - - - 15.00 14.80 15.00
10254 771.2 -8.4 472 10267 done -0.72 - - 2653 - 2.42 0.083 2747 573.1 -146.0 - - 3587 - - - - - - - - 14.88 14.76 14.88
10601 799.7 -8.3 485 10614 roll -0.72 - - 2645 - 1.98 0.127 3827 545.5 -146.0 - - 3586 - - - - - - - - 15.03 14.73 15.00
10660 804.0 -8.3 493 10673 done -0.72 - - 2645 - 1.77 0.053 2751 -607.9 -146.0 - - 3585 - - - - - - - - 14.89 14.83 14.90
10993 825.8 -8.0 504 11006 roll -0.72 - - 2644 - 2.30 0.051 1364 -603.0 -146.0 - - 3584 - - - - - - - - 15.00 14.79 15.00
11038 807.1 16.6 510 11051 done -0.72 0.10 0.259 2665 210.0 2.40 0.080 2744 575.0 -146.0 - - 3583 - - - - - - - - 14.69 14.76 14.85
11385 848.7 -12.8 523 11398 done -0.72 - - 2665 - - - 2743 - -146.0 - - 3583 - - - - - - - - 15.00 15.00 15.00
11700 874.3 -7.1 532 11713 roll -0.72 - - 2665 - 2.33 0.052 1360 -593.6 -146.0 - - 3580 - - - - - - - - 15.00 14.78 15.00
11752 877.5 -6.5 539 11765 done -0.72 - - 2656 - 2.45 0.083 2757 570.2 -146.0 - - 3582 - - - - - - - - 14.86 14.73 14.87
12092 894.8 -5.8 551 12106 roll -0.72 - - 2656 - 2.35 0.051 1359 -594.9 -146.0 - - 3582 - - - - - - - - 14.99 14.78 14.99
12132 897.8 11.0 556 12145 done -0.72 - - 2647 - 2.42 0.082 2739 570.2 -146.0 - - 3581 - - - - - - - - 14.86 14.74 14.88
12309 end dive: HALF_MISSION_TIME_EXCEEDED
12309 begin apogee
12313 911.3 -12.0 565 12478 roll -0.23 0.57 0.183 2822 307.0 - - 2275 - - 155.43 1.922 3049 -3.4 0.312 - - - - - - 14.69 13.97 13.35
12480 end apogee: CONTROL_FINISHED_OK
12480 begin climb
12481 937.8 - 569 12659 roll 0.82 1.02 0.109 3149 320.6 2.47 0.060 893 -559.5 146.0 160.50 1.870 2468 -3.6 0.349 - - - - - - 14.02 14.03 13.26
12859 910.4 9.0 627 12872 done 0.74 - - 3151 - 2.47 0.065 2304 571.3 146.0 - - 2449 - - - - - - - - 14.42 14.32 14.43
13191 879.3 9.3 638 13205 roll 0.65 0.10 0.259 3126 -250.0 2.42 0.061 901 -579.8 146.0 - - 2448 - - - - - - - - 14.45 14.52 14.56
13384 863.2 8.0 665 13397 done 0.59 0.12 0.239 3090 -300.0 2.40 0.066 2292 579.6 146.0 - - 2447 - - - - - - - - 14.50 14.57 14.65
13725 839.5 6.9 677 13765 roll 0.62 - - 3089 - 2.67 0.117 3699 527.0 169.8 24.38 2.009 2362 -3.5 0.280 - - - - - - 14.85 14.37 13.83
13803 831.0 10.4 688 13817 done 0.57 - - 3095 - 2.40 0.050 2298 -583.8 169.8 - - 2358 - - - - - - - - 14.54 14.49 14.56
14150 778.0 10.2 701 14163 roll 0.57 - - 3106 - 2.40 0.067 891 -586.2 169.8 - - 2354 - - - - - - - - 14.80 14.59 14.80
14195 775.8 -2.7 707 14558 done 0.91 0.20 0.080 3199 465.0 2.40 0.065 2290 582.9 448.9 341.58 1.611 1262 -3.2 0.296 - - - - 1 - 14.64 14.59 13.07
14892 670.9 16.8 770 14905 roll 0.85 - - 3210 - 2.47 0.072 893 -565.6 448.9 - - 1257 - - - - - - - - 14.62 14.41 14.62
15001 651.7 15.3 785 15015 done 0.80 0.17 0.223 3159 -300.0 2.45 0.070 2288 569.4 448.9 - - 1257 - - - - - - - - 14.40 14.47 14.54
15356 606.5 12.4 799 15369 roll 0.80 - - 3169 - 2.42 0.070 897 -574.8 448.9 - - 1256 - - - - - - - - 14.79 14.57 14.79
15401 600.4 10.9 805 15414 done 0.80 - - 3168 - 2.40 0.069 2283 577.5 448.9 - - 1256 - - - - - - - - 14.68 14.57 14.69
15748 555.2 13.1 818 15761 roll 0.80 - - 3172 - 2.40 0.071 896 -577.9 448.9 - - 1255 - - - - - - - - 14.85 14.63 14.85
15787 550.5 12.5 823 15800 done 0.80 - - 3177 - 2.40 0.068 2283 577.9 448.9 - - 1255 - - - - - - - - 14.73 14.63 14.75
16140 500.7 14.2 837 16154 roll 0.80 - - 3187 - 2.40 0.070 890 -580.4 448.9 - - 1255 - - - - - - - - 14.90 14.67 14.90
16199 492.0 13.6 845 16212 done 0.80 - - 3190 - 2.38 0.068 2275 581.9 448.9 - - 1254 - - - - - - - - 14.77 14.67 14.79
16532 444.8 16.2 856 16545 roll 0.80 - - 3196 - 2.38 0.072 896 -579.4 448.9 - - 1254 - - - - - - - - 14.91 14.69 14.91
16577 438.0 13.8 862 16591 done 0.80 0.12 0.233 3160 -300.0 2.35 0.069 2262 581.3 448.9 - - 1254 - - - - - - - - 14.62 14.69 14.81
16924 396.2 11.9 875 16937 done 0.80 - - 3160 - - - 2262 - 448.9 - - 1254 - - - - - - - - 14.92 14.92 14.92
17239 361.9 11.8 884 17253 roll 0.80 - - 3170 - 2.35 0.071 889 -584.3 448.9 - - 1254 - - - - - - - - 14.92 14.71 14.94
17292 356.1 13.9 891 17305 done 0.80 - - 3169 - 2.35 0.067 2264 585.1 448.9 - - 1254 - - - - - - - - 14.81 14.71 14.83
17632 314.8 12.7 903 17645 roll 0.80 - - 3177 - 2.35 0.070 890 -584.7 448.9 - - 1253 - - - - - - - - 14.95 14.72 14.95
17662 310.1 15.9 907 17676 done 0.80 - - 3177 - 2.35 0.067 2260 583.0 448.9 - - 1254 - - - - - - - - 14.81 14.72 14.83
17985 267.0 13.8 917 17999 roll 0.80 - - 3186 - 2.35 0.070 887 -584.3 448.9 - - 1254 - - - - - - - - 14.95 14.71 14.95
18024 261.7 12.2 922 18038 done 0.80 - - 3186 - 2.35 0.067 2261 584.7 448.9 - - 1254 - - - - - - - - 14.83 14.71 14.83
18378 216.1 13.6 936 18386 roll 0.80 - - 3193 - 2.38 0.069 895 -573.9 448.9 - - 1254 - - - - - - - - 14.93 14.69 14.92
18419 209.4 14.8 942 18429 done 0.80 0.12 0.222 3156 -308.3 2.38 0.066 2250 569.3 448.9 - - 1254 - - - - - - - - 14.61 14.71 14.78
18763 173.2 10.7 955 18766 done 0.80 - - 3156 - - - 2250 - 448.9 - - 1254 - - - - - - - - 14.91 14.91 14.91
19079 137.9 11.0 964 19086 roll 0.80 - - 3165 - 2.38 0.069 897 -568.5 448.9 - - 1254 - - - - - - - - 14.91 14.67 14.91
19119 132.6 12.2 970 19129 done 0.80 - - 3164 - 2.38 0.063 2256 571.0 448.9 - - 1254 - - - - - - - - 14.78 14.69 14.80
19449 95.9 10.5 983 19452 done 0.80 - - 3165 - - - 2256 - 448.9 - - 1253 - - - - - - - - 14.90 14.90 14.88
19764 67.2 7.8 998 19773 roll 0.80 - - 3172 - 2.38 0.068 893 -572.7 448.9 - - 1255 - - - - - - - - 14.90 14.65 14.90
19777 66.7 7.3 1000 19788 done 0.86 - - 3172 - 2.35 0.061 2244 574.9 459.7 4.80 0.280 1219 -7.5 0.343 - - - - - - 14.78 14.67 14.46
20101 49.1 2.5 1016 20180 roll 1.12 0.20 0.084 3279 535.0 2.65 0.110 3698 548.7 599.2 70.22 0.337 664 -7.9 0.221 - - - - - - 14.73 14.50 14.40
20197 39.3 11.5 1030 20209 done 1.12 - - 3287 - 2.53 0.044 2236 -577.9 599.2 - - 672 - - - - - - - - 14.66 14.59 14.67
20521 11.0 7.8 1046 20529 roll 1.16 - - 3296 - 2.22 0.067 901 -601.4 599.2 1.48 0.226 665 -4.7 0.044 - - - - - - 14.83 14.61 14.57
20605 4.4 7.9 1058 20613 done 1.22 - - 3297 - 2.30 0.056 2243 583.5 599.2 1.60 0.186 661 -2.5 0.011 - - - - - - 14.66 14.61 14.57
20667 end climb: SURFACE_DEPTH_REACHED
20667 begin surface coast
20687 end surface coast: CONTROL_FINISHED_OK
20687 begin surface
SM -2.35 - - - - -8.41 9.02 0.074 190 21.0 0.93 0.090 2767 -7078.5 610.16 6.53 0.179 620 94.9 0.127 - - - - - -