SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 602 * Raw log
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• Previous call tries 2 • 208.60 of 350.00 AH used of 24V (40.40% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.7 deg, depth -4.24 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - - 101 done -0.93 - - 105 - - - 2779 - -107.1 -79.82 - 3476 - - - - - - - - 14.65 13.00 14.62
105 2.4 -12.0 3 123 roll -0.93 12.30 0.399 2583 201.5 2.00 0.103 3831 526.0 -107.1 - - 3478 - - - - - - - - 13.95 14.28 14.35
215 38.8 -20.2 19 220 done -0.73 0.28 0.242 2657 264.3 1.77 0.040 2721 -627.1 -107.1 - - 3478 - - - - - - - - 14.02 14.50 14.31
551 73.1 -9.2 34 555 roll -0.73 - - 2657 - 2.25 0.044 1403 -585.8 -107.1 - - 3477 - - - - - - - - 14.83 14.38 14.83
599 77.3 -7.8 41 606 done -0.73 - - 2648 - 2.53 0.076 2778 543.5 -107.1 - - 3480 - - - - - - - - 14.40 14.18 14.43
942 105.2 -8.3 53 948 roll -0.73 - - 2639 - 1.98 0.116 3828 530.3 -107.1 - - 3480 - - - - - - - - 14.87 14.15 14.85
970 107.7 -8.8 57 976 done -0.73 - - 2639 - 1.73 0.041 2768 -612.7 -107.1 - - 3480 - - - - - - - - 14.50 14.47 14.50
1334 142.3 -9.7 67 1339 roll -0.73 - - 2639 - 2.33 0.043 1409 -583.3 -107.1 - - 3477 - - - - - - - - 14.89 14.38 14.88
1383 146.9 -9.1 74 1390 done -0.73 0.10 0.243 2658 190.0 2.47 0.071 2769 550.6 -107.1 - - 3478 - - - - - - - - 14.00 14.14 14.25
1727 173.6 -7.7 81 1733 roll -0.73 - - 2657 - 2.38 0.043 1399 -575.6 -107.1 - - 3475 - - - - - - - - 14.86 14.38 14.86
1775 177.4 -7.4 88 1781 done -0.73 - - 2650 - 2.53 0.073 2758 537.2 -107.1 - - 3475 - - - - - - - - 14.27 14.16 14.31
2119 202.9 -7.4 95 2119 done -0.73 - - 2650 - - - 2758 - -107.1 - - 3473 - - - - - - - - 14.89 14.89 14.89
2454 232.2 -8.8 101 2460 roll -0.73 - - 2649 - 2.38 0.044 1402 -569.7 -107.1 - - 3471 - - - - - - - - 14.86 14.35 14.87
2545 240.7 -9.1 114 2550 done -0.73 - - 2641 - 2.53 0.073 2766 539.1 -107.1 - - 3470 - - - - - - - - 14.41 14.21 14.45
2903 273.8 -9.1 123 2903 done -0.73 - - 2641 - - - 2768 - -107.1 - - 3468 - - - - - - - - 14.86 14.86 14.86
3239 301.5 -8.1 129 3244 roll -0.73 - - 2641 - 2.40 0.044 1402 -569.2 -107.1 - - 3466 - - - - - - - - 14.86 14.34 14.87
3301 306.3 -7.6 138 3306 done -0.73 0.10 0.241 2660 190.0 2.53 0.074 2763 537.9 -107.1 - - 3465 - - - - - - - - 14.01 14.17 14.26
3631 328.9 -6.9 150 3636 roll -0.73 - - 2660 - 2.38 0.044 1408 -569.3 -107.1 - - 3463 - - - - - - - - 14.89 14.32 14.89
3672 332.2 -7.7 156 3677 done -0.81 - - 2653 - 2.50 0.075 2763 542.0 -107.1 - - 3463 - - - - - - - - 14.36 14.15 14.40
4022 360.5 -8.3 164 4023 done -0.81 - - 2659 - - - 2763 - -107.1 - - 3461 - - - - - - - - 14.85 14.86 14.85
4359 388.8 -8.4 170 4364 roll -0.81 - - 2656 - 2.38 0.044 1409 -568.9 -107.1 - - 3459 - - - - - - - - 14.85 14.30 14.86
4456 396.8 -8.1 184 4461 done -0.89 - - 2644 - 2.50 0.074 2750 536.4 -107.1 - - 3458 - - - - - - - - 14.34 14.12 14.38
4807 423.5 -7.4 192 4811 roll -0.89 - - 2644 - 2.38 0.044 1401 -566.8 -107.1 - - 3457 - - - - - - - - 14.85 14.29 14.85
4883 429.0 -6.5 203 4888 done -0.89 - - 2635 - 2.50 0.076 2751 540.0 -107.1 - - 3456 - - - - - - - - 14.33 14.12 14.38
5199 451.0 -7.0 213 5204 roll -0.89 - - 2635 - 2.35 0.044 1410 -570.6 -107.1 - - 3455 - - - - - - - - 14.85 14.28 14.85
5240 454.0 -7.6 219 5245 done -0.89 - - 2626 - 2.50 0.076 2750 536.0 -107.1 - - 3455 - - - - - - - - 14.31 14.08 14.35
5591 483.0 -8.6 227 5591 done -0.89 - - 2626 - - - 2747 - -107.1 - - 3454 - - - - - - - - 14.85 14.85 14.85
5927 514.5 -9.4 233 5932 roll -0.89 - - 2625 - 2.38 0.044 1404 -564.3 -107.1 - - 3452 - - - - - - - - 14.85 14.26 14.85
5996 521.4 -9.7 243 6001 done -0.89 - - 2617 - 2.53 0.075 2747 530.8 -107.1 - - 3452 - - - - - - - - 14.29 14.07 14.34
6319 552.8 -9.8 254 6324 roll -0.89 - - 2616 - 2.38 0.044 1400 -566.0 -107.1 - - 3450 - - - - - - - - 14.84 14.26 14.84
6367 557.5 -9.8 261 6374 done -0.89 - - 2608 - 2.53 0.076 2735 527.7 -107.1 - - 3451 - - - - - - - - 14.08 13.95 14.14
6711 591.2 -9.8 268 6711 done -0.89 - - 2607 - - - 2736 - -107.1 - - 3449 - - - - - - - - 14.84 14.84 14.84
7047 621.1 -8.8 274 7051 roll -0.89 - - 2607 - 2.35 0.044 1411 -563.8 -107.1 - - 3448 - - - - - - - - 14.82 14.22 14.84
7095 625.4 -8.7 281 7102 done -0.89 - - 2599 - 2.53 0.077 2749 528.9 -107.1 - - 3448 - - - - - - - - 14.21 13.96 14.26
7439 656.3 -9.1 288 7443 roll -0.89 - - 2590 - 2.12 0.125 3834 511.8 -107.1 - - 3447 - - - - - - - - 14.87 13.85 14.87
7473 659.8 -9.6 293 7479 done -0.89 - - 2589 - 1.85 0.045 2764 -578.4 -107.1 - - 3445 - - - - - - - - 14.35 14.32 14.37
7831 695.3 -10.0 302 7835 roll -0.89 - - 2589 - 2.45 0.044 1372 -568.2 -107.1 - - 3445 - - - - - - - - 14.87 14.21 14.87
7872 699.8 -9.9 308 7877 done -0.89 0.10 0.250 2606 170.0 2.60 0.076 2747 528.8 -107.1 - - 3445 - - - - - - - - 13.82 13.97 14.09
8223 730.9 -8.8 316 8224 done -0.89 - - 2606 - - - 2746 - -107.1 - - 3443 - - - - - - - - 14.82 14.82 14.82
8559 758.6 -8.0 322 8559 done -0.89 - - 2606 - - - 2745 - -107.1 - - 3443 - - - - - - - - 14.86 14.86 14.86
8895 784.8 -7.6 328 8900 roll -0.89 - - 2610 - 2.45 0.044 1372 -560.4 -107.1 - - 3441 - - - - - - - - 14.86 14.18 14.85
8964 790.2 -7.9 338 8969 done -0.89 - - 2597 - 2.60 0.078 2739 525.8 -107.1 - - 3441 - - - - - - - - 14.15 13.90 14.20
9115 end dive: TARGET_DEPTH_EXCEEDED
9115 begin apogee
9124 802.1 -7.5 346 9240 roll -0.23 0.82 0.206 2820 272.0 0.10 0.173 2281 -4580.0 - 113.57 1.821 3050 -3.4 0.299 - - - - - - 13.64 13.93 12.95
9242 end apogee: CONTROL_FINISHED_OK
9242 begin climb
9246 804.4 - 348 9373 roll 0.93 1.15 0.115 3180 313.0 2.60 0.055 852 -549.6 107.1 117.30 1.779 2623 -3.6 0.324 - - - - - - 14.00 14.06 12.96
9415 799.3 7.3 374 9422 done 0.82 - - 3180 - 2.50 0.061 2240 555.2 116.6 3.38 1.169 2584 -11.5 1.553 - - - - - - 14.26 14.13 12.76
9780 771.6 7.7 384 9786 roll 0.68 0.17 0.246 3127 -311.8 2.80 0.119 3652 504.3 117.0 1.65 0.196 2586 - - - - - - - - 13.95 14.07 13.97
9873 765.2 6.7 397 9910 done 0.61 0.15 0.241 3099 -186.7 2.42 0.043 2227 -588.8 136.7 29.58 1.832 2499 -2.9 0.242 - - - - - - 13.99 14.39 13.24
10224 745.3 5.5 412 10281 roll 0.67 - - 3099 - 2.80 0.123 3650 508.2 182.1 51.60 1.766 2317 -3.5 0.293 - - - - - - 14.70 14.10 13.20
10349 737.4 7.2 430 10359 done 0.68 - - 3108 - 2.40 0.044 2263 -577.9 193.5 4.18 1.460 2280 -8.9 0.880 - - - - - - 14.39 14.31 12.86
10669 716.1 6.7 441 10703 done 0.71 - - 3108 - - - 2263 - 214.3 32.60 1.787 2195 -2.6 0.206 - - - - - - 14.73 14.23 13.31
11005 691.1 7.5 447 11010 roll 0.71 - - 3108 - 2.75 0.129 3654 505.8 218.2 - - 2178 - - - - - - - - 14.72 14.08 14.72
11074 684.7 10.5 457 11080 done 0.71 - - 3117 - 2.42 0.044 2248 -581.0 218.2 - - 2178 - - - - - - - - 14.49 14.40 14.50
11397 657.8 8.3 468 11402 roll 0.71 - - 3117 - 2.80 0.128 3649 500.4 218.2 - - 2177 - - - - - - - - 14.78 14.04 14.78
11459 651.7 9.6 477 11465 done 0.71 - - 3126 - 2.40 0.043 2251 -582.5 218.2 - - 2176 - - - - - - - - 14.50 14.40 14.52
11789 623.3 8.6 489 11794 roll 0.71 - - 3126 - 2.80 0.130 3654 501.1 218.2 - - 2176 - - - - - - - - 14.84 14.00 14.80
11837 618.6 9.8 496 11843 done 0.71 - - 3135 - 2.45 0.044 2260 -569.0 218.2 - - 2176 - - - - - - - - 14.37 14.33 14.40
12181 589.5 8.4 503 12185 roll 0.71 - - 3135 - 2.78 0.130 3649 499.6 218.2 - - 2175 - - - - - - - - 14.81 13.96 14.79
12215 586.6 8.3 508 12220 done 0.71 - - 3146 - 2.40 0.044 2256 -580.4 218.2 - - 2176 - - - - - - - - 14.48 14.38 14.50
12573 556.5 8.5 517 12578 roll 0.71 - - 3145 - 2.83 0.131 3655 494.3 218.2 - - 2175 - - - - - - - - 14.84 13.93 14.84
12607 553.3 8.9 522 12612 done 0.71 - - 3156 - 2.42 0.044 2255 -578.5 218.2 - - 2175 - - - - - - - - 14.46 14.35 14.47
12965 520.2 9.4 531 12965 done 0.71 - - 3156 - - - 2253 - 218.2 - - 2176 - - - - - - - - 14.81 14.81 14.81
13301 488.0 9.7 537 13306 roll 0.71 - - 3156 - 2.83 0.132 3656 495.8 218.2 - - 2175 - - - - - - - - 14.83 13.88 14.83
13370 480.6 10.9 547 13375 done 0.71 0.12 0.243 3132 -200.0 2.42 0.043 2262 -576.0 218.2 - - 2175 - - - - - - - - 13.88 14.30 14.17
13693 453.8 8.2 558 13694 done 0.71 - - 3133 - - - 2259 - 218.2 - - 2174 - - - - - - - - 14.84 14.84 14.84
14029 427.4 7.7 564 14033 roll 0.71 - - 3132 - 2.80 0.128 3649 496.4 219.2 - - 2175 - - - - - - - - 14.81 13.78 14.81
14091 421.7 9.3 573 14097 done 0.71 - - 3143 - 2.42 0.044 2258 -574.8 219.2 - - 2173 - - - - - - - - 14.40 14.30 14.42
14421 394.8 8.2 585 14426 roll 0.71 - - 3152 - 2.53 0.063 851 -556.1 219.2 - - 2174 - - - - - - - - 14.83 14.09 14.83
14448 392.5 8.1 589 14454 done 0.71 - - 3152 - 2.58 0.065 2271 550.4 219.2 - - 2174 - - - - - - - - 14.28 14.07 14.31
14813 362.7 8.1 599 14818 roll 0.71 - - 3152 - 2.78 0.133 3658 498.9 219.2 - - 2174 - - - - - - - - 14.80 13.81 14.81
14882 356.1 9.4 609 14888 done 0.71 0.10 0.249 3135 -170.0 2.40 0.043 2270 -578.3 219.2 - - 2173 - - - - - - - - 13.90 14.28 14.16
15205 330.7 7.9 620 15206 done 0.71 - - 3134 - - - 2269 - 219.2 - - 2174 - - - - - - - - 14.83 14.83 14.83
15541 302.6 8.4 626 15545 roll 0.71 - - 3134 - 2.80 0.131 3656 495.4 219.2 - - 2174 - - - - - - - - 14.83 13.80 14.83
15610 295.9 9.8 636 15615 done 0.71 - - 3145 - 2.40 0.044 2270 -577.5 219.2 - - 2174 - - - - - - - - 14.35 14.26 14.38
15933 266.9 9.1 647 15933 done 0.71 - - 3145 - - - 2267 - 219.2 - - 2174 - - - - - - - - 14.84 14.84 14.84
16269 235.6 9.4 653 16274 roll 0.71 - - 3146 - 2.80 0.127 3655 495.7 219.2 - - 2174 - - - - - - - - 14.80 13.71 14.80
16310 231.4 10.4 659 16315 done 0.71 - - 3154 - 2.40 0.044 2274 -575.4 219.2 - - 2174 - - - - - - - - 14.38 14.28 14.40
16661 202.6 8.0 667 16666 roll 0.71 - - 3164 - 2.55 0.062 856 -556.1 219.2 - - 2174 - - - - - - - - 14.79 14.05 14.79
16702 199.1 8.5 673 16709 done 0.71 0.12 0.216 3129 -291.7 2.58 0.066 2276 550.4 219.2 - - 2174 - - - - - - - - 13.84 13.98 14.10
17053 171.8 7.9 681 17059 roll 0.71 - - 3128 - 2.75 0.127 3661 503.6 219.2 - - 2174 - - - - - - - - 14.83 13.78 14.83
17143 163.8 8.8 694 17148 done 0.71 - - 3134 - 2.45 0.044 2275 -565.7 219.2 - - 2175 - - - - - - - - 14.23 14.19 14.34
17501 135.1 8.1 703 17505 roll 0.71 - - 3137 - 2.80 0.126 3662 495.4 219.2 - - 2177 - - - - - - - - 14.83 13.78 14.83
17535 132.0 8.8 708 17540 done 0.71 - - 3145 - 2.40 0.044 2276 -577.5 219.2 - - 2175 - - - - - - - - 14.38 14.29 14.41
17893 104.3 7.8 717 17899 roll 0.71 - - 3157 - 2.55 0.063 855 -557.3 219.2 - - 2176 - - - - - - - - 14.83 14.03 14.83
17920 102.0 8.1 721 17926 done 0.71 - - 3157 - 2.60 0.067 2284 549.6 219.2 - - 2175 - - - - - - - - 14.22 14.00 14.26
18257 78.6 6.4 736 18276 roll 0.74 - - 3155 - 2.70 0.131 3663 510.7 245.3 14.45 0.393 2074 -7.0 0.275 - - - - - - 14.78 14.00 13.64
18326 73.2 8.6 746 18332 done 0.74 - - 3166 - 2.38 0.043 2282 -580.3 245.3 2.12 0.213 2072 - - - - - - - - 14.45 14.36 13.85
18649 51.1 5.4 759 18682 roll 0.80 - - 3166 - 2.72 0.130 3662 507.4 291.4 27.88 0.327 1890 -6.5 0.201 - - - - - - 14.78 14.11 13.83
18705 48.2 5.6 767 18737 done 0.85 - - 3174 - 2.38 0.043 2274 -583.2 334.6 25.05 0.323 1720 -6.8 0.199 - - - - - - 14.50 14.40 13.89
19072 33.0 4.1 786 19116 done 1.17 0.20 0.088 3281 535.0 - - 2273 - 407.5 41.45 0.274 1425 -7.1 0.169 - - - - - - 14.31 14.29 13.95
19429 8.7 8.2 804 19434 roll 1.17 - - 3280 - 2.75 0.119 3661 504.7 407.5 - - 1429 - - - - - - - - 14.73 13.89 14.73
19492 end climb: SURFACE_DEPTH_REACHED
19492 begin surface coast
19499 end surface coast: CONTROL_FINISHED_OK
19499 begin surface
SM -4.45 - - - - -8.40 9.38 0.080 190 20.3 1.55 0.045 2728 1592.3 500.14 47.25 0.155 1056 22.3 0.066 - - - - - -