SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 614 * Raw log
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• Previous call tries 3 • 212.44 of 350.00 AH used of 24V (39.30% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -62.4 deg, depth -6.62 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 40 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
16 - - - 101 done -0.93 - - 104 - - - 2793 - -107.1 -78.57 - 3476 - - - - - - - - 14.66 12.62 14.62
105 4.7 -20.2 3 122 roll -0.93 11.77 0.378 2590 211.2 2.45 0.034 1351 -588.6 -107.1 - - 3480 - - - - - - - - 13.96 14.34 14.23
312 53.7 -11.9 33 318 done -0.79 0.22 0.236 2647 259.1 2.65 0.093 2757 530.6 -107.1 - - 3481 - - - - - - - - 13.97 14.10 14.25
635 83.4 -8.8 46 639 roll -0.79 - - 2633 - 2.10 0.146 3829 510.5 -107.1 - - 3481 - - - - - - - - 14.81 14.04 14.78
732 92.2 -8.6 60 737 done -0.79 - - 2633 - 1.83 0.046 2741 -594.5 -107.1 - - 3482 - - - - - - - - 14.48 14.46 14.50
1055 118.9 -8.3 69 1055 done -0.79 - - 2633 - - - 2741 - -107.1 - - 3482 - - - - - - - - 14.85 14.85 14.85
1391 148.8 -9.1 75 1395 roll -0.79 - - 2633 - 2.33 0.042 1386 -581.5 -107.1 - - 3478 - - - - - - - - 14.89 14.39 14.88
1425 153.4 -17.6 80 1430 done -0.79 - - 2623 - 2.58 0.086 2772 537.2 -107.1 - - 3480 - - - - - - - - 14.39 14.14 14.43
1783 188.1 -9.7 89 1788 roll -0.79 - - 2615 - 2.08 0.145 3833 510.1 -107.1 - - 3477 - - - - - - - - 14.88 14.00 14.88
1838 193.8 -10.5 97 1844 done -0.79 - - 2614 - 1.77 0.050 2782 -593.8 -107.1 - - 3477 - - - - - - - - 14.53 14.47 14.54
2175 228.0 -10.2 110 2180 roll -0.79 0.08 0.261 2643 362.5 2.40 0.039 1373 -587.1 -107.1 - - 3473 - - - - - - - - 14.20 14.35 14.32
2216 231.6 -8.7 116 2221 done -0.79 - - 2633 - 2.60 0.087 2773 538.5 -107.1 - - 3473 - - - - - - - - 14.35 14.10 14.39
2567 264.5 -9.6 124 2567 done -0.79 - - 2633 - - - 2773 - -107.1 - - 3471 - - - - - - - - 14.81 14.82 14.82
2903 294.1 -354.1 132 2903 done -0.79 - - 2633 - - - 2773 - -107.1 - - 3469 - - - - - - - - 14.89 14.89 14.89
3239 324.7 -8.9 138 3244 roll -0.79 - - 2632 - 2.45 0.044 1373 -571.4 -107.1 - - 3466 - - - - - - - - 14.89 14.33 14.89
3315 331.3 -8.4 149 3320 done -0.79 - - 2623 - 2.65 0.088 2770 527.2 -107.1 - - 3466 - - - - - - - - 14.30 14.04 14.35
3631 356.3 -7.8 159 3635 roll -0.79 - - 2622 - 2.45 0.042 1369 -571.8 -107.1 - - 3464 - - - - - - - - 14.85 14.31 14.85
3672 359.5 -7.6 165 3677 done -0.79 0.10 0.239 2640 180.0 2.62 0.090 2766 533.2 -107.1 - - 3464 - - - - - - - - 13.95 14.04 14.21
4023 384.4 -7.2 173 4023 done -0.79 - - 2640 - - - 2764 - -107.1 - - 3462 - - - - - - - - 14.85 14.85 14.85
4359 410.5 -7.9 179 4364 roll -0.79 - - 2640 - 2.45 0.043 1369 -569.4 -107.1 - - 3460 - - - - - - - - 14.85 14.31 14.85
4400 413.9 -8.2 185 4405 done -0.79 - - 2631 - 2.65 0.089 2772 529.4 -107.1 - - 3462 - - - - - - - - 14.26 13.99 14.31
4751 445.5 -9.1 193 4755 roll -0.79 - - 2630 - 2.45 0.042 1376 -569.8 -107.1 - - 3458 - - - - - - - - 14.85 14.29 14.85
4799 449.6 -8.5 200 4805 done -0.79 - - 2621 - 2.65 0.090 2762 523.0 -107.1 - - 3458 - - - - - - - - 14.23 13.97 14.29
5143 387.3 24.0 207 5144 done -0.79 - - 2620 - - - 2762 - -107.1 - - 3457 - - - - - - - - 14.87 14.87 14.87
5479 407.3 -3.8 213 5483 roll -0.79 - - 2621 - 2.45 0.043 1376 -565.7 -107.1 - - 3455 - - - - - - - - 14.84 14.28 14.85
5555 533.0 -8.3 224 5560 done -0.79 0.10 0.240 2639 180.0 2.65 0.091 2764 523.8 -107.1 - - 3455 - - - - - - - - 13.88 13.93 14.14
5871 556.2 -7.3 234 5872 done -0.79 - - 2639 - - - 2764 - -107.1 - - 3454 - - - - - - - - 14.88 14.88 14.88
6207 582.0 -7.8 240 6211 roll -0.79 - - 2639 - 2.47 0.043 1373 -563.2 -107.1 - - 3449 - - - - - - - - 14.88 14.24 14.85
6255 585.9 -8.0 247 6262 done -0.79 - - 2633 - 2.67 0.090 2763 520.6 -107.1 - - 3451 - - - - - - - - 14.18 13.90 14.23
6599 614.4 -8.3 254 6604 roll -0.79 - - 2629 - 2.47 0.044 1369 -564.4 -107.1 - - 3450 - - - - - - - - 14.87 14.23 14.87
6640 618.0 -8.6 260 6645 done -0.79 - - 2620 - 2.67 0.091 2760 521.0 -107.1 - - 3450 - - - - - - - - 14.17 13.89 14.23
6991 648.1 -8.6 268 6995 roll -0.79 - - 2620 - 2.45 0.044 1376 -564.9 -107.1 - - 3447 - - - - - - - - 14.83 14.21 14.83
7032 651.7 -8.7 274 7037 done -0.79 0.10 0.236 2639 190.0 2.65 0.091 2753 519.6 -107.1 - - 3447 - - - - - - - - 13.83 13.89 14.09
7383 678.0 -7.4 282 7387 roll -0.79 - - 2639 - 2.45 0.044 1376 -562.0 -107.1 - - 3447 - - - - - - - - 14.81 14.20 14.81
7417 680.6 -7.7 287 7423 done -0.79 - - 2629 - 2.65 0.092 2757 521.1 -107.1 - - 3447 - - - - - - - - 14.14 13.85 14.19
7775 707.7 -7.6 296 7776 done -0.79 - - 2629 - - - 2757 - -107.1 - - 3446 - - - - - - - - 14.82 14.82 14.83
8111 734.2 -7.9 302 8115 roll -0.79 - - 2629 - 2.47 0.044 1373 -560.3 -107.1 - - 3444 - - - - - - - - 14.82 14.19 14.82
8167 738.7 -8.0 310 8172 done -0.79 - - 2620 - 2.67 0.090 2750 515.7 -107.1 - - 3443 - - - - - - - - 14.12 13.83 14.18
8503 766.5 -8.4 323 8509 roll -0.79 - - 2619 - 2.47 0.044 1371 -558.3 -107.1 - - 3443 - - - - - - - - 14.84 14.16 14.85
8537 769.4 -8.4 328 8542 done -0.79 0.12 0.228 2645 216.7 2.67 0.093 2749 516.1 -107.1 - - 3443 - - - - - - - - 13.71 13.82 14.00
8895 794.2 -6.8 337 8900 roll -0.87 - - 2644 - 2.47 0.044 1374 -556.7 -107.1 - - 3442 - - - - - - - - 14.85 14.14 14.85
8936 797.1 -7.1 343 8943 done -0.96 0.08 0.144 2577 -837.5 2.67 0.094 2748 514.6 -107.1 - - 3442 - - - - - - - - 14.04 13.78 14.16
9003 end dive: TARGET_DEPTH_EXCEEDED
9003 begin apogee
9012 803.2 -8.6 346 9121 roll -0.23 0.90 0.203 2819 268.9 0.10 0.192 2278 -4700.0 - 100.95 2.522 3051 -3.9 0.247 - - - - 1 - 13.64 13.76 12.52
9123 end apogee: CONTROL_FINISHED_OK
9123 begin climb
9127 806.1 - 348 9266 roll 0.93 1.12 0.096 3183 325.0 2.58 0.055 879 -542.2 107.1 125.85 1.813 2616 -3.5 0.308 - - - - - - 13.94 13.98 12.96
9344 800.4 6.8 380 9370 done 0.83 - - 3183 - 2.47 0.067 2240 551.0 125.4 19.83 1.901 2543 -3.7 0.311 - - - - - - 14.31 14.16 13.14
9680 772.6 8.3 393 9685 roll 0.70 0.17 0.237 3129 -317.6 2.78 0.135 3657 509.7 125.4 - - 2533 - - - - - - - - 14.00 14.06 14.18
9749 767.2 7.9 403 9755 done 0.61 0.15 0.235 3100 -193.3 2.38 0.048 2279 -579.0 125.4 - - 2533 - - - - - - - - 14.04 14.40 14.33
10072 749.3 5.4 414 10132 roll 0.66 - - 3110 - 2.60 0.060 863 -544.6 172.9 52.78 1.786 2351 -3.4 0.290 - - - - - - 14.76 14.18 13.20
10148 745.1 5.1 425 10215 done 0.73 - - 3109 - 2.53 0.067 2255 550.2 226.3 59.67 1.716 2143 -3.5 0.304 - - - - - - 14.33 14.19 13.09
10579 714.3 7.4 444 10584 roll 0.74 - - 3109 - 2.78 0.142 3653 502.9 232.2 - - 2128 - - - - - - - - 14.68 14.02 14.68
10653 707.7 8.5 455 10659 done 0.74 - - 3119 - 2.42 0.047 2255 -577.7 232.2 - - 2128 - - - - - - - - 14.47 14.40 14.50
10969 682.8 7.9 465 10970 done 0.74 - - 3118 - - - 2250 - 232.2 - - 2126 - - - - - - - - 14.77 14.78 14.77
11305 656.7 7.7 471 11311 roll 0.74 - - 3118 - 2.85 0.143 3658 494.0 232.2 - - 2125 - - - - - - - - 14.82 13.94 14.82
11353 652.4 9.0 478 11360 done 0.74 - - 3128 - 2.47 0.047 2236 -575.7 232.2 - - 2124 - - - - - - - - 14.44 14.33 14.45
11697 622.7 8.8 485 11698 done 0.74 - - 3128 - - - 2233 - 232.2 - - 2125 - - - - - - - - 14.82 14.83 14.83
12033 591.6 9.4 491 12039 roll 0.74 - - 3128 - 2.90 0.143 3658 491.4 232.2 - - 2124 - - - - - - - - 14.81 13.88 14.81
12102 584.3 10.6 501 12108 done 0.74 - - 3137 - 2.42 0.047 2263 -576.4 232.2 - - 2125 - - - - - - - - 14.43 14.34 14.45
12425 553.2 9.6 512 12430 roll 0.74 - - 3148 - 2.53 0.061 852 -557.7 232.2 - - 2120 - - - - - - - - 14.80 14.14 14.80
12452 550.6 9.0 516 12458 done 0.74 - - 3148 - 2.58 0.070 2256 544.2 232.2 - - 2123 - - - - - - - - 14.31 14.09 14.36
12817 518.0 8.8 526 12822 roll 0.74 - - 3148 - 2.85 0.146 3660 492.6 232.2 - - 2123 - - - - - - - - 14.80 13.79 14.80
12873 512.6 9.9 534 12878 done 0.74 - - 3158 - 2.45 0.047 2257 -572.7 232.2 - - 2123 - - - - - - - - 14.42 14.33 14.44
13209 481.6 9.2 547 13215 roll 0.74 - - 3168 - 2.50 0.062 862 -558.0 232.2 - - 2123 - - - - - - - - 14.83 14.10 14.83
13236 478.9 9.5 551 13243 done 0.74 0.10 0.226 3140 -280.0 2.58 0.072 2267 544.6 232.2 - - 2122 - - - - - - - - 13.93 14.03 14.16
13601 445.9 9.1 561 13606 roll 0.74 - - 3139 - 2.83 0.142 3660 492.2 232.2 - - 2121 - - - - - - - - 14.83 13.77 14.83
13628 443.2 9.7 565 13634 done 0.74 - - 3150 - 2.47 0.047 2239 -575.3 232.2 - - 2123 - - - - - - - - 14.36 14.25 14.39
13993 409.4 9.2 575 13999 roll 0.74 - - 3151 - 2.95 0.142 3661 482.0 232.2 - - 2123 - - - - - - - - 14.82 13.74 14.83
14020 406.7 9.6 579 14027 done 0.74 - - 3160 - 2.45 0.046 2264 -570.2 232.2 - - 2123 - - - - - - - - 14.32 14.19 14.35
14385 372.6 9.4 589 14390 roll 0.74 - - 3170 - 2.53 0.061 861 -554.5 232.2 - - 2123 - - - - - - - - 14.79 14.05 14.79
14412 369.9 9.7 593 14418 done 0.74 0.10 0.227 3141 -290.0 2.58 0.070 2264 543.8 232.2 - - 2123 - - - - - - - - 13.88 14.00 14.12
14777 336.3 9.2 603 14783 roll 0.74 - - 3142 - 2.83 0.142 3658 492.6 232.2 - - 2123 - - - - - - - - 14.79 13.74 14.79
14826 331.3 10.3 610 14832 done 0.74 - - 3151 - 2.47 0.046 2252 -569.2 232.2 - - 2125 - - - - - - - - 14.36 14.26 14.38
15169 301.7 8.3 617 15170 done 0.74 - - 3152 - - - 2249 - 232.2 - - 2123 - - - - - - - - 14.82 14.82 14.83
15505 277.0 7.2 623 15521 done 0.75 - - 3151 - - - 2247 - 243.6 14.65 1.360 2079 -3.0 0.123 - - - - - - 14.83 14.29 13.45
15841 251.5 7.8 629 15846 roll 0.75 - - 3151 - 2.85 0.140 3658 495.1 243.6 - - 2065 - - - - - - - - 14.79 13.95 14.80
15910 245.0 9.4 639 15916 done 0.75 - - 3161 - 2.42 0.045 2265 -575.6 243.6 - - 2065 - - - - - - - - 14.40 14.29 14.44
16233 215.0 9.5 650 16234 done 0.75 - - 3162 - - - 2261 - 243.6 - - 2065 - - - - - - - - 14.78 14.78 14.77
16569 180.5 10.4 656 16574 roll 0.75 - - 3171 - 2.53 0.061 855 -555.7 243.6 - - 2070 - - - - - - - - 14.79 14.02 14.79
16596 177.6 10.2 660 16601 done 0.75 - - 3171 - 2.58 0.070 2274 550.0 243.6 - - 2065 - - - - - - - - 14.30 14.08 14.35
16961 142.4 9.4 670 16966 roll 0.75 - - 3171 - 2.80 0.142 3662 495.7 243.6 - - 2065 - - - - - - - - 14.81 13.80 14.82
17058 132.7 10.0 684 17064 done 0.75 0.12 0.226 3146 -208.3 2.42 0.044 2268 -576.0 243.6 - - 2065 - - - - - - - - 13.91 14.30 14.20
17409 106.6 7.5 692 17414 roll 0.76 - - 3146 - 2.85 0.138 3659 488.1 249.1 - - 2065 - - - - - - - - 14.83 13.72 14.83
17465 102.0 8.6 700 17470 done 0.76 - - 3156 - 2.42 0.046 2271 -573.6 249.1 - - 2065 - - - - - - - - 14.40 14.32 14.42
17802 73.7 8.1 718 17806 roll 0.76 - - 3167 - 2.55 0.059 851 -556.9 249.1 - - 2065 - - - - - - - - 14.76 14.09 14.76
17870 68.7 7.2 728 17884 done 0.77 - - 3167 - 2.60 0.069 2274 547.3 259.5 6.97 0.331 2017 -6.9 0.287 - - - - - - 14.24 14.02 13.71
18193 47.3 6.4 741 18220 roll 0.80 - - 3167 - 2.80 0.144 3658 494.3 286.1 17.42 0.317 1913 -6.0 0.179 - - - - - - 14.77 14.11 13.87
18227 44.2 8.8 746 18233 done 0.80 - - 3176 - 2.40 0.044 2257 -583.8 286.1 - - 1916 - - - - - - - - 14.49 14.42 14.52
18497 end climb: SURFACE_DEPTH_REACHED
18497 begin surface coast
18526 end surface coast: CONTROL_FINISHED_OK
18526 begin surface
SM 13.06 - - - - -8.40 8.90 0.070 190 21.3 1.05 0.114 2766 1653.3 500.64 114.85 0.264 1058 9.2 -0.047 - - - - - -