SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 615 * Raw log
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• Previous call tries 1 • 212.77 of 350.00 AH used of 24V (39.21% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -66.5 deg, depth -0.94 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 61 s
• GPS2 time: 4 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 - - 105 - - - 2782 - -107.1 -81.60 - 3480 - - - - - - - - 14.63 12.60 14.58
106 5.3 -10.4 3 123 roll -0.93 11.98 0.383 2590 207.4 2.45 0.032 1357 -581.6 -107.1 - - 3480 - - - - - - - - 13.90 14.38 14.34
215 39.8 -22.5 19 220 done -0.68 0.35 0.268 2671 231.4 2.70 0.099 2771 523.7 -107.1 - - 3480 - - - - - - - - 13.89 14.08 14.22
551 72.7 -8.5 34 555 roll -0.68 - - 2672 - 2.45 0.043 1366 -573.5 -107.1 - - 3482 - - - - - - - - 14.78 14.31 14.78
704 85.4 -8.9 56 709 done -0.68 - - 2661 - 2.65 0.095 2769 529.4 -107.1 - - 3483 - - - - - - - - 14.31 14.04 14.35
1055 115.1 -8.2 67 1059 roll -0.68 - - 2661 - 2.45 0.043 1365 -573.1 -107.1 - - 3483 - - - - - - - - 14.83 14.29 14.83
1117 119.8 -7.1 76 1122 done -0.68 - - 2652 - 2.62 0.093 2765 534.4 -107.1 - - 3483 - - - - - - - - 14.33 14.06 14.38
1447 143.2 -7.3 88 1452 roll -0.68 - - 2644 - 2.12 0.150 3835 504.7 -107.1 - - 3482 - - - - - - - - 14.84 13.93 14.84
1481 145.7 -7.4 93 1487 done -0.68 0.10 0.196 2674 300.0 1.88 0.049 2747 -578.7 -107.1 - - 3482 - - - - - - - - 14.00 14.40 14.15
1839 170.3 -7.1 102 1844 roll -0.68 - - 2673 - 2.40 0.043 1361 -577.5 -107.1 - - 3480 - - - - - - - - 14.84 14.31 14.84
1908 175.6 -7.6 112 1913 done -0.78 - - 2664 - 2.60 0.087 2756 536.5 -107.1 - - 3480 - - - - - - - - 14.33 14.08 14.37
2231 202.2 -8.3 123 2236 roll -0.78 - - 2664 - 2.42 0.041 1369 -573.1 -107.1 - - 3477 - - - - - - - - 14.85 14.31 14.85
2265 205.2 -8.6 128 2270 done -0.78 - - 2655 - 2.60 0.088 2752 531.9 -107.1 - - 3478 - - - - - - - - 14.31 14.05 14.37
2623 234.5 -8.2 137 2623 done -0.78 - - 2655 - - - 2752 - -107.1 - - 3476 - - - - - - - - 14.87 14.88 14.88
2959 261.7 -8.0 143 2963 roll -0.78 - - 2655 - 2.42 0.044 1373 -569.8 -107.1 - - 3473 - - - - - - - - 14.88 14.30 14.88
3015 266.1 -7.7 151 3019 done -0.78 - - 2646 - 2.62 0.090 2758 528.6 -107.1 - - 3473 - - - - - - - - 14.28 14.02 14.33
3351 293.9 -8.4 164 3355 roll -0.78 - - 2638 - 2.15 0.147 3833 500.0 -107.1 - - 3472 - - - - - - - - 14.88 13.88 14.88
3371 295.8 -8.8 167 3376 done -0.78 - - 2637 - 1.90 0.051 2744 -573.2 -107.1 - - 3472 - - - - - - - - 14.38 14.35 14.40
3687 324.2 -9.0 177 3692 roll -0.78 - - 2634 - 2.38 0.042 1376 -574.8 -107.1 - - 3470 - - - - - - - - 14.88 14.28 14.88
3763 331.1 -9.1 188 3768 done -0.78 - - 2628 - 2.60 0.089 2745 526.5 -107.1 - - 3470 - - - - - - - - 14.18 13.89 14.25
4079 360.9 -9.4 198 4079 done -0.78 - - 2628 - - - 2746 - -107.1 - - 3468 - - - - - - - - 14.87 14.87 14.88
4415 391.0 -8.8 204 4419 roll -0.78 - - 2627 - 2.42 0.043 1375 -566.5 -107.1 - - 3466 - - - - - - - - 14.87 14.29 14.87
4470 395.8 -8.6 212 4475 done -0.78 - - 2618 - 2.62 0.090 2754 526.3 -107.1 - - 3466 - - - - - - - - 14.23 13.97 14.28
4807 424.4 -8.4 225 4808 done -0.78 0.10 0.253 2646 280.0 - - 2753 - -107.1 - - 3465 - - - - - - - - 14.12 14.38 14.32
5143 450.1 -7.7 231 5148 roll -0.78 - - 2646 - 2.45 0.043 1372 -563.7 -107.1 - - 3463 - - - - - - - - 14.86 14.26 14.86
5177 453.0 -8.5 236 5182 done -0.78 - - 2637 - 2.62 0.089 2747 524.8 -107.1 - - 3463 - - - - - - - - 14.23 13.95 14.28
5535 484.3 -8.8 245 5540 roll -0.78 - - 2637 - 2.42 0.043 1374 -567.4 -107.1 - - 3462 - - - - - - - - 14.86 14.28 14.86
5583 488.7 -8.8 252 5589 done -0.78 - - 2628 - 2.62 0.090 2744 522.9 -107.1 - - 3461 - - - - - - - - 14.18 13.87 14.23
5927 519.3 -8.9 259 5932 roll -0.78 - - 2627 - 2.42 0.042 1375 -565.7 -107.1 - - 3461 - - - - - - - - 14.83 14.23 14.83
5975 523.7 -8.8 266 5982 done -0.78 0.10 0.240 2646 190.0 2.62 0.090 2743 522.1 -107.1 - - 3460 - - - - - - - - 13.85 13.91 14.12
6319 551.0 -7.9 273 6325 roll -0.78 - - 2646 - 2.42 0.042 1376 -564.9 -107.1 - - 3458 - - - - - - - - 14.85 14.25 14.83
6353 553.7 -7.9 278 6358 done -0.78 - - 2637 - 2.60 0.090 2739 524.2 -107.1 - - 3458 - - - - - - - - 14.20 13.92 14.26
6711 580.5 -7.4 287 6715 roll -0.78 - - 2629 - 2.20 0.151 3825 493.6 -107.1 - - 3458 - - - - - - - - 14.83 13.75 14.83
6738 582.6 -7.6 291 6743 done -0.78 - - 2628 - 1.88 0.054 2744 -575.0 -107.1 - - 3457 - - - - - - - - 14.41 14.33 14.43
7103 608.9 -7.3 301 7108 roll -0.78 - - 2628 - 2.45 0.044 1360 -564.9 -107.1 - - 3457 - - - - - - - - 14.83 14.21 14.82
7159 613.1 -7.5 309 7165 done -0.78 0.10 0.240 2647 190.0 2.65 0.090 2738 520.0 -107.1 - - 3457 - - - - - - - - 13.81 13.87 14.07
7495 636.7 -7.1 322 7499 roll -0.78 - - 2639 - 2.22 0.152 3833 493.2 -107.1 - - 3454 - - - - - - - - 14.85 13.70 14.85
7529 639.4 -8.1 327 7534 done -0.78 - - 2638 - 1.95 0.052 2738 -561.5 -107.1 - - 3454 - - - - - - - - 14.26 14.23 14.28
7887 668.4 -8.2 336 7892 roll -0.78 - - 2638 - 2.42 0.044 1362 -568.6 -107.1 - - 3455 - - - - - - - - 14.82 14.18 14.81
7943 673.2 -8.5 344 7948 done -0.78 - - 2629 - 2.67 0.090 2744 517.6 -107.1 - - 3453 - - - - - - - - 14.13 13.84 14.19
8279 701.9 -8.5 357 8280 done -0.78 - - 2629 - - - 2745 - -107.1 - - 3451 - - - - - - - - 14.81 14.81 14.81
8615 729.8 -8.3 363 8619 roll -0.78 - - 2629 - 2.47 0.043 1361 -560.3 -107.1 - - 3451 - - - - - - - - 14.82 14.14 14.82
8649 732.7 -8.1 368 8654 done -0.78 0.10 0.237 2647 180.0 2.65 0.090 2733 517.7 -107.1 - - 3451 - - - - - - - - 13.75 13.83 14.01
9007 758.5 -7.2 377 9008 done -0.86 - - 2648 - - - 2734 - -107.1 - - 3450 - - - - - - - - 14.84 14.85 14.85
9343 782.3 -7.1 383 9348 roll -0.94 0.08 0.145 2576 -900.0 2.47 0.043 1353 -559.1 -107.1 - - 3449 - - - - - - - - 14.40 14.11 14.41
9398 787.3 -9.5 391 9404 done -0.94 0.10 0.245 2592 160.0 2.67 0.090 2733 516.9 -107.1 - - 3448 - - - - - - - - 13.69 13.78 13.97
9563 end dive: TARGET_DEPTH_EXCEEDED
9563 begin apogee
9572 802.9 -9.3 401 9681 roll -0.23 0.82 0.194 2819 276.8 0.12 0.167 2273 -3833.3 - 101.25 2.514 3050 -3.9 0.255 - - - - 1 - 13.63 13.80 12.52
9683 end apogee: CONTROL_FINISHED_OK
9683 begin climb
9687 806.1 - 403 9814 roll 0.93 1.12 0.097 3180 322.3 2.53 0.054 891 -546.2 107.1 106.80 2.710 2629 -3.9 0.238 - - - - 1 - 13.92 13.99 12.38
9933 800.7 5.9 439 9987 done 0.85 - - 3181 - 2.45 0.067 2242 551.4 143.3 47.10 1.807 2473 -3.3 0.298 - - - - - - 14.33 14.17 13.07
10301 771.5 8.3 456 10306 roll 0.74 0.12 0.243 3141 -333.3 2.80 0.136 3658 505.7 143.3 - - 2463 - - - - - - - - 14.04 14.06 14.21
10376 764.9 8.3 467 10381 done 0.64 0.15 0.232 3110 -206.7 2.38 0.047 2271 -582.8 143.3 - - 2465 - - - - - - - - 14.04 14.39 14.33
10692 745.3 6.1 477 10728 done 0.68 - - 3110 - - - 2268 - 175.2 35.45 1.802 2353 -3.2 0.265 - - - - - - 14.77 14.23 13.27
11028 721.2 7.3 483 11034 roll 0.69 - - 3110 - 2.83 0.140 3650 488.3 182.9 2.08 0.360 2324 -13.9 5.667 - - - - - - 14.71 14.09 12.76
11111 713.9 8.9 495 11117 done 0.69 - - 3120 - 2.45 0.047 2266 -564.9 182.9 1.98 0.269 2321 -1.5 0.816 - - - - - - 14.41 14.37 13.46
11469 684.4 8.3 504 11475 roll 0.69 - - 3119 - 2.88 0.145 3652 481.2 182.9 1.70 0.236 2325 2.4 -1.385 - - - - - - 14.81 13.75 13.78
11510 680.6 9.2 510 11517 done 0.69 - - 3130 - 2.47 0.047 2233 -574.5 182.9 1.45 0.245 2322 -2.1 1.166 - - - - - - 14.47 14.38 13.88
11854 651.2 8.5 517 11856 done 0.69 - - 3129 - - - 2232 - 182.9 1.30 0.241 2321 - - - - - - - - 14.83 14.21 13.90
12190 623.1 8.4 523 12196 roll 0.69 - - 3129 - 2.95 0.145 3651 481.0 182.9 1.52 0.234 2323 - - - - - - - - 14.80 13.92 13.76
12287 614.0 9.4 537 12295 done 0.69 - - 3140 - 2.47 0.046 2258 -564.0 182.9 1.42 0.210 2321 - - - - - - - - 14.33 14.26 13.85
12631 582.7 9.2 544 12631 done 0.69 - - 3140 - - - 2258 - 182.9 - - 2329 - - - - - - - - 14.80 14.81 14.81
12967 551.8 9.1 550 12972 roll 0.69 - - 3139 - 2.85 0.144 3650 488.4 182.9 - - 2329 - - - - - - - - 14.81 13.83 14.81
12994 549.1 9.8 554 12999 done 0.69 - - 3151 - 2.45 0.046 2248 -572.2 182.9 - - 2329 - - - - - - - - 14.41 14.30 14.43
13359 517.0 8.6 564 13363 roll 0.69 - - 3151 - 2.88 0.143 3651 487.2 182.9 - - 2329 - - - - - - - - 14.85 13.80 14.81
13386 514.4 9.4 568 13392 done 0.69 0.12 0.233 3126 -208.3 2.45 0.046 2248 -572.7 182.9 1.00 0.235 2321 -8.0 3.553 - - - - - - 13.93 14.32 13.91
13751 488.2 6.9 578 13776 done 0.71 - - 3126 - - - 2245 - 199.3 24.50 1.628 2258 -2.6 0.156 - - - - - - 14.80 14.28 13.33
14087 464.2 7.2 584 14105 roll 0.72 - - 3126 - 2.83 0.142 3646 495.1 210.9 11.68 1.745 2205 -4.5 0.245 - - - - - - 14.74 14.20 13.34
14143 459.8 8.4 592 14147 done 0.72 - - 3135 - 2.42 0.047 2249 -577.3 210.9 - - 2202 - - - - - - - - 14.50 14.42 14.52
14479 433.4 7.8 605 14484 roll 0.72 - - 3146 - 2.47 0.062 862 -561.5 210.9 - - 2200 - - - - - - - - 14.78 14.20 14.78
14506 431.1 8.0 609 14512 done 0.72 - - 3146 - 2.53 0.070 2255 550.6 210.9 - - 2200 - - - - - - - - 14.37 14.17 14.42
14871 401.8 8.1 619 14876 roll 0.72 - - 3146 - 2.83 0.147 3660 496.5 210.9 - - 2200 - - - - - - - - 14.78 13.91 14.77
14968 392.7 9.7 633 14974 done 0.72 - - 3156 - 2.42 0.046 2264 -576.9 210.9 - - 2200 - - - - - - - - 14.45 14.36 14.48
15319 362.7 8.4 641 15324 roll 0.72 - - 3166 - 2.53 0.061 852 -558.1 210.9 - - 2200 - - - - - - - - 14.83 14.14 14.83
15353 359.7 8.5 646 15358 done 0.72 0.10 0.221 3137 -290.0 2.58 0.071 2261 546.1 210.9 - - 2200 - - - - - - - - 13.98 14.09 14.25
15712 332.3 7.7 655 15717 roll 0.72 - - 3136 - 2.83 0.144 3660 494.3 211.4 - - 2200 - - - - - - - - 14.74 13.85 14.75
15767 327.3 9.3 663 15772 done 0.72 - - 3146 - 2.45 0.047 2258 -572.2 211.4 - - 2200 - - - - - - - - 14.44 14.35 14.47
16103 299.0 8.4 676 16108 roll 0.72 - - 3154 - 2.50 0.060 859 -559.6 211.4 - - 2200 - - - - - - - - 14.78 14.10 14.79
16144 295.4 8.6 682 16149 done 0.72 - - 3157 - 2.58 0.070 2270 546.9 211.4 - - 2200 - - - - - - - - 14.29 14.07 14.35
16495 263.7 9.2 690 16500 roll 0.72 - - 3157 - 2.80 0.144 3658 495.7 211.4 - - 2200 - - - - - - - - 14.83 13.81 14.83
16571 255.7 10.5 701 16577 done 0.72 0.12 0.226 3132 -208.3 2.45 0.045 2253 -573.5 211.4 - - 2200 - - - - - - - - 13.90 14.29 14.19
16887 230.9 7.8 711 16891 roll 0.72 - - 3132 - 2.88 0.142 3661 488.9 211.4 - - 2200 - - - - - - - - 14.83 13.78 14.83
16928 227.4 8.5 717 16934 done 0.72 - - 3141 - 2.42 0.046 2264 -577.3 211.4 - - 2200 - - - - - - - - 14.43 14.35 14.46
17279 200.8 7.4 725 17286 roll 0.73 - - 3141 - 2.88 0.142 3657 483.7 217.2 2.25 0.519 2189 -4.9 0.384 - - - - - - 14.79 14.02 13.10
17306 198.4 8.1 729 17313 done 0.73 - - 3151 - 2.40 0.045 2260 -582.1 217.2 1.70 0.269 2186 -1.8 0.264 - - - - - - 14.48 14.40 13.62
17671 168.3 8.4 739 17674 done 0.73 - - 3150 - - - 2261 - 217.2 1.67 0.230 2186 - - - - - - - - 14.78 14.04 13.65
18008 141.9 7.7 745 18018 roll 0.73 - - 3151 - 2.85 0.143 3657 489.8 218.1 2.80 0.855 2188 - - - - - - - - 14.78 14.08 13.25
18041 139.2 7.8 750 18047 done 0.73 - - 3161 - 2.40 0.045 2265 -580.0 218.1 1.85 0.265 2180 -4.3 0.461 - - - - - - 14.51 14.41 13.65
18399 111.3 8.0 759 18406 roll 0.73 - - 3160 - 2.90 0.142 3656 479.7 218.1 1.95 0.260 2186 3.1 -0.267 - - - - - - 14.82 13.92 13.38
18454 106.2 9.4 767 18460 done 0.73 0.12 0.226 3135 -208.3 2.40 0.044 2264 -580.0 218.1 1.52 0.223 2183 -2.0 0.191 - - - - - - 13.94 14.31 13.80
18788 81.9 7.2 783 18796 done 0.74 - - 3135 - - - 2262 - 227.9 7.47 0.376 2141 -5.6 0.248 - - - - - - 14.73 14.20 13.71
19092 63.1 6.0 794 19119 done 0.79 - - 3135 - - - 2263 - 261.6 20.50 0.350 2007 -6.5 0.239 - - - - - - 14.77 14.29 13.87
19429 43.0 4.9 806 19468 roll 0.98 0.15 0.086 3238 686.7 2.53 0.060 870 -550.6 318.1 31.83 0.295 1784 -7.0 0.207 - - - - - - 14.36 14.27 13.97
19701 30.7 3.5 845 19755 done 1.16 - - 3239 - 2.55 0.063 2278 552.2 403.5 47.00 0.259 1441 -7.3 0.176 - - - - - - 14.28 14.09 13.98
20076 6.4 6.0 865 20100 roll 1.33 0.17 0.080 3364 735.3 2.83 0.148 3659 488.0 438.8 18.70 0.176 1300 -7.5 0.056 - - - - - - 14.35 14.00 14.00
20117 end climb: SURFACE_DEPTH_REACHED
20117 begin surface coast
20125 end surface coast: CONTROL_FINISHED_OK
20125 begin surface
SM -1.11 - - - - -8.39 9.10 0.042 189 20.7 1.58 0.056 2717 -5027.2 500.14 30.75 0.154 1057 34.4 0.025 - - - - - -