SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 632 * Raw log
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• Previous call tries 2 • 217.84 of 350.00 AH used of 24V (37.76% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.0 deg, depth -1.80 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 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 - - - 103 done -0.93 - - 140 - - - 2780 - -107.1 -82.43 - 3478 - - - - - - - - 14.64 12.62 14.60
107 3.4 -9.0 3 123 roll -0.93 11.90 0.386 2592 206.1 2.40 0.033 1361 -591.2 -107.1 - - 3479 - - - - - - - - 13.93 14.41 14.32
193 32.5 -21.2 16 198 done -0.71 0.32 0.250 2668 237.5 2.65 0.100 2762 528.7 -107.1 - - 3478 - - - - - - - - 13.95 14.07 14.26
516 69.1 -9.3 29 520 roll -0.71 - - 2659 - 2.10 0.150 3833 510.0 -107.1 - - 3481 - - - - - - - - 14.78 13.99 14.78
721 87.1 -6.9 58 727 done -0.71 - - 2659 - 1.75 0.046 2742 -623.4 -107.1 - - 3481 - - - - - - - - 14.52 14.46 14.53
1050 107.7 -6.6 70 1056 roll -0.71 - - 2659 - 2.30 0.040 1393 -586.5 -107.1 - - 3482 - - - - - - - - 14.83 14.26 14.82
1083 110.1 -7.1 75 1089 done -0.71 - - 2650 - 2.58 0.087 2778 536.8 -107.1 - - 3482 - - - - - - - - 14.33 14.07 14.37
1441 140.5 -9.0 84 1442 done -0.71 - - 2650 - - - 2778 - -107.1 - - 3481 - - - - - - - - 14.84 14.83 14.84
1777 174.5 -10.1 90 1783 roll -0.71 - - 2650 - 2.38 0.041 1399 -579.4 -107.1 - - 3479 - - - - - - - - 14.84 14.32 14.84
1846 181.4 -9.8 100 1852 done -0.71 0.10 0.233 2670 200.0 2.55 0.086 2767 536.5 -107.1 - - 3478 - - - - - - - - 14.00 14.06 14.24
2170 207.7 -7.9 111 2174 roll -0.78 - - 2670 - 2.35 0.041 1404 -580.0 -107.1 - - 3476 - - - - - - - - 14.83 14.33 14.83
2252 214.3 -7.9 123 2258 done -0.88 0.08 0.140 2591 -987.5 2.55 0.089 2763 532.9 -107.1 - - 3475 - - - - - - - - 14.14 13.95 14.25
2617 255.0 -11.3 133 2618 done -0.88 - - 2591 - - - 2762 - -107.1 - - 3475 - - - - - - - - 14.87 14.87 14.87
2953 292.5 -11.2 139 2958 roll -0.88 - - 2583 - 2.10 0.140 3832 509.5 -107.1 - - 3471 - - - - - - - - 14.87 13.84 14.87
2980 295.8 -11.9 143 2986 done -0.80 0.15 0.203 2634 340.0 1.77 0.047 2798 -584.2 -107.1 - - 3470 - - - - - - - - 13.89 14.34 14.17
3345 330.7 -9.5 153 3350 roll -0.80 - - 2640 - 2.47 0.043 1370 -578.1 -107.1 - - 3468 - - - - - - - - 14.83 14.27 14.83
3449 340.2 -8.9 168 3456 done -0.80 - - 2625 - 2.62 0.086 2760 530.5 -107.1 - - 3467 - - - - - - - - 14.24 13.96 14.30
3793 371.2 -9.0 175 3794 done -0.80 - - 2623 - - - 2760 - -107.1 - - 3466 - - - - - - - - 14.86 14.86 14.86
4129 400.9 -8.8 181 4134 roll -0.80 - - 2623 - 2.45 0.042 1366 -569.0 -107.1 - - 3464 - - - - - - - - 14.83 14.26 14.83
4177 405.2 -8.6 188 4184 done -0.80 - - 2610 - 2.65 0.087 2763 527.2 -107.1 - - 3463 - - - - - - - - 14.21 13.95 14.27
4522 435.3 -8.8 195 4526 roll -0.80 - - 2613 - 2.45 0.042 1365 -570.6 -107.1 - - 3461 - - - - - - - - 14.83 14.27 14.83
4562 439.0 -8.8 201 4568 done -0.80 0.12 0.230 2639 216.7 2.65 0.088 2767 529.1 -107.1 - - 3461 - - - - - - - - 13.85 13.93 14.12
4913 468.2 -8.5 209 4914 done -0.80 - - 2639 - - - 2767 - -107.1 - - 3460 - - - - - - - - 14.86 14.86 14.86
5249 497.8 -8.9 215 5254 roll -0.80 - - 2639 - 2.45 0.043 1369 -570.6 -107.1 - - 3458 - - - - - - - - 14.82 14.25 14.82
5297 502.0 -8.6 222 5305 done -0.80 - - 2629 - 2.65 0.088 2758 524.2 -107.1 - - 3458 - - - - - - - - 14.15 13.85 14.21
5641 531.4 -8.6 229 5646 roll -0.80 - - 2629 - 2.45 0.043 1366 -568.2 -107.1 - - 3457 - - - - - - - - 14.86 14.21 14.86
5697 536.3 -8.6 237 5702 done -0.80 - - 2619 - 2.65 0.090 2758 525.3 -107.1 - - 3456 - - - - - - - - 14.16 13.89 14.22
6033 566.4 -9.0 250 6034 done -0.80 - - 2620 - - - 2758 - -107.1 - - 3454 - - - - - - - - 14.82 14.81 14.82
6369 597.8 -9.3 256 6370 done -0.80 - - 2620 - - - 2758 - -107.1 - - 3456 - - - - - - - - 14.82 14.81 14.82
6705 628.8 -9.2 262 6706 done -0.80 - - 2620 - - - 2758 - -107.1 - - 3453 - - - - - - - - 14.81 14.81 14.80
7041 657.7 -8.5 268 7046 roll -0.80 - - 2619 - 2.45 0.044 1369 -566.9 -107.1 - - 3451 - - - - - - - - 14.85 14.16 14.85
7103 662.9 -8.1 277 7109 done -0.80 0.10 0.239 2637 180.0 2.65 0.090 2756 523.4 -107.1 - - 3450 - - - - - - - - 13.76 13.81 14.02
7433 687.3 -7.4 289 7438 roll -0.80 - - 2637 - 2.45 0.044 1369 -566.1 -107.1 - - 3449 - - - - - - - - 14.84 14.15 14.84
7489 691.4 -7.4 297 7494 done -0.80 - - 2628 - 2.65 0.090 2754 522.6 -107.1 - - 3448 - - - - - - - - 14.09 13.81 14.15
7825 718.1 -8.0 310 7831 roll -0.80 - - 2627 - 2.45 0.044 1365 -566.9 -107.1 - - 3448 - - - - - - - - 14.84 14.16 14.84
7852 720.4 -8.5 314 7859 done -0.80 - - 2618 - 2.67 0.091 2757 521.3 -107.1 - - 3448 - - - - - - - - 14.09 13.81 14.16
8217 751.7 -8.6 324 8218 done -0.80 - - 2618 - - - 2757 - -107.1 - - 3447 - - - - - - - - 14.83 14.83 14.83
8553 780.0 -8.3 330 8559 roll -0.80 - - 2618 - 2.50 0.044 1363 -557.6 -107.1 - - 3446 - - - - - - - - 14.84 14.06 14.84
8636 786.9 -8.0 342 8643 done -0.80 0.10 0.236 2636 180.0 2.67 0.090 2754 521.0 -107.1 - - 3446 - - - - - - - - 13.71 13.76 13.97
8829 end dive: TARGET_DEPTH_EXCEEDED
8829 begin apogee
8839 801.3 -7.3 349 8957 roll -0.23 0.65 0.170 2822 286.2 0.08 0.205 2255 -6237.5 - 115.60 1.776 3051 -3.4 0.307 - - - - - - 13.72 13.86 12.99
8959 end apogee: CONTROL_FINISHED_OK
8959 begin climb
8963 804.3 - 351 9093 roll 0.93 1.10 0.088 3181 326.4 2.50 0.056 874 -552.4 107.1 117.53 1.775 2616 -3.7 0.334 - - - - - - 14.00 14.02 12.93
9149 800.9 5.8 380 9198 done 0.85 - - 3181 - 2.53 0.067 2265 549.8 145.5 41.78 1.786 2463 -3.7 0.327 - - - - - - 14.26 14.11 13.09
9510 771.5 8.5 396 9512 done 0.75 0.12 0.230 3146 -291.7 - - 2265 - 145.5 - - 2452 - - - - - - - - 14.06 14.38 14.32
9843 746.5 7.4 402 9849 roll 0.76 - - 3146 - 2.75 0.136 3657 506.2 152.0 - - 2450 - - - - - - - - 14.76 13.97 14.76
9899 741.8 8.7 410 9905 done 0.65 0.15 0.230 3116 -200.0 2.40 0.045 2261 -581.7 152.0 - - 2450 - - - - - - - - 13.95 14.37 14.23
10235 717.7 7.1 423 10261 roll 0.67 - - 3115 - 2.78 0.136 3651 500.0 164.1 18.50 1.834 2387 -3.4 0.265 - - - - - - 14.81 14.22 13.31
10283 713.6 8.2 430 10291 done 0.67 - - 3124 - 2.40 0.044 2247 -585.0 164.1 - - 2381 - - - - - - - - 14.51 14.42 14.53
10627 684.4 8.6 437 10628 done 0.67 - - 3124 - - - 2246 - 164.1 - - 2377 - - - - - - - - 14.75 14.75 14.75
10963 656.4 8.3 443 10968 roll 0.67 - - 3124 - 2.83 0.137 3655 497.9 164.1 - - 2379 - - - - - - - - 14.81 13.94 14.81
11019 651.3 9.3 451 11024 done 0.67 - - 3133 - 2.42 0.045 2257 -577.7 164.1 - - 2376 - - - - - - - - 14.45 14.37 14.47
11355 623.8 8.1 464 11356 done 0.67 - - 3132 - - - 2253 - 164.1 - - 2378 - - - - - - - - 14.82 14.82 14.85
11691 598.7 7.4 470 11697 roll 0.68 - - 3135 - 2.83 0.135 3660 497.2 171.0 1.48 0.222 2366 -8.1 4.352 - - - - - - 14.83 13.92 13.82
11795 590.1 8.2 485 11801 done 0.68 - - 3145 - 2.47 0.045 2247 -572.1 171.0 - - 2375 - - - - - - - - 14.40 14.32 14.42
12139 565.1 7.2 492 12160 roll 0.69 - - 3145 - 2.83 0.136 3656 497.9 180.9 16.35 1.730 2323 -3.2 0.207 - - - - - - 14.79 14.23 13.34
12215 558.5 9.2 503 12221 done 0.69 0.10 0.240 3127 -180.0 2.40 0.044 2255 -583.8 180.9 - - 2315 - - - - - - - - 14.19 14.45 14.43
12580 531.2 7.5 513 12581 done 0.69 - - 3127 - - - 2250 - 186.0 - - 2314 - - - - - - - - 14.76 14.76 14.76
12916 504.6 8.0 519 12921 roll 0.69 - - 3126 - 2.85 0.137 3659 494.4 186.0 - - 2313 - - - - - - - - 14.78 13.93 14.78
12973 499.5 9.2 527 12977 done 0.69 - - 3136 - 2.45 0.045 2255 -573.1 186.0 - - 2313 - - - - - - - - 14.45 14.37 14.47
13309 472.1 8.1 540 13309 done 0.69 - - 3136 - - - 2258 - 186.0 - - 2315 - - - - - - - - 14.78 14.78 14.78
13644 445.8 7.8 546 13650 roll 0.69 - - 3136 - 2.83 0.136 3654 493.3 186.0 0.70 0.286 2306 -12.9 3.989 - - - - - - 14.78 13.82 13.86
13713 439.6 9.0 556 13719 done 0.69 - - 3147 - 2.42 0.044 2260 -576.0 186.0 - - 2310 - - - - - - - - 14.40 14.31 14.40
14036 413.6 8.0 567 14037 done 0.69 - - 3147 - - - 2256 - 186.0 - - 2309 - - - - - - - - 14.81 14.81 14.81
14372 386.0 8.2 573 14377 roll 0.69 - - 3147 - 2.85 0.135 3659 492.3 186.0 - - 2311 - - - - - - - - 14.82 13.81 14.81
14428 380.9 9.4 581 14433 done 0.69 0.10 0.237 3128 -190.0 2.42 0.044 2266 -575.6 186.0 - - 2311 - - - - - - - - 13.93 14.29 14.16
14765 355.4 7.5 594 14769 done 0.70 - - 3129 - - - 2263 - 190.4 2.80 0.795 2290 -7.5 0.667 - - - - - - 14.77 14.32 13.27
15100 329.2 7.8 600 15107 roll 0.70 - - 3128 - 2.85 0.136 3661 490.5 190.4 2.15 0.391 2292 - - - - - - - - 14.81 14.02 13.09
15170 323.2 8.7 610 15176 done 0.70 - - 3138 - 2.42 0.044 2254 -581.4 190.4 1.90 0.216 2291 - - - - - - - - 14.42 14.33 13.93
15486 299.8 7.2 620 15504 done 0.71 - - 3138 - - - 2252 - 200.2 17.12 1.398 2256 -2.0 0.087 - - - - - - 14.77 14.28 13.45
15822 275.0 7.4 626 15828 roll 0.72 - - 3138 - 2.88 0.135 3661 489.2 207.0 1.77 0.216 2225 -17.5 4.438 - - - - - - 14.74 14.02 13.93
15870 271.0 8.4 633 15877 done 0.72 - - 3148 - 2.42 0.044 2268 -575.6 207.0 1.38 0.231 2223 - - - - - - - - 14.42 14.33 14.00
16215 244.0 7.9 640 16220 roll 0.72 - - 3148 - 2.85 0.134 3659 488.1 207.0 1.50 0.220 2225 - - - - - - - - 14.76 13.95 13.83
16248 240.9 8.9 645 16253 done 0.72 - - 3158 - 2.40 0.044 2271 -578.3 207.0 - - 2232 - - - - - - - - 14.43 14.34 14.45
16599 211.8 8.3 653 16602 done 0.72 - - 3158 - - - 2268 - 207.0 1.58 0.220 2225 -4.4 0.849 - - - - - - 14.77 14.12 13.83
16935 185.9 7.6 659 16946 roll 0.72 - - 3169 - 2.58 0.062 852 -548.8 210.3 3.62 0.978 2216 -2.5 0.094 - - - - - - 14.77 14.31 13.31
16969 183.2 7.7 664 16975 done 0.72 0.12 0.209 3132 -308.3 2.55 0.067 2282 560.8 210.3 1.50 0.247 2211 -3.3 0.492 - - - - - - 14.16 14.26 13.95
17327 157.9 7.1 673 17353 roll 0.74 - - 3131 - 2.67 0.137 3663 517.2 222.3 20.42 1.221 2156 -2.7 0.069 - - - - - - 14.76 14.11 13.47
17431 149.6 8.1 688 17438 done 0.74 - - 3140 - 2.42 0.043 2267 -576.9 222.3 - - 2149 - - - - - - - - 14.39 14.35 14.43
17775 122.9 8.1 695 17780 roll 0.74 - - 3150 - 2.47 0.060 870 -565.6 222.3 - - 2148 - - - - - - - - 14.76 14.14 14.76
17809 120.1 7.8 700 17814 done 0.74 - - 3150 - 2.53 0.065 2278 556.5 222.3 - - 2148 - - - - - - - - 14.33 14.12 14.38
18167 97.1 6.1 709 18188 roll 0.78 - - 3150 - 2.75 0.136 3662 503.3 255.2 16.05 0.438 2037 -6.9 0.305 - - - - - - 14.76 14.21 13.81
18296 86.9 8.4 727 18303 done 0.78 - - 3160 - 2.38 0.043 2283 -579.4 255.2 1.80 0.215 2031 -3.3 0.268 - - - - - - 14.42 14.33 13.97
18608 67.3 5.7 739 18637 roll 0.83 - - 3160 - 2.75 0.134 3655 498.9 296.0 24.40 0.368 1875 -6.4 0.233 - - - - - - 14.75 14.19 13.89
18694 61.5 7.5 751 18705 done 0.84 - - 3170 - 2.35 0.042 2281 -584.7 300.5 4.45 0.294 1858 -3.8 0.159 - - - - - - 14.47 14.39 13.77
19034 44.2 2.1 766 19104 roll 1.11 0.17 0.080 3276 623.5 2.70 0.132 3659 510.4 413.2 63.90 0.302 1405 -7.1 0.207 - - - - - - 14.31 14.18 13.97
19204 32.3 9.4 791 19209 done 1.11 - - 3284 - 2.30 0.041 2306 -588.3 413.2 - - 1407 - - - - - - - - 14.41 14.33 14.43
19534 2.0 9.8 805 19539 roll 1.11 0.08 0.257 3268 -200.0 2.55 0.059 866 -564.7 413.2 - - 1405 - - - - - - - - 14.09 14.09 14.18
19543 end climb: SURFACE_DEPTH_REACHED
19543 begin surface coast
19550 end surface coast: CONTROL_FINISHED_OK
19550 begin surface
SM -2.03 - - - - -8.38 9.27 0.078 195 21.0 3.58 0.085 2770 -514.5 500.14 44.05 0.152 1058 24.0 0.033 - - - - - -