SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 636 * Raw log
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• Previous call tries 3 • 219.11 of 350.00 AH used of 24V (37.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth -2.01 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 3 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 - - - 101 done -0.93 - - 106 - - - 2789 - -107.1 -80.60 - 3477 - - - - - - - - 14.65 12.67 14.60
106 4.0 -10.2 3 123 roll -0.93 11.82 0.377 2590 210.2 2.42 0.032 1353 -593.4 -107.1 - - 3478 - - - - - - - - 13.97 14.34 14.23
159 25.9 -26.7 11 164 done -0.62 0.43 0.244 2694 241.9 2.62 0.090 2764 538.5 -107.1 - - 3478 - - - - - - - - 14.04 14.20 14.33
495 66.4 -8.7 26 499 roll -0.62 - - 2694 - 2.45 0.043 1357 -574.3 -107.1 - - 3479 - - - - - - - - 14.81 14.32 14.82
725 82.2 -6.5 59 730 done -0.62 - - 2684 - 2.65 0.087 2780 537.0 -107.1 - - 3479 - - - - - - - - 14.35 14.11 14.39
1055 104.9 -7.1 72 1059 roll -0.62 - - 2677 - 2.05 0.139 3833 513.7 -107.1 - - 3479 - - - - - - - - 14.86 13.99 14.87
1131 111.1 -8.2 83 1136 done -0.62 - - 2676 - 1.83 0.044 2742 -596.2 -107.1 - - 3480 - - - - - - - - 14.42 14.42 14.45
1447 137.0 -8.3 93 1452 roll -0.62 - - 2668 - 2.15 0.135 3832 507.0 -107.1 - - 3478 - - - - - - - - 14.85 13.99 14.85
1503 141.6 -8.3 101 1508 done -0.69 - - 2668 - 1.75 0.049 2784 -598.9 -107.1 - - 3477 - - - - - - - - 14.41 14.36 14.42
1839 165.7 -7.0 114 1844 roll -0.69 - - 2668 - 2.42 0.044 1385 -578.1 -107.1 - - 3475 - - - - - - - - 14.85 14.30 14.85
1951 173.3 -6.7 130 1956 done -0.78 - - 2659 - 2.62 0.088 2778 531.7 -107.1 - - 3474 - - - - - - - - 14.33 14.07 14.36
2287 196.9 -7.2 143 2292 roll -0.78 - - 2659 - 2.45 0.044 1385 -568.6 -107.1 - - 3471 - - - - - - - - 14.85 14.29 14.85
2343 201.1 -7.6 151 2347 done -0.78 - - 2651 - 2.62 0.088 2778 531.7 -107.1 - - 3471 - - - - - - - - 14.31 14.06 14.35
2679 229.2 -8.5 164 2683 roll -0.78 - - 2652 - 2.45 0.045 1386 -568.2 -107.1 - - 3468 - - - - - - - - 14.85 14.28 14.85
2741 234.5 -8.4 173 2747 done -0.78 - - 2644 - 2.60 0.088 2772 533.1 -107.1 - - 3469 - - - - - - - - 14.28 14.02 14.33
3071 262.2 -8.4 185 3071 done -0.78 - - 2644 - - - 2772 - -107.1 - - 3466 - - - - - - - - 14.88 14.88 14.88
3407 290.6 -8.5 191 3412 roll -0.78 - - 2644 - 2.47 0.046 1378 -564.4 -107.1 - - 3463 - - - - - - - - 14.85 14.28 14.85
3448 294.2 -8.6 197 3454 done -0.78 - - 2635 - 2.62 0.088 2770 531.3 -107.1 - - 3463 - - - - - - - - 14.28 14.02 14.33
3799 324.3 -8.5 205 3804 roll -0.78 - - 2635 - 2.45 0.044 1381 -566.9 -107.1 - - 3461 - - - - - - - - 14.88 14.26 14.88
3847 328.4 -8.2 212 3853 done -0.78 - - 2626 - 2.62 0.086 2765 528.2 -107.1 - - 3461 - - - - - - - - 14.26 14.00 14.29
4191 358.6 -8.9 219 4191 done -0.78 - - 2626 - - - 2765 - -107.1 - - 3458 - - - - - - - - 14.84 14.84 14.84
4527 387.0 -8.4 225 4532 roll -0.78 - - 2626 - 2.45 0.046 1385 -563.3 -107.1 - - 3457 - - - - - - - - 14.87 14.24 14.88
4589 392.3 -8.4 234 4594 done -0.78 0.10 0.234 2644 180.0 2.62 0.086 2770 528.6 -107.1 - - 3457 - - - - - - - - 13.88 13.96 14.13
4919 417.1 -7.5 246 4920 done -0.78 - - 2644 - - - 2770 - -107.1 - - 3452 - - - - - - - - 14.83 14.83 14.83
5255 443.8 -8.0 252 5259 roll -0.78 - - 2644 - 2.47 0.046 1382 -561.9 -107.1 - - 3453 - - - - - - - - 14.84 14.21 14.84
5289 446.6 -8.1 257 5295 done -0.78 - - 2636 - 2.60 0.086 2760 530.0 -107.1 - - 3453 - - - - - - - - 14.20 13.94 14.25
5647 476.5 -8.5 266 5652 roll -0.78 - - 2635 - 2.45 0.046 1386 -560.8 -107.1 - - 3452 - - - - - - - - 14.83 14.19 14.83
5688 480.1 -8.5 272 5693 done -0.78 - - 2626 - 2.62 0.087 2767 527.1 -107.1 - - 3456 - - - - - - - - 14.19 13.93 14.25
6039 510.8 -8.8 280 6043 roll -0.78 - - 2615 - 2.12 0.142 3835 503.8 -107.1 - - 3450 - - - - - - - - 14.83 13.78 14.83
6066 513.3 -9.0 284 6071 done -0.78 0.08 0.208 2640 312.5 1.88 0.050 2773 -564.9 -107.1 - - 3450 - - - - - - - - 13.87 14.25 14.01
6431 542.4 -7.9 294 6436 roll -0.78 - - 2640 - 2.50 0.046 1362 -564.4 -107.1 - - 3449 - - - - - - - - 14.82 14.19 14.82
6521 549.7 -8.1 307 6526 done -0.78 - - 2630 - 2.65 0.083 2763 528.7 -107.1 - - 3448 - - - - - - - - 14.14 13.90 14.21
6879 579.7 -8.5 316 6879 done -0.78 - - 2630 - - - 2763 - -107.1 - - 3448 - - - - - - - - 14.82 14.82 14.82
7215 606.9 -8.0 322 7220 roll -0.78 - - 2629 - 2.50 0.044 1366 -558.8 -107.1 - - 3447 - - - - - - - - 14.81 14.16 14.81
7242 609.2 -8.2 326 7247 done -0.78 - - 2621 - 2.65 0.085 2757 524.9 -107.1 - - 3446 - - - - - - - - 14.13 13.87 14.19
7607 638.9 -8.1 336 7608 done -0.78 - - 2620 - - - 2757 - -107.1 - - 3444 - - - - - - - - 14.81 14.81 14.82
7943 665.3 -7.8 342 7947 roll -0.78 - - 2622 - 2.50 0.046 1370 -554.8 -107.1 - - 3442 - - - - - - - - 14.81 14.09 14.81
7984 668.7 -8.1 348 7989 done -0.78 0.12 0.226 2645 191.7 2.65 0.085 2753 521.9 -107.1 - - 3443 - - - - - - - - 13.72 13.83 14.00
8335 693.3 -7.0 356 8336 done -0.78 - - 2648 - - - 2753 - -107.1 - - 3442 - - - - - - - - 14.81 14.81 14.81
8671 718.2 -7.4 362 8676 roll -0.78 - - 2645 - 2.50 0.046 1366 -554.8 -107.1 - - 3441 - - - - - - - - 14.84 14.11 14.81
8727 722.4 -7.6 370 8732 done -0.86 - - 2636 - 2.67 0.086 2752 519.1 -107.1 - - 3441 - - - - - - - - 14.07 13.80 14.12
9063 747.8 -7.5 383 9064 done -0.86 - - 2636 - - - 2751 - -107.1 - - 3440 - - - - - - - - 14.83 14.83 14.83
9399 772.5 -7.3 389 9404 roll -0.86 - - 2636 - 2.50 0.045 1365 -554.4 -107.1 - - 3439 - - - - - - - - 14.86 14.09 14.84
9489 779.2 -7.8 402 9494 done -0.94 - - 2627 - 2.70 0.087 2760 516.7 -107.1 - - 3438 - - - - - - - - 14.03 13.76 14.09
9787 end dive: TARGET_DEPTH_EXCEEDED
9787 begin apogee
9796 801.8 -7.6 410 9902 roll -0.23 0.70 0.174 2825 282.9 0.08 0.162 2263 -6212.5 - 94.70 2.677 3054 -4.1 0.245 - - - - 1 - 13.68 13.64 12.57
9904 end apogee: CONTROL_FINISHED_OK
9904 begin climb
9908 804.9 - 412 10032 roll 0.93 1.10 0.084 3184 326.4 2.55 0.057 877 -543.5 107.1 105.72 2.725 2625 -4.1 0.242 - - - - 1 - 13.93 13.96 12.46
10123 801.7 5.6 443 10185 done 0.85 - - 3184 - 2.50 0.064 2252 550.0 148.7 53.25 1.802 2449 -3.3 0.296 - - - - - - 14.31 14.17 13.00
10526 767.2 9.0 458 10531 roll 0.74 0.12 0.238 3143 -341.7 2.72 0.125 3654 515.4 148.7 - - 2441 - - - - - - - - 14.04 14.07 14.21
10573 762.5 9.0 465 10581 done 0.64 0.15 0.228 3112 -206.7 2.40 0.045 2270 -576.7 148.7 - - 2443 - - - - - - - - 14.03 14.39 14.33
10917 739.9 6.4 472 10950 roll 0.67 - - 3111 - 2.70 0.126 3658 514.1 174.5 27.62 1.838 2351 -3.3 0.270 - - - - - - 14.76 14.10 13.27
10979 735.3 7.4 481 10986 done 0.68 - - 3121 - 2.42 0.045 2260 -577.7 181.3 2.35 0.620 2329 -9.4 2.238 - - - - - - 14.45 14.38 12.90
11309 711.8 7.0 493 11332 done 0.70 - - 3121 - - - 2259 - 195.1 22.00 1.860 2276 -2.4 0.186 - - - - - - 14.76 14.26 13.31
11645 687.0 7.3 499 11652 roll 0.71 - - 3121 - 2.80 0.130 3654 498.2 202.9 2.38 0.662 2242 -14.3 2.989 - - - - - - 14.73 14.17 13.02
11728 680.0 8.3 511 11734 done 0.71 - - 3130 - 2.42 0.045 2256 -577.7 202.9 1.73 0.230 2241 - - - - - - - - 14.47 14.37 13.97
12086 652.9 7.5 520 12092 done 0.71 - - 3128 - - - 2252 - 207.1 4.72 1.774 2225 -3.4 0.252 - - - - - - 14.76 14.35 13.09
12423 627.7 7.5 526 12441 roll 0.72 - - 3130 - 2.75 0.132 3661 512.4 212.2 12.15 1.905 2202 -1.9 0.126 - - - - - - 14.78 14.28 13.38
12484 622.5 8.8 535 12490 done 0.72 - - 3140 - 2.42 0.044 2253 -581.8 212.2 - - 2197 - - - - - - - - 14.55 14.47 14.57
12814 594.8 8.5 547 12819 roll 0.72 - - 3141 - 2.80 0.132 3658 501.8 212.2 - - 2196 - - - - - - - - 14.76 14.04 14.76
12862 589.9 10.1 554 12869 done 0.72 - - 3150 - 2.45 0.044 2254 -573.1 212.2 - - 2196 - - - - - - - - 14.46 14.37 14.49
13206 557.5 9.5 561 13207 done 0.72 - - 3151 - - - 2250 - 212.2 - - 2196 - - - - - - - - 14.78 14.78 14.77
13543 525.1 9.6 567 13543 done 0.72 - - 3151 - - - 2250 - 212.2 - - 2195 - - - - - - - - 14.78 14.78 14.78
13878 495.8 8.5 573 13884 roll 0.72 - - 3151 - 2.80 0.131 3653 501.1 212.2 - - 2195 - - - - - - - - 14.81 13.88 14.82
13947 489.2 9.5 583 13953 done 0.72 - - 3161 - 2.42 0.044 2261 -575.2 212.2 - - 2195 - - - - - - - - 14.40 14.31 14.42
14270 462.3 8.4 594 14272 done 0.72 0.10 0.240 3133 -280.0 - - 2256 - 212.2 - - 2195 - - - - - - - - 14.08 14.35 14.29
14606 436.4 7.8 600 14611 roll 0.72 - - 3133 - 2.80 0.129 3652 498.6 212.2 - - 2195 - - - - - - - - 14.78 13.82 14.78
14675 430.0 9.3 610 14681 done 0.72 - - 3142 - 2.42 0.044 2257 -576.4 212.2 - - 2195 - - - - - - - - 14.40 14.31 14.43
14998 402.6 8.5 621 14999 done 0.72 - - 3143 - - - 2253 - 212.2 - - 2195 - - - - - - - - 14.78 14.78 14.78
15335 375.2 8.1 627 15340 roll 0.72 - - 3143 - 2.83 0.131 3655 495.4 212.2 - - 2195 - - - - - - - - 14.81 13.78 14.82
15403 368.8 9.3 637 15409 done 0.72 - - 3153 - 2.42 0.043 2264 -574.8 212.2 - - 2195 - - - - - - - - 14.35 14.26 14.39
15726 341.0 8.7 648 15727 done 0.72 - - 3153 - - - 2262 - 212.2 - - 2195 - - - - - - - - 14.78 14.78 14.77
16062 310.3 9.2 654 16063 done 0.72 - - 3154 - - - 2261 - 212.2 - - 2194 - - - - - - - - 14.77 14.77 14.77
16399 279.2 9.3 660 16403 roll 0.72 - - 3153 - 2.83 0.128 3659 494.0 212.2 - - 2194 - - - - - - - - 14.78 13.76 14.78
16440 275.0 10.3 666 16445 done 0.72 0.10 0.231 3136 -170.0 2.45 0.043 2250 -575.1 212.2 - - 2194 - - - - - - - - 13.91 14.28 14.18
16790 246.1 8.1 674 16795 roll 0.72 - - 3136 - 2.83 0.129 3652 495.4 212.2 - - 2195 - - - - - - - - 14.81 13.66 14.81
16846 240.9 9.5 682 16851 done 0.72 - - 3146 - 2.40 0.043 2270 -575.8 212.2 - - 2195 - - - - - - - - 14.34 14.25 14.37
17182 211.1 9.0 695 17187 roll 0.72 - - 3156 - 2.53 0.060 863 -556.1 212.2 - - 2195 - - - - - - - - 14.81 14.00 14.81
17230 206.9 8.8 702 17237 done 0.72 - - 3159 - 2.58 0.064 2269 545.0 212.2 - - 2191 - - - - - - - - 14.08 13.88 14.13
17575 178.5 8.2 709 17580 roll 0.72 - - 3157 - 2.78 0.131 3661 500.7 212.2 - - 2195 - - - - - - - - 14.80 13.74 14.81
17650 171.6 9.1 720 17656 done 0.72 0.12 0.219 3132 -208.3 2.42 0.042 2262 -578.1 212.2 - - 2194 - - - - - - - - 13.74 14.23 14.02
17967 149.4 7.0 730 17985 done 0.74 - - 3132 - - - 2256 - 227.5 17.02 1.287 2144 -2.9 0.069 - - - - - - 14.76 14.25 13.50
18303 125.9 7.0 736 18321 roll 0.75 - - 3143 - 2.47 0.060 858 -566.0 242.2 13.95 1.289 2079 -4.7 0.092 - - - - - - 14.77 14.13 13.47
18344 122.7 7.5 742 18349 done 0.76 - - 3143 - 2.53 0.066 2274 559.7 247.1 - - 2072 - - - - - - - - 14.48 14.31 14.50
18666 97.0 8.1 750 18671 roll 0.76 - - 3143 - 2.72 0.132 3658 508.8 247.1 - - 2071 - - - - - - - - 14.73 14.00 14.73
18707 93.0 9.9 756 18713 done 0.76 - - 3152 - 2.40 0.041 2261 -582.1 247.1 - - 2071 - - - - - - - - 14.45 14.36 14.47
19030 66.8 7.8 769 19036 roll 0.76 - - 3152 - 2.78 0.125 3656 501.8 247.1 - - 2071 - - - - - - - - 14.76 13.90 14.76
19177 56.1 6.9 790 19191 done 0.78 - - 3163 - 2.40 0.041 2262 -580.8 264.0 9.98 0.325 2000 -7.1 0.248 - - - - - - 14.41 14.33 13.88
19503 43.9 2.8 803 19561 done 1.01 0.10 0.113 3241 780.0 - - 2261 - 361.6 55.88 0.303 1609 -7.0 0.204 - - - - - - 14.33 14.36 14.01
19867 24.1 5.9 819 19895 roll 1.13 - - 3241 - 2.80 0.127 3659 499.3 397.4 20.23 0.237 1468 -7.0 0.143 - - - - - - 14.73 14.14 13.99
19989 14.7 8.4 837 19995 done 1.13 - - 3250 - 2.35 0.041 2283 -585.5 397.4 - - 1470 - - - - - - - - 14.45 14.36 14.46
20167 end climb: SURFACE_DEPTH_REACHED
20167 begin surface coast
20195 end surface coast: CONTROL_FINISHED_OK
20196 begin surface
SM -2.46 - - - - -8.40 9.05 0.063 188 20.8 0.95 0.093 2770 1831.6 500.14 52.35 0.151 1058 20.2 0.034 - - - - - -