SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 648 * Raw log
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• Previous call tries 2 • 222.63 of 350.00 AH used of 24V (36.39% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -63.6 deg, depth -1.53 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 39 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
17 - - - 101 done -0.93 - - 106 - - - 2786 - -107.1 -80.10 - 3478 - - - - - - - - 14.64 12.98 14.59
106 5.1 -11.5 3 123 roll -0.93 11.93 0.382 2581 207.5 1.92 0.096 3836 546.9 -107.1 - - 3479 - - - - - - - - 13.95 14.28 14.22
159 28.2 -30.0 11 164 done -0.51 0.57 0.245 2733 266.7 1.77 0.041 2715 -633.3 -107.1 - - 3479 - - - - - - - - 14.02 14.48 14.32
499 64.3 -6.0 26 503 roll -0.61 - - 2734 - 2.25 0.044 1418 -576.4 -107.1 - - 3480 - - - - - - - - 14.76 14.30 14.78
630 72.1 -5.8 45 637 done -0.73 0.12 0.092 2635 -825.0 2.53 0.089 2759 530.0 -107.1 - - 3481 - - - - - - - - 14.33 14.07 14.41
945 101.1 -9.0 57 951 roll -0.73 0.10 0.241 2655 200.0 2.05 0.138 3827 521.0 -107.1 - - 3481 - - - - - - - - 14.14 13.95 14.34
1042 109.1 -8.0 71 1048 done -0.73 - - 2656 - 1.75 0.048 2798 -588.0 -107.1 - - 3480 - - - - - - - - 14.39 14.38 14.42
1393 137.2 -8.0 79 1398 roll -0.73 - - 2655 - 2.45 0.042 1381 -578.4 -107.1 - - 3479 - - - - - - - - 14.83 14.28 14.83
1462 142.7 -7.5 89 1468 done -0.73 - - 2646 - 2.62 0.091 2762 527.1 -107.1 - - 3479 - - - - - - - - 14.17 13.70 14.24
1785 167.9 -7.9 100 1790 roll -0.73 - - 2637 - 2.12 0.142 3837 507.1 -107.1 - - 3477 - - - - - - - - 14.83 13.88 14.83
1819 170.8 -8.4 105 1825 done -0.73 - - 2637 - 1.83 0.048 2744 -597.3 -107.1 - - 3477 - - - - - - - - 14.41 14.38 14.42
2177 202.8 -9.1 114 2182 roll -0.73 - - 2637 - 2.33 0.042 1397 -578.1 -107.1 - - 3474 - - - - - - - - 14.86 14.26 14.87
2218 206.8 -9.3 120 2224 done -0.73 0.10 0.234 2658 210.0 2.60 0.088 2765 526.2 -107.1 - - 3474 - - - - - - - - 13.93 13.99 14.17
2569 236.2 -8.4 128 2570 done -0.73 - - 2659 - - - 2765 - -107.1 - - 3471 - - - - - - - - 14.78 14.78 14.78
2905 262.7 -7.7 134 2910 roll -0.73 - - 2659 - 2.42 0.044 1383 -571.1 -107.1 - - 3469 - - - - - - - - 14.83 14.26 14.82
2947 265.8 -7.4 140 2952 done -0.80 - - 2651 - 2.62 0.090 2763 526.7 -107.1 - - 3469 - - - - - - - - 14.21 13.94 14.27
3297 292.7 -7.7 148 3302 roll -0.80 - - 2651 - 2.42 0.042 1397 -564.5 -107.1 - - 3466 - - - - - - - - 14.83 14.23 14.83
3366 298.3 -8.0 158 3371 done -0.80 - - 2642 - 2.60 0.090 2757 523.1 -107.1 - - 3466 - - - - - - - - 14.19 13.93 14.25
3689 325.9 -8.7 169 3695 roll -0.80 - - 2640 - 2.42 0.043 1389 -565.3 -107.1 - - 3463 - - - - - - - - 14.82 14.24 14.83
3745 330.6 -8.4 177 3751 done -0.80 - - 2634 - 2.62 0.091 2756 521.8 -107.1 - - 3464 - - - - - - - - 14.19 13.91 14.24
4082 358.7 -8.3 190 4082 done -0.80 - - 2634 - - - 2755 - -107.1 - - 3458 - - - - - - - - 14.85 14.85 14.85
4417 387.6 -8.7 196 4422 roll -0.80 - - 2633 - 2.42 0.044 1397 -561.2 -107.1 - - 3460 - - - - - - - - 14.85 14.20 14.86
4473 392.6 -8.9 204 4478 done -0.80 - - 2623 - 2.60 0.090 2752 521.2 -107.1 - - 3459 - - - - - - - - 14.15 13.88 14.21
4809 424.7 -9.7 217 4814 roll -0.80 - - 2615 - 2.17 0.143 3834 498.6 -107.1 - - 3458 - - - - - - - - 14.81 13.75 14.82
4836 427.6 -10.2 221 4842 done -0.80 - - 2614 - 1.85 0.050 2777 -571.4 -107.1 - - 3457 - - - - - - - - 14.28 14.25 14.30
5202 464.8 -10.2 231 5206 roll -0.80 - - 2614 - 2.47 0.043 1372 -568.8 -107.1 - - 3455 - - - - - - - - 14.89 14.19 14.85
5257 470.5 -10.1 239 5262 done -0.80 0.12 0.230 2640 216.7 2.62 0.086 2751 526.3 -107.1 - - 3456 - - - - - - - - 13.77 13.88 14.04
5593 500.4 -8.8 252 5594 done -0.80 - - 2640 - - - 2751 - -107.1 - - 3455 - - - - - - - - 14.84 14.83 14.84
5929 528.9 -8.3 258 5934 roll -0.80 - - 2631 - 2.17 0.141 3831 497.7 -107.1 - - 3453 - - - - - - - - 14.85 13.68 14.85
5963 532.0 -8.9 263 5968 done -0.80 - - 2631 - 1.90 0.051 2756 -565.8 -107.1 - - 3452 - - - - - - - - 14.24 14.21 14.26
6321 563.3 -8.8 272 6326 roll -0.80 - - 2637 - 2.45 0.043 1370 -565.7 -107.1 - - 3451 - - - - - - - - 14.81 14.14 14.81
6411 571.4 -8.7 285 6417 done -0.80 - - 2622 - 2.65 0.086 2753 521.9 -107.1 - - 3450 - - - - - - - - 14.12 13.85 14.19
6769 605.0 -9.6 294 6770 done -0.80 - - 2622 - - - 2753 - -107.1 - - 3449 - - - - - - - - 14.84 14.84 14.84
7105 637.1 -9.5 300 7110 roll -0.80 - - 2621 - 2.50 0.045 1365 -555.2 -107.1 - - 3448 - - - - - - - - 14.83 14.10 14.83
7161 642.5 -9.5 308 7166 done -0.80 - - 2613 - 2.67 0.087 2747 517.6 -107.1 - - 3447 - - - - - - - - 14.07 13.79 14.12
7497 674.0 -9.3 321 7498 done -0.80 - - 2613 - - - 2747 - -107.1 - - 3446 - - - - - - - - 14.79 14.79 14.79
7833 704.0 -8.8 327 7834 done -0.80 - - 2614 - - - 2747 - -107.1 - - 3445 - - - - - - - - 14.79 14.79 14.79
8170 732.2 -8.3 333 8175 roll -0.80 - - 2611 - 2.50 0.045 1370 -550.8 -107.1 - - 3443 - - - - - - - - 14.79 14.05 14.79
8252 739.3 -8.3 345 8258 done -0.80 0.12 0.225 2636 208.3 2.67 0.087 2745 515.0 -107.1 - - 3443 - - - - - - - - 13.66 13.75 13.93
8618 765.6 -7.2 355 8618 done -0.80 - - 2636 - - - 2744 - -107.1 - - 3442 - - - - - - - - 14.82 14.82 14.83
8953 789.5 -7.2 361 8954 done -0.80 - - 2636 - - - 2744 - -107.1 - - 3441 - - - - - - - - 14.83 14.83 14.83
9117 end dive: TARGET_DEPTH_EXCEEDED
9117 begin apogee
9127 801.7 -7.2 364 9234 roll -0.23 0.65 0.163 2824 289.2 0.10 0.190 2275 -4690.0 - 97.70 2.476 3053 -4.0 0.256 - - - - 1 - 13.70 13.76 12.60
9235 end apogee: CONTROL_FINISHED_OK
9235 begin climb
9239 805.1 - 366 9376 roll 0.93 1.10 0.085 3183 326.4 2.58 0.057 876 -542.2 107.1 125.45 1.783 2623 -3.4 0.309 - - - - - - 13.95 13.97 12.93
9418 804.0 5.3 392 9479 done 0.86 - - 3183 - 2.50 0.066 2250 549.6 156.1 54.88 1.756 2424 -3.6 0.331 - - - - - - 14.26 14.13 13.02
9800 772.5 8.7 411 9805 roll 0.76 0.10 0.246 3149 -340.0 2.75 0.127 3653 510.2 156.1 - - 2411 - - - - - - - - 14.03 14.04 14.19
9875 765.6 8.6 422 9881 done 0.66 0.17 0.216 3111 -223.5 2.40 0.046 2265 -578.3 156.1 - - 2411 - - - - - - - - 14.00 14.38 14.29
10191 746.4 6.0 432 10237 roll 0.70 - - 3110 - 2.83 0.130 3658 492.2 191.5 37.78 1.789 2278 -3.5 0.293 - - - - - - 14.76 14.16 13.26
10261 741.8 6.2 442 10302 done 0.74 - - 3121 - 2.45 0.045 2244 -577.1 222.2 33.90 1.745 2161 -3.5 0.293 - - - - - - 14.42 14.33 13.15
10639 712.3 7.9 454 10640 done 0.74 - - 3121 - - - 2244 - 222.2 - - 2147 - - - - - - - - 14.70 14.70 14.70
10975 685.0 8.1 460 10980 roll 0.74 - - 3121 - 2.83 0.130 3656 498.9 222.2 - - 2146 - - - - - - - - 14.76 13.99 14.76
11031 680.0 9.1 468 11036 done 0.74 - - 3130 - 2.45 0.046 2255 -571.8 222.2 - - 2145 - - - - - - - - 14.45 14.35 14.47
11367 651.3 8.6 481 11368 done 0.74 - - 3130 - - - 2251 - 222.2 - - 2146 - - - - - - - - 14.78 14.77 14.78
11703 621.2 9.1 487 11708 roll 0.74 - - 3130 - 2.83 0.132 3658 497.2 222.2 - - 2145 - - - - - - - - 14.78 13.92 14.78
11737 617.6 10.0 492 11742 done 0.74 - - 3141 - 2.45 0.046 2246 -576.3 222.2 - - 2147 - - - - - - - - 14.43 14.33 14.46
12095 583.0 9.7 501 12101 roll 0.74 - - 3141 - 2.83 0.132 3650 496.1 222.2 - - 2144 - - - - - - - - 14.81 13.85 14.82
12122 580.0 10.5 505 12128 done 0.74 - - 3151 - 2.45 0.046 2250 -571.4 222.2 - - 2144 - - - - - - - - 14.31 14.26 14.33
12487 543.3 10.0 515 12488 done 0.74 - - 3151 - - - 2247 - 222.2 - - 2144 - - - - - - - - 14.81 14.82 14.81
12823 510.0 9.9 521 12828 roll 0.74 - - 3151 - 2.85 0.131 3658 495.1 222.2 - - 2144 - - - - - - - - 14.81 13.79 14.81
12864 505.4 11.2 527 12870 done 0.74 - - 3162 - 2.45 0.045 2256 -572.2 222.2 - - 2144 - - - - - - - - 14.37 14.27 14.40
13215 468.0 10.8 535 13216 done 0.74 - - 3161 - - - 2255 - 222.2 - - 2144 - - - - - - - - 14.78 14.77 14.77
13551 432.8 10.4 541 13557 roll 0.74 - - 3161 - 2.83 0.132 3654 494.3 222.2 - - 2144 - - - - - - - - 14.78 13.76 14.78
13585 429.0 10.6 546 13591 done 0.74 0.12 0.222 3137 -200.0 2.45 0.045 2253 -571.8 222.2 - - 2144 - - - - - - - - 13.86 14.25 14.14
13943 400.3 7.7 555 13948 roll 0.74 - - 3136 - 2.85 0.132 3657 492.6 222.5 - - 2144 - - - - - - - - 14.76 13.76 14.75
13977 397.4 8.4 560 13982 done 0.74 - - 3147 - 2.45 0.045 2256 -571.8 222.5 - - 2144 - - - - - - - - 14.35 14.26 14.39
14335 370.7 7.4 569 14341 roll 0.75 - - 3157 - 2.55 0.063 850 -551.4 229.5 - - 2144 - - - - - - - - 14.77 14.00 14.81
14362 368.7 7.3 573 14382 done 0.76 - - 3157 - 2.55 0.064 2258 552.2 239.0 15.60 1.477 2097 -3.0 0.150 - - - - - - 14.22 14.02 13.45
14727 338.2 8.6 583 14732 roll 0.76 - - 3157 - 2.75 0.132 3654 507.6 239.0 - - 2081 - - - - - - - - 14.78 13.98 14.78
14796 331.2 10.2 593 14802 done 0.76 - - 3167 - 2.42 0.044 2258 -576.9 239.0 - - 2082 - - - - - - - - 14.42 14.32 14.44
15119 299.6 10.0 604 15124 roll 0.76 - - 3177 - 2.53 0.062 850 -556.5 239.0 - - 2081 - - - - - - - - 14.80 14.09 14.80
15153 296.1 10.2 609 15160 done 0.76 0.10 0.220 3149 -280.0 2.58 0.065 2270 550.4 239.0 - - 2081 - - - - - - - - 13.97 14.10 14.23
15511 262.5 9.2 618 15516 roll 0.76 - - 3148 - 2.78 0.131 3656 498.6 239.0 - - 2081 - - - - - - - - 14.81 13.84 14.81
15568 256.9 10.3 626 15572 done 0.76 - - 3158 - 2.45 0.045 2256 -571.4 239.0 - - 2081 - - - - - - - - 14.38 14.28 14.40
15903 224.0 9.9 639 15904 done 0.76 - - 3159 - - - 2253 - 239.0 - - 2081 - - - - - - - - 14.76 14.76 14.76
16239 190.7 9.8 645 16245 roll 0.76 - - 3158 - 2.85 0.132 3662 494.4 239.0 - - 2081 - - - - - - - - 14.77 13.79 14.78
16308 183.9 9.9 655 16313 done 0.76 - - 3168 - 2.42 0.044 2271 -574.8 239.0 - - 2081 - - - - - - - - 14.36 14.26 14.41
16631 155.5 8.8 666 16632 done 0.76 - - 3169 - - - 2267 - 239.0 - - 2081 - - - - - - - - 14.77 14.76 14.77
16967 125.9 8.7 672 16972 roll 0.76 - - 3179 - 2.55 0.062 856 -553.3 239.0 - - 2081 - - - - - - - - 14.77 13.97 14.77
16987 124.1 8.7 675 16993 done 0.76 0.12 0.204 3143 -300.0 2.58 0.067 2271 548.4 239.0 - - 2081 - - - - - - - - 13.86 14.00 14.14
17303 98.4 8.2 685 17310 roll 0.76 - - 3143 - 2.78 0.132 3660 499.6 239.0 - - 2081 - - - - - - - - 14.76 13.78 14.76
17394 90.8 7.9 698 17399 done 0.76 - - 3153 - 2.42 0.044 2267 -575.6 239.0 - - 2079 - - - - - - - - 14.34 14.26 14.36
17724 71.1 4.6 712 17764 roll 0.83 - - 3153 - 2.75 0.130 3658 505.8 301.1 32.90 0.379 1854 -6.8 0.256 - - - - - - 14.75 14.17 13.86
17860 63.0 6.9 731 17876 done 0.85 - - 3165 - 2.40 0.045 2271 -577.9 317.5 10.70 0.338 1785 -6.4 0.240 - - - - - - 14.42 14.35 13.84
18204 46.1 3.6 747 18260 roll 1.15 0.22 0.069 3293 581.8 2.58 0.061 855 -548.8 399.5 47.42 0.306 1463 -6.8 0.204 - - - - - - 14.28 14.23 13.96
18284 41.4 7.6 759 18294 done 1.15 - - 3294 - 2.55 0.063 2281 559.2 402.7 2.97 0.243 1449 -4.7 0.160 - - - - - - 14.39 14.21 13.83
18620 13.4 7.3 774 18632 roll 1.16 - - 3294 - 2.70 0.130 3657 509.6 412.0 6.85 0.203 1407 -6.1 0.081 - - - - - - 14.73 13.93 13.83
18689 6.8 11.7 784 18694 done 1.16 - - 3304 - 2.38 0.041 2282 -577.7 412.0 - - 1414 - - - - - - - - 14.38 14.28 14.40
18756 end climb: SURFACE_DEPTH_REACHED
18756 begin surface coast
18784 end surface coast: CONTROL_FINISHED_OK
18784 begin surface
SM -1.45 - - - - -8.38 8.93 0.044 187 20.9 0.98 0.116 2761 1766.3 500.14 45.67 0.151 1058 23.2 0.023 - - - - - -