SPURS2 Aug17 * SG144 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 2 • 45.16 of 350.00 AH used of 24V (87.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -75.0 deg, depth 1.15 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 5 s • Transponder ping count: 6
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 107 done -0.70 - - 38 - 0.08 2.144 2574 - -146.0 -83.03 - 3498 - - - - - - - - 14.76 13.61 14.79
108 9.7 -14.9 3 134 roll -0.70 13.65 0.449 2638 190.5 2.17 0.027 1213 -627.2 -146.0 - - 3501 - - - - - - - - 14.34 14.62 14.61
222 50.1 -8.7 20 232 done -0.97 0.15 0.078 2563 -500.0 2.40 0.054 2610 582.1 -146.0 - - 3503 - - - - - - - - 14.63 14.61 14.66
553 92.0 -8.7 34 561 roll -1.06 - - 2556 - 2.33 0.072 3991 592.7 -146.0 - - 3505 - - - - - - - - 14.88 14.70 14.90
628 97.9 -7.5 45 639 done -1.21 0.08 0.095 2511 -562.5 2.17 0.024 2600 -641.0 -146.0 - - 3505 - - - - - - - - 14.71 14.76 14.76
945 129.5 -9.9 52 952 roll -1.21 - - 2511 - 2.17 0.035 1226 -633.2 -146.0 - - 3506 - - - - - - - - 14.94 14.78 14.97
1048 138.8 -8.7 67 1060 done -1.31 - - 2505 - 2.33 0.054 2598 588.8 -146.0 - - 3505 - - - - - - - - 14.81 14.76 14.83
1392 173.0 -10.1 74 1400 roll -1.37 - - 2501 - 2.33 0.074 3983 594.4 -146.0 - - 3505 - - - - - - - - 14.96 14.77 14.99
1449 178.3 -9.3 82 1457 done -1.49 0.12 0.138 2447 -450.0 2.12 0.026 2600 -652.4 -146.0 - - 3504 - - - - - - - - 14.79 14.83 14.85
1784 226.9 -14.8 95 1793 roll -1.40 0.17 0.285 2487 235.3 2.15 0.035 1230 -637.2 -146.0 - - 3502 - - - - - - - - 14.66 14.82 14.85
1854 234.6 -9.7 105 1863 done -1.51 0.10 0.174 2447 -400.0 2.35 0.057 2631 596.2 -146.0 - - 3502 - - - - - - - - 14.78 14.79 14.87
2177 279.2 -14.2 116 2182 done -1.44 0.12 0.298 2473 216.7 - - 2632 - -146.0 - - 3498 - - - - - - - - 14.66 14.88 14.85
2513 319.2 -11.7 122 2521 roll -1.44 - - 2473 - 2.25 0.037 1226 -624.9 -146.0 - - 3495 - - - - - - - - 15.00 14.83 15.02
2547 323.1 -11.1 127 2557 done -1.49 - - 2471 - 2.35 0.057 2605 586.8 -146.0 - - 3494 - - - - - - - - 14.85 14.80 14.87
2905 363.3 -11.3 136 2913 roll -1.49 - - 2461 - 2.33 0.076 3985 592.3 -146.0 - - 3491 - - - - - - - - 14.99 14.79 15.02
2932 366.5 -11.3 140 2941 done -1.49 - - 2462 - 2.17 0.028 2617 -630.4 -146.0 - - 3490 - - - - - - - - 14.86 14.84 14.88
3298 411.2 -12.5 150 3306 roll -1.49 - - 2462 - 2.22 0.038 1221 -628.8 -146.0 - - 3487 - - - - - - - - 14.99 14.82 15.02
3345 417.0 -11.3 157 3356 done -1.55 - - 2460 - 2.38 0.059 2605 581.5 -146.0 - - 3487 - - - - - - - - 14.83 14.78 14.86
3689 460.4 -12.8 164 3693 done -1.55 - - 2458 - - - 2605 - -146.0 - - 3484 - - - - - - - - 14.99 15.02 15.02
4025 502.0 -12.2 170 4029 done -1.55 - - 2458 - - - 2605 - -146.0 - - 3481 - - - - - - - - 14.99 15.02 15.02
4361 540.8 -11.6 176 4365 done -1.55 - - 2458 - - - 2605 - -146.0 - - 3478 - - - - - - - - 15.02 15.02 15.02
4697 578.7 -11.2 182 4705 roll -1.55 - - 2458 - 2.25 0.038 1212 -619.1 -146.0 - - 3476 - - - - - - - - 15.00 14.82 15.01
4745 583.8 -10.1 189 4755 done -1.62 - - 2458 - 2.40 0.060 2603 579.6 -146.0 - - 3476 - - - - - - - - 14.83 14.78 14.86
5089 621.6 -11.2 196 5094 done -1.62 - - 2458 - - - 2603 - -146.0 - - 3473 - - - - - - - - 14.98 15.02 15.01
5425 658.9 -11.0 202 5429 done -1.62 - - 2458 - - - 2603 - -146.0 - - 3471 - - - - - - - - 14.98 15.01 15.01
5761 696.3 -11.2 208 5769 roll -1.62 - - 2458 - 2.38 0.081 3990 582.8 -146.0 - - 3469 - - - - - - - - 14.98 14.76 15.01
5788 699.5 -11.6 212 5797 done -1.65 0.08 0.104 2417 -512.5 2.22 0.029 2607 -623.0 -146.0 - - 3468 - - - - - - - - 14.76 14.83 14.82
6153 751.3 -14.3 222 6162 roll -1.56 0.15 0.311 2453 240.0 2.25 0.038 1209 -621.3 -146.0 - - 3467 - - - - - - - - 14.57 14.79 14.73
6222 759.1 -10.0 232 6231 done -1.65 - - 2448 - 2.40 0.060 2599 579.2 -146.0 - - 3467 - - - - - - - - 14.80 14.76 14.83
6545 795.4 -11.5 243 6554 roll -1.65 - - 2443 - 2.38 0.082 3984 581.9 -146.0 - - 3464 - - - - - - - - 14.96 14.74 14.99
6580 799.4 -12.1 248 6588 done -1.65 - - 2443 - 2.20 0.029 2589 -634.1 -146.0 - - 3464 - - - - - - - - 14.87 14.82 14.88
6936 end dive: TARGET_DEPTH_EXCEEDED
6936 begin apogee
6940 842.8 -12.1 257 7095 done -0.15 1.12 0.244 2752 275.9 - - 2857 - - 149.60 1.814 2900 -3.8 0.322 - - - - - - 14.59 14.09 13.45
7098 end apogee: CONTROL_FINISHED_OK
7098 begin climb
7100 848.7 - 259 7270 roll 0.70 0.60 0.086 2954 336.7 2.08 0.071 3983 541.3 146.0 151.65 1.810 2300 -4.0 0.341 - - - - - - 14.18 13.97 13.35
7498 806.4 20.5 323 7507 done 0.15 0.60 0.373 2828 -210.0 1.88 0.030 2842 -606.9 146.0 - - 2289 - - - - - - - - 14.25 14.48 14.42
7829 768.7 10.9 335 7837 roll -0.02 0.15 0.326 2801 -180.0 2.30 0.040 1439 -610.0 146.0 - - 2282 - - - - - - - - 14.45 14.63 14.59
7855 765.9 9.8 339 7865 done -0.10 0.10 0.230 2773 -280.0 2.42 0.057 2833 576.0 150.5 - - 2280 - - - - - - - - 14.48 14.62 14.60
8220 734.6 8.7 349 8264 roll -0.07 - - 2781 - 2.33 0.044 1446 -595.3 177.4 34.88 1.600 2172 -3.1 0.261 - - - - - - 14.87 14.48 13.84
8311 726.2 9.4 362 8337 done - - - 2781 - 2.40 0.058 2838 580.0 189.8 14.65 1.628 2121 -3.5 0.285 - - - - - - 14.57 14.51 13.79
8668 688.2 10.7 371 8676 roll - - - 2786 - 2.33 0.043 1440 -600.0 189.8 - - 2114 - - - - - - - - 14.79 14.63 14.82
8731 682.0 9.7 380 8746 done 0.07 - - 2786 - 2.40 0.059 2843 584.6 196.7 6.15 1.624 2095 -3.1 0.238 - - - - - - 14.71 14.64 13.94
9060 648.6 10.0 392 9069 roll 0.07 - - 2795 - 2.30 0.041 1442 -609.1 196.7 - - 2091 - - - - - - - - 14.86 14.69 14.87
9087 646.1 8.9 396 9126 done 0.10 - - 2793 - 2.45 0.060 2846 573.1 219.9 31.55 1.535 2004 -2.8 0.213 - - - - - - 14.71 14.66 13.88
9454 610.8 9.5 413 9476 roll 0.11 - - 2797 - 2.35 0.044 1444 -596.6 230.9 12.98 1.542 1955 -3.8 0.275 - - - - - - 14.80 14.56 13.95
9536 603.4 8.5 425 9588 done 0.22 0.10 0.090 2850 530.0 2.45 0.060 2839 569.4 262.4 43.03 1.476 1829 -2.9 0.220 - - - - - - 14.57 14.56 13.76
9903 551.2 14.8 442 9911 roll 0.10 0.15 0.298 2822 -186.7 2.33 0.040 1440 -600.4 262.4 - - 1818 - - - - - - - - 14.42 14.58 14.57
9950 544.9 11.4 449 9960 done 0.14 - - 2822 - 2.45 0.060 2836 569.8 262.4 - - 1816 - - - - - - - - 14.63 14.59 14.66
10294 502.4 12.4 456 10303 roll 0.10 - - 2829 - 2.30 0.044 1446 -604.3 262.4 - - 1815 - - - - - - - - 14.85 14.68 14.88
10363 494.4 11.0 466 10372 done 0.10 - - 2829 - 2.40 0.060 2848 584.2 262.4 - - 1813 - - - - - - - - 14.75 14.67 14.77
10686 455.0 12.2 477 10695 roll 0.05 0.12 0.274 2811 -150.0 2.30 0.041 1450 -607.8 262.4 - - 1813 - - - - - - - - 14.57 14.72 14.76
10721 451.3 10.1 482 10730 done 0.09 - - 2811 - 2.42 0.060 2839 574.0 262.4 - - 1813 - - - - - - - - 14.73 14.69 14.77
11078 411.7 11.3 491 11086 roll 0.09 - - 2816 - 2.30 0.042 1443 -607.0 262.4 - - 1812 - - - - - - - - 14.90 14.73 14.92
11147 404.4 10.5 501 11156 done 0.16 - - 2816 - 2.42 0.060 2838 576.4 262.4 - - 1811 - - - - - - - - 14.73 14.69 14.76
11470 366.7 11.8 512 11479 roll 0.16 - - 2824 - 2.30 0.043 1443 -606.5 262.4 - - 1811 - - - - - - - - 14.91 14.74 14.94
11512 362.0 10.6 518 11521 done 0.20 - - 2824 - 2.42 0.060 2838 576.4 262.4 - - 1812 - - - - - - - - 14.80 14.70 14.81
11862 320.1 12.0 526 11871 roll 0.20 - - 2832 - 2.30 0.043 1439 -608.3 262.4 - - 1811 - - - - - - - - 14.91 14.74 14.94
11932 312.5 10.5 536 11942 done 0.24 - - 2832 - 2.40 0.061 2841 584.2 262.4 - - 1811 - - - - - - - - 14.79 14.71 14.81
12255 273.3 12.2 547 12263 roll 0.20 - - 2841 - 2.30 0.043 1442 -608.3 262.4 - - 1810 - - - - - - - - 14.92 14.74 14.94
12296 268.4 11.5 553 12305 done 0.20 - - 2841 - 2.45 0.062 2847 573.5 262.4 - - 1810 - - - - - - - - 14.76 14.71 14.79
12647 223.3 12.9 561 12655 roll 0.14 - - 2849 - 2.33 0.043 1442 -603.0 262.4 - - 1810 - - - - - - - - 14.91 14.72 14.93
12709 215.7 11.6 570 12718 done 0.14 0.08 0.218 2827 -275.0 2.45 0.063 2842 571.4 262.4 - - 1810 - - - - - - - - 14.59 14.71 14.71
13039 177.6 11.6 582 13047 roll 0.14 - - 2835 - 2.30 0.041 1441 -609.1 262.4 - - 1810 - - - - - - - - 14.92 14.74 14.94
13095 171.6 10.5 590 13103 done 0.18 - - 2835 - 2.40 0.062 2841 583.3 262.4 - - 1810 - - - - - - - - 14.80 14.72 14.82
13431 132.3 11.7 603 13439 roll 0.15 - - 2843 - 2.30 0.042 1447 -606.1 262.4 - - 1810 - - - - - - - - 14.90 14.74 14.93
13479 127.2 9.9 610 13490 done 0.18 - - 2843 - 2.42 0.061 2840 575.6 263.5 - - 1809 - - - - - - - - 14.76 14.71 14.78
13795 94.3 10.0 617 13803 roll 0.18 - - 2851 - 2.28 0.042 1449 -610.1 264.5 - - 1810 - - - - - - - - 14.91 14.74 14.93
13920 85.4 6.4 635 14022 done 0.38 - - 2850 - 2.40 0.063 2848 582.9 341.0 87.35 0.998 1504 -3.5 0.055 - - - - - - 14.80 14.72 13.95
14327 63.1 3.8 660 14470 roll 0.76 0.32 0.092 2978 400.0 2.08 0.082 3987 547.6 474.5 131.30 0.934 958 -4.2 0.052 - - - - - - 14.60 14.19 13.82
14525 40.7 11.0 688 14534 done 0.80 - - 2984 - 1.88 0.034 2848 -605.9 474.5 - - 954 - - - - - - - - 14.42 14.37 14.44
14862 3.0 10.3 703 14870 roll 0.83 - - 2994 - 2.33 0.042 1433 -607.3 474.5 - - 953 - - - - - - - - 14.75 14.58 14.78
14873 end climb: SURFACE_DEPTH_REACHED
14873 begin surface coast
14880 end surface coast: CONTROL_FINISHED_OK
14880 begin surface
SM 0.83 - - - - -12.40 8.32 0.073 82 9.9 2.10 0.073 2609 935.7 500.17 10.15 0.125 860 84.7 -0.058 - - - - - -