SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 10 * Raw log
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• Previous call tries 1 • 8.74 of 350.00 AH used of 24V (97.50% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth -1.25 m • Intended pitch -18.2 deg, speed -10.000 cm/s
• VBD pumped to 610.16 (SM_CC=609.96155)
• GPS1 time: 30 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 111 VBD -1.09 - - 194 - - - 2963 - -146.0 -93.35 - 3470 - - - - - - - - 14.76 - 14.75
113 4.4 -8.3 6 130 roll -1.09 10.95 0.392 2573 217.3 1.70 2.174 3823 505.9 -146.0 -1.12 - 3555 -75.9 - - - - - - - 14.37 13.66 14.62
235 59.8 -28.8 30 241 done -0.94 0.17 0.263 2620 276.5 1.38 0.044 2985 -607.2 -146.0 - - 3555 - - - - - - - - 14.49 14.65 14.66
551 107.6 -10.4 51 557 roll -0.89 - - 2614 - 1.52 0.103 3842 563.8 -146.0 - - 3556 - - - - - - - - 14.91 14.66 14.92
780 132.4 -12.2 97 788 done -0.84 0.12 0.230 2652 316.7 1.38 0.046 3003 -608.0 -146.0 - - 3555 - - - - - - - - 14.62 14.78 14.75
1093 163.1 -9.6 109 1100 roll -0.84 - - 2646 - 1.50 0.104 3820 544.7 -146.0 - - 3555 - - - - - - - - 14.99 14.73 15.02
1133 167.3 -10.4 117 1141 done -0.84 - - 2646 - 1.35 0.047 2997 -609.6 -146.0 - - 3555 - - - - - - - - 14.84 14.81 14.85
1455 199.6 -10.0 131 1462 roll -0.84 - - 2646 - 2.28 0.047 1589 -617.5 -146.0 - - 3552 - - - - - - - - 15.00 14.79 15.01
1556 209.4 -9.2 151 1562 done -0.84 - - 2635 - 2.40 0.076 2994 585.4 -146.0 - - 3552 - - - - - - - - 14.87 14.76 14.89
1877 240.3 -9.6 165 1884 roll -0.84 - - 2636 - 2.28 0.047 1603 -610.1 -146.0 - - 3549 - - - - - - - - 15.02 14.81 15.02
1983 250.6 -9.6 186 1990 done -0.84 0.12 0.245 2662 216.7 2.40 0.078 3003 583.3 -146.0 - - 3548 - - - - - - - - 14.70 14.78 14.85
2300 277.6 -8.5 199 2306 roll -0.85 - - 2662 - 2.30 0.049 1599 -610.4 -146.0 - - 3545 - - - - - - - - 15.02 14.81 15.02
2395 285.7 -8.5 218 2402 done -0.87 - - 2653 - 2.42 0.078 3013 584.3 -146.0 - - 3544 - - - - - - - - 14.89 14.78 14.90
2721 315.8 -9.5 233 2728 roll -0.87 - - 2652 - 2.33 0.050 1596 -608.2 -146.0 - - 3542 - - - - - - - - 15.00 14.82 15.03
2797 323.1 -9.5 248 2804 done -0.88 - - 2643 - 2.40 0.080 3000 585.0 -146.0 - - 3541 - - - - - - - - 14.88 14.78 14.90
3113 355.3 -10.3 261 3120 roll -0.88 - - 2643 - 2.30 0.050 1602 -607.8 -146.0 - - 3536 - - - - - - - - 15.02 14.82 15.02
3219 366.3 -10.2 282 3226 done -0.88 - - 2632 - 2.45 0.080 3024 580.4 -146.0 - - 3538 - - - - - - - - 14.89 14.77 14.90
3535 399.8 -10.5 295 3541 roll -0.88 - - 2631 - 2.35 0.050 1599 -606.4 -146.0 - - 3536 - - - - - - - - 15.02 14.81 15.02
3650 411.8 -10.3 318 3658 done -0.88 - - 2622 - 2.45 0.080 2997 570.6 -146.0 - - 3535 - - - - - - - - 14.83 14.76 14.86
3956 444.4 -10.6 329 3963 roll -0.88 - - 2621 - 2.30 0.051 1600 -607.4 -146.0 - - 3534 - - - - - - - - 15.02 14.81 15.02
4041 453.5 -10.4 346 4050 done -0.88 0.08 0.254 2634 162.5 2.45 0.080 3000 571.4 -146.0 - - 3533 - - - - - - - - 14.66 14.76 14.79
4347 483.9 -10.0 357 4355 roll -0.88 - - 2634 - 2.33 0.051 1591 -604.7 -146.0 - - 3531 - - - - - - - - 15.02 14.81 15.01
4403 489.5 -9.6 368 4412 done -0.88 - - 2624 - 2.47 0.080 3005 572.5 -146.0 - - 3531 - - - - - - - - 14.83 14.76 14.85
4709 520.0 -10.0 379 4723 roll -0.88 - - 2624 - 2.33 0.051 1603 -601.7 -146.0 - - 3529 - - - - - - - - 15.02 14.81 15.02
4766 525.7 -9.8 389 4780 done -0.88 0.10 0.271 2642 180.0 2.40 0.082 3002 582.9 -146.0 - - 3528 - - - - - - - - 14.69 14.78 14.86
4933 end dive: TARGET_DEPTH_EXCEEDED
4934 begin apogee
4936 540.9 -9.0 396 5081 done -0.25 0.68 0.201 2844 297.1 - - 2854 - - 130.02 2.335 2973 -4.3 0.189 - - - - 1 - 14.71 13.97 13.12
5083 end apogee: CONTROL_FINISHED_OK
5083 begin climb
5084 544.1 - 400 5242 roll 1.09 1.33 0.122 3261 313.5 1.90 0.104 3824 510.5 146.0 140.55 1.513 2383 -4.2 0.289 - - - - - - 14.06 14.01 13.52
5276 528.5 15.7 437 5289 done 0.98 - - 3269 - 1.65 0.052 2848 -591.5 146.0 - - 2374 - - - - - - - - 14.34 14.28 14.35
5609 478.8 14.5 452 5616 roll 0.89 0.15 0.292 3235 -226.7 2.35 0.054 1448 -595.7 146.0 - - 2370 - - - - - - - - 14.48 14.59 14.62
5839 449.8 12.4 498 5847 done 0.83 0.12 0.278 3201 -283.3 2.45 0.073 2860 576.3 146.0 - - 2367 - - - - - - - - 14.54 14.64 14.73
6151 413.6 11.6 510 6157 roll 0.79 - - 3200 - 1.70 0.107 3824 567.1 146.0 - - 2369 - - - - - - - - 14.91 14.67 14.91
6356 387.1 12.8 551 6365 done 0.72 0.12 0.259 3173 -225.0 1.65 0.054 2849 -590.9 146.0 - - 2367 - - - - - - - - 14.59 14.74 14.73
6662 355.5 10.4 562 6668 roll 0.70 - - 3184 - 2.33 0.057 1443 -603.4 146.0 - - 2365 - - - - - - - - 14.95 14.74 14.95
6687 352.9 10.0 567 6696 done 0.68 0.08 0.224 3152 -400.0 2.47 0.074 2851 570.0 146.0 - - 2364 - - - - - - - - 14.64 14.71 14.81
6993 323.7 9.6 578 7000 roll 0.69 - - 3152 - 1.73 0.106 3828 564.7 154.5 1.38 0.240 2353 -8.0 2.058 - - - - - - 14.96 14.71 14.68
7094 313.0 10.3 598 7101 done 0.66 - - 3159 - 1.65 0.054 2855 -589.7 154.5 1.30 0.210 2350 -2.3 0.659 - - - - - - 14.81 14.76 14.67
7415 281.5 9.8 612 7427 roll 0.67 - - 3170 - 2.40 0.057 1442 -588.8 159.4 3.33 0.940 2337 -3.9 0.224 - - - - - - 14.96 14.73 13.96
7651 259.6 9.0 659 7690 done 0.70 - - 3170 - 2.47 0.074 2848 569.2 180.4 28.10 1.351 2239 -3.5 0.128 - - - - - - 14.78 14.71 14.04
7987 226.8 9.7 676 7994 roll 0.71 - - 3170 - 1.83 0.109 3835 539.3 188.0 1.62 0.230 2218 -13.0 2.447 - - - - - - 14.88 14.63 14.59
8192 204.3 11.4 717 8202 done 0.68 - - 3178 - 1.67 0.054 2847 -591.6 188.0 - - 2228 - - - - - - - - 14.76 14.73 14.77
8498 171.6 10.9 728 8505 roll 0.67 0.08 0.290 3151 -337.5 1.77 0.103 3836 558.8 188.0 - - 2227 - - - - - - - - 14.62 14.67 14.73
8683 151.7 10.4 765 8691 done 0.67 - - 3159 - 1.67 0.054 2847 -592.2 188.0 - - 2227 - - - - - - - - 14.77 14.73 14.79
9010 120.5 9.5 780 9032 roll 0.69 - - 3167 - 2.33 0.055 1452 -598.7 199.7 16.00 1.217 2167 -3.8 0.071 - - - - - - 14.94 14.59 14.14
9186 103.7 8.9 815 9213 done 0.73 - - 3167 - 2.47 0.074 2871 574.5 223.0 20.50 1.177 2081 -4.2 0.071 - - - - - - 14.75 14.65 14.12
9523 75.7 6.7 841 9559 done 0.84 - - 3168 - - - 2871 - 293.8 32.38 0.405 1798 -8.7 0.313 - - - - - - 14.85 14.64 14.39
9869 57.7 5.0 870 9933 roll 1.04 0.20 0.093 3272 520.0 2.42 0.055 1450 -587.2 403.5 54.80 0.350 1363 -7.9 0.251 - - - - - - 14.67 14.57 14.39
10128 35.7 7.0 921 10169 done 1.16 - - 3273 - 2.45 0.072 2862 576.3 469.3 32.90 0.279 1099 -8.0 0.197 - - - - - - 14.70 14.60 14.45
10474 9.8 8.1 950 10501 roll 1.27 0.10 0.128 3340 670.0 1.73 0.101 3833 561.3 510.3 20.42 0.193 936 -8.0 0.078 - - - - - - 14.69 14.60 14.54
10550 end climb: SURFACE_DEPTH_REACHED
10550 begin surface coast
10554 end surface coast: CONTROL_FINISHED_OK
10554 begin surface
SM -1.37 - - - - -8.48 9.38 0.100 201 21.4 1.42 0.050 2984 -5405.6 610.16 47.67 0.158 538 11.3 0.010 - - - - - -