SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 477 * Raw log
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• Previous call tries 1 • 169.39 of 350.00 AH used of 24V (51.60% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.0 deg, depth -6.64 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 100 done -0.93 - - 105 - - - 2771 - -107.1 -80.32 - 3478 - - - - - - - - 14.65 13.07 14.64
104 0.6 -12.3 3 121 roll -0.93 12.52 0.410 2587 198.2 2.42 0.035 1347 -588.4 -107.1 - - 3477 - - - - - - - - 13.93 14.32 14.20
244 36.8 -14.2 23 249 done -0.75 0.28 0.249 2652 232.1 2.58 0.070 2770 551.6 -107.1 - - 3478 - - - - - - - - 14.04 14.30 14.33
578 68.0 -9.0 38 582 roll -0.75 - - 2645 - 1.98 0.111 3826 533.3 -107.1 - - 3482 - - - - - - - - 14.81 14.27 14.82
618 71.6 -8.9 44 624 done -0.75 - - 2644 - 1.85 0.041 2727 -594.1 -107.1 - - 3482 - - - - - - - - 14.50 14.48 14.52
942 95.7 -7.7 57 942 done -0.75 - - 2644 - - - 2728 - -107.1 - - 3482 - - - - - - - - 14.85 14.85 14.85
1277 125.7 -9.1 64 1282 roll -0.75 - - 2636 - 2.08 0.108 3824 526.9 -107.1 - - 3484 - - - - - - - - 14.90 14.31 14.90
1339 134.0 -9.8 73 1346 done -0.75 - - 2636 - 1.77 0.044 2771 -594.9 -107.1 - - 3482 - - - - - - - - 14.59 14.57 14.61
1670 162.5 -8.6 85 1675 roll -0.75 - - 2636 - 2.38 0.045 1386 -581.9 -107.1 - - 3478 - - - - - - - - 14.89 14.48 14.89
1697 164.8 -8.1 89 1704 done -0.75 0.08 0.219 2649 162.5 2.50 0.069 2768 552.8 -107.1 - - 3480 - - - - - - - - 14.17 14.35 14.33
2061 194.9 -8.5 99 2067 roll -0.75 - - 2649 - 2.40 0.044 1388 -575.0 -107.1 - - 3477 - - - - - - - - 14.90 14.48 14.90
2088 197.4 -8.9 103 2094 done -0.75 - - 2640 - 2.50 0.068 2763 550.0 -107.1 - - 3478 - - - - - - - - 14.45 14.35 14.50
2453 228.1 -8.3 113 2454 done -0.75 - - 2640 - - - 2763 - -107.1 - - 3476 - - - - - - - - 14.91 14.92 14.92
2789 255.9 -8.4 119 2794 roll -0.75 - - 2629 - 2.00 0.111 3836 536.5 -107.1 - - 3474 - - - - - - - - 14.92 14.30 14.92
2838 260.3 -9.5 126 2845 done -0.75 - - 2632 - 1.83 0.044 2767 -584.2 -107.1 - - 3474 - - - - - - - - 14.59 14.58 14.62
3182 291.2 -9.3 133 3187 roll -0.75 - - 2632 - 2.40 0.045 1379 -578.3 -107.1 - - 3471 - - - - - - - - 14.92 14.49 14.92
3244 297.2 -8.9 142 3250 done -0.75 0.10 0.236 2652 200.0 2.55 0.069 2775 547.5 -107.1 - - 3471 - - - - - - - - 14.21 14.33 14.45
3574 326.4 -8.9 154 3575 done -0.75 - - 2651 - - - 2775 - -107.1 - - 3472 - - - - - - - - 14.90 14.90 14.90
3909 354.8 -8.2 160 3914 roll -0.75 - - 2651 - 2.45 0.044 1370 -573.5 -107.1 - - 3468 - - - - - - - - 14.92 14.47 14.92
3943 357.7 -9.1 165 3950 done -0.75 - - 2643 - 2.55 0.070 2764 546.7 -107.1 - - 3468 - - - - - - - - 14.41 14.32 14.45
4302 385.3 -7.7 174 4302 done -0.75 - - 2643 - - - 2764 - -107.1 - - 3466 - - - - - - - - 14.87 14.90 14.90
4638 410.1 -7.7 180 4643 roll -0.75 - - 2643 - 2.42 0.044 1378 -572.7 -107.1 - - 3465 - - - - - - - - 14.93 14.45 14.90
4686 413.4 -7.2 187 4693 done -0.75 - - 2633 - 2.53 0.069 2755 544.3 -107.1 - - 3465 - - - - - - - - 14.39 14.29 14.44
5030 439.4 -7.5 194 5031 done -0.75 - - 2633 - - - 2756 - -107.1 - - 3463 - - - - - - - - 14.92 14.92 14.92
5365 464.7 -7.8 200 5371 roll -0.75 - - 2633 - 2.42 0.044 1375 -570.7 -107.1 - - 3461 - - - - - - - - 14.92 14.44 14.92
5392 467.0 -9.3 204 5399 done -0.75 0.10 0.214 2649 160.0 2.55 0.068 2764 544.7 -107.1 - - 3461 - - - - - - - - 14.03 14.23 14.20
5758 494.0 -7.3 214 5759 done -0.75 - - 2652 - - - 2763 - -107.1 - - 3460 - - - - - - - - 14.91 14.91 14.91
6094 518.6 -7.3 220 6098 roll -0.75 - - 2655 - 2.42 0.045 1382 -570.7 -107.1 - - 3458 - - - - - - - - 14.91 14.42 14.91
6156 522.5 -6.1 229 6162 done -0.84 - - 2643 - 2.58 0.069 2782 542.6 -107.1 - - 3459 - - - - - - - - 14.41 14.21 14.44
6486 546.9 -7.2 241 6491 roll -0.84 - - 2644 - 2.47 0.044 1376 -569.2 -107.1 - - 3457 - - - - - - - - 14.88 14.42 14.88
6526 550.6 -7.9 247 6532 done -0.84 - - 2635 - 2.55 0.068 2761 543.1 -107.1 - - 3457 - - - - - - - - 14.35 14.26 14.40
6878 577.6 -7.7 255 6878 done -0.84 - - 2635 - - - 2761 - -107.1 - - 3457 - - - - - - - - 14.88 14.88 14.86
7214 602.9 -7.6 261 7215 done -0.84 - - 2635 - - - 2761 - -107.1 - - 3455 - - - - - - - - 14.88 14.88 14.88
7550 630.7 -8.6 267 7554 roll -0.84 - - 2635 - 2.45 0.045 1372 -566.9 -107.1 - - 3454 - - - - - - - - 14.88 14.39 14.88
7605 635.1 -9.3 275 7610 done -0.84 - - 2625 - 2.53 0.068 2764 550.2 -107.1 - - 3454 - - - - - - - - 14.46 14.28 14.50
7942 665.2 -9.0 288 7942 done -0.84 - - 2625 - - - 2764 - -107.1 - - 3453 - - - - - - - - 14.88 14.88 14.88
8278 692.7 -7.7 294 8282 roll -0.84 - - 2624 - 2.45 0.045 1376 -566.5 -107.1 - - 3451 - - - - - - - - 14.88 14.36 14.88
8325 697.0 -9.2 301 8334 done -0.84 - - 2615 - 2.58 0.069 2757 535.3 -107.1 - - 3451 - - - - - - - - 14.29 14.20 14.33
8670 723.2 -7.6 308 8674 roll -0.84 - - 2608 - 2.03 0.114 3823 525.1 -107.1 - - 3451 - - - - - - - - 14.90 14.13 14.88
8697 725.3 -7.7 312 8702 done -0.84 - - 2606 - 1.88 0.046 2751 -570.2 -107.1 - - 3450 - - - - - - - - 14.47 14.44 14.49
9062 751.0 -7.1 322 9066 roll -0.84 - - 2606 - 2.40 0.046 1377 -572.5 -107.1 - - 3449 - - - - - - - - 14.90 14.35 14.90
9089 752.7 -6.3 326 9095 done -0.84 0.10 0.250 2624 180.0 2.50 0.067 2751 549.6 -107.1 - - 3449 - - - - - - - - 14.02 14.23 14.28
9454 777.3 -6.4 336 9459 roll -0.84 - - 2617 - 2.05 0.113 3827 524.9 -107.1 - - 3448 - - - - - - - - 14.86 14.08 14.85
9510 780.1 -7.0 344 9515 done -0.84 - - 2616 - 1.90 0.047 2748 -567.9 -107.1 - - 3448 - - - - - - - - 14.42 14.39 14.44
9842 end dive: TARGET_DEPTH_EXCEEDED
9842 begin apogee
9850 802.8 -6.5 357 9961 roll -0.23 0.70 0.175 2821 292.9 0.10 0.161 2267 -4810.0 - 103.15 2.576 3050 -3.9 0.245 - - - - 1 - 14.02 13.81 12.50
9962 end apogee: CONTROL_FINISHED_OK
9962 begin climb
9966 775.4 - 359 10091 roll 0.93 1.12 0.088 3188 327.7 2.62 0.057 844 -543.1 107.1 107.12 2.785 2627 -3.9 0.224 - - - - 1 - 13.91 13.93 12.31
10147 788.7 18.1 386 10153 done 0.79 0.08 0.219 3154 -425.0 2.55 0.050 2240 547.5 107.1 - - 2632 - - - - - - - - 13.84 13.99 14.05
10463 777.0 6.2 396 10509 roll 0.74 - - 3154 - 2.72 0.099 3651 518.8 137.4 39.58 1.888 2496 -3.4 0.289 - - - - - - 14.71 14.14 13.20
10597 763.6 9.1 415 10603 done 0.61 0.22 0.215 3102 -236.4 2.47 0.041 2236 -572.9 137.4 - - 2492 - - - - - - - - 14.10 14.36 14.35
10911 744.3 5.3 425 10973 roll 0.67 - - 3101 - 2.72 0.100 3652 520.6 186.0 54.50 1.841 2303 -3.5 0.286 - - - - - - 14.76 14.11 13.22
11015 733.9 3.0 440 11127 done 0.78 0.05 0.112 3175 1480.0 2.50 0.041 2251 -560.4 280.0 106.10 1.741 1933 -3.5 0.300 - - - - - - 14.19 14.26 13.07
11471 690.9 11.1 463 11475 roll 0.78 - - 3185 - 2.47 0.064 865 -561.1 280.0 - - 1914 - - - - - - - - 14.71 14.33 14.72
11519 685.3 6.5 470 11553 done 0.82 - - 3186 - 2.47 0.055 2249 560.3 305.1 26.30 1.821 1829 -3.2 0.248 - - - - - - 14.42 14.33 13.33
11863 644.1 12.1 484 11863 done 0.82 - - 3185 - - - 2249 - 305.1 - - 1823 - - - - - - - - 14.74 14.73 14.74
12199 603.9 12.0 490 12203 roll 0.82 - - 3194 - 2.47 0.064 858 -563.2 305.1 - - 1819 - - - - - - - - 14.80 14.38 14.80
12247 596.8 13.1 497 12255 done 0.82 0.10 0.200 3165 -290.0 2.47 0.055 2247 562.3 305.1 - - 1818 - - - - - - - - 14.17 14.35 14.34
12591 559.9 10.9 504 12596 roll 0.82 - - 3165 - 2.65 0.103 3664 534.7 305.1 - - 1818 - - - - - - - - 14.82 14.28 14.83
12618 556.3 13.9 508 12623 done 0.82 - - 3176 - 2.50 0.042 2247 -566.8 305.1 - - 1818 - - - - - - - - 14.50 14.46 14.54
12983 512.5 11.9 518 12988 roll 0.82 - - 3186 - 2.45 0.065 858 -566.9 305.1 - - 1816 - - - - - - - - 14.86 14.37 14.86
13080 503.9 13.0 532 13086 done 0.82 - - 3186 - 2.47 0.055 2249 563.2 305.1 - - 1817 - - - - - - - - 14.44 14.34 14.47
13431 462.2 11.6 540 13431 done 0.82 - - 3186 - - - 2249 - 305.1 - - 1816 - - - - - - - - 14.88 14.85 14.85
13767 424.9 10.9 546 13772 roll 0.82 - - 3195 - 2.47 0.065 859 -562.8 305.1 - - 1818 - - - - - - - - 14.85 14.33 14.85
13822 419.1 10.1 554 13828 done 0.82 0.10 0.231 3166 -290.0 2.42 0.056 2246 573.1 305.1 - - 1816 - - - - - - - - 14.19 14.39 14.46
14158 387.6 9.4 567 14164 roll 0.82 - - 3167 - 2.65 0.103 3659 533.2 305.1 - - 1816 - - - - - - - - 14.85 14.23 14.85
14200 382.9 12.0 573 14206 done 0.82 - - 3177 - 2.47 0.040 2245 -572.5 305.1 - - 1816 - - - - - - - - 14.47 14.43 14.51
14551 343.9 11.5 581 14557 roll 0.82 - - 3187 - 2.45 0.065 859 -565.7 305.1 - - 1816 - - - - - - - - 14.87 14.32 14.88
14620 335.9 10.0 591 14625 done 0.82 - - 3186 - 2.45 0.055 2238 562.9 305.1 - - 1816 - - - - - - - - 14.38 14.30 14.42
14943 295.1 13.2 602 14948 roll 0.82 - - 3187 - 2.65 0.103 3652 533.6 305.1 - - 1814 - - - - - - - - 14.85 14.21 14.85
14977 290.2 14.6 607 14983 done 0.82 0.10 0.207 3168 -190.0 2.50 0.040 2232 -568.0 305.1 - - 1816 - - - - - - - - 14.10 14.40 14.26
15334 247.6 11.4 616 15339 roll 0.82 - - 3178 - 2.42 0.064 855 -569.0 305.1 - - 1816 - - - - - - - - 14.88 14.31 14.88
15376 243.4 10.3 622 15382 done 0.82 - - 3179 - 2.42 0.054 2246 574.8 305.1 - - 1815 - - - - - - - - 14.50 14.35 14.53
15727 205.9 10.4 630 15732 roll 0.82 - - 3178 - 2.65 0.103 3658 532.8 305.1 - - 1816 - - - - - - - - 14.85 14.20 14.85
15761 202.0 11.5 635 15767 done 0.82 - - 3189 - 2.50 0.040 2240 -567.2 305.1 - - 1816 - - - - - - - - 14.44 14.39 14.47
16119 161.8 11.4 644 16123 roll 0.82 - - 3199 - 2.45 0.066 848 -568.2 305.1 - - 1816 - - - - - - - - 14.85 14.23 14.85
16195 153.3 11.0 655 16201 done 0.82 0.10 0.193 3169 -300.0 2.45 0.055 2230 564.1 305.1 - - 1816 - - - - - - - - 14.06 14.26 14.22
16510 121.2 10.1 665 16516 roll 0.82 - - 3176 - 2.67 0.101 3658 534.8 305.1 - - 1815 - - - - - - - - 14.88 14.19 14.87
16545 117.1 12.1 670 16550 done 0.82 - - 3179 - 2.50 0.039 2232 -570.4 305.1 - - 1815 - - - - - - - - 14.53 14.39 14.56
16875 81.6 10.1 681 16881 roll 0.82 - - 3189 - 2.45 0.065 848 -564.9 305.1 - - 1816 - - - - - - - - 14.86 14.28 14.86
16923 76.2 10.5 688 16930 done 0.82 - - 3189 - 2.45 0.053 2234 565.7 305.1 - - 1815 - - - - - - - - 14.35 14.27 14.39
17239 50.8 8.1 700 17244 roll 0.82 - - 3189 - 2.65 0.102 3652 535.1 305.1 - - 1815 - - - - - - - - 14.83 14.13 14.83
17364 39.4 8.3 718 17370 done 0.82 0.10 0.192 3169 -200.0 2.47 0.039 2235 -573.7 305.1 - - 1816 - - - - - - - - 14.04 14.33 14.20
17687 19.3 4.9 731 17720 roll 1.03 0.10 0.116 3248 790.0 2.70 0.099 3654 525.6 360.8 27.35 0.250 1609 -7.6 0.119 - - - - - - 14.52 14.12 13.90
17728 17.2 4.9 737 17763 done 1.10 - - 3260 - 2.47 0.039 2230 -576.5 416.8 29.90 0.247 1387 -7.4 0.106 - - - - - - 14.43 14.39 14.02
17991 end climb: SURFACE_DEPTH_REACHED
17991 begin surface coast
18022 end surface coast: CONTROL_FINISHED_OK
18022 begin surface
SM -7.96 - - - - -8.39 9.12 0.076 196 21.5 1.00 0.083 2761 -6493.0 500.14 41.00 0.172 1055 25.7 0.122 - - - - - -