SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 481 * Raw log
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• Previous call tries 1 • 170.88 of 350.00 AH used of 24V (51.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.2 deg, depth -1.41 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 120 done -0.93 - - 105 - - - 2775 - -107.1 -103.45 - 3478 - - - - - - - - 14.66 12.51 14.66
124 - -2.2 3 142 roll -0.93 12.07 0.386 2592 206.0 2.42 0.035 1344 -591.3 -107.1 - - 3480 - - - - - - - - 13.93 14.41 14.32
157 21.5 -48.1 8 162 done -0.02 1.15 0.240 2886 255.7 2.60 0.076 2771 548.8 -107.1 - - 3481 - - - - - - - - 14.06 14.23 14.35
493 44.6 -6.7 23 499 roll -0.50 0.40 0.096 2741 -362.5 1.98 0.113 3830 534.8 -107.1 - - 3482 - - - - - - - - 14.40 14.31 14.48
527 47.4 -8.1 28 533 done -0.78 0.20 0.053 2628 -565.0 1.88 0.045 2737 -581.4 -107.1 - - 3481 - - - - - - - - 14.51 14.53 14.54
857 81.2 -9.1 42 862 roll -0.78 - - 2620 - 2.05 0.108 3831 533.7 -107.1 - - 3482 - - - - - - - - 14.86 14.35 14.86
885 83.3 -7.5 46 890 done -0.78 - - 2619 - 1.77 0.040 2730 -622.0 -107.1 - - 3482 - - - - - - - - 14.66 14.61 14.67
1221 110.9 -9.3 59 1226 roll -0.78 - - 2611 - 2.05 0.109 3823 533.2 -107.1 - - 3482 - - - - - - - - 14.89 14.38 14.89
1255 116.4 -15.9 64 1261 done -0.78 0.10 0.205 2642 310.0 1.75 0.041 2784 -593.7 -107.1 - - 3482 - - - - - - - - 14.31 14.62 14.42
1613 146.0 -8.5 73 1619 roll -0.78 - - 2642 - 2.40 0.041 1370 -589.2 -107.1 - - 3480 - - - - - - - - 14.92 14.54 14.92
1654 150.0 -9.2 79 1660 done -0.78 - - 2632 - 2.53 0.067 2763 550.6 -107.1 - - 3480 - - - - - - - - 14.50 14.40 14.54
2005 186.5 -10.5 87 2006 done -0.78 - - 2632 - - - 2764 - -107.1 - - 3479 - - - - - - - - 14.93 14.92 14.93
2341 218.1 -9.3 93 2347 roll -0.78 - - 2624 - 2.00 0.116 3828 532.0 -107.1 - - 3475 - - - - - - - - 14.91 14.34 14.91
2397 223.5 -9.6 101 2403 done -0.78 - - 2623 - 1.80 0.043 2741 -603.9 -107.1 - - 3476 - - - - - - - - 14.69 14.66 14.70
2733 255.3 -9.4 114 2738 roll -0.78 - - 2623 - 2.33 0.043 1384 -582.4 -107.1 - - 3474 - - - - - - - - 14.91 14.50 14.91
2767 258.7 -9.7 119 2773 done -0.78 0.10 0.207 2644 210.0 2.47 0.067 2754 554.7 -107.1 - - 3474 - - - - - - - - 14.23 14.39 14.40
3125 289.4 -8.6 128 3126 done -0.78 - - 2644 - - - 2754 - -107.1 - - 3472 - - - - - - - - 14.93 14.93 14.93
3461 317.5 -8.3 134 3462 done -0.78 - - 2644 - - - 2754 - -107.1 - - 3470 - - - - - - - - 14.93 14.93 14.93
3797 345.9 -8.5 140 3798 done -0.78 - - 2644 - - - 2754 - -107.1 - - 3468 - - - - - - - - 14.93 14.93 14.93
4133 374.3 -8.4 146 4138 roll -0.78 - - 2636 - 2.03 0.116 3822 526.1 -107.1 - - 3466 - - - - - - - - 14.93 14.26 14.93
4202 380.4 -8.7 156 4208 done -0.78 - - 2634 - 1.83 0.047 2770 -574.9 -107.1 - - 3466 - - - - - - - - 14.60 14.57 14.62
4525 407.6 -8.5 167 4530 roll -0.78 - - 2635 - 2.40 0.044 1373 -582.1 -107.1 - - 3464 - - - - - - - - 14.90 14.50 14.91
4594 413.7 -8.7 177 4601 done -0.78 - - 2626 - 2.53 0.068 2755 546.2 -107.1 - - 3466 - - - - - - - - 14.45 14.34 14.52
4917 444.3 -9.7 188 4922 roll -0.78 - - 2617 - 2.00 0.116 3822 533.5 -107.1 - - 3462 - - - - - - - - 14.90 14.28 14.90
4944 447.1 -10.2 192 4950 done -0.78 - - 2617 - 1.85 0.045 2747 -581.1 -107.1 - - 3463 - - - - - - - - 14.60 14.57 14.62
5309 484.1 -10.2 202 5314 roll -0.78 0.10 0.243 2639 220.0 2.05 0.113 3827 526.8 -107.1 - - 3462 - - - - - - - - 14.33 14.28 14.53
5343 487.4 -9.4 207 5349 done -0.78 - - 2638 - 1.85 0.045 2756 -578.9 -107.1 - - 3461 - - - - - - - - 14.57 14.54 14.59
5701 518.2 -8.5 216 5702 done -0.78 - - 2638 - - - 2756 - -107.1 - - 3459 - - - - - - - - 14.90 14.90 14.90
6037 545.0 -7.9 222 6038 done -0.78 - - 2638 - - - 2756 - -107.1 - - 3458 - - - - - - - - 14.90 14.90 14.92
6373 571.2 -7.9 228 6378 roll -0.78 - - 2637 - 2.42 0.044 1377 -569.8 -107.1 - - 3457 - - - - - - - - 14.92 14.45 14.92
6407 574.1 -8.3 233 6414 done -0.78 - - 2630 - 2.53 0.067 2756 545.1 -107.1 - - 3458 - - - - - - - - 14.39 14.28 14.44
6765 605.2 -8.8 242 6770 roll -0.78 - - 2621 - 2.03 0.115 3831 529.6 -107.1 - - 3455 - - - - - - - - 14.90 14.23 14.90
6821 610.6 -9.6 250 6826 done -0.78 - - 2619 - 1.88 0.047 2755 -572.3 -107.1 - - 3455 - - - - - - - - 14.52 14.49 14.54
7157 641.9 -9.3 263 7162 roll -0.78 - - 2621 - 2.40 0.044 1377 -574.2 -107.1 - - 3454 - - - - - - - - 14.89 14.42 14.89
7213 647.2 -9.4 271 7219 done -0.78 0.12 0.227 2647 216.7 2.55 0.067 2769 545.9 -107.1 - - 3453 - - - - - - - - 14.14 14.31 14.38
7549 675.1 -8.3 284 7550 done -0.78 - - 2647 - - - 2769 - -107.1 - - 3452 - - - - - - - - 14.91 14.90 14.91
7885 701.4 -7.8 290 7886 done -0.78 - - 2648 - - - 2769 - -107.1 - - 3451 - - - - - - - - 14.88 14.88 14.89
8221 725.0 -6.8 296 8222 done -0.86 - - 2648 - - - 2769 - -107.1 - - 3450 - - - - - - - - 14.88 14.89 14.89
8557 745.9 -6.1 302 8563 roll -0.94 0.10 0.115 2574 -740.0 2.47 0.044 1375 -564.4 -107.1 - - 3449 - - - - - - - - 14.54 14.40 14.56
8605 750.0 -8.7 309 8614 done -0.94 0.10 0.223 2591 170.0 2.58 0.069 2760 536.8 -107.1 - - 3449 - - - - - - - - 14.00 14.22 14.18
8949 779.3 -8.7 316 8950 done -0.94 - - 2592 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
9170 end dive: TARGET_DEPTH_EXCEEDED
9170 begin apogee
9178 800.1 -9.3 320 9286 roll -0.23 0.80 0.181 2824 290.0 0.10 0.164 2282 -4780.0 - 96.38 2.446 3053 -4.1 0.271 - - - - 1 - 14.05 13.86 12.60
9287 end apogee: CONTROL_FINISHED_OK
9287 begin climb
9291 803.6 - 322 9412 roll 0.93 1.10 0.086 3185 328.2 2.58 0.056 876 -545.0 107.1 106.03 2.712 2622 -4.1 0.244 - - - - 1 - 13.98 14.00 12.42
9446 802.5 4.9 345 9522 done 0.87 - - 3186 - 2.50 0.050 2241 546.0 163.0 67.57 1.809 2394 -3.4 0.303 - - - - - - 14.02 13.95 12.99
9849 767.4 9.4 367 9854 roll 0.76 0.10 0.248 3160 -260.0 2.42 0.057 876 -564.0 163.0 - - 2384 - - - - - - - - 14.20 14.36 14.35
9888 763.8 8.4 373 9895 done 0.76 - - 3162 - 2.45 0.054 2250 560.8 163.0 - - 2382 - - - - - - - - 14.44 14.37 14.47
10239 734.1 8.5 381 10245 roll 0.76 - - 3162 - 2.62 0.103 3659 537.8 163.0 - - 2382 - - - - - - - - 14.82 14.33 14.82
10308 727.3 9.9 391 10314 done 0.64 0.22 0.209 3095 -304.5 2.45 0.041 2265 -569.0 163.0 - - 2382 - - - - - - - - 14.17 14.48 14.45
10631 706.1 6.5 402 10664 roll 0.67 - - 3095 - 2.67 0.103 3650 518.7 188.0 25.55 1.838 2293 -3.5 0.271 - - - - - - 14.85 14.33 13.35
10714 699.9 8.0 414 10720 done 0.67 - - 3105 - 2.47 0.041 2252 -566.0 188.0 - - 2292 - - - - - - - - 14.45 14.41 14.47
11079 671.9 7.9 424 11084 roll 0.67 - - 3103 - 2.65 0.101 3652 528.3 188.0 - - 2287 - - - - - - - - 14.79 14.28 14.79
11106 669.4 8.8 428 11112 done 0.67 - - 3114 - 2.47 0.042 2244 -570.0 188.0 - - 2286 - - - - - - - - 14.50 14.45 14.52
11471 638.6 8.4 438 11476 roll 0.67 - - 3114 - 2.67 0.103 3652 527.3 188.0 - - 2285 - - - - - - - - 14.83 14.27 14.83
11512 634.8 9.3 444 11518 done 0.67 - - 3124 - 2.45 0.041 2246 -573.9 188.0 - - 2285 - - - - - - - - 14.52 14.48 14.54
11863 606.5 8.0 452 11868 roll 0.67 - - 3134 - 2.42 0.061 867 -569.8 188.0 - - 2284 - - - - - - - - 14.87 14.38 14.87
11911 602.7 7.7 459 11918 done 0.67 - - 3134 - 2.45 0.052 2254 566.1 188.2 - - 2284 - - - - - - - - 14.45 14.36 14.47
12255 575.7 7.9 466 12260 roll 0.67 - - 3134 - 2.60 0.103 3651 537.3 188.2 - - 2284 - - - - - - - - 14.85 14.25 14.85
12311 570.8 9.0 474 12316 done 0.67 - - 3145 - 2.40 0.041 2257 -580.8 188.2 - - 2284 - - - - - - - - 14.59 14.51 14.61
12647 543.4 8.1 487 12648 done 0.67 - - 3142 - - - 2252 - 188.2 - - 2284 - - - - - - - - 14.88 14.88 14.88
12983 515.8 8.2 493 12989 roll 0.67 - - 3145 - 2.67 0.102 3656 525.8 188.2 - - 2283 - - - - - - - - 14.88 14.21 14.88
13017 512.6 9.4 498 13023 done 0.67 0.12 0.203 3119 -216.7 2.45 0.041 2262 -569.0 188.2 - - 2280 - - - - - - - - 14.09 14.42 14.26
13375 486.1 7.4 507 13380 roll 0.68 - - 3118 - 2.65 0.100 3655 525.7 194.9 1.30 0.241 2273 -5.4 2.197 - - - - - - 14.85 14.17 13.97
13409 483.2 8.3 512 13415 done 0.68 - - 3129 - 2.45 0.041 2257 -570.6 194.9 - - 2279 - - - - - - - - 14.47 14.43 14.49
13767 454.6 8.1 521 13773 roll 0.68 - - 3129 - 2.67 0.102 3656 524.0 194.9 - - 2279 - - - - - - - - 14.85 14.19 14.85
13815 450.1 9.4 528 13822 done 0.68 - - 3140 - 2.45 0.041 2257 -571.0 194.9 - - 2280 - - - - - - - - 14.45 14.41 14.47
14159 420.3 8.7 535 14164 roll 0.68 - - 3149 - 2.47 0.062 858 -566.4 194.9 - - 2280 - - - - - - - - 14.88 14.31 14.88
14186 417.9 8.7 539 14192 done 0.68 - - 3149 - 2.50 0.053 2263 562.0 194.9 - - 2278 - - - - - - - - 14.37 14.28 14.40
14551 385.9 8.7 549 14557 roll 0.68 - - 3149 - 2.62 0.104 3654 530.9 194.9 - - 2279 - - - - - - - - 14.85 14.17 14.85
14585 382.6 9.5 554 14591 done 0.68 0.12 0.204 3124 -208.3 2.45 0.040 2260 -569.0 194.9 - - 2280 - - - - - - - - 14.03 14.40 14.21
14943 355.8 7.4 563 14955 roll 0.69 - - 3123 - 2.67 0.103 3647 519.5 200.8 5.25 1.621 2254 -5.0 0.220 - - - - - - 14.85 14.29 13.37
14991 351.8 8.5 570 14999 done 0.69 - - 3133 - 2.42 0.041 2257 -574.4 200.8 1.90 0.230 2251 -1.6 0.488 - - - - - - 14.52 14.48 13.92
15335 325.4 7.6 577 15340 done 0.69 - - 3133 - - - 2256 - 203.2 3.70 1.285 2241 -2.7 0.138 - - - - - - 14.83 14.35 13.12
15671 300.8 7.3 583 15692 roll 0.70 - - 3133 - 2.70 0.101 3659 519.6 211.3 16.73 1.483 2201 -2.4 0.098 - - - - - - 14.86 14.40 13.55
15720 296.8 8.5 590 15725 done 0.70 - - 3144 - 2.40 0.041 2264 -581.2 211.3 - - 2194 - - - - - - - - 14.57 14.50 14.59
16056 268.1 8.6 603 16061 roll 0.70 - - 3154 - 2.47 0.061 859 -568.8 211.3 - - 2192 - - - - - - - - 14.79 14.33 14.79
16090 264.9 9.0 608 16096 done 0.70 - - 3155 - 2.50 0.053 2263 561.6 211.3 - - 2193 - - - - - - - - 14.38 14.29 14.45
16448 230.7 9.6 617 16449 done 0.70 - - 3154 - - - 2263 - 211.3 - - 2193 - - - - - - - - 14.83 14.83 14.83
16784 198.9 9.4 623 16789 roll 0.70 - - 3154 - 2.60 0.103 3654 535.0 211.3 - - 2192 - - - - - - - - 14.83 14.19 14.83
16825 194.7 10.2 629 16832 done 0.70 0.10 0.207 3134 -200.0 2.45 0.040 2254 -571.4 211.3 - - 2193 - - - - - - - - 14.09 14.42 14.26
17176 167.0 7.7 637 17182 roll 0.70 - - 3144 - 2.45 0.062 858 -569.8 211.9 - - 2193 - - - - - - - - 14.87 14.31 14.86
17196 165.5 7.4 640 17203 done 0.71 - - 3144 - 2.45 0.051 2262 573.1 218.9 2.12 0.396 2178 -7.1 0.598 - - - - - - 14.49 14.34 13.05
17512 142.2 7.4 650 17531 roll 0.72 - - 3145 - 2.62 0.104 3652 530.5 225.5 12.77 1.333 2145 -2.6 0.056 - - - - - - 14.85 14.40 13.60
17568 137.4 9.2 658 17573 done 0.72 - - 3154 - 2.38 0.040 2262 -584.0 225.5 - - 2143 - - - - - - - - 14.60 14.52 14.62
17904 106.9 9.2 671 17909 roll 0.72 - - 3165 - 2.45 0.061 866 -569.8 225.5 - - 2142 - - - - - - - - 14.83 14.26 14.84
17952 102.5 9.1 678 17959 done 0.72 0.10 0.184 3134 -310.0 2.47 0.053 2260 564.4 225.5 - - 2142 - - - - - - - - 14.12 14.31 14.28
18268 80.4 6.2 689 18288 roll 0.76 - - 3133 - 2.65 0.101 3651 524.9 257.0 15.45 0.394 2026 -7.5 0.310 - - - - - - 14.82 14.35 13.96
18309 77.6 6.9 695 18324 done 0.78 - - 3144 - 2.42 0.039 2256 -576.4 274.6 10.27 0.387 1958 -6.6 0.269 - - - - - - 14.49 14.45 13.97
18649 54.4 6.7 710 18666 roll 0.90 0.08 0.147 3214 875.0 2.45 0.060 872 -564.9 294.7 12.32 0.318 1875 -6.7 0.233 - - - - - - 14.50 14.18 13.88
18702 49.8 8.6 718 18707 done 0.90 - - 3215 - 2.42 0.050 2259 573.1 294.7 - - 1879 - - - - - - - - 14.50 14.37 14.53
19038 30.5 3.9 733 19085 roll 1.00 - - 3215 - 2.65 0.101 3651 525.3 370.5 40.28 0.262 1573 -7.6 0.179 - - - - - - 14.81 14.23 14.06
19247 20.3 5.4 763 19276 done 1.17 0.08 0.085 3281 825.0 2.42 0.039 2251 -578.5 417.0 24.58 0.226 1387 -7.6 0.137 - - - - - - 14.33 14.40 14.05
19476 end climb: SURFACE_DEPTH_REACHED
19476 begin surface coast
19507 end surface coast: CONTROL_FINISHED_OK
19507 begin surface
SM -1.29 - - - - -8.40 8.85 0.044 178 20.1 0.98 0.092 2757 -8850.0 500.14 39.80 0.157 1059 26.6 0.022 - - - - - -