SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 495 * Raw log
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• Previous call tries 1 • 175.19 of 350.00 AH used of 24V (49.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth -0.89 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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 - - - 101 VBD -0.93 - - 105 - - - 2767 - -107.1 -84.47 - 3433 - - - - - - - - 14.66 - 14.66
105 4.1 -8.6 3 122 roll -0.93 12.05 0.379 2579 205.3 2.28 2.076 3832 467.1 -107.1 -0.68 - 3478 -66.2 - - - - - - - 13.85 12.93 14.29
282 56.0 -17.7 29 289 done -0.64 0.38 0.221 2686 281.6 1.83 0.038 2748 -592.3 -107.1 - - 3481 - - - - - - - - 14.02 14.48 14.21
605 80.6 -6.9 42 610 roll -0.64 - - 2687 - 2.33 0.041 1373 -590.1 -107.1 - - 3482 - - - - - - - - 14.83 14.45 14.81
829 96.8 -7.3 74 834 done -0.71 - - 2677 - 2.50 0.067 2777 561.6 -107.1 - - 3482 - - - - - - - - 14.53 14.36 14.56
1165 120.4 -6.9 84 1170 roll -0.71 - - 2669 - 1.95 0.112 3824 536.9 -107.1 - - 3482 - - - - - - - - 14.90 14.28 14.90
1199 123.3 -8.1 89 1206 done -0.71 - - 2663 - 1.77 0.041 2757 -602.8 -107.1 - - 3482 - - - - - - - - 14.57 14.55 14.59
1557 150.5 -7.7 98 1562 roll -0.71 - - 2669 - 2.33 0.041 1387 -588.0 -107.1 - - 3480 - - - - - - - - 14.91 14.48 14.92
1626 156.0 -7.9 108 1632 done -0.80 - - 2660 - 2.50 0.068 2764 550.8 -107.1 - - 3480 - - - - - - - - 14.42 14.32 14.47
1949 183.0 -8.5 119 1954 roll -0.80 - - 2651 - 2.00 0.114 3832 534.0 -107.1 - - 3477 - - - - - - - - 14.90 14.26 14.90
1990 186.7 -9.1 125 1997 done -0.80 - - 2652 - 1.80 0.040 2764 -593.3 -107.1 - - 3478 - - - - - - - - 14.60 14.57 14.61
2341 216.2 -8.3 133 2347 roll -0.80 - - 2651 - 2.38 0.043 1377 -582.8 -107.1 - - 3475 - - - - - - - - 14.90 14.47 14.90
2410 221.8 -8.0 143 2416 done -0.80 - - 2643 - 2.53 0.067 2768 549.8 -107.1 - - 3475 - - - - - - - - 14.40 14.31 14.45
2733 249.2 -8.6 154 2734 done -0.80 - - 2643 - - - 2768 - -107.1 - - 3472 - - - - - - - - 14.92 14.92 14.92
3069 276.1 -7.8 160 3074 roll -0.80 - - 2635 - 2.00 0.115 3831 531.5 -107.1 - - 3470 - - - - - - - - 14.90 14.26 14.90
3117 280.0 -8.1 167 3124 done -0.80 - - 2634 - 1.83 0.042 2759 -585.8 -107.1 - - 3470 - - - - - - - - 14.58 14.56 14.59
3461 307.4 -8.1 174 3466 roll -0.80 - - 2634 - 2.38 0.044 1378 -580.3 -107.1 - - 3468 - - - - - - - - 14.90 14.47 14.90
3502 311.0 -8.3 180 3508 done -0.80 - - 2625 - 2.53 0.067 2761 546.6 -107.1 - - 3468 - - - - - - - - 14.41 14.31 14.46
3853 342.7 -9.2 188 3858 roll -0.80 - - 2616 - 2.05 0.114 3828 520.5 -107.1 - - 3465 - - - - - - - - 14.92 14.19 14.92
3901 347.6 -10.1 195 3908 done -0.80 - - 2615 - 1.83 0.043 2767 -579.8 -107.1 - - 3465 - - - - - - - - 14.57 14.54 14.57
4245 381.1 -9.8 202 4250 roll -0.80 - - 2615 - 2.38 0.043 1378 -583.6 -107.1 - - 3465 - - - - - - - - 14.90 14.45 14.90
4279 384.5 -9.8 207 4285 done -0.80 0.10 0.211 2635 200.0 2.53 0.068 2764 547.8 -107.1 - - 3464 - - - - - - - - 14.08 14.27 14.25
4637 415.8 -8.7 216 4642 roll -0.80 - - 2627 - 2.03 0.113 3818 519.2 -107.1 - - 3462 - - - - - - - - 14.92 14.20 14.92
4678 419.6 -9.0 222 4684 done -0.80 - - 2627 - 1.80 0.044 2761 -587.2 -107.1 - - 3462 - - - - - - - - 14.56 14.54 14.60
5029 450.3 -8.8 230 5034 roll -0.80 - - 2626 - 2.38 0.044 1379 -580.7 -107.1 - - 3461 - - - - - - - - 14.92 14.44 14.92
5056 452.8 -8.7 234 5062 done -0.80 - - 2617 - 2.53 0.067 2756 544.3 -107.1 - - 3460 - - - - - - - - 14.36 14.26 14.41
5421 484.8 -8.8 244 5426 roll -0.80 - - 2609 - 2.03 0.113 3834 531.0 -107.1 - - 3458 - - - - - - - - 14.90 14.20 14.90
5462 488.6 -9.3 250 5468 done -0.80 0.10 0.205 2639 300.0 1.85 0.043 2756 -582.7 -107.1 - - 3458 - - - - - - - - 14.14 14.52 14.30
5813 517.1 -8.1 258 5818 roll -0.80 - - 2639 - 2.38 0.044 1374 -580.7 -107.1 - - 3457 - - - - - - - - 14.92 14.42 14.92
5882 523.1 -8.6 268 5888 done -0.80 - - 2630 - 2.53 0.066 2757 546.6 -107.1 - - 3456 - - - - - - - - 14.35 14.24 14.40
6205 553.0 -9.4 279 6210 roll -0.80 - - 2621 - 2.03 0.114 3833 530.0 -107.1 - - 3455 - - - - - - - - 14.92 14.16 14.92
6288 561.1 -9.7 291 6294 done -0.80 - - 2621 - 1.85 0.044 2762 -578.9 -107.1 - - 3455 - - - - - - - - 14.52 14.50 14.53
6653 594.9 -9.2 301 6659 roll -0.80 - - 2620 - 2.40 0.044 1373 -578.8 -107.1 - - 3453 - - - - - - - - 14.92 14.40 14.92
6743 603.1 -8.6 314 6749 done -0.80 0.08 0.216 2634 175.0 2.55 0.065 2760 543.9 -107.1 - - 3452 - - - - - - - - 14.04 14.23 14.20
7101 631.2 -7.8 323 7106 roll -0.80 - - 2627 - 2.03 0.116 3825 524.6 -107.1 - - 3451 - - - - - - - - 14.91 14.12 14.91
7177 637.4 -8.0 334 7183 done -0.80 - - 2626 - 1.85 0.046 2751 -580.5 -107.1 - - 3451 - - - - - - - - 14.47 14.44 14.50
7493 661.1 -7.5 344 7498 roll -0.80 - - 2626 - 2.38 0.044 1378 -576.9 -107.1 - - 3453 - - - - - - - - 14.91 14.38 14.91
7555 665.8 -7.4 353 7562 done -0.80 - - 2617 - 2.53 0.067 2770 550.2 -107.1 - - 3450 - - - - - - - - 14.43 14.26 14.47
7885 691.5 -8.0 365 7886 done -0.80 - - 2616 - - - 2771 - -107.1 - - 3445 - - - - - - - - 14.88 14.88 14.88
8221 720.0 -8.6 371 8222 done -0.80 - - 2616 - - - 2770 - -107.1 - - 3449 - - - - - - - - 14.88 14.88 14.88
8557 748.1 -8.2 377 8563 roll -0.80 - - 2616 - 2.47 0.044 1382 -561.9 -107.1 - - 3447 - - - - - - - - 14.88 14.33 14.88
8584 750.3 -8.1 381 8591 done -0.80 0.10 0.207 2636 200.0 2.55 0.067 2755 538.4 -107.1 - - 3447 - - - - - - - - 13.95 14.16 14.12
8949 774.4 -6.4 391 8954 roll -0.80 - - 2628 - 2.05 0.114 3830 524.4 -107.1 - - 3447 - - - - - - - - 14.88 14.09 14.87
8976 776.3 -6.6 395 8982 done -0.80 - - 2627 - 1.85 0.047 2770 -573.0 -107.1 - - 3446 - - - - - - - - 14.46 14.44 14.47
9342 799.7 -6.5 405 9347 roll -0.80 - - 2627 - 2.45 0.044 1370 -571.4 -107.1 - - 3444 - - - - - - - - 14.89 14.33 14.89
9351 end dive: TARGET_DEPTH_EXCEEDED
9351 begin apogee
9360 800.8 -6.6 407 9472 roll -0.23 0.68 0.171 2820 283.8 - - 2263 - - 110.00 1.853 3049 -3.6 0.301 - - - - - - 14.02 13.98 12.97
9474 end apogee: CONTROL_FINISHED_OK
9474 begin climb
9477 801.8 - 409 9598 done 0.93 1.12 0.088 3197 336.6 - - 2264 - 107.1 114.05 1.793 2615 -3.8 0.331 - - - - - - 14.04 14.30 12.95
9916 761.5 8.4 438 9917 done 0.78 0.15 0.234 3155 -280.0 - - 2263 - 107.1 - - 2603 - - - - - - - - 14.14 14.45 14.40
10252 735.2 7.7 444 10253 done 0.70 - - 3155 - - - 2263 - 107.1 - - 2602 - - - - - - - - 14.81 14.81 14.81
10588 711.1 7.1 450 10593 done 0.64 0.17 0.220 3105 -294.1 - - 2263 - 119.0 3.38 1.193 2575 -8.0 0.925 - - - - - - 14.18 14.35 13.10
10924 689.7 1.7 456 11076 roll 0.78 0.08 0.140 3185 1000.0 2.72 0.101 3650 509.9 239.4 143.10 1.681 2088 -3.4 0.271 - - - - - - 14.54 13.93 13.06
11113 677.2 12.3 483 11119 done 0.68 0.22 0.200 3124 -277.3 2.53 0.041 2248 -554.2 239.4 - - 2079 - - - - - - - - 13.97 14.16 14.18
11429 649.0 8.8 493 11430 done 0.68 - - 3124 - - - 2245 - 239.4 - - 2072 - - - - - - - - 14.71 14.71 14.71
11765 618.6 9.1 499 11769 roll 0.68 - - 3134 - 2.47 0.063 852 -564.0 239.4 - - 2070 - - - - - - - - 14.79 14.32 14.79
11806 614.4 9.9 505 11811 done 0.68 - - 3134 - 2.47 0.053 2249 565.6 239.4 - - 2069 - - - - - - - - 14.40 14.33 14.45
12157 581.2 9.5 513 12162 roll 0.68 - - 3134 - 2.62 0.103 3647 533.6 239.4 - - 2070 - - - - - - - - 14.83 14.23 14.83
12205 575.9 11.0 520 12212 done 0.68 - - 3144 - 2.47 0.041 2239 -570.0 239.4 - - 2070 - - - - - - - - 14.46 14.41 14.49
12549 540.6 10.3 527 12554 roll 0.68 - - 3155 - 2.42 0.064 862 -569.0 239.4 - - 2069 - - - - - - - - 14.84 14.31 14.84
12618 533.3 10.6 537 12624 done 0.68 0.10 0.187 3124 -310.0 2.45 0.054 2239 562.0 239.4 - - 2068 - - - - - - - - 14.12 14.31 14.26
12941 504.1 9.0 548 12946 roll 0.68 - - 3123 - 2.67 0.103 3658 531.5 239.4 - - 2069 - - - - - - - - 14.83 14.19 14.83
12989 499.5 10.0 555 12996 done 0.68 - - 3133 - 2.47 0.041 2242 -573.3 239.4 - - 2069 - - - - - - - - 14.45 14.40 14.48
13333 469.6 8.6 562 13338 roll 0.68 - - 3144 - 2.45 0.063 861 -563.7 239.4 - - 2068 - - - - - - - - 14.85 14.28 14.84
13360 467.3 8.0 566 13366 done 0.68 - - 3143 - 2.47 0.054 2249 561.9 239.4 - - 2067 - - - - - - - - 14.35 14.29 14.40
13725 439.4 8.4 576 13730 roll 0.68 - - 3143 - 2.62 0.103 3649 534.4 239.4 - - 2071 - - - - - - - - 14.85 14.14 14.85
13766 435.2 10.0 582 13773 done 0.68 0.10 0.212 3124 -190.0 2.45 0.040 2244 -573.5 239.4 - - 2068 - - - - - - - - 14.06 14.39 14.23
14117 406.9 8.1 590 14117 done 0.68 - - 3124 - - - 2241 - 239.4 - - 2068 - - - - - - - - 14.89 14.86 14.88
14453 377.9 8.7 596 14458 roll 0.68 - - 3123 - 2.67 0.102 3650 527.7 239.4 - - 2067 - - - - - - - - 14.88 14.15 14.88
14480 375.2 9.7 600 14485 done 0.68 - - 3133 - 2.45 0.040 2246 -573.1 239.4 - - 2067 - - - - - - - - 14.44 14.40 14.46
14845 340.6 9.5 610 14850 roll 0.68 - - 3143 - 2.45 0.062 868 -562.4 239.4 - - 2067 - - - - - - - - 14.85 14.26 14.85
14879 337.2 9.7 615 14884 done 0.68 - - 3144 - 2.45 0.051 2243 561.2 239.4 - - 2067 - - - - - - - - 14.33 14.25 14.38
15237 302.7 9.7 624 15242 roll 0.68 - - 3144 - 2.65 0.102 3651 531.3 239.4 - - 2068 - - - - - - - - 14.88 14.12 14.88
15271 299.0 10.6 629 15277 done 0.68 0.10 0.207 3124 -200.0 2.47 0.039 2242 -570.4 239.4 - - 2068 - - - - - - - - 14.02 14.34 14.17
15629 269.9 7.9 638 15630 done 0.68 - - 3124 - - - 2238 - 239.4 - - 2067 - - - - - - - - 14.84 14.84 14.84
15965 243.5 7.9 644 15970 roll 0.76 - - 3124 - 2.70 0.101 3651 523.3 239.4 - - 2067 - - - - - - - - 14.85 14.11 14.85
15999 240.3 9.2 649 16004 done 0.76 - - 3132 - 2.47 0.040 2238 -572.1 239.4 - - 2067 - - - - - - - - 14.40 14.35 14.42
16357 209.9 8.4 658 16358 done 0.76 - - 3133 - - - 2234 - 239.4 - - 2067 - - - - - - - - 14.84 14.84 14.85
16693 181.2 8.7 664 16698 roll 0.76 - - 3133 - 2.70 0.099 3651 524.8 239.4 - - 2068 - - - - - - - - 14.84 14.09 14.84
16734 177.2 9.7 670 16740 done 0.76 - - 3143 - 2.45 0.039 2252 -571.0 239.4 - - 2068 - - - - - - - - 14.42 14.37 14.44
17085 147.6 8.4 678 17090 roll 0.76 - - 3142 - 2.65 0.098 3651 527.9 239.4 - - 2067 - - - - - - - - 14.84 14.12 14.83
17105 145.7 8.6 681 17110 done 0.76 - - 3153 - 2.47 0.039 2240 -571.3 239.4 - - 2068 - - - - - - - - 14.39 14.34 14.41
17421 117.9 8.8 691 17422 done 0.76 - - 3154 - - - 2237 - 239.4 - - 2068 - - - - - - - - 14.83 14.83 14.84
17729 92.8 8.1 698 17734 roll 0.76 - - 3153 - 2.67 0.099 3651 529.6 239.4 - - 2068 - - - - - - - - 14.87 14.12 14.87
17770 89.2 8.6 704 17775 done 0.76 - - 3164 - 2.45 0.038 2253 -570.6 239.4 - - 2067 - - - - - - - - 14.31 14.29 14.35
18093 64.9 7.3 717 18097 roll 0.77 - - 3174 - 2.47 0.062 858 -564.8 248.3 - - 2068 - - - - - - - - 14.81 14.23 14.83
18155 60.4 6.6 726 18176 done 0.80 - - 3174 - 2.42 0.049 2257 578.1 270.4 13.18 0.334 1977 -6.9 0.243 - - - - - - 14.35 14.21 13.71
18488 40.4 4.3 740 18532 roll 0.96 0.05 0.199 3256 1640.0 2.50 0.062 852 -562.0 338.7 38.65 0.296 1700 -7.2 0.190 - - - - - - 14.47 14.34 13.95
18575 33.6 7.7 750 18582 done 0.96 0.15 0.180 3211 -300.0 2.47 0.050 2251 566.4 339.5 - - 1701 - - - - - - - - 13.98 14.19 14.14
18905 20.3 3.7 764 18954 roll 1.23 0.15 0.086 3309 653.3 2.67 0.100 3650 524.0 420.9 43.42 0.230 1372 -7.6 0.130 - - - - - - 14.47 14.23 14.04
19037 end climb: SURFACE_DEPTH_REACHED
19037 begin surface coast
19042 end surface coast: CONTROL_FINISHED_OK
19042 begin surface
SM -3.03 - - - - -8.40 9.40 0.081 183 19.4 1.52 0.037 2727 -5219.1 500.14 39.60 0.181 1056 26.7 0.046 - - - - - -