SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 505 * Raw log
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• Previous call tries 1 • 178.18 of 350.00 AH used of 24V (49.09% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -67.6 deg, depth -6.92 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 39 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
16 - - - 100 done -0.93 - - 105 - - - 2779 - -107.1 -81.03 - 3478 - - - - - - - - 14.67 12.54 14.64
104 2.7 -11.6 3 121 roll -0.93 11.90 0.385 2583 208.2 1.90 0.087 3829 552.6 -107.1 - - 3479 - - - - - - - - 13.97 14.35 14.25
331 53.7 -11.9 36 337 done -0.73 0.25 0.203 2656 292.0 1.80 0.037 2749 -600.0 -107.1 - - 3481 - - - - - - - - 14.09 14.50 14.26
662 81.3 -6.8 50 666 roll -0.73 - - 2656 - 2.30 0.041 1394 -589.1 -107.1 - - 3482 - - - - - - - - 14.87 14.47 14.87
702 83.8 -6.0 56 708 done -0.73 - - 2646 - 2.47 0.067 2768 556.3 -107.1 - - 3482 - - - - - - - - 14.35 14.26 14.40
1053 111.4 -8.8 68 1058 roll -0.73 - - 2645 - 2.38 0.041 1389 -579.4 -107.1 - - 3482 - - - - - - - - 14.89 14.45 14.88
1136 119.5 -9.4 80 1142 done -0.73 - - 2634 - 2.50 0.068 2775 554.4 -107.1 - - 3482 - - - - - - - - 14.43 14.33 14.47
1501 154.7 -9.4 90 1502 done -0.73 - - 2636 - - - 2774 - -107.1 - - 3485 - - - - - - - - 14.91 14.92 14.92
1837 182.8 -8.2 96 1838 done -0.73 - - 2636 - - - 2775 - -107.1 - - 3478 - - - - - - - - 14.92 14.92 14.92
2173 211.8 -8.7 102 2178 roll -0.73 - - 2636 - 2.40 0.042 1389 -577.5 -107.1 - - 3476 - - - - - - - - 14.92 14.51 14.92
2214 215.6 -9.0 108 2220 done -0.73 0.10 0.210 2656 200.0 2.50 0.068 2768 551.6 -107.1 - - 3475 - - - - - - - - 14.14 14.32 14.29
2565 242.6 -7.6 116 2566 done -0.73 - - 2652 - - - 2768 - -107.1 - - 3473 - - - - - - - - 14.89 14.89 14.90
2901 268.3 -7.8 122 2906 roll -0.73 - - 2653 - 2.40 0.042 1386 -575.8 -107.1 - - 3471 - - - - - - - - 14.93 14.50 14.93
2928 270.4 -7.8 126 2934 done -0.73 - - 2648 - 2.53 0.068 2766 545.5 -107.1 - - 3471 - - - - - - - - 14.41 14.31 14.46
3293 299.9 -8.2 136 3294 done -0.73 - - 2648 - - - 2765 - -107.1 - - 3471 - - - - - - - - 14.92 14.92 14.92
3629 327.9 -8.4 142 3634 roll -0.73 - - 2647 - 2.40 0.042 1392 -572.1 -107.1 - - 3467 - - - - - - - - 14.92 14.47 14.92
3656 330.2 -8.2 146 3662 done -0.73 - - 2638 - 2.50 0.068 2775 553.2 -107.1 - - 3467 - - - - - - - - 14.51 14.33 14.53
4021 360.6 -8.3 156 4022 done -0.73 - - 2638 - - - 2775 - -107.1 - - 3465 - - - - - - - - 14.89 14.90 14.90
4357 387.6 -8.1 162 4362 roll -0.73 - - 2638 - 2.42 0.042 1381 -576.0 -107.1 - - 3464 - - - - - - - - 14.90 14.40 14.90
4440 394.4 -8.1 174 4446 done -0.73 0.10 0.216 2658 200.0 2.53 0.068 2759 544.7 -107.1 - - 3464 - - - - - - - - 14.07 14.28 14.24
4805 423.3 -8.1 184 4810 roll -0.73 - - 2650 - 2.03 0.118 3834 529.6 -107.1 - - 3461 - - - - - - - - 14.93 14.20 14.92
4846 427.0 -9.1 190 4852 done -0.73 - - 2650 - 1.83 0.044 2769 -582.0 -107.1 - - 3462 - - - - - - - - 14.54 14.51 14.55
5197 456.8 -8.4 198 5202 roll -0.73 - - 2649 - 2.40 0.043 1374 -581.2 -107.1 - - 3460 - - - - - - - - 14.92 14.38 14.92
5245 460.6 -7.6 205 5253 done -0.80 - - 2641 - 2.53 0.068 2759 547.4 -107.1 - - 3460 - - - - - - - - 14.33 14.25 14.39
5589 484.9 -6.8 212 5590 done -0.80 - - 2640 - - - 2759 - -107.1 - - 3458 - - - - - - - - 14.91 14.91 14.91
5925 507.7 -6.9 218 5930 roll -0.80 - - 2640 - 2.42 0.044 1379 -570.2 -107.1 - - 3463 - - - - - - - - 14.89 14.41 14.89
5973 511.6 -8.0 225 5981 done -0.80 - - 2632 - 2.53 0.069 2752 542.7 -107.1 - - 3456 - - - - - - - - 14.32 14.22 14.38
6317 541.9 -9.1 232 6318 done -0.80 - - 2631 - - - 2751 - -107.1 - - 3454 - - - - - - - - 14.92 14.92 14.90
6653 570.3 -8.3 238 6658 roll -0.80 - - 2630 - 2.40 0.044 1376 -572.9 -107.1 - - 3454 - - - - - - - - 14.92 14.41 14.92
6694 573.6 -8.0 244 6700 done -0.80 - - 2622 - 2.55 0.069 2762 543.5 -107.1 - - 3454 - - - - - - - - 14.33 14.22 14.38
7045 600.4 -7.6 252 7050 roll -0.80 - - 2614 - 2.00 0.116 3822 530.0 -107.1 - - 3452 - - - - - - - - 14.91 14.15 14.89
7093 604.2 -8.4 259 7100 done -0.80 - - 2613 - 1.85 0.044 2749 -580.0 -107.1 - - 3452 - - - - - - - - 14.50 14.47 14.50
7437 632.4 -8.3 266 7438 done -0.80 - - 2613 - - - 2749 - -107.1 - - 3451 - - - - - - - - 14.91 14.92 14.91
7773 661.1 -8.6 272 7778 roll -0.80 - - 2613 - 2.40 0.045 1376 -572.1 -107.1 - - 3450 - - - - - - - - 14.91 14.36 14.91
7814 664.7 -8.1 278 7820 done -0.80 0.10 0.225 2632 190.0 2.55 0.068 2750 538.8 -107.1 - - 3449 - - - - - - - - 13.93 14.16 14.33
8165 691.1 -7.4 286 8170 roll -0.80 - - 2624 - 2.05 0.116 3829 526.3 -107.1 - - 3449 - - - - - - - - 14.88 14.09 14.88
8213 695.0 -8.2 293 8221 done -0.80 - - 2623 - 1.85 0.046 2776 -569.2 -107.1 - - 3450 - - - - - - - - 14.44 14.41 14.47
8557 719.9 -7.2 300 8562 roll -0.80 - - 2623 - 2.50 0.044 1353 -569.2 -107.1 - - 3448 - - - - - - - - 14.87 14.31 14.87
8633 725.3 -6.7 311 8639 done -0.80 - - 2614 - 2.60 0.067 2753 538.5 -107.1 - - 3447 - - - - - - - - 14.25 14.15 14.30
8949 749.8 -7.8 321 8955 roll -0.80 - - 2606 - 2.05 0.113 3831 525.9 -107.1 - - 3447 - - - - - - - - 14.86 14.07 14.87
9025 756.5 -8.8 332 9031 done -0.80 0.10 0.206 2635 290.0 1.90 0.045 2746 -571.1 -107.1 - - 3447 - - - - - - - - 14.00 14.42 14.16
9341 780.7 -7.7 342 9346 roll -0.80 - - 2635 - 2.40 0.044 1369 -573.8 -107.1 - - 3445 - - - - - - - - 14.89 14.33 14.89
9390 784.9 -8.1 349 9397 done -0.80 - - 2626 - 2.55 0.067 2754 543.1 -107.1 - - 3445 - - - - - - - - 14.35 14.15 14.39
9618 end dive: TARGET_DEPTH_EXCEEDED
9618 begin apogee
9626 803.3 -8.0 354 9739 roll -0.23 0.68 0.168 2822 288.2 0.10 0.166 2281 -4730.0 - 110.47 1.867 3051 -3.6 0.307 - - - - - - 14.02 13.95 12.99
9741 end apogee: CONTROL_FINISHED_OK
9741 begin climb
9744 806.3 - 356 9874 roll 0.93 1.10 0.085 3187 331.8 2.55 0.054 880 -549.4 107.1 116.90 1.802 2615 -3.7 0.334 - - - - - - 14.04 14.07 12.96
9929 802.0 6.5 384 9963 done 0.83 - - 3187 - 2.45 0.050 2263 564.5 132.1 27.08 1.878 2519 -3.5 0.303 - - - - - - 14.28 14.16 13.12
10297 771.3 8.7 401 10303 roll 0.70 0.20 0.223 3126 -305.0 2.58 0.097 3652 538.4 132.1 - - 2507 - - - - - - - - 14.12 14.24 14.29
10344 766.9 8.1 408 10351 done 0.70 - - 3137 - 2.40 0.040 2272 -575.0 132.1 - - 2508 - - - - - - - - 14.45 14.42 14.47
10689 741.9 7.3 415 10693 done 0.71 - - 3137 - - - 2272 - 141.6 3.03 1.179 2485 -7.6 0.957 - - - - - - 14.80 14.34 13.00
11025 717.5 7.2 421 11050 roll 0.73 - - 3136 - 2.60 0.103 3651 530.4 152.5 20.30 1.880 2435 -2.5 0.188 - - - - - - 14.82 14.36 13.39
11100 710.7 8.9 432 11106 done 0.65 0.08 0.225 3112 -300.0 2.45 0.041 2256 -569.4 152.5 - - 2430 - - - - - - - - 14.19 14.42 14.44
11416 688.1 7.2 442 11428 done 0.66 - - 3112 - - - 2252 - 163.9 10.73 1.989 2398 -3.0 0.207 - - - - - - 14.78 14.38 13.35
11753 665.3 6.7 448 11785 roll 0.69 - - 3112 - 2.70 0.103 3654 519.3 185.4 25.77 1.826 2304 -3.6 0.266 - - - - - - 14.78 14.28 13.37
11849 658.1 7.7 462 11855 done 0.69 - - 3121 - 2.47 0.041 2257 -565.6 186.6 - - 2301 - - - - - - - - 14.42 14.37 14.42
12201 632.6 7.2 470 12212 roll 0.70 - - 3131 - 2.47 0.062 858 -566.4 197.0 6.65 1.941 2268 -5.0 0.324 - - - - - - 14.80 14.39 13.23
12248 629.0 7.3 477 12269 done 0.71 - - 3130 - 2.47 0.054 2249 563.2 206.1 16.75 1.853 2228 -2.4 0.162 - - - - - - 14.44 14.37 13.39
12585 603.5 7.5 490 12590 roll 0.72 - - 3130 - 2.65 0.105 3653 529.8 210.0 - - 2214 - - - - - - - - 14.78 14.22 14.78
12654 597.7 7.9 500 12660 done 0.72 - - 3141 - 2.45 0.041 2258 -569.4 210.0 - - 2215 - - - - - - - - 14.44 14.40 14.46
12977 572.4 7.9 511 12982 roll 0.72 - - 3150 - 2.50 0.062 861 -558.8 210.0 - - 2214 - - - - - - - - 14.81 14.33 14.81
13012 569.4 8.5 516 13017 done 0.72 - - 3151 - 2.50 0.054 2252 556.4 210.0 - - 2213 - - - - - - - - 14.38 14.31 14.42
13369 538.2 8.9 525 13375 roll 0.72 - - 3148 - 2.65 0.107 3651 527.9 210.0 - - 2213 - - - - - - - - 14.82 14.20 14.81
13410 534.0 9.8 531 13416 done 0.72 0.08 0.223 3138 -125.0 2.47 0.041 2246 -568.8 210.0 - - 2213 - - - - - - - - 14.10 14.41 14.26
13761 504.0 8.5 539 13762 done 0.72 - - 3138 - - - 2242 - 210.0 - - 2213 - - - - - - - - 14.84 14.84 14.84
14097 475.6 8.4 545 14103 roll 0.72 - - 3138 - 2.70 0.103 3659 524.8 210.0 - - 2212 - - - - - - - - 14.84 14.16 14.85
14124 473.1 9.0 549 14131 done 0.72 - - 3148 - 2.45 0.041 2259 -571.4 210.0 - - 2213 - - - - - - - - 14.45 14.40 14.47
14489 441.2 8.9 559 14490 done 0.72 - - 3148 - - - 2257 - 210.0 - - 2212 - - - - - - - - 14.88 14.88 14.88
14825 411.8 8.7 565 14831 roll 0.72 - - 3148 - 2.70 0.103 3659 519.3 210.0 - - 2216 - - - - - - - - 14.85 14.14 14.85
14873 407.1 9.8 572 14880 done 0.72 - - 3158 - 2.45 0.041 2262 -570.2 210.0 - - 2212 - - - - - - - - 14.43 14.39 14.45
15217 377.7 8.5 579 15222 roll 0.72 - - 3168 - 2.50 0.062 863 -559.6 210.0 - - 2212 - - - - - - - - 14.84 14.26 14.88
15265 373.7 8.5 586 15273 done 0.72 0.10 0.199 3138 -300.0 2.50 0.054 2259 558.4 210.0 - - 2213 - - - - - - - - 14.00 14.23 14.15
15609 348.4 7.3 593 15628 roll 0.73 - - 3137 - 2.65 0.104 3654 526.4 218.6 11.73 1.610 2172 -3.5 0.152 - - - - - - 14.88 14.39 13.44
15657 344.4 8.1 600 15664 done 0.73 - - 3147 - 2.45 0.041 2251 -572.7 218.6 - - 2169 - - - - - - - - 14.52 14.47 14.54
16002 316.5 8.2 607 16007 roll 0.73 - - 3154 - 2.47 0.061 862 -562.3 218.6 - - 2168 - - - - - - - - 14.83 14.30 14.83
16042 312.9 8.6 613 16049 done 0.73 - - 3157 - 2.47 0.054 2251 562.3 218.6 - - 2168 - - - - - - - - 14.37 14.28 14.41
16393 282.9 8.5 621 16399 roll 0.73 - - 3156 - 2.65 0.105 3650 527.9 218.6 - - 2168 - - - - - - - - 14.84 14.16 14.84
16449 277.6 9.7 629 16456 done 0.73 0.10 0.241 3140 -160.0 2.42 0.040 2244 -581.0 218.6 - - 2167 - - - - - - - - 14.10 14.45 14.38
16785 251.5 7.6 642 16786 done 0.73 - - 3142 - - - 2240 - 221.0 - - 2167 - - - - - - - - 14.84 14.84 14.84
17121 227.1 7.3 648 17140 roll 0.74 - - 3139 - 2.70 0.102 3652 523.0 230.1 11.62 1.455 2126 -3.5 0.110 - - - - - - 14.85 14.39 13.52
17162 223.5 8.5 654 17168 done 0.74 - - 3149 - 2.42 0.040 2256 -576.9 230.1 - - 2125 - - - - - - - - 14.54 14.52 14.56
17513 193.8 8.6 662 17518 roll 0.74 - - 3159 - 2.47 0.060 856 -566.8 230.1 - - 2123 - - - - - - - - 14.82 14.30 14.81
17561 189.6 8.5 669 17569 done 0.74 - - 3159 - 2.47 0.052 2251 564.8 230.1 - - 2122 - - - - - - - - 14.36 14.29 14.40
17905 159.1 9.0 676 17910 roll 0.74 - - 3159 - 2.65 0.103 3663 532.8 230.1 - - 2121 - - - - - - - - 14.83 14.17 14.83
17961 153.5 10.0 684 17966 done 0.74 - - 3169 - 2.42 0.039 2248 -584.7 230.1 - - 2123 - - - - - - - - 14.55 14.47 14.58
18298 124.4 8.3 697 18299 done 0.74 0.10 0.238 3141 -280.0 - - 2244 - 230.1 - - 2123 - - - - - - - - 14.21 14.49 14.43
18633 100.4 7.5 703 18639 roll 0.75 - - 3140 - 2.67 0.096 3657 529.2 235.1 1.52 0.226 2113 -6.6 0.585 - - - - - - 14.88 14.09 13.88
18667 97.5 8.4 708 18673 done 0.75 - - 3150 - 2.45 0.039 2253 -573.1 235.1 - - 2120 - - - - - - - - 14.37 14.37 14.40
18997 72.3 7.6 722 19004 roll 0.75 - - 3159 - 2.53 0.058 856 -552.2 238.5 3.12 0.312 2101 -6.1 0.283 - - - - - - 14.83 14.21 13.66
19046 68.5 8.1 729 19053 done 0.75 - - 3160 - 2.45 0.051 2264 574.7 238.5 1.48 0.235 2101 - - - - - - - - 14.47 14.33 13.98
19383 47.0 4.6 744 19423 roll 0.83 - - 3170 - 2.47 0.057 863 -567.2 300.9 34.95 0.318 1854 -7.1 0.209 - - - - - - 14.82 14.32 14.04
19579 36.4 5.2 772 19612 done 1.04 0.15 0.086 3259 593.3 2.42 0.049 2259 576.9 351.5 27.50 0.285 1648 -7.5 0.192 - - - - - - 14.40 14.33 14.04
19945 17.1 4.9 791 19982 roll 1.11 - - 3267 - 2.55 0.060 861 -548.2 407.2 28.90 0.225 1429 -7.6 0.115 - - - - - - 14.77 14.34 14.06
20005 13.6 6.5 800 20026 done 1.23 - - 3267 - 2.42 0.052 2258 577.3 431.8 13.65 0.216 1330 -7.3 0.091 - - - - - - 14.47 14.32 14.03
20163 end climb: SURFACE_DEPTH_REACHED
20163 begin surface coast
20191 end surface coast: CONTROL_FINISHED_OK
20191 begin surface
SM -3.85 - - - - -8.39 9.15 0.071 185 20.2 0.93 0.084 2764 -7116.1 500.14 33.40 0.155 1057 31.6 0.080 - - - - - -