SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 551 * Raw log
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• Previous call tries 2 • 192.61 of 350.00 AH used of 24V (44.97% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.6 deg, depth -2.12 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 105 - - - 2776 - -107.1 -81.18 - 3479 - - - - - - - - 14.68 12.55 14.66
105 4.0 -10.8 3 123 roll -0.93 12.02 0.388 2582 206.1 1.92 0.080 3836 552.1 -107.1 - - 3479 - - - - - - - - 13.95 14.33 14.24
286 56.8 -17.5 29 293 done -0.71 0.30 0.226 2665 276.7 1.77 0.036 2724 -628.2 -107.1 - - 3481 - - - - - - - - 14.06 14.50 14.34
608 83.3 -7.4 42 613 roll -0.71 - - 2664 - 2.25 0.043 1405 -586.2 -107.1 - - 3482 - - - - - - - - 14.83 14.38 14.83
705 90.4 -6.5 56 710 done -0.71 - - 2657 - 2.42 0.066 2769 563.6 -107.1 - - 3483 - - - - - - - - 14.49 14.31 14.52
1056 121.2 -9.4 66 1061 roll -0.71 - - 2648 - 1.95 0.107 3821 539.5 -107.1 - - 3482 - - - - - - - - 14.87 14.21 14.87
1146 130.3 -9.9 79 1151 done -0.71 - - 2647 - 1.73 0.037 2762 -612.1 -107.1 - - 3482 - - - - - - - - 14.57 14.55 14.59
1504 161.2 -8.6 88 1505 done -0.71 - - 2647 - - - 2764 - -107.1 - - 3476 - - - - - - - - 14.88 14.88 14.88
1840 191.3 -8.9 94 1841 done -0.71 - - 2655 - - - 2759 - -107.1 - - 3478 - - - - - - - - 14.88 14.88 14.89
2176 219.6 -8.5 100 2176 done -0.71 - - 2647 - - - 2762 - -107.1 - - 3475 - - - - - - - - 14.89 14.89 14.89
2512 248.4 -8.6 106 2513 done -0.71 - - 2647 - - - 2761 - -107.1 - - 3473 - - - - - - - - 14.88 14.89 14.89
2848 277.9 -8.8 112 2848 done -0.71 - - 2647 - - - 2762 - -107.1 - - 3470 - - - - - - - - 14.89 14.89 14.90
3184 308.0 -8.9 118 3189 roll -0.71 - - 2647 - 2.35 0.044 1405 -577.4 -107.1 - - 3468 - - - - - - - - 14.89 14.40 14.89
3211 310.4 -8.9 122 3217 done -0.71 0.10 0.236 2667 200.0 2.47 0.068 2767 551.4 -107.1 - - 3468 - - - - - - - - 14.13 14.26 14.37
3576 338.0 -7.4 132 3581 roll -0.79 - - 2667 - 2.38 0.044 1405 -572.3 -107.1 - - 3466 - - - - - - - - 14.88 14.40 14.88
3603 340.0 -7.5 136 3609 done -0.88 0.08 0.142 2592 -937.5 2.47 0.067 2779 556.3 -107.1 - - 3465 - - - - - - - - 14.38 14.27 14.49
3968 378.2 -10.7 146 3972 roll -0.88 - - 2584 - 1.95 0.106 3822 534.9 -107.1 - - 3464 - - - - - - - - 14.88 14.18 14.88
4024 384.8 -11.8 154 4029 done -0.88 0.10 0.243 2616 320.0 1.73 0.042 2784 -600.0 -107.1 - - 3463 - - - - - - - - 14.12 14.51 14.36
4360 418.7 -10.1 167 4365 roll -0.88 - - 2611 - 2.42 0.043 1382 -579.3 -107.1 - - 3461 - - - - - - - - 14.90 14.40 14.90
4387 421.5 -10.1 171 4392 done -0.88 - - 2602 - 2.50 0.066 2768 554.4 -107.1 - - 3465 - - - - - - - - 14.47 14.30 14.50
4752 459.4 -10.4 181 4757 roll -0.88 - - 2594 - 2.00 0.106 3832 532.0 -107.1 - - 3460 - - - - - - - - 14.88 14.14 14.88
4793 464.0 -11.1 187 4798 done -0.88 - - 2594 - 1.83 0.040 2757 -587.4 -107.1 - - 3459 - - - - - - - - 14.49 14.46 14.51
5144 498.9 -9.8 195 5148 roll -0.88 - - 2585 - 2.05 0.106 3828 522.4 -107.1 - - 3457 - - - - - - - - 14.87 14.15 14.88
5178 502.4 -9.9 200 5183 done -0.88 - - 2585 - 1.83 0.042 2763 -582.0 -107.1 - - 3457 - - - - - - - - 14.50 14.47 14.50
5536 535.5 -9.1 209 5542 roll -0.88 0.08 0.272 2603 225.0 2.05 0.103 3831 521.0 -107.1 - - 3456 - - - - - - - - 14.19 14.13 14.31
5605 541.7 -8.9 219 5610 done -0.88 - - 2603 - 1.83 0.042 2768 -580.9 -107.1 - - 3456 - - - - - - - - 14.44 14.41 14.47
5928 570.1 -8.9 230 5929 done -0.88 - - 2603 - - - 2769 - -107.1 - - 3453 - - - - - - - - 14.88 14.87 14.87
6264 602.4 -9.7 236 6269 roll -0.88 - - 2600 - 2.42 0.044 1377 -575.2 -107.1 - - 3453 - - - - - - - - 14.90 14.35 14.90
6320 607.9 -9.8 244 6325 done -0.88 - - 2593 - 2.55 0.067 2774 547.8 -107.1 - - 3452 - - - - - - - - 14.39 14.21 14.43
6656 641.2 -10.0 257 6661 roll -0.88 - - 2585 - 2.00 0.106 3826 526.0 -107.1 - - 3451 - - - - - - - - 14.86 14.08 14.86
6704 646.2 -10.5 264 6711 done -0.88 0.10 0.212 2612 270.0 1.83 0.043 2777 -573.2 -107.1 - - 3449 - - - - - - - - 13.97 14.39 14.12
7048 676.3 -8.7 271 7049 done -0.88 - - 2612 - - - 2777 - -107.1 - - 3449 - - - - - - - - 14.88 14.89 14.89
7384 704.8 -8.4 277 7390 roll -0.88 - - 2612 - 2.47 0.044 1368 -570.4 -107.1 - - 3448 - - - - - - - - 14.89 14.30 14.88
7432 709.0 -8.4 284 7439 done -0.88 - - 2603 - 2.62 0.066 2773 536.3 -107.1 - - 3448 - - - - - - - - 14.19 14.09 14.24
7776 739.4 -9.0 291 7781 roll -0.88 - - 2595 - 2.00 0.109 3827 527.0 -107.1 - - 3447 - - - - - - - - 14.85 14.04 14.85
7824 744.3 -10.3 298 7831 done -0.88 - - 2594 - 1.85 0.043 2762 -575.7 -107.1 - - 3445 - - - - - - - - 14.39 14.35 14.40
8168 777.6 -9.8 305 8173 roll -0.88 - - 2587 - 2.05 0.107 3823 517.6 -107.1 - - 3444 - - - - - - - - 14.85 14.02 14.85
8202 781.2 -10.3 310 8207 done -0.88 - - 2586 - 1.83 0.043 2767 -577.0 -107.1 - - 3444 - - - - - - - - 14.38 14.34 14.40
8388 end dive: TARGET_DEPTH_EXCEEDED
8388 begin apogee
8397 800.4 -10.1 316 8512 roll -0.23 0.85 0.195 2824 280.0 0.10 0.161 2283 -4840.0 - 112.22 1.818 3049 -3.5 0.310 - - - - - - 13.85 13.95 12.97
8514 end apogee: CONTROL_FINISHED_OK
8514 begin climb
8517 804.0 - 318 8636 done 0.93 1.15 0.095 3200 327.0 - - 2283 - 107.1 115.07 1.795 2622 -3.7 0.333 - - - - - - 14.05 14.29 13.01
8948 781.0 7.5 346 8953 roll 0.77 0.15 0.235 3163 -246.7 2.47 0.056 887 -565.2 111.7 - - 2604 - - - - - - - - 14.07 14.29 14.23
9017 776.0 6.9 356 9044 done 0.71 0.12 0.246 3129 -283.3 2.35 0.050 2236 574.0 128.8 22.17 1.857 2535 -3.1 0.260 - - - - - - 14.07 14.34 13.27
9395 750.1 6.9 368 9416 roll 0.73 - - 3130 - 2.67 0.096 3647 528.5 144.9 16.73 1.906 2470 -3.9 0.306 - - - - - - 14.77 14.35 13.35
9500 741.7 8.2 383 9506 done 0.73 - - 3139 - 2.35 0.039 2274 -584.3 144.9 - - 2461 - - - - - - - - 14.51 14.44 14.53
9837 715.3 7.8 396 9841 roll 0.73 - - 3150 - 2.47 0.060 862 -571.7 144.9 - - 2459 - - - - - - - - 14.78 14.32 14.79
9871 712.6 7.7 401 9877 done 0.73 - - 3150 - 2.42 0.051 2255 575.6 146.2 - - 2458 - - - - - - - - 14.46 14.29 14.50
10229 684.8 7.8 410 10234 roll 0.73 - - 3149 - 2.60 0.098 3652 537.3 146.2 - - 2458 - - - - - - - - 14.82 14.22 14.82
10263 681.8 8.5 415 10269 done 0.63 0.17 0.218 3102 -276.5 2.45 0.039 2247 -573.5 146.2 - - 2458 - - - - - - - - 14.03 14.40 14.36
10621 659.8 6.1 424 10667 roll 0.67 - - 3101 - 2.72 0.097 3653 516.9 179.5 38.42 1.753 2326 -3.4 0.259 - - - - - - 14.85 14.30 13.36
10704 654.1 7.7 436 10709 done 0.68 - - 3110 - 2.42 0.039 2244 -582.2 181.1 - - 2321 - - - - - - - - 14.45 14.36 14.45
11069 628.2 7.1 446 11088 roll 0.69 - - 3110 - 2.65 0.098 3651 530.9 193.6 13.23 1.851 2274 -3.6 0.241 - - - - - - 14.76 14.36 13.32
11117 624.4 8.1 453 11125 done 0.69 - - 3120 - 2.42 0.040 2257 -576.0 193.6 - - 2270 - - - - - - - - 14.45 14.40 14.46
11461 596.6 8.2 460 11466 roll 0.69 - - 3130 - 2.47 0.062 856 -567.2 193.6 - - 2266 - - - - - - - - 14.78 14.27 14.78
11488 594.3 8.1 464 11493 done 0.69 - - 3129 - 2.50 0.054 2255 559.6 193.6 - - 2267 - - - - - - - - 14.37 14.28 14.40
11853 562.7 8.7 474 11857 roll 0.69 - - 3129 - 2.65 0.101 3655 528.3 193.6 - - 2266 - - - - - - - - 14.84 14.18 14.85
11873 560.8 8.8 477 11880 done 0.69 - - 3140 - 2.42 0.039 2263 -575.2 193.6 - - 2266 - - - - - - - - 14.42 14.37 14.45
12189 533.7 8.5 487 12193 roll 0.69 - - 3140 - 2.65 0.099 3652 524.2 193.6 - - 2266 - - - - - - - - 14.83 14.16 14.83
12209 531.7 8.6 490 12214 done 0.69 - - 3150 - 2.45 0.039 2221 -584.1 193.6 - - 2265 - - - - - - - - 14.52 14.41 14.54
12525 503.9 8.8 500 12530 roll 0.69 - - 3151 - 2.75 0.099 3657 522.2 193.6 - - 2265 - - - - - - - - 14.83 14.14 14.83
12545 501.9 8.9 503 12550 done 0.69 0.10 0.216 3125 -260.0 2.45 0.039 2253 -573.1 193.6 - - 2264 - - - - - - - - 14.01 14.35 14.32
12861 476.3 8.1 513 12866 roll 0.69 - - 3125 - 2.67 0.099 3657 525.8 193.6 - - 2266 - - - - - - - - 14.86 14.12 14.86
12902 472.6 9.0 519 12907 done 0.69 - - 3134 - 2.45 0.039 2259 -570.6 193.6 - - 2264 - - - - - - - - 14.38 14.33 14.40
13253 444.3 7.9 527 13258 roll 0.69 - - 3144 - 2.47 0.061 864 -564.8 193.6 - - 2264 - - - - - - - - 14.85 14.23 14.86
13280 442.1 7.8 531 13285 done 0.69 - - 3144 - 2.50 0.052 2259 558.0 193.6 - - 2265 - - - - - - - - 14.31 14.23 14.35
13645 413.6 7.8 541 13650 roll 0.69 - - 3144 - 2.65 0.101 3661 529.1 193.6 - - 2264 - - - - - - - - 14.86 14.08 14.86
13693 409.4 8.9 548 13699 done 0.69 - - 3154 - 2.45 0.038 2261 -571.4 193.6 - - 2265 - - - - - - - - 14.35 14.31 14.38
14037 383.0 7.7 555 14042 roll 0.69 0.10 0.246 3129 -250.0 2.50 0.060 855 -562.4 194.7 - - 2268 - - - - - - - - 14.07 14.19 14.21
14064 380.9 7.3 559 14070 done 0.70 - - 3129 - 2.47 0.053 2261 569.2 202.5 2.85 0.848 2242 -9.1 0.820 - - - - - - 14.39 14.23 13.21
14422 354.8 7.4 568 14441 roll 0.71 - - 3129 - 2.58 0.100 3654 539.9 209.5 14.82 1.515 2211 -2.1 0.098 - - - - - - 14.83 14.19 13.44
14477 350.1 9.0 576 14482 done 0.71 - - 3138 - 2.40 0.040 2249 -585.4 209.5 - - 2200 - - - - - - - - 14.56 14.48 14.59
14814 321.3 8.6 589 14819 roll 0.71 - - 3148 - 2.45 0.063 864 -565.3 209.5 - - 2200 - - - - - - - - 14.78 14.25 14.78
14848 318.4 8.1 594 14853 done 0.71 - - 3148 - 2.45 0.053 2261 570.2 209.5 - - 2199 - - - - - - - - 14.46 14.31 14.50
15206 290.4 7.7 603 15211 roll 0.71 - - 3148 - 2.65 0.103 3659 527.5 210.4 - - 2200 - - - - - - - - 14.84 14.12 14.84
15262 285.7 8.7 611 15267 done 0.71 - - 3157 - 2.42 0.039 2265 -576.0 210.4 - - 2200 - - - - - - - - 14.49 14.40 14.51
15598 259.3 7.8 624 15602 roll 0.71 - - 3168 - 2.50 0.063 851 -565.6 210.4 - - 2200 - - - - - - - - 14.85 14.21 14.85
15625 257.2 7.7 628 15631 done 0.71 0.12 0.212 3132 -300.0 2.50 0.054 2269 567.2 210.9 - - 2200 - - - - - - - - 14.04 14.25 14.31
15990 231.3 7.2 638 16001 roll 0.73 - - 3132 - 2.62 0.101 3654 528.6 221.0 4.53 1.288 2175 -5.5 0.198 - - - - - - 14.85 14.33 13.21
16059 225.2 9.0 648 16065 done 0.73 - - 3140 - 2.42 0.038 2258 -576.9 221.0 2.25 0.461 2169 -2.7 0.261 - - - - - - 14.49 14.44 13.12
16382 197.9 8.6 659 16385 done 0.73 - - 3140 - - - 2255 - 221.0 2.12 0.365 2170 - - - - - - - - 14.81 14.27 13.11
16718 170.6 7.9 665 16724 roll 0.73 - - 3140 - 2.75 0.099 3663 512.0 221.0 2.08 0.321 2172 - - - - - - - - 14.85 14.15 12.90
16773 166.0 8.5 673 16780 done 0.73 - - 3150 - 2.40 0.039 2265 -582.5 221.0 1.88 0.226 2170 - - - - - - - - 14.52 14.43 13.94
17110 140.3 7.8 686 17113 done 0.73 - - 3150 - - - 2261 - 221.0 1.62 0.220 2171 - - - - - - - - 14.85 14.20 13.90
17446 111.0 8.6 692 17452 roll 0.73 - - 3160 - 2.58 0.060 859 -543.4 221.0 1.90 0.218 2171 - - - - - - - - 14.85 14.17 13.77
17480 108.3 7.9 697 17486 done 0.73 - - 3160 - 2.53 0.053 2291 566.0 221.0 - - 2178 - - - - - - - - 14.31 14.16 14.35
17803 83.9 7.6 708 17815 roll 0.73 - - 3160 - 2.65 0.100 3652 513.6 223.9 3.42 0.308 2168 -2.9 0.159 - - - - - - 14.81 14.14 13.62
17837 80.7 9.2 713 17844 done 0.73 0.10 0.204 3132 -280.0 2.40 0.037 2275 -573.8 223.9 2.35 0.251 2159 -3.8 0.246 - - - - - - 14.01 14.33 13.59
18170 59.3 6.7 727 18188 roll 0.84 0.05 0.199 3193 1220.0 2.67 0.096 3657 517.6 244.6 13.40 0.329 2078 -6.0 0.218 - - - - - - 14.46 14.30 13.89
18236 53.8 8.0 737 18244 done 0.84 0.10 0.207 3167 -260.0 2.42 0.037 2261 -576.9 244.6 1.33 0.213 2075 -2.3 0.114 - - - - - - 14.03 14.34 14.05
18563 41.9 2.2 750 18628 roll 1.08 0.15 0.087 3280 753.3 2.45 0.059 862 -571.0 355.5 59.75 0.297 1633 -7.4 0.209 - - - - - - 14.36 14.24 14.00
18666 38.2 4.0 765 18711 done 1.17 - - 3280 - 2.50 0.050 2289 570.8 430.8 40.30 0.286 1336 -7.4 0.197 - - - - - - 14.45 14.33 14.01
19039 9.3 8.4 785 19044 roll 1.17 - - 3289 - 2.58 0.065 870 -550.0 430.8 - - 1336 - - - - - - - - 14.73 14.19 14.73
19086 4.7 9.7 792 19093 done 1.17 - - 3289 - 2.50 0.051 2278 563.2 430.8 - - 1336 - - - - - - - - 14.26 14.19 14.31
19118 end climb: SURFACE_DEPTH_REACHED
19118 begin surface coast
19146 end surface coast: CONTROL_FINISHED_OK
19146 begin surface
SM -2.62 - - - - -8.39 9.30 0.078 187 20.1 0.90 0.095 2761 1923.3 500.14 34.58 0.154 1056 30.5 0.053 - - - - - -