SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 609 * Raw log
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• Previous call tries 2 • 210.87 of 350.00 AH used of 24V (39.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -9.04 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
17 - - - 101 done -0.93 - - 105 - - - 2785 - -107.1 -80.35 - 3477 - - - - - - - - 14.66 13.02 14.62
106 0.9 -11.1 3 122 roll -0.93 11.85 0.379 2583 209.1 1.95 0.100 3835 538.5 -107.1 - - 3478 - - - - - - - - 13.95 14.30 14.23
131 15.0 -49.0 7 136 done 0.26 1.50 0.263 2957 249.3 1.80 0.039 2705 -627.8 -107.1 - - 3478 - - - - - - - - 14.07 14.52 14.36
467 40.6 -6.7 22 472 roll -0.22 0.32 0.113 2842 -359.4 2.20 0.132 3830 511.4 -107.1 - - 3478 - - - - - - - - 14.24 14.02 14.33
704 53.9 -4.5 56 709 done -0.73 0.52 0.108 2659 -351.9 1.85 0.047 2755 -581.1 -107.1 - - 3479 - - - - - - - - 14.24 14.41 14.39
1027 78.3 -8.9 69 1031 roll -0.73 - - 2658 - 2.38 0.041 1367 -583.2 -107.1 - - 3478 - - - - - - - - 14.85 14.38 14.85
1089 84.2 -9.5 78 1095 done -0.73 - - 2650 - 2.55 0.076 2763 547.5 -107.1 - - 3479 - - - - - - - - 14.41 14.20 14.45
1446 114.8 -8.4 90 1452 roll -0.73 - - 2641 - 2.00 0.118 3827 532.0 -107.1 - - 3478 - - - - - - - - 14.86 14.12 14.86
1495 119.2 -9.0 97 1501 done -0.73 - - 2641 - 1.83 0.041 2733 -597.8 -107.1 - - 3478 - - - - - - - - 14.48 14.46 14.50
1839 151.0 -9.4 104 1843 roll -0.73 - - 2641 - 2.30 0.042 1391 -583.5 -107.1 - - 3476 - - - - - - - - 14.89 14.38 14.91
1880 154.6 -8.6 110 1887 done -0.73 0.10 0.244 2660 190.0 2.55 0.073 2786 547.1 -107.1 - - 3475 - - - - - - - - 14.05 14.17 14.31
2231 178.9 -6.7 118 2236 roll -0.73 - - 2659 - 2.42 0.043 1399 -573.1 -107.1 - - 3473 - - - - - - - - 14.90 14.38 14.90
2272 181.8 -7.0 124 2277 done -0.73 - - 2652 - 2.50 0.076 2761 544.8 -107.1 - - 3474 - - - - - - - - 14.42 14.19 14.45
2623 208.6 -8.0 132 2624 done -0.73 - - 2652 - - - 2761 - -107.1 - - 3471 - - - - - - - - 14.86 14.86 14.86
2959 238.2 -9.0 138 2964 roll -0.73 - - 2652 - 2.40 0.044 1394 -569.6 -107.1 - - 3468 - - - - - - - - 14.86 14.33 14.87
3021 244.5 -9.8 147 3026 done -0.73 - - 2643 - 2.53 0.077 2759 539.5 -107.1 - - 3467 - - - - - - - - 14.39 14.18 14.43
3351 274.3 -9.0 159 3351 done -0.73 - - 2644 - - - 2759 - -107.1 - - 3466 - - - - - - - - 14.87 14.87 14.86
3687 305.1 -9.1 165 3691 roll -0.73 - - 2644 - 2.40 0.044 1391 -570.0 -107.1 - - 3464 - - - - - - - - 14.87 14.33 14.88
3749 310.7 -8.7 174 3755 done -0.73 - - 2636 - 2.53 0.079 2759 540.7 -107.1 - - 3463 - - - - - - - - 14.35 14.14 14.40
4079 338.3 -8.1 186 4084 roll -0.73 - - 2638 - 2.40 0.044 1388 -571.2 -107.1 - - 3462 - - - - - - - - 14.88 14.33 14.89
4120 341.5 -7.8 192 4125 done -0.73 0.12 0.233 2661 191.7 2.53 0.080 2747 537.2 -107.1 - - 3461 - - - - - - - - 13.97 14.13 14.24
4471 363.9 -6.3 200 4472 done -0.81 - - 2662 - - - 2745 - -107.1 - - 3460 - - - - - - - - 14.88 14.88 14.88
4807 386.2 -6.7 206 4813 roll -0.89 0.08 0.148 2582 -1000.0 2.38 0.042 1397 -566.4 -107.1 - - 3456 - - - - - - - - 14.50 14.30 14.52
4848 390.0 -9.0 212 4853 done -0.89 0.12 0.242 2606 200.0 2.53 0.080 2747 533.6 -107.1 - - 3458 - - - - - - - - 13.90 14.09 14.19
5199 421.5 -8.9 220 5200 done -0.89 - - 2606 - - - 2747 - -107.1 - - 3456 - - - - - - - - 14.85 14.85 14.85
5534 452.1 -9.2 226 5540 roll -0.89 - - 2606 - 2.40 0.047 1399 -561.7 -107.1 - - 3455 - - - - - - - - 14.88 14.26 14.88
5597 458.0 -9.1 235 5602 done -0.89 - - 2598 - 2.55 0.083 2747 528.6 -107.1 - - 3455 - - - - - - - - 14.28 14.04 14.33
5927 488.5 -9.4 247 5931 roll -0.89 - - 2589 - 2.10 0.131 3826 513.8 -107.1 - - 3453 - - - - - - - - 14.85 13.95 14.84
5968 491.8 -9.1 253 5973 done -0.89 - - 2589 - 1.83 0.044 2756 -584.7 -107.1 - - 3453 - - - - - - - - 14.38 14.36 14.40
6319 524.8 -9.7 261 6324 roll -0.89 - - 2588 - 2.40 0.046 1390 -569.2 -107.1 - - 3452 - - - - - - - - 14.85 14.23 14.85
6374 530.4 -10.2 269 6379 done -0.89 0.12 0.243 2612 200.0 2.58 0.083 2752 527.9 -107.1 - - 3450 - - - - - - - - 13.84 14.03 14.12
6711 560.6 -9.2 282 6716 roll -0.89 - - 2604 - 2.12 0.136 3831 509.0 -107.1 - - 3449 - - - - - - - - 14.88 13.88 14.88
6752 564.3 -7.4 288 6757 done -0.89 - - 2603 - 1.85 0.043 2737 -591.4 -107.1 - - 3450 - - - - - - - - 14.36 14.35 14.38
7103 598.3 -9.5 296 7107 roll -0.89 - - 2603 - 2.35 0.046 1400 -568.9 -107.1 - - 3448 - - - - - - - - 14.83 14.21 14.83
7158 603.5 -10.7 304 7163 done -0.89 - - 2595 - 2.60 0.087 2760 523.1 -107.1 - - 3448 - - - - - - - - 14.22 13.98 14.27
7495 634.8 -9.3 317 7500 roll -0.89 - - 2586 - 2.12 0.138 3826 502.8 -107.1 - - 3447 - - - - - - - - 14.83 13.83 14.83
7585 643.5 -9.0 330 7591 done -0.89 - - 2586 - 1.83 0.046 2761 -582.0 -107.1 - - 3447 - - - - - - - - 14.35 14.33 14.37
7943 676.4 -9.2 339 7948 roll -0.89 0.08 0.275 2611 312.5 2.42 0.044 1389 -566.9 -107.1 - - 3445 - - - - - - - - 14.09 14.19 14.19
8012 682.4 -9.3 349 8017 done -0.89 - - 2602 - 2.62 0.089 2756 521.8 -107.1 - - 3445 - - - - - - - - 14.18 13.93 14.23
8335 709.6 -8.4 360 8336 done -0.89 - - 2602 - - - 2756 - -107.1 - - 3443 - - - - - - - - 14.82 14.82 14.82
8670 737.8 -8.7 366 8676 roll -0.89 - - 2602 - 2.45 0.046 1383 -560.4 -107.1 - - 3442 - - - - - - - - 14.83 14.16 14.83
8705 740.8 -8.3 371 8710 done -0.89 - - 2592 - 2.62 0.092 2753 522.9 -107.1 - - 3443 - - - - - - - - 14.15 13.89 14.20
9063 773.6 -9.4 380 9064 done -0.89 - - 2592 - - - 2751 - -107.1 - - 3441 - - - - - - - - 14.83 14.83 14.82
9395 end dive: TARGET_DEPTH_EXCEEDED
9395 begin apogee
9404 803.8 -8.9 386 9512 roll -0.23 0.82 0.200 2819 276.8 - - 2244 - - 100.62 2.550 3047 -3.9 0.248 - - - - 1 - 13.58 13.83 12.49
9513 end apogee: CONTROL_FINISHED_OK
9513 begin climb
9517 805.0 - 388 9648 done 0.93 1.17 0.106 3190 317.1 - - 2244 - 107.1 125.38 1.847 2617 -3.4 0.301 - - - - - - 13.93 14.20 12.92
9960 781.7 7.8 417 9965 roll 0.78 0.10 0.259 3168 -220.0 2.53 0.062 839 -555.3 107.1 - - 2607 - - - - - - - - 14.04 14.26 14.21
10016 777.7 6.9 425 10042 done 0.70 0.12 0.233 3133 -291.7 2.58 0.070 2264 552.3 124.3 17.38 1.923 2547 -3.5 0.281 - - - - - - 14.03 14.22 13.24
10355 754.9 6.7 438 10386 roll 0.73 - - 3132 - 2.72 0.134 3661 513.6 145.5 23.88 1.893 2462 -3.6 0.285 - - - - - - 14.73 14.21 13.25
10456 746.6 8.4 453 10463 done 0.64 0.10 0.256 3114 -180.0 2.50 0.044 2234 -570.8 145.5 - - 2457 - - - - - - - - 14.09 14.36 14.36
10800 726.2 5.8 460 10846 done 0.69 - - 3114 - - - 2234 - 185.0 45.12 1.805 2312 -3.2 0.260 - - - - - - 14.75 14.18 13.22
11136 701.7 7.0 466 11154 roll 0.71 - - 3113 - 2.83 0.138 3658 503.2 198.7 12.10 1.950 2255 -4.7 0.341 - - - - - - 14.71 14.23 13.26
11219 694.5 10.7 478 11225 done 0.71 - - 3122 - 2.42 0.044 2249 -582.2 198.7 - - 2249 - - - - - - - - 14.50 14.41 14.52
11584 664.2 8.5 488 11585 done 0.71 - - 3123 - - - 2247 - 198.7 - - 2248 - - - - - - - - 14.79 14.79 14.79
11920 635.7 8.5 494 11926 roll 0.71 - - 3123 - 2.85 0.142 3661 496.1 198.7 - - 2246 - - - - - - - - 14.80 13.93 14.79
11968 630.8 9.4 501 11975 done 0.71 - - 3132 - 2.47 0.044 2263 -566.0 198.7 - - 2248 - - - - - - - - 14.36 14.31 14.40
12312 602.8 8.2 508 12317 roll 0.71 - - 3132 - 2.83 0.142 3659 493.3 198.7 - - 2246 - - - - - - - - 14.83 13.95 14.83
12339 600.4 9.0 512 12344 done 0.71 - - 3142 - 2.45 0.044 2252 -574.3 198.7 - - 2247 - - - - - - - - 14.47 14.36 14.50
12704 570.1 8.4 522 12710 roll 0.71 - - 3143 - 2.85 0.144 3657 493.0 198.7 - - 2246 - - - - - - - - 14.83 13.90 14.83
12745 565.6 11.0 528 12750 done 0.71 - - 3151 - 2.45 0.043 2249 -574.7 198.7 - - 2246 - - - - - - - - 14.45 14.35 14.48
13096 533.4 9.3 536 13097 done 0.71 - - 3152 - - - 2250 - 198.7 - - 2246 - - - - - - - - 14.81 14.81 14.81
13432 502.8 9.2 542 13437 roll 0.71 - - 3152 - 2.88 0.145 3658 488.9 198.7 - - 2245 - - - - - - - - 14.83 13.83 14.83
13466 499.2 11.4 547 13472 done 0.71 0.10 0.246 3128 -240.0 2.42 0.044 2263 -576.4 198.7 - - 2245 - - - - - - - - 13.97 14.33 14.26
13824 472.0 7.5 556 13829 roll 0.72 - - 3145 - 2.55 0.062 848 -554.9 204.0 - - 2245 - - - - - - - - 14.81 14.12 14.81
13872 468.4 7.3 563 13892 done 0.73 - - 3145 - 2.60 0.069 2263 544.2 212.7 14.12 1.695 2202 -3.0 0.169 - - - - - - 14.28 14.07 13.39
14216 442.6 7.7 577 14220 roll 0.73 - - 3144 - 2.78 0.145 3657 501.4 212.7 - - 2192 - - - - - - - - 14.77 13.99 14.77
14250 439.6 7.6 582 14257 done 0.73 - - 3155 - 2.45 0.043 2246 -575.9 215.5 - - 2192 - - - - - - - - 14.47 14.38 14.49
14608 409.9 8.4 591 14613 roll 0.73 - - 3165 - 2.50 0.063 852 -557.6 215.5 - - 2193 - - - - - - - - 14.78 14.15 14.78
14642 407.2 7.8 596 14647 done 0.73 - - 3165 - 2.58 0.071 2262 546.5 215.5 - - 2192 - - - - - - - - 14.35 14.14 14.39
15000 375.5 8.9 605 15005 roll 0.73 - - 3165 - 2.83 0.147 3657 492.9 215.5 - - 2192 - - - - - - - - 14.80 13.84 14.80
15042 370.9 11.2 611 15047 done 0.65 0.22 0.222 3114 -231.8 2.38 0.043 2263 -585.7 215.5 - - 2192 - - - - - - - - 13.90 14.31 14.19
15392 345.9 7.1 619 15412 done 0.67 - - 3113 - - - 2254 - 228.9 18.15 1.514 2139 -2.9 0.134 - - - - - - 14.79 14.31 13.41
15728 322.2 6.8 625 15753 roll 0.69 - - 3113 - 2.80 0.144 3661 502.5 247.3 19.73 1.493 2057 -4.2 0.180 - - - - - - 14.76 14.23 13.40
15797 317.1 8.2 635 15802 done 0.69 - - 3121 - 2.45 0.044 2246 -577.6 247.3 - - 2050 - - - - - - - - 14.49 14.40 14.51
16120 292.1 8.1 646 16126 roll 0.69 - - 3130 - 2.47 0.063 853 -564.0 247.3 - - 2047 - - - - - - - - 14.78 14.10 14.78
16147 289.9 8.0 650 16153 done 0.77 - - 3130 - 2.58 0.070 2271 549.6 247.3 - - 2047 - - - - - - - - 14.37 14.15 14.41
16512 259.5 7.3 660 16518 roll 0.79 - - 3130 - 2.83 0.146 3660 490.8 256.1 2.08 0.321 2032 -7.2 1.173 - - - - - - 14.78 14.05 13.03
16546 256.5 8.9 665 16552 done 0.79 - - 3140 - 2.42 0.043 2254 -581.0 256.1 1.73 0.233 2028 -2.3 0.512 - - - - - - 14.48 14.38 13.93
16897 228.4 8.0 673 16900 done 0.79 - - 3140 - - - 2253 - 256.1 1.95 0.216 2028 - - - - - - - - 14.79 14.15 13.83
17233 202.5 7.8 679 17236 done 0.79 - - 3137 - - - 2251 - 256.1 1.88 0.217 2029 - - - - - - - - 14.83 14.12 13.80
17569 177.2 7.5 685 17582 roll 0.79 - - 3140 - 2.80 0.144 3656 501.8 261.5 8.00 1.379 2011 -2.2 0.058 - - - - - - 14.87 14.18 13.47
17625 172.4 8.6 693 17630 done 0.79 - - 3148 - 2.40 0.044 2264 -580.0 261.5 - - 2011 - - - - - - - - 14.56 14.47 14.58
17961 145.6 8.1 706 17967 roll 0.79 - - 3159 - 2.53 0.063 853 -557.7 261.5 - - 2011 - - - - - - - - 14.81 14.18 14.81
17995 142.5 9.0 711 18000 done 0.79 - - 3158 - 2.55 0.070 2263 552.9 261.5 - - 2011 - - - - - - - - 14.38 14.17 14.42
18353 110.3 9.1 720 18358 roll 0.79 - - 3158 - 2.80 0.145 3658 498.2 261.5 - - 2011 - - - - - - - - 14.83 13.90 14.83
18394 106.1 10.6 726 18401 done 0.79 - - 3168 - 2.45 0.043 2264 -569.0 261.5 - - 2011 - - - - - - - - 14.33 14.29 14.41
18717 79.0 7.9 738 18723 roll 0.79 - - 3168 - 2.85 0.141 3659 489.5 261.5 - - 2011 - - - - - - - - 14.78 13.88 14.78
18779 73.6 8.6 747 18784 done 0.79 - - 3178 - 2.40 0.042 2268 -579.6 261.5 - - 2012 - - - - - - - - 14.42 14.31 14.45
19109 49.7 6.6 761 19128 roll 0.82 - - 3187 - 2.50 0.061 855 -565.2 283.1 13.23 0.328 1922 -6.8 0.207 - - - - - - 14.81 14.30 13.87
19244 41.4 4.5 780 19290 done 0.90 - - 3187 - 2.58 0.068 2272 549.2 348.1 37.42 0.314 1664 -6.9 0.183 - - - - - - 14.35 14.14 14.00
19617 27.3 3.2 800 19674 roll 1.17 0.17 0.084 3305 694.1 2.58 0.063 861 -546.9 438.1 49.80 0.265 1306 -7.2 0.149 - - - - - - 14.35 14.28 14.04
19690 22.3 8.6 811 19696 done 1.17 - - 3305 - 2.53 0.070 2262 553.8 438.1 - - 1309 - - - - - - - - 14.35 14.16 14.39
19917 end climb: SURFACE_DEPTH_REACHED
19917 begin surface coast
19945 end surface coast: CONTROL_FINISHED_OK
19945 begin surface
SM -6.03 - - - - -8.40 9.45 0.082 189 20.0 1.00 0.119 2767 1737.0 500.14 31.75 0.158 1057 33.3 0.130 - - - - - -