SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 617 * Raw log
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• Previous call tries 5 • 213.39 of 350.00 AH used of 24V (39.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.5 deg, depth -0.79 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 640.56 (SM_CC=640.56)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 102 done -0.93 - - 105 - - - 2777 - -107.1 -81.57 - 3478 - - - - - - - - 14.71 12.54 14.66
106 4.6 -9.5 3 122 roll -0.93 11.88 0.379 2580 208.3 1.98 0.110 3833 533.3 -107.1 - - 3478 - - - - - - - - 13.93 14.29 14.21
340 62.0 -11.2 37 346 done -0.74 0.22 0.221 2654 336.4 1.85 0.044 2743 -589.2 -107.1 - - 3480 - - - - - - - - 13.99 14.43 14.28
663 88.4 -8.4 50 667 roll -0.74 - - 2655 - 2.35 0.044 1378 -580.9 -107.1 - - 3481 - - - - - - - - 14.85 14.31 14.85
732 94.1 -7.9 60 737 done -0.74 - - 2645 - 2.60 0.091 2770 535.4 -107.1 - - 3481 - - - - - - - - 14.38 14.12 14.42
1055 120.7 -8.3 69 1060 roll -0.74 - - 2644 - 2.42 0.043 1370 -578.5 -107.1 - - 3480 - - - - - - - - 14.85 14.36 14.89
1089 123.7 -8.5 74 1094 done -0.74 - - 2636 - 2.62 0.090 2769 534.0 -107.1 - - 3479 - - - - - - - - 14.39 14.14 14.44
1447 158.1 -9.8 83 1451 roll -0.74 - - 2628 - 2.08 0.144 3831 510.6 -107.1 - - 3477 - - - - - - - - 14.89 14.03 14.91
1488 162.4 -10.6 89 1494 done -0.74 0.08 0.202 2651 287.5 1.83 0.047 2766 -582.0 -107.1 - - 3477 - - - - - - - - 14.11 14.45 14.25
1839 194.3 -8.9 97 1845 roll -0.74 - - 2651 - 2.42 0.044 1365 -578.9 -107.1 - - 3475 - - - - - - - - 14.85 14.36 14.86
1929 201.9 -8.0 110 1934 done -0.74 - - 2642 - 2.62 0.090 2769 535.9 -107.1 - - 3474 - - - - - - - - 14.37 14.12 14.41
2287 230.3 -7.9 119 2287 done -0.74 - - 2643 - - - 2768 - -107.1 - - 3471 - - - - - - - - 14.89 14.89 14.90
2623 257.2 -8.1 125 2628 roll -0.74 - - 2643 - 2.45 0.044 1367 -571.8 -107.1 - - 3468 - - - - - - - - 14.89 14.38 14.89
2678 261.9 -8.2 133 2684 done -0.74 - - 2633 - 2.65 0.091 2763 526.8 -107.1 - - 3464 - - - - - - - - 14.33 14.08 14.38
3015 292.3 -9.2 146 3019 roll -0.74 - - 2632 - 2.45 0.044 1368 -569.4 -107.1 - - 3466 - - - - - - - - 14.89 14.33 14.89
3042 295.0 -9.5 150 3047 done -0.74 0.12 0.230 2658 216.7 2.62 0.092 2761 531.7 -107.1 - - 3465 - - - - - - - - 13.97 14.07 14.23
3407 324.6 -8.0 160 3412 roll -0.74 - - 2658 - 2.45 0.044 1365 -569.8 -107.1 - - 3463 - - - - - - - - 14.86 14.32 14.86
3469 329.5 -7.8 169 3475 done -0.82 - - 2648 - 2.62 0.091 2755 530.5 -107.1 - - 3462 - - - - - - - - 14.32 14.07 14.37
3799 354.4 -7.5 181 3805 roll -0.82 - - 2648 - 2.42 0.044 1372 -571.5 -107.1 - - 3460 - - - - - - - - 14.85 14.32 14.85
3861 358.9 -7.1 190 3866 done -0.82 - - 2640 - 2.62 0.092 2757 528.6 -107.1 - - 3460 - - - - - - - - 14.31 14.04 14.35
4191 384.3 -7.8 202 4192 done -0.82 - - 2640 - - - 2757 - -107.1 - - 3458 - - - - - - - - 14.85 14.85 14.85
4527 412.8 -8.6 208 4527 done -0.82 - - 2639 - - - 2757 - -107.1 - - 3456 - - - - - - - - 14.85 14.85 14.85
4863 443.2 -9.0 214 4868 roll -0.82 - - 2639 - 2.50 0.044 1366 -556.4 -107.1 - - 3455 - - - - - - - - 14.88 14.28 14.88
4919 448.3 -9.1 222 4923 done -0.82 - - 2630 - 2.62 0.092 2751 528.6 -107.1 - - 3455 - - - - - - - - 14.26 13.99 14.31
5255 478.7 -9.0 235 5255 done -0.82 - - 2630 - - - 2751 - -107.1 - - 3453 - - - - - - - - 14.88 14.88 14.88
5591 506.8 -8.2 241 5596 roll -0.82 - - 2629 - 2.45 0.045 1372 -562.9 -107.1 - - 3451 - - - - - - - - 14.85 14.26 14.85
5695 515.8 -8.5 256 5701 done -0.82 - - 2620 - 2.65 0.092 2749 519.6 -107.1 - - 3451 - - - - - - - - 14.21 13.93 14.26
6039 546.4 -9.0 263 6040 done -0.82 - - 2621 - - - 2748 - -107.1 - - 3450 - - - - - - - - 14.84 14.84 14.84
6375 577.0 -9.1 269 6380 roll -0.82 - - 2620 - 2.40 0.044 1371 -573.8 -107.1 - - 3449 - - - - - - - - 14.84 14.19 14.84
6423 581.3 -8.8 276 6429 done -0.82 - - 2611 - 2.65 0.092 2754 521.9 -107.1 - - 3449 - - - - - - - - 14.19 13.90 14.23
6767 612.2 -9.0 283 6772 roll -0.82 - - 2610 - 2.45 0.044 1369 -565.3 -107.1 - - 3446 - - - - - - - - 14.87 14.23 14.87
6801 615.4 -9.3 288 6806 done -0.82 0.10 0.253 2628 180.0 2.62 0.093 2742 524.0 -107.1 - - 3450 - - - - - - - - 13.81 13.90 14.09
7159 644.9 -8.2 297 7159 done -0.82 - - 2626 - - - 2742 - -107.1 - - 3445 - - - - - - - - 14.83 14.83 14.83
7495 672.9 -8.4 303 7499 roll -0.82 - - 2628 - 2.45 0.044 1365 -562.0 -107.1 - - 3444 - - - - - - - - 14.83 14.21 14.83
7522 675.3 -8.6 307 7527 done -0.82 - - 2618 - 2.62 0.092 2741 525.2 -107.1 - - 3443 - - - - - - - - 14.15 13.87 14.21
7887 707.3 -8.8 317 7892 roll -0.82 - - 2617 - 2.45 0.044 1377 -556.7 -107.1 - - 3441 - - - - - - - - 14.83 14.18 14.82
7949 713.2 -9.4 326 7954 done -0.82 - - 2609 - 2.62 0.093 2746 522.5 -107.1 - - 3442 - - - - - - - - 14.13 13.84 14.18
8279 742.8 -9.0 338 8280 done -0.82 - - 2609 - - - 2743 - -107.1 - - 3441 - - - - - - - - 14.89 14.85 14.85
8615 771.9 -8.6 344 8619 roll -0.82 - - 2608 - 2.45 0.044 1372 -559.6 -107.1 - - 3440 - - - - - - - - 14.82 14.16 14.82
8642 774.3 -8.5 348 8647 done -0.82 0.12 0.241 2632 200.0 2.62 0.092 2742 522.9 -107.1 - - 3439 - - - - - - - - 13.72 13.84 14.01
9003 end dive: TARGET_DEPTH_EXCEEDED
9003 begin apogee
9013 801.4 -7.4 358 9127 roll -0.23 0.68 0.179 2824 282.4 0.10 0.190 2275 -4670.0 - 111.90 1.807 3049 -3.5 0.310 - - - - - - 13.76 13.88 12.96
9129 end apogee: CONTROL_FINISHED_OK
9129 begin climb
9133 804.0 - 360 9260 roll 0.93 1.12 0.095 3186 323.2 2.55 0.056 878 -547.8 107.1 117.38 1.746 2622 -3.6 0.336 - - - - - - 14.02 14.06 12.96
9309 800.4 6.3 387 9344 done 0.83 - - 3186 - 2.47 0.067 2239 551.0 136.1 30.33 1.806 2509 -3.7 0.331 - - - - - - 14.26 14.12 13.09
9681 767.4 9.2 398 9686 roll 0.70 0.17 0.230 3132 -317.6 2.80 0.136 3657 506.4 136.1 - - 2493 - - - - - - - - 13.98 14.01 14.17
9757 760.8 8.6 409 9763 done 0.61 0.15 0.235 3102 -200.0 2.40 0.048 2266 -579.6 136.1 - - 2493 - - - - - - - - 14.02 14.40 14.32
10073 740.3 6.4 419 10111 roll 0.64 - - 3102 - 2.83 0.141 3657 491.5 163.3 30.48 1.816 2390 -3.4 0.276 - - - - - - 14.78 14.21 13.29
10149 734.9 7.9 430 10154 done 0.64 - - 3112 - 2.42 0.047 2255 -579.3 163.3 - - 2386 - - - - - - - - 14.46 14.40 14.48
10465 711.9 7.2 440 10470 done 0.66 - - 3112 - - - 2251 - 173.8 3.53 1.274 2357 -8.2 0.920 - - - - - - 14.74 14.31 13.09
10801 686.4 7.7 446 10808 roll 0.66 - - 3112 - 2.80 0.141 3658 502.5 174.2 2.28 0.542 2356 - - - - - - - - 14.78 14.12 13.05
10870 680.3 9.0 456 10876 done 0.66 - - 3121 - 2.42 0.047 2252 -581.0 174.2 1.73 0.242 2355 - - - - - - - - 14.50 14.41 13.94
11186 654.5 8.1 466 11192 roll 0.66 - - 3121 - 2.90 0.146 3650 482.1 174.2 1.58 0.230 2358 1.9 -1.082 - - - - - - 14.82 13.88 13.89
11235 650.1 9.2 473 11241 done 0.66 - - 3130 - 2.42 0.047 2260 -574.4 174.2 - - 2365 - - - - - - - - 14.47 14.38 14.53
11571 622.5 8.1 486 11574 done 0.66 - - 3131 - - - 2259 - 174.2 1.70 0.228 2355 -5.9 3.217 - - - - - - 14.83 14.14 13.81
11907 596.7 7.6 492 11918 roll 0.66 - - 3131 - 2.88 0.145 3658 485.8 175.9 2.40 0.659 2356 - - - - - - - - 14.83 14.09 13.13
12005 588.2 8.7 506 12011 done 0.66 - - 3143 - 2.47 0.047 2249 -570.4 175.9 2.20 0.474 2349 -3.2 0.791 - - - - - - 14.47 14.38 13.05
12348 560.7 8.1 513 12355 roll 0.66 - - 3142 - 2.92 0.145 3650 479.8 175.9 1.95 0.230 2350 - - - - - - - - 14.79 13.91 13.71
12383 557.7 8.6 518 12389 done 0.66 0.12 0.236 3118 -200.0 2.42 0.045 2262 -573.6 175.9 1.80 0.226 2348 - - - - - - - - 13.97 14.37 13.78
12741 532.5 7.0 527 12773 roll 0.68 - - 3118 - 2.80 0.143 3649 495.4 190.9 25.05 1.655 2280 -2.7 0.175 - - - - - - 14.78 14.15 13.33
12824 525.7 8.7 539 12829 done 0.68 - - 3126 - 2.40 0.045 2262 -577.9 190.9 - - 2276 - - - - - - - - 14.50 14.42 14.52
13189 496.6 7.9 549 13194 roll 0.68 - - 3137 - 2.50 0.061 858 -561.6 190.9 - - 2273 - - - - - - - - 14.78 14.19 14.78
13216 494.3 8.2 553 13222 done 0.68 - - 3137 - 2.55 0.072 2258 549.0 190.9 - - 2273 - - - - - - - - 14.33 14.10 14.38
13580 464.3 8.2 563 13581 done 0.68 - - 3137 - - - 2258 - 190.9 - - 2275 - - - - - - - - 14.81 14.81 14.81
13917 437.9 7.8 569 13922 roll 0.68 - - 3137 - 2.83 0.148 3657 494.3 190.9 - - 2274 - - - - - - - - 14.81 13.87 14.81
13986 431.8 8.9 579 13991 done 0.68 - - 3147 - 2.42 0.044 2268 -574.0 190.9 - - 2273 - - - - - - - - 14.42 14.33 14.43
14309 405.8 8.0 590 14314 roll 0.68 - - 3147 - 2.88 0.146 3661 483.7 190.9 - - 2273 - - - - - - - - 14.78 13.83 14.78
14365 400.7 9.1 598 14370 done 0.68 0.12 0.230 3123 -200.0 2.42 0.046 2268 -575.6 190.9 - - 2273 - - - - - - - - 13.94 14.31 14.23
14701 377.4 6.8 611 14726 roll 0.70 - - 3123 - 2.80 0.143 3654 495.0 209.2 18.48 1.535 2209 -3.5 0.171 - - - - - - 14.78 13.63 13.38
14784 371.0 8.0 623 14789 done 0.70 - - 3131 - 2.40 0.045 2264 -579.2 209.2 - - 2204 - - - - - - - - 14.51 14.43 14.53
15149 344.3 7.3 633 15155 roll 0.71 - - 3142 - 2.55 0.060 862 -549.8 217.1 2.28 0.501 2187 -7.5 1.026 - - - - - - 14.76 14.28 13.10
15190 341.3 7.1 639 15216 done 0.73 - - 3142 - 2.58 0.072 2282 550.4 229.1 20.77 1.489 2134 -2.6 0.117 - - - - - - 14.39 14.17 13.39
15541 314.0 7.9 654 15545 roll 0.73 - - 3142 - 2.75 0.148 3658 500.4 229.1 - - 2121 - - - - - - - - 14.73 13.97 14.72
15568 311.6 8.7 658 15573 done 0.73 - - 3151 - 2.40 0.045 2271 -577.9 229.1 - - 2121 - - - - - - - - 14.46 14.38 14.49
15933 279.4 9.0 668 15934 done 0.73 - - 3151 - - - 2267 - 229.1 - - 2121 - - - - - - - - 14.76 14.77 14.77
16269 247.7 9.5 674 16273 roll 0.73 - - 3151 - 2.85 0.145 3662 489.5 229.1 - - 2121 - - - - - - - - 14.78 13.86 14.78
16303 244.0 10.4 679 16308 done 0.73 - - 3161 - 2.42 0.044 2269 -575.6 229.1 - - 2121 - - - - - - - - 14.43 14.33 14.46
16661 210.6 9.2 688 16665 roll 0.73 - - 3172 - 2.53 0.062 865 -554.9 229.1 - - 2121 - - - - - - - - 14.78 14.11 14.78
16702 206.7 9.3 694 16707 done 0.73 0.12 0.208 3140 -266.7 2.60 0.073 2277 543.1 229.1 - - 2120 - - - - - - - - 13.95 14.05 14.23
17053 179.4 7.8 702 17057 roll 0.73 - - 3135 - 2.78 0.144 3658 496.8 229.1 - - 2120 - - - - - - - - 14.78 13.82 14.81
17109 174.3 9.5 710 17113 done 0.73 - - 3145 - 2.42 0.045 2266 -575.2 229.1 - - 2120 - - - - - - - - 14.41 14.32 14.44
17445 144.8 8.8 723 17449 roll 0.73 - - 3156 - 2.50 0.061 862 -561.6 229.1 - - 2120 - - - - - - - - 14.79 14.09 14.79
17479 141.7 8.3 728 17484 done 0.73 - - 3156 - 2.60 0.071 2284 546.9 229.1 - - 2120 - - - - - - - - 14.27 14.04 14.33
17837 111.7 8.3 737 17842 roll 0.73 - - 3156 - 2.80 0.146 3666 493.6 229.1 - - 2120 - - - - - - - - 14.78 13.79 14.78
17892 106.6 9.3 745 17898 done 0.73 0.10 0.229 3137 -190.0 2.42 0.044 2270 -576.9 229.1 - - 2120 - - - - - - - - 13.95 14.31 14.22
18232 82.1 7.1 762 18238 done 0.74 - - 3137 - - - 2267 - 240.9 4.45 0.324 2089 -7.0 0.354 - - - - - - 14.73 14.16 13.67
18537 61.6 5.9 773 18564 roll 0.86 0.08 0.145 3201 800.0 2.85 0.143 3661 489.1 276.8 22.05 0.343 1949 -6.3 0.228 - - - - - - 14.40 14.16 13.90
18593 56.8 9.9 781 18599 done 0.86 0.10 0.240 3183 -180.0 2.38 0.044 2282 -579.4 276.8 - - 1954 - - - - - - - - 14.09 14.42 14.34
18933 39.9 2.3 796 18999 roll 1.08 0.10 0.117 3274 910.0 2.58 0.060 857 -552.3 384.7 59.60 0.288 1517 -7.3 0.203 - - - - - - 14.33 14.34 13.99
19117 31.7 6.8 823 19137 done 1.10 - - 3273 - 2.62 0.070 2288 546.2 403.5 11.18 0.255 1442 -6.7 0.167 - - - - - - 14.31 14.09 13.92
19461 4.3 8.0 839 19466 roll 1.10 - - 3278 - 2.60 0.065 852 -552.3 403.5 - - 1447 - - - - - - - - 14.75 14.09 14.76
19485 end climb: SURFACE_DEPTH_REACHED
19485 begin surface coast
19492 end surface coast: CONTROL_FINISHED_OK
19492 begin surface
SM -1.17 - - - - -8.41 9.32 0.081 185 19.8 3.58 0.082 2760 626.8 640.56 116.80 0.152 498 4.3 0.003 - - - - - -