SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 638 * Raw log
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• Previous call tries 1 • 219.63 of 350.00 AH used of 24V (37.25% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.8 deg, depth -2.65 m • Intended pitch -24.5 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 94 done -1.19 - - 108 - - - 2783 - -62.8 -76.15 - 3302 - - - - - - - - 14.64 12.64 14.60
99 -1.5 -3.6 2 119 roll -1.19 11.43 0.371 2508 210.0 2.47 0.036 1352 -579.4 -62.8 - - 3304 - - - - - - - - 13.85 14.33 14.23
188 31.6 -24.5 16 195 done -1.01 0.30 0.280 2571 210.0 2.65 0.086 2774 536.6 -62.8 - - 3305 - - - - - - - - 13.82 14.09 14.16
511 74.4 -9.8 29 516 roll -1.01 - - 2565 - 2.03 0.132 3825 517.7 -62.8 - - 3305 - - - - - - - - 14.77 14.00 14.78
735 94.2 -10.6 61 740 done -1.01 - - 2564 - 1.77 0.041 2717 -626.0 -62.8 - - 3306 - - - - - - - - 14.50 14.47 14.52
1071 127.6 -9.9 71 1072 done -1.01 - - 2564 - - - 2717 - -62.8 - - 3306 - - - - - - - - 14.85 14.85 14.85
1407 161.8 -10.5 77 1408 done -1.01 - - 2564 - - - 2717 - -62.8 - - 3304 - - - - - - - - 14.83 14.83 14.83
1744 198.8 -11.2 83 1748 roll -1.01 - - 2556 - 2.20 0.128 3830 505.9 -62.8 - - 3302 - - - - - - - - 14.83 13.94 14.83
1799 205.7 -12.9 91 1804 done -1.01 - - 2555 - 1.73 0.044 2791 -600.6 -62.8 - - 3302 - - - - - - - - 14.47 14.41 14.48
2136 244.9 -11.5 104 2141 roll -1.01 - - 2555 - 2.42 0.041 1395 -576.9 -62.8 - - 3299 - - - - - - - - 14.83 14.28 14.83
2204 252.8 -11.4 114 2210 done -1.01 - - 2545 - 2.58 0.080 2773 534.1 -62.8 - - 3299 - - - - - - - - 14.27 14.03 14.32
2528 291.5 -12.1 125 2532 roll -1.01 - - 2538 - 2.05 0.132 3827 514.1 -62.8 - - 3298 - - - - - - - - 14.81 13.85 14.83
2583 298.4 -12.7 133 2588 done -1.01 0.12 0.253 2569 258.3 1.75 0.044 2780 -598.3 -62.8 - - 3295 - - - - - - - - 13.85 14.38 14.15
2920 335.3 -10.8 146 2924 roll -1.01 - - 2569 - 2.47 0.042 1364 -573.3 -62.8 - - 3294 - - - - - - - - 14.82 14.26 14.82
3003 345.4 -10.7 158 3008 done -1.09 - - 2560 - 2.62 0.080 2771 537.0 -62.8 - - 3296 - - - - - - - - 14.21 13.97 14.26
3367 383.4 -10.4 168 3368 done -1.09 - - 2560 - - - 2772 - -62.8 - - 3292 - - - - - - - - 14.83 14.83 14.83
3703 418.5 -10.4 174 3708 roll -1.09 - - 2552 - 2.08 0.135 3830 508.7 -62.8 - - 3290 - - - - - - - - 14.81 13.84 14.82
3779 427.4 -11.5 185 3784 done -1.09 - - 2551 - 1.83 0.043 2764 -582.5 -62.8 - - 3289 - - - - - - - - 14.34 14.31 14.35
4095 462.4 -11.1 195 4100 roll -1.09 - - 2543 - 2.10 0.126 3826 505.7 -62.8 - - 3288 - - - - - - - - 14.85 13.86 14.85
4130 466.3 -11.0 200 4136 done -1.09 - - 2543 - 1.80 0.044 2784 -578.9 -62.8 - - 3287 - - - - - - - - 14.31 14.28 14.34
4487 504.9 -10.8 209 4492 roll -1.09 - - 2543 - 2.47 0.042 1378 -569.2 -62.8 - - 3286 - - - - - - - - 14.81 14.11 14.81
4514 507.8 -10.2 213 4520 done -1.09 - - 2533 - 2.62 0.080 2776 533.6 -62.8 - - 3285 - - - - - - - - 14.19 13.95 14.24
4879 546.3 -10.6 223 4880 done -1.09 - - 2534 - - - 2775 - -62.8 - - 3284 - - - - - - - - 14.81 14.81 14.81
5215 583.4 -11.1 229 5220 roll -1.09 - - 2525 - 2.08 0.132 3828 506.2 -62.8 - - 3286 - - - - - - - - 14.81 13.77 14.81
5277 590.9 -12.2 238 5282 done -1.09 - - 2525 - 1.83 0.044 2776 -574.9 -62.8 - - 3281 - - - - - - - - 14.27 14.24 14.29
5607 630.3 -12.1 250 5608 done -1.09 - - 2525 - - - 2776 - -62.8 - - 3280 - - - - - - - - 14.85 14.85 14.85
5943 671.7 -12.3 256 5949 roll -1.09 - - 2525 - 2.47 0.041 1379 -565.6 -62.8 - - 3279 - - - - - - - - 14.84 14.14 14.84
5970 675.2 -12.1 260 5977 done -1.09 0.12 0.259 2546 175.0 2.65 0.076 2777 527.5 -62.8 - - 3278 - - - - - - - - 13.65 13.89 13.96
6335 716.1 -11.0 270 6340 roll -1.09 - - 2538 - 2.10 0.130 3840 506.2 -62.8 - - 3277 - - - - - - - - 14.80 13.71 14.81
6369 719.9 -11.3 275 6374 done -1.09 - - 2538 - 1.85 0.045 2780 -573.0 -62.8 - - 3276 - - - - - - - - 14.23 14.20 14.25
6728 756.6 -10.2 284 6733 roll -1.09 - - 2538 - 2.50 0.041 1370 -564.0 -62.8 - - 3275 - - - - - - - - 14.79 14.12 14.79
6803 764.0 -9.4 295 6809 done -1.09 - - 2529 - 2.67 0.077 2782 528.8 -62.8 - - 3274 - - - - - - - - 14.11 13.85 14.16
7120 795.6 -10.1 305 7124 roll -1.09 - - 2520 - 2.08 0.130 3828 502.9 -62.8 - - 3273 - - - - - - - - 14.78 13.69 14.78
7164 end dive: TARGET_DEPTH_EXCEEDED
7164 begin apogee
7175 800.7 -10.8 312 7244 roll -0.23 1.15 0.218 2821 261.7 - - 2241 - - 66.07 1.838 3050 -3.4 0.292 - - - - - - 13.63 14.05 13.09
7245 end apogee: CONTROL_FINISHED_OK
7245 begin climb
7249 802.4 - 313 7326 roll 1.19 1.35 0.086 3266 329.6 2.47 0.055 862 -558.3 62.8 67.75 1.814 2793 -3.8 0.333 - - - - - - 14.11 14.12 12.94
7476 796.3 4.6 348 7523 done 1.13 - - 3266 - 2.50 0.058 2262 560.0 99.7 39.25 1.838 2646 -3.7 0.322 - - - - - - 14.35 14.21 13.09
7852 765.9 8.8 366 7857 roll 1.03 0.10 0.282 3236 -300.0 2.67 0.115 3658 522.8 99.7 - - 2637 - - - - - - - - 13.95 14.07 14.15
7926 758.4 9.4 377 7932 done 0.91 0.17 0.264 3201 -205.9 2.40 0.042 2250 -586.7 99.7 - - 2637 - - - - - - - - 13.88 14.38 14.24
8242 735.8 7.0 387 8248 roll 0.92 - - 3211 - 2.50 0.057 868 -552.8 108.3 2.08 0.328 2621 -7.7 3.429 - - - - - - 14.76 14.27 12.77
8291 732.5 6.3 394 8324 done 0.94 - - 3212 - 2.47 0.060 2255 561.5 125.3 27.33 1.852 2548 -2.7 0.210 - - - - - - 14.40 14.24 13.28
8683 699.2 8.6 408 8688 roll 0.94 - - 3211 - 2.72 0.122 3659 516.2 125.3 - - 2534 - - - - - - - - 14.73 14.06 14.73
8739 693.7 10.0 416 8745 done 0.94 - - 3222 - 2.42 0.043 2253 -581.0 125.3 - - 2534 - - - - - - - - 14.46 14.38 14.48
9075 664.8 8.5 429 9076 done 0.94 - - 3222 - - - 2249 - 125.3 - - 2532 - - - - - - - - 14.78 14.78 14.78
9411 636.7 8.3 435 9412 done 0.94 - - 3222 - - - 2249 - 125.3 - - 2534 - - - - - - - - 14.79 14.79 14.78
9747 608.8 8.3 441 9748 done 0.94 - - 3223 - - - 2249 - 125.3 - - 2532 - - - - - - - - 14.79 14.79 14.78
10083 581.7 8.1 447 10088 roll 0.94 - - 3222 - 2.80 0.124 3654 501.8 125.3 - - 2535 - - - - - - - - 14.78 13.90 14.78
10131 577.2 9.4 454 10138 done 0.94 - - 3233 - 2.45 0.043 2252 -572.2 125.3 - - 2531 - - - - - - - - 14.39 14.29 14.42
10476 547.9 8.6 461 10480 roll 0.94 - - 3233 - 2.80 0.123 3660 502.9 125.3 - - 2532 - - - - - - - - 14.81 13.90 14.81
10517 543.7 10.0 467 10522 done 0.86 0.25 0.255 3180 -212.0 2.45 0.042 2252 -574.7 125.3 - - 2531 - - - - - - - - 13.71 14.31 14.11
10867 517.5 7.4 475 10872 roll 0.86 - - 3191 - 2.53 0.059 855 -552.2 129.6 - - 2530 - - - - - - - - 14.78 14.05 14.78
10923 513.4 7.3 483 10930 done 0.87 - - 3191 - 2.53 0.062 2254 553.0 135.0 2.50 0.698 2510 -8.0 1.169 - - - - - - 14.26 14.09 13.20
11252 490.2 7.0 495 11272 roll 0.88 - - 3190 - 2.75 0.126 3655 509.5 143.6 15.80 1.687 2475 -2.2 0.128 - - - - - - 14.78 14.23 13.38
11335 483.4 8.6 507 11340 done 0.88 - - 3202 - 2.40 0.041 2254 -583.8 143.6 - - 2468 - - - - - - - - 14.52 14.45 14.54
11693 455.0 8.0 516 11699 roll 0.88 - - 3212 - 2.47 0.062 861 -564.0 143.6 - - 2466 - - - - - - - - 14.79 14.16 14.78
11749 450.5 8.1 524 11754 done 0.88 - - 3212 - 2.53 0.063 2261 553.4 143.6 - - 2466 - - - - - - - - 14.35 14.17 14.40
12085 422.1 8.7 537 12090 roll 0.88 - - 3212 - 2.75 0.125 3657 507.6 143.6 - - 2464 - - - - - - - - 14.79 13.93 14.80
12147 415.9 10.0 546 12153 done 0.88 0.12 0.257 3189 -191.7 2.45 0.041 2245 -576.3 143.6 - - 2466 - - - - - - - - 13.85 14.31 14.19
12477 387.6 8.5 558 12482 roll 0.88 - - 3189 - 2.80 0.121 3658 504.6 143.6 - - 2465 - - - - - - - - 14.81 13.90 14.83
12553 380.6 9.1 569 12558 done 0.88 - - 3200 - 2.45 0.041 2246 -576.3 143.6 - - 2466 - - - - - - - - 14.38 14.30 14.41
12869 355.3 7.9 579 12870 done 0.88 - - 3200 - - - 2242 - 143.6 - - 2466 - - - - - - - - 14.77 14.77 14.77
13205 329.3 7.6 585 13206 done 0.88 - - 3199 - - - 2242 - 145.5 - - 2469 - - - - - - - - 14.77 14.77 14.76
13541 303.8 7.6 591 13546 roll 0.88 - - 3210 - 2.50 0.061 862 -552.0 147.0 - - 2467 - - - - - - - - 14.77 14.01 14.78
13575 301.0 7.8 596 13582 done 0.88 - - 3211 - 2.53 0.061 2261 553.0 147.0 - - 2466 - - - - - - - - 14.23 14.04 14.28
13933 272.4 8.1 605 13938 roll 0.88 - - 3210 - 2.75 0.122 3656 507.3 147.0 - - 2467 - - - - - - - - 14.77 13.82 14.76
13960 269.9 9.0 609 13966 done 0.88 0.12 0.251 3189 -175.0 2.42 0.041 2251 -580.6 147.0 - - 2466 - - - - - - - - 13.81 14.30 14.10
14326 242.8 7.3 619 14338 roll 0.97 - - 3188 - 2.80 0.121 3661 503.6 152.1 3.00 0.859 2451 -5.0 0.281 - - - - - - 14.76 14.10 13.27
14352 240.6 8.1 623 14358 done 0.97 - - 3200 - 2.40 0.041 2258 -584.6 152.1 1.88 0.265 2443 -4.3 0.768 - - - - - - 14.42 14.34 13.69
14717 212.9 7.5 633 14728 roll 0.97 - - 3209 - 2.55 0.060 850 -552.2 154.5 3.53 1.031 2441 - - - - - - - - 14.76 14.30 13.24
14793 207.4 7.3 644 14813 done 0.98 - - 3210 - 2.50 0.061 2255 562.0 160.2 13.60 1.377 2408 -2.4 0.073 - - - - - - 14.44 14.27 13.49
15166 176.3 8.7 655 15170 roll 0.98 - - 3210 - 2.72 0.124 3660 516.5 160.2 - - 2398 - - - - - - - - 14.74 14.02 14.74
15262 166.3 10.3 669 15268 done 0.98 - - 3221 - 2.45 0.040 2245 -577.6 160.2 - - 2399 - - - - - - - - 14.31 14.21 14.36
15613 135.0 8.8 677 15618 roll 0.98 - - 3231 - 2.47 0.061 856 -562.3 160.2 - - 2397 - - - - - - - - 14.76 14.08 14.76
15675 129.7 8.3 686 15680 done 0.98 - - 3231 - 2.53 0.061 2264 556.5 160.2 - - 2399 - - - - - - - - 14.31 14.13 14.36
16005 102.2 8.5 698 16010 roll 0.98 - - 3242 - 2.53 0.060 855 -556.9 160.2 - - 2398 - - - - - - - - 14.76 14.09 14.76
16081 96.3 7.7 709 16088 done 0.98 - - 3241 - 2.53 0.061 2248 550.6 160.6 - - 2399 - - - - - - - - 14.27 14.09 14.31
16397 73.3 7.4 721 16402 roll 0.98 - - 3241 - 2.78 0.122 3658 507.2 164.1 - - 2401 - - - - - - - - 14.76 13.88 14.76
16634 61.7 2.9 755 16677 done 1.05 - - 3253 - 2.42 0.039 2241 -585.5 222.1 31.92 0.355 2165 -7.4 0.255 - - - - - - 14.38 14.30 13.94
16989 44.8 4.8 772 17018 roll 1.18 - - 3263 - 2.47 0.059 871 -554.7 256.8 20.40 0.301 2029 -6.7 0.197 - - - - - - 14.70 14.31 13.91
17250 42.2 -0.2 810 17312 done 1.47 0.25 0.058 3392 516.0 2.47 0.057 2255 560.3 351.5 53.33 0.300 1651 -7.1 0.198 - - - - - - 14.33 14.14 13.97
17629 4.2 12.7 831 17634 roll 1.47 - - 3403 - 2.50 0.063 873 -552.8 351.5 - - 1654 - - - - - - - - 14.73 14.07 14.73
17645 end climb: SURFACE_DEPTH_REACHED
17645 begin surface coast
17653 end surface coast: CONTROL_FINISHED_OK
17653 begin surface
SM -2.35 - - - - -8.38 9.98 0.103 190 19.0 3.53 0.078 2762 636.3 500.14 73.72 0.154 1058 14.4 0.022 - - - - - -