SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 640 * Raw log
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• Previous call tries 2 • 220.22 of 350.00 AH used of 24V (37.08% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -69.8 deg, depth -2.58 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - - 2776 - -107.1 -80.65 - 3477 - - - - - - - - 14.64 12.81 14.59
106 3.4 -10.8 3 122 roll -0.93 11.88 0.379 2580 208.3 1.95 0.097 3836 543.6 -107.1 - - 3478 - - - - - - - - 13.94 14.26 14.21
172 29.7 -26.2 13 178 done -0.60 0.45 0.249 2699 264.4 1.80 0.038 2709 -626.1 -107.1 - - 3478 - - - - - - - - 13.96 14.47 14.26
495 66.4 -8.5 26 499 roll -0.60 - - 2690 - 2.20 0.128 3837 512.7 -107.1 - - 3479 - - - - - - - - 14.81 14.01 14.81
719 83.4 -6.6 58 723 done -0.60 - - 2690 - 1.80 0.045 2742 -608.3 -107.1 - - 3480 - - - - - - - - 14.51 14.45 14.52
1055 104.5 -6.7 72 1060 roll -0.60 - - 2690 - 2.33 0.042 1393 -579.0 -107.1 - - 3480 - - - - - - - - 14.84 14.29 14.86
1117 108.9 -7.1 81 1123 done -0.70 - - 2681 - 2.58 0.083 2775 535.7 -107.1 - - 3482 - - - - - - - - 14.33 14.09 14.37
1447 135.0 -8.2 93 1453 roll -0.77 - - 2680 - 2.42 0.042 1392 -571.5 -107.1 - - 3480 - - - - - - - - 14.87 14.29 14.87
1474 137.4 -8.7 97 1481 done -0.86 0.10 0.115 2589 -910.0 2.60 0.085 2780 533.8 -107.1 - - 3481 - - - - - - - - 14.28 14.07 14.38
1839 177.9 -10.8 107 1844 roll -0.78 0.17 0.222 2636 276.5 2.03 0.129 3827 515.8 -107.1 - - 3475 - - - - - - - - 13.95 13.95 14.12
1901 183.5 -8.6 116 1906 done -0.78 - - 2635 - 1.80 0.046 2769 -587.8 -107.1 - - 3475 - - - - - - - - 14.41 14.38 14.42
2231 212.5 -9.0 128 2236 roll -0.78 - - 2635 - 2.40 0.043 1388 -575.4 -107.1 - - 3472 - - - - - - - - 14.83 14.28 14.84
2279 217.6 -10.3 135 2286 done -0.78 - - 2626 - 2.60 0.084 2774 533.1 -107.1 - - 3472 - - - - - - - - 14.25 13.98 14.30
2623 253.9 -10.6 142 2624 done -0.78 - - 2625 - - - 2774 - -107.1 - - 3469 - - - - - - - - 14.85 14.90 14.86
2959 285.0 -9.0 148 2959 done -0.78 - - 2625 - - - 2772 - -107.1 - - 3467 - - - - - - - - 14.87 14.88 14.88
3295 314.4 -8.8 154 3300 roll -0.78 - - 2625 - 2.45 0.044 1392 -563.3 -107.1 - - 3465 - - - - - - - - 14.86 14.24 14.86
3364 320.8 -8.9 164 3369 done -0.78 0.10 0.231 2644 190.0 2.62 0.084 2774 527.5 -107.1 - - 3464 - - - - - - - - 13.89 13.97 14.14
3687 347.4 -8.2 175 3688 done -0.78 - - 2644 - - - 2774 - -107.1 - - 3462 - - - - - - - - 14.83 14.83 14.83
4023 375.0 -8.1 181 4028 roll -0.78 - - 2644 - 2.47 0.044 1386 -561.9 -107.1 - - 3460 - - - - - - - - 14.87 14.20 14.88
4079 379.4 -7.9 189 4084 done -0.78 - - 2637 - 2.62 0.084 2772 529.0 -107.1 - - 3460 - - - - - - - - 14.21 13.95 14.26
4415 407.1 -8.3 202 4419 roll -0.78 - - 2635 - 2.45 0.044 1390 -564.1 -107.1 - - 3458 - - - - - - - - 14.83 14.21 14.83
4463 411.2 -8.2 209 4470 done -0.78 - - 2626 - 2.62 0.083 2767 525.6 -107.1 - - 3457 - - - - - - - - 14.17 13.91 14.22
4807 441.0 -8.8 216 4812 roll -0.78 - - 2625 - 2.45 0.043 1386 -563.7 -107.1 - - 3456 - - - - - - - - 14.83 14.22 14.83
4834 443.5 -9.0 220 4839 done -0.78 0.10 0.231 2644 190.0 2.60 0.083 2761 528.8 -107.1 - - 3456 - - - - - - - - 13.86 13.94 14.12
5199 473.1 -8.2 230 5203 roll -0.78 - - 2644 - 2.45 0.044 1386 -561.2 -107.1 - - 3454 - - - - - - - - 14.83 14.20 14.83
5296 480.9 -7.8 244 5301 done -0.78 - - 2636 - 2.60 0.085 2757 527.3 -107.1 - - 3454 - - - - - - - - 14.15 13.89 14.21
5647 508.6 -7.9 252 5651 roll -0.78 - - 2635 - 2.42 0.044 1392 -564.0 -107.1 - - 3452 - - - - - - - - 14.85 14.20 14.85
5681 511.3 -8.1 257 5687 done -0.78 - - 2627 - 2.58 0.084 2755 528.3 -107.1 - - 3452 - - - - - - - - 14.17 13.91 14.23
6039 541.3 -8.4 266 6040 done -0.78 - - 2631 - - - 2755 - -107.1 - - 3451 - - - - - - - - 14.85 14.85 14.85
6375 570.6 -8.6 272 6379 roll -0.78 - - 2627 - 2.45 0.044 1387 -558.4 -107.1 - - 3449 - - - - - - - - 14.85 14.14 14.85
6431 575.5 -8.9 280 6436 done -0.78 0.10 0.233 2645 180.0 2.62 0.085 2756 522.5 -107.1 - - 3449 - - - - - - - - 13.78 13.85 14.03
6767 602.3 -8.0 293 6772 roll -0.78 - - 2653 - 2.47 0.044 1381 -556.7 -107.1 - - 3448 - - - - - - - - 14.85 14.14 14.85
6815 606.2 -8.0 300 6821 done -0.86 - - 2637 - 2.65 0.085 2756 518.9 -107.1 - - 3447 - - - - - - - - 14.09 13.83 14.16
7159 633.6 -8.0 307 7160 done -0.86 - - 2637 - - - 2757 - -107.1 - - 3447 - - - - - - - - 14.81 14.81 14.81
7495 659.9 -7.8 313 7500 roll -0.86 - - 2637 - 2.47 0.045 1382 -556.7 -107.1 - - 3445 - - - - - - - - 14.85 14.13 14.85
7536 663.2 -7.9 319 7541 done -0.86 - - 2628 - 2.62 0.083 2755 524.0 -107.1 - - 3444 - - - - - - - - 14.10 13.83 14.16
7887 690.3 -7.6 327 7892 roll -0.86 - - 2627 - 2.45 0.044 1392 -556.3 -107.1 - - 3443 - - - - - - - - 14.80 14.11 14.80
7943 694.6 -7.7 335 7948 done -0.86 - - 2617 - 2.62 0.084 2753 519.5 -107.1 - - 3443 - - - - - - - - 14.06 13.79 14.12
8279 720.1 -7.6 348 8280 done -0.86 - - 2618 - - - 2751 - -107.1 - - 3442 - - - - - - - - 14.83 14.83 14.84
8615 745.6 -7.6 354 8620 roll -0.86 - - 2617 - 2.45 0.044 1392 -554.7 -107.1 - - 3443 - - - - - - - - 14.83 14.09 14.83
8671 750.2 -8.4 362 8675 done -0.86 - - 2607 - 2.60 0.084 2748 521.5 -107.1 - - 3441 - - - - - - - - 14.03 13.76 14.08
9007 778.3 -8.5 375 9007 done -0.86 - - 2609 - - - 2748 - -107.1 - - 3438 - - - - - - - - 14.83 14.83 14.81
9283 end dive: TARGET_DEPTH_EXCEEDED
9283 begin apogee
9292 803.7 -9.1 380 9408 roll -0.23 0.77 0.181 2825 280.5 - - 2255 - - 113.65 1.802 3049 -3.4 0.299 - - - - - - 13.64 13.93 13.01
9409 end apogee: CONTROL_FINISHED_OK
9409 begin climb
9413 807.5 - 382 9542 roll 0.93 1.12 0.087 3195 330.4 2.60 0.056 841 -543.8 107.1 115.62 1.766 2619 -3.7 0.333 - - - - - - 13.96 14.00 12.96
9571 806.7 3.6 406 9666 done 0.87 - - 3188 - 2.58 0.060 2257 548.8 188.8 90.05 1.727 2298 -3.6 0.327 - - - - - - 14.22 14.09 13.01
10022 764.7 10.2 428 10027 roll 0.77 0.10 0.242 3155 -330.0 2.72 0.123 3658 515.1 188.8 - - 2277 - - - - - - - - 14.03 14.02 14.17
10069 759.4 10.5 435 10075 done 0.68 0.15 0.219 3124 -206.7 2.50 0.044 2229 -571.6 188.8 - - 2277 - - - - - - - - 13.98 14.33 14.28
10413 731.6 8.0 442 10418 roll 0.68 - - 3123 - 2.83 0.123 3657 504.6 188.8 - - 2275 - - - - - - - - 14.78 13.98 14.78
10460 727.0 9.6 449 10468 done 0.68 - - 3133 - 2.45 0.044 2255 -572.2 188.8 - - 2275 - - - - - - - - 14.42 14.33 14.45
10804 695.4 9.3 456 10809 roll 0.68 - - 3133 - 2.80 0.125 3659 501.4 188.8 - - 2274 - - - - - - - - 14.81 13.95 14.81
10838 691.8 10.6 461 10845 done 0.68 - - 3145 - 2.42 0.044 2267 -575.2 188.8 - - 2274 - - - - - - - - 14.44 14.35 14.47
11196 657.6 9.5 470 11201 roll 0.68 - - 3155 - 2.55 0.062 845 -557.6 188.8 - - 2273 - - - - - - - - 14.81 14.09 14.81
11224 655.0 9.5 474 11229 done 0.68 0.12 0.209 3119 -300.0 2.55 0.062 2256 553.3 188.8 - - 2272 - - - - - - - - 13.93 14.11 14.21
11589 627.7 7.2 484 11600 roll 0.69 - - 3118 - 2.78 0.126 3658 504.3 199.5 2.60 0.758 2255 -6.5 1.062 - - - - - - 14.77 14.13 13.24
11664 621.7 7.8 495 11670 done 0.69 - - 3128 - 2.45 0.044 2246 -576.3 199.5 - - 2263 - - - - - - - - 14.46 14.37 14.47
11981 598.7 7.4 505 11999 roll 0.70 - - 3128 - 2.75 0.124 3660 514.2 206.8 13.70 1.731 2223 -2.9 0.198 - - - - - - 14.81 14.16 13.38
12049 592.8 8.9 515 12055 done 0.70 - - 3138 - 2.40 0.043 2262 -582.5 206.8 - - 2215 - - - - - - - - 14.52 14.45 14.54
12372 566.1 8.4 526 12377 roll 0.70 - - 3148 - 2.50 0.061 862 -560.0 206.8 - - 2215 - - - - - - - - 14.75 14.18 14.75
12400 563.7 8.4 530 12405 done 0.70 - - 3148 - 2.53 0.062 2261 553.0 206.8 - - 2214 - - - - - - - - 14.38 14.19 14.42
12764 532.9 8.4 540 12769 roll 0.70 - - 3148 - 2.72 0.125 3656 512.9 206.8 - - 2215 - - - - - - - - 14.77 13.93 14.77
12840 525.6 9.7 551 12846 done 0.70 0.10 0.236 3131 -170.0 2.42 0.044 2265 -574.8 206.8 - - 2214 - - - - - - - - 13.97 14.29 14.23
13157 501.8 7.5 561 13159 done 0.71 - - 3130 - - - 2262 - 212.2 1.35 0.225 2199 -11.1 4.859 - - - - - - 14.81 14.14 13.87
13492 477.0 7.4 567 13504 roll 0.72 - - 3125 - 2.78 0.125 3658 502.2 218.7 4.70 1.439 2184 -3.2 0.207 - - - - - - 14.81 14.16 13.16
13554 471.7 8.7 576 13561 done 0.72 - - 3140 - 2.40 0.044 2255 -584.6 218.7 2.72 0.799 2177 -2.6 0.298 - - - - - - 14.53 14.45 13.18
13877 445.2 8.3 587 13881 done 0.72 - - 3140 - - - 2253 - 218.7 2.12 0.375 2175 - - - - - - - - 14.76 14.23 13.02
14214 414.9 9.1 593 14220 roll 0.72 - - 3140 - 2.85 0.122 3659 493.3 218.7 1.67 0.220 2180 3.0 -1.107 - - - - - - 14.77 13.95 13.83
14290 407.1 10.4 604 14295 done 0.72 - - 3150 - 2.42 0.044 2267 -575.2 218.7 1.85 0.220 2182 - - - - - - - - 14.40 14.31 13.88
14606 378.8 8.8 614 14608 done 0.72 - - 3150 - - - 2264 - 218.7 1.65 0.216 2179 -1.8 0.625 - - - - - - 14.76 14.07 13.79
14942 349.5 8.7 620 14945 done 0.72 - - 3150 - - - 2261 - 218.7 1.52 0.220 2180 - - - - - - - - 14.76 14.06 13.78
15278 320.1 8.8 626 15284 roll 0.72 - - 3150 - 2.85 0.124 3656 489.5 218.7 1.67 0.217 2179 - - - - - - - - 14.76 13.85 13.76
15347 313.4 9.7 636 15352 done 0.72 - - 3160 - 2.42 0.042 2270 -572.7 218.7 1.70 0.223 2177 - - - - - - - - 14.27 14.19 13.78
15663 286.0 8.6 646 15666 done 0.72 - - 3160 - - - 2267 - 218.7 1.92 0.212 2178 - - - - - - - - 14.81 14.02 13.70
15999 258.0 8.3 652 16005 roll 0.72 - - 3154 - 2.85 0.124 3656 487.4 218.7 1.70 0.214 2179 - - - - - - - - 14.76 13.82 13.76
16082 249.7 10.0 664 16088 done 0.72 0.12 0.225 3136 -150.0 2.42 0.042 2269 -573.1 218.7 1.67 0.207 2178 - - - - - - - - 13.83 14.20 13.77
16440 219.5 8.5 673 16443 done 0.72 - - 3136 - - - 2268 - 218.7 1.95 0.212 2178 - - - - - - - - 14.76 14.02 13.71
16776 193.8 7.5 679 16787 roll 0.72 - - 3135 - 2.78 0.123 3660 500.7 222.5 4.20 1.114 2168 -2.4 0.081 - - - - - - 14.76 14.04 13.26
16824 189.7 8.5 686 16831 done 0.72 - - 3146 - 2.40 0.042 2272 -578.3 222.5 2.53 0.607 2165 -1.2 0.073 - - - - - - 14.49 14.40 13.28
17168 163.9 7.4 693 17186 roll 0.73 - - 3157 - 2.55 0.061 865 -551.8 228.3 11.50 1.289 2139 -2.3 0.056 - - - - - - 14.76 14.30 13.51
17202 161.3 7.6 698 17207 done 0.73 - - 3157 - 2.50 0.062 2280 566.0 231.5 - - 2135 - - - - - - - - 14.50 14.32 14.53
17560 133.6 7.7 707 17565 roll 0.74 - - 3156 - 2.67 0.123 3661 517.2 232.9 1.70 0.216 2120 -8.8 1.070 - - - - - - 14.76 14.01 13.88
17601 130.2 8.3 713 17607 done 0.74 - - 3167 - 2.40 0.042 2271 -579.2 232.9 - - 2128 - - - - - - - - 14.43 14.35 14.45
17952 102.3 8.4 721 17958 roll 0.74 - - 3167 - 2.80 0.123 3661 496.4 232.9 - - 2131 - - - - - - - - 14.81 13.87 14.81
18021 95.2 10.0 731 18027 done 0.74 0.12 0.220 3141 -216.7 2.40 0.042 2276 -577.1 232.9 1.55 0.203 2120 -7.1 0.653 - - - - - - 13.91 14.28 13.91
18344 72.6 7.4 744 18356 roll 0.74 - - 3151 - 2.58 0.059 862 -548.1 238.7 4.45 0.308 2105 -3.4 0.156 - - - - - - 14.75 14.15 13.70
18364 71.2 7.2 747 18376 done 0.76 - - 3152 - 2.55 0.058 2282 556.9 249.1 7.70 0.357 2060 -5.8 0.229 - - - - - - 14.35 14.17 13.78
18712 52.9 3.1 763 18770 roll 0.96 0.08 0.143 3217 812.5 2.70 0.122 3660 510.4 342.1 53.30 0.328 1686 -7.0 0.222 - - - - - - 14.35 14.20 13.95
19001 36.7 5.2 805 19036 done 1.02 - - 3226 - 2.42 0.041 2261 -578.1 393.1 28.92 0.280 1485 -7.0 0.179 - - - - - - 14.33 14.27 13.95
19348 15.9 6.2 821 19372 roll 1.20 0.10 0.111 3306 800.0 2.70 0.120 3654 515.9 422.9 17.98 0.209 1363 -6.8 0.101 - - - - - - 14.29 14.07 13.93
19461 4.1 10.3 837 19467 done 1.20 - - 3316 - 2.35 0.038 2286 -582.1 422.9 - - 1369 - - - - - - - - 14.38 14.29 14.40
19484 end climb: SURFACE_DEPTH_REACHED
19484 begin surface coast
19513 end surface coast: CONTROL_FINISHED_OK
19513 begin surface
SM -2.56 - - - - -8.39 8.90 0.038 185 20.8 0.98 0.117 2762 1767.3 500.14 39.50 0.152 1056 26.7 0.046 - - - - - -