SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 641 * Raw log
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• Previous call tries 1 • 220.54 of 350.00 AH used of 24V (36.99% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.4 deg, depth -2.87 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 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 - - - 2778 - -107.1 -81.45 - 3480 - - - - - - - - 14.63 12.64 14.59
106 2.8 -10.3 3 123 roll -0.93 11.93 0.379 2583 207.7 1.98 0.096 3841 536.9 -107.1 - - 3480 - - - - - - - - 13.93 14.26 14.30
179 30.8 -25.1 14 186 done -0.61 0.38 0.246 2693 289.5 1.85 0.038 2722 -604.9 -107.1 - - 3480 - - - - - - - - 13.93 14.40 14.23
495 65.1 -8.8 26 500 roll -0.61 - - 2688 - 2.17 0.132 3833 512.0 -107.1 - - 3479 - - - - - - - - 14.81 14.00 14.81
655 78.0 -7.3 49 662 done -0.61 - - 2685 - 1.77 0.045 2784 -592.7 -107.1 - - 3481 - - - - - - - - 14.39 14.35 14.40
971 99.5 -6.5 61 977 roll -0.61 - - 2683 - 2.45 0.045 1380 -573.1 -107.1 - - 3482 - - - - - - - - 14.81 14.28 14.82
1027 103.0 -6.2 69 1032 done -0.69 - - 2675 - 2.60 0.086 2772 535.4 -107.1 - - 3483 - - - - - - - - 14.31 14.07 14.35
1364 128.2 -7.6 82 1368 roll -0.69 - - 2667 - 2.05 0.135 3825 513.7 -107.1 - - 3486 - - - - - - - - 14.81 13.94 14.81
1411 132.1 -8.3 89 1418 done -0.69 - - 2665 - 1.80 0.047 2771 -585.6 -107.1 - - 3481 - - - - - - - - 14.37 14.35 14.40
1755 157.0 -7.3 96 1760 roll -0.69 - - 2667 - 2.42 0.045 1387 -571.9 -107.1 - - 3480 - - - - - - - - 14.83 14.27 14.82
1859 164.8 -7.2 111 1865 done -0.78 - - 2658 - 2.62 0.085 2772 528.6 -107.1 - - 3479 - - - - - - - - 14.26 14.02 14.31
2203 192.9 -8.4 118 2208 roll -0.78 - - 2658 - 2.47 0.046 1380 -563.6 -107.1 - - 3476 - - - - - - - - 14.86 14.24 14.86
2251 197.3 -8.9 125 2258 done -0.78 - - 2650 - 2.62 0.086 2765 528.6 -107.1 - - 3476 - - - - - - - - 14.23 13.96 14.28
2595 227.5 -8.8 132 2599 roll -0.78 - - 2650 - 2.45 0.046 1386 -562.9 -107.1 - - 3473 - - - - - - - - 14.86 14.26 14.87
2636 231.1 -8.8 138 2641 done -0.78 - - 2641 - 2.60 0.086 2770 532.3 -107.1 - - 3473 - - - - - - - - 14.26 14.01 14.31
2987 262.5 -9.0 146 2992 roll -0.78 - - 2641 - 2.47 0.046 1381 -562.3 -107.1 - - 3470 - - - - - - - - 14.86 14.25 14.86
3021 265.7 -9.1 151 3026 done -0.78 - - 2633 - 2.60 0.084 2756 528.8 -107.1 - - 3470 - - - - - - - - 14.23 13.98 14.28
3379 298.1 -9.1 160 3383 roll -0.78 - - 2624 - 2.10 0.133 3837 514.8 -107.1 - - 3468 - - - - - - - - 14.83 13.84 14.83
3435 303.4 -9.7 168 3439 done -0.78 - - 2624 - 1.83 0.047 2760 -588.5 -107.1 - - 3468 - - - - - - - - 14.42 14.38 14.45
3771 333.8 -8.9 181 3776 roll -0.78 - - 2624 - 2.42 0.045 1385 -568.2 -107.1 - - 3466 - - - - - - - - 14.85 14.21 14.85
3840 339.9 -8.7 191 3845 done -0.78 0.10 0.235 2643 190.0 2.60 0.082 2767 531.5 -107.1 - - 3466 - - - - - - - - 13.85 13.95 14.12
4163 366.6 -8.4 202 4164 done -0.78 - - 2643 - - - 2764 - -107.1 - - 3463 - - - - - - - - 14.82 14.83 14.84
4499 396.5 -9.2 208 4503 roll -0.78 - - 2643 - 2.47 0.046 1382 -559.5 -107.1 - - 3463 - - - - - - - - 14.83 14.19 14.83
4582 403.9 -8.1 220 4587 done -0.78 - - 2634 - 2.60 0.083 2751 526.5 -107.1 - - 3462 - - - - - - - - 14.19 13.95 14.25
4947 437.0 -9.2 230 4951 roll -0.78 - - 2633 - 2.45 0.045 1383 -558.4 -107.1 - - 3460 - - - - - - - - 14.82 14.19 14.82
5009 442.5 -8.6 239 5014 done -0.78 - - 2624 - 2.60 0.083 2757 528.5 -107.1 - - 3460 - - - - - - - - 14.16 13.92 14.21
5339 472.1 -9.0 251 5343 roll -0.78 - - 2623 - 2.47 0.046 1377 -558.7 -107.1 - - 3459 - - - - - - - - 14.85 14.16 14.86
5366 474.4 -8.6 255 5371 done -0.78 0.10 0.236 2642 190.0 2.60 0.084 2750 528.1 -107.1 - - 3458 - - - - - - - - 13.81 13.91 14.07
5731 504.5 -8.2 265 5736 roll -0.78 - - 2643 - 2.45 0.046 1387 -556.3 -107.1 - - 3457 - - - - - - - - 14.81 14.14 14.82
5772 507.8 -8.2 271 5777 done -0.78 - - 2635 - 2.60 0.084 2753 525.4 -107.1 - - 3457 - - - - - - - - 14.14 13.88 14.19
6123 536.8 -8.3 279 6127 roll -0.78 - - 2634 - 2.47 0.046 1380 -555.9 -107.1 - - 3456 - - - - - - - - 14.82 14.04 14.82
6185 541.9 -8.0 288 6190 done -0.78 - - 2624 - 2.62 0.084 2749 522.5 -107.1 - - 3455 - - - - - - - - 14.14 13.88 14.19
6515 568.5 -8.1 300 6519 roll -0.78 - - 2617 - 2.15 0.135 3830 502.8 -107.1 - - 3454 - - - - - - - - 14.79 13.71 14.82
6556 571.8 -8.3 306 6561 done -0.78 0.08 0.210 2646 362.5 1.90 0.048 2747 -570.0 -107.1 - - 3454 - - - - - - - - 13.83 14.22 14.09
6907 594.4 -6.5 314 6912 roll -0.78 - - 2646 - 2.45 0.046 1372 -561.2 -107.1 - - 3453 - - - - - - - - 14.90 14.14 14.85
7004 601.6 -6.4 328 7009 done -0.86 - - 2637 - 2.62 0.083 2745 524.0 -107.1 - - 3453 - - - - - - - - 14.09 13.83 14.15
7355 627.1 -7.4 336 7360 roll -0.86 - - 2637 - 2.50 0.046 1365 -552.0 -107.1 - - 3451 - - - - - - - - 14.85 14.03 14.85
7417 632.3 -7.8 345 7423 done -0.94 - - 2628 - 2.62 0.083 2737 523.7 -107.1 - - 3450 - - - - - - - - 14.08 13.82 14.14
7747 659.7 -8.4 357 7752 roll -0.94 - - 2620 - 2.17 0.132 3833 505.1 -107.1 - - 3449 - - - - - - - - 14.85 13.66 14.84
7767 661.7 -8.7 360 7772 done -0.94 - - 2618 - 1.95 0.050 2733 -564.1 -107.1 - - 3449 - - - - - - - - 14.19 14.16 14.20
8083 691.3 -9.4 370 8087 roll -0.94 - - 2623 - 2.45 0.044 1361 -560.0 -107.1 - - 3452 - - - - - - - - 14.83 14.11 14.83
8139 696.8 -9.8 378 8143 done -0.94 - - 2610 - 2.62 0.079 2741 526.7 -107.1 - - 3448 - - - - - - - - 14.07 13.81 14.12
8475 730.1 -9.9 391 8479 roll -0.94 - - 2601 - 2.15 0.130 3825 504.2 -107.1 - - 3447 - - - - - - - - 14.83 13.66 14.83
8509 733.5 -9.9 396 8514 done -0.94 - - 2600 - 1.95 0.048 2721 -566.2 -107.1 - - 3448 - - - - - - - - 14.27 14.14 14.29
8867 766.6 -9.2 405 8872 roll -0.94 - - 2600 - 2.42 0.045 1374 -556.6 -107.1 - - 3446 - - - - - - - - 14.78 14.04 14.78
8901 769.8 -9.1 410 8906 done -0.94 - - 2591 - 2.62 0.080 2743 522.5 -107.1 - - 3446 - - - - - - - - 14.03 13.76 14.09
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9265 800.3 -8.5 419 9371 roll -0.23 0.82 0.189 2819 278.0 0.10 0.194 2275 -4680.0 - 98.00 2.518 3053 -4.0 0.255 - - - - 1 - 13.60 13.76 12.56
9372 end apogee: CONTROL_FINISHED_OK
9372 begin climb
9376 803.1 - 421 9512 roll 0.93 1.12 0.091 3183 325.0 2.58 0.055 883 -539.5 107.1 124.40 1.788 2618 -3.5 0.314 - - - - - - 13.93 13.96 12.92
9561 797.8 6.9 448 9586 done 0.82 - - 3183 - 2.45 0.060 2242 554.7 124.4 17.48 1.902 2550 -3.9 0.326 - - - - - - 14.27 14.14 13.05
9933 765.0 8.9 459 9938 roll 0.70 0.15 0.230 3134 -326.7 2.72 0.117 3652 518.4 124.4 - - 2540 - - - - - - - - 13.98 14.05 14.16
9981 760.8 8.4 466 9988 done 0.60 0.17 0.221 3105 -170.6 2.40 0.044 2273 -574.6 124.4 - - 2540 - - - - - - - - 13.97 14.35 14.28
10325 740.4 5.7 473 10371 done 0.65 - - 3098 - - - 2273 - 164.6 45.35 1.762 2394 -3.2 0.271 - - - - - - 14.75 14.17 13.24
10661 719.0 6.5 479 10693 roll 0.68 - - 3097 - 2.72 0.121 3650 506.2 188.5 25.60 1.812 2290 -4.1 0.322 - - - - - - 14.69 14.14 13.27
10758 712.0 7.5 493 10763 done 0.69 - - 3106 - 2.42 0.044 2254 -576.9 194.0 1.20 0.238 2274 -13.3 7.978 - - - - - - 14.44 14.35 14.15
11109 689.3 6.4 501 11150 roll 0.72 - - 3106 - 2.80 0.124 3653 499.6 221.4 36.62 1.739 2161 -3.1 0.245 - - - - - - 14.76 14.16 13.27
11178 684.6 6.9 511 11199 done 0.74 - - 3116 - 2.45 0.044 2245 -574.7 237.1 16.92 1.818 2108 -3.1 0.236 - - - - - - 14.40 14.33 13.22
11550 657.5 7.3 522 11556 roll 0.75 - - 3116 - 2.83 0.121 3656 498.6 245.0 1.90 0.219 2072 -18.9 11.377 - - - - - - 14.71 14.05 13.93
11591 653.9 9.0 528 11596 done 0.75 - - 3125 - 2.42 0.044 2254 -579.3 245.0 - - 2079 - - - - - - - - 14.45 14.35 14.46
11942 624.2 8.6 536 11943 done 0.75 - - 3125 - - - 2250 - 245.0 - - 2080 - - - - - - - - 14.76 14.76 14.76
12278 594.4 8.9 542 12283 roll 0.75 - - 3126 - 2.78 0.124 3648 502.9 245.0 - - 2080 - - - - - - - - 14.85 13.63 14.81
12326 589.5 10.0 549 12332 done 0.75 - - 3134 - 2.45 0.044 2252 -569.8 245.0 - - 2080 - - - - - - - - 14.40 14.31 14.42
12670 557.5 9.4 556 12671 done 0.75 - - 3135 - - - 2249 - 245.0 - - 2080 - - - - - - - - 14.78 14.78 14.78
13006 524.9 9.7 562 13011 roll 0.75 - - 3134 - 2.80 0.122 3649 500.0 245.0 - - 2080 - - - - - - - - 14.81 13.89 14.81
13033 521.9 10.7 566 13039 done 0.75 - - 3145 - 2.42 0.044 2257 -575.2 245.0 - - 2080 - - - - - - - - 14.40 14.30 14.42
13398 484.9 10.2 576 13403 roll 0.75 - - 3156 - 2.53 0.064 859 -552.6 245.0 - - 2080 - - - - - - - - 14.82 14.07 14.82
13418 482.8 10.1 579 13423 done 0.75 - - 3155 - 2.53 0.063 2259 553.4 245.0 - - 2079 - - - - - - - - 14.29 14.09 14.33
13734 451.5 9.8 589 13739 roll 0.75 - - 3155 - 2.78 0.125 3661 504.3 245.0 - - 2080 - - - - - - - - 14.78 13.84 14.78
13768 447.9 10.7 594 13775 done 0.75 - - 3166 - 2.45 0.044 2256 -573.5 245.0 1.08 0.246 2068 -11.1 4.046 - - - - - - 14.37 14.27 13.90
14126 411.9 10.1 603 14127 done 0.75 - - 3165 - - - 2253 - 245.0 - - 2078 - - - - - - - - 14.77 14.78 14.78
14462 378.3 10.0 609 14466 roll 0.75 - - 3176 - 2.55 0.064 853 -549.0 245.0 - - 2078 - - - - - - - - 14.78 14.00 14.78
14489 375.6 9.8 613 14495 done 0.75 0.10 0.218 3147 -290.0 2.58 0.065 2269 548.8 245.0 - - 2078 - - - - - - - - 13.89 14.02 14.12
14855 343.5 8.7 623 14859 roll 0.75 - - 3146 - 2.75 0.125 3658 505.1 245.0 - - 2079 - - - - - - - - 14.76 13.79 14.77
14895 339.4 10.3 629 14900 done 0.75 - - 3156 - 2.45 0.044 2257 -571.8 245.0 - - 2079 - - - - - - - - 14.36 14.26 14.38
15246 304.8 10.0 637 15250 roll 0.75 - - 3167 - 2.55 0.065 860 -547.8 245.0 - - 2079 - - - - - - - - 14.78 13.97 14.78
15273 301.9 10.4 641 15278 done 0.75 - - 3168 - 2.58 0.063 2272 547.3 245.0 - - 2080 - - - - - - - - 14.23 14.03 14.27
15638 265.6 9.9 651 15643 roll 0.75 - - 3167 - 2.75 0.125 3657 503.6 245.0 - - 2079 - - - - - - - - 14.76 13.76 14.77
15686 260.5 10.6 658 15694 done 0.75 0.12 0.224 3143 -200.0 2.45 0.042 2267 -567.3 245.0 - - 2079 - - - - - - - - 13.81 14.18 14.06
16030 231.6 8.3 665 16035 roll 0.75 - - 3143 - 2.80 0.123 3657 496.4 245.0 - - 2079 - - - - - - - - 14.76 13.76 14.76
16050 229.8 8.4 668 16055 done 0.75 - - 3152 - 2.42 0.042 2268 -574.0 245.0 - - 2080 - - - - - - - - 14.32 14.21 14.34
16366 202.5 8.6 678 16371 roll 0.75 - - 3162 - 2.58 0.063 853 -548.4 245.0 - - 2079 - - - - - - - - 14.77 13.96 14.77
16407 198.8 9.0 684 16412 done 0.75 - - 3162 - 2.58 0.063 2270 549.2 245.0 - - 2080 - - - - - - - - 14.19 13.99 14.23
16758 167.3 9.0 692 16763 roll 0.75 - - 3162 - 2.78 0.125 3656 498.6 245.0 - - 2081 - - - - - - - - 14.78 13.73 14.77
16820 160.6 10.7 701 16825 done 0.75 - - 3173 - 2.45 0.043 2266 -567.3 245.0 - - 2080 - - - - - - - - 14.28 14.19 14.31
17150 129.9 9.2 713 17156 roll 0.75 0.08 0.248 3155 -225.0 2.58 0.060 855 -546.9 245.0 - - 2080 - - - - - - - - 14.04 13.93 14.13
17177 127.5 8.5 717 17182 done 0.75 - - 3155 - 2.58 0.063 2268 547.7 245.0 - - 2081 - - - - - - - - 14.17 13.97 14.22
17542 97.5 8.2 727 17547 roll 0.75 - - 3155 - 2.78 0.125 3659 500.4 245.0 - - 2081 - - - - - - - - 14.77 13.71 14.77
17598 92.7 8.6 735 17603 done 0.75 - - 3165 - 2.45 0.043 2263 -569.8 245.0 - - 2082 - - - - - - - - 14.33 14.22 14.34
17934 64.9 8.4 750 17939 roll 0.75 - - 3165 - 2.83 0.123 3661 494.0 245.0 - - 2081 - - - - - - - - 14.76 13.66 14.76
17954 63.0 9.0 753 17961 done 0.75 0.10 0.224 3147 -180.0 2.45 0.042 2271 -567.3 245.0 - - 2082 - - - - - - - - 13.78 14.14 14.01
18270 47.0 4.3 765 18313 done 0.94 0.08 0.145 3210 787.5 - - 2267 - 314.4 40.65 0.313 1796 -7.0 0.211 - - - - - - 14.36 14.28 13.90
18610 34.0 3.6 780 18662 roll 1.15 0.08 0.145 3280 875.0 2.78 0.125 3660 501.1 397.6 46.50 0.269 1466 -7.1 0.179 - - - - - - 14.35 14.17 13.95
18774 21.5 8.3 804 18779 done 1.15 - - 3289 - 2.42 0.041 2260 -578.5 397.6 - - 1469 - - - - - - - - 14.31 14.22 14.34
19050 end climb: SURFACE_DEPTH_REACHED
19050 begin surface coast
19078 end surface coast: CONTROL_FINISHED_OK
19078 begin surface
SM -2.29 - - - - -8.43 9.02 0.047 176 19.5 1.00 0.090 2768 1738.0 500.14 52.15 0.151 1057 20.3 0.031 - - - - - -