SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 642 * Raw log
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• Previous call tries 1 • 220.84 of 350.00 AH used of 24V (36.90% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.9 deg, depth -3.17 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 40 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 - - - 102 done -0.93 - - 105 - - - 2783 - -107.1 -81.47 - 3479 - - - - - - - - 14.64 12.65 14.59
106 3.1 -10.2 3 119 done -0.93 12.07 0.380 2590 205.9 - - 2782 - -107.1 - - 3479 - - - - - - - - 13.91 14.39 14.31
411 64.5 -12.6 14 416 roll -0.77 0.17 0.245 2635 264.7 2.03 0.129 3827 514.8 -107.1 - - 3481 - - - - - - - - 13.90 14.02 14.09
648 88.7 -10.3 48 653 done -0.77 - - 2632 - 1.83 0.044 2727 -601.1 -107.1 - - 3482 - - - - - - - - 14.40 14.37 14.40
971 115.0 -8.1 58 975 roll -0.77 - - 2627 - 2.17 0.132 3830 508.3 -107.1 - - 3485 - - - - - - - - 14.83 13.97 14.83
1131 129.1 -8.7 81 1138 done -0.77 - - 2626 - 1.77 0.048 2786 -589.8 -107.1 - - 3482 - - - - - - - - 14.38 14.34 14.40
1475 161.1 -9.5 88 1480 roll -0.77 - - 2626 - 2.38 0.047 1392 -585.7 -107.1 - - 3480 - - - - - - - - 14.87 14.21 14.87
1537 167.1 -9.5 97 1543 done -0.77 0.10 0.233 2647 210.0 2.60 0.087 2772 530.8 -107.1 - - 3480 - - - - - - - - 13.95 14.03 14.19
1867 196.3 -8.9 109 1868 done -0.77 - - 2645 - - - 2772 - -107.1 - - 3477 - - - - - - - - 14.87 14.87 14.87
2203 224.8 -8.4 115 2207 roll -0.77 - - 2645 - 2.45 0.047 1394 -562.4 -107.1 - - 3474 - - - - - - - - 14.83 14.24 14.84
2286 231.6 -7.8 127 2291 done -0.77 - - 2637 - 2.58 0.086 2770 533.3 -107.1 - - 3475 - - - - - - - - 14.27 14.00 14.32
2651 261.5 -8.2 137 2656 roll -0.77 - - 2628 - 2.08 0.134 3832 510.6 -107.1 - - 3472 - - - - - - - - 14.83 13.89 14.83
2699 263.9 -2.4 144 2705 done -0.77 - - 2628 - 1.83 0.050 2783 -573.2 -107.1 - - 3471 - - - - - - - - 14.31 14.28 14.32
3043 296.3 -9.5 151 3048 roll -0.77 - - 2627 - 2.47 0.046 1375 -570.0 -107.1 - - 3469 - - - - - - - - 14.83 14.22 14.82
3099 301.7 -8.9 159 3104 done -0.77 0.10 0.236 2647 200.0 2.62 0.084 2770 532.4 -107.1 - - 3468 - - - - - - - - 13.88 13.97 14.13
3435 331.8 -8.7 172 3436 done -0.77 - - 2647 - - - 2770 - -107.1 - - 3467 - - - - - - - - 14.86 14.86 14.86
3771 359.9 -8.2 178 3776 roll -0.77 - - 2647 - 2.45 0.046 1380 -567.3 -107.1 - - 3464 - - - - - - - - 14.81 14.17 14.81
3833 364.9 -8.0 187 3838 done -0.77 - - 2639 - 2.65 0.085 2772 525.3 -107.1 - - 3464 - - - - - - - - 14.21 13.96 14.26
4163 391.0 -8.0 199 4168 roll -0.77 - - 2638 - 2.50 0.045 1373 -559.6 -107.1 - - 3463 - - - - - - - - 14.83 14.21 14.83
4204 393.9 -7.7 205 4210 done -0.77 - - 2629 - 2.62 0.084 2762 530.2 -107.1 - - 3463 - - - - - - - - 14.21 13.95 14.26
4555 424.4 -8.9 213 4560 roll -0.77 - - 2618 - 2.10 0.134 3828 507.6 -107.1 - - 3461 - - - - - - - - 14.86 13.82 14.86
4603 428.9 -9.4 220 4609 done -0.77 0.08 0.207 2643 312.5 1.85 0.049 2777 -568.1 -107.1 - - 3460 - - - - - - - - 13.86 14.25 14.00
4947 459.8 -9.0 227 4951 roll -0.77 - - 2644 - 2.50 0.044 1364 -565.2 -107.1 - - 3458 - - - - - - - - 14.83 14.18 14.83
5051 469.1 -8.8 242 5057 done -0.77 - - 2639 - 2.67 0.083 2770 526.6 -107.1 - - 3458 - - - - - - - - 14.16 13.90 14.21
5395 498.6 -8.5 249 5400 roll -0.77 - - 2630 - 2.53 0.044 1357 -558.5 -107.1 - - 3456 - - - - - - - - 14.85 14.16 14.85
5429 501.5 -8.6 254 5434 done -0.77 - - 2624 - 2.65 0.083 2761 529.8 -107.1 - - 3457 - - - - - - - - 14.15 13.89 14.21
5787 530.3 -7.9 263 5792 roll -0.77 - - 2623 - 2.50 0.044 1366 -558.0 -107.1 - - 3455 - - - - - - - - 14.81 14.16 14.81
5856 537.7 -9.5 273 5862 done -0.77 0.12 0.223 2652 241.7 2.65 0.083 2761 526.4 -107.1 - - 3455 - - - - - - - - 13.77 13.90 14.04
6179 561.3 -7.3 284 6180 done -0.77 - - 2649 - - - 2761 - -107.1 - - 3454 - - - - - - - - 14.81 14.81 14.80
6515 584.8 -6.9 290 6520 roll -0.77 - - 2650 - 2.50 0.044 1368 -557.2 -107.1 - - 3452 - - - - - - - - 14.81 14.15 14.81
6584 589.6 -6.6 300 6589 done -0.86 - - 2641 - 2.67 0.086 2758 520.6 -107.1 - - 3452 - - - - - - - - 14.10 13.84 14.16
6907 613.1 -7.5 311 6912 roll -0.86 - - 2641 - 2.50 0.044 1368 -556.0 -107.1 - - 3450 - - - - - - - - 14.85 14.14 14.85
6948 616.6 -8.0 317 6954 done -0.94 - - 2632 - 2.65 0.086 2751 521.9 -107.1 - - 3451 - - - - - - - - 14.12 13.85 14.17
7299 642.6 -8.0 325 7300 done -0.94 0.03 0.358 2572 -2000.0 - - 2751 - -107.1 - - 3449 - - - - - - - - 14.45 14.48 14.47
7635 676.3 -9.9 331 7636 done -0.94 - - 2572 - - - 2751 - -107.1 - - 3448 - - - - - - - - 14.79 14.80 14.79
7971 710.4 -10.2 337 7971 done -0.94 - - 2572 - - - 2751 - -107.1 - - 3447 - - - - - - - - 14.80 14.80 14.80
8307 743.7 -9.9 343 8311 roll -0.94 - - 2564 - 2.17 0.132 3835 499.5 -107.1 - - 3446 - - - - - - - - 14.80 13.63 14.79
8355 747.9 -9.3 350 8362 done -0.86 0.17 0.203 2611 276.5 1.92 0.048 2754 -563.0 -107.1 - - 3446 - - - - - - - - 13.59 14.15 13.77
8699 778.7 -8.5 357 8705 roll -0.86 - - 2612 - 2.50 0.044 1364 -556.0 -107.1 - - 3445 - - - - - - - - 14.78 14.04 14.79
8775 785.4 -8.3 368 8780 done -0.86 - - 2603 - 2.67 0.083 2759 522.5 -107.1 - - 3445 - - - - - - - - 14.02 13.76 14.07
8975 end dive: TARGET_DEPTH_EXCEEDED
8975 begin apogee
8984 802.2 -8.4 376 9092 roll -0.23 0.80 0.184 2824 276.2 0.12 0.160 2273 -4050.0 - 100.10 2.524 3050 -3.9 0.251 - - - - 1 - 13.62 13.79 12.55
9094 end apogee: CONTROL_FINISHED_OK
9094 begin climb
9098 817.4 - 378 9233 roll 0.93 1.12 0.086 3188 325.0 2.55 0.056 892 -541.6 107.1 124.65 1.799 2619 -3.5 0.314 - - - - - - 13.93 13.95 12.95
9304 813.4 5.7 408 9352 done 0.84 - - 3193 - 2.42 0.061 2243 558.3 147.8 44.40 1.792 2461 -3.6 0.323 - - - - - - 14.31 14.16 13.05
9703 775.3 9.8 423 9708 roll 0.73 0.15 0.226 3139 -360.0 2.75 0.121 3658 514.5 147.8 - - 2443 - - - - - - - - 13.93 14.04 14.10
9765 769.5 9.1 432 9771 done 0.63 0.15 0.223 3110 -193.3 2.40 0.044 2269 -578.8 147.8 - - 2443 - - - - - - - - 14.01 14.38 14.30
10095 747.3 6.6 444 10127 roll 0.66 - - 3120 - 2.58 0.061 858 -546.9 170.5 23.67 1.850 2362 -3.4 0.277 - - - - - - 14.76 14.30 13.28
10151 743.7 6.0 452 10198 done 0.70 - - 3119 - 2.47 0.063 2251 564.0 205.2 39.10 1.749 2225 -3.5 0.298 - - - - - - 14.41 14.27 13.16
10543 713.5 7.8 466 10548 roll 0.70 - - 3119 - 2.72 0.125 3656 516.5 205.2 - - 2216 - - - - - - - - 14.71 14.04 14.71
10633 705.5 8.9 479 10639 done 0.70 - - 3129 - 2.45 0.044 2248 -574.7 205.2 - - 2212 - - - - - - - - 14.45 14.35 14.47
10991 675.4 8.5 488 10992 done 0.70 - - 3129 - - - 2245 - 205.2 - - 2212 - - - - - - - - 14.80 14.80 14.79
11327 646.1 8.8 494 11332 roll 0.70 - - 3129 - 2.80 0.125 3656 503.9 205.2 - - 2211 - - - - - - - - 14.81 13.95 14.81
11375 641.1 10.6 501 11383 done 0.70 - - 3140 - 2.45 0.044 2254 -572.2 205.2 - - 2210 - - - - - - - - 14.41 14.31 14.44
11719 607.1 10.0 508 11720 done 0.70 - - 3140 - - - 2258 - 205.2 - - 2209 - - - - - - - - 14.78 14.78 14.78
12055 574.0 9.7 514 12060 roll 0.70 - - 3140 - 2.78 0.125 3654 502.2 205.2 - - 2209 - - - - - - - - 14.78 13.88 14.78
12103 568.9 10.6 521 12111 done 0.70 - - 3150 - 2.45 0.044 2261 -568.6 205.2 - - 2209 - - - - - - - - 14.38 14.28 14.40
12447 535.7 9.6 528 12452 roll 0.70 - - 3161 - 2.53 0.061 856 -555.3 205.2 - - 2209 - - - - - - - - 14.78 14.07 14.78
12488 531.7 9.6 534 12494 done 0.70 0.10 0.217 3131 -300.0 2.53 0.065 2255 553.0 205.2 - - 2209 - - - - - - - - 13.94 14.09 14.21
12839 502.4 8.3 542 12844 roll 0.70 - - 3130 - 2.78 0.127 3657 504.3 205.2 - - 2209 - - - - - - - - 14.81 13.82 14.81
12895 497.3 9.3 550 12900 done 0.70 - - 3140 - 2.45 0.044 2255 -572.2 205.2 - - 2209 - - - - - - - - 14.36 14.27 14.40
13232 469.2 8.3 563 13232 done 0.70 - - 3141 - - - 2252 - 205.2 - - 2208 - - - - - - - - 14.81 14.81 14.81
13567 443.4 7.6 569 13573 roll 0.71 - - 3141 - 2.83 0.127 3659 497.2 207.7 - - 2208 - - - - - - - - 14.81 13.78 14.81
13615 439.3 8.5 576 13622 done 0.71 - - 3151 - 2.47 0.044 2253 -569.2 207.7 - - 2209 - - - - - - - - 14.33 14.23 14.35
13959 412.5 7.8 583 13960 done 0.71 - - 3151 - - - 2249 - 207.7 - - 2208 - - - - - - - - 14.77 14.77 14.77
14295 385.2 8.2 589 14301 roll 0.71 - - 3151 - 2.85 0.127 3662 495.8 207.7 - - 2209 - - - - - - - - 14.81 13.75 14.81
14351 380.0 9.7 597 14357 done 0.71 0.10 0.230 3133 -180.0 2.47 0.044 2255 -569.6 207.7 - - 2208 - - - - - - - - 13.78 14.13 14.04
14687 353.0 8.0 610 14692 roll 0.71 - - 3144 - 2.53 0.061 859 -551.8 207.7 - - 2209 - - - - - - - - 14.77 13.97 14.77
14714 350.7 8.2 614 14719 done 0.71 - - 3143 - 2.58 0.065 2271 547.3 207.7 - - 2209 - - - - - - - - 14.19 13.98 14.24
15079 319.7 8.6 624 15084 roll 0.71 - - 3143 - 2.78 0.129 3662 500.4 207.7 - - 2209 - - - - - - - - 14.77 13.73 14.77
15148 312.9 9.9 634 15153 done 0.71 - - 3161 - 2.45 0.042 2262 -571.4 207.7 - - 2209 - - - - - - - - 14.31 14.21 14.33
15471 284.1 8.9 645 15472 done 0.71 - - 3154 - - - 2259 - 207.7 - - 2209 - - - - - - - - 14.80 14.80 14.80
15807 255.6 8.4 651 15812 roll 0.71 - - 3154 - 2.85 0.125 3661 491.9 207.7 - - 2209 - - - - - - - - 14.81 13.71 14.81
15870 249.8 9.3 660 15875 done 0.71 0.12 0.219 3129 -208.3 2.45 0.042 2262 -571.0 207.7 - - 2209 - - - - - - - - 13.80 14.21 14.08
16199 226.5 7.0 672 16219 roll 0.72 - - 3129 - 2.80 0.125 3660 499.3 222.7 15.40 1.346 2155 -3.5 0.118 - - - - - - 14.81 14.16 13.48
16254 222.1 8.5 680 16259 done 0.72 - - 3137 - 2.40 0.044 2268 -580.0 222.7 - - 2149 - - - - - - - - 14.51 14.43 14.53
16584 196.0 8.0 692 16589 roll 0.72 - - 3148 - 2.53 0.061 858 -557.3 222.7 - - 2148 - - - - - - - - 14.78 14.13 14.78
16618 193.2 8.3 697 16624 done 0.72 - - 3148 - 2.55 0.064 2269 553.3 222.7 - - 2147 - - - - - - - - 14.33 14.14 14.38
16976 164.1 8.0 706 16981 roll 0.72 - - 3148 - 2.75 0.127 3661 506.2 222.7 - - 2147 - - - - - - - - 14.79 13.88 14.78
17066 155.6 9.3 719 17071 done 0.72 - - 3157 - 2.42 0.043 2266 -576.4 222.7 - - 2147 - - - - - - - - 14.38 14.28 14.40
17424 126.2 8.1 728 17425 done 0.72 - - 3158 - - - 2263 - 222.7 - - 2147 - - - - - - - - 14.76 14.76 14.76
17760 100.6 7.6 734 17765 roll 0.73 - - 3158 - 2.80 0.125 3658 498.2 225.1 - - 2147 - - - - - - - - 14.81 13.76 14.81
17808 96.5 8.6 741 17816 done 0.73 0.10 0.226 3139 -190.0 2.42 0.043 2270 -573.6 225.1 - - 2147 - - - - - - - - 13.92 14.22 14.14
18124 75.1 6.8 753 18136 done 0.75 - - 3139 - - - 2270 - 244.1 10.12 0.366 2076 -7.0 0.288 - - - - - - 14.74 14.21 13.75
18433 59.5 5.1 764 18473 roll 0.91 0.08 0.144 3210 887.5 2.55 0.060 868 -549.8 295.9 31.02 0.346 1873 -6.5 0.225 - - - - - - 14.38 14.31 13.90
18547 52.0 7.8 780 18552 done 0.91 - - 3210 - 2.55 0.062 2281 554.1 295.9 - - 1875 - - - - - - - - 14.33 14.15 14.37
18883 42.8 1.4 795 18959 roll 1.18 0.12 0.099 3292 683.3 2.70 0.126 3657 509.6 422.9 71.25 0.297 1366 -7.1 0.206 - - - - - - 14.33 14.17 13.97
19064 30.2 10.0 821 19070 done 1.18 - - 3302 - 2.38 0.042 2279 -579.0 422.9 - - 1368 - - - - - - - - 14.40 14.32 14.42
19383 end climb: SURFACE_DEPTH_REACHED
19383 begin surface coast
19411 end surface coast: CONTROL_FINISHED_OK
19411 begin surface
SM -2.13 - - - - -8.38 8.88 0.035 179 20.2 0.95 0.093 2768 1829.5 500.14 39.58 0.150 1056 26.7 0.039 - - - - - -