SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 643 * Raw log
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• Previous call tries 1 • 221.14 of 350.00 AH used of 24V (36.82% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -71.0 deg, depth -2.17 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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 - - - 101 done -0.93 - - 105 - - - 2783 - -107.1 -80.10 - 3477 - - - - - - - - 14.64 12.97 14.59
106 4.5 -11.8 3 122 roll -0.93 11.88 0.379 2582 208.5 1.95 0.106 3837 540.5 -107.1 - - 3480 - - - - - - - - 13.93 14.28 14.21
165 30.4 -29.6 12 170 done -0.55 0.47 0.239 2718 289.4 1.85 0.039 2708 -610.3 -107.1 - - 3479 - - - - - - - - 14.00 14.43 14.30
495 65.8 -7.6 26 500 roll -0.55 - - 2709 - 2.20 0.135 3824 507.3 -107.1 - - 3479 - - - - - - - - 14.81 14.02 14.81
672 78.2 -7.9 51 677 done -0.64 - - 2709 - 1.83 0.046 2745 -589.6 -107.1 - - 3480 - - - - - - - - 14.47 14.38 14.50
1028 104.2 -7.0 65 1034 roll -0.75 0.08 0.143 2618 -1137.5 2.35 0.042 1393 -575.3 -107.1 - - 3481 - - - - - - - - 14.52 14.27 14.52
1069 108.0 -9.9 71 1075 done -0.75 0.15 0.220 2651 220.0 2.58 0.084 2764 531.4 -107.1 - - 3481 - - - - - - - - 13.95 14.08 14.21
1420 138.9 -8.8 79 1425 roll -0.75 - - 2643 - 2.10 0.138 3840 512.4 -107.1 - - 3479 - - - - - - - - 14.86 13.95 14.86
1524 148.6 -9.3 94 1531 done -0.75 - - 2642 - 1.83 0.047 2773 -583.1 -107.1 - - 3479 - - - - - - - - 14.39 14.36 14.40
1868 181.7 -9.8 101 1873 roll -0.75 - - 2642 - 2.45 0.046 1379 -569.0 -107.1 - - 3476 - - - - - - - - 14.83 14.21 14.83
1924 187.1 -9.7 109 1929 done -0.75 - - 2632 - 2.65 0.090 2786 530.9 -107.1 - - 3474 - - - - - - - - 14.27 14.02 14.33
2260 219.9 -9.6 122 2261 done -0.75 - - 2633 - - - 2785 - -107.1 - - 3474 - - - - - - - - 14.86 14.86 14.86
2596 249.9 -8.9 128 2601 roll -0.75 - - 2632 - 2.50 0.045 1378 -562.8 -107.1 - - 3471 - - - - - - - - 14.87 14.28 14.88
2652 254.8 -8.8 136 2657 done -0.75 0.10 0.232 2651 190.0 2.65 0.086 2772 526.0 -107.1 - - 3471 - - - - - - - - 13.92 14.02 14.17
2988 281.3 -7.8 149 2989 done -0.75 - - 2651 - - - 2772 - -107.1 - - 3468 - - - - - - - - 14.86 14.87 14.87
3324 309.8 -8.6 155 3329 roll -0.75 - - 2651 - 2.47 0.045 1383 -562.3 -107.1 - - 3466 - - - - - - - - 14.87 14.25 14.87
3365 313.6 -9.1 161 3371 done -0.75 - - 2642 - 2.62 0.086 2770 529.4 -107.1 - - 3466 - - - - - - - - 14.28 14.00 14.30
3716 347.1 -9.6 169 3722 roll -0.75 - - 2643 - 2.47 0.046 1386 -560.3 -107.1 - - 3464 - - - - - - - - 14.88 14.24 14.87
3772 352.5 -9.6 177 3778 done -0.75 - - 2633 - 2.62 0.088 2767 527.1 -107.1 - - 3463 - - - - - - - - 14.21 13.96 14.26
4108 384.1 -9.2 190 4113 roll -0.75 - - 2632 - 2.47 0.046 1385 -559.5 -107.1 - - 3462 - - - - - - - - 14.85 14.19 14.86
4135 386.5 -8.8 194 4141 done -0.75 0.10 0.236 2651 190.0 2.62 0.087 2767 527.5 -107.1 - - 3461 - - - - - - - - 13.85 13.94 14.11
4500 412.5 -6.8 204 4505 roll -0.75 - - 2651 - 2.47 0.047 1384 -559.9 -107.1 - - 3460 - - - - - - - - 14.85 14.23 14.85
4548 415.7 -6.5 211 4555 done -0.83 - - 2643 - 2.62 0.088 2757 524.0 -107.1 - - 3460 - - - - - - - - 14.17 13.95 14.23
4892 438.2 -6.5 218 4897 roll -0.83 - - 2643 - 2.45 0.045 1386 -559.6 -107.1 - - 3458 - - - - - - - - 14.85 14.16 14.85
4933 441.1 -6.9 224 4938 done -0.83 - - 2634 - 2.62 0.088 2756 522.9 -107.1 - - 3457 - - - - - - - - 14.17 13.92 14.23
5284 468.7 -8.1 232 5289 roll -0.83 - - 2634 - 2.47 0.046 1379 -557.5 -107.1 - - 3456 - - - - - - - - 14.82 14.19 14.80
5325 472.2 -8.6 238 5330 done -0.83 - - 2625 - 2.62 0.086 2756 525.6 -107.1 - - 3456 - - - - - - - - 14.17 13.91 14.22
5676 504.7 -9.4 246 5677 done -0.83 - - 2625 - - - 2755 - -107.1 - - 3455 - - - - - - - - 14.81 14.81 14.81
6012 536.1 -9.2 252 6017 roll -0.83 - - 2624 - 2.47 0.047 1381 -556.3 -107.1 - - 3453 - - - - - - - - 14.82 14.16 14.82
6095 543.5 -8.6 264 6100 done -0.83 - - 2615 - 2.62 0.086 2754 524.0 -107.1 - - 3453 - - - - - - - - 14.16 13.90 14.21
6460 574.7 -8.4 274 6465 roll -0.83 - - 2607 - 2.15 0.137 3834 502.3 -107.1 - - 3451 - - - - - - - - 14.81 13.71 14.81
6501 578.4 -8.9 280 6506 done -0.83 - - 2606 - 1.88 0.051 2770 -566.0 -107.1 - - 3451 - - - - - - - - 14.25 14.22 14.29
6852 608.9 -8.9 288 6857 roll -0.83 - - 2606 - 2.50 0.046 1370 -560.0 -107.1 - - 3450 - - - - - - - - 14.84 14.12 14.85
6935 616.3 -8.5 300 6941 done -0.83 0.12 0.231 2632 216.7 2.65 0.084 2753 521.9 -107.1 - - 3450 - - - - - - - - 13.71 13.85 13.99
7300 644.8 -7.8 310 7301 done -0.83 - - 2632 - - - 2753 - -107.1 - - 3449 - - - - - - - - 14.81 14.81 14.81
7636 670.4 -7.6 316 7641 roll -0.83 - - 2632 - 2.53 0.047 1362 -549.8 -107.1 - - 3447 - - - - - - - - 14.80 14.10 14.80
7677 673.6 -7.5 322 7682 done -0.83 - - 2622 - 2.70 0.086 2758 517.0 -107.1 - - 3447 - - - - - - - - 14.10 13.84 14.16
8028 700.4 -7.7 330 8029 done -0.83 - - 2623 - - - 2758 - -107.1 - - 3446 - - - - - - - - 14.79 14.79 14.79
8364 726.9 -8.0 336 8369 roll -0.83 - - 2622 - 2.53 0.045 1366 -550.2 -107.1 - - 3444 - - - - - - - - 14.79 14.09 14.80
8391 729.1 -7.9 340 8396 done -0.83 - - 2614 - 2.67 0.086 2752 519.1 -107.1 - - 3444 - - - - - - - - 14.05 13.79 14.11
8756 758.5 -8.1 350 8761 roll -0.83 - - 2612 - 2.50 0.045 1373 -551.6 -107.1 - - 3442 - - - - - - - - 14.79 14.04 14.78
8783 760.7 -8.2 354 8788 done -0.83 - - 2603 - 2.67 0.086 2752 516.5 -107.1 - - 3443 - - - - - - - - 14.04 13.77 14.09
9148 792.2 -8.7 364 9153 roll -0.83 - - 2602 - 2.53 0.046 1363 -549.0 -107.1 - - 3442 - - - - - - - - 14.78 14.03 14.78
9175 794.7 -9.3 368 9181 done -0.83 0.12 0.232 2627 208.3 2.65 0.086 2745 521.5 -107.1 - - 3442 - - - - - - - - 13.62 13.77 13.92
9256 end dive: TARGET_DEPTH_EXCEEDED
9256 begin apogee
9266 801.5 -8.0 373 9379 roll -0.23 0.68 0.171 2821 285.3 0.10 0.192 2271 -4740.0 - 110.35 1.825 3051 -3.5 0.319 - - - - - - 13.68 13.88 13.01
9381 end apogee: CONTROL_FINISHED_OK
9381 begin climb
9385 804.7 - 375 9513 roll 0.93 1.12 0.090 3186 325.9 2.55 0.056 880 -545.5 107.1 117.97 1.747 2620 -3.7 0.345 - - - - - - 14.00 14.02 12.99
9598 799.8 6.4 407 9630 done 0.84 - - 3187 - 2.47 0.063 2250 554.7 132.6 26.95 1.831 2518 -3.8 0.339 - - - - - - 14.25 14.11 13.09
9990 766.9 8.8 421 9996 roll 0.71 0.17 0.220 3132 -323.5 2.72 0.122 3655 516.5 132.6 - - 2505 - - - - - - - - 13.89 14.03 14.05
10017 764.5 8.9 425 10024 done 0.61 0.15 0.222 3102 -200.0 2.40 0.046 2267 -578.3 132.6 - - 2505 - - - - - - - - 13.97 14.38 14.22
10382 741.0 6.3 435 10422 roll 0.65 - - 3101 - 2.78 0.125 3658 500.4 161.0 30.98 1.805 2399 -3.4 0.288 - - - - - - 14.76 14.21 13.28
10458 735.7 7.7 446 10463 done 0.65 - - 3110 - 2.45 0.045 2246 -576.3 161.0 - - 2394 - - - - - - - - 14.45 14.38 14.47
10774 713.3 7.1 456 10792 roll 0.66 - - 3118 - 2.80 0.126 3655 503.2 174.3 9.77 1.939 2358 -3.7 0.278 - - - - - - 14.73 14.26 13.29
10830 709.0 8.2 464 10835 done 0.66 - - 3121 - 2.42 0.044 2252 -579.8 174.3 - - 2356 - - - - - - - - 14.52 14.43 14.53
11166 684.2 7.3 477 11177 roll 0.67 - - 3129 - 2.78 0.127 3656 505.0 182.4 4.75 1.716 2326 -6.3 0.516 - - - - - - 14.75 14.25 13.08
11214 680.2 8.4 484 11221 done 0.67 - - 3129 - 2.42 0.046 2258 -577.7 182.4 2.17 0.461 2324 - - - - - - - - 14.54 14.45 12.93
11558 653.5 7.7 491 11561 done 0.67 - - 3126 - - - 2256 - 182.5 1.67 0.228 2323 - - - - - - - - 14.79 14.23 13.93
11894 627.4 7.8 497 11899 roll 0.67 - - 3130 - 2.78 0.127 3652 502.2 182.5 - - 2333 - - - - - - - - 14.78 13.96 14.78
11956 622.0 8.6 506 11962 done 0.67 - - 3140 - 2.42 0.044 2259 -575.6 182.5 1.80 0.224 2321 -6.7 3.793 - - - - - - 14.42 14.33 13.88
12286 595.2 8.2 518 12291 roll 0.67 - - 3151 - 2.53 0.060 850 -556.9 182.5 1.42 0.232 2323 - - - - - - - - 14.81 13.97 13.81
12342 590.6 8.1 526 12347 done 0.67 0.10 0.224 3123 -280.0 2.55 0.064 2262 553.7 182.5 - - 2332 - - - - - - - - 13.96 14.12 14.20
12678 567.1 6.9 539 12710 roll 0.69 - - 3122 - 2.67 0.127 3661 524.0 198.3 26.27 1.687 2250 -3.1 0.215 - - - - - - 14.78 14.22 13.35
12768 560.1 8.1 552 12773 done 0.69 - - 3132 - 2.42 0.044 2250 -583.1 198.3 - - 2245 - - - - - - - - 14.50 14.40 14.51
13126 534.1 7.2 561 13137 roll 0.70 - - 3131 - 2.83 0.128 3659 497.9 208.1 3.00 1.014 2226 -6.3 0.684 - - - - - - 14.77 14.18 13.15
13182 529.6 8.4 569 13188 done 0.70 - - 3142 - 2.42 0.045 2260 -578.1 208.1 2.00 0.238 2221 -2.5 1.140 - - - - - - 14.49 14.40 12.26
13518 503.6 7.9 582 13524 roll 0.70 - - 3152 - 2.60 0.062 847 -543.5 208.1 1.88 0.226 2221 - - - - - - - - 14.76 14.17 13.83
13559 500.1 8.5 588 13566 done 0.70 - - 3152 - 2.58 0.064 2267 550.4 208.1 1.83 0.230 2220 - - - - - - - - 14.33 14.14 13.88
13903 469.5 9.0 595 13909 roll 0.70 - - 3152 - 2.80 0.129 3651 494.3 208.1 1.75 0.224 2222 - - - - - - - - 14.76 13.95 13.77
13972 462.1 10.8 605 13979 done 0.70 0.12 0.226 3127 -208.3 2.42 0.043 2264 -573.1 208.1 1.77 0.211 2219 -1.7 0.761 - - - - - - 13.93 14.29 13.85
14288 434.7 8.6 615 14291 done 0.70 - - 3127 - - - 2262 - 208.1 1.83 0.221 2220 - - - - - - - - 14.80 14.02 13.69
14624 407.0 8.1 621 14627 done 0.70 - - 3127 - - - 2267 - 208.1 1.77 0.220 2220 - - - - - - - - 14.81 14.05 13.73
14960 382.4 7.2 627 14985 roll 0.72 - - 3127 - 2.72 0.129 3655 510.3 219.4 19.40 1.519 2170 -2.6 0.133 - - - - - - 14.76 14.22 13.40
15008 378.7 7.7 634 15015 done 0.72 - - 3136 - 2.42 0.044 2260 -576.4 219.8 - - 2164 - - - - - - - - 14.49 14.39 14.52
15352 352.8 7.5 641 15353 done 0.72 - - 3136 - - - 2254 - 224.2 - - 2162 - - - - - - - - 14.78 14.78 14.78
15688 327.1 7.8 647 15689 done 0.72 - - 3136 - - - 2254 - 224.2 - - 2162 - - - - - - - - 14.76 14.76 14.78
16024 299.7 8.2 653 16029 roll 0.72 - - 3136 - 2.80 0.126 3656 500.7 224.2 - - 2162 - - - - - - - - 14.77 13.91 14.77
16065 295.9 9.3 659 16070 done 0.72 - - 3146 - 2.42 0.044 2265 -574.8 224.2 - - 2162 - - - - - - - - 14.41 14.31 14.43
16416 266.1 8.6 667 16417 done 0.72 - - 3147 - - - 2263 - 224.2 - - 2162 - - - - - - - - 14.81 14.81 14.81
16752 236.9 8.6 673 16753 done 0.72 - - 3149 - - - 2263 - 224.2 - - 2162 - - - - - - - - 14.81 14.81 14.81
17088 209.2 8.1 679 17093 roll 0.72 - - 3147 - 2.83 0.128 3655 491.9 224.2 - - 2162 - - - - - - - - 14.77 13.83 14.77
17129 205.5 8.8 685 17136 done 0.72 - - 3157 - 2.47 0.044 2252 -568.0 224.2 - - 2162 - - - - - - - - 14.33 14.19 14.36
17480 177.7 7.8 693 17485 roll 0.72 - - 3171 - 2.53 0.063 859 -550.6 224.2 - - 2162 - - - - - - - - 14.76 14.00 14.76
17528 173.8 8.0 700 17535 done 0.72 0.10 0.209 3138 -330.0 2.58 0.066 2265 545.0 224.2 - - 2162 - - - - - - - - 13.90 13.99 14.12
17873 149.0 7.3 707 17892 roll 0.73 - - 3137 - 2.75 0.130 3657 506.2 233.5 14.27 1.268 2113 -3.4 0.083 - - - - - - 14.76 14.16 13.51
17941 143.5 8.2 717 17947 done 0.73 - - 3147 - 2.40 0.043 2258 -582.9 233.5 - - 2107 - - - - - - - - 14.54 14.45 14.56
18264 116.4 8.7 728 18269 roll 0.73 - - 3157 - 2.50 0.062 856 -560.8 233.5 - - 2106 - - - - - - - - 14.76 14.16 14.76
18291 113.9 9.1 732 18296 done 0.73 - - 3158 - 2.55 0.065 2269 554.1 233.5 - - 2104 - - - - - - - - 14.35 14.15 14.40
18628 84.5 8.0 744 18633 roll 0.73 - - 3163 - 2.75 0.130 3660 505.8 233.5 - - 2105 - - - - - - - - 14.76 13.92 14.76
18690 79.2 8.4 753 18696 done 0.73 - - 3167 - 2.40 0.043 2267 -580.4 233.5 - - 2105 - - - - - - - - 14.40 14.33 14.45
19020 58.5 5.3 767 19052 roll 0.79 - - 3178 - 2.55 0.061 862 -551.0 282.0 24.75 0.346 1926 -7.2 0.251 - - - - - - 14.75 14.34 13.90
19184 50.3 5.7 790 19215 done 0.94 - - 3178 - 2.58 0.065 2280 549.6 322.5 23.77 0.321 1766 -6.7 0.216 - - - - - - 14.32 14.12 13.94
19528 36.5 2.0 806 19599 roll 1.25 0.28 0.063 3313 482.1 2.70 0.129 3657 510.0 436.0 62.53 0.278 1316 -7.2 0.194 - - - - - - 14.28 14.15 14.02
19705 20.9 11.6 832 19710 done 1.25 - - 3323 - 2.38 0.042 2281 -578.2 436.0 - - 1318 - - - - - - - - 14.40 14.30 14.42
19884 end climb: SURFACE_DEPTH_REACHED
19884 begin surface coast
19912 end surface coast: CONTROL_FINISHED_OK
19912 begin surface
SM -2.47 - - - - -8.38 9.00 0.043 180 20.0 0.98 0.100 2767 1772.4 500.14 32.67 0.153 1058 32.4 0.053 - - - - - -