SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 645 * Raw log
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• Previous call tries 1 • 221.71 of 350.00 AH used of 24V (36.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth -1.40 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 3 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 - - - 2786 - -107.1 -82.10 - 3478 - - - - - - - - 14.63 12.65 14.59
106 4.1 -9.5 3 123 roll -0.93 11.95 0.380 2583 207.4 1.95 0.094 3832 536.4 -107.1 - - 3479 - - - - - - - - 13.92 14.28 14.31
179 32.7 -24.7 14 185 done -0.63 0.35 0.241 2690 305.7 1.83 0.040 2716 -609.8 -107.1 - - 3479 - - - - - - - - 13.93 14.40 14.24
495 72.8 -9.4 26 500 roll -0.63 - - 2690 - 2.25 0.044 1411 -580.0 -107.1 - - 3480 - - - - - - - - 14.78 14.28 14.78
627 84.0 -7.3 45 634 done -0.63 - - 2680 - 2.55 0.086 2773 534.1 -107.1 - - 3481 - - - - - - - - 14.23 13.97 14.27
971 106.4 -5.8 56 976 roll -0.63 - - 2680 - 2.38 0.043 1407 -573.9 -107.1 - - 3481 - - - - - - - - 14.83 14.28 14.83
1110 114.6 -5.9 76 1115 done -0.63 - - 2671 - 2.55 0.086 2772 535.3 -107.1 - - 3481 - - - - - - - - 14.29 14.04 14.33
1475 142.2 -8.1 86 1480 roll -0.63 - - 2670 - 2.38 0.044 1397 -577.7 -107.1 - - 3481 - - - - - - - - 14.83 14.21 14.83
1544 148.0 -8.2 96 1549 done -0.70 - - 2662 - 2.58 0.087 2772 532.9 -107.1 - - 3480 - - - - - - - - 14.29 14.04 14.33
1867 174.7 -8.2 107 1872 roll -0.70 - - 2662 - 2.40 0.043 1406 -569.2 -107.1 - - 3477 - - - - - - - - 14.83 14.26 14.83
1908 178.2 -8.3 113 1914 done -0.70 - - 2653 - 2.55 0.087 2765 532.9 -107.1 - - 3477 - - - - - - - - 14.26 14.00 14.31
2259 208.5 -8.7 121 2260 done -0.70 - - 2654 - - - 2765 - -107.1 - - 3475 - - - - - - - - 14.84 14.84 14.84
2595 238.3 -8.8 127 2600 roll -0.70 - - 2654 - 2.38 0.044 1417 -566.4 -107.1 - - 3473 - - - - - - - - 14.83 14.26 14.83
2671 245.0 -8.6 138 2676 done -0.70 - - 2645 - 2.55 0.087 2763 527.8 -107.1 - - 3472 - - - - - - - - 14.23 13.97 14.28
2987 272.8 -8.7 148 2992 roll -0.70 - - 2637 - 2.10 0.139 3826 506.2 -107.1 - - 3470 - - - - - - - - 14.87 13.85 14.87
3021 275.9 -9.1 153 3027 done -0.70 0.10 0.196 2666 290.0 1.77 0.052 2813 -572.3 -107.1 - - 3469 - - - - - - - - 13.91 14.30 14.05
3379 303.3 -7.7 162 3384 roll -0.78 - - 2666 - 2.55 0.044 1367 -567.1 -107.1 - - 3468 - - - - - - - - 14.83 14.21 14.83
3483 311.5 -7.5 177 3491 done -0.88 0.08 0.144 2591 -937.5 2.67 0.085 2760 521.7 -107.1 - - 3466 - - - - - - - - 14.14 13.95 14.29
3827 345.6 -10.0 184 3827 done -0.88 - - 2591 - - - 2758 - -107.1 - - 3465 - - - - - - - - 14.86 14.87 14.86
4163 378.4 -9.9 190 4164 done -0.88 - - 2591 - - - 2760 - -107.1 - - 3463 - - - - - - - - 14.86 14.86 14.87
4499 414.7 -11.0 196 4499 done -0.88 - - 2591 - - - 2760 - -107.1 - - 3461 - - - - - - - - 14.83 14.83 14.83
4835 452.8 -11.2 202 4840 roll -0.88 - - 2590 - 2.53 0.046 1359 -553.8 -107.1 - - 3461 - - - - - - - - 14.85 14.17 14.85
4869 456.7 -11.5 207 4874 done -0.88 0.12 0.232 2614 200.0 2.67 0.084 2770 528.5 -107.1 - - 3459 - - - - - - - - 13.78 13.90 14.05
5227 491.5 -9.6 216 5227 done -0.88 - - 2613 - - - 2770 - -107.1 - - 3458 - - - - - - - - 14.82 14.82 14.83
5563 523.2 -9.3 222 5567 roll -0.88 - - 2613 - 2.53 0.045 1360 -557.3 -107.1 - - 3456 - - - - - - - - 14.81 14.16 14.81
5597 526.6 -9.9 227 5602 done -0.88 - - 2604 - 2.67 0.083 2766 526.6 -107.1 - - 3460 - - - - - - - - 14.14 13.87 14.19
5955 561.7 -9.8 236 5960 roll -0.88 - - 2603 - 2.50 0.044 1366 -560.0 -107.1 - - 3454 - - - - - - - - 14.85 14.16 14.85
5982 564.4 -9.6 240 5987 done -0.88 - - 2594 - 2.65 0.085 2759 525.7 -107.1 - - 3454 - - - - - - - - 14.12 13.87 14.21
6347 599.6 -9.6 250 6351 roll -0.88 - - 2586 - 2.15 0.142 3834 500.0 -107.1 - - 3453 - - - - - - - - 14.85 13.81 14.85
6403 605.1 -10.1 258 6408 done -0.88 0.10 0.238 2612 260.0 1.88 0.050 2742 -580.9 -107.1 - - 3453 - - - - - - - - 13.88 14.31 14.11
6739 633.7 -8.5 271 6743 roll -0.88 - - 2613 - 2.42 0.044 1377 -564.0 -107.1 - - 3451 - - - - - - - - 14.84 14.15 14.85
6787 637.7 -8.2 278 6793 done -0.88 - - 2604 - 2.65 0.083 2757 520.8 -107.1 - - 3451 - - - - - - - - 14.09 13.82 14.14
7131 667.5 -8.7 285 7137 roll -0.88 - - 2603 - 2.47 0.044 1377 -558.7 -107.1 - - 3449 - - - - - - - - 14.84 14.14 14.84
7193 673.0 -8.7 294 7198 done -0.88 - - 2594 - 2.65 0.085 2756 520.4 -107.1 - - 3449 - - - - - - - - 14.07 13.81 14.13
7523 702.4 -8.9 306 7528 roll -0.88 - - 2586 - 2.15 0.139 3830 499.5 -107.1 - - 3450 - - - - - - - - 14.82 13.66 14.84
7564 706.4 -9.7 312 7569 done -0.88 0.10 0.239 2613 270.0 1.85 0.050 2758 -579.5 -107.1 - - 3448 - - - - - - - - 13.81 14.21 14.04
7915 734.7 -8.1 320 7919 roll -0.88 - - 2613 - 2.47 0.044 1372 -561.1 -107.1 - - 3447 - - - - - - - - 14.79 14.09 14.80
7991 740.6 -7.3 331 7996 done -0.88 - - 2604 - 2.65 0.083 2761 524.2 -107.1 - - 3444 - - - - - - - - 14.06 13.80 14.12
8307 765.8 -7.9 341 8308 done -0.88 - - 2604 - - - 2760 - -107.1 - - 3446 - - - - - - - - 14.79 14.79 14.79
8643 792.0 -7.7 347 8644 done -0.88 - - 2604 - - - 2761 - -107.1 - - 3444 - - - - - - - - 14.79 14.79 14.79
8751 end dive: TARGET_DEPTH_EXCEEDED
8751 begin apogee
8760 800.8 -7.7 349 8876 roll -0.23 0.77 0.180 2821 281.8 0.08 0.211 2252 -6362.5 - 112.65 1.786 3052 -3.5 0.310 - - - - - - 13.64 13.86 13.01
8877 end apogee: CONTROL_FINISHED_OK
8877 begin climb
8882 802.8 - 351 9008 roll 0.93 1.12 0.090 3184 324.1 2.53 0.054 874 -544.7 107.1 116.80 1.744 2622 -3.7 0.337 - - - - - - 13.97 14.00 12.95
9029 799.6 4.8 374 9098 done 0.84 - - 3184 - 2.55 0.061 2266 545.9 165.3 63.10 1.727 2390 -3.7 0.338 - - - - - - 14.19 14.05 13.00
9433 759.5 10.6 396 9438 roll 0.74 0.12 0.232 3143 -341.7 2.70 0.125 3655 514.4 165.3 - - 2372 - - - - - - - - 14.00 14.02 14.17
9507 751.3 10.1 407 9513 done 0.65 0.15 0.218 3112 -206.7 2.40 0.045 2267 -578.3 165.3 - - 2372 - - - - - - - - 13.99 14.35 14.27
9823 727.0 7.6 417 9824 done 0.65 - - 3113 - - - 2265 - 168.5 - - 2370 - - - - - - - - 14.76 14.76 14.76
10159 702.7 7.1 423 10179 roll 0.67 - - 3112 - 2.72 0.129 3659 512.5 180.8 13.30 1.828 2323 -3.5 0.270 - - - - - - 14.77 14.27 13.41
10215 698.2 8.6 431 10220 done 0.67 - - 3121 - 2.45 0.047 2247 -576.3 180.8 - - 2319 - - - - - - - - 14.54 14.46 14.56
10551 671.7 7.9 444 10556 roll 0.67 - - 3121 - 2.80 0.129 3658 503.9 180.8 - - 2316 - - - - - - - - 14.78 14.03 14.78
10585 668.7 8.9 449 10592 done 0.67 - - 3131 - 2.45 0.046 2250 -574.7 180.8 - - 2316 - - - - - - - - 14.47 14.39 14.50
10943 638.3 8.6 458 10948 roll 0.67 - - 3142 - 2.47 0.060 859 -563.2 180.8 - - 2312 - - - - - - - - 14.81 14.14 14.81
10970 635.8 8.7 462 10976 done 0.67 - - 3142 - 2.53 0.065 2259 553.4 180.8 - - 2315 - - - - - - - - 14.33 14.14 14.38
11335 603.7 8.8 472 11340 roll 0.67 - - 3142 - 2.75 0.129 3656 508.0 180.8 - - 2314 - - - - - - - - 14.81 13.89 14.81
11369 600.5 9.2 477 11376 done 0.67 0.12 0.227 3117 -208.3 2.45 0.044 2240 -578.0 180.8 - - 2314 - - - - - - - - 13.95 14.33 14.23
11728 574.1 7.2 486 11739 roll 0.68 - - 3116 - 2.83 0.129 3658 501.1 191.8 3.88 1.298 2289 -6.4 0.566 - - - - - - 14.78 14.16 13.18
11783 569.6 8.3 494 11789 done 0.68 - - 3126 - 2.40 0.046 2256 -584.2 191.8 1.95 0.235 2285 -2.1 0.987 - - - - - - 14.54 14.45 14.01
12112 544.5 7.7 506 12119 roll 0.68 - - 3126 - 2.85 0.129 3658 491.9 191.8 1.83 0.220 2288 1.6 -0.806 - - - - - - 14.77 14.01 13.86
12167 539.5 9.2 514 12173 done 0.68 - - 3135 - 2.40 0.045 2268 -579.2 191.8 1.95 0.227 2285 -1.5 0.726 - - - - - - 14.44 14.33 13.85
12498 511.7 8.5 526 12501 done 0.68 - - 3135 - - - 2266 - 191.8 2.12 0.379 2285 - - - - - - - - 14.76 14.21 12.98
12834 483.7 8.3 532 12836 done 0.68 - - 3135 - - - 2265 - 191.8 1.80 0.220 2285 - - - - - - - - 14.77 14.07 13.76
13169 456.8 7.9 538 13174 roll 0.68 - - 3135 - 2.83 0.129 3657 491.9 191.8 - - 2296 - - - - - - - - 14.77 13.79 14.77
13245 450.2 8.7 549 13252 done 0.68 - - 3146 - 2.45 0.045 2264 -568.6 191.8 1.77 0.216 2285 -6.2 2.572 - - - - - - 14.33 14.23 13.81
13561 426.9 7.3 559 13580 done 0.69 - - 3146 - - - 2261 - 201.3 17.88 1.557 2247 -2.1 0.116 - - - - - - 14.76 14.28 13.43
13898 402.8 7.1 565 13909 roll 0.71 - - 3146 - 2.75 0.132 3657 507.6 213.6 4.93 1.502 2209 -7.7 0.410 - - - - - - 14.73 14.20 13.13
13945 398.9 8.4 572 13953 done 0.71 - - 3156 - 2.45 0.046 2251 -573.9 213.6 2.38 0.583 2198 -4.6 0.628 - - - - - - 14.52 14.44 13.09
14290 372.3 7.9 579 14295 roll 0.71 - - 3167 - 2.58 0.061 852 -542.2 213.6 1.85 0.223 2200 - - - - - - - - 14.75 14.19 13.87
14338 368.1 8.7 586 14345 done 0.71 0.12 0.206 3130 -308.3 2.55 0.065 2265 554.1 213.6 1.88 0.211 2197 -1.6 0.553 - - - - - - 14.00 14.14 13.92
14667 343.1 7.7 598 14678 roll 0.71 - - 3129 - 2.78 0.132 3659 501.4 215.1 2.75 0.784 2197 - - - - - - - - 14.80 14.13 13.26
14723 338.2 9.0 606 14729 done 0.71 - - 3139 - 2.42 0.045 2257 -579.3 215.1 1.85 0.225 2193 -2.2 0.645 - - - - - - 14.47 14.40 13.97
15053 310.6 8.5 618 15056 done 0.71 - - 3140 - - - 2254 - 215.1 2.15 0.396 2192 - - - - - - - - 14.76 14.23 13.09
15389 280.9 8.8 624 15395 roll 0.71 - - 3139 - 2.88 0.130 3657 487.2 215.1 1.98 0.220 2193 - - - - - - - - 14.80 13.93 13.73
15437 276.3 9.8 631 15443 done 0.71 - - 3149 - 2.42 0.045 2265 -575.2 215.1 1.85 0.224 2193 - - - - - - - - 14.38 14.30 13.80
15767 248.4 8.3 643 15773 roll 0.71 - - 3149 - 2.85 0.131 3655 487.7 215.1 1.92 0.220 2195 - - - - - - - - 14.76 13.88 13.74
15794 246.0 8.7 647 15799 done 0.71 - - 3159 - 2.42 0.044 2266 -574.0 215.1 1.48 0.239 2193 - - - - - - - - 14.38 14.28 13.78
16151 217.7 7.8 656 16158 roll 0.71 0.08 0.248 3141 -225.0 2.60 0.060 858 -541.5 215.1 1.88 0.195 2196 1.6 -0.354 - - - - - - 14.03 14.08 13.72
16186 215.2 7.0 661 16213 done 0.73 - - 3141 - 2.58 0.066 2275 549.2 228.9 22.85 1.317 2138 -2.5 0.082 - - - - - - 14.24 14.04 13.47
16530 189.5 7.5 675 16534 roll 0.73 - - 3142 - 2.72 0.135 3656 507.7 233.6 - - 2120 - - - - - - - - 14.76 13.96 14.76
16578 185.3 8.8 682 16584 done 0.73 - - 3151 - 2.42 0.044 2267 -574.0 233.6 - - 2120 - - - - - - - - 14.41 14.33 14.43
16922 155.8 8.8 689 16928 roll 0.73 - - 3151 - 2.80 0.132 3656 496.1 233.6 - - 2120 - - - - - - - - 14.79 13.88 14.79
16949 153.0 10.0 693 16955 done 0.73 - - 3161 - 2.40 0.044 2266 -579.2 233.6 - - 2120 - - - - - - - - 14.40 14.31 14.42
17314 119.7 9.0 703 17318 roll 0.73 - - 3171 - 2.55 0.062 855 -553.3 233.6 - - 2120 - - - - - - - - 14.76 14.05 14.76
17341 117.1 9.3 707 17346 done 0.73 0.12 0.201 3135 -300.0 2.58 0.066 2273 549.6 233.6 - - 2120 - - - - - - - - 13.93 14.06 14.17
17678 92.8 6.8 718 17690 done 0.76 - - 3135 - - - 2272 - 253.1 10.77 0.404 2042 -7.2 0.330 - - - - - - 14.74 14.25 13.76
17986 71.8 6.5 729 18006 roll 0.87 0.08 0.146 3205 875.0 2.60 0.061 854 -545.4 278.4 15.98 0.365 1943 -6.2 0.242 - - - - - - 14.36 14.29 13.83
18020 68.9 8.5 734 18025 done 0.87 - - 3204 - 2.55 0.068 2271 555.7 278.4 - - 1947 - - - - - - - - 14.42 14.23 14.46
18343 46.3 4.5 747 18389 roll 0.95 - - 3213 - 2.60 0.061 851 -546.2 343.8 37.90 0.308 1681 -7.0 0.210 - - - - - - 14.78 14.33 13.97
18479 40.3 4.9 766 18516 done 1.12 0.08 0.142 3276 787.5 2.60 0.063 2301 557.7 399.3 31.55 0.289 1459 -7.0 0.195 - - - - - - 14.16 14.13 13.97
18851 15.7 8.7 786 18856 roll 1.12 - - 3276 - 2.72 0.136 3659 499.3 399.3 - - 1463 - - - - - - - - 14.70 13.84 14.70
18918 9.7 7.2 796 18934 done 1.14 - - 3287 - 2.35 0.041 2285 -584.7 410.8 7.25 0.191 1413 -6.9 0.070 - - - - - - 14.37 14.28 13.93
19013 end climb: SURFACE_DEPTH_REACHED
19013 begin surface coast
19041 end surface coast: CONTROL_FINISHED_OK
19041 begin surface
SM -1.33 - - - - -8.39 8.95 0.045 185 20.6 0.95 0.099 2777 -6817.9 500.14 45.75 0.151 1056 23.1 0.021 - - - - - -