SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 647 * Raw log
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• Previous call tries 1 • 222.31 of 350.00 AH used of 24V (36.48% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.0 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: 24 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 - - - 2780 - -107.1 -80.72 - 3475 - - - - - - - - 14.64 12.64 14.59
106 4.8 -10.7 3 123 roll -0.93 11.90 0.379 2586 208.5 2.00 0.112 3832 526.0 -107.1 - - 3479 - - - - - - - - 13.94 14.25 14.33
172 31.0 -25.5 13 178 done -0.62 0.38 0.236 2693 281.6 1.85 0.042 2715 -603.8 -107.1 - - 3479 - - - - - - - - 14.02 14.42 14.28
495 70.1 -8.5 26 500 roll -0.62 - - 2685 - 2.22 0.141 3833 503.6 -107.1 - - 3481 - - - - - - - - 14.78 13.97 14.78
648 86.8 -11.1 48 653 done -0.62 - - 2685 - 1.77 0.050 2792 -588.1 -107.1 - - 3482 - - - - - - - - 14.41 14.36 14.40
971 110.5 -5.7 58 976 roll -0.62 - - 2685 - 2.45 0.047 1386 -573.9 -107.1 - - 3482 - - - - - - - - 14.85 14.28 14.85
1047 113.2 -3.3 69 1053 done -0.71 - - 2676 - 2.62 0.095 2774 529.8 -107.1 - - 3481 - - - - - - - - 14.29 14.04 14.33
1364 132.8 -7.1 79 1368 roll -0.71 - - 2675 - 2.45 0.046 1380 -569.0 -107.1 - - 3480 - - - - - - - - 14.84 14.28 14.84
1411 137.3 -9.1 86 1418 done -0.79 - - 2667 - 2.65 0.096 2762 521.5 -107.1 - - 3480 - - - - - - - - 14.26 14.00 14.31
1755 167.0 -8.2 93 1761 roll -0.79 - - 2666 - 2.45 0.045 1375 -566.1 -107.1 - - 3478 - - - - - - - - 14.83 14.28 14.83
1782 168.9 -6.7 97 1788 done -0.79 - - 2658 - 2.65 0.095 2767 525.3 -107.1 - - 3477 - - - - - - - - 14.26 14.00 14.31
2147 194.5 -7.4 107 2151 roll -0.79 - - 2650 - 2.12 0.147 3834 503.3 -107.1 - - 3478 - - - - - - - - 14.83 13.86 14.83
2181 197.6 -8.8 112 2186 done -0.79 - - 2650 - 1.85 0.054 2764 -578.4 -107.1 - - 3475 - - - - - - - - 14.38 14.35 14.39
2539 229.0 -8.8 121 2540 done -0.79 - - 2650 - - - 2763 - -107.1 - - 3471 - - - - - - - - 14.85 14.86 14.86
2875 257.6 -8.5 127 2879 roll -0.79 - - 2650 - 2.45 0.047 1374 -566.9 -107.1 - - 3470 - - - - - - - - 14.86 14.23 14.87
2902 260.1 -8.8 131 2907 done -0.79 - - 2641 - 2.67 0.093 2771 523.2 -107.1 - - 3470 - - - - - - - - 14.22 13.95 14.27
3267 294.3 -9.5 141 3272 roll -0.79 - - 2641 - 2.50 0.047 1373 -559.2 -107.1 - - 3468 - - - - - - - - 14.83 14.21 14.83
3301 297.6 -9.6 146 3306 done -0.79 - - 2631 - 2.70 0.093 2774 518.9 -107.1 - - 3468 - - - - - - - - 14.20 13.93 14.25
3659 330.0 -8.9 155 3663 roll -0.79 - - 2629 - 2.50 0.046 1377 -558.8 -107.1 - - 3465 - - - - - - - - 14.83 14.23 14.83
3693 333.0 -8.5 160 3698 done -0.79 - - 2622 - 2.67 0.093 2773 522.8 -107.1 - - 3465 - - - - - - - - 13.75 13.88 13.95
4051 364.7 -8.9 169 4056 roll -0.79 - - 2621 - 2.50 0.047 1376 -558.8 -107.1 - - 3463 - - - - - - - - 14.84 14.19 14.85
4092 368.7 -9.5 175 4097 done -0.79 0.10 0.237 2639 180.0 2.67 0.093 2770 522.1 -107.1 - - 3463 - - - - - - - - 13.84 13.90 14.10
4443 401.2 -9.5 183 4444 done -0.79 - - 2640 - - - 2769 - -107.1 - - 3461 - - - - - - - - 14.83 14.83 14.83
4779 434.6 -9.9 189 4784 roll -0.79 - - 2640 - 2.50 0.047 1379 -556.0 -107.1 - - 3459 - - - - - - - - 14.83 14.16 14.81
4835 439.9 -9.2 197 4840 done -0.79 - - 2631 - 2.67 0.093 2771 521.3 -107.1 - - 3459 - - - - - - - - 14.16 13.89 14.22
5171 468.4 -8.2 210 5172 done -0.79 - - 2630 - - - 2771 - -107.1 - - 3457 - - - - - - - - 14.81 14.82 14.82
5507 493.9 -7.6 216 5512 roll -0.79 - - 2629 - 2.50 0.047 1379 -556.8 -107.1 - - 3456 - - - - - - - - 14.82 14.16 14.82
5555 497.8 -8.0 223 5561 done -0.79 - - 2621 - 2.67 0.093 2763 518.4 -107.1 - - 3456 - - - - - - - - 14.13 13.85 14.18
5899 528.7 -9.2 230 5904 roll -0.79 - - 2613 - 2.15 0.148 3826 494.4 -107.1 - - 3454 - - - - - - - - 14.84 13.71 14.84
5933 532.1 -10.2 235 5938 done -0.79 0.10 0.200 2641 280.0 1.88 0.052 2765 -564.4 -107.1 - - 3454 - - - - - - - - 13.78 14.21 13.93
6291 561.0 -7.8 244 6295 roll -0.79 - - 2641 - 2.50 0.046 1362 -561.2 -107.1 - - 3453 - - - - - - - - 14.81 14.12 14.81
6395 568.6 -7.1 259 6401 done -0.79 - - 2633 - 2.70 0.088 2755 515.9 -107.1 - - 3454 - - - - - - - - 14.09 13.81 14.14
6739 594.2 -7.5 266 6744 roll -0.79 - - 2623 - 2.17 0.142 3836 498.2 -107.1 - - 3451 - - - - - - - - 14.83 13.79 14.83
6773 597.0 -8.0 271 6778 done -0.79 - - 2620 - 1.92 0.051 2740 -570.8 -107.1 - - 3450 - - - - - - - - 14.26 14.23 14.27
7131 627.3 -8.7 280 7135 roll -0.79 - - 2623 - 2.45 0.046 1365 -561.2 -107.1 - - 3449 - - - - - - - - 14.84 14.09 14.84
7200 633.6 -9.0 290 7205 done -0.79 0.10 0.234 2642 190.0 2.67 0.085 2759 522.1 -107.1 - - 3450 - - - - - - - - 13.74 13.81 13.99
7523 660.2 -8.2 301 7524 done -0.79 - - 2642 - - - 2759 - -107.1 - - 3448 - - - - - - - - 14.79 14.80 14.79
7859 687.4 -8.1 307 7863 roll -0.79 - - 2642 - 2.50 0.046 1370 -555.6 -107.1 - - 3447 - - - - - - - - 14.84 14.10 14.84
7915 692.0 -8.2 315 7920 done -0.87 - - 2633 - 2.67 0.087 2753 518.0 -107.1 - - 3447 - - - - - - - - 14.04 13.77 14.10
8251 719.8 -8.3 328 8256 roll -0.87 - - 2636 - 2.50 0.045 1368 -554.0 -107.1 - - 3446 - - - - - - - - 14.83 14.05 14.84
8299 724.0 -8.8 335 8305 done -0.87 - - 2623 - 2.70 0.088 2751 512.2 -107.1 - - 3446 - - - - - - - - 14.02 13.75 14.08
8643 751.3 -7.8 342 8648 roll -0.87 - - 2615 - 2.17 0.140 3828 496.3 -107.1 - - 3441 - - - - - - - - 14.78 13.62 14.79
8684 754.6 -7.9 348 8689 done -0.87 - - 2614 - 1.88 0.051 2744 -576.6 -107.1 - - 3445 - - - - - - - - 14.26 14.16 14.28
9035 780.4 -7.3 356 9036 done -0.87 - - 2614 - - - 2745 - -107.1 - - 3443 - - - - - - - - 14.78 14.78 14.78
9311 end dive: TARGET_DEPTH_EXCEEDED
9311 begin apogee
9320 800.6 -7.3 361 9433 roll -0.23 0.75 0.174 2826 282.7 - - 2233 - - 111.00 1.812 3051 -3.5 0.310 - - - - - - 13.64 13.93 13.00
9435 end apogee: CONTROL_FINISHED_OK
9435 begin climb
9439 802.4 - 363 9568 roll 0.93 1.10 0.086 3184 325.5 2.53 0.057 849 -547.0 107.1 116.07 1.756 2617 -3.7 0.340 - - - - - - 13.97 14.00 12.96
9589 798.7 5.3 386 9652 done 0.84 - - 3183 - 2.58 0.061 2258 546.1 156.5 54.25 1.746 2418 -3.7 0.333 - - - - - - 14.19 14.06 12.99
9989 759.5 10.2 401 9996 roll 0.73 0.12 0.232 3142 -341.7 2.75 0.125 3660 509.8 156.5 - - 2404 - - - - - - - - 13.99 14.01 14.15
10045 754.0 9.9 409 10051 done 0.65 0.15 0.228 3113 -193.3 2.50 0.047 2231 -571.6 156.5 - - 2404 - - - - - - - - 13.96 14.34 14.26
10381 730.6 6.7 422 10408 roll 0.67 - - 3118 - 2.78 0.127 3655 512.2 177.6 21.17 1.780 2337 -3.2 0.258 - - - - - - 14.75 14.11 13.31
10457 725.1 7.7 433 10463 done 0.67 - - 3121 - 2.42 0.046 2251 -580.2 178.0 - - 2323 - - - - - - - - 14.48 14.40 14.50
10773 703.7 6.7 443 10797 done 0.70 - - 3122 - - - 2249 - 199.3 22.40 1.772 2257 -2.9 0.233 - - - - - - 14.73 14.27 13.31
11110 678.7 7.7 449 11115 roll 0.70 - - 3119 - 2.78 0.131 3652 504.7 200.7 - - 2235 - - - - - - - - 14.72 14.04 14.72
11144 675.6 8.9 454 11148 done 0.70 - - 3132 - 2.42 0.046 2257 -576.4 200.7 - - 2236 - - - - - - - - 14.45 14.37 14.48
11501 643.0 9.3 463 11506 roll 0.70 - - 3132 - 2.80 0.131 3659 500.7 200.7 - - 2235 - - - - - - - - 14.76 13.98 14.73
11535 639.4 10.7 468 11540 done 0.70 - - 3143 - 2.45 0.047 2248 -575.9 200.7 - - 2234 - - - - - - - - 14.45 14.35 14.47
11893 603.3 10.2 477 11899 roll 0.70 - - 3153 - 2.50 0.063 857 -556.4 200.7 - - 2235 - - - - - - - - 14.81 14.12 14.81
11920 600.4 10.2 481 11926 done 0.70 - - 3153 - 2.55 0.068 2260 550.2 200.7 - - 2234 - - - - - - - - 14.32 14.12 14.37
12285 563.3 10.2 491 12290 roll 0.70 - - 3153 - 2.78 0.132 3658 502.9 200.7 - - 2234 - - - - - - - - 14.78 13.88 14.78
12389 551.9 10.9 506 12396 done 0.70 0.12 0.229 3129 -200.0 2.45 0.045 2264 -569.0 200.7 - - 2234 - - - - - - - - 13.90 14.28 14.19
12733 522.8 8.3 513 12734 done 0.70 - - 3129 - - - 2262 - 200.7 - - 2234 - - - - - - - - 14.81 14.81 14.85
13069 496.2 7.9 519 13074 roll 0.70 - - 3128 - 2.83 0.132 3658 493.3 200.7 - - 2234 - - - - - - - - 14.80 13.82 14.80
13125 491.2 9.2 527 13130 done 0.70 - - 3138 - 2.45 0.046 2262 -569.8 200.7 - - 2234 - - - - - - - - 14.38 14.28 14.40
13461 463.9 8.1 540 13462 done 0.70 - - 3138 - - - 2259 - 200.7 - - 2234 - - - - - - - - 14.77 14.77 14.76
13797 437.5 7.8 546 13802 roll 0.70 - - 3138 - 2.83 0.130 3656 493.6 200.7 - - 2233 - - - - - - - - 14.81 13.78 14.81
13845 433.0 9.2 553 13853 done 0.70 - - 3148 - 2.47 0.046 2254 -567.6 200.7 - - 2232 - - - - - - - - 14.32 14.22 14.35
14189 404.4 8.4 560 14190 done 0.70 - - 3149 - - - 2254 - 200.7 - - 2233 - - - - - - - - 14.76 14.76 14.75
14525 376.4 8.4 566 14530 roll 0.70 - - 3149 - 2.85 0.132 3656 491.9 200.7 - - 2234 - - - - - - - - 14.76 13.75 14.76
14573 371.8 9.6 573 14581 done 0.70 0.10 0.229 3130 -190.0 2.47 0.047 2257 -566.4 200.7 - - 2233 - - - - - - - - 13.85 14.20 14.13
14917 344.5 7.9 580 14918 done 0.70 - - 3130 - - - 2256 - 200.7 - - 2233 - - - - - - - - 14.76 14.76 14.76
15253 316.9 8.2 586 15254 done 0.70 - - 3130 - - - 2256 - 200.7 - - 2234 - - - - - - - - 14.76 14.77 14.76
15589 289.9 8.0 592 15590 done 0.70 - - 3130 - - - 2256 - 200.7 - - 2234 - - - - - - - - 14.76 14.76 14.76
15925 263.7 7.7 598 15930 roll 0.70 - - 3131 - 2.88 0.132 3660 487.5 200.7 - - 2233 - - - - - - - - 14.76 13.71 14.74
15952 261.4 8.2 602 15958 done 0.70 - - 3140 - 2.45 0.047 2269 -567.8 200.7 - - 2234 - - - - - - - - 14.24 14.10 14.28
16318 234.6 7.3 612 16330 roll 0.71 - - 3140 - 2.83 0.132 3659 491.2 209.9 2.97 0.779 2216 -6.1 0.363 - - - - - - 14.75 14.04 13.36
16358 231.3 7.9 618 16363 done 0.71 - - 3149 - 2.42 0.046 2258 -578.9 209.9 - - 2221 - - - - - - - - 14.46 14.37 14.48
16709 207.5 6.7 626 16743 roll 0.74 - - 3150 - 2.83 0.133 3659 495.1 230.2 29.17 1.186 2124 -3.3 0.116 - - - - - - 14.80 14.19 13.45
16827 197.0 9.7 643 16833 done 0.74 - - 3160 - 2.40 0.045 2275 -576.7 230.2 - - 2114 - - - - - - - - 14.45 14.36 14.47
17150 166.3 9.6 654 17155 roll 0.74 - - 3170 - 2.55 0.063 855 -556.9 230.2 - - 2112 - - - - - - - - 14.77 14.11 14.77
17184 163.1 9.3 659 17190 done 0.74 0.10 0.210 3141 -290.0 2.60 0.069 2281 548.5 230.2 - - 2109 - - - - - - - - 14.00 14.09 14.25
17542 134.1 8.1 668 17547 roll 0.74 - - 3141 - 2.75 0.133 3661 501.8 230.2 - - 2116 - - - - - - - - 14.75 13.89 14.76
17590 129.5 9.7 675 17597 done 0.74 - - 3150 - 2.42 0.044 2269 -575.2 230.2 - - 2111 - - - - - - - - 14.37 14.27 14.40
17934 97.2 9.4 682 17935 done 0.74 - - 3151 - - - 2266 - 230.2 - - 2110 - - - - - - - - 14.76 14.76 14.76
18242 74.6 6.0 693 18260 done 0.78 - - 3151 - - - 2266 - 264.8 16.12 0.373 1996 -7.1 0.281 - - - - - - 14.76 14.28 13.83
18578 56.3 4.9 708 18620 roll 0.94 0.08 0.142 3224 912.5 2.75 0.132 3661 507.3 321.8 34.17 0.332 1768 -6.7 0.225 - - - - - - 14.41 14.20 13.93
18719 46.6 7.8 728 18723 done 0.94 - - 3234 - 2.40 0.044 2273 -578.3 321.8 - - 1775 - - - - - - - - 14.42 14.33 14.44
19055 32.8 5.2 743 19089 roll 1.09 - - 3233 - 2.80 0.133 3660 495.4 372.9 29.73 0.261 1564 -7.1 0.177 - - - - - - 14.73 14.16 13.99
19160 25.9 7.4 758 19171 done 1.10 - - 3243 - 2.38 0.044 2283 -578.6 380.2 5.75 0.227 1534 -5.2 0.118 - - - - - - 14.42 14.33 13.90
19492 end climb: SURFACE_DEPTH_REACHED
19492 begin surface coast
19523 end surface coast: CONTROL_FINISHED_OK
19523 begin surface
SM -1.44 - - - - -8.39 8.88 0.051 190 21.4 0.98 0.104 2771 -6615.3 500.14 61.80 0.149 1058 17.1 0.017 - - - - - -