SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 649 * Raw log
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• Previous call tries 1 • 222.94 of 350.00 AH used of 24V (36.30% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.4 deg, depth -1.70 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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 - - - 103 done -0.93 - - 105 - - - 2775 - -107.1 -80.57 - 3478 - - - - - - - - 14.64 12.64 14.59
107 4.6 -10.5 3 126 roll -0.93 11.90 0.384 2583 208.2 1.98 0.105 3827 531.3 -107.1 - - 3481 - - - - - - - - 13.95 14.27 14.33
162 28.7 -30.8 11 166 done -0.52 0.52 0.239 2723 269.2 1.77 0.041 2706 -633.3 -107.1 - - 3480 - - - - - - - - 14.02 14.48 14.31
498 65.5 -6.4 26 503 roll -0.61 - - 2722 - 2.35 0.044 1355 -574.9 -107.1 - - 3480 - - - - - - - - 14.77 14.23 14.77
546 68.4 -6.1 33 552 done -0.70 0.08 0.138 2648 -925.0 2.67 0.090 2772 530.7 -107.1 - - 3481 - - - - - - - - 14.27 14.07 14.37
861 92.5 -8.0 45 862 done -0.70 - - 2648 - - - 2773 - -107.1 - - 3481 - - - - - - - - 14.81 14.81 14.81
1197 121.9 -9.0 53 1202 roll -0.70 - - 2644 - 2.08 0.141 3829 507.7 -107.1 - - 3481 - - - - - - - - 14.83 13.91 14.83
1266 128.3 -9.2 63 1272 done -0.70 0.08 0.194 2664 250.0 1.85 0.046 2752 -582.2 -107.1 - - 3481 - - - - - - - - 14.02 14.35 14.15
1590 154.6 -8.0 74 1595 roll -0.70 - - 2663 - 2.42 0.045 1366 -572.7 -107.1 - - 3479 - - - - - - - - 14.83 14.27 14.82
1646 158.8 -7.5 82 1651 done -0.70 - - 2654 - 2.65 0.090 2770 529.8 -107.1 - - 3479 - - - - - - - - 14.27 14.01 14.32
1982 184.7 -7.8 95 1982 done -0.70 - - 2654 - - - 2770 - -107.1 - - 3479 - - - - - - - - 14.85 14.86 14.85
2317 210.8 -7.7 101 2322 roll -0.70 - - 2654 - 2.47 0.044 1370 -566.8 -107.1 - - 3474 - - - - - - - - 14.88 14.18 14.87
2373 215.2 -7.9 109 2378 done -0.70 - - 2645 - 2.67 0.091 2769 524.0 -107.1 - - 3473 - - - - - - - - 14.23 13.97 14.28
2709 242.1 -8.0 122 2715 roll -0.70 - - 2637 - 2.10 0.138 3826 503.3 -107.1 - - 3471 - - - - - - - - 14.82 13.85 14.82
2736 244.4 -8.4 126 2742 done -0.70 0.10 0.194 2667 300.0 1.85 0.050 2764 -574.1 -107.1 - - 3472 - - - - - - - - 13.95 14.33 14.23
3102 271.9 -7.6 136 3106 roll -0.78 - - 2667 - 2.45 0.045 1374 -567.3 -107.1 - - 3469 - - - - - - - - 14.86 14.23 14.82
3163 276.8 -7.8 145 3169 done -0.87 0.08 0.144 2589 -975.0 2.62 0.087 2763 530.2 -107.1 - - 3469 - - - - - - - - 14.15 13.94 14.27
3493 313.1 -11.3 157 3498 roll -0.87 - - 2588 - 2.47 0.044 1368 -564.8 -107.1 - - 3466 - - - - - - - - 14.85 14.21 14.84
3520 316.3 -11.5 161 3526 done -0.87 0.12 0.234 2612 200.0 2.65 0.087 2762 526.0 -107.1 - - 3465 - - - - - - - - 13.83 13.93 14.10
3885 352.0 -9.5 171 3890 roll -0.87 - - 2605 - 2.12 0.140 3831 504.2 -107.1 - - 3464 - - - - - - - - 14.83 13.78 14.82
3919 355.4 -9.8 176 3924 done -0.87 - - 2604 - 1.90 0.050 2750 -568.9 -107.1 - - 3464 - - - - - - - - 14.42 14.29 14.43
4277 389.9 -9.7 185 4282 roll -0.87 - - 2603 - 2.42 0.044 1374 -568.6 -107.1 - - 3461 - - - - - - - - 14.85 14.13 14.85
4318 394.0 -9.8 191 4324 done -0.87 - - 2594 - 2.67 0.086 2766 521.3 -107.1 - - 3461 - - - - - - - - 14.21 13.94 14.26
4669 429.7 -10.2 199 4674 roll -0.87 - - 2586 - 2.12 0.136 3832 502.8 -107.1 - - 3460 - - - - - - - - 14.81 13.77 14.81
4773 440.8 -10.4 214 4781 done -0.87 0.10 0.209 2613 270.0 1.88 0.050 2770 -564.9 -107.1 - - 3460 - - - - - - - - 13.79 14.23 13.95
5117 471.9 -9.1 221 5122 roll -0.87 - - 2613 - 2.47 0.044 1368 -567.6 -107.1 - - 3458 - - - - - - - - 14.85 14.10 14.85
5173 477.2 -9.6 229 5178 done -0.87 - - 2604 - 2.67 0.086 2763 522.5 -107.1 - - 3458 - - - - - - - - 14.14 13.88 14.20
5509 512.2 -10.6 242 5515 roll -0.87 - - 2596 - 2.12 0.139 3827 501.9 -107.1 - - 3456 - - - - - - - - 14.85 13.85 14.85
5571 519.3 -11.3 251 5576 done -0.87 - - 2595 - 1.88 0.050 2758 -568.6 -107.1 - - 3456 - - - - - - - - 14.26 14.23 14.28
5901 555.8 -11.1 263 5902 done -0.87 - - 2592 - - - 2758 - -107.1 - - 3454 - - - - - - - - 14.84 14.85 14.85
6237 591.4 -10.5 269 6242 roll -0.87 - - 2595 - 2.45 0.044 1378 -563.3 -107.1 - - 3453 - - - - - - - - 14.81 14.04 14.81
6278 595.7 -10.1 275 6284 done -0.87 0.10 0.237 2612 170.0 2.65 0.086 2762 522.3 -107.1 - - 3453 - - - - - - - - 13.78 13.56 14.04
6629 627.0 -8.8 283 6630 done -0.87 - - 2612 - - - 2764 - -107.1 - - 3452 - - - - - - - - 14.78 14.80 14.80
6965 656.0 -8.6 289 6970 roll -0.87 - - 2612 - 2.50 0.044 1372 -556.8 -107.1 - - 3450 - - - - - - - - 14.80 14.11 14.80
6999 658.9 -8.9 294 7006 done -0.87 - - 2603 - 2.67 0.085 2767 522.5 -107.1 - - 3450 - - - - - - - - 14.07 13.79 14.13
7357 692.1 -9.3 303 7358 done -0.87 - - 2604 - - - 2771 - -107.1 - - 3449 - - - - - - - - 14.79 14.80 14.79
7693 724.3 -9.6 309 7698 roll -0.87 - - 2602 - 2.50 0.044 1376 -558.0 -107.1 - - 3448 - - - - - - - - 14.83 14.09 14.83
7749 729.7 -9.5 317 7754 done -0.87 - - 2594 - 2.67 0.086 2762 519.1 -107.1 - - 3447 - - - - - - - - 14.03 13.76 14.09
8085 763.5 -10.1 330 8086 done -0.87 - - 2593 - - - 2762 - -107.1 - - 3447 - - - - - - - - 14.83 14.83 14.83
8421 795.5 -9.4 336 8426 roll -0.87 - - 2585 - 2.15 0.139 3829 496.3 -107.1 - - 3445 - - - - - - - - 14.83 13.80 14.83
8455 798.8 -9.5 341 8461 done -0.87 0.10 0.213 2612 270.0 1.88 0.050 2774 -561.2 -107.1 - - 3443 - - - - - - - - 13.69 14.15 13.83
8473 end dive: TARGET_DEPTH_EXCEEDED
8473 begin apogee
8483 800.5 -8.7 344 8599 roll -0.23 0.75 0.172 2825 284.0 0.10 0.177 2273 -5010.0 - 113.65 1.802 3049 -3.5 0.306 - - - - - - 13.70 13.90 13.01
8601 end apogee: CONTROL_FINISHED_OK
8601 begin climb
8605 802.4 - 346 8731 roll 0.93 1.10 0.086 3186 328.2 2.55 0.054 879 -546.7 107.1 116.15 1.757 2622 -3.7 0.334 - - - - - - 14.00 14.03 12.97
8787 796.9 6.7 374 8813 done 0.82 - - 3186 - 2.45 0.062 2240 555.5 126.7 20.65 1.852 2540 -4.0 0.340 - - - - - - 14.28 14.14 13.07
9149 765.8 8.8 390 9154 roll 0.69 0.17 0.221 3130 -329.4 2.75 0.122 3650 512.7 126.7 - - 2527 - - - - - - - - 13.96 14.03 14.14
9237 758.3 7.8 403 9244 done 0.60 0.15 0.221 3100 -200.0 2.40 0.045 2261 -578.8 126.7 - - 2526 - - - - - - - - 14.00 14.35 14.28
9595 738.3 5.4 412 9652 roll 0.66 - - 3099 - 2.80 0.125 3650 496.1 172.9 50.33 1.760 2352 -3.5 0.288 - - - - - - 14.79 14.12 13.22
9680 732.7 7.0 424 9699 done 0.68 - - 3109 - 2.42 0.045 2257 -575.6 187.3 13.73 1.856 2302 -3.6 0.286 - - - - - - 14.38 14.31 13.14
10045 707.4 6.9 434 10065 roll 0.70 - - 3119 - 2.58 0.061 850 -545.3 203.2 16.15 1.867 2237 -4.0 0.303 - - - - - - 14.71 14.30 13.30
10086 703.9 7.5 440 10093 done 0.70 - - 3119 - 2.53 0.064 2253 554.5 206.9 - - 2228 - - - - - - - - 14.45 14.31 14.47
10430 675.2 8.4 447 10436 roll 0.70 - - 3119 - 2.78 0.129 3659 505.8 206.9 - - 2226 - - - - - - - - 14.73 14.06 14.74
10506 667.3 10.1 458 10511 done 0.70 - - 3129 - 2.42 0.044 2255 -580.2 206.9 - - 2226 - - - - - - - - 14.47 14.38 14.49
10822 636.9 9.6 468 10823 done 0.70 - - 3129 - - - 2251 - 206.9 - - 2225 - - - - - - - - 14.77 14.77 14.77
11158 604.9 9.5 474 11163 roll 0.70 - - 3129 - 2.83 0.129 3660 497.9 206.9 - - 2224 - - - - - - - - 14.78 13.90 14.78
11178 602.6 9.6 477 11183 done 0.70 - - 3139 - 2.42 0.045 2263 -577.3 206.9 - - 2224 - - - - - - - - 14.45 14.36 14.47
11494 572.7 7.8 487 11495 done 0.70 - - 3140 - - - 2261 - 206.9 - - 2223 - - - - - - - - 14.82 14.82 14.82
11830 542.9 8.7 493 11831 done 0.70 - - 3140 - - - 2260 - 206.9 - - 2223 - - - - - - - - 14.77 14.78 14.78
12166 515.5 8.0 499 12172 roll 0.70 - - 3137 - 2.83 0.128 3660 494.7 206.9 - - 2223 - - - - - - - - 14.78 13.85 14.78
12200 513.9 3.7 504 12304 done 0.80 - - 3150 - 2.45 0.045 2251 -575.1 287.9 99.22 1.487 1903 -3.2 0.222 - - - - - - 14.39 14.30 13.22
12663 474.4 9.0 528 12664 done 0.80 - - 3146 - - - 2254 - 287.9 - - 1879 - - - - - - - - 14.71 14.71 14.71
12999 442.9 9.5 534 13004 roll 0.80 - - 3150 - 2.83 0.129 3660 496.8 287.9 - - 1877 - - - - - - - - 14.73 13.93 14.73
13019 440.7 9.9 537 13024 done 0.80 - - 3159 - 2.42 0.045 2272 -573.6 287.9 - - 1877 - - - - - - - - 14.42 14.32 14.45
13335 407.6 10.6 547 13336 done 0.80 - - 3161 - - - 2269 - 287.9 - - 1876 - - - - - - - - 14.76 14.76 14.78
13671 372.0 10.6 553 13676 roll 0.80 - - 3170 - 2.55 0.063 852 -555.7 287.9 - - 1876 - - - - - - - - 14.81 14.08 14.81
13698 368.9 11.1 557 13703 done 0.80 - - 3167 - 2.55 0.067 2263 553.3 287.9 - - 1875 - - - - - - - - 14.29 14.10 14.34
14063 327.1 11.6 567 14069 roll 0.80 - - 3170 - 2.78 0.132 3661 502.9 287.9 - - 1874 - - - - - - - - 14.77 13.84 14.77
14104 321.8 12.9 573 14109 done 0.80 - - 3180 - 2.45 0.044 2255 -573.9 287.9 - - 1875 - - - - - - - - 14.37 14.27 14.40
14455 282.3 11.1 581 14460 roll 0.80 - - 3191 - 2.53 0.063 849 -555.7 287.9 - - 1876 - - - - - - - - 14.78 14.05 14.77
14511 276.2 10.7 589 14516 done 0.80 0.10 0.223 3162 -290.0 2.58 0.067 2261 547.3 287.9 - - 1875 - - - - - - - - 13.90 14.04 14.16
14847 243.0 9.9 602 14852 roll 0.80 - - 3162 - 2.80 0.130 3659 499.3 287.9 - - 1874 - - - - - - - - 14.77 13.83 14.78
14895 237.5 11.5 609 14902 done 0.80 - - 3177 - 2.47 0.044 2251 -570.0 287.9 - - 1875 - - - - - - - - 14.33 14.22 14.36
15239 201.2 10.6 616 15240 done 0.80 - - 3172 - - - 2248 - 287.9 - - 1874 - - - - - - - - 14.80 14.80 14.80
15575 166.7 10.2 622 15580 roll 0.80 - - 3182 - 2.53 0.063 848 -553.4 287.9 - - 1875 - - - - - - - - 14.81 14.00 14.81
15602 163.8 10.1 626 15607 done 0.80 - - 3182 - 2.58 0.067 2262 548.1 287.9 - - 1875 - - - - - - - - 14.23 14.02 14.28
15967 125.0 10.8 636 15972 roll 0.80 - - 3182 - 2.78 0.131 3655 501.1 287.9 - - 1875 - - - - - - - - 14.77 13.70 14.77
16008 119.5 13.0 642 16014 done 0.80 0.12 0.220 3157 -208.3 2.45 0.044 2258 -570.2 287.9 - - 1875 - - - - - - - - 13.83 14.14 14.12
16331 87.9 8.4 652 16332 done 0.80 - - 3156 - - - 2255 - 287.9 - - 1875 - - - - - - - - 14.76 14.76 14.75
16639 65.6 7.6 663 16645 roll 0.89 - - 3157 - 2.85 0.127 3660 493.0 290.9 - - 1875 - - - - - - - - 14.75 13.79 14.75
16708 60.3 7.4 673 16713 done 0.90 - - 3166 - 2.45 0.044 2250 -575.5 296.9 - - 1875 - - - - - - - - 14.23 14.15 14.26
17031 45.7 2.7 686 17093 roll 1.19 0.25 0.065 3303 548.0 2.53 0.061 856 -551.0 398.1 56.67 0.310 1464 -7.3 0.212 - - - - - - 14.26 14.33 13.96
17192 35.5 9.1 709 17197 done 1.19 - - 3303 - 2.55 0.063 2273 555.7 398.1 - - 1470 - - - - - - - - 14.32 14.14 14.35
17528 5.9 8.6 724 17533 roll 1.19 - - 3303 - 2.75 0.129 3660 504.4 398.1 - - 1470 - - - - - - - - 14.76 13.85 14.75
17565 end climb: SURFACE_DEPTH_REACHED
17565 begin surface coast
17572 end surface coast: CONTROL_FINISHED_OK
17572 begin surface
SM -8.38 - - - - -8.39 9.45 0.081 191 20.2 1.58 0.049 2756 1579.7 500.14 52.17 0.153 1057 20.3 0.113 - - - - - -