SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 651 * Raw log
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• Previous call tries 3 • 223.48 of 350.00 AH used of 24V (36.15% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -66.1 deg, depth -2.92 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - - 2787 - -107.1 -80.82 - 3477 - - - - - - - - 14.64 12.64 14.58
106 2.9 -10.1 3 122 roll -0.93 11.90 0.378 2582 208.2 2.00 0.106 3838 525.5 -107.1 - - 3479 - - - - - - - - 13.93 14.24 14.36
299 56.8 -15.9 31 304 done -0.74 0.28 0.223 2658 271.4 1.80 0.043 2720 -621.1 -107.1 - - 3479 - - - - - - - - 13.96 14.44 14.24
635 85.1 -8.4 46 639 roll -0.74 - - 2658 - 2.28 0.046 1405 -576.8 -107.1 - - 3481 - - - - - - - - 14.80 14.26 14.80
683 89.0 -8.0 53 690 done -0.74 - - 2648 - 2.58 0.090 2769 528.7 -107.1 - - 3480 - - - - - - - - 14.29 14.04 14.33
999 116.0 -8.2 62 1000 done -0.74 - - 2648 - - - 2769 - -107.1 - - 3480 - - - - - - - - 14.82 14.82 14.82
1335 144.6 -8.6 68 1339 roll -0.74 - - 2647 - 2.40 0.047 1407 -567.5 -107.1 - - 3479 - - - - - - - - 14.87 14.25 14.87
1369 147.7 -9.1 73 1375 done -0.74 - - 2640 - 2.58 0.090 2772 529.1 -107.1 - - 3479 - - - - - - - - 14.26 14.01 14.32
1727 179.0 -8.7 82 1732 roll -0.74 - - 2639 - 2.40 0.045 1411 -567.1 -107.1 - - 3476 - - - - - - - - 14.87 14.16 14.87
1783 184.0 -8.8 90 1788 done -0.74 - - 2631 - 2.60 0.092 2773 523.8 -107.1 - - 3476 - - - - - - - - 14.24 13.99 14.30
2119 215.0 -9.3 103 2124 roll -0.74 - - 2630 - 2.40 0.045 1415 -565.8 -107.1 - - 3478 - - - - - - - - 14.85 14.23 14.86
2153 218.3 -9.4 108 2158 done -0.74 0.12 0.228 2656 216.7 2.58 0.092 2762 522.1 -107.1 - - 3473 - - - - - - - - 13.87 13.96 14.14
2511 246.3 -7.6 117 2516 roll -0.74 - - 2656 - 2.40 0.045 1405 -565.4 -107.1 - - 3471 - - - - - - - - 14.83 14.22 14.83
2559 250.2 -8.0 124 2565 done -0.82 - - 2647 - 2.62 0.092 2761 517.6 -107.1 - - 3468 - - - - - - - - 14.20 13.93 14.25
2903 279.3 -8.7 131 2908 roll -0.82 - - 2639 - 2.12 0.141 3825 501.9 -107.1 - - 3468 - - - - - - - - 14.83 13.81 14.83
2930 281.8 -9.0 135 2935 done -0.82 - - 2639 - 1.80 0.050 2783 -578.9 -107.1 - - 3467 - - - - - - - - 14.35 14.33 14.37
3295 311.9 -8.1 145 3300 roll -0.82 - - 2639 - 2.45 0.045 1387 -569.8 -107.1 - - 3465 - - - - - - - - 14.86 14.23 14.87
3357 316.8 -7.7 154 3362 done -0.82 - - 2625 - 2.62 0.089 2757 522.9 -107.1 - - 3464 - - - - - - - - 14.19 13.93 14.23
3687 344.0 -8.4 166 3691 roll -0.82 - - 2620 - 2.12 0.137 3830 506.1 -107.1 - - 3462 - - - - - - - - 14.83 13.80 14.83
3714 346.6 -9.0 170 3719 done -0.82 - - 2620 - 1.88 0.049 2744 -577.7 -107.1 - - 3462 - - - - - - - - 14.33 14.31 14.35
4079 380.2 -9.2 180 4080 done -0.82 - - 2620 - - - 2745 - -107.1 - - 3460 - - - - - - - - 14.85 14.85 14.85
4415 411.6 -9.4 186 4419 roll -0.82 - - 2620 - 2.40 0.044 1385 -566.7 -107.1 - - 3458 - - - - - - - - 14.82 14.17 14.83
4498 420.0 -9.9 198 4503 done -0.82 - - 2612 - 2.62 0.086 2758 524.0 -107.1 - - 3456 - - - - - - - - 14.15 13.89 14.21
4863 457.6 -10.3 208 4867 roll -0.82 - - 2603 - 2.12 0.135 3831 506.1 -107.1 - - 3454 - - - - - - - - 14.85 13.74 14.85
4897 461.3 -10.8 213 4903 done -0.82 0.08 0.219 2624 262.5 1.88 0.049 2765 -567.0 -107.1 - - 3456 - - - - - - - - 13.83 14.24 13.97
5255 493.0 -8.7 222 5260 roll -0.82 - - 2625 - 2.47 0.046 1371 -564.4 -107.1 - - 3451 - - - - - - - - 14.85 14.13 14.85
5317 498.4 -8.7 231 5322 done -0.82 - - 2616 - 2.65 0.085 2756 522.6 -107.1 - - 3455 - - - - - - - - 14.12 13.85 14.17
5647 528.1 -9.1 243 5652 roll -0.82 - - 2614 - 2.47 0.045 1372 -560.3 -107.1 - - 3452 - - - - - - - - 14.84 14.15 14.85
5674 530.6 -9.0 247 5679 done -0.82 - - 2606 - 2.62 0.090 2751 526.3 -107.1 - - 3452 - - - - - - - - 14.16 13.90 14.22
6039 562.8 -8.8 257 6044 roll -0.82 - - 2597 - 2.15 0.134 3833 503.3 -107.1 - - 3451 - - - - - - - - 14.81 13.69 14.81
6073 566.0 -9.6 262 6078 done -0.82 0.10 0.207 2634 370.0 1.92 0.049 2742 -568.2 -107.1 - - 3452 - - - - - - - - 13.76 14.19 14.04
6431 591.9 -7.1 271 6436 roll -0.82 - - 2634 - 2.45 0.045 1365 -562.0 -107.1 - - 3450 - - - - - - - - 14.80 14.12 14.80
6493 596.6 -7.5 280 6498 done -0.82 - - 2624 - 2.65 0.085 2751 523.0 -107.1 - - 3449 - - - - - - - - 14.10 13.83 14.15
6823 621.6 -7.7 292 6824 done -0.82 - - 2624 - - - 2751 - -107.1 - - 3449 - - - - - - - - 14.79 14.79 14.79
7159 648.2 -8.0 298 7160 done -0.82 - - 2624 - - - 2751 - -107.1 - - 3447 - - - - - - - - 14.80 14.80 14.80
7495 676.0 -8.3 304 7495 done -0.82 - - 2621 - - - 2751 - -107.1 - - 3446 - - - - - - - - 14.84 14.84 14.84
7831 704.4 -8.5 310 7836 roll -0.82 - - 2623 - 2.53 0.047 1365 -547.8 -107.1 - - 3444 - - - - - - - - 14.79 14.04 14.79
7879 708.8 -9.1 317 7887 done -0.82 - - 2615 - 2.72 0.087 2757 511.8 -107.1 - - 3444 - - - - - - - - 14.00 13.73 14.07
8223 740.1 -9.2 324 8228 roll -0.82 - - 2613 - 2.53 0.046 1365 -550.2 -107.1 - - 3442 - - - - - - - - 14.82 14.04 14.83
8257 743.5 -9.5 329 8263 done -0.82 - - 2605 - 2.70 0.088 2752 513.7 -107.1 - - 3443 - - - - - - - - 13.90 13.28 13.99
8615 777.0 -9.2 338 8620 roll -0.82 - - 2597 - 2.17 0.138 3831 497.2 -107.1 - - 3442 - - - - - - - - 14.83 13.80 14.83
8671 782.4 -10.2 346 8676 done -0.82 0.12 0.221 2631 283.3 1.90 0.050 2740 -574.2 -107.1 - - 3441 - - - - - - - - 13.75 14.21 14.00
8947 end dive: TARGET_DEPTH_EXCEEDED
8947 begin apogee
8956 803.5 -7.4 358 9072 roll -0.23 0.68 0.166 2825 285.3 0.10 0.183 2275 -4650.0 - 113.55 1.821 3049 -3.5 0.303 - - - - - - 13.68 13.88 13.02
9074 end apogee: CONTROL_FINISHED_OK
9074 begin climb
9078 805.8 - 360 9206 roll 0.93 1.10 0.086 3186 328.2 2.62 0.057 845 -545.8 107.1 117.78 1.777 2622 -3.6 0.327 - - - - - - 13.96 14.00 12.96
9255 802.0 6.5 387 9288 done 0.82 - - 3186 - 2.53 0.062 2242 552.2 131.7 26.50 1.834 2517 -4.0 0.344 - - - - - - 14.25 14.12 13.02
9623 769.8 9.1 404 9628 roll 0.70 0.17 0.220 3131 -323.5 2.75 0.121 3656 514.2 131.7 - - 2506 - - - - - - - - 13.89 14.04 14.07
9712 761.9 8.3 417 9719 done 0.60 0.17 0.216 3094 -217.6 2.47 0.045 2238 -574.1 131.7 - - 2506 - - - - - - - - 13.97 14.33 14.26
10070 740.0 6.0 426 10116 roll 0.65 - - 3093 - 2.83 0.124 3647 497.9 166.7 38.15 1.793 2377 -3.4 0.277 - - - - - - 14.79 14.15 13.24
10167 733.6 7.5 440 10172 done 0.65 - - 3104 - 2.42 0.045 2255 -575.2 170.7 - - 2371 - - - - - - - - 14.41 14.33 14.43
10518 711.1 6.3 448 10553 done 0.69 - - 3102 - - - 2251 - 198.6 34.38 1.778 2261 -3.2 0.254 - - - - - - 14.73 14.19 13.26
10854 689.7 6.4 454 10893 roll 0.72 - - 3103 - 2.80 0.127 3651 500.0 226.1 31.30 1.766 2140 -3.9 0.300 - - - - - - 14.73 14.14 13.26
10944 683.2 7.9 467 10949 done 0.72 - - 3112 - 2.42 0.046 2255 -576.9 226.1 - - 2134 - - - - - - - - 14.40 14.33 14.42
11302 657.0 7.5 476 11307 roll 0.73 - - 3112 - 2.78 0.125 3651 502.2 231.4 - - 2130 - - - - - - - - 14.76 14.02 14.76
11358 652.1 9.0 484 11362 done 0.73 - - 3122 - 2.42 0.045 2256 -576.4 231.4 - - 2130 - - - - - - - - 14.43 14.34 14.45
11694 623.0 8.8 497 11699 roll 0.73 - - 3122 - 2.78 0.125 3651 501.8 231.4 - - 2129 - - - - - - - - 14.76 13.97 14.76
11742 618.1 10.2 504 11748 done 0.73 - - 3132 - 2.42 0.045 2261 -574.4 231.4 - - 2129 - - - - - - - - 14.41 14.31 14.43
12086 585.5 9.4 511 12087 done 0.73 - - 3132 - - - 2263 - 231.4 - - 2128 - - - - - - - - 14.78 14.78 14.78
12422 554.2 9.2 517 12428 roll 0.73 - - 3132 - 2.80 0.127 3654 496.8 231.4 - - 2128 - - - - - - - - 14.77 13.90 14.77
12456 550.7 9.9 522 12461 done 0.73 - - 3142 - 2.42 0.044 2264 -574.4 231.4 - - 2128 - - - - - - - - 14.40 14.31 14.42
12814 518.0 9.1 531 12815 done 0.73 - - 3142 - - - 2262 - 231.4 - - 2132 - - - - - - - - 14.81 14.81 14.81
13150 488.5 8.8 537 13156 roll 0.73 - - 3142 - 2.80 0.128 3651 496.1 231.4 - - 2128 - - - - - - - - 14.78 13.85 14.78
13184 485.1 9.8 542 13189 done 0.73 - - 3152 - 2.42 0.044 2262 -574.0 231.4 - - 2126 - - - - - - - - 14.38 14.28 14.40
13542 453.0 9.0 551 13547 roll 0.73 - - 3162 - 2.55 0.062 855 -551.8 231.4 - - 2127 - - - - - - - - 14.82 14.03 14.81
13569 450.5 8.9 555 13574 done 0.73 - - 3162 - 2.55 0.066 2261 551.4 231.4 - - 2127 - - - - - - - - 14.26 14.06 14.30
13934 416.8 9.4 565 13939 roll 0.73 - - 3162 - 2.80 0.129 3659 499.3 231.4 - - 2126 - - - - - - - - 14.81 13.80 14.81
13975 412.6 10.3 571 13980 done 0.73 0.12 0.225 3137 -208.3 2.45 0.044 2257 -572.2 231.4 - - 2127 - - - - - - - - 13.85 14.24 14.12
14326 383.9 8.2 579 14331 roll 0.73 - - 3147 - 2.55 0.063 850 -551.8 231.4 - - 2125 - - - - - - - - 14.81 13.97 14.81
14353 381.5 8.4 583 14358 done 0.73 - - 3147 - 2.58 0.066 2264 548.1 231.4 - - 2126 - - - - - - - - 14.21 14.02 14.26
14718 349.4 8.9 593 14723 roll 0.73 - - 3148 - 2.80 0.129 3658 497.9 231.4 - - 2126 - - - - - - - - 14.76 13.76 14.76
14759 345.3 10.1 599 14764 done 0.73 - - 3157 - 2.42 0.045 2268 -574.4 231.4 - - 2126 - - - - - - - - 14.32 14.21 14.34
15110 314.1 8.8 607 15115 roll 0.73 - - 3158 - 2.83 0.128 3657 490.8 231.4 - - 2126 - - - - - - - - 14.76 13.75 14.76
15145 310.7 9.8 612 15150 done 0.73 0.10 0.233 3139 -190.0 2.42 0.044 2267 -574.4 231.4 - - 2127 - - - - - - - - 13.86 14.23 14.12
15502 281.3 8.3 621 15508 roll 0.73 - - 3138 - 2.85 0.127 3660 488.8 231.4 - - 2126 - - - - - - - - 14.81 13.75 14.81
15522 279.4 8.8 624 15527 done 0.73 - - 3148 - 2.45 0.044 2263 -570.2 231.4 - - 2126 - - - - - - - - 14.30 14.20 14.33
15838 249.7 9.5 634 15843 roll 0.73 - - 3148 - 2.83 0.127 3654 491.5 231.4 - - 2126 - - - - - - - - 14.81 13.73 14.81
15872 246.2 10.4 639 15877 done 0.73 - - 3157 - 2.42 0.045 2269 -572.3 231.4 - - 2126 - - - - - - - - 14.31 14.21 14.33
16230 212.4 9.3 648 16235 roll 0.73 - - 3168 - 2.58 0.063 856 -547.7 231.4 - - 2126 - - - - - - - - 14.81 13.94 14.81
16257 209.7 9.6 652 16262 done 0.73 0.10 0.213 3139 -290.0 2.60 0.067 2275 545.8 231.4 - - 2126 - - - - - - - - 13.84 13.95 14.07
16622 179.1 8.4 662 16627 roll 0.73 - - 3139 - 2.80 0.129 3664 496.1 231.4 - - 2126 - - - - - - - - 14.75 13.71 14.75
16649 176.6 8.8 666 16654 done 0.73 - - 3148 - 2.45 0.044 2265 -571.0 231.4 - - 2126 - - - - - - - - 14.29 14.20 14.32
17014 147.3 7.8 676 17019 roll 0.73 - - 3148 - 2.85 0.127 3661 489.8 231.4 - - 2130 - - - - - - - - 14.75 13.72 14.75
17034 145.7 7.4 679 17041 done 0.73 - - 3158 - 2.45 0.044 2266 -569.4 237.2 3.38 0.861 2103 -8.0 0.269 - - - - - - 14.29 14.19 13.39
17399 117.8 7.8 689 17402 done 0.73 - - 3158 - - - 2263 - 237.2 2.03 0.209 2104 - - - - - - - - 14.81 14.14 13.85
17708 91.9 7.7 696 17713 roll 0.73 - - 3169 - 2.58 0.063 853 -546.5 237.2 1.90 0.203 2105 - - - - - - - - 14.77 14.07 13.83
17762 87.9 7.5 704 17775 done 0.74 0.10 0.212 3140 -290.0 2.60 0.067 2281 549.2 241.0 3.80 0.304 2096 -2.4 0.136 - - - - - - 13.93 14.04 13.70
18096 64.2 7.4 718 18110 roll 0.75 - - 3138 - 2.78 0.130 3661 496.4 247.6 6.32 0.316 2072 -3.8 0.153 - - - - - - 14.70 13.97 13.74
18182 57.6 7.1 731 18197 done 0.76 - - 3148 - 2.42 0.044 2261 -578.5 261.0 10.32 0.324 2009 -6.1 0.216 - - - - - - 14.38 14.29 13.81
18509 47.2 2.7 744 18568 done 1.02 0.15 0.090 3241 620.0 - - 2260 - 362.2 57.40 0.318 1609 -7.0 0.206 - - - - - - 14.28 14.31 13.94
18873 30.5 5.7 763 18902 roll 1.07 - - 3240 - 2.75 0.126 3658 508.4 402.5 23.92 0.258 1445 -6.9 0.161 - - - - - - 14.69 14.12 13.93
18974 22.6 7.1 778 18986 done 1.16 - - 3250 - 2.38 0.041 2295 -572.7 415.6 8.60 0.233 1394 -5.9 0.114 - - - - - - 14.38 14.28 13.91
19278 end climb: SURFACE_DEPTH_REACHED
19278 begin surface coast
19310 end surface coast: CONTROL_FINISHED_OK
19310 begin surface
SM -2.92 - - - - -8.40 9.20 0.074 189 20.5 0.98 0.114 2772 -6744.9 500.14 43.97 0.151 1057 24.0 0.048 - - - - - -