SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 653 * Raw log
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• Previous call tries 1 • 224.10 of 350.00 AH used of 24V (35.97% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.0 deg, depth -3.15 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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 - - 106 - - - 2771 - -107.1 -80.18 - 3478 - - - - - - - - 14.64 12.97 14.58
106 3.6 -11.8 3 122 roll -0.93 11.90 0.380 2576 207.6 1.98 0.101 3842 540.9 -107.1 - - 3482 - - - - - - - - 13.93 14.23 14.20
305 58.8 -12.4 32 310 done -0.72 0.28 0.201 2662 307.1 1.85 0.043 2747 -591.9 -107.1 - - 3479 - - - - - - - - 13.98 14.38 14.24
635 84.9 -7.2 46 640 roll -0.72 - - 2662 - 2.35 0.044 1390 -577.4 -107.1 - - 3481 - - - - - - - - 14.78 14.26 14.78
753 93.5 -7.4 63 758 done -0.72 - - 2657 - 2.58 0.085 2772 535.7 -107.1 - - 3481 - - - - - - - - 14.26 14.02 14.31
1083 121.4 -8.8 73 1089 roll -0.72 - - 2653 - 2.42 0.043 1387 -572.3 -107.1 - - 3481 - - - - - - - - 14.81 14.24 14.81
1131 126.2 -9.7 80 1138 done -0.72 - - 2644 - 2.60 0.086 2760 528.1 -107.1 - - 3481 - - - - - - - - 14.25 13.98 14.30
1475 156.5 -8.5 87 1479 roll -0.72 - - 2643 - 2.42 0.042 1382 -569.4 -107.1 - - 3479 - - - - - - - - 14.82 14.25 14.83
1531 161.4 -8.8 95 1536 done -0.72 0.10 0.240 2663 200.0 2.62 0.088 2769 529.4 -107.1 - - 3479 - - - - - - - - 13.93 14.00 14.18
1867 189.6 -8.5 108 1868 done -0.72 - - 2663 - - - 2769 - -107.1 - - 3473 - - - - - - - - 14.83 14.83 14.83
2203 214.7 -7.2 114 2208 roll -0.72 - - 2663 - 2.45 0.043 1389 -563.3 -107.1 - - 3473 - - - - - - - - 14.82 14.23 14.82
2237 217.1 -7.1 119 2242 done -0.80 - - 2655 - 2.58 0.087 2757 530.2 -107.1 - - 3475 - - - - - - - - 14.24 13.98 14.29
2595 244.8 -8.0 128 2595 done -0.80 - - 2655 - - - 2758 - -107.1 - - 3472 - - - - - - - - 14.85 14.85 14.85
2931 272.2 -8.1 134 2935 roll -0.80 - - 2647 - 2.12 0.139 3830 505.7 -107.1 - - 3469 - - - - - - - - 14.83 13.81 14.83
2958 274.6 -8.7 138 2963 done -0.80 - - 2646 - 1.80 0.051 2771 -588.3 -107.1 - - 3469 - - - - - - - - 14.42 14.34 14.44
3323 307.3 -9.1 148 3328 roll -0.80 - - 2646 - 2.47 0.044 1367 -568.4 -107.1 - - 3467 - - - - - - - - 14.83 14.16 14.83
3406 315.0 -9.1 160 3411 done -0.80 - - 2640 - 2.65 0.086 2754 523.4 -107.1 - - 3465 - - - - - - - - 14.05 13.43 14.14
3771 347.3 -8.6 170 3775 roll -0.80 - - 2631 - 2.15 0.138 3832 501.4 -107.1 - - 3464 - - - - - - - - 14.83 13.83 14.83
3805 350.3 -8.9 175 3810 done -0.80 - - 2630 - 1.90 0.050 2744 -572.6 -107.1 - - 3464 - - - - - - - - 14.31 14.28 14.33
4163 379.2 -8.0 184 4168 roll -0.80 - - 2630 - 2.42 0.044 1378 -564.5 -107.1 - - 3463 - - - - - - - - 14.82 14.12 14.82
4190 381.5 -8.2 188 4195 done -0.80 - - 2621 - 2.62 0.085 2765 529.4 -107.1 - - 3462 - - - - - - - - 14.15 13.89 14.21
4555 411.4 -8.2 198 4560 roll -0.80 - - 2621 - 2.47 0.044 1378 -561.5 -107.1 - - 3460 - - - - - - - - 14.81 14.18 14.81
4596 414.9 -8.4 204 4601 done -0.80 0.10 0.240 2639 180.0 2.62 0.086 2760 527.5 -107.1 - - 3460 - - - - - - - - 13.81 13.89 14.07
4947 442.2 -7.9 212 4952 roll -0.80 - - 2639 - 2.47 0.044 1372 -561.9 -107.1 - - 3459 - - - - - - - - 14.81 14.16 14.81
4988 445.7 -8.4 218 4993 done -0.80 - - 2628 - 2.62 0.086 2754 527.5 -107.1 - - 3458 - - - - - - - - 14.14 13.87 14.20
5339 475.4 -8.4 226 5340 done -0.80 - - 2630 - - - 2754 - -107.1 - - 3457 - - - - - - - - 14.85 14.85 14.85
5675 502.1 -7.8 232 5680 roll -0.80 - - 2622 - 2.15 0.139 3824 497.7 -107.1 - - 3456 - - - - - - - - 14.84 13.79 14.84
5709 504.8 -8.0 237 5715 done -0.80 - - 2620 - 1.90 0.052 2752 -564.2 -107.1 - - 3454 - - - - - - - - 14.26 14.22 14.31
6067 533.2 -8.1 246 6071 roll -0.80 - - 2620 - 2.45 0.043 1370 -564.1 -107.1 - - 3454 - - - - - - - - 14.85 14.12 14.85
6101 536.2 -8.8 251 6106 done -0.80 0.10 0.236 2639 190.0 2.65 0.083 2751 521.1 -107.1 - - 3454 - - - - - - - - 13.75 13.83 14.00
6459 566.4 -8.6 260 6464 roll -0.80 - - 2631 - 2.15 0.137 3825 499.5 -107.1 - - 3453 - - - - - - - - 14.84 13.65 14.84
6500 570.4 -9.9 266 6505 done -0.80 - - 2630 - 1.88 0.052 2740 -577.1 -107.1 - - 3452 - - - - - - - - 14.32 14.24 14.33
6851 605.0 -10.0 274 6855 roll -0.80 - - 2631 - 2.42 0.043 1371 -565.7 -107.1 - - 3451 - - - - - - - - 14.84 14.11 14.84
6885 608.5 -10.2 279 6890 done -0.80 - - 2622 - 2.62 0.082 2749 526.0 -107.1 - - 3451 - - - - - - - - 14.08 13.81 14.14
7243 643.4 -9.6 288 7248 roll -0.80 - - 2614 - 2.17 0.133 3830 498.2 -107.1 - - 3448 - - - - - - - - 14.83 13.63 14.83
7333 651.9 -9.3 301 7339 done -0.80 - - 2613 - 1.92 0.051 2750 -562.5 -107.1 - - 3449 - - - - - - - - 14.07 14.04 14.09
7691 681.8 -8.1 310 7696 roll -0.80 0.08 0.254 2639 325.0 2.45 0.041 1371 -562.9 -107.1 - - 3448 - - - - - - - - 14.02 14.07 14.10
7747 685.8 -6.8 318 7752 done -0.88 - - 2631 - 2.65 0.086 2750 520.4 -107.1 - - 3448 - - - - - - - - 14.12 13.85 14.17
8083 707.7 -6.5 331 8088 roll -0.88 - - 2623 - 2.17 0.138 3825 495.4 -107.1 - - 3447 - - - - - - - - 14.78 13.70 14.78
8124 710.6 -7.0 337 8130 done -0.88 - - 2622 - 1.88 0.052 2746 -573.9 -107.1 - - 3447 - - - - - - - - 14.29 14.21 14.31
8475 734.2 -6.9 345 8481 roll -0.88 - - 2622 - 2.47 0.044 1369 -557.5 -107.1 - - 3445 - - - - - - - - 14.78 14.00 14.78
8551 739.7 -7.2 356 8556 done -0.88 - - 2613 - 2.67 0.085 2756 519.5 -107.1 - - 3444 - - - - - - - - 14.07 13.80 14.12
8867 764.9 -8.2 366 8872 roll -0.88 - - 2604 - 2.17 0.135 3830 494.9 -107.1 - - 3444 - - - - - - - - 14.78 13.66 14.78
8908 768.7 -9.2 372 8913 done -0.88 - - 2601 - 1.92 0.050 2749 -563.0 -107.1 - - 3443 - - - - - - - - 14.15 14.12 14.16
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9265 800.1 -9.1 380 9372 roll -0.23 0.77 0.176 2821 285.7 0.12 0.154 2273 -3966.7 - 99.82 2.528 3051 -3.9 0.248 - - - - 1 - 13.62 13.80 12.57
9374 end apogee: CONTROL_FINISHED_OK
9374 begin climb
9378 804.2 - 382 9514 roll 0.93 1.12 0.090 3185 325.0 2.55 0.055 885 -544.3 107.1 125.35 1.818 2624 -3.4 0.301 - - - - - - 13.91 13.94 12.93
9577 803.1 4.9 411 9645 done 0.86 - - 3185 - 2.45 0.060 2247 555.9 162.9 61.70 1.786 2398 -3.7 0.329 - - - - - - 14.29 14.17 13.01
9994 768.9 8.7 428 9999 roll 0.76 0.10 0.240 3151 -340.0 2.72 0.120 3650 515.8 162.9 - - 2384 - - - - - - - - 14.03 14.06 14.19
10034 765.0 8.8 434 10039 done 0.65 0.17 0.220 3113 -223.5 2.38 0.045 2276 -577.3 162.9 - - 2384 - - - - - - - - 14.00 14.37 14.29
10385 741.9 6.6 442 10412 roll 0.68 - - 3123 - 2.58 0.060 862 -548.1 185.0 22.85 1.846 2306 -3.4 0.274 - - - - - - 14.78 14.28 13.28
10433 738.5 6.6 449 10468 done 0.71 - - 3123 - 2.50 0.061 2258 558.4 207.6 26.10 1.828 2212 -3.6 0.291 - - - - - - 14.44 14.31 13.21
10777 710.3 8.4 463 10782 roll 0.71 - - 3123 - 2.72 0.126 3656 514.0 207.6 - - 2203 - - - - - - - - 14.70 14.04 14.69
10818 706.3 9.6 469 10824 done 0.71 - - 3133 - 2.42 0.044 2256 -578.5 207.6 - - 2203 - - - - - - - - 14.44 14.35 14.46
11169 674.5 9.1 477 11170 done 0.71 - - 3133 - - - 2252 - 207.6 - - 2201 - - - - - - - - 14.78 14.78 14.78
11505 643.1 9.4 483 11506 done 0.71 - - 3133 - - - 2252 - 207.6 - - 2199 - - - - - - - - 14.80 14.81 14.81
11841 611.7 9.3 489 11847 roll 0.71 - - 3132 - 2.83 0.124 3657 496.5 207.6 - - 2202 - - - - - - - - 14.81 13.85 14.81
11897 606.1 10.2 497 11903 done 0.71 - - 3144 - 2.47 0.045 2242 -572.9 207.6 - - 2200 - - - - - - - - 14.40 14.31 14.42
12233 574.7 9.3 510 12234 done 0.71 - - 3145 - - - 2238 - 207.6 - - 2202 - - - - - - - - 14.78 14.78 14.78
12569 544.2 9.1 516 12574 roll 0.71 - - 3145 - 2.83 0.124 3649 498.6 207.6 - - 2200 - - - - - - - - 14.81 13.85 14.81
12645 536.7 9.9 527 12650 done 0.71 - - 3155 - 2.45 0.044 2250 -571.0 207.6 - - 2200 - - - - - - - - 14.37 14.27 14.40
12961 508.4 8.9 537 12967 roll 0.71 - - 3165 - 2.50 0.063 859 -556.4 207.6 - - 2200 - - - - - - - - 14.81 14.05 14.81
13002 504.6 9.0 543 13008 done 0.71 0.10 0.210 3131 -340.0 2.50 0.063 2247 555.2 207.6 - - 2199 - - - - - - - - 13.93 14.11 14.19
13353 477.1 7.9 551 13358 roll 0.71 - - 3131 - 2.80 0.125 3654 502.5 207.6 - - 2199 - - - - - - - - 14.81 13.81 14.81
13443 469.0 9.1 564 13448 done 0.71 - - 3141 - 2.45 0.044 2251 -572.7 207.6 - - 2199 - - - - - - - - 14.34 14.28 14.37
13801 440.2 7.9 573 13802 done 0.71 - - 3141 - - - 2247 - 207.6 - - 2199 - - - - - - - - 14.76 14.76 14.76
14137 412.7 8.3 579 14142 roll 0.71 - - 3141 - 2.83 0.122 3655 497.5 207.6 - - 2199 - - - - - - - - 14.77 13.77 14.77
14164 410.1 9.1 583 14169 done 0.71 - - 3150 - 2.45 0.044 2253 -572.2 207.6 - - 2199 - - - - - - - - 14.35 14.26 14.38
14529 376.6 9.3 593 14535 roll 0.71 - - 3161 - 2.53 0.060 855 -552.6 207.6 - - 2199 - - - - - - - - 14.80 13.96 14.80
14570 372.6 9.5 599 14576 done 0.71 0.10 0.215 3131 -300.0 2.53 0.061 2252 552.2 207.6 - - 2199 - - - - - - - - 13.85 14.03 14.12
14921 342.7 8.5 607 14926 roll 0.71 - - 3137 - 2.78 0.124 3652 503.6 207.6 - - 2200 - - - - - - - - 14.76 13.74 14.76
14983 336.9 9.2 616 14988 done 0.71 - - 3140 - 2.45 0.043 2248 -573.1 207.6 - - 2199 - - - - - - - - 14.33 14.23 14.35
15314 309.2 8.4 628 15314 done 0.71 - - 3141 - - - 2244 - 207.6 - - 2199 - - - - - - - - 14.75 14.76 14.76
15649 282.4 7.9 634 15654 roll 0.71 - - 3141 - 2.85 0.122 3653 494.4 207.6 - - 2199 - - - - - - - - 14.76 13.72 14.76
15676 280.0 8.9 638 15681 done 0.71 - - 3151 - 2.45 0.044 2251 -572.2 207.6 - - 2200 - - - - - - - - 14.31 14.21 14.33
16041 249.0 8.5 648 16042 done 0.71 - - 3151 - - - 2247 - 207.6 - - 2199 - - - - - - - - 14.76 14.76 14.76
16377 222.0 8.0 654 16382 roll 0.71 - - 3151 - 2.85 0.122 3654 493.7 207.6 - - 2200 - - - - - - - - 14.76 13.71 14.76
16433 217.1 9.0 662 16438 done 0.71 0.10 0.225 3132 -190.0 2.45 0.044 2261 -568.6 207.6 - - 2200 - - - - - - - - 13.85 14.19 14.10
16769 190.9 7.9 675 16774 roll 0.71 - - 3142 - 2.53 0.059 856 -555.3 207.6 - - 2198 - - - - - - - - 14.76 13.93 14.76
16796 188.5 8.5 679 16801 done 0.71 - - 3142 - 2.55 0.061 2263 551.8 207.6 - - 2199 - - - - - - - - 14.16 13.97 14.21
17161 156.7 8.6 689 17167 roll 0.71 - - 3142 - 2.80 0.125 3660 498.9 207.6 - - 2199 - - - - - - - - 14.76 13.67 14.76
17237 150.1 9.1 700 17242 done 0.71 - - 3152 - 2.47 0.042 2245 -572.9 207.6 - - 2202 - - - - - - - - 14.30 14.21 14.33
17553 125.0 8.0 710 17558 roll 0.71 - - 3162 - 2.50 0.060 859 -554.4 207.6 - - 2198 - - - - - - - - 14.75 13.93 14.74
17587 122.2 8.2 715 17593 done 0.71 0.12 0.201 3126 -300.0 2.53 0.060 2256 552.2 207.6 - - 2200 - - - - - - - - 13.83 13.97 14.06
17945 98.9 6.4 724 17963 roll 0.74 - - 3126 - 2.78 0.126 3661 505.4 234.3 12.15 0.435 2119 -6.7 0.303 - - - - - - 14.80 13.98 13.71
18015 94.7 6.1 734 18042 done 0.78 - - 3134 - 2.42 0.044 2249 -583.5 267.7 20.77 0.446 1983 -6.5 0.278 - - - - - - 14.42 14.33 13.74
18369 72.9 6.4 751 18392 done 0.90 0.08 0.145 3196 775.0 - - 2248 - 294.4 17.02 0.379 1877 -6.2 0.239 - - - - - - 14.33 14.08 13.77
18701 44.8 6.9 766 18720 roll 0.92 - - 3205 - 2.50 0.061 860 -555.2 311.8 11.18 0.301 1808 -6.2 0.184 - - - - - - 14.71 14.20 13.82
18777 41.0 4.0 777 18825 done 1.09 0.08 0.139 3271 825.0 2.53 0.057 2265 555.3 385.4 42.08 0.301 1513 -7.0 0.191 - - - - - - 14.20 14.14 13.94
19149 15.4 8.1 797 19155 roll 1.09 - - 3270 - 2.75 0.128 3656 505.8 385.4 - - 1514 - - - - - - - - 14.72 13.84 14.72
19225 8.4 10.3 808 19231 done 1.09 - - 3281 - 2.45 0.045 2247 -575.1 385.4 - - 1514 - - - - - - - - 14.33 14.23 14.35
19285 end climb: SURFACE_DEPTH_REACHED
19285 begin surface coast
19313 end surface coast: CONTROL_FINISHED_OK
19313 begin surface
SM -3.24 - - - - -8.38 9.30 0.074 194 20.9 1.05 0.109 2763 1650.5 500.14 57.53 0.154 1057 18.4 0.040 - - - - - -