SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 654 * Raw log
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• Previous call tries 1 • 224.42 of 350.00 AH used of 24V (35.88% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.2 deg, depth -3.30 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: 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 101 done -0.93 - - 105 - - - 2778 - -107.1 -80.47 - 3478 - - - - - - - - 14.62 12.65 14.57
106 3.1 -11.0 3 123 roll -0.93 12.00 0.383 2583 206.5 2.00 0.101 3840 531.0 -107.1 - - 3480 - - - - - - - - 13.93 14.21 14.31
355 58.2 -10.3 39 360 done -0.77 0.22 0.230 2645 281.8 1.80 0.045 2752 -604.4 -107.1 - - 3480 - - - - - - - - 13.93 14.42 14.21
691 86.8 -8.1 54 695 roll -0.77 - - 2636 - 2.12 0.132 3826 506.6 -107.1 - - 3482 - - - - - - - - 14.78 13.94 14.79
781 95.0 -9.2 67 786 done -0.77 - - 2636 - 1.80 0.047 2760 -592.2 -107.1 - - 3482 - - - - - - - - 14.36 14.34 14.38
1139 126.3 -9.0 77 1144 roll -0.77 - - 2636 - 2.38 0.043 1390 -575.6 -107.1 - - 3482 - - - - - - - - 14.82 14.24 14.82
1173 129.4 -8.8 82 1178 done -0.77 - - 2627 - 2.60 0.086 2772 531.5 -107.1 - - 3481 - - - - - - - - 14.17 13.91 14.22
1531 162.6 -9.4 91 1536 roll -0.77 - - 2618 - 2.08 0.135 3829 508.2 -107.1 - - 3481 - - - - - - - - 14.82 13.88 14.82
1565 166.1 -10.0 96 1570 done -0.77 0.08 0.205 2641 287.5 1.83 0.049 2777 -574.9 -107.1 - - 3479 - - - - - - - - 13.96 14.33 14.11
1923 197.0 -8.7 105 1928 roll -0.77 - - 2641 - 2.45 0.041 1374 -572.7 -107.1 - - 3475 - - - - - - - - 14.85 14.16 14.85
2013 204.9 -8.5 118 2018 done -0.77 - - 2630 - 2.60 0.083 2762 533.8 -107.1 - - 3476 - - - - - - - - 14.12 13.86 14.16
2371 238.4 -9.7 127 2375 roll -0.77 - - 2623 - 2.10 0.135 3826 506.7 -107.1 - - 3473 - - - - - - - - 14.83 13.83 14.83
2405 241.9 -10.0 132 2410 done -0.77 - - 2623 - 1.85 0.049 2762 -575.1 -107.1 - - 3472 - - - - - - - - 14.31 14.28 14.33
2763 275.2 -9.2 141 2769 roll -0.77 - - 2622 - 2.45 0.044 1368 -569.0 -107.1 - - 3472 - - - - - - - - 14.81 14.17 14.81
2811 279.7 -9.3 148 2818 done -0.77 0.12 0.225 2648 216.7 2.67 0.083 2770 525.1 -107.1 - - 3471 - - - - - - - - 13.81 13.90 14.07
3155 309.0 -8.6 155 3159 roll -0.77 - - 2648 - 2.50 0.044 1368 -560.8 -107.1 - - 3469 - - - - - - - - 14.85 14.19 14.85
3189 312.2 -8.9 160 3194 done -0.77 - - 2640 - 2.65 0.085 2765 527.2 -107.1 - - 3469 - - - - - - - - 14.17 13.90 14.23
3547 346.2 -9.8 169 3548 done -0.77 - - 2639 - - - 2765 - -107.1 - - 3466 - - - - - - - - 14.85 14.85 14.85
3883 379.4 -9.8 175 3888 roll -0.77 - - 2640 - 2.50 0.044 1367 -559.2 -107.1 - - 3465 - - - - - - - - 14.85 14.20 14.85
3924 383.5 -9.6 181 3930 done -0.77 - - 2630 - 2.65 0.086 2761 526.0 -107.1 - - 3464 - - - - - - - - 14.14 13.88 14.20
4275 416.0 -9.1 189 4276 done -0.77 - - 2631 - - - 2760 - -107.1 - - 3463 - - - - - - - - 14.85 14.81 14.81
4611 446.1 -8.9 195 4615 roll -0.77 - - 2630 - 2.47 0.044 1376 -560.3 -107.1 - - 3460 - - - - - - - - 14.85 14.16 14.85
4659 450.4 -8.4 202 4665 done -0.77 - - 2617 - 2.65 0.083 2755 520.4 -107.1 - - 3461 - - - - - - - - 14.12 13.85 14.16
5003 479.6 -8.3 209 5009 roll -0.77 - - 2613 - 2.15 0.138 3827 498.6 -107.1 - - 3459 - - - - - - - - 14.80 13.70 14.80
5065 485.1 -8.9 218 5075 done -0.77 0.10 0.200 2650 370.0 1.88 0.050 2759 -568.1 -107.1 - - 3459 - - - - - - - - 13.79 14.22 14.06
5398 508.4 -7.0 230 5403 roll -0.77 - - 2650 - 2.47 0.044 1360 -566.4 -107.1 - - 3457 - - - - - - - - 14.80 14.14 14.80
5474 514.0 -7.2 241 5480 done -0.86 - - 2641 - 2.67 0.081 2760 524.3 -107.1 - - 3457 - - - - - - - - 14.09 13.82 14.14
5790 538.7 -8.0 251 5795 roll -0.86 - - 2642 - 2.50 0.043 1365 -558.0 -107.1 - - 3456 - - - - - - - - 14.80 14.13 14.80
5817 541.0 -8.2 255 5822 done -0.86 - - 2633 - 2.62 0.083 2748 527.9 -107.1 - - 3456 - - - - - - - - 13.66 13.83 13.87
6182 571.1 -8.3 265 6187 roll -0.86 - - 2625 - 2.17 0.136 3828 497.7 -107.1 - - 3454 - - - - - - - - 14.83 13.64 14.85
6251 577.3 -8.9 275 6256 done -0.86 - - 2624 - 1.92 0.050 2749 -562.0 -107.1 - - 3454 - - - - - - - - 14.19 14.15 14.20
6574 606.1 -9.0 286 6579 roll -0.86 - - 2628 - 2.45 0.043 1371 -562.4 -107.1 - - 3453 - - - - - - - - 14.83 14.09 14.83
6601 608.7 -9.3 290 6606 done -0.86 - - 2615 - 2.67 0.081 2763 521.3 -107.1 - - 3453 - - - - - - - - 14.06 13.78 14.12
6966 643.2 -9.3 300 6971 roll -0.86 - - 2607 - 2.12 0.133 3827 501.9 -107.1 - - 3451 - - - - - - - - 14.79 13.63 14.81
7014 647.9 -9.9 307 7020 done -0.86 - - 2606 - 1.90 0.051 2760 -561.6 -107.1 - - 3450 - - - - - - - - 14.16 14.13 14.19
7358 679.2 -9.0 314 7363 roll -0.86 - - 2606 - 2.53 0.044 1356 -554.9 -107.1 - - 3448 - - - - - - - - 14.80 14.00 14.78
7399 683.0 -9.0 320 7404 done -0.86 - - 2598 - 2.67 0.083 2752 522.8 -107.1 - - 3449 - - - - - - - - 14.05 13.69 14.12
7750 713.7 -8.7 328 7755 roll -0.86 - - 2597 - 2.50 0.044 1362 -556.0 -107.1 - - 3449 - - - - - - - - 14.83 14.06 14.83
7777 716.1 -8.5 332 7782 done -0.86 - - 2590 - 2.65 0.082 2749 523.4 -107.1 - - 3447 - - - - - - - - 14.04 13.77 14.09
8142 746.9 -8.5 342 8147 roll -0.86 0.08 0.276 2609 237.5 2.17 0.130 3830 498.2 -107.1 - - 3447 - - - - - - - - 13.95 13.59 14.05
8183 750.3 -7.9 348 8188 done -0.86 - - 2606 - 1.90 0.052 2741 -573.2 -107.1 - - 3449 - - - - - - - - 14.25 14.16 14.27
8534 777.8 -8.1 356 8539 roll -0.86 - - 2606 - 2.47 0.044 1365 -557.1 -107.1 - - 3446 - - - - - - - - 14.77 14.00 14.77
8561 779.9 -7.7 360 8566 done -0.86 - - 2598 - 2.67 0.081 2758 521.7 -107.1 - - 3445 - - - - - - - - 14.00 13.72 14.05
8810 end dive: TARGET_DEPTH_EXCEEDED
8810 begin apogee
8820 802.2 -8.8 368 8927 roll -0.23 0.80 0.179 2821 278.8 0.10 0.173 2270 -4880.0 - 99.68 2.534 3051 -4.0 0.253 - - - - 1 - 13.62 13.76 12.58
8929 end apogee: CONTROL_FINISHED_OK
8929 begin climb
8933 805.8 - 370 9069 roll 0.93 1.12 0.090 3184 324.1 2.55 0.055 888 -542.0 107.1 126.00 1.818 2624 -3.4 0.304 - - - - - - 13.90 13.94 12.89
9132 803.4 5.7 399 9181 done 0.85 - - 3184 - 2.45 0.058 2250 555.9 147.1 43.67 1.812 2463 -3.7 0.331 - - - - - - 14.29 14.17 13.02
9490 773.1 8.9 415 9495 roll 0.72 0.15 0.223 3136 -320.0 2.72 0.119 3657 517.3 147.1 - - 2449 - - - - - - - - 13.98 14.04 14.14
9531 769.5 8.7 421 9537 done 0.64 0.15 0.218 3106 -200.0 2.40 0.045 2266 -579.6 147.1 - - 2448 - - - - - - - - 14.01 14.35 14.28
9882 746.1 6.6 429 9907 done 0.66 - - 3106 - - - 2265 - 168.7 23.42 1.855 2377 -3.0 0.247 - - - - - - 14.73 14.26 13.31
10218 721.5 7.3 442 10224 roll 0.67 - - 3105 - 2.80 0.121 3656 496.8 176.3 1.92 0.220 2347 -15.6 10.372 - - - - - - 14.74 14.07 13.90
10280 716.3 8.5 451 10285 done 0.67 - - 3115 - 2.42 0.045 2258 -577.7 176.3 - - 2357 - - - - - - - - 14.45 14.38 14.47
10603 691.9 7.6 462 10608 done 0.68 - - 3115 - - - 2254 - 179.7 3.50 1.314 2333 -6.9 0.731 - - - - - - 14.79 14.33 13.09
10939 667.3 7.3 475 10957 done 0.69 - - 3115 - - - 2254 - 188.6 17.20 1.862 2301 -1.9 0.135 - - - - - - 14.79 14.27 13.33
11275 643.1 7.2 481 11286 roll 0.70 - - 3115 - 2.78 0.125 3651 502.5 198.7 4.03 1.549 2264 -9.2 0.772 - - - - - - 14.73 14.21 13.07
11331 638.5 8.4 489 11337 done 0.70 - - 3125 - 2.42 0.044 2250 -578.9 198.7 2.12 0.425 2256 -3.8 1.148 - - - - - - 14.53 14.46 12.82
11667 612.6 7.8 502 11670 done 0.70 - - 3125 - - - 2247 - 198.7 2.00 0.229 2258 - - - - - - - - 14.78 14.19 12.41
12003 585.5 8.2 508 12009 roll 0.70 - - 3125 - 2.88 0.123 3659 490.3 198.7 1.75 0.226 2260 - - - - - - - - 14.79 14.00 13.78
12037 582.3 9.0 513 12043 done 0.70 - - 3135 - 2.45 0.044 2264 -569.4 198.7 - - 2267 - - - - - - - - 14.43 14.34 14.45
12388 551.8 8.7 521 12394 roll 0.70 - - 3134 - 2.85 0.123 3659 489.5 198.7 1.70 0.228 2260 -4.1 2.017 - - - - - - 14.79 13.95 13.75
12436 547.2 9.5 528 12443 done 0.70 - - 3146 - 2.47 0.044 2247 -571.7 198.7 1.52 0.240 2258 - - - - - - - - 14.39 14.29 13.82
12780 519.1 8.0 535 12783 done 0.70 - - 3146 - - - 2244 - 198.7 1.45 0.230 2259 - - - - - - - - 14.76 14.07 13.77
13116 494.3 7.3 541 13137 roll 0.71 - - 3145 - 2.80 0.122 3655 503.9 207.1 16.25 1.718 2220 -2.4 0.140 - - - - - - 14.76 14.21 13.43
13179 489.2 8.6 550 13184 done 0.71 - - 3156 - 2.40 0.044 2261 -580.8 207.1 - - 2213 - - - - - - - - 14.52 14.45 14.54
13501 462.7 8.3 561 13502 done 0.71 - - 3157 - - - 2258 - 207.1 - - 2212 - - - - - - - - 14.73 14.73 14.73
13837 434.6 8.3 567 13838 done 0.71 - - 3156 - - - 2258 - 207.1 - - 2212 - - - - - - - - 14.78 14.78 14.78
14174 405.3 8.8 573 14179 roll 0.71 - - 3166 - 2.53 0.061 858 -553.4 207.1 - - 2212 - - - - - - - - 14.79 14.07 14.79
14208 402.0 9.4 578 14213 done 0.71 0.12 0.204 3124 -350.0 2.53 0.062 2257 553.0 207.1 - - 2211 - - - - - - - - 13.96 14.14 14.23
14565 372.2 8.3 587 14570 roll 0.71 - - 3129 - 2.78 0.123 3660 504.7 207.1 - - 2210 - - - - - - - - 14.76 13.85 14.76
14648 364.3 9.4 599 14654 done 0.71 - - 3139 - 2.45 0.044 2256 -573.1 207.1 - - 2211 - - - - - - - - 14.38 14.27 14.40
15013 334.4 8.1 609 15019 roll 0.71 - - 3150 - 2.53 0.061 855 -553.8 207.1 - - 2211 - - - - - - - - 14.79 14.01 14.80
15048 331.6 8.2 614 15053 done 0.71 - - 3150 - 2.55 0.060 2272 555.7 207.1 - - 2211 - - - - - - - - 14.26 14.08 14.31
15406 302.2 8.3 623 15411 roll 0.71 - - 3150 - 2.75 0.125 3656 503.3 207.1 - - 2212 - - - - - - - - 14.79 13.79 14.79
15439 299.0 9.1 628 15445 done 0.71 0.10 0.227 3132 -180.0 2.45 0.044 2252 -573.1 207.1 - - 2211 - - - - - - - - 13.90 14.23 14.17
15798 272.3 7.5 637 15803 roll 0.72 - - 3142 - 2.53 0.060 855 -552.2 212.3 - - 2213 - - - - - - - - 14.76 13.98 14.76
15832 269.6 8.0 642 15837 done 0.72 - - 3137 - 2.53 0.060 2257 554.2 212.3 - - 2211 - - - - - - - - 14.23 14.05 14.27
16190 240.6 8.1 651 16194 roll 0.72 - - 3142 - 2.80 0.125 3657 500.0 212.3 - - 2211 - - - - - - - - 14.74 13.78 14.74
16231 237.0 8.8 657 16237 done 0.72 - - 3152 - 2.45 0.044 2253 -573.1 212.3 - - 2211 - - - - - - - - 14.35 14.26 14.37
16582 209.3 7.9 665 16587 roll 0.72 - - 3151 - 2.85 0.124 3653 491.2 212.3 - - 2211 - - - - - - - - 14.75 13.76 14.75
16608 206.9 8.7 669 16615 done 0.72 0.10 0.227 3134 -170.0 2.42 0.044 2258 -576.4 212.3 - - 2211 - - - - - - - - 13.90 14.24 14.12
16974 180.8 7.0 679 16995 done 0.74 - - 3134 - - - 2258 - 226.3 20.55 1.289 2148 -3.1 0.087 - - - - - - 14.75 14.27 13.47
17310 156.1 7.4 685 17316 roll 0.74 - - 3134 - 2.83 0.122 3656 494.0 233.1 1.55 0.222 2120 -18.1 2.571 - - - - - - 14.72 14.04 13.91
17372 150.6 9.1 694 17377 done 0.74 - - 3144 - 2.40 0.044 2273 -576.2 233.1 - - 2127 - - - - - - - - 14.41 14.33 14.43
17703 124.8 7.8 706 17707 roll 0.74 - - 3153 - 2.55 0.060 855 -556.1 233.1 - - 2129 - - - - - - - - 14.74 14.10 14.75
17736 122.2 7.4 711 17758 done 0.75 - - 3156 - 2.55 0.060 2274 556.5 240.1 11.45 1.273 2088 -3.6 0.070 - - - - - - 14.28 14.06 13.52
18094 97.2 6.9 720 18107 roll 0.77 - - 3153 - 2.75 0.127 3662 504.7 256.3 7.75 0.416 2032 -7.2 0.342 - - - - - - 14.78 14.17 13.75
18178 90.4 8.6 732 18184 done 0.77 - - 3162 - 2.42 0.044 2264 -577.7 256.3 1.75 0.223 2028 -2.3 0.188 - - - - - - 14.45 14.36 13.95
18507 65.4 7.4 746 18519 roll 0.78 - - 3173 - 2.55 0.060 860 -550.6 262.4 5.28 0.320 2007 -4.0 0.165 - - - - - - 14.73 14.20 13.74
18612 59.0 5.6 761 18647 done 0.91 - - 3173 - 2.55 0.061 2271 553.3 304.5 25.60 0.351 1839 -6.6 0.223 - - - - - - 14.32 14.14 13.92
18959 45.3 1.5 777 19031 done 1.22 0.25 0.067 3300 508.0 - - 2271 - 429.3 69.80 0.315 1340 -7.1 0.208 - - - - - - 14.30 14.33 13.97
19319 15.3 10.5 793 19324 roll 1.22 - - 3310 - 2.58 0.063 855 -548.8 429.3 - - 1343 - - - - - - - - 14.72 14.07 14.72
19360 10.8 10.5 799 19365 done 1.22 - - 3310 - 2.53 0.060 2269 558.9 429.3 - - 1343 - - - - - - - - 14.28 14.10 14.32
19455 end climb: SURFACE_DEPTH_REACHED
19455 begin surface coast
19483 end surface coast: CONTROL_FINISHED_OK
19483 begin surface
SM -3.45 - - - - -8.39 9.15 0.058 171 18.7 0.98 0.116 2765 1770.4 500.14 36.00 0.151 1056 29.3 0.068 - - - - - -