SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 807 * Raw log
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• Previous call tries 1 • 273.35 of 350.00 AH used of 24V (21.90% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -68.0 deg, depth -4.17 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
15 - - - 98 done -0.95 - - 143 - - - 2756 - -97.3 -78.80 - 3437 - - - - - - - - 13.39 12.02 13.39
103 2.7 -11.9 3 126 roll -0.95 13.52 0.385 2582 180.4 2.67 0.031 1355 -524.7 -97.3 - - 3439 - - - - - - - - 12.86 13.21 13.17
149 22.8 -31.9 10 155 done -0.44 0.75 0.244 2749 222.7 3.08 0.116 2765 457.8 -97.3 - - 3439 - - - - - - - - 12.83 12.93 13.11
464 54.8 -8.4 22 469 roll -0.55 - - 2748 - 2.70 0.041 1368 -517.4 -97.3 - - 3441 - - - - - - - - 13.64 13.23 13.64
534 58.6 -5.5 32 539 done -0.69 0.15 0.079 2649 -660.0 2.97 0.109 2760 468.7 -97.3 - - 3441 - - - - - - - - 13.30 12.98 13.36
856 83.5 -7.7 45 861 roll -0.69 - - 2641 - 2.40 0.177 3829 445.4 -97.3 - - 3442 - - - - - - - - 13.71 12.96 13.71
919 89.1 -8.6 54 923 done -0.69 0.12 0.216 2674 275.0 1.98 0.059 2746 -547.0 -97.3 - - 3442 - - - - - - - - 12.98 13.32 13.23
1248 110.6 -6.2 65 1249 done -0.69 - - 2674 - - - 2747 - -97.3 - - 3442 - - - - - - - - 13.74 13.74 13.74
1584 133.0 -6.8 71 1588 roll -0.69 - - 2674 - 2.60 0.041 1372 -528.8 -97.3 - - 3441 - - - - - - - - 13.80 13.28 13.79
1640 137.4 -7.0 79 1645 done -0.78 - - 2663 - 2.92 0.104 2758 474.7 -97.3 - - 3441 - - - - - - - - 13.28 13.00 13.33
1976 162.6 -7.9 92 1980 roll -0.78 - - 2663 - 2.65 0.042 1368 -524.5 -97.3 - - 3439 - - - - - - - - 13.81 13.29 13.81
2025 166.6 -7.6 99 2031 done -0.87 0.05 0.187 2604 -1180.0 2.90 0.103 2756 478.6 -97.3 - - 3439 - - - - - - - - 13.20 13.01 13.34
2368 201.1 -10.3 106 2373 roll -0.87 - - 2595 - 2.35 0.168 3825 454.9 -97.3 - - 3437 - - - - - - - - 13.82 12.97 13.82
2430 208.3 -11.0 115 2435 done -0.87 - - 2594 - 1.98 0.058 2743 -546.5 -97.3 - - 3436 - - - - - - - - 13.46 13.41 13.47
2760 243.6 -10.7 127 2760 done -0.87 - - 2594 - - - 2743 - -97.3 - - 3435 - - - - - - - - 13.78 13.78 13.78
3096 279.7 -10.6 133 3101 roll -0.87 - - 2587 - 2.40 0.161 3823 450.0 -97.3 - - 3432 - - - - - - - - 13.79 12.97 13.80
3131 284.0 -12.3 138 3136 done -0.87 0.10 0.228 2611 240.0 1.98 0.058 2745 -544.4 -97.3 - - 3432 - - - - - - - - 13.07 13.43 13.30
3488 318.3 -9.5 147 3492 roll -0.87 - - 2612 - 2.60 0.041 1375 -526.9 -97.3 - - 3429 - - - - - - - - 13.84 13.32 13.84
3537 322.9 -9.6 154 3542 done -0.87 - - 2602 - 2.90 0.100 2756 476.2 -97.3 - - 3429 - - - - - - - - 13.30 13.01 13.35
3880 356.0 -9.6 161 3880 done -0.87 - - 2602 - - - 2756 - -97.3 - - 3427 - - - - - - - - 13.85 13.85 13.85
4216 389.2 -9.9 167 4216 done -0.87 - - 2602 - - - 2756 - -97.3 - - 3426 - - - - - - - - 13.85 13.85 13.85
4552 421.1 -9.3 173 4552 done -0.87 - - 2602 - - - 2756 - -97.3 - - 3424 - - - - - - - - 13.83 13.82 13.82
4888 452.5 -9.5 179 4893 roll -0.87 - - 2601 - 2.67 0.042 1373 -518.0 -97.3 - - 3422 - - - - - - - - 13.86 13.31 13.88
4965 459.7 -8.2 190 4970 done -0.87 - - 2592 - 2.92 0.103 2754 472.9 -97.3 - - 3422 - - - - - - - - 13.31 13.00 13.35
5280 487.9 -9.0 200 5284 roll -0.87 - - 2584 - 2.38 0.168 3826 450.4 -97.3 - - 3420 - - - - - - - - 13.86 12.94 13.86
5307 491.4 -12.5 204 5312 done -0.87 0.12 0.226 2614 250.0 2.00 0.063 2760 -533.0 -97.3 - - 3421 - - - - - - - - 13.03 13.43 13.28
5672 519.7 -7.7 214 5677 roll -0.87 - - 2615 - 2.70 0.043 1354 -520.7 -97.3 - - 3420 - - - - - - - - 13.81 13.30 13.81
5734 525.2 -8.4 223 5739 done -0.87 - - 2605 - 2.97 0.103 2754 471.4 -97.3 - - 3418 - - - - - - - - 13.31 13.00 13.36
6064 553.4 -8.7 235 6069 roll -0.87 - - 2597 - 2.40 0.171 3830 448.3 -97.3 - - 3417 - - - - - - - - 13.80 12.92 13.80
6099 557.1 -10.3 240 6103 done -0.87 - - 2595 - 2.05 0.064 2744 -529.8 -97.3 - - 3416 - - - - - - - - 13.48 13.42 13.50
6456 590.0 -9.4 249 6456 done -0.87 - - 2596 - - - 2744 - -97.3 - - 3415 - - - - - - - - 13.80 13.81 13.81
6792 622.9 -9.8 255 6797 roll -0.87 - - 2596 - 2.67 0.043 1356 -519.9 -97.3 - - 3414 - - - - - - - - 13.81 13.30 13.81
6833 627.0 -10.3 261 6840 done -0.87 0.10 0.239 2611 150.0 2.97 0.103 2755 471.0 -97.3 - - 3413 - - - - - - - - 13.00 13.00 13.26
7184 658.7 -9.2 269 7190 roll -0.87 - - 2612 - 2.72 0.044 1361 -512.5 -97.3 - - 3411 - - - - - - - - 13.85 13.28 13.85
7232 663.3 -8.4 276 7239 done -0.87 - - 2602 - 2.92 0.103 2743 473.3 -97.3 - - 3411 - - - - - - - - 13.29 12.98 13.34
7576 694.3 -8.9 283 7580 roll -0.87 - - 2593 - 2.42 0.171 3829 448.8 -97.3 - - 3410 - - - - - - - - 13.80 12.88 13.80
7625 699.1 -9.9 290 7630 done -0.87 - - 2593 - 2.05 0.066 2747 -527.8 -97.3 - - 3409 - - - - - - - - 13.45 13.38 13.46
7968 729.1 -8.7 297 7968 done -0.87 - - 2592 - - - 2747 - -97.3 - - 3409 - - - - - - - - 13.81 13.81 13.80
8304 759.3 -9.0 303 8309 roll -0.87 - - 2593 - 2.70 0.044 1360 -513.7 -97.3 - - 3408 - - - - - - - - 13.81 13.26 13.80
8360 764.5 -9.2 311 8365 done -0.87 0.12 0.224 2615 183.3 2.97 0.104 2750 468.0 -97.3 - - 3407 - - - - - - - - 12.97 12.98 13.24
8696 791.4 -8.1 324 8700 roll -0.87 - - 2615 - 2.70 0.044 1360 -514.8 -97.3 - - 3406 - - - - - - - - 13.84 13.28 13.85
8738 794.8 -7.8 330 8742 done -0.87 - - 2606 - 2.95 0.106 2745 469.5 -97.3 - - 3406 - - - - - - - - 13.29 12.97 13.34
8803 end dive: TARGET_DEPTH_EXCEEDED
8803 begin apogee
8814 800.3 -7.9 333 8924 roll -0.23 0.82 0.184 2821 262.2 0.10 0.209 2262 -4830.0 - 101.97 2.546 3050 -3.5 0.249 - - - - 1 - 12.98 12.41 11.40
8925 end apogee: CONTROL_FINISHED_OK
8925 begin climb
8930 804.9 - 335 9062 roll 0.95 1.27 0.088 3190 290.6 2.88 0.050 875 -481.6 97.3 112.28 2.743 2664 -3.4 0.229 - - - - 1 - 12.50 12.52 11.07
9181 802.4 5.0 372 9256 done 0.88 - - 3190 - 2.90 0.070 2241 471.0 145.5 65.12 1.854 2462 -3.1 0.305 - - - - - - 12.58 12.43 11.43
9599 768.0 9.1 389 9605 roll 0.77 0.12 0.214 3164 -216.7 2.83 0.050 880 -480.9 145.5 - - 2454 - - - - - - - - 12.37 12.54 12.52
9634 765.1 6.8 394 9660 done 0.79 - - 3165 - 2.90 0.073 2243 470.0 161.1 18.35 1.893 2402 -2.8 0.260 - - - - - - 12.66 12.46 11.74
9991 733.1 9.0 410 9995 roll 0.79 - - 3175 - 2.83 0.054 878 -482.3 161.1 - - 2395 - - - - - - - - 12.96 12.57 12.96
10025 730.0 8.6 415 10030 done 0.79 - - 3174 - 2.92 0.075 2249 469.5 161.1 - - 2395 - - - - - - - - 12.70 12.50 12.73
10383 697.2 9.3 424 10388 roll 0.71 0.15 0.215 3132 -280.0 3.28 0.154 3667 432.3 161.1 - - 2394 - - - - - - - - 12.50 12.54 12.65
10432 692.9 8.7 431 10438 done 0.71 - - 3144 - 2.75 0.054 2262 -510.9 161.1 - - 2394 - - - - - - - - 12.89 12.82 12.91
10775 665.1 8.1 438 10780 roll 0.71 - - 3154 - 2.78 0.055 863 -503.2 161.1 - - 2393 - - - - - - - - 13.21 12.78 13.21
10809 662.4 7.6 443 10814 done 0.71 - - 3154 - 2.88 0.073 2246 480.2 162.0 - - 2393 - - - - - - - - 12.91 12.70 12.95
11167 636.5 7.1 452 11179 roll 0.72 - - 3164 - 2.80 0.057 865 -493.2 171.4 5.03 1.817 2371 -4.4 0.348 - - - - - - 13.35 13.06 12.00
11201 634.0 7.0 457 11229 done 0.74 - - 3165 - 2.85 0.075 2243 483.5 182.7 17.80 1.735 2320 -2.9 0.238 - - - - 1 - 13.00 12.80 12.14
11552 607.4 7.7 472 11552 done 0.74 - - 3163 - - - 2243 - 182.7 - - 2323 - - - - - - - - 13.32 13.32 13.32
11888 581.7 7.6 478 11893 roll 0.74 - - 3163 - 3.28 0.163 3665 433.5 182.7 - - 2322 - - - - - - - - 13.44 12.71 13.44
11915 579.3 8.8 482 11921 done 0.74 0.12 0.225 3143 -166.7 2.75 0.052 2248 -515.3 182.7 - - 2322 - - - - - - - - 12.73 13.03 12.97
12280 553.8 6.9 492 12305 roll 0.75 - - 3153 - 2.78 0.057 856 -500.7 195.7 20.17 1.762 2262 -3.0 0.212 - - - - - - 13.47 13.01 12.24
12335 549.8 7.6 500 12340 done 0.75 - - 3153 - 2.90 0.075 2249 480.3 195.7 - - 2257 - - - - - - - - 12.99 12.79 13.03
12672 522.6 8.3 513 12678 roll 0.75 - - 3153 - 3.25 0.164 3667 436.3 195.7 - - 2256 - - - - - - - - 13.42 12.74 13.42
12693 520.9 8.5 516 12697 done 0.75 - - 3164 - 2.75 0.054 2248 -516.0 195.7 - - 2256 - - - - - - - - 13.14 13.07 13.16
13008 492.2 9.1 526 13013 roll 0.75 - - 3174 - 2.78 0.057 855 -501.1 195.7 - - 2256 - - - - - - - - 13.54 12.93 13.55
13070 486.1 9.6 535 13075 done 0.75 0.10 0.205 3148 -260.0 2.88 0.078 2245 482.6 195.7 - - 2255 - - - - - - - - 12.83 12.86 13.07
13400 458.8 8.2 547 13404 roll 0.75 - - 3147 - 3.25 0.163 3662 436.0 195.7 - - 2255 - - - - - - - - 13.59 12.77 13.59
13434 455.7 9.0 552 13439 done 0.75 - - 3157 - 2.75 0.054 2235 -518.9 195.7 - - 2255 - - - - - - - - 13.22 13.13 13.24
13792 426.6 8.2 561 13797 roll 0.75 - - 3172 - 2.72 0.058 855 -507.4 195.7 - - 2255 - - - - - - - - 13.62 12.99 13.62
13848 422.1 8.7 569 13854 done 0.75 - - 3168 - 2.85 0.076 2241 486.3 195.7 - - 2255 - - - - - - - - 13.12 12.89 13.18
14184 394.2 8.3 582 14188 roll 0.75 - - 3168 - 3.22 0.164 3660 440.7 195.7 - - 2255 - - - - - - - - 13.64 12.79 13.64
14212 392.0 7.6 586 14217 done 0.75 0.12 0.224 3142 -216.7 2.72 0.052 2235 -523.9 196.3 - - 2255 - - - - - - - - 12.84 13.19 13.12
14576 365.4 7.1 596 14588 roll 0.76 - - 3157 - 2.72 0.057 853 -508.1 206.3 5.07 1.600 2233 -4.3 0.225 - - - - - - 13.65 13.27 12.26
14618 362.6 7.1 602 14645 done 0.78 - - 3157 - 2.83 0.076 2244 491.5 216.6 16.90 1.538 2185 -2.8 0.152 - - - - 1 - 13.24 13.02 12.37
14968 337.5 7.2 617 14979 roll 0.79 - - 3157 - 3.15 0.163 3662 450.2 224.1 4.93 1.535 2160 -5.1 0.253 - - - - - - 13.59 13.06 12.06
15010 334.1 8.4 623 15016 done 0.79 - - 3168 - 2.72 0.054 2240 -522.8 224.1 1.80 0.243 2158 - - - - - - - - 13.23 13.15 12.73
15353 307.6 7.8 630 15359 roll 0.79 - - 3178 - 2.78 0.057 859 -496.8 224.1 1.85 0.220 2159 - - - - - - - - 13.57 13.17 12.83
15422 302.1 8.2 640 15428 done 0.79 - - 3177 - 2.83 0.079 2237 486.9 224.1 1.75 0.217 2157 - - - - - - - - 13.17 12.94 12.86
15787 269.8 8.9 650 15793 roll 0.79 - - 3177 - 3.28 0.167 3664 435.1 224.1 1.70 0.219 2160 1.8 -0.493 - - - - - - 13.66 12.99 12.88
15828 265.7 10.0 656 15835 done 0.79 0.12 0.218 3156 -175.0 2.72 0.052 2233 -526.1 224.1 1.60 0.217 2157 -1.9 0.521 - - - - - - 12.90 13.23 12.88
16172 237.2 8.1 663 16178 roll 0.79 - - 3167 - 2.75 0.055 858 -500.0 224.1 1.77 0.219 2159 - - - - - - - - 13.69 13.19 12.83
16206 234.4 8.2 668 16211 done 0.79 - - 3167 - 2.80 0.076 2237 492.5 224.1 - - 2165 - - - - - - - - 13.25 13.02 13.28
16557 206.2 8.1 676 16560 done 0.79 - - 3166 - - - 2237 - 224.1 1.77 0.218 2160 -2.8 0.606 - - - - - - 13.62 13.19 12.86
16893 178.9 8.1 682 16899 roll 0.79 - - 3166 - 3.25 0.162 3665 439.4 224.1 1.80 0.223 2160 - - - - - - - - 13.70 12.99 12.78
16949 173.9 9.5 690 16955 done 0.79 - - 3177 - 2.72 0.052 2231 -527.2 224.1 1.73 0.230 2157 -1.7 0.298 - - - - - - 13.33 13.25 12.84
17271 147.8 7.9 701 17278 roll 0.79 - - 3187 - 2.72 0.056 861 -503.7 224.1 1.77 0.223 2160 1.7 -0.255 - - - - - - 13.65 13.19 12.82
17348 141.3 8.3 712 17354 done 0.79 0.12 0.195 3153 -283.3 2.80 0.077 2236 491.1 224.1 1.80 0.218 2158 - - - - - - - - 12.95 13.00 12.81
17712 111.2 8.4 722 17719 roll 0.79 - - 3153 - 3.25 0.161 3665 439.7 224.1 1.85 0.229 2163 2.7 -0.298 - - - - - - 13.71 12.99 12.76
17782 105.6 7.9 732 17789 done 0.79 - - 3163 - 2.70 0.052 2235 -529.6 224.1 1.90 0.232 2158 -2.6 0.272 - - - - - - 13.25 13.19 12.78
18123 83.2 6.5 746 18146 roll 0.81 - - 3163 - 3.20 0.161 3660 445.3 244.2 14.68 0.410 2079 -5.4 0.248 - - - - - - 13.60 13.07 12.88
18175 79.1 8.1 754 18179 done 0.81 - - 3173 - 2.70 0.050 2239 -526.3 244.2 - - 2084 - - - - - - - - 13.34 13.26 13.35
18511 54.0 6.1 769 18537 roll 0.84 - - 3182 - 2.72 0.057 858 -507.7 272.0 18.65 0.334 1968 -6.2 0.228 - - - - - - 13.64 13.22 12.94
18574 51.6 4.4 778 18622 done 0.99 0.05 0.178 3226 880.0 2.80 0.074 2244 495.0 332.2 38.33 0.331 1727 -6.3 0.222 - - - - - - 13.12 13.02 12.86
18935 29.1 4.6 796 18977 roll 1.17 0.08 0.134 3292 825.0 3.20 0.164 3657 441.6 387.9 33.22 0.269 1506 -6.7 0.163 - - - - - - 13.26 13.02 12.97
19071 21.6 5.7 816 19098 done 1.22 - - 3301 - 2.70 0.051 2237 -525.9 424.0 22.40 0.240 1360 -6.5 0.133 - - - - - - 13.28 13.21 12.97
19318 end climb: SURFACE_DEPTH_REACHED
19318 begin surface coast
19346 end surface coast: CONTROL_FINISHED_OK
19346 begin surface
SM -4.84 - - - - -8.40 10.20 0.081 194 19.0 1.23 0.129 2768 -5273.2 500.14 42.55 0.154 1059 24.9 0.080 - - - - - -