SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 608 * Raw log
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• Previous call tries 1 • 210.53 of 350.00 AH used of 24V (39.85% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.8 deg, depth -6.52 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 105 - - - 2778 - -107.1 -79.95 - 3478 - - - - - - - - 14.65 13.00 14.61
105 -0.3 -11.6 3 122 roll -0.93 12.23 0.395 2587 202.9 2.50 0.042 1348 -572.0 -107.1 - - 3479 - - - - - - - - 13.93 14.40 14.38
327 46.3 -7.3 35 332 done -0.78 0.25 0.246 2643 224.0 2.65 0.085 2774 538.1 -107.1 - - 3479 - - - - - - - - 13.92 14.10 14.22
663 80.2 -7.7 50 668 roll -0.78 - - 2644 - 2.47 0.042 1351 -576.1 -107.1 - - 3482 - - - - - - - - 14.81 14.31 14.81
732 86.6 -9.1 60 737 done -0.78 - - 2633 - 2.58 0.074 2770 550.0 -107.1 - - 3481 - - - - - - - - 14.40 14.20 14.44
1055 116.3 -9.0 70 1060 roll -0.78 - - 2622 - 2.00 0.116 3831 530.5 -107.1 - - 3484 - - - - - - - - 14.83 14.10 14.85
1117 122.3 -9.3 79 1122 done -0.78 - - 2624 - 1.83 0.040 2718 -608.2 -107.1 - - 3481 - - - - - - - - 14.49 14.47 14.50
1447 154.8 -10.3 91 1451 roll -0.78 - - 2624 - 2.28 0.041 1393 -581.1 -107.1 - - 3479 - - - - - - - - 14.85 14.38 14.86
1488 159.4 -10.7 97 1493 done -0.78 0.10 0.240 2643 190.0 2.50 0.070 2767 549.6 -107.1 - - 3480 - - - - - - - - 14.05 14.21 14.30
1839 189.6 -8.4 105 1839 done -0.78 - - 2643 - - - 2767 - -107.1 - - 3477 - - - - - - - - 14.86 14.86 14.86
2175 217.1 -8.2 111 2179 roll -0.78 - - 2643 - 2.40 0.044 1402 -568.8 -107.1 - - 3473 - - - - - - - - 14.86 14.35 14.85
2230 222.2 -8.2 119 2235 done -0.78 - - 2634 - 2.53 0.074 2762 537.5 -107.1 - - 3473 - - - - - - - - 14.40 14.20 14.45
2567 249.4 -7.8 132 2567 done -0.78 - - 2634 - - - 2769 - -107.1 - - 3472 - - - - - - - - 14.82 14.82 14.82
2903 278.3 -8.8 138 2908 roll -0.78 - - 2633 - 2.40 0.044 1401 -570.0 -107.1 - - 3470 - - - - - - - - 14.86 14.29 14.86
2959 283.3 -9.3 146 2964 done -0.78 - - 2624 - 2.53 0.076 2760 537.2 -107.1 - - 3469 - - - - - - - - 14.36 14.16 14.40
3295 314.5 -9.3 159 3296 done -0.78 - - 2624 - - - 2758 - -107.1 - - 3468 - - - - - - - - 14.85 14.85 14.85
3630 345.0 -9.1 165 3635 roll -0.78 - - 2623 - 2.40 0.044 1399 -566.2 -107.1 - - 3466 - - - - - - - - 14.86 14.30 14.86
3658 347.8 -9.7 169 3663 done -0.78 0.10 0.240 2642 190.0 2.53 0.076 2762 538.7 -107.1 - - 3467 - - - - - - - - 14.00 14.16 14.26
4023 378.6 -8.3 179 4027 roll -0.78 - - 2634 - 2.08 0.125 3830 513.5 -107.1 - - 3463 - - - - - - - - 14.88 13.70 14.88
4050 381.1 -9.1 183 4055 done -0.78 - - 2628 - 1.80 0.043 2772 -587.8 -107.1 - - 3463 - - - - - - - - 14.43 14.41 14.45
4415 410.7 -8.1 193 4419 roll -0.78 - - 2634 - 2.42 0.045 1383 -574.0 -107.1 - - 3462 - - - - - - - - 14.88 14.26 14.88
4484 416.2 -8.0 203 4489 done -0.78 - - 2625 - 2.58 0.078 2758 532.9 -107.1 - - 3462 - - - - - - - - 14.31 14.10 14.35
4807 442.6 -8.2 214 4812 roll -0.78 - - 2624 - 2.42 0.044 1385 -567.4 -107.1 - - 3459 - - - - - - - - 14.85 14.26 14.85
4862 447.4 -8.9 222 4868 done -0.78 0.10 0.237 2642 180.0 2.58 0.080 2761 533.3 -107.1 - - 3460 - - - - - - - - 13.91 14.00 14.18
5199 472.0 -7.2 235 5200 done -0.78 - - 2643 - - - 2761 - -107.1 - - 3458 - - - - - - - - 14.84 14.84 14.84
5535 495.4 -7.1 241 5539 roll -0.78 - - 2643 - 2.45 0.044 1385 -561.6 -107.1 - - 3456 - - - - - - - - 14.84 14.23 14.84
5597 499.8 -7.3 250 5603 done -0.78 - - 2633 - 2.58 0.080 2751 529.5 -107.1 - - 3456 - - - - - - - - 14.27 14.05 14.32
5927 524.7 -7.8 262 5932 roll -0.78 - - 2632 - 2.42 0.045 1382 -565.7 -107.1 - - 3455 - - - - - - - - 14.88 14.26 14.88
5968 528.3 -8.3 268 5973 done -0.78 - - 2624 - 2.58 0.080 2756 532.6 -107.1 - - 3455 - - - - - - - - 14.28 14.04 14.33
6319 558.7 -8.8 276 6320 done -0.78 - - 2624 - - - 2756 - -107.1 - - 3455 - - - - - - - - 14.88 14.87 14.87
6655 587.7 -8.7 282 6660 roll -0.78 - - 2623 - 2.45 0.044 1385 -559.6 -107.1 - - 3452 - - - - - - - - 14.84 14.23 14.84
6710 592.6 -8.1 290 6717 done -0.78 0.10 0.236 2642 190.0 2.58 0.082 2749 528.7 -107.1 - - 3452 - - - - - - - - 13.87 14.00 14.12
7047 619.1 -7.8 303 7047 done -0.78 - - 2641 - - - 2749 - -107.1 - - 3450 - - - - - - - - 14.86 14.87 14.87
7382 645.6 -8.0 309 7383 done -0.78 - - 2641 - - - 2749 - -107.1 - - 3449 - - - - - - - - 14.83 14.83 14.83
7719 670.0 -7.1 315 7724 roll -0.78 - - 2639 - 2.45 0.046 1384 -557.1 -107.1 - - 3448 - - - - - - - - 14.86 14.17 14.86
7781 674.8 -6.1 324 7786 done -0.86 - - 2632 - 2.58 0.082 2744 527.1 -107.1 - - 3448 - - - - - - - - 14.19 13.95 14.23
8111 698.8 -7.2 336 8116 roll -0.86 - - 2632 - 2.42 0.044 1380 -563.6 -107.1 - - 3448 - - - - - - - - 14.85 14.20 14.86
8167 702.9 -7.9 344 8171 done -0.86 - - 2623 - 2.60 0.084 2746 525.4 -107.1 - - 3447 - - - - - - - - 14.16 13.92 14.22
8503 728.3 -7.7 357 8504 done -0.86 - - 2623 - - - 2746 - -107.1 - - 3446 - - - - - - - - 14.84 14.85 14.83
8839 754.2 -7.8 363 8843 roll -0.86 - - 2622 - 2.45 0.046 1380 -557.6 -107.1 - - 3444 - - - - - - - - 14.85 14.14 14.85
8895 758.6 -6.6 371 8899 done -0.86 - - 2613 - 2.62 0.086 2744 520.6 -107.1 - - 3447 - - - - - - - - 14.13 13.88 14.19
9230 785.2 -8.0 384 9231 done -0.86 - - 2613 - - - 2744 - -107.1 - - 3443 - - - - - - - - 14.85 14.85 14.85
9451 end dive: TARGET_DEPTH_EXCEEDED
9451 begin apogee
9459 803.0 -8.1 388 9568 roll -0.23 0.75 0.192 2819 274.7 - - 2237 - - 101.00 2.550 3051 -3.9 0.246 - - - - 1 - 13.65 13.81 12.49
9570 end apogee: CONTROL_FINISHED_OK
9570 begin climb
9574 806.3 - 390 9714 roll 0.93 1.15 0.104 3187 320.0 2.55 0.060 842 -547.1 107.1 127.07 1.839 2617 -3.4 0.301 - - - - - - 13.90 13.95 12.90
9770 804.1 6.1 419 9810 done 0.84 - - 3176 - 2.55 0.063 2255 554.1 138.6 34.20 1.858 2496 -3.5 0.308 - - - - - - 14.28 14.14 13.05
10131 777.1 7.8 435 10137 roll 0.72 0.15 0.239 3135 -273.3 2.72 0.121 3662 517.3 138.6 - - 2485 - - - - - - - - 14.01 14.09 14.20
10193 771.4 7.7 444 10199 done 0.63 0.12 0.243 3108 -225.0 2.47 0.044 2236 -577.3 140.1 - - 2485 - - - - - - - - 13.99 14.40 14.17
10523 750.9 6.1 456 10563 done 0.67 - - 3108 - - - 2233 - 172.3 38.83 1.843 2362 -3.2 0.260 - - - - - - 14.76 14.21 13.22
10859 728.4 6.8 462 10884 roll 0.69 - - 3107 - 2.80 0.128 3660 509.6 190.7 19.80 1.903 2281 -4.1 0.315 - - - - - - 14.71 14.22 13.26
10914 724.4 7.5 470 10919 done 0.70 - - 3117 - 2.45 0.046 2249 -575.9 195.8 - - 2275 - - - - - - - - 14.46 14.37 14.47
11250 700.1 7.0 483 11276 roll 0.71 - - 3117 - 2.75 0.129 3653 510.5 210.0 21.23 1.893 2206 -3.3 0.242 - - - - - - 14.73 13.69 13.28
11306 695.5 7.7 491 11312 done 0.71 - - 3126 - 2.42 0.045 2256 -577.3 210.3 - - 2198 - - - - - - - - 14.47 14.39 14.49
11642 669.5 7.9 504 11643 done 0.71 - - 3126 - - - 2252 - 210.3 - - 2196 - - - - - - - - 14.73 14.74 14.74
11978 641.2 8.5 510 11983 roll 0.71 - - 3126 - 2.80 0.133 3661 503.2 210.3 - - 2195 - - - - - - - - 14.78 14.02 14.78
12012 638.4 7.9 515 12019 done 0.71 - - 3135 - 2.45 0.045 2250 -575.9 210.3 - - 2195 - - - - - - - - 14.48 14.38 14.51
12371 605.9 8.9 524 12375 roll 0.71 - - 3134 - 2.80 0.134 3654 501.4 210.3 - - 2194 - - - - - - - - 14.79 13.98 14.79
12426 600.3 10.5 532 12431 done 0.71 - - 3146 - 2.40 0.045 2247 -586.2 210.3 - - 2194 - - - - - - - - 14.37 14.28 14.40
12763 568.6 9.3 545 12763 done 0.71 - - 3146 - - - 2245 - 210.3 - - 2193 - - - - - - - - 14.83 14.83 14.83
13098 539.9 8.5 551 13104 roll 0.71 - - 3146 - 2.83 0.134 3654 497.9 210.3 - - 2194 - - - - - - - - 14.79 13.90 14.79
13147 535.1 10.1 558 13153 done 0.71 - - 3156 - 2.45 0.044 2261 -568.6 210.3 - - 2193 - - - - - - - - 14.37 14.26 14.40
13491 504.1 9.1 565 13496 roll 0.71 - - 3166 - 2.53 0.064 851 -557.3 210.3 - - 2193 - - - - - - - - 14.79 14.12 14.79
13538 499.6 9.8 572 13546 done 0.71 0.08 0.200 3135 -387.5 2.60 0.072 2253 539.2 210.3 - - 2191 - - - - - - - - 13.90 14.05 14.21
13882 472.1 7.9 579 13888 roll 0.71 - - 3134 - 2.78 0.133 3655 504.3 210.3 - - 2193 - - - - - - - - 14.83 13.85 14.83
13938 467.4 9.1 587 13944 done 0.71 - - 3144 - 2.45 0.045 2251 -573.1 210.3 - - 2193 - - - - - - - - 14.42 14.33 14.45
14274 439.2 8.4 600 14279 roll 0.71 - - 3155 - 2.50 0.064 855 -558.4 210.3 - - 2193 - - - - - - - - 14.83 14.09 14.83
14309 436.2 9.1 605 14314 done 0.71 - - 3155 - 2.58 0.070 2261 545.0 210.3 - - 2192 - - - - - - - - 14.28 14.07 14.33
14667 404.9 8.7 614 14671 roll 0.71 - - 3155 - 2.80 0.138 3658 498.9 210.3 - - 2193 - - - - - - - - 14.79 13.79 14.79
14714 400.2 9.7 621 14721 done 0.71 0.12 0.231 3130 -208.3 2.47 0.045 2266 -563.6 210.3 - - 2193 - - - - - - - - 13.88 14.20 14.18
15058 372.1 8.2 628 15059 done 0.71 - - 3130 - - - 2266 - 210.3 - - 2191 - - - - - - - - 14.82 14.82 14.82
15395 344.1 8.2 634 15399 roll 0.71 - - 3130 - 2.83 0.136 3661 492.9 210.3 - - 2195 - - - - - - - - 14.83 13.78 14.83
15429 340.9 9.6 639 15435 done 0.71 - - 3140 - 2.45 0.045 2264 -570.2 210.3 - - 2192 - - - - - - - - 14.38 14.28 14.41
15787 313.5 7.4 648 15790 done 0.72 - - 3138 - - - 2257 - 217.4 1.48 0.222 2181 -7.4 2.111 - - - - - - 14.82 14.05 13.77
16123 289.7 7.1 654 16148 roll 0.74 - - 3140 - 2.78 0.136 3659 504.3 230.1 19.35 1.418 2125 -2.9 0.119 - - - - - - 14.82 14.20 13.40
16163 286.1 8.7 660 16169 done 0.74 - - 3149 - 2.40 0.045 2262 -582.1 230.1 - - 2122 - - - - - - - - 14.52 14.45 14.55
16514 255.2 9.1 668 16519 roll 0.74 - - 3160 - 2.53 0.065 854 -556.5 230.1 - - 2117 - - - - - - - - 14.79 14.16 14.79
16541 252.6 9.2 672 16547 done 0.74 - - 3160 - 2.58 0.073 2268 548.1 230.1 - - 2117 - - - - - - - - 14.35 14.14 14.40
16906 217.7 9.5 682 16911 roll 0.74 - - 3159 - 2.78 0.140 3658 500.0 230.1 - - 2117 - - - - - - - - 14.81 13.85 14.81
16954 212.8 10.6 689 16961 done 0.74 0.10 0.239 3142 -170.0 2.47 0.044 2244 -572.5 230.1 - - 2117 - - - - - - - - 13.97 14.26 14.25
17299 184.9 7.8 696 17300 done 0.74 - - 3142 - - - 2242 - 230.1 - - 2116 - - - - - - - - 14.80 14.81 14.81
17634 161.7 6.8 702 17660 roll 0.76 - - 3142 - 2.83 0.135 3651 497.9 249.5 19.33 1.259 2047 -3.6 0.092 - - - - - - 14.79 14.21 13.44
17690 157.4 8.6 710 17695 done 0.76 - - 3150 - 2.40 0.044 2260 -579.6 249.5 - - 2039 - - - - - - - - 14.54 14.45 14.58
18026 126.1 9.6 723 18032 roll 0.76 - - 3146 - 2.80 0.136 3658 499.3 249.5 - - 2040 - - - - - - - - 14.79 13.93 14.79
18047 124.1 9.3 726 18052 done 0.76 - - 3161 - 2.40 0.044 2272 -577.5 249.5 - - 2040 - - - - - - - - 14.38 14.29 14.42
18363 96.6 8.4 736 18364 done 0.76 - - 3161 - - - 2272 - 249.5 - - 2039 - - - - - - - - 14.78 14.78 14.78
18670 74.7 6.3 747 18689 roll 0.80 - - 3160 - 2.75 0.139 3656 503.3 277.9 13.57 0.393 1944 -7.0 0.268 - - - - - - 14.81 14.14 13.80
18754 68.2 8.3 759 18761 done 0.80 - - 3169 - 2.42 0.044 2260 -576.9 277.9 1.67 0.221 1943 - - - - - - - - 14.47 14.36 13.94
19091 43.9 5.8 774 19122 roll 0.85 - - 3178 - 2.55 0.065 854 -551.4 317.1 23.95 0.321 1786 -6.6 0.180 - - - - - - 14.80 14.33 13.96
19147 40.9 5.6 782 19179 done 1.02 0.10 0.115 3249 710.0 2.58 0.072 2275 550.8 360.1 24.73 0.314 1616 -6.9 0.180 - - - - - - 14.34 14.16 13.95
19514 21.3 6.4 801 19537 roll 1.05 - - 3258 - 2.60 0.067 858 -545.0 387.4 16.05 0.245 1507 -6.8 0.119 - - - - - - 14.73 14.20 13.95
19587 16.3 6.5 812 19606 done 1.16 - - 3258 - 2.60 0.073 2281 547.3 411.3 14.60 0.230 1411 -6.6 0.094 - - - - - - 14.32 14.10 13.95
19814 end climb: SURFACE_DEPTH_REACHED
19815 begin surface coast
19843 end surface coast: CONTROL_FINISHED_OK
19843 begin surface
SM -6.26 - - - - -8.39 9.20 0.077 188 20.4 0.98 0.125 2772 -6744.9 500.14 45.72 0.161 1057 23.1 0.092 - - - - - -