SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 621 * Raw log
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• Previous call tries 1 • 214.56 of 350.00 AH used of 24V (38.70% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.5 deg, depth -0.92 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 2 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 107 - - - 2785 - -107.1 -80.82 - 3476 - - - - - - - - 14.65 12.62 14.60
106 5.4 -11.0 3 122 roll -0.93 11.88 0.381 2583 208.4 2.42 0.033 1353 -591.7 -107.1 - - 3478 - - - - - - - - 13.94 14.34 14.26
215 39.4 -18.6 19 220 done -0.70 0.35 0.243 2667 240.0 2.62 0.087 2775 542.7 -107.1 - - 3478 - - - - - - - - 13.97 14.16 14.28
551 70.5 -7.8 34 551 done -0.70 - - 2667 - - - 2771 - -107.1 - - 3480 - - - - - - - - 14.81 14.81 14.81
859 93.3 -7.3 45 864 roll -0.70 - - 2659 - 2.05 0.140 3824 513.7 -107.1 - - 3480 - - - - - - - - 14.85 14.04 14.85
907 97.9 -9.4 52 913 done -0.70 - - 2659 - 1.80 0.044 2737 -603.9 -107.1 - - 3480 - - - - - - - - 14.45 14.42 14.47
1223 125.1 -8.7 59 1227 roll -0.70 - - 2659 - 2.30 0.041 1399 -581.7 -107.1 - - 3479 - - - - - - - - 14.85 14.35 14.85
1271 129.2 -8.3 66 1277 done -0.70 - - 2649 - 2.55 0.083 2769 537.3 -107.1 - - 3478 - - - - - - - - 14.35 14.12 14.40
1615 160.2 -9.3 73 1620 roll -0.70 - - 2649 - 2.40 0.041 1395 -572.5 -107.1 - - 3477 - - - - - - - - 14.85 14.37 14.85
1649 163.4 -9.4 78 1654 done -0.70 0.10 0.237 2669 200.0 2.55 0.085 2764 536.9 -107.1 - - 3477 - - - - - - - - 14.03 14.13 14.28
2007 191.3 -7.6 87 2008 done -0.70 - - 2669 - - - 2764 - -107.1 - - 3474 - - - - - - - - 14.85 14.85 14.85
2343 216.4 -7.5 93 2348 roll -0.70 - - 2669 - 2.40 0.043 1395 -570.4 -107.1 - - 3471 - - - - - - - - 14.85 14.32 14.86
2433 223.7 -8.0 106 2438 done -0.79 - - 2661 - 2.58 0.086 2767 531.8 -107.1 - - 3471 - - - - - - - - 14.33 14.08 14.38
2791 253.3 -8.2 115 2795 roll -0.79 - - 2660 - 2.40 0.042 1399 -570.0 -107.1 - - 3468 - - - - - - - - 14.85 14.35 14.85
2832 256.8 -8.4 121 2838 done -0.87 - - 2652 - 2.58 0.088 2760 527.5 -107.1 - - 3468 - - - - - - - - 14.33 14.07 14.38
3183 285.5 -8.0 129 3184 done -0.87 - - 2652 - - - 2760 - -107.1 - - 3466 - - - - - - - - 14.88 14.88 14.88
3519 312.0 -7.9 135 3523 roll -0.87 - - 2652 - 2.42 0.044 1398 -562.8 -107.1 - - 3464 - - - - - - - - 14.88 14.29 14.88
3553 314.8 -8.5 140 3558 done -0.87 - - 2644 - 2.60 0.090 2771 528.1 -107.1 - - 3463 - - - - - - - - 14.27 14.00 14.32
3911 346.3 -9.0 149 3912 done -0.87 - - 2644 - - - 2772 - -107.1 - - 3463 - - - - - - - - 14.85 14.85 14.84
4247 376.2 -8.8 155 4251 roll -0.87 - - 2644 - 2.42 0.044 1405 -564.9 -107.1 - - 3459 - - - - - - - - 14.85 14.28 14.85
4274 378.6 -8.8 159 4279 done -0.87 - - 2637 - 2.58 0.092 2760 525.2 -107.1 - - 3459 - - - - - - - - 14.26 14.00 14.31
4639 408.3 -8.0 169 4644 roll -0.87 - - 2638 - 2.40 0.044 1405 -564.6 -107.1 - - 3459 - - - - - - - - 14.83 14.28 14.84
4687 412.2 -7.9 176 4694 done -0.87 - - 2626 - 2.58 0.092 2752 522.1 -107.1 - - 3458 - - - - - - - - 14.15 13.92 14.20
5031 441.2 -8.7 183 5035 roll -0.87 - - 2625 - 2.38 0.042 1405 -566.0 -107.1 - - 3455 - - - - - - - - 14.85 14.26 14.85
5058 443.7 -9.3 187 5063 done -0.87 - - 2616 - 2.58 0.090 2761 525.6 -107.1 - - 3456 - - - - - - - - 14.23 13.97 14.28
5423 480.1 -10.3 197 5424 done -0.87 - - 2616 - - - 2760 - -107.1 - - 3455 - - - - - - - - 14.83 14.88 14.83
5759 515.8 -10.6 203 5763 roll -0.87 - - 2615 - 2.40 0.044 1406 -564.2 -107.1 - - 3453 - - - - - - - - 14.84 14.24 14.84
5814 521.6 -10.1 211 5819 done -0.87 - - 2606 - 2.58 0.090 2755 522.9 -107.1 - - 3453 - - - - - - - - 14.21 13.95 14.26
6151 556.2 -10.3 224 6155 roll -0.87 - - 2598 - 2.12 0.142 3825 504.7 -107.1 - - 3457 - - - - - - - - 14.87 13.81 14.87
6185 559.8 -10.8 229 6191 done -0.87 - - 2597 - 1.83 0.046 2765 -579.2 -107.1 - - 3450 - - - - - - - - 14.33 14.31 14.35
6543 595.0 -9.7 238 6548 roll -0.87 - - 2597 - 2.42 0.044 1390 -568.2 -107.1 - - 3450 - - - - - - - - 14.87 14.21 14.87
6584 599.0 -9.6 244 6589 done -0.87 0.10 0.243 2615 180.0 2.58 0.088 2749 526.7 -107.1 - - 3449 - - - - - - - - 13.81 13.89 14.08
6935 628.1 -8.2 252 6939 roll -0.87 - - 2607 - 2.15 0.143 3827 501.4 -107.1 - - 3449 - - - - - - - - 14.86 13.78 14.87
6976 631.7 -8.6 258 6981 done -0.87 - - 2606 - 1.88 0.047 2755 -570.2 -107.1 - - 3448 - - - - - - - - 14.31 14.27 14.33
7327 660.7 -8.4 266 7328 done -0.87 - - 2606 - - - 2754 - -107.1 - - 3447 - - - - - - - - 14.82 14.82 14.82
7663 689.6 -8.7 272 7667 roll -0.87 - - 2606 - 2.45 0.044 1370 -564.9 -107.1 - - 3447 - - - - - - - - 14.86 14.20 14.86
7697 692.7 -8.9 277 7703 done -0.87 - - 2597 - 2.62 0.086 2750 526.7 -107.1 - - 3446 - - - - - - - - 14.16 13.90 14.22
8055 724.6 -8.9 286 8060 roll -0.87 - - 2588 - 2.15 0.140 3826 500.5 -107.1 - - 3444 - - - - - - - - 14.85 13.74 14.84
8131 732.0 -9.5 297 8137 done -0.87 0.10 0.208 2615 270.0 1.90 0.047 2745 -568.9 -107.1 - - 3443 - - - - - - - - 13.77 14.23 13.93
8447 757.4 -8.2 307 8452 roll -0.87 - - 2615 - 2.45 0.044 1365 -563.3 -107.1 - - 3443 - - - - - - - - 14.81 14.14 14.81
8516 763.2 -8.2 317 8522 done -0.87 - - 2606 - 2.65 0.087 2751 523.0 -107.1 - - 3443 - - - - - - - - 14.12 13.85 14.18
8839 790.9 -8.6 328 8843 roll -0.87 - - 2598 - 2.17 0.143 3830 497.2 -107.1 - - 3442 - - - - - - - - 14.81 13.68 14.80
8880 794.6 -9.2 334 8885 done -0.87 - - 2597 - 1.90 0.047 2715 -586.8 -107.1 - - 3442 - - - - - - - - 14.35 14.26 14.37
8947 end dive: TARGET_DEPTH_EXCEEDED
8947 begin apogee
8956 800.8 -8.8 337 9071 roll -0.23 0.80 0.189 2819 277.5 0.10 0.179 2277 -4380.0 - 112.55 1.810 3048 -3.5 0.308 - - - - - - 13.67 13.88 12.98
9072 end apogee: CONTROL_FINISHED_OK
9073 begin climb
9077 803.4 - 339 9204 roll 0.93 1.12 0.093 3184 325.9 2.55 0.054 871 -551.4 107.1 114.75 1.753 2619 -3.7 0.341 - - - - - - 14.02 14.05 12.94
9239 799.4 6.5 364 9272 done 0.83 - - 3183 - 2.47 0.065 2239 553.8 131.6 27.15 1.817 2520 -3.6 0.319 - - - - - - 14.25 14.12 13.09
9625 763.5 9.7 377 9631 roll 0.72 0.15 0.228 3135 -320.0 2.78 0.129 3658 510.4 131.6 - - 2509 - - - - - - - - 14.01 14.05 14.15
9722 754.3 9.3 391 9728 done 0.62 0.15 0.226 3106 -193.3 2.42 0.043 2250 -581.8 131.6 - - 2513 - - - - - - - - 14.02 14.40 14.32
10073 729.0 7.1 399 10084 roll 0.63 - - 3105 - 2.78 0.131 3648 502.9 143.2 4.10 1.545 2483 -7.3 0.687 - - - - - - 14.81 14.26 13.08
10114 725.8 7.6 405 10127 done 0.64 - - 3116 - 2.40 0.044 2247 -583.8 146.1 4.10 1.675 2472 -2.7 0.231 - - - - - - 14.57 14.50 13.05
10465 700.4 7.2 413 10488 done 0.65 - - 3116 - - - 2247 - 157.1 21.27 1.826 2424 -2.3 0.172 - - - - - - 14.81 14.32 13.33
10801 676.8 6.9 419 10826 roll 0.67 - - 3115 - 2.83 0.137 3652 496.5 172.8 17.35 1.863 2353 -4.1 0.296 - - - - - - 14.77 14.26 13.32
10898 669.5 7.9 433 10904 done 0.67 - - 3125 - 2.40 0.043 2264 -578.3 172.8 - - 2349 - - - - - - - - 14.47 14.40 14.50
11249 646.6 6.4 441 11280 done 0.70 - - 3125 - - - 2262 - 199.7 30.12 1.750 2254 -3.2 0.232 - - - - - - 14.76 14.27 13.33
11585 623.7 6.9 447 11610 roll 0.72 - - 3125 - 2.78 0.137 3648 498.6 216.3 17.67 1.808 2179 -4.2 0.291 - - - - - - 14.75 14.22 13.33
11668 617.1 8.3 459 11673 done 0.72 - - 3133 - 2.40 0.043 2261 -577.9 216.3 - - 2175 - - - - - - - - 14.47 14.39 14.49
12033 587.6 8.2 469 12033 done 0.72 - - 3135 - - - 2258 - 216.3 - - 2172 - - - - - - - - 14.78 14.78 14.78
12369 559.6 8.4 475 12374 roll 0.72 - - 3134 - 2.80 0.138 3655 498.9 216.3 - - 2171 - - - - - - - - 14.82 13.89 14.82
12410 555.7 9.6 481 12416 done 0.72 - - 3144 - 2.45 0.044 2262 -568.6 216.3 - - 2171 - - - - - - - - 14.40 14.25 14.42
12761 523.3 9.4 489 12766 roll 0.72 - - 3154 - 2.53 0.063 855 -556.1 216.3 - - 2170 - - - - - - - - 14.83 14.16 14.83
12802 519.2 10.1 495 12807 done 0.72 - - 3154 - 2.55 0.070 2256 549.4 216.3 - - 2167 - - - - - - - - 14.34 14.14 14.40
13153 482.8 10.5 503 13158 roll 0.72 - - 3154 - 2.80 0.137 3659 501.1 216.3 - - 2170 - - - - - - - - 14.80 13.91 14.80
13208 476.3 11.9 511 13214 done 0.72 0.10 0.233 3136 -180.0 2.42 0.043 2265 -576.0 216.3 - - 2168 - - - - - - - - 14.00 14.33 14.27
13545 444.4 9.3 524 13550 roll 0.72 - - 3144 - 2.53 0.063 858 -556.1 216.3 - - 2169 - - - - - - - - 14.80 14.12 14.80
13572 441.9 9.0 528 13577 done 0.72 - - 3146 - 2.58 0.071 2267 546.1 216.3 - - 2170 - - - - - - - - 14.32 14.10 14.37
13937 409.8 8.7 538 13941 roll 0.72 - - 3145 - 2.78 0.138 3658 500.4 216.3 - - 2170 - - - - - - - - 14.83 13.85 14.83
13964 407.2 9.3 542 13969 done 0.72 - - 3157 - 2.45 0.043 2251 -574.3 216.3 - - 2170 - - - - - - - - 14.40 14.31 14.44
14329 376.0 8.4 552 14334 roll 0.72 - - 3166 - 2.50 0.064 859 -556.8 216.3 - - 2169 - - - - - - - - 14.83 14.07 14.83
14356 373.6 8.6 556 14361 done 0.72 0.10 0.217 3138 -280.0 2.58 0.070 2267 545.7 216.3 - - 2170 - - - - - - - - 13.94 14.04 14.20
14721 344.8 8.0 566 14725 roll 0.72 - - 3137 - 2.80 0.135 3663 498.6 216.3 - - 2170 - - - - - - - - 14.83 13.79 14.83
14790 338.4 9.4 576 14795 done 0.72 - - 3148 - 2.45 0.042 2263 -571.4 216.3 - - 2169 - - - - - - - - 14.38 14.28 14.40
15113 310.7 8.6 587 15117 roll 0.72 - - 3158 - 2.53 0.063 848 -559.3 216.3 - - 2170 - - - - - - - - 14.83 14.04 14.83
15140 308.2 8.8 591 15145 done 0.72 - - 3158 - 2.62 0.071 2269 542.4 216.3 - - 2170 - - - - - - - - 14.22 14.00 14.28
15505 275.3 9.0 601 15510 roll 0.72 - - 3158 - 2.80 0.138 3662 497.5 216.3 - - 2169 - - - - - - - - 14.80 13.78 14.79
15532 272.6 9.8 605 15538 done 0.72 0.12 0.220 3133 -208.3 2.45 0.043 2253 -575.1 216.3 - - 2169 - - - - - - - - 13.89 14.27 14.17
15897 243.0 8.1 615 15898 done 0.72 - - 3133 - - - 2251 - 216.3 - - 2170 - - - - - - - - 14.78 14.79 14.79
16233 215.8 8.1 621 16238 roll 0.72 - - 3133 - 2.88 0.135 3661 489.6 216.3 - - 2170 - - - - - - - - 14.79 13.77 14.79
16289 210.8 9.1 629 16294 done 0.72 - - 3142 - 2.45 0.043 2261 -571.4 216.3 - - 2170 - - - - - - - - 14.33 14.24 14.36
16625 182.0 8.5 642 16629 roll 0.72 - - 3153 - 2.53 0.063 858 -554.5 216.3 - - 2170 - - - - - - - - 14.82 14.02 14.83
16681 177.3 8.4 650 16685 done 0.72 - - 3153 - 2.60 0.070 2274 544.6 216.3 - - 2170 - - - - - - - - 14.20 13.99 14.26
17017 150.0 8.1 663 17021 roll 0.72 - - 3156 - 2.78 0.135 3662 499.3 216.3 - - 2170 - - - - - - - - 14.83 13.76 14.83
17058 146.4 8.6 669 17064 done 0.72 - - 3162 - 2.42 0.041 2260 -579.3 216.3 - - 2170 - - - - - - - - 14.37 14.27 14.40
17409 119.3 7.7 677 17410 done 0.72 - - 3162 - - - 2257 - 217.2 - - 2170 - - - - - - - - 14.79 14.79 14.79
17717 94.7 8.0 683 17721 roll 0.72 - - 3173 - 2.53 0.063 860 -552.2 217.2 - - 2170 - - - - - - - - 14.78 14.00 14.78
17758 91.4 8.0 689 17764 done 0.72 0.12 0.203 3137 -300.0 2.58 0.070 2270 546.5 217.2 - - 2170 - - - - - - - - 13.83 13.98 14.11
18081 66.9 7.1 702 18092 roll 0.74 - - 3135 - 2.78 0.133 3658 499.3 229.8 5.10 0.314 2140 -5.9 0.249 - - - - - - 14.76 13.91 13.69
18325 49.5 5.8 737 18353 done 0.79 - - 3145 - 2.42 0.041 2264 -576.0 268.5 23.70 0.311 1980 -6.8 0.214 - - - - - - 14.27 14.18 13.84
18665 38.2 2.6 752 18731 roll 1.07 0.20 0.070 3264 595.0 2.80 0.134 3660 498.6 370.1 56.38 0.282 1575 -7.2 0.194 - - - - - - 14.33 14.14 13.97
18955 19.4 9.1 794 18960 done 1.07 - - 3275 - 2.42 0.040 2256 -580.2 370.1 - - 1576 - - - - - - - - 14.36 14.26 14.38
19162 end climb: SURFACE_DEPTH_REACHED
19162 begin surface coast
19190 end surface coast: CONTROL_FINISHED_OK
19190 begin surface
SM -1.26 - - - - -8.40 9.30 0.076 170 18.3 1.02 0.109 2761 1697.1 500.14 64.57 0.153 1057 16.4 0.014 - - - - - -