SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 804 * Raw log
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• Previous call tries 1 • 272.28 of 350.00 AH used of 24V (22.21% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -69.6 deg, depth -4.64 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 s
• GPS2 time: 4 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 - - 149 - - - 2777 - -97.3 -78.65 - 3438 - - - - - - - - 13.97 12.43 13.97
103 1.5 -11.8 3 120 roll -0.95 12.60 0.383 2576 192.6 2.20 0.145 3833 480.0 -97.3 - - 3439 - - - - - - - - 13.35 13.54 13.69
142 21.3 -43.5 9 148 done -0.17 1.08 0.245 2838 242.6 1.90 0.052 2715 -588.4 -97.3 - - 3440 - - - - - - - - 13.30 13.81 13.61
464 46.5 -5.5 22 469 roll -0.41 0.12 0.099 2747 -758.3 2.38 0.041 1411 -547.9 -97.3 - - 3441 - - - - - - - - 13.93 13.76 13.94
541 50.9 -6.3 33 548 done -0.53 - - 2740 - 2.78 0.113 2765 487.1 -97.3 - - 3441 - - - - - - - - 13.81 13.50 13.87
856 71.5 -5.8 45 862 roll -0.66 0.08 0.142 2653 -1087.5 2.47 0.039 1406 -550.2 -97.3 - - 3442 - - - - - - - - 14.04 13.82 14.05
905 75.0 -6.9 52 911 done -0.66 0.15 0.214 2683 200.0 2.78 0.116 2765 488.8 -97.3 - - 3443 - - - - - - - - 13.55 13.55 13.81
1220 93.9 -6.1 64 1225 roll -0.66 - - 2676 - 2.30 0.187 3829 462.6 -97.3 - - 3443 - - - - - - - - 14.56 13.60 14.56
1262 98.0 -7.0 70 1266 done -0.66 - - 2676 - 1.83 0.068 2794 -565.6 -97.3 - - 3443 - - - - - - - - 14.08 14.00 14.09
1584 124.6 -8.7 78 1588 roll -0.66 - - 2676 - 2.60 0.044 1366 -549.2 -97.3 - - 3443 - - - - - - - - 14.51 13.83 14.51
1661 130.3 -5.2 89 1667 done -0.76 - - 2666 - 2.85 0.113 2759 488.8 -97.3 - - 3442 - - - - - - - - 13.85 13.52 13.90
1976 151.5 -6.3 99 1981 roll -0.76 - - 2658 - 2.28 0.176 3832 470.6 -97.3 - - 3440 - - - - - - - - 14.58 13.50 14.58
2018 154.8 -5.7 105 2023 done -0.76 - - 2658 - 1.88 0.054 2753 -573.9 -97.3 - - 3441 - - - - - - - - 14.08 14.02 14.09
2368 178.0 -6.6 113 2373 roll -0.76 - - 2658 - 2.53 0.043 1375 -544.7 -97.3 - - 3438 - - - - - - - - 14.57 13.73 14.58
2480 185.2 -4.5 129 2487 done -0.83 - - 2649 - 2.80 0.098 2762 495.4 -97.3 - - 3438 - - - - - - - - 13.85 13.54 13.91
2817 208.7 -7.0 142 2817 done -0.83 - - 2649 - - - 2761 - -97.3 - - 3435 - - - - - - - - 14.58 14.58 14.58
3152 235.4 -7.9 148 3153 done -0.83 - - 2648 - - - 2761 - -97.3 - - 3433 - - - - - - - - 14.51 14.51 14.51
3488 263.0 -8.2 154 3493 roll -0.83 - - 2649 - 2.60 0.044 1377 -532.3 -97.3 - - 3431 - - - - - - - - 14.51 13.80 14.49
3537 266.9 -7.2 161 3544 done -0.83 - - 2639 - 2.80 0.096 2760 493.9 -97.3 - - 3430 - - - - - - - - 13.84 13.56 13.90
3880 294.5 -7.9 168 3885 roll -0.83 - - 2640 - 2.60 0.044 1373 -533.5 -97.3 - - 3429 - - - - - - - - 14.58 13.85 14.59
3929 298.5 -8.5 175 3935 done -0.83 - - 2630 - 2.78 0.096 2747 494.2 -97.3 - - 3428 - - - - - - - - 13.85 13.56 13.90
4272 325.4 -7.9 182 4277 roll -0.83 - - 2621 - 2.25 0.151 3834 483.1 -97.3 - - 3427 - - - - - - - - 14.52 13.47 14.51
4314 328.4 -8.4 188 4319 done -0.83 - - 2620 - 1.92 0.057 2743 -568.2 -97.3 - - 3426 - - - - - - - - 14.03 13.96 14.04
4664 356.9 -8.4 196 4669 roll -0.83 - - 2621 - 2.53 0.043 1372 -541.9 -97.3 - - 3425 - - - - - - - - 14.58 13.81 14.58
4741 363.9 -8.9 207 4746 done -0.83 - - 2610 - 2.78 0.094 2752 496.4 -97.3 - - 3424 - - - - - - - - 13.82 13.52 13.88
5056 389.7 -8.2 217 5062 roll -0.83 - - 2604 - 2.20 0.148 3822 486.4 -97.3 - - 3423 - - - - - - - - 14.57 13.50 14.57
5091 394.0 -12.3 222 5096 done -0.83 - - 2603 - 1.90 0.051 2735 -572.1 -97.3 - - 3423 - - - - - - - - 14.07 14.01 14.09
5448 424.3 -8.5 231 5453 roll -0.83 - - 2603 - 2.50 0.042 1379 -542.4 -97.3 - - 3422 - - - - - - - - 14.51 13.81 14.51
5490 427.7 -7.7 237 5496 done -0.83 0.12 0.230 2626 191.7 2.72 0.086 2756 506.2 -97.3 - - 3421 - - - - - - - - 13.47 13.54 13.75
5840 452.1 -7.0 245 5846 roll -0.83 - - 2627 - 2.58 0.043 1379 -533.7 -97.3 - - 3420 - - - - - - - - 14.52 13.81 14.52
5882 455.6 -5.5 251 5887 done -0.83 - - 2617 - 2.72 0.089 2745 502.2 -97.3 - - 3420 - - - - - - - - 13.85 13.58 13.90
6232 481.1 -7.2 259 6237 roll -0.83 - - 2609 - 2.20 0.142 3825 490.9 -97.3 - - 3418 - - - - - - - - 14.58 13.47 14.58
6267 484.2 -8.9 264 6272 done -0.83 - - 2608 - 1.90 0.052 2746 -567.9 -97.3 - - 3418 - - - - - - - - 14.04 13.98 14.06
6624 512.8 -8.3 273 6630 roll -0.83 - - 2608 - 2.55 0.042 1370 -539.6 -97.3 - - 3417 - - - - - - - - 14.59 13.78 14.59
6680 518.1 -8.6 281 6686 done -0.83 0.10 0.243 2625 170.0 2.78 0.086 2757 498.9 -97.3 - - 3416 - - - - - - - - 13.47 13.55 13.74
7016 545.9 -8.3 294 7021 roll -0.83 - - 2617 - 2.17 0.142 3822 490.8 -97.3 - - 3417 - - - - - - - - 14.59 13.45 14.58
7051 549.8 -10.3 299 7056 done -0.83 - - 2616 - 1.90 0.053 2750 -564.2 -97.3 - - 3415 - - - - - - - - 14.04 13.97 14.06
7408 581.5 -9.2 308 7413 roll -0.83 - - 2616 - 2.58 0.043 1363 -537.6 -97.3 - - 3414 - - - - - - - - 14.59 13.78 14.59
7464 587.8 -9.5 316 7469 done -0.83 - - 2607 - 2.78 0.088 2738 494.6 -97.3 - - 3414 - - - - - - - - 13.81 13.52 13.87
7800 618.6 -9.3 329 7801 done -0.83 - - 2607 - - - 2738 - -97.3 - - 3412 - - - - - - - - 14.59 14.59 14.59
8136 646.6 -7.9 335 8141 roll -0.83 - - 2605 - 2.58 0.043 1367 -531.4 -97.3 - - 3410 - - - - - - - - 14.59 13.79 14.59
8171 649.4 -7.2 340 8176 done -0.83 0.12 0.230 2629 200.0 2.78 0.090 2753 498.6 -97.3 - - 3411 - - - - - - - - 13.46 13.50 13.74
8529 675.6 -7.1 349 8529 done -0.83 - - 2629 - - - 2753 - -97.3 - - 3409 - - - - - - - - 14.52 14.52 14.52
8864 696.2 -6.7 355 8869 roll -0.83 - - 2629 - 2.62 0.044 1363 -530.5 -97.3 - - 3408 - - - - - - - - 14.59 13.78 14.59
8934 701.9 -7.6 365 8940 done -0.83 - - 2619 - 2.78 0.090 2740 495.3 -97.3 - - 3408 - - - - - - - - 13.81 13.53 13.87
9256 722.9 -6.9 376 9257 done -0.83 - - 2619 - - - 2740 - -97.3 - - 3407 - - - - - - - - 14.59 14.59 14.59
9592 745.6 -6.7 382 9597 roll -0.83 - - 2619 - 2.60 0.044 1363 -529.6 -97.3 - - 3407 - - - - - - - - 14.58 13.74 14.58
9634 750.4 -8.9 388 9639 done -0.83 - - 2609 - 2.78 0.092 2740 495.3 -97.3 - - 3406 - - - - - - - - 13.78 13.47 13.85
9984 776.4 -7.5 396 9989 roll -0.83 - - 2601 - 2.25 0.145 3822 480.9 -97.3 - - 3406 - - - - - - - - 14.58 13.41 14.58
10047 782.7 -12.6 405 10053 done -0.83 0.10 0.236 2627 260.0 1.95 0.056 2735 -557.4 -97.3 - - 3406 - - - - - - - - 13.49 13.93 13.74
10315 end dive: TARGET_DEPTH_EXCEEDED
10315 begin apogee
10327 800.9 -6.9 416 10432 roll -0.23 0.70 0.172 2823 280.0 0.10 0.177 2263 -4720.0 - 94.90 2.492 3055 -3.7 0.264 - - - - 1 - 13.57 12.90 11.79
10433 end apogee: CONTROL_FINISHED_OK
10433 begin climb
10438 804.9 - 418 10561 roll 0.95 1.27 0.111 3186 285.8 3.00 0.135 3639 458.7 97.3 106.95 2.739 2662 -3.7 0.240 - - - - 1 - 12.93 12.85 11.29
10797 792.1 7.3 469 10820 done 0.76 0.20 0.220 3150 -180.0 2.65 0.045 2264 -518.9 104.1 14.50 1.991 2629 -2.3 0.201 - - - - - - 12.63 12.97 11.99
11157 769.0 6.5 479 11189 roll 0.78 - - 3160 - 2.83 0.056 865 -494.3 124.9 26.33 1.917 2543 -3.3 0.292 - - - - - - 13.50 12.95 12.15
11353 755.4 7.6 507 11358 done 0.78 - - 3160 - 2.80 0.065 2238 490.4 126.1 - - 2536 - - - - - - - - 13.07 12.88 13.10
11717 728.0 7.3 517 11723 roll 0.79 - - 3160 - 3.10 0.133 3660 458.7 131.9 1.75 0.213 2523 -7.4 5.649 - - - - - - 13.66 13.10 13.01
11759 724.8 8.4 523 11764 done 0.66 0.20 0.223 3121 -195.0 2.65 0.046 2256 -529.8 131.9 - - 2530 - - - - - - - - 12.92 13.33 13.20
12109 701.8 6.4 531 12149 roll 0.69 - - 3130 - 2.75 0.056 852 -510.5 155.2 35.17 1.838 2426 -3.0 0.251 - - - - - - 14.00 13.12 12.45
12179 697.4 6.3 541 12219 done 0.72 - - 3130 - 2.83 0.066 2252 494.7 179.9 30.42 1.779 2324 -3.4 0.292 - - - - - - 13.23 13.06 12.28
12557 668.4 7.6 553 12563 roll 0.72 - - 3130 - 3.03 0.135 3660 464.7 180.9 - - 2315 - - - - - - - - 13.76 13.07 13.76
12606 664.3 7.7 560 12612 done 0.72 - - 3141 - 2.65 0.047 2251 -531.7 180.9 - - 2314 - - - - - - - - 13.45 13.37 13.47
12949 638.1 7.7 567 12954 roll 0.72 - - 3151 - 2.70 0.058 852 -518.1 180.9 - - 2313 - - - - - - - - 14.05 13.38 14.05
12991 636.1 8.7 573 12997 done 0.72 - - 3151 - 2.78 0.070 2254 504.3 180.9 - - 2312 - - - - - - - - 13.50 13.31 13.54
13341 609.5 7.5 581 13347 roll 0.73 - - 3151 - 2.95 0.138 3658 475.9 182.8 - - 2312 - - - - - - - - 14.21 13.36 14.21
13397 605.6 10.1 589 13403 done 0.73 - - 3161 - 2.60 0.047 2249 -541.9 182.8 - - 2312 - - - - - - - - 13.75 13.66 13.77
13733 577.3 8.6 602 13738 roll 0.73 - - 3172 - 2.67 0.059 855 -522.1 182.8 - - 2311 - - - - - - - - 14.23 13.50 14.23
13789 572.9 7.6 610 13794 done 0.73 0.12 0.207 3138 -283.3 2.75 0.071 2251 507.6 183.1 - - 2311 - - - - - - - - 13.36 13.47 13.64
14125 544.7 8.5 623 14130 roll 0.73 - - 3138 - 2.95 0.138 3658 476.9 183.1 - - 2311 - - - - - - - - 14.31 13.41 14.30
14181 539.0 9.8 631 14186 done 0.73 - - 3147 - 2.60 0.047 2243 -544.2 183.1 - - 2310 - - - - - - - - 13.82 13.73 13.85
14517 509.2 8.7 644 14518 done 0.73 - - 3148 - - - 2238 - 183.1 - - 2310 - - - - - - - - 14.35 14.35 14.35
14854 480.9 8.1 650 14858 roll 0.73 - - 3158 - 2.65 0.059 851 -523.4 183.1 - - 2310 - - - - - - - - 14.38 13.56 14.38
14888 479.4 4.2 655 14970 done 0.81 - - 3158 - 2.72 0.072 2252 515.1 247.3 77.47 1.512 2067 -3.1 0.221 - - - - - - 13.76 13.52 12.50
15294 445.7 8.1 678 15295 done 0.81 - - 3158 - - - 2252 - 247.3 - - 2042 - - - - - - - - 13.78 13.78 13.78
15630 417.4 8.2 684 15635 roll 0.81 - - 3169 - 2.72 0.060 853 -514.3 247.3 - - 2041 - - - - - - - - 14.07 13.43 14.09
15665 414.6 9.0 689 15671 done 0.81 - - 3169 - 2.78 0.073 2256 504.7 247.3 - - 2040 - - - - - - - - 13.60 13.36 13.66
16022 381.5 9.8 698 16023 done 0.81 - - 3169 - - - 2256 - 247.3 - - 2040 - - - - - - - - 14.27 14.27 14.27
16358 348.8 9.6 704 16359 done 0.81 - - 3169 - - - 2256 - 247.3 - - 2040 - - - - - - - - 14.43 14.43 14.43
16694 316.7 9.5 710 16699 roll 0.81 - - 3179 - 2.70 0.060 859 -517.4 247.3 - - 2040 - - - - - - - - 14.46 13.54 14.46
16736 312.9 9.6 716 16741 done 0.81 - - 3179 - 2.72 0.074 2253 512.5 247.3 - - 2039 - - - - - - - - 13.76 13.52 13.81
17086 277.5 10.1 724 17091 roll 0.81 - - 3188 - 2.70 0.060 852 -518.9 247.3 - - 2039 - - - - - - - - 14.38 13.53 14.38
17114 274.7 10.3 728 17119 done 0.81 - - 3188 - 2.72 0.075 2248 513.2 247.3 - - 2039 - - - - - - - - 13.78 13.54 13.84
17478 237.0 10.2 738 17483 roll 0.81 - - 3188 - 2.97 0.145 3660 475.4 247.3 - - 2039 - - - - - - - - 14.40 13.40 14.40
17513 233.0 11.4 743 17518 done 0.81 0.12 0.209 3164 -200.0 2.58 0.047 2240 -550.4 247.3 - - 2039 - - - - - - - - 13.44 13.80 13.72
17871 200.5 9.0 752 17871 done 0.81 - - 3164 - - - 2236 - 247.3 - - 2039 - - - - - - - - 14.40 14.40 14.40
18206 172.3 8.3 758 18211 roll 0.81 - - 3174 - 2.62 0.060 857 -526.3 247.3 - - 2039 - - - - - - - - 14.42 13.54 14.42
18241 169.0 9.6 763 18246 done 0.81 - - 3174 - 2.70 0.073 2249 515.6 247.3 - - 2039 - - - - - - - - 13.71 13.47 13.77
18598 138.7 8.6 772 18603 roll 0.81 - - 3174 - 2.97 0.146 3663 476.1 247.3 - - 2039 - - - - - - - - 14.43 13.38 14.43
18626 136.2 8.6 776 18631 done 0.81 - - 3184 - 2.55 0.048 2249 -554.5 247.3 - - 2039 - - - - - - - - 13.93 13.84 13.96
18990 100.9 9.4 786 18995 roll 0.81 - - 3194 - 2.62 0.060 839 -538.2 247.3 - - 2039 - - - - - - - - 14.43 13.52 14.43
19081 93.0 8.8 799 19086 done 0.81 0.12 0.201 3160 -283.3 2.72 0.074 2242 515.8 247.3 - - 2039 - - - - - - - - 13.40 13.45 13.69
19410 66.0 7.2 813 19416 roll 0.82 - - 3159 - 2.97 0.141 3659 477.1 255.1 - - 2040 - - - - - - - - 14.42 13.32 14.43
19438 64.1 6.9 817 19452 done 0.83 - - 3169 - 2.60 0.048 2229 -550.0 268.4 9.32 0.332 1981 -6.3 0.272 - - - - - - 13.95 13.87 13.43
19772 44.5 5.4 831 19807 roll 0.98 0.08 0.132 3249 1000.0 2.58 0.058 862 -529.8 310.3 27.38 0.313 1815 -6.1 0.192 - - - - - - 14.04 13.84 13.51
20005 38.2 -0.1 865 20101 done 1.24 0.10 0.108 3312 630.0 2.62 0.069 2231 522.5 453.9 85.57 0.298 1244 -6.7 0.190 - - - - - - 13.65 13.52 13.33
20411 5.2 9.1 890 20416 roll 1.24 - - 3322 - 2.65 0.063 861 -517.0 453.9 - - 1250 - - - - - - - - 14.20 13.51 14.20
20432 3.5 7.5 893 20440 done 1.24 - - 3321 - 2.65 0.076 2224 514.3 456.9 2.75 0.194 1228 -8.0 0.032 - - - - - - 13.71 13.50 13.50
20462 end climb: SURFACE_DEPTH_REACHED
20462 begin surface coast
20490 end surface coast: CONTROL_FINISHED_OK
20490 begin surface
SM -5.16 - - - - -8.39 9.80 0.077 198 20.2 1.15 0.119 2772 -5636.5 500.14 24.27 0.154 1058 43.6 0.149 - - - - - -