SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 810 * Raw log
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• Previous call tries 1 • 274.50 of 350.00 AH used of 24V (21.57% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -68.6 deg, depth -4.52 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• No surface pump (final VBD was 536.56, SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
14 - - - 98 done -0.95 - - 115 - - - 2783 - -97.3 -78.68 - 3439 - - - - - - - - 12.80 11.62 12.81
103 2.7 -12.2 3 119 done -0.95 14.80 0.379 2582 166.7 - - 2784 - -97.3 - - 3438 - - - - - - - - 12.30 12.64 12.59
436 63.3 -9.2 18 441 roll -0.81 0.17 0.235 2627 264.7 2.85 0.040 1367 -497.2 -97.3 - - 3441 - - - - - - - - 12.34 12.59 12.51
499 68.5 -7.5 27 503 done -0.81 - - 2617 - 3.10 0.100 2754 447.4 -97.3 - - 3441 - - - - - - - - 12.67 12.45 12.71
828 96.8 -9.2 41 833 roll -0.81 - - 2617 - 2.83 0.041 1366 -490.5 -97.3 - - 3441 - - - - - - - - 13.00 12.64 13.00
926 106.6 -8.9 55 931 done -0.81 0.10 0.233 2631 140.0 3.10 0.106 2749 446.1 -97.3 - - 3442 - - - - - - - - 12.43 12.45 12.65
1276 131.7 -7.2 63 1281 roll -0.81 - - 2631 - 2.80 0.041 1376 -490.4 -97.3 - - 3440 - - - - - - - - 13.05 12.66 13.05
1325 135.6 -7.2 70 1331 done -0.81 - - 2621 - 3.08 0.107 2745 444.5 -97.3 - - 3440 - - - - - - - - 12.70 12.45 12.73
1668 164.6 -8.5 77 1674 roll -0.81 - - 2613 - 2.50 0.164 3825 432.0 -97.3 - - 3438 - - - - - - - - 13.05 12.43 13.06
1772 175.2 -9.3 92 1778 done -0.81 - - 2612 - 2.08 0.051 2741 -521.2 -97.3 - - 3437 - - - - - - - - 12.82 12.78 12.83
2116 206.7 -9.3 99 2121 roll -0.81 - - 2613 - 2.75 0.039 1373 -497.5 -97.3 - - 3435 - - - - - - - - 13.12 12.69 13.12
2157 211.1 -9.3 105 2164 done -0.81 0.12 0.218 2633 166.7 3.00 0.083 2748 458.3 -97.3 - - 3435 - - - - - - - - 12.46 12.52 12.68
2508 239.3 -8.2 113 2509 done -0.81 - - 2631 - - - 2749 - -97.3 - - 3433 - - - - - - - - 13.13 13.13 13.12
2844 269.0 -8.5 119 2844 done -0.81 - - 2633 - - - 2748 - -97.3 - - 3431 - - - - - - - - 13.14 13.15 13.14
3180 295.9 -8.1 125 3185 roll -0.81 - - 2633 - 2.80 0.041 1375 -490.4 -97.3 - - 3428 - - - - - - - - 13.18 12.71 13.18
3236 301.3 -9.4 133 3242 done -0.81 - - 2623 - 3.03 0.086 2754 455.1 -97.3 - - 3428 - - - - - - - - 12.77 12.54 12.81
3572 328.2 -7.9 146 3577 roll -0.81 - - 2621 - 2.83 0.041 1374 -487.6 -97.3 - - 3426 - - - - - - - - 13.19 12.66 13.19
3607 332.2 -12.0 151 3612 done -0.81 - - 2613 - 3.00 0.088 2740 455.3 -97.3 - - 3426 - - - - - - - - 12.79 12.55 12.83
3964 359.9 -7.6 160 3968 roll -0.81 - - 2612 - 2.80 0.041 1370 -489.3 -97.3 - - 3421 - - - - - - - - 13.16 12.74 13.16
3998 364.1 -12.1 165 4005 done -0.81 0.12 0.216 2633 175.0 3.00 0.087 2741 457.0 -97.3 - - 3424 - - - - - - - - 12.54 12.57 12.76
4356 390.3 -7.8 174 4361 roll -0.81 - - 2633 - 2.80 0.041 1374 -488.2 -97.3 - - 3422 - - - - - - - - 13.18 12.75 13.18
4412 394.9 -6.9 182 4417 done -0.81 - - 2623 - 3.03 0.090 2743 451.8 -97.3 - - 3422 - - - - - - - - 12.76 12.53 12.80
4748 423.0 -8.1 195 4749 done -0.81 - - 2624 - - - 2743 - -97.3 - - 3420 - - - - - - - - 13.24 13.24 13.24
5084 451.9 -8.5 201 5089 roll -0.81 - - 2623 - 2.80 0.042 1376 -488.2 -97.3 - - 3418 - - - - - - - - 13.24 12.76 13.25
5126 455.8 -5.7 207 5131 done -0.81 - - 2612 - 3.00 0.093 2737 453.7 -97.3 - - 3418 - - - - - - - - 12.84 12.60 12.88
5476 486.4 -9.0 215 5476 done -0.81 - - 2613 - - - 2737 - -97.3 - - 3417 - - - - - - - - 13.25 13.25 13.24
5812 513.6 -7.9 221 5817 roll -0.81 - - 2613 - 2.80 0.042 1375 -486.4 -97.3 - - 3415 - - - - - - - - 13.25 12.76 13.25
5875 518.7 -5.9 230 5880 done -0.81 0.12 0.217 2635 183.3 3.00 0.095 2735 453.3 -97.3 - - 3415 - - - - - - - - 12.56 12.58 12.78
6204 539.4 -6.6 242 6205 done -0.81 - - 2634 - - - 2734 - -97.3 - - 3414 - - - - - - - - 13.24 13.24 13.24
6540 564.3 -7.1 248 6545 roll -0.81 - - 2634 - 2.80 0.043 1372 -486.4 -97.3 - - 3412 - - - - - - - - 13.21 12.75 13.20
6596 568.4 -6.9 256 6601 done -0.81 - - 2625 - 3.03 0.096 2734 449.5 -97.3 - - 3412 - - - - - - - - 12.83 12.57 12.87
6932 592.3 -7.2 269 6938 roll -0.81 - - 2624 - 2.80 0.042 1373 -486.1 -97.3 - - 3411 - - - - - - - - 13.19 12.76 13.19
6960 594.3 -6.9 273 6966 done -0.81 - - 2615 - 3.00 0.098 2732 453.0 -97.3 - - 3411 - - - - - - - - 12.83 12.57 12.86
7324 625.1 -8.5 283 7329 roll -0.81 - - 2614 - 2.78 0.042 1378 -487.1 -97.3 - - 3409 - - - - - - - - 13.24 12.76 13.24
7380 629.8 -10.8 291 7385 done -0.81 0.12 0.217 2635 175.0 3.03 0.096 2732 446.9 -97.3 - - 3409 - - - - - - - - 12.55 12.55 12.78
7716 657.6 -8.1 304 7720 roll -0.81 - - 2636 - 2.80 0.042 1373 -485.4 -97.3 - - 3408 - - - - - - - - 13.19 12.74 13.17
7751 660.7 -8.3 309 7757 done -0.89 - - 2626 - 3.03 0.098 2733 448.8 -97.3 - - 3408 - - - - - - - - 12.81 12.55 12.85
8108 689.1 -7.5 318 8113 roll -0.89 - - 2625 - 2.78 0.042 1377 -487.8 -97.3 - - 3407 - - - - - - - - 13.23 12.75 13.23
8156 693.1 -8.6 325 8164 done -0.89 - - 2616 - 3.00 0.099 2721 448.0 -97.3 - - 3407 - - - - - - - - 12.81 12.55 12.86
8500 716.9 -7.0 332 8501 done -0.89 - - 2616 - - - 2720 - -97.3 - - 3406 - - - - - - - - 13.24 13.23 13.23
8836 737.3 -6.3 338 8841 roll -0.89 - - 2614 - 2.78 0.043 1378 -482.7 -97.3 - - 3405 - - - - - - - - 13.19 12.74 13.19
8906 741.8 -5.6 348 8911 done -0.89 - - 2606 - 3.03 0.099 2730 446.2 -97.3 - - 3404 - - - - - - - - 12.80 12.54 12.84
9228 763.9 -7.1 359 9233 roll -0.89 - - 2605 - 2.80 0.042 1370 -485.7 -97.3 - - 3404 - - - - - - - - 13.17 12.74 13.17
9262 766.9 -8.9 364 9267 done -0.89 - - 2596 - 3.03 0.101 2724 446.9 -97.3 - - 3404 - - - - - - - - 12.81 12.54 12.85
9620 795.0 -8.2 373 9621 done -0.89 - - 2596 - - - 2724 - -97.3 - - 3403 - - - - - - - - 13.21 13.21 13.21
9727 end dive: TARGET_DEPTH_EXCEEDED
9727 begin apogee
9738 804.0 -8.1 375 9845 roll -0.23 0.90 0.181 2819 247.8 - - 2264 - - 99.18 2.728 3050 -3.6 0.249 - - - - 1 - 12.54 12.08 11.00
9846 end apogee: CONTROL_FINISHED_OK
9846 begin climb
9851 807.3 - 377 9986 roll 0.95 1.33 0.084 3185 275.2 3.03 0.050 853 -465.7 97.3 116.93 2.746 2663 -3.3 0.231 - - - - 1 - 12.10 12.11 10.79
10042 805.1 6.1 405 10089 done 0.86 - - 3186 - 3.10 0.065 2254 451.9 125.5 36.10 2.307 2550 -3.1 0.259 - - - - 1 - 12.14 12.00 10.81
10411 777.4 7.6 422 10421 roll 0.74 0.17 0.209 3141 -264.7 3.45 0.145 3667 409.6 125.5 1.30 0.187 2551 - - - - - - - - 12.00 12.01 12.02
10484 771.6 7.0 433 10512 done 0.65 0.17 0.216 3114 -158.8 2.95 0.050 2242 -483.1 136.7 17.55 1.867 2504 -2.7 0.262 - - - - 1 - 12.00 12.24 11.33
10848 747.6 6.5 443 10879 done 0.67 - - 3114 - - - 2242 - 157.0 24.10 1.961 2424 -3.3 0.300 - - - - 1 - 12.50 12.10 11.04
11184 727.8 6.2 449 11231 roll 0.70 - - 3112 - 3.53 0.145 3658 401.1 182.5 32.80 2.211 2326 -3.0 0.233 - - - - 1 - 12.50 11.94 11.00
11261 723.0 6.4 460 11301 done 0.73 - - 3123 - 2.95 0.048 2248 -478.0 204.9 29.48 2.112 2236 -3.1 0.248 - - - - 1 - 12.16 12.10 10.90
11636 698.6 6.6 478 11672 roll 0.75 - - 3133 - 3.03 0.057 861 -457.8 223.2 24.50 1.953 2161 -3.1 0.259 - - - - 1 - 12.41 12.04 11.00
11702 693.6 7.8 488 11707 done 0.75 - - 3133 - 3.10 0.069 2250 448.1 223.2 - - 2167 - - - - - - - - 12.11 11.94 12.13
12025 671.0 7.4 499 12036 roll 0.76 - - 3133 - 3.40 0.152 3662 415.3 226.9 4.70 1.745 2150 -3.6 0.330 - - - - - - 12.43 12.09 11.10
12087 665.1 10.9 508 12093 done 0.76 - - 3143 - 2.92 0.047 2252 -482.9 226.9 2.05 0.297 2146 -2.0 1.036 - - - - - - 12.26 12.19 10.60
12409 638.7 8.5 519 12414 roll 0.76 - - 3153 - 3.00 0.056 857 -465.0 226.9 - - 2154 - - - - - - - - 12.51 12.16 12.51
12458 633.4 8.2 526 12465 done 0.76 - - 3153 - 3.05 0.066 2253 457.7 226.9 - - 2154 - - - - - - - - 12.28 12.10 12.31
12801 598.1 10.7 533 12802 done 0.76 - - 3153 - - - 2254 - 226.9 - - 2154 - - - - - - - - 12.58 12.58 12.57
13137 560.3 11.5 539 13142 roll 0.76 - - 3163 - 3.03 0.057 850 -463.4 226.9 - - 2154 - - - - - - - - 12.66 12.26 12.66
13165 557.3 11.8 543 13171 done 0.76 - - 3163 - 3.05 0.068 2255 460.7 226.9 1.73 0.210 2145 -5.2 3.272 - - - - - - 12.38 12.18 12.10
13522 519.2 10.4 552 13527 roll 0.76 - - 3162 - 3.35 0.150 3661 419.7 226.9 - - 2153 - - - - - - - - 12.67 12.12 12.68
13557 517.6 11.1 557 13562 done 0.76 - - 3173 - 2.85 0.047 2254 -493.7 226.9 - - 2153 - - - - - - - - 12.48 12.41 12.50
13914 485.9 9.0 566 13920 roll 0.76 0.08 0.238 3161 -150.0 2.95 0.054 853 -474.9 226.9 - - 2153 - - - - - - - - 12.17 12.32 12.29
13998 479.8 5.3 578 14060 done 0.81 - - 3161 - 3.00 0.067 2250 465.7 269.9 51.53 2.178 1975 -3.5 0.180 - - - - 1 - 12.44 12.24 11.18
14422 446.4 7.8 596 14427 roll 0.81 - - 3161 - 3.40 0.150 3663 415.6 269.9 - - 1979 - - - - - - - - 12.50 12.05 12.51
14456 443.6 8.2 601 14460 done 0.81 - - 3171 - 2.90 0.047 2251 -486.9 269.9 - - 1979 - - - - - - - - 12.37 12.30 12.38
14813 408.4 9.9 610 14818 roll 0.81 - - 3182 - 2.97 0.057 852 -471.0 269.9 - - 1978 - - - - - - - - 12.67 12.22 12.67
14841 406.0 7.6 614 14847 done 0.81 - - 3181 - 2.97 0.072 2248 470.0 269.9 - - 1977 - - - - - - - - 12.39 12.19 12.42
15205 367.6 10.4 624 15206 done 0.81 - - 3182 - - - 2248 - 269.9 - - 1977 - - - - - - - - 12.72 12.72 12.72
15541 332.7 10.4 630 15547 roll 0.81 - - 3191 - 2.97 0.057 853 -469.7 269.9 - - 1977 - - - - - - - - 12.75 12.31 12.75
15597 328.5 12.1 638 15603 done 0.81 0.10 0.197 3165 -260.0 3.05 0.073 2251 458.4 269.9 - - 1977 - - - - - - - - 12.20 12.21 12.39
15933 293.5 10.2 651 15938 roll 0.81 - - 3164 - 3.38 0.154 3664 418.0 269.9 - - 1977 - - - - - - - - 12.76 12.12 12.77
15968 296.8 -4.9 656 16236 done 1.09 0.20 0.060 3277 565.0 2.88 0.048 2241 -494.1 501.8 252.05 2.156 1054 -3.7 0.119 - - - - 1 - 12.46 12.44 10.89
16552 196.7 17.8 704 16557 roll 1.09 - - 3269 - 3.58 0.153 3663 397.2 501.8 - - 1053 - - - - - - - - 12.24 11.81 12.24
16629 186.1 15.4 715 16634 done 1.09 - - 3280 - 2.97 0.045 2253 -474.7 501.8 - - 1052 - - - - - - - - 12.11 12.04 12.12
16944 132.2 17.2 725 16949 roll 1.01 0.20 0.224 3243 -185.0 3.05 0.056 848 -460.7 501.8 - - 1051 - - - - - - - - 11.85 12.01 12.00
17035 118.3 12.1 738 17041 done 1.01 - - 3242 - 3.08 0.072 2232 449.4 501.8 - - 1050 - - - - - - - - 12.14 11.96 12.17
17364 70.6 14.0 750 17370 roll 1.01 - - 3252 - 3.05 0.057 841 -456.1 501.8 - - 1051 - - - - - - - - 12.42 12.08 12.42
17434 61.5 13.0 760 17439 done 1.01 - - 3252 - 3.05 0.070 2227 454.4 501.8 - - 1050 - - - - - - - - 12.21 12.04 12.24
17756 33.8 5.7 773 17783 done 1.19 - - 3250 - - - 2227 - 537.1 25.60 0.275 911 -5.4 0.158 - - - - - - 12.52 12.26 12.01
18092 10.0 8.7 785 18094 done 1.38 0.25 0.057 3353 412.0 - - 2227 - 537.1 - - 914 - - - - - - - - 12.28 12.34 12.33
18171 end climb: SURFACE_DEPTH_REACHED
18171 begin surface coast
18199 end surface coast: CONTROL_FINISHED_OK
18199 begin surface
SM -3.73 - - - - -8.40 11.23 0.074 198 17.6 1.30 0.118 2772 453.8 536.56 - - 914 - - - - - - - -