SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 815 * Raw log
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• Previous call tries 1 • 276.33 of 350.00 AH used of 24V (21.05% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -68.6 deg, depth -4.47 m • Intended pitch -18.3 deg, speed -7.619 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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 - - 123 - - - 2783 - -97.3 -79.00 - 3439 - - - - - - - - 11.71 10.86 11.70
103 1.7 -11.6 3 126 done -0.95 17.52 0.374 2580 140.2 - - 2782 - -97.3 - - 3441 - - 14 - - - - - 11.25 11.50 11.44
436 68.4 -12.2 15 441 roll -0.79 0.25 0.223 2635 220.0 3.15 0.037 1356 -452.7 -97.3 - - 3442 - - - - - - - - 11.37 11.53 11.50
464 70.5 -7.4 19 469 done -0.79 - - 2625 - 3.47 0.096 2765 406.1 -97.3 - - 3442 - - - - - - - - 11.60 11.44 11.62
800 100.8 -8.5 34 801 done -0.79 - - 2625 - - - 2764 - -97.3 - - 3444 - - - - - - - - 11.87 11.86 11.87
1136 129.4 -8.4 40 1141 roll -0.79 - - 2624 - 3.12 0.041 1360 -450.0 -97.3 - - 3443 - - - - - - - - 11.90 11.62 11.90
1164 132.6 -11.8 44 1169 done -0.79 0.10 0.219 2636 120.0 3.42 0.097 2767 411.4 -97.3 - - 3443 - - - - - - - - 11.48 11.50 11.66
1528 163.5 -8.6 54 1533 roll -0.79 - - 2636 - 3.12 0.040 1359 -451.3 -97.3 - - 3441 - - - - - - - - 11.96 11.63 11.96
1569 167.7 -8.4 60 1575 done -0.79 - - 2625 - 3.45 0.099 2762 406.7 -97.3 - - 3441 - - - - - - - - 11.71 11.53 11.72
1920 197.3 -8.4 68 1925 roll -0.79 - - 2625 - 3.12 0.040 1360 -449.4 -97.3 - - 3439 - - - - - - - - 11.95 11.66 11.95
1968 202.1 -8.3 75 1975 done -0.79 - - 2616 - 3.40 0.099 2754 410.0 -97.3 - - 3438 - - - - - - - - 11.72 11.55 11.74
2312 234.4 -9.7 82 2317 roll -0.79 - - 2608 - 2.72 0.158 3831 396.0 -97.3 - - 3436 - - - - - - - - 11.95 11.52 11.95
2340 237.4 -10.5 86 2345 done -0.79 0.15 0.203 2640 213.3 2.30 0.049 2735 -476.5 -97.3 - - 3436 - - - - - - - - 11.53 11.75 11.71
2704 269.3 -8.6 96 2709 roll -0.79 - - 2640 - 3.00 0.037 1374 -453.7 -97.3 - - 3434 - - - - - - - - 11.96 11.69 11.95
2781 275.7 -8.2 107 2785 done -0.79 - - 2630 - 3.30 0.083 2753 417.9 -97.3 - - 3434 - - - - - - - - 11.75 11.59 11.77
3096 301.4 -8.1 117 3102 roll -0.79 - - 2628 - 3.08 0.037 1375 -447.4 -97.3 - - 3431 - - - - - - - - 12.00 11.69 12.00
3131 304.5 -8.5 122 3136 done -0.79 - - 2619 - 3.30 0.086 2750 416.7 -97.3 - - 3431 - - - - - - - - 11.76 11.59 11.81
3488 333.9 -8.3 131 3492 roll -0.79 - - 2612 - 2.65 0.142 3821 404.2 -97.3 - - 3429 - - - - - - - - 11.98 11.57 11.98
3509 335.7 -8.7 134 3514 done -0.79 0.12 0.207 2638 216.7 2.28 0.050 2749 -470.2 -97.3 - - 3429 - - - - - - - - 11.55 11.78 11.74
3824 360.5 -7.8 144 3829 roll -0.79 - - 2638 - 3.08 0.037 1360 -451.0 -97.3 - - 3427 - - - - - - - - 12.00 11.70 12.00
3894 366.3 -7.8 154 3899 done -0.79 - - 2629 - 3.28 0.080 2740 420.7 -97.3 - - 3426 - - - - - - - - 11.77 11.61 11.79
4216 392.2 -8.0 165 4217 done -0.79 - - 2629 - - - 2740 - -97.3 - - 3425 - - - - - - - - 12.01 12.01 12.01
4552 418.7 -7.9 171 4556 roll -0.79 - - 2628 - 3.08 0.038 1363 -447.1 -97.3 - - 3424 - - - - - - - - 12.02 11.72 12.01
4608 423.5 -6.9 179 4613 done -0.79 - - 2618 - 3.33 0.083 2748 415.9 -97.3 - - 3424 - - - - - - - - 11.78 11.61 11.81
4944 450.7 -8.0 192 4949 roll -0.79 - - 2618 - 3.10 0.038 1362 -447.1 -97.3 - - 3422 - - - - - - - - 12.01 11.71 12.01
4979 454.0 -8.9 197 4985 done -0.79 0.12 0.216 2636 150.0 3.28 0.083 2738 419.5 -97.3 - - 3421 - - - - - - - - 11.57 11.62 11.75
5336 479.4 -7.0 206 5341 roll -0.79 - - 2636 - 3.08 0.039 1361 -447.1 -97.3 - - 3420 - - - - - - - - 11.99 11.72 12.00
5406 484.7 -7.7 216 5410 done -0.79 - - 2625 - 3.33 0.085 2747 416.2 -97.3 - - 3420 - - - - - - - - 11.78 11.61 11.81
5728 509.0 -7.7 227 5733 roll -0.79 - - 2625 - 3.10 0.038 1361 -447.1 -97.3 - - 3418 - - - - - - - - 12.00 11.72 12.00
5763 511.7 -6.7 232 5768 done -0.79 - - 2615 - 3.30 0.086 2734 416.1 -97.3 - - 3417 - - - - - - - - 11.79 11.62 11.81
6120 542.2 -8.5 241 6125 roll -0.79 - - 2615 - 3.08 0.038 1360 -446.1 -97.3 - - 3417 - - - - - - - - 12.02 11.72 12.02
6183 548.1 -8.5 250 6188 done -0.79 0.15 0.204 2638 153.3 3.30 0.086 2736 417.0 -97.3 - - 3416 - - - - - - - - 11.57 11.60 11.76
6512 574.2 -8.0 262 6513 done -0.79 - - 2638 - - - 2734 - -97.3 - - 3416 - - - - - - - - 12.02 12.02 12.02
6848 600.6 -7.8 268 6852 roll -0.79 - - 2638 - 3.08 0.040 1363 -445.1 -97.3 - - 3413 - - - - - - - - 12.02 11.72 12.00
6904 605.4 -8.1 276 6909 done -0.87 - - 2628 - 3.33 0.087 2730 410.5 -97.3 - - 3414 - - - - - - - - 11.79 11.59 11.81
7240 631.3 -7.6 289 7241 done -0.87 - - 2628 - - - 2730 - -97.3 - - 3413 - - - - - - - - 12.00 12.00 12.00
7576 655.4 -7.3 295 7581 roll -0.87 - - 2627 - 3.08 0.040 1363 -443.8 -97.3 - - 3411 - - - - - - - - 12.00 11.73 12.00
7611 658.1 -7.5 300 7616 done -0.87 - - 2618 - 3.33 0.090 2733 411.4 -97.3 - - 3411 - - - - - - - - 11.80 11.60 11.82
7968 683.7 -7.3 309 7969 done -0.87 - - 2618 - - - 2732 - -97.3 - - 3410 - - - - - - - - 12.00 12.00 12.00
8304 708.1 -7.0 315 8309 roll -0.87 - - 2617 - 3.08 0.040 1364 -444.2 -97.3 - - 3408 - - - - - - - - 12.02 11.73 12.02
8374 713.4 -6.9 325 8380 done -0.87 - - 2608 - 3.30 0.090 2724 412.1 -97.3 - - 3410 - - - - - - - - 11.77 11.57 11.81
8696 738.3 -7.9 336 8700 roll -0.87 - - 2600 - 2.75 0.149 3825 400.4 -97.3 - - 3407 - - - - - - - - 12.00 11.55 12.00
8745 742.7 -8.8 343 8750 done -0.87 - - 2599 - 2.38 0.056 2720 -464.3 -97.3 - - 3407 - - - - - - - - 11.83 11.78 11.84
9088 772.1 -8.7 350 9093 roll -0.87 - - 2598 - 3.03 0.039 1361 -448.5 -97.3 - - 3406 - - - - - - - - 12.00 11.71 12.00
9151 777.7 -8.6 359 9156 done -0.87 - - 2590 - 3.30 0.086 2724 413.0 -97.3 - - 3406 - - - - - - - - 11.78 11.58 11.81
9419 end dive: TARGET_DEPTH_EXCEEDED
9419 begin apogee
9430 802.3 -9.0 370 9549 roll -0.23 1.02 0.181 2817 222.5 - - 2238 - - 110.97 2.732 3050 -3.2 0.232 - - - - 1 - 11.57 11.33 10.29
9550 end apogee: CONTROL_FINISHED_OK
9550 begin climb
9555 806.9 - 372 9699 roll 0.95 1.45 0.081 3190 257.2 3.12 0.047 868 -439.1 97.3 126.65 2.731 2662 -3.1 0.223 - - - - 1 - 11.36 11.36 10.24
9784 806.6 4.0 407 9886 done 0.90 - - 3197 - 3.22 0.059 2252 429.8 164.5 87.55 2.463 2397 -3.0 0.244 - - - - 1 - 11.48 11.36 10.21
10211 767.6 9.9 433 10217 roll 0.79 0.12 0.207 3160 -308.3 3.58 0.130 3661 393.6 164.5 - - 2398 - - - - - - - - 11.31 11.30 11.43
10252 763.5 10.5 439 10258 done 0.69 0.20 0.201 3128 -160.0 3.10 0.045 2259 -452.3 164.5 - - 2399 - - - - - - - - 11.31 11.47 11.47
10603 735.6 7.7 447 10608 roll 0.69 - - 3139 - 3.25 0.052 846 -434.8 164.5 - - 2397 - - - - - - - - 11.68 11.43 11.68
10637 733.4 7.0 452 10665 done 0.70 - - 3138 - 3.28 0.062 2248 427.4 176.6 17.70 1.801 2348 -2.8 0.277 - - - - 1 - 11.51 11.38 10.66
10992 707.4 7.5 467 11001 roll 0.71 - - 3139 - 3.62 0.137 3661 390.3 179.2 2.30 0.584 2342 -2.6 0.777 - - - - - - 11.64 11.31 10.38
11051 702.7 8.4 476 11057 done 0.71 - - 3149 - 3.12 0.045 2250 -452.2 179.2 1.62 0.207 2338 -2.5 2.062 - - - - - - 11.53 11.48 11.26
11373 679.3 7.2 487 11399 roll 0.72 - - 3160 - 3.22 0.052 849 -435.1 187.2 16.67 1.873 2301 -2.2 0.198 - - - - 1 - 11.68 11.33 10.67
11443 673.9 8.6 497 11449 done 0.72 - - 3159 - 3.33 0.067 2254 421.9 187.2 - - 2300 - - - - - - - - 11.48 11.33 11.50
11758 649.0 7.9 507 11763 roll 0.72 - - 3159 - 3.65 0.141 3665 386.6 187.2 - - 2298 - - - - - - - - 11.67 11.29 11.68
11821 643.4 9.1 516 11826 done 0.63 0.30 0.200 3108 -170.0 3.12 0.044 2251 -453.2 187.2 - - 2298 - - - - - - - - 11.30 11.47 11.47
12150 621.7 6.7 528 12176 done 0.65 - - 3108 - - - 2248 - 204.5 20.08 1.685 2235 -3.1 0.285 - - - - 1 - 11.70 11.37 10.49
12486 596.6 7.6 534 12487 done 0.65 - - 3108 - - - 2247 - 204.6 - - 2241 - - - - - - - - 11.67 11.67 11.67
12822 570.6 7.8 540 12827 roll 0.65 - - 3107 - 3.70 0.142 3665 383.2 204.6 - - 2241 - - - - - - - - 11.67 11.29 11.68
12878 565.8 8.7 548 12883 done 0.65 - - 3117 - 3.15 0.046 2249 -449.5 204.6 - - 2241 - - - - - - - - 11.54 11.48 11.55
13214 539.6 7.8 561 13215 done 0.65 - - 3117 - - - 2247 - 204.6 - - 2241 - - - - - - - - 11.69 11.69 11.69
13550 514.0 7.6 567 13551 done 0.65 - - 3117 - - - 2247 - 204.6 - - 2241 - - - - - - - - 11.70 11.70 11.71
13886 488.9 7.3 573 13899 done 0.66 - - 3117 - - - 2246 - 209.6 12.30 1.700 2215 -2.1 0.150 - - - - - - 11.71 11.42 10.77
14222 465.4 6.9 579 14245 done 0.67 - - 3117 - - - 2246 - 222.3 16.67 1.621 2163 -3.1 0.220 - - - - 1 - 11.69 11.42 10.74
14558 442.4 7.0 585 14583 roll 0.69 - - 3126 - 3.30 0.053 853 -422.1 233.1 16.60 1.594 2112 -3.1 0.210 - - - - - - 11.66 11.35 10.73
14614 438.6 6.8 593 14642 done 0.80 - - 3126 - 3.35 0.067 2261 420.3 248.3 17.50 1.489 2060 -3.0 0.215 - - - - 1 - 11.46 11.32 10.70
14999 406.0 8.8 606 15004 roll 0.80 - - 3126 - 3.65 0.145 3661 383.6 248.3 - - 2058 - - - - - - - - 11.64 11.24 11.64
15041 401.9 10.4 612 15046 done 0.80 - - 3135 - 3.12 0.044 2252 -451.6 248.3 - - 2058 - - - - - - - - 11.49 11.43 11.50
15391 368.1 9.6 620 15396 roll 0.80 - - 3146 - 3.22 0.054 853 -434.5 248.3 - - 2057 - - - - - - - - 11.65 11.39 11.65
15433 364.2 9.4 626 15438 done 0.80 - - 3146 - 3.30 0.068 2255 424.8 248.3 - - 2058 - - - - - - - - 11.49 11.33 11.51
15784 330.9 9.5 634 15789 roll 0.80 - - 3146 - 3.67 0.148 3663 383.7 248.3 - - 2058 - - - - - - - - 11.67 11.29 11.66
15825 327.0 10.2 640 15830 done 0.80 - - 3156 - 3.10 0.046 2255 -454.2 248.3 - - 2057 - - - - - - - - 11.53 11.48 11.55
16175 295.5 8.7 648 16180 roll 0.80 - - 3167 - 3.25 0.055 849 -432.6 248.3 - - 2058 - - - - - - - - 11.67 11.42 11.68
16210 292.4 8.8 653 16216 done 0.80 - - 3167 - 3.33 0.070 2255 422.2 248.3 - - 2058 - - - - - - - - 11.52 11.36 11.53
16567 260.2 9.2 662 16568 done 0.80 - - 3167 - - - 2255 - 248.3 - - 2057 - - - - - - - - 11.69 11.69 11.69
16903 226.3 10.2 668 16908 roll 0.80 - - 3176 - 3.28 0.055 852 -427.7 248.3 - - 2058 - - - - - - - - 11.69 11.43 11.69
16938 222.8 10.1 673 16944 done 0.80 - - 3176 - 3.33 0.072 2256 421.6 248.3 - - 2058 - - - - - - - - 11.52 11.36 11.54
17295 189.0 9.2 682 17300 roll 0.80 - - 3177 - 3.67 0.151 3661 382.8 248.3 - - 2057 - - - - - - - - 11.75 11.30 11.71
17316 187.1 8.8 685 17322 done 0.80 - - 3186 - 3.10 0.045 2255 -453.5 248.3 - - 2058 - - - - - - - - 11.55 11.50 11.56
17631 158.0 9.1 695 17636 roll 0.80 - - 3196 - 3.22 0.057 854 -435.1 248.3 - - 2058 - - - - - - - - 11.71 11.44 11.71
17701 151.6 9.5 705 17707 done 0.80 0.15 0.184 3162 -226.7 3.30 0.072 2254 424.2 248.3 - - 2058 - - - - - - - - 11.36 11.38 11.51
18023 121.1 9.6 716 18028 roll 0.80 - - 3162 - 3.67 0.147 3655 381.7 248.3 - - 2058 - - - - - - - - 11.72 11.32 11.72
18065 116.9 10.5 722 18070 done 0.80 - - 3172 - 3.10 0.047 2251 -452.9 248.3 - - 2057 - - - - - - - - 11.57 11.51 11.57
18388 88.9 8.3 731 18393 roll 0.80 - - 3182 - 3.20 0.054 853 -436.9 248.3 - - 2058 - - - - - - - - 11.71 11.45 11.71
18422 86.0 8.2 736 18427 done 0.80 - - 3181 - 3.28 0.070 2250 425.9 248.3 - - 2058 - - - - - - - - 11.52 11.37 11.53
18751 59.5 8.4 750 18752 done 0.80 - - 3182 - - - 2249 - 248.3 - - 2057 - - - - - - - - 11.69 11.70 11.70
19059 41.2 4.0 761 19121 roll 0.88 - - 3191 - 3.30 0.054 851 -423.6 314.9 51.83 0.282 1796 -5.0 0.181 - - - - - - 11.70 11.38 11.24
19353 33.5 3.2 803 19429 done 1.18 0.25 0.054 3287 384.0 3.25 0.060 2255 432.0 397.6 65.00 0.255 1467 -5.1 0.164 - - - - - - 11.50 11.38 11.23
19759 8.1 5.0 828 19801 roll 1.24 - - 3295 - 3.33 0.057 855 -420.4 446.8 36.20 0.170 1269 -5.5 0.064 - - - - - - 11.66 11.37 11.29
19846 end climb: SURFACE_DEPTH_REACHED
19846 begin surface coast
19857 end surface coast: CONTROL_FINISHED_OK
19857 begin surface
SM -2.74 - - - - -8.40 11.90 0.071 199 16.7 4.70 0.090 2762 -1271.9 500.14 37.45 0.791 1058 28.3 0.010 - - - - 1 -