SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 497 * Raw log
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• Previous call tries 1 • 175.76 of 350.00 AH used of 24V (49.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth -2.66 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 2759 - -107.1 -80.32 - 3479 - - - - - - - - 14.66 13.07 14.64
105 4.6 -12.7 3 122 roll -0.93 11.80 0.379 2582 209.9 1.95 0.086 3837 552.8 -107.1 - - 3479 - - - - - - - - 14.00 14.33 14.26
354 61.6 -12.1 39 359 done -0.73 0.28 0.226 2659 275.0 1.80 0.037 2717 -622.2 -107.1 - - 3481 - - - - - - - - 14.10 14.51 14.37
690 88.8 -7.6 54 695 roll -0.73 - - 2651 - 2.10 0.106 3832 531.0 -107.1 - - 3483 - - - - - - - - 14.85 14.27 14.85
927 111.7 -10.3 88 933 done -0.73 - - 2650 - 1.75 0.038 2772 -605.7 -107.1 - - 3483 - - - - - - - - 14.59 14.57 14.60
1250 139.3 -8.2 99 1251 done -0.73 - - 2649 - - - 2772 - -107.1 - - 3482 - - - - - - - - 14.89 14.90 14.89
1586 165.8 -7.9 105 1592 roll -0.73 - - 2650 - 2.33 0.041 1397 -590.1 -107.1 - - 3479 - - - - - - - - 14.90 14.49 14.90
1613 168.1 -8.5 109 1620 done -0.73 - - 2641 - 2.50 0.065 2776 551.6 -107.1 - - 3480 - - - - - - - - 14.38 14.29 14.43
1978 200.4 -8.9 119 1979 done -0.73 - - 2640 - - - 2778 - -107.1 - - 3478 - - - - - - - - 14.90 14.90 14.90
2314 228.7 -8.3 125 2320 roll -0.73 - - 2633 - 1.98 0.111 3828 530.3 -107.1 - - 3475 - - - - - - - - 14.91 14.25 14.91
2348 231.7 -8.8 130 2354 done -0.73 0.08 0.194 2656 287.5 1.77 0.041 2790 -586.4 -107.1 - - 3475 - - - - - - - - 14.24 14.56 14.38
2706 260.6 -8.2 139 2711 roll -0.73 - - 2657 - 2.45 0.041 1367 -580.8 -107.1 - - 3473 - - - - - - - - 14.90 14.47 14.91
2782 267.1 -8.4 150 2788 done -0.81 - - 2655 - 2.58 0.067 2775 545.7 -107.1 - - 3473 - - - - - - - - 14.40 14.30 14.45
3098 293.8 -8.4 160 3099 done -0.81 - - 2648 - - - 2775 - -107.1 - - 3470 - - - - - - - - 14.93 14.93 14.92
3434 322.0 -8.4 166 3439 roll -0.81 - - 2648 - 2.45 0.042 1368 -574.3 -107.1 - - 3468 - - - - - - - - 14.97 14.46 14.93
3461 324.4 -8.7 170 3467 done -0.81 - - 2639 - 2.55 0.066 2770 549.8 -107.1 - - 3468 - - - - - - - - 14.39 14.31 14.44
3826 356.0 -8.7 180 3831 roll -0.81 - - 2638 - 2.42 0.042 1374 -576.9 -107.1 - - 3466 - - - - - - - - 14.92 14.46 14.92
3867 359.7 -8.7 186 3873 done -0.81 - - 2629 - 2.53 0.065 2763 549.0 -107.1 - - 3466 - - - - - - - - 14.39 14.30 14.43
4218 391.4 -9.1 194 4219 done -0.81 - - 2630 - - - 2761 - -107.1 - - 3464 - - - - - - - - 14.90 14.90 14.90
4554 422.8 -9.4 200 4559 roll -0.81 - - 2621 - 2.00 0.112 3824 531.5 -107.1 - - 3463 - - - - - - - - 14.90 14.23 14.90
4588 426.1 -9.7 205 4595 done -0.81 - - 2615 - 1.83 0.044 2757 -583.1 -107.1 - - 3462 - - - - - - - - 14.54 14.52 14.56
4946 458.7 -9.1 214 4947 done -0.81 - - 2621 - - - 2758 - -107.1 - - 3461 - - - - - - - - 14.90 14.90 14.90
5282 490.3 -9.5 220 5287 roll -0.81 - - 2613 - 2.08 0.111 3839 519.7 -107.1 - - 3460 - - - - - - - - 14.90 14.18 14.90
5309 493.0 -9.7 224 5315 done -0.81 - - 2612 - 1.85 0.043 2761 -582.7 -107.1 - - 3460 - - - - - - - - 14.54 14.51 14.56
5674 528.4 -9.7 234 5675 done -0.81 - - 2613 - - - 2761 - -107.1 - - 3458 - - - - - - - - 14.89 14.90 14.89
6010 559.7 -9.3 240 6015 roll -0.81 - - 2604 - 2.03 0.111 3818 520.7 -107.1 - - 3456 - - - - - - - - 14.90 14.16 14.90
6072 565.8 -9.6 249 6079 done -0.81 0.10 0.207 2633 290.0 1.80 0.044 2774 -580.0 -107.1 - - 3456 - - - - - - - - 14.11 14.50 14.27
6402 593.7 -8.5 261 6407 roll -0.81 - - 2634 - 2.42 0.043 1372 -579.3 -107.1 - - 3455 - - - - - - - - 14.88 14.40 14.88
6458 598.6 -8.7 269 6464 done -0.81 - - 2625 - 2.53 0.064 2772 553.4 -107.1 - - 3454 - - - - - - - - 14.46 14.29 14.50
6794 629.0 -9.1 282 6795 done -0.81 - - 2624 - - - 2771 - -107.1 - - 3454 - - - - - - - - 14.88 14.88 14.88
7130 658.2 -8.6 288 7131 done -0.81 - - 2624 - - - 2771 - -107.1 - - 3453 - - - - - - - - 14.89 14.89 14.88
7466 687.0 -8.6 294 7471 roll -0.81 - - 2624 - 2.45 0.042 1374 -570.2 -107.1 - - 3450 - - - - - - - - 14.91 14.40 14.92
7507 690.6 -8.5 300 7513 done -0.81 - - 2615 - 2.55 0.065 2759 543.1 -107.1 - - 3450 - - - - - - - - 14.31 14.22 14.35
7858 720.6 -8.5 308 7863 roll -0.81 - - 2607 - 2.03 0.112 3828 526.6 -107.1 - - 3449 - - - - - - - - 14.91 14.13 14.91
7906 725.0 -9.3 315 7913 done -0.81 0.10 0.199 2636 290.0 1.85 0.044 2768 -573.0 -107.1 - - 3449 - - - - - - - - 14.07 14.45 14.21
8250 749.3 -7.0 322 8255 roll -0.81 - - 2635 - 2.45 0.044 1367 -571.8 -107.1 - - 3448 - - - - - - - - 14.88 14.35 14.88
8312 753.7 -6.8 331 8318 done -0.89 - - 2627 - 2.58 0.067 2762 540.7 -107.1 - - 3448 - - - - - - - - 14.27 14.17 14.33
8642 777.2 -7.2 343 8643 done -0.89 - - 2627 - - - 2762 - -107.1 - - 3448 - - - - - - - - 14.87 14.87 14.85
8975 end dive: TARGET_DEPTH_EXCEEDED
8975 begin apogee
8983 802.4 -7.5 349 9098 roll -0.23 0.68 0.164 2826 292.6 0.10 0.155 2262 -5000.0 - 112.07 1.824 3050 -3.6 0.304 - - - - - - 14.05 13.97 12.99
9100 end apogee: CONTROL_FINISHED_OK
9100 begin climb
9103 804.8 - 351 9223 done 0.93 1.10 0.079 3200 340.0 - - 2267 - 107.1 115.22 1.800 2620 -3.7 0.325 - - - - - - 14.07 14.31 12.96
9540 777.9 8.4 380 9546 roll 0.77 0.17 0.233 3162 -223.5 2.45 0.057 891 -561.6 107.1 - - 2605 - - - - - - - - 14.13 14.32 14.40
9589 774.3 7.2 387 9596 done 0.71 0.10 0.210 3133 -290.0 2.42 0.050 2253 562.8 117.2 2.85 0.985 2584 -7.4 1.128 - - - - - - 14.10 14.31 12.90
9933 752.8 6.1 394 9977 done 0.75 - - 3133 - - - 2253 - 148.9 42.97 1.810 2458 -2.9 0.237 - - - - - - 14.80 14.22 13.27
10269 729.0 7.3 400 10280 roll 0.76 - - 3133 - 2.67 0.099 3649 522.8 158.1 3.30 1.279 2427 -9.4 1.043 - - - - - - 14.73 14.33 12.90
10309 725.6 8.2 406 10316 done 0.76 - - 3143 - 2.40 0.041 2277 -571.7 158.1 1.95 0.236 2420 -3.6 2.149 - - - - - - 14.47 14.43 13.86
10660 699.0 7.6 414 10672 roll 0.76 - - 3153 - 2.55 0.060 865 -553.7 160.7 3.72 1.490 2413 -1.9 0.172 - - - - - - 14.81 14.39 13.00
10701 695.8 7.5 420 10717 done 0.77 - - 3153 - 2.45 0.051 2252 566.1 164.9 12.00 1.974 2394 -1.6 0.109 - - - - - - 14.48 14.40 13.36
11053 666.5 8.5 428 11057 roll 0.77 - - 3153 - 2.62 0.102 3657 536.3 164.9 - - 2383 - - - - - - - - 14.78 14.26 14.79
11094 662.7 9.1 434 11100 done 0.67 0.15 0.214 3121 -213.3 2.45 0.041 2254 -572.7 164.9 - - 2383 - - - - - - - - 14.10 14.42 14.27
11445 636.4 7.5 442 11450 roll 0.67 - - 3131 - 2.47 0.060 854 -566.8 168.9 - - 2382 - - - - - - - - 14.85 14.36 14.86
11471 634.3 7.6 446 11478 done 0.68 - - 3131 - 2.47 0.053 2248 564.4 172.2 2.35 0.670 2365 -7.2 1.334 - - - - - - 14.40 14.32 12.93
11836 605.6 7.9 456 11842 roll 0.68 - - 3130 - 2.72 0.102 3656 517.6 172.2 1.85 0.252 2365 - - - - - - - - 14.86 14.23 13.73
11912 598.8 9.0 467 11919 done 0.68 - - 3141 - 2.47 0.040 2249 -569.6 172.2 1.73 0.235 2364 - - - - - - - - 14.47 14.41 13.76
12277 569.5 8.0 477 12284 roll 0.68 - - 3152 - 2.53 0.060 862 -548.2 172.2 1.80 0.249 2364 - - - - - - - - 14.85 14.24 13.74
12311 566.7 7.7 482 12317 done 0.68 0.10 0.199 3123 -290.0 2.47 0.053 2255 564.0 172.5 - - 2371 - - - - - - - - 14.09 14.32 14.24
12670 541.5 7.0 491 12702 roll 0.69 - - 3122 - 2.67 0.103 3654 524.0 187.0 24.15 1.689 2295 -3.1 0.196 - - - - - - 14.88 14.38 13.45
12731 536.7 7.9 500 12737 done 0.69 - - 3131 - 2.47 0.041 2242 -571.7 187.0 - - 2291 - - - - - - - - 14.46 14.42 14.48
13061 510.7 8.0 512 13062 done 0.69 - - 3130 - - - 2239 - 187.0 - - 2290 - - - - - - - - 14.81 14.81 14.81
13398 484.8 7.6 518 13402 roll 0.70 - - 3132 - 2.70 0.101 3655 524.4 189.6 - - 2294 - - - - - - - - 14.84 14.20 14.84
13439 481.3 8.5 524 13444 done 0.70 - - 3142 - 2.45 0.040 2258 -570.2 189.6 - - 2290 - - - - - - - - 14.45 14.40 14.47
13790 454.5 7.7 532 13791 done 0.70 - - 3143 - - - 2255 - 189.7 - - 2289 - - - - - - - - 14.83 14.83 14.83
14125 427.3 8.1 538 14130 roll 0.70 - - 3153 - 2.50 0.061 852 -561.2 189.7 - - 2289 - - - - - - - - 14.88 14.31 14.88
14159 424.5 8.0 543 14165 done 0.70 - - 3153 - 2.50 0.053 2258 562.4 189.7 - - 2289 - - - - - - - - 14.38 14.28 14.41
14517 394.8 8.4 552 14522 roll 0.70 - - 3152 - 2.65 0.103 3653 526.4 189.7 - - 2288 - - - - - - - - 14.84 14.15 14.89
14544 392.1 9.3 556 14550 done 0.70 0.10 0.213 3133 -190.0 2.45 0.040 2255 -570.6 189.7 - - 2289 - - - - - - - - 14.04 14.38 14.21
14910 363.1 7.9 566 14910 done 0.70 - - 3133 - - - 2250 - 189.7 - - 2289 - - - - - - - - 14.85 14.85 14.85
15245 337.8 7.5 572 15248 done 0.70 - - 3131 - - - 2250 - 193.4 1.08 0.253 2280 -8.3 2.167 - - - - - - 14.88 14.27 14.00
15582 310.5 8.3 578 15582 done 0.70 - - 3133 - - - 2249 - 193.4 - - 2287 - - - - - - - - 14.88 14.88 14.88
15917 283.1 8.0 584 15922 roll 0.70 - - 3133 - 2.67 0.100 3653 525.8 193.4 - - 2286 - - - - - - - - 14.85 14.12 14.85
15951 280.2 8.3 589 15958 done 0.70 - - 3144 - 2.45 0.040 2253 -571.4 193.4 - - 2287 - - - - - - - - 14.43 14.39 14.45
16310 252.1 8.0 598 16314 roll 0.70 - - 3153 - 2.47 0.060 857 -565.2 193.4 - - 2287 - - - - - - - - 14.88 14.26 14.88
16343 249.3 8.1 603 16349 done 0.70 - - 3153 - 2.47 0.051 2254 565.6 193.4 - - 2287 - - - - - - - - 14.31 14.23 14.35
16702 219.9 8.3 612 16706 roll 0.70 - - 3153 - 2.65 0.101 3655 528.7 193.4 - - 2288 - - - - - - - - 14.85 14.12 14.85
16729 217.4 9.0 616 16735 done 0.70 0.12 0.226 3128 -208.3 2.40 0.039 2254 -583.8 193.4 - - 2288 - - - - - - - - 14.05 14.39 14.31
17093 189.1 7.8 626 17094 done 0.70 - - 3128 - - - 2250 - 193.4 - - 2288 - - - - - - - - 14.85 14.85 14.85
17430 165.8 6.6 632 17463 roll 0.73 - - 3128 - 2.65 0.099 3660 532.1 215.3 27.42 1.237 2185 -3.8 0.098 - - - - - - 14.85 14.41 13.55
17491 161.0 8.5 641 17498 done 0.73 - - 3138 - 2.45 0.039 2253 -574.3 215.3 - - 2181 - - - - - - - - 14.47 14.42 14.49
17822 134.6 7.8 653 17827 roll 0.73 - - 3147 - 2.45 0.060 863 -567.3 215.3 - - 2178 - - - - - - - - 14.82 14.28 14.81
17878 130.6 7.0 661 17896 done 0.75 - - 3148 - 2.45 0.050 2267 573.1 229.4 13.48 1.276 2133 -3.3 0.067 - - - - - - 14.46 14.32 13.60
18213 103.2 8.7 674 18218 roll 0.75 - - 3148 - 2.60 0.101 3656 534.2 229.4 - - 2123 - - - - - - - - 14.80 14.20 14.82
18248 99.5 10.7 679 18253 done 0.75 - - 3158 - 2.42 0.038 2243 -583.9 229.4 - - 2123 - - - - - - - - 14.51 14.42 14.54
18577 72.7 7.2 693 18589 roll 0.76 - - 3168 - 2.50 0.059 859 -553.6 240.3 3.85 0.321 2097 -6.8 0.298 - - - - - - 14.81 14.28 13.78
18618 70.2 6.1 699 18645 done 0.80 - - 3168 - 2.47 0.050 2259 566.8 273.5 19.08 0.373 1960 -7.2 0.263 - - - - - - 14.38 14.31 13.97
18973 48.5 5.5 716 19003 roll 0.95 0.05 0.196 3220 1040.0 2.60 0.099 3657 537.7 318.0 24.65 0.312 1783 -7.2 0.217 - - - - - - 14.50 14.25 13.98
19039 43.9 6.9 726 19053 done 0.97 - - 3231 - 2.45 0.037 2237 -579.6 334.0 9.48 0.295 1720 -6.6 0.193 - - - - - - 14.45 14.40 13.95
19362 32.4 4.6 739 19402 roll 1.17 0.08 0.146 3305 925.0 2.40 0.061 875 -567.5 395.9 33.58 0.265 1468 -7.5 0.179 - - - - - - 14.50 14.28 14.03
19458 25.4 8.3 753 19465 done 1.17 - - 3306 - 2.42 0.051 2251 568.6 395.9 - - 1477 - - - - - - - - 14.35 14.27 14.38
19722 end climb: SURFACE_DEPTH_REACHED
19722 begin surface coast
19750 end surface coast: CONTROL_FINISHED_OK
19750 begin surface
SM -2.72 - - - - -8.39 9.38 0.085 179 19.1 0.95 0.090 2766 1827.4 500.14 50.20 0.154 1057 21.1 0.038 - - - - - -