SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 516 * Raw log
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• Previous call tries 1 • 181.54 of 350.00 AH used of 24V (48.13% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.9 deg, depth -0.69 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 100 done -0.93 - - 104 - - - 2774 - -107.1 -81.22 - 3478 - - - - - - - - 14.67 12.54 14.65
104 5.4 -10.7 3 121 roll -0.93 12.07 0.392 2588 205.8 2.38 0.029 1345 -600.4 -107.1 - - 3479 - - - - - - - - 13.96 14.35 14.24
205 38.2 -21.9 18 213 done -0.70 0.30 0.239 2669 270.0 2.60 0.074 2764 545.8 -107.1 - - 3479 - - - - - - - - 14.02 14.25 14.33
522 66.7 -6.5 30 526 roll -0.70 - - 2661 - 1.98 0.110 3826 536.4 -107.1 - - 3481 - - - - - - - - 14.83 14.25 14.83
639 75.9 -7.8 47 645 done -0.70 - - 2665 - 1.80 0.038 2735 -606.1 -107.1 - - 3481 - - - - - - - - 14.55 14.54 14.57
969 104.9 -8.8 60 974 roll -0.70 - - 2661 - 2.25 0.040 1401 -592.9 -107.1 - - 3482 - - - - - - - - 14.88 14.47 14.88
1038 111.0 -8.8 70 1044 done -0.70 - - 2651 - 2.47 0.067 2762 551.0 -107.1 - - 3482 - - - - - - - - 14.40 14.31 14.45
1361 140.4 -9.0 81 1362 done -0.70 - - 2651 - - - 2762 - -107.1 - - 3481 - - - - - - - - 14.92 14.92 14.92
1697 168.0 -8.0 87 1702 roll -0.70 - - 2651 - 2.35 0.041 1397 -580.9 -107.1 - - 3479 - - - - - - - - 14.92 14.43 14.92
1738 171.6 -8.4 93 1745 done -0.70 - - 2643 - 2.47 0.067 2760 551.8 -107.1 - - 3482 - - - - - - - - 14.40 14.31 14.45
2089 203.2 -9.1 101 2095 roll -0.70 0.10 0.243 2671 280.0 2.00 0.109 3832 536.0 -107.1 - - 3476 - - - - - - - - 14.27 14.26 14.40
2180 210.3 -7.5 114 2185 done -0.78 - - 2672 - 1.77 0.040 2769 -600.6 -107.1 - - 3476 - - - - - - - - 14.59 14.57 14.60
2538 236.9 -7.5 123 2543 roll -0.86 0.08 0.143 2590 -1025.0 2.35 0.037 1388 -587.7 -107.1 - - 3473 - - - - - - - - 14.59 14.42 14.61
2593 242.6 -10.7 131 2598 done -0.86 0.12 0.240 2614 200.0 2.47 0.069 2766 557.9 -107.1 - - 3473 - - - - - - - - 14.20 14.37 14.42
2929 276.8 -10.2 144 2934 roll -0.86 - - 2608 - 1.98 0.112 3819 531.8 -107.1 - - 3471 - - - - - - - - 14.90 14.23 14.90
2956 279.9 -10.9 148 2962 done -0.86 - - 2607 - 1.77 0.041 2772 -591.5 -107.1 - - 3471 - - - - - - - - 14.59 14.58 14.60
3321 318.4 -10.4 158 3326 roll -0.86 - - 2600 - 2.00 0.109 3823 525.5 -107.1 - - 3469 - - - - - - - - 14.92 14.26 14.92
3362 322.7 -10.5 164 3368 done -0.86 - - 2599 - 1.80 0.042 2767 -586.7 -107.1 - - 3468 - - - - - - - - 14.56 14.56 14.57
3713 356.9 -9.7 172 3718 roll -0.86 - - 2590 - 2.03 0.109 3833 525.1 -107.1 - - 3463 - - - - - - - - 14.93 14.24 14.93
3775 363.6 -10.8 181 3782 done -0.86 0.08 0.216 2613 287.5 1.85 0.041 2764 -577.8 -107.1 - - 3466 - - - - - - - - 14.17 14.53 14.32
4105 395.9 -10.0 193 4106 done -0.86 - - 2612 - - - 2764 - -107.1 - - 3463 - - - - - - - - 14.90 14.90 14.90
4441 429.0 -9.8 199 4442 done -0.86 - - 2613 - - - 2764 - -107.1 - - 3463 - - - - - - - - 14.90 14.89 14.90
4777 459.7 -9.0 205 4783 roll -0.86 - - 2613 - 2.42 0.042 1369 -576.4 -107.1 - - 3460 - - - - - - - - 14.89 14.44 14.90
4818 463.4 -8.6 211 4824 done -0.86 - - 2603 - 2.55 0.067 2758 544.7 -107.1 - - 3459 - - - - - - - - 14.36 14.27 14.41
5169 494.2 -8.9 219 5174 roll -0.86 - - 2595 - 2.03 0.109 3829 527.6 -107.1 - - 3457 - - - - - - - - 14.90 14.19 14.90
5273 504.1 -9.5 234 5280 done -0.86 - - 2594 - 1.85 0.044 2765 -575.1 -107.1 - - 3458 - - - - - - - - 14.50 14.48 14.52
5617 537.3 -9.8 241 5623 roll -0.86 - - 2587 - 2.05 0.110 3829 519.0 -107.1 - - 3456 - - - - - - - - 14.89 14.18 14.89
5673 543.2 -10.8 249 5679 done -0.86 0.10 0.208 2615 280.0 1.85 0.044 2771 -571.9 -107.1 - - 3456 - - - - - - - - 14.08 14.46 14.24
6009 574.0 -9.0 262 6014 roll -0.86 - - 2615 - 2.45 0.042 1366 -573.5 -107.1 - - 3454 - - - - - - - - 14.89 14.40 14.89
6078 580.1 -8.7 272 6084 done -0.86 - - 2605 - 2.58 0.066 2766 542.6 -107.1 - - 3454 - - - - - - - - 14.32 14.22 14.37
6401 608.8 -8.9 283 6406 roll -0.86 - - 2597 - 2.00 0.110 3829 531.5 -107.1 - - 3452 - - - - - - - - 14.88 14.15 14.88
6505 618.7 -9.4 298 6512 done -0.86 - - 2596 - 1.85 0.044 2760 -577.8 -107.1 - - 3452 - - - - - - - - 14.47 14.45 14.50
6849 650.6 -9.4 305 6855 roll -0.86 - - 2596 - 2.40 0.042 1376 -576.7 -107.1 - - 3450 - - - - - - - - 14.91 14.38 14.91
6883 654.0 -9.8 310 6889 done -0.86 0.12 0.239 2621 208.3 2.58 0.067 2771 540.7 -107.1 - - 3449 - - - - - - - - 14.02 14.19 14.30
7241 685.0 -8.7 319 7246 roll -0.86 - - 2613 - 2.00 0.111 3829 529.0 -107.1 - - 3450 - - - - - - - - 14.90 14.12 14.91
7324 692.8 -9.2 331 7330 done -0.86 - - 2614 - 1.85 0.045 2772 -571.4 -107.1 - - 3449 - - - - - - - - 14.42 14.40 14.45
7689 726.2 -9.3 341 7690 done -0.86 - - 2614 - - - 2772 - -107.1 - - 3448 - - - - - - - - 14.88 14.88 14.88
8025 756.9 -9.1 347 8026 done -0.86 - - 2614 - - - 2772 - -107.1 - - 3447 - - - - - - - - 14.87 14.88 14.88
8361 787.7 -9.2 353 8362 done -0.86 - - 2613 - - - 2772 - -107.1 - - 3445 - - - - - - - - 14.90 14.90 14.90
8526 end dive: TARGET_DEPTH_EXCEEDED
8526 begin apogee
8534 803.3 -9.3 356 8647 roll -0.23 0.73 0.180 2822 286.3 0.08 0.180 2263 -6362.5 - 110.15 1.848 3048 -3.6 0.314 - - - - - - 13.96 13.95 13.02
8649 end apogee: CONTROL_FINISHED_OK
8649 begin climb
8652 807.5 - 358 8775 roll 0.93 1.10 0.097 3179 324.5 2.53 0.055 883 -545.5 107.1 113.32 1.807 2622 -3.8 0.337 - - - - - - 14.03 14.09 13.00
8796 807.0 2.9 380 8906 done 0.89 - - 3179 - 2.45 0.050 2257 560.8 204.1 103.60 1.766 2231 -3.8 0.345 - - - - - - 14.20 14.10 13.02
9261 765.0 9.9 404 9266 roll 0.89 - - 3179 - 2.60 0.101 3652 536.5 204.1 - - 2217 - - - - - - - - 14.72 14.26 14.72
9293 761.1 10.8 409 9300 done 0.78 0.12 0.225 3147 -266.7 2.40 0.041 2281 -571.2 204.1 - - 2220 - - - - - - - - 14.12 14.42 14.41
9651 728.4 9.2 418 9656 roll 0.78 - - 3157 - 2.50 0.059 863 -567.2 204.1 - - 2216 - - - - - - - - 14.83 14.35 14.83
9692 724.4 9.4 424 9698 done 0.78 - - 3164 - 2.47 0.052 2253 562.8 204.1 - - 2215 - - - - - - - - 14.42 14.35 14.46
10043 689.2 10.2 432 10048 roll 0.78 - - 3155 - 2.65 0.101 3659 530.6 204.1 - - 2214 - - - - - - - - 14.85 14.25 14.85
10105 682.1 11.6 441 10112 done 0.70 0.15 0.238 3125 -200.0 2.42 0.041 2246 -583.9 204.1 - - 2214 - - - - - - - - 14.12 14.47 14.42
10435 652.5 8.8 453 10436 done 0.70 - - 3125 - - - 2242 - 204.1 - - 2213 - - - - - - - - 14.84 14.84 14.83
10771 623.0 8.8 459 10776 roll 0.70 - - 3124 - 2.70 0.099 3655 523.3 204.1 - - 2213 - - - - - - - - 14.85 14.21 14.85
10812 619.0 9.8 465 10819 done 0.70 - - 3134 - 2.45 0.040 2256 -571.0 204.1 - - 2212 - - - - - - - - 14.45 14.42 14.49
11163 587.6 9.0 473 11169 roll 0.70 - - 3133 - 2.67 0.101 3656 524.3 204.1 - - 2212 - - - - - - - - 14.85 14.17 14.85
11197 584.1 9.9 478 11203 done 0.70 - - 3143 - 2.45 0.041 2255 -571.8 204.1 - - 2213 - - - - - - - - 14.45 14.42 14.48
11555 551.5 9.0 487 11560 roll 0.70 - - 3154 - 2.47 0.060 864 -563.2 204.1 - - 2211 - - - - - - - - 14.88 14.29 14.88
11617 545.9 8.9 496 11623 done 0.70 0.08 0.203 3130 -300.0 2.47 0.052 2251 561.5 204.1 - - 2214 - - - - - - - - 14.04 14.26 14.20
11947 518.9 8.2 508 11952 roll 0.70 - - 3129 - 2.65 0.101 3657 530.6 204.1 - - 2211 - - - - - - - - 14.84 14.14 14.84
12023 512.2 8.8 519 12029 done 0.70 - - 3140 - 2.45 0.040 2258 -571.0 204.1 - - 2211 - - - - - - - - 14.42 14.38 14.44
12339 487.7 7.7 529 12345 roll 0.70 - - 3150 - 2.47 0.061 865 -564.0 204.9 - - 2211 - - - - - - - - 14.87 14.26 14.87
12380 484.5 7.6 535 12386 done 0.70 - - 3150 - 2.45 0.052 2256 567.8 207.3 - - 2211 - - - - - - - - 14.43 14.28 14.47
12731 457.2 7.8 543 12736 roll 0.70 - - 3150 - 2.65 0.103 3655 527.9 207.3 - - 2211 - - - - - - - - 14.84 14.11 14.84
12793 451.5 9.3 552 12799 done 0.70 0.10 0.223 3131 -190.0 2.45 0.041 2259 -569.8 207.3 - - 2211 - - - - - - - - 13.96 14.35 14.14
13123 426.0 7.7 564 13128 roll 0.70 - - 3143 - 2.47 0.060 857 -567.6 207.3 - - 2212 - - - - - - - - 14.83 14.23 14.84
13157 423.2 7.9 569 13164 done 0.70 - - 3142 - 2.53 0.054 2265 556.5 207.3 - - 2211 - - - - - - - - 14.31 14.22 14.35
13515 393.5 8.4 578 13520 roll 0.70 - - 3142 - 2.65 0.101 3661 526.8 207.3 - - 2214 - - - - - - - - 14.86 14.07 14.86
13577 387.4 10.0 587 13583 done 0.70 0.08 0.233 3131 -137.5 2.47 0.041 2253 -570.0 207.3 - - 2211 - - - - - - - - 13.97 14.32 14.14
13907 359.7 8.4 599 13912 roll 0.70 - - 3130 - 2.70 0.101 3655 519.3 207.3 - - 2210 - - - - - - - - 14.86 13.66 14.86
13948 355.7 9.7 605 13955 done 0.70 - - 3140 - 2.45 0.040 2253 -572.2 207.3 - - 2211 - - - - - - - - 14.40 14.34 14.42
14299 322.6 9.5 613 14300 done 0.70 - - 3134 - - - 2250 - 207.3 - - 2211 - - - - - - - - 14.83 14.83 14.83
14635 292.6 8.8 619 14640 roll 0.70 - - 3140 - 2.70 0.101 3657 521.1 207.3 - - 2211 - - - - - - - - 14.84 14.07 14.84
14669 289.3 9.5 624 14675 done 0.70 - - 3151 - 2.45 0.041 2268 -566.9 207.3 - - 2212 - - - - - - - - 14.36 14.32 14.39
15027 257.2 9.1 633 15033 roll 0.70 - - 3160 - 2.50 0.060 859 -563.6 207.3 - - 2211 - - - - - - - - 14.83 14.22 14.84
15048 255.3 9.2 636 15053 done 0.70 0.12 0.214 3124 -300.0 2.50 0.053 2267 563.2 207.3 - - 2211 - - - - - - - - 14.01 14.22 14.29
15363 230.3 7.7 646 15368 roll 0.70 - - 3123 - 2.62 0.100 3656 530.2 208.0 - - 2211 - - - - - - - - 14.83 14.07 14.83
15411 226.5 8.0 653 15419 done 0.70 - - 3132 - 2.45 0.039 2254 -572.2 208.0 - - 2211 - - - - - - - - 14.36 14.33 14.39
15755 202.0 7.2 660 15761 done 0.71 - - 3132 - - - 2253 - 218.4 4.97 1.367 2180 -6.2 0.185 - - - - - - 14.86 14.33 13.15
16091 174.7 8.1 666 16098 roll 0.71 - - 3132 - 2.72 0.098 3658 516.5 218.4 2.15 0.404 2181 - - - - - - - - 14.85 14.26 13.00
16132 171.2 8.6 672 16139 done 0.71 - - 3142 - 2.42 0.040 2267 -574.8 218.4 - - 2189 - - - - - - - - 14.47 14.42 14.47
16476 146.0 7.1 679 16502 roll 0.73 - - 3152 - 2.50 0.060 856 -564.4 231.4 20.33 1.245 2120 -3.4 0.080 - - - - - - 14.82 14.39 13.54
16517 143.0 7.1 685 16536 done 0.74 - - 3152 - 2.50 0.053 2265 563.6 244.1 11.88 1.299 2071 -4.1 0.091 - - - - - - 14.45 14.38 13.47
16868 115.1 8.0 700 16873 roll 0.74 - - 3153 - 2.60 0.101 3657 535.4 244.1 - - 2065 - - - - - - - - 14.80 14.14 14.76
16916 111.1 8.2 707 16923 done 0.74 - - 3163 - 2.42 0.038 2269 -573.6 244.1 - - 2065 - - - - - - - - 14.38 14.34 14.41
17232 83.6 9.5 716 17237 roll 0.74 - - 3167 - 2.50 0.060 856 -565.2 244.1 - - 2065 - - - - - - - - 14.82 14.25 14.82
17273 79.5 9.9 722 17279 done 0.74 - - 3173 - 2.50 0.052 2282 570.4 244.1 - - 2065 - - - - - - - - 14.43 14.28 14.47
17597 56.2 5.7 735 17624 roll 0.79 - - 3173 - 2.58 0.099 3660 534.1 285.2 20.40 0.335 1916 -7.3 0.245 - - - - - - 14.80 14.17 13.89
17854 46.4 3.8 772 17903 done 0.89 - - 3182 - 2.42 0.039 2266 -576.0 363.2 42.47 0.307 1603 -7.4 0.223 - - - - - - 14.41 14.37 13.97
18215 31.7 4.5 790 18258 roll 1.17 0.17 0.084 3302 705.9 2.55 0.060 863 -550.2 427.3 34.75 0.256 1349 -7.3 0.181 - - - - - - 14.42 14.33 14.01
18352 18.5 9.1 810 18357 done 1.17 - - 3302 - 2.50 0.052 2293 572.0 427.3 - - 1351 - - - - - - - - 14.43 14.28 14.46
18544 end climb: SURFACE_DEPTH_REACHED
18544 begin surface coast
18573 end surface coast: CONTROL_FINISHED_OK
18573 begin surface
SM -0.86 - - - - -8.44 8.93 0.047 147 16.5 0.85 0.067 2780 2058.8 500.14 35.65 0.154 1059 29.7 0.017 - - - - - -