SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 536 * Raw log
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• Previous call tries 2 • 188.18 of 350.00 AH used of 24V (46.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth -1.13 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 11 s
• GPS2 time: 20 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 - - - 102 done -0.93 - - 108 - - - 2784 - -107.1 -82.18 - 3477 - - - - - - - - 14.68 12.54 14.65
105 4.6 -9.8 3 122 roll -0.93 11.98 0.386 2589 207.1 2.42 0.036 1364 -586.8 -107.1 - - 3479 - - - - - - - - 13.96 14.35 14.24
158 26.5 -26.9 11 163 done -0.62 0.43 0.263 2691 237.2 2.55 0.075 2773 552.5 -107.1 - - 3479 - - - - - - - - 14.03 14.27 14.34
494 62.5 -7.5 26 499 roll -0.62 - - 2682 - 1.98 0.111 3832 534.8 -107.1 - - 3480 - - - - - - - - 14.85 14.23 14.84
584 68.7 -6.7 39 590 done -0.62 - - 2682 - 1.83 0.038 2728 -603.3 -107.1 - - 3481 - - - - - - - - 14.51 14.49 14.53
914 92.6 -7.1 53 920 roll -0.62 - - 2674 - 2.08 0.107 3824 526.9 -107.1 - - 3482 - - - - - - - - 14.88 14.25 14.85
970 97.3 -8.5 61 976 done -0.62 - - 2672 - 1.75 0.040 2771 -601.7 -107.1 - - 3482 - - - - - - - - 14.54 14.52 14.55
1306 122.4 -7.6 71 1311 roll -0.62 - - 2674 - 2.35 0.044 1395 -585.5 -107.1 - - 3482 - - - - - - - - 14.89 14.45 14.89
1348 125.5 -7.6 77 1354 done -0.70 - - 2664 - 2.42 0.068 2765 566.1 -107.1 - - 3483 - - - - - - - - 14.52 14.33 14.55
1699 152.5 -7.7 85 1699 done -0.70 - - 2664 - - - 2765 - -107.1 - - 3479 - - - - - - - - 14.90 14.90 14.90
2034 181.2 -8.6 91 2039 roll -0.70 - - 2664 - 2.40 0.045 1388 -573.8 -107.1 - - 3477 - - - - - - - - 14.90 14.43 14.90
2090 185.9 -8.1 99 2095 done -0.78 - - 2655 - 2.47 0.069 2761 555.9 -107.1 - - 3479 - - - - - - - - 14.52 14.34 14.55
2426 212.4 -7.8 112 2431 roll -0.78 - - 2646 - 2.00 0.110 3827 533.0 -107.1 - - 3474 - - - - - - - - 14.92 14.23 14.92
2460 215.4 -9.0 117 2467 done -0.78 - - 2646 - 1.80 0.043 2768 -588.3 -107.1 - - 3473 - - - - - - - - 14.54 14.52 14.57
2818 246.6 -8.9 126 2823 roll -0.78 - - 2647 - 2.40 0.044 1380 -578.3 -107.1 - - 3472 - - - - - - - - 14.90 14.44 14.90
2874 251.7 -8.9 134 2879 done -0.78 - - 2637 - 2.50 0.069 2765 554.0 -107.1 - - 3471 - - - - - - - - 14.50 14.33 14.54
3210 282.4 -9.2 147 3215 roll -0.78 - - 2637 - 2.40 0.044 1383 -575.8 -107.1 - - 3469 - - - - - - - - 14.90 14.44 14.90
3237 284.9 -9.3 151 3243 done -0.78 - - 2628 - 2.47 0.067 2759 557.1 -107.1 - - 3469 - - - - - - - - 14.50 14.32 14.52
3602 319.0 -9.4 161 3608 roll -0.78 - - 2619 - 2.00 0.109 3822 531.5 -107.1 - - 3467 - - - - - - - - 14.90 14.21 14.90
3643 323.2 -10.0 167 3649 done -0.78 0.08 0.209 2642 287.5 1.83 0.043 2754 -583.6 -107.1 - - 3467 - - - - - - - - 14.19 14.53 14.32
3994 352.8 -8.2 175 3995 done -0.78 - - 2642 - - - 2755 - -107.1 - - 3465 - - - - - - - - 14.92 14.92 14.92
4330 377.6 -7.3 181 4336 roll -0.78 - - 2642 - 2.38 0.044 1375 -579.8 -107.1 - - 3463 - - - - - - - - 14.90 14.40 14.90
4378 381.2 -7.6 188 4385 done -0.78 - - 2631 - 2.53 0.066 2749 543.1 -107.1 - - 3463 - - - - - - - - 14.33 14.23 14.38
4722 410.7 -8.9 195 4727 roll -0.78 - - 2623 - 2.05 0.109 3832 528.3 -107.1 - - 3461 - - - - - - - - 14.89 14.20 14.88
4798 418.5 -10.3 206 4804 done -0.78 - - 2623 - 1.85 0.042 2747 -586.5 -107.1 - - 3461 - - - - - - - - 14.50 14.47 14.52
5114 451.0 -10.4 216 5119 roll -0.78 - - 2623 - 2.38 0.043 1378 -575.2 -107.1 - - 3459 - - - - - - - - 14.91 14.39 14.91
5148 454.7 -10.9 221 5155 done -0.78 0.08 0.223 2643 250.0 2.53 0.067 2753 543.5 -107.1 - - 3459 - - - - - - - - 14.02 14.21 14.30
5506 486.5 -8.6 230 5511 roll -0.78 - - 2635 - 2.03 0.110 3828 529.6 -107.1 - - 3458 - - - - - - - - 14.88 14.16 14.88
5547 490.0 -8.6 236 5553 done -0.78 - - 2634 - 1.83 0.044 2766 -580.3 -107.1 - - 3457 - - - - - - - - 14.50 14.47 14.50
5898 518.2 -8.0 244 5903 roll -0.78 - - 2634 - 2.42 0.043 1367 -578.1 -107.1 - - 3456 - - - - - - - - 14.88 14.38 14.88
5939 521.7 -8.1 250 5945 done -0.78 - - 2624 - 2.53 0.065 2768 553.8 -107.1 - - 3456 - - - - - - - - 14.44 14.24 14.48
6290 552.0 -8.7 258 6295 roll -0.78 - - 2616 - 2.00 0.111 3828 530.0 -107.1 - - 3455 - - - - - - - - 14.91 14.14 14.91
6324 555.3 -9.6 263 6330 done -0.78 0.08 0.210 2638 275.0 1.88 0.044 2749 -573.9 -107.1 - - 3454 - - - - - - - - 14.09 14.45 14.23
6682 583.3 -7.8 272 6687 roll -0.78 - - 2638 - 2.40 0.044 1365 -576.7 -107.1 - - 3453 - - - - - - - - 14.91 14.35 14.91
6709 585.5 -8.2 276 6715 done -0.78 - - 2629 - 2.55 0.066 2751 543.5 -107.1 - - 3453 - - - - - - - - 14.26 14.17 14.32
7074 614.8 -8.1 286 7075 done -0.78 - - 2628 - - - 2751 - -107.1 - - 3451 - - - - - - - - 14.86 14.86 14.88
7410 643.7 -8.7 292 7411 done -0.78 - - 2629 - - - 2751 - -107.1 - - 3450 - - - - - - - - 14.91 14.90 14.90
7746 672.8 -8.6 298 7747 done -0.78 - - 2629 - - - 2751 - -107.1 - - 3448 - - - - - - - - 14.88 14.88 14.88
8082 701.2 -8.4 304 8083 done -0.78 - - 2628 - - - 2751 - -107.1 - - 3448 - - - - - - - - 14.87 14.87 14.87
8418 729.8 -8.6 310 8419 done -0.78 - - 2629 - - - 2751 - -107.1 - - 3452 - - - - - - - - 14.87 14.89 14.87
8754 758.1 -8.4 316 8755 done -0.78 - - 2628 - - - 2751 - -107.1 - - 3446 - - - - - - - - 14.87 14.87 14.87
9090 784.5 -7.7 322 9091 done -0.78 - - 2629 - - - 2751 - -107.1 - - 3444 - - - - - - - - 14.86 14.86 14.86
9311 end dive: TARGET_DEPTH_EXCEEDED
9311 begin apogee
9319 801.3 -7.5 326 9428 roll -0.23 0.68 0.190 2818 277.9 0.08 0.175 2264 -6087.5 - 100.70 2.511 3050 -3.9 0.254 - - - - 1 - 13.90 13.84 12.50
9429 end apogee: CONTROL_FINISHED_OK
9429 begin climb
9433 803.9 - 328 9567 roll 0.93 1.12 0.099 3180 323.2 2.53 0.056 889 -543.5 107.1 122.75 1.806 2618 -3.5 0.319 - - - - - - 13.95 13.99 12.97
9637 799.2 6.7 358 9665 done 0.84 - - 3180 - 2.42 0.051 2253 563.6 127.8 21.60 1.882 2537 -3.7 0.324 - - - - - - 14.33 14.22 13.14
9988 770.7 8.1 373 9993 roll 0.72 0.15 0.246 3134 -306.7 2.62 0.094 3657 535.9 127.8 - - 2528 - - - - - - - - 14.08 14.27 14.27
10036 766.9 7.7 380 10043 done 0.63 0.12 0.225 3110 -200.0 2.42 0.041 2267 -574.4 127.8 - - 2527 - - - - - - - - 14.08 14.42 14.26
10380 747.4 5.6 387 10435 roll 0.68 - - 3110 - 2.70 0.099 3651 512.6 170.5 46.78 1.799 2364 -3.5 0.295 - - - - - - 14.81 14.18 13.29
10463 742.0 6.8 399 10491 done 0.71 - - 3120 - 2.42 0.040 2250 -578.9 189.5 21.65 1.848 2288 -3.5 0.287 - - - - - - 14.40 14.33 13.24
10828 713.8 7.7 409 10834 roll 0.71 - - 3120 - 2.67 0.099 3660 528.1 190.0 - - 2277 - - - - - - - - 14.75 14.23 14.76
10861 710.8 8.6 414 10867 done 0.71 - - 3129 - 2.45 0.041 2258 -572.2 190.0 - - 2276 - - - - - - - - 14.43 14.38 14.45
11219 681.0 8.4 423 11220 done 0.71 - - 3130 - - - 2256 - 190.0 - - 2274 - - - - - - - - 14.83 14.83 14.83
11555 652.1 8.6 429 11561 roll 0.71 - - 3129 - 2.67 0.102 3655 524.0 190.0 - - 2276 - - - - - - - - 14.83 14.21 14.83
11596 648.2 9.6 435 11602 done 0.71 - - 3140 - 2.45 0.041 2260 -569.4 190.0 - - 2272 - - - - - - - - 14.40 14.35 14.42
11947 618.0 8.6 443 11952 roll 0.71 - - 3140 - 2.65 0.103 3652 525.3 190.0 - - 2273 - - - - - - - - 14.87 14.20 14.87
11967 616.1 8.6 446 11973 done 0.71 - - 3151 - 2.47 0.041 2253 -566.4 190.0 - - 2273 - - - - - - - - 14.43 14.40 14.45
12283 589.3 8.4 456 12288 roll 0.71 - - 3161 - 2.47 0.063 853 -566.8 190.0 - - 2277 - - - - - - - - 14.86 14.29 14.87
12310 587.0 8.2 460 12316 done 0.71 0.08 0.208 3125 -450.0 2.50 0.055 2255 560.8 190.0 - - 2272 - - - - - - - - 14.04 14.27 14.34
12676 561.2 7.1 470 12687 roll 0.72 - - 3124 - 2.67 0.102 3657 525.1 202.4 4.00 1.501 2250 -5.5 0.419 - - - - - - 14.84 14.36 13.09
12731 556.7 8.2 478 12737 done 0.72 - - 3134 - 2.40 0.041 2254 -584.6 202.4 2.08 0.375 2242 -3.8 1.162 - - - - - - 14.59 14.51 12.74
13060 531.1 7.8 490 13064 done 0.72 - - 3134 - - - 2250 - 202.4 2.00 0.239 2244 - - - - - - - - 14.81 14.23 12.34
13397 504.2 8.0 496 13399 done 0.72 - - 3133 - - - 2250 - 202.4 1.62 0.233 2244 - - - - - - - - 14.83 14.16 13.85
13733 478.7 7.5 502 13751 roll 0.73 - - 3134 - 2.72 0.103 3654 516.2 207.0 11.10 1.753 2221 -2.1 0.115 - - - - - - 14.84 14.38 13.39
13788 474.2 8.7 510 13793 done 0.73 - - 3144 - 2.42 0.041 2252 -579.3 207.0 - - 2219 - - - - - - - - 14.59 14.50 14.61
14124 448.8 7.5 523 14130 roll 0.73 - - 3154 - 2.42 0.060 856 -576.9 211.9 1.45 0.236 2207 -8.3 3.204 - - - - - - 14.84 14.17 13.97
14165 445.4 7.9 529 14172 done 0.73 - - 3152 - 2.53 0.055 2266 557.3 211.9 1.20 0.210 2205 - - - - - - - - 14.35 14.27 14.08
14516 416.5 8.3 537 14522 roll 0.73 - - 3154 - 2.65 0.107 3660 526.0 211.9 - - 2214 - - - - - - - - 14.82 14.12 14.83
14564 412.0 9.7 544 14572 done 0.73 - - 3164 - 2.45 0.040 2262 -570.6 211.9 1.35 0.207 2206 -5.9 2.401 - - - - - - 14.40 14.35 13.98
14909 382.2 8.6 551 14913 roll 0.73 - - 3175 - 2.50 0.063 857 -562.0 211.9 - - 2214 - - - - - - - - 14.83 14.24 14.83
14935 379.9 8.4 555 14942 done 0.73 0.10 0.203 3139 -360.0 2.53 0.057 2260 554.5 211.9 1.33 0.222 2204 -7.5 2.619 - - - - - - 13.98 14.22 14.01
15300 350.7 8.1 565 15306 roll 0.73 - - 3138 - 2.67 0.104 3667 527.0 211.9 - - 2215 - - - - - - - - 14.84 14.09 14.84
15356 345.5 9.6 573 15363 done 0.73 - - 3148 - 2.45 0.040 2245 -580.4 211.9 1.42 0.233 2205 -7.0 2.126 - - - - - - 14.42 14.34 13.96
15693 315.4 9.0 586 15698 roll 0.73 - - 3148 - 2.70 0.101 3658 523.3 211.9 1.45 0.231 2207 - - - - - - - - 14.86 14.04 13.85
15726 311.9 9.9 591 15732 done 0.73 - - 3158 - 2.45 0.040 2260 -570.6 211.9 1.12 0.211 2204 -2.7 0.806 - - - - - - 14.39 14.34 14.00
16084 278.1 9.4 600 16090 roll 0.73 - - 3168 - 2.50 0.060 851 -563.6 211.9 1.12 0.242 2208 3.6 -0.835 - - - - - - 14.84 14.08 13.95
16118 274.9 9.1 605 16125 done 0.73 0.10 0.230 3140 -280.0 2.53 0.054 2262 557.7 211.9 - - 2213 - - - - - - - - 14.03 14.19 14.27
16477 246.7 7.6 614 16484 roll 0.74 - - 3140 - 2.67 0.101 3657 522.5 214.1 2.72 0.801 2199 -5.1 0.323 - - - - - - 14.83 14.26 13.16
16539 241.6 8.2 623 16545 done 0.74 - - 3150 - 2.45 0.040 2254 -572.7 214.1 1.73 0.211 2199 - - - - - - - - 14.45 14.39 13.94
16862 217.2 7.6 634 16869 roll 0.74 - - 3160 - 2.53 0.061 857 -552.2 215.7 3.15 1.008 2194 -1.6 0.070 - - - - - - 14.83 14.39 13.21
16890 214.8 8.2 638 16896 done 0.74 - - 3160 - 2.50 0.054 2266 563.6 215.7 1.75 0.256 2192 - - - - - - - - 14.44 14.36 13.83
17248 183.4 8.9 647 17254 roll 0.74 - - 3160 - 2.65 0.103 3651 522.6 215.7 2.20 0.461 2194 - - - - - - - - 14.82 14.26 13.11
17297 178.6 10.1 654 17303 done 0.74 0.10 0.255 3143 -170.0 2.40 0.039 2254 -582.1 215.7 1.85 0.240 2191 -1.6 0.246 - - - - - - 14.09 14.45 13.75
17629 151.5 8.1 666 17638 roll 0.74 - - 3153 - 2.47 0.060 872 -559.5 215.7 2.08 0.346 2195 1.9 -0.171 - - - - - - 14.78 14.26 12.78
17682 147.1 7.9 674 17688 done 0.74 - - 3152 - 2.45 0.053 2271 571.0 215.7 1.92 0.241 2190 -2.6 0.324 - - - - - - 14.45 14.28 13.75
18011 120.4 8.2 686 18017 roll 0.74 - - 3153 - 2.65 0.101 3653 521.5 215.7 2.05 0.312 2196 2.9 -0.230 - - - - - - 14.86 14.19 12.49
18052 116.6 9.4 692 18059 done 0.74 - - 3163 - 2.42 0.038 2259 -576.0 215.7 1.75 0.222 2195 - - - - - - - - 14.40 14.35 13.74
18368 90.7 8.1 700 18374 roll 0.74 - - 3173 - 2.55 0.060 863 -547.5 215.7 2.00 0.239 2193 - - - - - - - - 14.84 14.10 13.52
18402 88.0 7.9 705 18409 done 0.74 0.08 0.194 3143 -375.0 2.50 0.052 2268 562.0 215.7 1.55 0.241 2195 - - - - - - - - 13.99 14.20 13.69
18725 69.0 6.1 718 18753 roll 0.78 - - 3143 - 2.62 0.099 3651 527.9 248.4 19.52 0.364 2063 -6.8 0.261 - - - - - - 14.82 14.25 13.91
18888 57.9 6.0 741 18912 done 0.82 - - 3151 - 2.42 0.038 2247 -580.2 283.5 20.02 0.334 1920 -7.1 0.252 - - - - - - 14.50 14.42 13.95
19232 41.5 3.6 757 19284 done 1.08 0.22 0.070 3272 550.0 - - 2248 - 366.2 44.85 0.291 1590 -7.4 0.214 - - - - - - 14.47 14.36 14.00
19594 18.4 7.8 770 19598 roll 1.08 - - 3272 - 2.72 0.106 3655 517.3 366.2 - - 1590 - - - - - - - - 14.79 14.10 14.79
19739 5.8 9.4 791 19745 done 1.08 0.10 0.212 3253 -190.0 2.40 0.037 2272 -576.2 366.2 - - 1590 - - - - - - - - 13.98 14.34 14.31
19814 end climb: SURFACE_DEPTH_REACHED
19814 begin surface coast
19842 end surface coast: CONTROL_FINISHED_OK
19842 begin surface
SM -2.38 - - - - -8.40 9.15 0.077 185 20.2 0.95 0.082 2772 -2477.9 500.14 64.80 0.152 1056 16.3 0.026 - - - - - -