SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 547 * Raw log
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• Previous call tries 2 • 191.42 of 350.00 AH used of 24V (45.31% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -67.2 deg, depth -0.73 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 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 - - 104 - - - 2782 - -107.1 -80.20 - 3477 - - - - - - - - 14.66 13.05 14.64
105 6.4 -12.1 3 122 roll -0.93 11.85 0.381 2585 209.4 1.90 0.083 3823 547.9 -107.1 - - 3478 - - - - - - - - 13.97 14.35 14.25
199 41.1 -24.0 17 206 done -0.62 0.40 0.249 2690 262.5 1.83 0.034 2723 -601.1 -107.1 - - 3479 - - - - - - - - 13.98 14.47 14.19
522 74.1 -8.6 30 527 roll -0.62 - - 2681 - 2.08 0.107 3824 529.3 -107.1 - - 3480 - - - - - - - - 14.85 14.23 14.85
710 89.4 -8.2 57 718 done -0.62 - - 2681 - 1.73 0.039 2774 -606.9 -107.1 - - 3481 - - - - - - - - 14.51 14.51 14.54
1027 113.9 -8.1 66 1031 roll -0.62 - - 2681 - 2.35 0.045 1401 -584.3 -107.1 - - 3480 - - - - - - - - 14.90 14.42 14.90
1074 117.8 -7.9 73 1082 done -0.71 - - 2671 - 2.50 0.068 2772 548.4 -107.1 - - 3481 - - - - - - - - 14.38 14.28 14.41
1418 142.9 -7.1 80 1423 roll -0.71 - - 2663 - 1.98 0.109 3831 534.8 -107.1 - - 3478 - - - - - - - - 14.92 14.25 14.89
1480 147.2 -7.4 89 1487 done -0.71 - - 2663 - 1.73 0.040 2790 -601.7 -107.1 - - 3478 - - - - - - - - 14.57 14.57 14.58
1810 171.3 -7.5 101 1816 roll -0.71 - - 2662 - 2.40 0.044 1384 -585.8 -107.1 - - 3476 - - - - - - - - 14.89 14.44 14.89
1873 173.6 -4.8 110 1878 done -0.78 - - 2654 - 2.50 0.068 2780 558.4 -107.1 - - 3476 - - - - - - - - 14.45 14.28 14.48
2203 207.9 -8.6 122 2207 roll -0.78 - - 2646 - 1.95 0.108 3829 537.9 -107.1 - - 3473 - - - - - - - - 14.91 14.24 14.91
2243 211.5 -8.9 128 2249 done -0.78 - - 2645 - 1.77 0.041 2769 -598.9 -107.1 - - 3472 - - - - - - - - 14.50 14.48 14.51
2594 240.0 -8.0 136 2595 done -0.78 - - 2646 - - - 2769 - -107.1 - - 3471 - - - - - - - - 14.89 14.89 14.89
2930 267.5 -8.3 142 2931 done -0.78 - - 2646 - - - 2769 - -107.1 - - 3468 - - - - - - - - 14.88 14.90 14.90
3266 296.8 -8.7 148 3271 roll -0.78 - - 2646 - 2.40 0.045 1379 -579.2 -107.1 - - 3470 - - - - - - - - 14.90 14.42 14.90
3314 301.0 -8.5 155 3321 done -0.78 - - 2637 - 2.58 0.070 2775 541.1 -107.1 - - 3465 - - - - - - - - 14.35 14.26 14.40
3658 331.9 -9.1 162 3659 done -0.78 - - 2637 - - - 2775 - -107.1 - - 3463 - - - - - - - - 14.92 14.92 14.92
3994 362.2 -9.0 168 3999 roll -0.78 - - 2637 - 2.42 0.044 1384 -574.8 -107.1 - - 3461 - - - - - - - - 14.92 14.42 14.92
4042 366.6 -9.1 175 4049 done -0.78 - - 2628 - 2.55 0.069 2770 543.5 -107.1 - - 3461 - - - - - - - - 14.33 14.23 14.38
4387 399.1 -9.6 182 4391 roll -0.78 - - 2620 - 1.98 0.108 3826 533.3 -107.1 - - 3460 - - - - - - - - 14.91 14.19 14.92
4442 404.7 -10.0 190 4447 done -0.78 - - 2621 - 1.77 0.042 2759 -602.8 -107.1 - - 3459 - - - - - - - - 14.59 14.54 14.60
4778 437.1 -9.6 203 4783 roll -0.78 - - 2619 - 2.38 0.043 1381 -579.0 -107.1 - - 3458 - - - - - - - - 14.89 14.38 14.89
4819 441.0 -9.1 209 4826 done -0.78 0.12 0.236 2645 216.7 2.55 0.067 2795 554.5 -107.1 - - 3457 - - - - - - - - 14.04 14.23 14.31
5170 469.1 -8.0 217 5171 done -0.78 - - 2645 - - - 2799 - -107.1 - - 3456 - - - - - - - - 14.88 14.88 14.88
5506 494.8 -7.7 223 5511 roll -0.78 - - 2645 - 2.47 0.044 1378 -575.3 -107.1 - - 3454 - - - - - - - - 14.91 14.39 14.91
5562 499.1 -7.6 231 5567 done -0.78 - - 2635 - 2.53 0.068 2771 550.6 -107.1 - - 3454 - - - - - - - - 14.38 14.26 14.40
5898 526.0 -8.1 244 5899 done -0.78 - - 2636 - - - 2771 - -107.1 - - 3453 - - - - - - - - 14.91 14.91 14.91
6234 553.9 -8.2 250 6239 roll -0.78 - - 2636 - 2.42 0.044 1385 -572.7 -107.1 - - 3454 - - - - - - - - 14.87 14.34 14.88
6268 556.8 -8.5 255 6274 done -0.78 - - 2627 - 2.55 0.070 2766 541.6 -107.1 - - 3452 - - - - - - - - 14.44 14.14 14.47
6626 587.6 -8.7 264 6627 done -0.78 - - 2627 - - - 2765 - -107.1 - - 3450 - - - - - - - - 14.87 14.87 14.88
6962 617.0 -8.7 270 6967 roll -0.78 - - 2618 - 2.03 0.112 3833 526.1 -107.1 - - 3449 - - - - - - - - 14.87 14.09 14.87
7003 620.8 -9.2 276 7009 done -0.78 0.08 0.210 2640 275.0 1.83 0.044 2782 -574.3 -107.1 - - 3446 - - - - - - - - 14.00 14.35 14.14
7355 647.5 -7.5 284 7359 roll -0.78 - - 2641 - 2.47 0.045 1365 -573.7 -107.1 - - 3447 - - - - - - - - 14.90 14.31 14.90
7410 651.5 -7.1 292 7415 done -0.86 - - 2631 - 2.55 0.068 2760 547.1 -107.1 - - 3447 - - - - - - - - 14.38 14.18 14.41
7746 674.7 -6.9 305 7747 done -0.86 - - 2631 - - - 2760 - -107.1 - - 3446 - - - - - - - - 14.86 14.86 14.86
8083 698.6 -7.2 311 8083 done -0.86 - - 2631 - - - 2759 - -107.1 - - 3444 - - - - - - - - 14.86 14.86 14.85
8418 724.9 -8.0 317 8424 roll -0.86 - - 2623 - 2.03 0.113 3828 526.6 -107.1 - - 3443 - - - - - - - - 14.90 14.02 14.90
8487 730.9 -8.7 327 8493 done -0.86 - - 2623 - 1.88 0.044 2748 -574.5 -107.1 - - 3443 - - - - - - - - 14.38 14.35 14.40
8810 759.2 -8.8 338 8815 roll -0.86 - - 2622 - 2.40 0.044 1374 -572.5 -107.1 - - 3442 - - - - - - - - 14.89 14.28 14.89
8852 763.0 -8.9 344 8857 done -0.86 - - 2613 - 2.53 0.067 2757 546.6 -107.1 - - 3442 - - - - - - - - 14.33 14.14 14.37
9202 795.4 -9.4 352 9203 done -0.86 - - 2614 - - - 2760 - -107.1 - - 3446 - - - - - - - - 14.85 14.85 14.85
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9264 800.7 -9.5 353 9376 roll -0.23 0.75 0.187 2824 280.0 0.08 0.183 2263 -6212.5 - 109.28 1.834 3051 -3.6 0.305 - - - - - - 13.85 13.95 12.99
9377 end apogee: CONTROL_FINISHED_OK
9377 begin climb
9381 804.5 - 355 9506 roll 0.93 1.10 0.089 3184 327.3 2.47 0.055 893 -554.7 107.1 115.95 1.795 2624 -3.7 0.319 - - - - - - 14.05 14.07 13.00
9576 801.3 5.7 384 9624 done 0.85 - - 3184 - 2.40 0.051 2256 567.9 147.4 43.22 1.812 2462 -3.7 0.321 - - - - - - 14.32 14.21 13.11
9937 769.9 9.3 400 9942 roll 0.74 0.12 0.248 3144 -333.3 2.60 0.096 3651 536.5 147.4 - - 2447 - - - - - - - - 14.07 14.23 14.25
9976 765.8 9.8 406 9982 done 0.64 0.17 0.236 3107 -217.6 2.38 0.040 2273 -579.0 147.4 - - 2448 - - - - - - - - 14.09 14.42 14.38
10327 740.5 7.2 414 10339 roll 0.65 - - 3117 - 2.53 0.060 861 -558.1 158.1 4.12 1.635 2423 -6.1 0.531 - - - - - - 14.79 14.38 13.04
10354 738.5 7.1 418 10384 done 0.67 - - 3117 - 2.42 0.053 2257 576.9 170.4 17.73 1.815 2368 -3.1 0.244 - - - - 1 - 14.57 14.46 13.37
10719 709.3 8.0 428 10724 roll 0.67 - - 3116 - 2.60 0.100 3649 535.4 170.4 - - 2368 - - - - - - - - 14.76 14.23 14.77
10809 701.2 8.9 441 10815 done 0.67 - - 3126 - 2.40 0.040 2253 -581.7 170.4 - - 2372 - - - - - - - - 14.53 14.45 14.55
11167 671.7 8.2 450 11168 done 0.67 - - 3126 - - - 2248 - 170.4 - - 2371 - - - - - - - - 14.81 14.81 14.81
11503 645.9 7.6 456 11506 done 0.67 - - 3126 - - - 2249 - 173.2 1.67 0.233 2357 -8.4 4.494 - - - - - - 14.83 14.25 13.90
11839 621.8 7.1 462 11865 roll 0.69 - - 3126 - 2.65 0.103 3652 529.4 185.3 19.73 1.792 2305 -2.6 0.177 - - - - - - 14.86 14.38 13.40
11915 615.6 8.7 473 11921 done 0.69 - - 3144 - 2.45 0.040 2257 -569.4 185.3 - - 2300 - - - - - - - - 14.46 14.42 14.47
12231 589.8 8.2 483 12235 roll 0.69 - - 3147 - 2.47 0.063 859 -566.0 185.3 - - 2298 - - - - - - - - 14.81 14.29 14.81
12258 587.4 8.4 487 12264 done 0.69 - - 3147 - 2.50 0.055 2250 556.4 185.3 - - 2298 - - - - - - - - 14.35 14.27 14.39
12623 554.5 9.1 497 12628 roll 0.69 - - 3146 - 2.65 0.104 3655 530.2 185.3 - - 2298 - - - - - - - - 14.85 14.16 14.84
12664 550.3 10.2 503 12670 done 0.69 0.10 0.226 3128 -180.0 2.45 0.040 2257 -570.6 185.3 - - 2298 - - - - - - - - 14.02 14.36 14.37
13015 521.5 8.0 511 13020 roll 0.69 - - 3138 - 2.47 0.061 857 -566.8 185.3 - - 2297 - - - - - - - - 14.85 14.26 14.85
13042 519.4 7.6 515 13047 done 0.69 - - 3138 - 2.47 0.054 2261 568.4 187.5 - - 2297 - - - - - - - - 14.45 14.30 14.48
13407 491.6 7.6 525 13412 roll 0.69 - - 3138 - 2.65 0.104 3655 526.0 190.4 - - 2297 - - - - - - - - 14.85 14.12 14.86
13441 488.7 8.3 530 13446 done 0.69 - - 3148 - 2.42 0.041 2245 -582.6 190.4 - - 2297 - - - - - - - - 14.48 14.37 14.50
13799 460.5 7.9 539 13800 done 0.69 - - 3148 - - - 2243 - 190.4 - - 2297 - - - - - - - - 14.83 14.83 14.83
14135 432.9 8.3 545 14136 done 0.69 0.08 0.282 3127 -262.5 - - 2242 - 190.4 - - 2297 - - - - - - - - 14.21 14.46 14.40
14471 407.4 7.5 551 14483 roll 0.70 - - 3127 - 2.75 0.101 3671 519.6 195.8 4.55 1.578 2272 -5.5 0.274 - - - - - - 14.85 14.31 13.13
14512 404.2 7.9 557 14519 done 0.70 - - 3137 - 2.45 0.041 2258 -576.7 195.8 1.45 0.234 2271 - - - - - - - - 14.52 14.49 14.01
14863 378.2 7.3 565 14882 roll 0.71 - - 3147 - 2.53 0.062 862 -551.8 203.8 15.32 1.583 2233 -2.5 0.115 - - - - - - 14.84 14.41 13.45
14904 375.2 6.9 571 14925 done 0.73 - - 3148 - 2.45 0.054 2260 570.6 219.5 17.25 1.541 2180 -3.1 0.145 - - - - - - 14.51 14.38 13.41
15248 346.7 8.5 585 15253 roll 0.73 - - 3148 - 2.62 0.103 3651 530.9 219.5 - - 2160 - - - - - - - - 14.77 14.14 14.78
15289 342.6 9.9 591 15294 done 0.73 - - 3156 - 2.42 0.040 2263 -573.6 219.5 - - 2160 - - - - - - - - 14.39 14.34 14.42
15640 310.0 9.4 599 15645 roll 0.73 - - 3167 - 2.50 0.063 851 -564.8 219.5 - - 2160 - - - - - - - - 14.82 14.23 14.82
15688 305.3 9.6 606 15695 done 0.73 0.08 0.187 3134 -412.5 2.53 0.056 2255 554.9 219.5 - - 2160 - - - - - - - - 14.00 14.19 14.29
16032 275.6 8.7 613 16038 roll 0.73 - - 3133 - 2.58 0.102 3652 541.5 219.5 - - 2160 - - - - - - - - 14.82 14.10 14.82
16088 270.2 9.8 621 16093 done 0.73 - - 3143 - 2.42 0.040 2240 -583.5 219.5 - - 2160 - - - - - - - - 14.48 14.40 14.51
16424 239.4 9.1 634 16429 roll 0.73 - - 3154 - 2.45 0.063 855 -565.3 219.5 - - 2160 - - - - - - - - 14.82 14.15 14.82
16451 236.8 9.0 638 16456 done 0.73 - - 3153 - 2.47 0.054 2264 570.4 219.5 - - 2160 - - - - - - - - 14.39 14.24 14.45
16816 204.6 8.8 648 16821 roll 0.73 - - 3154 - 2.62 0.103 3649 528.6 219.5 - - 2160 - - - - - - - - 14.82 14.09 14.82
16892 197.0 10.0 659 16897 done 0.73 - - 3163 - 2.42 0.037 2262 -573.1 219.5 - - 2160 - - - - - - - - 14.35 14.31 14.38
17208 167.0 9.6 669 17209 done 0.73 - - 3164 - - - 2259 - 219.5 - - 2160 - - - - - - - - 14.82 14.82 14.83
17544 134.2 9.7 675 17548 roll 0.73 - - 3174 - 2.50 0.063 855 -561.6 219.5 - - 2160 - - - - - - - - 14.83 14.10 14.83
17578 131.0 9.0 680 17584 done 0.73 0.10 0.208 3137 -370.0 2.50 0.055 2254 559.6 219.5 - - 2160 - - - - - - - - 13.93 14.19 14.25
17936 105.2 7.0 689 17948 roll 0.75 - - 3137 - 2.65 0.101 3655 528.7 233.7 5.90 0.413 2122 -6.4 0.317 - - - - - - 14.82 14.21 13.64
17998 100.3 8.1 698 18004 done 0.75 - - 3146 - 2.45 0.038 2249 -573.9 233.7 1.95 0.236 2118 -2.1 0.169 - - - - - - 14.49 14.34 13.75
18332 77.8 6.0 715 18360 roll 0.79 - - 3156 - 2.50 0.063 862 -554.8 268.5 20.98 0.396 1983 -6.4 0.244 - - - - - - 14.78 14.38 13.88
18369 75.2 6.3 721 18390 done 0.82 - - 3156 - 2.45 0.053 2266 573.1 298.0 17.17 0.388 1866 -6.8 0.255 - - - - - - 14.48 14.32 13.90
18716 51.8 6.0 737 18741 roll 0.97 0.08 0.140 3230 925.0 2.65 0.101 3652 523.0 332.5 20.15 0.319 1725 -7.0 0.220 - - - - - - 14.40 14.26 13.90
18971 35.8 5.5 774 19004 done 1.03 - - 3239 - 2.35 0.038 2269 -588.5 378.0 25.60 0.278 1545 -7.0 0.175 - - - - - - 14.47 14.39 13.98
19333 14.4 5.6 792 19362 roll 1.18 0.08 0.138 3330 1137.5 2.65 0.104 3657 523.8 420.3 23.48 0.207 1375 -7.2 0.097 - - - - - - 14.45 14.18 13.97
19419 7.4 10.6 805 19426 done 1.18 0.17 0.203 3284 -270.6 2.38 0.036 2282 -577.7 420.3 - - 1378 - - - - - - - - 13.97 14.26 14.25
19494 end climb: SURFACE_DEPTH_REACHED
19494 begin surface coast
19522 end surface coast: CONTROL_FINISHED_OK
19522 begin surface
SM -1.82 - - - - -8.44 8.90 0.047 160 18.0 0.90 0.074 2764 -2624.4 500.14 39.70 0.153 1056 26.6 0.032 - - - - - -