SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 559 * Raw log
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• Previous call tries 1 • 195.19 of 350.00 AH used of 24V (44.23% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.8 deg, depth -3.58 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 121 done -0.93 - - 126 - 0.08 2.077 2722 - -107.1 -102.60 - 3478 - - - - - - - - 14.65 12.45 14.64
125 -2.5 -1.9 3 145 roll -0.93 12.10 0.392 2584 203.1 1.98 0.085 3791 539.9 -107.1 - - 3480 - - - - - - - - 13.87 14.25 14.28
294 42.9 -13.9 28 299 done -0.72 0.28 0.230 2659 267.9 1.67 0.037 2738 -630.5 -107.1 - - 3481 - - - - - - - - 14.03 14.51 14.31
622 73.3 -8.2 42 626 roll -0.72 - - 2659 - 2.25 0.041 1409 -590.7 -107.1 - - 3482 - - - - - - - - 14.81 14.40 14.81
726 80.0 -4.4 57 733 done -0.72 - - 2650 - 2.35 0.065 2730 562.1 -107.1 - - 3482 - - - - - - - - 14.48 14.31 14.51
1070 105.8 -7.7 69 1075 roll -0.72 - - 2638 - 2.03 0.103 3829 541.4 -107.1 - - 3482 - - - - - - - - 14.85 14.23 14.85
1118 110.9 -7.1 76 1124 done -0.72 - - 2642 - 1.75 0.038 2770 -605.1 -107.1 - - 3481 - - - - - - - - 14.47 14.45 14.49
1462 140.0 -8.6 83 1466 roll -0.72 - - 2642 - 2.33 0.041 1399 -588.4 -107.1 - - 3480 - - - - - - - - 14.86 14.43 14.86
1524 144.6 -8.1 92 1529 done -0.72 0.08 0.229 2663 262.5 2.45 0.064 2759 555.1 -107.1 - - 3480 - - - - - - - - 14.12 14.28 14.38
1854 172.3 -8.1 104 1858 roll -0.72 - - 2655 - 1.95 0.105 3822 545.1 -107.1 - - 3478 - - - - - - - - 14.87 14.23 14.87
1902 176.2 -9.8 111 1908 done -0.72 - - 2655 - 1.75 0.040 2767 -602.9 -107.1 - - 3478 - - - - - - - - 14.53 14.50 14.54
2246 203.9 -7.6 118 2251 roll -0.72 - - 2655 - 2.35 0.041 1383 -588.9 -107.1 - - 3476 - - - - - - - - 14.90 14.45 14.90
2322 210.2 -8.1 129 2328 done -0.72 - - 2645 - 2.50 0.064 2760 550.8 -107.1 - - 3475 - - - - - - - - 14.35 14.26 14.40
2638 236.2 -8.5 139 2642 roll -0.72 - - 2645 - 2.35 0.041 1393 -581.7 -107.1 - - 3474 - - - - - - - - 14.89 14.35 14.89
2672 239.2 -9.0 144 2677 done -0.72 - - 2636 - 2.47 0.064 2750 549.4 -107.1 - - 3470 - - - - - - - - 14.50 14.26 14.53
3030 271.7 -9.2 153 3035 roll -0.72 - - 2628 - 2.00 0.105 3831 540.5 -107.1 - - 3470 - - - - - - - - 14.87 14.22 14.88
3071 275.5 -9.4 159 3077 done -0.72 0.10 0.203 2658 300.0 1.80 0.041 2773 -587.8 -107.1 - - 3471 - - - - - - - - 14.11 14.49 14.25
3422 304.1 -8.1 167 3426 roll -0.72 - - 2659 - 2.40 0.042 1370 -584.6 -107.1 - - 3469 - - - - - - - - 14.88 14.40 14.86
3456 307.1 -9.0 172 3461 done -0.72 - - 2649 - 2.53 0.065 2782 558.1 -107.1 - - 3469 - - - - - - - - 14.47 14.28 14.51
3814 335.7 -7.9 181 3814 done -0.72 - - 2649 - - - 2782 - -107.1 - - 3467 - - - - - - - - 14.87 14.88 14.87
4150 361.7 -7.9 187 4154 roll -0.72 - - 2648 - 2.45 0.041 1374 -574.7 -107.1 - - 3465 - - - - - - - - 14.87 14.40 14.87
4205 366.2 -8.1 195 4210 done -0.72 - - 2639 - 2.50 0.066 2764 556.0 -107.1 - - 3462 - - - - - - - - 14.46 14.29 14.50
4541 394.7 -8.7 208 4546 roll -0.72 - - 2631 - 1.98 0.107 3826 536.4 -107.1 - - 3464 - - - - - - - - 14.89 14.18 14.89
4583 398.1 -8.5 214 4588 done -0.72 0.10 0.197 2661 300.0 1.85 0.042 2746 -583.8 -107.1 - - 3466 - - - - - - - - 14.09 14.47 14.24
4934 425.2 -7.6 222 4935 done -0.80 - - 2662 - - - 2747 - -107.1 - - 3462 - - - - - - - - 14.88 14.86 14.85
5270 450.5 -7.6 228 5275 roll -0.88 0.08 0.140 2579 -1037.5 2.35 0.039 1375 -583.8 -107.1 - - 3460 - - - - - - - - 14.49 14.38 14.51
5332 456.7 -11.4 237 5338 done -0.88 0.12 0.243 2610 258.3 2.50 0.065 2761 554.4 -107.1 - - 3460 - - - - - - - - 14.01 14.23 14.29
5662 489.2 -9.8 249 5667 roll -0.88 - - 2601 - 2.00 0.109 3831 535.0 -107.1 - - 3460 - - - - - - - - 14.89 14.14 14.89
5745 497.7 -9.8 261 5751 done -0.88 - - 2600 - 1.85 0.041 2746 -586.5 -107.1 - - 3459 - - - - - - - - 14.45 14.42 14.47
6110 532.2 -9.4 271 6114 roll -0.88 - - 2593 - 2.08 0.108 3832 522.1 -107.1 - - 3457 - - - - - - - - 14.85 14.12 14.85
6144 535.8 -9.6 276 6149 done -0.88 - - 2592 - 1.85 0.042 2745 -587.6 -107.1 - - 3457 - - - - - - - - 14.47 14.44 14.47
6502 568.7 -9.0 285 6507 roll -0.88 - - 2584 - 2.08 0.108 3830 521.6 -107.1 - - 3455 - - - - - - - - 14.88 14.10 14.88
6550 573.4 -10.3 292 6557 done -0.88 0.10 0.207 2612 280.0 1.85 0.043 2761 -577.8 -107.1 - - 3455 - - - - - - - - 13.99 14.40 14.14
6894 602.3 -8.5 299 6894 done -0.88 - - 2612 - - - 2761 - -107.1 - - 3454 - - - - - - - - 14.85 14.85 14.85
7230 632.4 -9.0 305 7235 roll -0.88 - - 2605 - 2.05 0.108 3825 519.0 -107.1 - - 3453 - - - - - - - - 14.85 14.07 14.85
7264 635.6 -9.2 310 7269 done -0.88 - - 2604 - 1.85 0.044 2758 -576.8 -107.1 - - 3453 - - - - - - - - 14.42 14.38 14.42
7622 668.9 -9.4 319 7626 roll -0.88 - - 2596 - 2.05 0.109 3823 519.5 -107.1 - - 3452 - - - - - - - - 14.85 14.07 14.85
7698 676.3 -10.1 330 7703 done -0.88 - - 2596 - 1.85 0.044 2760 -574.6 -107.1 - - 3451 - - - - - - - - 14.40 14.37 14.40
8014 705.4 -9.2 340 8018 roll -0.88 - - 2588 - 2.05 0.109 3825 519.5 -107.1 - - 3450 - - - - - - - - 14.87 14.04 14.88
8104 714.3 -9.8 353 8110 done -0.88 - - 2587 - 1.83 0.044 2766 -578.7 -107.1 - - 3450 - - - - - - - - 14.38 14.35 14.42
8462 747.8 -9.6 362 8463 done -0.88 0.10 0.245 2615 280.0 - - 2766 - -107.1 - - 3448 - - - - - - - - 14.13 14.40 14.34
8797 774.4 -7.9 368 8802 roll -0.88 - - 2608 - 2.05 0.109 3829 518.5 -107.1 - - 3447 - - - - - - - - 14.84 13.95 14.85
8825 776.4 -7.4 372 8830 done -0.88 - - 2607 - 1.85 0.044 2771 -571.9 -107.1 - - 3447 - - - - - - - - 14.36 14.33 14.38
9130 end dive: TARGET_DEPTH_EXCEEDED
9130 begin apogee
9139 802.1 -8.4 381 9245 roll -0.23 0.75 0.178 2823 288.0 0.10 0.162 2283 -4880.0 - 93.72 2.639 3054 -4.2 0.259 - - - - 1 - 13.88 13.83 12.47
9247 end apogee: CONTROL_FINISHED_OK
9247 begin climb
9251 805.3 - 383 9373 roll 0.93 1.10 0.086 3187 330.9 2.55 0.054 892 -545.5 107.1 105.40 2.742 2625 -4.1 0.243 - - - - 1 - 13.98 14.01 12.38
9477 805.0 5.6 416 9539 done 0.85 - - 3187 - 2.38 0.050 2245 568.5 150.5 55.62 1.835 2446 -3.2 0.286 - - - - - - 14.32 14.21 13.07
9866 770.9 9.3 436 9871 roll 0.73 0.15 0.236 3137 -333.3 2.60 0.095 3648 539.6 150.5 - - 2433 - - - - - - - - 14.09 14.23 14.27
9885 769.0 9.5 439 9890 done 0.63 0.15 0.230 3108 -193.3 2.35 0.040 2275 -584.3 150.5 - - 2433 - - - - - - - - 14.12 14.42 14.40
10200 747.7 6.6 449 10224 done 0.66 - - 3108 - - - 2271 - 172.2 22.95 1.893 2364 -3.0 0.241 - - - - - - 14.80 14.31 13.31
10537 724.0 7.2 455 10548 roll 0.67 - - 3107 - 2.62 0.099 3649 526.0 183.3 4.35 1.685 2323 -9.4 0.822 - - - - - - 14.75 14.33 13.00
10570 721.2 8.2 460 10576 done 0.67 - - 3117 - 2.42 0.040 2253 -576.9 183.3 1.52 0.239 2319 -2.6 1.611 - - - - - - 14.50 14.45 13.98
10928 694.6 7.5 469 10947 roll 0.68 - - 3117 - 2.65 0.101 3638 522.6 188.4 12.07 1.968 2294 -2.1 0.148 - - - - - - 14.81 14.36 13.33
10984 690.1 8.5 477 10990 done 0.68 - - 3126 - 2.38 0.040 2253 -581.9 188.4 - - 2290 - - - - - - - - 14.55 14.48 14.57
11320 663.6 7.9 490 11325 roll 0.68 - - 3136 - 2.45 0.061 861 -568.2 188.4 - - 2288 - - - - - - - - 14.78 14.31 14.78
11362 660.4 7.9 496 11367 done 0.68 - - 3137 - 2.45 0.055 2252 567.8 188.4 - - 2287 - - - - - - - - 14.50 14.37 14.54
11712 632.9 7.8 504 11717 roll 0.68 - - 3137 - 2.62 0.104 3656 535.9 188.4 - - 2287 - - - - - - - - 14.81 14.19 14.81
11781 626.9 8.7 514 11787 done 0.68 - - 3147 - 2.45 0.041 2230 -582.0 188.4 - - 2287 - - - - - - - - 14.52 14.42 14.55
12104 599.5 8.7 525 12105 done 0.68 - - 3147 - - - 2230 - 188.4 - - 2287 - - - - - - - - 14.82 14.82 14.81
12440 567.6 9.6 531 12445 roll 0.68 - - 3157 - 2.45 0.063 855 -561.2 188.4 - - 2286 - - - - - - - - 14.83 14.26 14.83
12474 564.6 9.1 536 12480 done 0.68 0.12 0.221 3119 -316.7 2.50 0.056 2265 564.0 188.4 - - 2286 - - - - - - - - 14.07 14.29 14.35
12832 535.9 7.9 545 12838 roll 0.68 - - 3121 - 2.62 0.103 3658 531.7 188.4 - - 2285 - - - - - - - - 14.82 14.12 14.82
12880 531.9 8.4 552 12887 done 0.68 - - 3130 - 2.47 0.041 2251 -569.6 188.4 - - 2285 - - - - - - - - 14.48 14.34 14.51
13224 506.5 7.4 559 13230 roll 0.69 - - 3141 - 2.55 0.060 861 -545.1 194.5 1.58 0.230 2273 -7.6 3.394 - - - - - - 14.85 14.22 13.86
13258 504.1 6.9 564 13287 done 0.71 - - 3141 - 2.47 0.055 2262 567.2 211.5 19.60 1.625 2206 -3.4 0.215 - - - - 1 - 14.42 14.26 13.09
13609 475.0 8.6 579 13614 roll 0.71 - - 3141 - 2.65 0.106 3654 525.3 211.5 - - 2215 - - - - - - - - 14.79 14.16 14.78
13692 466.5 10.3 591 13698 done 0.71 - - 3151 - 2.45 0.040 2262 -568.2 211.5 1.23 0.206 2206 -7.3 3.362 - - - - - - 14.40 14.34 13.97
14057 432.6 9.3 601 14063 roll 0.71 - - 3161 - 2.53 0.062 851 -557.7 211.5 - - 2215 - - - - - - - - 14.80 14.23 14.80
14126 426.3 8.9 611 14132 done 0.71 0.10 0.195 3131 -300.0 2.55 0.056 2263 553.7 211.5 - - 2214 - - - - - - - - 14.00 14.21 14.16
14449 402.4 7.3 622 14470 roll 0.72 - - 3131 - 2.67 0.107 3662 524.0 220.8 16.30 1.611 2164 -3.1 0.155 - - - - - - 14.81 14.36 13.43
14547 394.8 8.0 636 14553 done 0.72 - - 3140 - 2.45 0.040 2266 -569.8 220.8 - - 2157 - - - - - - - - 14.44 14.40 14.45
14890 367.1 8.3 643 14895 roll 0.72 - - 3151 - 2.50 0.062 855 -564.4 220.8 - - 2157 - - - - - - - - 14.78 14.25 14.78
14931 363.6 8.5 649 14938 done 0.72 - - 3150 - 2.50 0.055 2272 566.8 220.8 - - 2156 - - - - - - - - 14.43 14.28 14.47
15282 331.7 9.2 657 15283 done 0.72 - - 3150 - - - 2272 - 220.8 - - 2156 - - - - - - - - 14.79 14.79 14.80
15618 300.9 9.2 663 15623 roll 0.72 - - 3151 - 2.62 0.105 3661 530.2 220.8 - - 2156 - - - - - - - - 14.81 14.10 14.82
15666 296.0 10.2 670 15673 done 0.72 - - 3161 - 2.45 0.040 2264 -570.2 220.8 - - 2156 - - - - - - - - 14.39 14.33 14.41
16010 264.9 8.9 677 16011 done 0.72 - - 3162 - - - 2264 - 220.8 - - 2155 - - - - - - - - 14.82 14.81 14.82
16346 235.3 8.9 683 16351 roll 0.72 - - 3171 - 2.53 0.063 849 -559.3 220.8 - - 2156 - - - - - - - - 14.81 14.20 14.82
16373 232.8 8.8 687 16379 done 0.72 0.12 0.220 3136 -291.7 2.50 0.055 2266 566.8 220.8 - - 2156 - - - - - - - - 13.93 14.23 14.22
16739 204.7 7.6 697 16744 roll 0.72 - - 3134 - 2.62 0.103 3653 529.4 223.2 - - 2156 - - - - - - - - 14.81 14.08 14.81
16807 198.7 8.4 707 16813 done 0.72 - - 3145 - 2.45 0.038 2230 -580.8 223.2 - - 2156 - - - - - - - - 14.45 14.33 14.47
17131 174.9 7.4 718 17141 roll 0.73 - - 3150 - 2.50 0.061 855 -550.0 229.5 3.03 0.881 2140 -5.3 0.213 - - - - - - 14.84 14.30 13.19
17164 172.0 8.2 723 17170 done 0.73 - - 3155 - 2.50 0.054 2281 570.4 229.5 1.52 0.249 2136 -2.6 0.369 - - - - - - 14.49 14.31 13.97
17523 140.8 8.9 732 17526 done 0.73 - - 3155 - - - 2281 - 229.5 2.12 0.375 2136 - - - - - - - - 14.84 14.25 13.08
17858 112.4 8.2 738 17862 done 0.73 - - 3154 - - - 2281 - 229.5 1.95 0.226 2135 - - - - - - - - 14.81 14.12 13.71
18166 88.9 7.3 746 18178 roll 0.74 - - 3165 - 2.55 0.061 859 -557.6 237.3 6.43 0.387 2106 -4.5 0.210 - - - - - - 14.81 14.27 13.69
18207 85.6 8.0 752 18213 done 0.74 - - 3165 - 2.50 0.054 2280 568.4 237.3 - - 2114 - - - - - - - - 14.43 14.26 14.47
18530 61.0 6.0 765 18558 roll 0.78 - - 3174 - 2.50 0.060 860 -568.0 271.0 20.38 0.350 1973 -6.9 0.245 - - - - - - 14.80 14.35 13.90
18733 50.7 4.0 794 18782 done 0.97 0.05 0.197 3232 1160.0 2.45 0.052 2262 572.2 345.1 41.53 0.329 1675 -7.2 0.224 - - - - - - 14.26 14.27 13.98
19094 34.1 5.6 812 19123 roll 1.13 0.05 0.202 3307 1500.0 2.60 0.106 3650 533.8 387.5 23.60 0.272 1505 -7.2 0.183 - - - - - - 14.44 14.23 13.97
19205 22.6 11.1 828 19210 done 1.13 0.17 0.211 3268 -229.4 2.40 0.038 2246 -585.0 387.5 - - 1508 - - - - - - - - 14.02 14.38 14.28
19480 end climb: SURFACE_DEPTH_REACHED
19480 begin surface coast
19508 end surface coast: CONTROL_FINISHED_OK
19512 begin surface
SM -3.20 - - - - -8.38 9.12 0.073 193 21.2 1.00 0.088 2767 -2359.0 500.14 56.05 0.153 1058 18.9 0.040 - - - - - -