SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 569 * Raw log
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• Previous call tries 1 • 198.41 of 350.00 AH used of 24V (43.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.6 deg, depth -4.17 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 101 done -0.93 - - 107 - - - 2783 - -107.1 -81.25 - 3479 - - - - - - - - 14.62 12.57 14.62
105 1.8 -9.2 3 122 roll -0.93 12.00 0.387 2585 206.5 2.40 0.032 1363 -591.7 -107.1 - - 3480 - - - - - - - - 13.93 14.33 14.22
221 37.0 -18.6 20 226 done -0.73 0.30 0.246 2657 240.0 2.53 0.067 2770 556.1 -107.1 - - 3480 - - - - - - - - 14.00 14.29 14.30
550 71.1 -8.5 34 555 roll -0.73 - - 2650 - 1.98 0.106 3831 535.9 -107.1 - - 3486 - - - - - - - - 14.82 14.20 14.82
634 78.2 -8.3 46 639 done -0.73 - - 2649 - 1.80 0.037 2702 -627.2 -107.1 - - 3482 - - - - - - - - 14.59 14.54 14.59
970 105.2 -8.2 60 971 done -0.73 - - 2649 - - - 2702 - -107.1 - - 3482 - - - - - - - - 14.88 14.88 14.88
1307 134.0 -8.4 66 1311 roll -0.73 - - 2641 - 2.12 0.103 3824 529.2 -107.1 - - 3479 - - - - - - - - 14.88 14.23 14.88
1410 142.9 -8.6 81 1418 done -0.73 - - 2640 - 1.80 0.037 2724 -611.1 -107.1 - - 3482 - - - - - - - - 14.54 14.52 14.54
1755 171.4 -8.0 88 1755 done -0.73 - - 2640 - - - 2724 - -107.1 - - 3479 - - - - - - - - 14.90 14.90 14.90
2090 200.4 -8.5 94 2095 roll -0.73 - - 2632 - 2.10 0.104 3827 525.2 -107.1 - - 3477 - - - - - - - - 14.90 14.21 14.91
2173 207.9 -11.1 106 2179 done -0.73 0.08 0.202 2654 275.0 1.75 0.040 2795 -589.7 -107.1 - - 3476 - - - - - - - - 14.15 14.50 14.30
2538 238.4 -8.2 116 2543 roll -0.73 - - 2655 - 2.45 0.041 1377 -578.8 -107.1 - - 3469 - - - - - - - - 14.88 14.39 14.88
2615 244.6 -7.9 127 2620 done -0.80 - - 2646 - 2.50 0.063 2765 555.2 -107.1 - - 3473 - - - - - - - - 14.49 14.31 14.52
2930 269.7 -7.9 137 2936 roll -0.80 - - 2646 - 2.42 0.042 1379 -572.7 -107.1 - - 3471 - - - - - - - - 14.88 14.40 14.88
2965 272.4 -7.6 142 2970 done -0.80 - - 2637 - 2.50 0.065 2771 556.8 -107.1 - - 3471 - - - - - - - - 14.47 14.28 14.51
3322 302.4 -8.5 151 3327 roll -0.80 - - 2629 - 1.98 0.106 3825 532.3 -107.1 - - 3469 - - - - - - - - 14.90 14.19 14.90
3441 312.2 -8.1 168 3446 done -0.80 - - 2628 - 1.80 0.040 2762 -590.6 -107.1 - - 3468 - - - - - - - - 14.52 14.49 14.52
3770 337.9 -7.8 180 3775 roll -0.80 - - 2622 - 2.03 0.103 3823 522.7 -107.1 - - 3466 - - - - - - - - 14.86 14.17 14.87
4008 355.7 -3.3 214 4013 done -0.80 - - 2620 - 1.77 0.040 2767 -596.6 -107.1 - - 3465 - - - - - - - - 14.51 14.48 14.52
4330 384.9 -8.4 225 4336 roll -0.80 - - 2620 - 2.40 0.043 1389 -574.2 -107.1 - - 3464 - - - - - - - - 14.88 14.38 14.88
4462 395.3 -8.1 244 4468 done -0.80 - - 2610 - 2.53 0.061 2792 554.5 -107.1 - - 3463 - - - - - - - - 14.44 14.26 14.47
4778 424.3 -8.5 254 4783 roll -0.80 - - 2610 - 2.45 0.042 1391 -571.8 -107.1 - - 3462 - - - - - - - - 14.86 14.35 14.85
4950 438.4 -7.6 278 4955 done -0.80 0.12 0.233 2637 225.0 2.55 0.062 2802 553.3 -107.1 - - 3461 - - - - - - - - 14.02 14.25 14.28
5284 461.8 -7.0 291 5289 roll -0.80 - - 2628 - 1.92 0.106 3827 533.9 -107.1 - - 3460 - - - - - - - - 14.85 14.12 14.86
5521 478.7 -7.5 325 5528 done -0.80 - - 2627 - 1.73 0.043 2811 -587.3 -107.1 - - 3458 - - - - - - - - 14.46 14.42 14.47
5844 503.4 -9.4 336 5849 roll -0.80 - - 2621 - 1.95 0.108 3822 518.5 -107.1 - - 3456 - - - - - - - - 14.85 14.10 14.85
6035 526.1 -9.4 363 6040 done -0.80 - - 2619 - 1.70 0.045 2811 -594.7 -107.1 - - 3457 - - - - - - - - 14.52 14.45 14.53
6348 548.6 -5.1 373 6354 roll -0.80 - - 2620 - 2.50 0.041 1374 -574.8 -107.1 - - 3455 - - - - - - - - 14.85 14.33 14.85
6410 555.7 -8.8 382 6416 done -0.80 0.10 0.239 2638 180.0 2.60 0.066 2808 551.5 -107.1 - - 3454 - - - - - - - - 14.01 14.20 14.26
6740 581.0 -7.7 394 6741 done -0.80 - - 2638 - - - 2807 - -107.1 - - 3454 - - - - - - - - 14.85 14.85 14.85
7076 606.3 -7.6 400 7081 roll -0.80 - - 2638 - 2.53 0.041 1378 -564.8 -107.1 - - 3452 - - - - - - - - 14.88 14.31 14.88
7145 611.8 -7.6 410 7151 done -0.80 - - 2628 - 2.62 0.067 2811 546.9 -107.1 - - 3452 - - - - - - - - 14.34 14.14 14.38
7468 637.2 -7.8 421 7474 roll -0.80 - - 2628 - 2.55 0.042 1371 -564.7 -107.1 - - 3451 - - - - - - - - 14.85 14.28 14.85
7538 642.6 -6.9 431 7543 done -0.80 - - 2619 - 2.62 0.067 2804 546.9 -107.1 - - 3450 - - - - - - - - 14.36 14.16 14.40
7860 668.1 -8.0 442 7865 roll -0.80 - - 2618 - 2.53 0.042 1373 -565.6 -107.1 - - 3449 - - - - - - - - 14.84 14.28 14.84
7887 670.4 -8.4 446 7893 done -0.80 0.05 0.195 2633 300.0 2.65 0.067 2794 536.2 -107.1 - - 3449 - - - - - - - - 13.78 13.94 14.08
8252 698.7 -7.8 456 8257 roll -0.80 - - 2633 - 2.50 0.042 1375 -567.6 -107.1 - - 3448 - - - - - - - - 14.84 14.25 14.84
8308 703.2 -8.7 464 8313 done -0.80 - - 2625 - 2.62 0.068 2797 542.7 -107.1 - - 3448 - - - - - - - - 14.29 14.09 14.33
8644 731.2 -8.5 477 8650 roll -0.80 - - 2616 - 1.98 0.112 3826 519.7 -107.1 - - 3447 - - - - - - - - 14.87 13.97 14.87
8671 733.5 -8.2 481 8678 done -0.80 - - 2616 - 1.80 0.046 2799 -570.6 -107.1 - - 3448 - - - - - - - - 14.35 14.32 14.36
9036 764.0 -8.5 491 9041 roll -0.80 - - 2616 - 2.53 0.043 1372 -564.0 -107.1 - - 3447 - - - - - - - - 14.83 14.24 14.83
9105 769.5 -7.6 501 9112 done -0.80 0.10 0.250 2634 180.0 2.65 0.068 2801 539.2 -107.1 - - 3445 - - - - - - - - 13.90 14.09 14.16
9429 793.2 -7.2 512 9433 roll -0.80 - - 2634 - 2.55 0.042 1365 -563.1 -107.1 - - 3444 - - - - - - - - 14.82 14.24 14.82
9476 796.5 -7.9 519 9483 done -0.88 - - 2627 - 2.67 0.069 2782 530.7 -107.1 - - 3444 - - - - - - - - 14.10 14.00 14.15
9536 end dive: TARGET_DEPTH_EXCEEDED
9536 begin apogee
9546 801.3 -7.9 521 9661 roll -0.23 0.68 0.177 2820 283.8 0.10 0.152 2270 -5120.0 - 113.15 1.854 3051 -3.5 0.311 - - - - - - 13.86 13.94 12.94
9663 end apogee: CONTROL_FINISHED_OK
9663 begin climb
9667 789.7 - 523 9794 roll 0.93 1.12 0.101 3181 322.3 2.50 0.054 895 -550.0 107.1 117.53 1.820 2625 -3.6 0.326 - - - - - - 14.02 14.07 12.95
9871 805.7 6.3 554 9906 done 0.84 - - 3181 - 2.45 0.052 2248 552.2 136.1 31.48 1.875 2507 -3.7 0.334 - - - - - - 14.24 14.16 13.09
10264 773.2 8.5 568 10265 done 0.73 0.15 0.233 3139 -280.0 - - 2248 - 136.1 - - 2491 - - - - - - - - 14.11 14.43 14.38
10600 748.4 7.4 574 10605 roll 0.74 - - 3136 - 2.67 0.100 3655 527.0 142.8 - - 2489 - - - - - - - - 14.79 14.13 14.79
10656 743.8 8.1 582 10661 done 0.64 0.15 0.231 3107 -193.3 2.35 0.041 2276 -586.8 142.8 - - 2490 - - - - - - - - 14.08 14.43 14.34
10992 721.9 6.5 595 11028 done 0.67 - - 3108 - - - 2273 - 168.0 35.25 1.816 2381 -3.1 0.255 - - - - - - 14.81 14.27 13.29
11328 696.8 7.6 601 11334 roll 0.67 - - 3107 - 2.65 0.101 3651 520.0 170.5 - - 2365 - - - - - - - - 14.73 14.18 14.73
11369 693.3 8.7 607 11374 done 0.67 - - 3116 - 2.45 0.041 2260 -567.8 170.5 - - 2365 - - - - - - - - 14.41 14.38 14.43
11720 664.4 8.2 615 11724 roll 0.67 - - 3126 - 2.50 0.061 859 -560.4 170.5 - - 2365 - - - - - - - - 14.79 14.27 14.79
11761 661.0 8.4 621 11767 done 0.67 - - 3126 - 2.47 0.055 2257 566.0 170.5 - - 2365 - - - - - - - - 14.46 14.31 14.49
12112 632.1 8.2 629 12118 roll 0.67 - - 3126 - 2.67 0.106 3657 524.3 170.5 - - 2364 - - - - - - - - 14.83 14.12 14.85
12160 627.8 8.9 636 12167 done 0.67 - - 3136 - 2.45 0.041 2248 -575.1 170.5 - - 2364 - - - - - - - - 14.42 14.32 14.43
12504 600.3 7.9 643 12508 roll 0.67 - - 3147 - 2.47 0.061 852 -565.2 170.5 - - 2363 - - - - - - - - 14.82 14.23 14.82
12545 597.0 7.8 649 12551 done 0.67 0.10 0.226 3119 -280.0 2.47 0.055 2254 567.6 170.5 - - 2363 - - - - - - - - 14.06 14.25 14.34
12896 573.4 6.7 657 12929 roll 0.70 - - 3117 - 2.67 0.106 3652 523.6 192.0 25.77 1.717 2276 -3.4 0.234 - - - - - - 14.85 14.30 13.33
12993 566.0 7.8 671 12998 done 0.70 - - 3127 - 2.42 0.040 2247 -580.6 192.0 - - 2273 - - - - - - - - 14.49 14.41 14.51
13344 540.6 7.3 679 13350 roll 0.71 - - 3127 - 2.78 0.106 3657 507.2 200.2 2.22 0.483 2252 -9.5 2.194 - - - - - - 14.77 14.22 12.97
13385 537.2 8.1 685 13392 done 0.71 - - 3136 - 2.45 0.041 2261 -569.8 200.2 - - 2259 - - - - - - - - 14.42 14.38 14.44
13729 510.1 7.9 692 13734 roll 0.71 - - 3147 - 2.58 0.059 855 -545.0 200.2 1.83 0.221 2250 -4.9 2.353 - - - - - - 14.83 14.23 13.90
13777 506.1 8.3 699 13784 done 0.71 - - 3147 - 2.50 0.057 2265 564.0 200.2 - - 2261 - - - - - - - - 14.43 14.25 14.45
14121 478.3 8.2 706 14126 roll 0.71 - - 3147 - 2.72 0.107 3649 508.8 200.2 1.60 0.222 2251 -6.2 2.791 - - - - - - 14.83 14.08 13.85
14197 471.0 9.7 717 14203 done 0.71 - - 3157 - 2.40 0.040 2257 -580.0 200.2 - - 2260 - - - - - - - - 14.49 14.41 14.50
14562 439.2 8.8 727 14567 roll 0.71 - - 3167 - 2.55 0.060 862 -547.1 200.2 1.55 0.226 2251 -5.8 2.339 - - - - - - 14.82 14.20 13.85
14618 434.2 9.1 735 14623 done 0.71 0.12 0.221 3132 -291.7 2.47 0.056 2253 563.2 200.2 - - 2259 - - - - - - - - 14.00 14.23 14.26
14954 408.5 7.5 748 14966 roll 0.71 - - 3131 - 2.70 0.109 3656 519.6 204.1 3.50 1.155 2243 -4.6 0.335 - - - - - - 14.81 14.29 13.15
15037 401.5 8.4 760 15043 done 0.71 - - 3141 - 2.40 0.041 2255 -583.8 204.1 2.47 0.672 2235 -3.2 0.401 - - - - - - 14.55 14.47 13.07
15395 373.8 7.8 769 15398 done 0.71 - - 3141 - - - 2251 - 204.1 2.08 0.332 2236 - - - - - - - - 14.84 14.23 12.82
15731 347.8 7.7 775 15735 done 0.71 - - 3141 - - - 2248 - 205.5 2.95 0.900 2230 -2.0 0.163 - - - - - - 14.81 14.34 13.22
16067 321.4 7.9 781 16073 roll 0.71 - - 3140 - 2.75 0.107 3649 509.5 205.5 2.17 0.431 2230 - - - - - - - - 14.81 14.20 13.07
16101 318.3 8.6 786 16107 done 0.71 - - 3151 - 2.40 0.041 2259 -579.2 205.5 1.67 0.244 2231 - - - - - - - - 14.52 14.42 13.91
16459 289.0 8.2 795 16465 roll 0.71 - - 3151 - 2.78 0.105 3652 501.1 205.5 1.95 0.230 2232 - - - - - - - - 14.85 14.04 13.67
16493 285.8 9.2 800 16499 done 0.71 - - 3161 - 2.40 0.040 2261 -579.6 205.5 1.65 0.249 2231 - - - - - - - - 14.47 14.38 13.76
16844 255.1 8.8 808 16850 roll 0.71 0.08 0.266 3144 -212.5 2.55 0.060 858 -550.2 205.5 2.08 0.317 2231 - - - - - - - - 14.11 14.23 12.74
16885 251.5 8.2 814 16892 done 0.71 - - 3140 - 2.53 0.056 2275 560.1 205.5 1.83 0.234 2233 - - - - - - - - 14.38 14.19 13.83
17229 224.7 7.7 821 17232 done 0.72 - - 3144 - - - 2276 - 205.7 2.35 0.545 2229 -1.7 0.145 - - - - - - 14.81 14.29 13.21
17565 198.9 7.6 827 17576 roll 0.72 - - 3144 - 2.67 0.106 3658 517.6 207.5 3.05 0.892 2230 - - - - - - - - 14.81 14.24 13.23
17606 192.4 17.3 833 17613 done 0.72 - - 3155 - 2.42 0.039 2248 -582.6 207.5 2.00 0.251 2226 -2.0 0.318 - - - - - - 14.52 14.42 12.12
17957 166.1 7.3 841 17974 done 0.73 - - 3155 - - - 2244 - 215.8 16.40 1.300 2190 -2.2 0.058 - - - - - - 14.81 14.33 13.48
18293 143.6 8.3 847 18294 done 0.73 - - 3154 - - - 2244 - 215.8 - - 2175 - - - - - - - - 14.78 14.78 14.78
18629 115.3 8.5 853 18629 done 0.73 - - 3154 - - - 2246 - 215.8 - - 2175 - - - - - - - - 14.81 14.80 14.81
18937 89.9 7.9 860 18942 roll 0.73 - - 3154 - 2.75 0.103 3661 514.5 215.8 - - 2175 - - - - - - - - 14.83 14.06 14.83
18993 85.0 9.1 868 18998 done 0.73 - - 3165 - 2.42 0.038 2259 -579.3 215.8 - - 2176 - - - - - - - - 14.47 14.38 14.49
19330 59.1 7.3 883 19340 roll 0.74 - - 3175 - 2.50 0.058 856 -561.2 225.3 2.72 0.264 2159 -6.2 0.290 - - - - - - 14.80 13.88 13.54
19426 52.3 6.3 897 19447 done 0.77 - - 3175 - 2.53 0.052 2268 558.1 253.2 17.33 0.324 2040 -6.9 0.230 - - - - - - 14.28 14.19 13.94
19773 34.4 3.5 913 19825 roll 0.88 - - 3175 - 2.62 0.103 3660 531.3 338.6 46.10 0.278 1700 -7.4 0.189 - - - - - - 14.76 14.23 14.01
19898 29.8 3.3 931 19950 done 1.16 0.20 0.073 3307 660.0 2.40 0.039 2248 -588.3 428.0 47.12 0.263 1345 -7.5 0.177 - - - - - - 14.40 14.40 14.02
20217 end climb: SURFACE_DEPTH_REACHED
20217 begin surface coast
20242 end surface coast: CONTROL_FINISHED_OK
20242 begin surface
SM -3.31 - - - - -8.38 9.38 0.080 189 20.1 1.00 0.090 2761 -8669.0 500.14 35.45 0.156 1057 29.8 0.065 - - - - - -