SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 573 * Raw log
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• Previous call tries 1 • 199.74 of 350.00 AH used of 24V (42.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth -3.19 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 done -0.93 - - 131 - - - 2774 - -107.1 -80.32 - 3475 - - - - - - - - 14.66 13.05 14.63
106 3.7 -11.8 3 123 roll -0.93 11.90 0.390 2592 206.8 2.40 0.032 1360 -589.2 -107.1 - - 3478 - - - - - - - - 13.98 14.41 14.36
214 37.6 -19.8 19 219 done -0.73 0.28 0.249 2656 228.6 2.55 0.069 2770 552.9 -107.1 - - 3479 - - - - - - - - 14.01 14.33 14.31
543 72.0 -9.2 33 544 done -0.73 - - 2656 - - - 2772 - -107.1 - - 3479 - - - - - - - - 14.82 14.81 14.81
852 94.1 -7.4 44 852 done -0.73 - - 2657 - - - 2772 - -107.1 - - 3483 - - - - - - - - 14.85 14.85 14.85
1159 120.3 -8.8 51 1164 roll -0.73 - - 2648 - 2.00 0.109 3835 531.5 -107.1 - - 3481 - - - - - - - - 14.87 14.22 14.87
1221 126.3 -9.6 60 1227 done -0.73 - - 2648 - 1.83 0.037 2724 -607.1 -107.1 - - 3481 - - - - - - - - 14.53 14.51 14.55
1551 152.6 -7.7 72 1556 roll -0.73 - - 2648 - 2.25 0.041 1405 -586.2 -107.1 - - 3479 - - - - - - - - 14.88 14.44 14.88
1600 156.5 -7.5 79 1606 done -0.73 - - 2639 - 2.45 0.067 2763 554.3 -107.1 - - 3478 - - - - - - - - 14.48 14.31 14.52
1944 187.0 -9.1 86 1944 done -0.73 - - 2640 - - - 2763 - -107.1 - - 3477 - - - - - - - - 14.88 14.88 14.88
2280 218.9 -9.6 92 2284 roll -0.73 - - 2631 - 2.00 0.108 3820 528.5 -107.1 - - 3474 - - - - - - - - 14.88 14.19 14.88
2336 224.4 -10.0 100 2340 done -0.73 0.10 0.226 2660 290.0 1.75 0.042 2771 -599.4 -107.1 - - 3474 - - - - - - - - 14.19 14.54 14.41
2671 251.3 -7.8 113 2676 roll -0.73 - - 2661 - 2.40 0.043 1383 -578.3 -107.1 - - 3470 - - - - - - - - 14.90 14.40 14.90
2755 257.7 -7.7 125 2760 done -0.81 - - 2651 - 2.47 0.066 2755 555.5 -107.1 - - 3471 - - - - - - - - 14.48 14.31 14.51
3120 285.1 -7.5 135 3120 done -0.81 - - 2651 - - - 2755 - -107.1 - - 3469 - - - - - - - - 14.88 14.88 14.87
3456 312.8 -8.4 141 3460 roll -0.81 - - 2650 - 2.42 0.044 1375 -570.2 -107.1 - - 3466 - - - - - - - - 14.88 14.39 14.88
3511 317.9 -8.9 149 3516 done -0.81 - - 2643 - 2.50 0.067 2758 553.2 -107.1 - - 3466 - - - - - - - - 14.47 14.31 14.51
3847 350.3 -9.7 162 3853 roll -0.81 - - 2635 - 2.03 0.110 3830 528.1 -107.1 - - 3464 - - - - - - - - 14.88 14.14 14.88
3888 354.4 -9.8 168 3894 done -0.81 - - 2634 - 1.85 0.041 2746 -585.9 -107.1 - - 3463 - - - - - - - - 14.40 14.40 14.44
4239 384.9 -8.4 176 4240 done -0.81 - - 2634 - - - 2745 - -107.1 - - 3463 - - - - - - - - 14.90 14.90 14.90
4575 410.5 -7.6 182 4581 roll -0.81 - - 2633 - 2.38 0.042 1380 -573.5 -107.1 - - 3461 - - - - - - - - 14.88 14.37 14.88
4609 413.3 -8.1 187 4615 done -0.81 - - 2625 - 2.50 0.066 2765 554.0 -107.1 - - 3461 - - - - - - - - 14.45 14.27 14.48
4968 442.7 -8.3 196 4968 done -0.81 - - 2625 - - - 2765 - -107.1 - - 3459 - - - - - - - - 14.90 14.90 14.89
5303 471.2 -8.6 202 5309 roll -0.81 - - 2624 - 2.42 0.044 1386 -569.8 -107.1 - - 3457 - - - - - - - - 14.90 14.36 14.90
5351 475.7 -8.9 209 5358 done -0.81 - - 2615 - 2.55 0.069 2751 535.3 -107.1 - - 3457 - - - - - - - - 14.25 14.14 14.30
5695 508.6 -9.5 216 5700 roll -0.81 - - 2608 - 2.08 0.111 3835 521.2 -107.1 - - 3456 - - - - - - - - 14.87 14.09 14.87
5736 512.4 -8.9 222 5743 done -0.81 0.08 0.211 2629 262.5 1.85 0.043 2772 -574.6 -107.1 - - 3456 - - - - - - - - 14.04 14.40 14.18
6088 538.8 -7.4 230 6093 roll -0.81 - - 2629 - 2.45 0.044 1367 -573.5 -107.1 - - 3454 - - - - - - - - 14.86 14.33 14.87
6178 545.4 -7.2 243 6183 done -0.81 - - 2620 - 2.55 0.067 2766 548.6 -107.1 - - 3454 - - - - - - - - 14.40 14.22 14.43
6535 574.2 -8.3 252 6536 done -0.81 - - 2620 - - - 2766 - -107.1 - - 3453 - - - - - - - - 14.89 14.90 14.89
6871 603.3 -8.7 258 6872 done -0.81 - - 2618 - - - 2766 - -107.1 - - 3451 - - - - - - - - 14.89 14.90 14.89
7208 633.5 -9.0 264 7212 roll -0.81 - - 2619 - 2.50 0.044 1364 -560.8 -107.1 - - 3450 - - - - - - - - 14.88 14.22 14.89
7241 636.7 -9.5 269 7247 done -0.81 - - 2611 - 2.58 0.069 2750 537.2 -107.1 - - 3450 - - - - - - - - 14.35 14.16 14.39
7599 672.7 -10.2 278 7605 roll -0.81 - - 2602 - 2.08 0.112 3830 519.2 -107.1 - - 3448 - - - - - - - - 14.85 14.00 14.85
7627 675.7 -10.7 282 7633 done -0.81 0.10 0.213 2630 280.0 1.90 0.044 2753 -566.8 -107.1 - - 3448 - - - - - - - - 13.91 14.35 14.08
7991 709.5 -9.1 292 7996 roll -0.81 - - 2631 - 2.45 0.045 1357 -569.8 -107.1 - - 3447 - - - - - - - - 14.85 14.27 14.85
8032 713.3 -9.1 298 8039 done -0.81 - - 2622 - 2.55 0.067 2751 546.7 -107.1 - - 3447 - - - - - - - - 14.32 14.12 14.36
8383 744.1 -8.8 306 8389 roll -0.81 - - 2614 - 2.05 0.112 3824 523.4 -107.1 - - 3446 - - - - - - - - 14.88 13.97 14.88
8452 750.4 -8.8 316 8458 done -0.81 - - 2613 - 1.90 0.045 2744 -568.4 -107.1 - - 3451 - - - - - - - - 14.38 14.33 14.37
8775 778.0 -8.5 327 8780 roll -0.81 - - 2613 - 2.42 0.043 1364 -570.2 -107.1 - - 3445 - - - - - - - - 14.84 14.26 14.84
8802 780.3 -8.4 331 8809 done -0.81 0.12 0.243 2638 208.3 2.60 0.069 2749 532.7 -107.1 - - 3444 - - - - - - - - 13.85 13.99 14.13
9108 end dive: TARGET_DEPTH_EXCEEDED
9108 begin apogee
9117 802.2 -7.0 340 9233 roll -0.23 0.62 0.175 2819 291.9 0.08 0.177 2264 -6062.5 - 114.18 1.833 3049 -3.5 0.328 - - - - - - 13.88 13.94 12.97
9235 end apogee: CONTROL_FINISHED_OK
9235 begin climb
9239 804.3 - 342 9365 roll 0.93 1.12 0.106 3179 321.4 2.53 0.056 873 -549.8 107.1 116.38 1.804 2623 -3.7 0.354 - - - - - - 14.02 14.07 12.95
9407 800.2 6.4 368 9440 done 0.84 - - 3179 - 2.47 0.051 2259 561.1 133.9 28.80 1.855 2515 -3.8 0.351 - - - - - - 14.26 14.15 13.07
9786 766.4 9.3 380 9791 roll 0.72 0.12 0.243 3139 -333.3 2.60 0.097 3652 535.8 133.9 - - 2500 - - - - - - - - 14.07 14.21 14.24
9862 759.6 8.8 391 9868 done 0.62 0.17 0.235 3102 -217.6 2.38 0.041 2269 -581.1 133.9 - - 2500 - - - - - - - - 14.07 14.44 14.36
10177 739.5 6.2 401 10211 done 0.66 - - 3102 - - - 2269 - 163.5 32.72 1.838 2397 -3.1 0.275 - - - - - - 14.78 14.27 13.28
10514 716.1 7.1 407 10532 roll 0.68 - - 3101 - 2.65 0.101 3652 521.9 176.2 11.18 1.961 2345 -4.7 0.368 - - - - - - 14.73 14.31 13.26
10597 709.0 8.8 419 10603 done 0.68 - - 3110 - 2.40 0.041 2254 -582.5 176.2 - - 2341 - - - - - - - - 14.51 14.45 14.52
10961 677.4 8.9 429 10966 roll 0.68 - - 3109 - 2.67 0.103 3652 523.6 176.2 - - 2339 - - - - - - - - 14.80 14.18 14.80
11009 672.5 10.1 436 11016 done 0.68 - - 3120 - 2.45 0.041 2256 -569.8 176.2 - - 2339 - - - - - - - - 14.42 14.38 14.45
11354 640.9 9.1 443 11354 done 0.68 - - 3120 - - - 2255 - 176.2 - - 2338 - - - - - - - - 14.82 14.82 14.82
11689 613.7 7.9 449 11694 roll 0.68 - - 3120 - 2.67 0.106 3652 523.2 176.2 - - 2337 - - - - - - - - 14.84 14.12 14.84
11745 609.1 8.3 457 11750 done 0.68 - - 3129 - 2.42 0.041 2257 -576.4 176.2 - - 2337 - - - - - - - - 14.51 14.43 14.54
12081 585.6 6.8 470 12107 roll 0.70 - - 3129 - 2.65 0.107 3651 526.0 194.4 20.27 1.770 2270 -3.3 0.237 - - - - - - 14.82 14.35 13.37
12129 582.2 7.3 477 12137 done 0.71 - - 3140 - 2.45 0.041 2254 -570.2 203.9 3.47 1.250 2237 -9.5 0.960 - - - - - - 14.47 14.42 12.91
12474 556.9 7.4 484 12492 roll 0.72 - - 3149 - 2.45 0.061 863 -567.8 210.4 14.35 1.796 2206 -2.2 0.145 - - - - - - 14.76 14.16 13.34
12521 553.0 8.3 491 12529 done 0.72 - - 3150 - 2.50 0.056 2261 559.2 210.4 - - 2199 - - - - - - - - 14.41 14.32 14.45
12865 523.0 8.9 498 12870 roll 0.72 - - 3150 - 2.65 0.108 3660 527.9 210.4 - - 2197 - - - - - - - - 14.71 14.14 14.73
12906 518.9 10.0 504 12912 done 0.72 - - 3160 - 2.42 0.041 2259 -578.9 210.4 - - 2198 - - - - - - - - 14.50 14.41 14.53
13257 488.0 8.7 512 13262 roll 0.72 - - 3171 - 2.50 0.063 851 -563.2 210.4 - - 2198 - - - - - - - - 14.79 14.25 14.79
13292 485.1 8.5 517 13297 done 0.72 0.12 0.230 3133 -316.7 2.50 0.057 2262 564.4 210.4 - - 2197 - - - - - - - - 14.03 14.28 14.33
13649 458.3 7.5 526 13654 roll 0.72 - - 3134 - 2.67 0.108 3657 522.5 214.8 - - 2197 - - - - - - - - 14.83 14.09 14.83
13697 454.2 8.6 533 13704 done 0.72 - - 3143 - 2.45 0.041 2261 -569.8 214.8 - - 2197 - - - - - - - - 14.39 14.35 14.41
14041 426.5 8.2 540 14046 roll 0.72 - - 3155 - 2.50 0.063 859 -560.8 214.8 - - 2197 - - - - - - - - 14.81 14.20 14.81
14075 423.6 8.6 545 14081 done 0.72 - - 3155 - 2.47 0.057 2265 569.2 214.8 - - 2196 - - - - - - - - 14.41 14.23 14.45
14433 391.5 9.1 554 14438 roll 0.72 - - 3155 - 2.67 0.110 3660 522.5 214.8 - - 2196 - - - - - - - - 14.83 14.03 14.83
14495 385.0 10.4 563 14502 done 0.72 0.10 0.256 3136 -190.0 2.42 0.040 2256 -580.2 214.8 - - 2197 - - - - - - - - 13.98 14.35 14.24
14826 356.7 8.6 575 14826 done 0.72 - - 3138 - - - 2252 - 214.8 - - 2196 - - - - - - - - 14.84 14.83 14.84
15161 328.6 8.3 581 15166 roll 0.72 - - 3138 - 2.72 0.106 3661 518.0 214.8 - - 2196 - - - - - - - - 14.85 13.95 14.85
15195 325.5 9.2 586 15201 done 0.72 - - 3148 - 2.45 0.041 2251 -575.5 214.8 - - 2195 - - - - - - - - 14.43 14.33 14.46
15554 297.6 7.5 595 15557 done 0.73 - - 3148 - - - 2251 - 218.7 2.60 0.715 2178 -6.5 0.590 - - - - - - 14.83 14.31 13.21
15890 272.1 7.7 601 15893 done 0.73 - - 3147 - - - 2247 - 219.4 2.50 0.649 2174 -1.6 0.145 - - - - - - 14.84 14.32 13.23
16226 244.6 8.2 607 16232 roll 0.73 - - 3147 - 2.78 0.104 3655 506.5 219.4 1.95 0.226 2177 1.5 -0.361 - - - - - - 14.83 14.09 13.76
16267 240.7 9.2 613 16273 done 0.73 - - 3157 - 2.42 0.040 2251 -580.2 219.4 1.70 0.240 2175 - - - - - - - - 14.46 14.35 13.82
16618 212.4 7.9 621 16621 done 0.73 - - 3157 - - - 2247 - 219.4 2.00 0.226 2175 - - - - - - - - 14.81 14.16 11.59
16954 185.1 8.3 627 16960 roll 0.73 - - 3157 - 2.78 0.102 3653 505.8 219.4 1.73 0.223 2178 1.7 -0.312 - - - - - - 14.81 14.04 13.76
16995 181.1 9.5 633 17001 done 0.73 0.10 0.249 3140 -170.0 2.42 0.040 2241 -583.5 219.4 1.52 0.227 2176 - - - - - - - - 13.98 14.33 13.79
17346 153.8 7.6 641 17357 roll 0.73 - - 3150 - 2.50 0.060 855 -554.4 222.5 4.15 1.213 2167 -2.2 0.060 - - - - - - 14.81 14.34 13.21
17373 151.6 7.8 645 17378 done 0.73 - - 3150 - 2.47 0.053 2281 577.3 222.5 - - 2172 - - - - - - - - 14.18 14.37 14.33
17738 120.1 8.6 655 17744 roll 0.73 - - 3160 - 2.58 0.059 872 -546.1 222.5 2.15 0.401 2166 -2.8 0.181 - - - - - - 14.84 14.28 13.10
17779 116.6 8.3 661 17785 done 0.73 - - 3160 - 2.45 0.053 2268 569.8 222.5 1.95 0.233 2160 -3.1 0.334 - - - - - - 14.45 14.28 13.85
18102 92.1 7.4 670 18114 roll 0.74 - - 3160 - 2.62 0.100 3660 531.3 228.7 5.75 0.387 2141 -3.3 0.170 - - - - - - 14.80 14.22 13.69
18178 86.1 7.8 681 18186 done 0.74 0.10 0.249 3141 -190.0 2.40 0.038 2270 -579.2 228.7 1.52 0.214 2140 - - - - - - - - 14.03 14.40 13.95
18494 65.9 6.3 693 18520 roll 0.77 - - 3152 - 2.55 0.059 856 -554.5 256.8 17.35 0.363 2026 -6.6 0.259 - - - - - - 14.82 14.30 13.87
18542 63.3 5.2 700 18578 done 0.93 0.08 0.135 3216 800.0 2.50 0.052 2274 567.2 306.6 28.10 0.363 1829 -7.0 0.265 - - - - - - 14.35 14.31 13.93
18889 38.6 7.3 716 18898 roll 0.94 - - 3216 - 2.60 0.098 3661 533.5 314.5 5.25 0.270 1799 -5.7 0.177 - - - - - - 14.74 13.95 13.69
19130 31.7 4.0 751 19177 done 1.03 - - 3225 - 2.42 0.039 2268 -575.6 388.9 41.45 0.268 1500 -7.2 0.185 - - - - - - 14.33 14.30 13.94
19505 9.9 6.2 771 19529 roll 1.21 0.10 0.116 3331 1060.0 2.53 0.061 855 -558.5 418.6 16.25 0.194 1383 -7.2 0.080 - - - - - - 14.42 14.17 13.99
19571 3.0 10.8 781 19577 done 1.21 0.12 0.224 3295 -300.0 2.45 0.054 2264 575.1 418.6 - - 1385 - - - - - - - - 14.01 14.22 14.25
19582 end climb: SURFACE_DEPTH_REACHED
19582 begin surface coast
19610 end surface coast: CONTROL_FINISHED_OK
19610 begin surface
SM -3.55 - - - - -8.40 9.20 0.072 167 18.2 0.93 0.085 2766 -2537.6 500.14 40.67 0.157 1056 26.0 0.060 - - - - - -