SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 577 * Raw log
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• Previous call tries 1 • 201.12 of 350.00 AH used of 24V (42.54% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.4 deg, depth -1.37 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 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
12 begin dive
16 - - - 101 done -0.93 - - 108 - - - 2774 - -107.1 -81.30 - 3476 - - - - - - - - 14.66 12.55 14.63
105 4.3 -9.9 3 122 roll -0.93 12.15 0.392 2588 204.1 2.42 0.034 1355 -586.4 -107.1 - - 3478 - - - - - - - - 13.93 14.40 14.38
143 22.8 -41.5 9 149 done -0.23 0.93 0.251 2821 250.5 2.58 0.073 2768 547.7 -107.1 - - 3479 - - - - - - - - 14.06 14.30 14.33
466 36.9 4.3 22 467 done -0.47 0.17 0.090 2731 -529.4 - - 2768 - -107.1 - - 3479 - - - - - - - - 14.47 14.57 14.54
774 57.1 -7.7 33 774 done -0.59 - - 2731 - - - 2768 - -107.1 - - 3481 - - - - - - - - 14.84 14.84 14.84
1082 77.6 -5.3 44 1087 roll -0.74 0.12 0.098 2633 -816.7 2.42 0.039 1360 -581.8 -107.1 - - 3481 - - - - - - - - 14.54 14.35 14.57
1186 85.4 -7.4 59 1193 done -0.74 0.12 0.232 2659 216.7 2.53 0.065 2768 556.5 -107.1 - - 3482 - - - - - - - - 14.11 14.31 14.37
1502 108.1 -7.2 69 1507 roll -0.74 - - 2651 - 1.98 0.106 3829 535.9 -107.1 - - 3481 - - - - - - - - 14.90 14.22 14.90
1543 109.6 28.1 75 1548 done -0.74 - - 2651 - 1.83 0.037 2720 -606.0 -107.1 - - 3480 - - - - - - - - 14.47 14.45 14.49
1893 146.0 -11.4 83 1898 roll -0.74 - - 2642 - 2.10 0.104 3829 528.1 -107.1 - - 3478 - - - - - - - - 14.88 14.22 14.88
1949 147.5 -6.8 91 1954 done -0.74 - - 2642 - 1.77 0.038 2763 -602.3 -107.1 - - 3478 - - - - - - - - 14.59 14.52 14.61
2285 179.8 -11.7 104 2290 roll -0.74 - - 2642 - 2.33 0.039 1393 -588.0 -107.1 - - 3476 - - - - - - - - 14.91 14.46 14.91
2312 182.8 -10.9 108 2318 done -0.74 - - 2633 - 2.45 0.063 2769 561.6 -107.1 - - 3472 - - - - - - - - 14.42 14.23 14.47
2678 217.7 -9.5 118 2682 roll -0.74 - - 2625 - 1.98 0.106 3832 536.9 -107.1 - - 3473 - - - - - - - - 14.88 14.20 14.88
2734 221.5 -6.0 126 2739 done -0.74 0.12 0.216 2661 300.0 1.75 0.038 2769 -607.4 -107.1 - - 3473 - - - - - - - - 14.16 14.57 14.40
3069 251.2 -8.3 139 3074 roll -0.74 - - 2661 - 2.38 0.040 1384 -581.9 -107.1 - - 3470 - - - - - - - - 14.91 14.42 14.95
3118 253.7 -5.9 146 3124 done -0.82 - - 2651 - 2.50 0.065 2767 553.2 -107.1 - - 3470 - - - - - - - - 14.46 14.28 14.49
3462 281.3 -7.6 153 3468 roll -0.82 - - 2651 - 2.40 0.040 1383 -576.7 -107.1 - - 3468 - - - - - - - - 14.88 14.35 14.88
3496 282.4 -2.2 158 3501 done -0.82 - - 2645 - 2.50 0.067 2771 555.2 -107.1 - - 3468 - - - - - - - - 14.46 14.28 14.50
3853 300.9 -8.0 167 3858 roll -0.82 - - 2635 - 1.98 0.109 3823 531.3 -107.1 - - 3466 - - - - - - - - 14.88 14.17 14.88
3895 307.3 -7.4 173 3901 done -0.82 - - 2634 - 1.80 0.041 2763 -588.9 -107.1 - - 3465 - - - - - - - - 14.51 14.48 14.52
4245 341.6 -9.0 181 4251 roll -0.82 - - 2634 - 2.40 0.041 1374 -578.8 -107.1 - - 3464 - - - - - - - - 14.88 14.40 14.88
4293 346.5 -19.8 188 4300 done -0.82 - - 2625 - 2.55 0.065 2762 544.3 -107.1 - - 3463 - - - - - - - - 14.30 14.21 14.34
4638 374.5 -8.1 195 4642 roll -0.82 - - 2617 - 2.00 0.109 3823 530.5 -107.1 - - 3462 - - - - - - - - 14.88 14.14 14.88
4699 385.4 -15.3 204 4705 done -0.82 - - 2616 - 1.83 0.041 2752 -585.2 -107.1 - - 3461 - - - - - - - - 14.49 14.47 14.51
5029 415.0 -8.6 216 5030 done -0.82 - - 2616 - - - 2752 - -107.1 - - 3460 - - - - - - - - 14.88 14.88 14.88
5366 442.1 -8.0 222 5370 roll -0.82 - - 2609 - 2.08 0.109 3823 514.9 -107.1 - - 3458 - - - - - - - - 14.87 14.10 14.88
5434 448.0 -8.7 232 5440 done -0.82 - - 2608 - 1.83 0.043 2765 -578.1 -107.1 - - 3460 - - - - - - - - 14.47 14.44 14.48
5757 476.9 -9.1 243 5758 done -0.82 - - 2608 - - - 2764 - -107.1 - - 3457 - - - - - - - - 14.87 14.87 14.87
6094 510.4 -10.1 249 6099 roll -0.82 - - 2602 - 2.05 0.107 3830 520.0 -107.1 - - 3454 - - - - - - - - 14.87 14.10 14.87
6150 516.4 -11.1 257 6155 done -0.82 0.10 0.233 2629 270.0 1.80 0.044 2768 -590.0 -107.1 - - 3455 - - - - - - - - 14.09 14.47 14.33
6486 548.3 -9.5 270 6490 roll -0.82 - - 2629 - 2.42 0.042 1372 -576.9 -107.1 - - 3453 - - - - - - - - 14.89 14.34 14.90
6513 550.9 -9.4 274 6518 done -0.82 - - 2620 - 2.55 0.066 2773 549.4 -107.1 - - 3453 - - - - - - - - 14.38 14.21 14.42
6877 583.1 -8.6 284 6882 roll -0.82 - - 2613 - 2.00 0.109 3830 528.5 -107.1 - - 3452 - - - - - - - - 14.86 14.06 14.86
6946 588.8 -8.0 294 6952 done -0.82 - - 2612 - 1.88 0.043 2746 -576.6 -107.1 - - 3451 - - - - - - - - 14.42 14.40 14.45
7269 614.4 -7.9 305 7270 done -0.82 - - 2612 - - - 2746 - -107.1 - - 3450 - - - - - - - - 14.85 14.85 14.85
7605 642.5 -8.5 311 7610 roll -0.82 - - 2604 - 2.10 0.109 3829 515.7 -107.1 - - 3449 - - - - - - - - 14.85 14.03 14.85
7653 647.6 -9.5 318 7660 done -0.82 0.10 0.205 2632 280.0 1.85 0.044 2775 -569.7 -107.1 - - 3449 - - - - - - - - 13.94 14.36 14.09
7998 676.2 -8.3 325 8003 roll -0.82 - - 2632 - 2.45 0.042 1374 -571.8 -107.1 - - 3448 - - - - - - - - 14.88 14.31 14.88
8059 681.3 -8.2 334 8065 done -0.82 - - 2623 - 2.53 0.065 2762 548.6 -107.1 - - 3447 - - - - - - - - 14.34 14.15 14.37
8390 708.1 -8.1 346 8394 roll -0.82 - - 2615 - 2.03 0.110 3827 524.6 -107.1 - - 3447 - - - - - - - - 14.85 13.99 14.85
8423 711.0 -8.7 351 8429 done -0.82 - - 2614 - 1.88 0.044 2747 -574.5 -107.1 - - 3447 - - - - - - - - 14.39 14.36 14.41
8781 739.3 -7.8 360 8786 roll -0.82 - - 2614 - 2.40 0.041 1375 -571.7 -107.1 - - 3445 - - - - - - - - 14.88 14.26 14.89
8843 744.8 -10.7 369 8850 done -0.82 0.10 0.250 2632 180.0 2.55 0.067 2762 543.9 -107.1 - - 3444 - - - - - - - - 13.88 14.11 14.15
9174 767.7 -7.0 381 9179 roll -0.82 - - 2629 - 2.03 0.112 3823 522.7 -107.1 - - 3443 - - - - - - - - 14.83 13.96 14.82
9264 771.2 6.6 394 9269 done -0.82 - - 2623 - 1.85 0.045 2767 -570.8 -107.1 - - 3443 - - - - - - - - 14.35 14.33 14.38
9618 end dive: TARGET_DEPTH_EXCEEDED
9618 begin apogee
9627 801.2 -8.1 403 9744 roll -0.23 0.70 0.184 2822 284.3 0.12 0.132 2278 -4075.0 - 114.65 1.831 3051 -3.4 0.299 - - - - - - 13.84 13.97 12.95
9746 end apogee: CONTROL_FINISHED_OK
9746 begin climb
9750 819.3 - 405 9871 done 0.93 1.15 0.099 3196 325.2 - - 2286 - 107.1 116.97 1.784 2621 -3.7 0.338 - - - - - - 14.03 14.31 12.96
10183 799.5 6.9 434 10209 roll 0.79 0.10 0.259 3173 -230.0 2.55 0.057 889 -547.8 124.0 17.15 1.905 2546 -4.4 0.367 - - - - - - 14.05 14.30 13.24
10231 796.1 6.5 441 10266 done 0.70 0.15 0.234 3132 -273.3 2.40 0.051 2246 565.4 149.4 28.10 1.860 2450 -3.4 0.293 - - - - - - 14.12 14.32 13.19
10578 770.2 7.8 455 10583 roll 0.70 - - 3132 - 2.62 0.098 3653 537.0 149.4 - - 2438 - - - - - - - - 14.69 14.20 14.69
10660 762.6 9.0 467 10665 done 0.63 0.12 0.250 3108 -200.0 2.35 0.041 2276 -586.0 149.4 - - 2437 - - - - - - - - 14.08 14.42 14.38
11025 734.8 7.5 477 11029 roll 0.63 - - 3118 - 2.50 0.059 860 -566.4 153.2 - - 2436 - - - - - - - - 14.81 14.28 14.81
11073 731.2 7.6 484 11079 done 0.63 - - 3117 - 2.47 0.052 2259 566.4 155.9 - - 2435 - - - - - - - - 14.38 14.22 14.40
11417 706.9 6.9 491 11449 roll 0.65 - - 3117 - 2.65 0.102 3654 526.4 172.4 24.55 1.843 2353 -3.3 0.256 - - - - - - 14.81 14.32 13.31
11513 699.5 7.9 505 11519 done 0.65 - - 3127 - 2.42 0.040 2244 -582.6 172.4 - - 2348 - - - - - - - - 14.50 14.42 14.52
11865 675.6 6.7 513 11891 roll 0.68 - - 3137 - 2.50 0.060 864 -552.0 192.8 22.08 1.835 2275 -3.3 0.244 - - - - - - 14.80 14.35 13.32
11913 672.1 6.8 520 11939 done 0.70 - - 3136 - 2.47 0.054 2258 564.4 212.3 21.88 1.803 2202 -3.3 0.249 - - - - - - 14.42 14.31 13.30
12257 644.0 8.3 534 12262 roll 0.70 - - 3136 - 2.62 0.104 3649 530.9 212.3 - - 2183 - - - - - - - - 14.72 14.15 14.72
12298 640.0 9.7 540 12303 done 0.70 - - 3147 - 2.42 0.040 2248 -578.9 212.3 - - 2181 - - - - - - - - 14.47 14.38 14.50
12648 608.0 9.2 548 12653 roll 0.70 - - 3157 - 2.47 0.062 859 -562.3 212.3 - - 2181 - - - - - - - - 14.79 14.24 14.79
12682 604.7 9.4 553 12688 done 0.70 - - 3157 - 2.45 0.056 2251 568.2 212.3 - - 2182 - - - - - - - - 14.45 14.29 14.50
13040 569.4 9.8 562 13046 roll 0.70 - - 3158 - 2.67 0.106 3655 525.8 212.3 - - 2181 - - - - - - - - 14.81 14.12 14.81
13103 562.6 11.1 571 13108 done 0.63 0.22 0.226 3107 -231.8 2.42 0.040 2241 -584.3 212.3 - - 2181 - - - - - - - - 13.98 14.42 14.31
13433 536.8 7.7 583 13433 done 0.63 - - 3106 - - - 2237 - 213.2 - - 2181 - - - - - - - - 14.82 14.82 14.82
13768 510.5 7.8 589 13769 done 0.63 - - 3106 - - - 2237 - 213.2 - - 2181 - - - - - - - - 14.83 14.83 14.83
14105 484.4 7.7 595 14110 roll 0.63 - - 3106 - 2.72 0.102 3653 520.6 214.3 - - 2181 - - - - - - - - 14.81 14.08 14.82
14153 480.4 8.5 602 14160 done 0.63 - - 3114 - 2.45 0.041 2240 -576.7 214.3 - - 2181 - - - - - - - - 14.40 14.31 14.42
14497 455.3 7.2 609 14502 done 0.64 - - 3113 - - - 2240 - 225.7 4.15 1.323 2150 -7.5 0.515 - - - - - - 14.82 14.35 13.14
14833 432.5 6.8 615 14872 roll 0.67 - - 3114 - 2.75 0.105 3654 514.2 245.3 30.73 1.523 2065 -2.8 0.157 - - - - - - 14.81 14.30 13.38
14902 427.3 7.7 625 14907 done 0.67 - - 3121 - 2.40 0.041 2255 -582.9 245.4 - - 2060 - - - - - - - - 14.47 14.40 14.50
15225 401.9 8.0 636 15229 roll 0.67 - - 3131 - 2.47 0.061 855 -566.8 245.4 - - 2057 - - - - - - - - 14.79 14.22 14.77
15258 398.9 8.5 641 15264 done 0.67 - - 3131 - 2.47 0.054 2261 569.2 245.4 - - 2057 - - - - - - - - 14.40 14.25 14.45
15616 367.6 8.8 650 15622 roll 0.67 - - 3131 - 2.62 0.105 3652 530.9 245.4 - - 2057 - - - - - - - - 14.79 14.09 14.79
15664 362.8 9.9 657 15671 done 0.67 - - 3141 - 2.42 0.040 2264 -573.6 245.4 - - 2057 - - - - - - - - 14.35 14.31 14.38
16008 332.4 8.8 664 16013 roll 0.67 - - 3151 - 2.50 0.061 855 -563.6 245.4 - - 2057 - - - - - - - - 14.81 14.19 14.81
16077 326.2 8.8 674 16084 done 0.67 0.10 0.187 3121 -300.0 2.50 0.054 2252 558.8 245.4 - - 2057 - - - - - - - - 13.98 14.19 14.14
16401 300.3 8.1 685 16405 roll 0.67 - - 3121 - 2.65 0.103 3655 529.4 245.4 - - 2057 - - - - - - - - 14.82 14.07 14.82
16448 295.9 9.2 692 16455 done 0.67 - - 3129 - 2.45 0.040 2254 -571.8 245.4 - - 2057 - - - - - - - - 14.35 14.31 14.38
16793 268.7 7.8 699 16798 roll 0.67 - - 3139 - 2.47 0.061 856 -566.0 245.4 - - 2057 - - - - - - - - 14.85 14.14 14.85
16849 264.2 8.0 707 16854 done 0.67 - - 3138 - 2.47 0.054 2258 567.6 245.4 - - 2057 - - - - - - - - 14.39 14.24 14.42
17185 237.0 8.2 720 17190 roll 0.67 - - 3138 - 2.65 0.103 3655 527.2 245.4 - - 2057 - - - - - - - - 14.81 14.04 14.81
17212 234.4 9.1 724 17217 done 0.67 0.10 0.210 3120 -180.0 2.45 0.039 2251 -573.1 245.4 - - 2057 - - - - - - - - 13.92 14.28 14.09
17577 204.9 8.3 734 17582 roll 0.75 - - 3119 - 2.70 0.099 3656 520.4 245.4 - - 2057 - - - - - - - - 14.81 14.04 14.82
17611 201.6 9.5 739 17616 done 0.75 - - 3126 - 2.42 0.038 2243 -583.9 245.4 - - 2056 - - - - - - - - 14.45 14.36 14.47
17969 169.8 8.8 748 17970 done 0.75 - - 3126 - - - 2239 - 245.4 - - 2057 - - - - - - - - 14.82 14.83 14.82
18305 144.3 7.3 754 18312 roll 0.84 0.08 0.137 3195 862.5 2.78 0.100 3659 510.8 253.3 2.17 0.376 2042 -6.9 0.531 - - - - - - 14.45 14.15 13.21
18339 141.0 10.1 759 18345 done 0.84 0.12 0.254 3172 -191.7 2.40 0.038 2256 -584.6 253.3 1.67 0.221 2038 -2.4 0.306 - - - - - - 13.97 14.38 13.93
18697 110.8 8.4 768 18703 roll 0.84 - - 3181 - 2.55 0.060 856 -549.0 253.3 1.83 0.213 2041 1.6 -0.171 - - - - - - 14.85 14.17 13.85
18746 106.4 9.2 775 18752 done 0.84 - - 3181 - 2.47 0.053 2261 568.8 253.3 1.65 0.216 2040 - - - - - - - - 14.38 14.23 13.92
19078 72.6 9.5 791 19081 done 0.84 - - 3181 - - - 2261 - 253.3 1.95 0.210 2039 - - - - - - - - 14.77 14.08 13.78
19383 47.2 6.1 802 19410 roll 0.88 - - 3191 - 2.50 0.060 856 -562.0 285.0 19.52 0.313 1916 -6.3 0.190 - - - - - - 14.78 14.31 13.90
19539 38.9 4.1 824 19586 done 1.05 0.08 0.142 3253 775.0 2.45 0.051 2264 574.7 356.8 40.62 0.293 1627 -7.1 0.189 - - - - - - 14.28 14.26 14.01
19915 19.4 5.9 845 19942 roll 1.09 - - 3253 - 2.62 0.104 3651 529.4 394.3 20.77 0.230 1478 -7.2 0.121 - - - - - - 14.80 14.15 13.94
20012 11.3 9.4 859 20018 done 1.09 - - 3263 - 2.45 0.038 2241 -575.5 394.3 - - 1483 - - - - - - - - 14.35 14.30 14.37
20135 end climb: SURFACE_DEPTH_REACHED
20135 begin surface coast
20164 end surface coast: CONTROL_FINISHED_OK
20164 begin surface
SM -2.41 - - - - -8.40 9.15 0.072 186 20.3 1.00 0.096 2754 1724.0 500.14 52.88 0.155 1058 20.0 0.032 - - - - - -