SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 581 * Raw log
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• Previous call tries 1 • 202.32 of 350.00 AH used of 24V (42.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth -2.51 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 100 done -0.93 - - 118 - - - 2780 - -107.1 -80.68 - 3478 - - - - - - - - 14.66 12.58 14.62
104 4.1 -11.5 3 121 roll -0.93 12.05 0.391 2589 205.1 2.40 0.033 1362 -590.8 -107.1 - - 3479 - - - - - - - - 13.93 14.33 14.22
157 25.7 -26.1 11 163 done -0.63 0.43 0.263 2690 234.9 2.55 0.070 2772 552.9 -107.1 - - 3480 - - - - - - - - 14.01 14.29 14.33
494 61.8 -7.7 26 494 done -0.63 - - 2690 - - - 2772 - -107.1 - - 3481 - - - - - - - - 14.81 14.81 14.81
802 86.3 -7.2 37 807 roll -0.63 - - 2682 - 1.95 0.106 3825 540.0 -107.1 - - 3483 - - - - - - - - 14.85 14.20 14.85
843 89.3 -7.3 43 848 done -0.63 - - 2682 - 1.83 0.038 2723 -602.2 -107.1 - - 3483 - - - - - - - - 14.43 14.39 14.45
1166 112.1 -7.1 53 1171 roll -0.63 - - 2682 - 2.25 0.040 1397 -589.3 -107.1 - - 3482 - - - - - - - - 14.87 14.42 14.87
1235 117.4 -7.5 63 1240 done -0.71 - - 2673 - 2.42 0.065 2763 564.5 -107.1 - - 3482 - - - - - - - - 14.53 14.31 14.52
1558 139.8 -6.7 74 1562 roll -0.71 - - 2664 - 1.98 0.108 3823 535.4 -107.1 - - 3480 - - - - - - - - 14.90 14.19 14.90
1599 142.9 -7.6 80 1604 done -0.71 - - 2665 - 1.77 0.039 2758 -601.7 -107.1 - - 3480 - - - - - - - - 14.52 14.50 14.54
1950 169.1 -7.6 88 1954 roll -0.71 - - 2665 - 2.33 0.041 1392 -586.3 -107.1 - - 3478 - - - - - - - - 14.88 14.42 14.88
2012 174.2 -8.0 97 2018 done -0.80 - - 2657 - 2.47 0.067 2763 555.1 -107.1 - - 3477 - - - - - - - - 14.39 14.30 14.42
2342 200.4 -7.9 109 2347 roll -0.80 - - 2661 - 2.38 0.040 1388 -577.7 -107.1 - - 3475 - - - - - - - - 14.90 14.43 14.90
2382 203.8 -8.0 115 2388 done -0.80 - - 2649 - 2.50 0.067 2758 548.0 -107.1 - - 3475 - - - - - - - - 14.28 14.17 14.33
2733 235.2 -9.2 123 2738 roll -0.80 - - 2649 - 2.38 0.041 1386 -576.5 -107.1 - - 3473 - - - - - - - - 14.88 14.39 14.88
2774 239.2 -9.6 129 2781 done -0.80 - - 2641 - 2.45 0.066 2751 557.1 -107.1 - - 3472 - - - - - - - - 14.46 14.27 14.50
3125 273.0 -9.6 137 3126 done -0.80 - - 2641 - - - 2751 - -107.1 - - 3470 - - - - - - - - 14.90 14.90 14.90
3462 301.3 -8.2 143 3466 roll -0.80 - - 2640 - 2.38 0.041 1387 -573.1 -107.1 - - 3469 - - - - - - - - 14.90 14.32 14.90
3488 303.7 -8.4 147 3494 done -0.80 - - 2632 - 2.45 0.068 2747 555.1 -107.1 - - 3469 - - - - - - - - 14.42 14.24 14.47
3853 333.7 -8.3 157 3859 roll -0.80 - - 2624 - 2.03 0.109 3826 531.5 -107.1 - - 3466 - - - - - - - - 14.90 14.14 14.90
3909 338.5 -8.6 165 3915 done -0.80 - - 2622 - 1.77 0.041 2765 -599.4 -107.1 - - 3466 - - - - - - - - 14.56 14.50 14.57
4245 365.9 -8.1 178 4250 roll -0.80 - - 2623 - 2.40 0.041 1371 -580.8 -107.1 - - 3465 - - - - - - - - 14.90 14.39 14.90
4301 370.5 -8.2 186 4306 done -0.80 - - 2614 - 2.50 0.066 2745 549.6 -107.1 - - 3464 - - - - - - - - 14.45 14.28 14.49
4637 401.2 -9.3 199 4638 done -0.80 - - 2614 - - - 2745 - -107.1 - - 3463 - - - - - - - - 14.88 14.87 14.88
4973 433.3 -9.6 205 4974 done -0.80 - - 2614 - - - 2745 - -107.1 - - 3461 - - - - - - - - 14.89 14.89 14.89
5310 463.5 -8.9 211 5314 roll -0.80 - - 2613 - 2.42 0.043 1373 -566.9 -107.1 - - 3460 - - - - - - - - 14.87 14.35 14.87
5372 469.1 -8.9 220 5377 done -0.80 0.12 0.239 2638 208.3 2.50 0.066 2744 548.4 -107.1 - - 3460 - - - - - - - - 13.96 14.21 14.23
5702 494.8 -7.8 232 5702 done -0.80 - - 2638 - - - 2744 - -107.1 - - 3458 - - - - - - - - 14.90 14.90 14.90
6037 522.5 -8.4 238 6042 roll -0.80 - - 2639 - 2.40 0.042 1372 -571.7 -107.1 - - 3457 - - - - - - - - 14.90 14.33 14.90
6058 524.3 -8.5 241 6064 done -0.80 - - 2629 - 2.47 0.067 2740 553.8 -107.1 - - 3457 - - - - - - - - 14.38 14.20 14.42
6373 553.7 -9.5 251 6374 done -0.80 - - 2628 - - - 2741 - -107.1 - - 3451 - - - - - - - - 14.89 14.88 14.88
6710 584.7 -9.1 257 6715 roll -0.80 - - 2628 - 2.40 0.043 1376 -568.8 -107.1 - - 3455 - - - - - - - - 14.89 14.32 14.89
6757 588.8 -8.3 264 6764 done -0.80 - - 2620 - 2.55 0.067 2735 532.9 -107.1 - - 3454 - - - - - - - - 14.19 14.09 14.24
7102 615.9 -7.7 271 7106 roll -0.80 - - 2611 - 2.10 0.112 3831 521.9 -107.1 - - 3452 - - - - - - - - 14.85 14.00 14.85
7135 618.7 -8.4 276 7141 done -0.80 0.08 0.203 2634 287.5 1.90 0.042 2735 -576.8 -107.1 - - 3452 - - - - - - - - 13.99 14.37 14.14
7494 642.9 -6.7 285 7495 done -0.80 - - 2633 - - - 2736 - -107.1 - - 3450 - - - - - - - - 14.85 14.85 14.85
7830 666.4 -7.1 291 7834 roll -0.80 - - 2634 - 2.40 0.043 1365 -571.2 -107.1 - - 3449 - - - - - - - - 14.85 14.27 14.85
7885 670.6 -7.5 299 7890 done -0.80 - - 2626 - 2.53 0.067 2739 543.1 -107.1 - - 3449 - - - - - - - - 14.33 14.14 14.37
8221 697.9 -8.2 312 8226 roll -0.80 - - 2617 - 2.10 0.113 3829 519.0 -107.1 - - 3448 - - - - - - - - 14.85 13.95 14.85
8277 702.9 -9.2 320 8282 done -0.80 - - 2617 - 1.88 0.044 2726 -586.7 -107.1 - - 3448 - - - - - - - - 14.46 14.40 14.47
8614 732.4 -8.8 333 8619 roll -0.80 - - 2616 - 2.38 0.043 1375 -567.6 -107.1 - - 3447 - - - - - - - - 14.88 14.25 14.88
8669 737.4 -8.7 341 8675 done -0.80 0.10 0.244 2637 210.0 2.53 0.067 2741 539.9 -107.1 - - 3447 - - - - - - - - 13.89 14.11 14.14
9006 763.0 -7.5 354 9007 done -0.80 - - 2636 - - - 2741 - -107.1 - - 3446 - - - - - - - - 14.83 14.83 14.83
9342 787.0 -7.2 360 9346 roll -0.80 - - 2637 - 2.40 0.043 1380 -567.1 -107.1 - - 3445 - - - - - - - - 14.83 14.23 14.83
9404 791.8 -7.3 369 9410 done -0.88 - - 2628 - 2.50 0.068 2738 543.2 -107.1 - - 3444 - - - - - - - - 14.28 14.09 14.33
9562 end dive: TARGET_DEPTH_EXCEEDED
9562 begin apogee
9570 803.6 -7.4 378 9686 roll -0.23 0.70 0.188 2824 280.0 - - 2243 - - 113.88 1.828 3049 -3.5 0.314 - - - - - - 13.78 13.98 12.95
9688 end apogee: CONTROL_FINISHED_OK
9688 begin climb
9692 806.4 - 380 9819 roll 0.93 1.12 0.106 3182 319.6 2.53 0.055 844 -553.0 107.1 116.53 1.805 2620 -3.7 0.339 - - - - - - 14.02 14.07 12.96
9903 801.1 6.6 412 9936 done 0.84 - - 3182 - 2.53 0.053 2264 561.3 130.3 24.58 1.870 2524 -3.9 0.345 - - - - - - 14.33 14.21 13.11
10296 769.0 8.3 426 10297 done 0.72 0.17 0.241 3134 -282.4 - - 2264 - 130.3 - - 2515 - - - - - - - - 14.05 14.42 14.35
10632 744.5 7.3 432 10638 roll 0.73 - - 3132 - 2.65 0.100 3650 523.0 139.6 2.50 0.763 2497 -7.2 1.448 - - - - - - 14.81 14.28 13.08
10722 737.3 8.1 445 10730 done 0.63 0.15 0.246 3106 -173.3 2.47 0.041 2208 -583.8 139.6 2.00 0.229 2493 -2.0 1.327 - - - - - - 14.05 14.42 12.19
11073 715.2 6.2 453 11121 roll 0.67 - - 3105 - 2.83 0.099 3652 510.2 170.9 43.38 1.782 2365 -3.0 0.244 - - - - - - 14.83 14.22 13.26
11149 710.0 6.8 464 11177 done 0.69 - - 3115 - 2.42 0.041 2248 -580.2 189.1 21.30 1.831 2289 -3.6 0.285 - - - - - - 14.42 14.35 13.23
11514 682.9 7.4 474 11519 roll 0.70 - - 3115 - 2.70 0.102 3653 520.4 195.7 - - 2278 - - - - - - - - 14.72 14.16 14.72
11576 677.7 8.3 483 11581 done 0.70 - - 3124 - 2.40 0.041 2252 -583.8 195.7 - - 2278 - - - - - - - - 14.47 14.37 14.49
11906 653.4 7.3 495 11919 done 0.71 - - 3124 - - - 2249 - 203.4 12.15 1.894 2240 -3.1 0.222 - - - - - - 14.81 14.34 13.33
12242 629.1 7.2 501 12253 roll 0.72 - - 3124 - 2.65 0.107 3650 528.7 213.8 5.30 1.826 2200 -7.5 0.536 - - - - - - 14.79 14.35 13.26
12332 621.6 8.3 514 12338 done 0.72 - - 3133 - 2.42 0.041 2268 -571.1 213.8 2.08 0.321 2196 -1.9 0.767 - - - - - - 14.46 14.42 12.71
12690 593.7 7.9 523 12695 roll 0.72 - - 3133 - 2.65 0.105 3650 521.5 213.8 - - 2208 - - - - - - - - 14.80 14.16 14.80
12717 591.2 8.8 527 12723 done 0.72 - - 3144 - 2.40 0.041 2255 -581.2 213.8 1.33 0.237 2197 -8.3 4.252 - - - - - - 14.53 14.44 14.07
13082 559.7 8.7 537 13088 roll 0.72 - - 3154 - 2.55 0.061 856 -548.6 213.8 1.52 0.230 2197 - - - - - - - - 14.81 14.25 13.91
13102 557.9 8.8 540 13107 done 0.72 - - 3153 - 2.47 0.057 2259 568.0 213.8 - - 2202 - - - - - - - - 14.45 14.28 14.47
13418 529.3 9.1 550 13423 roll 0.72 - - 3154 - 2.67 0.106 3654 522.5 213.8 - - 2207 - - - - - - - - 14.82 14.09 14.81
13466 524.3 10.3 557 13475 done 0.65 0.17 0.219 3116 -223.5 2.45 0.041 2252 -572.2 213.8 1.48 0.175 2197 -6.8 4.172 - - - - - - 13.88 14.30 13.97
13810 498.0 7.5 564 13823 roll 0.65 - - 3116 - 2.70 0.103 3656 520.0 217.8 4.05 1.491 2187 -2.5 0.170 - - - - - - 14.85 14.30 13.12
13858 493.9 8.7 571 13865 done 0.65 - - 3124 - 2.42 0.041 2252 -580.2 217.8 1.85 0.229 2184 -1.6 0.721 - - - - - - 14.49 14.45 13.93
14202 468.0 7.5 578 14208 done 0.66 - - 3124 - - - 2252 - 221.9 4.97 1.698 2168 -3.2 0.183 - - - - - - 14.83 14.35 13.13
14538 443.7 7.2 584 14565 roll 0.67 - - 3124 - 2.72 0.106 3659 517.3 233.3 22.27 1.584 2115 -2.4 0.137 - - - - - - 14.80 14.35 13.46
14614 437.5 8.7 595 14619 done 0.67 - - 3132 - 2.40 0.040 2261 -582.5 233.3 - - 2108 - - - - - - - - 14.50 14.41 14.52
14979 407.0 8.5 605 14984 roll 0.67 - - 3132 - 2.70 0.106 3663 519.3 233.3 - - 2105 - - - - - - - - 14.76 14.11 14.76
15013 403.7 9.5 610 15018 done 0.67 - - 3142 - 2.40 0.041 2267 -581.7 233.3 - - 2105 - - - - - - - - 14.49 14.38 14.51
15371 371.9 8.8 619 15372 done 0.67 - - 3142 - - - 2265 - 233.3 - - 2105 - - - - - - - - 14.80 14.80 14.80
15707 342.8 8.6 625 15713 roll 0.67 - - 3142 - 2.70 0.106 3663 517.8 233.3 - - 2105 - - - - - - - - 14.78 14.00 14.81
15734 340.1 9.6 629 15741 done 0.67 0.10 0.228 3124 -180.0 2.45 0.039 2266 -570.2 233.3 - - 2105 - - - - - - - - 13.94 14.33 14.12
16099 308.9 8.7 639 16103 roll 0.67 - - 3133 - 2.50 0.060 858 -563.2 233.3 - - 2105 - - - - - - - - 14.84 14.17 14.84
16126 306.4 8.8 643 16131 done 0.67 - - 3133 - 2.50 0.054 2270 564.8 233.3 - - 2105 - - - - - - - - 14.38 14.21 14.42
16491 275.1 8.4 653 16497 roll 0.67 - - 3132 - 2.62 0.103 3654 528.2 233.3 - - 2104 - - - - - - - - 14.81 14.02 14.81
16553 269.3 9.4 662 16558 done 0.67 - - 3143 - 2.40 0.041 2262 -580.0 233.3 - - 2104 - - - - - - - - 14.45 14.35 14.48
16883 241.0 8.6 674 16884 done 0.67 - - 3142 - - - 2256 - 233.3 - - 2105 - - - - - - - - 14.81 14.81 14.81
17219 212.8 8.4 680 17220 done 0.67 - - 3145 - - - 2255 - 233.3 - - 2105 - - - - - - - - 14.84 14.85 14.85
17555 183.5 8.8 686 17560 roll 0.67 - - 3152 - 2.50 0.060 857 -559.2 233.3 - - 2105 - - - - - - - - 14.81 14.05 14.82
17575 181.7 8.6 689 17581 done 0.67 0.12 0.202 3116 -300.0 2.50 0.054 2270 565.2 233.3 - - 2105 - - - - - - - - 13.93 14.13 14.19
17892 159.2 7.0 699 17911 roll 0.78 - - 3115 - 2.65 0.103 3656 523.0 248.0 14.68 1.298 2055 -3.4 0.086 - - - - - - 14.81 14.33 13.48
17981 152.5 7.8 712 17986 done 0.78 - - 3123 - 2.38 0.039 2258 -587.4 248.0 - - 2049 - - - - - - - - 14.52 14.46 14.57
18339 127.8 7.0 721 18358 roll 0.88 0.08 0.142 3194 887.5 2.65 0.102 3657 527.9 262.2 12.88 1.271 2001 -3.7 0.077 - - - - - - 14.43 14.35 13.52
18387 123.2 10.6 728 18394 done 0.88 - - 3204 - 2.40 0.038 2277 -575.0 262.2 - - 1996 - - - - - - - - 14.47 14.43 14.47
18703 92.0 9.9 735 18708 roll 0.88 - - 3215 - 2.53 0.063 852 -563.2 262.2 - - 1995 - - - - - - - - 14.77 14.21 14.78
18731 88.8 11.2 739 18736 done 0.88 0.10 0.226 3187 -280.0 2.53 0.057 2274 562.1 262.2 - - 1994 - - - - - - - - 14.07 14.27 14.33
19067 54.3 9.6 754 19072 roll 0.88 - - 3186 - 2.60 0.099 3658 532.3 262.2 - - 1994 - - - - - - - - 14.78 14.11 14.79
19129 48.0 10.6 763 19134 done 0.88 - - 3197 - 2.38 0.038 2267 -584.5 262.2 - - 1994 - - - - - - - - 14.46 14.37 14.50
19459 32.3 2.0 777 19519 done 1.02 - - 3197 - - - 2263 - 377.3 58.90 0.272 1546 -7.6 0.186 - - - - - - 14.80 14.41 14.08
19826 17.3 5.2 796 19863 roll 1.25 0.22 0.070 3322 568.2 2.72 0.108 3655 511.8 427.9 27.20 0.216 1345 -7.4 0.122 - - - - - - 14.40 14.22 14.06
19963 end climb: SURFACE_DEPTH_REACHED
19963 begin surface coast
19965 end surface coast: CONTROL_FINISHED_OK
19965 begin surface
SM -2.61 - - - - -8.40 9.57 0.090 185 19.3 1.55 0.044 2745 -5106.5 500.14 36.08 0.161 1057 29.3 0.049 - - - - - -