SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 584 * Raw log
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• Previous call tries 1 • 203.27 of 350.00 AH used of 24V (41.92% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.4 deg, depth -2.88 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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 - - 128 - - - 2782 - -107.1 -80.72 - 3479 - - - - - - - - 14.64 12.55 14.61
105 3.5 -11.3 3 122 roll -0.93 12.07 0.392 2587 203.7 2.42 0.036 1362 -586.8 -107.1 - - 3479 - - - - - - - - 13.90 14.31 14.19
200 35.4 -21.5 17 206 done -0.72 0.32 0.246 2664 240.6 2.55 0.067 2776 554.5 -107.1 - - 3480 - - - - - - - - 14.00 14.26 14.30
523 64.3 -6.4 30 528 roll -0.72 - - 2655 - 1.95 0.106 3827 539.0 -107.1 - - 3482 - - - - - - - - 14.80 14.19 14.80
579 68.1 -7.3 38 583 done -0.72 - - 2655 - 1.77 0.038 2730 -619.8 -107.1 - - 3483 - - - - - - - - 14.50 14.45 14.51
914 93.8 -8.0 53 915 done -0.72 - - 2655 - - - 2733 - -107.1 - - 3483 - - - - - - - - 14.84 14.83 14.83
1222 120.7 -8.9 60 1223 done -0.72 - - 2655 - - - 2733 - -107.1 - - 3483 - - - - - - - - 14.86 14.84 14.86
1559 150.0 -8.6 66 1563 roll -0.72 - - 2647 - 2.08 0.106 3826 525.5 -107.1 - - 3482 - - - - - - - - 14.87 14.19 14.87
1615 155.1 -9.1 74 1619 done -0.72 - - 2646 - 1.75 0.041 2765 -606.3 -107.1 - - 3482 - - - - - - - - 14.57 14.52 14.59
1951 186.2 -9.4 87 1955 roll -0.72 - - 2647 - 2.38 0.042 1382 -581.1 -107.1 - - 3478 - - - - - - - - 14.87 14.40 14.87
1999 191.0 -9.6 94 2006 done -0.72 0.10 0.247 2666 190.0 2.50 0.065 2767 554.0 -107.1 - - 3479 - - - - - - - - 14.07 14.25 14.33
2343 218.7 -7.7 101 2348 roll -0.72 - - 2666 - 2.40 0.041 1379 -578.3 -107.1 - - 3481 - - - - - - - - 14.90 14.32 14.89
2399 223.0 -7.7 109 2405 done -0.80 - - 2658 - 2.47 0.064 2761 559.5 -107.1 - - 3479 - - - - - - - - 14.45 14.28 14.49
2735 248.4 -7.5 122 2740 roll -0.80 - - 2658 - 2.40 0.041 1387 -572.5 -107.1 - - 3474 - - - - - - - - 14.89 14.39 14.89
2769 251.0 -7.7 127 2774 done -0.80 - - 2650 - 2.47 0.065 2760 555.9 -107.1 - - 3474 - - - - - - - - 14.45 14.28 14.48
3127 277.8 -7.5 136 3127 done -0.80 - - 2650 - - - 2760 - -107.1 - - 3472 - - - - - - - - 14.87 14.87 14.87
3463 304.5 -8.1 142 3467 roll -0.80 - - 2650 - 2.40 0.042 1386 -572.5 -107.1 - - 3471 - - - - - - - - 14.86 14.38 14.87
3524 309.8 -8.4 151 3530 done -0.80 - - 2641 - 2.53 0.067 2762 543.9 -107.1 - - 3470 - - - - - - - - 14.42 14.25 14.46
3854 338.2 -8.6 163 3855 done -0.80 - - 2641 - - - 2762 - -107.1 - - 3469 - - - - - - - - 14.86 14.86 14.86
4190 366.1 -8.3 169 4191 done -0.80 - - 2641 - - - 2762 - -107.1 - - 3467 - - - - - - - - 14.87 14.87 14.87
4527 393.2 -8.0 175 4527 done -0.80 - - 2641 - - - 2762 - -107.1 - - 3466 - - - - - - - - 14.87 14.86 14.87
4863 418.6 -7.4 181 4868 roll -0.80 - - 2639 - 2.42 0.042 1388 -567.8 -107.1 - - 3464 - - - - - - - - 14.87 14.35 14.87
4932 423.7 -7.3 191 4937 done -0.80 - - 2633 - 2.53 0.067 2758 541.5 -107.1 - - 3463 - - - - - - - - 14.42 14.24 14.45
5255 449.2 -8.1 202 5259 roll -0.80 - - 2625 - 2.03 0.110 3820 523.2 -107.1 - - 3463 - - - - - - - - 14.85 14.08 14.85
5302 453.6 -8.9 209 5310 done -0.80 - - 2623 - 1.83 0.042 2756 -581.4 -107.1 - - 3463 - - - - - - - - 14.42 14.39 14.44
5646 483.4 -8.8 216 5651 roll -0.80 - - 2624 - 2.40 0.042 1377 -574.6 -107.1 - - 3461 - - - - - - - - 14.85 14.32 14.86
5702 488.3 -8.5 224 5707 done -0.80 - - 2614 - 2.53 0.067 2753 543.9 -107.1 - - 3461 - - - - - - - - 14.39 14.20 14.42
6038 516.4 -8.2 237 6044 roll -0.80 - - 2607 - 2.03 0.110 3821 526.1 -107.1 - - 3460 - - - - - - - - 14.89 14.05 14.89
6079 520.0 -8.8 243 6085 done -0.80 0.10 0.204 2635 280.0 1.85 0.043 2754 -576.8 -107.1 - - 3459 - - - - - - - - 13.95 14.38 14.12
6431 545.3 -7.2 251 6436 roll -0.80 - - 2635 - 2.40 0.043 1376 -574.2 -107.1 - - 3458 - - - - - - - - 14.88 14.31 14.88
6507 551.1 -7.4 262 6512 done -0.80 - - 2627 - 2.53 0.065 2751 543.5 -107.1 - - 3457 - - - - - - - - 14.35 14.18 14.40
6822 577.2 -8.4 272 6823 done -0.80 - - 2627 - - - 2751 - -107.1 - - 3454 - - - - - - - - 14.88 14.88 14.88
7159 605.8 -8.5 278 7160 done -0.80 - - 2627 - - - 2751 - -107.1 - - 3456 - - - - - - - - 14.88 14.88 14.88
7494 634.1 -8.3 284 7495 done -0.80 - - 2627 - - - 2751 - -107.1 - - 3456 - - - - - - - - 14.91 14.88 14.88
7830 661.8 -8.3 290 7835 roll -0.80 - - 2626 - 2.45 0.042 1371 -563.3 -107.1 - - 3453 - - - - - - - - 14.88 14.30 14.88
7858 664.1 -8.2 294 7863 done -0.80 - - 2618 - 2.53 0.067 2750 545.1 -107.1 - - 3453 - - - - - - - - 14.34 14.14 14.38
8222 694.9 -8.5 304 8227 roll -0.80 - - 2617 - 2.42 0.042 1371 -569.8 -107.1 - - 3452 - - - - - - - - 14.88 14.24 14.88
8256 698.0 -9.0 309 8263 done -0.80 0.08 0.230 2637 250.0 2.58 0.068 2738 529.8 -107.1 - - 3452 - - - - - - - - 13.81 14.03 14.11
8615 725.5 -7.6 318 8619 roll -0.80 - - 2629 - 2.10 0.114 3826 518.1 -107.1 - - 3450 - - - - - - - - 14.83 13.93 14.84
8648 728.3 -8.0 323 8654 done -0.80 - - 2629 - 1.88 0.044 2746 -574.5 -107.1 - - 3450 - - - - - - - - 14.33 14.31 14.35
9007 755.0 -7.4 332 9012 roll -0.80 - - 2628 - 2.40 0.043 1371 -572.9 -107.1 - - 3449 - - - - - - - - 14.85 14.23 14.83
9055 758.7 -7.6 339 9061 done -0.80 - - 2621 - 2.60 0.068 2747 529.2 -107.1 - - 3449 - - - - - - - - 14.09 14.00 14.14
9399 783.8 -7.3 346 9399 done -0.80 - - 2621 - - - 2747 - -107.1 - - 3448 - - - - - - - - 14.83 14.83 14.83
9619 end dive: TARGET_DEPTH_EXCEEDED
9619 begin apogee
9628 800.0 -7.3 350 9746 roll -0.23 0.73 0.190 2822 275.3 0.10 0.158 2276 -4710.0 - 115.43 1.797 3049 -3.5 0.308 - - - - - - 13.78 13.94 12.95
9748 end apogee: CONTROL_FINISHED_OK
9748 begin climb
9751 802.5 - 352 9878 roll 0.93 1.12 0.108 3179 318.7 2.53 0.055 888 -548.6 107.1 116.47 1.788 2625 -3.6 0.327 - - - - - - 14.00 14.06 12.94
9955 797.1 6.7 383 9981 done 0.84 - - 3179 - 2.40 0.052 2244 565.0 127.2 21.77 1.857 2544 -3.7 0.320 - - - - - - 14.31 14.19 13.10
10291 768.7 8.7 396 10296 roll 0.72 0.12 0.248 3139 -333.3 2.65 0.096 3651 530.9 127.2 - - 2527 - - - - - - - - 14.02 14.18 14.21
10374 761.4 8.5 408 10380 done 0.61 0.20 0.239 3097 -210.0 2.38 0.040 2261 -584.0 127.2 - - 2527 - - - - - - - - 14.02 14.40 14.33
10739 738.9 6.1 418 10777 done 0.65 - - 3097 - - - 2259 - 160.3 36.38 1.806 2412 -3.2 0.259 - - - - - - 14.78 14.25 13.28
11076 717.0 6.6 424 11108 roll 0.68 - - 3096 - 2.70 0.102 3641 511.9 183.5 24.73 1.836 2312 -4.0 0.316 - - - - - - 14.71 14.23 13.25
11179 709.3 7.7 439 11186 done 0.68 - - 3106 - 2.42 0.040 2256 -572.3 184.3 - - 2307 - - - - - - - - 14.37 14.33 14.40
11524 685.3 6.9 446 11543 done 0.70 - - 3106 - - - 2255 - 200.0 17.90 1.838 2254 -3.0 0.221 - - - - - - 14.75 14.31 13.32
11860 660.8 7.4 452 11865 roll 0.71 - - 3106 - 2.75 0.104 3647 506.2 206.8 1.52 0.228 2224 -19.7 11.450 - - - - - - 14.75 14.16 14.02
11935 654.4 8.5 463 11941 done 0.71 - - 3115 - 2.40 0.041 2255 -580.0 206.8 - - 2232 - - - - - - - - 14.50 14.40 14.52
12300 626.9 7.5 473 12311 roll 0.71 - - 3115 - 2.72 0.106 3652 513.6 210.9 3.10 1.082 2216 -5.2 0.599 - - - - - - 14.79 14.32 13.14
12341 623.4 8.5 479 12347 done 0.71 - - 3131 - 2.40 0.040 2246 -585.8 210.9 2.33 0.591 2209 -3.0 0.634 - - - - - - 14.57 14.48 13.00
12692 595.7 7.9 487 12698 roll 0.71 - - 3124 - 2.78 0.106 3650 505.0 210.9 1.95 0.224 2210 - - - - - - - - 14.80 14.07 13.90
12733 591.9 9.4 493 12742 done 0.71 - - 3133 - 2.42 0.041 2266 -571.9 210.9 1.02 0.226 2213 2.9 -1.542 - - - - - - 14.40 14.35 14.01
13077 563.2 8.3 500 13081 done 0.71 - - 3133 - - - 2265 - 210.9 1.92 0.223 2209 -2.1 1.053 - - - - - - 14.83 14.19 13.84
13413 536.1 8.0 506 13419 roll 0.71 - - 3133 - 2.75 0.106 3646 502.2 210.9 1.83 0.225 2211 - - - - - - - - 14.84 14.04 13.81
13454 532.4 9.4 512 13462 done 0.71 - - 3144 - 2.45 0.041 2240 -573.9 210.9 1.77 0.229 2209 - - - - - - - - 14.45 14.33 13.88
13799 503.3 8.4 519 13802 done 0.71 - - 3144 - - - 2236 - 210.9 1.85 0.224 2208 - - - - - - - - 14.81 14.14 13.80
14134 475.1 8.3 525 14141 roll 0.71 - - 3144 - 2.83 0.107 3649 499.3 210.9 1.80 0.224 2210 - - - - - - - - 14.84 14.01 13.76
14190 470.1 9.2 533 14196 done 0.71 - - 3154 - 2.40 0.041 2262 -577.9 210.9 - - 2218 - - - - - - - - 14.45 14.37 14.47
14526 441.0 8.7 546 14532 roll 0.71 - - 3164 - 2.58 0.060 859 -543.8 210.9 1.73 0.224 2210 -4.6 1.822 - - - - - - 14.83 14.14 13.78
14575 436.6 9.1 553 14581 done 0.71 0.12 0.219 3129 -291.7 2.50 0.057 2262 561.2 210.9 - - 2218 - - - - - - - - 13.95 14.19 14.20
14911 408.8 8.3 566 14917 roll 0.71 - - 3128 - 2.75 0.105 3657 507.3 210.9 1.70 0.226 2210 -4.7 1.704 - - - - - - 14.84 13.99 13.76
14994 400.9 9.4 578 15000 done 0.71 - - 3138 - 2.45 0.040 2263 -569.0 210.9 1.62 0.200 2209 - - - - - - - - 14.32 14.28 13.82
15352 371.5 8.1 587 15358 roll 0.71 - - 3139 - 2.72 0.105 3662 514.3 210.9 1.62 0.223 2212 1.9 -0.617 - - - - - - 14.81 13.94 13.75
15414 366.0 9.0 596 15420 done 0.71 - - 3148 - 2.42 0.041 2258 -580.2 210.9 1.77 0.223 2213 - - - - - - - - 14.40 14.30 13.81
15745 339.7 7.9 608 15750 roll 0.71 - - 3158 - 2.58 0.060 856 -543.4 210.9 1.77 0.222 2210 -1.7 0.519 - - - - - - 14.83 14.04 13.68
15771 337.4 8.3 612 15777 done 0.71 - - 3158 - 2.50 0.054 2267 564.4 210.9 - - 2217 - - - - - - - - 14.34 14.18 14.38
16130 306.9 8.5 621 16136 roll 0.71 - - 3158 - 2.75 0.106 3662 507.3 210.9 1.80 0.220 2212 -2.8 0.776 - - - - - - 14.80 13.96 13.71
16212 298.8 9.8 633 16220 done 0.71 0.12 0.217 3131 -225.0 2.45 0.039 2263 -571.0 210.9 1.85 0.195 2209 -1.6 0.497 - - - - - - 13.80 14.24 13.76
16578 269.8 8.0 643 16584 roll 0.71 - - 3134 - 2.78 0.103 3660 502.5 210.9 1.83 0.221 2210 - - - - - - - - 14.84 13.97 13.71
16604 267.3 8.6 647 16610 done 0.71 - - 3145 - 2.40 0.040 2268 -580.0 210.9 - - 2216 - - - - - - - - 14.33 14.23 14.35
16963 238.8 8.0 656 16966 done 0.71 - - 3145 - - - 2266 - 210.9 1.98 0.219 2209 -3.5 0.772 - - - - - - 14.85 13.99 13.63
17299 212.1 8.0 662 17302 done 0.71 - - 3145 - - - 2266 - 210.9 2.10 0.352 2209 - - - - - - - - 14.84 14.19 12.75
17635 185.7 7.7 668 17638 done 0.71 - - 3145 - - - 2266 - 211.5 2.30 0.490 2207 - - - - - - - - 14.81 14.23 13.17
17971 161.5 7.0 674 17994 done 0.73 - - 3145 - - - 2265 - 225.7 22.30 1.222 2150 -2.6 0.068 - - - - - - 14.81 14.27 13.42
18307 135.9 7.9 680 18311 roll 0.73 - - 3145 - 2.70 0.103 3658 515.9 225.7 - - 2135 - - - - - - - - 14.78 14.10 14.76
18333 133.4 9.0 684 18339 done 0.73 - - 3154 - 2.42 0.039 2276 -571.1 225.7 - - 2135 - - - - - - - - 14.37 14.33 14.40
18699 104.3 7.7 694 18700 done 0.73 - - 3154 - - - 2272 - 226.1 - - 2135 - - - - - - - - 14.79 14.83 14.79
19007 80.1 8.5 703 19011 roll 0.73 - - 3154 - 2.65 0.101 3651 520.4 226.1 - - 2135 - - - - - - - - 14.79 14.04 14.79
19076 74.2 8.0 713 19082 done 0.73 - - 3164 - 2.38 0.038 2273 -579.0 226.1 - - 2135 - - - - - - - - 14.46 14.38 14.48
19399 53.5 6.6 726 19417 roll 0.76 - - 3174 - 2.58 0.059 852 -550.8 249.2 10.55 0.316 2058 -7.3 0.247 - - - - - - 14.83 14.27 13.84
19615 44.2 3.5 757 19669 done 0.94 - - 3174 - 2.53 0.050 2277 563.2 333.8 46.17 0.304 1719 -7.3 0.214 - - - - - - 14.37 14.22 13.98
19990 27.8 3.6 777 20043 done 1.28 0.30 0.067 3312 460.0 - - 2275 - 417.0 44.75 0.252 1391 -7.3 0.162 - - - - - - 14.33 14.33 14.02
20263 end climb: SURFACE_DEPTH_REACHED
20263 begin surface coast
20291 end surface coast: CONTROL_FINISHED_OK
20291 begin surface
SM -3.08 - - - - -8.40 9.50 0.087 189 19.9 0.93 0.090 2763 -8493.5 500.14 41.42 0.154 1057 25.5 0.052 - - - - - -