SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 593 * Raw log
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• Previous call tries 1 • 205.91 of 350.00 AH used of 24V (41.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.0 deg, depth -0.31 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 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 - - 126 - - - 2792 - -107.1 -80.47 - 3478 - - - - - - - - 14.65 12.60 14.61
106 6.2 -11.4 3 119 done -0.93 12.15 0.390 2590 202.8 - - 2791 - -107.1 - - 3479 - - - - - - - - 13.95 14.42 14.35
411 70.3 -11.5 14 415 roll -0.79 0.15 0.259 2629 260.0 1.95 0.109 3814 524.6 -107.1 - - 3481 - - - - - - - - 13.95 14.14 14.12
445 73.6 -9.1 19 451 done -0.70 0.12 0.214 2665 300.0 1.80 0.038 2743 -595.0 -107.1 - - 3481 - - - - - - - - 14.03 14.45 14.20
775 96.8 -7.5 33 779 roll -0.70 - - 2665 - 2.33 0.043 1386 -582.4 -107.1 - - 3482 - - - - - - - - 14.85 14.37 14.85
831 101.5 -6.9 41 836 done -0.70 - - 2656 - 2.45 0.070 2752 557.6 -107.1 - - 3486 - - - - - - - - 14.43 14.25 14.47
1167 128.8 -7.8 54 1171 roll -0.70 - - 2648 - 2.03 0.110 3831 531.5 -107.1 - - 3482 - - - - - - - - 14.86 14.16 14.86
1257 137.2 -9.2 67 1262 done -0.70 - - 2647 - 1.80 0.040 2736 -608.3 -107.1 - - 3482 - - - - - - - - 14.51 14.48 14.52
1615 168.0 -8.8 76 1615 done -0.70 - - 2647 - - - 2736 - -107.1 - - 3479 - - - - - - - - 14.89 14.89 14.89
1951 196.7 -8.5 82 1951 done -0.70 - - 2648 - - - 2736 - -107.1 - - 3477 - - - - - - - - 14.87 14.87 14.85
2287 225.6 -8.6 88 2291 roll -0.70 - - 2647 - 2.28 0.042 1408 -582.5 -107.1 - - 3472 - - - - - - - - 14.87 14.36 14.87
2342 230.5 -8.6 96 2348 done -0.70 0.10 0.235 2667 200.0 2.47 0.068 2773 552.6 -107.1 - - 3473 - - - - - - - - 13.99 14.24 14.22
2679 256.4 -7.7 109 2684 roll -0.78 - - 2668 - 2.38 0.042 1408 -573.5 -107.1 - - 3472 - - - - - - - - 14.86 14.35 14.86
2741 261.2 -7.5 118 2746 done -0.88 0.08 0.145 2585 -1037.5 2.45 0.068 2765 553.9 -107.1 - - 3472 - - - - - - - - 14.31 14.22 14.42
3071 296.2 -10.8 130 3075 roll -0.88 - - 2580 - 2.00 0.107 3831 533.0 -107.1 - - 3469 - - - - - - - - 14.87 14.10 14.87
3154 305.6 -11.1 142 3159 done -0.79 0.20 0.209 2634 270.0 1.77 0.041 2788 -589.3 -107.1 - - 3469 - - - - - - - - 13.88 14.41 14.07
3519 336.3 -8.5 152 3523 roll -0.79 - - 2634 - 2.45 0.043 1368 -579.6 -107.1 - - 3467 - - - - - - - - 14.86 14.33 14.86
3566 340.6 -8.5 159 3574 done -0.79 - - 2625 - 2.55 0.067 2767 548.6 -107.1 - - 3466 - - - - - - - - 14.36 14.16 14.40
3911 371.8 -9.2 166 3911 done -0.79 - - 2625 - - - 2767 - -107.1 - - 3465 - - - - - - - - 14.86 14.86 14.86
4247 402.0 -8.9 172 4251 roll -0.79 - - 2625 - 2.45 0.041 1368 -571.0 -107.1 - - 3463 - - - - - - - - 14.86 14.32 14.86
4287 405.6 -8.5 178 4293 done -0.79 - - 2616 - 2.55 0.069 2765 547.8 -107.1 - - 3463 - - - - - - - - 14.38 14.19 14.43
4638 436.3 -8.9 186 4639 done -0.79 - - 2616 - - - 2762 - -107.1 - - 3461 - - - - - - - - 14.89 14.89 14.89
4975 467.6 -9.4 192 4979 roll -0.79 - - 2615 - 2.45 0.044 1371 -567.8 -107.1 - - 3457 - - - - - - - - 14.90 14.29 14.88
5009 471.1 -10.0 197 5014 done -0.79 0.12 0.233 2642 225.0 2.55 0.070 2754 542.4 -107.1 - - 3460 - - - - - - - - 13.94 14.14 14.21
5366 503.1 -9.0 206 5367 done -0.79 - - 2641 - - - 2755 - -107.1 - - 3458 - - - - - - - - 14.85 14.86 14.85
5703 532.2 -8.5 212 5707 roll -0.79 - - 2640 - 2.45 0.044 1367 -566.5 -107.1 - - 3457 - - - - - - - - 14.85 14.26 14.85
5771 538.0 -8.2 222 5777 done -0.79 - - 2632 - 2.55 0.070 2754 543.9 -107.1 - - 3457 - - - - - - - - 14.33 14.12 14.37
6095 563.9 -8.0 233 6099 roll -0.79 - - 2631 - 2.45 0.042 1367 -566.1 -107.1 - - 3455 - - - - - - - - 14.84 14.26 14.84
6150 568.4 -7.9 241 6155 done -0.79 - - 2623 - 2.55 0.071 2746 540.8 -107.1 - - 3455 - - - - - - - - 14.30 14.09 14.33
6487 595.1 -7.9 254 6491 roll -0.79 - - 2615 - 2.08 0.112 3832 522.1 -107.1 - - 3454 - - - - - - - - 14.87 13.97 14.88
6520 598.0 -8.4 259 6527 done -0.79 0.08 0.197 2635 250.0 1.90 0.043 2742 -573.7 -107.1 - - 3454 - - - - - - - - 13.97 14.33 14.11
6879 624.5 -7.5 268 6883 roll -0.79 - - 2637 - 2.40 0.042 1365 -573.8 -107.1 - - 3451 - - - - - - - - 14.84 14.26 14.84
6954 630.7 -8.0 279 6961 done -0.79 - - 2628 - 2.58 0.070 2748 536.0 -107.1 - - 3452 - - - - - - - - 14.28 14.06 14.33
7270 657.2 -8.5 289 7271 done -0.79 - - 2628 - - - 2748 - -107.1 - - 3451 - - - - - - - - 14.84 14.83 14.84
7607 687.2 -8.9 295 7612 roll -0.79 - - 2628 - 2.45 0.042 1367 -563.7 -107.1 - - 3447 - - - - - - - - 14.83 14.23 14.83
7675 693.4 -8.8 305 7681 done -0.79 - - 2619 - 2.58 0.071 2751 536.4 -107.1 - - 3448 - - - - - - - - 14.23 14.01 14.28
7998 722.2 -8.9 316 8003 roll -0.79 - - 2612 - 2.08 0.117 3831 519.2 -107.1 - - 3451 - - - - - - - - 14.83 13.88 14.83
8033 725.4 -9.4 321 8038 done -0.79 0.10 0.200 2640 280.0 1.90 0.045 2745 -571.6 -107.1 - - 3448 - - - - - - - - 13.88 14.30 14.02
8391 752.7 -7.5 330 8396 roll -0.79 - - 2640 - 2.45 0.044 1359 -565.7 -107.1 - - 3447 - - - - - - - - 14.85 14.19 14.86
8453 757.3 -7.4 339 8459 done -0.87 - - 2632 - 2.60 0.073 2747 533.8 -107.1 - - 3447 - - - - - - - - 14.12 13.90 14.18
8783 782.1 -7.5 351 8783 done -0.87 - - 2632 - - - 2747 - -107.1 - - 3446 - - - - - - - - 14.82 14.82 14.83
9059 end dive: TARGET_DEPTH_EXCEEDED
9059 begin apogee
9068 802.7 -7.4 356 9177 roll -0.23 0.68 0.189 2820 276.5 0.12 0.143 2270 -3975.0 - 100.90 2.504 3053 -3.9 0.257 - - - - 1 - 13.75 13.83 12.51
9178 end apogee: CONTROL_FINISHED_OK
9178 begin climb
9182 805.7 - 358 9316 roll 0.93 1.15 0.111 3178 311.3 2.53 0.056 889 -545.8 107.1 124.00 1.802 2624 -3.5 0.319 - - - - - - 13.93 13.98 12.95
9358 803.7 5.9 384 9400 done 0.85 - - 3177 - 2.42 0.055 2248 561.6 142.7 38.30 1.817 2481 -3.7 0.340 - - - - - - 14.26 14.14 13.05
9733 770.5 9.3 402 9738 roll 0.74 0.10 0.250 3145 -320.0 2.67 0.106 3655 527.0 142.7 - - 2465 - - - - - - - - 14.07 14.17 14.24
9828 761.2 9.3 416 9834 done 0.64 0.17 0.245 3108 -217.6 2.38 0.041 2258 -587.0 142.7 - - 2465 - - - - - - - - 14.01 14.38 14.33
10179 736.5 7.0 424 10195 done 0.66 - - 3111 - - - 2254 - 157.4 13.98 1.907 2425 -2.9 0.228 - - - - - - 14.81 14.33 13.32
10516 713.1 6.9 430 10541 roll 0.68 - - 3109 - 2.72 0.112 3651 513.6 173.5 18.73 1.875 2350 -4.0 0.314 - - - - - - 14.77 14.29 13.31
10591 706.9 8.6 441 10597 done 0.68 - - 3120 - 2.40 0.041 2251 -583.3 173.5 - - 2346 - - - - - - - - 14.49 14.42 14.51
10907 681.4 8.1 451 10908 done 0.68 - - 3120 - - - 2249 - 173.5 - - 2344 - - - - - - - - 14.78 14.78 14.78
11243 653.6 8.3 457 11248 roll 0.68 - - 3120 - 2.72 0.114 3652 515.8 173.5 - - 2343 - - - - - - - - 14.79 14.10 14.80
11291 648.9 9.7 464 11298 done 0.68 - - 3128 - 2.45 0.042 2251 -571.8 173.5 - - 2343 - - - - - - - - 14.50 14.35 14.52
11635 618.6 8.8 471 11636 done 0.68 - - 3129 - - - 2250 - 173.5 - - 2342 - - - - - - - - 14.83 14.83 14.83
11971 590.6 8.3 477 11972 done 0.68 - - 3129 - - - 2250 - 173.5 - - 2342 - - - - - - - - 14.84 14.84 14.84
12307 565.0 7.5 483 12313 roll 0.68 - - 3129 - 2.78 0.118 3650 503.6 177.7 - - 2341 - - - - - - - - 14.85 14.00 14.85
12376 559.2 8.0 493 12382 done 0.68 - - 3140 - 2.40 0.043 2257 -580.4 177.7 - - 2341 - - - - - - - - 14.45 14.34 14.47
12699 535.8 7.3 504 12711 roll 0.70 - - 3150 - 2.50 0.063 862 -558.0 186.0 4.93 1.720 2312 -5.9 0.377 - - - - - - 14.81 14.35 13.13
12761 531.1 7.6 513 12769 done 0.70 - - 3150 - 2.47 0.061 2260 566.0 188.6 3.75 1.463 2299 -3.5 0.259 - - - - - - 14.54 14.37 13.09
13085 506.9 7.5 524 13098 done 0.70 - - 3150 - - - 2260 - 193.0 12.32 1.757 2282 -1.4 0.082 - - - - - - 14.78 14.35 13.40
13421 482.0 7.5 530 13426 roll 0.71 - - 3150 - 2.67 0.117 3652 521.3 198.1 1.45 0.231 2259 -15.9 6.815 - - - - - - 14.76 14.10 13.94
13462 478.5 8.8 536 13467 done 0.71 0.10 0.254 3133 -170.0 2.40 0.042 2250 -584.2 198.1 - - 2265 - - - - - - - - 14.04 14.39 14.30
13813 453.2 7.2 544 13831 done 0.72 - - 3133 - - - 2249 - 208.0 16.52 1.639 2221 -2.7 0.152 - - - - - - 14.78 14.35 13.41
14149 426.9 7.9 550 14153 roll 0.72 - - 3133 - 2.75 0.116 3662 513.8 208.0 - - 2208 - - - - - - - - 14.75 14.09 14.76
14182 423.7 9.3 555 14189 done 0.72 - - 3145 - 2.45 0.042 2262 -571.4 208.0 - - 2208 - - - - - - - - 14.39 14.33 14.40
14541 391.5 9.1 564 14541 done 0.72 - - 3145 - - - 2263 - 208.0 - - 2208 - - - - - - - - 14.78 14.78 14.78
14877 361.6 8.9 570 14877 done 0.72 - - 3143 - - - 2261 - 208.0 - - 2207 - - - - - - - - 14.79 14.79 14.78
15212 333.0 8.3 576 15217 roll 0.72 - - 3144 - 2.72 0.117 3651 511.0 208.0 - - 2208 - - - - - - - - 14.79 13.97 14.79
15253 329.3 9.1 582 15259 done 0.72 - - 3153 - 2.42 0.041 2250 -578.9 208.0 - - 2207 - - - - - - - - 14.44 14.34 14.46
15605 300.6 8.3 590 15609 roll 0.72 - - 3154 - 2.78 0.117 3659 506.8 208.0 - - 2208 - - - - - - - - 14.80 13.88 14.80
15631 297.9 9.6 594 15637 done 0.72 0.10 0.222 3137 -170.0 2.47 0.041 2253 -569.2 208.0 - - 2208 - - - - - - - - 13.89 14.28 14.31
15997 268.2 8.1 604 16001 roll 0.72 - - 3146 - 2.47 0.063 859 -564.4 208.0 - - 2208 - - - - - - - - 14.83 14.12 14.83
16016 266.5 8.0 607 16023 done 0.72 - - 3146 - 2.50 0.060 2262 561.2 208.0 - - 2208 - - - - - - - - 14.33 14.14 14.38
16333 240.6 8.3 617 16338 roll 0.72 - - 3146 - 2.70 0.114 3653 515.2 208.0 - - 2208 - - - - - - - - 14.83 13.93 14.83
16388 235.4 9.5 625 16393 done 0.72 - - 3155 - 2.40 0.041 2264 -578.8 208.0 - - 2208 - - - - - - - - 14.42 14.33 14.45
16724 207.2 8.3 638 16729 roll 0.72 - - 3166 - 2.50 0.062 860 -561.6 208.0 - - 2208 - - - - - - - - 14.80 14.09 14.80
16766 203.7 8.5 644 16771 done 0.72 0.10 0.219 3138 -280.0 2.53 0.059 2268 556.5 208.0 - - 2208 - - - - - - - - 13.95 14.12 14.21
17117 178.6 7.0 652 17132 done 0.74 - - 3137 - - - 2268 - 221.9 14.12 1.331 2166 -3.0 0.082 - - - - - - 14.78 14.31 13.46
17453 154.0 7.4 658 17459 roll 0.75 - - 3137 - 2.72 0.114 3659 511.4 228.9 2.00 0.226 2138 -14.0 1.964 - - - - - - 14.78 14.09 12.20
17515 148.9 8.4 667 17522 done 0.75 - - 3147 - 2.40 0.041 2255 -585.0 228.9 1.75 0.230 2138 - - - - - - - - 14.48 14.39 13.91
17838 123.9 7.8 678 17841 done 0.75 - - 3147 - - - 2253 - 228.9 1.85 0.220 2136 - - - - - - - - 14.78 14.16 13.81
18174 97.6 7.8 684 18180 roll 0.75 - - 3147 - 2.75 0.112 3655 509.8 228.9 1.62 0.220 2139 1.9 -0.169 - - - - - - 14.80 13.99 13.78
18214 94.1 8.4 690 18220 done 0.75 - - 3157 - 2.40 0.041 2260 -581.2 228.9 - - 2146 - - - - - - - - 14.42 14.33 14.45
18538 69.7 7.9 703 18544 roll 0.75 - - 3167 - 2.55 0.062 865 -547.1 228.9 1.83 0.220 2139 -3.8 0.250 - - - - - - 14.81 14.16 13.76
18622 63.9 6.8 715 18640 done 0.77 - - 3167 - 2.53 0.059 2266 553.8 247.7 12.20 0.340 2064 -6.1 0.238 - - - - - - 14.34 14.21 13.88
18961 45.6 4.4 730 19001 done 0.93 - - 3167 - - - 2266 - 315.2 38.40 0.301 1794 -7.0 0.219 - - - - - - 14.77 14.37 14.01
19294 35.6 3.4 745 19349 roll 1.26 0.32 0.066 3310 446.9 2.70 0.122 3662 517.0 401.7 47.80 0.267 1449 -7.2 0.198 - - - - - - 14.30 14.21 14.01
19446 22.8 10.5 767 19453 done 1.26 - - 3320 - 2.40 0.041 2267 -581.2 401.7 - - 1451 - - - - - - - - 14.42 14.31 14.45
19654 end climb: SURFACE_DEPTH_REACHED
19654 begin surface coast
19682 end surface coast: CONTROL_FINISHED_OK
19682 begin surface
SM -0.29 - - - - -8.40 9.18 0.060 180 19.6 0.98 0.088 2769 1774.5 500.14 49.22 0.151 1057 21.5 0.004 - - - - - -