SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 507 * Raw log
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• Previous call tries 1 • 178.76 of 350.00 AH used of 24V (48.93% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -68.9 deg, depth -3.52 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 100 done -0.93 - - 105 - - - 2781 - -107.1 -80.88 - 3478 - - - - - - - - 14.66 12.55 14.64
104 2.6 -10.7 3 121 roll -0.93 11.88 0.383 2581 208.4 1.90 0.086 3828 551.1 -107.1 - - 3478 - - - - - - - - 13.97 14.34 14.24
163 27.8 -29.3 12 169 done -0.50 0.57 0.256 2729 259.6 1.85 0.045 2762 -576.2 -107.1 - - 3479 - - - - - - - - 13.98 14.40 14.19
493 56.6 -8.0 26 498 roll -0.59 - - 2722 - 2.03 0.112 3831 526.6 -107.1 - - 3481 - - - - - - - - 14.83 14.19 14.83
534 59.5 -7.1 32 540 done -0.69 0.08 0.087 2646 -950.0 1.83 0.041 2752 -589.6 -107.1 - - 3481 - - - - - - - - 14.40 14.50 14.45
857 87.9 -8.1 45 863 roll -0.69 0.10 0.232 2676 300.0 2.33 0.042 1372 -592.3 -107.1 - - 3482 - - - - - - - - 14.31 14.45 14.51
941 93.7 -6.7 57 947 done -0.69 - - 2666 - 2.50 0.067 2775 561.2 -107.1 - - 3482 - - - - - - - - 14.54 14.37 14.57
1277 118.9 -7.6 68 1282 roll -0.69 - - 2666 - 2.40 0.041 1374 -583.8 -107.1 - - 3482 - - - - - - - - 14.88 14.47 14.89
1325 123.0 -8.8 75 1332 done -0.69 - - 2657 - 2.53 0.067 2768 551.0 -107.1 - - 3482 - - - - - - - - 14.41 14.31 14.45
1669 151.3 -8.0 82 1674 roll -0.69 - - 2657 - 2.42 0.042 1370 -577.7 -107.1 - - 3480 - - - - - - - - 14.90 14.48 14.90
1717 155.2 -7.7 89 1725 done -0.69 0.08 0.220 2673 200.0 2.55 0.068 2769 548.6 -107.1 - - 3479 - - - - - - - - 14.14 14.31 14.31
2061 179.1 -7.0 96 2066 roll -0.69 - - 2671 - 2.40 0.042 1380 -578.8 -107.1 - - 3477 - - - - - - - - 14.92 14.47 14.90
2095 181.8 -7.7 101 2102 done -0.77 - - 2662 - 2.50 0.068 2775 558.0 -107.1 - - 3477 - - - - - - - - 14.54 14.37 14.58
2453 210.6 -8.3 110 2458 roll -0.77 - - 2661 - 2.40 0.042 1380 -581.2 -107.1 - - 3474 - - - - - - - - 14.92 14.48 14.92
2495 214.3 -8.7 116 2500 done -0.85 - - 2654 - 2.47 0.067 2768 561.9 -107.1 - - 3474 - - - - - - - - 14.54 14.37 14.57
2845 245.2 -8.8 124 2846 done -0.85 - - 2654 - - - 2768 - -107.1 - - 3472 - - - - - - - - 14.93 14.93 14.93
3181 271.5 -7.5 130 3186 roll -0.85 - - 2654 - 2.42 0.043 1373 -576.4 -107.1 - - 3469 - - - - - - - - 14.93 14.47 14.93
3264 277.6 -7.2 142 3270 done -0.85 - - 2645 - 2.53 0.067 2774 553.8 -107.1 - - 3470 - - - - - - - - 14.51 14.33 14.54
3629 305.8 -7.8 152 3630 done -0.85 - - 2645 - - - 2775 - -107.1 - - 3468 - - - - - - - - 14.90 14.90 14.90
3965 332.3 -7.9 158 3970 roll -0.85 - - 2645 - 2.42 0.042 1376 -578.1 -107.1 - - 3466 - - - - - - - - 14.90 14.46 14.90
4013 336.2 -7.7 165 4021 done -0.85 - - 2637 - 2.55 0.069 2762 543.5 -107.1 - - 3465 - - - - - - - - 14.38 14.28 14.40
4357 363.3 -7.9 172 4358 done -0.85 - - 2637 - - - 2762 - -107.1 - - 3464 - - - - - - - - 14.90 14.90 14.90
4694 389.1 -7.7 178 4698 roll -0.85 - - 2636 - 2.42 0.044 1375 -573.1 -107.1 - - 3466 - - - - - - - - 14.90 14.45 14.90
4727 391.8 -7.7 183 4733 done -0.85 - - 2627 - 2.58 0.069 2765 538.8 -107.1 - - 3463 - - - - - - - - 14.50 14.25 14.54
5085 426.3 -9.4 192 5090 roll -0.85 - - 2619 - 2.00 0.114 3823 529.0 -107.1 - - 3461 - - - - - - - - 14.90 14.21 14.90
5112 428.6 -8.4 196 5118 done -0.85 - - 2618 - 1.83 0.044 2767 -577.0 -107.1 - - 3461 - - - - - - - - 14.53 14.51 14.54
5477 460.0 -8.6 206 5482 roll -0.85 - - 2618 - 2.42 0.043 1369 -577.7 -107.1 - - 3459 - - - - - - - - 14.90 14.42 14.90
5533 464.7 -8.4 214 5538 done -0.85 - - 2608 - 2.53 0.067 2768 553.0 -107.1 - - 3459 - - - - - - - - 14.49 14.32 14.52
5869 494.9 -9.0 227 5874 roll -0.85 - - 2601 - 2.00 0.113 3834 533.0 -107.1 - - 3457 - - - - - - - - 14.91 14.19 14.91
5938 501.6 -9.7 237 5945 done -0.85 - - 2600 - 1.88 0.043 2746 -578.7 -107.1 - - 3457 - - - - - - - - 14.45 14.42 14.46
6261 532.9 -9.8 248 6262 done -0.85 - - 2600 - - - 2746 - -107.1 - - 3456 - - - - - - - - 14.89 14.89 14.89
6597 566.4 -10.0 254 6602 roll -0.85 - - 2592 - 2.08 0.112 3824 518.3 -107.1 - - 3454 - - - - - - - - 14.89 14.16 14.89
6624 569.2 -10.0 258 6630 done -0.85 0.10 0.207 2620 280.0 1.83 0.044 2774 -573.8 -107.1 - - 3454 - - - - - - - - 14.07 14.47 14.23
6989 601.9 -8.8 268 6994 roll -0.85 - - 2620 - 2.45 0.043 1370 -573.1 -107.1 - - 3454 - - - - - - - - 14.88 14.38 14.88
7058 607.9 -8.4 278 7064 done -0.85 - - 2610 - 2.58 0.067 2766 541.1 -107.1 - - 3453 - - - - - - - - 14.30 14.19 14.35
7381 636.7 -8.9 289 7387 roll -0.85 - - 2603 - 2.03 0.112 3833 525.6 -107.1 - - 3451 - - - - - - - - 14.89 14.10 14.88
7415 640.0 -9.2 294 7421 done -0.85 - - 2602 - 1.88 0.044 2748 -577.1 -107.1 - - 3451 - - - - - - - - 14.50 14.47 14.52
7773 671.0 -8.6 303 7774 done -0.85 - - 2602 - - - 2748 - -107.1 - - 3450 - - - - - - - - 14.91 14.90 14.91
8109 699.8 -8.5 309 8114 roll -0.85 - - 2594 - 2.08 0.111 3826 518.3 -107.1 - - 3450 - - - - - - - - 14.88 14.12 14.88
8136 702.4 -9.5 313 8143 done -0.85 0.10 0.207 2622 280.0 1.85 0.045 2774 -568.6 -107.1 - - 3449 - - - - - - - - 14.04 14.45 14.20
8501 731.2 -7.9 323 8502 done -0.85 - - 2622 - - - 2774 - -107.1 - - 3449 - - - - - - - - 14.87 14.88 14.88
8837 759.7 -8.5 329 8843 roll -0.85 - - 2622 - 2.47 0.044 1359 -572.9 -107.1 - - 3448 - - - - - - - - 14.88 14.34 14.88
8906 765.5 -8.2 339 8912 done -0.85 - - 2612 - 2.58 0.067 2751 539.5 -107.1 - - 3447 - - - - - - - - 14.23 14.14 14.28
9229 793.8 -9.0 350 9234 roll -0.85 - - 2605 - 2.05 0.113 3829 525.9 -107.1 - - 3446 - - - - - - - - 14.90 14.07 14.90
9277 798.5 -9.5 357 9285 done -0.85 - - 2604 - 1.90 0.045 2742 -572.1 -107.1 - - 3446 - - - - - - - - 14.42 14.39 14.43
9338 end dive: TARGET_DEPTH_EXCEEDED
9338 begin apogee
9346 803.8 -8.6 359 9459 roll -0.23 0.75 0.180 2821 289.3 0.08 0.181 2262 -6000.0 - 110.72 1.856 3049 -3.6 0.348 - - - - - - 13.98 13.95 13.02
9460 end apogee: CONTROL_FINISHED_OK
9461 begin climb
9464 807.7 - 361 9588 roll 0.93 1.10 0.089 3182 328.2 2.55 0.053 849 -554.1 107.1 115.07 1.817 2622 -3.7 0.370 - - - - - - 14.04 14.07 12.98
9617 806.0 4.3 384 9698 done 0.87 - - 3182 - 2.50 0.050 2253 561.6 175.2 74.07 1.795 2345 -3.7 0.376 - - - - - - 14.21 14.10 13.02
10011 769.7 9.9 405 10016 roll 0.77 0.08 0.265 3156 -325.0 2.60 0.097 3652 538.1 175.2 - - 2332 - - - - - - - - 14.19 14.26 14.34
10051 765.4 10.3 411 10057 done 0.67 0.17 0.221 3117 -229.4 2.42 0.040 2235 -585.5 175.2 - - 2331 - - - - - - - - 14.16 14.46 14.42
10402 739.7 7.3 419 10405 done 0.69 - - 3117 - - - 2231 - 184.7 2.15 0.425 2313 -8.4 3.265 - - - - - - 14.84 14.27 12.90
10738 715.8 7.1 425 10764 roll 0.70 - - 3117 - 2.67 0.101 3649 531.1 196.3 20.15 1.850 2260 -2.6 0.228 - - - - - - 14.84 14.37 13.39
10827 708.2 9.0 438 10834 done 0.70 - - 3126 - 2.45 0.040 2250 -571.0 196.3 - - 2256 - - - - - - - - 14.46 14.43 14.47
11186 678.4 8.5 447 11186 done 0.70 - - 3126 - - - 2246 - 196.3 - - 2254 - - - - - - - - 14.80 14.80 14.80
11521 648.0 9.1 453 11526 roll 0.70 - - 3126 - 2.65 0.103 3650 529.8 196.3 - - 2253 - - - - - - - - 14.83 14.23 14.83
11556 644.4 10.4 458 11562 done 0.70 - - 3136 - 2.45 0.041 2251 -571.0 196.3 - - 2252 - - - - - - - - 14.47 14.43 14.50
11914 610.8 9.4 467 11915 done 0.70 - - 3136 - - - 2248 - 196.3 - - 2252 - - - - - - - - 14.84 14.84 14.84
12249 581.6 8.5 473 12254 roll 0.70 - - 3136 - 2.65 0.103 3650 529.1 196.3 - - 2252 - - - - - - - - 14.85 14.19 14.85
12269 579.6 8.6 476 12275 done 0.70 - - 3147 - 2.45 0.041 2251 -571.0 196.3 - - 2252 - - - - - - - - 14.45 14.41 14.48
12585 553.6 8.1 486 12591 roll 0.70 - - 3157 - 2.45 0.060 862 -566.9 196.3 - - 2251 - - - - - - - - 14.85 14.30 14.85
12626 550.4 7.9 492 12633 done 0.70 0.08 0.209 3133 -300.0 2.47 0.054 2254 563.6 196.3 - - 2251 - - - - - - - - 14.08 14.29 14.23
12978 525.5 7.0 500 12997 roll 0.72 - - 3134 - 2.60 0.102 3658 540.0 210.7 13.98 1.766 2204 -3.4 0.224 - - - - - - 14.85 14.20 13.39
13068 518.2 8.3 513 13073 done 0.72 - - 3142 - 2.45 0.039 2252 -573.9 210.7 - - 2200 - - - - - - - - 14.44 14.40 14.47
13425 490.2 8.0 522 13431 roll 0.72 - - 3154 - 2.45 0.061 861 -567.8 210.7 - - 2198 - - - - - - - - 14.81 14.31 14.81
13446 488.4 8.3 525 13452 done 0.72 - - 3153 - 2.47 0.054 2251 562.8 210.7 - - 2198 - - - - - - - - 14.38 14.31 14.42
13762 460.0 9.1 535 13766 roll 0.72 - - 3153 - 2.65 0.104 3656 530.2 210.7 - - 2198 - - - - - - - - 14.83 14.17 14.83
13823 453.6 10.2 544 13829 done 0.72 0.10 0.220 3134 -190.0 2.45 0.040 2254 -572.2 210.7 - - 2198 - - - - - - - - 14.04 14.38 14.21
14153 427.4 7.8 556 14158 roll 0.72 - - 3145 - 2.45 0.060 858 -569.8 210.7 - - 2197 - - - - - - - - 14.87 14.28 14.87
14195 424.3 7.6 562 14201 done 0.72 - - 3145 - 2.50 0.054 2260 560.8 213.7 - - 2197 - - - - - - - - 14.35 14.26 14.39
14546 398.0 7.5 570 14552 roll 0.73 - - 3145 - 2.67 0.104 3652 521.3 218.3 2.17 0.444 2182 -6.9 1.388 - - - - - - 14.87 14.26 13.00
14636 390.4 8.4 583 14642 done 0.73 - - 3155 - 2.42 0.040 2261 -574.8 218.3 1.90 0.220 2180 - - - - - - - - 14.45 14.38 13.85
14993 361.0 8.3 592 14999 roll 0.73 - - 3165 - 2.47 0.058 865 -565.2 218.3 1.55 0.230 2183 1.9 -0.681 - - - - - - 14.84 14.09 13.89
15028 358.0 8.6 597 15034 done 0.73 0.08 0.206 3135 -375.0 2.50 0.054 2260 558.0 218.3 1.73 0.225 2179 -2.3 0.824 - - - - - - 14.04 14.27 13.89
15386 330.1 7.8 606 15392 roll 0.73 - - 3134 - 2.70 0.102 3653 515.9 218.3 1.58 0.231 2182 1.9 -0.608 - - - - - - 14.87 14.13 13.88
15441 325.2 9.0 614 15448 done 0.73 - - 3145 - 2.40 0.040 2253 -583.3 218.3 1.70 0.237 2180 - - - - - - - - 14.54 14.45 13.85
15778 297.5 8.2 627 15781 done 0.73 - - 3145 - - - 2249 - 218.3 1.90 0.233 2179 - - - - - - - - 14.83 14.13 13.71
16114 269.7 8.5 633 16117 done 0.73 - - 3145 - - - 2248 - 218.3 1.73 0.230 2180 - - - - - - - - 14.84 14.17 13.82
16449 238.0 9.3 639 16455 roll 0.73 - - 3155 - 2.47 0.058 861 -561.5 218.3 1.55 0.232 2183 1.9 -0.445 - - - - - - 14.87 14.03 13.82
16490 234.5 8.4 645 16497 done 0.73 - - 3155 - 2.50 0.053 2261 560.0 218.3 1.52 0.219 2180 -2.0 0.474 - - - - - - 14.30 14.22 13.78
16841 207.2 7.8 653 16848 roll 0.73 - - 3155 - 2.70 0.102 3656 516.7 218.3 2.00 0.241 2183 1.5 -0.289 - - - - - - 14.84 14.15 11.21
16911 200.4 10.1 663 16917 done 0.73 0.10 0.213 3136 -190.0 2.42 0.039 2263 -575.6 218.3 1.98 0.226 2183 - - - - - - - - 14.00 14.38 13.66
17227 175.9 7.6 673 17234 roll 0.73 - - 3146 - 2.53 0.059 858 -555.3 220.5 3.20 1.008 2175 -2.5 0.098 - - - - - - 14.84 14.38 13.17
17276 172.3 7.6 680 17288 done 0.73 - - 3146 - 2.45 0.052 2269 575.9 223.0 4.12 1.297 2166 -2.2 0.065 - - - - - - 14.52 14.39 13.19
17612 145.5 8.1 693 17618 roll 0.73 - - 3146 - 2.65 0.101 3652 521.9 223.0 2.15 0.424 2165 - - - - - - - - 14.84 14.27 13.01
17639 143.1 8.4 697 17645 done 0.73 - - 3156 - 2.42 0.038 2255 -577.3 223.0 1.62 0.223 2163 - - - - - - - - 14.47 14.42 13.94
17997 113.6 8.5 706 18003 roll 0.73 - - 3166 - 2.50 0.059 866 -555.6 223.0 2.03 0.248 2164 - - - - - - - - 14.85 14.16 13.53
18094 104.2 9.6 720 18101 done 0.73 0.08 0.196 3144 -275.0 2.45 0.050 2252 565.7 223.0 1.83 0.213 2163 - - - - - - - - 14.04 14.24 13.78
18420 78.2 6.9 732 18437 roll 0.75 - - 3153 - 2.42 0.055 865 -573.1 239.9 11.15 0.392 2096 -6.0 0.269 - - - - - - 14.79 14.33 13.91
18458 75.5 6.2 738 18479 done 0.87 - - 3151 - 2.45 0.050 2277 576.3 270.5 17.27 0.395 1973 -7.1 0.305 - - - - - - 14.50 14.35 13.95
18805 52.9 6.3 754 18829 roll 1.00 0.12 0.094 3260 908.3 2.60 0.101 3649 527.7 299.1 16.48 0.326 1862 -6.7 0.245 - - - - - - 14.47 14.21 13.94
18970 35.5 8.0 778 18976 done 0.90 0.28 0.214 3193 -239.3 2.38 0.037 2250 -587.8 299.1 - - 1865 - - - - - - - - 14.01 14.44 14.28
19309 26.2 1.1 793 19383 roll 1.21 0.20 0.071 3323 650.0 2.53 0.063 865 -547.4 430.9 68.55 0.255 1333 -7.8 0.179 - - - - - - 14.38 14.31 14.05
19399 22.3 7.1 806 19411 done 1.23 - - 3324 - 2.45 0.051 2272 574.3 443.4 7.35 0.243 1282 -6.9 0.143 - - - - - - 14.48 14.35 14.01
19604 end climb: SURFACE_DEPTH_REACHED
19604 begin surface coast
19632 end surface coast: CONTROL_FINISHED_OK
19632 begin surface
SM -3.68 - - - - -8.40 9.40 0.081 188 20.0 0.90 0.085 2766 -7208.9 500.14 27.98 0.157 1057 37.8 0.091 - - - - - -