SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 513 * Raw log
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• Previous call tries 1 • 180.67 of 350.00 AH used of 24V (48.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.0 deg, depth -4.00 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 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 - - - 102 done -0.93 - - 104 - - - 2769 - -107.1 -80.00 - 3477 - - - - - - - - 14.67 13.09 14.66
105 3.6 -13.2 3 122 roll -0.93 11.98 0.389 2583 206.9 1.95 0.087 3828 543.1 -107.1 - - 3479 - - - - - - - - 14.00 14.33 14.26
227 41.4 -13.7 21 234 done -0.76 0.22 0.204 2648 295.5 1.83 0.037 2727 -601.6 -107.1 - - 3478 - - - - - - - - 14.09 14.49 14.26
550 73.0 -9.1 34 555 roll -0.76 - - 2648 - 2.22 0.040 1403 -596.4 -107.1 - - 3481 - - - - - - - - 14.83 14.45 14.83
675 83.2 -8.0 52 681 done -0.76 - - 2638 - 2.42 0.067 2771 565.3 -107.1 - - 3481 - - - - - - - - 14.50 14.33 14.54
1026 113.6 -9.8 64 1027 done -0.76 - - 2638 - - - 2771 - -107.1 - - 3481 - - - - - - - - 14.90 14.90 14.90
1363 143.7 -8.7 70 1367 roll -0.76 - - 2630 - 1.98 0.109 3831 535.4 -107.1 - - 3481 - - - - - - - - 14.90 14.28 14.90
1431 149.9 -8.9 80 1437 done -0.76 - - 2629 - 1.77 0.039 2754 -608.5 -107.1 - - 3479 - - - - - - - - 14.59 14.58 14.61
1754 178.1 -8.8 91 1755 done -0.76 - - 2629 - - - 2754 - -107.1 - - 3478 - - - - - - - - 14.90 14.90 14.90
2090 206.6 -8.4 97 2091 done -0.76 - - 2629 - - - 2754 - -107.1 - - 3476 - - - - - - - - 14.90 14.90 14.90
2426 236.1 -8.9 103 2431 roll -0.76 0.08 0.251 2644 187.5 2.03 0.109 3829 529.6 -107.1 - - 3473 - - - - - - - - 14.38 14.26 14.53
2482 240.7 -8.3 111 2487 done -0.76 - - 2644 - 1.75 0.044 2783 -597.7 -107.1 - - 3473 - - - - - - - - 14.64 14.59 14.66
2818 268.7 -8.4 124 2823 roll -0.76 - - 2644 - 2.42 0.043 1374 -582.2 -107.1 - - 3471 - - - - - - - - 14.90 14.45 14.90
2887 274.4 -8.2 134 2893 done -0.76 - - 2632 - 2.50 0.067 2752 551.2 -107.1 - - 3470 - - - - - - - - 14.40 14.29 14.44
3210 301.3 -8.3 145 3211 done -0.76 - - 2635 - - - 2752 - -107.1 - - 3468 - - - - - - - - 14.92 14.93 14.93
3546 328.5 -8.1 151 3551 roll -0.76 - - 2634 - 2.40 0.043 1375 -573.8 -107.1 - - 3466 - - - - - - - - 14.93 14.46 14.93
3580 331.1 -7.6 156 3586 done -0.76 0.10 0.244 2654 200.0 2.50 0.067 2769 557.6 -107.1 - - 3466 - - - - - - - - 14.16 14.31 14.40
3938 357.6 -7.5 165 3944 roll -0.76 - - 2653 - 2.42 0.044 1376 -575.6 -107.1 - - 3464 - - - - - - - - 14.92 14.45 14.92
3994 362.0 -8.8 173 4000 done -0.84 - - 2644 - 2.47 0.067 2757 559.1 -107.1 - - 3463 - - - - - - - - 14.51 14.33 14.53
4330 389.7 -8.3 186 4331 done -0.84 - - 2644 - - - 2757 - -107.1 - - 3462 - - - - - - - - 14.90 14.89 14.90
4666 416.8 -8.0 192 4667 done -0.84 - - 2644 - - - 2757 - -107.1 - - 3459 - - - - - - - - 14.90 14.90 14.90
5002 442.1 -7.5 198 5003 done -0.84 - - 2644 - - - 2757 - -107.1 - - 3462 - - - - - - - - 14.90 14.90 14.90
5339 466.9 -7.4 204 5343 roll -0.84 - - 2643 - 2.42 0.044 1380 -569.0 -107.1 - - 3457 - - - - - - - - 14.91 14.42 14.90
5421 475.0 -8.3 216 5427 done -0.84 - - 2636 - 2.55 0.068 2753 538.4 -107.1 - - 3457 - - - - - - - - 14.33 14.23 14.38
5787 502.7 -7.5 226 5791 roll -0.84 - - 2628 - 2.05 0.114 3835 527.8 -107.1 - - 3456 - - - - - - - - 14.88 14.15 14.89
5827 506.1 -8.1 232 5833 done -0.84 - - 2627 - 1.88 0.044 2746 -579.3 -107.1 - - 3455 - - - - - - - - 14.52 14.50 14.54
6178 534.7 -8.2 240 6183 roll -0.84 - - 2627 - 2.38 0.042 1379 -574.4 -107.1 - - 3453 - - - - - - - - 14.91 14.38 14.92
6219 538.1 -8.3 246 6225 done -0.84 - - 2617 - 2.53 0.067 2749 541.5 -107.1 - - 3453 - - - - - - - - 14.47 14.21 14.50
6570 568.3 -8.7 254 6575 roll -0.84 - - 2609 - 2.05 0.112 3828 526.3 -107.1 - - 3453 - - - - - - - - 14.88 14.14 14.88
6646 575.2 -9.0 265 6653 done -0.84 - - 2608 - 1.88 0.047 2754 -571.3 -107.1 - - 3452 - - - - - - - - 14.49 14.46 14.50
6962 603.8 -9.1 275 6967 roll -0.84 - - 2608 - 2.40 0.044 1373 -575.4 -107.1 - - 3450 - - - - - - - - 14.88 14.38 14.88
7010 608.2 -9.2 282 7017 done -0.84 - - 2599 - 2.55 0.068 2750 540.0 -107.1 - - 3451 - - - - - - - - 14.28 14.18 14.33
7354 640.0 -9.2 289 7360 roll -0.84 0.10 0.256 2619 200.0 2.05 0.109 3830 526.8 -107.1 - - 3450 - - - - - - - - 14.18 14.09 14.35
7410 644.8 -8.5 297 7416 done -0.84 - - 2618 - 1.88 0.046 2727 -586.7 -107.1 - - 3450 - - - - - - - - 14.54 14.47 14.55
7746 671.5 -7.9 310 7751 roll -0.84 - - 2618 - 2.35 0.044 1381 -572.8 -107.1 - - 3449 - - - - - - - - 14.90 14.36 14.90
7780 674.3 -7.9 315 7786 done -0.84 - - 2609 - 2.55 0.067 2749 536.5 -107.1 - - 3449 - - - - - - - - 14.28 14.16 14.32
8138 705.2 -8.8 324 8143 roll -0.84 - - 2600 - 2.05 0.112 3834 529.3 -107.1 - - 3447 - - - - - - - - 14.90 14.12 14.90
8186 709.7 -9.3 331 8193 done -0.84 - - 2600 - 1.88 0.044 2751 -576.1 -107.1 - - 3447 - - - - - - - - 14.45 14.42 14.47
8530 742.1 -9.4 338 8535 roll -0.84 - - 2599 - 2.40 0.044 1375 -573.3 -107.1 - - 3446 - - - - - - - - 14.90 14.35 14.90
8578 746.8 -9.8 345 8586 done -0.84 0.12 0.226 2625 216.7 2.55 0.069 2747 538.0 -107.1 - - 3445 - - - - - - - - 13.85 14.12 14.03
8922 774.9 -8.2 352 8927 roll -0.84 - - 2617 - 2.08 0.115 3831 521.2 -107.1 - - 3444 - - - - - - - - 14.89 14.06 14.89
8991 780.8 -8.4 362 8997 done -0.84 - - 2617 - 1.90 0.046 2749 -569.5 -107.1 - - 3444 - - - - - - - - 14.41 14.38 14.43
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9263 801.7 -7.8 372 9376 roll -0.23 0.70 0.177 2820 290.0 0.08 0.184 2256 -6162.5 - 110.47 1.864 3050 -3.6 0.297 - - - - - - 13.99 13.95 12.98
9377 end apogee: CONTROL_FINISHED_OK
9377 begin climb
9381 804.1 - 374 9505 roll 0.93 1.12 0.098 3182 323.2 2.58 0.056 845 -546.9 107.1 115.07 1.822 2623 -3.7 0.317 - - - - - - 14.03 14.07 12.97
9554 799.4 6.6 400 9583 done 0.83 - - 3183 - 2.53 0.050 2257 558.1 130.3 25.02 1.893 2532 -3.6 0.297 - - - - - - 14.26 14.16 13.09
9919 767.6 9.0 410 9924 roll 0.72 0.15 0.240 3135 -320.0 2.60 0.096 3653 536.9 130.3 - - 2517 - - - - - - - - 14.11 14.26 14.28
10009 759.9 8.3 423 10015 done 0.62 0.15 0.236 3105 -200.0 2.50 0.041 2231 -568.8 130.3 - - 2516 - - - - - - - - 14.13 14.40 14.41
10367 737.1 6.3 432 10408 roll 0.66 - - 3105 - 2.78 0.098 3654 511.9 159.5 31.92 1.854 2405 -3.5 0.268 - - - - - - 14.81 14.28 13.33
10429 732.8 6.7 441 10457 done 0.68 - - 3114 - 2.47 0.041 2227 -577.7 180.9 24.35 1.865 2329 -3.1 0.238 - - - - - - 14.45 14.38 13.24
10808 704.2 7.6 453 10808 done 0.69 - - 3115 - - - 2227 - 183.9 - - 2313 - - - - - - - - 14.74 14.74 14.74
11144 678.6 7.6 459 11148 roll 0.69 - - 3115 - 2.72 0.102 3650 523.2 185.7 - - 2311 - - - - - - - - 14.81 14.23 14.81
11199 673.8 8.9 467 11204 done 0.69 - - 3125 - 2.42 0.041 2253 -577.3 185.7 - - 2311 - - - - - - - - 14.56 14.48 14.57
11535 646.4 8.1 480 11540 roll 0.69 - - 3134 - 2.47 0.061 862 -563.2 185.7 - - 2310 - - - - - - - - 14.83 14.33 14.83
11584 642.3 8.3 487 11590 done 0.69 - - 3134 - 2.47 0.054 2251 562.3 185.7 - - 2310 - - - - - - - - 14.39 14.31 14.41
11928 613.7 8.4 494 11933 roll 0.69 - - 3134 - 2.65 0.103 3656 530.2 185.7 - - 2310 - - - - - - - - 14.84 14.21 14.84
11996 607.1 9.4 504 12002 done 0.69 - - 3145 - 2.47 0.041 2246 -570.9 185.7 - - 2310 - - - - - - - - 14.47 14.40 14.49
12320 579.7 8.5 515 12324 roll 0.69 - - 3155 - 2.45 0.061 866 -563.3 185.7 - - 2309 - - - - - - - - 14.84 14.30 14.85
12353 576.8 8.4 520 12359 done 0.69 0.10 0.197 3125 -300.0 2.47 0.053 2256 562.8 185.7 - - 2309 - - - - - - - - 14.04 14.31 14.15
12712 549.9 7.4 529 12722 roll 0.70 - - 3124 - 2.67 0.102 3654 523.6 191.5 3.12 1.210 2292 -5.4 0.480 - - - - - - 14.88 14.33 13.08
12781 544.1 8.3 539 12787 done 0.70 - - 3134 - 2.40 0.041 2254 -583.3 191.5 1.70 0.249 2286 -3.5 1.494 - - - - - - 14.57 14.47 13.97
13104 519.6 7.7 550 13107 done 0.70 - - 3134 - - - 2249 - 192.5 2.40 0.702 2282 -1.7 0.239 - - - - - - 14.87 14.33 13.00
13440 493.9 7.7 556 13446 roll 0.70 - - 3134 - 2.72 0.101 3657 517.6 194.0 2.47 0.780 2282 - - - - - - - - 14.87 14.33 13.04
13488 489.6 9.0 563 13495 done 0.70 - - 3144 - 2.40 0.041 2252 -585.4 194.0 2.83 1.082 2277 -1.8 0.155 - - - - - - 14.58 14.50 13.01
13817 461.3 8.7 575 13820 done 0.70 - - 3144 - - - 2251 - 194.0 1.88 0.252 2277 - - - - - - - - 14.83 14.17 13.67
14154 433.5 8.2 581 14160 roll 0.70 - - 3154 - 2.55 0.060 867 -542.7 194.0 1.73 0.246 2281 2.3 -0.789 - - - - - - 14.83 14.19 13.71
14194 430.0 8.5 587 14201 done 0.70 - - 3154 - 2.50 0.054 2256 555.6 194.0 1.65 0.234 2277 -2.4 0.863 - - - - - - 14.26 14.19 13.71
14546 401.7 8.0 595 14551 roll 0.70 - - 3154 - 2.72 0.103 3653 513.6 194.0 1.77 0.249 2281 2.3 -0.706 - - - - - - 14.87 14.12 13.59
14622 394.7 9.2 606 14628 done 0.70 0.12 0.220 3129 -208.3 2.42 0.040 2275 -569.4 194.0 1.83 0.234 2277 -2.2 0.714 - - - - - - 13.95 14.35 13.55
14987 368.1 7.2 616 15012 roll 0.71 - - 3138 - 2.55 0.060 862 -554.1 203.7 17.35 1.576 2230 -2.7 0.123 - - - - - - 14.84 14.41 13.45
15049 363.2 7.8 625 15055 done 0.71 - - 3138 - 2.47 0.054 2271 570.4 203.7 - - 2226 - - - - - - - - 14.52 14.39 14.55
15379 336.4 8.3 637 15384 roll 0.71 - - 3138 - 2.58 0.102 3651 534.9 203.7 - - 2227 - - - - - - - - 14.84 14.18 14.82
15434 331.2 9.4 645 15440 done 0.71 - - 3148 - 2.40 0.041 2255 -581.7 203.7 - - 2226 - - - - - - - - 14.52 14.43 14.54
15771 303.8 7.9 658 15775 roll 0.71 - - 3158 - 2.45 0.061 869 -565.7 203.7 - - 2226 - - - - - - - - 14.83 14.26 14.82
15827 299.3 8.1 666 15831 done 0.71 - - 3158 - 2.45 0.053 2260 567.8 203.7 - - 2224 - - - - - - - - 14.45 14.31 14.50
16163 271.2 8.5 679 16168 roll 0.71 - - 3157 - 2.62 0.103 3652 531.3 203.7 - - 2226 - - - - - - - - 14.83 14.15 14.83
16218 265.9 9.6 687 16224 done 0.71 0.12 0.235 3130 -225.0 2.40 0.040 2256 -581.7 203.7 - - 2226 - - - - - - - - 14.05 14.43 14.34
16555 241.9 6.9 700 16574 done 0.73 - - 3133 - - - 2251 - 220.3 17.58 1.412 2173 -3.0 0.100 - - - - - - 14.85 14.39 13.54
16891 218.2 6.3 706 16925 roll 0.77 - - 3132 - 2.72 0.100 3657 516.9 248.8 29.15 1.329 2052 -4.2 0.132 - - - - - - 14.81 14.33 13.52
16952 213.1 8.6 715 16958 done 0.77 - - 3142 - 2.45 0.041 2267 -567.3 248.8 - - 2047 - - - - - - - - 14.42 14.37 14.45
17276 186.7 8.2 726 17277 done 0.77 - - 3142 - - - 2263 - 248.8 - - 2044 - - - - - - - - 14.76 14.76 14.76
17612 156.7 9.1 732 17617 roll 0.77 - - 3151 - 2.53 0.061 848 -559.3 248.8 - - 2044 - - - - - - - - 14.81 14.28 14.81
17646 153.4 9.8 737 17652 done 0.77 - - 3151 - 2.53 0.054 2260 558.1 248.8 - - 2043 - - - - - - - - 14.35 14.26 14.39
18004 120.9 8.6 746 18009 roll 0.77 - - 3151 - 2.62 0.100 3657 533.2 248.8 - - 2043 - - - - - - - - 14.85 14.15 14.85
18052 116.2 9.5 753 18060 done 0.77 - - 3161 - 2.45 0.039 2264 -568.6 248.8 - - 2043 - - - - - - - - 14.42 14.37 14.43
18368 92.2 7.5 761 18368 done 0.77 - - 3161 - - - 2260 - 253.1 - - 2043 - - - - - - - - 14.83 14.83 14.83
18675 65.0 9.0 772 18680 roll 0.77 - - 3160 - 2.70 0.100 3661 518.9 253.1 - - 2045 - - - - - - - - 14.83 14.14 14.83
18703 62.2 10.0 776 18708 done 0.77 - - 3170 - 2.42 0.040 2255 -581.0 253.1 - - 2043 - - - - - - - - 14.46 14.38 14.47
19040 39.4 5.1 791 19073 roll 0.83 - - 3180 - 2.45 0.060 862 -568.6 304.7 27.88 0.299 1834 -7.5 0.191 - - - - - - 14.83 14.24 13.99
19175 33.0 4.7 810 19213 done 1.04 0.10 0.116 3252 720.0 2.50 0.053 2282 568.0 365.7 32.53 0.278 1592 -7.4 0.171 - - - - - - 14.38 14.31 14.03
19544 12.5 5.8 830 19572 roll 1.17 - - 3252 - 2.58 0.105 3652 531.0 404.5 20.75 0.210 1436 -7.5 0.087 - - - - - - 14.79 14.18 13.99
19641 6.2 6.9 844 19657 done 1.19 - - 3261 - 2.40 0.038 2262 -579.2 422.0 9.45 0.189 1369 -7.1 0.045 - - - - - - 14.40 14.37 14.03
19737 end climb: SURFACE_DEPTH_REACHED
19737 begin surface coast
19765 end surface coast: CONTROL_FINISHED_OK
19765 begin surface
SM -3.93 - - - - -8.39 8.98 0.064 184 20.5 0.95 0.090 2760 -6835.8 500.14 38.67 0.156 1057 27.3 0.070 - - - - - -