SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 521 * Raw log
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• Previous call tries 1 • 183.02 of 350.00 AH used of 24V (47.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.1 deg, depth -1.36 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 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 - - - 101 done -0.93 - - 105 - - - 2775 - -107.1 -81.03 - 3478 - - - - - - - - 14.66 13.07 14.64
105 5.3 -11.7 3 122 roll -0.93 12.07 0.392 2588 205.7 2.40 0.033 1357 -590.8 -107.1 - - 3479 - - - - - - - - 13.98 14.35 14.26
214 40.2 -18.8 19 220 done -0.73 0.30 0.234 2661 243.3 2.55 0.070 2769 553.7 -107.1 - - 3480 - - - - - - - - 14.05 14.30 14.33
550 70.8 -7.3 34 555 roll -0.73 - - 2653 - 1.98 0.109 3832 536.9 -107.1 - - 3481 - - - - - - - - 14.83 14.23 14.83
774 91.9 -8.8 66 779 done -0.73 - - 2653 - 1.77 0.038 2730 -622.6 -107.1 - - 3482 - - - - - - - - 14.60 14.54 14.61
1110 121.5 -9.0 77 1116 roll -0.73 - - 2645 - 2.05 0.107 3823 533.2 -107.1 - - 3482 - - - - - - - - 14.88 14.26 14.88
1172 127.6 -9.7 86 1178 done -0.73 - - 2645 - 1.73 0.040 2779 -603.5 -107.1 - - 3482 - - - - - - - - 14.57 14.54 14.59
1502 155.8 -8.2 98 1507 roll -0.73 - - 2637 - 1.98 0.109 3828 529.8 -107.1 - - 3480 - - - - - - - - 14.89 14.26 14.89
1543 159.4 -8.8 104 1549 done -0.73 - - 2637 - 1.75 0.041 2771 -604.0 -107.1 - - 3481 - - - - - - - - 14.53 14.51 14.55
1894 190.0 -8.7 112 1899 roll -0.73 - - 2636 - 2.38 0.042 1393 -579.0 -107.1 - - 3478 - - - - - - - - 14.92 14.45 14.92
1921 192.5 -8.8 116 1927 done -0.73 0.10 0.210 2657 210.0 2.50 0.068 2769 550.4 -107.1 - - 3478 - - - - - - - - 14.09 14.28 14.45
2286 221.4 -7.9 126 2291 roll -0.73 - - 2657 - 2.38 0.041 1395 -577.3 -107.1 - - 3475 - - - - - - - - 14.90 14.46 14.90
2320 224.4 -8.6 131 2326 done -0.73 - - 2648 - 2.50 0.067 2773 551.2 -107.1 - - 3475 - - - - - - - - 14.38 14.28 14.43
2678 255.6 -8.9 140 2679 done -0.73 - - 2648 - - - 2778 - -107.1 - - 3473 - - - - - - - - 14.90 14.90 14.90
3014 284.8 -8.7 146 3019 roll -0.73 - - 2647 - 2.40 0.042 1397 -575.4 -107.1 - - 3471 - - - - - - - - 14.90 14.47 14.90
3070 289.6 -8.3 154 3075 done -0.73 - - 2639 - 2.47 0.068 2776 558.3 -107.1 - - 3470 - - - - - - - - 14.50 14.31 14.52
3406 318.1 -8.5 167 3411 roll -0.73 - - 2631 - 1.98 0.112 3831 532.8 -107.1 - - 3469 - - - - - - - - 14.90 14.19 14.90
3433 320.6 -8.9 171 3439 done -0.73 0.10 0.198 2661 300.0 1.77 0.042 2798 -583.6 -107.1 - - 3469 - - - - - - - - 14.16 14.52 14.32
3798 347.8 -7.4 181 3804 roll -0.73 - - 2661 - 2.47 0.044 1367 -579.4 -107.1 - - 3466 - - - - - - - - 14.92 14.42 14.92
3889 354.6 -7.4 194 3894 done -0.82 - - 2652 - 2.53 0.067 2770 554.5 -107.1 - - 3466 - - - - - - - - 14.49 14.31 14.52
4246 383.8 -8.4 203 4247 done -0.82 - - 2651 - - - 2771 - -107.1 - - 3464 - - - - - - - - 14.92 14.92 14.92
4582 412.5 -8.5 209 4588 roll -0.82 - - 2652 - 2.47 0.043 1359 -571.7 -107.1 - - 3462 - - - - - - - - 14.92 14.38 14.92
4665 419.8 -8.6 221 4672 done -0.89 - - 2643 - 2.55 0.067 2770 553.3 -107.1 - - 3462 - - - - - - - - 14.47 14.28 14.50
5030 451.0 -8.5 231 5035 roll -0.89 - - 2635 - 2.00 0.112 3829 529.5 -107.1 - - 3460 - - - - - - - - 14.89 14.18 14.89
5071 454.5 -8.5 237 5078 done -0.89 - - 2635 - 1.85 0.043 2754 -581.1 -107.1 - - 3460 - - - - - - - - 14.52 14.50 14.54
5422 480.9 -7.4 245 5428 roll -0.89 - - 2634 - 2.40 0.044 1374 -575.0 -107.1 - - 3459 - - - - - - - - 14.89 14.33 14.89
5478 485.0 -7.5 253 5484 done -0.89 - - 2625 - 2.50 0.066 2765 556.4 -107.1 - - 3458 - - - - - - - - 14.47 14.29 14.50
5814 510.5 -7.6 266 5819 roll -0.89 - - 2617 - 2.00 0.112 3827 531.0 -107.1 - - 3457 - - - - - - - - 14.91 14.15 14.91
5848 513.2 -8.0 271 5854 done -0.89 - - 2616 - 1.85 0.044 2764 -574.6 -107.1 - - 3457 - - - - - - - - 14.49 14.46 14.50
6206 543.3 -8.7 280 6207 done -0.89 - - 2616 - - - 2764 - -107.1 - - 3456 - - - - - - - - 14.88 14.88 14.88
6542 571.2 -7.9 286 6547 roll -0.89 - - 2609 - 2.05 0.111 3831 520.5 -107.1 - - 3454 - - - - - - - - 14.89 14.14 14.88
6590 574.7 -9.1 293 6598 done -0.89 - - 2608 - 1.88 0.044 2752 -573.9 -107.1 - - 3454 - - - - - - - - 14.48 14.44 14.47
6934 601.7 -7.8 300 6939 roll -0.89 - - 2608 - 2.40 0.044 1378 -572.5 -107.1 - - 3452 - - - - - - - - 14.88 14.35 14.88
6975 603.7 -5.7 306 6981 done -0.89 - - 2600 - 2.53 0.067 2773 551.4 -107.1 - - 3452 - - - - - - - - 14.42 14.24 14.46
7326 595.4 9.6 314 7331 roll -0.89 - - 2592 - 2.00 0.112 3832 529.5 -107.1 - - 3451 - - - - - - - - 14.90 14.09 14.89
7382 605.7 -11.9 322 7387 done -0.89 - - 2590 - 1.80 0.044 2769 -590.6 -107.1 - - 3450 - - - - - - - - 14.53 14.47 14.54
7718 627.1 -5.7 335 7723 roll -0.89 - - 2591 - 2.45 0.044 1367 -572.2 -107.1 - - 3453 - - - - - - - - 14.87 14.34 14.86
7752 644.2 -34.3 340 7758 done -0.89 0.08 0.230 2609 225.0 2.60 0.068 2767 538.5 -107.1 - - 3449 - - - - - - - - 13.93 14.13 14.22
8110 671.8 -17.3 349 8111 done -0.89 - - 2603 - - - 2767 - -107.1 - - 3449 - - - - - - - - 14.90 14.89 14.90
8446 712.1 -13.4 355 8451 roll -0.89 - - 2610 - 2.45 0.044 1374 -568.6 -107.1 - - 3448 - - - - - - - - 14.90 14.25 14.90
8473 717.5 -18.9 359 8479 done -0.89 - - 2601 - 2.60 0.067 2765 535.0 -107.1 - - 3448 - - - - - - - - 14.22 14.11 14.26
8838 747.6 -8.6 369 8839 done -0.89 - - 2601 - - - 2766 - -107.1 - - 3446 - - - - - - - - 14.90 14.89 14.89
9174 777.0 -8.4 375 9175 done -0.89 - - 2601 - - - 2765 - -107.1 - - 3444 - - - - - - - - 14.87 14.87 14.87
9510 735.8 16.5 381 9511 done -0.89 - - 2601 - - - 2766 - -107.1 - - 3444 - - - - - - - - 14.90 14.89 14.90
9619 end dive: TARGET_DEPTH_EXCEEDED
9619 begin apogee
9627 803.7 -2.5 383 9741 roll -0.23 0.77 0.184 2821 285.7 - - 2228 - - 111.65 1.903 3050 -3.5 0.289 - - - - - - 13.90 13.98 12.95
9743 end apogee: CONTROL_FINISHED_OK
9743 begin climb
9746 795.1 - 385 9875 roll 0.93 1.12 0.098 3184 324.1 2.45 0.056 879 -550.6 107.1 117.50 1.833 2618 -3.7 0.309 - - - - - - 14.01 14.07 12.95
9917 817.3 5.0 411 9981 done 0.86 - - 3183 - 2.47 0.051 2267 561.9 161.0 59.35 1.830 2408 -3.5 0.307 - - - - - - 14.26 14.14 13.05
10299 777.7 10.5 430 10304 roll 0.76 0.10 0.249 3150 -330.0 2.58 0.097 3651 536.4 161.0 - - 2392 - - - - - - - - 14.14 14.26 14.31
10339 769.5 10.0 436 10344 done 0.66 0.15 0.242 3118 -213.3 2.38 0.041 2271 -579.8 161.0 - - 2392 - - - - - - - - 14.12 14.46 14.41
10690 745.3 7.5 444 10695 roll 0.66 - - 3117 - 2.65 0.101 3656 522.6 166.4 - - 2388 - - - - - - - - 14.81 14.26 14.81
10716 739.9 21.5 448 10722 done 0.66 - - 3128 - 2.45 0.041 2255 -571.8 166.4 - - 2390 - - - - - - - - 14.48 14.44 14.50
11081 723.2 3.9 458 11176 done 0.76 - - 3128 - - - 2250 - 242.9 93.60 1.727 2081 -3.3 0.268 - - - - - - 14.83 14.04 13.13
11474 691.0 9.5 465 11478 roll 0.76 - - 3128 - 2.67 0.102 3650 524.3 242.9 - - 2063 - - - - - - - - 14.72 14.21 14.72
11522 687.3 8.8 472 11528 done 0.76 - - 3138 - 2.45 0.041 2261 -566.9 242.9 - - 2062 - - - - - - - - 14.40 14.36 14.42
11865 654.8 9.3 479 11871 roll 0.76 - - 3148 - 2.50 0.061 850 -564.4 242.9 - - 2061 - - - - - - - - 14.81 14.31 14.81
11892 650.7 15.5 483 11899 done 0.76 - - 3148 - 2.53 0.054 2258 556.5 242.9 - - 2060 - - - - - - - - 14.40 14.30 14.41
12257 616.3 9.3 493 12262 roll 0.76 - - 3148 - 2.62 0.104 3651 531.7 242.9 - - 2059 - - - - - - - - 14.82 14.21 14.82
12298 609.6 18.8 499 12305 done 0.76 - - 3158 - 2.47 0.041 2244 -569.6 242.9 - - 2059 - - - - - - - - 14.45 14.40 14.47
12649 579.6 9.0 507 12650 done 0.76 - - 3158 - - - 2240 - 242.9 - - 2063 - - - - - - - - 14.83 14.83 14.83
12985 546.1 9.9 513 12986 done 0.76 - - 3158 - - - 2240 - 242.9 - - 2057 - - - - - - - - 14.85 14.85 14.85
13321 511.6 10.3 519 13327 roll 0.76 - - 3158 - 2.72 0.104 3652 519.1 242.9 - - 2058 - - - - - - - - 14.85 14.15 14.85
13390 504.3 10.9 529 13396 done 0.76 - - 3169 - 2.47 0.041 2255 -565.6 242.9 - - 2058 - - - - - - - - 14.52 14.37 14.55
13714 470.6 10.0 540 13714 done 0.76 - - 3169 - - - 2251 - 242.9 - - 2058 - - - - - - - - 14.84 14.83 14.83
14049 435.7 9.9 546 14050 done 0.76 - - 3169 - - - 2250 - 242.9 - - 2057 - - - - - - - - 14.84 14.84 14.83
14385 402.6 10.3 552 14390 roll 0.76 - - 3169 - 2.70 0.104 3651 518.9 242.9 - - 2057 - - - - - - - - 14.88 14.11 14.88
14412 398.5 14.9 556 14418 done 0.76 0.12 0.213 3135 -283.3 2.47 0.041 2255 -565.2 242.9 - - 2057 - - - - - - - - 13.96 14.34 14.29
14777 371.0 7.0 566 14790 roll 0.77 - - 3146 - 2.53 0.062 853 -554.2 257.2 4.90 1.493 2028 -5.9 0.285 - - - - - - 14.87 14.38 13.12
14804 368.1 10.2 570 14810 done 0.77 - - 3145 - 2.50 0.056 2257 561.6 257.2 - - 2033 - - - - - - - - 14.47 14.40 14.52
15170 337.9 8.5 580 15176 roll 0.77 - - 3145 - 2.70 0.102 3657 518.5 257.2 1.90 0.224 2024 -4.7 1.386 - - - - - - 14.84 14.19 13.94
15238 331.1 10.2 590 15245 done 0.77 - - 3155 - 2.47 0.040 2246 -571.3 257.2 1.73 0.201 2025 - - - - - - - - 14.40 14.37 13.97
15554 301.8 9.5 600 15557 done 0.77 - - 3155 - - - 2242 - 257.2 1.75 0.220 2030 2.9 -0.760 - - - - - - 14.86 14.22 13.91
15890 270.4 9.2 606 15896 roll 0.77 - - 3155 - 2.78 0.100 3653 507.6 257.2 1.67 0.223 2026 -2.4 0.563 - - - - - - 14.86 14.12 13.88
15917 267.7 9.1 610 15923 done 0.77 - - 3165 - 2.45 0.041 2258 -569.4 257.2 - - 2034 - - - - - - - - 14.40 14.35 14.42
16276 235.5 9.0 619 16279 done 0.77 - - 3165 - - - 2254 - 257.2 1.77 0.222 2026 -4.5 0.930 - - - - - - 14.83 14.19 13.86
16612 204.0 9.6 625 16614 done 0.77 - - 3165 - - - 2254 - 257.2 1.70 0.223 2025 - - - - - - - - 14.86 14.18 13.85
16947 172.1 9.4 631 16950 done 0.77 - - 3165 - - - 2254 - 257.2 1.83 0.222 2026 - - - - - - - - 14.84 14.15 13.81
17283 139.2 9.7 637 17289 roll 0.77 - - 3165 - 2.78 0.101 3660 505.8 257.2 1.77 0.220 2030 2.3 -0.277 - - - - - - 14.84 14.07 13.79
17303 136.6 10.2 640 17310 done 0.77 - - 3175 - 2.47 0.040 2254 -569.2 257.2 1.58 0.210 2026 -2.5 0.319 - - - - - - 14.37 14.31 13.83
17668 102.6 9.2 650 17674 roll 0.77 - - 3175 - 2.78 0.099 3658 505.0 257.2 1.85 0.220 2028 - - - - - - - - 14.84 14.08 13.76
17702 99.9 8.0 655 17710 done 0.77 0.10 0.221 3156 -190.0 2.45 0.039 2260 -570.6 257.2 1.38 0.198 2028 - - - - - - - - 13.93 14.33 13.92
18025 74.3 8.1 668 18031 roll 0.77 - - 3156 - 2.75 0.097 3661 509.5 257.2 1.92 0.220 2028 - - - - - - - - 14.84 14.09 13.73
18052 71.4 10.1 672 18058 done 0.77 - - 3167 - 2.45 0.039 2261 -571.4 257.2 1.65 0.223 2027 - - - - - - - - 14.36 14.31 13.66
18382 47.0 6.3 686 18410 roll 0.81 - - 3177 - 2.53 0.060 856 -555.3 286.5 18.42 0.331 1909 -6.4 0.176 - - - - - - 14.82 14.32 13.89
18480 42.5 5.5 700 18513 done 0.94 - - 3177 - 2.45 0.048 2267 575.9 330.3 25.35 0.317 1733 -6.9 0.181 - - - - - - 14.44 14.31 13.97
18834 24.5 4.3 717 18878 roll 1.21 0.22 0.072 3314 622.7 2.55 0.061 859 -552.2 398.4 36.72 0.262 1464 -7.3 0.133 - - - - - - 14.40 14.28 14.02
19004 12.4 9.4 742 19010 done 1.21 - - 3314 - 2.50 0.054 2261 560.8 398.4 - - 1467 - - - - - - - - 14.23 14.15 14.28
19135 end climb: SURFACE_DEPTH_REACHED
19135 begin surface coast
19163 end surface coast: CONTROL_FINISHED_OK
19163 begin surface
SM -9.95 - - - - -8.38 9.40 0.082 187 19.9 0.95 0.090 2771 1832.6 500.14 50.75 0.166 1058 20.8 0.128 - - - - - -