SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 530 * Raw log
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• Previous call tries 1 • 186.41 of 350.00 AH used of 24V (46.74% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -66.3 deg, depth -1.14 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 3 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 116 done -0.93 - - 105 - - - 2779 - -107.1 -99.47 - 3479 - - - - - - - - 14.67 12.48 14.68
120 0.6 -2.9 3 140 roll -0.93 12.60 0.408 2590 197.2 2.42 0.035 1364 -584.7 -107.1 - - 3480 - - - - - - - - 13.90 14.42 14.32
182 28.5 -22.8 13 188 done -0.71 0.32 0.257 2666 237.5 2.53 0.072 2769 555.3 -107.1 - - 3481 - - - - - - - - 13.97 14.29 14.27
504 62.8 -8.2 26 509 roll -0.71 - - 2658 - 1.95 0.109 3823 540.5 -107.1 - - 3482 - - - - - - - - 14.83 14.27 14.83
709 80.3 -8.7 55 714 done -0.71 - - 2658 - 1.73 0.039 2736 -628.3 -107.1 - - 3481 - - - - - - - - 14.64 14.59 14.65
1064 110.1 -8.5 68 1065 done -0.71 - - 2658 - - - 2736 - -107.1 - - 3481 - - - - - - - - 14.91 14.91 14.90
1400 138.1 -8.2 74 1405 roll -0.71 - - 2649 - 2.08 0.106 3832 526.9 -107.1 - - 3479 - - - - - - - - 14.92 14.31 14.92
1512 147.3 -8.3 90 1517 done -0.71 - - 2649 - 1.70 0.041 2783 -617.1 -107.1 - - 3478 - - - - - - - - 14.64 14.57 14.66
1849 173.3 -7.7 103 1853 roll -0.71 - - 2648 - 2.38 0.043 1398 -581.9 -107.1 - - 3476 - - - - - - - - 14.91 14.48 14.90
1883 176.0 -7.7 108 1888 done -0.71 0.10 0.242 2669 210.0 2.47 0.066 2781 559.9 -107.1 - - 3476 - - - - - - - - 14.23 14.39 14.47
2240 201.4 -7.1 117 2241 done -0.71 - - 2668 - - - 2781 - -107.1 - - 3474 - - - - - - - - 14.92 14.92 14.92
2576 225.5 -7.1 123 2581 roll -0.71 - - 2660 - 1.98 0.109 3834 531.8 -107.1 - - 3470 - - - - - - - - 14.88 14.28 14.88
2618 228.6 -7.7 129 2624 done -0.71 - - 2660 - 1.77 0.042 2787 -591.5 -107.1 - - 3469 - - - - - - - - 14.53 14.51 14.54
2969 253.5 -6.8 137 2974 roll -0.71 - - 2667 - 2.42 0.043 1380 -581.4 -107.1 - - 3468 - - - - - - - - 14.90 14.47 14.90
3031 259.8 -9.0 146 3036 done -0.79 - - 2650 - 2.53 0.067 2784 554.9 -107.1 - - 3467 - - - - - - - - 14.53 14.35 14.57
3361 284.6 -7.5 158 3366 roll -0.79 - - 2651 - 2.45 0.043 1377 -574.3 -107.1 - - 3465 - - - - - - - - 14.90 14.45 14.90
3402 287.7 -7.1 164 3407 done -0.79 - - 2641 - 2.53 0.067 2775 552.6 -107.1 - - 3464 - - - - - - - - 14.53 14.35 14.57
3752 313.8 -7.6 172 3757 roll -0.79 - - 2634 - 1.98 0.109 3825 530.3 -107.1 - - 3462 - - - - - - - - 14.92 14.25 14.92
3793 318.1 -8.6 178 3799 done -0.79 - - 2634 - 1.77 0.044 2784 -588.1 -107.1 - - 3462 - - - - - - - - 14.55 14.53 14.57
4144 348.7 -9.2 186 4149 roll -0.79 - - 2633 - 2.42 0.043 1378 -581.0 -107.1 - - 3460 - - - - - - - - 14.90 14.45 14.90
4192 354.7 -14.3 193 4200 done -0.79 - - 2624 - 2.55 0.066 2771 546.3 -107.1 - - 3460 - - - - - - - - 14.37 14.27 14.42
4537 390.6 -11.2 200 4541 roll -0.79 - - 2615 - 1.98 0.109 3826 532.8 -107.1 - - 3458 - - - - - - - - 14.89 14.23 14.90
4598 396.5 -9.4 209 4605 done -0.79 - - 2616 - 1.80 0.043 2771 -586.1 -107.1 - - 3458 - - - - - - - - 14.54 14.50 14.54
4928 428.0 -9.5 221 4934 roll -0.79 - - 2614 - 2.42 0.042 1375 -576.9 -107.1 - - 3456 - - - - - - - - 14.92 14.42 14.92
4955 431.4 -13.0 225 4962 done -0.79 0.10 0.221 2642 280.0 2.58 0.067 2777 543.4 -107.1 - - 3456 - - - - - - - - 14.07 14.25 14.35
5320 460.2 -7.8 235 5325 roll -0.79 - - 2634 - 1.98 0.110 3825 529.3 -107.1 - - 3455 - - - - - - - - 14.89 14.21 14.89
5376 465.4 -9.0 243 5381 done -0.79 - - 2634 - 1.77 0.044 2767 -597.7 -107.1 - - 3454 - - - - - - - - 14.59 14.52 14.60
5713 492.2 -7.9 256 5717 roll -0.79 - - 2634 - 2.40 0.042 1377 -579.2 -107.1 - - 3452 - - - - - - - - 14.91 14.42 14.91
5739 495.5 -12.7 260 5745 done -0.79 - - 2624 - 2.58 0.066 2776 542.2 -107.1 - - 3449 - - - - - - - - 14.34 14.23 14.38
6104 528.5 -9.6 270 6109 roll -0.79 - - 2616 - 1.98 0.109 3829 531.8 -107.1 - - 3450 - - - - - - - - 14.89 14.19 14.89
6131 530.9 -9.4 274 6137 done -0.79 - - 2615 - 1.80 0.044 2782 -581.7 -107.1 - - 3450 - - - - - - - - 14.50 14.47 14.52
6496 563.6 -8.9 284 6501 roll -0.79 - - 2615 - 2.47 0.043 1370 -571.7 -107.1 - - 3449 - - - - - - - - 14.88 14.40 14.89
6545 566.5 -5.4 291 6552 done -0.79 0.10 0.220 2644 290.0 2.60 0.066 2771 538.8 -107.1 - - 3448 - - - - - - - - 13.99 14.21 14.27
6889 591.7 -6.8 298 6890 done -0.79 - - 2643 - - - 2771 - -107.1 - - 3447 - - - - - - - - 14.90 14.90 14.90
7225 618.8 -6.3 304 7229 roll -0.79 - - 2636 - 2.00 0.112 3828 528.5 -107.1 - - 3445 - - - - - - - - 14.90 14.14 14.91
7258 619.7 -7.8 309 7265 done -0.79 - - 2634 - 1.85 0.045 2766 -574.1 -107.1 - - 3444 - - - - - - - - 14.47 14.44 14.50
7617 655.6 -10.9 318 7621 roll -0.79 - - 2635 - 2.45 0.044 1363 -572.7 -107.1 - - 3444 - - - - - - - - 14.87 14.37 14.88
7657 653.9 -11.0 324 7663 done -0.79 - - 2625 - 2.62 0.066 2774 538.5 -107.1 - - 3444 - - - - - - - - 14.25 14.16 14.34
8008 691.1 -10.5 332 8009 done -0.79 - - 2625 - - - 2771 - -107.1 - - 3446 - - - - - - - - 14.88 14.88 14.87
8344 718.0 -11.8 338 8345 done -0.79 - - 2622 - - - 2774 - -107.1 - - 3441 - - - - - - - - 14.87 14.88 14.87
8681 742.9 -6.8 344 8686 roll -0.79 - - 2624 - 2.50 0.044 1363 -564.4 -107.1 - - 3439 - - - - - - - - 14.87 14.35 14.87
8729 748.7 -2.8 351 8736 done -0.79 - - 2615 - 2.62 0.067 2768 536.3 -107.1 - - 3440 - - - - - - - - 14.23 14.14 14.29
9073 773.2 -7.1 358 9073 done -0.79 - - 2615 - - - 2769 - -107.1 - - 3439 - - - - - - - - 14.85 14.86 14.86
9408 799.5 -11.0 364 9409 done -0.79 - - 2615 - - - 2769 - -107.1 - - 3438 - - - - - - - - 14.89 14.89 14.89
9461 end dive: TARGET_DEPTH_EXCEEDED
9461 begin apogee
9470 801.8 -9.7 365 9578 roll -0.23 0.73 0.190 2821 282.2 0.10 0.157 2271 -4980.0 - 100.05 2.540 3050 -3.9 0.246 - - - - 1 - 13.90 13.86 12.50
9579 end apogee: CONTROL_FINISHED_OK
9579 begin climb
9583 805.9 - 367 9717 roll 0.93 1.12 0.099 3185 325.0 2.53 0.055 890 -545.8 107.1 123.20 1.827 2618 -3.5 0.311 - - - - - - 13.96 13.99 12.95
9773 797.1 13.3 395 9778 done 0.80 - - 3183 - 2.40 0.050 2246 565.0 107.1 - - 2609 - - - - - - - - 14.30 14.19 14.33
10138 769.5 7.9 405 10143 roll 0.67 0.22 0.230 3117 -300.0 2.62 0.095 3651 536.3 107.1 - - 2606 - - - - - - - - 14.08 14.26 14.26
10193 765.2 13.9 413 10200 done 0.67 - - 3128 - 2.38 0.041 2269 -580.7 107.1 - - 2606 - - - - - - - - 14.54 14.46 14.56
10530 745.2 6.2 426 10564 done 0.70 - - 3127 - - - 2268 - 137.9 32.85 1.851 2501 -3.2 0.259 - - - - - - 14.81 14.28 13.30
10866 722.0 6.8 432 10892 roll 0.73 - - 3128 - 2.62 0.097 3654 529.0 157.1 21.77 1.887 2420 -3.7 0.287 - - - - - - 14.75 14.14 13.31
10935 715.1 12.9 442 10940 done 0.73 - - 3138 - 2.47 0.040 2222 -579.8 157.1 - - 2414 - - - - - - - - 14.47 14.39 14.49
11258 690.1 8.8 453 11258 done 0.73 - - 3138 - - - 2217 - 157.1 - - 2411 - - - - - - - - 14.77 14.77 14.77
11594 664.0 6.8 459 11620 roll 0.75 - - 3138 - 2.70 0.098 3654 532.2 176.4 22.00 1.847 2341 -3.2 0.230 - - - - - - 14.81 14.19 13.37
11663 655.6 16.1 469 11669 done 0.75 - - 3148 - 2.45 0.041 2256 -570.6 176.4 - - 2334 - - - - - - - - 14.45 14.40 14.47
11986 630.0 9.0 480 11986 done 0.75 - - 3148 - - - 2254 - 176.4 - - 2332 - - - - - - - - 14.78 14.78 14.78
12322 599.3 8.5 486 12323 done 0.75 - - 3148 - - - 2254 - 176.4 - - 2331 - - - - - - - - 14.84 14.83 14.85
12658 572.7 8.7 492 12663 roll 0.75 - - 3148 - 2.65 0.101 3648 526.0 176.4 - - 2330 - - - - - - - - 14.85 14.21 14.85
12714 568.3 6.5 500 12747 done 0.70 0.10 0.251 3131 -170.0 2.40 0.041 2249 -582.9 200.4 25.38 1.743 2245 -3.3 0.220 - - - - - - 14.12 14.47 13.40
13109 541.1 7.0 514 13127 done 0.72 - - 3131 - - - 2249 - 215.6 17.00 1.778 2190 -3.2 0.198 - - - - - - 14.75 14.35 13.39
13442 511.0 8.4 520 13443 done 0.72 - - 3129 - - - 2249 - 215.6 - - 2176 - - - - - - - - 14.78 14.79 14.78
13778 482.4 8.5 526 13783 roll 0.72 - - 3130 - 2.67 0.099 3653 525.8 215.6 - - 2175 - - - - - - - - 14.83 14.23 14.83
13819 476.3 10.3 532 13824 done 0.72 - - 3140 - 2.45 0.041 2260 -568.6 215.6 - - 2175 - - - - - - - - 14.46 14.42 14.49
14170 443.7 9.1 540 14171 done 0.72 - - 3140 - - - 2256 - 215.6 - - 2175 - - - - - - - - 14.85 14.85 14.85
14506 416.9 7.7 546 14506 done 0.72 - - 3140 - - - 2255 - 215.6 - - 2175 - - - - - - - - 14.87 14.87 14.87
14842 392.3 7.2 552 14847 done 0.73 - - 3140 - - - 2256 - 226.8 4.15 1.431 2147 -6.7 0.372 - - - - - - 14.84 14.38 13.13
15178 367.2 7.4 558 15197 roll 0.74 - - 3140 - 2.62 0.101 3653 533.2 233.9 14.50 1.590 2115 -2.2 0.103 - - - - - - 14.83 14.22 13.47
15247 361.1 10.1 568 15252 done 0.74 - - 3150 - 2.45 0.041 2253 -571.4 233.9 - - 2110 - - - - - - - - 14.48 14.45 14.50
15570 330.1 9.7 579 15575 roll 0.74 - - 3160 - 2.45 0.060 859 -569.0 233.9 - - 2109 - - - - - - - - 14.82 14.30 14.85
15604 326.5 9.8 584 15609 done 0.74 - - 3160 - 2.47 0.053 2254 564.8 233.9 - - 2108 - - - - - - - - 14.36 14.28 14.40
15962 290.7 10.1 593 15967 roll 0.74 - - 3160 - 2.62 0.103 3652 533.6 233.9 - - 2108 - - - - - - - - 14.83 14.18 14.83
16003 286.1 11.3 599 16008 done 0.74 - - 3169 - 2.45 0.040 2254 -570.6 233.9 - - 2108 - - - - - - - - 14.42 14.38 14.47
16354 252.4 9.4 607 16359 roll 0.74 0.08 0.264 3153 -200.0 2.47 0.058 854 -566.8 233.9 - - 2108 - - - - - - - - 14.17 14.28 14.30
16410 248.2 7.8 615 16415 done 0.74 - - 3153 - 2.47 0.052 2267 572.1 233.9 - - 2108 - - - - - - - - 14.48 14.35 14.52
16746 222.2 7.7 628 16751 roll 0.74 - - 3153 - 2.60 0.099 3654 533.5 234.2 - - 2108 - - - - - - - - 14.83 14.10 14.83
16787 218.6 9.2 634 16792 done 0.74 - - 3162 - 2.45 0.039 2257 -570.2 234.2 - - 2108 - - - - - - - - 14.42 14.38 14.45
17138 186.6 9.3 642 17138 done 0.74 - - 3162 - - - 2253 - 234.2 - - 2108 - - - - - - - - 14.86 14.86 14.86
17474 157.1 8.6 648 17474 done 0.74 - - 3162 - - - 2253 - 234.2 - - 2108 - - - - - - - - 14.88 14.88 14.88
17810 125.6 9.6 654 17811 done 0.74 - - 3162 - - - 2253 - 234.2 - - 2108 - - - - - - - - 14.84 14.86 14.84
18146 95.0 9.2 660 18151 roll 0.74 - - 3162 - 2.67 0.098 3652 524.0 234.2 - - 2108 - - - - - - - - 14.84 14.07 14.84
18180 91.4 10.7 665 18187 done 0.74 0.10 0.213 3143 -190.0 2.45 0.039 2252 -571.4 234.2 - - 2108 - - - - - - - - 13.99 14.36 14.34
18510 67.5 5.7 679 18537 roll 0.79 - - 3153 - 2.45 0.058 860 -568.2 274.4 20.83 0.366 1956 -7.3 0.271 - - - - - - 14.83 14.22 13.91
18572 64.6 5.1 688 18606 done 0.95 0.10 0.116 3219 660.0 2.42 0.050 2258 577.7 327.7 29.73 0.361 1744 -7.1 0.257 - - - - - - 14.42 14.38 13.99
18933 38.3 7.4 706 18942 roll 0.96 - - 3219 - 2.65 0.099 3653 526.4 335.0 4.32 0.261 1715 -6.7 0.198 - - - - - - 14.77 14.17 13.79
19174 27.1 5.8 741 19201 done 1.01 - - 3228 - 2.42 0.039 2244 -582.2 373.1 21.75 0.246 1562 -7.0 0.156 - - - - - - 14.40 14.37 13.94
19521 7.9 6.3 757 19545 roll 1.13 0.05 0.207 3295 1340.0 2.47 0.063 881 -551.8 402.6 15.95 0.182 1445 -7.3 0.064 - - - - - - 14.47 14.21 14.04
19587 2.1 10.2 767 19592 done 1.13 0.08 0.187 3270 -312.5 2.42 0.053 2253 566.9 402.6 - - 1446 - - - - - - - - 14.07 14.25 14.20
19598 end climb: SURFACE_DEPTH_REACHED
19598 begin surface coast
19626 end surface coast: CONTROL_FINISHED_OK
19627 begin surface
SM -1.37 - - - - -8.40 8.85 0.051 185 20.9 0.93 0.073 2764 -2539.8 500.14 47.70 0.152 1058 22.2 0.020 - - - - - -