SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 540 * Raw log
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• Previous call tries 1 • 189.36 of 350.00 AH used of 24V (45.90% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -1.46 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 105 - - - 2780 - -107.1 -82.55 - 3480 - - - - - - - - 14.67 12.53 14.65
105 3.9 -9.6 3 122 roll -0.93 12.00 0.386 2581 206.3 1.92 0.083 3832 547.9 -107.1 - - 3480 - - - - - - - - 13.94 14.33 14.23
199 36.5 -24.4 17 206 done -0.62 0.43 0.256 2692 258.1 1.83 0.034 2724 -605.5 -107.1 - - 3485 - - - - - - - - 13.95 14.47 14.18
523 72.2 -7.4 30 528 roll -0.62 - - 2690 - 2.25 0.041 1397 -589.8 -107.1 - - 3483 - - - - - - - - 14.85 14.43 14.85
591 77.6 -7.9 40 597 done -0.62 - - 2681 - 2.45 0.067 2752 553.1 -107.1 - - 3482 - - - - - - - - 14.37 14.27 14.42
942 105.2 -7.6 53 948 roll -0.62 - - 2681 - 2.33 0.041 1400 -580.3 -107.1 - - 3486 - - - - - - - - 14.88 14.45 14.88
1081 115.1 -6.7 73 1088 done -0.62 - - 2671 - 2.45 0.067 2777 562.0 -107.1 - - 3483 - - - - - - - - 14.51 14.32 14.54
1446 143.8 -8.2 83 1447 done -0.62 - - 2671 - - - 2777 - -107.1 - - 3482 - - - - - - - - 14.90 14.90 14.89
1782 169.1 -7.4 89 1783 done -0.62 - - 2671 - - - 2777 - -107.1 - - 3481 - - - - - - - - 14.90 14.89 14.90
2119 194.7 -7.7 95 2123 roll -0.62 - - 2672 - 2.38 0.041 1405 -576.5 -107.1 - - 3480 - - - - - - - - 14.90 14.47 14.90
2202 201.3 -7.6 107 2207 done -0.71 - - 2662 - 2.42 0.067 2757 558.7 -107.1 - - 3478 - - - - - - - - 14.52 14.33 14.55
2566 232.3 -8.7 117 2572 roll -0.71 - - 2662 - 2.35 0.043 1405 -575.3 -107.1 - - 3476 - - - - - - - - 14.85 14.45 14.86
2600 235.5 -9.0 122 2606 done -0.71 - - 2653 - 2.45 0.069 2742 545.7 -107.1 - - 3474 - - - - - - - - 14.36 14.26 14.42
2958 266.7 -8.7 131 2963 roll -0.71 - - 2645 - 2.05 0.112 3830 530.7 -107.1 - - 3473 - - - - - - - - 14.92 14.22 14.92
2993 269.8 -8.7 136 2998 done -0.71 - - 2644 - 1.83 0.042 2759 -585.2 -107.1 - - 3473 - - - - - - - - 14.54 14.50 14.56
3350 297.6 -7.5 145 3356 roll -0.71 - - 2644 - 2.38 0.042 1382 -578.6 -107.1 - - 3470 - - - - - - - - 14.90 14.44 14.90
3377 299.8 -7.7 149 3384 done -0.71 0.10 0.247 2664 200.0 2.45 0.067 2751 558.8 -107.1 - - 3469 - - - - - - - - 14.14 14.31 14.40
3742 325.7 -7.3 159 3743 done -0.71 - - 2665 - - - 2751 - -107.1 - - 3468 - - - - - - - - 14.92 14.92 14.92
4078 352.0 -7.9 165 4084 roll -0.79 - - 2665 - 2.40 0.044 1374 -573.8 -107.1 - - 3466 - - - - - - - - 14.92 14.45 14.92
4112 354.9 -8.4 170 4118 done -0.87 0.08 0.147 2584 -1012.5 2.47 0.067 2748 556.3 -107.1 - - 3465 - - - - - - - - 14.38 14.29 14.49
4471 396.3 -11.8 179 4475 roll -0.87 0.08 0.272 2603 237.5 2.03 0.107 3832 534.0 -107.1 - - 3464 - - - - - - - - 14.22 14.19 14.36
4553 406.1 -11.2 191 4559 done -0.87 - - 2602 - 1.85 0.041 2739 -590.8 -107.1 - - 3464 - - - - - - - - 14.52 14.49 14.53
4919 446.3 -11.1 201 4919 done -0.87 - - 2602 - - - 2739 - -107.1 - - 3458 - - - - - - - - 14.88 14.89 14.88
5254 482.4 -10.6 207 5259 roll -0.87 - - 2594 - 2.10 0.108 3831 520.0 -107.1 - - 3461 - - - - - - - - 14.87 14.17 14.89
5323 489.6 -10.3 217 5329 done -0.87 - - 2593 - 1.85 0.041 2753 -582.7 -107.1 - - 3461 - - - - - - - - 14.45 14.42 14.46
5646 520.6 -9.5 228 5651 roll -0.87 - - 2593 - 2.05 0.109 3822 521.5 -107.1 - - 3459 - - - - - - - - 14.88 14.16 14.88
5687 524.6 -9.8 234 5693 done -0.87 0.10 0.214 2613 200.0 1.85 0.041 2750 -579.5 -107.1 - - 3459 - - - - - - - - 14.04 14.46 14.21
6038 553.3 -8.1 242 6043 roll -0.87 - - 2613 - 2.38 0.043 1381 -575.2 -107.1 - - 3457 - - - - - - - - 14.88 14.38 14.88
6072 556.2 -8.5 247 6078 done -0.87 - - 2603 - 2.50 0.066 2741 544.0 -107.1 - - 3457 - - - - - - - - 14.31 14.21 14.36
6430 587.4 -8.8 256 6435 roll -0.87 - - 2595 - 2.05 0.111 3825 528.8 -107.1 - - 3456 - - - - - - - - 14.92 14.12 14.86
6492 593.5 -9.8 265 6499 done -0.87 - - 2595 - 1.85 0.043 2751 -580.5 -107.1 - - 3455 - - - - - - - - 14.46 14.44 14.48
6822 624.9 -9.6 277 6828 roll -0.87 - - 2594 - 2.38 0.044 1377 -577.3 -107.1 - - 3454 - - - - - - - - 14.90 14.35 14.90
6856 628.4 -9.9 282 6862 done -0.87 0.10 0.229 2612 180.0 2.53 0.067 2749 542.3 -107.1 - - 3454 - - - - - - - - 13.90 14.16 14.09
7214 660.6 -9.0 291 7219 roll -0.87 - - 2605 - 2.05 0.112 3832 528.3 -107.1 - - 3450 - - - - - - - - 14.88 14.09 14.88
7270 665.9 -9.9 299 7275 done -0.87 - - 2599 - 1.85 0.044 2740 -590.3 -107.1 - - 3452 - - - - - - - - 14.53 14.47 14.54
7606 696.8 -9.2 312 7607 done -0.87 - - 2602 - - - 2738 - -107.1 - - 3451 - - - - - - - - 14.90 14.90 14.90
7942 727.1 -9.0 318 7947 roll -0.87 - - 2596 - 2.10 0.111 3822 516.2 -107.1 - - 3450 - - - - - - - - 14.90 14.07 14.90
7976 730.4 -9.4 323 7982 done -0.87 - - 2595 - 1.85 0.044 2746 -581.6 -107.1 - - 3449 - - - - - - - - 14.42 14.39 14.45
8334 762.8 -9.1 332 8339 roll -0.87 - - 2595 - 2.38 0.042 1379 -574.4 -107.1 - - 3448 - - - - - - - - 14.90 14.31 14.90
8375 766.4 -8.8 338 8381 done -0.87 0.10 0.256 2611 160.0 2.50 0.067 2749 548.0 -107.1 - - 3450 - - - - - - - - 13.93 14.13 14.21
8726 795.4 -8.3 346 8731 roll -0.87 - - 2604 - 2.05 0.112 3829 526.8 -107.1 - - 3447 - - - - - - - - 14.85 14.04 14.86
8779 end dive: TARGET_DEPTH_EXCEEDED
8779 begin apogee
8789 800.3 -8.6 354 8905 roll -0.23 0.77 0.198 2820 280.5 - - 2239 - - 113.80 1.818 3049 -3.5 0.309 - - - - - - 13.87 14.00 13.01
8907 end apogee: CONTROL_FINISHED_OK
8907 begin climb
8911 803.6 - 356 9036 roll 0.93 1.12 0.098 3181 322.3 2.45 0.054 875 -556.7 107.1 114.50 1.773 2620 -3.7 0.340 - - - - - - 14.04 14.08 13.00
9070 800.5 6.1 381 9111 done 0.84 - - 3181 - 2.47 0.050 2265 562.8 139.7 35.05 1.819 2490 -3.7 0.327 - - - - - - 14.26 14.16 13.08
9456 766.9 9.2 394 9461 roll 0.73 0.12 0.248 3142 -325.0 2.58 0.096 3648 536.0 139.7 - - 2477 - - - - - - - - 14.05 14.25 14.23
9497 763.0 9.3 400 9503 done 0.64 0.15 0.240 3112 -200.0 2.40 0.040 2262 -577.5 139.7 - - 2476 - - - - - - - - 14.11 14.41 14.40
9848 738.2 7.0 408 9867 roll 0.66 - - 3122 - 2.45 0.060 866 -569.8 153.8 13.62 1.935 2431 -3.3 0.253 - - - - - - 14.81 14.42 13.36
9889 735.3 7.0 414 9911 done 0.68 - - 3120 - 2.42 0.052 2254 573.6 169.3 17.98 1.878 2375 -3.1 0.244 - - - - - - 14.54 14.42 13.33
10233 707.9 8.0 428 10238 roll 0.68 - - 3121 - 2.60 0.100 3651 537.3 169.3 - - 2359 - - - - - - - - 14.76 14.23 14.76
10267 704.9 9.1 433 10274 done 0.68 - - 3131 - 2.40 0.040 2262 -578.8 169.3 - - 2359 - - - - - - - - 14.46 14.42 14.47
10625 677.5 7.5 442 10630 roll 0.68 - - 3131 - 2.65 0.101 3651 524.2 173.1 - - 2358 - - - - - - - - 14.83 14.22 14.83
10659 674.7 8.3 447 10665 done 0.68 - - 3142 - 2.42 0.040 2254 -577.3 173.1 - - 2358 - - - - - - - - 14.46 14.41 14.47
11017 647.1 7.7 456 11018 done 0.68 - - 3142 - - - 2250 - 173.4 - - 2358 - - - - - - - - 14.83 14.83 14.83
11353 621.1 7.7 462 11358 roll 0.68 - - 3142 - 2.70 0.103 3652 519.3 173.6 - - 2357 - - - - - - - - 14.83 14.18 14.83
11380 618.7 8.4 466 11386 done 0.68 0.08 0.233 3123 -237.5 2.45 0.040 2255 -570.2 173.6 - - 2357 - - - - - - - - 14.05 14.40 14.33
11745 592.8 7.1 476 11765 roll 0.70 - - 3132 - 2.50 0.060 861 -557.6 185.8 16.00 1.808 2304 -3.3 0.218 - - - - - - 14.84 14.41 13.39
11794 589.1 7.6 483 11799 done 0.70 - - 3132 - 2.45 0.054 2264 572.7 188.2 - - 2297 - - - - - - - - 14.50 14.38 14.52
12130 560.9 8.5 496 12135 roll 0.70 - - 3132 - 2.62 0.103 3658 532.1 188.2 - - 2295 - - - - - - - - 14.79 14.20 14.80
12192 554.8 9.9 505 12199 done 0.70 - - 3142 - 2.45 0.040 2249 -575.1 188.2 - - 2295 - - - - - - - - 14.45 14.40 14.47
12522 525.0 9.1 517 12528 roll 0.70 - - 3152 - 2.47 0.060 857 -563.6 188.2 - - 2295 - - - - - - - - 14.82 14.27 14.82
12549 522.4 9.3 521 12556 done 0.70 - - 3152 - 2.50 0.054 2258 560.4 188.2 - - 2295 - - - - - - - - 14.35 14.26 14.39
12914 489.9 8.9 531 12919 roll 0.70 - - 3152 - 2.65 0.105 3656 527.5 188.2 - - 2295 - - - - - - - - 14.83 14.14 14.83
12970 484.5 10.1 539 12975 done 0.70 0.12 0.240 3127 -208.3 2.40 0.040 2258 -582.5 188.2 - - 2295 - - - - - - - - 14.04 14.43 14.31
13306 459.7 7.3 552 13318 roll 0.71 - - 3138 - 2.53 0.060 858 -553.4 196.6 4.03 1.471 2274 -5.2 0.326 - - - - - - 14.83 14.40 13.11
13340 457.3 7.1 557 13367 done 0.73 - - 3135 - 2.50 0.054 2288 572.0 208.4 21.65 1.626 2217 -2.6 0.148 - - - - - - 14.57 14.42 13.40
13698 429.8 7.8 573 13704 roll 0.73 - - 3138 - 2.58 0.104 3657 530.6 208.4 - - 2204 - - - - - - - - 14.76 14.16 14.77
13739 426.0 9.2 579 13745 done 0.73 - - 3147 - 2.42 0.040 2270 -573.1 208.4 - - 2204 - - - - - - - - 14.42 14.38 14.44
14090 397.1 8.2 587 14095 roll 0.73 - - 3158 - 2.50 0.061 859 -564.4 208.4 - - 2203 - - - - - - - - 14.83 14.26 14.83
14124 394.3 8.1 592 14130 done 0.73 - - 3158 - 2.53 0.054 2270 557.7 208.4 - - 2203 - - - - - - - - 14.32 14.23 14.47
14482 365.7 8.1 601 14488 roll 0.73 - - 3158 - 2.62 0.106 3660 530.5 208.4 - - 2203 - - - - - - - - 14.82 14.12 14.81
14523 361.8 9.4 607 14529 done 0.73 0.10 0.215 3140 -180.0 2.45 0.040 2254 -573.9 208.4 - - 2203 - - - - - - - - 14.01 14.38 14.37
14874 333.6 8.2 615 14875 done 0.73 - - 3140 - - - 2249 - 208.4 - - 2202 - - - - - - - - 14.83 14.83 14.83
15210 305.4 8.4 621 15211 done 0.73 - - 3140 - - - 2250 - 208.4 - - 2203 - - - - - - - - 14.83 14.83 14.83
15546 274.4 9.3 627 15551 roll 0.73 - - 3138 - 2.72 0.101 3664 519.9 208.4 - - 2203 - - - - - - - - 14.83 14.11 14.83
15602 268.9 9.9 635 15607 done 0.73 - - 3148 - 2.42 0.040 2261 -579.8 208.4 - - 2203 - - - - - - - - 14.50 14.40 14.52
15938 239.0 8.8 648 15943 roll 0.73 - - 3159 - 2.47 0.060 860 -567.2 208.4 - - 2202 - - - - - - - - 14.86 14.22 14.86
15972 236.0 8.7 653 15978 done 0.73 - - 3159 - 2.53 0.054 2272 558.1 208.4 - - 2200 - - - - - - - - 14.28 14.19 14.33
16330 206.2 8.2 662 16335 roll 0.73 - - 3158 - 2.62 0.103 3659 529.4 208.4 - - 2203 - - - - - - - - 14.83 14.08 14.83
16357 203.9 8.6 666 16363 done 0.73 0.12 0.233 3134 -200.0 2.42 0.038 2265 -576.0 208.4 - - 2203 - - - - - - - - 14.00 14.33 14.30
16722 179.1 6.7 676 16748 roll 0.75 - - 3133 - 2.65 0.099 3662 527.2 228.6 20.20 1.291 2130 -3.6 0.101 - - - - - - 14.83 14.39 13.52
16770 175.5 8.1 683 16777 done 0.75 - - 3143 - 2.42 0.038 2255 -581.4 228.6 - - 2126 - - - - - - - - 14.49 14.45 14.49
17114 149.1 7.8 690 17119 roll 0.75 - - 3143 - 2.67 0.099 3661 526.6 228.6 - - 2124 - - - - - - - - 14.81 14.16 14.81
17155 145.3 9.3 696 17161 done 0.75 - - 3151 - 2.42 0.038 2273 -573.6 228.6 - - 2124 - - - - - - - - 14.40 14.35 14.43
17506 114.8 8.8 704 17511 roll 0.75 - - 3162 - 2.50 0.059 861 -564.8 228.6 - - 2124 - - - - - - - - 14.81 14.25 14.81
17540 111.8 8.6 709 17547 done 0.75 - - 3162 - 2.50 0.052 2280 567.6 228.6 - - 2124 - - - - - - - - 14.42 14.26 14.47
17870 83.9 8.5 720 17871 done 0.75 - - 3162 - - - 2280 - 228.6 - - 2124 - - - - - - - - 14.81 14.83 14.81
18178 63.1 6.0 731 18199 roll 0.79 - - 3171 - 2.58 0.059 864 -548.8 262.9 16.20 0.352 2007 -7.2 0.260 - - - - - - 14.84 14.40 13.94
18254 59.2 5.5 742 18283 done 0.85 - - 3171 - 2.50 0.050 2269 562.0 306.9 25.02 0.343 1828 -7.2 0.248 - - - - - - 14.35 14.28 14.00
18594 44.3 1.4 757 18667 roll 1.16 0.20 0.077 3289 590.0 2.67 0.105 3654 518.7 433.1 67.62 0.304 1325 -7.4 0.217 - - - - - - 14.42 14.28 14.02
18699 38.5 8.8 772 18704 done 1.16 - - 3299 - 2.38 0.037 2263 -584.5 433.1 - - 1328 - - - - - - - - 14.45 14.36 14.46
19033 9.6 8.2 787 19038 roll 1.16 - - 3309 - 2.50 0.063 848 -566.0 433.1 - - 1330 - - - - - - - - 14.81 14.23 14.81
19095 3.2 11.1 796 19101 done 1.16 0.08 0.187 3278 -387.5 2.53 0.055 2263 559.3 433.1 - - 1326 - - - - - - - - 14.07 14.21 14.30
19105 end climb: SURFACE_DEPTH_REACHED
19106 begin surface coast
19113 end surface coast: CONTROL_FINISHED_OK
19113 begin surface
SM -0.95 - - - - -8.39 9.15 0.073 189 20.7 0.93 0.082 2773 -2530.1 500.14 33.45 0.155 1057 31.6 0.020 - - - - - -