SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 562 * Raw log
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• Previous call tries 1 • 196.06 of 350.00 AH used of 24V (43.98% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -72.0 deg, depth -6.33 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 110 - - - 2769 - -107.1 -81.15 - 3479 - - - - - - - - 14.66 12.55 14.63
104 -0.6 -10.2 3 121 roll -0.93 12.02 0.389 2587 206.1 2.40 0.032 1359 -587.5 -107.1 - - 3479 - - - - - - - - 13.95 14.33 14.22
286 42.6 -14.6 29 292 done -0.76 0.28 0.245 2651 228.6 2.58 0.069 2777 549.6 -107.1 - - 3480 - - - - - - - - 13.99 14.28 14.31
608 69.2 -8.2 42 612 roll -0.76 - - 2643 - 1.98 0.108 3833 533.3 -107.1 - - 3482 - - - - - - - - 14.85 14.16 14.83
725 78.6 -8.3 59 731 done -0.76 - - 2642 - 1.80 0.036 2726 -615.0 -107.1 - - 3482 - - - - - - - - 14.52 14.51 14.53
1083 110.1 -8.5 72 1088 roll -0.76 - - 2642 - 2.25 0.043 1405 -587.1 -107.1 - - 3482 - - - - - - - - 14.90 14.42 14.90
1153 115.8 -7.5 82 1158 done -0.76 - - 2630 - 2.45 0.066 2778 560.4 -107.1 - - 3482 - - - - - - - - 14.49 14.31 14.51
1476 143.9 -8.8 93 1481 roll -0.76 - - 2625 - 1.95 0.106 3825 536.9 -107.1 - - 3481 - - - - - - - - 14.88 14.21 14.88
1566 151.7 -9.4 106 1571 done -0.76 - - 2624 - 1.73 0.038 2781 -603.5 -107.1 - - 3481 - - - - - - - - 14.55 14.52 14.55
1923 184.5 -9.3 115 1928 roll -0.76 0.10 0.236 2660 360.0 2.38 0.041 1391 -584.0 -107.1 - - 3478 - - - - - - - - 14.21 14.40 14.35
1965 187.8 -8.4 121 1972 done -0.76 - - 2651 - 2.50 0.068 2773 552.8 -107.1 - - 3476 - - - - - - - - 14.47 14.30 14.51
2316 212.5 -6.6 129 2322 roll -0.76 - - 2650 - 2.40 0.043 1395 -574.2 -107.1 - - 3475 - - - - - - - - 14.88 14.41 14.88
2343 214.3 -6.0 133 2349 done -0.76 - - 2633 - 2.47 0.067 2767 555.5 -107.1 - - 3475 - - - - - - - - 14.47 14.30 14.51
2708 240.4 -7.1 143 2708 done -0.76 - - 2642 - - - 2767 - -107.1 - - 3471 - - - - - - - - 14.87 14.88 14.88
3044 265.2 -7.4 149 3049 roll -0.76 - - 2641 - 2.40 0.044 1394 -572.1 -107.1 - - 3470 - - - - - - - - 14.88 14.40 14.88
3078 269.6 -12.8 154 3083 done -0.76 - - 2632 - 2.53 0.069 2777 546.6 -107.1 - - 3470 - - - - - - - - 14.44 14.26 14.48
3436 300.7 -9.0 163 3440 roll -0.76 - - 2624 - 1.98 0.107 3822 527.8 -107.1 - - 3469 - - - - - - - - 14.88 14.18 14.92
3484 305.1 -9.5 170 3491 done -0.76 0.08 0.208 2647 287.5 1.77 0.041 2788 -584.2 -107.1 - - 3468 - - - - - - - - 14.13 14.49 14.26
3827 333.0 -8.2 177 3833 roll -0.76 - - 2647 - 2.45 0.043 1372 -578.0 -107.1 - - 3466 - - - - - - - - 14.87 14.38 14.87
3904 339.0 -7.4 188 3909 done -0.76 - - 2638 - 2.55 0.067 2776 550.6 -107.1 - - 3466 - - - - - - - - 14.43 14.26 14.47
4220 371.6 -11.8 198 4220 done -0.76 - - 2639 - - - 2775 - -107.1 - - 3464 - - - - - - - - 14.90 14.90 14.90
4556 397.4 -7.5 204 4560 roll -0.76 - - 2638 - 2.45 0.043 1374 -571.8 -107.1 - - 3463 - - - - - - - - 14.90 14.38 14.90
4590 400.2 -6.5 209 4596 done -0.76 - - 2629 - 2.53 0.067 2765 549.8 -107.1 - - 3462 - - - - - - - - 14.42 14.24 14.46
4948 425.7 -7.1 218 4953 roll -0.76 - - 2628 - 2.45 0.044 1375 -567.3 -107.1 - - 3460 - - - - - - - - 14.86 14.35 14.86
4981 428.9 -9.0 223 4987 done -0.76 0.12 0.238 2654 216.7 2.53 0.067 2766 549.8 -107.1 - - 3460 - - - - - - - - 13.97 14.22 14.26
5340 452.3 -6.7 232 5344 roll -0.76 - - 2646 - 2.00 0.109 3824 529.0 -107.1 - - 3459 - - - - - - - - 14.87 14.12 14.87
5381 455.8 -8.0 238 5386 done -0.76 - - 2645 - 1.83 0.043 2754 -584.7 -107.1 - - 3459 - - - - - - - - 14.47 14.45 14.49
5732 481.9 -7.5 246 5737 roll -0.76 - - 2645 - 2.40 0.043 1377 -573.8 -107.1 - - 3457 - - - - - - - - 14.87 14.33 14.86
5821 488.8 -7.8 259 5827 done -0.76 - - 2634 - 2.53 0.067 2762 547.4 -107.1 - - 3457 - - - - - - - - 14.38 14.21 14.42
6180 516.0 -7.7 268 6180 done -0.76 - - 2637 - - - 2762 - -107.1 - - 3456 - - - - - - - - 14.89 14.89 14.89
6516 543.7 -8.4 274 6517 done -0.76 - - 2637 - - - 2762 - -107.1 - - 3454 - - - - - - - - 14.89 14.89 14.89
6851 573.1 -8.7 280 6852 done -0.76 - - 2635 - - - 2762 - -107.1 - - 3453 - - - - - - - - 14.87 14.86 14.86
7187 601.5 -8.3 286 7192 roll -0.76 - - 2636 - 2.45 0.044 1384 -562.4 -107.1 - - 3452 - - - - - - - - 14.86 14.28 14.86
7222 603.9 -7.4 291 7227 done -0.76 - - 2627 - 2.53 0.068 2759 543.5 -107.1 - - 3451 - - - - - - - - 14.38 14.19 14.41
7580 631.3 -7.5 300 7584 roll -0.76 0.08 0.269 2646 237.5 2.03 0.106 3824 524.6 -107.1 - - 3450 - - - - - - - - 14.09 14.04 14.19
7614 633.6 -6.5 305 7621 done -0.76 - - 2645 - 1.85 0.044 2767 -571.4 -107.1 - - 3450 - - - - - - - - 14.39 14.36 14.40
7972 655.5 -6.3 314 7977 roll -0.83 - - 2645 - 2.45 0.044 1376 -567.8 -107.1 - - 3449 - - - - - - - - 14.85 14.28 14.85
8048 660.6 -7.2 325 8055 done -0.92 0.05 0.201 2578 -1340.0 2.55 0.068 2762 543.5 -107.1 - - 3448 - - - - - - - - 14.20 14.15 14.33
8363 690.2 -9.6 335 8368 roll -0.92 - - 2570 - 2.03 0.109 3826 524.1 -107.1 - - 3448 - - - - - - - - 14.85 14.00 14.85
8412 695.2 -11.9 342 8419 done -0.92 0.10 0.207 2596 260.0 1.85 0.043 2762 -575.1 -107.1 - - 3448 - - - - - - - - 13.91 14.34 14.06
8756 728.5 -9.8 349 8756 done -0.92 - - 2596 - - - 2766 - -107.1 - - 3447 - - - - - - - - 14.88 14.88 14.88
9091 762.0 -10.0 355 9092 done -0.92 - - 2596 - - - 2766 - -107.1 - - 3446 - - - - - - - - 14.88 14.88 14.88
9427 796.5 -10.3 361 9433 roll -0.92 - - 2596 - 2.47 0.044 1371 -564.8 -107.1 - - 3444 - - - - - - - - 14.84 14.23 14.84
9454 799.1 -9.8 365 9461 done -0.92 - - 2587 - 2.58 0.068 2761 538.8 -107.1 - - 3444 - - - - - - - - 14.29 14.08 14.33
9472 end dive: TARGET_DEPTH_EXCEEDED
9472 begin apogee
9481 800.8 -8.3 368 9598 roll -0.23 0.82 0.189 2819 282.9 0.08 0.174 2261 -6250.0 - 114.18 1.842 3051 -3.4 0.300 - - - - - - 13.83 13.94 12.96
9600 end apogee: CONTROL_FINISHED_OK
9600 begin climb
9603 805.2 - 370 9732 roll 0.93 1.12 0.095 3184 325.9 2.53 0.055 883 -544.7 107.1 116.75 1.795 2618 -3.7 0.333 - - - - - - 14.03 14.07 12.93
9816 801.2 7.1 402 9835 done 0.82 - - 3184 - 2.42 0.052 2251 565.3 120.0 12.23 1.969 2568 -4.1 0.333 - - - - - - 14.34 14.23 13.07
10152 776.9 7.3 415 10164 roll 0.70 0.15 0.240 3137 -313.3 2.67 0.098 3654 525.5 129.5 3.62 1.421 2539 -8.0 0.877 - - - - - - 14.04 14.32 12.95
10200 773.6 7.5 422 10220 done 0.60 0.20 0.226 3093 -220.0 2.40 0.040 2260 -580.8 133.9 12.27 2.026 2511 -2.3 0.174 - - - - - - 14.15 14.45 13.25
10547 754.3 5.6 436 10605 roll 0.65 - - 3092 - 2.70 0.099 3651 515.2 177.2 49.60 1.798 2336 -3.5 0.296 - - - - - - 14.73 14.13 13.22
10656 747.3 7.3 452 10662 done 0.66 - - 3101 - 2.42 0.040 2255 -576.9 185.0 2.42 0.669 2311 -10.3 2.310 - - - - - - 14.39 14.31 12.76
10985 725.2 6.4 464 11027 roll 0.69 - - 3101 - 2.72 0.102 3651 513.2 210.8 36.42 1.799 2202 -3.0 0.241 - - - - - - 14.74 14.21 13.28
11054 721.1 6.8 474 11082 done 0.72 - - 3110 - 2.42 0.041 2251 -578.5 229.8 21.62 1.829 2130 -3.3 0.263 - - - - - - 14.40 14.32 13.23
11433 692.1 7.8 486 11434 done 0.72 - - 3110 - - - 2250 - 229.8 - - 2115 - - - - - - - - 14.76 14.75 14.75
11769 665.7 7.9 492 11774 roll 0.72 - - 3110 - 2.67 0.103 3652 525.1 229.8 - - 2112 - - - - - - - - 14.78 14.19 14.79
11810 661.8 9.1 498 11816 done 0.72 - - 3119 - 2.40 0.041 2261 -579.6 229.8 - - 2113 - - - - - - - - 14.52 14.42 14.55
12161 633.4 8.1 506 12162 done 0.72 - - 3119 - - - 2258 - 229.8 - - 2112 - - - - - - - - 14.81 14.81 14.84
12497 605.8 8.1 512 12498 done 0.72 - - 3119 - - - 2258 - 229.8 - - 2112 - - - - - - - - 14.82 14.82 14.82
12833 578.5 8.3 518 12838 roll 0.72 - - 3119 - 2.67 0.104 3648 520.6 229.8 - - 2112 - - - - - - - - 14.83 14.12 14.83
12889 573.5 9.4 526 12894 done 0.72 - - 3128 - 2.42 0.041 2253 -576.4 229.8 - - 2112 - - - - - - - - 14.50 14.40 14.52
13225 546.7 7.8 539 13230 roll 0.72 - - 3128 - 2.67 0.103 3653 524.3 229.8 - - 2111 - - - - - - - - 14.83 14.12 14.82
13252 544.6 8.0 543 13257 done 0.72 - - 3138 - 2.45 0.041 2258 -569.4 229.8 - - 2111 - - - - - - - - 14.50 14.34 14.52
13617 516.8 7.7 553 13618 done 0.72 - - 3138 - - - 2255 - 230.7 - - 2111 - - - - - - - - 14.82 14.83 14.86
13953 488.6 8.6 559 13954 done 0.72 - - 3138 - - - 2255 - 230.7 - - 2111 - - - - - - - - 14.85 14.86 14.85
14289 457.2 9.5 565 14295 roll 0.72 - - 3137 - 2.67 0.105 3648 521.7 230.7 - - 2111 - - - - - - - - 14.85 14.04 14.85
14330 452.9 10.6 571 14335 done 0.72 - - 3147 - 2.45 0.041 2261 -566.1 230.7 - - 2111 - - - - - - - - 14.45 14.29 14.48
14681 418.9 9.6 579 14686 roll 0.72 - - 3157 - 2.50 0.064 861 -560.0 230.7 - - 2111 - - - - - - - - 14.82 14.16 14.83
14722 415.0 9.3 585 14729 done 0.72 - - 3157 - 2.50 0.058 2262 560.4 230.7 - - 2110 - - - - - - - - 14.37 14.20 14.41
15073 383.1 9.1 593 15079 roll 0.72 - - 3160 - 2.67 0.108 3655 521.7 230.7 - - 2110 - - - - - - - - 14.82 14.01 14.82
15129 378.2 10.6 601 15135 done 0.72 0.12 0.228 3132 -233.3 2.42 0.040 2259 -576.9 230.7 - - 2110 - - - - - - - - 13.95 14.33 14.24
15466 352.3 7.6 614 15466 done 0.72 - - 3132 - - - 2256 - 234.1 - - 2110 - - - - - - - - 14.82 14.81 14.81
15801 326.8 7.6 620 15802 done 0.72 - - 3132 - - - 2256 - 235.8 - - 2110 - - - - - - - - 14.81 14.82 14.81
16137 300.4 7.9 626 16138 done 0.72 - - 3133 - - - 2256 - 235.8 - - 2109 - - - - - - - - 14.83 14.81 14.82
16473 272.9 8.2 632 16478 roll 0.72 - - 3134 - 2.72 0.106 3656 514.7 235.8 - - 2111 - - - - - - - - 14.82 13.99 14.81
16521 268.5 9.7 639 16528 done 0.72 - - 3142 - 2.47 0.041 2260 -565.2 235.8 - - 2110 - - - - - - - - 14.29 14.24 14.32
16865 241.3 7.7 646 16870 roll 0.73 - - 3152 - 2.53 0.064 863 -552.2 236.6 - - 2110 - - - - - - - - 14.85 14.12 14.85
16906 238.2 8.0 652 16912 done 0.73 - - 3152 - 2.53 0.057 2272 556.9 236.6 - - 2111 - - - - - - - - 14.23 14.08 14.26
17257 211.2 7.9 660 17262 roll 0.73 - - 3152 - 2.65 0.106 3657 522.6 236.6 - - 2111 - - - - - - - - 14.81 13.98 14.81
17313 206.1 9.4 668 17318 done 0.73 - - 3163 - 2.42 0.039 2261 -576.9 236.6 - - 2111 - - - - - - - - 14.41 14.31 14.43
17649 176.9 8.7 681 17655 roll 0.73 - - 3173 - 2.55 0.065 845 -555.3 236.6 - - 2111 - - - - - - - - 14.81 14.12 14.81
17690 173.2 8.8 687 17696 done 0.73 0.12 0.190 3137 -300.0 2.58 0.057 2270 552.3 236.6 - - 2111 - - - - - - - - 13.84 14.10 14.23
18041 145.5 8.2 695 18046 roll 0.73 - - 3136 - 2.65 0.105 3656 523.0 236.6 - - 2111 - - - - - - - - 14.81 13.99 14.81
18089 141.1 9.2 702 18096 done 0.73 - - 3145 - 2.47 0.039 2253 -568.0 236.6 - - 2111 - - - - - - - - 14.28 14.23 14.31
18434 109.8 9.0 709 18434 done 0.73 - - 3146 - - - 2252 - 236.6 - - 2111 - - - - - - - - 14.84 14.84 14.84
18741 85.6 7.5 717 18752 roll 0.73 - - 3155 - 2.58 0.064 855 -541.5 241.5 3.42 0.308 2093 -5.3 0.293 - - - - - - 14.83 14.12 13.52
18797 81.5 7.2 725 18810 done 0.75 - - 3155 - 2.53 0.054 2274 560.9 252.8 8.65 0.388 2042 -5.9 0.248 - - - - - - 14.35 14.19 13.65
19126 61.5 5.6 739 19159 roll 0.80 - - 3155 - 2.62 0.103 3648 524.4 295.4 25.65 0.362 1877 -6.4 0.219 - - - - - - 14.79 14.19 13.81
19238 55.2 6.3 755 19264 done 0.83 - - 3165 - 2.40 0.038 2256 -580.0 324.1 17.45 0.340 1758 -6.8 0.222 - - - - - - 14.45 14.35 13.83
19577 36.3 4.5 770 19621 roll 1.08 0.15 0.086 3276 740.0 2.53 0.064 867 -549.0 389.5 36.85 0.291 1499 -7.0 0.175 - - - - - - 14.40 14.26 13.94
19709 27.7 8.0 789 19716 done 1.08 - - 3276 - 2.47 0.058 2257 562.8 389.5 - - 1502 - - - - - - - - 14.37 14.21 14.40
20022 2.8 8.2 801 20028 roll 1.08 0.08 0.238 3248 -350.0 2.65 0.103 3651 526.0 389.5 - - 1501 - - - - - - - - 14.16 14.05 14.26
20031 end climb: SURFACE_DEPTH_REACHED
20031 begin surface coast
20039 end surface coast: CONTROL_FINISHED_OK
20039 begin surface
SM -4.97 - - - - -8.39 9.18 0.075 188 20.5 1.52 0.040 2747 -1058.6 500.14 55.40 0.160 1057 19.1 0.061 - - - - - -