SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 538 * Raw log
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• Previous call tries 1 • 188.76 of 350.00 AH used of 24V (46.07% remains)
• Previous NAKs 2, Timeouts 1
• Surface angle -69.2 deg, depth -1.24 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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 - - - 2774 - -107.1 -80.35 - 3477 - - - - - - - - 14.67 13.07 14.64
105 5.8 -12.4 3 122 roll -0.93 11.85 0.383 2588 209.5 2.38 0.031 1358 -595.0 -107.1 - - 3478 - - - - - - - - 13.98 14.36 14.26
150 26.2 -32.2 10 158 done -0.48 0.62 0.256 2742 248.4 2.58 0.073 2775 549.2 -107.1 - - 3479 - - - - - - - - 14.04 14.29 14.35
467 57.9 -6.9 22 471 roll -0.58 - - 2734 - 1.95 0.112 3822 536.9 -107.1 - - 3480 - - - - - - - - 14.82 14.21 14.81
501 60.0 -6.3 27 506 done -0.72 0.12 0.067 2646 -733.3 1.80 0.040 2749 -596.1 -107.1 - - 3480 - - - - - - - - 14.44 14.50 14.48
830 87.3 -8.4 41 836 roll -0.72 - - 2637 - 2.03 0.106 3830 532.5 -107.1 - - 3481 - - - - - - - - 14.88 14.26 14.88
983 101.1 -8.5 63 989 done -0.72 - - 2636 - 1.77 0.038 2746 -612.4 -107.1 - - 3481 - - - - - - - - 14.50 14.47 14.51
1335 132.2 -8.9 71 1336 done -0.72 0.10 0.238 2666 300.0 - - 2746 - -107.1 - - 3481 - - - - - - - - 14.25 14.50 14.45
1670 160.1 -8.2 77 1676 roll -0.72 - - 2666 - 2.28 0.041 1400 -590.4 -107.1 - - 3478 - - - - - - - - 14.92 14.50 14.92
1711 163.5 -7.8 83 1717 done -0.80 - - 2656 - 2.45 0.067 2771 559.6 -107.1 - - 3478 - - - - - - - - 14.53 14.35 14.57
2062 193.7 -8.7 91 2063 done -0.80 - - 2656 - - - 2770 - -107.1 - - 3476 - - - - - - - - 14.90 14.90 14.90
2398 221.1 -8.0 97 2404 roll -0.80 - - 2657 - 2.35 0.041 1401 -582.6 -107.1 - - 3473 - - - - - - - - 14.90 14.46 14.90
2432 223.9 -7.6 102 2438 done -0.80 - - 2646 - 2.45 0.067 2773 560.0 -107.1 - - 3472 - - - - - - - - 14.43 14.25 14.46
2790 250.8 -7.5 111 2795 roll -0.80 - - 2647 - 2.40 0.041 1391 -575.8 -107.1 - - 3470 - - - - - - - - 14.90 14.44 14.93
2838 254.7 -8.0 118 2845 done -0.80 - - 2639 - 2.50 0.067 2762 548.4 -107.1 - - 3470 - - - - - - - - 14.38 14.28 14.42
3182 283.9 -8.7 125 3188 roll -0.80 - - 2626 - 2.00 0.110 3825 531.5 -107.1 - - 3468 - - - - - - - - 14.89 14.22 14.89
3223 287.7 -9.4 131 3229 done -0.80 - - 2629 - 1.77 0.042 2781 -589.8 -107.1 - - 3467 - - - - - - - - 14.59 14.54 14.57
3574 318.1 -8.6 139 3579 roll -0.80 - - 2630 - 2.42 0.043 1378 -579.8 -107.1 - - 3465 - - - - - - - - 14.92 14.43 14.92
3630 323.2 -8.9 147 3635 done -0.80 - - 2620 - 2.50 0.067 2765 554.8 -107.1 - - 3465 - - - - - - - - 14.49 14.32 14.53
3966 355.8 -9.9 160 3971 roll -0.80 - - 2612 - 2.00 0.109 3837 536.0 -107.1 - - 3463 - - - - - - - - 14.92 14.21 14.92
4014 361.0 -10.6 167 4021 done -0.80 0.08 0.217 2634 275.0 1.83 0.041 2769 -583.6 -107.1 - - 3463 - - - - - - - - 14.12 14.49 14.26
4358 392.4 -9.0 174 4363 roll -0.80 - - 2634 - 2.42 0.043 1371 -577.7 -107.1 - - 3458 - - - - - - - - 14.92 14.42 14.91
4434 399.1 -8.6 185 4441 done -0.80 - - 2625 - 2.55 0.065 2761 545.1 -107.1 - - 3461 - - - - - - - - 14.33 14.23 14.38
4750 426.1 -8.6 195 4755 roll -0.80 - - 2616 - 2.00 0.109 3826 532.5 -107.1 - - 3459 - - - - - - - - 14.89 14.19 14.89
4791 429.9 -9.1 201 4798 done -0.80 - - 2616 - 1.83 0.042 2758 -583.6 -107.1 - - 3459 - - - - - - - - 14.50 14.47 14.52
5142 458.5 -8.0 209 5143 done -0.80 - - 2616 - - - 2758 - -107.1 - - 3458 - - - - - - - - 14.88 14.88 14.88
5478 487.1 -8.5 215 5479 done -0.80 - - 2616 - - - 2759 - -107.1 - - 3455 - - - - - - - - 14.88 14.89 14.89
5814 517.8 -9.2 221 5815 done -0.80 - - 2611 - - - 2759 - -107.1 - - 3455 - - - - - - - - 14.88 14.88 14.88
6150 548.0 -8.9 227 6155 roll -0.80 - - 2608 - 2.08 0.109 3832 515.9 -107.1 - - 3454 - - - - - - - - 14.88 14.14 14.88
6191 551.8 -9.3 233 6198 done -0.80 0.10 0.211 2636 280.0 1.85 0.043 2773 -572.4 -107.1 - - 3453 - - - - - - - - 14.04 14.46 14.21
6542 579.3 -7.9 241 6548 roll -0.80 - - 2636 - 2.45 0.044 1367 -573.9 -107.1 - - 3451 - - - - - - - - 14.90 14.35 14.91
6583 582.7 -8.0 247 6589 done -0.80 - - 2627 - 2.58 0.067 2762 540.7 -107.1 - - 3451 - - - - - - - - 14.42 14.16 14.45
6934 612.3 -8.6 255 6939 roll -0.80 - - 2618 - 2.03 0.112 3821 521.7 -107.1 - - 3449 - - - - - - - - 14.88 14.09 14.88
6968 615.7 -10.1 260 6974 done -0.80 - - 2618 - 1.85 0.044 2760 -573.5 -107.1 - - 3449 - - - - - - - - 14.45 14.42 14.47
7326 648.5 -9.1 269 7327 done -0.80 - - 2617 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
7662 676.4 -8.2 275 7663 done -0.80 - - 2618 - - - 2760 - -107.1 - - 3448 - - - - - - - - 14.90 14.90 14.90
7999 702.4 -7.7 281 8004 roll -0.80 - - 2616 - 2.45 0.044 1368 -568.2 -107.1 - - 3446 - - - - - - - - 14.90 14.31 14.90
8032 705.1 -7.4 286 8038 done -0.80 0.10 0.246 2635 190.0 2.58 0.067 2765 541.5 -107.1 - - 3446 - - - - - - - - 13.97 14.18 14.23
8390 731.2 -8.0 295 8391 done -0.80 - - 2636 - - - 2765 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
8726 756.4 -7.5 301 8732 roll -0.80 - - 2628 - 2.03 0.114 3825 522.2 -107.1 - - 3444 - - - - - - - - 14.89 14.02 14.89
8774 760.5 -8.4 308 8781 done -0.80 - - 2627 - 1.88 0.046 2764 -564.4 -107.1 - - 3441 - - - - - - - - 14.38 14.35 14.38
9119 785.3 -7.1 315 9123 roll -0.80 - - 2627 - 2.47 0.044 1358 -569.2 -107.1 - - 3445 - - - - - - - - 14.88 14.28 14.88
9201 790.6 -7.5 327 9207 done -0.80 - - 2618 - 2.58 0.067 2760 543.4 -107.1 - - 3442 - - - - - - - - 14.32 14.13 14.36
9339 end dive: TARGET_DEPTH_EXCEEDED
9339 begin apogee
9347 800.9 -7.2 333 9462 roll -0.23 0.73 0.190 2821 278.1 0.12 0.136 2276 -4033.3 - 111.35 1.832 3048 -3.5 0.299 - - - - - - 13.86 14.01 13.08
9463 end apogee: CONTROL_FINISHED_OK
9463 begin climb
9467 803.5 - 335 9596 roll 0.93 1.12 0.097 3184 324.1 2.53 0.055 887 -549.0 107.1 115.95 1.788 2616 -3.7 0.324 - - - - - - 14.04 14.08 12.98
9665 796.7 7.7 365 9671 done 0.81 - - 3184 - 2.42 0.051 2260 567.4 107.1 - - 2608 - - - - - - - - 14.33 14.21 14.35
10016 769.2 7.9 373 10022 roll 0.68 0.20 0.235 3123 -305.0 2.60 0.096 3651 535.0 107.1 - - 2606 - - - - - - - - 14.03 14.23 14.23
10064 765.5 7.6 380 10071 done 0.59 0.10 0.226 3097 -260.0 2.42 0.040 2271 -570.2 108.7 - - 2606 - - - - - - - - 14.07 14.38 14.37
10408 747.6 4.9 387 10476 roll 0.66 - - 3106 - 2.55 0.058 863 -552.2 165.3 63.88 1.760 2387 -3.4 0.282 - - - - - - 14.81 13.98 13.21
10505 741.4 7.5 401 10512 done 0.67 - - 3106 - 2.47 0.051 2257 564.4 169.4 - - 2378 - - - - - - - - 14.33 14.21 14.35
10856 716.5 7.1 409 10882 roll 0.68 - - 3106 - 2.65 0.102 3654 527.2 182.7 18.15 1.867 2314 -3.5 0.262 - - - - - - 14.76 14.30 13.31
10953 708.3 8.9 423 10958 done 0.68 - - 3116 - 2.45 0.040 2254 -571.4 182.7 - - 2308 - - - - - - - - 14.40 14.38 14.47
11304 679.5 8.1 431 11309 roll 0.68 - - 3125 - 2.47 0.061 854 -566.8 182.7 - - 2306 - - - - - - - - 14.78 14.31 14.78
11338 676.8 8.4 436 11344 done 0.68 - - 3125 - 2.50 0.055 2253 559.6 182.7 - - 2305 - - - - - - - - 14.38 14.31 14.42
11696 648.6 7.8 445 11701 roll 0.68 - - 3119 - 2.65 0.104 3656 529.4 182.7 - - 2304 - - - - - - - - 14.81 14.20 14.81
11758 643.4 8.6 454 11764 done 0.68 - - 3134 - 2.45 0.041 2254 -572.2 182.7 - - 2304 - - - - - - - - 14.54 14.40 14.57
12088 617.3 7.9 466 12093 roll 0.68 - - 3146 - 2.45 0.061 860 -569.0 182.7 - - 2303 - - - - - - - - 14.83 14.28 14.83
12115 615.2 7.6 470 12121 done 0.69 - - 3145 - 2.45 0.056 2255 569.4 185.6 - - 2304 - - - - - - - - 14.48 14.33 14.51
12480 585.5 8.2 480 12485 roll 0.69 - - 3145 - 2.67 0.106 3660 526.2 185.6 - - 2304 - - - - - - - - 14.85 14.15 14.85
12536 580.3 9.1 488 12541 done 0.69 0.10 0.252 3126 -190.0 2.42 0.041 2251 -582.2 185.6 - - 2304 - - - - - - - - 14.07 14.43 14.33
12872 554.8 7.5 501 12875 done 0.69 - - 3126 - - - 2248 - 190.4 1.65 0.226 2288 -9.7 4.607 - - - - - - 14.83 14.23 13.92
13208 528.5 7.9 507 13213 roll 0.69 - - 3126 - 2.70 0.101 3654 520.7 190.4 - - 2299 - - - - - - - - 14.90 14.12 14.86
13270 523.0 9.0 516 13276 done 0.69 - - 3136 - 2.45 0.041 2258 -569.8 190.4 1.23 0.207 2289 -8.1 3.975 - - - - - - 14.39 14.35 13.99
13600 495.4 8.4 528 13605 roll 0.69 - - 3146 - 2.50 0.061 856 -560.8 190.4 - - 2298 - - - - - - - - 14.85 14.23 14.85
13634 492.0 9.6 533 13641 done 0.69 - - 3146 - 2.53 0.055 2260 554.9 190.4 - - 2299 - - - - - - - - 14.28 14.19 14.32
13992 461.4 8.6 542 13997 roll 0.69 - - 3146 - 2.67 0.107 3660 524.3 190.4 - - 2299 - - - - - - - - 14.86 14.07 14.86
14026 458.1 10.0 547 14032 done 0.69 0.12 0.216 3122 -200.0 2.45 0.041 2260 -571.4 190.4 - - 2299 - - - - - - - - 13.90 14.33 14.26
14384 431.0 7.6 556 14388 done 0.69 - - 3122 - - - 2257 - 192.4 2.40 0.619 2281 -7.5 1.011 - - - - - - 14.83 14.29 13.09
14720 406.7 7.2 562 14741 done 0.71 - - 3122 - - - 2257 - 203.2 19.58 1.554 2240 -2.1 0.106 - - - - - - 14.83 14.34 13.42
15056 380.8 7.9 568 15061 roll 0.71 - - 3122 - 2.70 0.103 3660 519.6 203.2 - - 2226 - - - - - - - - 14.78 14.16 14.82
15097 377.0 9.2 574 15103 done 0.71 - - 3130 - 2.47 0.041 2258 -567.6 203.2 - - 2226 - - - - - - - - 14.40 14.36 14.42
15448 348.8 7.9 582 15453 roll 0.71 - - 3141 - 2.50 0.062 852 -562.4 203.2 - - 2226 - - - - - - - - 14.81 14.23 14.81
15476 346.7 7.6 586 15481 done 0.71 - - 3141 - 2.50 0.055 2268 566.4 206.6 - - 2224 - - - - - - - - 14.43 14.28 14.46
15840 320.1 7.1 596 15860 roll 0.73 - - 3140 - 2.65 0.106 3654 523.0 218.4 15.35 1.489 2175 -3.2 0.133 - - - - - - 14.84 14.38 13.48
15909 314.7 8.5 606 15915 done 0.73 - - 3150 - 2.45 0.041 2250 -573.1 218.4 - - 2167 - - - - - - - - 14.46 14.42 14.49
16225 288.8 8.3 616 16226 done 0.73 - - 3145 - - - 2247 - 218.4 - - 2166 - - - - - - - - 14.81 14.81 14.81
16561 258.3 9.1 622 16566 roll 0.73 - - 3159 - 2.45 0.061 871 -561.6 218.4 - - 2166 - - - - - - - - 14.83 14.24 14.83
16588 255.8 9.0 626 16593 done 0.73 - - 3160 - 2.50 0.054 2260 555.6 218.4 - - 2167 - - - - - - - - 14.31 14.23 14.46
16953 220.9 9.5 636 16958 roll 0.73 - - 3160 - 2.65 0.103 3658 527.5 218.4 - - 2166 - - - - - - - - 14.85 14.13 14.85
17009 215.1 10.9 644 17014 done 0.73 0.12 0.232 3135 -208.3 2.40 0.038 2256 -584.2 218.4 - - 2166 - - - - - - - - 14.05 14.43 14.34
17345 187.7 8.0 657 17346 done 0.73 - - 3135 - - - 2252 - 218.4 - - 2166 - - - - - - - - 14.82 14.82 14.82
17681 162.8 7.2 663 17692 roll 0.74 - - 3145 - 2.50 0.061 868 -553.6 228.7 3.92 1.140 2143 -5.9 0.162 - - - - - - 14.83 14.39 13.26
17715 160.2 7.8 668 17721 done 0.74 - - 3145 - 2.47 0.054 2266 566.0 228.7 1.62 0.230 2139 -2.5 0.333 - - - - - - 14.46 14.39 13.99
18073 131.0 8.3 677 18080 roll 0.74 - - 3145 - 2.67 0.101 3660 522.1 228.7 1.95 0.225 2145 3.1 -0.347 - - - - - - 14.80 14.19 13.81
18142 124.8 9.0 687 18149 done 0.74 - - 3154 - 2.40 0.038 2256 -585.0 228.7 2.20 0.429 2139 -2.7 0.154 - - - - - - 14.51 14.43 13.15
18458 100.5 7.6 697 18469 roll 0.74 - - 3165 - 2.53 0.060 865 -549.8 231.8 3.67 0.350 2131 -2.2 0.121 - - - - - - 14.83 14.22 13.63
18499 96.9 8.8 703 18505 done 0.74 - - 3165 - 2.50 0.053 2268 561.2 231.8 1.73 0.200 2126 -2.9 0.271 - - - - - - 14.35 14.26 13.83
18822 69.4 7.9 716 18828 roll 0.74 - - 3167 - 2.70 0.102 3664 517.0 231.8 2.03 0.231 2128 - - - - - - - - 14.81 14.06 13.67
18905 63.1 7.4 728 18919 done 0.75 0.10 0.199 3145 -220.0 2.42 0.037 2268 -576.9 238.5 5.72 0.317 2105 -4.0 0.155 - - - - - - 13.96 14.26 13.78
19238 49.8 3.3 742 19291 roll 0.98 0.15 0.086 3242 646.7 2.53 0.059 865 -554.5 327.3 48.38 0.317 1746 -7.4 0.226 - - - - - - 14.47 14.40 14.01
19409 42.4 3.6 764 19459 done 1.08 - - 3241 - 2.47 0.049 2283 574.1 409.5 44.10 0.298 1418 -7.4 0.205 - - - - - - 14.36 14.21 14.02
19771 19.2 4.8 782 19808 roll 1.26 0.08 0.145 3318 962.5 2.58 0.103 3653 531.0 468.3 30.73 0.215 1187 -7.5 0.130 - - - - - - 14.43 14.23 14.02
19911 2.6 13.0 802 19916 done 1.26 - - 3327 - 2.38 0.038 2268 -581.9 468.3 - - 1191 - - - - - - - - 14.48 14.40 14.50
19918 end climb: SURFACE_DEPTH_REACHED
19918 begin surface coast
19926 end surface coast: CONTROL_FINISHED_OK
19926 begin surface
SM -1.26 - - - - -8.40 9.02 0.049 177 19.6 0.95 0.090 2761 1822.1 500.14 16.62 0.158 1057 63.6 0.052 - - - - - -