SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 483 * Raw log
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• Previous call tries 1 • 171.46 of 350.00 AH used of 24V (51.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth -1.96 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 100 done -0.93 - - 104 - - - 2783 - -107.1 -81.07 - 3480 - - - - - - - - 14.67 12.54 14.65
104 4.2 -11.0 3 121 roll -0.93 11.93 0.386 2580 207.5 1.88 0.080 3820 551.6 -107.1 - - 3479 - - - - - - - - 13.97 14.35 14.25
149 25.7 -34.4 10 156 done -0.40 0.68 0.232 2761 266.2 1.83 0.037 2727 -597.3 -107.1 - - 3480 - - - - - - - - 14.04 14.47 14.23
465 50.9 -6.8 22 470 roll -0.53 - - 2754 - 2.08 0.111 3820 525.5 -107.1 - - 3481 - - - - - - - - 14.80 14.26 14.79
664 63.9 -6.3 50 669 done -0.69 0.17 0.077 2644 -647.1 1.73 0.046 2780 -601.2 -107.1 - - 3482 - - - - - - - - 14.54 14.57 14.60
998 92.9 -8.4 65 1004 roll -0.69 0.10 0.231 2674 300.0 2.38 0.044 1377 -589.5 -107.1 - - 3483 - - - - - - - - 14.35 14.42 14.54
1074 98.8 -7.5 76 1081 done -0.69 - - 2665 - 2.50 0.067 2758 552.4 -107.1 - - 3483 - - - - - - - - 14.44 14.34 14.48
1390 123.2 -7.9 83 1395 roll -0.69 - - 2656 - 2.00 0.109 3831 536.5 -107.1 - - 3483 - - - - - - - - 14.91 14.31 14.91
1424 126.0 -8.1 88 1430 done -0.69 - - 2656 - 1.83 0.042 2744 -594.0 -107.1 - - 3482 - - - - - - - - 14.60 14.58 14.62
1782 156.6 -8.7 97 1783 done -0.69 - - 2656 - - - 2744 - -107.1 - - 3481 - - - - - - - - 14.92 14.92 14.92
2118 183.1 -7.7 103 2119 done -0.69 - - 2656 - - - 2744 - -107.1 - - 3479 - - - - - - - - 14.90 14.90 14.90
2454 210.3 -8.2 109 2460 roll -0.69 - - 2648 - 2.08 0.111 3831 522.6 -107.1 - - 3476 - - - - - - - - 14.90 14.31 14.90
2495 214.0 -8.9 115 2501 done -0.69 - - 2648 - 1.80 0.043 2767 -591.1 -107.1 - - 3476 - - - - - - - - 14.62 14.60 14.64
2846 244.7 -8.9 123 2851 roll -0.69 - - 2648 - 2.38 0.042 1383 -581.5 -107.1 - - 3474 - - - - - - - - 14.93 14.51 14.93
2880 247.8 -9.2 128 2886 done -0.69 0.10 0.207 2670 220.0 2.50 0.067 2759 550.4 -107.1 - - 3473 - - - - - - - - 14.19 14.35 14.34
3238 276.8 -7.9 137 3244 roll -0.77 - - 2670 - 2.40 0.044 1381 -574.2 -107.1 - - 3471 - - - - - - - - 14.90 14.47 14.90
3272 279.6 -8.1 142 3278 done -0.86 0.05 0.116 2606 -1280.0 2.53 0.069 2766 547.4 -107.1 - - 3471 - - - - - - - - 14.32 14.35 14.52
3630 316.5 -10.5 151 3635 roll -0.86 - - 2598 - 1.98 0.110 3822 533.3 -107.1 - - 3472 - - - - - - - - 14.90 14.28 14.90
3686 322.7 -11.1 159 3691 done -0.86 - - 2597 - 1.80 0.043 2764 -587.8 -107.1 - - 3469 - - - - - - - - 14.58 14.54 14.59
4022 359.3 -10.9 172 4027 roll -0.86 - - 2587 - 2.03 0.109 3828 524.1 -107.1 - - 3466 - - - - - - - - 14.91 14.28 14.92
4063 364.1 -11.7 178 4069 done -0.86 0.10 0.211 2618 310.0 1.80 0.044 2774 -585.6 -107.1 - - 3467 - - - - - - - - 14.18 14.56 14.34
4414 397.6 -9.4 186 4415 done -0.86 - - 2618 - - - 2775 - -107.1 - - 3465 - - - - - - - - 14.90 14.90 14.90
4750 428.2 -9.2 192 4755 roll -0.86 - - 2625 - 2.42 0.043 1374 -578.9 -107.1 - - 3464 - - - - - - - - 14.90 14.46 14.90
4784 431.5 -9.3 197 4791 done -0.86 - - 2609 - 2.53 0.066 2761 548.2 -107.1 - - 3463 - - - - - - - - 14.40 14.30 14.45
5142 465.9 -9.7 206 5143 done -0.86 - - 2609 - - - 2761 - -107.1 - - 3462 - - - - - - - - 14.90 14.88 14.90
5478 497.9 -9.5 212 5483 roll -0.86 - - 2601 - 2.00 0.109 3830 534.5 -107.1 - - 3461 - - - - - - - - 14.92 14.20 14.92
5534 503.6 -10.1 220 5539 done -0.86 - - 2600 - 1.85 0.044 2756 -580.5 -107.1 - - 3460 - - - - - - - - 14.54 14.50 14.55
5870 537.0 -9.9 233 5876 roll -0.86 - - 2599 - 2.40 0.044 1375 -575.4 -107.1 - - 3458 - - - - - - - - 14.92 14.44 14.92
5918 541.9 -10.0 240 5925 done -0.86 0.08 0.230 2612 162.5 2.55 0.067 2764 544.7 -107.1 - - 3458 - - - - - - - - 14.06 14.27 14.21
6262 573.1 -9.0 247 6267 roll -0.86 - - 2604 - 2.00 0.112 3828 532.0 -107.1 - - 3457 - - - - - - - - 14.89 14.22 14.88
6318 578.3 -9.3 255 6323 done -0.86 - - 2603 - 1.83 0.045 2770 -578.1 -107.1 - - 3457 - - - - - - - - 14.50 14.49 14.51
6654 608.0 -8.8 268 6659 roll -0.86 - - 2603 - 2.40 0.042 1380 -579.2 -107.1 - - 3455 - - - - - - - - 14.88 14.42 14.88
6681 610.6 -9.1 272 6687 done -0.86 - - 2594 - 2.55 0.067 2769 544.7 -107.1 - - 3455 - - - - - - - - 14.37 14.26 14.41
7046 645.8 -9.8 282 7051 roll -0.86 - - 2586 - 2.00 0.112 3833 532.0 -107.1 - - 3454 - - - - - - - - 14.91 14.18 14.91
7080 649.5 -10.8 287 7086 done -0.86 0.10 0.207 2612 260.0 1.85 0.044 2767 -576.2 -107.1 - - 3454 - - - - - - - - 14.09 14.50 14.26
7438 682.0 -9.0 296 7443 roll -0.86 - - 2614 - 2.42 0.043 1371 -576.9 -107.1 - - 3452 - - - - - - - - 14.87 14.40 14.88
7472 685.1 -9.1 301 7479 done -0.86 - - 2605 - 2.58 0.066 2768 541.5 -107.1 - - 3451 - - - - - - - - 14.31 14.21 14.38
7830 717.5 -9.0 310 7835 roll -0.86 - - 2597 - 2.00 0.111 3827 529.5 -107.1 - - 3450 - - - - - - - - 14.87 14.16 14.87
7864 720.6 -9.1 315 7870 done -0.86 - - 2596 - 1.85 0.045 2765 -574.1 -107.1 - - 3450 - - - - - - - - 14.50 14.47 14.52
8222 751.2 -8.5 324 8227 roll -0.86 - - 2588 - 2.08 0.112 3837 515.4 -107.1 - - 3449 - - - - - - - - 14.90 14.12 14.90
8270 755.6 -9.7 331 8278 done -0.86 0.10 0.208 2616 280.0 1.88 0.044 2761 -572.3 -107.1 - - 3449 - - - - - - - - 14.06 14.46 14.21
8614 782.0 -7.7 338 8619 roll -0.86 - - 2616 - 2.42 0.044 1367 -576.0 -107.1 - - 3447 - - - - - - - - 14.89 14.39 14.90
8670 786.5 -7.9 346 8675 done -0.86 - - 2607 - 2.55 0.067 2777 552.9 -107.1 - - 3448 - - - - - - - - 14.42 14.25 14.46
8835 end dive: TARGET_DEPTH_EXCEEDED
8835 begin apogee
8843 800.3 -8.3 356 8952 roll -0.23 0.75 0.175 2826 292.0 0.12 0.142 2281 -4133.3 - 100.78 2.531 3051 -3.9 0.250 - - - - 1 - 14.04 13.88 12.57
8953 end apogee: CONTROL_FINISHED_OK
8953 begin climb
8956 803.1 - 358 9086 roll 0.93 1.10 0.085 3186 327.3 2.53 0.054 897 -547.0 107.1 120.80 1.820 2622 -3.6 0.314 - - - - - - 13.95 13.97 12.97
9156 798.1 6.5 387 9190 done 0.83 - - 3185 - 2.40 0.050 2238 558.8 132.0 26.42 1.886 2517 -4.0 0.337 - - - - - - 14.23 14.17 13.15
9507 768.2 8.7 402 9512 roll 0.71 0.15 0.230 3147 -253.3 2.38 0.055 892 -565.5 132.0 - - 2509 - - - - - - - - 14.16 14.36 14.33
9548 765.0 7.4 408 9554 done 0.72 - - 3146 - 2.40 0.051 2245 563.8 138.0 1.10 0.181 2498 -10.0 8.467 - - - - - - 14.42 14.35 14.18
9899 739.8 7.2 416 9924 roll 0.73 - - 3147 - 2.67 0.100 3653 527.3 148.9 17.77 1.900 2447 -2.9 0.224 - - - - - - 14.81 14.38 13.38
9996 731.9 8.5 430 10002 done 0.63 0.17 0.203 3107 -235.3 2.40 0.041 2282 -571.2 148.9 - - 2445 - - - - - - - - 14.19 14.45 14.33
10347 710.1 6.0 438 10386 done 0.67 - - 3107 - - - 2279 - 182.7 37.90 1.805 2322 -3.2 0.256 - - - - - - 14.80 14.27 13.35
10683 688.6 6.5 444 10715 roll 0.71 - - 3106 - 2.60 0.101 3648 526.5 208.2 26.62 1.825 2217 -3.9 0.298 - - - - - - 14.76 14.27 13.36
10744 684.0 7.2 453 10757 done 0.72 - - 3116 - 2.47 0.041 2245 -568.0 218.2 5.60 1.903 2183 -6.1 0.437 - - - - - - 14.38 14.35 13.11
11074 659.1 7.6 465 11078 done 0.72 - - 3116 - - - 2245 - 219.8 2.17 0.485 2174 -4.1 1.129 - - - - - - 14.77 14.27 12.83
11411 632.0 8.2 471 11416 roll 0.72 - - 3116 - 2.72 0.099 3651 516.9 219.8 1.62 0.246 2176 - - - - - - - - 14.81 14.29 13.99
11451 628.2 9.3 477 11460 done 0.72 - - 3126 - 2.45 0.041 2254 -570.2 219.8 - - 2182 - - - - - - - - 14.50 14.46 14.52
11795 598.4 8.7 484 11798 done 0.72 - - 3126 - - - 2253 - 219.8 1.35 0.246 2174 -5.9 2.888 - - - - - - 14.86 14.38 14.09
12132 568.6 8.8 490 12136 roll 0.72 - - 3125 - 2.65 0.102 3646 525.7 219.8 - - 2183 - - - - - - - - 14.88 14.26 14.88
12172 564.5 10.0 496 12179 done 0.72 - - 3134 - 2.42 0.041 2262 -571.9 219.8 1.38 0.214 2174 -6.5 3.446 - - - - - - 14.49 14.45 14.04
12524 533.9 8.5 504 12529 roll 0.72 - - 3135 - 2.65 0.100 3650 523.8 219.8 - - 2181 - - - - - - - - 14.85 14.24 14.85
12543 532.1 8.3 507 12550 done 0.72 - - 3146 - 2.45 0.041 2257 -568.6 219.8 1.38 0.216 2174 -5.1 2.503 - - - - - - 14.47 14.43 14.02
12859 506.5 8.0 517 12860 done 0.72 - - 3146 - - - 2251 - 219.8 - - 2181 - - - - - - - - 14.88 14.88 14.88
13195 479.4 8.1 523 13196 done 0.72 - - 3146 - - - 2252 - 219.8 - - 2185 - - - - - - - - 14.86 14.86 14.86
13532 451.7 8.3 529 13537 roll 0.72 - - 3146 - 2.65 0.102 3646 526.0 219.8 - - 2182 - - - - - - - - 14.85 14.21 14.85
13565 448.5 9.4 534 13572 done 0.72 - - 3157 - 2.45 0.042 2254 -568.2 219.8 1.15 0.214 2174 -7.0 2.921 - - - - - - 14.49 14.42 14.05
13923 416.0 9.2 543 13928 roll 0.72 - - 3166 - 2.47 0.062 860 -564.4 219.8 - - 2182 - - - - - - - - 14.88 14.31 14.88
13979 410.7 9.5 551 13985 done 0.72 0.10 0.221 3137 -290.0 2.42 0.054 2255 576.4 219.8 - - 2185 - - - - - - - - 14.09 14.28 14.31
14315 381.8 8.5 564 14320 roll 0.72 - - 3136 - 2.65 0.103 3658 529.4 219.8 - - 2182 - - - - - - - - 14.88 14.18 14.88
14349 378.6 9.4 569 14357 done 0.72 - - 3147 - 2.45 0.040 2257 -571.8 219.8 1.30 0.210 2174 -6.2 2.222 - - - - - - 14.45 14.39 13.98
14707 348.0 8.4 578 14708 done 0.72 - - 3147 - - - 2254 - 219.8 - - 2182 - - - - - - - - 14.85 14.84 14.85
15043 319.1 8.6 584 15044 done 0.72 - - 3147 - - - 2252 - 219.8 - - 2182 - - - - - - - - 14.86 14.86 14.86
15380 290.0 8.6 590 15385 roll 0.72 - - 3147 - 2.72 0.101 3658 516.9 219.8 - - 2183 - - - - - - - - 14.85 14.16 14.85
15428 285.3 10.0 597 15436 done 0.72 - - 3157 - 2.45 0.041 2264 -569.0 219.8 1.40 0.210 2175 -5.7 1.555 - - - - - - 14.42 14.37 13.92
15771 254.6 8.9 604 15776 roll 0.72 - - 3168 - 2.50 0.063 867 -558.8 219.8 - - 2183 - - - - - - - - 14.85 14.27 14.85
15812 250.9 9.0 610 15818 done 0.72 0.10 0.190 3138 -300.0 2.47 0.054 2257 562.8 219.8 - - 2184 - - - - - - - - 14.04 14.28 14.19
16163 222.4 8.1 618 16169 roll 0.72 - - 3137 - 2.62 0.099 3659 535.1 219.8 1.52 0.233 2175 -5.9 1.132 - - - - - - 14.88 14.05 13.83
16225 216.7 9.2 627 16232 done 0.72 - - 3148 - 2.45 0.039 2255 -573.1 219.8 1.33 0.216 2173 - - - - - - - - 14.39 14.37 13.90
16555 190.0 8.1 639 16561 roll 0.72 - - 3158 - 2.47 0.060 858 -565.6 219.8 1.52 0.235 2175 - - - - - - - - 14.88 14.04 13.82
16582 187.8 7.7 643 16588 done 0.72 - - 3157 - 2.50 0.054 2261 561.2 219.8 - - 2184 - - - - - - - - 14.33 14.24 14.37
16948 157.3 8.5 653 16954 roll 0.72 - - 3157 - 2.62 0.099 3653 531.3 219.8 1.45 0.235 2176 -5.5 0.740 - - - - - - 14.85 14.07 13.85
17003 151.8 9.9 661 17010 done 0.72 0.12 0.219 3131 -216.7 2.38 0.040 2264 -583.6 219.8 1.42 0.231 2174 - - - - - - - - 14.09 14.43 13.85
17339 124.8 8.0 674 17342 done 0.72 - - 3132 - - - 2261 - 219.8 1.67 0.236 2174 - - - - - - - - 14.85 14.16 13.78
17676 100.1 7.2 680 17689 roll 0.73 - - 3132 - 2.65 0.099 3653 525.3 229.7 7.15 0.420 2138 -5.0 0.240 - - - - - - 14.82 13.98 13.58
17737 95.0 8.4 689 17745 done 0.73 - - 3141 - 2.42 0.040 2268 -572.3 229.7 1.65 0.216 2136 - - - - - - - - 14.45 14.39 13.78
18067 71.3 7.7 703 18074 roll 0.73 - - 3151 - 2.58 0.060 859 -546.1 230.6 2.25 0.275 2134 - - - - - - - - 14.83 14.14 13.56
18144 65.8 6.8 714 18163 done 0.76 - - 3152 - 2.47 0.053 2271 571.7 250.1 12.23 0.349 2054 -6.5 0.247 - - - - - - 14.39 14.26 13.75
18484 44.7 5.5 729 18514 roll 0.90 0.08 0.143 3207 687.5 2.60 0.099 3659 533.8 295.0 24.83 0.299 1874 -7.2 0.217 - - - - - - 14.51 14.27 13.93
18654 34.1 6.1 751 18678 done 0.94 - - 3218 - 2.45 0.038 2249 -575.5 328.3 17.98 0.269 1743 -7.3 0.185 - - - - - - 14.37 14.33 13.95
18987 19.9 5.2 765 19020 roll 1.15 0.08 0.143 3284 825.0 2.72 0.101 3652 515.8 379.6 27.00 0.224 1537 -7.6 0.136 - - - - - - 14.48 14.22 14.02
19054 15.1 8.1 775 19060 done 1.15 - - 3294 - 2.45 0.039 2251 -571.8 379.6 - - 1538 - - - - - - - - 14.42 14.38 14.43
19233 end climb: SURFACE_DEPTH_REACHED
19233 begin surface coast
19262 end surface coast: CONTROL_FINISHED_OK
19262 begin surface
SM -1.87 - - - - -8.38 8.95 0.053 185 20.7 1.00 0.090 2770 1740.0 500.14 57.55 0.155 1056 18.3 0.023 - - - - - -