SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 517 * Raw log
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• Previous call tries 2 • 181.85 of 350.00 AH used of 24V (48.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.9 deg, depth -0.85 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 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
11 begin dive
16 - - - 101 done -0.93 - - 104 - - - 2793 - -107.1 -81.40 - 3478 - - - - - - - - 14.69 12.51 14.66
104 5.1 -10.3 3 121 roll -0.93 12.05 0.389 2582 205.6 1.90 0.093 3826 543.7 -107.1 - - 3479 - - - - - - - - 13.95 14.35 14.24
157 30.1 -34.8 11 162 done -0.44 0.65 0.250 2753 263.1 1.77 0.036 2718 -626.0 -107.1 - - 3480 - - - - - - - - 14.01 14.52 14.32
496 57.7 -6.2 26 501 roll -0.57 0.08 0.148 2665 -1100.0 2.08 0.106 3816 527.9 -107.1 - - 3481 - - - - - - - - 14.53 14.25 14.55
535 60.9 -8.1 32 541 done -0.57 0.15 0.198 2709 293.3 1.70 0.039 2808 -592.9 -107.1 - - 3481 - - - - - - - - 14.14 14.53 14.31
859 81.4 -5.9 45 864 roll -0.65 - - 2701 - 1.90 0.109 3816 530.5 -107.1 - - 3482 - - - - - - - - 14.87 14.27 14.87
887 83.0 -5.9 49 893 done -0.75 0.08 0.137 2628 -912.5 1.73 0.040 2751 -615.6 -107.1 - - 3482 - - - - - - - - 14.51 14.60 14.59
1251 116.9 -9.2 62 1256 roll -0.75 0.10 0.236 2658 300.0 2.28 0.040 1390 -596.9 -107.1 - - 3481 - - - - - - - - 14.32 14.50 14.53
1320 122.1 -6.9 72 1325 done -0.75 - - 2648 - 2.47 0.066 2761 555.1 -107.1 - - 3481 - - - - - - - - 14.42 14.33 14.46
1643 145.6 -7.4 83 1647 roll -0.75 - - 2640 - 1.98 0.109 3828 538.9 -107.1 - - 3480 - - - - - - - - 14.90 14.29 14.90
1704 150.9 -8.2 92 1710 done -0.75 - - 2640 - 1.75 0.040 2770 -604.6 -107.1 - - 3479 - - - - - - - - 14.61 14.59 14.62
2035 179.1 -8.6 104 2039 roll -0.75 - - 2631 - 2.00 0.108 3826 528.0 -107.1 - - 3476 - - - - - - - - 14.90 14.28 14.91
2068 182.1 -9.0 109 2075 done -0.75 - - 2631 - 1.75 0.040 2768 -604.6 -107.1 - - 3476 - - - - - - - - 14.56 14.53 14.57
2426 216.7 -10.1 118 2427 done -0.75 - - 2631 - - - 2768 - -107.1 - - 3473 - - - - - - - - 14.95 14.90 14.91
2762 250.6 -9.9 124 2767 roll -0.75 - - 2631 - 2.35 0.039 1391 -586.0 -107.1 - - 3472 - - - - - - - - 14.90 14.46 14.90
2796 253.9 -9.5 129 2803 done -0.75 0.10 0.210 2652 210.0 2.53 0.068 2778 548.2 -107.1 - - 3472 - - - - - - - - 14.14 14.32 14.30
3155 281.7 -7.5 138 3156 done -0.75 - - 2651 - - - 2778 - -107.1 - - 3468 - - - - - - - - 14.92 14.92 14.92
3491 306.8 -7.5 144 3495 roll -0.75 - - 2644 - 1.98 0.112 3834 533.3 -107.1 - - 3467 - - - - - - - - 14.92 14.27 14.93
3517 309.2 -8.3 148 3523 done -0.75 - - 2643 - 1.77 0.042 2790 -589.8 -107.1 - - 3466 - - - - - - - - 14.58 14.56 14.60
3883 341.7 -9.2 158 3887 roll -0.75 - - 2643 - 2.42 0.041 1377 -583.9 -107.1 - - 3463 - - - - - - - - 14.91 14.47 14.92
3945 347.6 -9.4 167 3950 done -0.75 - - 2633 - 2.53 0.066 2783 555.7 -107.1 - - 3463 - - - - - - - - 14.50 14.33 14.54
4274 381.1 -10.4 179 4279 roll -0.75 - - 2625 - 1.95 0.112 3829 536.4 -107.1 - - 3463 - - - - - - - - 14.90 14.21 14.90
4351 389.2 -10.4 190 4356 done -0.75 0.10 0.193 2663 380.0 1.80 0.044 2783 -581.1 -107.1 - - 3462 - - - - - - - - 14.16 14.52 14.31
4667 415.6 -8.1 200 4671 roll -0.75 - - 2656 - 2.45 0.043 1368 -577.6 -107.1 - - 3460 - - - - - - - - 14.92 14.44 14.92
4694 417.5 -6.9 204 4699 done -0.75 - - 2646 - 2.55 0.067 2789 557.3 -107.1 - - 3462 - - - - - - - - 14.48 14.29 14.52
5059 440.5 -6.1 214 5060 done -0.75 - - 2646 - - - 2788 - -107.1 - - 3458 - - - - - - - - 14.89 14.89 14.87
5395 463.7 -7.1 220 5399 roll -0.75 - - 2645 - 2.47 0.043 1371 -573.7 -107.1 - - 3456 - - - - - - - - 14.92 14.43 14.92
5450 468.1 -7.8 228 5455 done -0.75 - - 2637 - 2.53 0.067 2778 556.1 -107.1 - - 3456 - - - - - - - - 14.49 14.32 14.52
5786 494.8 -8.0 241 5792 roll -0.75 - - 2628 - 1.98 0.111 3829 530.8 -107.1 - - 3455 - - - - - - - - 14.91 14.19 14.92
5806 496.6 -8.2 244 5813 done -0.75 0.08 0.203 2651 287.5 1.83 0.044 2777 -574.9 -107.1 - - 3455 - - - - - - - - 14.12 14.48 14.28
6123 522.8 -8.4 254 6127 roll -0.75 - - 2652 - 2.45 0.044 1369 -574.7 -107.1 - - 3453 - - - - - - - - 14.91 14.38 14.92
6192 528.9 -8.6 264 6198 done -0.83 - - 2643 - 2.55 0.067 2772 550.2 -107.1 - - 3450 - - - - - - - - 14.44 14.25 14.48
6514 555.9 -8.3 275 6515 done -0.83 - - 2643 - - - 2772 - -107.1 - - 3452 - - - - - - - - 14.89 14.88 14.88
6851 580.2 -7.1 281 6856 roll -0.83 - - 2643 - 2.47 0.044 1368 -568.4 -107.1 - - 3451 - - - - - - - - 14.88 14.39 14.88
6920 585.3 -7.1 291 6925 done -0.91 - - 2634 - 2.55 0.067 2771 550.2 -107.1 - - 3450 - - - - - - - - 14.45 14.26 14.49
7243 609.3 -7.5 302 7247 roll -0.91 - - 2625 - 2.00 0.113 3828 528.5 -107.1 - - 3448 - - - - - - - - 14.87 14.12 14.88
7299 614.0 -8.1 310 7303 done -0.91 - - 2625 - 1.83 0.047 2748 -590.2 -107.1 - - 3448 - - - - - - - - 14.57 14.51 14.59
7634 640.9 -8.0 323 7635 done -0.91 - - 2625 - - - 2748 - -107.1 - - 3447 - - - - - - - - 14.88 14.88 14.88
7970 668.1 -8.1 329 7971 done -0.91 - - 2625 - - - 2748 - -107.1 - - 3446 - - - - - - - - 14.88 14.88 14.88
8307 695.0 -7.9 335 8311 roll -0.91 - - 2617 - 2.10 0.112 3832 516.2 -107.1 - - 3445 - - - - - - - - 14.88 14.09 14.88
8340 697.9 -8.7 340 8346 done -0.91 - - 2617 - 1.85 0.046 2779 -569.2 -107.1 - - 3444 - - - - - - - - 14.45 14.41 14.45
8698 726.5 -7.9 349 8704 roll -0.91 - - 2616 - 2.47 0.044 1369 -570.9 -107.1 - - 3443 - - - - - - - - 14.86 14.33 14.87
8726 728.8 -8.6 353 8732 done -0.91 - - 2607 - 2.55 0.068 2766 547.8 -107.1 - - 3443 - - - - - - - - 14.40 14.20 14.43
9090 759.2 -8.4 363 9095 roll -0.91 - - 2599 - 2.03 0.111 3834 526.1 -107.1 - - 3442 - - - - - - - - 14.86 14.06 14.86
9167 766.3 -8.9 374 9172 done -0.91 - - 2599 - 1.88 0.045 2765 -568.6 -107.1 - - 3442 - - - - - - - - 14.42 14.38 14.42
9482 793.0 -8.4 384 9487 roll -0.91 - - 2599 - 2.45 0.043 1362 -572.7 -107.1 - - 3442 - - - - - - - - 14.90 14.31 14.89
9524 796.6 -8.3 390 9529 done -0.91 - - 2589 - 2.62 0.068 2784 542.7 -107.1 - - 3441 - - - - - - - - 14.33 14.12 14.37
9591 end dive: TARGET_DEPTH_EXCEEDED
9591 begin apogee
9600 802.5 -8.5 393 9709 roll -0.23 0.82 0.190 2822 284.1 0.12 0.142 2283 -4175.0 - 100.95 2.541 3052 -3.9 0.245 - - - - 1 - 13.91 13.86 12.50
9710 end apogee: CONTROL_FINISHED_OK
9710 begin climb
9714 805.3 - 395 9847 roll 0.93 1.12 0.098 3183 322.3 2.58 0.054 888 -540.7 107.1 122.15 1.808 2617 -3.6 0.319 - - - - - - 13.93 13.97 12.97
9932 799.2 6.8 427 9958 done 0.83 - - 3183 - 2.40 0.050 2248 566.7 126.3 20.27 1.913 2543 -3.7 0.306 - - - - - - 14.35 14.23 13.16
10268 771.5 8.3 440 10269 done 0.71 0.17 0.235 3130 -311.8 - - 2252 - 126.3 - - 2534 - - - - - - - - 14.14 14.47 14.42
10604 749.0 6.5 446 10636 roll 0.74 - - 3133 - 2.65 0.100 3640 523.8 150.4 25.77 1.877 2445 -3.5 0.277 - - - - - - 14.80 14.31 13.34
10666 744.6 7.7 455 10671 done 0.74 - - 3145 - 2.40 0.041 2276 -568.3 151.2 - - 2442 - - - - - - - - 14.42 14.42 14.45
10996 721.1 7.1 467 11016 roll 0.76 - - 3145 - 2.65 0.100 3646 517.0 164.1 15.52 1.945 2389 -3.4 0.254 - - - - - - 14.77 14.35 13.36
11052 716.7 8.5 475 11057 done 0.67 0.12 0.249 3120 -208.3 2.40 0.041 2258 -578.3 164.1 - - 2384 - - - - - - - - 14.18 14.45 14.43
11388 693.8 6.7 488 11411 done 0.70 - - 3120 - - - 2253 - 184.2 22.40 1.862 2315 -3.1 0.231 - - - - - - 14.81 14.34 13.40
11724 669.0 7.5 494 11729 roll 0.70 - - 3120 - 2.65 0.099 3648 526.4 188.8 - - 2301 - - - - - - - - 14.76 14.24 14.79
11758 666.1 8.6 499 11763 done 0.70 - - 3129 - 2.45 0.041 2254 -569.0 188.8 - - 2301 - - - - - - - - 14.45 14.42 14.47
12115 637.8 7.9 508 12116 done 0.70 - - 3129 - - - 2251 - 188.8 - - 2300 - - - - - - - - 14.82 14.82 14.82
12452 611.5 7.7 514 12457 roll 0.70 - - 3129 - 2.67 0.103 3652 524.7 188.8 - - 2300 - - - - - - - - 14.83 14.21 14.84
12500 607.4 8.8 521 12508 done 0.70 - - 3140 - 2.45 0.041 2249 -572.7 188.8 - - 2299 - - - - - - - - 14.47 14.44 14.50
12843 579.4 8.2 528 12844 done 0.70 - - 3140 - - - 2249 - 188.8 - - 2299 - - - - - - - - 14.83 14.85 14.85
13180 551.2 8.5 534 13180 done 0.70 - - 3140 - - - 2248 - 188.8 - - 2299 - - - - - - - - 14.87 14.87 14.87
13516 523.1 8.3 540 13517 done 0.70 - - 3139 - - - 2248 - 188.8 - - 2299 - - - - - - - - 14.85 14.85 14.85
13852 495.8 8.1 546 13852 done 0.70 - - 3139 - - - 2248 - 188.8 - - 2298 - - - - - - - - 14.85 14.85 14.85
14187 469.2 7.9 552 14193 roll 0.70 - - 3139 - 2.72 0.102 3650 515.4 188.8 - - 2298 - - - - - - - - 14.85 14.13 14.85
14243 464.2 9.1 560 14249 done 0.70 - - 3149 - 2.42 0.041 2253 -577.3 188.8 - - 2298 - - - - - - - - 14.52 14.45 14.54
14580 435.4 8.7 573 14585 roll 0.70 - - 3160 - 2.47 0.060 862 -563.2 188.8 - - 2298 - - - - - - - - 14.88 14.24 14.88
14621 431.7 9.0 579 14627 done 0.70 0.10 0.200 3130 -300.0 2.47 0.053 2249 561.5 188.8 - - 2298 - - - - - - - - 13.98 14.23 14.15
14972 403.6 7.9 587 14977 roll 0.70 - - 3129 - 2.67 0.102 3653 525.8 188.8 - - 2298 - - - - - - - - 14.84 14.12 14.84
15041 397.7 8.6 597 15047 done 0.70 - - 3140 - 2.42 0.040 2250 -579.8 188.8 - - 2298 - - - - - - - - 14.51 14.42 14.54
15364 372.3 7.9 608 15365 done 0.70 - - 3140 - - - 2245 - 188.8 - - 2298 - - - - - - - - 14.87 14.87 14.87
15700 344.5 8.4 614 15704 roll 0.70 - - 3140 - 2.70 0.103 3654 521.9 188.8 - - 2298 - - - - - - - - 14.87 14.09 14.88
15756 339.2 9.8 622 15760 done 0.70 - - 3150 - 2.42 0.040 2252 -579.3 188.8 - - 2298 - - - - - - - - 14.50 14.42 14.52
16091 310.3 8.5 635 16096 roll 0.70 - - 3161 - 2.47 0.060 858 -564.4 188.8 - - 2298 - - - - - - - - 14.87 14.23 14.88
16133 306.9 8.3 641 16139 done 0.70 0.10 0.198 3134 -270.0 2.50 0.053 2257 559.6 188.8 - - 2298 - - - - - - - - 13.95 14.20 14.11
16484 281.6 7.2 649 16503 roll 0.72 - - 3131 - 2.58 0.100 3653 541.1 199.6 14.73 1.476 2248 -3.4 0.130 - - - - - - 14.84 14.16 13.45
16546 276.5 8.7 658 16551 done 0.72 - - 3140 - 2.42 0.040 2262 -574.8 199.6 - - 2242 - - - - - - - - 14.50 14.46 14.52
16876 249.1 8.4 670 16880 roll 0.72 - - 3140 - 2.65 0.101 3652 524.5 199.6 - - 2242 - - - - - - - - 14.81 14.16 14.83
16910 246.0 9.5 675 16915 done 0.72 - - 3150 - 2.42 0.040 2265 -573.1 199.6 - - 2242 - - - - - - - - 14.51 14.38 14.54
17267 215.8 8.5 684 17273 roll 0.72 - - 3160 - 2.47 0.060 858 -569.6 199.6 - - 2242 - - - - - - - - 14.82 14.24 14.82
17316 211.4 8.9 691 17323 done 0.72 - - 3157 - 2.50 0.053 2275 566.8 199.6 - - 2242 - - - - - - - - 14.45 14.31 14.50
17660 180.6 9.0 698 17665 roll 0.72 - - 3160 - 2.60 0.102 3656 531.2 199.6 - - 2242 - - - - - - - - 14.83 14.14 14.83
17694 177.4 9.5 703 17700 done 0.72 0.12 0.218 3135 -208.3 2.42 0.039 2263 -575.6 199.6 - - 2242 - - - - - - - - 13.97 14.38 14.16
18052 150.9 7.3 712 18055 done 0.73 - - 3135 - - - 2260 - 207.7 2.60 0.718 2223 -7.3 0.309 - - - - - - 14.83 14.33 13.18
18388 127.5 6.9 718 18416 roll 0.75 - - 3134 - 2.67 0.099 3655 522.5 224.5 23.58 1.226 2150 -3.1 0.065 - - - - - - 14.83 14.40 13.59
18450 123.0 7.4 727 18456 done 0.76 - - 3143 - 2.42 0.040 2269 -572.7 231.9 2.08 0.336 2127 -11.1 0.813 - - - - - - 14.47 14.44 13.00
18773 98.0 8.0 738 18779 roll 0.76 - - 3154 - 2.50 0.058 856 -565.2 231.9 1.85 0.231 2127 - - - - - - - - 14.81 14.04 13.77
18829 93.1 8.7 746 18834 done 0.76 - - 3154 - 2.47 0.051 2274 574.1 231.9 1.45 0.235 2126 - - - - - - - - 14.45 14.32 13.98
19165 66.7 7.8 761 19172 roll 0.76 - - 3164 - 2.60 0.058 860 -543.8 231.9 1.77 0.230 2129 1.7 -0.099 - - - - - - 14.81 14.21 13.79
19193 64.6 7.4 765 19205 done 0.76 - - 3163 - 2.47 0.051 2273 572.1 237.6 4.62 0.338 2107 -4.8 0.183 - - - - - - 14.46 14.32 13.78
19529 43.8 5.5 780 19562 roll 0.82 - - 3163 - 2.60 0.100 3653 530.8 282.6 25.70 0.302 1923 -7.2 0.209 - - - - - - 14.83 14.30 14.03
19678 35.3 6.4 801 19697 done 0.85 - - 3172 - 2.38 0.039 2250 -589.5 308.9 14.85 0.277 1819 -7.0 0.179 - - - - - - 14.52 14.45 14.00
20030 24.1 2.2 818 20094 roll 1.18 0.22 0.072 3309 622.7 2.47 0.061 873 -557.5 419.0 57.08 0.239 1381 -7.7 0.155 - - - - - - 14.43 14.32 14.08
20161 14.6 9.1 837 20168 done 1.18 - - 3309 - 2.45 0.054 2277 573.1 419.0 - - 1382 - - - - - - - - 14.43 14.28 14.47
20275 end climb: SURFACE_DEPTH_REACHED
20275 begin surface coast
20303 end surface coast: CONTROL_FINISHED_OK
20303 begin surface
SM -2.64 - - - - -8.40 9.25 0.073 194 21.0 0.90 0.096 2762 1924.4 500.14 39.15 0.155 1057 27.0 0.047 - - - - - -