SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 522 * Raw log
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• Previous call tries 1 • 183.33 of 350.00 AH used of 24V (47.62% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.2 deg, depth -9.03 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 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 - - - 2786 - -107.1 -81.03 - 3479 - - - - - - - - 14.66 13.04 14.62
105 -0.9 -14.1 3 122 roll -0.93 12.00 0.389 2588 206.9 2.40 0.031 1357 -595.4 -107.1 - - 3479 - - - - - - - - 13.95 14.34 14.23
215 32.0 -16.5 19 220 done -0.76 0.28 0.245 2653 232.1 2.53 0.067 2769 558.1 -107.1 - - 3479 - - - - - - - - 14.03 14.29 14.31
550 64.3 -7.0 34 555 roll -0.76 - - 2645 - 1.95 0.109 3822 540.0 -107.1 - - 3482 - - - - - - - - 14.82 14.23 14.82
647 73.6 -9.9 48 653 done -0.76 - - 2645 - 1.83 0.037 2715 -604.9 -107.1 - - 3482 - - - - - - - - 14.54 14.52 14.54
970 100.2 -7.7 61 976 roll -0.76 - - 2636 - 2.12 0.106 3826 524.1 -107.1 - - 3483 - - - - - - - - 14.85 14.19 14.86
1053 106.7 -7.3 73 1060 done -0.76 - - 2636 - 1.75 0.038 2762 -608.0 -107.1 - - 3482 - - - - - - - - 14.51 14.49 14.53
1418 137.6 -8.9 83 1423 roll -0.76 - - 2625 - 2.00 0.106 3824 531.0 -107.1 - - 3481 - - - - - - - - 14.88 14.19 14.88
1480 143.8 -9.9 92 1486 done -0.76 - - 2627 - 1.75 0.038 2768 -603.4 -107.1 - - 3481 - - - - - - - - 14.59 14.56 14.59
1810 173.1 -8.7 104 1811 done -0.76 - - 2628 - - - 2768 - -107.1 - - 3479 - - - - - - - - 14.91 14.89 14.89
2146 202.3 -8.9 110 2147 done -0.76 - - 2628 - - - 2766 - -107.1 - - 3477 - - - - - - - - 14.90 14.90 14.90
2482 233.3 -9.3 116 2483 done -0.76 - - 2628 - - - 2768 - -107.1 - - 3474 - - - - - - - - 14.92 14.92 14.92
2818 263.6 -9.0 122 2819 done -0.76 - - 2628 - - - 2768 - -107.1 - - 3473 - - - - - - - - 14.91 14.92 14.92
3154 293.4 -9.0 128 3159 roll -0.76 - - 2627 - 2.35 0.041 1404 -580.4 -107.1 - - 3470 - - - - - - - - 14.92 14.46 14.92
3181 295.9 -9.0 132 3187 done -0.76 0.10 0.210 2648 210.0 2.50 0.066 2768 545.6 -107.1 - - 3470 - - - - - - - - 14.07 14.28 14.23
3546 327.0 -8.8 142 3551 roll -0.76 - - 2639 - 1.98 0.112 3824 533.3 -107.1 - - 3468 - - - - - - - - 14.92 14.21 14.92
3602 332.0 -9.2 150 3607 done -0.76 - - 2639 - 1.73 0.043 2792 -596.5 -107.1 - - 3468 - - - - - - - - 14.59 14.52 14.61
3938 361.3 -8.6 163 3943 roll -0.76 - - 2638 - 2.42 0.041 1382 -582.6 -107.1 - - 3466 - - - - - - - - 14.91 14.42 14.91
3972 364.3 -9.3 168 3978 done -0.76 - - 2629 - 2.53 0.065 2769 548.2 -107.1 - - 3465 - - - - - - - - 14.34 14.25 14.39
4330 393.6 -8.3 177 4336 roll -0.76 - - 2628 - 2.42 0.041 1379 -574.4 -107.1 - - 3464 - - - - - - - - 14.90 14.41 14.90
4357 395.8 -8.0 181 4364 done -0.76 0.10 0.214 2656 280.0 2.58 0.067 2777 541.9 -107.1 - - 3464 - - - - - - - - 14.04 14.23 14.35
4723 422.2 -7.2 191 4723 done -0.76 - - 2656 - - - 2776 - -107.1 - - 3462 - - - - - - - - 14.88 14.88 14.88
5058 446.0 -7.2 197 5064 roll -0.76 - - 2655 - 2.45 0.042 1382 -569.0 -107.1 - - 3461 - - - - - - - - 14.88 14.40 14.88
5106 449.6 -7.2 204 5113 done -0.85 - - 2646 - 2.55 0.066 2782 549.0 -107.1 - - 3461 - - - - - - - - 14.43 14.24 14.47
5450 474.6 -7.5 211 5455 roll -0.85 - - 2646 - 2.47 0.043 1379 -568.0 -107.1 - - 3459 - - - - - - - - 14.92 14.38 14.91
5491 477.9 -8.4 217 5498 done -0.93 0.05 0.202 2577 -1380.0 2.53 0.066 2776 552.2 -107.1 - - 3458 - - - - - - - - 14.29 14.25 14.43
5842 511.0 -9.8 225 5848 roll -0.93 - - 2569 - 1.98 0.111 3825 529.8 -107.1 - - 3457 - - - - - - - - 14.88 14.14 14.88
5911 518.2 -11.6 235 5917 done -0.84 0.17 0.203 2617 282.4 1.83 0.042 2773 -574.9 -107.1 - - 3457 - - - - - - - - 13.98 14.46 14.16
6234 543.4 -7.8 246 6235 done -0.84 - - 2617 - - - 2773 - -107.1 - - 3456 - - - - - - - - 14.88 14.88 14.88
6570 569.9 -7.9 252 6575 roll -0.84 - - 2618 - 2.45 0.043 1369 -573.1 -107.1 - - 3452 - - - - - - - - 14.88 14.36 14.88
6604 572.5 -7.2 257 6611 done -0.84 - - 2609 - 2.55 0.065 2777 552.2 -107.1 - - 3454 - - - - - - - - 14.41 14.23 14.46
6962 602.8 -8.6 266 6963 done -0.84 - - 2609 - - - 2778 - -107.1 - - 3453 - - - - - - - - 14.87 14.86 14.88
7298 632.4 -8.9 272 7303 roll -0.84 - - 2608 - 2.47 0.042 1371 -569.6 -107.1 - - 3450 - - - - - - - - 14.90 14.35 14.90
7325 634.8 -8.7 276 7331 done -0.84 - - 2598 - 2.55 0.066 2771 549.0 -107.1 - - 3451 - - - - - - - - 14.39 14.21 14.43
7690 669.9 -9.8 286 7695 roll -0.84 - - 2590 - 2.03 0.110 3834 523.6 -107.1 - - 3453 - - - - - - - - 14.86 14.07 14.86
7752 676.0 -10.7 295 7758 done -0.84 0.10 0.210 2618 280.0 1.88 0.044 2767 -567.6 -107.1 - - 3450 - - - - - - - - 13.99 14.41 14.15
8082 703.7 -8.4 307 8087 roll -0.84 - - 2618 - 2.45 0.042 1364 -572.7 -107.1 - - 3449 - - - - - - - - 14.86 14.32 14.86
8123 706.7 -7.5 313 8130 done -0.84 - - 2609 - 2.58 0.066 2779 548.4 -107.1 - - 3449 - - - - - - - - 14.37 14.18 14.42
8474 734.6 -8.1 321 8475 done -0.84 - - 2609 - - - 2779 - -107.1 - - 3448 - - - - - - - - 14.89 14.89 14.89
8810 763.0 -8.2 327 8815 roll -0.84 - - 2608 - 2.50 0.043 1363 -566.4 -107.1 - - 3447 - - - - - - - - 14.90 14.30 14.90
8858 766.6 -8.5 334 8865 done -0.84 - - 2599 - 2.62 0.067 2771 537.4 -107.1 - - 3447 - - - - - - - - 14.16 14.07 14.22
9202 796.1 -8.8 341 9203 done -0.84 - - 2599 - - - 2771 - -107.1 - - 3445 - - - - - - - - 14.85 14.85 14.85
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9264 800.5 -8.7 342 9381 roll -0.23 0.77 0.186 2819 285.7 0.12 0.138 2281 -4083.3 - 114.75 1.858 3055 -3.4 0.284 - - - - - - 13.90 13.97 12.95
9383 end apogee: CONTROL_FINISHED_OK
9383 begin climb
9386 800.8 - 344 9513 roll 0.93 1.12 0.099 3180 322.3 2.53 0.054 893 -548.6 107.1 116.80 1.826 2625 -3.7 0.313 - - - - - - 14.01 14.06 12.95
9561 793.9 6.3 371 9596 done 0.84 - - 3181 - 2.40 0.049 2250 565.4 135.3 31.08 1.879 2510 -3.7 0.303 - - - - - - 14.26 14.14 13.07
9922 763.0 8.9 387 9927 roll 0.73 0.12 0.252 3141 -333.3 2.60 0.096 3646 536.9 135.3 - - 2496 - - - - - - - - 14.09 14.24 14.26
9976 758.2 8.6 395 9981 done 0.63 0.17 0.235 3103 -223.5 2.35 0.041 2273 -584.3 135.3 - - 2496 - - - - - - - - 14.12 14.45 14.40
10312 735.8 6.4 408 10341 done 0.66 - - 3104 - - - 2270 - 160.9 28.05 1.882 2409 -3.1 0.235 - - - - - - 14.81 14.30 13.30
10648 713.4 6.6 414 10681 roll 0.69 - - 3104 - 2.65 0.099 3646 519.2 184.1 25.80 1.884 2309 -3.9 0.285 - - - - - - 14.76 14.26 13.31
10704 709.1 5.5 422 10761 done 0.74 - - 3111 - 2.42 0.040 2245 -578.9 228.9 50.88 1.759 2136 -3.4 0.266 - - - - - - 14.45 14.39 13.14
11096 676.8 8.3 436 11101 roll 0.74 - - 3112 - 2.65 0.101 3645 528.3 228.9 - - 2119 - - - - - - - - 14.71 14.21 14.70
11137 672.7 9.7 442 11143 done 0.74 - - 3121 - 2.42 0.040 2256 -574.0 228.9 - - 2120 - - - - - - - - 14.43 14.39 14.47
11488 644.4 8.2 450 11493 roll 0.74 - - 3121 - 2.65 0.101 3653 527.2 228.9 - - 2118 - - - - - - - - 14.81 14.23 14.81
11515 641.8 10.1 454 11521 done 0.74 - - 3130 - 2.45 0.041 2262 -567.8 228.9 - - 2121 - - - - - - - - 14.45 14.40 14.47
11880 612.1 8.1 464 11881 done 0.74 - - 3130 - - - 2251 - 228.9 - - 2118 - - - - - - - - 14.82 14.82 14.82
12216 584.0 8.2 470 12221 roll 0.74 - - 3131 - 2.65 0.103 3647 526.8 228.9 - - 2117 - - - - - - - - 14.83 14.19 14.83
12250 580.7 10.0 475 12256 done 0.74 - - 3140 - 2.45 0.041 2252 -569.4 228.9 - - 2118 - - - - - - - - 14.45 14.40 14.49
12608 549.4 8.8 484 12609 done 0.74 - - 3141 - - - 2248 - 228.9 - - 2117 - - - - - - - - 14.86 14.86 14.86
12944 520.5 8.4 490 12949 roll 0.74 - - 3139 - 2.65 0.103 3642 526.0 228.9 - - 2116 - - - - - - - - 14.84 14.15 14.84
13000 515.5 8.8 498 13005 done 0.74 - - 3150 - 2.42 0.041 2242 -578.5 228.9 - - 2116 - - - - - - - - 14.46 14.38 14.48
13336 484.6 9.1 511 13341 roll 0.74 - - 3151 - 2.70 0.102 3654 523.0 228.9 - - 2116 - - - - - - - - 14.83 14.15 14.83
13363 482.0 9.5 515 13369 done 0.74 - - 3161 - 2.45 0.041 2263 -567.8 228.9 - - 2116 - - - - - - - - 14.41 14.37 14.44
13728 447.2 9.5 525 13729 done 0.74 - - 3161 - - - 2258 - 228.9 - - 2116 - - - - - - - - 14.85 14.86 14.86
14064 414.6 9.7 531 14065 done 0.74 - - 3160 - - - 2258 - 228.9 - - 2116 - - - - - - - - 14.83 14.83 14.83
14400 383.2 9.3 537 14406 roll 0.74 - - 3161 - 2.65 0.103 3645 523.4 228.9 - - 2116 - - - - - - - - 14.83 14.09 14.85
14427 380.0 11.5 541 14434 done 0.74 0.10 0.228 3143 -180.0 2.45 0.041 2254 -567.8 228.9 - - 2116 - - - - - - - - 13.94 14.33 14.12
14792 349.9 8.2 551 14793 done 0.74 - - 3143 - - - 2250 - 228.9 - - 2116 - - - - - - - - 14.83 14.83 14.83
15128 323.2 8.0 557 15134 roll 0.74 - - 3143 - 2.65 0.099 3646 526.8 228.9 - - 2116 - - - - - - - - 14.83 14.09 14.84
15184 318.3 6.6 565 15211 done 0.77 - - 3153 - 2.42 0.041 2249 -577.3 252.1 22.73 1.449 2042 -3.3 0.139 - - - - - - 14.48 14.40 13.47
15569 285.9 8.4 578 15574 roll 0.77 - - 3153 - 2.65 0.101 3649 528.3 252.1 - - 2029 - - - - - - - - 14.81 14.09 14.80
15596 283.2 9.7 582 15602 done 0.77 - - 3163 - 2.42 0.040 2271 -569.4 252.1 - - 2030 - - - - - - - - 14.40 14.35 14.42
15961 249.6 8.9 592 15966 roll 0.77 - - 3173 - 2.50 0.061 861 -564.0 252.1 - - 2031 - - - - - - - - 14.83 14.26 14.83
15995 246.7 8.1 597 16002 done 0.77 - - 3173 - 2.50 0.055 2260 559.6 252.1 - - 2029 - - - - - - - - 14.33 14.25 14.38
16353 213.3 9.2 606 16358 roll 0.77 - - 3174 - 2.62 0.102 3659 534.0 252.1 - - 2029 - - - - - - - - 14.84 14.13 14.85
16380 210.0 11.8 610 16386 done 0.77 0.12 0.243 3150 -200.0 2.42 0.040 2252 -581.4 252.1 - - 2029 - - - - - - - - 14.02 14.41 14.33
16745 178.4 8.6 620 16746 done 0.77 - - 3150 - - - 2249 - 252.1 - - 2029 - - - - - - - - 14.85 14.85 14.85
17081 147.1 9.6 626 17082 done 0.77 - - 3147 - - - 2249 - 252.1 - - 2029 - - - - - - - - 14.83 14.83 14.83
17417 118.7 8.2 632 17422 roll 0.77 - - 3149 - 2.67 0.097 3655 526.6 252.1 - - 2029 - - - - - - - - 14.83 14.14 14.84
17465 114.3 9.8 639 17472 done 0.77 - - 3160 - 2.42 0.040 2273 -571.1 252.1 - - 2031 - - - - - - - - 14.38 14.33 14.42
17781 87.3 8.8 648 17786 roll 0.77 - - 3160 - 2.67 0.100 3663 520.6 252.1 - - 2029 - - - - - - - - 14.85 14.10 14.85
17822 83.7 9.2 654 17828 done 0.77 - - 3169 - 2.40 0.039 2271 -580.0 252.1 - - 2029 - - - - - - - - 14.47 14.36 14.50
18145 58.6 7.4 667 18150 roll 0.78 - - 3179 - 2.58 0.060 863 -545.7 258.6 1.58 0.218 2018 -7.0 0.363 - - - - - - 14.84 14.17 13.84
18235 51.7 6.7 680 18256 done 0.80 - - 3179 - 2.50 0.051 2267 561.6 279.8 12.98 0.346 1940 -6.0 0.174 - - - - - - 14.28 14.20 13.84
18565 29.1 5.9 694 18594 roll 0.85 - - 3188 - 2.50 0.058 859 -563.2 316.0 20.92 0.287 1793 -7.0 0.138 - - - - - - 14.83 14.22 13.97
18636 22.5 1.0 704 18712 done 1.15 0.17 0.080 3295 629.4 2.45 0.051 2270 575.9 450.5 71.40 0.278 1254 -7.5 0.119 - - - - - - 14.42 14.33 14.04
18927 end climb: SURFACE_DEPTH_REACHED
18927 begin surface coast
18955 end surface coast: CONTROL_FINISHED_OK
18955 begin surface
SM -4.20 - - - - -8.38 9.35 0.083 188 20.1 0.93 0.090 2770 -9311.8 500.14 25.20 0.190 1057 41.9 0.095 - - - - - -