SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 528 * Raw log
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• Previous call tries 1 • 185.79 of 350.00 AH used of 24V (46.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.0 deg, depth -4.77 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 12 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - - 121 done -0.93 - - 109 - - - 2776 - -107.1 -104.18 - 3479 - - - - - - - - 14.66 12.43 14.65
125 -3.4 -2.1 3 145 roll -0.93 12.25 0.391 2590 202.5 2.45 0.035 1342 -585.3 -107.1 - - 3480 - - - - - - - - 13.83 14.31 14.26
267 38.3 -16.2 24 272 done -0.76 0.25 0.230 2649 236.0 2.60 0.072 2776 551.5 -107.1 - - 3481 - - - - - - - - 14.05 14.28 14.33
594 64.7 -7.3 38 598 roll -0.76 - - 2641 - 1.95 0.109 3825 537.9 -107.1 - - 3481 - - - - - - - - 14.81 14.25 14.81
670 65.6 -8.8 49 678 done -0.76 - - 2641 - 1.83 0.039 2726 -600.5 -107.1 - - 3482 - - - - - - - - 14.53 14.52 14.55
986 90.0 -7.6 61 991 roll -0.76 - - 2641 - 2.28 0.043 1389 -586.4 -107.1 - - 3481 - - - - - - - - 14.85 14.47 14.85
1014 92.6 -9.6 65 1020 done -0.76 - - 2631 - 2.47 0.067 2778 562.3 -107.1 - - 3482 - - - - - - - - 14.54 14.37 14.56
1378 130.6 -10.1 76 1383 roll -0.76 - - 2623 - 1.92 0.107 3822 543.8 -107.1 - - 3481 - - - - - - - - 14.86 14.30 14.86
1447 138.6 -9.9 86 1453 done -0.76 0.08 0.209 2645 275.0 1.75 0.041 2790 -589.7 -107.1 - - 3481 - - - - - - - - 14.23 14.56 14.38
1770 167.2 -8.6 97 1775 roll -0.76 - - 2645 - 2.42 0.042 1371 -586.4 -107.1 - - 3479 - - - - - - - - 14.88 14.47 14.88
1811 170.4 -7.9 103 1816 done -0.76 - - 2636 - 2.50 0.066 2774 561.2 -107.1 - - 3479 - - - - - - - - 14.54 14.36 14.57
2162 201.0 -8.5 111 2167 roll -0.76 - - 2636 - 2.42 0.041 1373 -578.9 -107.1 - - 3476 - - - - - - - - 14.88 14.50 14.88
2196 203.4 -7.5 116 2201 done -0.76 - - 2626 - 2.50 0.065 2770 558.8 -107.1 - - 3476 - - - - - - - - 14.54 14.35 14.57
2554 235.4 -9.0 125 2559 roll -0.76 - - 2618 - 1.98 0.108 3831 535.9 -107.1 - - 3474 - - - - - - - - 14.90 14.28 14.90
2602 239.9 -9.5 132 2609 done -0.76 0.10 0.205 2647 290.0 1.83 0.041 2757 -586.9 -107.1 - - 3473 - - - - - - - - 14.18 14.54 14.34
2946 267.5 -8.0 139 2946 done -0.76 - - 2648 - - - 2757 - -107.1 - - 3472 - - - - - - - - 14.88 14.88 14.88
3282 293.6 -7.7 145 3287 roll -0.76 - - 2639 - 2.03 0.108 3822 524.6 -107.1 - - 3469 - - - - - - - - 14.91 14.27 14.91
3309 295.2 -5.5 149 3315 done -0.76 - - 2640 - 1.83 0.042 2756 -582.5 -107.1 - - 3470 - - - - - - - - 14.56 14.53 14.57
3674 330.3 -8.0 159 3678 roll -0.76 - - 2639 - 2.38 0.042 1380 -578.2 -107.1 - - 3468 - - - - - - - - 14.88 14.45 14.88
3730 334.8 -7.8 167 3734 done -0.76 - - 2629 - 2.50 0.065 2770 556.0 -107.1 - - 3467 - - - - - - - - 14.52 14.35 14.54
4066 361.8 -8.1 180 4066 done -0.76 - - 2629 - - - 2775 - -107.1 - - 3465 - - - - - - - - 14.88 14.88 14.88
4402 388.8 -8.1 186 4402 done -0.76 - - 2629 - - - 2770 - -107.1 - - 3465 - - - - - - - - 14.88 14.88 14.88
4738 417.6 -8.6 192 4743 roll -0.76 - - 2629 - 2.42 0.041 1377 -575.6 -107.1 - - 3463 - - - - - - - - 14.88 14.44 14.88
4779 421.3 -8.9 198 4785 done -0.76 0.12 0.233 2655 216.7 2.53 0.065 2760 546.6 -107.1 - - 3463 - - - - - - - - 14.12 14.28 14.39
5130 449.1 -7.9 206 5131 done -0.76 - - 2655 - - - 2760 - -107.1 - - 3460 - - - - - - - - 14.88 14.88 14.88
5466 475.4 -7.8 212 5470 roll -0.76 - - 2655 - 2.42 0.042 1378 -571.1 -107.1 - - 3460 - - - - - - - - 14.88 14.42 14.88
5514 479.2 -7.7 219 5521 done -0.85 - - 2647 - 2.55 0.065 2769 545.5 -107.1 - - 3460 - - - - - - - - 14.45 14.26 14.50
5858 506.1 -7.9 226 5863 roll -0.85 - - 2638 - 2.00 0.111 3826 528.5 -107.1 - - 3458 - - - - - - - - 14.91 14.20 14.88
5892 509.1 -8.7 231 5898 done -0.85 - - 2637 - 1.83 0.045 2770 -577.0 -107.1 - - 3458 - - - - - - - - 14.50 14.47 14.52
6250 537.6 -7.9 240 6255 roll -0.85 - - 2637 - 2.42 0.043 1372 -577.7 -107.1 - - 3457 - - - - - - - - 14.87 14.40 14.87
6306 541.9 -7.7 248 6311 done -0.85 - - 2629 - 2.53 0.066 2764 550.2 -107.1 - - 3456 - - - - - - - - 14.48 14.31 14.52
6642 566.4 -7.2 261 6643 done -0.85 - - 2629 - - - 2763 - -107.1 - - 3455 - - - - - - - - 14.87 14.87 14.87
6978 590.3 -7.1 267 6982 roll -0.85 - - 2628 - 2.45 0.043 1372 -567.8 -107.1 - - 3454 - - - - - - - - 14.87 14.39 14.88
7005 592.4 -7.6 271 7010 done -0.85 - - 2619 - 2.53 0.066 2759 548.2 -107.1 - - 3453 - - - - - - - - 14.43 14.25 14.47
7370 621.8 -8.3 281 7375 roll -0.85 - - 2611 - 2.05 0.112 3835 524.9 -107.1 - - 3452 - - - - - - - - 14.87 14.12 14.86
7411 625.6 -9.2 287 7416 done -0.85 - - 2610 - 1.88 0.043 2756 -573.9 -107.1 - - 3453 - - - - - - - - 14.50 14.46 14.51
7762 656.7 -8.9 295 7766 roll -0.85 - - 2610 - 2.40 0.042 1372 -576.7 -107.1 - - 3450 - - - - - - - - 14.86 14.36 14.87
7796 659.9 -9.2 300 7801 done -0.85 - - 2602 - 2.58 0.067 2765 539.9 -107.1 - - 3451 - - - - - - - - 14.29 14.19 14.34
8154 694.3 -9.7 309 8159 roll -0.85 - - 2593 - 2.03 0.111 3831 525.1 -107.1 - - 3449 - - - - - - - - 14.89 14.10 14.89
8216 700.7 -10.5 318 8222 done -0.85 0.10 0.210 2621 280.0 1.88 0.044 2758 -570.7 -107.1 - - 3448 - - - - - - - - 14.00 14.40 14.15
8546 730.7 -9.2 330 8550 roll -0.85 - - 2621 - 2.42 0.044 1371 -573.1 -107.1 - - 3448 - - - - - - - - 14.85 14.34 14.85
8587 734.6 -9.4 336 8592 done -0.85 - - 2613 - 2.55 0.066 2762 545.5 -107.1 - - 3445 - - - - - - - - 14.38 14.19 14.42
8938 767.7 -9.4 344 8943 roll -0.85 - - 2605 - 2.03 0.112 3828 525.1 -107.1 - - 3447 - - - - - - - - 14.85 14.08 14.85
9014 775.4 -9.8 355 9019 done -0.85 - - 2604 - 1.88 0.045 2747 -575.0 -107.1 - - 3447 - - - - - - - - 14.44 14.41 14.45
9326 end dive: TARGET_DEPTH_EXCEEDED
9326 begin apogee
9334 804.6 -9.3 365 9444 roll -0.23 0.77 0.190 2823 284.4 0.12 0.141 2278 -3908.3 - 101.72 2.434 3050 -3.9 0.262 - - - - 1 - 13.95 13.85 12.50
9445 end apogee: CONTROL_FINISHED_OK
9445 begin climb
9449 807.7 - 367 9570 roll 0.93 1.12 0.096 3184 322.3 2.62 0.055 853 -543.9 107.1 105.95 2.755 2622 -4.0 0.241 - - - - 1 - 13.94 13.98 12.37
9625 804.8 5.8 393 9680 done 0.84 - - 3187 - 2.47 0.048 2245 563.6 145.8 49.97 1.870 2468 -3.1 0.269 - - - - - - 14.19 14.08 13.00
10000 769.1 10.4 411 10005 roll 0.73 0.12 0.240 3139 -400.0 2.60 0.095 3646 538.8 145.8 - - 2452 - - - - - - - - 14.13 14.26 14.31
10046 763.7 10.6 418 10053 done 0.64 0.12 0.224 3111 -233.3 2.47 0.040 2229 -573.7 145.8 - - 2452 - - - - - - - - 14.12 14.42 14.40
10390 735.2 8.2 425 10396 roll 0.64 - - 3110 - 2.70 0.097 3652 527.0 145.8 - - 2450 - - - - - - - - 14.82 14.28 14.81
10438 730.8 9.3 432 10445 done 0.64 - - 3120 - 2.45 0.041 2242 -575.5 145.8 - - 2450 - - - - - - - - 14.55 14.44 14.57
10782 702.2 8.3 439 10783 done 0.64 - - 3120 - - - 2241 - 145.8 - - 2450 - - - - - - - - 14.82 14.82 14.82
11118 676.7 7.5 445 11124 roll 0.65 - - 3120 - 2.70 0.101 3650 521.9 150.9 - - 2449 - - - - - - - - 14.83 14.25 14.83
11194 670.6 8.0 456 11199 done 0.65 - - 3129 - 2.45 0.041 2250 -571.4 150.9 - - 2449 - - - - - - - - 14.49 14.45 14.50
11510 649.1 6.7 466 11543 roll 0.67 - - 3129 - 2.65 0.102 3644 526.0 171.9 27.23 1.833 2358 -3.3 0.240 - - - - - - 14.83 14.33 13.32
11572 644.4 8.0 475 11577 done 0.67 - - 3139 - 2.45 0.041 2248 -569.8 171.9 - - 2353 - - - - - - - - 14.44 14.40 14.46
11902 618.3 8.0 487 11907 roll 0.67 - - 3150 - 2.45 0.060 858 -567.3 171.9 - - 2350 - - - - - - - - 14.76 14.31 14.77
11936 615.5 8.1 492 11942 done 0.67 0.08 0.210 3127 -287.5 2.47 0.054 2249 563.2 171.9 - - 2349 - - - - - - - - 14.10 14.30 14.26
12294 589.7 7.1 501 12306 roll 0.69 - - 3126 - 2.65 0.103 3649 528.3 183.6 4.50 1.701 2327 -4.9 0.344 - - - - - - 14.81 14.38 13.05
12342 585.9 8.0 508 12349 done 0.69 - - 3136 - 2.42 0.041 2250 -578.1 183.6 2.10 0.399 2321 -2.9 0.852 - - - - - - 14.51 14.49 12.80
12686 560.5 7.5 515 12705 roll 0.69 - - 3147 - 2.45 0.061 866 -564.9 189.0 12.95 1.852 2291 -2.3 0.142 - - - - - - 14.83 14.42 13.38
12727 557.3 7.3 521 12734 done 0.70 - - 3146 - 2.42 0.053 2256 574.4 196.9 3.15 1.196 2265 -8.3 0.781 - - - - - - 14.54 14.42 12.90
13078 527.6 8.5 529 13084 roll 0.70 - - 3146 - 2.70 0.103 3652 517.0 196.9 1.62 0.236 2267 - - - - - - - - 14.77 14.21 13.95
13134 522.2 9.8 537 13140 done 0.70 - - 3157 - 2.40 0.041 2263 -578.8 196.9 1.73 0.237 2266 - - - - - - - - 14.54 14.46 13.94
13470 490.9 9.4 550 13475 roll 0.70 0.10 0.258 3138 -190.0 2.47 0.058 864 -566.4 196.9 1.38 0.222 2267 - - - - - - - - 14.18 14.15 13.95
13497 488.4 8.8 554 13502 done 0.70 - - 3138 - 2.50 0.053 2260 558.4 196.9 - - 2273 - - - - - - - - 14.36 14.28 14.39
13862 459.1 7.9 564 13867 roll 0.70 - - 3138 - 2.62 0.099 3655 532.4 196.9 1.27 0.240 2266 -5.5 2.141 - - - - - - 14.82 14.14 13.94
13918 454.3 8.9 572 13922 done 0.70 - - 3148 - 2.42 0.041 2249 -581.0 196.9 - - 2274 - - - - - - - - 14.53 14.45 14.55
14254 428.0 7.8 585 14260 roll 0.70 - - 3158 - 2.45 0.059 862 -566.1 196.9 1.45 0.236 2266 -5.5 2.032 - - - - - - 14.83 14.09 13.88
14310 423.5 8.1 593 14316 done 0.70 0.10 0.226 3128 -300.0 2.45 0.054 2260 570.6 196.9 - - 2274 - - - - - - - - 14.11 14.32 14.34
14646 398.0 7.6 606 14653 roll 0.70 - - 3128 - 2.65 0.101 3651 524.9 199.2 2.95 1.053 2259 -5.1 0.390 - - - - - - 14.85 14.33 13.12
14722 391.3 8.9 617 14729 done 0.70 - - 3138 - 2.40 0.041 2253 -582.5 199.2 2.00 0.279 2259 - - - - - - - - 14.57 14.50 12.40
15087 363.1 7.7 627 15090 done 0.70 - - 3137 - - - 2249 - 199.4 2.17 0.467 2256 -1.4 0.218 - - - - - - 14.82 14.30 12.94
15423 336.7 7.9 633 15426 done 0.70 - - 3138 - - - 2249 - 199.4 2.10 0.389 2255 - - - - - - - - 14.82 14.26 12.89
15759 309.7 8.0 639 15765 roll 0.70 - - 3137 - 2.78 0.099 3650 504.0 199.4 1.90 0.248 2257 - - - - - - - - 14.85 14.14 13.57
15793 306.7 8.7 644 15799 done 0.70 - - 3147 - 2.45 0.040 2257 -568.6 199.4 1.73 0.226 2257 - - - - - - - - 14.41 14.39 13.70
16144 278.9 7.9 652 16150 roll 0.70 - - 3157 - 2.55 0.060 865 -545.9 199.4 1.92 0.250 2259 - - - - - - - - 14.83 14.11 13.49
16193 274.9 8.3 659 16198 done 0.70 - - 3157 - 2.45 0.053 2259 569.0 199.4 1.67 0.247 2257 - - - - - - - - 14.43 14.29 13.72
16529 245.9 8.8 672 16535 roll 0.70 - - 3157 - 2.70 0.101 3651 515.6 199.4 1.98 0.259 2259 - - - - - - - - 14.85 14.07 13.37
16591 240.0 9.4 681 16598 done 0.70 0.12 0.208 3132 -208.3 2.45 0.040 2249 -572.2 199.4 1.88 0.244 2257 - - - - - - - - 13.94 14.35 13.43
16914 216.9 7.1 692 16940 roll 0.72 - - 3132 - 2.62 0.096 3652 535.5 212.9 21.67 1.360 2194 -2.9 0.094 - - - - - - 14.85 14.16 13.46
16963 213.2 7.8 699 16969 done 0.72 - - 3142 - 2.40 0.040 2256 -581.7 212.9 - - 2190 - - - - - - - - 14.55 14.48 14.57
17306 187.1 7.5 706 17307 done 0.73 - - 3145 - - - 2252 - 218.1 - - 2189 - - - - - - - - 14.78 14.78 14.78
17642 161.8 7.5 712 17654 roll 0.73 - - 3151 - 2.50 0.060 867 -554.0 222.4 3.85 1.220 2166 -6.0 0.161 - - - - - - 14.81 14.38 13.18
17669 159.6 7.7 716 17675 done 0.73 - - 3151 - 2.45 0.052 2258 567.8 222.4 0.98 0.226 2165 - - - - - - - - 14.47 14.38 14.18
18034 129.9 8.1 726 18039 roll 0.73 - - 3151 - 2.67 0.099 3652 522.1 222.4 1.52 0.230 2166 - - - - - - - - 14.81 14.20 13.90
18075 126.2 9.0 732 18081 done 0.73 - - 3161 - 2.42 0.039 2262 -574.4 222.4 1.50 0.215 2164 - - - - - - - - 14.43 14.39 13.93
18426 98.8 7.8 740 18429 done 0.73 - - 3161 - - - 2258 - 222.4 1.70 0.231 2164 - - - - - - - - 14.83 14.19 13.81
18734 74.7 7.4 751 18741 done 0.74 - - 3162 - - - 2258 - 228.9 5.53 0.365 2139 -4.5 0.188 - - - - - - 14.84 14.21 13.74
19042 54.3 6.4 762 19062 roll 0.77 - - 3161 - 2.70 0.098 3658 518.5 255.6 16.05 0.337 2032 -6.7 0.218 - - - - - - 14.82 14.32 13.96
19293 40.0 4.3 798 19335 done 0.86 - - 3170 - 2.45 0.038 2251 -574.3 324.9 37.33 0.301 1755 -7.4 0.200 - - - - - - 14.40 14.38 14.03
19648 28.6 3.0 815 19700 done 1.17 0.22 0.073 3300 590.9 - - 2250 - 420.2 50.05 0.265 1375 -7.6 0.166 - - - - - - 14.42 14.35 14.04
19976 end climb: SURFACE_DEPTH_REACHED
19977 begin surface coast
20008 end surface coast: CONTROL_FINISHED_OK
20008 begin surface
SM -5.39 - - - - -8.39 9.32 0.082 190 20.4 0.98 0.090 2762 -8061.2 500.14 38.78 0.155 1057 27.3 0.097 - - - - - -