SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 730 * Raw log
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• Previous call tries 1 • 248.53 of 350.00 AH used of 24V (28.99% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.9 deg, depth -2.16 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.64 (SM_CC=500)
• GPS1 time: 18 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 109 - - - 2810 - -107.1 -81.97 - 3478 - - - - - - - - 14.53 12.65 14.45
107 2.8 -8.7 3 124 roll -0.93 11.95 0.374 2590 207.6 2.53 0.035 1368 -570.0 -107.1 - - 3479 - - - - - - - - 13.83 14.31 14.22
188 29.9 -20.2 15 193 done -0.71 0.32 0.236 2667 240.6 2.72 0.111 2748 507.4 -107.1 - - 3478 - - - - - - - - 13.79 13.88 14.09
524 79.0 -11.5 30 529 roll -0.71 - - 2658 - 2.20 0.159 3828 490.9 -107.1 - - 3480 - - - - - - - - 14.66 13.85 14.66
600 86.1 -8.9 41 607 done -0.71 - - 2659 - 1.88 0.059 2776 -559.6 -107.1 - - 3481 - - - - - - - - 14.14 14.11 14.16
916 109.2 -7.4 51 921 roll -0.71 - - 2658 - 2.50 0.041 1358 -567.2 -107.1 - - 3482 - - - - - - - - 14.75 14.02 14.75
950 111.9 -7.8 56 955 done -0.71 - - 2649 - 2.78 0.101 2777 510.4 -107.1 - - 3482 - - - - - - - - 14.12 13.84 14.15
1308 140.1 -8.3 65 1314 roll -0.71 - - 2649 - 2.55 0.042 1365 -553.7 -107.1 - - 3481 - - - - - - - - 14.76 13.93 14.76
1365 144.8 -7.7 73 1371 done -0.71 0.10 0.225 2669 200.0 2.78 0.105 2772 506.1 -107.1 - - 3481 - - - - - - - - 13.86 13.85 14.09
1701 167.5 -6.6 86 1706 roll -0.71 - - 2669 - 2.50 0.044 1366 -562.4 -107.1 - - 3478 - - - - - - - - 14.69 13.90 14.69
1763 171.9 -6.9 95 1768 done -0.79 - - 2659 - 2.75 0.106 2762 507.6 -107.1 - - 3478 - - - - - - - - 14.13 13.85 14.19
2093 196.6 -7.6 107 2098 roll -0.79 - - 2659 - 2.55 0.044 1359 -550.2 -107.1 - - 3476 - - - - - - - - 14.69 13.95 14.69
2127 199.5 -8.0 112 2132 done -0.79 - - 2659 - 2.80 0.107 2766 502.5 -107.1 - - 3475 - - - - - - - - 14.08 13.80 14.13
2485 227.9 -7.9 121 2491 roll -0.79 - - 2651 - 2.55 0.044 1366 -549.0 -107.1 - - 3473 - - - - - - - - 14.74 13.90 14.74
2541 232.6 -8.4 129 2547 done -0.79 - - 2644 - 2.78 0.109 2762 502.2 -107.1 - - 3472 - - - - - - - - 14.14 13.86 14.19
2877 262.8 -9.2 142 2882 roll -0.79 - - 2635 - 2.20 0.164 3828 484.5 -107.1 - - 3469 - - - - - - - - 14.69 13.83 14.69
2925 267.7 -10.1 149 2932 done -0.79 - - 2635 - 1.92 0.060 2746 -563.5 -107.1 - - 3469 - - - - - - - - 14.16 14.07 14.18
3269 300.9 -9.7 156 3274 roll -0.79 - - 2635 - 2.47 0.041 1371 -556.7 -107.1 - - 3467 - - - - - - - - 14.70 13.88 14.69
3338 307.6 -9.4 166 3343 done -0.79 - - 2625 - 2.75 0.104 2755 503.3 -107.1 - - 3467 - - - - - - - - 14.19 13.93 14.23
3661 338.0 -9.4 177 3662 done -0.79 - - 2626 - - - 2755 - -107.1 - - 3464 - - - - - - - - 14.69 14.69 14.69
3997 367.7 -8.8 183 4002 roll -0.79 - - 2625 - 2.55 0.043 1367 -544.3 -107.1 - - 3463 - - - - - - - - 14.69 13.85 14.69
4038 371.5 -8.9 189 4044 done -0.79 - - 2617 - 2.78 0.106 2754 498.9 -107.1 - - 3462 - - - - - - - - 14.16 13.88 14.20
4389 401.3 -8.5 197 4395 roll -0.79 - - 2608 - 2.22 0.161 3833 486.0 -107.1 - - 3461 - - - - - - - - 14.68 13.83 14.68
4437 405.9 -9.4 204 4443 done -0.79 0.10 0.230 2638 300.0 1.92 0.058 2751 -563.5 -107.1 - - 3460 - - - - - - - - 13.69 14.05 13.95
4781 433.6 -8.0 211 4786 roll -0.79 - - 2638 - 2.50 0.041 1369 -552.8 -107.1 - - 3460 - - - - - - - - 14.68 13.88 14.68
4850 439.2 -7.7 221 4856 done -0.79 - - 2628 - 2.75 0.100 2754 503.6 -107.1 - - 3458 - - - - - - - - 14.12 13.85 14.17
5173 465.5 -8.1 232 5174 done -0.79 - - 2627 - - - 2754 - -107.1 - - 3457 - - - - - - - - 14.72 14.72 14.72
5509 491.7 -7.9 238 5514 roll -0.79 - - 2620 - 2.22 0.158 3831 485.1 -107.1 - - 3456 - - - - - - - - 14.72 13.80 14.72
5536 494.2 -9.1 242 5541 done -0.79 - - 2619 - 1.92 0.063 2759 -558.3 -107.1 - - 3456 - - - - - - - - 14.14 14.05 14.17
5901 525.5 -8.9 252 5906 roll -0.79 - - 2619 - 2.55 0.041 1357 -549.8 -107.1 - - 3454 - - - - - - - - 14.66 13.83 14.66
5970 531.7 -8.4 262 5975 done -0.79 0.10 0.240 2637 180.0 2.78 0.099 2753 502.2 -107.1 - - 3454 - - - - - - - - 13.81 13.84 14.06
6293 558.2 -8.2 273 6294 done -0.79 - - 2637 - - - 2752 - -107.1 - - 3453 - - - - - - - - 14.65 14.66 14.66
6629 585.4 -8.1 279 6634 roll -0.79 - - 2636 - 2.58 0.042 1361 -539.1 -107.1 - - 3452 - - - - - - - - 14.74 13.81 14.72
6685 589.8 -7.7 287 6690 done -0.79 - - 2627 - 2.78 0.099 2751 500.0 -107.1 - - 3450 - - - - - - - - 14.12 13.85 14.17
7021 617.6 -8.2 300 7022 done -0.79 - - 2628 - - - 2750 - -107.1 - - 3452 - - - - - - - - 14.65 14.66 14.66
7357 644.9 -8.2 306 7358 done -0.79 - - 2628 - - - 2750 - -107.1 - - 3449 - - - - - - - - 14.64 14.66 14.65
7693 672.2 -8.1 312 7698 roll -0.79 - - 2627 - 2.60 0.043 1355 -536.5 -107.1 - - 3448 - - - - - - - - 14.64 13.83 14.64
7762 677.7 -7.4 322 7767 done -0.79 - - 2618 - 2.80 0.102 2755 500.0 -107.1 - - 3451 - - - - - - - - 14.12 13.85 14.17
8085 703.3 -8.0 333 8086 done -0.79 - - 2619 - - - 2755 - -107.1 - - 3446 - - - - - - - - 14.64 14.64 14.64
8421 728.9 -7.6 339 8422 done -0.79 - - 2619 - - - 2755 - -107.1 - - 3445 - - - - - - - - 14.62 14.62 14.62
8757 754.4 -7.6 345 8758 done -0.79 - - 2618 - - - 2755 - -107.1 - - 3444 - - - - - - - - 14.62 14.62 14.63
9093 781.4 -8.1 351 9098 roll -0.79 - - 2618 - 2.60 0.043 1360 -536.5 -107.1 - - 3443 - - - - - - - - 14.69 13.82 14.69
9127 784.3 -8.2 356 9132 done -0.79 0.12 0.223 2643 208.3 2.78 0.103 2748 499.3 -107.1 - - 3443 - - - - - - - - 13.78 13.81 14.02
9368 end dive: TARGET_DEPTH_EXCEEDED
9369 begin apogee
9379 802.4 -7.3 363 9487 roll -0.23 0.62 0.162 2821 287.1 0.10 0.212 2265 -4830.0 - 100.62 2.514 3050 -3.9 0.264 - - - - 1 - 13.71 13.69 12.64
9489 end apogee: CONTROL_FINISHED_OK
9489 begin climb
9493 806.9 - 365 9633 roll 0.93 1.15 0.081 3188 319.1 2.60 0.052 879 -533.1 107.1 126.03 1.796 2616 -3.4 0.328 - - - - - - 13.65 13.71 13.03
9717 804.0 5.9 398 9766 done 0.83 - - 3189 - 2.53 0.074 2241 538.3 142.7 39.05 1.793 2474 -3.6 0.345 - - - - - - 14.16 13.98 13.14
10104 770.8 9.1 411 10109 roll 0.70 0.17 0.228 3133 -329.4 2.83 0.142 3661 501.8 142.7 - - 2464 - - - - - - - - 13.90 13.99 14.08
10179 764.3 8.4 422 10185 done 0.61 0.17 0.217 3096 -217.6 2.42 0.050 2273 -573.6 142.7 - - 2464 - - - - - - - - 13.95 14.31 14.23
10495 745.0 6.1 432 10533 done 0.65 - - 3097 - - - 2269 - 175.8 36.90 1.778 2350 -3.1 0.274 - - - - - - 14.68 14.16 13.34
10832 722.3 6.8 438 10857 roll 0.67 - - 3094 - 2.78 0.144 3654 498.2 193.8 18.73 1.865 2271 -4.2 0.346 - - - - - - 14.63 14.04 13.38
10914 715.7 8.5 450 10920 done 0.67 - - 3105 - 2.47 0.050 2242 -571.7 193.8 - - 2266 - - - - - - - - 14.37 14.29 14.38
11279 686.9 8.0 460 11284 roll 0.67 - - 3105 - 2.90 0.145 3659 488.6 193.8 - - 2263 - - - - - - - - 14.68 13.89 14.68
11306 684.5 8.5 464 11311 done 0.67 - - 3115 - 2.47 0.050 2249 -570.9 193.8 - - 2266 - - - - - - - - 14.37 14.29 14.39
11671 654.1 8.3 474 11672 done 0.67 - - 3115 - - - 2246 - 193.8 - - 2262 - - - - - - - - 14.70 14.70 14.71
12007 625.1 8.7 480 12012 roll 0.67 - - 3115 - 2.92 0.146 3660 484.2 193.8 - - 2261 - - - - - - - - 14.71 13.83 14.71
12055 620.6 9.5 487 12061 done 0.67 - - 3124 - 2.50 0.050 2251 -563.6 193.8 - - 2259 - - - - - - - - 14.33 14.24 14.35
12399 590.0 8.9 494 12400 done 0.67 - - 3124 - - - 2247 - 193.8 - - 2261 - - - - - - - - 14.71 14.71 14.71
12735 562.1 8.2 500 12740 roll 0.67 - - 3124 - 2.92 0.147 3662 484.6 193.8 - - 2261 - - - - - - - - 14.71 13.79 14.71
12804 556.1 8.8 510 12810 done 0.67 - - 3133 - 2.47 0.050 2261 -567.2 193.8 - - 2260 - - - - - - - - 14.28 14.24 14.31
13127 531.7 7.5 521 13128 done 0.68 - - 3134 - - - 2256 - 199.0 - - 2260 - - - - - - - - 14.65 14.65 14.64
13463 508.2 7.0 527 13487 done 0.70 - - 3134 - - - 2256 - 214.4 22.02 1.629 2196 -2.9 0.192 - - - - - - 14.65 14.28 13.50
13800 483.4 7.5 533 13804 roll 0.70 - - 3134 - 2.85 0.146 3653 490.2 218.7 - - 2179 - - - - - - - - 14.65 13.93 14.66
13833 480.5 8.2 538 13839 done 0.70 - - 3142 - 2.42 0.050 2263 -574.4 218.7 - - 2180 - - - - - - - - 14.38 14.29 14.40
14191 450.8 8.4 547 14196 roll 0.70 - - 3144 - 2.88 0.146 3654 483.0 218.7 - - 2178 - - - - - - - - 14.65 13.83 14.65
14232 446.8 9.9 553 14237 done 0.70 - - 3154 - 2.45 0.050 2260 -569.0 218.7 - - 2179 - - - - - - - - 14.33 14.24 14.34
14583 415.9 8.8 561 14588 roll 0.70 - - 3165 - 2.58 0.058 852 -545.7 218.7 - - 2180 - - - - - - - - 14.70 13.95 14.71
14659 409.2 8.6 572 14664 done 0.70 0.12 0.205 3129 -300.0 2.62 0.076 2259 537.0 218.7 - - 2179 - - - - - - - - 13.87 13.96 14.11
14975 385.4 7.5 582 14982 roll 0.71 - - 3129 - 2.90 0.147 3663 484.1 222.6 1.83 0.217 2165 -7.7 2.878 - - - - - - 14.65 13.86 13.84
15045 379.5 8.6 592 15051 done 0.71 - - 3137 - 2.47 0.050 2256 -569.6 222.6 2.00 0.223 2162 -1.5 0.541 - - - - - - 14.32 14.24 11.86
15361 353.9 8.2 602 15364 done 0.71 - - 3138 - - - 2253 - 222.6 1.70 0.216 2163 - - - - - - - - 14.64 14.11 13.83
15697 326.2 8.3 608 15703 roll 0.71 - - 3137 - 2.95 0.145 3663 478.0 222.6 1.62 0.219 2165 - - - - - - - - 14.64 13.85 13.84
15724 323.6 8.6 612 15729 done 0.71 - - 3147 - 2.47 0.050 2260 -568.0 222.6 - - 2171 - - - - - - - - 14.28 14.20 14.30
16083 294.3 8.1 621 16086 done 0.71 - - 3147 - - - 2258 - 222.6 1.67 0.220 2163 -4.8 1.357 - - - - - - 14.62 14.12 13.84
16418 265.7 8.7 627 16424 roll 0.71 - - 3158 - 2.55 0.056 853 -551.0 222.6 1.62 0.219 2163 - - - - - - - - 14.63 13.97 13.87
16459 262.0 8.8 633 16465 done 0.71 - - 3158 - 2.67 0.077 2274 532.2 222.6 1.55 0.222 2164 - - - - - - - - 14.14 13.90 13.85
16810 232.2 8.4 641 16816 roll 0.71 - - 3157 - 2.88 0.151 3664 482.6 222.6 1.77 0.216 2165 - - - - - - - - 14.62 13.85 13.85
16859 227.7 9.4 648 16865 done 0.71 0.12 0.223 3133 -200.0 2.47 0.048 2262 -567.6 222.6 1.70 0.207 2163 - - - - - - - - 13.81 14.17 13.82
17188 201.6 8.0 660 17193 roll 0.71 - - 3143 - 2.55 0.056 851 -553.3 222.6 1.48 0.222 2165 - - - - - - - - 14.62 13.96 13.89
17244 197.0 8.6 668 17249 done 0.71 - - 3143 - 2.67 0.079 2269 531.1 222.6 1.42 0.226 2163 - - - - - - - - 14.12 13.88 13.85
17573 171.4 7.6 680 17584 roll 0.71 - - 3143 - 2.85 0.151 3658 487.4 224.9 3.12 0.859 2161 - - - - - - - - 14.68 13.81 13.37
17677 162.6 8.4 695 17684 done 0.71 - - 3152 - 2.47 0.046 2263 -564.8 224.9 1.92 0.222 2156 -2.6 0.404 - - - - - - 14.31 14.21 13.78
18021 134.5 8.4 702 18028 roll 0.71 - - 3163 - 2.60 0.059 857 -540.8 224.9 2.35 0.513 2156 - - - - - - - - 14.62 14.02 13.31
18135 124.7 8.2 718 18141 done 0.71 0.10 0.216 3133 -300.0 2.65 0.079 2268 532.5 224.9 1.83 0.206 2155 - - - - - - - - 13.85 13.93 13.81
18476 101.1 6.7 731 18497 roll 0.74 - - 3133 - 2.83 0.150 3659 491.5 246.4 14.12 0.453 2073 -5.8 0.275 - - - - - - 14.58 13.95 13.84
18584 92.2 9.0 747 18589 done 0.74 - - 3141 - 2.47 0.049 2258 -567.2 246.4 1.95 0.220 2069 -2.1 0.182 - - - - - - 14.31 14.23 13.77
18917 70.0 5.8 761 18945 roll 0.87 0.05 0.194 3216 1500.0 2.83 0.148 3664 496.8 284.6 23.42 0.371 1919 -6.4 0.256 - - - - - - 14.26 13.98 13.83
18961 67.0 7.0 768 18974 done 0.89 0.12 0.217 3191 -208.3 2.45 0.049 2253 -575.9 298.4 9.25 0.348 1862 -6.2 0.251 - - - - - - 13.87 14.27 13.76
19302 58.5 2.0 783 19372 roll 1.16 0.15 0.086 3303 746.7 2.83 0.148 3665 498.9 412.5 64.82 0.347 1406 -7.0 0.251 - - - - - - 14.18 14.09 13.86
19434 48.9 11.1 802 19441 done 1.16 0.12 0.221 3278 -208.3 2.45 0.047 2272 -568.6 412.5 - - 1411 - - - - - - - - 13.85 14.21 14.11
19746 16.3 10.3 814 19752 roll 1.16 - - 3289 - 2.58 0.060 858 -548.1 412.5 - - 1409 - - - - - - - - 14.62 13.97 14.62
19808 10.3 9.8 823 19813 done 1.16 - - 3288 - 2.62 0.069 2277 541.6 412.5 - - 1408 - - - - - - - - 14.14 13.92 14.19
19909 end climb: SURFACE_DEPTH_REACHED
19909 begin surface coast
19937 end surface coast: CONTROL_FINISHED_OK
19938 begin surface
SM -2.05 - - - - -8.39 8.88 0.034 173 19.5 0.95 0.105 2763 1824.2 500.64 45.03 0.149 1058 23.5 0.033 - - - - - -