SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 738 * Raw log
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• Previous call tries 1 • 251.09 of 350.00 AH used of 24V (28.26% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.2 deg, depth -2.00 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: 3 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 - - 123 - - - 2789 - -107.1 -81.30 - 3479 - - - - - - - - 14.52 12.64 14.43
107 3.4 -9.7 3 124 roll -0.93 11.95 0.378 2592 206.6 2.50 0.035 1358 -572.4 -107.1 - - 3480 - - - - - - - - 13.83 14.28 14.22
208 35.6 -20.0 18 215 done -0.70 0.32 0.241 2666 231.2 2.80 0.109 2768 503.6 -107.1 - - 3480 - - - - - - - - 13.79 13.89 14.09
525 72.4 -7.1 30 529 roll -0.70 - - 2666 - 2.50 0.043 1371 -558.8 -107.1 - - 3481 - - - - - - - - 14.64 14.04 14.64
608 80.6 -9.8 42 613 done -0.70 - - 2655 - 2.78 0.113 2761 500.0 -107.1 - - 3484 - - - - - - - - 14.15 13.86 14.20
944 109.4 -8.2 55 949 roll -0.70 - - 2648 - 2.22 0.178 3824 478.8 -107.1 - - 3482 - - - - - - - - 14.73 13.85 14.73
985 113.3 -9.4 61 991 done -0.70 - - 2645 - 1.88 0.063 2754 -569.1 -107.1 - - 3483 - - - - - - - - 14.24 14.19 14.26
1336 144.5 -9.1 69 1342 roll -0.70 - - 2649 - 2.47 0.042 1363 -563.2 -107.1 - - 3482 - - - - - - - - 14.69 13.94 14.69
1398 150.0 -7.8 78 1403 done -0.70 0.10 0.232 2668 190.0 2.78 0.110 2762 503.2 -107.1 - - 3481 - - - - - - - - 13.90 13.89 14.13
1728 172.1 -6.6 90 1729 done -0.70 - - 2668 - - - 2762 - -107.1 - - 3480 - - - - - - - - 14.69 14.68 14.68
2064 195.8 -7.0 96 2069 roll -0.70 - - 2667 - 2.55 0.046 1364 -548.2 -107.1 - - 3477 - - - - - - - - 14.69 13.90 14.69
2127 200.5 -7.7 105 2133 done -0.79 - - 2658 - 2.80 0.113 2760 498.6 -107.1 - - 3477 - - - - - - - - 14.16 13.88 14.21
2456 225.6 -7.8 117 2462 roll -0.79 - - 2651 - 2.25 0.178 3828 474.7 -107.1 - - 3474 - - - - - - - - 14.74 13.83 14.74
2497 229.4 -8.7 123 2502 done -0.79 - - 2650 - 1.90 0.065 2758 -563.2 -107.1 - - 3474 - - - - - - - - 14.21 14.14 14.22
2849 256.9 -7.7 131 2853 roll -0.79 - - 2650 - 2.53 0.043 1359 -553.0 -107.1 - - 3472 - - - - - - - - 14.73 13.89 14.71
2917 262.3 -6.9 141 2923 done -0.79 - - 2642 - 2.80 0.109 2763 501.4 -107.1 - - 3471 - - - - - - - - 14.16 13.87 14.21
3240 286.3 -7.5 152 3245 roll -0.79 - - 2641 - 2.55 0.044 1364 -548.6 -107.1 - - 3469 - - - - - - - - 14.68 13.88 14.66
3274 289.1 -7.9 157 3280 done -0.79 - - 2633 - 2.78 0.110 2754 500.0 -107.1 - - 3469 - - - - - - - - 14.18 13.90 14.23
3632 318.5 -8.2 166 3633 done -0.79 - - 2633 - - - 2754 - -107.1 - - 3466 - - - - - - - - 14.69 14.69 14.68
3968 345.8 -8.1 172 3973 roll -0.79 - - 2633 - 2.55 0.043 1362 -545.9 -107.1 - - 3464 - - - - - - - - 14.68 13.90 14.68
4009 349.4 -7.8 178 4014 done -0.79 - - 2624 - 2.80 0.111 2753 496.8 -107.1 - - 3466 - - - - - - - - 14.21 13.93 14.25
4360 379.0 -8.6 186 4365 roll -0.79 - - 2615 - 2.25 0.173 3827 477.3 -107.1 - - 3463 - - - - - - - - 14.72 13.85 14.72
4422 384.6 -9.3 195 4427 done -0.79 0.10 0.227 2644 290.0 1.92 0.063 2739 -566.7 -107.1 - - 3462 - - - - - - - - 13.74 14.14 13.97
4752 410.6 -7.8 207 4757 roll -0.79 - - 2644 - 2.47 0.044 1371 -553.8 -107.1 - - 3459 - - - - - - - - 14.73 13.84 14.73
4808 415.1 -8.3 215 4813 done -0.79 - - 2634 - 2.78 0.111 2754 497.5 -107.1 - - 3460 - - - - - - - - 14.17 13.89 14.22
5144 444.1 -8.7 228 5149 roll -0.79 - - 2626 - 2.25 0.175 3828 477.3 -107.1 - - 3458 - - - - - - - - 14.71 13.82 14.71
5171 446.7 -9.6 232 5176 done -0.79 - - 2625 - 1.92 0.062 2747 -563.0 -107.1 - - 3458 - - - - - - - - 14.20 14.14 14.21
5537 479.6 -9.1 242 5541 roll -0.79 - - 2625 - 2.50 0.043 1366 -552.4 -107.1 - - 3457 - - - - - - - - 14.66 13.85 14.66
5570 483.1 -10.4 247 5575 done -0.79 - - 2616 - 2.75 0.108 2753 504.4 -107.1 - - 3456 - - - - - - - - 14.14 13.87 14.20
5928 515.7 -9.2 256 5929 done -0.79 - - 2617 - - - 2750 - -107.1 - - 3456 - - - - - - - - 14.65 14.65 14.65
6264 546.4 -9.2 262 6269 roll -0.79 - - 2608 - 2.25 0.171 3825 477.8 -107.1 - - 3454 - - - - - - - - 14.65 13.79 14.65
6305 550.8 -9.9 268 6310 done -0.79 0.12 0.219 2643 291.7 1.92 0.063 2741 -564.6 -107.1 - - 3454 - - - - - - - - 13.70 14.13 13.95
6656 581.2 -8.7 276 6661 roll -0.79 - - 2643 - 2.50 0.044 1369 -548.8 -107.1 - - 3452 - - - - - - - - 14.71 13.84 14.71
6713 586.4 -8.7 284 6717 done -0.87 - - 2634 - 2.78 0.108 2749 496.4 -107.1 - - 3450 - - - - - - - - 14.14 13.86 14.19
7048 616.9 -9.2 297 7049 done -0.87 - - 2634 - - - 2749 - -107.1 - - 3451 - - - - - - - - 14.71 14.71 14.71
7384 645.1 -8.4 303 7389 roll -0.87 - - 2633 - 2.55 0.044 1371 -540.4 -107.1 - - 3450 - - - - - - - - 14.71 13.84 14.68
7418 648.4 -9.0 308 7423 done -0.87 - - 2624 - 2.78 0.109 2747 495.0 -107.1 - - 3450 - - - - - - - - 14.16 13.88 14.21
7776 677.4 -8.0 317 7782 roll -0.87 - - 2616 - 2.25 0.169 3829 480.9 -107.1 - - 3449 - - - - - - - - 14.64 13.83 14.64
7817 681.0 -8.7 323 7822 done -0.87 - - 2615 - 1.95 0.064 2743 -556.9 -107.1 - - 3448 - - - - - - - - 14.19 14.12 14.20
8168 709.1 -8.0 331 8173 roll -0.87 - - 2615 - 2.53 0.043 1363 -545.5 -107.1 - - 3447 - - - - - - - - 14.63 13.95 14.63
8230 714.5 -8.0 340 8235 done -0.87 - - 2606 - 2.78 0.106 2743 496.4 -107.1 - - 3448 - - - - - - - - 14.14 13.85 14.18
8560 742.6 -8.7 352 8561 done -0.87 - - 2607 - - - 2743 - -107.1 - - 3446 - - - - - - - - 14.63 14.63 14.63
8896 771.3 -8.5 358 8897 done -0.87 - - 2607 - - - 2743 - -107.1 - - 3445 - - - - - - - - 14.62 14.60 14.62
9228 end dive: TARGET_DEPTH_EXCEEDED
9228 begin apogee
9238 801.0 -9.0 364 9355 roll -0.23 0.77 0.174 2819 275.3 0.10 0.213 2271 -4720.0 - 113.65 1.793 3048 -3.5 0.310 - - - - - - 13.76 13.85 13.14
9356 end apogee: CONTROL_FINISHED_OK
9356 begin climb
9361 805.1 - 366 9492 roll 0.93 1.15 0.086 3192 324.3 2.60 0.054 875 -536.9 107.1 117.78 1.699 2616 -3.7 0.345 - - - - - - 13.79 13.85 13.09
9535 803.4 5.4 393 9596 done 0.84 - - 3193 - 2.60 0.080 2252 529.6 153.6 52.10 1.705 2429 -3.6 0.336 - - - - - - 14.04 13.85 13.13
9910 770.5 9.4 411 9915 roll 0.71 0.20 0.224 3132 -305.0 2.83 0.151 3658 496.8 153.6 - - 2416 - - - - - - - - 13.90 13.98 14.08
9950 766.4 9.0 417 9957 done 0.71 - - 3143 - 2.45 0.054 2263 -569.4 153.6 - - 2417 - - - - - - - - 14.37 14.27 14.39
10302 738.7 7.8 425 10308 roll 0.71 - - 3154 - 2.53 0.058 852 -557.7 153.6 - - 2416 - - - - - - - - 14.66 14.14 14.66
10336 736.1 7.1 430 10348 done 0.72 - - 3154 - 2.60 0.081 2248 536.9 166.8 4.55 1.515 2389 -5.9 0.573 - - - - - - 14.29 14.09 13.20
10694 706.7 8.2 439 10704 roll 0.72 - - 3154 - 2.95 0.157 3666 480.7 166.8 2.40 0.633 2386 -1.2 0.277 - - - - - - 14.70 13.91 13.10
10742 702.6 9.4 446 10748 done 0.61 0.22 0.212 3103 -231.8 2.53 0.051 2243 -562.5 166.8 - - 2392 - - - - - - - - 13.85 14.23 14.13
11086 679.8 6.6 453 11121 done 0.64 - - 3105 - - - 2238 - 189.5 34.00 1.724 2294 -2.9 0.226 - - - - - - 14.68 14.21 13.43
11422 655.9 7.2 459 11433 roll 0.65 - - 3102 - 2.95 0.155 3657 481.0 200.6 4.05 1.399 2254 -9.9 0.920 - - - - - - 14.62 13.96 13.18
11470 652.0 8.1 466 11477 done 0.65 - - 3112 - 2.50 0.050 2243 -565.6 200.6 2.10 0.358 2250 -1.9 0.689 - - - - - - 14.36 14.28 12.90
11814 625.7 7.6 473 11818 done 0.66 - - 3113 - - - 2240 - 202.5 2.92 0.951 2242 -2.7 0.358 - - - - - - 14.67 14.33 13.23
12150 600.5 7.4 479 12169 roll 0.66 - - 3112 - 2.90 0.155 3667 492.1 208.2 13.07 1.809 2217 -1.9 0.126 - - - - - - 14.64 14.02 13.46
12226 594.4 8.3 490 12231 done 0.66 - - 3121 - 2.47 0.050 2251 -573.3 208.2 - - 2212 - - - - - - - - 14.40 14.32 14.42
12542 571.0 7.4 500 12545 done 0.67 - - 3122 - - - 2246 - 214.6 2.17 0.431 2194 -8.3 2.184 - - - - - - 14.64 14.23 13.01
12878 545.5 7.6 506 12889 roll 0.67 - - 3121 - 2.95 0.156 3658 478.6 217.2 3.05 1.008 2189 -1.6 0.176 - - - - - - 14.63 13.90 13.25
12926 541.4 8.7 513 12934 done 0.67 - - 3130 - 2.50 0.051 2248 -564.0 217.2 2.15 0.428 2185 -1.9 0.468 - - - - - - 14.35 14.27 12.95
13270 512.2 8.5 520 13280 roll 0.67 - - 3132 - 3.00 0.155 3662 471.3 217.2 1.75 0.223 2188 1.7 -0.783 - - - - - - 14.62 13.88 13.90
13318 507.4 10.0 527 13325 done 0.67 - - 3142 - 2.50 0.051 2258 -561.6 217.2 1.75 0.231 2184 -2.3 0.998 - - - - - - 14.26 14.16 13.79
13662 476.0 9.1 534 13665 done 0.67 - - 3143 - - - 2256 - 217.2 1.83 0.218 2182 - - - - - - - - 14.66 14.14 13.85
13998 446.6 8.6 540 14004 roll 0.67 - - 3142 - 2.90 0.154 3662 484.8 217.2 1.67 0.223 2186 2.4 -0.953 - - - - - - 14.66 13.88 13.86
14047 442.1 9.6 547 14053 done 0.67 0.12 0.222 3118 -200.0 2.50 0.051 2253 -563.6 217.2 1.67 0.219 2184 - - - - - - - - 13.81 14.15 13.77
14380 418.0 7.2 559 14407 roll 0.69 - - 3117 - 2.95 0.156 3660 476.9 227.5 19.33 1.567 2134 -2.6 0.137 - - - - - - 14.57 13.94 13.51
14452 412.0 8.6 570 14457 done 0.69 - - 3126 - 2.45 0.050 2256 -573.1 227.5 - - 2130 - - - - - - - - 14.37 14.28 14.39
14768 388.0 7.6 580 14769 done 0.69 - - 3126 - - - 2253 - 230.6 - - 2128 - - - - - - - - 14.63 14.63 14.63
15104 361.7 7.9 586 15108 roll 0.69 - - 3126 - 2.95 0.155 3661 477.3 230.6 - - 2127 - - - - - - - - 14.62 13.80 14.63
15166 356.0 9.2 595 15171 done 0.69 - - 3135 - 2.45 0.050 2270 -567.8 230.6 - - 2127 - - - - - - - - 14.31 14.22 14.33
15496 329.0 8.1 607 15500 roll 0.69 - - 3149 - 2.58 0.060 860 -546.5 230.6 - - 2127 - - - - - - - - 14.62 13.95 14.62
15537 325.8 8.1 613 15543 done 0.69 - - 3146 - 2.60 0.086 2267 541.2 230.6 - - 2127 - - - - - - - - 14.15 13.90 14.19
15888 295.7 8.9 621 15894 roll 0.69 - - 3146 - 2.92 0.164 3661 477.4 230.6 - - 2127 - - - - - - - - 14.66 13.82 14.69
15929 291.5 10.0 627 15934 done 0.69 0.10 0.230 3127 -190.0 2.47 0.050 2264 -565.6 230.6 - - 2127 - - - - - - - - 13.83 14.14 14.06
16280 261.2 8.7 635 16285 roll 0.69 - - 3137 - 2.60 0.061 852 -543.1 230.6 - - 2127 - - - - - - - - 14.60 13.87 14.61
16307 258.8 8.6 639 16312 done 0.69 - - 3139 - 2.70 0.086 2271 525.6 230.6 - - 2127 - - - - - - - - 14.09 13.84 14.14
16672 225.7 9.0 649 16678 roll 0.69 - - 3137 - 2.92 0.164 3667 478.1 230.6 - - 2127 - - - - - - - - 14.61 13.84 14.61
16734 219.8 9.4 658 16739 done 0.69 - - 3146 - 2.47 0.047 2272 -564.8 230.6 - - 2127 - - - - - - - - 14.10 14.01 14.14
17064 192.9 8.1 670 17069 roll 0.69 - - 3158 - 2.62 0.062 851 -542.4 230.6 - - 2127 - - - - - - - - 14.66 13.81 14.66
17126 187.8 8.0 679 17131 done 0.69 0.12 0.199 3122 -300.0 2.72 0.086 2274 523.2 230.6 - - 2127 - - - - - - - - 13.80 13.83 14.03
17456 165.3 6.8 691 17482 roll 0.71 - - 3121 - 2.90 0.165 3669 481.0 248.6 21.70 1.249 2052 -3.5 0.091 - - - - - - 14.59 13.97 13.59
17532 159.3 8.4 702 17537 done 0.71 - - 3129 - 2.45 0.050 2262 -574.3 248.6 - - 2045 - - - - - - - - 14.36 14.28 14.39
17897 131.7 7.4 712 17902 roll 0.72 - - 3139 - 2.55 0.061 858 -550.6 254.4 - - 2043 - - - - - - - - 14.66 14.02 14.66
17959 127.1 7.3 721 17978 done 0.81 - - 3138 - 2.65 0.084 2271 533.2 263.8 13.85 1.231 1998 -3.2 0.067 - - - - - - 14.21 13.97 13.59
18289 100.0 8.5 733 18295 roll 0.81 - - 3138 - 2.88 0.165 3666 484.4 263.8 - - 1985 - - - - - - - - 14.64 13.87 14.64
18387 91.1 8.9 747 18391 done 0.81 - - 3148 - 2.45 0.049 2265 -571.8 263.8 - - 1985 - - - - - - - - 14.32 14.23 14.35
18710 68.8 5.1 760 18742 roll 0.95 0.08 0.138 3245 1212.5 2.53 0.060 848 -560.1 315.8 27.17 0.370 1793 -7.1 0.261 - - - - - - 14.26 14.17 13.88
18793 63.0 7.6 772 18806 done 0.96 0.15 0.206 3202 -286.7 2.67 0.083 2277 535.2 319.4 3.62 0.271 1781 -3.3 0.153 - - - - - - 13.91 13.97 13.72
19134 50.3 3.7 787 19189 roll 1.18 0.15 0.083 3325 820.0 2.60 0.060 859 -545.4 400.6 48.17 0.317 1456 -6.7 0.213 - - - - - - 14.19 14.21 13.94
19332 33.5 8.1 816 19337 done 1.18 0.15 0.231 3287 -253.3 2.70 0.092 2283 527.4 400.6 - - 1460 - - - - - - - - 13.79 13.90 14.07
19662 8.8 6.5 830 19680 roll 1.21 - - 3287 - 2.80 0.156 3664 493.2 424.1 14.15 0.184 1359 -7.1 0.068 - - - - - - 14.62 13.95 13.94
19695 5.8 8.7 835 19700 done 1.21 - - 3296 - 2.42 0.050 2277 -573.1 424.1 - - 1363 - - - - - - - - 14.34 14.25 14.35
19762 end climb: SURFACE_DEPTH_REACHED
19762 begin surface coast
19790 end surface coast: CONTROL_FINISHED_OK
19790 begin surface
SM -1.83 - - - - -8.43 9.02 0.043 177 19.6 1.02 0.117 2776 1711.8 500.14 39.88 0.148 1058 26.5 0.034 - - - - - -