SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 740 * Raw log
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• Previous call tries 1 • 251.71 of 350.00 AH used of 24V (28.08% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.3 deg, depth -1.84 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 130 - - - 2780 - -107.1 -80.95 - 3479 - - - - - - - - 14.51 12.64 14.43
107 4.0 -9.9 3 124 roll -0.93 11.93 0.378 2590 206.2 2.50 0.035 1356 -569.6 -107.1 - - 3479 - - - - - - - - 13.83 14.29 14.22
229 41.3 -20.6 21 235 done -0.72 0.32 0.238 2666 237.5 2.83 0.119 2772 500.4 -107.1 - - 3481 - - - - - - - - 13.79 13.88 14.09
552 82.6 -6.8 34 557 roll -0.72 - - 2658 - 2.20 0.177 3828 480.0 -107.1 - - 3480 - - - - - - - - 14.65 13.83 14.65
720 94.8 -8.1 58 725 done -0.72 - - 2658 - 1.88 0.060 2755 -570.7 -107.1 - - 3481 - - - - - - - - 14.26 14.19 14.27
1084 123.5 -7.6 69 1085 done -0.72 - - 2658 - - - 2755 - -107.1 - - 3482 - - - - - - - - 14.69 14.68 14.69
1420 150.1 -8.0 75 1425 roll -0.72 - - 2658 - 2.47 0.042 1367 -561.9 -107.1 - - 3481 - - - - - - - - 14.69 13.95 14.69
1476 154.7 -8.0 83 1481 done -0.72 - - 2649 - 2.78 0.108 2771 505.0 -107.1 - - 3485 - - - - - - - - 14.15 13.87 14.20
1812 182.5 -8.3 96 1813 done -0.72 - - 2648 - - - 2771 - -107.1 - - 3479 - - - - - - - - 14.69 14.69 14.69
2148 209.5 -8.1 102 2153 roll -0.72 - - 2648 - 2.58 0.042 1358 -547.7 -107.1 - - 3476 - - - - - - - - 14.73 13.89 14.73
2231 216.5 -8.4 114 2237 done -0.72 0.10 0.223 2668 200.0 2.80 0.110 2768 503.6 -107.1 - - 3475 - - - - - - - - 13.90 13.89 14.13
2597 245.7 -8.1 124 2601 roll -0.79 - - 2672 - 2.55 0.044 1367 -549.4 -107.1 - - 3472 - - - - - - - - 14.67 13.92 14.68
2672 252.0 -8.1 135 2677 done -0.89 0.08 0.138 2596 -950.0 2.80 0.115 2765 499.3 -107.1 - - 3472 - - - - - - - - 14.13 13.88 14.23
2988 284.2 -10.3 145 2994 roll -0.89 - - 2588 - 2.22 0.174 3828 478.8 -107.1 - - 3469 - - - - - - - - 14.73 13.82 14.73
3044 290.2 -10.3 153 3050 done -0.89 - - 2586 - 1.90 0.060 2752 -566.3 -107.1 - - 3469 - - - - - - - - 14.21 14.15 14.22
3380 323.9 -10.1 166 3385 roll -0.89 0.08 0.256 2613 337.5 2.47 0.037 1372 -558.7 -107.1 - - 3467 - - - - - - - - 13.84 13.88 13.91
3414 327.3 -9.5 171 3419 done -0.89 - - 2603 - 2.80 0.107 2771 499.6 -107.1 - - 3466 - - - - - - - - 14.16 13.88 14.21
3772 363.4 -10.3 180 3777 roll -0.89 - - 2595 - 2.20 0.173 3826 479.5 -107.1 - - 3465 - - - - - - - - 14.63 13.85 14.63
3834 370.4 -10.8 189 3840 done -0.89 - - 2594 - 1.88 0.059 2762 -566.0 -107.1 - - 3464 - - - - - - - - 14.19 14.13 14.21
4164 405.6 -10.7 201 4170 roll -0.89 - - 2594 - 2.50 0.042 1371 -556.4 -107.1 - - 3463 - - - - - - - - 14.73 13.83 14.72
4198 409.2 -10.3 206 4203 done -0.89 - - 2585 - 2.78 0.108 2766 501.8 -107.1 - - 3460 - - - - - - - - 14.16 13.88 14.21
4556 447.5 -10.7 215 4561 roll -0.89 - - 2577 - 2.20 0.172 3824 480.9 -107.1 - - 3464 - - - - - - - - 14.73 13.83 14.71
4633 456.0 -11.3 226 4638 done -0.81 0.22 0.208 2638 277.3 1.88 0.060 2760 -566.0 -107.1 - - 3460 - - - - - - - - 13.66 14.14 13.94
4948 481.8 -8.1 236 4953 roll -0.81 - - 2638 - 2.53 0.041 1366 -551.0 -107.1 - - 3459 - - - - - - - - 14.66 13.89 14.66
5004 486.4 -8.2 244 5009 done -0.81 - - 2629 - 2.80 0.106 2763 498.9 -107.1 - - 3458 - - - - - - - - 14.15 13.88 14.21
5340 513.6 -8.0 257 5346 roll -0.81 - - 2628 - 2.58 0.042 1361 -543.4 -107.1 - - 3456 - - - - - - - - 14.66 13.90 14.66
5388 517.9 -8.3 264 5394 done -0.81 - - 2619 - 2.83 0.109 2764 495.8 -107.1 - - 3453 - - - - - - - - 14.16 13.89 14.19
5732 546.7 -8.4 271 5737 roll -0.81 - - 2611 - 2.22 0.173 3825 477.9 -107.1 - - 3454 - - - - - - - - 14.71 13.83 14.73
5788 551.8 -9.3 279 5793 done -0.81 - - 2610 - 1.90 0.063 2766 -557.4 -107.1 - - 3454 - - - - - - - - 14.19 14.12 14.21
6124 583.2 -9.4 292 6125 done -0.81 - - 2610 - - - 2773 - -107.1 - - 3454 - - - - - - - - 14.71 14.71 14.71
6460 615.0 -9.4 298 6465 roll -0.81 - - 2611 - 2.58 0.044 1361 -547.3 -107.1 - - 3452 - - - - - - - - 14.71 13.83 14.71
6494 618.3 -9.4 303 6499 done -0.81 0.12 0.217 2637 216.7 2.85 0.111 2770 494.4 -107.1 - - 3451 - - - - - - - - 13.88 13.88 14.12
6853 646.6 -7.9 312 6857 roll -0.81 - - 2637 - 2.60 0.045 1363 -541.2 -107.1 - - 3449 - - - - - - - - 14.64 13.91 14.64
6928 652.7 -7.8 323 6933 done -0.81 - - 2628 - 2.83 0.112 2762 494.3 -107.1 - - 3449 - - - - - - - - 14.15 13.88 14.21
7244 678.4 -8.3 333 7245 done -0.81 - - 2628 - - - 2762 - -107.1 - - 3449 - - - - - - - - 14.69 14.69 14.70
7580 706.0 -8.3 339 7585 roll -0.81 - - 2627 - 2.60 0.044 1363 -538.1 -107.1 - - 3447 - - - - - - - - 14.69 13.85 14.69
7636 710.8 -8.7 347 7641 done -0.81 - - 2619 - 2.83 0.112 2755 491.9 -107.1 - - 3447 - - - - - - - - 14.16 13.88 14.20
7972 739.9 -8.7 360 7973 done -0.81 - - 2618 - - - 2755 - -107.1 - - 3446 - - - - - - - - 14.62 14.62 14.65
8308 769.9 -8.9 366 8313 roll -0.81 - - 2617 - 2.60 0.043 1363 -535.4 -107.1 - - 3444 - - - - - - - - 14.69 13.86 14.69
8356 774.7 -9.0 373 8364 done -0.81 0.10 0.235 2637 200.0 2.85 0.112 2757 489.1 -107.1 - - 3444 - - - - - - - - 13.90 13.91 14.14
8696 end dive: TARGET_DEPTH_EXCEEDED
8696 begin apogee
8707 802.0 -7.9 380 8815 roll -0.23 0.65 0.160 2822 284.6 0.10 0.217 2258 -4990.0 - 100.15 2.498 3051 -3.9 0.250 - - - - 1 - 13.74 13.68 12.66
8816 end apogee: CONTROL_FINISHED_OK
8816 begin climb
8821 806.0 - 382 8960 roll 0.93 1.12 0.083 3185 324.1 2.62 0.054 865 -531.7 107.1 126.10 1.771 2615 -3.5 0.313 - - - - - - 13.62 13.66 13.05
9039 802.9 6.5 414 9071 done 0.83 - - 3185 - 2.62 0.078 2253 529.8 131.5 25.80 1.820 2522 -3.6 0.316 - - - - - - 14.09 13.90 13.18
9431 769.3 8.8 428 9436 roll 0.70 0.17 0.227 3130 -323.5 2.88 0.158 3666 490.6 131.5 - - 2509 - - - - - - - - 13.88 13.97 14.06
9487 764.5 8.6 436 9492 done 0.61 0.15 0.232 3100 -200.0 2.47 0.050 2258 -570.0 131.5 - - 2508 - - - - - - - - 13.93 14.28 14.22
9823 742.8 6.4 449 9856 roll 0.64 - - 3110 - 2.58 0.057 856 -543.4 158.5 29.60 1.814 2411 -3.3 0.267 - - - - - - 14.66 14.22 13.41
9879 739.3 5.8 457 9926 done 0.69 - - 3110 - 2.60 0.080 2248 535.4 197.0 43.10 1.701 2265 -3.4 0.293 - - - - - - 14.23 14.02 13.23
10264 709.4 7.8 470 10269 roll 0.69 - - 3110 - 2.90 0.163 3658 486.2 197.0 - - 2245 - - - - - - - - 14.61 13.93 14.61
10354 701.7 8.5 483 10358 done 0.69 - - 3120 - 2.47 0.048 2253 -568.8 197.0 - - 2244 - - - - - - - - 14.29 14.21 14.32
10711 673.0 8.1 492 10716 roll 0.69 - - 3130 - 2.53 0.059 851 -554.2 197.0 - - 2243 - - - - - - - - 14.65 14.09 14.65
10739 670.7 8.2 496 10744 done 0.69 - - 3130 - 2.62 0.083 2249 533.6 197.0 - - 2242 - - - - - - - - 14.26 14.02 14.31
11104 639.6 8.6 506 11108 roll 0.69 - - 3130 - 2.95 0.164 3666 480.3 197.0 - - 2242 - - - - - - - - 14.71 13.82 14.69
11173 633.0 9.5 516 11177 done 0.69 - - 3141 - 2.50 0.048 2246 -568.0 197.0 - - 2242 - - - - - - - - 14.33 14.23 14.35
11496 604.5 8.9 527 11496 done 0.69 - - 3141 - - - 2246 - 197.0 - - 2241 - - - - - - - - 14.65 14.65 14.65
11831 574.4 8.9 533 11837 roll 0.69 - - 3141 - 2.97 0.159 3658 475.4 197.0 - - 2241 - - - - - - - - 14.64 13.82 14.64
11880 569.7 10.0 540 11886 done 0.69 - - 3150 - 2.50 0.048 2248 -564.0 197.0 - - 2241 - - - - - - - - 14.29 14.21 14.31
12224 537.6 9.3 547 12225 done 0.69 - - 3151 - - - 2245 - 197.0 - - 2240 - - - - - - - - 14.64 14.64 14.64
12560 507.7 8.9 553 12565 roll 0.69 - - 3151 - 2.97 0.160 3659 476.1 197.0 - - 2240 - - - - - - - - 14.63 13.83 14.63
12629 500.7 10.1 563 12634 done 0.69 0.12 0.228 3127 -200.0 2.47 0.047 2253 -569.2 197.0 - - 2240 - - - - - - - - 13.79 14.16 14.09
12952 475.3 7.8 574 12953 done 0.69 - - 3126 - - - 2250 - 197.0 - - 2240 - - - - - - - - 14.68 14.69 14.68
13288 450.7 7.2 580 13292 done 0.70 - - 3126 - - - 2249 - 208.3 3.00 0.921 2218 -7.3 0.713 - - - - - - 14.62 14.35 13.33
13624 428.2 6.6 586 13663 roll 0.73 - - 3125 - 2.95 0.161 3665 480.0 230.0 31.80 1.500 2125 -2.9 0.166 - - - - - - 14.63 13.98 13.48
13721 421.0 8.1 600 13725 done 0.73 - - 3134 - 2.47 0.050 2257 -570.0 230.0 - - 2118 - - - - - - - - 14.34 14.26 14.36
14072 395.4 7.4 608 14076 roll 0.74 - - 3135 - 2.95 0.158 3664 476.9 237.2 - - 2116 - - - - - - - - 14.66 13.84 14.66
14106 392.6 8.4 613 14112 done 0.74 - - 3146 - 2.47 0.049 2258 -569.2 237.2 1.77 0.214 2100 -9.0 3.296 - - - - - - 14.33 14.25 13.90
14464 363.3 8.3 622 14469 roll 0.74 - - 3146 - 2.97 0.161 3666 474.1 237.2 - - 2111 - - - - - - - - 14.63 13.81 14.64
14484 361.3 8.7 625 14489 done 0.74 - - 3156 - 2.47 0.048 2258 -570.0 237.2 - - 2111 - - - - - - - - 14.21 14.15 14.25
14800 331.1 9.7 635 14805 roll 0.74 - - 3156 - 2.97 0.159 3666 474.1 237.2 - - 2111 - - - - - - - - 14.68 13.79 14.68
14869 323.6 10.9 645 14874 done 0.74 - - 3166 - 2.47 0.048 2260 -569.2 237.2 - - 2111 - - - - - - - - 14.28 14.20 14.32
15192 291.8 9.8 656 15197 roll 0.74 - - 3177 - 2.55 0.057 859 -549.4 237.2 - - 2111 - - - - - - - - 14.65 13.94 14.67
15233 287.8 9.6 662 15238 done 0.74 0.12 0.210 3141 -300.0 2.67 0.082 2274 530.0 237.2 - - 2111 - - - - - - - - 13.82 13.88 14.06
15584 257.5 8.6 670 15588 roll 0.74 - - 3141 - 2.90 0.159 3668 480.7 237.2 - - 2111 - - - - - - - - 14.68 13.80 14.68
15625 253.5 10.0 676 15629 done 0.74 - - 3150 - 2.50 0.049 2253 -566.0 237.2 - - 2111 - - - - - - - - 14.25 14.16 14.26
15976 222.5 8.7 684 15977 done 0.74 - - 3151 - - - 2249 - 237.2 - - 2111 - - - - - - - - 14.61 14.61 14.61
16312 193.6 8.6 690 16316 roll 0.74 - - 3150 - 2.97 0.159 3658 474.4 237.2 - - 2111 - - - - - - - - 14.62 13.83 14.62
16339 190.9 9.6 694 16343 done 0.74 - - 3164 - 2.47 0.049 2261 -565.6 237.2 - - 2112 - - - - - - - - 14.23 14.14 14.23
16704 154.3 10.3 704 16709 roll 0.74 - - 3169 - 2.58 0.055 852 -546.1 237.2 - - 2112 - - - - - - - - 14.67 13.89 14.67
16745 150.0 10.4 710 16750 done 0.74 0.10 0.212 3142 -270.0 2.67 0.080 2270 531.1 237.2 - - 2111 - - - - - - - - 13.81 13.85 14.04
17096 121.3 7.7 718 17101 roll 0.74 - - 3141 - 2.90 0.158 3666 481.4 237.3 - - 2112 - - - - - - - - 14.66 13.85 14.66
17137 117.9 8.5 724 17141 done 0.74 - - 3150 - 2.50 0.050 2253 -565.2 237.3 - - 2113 - - - - - - - - 14.21 14.13 14.22
17460 93.5 7.1 733 17477 roll 0.75 - - 3150 - 2.97 0.157 3669 476.8 250.1 8.77 0.394 2059 -6.2 0.290 - - - - - - 14.59 13.95 13.84
17508 89.8 7.6 740 17520 done 0.75 - - 3160 - 2.47 0.049 2252 -573.7 252.6 3.65 0.310 2046 -3.6 0.205 - - - - - - 14.30 14.22 13.69
17856 70.4 5.2 756 17892 roll 0.89 - - 3160 - 2.92 0.156 3659 481.8 303.8 31.48 0.375 1840 -6.5 0.244 - - - - - - 14.59 14.02 13.90
18124 61.0 3.7 795 18178 done 1.15 0.25 0.063 3290 520.0 2.45 0.050 2263 -569.8 384.8 46.90 0.350 1520 -6.8 0.236 - - - - - - 14.19 14.15 13.85
18496 33.2 8.2 815 18496 done 1.15 - - 3290 - - - 2263 - 384.8 - - 1523 - - - - - - - - 14.60 14.61 14.61
18804 6.0 8.9 826 18808 roll 1.15 - - 3300 - 2.53 0.057 872 -549.8 384.8 - - 1523 - - - - - - - - 14.62 13.92 14.63
18847 end climb: SURFACE_DEPTH_REACHED
18847 begin surface coast
18855 end surface coast: CONTROL_FINISHED_OK
18855 begin surface
SM -1.82 - - - - -8.41 9.50 0.082 186 19.6 3.70 0.098 2771 609.5 500.14 59.83 0.148 1058 17.7 0.022 - - - - - -