SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 741 * Raw log
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• Previous call tries 1 • 252.01 of 350.00 AH used of 24V (28.00% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.6 deg, depth -1.82 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 3 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 - - 122 - - - 2787 - -107.1 -81.60 - 3479 - - - - - - - - 14.52 12.64 14.45
107 3.4 -9.0 3 124 roll -0.93 11.95 0.378 2590 206.5 2.47 0.034 1371 -573.3 -107.1 - - 3479 - - - - - - - - 13.83 14.26 14.22
201 33.6 -21.5 17 208 done -0.70 0.32 0.241 2666 237.5 2.78 0.115 2772 504.0 -107.1 - - 3480 - - - - - - - - 13.80 13.90 14.09
524 78.1 -7.3 30 529 roll -0.70 - - 2658 - 2.20 0.174 3827 479.5 -107.1 - - 3481 - - - - - - - - 14.69 13.85 14.69
586 82.0 -6.6 39 591 done -0.70 - - 2658 - 1.83 0.060 2771 -577.0 -107.1 - - 3481 - - - - - - - - 14.26 14.21 14.28
944 105.2 -6.6 53 950 roll -0.70 - - 2658 - 2.50 0.040 1364 -562.8 -107.1 - - 3482 - - - - - - - - 14.68 14.00 14.66
993 108.6 -7.0 60 999 done -0.70 - - 2648 - 2.78 0.102 2771 506.1 -107.1 - - 3482 - - - - - - - - 14.10 13.83 14.14
1337 130.1 -6.1 67 1342 roll -0.70 - - 2640 - 2.17 0.171 3824 485.3 -107.1 - - 3481 - - - - - - - - 14.65 13.86 14.67
1406 134.8 -6.8 77 1412 done -0.70 0.10 0.213 2670 300.0 1.83 0.060 2775 -573.2 -107.1 - - 3481 - - - - - - - - 13.78 14.16 14.03
1729 156.3 -6.9 88 1734 roll -0.79 - - 2668 - 2.53 0.042 1359 -559.7 -107.1 - - 3479 - - - - - - - - 14.73 13.90 14.73
1812 162.3 -6.9 100 1817 done -0.90 0.10 0.109 2575 -930.0 2.80 0.103 2779 507.1 -107.1 - - 3483 - - - - - - - - 14.08 13.89 14.18
2177 196.1 -9.4 110 2181 roll -0.90 0.08 0.255 2593 225.0 2.15 0.164 3824 486.0 -107.1 - - 3476 - - - - - - - - 13.83 13.85 13.91
2253 203.6 -9.7 121 2259 done -0.81 0.15 0.220 2633 266.7 1.85 0.061 2773 -568.1 -107.1 - - 3475 - - - - - - - - 13.68 14.14 13.97
2569 228.1 -7.7 131 2573 roll -0.81 - - 2634 - 2.53 0.041 1361 -558.1 -107.1 - - 3473 - - - - - - - - 14.69 13.90 14.69
2603 230.9 -8.0 136 2608 done -0.81 - - 2624 - 2.78 0.097 2770 506.8 -107.1 - - 3473 - - - - - - - - 14.12 13.86 14.16
2961 259.4 -8.0 145 2966 roll -0.81 - - 2624 - 2.58 0.042 1361 -546.1 -107.1 - - 3471 - - - - - - - - 14.68 13.88 14.67
3044 266.2 -8.3 157 3050 done -0.81 - - 2614 - 2.75 0.098 2765 510.5 -107.1 - - 3469 - - - - - - - - 14.18 13.93 14.23
3409 296.1 -8.4 167 3414 roll -0.81 - - 2614 - 2.58 0.044 1362 -543.8 -107.1 - - 3468 - - - - - - - - 14.73 13.86 14.73
3457 300.1 -7.8 174 3463 done -0.81 0.10 0.239 2632 180.0 2.80 0.099 2770 502.9 -107.1 - - 3467 - - - - - - - - 13.86 13.90 14.11
3801 325.5 -7.4 181 3807 roll -0.81 - - 2633 - 2.60 0.044 1358 -543.1 -107.1 - - 3465 - - - - - - - - 14.72 13.87 14.76
3919 334.3 -7.3 198 3924 done -0.81 - - 2623 - 2.78 0.098 2770 507.9 -107.1 - - 3464 - - - - - - - - 14.16 13.89 14.20
4249 358.1 -7.2 210 4254 roll -0.81 - - 2622 - 2.58 0.044 1366 -544.2 -107.1 - - 3463 - - - - - - - - 14.66 13.89 14.66
4361 366.6 -7.4 226 4366 done -0.81 - - 2620 - 2.75 0.096 2756 505.5 -107.1 - - 3462 - - - - - - - - 14.15 13.89 14.20
4697 392.8 -7.8 239 4702 roll -0.81 - - 2611 - 2.55 0.043 1366 -545.1 -107.1 - - 3464 - - - - - - - - 14.66 13.87 14.65
4787 400.2 -8.0 252 4792 done -0.81 0.10 0.234 2632 210.0 2.72 0.096 2750 508.8 -107.1 - - 3460 - - - - - - - - 13.85 13.89 14.10
5145 427.1 -7.6 261 5151 roll -0.81 - - 2632 - 2.55 0.043 1368 -542.0 -107.1 - - 3458 - - - - - - - - 14.71 13.89 14.71
5249 435.9 -8.2 276 5255 done -0.81 - - 2623 - 2.75 0.098 2748 501.8 -107.1 - - 3456 - - - - - - - - 14.16 13.90 14.21
5593 464.4 -8.3 283 5598 roll -0.81 - - 2622 - 2.55 0.043 1366 -542.0 -107.1 - - 3456 - - - - - - - - 14.65 13.89 14.66
5649 469.1 -8.3 291 5654 done -0.81 - - 2613 - 2.72 0.097 2736 503.7 -107.1 - - 3456 - - - - - - - - 14.14 13.87 14.19
5985 496.0 -7.9 304 5986 done -0.81 - - 2613 - - - 2736 - -107.1 - - 3455 - - - - - - - - 14.64 14.64 14.64
6321 522.2 -7.8 310 6326 roll -0.81 - - 2612 - 2.55 0.044 1366 -537.3 -107.1 - - 3453 - - - - - - - - 14.64 13.87 14.64
6383 527.4 -8.0 319 6388 done -0.81 0.10 0.230 2632 200.0 2.72 0.098 2737 504.0 -107.1 - - 3454 - - - - - - - - 13.89 13.91 14.13
6713 551.2 -7.3 331 6714 done -0.81 - - 2632 - - - 2737 - -107.1 - - 3452 - - - - - - - - 14.64 14.64 14.64
7049 577.2 -7.9 337 7050 done -0.81 - - 2632 - - - 2737 - -107.1 - - 3451 - - - - - - - - 14.62 14.62 14.64
7385 602.7 -7.5 343 7386 done -0.89 - - 2632 - - - 2737 - -107.1 - - 3450 - - - - - - - - 14.66 14.62 14.62
7721 627.2 -7.3 349 7727 roll -0.97 0.08 0.132 2545 -1087.5 2.28 0.163 3824 476.8 -107.1 - - 3449 - - - - - - - - 14.24 13.83 14.23
7778 632.8 -10.6 357 7784 done -0.86 0.28 0.207 2618 260.7 1.95 0.056 2722 -565.1 -107.1 - - 3449 - - - - - - - - 13.63 14.12 13.95
8114 659.5 -8.0 370 8119 roll -0.86 - - 2611 - 2.30 0.156 3827 480.4 -107.1 - - 3448 - - - - - - - - 14.62 13.85 14.62
8176 665.0 -8.9 379 8181 done -0.86 - - 2609 - 1.92 0.060 2745 -563.5 -107.1 - - 3447 - - - - - - - - 14.18 14.11 14.19
8506 692.4 -8.3 391 8511 roll -0.86 - - 2603 - 2.25 0.156 3825 480.0 -107.1 - - 3446 - - - - - - - - 14.67 13.83 14.66
8603 701.2 -8.9 405 8608 done -0.86 - - 2601 - 1.92 0.059 2738 -566.1 -107.1 - - 3446 - - - - - - - - 14.18 14.12 14.20
8954 730.8 -8.4 413 8960 roll -0.86 - - 2594 - 2.28 0.156 3831 479.4 -107.1 - - 3444 - - - - - - - - 14.61 13.84 14.60
9122 745.8 -8.7 437 9127 done -0.86 - - 2593 - 1.95 0.060 2737 -561.0 -107.1 - - 3446 - - - - - - - - 14.19 14.13 14.21
9458 772.2 -7.7 450 9463 roll -0.86 0.08 0.246 2614 262.5 2.25 0.147 3828 484.9 -107.1 - - 3443 - - - - - - - - 13.80 13.81 13.83
9583 781.9 -7.9 468 9588 done -0.86 - - 2612 - 1.92 0.060 2757 -557.8 -107.1 - - 3442 - - - - - - - - 14.10 14.05 14.12
9845 end dive: TARGET_DEPTH_EXCEEDED
9845 begin apogee
9856 800.6 -7.0 478 9975 roll -0.23 0.75 0.167 2828 288.0 0.10 0.203 2266 -4910.0 - 115.62 1.791 3049 -3.4 0.302 - - - - - - 13.76 13.84 13.09
9976 end apogee: CONTROL_FINISHED_OK
9976 begin climb
9981 804.6 - 480 10110 roll 0.93 1.10 0.079 3179 319.1 2.58 0.050 870 -541.1 107.1 118.22 1.727 2620 -3.6 0.336 - - - - - - 13.79 13.83 13.08
10189 800.9 6.6 512 10220 done 0.82 - - 3185 - 2.55 0.070 2245 539.2 129.2 23.77 1.818 2527 -3.9 0.343 - - - - - - 14.10 13.92 13.17
10581 767.3 8.8 526 10586 roll 0.69 0.20 0.219 3125 -300.0 2.83 0.143 3661 500.4 129.2 - - 2516 - - - - - - - - 13.85 13.96 14.04
10622 763.8 7.5 532 10627 done 0.62 0.12 0.230 3102 -191.7 2.45 0.052 2252 -575.1 133.1 - - 2516 - - - - - - - - 13.98 14.28 14.20
10973 741.8 6.2 540 11013 done 0.65 - - 3102 - - - 2248 - 163.3 37.08 1.766 2397 -3.2 0.268 - - - - - - 14.69 14.18 13.39
11365 715.2 7.0 554 11385 roll 0.67 - - 3100 - 2.90 0.148 3660 486.9 178.5 15.48 1.880 2336 -3.9 0.298 - - - - - - 14.65 14.05 13.41
11427 710.3 8.3 563 11432 done 0.67 - - 3109 - 2.47 0.052 2251 -570.4 178.5 - - 2325 - - - - - - - - 14.35 14.29 14.38
11750 685.1 7.9 574 11751 done 0.67 - - 3110 - - - 2247 - 178.5 - - 2323 - - - - - - - - 14.66 14.66 14.66
12086 658.4 8.0 580 12091 roll 0.67 - - 3110 - 2.92 0.150 3662 484.6 178.5 - - 2322 - - - - - - - - 14.68 13.87 14.68
12134 654.3 8.7 587 12140 done 0.67 - - 3120 - 2.50 0.052 2243 -567.6 178.5 - - 2322 - - - - - - - - 14.35 14.27 14.37
12478 627.5 7.8 594 12483 roll 0.67 - - 3130 - 2.50 0.056 858 -554.0 178.5 - - 2322 - - - - - - - - 14.64 14.01 14.62
12505 625.3 7.6 598 12510 done 0.67 - - 3128 - 2.60 0.076 2253 536.5 180.9 - - 2321 - - - - - - - - 14.21 14.00 14.26
12870 598.4 7.3 608 12881 roll 0.69 - - 3130 - 2.88 0.154 3654 486.5 190.0 3.78 1.282 2299 -5.8 0.540 - - - - - - 14.63 13.90 13.28
12946 592.3 8.3 619 12952 done 0.69 - - 3140 - 2.45 0.050 2253 -571.8 190.0 2.45 0.666 2290 -3.7 0.649 - - - - - - 14.39 14.31 13.13
13311 565.8 7.3 629 13335 roll 0.70 - - 3140 - 2.92 0.154 3658 481.2 198.2 16.23 1.723 2253 -2.3 0.149 - - - - - - 14.62 13.98 13.49
13367 561.3 8.8 637 13372 done 0.70 - - 3150 - 2.45 0.050 2256 -572.2 198.2 - - 2248 - - - - - - - - 14.37 14.29 14.39
13703 533.7 8.1 650 13704 done 0.70 - - 3151 - - - 2252 - 198.2 - - 2246 - - - - - - - - 14.63 14.63 14.63
14039 505.8 8.3 656 14040 done 0.70 - - 3151 - - - 2252 - 198.2 - - 2243 - - - - - - - - 14.63 14.63 14.63
14375 477.0 8.6 662 14376 done 0.70 - - 3151 - - - 2252 - 198.2 - - 2245 - - - - - - - - 14.66 14.66 14.67
14711 447.6 8.7 668 14712 done 0.70 - - 3151 - - - 2251 - 198.2 - - 2245 - - - - - - - - 14.67 14.67 14.71
15047 418.7 8.6 674 15048 done 0.70 - - 3151 - - - 2251 - 198.2 - - 2242 - - - - - - - - 14.65 14.66 14.66
15383 390.5 8.5 680 15388 roll 0.70 - - 3150 - 2.95 0.152 3666 479.7 198.2 - - 2245 - - - - - - - - 14.61 13.81 14.61
15439 385.2 9.7 688 15444 done 0.70 0.12 0.220 3126 -200.0 2.50 0.050 2261 -562.0 198.2 - - 2245 - - - - - - - - 13.78 14.14 14.07
15775 361.0 7.0 701 15793 roll 0.71 - - 3136 - 2.53 0.055 849 -558.1 212.4 13.27 1.509 2200 -3.4 0.161 - - - - - - 14.60 14.12 13.56
15816 358.0 7.0 707 15836 done 0.73 - - 3136 - 2.62 0.076 2266 540.8 226.7 15.95 1.470 2149 -3.2 0.155 - - - - - - 14.26 14.02 13.47
16167 330.4 8.0 722 16172 roll 0.73 - - 3136 - 2.85 0.155 3670 492.6 226.7 - - 2129 - - - - - - - - 14.64 13.92 14.64
16223 325.3 9.4 730 16228 done 0.73 - - 3146 - 2.47 0.050 2260 -570.9 226.7 - - 2130 - - - - - - - - 14.35 14.26 14.37
16559 296.8 8.5 743 16564 roll 0.73 - - 3146 - 2.92 0.153 3670 482.9 226.7 - - 2130 - - - - - - - - 14.62 13.84 14.62
16586 294.3 9.0 747 16591 done 0.73 - - 3157 - 2.47 0.050 2258 -571.7 226.7 - - 2130 - - - - - - - - 14.31 14.23 14.34
16951 263.7 8.3 757 16957 roll 0.73 - - 3157 - 2.92 0.152 3670 483.6 226.7 - - 2129 - - - - - - - - 14.62 13.81 14.62
16999 259.1 10.0 764 17006 done 0.73 0.10 0.229 3138 -190.0 2.47 0.049 2266 -568.4 226.7 - - 2133 - - - - - - - - 13.85 14.19 14.11
17343 231.7 7.8 771 17348 roll 0.73 - - 3149 - 2.58 0.056 854 -547.3 226.7 - - 2129 - - - - - - - - 14.61 13.86 14.61
17370 229.4 8.2 775 17375 done 0.73 - - 3149 - 2.67 0.076 2282 534.8 226.7 - - 2129 - - - - - - - - 14.12 13.87 14.19
17735 198.2 8.6 785 17741 roll 0.73 - - 3149 - 2.83 0.155 3658 486.2 226.7 - - 2128 - - - - - - - - 14.60 13.84 14.59
17762 195.8 8.8 789 17768 done 0.73 - - 3159 - 2.47 0.050 2260 -566.0 226.7 - - 2129 - - - - - - - - 14.26 14.13 14.24
18127 166.4 7.9 799 18132 roll 0.73 - - 3169 - 2.55 0.057 861 -548.6 226.7 - - 2129 - - - - - - - - 14.64 13.85 14.64
18189 161.2 8.3 808 18194 done 0.73 0.10 0.211 3139 -300.0 2.67 0.079 2272 528.5 226.7 - - 2129 - - - - - - - - 13.78 13.82 14.04
18519 135.3 7.9 820 18524 roll 0.73 - - 3138 - 2.88 0.154 3665 483.7 226.7 - - 2128 - - - - - - - - 14.64 13.85 14.65
18602 128.1 8.7 832 18607 done 0.73 - - 3148 - 2.47 0.050 2266 -566.4 226.7 - - 2129 - - - - - - - - 14.18 14.09 14.21
18967 99.9 7.5 842 18968 done 0.74 - - 3148 - - - 2262 - 231.3 - - 2129 - - - - - - - - 14.58 14.58 14.58
19275 82.1 6.1 853 19301 roll 0.78 - - 3158 - 2.55 0.055 863 -548.6 263.7 18.35 0.399 2004 -6.8 0.279 - - - - - - 14.58 14.04 13.89
19351 77.9 5.7 864 19385 done 0.91 - - 3158 - 2.65 0.076 2277 533.6 304.2 25.05 0.394 1843 -6.4 0.253 - - - - - - 14.16 13.92 13.83
19700 59.6 4.5 880 19743 roll 1.12 0.20 0.069 3278 600.0 2.83 0.153 3660 488.7 367.8 37.62 0.347 1583 -6.9 0.236 - - - - - - 14.16 14.02 13.90
19862 49.7 6.6 904 19883 done 1.14 - - 3285 - 2.42 0.047 2271 -574.0 390.6 14.20 0.305 1496 -6.1 0.198 - - - - - - 14.28 14.19 13.82
20192 22.6 8.9 918 20197 roll 1.14 - - 3294 - 2.55 0.058 870 -549.4 390.6 - - 1502 - - - - - - - - 14.59 13.95 14.59
20282 14.2 9.0 931 20287 done 1.14 - - 3294 - 2.62 0.078 2277 537.0 390.6 - - 1501 - - - - - - - - 14.14 13.88 14.18
20439 end climb: SURFACE_DEPTH_REACHED
20439 begin surface coast
20468 end surface coast: CONTROL_FINISHED_OK
20468 begin surface
SM -1.91 - - - - -8.44 9.15 0.049 170 18.6 1.00 0.123 2771 1741.0 500.14 57.38 0.149 1057 18.4 0.024 - - - - - -