SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 744 * Raw log
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• Previous call tries 1 • 283.88 of 350.00 AH used of 24V (18.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.2 deg, depth 0.79 m • Intended pitch -19.5 deg, speed -8.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 18 s • Transponder ping count: 18
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
9 - - - 99 VBD -0.81 - - 193 - - - 2300 - -97.3 -89.50 - 3022 - - - - - - - - 14.54 - 14.56
104 4.2 -5.6 3 119 roll -0.81 8.65 0.389 1933 201.2 2.88 2.015 870 -496.5 -97.3 -1.98 - 3142 -60.6 - - - - - - - 13.83 12.78 14.12
205 41.2 -26.8 18 216 done -0.62 0.28 0.275 1989 200.0 2.60 0.055 2279 541.9 -97.3 - - 3143 - - - - - - - - 13.53 13.99 13.75
524 83.3 -10.7 30 529 roll -0.62 - - 1979 - 2.53 0.070 3700 561.7 -97.3 - - 3145 - - - - - - - - 14.73 13.98 14.74
717 103.5 -9.6 57 723 done -0.62 - - 1979 - 2.45 0.037 2257 -589.0 -97.3 - - 3145 - - - - - - - - 14.21 14.14 14.25
1036 135.5 -10.2 67 1037 done -0.62 - - 1979 - - - 2258 - -97.3 - - 3146 - - - - - - - - 14.75 14.77 14.76
1372 167.9 -9.5 73 1378 roll -0.62 - - 1972 - 2.67 0.073 3702 540.8 -97.3 - - 3146 - - - - - - - - 14.75 13.90 14.77
1398 170.9 -9.2 77 1404 done -0.62 - - 1972 - 2.45 0.039 2284 -578.8 -97.3 - - 3145 - - - - - - - - 14.19 14.11 14.22
1769 208.4 -10.6 87 1774 roll -0.62 - - 1971 - 2.55 0.053 879 -551.0 -97.3 - - 3144 - - - - - - - - 14.74 13.95 14.76
1851 218.2 -10.7 99 1856 done -0.62 - - 1972 - 2.58 0.057 2283 544.2 -97.3 - - 3144 - - - - - - - - 14.09 13.95 14.13
2220 260.7 -11.7 109 2226 roll -0.62 - - 1962 - 2.60 0.078 3703 546.2 -97.3 - - 3143 - - - - - - - - 14.76 13.88 14.77
2361 278.3 -12.0 129 2367 done -0.62 0.15 0.228 1996 226.7 2.47 0.041 2272 -579.4 -97.3 - - 3142 - - - - - - - - 13.59 14.08 13.84
2729 316.4 -10.5 139 2734 roll -0.62 - - 1996 - 2.55 0.055 878 -546.7 -97.3 - - 3139 - - - - - - - - 14.75 13.90 14.77
2826 327.3 -10.4 153 2832 done -0.62 - - 1996 - 2.60 0.057 2293 544.2 -97.3 - - 3139 - - - - - - - - 14.06 13.93 14.11
3181 362.8 -10.1 161 3186 roll -0.62 - - 1991 - 2.58 0.080 3698 544.6 -97.3 - - 3137 - - - - - - - - 14.75 13.84 14.77
3285 373.5 -9.7 176 3296 done -0.67 - - 1991 - 2.53 0.042 2283 -559.3 -97.3 - - 3137 - - - - - - - - 13.95 13.91 13.99
3634 405.9 -9.3 183 3639 roll -0.67 - - 1991 - 2.58 0.055 873 -546.5 -97.3 - - 3135 - - - - - - - - 14.73 13.89 14.75
3750 416.3 -8.7 199 3754 done -0.67 - - 1986 - 2.62 0.057 2291 541.2 -97.3 - - 3134 - - - - - - - - 14.04 13.90 14.09
4090 447.7 -9.5 212 4095 roll -0.67 - - 1981 - 2.60 0.083 3698 541.2 -97.3 - - 3132 - - - - - - - - 14.74 13.81 14.76
4104 end dive: TARGET_DEPTH_EXCEEDED
4104 begin apogee
4115 450.1 -9.6 215 4225 roll -0.19 0.57 0.207 2133 266.7 - - 2185 - - 101.40 1.392 2730 -4.0 0.246 - - - - - - 13.63 13.61 13.07
4226 end apogee: CONTROL_FINISHED_OK
4226 begin loiter
4462 459.9 -2.8 250 4519 done -0.16 - - 2133 - - - 2185 - 48.2 52.20 1.395 2538 -3.7 0.233 - - - - - - 14.54 14.53 13.19
4857 459.2 0.8 270 4858 done -0.34 0.15 0.116 2071 -413.3 - - 2184 - 33.4 - - 2526 - - - - - - - - 14.19 14.27 14.25
5191 458.7 0.1 276 5192 done -0.42 - - 2071 - - - 2185 - 31.8 - - 2523 - - - - - - - - 14.67 14.69 14.69
5526 457.0 0.6 282 5526 done -0.50 - - 2071 - - - 2185 - 21.4 - - 2522 - - - - - - - - 14.69 14.72 14.71
5862 455.1 0.6 288 5863 done -0.58 0.20 0.102 1993 -390.0 - - 2185 - 11.6 - - 2521 - - - - - - - - 14.14 14.21 14.19
6197 452.0 1.1 294 6198 done -0.58 - - 1993 - - - 2185 - 11.6 - - 2519 - - - - - - - - 14.72 14.73 14.73
6535 445.3 2.3 300 6535 done -0.58 - - 1993 - - - 2186 - 11.6 - - 2517 - - - - - - - - 14.71 14.73 14.73
6869 437.5 2.2 306 6870 done -0.58 - - 1993 - - - 2185 - 11.6 - - 2516 - - - - - - - - 14.73 14.74 14.74
7205 434.0 0.8 312 7206 done -0.59 - - 1993 - - - 2185 - -2.6 - - 2516 - - - - - - - - 14.73 14.75 14.74
7543 432.4 0.4 318 7544 done -0.59 - - 1993 - - - 2185 - -10.0 - - 2515 - - - - - - - - 14.71 14.73 14.73
7877 431.9 0.1 324 7878 done -0.60 - - 1993 - - - 2185 - -12.3 - - 2514 - - - - - - - - 14.73 14.75 14.75
8213 431.6 0.1 330 8214 done -0.60 - - 1993 - - - 2185 - -13.3 - - 2514 - - - - - - - - 14.73 14.76 14.75
8549 432.6 -0.3 336 8550 done -0.59 - - 1993 - - - 2185 - -7.1 - - 2513 - - - - - - - - 14.73 14.75 14.75
8887 433.3 -0.2 342 8887 done -0.59 - - 1993 - - - 2185 - -4.3 - - 2512 - - - - - - - - 14.71 14.73 14.74
9221 433.2 0.1 348 9222 done -0.59 - - 1993 - - - 2185 - -5.2 - - 2512 - - - - - - - - 14.73 14.75 14.75
9557 433.1 - 354 9558 done -0.59 - - 1993 - - - 2185 - -6.0 - - 2511 - - - - - - - - 14.73 14.75 14.75
9893 433.9 -0.4 360 9894 done -0.59 - - 1993 - - - 2185 - 0.2 - - 2511 - - - - - - - - 14.73 14.75 14.75
10231 436.1 -0.6 366 10231 done -0.58 - - 1993 - - - 2185 - 11.6 - - 2511 - - - - - - - - 14.72 14.74 14.73
10565 434.8 0.6 372 10566 done -0.59 - - 1993 - - - 2185 - 0.6 - - 2510 - - - - - - - - 14.73 14.75 14.75
10901 431.3 1.1 378 10902 done -0.59 - - 1993 - - - 2185 - 0.6 - - 2510 - - - - - - - - 14.73 14.75 14.75
11237 428.6 0.7 384 11238 done -0.60 - - 1994 - - - 2185 - -11.9 - - 2510 - - - - - - - - 14.73 14.75 14.74
11575 428.6 -0.1 390 11575 done -0.59 - - 1993 - - - 2185 - -10.0 - - 2510 - - - - - - - - 14.71 14.73 14.73
11909 428.8 - 396 11910 done -0.59 - - 1993 - - - 2185 - -9.8 - - 2510 - - - - - - - - 14.73 14.75 14.75
12245 428.4 0.2 402 12246 done -0.60 - - 1993 - - - 2185 - -12.5 - - 2510 - - - - - - - - 14.73 14.75 14.75
12583 427.3 0.3 408 12583 done -0.60 - - 1993 - - - 2185 - -18.5 - - 2510 - - - - - - - - 14.71 14.73 14.73
12917 426.7 0.2 414 12918 done -0.60 - - 1993 - - - 2185 - -21.3 - - 2509 - - - - - - - - 14.73 14.75 14.74
13253 423.8 1.0 420 13254 done -0.61 - - 1993 - - - 2185 - -38.6 - - 2510 - - - - - - - - 14.73 14.75 14.75
13589 420.7 0.9 426 13590 done -0.62 - - 1993 - - - 2185 - -54.2 - - 2510 - - - - - - - - 14.73 14.75 14.75
13927 417.2 1.1 432 13927 done -0.62 - - 1993 - - - 2185 - -54.2 - - 2509 - - - - - - - - 14.71 14.73 14.73
14261 415.8 0.2 438 14262 done -0.62 - - 1993 - - - 2185 - -57.4 - - 2509 - - - - - - - - 14.73 14.75 14.75
14597 419.0 -1.1 444 14598 done -0.61 - - 1994 - - - 2185 - -37.8 - - 2509 - - - - - - - - 14.73 14.75 14.74
14935 421.7 -0.6 450 14936 done -0.60 - - 1993 - - - 2185 - -27.1 - - 2509 - - - - - - - - 14.71 14.73 14.73
15269 418.1 1.4 456 15270 done -0.60 - - 1993 - - - 2185 - -27.1 - - 2509 - - - - - - - - 14.73 14.75 14.75
15605 412.9 1.5 462 15606 done -0.60 - - 1993 - - - 2185 - -27.1 - - 2509 - - - - - - - - 14.73 14.75 14.74
15941 409.6 0.9 468 15942 done -0.61 - - 1993 - - - 2185 - -42.7 - - 2509 - - - - - - - - 14.73 14.74 14.74
16279 407.4 0.6 474 16280 done -0.62 - - 1993 - - - 2185 - -53.8 - - 2509 - - - - - - - - 14.71 14.73 14.73
16613 407.8 -0.3 480 16614 done -0.62 - - 1993 - - - 2185 - -47.9 - - 2509 - - - - - - - - 14.73 14.75 14.74
16949 408.5 - 486 16950 done -0.62 - - 1993 - - - 2185 - -47.1 - - 2509 - - - - - - - - 14.72 14.74 14.74
17285 409.2 -0.4 492 17286 done -0.61 - - 1993 - - - 2185 - -40.6 - - 2509 - - - - - - - - 14.73 14.75 14.74
17623 411.9 -0.8 498 17624 done -0.60 - - 1993 - - - 2185 - -27.5 - - 2509 - - - - - - - - 14.71 14.73 14.73
17957 410.7 0.5 504 17958 done -0.61 - - 1993 - - - 2185 - -36.8 - - 2509 - - - - - - - - 14.73 14.74 14.74
18293 408.9 0.5 510 18294 done -0.62 - - 1993 - - - 2185 - -45.5 - - 2509 - - - - - - - - 14.73 14.77 14.74
18631 408.9 -0.1 516 18632 done -0.61 - - 1993 - - - 2185 - -43.3 - - 2509 - - - - - - - - 14.71 14.73 14.73
18965 411.8 -1.0 522 18966 done -0.60 - - 1994 - - - 2185 - -26.1 - - 2508 - - - - - - - - 14.73 14.74 14.74
19302 414.4 -0.7 528 19303 done -0.60 - - 1993 - - - 2185 - -13.9 - - 2508 - - - - - - - - 14.72 14.74 14.73
19638 414.7 0.1 534 19639 done -0.60 - - 1994 - - - 2185 - -14.9 - - 2508 - - - - - - - - 14.72 14.74 14.74
19975 412.5 0.8 540 19976 done -0.60 - - 1993 - - - 2185 - -28.0 - - 2508 - - - - - - - - 14.71 14.73 14.73
20309 408.9 1.1 546 20310 done -0.60 - - 1993 - - - 2185 - -28.0 - - 2508 - - - - - - - - 14.73 14.74 14.74
20645 405.7 0.9 552 20646 done -0.61 - - 1993 - - - 2185 - -44.0 - - 2508 - - - - - - - - 14.73 14.74 14.74
20981 404.1 0.4 558 20982 done -0.62 - - 1993 - - - 2185 - -50.6 - - 2508 - - - - - - - - 14.72 14.73 14.73
21319 404.9 -0.4 564 21320 done -0.61 - - 1993 - - - 2185 - -44.1 - - 2508 - - - - - - - - 14.71 14.73 14.73
21653 407.1 -0.7 570 21654 done -0.61 - - 1993 - - - 2185 - -32.0 - - 2509 - - - - - - - - 14.73 14.74 14.74
21989 408.5 -0.3 576 21990 done -0.60 - - 1993 - - - 2185 - -26.2 - - 2508 - - - - - - - - 14.72 14.74 14.74
22265 end loiter: LOITER_COMPLETE
22265 begin climb
22271 408.6 - 581 22335 roll 0.81 1.83 0.228 2460 255.2 2.60 0.063 799 -533.1 97.3 55.30 1.356 2334 -3.1 0.182 - - - - - - 13.35 14.00 13.21
22386 404.6 5.7 597 22442 done 0.83 - - 2459 - 2.62 0.055 2207 537.4 142.7 52.22 1.333 2158 -3.4 0.196 - - - - - - 14.00 13.88 13.01
22781 369.5 9.4 618 22787 roll 0.83 - - 2460 - 2.62 0.080 3621 539.7 142.7 - - 2135 - - - - - - - - 14.50 13.86 14.52
22857 360.7 10.3 629 22862 done 0.78 - - 2469 - 2.55 0.051 2199 -557.6 142.7 - - 2134 - - - - - - - - 14.08 13.98 14.13
23177 330.2 9.6 639 23182 roll 0.78 - - 2480 - 2.65 0.066 785 -533.6 142.7 - - 2133 - - - - - - - - 14.66 13.85 14.68
23268 321.3 9.4 652 23273 done 0.78 - - 2480 - 2.62 0.057 2207 542.7 142.7 - - 2132 - - - - - - - - 14.02 13.90 14.09
23629 286.6 9.7 661 23635 roll 0.73 0.17 0.261 2437 -252.9 2.62 0.078 3622 540.1 142.7 - - 2132 - - - - - - - - 13.37 13.63 13.50
23713 278.1 9.2 673 23718 done 0.73 - - 2446 - 2.55 0.048 2189 -562.0 142.7 - - 2132 - - - - - - - - 14.04 13.93 14.08
24082 246.1 8.9 683 24086 roll 0.73 - - 2457 - 2.60 0.064 798 -535.0 142.7 - - 2131 - - - - - - - - 14.69 13.81 14.71
24227 232.6 8.8 704 24233 done 0.73 - - 2457 - 2.60 0.054 2207 541.9 142.7 - - 2130 - - - - - - - - 13.98 13.86 14.04
24591 201.9 8.4 713 24596 roll 0.73 - - 2457 - 2.62 0.077 3614 537.0 142.7 - - 2130 - - - - - - - - 14.69 13.78 14.71
24673 193.6 9.6 725 24679 done 0.73 0.15 0.261 2435 -146.7 2.55 0.049 2186 -560.0 142.7 - - 2130 - - - - - - - - 13.43 13.93 13.76
25045 168.9 6.5 735 25085 roll 0.75 - - 2445 - 2.58 0.063 792 -540.3 174.8 33.33 1.111 2016 -3.4 0.100 - - - - - - 14.69 14.16 13.45
25203 158.6 6.5 758 25242 done 0.81 - - 2446 - 2.62 0.054 2191 534.0 206.3 34.03 1.102 1898 -3.5 0.096 - - - - - - 13.90 13.85 13.39
25598 125.4 9.0 772 25603 roll 0.81 - - 2446 - 2.62 0.078 3617 544.3 206.3 - - 1873 - - - - - - - - 14.63 13.90 14.64
25673 116.4 10.8 783 25679 done 0.81 - - 2455 - 2.55 0.049 2185 -561.6 206.3 - - 1872 - - - - - - - - 14.07 13.95 14.14
25994 86.0 9.3 795 25999 roll 0.81 - - 2462 - 2.60 0.063 785 -538.5 206.3 - - 1871 - - - - - - - - 14.66 13.85 14.69
26084 78.4 8.3 807 26089 done 0.86 - - 2463 - 2.62 0.053 2206 542.4 206.7 - - 1870 - - - - - - - - 14.05 13.93 14.11
26423 53.8 6.7 822 26451 done 0.93 0.12 0.144 2509 383.3 - - 2207 - 235.8 15.10 0.275 1779 -6.0 0.226 - - - - - - 14.16 14.28 13.94
26761 44.8 0.3 834 26859 roll 1.11 0.12 0.129 2568 491.7 2.58 0.074 3616 546.1 376.2 93.43 0.269 1204 -6.2 0.197 - - - - - - 14.19 14.21 13.94
26951 34.6 8.8 862 26957 done 1.16 - - 2575 - 2.53 0.047 2187 -564.8 376.2 - - 1205 - - - - - - - - 14.09 13.99 14.12
27288 7.7 8.1 876 27297 roll 1.23 - - 2584 - 2.50 0.060 790 -558.8 381.1 3.97 0.153 1183 -5.5 0.054 - - - - - - 14.65 14.16 14.02
27328 end climb: SURFACE_DEPTH_REACHED
27328 begin surface coast
27357 end surface coast: CONTROL_FINISHED_OK
27357 begin surface
SM 0.70 - - - - -6.15 7.07 0.070 217 30.7 2.75 0.046 2292 -2391.3 500.17 76.05 0.133 698 9.2 -0.005 - - - - - -