SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 745 * Raw log
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• Previous call tries 1 • 253.27 of 350.00 AH used of 24V (27.64% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -68.6 deg, depth -2.04 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - 137 - - - 2785 - -107.1 -79.53 - 3478 - - - - - - - - 14.48 12.78 14.41
108 4.4 -11.5 3 124 roll -0.93 11.85 0.376 2583 206.4 2.05 0.136 3823 506.3 -107.1 - - 3478 - - - - - - - - 13.81 14.04 14.18
160 27.1 -29.2 11 164 done -0.51 0.55 0.242 2726 260.0 1.80 0.050 2711 -617.8 -107.1 - - 3479 - - - - - - - - 13.83 14.34 14.14
489 67.7 -8.2 25 494 roll -0.51 - - 2727 - 2.38 0.044 1371 -563.0 -107.1 - - 3479 - - - - - - - - 14.68 14.06 14.68
594 74.4 -7.2 40 600 done -0.62 - - 2719 - 2.78 0.113 2765 501.4 -107.1 - - 3479 - - - - - - - - 14.16 13.89 14.21
910 92.1 -5.6 52 914 roll -0.73 0.08 0.140 2630 -1112.5 2.17 0.170 3825 488.5 -107.1 - - 3480 - - - - - - - - 14.28 13.91 14.28
978 98.1 -9.0 62 984 done -0.73 0.10 0.223 2659 290.0 1.85 0.059 2744 -584.3 -107.1 - - 3480 - - - - - - - - 13.74 14.13 13.97
1301 122.6 -7.6 70 1302 done -0.73 - - 2658 - - - 2744 - -107.1 - - 3480 - - - - - - - - 14.70 14.69 14.69
1637 148.7 -7.9 76 1642 roll -0.73 - - 2650 - 2.28 0.166 3829 475.9 -107.1 - - 3478 - - - - - - - - 14.68 13.84 14.68
1720 155.3 -7.1 88 1725 done -0.73 - - 2651 - 1.85 0.060 2763 -576.2 -107.1 - - 3478 - - - - - - - - 14.21 14.12 14.23
2085 182.7 -7.5 98 2091 roll -0.73 - - 2654 - 2.50 0.043 1367 -558.4 -107.1 - - 3475 - - - - - - - - 14.67 13.88 14.68
2141 187.2 -8.2 106 2147 done -0.73 - - 2641 - 2.75 0.105 2764 508.0 -107.1 - - 3475 - - - - - - - - 14.17 13.92 14.22
2477 216.1 -8.5 119 2482 roll -0.73 - - 2632 - 2.20 0.171 3827 483.2 -107.1 - - 3472 - - - - - - - - 14.67 13.85 14.68
2560 224.0 -9.1 131 2566 done -0.73 0.10 0.220 2661 290.0 1.88 0.061 2759 -568.1 -107.1 - - 3472 - - - - - - - - 13.78 14.12 14.00
2925 250.9 -7.1 141 2930 roll -0.73 - - 2662 - 2.53 0.042 1357 -554.2 -107.1 - - 3469 - - - - - - - - 14.66 13.89 14.66
3002 256.3 -6.8 152 3006 done -0.83 - - 2652 - 2.78 0.103 2765 506.5 -107.1 - - 3468 - - - - - - - - 14.16 13.88 14.20
3317 279.6 -7.6 162 3323 roll -0.83 - - 2644 - 2.20 0.171 3823 480.9 -107.1 - - 3467 - - - - - - - - 14.66 13.84 14.67
3379 285.0 -8.5 171 3384 done -0.83 - - 2644 - 1.90 0.063 2758 -560.5 -107.1 - - 3466 - - - - - - - - 14.21 14.14 14.23
3709 314.7 -9.2 183 3714 roll -0.83 - - 2645 - 2.53 0.043 1362 -551.8 -107.1 - - 3464 - - - - - - - - 14.67 13.87 14.67
3799 323.4 -9.2 196 3804 done -0.83 - - 2635 - 2.80 0.104 2773 503.9 -107.1 - - 3463 - - - - - - - - 14.16 13.89 14.21
4157 355.8 -9.0 205 4158 done -0.83 - - 2635 - - - 2773 - -107.1 - - 3462 - - - - - - - - 14.66 14.66 14.66
4493 384.2 -8.6 211 4498 roll -0.83 - - 2635 - 2.60 0.043 1358 -544.2 -107.1 - - 3460 - - - - - - - - 14.73 13.83 14.72
4569 390.5 -8.4 222 4575 done -0.83 - - 2625 - 2.80 0.104 2762 501.4 -107.1 - - 3459 - - - - - - - - 14.16 13.90 14.21
4885 415.7 -7.9 232 4890 roll -0.83 - - 2617 - 2.20 0.171 3823 482.3 -107.1 - - 3457 - - - - - - - - 14.66 13.85 14.66
4954 421.6 -8.5 242 4960 done -0.83 - - 2617 - 1.90 0.064 2760 -559.5 -107.1 - - 3457 - - - - - - - - 14.24 14.18 14.26
5277 447.8 -8.1 253 5278 done -0.83 - - 2617 - - - 2760 - -107.1 - - 3455 - - - - - - - - 14.65 14.65 14.66
5613 476.5 -8.7 259 5618 roll -0.83 - - 2616 - 2.58 0.042 1347 -547.7 -107.1 - - 3454 - - - - - - - - 14.71 13.81 14.71
5640 479.4 -10.4 263 5645 done -0.83 - - 2607 - 2.80 0.101 2764 506.1 -107.1 - - 3454 - - - - - - - - 14.15 13.88 14.20
6005 514.3 -9.7 273 6006 done -0.83 - - 2608 - - - 2763 - -107.1 - - 3453 - - - - - - - - 14.71 14.71 14.71
6341 546.7 -9.6 279 6346 roll -0.83 - - 2607 - 2.60 0.043 1354 -541.9 -107.1 - - 3451 - - - - - - - - 14.71 13.84 14.71
6368 549.6 -10.4 283 6373 done -0.83 0.12 0.224 2632 208.3 2.83 0.104 2766 498.9 -107.1 - - 3450 - - - - - - - - 13.85 13.89 14.11
6733 578.6 -8.0 293 6734 done -0.83 - - 2632 - - - 2765 - -107.1 - - 3450 - - - - - - - - 14.70 14.68 14.71
7069 605.2 -8.1 299 7074 roll -0.83 - - 2632 - 2.60 0.044 1362 -539.6 -107.1 - - 3449 - - - - - - - - 14.70 13.85 14.71
7110 608.6 -7.8 305 7115 done -0.83 - - 2623 - 2.80 0.104 2763 500.4 -107.1 - - 3449 - - - - - - - - 14.15 13.89 14.20
7461 637.6 -8.4 313 7462 done -0.83 - - 2623 - - - 2763 - -107.1 - - 3447 - - - - - - - - 14.63 14.64 14.64
7797 666.2 -8.4 319 7798 done -0.83 - - 2623 - - - 2762 - -107.1 - - 3446 - - - - - - - - 14.62 14.63 14.63
8134 692.5 -7.6 325 8138 roll -0.83 - - 2622 - 2.62 0.044 1354 -537.4 -107.1 - - 3444 - - - - - - - - 14.68 13.86 14.69
8167 695.3 -8.2 330 8173 done -0.83 - - 2613 - 2.83 0.105 2757 495.8 -107.1 - - 3444 - - - - - - - - 14.14 13.88 14.20
8525 723.1 -7.8 339 8530 roll -0.83 - - 2604 - 2.22 0.170 3825 481.1 -107.1 - - 3443 - - - - - - - - 14.60 13.84 14.60
8573 727.4 -8.6 346 8581 done -0.83 0.10 0.230 2633 290.0 1.95 0.065 2749 -551.8 -107.1 - - 3442 - - - - - - - - 13.76 14.06 14.01
8918 752.7 -7.4 353 8922 roll -0.83 - - 2632 - 2.53 0.043 1358 -549.8 -107.1 - - 3442 - - - - - - - - 14.66 13.90 14.67
8973 757.3 -8.2 361 8978 done -0.83 - - 2623 - 2.78 0.101 2759 504.0 -107.1 - - 3441 - - - - - - - - 14.14 13.87 14.19
9309 784.1 -8.1 374 9310 done -0.83 - - 2623 - - - 2759 - -107.1 - - 3441 - - - - - - - - 14.59 14.60 14.60
9529 end dive: TARGET_DEPTH_EXCEEDED
9529 begin apogee
9540 802.2 -8.1 378 9648 roll -0.23 0.70 0.167 2820 281.4 0.10 0.221 2270 -4890.0 - 100.28 2.521 3050 -3.9 0.247 - - - - 1 - 13.74 13.65 12.64
9649 end apogee: CONTROL_FINISHED_OK
9649 begin climb
9654 806.1 - 380 9793 roll 0.93 1.15 0.088 3184 316.5 2.65 0.053 860 -532.1 107.1 126.68 1.789 2616 -3.4 0.307 - - - - - - 13.57 13.63 13.00
9872 802.7 6.2 412 9910 done 0.83 - - 3184 - 2.58 0.073 2248 538.0 136.7 31.73 1.813 2500 -3.7 0.322 - - - - - - 14.08 13.90 13.16
10263 770.1 8.7 426 10269 roll 0.71 0.15 0.230 3135 -326.7 2.83 0.147 3654 496.8 136.7 - - 2489 - - - - - - - - 13.89 13.96 14.06
10312 765.7 8.8 433 10318 done 0.61 0.17 0.222 3099 -211.8 2.45 0.053 2252 -572.2 136.7 - - 2488 - - - - - - - - 13.93 14.28 14.21
10656 743.7 6.3 440 10689 done 0.65 - - 3099 - - - 2250 - 165.0 31.85 1.802 2392 -3.0 0.247 - - - - - - 14.69 14.21 13.39
10992 721.0 6.8 446 11017 roll 0.67 - - 3099 - 2.80 0.146 3650 500.0 183.5 19.88 1.857 2313 -4.0 0.307 - - - - - - 14.64 14.06 13.40
11068 715.5 7.7 457 11073 done 0.67 - - 3108 - 2.45 0.051 2256 -569.0 184.0 - - 2304 - - - - - - - - 14.33 14.26 14.35
11384 694.5 6.6 467 11410 done 0.70 - - 3108 - - - 2253 - 205.6 24.70 1.802 2232 -2.9 0.223 - - - - - - 14.64 14.23 13.42
11720 670.6 7.2 473 11731 roll 0.71 - - 3108 - 2.88 0.148 3652 485.8 216.3 3.78 1.337 2190 -11.1 1.108 - - - - - - 14.61 13.96 13.19
11761 667.3 8.2 479 11766 done 0.71 - - 3117 - 2.45 0.052 2242 -575.5 216.3 1.62 0.236 2188 - - - - - - - - 14.38 14.30 13.92
12105 640.1 7.9 486 12111 roll 0.71 - - 3117 - 2.95 0.147 3650 477.3 216.3 1.85 0.215 2187 - - - - - - - - 14.62 13.90 13.87
12132 637.8 7.9 490 12139 done 0.71 - - 3127 - 2.45 0.052 2260 -567.3 216.3 - - 2192 - - - - - - - - 14.34 14.26 14.35
12498 608.8 7.8 500 12500 done 0.71 - - 3127 - - - 2256 - 216.3 1.58 0.223 2187 -3.2 1.717 - - - - - - 14.63 14.14 13.88
12833 584.8 7.0 506 12867 roll 0.73 - - 3127 - 2.83 0.151 3654 494.0 231.4 25.90 1.712 2118 -2.7 0.181 - - - - - - 14.63 14.00 13.47
12896 580.2 8.2 515 12900 done 0.73 - - 3137 - 2.47 0.051 2242 -571.7 231.4 - - 2112 - - - - - - - - 14.34 14.26 14.36
13226 554.3 7.9 527 13230 roll 0.73 - - 3147 - 2.47 0.058 862 -558.7 231.4 - - 2109 - - - - - - - - 14.62 14.09 14.62
13253 552.2 7.6 531 13258 done 0.73 - - 3147 - 2.58 0.075 2252 538.8 233.6 - - 2108 - - - - - - - - 14.26 14.04 14.31
13617 521.0 8.7 541 13622 roll 0.73 - - 3147 - 2.88 0.153 3660 488.9 233.6 - - 2108 - - - - - - - - 14.63 13.83 14.63
13659 516.8 10.3 547 13663 done 0.73 - - 3157 - 2.45 0.050 2263 -570.2 233.6 - - 2110 - - - - - - - - 14.31 14.23 14.34
14010 481.8 10.3 555 14014 roll 0.73 - - 3168 - 2.55 0.058 853 -552.9 233.6 - - 2108 - - - - - - - - 14.66 13.97 14.66
14050 477.6 10.5 561 14056 done 0.73 0.10 0.221 3139 -290.0 2.62 0.076 2253 534.4 233.6 - - 2108 - - - - - - - - 13.87 13.93 14.13
14401 445.5 9.0 569 14406 roll 0.73 - - 3138 - 2.88 0.153 3663 489.6 233.6 - - 2108 - - - - - - - - 14.67 13.80 14.67
14436 442.4 9.3 574 14442 done 0.73 - - 3149 - 2.47 0.051 2254 -570.4 233.6 - - 2106 - - - - - - - - 14.25 14.17 14.28
14794 411.0 8.8 583 14795 done 0.73 - - 3148 - - - 2252 - 233.6 - - 2107 - - - - - - - - 14.61 14.61 14.61
15129 380.9 9.0 589 15134 roll 0.73 - - 3148 - 2.95 0.149 3670 480.7 233.6 - - 2106 - - - - - - - - 14.60 13.81 14.59
15163 377.5 9.8 594 15170 done 0.73 - - 3159 - 2.53 0.050 2245 -563.2 233.6 - - 2108 - - - - - - - - 14.23 14.14 14.25
15522 345.5 8.8 603 15526 roll 0.73 - - 3169 - 2.53 0.057 858 -548.2 233.6 - - 2108 - - - - - - - - 14.60 13.88 14.59
15563 342.0 8.5 609 15568 done 0.73 0.10 0.220 3140 -290.0 2.65 0.076 2264 530.6 233.6 - - 2107 - - - - - - - - 13.79 13.85 14.05
15913 314.5 7.9 617 15918 roll 0.73 - - 3138 - 2.85 0.151 3660 489.8 233.6 - - 2107 - - - - - - - - 14.59 13.83 14.60
15955 310.8 9.2 623 15959 done 0.73 - - 3148 - 2.50 0.050 2252 -563.2 233.6 - - 2108 - - - - - - - - 14.20 14.11 14.23
16306 280.6 8.6 631 16311 roll 0.73 - - 3158 - 2.55 0.057 852 -549.0 233.6 - - 2108 - - - - - - - - 14.66 13.85 14.66
16367 275.2 8.7 640 16372 done 0.73 - - 3159 - 2.62 0.074 2256 535.9 233.6 - - 2108 - - - - - - - - 14.07 13.83 14.13
16698 247.0 8.6 652 16702 roll 0.73 - - 3158 - 2.90 0.155 3665 485.9 233.6 - - 2108 - - - - - - - - 14.59 13.85 14.59
16746 242.5 9.5 659 16752 done 0.73 0.12 0.228 3134 -200.0 2.53 0.050 2246 -560.9 233.6 - - 2108 - - - - - - - - 13.71 14.07 14.00
17090 216.6 7.5 666 17096 roll 0.74 - - 3145 - 2.55 0.056 853 -546.3 238.6 - - 2108 - - - - - - - - 14.64 13.85 14.64
17132 213.1 8.2 672 17136 done 0.74 - - 3144 - 2.60 0.073 2250 537.3 238.6 - - 2108 - - - - - - - - 14.07 13.84 14.11
17483 185.8 7.7 680 17492 roll 0.74 - - 3144 - 2.92 0.151 3663 483.9 239.7 1.95 0.213 2096 -6.2 1.067 - - - - - - 14.65 13.88 13.89
17552 180.1 8.2 690 17558 done 0.74 - - 3154 - 2.50 0.050 2242 -568.4 239.7 1.52 0.225 2093 -2.0 0.314 - - - - - - 14.21 14.13 13.86
17875 154.1 8.3 701 17880 roll 0.74 - - 3165 - 2.55 0.057 862 -541.2 239.7 1.65 0.213 2096 1.8 -0.261 - - - - - - 14.59 13.90 13.93
17937 149.0 8.1 710 17943 done 0.74 - - 3164 - 2.60 0.074 2258 536.9 239.7 1.60 0.216 2095 - - - - - - - - 14.11 13.87 13.88
18260 122.6 8.2 721 18266 roll 0.74 - - 3164 - 2.90 0.155 3658 482.8 239.7 1.80 0.212 2096 - - - - - - - - 14.59 13.88 13.92
18301 119.1 8.7 727 18308 done 0.74 0.12 0.225 3140 -200.0 2.50 0.049 2242 -566.4 239.7 1.90 0.201 2094 - - - - - - - - 13.76 14.13 13.83
18617 96.0 7.5 734 18628 roll 0.74 - - 3156 - 2.50 0.055 856 -554.4 245.2 5.07 0.360 2075 -3.7 0.199 - - - - - - 14.57 14.00 13.81
18658 92.9 7.6 740 18671 done 0.75 - - 3150 - 2.58 0.070 2252 541.1 248.6 3.97 0.357 2061 -3.5 0.182 - - - - - - 14.13 13.92 13.78
18981 69.8 6.8 753 18999 roll 0.77 - - 3150 - 2.80 0.152 3657 501.8 266.5 12.48 0.361 1992 -5.5 0.212 - - - - - - 14.59 14.01 13.88
19131 61.6 5.7 774 19161 done 0.82 - - 3160 - 2.45 0.051 2252 -573.5 307.6 24.98 0.353 1825 -6.7 0.232 - - - - - - 14.28 14.21 13.88
19489 50.1 2.3 792 19560 roll 1.16 0.25 0.066 3296 544.0 2.90 0.149 3662 486.2 416.4 60.58 0.321 1393 -7.1 0.221 - - - - - - 14.06 14.09 13.95
19673 36.0 9.7 819 19679 done 1.16 0.12 0.224 3274 -183.3 2.50 0.048 2251 -564.4 416.4 - - 1395 - - - - - - - - 13.80 14.16 14.04
19989 7.7 10.0 831 19994 roll 1.16 - - 3282 - 2.53 0.058 855 -551.8 416.4 - - 1395 - - - - - - - - 14.63 13.95 14.64
20046 end climb: SURFACE_DEPTH_REACHED
20046 begin surface coast
20054 end surface coast: CONTROL_FINISHED_OK
20054 begin surface
SM -1.95 - - - - -8.39 9.43 0.080 191 20.3 3.70 0.094 2762 607.0 500.14 43.72 0.151 1056 24.2 0.032 - - - - - -