SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 754 * Raw log
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• Previous call tries 2 • 286.01 of 350.00 AH used of 24V (18.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.2 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: 29 s
• GPS2 time: 17 s • Transponder ping count: 26
• 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
8 - - - 99 VBD -0.81 - - 203 - - - 2304 - -97.3 -89.68 - 2806 - - - - - - - - 13.59 - 13.62
104 2.8 -3.1 3 129 roll -0.81 10.00 0.400 1933 173.0 3.05 1.893 865 -471.8 -97.3 -3.72 - 3000 -52.2 - - - - - - - 13.00 12.33 13.39
207 34.8 -25.6 18 219 done -0.61 0.32 0.268 1995 193.8 2.78 0.053 2272 506.1 -97.3 - - 3000 - - - - - - - - 12.83 13.16 13.02
527 83.1 -10.5 30 531 roll -0.55 - - 1985 - 2.70 0.070 3698 528.1 -97.3 - - 3001 - - - - - - - - 13.75 13.23 13.77
765 109.0 -8.2 64 771 done -0.55 0.17 0.230 2022 217.6 2.60 0.036 2252 -556.2 -97.3 - - 3002 - - - - - - - - 12.95 13.37 13.21
1093 128.6 -6.4 75 1097 roll -0.55 - - 2015 - 2.80 0.070 3702 517.9 -97.3 - - 3004 - - - - - - - - 13.81 13.24 13.83
1176 135.6 -7.8 87 1181 done -0.55 - - 2015 - 2.58 0.035 2275 -553.1 -97.3 - - 3004 - - - - - - - - 13.45 13.38 13.47
1544 164.9 -8.2 97 1549 roll -0.55 - - 2015 - 2.62 0.049 881 -532.1 -97.3 - - 3003 - - - - - - - - 13.83 13.28 13.85
1591 169.4 -8.6 104 1603 done -0.55 - - 2012 - 2.78 0.054 2290 506.8 -97.3 - - 3002 - - - - - - - - 13.26 13.19 13.30
1941 196.4 -7.8 111 1946 roll -0.55 - - 2011 - 2.72 0.077 3701 518.8 -97.3 - - 3001 - - - - - - - - 13.83 13.21 13.84
2001 201.4 -8.6 119 2005 done -0.59 - - 2011 - 2.58 0.036 2280 -550.8 -97.3 - - 3000 - - - - - - - - 13.45 13.39 13.47
2340 229.8 -8.3 132 2344 roll -0.59 - - 2011 - 2.65 0.049 875 -530.2 -97.3 - - 2998 - - - - - - - - 13.85 13.28 13.85
2430 237.4 -7.9 145 2436 done -0.59 - - 2011 - 2.75 0.053 2295 516.4 -97.3 - - 2998 - - - - - - - - 13.38 13.27 13.42
2791 265.1 -7.8 154 2796 roll -0.59 - - 2010 - 2.70 0.076 3695 518.5 -97.3 - - 2996 - - - - - - - - 13.84 13.21 13.85
2977 280.1 -8.2 180 2982 done -0.65 - - 2010 - 2.58 0.039 2283 -547.3 -97.3 - - 2994 - - - - - - - - 13.44 13.37 13.46
3302 309.4 -9.2 191 3306 roll -0.65 - - 2010 - 2.65 0.051 884 -527.9 -97.3 - - 2993 - - - - - - - - 13.84 13.26 13.86
3360 314.9 -9.3 199 3365 done -0.65 - - 2010 - 2.75 0.054 2297 513.8 -97.3 - - 2993 - - - - - - - - 13.38 13.27 13.42
3701 343.4 -8.3 212 3705 roll -0.65 - - 2001 - 2.70 0.075 3701 520.0 -97.3 - - 2991 - - - - - - - - 13.83 13.19 13.85
3783 351.0 -8.7 224 3788 done -0.65 - - 2000 - 2.58 0.039 2290 -546.9 -97.3 - - 2990 - - - - - - - - 13.43 13.37 13.46
4153 383.0 -8.9 234 4158 roll -0.65 - - 2000 - 2.67 0.052 885 -526.2 -97.3 - - 2988 - - - - - - - - 13.83 13.25 13.85
4256 392.7 -8.7 249 4269 done -0.65 - - 1999 - 2.80 0.055 2293 502.9 -97.3 - - 2987 - - - - - - - - 13.20 13.14 13.26
4605 423.0 -8.9 256 4610 roll -0.65 - - 1999 - 2.75 0.080 3696 510.2 -97.3 - - 2986 - - - - - - - - 13.84 13.16 13.86
4665 428.3 -8.8 264 4670 done -0.65 - - 1998 - 2.60 0.041 2284 -543.1 -97.3 - - 2985 - - - - - - - - 13.43 13.35 13.45
4944 end dive: TARGET_DEPTH_EXCEEDED
4944 begin apogee
4953 451.8 -8.3 276 5067 roll -0.19 0.52 0.195 2130 253.8 - - 2191 - - 111.85 1.343 2599 -3.5 0.231 - - - - - - 12.97 13.02 12.33
5067 end apogee: CONTROL_FINISHED_OK
5067 begin loiter
5299 456.7 -0.3 311 5303 done -0.19 - - 2130 - - - 2192 - 5.0 - - 2582 - - - - - - - - 13.47 13.47 13.48
5634 457.8 -0.4 323 5648 done -0.35 0.15 0.112 2074 -373.3 - - 2192 - 11.9 11.98 1.355 2550 -2.7 0.180 - - - - - - 13.28 13.32 12.57
5972 459.8 -0.6 329 5985 done -0.43 - - 2074 - - - 2191 - 22.2 12.85 1.403 2509 -3.2 0.208 - - - - - - 13.71 13.33 12.56
6306 454.8 2.0 335 6307 done -0.50 0.12 0.129 2027 -391.7 - - 2192 - 22.2 - - 2496 - - - - - - - - 13.32 13.40 13.38
6642 448.3 1.9 341 6643 done -0.50 - - 2027 - - - 2191 - 22.2 - - 2494 - - - - - - - - 13.76 13.78 13.78
6979 443.0 1.5 347 6980 done -0.50 - - 2027 - - - 2191 - 22.2 - - 2493 - - - - - - - - 13.77 13.78 13.78
7314 438.1 1.5 353 7315 done -0.50 - - 2027 - - - 2191 - 22.2 - - 2492 - - - - - - - - 13.78 13.81 13.81
7650 433.6 1.3 359 7651 done -0.50 - - 2027 - - - 2191 - 22.2 - - 2492 - - - - - - - - 13.80 13.84 13.81
7986 430.6 0.9 365 7987 done -0.51 - - 2027 - - - 2191 - 7.2 - - 2491 - - - - - - - - 13.81 13.82 13.82
8323 426.5 1.3 371 8324 done -0.51 - - 2027 - - - 2191 - 7.2 - - 2490 - - - - - - - - 13.80 13.81 13.81
8658 422.1 1.3 377 8659 done -0.51 - - 2027 - - - 2192 - 7.2 - - 2490 - - - - - - - - 13.81 13.83 13.83
8994 419.2 0.8 383 8995 done -0.52 - - 2027 - - - 2192 - -6.3 - - 2489 - - - - - - - - 13.81 13.83 13.83
9330 418.1 0.2 389 9331 done -0.52 - - 2027 - - - 2191 - -10.4 - - 2488 - - - - - - - - 13.82 13.83 13.83
9667 417.9 - 395 9668 done -0.52 - - 2026 - - - 2192 - -10.9 - - 2489 - - - - - - - - 13.81 13.83 13.83
10002 419.0 -0.4 401 10003 done -0.52 - - 2027 - - - 2191 - -4.1 - - 2488 - - - - - - - - 13.83 13.84 13.84
10338 420.0 -0.2 407 10339 done -0.52 - - 2026 - - - 2191 - -0.1 - - 2488 - - - - - - - - 13.82 13.84 13.84
10674 418.6 0.5 413 10675 done -0.52 - - 2027 - - - 2191 - -9.6 - - 2487 - - - - - - - - 13.83 13.84 13.84
11011 416.6 0.6 419 11012 done -0.53 - - 2027 - - - 2192 - -19.5 - - 2487 - - - - - - - - 13.81 13.83 13.83
11346 414.2 0.8 425 11347 done -0.54 - - 2027 - - - 2192 - -33.5 - - 2487 - - - - - - - - 13.81 13.84 13.84
11682 410.1 1.3 431 11683 done -0.54 - - 2027 - - - 2191 - -33.5 - - 2486 - - - - - - - - 13.83 13.85 13.84
12018 406.4 1.0 437 12019 done -0.54 - - 2027 - - - 2191 - -33.5 - - 2486 - - - - - - - - 13.83 13.84 13.84
12355 405.6 0.1 443 12356 done -0.54 - - 2027 - - - 2191 - -34.9 - - 2486 - - - - - - - - 13.81 13.83 13.83
12690 406.6 -0.3 449 12691 done -0.53 - - 2027 - - - 2191 - -29.5 - - 2486 - - - - - - - - 13.83 13.84 13.84
13026 407.7 -0.4 455 13027 done -0.53 - - 2027 - - - 2191 - -23.1 - - 2486 - - - - - - - - 13.83 13.84 13.84
13363 409.5 -0.5 461 13364 done -0.53 - - 2027 - - - 2191 - -14.0 - - 2486 - - - - - - - - 13.81 13.83 13.83
13698 410.6 -0.3 467 13699 done -0.52 - - 2026 - - - 2191 - -8.9 - - 2486 - - - - - - - - 13.83 13.84 13.87
14034 411.1 -0.1 473 14035 done -0.52 - - 2027 - - - 2191 - -6.9 - - 2486 - - - - - - - - 13.83 13.84 13.85
14370 410.8 0.1 479 14371 done -0.52 - - 2027 - - - 2191 - -8.8 - - 2486 - - - - - - - - 13.83 13.84 13.84
14707 411.4 -0.2 485 14708 done -0.52 - - 2027 - - - 2191 - -4.7 - - 2485 - - - - - - - - 13.81 13.83 13.83
15042 411.0 0.2 491 15043 done -0.52 - - 2026 - - - 2191 - -8.2 - - 2485 - - - - - - - - 13.83 13.85 13.84
15378 409.7 0.4 497 15379 done -0.53 - - 2027 - - - 2191 - -15.8 - - 2485 - - - - - - - - 13.83 13.84 13.84
15715 406.7 1.0 503 15716 done -0.54 - - 2027 - - - 2191 - -32.7 - - 2485 - - - - - - - - 13.81 13.83 13.83
16050 403.2 1.0 509 16051 done -0.54 - - 2027 - - - 2191 - -32.7 - - 2485 - - - - - - - - 13.83 13.84 13.84
16386 401.3 0.4 515 16387 done -0.54 - - 2027 - - - 2191 - -40.1 - - 2485 - - - - - - - - 13.82 13.83 13.83
16722 402.5 -0.5 521 16723 done -0.54 - - 2027 - - - 2191 - -32.2 - - 2485 - - - - - - - - 13.82 13.84 13.84
17059 402.6 0.1 527 17060 done -0.54 - - 2026 - - - 2191 - -34.2 - - 2485 - - - - - - - - 13.81 13.83 13.83
17394 401.0 0.5 533 17395 done -0.54 - - 2027 - - - 2191 - -42.8 - - 2485 - - - - - - - - 13.83 13.84 13.84
17730 400.1 0.2 539 17731 done -0.54 - - 2027 - - - 2191 - -46.3 - - 2485 - - - - - - - - 13.83 13.84 13.84
18066 399.2 0.3 545 18067 done -0.55 - - 2027 - - - 2191 - -52.2 - - 2485 - - - - - - - - 13.82 13.84 13.84
18403 397.6 0.4 551 18404 done -0.55 - - 2027 - - - 2191 - -59.8 - - 2485 - - - - - - - - 13.81 13.83 13.83
18738 398.4 -0.4 557 18739 done -0.55 - - 2027 - - - 2191 - -53.3 - - 2485 - - - - - - - - 13.82 13.84 13.84
19074 399.0 -0.1 563 19075 done -0.55 - - 2027 - - - 2191 - -51.6 - - 2485 - - - - - - - - 13.82 13.84 13.84
19411 399.8 -0.3 569 19412 done -0.54 - - 2027 - - - 2191 - -46.3 - - 2485 - - - - - - - - 13.81 13.83 13.83
19746 400.4 - 575 19747 done -0.54 - - 2027 - - - 2191 - -45.6 - - 2485 - - - - - - - - 13.83 13.84 13.84
20082 397.6 0.9 581 20083 done -0.55 - - 2027 - - - 2191 - -62.0 - - 2485 - - - - - - - - 13.82 13.84 13.83
20418 395.5 0.5 587 20419 done -0.56 - - 2027 - - - 2191 - -70.8 - - 2485 - - - - - - - - 13.83 13.84 13.84
20755 394.1 0.4 593 20756 done -0.56 - - 2026 - - - 2191 - -78.5 - - 2485 - - - - - - - - 13.81 13.83 13.83
21090 394.6 -0.3 599 21091 done -0.56 - - 2027 - - - 2191 - -73.5 - - 2484 - - - - - - - - 13.82 13.84 13.84
21426 396.9 -0.7 605 21427 done -0.55 - - 2027 - - - 2191 - -60.6 - - 2485 - - - - - - - - 13.82 13.84 13.84
21762 397.7 -0.1 611 21763 done -0.55 - - 2027 - - - 2191 - -59.4 - - 2485 - - - - - - - - 13.83 13.84 13.84
22099 396.6 0.3 617 22100 done -0.56 - - 2027 - - - 2191 - -64.7 - - 2485 - - - - - - - - 13.81 13.83 13.83
22434 396.9 -0.1 623 22435 done -0.55 - - 2026 - - - 2191 - -62.3 - - 2485 - - - - - - - - 13.83 13.84 13.85
22770 398.0 -0.4 629 22771 done -0.55 - - 2027 - - - 2191 - -55.6 - - 2484 - - - - - - - - 13.82 13.84 13.83
23102 end loiter: LOITER_COMPLETE
23102 begin climb
23107 399.1 - 635 23217 roll 0.81 1.73 0.202 2452 245.7 2.95 0.077 3614 482.4 97.3 92.97 1.319 2189 -3.2 0.191 - - - - - - 12.73 13.05 12.34
23337 384.8 9.1 668 23342 done 0.76 - - 2462 - 2.75 0.050 2205 -512.4 97.3 - - 2182 - - - - - - - - 13.12 13.05 13.16
23673 356.7 8.6 680 23678 roll 0.76 - - 2473 - 2.85 0.062 786 -497.9 97.3 - - 2178 - - - - - - - - 13.62 13.05 13.63
23769 347.9 8.3 694 23774 done 0.76 - - 2473 - 2.83 0.054 2214 504.6 97.3 - - 2177 - - - - - - - - 13.20 13.09 13.25
24125 317.2 8.8 702 24130 roll 0.76 - - 2473 - 2.78 0.077 3622 506.5 97.3 - - 2177 - - - - - - - - 13.72 13.07 13.74
24195 309.9 10.0 712 24200 done 0.68 0.28 0.240 2423 -178.6 2.72 0.049 2187 -527.6 97.3 - - 2176 - - - - - - - - 12.77 13.16 13.10
24520 287.0 7.0 723 24555 roll 0.69 - - 2432 - 2.80 0.063 783 -501.4 120.9 26.50 1.203 2094 -3.1 0.147 - - - - - - 13.76 13.28 12.54
24608 280.3 7.7 736 24620 done 0.70 - - 2432 - 2.80 0.050 2212 510.4 132.1 4.62 0.986 2060 -7.4 0.416 - - - - - - 13.24 13.14 12.37
24969 253.2 7.5 745 24998 roll 0.71 - - 2432 - 2.80 0.076 3619 502.5 145.9 23.98 1.187 1998 -2.6 0.110 - - - - - - 13.69 13.25 12.53
25035 247.6 8.6 755 25040 done 0.71 - - 2441 - 2.70 0.047 2194 -527.8 145.9 - - 1989 - - - - - - - - 13.24 13.16 13.28
25362 221.9 8.0 766 25366 roll 0.71 - - 2451 - 2.78 0.064 789 -505.4 152.2 - - 1985 - - - - - - - - 13.66 13.07 13.68
25451 213.9 8.6 779 25456 done 0.71 - - 2451 - 2.78 0.051 2202 508.3 152.2 - - 1984 - - - - - - - - 13.24 13.12 13.26
25815 182.2 8.7 788 25820 roll 0.71 - - 2451 - 2.78 0.076 3615 508.3 152.2 - - 1983 - - - - - - - - 13.71 13.08 13.73
25890 174.9 8.8 799 25895 done 0.71 - - 2461 - 2.67 0.047 2199 -530.3 152.2 - - 1983 - - - - - - - - 13.26 13.17 13.29
26211 150.6 7.6 809 26239 roll 0.72 - - 2470 - 2.78 0.063 795 -505.0 165.6 21.23 1.084 1914 -3.3 0.090 - - - - - - 13.75 13.30 12.61
26324 141.3 8.6 825 26330 done 0.72 0.17 0.220 2433 -217.6 2.78 0.050 2208 508.3 165.6 - - 1904 - - - - - - - - 12.88 13.16 13.16
26665 114.8 7.7 838 26674 roll 0.78 - - 2433 - 2.70 0.073 3616 521.5 177.4 5.25 0.280 1882 -4.2 0.342 - - - - - - 13.70 13.13 12.80
26746 107.6 8.9 850 26756 done 0.78 - - 2438 - 2.70 0.048 2191 -527.8 177.4 2.53 0.169 1876 -2.4 0.300 - - - - - - 13.28 13.19 13.07
27086 77.4 9.5 863 27096 roll 0.85 0.12 0.129 2495 475.0 2.75 0.060 795 -507.6 177.4 1.70 0.158 1879 1.8 -0.172 - - - - - - 13.26 13.22 13.10
27228 67.4 5.2 883 27284 done 0.88 - - 2495 - 2.75 0.049 2204 512.4 232.8 43.38 0.331 1658 -5.1 0.206 - - - - - - 13.28 13.17 12.96
27596 54.2 1.5 902 27692 roll 1.07 0.12 0.128 2549 450.0 2.80 0.074 3622 506.4 352.9 90.15 0.295 1160 -5.5 0.202 - - - - - - 13.25 13.24 12.97
27754 45.3 7.7 925 27769 done 1.15 - - 2558 - 2.70 0.045 2190 -530.4 364.4 10.30 0.243 1113 -4.6 0.169 - - - - - - 13.26 13.17 12.93
28095 16.5 8.7 940 28100 roll 1.24 0.12 0.122 2614 466.7 2.75 0.063 797 -506.5 364.4 - - 1117 - - - - - - - - 13.24 13.12 13.26
28223 end climb: SURFACE_DEPTH_REACHED
28227 begin surface coast
28252 end surface coast: CONTROL_FINISHED_OK
28252 begin surface
SM 0.87 - - - - -6.15 7.50 0.056 202 26.9 2.95 0.048 2291 -135.9 500.17 93.97 0.132 559 5.9 -0.004 - - - - - -