SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 760 * Raw log
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• Previous call tries 1 • 257.97 of 350.00 AH used of 24V (26.29% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.1 deg, depth -2.25 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: 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 - - - 102 done -0.93 - - 107 - - - 2785 - -107.1 -79.50 - 3474 - - - - - - - - 14.45 12.76 14.39
107 4.5 -11.8 3 124 roll -0.93 12.25 0.386 2584 202.2 2.10 0.146 3828 496.7 -107.1 - - 3475 - - - - - - - - 13.85 14.02 14.23
230 46.3 -24.9 21 236 done -0.62 0.43 0.251 2693 253.5 1.83 0.054 2723 -603.8 -107.1 - - 3476 - - - - - - - - 13.72 14.26 14.03
553 82.1 -7.0 34 557 roll -0.62 - - 2684 - 2.33 0.173 3824 472.5 -107.1 - - 3477 - - - - - - - - 14.62 13.80 14.62
789 97.3 -6.6 68 794 done -0.62 - - 2684 - 1.77 0.062 2803 -576.8 -107.1 - - 3478 - - - - - - - - 14.20 14.15 14.23
1112 119.8 -7.0 76 1117 roll -0.62 - - 2684 - 2.58 0.042 1362 -558.5 -107.1 - - 3477 - - - - - - - - 14.70 13.87 14.70
1154 123.4 -8.2 82 1158 done -0.62 - - 2675 - 2.78 0.109 2767 505.4 -107.1 - - 3478 - - - - - - - - 14.18 13.91 14.22
1505 147.0 -6.6 90 1505 done -0.62 - - 2674 - - - 2767 - -107.1 - - 3476 - - - - - - - - 14.65 14.69 14.66
1841 170.8 -7.3 96 1845 roll -0.62 - - 2674 - 2.55 0.044 1369 -548.2 -107.1 - - 3473 - - - - - - - - 14.70 13.87 14.70
1897 175.3 -7.7 104 1902 done -0.71 - - 2665 - 2.83 0.113 2767 494.0 -107.1 - - 3473 - - - - - - - - 14.19 13.91 14.23
2232 202.4 -7.9 117 2238 roll -0.71 - - 2665 - 2.58 0.043 1359 -545.7 -107.1 - - 3470 - - - - - - - - 14.71 13.88 14.70
2289 207.1 -7.7 125 2294 done -0.80 - - 2656 - 2.85 0.113 2767 494.0 -107.1 - - 3470 - - - - - - - - 14.21 13.94 14.26
2624 238.7 -9.9 138 2629 roll -0.80 - - 2648 - 2.22 0.181 3823 475.7 -107.1 - - 3468 - - - - - - - - 14.64 13.87 14.64
2658 242.3 -10.3 143 2663 done -0.80 - - 2648 - 1.88 0.054 2742 -575.0 -107.1 - - 3467 - - - - - - - - 14.12 14.06 14.13
3017 275.6 -8.9 152 3021 roll -0.80 - - 2648 - 2.47 0.041 1372 -554.7 -107.1 - - 3465 - - - - - - - - 14.64 13.86 14.64
3065 279.5 -7.5 159 3071 done -0.80 - - 2642 - 2.78 0.103 2770 502.9 -107.1 - - 3464 - - - - - - - - 14.17 13.91 14.22
3409 304.4 -7.2 166 3413 roll -0.80 - - 2641 - 2.58 0.043 1369 -543.0 -107.1 - - 3462 - - - - - - - - 14.69 13.84 14.70
3435 306.7 -8.0 170 3440 done -0.80 - - 2633 - 2.80 0.105 2768 499.6 -107.1 - - 3462 - - - - - - - - 14.18 13.91 14.23
3800 335.2 -8.0 180 3801 done -0.80 - - 2632 - - - 2769 - -107.1 - - 3460 - - - - - - - - 14.64 14.64 14.64
4136 364.5 -8.7 186 4141 roll -0.80 - - 2630 - 2.58 0.043 1376 -539.9 -107.1 - - 3458 - - - - - - - - 14.70 13.81 14.70
4163 367.3 -10.4 190 4168 done -0.80 - - 2623 - 2.78 0.109 2763 498.9 -107.1 - - 3457 - - - - - - - - 14.18 13.91 14.23
4528 400.8 -9.0 200 4533 roll -0.80 - - 2622 - 2.58 0.044 1372 -539.1 -107.1 - - 3460 - - - - - - - - 14.69 13.85 14.69
4576 405.2 -9.2 207 4583 done -0.80 - - 2613 - 2.80 0.111 2758 495.0 -107.1 - - 3456 - - - - - - - - 14.19 13.92 14.23
4920 438.7 -9.9 214 4925 roll -0.80 - - 2605 - 2.22 0.177 3822 479.3 -107.1 - - 3454 - - - - - - - - 14.64 13.86 14.64
4961 443.2 -10.8 220 4967 done -0.80 0.12 0.223 2639 283.3 1.88 0.057 2755 -567.6 -107.1 - - 3453 - - - - - - - - 13.71 14.09 13.97
5313 475.2 -9.0 228 5317 roll -0.80 - - 2639 - 2.55 0.045 1366 -544.7 -107.1 - - 3453 - - - - - - - - 14.62 13.85 14.62
5395 483.2 -9.1 240 5400 done -0.80 - - 2630 - 2.78 0.110 2748 497.1 -107.1 - - 3452 - - - - - - - - 14.16 13.89 14.21
5760 515.9 -8.9 250 5765 roll -0.80 - - 2630 - 2.58 0.044 1359 -538.4 -107.1 - - 3451 - - - - - - - - 14.61 13.85 14.61
5816 521.0 -8.5 258 5821 done -0.80 - - 2621 - 2.83 0.112 2751 491.9 -107.1 - - 3450 - - - - - - - - 14.19 13.91 14.23
6152 547.9 -7.8 271 6157 roll -0.80 - - 2612 - 2.25 0.178 3826 477.8 -107.1 - - 3449 - - - - - - - - 14.60 13.86 14.60
6200 552.3 -8.9 278 6207 done -0.80 0.10 0.217 2641 290.0 1.92 0.056 2734 -568.8 -107.1 - - 3449 - - - - - - - - 13.77 14.12 14.00
6545 578.2 -7.9 285 6551 roll -0.80 - - 2641 - 2.50 0.044 1377 -542.8 -107.1 - - 3447 - - - - - - - - 14.61 13.88 14.61
6607 583.3 -8.1 294 6612 done -0.80 - - 2633 - 2.78 0.109 2752 494.6 -107.1 - - 3448 - - - - - - - - 14.16 13.89 14.21
6937 611.9 -8.7 306 6942 roll -0.80 - - 2632 - 2.55 0.044 1375 -540.0 -107.1 - - 3446 - - - - - - - - 14.61 13.91 14.60
7013 619.0 -9.7 317 7019 done -0.80 - - 2623 - 2.80 0.112 2757 493.6 -107.1 - - 3445 - - - - - - - - 14.17 13.90 14.23
7329 647.3 -9.1 327 7329 done -0.80 - - 2623 - - - 2757 - -107.1 - - 3444 - - - - - - - - 14.67 14.67 14.67
7665 676.1 -8.5 333 7670 roll -0.80 - - 2623 - 2.58 0.045 1376 -535.3 -107.1 - - 3443 - - - - - - - - 14.60 13.85 14.59
7727 681.3 -8.0 342 7732 done -0.80 - - 2615 - 2.78 0.114 2744 492.1 -107.1 - - 3442 - - - - - - - - 14.16 13.88 14.21
8057 709.1 -8.5 354 8062 roll -0.80 - - 2614 - 2.55 0.045 1370 -538.8 -107.1 - - 3440 - - - - - - - - 14.59 13.93 14.59
8091 712.3 -9.2 359 8096 done -0.80 0.12 0.232 2640 216.7 2.78 0.114 2741 493.2 -107.1 - - 3441 - - - - - - - - 13.87 13.89 14.12
8449 740.6 -8.0 368 8449 done -0.80 - - 2640 - - - 2741 - -107.1 - - 3440 - - - - - - - - 14.59 14.59 14.59
8785 767.3 -7.9 374 8790 roll -0.80 - - 2640 - 2.55 0.047 1377 -534.9 -107.1 - - 3439 - - - - - - - - 14.59 13.87 14.59
8833 771.2 -7.6 381 8840 done -0.89 - - 2632 - 2.80 0.117 2741 487.1 -107.1 - - 3439 - - - - - - - - 14.16 13.88 14.21
9177 797.4 -7.5 388 9182 roll -0.89 - - 2632 - 2.55 0.046 1371 -537.3 -107.1 - - 3438 - - - - - - - - 14.58 13.93 14.58
9206 end dive: TARGET_DEPTH_EXCEEDED
9206 begin apogee
9218 800.1 -7.8 393 9324 roll -0.23 0.70 0.186 2820 268.6 - - 2250 - - 99.12 2.498 3050 -3.9 0.250 - - - - 1 - 13.74 13.73 12.62
9326 end apogee: CONTROL_FINISHED_OK
9326 begin climb
9330 803.4 - 395 9467 roll 0.93 1.17 0.093 3183 310.3 2.60 0.057 865 -532.7 107.1 126.10 1.763 2623 -3.4 0.307 - - - - - - 13.52 13.59 12.93
9552 798.3 7.1 427 9563 done 0.82 - - 3183 - 2.70 0.090 2251 513.3 119.0 4.97 1.602 2577 -9.3 0.918 - - - - - - 14.00 13.71 12.83
9882 771.6 8.2 439 9885 done 0.68 0.22 0.227 3124 -268.2 - - 2254 - 119.0 1.85 0.201 2576 - - - - - - - - 13.76 14.09 13.80
10218 750.0 6.3 445 10263 roll 0.72 - - 3123 - 2.88 0.166 3670 491.7 148.0 39.95 1.760 2453 -3.1 0.261 - - - - - - 14.64 14.09 13.40
10329 742.1 7.7 461 10335 done 0.72 - - 3133 - 2.50 0.047 2252 -567.2 148.0 - - 2448 - - - - - - - - 14.22 14.14 14.24
10666 718.1 7.0 474 10683 done 0.73 - - 3133 - - - 2252 - 163.2 15.80 1.884 2400 -3.0 0.230 - - - - - - 14.58 14.28 13.47
11002 694.0 7.3 480 11013 roll 0.74 - - 3145 - 2.58 0.061 854 -541.9 172.1 3.17 1.115 2369 -9.8 1.212 - - - - - - 14.59 14.09 13.17
11036 691.5 6.8 485 11070 done 0.77 - - 3145 - 2.67 0.087 2262 527.3 190.0 29.40 1.772 2291 -2.7 0.206 - - - - - - 14.21 13.95 13.43
11393 660.6 8.8 501 11399 roll 0.77 - - 3145 - 2.92 0.167 3670 482.2 190.0 - - 2274 - - - - - - - - 14.58 13.83 14.58
11449 655.2 10.2 509 11455 done 0.77 - - 3155 - 2.50 0.047 2251 -567.6 190.0 - - 2275 - - - - - - - - 14.28 14.19 14.30
11785 624.1 9.2 522 11790 roll 0.77 - - 3166 - 2.55 0.063 855 -547.5 190.0 - - 2273 - - - - - - - - 14.60 13.98 14.60
11812 621.5 9.4 526 11817 done 0.77 - - 3166 - 2.70 0.090 2260 520.4 190.0 - - 2272 - - - - - - - - 14.16 13.88 14.22
12178 586.1 9.8 536 12182 roll 0.77 - - 3179 - 2.62 0.061 848 -538.9 190.0 - - 2272 - - - - - - - - 14.59 13.91 14.59
12219 582.0 10.0 542 12224 done 0.77 - - 3175 - 2.72 0.091 2256 517.6 190.0 - - 2272 - - - - - - - - 14.12 13.84 14.19
12569 547.1 9.9 550 12574 roll 0.77 - - 3175 - 2.95 0.169 3664 477.3 190.0 - - 2272 - - - - - - - - 14.59 13.83 14.59
12604 543.4 10.7 555 12609 done 0.66 0.25 0.223 3118 -228.0 2.50 0.048 2250 -565.6 190.0 - - 2272 - - - - - - - - 13.75 14.04 14.07
12962 516.6 7.3 564 12967 roll 0.67 - - 3118 - 3.00 0.160 3667 472.3 197.7 - - 2272 - - - - - - - - 14.57 13.84 14.57
13002 513.3 8.3 570 13007 done 0.67 - - 3127 - 2.50 0.049 2249 -567.2 197.7 - - 2272 - - - - - - - - 14.20 14.11 14.22
13353 486.0 7.8 578 13358 roll 0.67 - - 3138 - 2.60 0.063 848 -538.8 197.7 - - 2271 - - - - - - - - 14.63 13.86 14.64
13395 482.7 7.9 584 13399 done 0.67 - - 3138 - 2.72 0.091 2260 519.1 197.7 - - 2271 - - - - - - - - 14.09 13.80 14.14
13746 456.0 7.6 592 13749 done 0.67 - - 3138 - - - 2260 - 200.4 2.78 0.835 2249 -7.9 0.860 - - - - - - 14.58 14.34 13.25
14082 431.6 7.2 598 14107 roll 0.68 - - 3138 - 2.88 0.169 3669 489.2 211.4 19.95 1.558 2199 -2.5 0.138 - - - - - - 14.64 13.93 13.52
14143 426.7 8.7 607 14148 done 0.68 - - 3147 - 2.50 0.047 2253 -566.4 211.4 - - 2193 - - - - - - - - 14.19 14.11 14.21
14473 400.2 8.1 619 14478 roll 0.68 - - 3158 - 2.53 0.059 855 -552.6 211.4 - - 2189 - - - - - - - - 14.59 14.03 14.59
14542 394.4 8.4 629 14548 done 0.68 0.12 0.205 3122 -300.0 2.65 0.086 2250 526.4 211.4 - - 2190 - - - - - - - - 13.90 13.90 14.16
14866 370.4 7.4 640 14871 roll 0.69 - - 3121 - 2.95 0.164 3663 479.0 217.8 - - 2190 - - - - - - - - 14.58 13.80 14.58
14907 367.0 8.2 646 14911 done 0.69 - - 3132 - 2.50 0.050 2236 -570.8 217.8 - - 2189 - - - - - - - - 14.26 14.17 14.28
15258 339.2 8.0 654 15263 roll 0.69 - - 3132 - 3.05 0.163 3671 470.5 217.8 - - 2189 - - - - - - - - 14.57 13.81 14.57
15291 336.2 8.7 659 15296 done 0.69 - - 3142 - 2.50 0.048 2245 -570.4 217.8 - - 2189 - - - - - - - - 14.23 14.12 14.26
15649 308.0 7.8 668 15650 done 0.69 - - 3141 - - - 2243 - 217.8 - - 2191 - - - - - - - - 14.57 14.58 14.57
15986 283.7 7.2 674 16011 roll 0.71 - - 3142 - 2.97 0.166 3657 476.1 229.2 17.00 1.410 2130 -3.6 0.144 - - - - - - 14.57 13.87 13.59
16033 279.8 8.3 681 16041 done 0.71 - - 3152 - 2.50 0.047 2235 -568.8 229.2 - - 2124 - - - - - - - - 14.27 14.19 14.29
16378 249.9 8.9 688 16383 roll 0.71 - - 3162 - 2.47 0.056 858 -557.5 229.2 - - 2123 - - - - - - - - 14.62 14.04 14.59
16404 247.5 8.5 692 16410 done 0.71 0.10 0.210 3130 -320.0 2.62 0.082 2253 532.4 229.2 - - 2123 - - - - - - - - 13.91 13.91 14.16
16770 220.1 7.5 702 16774 roll 0.71 - - 3130 - 2.92 0.163 3660 481.8 234.5 - - 2123 - - - - - - - - 14.59 13.79 14.59
16838 214.1 8.6 712 16843 done 0.71 - - 3140 - 2.47 0.047 2248 -571.7 234.5 - - 2123 - - - - - - - - 14.22 14.16 14.25
17162 189.7 7.5 723 17172 roll 0.72 - - 3151 - 2.53 0.056 864 -547.0 239.2 3.85 1.024 2107 -4.2 0.153 - - - - - - 14.64 13.99 13.39
17203 186.6 7.5 729 17221 done 0.72 - - 3151 - 2.60 0.078 2252 533.8 244.2 11.25 1.325 2073 -3.0 0.085 - - - - - - 14.12 13.88 13.62
17553 159.2 8.0 744 17558 roll 0.72 - - 3151 - 2.92 0.166 3661 482.5 244.2 - - 2068 - - - - - - - - 14.59 13.81 14.58
17601 154.6 9.6 751 17608 done 0.72 - - 3161 - 2.50 0.047 2248 -565.2 244.2 - - 2066 - - - - - - - - 14.26 14.18 14.29
17946 123.9 8.8 758 17950 roll 0.72 - - 3171 - 2.53 0.056 860 -548.6 244.2 - - 2067 - - - - - - - - 14.57 13.93 14.57
17986 120.1 9.2 764 17992 done 0.72 0.12 0.196 3133 -316.7 2.65 0.083 2255 526.4 244.2 - - 2067 - - - - - - - - 13.82 13.83 14.07
18310 95.4 7.2 772 18321 roll 0.74 - - 3133 - 2.88 0.162 3667 490.3 254.8 4.70 0.350 2037 -6.4 0.346 - - - - - - 14.60 13.94 13.81
18400 89.1 7.1 785 18413 done 0.75 - - 3143 - 2.47 0.049 2248 -574.5 267.4 9.20 0.394 1985 -5.7 0.254 - - - - - - 14.24 14.17 13.88
18727 69.5 5.5 798 18757 done 0.90 0.10 0.110 3211 680.0 - - 2247 - 312.6 28.12 0.373 1805 -6.4 0.237 - - - - - - 14.19 14.31 13.93
19059 50.3 3.5 810 19114 roll 1.01 - - 3210 - 2.95 0.159 3668 481.7 396.7 49.25 0.324 1470 -6.8 0.210 - - - - - - 14.62 14.09 13.96
19157 45.8 5.5 824 19189 done 1.16 0.12 0.098 3296 716.7 2.45 0.049 2246 -580.4 441.4 26.75 0.305 1292 -6.7 0.199 - - - - - - 14.16 14.19 13.88
19511 18.4 8.6 841 19512 done 1.16 - - 3296 - - - 2247 - 441.4 - - 1296 - - - - - - - - 14.57 14.57 14.57
19698 end climb: SURFACE_DEPTH_REACHED
19698 begin surface coast
19727 end surface coast: CONTROL_FINISHED_OK
19727 begin surface
SM -2.01 - - - - -8.39 9.12 0.044 187 20.5 1.15 0.163 2763 2397.4 500.14 31.30 0.150 1057 33.8 0.046 - - - - - -