SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 769 * Raw log
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• Previous call tries 1 • 260.81 of 350.00 AH used of 24V (25.48% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.6 deg, depth -2.91 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 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
19 - - - 103 done -0.93 - - 107 - - - 2791 - -107.1 -80.50 - 3479 - - - - - - - - 14.45 12.56 14.39
107 3.8 -10.5 3 124 roll -0.93 12.07 0.382 2593 206.0 2.53 0.034 1351 -569.2 -107.1 - - 3480 - - - - - - - - 13.87 14.23 14.24
217 36.8 -18.8 19 222 done -0.72 0.30 0.236 2662 230.0 2.85 0.122 2764 495.8 -107.1 - - 3481 - - - - - - - - 13.75 13.81 14.04
552 81.1 -8.3 34 557 roll -0.72 - - 2662 - 2.53 0.043 1367 -552.2 -107.1 - - 3482 - - - - - - - - 14.61 13.95 14.61
737 95.8 -7.1 60 742 done -0.72 - - 2651 - 2.85 0.115 2789 498.9 -107.1 - - 3483 - - - - - - - - 14.16 13.86 14.16
1059 117.9 -7.3 69 1065 roll -0.72 - - 2651 - 2.20 0.187 3829 472.7 -107.1 - - 3483 - - - - - - - - 14.69 13.90 14.69
1177 128.9 -8.5 86 1182 done -0.72 - - 2643 - 1.80 0.054 2766 -590.6 -107.1 - - 3482 - - - - - - - - 14.22 14.16 14.23
1507 158.9 -9.1 98 1508 done -0.72 - - 2643 - - - 2764 - -107.1 - - 3481 - - - - - - - - 14.69 14.69 14.69
1843 184.8 -7.4 104 1848 roll -0.72 - - 2644 - 2.50 0.040 1377 -554.8 -107.1 - - 3479 - - - - - - - - 14.69 13.88 14.69
1877 187.8 -8.5 109 1883 done -0.72 0.10 0.236 2662 180.0 2.80 0.103 2790 504.6 -107.1 - - 3479 - - - - - - - - 13.87 13.88 14.08
2235 215.2 -7.8 118 2240 roll -0.72 - - 2662 - 2.58 0.041 1376 -548.1 -107.1 - - 3476 - - - - - - - - 14.62 13.87 14.63
2276 218.5 -7.7 124 2281 done -0.80 - - 2654 - 2.80 0.103 2785 503.2 -107.1 - - 3476 - - - - - - - - 14.16 13.90 14.21
2627 245.0 -7.3 132 2632 roll -0.80 - - 2653 - 2.55 0.040 1384 -549.4 -107.1 - - 3472 - - - - - - - - 14.63 13.89 14.63
2675 249.1 -8.2 139 2681 done -0.80 - - 2644 - 2.80 0.103 2776 497.1 -107.1 - - 3473 - - - - - - - - 14.17 13.89 14.21
3019 280.0 -9.2 146 3024 roll -0.80 - - 2644 - 2.55 0.040 1382 -546.7 -107.1 - - 3471 - - - - - - - - 14.63 13.90 14.63
3067 284.7 -9.7 153 3075 done -0.80 - - 2636 - 2.80 0.105 2781 499.6 -107.1 - - 3470 - - - - - - - - 14.17 13.90 14.22
3411 319.3 -10.2 160 3412 done -0.80 - - 2636 - - - 2781 - -107.1 - - 3469 - - - - - - - - 14.62 14.62 14.62
3747 351.8 -9.5 166 3752 roll -0.80 - - 2635 - 2.58 0.041 1376 -544.6 -107.1 - - 3465 - - - - - - - - 14.64 13.86 14.63
3830 359.9 -9.6 178 3835 done -0.80 - - 2626 - 2.78 0.102 2769 501.1 -107.1 - - 3466 - - - - - - - - 14.14 13.88 14.19
4195 392.7 -9.0 188 4196 done -0.80 - - 2626 - - - 2769 - -107.1 - - 3463 - - - - - - - - 14.69 14.69 14.69
4531 421.0 -8.3 194 4536 roll -0.80 - - 2626 - 2.55 0.041 1385 -542.7 -107.1 - - 3461 - - - - - - - - 14.62 13.85 14.62
4607 427.5 -8.0 205 4613 done -0.80 - - 2618 - 2.78 0.105 2768 497.5 -107.1 - - 3461 - - - - - - - - 14.15 13.87 14.18
4923 452.6 -7.9 215 4928 roll -0.80 - - 2617 - 2.55 0.041 1383 -543.1 -107.1 - - 3459 - - - - - - - - 14.69 13.84 14.67
4950 455.2 -9.6 219 4955 done -0.80 0.10 0.243 2636 190.0 2.78 0.103 2765 497.1 -107.1 - - 3460 - - - - - - - - 13.86 13.88 14.12
5315 482.6 -7.7 229 5316 done -0.80 - - 2635 - - - 2765 - -107.1 - - 3458 - - - - - - - - 14.67 14.70 14.68
5651 509.6 -8.1 235 5656 roll -0.80 - - 2635 - 2.58 0.043 1380 -536.8 -107.1 - - 3457 - - - - - - - - 14.62 13.84 14.62
5713 514.9 -7.8 244 5718 done -0.80 - - 2625 - 2.80 0.105 2770 496.4 -107.1 - - 3456 - - - - - - - - 14.14 13.85 14.19
6043 541.1 -8.0 256 6048 roll -0.80 - - 2625 - 2.58 0.041 1377 -539.9 -107.1 - - 3456 - - - - - - - - 14.67 13.86 14.67
6077 543.8 -7.9 261 6083 done -0.80 - - 2617 - 2.80 0.106 2765 495.7 -107.1 - - 3455 - - - - - - - - 14.16 13.88 14.20
6435 572.4 -8.0 270 6440 roll -0.80 - - 2608 - 2.22 0.173 3823 476.6 -107.1 - - 3454 - - - - - - - - 14.67 13.76 14.68
6491 577.3 -8.7 278 6496 done -0.80 0.10 0.233 2636 280.0 1.85 0.051 2770 -569.2 -107.1 - - 3454 - - - - - - - - 13.69 14.09 13.93
6827 603.6 -7.8 291 6832 roll -0.80 - - 2636 - 2.58 0.041 1360 -546.5 -107.1 - - 3452 - - - - - - - - 14.66 13.81 14.66
6896 609.2 -8.0 301 6902 done -0.80 - - 2626 - 2.78 0.091 2771 507.6 -107.1 - - 3449 - - - - - - - - 14.12 13.85 14.16
7219 637.3 -8.7 312 7224 roll -0.80 - - 2626 - 2.60 0.041 1360 -542.7 -107.1 - - 3451 - - - - - - - - 14.60 13.92 14.61
7246 639.7 -8.9 316 7251 done -0.80 - - 2617 - 2.78 0.092 2764 505.0 -107.1 - - 3450 - - - - - - - - 14.12 13.87 14.17
7611 673.1 -9.2 326 7616 roll -0.80 - - 2616 - 2.60 0.041 1356 -541.5 -107.1 - - 3450 - - - - - - - - 14.60 13.92 14.60
7638 675.8 -9.6 330 7643 done -0.80 0.10 0.242 2638 220.0 2.80 0.095 2764 502.9 -107.1 - - 3450 - - - - - - - - 13.84 13.88 14.09
8003 705.1 -7.9 340 8007 roll -0.80 - - 2628 - 2.17 0.162 3821 487.1 -107.1 - - 3449 - - - - - - - - 14.60 13.79 14.60
8059 709.8 -7.9 348 8064 done -0.80 - - 2627 - 1.90 0.053 2753 -562.1 -107.1 - - 3448 - - - - - - - - 14.16 14.10 14.18
8395 735.3 -7.5 361 8401 roll -0.80 - - 2627 - 2.55 0.041 1362 -545.5 -107.1 - - 3446 - - - - - - - - 14.66 13.85 14.66
8451 739.6 -7.4 369 8457 done -0.80 - - 2619 - 2.80 0.093 2768 502.1 -107.1 - - 3446 - - - - - - - - 14.10 13.78 14.15
8787 765.6 -7.8 382 8792 roll -0.80 - - 2618 - 2.62 0.041 1355 -539.3 -107.1 - - 3446 - - - - - - - - 14.59 13.88 14.59
8835 769.4 -7.7 389 8842 done -0.80 0.10 0.241 2636 180.0 2.83 0.095 2763 497.5 -107.1 - - 3445 - - - - - - - - 13.82 13.84 14.07
9179 792.6 -6.7 396 9184 roll -0.80 - - 2636 - 2.60 0.042 1362 -538.8 -107.1 - - 3444 - - - - - - - - 14.57 13.90 14.58
9235 796.6 -7.4 404 9240 done -0.89 - - 2627 - 2.80 0.099 2759 498.9 -107.1 - - 3446 - - - - - - - - 14.10 13.81 14.16
9279 end dive: TARGET_DEPTH_EXCEEDED
9279 begin apogee
9290 800.1 -6.8 411 9398 roll -0.23 0.70 0.183 2819 274.3 0.12 0.183 2269 -4083.3 - 100.93 2.498 3050 -3.9 0.263 - - - - 1 - 13.69 13.64 12.59
9400 end apogee: CONTROL_FINISHED_OK
9400 begin climb
9404 802.6 - 413 9530 roll 0.93 1.17 0.095 3181 309.4 2.62 0.050 882 -529.4 107.1 110.07 2.801 2622 -3.9 0.233 - - - - 1 - 13.50 13.59 12.01
9643 796.7 6.6 448 9683 done 0.83 - - 3181 - 2.62 0.068 2237 517.2 130.5 34.53 1.818 2529 -2.7 0.247 - - - - - - 13.66 13.46 12.94
10019 764.2 9.1 466 10020 done 0.70 0.20 0.228 3127 -270.0 - - 2238 - 130.5 - - 2513 - - - - - - - - 13.83 14.21 14.14
10351 738.3 7.6 472 10352 done 0.70 - - 3128 - - - 2238 - 133.5 - - 2511 - - - - - - - - 14.61 14.61 14.59
10687 715.2 6.6 478 10720 roll 0.73 - - 3126 - 2.83 0.147 3671 506.4 155.1 26.77 1.839 2424 -3.2 0.264 - - - - - - 14.62 14.12 13.54
10763 709.8 7.8 489 10767 done 0.73 - - 3138 - 2.45 0.046 2266 -573.5 155.1 - - 2419 - - - - - - - - 14.25 14.18 14.28
11079 688.4 6.7 499 11104 done 0.75 - - 3138 - - - 2260 - 175.7 23.42 1.831 2351 -2.9 0.228 - - - - - - 14.59 14.28 13.57
11415 663.8 7.5 505 11420 roll 0.76 - - 3137 - 2.88 0.146 3658 485.4 180.3 - - 2332 - - - - - - - - 14.58 13.78 14.58
11498 656.5 8.8 517 11502 done 0.76 - - 3148 - 2.45 0.045 2261 -570.2 180.3 - - 2332 - - - - - - - - 14.28 14.21 14.31
11863 623.8 9.3 527 11867 roll 0.76 - - 3159 - 2.58 0.055 854 -545.3 180.3 - - 2330 - - - - - - - - 14.60 13.96 14.60
11919 618.4 9.8 535 11924 done 0.76 - - 3158 - 2.60 0.072 2259 540.4 180.3 - - 2329 - - - - - - - - 14.12 13.87 14.16
12255 585.2 10.0 548 12259 roll 0.76 - - 3158 - 2.90 0.155 3660 483.1 180.3 - - 2330 - - - - - - - - 14.64 13.80 14.65
12311 579.3 10.6 556 12316 done 0.66 0.20 0.223 3116 -210.0 2.47 0.046 2257 -568.0 180.3 - - 2330 - - - - - - - - 13.71 14.13 14.00
12647 555.0 6.8 569 12671 done 0.68 - - 3116 - - - 2252 - 198.3 23.30 1.722 2262 -2.9 0.197 - - - - - - 14.64 14.29 13.55
12983 533.7 6.3 575 13022 roll 0.71 - - 3115 - 2.90 0.151 3669 488.6 226.3 31.58 1.622 2141 -3.8 0.264 - - - - - - 14.59 14.04 13.52
13073 527.3 7.7 588 13077 done 0.71 - - 3123 - 2.47 0.047 2255 -572.5 227.8 - - 2135 - - - - - - - - 14.26 14.18 14.28
13431 501.1 7.4 597 13441 roll 0.72 - - 3133 - 2.58 0.056 856 -542.2 235.1 2.40 0.610 2115 -8.3 1.432 - - - - - - 14.58 14.09 13.17
13472 498.0 7.2 603 13499 done 0.74 - - 3133 - 2.62 0.073 2259 535.5 245.5 16.67 1.717 2070 -2.7 0.164 - - - - 1 - 14.18 13.95 12.90
13823 470.4 8.0 618 13828 roll 0.74 - - 3132 - 2.90 0.158 3668 485.9 245.5 - - 2066 - - - - - - - - 14.58 13.76 14.58
13871 465.9 9.3 625 13877 done 0.74 - - 3143 - 2.50 0.047 2254 -565.6 245.5 - - 2065 - - - - - - - - 14.28 14.21 14.31
14215 435.4 8.9 632 14220 roll 0.74 - - 3153 - 2.55 0.056 856 -548.2 245.5 - - 2064 - - - - - - - - 14.58 13.94 14.58
14256 431.6 9.0 638 14262 done 0.74 - - 3154 - 2.65 0.075 2256 528.3 245.5 - - 2064 - - - - - - - - 14.16 13.90 14.21
14607 399.7 9.2 646 14608 done 0.74 - - 3153 - - - 2255 - 245.5 - - 2065 - - - - - - - - 14.58 14.58 14.59
14943 366.4 10.0 652 14944 done 0.74 - - 3153 - - - 2255 - 245.5 - - 2064 - - - - - - - - 14.62 14.62 14.62
15279 334.5 9.2 658 15284 roll 0.74 - - 3162 - 2.60 0.057 857 -537.7 245.5 - - 2064 - - - - - - - - 14.57 13.89 14.57
15306 332.0 8.9 662 15311 done 0.74 - - 3162 - 2.67 0.077 2255 523.6 245.5 - - 2064 - - - - - - - - 14.08 13.82 14.14
15671 299.4 9.1 672 15672 done 0.74 - - 3161 - - - 2255 - 245.5 - - 2064 - - - - - - - - 14.63 14.63 14.63
16007 268.8 9.0 678 16007 done 0.74 - - 3161 - - - 2255 - 245.5 - - 2064 - - - - - - - - 14.57 14.57 14.57
16343 239.9 8.6 684 16348 roll 0.74 - - 3168 - 2.62 0.057 852 -535.5 245.5 - - 2063 - - - - - - - - 14.57 13.87 14.57
16405 234.3 8.8 693 16410 done 0.74 0.10 0.207 3142 -260.0 2.70 0.080 2260 521.5 245.5 - - 2063 - - - - - - - - 13.81 13.80 14.07
16735 208.5 7.8 705 16740 roll 0.74 - - 3141 - 2.90 0.154 3671 486.6 245.5 - - 2064 - - - - - - - - 14.54 13.83 14.57
16769 205.6 8.3 710 16775 done 0.74 - - 3151 - 2.55 0.048 2240 -561.2 245.5 - - 2064 - - - - - - - - 14.17 14.09 14.19
17127 175.3 8.7 719 17132 roll 0.74 - - 3160 - 2.53 0.056 862 -544.7 245.5 - - 2063 - - - - - - - - 14.63 13.84 14.63
17168 171.4 9.4 725 17173 done 0.74 - - 3161 - 2.65 0.074 2254 525.3 245.5 - - 2063 - - - - - - - - 14.07 13.81 14.13
17519 139.5 8.8 733 17524 roll 0.74 - - 3161 - 2.92 0.160 3668 484.2 245.5 - - 2063 - - - - - - - - 14.57 13.83 14.56
17567 135.2 9.1 740 17573 done 0.74 0.12 0.218 3136 -208.3 2.53 0.047 2248 -561.3 245.5 - - 2063 - - - - - - - - 13.65 14.04 13.88
17912 111.2 7.4 747 17916 done 0.74 - - 3136 - - - 2243 - 252.4 2.88 0.262 2046 -5.9 0.524 - - - - - - 14.56 14.17 13.60
18219 89.0 5.7 755 18252 roll 0.87 0.08 0.137 3203 837.5 2.92 0.159 3662 486.0 292.6 25.48 0.431 1889 -6.2 0.266 - - - - - - 14.17 13.98 13.90
18275 84.9 8.4 763 18280 done 0.87 0.10 0.231 3185 -180.0 2.47 0.047 2253 -570.4 292.6 - - 1892 - - - - - - - - 13.79 14.16 14.04
18615 69.3 3.0 778 18678 roll 1.09 0.12 0.095 3269 700.0 2.90 0.157 3660 485.2 387.1 54.90 0.377 1509 -7.0 0.268 - - - - - - 14.12 14.07 13.96
18771 57.0 7.6 798 18779 done 1.09 - - 3278 - 2.47 0.046 2248 -571.7 389.4 2.30 0.222 1498 -4.8 0.257 - - - - - - 14.26 14.18 13.64
19087 33.2 7.8 810 19092 roll 1.09 - - 3288 - 2.53 0.057 862 -547.8 389.4 - - 1507 - - - - - - - - 14.62 13.95 14.62
19191 25.1 7.3 825 19204 done 1.10 0.10 0.216 3261 -270.0 2.65 0.076 2264 529.1 398.2 6.88 0.226 1463 -6.4 0.149 - - - - - - 13.81 13.84 13.93
19539 2.1 6.2 841 19545 VBD 1.22 - - 3260 - - - 2264 - 428.6 4.25 0.175 1447 -3.8 0.009 - - - - - - 14.59 - 14.59
19545 end climb: SURFACE_DEPTH_REACHED
19545 begin surface coast
19591 end surface coast: CONTROL_FINISHED_OK
19591 begin surface
SM -2.13 - - - - -8.40 9.05 0.054 191 21.1 1.08 0.150 2775 -5639.8 500.14 50.40 0.148 1058 21.0 0.031 - - - - - -