SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 782 * Raw log
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• Previous call tries 1 • 264.87 of 350.00 AH used of 24V (24.32% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -67.2 deg, depth -2.84 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
18 - - - 101 done -0.93 - - 106 - - - 2779 - -107.1 -77.78 - 3476 - - - - - - - - 14.50 12.76 14.45
106 4.6 -13.5 3 123 roll -0.93 12.05 0.382 2590 206.1 2.47 0.033 1365 -572.5 -107.1 - - 3478 - - - - - - - - 13.92 14.28 14.28
222 40.7 -18.5 20 227 done -0.74 0.30 0.243 2658 226.7 2.78 0.107 2765 503.6 -107.1 - - 3478 - - - - - - - - 13.71 13.81 14.04
552 78.1 -8.1 34 556 roll -0.74 - - 2659 - 2.50 0.041 1374 -556.4 -107.1 - - 3479 - - - - - - - - 14.65 14.07 14.65
600 82.4 -6.2 41 607 done -0.74 - - 2649 - 2.75 0.104 2759 503.6 -107.1 - - 3479 - - - - - - - - 14.11 13.83 14.16
915 106.1 -8.1 52 920 roll -0.74 - - 2640 - 2.20 0.169 3831 487.3 -107.1 - - 3480 - - - - - - - - 14.66 13.81 14.66
971 112.4 -9.4 60 976 done -0.74 - - 2640 - 1.85 0.053 2712 -604.9 -107.1 - - 3480 - - - - - - - - 14.29 14.24 14.31
1308 142.0 -8.9 73 1313 roll -0.74 - - 2640 - 2.40 0.043 1375 -557.1 -107.1 - - 3478 - - - - - - - - 14.71 13.97 14.71
1335 146.3 -15.2 77 1341 done -0.74 0.10 0.239 2658 180.0 2.75 0.106 2758 502.9 -107.1 - - 3478 - - - - - - - - 13.79 13.81 14.05
1700 177.2 -8.2 87 1704 roll -0.74 - - 2658 - 2.53 0.044 1377 -545.8 -107.1 - - 3476 - - - - - - - - 14.67 13.97 14.67
1748 181.6 -8.0 94 1754 done -0.74 - - 2649 - 2.75 0.105 2751 499.6 -107.1 - - 3476 - - - - - - - - 14.09 13.80 14.14
2092 210.1 -8.3 101 2092 done -0.74 - - 2649 - - - 2751 - -107.1 - - 3473 - - - - - - - - 14.67 14.67 14.67
2428 236.5 -7.8 107 2432 roll -0.74 - - 2648 - 2.53 0.044 1372 -545.1 -107.1 - - 3471 - - - - - - - - 14.66 13.96 14.66
2518 244.4 -8.3 120 2522 done -0.74 - - 2641 - 2.78 0.106 2751 496.0 -107.1 - - 3470 - - - - - - - - 14.05 13.74 14.11
2875 274.7 -8.5 129 2881 roll -0.74 - - 2632 - 2.22 0.161 3829 485.6 -107.1 - - 3467 - - - - - - - - 14.67 13.69 14.67
2931 279.5 -8.4 137 2937 done -0.74 0.10 0.218 2661 290.0 1.88 0.051 2733 -583.0 -107.1 - - 3467 - - - - - - - - 13.76 14.18 13.97
3268 302.8 -6.8 150 3272 roll -0.74 - - 2661 - 2.42 0.041 1392 -554.1 -107.1 - - 3465 - - - - - - - - 14.66 13.95 14.66
3337 307.8 -6.7 160 3342 done -0.82 - - 2652 - 2.67 0.095 2746 507.1 -107.1 - - 3464 - - - - - - - - 14.02 13.71 14.07
3660 330.0 -6.9 171 3664 roll -0.82 - - 2652 - 2.50 0.042 1380 -546.4 -107.1 - - 3462 - - - - - - - - 14.66 13.95 14.67
3716 334.3 -7.1 179 3720 done -0.82 - - 2644 - 2.72 0.097 2751 504.0 -107.1 - - 3462 - - - - - - - - 14.03 13.73 14.09
4052 357.4 -6.9 192 4056 roll -0.82 - - 2644 - 2.50 0.043 1389 -544.8 -107.1 - - 3460 - - - - - - - - 14.71 13.80 14.71
4100 361.3 -7.3 199 4106 done -0.82 - - 2636 - 2.72 0.100 2739 496.3 -107.1 - - 3460 - - - - - - - - 14.06 13.76 14.11
4444 388.1 -8.0 206 4444 done -0.82 - - 2635 - - - 2739 - -107.1 - - 3458 - - - - - - - - 14.70 14.70 14.70
4780 415.4 -8.2 212 4780 done -0.82 - - 2636 - - - 2739 - -107.1 - - 3457 - - - - - - - - 14.71 14.71 14.71
5116 443.2 -8.4 218 5120 roll -0.82 - - 2635 - 2.50 0.043 1388 -540.4 -107.1 - - 3455 - - - - - - - - 14.71 13.90 14.71
5150 446.7 -9.6 223 5154 done -0.82 - - 2625 - 2.72 0.100 2744 498.5 -107.1 - - 3455 - - - - - - - - 14.02 13.70 14.08
5508 476.8 -8.6 232 5509 done -0.82 - - 2626 - - - 2744 - -107.1 - - 3454 - - - - - - - - 14.65 14.65 14.65
5844 506.4 -9.0 238 5848 roll -0.82 - - 2625 - 2.53 0.043 1383 -537.9 -107.1 - - 3452 - - - - - - - - 14.66 13.88 14.66
5885 510.5 -9.0 244 5889 done -0.82 - - 2616 - 2.72 0.100 2736 497.4 -107.1 - - 3452 - - - - - - - - 14.02 13.71 14.08
6236 542.5 -9.2 252 6241 roll -0.82 - - 2615 - 2.50 0.043 1387 -539.6 -107.1 - - 3450 - - - - - - - - 14.65 13.92 14.65
6270 546.0 -9.3 257 6275 done -0.82 - - 2606 - 2.70 0.102 2732 498.1 -107.1 - - 3450 - - - - - - - - 14.08 13.76 14.14
6628 577.8 -8.8 266 6632 roll -0.82 - - 2598 - 2.28 0.161 3832 482.5 -107.1 - - 3449 - - - - - - - - 14.65 13.66 14.65
6655 580.4 -9.6 270 6660 done -0.82 0.12 0.227 2630 266.7 1.90 0.056 2743 -573.2 -107.1 - - 3449 - - - - - - - - 13.62 14.12 13.88
7020 605.1 -6.6 280 7025 roll -0.82 - - 2632 - 2.53 0.042 1365 -544.7 -107.1 - - 3448 - - - - - - - - 14.71 13.87 14.69
7110 610.8 -6.2 293 7115 done -0.82 - - 2622 - 2.75 0.094 2737 498.9 -107.1 - - 3447 - - - - - - - - 14.00 13.68 14.05
7468 635.1 -7.0 302 7472 roll -0.82 - - 2613 - 2.25 0.155 3832 486.7 -107.1 - - 3446 - - - - - - - - 14.64 13.65 14.64
7509 638.6 -7.1 308 7513 done -0.82 - - 2613 - 1.92 0.056 2732 -572.9 -107.1 - - 3446 - - - - - - - - 14.18 14.11 14.20
7860 666.9 -8.3 316 7861 done -0.82 - - 2613 - - - 2731 - -107.1 - - 3445 - - - - - - - - 14.69 14.69 14.69
8196 696.5 -8.9 322 8200 roll -0.82 - - 2612 - 2.50 0.042 1367 -545.6 -107.1 - - 3442 - - - - - - - - 14.69 13.84 14.69
8272 703.6 -9.2 333 8278 done -0.82 0.10 0.248 2630 180.0 2.75 0.096 2736 497.8 -107.1 - - 3443 - - - - - - - - 13.65 13.66 13.93
8588 731.1 -8.8 343 8592 roll -0.82 - - 2622 - 2.25 0.158 3826 484.4 -107.1 - - 3440 - - - - - - - - 14.64 13.65 14.64
8629 735.1 -9.7 349 8634 done -0.82 - - 2622 - 1.95 0.056 2720 -567.2 -107.1 - - 3441 - - - - - - - - 14.16 14.08 14.17
8980 764.9 -8.5 357 8985 roll -0.82 - - 2621 - 2.50 0.042 1355 -546.0 -107.1 - - 3440 - - - - - - - - 14.63 13.85 14.63
9042 770.1 -7.9 366 9046 done -0.82 - - 2613 - 2.78 0.096 2738 497.5 -107.1 - - 3440 - - - - - - - - 14.07 13.78 14.14
9372 796.4 -7.9 378 9377 roll -0.82 - - 2611 - 2.55 0.043 1364 -538.8 -107.1 - - 3440 - - - - - - - - 14.63 13.87 14.63
9399 798.6 -7.7 382 9404 done -0.82 0.10 0.245 2629 180.0 2.72 0.098 2729 501.8 -107.1 - - 3439 - - - - - - - - 13.72 13.72 13.99
9415 end dive: TARGET_DEPTH_EXCEEDED
9415 begin apogee
9426 800.1 -7.5 385 9540 roll -0.23 0.68 0.172 2820 280.9 - - 2236 - - 111.90 1.818 3051 -3.5 0.332 - - - - - - 13.62 13.93 13.13
9542 end apogee: CONTROL_FINISHED_OK
9542 begin climb
9547 802.4 - 387 9681 roll 0.93 1.12 0.090 3184 325.0 2.55 0.052 855 -541.6 107.1 120.68 1.733 2615 -3.6 0.364 - - - - - - 13.78 13.85 12.79
9779 794.2 8.2 422 9784 done 0.81 - - 3184 - 2.67 0.070 2253 523.6 107.1 - - 2604 - - - - - - - - 13.88 13.68 13.93
10095 770.2 7.6 432 10101 roll 0.68 0.17 0.223 3125 -347.1 2.83 0.143 3664 498.6 109.6 - - 2602 - - - - - - - - 13.76 13.85 13.94
10129 767.8 7.1 437 10149 done 0.59 0.15 0.229 3093 -213.3 2.47 0.048 2235 -578.5 121.7 12.45 1.871 2561 -3.3 0.294 - - - - - - 13.81 14.20 13.47
10488 748.1 5.3 446 10554 roll 0.65 - - 3095 - 2.90 0.144 3655 489.7 170.5 57.95 1.714 2362 -3.4 0.326 - - - - - - 14.61 14.03 13.43
10591 741.2 7.4 461 10599 done 0.66 - - 3106 - 2.47 0.047 2251 -568.4 177.6 2.00 0.204 2340 -11.0 8.692 - - - - - - 14.13 14.05 11.55
10935 719.0 6.4 468 10973 done 0.69 - - 3106 - - - 2250 - 204.2 36.20 1.720 2240 -2.8 0.251 - - - - - - 14.59 14.22 13.54
11271 688.8 9.1 474 11272 done 0.69 - - 3105 - - - 2251 - 204.2 - - 2222 - - - - - - - - 14.58 14.58 14.58
11607 670.9 7.0 480 11632 roll 0.71 - - 3105 - 2.85 0.148 3658 493.7 219.7 16.70 1.822 2166 -3.4 0.269 - - - - - - 14.62 14.18 13.61
11648 667.7 8.8 486 11653 done 0.71 - - 3114 - 2.45 0.048 2261 -570.2 219.7 - - 2162 - - - - - - - - 14.29 14.21 14.31
11999 641.0 7.5 494 12004 roll 0.72 - - 3114 - 2.90 0.151 3659 482.1 224.4 - - 2157 - - - - - - - - 14.63 13.78 14.61
12026 637.6 12.4 498 12031 done 0.72 - - 3123 - 2.45 0.048 2250 -575.1 224.4 - - 2158 - - - - - - - - 14.32 14.24 14.34
12391 611.8 7.3 508 12397 done 0.73 - - 3123 - - - 2248 - 232.0 4.80 1.531 2124 -7.1 0.616 - - - - - - 14.62 14.40 13.31
12727 587.1 7.6 514 12738 roll 0.73 - - 3134 - 2.55 0.059 858 -545.1 235.5 4.18 1.388 2114 -2.4 0.220 - - - - - - 14.60 14.21 13.28
12775 583.2 8.4 521 12783 done 0.73 - - 3133 - 2.62 0.076 2254 532.8 235.5 2.12 0.389 2112 - - - - - - - - 14.17 13.92 12.90
13119 554.8 8.4 528 13130 roll 0.73 - - 3133 - 2.90 0.156 3665 486.6 235.5 2.17 0.431 2115 1.4 -0.387 - - - - - - 14.64 13.94 12.94
13167 550.4 9.8 535 13174 done 0.73 - - 3144 - 2.50 0.049 2254 -564.4 235.5 1.70 0.224 2111 -2.4 1.257 - - - - - - 14.23 14.14 13.88
13511 519.3 9.1 542 13517 roll 0.73 - - 3153 - 2.60 0.058 859 -536.5 235.5 1.83 0.217 2112 - - - - - - - - 14.64 14.05 13.95
13573 513.7 9.0 551 13579 done 0.73 - - 3153 - 2.65 0.078 2252 525.7 235.5 1.60 0.222 2112 - - - - - - - - 14.07 13.81 13.92
13889 487.0 8.4 561 13896 roll 0.73 - - 3153 - 2.92 0.158 3659 481.8 235.5 1.75 0.219 2113 - - - - - - - - 14.65 13.88 13.93
13917 484.4 8.7 565 13923 done 0.73 - - 3164 - 2.50 0.047 2243 -566.4 235.5 - - 2120 - - - - - - - - 14.19 14.12 14.21
14282 453.8 8.4 575 14288 roll 0.73 - - 3174 - 2.60 0.058 852 -535.0 235.5 1.67 0.220 2111 -5.4 2.418 - - - - - - 14.59 14.03 13.92
14323 450.1 9.1 581 14331 done 0.73 0.12 0.205 3139 -291.7 2.70 0.081 2250 517.8 235.5 - - 2119 - - - - - - - - 13.74 13.78 13.98
14667 421.5 8.5 588 14678 roll 0.73 - - 3138 - 2.92 0.155 3661 483.2 235.5 1.70 0.216 2114 -2.9 1.248 - - - - - - 14.64 13.88 13.91
14716 417.0 9.8 595 14722 done 0.73 - - 3147 - 2.53 0.050 2247 -558.9 235.5 - - 2119 - - - - - - - - 14.16 14.07 14.19
15060 385.2 9.3 602 15062 done 0.73 - - 3147 - - - 2242 - 235.5 1.42 0.224 2112 -4.9 1.844 - - - - - - 14.64 14.16 13.90
15395 354.5 9.1 608 15401 roll 0.73 - - 3158 - 2.55 0.058 855 -543.9 235.5 1.80 0.215 2111 - - - - - - - - 14.59 14.03 13.88
15422 351.8 9.4 612 15427 done 0.73 - - 3158 - 2.67 0.078 2250 522.5 235.5 - - 2119 - - - - - - - - 14.04 13.76 14.09
15787 317.5 9.5 622 15794 roll 0.73 - - 3157 - 2.95 0.159 3663 479.0 235.5 1.75 0.215 2112 -4.0 1.285 - - - - - - 14.66 13.87 13.88
15829 313.2 10.6 628 15836 done 0.73 0.10 0.237 3141 -160.0 2.53 0.049 2248 -559.3 235.5 1.50 0.215 2111 - - - - - - - - 13.66 14.07 13.88
16173 284.5 8.2 635 16179 roll 0.73 - - 3151 - 2.60 0.057 853 -536.5 235.5 1.80 0.214 2111 - - - - - - - - 14.64 14.02 13.86
16249 278.2 8.1 646 16255 done 0.73 - - 3151 - 2.65 0.075 2248 526.4 235.5 1.58 0.220 2111 - - - - - - - - 14.03 13.78 13.88
16607 249.8 7.9 655 16617 roll 0.73 - - 3150 - 2.95 0.155 3668 481.4 235.5 1.83 0.216 2114 1.6 -0.412 - - - - - - 14.61 13.86 13.89
16656 245.6 8.8 662 16662 done 0.73 - - 3161 - 2.53 0.049 2251 -560.1 235.5 1.38 0.230 2112 - - - - - - - - 14.16 14.08 13.89
17000 217.3 8.4 669 17006 roll 0.73 - - 3171 - 2.60 0.057 855 -536.9 235.5 1.90 0.213 2109 -1.6 0.350 - - - - - - 14.60 14.04 13.89
17049 213.0 8.8 676 17056 done 0.73 0.12 0.203 3143 -233.3 2.70 0.080 2256 518.9 235.5 1.17 0.222 2112 2.6 -0.535 - - - - - - 13.68 13.72 13.92
17393 184.9 8.2 683 17396 done 0.73 - - 3136 - - - 2256 - 235.5 1.95 0.212 2115 1.5 -0.292 - - - - - - 14.63 14.15 13.86
17728 158.5 7.7 689 17735 roll 0.73 - - 3135 - 2.92 0.156 3663 481.8 235.5 1.95 0.211 2113 - - - - - - - - 14.61 13.88 13.88
17764 155.5 8.7 694 17769 done 0.73 - - 3146 - 2.50 0.049 2246 -566.8 235.5 1.67 0.226 2112 - - - - - - - - 14.18 14.09 13.85
18115 128.9 7.5 702 18125 roll 0.74 - - 3145 - 2.88 0.156 3664 492.4 239.5 4.72 1.194 2102 -2.1 0.050 - - - - - - 14.59 13.93 13.20
18148 125.8 9.1 707 18154 done 0.74 - - 3154 - 2.47 0.049 2253 -571.3 239.5 2.17 0.411 2096 -2.8 0.184 - - - - - - 14.23 14.16 13.07
18471 96.2 9.2 715 18476 done 0.74 - - 3154 - - - 2249 - 239.5 2.30 0.219 2098 - - - - - - - - 14.58 14.16 13.78
18807 74.8 4.3 730 18853 roll 0.82 - - 3164 - 2.50 0.057 858 -556.4 308.5 39.80 0.393 1827 -6.8 0.282 - - - - - - 14.57 14.25 13.92
18937 66.3 8.0 748 18942 done 0.94 0.05 0.191 3213 980.0 2.65 0.078 2258 528.3 308.5 - - 1829 - - - - - - - - 14.01 13.87 14.14
19259 51.6 3.6 761 19313 roll 1.13 0.08 0.143 3283 875.0 2.78 0.156 3660 504.3 391.2 47.05 0.327 1491 -7.2 0.247 - - - - - - 14.21 14.12 13.99
19502 33.0 8.8 796 19508 done 1.13 - - 3293 - 2.47 0.047 2255 -568.8 391.2 - - 1494 - - - - - - - - 14.25 14.17 14.27
19818 7.2 7.7 808 19823 roll 1.13 - - 3303 - 2.55 0.060 859 -547.5 392.3 - - 1494 - - - - - - - - 14.60 13.93 14.60
19883 end climb: SURFACE_DEPTH_REACHED
19883 begin surface coast
19890 end surface coast: CONTROL_FINISHED_OK
19890 begin surface
SM -2.34 - - - - -8.40 9.52 0.083 186 19.5 3.80 0.106 2769 584.5 500.14 56.30 0.150 1056 18.8 0.030 - - - - - -