SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 783 * Raw log
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• Previous call tries 1 • 265.19 of 350.00 AH used of 24V (24.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.7 deg, depth -2.98 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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 - - - 101 done -0.93 - - 106 - - - 2785 - -107.1 -79.57 - 3479 - - - - - - - - 14.49 12.39 14.44
106 3.1 -10.6 3 123 roll -0.93 12.10 0.384 2591 205.4 2.53 0.034 1345 -569.2 -107.1 - - 3480 - - - - - - - - 13.91 14.27 14.28
180 28.7 -20.4 14 186 done -0.73 0.30 0.246 2658 223.3 2.88 0.115 2773 495.8 -107.1 - - 3480 - - - - - - - - 13.71 13.85 14.04
496 69.3 -9.7 26 500 roll -0.73 - - 2650 - 2.20 0.179 3833 481.8 -107.1 - - 3481 - - - - - - - - 14.68 13.81 14.68
564 76.4 -9.4 36 569 done -0.73 - - 2651 - 1.85 0.055 2730 -596.2 -107.1 - - 3481 - - - - - - - - 14.28 14.21 14.30
887 101.0 -8.3 49 893 roll -0.73 - - 2650 - 2.38 0.041 1390 -563.0 -107.1 - - 3482 - - - - - - - - 14.66 14.03 14.66
1000 108.9 -6.2 65 1006 done -0.73 - - 2641 - 2.75 0.108 2769 501.5 -107.1 - - 3480 - - - - - - - - 14.07 13.76 14.12
1336 136.3 -9.1 78 1337 done -0.73 - - 2640 - - - 2768 - -107.1 - - 3480 - - - - - - - - 14.71 14.71 14.71
1672 170.8 -9.8 84 1677 roll -0.73 - - 2640 - 2.50 0.042 1389 -551.6 -107.1 - - 3480 - - - - - - - - 14.71 13.89 14.71
1748 179.0 -8.6 95 1753 done -0.73 0.10 0.237 2658 180.0 2.75 0.109 2766 500.7 -107.1 - - 3479 - - - - - - - - 13.77 13.76 14.03
2064 204.5 -8.2 105 2070 roll -0.73 - - 2659 - 2.50 0.043 1396 -548.0 -107.1 - - 3476 - - - - - - - - 14.66 14.00 14.66
2105 207.7 -12.4 111 2110 done -0.73 - - 2649 - 2.72 0.107 2764 502.9 -107.1 - - 3476 - - - - - - - - 14.08 13.78 14.14
2456 238.7 -9.6 119 2461 roll -0.73 - - 2649 - 2.50 0.042 1391 -549.2 -107.1 - - 3473 - - - - - - - - 14.70 13.97 14.71
2490 242.0 -9.5 124 2495 done -0.73 - - 2641 - 2.78 0.111 2766 494.6 -107.1 - - 3472 - - - - - - - - 14.08 13.77 14.14
2848 272.3 -8.5 133 2849 done -0.73 - - 2641 - - - 2766 - -107.1 - - 3471 - - - - - - - - 14.66 14.66 14.66
3184 302.8 -9.1 139 3189 roll -0.73 - - 2640 - 2.53 0.043 1392 -543.1 -107.1 - - 3469 - - - - - - - - 14.66 13.99 14.66
3232 307.4 -9.2 146 3239 done -0.73 0.10 0.240 2658 180.0 2.80 0.108 2767 491.1 -107.1 - - 3468 - - - - - - - - 13.76 13.75 14.02
3576 333.6 -7.4 153 3582 roll -0.73 - - 2658 - 2.53 0.043 1390 -544.3 -107.1 - - 3465 - - - - - - - - 14.65 13.97 14.65
3624 337.2 -7.2 160 3631 done -0.82 - - 2649 - 2.80 0.109 2760 489.3 -107.1 - - 3465 - - - - - - - - 14.08 13.77 14.13
3968 363.6 -7.8 167 3973 roll -0.82 - - 2649 - 2.50 0.042 1392 -547.2 -107.1 - - 3463 - - - - - - - - 14.71 13.95 14.71
4009 367.1 -8.3 173 4015 done -0.82 - - 2641 - 2.72 0.109 2761 503.3 -107.1 - - 3463 - - - - - - - - 14.08 13.76 14.14
4360 396.5 -8.4 181 4366 roll -0.82 - - 2641 - 2.50 0.043 1390 -548.4 -107.1 - - 3461 - - - - - - - - 14.70 13.95 14.70
4401 400.2 -8.3 187 4406 done -0.82 - - 2631 - 2.75 0.110 2748 493.8 -107.1 - - 3461 - - - - - - - - 14.02 13.69 14.07
4752 431.5 -9.0 195 4757 roll -0.82 - - 2622 - 2.28 0.174 3826 472.8 -107.1 - - 3459 - - - - - - - - 14.70 13.65 14.71
4793 435.4 -9.6 201 4799 done -0.82 - - 2623 - 1.85 0.063 2783 -563.8 -107.1 - - 3459 - - - - - - - - 14.16 14.07 14.19
5144 467.4 -9.1 209 5150 roll -0.82 - - 2622 - 2.60 0.042 1363 -546.2 -107.1 - - 3457 - - - - - - - - 14.65 13.91 14.64
5234 475.6 -9.1 222 5239 done -0.82 - - 2610 - 2.83 0.108 2756 492.2 -107.1 - - 3457 - - - - - - - - 14.13 13.83 14.19
5592 508.9 -9.4 231 5593 done -0.82 - - 2613 - - - 2756 - -107.1 - - 3456 - - - - - - - - 14.69 14.70 14.69
5928 541.0 -9.4 237 5934 roll -0.82 - - 2612 - 2.60 0.044 1353 -539.6 -107.1 - - 3455 - - - - - - - - 14.64 13.92 14.65
5969 545.0 -9.6 243 5974 done -0.82 0.10 0.243 2631 190.0 2.83 0.109 2745 491.9 -107.1 - - 3453 - - - - - - - - 13.83 13.82 14.09
6320 574.8 -8.3 251 6321 done -0.82 - - 2631 - - - 2745 - -107.1 - - 3453 - - - - - - - - 14.69 14.69 14.69
6656 601.8 -7.9 257 6662 roll -0.82 - - 2631 - 2.58 0.044 1356 -538.4 -107.1 - - 3451 - - - - - - - - 14.69 13.90 14.69
6704 605.7 -7.7 264 6711 done -0.82 - - 2621 - 2.83 0.106 2741 489.4 -107.1 - - 3451 - - - - - - - - 14.04 13.72 14.09
7048 632.1 -7.6 271 7053 roll -0.82 - - 2620 - 2.55 0.043 1357 -542.7 -107.1 - - 3449 - - - - - - - - 14.64 13.91 14.64
7075 634.5 -8.9 275 7080 done -0.82 - - 2612 - 2.80 0.109 2744 495.4 -107.1 - - 3449 - - - - - - - - 14.12 13.81 14.17
7440 663.0 -7.8 285 7441 done -0.82 - - 2612 - - - 2745 - -107.1 - - 3449 - - - - - - - - 14.64 14.64 14.64
7776 690.1 -8.0 291 7781 roll -0.82 - - 2611 - 2.58 0.043 1354 -539.1 -107.1 - - 3447 - - - - - - - - 14.60 13.88 14.64
7817 693.7 -8.6 297 7823 done -0.82 0.12 0.231 2637 216.7 2.83 0.106 2752 494.0 -107.1 - - 3447 - - - - - - - - 13.80 13.80 14.07
8168 720.3 -7.7 305 8174 roll -0.82 - - 2637 - 2.60 0.044 1353 -538.1 -107.1 - - 3446 - - - - - - - - 14.68 13.87 14.68
8216 724.2 -7.9 312 8223 done -0.90 - - 2622 - 2.83 0.105 2735 488.3 -107.1 - - 3446 - - - - - - - - 14.06 13.74 14.12
8560 750.8 -7.7 319 8565 roll -0.90 - - 2626 - 2.58 0.044 1356 -534.5 -107.1 - - 3444 - - - - - - - - 14.68 13.88 14.68
8601 754.4 -8.4 325 8607 done -0.90 - - 2617 - 2.80 0.106 2731 491.1 -107.1 - - 3444 - - - - - - - - 14.00 13.67 14.05
8952 782.5 -8.1 333 8953 done -0.90 - - 2617 - - - 2731 - -107.1 - - 3443 - - - - - - - - 14.63 14.63 14.63
9171 end dive: TARGET_DEPTH_EXCEEDED
9171 begin apogee
9183 800.7 -8.1 337 9290 roll -0.23 0.75 0.181 2823 274.7 - - 2236 - - 100.40 2.516 3051 -3.9 0.252 - - - - 1 - 13.59 13.62 12.52
9292 end apogee: CONTROL_FINISHED_OK
9292 begin climb
9297 804.4 - 339 9437 roll 0.93 1.12 0.085 3177 316.1 2.60 0.052 859 -529.6 107.1 128.77 1.778 2621 -3.3 0.306 - - - - - - 13.52 13.58 12.44
9486 803.2 5.8 367 9534 done 0.85 - - 3177 - 2.80 0.072 2252 497.5 145.3 43.47 1.748 2470 -3.5 0.324 - - - - - - 13.31 13.11 12.53
9851 772.2 8.8 384 9856 roll 0.74 0.10 0.241 3145 -320.0 2.90 0.154 3667 487.9 145.3 - - 2452 - - - - - - - - 13.77 13.78 13.93
9892 768.3 9.2 390 9897 done 0.63 0.17 0.226 3109 -211.8 2.50 0.053 2246 -568.4 145.3 - - 2452 - - - - - - - - 13.78 14.16 14.09
10243 744.1 6.9 398 10261 done 0.65 - - 3108 - - - 2241 - 162.2 16.55 1.864 2403 -3.0 0.240 - - - - - - 14.63 14.33 13.54
10579 720.1 7.1 404 10590 roll 0.66 - - 3109 - 2.88 0.158 3667 495.1 174.1 4.78 1.634 2360 -9.0 0.804 - - - - - - 14.64 14.07 13.20
10627 716.4 7.9 411 10634 done 0.66 - - 3119 - 2.50 0.054 2246 -568.4 174.1 2.42 0.670 2354 -2.5 0.537 - - - - - - 14.31 14.22 13.08
10971 691.3 7.3 418 10991 done 0.68 - - 3116 - - - 2245 - 183.5 17.98 1.869 2318 -2.0 0.150 - - - - - - 14.61 14.34 13.57
11300 666.9 7.4 430 11306 roll 0.68 - - 3129 - 2.58 0.056 863 -535.7 190.4 1.52 0.223 2289 -19.1 11.568 - - - - - - 14.63 14.09 13.95
11327 664.9 7.1 434 11356 done 0.70 - - 3129 - 2.60 0.076 2257 536.2 202.4 17.15 1.879 2239 -2.9 0.209 - - - - 1 - 14.14 13.88 13.59
11692 636.9 7.7 444 11697 roll 0.70 - - 3128 - 2.92 0.160 3663 481.5 202.6 - - 2238 - - - - - - - - 14.62 13.71 14.63
11726 634.0 8.7 449 11732 done 0.70 - - 3138 - 2.47 0.050 2253 -570.9 202.6 - - 2238 - - - - - - - - 14.28 14.20 14.29
12084 605.1 8.1 458 12089 roll 0.70 - - 3148 - 2.58 0.057 850 -543.8 202.6 - - 2237 - - - - - - - - 14.64 13.88 14.64
12125 601.6 8.5 464 12130 done 0.70 - - 3148 - 2.65 0.075 2250 528.3 202.6 - - 2237 - - - - - - - - 14.07 13.81 14.12
12476 571.9 8.5 472 12481 roll 0.70 - - 3146 - 2.95 0.160 3658 477.3 202.6 - - 2237 - - - - - - - - 14.60 13.75 14.61
12510 568.8 8.9 477 12516 done 0.70 0.10 0.237 3131 -150.0 2.50 0.049 2247 -564.4 202.6 - - 2237 - - - - - - - - 13.67 14.01 13.93
12869 543.1 7.0 486 12888 done 0.72 - - 3131 - - - 2243 - 217.1 18.80 1.725 2185 -2.8 0.177 - - - - - - 14.64 14.33 13.54
13204 519.3 7.1 492 13215 done 0.73 - - 3131 - - - 2243 - 230.1 5.15 1.621 2137 -9.3 0.605 - - - - - - 14.59 14.38 13.43
13540 495.1 7.3 505 13565 roll 0.74 - - 3141 - 2.50 0.057 859 -553.6 239.4 19.52 1.672 2088 -2.5 0.151 - - - - - - 14.64 14.22 13.59
13596 491.0 7.5 513 13602 done 0.75 - - 3141 - 2.65 0.075 2255 526.8 243.8 - - 2081 - - - - - - - - 14.12 13.88 14.16
13932 462.3 8.7 526 13937 roll 0.75 - - 3141 - 2.92 0.157 3664 482.5 243.8 - - 2080 - - - - - - - - 14.57 13.71 14.57
13966 458.9 10.0 531 13971 done 0.75 - - 3149 - 2.50 0.050 2240 -569.6 243.8 - - 2080 - - - - - - - - 14.24 14.16 14.26
14324 425.0 9.6 540 14329 roll 0.75 - - 3160 - 2.55 0.057 855 -543.1 243.8 - - 2079 - - - - - - - - 14.58 13.89 14.59
14358 421.5 10.2 545 14364 done 0.75 - - 3160 - 2.65 0.076 2251 526.8 243.8 - - 2078 - - - - - - - - 14.07 13.81 14.12
14716 385.1 10.3 554 14721 roll 0.75 - - 3160 - 2.95 0.161 3660 477.6 243.8 - - 2078 - - - - - - - - 14.59 13.75 14.59
14743 382.1 11.0 558 14748 done 0.75 - - 3170 - 2.50 0.049 2246 -565.6 243.8 - - 2078 - - - - - - - - 14.19 14.10 14.21
15108 344.2 10.3 568 15113 roll 0.75 - - 3179 - 2.58 0.057 853 -539.9 243.8 - - 2078 - - - - - - - - 14.63 13.81 14.64
15149 339.9 10.4 574 15155 done 0.75 0.12 0.203 3145 -283.3 2.67 0.079 2249 522.8 243.8 - - 2078 - - - - - - - - 13.74 13.78 13.98
15500 308.5 9.0 582 15505 roll 0.75 - - 3143 - 2.95 0.158 3661 478.6 243.8 - - 2078 - - - - - - - - 14.59 13.75 14.59
15570 301.5 10.2 592 15574 done 0.75 - - 3153 - 2.53 0.050 2236 -563.2 243.8 - - 2078 - - - - - - - - 14.14 14.06 14.16
15892 272.4 8.9 603 15897 roll 0.75 - - 3164 - 2.55 0.057 861 -539.2 243.8 - - 2078 - - - - - - - - 14.58 13.81 14.58
15927 269.3 9.1 608 15931 done 0.75 - - 3164 - 2.67 0.077 2255 522.1 243.8 - - 2079 - - - - - - - - 14.01 13.73 14.06
16284 236.4 9.3 617 16290 roll 0.75 - - 3164 - 2.97 0.161 3667 475.4 243.8 - - 2077 - - - - - - - - 14.64 13.71 14.64
16319 232.9 10.1 622 16324 done 0.75 0.10 0.236 3146 -180.0 2.53 0.050 2245 -562.1 243.8 - - 2078 - - - - - - - - 13.64 14.06 13.89
16676 202.6 8.4 631 16681 roll 0.75 - - 3156 - 2.58 0.056 857 -538.0 243.8 - - 2078 - - - - - - - - 14.60 13.78 14.60
16753 196.1 8.3 642 16757 done 0.75 - - 3156 - 2.65 0.076 2249 525.3 243.8 - - 2078 - - - - - - - - 14.00 13.74 14.06
17069 171.2 7.8 652 17073 roll 0.75 - - 3156 - 2.97 0.161 3662 475.8 243.8 - - 2078 - - - - - - - - 14.60 13.71 14.60
17124 166.4 8.7 660 17129 done 0.75 - - 3166 - 2.53 0.050 2240 -562.1 243.8 - - 2078 - - - - - - - - 14.16 14.07 14.18
17460 139.4 8.1 673 17461 done 0.75 - - 3166 - - - 2236 - 243.8 - - 2078 - - - - - - - - 14.60 14.60 14.60
17796 109.7 8.9 679 17801 roll 0.75 - - 3175 - 2.55 0.057 863 -538.4 243.8 - - 2078 - - - - - - - - 14.61 13.76 14.61
17830 106.6 9.0 684 17835 done 0.75 0.10 0.206 3145 -300.0 2.65 0.078 2249 523.0 243.8 - - 2078 - - - - - - - - 13.77 13.77 14.00
18161 80.9 7.3 696 18172 roll 0.76 - - 3145 - 2.90 0.162 3666 488.6 251.6 4.47 0.317 2053 -5.6 0.289 - - - - - - 14.58 13.92 13.74
18188 79.0 6.9 700 18206 done 0.78 - - 3155 - 2.53 0.049 2234 -566.0 268.1 11.65 0.392 1981 -6.2 0.253 - - - - - - 14.19 14.11 13.88
18529 58.5 5.0 715 18571 roll 0.94 0.08 0.138 3229 925.0 2.53 0.057 862 -542.3 323.2 32.88 0.343 1767 -6.5 0.225 - - - - - - 14.19 14.24 13.95
18661 51.2 5.7 734 18691 done 0.99 - - 3229 - 2.62 0.074 2250 529.8 364.3 24.90 0.322 1596 -6.9 0.221 - - - - - - 14.12 13.88 13.93
19005 33.4 4.9 750 19046 roll 1.16 0.08 0.148 3304 937.5 2.90 0.163 3665 487.9 420.1 32.53 0.266 1377 -6.7 0.171 - - - - - - 14.18 14.07 14.05
19104 24.8 8.6 765 19112 done 1.16 0.15 0.227 3274 -200.0 2.47 0.048 2261 -568.4 420.1 - - 1380 - - - - - - - - 13.69 14.09 13.97
19421 3.2 5.5 777 19439 VBD 1.21 - - 3282 - - - 2254 - 465.2 16.83 0.169 1256 -7.4 0.028 - - - - - - 14.60 - 14.60
19439 end climb: SURFACE_DEPTH_REACHED
19439 begin surface coast
19472 end surface coast: CONTROL_FINISHED_OK
19472 begin surface
SM -2.01 - - - - -8.39 9.20 0.064 192 20.9 1.08 0.122 2774 -5522.2 500.14 26.38 0.153 1056 40.0 0.054 - - - - - -