SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 794 * Raw log
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• Previous call tries 1 • 269.02 of 350.00 AH used of 24V (23.14% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.2 deg, depth -4.70 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
18 - - - 101 done -0.93 - - 107 - - - 2779 - -107.1 -78.55 - 3477 - - - - - - - - 14.54 12.82 14.50
106 2.5 -12.9 3 123 roll -0.93 11.93 0.378 2589 208.0 2.47 0.034 1364 -572.9 -107.1 - - 3479 - - - - - - - - 13.92 14.34 14.28
166 26.1 -23.0 12 171 done -0.67 0.38 0.243 2677 231.6 2.83 0.125 2766 495.4 -107.1 - - 3479 - - - - - - - - 13.79 13.90 14.11
496 70.5 -9.6 26 500 roll -0.67 - - 2677 - 2.47 0.042 1378 -561.9 -107.1 - - 3480 - - - - - - - - 14.66 14.17 14.66
557 76.3 -10.6 35 562 done -0.67 - - 2667 - 2.78 0.118 2769 500.4 -107.1 - - 3479 - - - - - - - - 14.14 13.83 14.20
888 99.4 -6.9 49 888 done -0.67 - - 2667 - - - 2768 - -107.1 - - 3481 - - - - - - - - 14.66 14.67 14.67
1196 118.8 -6.8 55 1197 done -0.67 - - 2665 - - - 2768 - -107.1 - - 3479 - - - - - - - - 14.68 14.69 14.69
1532 144.4 -7.1 61 1537 roll -0.67 - - 2667 - 2.50 0.044 1375 -557.2 -107.1 - - 3479 - - - - - - - - 14.69 14.12 14.69
1608 151.2 -7.4 72 1613 done -0.75 - - 2657 - 2.80 0.116 2770 498.2 -107.1 - - 3479 - - - - - - - - 14.09 13.76 14.16
1924 174.3 -7.6 82 1928 roll -0.75 - - 2657 - 2.53 0.042 1367 -554.5 -107.1 - - 3477 - - - - - - - - 14.69 14.16 14.69
1965 177.7 -7.6 88 1970 done -0.75 - - 2649 - 2.80 0.117 2761 497.9 -107.1 - - 3476 - - - - - - - - 14.09 13.74 14.14
2316 203.9 -7.7 96 2321 roll -0.75 - - 2648 - 2.50 0.042 1377 -553.6 -107.1 - - 3474 - - - - - - - - 14.71 14.13 14.71
2377 210.6 -9.7 105 2383 done -0.75 - - 2642 - 2.80 0.118 2757 492.9 -107.1 - - 3474 - - - - - - - - 14.07 13.74 14.14
2707 238.4 -8.9 117 2713 roll -0.75 - - 2642 - 2.50 0.042 1377 -552.0 -107.1 - - 3471 - - - - - - - - 14.69 14.11 14.68
2749 242.0 -7.7 123 2754 done -0.75 - - 2631 - 2.78 0.116 2753 495.0 -107.1 - - 3471 - - - - - - - - 14.07 13.73 14.12
3099 272.2 -8.3 131 3100 done -0.75 - - 2632 - - - 2753 - -107.1 - - 3468 - - - - - - - - 14.68 14.69 14.68
3436 299.2 -7.9 137 3441 roll -0.75 - - 2632 - 2.50 0.044 1376 -550.8 -107.1 - - 3467 - - - - - - - - 14.69 14.12 14.68
3492 303.3 -5.5 145 3498 done -0.75 0.10 0.231 2652 200.0 2.80 0.116 2751 491.1 -107.1 - - 3466 - - - - - - - - 13.76 13.71 14.02
3829 327.1 -6.6 158 3833 roll -0.75 - - 2652 - 2.50 0.042 1376 -550.0 -107.1 - - 3464 - - - - - - - - 14.71 14.12 14.69
3862 329.9 -7.6 163 3867 done -0.75 - - 2645 - 2.80 0.116 2755 492.5 -107.1 - - 3464 - - - - - - - - 14.04 13.70 14.12
4220 354.4 -6.7 172 4225 roll -0.75 - - 2644 - 2.50 0.043 1376 -551.6 -107.1 - - 3462 - - - - - - - - 14.66 14.11 14.66
4262 357.9 -4.2 178 4266 done -0.75 - - 2635 - 2.78 0.115 2746 492.8 -107.1 - - 3462 - - - - - - - - 14.02 13.68 14.08
4612 382.5 -6.9 186 4617 roll -0.75 - - 2635 - 2.47 0.042 1377 -554.3 -107.1 - - 3460 - - - - - - - - 14.67 14.13 14.67
4646 385.5 -10.5 191 4652 done -0.75 0.10 0.233 2653 180.0 2.78 0.113 2747 492.8 -107.1 - - 3460 - - - - - - - - 13.69 13.63 13.95
5004 409.2 -6.5 200 5005 done -0.75 - - 2653 - - - 2750 - -107.1 - - 3458 - - - - - - - - 14.70 14.71 14.69
5341 434.1 -7.0 206 5345 roll -0.75 - - 2653 - 2.50 0.043 1375 -550.0 -107.1 - - 3458 - - - - - - - - 14.66 14.12 14.66
5424 442.5 -8.8 218 5428 done -0.83 - - 2644 - 2.78 0.112 2743 492.1 -107.1 - - 3459 - - - - - - - - 14.01 13.66 14.08
5788 471.5 -8.1 228 5793 roll -0.83 - - 2644 - 2.50 0.042 1374 -547.6 -107.1 - - 3455 - - - - - - - - 14.67 14.09 14.66
5822 475.6 -12.1 233 5828 done -0.83 - - 2635 - 2.78 0.113 2747 493.9 -107.1 - - 3455 - - - - - - - - 14.03 13.69 14.09
6180 506.9 -9.0 242 6181 done -0.83 - - 2635 - - - 2754 - -107.1 - - 3454 - - - - - - - - 14.66 14.66 14.66
6516 535.6 -8.4 248 6521 roll -0.83 - - 2635 - 2.50 0.044 1373 -552.4 -107.1 - - 3452 - - - - - - - - 14.71 14.08 14.69
6572 541.6 -9.0 256 6577 done -0.83 - - 2625 - 2.78 0.112 2740 491.7 -107.1 - - 3452 - - - - - - - - 14.00 13.66 14.08
6908 568.2 -7.6 269 6914 roll -0.83 - - 2625 - 2.50 0.044 1373 -546.8 -107.1 - - 3451 - - - - - - - - 14.66 14.07 14.67
6956 573.5 -9.5 276 6963 done -0.83 - - 2616 - 2.78 0.112 2734 489.6 -107.1 - - 3451 - - - - - - - - 14.00 13.65 14.07
7301 597.5 -7.0 283 7302 done -0.83 - - 2616 - - - 2734 - -107.1 - - 3450 - - - - - - - - 14.67 14.67 14.67
7636 623.8 -8.0 289 7642 roll -0.83 - - 2615 - 2.50 0.044 1372 -544.8 -107.1 - - 3449 - - - - - - - - 14.67 14.06 14.67
7692 630.4 -8.6 297 7699 done -0.83 - - 2606 - 2.80 0.113 2741 488.9 -107.1 - - 3448 - - - - - - - - 14.00 13.64 14.06
8029 658.4 -8.6 310 8034 roll -0.83 - - 2598 - 2.35 0.185 3831 463.8 -107.1 - - 3447 - - - - - - - - 14.66 13.50 14.66
8056 660.7 -8.2 314 8061 done -0.83 0.12 0.226 2632 283.3 1.95 0.068 2741 -559.0 -107.1 - - 3447 - - - - - - - - 13.73 14.19 14.00
8421 685.7 -7.5 324 8426 roll -0.83 - - 2632 - 2.50 0.043 1359 -552.8 -107.1 - - 3450 - - - - - - - - 14.65 14.07 14.66
8483 691.0 -6.9 333 8489 done -0.83 - - 2622 - 2.78 0.106 2734 494.6 -107.1 - - 3445 - - - - - - - - 13.98 13.64 14.04
8813 717.3 -8.0 345 8818 roll -0.83 - - 2614 - 2.35 0.181 3833 467.7 -107.1 - - 3445 - - - - - - - - 14.69 13.50 14.70
8847 719.7 -8.6 350 8852 done -0.83 - - 2612 - 1.98 0.069 2730 -557.1 -107.1 - - 3444 - - - - - - - - 14.27 14.20 14.29
9205 749.4 -8.6 359 9210 roll -0.83 - - 2612 - 2.50 0.044 1350 -552.0 -107.1 - - 3443 - - - - - - - - 14.70 14.07 14.69
9323 759.7 -6.8 376 9328 done -0.83 - - 2604 - 2.78 0.103 2731 496.8 -107.1 - - 3443 - - - - - - - - 13.97 13.62 14.06
9653 787.5 -8.7 388 9658 roll -0.83 - - 2610 - 2.53 0.044 1356 -543.5 -107.1 - - 3442 - - - - - - - - 14.66 14.03 14.66
9694 792.2 -9.6 394 9699 done -0.83 0.12 0.229 2628 150.0 2.78 0.104 2732 495.0 -107.1 - - 3442 - - - - - - - - 13.63 13.65 13.92
9816 end dive: TARGET_DEPTH_EXCEEDED
9816 begin apogee
9827 802.2 -7.7 398 9932 roll -0.23 0.68 0.172 2821 283.8 0.10 0.215 2267 -4650.0 - 95.90 2.730 3053 -4.1 0.257 - - - - 1 - 13.69 13.40 12.38
9933 end apogee: CONTROL_FINISHED_OK
9934 begin climb
9938 807.7 - 400 10067 roll 0.93 1.15 0.086 3180 312.2 2.67 0.051 872 -522.5 107.1 111.75 2.759 2627 -3.8 0.241 - - - - 1 - 13.45 13.48 11.63
10131 806.4 5.0 428 10214 done 0.86 - - 3180 - 2.80 0.069 2237 487.5 162.5 73.05 1.857 2395 -3.2 0.298 - - - - - - 12.98 12.80 12.00
10557 769.5 9.5 446 10558 done 0.76 0.12 0.224 3148 -266.7 - - 2237 - 162.5 - - 2386 - - - - - - - - 13.32 13.64 13.59
10888 740.5 8.2 452 10893 roll 0.76 - - 3147 - 2.95 0.151 3667 484.7 162.5 - - 2385 - - - - - - - - 14.40 13.71 14.40
10915 738.9 5.2 456 10977 done 0.75 - - 3158 - 2.50 0.051 2256 -564.4 213.3 57.65 1.777 2200 -3.2 0.288 - - - - - - 14.09 14.01 12.97
11333 699.3 9.8 473 11339 roll 0.75 - - 3169 - 2.55 0.056 868 -544.3 213.3 - - 2182 - - - - - - - - 14.42 13.97 14.43
11367 697.3 8.6 478 11372 done 0.75 - - 3169 - 2.60 0.071 2248 530.8 213.3 - - 2180 - - - - - - - - 14.12 13.90 14.16
11725 661.8 9.4 487 11730 roll 0.75 - - 3169 - 2.90 0.151 3663 487.9 213.3 - - 2180 - - - - - - - - 14.57 13.75 14.57
11753 660.1 6.9 491 11780 done 0.69 0.20 0.210 3124 -225.0 2.47 0.049 2252 -571.3 230.8 17.70 1.822 2123 -3.2 0.252 - - - - - - 13.74 14.14 13.43
12117 629.9 8.3 501 12118 done 0.69 - - 3124 - - - 2252 - 230.8 - - 2117 - - - - - - - - 14.54 14.54 14.54
12453 605.0 7.2 507 12459 done 0.70 - - 3124 - - - 2251 - 241.7 4.50 1.558 2086 -6.9 0.578 - - - - - - 14.61 14.35 13.12
12790 576.4 8.4 513 12792 done 0.70 - - 3125 - - - 2251 - 241.7 1.52 0.224 2087 - - - - - - - - 14.62 14.17 13.88
13125 548.3 8.5 519 13131 roll 0.70 - - 3134 - 2.60 0.056 859 -535.4 241.7 1.80 0.218 2086 - - - - - - - - 14.59 14.12 13.88
13159 547.4 10.9 524 13164 done 0.70 - - 3134 - 2.62 0.069 2255 532.8 241.7 - - 2091 - - - - - - - - 14.11 13.86 14.16
13517 518.5 8.2 533 13523 roll 0.70 - - 3134 - 2.90 0.148 3663 485.5 241.7 - - 2095 - - - - - - - - 14.60 13.69 14.60
13565 513.3 11.7 540 13572 done 0.70 - - 3145 - 2.53 0.047 2241 -562.1 241.7 1.00 0.250 2089 -6.0 2.661 - - - - - - 14.22 14.14 13.93
13909 485.0 8.4 547 13910 done 0.70 - - 3145 - - - 2236 - 241.7 - - 2094 - - - - - - - - 14.64 14.66 14.64
14245 455.4 8.9 553 14246 done 0.70 - - 3145 - - - 2235 - 241.7 - - 2095 - - - - - - - - 14.65 14.64 14.64
14581 429.0 8.4 559 14586 roll 0.70 - - 3143 - 2.95 0.141 3663 484.1 241.7 - - 2095 - - - - - - - - 14.66 13.64 14.66
14615 425.3 10.2 564 14621 done 0.70 - - 3155 - 2.50 0.046 2244 -567.6 241.7 1.48 0.223 2087 -5.4 2.227 - - - - - - 14.26 14.14 13.88
14973 394.5 8.8 573 14979 roll 0.70 - - 3166 - 2.58 0.057 846 -541.9 241.7 - - 2094 - - - - - - - - 14.64 13.91 14.63
15007 392.7 6.6 578 15047 done 0.73 0.10 0.205 3137 -290.0 2.62 0.068 2250 535.9 263.7 32.08 1.501 1993 -3.1 0.178 - - - - - - 13.77 13.81 13.50
15370 363.8 8.5 594 15374 roll 0.73 - - 3136 - 2.83 0.139 3662 498.9 263.7 - - 1984 - - - - - - - - 14.57 13.79 14.57
15410 360.1 8.1 600 15415 done 0.73 - - 3153 - 2.47 0.044 2241 -575.3 263.7 - - 1983 - - - - - - - - 14.34 14.23 14.35
15761 329.9 8.5 608 15766 roll 0.73 - - 3157 - 2.53 0.058 855 -547.8 263.7 - - 1982 - - - - - - - - 14.67 13.94 14.67
15802 326.9 8.7 614 15807 done 0.73 - - 3157 - 2.60 0.064 2252 537.3 263.7 - - 1982 - - - - - - - - 14.12 13.89 14.19
16153 295.2 9.1 622 16157 roll 0.73 - - 3156 - 2.85 0.138 3663 495.1 263.7 - - 1982 - - - - - - - - 14.64 13.73 14.64
16187 292.5 8.4 627 16192 done 0.73 0.10 0.223 3138 -180.0 2.47 0.042 2245 -574.1 263.7 - - 1982 - - - - - - - - 13.81 14.15 14.06
16545 262.8 8.3 636 16550 roll 0.73 - - 3148 - 2.53 0.057 856 -549.0 263.7 - - 1982 - - - - - - - - 14.66 13.90 14.66
16579 259.8 8.5 641 16585 done 0.73 - - 3148 - 2.60 0.063 2255 538.1 263.7 - - 1982 - - - - - - - - 14.07 13.83 14.14
16937 228.1 8.9 650 16942 roll 0.73 - - 3148 - 2.85 0.140 3658 492.3 263.7 - - 1982 - - - - - - - - 14.63 13.67 14.63
16964 225.9 7.3 654 16970 done 0.74 - - 3158 - 2.47 0.041 2242 -573.3 271.9 2.33 0.509 1966 -6.9 0.658 - - - - - - 14.23 14.15 12.97
17322 195.1 8.5 663 17326 roll 0.74 - - 3168 - 2.55 0.057 853 -544.7 271.9 - - 1976 - - - - - - - - 14.64 13.91 14.64
17349 193.1 6.7 667 17382 done 0.76 - - 3168 - 2.58 0.063 2245 539.5 292.1 29.02 1.270 1885 -3.1 0.103 - - - - - - 14.09 13.85 13.60
17711 160.1 9.3 683 17716 roll 0.76 - - 3168 - 2.85 0.135 3667 498.9 292.1 - - 1872 - - - - - - - - 14.62 13.71 14.62
17745 156.4 10.6 688 17750 done 0.76 0.10 0.223 3149 -190.0 2.47 0.041 2242 -576.9 292.1 - - 1870 - - - - - - - - 13.87 14.21 14.13
18102 124.7 8.8 697 18108 roll 0.76 - - 3159 - 2.53 0.057 857 -547.4 292.1 - - 1869 - - - - - - - - 14.63 13.95 14.64
18158 119.8 8.5 705 18164 done 0.76 - - 3159 - 2.60 0.064 2255 537.7 292.1 - - 1869 - - - - - - - - 14.12 13.88 14.19
18495 92.4 8.5 719 18500 roll 0.76 - - 3160 - 2.85 0.138 3662 493.7 292.1 - - 1869 - - - - - - - - 14.62 13.68 14.62
18551 87.1 9.7 727 18555 done 0.76 - - 3169 - 2.47 0.043 2248 -572.5 292.1 - - 1870 - - - - - - - - 14.26 14.17 14.28
18887 61.1 7.5 742 18892 roll 0.77 - - 3179 - 2.55 0.057 852 -547.5 297.6 - - 1869 - - - - - - - - 14.66 13.93 14.65
18907 60.3 5.6 745 18942 done 0.82 - - 3179 - 2.65 0.066 2265 533.2 339.6 24.77 0.360 1697 -6.9 0.251 - - - - - - 14.09 13.85 13.95
19255 40.2 3.9 761 19305 roll 1.06 0.10 0.122 3259 800.0 2.53 0.055 854 -557.7 415.5 43.95 0.305 1397 -6.8 0.194 - - - - - - 14.12 14.24 14.01
19387 32.7 8.3 780 19393 done 1.15 - - 3262 - 2.60 0.065 2249 536.5 415.5 - - 1400 - - - - - - - - 14.17 13.95 14.21
19699 10.3 6.4 792 19724 roll 1.27 0.08 0.140 3336 925.0 2.83 0.144 3657 497.5 441.8 15.32 0.205 1291 -7.1 0.077 - - - - - - 14.27 14.09 14.09
19756 5.8 10.6 800 19761 done 1.19 0.22 0.211 3286 -227.3 2.45 0.041 2240 -578.4 441.8 - - 1294 - - - - - - - - 13.71 14.21 13.99
19834 end climb: SURFACE_DEPTH_REACHED
19834 begin surface coast
19862 end surface coast: CONTROL_FINISHED_OK
19862 begin surface
SM -4.90 - - - - -8.39 9.32 0.075 196 21.0 1.08 0.105 2770 -2300.0 500.14 31.12 0.158 1057 34.0 0.108 - - - - - -