SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 796 * Raw log
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• Previous call tries 1 • 269.68 of 350.00 AH used of 24V (22.95% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.3 deg, depth -4.66 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 118 - - - 2777 - -107.1 -78.62 - 3480 - - - - - - - - 14.55 12.83 14.50
108 2.3 -12.6 3 125 roll -0.93 11.88 0.379 2583 207.5 2.05 0.129 3836 516.6 -107.1 - - 3480 - - - - - - - - 13.91 14.13 14.27
154 24.1 -35.2 10 160 done -0.31 0.80 0.245 2789 257.5 1.80 0.045 2710 -625.6 -107.1 - - 3481 - - - - - - - - 13.79 14.34 14.12
491 53.0 -4.9 25 496 roll -0.50 0.08 0.143 2719 -875.0 2.35 0.037 1368 -571.1 -107.1 - - 3482 - - - - - - - - 14.31 14.20 14.33
669 63.7 -2.4 50 675 done -0.60 - - 2713 - 2.70 0.098 2764 517.0 -107.1 - - 3482 - - - - - - - - 14.17 13.89 14.23
999 79.9 -5.0 64 1000 done -0.71 0.08 0.144 2640 -912.5 - - 2763 - -107.1 - - 3482 - - - - - - - - 14.35 14.41 14.40
1334 107.5 -8.6 75 1339 roll -0.71 0.08 0.248 2667 337.5 2.50 0.039 1360 -561.2 -107.1 - - 3482 - - - - - - - - 14.02 14.16 14.13
1390 112.4 -8.7 83 1395 done -0.71 - - 2657 - 2.78 0.106 2768 506.5 -107.1 - - 3482 - - - - - - - - 14.12 13.81 14.18
1726 139.6 -8.2 96 1731 roll -0.71 - - 2661 - 2.50 0.042 1371 -558.8 -107.1 - - 3481 - - - - - - - - 14.67 14.16 14.67
1809 146.8 -8.6 108 1814 done -0.71 - - 2648 - 2.72 0.109 2762 511.4 -107.1 - - 3480 - - - - - - - - 14.17 13.88 14.23
2174 177.7 -9.0 118 2180 roll -0.71 - - 2648 - 2.50 0.041 1366 -558.4 -107.1 - - 3478 - - - - - - - - 14.71 14.16 14.71
2222 183.1 -10.0 125 2229 done -0.71 0.10 0.233 2668 200.0 2.78 0.102 2760 501.4 -107.1 - - 3478 - - - - - - - - 13.80 13.76 14.05
2567 208.0 -6.8 132 2572 roll -0.71 - - 2667 - 2.50 0.042 1373 -554.8 -107.1 - - 3474 - - - - - - - - 14.70 14.16 14.70
2615 212.4 -8.8 139 2621 done -0.80 - - 2662 - 2.72 0.099 2755 508.1 -107.1 - - 3475 - - - - - - - - 14.11 13.81 14.16
2958 237.6 -7.9 146 2964 roll -0.80 - - 2658 - 2.50 0.041 1368 -554.8 -107.1 - - 3473 - - - - - - - - 14.68 14.16 14.67
3007 241.4 -7.3 153 3013 done -0.87 - - 2651 - 2.72 0.097 2750 508.1 -107.1 - - 3472 - - - - - - - - 14.11 13.82 14.16
3351 265.6 -7.1 160 3356 roll -0.87 - - 2649 - 2.50 0.041 1364 -554.4 -107.1 - - 3469 - - - - - - - - 14.67 14.15 14.68
3413 270.7 -5.2 169 3417 done -0.87 - - 2641 - 2.72 0.094 2756 511.8 -107.1 - - 3469 - - - - - - - - 14.12 13.84 14.18
3743 296.8 -7.8 181 3747 roll -0.87 - - 2641 - 2.50 0.041 1371 -554.0 -107.1 - - 3467 - - - - - - - - 14.67 14.13 14.67
3799 302.5 -9.4 189 3803 done -0.87 - - 2631 - 2.70 0.092 2744 508.5 -107.1 - - 3467 - - - - - - - - 14.14 13.87 14.19
4135 329.5 -8.3 202 4135 done -0.87 - - 2631 - - - 2744 - -107.1 - - 3465 - - - - - - - - 14.70 14.70 14.70
4470 357.7 -8.6 208 4475 roll -0.87 - - 2631 - 2.47 0.040 1371 -555.9 -107.1 - - 3464 - - - - - - - - 14.68 14.16 14.68
4539 364.2 -10.3 218 4545 done -0.87 - - 2622 - 2.67 0.090 2741 513.1 -107.1 - - 3463 - - - - - - - - 14.11 13.83 14.19
4863 387.6 -6.7 229 4867 roll -0.87 - - 2621 - 2.50 0.041 1368 -549.2 -107.1 - - 3461 - - - - - - - - 14.67 14.10 14.67
4918 393.1 -6.4 237 4923 done -0.87 - - 2613 - 2.70 0.093 2739 507.8 -107.1 - - 3460 - - - - - - - - 14.09 13.81 14.15
5254 421.2 -8.4 250 5255 done -0.87 - - 2613 - - - 2739 - -107.1 - - 3460 - - - - - - - - 14.70 14.70 14.70
5590 447.8 -8.5 256 5595 roll -0.87 - - 2612 - 2.50 0.042 1365 -549.6 -107.1 - - 3458 - - - - - - - - 14.68 14.15 14.67
5660 455.8 -8.5 266 5665 done -0.87 - - 2602 - 2.70 0.093 2742 510.0 -107.1 - - 3458 - - - - - - - - 14.10 13.81 14.16
5983 486.4 -9.6 277 5987 roll -0.87 - - 2601 - 2.50 0.042 1372 -548.0 -107.1 - - 3457 - - - - - - - - 14.71 14.09 14.71
6009 490.7 -15.8 281 6014 done -0.87 - - 2590 - 2.67 0.092 2734 510.1 -107.1 - - 3456 - - - - - - - - 14.09 13.79 14.15
6374 528.8 -11.0 291 6379 roll -0.87 - - 2591 - 2.47 0.043 1371 -551.8 -107.1 - - 3455 - - - - - - - - 14.67 14.12 14.67
6408 531.5 -8.4 296 6414 done -0.87 0.12 0.223 2616 208.3 2.67 0.093 2728 508.2 -107.1 - - 3456 - - - - - - - - 13.74 13.79 14.00
6766 563.1 -8.1 305 6771 roll -0.87 - - 2616 - 2.47 0.041 1370 -549.8 -107.1 - - 3454 - - - - - - - - 14.67 14.14 14.66
6793 565.7 -9.6 309 6798 done -0.87 - - 2606 - 2.67 0.090 2733 510.5 -107.1 - - 3454 - - - - - - - - 14.11 13.83 14.16
7158 596.3 -8.5 319 7163 roll -0.87 - - 2598 - 2.22 0.150 3834 495.9 -107.1 - - 3452 - - - - - - - - 14.66 13.64 14.66
7199 600.3 -9.1 325 7204 done -0.87 - - 2597 - 1.92 0.052 2707 -587.0 -107.1 - - 3452 - - - - - - - - 14.34 14.28 14.36
7551 630.1 -8.5 333 7555 roll -0.87 - - 2597 - 2.42 0.042 1363 -555.4 -107.1 - - 3451 - - - - - - - - 14.70 14.14 14.70
7648 639.4 -8.6 347 7652 done -0.87 - - 2589 - 2.67 0.087 2726 510.5 -107.1 - - 3450 - - - - - - - - 14.04 13.76 14.09
7999 672.4 -9.7 355 8003 roll -0.87 - - 2587 - 2.47 0.041 1371 -548.6 -107.1 - - 3450 - - - - - - - - 14.66 14.12 14.66
8040 676.2 -6.6 361 8045 done -0.87 0.12 0.227 2612 208.3 2.65 0.091 2718 508.3 -107.1 - - 3450 - - - - - - - - 13.71 13.79 13.99
8390 703.7 -7.4 369 8395 roll -0.87 - - 2605 - 2.25 0.148 3828 493.3 -107.1 - - 3449 - - - - - - - - 14.70 13.59 14.70
8453 709.6 -9.8 378 8458 done -0.87 - - 2602 - 1.92 0.051 2718 -578.1 -107.1 - - 3447 - - - - - - - - 14.21 14.14 14.23
8782 737.7 -8.5 390 8788 roll -0.87 - - 2603 - 2.45 0.041 1359 -554.7 -107.1 - - 3446 - - - - - - - - 14.69 13.99 14.70
8872 746.1 -11.1 403 8877 done -0.87 - - 2595 - 2.65 0.083 2722 514.3 -107.1 - - 3445 - - - - - - - - 14.04 13.76 14.11
9231 775.9 -7.9 412 9235 roll -0.87 - - 2594 - 2.50 0.041 1356 -546.4 -107.1 - - 3445 - - - - - - - - 14.66 14.10 14.66
9306 784.1 -9.5 423 9312 done -0.87 0.10 0.233 2612 180.0 2.67 0.086 2722 511.6 -107.1 - - 3444 - - - - - - - - 13.69 13.74 13.98
9562 end dive: TARGET_DEPTH_EXCEEDED
9562 begin apogee
9573 801.4 -6.4 432 9692 roll -0.23 0.75 0.177 2823 281.3 0.12 0.173 2272 -3750.0 - 116.05 1.825 3045 -3.4 0.308 - - - - - - 13.73 13.70 12.95
9693 end apogee: CONTROL_FINISHED_OK
9693 begin climb
9698 805.7 - 434 9834 roll 0.93 1.12 0.086 3182 320.5 2.62 0.050 880 -531.3 107.1 120.57 1.785 2613 -3.6 0.330 - - - - - - 13.71 13.76 12.31
9940 798.7 5.1 471 10008 done 0.87 - - 3182 - 2.67 0.060 2238 508.6 159.6 60.88 1.777 2409 -3.4 0.307 - - - - - - 13.38 13.24 12.31
10358 758.1 10.3 488 10363 roll 0.76 0.10 0.233 3150 -320.0 2.90 0.132 3668 493.1 159.6 - - 2394 - - - - - - - - 13.56 13.58 13.70
10414 753.1 13.4 496 10419 done 0.66 0.17 0.220 3115 -205.9 2.50 0.044 2258 -564.0 159.6 - - 2394 - - - - - - - - 13.57 13.93 13.86
10750 728.1 7.2 509 10760 roll 0.67 - - 3125 - 2.60 0.054 858 -538.5 169.4 2.55 0.732 2376 -7.1 1.433 - - - - - - 14.47 14.10 12.90
10798 724.2 6.9 516 10830 done 0.69 - - 3124 - 2.65 0.063 2258 528.3 185.0 26.33 1.810 2311 -2.5 0.202 - - - - - - 14.06 13.87 13.25
11142 697.1 8.4 530 11146 roll 0.69 - - 3124 - 2.83 0.138 3664 496.8 185.0 - - 2293 - - - - - - - - 14.51 13.74 14.50
11190 692.1 9.0 537 11196 done 0.69 - - 3133 - 2.50 0.047 2255 -563.6 185.0 - - 2293 - - - - - - - - 14.21 14.14 14.23
11534 664.4 8.1 544 11535 done 0.69 - - 3134 - - - 2251 - 185.0 - - 2292 - - - - - - - - 14.54 14.55 14.55
11870 636.6 8.1 550 11870 done 0.69 - - 3134 - - - 2250 - 185.0 - - 2291 - - - - - - - - 14.57 14.57 14.57
12206 611.8 7.7 556 12211 roll 0.69 - - 3144 - 2.58 0.057 859 -539.1 186.5 - - 2291 - - - - - - - - 14.57 13.94 14.57
12240 611.2 2.5 561 12373 done 0.82 - - 3145 - 2.62 0.068 2252 531.7 291.6 127.68 1.558 1887 -3.2 0.253 - - - - - - 14.10 13.88 13.02
12710 563.7 10.5 586 12714 roll 0.82 - - 3145 - 2.88 0.143 3661 489.2 291.6 - - 1862 - - - - - - - - 14.50 13.72 14.51
12730 562.1 10.0 589 12734 done 0.82 - - 3154 - 2.50 0.045 2249 -564.8 291.6 - - 1863 - - - - - - - - 14.18 14.09 14.20
13046 528.7 10.2 599 13051 roll 0.82 - - 3164 - 2.55 0.059 857 -545.9 291.6 - - 1861 - - - - - - - - 14.59 13.96 14.59
13108 523.3 9.3 608 13113 done 0.82 - - 3164 - 2.62 0.070 2254 533.2 291.6 - - 1861 - - - - - - - - 14.14 13.93 14.22
13438 492.2 9.3 620 13443 roll 0.82 - - 3164 - 2.85 0.144 3655 491.6 291.6 - - 1860 - - - - - - - - 14.61 13.71 14.60
13472 489.1 10.1 625 13477 done 0.82 - - 3174 - 2.50 0.046 2240 -566.0 291.6 - - 1860 - - - - - - - - 14.23 14.14 14.26
13830 452.1 10.1 634 13835 roll 0.82 - - 3185 - 2.53 0.059 858 -546.2 291.6 - - 1859 - - - - - - - - 14.62 13.93 14.62
13886 447.3 7.2 642 13897 done 0.83 - - 3185 - 2.62 0.071 2249 530.9 303.2 2.72 0.761 1841 -6.6 0.794 - - - - - - 14.09 13.85 13.14
14222 409.8 11.3 655 14223 done 0.83 - - 3184 - - - 2248 - 303.2 - - 1848 - - - - - - - - 14.59 14.59 14.59
14558 371.1 11.4 661 14563 roll 0.83 - - 3194 - 2.60 0.060 850 -537.7 303.2 - - 1848 - - - - - - - - 14.64 13.93 14.64
14620 365.2 12.7 670 14625 done 0.83 - - 3194 - 2.62 0.072 2241 530.9 303.2 - - 1848 - - - - - - - - 14.07 13.84 14.13
14950 325.4 12.2 682 14951 done 0.83 - - 3187 - - - 2241 - 303.2 - - 1847 - - - - - - - - 14.60 14.60 14.60
15286 286.0 11.9 688 15291 roll 0.83 - - 3203 - 2.58 0.060 857 -536.4 303.2 - - 1847 - - - - - - - - 14.60 13.92 14.60
15334 281.4 9.6 695 15341 done 0.83 0.12 0.205 3168 -291.7 2.62 0.073 2234 525.6 303.2 - - 1848 - - - - - - - - 13.73 13.84 13.97
15678 245.3 10.5 702 15679 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1847 - - - - - - - - 14.66 14.65 14.65
16014 210.2 10.6 708 16015 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1848 - - - - - - - - 14.64 14.64 14.64
16350 178.2 9.4 714 16351 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1847 - - - - - - - - 14.65 14.66 14.65
16686 147.8 9.0 720 16687 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1847 - - - - - - - - 14.62 14.61 14.62
17022 118.1 8.8 726 17023 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1848 - - - - - - - - 14.62 14.62 14.62
17330 92.3 8.1 733 17331 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1848 - - - - - - - - 14.60 14.60 14.61
17638 67.9 8.2 744 17639 done 0.83 - - 3168 - - - 2234 - 303.2 - - 1848 - - - - - - - - 14.60 14.60 14.60
17946 48.0 4.0 755 17999 roll 1.04 0.10 0.113 3249 810.0 2.90 0.146 3669 494.8 377.8 43.45 0.325 1548 -6.9 0.208 - - - - - - 14.21 14.02 13.95
18083 40.8 4.2 774 18131 done 1.12 - - 3260 - 2.53 0.047 2221 -572.3 448.1 41.72 0.304 1265 -6.8 0.186 - - - - - - 14.28 14.21 13.94
18454 15.9 7.1 794 18464 done 1.25 0.08 0.142 3333 912.5 - - 2221 - 460.7 8.62 0.213 1215 -5.8 0.088 - - - - - - 14.28 14.23 13.95
18585 end climb: SURFACE_DEPTH_REACHED
18585 begin surface coast
18613 end surface coast: CONTROL_FINISHED_OK
18613 begin surface
SM -5.41 - - - - -8.39 9.60 0.084 197 20.5 1.12 0.119 2766 -6821.4 500.14 22.10 0.163 1057 47.8 0.162 - - - - - -