SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 797 * Raw log
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• Previous call tries 1 • 270.08 of 350.00 AH used of 24V (22.83% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -67.6 deg, depth -4.73 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
13 begin dive
18 - - - 102 done -0.93 - - 113 - - - 2781 - -107.1 -80.97 - 3479 - - - - - - - - 14.54 12.29 14.50
107 0.9 -9.6 3 120 done -0.93 12.05 0.377 2594 205.9 - - 2781 - -107.1 - - 3481 - - - - - - - - 13.91 14.33 14.28
412 67.0 -13.1 14 417 roll -0.75 0.20 0.233 2645 255.0 2.12 0.158 3828 493.9 -107.1 - - 3481 - - - - - - - - 13.75 13.81 13.93
487 73.8 -7.9 25 494 done -0.75 - - 2645 - 1.83 0.057 2777 -574.3 -107.1 - - 3482 - - - - - - - - 14.20 14.15 14.21
803 102.2 -8.6 37 810 roll -0.75 - - 2639 - 2.47 0.041 1372 -568.8 -107.1 - - 3483 - - - - - - - - 14.65 14.15 14.66
961 114.5 -6.8 59 966 done -0.75 - - 2636 - 2.72 0.099 2764 511.8 -107.1 - - 3484 - - - - - - - - 14.13 13.84 14.19
1311 143.4 -8.5 67 1312 done -0.75 - - 2635 - - - 2764 - -107.1 - - 3481 - - - - - - - - 14.70 14.71 14.70
1647 173.9 -8.5 73 1653 roll -0.75 - - 2635 - 2.50 0.043 1373 -556.4 -107.1 - - 3479 - - - - - - - - 14.68 14.12 14.68
1716 178.9 -7.6 83 1721 done -0.75 0.10 0.237 2653 180.0 2.72 0.103 2756 508.5 -107.1 - - 3479 - - - - - - - - 13.72 13.83 13.99
2039 198.4 -6.2 94 2044 roll -0.75 - - 2645 - 2.22 0.171 3833 485.1 -107.1 - - 3477 - - - - - - - - 14.67 13.71 14.66
2087 202.8 -5.3 101 2094 done -0.75 - - 2645 - 1.85 0.057 2748 -586.5 -107.1 - - 3477 - - - - - - - - 14.31 14.28 14.31
2431 231.2 -8.7 108 2436 roll -0.75 - - 2645 - 2.42 0.040 1377 -566.5 -107.1 - - 3474 - - - - - - - - 14.66 14.19 14.66
2500 238.3 -8.3 118 2505 done -0.75 - - 2636 - 2.72 0.099 2763 509.6 -107.1 - - 3473 - - - - - - - - 14.12 13.82 14.17
2823 267.4 -9.4 129 2829 roll -0.75 - - 2636 - 2.50 0.041 1375 -555.2 -107.1 - - 3472 - - - - - - - - 14.67 14.19 14.67
2857 270.6 -9.9 134 2862 done -0.75 - - 2626 - 2.70 0.100 2756 511.5 -107.1 - - 3471 - - - - - - - - 14.12 13.83 14.19
3215 303.0 -8.6 143 3220 roll -0.75 0.08 0.267 2653 337.5 2.47 0.040 1381 -556.7 -107.1 - - 3469 - - - - - - - - 13.98 14.16 14.08
3256 305.8 -3.9 149 3263 done -0.75 - - 2644 - 2.70 0.102 2752 507.8 -107.1 - - 3468 - - - - - - - - 14.12 13.80 14.17
3607 332.7 -7.6 157 3613 roll -0.75 - - 2644 - 2.47 0.043 1384 -553.8 -107.1 - - 3467 - - - - - - - - 14.71 14.09 14.71
3641 334.7 -7.3 162 3646 done -0.75 - - 2636 - 2.70 0.103 2747 504.8 -107.1 - - 3466 - - - - - - - - 14.12 13.81 14.19
3999 366.1 -8.8 171 4004 roll -0.75 - - 2635 - 2.47 0.043 1384 -551.8 -107.1 - - 3462 - - - - - - - - 14.70 14.16 14.70
4033 369.4 -9.6 176 4038 done -0.75 0.10 0.233 2654 190.0 2.72 0.103 2756 504.4 -107.1 - - 3464 - - - - - - - - 13.80 13.80 14.06
4391 397.7 -7.4 185 4397 roll -0.75 - - 2654 - 2.50 0.044 1380 -550.4 -107.1 - - 3459 - - - - - - - - 14.71 14.15 14.71
4440 401.8 -8.4 192 4446 done -0.83 - - 2645 - 2.72 0.104 2739 499.6 -107.1 - - 3462 - - - - - - - - 14.09 13.78 14.15
4784 426.2 -7.4 199 4784 done -0.83 - - 2645 - - - 2739 - -107.1 - - 3460 - - - - - - - - 14.66 14.66 14.66
5120 449.3 -6.9 205 5125 roll -0.83 - - 2644 - 2.47 0.044 1385 -548.2 -107.1 - - 3459 - - - - - - - - 14.69 14.14 14.69
5203 456.9 -8.5 217 5208 done -0.83 - - 2636 - 2.72 0.105 2745 500.0 -107.1 - - 3458 - - - - - - - - 14.08 13.76 14.14
5568 487.1 -8.3 227 5572 roll -0.83 - - 2636 - 2.47 0.044 1384 -551.0 -107.1 - - 3457 - - - - - - - - 14.67 14.13 14.67
5616 492.1 -9.4 234 5622 done -0.83 - - 2626 - 2.72 0.105 2740 498.5 -107.1 - - 3457 - - - - - - - - 14.07 13.76 14.14
5960 522.9 -8.9 241 5966 roll -0.83 - - 2618 - 2.28 0.171 3834 479.8 -107.1 - - 3457 - - - - - - - - 14.67 13.62 14.67
5987 525.5 -9.3 245 5993 done -0.83 - - 2617 - 1.88 0.064 2761 -570.7 -107.1 - - 3455 - - - - - - - - 14.33 14.25 14.35
6352 557.3 -8.4 255 6357 roll -0.83 - - 2617 - 2.53 0.044 1356 -555.3 -107.1 - - 3454 - - - - - - - - 14.69 14.14 14.71
6464 566.7 -8.1 271 6469 done -0.83 - - 2609 - 2.78 0.101 2741 498.2 -107.1 - - 3453 - - - - - - - - 14.06 13.74 14.12
6800 594.4 -8.3 284 6805 roll -0.83 - - 2601 - 2.25 0.166 3828 483.1 -107.1 - - 3453 - - - - - - - - 14.67 13.60 14.67
6834 598.7 -11.7 289 6840 done -0.83 0.10 0.239 2627 260.0 1.92 0.057 2720 -577.1 -107.1 - - 3452 - - - - - - - - 13.83 14.26 14.07
7192 628.0 -8.6 298 7197 roll -0.83 - - 2627 - 2.42 0.041 1359 -562.4 -107.1 - - 3451 - - - - - - - - 14.66 14.14 14.66
7282 636.5 -9.0 311 7287 done -0.83 - - 2618 - 2.67 0.090 2735 515.4 -107.1 - - 3451 - - - - - - - - 14.09 13.78 14.15
7640 666.9 -8.8 320 7645 roll -0.83 - - 2617 - 2.50 0.043 1364 -548.4 -107.1 - - 3450 - - - - - - - - 14.71 14.12 14.70
7688 670.8 -8.5 327 7694 done -0.83 - - 2609 - 2.70 0.092 2728 505.2 -107.1 - - 3450 - - - - - - - - 14.06 13.74 14.12
8032 698.4 -7.7 334 8033 done -0.83 - - 2609 - - - 2728 - -107.1 - - 3448 - - - - - - - - 14.70 14.71 14.70
8368 726.2 -8.2 340 8369 done -0.83 - - 2609 - - - 2728 - -107.1 - - 3446 - - - - - - - - 14.66 14.66 14.66
8704 754.2 -8.0 346 8709 roll -0.83 - - 2608 - 2.50 0.044 1360 -547.2 -107.1 - - 3446 - - - - - - - - 14.66 14.10 14.66
8760 758.9 -3.2 354 8765 done -0.83 0.08 0.263 2624 200.0 2.72 0.095 2734 505.1 -107.1 - - 3446 - - - - - - - - 13.70 13.71 13.97
9096 784.5 -7.6 367 9097 done -0.83 - - 2625 - - - 2734 - -107.1 - - 3444 - - - - - - - - 14.66 14.66 14.66
9315 end dive: TARGET_DEPTH_EXCEEDED
9315 begin apogee
9326 800.2 -6.9 371 9431 roll -0.23 0.70 0.174 2823 282.9 0.10 0.193 2267 -4670.0 - 95.85 2.713 3052 -4.1 0.262 - - - - 1 - 13.74 13.35 12.31
9433 end apogee: CONTROL_FINISHED_OK
9433 begin climb
9437 804.2 - 373 9567 roll 0.93 1.15 0.084 3180 310.4 2.72 0.052 867 -514.7 107.1 112.93 2.759 2623 -3.8 0.241 - - - - 1 - 13.44 13.43 11.58
9637 802.6 4.8 402 9716 done 0.87 - - 3180 - 2.83 0.065 2249 488.3 166.1 65.72 2.599 2388 -3.6 0.240 - - - - 1 - 13.03 12.86 11.55
10052 767.2 8.8 419 10057 roll 0.76 0.10 0.235 3150 -300.0 3.03 0.140 3656 464.4 166.1 - - 2392 - - - - - - - - 13.07 13.07 13.23
10120 761.5 7.8 429 10125 done 0.65 0.20 0.216 3110 -200.0 2.58 0.047 2257 -542.2 166.1 - - 2394 - - - - - - - - 13.18 13.52 13.44
10443 741.3 6.2 440 10485 done 0.68 - - 3110 - - - 2251 - 196.9 40.35 1.834 2267 -3.1 0.277 - - - - - - 14.33 13.66 12.91
10779 718.6 7.0 446 10803 roll 0.70 - - 3109 - 2.95 0.144 3658 476.9 211.4 16.05 1.945 2203 -4.0 0.320 - - - - - - 14.38 13.78 13.12
10827 715.2 6.7 453 10860 done 0.73 - - 3119 - 2.55 0.049 2249 -552.5 231.3 24.52 1.832 2123 -3.3 0.277 - - - - - - 13.95 13.88 13.02
11171 687.5 8.5 467 11176 roll 0.73 - - 3130 - 2.55 0.057 862 -543.9 231.3 - - 2113 - - - - - - - - 14.42 13.93 14.41
11191 686.9 5.1 470 11259 done 0.79 - - 3130 - 2.62 0.073 2251 530.2 284.0 62.65 1.707 1918 -3.1 0.272 - - - - - - 14.07 13.85 12.94
11623 648.1 9.4 489 11628 roll 0.79 - - 3129 - 2.90 0.152 3665 487.6 284.0 - - 1900 - - - - - - - - 14.40 13.71 14.40
11656 645.3 7.3 494 11663 done 0.80 - - 3139 - 2.50 0.049 2256 -563.6 292.9 2.85 0.923 1882 -6.3 0.960 - - - - - - 14.13 14.05 12.88
12008 613.4 9.0 502 12013 roll 0.80 - - 3149 - 2.60 0.059 850 -540.8 292.9 - - 1887 - - - - - - - - 14.50 13.90 14.50
12070 607.2 11.0 511 12074 done 0.80 - - 3149 - 2.67 0.073 2254 525.8 292.9 - - 1887 - - - - - - - - 14.07 13.84 14.10
12400 575.9 9.9 523 12404 roll 0.80 - - 3149 - 2.92 0.155 3666 483.6 292.9 - - 1887 - - - - - - - - 14.50 13.69 14.50
12434 571.5 15.0 528 12439 done 0.80 - - 3160 - 2.53 0.050 2244 -562.1 292.9 - - 1887 - - - - - - - - 14.19 14.10 14.19
12792 533.5 10.5 537 12796 roll 0.80 - - 3170 - 2.55 0.059 858 -543.5 292.9 - - 1886 - - - - - - - - 14.52 13.93 14.52
12848 529.3 9.2 545 12852 done 0.80 - - 3170 - 2.67 0.078 2256 523.6 292.9 - - 1887 - - - - - - - - 14.07 13.84 14.13
13184 493.3 10.5 558 13189 roll 0.80 - - 3169 - 2.95 0.156 3670 479.3 292.9 - - 1887 - - - - - - - - 14.54 13.69 14.54
13232 488.0 10.1 565 13238 done 0.80 - - 3180 - 2.55 0.049 2245 -558.8 292.9 - - 1887 - - - - - - - - 14.19 14.09 14.21
13576 450.1 10.7 572 13580 roll 0.80 - - 3190 - 2.58 0.059 856 -538.4 292.9 - - 1887 - - - - - - - - 14.60 13.90 14.60
13652 442.6 9.1 583 13657 done 0.80 0.10 0.217 3162 -280.0 2.67 0.078 2255 524.0 292.9 - - 1887 - - - - - - - - 13.77 13.82 14.00
13968 411.0 10.0 593 13973 roll 0.80 - - 3161 - 2.92 0.153 3666 483.2 292.9 - - 1886 - - - - - - - - 14.56 13.66 14.55
13988 410.1 7.0 596 14015 done 0.82 - - 3172 - 2.53 0.051 2238 -564.4 308.3 23.52 1.539 1822 -2.7 0.158 - - - - - - 14.21 14.12 13.43
14353 370.1 10.9 606 14358 roll 0.82 - - 3180 - 2.53 0.058 859 -545.1 308.3 - - 1806 - - - - - - - - 14.61 13.98 14.61
14387 366.4 9.0 611 14392 done 0.82 - - 3180 - 2.60 0.076 2244 532.7 308.3 - - 1806 - - - - - - - - 13.92 13.76 13.99
14745 324.4 11.5 620 14749 roll 0.82 - - 3180 - 2.95 0.156 3667 482.4 308.3 - - 1805 - - - - - - - - 14.56 13.66 14.57
14772 321.1 11.9 624 14777 done 0.82 - - 3191 - 2.53 0.050 2248 -560.9 308.3 - - 1805 - - - - - - - - 14.22 14.14 14.25
15137 276.7 12.3 634 15142 roll 0.82 - - 3201 - 2.58 0.060 848 -542.6 308.3 - - 1805 - - - - - - - - 14.57 13.90 14.57
15213 268.2 10.6 645 15218 done 0.82 0.12 0.200 3165 -300.0 2.65 0.078 2240 525.3 308.3 - - 1805 - - - - - - - - 13.75 13.81 14.02
15529 234.7 10.4 655 15534 roll 0.82 - - 3165 - 2.95 0.154 3657 480.3 308.3 - - 1805 - - - - - - - - 14.57 13.61 14.57
15563 231.1 9.5 660 15567 done 0.82 - - 3175 - 2.53 0.050 2237 -561.3 308.3 - - 1805 - - - - - - - - 14.21 14.13 14.24
15921 193.3 10.4 669 15926 roll 0.82 - - 3185 - 2.53 0.058 859 -544.7 308.3 - - 1810 - - - - - - - - 14.58 13.83 14.58
15969 188.6 10.7 676 15975 done 0.82 - - 3185 - 2.65 0.077 2242 521.9 308.3 - - 1804 - - - - - - - - 14.03 13.76 14.10
16313 152.4 10.3 683 16314 done 0.82 - - 3185 - - - 2242 - 308.3 - - 1805 - - - - - - - - 14.62 14.62 14.62
16649 116.8 10.6 689 16653 roll 0.82 - - 3194 - 2.58 0.059 850 -539.5 308.3 - - 1805 - - - - - - - - 14.64 13.88 14.64
16705 111.1 10.9 697 16710 done 0.82 - - 3194 - 2.65 0.080 2234 522.3 308.3 - - 1805 - - - - - - - - 14.05 13.80 14.12
17041 76.4 9.6 714 17046 roll 0.82 - - 3203 - 2.58 0.057 855 -534.5 308.3 - - 1805 - - - - - - - - 14.58 13.86 14.59
17069 74.1 8.5 718 17075 done 0.82 0.12 0.196 3166 -308.3 2.65 0.080 2242 523.4 308.3 - - 1805 - - - - - - - - 13.76 13.78 14.02
17410 50.7 5.6 733 17438 roll 0.97 0.08 0.145 3238 900.0 2.58 0.058 857 -536.8 351.4 22.88 0.334 1651 -6.7 0.222 - - - - - - 14.19 14.23 13.89
17670 38.3 2.3 771 17738 done 1.20 0.08 0.134 3296 725.0 2.62 0.071 2250 531.7 459.9 61.85 0.299 1218 -7.0 0.195 - - - - - - 14.00 13.84 13.96
18070 6.3 9.0 795 18071 done 1.20 - - 3295 - - - 2253 - 459.9 - - 1221 - - - - - - - - 14.59 14.59 14.59
18121 end climb: SURFACE_DEPTH_REACHED
18121 begin surface coast
18149 end surface coast: CONTROL_FINISHED_OK
18149 begin surface
SM -5.38 - - - - -8.38 9.45 0.078 196 20.7 1.05 0.129 2765 2627.6 500.14 21.48 0.161 1057 49.2 0.168 - - - - - -