SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 756 * Raw log
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• Previous call tries 1 • 256.75 of 350.00 AH used of 24V (26.64% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.7 deg, depth -2.38 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 3 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 104 done -0.93 - - 108 - - - 2771 - -107.1 -79.85 - 3477 - - - - - - - - 14.47 12.78 14.39
108 4.1 -11.4 3 131 roll -0.93 12.35 0.389 2591 201.1 2.50 0.034 1322 -579.6 -107.1 - - 3478 - - - - - - - - 13.85 14.28 14.22
139 21.3 -47.4 8 144 done 0.06 1.17 0.216 2895 259.8 2.90 0.127 2766 497.9 -107.1 - - 3479 - - - - - - - - 13.87 13.93 14.16
469 44.5 -7.1 22 474 roll -0.43 0.38 0.107 2765 -342.1 2.53 0.041 1356 -557.3 -107.1 - - 3478 - - - - - - - - 13.86 14.02 13.98
496 46.7 -8.1 26 502 done -0.82 0.30 0.053 2612 -510.0 2.80 0.113 2767 503.9 -107.1 - - 3478 - - - - - - - - 14.18 13.85 14.28
832 84.4 -9.0 41 837 roll -0.71 0.17 0.217 2657 264.7 2.20 0.177 3824 480.5 -107.1 - - 3479 - - - - - - - - 13.59 13.83 13.76
860 86.9 -8.9 45 865 done -0.71 - - 2657 - 1.88 0.061 2744 -574.5 -107.1 - - 3480 - - - - - - - - 14.26 14.20 14.28
1196 115.2 -8.3 57 1201 roll -0.71 - - 2657 - 2.42 0.041 1376 -565.3 -107.1 - - 3481 - - - - - - - - 14.71 13.93 14.73
1230 117.9 -7.8 62 1236 done -0.71 - - 2648 - 2.75 0.112 2766 505.5 -107.1 - - 3481 - - - - - - - - 14.18 13.90 14.23
1588 148.4 -8.7 71 1589 done -0.71 - - 2649 - - - 2766 - -107.1 - - 3479 - - - - - - - - 14.71 14.71 14.71
1924 177.0 -8.2 77 1925 done -0.71 - - 2648 - - - 2766 - -107.1 - - 3477 - - - - - - - - 14.65 14.65 14.65
2260 203.6 -8.0 83 2265 roll -0.71 - - 2646 - 2.50 0.041 1373 -557.2 -107.1 - - 3474 - - - - - - - - 14.66 13.83 14.66
2294 206.5 -7.9 88 2299 done -0.71 0.10 0.230 2670 240.0 2.80 0.115 2762 496.1 -107.1 - - 3474 - - - - - - - - 13.94 13.93 14.16
2653 230.9 -7.0 97 2657 roll -0.79 - - 2670 - 2.53 0.042 1375 -548.2 -107.1 - - 3471 - - - - - - - - 14.65 13.83 14.65
2709 234.9 -6.9 105 2714 done -0.89 0.10 0.112 2581 -890.0 2.78 0.113 2760 498.2 -107.1 - - 3471 - - - - - - - - 14.19 13.92 14.28
3044 270.8 -10.8 118 3050 roll -0.81 0.17 0.223 2624 252.9 2.22 0.177 3825 479.7 -107.1 - - 3469 - - - - - - - - 13.45 13.71 13.61
3120 277.8 -8.7 129 3125 done -0.81 - - 2632 - 1.90 0.062 2759 -561.1 -107.1 - - 3468 - - - - - - - - 14.20 14.14 14.22
3436 303.6 -8.2 139 3441 roll -0.81 - - 2625 - 2.53 0.042 1362 -552.2 -107.1 - - 3466 - - - - - - - - 14.70 13.84 14.70
3492 308.5 -9.0 147 3497 done -0.81 - - 2615 - 2.80 0.107 2750 495.7 -107.1 - - 3466 - - - - - - - - 14.13 13.86 14.18
3828 342.5 -10.3 160 3833 roll -0.81 - - 2607 - 2.25 0.177 3828 479.1 -107.1 - - 3463 - - - - - - - - 14.64 13.83 14.64
3911 352.0 -11.1 172 3916 done -0.81 0.10 0.224 2635 280.0 1.92 0.063 2749 -562.0 -107.1 - - 3463 - - - - - - - - 13.82 14.15 14.02
4276 387.2 -9.6 182 4282 roll -0.81 - - 2635 - 2.53 0.042 1358 -549.8 -107.1 - - 3461 - - - - - - - - 14.64 13.86 14.64
4380 396.5 -8.2 197 4387 done -0.81 - - 2625 - 2.83 0.106 2767 497.9 -107.1 - - 3459 - - - - - - - - 14.16 13.89 14.22
4724 425.1 -8.3 204 4725 done -0.81 - - 2625 - - - 2766 - -107.1 - - 3459 - - - - - - - - 14.62 14.62 14.63
5060 451.9 -8.1 210 5066 roll -0.81 - - 2625 - 2.60 0.042 1358 -541.5 -107.1 - - 3457 - - - - - - - - 14.63 13.86 14.63
5101 455.6 -8.2 216 5106 done -0.81 - - 2616 - 2.80 0.107 2750 497.1 -107.1 - - 3457 - - - - - - - - 14.16 13.88 14.21
5452 483.0 -7.8 224 5457 roll -0.81 - - 2608 - 2.28 0.180 3825 471.5 -107.1 - - 3456 - - - - - - - - 14.70 13.81 14.69
5508 487.7 -8.0 232 5513 done -0.81 0.10 0.222 2636 280.0 1.95 0.067 2743 -554.9 -107.1 - - 3456 - - - - - - - - 13.79 14.14 14.02
5844 510.4 -6.6 245 5849 roll -0.81 - - 2636 - 2.53 0.041 1355 -548.6 -107.1 - - 3454 - - - - - - - - 14.62 13.88 14.62
5920 516.1 -7.2 256 5925 done -0.81 - - 2626 - 2.80 0.106 2759 501.4 -107.1 - - 3458 - - - - - - - - 14.16 13.88 14.21
6236 541.6 -8.1 266 6242 roll -0.81 - - 2618 - 2.25 0.176 3824 473.3 -107.1 - - 3452 - - - - - - - - 14.62 13.83 14.62
6263 544.1 -9.0 270 6269 done -0.81 - - 2617 - 1.95 0.065 2744 -553.8 -107.1 - - 3451 - - - - - - - - 14.21 14.14 14.22
6629 576.8 -9.0 280 6633 roll -0.81 - - 2618 - 2.53 0.041 1358 -547.8 -107.1 - - 3450 - - - - - - - - 14.61 13.88 14.61
6704 584.1 -8.7 291 6709 done -0.81 - - 2609 - 2.78 0.104 2738 496.4 -107.1 - - 3452 - - - - - - - - 14.15 13.86 14.20
7021 615.3 -10.1 301 7025 roll -0.81 - - 2601 - 2.28 0.172 3824 476.3 -107.1 - - 3449 - - - - - - - - 14.61 13.81 14.61
7055 619.0 -10.4 306 7061 done -0.81 0.12 0.217 2635 283.3 1.95 0.063 2732 -560.0 -107.1 - - 3449 - - - - - - - - 13.78 14.16 14.02
7412 650.3 -8.7 315 7417 roll -0.81 - - 2635 - 2.50 0.041 1360 -548.8 -107.1 - - 3447 - - - - - - - - 14.68 13.81 14.68
7482 656.6 -8.6 325 7487 done -0.89 - - 2626 - 2.78 0.103 2745 498.2 -107.1 - - 3452 - - - - - - - - 14.16 13.88 14.21
7804 683.2 -8.3 336 7809 roll -0.89 - - 2617 - 2.28 0.176 3828 475.0 -107.1 - - 3446 - - - - - - - - 14.61 13.83 14.63
7838 686.4 -9.2 341 7843 done -0.89 - - 2616 - 1.98 0.064 2735 -552.0 -107.1 - - 3446 - - - - - - - - 14.19 14.12 14.21
8197 713.9 -7.5 350 8198 done -0.89 - - 2616 - - - 2734 - -107.1 - - 3444 - - - - - - - - 14.66 14.66 14.66
8532 738.7 -7.4 356 8537 roll -0.89 - - 2609 - 2.33 0.171 3822 467.0 -107.1 - - 3443 - - - - - - - - 14.66 13.77 14.66
8615 745.8 -8.2 368 8620 done -0.89 - - 2608 - 1.95 0.065 2747 -551.3 -107.1 - - 3442 - - - - - - - - 14.20 14.12 14.21
8981 777.2 -8.8 378 8986 roll -0.89 - - 2608 - 2.55 0.041 1348 -548.6 -107.1 - - 3442 - - - - - - - - 14.58 13.91 14.59
9042 783.0 -8.7 387 9047 done -0.89 - - 2600 - 2.83 0.104 2753 496.5 -107.1 - - 3441 - - - - - - - - 14.14 13.85 14.19
9256 end dive: TARGET_DEPTH_EXCEEDED
9256 begin apogee
9267 804.6 -10.1 397 9385 roll -0.23 0.80 0.179 2820 275.0 0.10 0.221 2263 -4900.0 - 115.00 1.794 3050 -3.4 0.300 - - - - - - 13.78 13.83 13.12
9386 end apogee: CONTROL_FINISHED_OK
9386 begin climb
9391 809.8 - 399 9521 roll 0.93 1.15 0.094 3176 309.6 2.58 0.050 870 -539.9 107.1 117.85 1.746 2622 -3.6 0.331 - - - - - - 13.69 13.80 13.02
9620 808.2 5.1 434 9682 done 0.87 - - 3182 - 2.58 0.075 2241 531.4 159.4 58.15 1.746 2416 -3.5 0.322 - - - - - - 14.07 13.87 13.20
10045 774.0 8.7 452 10050 roll 0.76 0.10 0.252 3149 -330.0 2.88 0.154 3657 491.7 159.4 - - 2396 - - - - - - - - 13.87 13.93 14.04
10064 772.0 9.0 455 10069 done 0.65 0.17 0.230 3112 -217.6 2.45 0.054 2256 -571.8 159.4 - - 2395 - - - - - - - - 13.90 14.26 14.19
10380 750.2 6.9 465 10398 done 0.67 - - 3113 - - - 2251 - 176.4 16.83 1.838 2347 -2.9 0.229 - - - - - - 14.66 14.29 13.45
10716 724.5 7.9 471 10721 roll 0.67 - - 3112 - 2.90 0.155 3656 484.5 176.4 - - 2329 - - - - - - - - 14.65 13.88 14.64
10772 719.5 9.2 479 10777 done 0.67 - - 3131 - 2.47 0.053 2245 -571.3 176.4 - - 2330 - - - - - - - - 14.33 14.25 14.35
11108 691.9 8.0 492 11113 roll 0.67 - - 3122 - 2.95 0.154 3661 480.0 176.4 - - 2329 - - - - - - - - 14.61 13.82 14.62
11156 687.7 8.6 499 11162 done 0.67 - - 3133 - 2.50 0.052 2246 -566.0 176.4 - - 2329 - - - - - - - - 14.28 14.21 14.31
11500 661.2 7.6 506 11506 roll 0.68 - - 3133 - 2.95 0.155 3657 478.3 178.6 - - 2328 - - - - - - - - 14.60 13.82 14.60
11527 658.9 7.8 510 11533 done 0.68 - - 3144 - 2.47 0.053 2257 -566.8 178.6 - - 2328 - - - - - - - - 14.25 14.16 14.27
11892 628.4 8.6 520 11897 roll 0.68 - - 3154 - 2.55 0.057 856 -549.4 178.6 - - 2327 - - - - - - - - 14.59 13.91 14.59
11933 624.7 8.9 526 11939 done 0.68 0.12 0.216 3120 -283.3 2.58 0.077 2250 540.3 178.6 - - 2327 - - - - - - - - 13.77 13.85 14.05
12284 595.3 8.4 534 12290 roll 0.68 - - 3118 - 2.92 0.156 3667 485.3 178.6 - - 2328 - - - - - - - - 14.64 13.85 14.64
12340 590.2 9.5 542 12346 done 0.68 - - 3129 - 2.53 0.053 2250 -560.1 178.6 - - 2327 - - - - - - - - 14.16 14.10 14.21
12676 563.2 7.9 555 12681 roll 0.68 - - 3138 - 2.55 0.057 854 -547.5 178.6 - - 2327 - - - - - - - - 14.57 13.87 14.57
12710 560.6 7.3 560 12717 done 0.69 - - 3138 - 2.65 0.076 2254 528.3 186.6 2.62 0.761 2306 -8.0 1.161 - - - - - - 14.06 13.81 13.20
13061 536.5 6.7 568 13100 roll 0.71 - - 3138 - 2.85 0.159 3660 493.3 208.0 33.67 1.589 2213 -2.8 0.183 - - - - - - 14.64 13.98 13.46
13144 530.3 8.6 580 13149 done 0.71 - - 3148 - 2.50 0.052 2249 -564.4 208.0 - - 2205 - - - - - - - - 14.19 14.10 14.21
13509 502.2 7.8 590 13515 roll 0.71 - - 3159 - 2.50 0.057 862 -554.8 208.0 - - 2202 - - - - - - - - 14.59 14.02 14.58
13543 499.2 8.5 595 13548 done 0.71 - - 3158 - 2.62 0.080 2259 533.2 208.0 - - 2201 - - - - - - - - 14.19 13.95 14.25
13901 465.1 9.9 604 13906 roll 0.71 - - 3158 - 2.92 0.162 3665 481.5 208.0 - - 2201 - - - - - - - - 14.62 13.79 14.64
13942 460.5 11.0 610 13949 done 0.71 0.12 0.237 3135 -191.7 2.50 0.052 2251 -565.6 208.0 - - 2201 - - - - - - - - 13.81 14.18 14.11
14294 429.1 8.8 618 14294 done 0.71 - - 3135 - - - 2247 - 208.0 - - 2201 - - - - - - - - 14.59 14.59 14.59
14629 403.3 7.3 624 14632 done 0.72 - - 3135 - - - 2247 - 216.1 1.92 0.210 2186 -7.8 2.949 - - - - - - 14.58 14.15 13.88
14965 379.0 7.3 630 14985 roll 0.73 - - 3134 - 2.97 0.158 3666 477.8 225.0 15.55 1.489 2149 -2.4 0.119 - - - - - - 14.64 13.93 13.57
15028 373.8 8.9 639 15032 done 0.73 - - 3144 - 2.47 0.052 2255 -571.3 225.0 - - 2140 - - - - - - - - 14.31 14.24 14.34
15350 347.7 8.1 650 15356 roll 0.73 - - 3155 - 2.53 0.057 855 -553.4 225.0 - - 2138 - - - - - - - - 14.64 14.04 14.64
15426 341.7 7.9 661 15431 done 0.73 - - 3155 - 2.65 0.080 2263 531.3 225.0 - - 2138 - - - - - - - - 14.21 13.95 14.26
15742 317.0 7.9 671 15747 roll 0.73 - - 3155 - 2.90 0.163 3660 481.7 225.0 - - 2138 - - - - - - - - 14.59 13.80 14.59
15798 311.8 9.5 679 15803 done 0.73 - - 3165 - 2.50 0.052 2245 -566.0 225.0 - - 2138 - - - - - - - - 14.28 14.17 14.28
16134 281.6 9.1 692 16139 roll 0.73 - - 3175 - 2.53 0.057 855 -549.4 225.0 - - 2138 - - - - - - - - 14.58 13.90 14.58
16183 276.9 9.6 699 16189 done 0.73 0.12 0.212 3140 -291.7 2.67 0.081 2255 524.3 225.0 - - 2138 - - - - - - - - 13.78 13.83 14.05
16527 249.3 7.8 706 16532 roll 0.73 - - 3138 - 2.92 0.158 3664 482.5 225.0 - - 2138 - - - - - - - - 14.62 13.85 14.64
16575 245.1 8.7 713 16581 done 0.73 - - 3149 - 2.53 0.052 2253 -557.7 225.0 - - 2138 - - - - - - - - 14.17 14.09 14.20
16919 218.3 7.7 720 16924 roll 0.73 - - 3160 - 2.55 0.057 861 -545.9 225.0 - - 2138 - - - - - - - - 14.56 13.88 14.56
16967 214.6 8.0 727 16973 done 0.73 - - 3160 - 2.67 0.080 2258 523.2 225.0 - - 2138 - - - - - - - - 14.07 13.81 14.13
17311 186.9 8.1 734 17317 roll 0.73 - - 3160 - 2.92 0.164 3663 481.2 225.0 - - 2138 - - - - - - - - 14.56 13.86 14.57
17387 179.9 9.2 745 17392 done 0.73 0.10 0.246 3141 -190.0 2.53 0.050 2241 -562.1 225.0 - - 2138 - - - - - - - - 13.66 14.07 13.97
17703 154.4 8.1 755 17704 done 0.73 - - 3134 - - - 2238 - 225.0 - - 2138 - - - - - - - - 14.56 14.57 14.57
18039 126.1 8.0 761 18040 done 0.73 - - 3141 - - - 2237 - 225.0 - - 2138 - - - - - - - - 14.59 14.56 14.54
18375 108.6 5.5 767 18400 done 0.79 - - 3141 - - - 2237 - 269.3 23.52 0.480 1975 -6.9 0.308 - - - - - - 14.57 14.33 13.88
18683 83.7 7.9 776 18693 roll 0.87 0.05 0.195 3202 1220.0 3.03 0.158 3658 469.0 269.3 1.77 0.187 1979 2.3 -0.199 - - - - - - 14.26 13.85 13.85
18739 77.5 11.4 784 18744 done 0.87 0.10 0.239 3186 -160.0 2.42 0.052 2249 -582.2 269.3 - - 1988 - - - - - - - - 13.75 14.09 14.00
19075 58.3 4.8 799 19114 roll 0.94 - - 3196 - 2.45 0.054 857 -568.2 327.9 34.50 0.343 1746 -7.0 0.234 - - - - - - 14.57 14.19 13.93
19348 48.6 4.0 838 19400 done 1.19 0.20 0.069 3307 555.0 2.60 0.070 2254 537.3 402.7 44.00 0.314 1447 -6.8 0.207 - - - - - - 14.16 13.92 13.93
19719 17.3 9.0 858 19724 roll 1.19 - - 3307 - 2.90 0.160 3659 484.5 402.7 - - 1452 - - - - - - - - 14.58 13.80 14.56
19831 6.7 10.4 874 19837 done 1.19 0.12 0.230 3285 -183.3 2.45 0.050 2262 -570.2 402.7 - - 1450 - - - - - - - - 13.75 14.15 14.01
19883 end climb: SURFACE_DEPTH_REACHED
19883 begin surface coast
19911 end surface coast: CONTROL_FINISHED_OK
19911 begin surface
SM -2.26 - - - - -8.38 9.55 0.088 152 15.9 1.08 0.132 2767 -2184.3 500.39 51.22 0.148 1056 20.6 0.032 - - - - - -