SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 762 * Raw log
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• Previous call tries 1 • 287.75 of 350.00 AH used of 24V (17.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.4 deg, depth 0.78 m • Intended pitch -19.5 deg, speed -8.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 37 s
• GPS2 time: 17 s • Transponder ping count: 32
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
7 - - - 98 VBD -0.81 - - 205 - - - 2246 - -97.3 -89.68 - 2802 - - - - - - - - 12.36 - 12.36
103 2.8 -3.2 3 128 roll -0.81 11.98 0.393 1933 144.2 3.17 1.731 891 -427.4 -97.3 -3.60 - 2997 -54.2 - - - - - - - 11.83 11.26 12.15
191 31.7 -26.4 15 196 done -0.61 0.40 0.280 1994 152.5 2.92 0.050 2262 469.5 -97.3 - - 2998 - - - - - - - - 11.86 12.09 12.09
530 83.3 -9.0 30 535 roll -0.56 - - 1984 - 3.00 0.070 3700 479.3 -97.3 - - 2999 - - - - - - - - 12.53 12.12 12.55
769 107.3 -9.4 64 775 done -0.56 0.15 0.228 2012 186.7 2.80 0.033 2283 -506.1 -97.3 - - 3000 - - - - - - - - 11.95 12.23 12.17
1096 132.9 -7.5 75 1101 roll -0.56 - - 2012 - 2.90 0.046 881 -483.4 -97.3 - - 3001 - - - - - - - - 12.60 12.19 12.62
1135 136.0 -7.0 81 1141 done -0.56 - - 2012 - 3.00 0.050 2298 472.3 -97.3 - - 3001 - - - - - - - - 12.28 12.19 12.31
1492 161.5 -7.7 89 1497 roll -0.56 - - 2011 - 2.97 0.071 3699 471.7 -97.3 - - 3000 - - - - - - - - 12.62 12.17 12.63
1652 175.6 -8.5 112 1664 done -0.56 - - 2011 - 2.85 0.034 2294 -493.0 -97.3 - - 2999 - - - - - - - - 12.22 12.19 12.24
2002 202.8 -7.7 119 2007 roll -0.56 - - 2011 - 2.97 0.047 878 -476.8 -97.3 - - 2997 - - - - - - - - 12.63 12.20 12.64
2117 212.5 -8.4 135 2122 done -0.56 - - 2011 - 3.03 0.052 2297 468.3 -97.3 - - 2997 - - - - - - - - 12.29 12.20 12.32
2456 239.9 -8.1 148 2462 roll -0.56 - - 2011 - 2.97 0.074 3695 470.7 -97.3 - - 2994 - - - - - - - - 12.66 12.17 12.67
2519 245.3 -8.2 157 2525 done -0.61 - - 2011 - 2.83 0.037 2287 -497.5 -97.3 - - 2994 - - - - - - - - 12.34 12.28 12.36
2852 273.0 -8.5 169 2857 roll -0.61 - - 2011 - 2.97 0.050 876 -475.1 -97.3 - - 2992 - - - - - - - - 12.68 12.21 12.69
2899 277.6 -8.8 176 2911 done -0.61 - - 2011 - 3.08 0.053 2295 460.7 -97.3 - - 2992 - - - - - - - - 12.21 12.15 12.24
3249 308.9 -9.3 183 3254 roll -0.61 - - 2006 - 3.00 0.076 3695 466.7 -97.3 - - 2991 - - - - - - - - 12.70 12.19 12.71
3274 312.0 -9.5 187 3280 done -0.61 - - 2006 - 2.85 0.038 2281 -496.1 -97.3 - - 2991 - - - - - - - - 12.37 12.31 12.39
3644 346.8 -9.4 197 3649 roll -0.61 - - 2006 - 2.95 0.050 875 -476.6 -97.3 - - 2988 - - - - - - - - 12.74 12.23 12.77
3720 354.4 -9.4 208 3726 done -0.61 - - 1999 - 3.03 0.053 2293 468.0 -97.3 - - 2987 - - - - - - - - 12.35 12.28 12.38
4039 383.6 -9.3 218 4044 roll -0.61 - - 1998 - 3.00 0.078 3696 467.7 -97.3 - - 2986 - - - - - - - - 12.76 12.20 12.78
4098 388.9 -9.2 226 4103 done -0.61 - - 1999 - 2.88 0.039 2276 -493.1 -97.3 - - 2985 - - - - - - - - 12.40 12.33 12.42
4438 419.0 -8.9 239 4443 roll -0.61 - - 1999 - 2.95 0.051 870 -476.6 -97.3 - - 2984 - - - - - - - - 12.77 12.26 12.78
4534 428.1 -8.6 253 4539 done -0.61 - - 1998 - 3.03 0.054 2292 469.3 -97.3 - - 2983 - - - - - - - - 12.37 12.27 12.40
4829 end dive: TARGET_DEPTH_EXCEEDED
4830 begin apogee
4840 453.6 -8.7 260 5141 roll -0.19 0.60 0.194 2135 228.3 - - 2191 - - 299.15 0.989 2600 -1.3 0.130 - - - - - - 12.08 11.75 11.26
5142 end apogee: CONTROL_FINISHED_OK
5142 begin loiter
5374 467.4 -1.3 298 5408 done -0.18 - - 2135 - - - 2191 - 23.6 32.67 1.304 2503 -3.0 0.235 - - - - - - 12.19 12.19 11.16
5767 463.5 1.5 311 5768 done -0.34 0.17 0.095 2077 -341.2 - - 2191 - 23.6 - - 2486 - - - - - - - - 11.98 12.07 12.05
6101 460.0 1.0 317 6102 done -0.43 - - 2077 - - - 2191 - 23.6 - - 2484 - - - - - - - - 12.32 12.34 12.33
6437 456.0 1.3 323 6438 done -0.51 0.15 0.105 2028 -326.7 - - 2191 - 23.6 - - 2482 - - - - - - - - 12.07 12.17 12.14
6774 450.1 1.9 329 6775 done -0.51 - - 2028 - - - 2191 - 23.6 - - 2481 - - - - - - - - 12.43 12.44 12.44
7109 442.5 2.4 335 7110 done -0.51 - - 2028 - - - 2191 - 23.6 - - 2479 - - - - - - - - 12.48 12.50 12.50
7445 436.8 1.6 341 7446 done -0.51 - - 2028 - - - 2191 - 23.6 - - 2479 - - - - - - - - 12.52 12.54 12.54
7781 433.4 0.9 347 7782 done -0.52 - - 2028 - - - 2191 - 8.3 - - 2477 - - - - - - - - 12.56 12.57 12.57
8118 430.2 1.1 353 8119 done -0.52 - - 2027 - - - 2191 - 8.3 - - 2477 - - - - - - - - 12.57 12.58 12.58
8453 424.0 2.0 359 8454 done -0.52 - - 2027 - - - 2191 - 8.3 - - 2476 - - - - - - - - 12.57 12.59 12.59
8789 418.0 1.7 365 8790 done -0.52 - - 2028 - - - 2191 - 8.3 - - 2475 - - - - - - - - 12.58 12.57 12.59
9125 414.3 1.0 371 9126 done -0.53 - - 2028 - - - 2191 - -9.0 - - 2475 - - - - - - - - 12.57 12.59 12.59
9463 413.9 -0.1 377 9464 done -0.53 - - 2028 - - - 2191 - -7.6 - - 2474 - - - - - - - - 12.56 12.57 12.57
9797 416.0 -0.6 383 9798 done -0.52 - - 2028 - - - 2191 - 3.7 - - 2474 - - - - - - - - 12.58 12.59 12.59
10133 416.6 -0.1 389 10134 done -0.52 - - 2028 - - - 2191 - 5.0 - - 2474 - - - - - - - - 12.58 12.59 12.59
10470 414.9 0.6 395 10471 done -0.52 - - 2028 - - - 2191 - -5.9 - - 2473 - - - - - - - - 12.57 12.58 12.58
10805 412.9 0.5 401 10806 done -0.53 - - 2028 - - - 2191 - -15.3 - - 2473 - - - - - - - - 12.58 12.59 12.59
11141 408.7 1.5 407 11142 done -0.53 - - 2028 - - - 2191 - -15.3 - - 2473 - - - - - - - - 12.58 12.59 12.59
11477 403.3 1.6 413 11478 done -0.53 - - 2028 - - - 2191 - -15.3 - - 2473 - - - - - - - - 12.59 12.60 12.59
11814 400.0 0.9 419 11815 done -0.54 - - 2028 - - - 2191 - -31.7 - - 2473 - - - - - - - - 12.57 12.59 12.59
12149 396.3 1.1 425 12150 done -0.54 - - 2028 - - - 2191 - -31.7 - - 2473 - - - - - - - - 12.58 12.59 12.60
12485 393.7 0.7 431 12486 done -0.55 - - 2028 - - - 2191 - -44.2 - - 2473 - - - - - - - - 12.59 12.59 12.59
12821 390.9 0.9 437 12822 done -0.56 - - 2028 - - - 2191 - -59.5 - - 2472 - - - - - - - - 12.58 12.59 12.59
13158 387.8 0.9 443 13159 done -0.57 - - 2029 - - - 2191 - -75.3 - - 2472 - - - - - - - - 12.57 12.59 12.58
13493 384.9 0.9 449 13494 done -0.58 - - 2028 - - - 2191 - -90.9 - - 2472 - - - - - - - - 12.58 12.59 12.59
13829 381.4 1.1 455 13830 done -0.58 - - 2028 - - - 2191 - -90.9 - - 2472 - - - - - - - - 12.58 12.59 12.59
14166 378.0 1.0 461 14167 done -0.59 - - 2028 - - - 2191 - -108.4 - - 2472 - - - - - - - - 12.57 12.58 12.58
14501 372.8 1.7 467 14502 done -0.59 - - 2028 - - - 2191 - -108.4 - - 2472 - - - - - - - - 12.58 12.59 12.59
14837 368.5 1.2 473 14838 done -0.59 - - 2028 - - - 2191 - -108.4 - - 2472 - - - - - - - - 12.57 12.59 12.59
15173 366.1 0.6 479 15174 done -0.59 - - 2028 - - - 2191 - -119.6 - - 2472 - - - - - - - - 12.57 12.59 12.59
15511 364.0 0.7 485 15511 done -0.60 - - 2028 - - - 2191 - -131.4 - - 2472 - - - - - - - - 12.56 12.57 12.57
15845 362.4 0.4 491 15846 done -0.60 - - 2028 - - - 2191 - -137.6 - - 2472 - - - - - - - - 12.57 12.59 12.59
16181 362.1 0.1 497 16182 done -0.60 - - 2028 - - - 2191 - -139.4 - - 2472 - - - - - - - - 12.57 12.59 12.59
16517 360.0 0.7 503 16518 done -0.61 - - 2028 - - - 2191 - -151.6 - - 2472 - - - - - - - - 12.57 12.59 12.59
16854 358.9 0.2 509 16855 done -0.61 - - 2028 - - - 2191 - -155.4 - - 2472 - - - - - - - - 12.56 12.57 12.57
17189 360.0 -0.4 515 17190 done -0.61 - - 2028 - - - 2191 - -147.8 - - 2472 - - - - - - - - 12.56 12.58 12.58
17525 361.6 -0.4 521 17526 done -0.61 - - 2028 - - - 2191 - -140.4 - - 2472 - - - - - - - - 12.56 12.58 12.58
17863 359.6 0.8 527 17864 done -0.61 - - 2028 - - - 2191 - -154.7 - - 2471 - - - - - - - - 12.55 12.57 12.57
18197 355.8 1.1 533 18198 done -0.61 - - 2028 - - - 2191 - -154.7 - - 2471 - - - - - - - - 12.57 12.58 12.58
18533 352.4 1.0 539 18534 done -0.62 - - 2028 - - - 2191 - -171.5 - - 2471 - - - - - - - - 12.57 12.58 12.58
18869 351.8 - 545 18870 done -0.62 - - 2028 - - - 2191 - -172.0 - - 2471 - - - - - - - - 12.57 12.58 12.58
19206 351.9 - 551 19207 done -0.62 - - 2028 - - - 2191 - -171.9 - - 2471 - - - - - - - - 12.55 12.57 12.57
19541 352.7 -0.3 557 19542 done -0.62 - - 2028 - - - 2191 - -166.7 - - 2471 - - - - - - - - 12.56 12.57 12.57
19877 353.2 -0.1 563 19878 done -0.62 - - 2028 - - - 2191 - -165.1 - - 2471 - - - - - - - - 12.56 12.57 12.57
20213 351.2 0.8 569 20214 done -0.63 - - 2028 - - - 2191 - -178.3 - - 2471 - - - - - - - - 12.56 12.57 12.57
20550 348.3 0.8 575 20551 done -0.64 - - 2028 - - - 2191 - -192.6 - - 2471 - - - - - - - - 12.55 12.57 12.57
20885 347.7 - 581 20886 done -0.64 - - 2028 - - - 2191 - -193.1 - - 2471 - - - - - - - - 12.56 12.57 12.57
21221 347.0 0.3 587 21222 done -0.64 - - 2028 - - - 2191 - -198.7 - - 2471 - - - - - - - - 12.56 12.57 12.57
21559 345.7 0.4 593 21560 done -0.64 0.15 0.114 1983 -300.0 - - 2191 - -205.1 - - 2471 - - - - - - - - 12.14 12.25 12.22
21893 344.2 0.5 599 21894 done -0.60 - - 1983 - - - 2191 - -214.0 - - 2470 - - - - - - - - 12.55 12.57 12.57
22229 341.7 0.8 605 22230 done -0.55 0.17 0.246 2014 182.4 - - 2184 - -228.1 - - 2470 - - - - - - - - 11.83 12.17 12.13
22566 337.8 1.2 611 22567 done -0.55 - - 2014 - - - 2184 - -228.1 - - 2470 - - - - - - - - 12.55 12.56 12.56
22901 336.0 0.3 617 22902 done -0.55 - - 2014 - - - 2184 - -233.5 - - 2470 - - - - - - - - 12.55 12.57 12.57
23121 end loiter: LOITER_COMPLETE
23121 begin climb
23125 336.7 - 621 23224 roll 0.81 1.98 0.213 2450 220.2 3.22 0.074 3616 444.7 97.3 91.25 1.224 2198 -3.0 0.181 - - - - - - 11.87 11.71 11.23
23237 333.3 5.4 637 23308 done 0.84 - - 2460 - 3.03 0.046 2208 -464.7 148.9 66.30 1.183 1992 -3.1 0.193 - - - - - - 11.96 11.90 11.12
23675 292.5 9.8 657 23680 roll 0.84 - - 2460 - 3.17 0.073 3614 443.5 148.9 - - 1961 - - - - - - - - 12.17 11.81 12.19
23743 284.2 10.7 667 23749 done 0.84 - - 2470 - 3.08 0.047 2197 -460.1 148.9 - - 1960 - - - - - - - - 11.94 11.86 11.97
24071 250.9 10.4 678 24075 roll 0.84 - - 2480 - 3.15 0.063 790 -446.7 148.9 - - 1959 - - - - - - - - 12.25 11.87 12.26
24173 239.8 9.9 693 24185 done 0.84 - - 2480 - 3.15 0.051 2192 445.1 148.9 - - 1958 - - - - - - - - 11.90 11.85 11.93
24523 204.0 10.6 700 24529 roll 0.84 - - 2480 - 3.15 0.076 3621 453.7 148.9 - - 1957 - - - - - - - - 12.28 11.89 12.29
24584 196.8 11.9 708 24590 done 0.79 0.17 0.246 2458 -129.4 3.05 0.048 2188 -469.8 148.9 - - 1956 - - - - - - - - 11.71 11.95 11.96
24924 165.8 8.7 721 24929 roll 0.79 - - 2469 - 3.10 0.062 784 -452.9 148.9 - - 1956 - - - - - - - - 12.31 11.93 12.33
25051 155.9 7.4 739 25063 done 0.80 - - 2469 - 3.08 0.050 2196 458.4 164.7 5.55 0.907 1929 -4.9 0.184 - - - - - - 11.95 11.90 11.36
25377 126.0 9.7 750 25382 roll 0.80 - - 2469 - 3.12 0.076 3619 456.1 164.7 - - 1935 - - - - - - - - 12.33 11.93 12.33
25425 120.4 11.1 757 25436 done 0.80 - - 2479 - 3.08 0.047 2189 -464.3 164.7 - - 1935 - - - - - - - - 11.97 11.92 11.97
25744 93.1 7.9 765 25758 roll 0.80 - - 2489 - 3.05 0.060 788 -459.3 171.7 8.18 0.274 1903 -3.9 0.293 - - - - - - 12.34 11.99 11.67
25857 84.8 7.0 781 25890 done 0.82 - - 2488 - 3.08 0.050 2196 457.1 195.5 25.88 0.366 1807 -3.7 0.190 - - - - - - 12.05 11.95 11.66
26230 63.9 2.8 800 26336 roll 0.93 - - 2488 - 3.15 0.073 3610 448.9 292.7 91.25 0.321 1409 -4.4 0.192 - - - - - - 12.26 11.84 11.65
26520 49.7 6.2 842 26567 done 1.10 0.22 0.090 2558 318.2 3.00 0.044 2187 -474.3 329.2 35.15 0.265 1259 -4.3 0.177 - - - - - - 11.90 11.91 11.67
26879 23.5 7.8 859 26893 roll 1.17 - - 2566 - 3.10 0.057 784 -452.6 337.7 9.93 0.172 1222 -3.7 0.112 - - - - - - 12.18 11.88 11.76
27012 12.0 8.1 878 27024 done 1.27 0.10 0.080 2605 390.0 3.12 0.050 2195 452.2 342.0 6.60 0.142 1203 -2.9 0.054 - - - - - - 11.84 11.85 11.81
27099 end climb: SURFACE_DEPTH_REACHED
27099 begin surface coast
27129 end surface coast: CONTROL_FINISHED_OK
27129 begin surface
SM 0.71 - - - - -6.15 8.57 0.070 218 25.4 0.17 0.067 2298 -53717.6 500.17 122.22 0.125 560 4.6 -0.003 - - - - - -