SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 773 * Raw log
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• Previous call tries 1 • 290.25 of 350.00 AH used of 24V (17.07% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.5 deg, depth 0.83 m • Intended pitch -19.5 deg, speed -8.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 66 s
• GPS2 time: 18 s • Transponder ping count: 25
• 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
4 begin dive
8 - - - 98 VBD -0.81 - - 201 - - - 2301 - -97.3 -88.85 - 2792 - - - - - - - - 11.21 - 11.21
103 2.9 -3.7 3 128 roll -0.81 15.25 0.405 1929 113.3 3.65 1.610 870 -392.1 -97.3 -3.58 - 3000 -58.1 - - - - - - - 10.83 10.38 10.99
190 34.3 -29.3 15 195 done -0.61 0.50 0.279 1998 138.0 3.35 0.051 2289 423.6 -97.3 - - 3000 - - - - - - - - 10.90 11.02 11.07
531 88.0 -9.2 30 536 roll -0.55 - - 1988 - 3.28 0.067 3697 429.3 -97.3 - - 3002 - - - - - - - - 11.23 11.02 11.24
656 99.3 -8.9 48 662 done -0.50 0.25 0.213 2032 176.0 3.20 0.034 2257 -450.0 -97.3 - - 3003 - - - - - - - - 10.95 11.07 11.08
1013 128.3 -8.3 56 1018 roll -0.50 - - 2024 - 3.42 0.066 3699 421.6 -97.3 - - 3003 - - - - - - - - 11.24 11.03 11.24
1102 136.7 -9.0 69 1108 done -0.50 - - 2024 - 3.17 0.032 2274 -449.5 -97.3 - - 3003 - - - - - - - - 11.12 11.08 11.14
1466 167.1 -8.5 78 1471 roll -0.50 - - 2023 - 3.28 0.047 876 -426.2 -97.3 - - 3002 - - - - - - - - 11.24 11.06 11.24
1582 177.2 -8.7 94 1587 done -0.54 - - 2024 - 3.35 0.050 2287 421.2 -97.3 - - 3002 - - - - - - - - 11.12 11.05 11.13
1921 204.7 -7.9 107 1925 roll -0.54 - - 2015 - 3.35 0.071 3702 422.4 -97.3 - - 3000 - - - - - - - - 11.24 11.04 11.26
1955 207.8 -8.3 112 1959 done -0.54 - - 2015 - 3.20 0.034 2269 -447.8 -97.3 - - 3000 - - - - - - - - 11.13 11.08 11.14
2316 238.2 -8.6 121 2322 roll -0.54 - - 2015 - 3.28 0.049 876 -424.7 -97.3 - - 2998 - - - - - - - - 11.24 11.06 11.25
2391 245.5 -8.9 132 2397 done -0.54 - - 2015 - 3.35 0.050 2284 420.3 -97.3 - - 2998 - - - - - - - - 11.12 11.05 11.14
2713 274.1 -9.2 142 2719 roll -0.54 - - 2012 - 3.35 0.072 3695 421.2 -97.3 - - 2996 - - - - - - - - 11.24 11.04 11.25
2789 281.7 -8.9 153 2795 done -0.60 - - 2011 - 3.20 0.035 2269 -445.6 -97.3 - - 2996 - - - - - - - - 11.13 11.08 11.14
3109 311.1 -9.4 163 3114 roll -0.60 - - 2012 - 3.25 0.049 878 -428.0 -97.3 - - 2993 - - - - - - - - 11.25 11.06 11.26
3207 320.9 -9.5 177 3212 done -0.60 - - 2012 - 3.35 0.051 2284 419.7 -97.3 - - 2992 - - - - - - - - 11.12 11.05 11.14
3560 352.9 -9.1 185 3566 roll -0.60 - - 2012 - 3.38 0.074 3704 420.1 -97.3 - - 2991 - - - - - - - - 11.25 11.05 11.26
3608 357.6 -8.9 192 3620 done -0.66 - - 2012 - 3.25 0.035 2277 -439.1 -97.3 - - 2991 - - - - - - - - 11.10 11.07 11.11
3958 386.3 -8.1 199 3963 roll -0.66 - - 2012 - 3.28 0.048 880 -425.9 -97.3 - - 2988 - - - - - - - - 11.24 11.06 11.26
4040 393.1 -7.2 211 4046 done -0.70 0.15 0.106 1972 -266.7 3.35 0.052 2280 417.9 -97.3 - - 2988 - - - - - - - - 11.07 11.05 11.12
4411 429.1 -10.2 221 4417 roll -0.70 - - 1972 - 3.38 0.075 3695 418.6 -97.3 - - 2986 - - - - - - - - 11.24 11.05 11.26
4459 434.9 -10.8 228 4470 done -0.70 - - 1972 - 3.25 0.037 2277 -436.3 -97.3 - - 2986 - - - - - - - - 11.10 11.07 11.12
4635 end dive: TARGET_DEPTH_EXCEEDED
4635 begin apogee
4644 453.5 -10.6 232 4776 roll -0.19 0.82 0.204 2133 196.3 0.08 0.128 2205 -900.0 - 129.48 1.337 2599 -3.0 0.240 - - - - - - 10.97 10.95 10.47
4777 end apogee: CONTROL_FINISHED_OK
4777 begin loiter
5009 462.6 -1.2 267 5043 done -0.18 - - 2133 - - - 2205 - 20.5 28.85 1.280 2509 -3.1 0.266 - - - - - - 11.22 11.21 10.47
5401 458.8 1.5 280 5402 done -0.34 0.17 0.088 2081 -305.9 - - 2205 - 20.5 - - 2497 - - - - - - - - 11.05 11.12 11.11
5736 455.5 0.8 286 5737 done -0.44 - - 2081 - - - 2205 - 5.7 - - 2495 - - - - - - - - 11.22 11.24 11.24
6072 453.7 0.5 292 6073 done -0.53 0.20 0.085 2025 -280.0 - - 2205 - -3.4 - - 2493 - - - - - - - - 11.06 11.13 11.12
6410 452.1 0.5 298 6410 done -0.53 - - 2025 - - - 2205 - -11.9 - - 2491 - - - - - - - - 11.23 11.24 11.24
6744 448.2 1.4 304 6744 done -0.53 - - 2025 - - - 2205 - -11.9 - - 2490 - - - - - - - - 11.24 11.24 11.25
7080 441.0 2.2 310 7080 done -0.53 - - 2025 - - - 2205 - -11.9 - - 2489 - - - - - - - - 11.24 11.25 11.26
7416 434.8 1.7 316 7416 done -0.53 - - 2025 - - - 2205 - -11.9 - - 2489 - - - - - - - - 11.24 11.25 11.25
7753 431.5 0.8 322 7754 done -0.54 - - 2025 - - - 2205 - -25.2 - - 2488 - - - - - - - - 11.24 11.25 11.25
8088 429.4 0.7 328 8089 done -0.55 - - 2025 - - - 2204 - -36.9 - - 2487 - - - - - - - - 11.24 11.26 11.26
8424 426.6 0.8 334 8425 done -0.56 - - 2025 - - - 2205 - -51.4 - - 2486 - - - - - - - - 11.24 11.26 11.26
8760 423.5 1.0 340 8761 done -0.57 - - 2025 - - - 2205 - -68.0 - - 2486 - - - - - - - - 11.24 11.26 11.26
9097 420.9 0.7 346 9098 done -0.58 - - 2025 - - - 2205 - -80.5 - - 2487 - - - - - - - - 11.24 11.26 11.26
9432 420.4 - 352 9433 done -0.58 - - 2025 - - - 2205 - -80.7 - - 2485 - - - - - - - - 11.24 11.26 11.26
9768 420.9 -0.1 358 9769 done -0.57 - - 2025 - - - 2205 - -78.7 - - 2485 - - - - - - - - 11.24 11.26 11.26
10104 419.4 0.6 364 10105 done -0.58 - - 2025 - - - 2205 - -88.6 - - 2484 - - - - - - - - 11.25 11.26 11.26
10441 416.3 1.0 370 10442 done -0.59 - - 2025 - - - 2205 - -105.4 - - 2484 - - - - - - - - 11.24 11.26 11.26
10776 413.8 0.7 376 10777 done -0.60 - - 2025 - - - 2205 - -116.9 - - 2484 - - - - - - - - 11.25 11.26 11.26
11112 413.3 0.1 382 11113 done -0.60 - - 2025 - - - 2204 - -118.3 - - 2483 - - - - - - - - 11.25 11.26 11.26
11449 413.2 - 388 11450 done -0.60 - - 2025 - - - 2205 - -118.6 - - 2483 - - - - - - - - 11.25 11.26 11.26
11784 413.8 -0.2 394 11785 done -0.60 - - 2025 - - - 2205 - -114.9 - - 2483 - - - - - - - - 11.26 11.26 11.26
12120 414.2 -0.1 400 12121 done -0.59 - - 2025 - - - 2205 - -112.8 - - 2483 - - - - - - - - 11.25 11.26 11.26
12456 414.5 -0.1 406 12457 done -0.59 - - 2025 - - - 2205 - -111.7 - - 2483 - - - - - - - - 11.25 11.26 11.26
12793 413.4 0.4 412 12794 done -0.60 - - 2025 - - - 2205 - -119.3 - - 2483 - - - - - - - - 11.25 11.26 11.26
13128 411.9 0.4 418 13128 done -0.60 - - 2025 - - - 2205 - -126.3 - - 2483 - - - - - - - - 11.25 11.26 11.26
13464 412.2 -0.2 424 13464 done -0.60 - - 2025 - - - 2205 - -123.0 - - 2483 - - - - - - - - 11.25 11.26 11.26
13800 413.6 -0.4 430 13801 done -0.60 - - 2025 - - - 2205 - -115.5 - - 2483 - - - - - - - - 11.25 11.26 11.26
14137 414.4 -0.2 436 14138 done -0.59 - - 2025 - - - 2205 - -112.5 - - 2483 - - - - - - - - 11.25 11.26 11.26
14472 413.3 0.4 442 14473 done -0.60 - - 2025 - - - 2205 - -119.7 - - 2482 - - - - - - - - 11.26 11.27 11.26
14808 411.1 0.7 448 14808 done -0.61 - - 2025 - - - 2205 - -131.6 - - 2482 - - - - - - - - 11.25 11.27 11.27
15145 409.9 0.2 454 15146 done -0.61 - - 2025 - - - 2205 - -135.8 - - 2482 - - - - - - - - 11.25 11.26 11.26
15480 411.0 -0.4 460 15480 done -0.60 - - 2025 - - - 2205 - -128.4 - - 2482 - - - - - - - - 11.26 11.27 11.27
15816 411.5 - 466 15817 done -0.60 - - 2025 - - - 2205 - -127.8 - - 2482 - - - - - - - - 11.24 11.27 11.26
16152 409.8 0.6 472 16153 done -0.61 - - 2025 - - - 2204 - -137.9 - - 2482 - - - - - - - - 11.26 11.27 11.27
16489 408.0 0.5 478 16490 done -0.62 - - 2025 - - - 2205 - -146.9 - - 2482 - - - - - - - - 11.25 11.26 11.26
16824 407.0 0.3 484 16824 done -0.62 - - 2025 - - - 2205 - -151.3 - - 2482 - - - - - - - - 11.26 11.27 11.26
17160 407.3 -0.2 490 17161 done -0.62 - - 2025 - - - 2205 - -147.7 - - 2482 - - - - - - - - 11.26 11.26 11.26
17497 410.3 -1.0 496 17498 done -0.61 - - 2025 - - - 2205 - -130.6 - - 2482 - - - - - - - - 11.25 11.26 11.26
17832 412.0 -0.4 502 17833 done -0.60 - - 2025 - - - 2205 - -124.4 - - 2482 - - - - - - - - 11.26 11.27 11.27
18168 410.8 0.5 508 18169 done -0.61 - - 2026 - - - 2205 - -132.4 - - 2482 - - - - - - - - 11.26 11.27 11.27
18504 408.5 0.7 514 18505 done -0.61 - - 2025 - - - 2205 - -144.4 - - 2482 - - - - - - - - 11.26 11.27 11.27
18841 407.1 0.3 520 18842 done -0.62 - - 2025 - - - 2205 - -150.5 - - 2482 - - - - - - - - 11.26 11.26 11.26
19176 406.8 0.1 526 19177 done -0.62 - - 2026 - - - 2205 - -151.9 - - 2482 - - - - - - - - 11.26 11.27 11.27
19512 405.5 0.5 532 19513 done -0.62 - - 2025 - - - 2205 - -159.9 - - 2482 - - - - - - - - 11.26 11.27 11.26
19848 403.7 0.6 538 19849 done -0.63 - - 2025 - - - 2205 - -169.6 - - 2482 - - - - - - - - 11.26 11.27 11.26
20185 400.9 0.9 544 20186 done -0.64 - - 2025 - - - 2204 - -184.8 - - 2482 - - - - - - - - 11.25 11.26 11.26
20520 399.0 0.5 550 20520 done -0.64 - - 2025 - - - 2205 - -192.8 - - 2482 - - - - - - - - 11.26 11.27 11.27
20856 399.1 -0.1 556 20857 done -0.64 - - 2025 - - - 2205 - -191.5 - - 2482 - - - - - - - - 11.26 11.26 11.27
21193 399.3 -0.1 562 21194 done -0.64 - - 2025 - - - 2205 - -190.1 - - 2482 - - - - - - - - 11.25 11.27 11.26
21528 399.0 0.2 568 21528 done -0.64 - - 2025 - - - 2205 - -193.0 - - 2482 - - - - - - - - 11.26 11.27 11.27
21864 398.0 0.3 574 21865 done -0.65 - - 2025 - - - 2205 - -198.3 - - 2482 - - - - - - - - 11.26 11.27 11.27
22200 396.1 0.6 580 22201 done -0.65 0.15 0.106 1985 -266.7 - - 2205 - -209.0 - - 2481 - - - - - - - - 11.07 11.16 11.14
22537 394.4 0.5 586 22538 done -0.61 - - 1985 - - - 2205 - -217.6 - - 2481 - - - - - - - - 11.25 11.27 11.26
22756 end loiter: LOITER_COMPLETE
22756 begin climb
22760 393.3 - 590 22873 roll 0.81 2.38 0.220 2462 200.4 3.45 0.057 807 -405.2 97.3 102.78 1.274 2194 -2.8 0.204 - - - - - - 10.97 10.86 10.43
23070 372.3 8.1 634 23076 done 0.81 - - 2462 - 3.35 0.051 2198 415.2 101.1 - - 2179 - - - - - - - - 11.10 11.03 11.12
23439 341.9 8.2 644 23445 roll 0.81 - - 2462 - 3.42 0.076 3622 416.4 103.1 - - 2176 - - - - - - - - 11.23 11.02 11.24
23530 333.2 9.4 657 23536 done 0.75 - - 2472 - 3.25 0.046 2212 -433.8 103.1 - - 2174 - - - - - - - - 11.11 11.05 11.12
23892 301.6 8.9 666 23897 roll 0.70 0.22 0.243 2442 -136.4 3.40 0.057 783 -420.3 103.1 - - 2174 - - - - - - - - 10.93 11.04 11.04
23925 298.5 7.6 671 23956 done 0.71 - - 2442 - 3.42 0.050 2214 418.4 115.8 23.90 1.156 2121 -2.2 0.135 - - - - - - 11.11 11.05 10.48
24292 270.5 7.7 687 24301 roll 0.72 - - 2442 - 3.35 0.073 3614 417.9 126.2 4.32 0.877 2083 -8.8 0.641 - - - - - - 11.22 10.93 10.45
24350 265.2 8.3 696 24355 done 0.72 - - 2452 - 3.28 0.044 2190 -434.1 126.2 - - 2088 - - - - - - - - 11.11 11.05 11.12
24686 241.1 7.3 708 24727 roll 0.73 - - 2461 - 3.38 0.058 787 -415.1 144.8 35.55 1.097 2001 -2.4 0.127 - - - - - - 11.23 10.89 10.52
24756 234.7 8.4 719 24761 done 0.73 - - 2461 - 3.40 0.048 2209 418.2 144.8 - - 1989 - - - - - - - - 11.08 11.01 11.10
25126 198.0 10.4 729 25131 roll 0.73 - - 2461 - 3.35 0.072 3611 418.5 144.8 - - 1983 - - - - - - - - 11.22 11.02 11.24
25210 187.8 11.2 741 25216 done 0.73 0.20 0.226 2438 -115.0 3.25 0.042 2192 -436.6 144.8 - - 1983 - - - - - - - - 10.94 11.05 11.09
25579 156.7 8.3 751 25584 roll 0.73 - - 2446 - 3.35 0.057 791 -418.2 145.0 - - 1982 - - - - - - - - 11.23 11.03 11.24
25663 149.8 7.7 763 25674 done 0.79 - - 2446 - 3.38 0.047 2212 420.4 155.2 3.53 0.687 1964 -5.1 0.263 - - - - - - 11.11 11.04 10.50
26031 121.7 7.7 773 26060 roll 0.79 - - 2446 - 3.42 0.072 3614 409.9 166.7 24.38 0.951 1914 -2.1 0.062 - - - - - - 11.23 10.98 10.58
26087 117.1 8.4 781 26092 done 0.79 - - 2455 - 3.25 0.041 2197 -436.0 166.7 - - 1903 - - - - - - - - 11.10 11.04 11.11
26428 86.2 9.0 796 26433 roll 0.79 - - 2462 - 3.40 0.058 785 -415.3 166.7 - - 1898 - - - - - - - - 11.22 11.02 11.24
26546 78.8 5.1 812 26604 done 0.90 - - 2462 - 3.40 0.047 2210 419.1 223.7 52.08 0.354 1692 -4.0 0.208 - - - - - - 11.10 11.04 10.82
26944 58.5 3.8 835 27037 roll 1.08 0.32 0.067 2556 293.8 3.35 0.070 3612 418.5 302.9 86.43 0.295 1365 -3.8 0.177 - - - - - - 11.05 10.99 10.86
27069 52.4 7.3 848 27094 done 1.09 - - 2564 - 3.30 0.041 2191 -430.6 320.5 20.92 0.265 1292 -3.5 0.163 - - - - - - 11.05 11.04 10.86
27412 27.1 7.6 863 27436 done 1.14 - - 2564 - - - 2192 - 332.5 14.95 0.179 1244 -3.2 0.115 - - - - - - 11.21 11.01 10.92
27713 end climb: SURFACE_DEPTH_REACHED
27713 begin surface coast
27740 end surface coast: CONTROL_FINISHED_OK
27740 begin surface
SM 0.87 - - - - -6.13 9.05 0.064 230 25.4 0.28 0.071 2291 -21667.9 500.17 140.85 0.119 560 4.0 -0.003 - - - - - -