SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 790 * Raw log
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• Previous call tries 1 • 267.53 of 350.00 AH used of 24V (23.56% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -70.0 deg, depth -7.74 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
18 - - - 101 done -0.93 - - 107 - - - 2780 - -107.1 -79.43 - 3482 - - - - - - - - 14.56 12.30 14.50
106 -0.8 -10.7 3 123 roll -0.93 11.95 0.379 2591 207.9 2.50 0.034 1353 -570.8 -107.1 - - 3479 - - - - - - - - 13.94 14.33 14.30
145 17.7 -42.4 9 151 done -0.19 0.95 0.236 2829 250.5 2.85 0.125 2766 495.8 -107.1 - - 3479 - - - - - - - - 13.81 13.90 14.12
468 43.6 -6.4 22 469 done -0.39 0.12 0.102 2747 -683.3 - - 2766 - -107.1 - - 3480 - - - - - - - - 14.35 14.42 14.40
776 62.5 -6.4 33 781 roll -0.56 - - 2744 - 2.50 0.043 1359 -562.8 -107.1 - - 3481 - - - - - - - - 14.70 14.18 14.71
940 71.5 -7.7 56 947 done -0.73 0.17 0.077 2633 -652.9 2.83 0.118 2765 496.8 -107.1 - - 3482 - - - - - - - - 14.16 13.78 14.28
1252 98.1 -8.9 68 1257 roll -0.73 0.08 0.252 2660 337.5 2.50 0.042 1369 -558.4 -107.1 - - 3482 - - - - - - - - 13.98 14.04 14.09
1321 102.7 -8.2 78 1325 done -0.73 - - 2650 - 2.80 0.121 2760 496.8 -107.1 - - 3482 - - - - - - - - 14.09 13.76 14.15
1644 125.1 -7.5 89 1649 roll -0.73 - - 2643 - 2.25 0.183 3822 472.0 -107.1 - - 3481 - - - - - - - - 14.69 13.70 14.69
1700 129.2 -5.0 97 1706 done -0.73 - - 2642 - 1.85 0.057 2724 -593.5 -107.1 - - 3481 - - - - - - - - 14.37 14.31 14.38
2036 156.6 -8.2 110 2041 roll -0.73 - - 2643 - 2.38 0.043 1387 -561.8 -107.1 - - 3479 - - - - - - - - 14.69 14.14 14.69
2070 161.3 -10.0 115 2075 done -0.73 0.10 0.238 2660 170.0 2.72 0.109 2759 504.4 -107.1 - - 3479 - - - - - - - - 13.78 13.76 14.04
2428 191.9 -9.2 124 2433 roll -0.73 - - 2660 - 2.47 0.044 1390 -554.3 -107.1 - - 3476 - - - - - - - - 14.69 14.12 14.69
2504 199.8 -7.4 135 2509 done -0.73 - - 2652 - 2.75 0.114 2757 497.1 -107.1 - - 3476 - - - - - - - - 14.06 13.73 14.12
2820 222.6 -7.2 145 2826 roll -0.73 - - 2644 - 2.22 0.172 3823 480.2 -107.1 - - 3475 - - - - - - - - 14.69 13.60 14.69
2847 224.4 -6.8 149 2853 done -0.73 - - 2644 - 1.80 0.061 2784 -577.2 -107.1 - - 3473 - - - - - - - - 14.33 14.26 14.34
3213 249.3 -7.0 159 3217 roll -0.73 - - 2644 - 2.55 0.044 1363 -557.3 -107.1 - - 3471 - - - - - - - - 14.69 14.09 14.69
3324 257.9 -5.2 175 3329 done -0.73 - - 2634 - 2.78 0.110 2758 501.8 -107.1 - - 3470 - - - - - - - - 14.04 13.71 14.11
3660 282.1 -7.4 188 3661 done -0.73 - - 2635 - - - 2757 - -107.1 - - 3468 - - - - - - - - 14.73 14.73 14.73
3996 305.1 -7.9 194 4001 roll -0.73 - - 2634 - 2.53 0.046 1369 -548.6 -107.1 - - 3466 - - - - - - - - 14.72 14.08 14.72
4030 308.2 -7.4 199 4035 done -0.73 0.12 0.232 2659 208.3 2.80 0.112 2758 496.1 -107.1 - - 3464 - - - - - - - - 13.73 13.72 14.00
4388 337.2 -8.3 208 4393 roll -0.73 - - 2660 - 2.55 0.046 1362 -547.5 -107.1 - - 3464 - - - - - - - - 14.73 14.08 14.73
4436 340.9 -7.8 215 4442 done -0.82 - - 2651 - 2.83 0.112 2755 492.2 -107.1 - - 3464 - - - - - - - - 14.03 13.71 14.11
4780 369.4 -8.6 222 4785 roll -0.82 - - 2651 - 2.55 0.047 1359 -547.5 -107.1 - - 3461 - - - - - - - - 14.71 14.07 14.69
4821 373.3 -11.8 228 4826 done -0.82 - - 2642 - 2.80 0.112 2748 496.1 -107.1 - - 3461 - - - - - - - - 14.04 13.72 14.09
5172 401.6 -9.4 236 5177 roll -0.82 - - 2641 - 2.53 0.045 1367 -545.8 -107.1 - - 3460 - - - - - - - - 14.69 14.08 14.69
5234 405.9 -1.8 245 5240 done -0.82 - - 2631 - 2.78 0.111 2746 496.0 -107.1 - - 3460 - - - - - - - - 14.04 13.71 14.11
5564 433.8 -7.6 257 5570 roll -0.82 - - 2631 - 2.53 0.045 1362 -547.0 -107.1 - - 3455 - - - - - - - - 14.68 14.09 14.68
5599 437.5 -15.3 262 5604 done -0.82 - - 2622 - 2.78 0.112 2742 496.4 -107.1 - - 3458 - - - - - - - - 14.09 13.80 14.15
5957 468.6 -8.2 271 5961 roll -0.82 - - 2614 - 2.28 0.176 3824 474.6 -107.1 - - 3457 - - - - - - - - 14.73 13.55 14.72
6004 472.7 -10.2 278 6010 done -0.82 - - 2613 - 1.92 0.063 2740 -564.6 -107.1 - - 3457 - - - - - - - - 14.25 14.18 14.28
6348 501.7 -9.2 285 6354 roll -0.82 - - 2613 - 2.47 0.044 1366 -556.3 -107.1 - - 3455 - - - - - - - - 14.73 14.09 14.73
6390 504.2 -10.2 291 6394 done -0.82 - - 2605 - 2.78 0.109 2743 495.3 -107.1 - - 3455 - - - - - - - - 14.02 13.69 14.09
6741 530.9 -7.2 299 6745 roll -0.82 - - 2597 - 2.28 0.174 3824 474.1 -107.1 - - 3453 - - - - - - - - 14.69 13.55 14.69
6775 535.9 -11.9 304 6780 done -0.82 0.12 0.227 2631 283.3 1.90 0.064 2742 -569.5 -107.1 - - 3454 - - - - - - - - 13.76 14.22 14.02
7133 559.0 -6.9 313 7139 roll -0.82 - - 2631 - 2.47 0.044 1365 -557.5 -107.1 - - 3452 - - - - - - - - 14.72 14.08 14.72
7223 567.7 -14.1 326 7228 done -0.82 - - 2621 - 2.78 0.106 2742 495.3 -107.1 - - 3452 - - - - - - - - 14.00 13.66 14.05
7581 595.4 -9.4 335 7582 done -0.82 - - 2621 - - - 2742 - -107.1 - - 3450 - - - - - - - - 14.68 14.68 14.68
7917 620.7 -7.1 341 7923 roll -0.82 - - 2621 - 2.53 0.044 1365 -544.3 -107.1 - - 3450 - - - - - - - - 14.66 14.04 14.67
7973 628.7 -20.0 349 7979 done -0.82 - - 2612 - 2.78 0.108 2735 492.8 -107.1 - - 3449 - - - - - - - - 14.01 13.67 14.08
8309 654.4 -8.0 362 8314 roll -0.82 - - 2611 - 2.53 0.044 1361 -543.1 -107.1 - - 3449 - - - - - - - - 14.67 14.05 14.66
8343 659.5 -15.4 367 8348 done -0.82 0.10 0.241 2623 120.0 2.78 0.112 2736 494.6 -107.1 - - 3449 - - - - - - - - 13.77 13.76 14.04
8702 688.3 -7.7 376 8706 roll -0.82 - - 2630 - 2.53 0.045 1363 -542.7 -107.1 - - 3447 - - - - - - - - 14.71 14.01 14.71
8736 690.7 -9.7 381 8742 done -0.82 - - 2620 - 2.78 0.109 2728 491.0 -107.1 - - 3447 - - - - - - - - 14.01 13.67 14.07
9094 713.7 -5.6 390 9095 done -0.82 - - 2620 - - - 2728 - -107.1 - - 3445 - - - - - - - - 14.67 14.67 14.67
9430 742.5 -8.2 396 9434 roll -0.82 - - 2620 - 2.53 0.045 1361 -540.3 -107.1 - - 3443 - - - - - - - - 14.72 14.01 14.72
9471 746.5 -6.1 402 9476 done -0.82 - - 2611 - 2.78 0.110 2726 491.0 -107.1 - - 3444 - - - - - - - - 13.99 13.64 14.06
9822 770.8 -7.4 410 9823 done -0.82 - - 2611 - - - 2725 - -107.1 - - 3443 - - - - - - - - 14.71 14.71 14.71
10158 792.9 -5.4 416 10163 roll -0.82 - - 2610 - 2.53 0.045 1358 -540.3 -107.1 - - 3442 - - - - - - - - 14.71 14.00 14.71
10209 end dive: TARGET_DEPTH_EXCEEDED
10209 begin apogee
10221 801.8 -17.1 424 10339 roll -0.23 0.77 0.181 2816 267.5 - - 2255 - - 116.25 1.859 3050 -3.4 0.297 - - - - - - 13.66 13.82 13.04
10341 end apogee: CONTROL_FINISHED_OK
10341 begin climb
10346 804.9 - 426 10481 roll 0.93 1.12 0.085 3184 328.6 2.62 0.052 852 -535.5 107.1 121.97 1.793 2616 -3.6 0.326 - - - - - - 13.78 13.81 12.50
10552 801.3 6.2 458 10591 done 0.83 - - 3184 - 2.80 0.076 2253 500.4 137.5 34.08 1.837 2500 -3.4 0.303 - - - - - - 13.50 13.28 12.60
10944 770.1 7.7 472 10946 done 0.70 0.20 0.221 3131 -265.0 - - 2252 - 138.1 - - 2482 - - - - - - - - 13.73 14.09 14.04
11280 751.4 6.7 478 11312 roll 0.73 - - 3130 - 2.90 0.161 3666 487.6 159.2 23.42 1.867 2404 -3.3 0.274 - - - - - - 14.59 14.09 13.48
11328 749.0 5.0 485 11396 done 0.72 - - 3142 - 2.55 0.054 2231 -562.7 214.2 63.25 1.740 2195 -3.3 0.290 - - - - - - 14.21 14.14 13.22
11732 713.1 9.9 507 11733 done 0.72 - - 3141 - - - 2231 - 214.2 - - 2173 - - - - - - - - 14.54 14.54 14.53
12064 691.2 8.0 513 12065 done 0.72 - - 3141 - - - 2231 - 214.2 - - 2171 - - - - - - - - 14.63 14.63 14.63
12400 663.7 7.1 519 12405 done 0.73 - - 3141 - - - 2231 - 227.6 3.97 1.340 2144 -6.8 0.688 - - - - - - 14.64 14.42 13.35
12736 632.0 10.4 525 12740 done 0.73 - - 3141 - - - 2231 - 227.6 1.95 0.205 2144 - - - - - - - - 14.63 14.23 13.98
13072 602.3 9.4 531 13075 done 0.73 - - 3141 - - - 2230 - 227.6 1.95 0.206 2142 - - - - - - - - 14.64 14.23 13.98
13408 570.5 8.9 537 13409 done 0.73 - - 3141 - - - 2230 - 227.6 - - 2152 - - - - - - - - 14.63 14.64 14.64
13744 537.7 10.0 543 13749 roll 0.73 - - 3151 - 2.55 0.060 860 -537.3 227.6 - - 2152 - - - - - - - - 14.64 13.93 14.64
13792 536.7 10.9 550 13798 done 0.73 - - 3152 - 2.67 0.080 2251 521.0 227.6 - - 2152 - - - - - - - - 14.09 13.82 14.14
14136 507.0 8.8 557 14142 roll 0.73 - - 3151 - 2.95 0.163 3658 476.9 227.6 - - 2152 - - - - - - - - 14.63 13.71 14.63
14171 504.5 10.2 562 14175 done 0.73 - - 3161 - 2.50 0.052 2245 -565.2 227.6 - - 2152 - - - - - - - - 14.23 14.14 14.26
14528 474.0 9.3 571 14531 done 0.73 - - 3161 - - - 2241 - 227.6 1.65 0.212 2143 -5.5 2.491 - - - - - - 14.64 14.19 13.97
14865 447.7 7.9 577 14870 roll 0.73 - - 3172 - 2.58 0.060 850 -539.1 227.6 - - 2151 - - - - - - - - 14.64 13.90 14.63
14913 444.2 7.0 584 14944 done 0.75 - - 3172 - 2.70 0.081 2250 518.5 242.1 23.88 1.525 2079 -3.0 0.179 - - - - - - 14.05 13.78 13.57
15257 413.2 9.3 598 15261 roll 0.75 - - 3181 - 2.55 0.060 859 -545.5 242.1 - - 2069 - - - - - - - - 14.63 14.03 14.63
15291 410.2 8.1 603 15296 done 0.75 0.12 0.212 3146 -291.7 2.65 0.083 2248 524.2 242.1 - - 2067 - - - - - - - - 13.84 13.91 14.12
15649 380.4 7.1 612 15660 roll 0.77 - - 3145 - 2.83 0.162 3661 499.3 254.3 4.10 1.188 2040 -6.6 0.431 - - - - - - 14.63 14.10 13.31
15676 378.3 6.5 616 15710 done 0.80 - - 3155 - 2.50 0.053 2234 -570.8 278.0 25.23 1.588 1942 -3.9 0.189 - - - - 1 - 14.31 14.23 13.24
16038 344.9 8.9 632 16048 roll 0.80 - - 3164 - 2.55 0.059 854 -541.2 278.0 1.75 0.217 1943 - - - - - - - - 14.59 14.12 13.93
16097 338.4 8.9 641 16103 done 0.80 - - 3165 - 2.62 0.078 2245 530.9 278.0 - - 1950 - - - - - - - - 14.18 13.93 14.22
16427 304.2 10.1 653 16434 roll 0.80 - - 3165 - 2.97 0.163 3667 478.8 278.0 1.73 0.214 1942 -4.6 1.342 - - - - - - 14.66 13.92 13.95
16462 300.8 10.1 658 16468 done 0.80 - - 3176 - 2.50 0.051 2245 -568.8 278.0 1.70 0.216 1942 - - - - - - - - 14.28 14.19 13.92
16813 264.0 10.8 666 16819 roll 0.80 - - 3186 - 2.58 0.059 858 -537.6 278.0 1.62 0.213 1942 - - - - - - - - 14.62 14.08 13.94
16868 259.4 8.5 674 16873 done 0.80 - - 3186 - 2.62 0.080 2237 526.3 278.0 - - 1951 - - - - - - - - 14.02 13.83 14.04
17198 228.6 9.0 686 17201 done 0.80 - - 3179 - - - 2237 - 278.0 1.65 0.213 1942 -5.5 1.196 - - - - - - 14.66 14.15 13.90
17534 196.7 8.9 692 17540 roll 0.80 - - 3194 - 2.60 0.059 859 -530.0 278.0 1.60 0.214 1942 - - - - - - - - 14.66 14.05 13.89
17569 193.4 8.1 697 17575 done 0.80 0.12 0.205 3159 -291.7 2.65 0.083 2240 521.1 278.0 1.27 0.218 1942 - - - - - - - - 13.69 13.73 13.93
17920 163.3 8.4 705 17921 done 0.80 - - 3159 - - - 2240 - 278.0 - - 1953 - - - - - - - - 14.62 14.62 14.62
18255 134.2 8.7 711 18258 done 0.80 - - 3159 - - - 2239 - 278.0 1.67 0.211 1942 -6.6 0.856 - - - - - - 14.68 14.10 13.83
18592 104.2 8.1 717 18598 roll 0.80 - - 3159 - 2.97 0.162 3658 477.8 278.0 1.70 0.208 1942 - - - - - - - - 14.62 13.84 13.87
18620 100.9 9.7 721 18626 done 0.80 - - 3168 - 2.55 0.053 2230 -560.0 278.0 - - 1950 - - - - - - - - 14.23 14.14 14.25
18957 75.6 7.3 736 18969 roll 0.81 - - 3179 - 2.47 0.058 846 -560.3 286.4 7.05 0.350 1913 -5.2 0.232 - - - - - - 14.65 14.07 13.73
19047 68.2 8.0 749 19053 done 0.81 - - 3179 - 2.62 0.077 2233 529.4 286.4 2.20 0.207 1909 -1.8 0.122 - - - - - - 14.07 13.83 13.84
19377 49.5 5.2 763 19411 roll 0.87 - - 3187 - 2.55 0.057 852 -541.6 336.6 29.77 0.334 1718 -6.4 0.194 - - - - - - 14.64 14.23 13.95
19566 42.4 1.8 790 19640 done 1.20 0.22 0.070 3304 531.8 2.62 0.074 2236 528.2 455.9 66.95 0.316 1237 -7.2 0.197 - - - - - - 14.18 13.92 14.00
19958 9.9 9.3 813 19964 roll 1.20 - - 3304 - 2.95 0.162 3659 482.4 455.9 - - 1242 - - - - - - - - 14.63 13.71 14.65
20015 4.5 11.2 821 20020 done 1.20 - - 3311 - 2.55 0.050 2217 -565.5 455.9 - - 1240 - - - - - - - - 14.26 14.21 14.31
20066 end climb: SURFACE_DEPTH_REACHED
20066 begin surface coast
20094 end surface coast: CONTROL_FINISHED_OK
20094 begin surface
SM -5.92 - - - - -8.39 9.52 0.083 193 20.3 1.17 0.132 2767 1484.6 500.14 24.00 0.157 1057 44.0 0.170 - - - - - -