SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 766 * Raw log
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• Previous call tries 1 • 288.63 of 350.00 AH used of 24V (17.54% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.1 deg, depth 0.80 m • Intended pitch -19.5 deg, speed -8.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 13 s • Transponder ping count: 84
• 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
8 - - - 99 VBD -0.81 - - 202 - - - 2299 - -97.3 -88.90 - 2747 - - - - - - - - 11.78 - 11.81
103 2.3 -2.6 3 128 roll -0.81 13.40 0.395 1932 129.1 3.38 1.665 875 -421.3 -97.3 -4.78 - 2998 -52.5 - - - - - - - 11.29 10.81 11.60
200 33.5 -26.9 17 206 done -0.60 0.47 0.291 2000 144.7 3.15 0.052 2280 446.0 -97.3 - - 2999 - - - - - - - - 11.36 11.55 11.58
526 86.0 -8.8 30 531 roll -0.55 - - 1990 - 3.10 0.067 3700 458.1 -97.3 - - 3000 - - - - - - - - 11.85 11.57 11.86
557 88.2 -6.7 34 563 done -0.50 0.22 0.225 2031 186.4 2.97 0.031 2256 -486.2 -97.3 - - 3000 - - - - - - - - 11.41 11.64 11.61
898 111.9 -6.8 46 903 roll -0.50 - - 2022 - 3.22 0.067 3701 448.8 -97.3 - - 3002 - - - - - - - - 11.90 11.60 11.92
924 114.2 -7.0 50 929 done -0.50 - - 2022 - 2.95 0.033 2281 -481.4 -97.3 - - 3002 - - - - - - - - 11.73 11.68 11.75
1293 146.5 -9.3 60 1298 roll -0.50 - - 2022 - 3.05 0.046 872 -462.0 -97.3 - - 3002 - - - - - - - - 11.95 11.66 11.97
1391 155.6 -8.8 74 1396 done -0.50 - - 2016 - 3.12 0.050 2285 452.9 -97.3 - - 3002 - - - - - - - - 11.74 11.66 11.76
1745 186.9 -8.9 82 1750 roll -0.50 - - 2012 - 3.12 0.073 3695 451.9 -97.3 - - 3001 - - - - - - - - 11.99 11.64 12.00
1785 191.0 -9.3 88 1790 done -0.50 - - 2012 - 2.97 0.034 2265 -481.5 -97.3 - - 3000 - - - - - - - - 11.78 11.73 11.81
2142 222.8 -9.2 96 2146 roll -0.50 - - 2012 - 3.00 0.048 881 -461.3 -97.3 - - 2998 - - - - - - - - 11.99 11.69 12.00
2167 225.9 -9.6 100 2172 done -0.50 - - 2013 - 3.12 0.053 2281 448.7 -97.3 - - 2998 - - - - - - - - 11.78 11.70 11.81
2536 259.0 -8.9 110 2541 roll -0.50 - - 2011 - 3.15 0.074 3700 450.5 -97.3 - - 2996 - - - - - - - - 12.02 11.66 12.03
2606 265.5 -9.0 120 2611 done -0.55 - - 2012 - 2.97 0.035 2272 -480.8 -97.3 - - 2996 - - - - - - - - 11.81 11.75 11.82
2932 294.9 -9.2 131 2937 roll -0.55 - - 2012 - 3.03 0.050 884 -458.1 -97.3 - - 2993 - - - - - - - - 12.01 11.69 12.02
3028 304.0 -8.9 145 3034 done -0.55 - - 2012 - 3.12 0.054 2283 448.4 -97.3 - - 2993 - - - - - - - - 11.78 11.69 11.81
3384 334.1 -8.7 153 3390 roll -0.55 - - 2012 - 3.15 0.076 3694 447.9 -97.3 - - 2991 - - - - - - - - 12.01 11.66 12.02
3482 342.8 -8.2 167 3487 done -0.61 - - 2011 - 2.97 0.037 2277 -477.1 -97.3 - - 2991 - - - - - - - - 11.81 11.76 11.83
3837 372.2 -8.5 175 3842 roll -0.61 - - 2011 - 3.05 0.049 879 -458.4 -97.3 - - 2988 - - - - - - - - 12.02 11.69 12.04
3941 382.1 -9.1 190 3952 done -0.61 - - 2012 - 3.17 0.054 2276 440.7 -97.3 - - 2988 - - - - - - - - 11.71 11.65 11.74
4288 411.5 -8.4 197 4294 roll -0.61 - - 2011 - 3.17 0.078 3695 447.6 -97.3 - - 2987 - - - - - - - - 12.02 11.67 12.04
4366 417.7 -7.5 208 4371 done -0.67 - - 2012 - 3.00 0.037 2257 -479.3 -97.3 - - 2986 - - - - - - - - 11.81 11.76 11.83
4685 440.2 -7.0 218 4690 roll -0.67 - - 2012 - 3.00 0.049 875 -460.7 -97.3 - - 2985 - - - - - - - - 12.00 11.69 12.03
4746 445.1 -7.2 227 4752 done -0.72 0.17 0.102 1961 -300.0 3.12 0.054 2274 448.4 -97.3 - - 2984 - - - - - - - - 11.71 11.71 11.79
4853 end dive: TARGET_DEPTH_EXCEEDED
4853 begin apogee
4863 454.7 -9.5 235 4990 roll -0.19 0.82 0.216 2129 204.9 0.08 0.133 2208 -825.0 - 123.75 1.335 2599 -3.1 0.240 - - - - - - 11.52 11.43 10.85
4992 end apogee: CONTROL_FINISHED_OK
4992 begin loiter
5225 462.1 -1.2 270 5258 done -0.18 - - 2130 - - - 2208 - 21.6 29.05 1.296 2505 -3.2 0.262 - - - - - - 11.77 11.76 10.86
5614 459.2 1.2 283 5616 done -0.33 0.15 0.099 2082 -320.0 - - 2208 - 21.6 - - 2491 - - - - - - - - 11.58 11.66 11.64
5950 455.5 1.1 289 5951 done -0.42 - - 2081 - - - 2208 - 21.6 - - 2488 - - - - - - - - 11.83 11.85 11.84
6290 451.3 1.2 295 6291 done -0.51 0.17 0.096 2029 -305.9 - - 2208 - 21.6 - - 2487 - - - - - - - - 11.62 11.71 11.69
6622 446.9 1.3 301 6623 done -0.51 - - 2029 - - - 2208 - 21.6 - - 2485 - - - - - - - - 11.92 11.93 11.93
6958 441.7 1.5 307 6959 done -0.51 - - 2029 - - - 2208 - 21.6 - - 2484 - - - - - - - - 11.94 11.95 11.95
7296 437.0 1.4 313 7296 done -0.51 - - 2029 - - - 2208 - 21.6 - - 2484 - - - - - - - - 11.95 11.96 11.96
7630 432.9 1.2 319 7631 done -0.51 - - 2030 - - - 2208 - 21.6 - - 2483 - - - - - - - - 11.97 11.98 11.98
7966 428.7 1.2 325 7967 done -0.51 - - 2029 - - - 2208 - 21.6 - - 2482 - - - - - - - - 11.98 12.00 12.00
8302 426.5 0.5 331 8303 done -0.52 - - 2030 - - - 2208 - 12.4 - - 2481 - - - - - - - - 12.00 12.01 12.01
8640 424.3 0.8 337 8640 done -0.52 - - 2029 - - - 2208 - -1.4 - - 2481 - - - - - - - - 12.00 12.01 12.01
8974 419.9 1.4 343 8975 done -0.52 - - 2029 - - - 2208 - -1.4 - - 2480 - - - - - - - - 12.01 12.02 12.02
9310 413.9 1.9 349 9311 done -0.52 - - 2029 - - - 2208 - -1.4 - - 2479 - - - - - - - - 12.02 12.03 12.03
9646 408.8 1.4 355 9647 done -0.52 - - 2030 - - - 2208 - -1.4 - - 2479 - - - - - - - - 12.02 12.03 12.03
9984 405.6 0.9 361 9984 done -0.53 - - 2029 - - - 2208 - -17.5 - - 2478 - - - - - - - - 12.01 12.02 12.02
10318 403.9 0.4 367 10319 done -0.54 - - 2029 - - - 2209 - -24.8 - - 2479 - - - - - - - - 12.02 12.04 12.04
10654 404.1 -0.2 373 10655 done -0.54 - - 2029 - - - 2208 - -21.5 - - 2478 - - - - - - - - 12.02 12.04 12.04
10990 405.9 -0.5 379 10991 done -0.53 - - 2030 - - - 2208 - -13.0 - - 2478 - - - - - - - - 12.02 12.04 12.04
11328 403.3 1.0 385 11328 done -0.53 - - 2029 - - - 2208 - -13.0 - - 2478 - - - - - - - - 12.02 12.02 12.02
11662 398.5 1.5 391 11663 done -0.53 - - 2029 - - - 2208 - -13.0 - - 2478 - - - - - - - - 12.02 12.04 12.04
11998 392.6 1.7 397 11999 done -0.53 - - 2030 - - - 2208 - -13.0 - - 2477 - - - - - - - - 12.03 12.05 12.04
12334 388.9 1.0 403 12335 done -0.53 - - 2029 - - - 2208 - -13.0 - - 2477 - - - - - - - - 12.02 12.05 12.04
12672 386.3 0.7 409 12672 done -0.54 - - 2030 - - - 2208 - -25.0 - - 2477 - - - - - - - - 12.02 12.03 12.03
13006 386.9 -0.3 415 13007 done -0.54 - - 2029 - - - 2208 - -19.1 - - 2477 - - - - - - - - 12.02 12.04 12.04
13342 387.6 -0.2 421 13343 done -0.53 - - 2029 - - - 2208 - -16.2 - - 2477 - - - - - - - - 12.04 12.05 12.05
13680 388.3 -0.2 427 13681 done -0.53 - - 2029 - - - 2208 - -13.1 - - 2476 - - - - - - - - 12.02 12.03 12.03
14014 386.7 0.6 433 14015 done -0.54 - - 2029 - - - 2208 - -24.1 - - 2477 - - - - - - - - 12.03 12.05 12.05
14350 382.4 1.4 439 14351 done -0.54 - - 2029 - - - 2208 - -24.1 - - 2477 - - - - - - - - 12.02 12.05 12.04
14686 377.6 1.4 445 14687 done -0.54 - - 2029 - - - 2208 - -24.1 - - 2477 - - - - - - - - 12.03 12.05 12.05
15024 372.7 1.4 451 15024 done -0.54 - - 2029 - - - 2208 - -24.1 - - 2477 - - - - - - - - 12.02 12.05 12.03
15358 371.5 0.1 457 15359 done -0.54 - - 2029 - - - 2208 - -25.9 - - 2477 - - - - - - - - 12.03 12.05 12.05
15694 374.2 -0.9 463 15695 done -0.53 - - 2029 - - - 2208 - -9.9 - - 2477 - - - - - - - - 12.03 12.05 12.04
16030 376.8 -0.7 469 16031 done -0.52 - - 2029 - - - 2208 - 1.6 - - 2476 - - - - - - - - 12.03 12.05 12.05
16368 377.0 - 475 16368 done -0.52 - - 2029 - - - 2208 - 1.5 - - 2476 - - - - - - - - 12.02 12.03 12.03
16702 376.8 0.1 481 16703 done -0.52 - - 2029 - - - 2208 - - - - 2476 - - - - - - - - 12.03 12.05 12.05
17038 378.2 -0.5 487 17039 done -0.52 - - 2029 - - - 2208 - 9.6 - - 2476 - - - - - - - - 12.02 12.04 12.04
17376 380.5 -0.7 493 17376 done -0.51 - - 2029 - - - 2208 - 21.5 - - 2476 - - - - - - - - 12.02 12.03 12.03
17710 381.2 -0.1 499 17711 done -0.51 - - 2029 - - - 2208 - 22.5 - - 2476 - - - - - - - - 12.01 12.04 12.04
18046 378.0 1.2 505 18047 done -0.51 - - 2029 - - - 2208 - 22.5 - - 2476 - - - - - - - - 12.03 12.05 12.04
18383 371.8 1.9 511 18383 done -0.51 - - 2029 - - - 2208 - 22.5 - - 2476 - - - - - - - - 12.03 12.04 12.04
18720 366.7 1.3 517 18721 done -0.51 - - 2029 - - - 2208 - 22.5 - - 2476 - - - - - - - - 12.02 12.03 12.03
19054 365.9 - 523 19055 done -0.51 - - 2029 - - - 2208 - 21.8 - - 2475 - - - - - - - - 12.03 12.05 12.04
19390 367.4 -0.5 529 19391 done -0.51 - - 2029 - - - 2208 - 30.9 - - 2476 - - - - - - - - 12.03 12.04 12.05
19726 369.4 -0.5 535 19752 done -0.50 - - 2030 - - - 2208 - 40.0 24.58 1.128 2438 -1.5 0.115 - - - - - - 12.03 11.67 11.11
20064 362.3 2.5 541 20064 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2429 - - - - - - - - 11.97 11.99 11.98
20398 352.3 3.0 547 20399 done -0.50 - - 2030 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.00 12.01 12.01
20734 344.1 2.3 553 20735 done -0.50 - - 2030 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.00 12.02 12.02
21070 338.2 1.7 559 21071 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.01 12.02 12.02
21408 332.7 1.7 565 21408 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.00 12.02 12.02
21742 325.8 2.2 571 21743 done -0.50 - - 2029 - - - 2209 - 40.0 - - 2428 - - - - - - - - 12.02 12.03 12.03
22078 318.2 2.2 577 22079 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.02 12.04 12.03
22416 312.0 1.8 583 22416 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.01 12.02 12.02
22750 305.7 1.9 589 22751 done -0.50 - - 2029 - - - 2208 - 40.0 - - 2428 - - - - - - - - 12.02 12.04 12.04
22970 end loiter: LOITER_COMPLETE
22970 begin climb
22974 301.6 - 593 23067 roll 0.81 1.98 0.202 2450 212.6 3.22 0.075 3613 436.3 97.3 81.95 1.158 2192 -2.9 0.170 - - - - - - 11.50 11.52 10.95
23144 293.4 7.5 617 23170 done 0.77 - - 2459 - 3.05 0.044 2208 -460.7 112.0 18.40 1.134 2136 -3.0 0.179 - - - - - - 11.64 11.58 10.90
23536 261.7 8.2 631 23540 roll 0.77 - - 2469 - 3.22 0.060 789 -440.7 114.4 - - 2121 - - - - - - - - 11.81 11.53 11.82
23652 252.0 8.3 647 23657 done 0.77 - - 2470 - 3.20 0.052 2199 440.6 114.9 - - 2120 - - - - - - - - 11.64 11.55 11.67
23992 220.8 9.3 660 23996 roll 0.77 - - 2469 - 3.22 0.077 3623 442.2 114.9 - - 2120 - - - - - - - - 11.86 11.53 11.90
24074 211.5 11.4 672 24079 done 0.71 0.25 0.234 2434 -140.0 3.10 0.047 2194 -461.0 114.9 - - 2119 - - - - - - - - 11.40 11.59 11.62
24444 180.1 8.4 682 24450 roll 0.71 - - 2434 - 3.28 0.073 3621 435.1 114.9 - - 2119 - - - - - - - - 11.88 11.56 11.90
24485 175.9 9.1 688 24490 done 0.71 - - 2443 - 3.10 0.047 2190 -461.6 114.9 - - 2119 - - - - - - - - 11.69 11.62 11.71
24841 150.4 7.2 696 24875 roll 0.73 - - 2451 - 3.17 0.060 786 -442.9 135.2 28.40 1.004 2038 -2.9 0.097 - - - - - - 11.92 11.55 11.01
24981 139.7 8.1 716 24985 done 0.73 - - 2451 - 3.20 0.050 2205 443.4 138.8 - - 2026 - - - - - - - - 11.65 11.57 11.67
25349 107.6 8.8 726 25355 roll 0.73 - - 2451 - 3.20 0.076 3621 442.5 138.8 - - 2023 - - - - - - - - 11.87 11.55 11.88
25410 102.0 9.1 734 25416 done 0.73 - - 2461 - 3.10 0.044 2189 -461.9 138.8 - - 2023 - - - - - - - - 11.68 11.62 11.71
25750 77.2 6.5 752 25786 roll 0.75 - - 2462 - 3.20 0.059 791 -436.9 171.0 27.90 0.336 1907 -4.2 0.217 - - - - - - 11.88 11.55 11.31
26021 62.3 2.6 791 26125 done 0.90 - - 2462 - 3.20 0.047 2198 439.7 271.3 96.05 0.310 1493 -4.3 0.197 - - - - - - 11.59 11.55 11.29
26453 46.2 2.9 819 26551 roll 1.16 0.38 0.060 2593 344.7 3.25 0.058 797 -431.1 366.0 88.53 0.253 1108 -4.3 0.180 - - - - - - 11.57 11.46 11.31
26638 30.1 10.5 846 26650 done 1.22 - - 2593 - 3.17 0.050 2182 436.9 366.0 - - 1113 - - - - - - - - 11.52 11.48 11.55
26898 end climb: SURFACE_DEPTH_REACHED
26898 begin surface coast
26927 end surface coast: CONTROL_FINISHED_OK
26927 begin surface
SM 0.79 - - - - -6.15 8.88 0.070 220 24.8 0.22 0.059 2336 5354.5 500.17 108.15 0.122 559 5.2 -0.003 - - - - - -