SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 723 * Raw log
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• Previous call tries 1 • 246.34 of 350.00 AH used of 24V (29.62% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -70.7 deg, depth -2.49 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 3 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
13 begin dive
18 - - - 102 done -0.93 - - 105 - - - 2779 - -107.1 -80.95 - 3478 - - - - - - - - 14.55 12.65 14.47
106 3.0 -9.6 3 123 roll -0.93 12.07 0.376 2589 205.8 2.50 0.037 1352 -570.8 -107.1 - - 3478 - - - - - - - - 13.82 14.31 14.21
187 30.1 -20.2 15 192 done -0.72 0.32 0.246 2664 234.4 2.78 0.115 2764 507.9 -107.1 - - 3479 - - - - - - - - 13.82 13.90 14.13
523 74.3 -7.9 30 528 roll -0.72 - - 2656 - 2.20 0.167 3831 485.0 -107.1 - - 3480 - - - - - - - - 14.68 13.83 14.68
736 92.3 -8.7 60 741 done -0.72 - - 2656 - 1.85 0.060 2760 -578.9 -107.1 - - 3481 - - - - - - - - 14.28 14.21 14.31
1057 117.5 -7.7 69 1063 roll -0.72 - - 2656 - 2.47 0.044 1371 -562.3 -107.1 - - 3481 - - - - - - - - 14.71 13.89 14.71
1105 121.3 -7.2 76 1111 done -0.72 - - 2646 - 2.78 0.107 2768 502.5 -107.1 - - 3485 - - - - - - - - 14.14 13.85 14.19
1449 148.3 -8.1 83 1449 done -0.72 - - 2646 - - - 2768 - -107.1 - - 3479 - - - - - - - - 14.71 14.71 14.71
1785 178.3 -9.1 89 1786 done -0.72 - - 2646 - - - 2768 - -107.1 - - 3476 - - - - - - - - 14.71 14.71 14.71
2121 206.2 -8.1 95 2125 roll -0.72 - - 2646 - 2.55 0.046 1372 -547.5 -107.1 - - 3473 - - - - - - - - 14.76 13.91 14.76
2197 212.3 -7.4 106 2202 done -0.72 0.10 0.224 2666 200.0 2.75 0.106 2767 507.3 -107.1 - - 3474 - - - - - - - - 13.80 13.78 14.04
2513 233.2 -6.7 116 2518 roll -0.72 - - 2666 - 2.53 0.044 1372 -551.4 -107.1 - - 3471 - - - - - - - - 14.76 13.95 14.76
2547 235.9 -7.4 121 2553 done -0.80 - - 2656 - 2.75 0.105 2763 505.8 -107.1 - - 3471 - - - - - - - - 14.08 13.79 14.13
2905 262.6 -7.6 130 2906 done -0.80 - - 2656 - - - 2764 - -107.1 - - 3468 - - - - - - - - 14.71 14.71 14.71
3241 288.6 -7.6 136 3246 roll -0.80 - - 2656 - 2.55 0.044 1368 -547.5 -107.1 - - 3466 - - - - - - - - 14.70 13.89 14.70
3268 291.0 -8.5 140 3273 done -0.80 - - 2647 - 2.78 0.105 2765 502.5 -107.1 - - 3466 - - - - - - - - 14.18 13.86 14.21
3633 320.8 -8.3 150 3637 roll -0.80 - - 2639 - 2.20 0.168 3821 480.0 -107.1 - - 3463 - - - - - - - - 14.71 13.81 14.71
3674 325.1 -10.2 156 3679 done -0.80 - - 2638 - 1.88 0.063 2771 -558.5 -107.1 - - 3463 - - - - - - - - 14.20 14.12 14.21
4025 355.9 -8.7 164 4030 roll -0.80 - - 2639 - 2.55 0.044 1358 -554.1 -107.1 - - 3462 - - - - - - - - 14.75 13.86 14.76
4081 361.8 -9.3 172 4086 done -0.80 - - 2629 - 2.80 0.100 2767 503.2 -107.1 - - 3462 - - - - - - - - 14.10 13.82 14.16
4417 391.3 -8.7 185 4418 done -0.80 - - 2629 - - - 2767 - -107.1 - - 3459 - - - - - - - - 14.70 14.70 14.71
4753 419.4 -8.3 191 4753 done -0.80 - - 2629 - - - 2767 - -107.1 - - 3460 - - - - - - - - 14.70 14.70 14.70
5089 447.5 -8.4 197 5094 roll -0.80 - - 2629 - 2.60 0.044 1358 -541.9 -107.1 - - 3457 - - - - - - - - 14.71 13.87 14.69
5145 452.8 -8.4 205 5150 done -0.80 - - 2620 - 2.80 0.103 2760 500.7 -107.1 - - 3456 - - - - - - - - 14.12 13.84 14.18
5481 483.8 -9.2 218 5485 roll -0.80 - - 2611 - 2.22 0.161 3832 482.9 -107.1 - - 3455 - - - - - - - - 14.73 13.79 14.73
5522 488.1 -9.8 224 5527 done -0.80 0.10 0.227 2639 280.0 1.92 0.063 2763 -556.8 -107.1 - - 3455 - - - - - - - - 13.70 14.07 13.93
5873 517.8 -8.4 232 5878 roll -0.80 - - 2638 - 2.55 0.044 1361 -549.8 -107.1 - - 3455 - - - - - - - - 14.68 13.84 14.68
5921 522.2 -8.3 239 5927 done -0.80 - - 2629 - 2.78 0.097 2757 502.2 -107.1 - - 3453 - - - - - - - - 14.12 13.83 14.16
6265 551.2 -8.5 246 6269 roll -0.80 - - 2621 - 2.20 0.160 3826 485.9 -107.1 - - 3451 - - - - - - - - 14.68 13.82 14.68
6313 555.3 -8.5 253 6320 done -0.80 - - 2620 - 1.92 0.065 2757 -556.8 -107.1 - - 3450 - - - - - - - - 14.13 14.04 14.16
6657 582.4 -7.8 260 6658 done -0.80 - - 2620 - - - 2757 - -107.1 - - 3450 - - - - - - - - 14.77 14.73 14.73
6993 607.1 -7.1 266 6998 roll -0.80 - - 2620 - 2.55 0.044 1359 -548.2 -107.1 - - 3449 - - - - - - - - 14.73 13.81 14.73
7055 611.8 -7.8 275 7060 done -0.80 0.10 0.233 2638 180.0 2.80 0.099 2768 503.2 -107.1 - - 3449 - - - - - - - - 13.81 13.83 14.06
7385 633.3 -6.5 287 7386 done -0.80 - - 2638 - - - 2768 - -107.1 - - 3448 - - - - - - - - 14.73 14.73 14.73
7721 656.8 -7.0 293 7722 done -0.80 - - 2639 - - - 2768 - -107.1 - - 3447 - - - - - - - - 14.73 14.73 14.73
8057 679.7 -6.8 299 8062 roll -0.80 - - 2638 - 2.62 0.044 1355 -539.3 -107.1 - - 3445 - - - - - - - - 14.71 13.81 14.72
8119 684.4 -7.2 308 8124 done -0.80 - - 2629 - 2.80 0.099 2757 500.7 -107.1 - - 3442 - - - - - - - - 14.11 13.83 14.19
8449 707.4 -7.0 320 8454 roll -0.80 - - 2620 - 2.22 0.162 3833 484.7 -107.1 - - 3440 - - - - - - - - 14.64 13.81 14.64
8483 710.0 -7.7 325 8488 done -0.80 - - 2620 - 1.95 0.064 2751 -554.9 -107.1 - - 3443 - - - - - - - - 14.15 14.07 14.16
8841 735.8 -7.3 334 8846 roll -0.80 - - 2616 - 2.58 0.043 1355 -541.1 -107.1 - - 3442 - - - - - - - - 14.64 13.85 14.64
8903 740.8 -7.6 343 8908 done -0.80 0.10 0.235 2638 220.0 2.80 0.098 2756 500.4 -107.1 - - 3442 - - - - - - - - 13.81 13.83 14.05
9233 763.6 -7.0 355 9238 roll -0.80 - - 2631 - 2.22 0.163 3830 483.8 -107.1 - - 3441 - - - - - - - - 14.70 13.83 14.70
9281 767.5 -8.2 362 9287 done -0.80 - - 2629 - 2.00 0.065 2755 -537.5 -107.1 - - 3441 - - - - - - - - 14.02 13.97 14.04
9625 794.3 -8.0 369 9630 roll -0.80 - - 2629 - 2.55 0.043 1357 -548.2 -107.1 - - 3440 - - - - - - - - 14.64 13.83 14.64
9694 800.0 -8.2 379 9699 done -0.80 - - 2620 - 2.80 0.096 2761 501.4 -107.1 - - 3440 - - - - - - - - 14.14 13.87 14.19
9703 end dive: TARGET_DEPTH_EXCEEDED
9704 begin apogee
9714 801.1 -7.9 381 9820 roll -0.23 0.73 0.174 2822 276.7 - - 2232 - - 98.93 2.498 3051 -3.9 0.251 - - - - 1 - 13.71 13.78 12.64
9822 end apogee: CONTROL_FINISHED_OK
9822 begin climb
9826 805.1 - 383 9964 roll 0.93 1.12 0.083 3184 323.2 2.53 0.052 862 -541.5 107.1 126.75 1.760 2626 -3.4 0.305 - - - - - - 13.71 13.76 13.05
10069 800.9 6.3 418 10109 done 0.84 - - 3183 - 2.58 0.071 2262 542.6 136.3 32.08 1.795 2500 -3.9 0.348 - - - - - - 14.21 14.02 13.16
10438 770.7 8.7 435 10439 done 0.71 0.20 0.223 3129 -270.0 - - 2262 - 136.3 - - 2489 - - - - - - - - 13.94 14.29 14.23
10770 746.9 7.0 441 10788 roll 0.73 - - 3128 - 2.70 0.144 3658 517.0 150.4 13.15 1.902 2446 -3.3 0.255 - - - - - - 14.71 14.07 13.40
10860 739.5 8.5 454 10865 done 0.73 - - 3139 - 2.45 0.053 2244 -577.1 150.4 - - 2439 - - - - - - - - 14.42 14.35 14.45
11217 711.5 7.9 463 11218 done 0.73 - - 3140 - - - 2240 - 150.4 - - 2439 - - - - - - - - 14.67 14.67 14.67
11553 685.1 7.8 469 11554 done 0.73 - - 3139 - - - 2240 - 150.4 - - 2438 - - - - - - - - 14.71 14.71 14.71
11890 660.5 7.2 475 11901 roll 0.74 - - 3139 - 2.85 0.144 3659 497.9 161.8 4.57 1.617 2409 -6.3 0.515 - - - - - - 14.67 14.03 13.14
11946 656.2 7.7 483 11957 done 0.65 0.12 0.232 3115 -200.0 2.45 0.052 2248 -575.9 162.7 2.92 1.024 2406 -1.0 0.131 - - - - - - 14.06 14.40 13.14
12285 635.7 6.0 496 12342 roll 0.69 - - 3115 - 2.88 0.145 3655 488.5 197.2 49.25 1.666 2256 -3.0 0.231 - - - - - - 14.63 14.02 13.33
12386 628.6 8.2 511 12392 done 0.69 - - 3124 - 2.47 0.052 2258 -565.6 197.2 - - 2250 - - - - - - - - 14.29 14.22 14.31
12730 603.4 7.4 518 12735 roll 0.70 - - 3134 - 2.53 0.056 856 -554.2 203.2 - - 2246 - - - - - - - - 14.63 14.08 14.63
12771 600.2 7.5 524 12784 done 0.71 - - 3134 - 2.58 0.072 2254 541.9 208.2 3.58 1.232 2225 -5.9 0.568 - - - - - - 14.25 14.04 13.19
13122 573.1 7.9 532 13132 roll 0.71 - - 3133 - 2.90 0.148 3659 484.5 208.2 1.95 0.222 2225 - - - - - - - - 14.66 13.91 13.85
13170 568.8 8.9 539 13176 done 0.71 - - 3145 - 2.47 0.052 2258 -567.2 208.2 1.95 0.225 2220 -2.6 1.288 - - - - - - 14.34 14.26 13.85
13514 539.6 8.6 546 13520 roll 0.71 - - 3155 - 2.60 0.057 850 -541.5 208.2 1.65 0.225 2221 - - - - - - - - 14.66 14.04 13.86
13541 537.1 8.7 550 13546 done 0.71 - - 3155 - 2.60 0.073 2257 541.2 208.2 - - 2228 - - - - - - - - 14.21 14.00 14.25
13899 503.6 9.5 559 13905 roll 0.71 - - 3155 - 2.90 0.148 3655 482.1 208.2 1.77 0.224 2221 -4.0 1.767 - - - - - - 14.66 13.86 13.86
13975 495.3 10.8 570 13981 done 0.71 0.10 0.236 3134 -210.0 2.47 0.051 2250 -568.8 208.2 1.65 0.213 2220 - - - - - - - - 13.85 14.22 13.83
14333 463.8 8.8 579 14339 roll 0.71 - - 3134 - 2.95 0.142 3662 478.6 208.2 1.67 0.226 2221 - - - - - - - - 14.65 13.84 13.85
14360 461.2 9.3 583 14365 done 0.71 - - 3144 - 2.47 0.053 2267 -564.8 208.2 - - 2227 - - - - - - - - 14.30 14.22 14.32
14718 430.2 8.5 592 14724 roll 0.71 - - 3155 - 2.62 0.057 847 -542.0 208.2 1.65 0.223 2221 -3.6 1.394 - - - - - - 14.64 13.99 13.85
14759 426.7 8.7 598 14765 done 0.71 - - 3155 - 2.65 0.073 2267 535.8 208.2 - - 2229 - - - - - - - - 14.16 13.93 14.20
15103 396.8 8.8 605 15110 roll 0.71 - - 3154 - 2.80 0.148 3657 496.4 208.2 1.67 0.224 2221 -4.8 1.686 - - - - - - 14.69 13.84 13.85
15152 391.9 9.8 612 15159 done 0.71 0.12 0.227 3133 -175.0 2.50 0.052 2249 -563.2 208.2 1.35 0.225 2220 - - - - - - - - 13.81 14.19 13.83
15496 364.9 7.9 619 15501 roll 0.71 - - 3129 - 2.92 0.142 3660 483.2 208.2 - - 2230 - - - - - - - - 14.64 13.80 14.64
15523 362.6 8.2 623 15528 done 0.71 - - 3140 - 2.50 0.052 2258 -560.8 208.2 1.42 0.230 2221 -6.3 1.986 - - - - - - 14.24 14.16 13.83
15888 333.0 8.0 633 15894 roll 0.71 - - 3150 - 2.53 0.054 858 -553.4 208.2 1.45 0.224 2222 - - - - - - - - 14.64 13.90 13.85
15922 330.2 8.2 638 15927 done 0.71 - - 3150 - 2.60 0.073 2261 539.6 208.2 - - 2228 - - - - - - - - 14.12 13.91 14.17
16280 301.6 7.9 647 16286 roll 0.71 - - 3150 - 2.90 0.148 3659 482.1 208.2 1.58 0.226 2221 -4.4 1.175 - - - - - - 14.69 13.83 13.88
16350 295.5 8.9 657 16356 done 0.71 0.10 0.237 3133 -170.0 2.47 0.049 2257 -567.6 208.2 1.52 0.216 2220 - - - - - - - - 13.75 14.08 13.81
16665 273.2 7.1 667 16692 roll 0.72 - - 3132 - 2.88 0.146 3656 485.8 221.3 21.58 1.379 2159 -2.8 0.111 - - - - - - 14.69 14.00 13.54
16727 268.5 8.1 676 16732 done 0.72 - - 3142 - 2.42 0.050 2265 -574.8 221.3 - - 2152 - - - - - - - - 14.38 14.31 14.40
17050 243.4 7.8 687 17051 done 0.72 - - 3143 - - - 2262 - 221.3 - - 2150 - - - - - - - - 14.62 14.62 14.62
17386 216.9 7.9 693 17392 roll 0.72 - - 3142 - 2.85 0.144 3658 489.8 221.3 - - 2149 - - - - - - - - 14.66 13.83 14.66
17421 213.9 9.0 698 17426 done 0.72 - - 3152 - 2.42 0.050 2266 -575.2 221.3 - - 2150 - - - - - - - - 14.33 14.25 14.36
17779 184.5 8.2 707 17783 roll 0.72 - - 3162 - 2.53 0.057 864 -554.2 221.3 - - 2149 - - - - - - - - 14.66 13.97 14.64
17840 179.5 7.9 716 17845 done 0.72 - - 3162 - 2.60 0.073 2269 540.4 221.3 - - 2150 - - - - - - - - 14.18 13.95 14.23
18171 152.9 8.1 728 18171 done 0.72 - - 3162 - - - 2270 - 221.3 - - 2149 - - - - - - - - 14.65 14.64 14.64
18506 125.8 8.1 734 18507 done 0.72 - - 3166 - - - 2269 - 221.3 - - 2149 - - - - - - - - 14.66 14.65 14.66
18842 98.9 8.0 740 18843 done 0.72 - - 3162 - - - 2269 - 221.3 - - 2154 - - - - - - - - 14.64 14.65 14.64
19150 74.2 7.9 751 19155 roll 0.72 - - 3172 - 2.55 0.056 858 -553.3 221.3 - - 2149 - - - - - - - - 14.69 13.96 14.69
19247 69.3 4.2 765 19289 done 0.81 - - 3172 - 2.60 0.072 2265 541.2 292.8 37.28 0.375 1883 -7.1 0.262 - - - - - - 14.15 13.93 13.86
19603 51.0 4.5 782 19645 roll 1.01 0.08 0.143 3258 1075.0 2.50 0.054 861 -561.6 356.6 36.78 0.327 1631 -6.9 0.212 - - - - - - 14.24 14.14 13.87
19823 40.7 6.1 814 19850 done 1.05 - - 3258 - 2.62 0.075 2270 537.8 388.7 19.33 0.288 1503 -6.6 0.186 - - - - - - 14.19 13.97 13.85
20159 17.3 7.3 829 20166 done 1.06 - - 3258 - - - 2270 - 397.0 6.00 0.216 1467 -6.0 0.096 - - - - - - 14.70 14.16 13.86
20378 end climb: SURFACE_DEPTH_REACHED
20378 begin surface coast
20406 end surface coast: CONTROL_FINISHED_OK
20406 begin surface
SM -2.21 - - - - -8.38 8.85 0.037 146 16.5 1.02 0.125 2770 -5352.9 500.14 54.17 0.150 1056 19.5 0.029 - - - - - -