SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 724 * Raw log
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• Previous call tries 2 • 246.65 of 350.00 AH used of 24V (29.53% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -71.6 deg, depth -2.34 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 102 done -0.93 - - 105 - - - 2785 - -107.1 -80.38 - 3482 - - - - - - - - 14.54 12.66 14.47
107 3.6 -10.1 3 124 roll -0.93 12.10 0.378 2589 205.3 2.47 0.034 1364 -575.3 -107.1 - - 3480 - - - - - - - - 13.82 14.32 14.22
208 34.6 -20.6 18 215 done -0.71 0.32 0.245 2666 240.6 2.78 0.113 2770 505.8 -107.1 - - 3480 - - - - - - - - 13.84 13.95 14.14
525 71.3 -7.0 30 529 roll -0.71 - - 2657 - 2.17 0.168 3822 484.8 -107.1 - - 3481 - - - - - - - - 14.66 13.82 14.67
684 86.3 -8.0 53 691 done -0.71 - - 2657 - 1.88 0.057 2754 -568.1 -107.1 - - 3482 - - - - - - - - 14.17 14.14 14.19
1000 110.5 -7.7 63 1005 roll -0.71 - - 2655 - 2.42 0.042 1377 -569.0 -107.1 - - 3482 - - - - - - - - 14.76 14.01 14.77
1104 118.1 -6.9 78 1111 done -0.71 - - 2648 - 2.78 0.106 2772 501.8 -107.1 - - 3482 - - - - - - - - 14.14 13.86 14.19
1448 145.9 -8.4 85 1449 done -0.71 - - 2648 - - - 2772 - -107.1 - - 3481 - - - - - - - - 14.73 14.72 14.73
1784 174.2 -8.3 91 1789 roll -0.71 - - 2647 - 2.53 0.044 1379 -550.6 -107.1 - - 3479 - - - - - - - - 14.71 13.95 14.71
1840 178.9 -7.9 99 1845 done -0.71 0.10 0.228 2667 200.0 2.75 0.109 2759 501.8 -107.1 - - 3478 - - - - - - - - 13.85 13.85 14.10
2176 206.0 -8.1 112 2181 roll -0.71 - - 2668 - 2.50 0.044 1384 -550.0 -107.1 - - 3477 - - - - - - - - 14.71 13.93 14.71
2238 211.5 -8.6 121 2244 done -0.80 - - 2658 - 2.75 0.109 2764 501.8 -107.1 - - 3475 - - - - - - - - 14.13 13.84 14.19
2568 239.1 -8.3 133 2569 done -0.80 - - 2658 - - - 2764 - -107.1 - - 3473 - - - - - - - - 14.71 14.71 14.72
2904 264.5 -7.4 139 2909 roll -0.80 - - 2658 - 2.53 0.044 1378 -547.8 -107.1 - - 3471 - - - - - - - - 14.76 13.90 14.76
2960 268.5 -7.0 147 2965 done -0.88 - - 2649 - 2.72 0.108 2748 503.7 -107.1 - - 3470 - - - - - - - - 14.12 13.83 14.17
3296 292.9 -7.3 160 3301 roll -0.88 - - 2640 - 2.22 0.168 3834 489.2 -107.1 - - 3468 - - - - - - - - 14.77 13.88 14.77
3352 297.3 -7.9 168 3357 done -0.88 - - 2639 - 1.88 0.062 2767 -567.6 -107.1 - - 3468 - - - - - - - - 14.22 14.16 14.24
3688 322.7 -7.5 181 3694 roll -0.88 - - 2640 - 2.50 0.042 1374 -557.2 -107.1 - - 3465 - - - - - - - - 14.76 13.89 14.76
3736 326.4 -6.9 188 3742 done -0.88 - - 2630 - 2.75 0.102 2758 503.3 -107.1 - - 3465 - - - - - - - - 14.12 13.85 14.16
4080 352.5 -7.6 195 4085 roll -0.88 - - 2622 - 2.20 0.159 3823 484.1 -107.1 - - 3463 - - - - - - - - 14.76 13.80 14.76
4114 355.3 -8.1 200 4119 done -0.88 - - 2621 - 1.90 0.062 2750 -564.7 -107.1 - - 3463 - - - - - - - - 14.23 14.18 14.25
4472 383.8 -8.1 209 4478 roll -0.88 - - 2622 - 2.50 0.042 1362 -555.2 -107.1 - - 3461 - - - - - - - - 14.71 13.82 14.71
4499 386.2 -8.9 213 4505 done -0.88 - - 2613 - 2.78 0.103 2761 503.2 -107.1 - - 3462 - - - - - - - - 14.13 13.84 14.17
4864 419.0 -9.1 223 4865 done -0.88 - - 2613 - - - 2760 - -107.1 - - 3459 - - - - - - - - 14.69 14.69 14.69
5200 450.4 -9.4 229 5201 done -0.88 - - 2613 - - - 2761 - -107.1 - - 3458 - - - - - - - - 14.70 14.70 14.70
5536 481.8 -9.4 235 5541 roll -0.88 - - 2604 - 2.20 0.156 3826 484.1 -107.1 - - 3456 - - - - - - - - 14.75 13.76 14.75
5592 487.6 -9.7 243 5597 done -0.88 - - 2603 - 1.92 0.061 2748 -561.5 -107.1 - - 3456 - - - - - - - - 14.18 14.12 14.19
5928 520.3 -9.8 256 5933 roll -0.88 - - 2596 - 2.25 0.153 3829 480.4 -107.1 - - 3454 - - - - - - - - 14.75 13.79 14.74
5962 524.2 -10.2 261 5968 done -0.88 - - 2595 - 1.95 0.060 2762 -547.2 -107.1 - - 3454 - - - - - - - - 14.04 14.01 14.12
6320 561.3 -10.4 270 6321 done -0.88 - - 2594 - - - 2762 - -107.1 - - 3453 - - - - - - - - 14.74 14.74 14.75
6656 597.1 -10.6 276 6657 done -0.88 - - 2595 - - - 2762 - -107.1 - - 3451 - - - - - - - - 14.74 14.74 14.74
6992 630.5 -9.9 282 6997 roll -0.88 - - 2595 - 2.55 0.042 1361 -549.4 -107.1 - - 3450 - - - - - - - - 14.68 13.82 14.68
7026 633.8 -9.5 287 7031 done -0.88 0.10 0.233 2619 240.0 2.78 0.099 2767 505.8 -107.1 - - 3450 - - - - - - - - 13.79 13.83 14.07
7384 664.8 -8.6 296 7389 roll -0.88 - - 2605 - 2.17 0.158 3824 487.1 -107.1 - - 3449 - - - - - - - - 14.71 13.83 14.72
7460 671.6 -8.2 307 7465 done -0.88 - - 2603 - 1.92 0.063 2756 -556.2 -107.1 - - 3449 - - - - - - - - 14.16 14.09 14.18
7776 697.5 -8.0 317 7777 done -0.88 - - 2607 - - - 2756 - -107.1 - - 3447 - - - - - - - - 14.71 14.72 14.72
8112 723.8 -7.7 323 8113 done -0.88 - - 2603 - - - 2756 - -107.1 - - 3446 - - - - - - - - 14.66 14.66 14.66
8448 749.1 -7.6 329 8449 done -0.88 - - 2602 - - - 2756 - -107.1 - - 3445 - - - - - - - - 14.66 14.66 14.66
8784 775.4 -8.1 335 8785 done -0.88 - - 2604 - - - 2756 - -107.1 - - 3443 - - - - - - - - 14.65 14.65 14.65
9116 end dive: TARGET_DEPTH_EXCEEDED
9116 begin apogee
9126 803.7 -8.5 341 9243 roll -0.23 0.80 0.181 2825 276.2 0.12 0.180 2278 -3983.3 - 113.53 1.803 3051 -3.5 0.320 - - - - - - 13.73 13.91 13.12
9244 end apogee: CONTROL_FINISHED_OK
9244 begin climb
9249 807.6 - 343 9380 roll 0.93 1.12 0.086 3187 323.2 2.58 0.051 880 -541.9 107.1 118.65 1.728 2616 -3.7 0.356 - - - - - - 13.83 13.90 13.05
9465 804.3 5.7 376 9513 done 0.85 - - 3187 - 2.50 0.071 2238 543.2 147.0 43.67 1.766 2462 -3.5 0.334 - - - - - - 14.18 14.02 13.14
9851 773.3 8.3 389 9857 roll 0.72 0.15 0.236 3140 -313.3 2.83 0.138 3660 502.5 147.0 - - 2445 - - - - - - - - 13.89 13.99 14.08
9907 768.8 8.1 397 9913 done 0.62 0.17 0.227 3104 -211.8 2.42 0.053 2268 -575.2 147.0 - - 2443 - - - - - - - - 13.95 14.33 14.25
10243 750.1 5.6 410 10298 roll 0.67 - - 3104 - 2.83 0.143 3661 492.2 189.8 46.70 1.747 2284 -3.4 0.304 - - - - - - 14.68 14.04 13.31
10326 745.1 7.5 422 10331 done 0.68 - - 3112 - 2.50 0.051 2246 -566.0 194.9 - - 2279 - - - - - - - - 14.29 14.20 14.32
10692 720.1 6.9 432 10716 done 0.70 - - 3112 - - - 2242 - 211.2 23.38 1.815 2209 -3.0 0.247 - - - - - - 14.65 14.21 13.39
11028 694.8 7.6 438 11032 roll 0.70 - - 3113 - 2.88 0.145 3660 492.4 213.1 - - 2191 - - - - - - - - 14.64 13.95 14.64
11089 689.4 8.4 447 11094 done 0.70 - - 3122 - 2.45 0.051 2261 -571.0 213.1 - - 2190 - - - - - - - - 14.39 14.31 14.41
11419 661.0 8.7 459 11420 done 0.70 - - 3122 - - - 2258 - 213.1 - - 2189 - - - - - - - - 14.71 14.71 14.71
11755 630.7 9.0 465 11761 roll 0.70 - - 3122 - 2.85 0.143 3653 489.5 213.1 - - 2188 - - - - - - - - 14.71 13.87 14.71
11803 626.1 9.8 472 11809 done 0.70 - - 3132 - 2.50 0.050 2249 -561.6 213.1 - - 2187 - - - - - - - - 14.35 14.26 14.38
12148 596.1 8.6 479 12152 roll 0.70 - - 3142 - 2.53 0.058 850 -553.0 213.1 - - 2188 - - - - - - - - 14.67 14.00 14.67
12167 594.4 8.3 482 12172 done 0.70 - - 3143 - 2.60 0.076 2254 540.0 213.1 - - 2188 - - - - - - - - 14.22 14.02 14.28
12483 569.2 8.0 492 12488 roll 0.70 - - 3144 - 2.88 0.147 3658 487.5 213.1 - - 2187 - - - - - - - - 14.72 13.81 14.72
12517 566.2 8.7 497 12524 done 0.70 - - 3152 - 2.47 0.050 2255 -568.0 213.1 - - 2187 - - - - - - - - 14.32 14.23 14.34
12876 537.8 7.9 506 12877 done 0.70 0.10 0.236 3125 -270.0 - - 2251 - 213.1 - - 2187 - - - - - - - - 13.88 14.13 14.08
13211 513.4 7.4 512 13218 roll 0.71 - - 3124 - 2.95 0.145 3660 477.6 219.9 1.95 0.213 2172 -7.7 3.852 - - - - - - 14.71 13.86 13.88
13274 507.9 9.1 521 13280 done 0.71 - - 3134 - 2.47 0.051 2263 -565.6 219.9 - - 2180 - - - - - - - - 14.31 14.23 14.33
13597 481.0 8.4 532 13602 roll 0.71 - - 3131 - 2.90 0.143 3667 484.1 219.9 - - 2181 - - - - - - - - 14.66 13.81 14.64
13631 477.8 9.6 537 13638 done 0.71 - - 3145 - 2.47 0.051 2265 -567.6 219.9 1.52 0.221 2172 -5.9 2.660 - - - - - - 14.28 14.20 13.87
13989 448.2 8.0 546 13989 done 0.71 - - 3144 - - - 2261 - 219.9 - - 2181 - - - - - - - - 14.65 14.64 14.65
14325 421.3 8.0 552 14325 done 0.71 - - 3144 - - - 2261 - 219.9 - - 2181 - - - - - - - - 14.64 14.64 14.64
14661 392.2 8.8 558 14666 roll 0.71 - - 3144 - 2.90 0.144 3660 482.4 219.9 - - 2181 - - - - - - - - 14.64 13.80 14.64
14717 386.6 10.1 566 14721 done 0.71 - - 3154 - 2.47 0.050 2267 -564.0 219.9 - - 2181 - - - - - - - - 14.25 14.16 14.27
15053 354.6 9.5 579 15058 roll 0.71 - - 3165 - 2.60 0.058 852 -544.2 219.9 - - 2181 - - - - - - - - 14.64 13.87 14.64
15094 350.5 9.9 585 15100 done 0.71 0.12 0.205 3127 -316.7 2.65 0.078 2268 534.3 219.9 - - 2181 - - - - - - - - 13.78 13.86 14.02
15445 319.8 8.8 593 15451 roll 0.71 - - 3128 - 2.88 0.147 3665 485.1 219.9 - - 2181 - - - - - - - - 14.62 13.81 14.65
15521 312.5 10.0 604 15526 done 0.71 - - 3138 - 2.47 0.050 2264 -567.2 219.9 - - 2178 - - - - - - - - 14.23 14.14 14.25
15837 285.8 8.4 614 15842 roll 0.71 - - 3138 - 2.90 0.143 3664 482.8 219.9 - - 2182 - - - - - - - - 14.63 13.81 14.63
15878 282.0 9.1 620 15883 done 0.71 - - 3147 - 2.47 0.050 2270 -564.4 219.9 - - 2182 - - - - - - - - 14.22 14.13 14.24
16229 254.3 7.8 628 16230 done 0.71 - - 3147 - - - 2268 - 219.9 - - 2182 - - - - - - - - 14.62 14.62 14.62
16565 228.4 7.6 634 16575 roll 0.71 - - 3147 - 2.92 0.146 3667 479.1 221.5 2.25 0.449 2171 -4.9 0.517 - - - - - - 14.62 13.83 13.26
16606 224.8 9.0 640 16612 done 0.71 - - 3157 - 2.45 0.050 2275 -568.2 221.5 1.98 0.210 2167 -2.0 0.449 - - - - - - 14.30 14.21 13.83
16950 194.1 9.3 647 16956 roll 0.71 - - 3168 - 2.62 0.059 861 -539.7 221.5 2.00 0.210 2168 - - - - - - - - 14.64 13.96 12.09
17012 187.9 9.8 656 17018 done 0.71 0.12 0.207 3133 -291.7 2.65 0.083 2273 532.8 221.5 1.48 0.207 2170 - - - - - - - - 13.81 13.89 13.85
17328 160.5 8.6 666 17331 done 0.71 - - 3132 - - - 2276 - 221.5 1.70 0.213 2169 - - - - - - - - 14.70 14.10 13.84
17664 137.5 6.6 672 17704 roll 0.74 - - 3132 - 2.80 0.148 3658 493.6 244.8 30.75 1.161 2066 -3.3 0.082 - - - - - - 14.69 14.00 13.55
17733 132.2 8.2 682 17738 done 0.74 - - 3141 - 2.42 0.050 2274 -571.9 244.8 - - 2062 - - - - - - - - 14.35 14.26 14.38
18056 107.6 7.6 693 18062 roll 0.74 - - 3141 - 2.88 0.146 3668 484.0 247.2 - - 2060 - - - - - - - - 14.64 13.85 14.64
18083 105.4 7.9 697 18089 done 0.74 - - 3150 - 2.40 0.050 2268 -583.3 247.2 - - 2060 - - - - - - - - 14.31 14.21 14.33
18420 81.5 7.4 711 18430 roll 0.75 - - 3160 - 2.60 0.059 860 -541.5 253.4 2.35 0.210 2044 -6.8 0.549 - - - - - - 14.65 14.09 13.75
18483 77.1 6.8 720 18503 done 0.77 - - 3160 - 2.65 0.080 2283 537.0 272.4 12.98 0.383 1968 -5.9 0.245 - - - - - - 14.21 13.97 13.80
18813 61.6 2.2 734 18881 roll 1.03 0.12 0.099 3252 766.7 2.80 0.151 3661 492.1 383.0 63.58 0.361 1525 -7.0 0.247 - - - - - - 14.21 14.09 13.88
19058 49.0 8.2 769 19063 done 1.03 - - 3261 - 2.42 0.049 2282 -569.8 383.0 - - 1530 - - - - - - - - 14.31 14.21 14.32
19394 22.9 7.3 784 19405 roll 1.04 - - 3272 - 2.58 0.060 849 -555.4 390.6 4.82 0.220 1497 -6.8 0.148 - - - - - - 14.68 14.08 13.85
19491 15.6 7.6 798 19504 done 1.04 0.12 0.200 3234 -316.7 2.67 0.080 2286 538.2 394.0 4.03 0.201 1481 -4.0 0.064 - - - - - - 13.89 13.93 13.86
19697 end climb: SURFACE_DEPTH_REACHED
19697 begin surface coast
19725 end surface coast: CONTROL_FINISHED_OK
19725 begin surface
SM -2.34 - - - - -8.41 9.02 0.057 174 19.3 0.98 0.131 2768 -10798.0 500.14 55.72 0.148 1056 18.9 0.031 - - - - - -