SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 728 * Raw log
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• Previous call tries 1 • 247.91 of 350.00 AH used of 24V (29.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth -2.31 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 4 s • Transponder ping count: 1
• 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 - - - 103 done -0.93 - - 105 - - - 2787 - -107.1 -81.62 - 3476 - - - - - - - - 14.54 12.65 14.47
107 2.9 -9.0 3 124 roll -0.93 12.07 0.378 2589 205.8 2.47 0.033 1359 -578.1 -107.1 - - 3479 - - - - - - - - 13.82 14.31 14.24
208 35.1 -21.2 18 215 done -0.72 0.30 0.239 2660 236.7 2.78 0.112 2769 507.2 -107.1 - - 3478 - - - - - - - - 13.80 13.91 14.10
525 77.0 -7.4 30 529 roll -0.72 - - 2651 - 2.17 0.167 3832 489.9 -107.1 - - 3479 - - - - - - - - 14.71 13.83 14.69
737 91.2 -6.4 60 742 done -0.72 - - 2652 - 1.83 0.061 2768 -581.4 -107.1 - - 3480 - - - - - - - - 14.27 14.21 14.28
1086 118.0 -7.9 70 1091 roll -0.72 - - 2658 - 2.47 0.040 1367 -567.2 -107.1 - - 3482 - - - - - - - - 14.70 14.03 14.70
1155 124.0 -7.8 80 1160 done -0.72 - - 2642 - 2.78 0.101 2784 509.7 -107.1 - - 3480 - - - - - - - - 14.12 13.83 14.16
1478 152.2 -8.9 91 1483 roll -0.72 - - 2634 - 2.15 0.163 3827 485.1 -107.1 - - 3477 - - - - - - - - 14.76 13.79 14.76
1554 159.2 -8.6 102 1559 done -0.72 0.10 0.218 2663 290.0 1.83 0.061 2780 -572.1 -107.1 - - 3478 - - - - - - - - 13.79 14.17 14.02
1870 184.3 -7.9 112 1875 roll -0.72 - - 2663 - 2.53 0.042 1371 -556.9 -107.1 - - 3476 - - - - - - - - 14.74 13.95 14.75
1974 192.5 -7.3 127 1980 done -0.72 - - 2654 - 2.80 0.103 2775 501.4 -107.1 - - 3475 - - - - - - - - 14.14 13.86 14.19
2318 217.3 -7.2 134 2323 roll -0.72 - - 2654 - 2.55 0.041 1369 -551.4 -107.1 - - 3472 - - - - - - - - 14.70 13.93 14.70
2359 220.4 -7.5 140 2364 done -0.72 - - 2644 - 2.78 0.105 2772 504.7 -107.1 - - 3472 - - - - - - - - 14.15 13.88 14.20
2710 247.9 -8.2 148 2711 done -0.72 - - 2644 - - - 2772 - -107.1 - - 3469 - - - - - - - - 14.69 14.69 14.69
3046 277.9 -9.0 154 3047 done -0.72 - - 2644 - - - 2772 - -107.1 - - 3468 - - - - - - - - 14.75 14.75 14.74
3382 305.6 -8.1 160 3387 roll -0.72 - - 2644 - 2.58 0.043 1371 -543.0 -107.1 - - 3465 - - - - - - - - 14.74 13.88 14.74
3451 311.4 -8.3 170 3456 done -0.72 0.10 0.230 2665 210.0 2.80 0.106 2771 500.0 -107.1 - - 3464 - - - - - - - - 13.84 13.85 14.09
3774 333.6 -6.8 181 3780 roll -0.80 - - 2665 - 2.58 0.043 1365 -545.0 -107.1 - - 3461 - - - - - - - - 14.71 13.90 14.71
3836 338.2 -7.2 190 3841 done -0.89 0.08 0.141 2589 -950.0 2.80 0.105 2777 504.3 -107.1 - - 3462 - - - - - - - - 14.07 13.87 14.20
4166 373.3 -11.1 202 4171 roll -0.89 - - 2581 - 2.15 0.162 3825 487.4 -107.1 - - 3459 - - - - - - - - 14.74 13.83 14.74
4222 380.1 -11.9 210 4227 done -0.81 0.15 0.223 2626 300.0 1.88 0.063 2766 -563.3 -107.1 - - 3460 - - - - - - - - 13.64 14.12 13.92
4558 412.5 -9.5 223 4563 roll -0.81 - - 2626 - 2.55 0.041 1359 -551.8 -107.1 - - 3458 - - - - - - - - 14.69 13.87 14.69
4606 417.3 -9.3 230 4612 done -0.81 - - 2617 - 2.83 0.099 2777 501.1 -107.1 - - 3458 - - - - - - - - 14.13 13.87 14.18
4950 450.6 -9.7 237 4951 done -0.81 - - 2617 - - - 2777 - -107.1 - - 3457 - - - - - - - - 14.68 14.68 14.68
5286 480.9 -8.7 243 5287 done -0.81 - - 2616 - - - 2777 - -107.1 - - 3455 - - - - - - - - 14.68 14.68 14.68
5622 508.6 -8.2 249 5628 roll -0.81 - - 2616 - 2.60 0.042 1365 -543.1 -107.1 - - 3453 - - - - - - - - 14.68 13.84 14.68
5663 512.0 -7.9 255 5668 done -0.81 0.10 0.241 2634 180.0 2.83 0.102 2777 498.9 -107.1 - - 3453 - - - - - - - - 13.81 13.86 14.07
6014 537.4 -7.3 263 6015 done -0.81 - - 2634 - - - 2775 - -107.1 - - 3452 - - - - - - - - 14.66 14.66 14.66
6350 562.6 -7.5 269 6356 roll -0.81 - - 2635 - 2.60 0.042 1368 -541.2 -107.1 - - 3450 - - - - - - - - 14.67 13.85 14.66
6398 566.6 -7.6 276 6404 done -0.81 - - 2625 - 2.83 0.101 2775 497.2 -107.1 - - 3450 - - - - - - - - 14.13 13.86 14.18
6742 594.5 -8.1 283 6747 roll -0.81 - - 2625 - 2.60 0.043 1363 -543.1 -107.1 - - 3449 - - - - - - - - 14.66 13.87 14.66
6783 598.1 -8.5 289 6789 done -0.81 - - 2615 - 2.80 0.101 2763 500.0 -107.1 - - 3449 - - - - - - - - 14.14 13.87 14.19
7134 631.0 -9.6 297 7135 done -0.81 - - 2616 - - - 2762 - -107.1 - - 3452 - - - - - - - - 14.73 14.71 14.72
7470 662.3 -9.3 303 7475 roll -0.81 - - 2615 - 2.60 0.044 1365 -537.3 -107.1 - - 3446 - - - - - - - - 14.70 13.83 14.71
7553 669.7 -8.9 315 7558 done -0.81 0.10 0.245 2633 180.0 2.80 0.103 2767 500.7 -107.1 - - 3446 - - - - - - - - 13.82 13.85 14.07
7918 699.0 -7.8 325 7923 roll -0.81 - - 2625 - 2.17 0.163 3823 486.6 -107.1 - - 3444 - - - - - - - - 14.65 13.83 14.65
7945 701.4 -8.4 329 7951 done -0.81 - - 2625 - 1.92 0.064 2759 -554.2 -107.1 - - 3445 - - - - - - - - 14.15 14.07 14.16
8310 731.0 -8.2 339 8315 roll -0.81 - - 2625 - 2.58 0.042 1352 -545.3 -107.1 - - 3447 - - - - - - - - 14.69 13.83 14.69
8344 734.0 -8.5 344 8349 done -0.81 - - 2616 - 2.80 0.099 2758 502.1 -107.1 - - 3443 - - - - - - - - 14.15 13.88 14.19
8702 764.6 -8.5 353 8703 done -0.81 - - 2616 - - - 2758 - -107.1 - - 3442 - - - - - - - - 14.69 14.69 14.69
9038 793.3 -8.5 359 9039 done -0.81 - - 2616 - - - 2758 - -107.1 - - 3441 - - - - - - - - 14.62 14.63 14.63
9145 end dive: TARGET_DEPTH_EXCEEDED
9145 begin apogee
9156 802.9 -8.5 361 9261 roll -0.23 0.75 0.174 2824 277.3 0.12 0.190 2276 -4016.7 - 96.05 2.687 3053 -4.0 0.240 - - - - 1 - 13.76 13.73 12.65
9263 end apogee: CONTROL_FINISHED_OK
9263 begin climb
9267 807.1 - 363 9404 roll 0.93 1.12 0.083 3185 322.3 2.62 0.050 876 -534.4 107.1 126.20 1.801 2622 -3.4 0.304 - - - - - - 13.66 13.71 13.05
9474 805.3 5.7 393 9523 done 0.85 - - 3185 - 2.55 0.070 2237 533.7 147.4 44.55 1.769 2462 -3.6 0.325 - - - - - - 14.12 13.95 13.12
9871 771.7 8.9 407 9876 roll 0.73 0.15 0.226 3137 -320.0 2.83 0.140 3658 502.1 147.4 - - 2447 - - - - - - - - 13.93 14.00 14.10
9968 763.0 8.1 421 9974 done 0.63 0.15 0.224 3108 -193.3 2.45 0.051 2258 -571.4 147.4 - - 2443 - - - - - - - - 13.98 14.33 14.26
10319 739.3 6.7 429 10341 done 0.66 - - 3108 - - - 2254 - 168.2 21.62 1.825 2379 -3.0 0.238 - - - - - - 14.71 14.26 13.43
10655 716.0 7.1 435 10666 roll 0.67 - - 3107 - 2.80 0.143 3657 501.1 180.8 5.47 1.775 2334 -8.2 0.659 - - - - - - 14.65 14.06 13.30
10751 708.2 8.0 449 10758 done 0.67 - - 3116 - 2.47 0.051 2250 -569.6 180.8 2.15 0.419 2329 -2.3 0.781 - - - - - - 14.42 14.36 12.93
11103 683.3 7.1 457 11130 roll 0.69 - - 3117 - 2.90 0.145 3662 486.9 194.1 22.85 1.821 2274 -2.4 0.179 - - - - - - 14.66 14.04 13.42
11172 678.0 8.1 467 11177 done 0.69 - - 3126 - 2.45 0.050 2257 -573.5 194.1 - - 2264 - - - - - - - - 14.39 14.31 14.41
11488 653.7 7.7 477 11489 done 0.69 - - 3128 - - - 2254 - 194.1 - - 2261 - - - - - - - - 14.64 14.64 14.64
11824 626.9 8.1 483 11825 done 0.69 - - 3126 - - - 2253 - 194.1 - - 2261 - - - - - - - - 14.69 14.70 14.70
12160 598.8 8.4 489 12166 roll 0.69 - - 3126 - 2.90 0.145 3661 485.5 194.1 - - 2260 - - - - - - - - 14.66 13.83 14.66
12243 590.8 9.6 501 12249 done 0.69 - - 3140 - 2.47 0.050 2252 -570.4 194.1 - - 2259 - - - - - - - - 14.33 14.26 14.35
12608 559.9 8.4 511 12613 roll 0.69 - - 3136 - 2.90 0.142 3661 485.9 194.1 - - 2260 - - - - - - - - 14.65 13.79 14.65
12635 557.3 9.0 515 12640 done 0.69 - - 3147 - 2.47 0.050 2255 -569.2 194.1 - - 2260 - - - - - - - - 14.31 14.22 14.33
13000 527.7 8.0 525 13001 done 0.69 - - 3147 - - - 2251 - 194.1 - - 2260 - - - - - - - - 14.65 14.64 14.64
13336 501.8 7.7 531 13341 roll 0.69 - - 3146 - 2.90 0.144 3657 484.8 194.8 - - 2260 - - - - - - - - 14.63 13.80 14.64
13392 497.0 8.7 539 13397 done 0.69 0.10 0.233 3128 -180.0 2.47 0.050 2256 -567.2 194.8 - - 2260 - - - - - - - - 13.83 14.16 14.10
13728 473.2 7.1 552 13737 done 0.71 - - 3128 - - - 2252 - 207.4 7.88 1.714 2226 -4.3 0.237 - - - - - - 14.64 14.34 13.45
14064 448.1 7.5 558 14075 roll 0.71 - - 3128 - 2.88 0.145 3662 489.6 212.2 3.33 1.095 2210 -4.8 0.390 - - - - - - 14.66 13.97 13.24
14133 441.9 9.1 568 14139 done 0.71 - - 3137 - 2.42 0.050 2264 -577.7 212.2 2.35 0.588 2204 -2.6 0.381 - - - - - - 14.40 14.32 13.11
14449 415.3 8.5 578 14452 done 0.71 - - 3137 - - - 2260 - 212.2 2.08 0.326 2205 - - - - - - - - 14.68 14.21 12.84
14785 386.9 8.3 584 14791 roll 0.71 - - 3137 - 2.92 0.144 3661 479.8 212.2 1.83 0.220 2205 - - - - - - - - 14.68 13.85 13.84
14826 383.1 9.3 590 14833 done 0.71 - - 3147 - 2.47 0.050 2263 -566.0 212.2 - - 2213 - - - - - - - - 14.26 14.18 14.28
15171 354.4 8.4 597 15174 done 0.71 - - 3147 - - - 2259 - 212.2 1.85 0.221 2204 -4.9 1.549 - - - - - - 14.69 14.09 13.79
15506 326.4 8.3 603 15509 done 0.71 - - 3147 - - - 2265 - 212.2 1.92 0.223 2204 - - - - - - - - 14.63 14.12 13.81
15843 300.8 7.4 609 15861 roll 0.72 - - 3147 - 2.83 0.147 3664 494.3 218.5 13.55 1.483 2173 -2.3 0.092 - - - - - - 14.62 13.95 13.57
15883 297.6 7.8 615 15888 done 0.72 - - 3157 - 2.45 0.050 2262 -572.2 218.5 - - 2168 - - - - - - - - 14.39 14.31 14.45
16235 270.5 7.7 623 16240 roll 0.72 - - 3167 - 2.55 0.056 845 -555.7 218.5 - - 2167 - - - - - - - - 14.70 14.08 14.69
16282 266.4 8.4 630 16289 done 0.72 0.12 0.207 3131 -300.0 2.65 0.074 2267 536.6 218.5 - - 2166 - - - - - - - - 13.94 14.01 14.19
16627 240.9 7.5 637 16633 roll 0.73 - - 3130 - 2.83 0.145 3659 491.9 222.8 - - 2166 - - - - - - - - 14.64 13.83 14.64
16717 233.0 9.0 650 16721 done 0.73 - - 3139 - 2.45 0.050 2262 -570.2 222.8 - - 2165 - - - - - - - - 14.30 14.21 14.32
17075 203.3 8.4 659 17079 roll 0.73 - - 3150 - 2.55 0.055 861 -549.4 222.8 - - 2166 - - - - - - - - 14.69 13.90 14.69
17109 200.5 8.0 664 17114 done 0.73 - - 3150 - 2.62 0.073 2270 537.8 222.8 - - 2167 - - - - - - - - 14.13 13.91 14.18
17467 173.6 7.3 673 17481 done 0.74 - - 3151 - - - 2270 - 231.1 12.65 1.320 2130 -2.9 0.076 - - - - - - 14.68 14.33 13.62
17803 147.6 8.0 679 17808 roll 0.74 - - 3160 - 2.55 0.056 859 -553.3 231.1 - - 2117 - - - - - - - - 14.69 14.11 14.69
17859 142.7 8.9 687 17864 done 0.74 - - 3160 - 2.62 0.076 2270 538.5 231.1 - - 2117 - - - - - - - - 14.25 14.02 14.30
18195 112.5 9.0 700 18200 roll 0.74 - - 3160 - 2.83 0.148 3662 491.9 231.1 - - 2116 - - - - - - - - 14.69 13.81 14.69
18264 105.5 10.0 710 18269 done 0.74 0.10 0.236 3142 -180.0 2.45 0.048 2262 -571.4 231.1 - - 2117 - - - - - - - - 13.88 14.22 14.14
18587 85.8 5.0 725 18625 roll 0.80 - - 3142 - 2.88 0.143 3669 488.5 286.4 29.35 0.422 1909 -7.1 0.286 - - - - - - 14.62 14.08 13.87
18671 80.7 7.3 737 18682 done 0.81 - - 3151 - 2.45 0.050 2260 -575.1 295.6 6.60 0.363 1872 -5.6 0.247 - - - - - - 14.33 14.23 13.72
19011 61.2 5.4 752 19040 done 0.98 0.12 0.089 3237 716.7 - - 2258 - 341.3 27.50 0.352 1690 -6.6 0.228 - - - - - - 14.26 14.26 13.87
19343 47.2 4.4 764 19389 roll 1.07 - - 3237 - 2.85 0.145 3658 491.2 408.2 38.33 0.313 1428 -6.8 0.205 - - - - - - 14.63 14.03 13.92
19479 38.6 7.6 783 19490 done 1.07 - - 3246 - 2.42 0.048 2272 -572.7 411.7 3.75 0.249 1414 -3.7 0.115 - - - - - - 14.28 14.21 13.74
19824 13.5 7.2 799 19840 roll 1.19 0.05 0.195 3334 1760.0 2.58 0.056 866 -545.0 421.4 6.90 0.196 1372 -6.1 0.083 - - - - - - 14.27 14.04 13.91
19937 end climb: SURFACE_DEPTH_REACHED
19937 begin surface coast
19941 end surface coast: CONTROL_FINISHED_OK
19941 begin surface
SM -2.10 - - - - -8.40 9.70 0.092 168 17.3 3.67 0.091 2772 -2219.1 500.14 41.10 0.150 1056 25.7 0.037 - - - - - -