SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 734 * Raw log
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• Previous call tries 1 • 249.81 of 350.00 AH used of 24V (28.63% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -68.3 deg, depth -2.40 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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 - - 114 - - - 2783 - -107.1 -80.80 - 3479 - - - - - - - - 14.52 12.65 14.47
107 3.6 -10.5 3 124 roll -0.93 12.05 0.379 2590 205.5 2.50 0.034 1347 -574.4 -107.1 - - 3477 - - - - - - - - 13.81 14.29 14.21
160 26.1 -26.3 11 165 done -0.62 0.43 0.232 2694 241.9 2.80 0.116 2771 508.6 -107.1 - - 3481 - - - - - - - - 13.87 13.95 14.16
496 71.1 -9.5 26 501 roll -0.62 - - 2694 - 2.50 0.042 1368 -561.2 -107.1 - - 3481 - - - - - - - - 14.66 14.07 14.66
593 79.1 -8.9 40 598 done -0.62 - - 2684 - 2.75 0.112 2762 506.9 -107.1 - - 3481 - - - - - - - - 14.13 13.85 14.18
916 104.7 -7.2 52 921 roll -0.62 - - 2676 - 2.20 0.168 3828 484.5 -107.1 - - 3482 - - - - - - - - 14.69 13.85 14.69
964 108.0 -6.8 59 970 done -0.62 - - 2676 - 1.90 0.063 2755 -564.7 -107.1 - - 3482 - - - - - - - - 14.25 14.16 14.26
1309 132.3 -7.0 66 1309 done -0.62 - - 2676 - - - 2755 - -107.1 - - 3482 - - - - - - - - 14.69 14.69 14.69
1644 157.1 -7.5 72 1645 done -0.62 - - 2676 - - - 2755 - -107.1 - - 3480 - - - - - - - - 14.69 14.69 14.69
1981 181.9 -7.3 78 1985 roll -0.70 - - 2668 - 2.25 0.158 3825 475.6 -107.1 - - 3478 - - - - - - - - 14.74 12.91 14.75
2014 184.5 -7.5 83 2019 done -0.70 - - 2668 - 1.90 0.064 2764 -558.4 -107.1 - - 3478 - - - - - - - - 14.25 14.19 14.27
2372 212.3 -7.7 92 2377 roll -0.70 - - 2668 - 2.53 0.044 1357 -556.1 -107.1 - - 3475 - - - - - - - - 14.76 13.90 14.76
2420 216.1 -8.0 99 2426 done -0.79 - - 2660 - 2.80 0.104 2765 502.9 -107.1 - - 3475 - - - - - - - - 14.14 13.88 14.19
2764 242.2 -7.5 106 2765 done -0.79 - - 2660 - - - 2765 - -107.1 - - 3472 - - - - - - - - 14.73 14.73 14.73
3100 266.1 -7.1 112 3105 roll -0.79 - - 2660 - 2.58 0.045 1358 -545.3 -107.1 - - 3470 - - - - - - - - 14.75 13.85 14.75
3184 272.2 -7.3 124 3188 done -0.87 - - 2652 - 2.80 0.106 2768 503.6 -107.1 - - 3469 - - - - - - - - 14.15 13.88 14.20
3548 300.3 -7.7 134 3549 done -0.87 - - 2652 - - - 2767 - -107.1 - - 3467 - - - - - - - - 14.69 14.69 14.69
3884 325.6 -7.5 140 3889 roll -0.87 - - 2651 - 2.60 0.044 1357 -542.3 -107.1 - - 3465 - - - - - - - - 14.68 13.88 14.68
3960 331.3 -7.3 151 3965 done -0.87 - - 2644 - 2.80 0.105 2757 500.0 -107.1 - - 3464 - - - - - - - - 14.14 13.86 14.19
4276 355.7 -7.9 161 4282 roll -0.87 - - 2644 - 2.55 0.044 1365 -545.9 -107.1 - - 3467 - - - - - - - - 14.68 13.88 14.69
4324 359.6 -7.8 168 4330 done -0.87 - - 2635 - 2.80 0.106 2768 501.1 -107.1 - - 3463 - - - - - - - - 14.16 13.89 14.21
4668 388.3 -8.5 175 4669 done -0.87 - - 2635 - - - 2767 - -107.1 - - 3461 - - - - - - - - 14.67 14.67 14.68
5004 417.6 -8.8 181 5010 roll -0.87 - - 2635 - 2.60 0.044 1359 -541.5 -107.1 - - 3459 - - - - - - - - 14.73 13.83 14.73
5087 425.0 -8.6 193 5093 done -0.87 - - 2626 - 2.78 0.104 2754 501.8 -107.1 - - 3459 - - - - - - - - 14.15 13.88 14.19
5452 457.6 -8.9 203 5453 done -0.87 - - 2626 - - - 2754 - -107.1 - - 3458 - - - - - - - - 14.67 14.67 14.66
5788 488.6 -9.4 209 5794 roll -0.87 - - 2626 - 2.58 0.044 1360 -540.3 -107.1 - - 3456 - - - - - - - - 14.66 13.83 14.66
5808 490.6 -9.8 212 5813 done -0.87 - - 2617 - 2.78 0.104 2752 500.7 -107.1 - - 3457 - - - - - - - - 14.15 13.87 14.20
6125 522.9 -10.4 222 6129 roll -0.87 - - 2616 - 2.58 0.043 1356 -541.1 -107.1 - - 3454 - - - - - - - - 14.66 13.90 14.66
6158 526.5 -10.2 227 6163 done -0.87 - - 2607 - 2.80 0.105 2758 500.7 -107.1 - - 3453 - - - - - - - - 14.15 13.89 14.19
6516 563.9 -10.3 236 6521 roll -0.87 - - 2599 - 2.22 0.163 3832 483.8 -107.1 - - 3453 - - - - - - - - 14.72 13.85 14.73
6564 569.0 -10.6 243 6570 done -0.87 - - 2597 - 1.98 0.063 2741 -551.0 -107.1 - - 3453 - - - - - - - - 14.16 14.09 14.19
6909 602.3 -9.5 250 6913 roll -0.87 - - 2597 - 2.53 0.042 1356 -547.4 -107.1 - - 3452 - - - - - - - - 14.65 13.85 14.67
6956 606.9 -9.1 257 6964 done -0.87 0.10 0.233 2615 180.0 2.80 0.101 2754 499.3 -107.1 - - 3451 - - - - - - - - 13.85 13.86 14.09
7300 636.4 -8.6 264 7305 roll -0.87 - - 2608 - 2.20 0.161 3820 484.5 -107.1 - - 3450 - - - - - - - - 14.71 13.84 14.72
7362 642.2 -8.9 273 7368 done -0.87 - - 2607 - 1.92 0.066 2747 -558.9 -107.1 - - 3450 - - - - - - - - 14.19 14.12 14.21
7692 671.5 -8.9 285 7693 done -0.87 - - 2607 - - - 2747 - -107.1 - - 3449 - - - - - - - - 14.71 14.71 14.71
8028 699.7 -8.3 291 8033 roll -0.87 - - 2600 - 2.25 0.152 3826 479.6 -107.1 - - 3448 - - - - - - - - 14.64 13.81 14.64
8062 702.7 -8.7 296 8067 done -0.87 - - 2598 - 1.95 0.065 2748 -552.8 -107.1 - - 3450 - - - - - - - - 14.18 14.11 14.20
8420 731.6 -8.2 305 8426 roll -0.87 - - 2598 - 2.53 0.041 1361 -548.2 -107.1 - - 3446 - - - - - - - - 14.67 13.88 14.64
8462 735.4 -8.8 311 8467 done -0.87 0.10 0.239 2613 150.0 2.75 0.098 2749 504.7 -107.1 - - 3446 - - - - - - - - 13.85 13.88 14.09
8812 763.6 -8.1 319 8813 done -0.87 - - 2615 - - - 2749 - -107.1 - - 3445 - - - - - - - - 14.70 14.70 14.70
9149 791.4 -8.3 325 9149 done -0.87 - - 2615 - - - 2749 - -107.1 - - 3444 - - - - - - - - 14.69 14.69 14.69
9256 end dive: TARGET_DEPTH_EXCEEDED
9256 begin apogee
9266 800.9 -8.3 327 9375 roll -0.23 0.75 0.170 2826 281.3 0.10 0.207 2266 -4830.0 - 100.45 2.517 3051 -3.9 0.247 - - - - 1 - 13.77 13.69 12.65
9376 end apogee: CONTROL_FINISHED_OK
9376 begin climb
9381 804.6 - 329 9520 roll 0.93 1.12 0.080 3189 324.1 2.60 0.052 873 -535.8 107.1 125.45 1.779 2615 -3.5 0.312 - - - - - - 13.66 13.71 13.05
9584 802.9 5.8 359 9630 done 0.83 - - 3191 - 2.53 0.070 2241 540.7 145.3 41.83 1.774 2469 -3.5 0.314 - - - - - - 14.11 13.94 13.14
9990 768.8 8.7 375 9995 roll 0.70 0.20 0.221 3129 -310.0 2.80 0.139 3657 505.7 145.3 - - 2454 - - - - - - - - 13.90 13.99 14.08
10066 762.7 7.8 386 10072 done 0.61 0.15 0.217 3099 -200.0 2.42 0.052 2260 -577.3 145.3 - - 2453 - - - - - - - - 13.97 14.32 14.25
10382 744.3 5.8 396 10430 roll 0.66 - - 3098 - 2.88 0.145 3658 485.4 183.9 42.60 1.760 2310 -3.4 0.282 - - - - - - 14.69 14.04 13.33
10458 739.3 7.1 407 10477 done 0.68 - - 3107 - 2.47 0.052 2246 -571.7 196.0 10.57 1.886 2267 -4.1 0.317 - - - - - - 14.28 14.21 13.18
10830 711.9 7.5 418 10831 done 0.68 - - 3107 - - - 2246 - 199.8 - - 2260 - - - - - - - - 14.66 14.66 14.66
11166 684.4 8.3 424 11171 roll 0.68 - - 3107 - 2.90 0.145 3662 488.3 199.8 - - 2258 - - - - - - - - 14.66 13.91 14.66
11249 676.5 9.6 436 11254 done 0.68 - - 3116 - 2.50 0.052 2251 -564.4 199.8 - - 2258 - - - - - - - - 14.35 14.29 14.38
11614 644.0 8.8 446 11620 roll 0.68 - - 3117 - 2.90 0.146 3657 484.8 199.8 - - 2257 - - - - - - - - 14.66 13.81 14.66
11676 638.3 9.2 455 11681 done 0.68 - - 3127 - 2.47 0.050 2249 -570.0 199.8 - - 2257 - - - - - - - - 14.35 14.27 14.37
12006 611.3 8.1 467 12011 roll 0.68 - - 3127 - 2.92 0.145 3660 483.2 199.8 - - 2256 - - - - - - - - 14.65 13.82 14.65
12040 608.2 8.9 472 12045 done 0.68 - - 3137 - 2.47 0.052 2261 -566.4 199.8 - - 2256 - - - - - - - - 14.31 14.23 14.33
12398 578.0 8.5 481 12403 roll 0.68 - - 3148 - 2.58 0.057 851 -546.5 199.8 - - 2256 - - - - - - - - 14.69 13.91 14.69
12446 573.9 8.4 488 12453 done 0.68 - - 3147 - 2.65 0.074 2259 531.3 199.8 - - 2255 - - - - - - - - 14.15 13.90 14.19
12790 545.2 8.3 495 12795 roll 0.68 - - 3148 - 2.90 0.151 3662 483.8 199.8 - - 2255 - - - - - - - - 14.64 13.81 14.64
12873 537.4 9.4 507 12879 done 0.68 0.12 0.224 3123 -208.3 2.50 0.051 2254 -563.2 199.8 - - 2255 - - - - - - - - 13.79 14.16 14.05
13238 511.9 6.9 517 13262 done 0.70 - - 3123 - - - 2250 - 215.6 22.70 1.648 2190 -2.9 0.177 - - - - - - 14.62 14.27 13.47
13575 486.3 7.8 523 13580 roll 0.70 - - 3123 - 2.85 0.148 3669 497.9 215.6 - - 2173 - - - - - - - - 14.64 13.93 14.66
13630 481.1 9.4 531 13635 done 0.70 - - 3132 - 2.47 0.052 2259 -570.9 215.6 - - 2173 - - - - - - - - 14.35 14.27 14.38
13966 449.9 9.4 544 13971 roll 0.70 - - 3143 - 2.53 0.056 856 -554.5 215.6 - - 2172 - - - - - - - - 14.69 14.02 14.69
13993 447.3 9.3 548 13998 done 0.70 - - 3143 - 2.62 0.075 2266 538.2 215.6 - - 2172 - - - - - - - - 14.22 14.00 14.27
14358 412.6 9.4 558 14364 roll 0.70 - - 3143 - 2.85 0.151 3663 490.2 215.6 - - 2172 - - - - - - - - 14.69 13.79 14.69
14406 407.6 10.3 565 14412 done 0.70 - - 3153 - 2.47 0.050 2266 -565.6 215.6 - - 2172 - - - - - - - - 14.28 14.20 14.31
14750 376.3 9.1 572 14755 roll 0.70 - - 3163 - 2.55 0.057 854 -553.7 215.6 - - 2173 - - - - - - - - 14.64 13.95 14.64
14791 372.3 9.6 578 14798 done 0.70 0.12 0.208 3127 -300.0 2.65 0.076 2268 533.6 215.6 - - 2172 - - - - - - - - 13.83 13.90 14.10
15142 343.0 8.3 586 15148 roll 0.70 - - 3127 - 2.85 0.151 3665 490.2 215.6 - - 2172 - - - - - - - - 14.64 13.80 14.64
15204 337.4 9.0 595 15209 done 0.70 - - 3136 - 2.47 0.050 2267 -566.0 215.6 - - 2172 - - - - - - - - 14.23 14.15 14.26
15534 311.1 7.9 607 15539 roll 0.70 - - 3146 - 2.55 0.057 861 -551.4 215.6 - - 2172 - - - - - - - - 14.69 13.89 14.69
15576 307.9 7.8 613 15581 done 0.70 - - 3147 - 2.62 0.074 2274 539.3 215.6 - - 2171 - - - - - - - - 14.12 13.88 14.16
15926 279.8 8.1 621 15931 roll 0.70 - - 3147 - 2.85 0.151 3665 488.1 215.6 - - 2172 - - - - - - - - 14.62 13.81 14.62
15995 273.4 9.1 631 16000 done 0.70 - - 3158 - 2.47 0.050 2266 -566.4 215.6 - - 2171 - - - - - - - - 14.22 14.14 14.25
16318 247.1 8.2 642 16324 roll 0.70 0.08 0.246 3140 -225.0 2.58 0.054 854 -547.3 215.6 - - 2172 - - - - - - - - 13.82 13.85 13.90
16366 243.4 7.3 649 16373 done 0.71 - - 3140 - 2.67 0.074 2270 530.3 223.7 2.15 0.383 2157 -7.0 0.880 - - - - - - 14.07 13.85 13.14
16710 216.8 7.9 656 16716 roll 0.71 - - 3140 - 2.90 0.152 3664 480.7 223.7 1.58 0.220 2159 - - - - - - - - 14.62 13.86 13.90
16751 213.1 9.3 662 16759 done 0.71 - - 3150 - 2.50 0.050 2260 -561.6 223.7 - - 2168 - - - - - - - - 14.23 14.17 14.26
17096 184.1 8.5 669 17096 done 0.71 - - 3149 - - - 2259 - 223.7 - - 2169 - - - - - - - - 14.61 14.61 14.61
17431 157.1 8.0 675 17438 roll 0.71 - - 3150 - 2.95 0.150 3665 476.6 223.7 1.70 0.213 2158 -6.5 0.948 - - - - - - 14.62 13.82 13.90
17494 151.5 9.0 684 17499 done 0.71 0.10 0.230 3133 -170.0 2.45 0.051 2275 -567.3 223.7 1.52 0.208 2160 - - - - - - - - 13.76 14.09 13.85
17817 127.8 7.3 695 17832 done 0.72 - - 3133 - - - 2271 - 231.6 14.38 1.225 2128 -2.2 0.046 - - - - - - 14.61 14.32 13.64
18153 103.6 6.9 701 18165 roll 0.74 - - 3132 - 2.88 0.147 3660 482.3 248.3 7.43 0.418 2063 -8.7 0.431 - - - - - - 14.65 13.98 13.76
18201 100.1 7.9 708 18208 done 0.74 - - 3141 - 2.45 0.052 2266 -569.0 248.3 2.10 0.223 2057 -2.9 0.255 - - - - - - 14.38 14.31 13.83
18517 78.8 6.5 720 18537 roll 0.77 - - 3142 - 2.90 0.150 3669 483.8 272.0 15.38 0.396 1968 -5.8 0.229 - - - - - - 14.67 14.00 13.85
18607 72.7 6.7 733 18627 done 0.79 - - 3151 - 2.45 0.051 2260 -575.1 292.0 13.57 0.374 1889 -5.8 0.225 - - - - - - 14.35 14.28 13.81
18941 53.9 4.4 747 18985 roll 1.01 0.12 0.093 3241 750.0 2.88 0.148 3663 487.2 358.2 39.28 0.334 1621 -6.8 0.219 - - - - - - 14.16 14.07 13.89
19000 50.6 5.4 756 19033 done 1.07 - - 3252 - 2.38 0.049 2282 -580.3 404.0 27.08 0.326 1440 -6.7 0.206 - - - - - - 14.38 14.31 13.82
19351 28.1 7.8 773 19355 roll 1.07 - - 3261 - 2.58 0.058 871 -546.9 404.0 - - 1442 - - - - - - - - 14.60 13.96 14.60
19463 17.6 9.8 789 19467 done 1.16 - - 3261 - 2.62 0.074 2283 538.9 404.0 - - 1442 - - - - - - - - 14.10 13.86 14.15
19654 end climb: SURFACE_DEPTH_REACHED
19654 begin surface coast
19682 end surface coast: CONTROL_FINISHED_OK
19682 begin surface
SM -2.58 - - - - -8.38 9.25 0.066 192 20.8 0.98 0.124 2763 1637.8 500.14 49.72 0.151 1058 21.3 0.037 - - - - - -