SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 743 * Raw log
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• Previous call tries 2 • 252.62 of 350.00 AH used of 24V (27.82% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.5 deg, depth -1.76 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: 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 - - 135 - - - 2780 - -107.1 -80.88 - 3476 - - - - - - - - 14.50 12.64 14.42
108 3.9 -9.7 3 124 roll -0.93 11.95 0.381 2589 205.4 2.50 0.035 1353 -570.8 -107.1 - - 3478 - - - - - - - - 13.83 14.24 14.21
138 20.0 -44.9 8 144 done 0.05 1.20 0.230 2892 252.5 2.80 0.116 2771 506.4 -107.1 - - 3479 - - - - - - - - 13.85 13.97 14.14
468 46.1 -9.3 22 474 roll -0.44 0.38 0.088 2753 -365.8 2.53 0.041 1355 -559.7 -107.1 - - 3479 - - - - - - - - 13.95 14.04 14.02
516 50.8 -9.4 29 524 done -0.59 0.08 0.136 2676 -962.5 2.78 0.105 2757 504.3 -107.1 - - 3479 - - - - - - - - 14.08 13.84 14.19
832 83.3 -8.2 41 838 roll -0.59 0.08 0.249 2694 225.0 2.20 0.169 3825 485.5 -107.1 - - 3480 - - - - - - - - 13.91 13.88 13.99
1018 97.0 -6.4 67 1022 done -0.59 - - 2690 - 1.88 0.061 2741 -576.6 -107.1 - - 3482 - - - - - - - - 14.24 14.19 14.26
1367 118.0 -6.1 76 1371 roll -0.67 - - 2686 - 2.28 0.164 3824 475.0 -107.1 - - 3481 - - - - - - - - 14.71 13.86 14.71
1429 122.0 -6.2 85 1434 done -0.75 - - 2686 - 1.85 0.059 2759 -575.7 -107.1 - - 3481 - - - - - - - - 14.14 14.09 14.16
1759 143.1 -6.9 97 1765 roll -0.84 0.10 0.110 2600 -860.0 2.50 0.039 1357 -560.8 -107.1 - - 3479 - - - - - - - - 14.28 13.93 14.28
1786 145.7 -9.3 101 1792 done -0.84 0.12 0.220 2624 200.0 2.78 0.103 2765 506.5 -107.1 - - 3479 - - - - - - - - 13.86 13.88 14.10
2151 176.1 -8.2 111 2156 roll -0.84 - - 2616 - 2.20 0.166 3828 483.2 -107.1 - - 3477 - - - - - - - - 14.68 13.85 14.67
2220 182.5 -9.2 121 2226 done -0.84 - - 2615 - 1.88 0.055 2736 -580.9 -107.1 - - 3476 - - - - - - - - 14.24 14.19 14.26
2543 213.0 -9.6 132 2548 roll -0.84 - - 2607 - 2.28 0.156 3826 478.1 -107.1 - - 3473 - - - - - - - - 14.68 13.81 14.68
2584 217.4 -10.2 138 2589 done -0.84 - - 2607 - 1.83 0.055 2772 -576.0 -107.1 - - 3473 - - - - - - - - 14.20 14.14 14.21
2935 252.3 -9.9 146 2940 roll -0.84 - - 2607 - 2.50 0.041 1379 -557.2 -107.1 - - 3471 - - - - - - - - 14.73 13.88 14.73
2955 254.5 -9.9 149 2961 done -0.84 0.10 0.234 2625 180.0 2.75 0.103 2770 505.8 -107.1 - - 3471 - - - - - - - - 13.87 13.90 14.11
3271 283.3 -9.2 159 3276 roll -0.84 - - 2618 - 2.20 0.173 3826 480.0 -107.1 - - 3469 - - - - - - - - 14.73 13.85 14.73
3417 297.7 -9.8 180 3422 done -0.84 - - 2617 - 1.85 0.058 2772 -569.7 -107.1 - - 3470 - - - - - - - - 14.20 14.14 14.21
3775 332.7 -10.0 189 3780 roll -0.84 - - 2617 - 2.55 0.044 1367 -551.0 -107.1 - - 3465 - - - - - - - - 14.68 13.84 14.67
3837 339.3 -10.0 198 3842 done -0.84 - - 2608 - 2.78 0.105 2767 503.6 -107.1 - - 3464 - - - - - - - - 14.16 13.88 14.20
4167 373.5 -10.4 210 4168 done -0.84 - - 2608 - - - 2767 - -107.1 - - 3463 - - - - - - - - 14.66 14.66 14.66
4503 407.7 -10.1 216 4508 roll -0.84 - - 2607 - 2.58 0.044 1372 -540.7 -107.1 - - 3458 - - - - - - - - 14.66 13.80 14.66
4537 411.3 -10.5 221 4543 done -0.84 0.10 0.236 2625 180.0 2.78 0.106 2765 501.1 -107.1 - - 3460 - - - - - - - - 13.88 13.89 14.12
4895 442.5 -8.7 230 4900 roll -0.84 - - 2617 - 2.20 0.171 3822 480.5 -107.1 - - 3458 - - - - - - - - 14.66 13.83 14.66
4922 445.0 -9.2 234 4927 done -0.84 - - 2617 - 1.85 0.056 2752 -578.4 -107.1 - - 3458 - - - - - - - - 14.19 14.12 14.20
5287 478.6 -9.1 244 5288 done -0.84 - - 2617 - - - 2751 - -107.1 - - 3457 - - - - - - - - 14.71 14.71 14.71
5623 507.6 -8.5 250 5624 done -0.84 - - 2617 - - - 2751 - -107.1 - - 3454 - - - - - - - - 14.65 14.66 14.65
5959 536.0 -8.5 256 5964 roll -0.84 - - 2616 - 2.50 0.043 1381 -548.0 -107.1 - - 3453 - - - - - - - - 14.65 13.88 14.65
6015 541.2 -9.6 264 6020 done -0.84 - - 2609 - 2.78 0.105 2767 498.6 -107.1 - - 3453 - - - - - - - - 14.14 13.86 14.19
6351 573.1 -9.6 277 6357 roll -0.84 - - 2601 - 2.20 0.167 3831 483.6 -107.1 - - 3450 - - - - - - - - 14.71 13.83 14.71
6385 576.6 -10.3 282 6390 done -0.84 - - 2600 - 1.85 0.057 2781 -567.6 -107.1 - - 3450 - - - - - - - - 14.17 14.11 14.19
6743 611.8 -9.9 291 6748 roll -0.84 - - 2599 - 2.58 0.043 1369 -547.3 -107.1 - - 3449 - - - - - - - - 14.70 13.84 14.70
6799 617.6 -10.1 299 6804 done -0.84 0.12 0.227 2623 200.0 2.80 0.105 2772 501.1 -107.1 - - 3449 - - - - - - - - 13.86 13.89 14.12
7135 650.3 -9.7 312 7136 done -0.84 - - 2623 - - - 2770 - -107.1 - - 3448 - - - - - - - - 14.64 14.64 14.64
7471 681.8 -9.2 318 7476 roll -0.84 - - 2623 - 2.60 0.046 1371 -538.1 -107.1 - - 3447 - - - - - - - - 14.62 13.90 14.64
7505 684.8 -8.8 323 7510 done -0.84 - - 2614 - 2.80 0.109 2766 498.2 -107.1 - - 3446 - - - - - - - - 14.16 13.89 14.21
7863 715.0 -8.2 332 7868 roll -0.84 - - 2614 - 2.58 0.044 1371 -540.7 -107.1 - - 3444 - - - - - - - - 14.62 13.93 14.61
7890 717.4 -8.4 336 7895 done -0.84 - - 2605 - 2.80 0.109 2766 498.2 -107.1 - - 3444 - - - - - - - - 14.17 13.92 14.23
8255 746.6 -8.0 346 8260 roll -0.84 - - 2598 - 2.20 0.171 3827 482.3 -107.1 - - 3443 - - - - - - - - 14.68 13.85 14.68
8289 749.6 -8.7 351 8294 done -0.84 0.12 0.223 2631 275.0 1.90 0.058 2750 -566.8 -107.1 - - 3442 - - - - - - - - 13.68 14.12 13.93
8647 774.4 -6.8 360 8652 roll -0.84 - - 2631 - 2.55 0.045 1364 -543.5 -107.1 - - 3442 - - - - - - - - 14.61 13.90 14.61
8716 779.2 -6.8 370 8721 done -0.84 - - 2622 - 2.80 0.109 2767 501.1 -107.1 - - 3442 - - - - - - - - 14.17 13.90 14.21
9035 end dive: TARGET_DEPTH_EXCEEDED
9035 begin apogee
9045 802.3 -7.1 381 9163 roll -0.23 0.70 0.167 2820 282.9 - - 2234 - - 115.22 1.777 3050 -3.4 0.305 - - - - - - 13.76 13.94 13.14
9164 end apogee: CONTROL_FINISHED_OK
9164 begin climb
9169 805.1 - 383 9299 roll 0.93 1.12 0.088 3185 325.9 2.53 0.056 865 -541.1 107.1 117.80 1.730 2616 -3.7 0.341 - - - - - - 13.76 13.81 13.07
9378 800.3 6.6 415 9409 done 0.83 - - 3184 - 2.62 0.080 2251 529.0 130.2 24.38 1.808 2524 -3.8 0.332 - - - - - - 14.08 13.88 13.21
9770 769.5 7.8 429 9775 roll 0.70 0.17 0.225 3130 -317.6 2.85 0.151 3669 497.5 130.2 - - 2511 - - - - - - - - 13.86 13.95 14.04
9826 765.5 7.2 437 9837 done 0.62 0.15 0.228 3101 -193.3 2.47 0.050 2249 -574.9 140.5 3.12 1.040 2490 -6.7 0.985 - - - - - - 13.94 14.29 13.16
10166 747.7 5.3 450 10232 done 0.68 - - 3101 - - - 2249 - 189.8 65.10 1.710 2295 -3.0 0.260 - - - - - - 14.61 14.07 13.28
10554 723.7 6.4 457 10588 roll 0.71 - - 3100 - 2.92 0.149 3660 483.2 216.8 29.42 1.744 2180 -3.9 0.322 - - - - - - 14.63 14.03 13.36
10623 718.9 7.5 467 10628 done 0.72 - - 3109 - 2.50 0.050 2246 -565.6 222.1 - - 2171 - - - - - - - - 14.27 14.19 14.29
10946 697.2 6.8 478 10978 roll 0.74 - - 3120 - 2.50 0.062 848 -559.2 241.6 27.88 1.727 2081 -3.2 0.259 - - - - - - 14.62 14.08 13.43
11029 691.7 7.1 490 11041 done 0.76 - - 3120 - 2.62 0.083 2258 538.2 253.6 4.28 1.380 2042 -9.1 0.908 - - - - - - 14.23 14.03 13.10
11394 664.6 7.6 500 11406 roll 0.76 - - 3120 - 2.88 0.155 3662 487.5 255.7 3.08 1.006 2034 -2.6 0.341 - - - - - - 14.65 13.94 13.26
11463 658.5 8.9 510 11469 done 0.76 - - 3129 - 2.47 0.049 2252 -570.9 255.7 1.90 0.213 2031 -1.6 0.970 - - - - - - 14.35 14.27 13.95
11779 631.5 8.7 520 11785 roll 0.76 - - 3139 - 2.60 0.062 851 -538.8 255.7 1.70 0.213 2030 - - - - - - - - 14.63 14.07 13.89
11828 627.2 8.8 527 11833 done 0.76 - - 3139 - 2.58 0.082 2249 541.9 255.7 - - 2038 - - - - - - - - 14.21 13.99 14.26
12164 595.7 9.5 540 12169 roll 0.76 - - 3138 - 2.95 0.158 3668 481.0 255.7 - - 2041 - - - - - - - - 14.67 13.81 14.67
12212 590.7 10.7 547 12219 done 0.76 - - 3149 - 2.53 0.049 2251 -560.1 255.7 1.67 0.217 2030 -6.6 3.563 - - - - - - 14.27 14.16 13.87
12556 556.2 10.1 554 12561 roll 0.76 - - 3159 - 2.58 0.060 845 -545.0 255.7 - - 2040 - - - - - - - - 14.62 13.93 14.62
12618 549.9 9.7 563 12623 done 0.76 - - 3160 - 2.65 0.082 2250 530.2 255.7 - - 2040 - - - - - - - - 14.15 13.93 14.20
12948 517.0 10.0 575 12949 done 0.76 - - 3160 - - - 2250 - 255.7 - - 2040 - - - - - - - - 14.67 14.67 14.66
13284 484.9 9.4 581 13285 done 0.76 - - 3160 - - - 2250 - 255.7 - - 2039 - - - - - - - - 14.60 14.60 14.60
13620 455.2 8.8 587 13625 roll 0.76 - - 3160 - 2.95 0.159 3659 477.6 255.7 - - 2040 - - - - - - - - 14.61 13.83 14.61
13668 450.4 10.4 594 13674 done 0.76 - - 3170 - 2.53 0.049 2244 -559.3 255.7 - - 2039 - - - - - - - - 14.20 14.11 14.22
14012 416.6 10.0 601 14018 roll 0.76 - - 3181 - 2.55 0.057 855 -544.7 255.7 - - 2040 - - - - - - - - 14.60 13.82 14.60
14068 410.9 10.2 609 14074 done 0.76 0.12 0.208 3146 -291.7 2.62 0.078 2247 531.3 255.7 - - 2040 - - - - - - - - 13.78 13.85 14.03
14405 379.5 9.4 622 14405 done 0.76 - - 3145 - - - 2247 - 255.7 - - 2040 - - - - - - - - 14.59 14.59 14.59
14740 348.5 9.1 628 14745 roll 0.76 - - 3154 - 2.60 0.056 845 -539.2 255.7 - - 2040 - - - - - - - - 14.60 13.88 14.59
14767 346.0 8.8 632 14772 done 0.76 - - 3155 - 2.65 0.078 2248 529.4 255.7 - - 2040 - - - - - - - - 14.08 13.84 14.12
15132 312.4 9.2 642 15137 roll 0.76 - - 3154 - 2.95 0.159 3661 479.0 255.7 - - 2040 - - - - - - - - 14.59 13.86 14.59
15166 308.9 10.3 647 15171 done 0.76 - - 3165 - 2.53 0.049 2243 -560.5 255.7 1.58 0.214 2032 -5.1 1.452 - - - - - - 14.16 14.08 13.89
15524 273.9 9.7 656 15529 roll 0.76 - - 3175 - 2.55 0.057 850 -546.3 255.7 - - 2040 - - - - - - - - 14.65 13.86 14.68
15551 271.2 9.7 660 15557 done 0.76 - - 3175 - 2.65 0.074 2256 530.6 255.7 1.45 0.219 2032 -5.5 1.358 - - - - - - 14.07 13.83 13.93
15916 234.5 10.1 670 15923 roll 0.76 0.08 0.252 3148 -337.5 2.92 0.152 3661 481.2 255.7 1.45 0.191 2031 - - - - - - - - 13.75 13.88 13.83
15966 229.5 10.1 677 15971 done 0.76 - - 3159 - 2.50 0.050 2244 -566.8 255.7 - - 2043 - - - - - - - - 14.21 14.12 14.23
16302 199.1 9.0 690 16308 roll 0.76 - - 3159 - 2.97 0.148 3659 476.4 255.7 1.52 0.216 2029 -9.2 1.687 - - - - - - 14.60 13.88 13.92
16329 196.3 10.0 694 16334 done 0.76 - - 3169 - 2.50 0.050 2243 -566.4 255.7 - - 2039 - - - - - - - - 14.23 14.14 14.24
16687 161.7 9.7 703 16693 roll 0.76 - - 3179 - 2.55 0.055 864 -540.8 255.7 1.55 0.216 2031 -5.2 0.768 - - - - - - 14.67 13.96 13.93
16722 158.2 9.7 708 16727 done 0.76 0.10 0.216 3149 -300.0 2.60 0.073 2258 536.2 255.7 - - 2038 - - - - - - - - 13.74 13.81 13.97
17079 128.1 8.3 717 17086 roll 0.76 - - 3149 - 2.85 0.152 3666 494.0 255.7 1.25 0.226 2037 - - - - - - - - 14.64 13.88 13.93
17128 124.2 8.1 724 17134 done 0.76 - - 3159 - 2.53 0.050 2248 -560.5 255.7 1.67 0.213 2030 -4.2 0.486 - - - - - - 14.19 14.11 13.88
17472 99.1 7.3 731 17483 roll 0.77 - - 3169 - 2.47 0.054 859 -562.3 264.2 6.65 0.370 1999 -4.7 0.248 - - - - - - 14.59 14.05 13.80
17520 95.2 8.0 738 17527 done 0.77 - - 3169 - 2.62 0.073 2260 534.7 264.2 2.58 0.217 1996 -1.2 0.101 - - - - - - 14.13 13.90 13.74
17836 70.3 8.2 750 17846 roll 0.77 - - 3169 - 2.92 0.156 3665 481.2 264.2 2.55 0.209 2003 2.7 -0.184 - - - - - - 14.60 13.89 13.79
17933 63.5 5.7 764 17966 done 0.82 - - 3174 - 2.47 0.050 2249 -573.3 303.8 25.48 0.350 1842 -6.3 0.228 - - - - - - 14.23 14.15 13.89
18288 53.5 1.4 781 18367 roll 1.12 0.15 0.084 3286 746.7 2.42 0.056 873 -568.6 430.4 72.28 0.324 1335 -7.0 0.230 - - - - - - 14.16 14.16 13.90
18452 41.2 9.2 805 18458 done 1.12 - - 3286 - 2.60 0.073 2267 536.2 430.4 - - 1342 - - - - - - - - 14.08 13.83 14.12
18789 11.0 9.3 820 18789 done 1.12 - - 3286 - - - 2267 - 430.4 - - 1341 - - - - - - - - 14.59 14.59 14.59
18896 end climb: SURFACE_DEPTH_REACHED
18896 begin surface coast
18923 end surface coast: CONTROL_FINISHED_OK
18924 begin surface
SM -1.80 - - - - -8.39 9.00 0.042 182 20.2 1.02 0.132 2770 2709.8 500.14 36.92 0.149 1056 28.6 0.035 - - - - - -