SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 768 * Raw log
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• Previous call tries 1 • 260.46 of 350.00 AH used of 24V (25.58% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.8 deg, depth -2.26 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: 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
19 - - - 103 done -0.93 - - 137 - - - 2789 - -107.1 -80.55 - 3479 - - - - - - - - 14.45 12.58 14.40
107 3.5 -10.1 3 124 roll -0.93 11.80 0.378 2591 208.0 2.50 0.036 1364 -570.0 -107.1 - - 3480 - - - - - - - - 13.88 14.21 14.25
229 38.0 -18.2 21 235 done -0.72 0.32 0.238 2666 234.4 2.80 0.116 2764 500.0 -107.1 - - 3480 - - - - - - - - 13.74 13.83 14.05
552 78.2 -8.3 34 557 roll -0.72 - - 2665 - 2.50 0.042 1371 -557.2 -107.1 - - 3482 - - - - - - - - 14.66 14.00 14.66
733 93.1 -9.0 60 738 done -0.72 - - 2656 - 2.80 0.110 2782 503.9 -107.1 - - 3482 - - - - - - - - 14.18 13.90 14.22
1056 117.8 -7.2 69 1062 roll -0.72 - - 2648 - 2.12 0.163 3825 492.0 -107.1 - - 3482 - - - - - - - - 14.71 13.90 14.69
1104 121.3 -6.8 76 1110 done -0.72 - - 2648 - 1.80 0.051 2771 -585.6 -107.1 - - 3483 - - - - - - - - 14.18 14.11 14.20
1449 147.5 -7.9 83 1449 done -0.72 - - 2648 - - - 2770 - -107.1 - - 3481 - - - - - - - - 14.65 14.65 14.65
1784 175.0 -8.0 89 1790 roll -0.72 - - 2648 - 2.50 0.041 1376 -557.6 -107.1 - - 3479 - - - - - - - - 14.65 13.85 14.65
1853 180.9 -8.4 99 1858 done -0.72 - - 2641 - 2.75 0.092 2793 515.3 -107.1 - - 3478 - - - - - - - - 14.14 13.90 14.19
2176 209.8 -9.1 110 2177 done -0.72 - - 2641 - - - 2793 - -107.1 - - 3476 - - - - - - - - 14.64 14.65 14.64
2512 239.5 -8.8 116 2517 roll -0.72 0.08 0.269 2667 325.0 2.58 0.041 1390 -543.8 -107.1 - - 3470 - - - - - - - - 13.81 13.86 13.89
2568 244.0 -7.8 124 2573 done -0.81 - - 2658 - 2.78 0.096 2792 504.3 -107.1 - - 3472 - - - - - - - - 14.18 13.94 14.22
2904 269.2 -7.4 137 2905 done -0.81 - - 2657 - - - 2791 - -107.1 - - 3470 - - - - - - - - 14.65 14.65 14.65
3240 294.6 -7.7 143 3245 roll -0.81 - - 2657 - 2.60 0.042 1382 -541.9 -107.1 - - 3468 - - - - - - - - 14.65 13.83 14.65
3317 300.5 -7.6 154 3322 done -0.89 0.05 0.197 2582 -1500.0 2.78 0.101 2781 503.2 -107.1 - - 3467 - - - - - - - - 14.07 13.91 14.21
3633 334.1 -10.9 164 3637 roll -0.82 0.15 0.226 2620 253.3 2.10 0.144 3823 496.2 -107.1 - - 3466 - - - - - - - - 13.48 13.72 13.62
3701 341.0 -9.3 174 3706 done -0.82 - - 2619 - 1.77 0.047 2771 -594.4 -107.1 - - 3466 - - - - - - - - 14.16 14.14 14.18
4024 370.2 -9.0 185 4030 roll -0.82 - - 2619 - 2.50 0.041 1394 -550.8 -107.1 - - 3464 - - - - - - - - 14.64 13.84 14.64
4066 373.9 -8.6 191 4070 done -0.82 - - 2611 - 2.72 0.096 2782 510.3 -107.1 - - 3463 - - - - - - - - 14.18 13.93 14.22
4416 404.2 -8.6 199 4417 done -0.82 - - 2611 - - - 2781 - -107.1 - - 3462 - - - - - - - - 14.69 14.69 14.71
4753 433.3 -8.6 205 4758 roll -0.82 - - 2610 - 2.58 0.044 1388 -539.9 -107.1 - - 3460 - - - - - - - - 14.62 13.78 14.63
4814 438.8 -8.4 214 4819 done -0.82 0.10 0.233 2629 190.0 2.78 0.099 2784 502.2 -107.1 - - 3460 - - - - - - - - 13.84 13.89 14.09
5144 464.9 -7.9 226 5145 done -0.82 - - 2630 - - - 2784 - -107.1 - - 3459 - - - - - - - - 14.69 14.69 14.69
5480 491.3 -7.9 232 5485 roll -0.82 - - 2630 - 2.58 0.044 1394 -538.8 -107.1 - - 3457 - - - - - - - - 14.69 13.76 14.69
5521 494.7 -8.0 238 5526 done -0.82 - - 2620 - 2.78 0.105 2778 497.8 -107.1 - - 3456 - - - - - - - - 14.15 13.88 14.20
5872 523.3 -8.2 246 5873 done -0.82 - - 2620 - - - 2774 - -107.1 - - 3455 - - - - - - - - 14.69 14.69 14.69
6208 550.3 -7.9 252 6213 roll -0.82 - - 2617 - 2.58 0.044 1391 -536.0 -107.1 - - 3454 - - - - - - - - 14.62 13.82 14.62
6242 553.1 -7.9 257 6248 done -0.82 - - 2612 - 2.80 0.105 2776 494.6 -107.1 - - 3453 - - - - - - - - 14.14 13.86 14.19
6600 582.0 -8.1 266 6605 roll -0.82 - - 2603 - 2.15 0.156 3824 487.4 -107.1 - - 3450 - - - - - - - - 14.67 13.74 14.65
6641 585.8 -9.5 272 6646 done -0.82 0.10 0.233 2630 270.0 1.80 0.047 2782 -578.9 -107.1 - - 3452 - - - - - - - - 13.66 14.07 13.91
6993 612.8 -7.7 280 6997 roll -0.82 - - 2630 - 2.58 0.044 1379 -543.8 -107.1 - - 3452 - - - - - - - - 14.66 13.74 14.67
7069 619.1 -7.7 291 7073 done -0.82 - - 2621 - 2.78 0.096 2774 501.8 -107.1 - - 3451 - - - - - - - - 14.14 13.88 14.20
7385 646.1 -8.7 301 7385 done -0.82 - - 2621 - - - 2774 - -107.1 - - 3450 - - - - - - - - 14.69 14.66 14.66
7720 675.8 -8.9 307 7721 done -0.82 - - 2621 - - - 2774 - -107.1 - - 3449 - - - - - - - - 14.61 14.61 14.61
8056 706.4 -9.0 313 8057 done -0.82 - - 2621 - - - 2774 - -107.1 - - 3449 - - - - - - - - 14.60 14.61 14.60
8393 735.6 -8.6 319 8397 roll -0.82 - - 2620 - 2.62 0.044 1375 -534.0 -107.1 - - 3446 - - - - - - - - 14.59 13.82 14.60
8468 742.2 -8.0 330 8473 done -0.82 - - 2612 - 2.80 0.100 2770 498.2 -107.1 - - 3445 - - - - - - - - 14.11 13.83 14.16
8785 767.9 -8.2 340 8789 roll -0.82 - - 2611 - 2.60 0.044 1372 -537.7 -107.1 - - 3444 - - - - - - - - 14.66 13.87 14.66
8818 770.9 -8.5 345 8825 done -0.82 0.10 0.239 2631 200.0 2.83 0.106 2770 494.0 -107.1 - - 3444 - - - - - - - - 13.84 13.88 14.09
9177 797.2 -7.4 354 9181 roll -0.82 - - 2631 - 2.60 0.046 1378 -535.4 -107.1 - - 3444 - - - - - - - - 14.66 13.83 14.66
9211 800.0 -7.8 359 9215 done -0.82 - - 2621 - 2.83 0.107 2774 493.3 -107.1 - - 3442 - - - - - - - - 14.14 13.86 14.20
9220 end dive: TARGET_DEPTH_EXCEEDED
9220 begin apogee
9231 801.3 -8.7 361 9349 roll -0.23 0.73 0.179 2821 274.0 - - 2231 - - 115.55 1.792 3051 -3.4 0.302 - - - - - - 13.73 13.90 13.13
9350 end apogee: CONTROL_FINISHED_OK
9350 begin climb
9355 805.2 - 363 9486 roll 0.93 1.12 0.090 3180 320.5 2.55 0.057 857 -538.8 107.1 118.80 1.738 2620 -3.6 0.336 - - - - - - 13.73 13.80 12.97
9612 799.3 6.3 402 9651 done 0.84 - - 3180 - 2.65 0.080 2250 525.7 135.5 30.60 1.790 2502 -3.9 0.344 - - - - - - 14.04 13.81 13.25
10016 766.1 8.6 417 10017 done 0.72 0.17 0.236 3133 -276.5 - - 2251 - 135.5 - - 2491 - - - - - - - - 13.84 14.22 14.16
10348 741.4 7.3 423 10352 done 0.74 - - 3132 - - - 2251 - 144.9 2.65 0.799 2472 -7.2 1.328 - - - - - - 14.62 14.31 13.14
10684 718.4 6.7 429 10717 done 0.76 - - 3135 - - - 2251 - 164.9 31.50 1.760 2392 -2.5 0.207 - - - - - - 14.61 14.26 13.52
11020 694.6 7.2 435 11031 roll 0.77 - - 3133 - 2.90 0.156 3668 488.6 175.9 3.83 1.318 2350 -11.0 1.154 - - - - - - 14.57 13.90 13.24
11068 690.8 7.9 442 11075 done 0.77 - - 3144 - 2.47 0.044 2257 -571.3 175.9 2.17 0.426 2348 - - - - - - - - 14.21 14.14 12.95
11412 664.2 7.8 449 11419 roll 0.77 - - 3138 - 2.95 0.146 3667 478.0 175.9 1.60 0.216 2349 - - - - - - - - 14.62 13.88 13.94
11469 659.2 9.0 457 11475 done 0.68 0.10 0.252 3126 -120.0 2.50 0.043 2238 -571.6 175.9 - - 2357 - - - - - - - - 13.76 14.15 14.03
11806 633.4 7.7 470 11815 roll 0.68 - - 3126 - 2.97 0.142 3670 482.2 176.4 1.98 0.215 2349 -4.0 2.377 - - - - - - 14.64 13.91 13.91
11846 629.9 8.4 476 11851 done 0.68 - - 3135 - 2.47 0.043 2256 -572.5 176.4 - - 2356 - - - - - - - - 14.21 14.16 14.23
12198 601.4 8.2 484 12203 roll 0.68 - - 3146 - 2.58 0.055 862 -540.3 176.4 1.73 0.218 2346 -5.8 3.184 - - - - - - 14.59 14.02 13.95
12239 597.9 8.2 490 12245 done 0.68 - - 3146 - 2.65 0.073 2256 526.0 176.4 - - 2354 - - - - - - - - 14.08 13.83 14.13
12583 569.5 8.3 497 12589 roll 0.68 - - 3146 - 2.92 0.154 3669 483.9 176.4 1.60 0.219 2346 -5.0 2.596 - - - - - - 14.57 13.90 13.95
12646 563.7 9.3 506 12651 done 0.60 0.22 0.219 3097 -222.7 2.47 0.044 2252 -573.7 176.4 - - 2355 - - - - - - - - 13.70 14.12 13.99
12976 541.8 6.5 518 13017 roll 0.63 - - 3095 - 2.92 0.148 3668 484.9 201.3 36.30 1.606 2241 -3.1 0.212 - - - - - - 14.57 14.00 13.48
13038 537.6 7.0 527 13058 done 0.64 - - 3105 - 2.47 0.045 2252 -573.3 216.8 15.38 1.662 2188 -3.4 0.223 - - - - - - 14.17 14.09 13.35
13417 510.4 7.1 539 13423 done 0.66 - - 3105 - - - 2253 - 228.4 4.70 1.430 2139 -10.4 0.743 - - - - - - 14.57 14.31 13.25
13753 485.9 7.3 545 13778 roll 0.67 - - 3105 - 2.90 0.153 3657 484.1 236.3 16.98 1.642 2100 -2.3 0.136 - - - - - - 14.62 13.98 13.54
13815 480.9 8.7 554 13820 done 0.67 - - 3114 - 2.42 0.045 2260 -577.3 236.3 - - 2095 - - - - - - - - 14.31 14.23 14.33
14145 455.0 7.8 566 14150 roll 0.67 - - 3124 - 2.55 0.057 856 -550.6 236.3 - - 2092 - - - - - - - - 14.57 14.00 14.57
14172 452.8 7.5 570 14177 done 0.67 - - 3121 - 2.65 0.074 2262 530.6 240.2 - - 2092 - - - - - - - - 14.17 13.90 14.21
14537 425.0 7.6 580 14542 roll 0.68 - - 3124 - 2.92 0.162 3667 481.2 242.3 - - 2091 - - - - - - - - 14.57 13.76 14.57
14593 420.2 8.8 588 14598 done 0.68 - - 3132 - 2.47 0.045 2256 -571.3 242.3 - - 2092 - - - - - - - - 14.25 14.16 14.26
14929 394.6 7.5 601 14940 roll 0.68 - - 3143 - 2.55 0.057 859 -547.8 247.3 3.85 1.164 2066 -6.8 0.457 - - - - - - 14.57 14.02 13.35
14985 390.4 7.7 609 14991 done 0.68 - - 3143 - 2.65 0.076 2260 528.7 248.2 2.47 0.640 2060 -2.4 0.296 - - - - - - 14.14 13.86 13.19
15322 364.2 7.9 622 15332 roll 0.68 - - 3143 - 2.92 0.161 3659 479.1 248.2 2.08 0.318 2065 2.4 -0.550 - - - - - - 14.61 13.86 12.73
15370 359.8 9.3 629 15378 done 0.68 0.10 0.236 3125 -180.0 2.47 0.045 2252 -569.6 248.2 1.80 0.212 2062 -1.7 0.565 - - - - - - 13.73 14.04 13.85
15714 332.9 8.0 636 15720 roll 0.68 - - 3134 - 2.58 0.056 866 -537.2 248.2 1.95 0.214 2060 - - - - - - - - 14.62 13.99 13.93
15748 329.9 8.3 641 15754 done 0.68 - - 3134 - 2.65 0.073 2259 525.7 248.2 - - 2068 - - - - - - - - 14.00 13.73 14.07
16099 301.0 8.2 649 16106 roll 0.68 - - 3134 - 2.92 0.161 3660 479.8 248.2 1.62 0.216 2063 -3.1 0.859 - - - - - - 14.55 13.87 13.93
16134 297.9 9.0 654 16139 done 0.68 - - 3145 - 2.47 0.046 2253 -569.6 248.2 - - 2070 - - - - - - - - 14.17 14.09 14.19
16492 269.7 7.8 663 16495 done 0.68 - - 3145 - - - 2248 - 248.2 1.92 0.213 2061 -4.7 1.185 - - - - - - 14.62 14.16 13.90
16828 243.5 7.8 669 16834 roll 0.68 - - 3154 - 2.58 0.056 861 -537.6 248.2 1.98 0.214 2063 - - - - - - - - 14.63 14.01 13.93
16863 240.6 7.9 674 16869 done 0.68 0.10 0.210 3125 -290.0 2.65 0.076 2257 526.8 248.2 1.73 0.207 2061 - - - - - - - - 13.77 13.76 13.88
17214 214.1 7.6 682 17224 roll 0.69 - - 3124 - 2.90 0.160 3659 483.4 249.9 3.00 0.805 2058 -1.0 0.053 - - - - - - 14.56 13.78 13.32
17270 209.3 9.1 690 17276 done 0.69 - - 3133 - 2.50 0.048 2242 -566.8 249.9 2.10 0.354 2054 -1.9 0.225 - - - - - - 14.20 14.12 12.91
17599 181.9 8.3 702 17609 roll 0.69 - - 3144 - 2.55 0.054 863 -540.8 249.9 2.12 0.360 2057 1.4 -0.143 - - - - - - 14.62 13.95 13.04
17626 179.7 8.1 706 17631 done 0.69 0.08 0.218 3122 -275.0 2.65 0.074 2260 527.2 249.9 - - 2063 - - - - - - - - 13.79 13.74 14.00
17991 154.2 6.6 716 18031 roll 0.79 - - 3121 - 2.88 0.166 3664 487.5 271.5 30.40 1.203 1957 -3.5 0.089 - - - - - - 14.54 13.97 13.62
18060 149.5 7.2 726 18071 done 0.80 - - 3130 - 2.47 0.049 2250 -572.5 282.4 4.03 0.979 1924 -8.2 0.250 - - - - - - 14.23 14.15 13.31
18383 127.4 7.0 737 18416 roll 0.91 0.10 0.111 3229 990.0 2.55 0.056 860 -545.1 297.7 23.45 1.167 1851 -3.1 0.068 - - - - - - 14.21 14.21 13.68
18431 122.6 10.5 744 18437 done 0.91 0.10 0.231 3198 -310.0 2.67 0.080 2263 525.5 297.7 - - 1847 - - - - - - - - 13.83 13.86 14.12
18747 89.5 10.6 752 18752 roll 0.91 - - 3199 - 2.90 0.160 3663 482.8 297.7 - - 1844 - - - - - - - - 14.56 13.78 14.56
18809 83.1 9.9 761 18815 done 0.91 - - 3209 - 2.45 0.047 2255 -574.7 297.7 - - 1844 - - - - - - - - 14.29 14.21 14.31
19139 57.1 6.4 775 19158 roll 0.94 - - 3219 - 2.50 0.055 856 -559.6 323.5 11.90 0.324 1763 -6.8 0.240 - - - - - - 14.62 14.14 13.90
19223 54.0 2.9 787 19284 done 1.14 0.08 0.140 3291 900.0 2.62 0.070 2264 537.4 419.2 55.90 0.335 1379 -6.9 0.221 - - - - - - 14.10 13.93 13.95
19608 25.0 8.5 809 19614 roll 1.14 - - 3291 - 2.92 0.161 3669 481.2 419.2 - - 1385 - - - - - - - - 14.56 13.77 14.57
19664 19.6 9.7 817 19670 done 1.14 0.12 0.229 3267 -200.0 2.45 0.044 2263 -573.9 419.2 - - 1384 - - - - - - - - 13.75 14.16 14.02
19912 end climb: SURFACE_DEPTH_REACHED
19912 begin surface coast
19940 end surface coast: CONTROL_FINISHED_OK
19940 begin surface
SM -2.22 - - - - -8.39 9.27 0.069 188 20.3 1.10 0.131 2777 -2135.5 500.14 42.42 0.148 1057 24.9 0.038 - - - - - -