SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 781 * Raw log
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• Previous call tries 1 • 264.57 of 350.00 AH used of 24V (24.41% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.1 deg, depth -2.82 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 2 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
19 - - - 103 done -0.93 - - 106 - - - 2785 - -107.1 -80.07 - 3478 - - - - - - - - 14.47 12.43 14.42
107 3.1 -10.2 3 124 roll -0.93 12.10 0.383 2591 205.4 2.50 0.033 1357 -571.2 -107.1 - - 3478 - - - - - - - - 13.90 14.26 14.26
181 28.3 -20.3 14 187 done -0.70 0.32 0.250 2666 234.4 2.80 0.106 2766 503.2 -107.1 - - 3479 - - - - - - - - 13.70 13.87 14.03
497 74.5 -9.6 26 497 done -0.70 - - 2666 - - - 2764 - -107.1 - - 3479 - - - - - - - - 14.63 14.63 14.63
804 95.2 -6.5 37 805 done -0.70 - - 2666 - - - 2766 - -107.1 - - 3481 - - - - - - - - 14.64 14.64 14.64
1112 115.5 -6.3 44 1117 roll -0.70 - - 2658 - 2.17 0.169 3826 488.5 -107.1 - - 3481 - - - - - - - - 14.67 13.88 14.67
1168 120.7 -7.0 52 1173 done -0.70 - - 2658 - 1.83 0.051 2741 -592.9 -107.1 - - 3481 - - - - - - - - 14.25 14.19 14.26
1505 147.3 -7.7 65 1510 roll -0.70 - - 2658 - 2.42 0.040 1385 -560.3 -107.1 - - 3479 - - - - - - - - 14.71 14.02 14.69
1574 154.8 -9.7 75 1578 done -0.70 - - 2648 - 2.70 0.091 2763 510.4 -107.1 - - 3478 - - - - - - - - 14.08 13.82 14.13
1897 180.7 -7.8 86 1897 done -0.70 - - 2648 - - - 2766 - -107.1 - - 3477 - - - - - - - - 14.71 14.71 14.71
2233 205.0 -7.2 92 2237 roll -0.70 - - 2648 - 2.53 0.042 1378 -548.6 -107.1 - - 3474 - - - - - - - - 14.67 13.95 14.67
2309 210.8 -7.3 103 2314 done -0.70 0.10 0.233 2668 200.0 2.72 0.093 2767 510.7 -107.1 - - 3473 - - - - - - - - 13.86 13.91 14.11
2625 232.5 -7.1 113 2630 roll -0.70 - - 2668 - 2.53 0.040 1382 -547.4 -107.1 - - 3471 - - - - - - - - 14.66 13.99 14.66
2659 235.3 -7.6 118 2664 done -0.78 - - 2657 - 2.70 0.093 2761 510.7 -107.1 - - 3471 - - - - - - - - 14.09 13.85 14.14
3017 261.5 -7.3 127 3021 roll -0.78 - - 2658 - 2.50 0.041 1385 -550.4 -107.1 - - 3468 - - - - - - - - 14.66 13.95 14.66
3051 264.4 -7.9 132 3055 done -0.78 - - 2650 - 2.70 0.093 2756 507.8 -107.1 - - 3468 - - - - - - - - 14.06 13.76 14.12
3409 294.1 -8.5 141 3414 roll -0.78 - - 2649 - 2.50 0.041 1386 -548.0 -107.1 - - 3465 - - - - - - - - 14.66 13.97 14.66
3457 298.6 -8.4 148 3463 done -0.78 - - 2641 - 2.70 0.093 2748 504.4 -107.1 - - 3465 - - - - - - - - 14.04 13.76 14.10
3801 329.6 -9.0 155 3806 roll -0.78 - - 2640 - 2.53 0.041 1378 -541.5 -107.1 - - 3464 - - - - - - - - 14.66 13.93 14.66
3870 335.8 -9.1 165 3876 done -0.78 - - 2631 - 2.72 0.095 2755 506.2 -107.1 - - 3463 - - - - - - - - 14.06 13.78 14.12
4193 363.6 -8.7 176 4197 roll -0.78 - - 2631 - 2.50 0.041 1386 -547.6 -107.1 - - 3461 - - - - - - - - 14.66 13.95 14.66
4227 366.9 -8.9 181 4232 done -0.78 - - 2622 - 2.67 0.093 2743 508.2 -107.1 - - 3461 - - - - - - - - 14.05 13.78 14.11
4585 400.1 -9.5 190 4589 roll -0.78 - - 2613 - 2.20 0.145 3832 495.0 -107.1 - - 3460 - - - - - - - - 14.71 13.66 14.71
4626 404.7 -10.5 196 4631 done -0.78 0.10 0.227 2641 280.0 1.85 0.049 2752 -583.8 -107.1 - - 3459 - - - - - - - - 13.73 14.16 13.95
4977 436.8 -9.2 204 4981 roll -0.78 - - 2641 - 2.50 0.040 1369 -553.2 -107.1 - - 3457 - - - - - - - - 14.67 13.92 14.69
5033 442.2 -9.3 212 5037 done -0.78 - - 2631 - 2.70 0.083 2743 508.9 -107.1 - - 3457 - - - - - - - - 14.00 13.72 14.06
5369 471.2 -8.4 225 5370 done -0.78 - - 2631 - - - 2739 - -107.1 - - 3456 - - - - - - - - 14.71 14.71 14.71
5705 498.3 -8.1 231 5709 roll -0.78 - - 2631 - 2.53 0.041 1369 -541.5 -107.1 - - 3454 - - - - - - - - 14.70 13.91 14.71
5761 503.0 -7.1 239 5765 done -0.78 - - 2622 - 2.72 0.086 2745 505.9 -107.1 - - 3454 - - - - - - - - 13.98 13.71 14.06
6097 532.2 -8.7 252 6097 done -0.78 - - 2621 - - - 2745 - -107.1 - - 3453 - - - - - - - - 14.65 14.65 14.66
6433 561.9 -8.9 258 6438 roll -0.78 - - 2621 - 2.55 0.041 1362 -542.4 -107.1 - - 3451 - - - - - - - - 14.65 13.88 14.65
6489 566.9 -9.0 266 6494 done -0.78 0.10 0.241 2640 190.0 2.72 0.089 2740 506.6 -107.1 - - 3451 - - - - - - - - 13.69 13.73 13.96
6825 594.6 -8.3 279 6829 roll -0.78 - - 2640 - 2.53 0.042 1371 -541.1 -107.1 - - 3450 - - - - - - - - 14.64 13.92 14.64
6866 598.2 -8.3 285 6871 done -0.78 - - 2631 - 2.70 0.090 2738 506.3 -107.1 - - 3450 - - - - - - - - 14.01 13.71 14.07
7217 627.7 -8.4 293 7218 done -0.78 - - 2631 - - - 2745 - -107.1 - - 3449 - - - - - - - - 14.64 14.63 14.64
7553 654.4 -8.0 299 7553 done -0.78 - - 2631 - - - 2738 - -107.1 - - 3448 - - - - - - - - 14.64 14.64 14.64
7889 680.2 -7.7 305 7889 done -0.78 - - 2631 - - - 2738 - -107.1 - - 3446 - - - - - - - - 14.69 14.69 14.69
8225 705.1 -7.4 311 8230 roll -0.78 - - 2630 - 2.55 0.041 1362 -539.6 -107.1 - - 3445 - - - - - - - - 14.69 13.87 14.69
8308 712.1 -7.4 323 8312 done -0.78 - - 2621 - 2.75 0.094 2739 500.7 -107.1 - - 3444 - - - - - - - - 13.97 13.67 14.04
8673 740.7 -7.8 333 8678 roll -0.78 - - 2623 - 2.55 0.041 1363 -539.6 -107.1 - - 3443 - - - - - - - - 14.69 13.73 14.69
8700 743.3 -9.5 337 8706 done -0.78 0.12 0.230 2645 183.3 2.75 0.093 2733 498.2 -107.1 - - 3443 - - - - - - - - 13.70 13.74 13.97
9065 770.1 -7.4 347 9070 roll -0.86 - - 2646 - 2.55 0.043 1365 -536.5 -107.1 - - 3442 - - - - - - - - 14.63 13.88 14.63
9127 775.5 -8.3 356 9132 done -0.96 0.08 0.143 2580 -825.0 2.72 0.095 2730 501.8 -107.1 - - 3442 - - - - - - - - 14.00 13.74 14.12
9396 end dive: TARGET_DEPTH_EXCEEDED
9396 begin apogee
9407 803.2 -10.4 367 9511 roll -0.23 0.90 0.191 2823 270.0 - - 2244 - - 95.90 2.704 3051 -4.1 0.257 - - - - 1 - 13.64 13.59 12.52
9513 end apogee: CONTROL_FINISHED_OK
9513 begin climb
9518 807.8 - 369 9647 roll 0.93 1.15 0.088 3182 312.2 2.62 0.050 861 -527.9 107.1 109.65 2.730 2625 -3.9 0.243 - - - - 1 - 13.49 13.55 11.86
9710 807.1 5.8 397 9770 done 0.84 - - 3183 - 2.80 0.063 2251 496.4 145.9 51.85 1.830 2462 -3.1 0.294 - - - - - - 13.13 12.93 12.31
10135 773.9 8.4 415 10137 done 0.72 0.17 0.217 3135 -282.4 - - 2252 - 145.9 - - 2453 - - - - - - - - 13.78 14.12 14.06
10467 750.2 7.1 421 10485 roll 0.73 - - 3146 - 2.47 0.052 861 -563.2 159.2 12.93 1.966 2410 -3.3 0.269 - - - - - - 14.60 14.22 13.55
10523 746.3 7.4 429 10534 done 0.74 - - 3146 - 2.60 0.070 2252 535.0 166.3 2.62 0.848 2391 -7.3 1.352 - - - - - - 14.19 13.97 13.02
10859 721.3 7.5 442 10877 roll 0.75 - - 3145 - 2.78 0.141 3657 505.4 171.8 10.88 2.009 2363 -2.6 0.196 - - - - - - 14.61 14.11 13.58
10915 716.7 9.1 450 10921 done 0.66 0.15 0.227 3115 -200.0 2.47 0.044 2235 -575.7 171.8 - - 2359 - - - - - - - - 13.81 14.21 14.08
11251 693.6 6.7 463 11283 roll 0.68 - - 3124 - 2.50 0.057 860 -550.0 192.2 24.92 1.826 2274 -3.4 0.274 - - - - - - 14.63 14.26 13.61
11313 689.5 7.2 472 11325 done 0.69 - - 3124 - 2.58 0.065 2249 538.4 203.1 5.97 1.953 2243 -5.2 0.388 - - - - - - 14.17 13.95 13.33
11643 664.2 7.7 484 11648 roll 0.69 - - 3124 - 2.85 0.138 3665 496.8 203.1 - - 2252 - - - - - - - - 14.59 13.74 14.59
11719 657.4 9.0 495 11724 done 0.69 - - 3134 - 2.47 0.044 2243 -575.7 203.1 - - 2246 - - - - - - - - 14.28 14.21 14.30
12035 630.8 8.4 505 12036 done 0.69 - - 3134 - - - 2238 - 203.1 - - 2248 - - - - - - - - 14.60 14.61 14.61
12371 603.0 8.1 511 12376 roll 0.69 - - 3133 - 2.92 0.138 3667 489.4 203.1 - - 2247 - - - - - - - - 14.61 13.80 14.61
12405 600.1 8.6 516 12410 done 0.69 - - 3145 - 2.50 0.045 2243 -569.6 203.1 - - 2247 - - - - - - - - 14.22 14.13 14.23
12763 570.5 8.2 525 12768 roll 0.69 - - 3154 - 2.55 0.057 859 -542.7 203.1 - - 2246 - - - - - - - - 14.59 13.85 14.60
12812 566.4 8.4 532 12818 done 0.69 - - 3154 - 2.62 0.067 2247 529.8 203.1 - - 2246 - - - - - - - - 14.04 13.81 14.09
13155 537.6 8.5 539 13156 done 0.69 - - 3154 - - - 2247 - 203.1 - - 2246 - - - - - - - - 14.59 14.59 14.59
13491 508.5 8.8 545 13496 roll 0.69 - - 3154 - 2.90 0.143 3660 487.2 203.1 - - 2246 - - - - - - - - 14.65 13.74 14.65
13518 505.8 9.8 549 13523 done 0.69 0.12 0.224 3130 -200.0 2.50 0.044 2243 -566.8 203.1 - - 2246 - - - - - - - - 13.61 14.05 13.88
13883 475.7 8.2 559 13884 done 0.69 - - 3129 - - - 2237 - 203.1 - - 2246 - - - - - - - - 14.62 14.59 14.60
14219 449.9 7.5 565 14224 done 0.70 - - 3130 - - - 2238 - 206.8 3.30 1.192 2225 -6.4 0.509 - - - - - - 14.59 14.33 13.00
14556 424.0 7.8 571 14560 roll 0.70 - - 3129 - 2.92 0.136 3659 486.6 206.8 - - 2236 - - - - - - - - 14.64 13.74 14.64
14617 418.4 9.3 580 14623 done 0.70 - - 3145 - 2.50 0.045 2239 -568.0 206.8 1.95 0.240 2225 -5.6 2.083 - - - - - - 14.19 14.07 13.78
14940 391.4 8.3 591 14946 roll 0.70 - - 3148 - 2.55 0.055 864 -539.2 206.8 1.77 0.230 2227 - - - - - - - - 14.65 14.04 13.79
14981 387.9 8.7 597 14988 done 0.70 - - 3148 - 2.62 0.067 2250 529.0 206.8 1.70 0.241 2225 - - - - - - - - 14.07 13.84 13.77
15326 359.9 8.2 604 15335 roll 0.70 - - 3148 - 2.88 0.145 3655 487.8 206.8 1.77 0.231 2231 3.4 -1.119 - - - - - - 14.64 13.90 13.77
15373 355.4 9.4 611 15380 done 0.70 0.10 0.231 3130 -180.0 2.50 0.046 2243 -564.8 206.8 1.67 0.230 2227 -2.4 0.784 - - - - - - 13.68 14.08 13.75
15718 328.5 7.9 618 15725 roll 0.70 - - 3141 - 2.58 0.055 859 -536.4 206.8 1.77 0.232 2229 - - - - - - - - 14.59 14.02 13.75
15760 325.2 8.0 624 15766 done 0.70 - - 3140 - 2.60 0.067 2244 532.7 206.8 1.75 0.236 2225 -2.3 0.667 - - - - - - 13.96 13.81 13.77
16104 299.4 7.4 631 16119 done 0.71 - - 3140 - - - 2244 - 213.5 13.70 1.525 2200 -1.8 0.076 - - - - - - 14.59 14.35 13.62
16440 274.6 7.4 637 16451 roll 0.71 - - 3137 - 2.90 0.143 3667 490.7 219.4 1.80 0.237 2180 -11.1 2.727 - - - - - - 14.65 13.93 13.74
16467 272.4 7.9 641 16472 done 0.71 - - 3150 - 2.50 0.047 2239 -571.2 219.4 - - 2183 - - - - - - - - 14.26 14.16 14.26
16832 243.8 7.8 651 16833 done 0.71 - - 3150 - - - 2234 - 219.4 - - 2183 - - - - - - - - 14.59 14.59 14.59
17168 217.5 7.8 657 17173 roll 0.71 - - 3160 - 2.55 0.055 855 -540.8 219.4 - - 2184 - - - - - - - - 14.59 13.84 14.59
17195 215.3 7.7 661 17202 done 0.72 - - 3159 - 2.62 0.069 2246 530.9 220.8 2.67 0.801 2169 -5.6 0.320 - - - - - - 14.03 13.79 13.06
17554 186.6 8.1 670 17560 roll 0.72 - - 3160 - 2.90 0.149 3663 488.6 220.8 1.92 0.243 2174 2.6 -0.424 - - - - - - 14.59 13.89 13.65
17581 184.2 8.4 674 17589 done 0.72 0.12 0.226 3136 -200.0 2.50 0.046 2236 -570.8 220.8 1.88 0.255 2170 -2.1 0.326 - - - - - - 13.65 14.09 13.58
17947 157.2 7.3 684 17967 roll 0.73 - - 3146 - 2.53 0.056 865 -541.9 229.5 15.75 1.333 2129 -2.6 0.065 - - - - - - 14.61 14.21 13.66
17989 154.0 7.5 690 17996 done 0.73 - - 3146 - 2.62 0.070 2251 529.0 233.6 - - 2123 - - - - - - - - 14.07 13.83 14.12
18332 125.7 8.4 697 18337 roll 0.73 - - 3146 - 2.88 0.145 3659 488.9 233.6 - - 2122 - - - - - - - - 14.60 13.75 14.59
18401 119.3 9.1 707 18406 done 0.73 - - 3155 - 2.47 0.047 2252 -569.6 233.6 - - 2122 - - - - - - - - 14.23 14.16 14.25
18724 92.5 7.9 719 18725 done 0.73 - - 3156 - - - 2247 - 233.6 - - 2122 - - - - - - - - 14.57 14.57 14.57
19032 71.2 6.3 730 19058 roll 0.77 - - 3155 - 2.88 0.146 3660 490.6 262.4 16.85 0.379 2008 -6.8 0.269 - - - - - - 14.62 13.94 13.93
19176 63.6 4.7 750 19218 done 0.84 - - 3165 - 2.50 0.047 2225 -574.0 323.5 35.53 0.367 1761 -7.0 0.255 - - - - - - 14.25 14.17 14.00
19541 52.9 4.5 769 19583 roll 1.15 0.22 0.075 3285 545.5 2.85 0.144 3666 505.6 388.9 36.75 0.331 1500 -7.1 0.240 - - - - - - 14.09 14.13 13.97
19738 36.5 9.6 798 19744 done 1.15 - - 3301 - 2.42 0.044 2269 -577.3 388.9 - - 1504 - - - - - - - - 14.28 14.21 14.28
20068 5.1 9.4 812 20073 roll 1.15 - - 3303 - 2.58 0.060 868 -543.0 388.9 - - 1505 - - - - - - - - 14.61 13.93 14.61
20105 end climb: SURFACE_DEPTH_REACHED
20105 begin surface coast
20112 end surface coast: CONTROL_FINISHED_OK
20112 begin surface
SM -2.33 - - - - -8.40 9.57 0.086 183 19.1 3.70 0.091 2765 607.8 500.14 57.25 0.153 1056 18.4 0.029 - - - - - -