SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 766 * Raw log
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• Previous call tries 1 • 259.91 of 350.00 AH used of 24V (25.74% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.8 deg, depth -2.11 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
18 - - - 102 done -0.93 - - 108 - - - 2785 - -107.1 -80.40 - 3478 - - - - - - - - 14.45 12.59 14.39
106 3.8 -10.3 3 123 roll -0.93 11.93 0.376 2585 207.6 2.10 0.150 3831 498.1 -107.1 - - 3480 - - - - - - - - 13.88 14.02 14.25
236 45.3 -22.3 22 242 done -0.65 0.38 0.243 2682 255.3 1.85 0.050 2703 -609.7 -107.1 - - 3480 - - - - - - - - 13.69 14.22 14.01
552 77.0 -7.3 34 556 roll -0.65 - - 2674 - 2.38 0.171 3825 471.4 -107.1 - - 3480 - - - - - - - - 14.62 13.85 14.62
649 84.3 -7.1 48 653 done -0.65 - - 2674 - 1.80 0.050 2746 -599.4 -107.1 - - 3484 - - - - - - - - 14.23 14.18 14.24
971 109.4 -7.6 59 976 roll -0.65 - - 2674 - 2.42 0.044 1390 -560.3 -107.1 - - 3480 - - - - - - - - 14.65 13.89 14.65
1076 116.7 -6.5 74 1082 done -0.65 - - 2664 - 2.75 0.108 2770 501.8 -107.1 - - 3481 - - - - - - - - 14.16 13.90 14.21
1420 140.0 -7.0 81 1425 roll -0.65 - - 2656 - 2.17 0.161 3828 487.6 -107.1 - - 3480 - - - - - - - - 14.71 13.89 14.70
1468 144.5 -9.5 88 1474 done -0.65 0.10 0.214 2684 280.0 1.80 0.048 2769 -588.3 -107.1 - - 3480 - - - - - - - - 13.74 14.07 13.95
1812 170.1 -7.1 95 1817 roll -0.74 - - 2684 - 2.50 0.041 1382 -554.8 -107.1 - - 3477 - - - - - - - - 14.70 13.76 14.70
1888 175.4 -7.0 106 1893 done -0.86 0.10 0.109 2597 -870.0 2.72 0.093 2772 511.0 -107.1 - - 3477 - - - - - - - - 14.14 13.91 14.23
2204 207.5 -10.5 116 2204 done -0.86 - - 2597 - - - 2773 - -107.1 - - 3475 - - - - - - - - 14.64 14.64 14.64
2540 244.2 -10.9 122 2545 roll -0.86 - - 2596 - 2.53 0.041 1390 -546.6 -107.1 - - 3472 - - - - - - - - 14.70 13.85 14.70
2567 247.3 -11.1 126 2572 done -0.86 0.10 0.235 2615 190.0 2.72 0.092 2776 509.6 -107.1 - - 3472 - - - - - - - - 13.85 13.91 14.09
2932 283.9 -10.0 136 2933 done -0.86 - - 2615 - - - 2775 - -107.1 - - 3470 - - - - - - - - 14.64 14.64 14.64
3268 317.8 -10.0 142 3273 roll -0.86 - - 2608 - 2.12 0.136 3833 499.1 -107.1 - - 3468 - - - - - - - - 14.64 13.83 14.63
3302 321.3 -10.0 147 3306 done -0.86 - - 2607 - 1.83 0.044 2749 -592.3 -107.1 - - 3467 - - - - - - - - 14.16 14.11 14.18
3660 355.0 -9.3 156 3664 roll -0.86 - - 2607 - 2.45 0.041 1393 -553.5 -107.1 - - 3465 - - - - - - - - 14.70 13.81 14.70
3694 358.2 -9.3 161 3700 done -0.86 - - 2598 - 2.65 0.084 2765 517.7 -107.1 - - 3465 - - - - - - - - 14.16 13.93 14.21
4052 393.4 -10.0 170 4056 roll -0.86 - - 2590 - 2.12 0.133 3828 501.4 -107.1 - - 3463 - - - - - - - - 14.64 13.82 14.63
4135 402.7 -10.9 182 4140 done -0.86 0.10 0.239 2616 260.0 1.80 0.046 2769 -588.3 -107.1 - - 3463 - - - - - - - - 13.66 14.06 13.90
4500 437.6 -9.4 192 4500 done -0.86 - - 2616 - - - 2769 - -107.1 - - 3460 - - - - - - - - 14.69 14.69 14.69
4836 467.1 -8.8 198 4841 roll -0.86 - - 2616 - 2.53 0.041 1380 -549.0 -107.1 - - 3459 - - - - - - - - 14.63 13.81 14.63
4898 473.0 -8.5 207 4902 done -0.86 - - 2608 - 2.72 0.083 2770 511.0 -107.1 - - 3458 - - - - - - - - 14.12 13.89 14.16
5228 503.7 -9.6 219 5233 roll -0.86 - - 2600 - 2.12 0.138 3827 498.6 -107.1 - - 3456 - - - - - - - - 14.69 13.82 14.68
5269 508.2 -10.1 225 5274 done -0.86 - - 2598 - 1.83 0.047 2762 -582.0 -107.1 - - 3458 - - - - - - - - 14.15 14.09 14.16
5620 542.7 -9.8 233 5625 roll -0.86 - - 2598 - 2.53 0.041 1375 -548.2 -107.1 - - 3455 - - - - - - - - 14.69 13.79 14.69
5682 549.0 -9.5 242 5687 done -0.86 0.10 0.235 2617 190.0 2.72 0.083 2769 512.5 -107.1 - - 3455 - - - - - - - - 13.77 13.85 14.02
6012 576.3 -8.2 254 6013 done -0.86 - - 2616 - - - 2769 - -107.1 - - 3453 - - - - - - - - 14.62 14.62 14.62
6348 604.1 -8.5 260 6353 roll -0.86 - - 2617 - 2.58 0.041 1380 -538.4 -107.1 - - 3451 - - - - - - - - 14.62 13.82 14.62
6410 609.7 -8.6 269 6416 done -0.86 - - 2608 - 2.72 0.083 2768 510.3 -107.1 - - 3451 - - - - - - - - 14.14 13.90 14.17
6740 639.8 -9.4 281 6740 done -0.86 - - 2608 - - - 2768 - -107.1 - - 3450 - - - - - - - - 14.62 14.62 14.62
7076 672.3 -9.7 287 7080 roll -0.86 - - 2600 - 2.12 0.138 3821 496.7 -107.1 - - 3449 - - - - - - - - 14.59 13.78 14.59
7117 676.8 -10.9 293 7122 done -0.86 - - 2599 - 1.83 0.048 2768 -575.4 -107.1 - - 3449 - - - - - - - - 14.12 14.09 14.16
7468 711.1 -9.6 301 7473 roll -0.86 - - 2602 - 2.55 0.040 1375 -546.3 -107.1 - - 3447 - - - - - - - - 14.59 13.86 14.59
7544 718.6 -9.8 312 7549 done -0.86 0.10 0.241 2617 150.0 2.72 0.083 2762 509.9 -107.1 - - 3447 - - - - - - - - 13.80 13.90 14.05
7860 747.6 -9.2 322 7864 roll -0.86 - - 2610 - 2.17 0.143 3836 494.9 -107.1 - - 3446 - - - - - - - - 14.66 13.83 14.66
7929 754.5 -10.4 332 7933 done -0.86 - - 2609 - 1.88 0.050 2757 -573.9 -107.1 - - 3445 - - - - - - - - 14.15 14.07 14.16
8252 783.8 -9.1 343 8256 roll -0.86 - - 2608 - 2.53 0.041 1377 -545.5 -107.1 - - 3444 - - - - - - - - 14.66 13.81 14.66
8293 787.7 -9.1 349 8299 done -0.86 - - 2600 - 2.70 0.084 2759 511.9 -107.1 - - 3444 - - - - - - - - 14.14 13.90 14.19
8471 end dive: TARGET_DEPTH_EXCEEDED
8471 begin apogee
8482 804.0 -9.0 354 8590 roll -0.23 0.80 0.190 2818 272.5 0.08 0.208 2248 -6387.5 - 100.22 2.521 3050 -3.9 0.250 - - - - 1 - 13.76 13.61 12.62
8592 end apogee: CONTROL_FINISHED_OK
8592 begin climb
8596 807.8 - 356 8735 roll 0.93 1.17 0.098 3178 307.7 2.58 0.052 885 -528.3 107.1 124.78 1.796 2615 -3.5 0.313 - - - - - - 13.50 13.58 12.81
8820 803.6 6.3 389 8854 done 0.85 - - 3179 - 2.58 0.061 2259 532.6 134.7 29.48 1.815 2513 -3.5 0.306 - - - - - - 13.92 13.73 13.17
9206 771.1 8.8 402 9211 roll 0.73 0.12 0.245 3139 -333.3 2.75 0.126 3656 508.0 134.7 - - 2497 - - - - - - - - 13.82 13.93 13.98
9289 763.6 8.9 414 9294 done 0.63 0.17 0.233 3102 -217.6 2.40 0.044 2262 -580.8 134.7 - - 2497 - - - - - - - - 13.84 14.27 14.16
9654 739.1 6.6 424 9679 done 0.65 - - 3103 - - - 2257 - 156.4 23.80 1.832 2426 -3.0 0.240 - - - - - - 14.63 14.29 13.51
9990 716.5 6.7 430 10021 roll 0.68 - - 3102 - 2.83 0.134 3660 495.8 177.5 23.25 1.831 2331 -4.1 0.319 - - - - - - 14.59 14.13 13.52
10066 711.3 7.5 441 10072 done 0.68 - - 3112 - 2.42 0.045 2258 -579.3 181.5 - - 2329 - - - - - - - - 14.15 14.10 14.23
10382 689.9 6.7 451 10414 roll 0.71 - - 3122 - 2.53 0.057 854 -554.9 201.7 26.67 1.782 2238 -3.4 0.264 - - - - - - 14.62 14.16 13.52
10458 684.5 7.3 462 10464 done 0.72 - - 3122 - 2.58 0.068 2246 539.5 209.3 2.28 0.519 2215 -10.1 2.655 - - - - - - 14.17 13.97 12.91
10823 659.0 6.9 472 10854 roll 0.74 - - 3122 - 2.83 0.145 3658 498.9 225.3 24.70 1.767 2146 -2.8 0.208 - - - - - - 14.59 14.13 13.54
10878 654.8 7.5 480 10883 done 0.74 - - 3132 - 2.47 0.045 2252 -569.2 230.1 - - 2141 - - - - - - - - 14.27 14.19 14.28
11215 629.8 7.4 493 11225 roll 0.75 - - 3142 - 2.53 0.060 856 -551.8 236.4 4.30 1.492 2112 -6.7 0.568 - - - - - - 14.58 14.12 13.18
11270 625.6 7.8 501 11277 done 0.75 - - 3142 - 2.60 0.073 2249 535.8 236.4 1.88 0.218 2108 -2.1 1.218 - - - - - - 14.23 14.01 13.88
11607 596.9 8.7 514 11617 roll 0.75 - - 3142 - 2.90 0.146 3658 485.9 236.4 1.92 0.216 2111 1.6 -0.862 - - - - - - 14.63 13.90 13.89
11648 592.6 10.5 520 11653 done 0.75 - - 3151 - 2.50 0.044 2237 -568.4 236.4 - - 2117 - - - - - - - - 14.29 14.21 14.31
11999 557.8 9.9 528 12005 roll 0.75 - - 3162 - 2.47 0.060 860 -557.5 236.4 1.80 0.218 2107 -5.6 2.836 - - - - - - 14.59 14.03 13.92
12055 552.3 9.9 536 12060 done 0.75 - - 3161 - 2.60 0.073 2248 533.8 236.4 - - 2117 - - - - - - - - 14.16 13.93 14.20
12391 521.2 9.2 549 12398 roll 0.75 - - 3161 - 2.92 0.148 3674 488.4 236.4 1.70 0.220 2107 -5.9 2.781 - - - - - - 14.63 13.91 13.95
12426 517.8 9.9 554 12431 done 0.75 - - 3172 - 2.50 0.047 2250 -569.6 236.4 - - 2114 - - - - - - - - 14.25 14.15 14.26
12784 487.6 8.2 563 12789 roll 0.75 - - 3182 - 2.53 0.058 856 -551.0 236.4 1.33 0.230 2108 -4.5 1.908 - - - - - - 14.58 13.99 13.93
12840 483.0 8.1 571 12845 done 0.75 0.12 0.215 3145 -308.3 2.65 0.078 2250 526.0 236.4 - - 2114 - - - - - - - - 13.82 13.87 14.07
13176 458.3 7.4 584 13194 roll 0.76 - - 3145 - 2.80 0.145 3669 506.8 242.7 13.40 1.655 2079 -2.6 0.144 - - - - - - 14.57 13.94 13.57
13217 454.9 8.7 590 13222 done 0.76 - - 3157 - 2.50 0.048 2243 -570.4 242.7 - - 2072 - - - - - - - - 14.27 14.19 14.30
13568 423.2 9.2 598 13573 roll 0.76 - - 3167 - 2.53 0.059 851 -550.2 242.7 - - 2070 - - - - - - - - 14.59 14.02 14.59
13588 421.3 9.5 601 13593 done 0.76 - - 3167 - 2.62 0.076 2249 533.6 242.7 - - 2070 - - - - - - - - 14.19 14.00 14.25
13904 389.7 10.1 611 13909 roll 0.76 - - 3167 - 2.90 0.151 3670 490.0 242.7 - - 2070 - - - - - - - - 14.59 13.80 14.59
13938 385.8 11.3 616 13943 done 0.76 0.10 0.243 3150 -170.0 2.50 0.047 2245 -570.0 242.7 - - 2070 - - - - - - - - 13.78 14.14 14.07
14297 351.0 9.7 625 14302 roll 0.76 - - 3160 - 2.55 0.059 853 -545.9 242.7 - - 2070 - - - - - - - - 14.57 13.88 14.57
14338 346.8 9.7 631 14343 done 0.76 - - 3160 - 2.62 0.075 2245 531.3 242.7 - - 2069 - - - - - - - - 14.09 13.84 14.15
14688 312.8 9.7 639 14693 roll 0.76 - - 3160 - 2.90 0.153 3662 488.6 242.7 - - 2070 - - - - - - - - 14.57 13.81 14.57
14737 307.6 10.9 646 14743 done 0.76 - - 3170 - 2.53 0.047 2247 -559.3 242.7 - - 2070 - - - - - - - - 14.15 14.06 14.18
15081 273.6 9.9 653 15087 roll 0.76 - - 3180 - 2.55 0.060 860 -543.9 242.7 - - 2069 - - - - - - - - 14.57 13.91 14.57
15122 269.3 9.9 659 15127 done 0.76 0.12 0.204 3145 -291.7 2.65 0.080 2248 523.8 242.7 - - 2069 - - - - - - - - 13.79 13.83 14.05
15473 238.1 8.9 667 15477 roll 0.76 - - 3144 - 2.90 0.148 3669 490.0 242.7 - - 2070 - - - - - - - - 14.56 13.85 14.56
15514 234.2 9.5 673 15519 done 0.76 - - 3154 - 2.53 0.048 2241 -564.4 242.7 - - 2070 - - - - - - - - 14.14 14.06 14.16
15865 205.3 8.1 681 15870 roll 0.76 - - 3164 - 2.55 0.060 853 -544.3 242.7 - - 2070 - - - - - - - - 14.62 13.85 14.62
15899 202.3 8.2 686 15904 done 0.76 - - 3164 - 2.65 0.081 2244 524.9 242.7 - - 2070 - - - - - - - - 14.01 13.76 14.07
16257 170.9 8.9 695 16261 roll 0.76 - - 3165 - 2.95 0.159 3672 484.1 242.7 - - 2069 - - - - - - - - 14.55 13.84 14.57
16291 167.3 10.2 700 16296 done 0.76 - - 3169 - 2.47 0.046 2250 -575.7 242.7 - - 2070 - - - - - - - - 14.10 13.98 14.14
16649 131.1 10.1 709 16654 roll 0.76 - - 3184 - 2.58 0.062 853 -541.5 242.7 - - 2070 - - - - - - - - 14.57 13.82 14.57
16711 124.9 9.9 718 16716 done 0.76 0.12 0.206 3148 -300.0 2.67 0.083 2250 523.2 242.7 - - 2068 - - - - - - - - 13.82 13.83 14.07
17041 99.7 7.5 730 17046 roll 0.77 - - 3147 - 2.92 0.155 3668 485.6 247.8 - - 2070 - - - - - - - - 14.62 13.85 14.66
17082 97.0 6.4 736 17103 done 0.80 - - 3158 - 2.53 0.047 2241 -564.0 274.6 16.55 0.440 1955 -6.9 0.306 - - - - - - 14.12 14.03 13.90
17430 70.8 8.0 752 17435 roll 0.80 - - 3168 - 2.53 0.059 858 -546.6 274.6 1.52 0.219 1956 - - - - - - - - 14.54 14.00 13.83
17492 66.7 6.4 761 17513 done 0.91 - - 3168 - 2.62 0.080 2249 530.9 300.5 16.73 0.357 1852 -6.2 0.232 - - - - - - 14.10 13.83 13.88
17847 52.5 2.0 778 17919 roll 1.22 0.28 0.063 3316 528.6 2.55 0.061 856 -546.3 415.5 66.18 0.329 1394 -6.9 0.220 - - - - - - 14.06 14.28 13.97
17965 46.1 8.3 795 17970 done 1.22 - - 3316 - 2.65 0.083 2257 528.7 415.5 - - 1399 - - - - - - - - 14.13 13.86 14.17
18286 14.8 9.6 808 18291 roll 1.22 - - 3317 - 2.95 0.163 3674 480.3 415.5 - - 1398 - - - - - - - - 14.57 13.80 14.57
18342 8.9 10.8 816 18347 done 1.22 0.12 0.233 3294 -191.7 2.50 0.047 2254 -568.0 415.5 - - 1398 - - - - - - - - 13.72 14.09 14.00
18421 end climb: SURFACE_DEPTH_REACHED
18422 begin surface coast
18450 end surface coast: CONTROL_FINISHED_OK
18450 begin surface
SM -1.96 - - - - -8.38 9.05 0.042 183 20.2 1.12 0.146 2773 -2100.9 500.14 44.12 0.150 1058 24.0 0.032 - - - - - -