SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 827 * Raw log
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• Previous call tries 1 • 278.89 of 350.00 AH used of 24V (20.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth -4.34 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
14 - - - 98 done -1.04 - - 147 - - - 2786 - -97.3 -81.30 - 3239 - - - - - - - - 11.20 10.47 11.20
103 -0.2 -7.3 3 130 roll -1.04 19.02 0.384 2555 126.6 3.33 0.033 1357 -429.1 -97.3 - - 3241 - - - - - - - - 10.85 11.02 11.05
141 17.7 -43.8 9 148 done -0.15 1.65 0.259 2838 171.5 3.62 0.093 2770 390.3 -97.3 - - 3242 - - - - - - - - 10.90 10.96 11.06
464 42.9 -7.4 22 469 roll -0.39 0.15 0.073 2762 -506.7 3.30 0.037 1359 -427.6 -97.3 - - 3241 - - - - - - - - 11.07 11.03 11.09
506 45.7 -7.0 28 510 done -0.55 - - 2753 - 3.60 0.093 2766 390.8 -97.3 - - 3241 - - - - - - - - 11.10 10.98 11.11
828 61.1 -3.7 41 833 roll -0.73 0.22 0.051 2652 -459.1 3.28 0.035 1356 -429.9 -97.3 - - 3243 - - - - - - - - 11.09 11.05 11.10
1065 76.6 -7.5 75 1070 done -0.73 - - 2642 - 3.55 0.086 2761 395.8 -97.3 - - 3243 - - - - - - - - 11.11 10.99 11.12
1388 99.7 -5.6 88 1392 roll -0.73 - - 2632 - 2.83 0.143 3834 379.2 -97.3 - - 3242 - - - - - - - - 11.23 10.97 11.25
1444 102.1 -5.5 96 1449 done -0.73 0.12 0.201 2658 216.7 2.45 0.047 2740 -446.5 -97.3 - - 3242 - - - - - - - - 10.96 11.10 11.09
1780 115.2 -4.3 109 1786 roll -0.73 - - 2659 - 3.20 0.037 1357 -432.2 -97.3 - - 3242 - - - - - - - - 11.24 11.05 11.24
1878 122.7 -5.6 123 1883 done -0.80 - - 2648 - 3.55 0.087 2753 393.2 -97.3 - - 3241 - - - - - - - - 11.11 11.00 11.12
2228 145.6 -6.6 131 2229 done -0.80 - - 2649 - - - 2753 - -97.3 - - 3240 - - - - - - - - 11.24 11.24 11.24
2564 169.2 -7.4 137 2569 roll -0.80 - - 2648 - 3.28 0.039 1360 -424.7 -97.3 - - 3236 - - - - - - - - 11.24 11.05 11.24
2676 179.6 -8.0 153 2682 done -0.88 - - 2638 - 3.58 0.091 2754 389.4 -97.3 - - 3237 - - - - - - - - 11.12 11.00 11.13
3012 204.7 -7.1 166 3013 done -0.88 - - 2638 - - - 2754 - -97.3 - - 3235 - - - - - - - - 11.24 11.24 11.24
3348 229.2 -7.4 172 3353 roll -0.88 - - 2638 - 3.30 0.039 1351 -425.2 -97.3 - - 3233 - - - - - - - - 11.24 11.06 11.24
3432 235.5 -7.6 184 3436 done -0.88 - - 2628 - 3.58 0.090 2749 390.5 -97.3 - - 3233 - - - - - - - - 11.12 11.00 11.13
3796 262.4 -7.3 194 3801 roll -0.88 - - 2620 - 2.85 0.146 3823 376.8 -97.3 - - 3231 - - - - - - - - 11.24 10.97 11.24
3880 268.6 -7.5 206 3884 done -0.88 - - 2619 - 2.45 0.048 2741 -441.6 -97.3 - - 3230 - - - - - - - - 11.14 11.10 11.14
4244 293.3 -6.6 216 4249 roll -0.88 - - 2619 - 3.22 0.037 1361 -428.6 -97.3 - - 3229 - - - - - - - - 11.24 11.06 11.24
4307 297.8 -6.8 225 4312 done -0.88 - - 2610 - 3.55 0.088 2747 390.4 -97.3 - - 3228 - - - - - - - - 11.12 11.00 11.13
4636 320.8 -7.1 237 4641 roll -0.88 - - 2608 - 3.30 0.037 1355 -421.8 -97.3 - - 3229 - - - - - - - - 11.24 11.07 11.25
4699 325.3 -7.2 246 4703 done -0.88 - - 2599 - 3.58 0.090 2750 389.7 -97.3 - - 3226 - - - - - - - - 11.12 11.00 11.14
5028 351.4 -8.2 258 5033 roll -0.88 - - 2590 - 2.88 0.148 3832 375.7 -97.3 - - 3224 - - - - - - - - 11.24 10.98 11.24
5055 354.0 -9.1 262 5060 done -0.88 - - 2590 - 2.50 0.050 2733 -439.6 -97.3 - - 3224 - - - - - - - - 11.14 11.10 11.15
5420 387.4 -9.3 272 5425 roll -0.88 - - 2589 - 3.22 0.039 1359 -426.7 -97.3 - - 3223 - - - - - - - - 11.25 11.06 11.25
5454 390.8 -10.1 277 5461 done -0.88 0.15 0.214 2608 126.7 3.58 0.091 2750 388.5 -97.3 - - 3223 - - - - - - - - 10.97 11.00 11.10
5812 423.4 -9.1 286 5816 roll -0.88 - - 2601 - 2.88 0.149 3826 373.6 -97.3 - - 3221 - - - - - - - - 11.24 10.97 11.24
5874 429.5 -9.7 295 5879 done -0.88 - - 2600 - 2.50 0.053 2730 -438.4 -97.3 - - 3221 - - - - - - - - 11.13 11.10 11.14
6143 end dive: TARGET_DEPTH_EXCEEDED
6143 begin apogee
6154 453.8 -8.8 306 6267 roll -0.23 1.10 0.194 2822 201.8 0.12 0.148 2261 -3908.3 - 109.43 1.487 2849 -3.4 0.250 - - - - - - 10.98 10.94 10.43
6268 end apogee: CONTROL_FINISHED_OK
6268 begin loiter
6275 457.8 - 309 6280 done -0.23 - - 2821 - - - 2261 - - - - 2842 - - - - - - - - 11.17 11.17 11.17
6605 459.5 -0.3 321 6608 done -0.60 0.38 0.054 2714 -281.6 - - 2261 - 5.2 1.65 0.181 2828 -8.5 5.193 - - - - - - 11.06 11.09 10.97
6941 461.5 -0.8 327 6964 done -0.75 0.15 0.065 2651 -420.0 - - 2261 - 18.0 21.62 1.480 2777 -2.4 0.177 - - - - - - 11.09 11.00 10.45
7276 458.4 1.2 333 7277 done -0.75 - - 2651 - - - 2261 - 18.0 - - 2766 - - - - - - - - 11.24 11.24 11.24
7613 455.1 1.0 339 7613 done -0.77 - - 2651 - - - 2260 - 1.3 - - 2765 - - - - - - - - 11.25 11.25 11.25
7948 450.5 1.5 345 7949 done -0.77 - - 2651 - - - 2261 - 1.3 - - 2764 - - - - - - - - 11.25 11.25 11.25
8284 443.0 2.4 351 8285 done -0.77 - - 2651 - - - 2261 - 1.3 - - 2762 - - - - - - - - 11.26 11.26 11.25
8620 435.1 2.3 357 8621 done -0.77 - - 2651 - - - 2261 - 1.3 - - 2762 - - - - - - - - 11.26 11.26 11.26
8957 429.1 1.7 363 8958 done -0.77 - - 2651 - - - 2261 - 1.3 - - 2761 - - - - - - - - 11.26 11.26 11.26
9292 424.8 1.2 369 9293 done -0.77 - - 2651 - - - 2261 - 1.3 - - 2761 - - - - - - - - 11.26 11.26 11.26
9629 421.5 1.0 375 9629 done -0.79 - - 2651 - - - 2261 - -15.2 - - 2760 - - - - - - - - 11.26 11.26 11.26
9964 417.1 1.4 381 9965 done -0.79 - - 2650 - - - 2261 - -15.2 - - 2760 - - - - - - - - 11.26 11.26 11.26
10300 412.0 1.5 387 10301 done -0.79 - - 2651 - - - 2261 - -15.2 - - 2759 - - - - - - - - 11.26 11.27 11.26
10636 407.0 1.4 393 10637 done -0.79 - - 2651 - - - 2261 - -15.2 - - 2759 - - - - - - - - 11.26 11.26 11.27
10972 402.1 1.5 399 10973 done -0.79 - - 2651 - - - 2261 - -15.2 - - 2758 - - - - - - - - 11.26 11.27 11.27
11308 398.1 1.1 405 11309 done -0.79 - - 2651 - - - 2261 - -15.2 - - 2758 - - - - - - - - 11.27 11.27 11.27
11645 396.5 0.4 411 11645 done -0.80 - - 2651 - - - 2260 - -21.3 - - 2759 - - - - - - - - 11.26 11.27 11.27
11981 396.0 0.2 417 11981 done -0.81 - - 2651 - - - 2261 - -24.1 - - 2758 - - - - - - - - 11.27 11.27 11.27
12316 392.5 1.3 423 12317 done -0.81 - - 2651 - - - 2261 - -24.1 - - 2758 - - - - - - - - 11.27 11.27 11.27
12652 385.2 2.2 429 12653 done -0.81 - - 2651 - - - 2261 - -24.1 - - 2758 - - - - - - - - 11.27 11.27 11.27
12988 379.8 1.4 435 12989 done -0.81 - - 2651 - - - 2261 - -24.1 - - 2758 - - - - - - - - 11.27 11.27 11.28
13325 377.5 0.5 441 13325 done -0.82 - - 2651 - - - 2260 - -33.3 - - 2757 - - - - - - - - 11.27 11.27 11.27
13661 377.5 -0.1 447 13661 done -0.82 - - 2651 - - - 2261 - -32.5 - - 2757 - - - - - - - - 11.27 11.27 11.27
13997 376.0 0.6 453 13998 done -0.83 - - 2651 - - - 2260 - -42.4 - - 2757 - - - - - - - - 11.27 11.27 11.27
14333 371.6 1.4 459 14333 done -0.83 - - 2651 - - - 2261 - -42.4 - - 2757 - - - - - - - - 11.27 11.28 11.28
14669 367.7 1.1 465 14669 done -0.83 - - 2651 - - - 2261 - -42.4 - - 2757 - - - - - - - - 11.28 11.28 11.28
15005 365.3 0.7 471 15005 done -0.84 - - 2651 - - - 2261 - -54.0 - - 2757 - - - - - - - - 11.27 11.28 11.27
15341 364.6 0.1 477 15342 done -0.84 - - 2651 - - - 2261 - -54.9 - - 2757 - - - - - - - - 11.27 11.27 11.28
15677 364.0 0.3 483 15678 done -0.85 - - 2651 - - - 2261 - -60.7 - - 2757 - - - - - - - - 11.27 11.28 11.28
16013 360.4 1.2 489 16013 done -0.85 - - 2651 - - - 2261 - -60.7 - - 2757 - - - - - - - - 11.27 11.28 11.28
16349 356.8 1.0 495 16349 done -0.87 - - 2651 - - - 2261 - -77.4 - - 2757 - - - - - - - - 11.28 11.28 11.28
16685 353.6 0.9 501 16686 done -0.89 0.08 0.110 2608 -537.5 - - 2261 - -92.6 - - 2757 - - - - - - - - 11.11 11.17 11.16
17021 350.6 0.9 507 17021 done -0.91 - - 2608 - - - 2261 - -108.3 - - 2757 - - - - - - - - 11.28 11.28 11.28
17357 346.6 1.3 513 17357 done -0.91 - - 2607 - - - 2261 - -108.3 - - 2757 - - - - - - - - 11.28 11.28 11.28
17693 340.8 1.8 519 17693 done -0.91 - - 2608 - - - 2261 - -108.3 - - 2757 - - - - - - - - 11.28 11.28 11.28
18029 335.4 1.4 525 18029 done -0.91 - - 2607 - - - 2261 - -108.3 - - 2757 - - - - - - - - 11.28 11.28 11.28
18365 335.0 -0.1 531 18366 done -0.91 - - 2608 - - - 2261 - -107.1 - - 2757 - - - - - - - - 11.28 11.28 11.28
18701 334.4 0.3 537 18702 done -0.91 - - 2608 - - - 2261 - -112.7 - - 2757 - - - - - - - - 11.28 11.28 11.28
19037 332.5 0.5 543 19038 done -0.92 - - 2608 - - - 2261 - -121.5 - - 2757 - - - - - - - - 11.27 11.28 11.28
19373 330.0 0.8 549 19373 done -0.94 - - 2607 - - - 2260 - -135.3 - - 2757 - - - - - - - - 11.28 11.28 11.28
19709 327.2 0.7 555 19709 done -0.96 - - 2607 - - - 2260 - -147.5 - - 2757 - - - - - - - - 11.26 11.28 11.28
20045 327.6 -0.2 561 20045 done -0.95 - - 2608 - - - 2261 - -143.5 - - 2757 - - - - - - - - 11.28 11.28 11.28
20381 326.4 0.5 567 20381 done -0.96 - - 2608 - - - 2261 - -152.8 - - 2757 - - - - - - - - 11.28 11.28 11.29
20656 end loiter: LOITER_COMPLETE
20656 begin climb
20661 322.2 - 572 20763 roll 1.04 2.92 0.195 3219 209.2 3.45 0.052 865 -404.6 97.3 90.30 1.330 2452 -3.4 0.197 - - - - - - 10.99 10.97 10.47
20929 305.4 7.8 610 20942 done 1.05 - - 3219 - 3.35 0.060 2246 412.2 105.9 3.58 0.858 2428 -6.7 0.575 - - - - - - 11.10 11.00 10.42
21279 277.8 7.9 618 21305 roll 0.98 - - 3219 - 3.83 0.129 3668 371.3 113.3 17.12 1.259 2389 -2.3 0.121 - - - - - - 11.22 10.91 10.49
21321 274.4 8.0 624 21326 done 0.89 0.20 0.217 3192 -135.0 3.22 0.043 2268 -434.8 118.5 - - 2386 - - - - - - - - 10.93 11.06 11.07
21671 247.7 7.7 632 21692 done 0.91 - - 3192 - - - 2264 - 129.0 19.73 1.234 2336 -2.5 0.123 - - - - - - 11.22 11.00 10.50
22008 219.6 8.4 638 22013 roll 0.91 - - 3191 - 3.78 0.132 3669 371.7 129.0 - - 2320 - - - - - - - - 11.21 10.95 11.21
22042 216.5 9.0 643 22047 done 0.91 - - 3202 - 3.28 0.042 2248 -433.2 129.0 - - 2320 - - - - - - - - 11.12 11.07 11.13
22399 186.8 8.3 652 22404 roll 0.91 - - 3213 - 3.35 0.054 842 -419.7 129.7 - - 2320 - - - - - - - - 11.23 11.02 11.23
22455 182.2 8.4 660 22460 done 0.91 - - 3213 - 3.45 0.065 2254 409.3 129.7 - - 2319 - - - - - - - - 11.12 10.98 11.12
22791 152.9 8.9 673 22797 roll 0.91 - - 3222 - 3.40 0.055 845 -414.4 129.7 - - 2319 - - - - - - - - 11.24 11.02 11.24
22833 149.0 9.3 679 22838 done 0.91 0.12 0.207 3199 -191.7 3.42 0.066 2248 410.2 129.7 - - 2319 - - - - - - - - 10.95 11.00 11.10
23183 117.8 9.0 687 23188 roll 0.91 - - 3199 - 3.75 0.132 3665 377.9 129.7 - - 2319 - - - - - - - - 11.24 10.96 11.24
23239 112.4 9.9 695 23244 done 0.91 - - 3209 - 3.28 0.042 2238 -435.1 129.7 - - 2317 - - - - - - - - 11.12 11.07 11.13
23575 85.6 7.0 711 23596 roll 0.94 - - 3220 - 3.38 0.054 855 -409.2 153.1 15.68 0.386 2246 -4.5 0.242 - - - - - - 11.24 11.02 10.83
23674 79.2 7.0 725 23699 done 0.96 - - 3220 - 3.40 0.065 2250 410.3 174.9 20.77 0.376 2153 -4.5 0.227 - - - - - - 11.11 10.99 10.83
24017 50.7 8.9 741 24028 roll 0.96 - - 3220 - 3.85 0.137 3668 368.3 174.9 2.28 0.174 2156 1.3 -0.092 - - - - - - 11.24 10.96 10.97
24059 47.5 7.7 747 24078 done 0.97 - - 3230 - 3.28 0.041 2231 -438.1 185.0 10.15 0.281 2115 -4.0 0.165 - - - - - - 11.13 11.08 10.89
24413 34.2 1.7 764 24511 roll 1.11 - - 3240 - 3.33 0.053 857 -412.6 297.0 89.03 0.265 1666 -5.0 0.157 - - - - - - 11.22 10.99 10.89
24626 27.7 3.0 795 24702 done 1.40 0.35 0.047 3355 328.6 3.38 0.062 2256 413.9 387.9 70.22 0.241 1307 -5.1 0.142 - - - - - - 11.07 10.98 10.90
24908 end climb: SURFACE_DEPTH_REACHED
24908 begin surface coast
24936 end surface coast: CONTROL_FINISHED_OK
24936 begin surface
SM -4.75 - - - - -8.39 12.95 0.089 202 15.6 1.38 0.112 2774 -6272.5 500.14 77.32 0.134 857 11.1 0.040 - - - - - -