SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 829 * Raw log
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• Previous call tries 1 • 279.31 of 350.00 AH used of 24V (20.20% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth -4.97 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 14 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
14 - - - 98 done -1.04 - - 134 - - - 2786 - -97.3 -81.62 - 3188 - - - - - - - - 11.20 10.46 11.20
104 -0.7 -7.3 3 128 roll -1.04 18.95 0.381 2547 127.3 2.67 0.116 3823 388.4 -97.3 - - 3190 - - - - - - - - 10.85 10.94 11.05
199 30.2 -23.9 17 204 done -0.71 0.68 0.262 2664 172.1 2.35 0.041 2742 -460.0 -97.3 - - 3191 - - - - - - - - 10.90 11.09 11.07
521 56.0 -4.5 30 527 roll -0.71 - - 2664 - 3.12 0.037 1392 -432.7 -97.3 - - 3193 - - - - - - - - 11.22 11.04 11.23
640 62.3 -4.5 47 645 done -0.71 - - 2654 - 3.45 0.087 2748 393.0 -97.3 - - 3192 - - - - - - - - 11.10 10.98 11.12
969 78.1 -3.4 61 974 roll -0.71 - - 2654 - 3.20 0.037 1384 -426.2 -97.3 - - 3194 - - - - - - - - 11.24 11.05 11.25
1039 82.0 -3.9 71 1044 done -0.71 - - 2644 - 3.50 0.090 2758 392.6 -97.3 - - 3193 - - - - - - - - 11.11 10.99 11.12
1361 96.1 -4.2 84 1366 roll -0.71 - - 2635 - 2.88 0.151 3828 371.5 -97.3 - - 3192 - - - - - - - - 11.24 10.96 11.24
1410 101.5 -6.6 91 1416 done -0.71 0.15 0.203 2665 200.0 2.35 0.047 2783 -444.7 -97.3 - - 3191 - - - - - - - - 10.96 11.09 11.09
1753 122.0 -6.2 98 1760 roll -0.79 - - 2665 - 3.33 0.037 1360 -427.3 -97.3 - - 3191 - - - - - - - - 11.24 11.06 11.24
1898 128.9 -4.3 118 1905 done -0.88 0.08 0.115 2610 -687.5 3.58 0.087 2757 390.2 -97.3 - - 3188 - - - - - - - - 11.05 11.00 11.12
2262 153.7 -6.7 128 2263 done -0.88 - - 2610 - - - 2757 - -97.3 - - 3188 - - - - - - - - 11.24 11.24 11.24
2598 181.0 -8.2 134 2604 roll -0.88 - - 2606 - 3.33 0.037 1355 -421.0 -97.3 - - 3185 - - - - - - - - 11.24 11.06 11.24
2675 188.3 -7.5 145 2680 done -0.88 - - 2600 - 3.55 0.082 2753 393.8 -97.3 - - 3185 - - - - - - - - 11.12 11.00 11.13
2990 213.8 -8.1 155 2995 roll -0.88 - - 2591 - 2.80 0.136 3823 382.1 -97.3 - - 3184 - - - - - - - - 11.24 10.97 11.25
3060 219.1 -7.9 165 3065 done -0.88 - - 2590 - 2.45 0.046 2739 -442.4 -97.3 - - 3184 - - - - - - - - 11.14 11.10 11.14
3382 246.4 -8.5 176 3383 done -0.88 - - 2590 - - - 2740 - -97.3 - - 3182 - - - - - - - - 11.24 11.24 11.24
3718 274.3 -8.2 182 3724 roll -0.88 - - 2590 - 3.25 0.037 1354 -426.5 -97.3 - - 3180 - - - - - - - - 11.25 11.06 11.24
3830 283.4 -8.2 198 3837 done -0.88 0.15 0.216 2608 120.0 3.60 0.086 2747 386.9 -97.3 - - 3179 - - - - - - - - 10.96 11.00 11.10
4167 307.5 -7.0 211 4167 done -0.88 - - 2608 - - - 2746 - -97.3 - - 3178 - - - - - - - - 11.24 11.24 11.24
4502 330.8 -7.0 217 4503 done -0.88 - - 2608 - - - 2747 - -97.3 - - 3177 - - - - - - - - 11.24 11.25 11.24
4838 353.5 -6.8 223 4844 roll -0.88 - - 2608 - 3.33 0.037 1356 -417.7 -97.3 - - 3175 - - - - - - - - 11.25 11.07 11.25
4894 359.1 -8.7 231 4899 done -0.88 - - 2599 - 3.58 0.089 2741 386.9 -97.3 - - 3174 - - - - - - - - 11.12 11.00 11.13
5230 383.9 -7.2 244 5235 roll -0.88 - - 2591 - 2.90 0.145 3833 376.6 -97.3 - - 3173 - - - - - - - - 11.25 10.97 11.24
5363 395.0 -8.2 263 5368 done -0.88 - - 2590 - 2.50 0.050 2739 -437.6 -97.3 - - 3173 - - - - - - - - 11.14 11.10 11.15
5678 421.3 -8.4 273 5683 roll -0.88 - - 2589 - 3.25 0.037 1357 -425.2 -97.3 - - 3172 - - - - - - - - 11.25 11.06 11.24
5762 428.7 -8.7 285 5768 done -0.88 0.17 0.217 2613 141.2 3.58 0.087 2748 388.5 -97.3 - - 3172 - - - - - - - - 10.96 11.00 11.10
6009 end dive: TARGET_DEPTH_EXCEEDED
6009 begin apogee
6021 450.0 -8.5 293 6135 roll -0.23 1.02 0.190 2821 203.9 0.12 0.150 2260 -4066.7 - 111.18 1.478 2799 -3.4 0.246 - - - - - - 10.98 10.94 10.44
6136 end apogee: CONTROL_FINISHED_OK
6136 begin loiter
6368 458.4 -0.1 328 6372 done -0.23 - - 2821 - - - 2260 - 1.8 - - 2787 - - - - - - - - 11.22 11.22 11.22
6697 455.2 1.3 340 6699 done -0.60 0.38 0.054 2713 -284.2 - - 2260 - 1.8 - - 2785 - - - - - - - - 11.04 11.12 11.11
7033 447.5 2.4 346 7034 done -0.76 0.15 0.063 2649 -426.7 - - 2260 - 1.8 - - 2784 - - - - - - - - 11.10 11.14 11.13
7369 438.7 2.6 352 7369 done -0.76 - - 2649 - - - 2260 - 1.8 - - 2783 - - - - - - - - 11.25 11.25 11.26
7705 430.4 2.5 358 7705 done -0.76 - - 2648 - - - 2260 - 1.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
8041 424.2 1.7 364 8041 done -0.76 - - 2649 - - - 2260 - 1.8 - - 2781 - - - - - - - - 11.26 11.26 11.26
8377 421.0 0.8 370 8377 done -0.77 - - 2647 - - - 2260 - -11.2 - - 2781 - - - - - - - - 11.26 11.26 11.26
8713 418.5 0.7 376 8713 done -0.79 - - 2649 - - - 2260 - -23.3 - - 2780 - - - - - - - - 11.26 11.26 11.26
9049 417.5 0.2 382 9049 done -0.79 - - 2649 - - - 2260 - -26.4 - - 2780 - - - - - - - - 11.27 11.26 11.26
9385 417.0 0.2 388 9386 done -0.80 - - 2649 - - - 2260 - -30.6 - - 2779 - - - - - - - - 11.26 11.26 11.26
9721 414.3 0.9 394 9721 done -0.81 - - 2649 - - - 2260 - -45.6 - - 2778 - - - - - - - - 11.26 11.26 11.26
10057 409.9 1.3 400 10057 done -0.81 - - 2649 - - - 2260 - -45.6 - - 2778 - - - - - - - - 11.26 11.27 11.27
10393 406.6 0.8 406 10393 done -0.83 - - 2649 - - - 2260 - -60.0 - - 2777 - - - - - - - - 11.27 11.27 11.27
10729 406.6 -0.1 412 10729 done -0.83 - - 2649 - - - 2260 - -58.1 - - 2778 - - - - - - - - 11.27 11.27 11.27
11065 407.4 -0.1 418 11065 done -0.83 - - 2649 - - - 2260 - -55.7 - - 2777 - - - - - - - - 11.27 11.26 11.27
11401 405.8 0.6 424 11401 done -0.84 - - 2649 - - - 2260 - -65.5 - - 2777 - - - - - - - - 11.27 11.27 11.27
11737 401.0 1.7 430 11737 done -0.84 - - 2649 - - - 2260 - -65.5 - - 2777 - - - - - - - - 11.27 11.27 11.27
12073 392.7 2.5 436 12073 done -0.84 - - 2649 - - - 2260 - -65.5 - - 2777 - - - - - - - - 11.27 11.28 11.28
12409 386.1 1.7 442 12409 done -0.84 - - 2649 - - - 2260 - -65.5 - - 2777 - - - - - - - - 11.27 11.27 11.28
12745 385.8 -0.2 448 12745 done -0.83 - - 2648 - - - 2260 - -61.9 - - 2776 - - - - - - - - 11.27 11.28 11.28
13081 388.8 -0.8 454 13081 done -0.82 - - 2649 - - - 2260 - -47.7 - - 2776 - - - - - - - - 11.27 11.28 11.28
13417 388.7 0.2 460 13417 done -0.82 - - 2649 - - - 2261 - -51.4 - - 2776 - - - - - - - - 11.28 11.28 11.27
13753 386.2 0.9 466 13753 done -0.84 - - 2649 - - - 2260 - -65.9 - - 2776 - - - - - - - - 11.27 11.28 11.28
14089 383.6 0.7 472 14090 done -0.85 - - 2648 - - - 2260 - -78.0 - - 2776 - - - - - - - - 11.27 11.28 11.28
14425 382.2 0.4 478 14425 done -0.86 - - 2649 - - - 2260 - -84.5 - - 2776 - - - - - - - - 11.28 11.28 11.28
14761 382.0 - 484 14761 done -0.86 - - 2649 - - - 2260 - -84.7 - - 2776 - - - - - - - - 11.28 11.28 11.28
15097 380.1 0.7 490 15097 done -0.88 - - 2649 - - - 2260 - -96.8 - - 2776 - - - - - - - - 11.28 11.28 11.28
15433 375.5 1.5 496 15434 done -0.88 - - 2649 - - - 2260 - -96.8 - - 2776 - - - - - - - - 11.28 11.28 11.28
15769 370.6 1.5 502 15769 done -0.88 - - 2649 - - - 2260 - -96.8 - - 2775 - - - - - - - - 11.28 11.28 11.28
16105 367.2 0.9 508 16106 done -0.89 0.08 0.111 2604 -562.5 - - 2260 - -111.2 - - 2776 - - - - - - - - 11.11 11.17 11.16
16441 366.3 0.2 514 16441 done -0.90 - - 2604 - - - 2260 - -114.5 - - 2776 - - - - - - - - 11.28 11.28 11.28
16777 366.6 -0.1 520 16777 done -0.90 - - 2604 - - - 2260 - -112.1 - - 2776 - - - - - - - - 11.28 11.28 11.28
17113 367.9 -0.5 526 17113 done -0.89 - - 2604 - - - 2260 - -103.9 - - 2775 - - - - - - - - 11.29 11.28 11.28
17449 368.6 -0.2 532 17449 done -0.88 - - 2604 - - - 2260 - -101.0 - - 2775 - - - - - - - - 11.28 11.29 11.28
17785 368.0 0.2 538 17786 done -0.89 - - 2604 - - - 2260 - -104.6 - - 2776 - - - - - - - - 11.28 11.28 11.28
18121 369.4 -0.7 544 18121 done -0.87 - - 2604 - - - 2260 - -93.2 - - 2776 - - - - - - - - 11.28 11.29 11.28
18457 373.3 -1.2 550 18458 done -0.85 - - 2604 - - - 2260 - -72.6 - - 2775 - - - - - - - - 11.28 11.28 11.29
18793 376.0 -0.7 556 18793 done -0.83 - - 2604 - - - 2260 - -61.2 - - 2776 - - - - - - - - 11.29 11.28 11.28
19129 375.3 0.4 562 19130 done -0.84 - - 2604 - - - 2260 - -67.8 - - 2775 - - - - - - - - 11.28 11.28 11.28
19465 373.2 0.6 568 19465 done -0.85 - - 2604 - - - 2260 - -78.5 - - 2776 - - - - - - - - 11.28 11.29 11.28
19801 371.9 0.3 574 19801 done -0.86 - - 2604 - - - 2259 - -84.3 - - 2775 - - - - - - - - 11.28 11.28 11.29
20137 369.8 0.6 580 20137 done -0.88 - - 2604 - - - 2259 - -95.2 - - 2775 - - - - - - - - 11.29 11.28 11.29
20473 367.4 0.8 586 20473 done -0.89 - - 2604 - - - 2260 - -108.2 - - 2775 - - - - - - - - 11.29 11.28 11.29
20809 367.6 -0.3 592 20809 done -0.89 - - 2604 - - - 2260 - -103.7 - - 2775 - - - - - - - - 11.29 11.28 11.28
21145 370.8 -1.0 598 21145 done -0.87 - - 2604 - - - 2260 - -87.1 - - 2775 - - - - - - - - 11.28 11.29 11.29
21481 374.6 -1.1 604 21482 done -0.84 - - 2604 - - - 2260 - -67.6 - - 2776 - - - - - - - - 11.28 11.28 11.30
21817 377.8 -0.9 610 21818 done -0.82 0.12 0.227 2626 183.3 - - 2260 - -52.6 - - 2775 - - - - - - - - 10.98 11.15 11.13
22153 378.3 - 616 22153 done -0.82 - - 2626 - - - 2260 - -52.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
22489 377.1 0.4 622 22489 done -0.83 - - 2627 - - - 2260 - -59.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
22825 376.2 0.2 628 22825 done -0.83 - - 2626 - - - 2260 - -62.5 - - 2776 - - - - - - - - 11.29 11.29 11.28
23161 375.7 0.2 634 23161 done -0.84 - - 2626 - - - 2260 - -65.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
23497 374.7 0.3 640 23497 done -0.85 - - 2626 - - - 2260 - -71.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
23833 373.6 0.3 646 23834 done -0.85 - - 2626 - - - 2260 - -76.9 - - 2775 - - - - - - - - 11.28 11.28 11.28
24164 end loiter: LOITER_COMPLETE
24164 begin climb
24169 371.5 - 652 24292 roll 1.04 2.85 0.187 3226 210.5 3.42 0.053 870 -406.4 97.3 113.62 1.383 2403 -3.3 0.212 - - - - - - 11.00 10.97 10.45
24409 357.1 8.6 686 24415 done 1.04 - - 3226 - 3.38 0.063 2249 408.0 97.3 - - 2394 - - - - - - - - 11.09 10.98 11.10
24732 328.3 9.0 697 24737 roll 0.95 - - 3226 - 3.78 0.135 3661 373.5 97.3 - - 2392 - - - - - - - - 11.22 10.95 11.22
24760 325.7 9.4 701 24765 done 0.83 0.32 0.228 3176 -156.2 3.20 0.042 2273 -433.8 97.3 - - 2392 - - - - - - - - 10.93 11.07 11.09
25124 298.3 7.5 711 25143 roll 0.85 - - 3187 - 3.42 0.051 846 -417.3 111.8 14.70 1.281 2352 -2.7 0.152 - - - - - - 11.23 10.93 10.46
25179 294.0 7.7 719 25200 done 0.86 - - 3186 - 3.45 0.066 2254 408.1 123.1 15.80 1.294 2309 -2.7 0.149 - - - - - - 11.08 10.98 10.45
25558 260.0 9.3 731 25559 done 0.86 - - 3187 - - - 2254 - 123.1 - - 2295 - - - - - - - - 11.23 11.23 11.23
25894 228.9 9.2 737 25899 roll 0.86 - - 3197 - 3.42 0.055 846 -411.7 123.1 - - 2294 - - - - - - - - 11.23 11.02 11.24
25950 223.7 9.1 745 25955 done 0.86 - - 3197 - 3.45 0.067 2247 406.1 123.1 - - 2294 - - - - - - - - 11.11 11.00 11.12
26286 193.4 8.9 758 26292 roll 0.86 - - 3197 - 3.83 0.142 3664 370.0 123.1 - - 2294 - - - - - - - - 11.23 10.95 11.23
26363 185.9 10.2 769 26368 done 0.86 - - 3207 - 3.28 0.041 2241 -433.8 123.1 - - 2294 - - - - - - - - 11.13 11.07 11.14
26678 157.2 9.1 779 26683 roll 0.86 - - 3218 - 3.35 0.056 845 -416.7 123.1 - - 2294 - - - - - - - - 11.23 11.03 11.23
26741 151.4 8.9 788 26746 done 0.86 0.17 0.205 3184 -200.0 3.45 0.068 2252 407.8 123.1 - - 2293 - - - - - - - - 10.95 10.99 11.10
27070 125.3 7.8 800 27081 roll 0.87 - - 3185 - 3.85 0.140 3666 367.3 131.4 3.28 0.708 2279 -4.3 0.182 - - - - - - 11.24 10.94 10.50
27133 119.7 9.3 809 27140 done 0.87 - - 3195 - 3.28 0.042 2239 -435.1 131.4 2.10 0.171 2276 -1.4 0.241 - - - - - - 11.13 11.09 10.98
27455 92.2 8.4 821 27460 roll 0.87 - - 3205 - 3.33 0.055 848 -417.7 131.4 - - 2285 - - - - - - - - 11.24 11.03 11.24
27511 88.0 7.6 829 27530 done 0.89 - - 3201 - 3.42 0.066 2248 409.4 144.7 12.77 0.377 2224 -4.8 0.268 - - - - - - 11.12 11.00 10.83
27847 64.7 6.6 844 27876 done 0.93 - - 3205 - - - 2248 - 174.1 27.48 0.344 2107 -4.3 0.193 - - - - - - 11.23 11.06 10.85
28183 40.4 5.4 856 28231 roll 0.99 - - 3205 - 3.83 0.139 3668 370.8 223.7 42.10 0.282 1909 -4.7 0.162 - - - - - - 11.24 10.94 10.88
28303 34.7 5.3 873 28350 done 1.05 - - 3215 - 3.30 0.041 2228 -436.4 275.2 41.17 0.266 1703 -5.0 0.157 - - - - - - 11.12 11.08 10.89
28664 21.6 3.8 891 28729 roll 1.34 0.35 0.046 3333 337.1 3.95 0.142 3666 364.1 352.1 58.28 0.219 1397 -5.3 0.125 - - - - - - 11.07 10.93 10.91
28799 10.3 10.7 911 28805 done 1.34 - - 3344 - 3.28 0.043 2243 -433.8 352.1 - - 1401 - - - - - - - - 11.12 11.06 11.12
28872 end climb: SURFACE_DEPTH_REACHED
28872 begin surface coast
28900 end surface coast: CONTROL_FINISHED_OK
28900 begin surface
SM -5.17 - - - - -8.39 12.85 0.083 204 15.9 1.48 0.112 2778 1181.1 500.14 100.38 0.135 808 8.0 0.032 - - - - - -