SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 831 * Raw log
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• Previous call tries 1 • 279.73 of 350.00 AH used of 24V (20.08% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.2 deg, depth -5.01 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 99 done -1.04 - - 141 - - - 2783 - -97.3 -81.97 - 3189 - - - - - - - - 11.21 10.45 11.20
104 -0.9 -7.0 3 128 roll -1.04 18.90 0.382 2555 127.7 3.35 0.032 1355 -426.3 -97.3 - - 3191 - - - - - - - - 10.85 11.02 11.05
157 20.3 -30.8 11 163 done -0.58 0.88 0.255 2701 165.9 3.67 0.099 2765 384.2 -97.3 - - 3191 - - - - - - - - 10.90 10.96 11.07
486 54.8 -6.9 25 491 roll -0.58 - - 2701 - 3.33 0.037 1353 -424.0 -97.3 - - 3193 - - - - - - - - 11.22 11.05 11.23
556 58.3 -4.8 35 561 done -0.58 - - 2691 - 3.60 0.092 2761 391.1 -97.3 - - 3193 - - - - - - - - 11.10 10.98 11.11
878 71.8 -4.7 48 883 roll -0.68 - - 2690 - 3.30 0.037 1355 -426.1 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
934 74.3 -3.6 56 939 done -0.79 - - 2680 - 3.60 0.093 2754 388.6 -97.3 - - 3194 - - - - - - - - 11.11 10.99 11.12
1271 90.6 -5.7 71 1276 roll -0.88 0.15 0.068 2600 -533.3 2.88 0.151 3829 373.3 -97.3 - - 3193 - - - - - - - - 11.08 10.96 11.10
1382 98.8 -13.5 87 1387 done -0.88 - - 2600 - 2.47 0.047 2738 -441.7 -97.3 - - 3193 - - - - - - - - 11.12 11.08 11.13
1746 126.7 -7.9 97 1751 roll -0.88 - - 2599 - 3.22 0.037 1354 -429.8 -97.3 - - 3191 - - - - - - - - 11.24 11.05 11.24
1781 129.7 -8.0 102 1786 done -0.88 - - 2590 - 3.60 0.090 2754 388.9 -97.3 - - 3191 - - - - - - - - 11.12 11.00 11.13
2138 156.9 -7.9 111 2143 roll -0.88 - - 2582 - 2.88 0.150 3826 372.2 -97.3 - - 3189 - - - - - - - - 11.24 10.97 11.24
2201 163.1 -9.3 120 2206 done -0.80 0.28 0.213 2635 189.3 2.45 0.048 2743 -442.0 -97.3 - - 3190 - - - - - - - - 10.96 11.10 11.10
2530 187.7 -7.2 132 2535 roll -0.80 - - 2635 - 3.25 0.038 1358 -426.2 -97.3 - - 3187 - - - - - - - - 11.24 11.10 11.24
2607 193.3 -6.8 143 2612 done -0.80 - - 2624 - 3.62 0.093 2760 387.3 -97.3 - - 3187 - - - - - - - - 11.12 11.00 11.13
2922 215.4 -6.9 153 2927 roll -0.80 - - 2616 - 2.90 0.155 3832 369.7 -97.3 - - 3186 - - - - - - - - 11.24 10.99 11.24
2971 219.1 -7.3 160 2977 done -0.80 - - 2616 - 2.45 0.047 2746 -443.3 -97.3 - - 3185 - - - - - - - - 11.14 11.10 11.15
3314 244.9 -7.6 167 3319 roll -0.80 - - 2616 - 3.25 0.039 1368 -424.0 -97.3 - - 3183 - - - - - - - - 11.24 11.06 11.24
3426 253.7 -7.8 183 3432 done -0.80 0.15 0.215 2634 120.0 3.55 0.083 2758 391.5 -97.3 - - 3182 - - - - - - - - 10.97 11.00 11.10
3762 278.6 -7.5 196 3767 roll -0.80 - - 2635 - 3.33 0.040 1366 -418.0 -97.3 - - 3181 - - - - - - - - 11.25 11.05 11.24
3797 281.3 -7.5 201 3802 done -0.80 - - 2625 - 3.53 0.081 2753 392.9 -97.3 - - 3181 - - - - - - - - 11.12 11.00 11.14
4154 308.2 -7.4 210 4160 roll -0.80 - - 2624 - 3.33 0.040 1360 -418.3 -97.3 - - 3179 - - - - - - - - 11.25 11.06 11.25
4182 310.2 -7.2 214 4187 done -0.80 - - 2614 - 3.53 0.081 2749 393.5 -97.3 - - 3179 - - - - - - - - 11.12 11.00 11.14
4546 336.6 -7.3 224 4547 done -0.80 - - 2614 - - - 2750 - -97.3 - - 3178 - - - - - - - - 11.24 11.24 11.24
4882 360.7 -7.2 230 4888 roll -0.80 - - 2614 - 3.30 0.038 1367 -419.1 -97.3 - - 3176 - - - - - - - - 11.26 11.07 11.26
4973 367.3 -7.2 243 4978 done -0.80 0.17 0.214 2638 141.2 3.53 0.083 2751 392.1 -97.3 - - 3176 - - - - - - - - 10.98 11.01 11.11
5330 390.7 -6.6 252 5335 roll -0.80 - - 2638 - 3.33 0.039 1358 -418.3 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.25
5372 393.5 -6.7 258 5378 done -0.87 - - 2628 - 3.55 0.083 2750 392.1 -97.3 - - 3174 - - - - - - - - 11.13 11.00 11.14
5722 416.8 -6.6 266 5728 roll -0.87 - - 2628 - 3.33 0.040 1359 -417.7 -97.3 - - 3173 - - - - - - - - 11.24 11.06 11.24
5743 418.1 -6.5 269 5748 done -0.87 - - 2618 - 3.53 0.083 2743 392.1 -97.3 - - 3173 - - - - - - - - 11.12 11.04 11.13
6058 439.6 -6.9 279 6063 roll -0.87 - - 2610 - 2.88 0.141 3832 378.1 -97.3 - - 3172 - - - - - - - - 11.25 10.98 11.25
6086 441.8 -7.7 283 6091 done -0.87 - - 2609 - 2.50 0.051 2742 -436.0 -97.3 - - 3172 - - - - - - - - 11.14 11.10 11.15
6221 end dive: TARGET_DEPTH_EXCEEDED
6221 begin apogee
6233 452.2 -7.5 289 6346 roll -0.23 1.02 0.190 2818 204.9 0.15 0.123 2260 -3213.3 - 110.72 1.493 2799 -3.4 0.247 - - - - - - 10.99 10.97 10.45
6347 end apogee: CONTROL_FINISHED_OK
6347 begin loiter
6579 457.9 0.1 324 6583 done -0.23 - - 2818 - - - 2259 - -1.8 - - 2788 - - - - - - - - 11.24 11.24 11.24
6908 455.6 0.9 336 6910 done -0.61 0.38 0.052 2708 -289.5 - - 2260 - -16.4 - - 2786 - - - - - - - - 11.07 11.13 11.12
7244 452.7 0.8 342 7245 done -0.78 0.17 0.058 2640 -400.0 - - 2260 - -30.4 - - 2786 - - - - - - - - 11.10 11.14 11.14
7580 450.9 0.5 348 7581 done -0.79 - - 2640 - - - 2260 - -39.6 - - 2784 - - - - - - - - 11.26 11.26 11.26
7916 446.9 1.4 354 7917 done -0.79 - - 2640 - - - 2260 - -39.6 - - 2783 - - - - - - - - 11.26 11.26 11.26
8252 440.0 2.1 360 8253 done -0.79 - - 2640 - - - 2260 - -39.6 - - 2782 - - - - - - - - 11.26 11.26 11.26
8588 434.6 1.5 366 8589 done -0.79 - - 2640 - - - 2259 - -39.6 - - 2782 - - - - - - - - 11.26 11.26 11.27
8924 431.3 0.9 372 8925 done -0.81 - - 2640 - - - 2260 - -55.0 - - 2782 - - - - - - - - 11.27 11.26 11.27
9260 427.7 1.0 378 9261 done -0.81 - - 2640 - - - 2259 - -55.0 - - 2780 - - - - - - - - 11.27 11.27 11.27
9596 424.5 1.0 384 9597 done -0.83 - - 2640 - - - 2260 - -71.4 - - 2780 - - - - - - - - 11.27 11.27 11.27
9932 423.3 0.2 390 9933 done -0.84 - - 2640 - - - 2259 - -74.8 - - 2780 - - - - - - - - 11.27 11.27 11.27
10268 421.4 0.7 396 10269 done -0.85 - - 2640 - - - 2260 - -87.2 - - 2780 - - - - - - - - 11.27 11.27 11.27
10604 417.1 1.4 402 10605 done -0.85 - - 2640 - - - 2259 - -87.2 - - 2779 - - - - - - - - 11.28 11.28 11.26
10940 410.4 2.0 408 10941 done -0.85 - - 2640 - - - 2259 - -87.2 - - 2779 - - - - - - - - 11.28 11.28 11.28
11276 404.9 1.5 414 11277 done -0.85 - - 2640 - - - 2259 - -87.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
11612 403.9 - 420 11613 done -0.85 - - 2640 - - - 2260 - -88.0 - - 2778 - - - - - - - - 11.28 11.28 11.26
11948 406.6 -0.9 426 11949 done -0.84 - - 2639 - - - 2260 - -72.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
12284 410.8 -1.3 432 12285 done -0.81 - - 2640 - - - 2260 - -50.4 - - 2777 - - - - - - - - 11.28 11.28 11.28
12620 413.0 -0.4 438 12621 done -0.80 - - 2640 - - - 2260 - -43.0 - - 2777 - - - - - - - - 11.28 11.28 11.28
12956 410.1 1.1 444 12957 done -0.80 - - 2640 - - - 2259 - -43.0 - - 2777 - - - - - - - - 11.28 11.28 11.28
13292 406.7 0.9 450 13293 done -0.82 - - 2640 - - - 2259 - -57.7 - - 2777 - - - - - - - - 11.28 11.28 11.26
13628 406.8 -0.2 456 13629 done -0.81 - - 2640 - - - 2259 - -54.7 - - 2777 - - - - - - - - 11.29 11.31 11.29
13964 407.6 -0.2 462 13965 done -0.81 - - 2640 - - - 2259 - -51.7 - - 2777 - - - - - - - - 11.29 11.29 11.28
14300 407.3 0.1 468 14301 done -0.81 - - 2640 - - - 2260 - -54.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
14636 405.2 0.7 474 14637 done -0.83 - - 2640 - - - 2260 - -66.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
14972 402.3 0.8 480 14973 done -0.85 - - 2640 - - - 2259 - -81.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
15308 400.5 0.5 486 15309 done -0.86 - - 2640 - - - 2260 - -89.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
15644 400.9 -0.2 492 15645 done -0.85 - - 2640 - - - 2260 - -86.1 - - 2777 - - - - - - - - 11.29 11.27 11.28
15980 400.6 0.1 498 15981 done -0.85 - - 2640 - - - 2260 - -88.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
16316 400.1 0.1 504 16317 done -0.86 - - 2640 - - - 2260 - -89.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
16652 400.8 -0.3 510 16653 done -0.85 - - 2640 - - - 2259 - -85.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
16988 402.1 -0.4 516 16989 done -0.84 - - 2640 - - - 2259 - -78.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
17324 401.9 0.2 522 17325 done -0.85 - - 2640 - - - 2260 - -81.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
17660 400.6 0.3 528 17661 done -0.85 - - 2640 - - - 2260 - -87.3 - - 2777 - - - - - - - - 11.28 11.29 11.29
17996 401.0 -0.3 534 17997 done -0.85 - - 2640 - - - 2259 - -82.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
18332 401.4 - 540 18333 done -0.85 - - 2640 - - - 2260 - -82.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
18668 399.7 0.6 546 18669 done -0.86 - - 2640 - - - 2260 - -92.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
19004 398.1 0.4 552 19005 done -0.87 - - 2640 - - - 2259 - -100.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19340 398.0 -0.1 558 19341 done -0.87 - - 2640 - - - 2259 - -98.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
19676 399.1 -0.4 564 19677 done -0.86 - - 2640 - - - 2260 - -92.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
20012 400.7 -0.5 570 20013 done -0.85 - - 2640 - - - 2260 - -84.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
20348 400.5 0.3 576 20349 done -0.86 - - 2640 - - - 2259 - -88.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
20684 397.9 0.8 582 20685 done -0.87 - - 2640 - - - 2260 - -102.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
21020 396.1 0.4 588 21021 done -0.88 - - 2640 - - - 2260 - -109.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
21356 396.1 -0.1 594 21357 done -0.88 - - 2640 - - - 2259 - -108.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
21692 398.4 -0.8 600 21693 done -0.86 - - 2640 - - - 2260 - -95.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
22028 401.9 -1.0 606 22029 done -0.84 - - 2640 - - - 2260 - -78.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
22364 402.8 -0.1 612 22365 done -0.84 - - 2640 - - - 2259 - -76.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
22700 400.0 1.0 618 22701 done -0.84 - - 2640 - - - 2259 - -76.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
23036 395.9 1.2 624 23037 done -0.84 - - 2640 - - - 2259 - -76.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
23372 393.7 0.5 630 23373 done -0.85 - - 2640 - - - 2259 - -85.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
23708 394.7 -0.5 636 23709 done -0.84 - - 2640 - - - 2259 - -77.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
24044 397.1 -0.7 642 24045 done -0.83 - - 2640 - - - 2259 - -65.2 - - 2776 - - - - - - - - 11.29 11.28 11.29
24375 end loiter: LOITER_COMPLETE
24375 begin climb
24380 396.9 - 648 24504 roll 1.04 2.75 0.178 3215 209.1 3.72 0.122 3654 375.0 97.3 114.12 1.421 2406 -3.2 0.219 - - - - - - 11.00 10.90 10.43
24677 374.3 9.8 690 24683 done 0.91 - - 3226 - 3.20 0.041 2270 -432.5 97.3 - - 2398 - - - - - - - - 11.11 11.07 11.12
24999 345.1 9.0 701 25004 roll 0.82 0.25 0.203 3183 -172.0 3.42 0.051 843 -417.3 97.3 - - 2394 - - - - - - - - 10.95 11.02 11.06
25076 338.9 7.6 712 25100 done 0.84 - - 3183 - 3.40 0.059 2246 412.6 110.3 15.82 1.338 2353 -2.6 0.159 - - - - - - 11.11 11.01 10.45
25447 309.9 7.8 723 25458 roll 0.85 - - 3183 - 3.78 0.129 3666 375.7 119.7 4.35 1.016 2325 -6.4 0.476 - - - - - - 11.24 10.95 10.41
25503 305.2 8.8 731 25514 done 0.85 - - 3192 - 3.28 0.039 2241 -434.5 119.7 2.22 0.374 2324 - - - - - - - - 11.12 11.07 10.40
25839 281.4 6.9 744 25886 roll 0.88 - - 3204 - 3.45 0.054 851 -402.9 143.6 37.58 1.298 2218 -2.8 0.148 - - - - - - 11.23 10.96 10.48
25916 275.9 7.8 755 25927 done 0.89 - - 3204 - 3.42 0.062 2253 409.9 153.3 4.62 1.030 2189 -6.3 0.407 - - - - - - 11.08 10.98 10.37
26287 242.2 9.5 766 26288 done 0.89 - - 3204 - - - 2253 - 153.3 - - 2197 - - - - - - - - 11.23 11.23 11.22
26623 208.6 10.0 772 26628 roll 0.89 - - 3214 - 3.42 0.056 858 -407.9 153.3 - - 2197 - - - - - - - - 11.24 11.02 11.24
26658 205.0 10.3 777 26662 done 0.89 - - 3214 - 3.42 0.064 2253 407.9 153.3 - - 2197 - - - - - - - - 11.11 11.00 11.11
27015 169.6 9.8 786 27016 done 0.89 - - 3213 - - - 2252 - 153.3 - - 2197 - - - - - - - - 11.23 11.23 11.23
27351 136.7 9.9 792 27352 done 0.89 - - 3214 - - - 2252 - 153.3 - - 2197 - - - - - - - - 11.23 11.24 11.24
27687 104.8 9.5 798 27688 done 0.89 - - 3214 - - - 2252 - 153.3 - - 2197 - - - - - - - - 11.24 11.24 11.24
27995 79.0 8.4 807 27996 done 0.89 - - 3214 - - - 2252 - 153.3 - - 2197 - - - - - - - - 11.24 11.24 11.24
28303 57.8 4.6 818 28365 roll 0.97 - - 3214 - 3.78 0.132 3669 374.9 217.5 55.10 0.334 1937 -4.7 0.198 - - - - - - 11.24 10.93 10.85
28415 51.0 7.9 834 28428 done 0.98 - - 3224 - 3.30 0.041 2232 -435.5 224.6 8.05 0.272 1905 -4.0 0.181 - - - - - - 11.12 11.07 10.88
28749 39.5 1.1 848 28860 roll 1.27 0.20 0.059 3301 385.0 3.92 0.131 3669 366.6 348.1 101.32 0.281 1415 -4.8 0.165 - - - - - - 11.07 10.93 10.88
28875 33.1 7.5 866 28895 done 1.38 - - 3311 - 3.30 0.041 2229 -436.4 362.0 13.30 0.250 1359 -4.2 0.135 - - - - - - 11.10 11.05 10.88
29224 2.2 8.8 883 29230 roll 1.46 0.10 0.091 3383 720.0 3.28 0.054 853 -419.5 362.0 - - 1364 - - - - - - - - 11.07 11.02 11.09
29232 end climb: SURFACE_DEPTH_REACHED
29232 begin surface coast
29239 end surface coast: CONTROL_FINISHED_OK
29239 begin surface
SM -5.83 - - - - -8.40 12.88 0.083 201 15.6 4.90 0.089 2770 15.9 500.14 95.20 0.135 809 8.5 0.038 - - - - - -