SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 833 * Raw log
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• Previous call tries 2 • 280.16 of 350.00 AH used of 24V (19.95% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -63.6 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: 17 s
• GPS2 time: 4 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 - - 105 - - - 2781 - -97.3 -81.50 - 3189 - - - - - - - - 11.21 10.45 11.20
104 -1.3 -6.5 3 125 done -1.04 19.02 0.376 2553 128.7 - - 2781 - -97.3 - - 3190 - - - - - - - - 10.85 11.07 11.05
435 63.7 -10.9 15 440 roll -0.85 0.30 0.238 2613 200.0 3.30 0.035 1356 -431.8 -97.3 - - 3192 - - - - - - - - 10.93 11.05 11.05
498 67.8 -5.6 24 503 done -0.85 - - 2603 - 3.55 0.083 2761 395.8 -97.3 - - 3192 - - - - - - - - 11.10 10.99 11.12
827 84.1 -6.5 38 833 roll -0.85 - - 2602 - 3.30 0.037 1353 -426.7 -97.3 - - 3193 - - - - - - - - 11.24 11.05 11.24
953 91.6 -6.0 56 958 done -0.85 0.12 0.224 2616 116.7 3.53 0.083 2753 396.6 -97.3 - - 3193 - - - - - - - - 10.95 11.00 11.10
1303 117.7 -7.4 66 1309 roll -0.85 - - 2608 - 2.85 0.145 3828 377.2 -97.3 - - 3191 - - - - - - - - 11.24 10.98 11.24
1394 125.8 -8.3 79 1399 done -0.85 - - 2608 - 2.42 0.045 2743 -448.3 -97.3 - - 3191 - - - - - - - - 11.14 11.10 11.14
1751 155.6 -8.4 88 1756 roll -0.85 - - 2608 - 3.20 0.037 1366 -430.3 -97.3 - - 3189 - - - - - - - - 11.24 11.07 11.24
1779 158.5 -10.5 92 1784 done -0.85 - - 2598 - 3.53 0.084 2759 394.6 -97.3 - - 3189 - - - - - - - - 11.12 11.00 11.13
2143 185.4 -7.2 102 2148 roll -0.85 - - 2590 - 2.83 0.144 3825 376.7 -97.3 - - 3187 - - - - - - - - 11.24 10.98 11.24
2199 189.9 -8.0 110 2205 done -0.85 0.15 0.213 2618 186.7 2.45 0.047 2745 -440.8 -97.3 - - 3187 - - - - - - - - 10.96 11.10 11.10
2535 214.5 -7.4 123 2540 roll -0.85 - - 2618 - 3.25 0.038 1360 -426.2 -97.3 - - 3184 - - - - - - - - 11.24 11.05 11.24
2619 220.5 -6.7 135 2624 done -0.85 - - 2608 - 3.55 0.087 2754 392.7 -97.3 - - 3186 - - - - - - - - 11.12 11.00 11.13
2983 245.1 -6.7 145 2988 roll -0.85 - - 2608 - 3.30 0.039 1364 -421.2 -97.3 - - 3182 - - - - - - - - 11.24 11.06 11.24
3046 249.8 -7.3 154 3051 done -0.85 - - 2598 - 3.58 0.089 2757 389.1 -97.3 - - 3181 - - - - - - - - 11.12 11.01 11.13
3375 275.3 -7.8 166 3380 roll -0.85 - - 2590 - 2.88 0.149 3830 372.6 -97.3 - - 3180 - - - - - - - - 11.24 10.98 11.24
3431 280.0 -8.2 174 3437 done -0.85 0.15 0.216 2618 186.7 2.47 0.050 2752 -436.4 -97.3 - - 3179 - - - - - - - - 10.97 11.10 11.11
3767 304.0 -7.0 187 3772 roll -0.85 - - 2618 - 3.28 0.038 1357 -425.3 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.24
3865 311.2 -7.2 201 3870 done -0.85 - - 2608 - 3.60 0.091 2752 387.5 -97.3 - - 3177 - - - - - - - - 11.12 11.00 11.16
4215 337.3 -7.5 209 4220 roll -0.85 - - 2607 - 3.33 0.039 1357 -418.9 -97.3 - - 3175 - - - - - - - - 11.25 11.07 11.26
4264 341.1 -7.7 216 4270 done -0.85 - - 2598 - 3.58 0.090 2746 388.0 -97.3 - - 3175 - - - - - - - - 11.12 11.00 11.13
4607 367.1 -7.5 223 4608 done -0.85 - - 2598 - - - 2746 - -97.3 - - 3173 - - - - - - - - 11.25 11.25 11.25
4943 392.4 -7.4 229 4948 roll -0.85 - - 2596 - 3.33 0.038 1353 -418.3 -97.3 - - 3173 - - - - - - - - 11.26 11.07 11.26
5048 400.1 -7.8 244 5054 done -0.85 0.17 0.220 2619 135.3 3.60 0.090 2746 386.9 -97.3 - - 3172 - - - - - - - - 10.96 11.00 11.11
5391 423.5 -6.8 251 5396 roll -0.85 - - 2620 - 3.30 0.038 1359 -420.3 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.25
5440 427.1 -6.8 258 5447 done -0.85 - - 2610 - 3.58 0.091 2748 388.0 -97.3 - - 3170 - - - - - - - - 11.12 11.00 11.14
5778 end dive: TARGET_DEPTH_EXCEEDED
5778 begin apogee
5789 450.8 -6.8 265 5902 roll -0.23 1.02 0.191 2818 203.9 0.12 0.156 2262 -4050.0 - 109.07 1.489 2802 -3.4 0.246 - - - - - - 10.98 10.93 10.45
5903 end apogee: CONTROL_FINISHED_OK
5903 begin loiter
6134 453.6 0.5 300 6138 done -0.24 - - 2818 - - - 2262 - -9.3 - - 2790 - - - - - - - - 11.24 11.23 11.24
6464 451.0 0.9 312 6465 done -0.62 0.40 0.052 2701 -292.5 - - 2262 - -24.4 - - 2789 - - - - - - - - 11.07 11.13 11.12
6799 448.6 0.7 318 6801 done -0.78 0.12 0.072 2645 -466.7 - - 2262 - -35.9 - - 2787 - - - - - - - - 11.10 11.14 11.14
7135 447.2 0.4 324 7136 done -0.78 - - 2645 - - - 2262 - -42.7 - - 2787 - - - - - - - - 11.26 11.26 11.26
7471 444.7 0.8 330 7472 done -0.80 - - 2645 - - - 2262 - -56.8 - - 2785 - - - - - - - - 11.26 11.26 11.26
7807 441.0 1.1 336 7808 done -0.80 - - 2645 - - - 2262 - -56.8 - - 2785 - - - - - - - - 11.26 11.26 11.26
8143 435.9 1.7 342 8144 done -0.80 - - 2645 - - - 2262 - -56.8 - - 2784 - - - - - - - - 11.26 11.26 11.26
8479 430.5 1.5 348 8480 done -0.80 - - 2646 - - - 2262 - -56.8 - - 2783 - - - - - - - - 11.27 11.27 11.27
8815 427.2 0.9 354 8816 done -0.82 - - 2645 - - - 2262 - -72.7 - - 2783 - - - - - - - - 11.27 11.27 11.27
9151 426.6 - 360 9152 done -0.82 - - 2645 - - - 2261 - -73.2 - - 2782 - - - - - - - - 11.27 11.27 11.27
9487 426.8 - 366 9488 done -0.82 - - 2645 - - - 2263 - -73.0 - - 2782 - - - - - - - - 11.27 11.27 11.27
9823 425.2 0.6 372 9824 done -0.83 - - 2645 - - - 2262 - -82.7 - - 2782 - - - - - - - - 11.27 11.27 11.29
10159 424.6 0.1 378 10160 done -0.84 - - 2645 - - - 2262 - -84.6 - - 2781 - - - - - - - - 11.28 11.27 11.28
10495 424.4 0.1 384 10496 done -0.84 - - 2645 - - - 2262 - -85.8 - - 2781 - - - - - - - - 11.27 11.28 11.28
10831 423.9 0.2 390 10832 done -0.84 - - 2645 - - - 2262 - -88.7 - - 2780 - - - - - - - - 11.28 11.28 11.28
11167 422.8 0.4 396 11168 done -0.85 - - 2645 - - - 2262 - -94.8 - - 2780 - - - - - - - - 11.28 11.28 11.28
11503 421.4 0.4 402 11504 done -0.86 - - 2645 - - - 2262 - -101.7 - - 2780 - - - - - - - - 11.28 11.28 11.28
11839 421.4 -0.1 408 11840 done -0.85 - - 2645 - - - 2263 - -100.4 - - 2779 - - - - - - - - 11.28 11.28 11.29
12175 421.5 - 414 12176 done -0.86 - - 2645 - - - 2262 - -100.5 - - 2779 - - - - - - - - 11.28 11.28 11.28
12511 421.9 -0.1 420 12512 done -0.85 - - 2645 - - - 2262 - -98.5 - - 2779 - - - - - - - - 11.28 11.28 11.28
12847 421.5 0.2 426 12848 done -0.86 - - 2645 - - - 2263 - -101.7 - - 2779 - - - - - - - - 11.28 11.29 11.28
13183 421.1 0.1 432 13184 done -0.86 - - 2645 - - - 2262 - -103.2 - - 2779 - - - - - - - - 11.28 11.29 11.28
13519 420.0 0.4 438 13520 done -0.87 - - 2645 - - - 2262 - -109.8 - - 2779 - - - - - - - - 11.29 11.29 11.29
13856 417.0 1.0 444 13857 done -0.87 - - 2645 - - - 2262 - -109.8 - - 2779 - - - - - - - - 11.28 11.28 11.28
14191 414.4 0.7 450 14192 done -0.88 - - 2645 - - - 2262 - -121.2 - - 2779 - - - - - - - - 11.28 11.29 11.29
14527 412.9 0.4 456 14528 done -0.89 - - 2645 - - - 2262 - -128.6 - - 2779 - - - - - - - - 11.29 11.29 11.29
14863 411.9 0.3 462 14864 done -0.90 - - 2645 - - - 2262 - -133.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
15199 412.5 -0.3 468 15200 done -0.89 - - 2645 - - - 2262 - -128.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
15535 415.0 -0.8 474 15536 done -0.87 - - 2645 - - - 2262 - -114.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
15871 418.9 -1.2 480 15872 done -0.85 - - 2645 - - - 2262 - -92.9 - - 2778 - - - - - - - - 11.28 11.29 11.29
16207 422.2 -0.9 486 16208 done -0.83 - - 2645 - - - 2262 - -78.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
16543 421.4 0.5 492 16544 done -0.84 - - 2644 - - - 2262 - -86.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
16879 418.0 1.1 498 16880 done -0.84 - - 2645 - - - 2262 - -86.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
17215 415.5 0.6 504 17216 done -0.85 - - 2645 - - - 2262 - -97.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
17551 414.7 0.2 510 17552 done -0.86 - - 2645 - - - 2262 - -100.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
17887 414.4 0.1 516 17888 done -0.86 - - 2645 - - - 2262 - -101.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
18223 414.5 -0.1 522 18224 done -0.85 - - 2645 - - - 2262 - -100.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
18559 413.3 0.5 528 18560 done -0.86 - - 2645 - - - 2262 - -108.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
18896 410.5 0.8 534 18897 done -0.88 - - 2645 - - - 2262 - -122.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
19231 410.2 -0.1 540 19232 done -0.88 - - 2645 - - - 2262 - -121.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
19567 412.0 -0.5 546 19568 done -0.87 - - 2645 - - - 2262 - -112.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
19903 410.7 0.6 552 19904 done -0.88 - - 2645 - - - 2262 - -122.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
20240 407.5 0.9 558 20241 done -0.90 0.08 0.112 2591 -675.0 - - 2262 - -138.9 - - 2778 - - - - - - - - 11.12 11.18 11.17
20575 406.0 0.3 564 20576 done -0.91 - - 2591 - - - 2262 - -144.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
20911 406.2 -0.1 570 20912 done -0.91 - - 2591 - - - 2262 - -142.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
21247 407.6 -0.5 576 21248 done -0.90 - - 2592 - - - 2262 - -134.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
21583 408.6 -0.2 582 21584 done -0.89 - - 2591 - - - 2262 - -130.8 - - 2778 - - - - - - - - 11.29 11.29 11.29
21919 408.0 0.2 588 21920 done -0.90 - - 2592 - - - 2262 - -135.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
22255 406.2 0.6 594 22256 done -0.91 - - 2591 - - - 2262 - -144.9 - - 2779 - - - - - - - - 11.29 11.29 11.29
22591 405.3 0.2 600 22592 done -0.91 - - 2591 - - - 2262 - -147.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
22927 406.8 -0.6 606 22928 done -0.90 - - 2591 - - - 2262 - -138.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
23264 409.8 -1.0 612 23264 done -0.88 - - 2592 - - - 2262 - -121.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
23600 413.3 -1.0 618 23601 done -0.86 - - 2591 - - - 2261 - -104.2 - - 2778 - - - - - - - - 11.29 11.29 11.28
23930 end loiter: LOITER_COMPLETE
23930 begin climb
23935 414.3 - 624 24064 roll 1.04 3.00 0.196 3218 209.0 3.38 0.051 864 -413.3 97.3 115.45 1.440 2406 -3.2 0.224 - - - - - - 10.98 10.90 10.42
24142 401.8 9.2 653 24147 done 1.04 - - 3218 - 3.38 0.061 2245 408.6 97.3 - - 2396 - - - - - - - - 11.09 10.99 11.11
24492 368.3 9.5 661 24493 done 0.97 - - 3219 - - - 2245 - 97.3 - - 2393 - - - - - - - - 11.22 11.22 11.22
24828 338.1 8.8 667 24833 roll 0.89 0.10 0.224 3195 -240.0 3.78 0.129 3669 376.7 97.3 - - 2394 - - - - - - - - 10.94 10.96 11.05
24856 335.6 8.8 671 24861 done 0.80 0.20 0.207 3167 -140.0 3.25 0.041 2257 -434.5 97.3 - - 2393 - - - - - - - - 10.96 11.07 11.10
25220 309.9 6.9 681 25255 roll 0.83 - - 3176 - 3.47 0.054 849 -405.8 122.2 29.38 1.333 2306 -3.0 0.166 - - - - - - 11.24 10.98 10.45
25311 303.6 7.2 694 25345 done 0.86 - - 3177 - 3.42 0.063 2250 409.6 140.9 24.25 1.320 2230 -3.1 0.174 - - - - - - 11.10 10.98 10.47
25661 277.1 7.7 709 25674 roll 0.87 - - 3177 - 3.83 0.138 3669 370.5 152.4 5.07 1.093 2196 -6.7 0.410 - - - - - - 11.22 10.93 10.47
25739 270.2 9.6 720 25750 done 0.87 - - 3188 - 3.30 0.041 2241 -432.7 152.4 2.65 0.581 2193 -1.1 0.127 - - - - - - 11.12 11.06 10.41
26109 237.2 9.1 731 26110 done 0.87 - - 3188 - - - 2240 - 152.4 - - 2201 - - - - - - - - 11.22 11.23 11.22
26445 207.2 8.9 737 26450 roll 0.87 - - 3198 - 3.35 0.054 851 -414.6 152.4 - - 2201 - - - - - - - - 11.24 11.03 11.24
26473 204.7 8.9 741 26478 done 0.87 - - 3197 - 3.42 0.063 2256 410.8 152.4 - - 2201 - - - - - - - - 11.11 10.99 11.12
26837 171.8 9.1 751 26842 roll 0.87 - - 3197 - 3.80 0.138 3665 370.8 152.4 - - 2201 - - - - - - - - 11.24 10.95 11.24
26886 166.7 10.8 758 26894 done 0.87 - - 3208 - 3.25 0.040 2253 -434.5 152.4 - - 2201 - - - - - - - - 11.13 11.08 11.14
27229 133.5 9.6 765 27234 roll 0.87 - - 3219 - 3.38 0.053 843 -417.2 152.4 - - 2201 - - - - - - - - 11.24 11.03 11.24
27257 130.9 9.2 769 27262 done 0.87 0.17 0.196 3183 -211.8 3.42 0.065 2248 410.8 152.4 - - 2201 - - - - - - - - 10.96 11.00 11.10
27622 103.1 7.5 779 27641 roll 0.89 - - 3183 - 3.78 0.135 3662 374.1 166.7 13.68 0.424 2141 -4.4 0.257 - - - - - - 11.24 10.94 10.79
27670 99.4 8.1 786 27682 done 0.90 - - 3194 - 3.25 0.041 2247 -435.4 171.2 7.12 0.347 2117 -3.4 0.233 - - - - - - 11.12 11.07 10.81
28004 73.5 8.1 800 28019 roll 0.90 - - 3204 - 3.40 0.054 853 -410.0 174.9 5.80 0.283 2108 -1.6 0.097 - - - - - - 11.23 11.01 10.86
28048 69.5 8.4 807 28060 done 0.90 - - 3204 - 3.40 0.065 2248 410.3 174.9 3.08 0.185 2109 - - - - - - - - 11.12 11.00 10.88
28392 44.9 5.8 823 28438 roll 0.95 - - 3214 - 3.38 0.051 853 -412.7 217.8 38.92 0.298 1935 -4.5 0.163 - - - - - - 11.24 11.01 10.88
28672 39.3 0.2 863 28788 done 1.31 0.32 0.048 3317 321.9 3.38 0.056 2253 414.2 355.7 108.30 0.287 1383 -5.1 0.168 - - - - - - 11.08 11.02 10.88
29119 5.9 9.5 894 29125 roll 1.31 - - 3326 - 3.40 0.057 855 -411.2 355.7 - - 1386 - - - - - - - - 11.24 11.02 11.24
29171 end climb: SURFACE_DEPTH_REACHED
29171 begin surface coast
29198 end surface coast: CONTROL_FINISHED_OK
29199 begin surface
SM -6.76 - - - - -8.40 12.45 0.073 199 16.0 4.88 0.086 2770 461.9 500.14 99.47 0.135 809 8.1 0.042 - - - - - -