SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 834 * Raw log
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• Previous call tries 1 • 280.38 of 350.00 AH used of 24V (19.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.4 deg, depth -5.69 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: 3 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 - - 106 - - - 2786 - -97.3 -80.80 - 3189 - - - - - - - - 11.21 10.45 11.20
104 -1.2 -7.5 3 128 roll -1.04 19.00 0.379 2558 129.1 3.35 0.032 1353 -427.8 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.04
164 22.1 -25.8 12 169 done -0.73 0.62 0.265 2654 154.8 3.58 0.080 2771 396.1 -97.3 - - 3191 - - - - - - - - 10.90 10.98 11.07
486 60.0 -8.5 25 491 roll -0.73 - - 2654 - 3.33 0.036 1356 -424.9 -97.3 - - 3193 - - - - - - - - 11.23 11.05 11.22
724 74.4 -5.7 59 729 done -0.73 - - 2644 - 3.55 0.086 2758 394.9 -97.3 - - 3193 - - - - - - - - 11.11 11.00 11.12
1046 87.2 -5.1 72 1051 roll -0.73 - - 2645 - 3.30 0.037 1353 -425.8 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
1165 93.9 -4.9 89 1170 done -0.73 - - 2634 - 3.58 0.087 2754 391.3 -97.3 - - 3192 - - - - - - - - 11.12 11.00 11.12
1494 115.6 -6.6 99 1499 roll -0.73 - - 2625 - 2.85 0.146 3824 375.4 -97.3 - - 3191 - - - - - - - - 11.24 10.97 11.24
1585 122.1 -7.0 112 1590 done -0.73 0.15 0.209 2653 186.7 2.42 0.047 2746 -445.5 -97.3 - - 3191 - - - - - - - - 10.96 11.10 11.10
1942 142.7 -5.5 121 1947 roll -0.73 - - 2655 - 3.22 0.038 1366 -428.6 -97.3 - - 3190 - - - - - - - - 11.24 11.07 11.24
2033 149.8 -7.5 134 2039 done -0.81 - - 2645 - 3.58 0.089 2759 389.1 -97.3 - - 3189 - - - - - - - - 11.12 11.00 11.13
2390 171.2 -5.7 143 2395 roll -0.81 - - 2637 - 2.88 0.152 3828 371.2 -97.3 - - 3187 - - - - - - - - 11.24 10.97 11.24
2432 173.3 -4.3 149 2436 done -0.81 - - 2637 - 2.45 0.048 2747 -441.2 -97.3 - - 3186 - - - - - - - - 11.14 11.10 11.14
2782 198.3 -5.8 157 2787 roll -0.81 - - 2637 - 3.25 0.037 1359 -427.1 -97.3 - - 3185 - - - - - - - - 11.24 11.07 11.24
2859 203.4 -6.6 168 2864 done -0.81 - - 2627 - 3.60 0.090 2758 388.6 -97.3 - - 3184 - - - - - - - - 11.12 11.00 11.14
3174 223.9 -6.5 178 3180 roll -0.81 - - 2626 - 3.28 0.038 1355 -427.7 -97.3 - - 3182 - - - - - - - - 11.24 11.05 11.24
3230 228.2 -6.7 186 3236 done -0.81 - - 2616 - 3.60 0.091 2748 386.9 -97.3 - - 3182 - - - - - - - - 11.12 11.00 11.14
3566 252.3 -7.3 199 3571 roll -0.81 - - 2616 - 3.30 0.037 1359 -420.9 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3643 259.7 -8.8 210 3649 done -0.81 0.12 0.226 2629 108.3 3.58 0.091 2741 386.0 -97.3 - - 3180 - - - - - - - - 10.97 11.00 11.10
3958 284.6 -7.8 220 3963 roll -0.81 - - 2622 - 2.95 0.156 3831 369.5 -97.3 - - 3179 - - - - - - - - 11.25 10.97 11.26
4056 292.8 -8.1 234 4062 done -0.81 - - 2621 - 2.50 0.049 2735 -438.4 -97.3 - - 3179 - - - - - - - - 11.14 11.11 11.15
4406 317.1 -6.7 242 4412 roll -0.81 - - 2621 - 3.22 0.036 1360 -427.0 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.24
4546 326.2 -6.5 262 4552 done -0.81 - - 2611 - 3.58 0.092 2749 388.0 -97.3 - - 3176 - - - - - - - - 11.12 11.00 11.14
4910 351.3 -6.9 272 4915 roll -0.81 - - 2603 - 2.90 0.152 3825 371.0 -97.3 - - 3174 - - - - - - - - 11.24 10.98 11.25
4973 355.9 -7.4 281 4978 done -0.81 0.15 0.216 2631 186.7 2.50 0.051 2735 -436.0 -97.3 - - 3174 - - - - - - - - 10.97 11.10 11.11
5302 375.9 -6.0 293 5307 roll -0.81 - - 2631 - 3.25 0.037 1350 -426.2 -97.3 - - 3173 - - - - - - - - 11.25 11.07 11.24
5449 384.6 -5.9 314 5454 done -0.81 - - 2622 - 3.58 0.090 2735 386.9 -97.3 - - 3173 - - - - - - - - 11.12 11.00 11.14
5806 408.5 -6.9 323 5811 roll -0.81 - - 2621 - 3.30 0.037 1351 -419.4 -97.3 - - 3171 - - - - - - - - 11.24 11.07 11.25
5918 416.8 -7.2 339 5923 done -0.81 - - 2611 - 3.58 0.090 2736 386.9 -97.3 - - 3171 - - - - - - - - 11.13 11.00 11.14
6254 441.7 -7.5 352 6259 roll -0.81 - - 2610 - 3.30 0.038 1350 -420.0 -97.3 - - 3170 - - - - - - - - 11.26 11.07 11.26
6303 445.2 -6.9 359 6309 done -0.81 0.15 0.220 2629 126.7 3.55 0.089 2729 388.5 -97.3 - - 3170 - - - - - - - - 10.98 10.98 11.11
6417 end dive: TARGET_DEPTH_EXCEEDED
6417 begin apogee
6428 452.6 -6.2 362 6542 roll -0.23 0.93 0.183 2820 205.4 0.12 0.151 2265 -3866.7 - 110.88 1.491 2799 -3.3 0.245 - - - - - - 10.99 10.94 10.43
6543 end apogee: CONTROL_FINISHED_OK
6543 begin loiter
6775 453.6 1.0 397 6779 done -0.23 - - 2821 - 0.08 0.110 2214 -637.5 - - - 2787 - - - - - - - - 11.10 11.07 11.10
7104 450.1 1.0 409 7106 done -0.62 0.40 0.052 2704 -292.5 - - 2214 - -16.8 - - 2786 - - - - - - - - 11.07 11.13 11.12
7440 447.7 0.8 415 7441 done -0.78 0.15 0.064 2641 -420.0 - - 2215 - -29.8 - - 2785 - - - - - - - - 11.10 11.14 11.13
7776 444.3 1.1 421 7777 done -0.78 - - 2641 - - - 2215 - -29.8 - - 2784 - - - - - - - - 11.25 11.26 11.26
8112 440.2 1.2 427 8113 done -0.78 - - 2641 - - - 2215 - -29.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
8448 435.7 1.3 433 8449 done -0.78 - - 2642 - - - 2215 - -29.8 - - 2782 - - - - - - - - 11.26 11.26 11.26
8784 431.2 1.4 439 8785 done -0.78 - - 2641 - - - 2214 - -29.8 - - 2782 - - - - - - - - 11.27 11.26 11.26
9120 425.9 1.6 445 9121 done -0.78 - - 2641 - - - 2214 - -29.8 - - 2781 - - - - - - - - 11.26 11.26 11.26
9456 421.6 1.2 451 9457 done -0.78 - - 2641 - - - 2215 - -29.8 - - 2780 - - - - - - - - 11.26 11.26 11.26
9792 418.3 0.9 457 9793 done -0.80 - - 2641 - - - 2214 - -45.8 - - 2780 - - - - - - - - 11.27 11.27 11.27
10128 414.9 1.0 463 10129 done -0.80 - - 2641 - - - 2215 - -45.8 - - 2780 - - - - - - - - 11.27 11.27 11.27
10464 410.6 1.4 469 10464 done -0.80 - - 2641 - - - 2214 - -45.8 - - 2779 - - - - - - - - 11.27 11.27 11.27
10800 407.2 0.9 475 10801 done -0.81 - - 2641 - - - 2214 - -60.6 - - 2778 - - - - - - - - 11.27 11.27 11.28
11136 407.4 -0.2 481 11137 done -0.81 - - 2641 - - - 2213 - -56.7 - - 2777 - - - - - - - - 11.28 11.27 11.27
11472 409.2 -0.5 487 11473 done -0.80 - - 2641 - - - 2214 - -47.9 - - 2778 - - - - - - - - 11.27 11.27 11.28
11808 410.3 -0.3 493 11809 done -0.79 - - 2641 - - - 2214 - -43.1 - - 2777 - - - - - - - - 11.28 11.27 11.27
12144 409.9 0.3 499 12145 done -0.80 - - 2641 - - - 2214 - -47.8 - - 2777 - - - - - - - - 11.27 11.27 11.27
12480 406.7 1.1 505 12481 done -0.80 - - 2641 - - - 2215 - -47.8 - - 2777 - - - - - - - - 11.28 11.28 11.28
12816 401.3 1.7 511 12817 done -0.80 - - 2641 - - - 2215 - -47.8 - - 2777 - - - - - - - - 11.28 11.28 11.28
13152 396.5 1.3 517 13153 done -0.80 - - 2641 - - - 2214 - -47.8 - - 2777 - - - - - - - - 11.28 11.28 11.28
13488 395.9 - 523 13489 done -0.80 - - 2641 - - - 2214 - -47.6 - - 2777 - - - - - - - - 11.28 11.28 11.28
13824 397.7 -0.6 529 13825 done -0.79 - - 2641 - - - 2214 - -37.8 - - 2777 - - - - - - - - 11.28 11.28 11.28
14160 398.4 -0.1 535 14161 done -0.78 - - 2641 - - - 2215 - -36.4 - - 2777 - - - - - - - - 11.28 11.28 11.29
14496 396.2 0.8 541 14497 done -0.80 - - 2641 - - - 2214 - -50.4 - - 2777 - - - - - - - - 11.28 11.29 11.28
14832 390.8 1.8 547 14833 done -0.80 - - 2641 - - - 2215 - -50.4 - - 2777 - - - - - - - - 11.28 11.28 11.28
15168 384.5 1.8 553 15169 done -0.80 - - 2641 - - - 2214 - -50.4 - - 2777 - - - - - - - - 11.29 11.31 11.29
15504 381.7 0.6 559 15505 done -0.81 - - 2642 - - - 2214 - -60.5 - - 2777 - - - - - - - - 11.29 11.28 11.29
15840 384.3 -1.1 565 15841 done -0.79 - - 2641 - - - 2214 - -42.4 - - 2777 - - - - - - - - 11.28 11.29 11.28
16176 389.4 -1.5 571 16177 done -0.76 - - 2641 - - - 2214 - -16.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
16512 391.3 -0.3 577 16513 done -0.75 - - 2641 - - - 2214 - -11.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
16848 388.2 1.1 583 16849 done -0.75 - - 2640 - - - 2214 - -11.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
17184 383.6 1.4 589 17185 done -0.75 - - 2641 - - - 2214 - -11.8 - - 2777 - - - - - - - - 11.28 11.28 11.28
17520 381.0 0.6 595 17521 done -0.77 - - 2641 - - - 2214 - -22.3 - - 2777 - - - - - - - - 11.28 11.29 11.29
17856 381.4 -0.2 601 17857 done -0.76 - - 2641 - - - 2214 - -18.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
18192 383.4 -0.6 607 18193 done -0.75 - - 2641 - - - 2214 - -7.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
18528 385.8 -0.7 613 18529 done -0.73 - - 2641 - - - 2214 - 4.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
18864 386.5 -0.1 619 18865 done -0.73 - - 2641 - - - 2214 - 6.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
19200 384.1 0.9 625 19201 done -0.75 - - 2640 - - - 2215 - -8.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
19536 381.1 0.8 631 19537 done -0.77 - - 2641 - - - 2214 - -22.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
19872 380.2 0.2 637 19873 done -0.77 - - 2641 - - - 2214 - -25.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
20208 380.8 -0.2 643 20209 done -0.77 - - 2641 - - - 2214 - -21.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
20544 382.9 -0.7 649 20545 done -0.75 - - 2641 - - - 2215 - -9.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
20880 384.4 -0.4 655 20881 done -0.74 - - 2641 - - - 2214 - -3.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21216 383.6 0.3 661 21217 done -0.75 - - 2641 - - - 2214 - -9.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
21552 382.5 0.3 667 21553 done -0.76 - - 2641 - - - 2215 - -14.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
21888 383.0 -0.2 673 21889 done -0.75 - - 2641 - - - 2214 - -10.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
22224 383.3 - 679 22225 done -0.75 - - 2641 - - - 2214 - -9.8 - - 2777 - - - - - - - - 11.29 11.30 11.29
22560 383.6 -0.2 685 22561 done -0.75 - - 2641 - - - 2214 - -7.1 - - 2776 - - - - - - - - 11.29 11.33 11.29
22896 384.8 -0.3 691 22897 done -0.74 - - 2641 - - - 2214 - -1.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
23232 384.3 0.2 697 23233 done -0.75 - - 2641 - - - 2214 - -4.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
23568 385.4 -0.4 703 23569 done -0.74 - - 2641 - - - 2214 - 2.8 - - 2776 - - - - - - - - 11.29 11.30 11.26
23904 387.7 -0.7 709 23920 done -0.72 - - 2641 - - - 2214 - 15.0 15.30 1.418 2740 -2.4 0.155 - - - - - - 11.29 11.02 10.45
24240 385.8 0.7 715 24241 done -0.74 - - 2641 - - - 2214 - 3.4 - - 2729 - - - - - - - - 11.28 11.28 11.28
24571 end loiter: LOITER_COMPLETE
24571 begin climb
24576 382.1 - 721 24687 roll 1.04 2.70 0.178 3211 211.1 3.95 0.132 3658 365.6 97.3 99.82 1.414 2403 -3.3 0.213 - - - - - - 11.00 10.89 10.43
24846 362.4 9.9 759 24851 done 0.92 - - 3222 - 3.22 0.041 2263 -433.2 97.3 - - 2396 - - - - - - - - 11.11 11.07 11.12
25196 330.9 8.8 767 25202 roll 0.84 0.20 0.203 3188 -170.0 3.40 0.052 846 -416.8 97.3 - - 2393 - - - - - - - - 10.95 11.03 11.05
25245 325.3 4.3 774 25334 done 0.93 - - 3188 - 3.42 0.064 2247 409.6 165.4 81.47 1.319 2136 -3.2 0.187 - - - - - - 11.11 11.00 10.48
25649 288.3 9.7 796 25650 done 0.93 - - 3188 - - - 2248 - 165.4 - - 2120 - - - - - - - - 11.21 11.21 11.20
25980 257.4 9.2 802 25986 roll 0.93 - - 3188 - 3.83 0.138 3669 371.0 165.4 - - 2118 - - - - - - - - 11.23 10.95 11.23
26092 245.7 10.6 818 26098 done 0.93 - - 3199 - 3.22 0.041 2248 -441.3 165.4 - - 2118 - - - - - - - - 11.12 11.07 11.13
26428 212.2 9.9 831 26433 roll 0.93 - - 3199 - 3.85 0.138 3662 367.3 165.4 - - 2117 - - - - - - - - 11.24 10.94 11.24
26449 210.2 9.8 834 26455 done 0.93 - - 3209 - 3.25 0.041 2252 -433.8 165.4 - - 2118 - - - - - - - - 11.12 11.07 11.14
26764 178.4 10.3 844 26769 roll 0.93 - - 3209 - 3.85 0.142 3663 366.5 165.4 - - 2117 - - - - - - - - 11.23 10.95 11.23
26820 171.9 11.9 852 26825 done 0.93 - - 3220 - 3.28 0.041 2247 -431.7 165.4 - - 2117 - - - - - - - - 11.12 11.07 11.14
27156 136.2 10.6 865 27161 roll 0.93 - - 3220 - 3.88 0.141 3668 366.2 165.4 - - 2117 - - - - - - - - 11.24 10.95 11.24
27212 130.3 10.8 873 27217 done 0.84 0.28 0.201 3176 -157.1 3.28 0.042 2248 -432.9 165.4 - - 2117 - - - - - - - - 10.96 11.08 11.10
27548 102.9 8.2 886 27554 roll 0.85 - - 3176 - 3.88 0.141 3671 366.8 168.4 - - 2116 - - - - - - - - 11.24 10.96 11.24
27618 96.2 9.7 896 27623 done 0.85 - - 3186 - 3.25 0.043 2257 -435.1 168.4 - - 2116 - - - - - - - - 11.14 11.08 11.14
27941 65.2 8.3 909 27945 roll 0.85 - - 3197 - 3.38 0.054 847 -417.2 169.1 - - 2116 - - - - - - - - 11.24 11.04 11.24
27982 62.0 7.7 915 27995 done 0.86 - - 3197 - 3.47 0.067 2270 410.1 179.7 6.70 0.255 2086 -4.5 0.262 - - - - - - 11.12 11.00 10.87
28304 48.6 3.9 928 28379 roll 0.95 - - 3205 - 3.50 0.054 846 -406.9 254.4 65.95 0.312 1788 -4.5 0.170 - - - - - - 11.24 11.00 10.87
28612 34.5 2.7 972 28695 done 1.28 0.32 0.047 3311 331.2 3.42 0.060 2262 414.0 350.7 76.75 0.269 1405 -5.0 0.154 - - - - - - 11.08 11.00 10.89
29004 4.0 8.5 995 29009 roll 1.36 - - 3321 - 3.40 0.055 855 -413.8 350.7 - - 1409 - - - - - - - - 11.23 11.02 11.23
29027 end climb: SURFACE_DEPTH_REACHED
29027 begin surface coast
29034 end surface coast: CONTROL_FINISHED_OK
29034 begin surface
SM -7.24 - - - - -8.40 12.50 0.073 202 16.2 4.88 0.084 2774 436.5 500.14 103.22 0.138 807 7.8 0.042 - - - - - -