SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 836 * Raw log
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• Previous call tries 1 • 280.81 of 350.00 AH used of 24V (19.77% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.6 deg, depth -6.89 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 99 done -1.04 - - 107 - - - 2785 - -97.3 -80.72 - 3190 - - - - - - - - 11.21 10.45 11.20
104 -1.8 -8.0 3 127 done -1.04 19.17 0.379 2555 127.7 - - 2785 - -97.3 - - 3191 - - - - - - - - 10.84 11.07 11.05
437 57.9 -8.3 15 442 roll -0.88 0.28 0.238 2601 164.3 2.80 0.142 3836 375.4 -97.3 - - 3193 - - - - - - - - 10.93 10.96 11.05
493 60.6 -4.8 23 498 done -0.76 0.25 0.220 2650 196.0 2.45 0.047 2748 -444.1 -97.3 - - 3194 - - - - - - - - 10.94 11.09 11.09
829 73.8 -5.3 38 834 roll -0.76 - - 2649 - 3.25 0.037 1353 -429.2 -97.3 - - 3194 - - - - - - - - 11.24 11.05 11.24
885 77.8 -6.4 46 890 done -0.76 - - 2639 - 3.60 0.090 2758 390.3 -97.3 - - 3194 - - - - - - - - 11.11 11.00 11.12
1221 101.9 -8.0 61 1222 done -0.76 - - 2640 - - - 2758 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1557 124.6 -6.7 67 1558 done -0.76 - - 2640 - - - 2758 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1893 148.3 -7.2 73 1899 roll -0.76 - - 2639 - 3.33 0.039 1358 -420.4 -97.3 - - 3190 - - - - - - - - 11.25 11.06 11.25
1970 153.9 -6.9 84 1975 done -0.76 - - 2629 - 3.62 0.093 2758 386.7 -97.3 - - 3189 - - - - - - - - 11.12 11.00 11.13
2285 176.5 -7.1 94 2290 roll -0.76 - - 2629 - 3.33 0.038 1357 -420.7 -97.3 - - 3187 - - - - - - - - 11.25 11.06 11.25
2376 183.1 -7.8 107 2381 done -0.76 0.15 0.220 2648 126.7 3.60 0.092 2748 386.4 -97.3 - - 3187 - - - - - - - - 10.96 11.00 11.10
2733 209.7 -7.7 116 2738 roll -0.76 - - 2648 - 3.33 0.038 1352 -419.2 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.25
2775 212.8 -7.6 122 2780 done -0.76 - - 2638 - 3.60 0.093 2745 386.9 -97.3 - - 3184 - - - - - - - - 11.12 11.00 11.14
3125 239.8 -7.7 130 3130 roll -0.76 - - 2637 - 3.30 0.039 1359 -420.0 -97.3 - - 3183 - - - - - - - - 11.25 11.06 11.25
3160 242.7 -8.6 135 3165 done -0.76 - - 2628 - 3.60 0.093 2747 385.6 -97.3 - - 3183 - - - - - - - - 11.12 11.00 11.13
3517 270.8 -7.9 144 3518 done -0.76 - - 2628 - - - 2746 - -97.3 - - 3181 - - - - - - - - 11.24 11.24 11.24
3853 297.5 -7.9 150 3858 roll -0.76 - - 2627 - 3.33 0.038 1354 -418.0 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
4000 308.4 -6.7 171 4005 done -0.76 0.17 0.220 2651 141.2 3.60 0.093 2742 385.6 -97.3 - - 3179 - - - - - - - - 10.96 11.00 11.11
4357 329.6 -5.7 180 4362 roll -0.84 - - 2643 - 2.95 0.158 3825 367.1 -97.3 - - 3178 - - - - - - - - 11.25 10.96 11.26
4392 331.7 -5.9 185 4398 done -0.84 - - 2643 - 2.50 0.052 2738 -434.8 -97.3 - - 3177 - - - - - - - - 11.14 11.10 11.15
4749 351.0 -5.3 194 4754 roll -0.84 - - 2643 - 3.28 0.040 1354 -422.0 -97.3 - - 3175 - - - - - - - - 11.26 11.05 11.26
4882 359.2 -6.1 213 4888 done -0.92 - - 2633 - 3.58 0.092 2734 385.5 -97.3 - - 3174 - - - - - - - - 11.13 11.00 11.14
5197 380.0 -6.7 223 5202 roll -0.92 - - 2624 - 2.97 0.155 3835 370.7 -97.3 - - 3173 - - - - - - - - 11.25 10.98 11.24
5302 387.7 -7.0 238 5308 done -0.92 - - 2623 - 2.55 0.054 2730 -433.3 -97.3 - - 3174 - - - - - - - - 11.15 11.10 11.15
5645 411.9 -7.2 245 5651 roll -0.92 - - 2625 - 3.25 0.040 1356 -422.8 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
5701 416.0 -7.3 253 5707 done -0.92 - - 2614 - 3.60 0.091 2742 385.0 -97.3 - - 3173 - - - - - - - - 11.12 11.00 11.14
6037 441.8 -7.8 266 6042 roll -0.92 - - 2606 - 2.90 0.155 3832 375.9 -97.3 - - 3170 - - - - - - - - 11.25 10.97 11.25
6079 445.3 -8.7 272 6083 done -0.92 - - 2605 - 2.55 0.054 2728 -432.9 -97.3 - - 3171 - - - - - - - - 11.14 11.10 11.15
6144 end dive: TARGET_DEPTH_EXCEEDED
6144 begin apogee
6156 451.2 -8.4 275 6269 roll -0.23 1.05 0.195 2817 201.9 0.15 0.142 2265 -3086.7 - 110.53 1.493 2798 -3.4 0.246 - - - - - - 10.98 10.97 10.43
6270 end apogee: CONTROL_FINISHED_OK
6270 begin loiter
6277 455.8 - 278 6282 done -0.23 - - 2817 - - - 2265 - - - - 2790 - - - - - - - - 11.17 11.17 11.17
6607 457.3 -0.1 290 6608 done -0.58 0.35 0.052 2713 -297.1 - - 2265 - 1.8 - - 2785 - - - - - - - - 11.07 11.12 11.11
6943 454.8 0.8 296 6944 done -0.76 0.15 0.065 2651 -413.3 - - 2265 - -12.2 - - 2785 - - - - - - - - 11.10 11.15 11.13
7279 451.5 1.0 302 7279 done -0.76 - - 2652 - - - 2265 - -12.2 - - 2784 - - - - - - - - 11.26 11.26 11.26
7615 447.0 1.4 308 7615 done -0.76 - - 2651 - - - 2265 - -12.2 - - 2783 - - - - - - - - 11.26 11.26 11.26
7951 439.7 2.4 314 7951 done -0.76 - - 2651 - - - 2265 - -12.2 - - 2782 - - - - - - - - 11.26 11.26 11.26
8287 431.5 2.3 320 8287 done -0.76 - - 2651 - - - 2265 - -12.2 - - 2781 - - - - - - - - 11.26 11.26 11.26
8623 428.0 0.7 326 8624 done -0.78 - - 2652 - - - 2265 - -24.8 - - 2781 - - - - - - - - 11.26 11.26 11.26
8959 428.6 -0.3 332 8960 done -0.77 - - 2652 - - - 2265 - -20.2 - - 2780 - - - - - - - - 11.27 11.27 11.27
9295 429.2 - 338 9296 done -0.77 - - 2652 - - - 2265 - -20.3 - - 2780 - - - - - - - - 11.27 11.27 11.27
9631 425.5 1.2 344 9631 done -0.77 - - 2651 - - - 2265 - -20.3 - - 2779 - - - - - - - - 11.27 11.26 11.27
9967 420.8 1.4 350 9968 done -0.77 - - 2651 - - - 2265 - -20.3 - - 2778 - - - - - - - - 11.27 11.27 11.27
10303 416.7 1.1 356 10304 done -0.77 - - 2652 - - - 2265 - -20.3 - - 2778 - - - - - - - - 11.27 11.27 11.28
10639 413.9 0.7 362 10640 done -0.79 - - 2651 - - - 2265 - -32.6 - - 2778 - - - - - - - - 11.27 11.27 11.28
10975 413.5 0.1 368 10976 done -0.79 - - 2651 - - - 2265 - -34.2 - - 2777 - - - - - - - - 11.27 11.27 11.28
11311 412.3 0.4 374 11312 done -0.80 - - 2652 - - - 2265 - -41.4 - - 2777 - - - - - - - - 11.28 11.27 11.28
11647 411.0 0.3 380 11648 done -0.81 - - 2651 - - - 2265 - -46.4 - - 2777 - - - - - - - - 11.27 11.28 11.28
11983 411.1 - 386 11984 done -0.81 - - 2652 - - - 2265 - -46.0 - - 2777 - - - - - - - - 11.28 11.28 11.28
12319 408.8 0.9 392 12320 done -0.82 - - 2652 - - - 2265 - -60.5 - - 2776 - - - - - - - - 11.28 11.27 11.29
12655 404.4 1.4 398 12656 done -0.82 - - 2651 - - - 2265 - -60.5 - - 2776 - - - - - - - - 11.28 11.28 11.29
12991 400.4 1.1 404 12992 done -0.82 - - 2651 - - - 2265 - -60.5 - - 2776 - - - - - - - - 11.28 11.29 11.28
13327 400.5 -0.3 410 13328 done -0.82 - - 2651 - - - 2265 - -55.5 - - 2777 - - - - - - - - 11.28 11.29 11.29
13663 403.8 -1.0 416 13664 done -0.80 - - 2651 - - - 2265 - -38.0 - - 2777 - - - - - - - - 11.28 11.28 11.28
13999 405.1 -0.2 422 14000 done -0.79 - - 2652 - - - 2265 - -34.2 - - 2776 - - - - - - - - 11.29 11.28 11.29
14335 403.2 0.7 428 14336 done -0.81 - - 2652 - - - 2265 - -45.5 - - 2776 - - - - - - - - 11.28 11.28 11.28
14671 400.9 0.6 434 14672 done -0.82 - - 2652 - - - 2265 - -56.0 - - 2777 - - - - - - - - 11.28 11.28 11.29
15007 401.0 -0.2 440 15008 done -0.81 - - 2652 - - - 2265 - -52.8 - - 2776 - - - - - - - - 11.28 11.29 11.29
15343 401.7 -0.2 446 15344 done -0.81 - - 2652 - - - 2265 - -49.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
15679 399.8 0.7 452 15680 done -0.82 - - 2651 - - - 2265 - -61.5 - - 2777 - - - - - - - - 11.28 11.29 11.28
16015 397.3 0.7 458 16016 done -0.84 - - 2651 - - - 2265 - -72.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
16351 397.5 -0.2 464 16352 done -0.84 - - 2651 - - - 2265 - -70.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
16687 399.1 -0.6 470 16688 done -0.82 - - 2651 - - - 2265 - -60.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
17023 402.4 -1.0 476 17024 done -0.80 - - 2651 - - - 2265 - -43.0 - - 2776 - - - - - - - - 11.29 11.29 11.32
17359 404.4 -0.5 482 17360 done -0.79 - - 2651 - - - 2265 - -35.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
17695 403.0 0.6 488 17696 done -0.80 - - 2652 - - - 2265 - -45.2 - - 2776 - - - - - - - - 11.29 11.26 11.28
18031 399.2 1.2 494 18031 done -0.80 - - 2651 - - - 2265 - -45.2 - - 2776 - - - - - - - - 11.29 11.28 11.29
18367 396.1 0.8 500 18368 done -0.82 - - 2652 - - - 2265 - -59.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
18703 393.1 1.0 506 18704 done -0.84 - - 2651 - - - 2265 - -75.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
19039 389.7 1.0 512 19040 done -0.86 - - 2652 - - - 2265 - -92.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
19375 387.9 0.5 518 19376 done -0.87 - - 2651 - - - 2265 - -100.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
19711 388.0 -0.1 524 19712 done -0.87 - - 2651 - - - 2265 - -98.2 - - 2776 - - - - - - - - 11.28 11.29 11.29
20047 388.9 -0.3 530 20048 done -0.86 - - 2652 - - - 2265 - -93.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
20383 389.6 -0.2 536 20384 done -0.86 - - 2651 - - - 2265 - -89.8 - - 2776 - - - - - - - - 11.29 11.33 11.26
20719 390.6 -0.3 542 20720 done -0.85 - - 2651 - - - 2265 - -84.7 - - 2776 - - - - - - - - 11.29 11.28 11.29
21055 393.0 -0.8 548 21056 done -0.84 - - 2651 - - - 2265 - -70.9 - - 2776 - - - - - - - - 11.29 11.29 11.28
21391 396.8 -1.2 554 21392 done -0.81 - - 2652 - - - 2265 - -50.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
21727 399.6 -0.7 560 21728 done -0.80 - - 2651 - - - 2265 - -38.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
22063 399.8 0.1 566 22064 done -0.80 - - 2651 - - - 2265 - -39.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
22399 398.6 0.4 572 22400 done -0.81 - - 2651 - - - 2265 - -45.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
22735 397.9 0.2 578 22736 done -0.81 - - 2652 - - - 2265 - -49.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
23071 399.1 -0.5 584 23072 done -0.80 - - 2651 - - - 2264 - -40.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
23407 401.0 -0.5 590 23408 done -0.79 - - 2651 - - - 2265 - -32.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
23743 398.9 0.9 596 23744 done -0.81 - - 2651 - - - 2265 - -47.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
24079 394.7 1.2 602 24080 done -0.81 - - 2651 - - - 2265 - -47.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
24298 end loiter: LOITER_COMPLETE
24298 begin climb
24303 393.9 - 606 24428 roll 1.04 2.62 0.174 3222 217.9 3.45 0.056 867 -405.2 97.3 114.45 1.421 2403 -3.3 0.217 - - - - - - 11.01 10.96 10.43
24608 375.7 7.5 649 24633 done 1.06 - - 3221 - 3.40 0.067 2250 406.8 111.6 17.17 1.392 2349 -3.1 0.205 - - - - - - 11.10 10.99 10.42
24979 345.9 8.3 660 24984 roll 1.06 - - 3221 - 3.83 0.137 3669 370.5 112.4 - - 2339 - - - - - - - - 11.22 10.95 11.22
25028 341.2 9.9 667 25035 done 0.93 0.15 0.216 3203 -120.0 3.22 0.041 2269 -434.8 112.4 - - 2339 - - - - - - - - 10.95 11.07 11.10
25371 310.9 9.0 674 25376 roll 0.93 - - 3214 - 3.40 0.054 852 -416.8 112.4 - - 2337 - - - - - - - - 11.24 11.03 11.24
25448 303.8 9.2 685 25453 done 0.93 - - 3213 - 3.42 0.064 2251 409.1 112.4 - - 2337 - - - - - - - - 11.11 11.00 11.12
25763 274.1 9.5 695 25764 done 0.93 - - 3213 - - - 2252 - 112.4 - - 2337 - - - - - - - - 11.24 11.24 11.23
26099 243.5 9.0 701 26104 roll 0.93 - - 3224 - 3.40 0.054 848 -412.9 112.4 - - 2337 - - - - - - - - 11.24 11.04 11.24
26246 230.5 8.7 722 26250 done 0.93 - - 3224 - 3.47 0.070 2256 405.8 112.4 - - 2337 - - - - - - - - 11.12 10.99 11.13
26603 196.8 9.5 731 26609 roll 0.93 - - 3224 - 3.80 0.142 3668 371.6 112.4 - - 2336 - - - - - - - - 11.24 10.96 11.24
26659 190.8 10.9 739 26665 done 0.81 0.35 0.207 3166 -165.7 3.30 0.042 2238 -433.3 112.4 - - 2337 - - - - - - - - 10.96 11.08 11.11
26995 164.7 7.5 752 27021 roll 0.83 - - 3176 - 3.40 0.054 853 -407.4 126.3 16.30 1.125 2286 -3.1 0.110 - - - - - - 11.25 10.99 10.55
27065 159.4 7.7 762 27077 done 0.84 - - 3176 - 3.42 0.069 2247 407.6 137.1 5.53 0.991 2256 -5.4 0.210 - - - - - - 11.10 10.98 10.52
27387 135.1 7.4 773 27421 roll 0.86 - - 3176 - 3.95 0.145 3667 359.5 153.1 28.38 1.115 2182 -2.6 0.076 - - - - - - 11.24 10.90 10.55
27443 131.0 7.7 781 27454 done 0.87 - - 3187 - 3.30 0.043 2236 -433.6 163.0 4.25 0.863 2153 -6.8 0.250 - - - - - - 11.10 11.05 10.48
27772 104.3 8.2 793 27783 roll 0.87 - - 3187 - 3.97 0.145 3663 359.4 164.8 3.53 0.182 2149 -1.1 0.157 - - - - - - 11.24 10.93 10.89
27807 101.2 8.5 798 27819 done 0.87 - - 3198 - 3.28 0.042 2239 -434.1 164.8 2.85 0.188 2147 - - - - - - - - 11.12 11.07 10.91
28136 73.1 8.8 812 28140 done 0.87 - - 3198 - - - 2242 - 164.8 3.17 0.172 2143 -1.3 0.129 - - - - - - 11.23 11.09 10.93
28445 47.9 6.8 823 28477 roll 0.91 - - 3197 - 3.92 0.143 3667 363.5 191.5 24.73 0.306 2042 -4.1 0.154 - - - - - - 11.24 10.93 10.88
28640 36.0 4.7 851 28695 done 0.98 - - 3208 - 3.30 0.044 2234 -434.2 252.4 49.70 0.275 1796 -4.9 0.156 - - - - - - 11.13 11.09 10.89
29009 24.8 3.0 870 29087 roll 1.31 0.32 0.048 3329 378.1 3.33 0.060 859 -412.9 342.5 69.88 0.237 1437 -5.1 0.130 - - - - - - 11.07 11.00 10.93
29256 5.2 10.6 906 29261 done 1.31 - - 3329 - 3.42 0.068 2259 409.4 342.5 - - 1440 - - - - - - - - 11.11 10.99 11.12
29307 end climb: SURFACE_DEPTH_REACHED
29307 begin surface coast
29335 end surface coast: CONTROL_FINISHED_OK
29335 begin surface
SM -6.21 - - - - -8.39 12.52 0.076 200 16.0 1.38 0.120 2769 1260.1 500.14 108.50 0.135 808 7.4 0.035 - - - - - -