SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 839 * Raw log
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• Previous call tries 1 • 281.44 of 350.00 AH used of 24V (19.59% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -65.7 deg, depth -1.01 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: 2 s • Transponder ping count: 2
• 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
8 end surface: CONTROL_FINISHED_OK
9 begin dive
14 - - - 99 done -1.04 - - 106 - - - 2794 - -97.3 -83.15 - 3190 - - - - - - - - 11.21 10.45 11.21
104 1.9 -4.8 3 131 roll -1.04 18.83 0.376 2553 130.0 3.35 0.034 1361 -427.8 -97.3 - - 3190 - - - - - - - - 10.85 11.01 11.05
155 23.0 -33.1 11 161 done -0.54 0.98 0.256 2717 167.3 3.60 0.090 2764 389.7 -97.3 - - 3191 - - - - - - - - 10.90 10.98 11.06
484 57.8 -5.0 25 490 roll -0.54 - - 2709 - 2.88 0.151 3832 370.8 -97.3 - - 3192 - - - - - - - - 11.23 10.95 11.24
624 64.2 -5.1 45 630 done -0.54 - - 2709 - 2.42 0.049 2767 -440.1 -97.3 - - 3192 - - - - - - - - 11.13 11.09 11.14
960 78.0 -4.2 60 965 roll -0.66 - - 2714 - 3.28 0.036 1352 -431.4 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
1175 91.0 -5.2 90 1180 done -0.80 0.15 0.067 2637 -513.3 3.60 0.089 2770 393.9 -97.3 - - 3193 - - - - - - - - 11.09 11.00 11.12
1524 106.3 -3.8 101 1525 done -0.80 - - 2637 - - - 2770 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1860 128.8 -7.9 107 1861 done -0.80 - - 2637 - - - 2770 - -97.3 - - 3191 - - - - - - - - 11.25 11.25 11.25
2196 159.3 -8.9 113 2196 done -0.80 - - 2637 - - - 2770 - -97.3 - - 3189 - - - - - - - - 11.25 11.24 11.25
2532 180.1 -6.2 119 2537 roll -0.80 - - 2636 - 3.35 0.037 1356 -422.1 -97.3 - - 3187 - - - - - - - - 11.24 11.07 11.25
2581 187.9 -5.0 126 2587 done -0.80 - - 2626 - 3.65 0.089 2781 390.4 -97.3 - - 3188 - - - - - - - - 11.12 11.00 11.12
2924 207.5 -6.0 133 2930 roll -0.80 - - 2618 - 2.80 0.148 3824 372.5 -97.3 - - 3185 - - - - - - - - 11.25 10.97 11.25
3015 214.0 -7.3 146 3019 done -0.80 - - 2617 - 2.40 0.047 2761 -442.9 -97.3 - - 3184 - - - - - - - - 11.14 11.11 11.15
3372 239.3 -7.2 155 3377 roll -0.80 - - 2612 - 3.28 0.037 1362 -426.5 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.24
3400 241.3 -7.1 159 3405 done -0.80 0.15 0.219 2637 166.7 3.60 0.087 2771 391.4 -97.3 - - 3183 - - - - - - - - 10.97 11.01 11.10
3764 265.7 -6.7 169 3769 roll -0.80 - - 2628 - 2.85 0.157 3824 369.5 -97.3 - - 3180 - - - - - - - - 11.25 10.98 11.26
3813 268.7 -6.8 176 3819 done -0.80 - - 2628 - 2.40 0.049 2775 -437.1 -97.3 - - 3180 - - - - - - - - 11.14 11.11 11.15
4156 290.0 -6.6 183 4161 roll -0.80 - - 2628 - 3.35 0.037 1348 -426.0 -97.3 - - 3179 - - - - - - - - 11.25 11.07 11.26
4233 296.6 -7.6 194 4238 done -0.80 - - 2618 - 3.67 0.090 2778 389.6 -97.3 - - 3179 - - - - - - - - 11.12 11.01 11.14
4548 321.7 -7.9 204 4553 roll -0.80 - - 2610 - 2.85 0.155 3830 369.1 -97.3 - - 3177 - - - - - - - - 11.25 10.97 11.25
4618 327.9 -7.1 214 4623 done -0.80 0.12 0.216 2634 200.0 2.45 0.049 2754 -439.2 -97.3 - - 3177 - - - - - - - - 10.97 11.11 11.11
4940 351.4 -6.9 225 4941 done -0.80 - - 2633 - - - 2754 - -97.3 - - 3176 - - - - - - - - 11.26 11.26 11.26
5276 369.4 -5.1 231 5277 done -0.80 - - 2633 - - - 2754 - -97.3 - - 3174 - - - - - - - - 11.26 11.26 11.26
5612 386.7 -5.1 237 5617 roll -0.80 - - 2633 - 3.30 0.037 1352 -424.8 -97.3 - - 3173 - - - - - - - - 11.25 11.07 11.25
5647 388.8 -5.9 242 5652 done -0.80 - - 2623 - 3.67 0.090 2776 388.0 -97.3 - - 3173 - - - - - - - - 11.13 11.01 11.14
6004 411.4 -6.4 251 6009 roll -0.80 - - 2622 - 3.38 0.037 1356 -420.1 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.25
6053 415.0 -7.2 258 6059 done -0.80 - - 2613 - 3.65 0.089 2768 386.8 -97.3 - - 3171 - - - - - - - - 11.13 11.00 11.14
6396 441.1 -7.6 265 6402 roll -0.80 - - 2605 - 2.83 0.157 3825 373.5 -97.3 - - 3170 - - - - - - - - 11.25 10.98 11.25
6503 end dive: TARGET_DEPTH_EXCEEDED
6503 begin apogee
6517 450.5 -8.6 281 6631 roll -0.23 1.05 0.190 2819 203.8 0.08 0.173 2250 -19687.5 - 110.55 1.458 2801 -3.3 0.250 - - - - - - 10.99 10.92 10.45
6632 end apogee: CONTROL_FINISHED_OK
6632 begin loiter
6863 454.6 0.9 316 6867 done -0.25 - - 2818 - - - 2250 - -15.6 - - 2790 - - - - - - - - 11.24 11.24 11.24
7193 449.6 1.6 328 7194 done -0.61 0.38 0.052 2708 -289.5 - - 2250 - -15.6 - - 2788 - - - - - - - - 11.07 11.14 11.12
7529 443.8 1.8 334 7530 done -0.76 0.12 0.071 2650 -483.3 - - 2250 - -15.6 - - 2787 - - - - - - - - 11.10 11.14 11.14
7864 436.7 2.3 340 7865 done -0.76 - - 2650 - - - 2250 - -15.6 - - 2786 - - - - - - - - 11.26 11.26 11.26
8200 430.3 1.6 346 8201 done -0.76 - - 2650 - - - 2250 - -15.6 - - 2786 - - - - - - - - 11.26 11.26 11.26
8536 426.8 1.0 352 8537 done -0.78 - - 2650 - - - 2250 - -32.6 - - 2784 - - - - - - - - 11.26 11.26 11.26
8872 425.5 0.3 358 8873 done -0.79 - - 2649 - - - 2250 - -37.9 - - 2785 - - - - - - - - 11.27 11.26 11.27
9208 426.4 -0.3 364 9209 done -0.78 - - 2650 - - - 2250 - -33.1 - - 2784 - - - - - - - - 11.27 11.27 11.27
9544 427.5 -0.3 370 9545 done -0.78 - - 2649 - - - 2250 - -28.1 - - 2783 - - - - - - - - 11.27 11.27 11.27
9881 426.6 0.4 376 9881 done -0.78 - - 2650 - - - 2249 - -35.3 - - 2782 - - - - - - - - 11.27 11.28 11.28
10216 423.9 1.0 382 10217 done -0.80 - - 2650 - - - 2250 - -51.6 - - 2782 - - - - - - - - 11.28 11.28 11.28
10552 420.0 1.2 388 10553 done -0.80 - - 2650 - - - 2250 - -51.6 - - 2782 - - - - - - - - 11.28 11.28 11.28
10889 417.9 0.5 394 10889 done -0.81 - - 2650 - - - 2250 - -60.0 - - 2781 - - - - - - - - 11.28 11.27 11.27
11224 418.9 -0.4 400 11225 done -0.81 - - 2650 - - - 2250 - -53.1 - - 2782 - - - - - - - - 11.28 11.28 11.28
11560 422.1 -1.1 406 11561 done -0.78 - - 2650 - - - 2250 - -34.3 - - 2781 - - - - - - - - 11.28 11.28 11.28
11896 425.2 -0.8 412 11897 done -0.77 - - 2650 - - - 2250 - -19.9 - - 2781 - - - - - - - - 11.29 11.28 11.29
12232 425.8 -0.1 418 12233 done -0.76 - - 2650 - - - 2250 - -19.0 - - 2781 - - - - - - - - 11.28 11.28 11.28
12568 424.9 0.3 424 12569 done -0.77 - - 2650 - - - 2250 - -24.6 - - 2781 - - - - - - - - 11.29 11.29 11.29
12905 423.2 0.5 430 12905 done -0.78 - - 2650 - - - 2250 - -33.8 - - 2780 - - - - - - - - 11.28 11.29 11.29
13240 422.3 0.2 436 13241 done -0.79 - - 2650 - - - 2250 - -36.8 - - 2780 - - - - - - - - 11.29 11.29 11.29
13576 423.8 -0.5 442 13577 done -0.78 - - 2650 - - - 2250 - -27.7 - - 2780 - - - - - - - - 11.29 11.29 11.29
13913 424.5 -0.1 448 13913 done -0.77 - - 2650 - - - 2249 - -25.9 - - 2779 - - - - - - - - 11.28 11.29 11.29
14249 423.1 0.4 454 14249 done -0.78 - - 2650 - - - 2250 - -33.1 - - 2779 - - - - - - - - 11.29 11.29 11.29
14584 422.9 -0.1 460 14585 done -0.78 - - 2650 - - - 2250 - -32.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
14920 424.7 -0.6 466 14921 done -0.77 - - 2650 - - - 2250 - -22.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
15256 426.0 -0.3 472 15257 done -0.76 - - 2650 - - - 2250 - -16.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
15592 426.0 0.1 478 15593 done -0.76 - - 2650 - - - 2250 - -18.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
15928 423.6 0.8 484 15929 done -0.78 - - 2650 - - - 2250 - -31.9 - - 2779 - - - - - - - - 11.29 11.29 11.28
16264 421.4 0.6 490 16265 done -0.79 - - 2650 - - - 2250 - -41.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
16600 421.1 - 496 16601 done -0.79 - - 2650 - - - 2250 - -41.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
16936 422.4 -0.5 502 16937 done -0.78 - - 2650 - - - 2250 - -33.4 - - 2779 - - - - - - - - 11.29 11.29 11.29
17272 423.5 -0.3 508 17273 done -0.78 - - 2650 - - - 2250 - -28.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
17608 424.1 -0.1 514 17609 done -0.77 - - 2650 - - - 2250 - -25.8 - - 2779 - - - - - - - - 11.29 11.29 11.29
17944 423.0 0.4 520 17945 done -0.78 - - 2650 - - - 2250 - -32.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
18280 422.9 -0.1 526 18281 done -0.78 - - 2650 - - - 2250 - -31.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
18616 425.9 -1.1 532 18617 done -0.76 - - 2650 - - - 2249 - -12.9 - - 2779 - - - - - - - - 11.29 11.29 11.29
18953 430.0 -1.2 538 18956 done -0.73 - - 2650 - - - 2249 - 7.9 1.90 0.177 2766 -6.8 4.023 - - - - - - 11.29 11.14 11.02
19288 432.7 -0.7 544 19312 done -0.72 - - 2650 - - - 2250 - 19.5 22.02 1.458 2721 -2.0 0.147 - - - - - - 11.29 11.00 10.43
19624 425.7 2.5 550 19625 done -0.72 - - 2650 - - - 2250 - 19.5 - - 2708 - - - - - - - - 11.28 11.28 11.28
19960 416.6 2.7 556 19961 done -0.72 - - 2649 - - - 2249 - 19.5 - - 2708 - - - - - - - - 11.28 11.29 11.28
20296 406.5 3.1 562 20297 done -0.72 - - 2650 - - - 2250 - 19.5 - - 2708 - - - - - - - - 11.28 11.28 11.29
20632 398.1 2.4 568 20633 done -0.72 - - 2650 - - - 2249 - 19.5 - - 2708 - - - - - - - - 11.28 11.29 11.28
20968 392.9 1.4 574 20969 done -0.72 - - 2650 - - - 2250 - 19.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
21305 389.7 0.9 580 21305 done -0.74 - - 2649 - - - 2250 - 4.4 - - 2708 - - - - - - - - 11.29 11.29 11.29
21640 386.6 1.0 586 21641 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
21976 380.6 2.0 592 21977 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
22312 372.2 2.6 598 22313 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
22648 363.8 2.4 604 22649 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.28 11.29 11.29
22984 356.2 2.3 610 22985 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2709 - - - - - - - - 11.29 11.29 11.29
23320 348.9 2.1 616 23321 done -0.76 - - 2649 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
23656 341.7 2.2 622 23657 done -0.76 - - 2650 - - - 2249 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
23993 334.3 2.2 628 23994 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
24329 328.2 1.7 634 24329 done -0.76 - - 2650 - - - 2250 - -12.5 - - 2708 - - - - - - - - 11.29 11.29 11.29
24659 end loiter: LOITER_COMPLETE
24659 begin climb
24664 324.0 - 640 24767 roll 1.04 2.67 0.173 3228 216.5 3.42 0.054 855 -407.9 97.3 92.32 1.324 2403 -3.3 0.196 - - - - - - 11.01 10.97 10.45
24884 312.1 7.9 671 24894 done 1.05 - - 3228 - 3.42 0.063 2256 409.6 104.2 2.22 0.370 2384 -8.6 1.747 - - - - - - 11.10 10.98 10.38
25227 283.2 8.6 685 25233 roll 0.97 - - 3228 - 3.83 0.142 3666 368.1 104.2 - - 2390 - - - - - - - - 11.24 10.96 11.24
25255 280.5 9.6 689 25262 done 0.85 0.30 0.220 3182 -153.3 3.28 0.041 2248 -432.3 104.2 - - 2390 - - - - - - - - 10.93 11.08 11.09
25619 251.9 7.8 699 25645 roll 0.86 - - 3182 - 3.90 0.142 3665 363.3 113.2 17.88 1.232 2340 -2.8 0.138 - - - - - - 11.24 10.90 10.49
25682 246.2 9.6 708 25687 done 0.86 - - 3193 - 3.28 0.041 2245 -432.9 113.2 - - 2336 - - - - - - - - 11.12 11.07 11.13
26011 216.2 9.1 720 26016 roll 0.86 - - 3203 - 3.33 0.054 852 -418.3 113.2 - - 2334 - - - - - - - - 11.24 11.04 11.24
26060 211.8 9.2 727 26066 done 0.86 - - 3203 - 3.42 0.066 2255 410.2 113.2 - - 2334 - - - - - - - - 11.12 11.00 11.13
26404 180.1 9.2 734 26409 roll 0.86 - - 3203 - 3.83 0.145 3667 368.7 113.2 - - 2333 - - - - - - - - 11.24 10.95 11.24
26473 173.0 10.4 744 26478 done 0.78 0.30 0.199 3154 -163.3 3.28 0.042 2244 -433.8 113.2 - - 2333 - - - - - - - - 10.97 11.09 11.11
26796 148.4 7.4 755 26816 done 0.79 - - 3154 - - - 2240 - 128.9 18.83 1.112 2287 -2.4 0.079 - - - - - - 11.24 11.01 10.52
27125 124.7 7.3 767 27149 done 0.82 - - 3154 - - - 2240 - 147.1 21.88 1.100 2210 -3.5 0.097 - - - - - - 11.24 11.01 10.55
27461 100.5 7.3 780 27479 roll 0.92 0.08 0.112 3200 575.0 3.95 0.144 3672 362.5 164.6 10.65 0.382 2148 -5.8 0.371 - - - - - - 11.07 10.93 10.81
27509 96.1 9.9 787 27520 done 0.92 - - 3211 - 3.28 0.042 2252 -432.9 164.6 2.90 0.184 2146 - - - - - - - - 11.12 11.07 10.91
27857 68.0 7.5 803 27879 roll 0.94 - - 3222 - 3.38 0.054 849 -415.1 178.0 14.05 0.326 2094 -3.7 0.187 - - - - - - 11.23 11.02 10.86
27894 64.9 7.2 809 27920 done 0.96 - - 3221 - 3.45 0.069 2256 407.8 197.5 18.25 0.334 2015 -4.3 0.204 - - - - - - 11.11 10.96 10.85
28245 42.9 5.5 826 28291 roll 1.02 - - 3230 - 3.40 0.051 845 -415.0 245.0 39.60 0.279 1823 -4.8 0.180 - - - - - - 11.24 11.01 10.88
28525 37.4 3.3 866 28599 done 1.30 0.25 0.054 3319 356.0 3.40 0.062 2251 413.5 331.2 67.65 0.265 1479 -5.1 0.174 - - - - - - 11.08 11.01 10.89
28917 11.6 6.1 889 28955 roll 1.35 - - 3326 - 3.45 0.057 855 -404.6 368.3 29.38 0.174 1332 -5.0 0.081 - - - - - - 11.23 11.01 10.95
29030 end climb: SURFACE_DEPTH_REACHED
29030 begin surface coast
29042 end surface coast: CONTROL_FINISHED_OK
29042 begin surface
SM -2.04 - - - - -8.39 12.55 0.078 196 15.6 4.88 0.086 2772 -1223.0 500.14 89.68 0.132 808 9.0 0.014 - - - - - -