SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 842 * Raw log
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• Previous call tries 1 • 282.10 of 350.00 AH used of 24V (19.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.9 deg, depth -3.67 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 4 s • Transponder ping count: 1
• 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
8 begin dive
14 - - - 98 done -1.04 - - 106 - - - 2788 - -97.3 -81.78 - 3187 - - - - - - - - 11.21 10.46 11.20
103 -0.3 -5.7 3 125 done -1.04 19.12 0.379 2555 128.1 - - 2788 - -97.3 - - 3189 - - - - - - - - 10.86 11.08 11.05
435 66.5 -11.3 15 440 roll -0.85 0.32 0.236 2609 168.8 2.78 0.143 3836 377.0 -97.3 - - 3189 - - - - - - - - 10.94 10.97 11.04
645 82.1 -8.1 45 651 done -0.76 0.20 0.219 2650 205.0 2.35 0.045 2776 -451.1 -97.3 - - 3190 - - - - - - - - 10.95 11.10 11.09
967 108.6 -6.4 56 972 roll -0.76 - - 2651 - 3.28 0.036 1361 -431.4 -97.3 - - 3191 - - - - - - - - 11.25 11.06 11.24
995 110.2 -6.1 60 1000 done -0.76 - - 2640 - 3.60 0.086 2785 395.6 -97.3 - - 3191 - - - - - - - - 11.12 11.01 11.13
1359 132.6 -6.5 70 1364 roll -0.76 - - 2629 - 2.78 0.147 3830 375.9 -97.3 - - 3190 - - - - - - - - 11.24 10.98 11.24
1443 139.2 -7.9 82 1448 done -0.76 - - 2632 - 2.35 0.046 2776 -448.5 -97.3 - - 3190 - - - - - - - - 11.14 11.11 11.15
1807 165.4 -7.1 92 1812 roll -0.76 - - 2632 - 3.28 0.036 1365 -430.2 -97.3 - - 3187 - - - - - - - - 11.25 11.07 11.25
1940 173.9 -6.2 111 1945 done -0.76 0.15 0.216 2651 126.7 3.58 0.084 2780 395.3 -97.3 - - 3187 - - - - - - - - 10.96 11.02 11.10
2255 192.5 -6.0 121 2261 roll -0.76 - - 2643 - 2.83 0.155 3830 371.0 -97.3 - - 3184 - - - - - - - - 11.24 10.98 11.24
2290 194.8 -6.7 126 2295 done -0.76 - - 2643 - 2.38 0.047 2775 -443.3 -97.3 - - 3184 - - - - - - - - 11.14 11.11 11.15
2647 218.9 -6.9 135 2652 roll -0.76 - - 2643 - 3.30 0.037 1361 -428.5 -97.3 - - 3182 - - - - - - - - 11.25 11.06 11.25
2794 229.5 -7.1 156 2799 done -0.76 - - 2632 - 3.62 0.089 2776 390.9 -97.3 - - 3181 - - - - - - - - 11.13 11.01 11.14
3151 253.7 -6.4 165 3157 roll -0.76 - - 2632 - 3.35 0.038 1362 -422.1 -97.3 - - 3179 - - - - - - - - 11.25 11.06 11.25
3235 259.0 -6.2 177 3241 done -0.76 0.12 0.219 2646 116.7 3.62 0.089 2777 390.9 -97.3 - - 3178 - - - - - - - - 10.97 11.01 11.11
3599 279.8 -5.8 187 3600 done -0.76 - - 2646 - - - 2776 - -97.3 - - 3177 - - - - - - - - 11.25 11.25 11.25
3935 300.9 -6.4 193 3941 roll -0.76 - - 2646 - 3.38 0.038 1356 -420.1 -97.3 - - 3174 - - - - - - - - 11.26 11.07 11.26
4040 307.9 -6.8 208 4046 done -0.84 - - 2636 - 3.65 0.093 2769 387.1 -97.3 - - 3170 - - - - - - - - 11.13 11.01 11.14
4383 329.4 -6.0 215 4388 roll -0.84 - - 2636 - 3.35 0.037 1358 -421.2 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
4453 333.6 -5.9 225 4459 done -0.84 - - 2626 - 3.65 0.091 2767 386.0 -97.3 - - 3172 - - - - - - - - 11.13 11.01 11.14
4775 352.7 -6.0 236 4780 roll -0.84 - - 2625 - 3.35 0.038 1357 -420.9 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.26
4852 357.7 -6.6 247 4857 done -0.84 - - 2615 - 3.62 0.091 2766 389.2 -97.3 - - 3171 - - - - - - - - 11.13 11.01 11.14
5167 378.3 -6.7 257 5173 roll -0.84 - - 2607 - 2.88 0.159 3824 367.4 -97.3 - - 3169 - - - - - - - - 11.26 10.98 11.26
5258 385.6 -7.5 270 5263 done -0.84 - - 2606 - 2.45 0.052 2753 -437.1 -97.3 - - 3169 - - - - - - - - 11.15 11.11 11.16
5615 410.3 -6.9 279 5620 roll -0.84 - - 2606 - 3.30 0.038 1353 -424.2 -97.3 - - 3167 - - - - - - - - 11.25 11.07 11.25
5706 417.2 -7.4 292 5711 done -0.84 0.15 0.221 2625 126.7 3.62 0.090 2756 387.6 -97.3 - - 3167 - - - - - - - - 10.97 11.02 11.11
6063 442.6 -7.1 301 6069 roll -0.84 - - 2624 - 3.35 0.039 1355 -418.2 -97.3 - - 3165 - - - - - - - - 11.26 11.07 11.26
6133 447.9 -7.3 311 6138 done -0.84 - - 2614 - 3.60 0.090 2754 388.6 -97.3 - - 3166 - - - - - - - - 11.13 11.02 11.14
6156 end dive: TARGET_DEPTH_EXCEEDED
6156 begin apogee
6167 450.0 -7.7 315 6279 roll -0.23 1.00 0.190 2819 205.0 0.12 0.151 2265 -4075.0 - 108.35 1.470 2800 -3.4 0.249 - - - - - - 10.99 10.94 10.46
6280 end apogee: CONTROL_FINISHED_OK
6280 begin loiter
6511 453.5 0.4 350 6516 done -0.24 - - 2819 - - - 2265 - -6.8 - - 2788 - - - - - - - - 11.24 11.24 11.24
6841 450.1 1.1 362 6842 done -0.60 0.38 0.052 2708 -292.1 - - 2265 - -6.8 - - 2786 - - - - - - - - 11.07 11.14 11.12
7176 446.5 1.1 368 7178 done -0.75 0.12 0.072 2650 -483.3 - - 2265 - -6.8 - - 2785 - - - - - - - - 11.10 11.14 11.14
7512 442.2 1.3 374 7513 done -0.75 - - 2650 - - - 2265 - -6.8 - - 2784 - - - - - - - - 11.26 11.26 11.26
7848 438.1 1.1 380 7849 done -0.75 - - 2650 - - - 2265 - -6.8 - - 2783 - - - - - - - - 11.26 11.26 11.27
8184 434.9 1.0 386 8185 done -0.75 - - 2650 - - - 2264 - -6.8 - - 2783 - - - - - - - - 11.26 11.27 11.27
8520 431.7 1.2 392 8521 done -0.75 - - 2650 - - - 2265 - -6.8 - - 2782 - - - - - - - - 11.27 11.27 11.27
8856 428.2 0.9 398 8857 done -0.77 - - 2650 - - - 2265 - -22.4 - - 2781 - - - - - - - - 11.27 11.27 11.27
9192 424.9 1.0 404 9193 done -0.77 - - 2650 - - - 2265 - -22.4 - - 2780 - - - - - - - - 11.27 11.28 11.26
9528 423.4 0.4 410 9529 done -0.78 - - 2650 - - - 2265 - -28.5 - - 2780 - - - - - - - - 11.28 11.28 11.28
9864 423.4 -0.1 416 9865 done -0.78 - - 2650 - - - 2265 - -26.8 - - 2779 - - - - - - - - 11.27 11.28 11.27
10200 423.3 0.1 422 10201 done -0.78 - - 2650 - - - 2265 - -28.1 - - 2779 - - - - - - - - 11.28 11.28 11.28
10536 422.1 0.4 428 10537 done -0.79 - - 2650 - - - 2265 - -35.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
10872 419.9 0.7 434 10873 done -0.80 - - 2650 - - - 2266 - -47.9 - - 2779 - - - - - - - - 11.28 11.28 11.28
11208 417.4 0.7 440 11209 done -0.82 - - 2650 - - - 2265 - -59.9 - - 2779 - - - - - - - - 11.28 11.28 11.28
11545 417.1 -0.1 446 11546 done -0.82 - - 2649 - - - 2265 - -58.4 - - 2778 - - - - - - - - 11.27 11.28 11.31
11880 418.2 -0.4 452 11881 done -0.81 - - 2650 - - - 2265 - -52.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
12216 419.2 -0.3 458 12217 done -0.80 - - 2650 - - - 2265 - -47.9 - - 2777 - - - - - - - - 11.28 11.29 11.29
12552 419.9 -0.2 464 12553 done -0.80 - - 2650 - - - 2265 - -44.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
12888 421.2 -0.5 470 12889 done -0.79 - - 2650 - - - 2263 - -36.7 - - 2777 - - - - - - - - 11.29 11.29 11.28
13225 422.1 -0.2 476 13226 done -0.78 - - 2650 - - - 2265 - -32.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
13560 421.3 0.3 482 13561 done -0.79 - - 2650 - - - 2265 - -37.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
13896 420.5 0.3 488 13897 done -0.80 - - 2650 - - - 2265 - -42.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
14232 419.6 0.3 494 14233 done -0.80 - - 2650 - - - 2265 - -48.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
14568 419.3 0.1 500 14569 done -0.81 - - 2650 - - - 2265 - -50.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
14904 418.9 0.1 506 14905 done -0.81 - - 2650 - - - 2265 - -52.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
15240 418.4 0.2 512 15241 done -0.81 - - 2650 - - - 2265 - -54.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
15576 418.3 - 518 15577 done -0.81 - - 2650 - - - 2265 - -54.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15912 418.6 -0.2 524 15913 done -0.81 - - 2650 - - - 2265 - -52.2 - - 2777 - - - - - - - - 11.31 11.29 11.29
16248 420.1 -0.5 530 16249 done -0.80 - - 2650 - - - 2264 - -43.7 - - 2777 - - - - - - - - 11.29 11.31 11.29
16584 419.9 0.3 536 16585 done -0.80 - - 2650 - - - 2265 - -48.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
16920 417.0 1.0 542 16921 done -0.80 - - 2651 - - - 2265 - -48.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
17256 413.5 1.0 548 17257 done -0.82 - - 2650 - - - 2265 - -65.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
17592 412.1 0.3 554 17593 done -0.83 - - 2650 - - - 2265 - -69.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
17928 413.4 -0.5 560 17929 done -0.82 - - 2650 - - - 2265 - -60.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
18265 416.3 -0.9 566 18266 done -0.80 - - 2650 - - - 2265 - -45.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
18600 418.7 -0.7 572 18601 done -0.78 - - 2650 - - - 2265 - -32.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
18936 419.1 - 578 18937 done -0.78 - - 2650 - - - 2265 - -32.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19272 417.9 0.4 584 19273 done -0.79 - - 2650 - - - 2265 - -38.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
19608 416.7 0.3 590 19609 done -0.80 - - 2650 - - - 2265 - -44.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
19944 416.8 -0.1 596 19945 done -0.80 - - 2650 - - - 2265 - -41.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
20280 417.9 -0.3 602 20281 done -0.79 - - 2650 - - - 2265 - -37.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
20616 416.6 0.6 608 20617 done -0.80 - - 2650 - - - 2265 - -47.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
20952 412.0 1.5 614 20953 done -0.80 - - 2650 - - - 2265 - -47.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21288 407.8 1.2 620 21289 done -0.80 - - 2650 - - - 2265 - -47.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21624 405.5 0.6 626 21625 done -0.82 - - 2650 - - - 2265 - -57.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21960 405.5 -0.1 632 21961 done -0.81 - - 2650 - - - 2264 - -55.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
22296 406.5 -0.3 638 22297 done -0.81 - - 2650 - - - 2265 - -51.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
22632 406.7 - 644 22633 done -0.81 - - 2650 - - - 2265 - -50.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
22969 407.4 -0.2 650 22970 done -0.80 - - 2650 - - - 2265 - -46.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
23304 409.4 -0.7 656 23305 done -0.79 - - 2650 - - - 2265 - -34.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
23640 410.8 -0.3 662 23641 done -0.78 - - 2650 - - - 2265 - -29.1 - - 2776 - - - - - - - - 11.29 11.30 11.29
23976 408.5 0.9 668 23977 done -0.80 - - 2651 - - - 2265 - -44.7 - - 2776 - - - - - - - - 11.29 11.29 11.30
24307 end loiter: LOITER_COMPLETE
24307 begin climb
24312 403.1 - 674 24437 roll 1.04 2.65 0.174 3216 213.2 3.78 0.138 3653 367.2 97.3 114.55 1.418 2403 -3.3 0.223 - - - - - - 11.02 10.88 10.42
24554 382.4 12.3 708 24560 done 0.92 0.12 0.213 3203 -108.3 3.20 0.041 2263 -434.4 97.3 - - 2395 - - - - - - - - 10.94 11.06 11.07
24876 350.8 9.6 719 24882 roll 0.92 - - 3213 - 3.40 0.053 846 -416.8 97.3 - - 2392 - - - - - - - - 11.23 11.03 11.23
24932 345.8 8.9 727 24938 done 0.92 - - 3213 - 3.42 0.065 2241 407.9 97.3 - - 2392 - - - - - - - - 11.11 11.00 11.12
25268 315.7 8.8 740 25273 roll 0.92 - - 3213 - 3.85 0.144 3667 370.4 97.3 - - 2391 - - - - - - - - 11.24 10.95 11.24
25303 312.4 9.8 745 25309 done 0.81 0.30 0.206 3164 -163.3 3.28 0.043 2243 -434.1 97.3 - - 2391 - - - - - - - - 10.95 11.07 11.10
25660 289.1 6.3 754 25707 roll 0.85 - - 3175 - 3.38 0.054 850 -412.1 132.4 40.58 1.298 2266 -3.1 0.165 - - - - - - 11.24 10.97 10.48
25731 284.6 6.9 764 25771 done 0.88 - - 3175 - 3.45 0.066 2255 407.2 156.3 30.48 1.249 2167 -3.2 0.178 - - - - - - 11.08 10.96 10.49
26109 252.9 8.6 776 26114 roll 0.88 - - 3174 - 3.83 0.146 3667 368.7 156.3 - - 2156 - - - - - - - - 11.22 10.93 11.21
26157 248.4 9.8 783 26164 done 0.88 - - 3185 - 3.28 0.041 2242 -434.5 156.3 - - 2155 - - - - - - - - 11.12 11.07 11.12
26500 217.0 9.2 790 26505 roll 0.88 - - 3195 - 3.35 0.055 843 -417.6 156.3 - - 2155 - - - - - - - - 11.23 11.02 11.23
26535 213.7 9.6 795 26541 done 0.88 - - 3199 - 3.47 0.068 2251 405.8 156.3 - - 2155 - - - - - - - - 11.10 10.98 11.12
26893 178.3 10.0 804 26893 done 0.88 - - 3196 - - - 2251 - 156.3 - - 2154 - - - - - - - - 11.23 11.23 11.23
27228 145.4 9.8 810 27233 roll 0.88 - - 3195 - 3.83 0.148 3662 368.4 156.3 - - 2155 - - - - - - - - 11.23 10.94 11.24
27277 140.0 11.5 817 27283 done 0.88 - - 3206 - 3.28 0.042 2240 -433.5 156.3 - - 2155 - - - - - - - - 11.13 11.07 11.14
27621 104.8 10.3 824 27626 roll 0.88 - - 3215 - 3.35 0.056 848 -415.5 156.3 - - 2154 - - - - - - - - 11.24 11.03 11.24
27655 101.1 10.3 829 27660 done 0.88 0.12 0.197 3191 -200.0 3.42 0.069 2246 408.8 156.3 - - 2154 - - - - - - - - 10.97 11.00 11.11
27984 70.5 9.1 843 27990 roll 0.88 - - 3190 - 3.83 0.142 3669 371.5 156.3 - - 2154 - - - - - - - - 11.24 10.96 11.24
28033 66.3 8.5 850 28039 done 0.88 - - 3201 - 3.28 0.044 2242 -435.1 156.3 - - 2154 - - - - - - - - 11.13 11.08 11.14
28349 47.6 4.6 862 28403 roll 0.96 - - 3210 - 3.33 0.053 849 -418.3 220.1 48.62 0.298 1923 -4.8 0.183 - - - - - - 11.24 11.02 10.87
28472 41.2 6.4 879 28507 done 1.12 0.12 0.080 3268 483.3 3.40 0.062 2253 412.9 252.1 28.90 0.275 1796 -4.4 0.159 - - - - - - 11.07 11.00 10.88
28829 30.3 3.2 897 28907 roll 1.31 0.10 0.092 3336 680.0 3.45 0.057 855 -405.2 339.1 67.93 0.247 1449 -5.1 0.151 - - - - - - 11.07 10.99 10.90
29041 10.1 12.0 928 29047 done 1.31 - - 3336 - 3.40 0.062 2257 412.4 339.1 - - 1454 - - - - - - - - 11.11 10.99 11.12
29127 end climb: SURFACE_DEPTH_REACHED
29127 begin surface coast
29155 end surface coast: CONTROL_FINISHED_OK
29156 begin surface
SM -7.03 - - - - -8.41 12.57 0.076 201 16.0 1.35 0.110 2770 1288.9 500.14 109.22 0.135 808 7.4 0.039 - - - - - -