SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 843 * Raw log
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• Previous call tries 1 • 282.33 of 350.00 AH used of 24V (19.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 deg, depth -4.35 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 3 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
15 - - - 99 done -1.04 - - 115 - - - 2784 - -97.3 -82.57 - 3188 - - - - - - - - 11.23 10.46 11.21
104 -0.5 -6.3 3 127 roll -1.04 18.70 0.376 2556 130.5 3.38 0.034 1350 -424.3 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.05
191 26.6 -20.4 16 197 done -0.80 0.50 0.248 2636 160.0 3.67 0.096 2769 386.6 -97.3 - - 3191 - - - - - - - - 10.92 10.98 11.07
506 58.4 -8.1 28 511 roll -0.80 - - 2627 - 2.85 0.154 3829 371.9 -97.3 - - 3192 - - - - - - - - 11.23 10.96 11.23
569 62.1 -5.6 37 575 done -0.80 - - 2627 - 2.40 0.047 2751 -449.2 -97.3 - - 3192 - - - - - - - - 11.13 11.10 11.14
898 83.9 -5.8 51 903 roll -0.80 - - 2628 - 3.22 0.036 1360 -432.0 -97.3 - - 3195 - - - - - - - - 11.24 11.05 11.23
933 86.1 -6.8 56 938 done -0.80 - - 2617 - 3.58 0.088 2768 393.3 -97.3 - - 3193 - - - - - - - - 11.11 11.00 11.12
1263 108.9 -6.8 68 1267 roll -0.80 - - 2609 - 2.83 0.151 3827 374.2 -97.3 - - 3192 - - - - - - - - 11.24 10.97 11.24
1381 116.8 -6.6 85 1387 done -0.80 0.12 0.205 2633 200.0 2.40 0.047 2755 -446.7 -97.3 - - 3192 - - - - - - - - 10.95 11.10 11.05
1710 135.6 -5.7 97 1716 roll -0.80 - - 2634 - 3.25 0.037 1361 -428.9 -97.3 - - 3190 - - - - - - - - 11.25 11.06 11.25
1773 139.5 -6.3 106 1778 done -0.80 - - 2625 - 3.60 0.089 2771 391.7 -97.3 - - 3190 - - - - - - - - 11.12 11.00 11.13
2102 162.8 -7.3 118 2107 roll -0.80 - - 2616 - 2.83 0.152 3821 371.0 -97.3 - - 3189 - - - - - - - - 11.24 10.96 11.24
2179 168.2 -7.1 129 2185 done -0.80 - - 2615 - 2.40 0.048 2757 -443.3 -97.3 - - 3188 - - - - - - - - 11.14 11.11 11.15
2495 187.9 -5.9 139 2499 roll -0.80 - - 2615 - 3.25 0.037 1365 -428.3 -97.3 - - 3185 - - - - - - - - 11.25 11.07 11.25
2592 193.8 -6.2 153 2599 done -0.80 0.15 0.223 2634 126.7 3.60 0.089 2771 390.6 -97.3 - - 3186 - - - - - - - - 10.96 11.00 11.11
2943 212.0 -5.0 161 2943 done -0.80 - - 2634 - - - 2772 - -97.3 - - 3184 - - - - - - - - 11.25 11.25 11.25
3278 234.0 -7.2 167 3283 roll -0.80 - - 2634 - 3.35 0.037 1360 -421.5 -97.3 - - 3181 - - - - - - - - 11.24 11.07 11.24
3376 245.1 -8.8 181 3382 done -0.80 - - 2623 - 3.62 0.092 2768 389.0 -97.3 - - 3181 - - - - - - - - 11.11 11.00 11.14
3727 268.7 -7.0 189 3727 done -0.80 - - 2624 - - - 2763 - -97.3 - - 3180 - - - - - - - - 11.24 11.24 11.24
4062 290.6 -6.4 195 4067 roll -0.80 - - 2620 - 3.33 0.038 1362 -420.7 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.25
4139 295.9 -6.5 206 4144 done -0.80 0.12 0.223 2637 141.7 3.60 0.091 2760 388.3 -97.3 - - 3177 - - - - - - - - 10.97 11.01 11.11
4455 315.3 -6.2 216 4455 done -0.80 - - 2637 - - - 2761 - -97.3 - - 3176 - - - - - - - - 11.24 11.24 11.25
4790 339.2 -7.3 222 4795 roll -0.80 - - 2636 - 3.33 0.039 1361 -420.4 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.25
4909 348.5 -6.4 239 4914 done -0.80 - - 2626 - 3.60 0.090 2763 389.4 -97.3 - - 3173 - - - - - - - - 11.12 11.00 11.14
5238 374.3 -8.0 251 5243 roll -0.80 - - 2626 - 3.33 0.038 1361 -421.0 -97.3 - - 3173 - - - - - - - - 11.26 11.07 11.25
5287 378.7 -7.6 258 5293 done -0.80 - - 2616 - 3.60 0.091 2759 388.3 -97.3 - - 3172 - - - - - - - - 11.13 11.00 11.13
5630 405.7 -7.8 265 5636 roll -0.80 - - 2615 - 3.33 0.038 1358 -420.7 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.29
5686 409.9 -7.7 273 5693 done -0.80 0.15 0.219 2634 126.7 3.62 0.092 2760 387.3 -97.3 - - 3172 - - - - - - - - 10.98 11.00 11.11
6023 431.5 -6.4 286 6028 roll -0.80 - - 2634 - 3.33 0.038 1361 -420.1 -97.3 - - 3170 - - - - - - - - 11.24 11.07 11.25
6071 434.1 -4.3 293 6078 done -0.80 - - 2624 - 3.58 0.091 2751 388.3 -97.3 - - 3170 - - - - - - - - 11.12 11.00 11.14
6353 end dive: TARGET_DEPTH_EXCEEDED
6353 begin apogee
6365 452.2 -6.1 299 6479 roll -0.23 0.95 0.186 2819 205.3 0.08 0.175 2251 -6250.0 - 110.78 1.493 2802 -3.3 0.243 - - - - - - 11.00 10.90 10.44
6480 end apogee: CONTROL_FINISHED_OK
6480 begin loiter
6711 451.8 1.9 334 6716 done -0.23 - - 2819 - - - 2247 - - - - 2790 - - - - - - - - 11.24 11.24 11.24
7041 446.5 1.7 346 7042 done -0.59 0.38 0.052 2708 -292.1 - - 2247 - - - - 2788 - - - - - - - - 11.07 11.14 11.12
7376 442.1 1.2 352 7378 done -0.75 0.12 0.070 2650 -483.3 - - 2247 - - - - 2787 - - - - - - - - 11.10 11.14 11.14
7712 438.6 0.9 358 7713 done -0.77 - - 2650 - - - 2246 - -14.8 - - 2786 - - - - - - - - 11.26 11.26 11.26
8048 436.6 0.3 364 8049 done -0.77 - - 2650 - - - 2247 - -20.2 - - 2786 - - - - - - - - 11.26 11.26 11.26
8384 436.0 0.3 370 8385 done -0.78 - - 2650 - - - 2247 - -24.6 - - 2784 - - - - - - - - 11.26 11.27 11.26
8720 434.8 0.5 376 8721 done -0.79 - - 2650 - - - 2247 - -32.6 - - 2783 - - - - - - - - 11.27 11.27 11.27
9056 432.0 0.9 382 9057 done -0.81 - - 2650 - - - 2247 - -47.5 - - 2784 - - - - - - - - 11.27 11.27 11.28
9392 428.8 1.0 388 9393 done -0.81 - - 2650 - - - 2247 - -47.5 - - 2783 - - - - - - - - 11.27 11.27 11.28
9728 425.4 1.0 394 9729 done -0.83 - - 2650 - - - 2246 - -64.3 - - 2782 - - - - - - - - 11.28 11.28 11.27
10064 424.0 0.4 400 10065 done -0.84 - - 2650 - - - 2247 - -70.7 - - 2782 - - - - - - - - 11.28 11.28 11.28
10400 424.2 0.1 406 10401 done -0.84 - - 2650 - - - 2247 - -72.1 - - 2781 - - - - - - - - 11.28 11.28 11.27
10736 421.6 1.1 412 10737 done -0.84 - - 2650 - - - 2246 - -72.1 - - 2781 - - - - - - - - 11.28 11.28 11.28
11072 417.4 1.3 418 11073 done -0.84 - - 2650 - - - 2247 - -72.1 - - 2781 - - - - - - - - 11.28 11.28 11.28
11408 413.7 1.0 424 11409 done -0.84 - - 2650 - - - 2247 - -72.1 - - 2781 - - - - - - - - 11.28 11.29 11.28
11744 412.6 0.3 430 11745 done -0.84 - - 2650 - - - 2246 - -76.6 - - 2781 - - - - - - - - 11.28 11.28 11.29
12080 412.8 - 436 12081 done -0.84 - - 2650 - - - 2247 - -76.3 - - 2780 - - - - - - - - 11.28 11.28 11.28
12416 414.1 -0.7 442 12417 done -0.83 - - 2650 - - - 2247 - -64.8 - - 2780 - - - - - - - - 11.28 11.29 11.29
12752 414.5 - 448 12753 done -0.83 - - 2650 - - - 2246 - -65.2 - - 2780 - - - - - - - - 11.29 11.29 11.28
13088 412.7 0.6 454 13089 done -0.84 - - 2650 - - - 2247 - -76.1 - - 2780 - - - - - - - - 11.29 11.29 11.29
13425 409.8 0.9 460 13426 done -0.86 - - 2650 - - - 2247 - -91.5 - - 2780 - - - - - - - - 11.28 11.28 11.28
13760 407.6 0.6 466 13761 done -0.87 - - 2650 - - - 2247 - -101.0 - - 2780 - - - - - - - - 11.29 11.29 11.29
14096 408.4 -0.3 472 14097 done -0.87 - - 2650 - - - 2246 - -95.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
14432 410.5 -0.7 478 14433 done -0.85 - - 2649 - - - 2247 - -83.9 - - 2779 - - - - - - - - 11.29 11.29 11.29
14768 411.1 - 484 14769 done -0.85 - - 2650 - - - 2247 - -83.5 - - 2779 - - - - - - - - 11.29 11.29 11.28
15104 410.3 0.2 490 15105 done -0.86 - - 2650 - - - 2247 - -87.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
15440 411.1 -0.4 496 15441 done -0.85 - - 2650 - - - 2247 - -81.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
15776 414.6 -1.1 502 15777 done -0.83 - - 2650 - - - 2246 - -62.7 - - 2779 - - - - - - - - 11.29 11.29 11.29
16112 418.5 -1.3 508 16113 done -0.80 - - 2650 - - - 2247 - -41.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
16448 421.1 -0.7 514 16449 done -0.78 - - 2650 - - - 2247 - -29.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
16784 421.7 - 520 16785 done -0.78 - - 2650 - - - 2247 - -28.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
17120 421.5 0.1 526 17121 done -0.79 - - 2650 - - - 2247 - -30.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
17456 418.8 1.0 532 17457 done -0.81 - - 2650 - - - 2247 - -47.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
17792 416.2 0.6 538 17793 done -0.82 - - 2650 - - - 2247 - -56.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
18128 416.9 -0.3 544 18129 done -0.81 - - 2650 - - - 2246 - -51.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
18465 418.2 -0.5 550 18466 done -0.80 - - 2650 - - - 2247 - -43.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
18800 417.5 0.5 556 18801 done -0.81 - - 2650 - - - 2247 - -51.8 - - 2778 - - - - - - - - 11.29 11.29 11.29
19136 413.9 1.1 562 19137 done -0.81 - - 2650 - - - 2247 - -51.8 - - 2778 - - - - - - - - 11.29 11.29 11.29
19472 411.7 0.7 568 19473 done -0.83 - - 2650 - - - 2247 - -63.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
19808 412.3 -0.4 574 19809 done -0.82 - - 2650 - - - 2247 - -56.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
20144 415.8 -1.0 580 20145 done -0.80 - - 2650 - - - 2247 - -39.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
20480 420.5 -1.4 586 20481 done -0.77 - - 2650 - - - 2247 - -16.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
20816 421.0 0.1 592 20817 done -0.77 - - 2650 - - - 2247 - -18.8 - - 2778 - - - - - - - - 11.29 11.29 11.29
21152 419.6 0.5 598 21153 done -0.78 - - 2649 - - - 2247 - -26.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
21488 419.9 -0.2 604 21489 done -0.78 - - 2650 - - - 2247 - -23.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
21824 422.2 -0.7 610 21825 done -0.76 - - 2650 - - - 2247 - -10.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
22160 424.9 -0.7 616 22161 done -0.75 - - 2650 - - - 2246 - 0.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
22496 426.3 -0.4 622 22499 done -0.74 - - 2650 - - - 2247 - 7.8 1.92 0.173 2766 -6.2 3.716 - - - - - - 11.29 11.14 11.02
22832 427.9 -0.4 628 22850 done -0.73 - - 2650 - - - 2247 - 14.7 16.08 1.475 2741 -1.6 0.109 - - - - - - 11.29 11.02 10.41
23169 423.8 1.4 634 23170 done -0.73 - - 2650 - - - 2247 - 14.7 - - 2729 - - - - - - - - 11.28 11.29 11.29
23504 419.3 1.4 640 23505 done -0.73 - - 2650 - - - 2247 - 14.7 - - 2729 - - - - - - - - 11.29 11.29 11.29
23840 414.6 1.4 646 23841 done -0.73 - - 2650 - - - 2247 - 14.7 - - 2729 - - - - - - - - 11.29 11.29 11.29
24176 409.8 1.5 652 24177 done -0.73 - - 2650 - - - 2247 - 14.7 - - 2728 - - - - - - - - 11.29 11.29 11.29
24507 end loiter: LOITER_COMPLETE
24507 begin climb
24512 402.8 - 658 24623 roll 1.04 2.65 0.172 3226 217.4 3.38 0.054 865 -408.9 97.3 101.05 1.449 2403 -3.2 0.216 - - - - - - 11.01 10.90 10.41
24797 383.8 8.7 698 24802 done 1.04 - - 3226 - 3.40 0.066 2248 406.8 97.3 - - 2392 - - - - - - - - 11.10 10.98 11.12
25133 351.0 10.0 711 25139 roll 0.96 - - 3236 - 3.35 0.054 860 -414.3 97.3 - - 2391 - - - - - - - - 11.24 11.02 11.24
25175 346.8 9.8 717 25180 done 0.88 0.25 0.204 3186 -200.0 3.42 0.069 2253 407.3 97.3 - - 2391 - - - - - - - - 10.94 10.98 11.10
25525 316.7 8.4 725 25530 roll 0.88 - - 3187 - 3.83 0.143 3664 368.4 97.3 - - 2391 - - - - - - - - 11.23 10.95 11.23
25595 310.5 9.7 735 25601 done 0.80 0.17 0.195 3162 -147.1 3.22 0.042 2255 -437.6 97.3 - - 2391 - - - - - - - - 10.95 11.07 11.10
25917 286.6 7.3 746 25943 roll 0.82 - - 3163 - 3.90 0.144 3670 362.8 115.2 20.55 1.307 2333 -2.8 0.149 - - - - - - 11.24 10.90 10.45
25973 282.8 7.9 754 25985 done 0.83 - - 3174 - 3.28 0.042 2243 -435.1 123.2 3.33 0.799 2308 -7.5 0.641 - - - - - - 11.11 11.06 10.41
26302 254.7 8.4 766 26306 roll 0.83 - - 3184 - 3.35 0.054 849 -416.1 123.2 - - 2316 - - - - - - - - 11.23 11.03 11.23
26350 250.9 7.4 773 26383 done 0.85 - - 3184 - 3.42 0.067 2252 410.2 138.9 27.30 1.273 2245 -2.6 0.124 - - - - - - 11.11 10.99 10.48
26694 217.7 9.2 787 26700 roll 0.85 - - 3184 - 3.85 0.147 3667 367.5 138.9 - - 2230 - - - - - - - - 11.22 10.94 11.22
26735 213.5 10.0 793 26740 done 0.85 - - 3194 - 3.25 0.043 2254 -434.8 138.9 - - 2230 - - - - - - - - 11.12 11.07 11.13
27086 179.8 9.7 801 27090 roll 0.85 - - 3204 - 3.38 0.054 843 -417.5 138.9 - - 2229 - - - - - - - - 11.23 11.02 11.23
27148 174.0 9.4 810 27154 done 0.85 0.12 0.193 3179 -208.3 3.45 0.068 2253 408.7 138.9 - - 2229 - - - - - - - - 10.97 10.99 11.10
27478 146.4 8.2 822 27483 roll 0.85 - - 3179 - 3.83 0.145 3668 369.5 140.4 - - 2229 - - - - - - - - 11.24 10.95 11.24
27554 139.7 8.3 833 27559 done 0.85 - - 3190 - 3.25 0.044 2252 -435.7 141.0 - - 2230 - - - - - - - - 11.12 11.08 11.14
27870 117.6 6.9 843 27959 roll 0.88 - - 3200 - 3.38 0.054 852 -414.2 165.5 82.03 0.537 2150 -1.0 0.052 - - - - - - 11.24 10.98 10.74
28007 107.7 8.2 862 28017 done 0.89 - - 3200 - 3.45 0.067 2261 408.4 167.8 5.38 0.343 2131 -3.5 0.268 - - - - - - 11.10 10.98 10.78
28347 80.2 8.1 876 28359 roll 0.89 - - 3200 - 3.83 0.148 3667 367.1 171.3 5.90 0.315 2121 -1.7 0.104 - - - - - - 11.22 10.93 10.83
28424 73.3 9.1 887 28432 done 0.89 - - 3211 - 3.25 0.043 2247 -436.9 171.3 3.00 0.200 2117 -1.3 0.118 - - - - - - 11.12 11.07 10.86
28739 52.6 5.5 899 28788 roll 0.95 - - 3220 - 3.40 0.053 853 -410.0 219.8 43.35 0.334 1925 -4.4 0.168 - - - - - - 11.23 11.00 10.85
28950 37.9 5.6 929 28997 done 1.14 0.10 0.091 3268 480.0 3.38 0.057 2259 416.0 265.4 39.90 0.297 1745 -4.5 0.139 - - - - - - 11.07 11.00 10.87
29321 23.3 5.0 949 29375 roll 1.21 - - 3277 - 3.40 0.056 855 -412.9 322.5 47.12 0.243 1517 -4.8 0.112 - - - - - - 11.23 11.00 10.90
29503 18.2 7.0 975 29529 done 1.37 0.17 0.063 3347 411.8 3.40 0.063 2261 413.5 344.8 19.42 0.203 1426 -4.7 0.101 - - - - - - 11.08 10.99 10.93
29624 end climb: SURFACE_DEPTH_REACHED
29624 begin surface coast
29652 end surface coast: CONTROL_FINISHED_OK
29657 begin surface
SM -6.79 - - - - -8.39 12.95 0.091 198 15.3 1.35 0.112 2774 -6411.9 500.14 106.38 0.135 808 7.6 0.039 - - - - - -