SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 846 * Raw log
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• Previous call tries 3 • 282.95 of 350.00 AH used of 24V (19.16% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.5 deg, depth -3.29 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: 2 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 - - - 97 done -1.04 - - 105 - - - 2786 - -97.3 -80.75 - 3187 - - - - - - - - 11.21 10.46 11.21
103 0.3 -6.5 3 126 roll -1.04 18.65 0.373 2554 131.3 3.35 0.032 1357 -426.6 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.05
148 17.5 -33.3 10 155 done -0.44 1.12 0.247 2749 174.1 3.62 0.092 2767 389.5 -97.3 - - 3190 - - - - - - - - 10.90 10.98 11.07
463 50.3 -9.6 22 468 roll -0.53 - - 2740 - 2.85 0.152 3838 375.8 -97.3 - - 3190 - - - - - - - - 11.24 10.97 11.24
701 64.4 -8.7 56 706 done -0.70 0.17 0.058 2656 -494.1 2.40 0.049 2771 -444.6 -97.3 - - 3191 - - - - - - - - 11.10 11.10 11.13
1023 79.2 -4.5 69 1029 roll -0.70 - - 2647 - 2.85 0.142 3837 374.0 -97.3 - - 3192 - - - - - - - - 11.24 10.97 11.24
1149 88.0 -9.7 87 1153 done -0.70 - - 2645 - 2.40 0.047 2757 -450.0 -97.3 - - 3191 - - - - - - - - 11.14 11.10 11.14
1499 109.8 -7.3 99 1504 roll -0.70 - - 2647 - 3.22 0.036 1365 -432.3 -97.3 - - 3190 - - - - - - - - 11.24 11.06 11.21
1625 117.8 -5.3 117 1631 done -0.70 0.15 0.210 2667 133.3 3.55 0.083 2777 397.7 -97.3 - - 3189 - - - - - - - - 10.97 11.02 11.10
1947 135.1 -5.6 128 1952 roll -0.78 - - 2659 - 2.80 0.152 3826 374.6 -97.3 - - 3188 - - - - - - - - 11.24 10.97 11.24
2024 141.2 -7.8 139 2029 done -0.78 - - 2658 - 2.38 0.047 2759 -448.3 -97.3 - - 3186 - - - - - - - - 11.14 11.10 11.15
2340 163.5 -7.1 149 2346 roll -0.86 0.08 0.109 2599 -737.5 3.22 0.034 1366 -432.6 -97.3 - - 3185 - - - - - - - - 11.10 11.07 11.12
2416 170.4 -9.2 160 2421 done -0.86 0.15 0.210 2618 126.7 3.58 0.086 2774 393.3 -97.3 - - 3184 - - - - - - - - 10.97 11.00 11.10
2732 198.0 -8.6 170 2736 roll -0.86 - - 2618 - 3.33 0.037 1366 -422.8 -97.3 - - 3183 - - - - - - - - 11.24 11.06 11.24
2829 206.1 -8.0 184 2834 done -0.86 - - 2609 - 3.58 0.088 2767 391.3 -97.3 - - 3180 - - - - - - - - 11.13 11.01 11.14
3180 235.1 -8.5 192 3184 roll -0.86 - - 2595 - 2.83 0.151 3825 373.9 -97.3 - - 3179 - - - - - - - - 11.25 10.98 11.25
3235 240.2 -9.1 200 3240 done -0.86 - - 2600 - 2.40 0.047 2761 -443.3 -97.3 - - 3178 - - - - - - - - 11.14 11.11 11.15
3572 267.8 -8.1 213 3577 roll -0.86 - - 2599 - 3.28 0.037 1358 -427.7 -97.3 - - 3177 - - - - - - - - 11.24 11.07 11.24
3648 274.1 -8.1 224 3653 done -0.86 0.15 0.212 2619 133.3 3.60 0.089 2763 390.3 -97.3 - - 3177 - - - - - - - - 10.98 11.01 11.09
3964 298.1 -7.7 234 3969 roll -0.86 - - 2619 - 3.30 0.036 1366 -423.3 -97.3 - - 3174 - - - - - - - - 11.24 11.07 11.25
4047 304.6 -7.6 246 4052 done -0.86 - - 2609 - 3.58 0.088 2763 390.2 -97.3 - - 3174 - - - - - - - - 11.12 11.01 11.14
4411 331.1 -7.1 256 4416 roll -0.86 - - 2601 - 2.85 0.152 3826 373.0 -97.3 - - 3173 - - - - - - - - 11.24 10.97 11.25
4460 334.7 -7.6 263 4466 done -0.86 - - 2599 - 2.42 0.050 2754 -443.0 -97.3 - - 3172 - - - - - - - - 11.14 11.11 11.15
4804 359.8 -7.4 270 4809 roll -0.86 - - 2600 - 3.28 0.036 1354 -426.8 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
4887 366.2 -7.7 282 4893 done -0.86 0.15 0.213 2619 126.7 3.62 0.091 2760 388.4 -97.3 - - 3170 - - - - - - - - 10.98 11.01 11.11
5251 392.2 -7.2 292 5256 roll -0.86 - - 2619 - 3.33 0.037 1358 -421.0 -97.3 - - 3168 - - - - - - - - 11.25 11.07 11.25
5293 395.4 -7.4 298 5298 done -0.86 - - 2610 - 3.60 0.089 2759 389.2 -97.3 - - 3169 - - - - - - - - 11.13 11.02 11.14
5644 423.4 -8.1 306 5648 roll -0.86 - - 2601 - 2.88 0.156 3826 370.5 -97.3 - - 3167 - - - - - - - - 11.25 10.98 11.25
5741 432.2 -9.1 320 5746 done -0.86 - - 2600 - 2.45 0.054 2754 -437.6 -97.3 - - 3167 - - - - - - - - 11.15 11.11 11.16
5975 end dive: TARGET_DEPTH_EXCEEDED
5975 begin apogee
5986 451.8 -8.2 326 6098 roll -0.23 1.08 0.193 2817 200.9 0.12 0.158 2261 -4108.3 - 109.15 1.464 2800 -3.4 0.250 - - - - - - 10.98 10.93 10.46
6099 end apogee: CONTROL_FINISHED_OK
6099 begin loiter
6153 455.1 -0.1 335 6159 done -0.22 - - 2818 - - - 2261 - 2.0 - - 2789 - - - - - - - - 11.19 11.19 11.20
6492 452.1 1.2 342 6494 done -0.58 0.35 0.051 2714 -297.1 - - 2261 - 2.0 - - 2787 - - - - - - - - 11.07 11.13 11.12
6828 446.8 1.7 348 6829 done -0.75 0.15 0.061 2645 -460.0 - - 2261 - 2.0 - - 2786 - - - - - - - - 11.10 11.14 11.14
7164 440.6 1.8 354 7165 done -0.75 - - 2645 - - - 2261 - 2.0 - - 2784 - - - - - - - - 11.26 11.26 11.26
7500 435.7 1.4 360 7501 done -0.75 - - 2645 - - - 2261 - 2.0 - - 2784 - - - - - - - - 11.26 11.26 11.26
7836 431.5 1.3 366 7837 done -0.75 - - 2645 - - - 2261 - 2.0 - - 2782 - - - - - - - - 11.27 11.28 11.27
8172 426.8 1.4 372 8173 done -0.75 - - 2645 - - - 2261 - 2.0 - - 2782 - - - - - - - - 11.27 11.27 11.27
8508 422.0 1.5 378 8509 done -0.75 - - 2646 - - - 2261 - 2.0 - - 2781 - - - - - - - - 11.28 11.28 11.28
8844 419.2 0.7 384 8845 done -0.76 - - 2645 - - - 2261 - -9.6 - - 2781 - - - - - - - - 11.27 11.28 11.27
9180 417.0 0.7 390 9181 done -0.77 - - 2645 - - - 2261 - -21.4 - - 2779 - - - - - - - - 11.27 11.28 11.28
9516 414.2 0.9 396 9517 done -0.79 - - 2646 - - - 2261 - -36.2 - - 2779 - - - - - - - - 11.28 11.28 11.28
9852 410.9 0.9 402 9853 done -0.81 - - 2645 - - - 2261 - -51.9 - - 2778 - - - - - - - - 11.28 11.28 11.29
10188 408.0 0.9 408 10189 done -0.83 - - 2645 - - - 2261 - -67.7 - - 2778 - - - - - - - - 11.29 11.28 11.28
10524 405.4 0.7 414 10525 done -0.85 - - 2645 - - - 2261 - -79.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
10860 402.7 0.9 420 10861 done -0.86 - - 2645 - - - 2261 - -94.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
11196 399.5 1.0 426 11197 done -0.88 - - 2645 - - - 2262 - -110.7 - - 2778 - - - - - - - - 11.28 11.28 11.29
11532 398.8 - 432 11533 done -0.88 - - 2645 - - - 2261 - -111.0 - - 2778 - - - - - - - - 11.29 11.28 11.29
11868 401.3 -0.9 438 11869 done -0.87 - - 2645 - - - 2261 - -95.7 - - 2777 - - - - - - - - 11.29 11.30 11.29
12205 405.5 -1.3 444 12206 done -0.84 - - 2645 - - - 2261 - -74.2 - - 2777 - - - - - - - - 11.28 11.29 11.29
12540 406.5 - 450 12541 done -0.84 - - 2645 - - - 2261 - -73.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
12876 403.7 0.9 456 12877 done -0.86 - - 2645 - - - 2261 - -89.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
13212 400.8 0.8 462 13213 done -0.88 - - 2645 - - - 2261 - -103.6 - - 2776 - - - - - - - - 11.29 11.28 11.29
13548 400.1 0.1 468 13549 done -0.88 - - 2646 - - - 2261 - -105.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
13884 401.4 -0.4 474 13885 done -0.87 - - 2645 - - - 2261 - -99.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
14220 402.5 -0.3 480 14221 done -0.86 - - 2645 - - - 2261 - -94.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
14556 402.8 -0.1 486 14557 done -0.86 - - 2645 - - - 2261 - -92.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
14892 403.6 -0.2 492 14893 done -0.86 - - 2646 - - - 2261 - -88.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
15228 403.6 0.1 498 15229 done -0.86 - - 2644 - - - 2261 - -89.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
15564 403.3 - 504 15565 done -0.86 - - 2646 - - - 2261 - -89.9 - - 2776 - - - - - - - - 11.29 11.31 11.29
15900 401.8 0.6 510 15901 done -0.87 - - 2645 - - - 2261 - -99.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
16236 399.8 0.5 516 16237 done -0.88 - - 2645 - - - 2261 - -107.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
16572 400.2 -0.2 522 16573 done -0.88 - - 2645 - - - 2261 - -104.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
16908 402.4 -0.7 528 16909 done -0.86 - - 2645 - - - 2261 - -92.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
17245 402.4 0.1 534 17246 done -0.86 - - 2645 - - - 2261 - -94.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
17580 400.1 0.8 540 17581 done -0.88 - - 2645 - - - 2261 - -107.8 - - 2776 - - - - - - - - 11.30 11.29 11.29
17916 396.2 1.2 546 17917 done -0.88 - - 2646 - - - 2261 - -107.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
18252 393.0 0.9 552 18253 done -0.90 0.08 0.111 2590 -700.0 - - 2261 - -123.0 - - 2775 - - - - - - - - 11.12 11.18 11.17
18588 394.1 -0.4 558 18589 done -0.89 - - 2591 - - - 2261 - -116.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
18924 396.6 -0.8 564 18925 done -0.87 - - 2591 - - - 2261 - -103.0 - - 2776 - - - - - - - - 11.29 11.30 11.29
19260 397.5 -0.1 570 19261 done -0.87 - - 2591 - - - 2261 - -100.9 - - 2776 - - - - - - - - 11.29 11.30 11.29
19596 396.1 0.5 576 19597 done -0.88 - - 2591 - - - 2261 - -109.1 - - 2775 - - - - - - - - 11.29 11.29 11.30
19932 392.8 1.0 582 19933 done -0.88 - - 2591 - - - 2261 - -109.1 - - 2776 - - - - - - - - 11.29 11.30 11.30
20268 389.6 0.9 588 20269 done -0.90 - - 2591 - - - 2261 - -124.3 - - 2775 - - - - - - - - 11.29 11.30 11.30
20604 389.1 - 594 20605 done -0.90 - - 2591 - - - 2261 - -124.6 - - 2776 - - - - - - - - 11.29 11.29 11.30
20940 390.0 -0.3 600 20941 done -0.89 - - 2591 - - - 2261 - -118.8 - - 2775 - - - - - - - - 11.29 11.29 11.30
21276 391.4 -0.3 606 21277 done -0.89 - - 2591 - - - 2260 - -113.5 - - 2776 - - - - - - - - 11.30 11.29 11.29
21612 390.8 0.4 612 21613 done -0.90 - - 2591 - - - 2261 - -120.2 - - 2776 - - - - - - - - 11.30 11.30 11.30
21949 389.1 0.4 618 21950 done -0.90 - - 2591 - - - 2261 - -127.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
22284 390.2 -0.5 624 22285 done -0.89 - - 2590 - - - 2261 - -119.2 - - 2776 - - - - - - - - 11.29 11.30 11.29
22620 392.6 -0.7 630 22621 done -0.88 - - 2591 - - - 2261 - -107.3 - - 2776 - - - - - - - - 11.29 11.30 11.30
22956 394.3 -0.5 636 22957 done -0.87 - - 2590 - - - 2261 - -99.4 - - 2775 - - - - - - - - 11.30 11.29 11.30
23292 393.5 0.5 642 23293 done -0.88 - - 2591 - - - 2260 - -107.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
23628 391.6 0.6 648 23629 done -0.89 - - 2591 - - - 2261 - -118.5 - - 2776 - - - - - - - - 11.30 11.29 11.30
23964 393.0 -0.5 654 23965 done -0.88 - - 2591 - - - 2261 - -110.6 - - 2776 - - - - - - - - 11.29 11.30 11.30
24127 end loiter: LOITER_COMPLETE
24127 begin climb
24132 395.2 - 657 24251 done 1.04 3.00 0.194 3210 206.3 - - 2261 - 97.3 113.45 1.415 2411 -3.2 0.217 - - - - - - 11.00 10.98 10.42
24580 367.5 8.5 679 24585 roll 1.04 - - 3223 - 3.40 0.054 863 -411.2 97.3 - - 2392 - - - - - - - - 11.24 11.02 11.23
24650 361.7 8.2 689 24655 done 1.04 - - 3223 - 3.38 0.064 2248 409.8 99.0 - - 2396 - - - - - - - - 11.11 10.99 11.12
24972 332.5 9.2 700 24973 done 1.04 - - 3222 - - - 2247 - 99.0 - - 2391 - - - - - - - - 11.24 11.24 11.24
25308 301.1 9.5 706 25314 roll 0.97 - - 3233 - 3.33 0.054 869 -413.8 99.0 - - 2390 - - - - - - - - 11.24 11.04 11.24
25350 297.6 9.4 712 25355 done 0.89 0.20 0.208 3194 -195.0 3.35 0.063 2248 411.6 99.0 - - 2390 - - - - - - - - 10.95 11.00 11.11
25701 268.1 8.4 720 25706 roll 0.89 - - 3194 - 3.78 0.137 3666 375.1 99.0 - - 2390 - - - - - - - - 11.24 10.96 11.24
25742 264.5 9.9 726 25749 done 0.81 0.20 0.206 3165 -145.0 3.22 0.044 2260 -436.6 99.0 - - 2390 - - - - - - - - 10.96 11.09 11.11
26092 237.9 7.2 734 26125 roll 0.84 - - 3176 - 3.47 0.053 842 -408.6 117.6 22.70 1.223 2320 -3.1 0.145 - - - - - - 11.25 10.98 10.48
26183 232.2 7.6 747 26204 done 0.85 - - 3175 - 3.42 0.063 2254 412.9 130.0 14.98 1.220 2282 -2.5 0.116 - - - - - - 11.10 10.98 10.48
26541 203.9 8.3 756 26546 roll 0.85 - - 3176 - 3.78 0.142 3662 372.5 130.4 - - 2267 - - - - - - - - 11.24 10.93 11.22
26596 198.9 9.8 764 26601 done 0.85 - - 3186 - 3.28 0.044 2241 -433.2 130.4 - - 2267 - - - - - - - - 11.13 11.08 11.14
26933 168.8 9.1 777 26938 roll 0.85 - - 3197 - 3.30 0.055 855 -420.0 130.4 - - 2267 - - - - - - - - 11.24 11.03 11.24
26995 163.1 9.2 786 27001 done 0.85 - - 3197 - 3.40 0.063 2255 411.8 130.4 - - 2267 - - - - - - - - 11.12 11.00 11.14
27325 133.5 8.9 798 27331 roll 0.85 - - 3196 - 3.80 0.143 3671 372.6 130.4 - - 2266 - - - - - - - - 11.24 10.96 11.24
27401 125.8 10.0 809 27407 done 0.85 0.15 0.202 3177 -126.7 3.25 0.044 2252 -436.6 130.4 - - 2267 - - - - - - - - 10.97 11.08 11.10
27717 102.4 7.5 819 27730 roll 0.87 - - 3188 - 3.42 0.053 845 -411.4 144.4 7.60 0.341 2233 -4.5 0.324 - - - - - - 11.24 11.02 10.81
27773 100.4 3.3 827 27855 done 0.97 - - 3188 - 3.42 0.064 2255 412.3 229.8 75.15 0.460 1885 -4.6 0.244 - - - - - - 11.12 11.00 10.79
28186 66.9 8.4 853 28191 roll 1.08 0.12 0.082 3246 483.3 3.80 0.144 3666 371.3 229.8 - - 1891 - - - - - - - - 11.07 10.95 11.10
28277 57.6 5.9 866 28318 done 1.13 - - 3257 - 3.28 0.043 2234 -436.6 270.7 36.05 0.321 1721 -4.7 0.204 - - - - - - 11.13 11.08 10.86
28631 39.7 5.4 883 28682 roll 1.29 0.15 0.073 3322 433.3 3.90 0.136 3672 368.7 321.2 42.22 0.265 1520 -4.8 0.172 - - - - - - 11.09 10.93 10.89
28711 33.1 9.8 892 28716 done 1.29 - - 3333 - 3.28 0.044 2252 -432.9 321.2 - - 1526 - - - - - - - - 11.11 11.06 11.12
29047 3.6 8.3 907 29058 roll 1.29 - - 3333 - 3.85 0.136 3658 365.2 322.3 2.58 0.158 1518 -3.1 0.017 - - - - - - 11.24 10.90 10.98
29063 end climb: SURFACE_DEPTH_REACHED
29063 begin surface coast
29070 end surface coast: CONTROL_FINISHED_OK
29070 begin surface
SM -2.58 - - - - -8.39 12.55 0.073 202 16.1 2.08 0.037 2732 -2765.4 500.14 120.82 0.133 808 6.7 0.013 - - - - - -