SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 850 * Raw log
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• Previous call tries 2 • 283.80 of 350.00 AH used of 24V (18.91% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.2 deg, depth -3.73 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 2 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
14 - - - 109 done -1.04 - - 152 - - - 2783 - -97.3 -93.05 - 3188 - - - - - - - - 11.21 10.46 11.21
115 -2.2 -3.0 3 139 roll -1.04 18.70 0.380 2554 128.4 3.25 0.029 1352 -440.3 -97.3 - - 3190 - - - - - - - - 10.86 11.03 11.05
182 21.5 -19.0 14 188 done -0.84 0.43 0.251 2619 151.2 3.62 0.090 2771 392.0 -97.3 - - 3190 - - - - - - - - 10.91 10.98 11.07
497 63.6 -10.2 26 499 done -0.77 0.15 0.224 2648 193.3 - - 2771 - -97.3 - - 3190 - - - - - - - - 10.95 11.11 11.09
805 82.4 -4.7 37 811 roll -0.77 - - 2648 - 3.28 0.035 1365 -428.7 -97.3 - - 3191 - - - - - - - - 11.24 11.06 11.24
917 87.4 -3.6 53 923 done -0.77 - - 2638 - 3.55 0.082 2777 397.7 -97.3 - - 3191 - - - - - - - - 11.12 11.00 11.12
1281 108.9 -6.8 67 1286 roll -0.77 - - 2630 - 2.78 0.148 3826 377.3 -97.3 - - 3190 - - - - - - - - 11.24 10.97 11.24
1379 117.4 -8.4 81 1384 done -0.77 - - 2629 - 2.38 0.047 2759 -448.3 -97.3 - - 3190 - - - - - - - - 11.14 11.10 11.14
1729 141.5 -7.1 89 1735 roll -0.77 - - 2629 - 3.22 0.037 1362 -433.9 -97.3 - - 3188 - - - - - - - - 11.24 11.06 11.24
1757 143.6 -7.5 93 1763 done -0.77 0.12 0.216 2644 125.0 3.55 0.084 2767 395.8 -97.3 - - 3188 - - - - - - - - 10.96 11.00 11.10
2121 164.3 -5.5 103 2126 roll -0.77 - - 2644 - 3.30 0.037 1357 -427.3 -97.3 - - 3186 - - - - - - - - 11.24 11.06 11.24
2205 169.2 -5.5 115 2210 done -0.77 - - 2635 - 3.60 0.086 2778 394.7 -97.3 - - 3185 - - - - - - - - 11.12 11.02 11.14
2569 194.1 -7.1 125 2570 done -0.77 - - 2634 - - - 2777 - -97.3 - - 3183 - - - - - - - - 11.26 11.25 11.25
2905 219.7 -7.5 131 2910 roll -0.77 - - 2634 - 3.30 0.037 1370 -426.4 -97.3 - - 3181 - - - - - - - - 11.25 11.07 11.25
2961 223.7 -6.7 139 2966 done -0.77 - - 2624 - 3.58 0.088 2771 391.3 -97.3 - - 3180 - - - - - - - - 11.12 11.01 11.14
3297 248.0 -7.2 152 3302 roll -0.77 - - 2624 - 3.30 0.036 1365 -426.1 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.24
3339 251.2 -7.3 158 3344 done -0.77 0.17 0.219 2648 141.2 3.55 0.086 2762 393.5 -97.3 - - 3178 - - - - - - - - 10.96 11.02 11.10
3689 275.2 -6.8 166 3694 roll -0.77 - - 2647 - 3.28 0.037 1367 -425.3 -97.3 - - 3176 - - - - - - - - 11.24 11.07 11.24
3724 277.6 -6.7 171 3729 done -0.84 - - 2638 - 3.55 0.086 2761 392.7 -97.3 - - 3176 - - - - - - - - 11.12 11.02 11.14
4081 303.0 -7.2 180 4082 done -0.84 - - 2638 - - - 2761 - -97.3 - - 3174 - - - - - - - - 11.24 11.25 11.25
4417 325.4 -6.6 186 4422 roll -0.84 - - 2638 - 3.30 0.037 1362 -423.9 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
4494 330.4 -6.5 197 4500 done -0.84 - - 2628 - 3.58 0.087 2762 391.1 -97.3 - - 3172 - - - - - - - - 11.13 11.01 11.14
4810 350.7 -6.4 207 4814 roll -0.84 - - 2627 - 3.30 0.037 1365 -423.3 -97.3 - - 3171 - - - - - - - - 11.24 11.07 11.25
4858 353.8 -6.3 214 4864 done -0.84 - - 2617 - 3.55 0.086 2758 392.4 -97.3 - - 3170 - - - - - - - - 11.13 11.02 11.14
5201 376.5 -6.7 221 5207 roll -0.84 - - 2609 - 2.85 0.151 3829 375.8 -97.3 - - 3169 - - - - - - - - 11.25 10.98 11.25
5278 382.6 -8.0 232 5283 done -0.84 - - 2608 - 2.45 0.051 2753 -439.2 -97.3 - - 3170 - - - - - - - - 11.15 11.11 11.16
5594 406.2 -7.5 242 5598 roll -0.84 - - 2608 - 3.25 0.037 1358 -429.2 -97.3 - - 3167 - - - - - - - - 11.25 11.07 11.25
5656 411.2 -7.9 251 5661 done -0.84 - - 2599 - 3.58 0.085 2762 392.2 -97.3 - - 3167 - - - - - - - - 11.13 11.02 11.14
5985 437.4 -8.0 263 5990 roll -0.84 - - 2596 - 3.33 0.036 1351 -423.7 -97.3 - - 3166 - - - - - - - - 11.26 11.07 11.25
6006 439.2 -8.2 266 6012 done -0.84 0.17 0.212 2621 147.1 3.55 0.086 2760 396.9 -97.3 - - 3166 - - - - - - - - 10.98 11.02 11.11
6204 end dive: TARGET_DEPTH_EXCEEDED
6204 begin apogee
6216 453.6 -7.0 274 6328 roll -0.23 0.95 0.182 2818 207.4 0.15 0.135 2257 -3353.3 - 109.25 1.475 2799 -3.4 0.249 - - - - - - 11.00 10.98 10.45
6329 end apogee: CONTROL_FINISHED_OK
6329 begin loiter
6560 455.0 1.2 309 6565 done -0.23 - - 2818 - - - 2255 - - - - 2785 - - - - - - - - 11.24 11.24 11.24
6890 449.9 1.5 321 6891 done -0.59 0.38 0.051 2707 -292.1 - - 2255 - - - - 2784 - - - - - - - - 11.07 11.14 11.12
7226 447.6 0.5 327 7227 done -0.75 0.12 0.073 2650 -475.0 - - 2256 - -7.9 - - 2783 - - - - - - - - 11.10 11.14 11.14
7562 446.7 0.2 333 7562 done -0.76 - - 2650 - - - 2256 - -11.6 - - 2783 - - - - - - - - 11.26 11.26 11.26
7898 447.0 -0.2 339 7899 done -0.75 - - 2650 - - - 2255 - -8.7 - - 2781 - - - - - - - - 11.26 11.26 11.26
8234 444.5 1.1 345 8234 done -0.75 - - 2650 - - - 2255 - -8.7 - - 2780 - - - - - - - - 11.26 11.26 11.26
8570 436.0 2.8 351 8570 done -0.75 - - 2650 - - - 2256 - -8.7 - - 2780 - - - - - - - - 11.26 11.26 11.27
8906 426.2 2.8 357 8906 done -0.75 - - 2650 - - - 2256 - -8.7 - - 2779 - - - - - - - - 11.27 11.26 11.27
9242 423.5 0.5 363 9242 done -0.76 - - 2650 - - - 2256 - -16.9 - - 2778 - - - - - - - - 11.27 11.27 11.27
9578 426.5 -1.1 369 9578 done -0.74 - - 2650 - - - 2256 - 1.2 - - 2777 - - - - - - - - 11.27 11.26 11.27
9914 428.0 -0.1 375 9914 done -0.74 - - 2650 - - - 2256 - 3.0 - - 2777 - - - - - - - - 11.27 11.28 11.28
10250 423.9 1.5 381 10250 done -0.74 - - 2649 - - - 2255 - 3.0 - - 2777 - - - - - - - - 11.28 11.28 11.28
10586 417.9 1.8 387 10586 done -0.74 - - 2650 - - - 2256 - 3.0 - - 2776 - - - - - - - - 11.27 11.28 11.28
10922 413.9 1.1 393 10922 done -0.74 - - 2650 - - - 2255 - 3.0 - - 2776 - - - - - - - - 11.28 11.28 11.28
11258 413.8 -0.2 399 11258 done -0.74 - - 2649 - - - 2255 - 5.7 - - 2776 - - - - - - - - 11.28 11.28 11.28
11594 415.5 -0.5 405 11610 done -0.73 - - 2650 - - - 2256 - 14.7 15.48 1.349 2742 -2.2 0.163 - - - - - - 11.28 11.03 10.54
11930 411.2 1.5 411 11930 done -0.73 - - 2650 - - - 2255 - 14.7 - - 2735 - - - - - - - - 11.27 11.28 11.27
12266 404.2 2.2 417 12266 done -0.73 - - 2650 - - - 2256 - 14.7 - - 2736 - - - - - - - - 11.28 11.28 11.28
12602 396.2 2.4 423 12602 done -0.73 - - 2650 - - - 2256 - 14.7 - - 2736 - - - - - - - - 11.28 11.28 11.28
12938 388.2 2.3 429 12939 done -0.73 - - 2649 - - - 2256 - 14.7 - - 2735 - - - - - - - - 11.27 11.28 11.28
13274 382.9 1.4 435 13274 done -0.73 - - 2650 - - - 2256 - 14.7 - - 2735 - - - - - - - - 11.29 11.29 11.28
13610 380.7 0.5 441 13610 done -0.74 - - 2649 - - - 2256 - 6.2 - - 2735 - - - - - - - - 11.28 11.28 11.28
13946 378.0 1.0 447 13946 done -0.76 - - 2650 - - - 2256 - -10.2 - - 2735 - - - - - - - - 11.28 11.28 11.28
14282 371.4 2.1 453 14282 done -0.76 - - 2650 - - - 2255 - -10.2 - - 2735 - - - - - - - - 11.29 11.29 11.29
14618 363.5 2.3 459 14618 done -0.76 - - 2650 - - - 2256 - -10.2 - - 2735 - - - - - - - - 11.28 11.29 11.29
14954 358.1 1.5 465 14954 done -0.76 - - 2650 - - - 2256 - -10.2 - - 2735 - - - - - - - - 11.29 11.29 11.29
15290 354.6 1.0 471 15290 done -0.78 - - 2650 - - - 2256 - -26.6 - - 2734 - - - - - - - - 11.29 11.29 11.29
15626 350.0 1.6 477 15626 done -0.78 - - 2650 - - - 2256 - -26.6 - - 2735 - - - - - - - - 11.29 11.29 11.28
15962 343.4 2.0 483 15962 done -0.78 - - 2649 - - - 2256 - -26.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
16298 338.3 1.4 489 16298 done -0.78 - - 2650 - - - 2256 - -26.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
16634 335.3 0.8 495 16634 done -0.79 - - 2650 - - - 2256 - -40.1 - - 2735 - - - - - - - - 11.29 11.29 11.29
16970 332.9 0.8 501 16970 done -0.81 - - 2650 - - - 2255 - -53.3 - - 2735 - - - - - - - - 11.29 11.29 11.29
17306 330.8 0.6 507 17306 done -0.82 - - 2650 - - - 2256 - -63.1 - - 2735 - - - - - - - - 11.29 11.29 11.29
17642 328.7 0.6 513 17643 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2734 - - - - - - - - 11.29 11.29 11.29
17978 325.4 1.0 519 17979 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
18314 321.3 1.2 525 18314 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2734 - - - - - - - - 11.29 11.29 11.29
18650 317.0 1.3 531 18650 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
18986 311.2 1.8 537 18986 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
19322 305.6 1.6 543 19322 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
19658 301.6 1.1 549 19658 done -0.83 - - 2650 - - - 2256 - -73.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
19994 299.0 0.8 555 19994 done -0.85 - - 2650 - - - 2256 - -86.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
20330 295.9 1.0 561 20330 done -0.85 - - 2650 - - - 2256 - -86.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
20666 290.5 1.8 567 20666 done -0.85 - - 2650 - - - 2255 - -86.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
21002 282.3 2.5 573 21002 done -0.85 - - 2650 - - - 2256 - -86.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
21338 276.1 1.6 579 21338 done -0.85 - - 2650 - - - 2256 - -86.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
21674 273.9 0.5 585 21674 done -0.86 - - 2649 - - - 2256 - -95.5 - - 2735 - - - - - - - - 11.29 11.29 11.29
22010 271.8 0.7 591 22010 done -0.88 - - 2650 - - - 2256 - -107.6 - - 2735 - - - - - - - - 11.27 11.29 11.29
22346 268.6 1.0 597 22346 done -0.88 - - 2650 - - - 2255 - -107.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
22682 264.1 1.3 603 22682 done -0.88 - - 2650 - - - 2256 - -107.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
23018 260.3 1.1 609 23019 done -0.88 - - 2650 - - - 2255 - -107.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
23354 256.4 1.2 615 23354 done -0.88 - - 2650 - - - 2256 - -107.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
23690 251.0 1.6 621 23690 done -0.88 - - 2650 - - - 2256 - -107.6 - - 2735 - - - - - - - - 11.29 11.29 11.29
24026 247.5 0.8 627 24027 done -0.89 0.08 0.112 2600 -625.0 - - 2255 - -122.0 - - 2735 - - - - - - - - 11.12 11.18 11.17
24357 end loiter: LOITER_COMPLETE
24357 begin climb
24362 246.0 - 633 24472 roll 1.04 2.97 0.190 3212 206.1 3.80 0.134 3653 367.9 97.3 97.57 1.217 2401 -3.4 0.166 - - - - - - 11.01 10.86 10.51
24646 227.0 9.4 673 24651 done 0.93 - - 3223 - 3.20 0.043 2266 -433.4 97.3 - - 2394 - - - - - - - - 11.11 11.08 11.14
24982 194.8 9.7 686 24987 roll 0.93 - - 3234 - 3.38 0.053 843 -421.0 97.3 - - 2391 - - - - - - - - 11.24 11.03 11.24
25058 187.3 9.5 697 25064 done 0.93 0.15 0.207 3204 -200.0 3.40 0.061 2244 412.1 97.3 - - 2391 - - - - - - - - 10.97 11.00 11.11
25374 160.5 8.5 707 25379 roll 0.93 - - 3203 - 3.75 0.133 3667 379.5 97.3 - - 2390 - - - - - - - - 11.24 10.95 11.24
25444 153.7 9.8 717 25449 done 0.85 0.17 0.201 3178 -147.1 3.28 0.043 2244 -433.8 97.3 - - 2391 - - - - - - - - 10.95 11.09 11.10
25766 128.6 7.8 728 25777 roll 0.86 - - 3190 - 3.35 0.051 846 -417.3 106.3 2.72 0.545 2377 -5.1 0.292 - - - - - - 11.25 11.03 10.51
25828 123.7 7.6 737 25856 done 0.88 - - 3190 - 3.38 0.057 2255 416.9 119.3 22.70 1.077 2326 -2.2 0.062 - - - - - - 11.12 11.00 10.53
26179 97.2 7.5 749 26196 roll 0.89 - - 3190 - 3.80 0.134 3654 368.2 134.2 8.62 0.337 2271 -6.4 0.443 - - - - - - 11.24 10.91 10.83
26263 90.7 7.8 761 26281 done 0.90 - - 3199 - 3.25 0.042 2239 -435.4 142.5 10.45 0.349 2234 -3.5 0.221 - - - - - - 11.13 11.08 10.82
26599 65.9 7.7 776 26619 roll 0.92 - - 3211 - 3.22 0.053 855 -429.8 154.0 13.00 0.313 2190 -3.4 0.171 - - - - - - 11.24 11.02 10.86
26718 57.4 6.9 793 26750 done 0.95 - - 3211 - 3.33 0.057 2240 415.9 178.4 22.85 0.307 2093 -4.2 0.191 - - - - - - 11.12 11.01 10.87
27080 42.1 4.7 811 27137 roll 1.10 0.08 0.115 3256 562.5 3.75 0.129 3664 379.7 239.9 50.60 0.279 1847 -4.9 0.177 - - - - - - 11.09 10.93 10.88
27369 33.1 3.5 853 27440 done 1.20 - - 3267 - 3.25 0.044 2244 -436.9 322.0 64.95 0.249 1517 -5.1 0.163 - - - - - - 11.13 11.08 10.90
27752 10.1 7.1 874 27780 roll 1.35 0.15 0.070 3335 453.3 3.83 0.129 3665 371.0 342.5 17.30 0.168 1435 -4.7 0.069 - - - - - - 11.07 10.93 10.96
27826 end climb: SURFACE_DEPTH_REACHED
27826 begin surface coast
27838 end surface coast: CONTROL_FINISHED_OK
27838 begin surface
SM -3.03 - - - - -8.39 12.77 0.086 201 15.7 2.08 0.040 2744 -3805.8 500.14 107.05 0.131 807 7.5 0.018 - - - - - -