SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 854 * Raw log
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• Previous call tries 1 • 284.63 of 350.00 AH used of 24V (18.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth -2.90 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: 2 s • Transponder ping count: 3
• 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 - - 105 - - - 2789 - -97.3 -83.05 - 3188 - - - - - - - - 11.21 10.45 11.21
104 0.4 -5.7 3 132 roll -1.04 18.67 0.373 2554 131.2 3.40 0.035 1355 -421.8 -97.3 - - 3190 - - - - - - - - 10.85 11.02 11.05
191 28.1 -22.5 16 196 done -0.79 0.52 0.240 2641 167.3 3.58 0.081 2771 395.5 -97.3 - - 3190 - - - - - - - - 10.92 10.99 11.07
513 60.7 -5.6 29 519 roll -0.79 - - 2633 - 2.75 0.134 3833 386.2 -97.3 - - 3192 - - - - - - - - 11.23 10.98 11.23
751 78.1 -7.2 63 755 done -0.79 - - 2633 - 2.40 0.043 2751 -450.8 -97.3 - - 3192 - - - - - - - - 11.14 11.10 11.14
1101 104.3 -70.8 76 1106 roll -0.79 - - 2633 - 3.22 0.036 1364 -430.7 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
1143 107.0 -6.6 82 1148 done -0.79 - - 2623 - 3.45 0.074 2760 404.6 -97.3 - - 3192 - - - - - - - - 11.12 11.02 11.13
1493 131.7 -7.2 90 1494 done -0.79 - - 2623 - - - 2760 - -97.3 - - 3191 - - - - - - - - 11.24 11.24 11.24
1829 157.4 -7.7 96 1830 done -0.79 - - 2623 - - - 2760 - -97.3 - - 3189 - - - - - - - - 11.25 11.24 11.24
2165 183.9 -7.9 102 2166 done -0.79 - - 2623 - - - 2759 - -97.3 - - 3187 - - - - - - - - 11.24 11.24 11.24
2501 212.5 -8.7 108 2502 done -0.79 - - 2622 - - - 2760 - -97.3 - - 3185 - - - - - - - - 11.25 11.26 11.25
2837 240.1 -8.0 114 2842 roll -0.79 - - 2622 - 3.35 0.038 1362 -417.3 -97.3 - - 3183 - - - - - - - - 11.24 11.07 11.25
2865 242.3 -8.0 118 2870 done -0.79 0.12 0.216 2636 116.7 3.53 0.078 2759 395.8 -97.3 - - 3184 - - - - - - - - 10.98 11.02 11.11
3229 268.6 -7.1 128 3234 roll -0.79 - - 2628 - 2.80 0.137 3831 382.9 -97.3 - - 3181 - - - - - - - - 11.25 10.99 11.25
3271 271.7 -7.8 134 3276 done -0.79 - - 2628 - 2.42 0.046 2754 -445.0 -97.3 - - 3181 - - - - - - - - 11.14 11.11 11.15
3621 297.7 -7.4 142 3626 roll -0.79 - - 2628 - 3.28 0.037 1360 -425.0 -97.3 - - 3176 - - - - - - - - 11.25 11.07 11.25
3670 301.5 -7.6 149 3677 done -0.79 - - 2618 - 3.53 0.077 2760 396.6 -97.3 - - 3176 - - - - - - - - 11.13 11.02 11.14
4013 328.1 -7.6 156 4018 roll -0.79 - - 2617 - 3.33 0.037 1365 -418.9 -97.3 - - 3177 - - - - - - - - 11.25 11.07 11.25
4083 333.4 -7.4 166 4088 done -0.79 0.15 0.223 2635 120.0 3.53 0.079 2760 395.2 -97.3 - - 3176 - - - - - - - - 10.97 11.03 11.11
4405 354.2 -6.4 177 4411 roll -0.79 - - 2635 - 3.33 0.037 1363 -419.5 -97.3 - - 3175 - - - - - - - - 11.24 11.07 11.25
4454 357.4 -6.5 184 4460 done -0.79 - - 2626 - 3.53 0.079 2760 395.8 -97.3 - - 3174 - - - - - - - - 11.13 11.03 11.14
4797 381.2 -7.0 191 4802 roll -0.79 - - 2617 - 2.80 0.141 3826 380.7 -97.3 - - 3174 - - - - - - - - 11.25 11.00 11.25
4825 383.2 -7.4 195 4830 done -0.79 - - 2617 - 2.45 0.048 2749 -439.6 -97.3 - - 3174 - - - - - - - - 11.15 11.11 11.15
5189 409.4 -7.2 205 5194 roll -0.79 - - 2617 - 3.28 0.037 1361 -423.2 -97.3 - - 3172 - - - - - - - - 11.26 11.07 11.25
5231 412.4 -7.0 211 5236 done -0.79 0.15 0.221 2635 120.0 3.53 0.078 2755 394.9 -97.3 - - 3172 - - - - - - - - 10.98 11.02 11.11
5581 434.0 -6.1 219 5586 roll -0.79 - - 2628 - 2.83 0.145 3823 377.4 -97.3 - - 3171 - - - - - - - - 11.26 11.00 11.25
5665 439.5 -6.6 231 5670 done -0.79 - - 2627 - 2.45 0.050 2754 -436.3 -97.3 - - 3170 - - - - - - - - 11.15 11.11 11.16
5856 end dive: TARGET_DEPTH_EXCEEDED
5856 begin apogee
5868 451.5 -6.1 238 5981 roll -0.23 0.93 0.182 2819 206.5 0.12 0.147 2264 -4083.3 - 110.53 1.464 2800 -3.3 0.253 - - - - - - 10.98 10.95 10.45
5982 end apogee: CONTROL_FINISHED_OK
5982 begin loiter
6050 453.9 0.1 249 6055 done -0.23 - - 2819 - - - 2264 - -2.1 - - 2789 - - - - - - - - 11.20 11.20 11.20
6378 452.1 0.7 261 6379 done -0.60 0.38 0.050 2707 -294.7 - - 2264 - -13.3 - - 2787 - - - - - - - - 11.07 11.13 11.12
6714 448.8 1.0 267 6715 done -0.75 0.12 0.071 2648 -491.7 - - 2264 - -13.3 - - 2786 - - - - - - - - 11.10 11.14 11.14
7050 445.8 0.8 273 7050 done -0.77 - - 2648 - - - 2264 - -27.5 - - 2785 - - - - - - - - 11.26 11.26 11.26
7386 445.2 0.1 279 7386 done -0.77 - - 2648 - - - 2264 - -28.8 - - 2784 - - - - - - - - 11.26 11.26 11.26
7722 445.0 0.1 285 7722 done -0.77 - - 2648 - - - 2265 - -30.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
8058 443.5 0.4 291 8058 done -0.78 - - 2649 - - - 2264 - -38.3 - - 2782 - - - - - - - - 11.26 11.27 11.26
8394 440.6 1.0 297 8394 done -0.80 - - 2648 - - - 2264 - -54.6 - - 2782 - - - - - - - - 11.26 11.26 11.27
8730 437.5 0.9 303 8730 done -0.82 - - 2648 - - - 2264 - -69.5 - - 2781 - - - - - - - - 11.27 11.27 11.27
9066 435.7 0.4 309 9066 done -0.83 - - 2648 - - - 2264 - -76.8 - - 2781 - - - - - - - - 11.27 11.27 11.27
9402 435.5 - 315 9402 done -0.83 - - 2648 - - - 2264 - -76.8 - - 2780 - - - - - - - - 11.27 11.27 11.28
9738 436.1 -0.2 321 9738 done -0.82 - - 2648 - - - 2264 - -72.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
10074 437.7 -0.5 327 10075 done -0.81 - - 2649 - - - 2264 - -64.8 - - 2779 - - - - - - - - 11.27 11.27 11.28
10410 438.3 -0.1 333 10410 done -0.81 - - 2648 - - - 2264 - -63.1 - - 2779 - - - - - - - - 11.28 11.28 11.28
10746 437.5 0.3 339 10746 done -0.82 - - 2648 - - - 2264 - -67.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
11082 436.4 0.4 345 11082 done -0.82 - - 2648 - - - 2264 - -73.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
11418 433.5 1.0 351 11418 done -0.84 - - 2648 - - - 2264 - -90.5 - - 2778 - - - - - - - - 11.29 11.28 11.29
11753 429.1 1.3 357 11754 done -0.84 - - 2648 - - - 2263 - -90.5 - - 2778 - - - - - - - - 11.28 11.29 11.28
12090 426.1 0.8 363 12090 done -0.86 - - 2648 - - - 2264 - -103.5 - - 2778 - - - - - - - - 11.28 11.28 11.29
12426 425.7 - 369 12426 done -0.86 - - 2648 - - - 2264 - -103.4 - - 2778 - - - - - - - - 11.28 11.28 11.29
12762 426.6 -0.3 375 12762 done -0.85 - - 2648 - - - 2264 - -98.7 - - 2778 - - - - - - - - 11.28 11.29 11.29
13098 426.0 0.3 381 13098 done -0.86 - - 2648 - - - 2264 - -102.9 - - 2778 - - - - - - - - 11.27 11.29 11.29
13434 425.9 -0.1 387 13434 done -0.86 - - 2648 - - - 2264 - -102.0 - - 2777 - - - - - - - - 11.29 11.28 11.29
13770 426.9 -0.3 393 13770 done -0.85 - - 2648 - - - 2264 - -96.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
14106 427.2 - 399 14106 done -0.85 - - 2648 - - - 2264 - -96.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
14442 427.0 0.1 405 14442 done -0.85 - - 2648 - - - 2264 - -97.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
14778 425.6 0.5 411 14778 done -0.86 - - 2648 - - - 2264 - -105.7 - - 2777 - - - - - - - - 11.29 11.28 11.29
15114 425.1 - 417 15115 done -0.86 - - 2648 - - - 2264 - -106.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
15450 425.7 -0.2 423 15450 done -0.86 - - 2648 - - - 2264 - -103.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
15786 425.5 0.1 429 15786 done -0.86 - - 2648 - - - 2265 - -106.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
16122 423.5 0.6 435 16122 done -0.88 - - 2648 - - - 2264 - -116.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
16458 422.2 0.3 441 16458 done -0.88 - - 2648 - - - 2264 - -121.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
16794 422.9 -0.3 447 16794 done -0.88 - - 2648 - - - 2264 - -116.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
17130 423.1 0.1 453 17130 done -0.88 - - 2648 - - - 2264 - -118.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
17466 419.7 1.2 459 17466 done -0.88 - - 2648 - - - 2264 - -118.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
17802 414.5 1.5 465 17802 done -0.88 - - 2648 - - - 2264 - -118.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
18138 413.3 0.1 471 18138 done -0.88 - - 2648 - - - 2265 - -119.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
18474 416.5 -1.1 477 18474 done -0.86 - - 2648 - - - 2264 - -101.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
18810 420.8 -1.3 483 18810 done -0.83 - - 2648 - - - 2264 - -78.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
19146 423.8 -0.7 489 19146 done -0.81 - - 2648 - - - 2263 - -66.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
19482 425.9 -0.7 495 19482 done -0.80 - - 2648 - - - 2264 - -54.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
19818 429.0 -0.9 501 19818 done -0.78 - - 2648 - - - 2264 - -38.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20154 432.3 -1.0 507 20155 done -0.76 - - 2648 - - - 2264 - -22.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
20490 434.1 -0.4 513 20490 done -0.75 - - 2649 - - - 2264 - -15.8 - - 2776 - - - - - - - - 11.29 11.29 11.30
20826 431.6 1.0 519 20826 done -0.77 - - 2648 - - - 2264 - -32.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
21161 426.5 1.6 525 21162 done -0.77 - - 2648 - - - 2264 - -32.0 - - 2777 - - - - - - - - 11.29 11.30 11.29
21498 423.5 0.7 531 21498 done -0.79 - - 2648 - - - 2264 - -43.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21834 426.4 -1.1 537 21834 done -0.76 - - 2648 - - - 2264 - -24.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
22170 431.5 -1.4 543 22170 done -0.73 - - 2648 - - - 2264 - 0.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
22506 433.3 -0.3 549 22506 done -0.73 - - 2648 - - - 2264 - 5.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
22842 431.9 0.5 555 22842 done -0.74 - - 2648 - - - 2264 - -3.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
23178 431.7 -0.1 561 23178 done -0.74 - - 2648 - - - 2264 - -1.5 - - 2776 - - - - - - - - 11.29 11.29 11.30
23514 433.5 -0.6 567 23517 done -0.72 - - 2648 - - - 2264 - 8.9 2.15 0.338 2762 -6.5 2.045 - - - - - - 11.29 11.08 10.26
23850 434.2 -0.1 573 23853 done -0.72 - - 2648 - - - 2264 - 10.4 2.62 0.637 2758 -1.5 0.255 - - - - - - 11.29 11.08 10.32
24012 end loiter: LOITER_COMPLETE
24013 begin climb
24018 434.1 - 576 24143 roll 1.04 2.65 0.171 3226 218.1 3.45 0.054 873 -403.2 97.3 114.35 1.457 2403 -3.1 0.226 - - - - - - 11.02 10.96 10.38
24274 419.1 8.4 612 24279 done 1.04 - - 3225 - 3.33 0.056 2244 411.7 97.3 - - 2394 - - - - - - - - 11.10 11.00 11.11
24637 388.2 8.3 622 24638 done 0.96 - - 3226 - - - 2244 - 97.6 - - 2392 - - - - - - - - 11.22 11.23 11.23
24973 359.3 8.7 628 24974 done 0.87 0.20 0.203 3186 -200.0 - - 2244 - 97.6 - - 2392 - - - - - - - - 10.96 11.12 11.11
25309 331.0 8.5 634 25314 roll 0.87 - - 3201 - 3.35 0.053 865 -411.6 97.6 - - 2391 - - - - - - - - 11.24 11.02 11.24
25351 327.5 8.5 640 25356 done 0.87 - - 3196 - 3.35 0.056 2250 413.4 97.6 - - 2390 - - - - - - - - 11.12 11.01 11.14
25701 297.2 8.7 648 25706 roll 0.87 - - 3205 - 3.35 0.054 871 -411.6 97.6 - - 2391 - - - - - - - - 11.24 11.04 11.24
25743 293.6 9.0 654 25748 done 0.87 - - 3206 - 3.33 0.057 2247 413.2 97.6 - - 2391 - - - - - - - - 11.12 11.02 11.14
26093 261.8 9.0 662 26098 roll 0.87 - - 3206 - 3.72 0.126 3669 382.3 97.6 - - 2391 - - - - - - - - 11.25 10.96 11.24
26142 256.9 10.0 669 26150 done 0.77 0.32 0.199 3151 -171.9 3.22 0.041 2263 -436.6 97.6 - - 2391 - - - - - - - - 10.96 11.08 11.11
26485 232.7 6.7 676 26525 roll 0.80 - - 3161 - 3.45 0.054 846 -410.7 125.9 32.72 1.235 2288 -3.1 0.145 - - - - - - 11.24 10.98 10.48
26562 226.4 8.9 687 26567 done 0.80 - - 3162 - 3.40 0.056 2254 414.1 125.9 - - 2283 - - - - - - - - 11.10 10.98 11.11
26878 198.5 9.0 697 26884 roll 0.80 - - 3172 - 3.40 0.054 852 -412.4 125.9 - - 2281 - - - - - - - - 11.24 11.03 11.24
26926 193.8 9.8 704 26933 done 0.80 - - 3172 - 3.35 0.054 2246 416.1 125.9 - - 2281 - - - - - - - - 11.12 11.02 11.13
27270 163.5 8.6 711 27274 roll 0.80 - - 3171 - 3.75 0.130 3668 379.2 125.9 - - 2281 - - - - - - - - 11.25 10.95 11.24
27339 157.4 8.9 721 27345 done 0.80 - - 3182 - 3.28 0.041 2244 -434.1 125.9 - - 2281 - - - - - - - - 11.14 11.09 11.15
27661 134.6 7.3 732 27687 roll 0.82 - - 3192 - 3.40 0.057 843 -412.1 142.9 19.67 1.101 2222 -3.0 0.090 - - - - - - 11.24 10.98 10.52
27704 131.7 10.2 738 27708 done 0.82 - - 3193 - 3.40 0.057 2251 414.1 142.9 - - 2216 - - - - - - - - 11.10 10.98 11.11
28054 98.1 10.0 746 28059 roll 0.82 - - 3203 - 3.40 0.055 853 -411.2 142.9 - - 2216 - - - - - - - - 11.24 11.03 11.23
28095 94.1 10.8 752 28100 done 0.82 0.15 0.189 3172 -206.7 3.35 0.057 2244 415.2 142.9 - - 2216 - - - - - - - - 10.96 11.01 11.10
28418 68.9 6.7 765 28444 roll 0.86 - - 3181 - 3.38 0.051 850 -412.4 171.5 20.17 0.344 2120 -4.8 0.233 - - - - - - 11.24 11.01 10.85
28460 66.4 6.6 771 28492 done 0.98 - - 3182 - 3.35 0.054 2244 416.1 201.3 27.48 0.353 1998 -4.4 0.204 - - - - - - 11.10 11.00 10.84
28814 51.5 3.0 788 28899 roll 1.21 0.28 0.054 3287 375.0 3.42 0.055 845 -409.1 292.5 75.90 0.307 1637 -4.8 0.195 - - - - - - 11.07 11.00 10.86
28968 40.8 7.0 807 28996 done 1.24 - - 3287 - 3.33 0.050 2237 418.0 314.7 19.35 0.269 1547 -4.7 0.173 - - - - - - 11.11 11.01 10.88
29318 18.4 6.6 824 29353 roll 1.28 - - 3287 - 3.80 0.126 3656 373.4 345.0 24.80 0.200 1428 -4.8 0.108 - - - - - - 11.22 10.93 10.93
29481 3.9 10.9 848 29487 done 1.36 0.08 0.106 3359 900.0 3.28 0.041 2225 -436.3 345.0 - - 1431 - - - - - - - - 11.07 11.07 11.12
29504 end climb: SURFACE_DEPTH_REACHED
29504 begin surface coast
29533 end surface coast: CONTROL_FINISHED_OK
29533 begin surface
SM -2.46 - - - - -8.39 12.32 0.058 173 14.0 1.42 0.083 2775 -303.5 500.14 105.93 0.133 807 7.6 0.014 - - - - - -