SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 856 * Raw log
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• Previous call tries 1 • 285.07 of 350.00 AH used of 24V (18.55% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth -3.69 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: 1 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 - - 106 - - - 2766 - -97.3 -82.40 - 3189 - - - - - - - - 11.21 10.45 11.21
104 -0.5 -6.1 3 128 roll -1.04 18.62 0.373 2554 131.5 3.30 0.032 1373 -422.1 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
192 27.9 -20.4 16 197 done -0.80 0.50 0.253 2632 156.0 3.50 0.078 2771 399.4 -97.3 - - 3191 - - - - - - - - 10.92 10.99 11.07
521 56.9 -0.2 30 527 roll -0.80 - - 2633 - 3.28 0.034 1374 -425.9 -97.3 - - 3192 - - - - - - - - 11.24 11.05 11.24
563 60.5 -8.4 36 568 done -0.80 - - 2623 - 3.42 0.071 2761 405.6 -97.3 - - 3192 - - - - - - - - 11.11 11.01 11.12
885 82.8 -7.3 49 890 roll -0.80 - - 2622 - 3.25 0.035 1374 -426.8 -97.3 - - 3193 - - - - - - - - 11.24 11.05 11.24
976 88.3 -5.4 62 982 done -0.80 0.12 0.216 2636 116.7 3.42 0.073 2758 404.7 -97.3 - - 3193 - - - - - - - - 10.96 11.02 11.10
1305 108.3 -6.7 74 1311 roll -0.80 - - 2637 - 3.25 0.037 1374 -425.8 -97.3 - - 3192 - - - - - - - - 11.24 11.06 11.24
1347 112.2 -6.7 80 1352 done -0.80 - - 2627 - 3.42 0.072 2754 403.5 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.13
1697 136.4 -7.0 88 1702 roll -0.80 - - 2618 - 2.78 0.131 3825 385.3 -97.3 - - 3190 - - - - - - - - 11.24 10.99 11.24
1760 141.6 -11.2 97 1765 done -0.80 - - 2618 - 2.40 0.042 2744 -450.4 -97.3 - - 3190 - - - - - - - - 11.16 11.11 11.15
2089 165.3 -7.6 109 2094 roll -0.80 - - 2618 - 3.20 0.037 1373 -428.4 -97.3 - - 3189 - - - - - - - - 11.24 11.07 11.24
2117 167.1 -6.8 113 2123 done -0.80 0.12 0.216 2633 125.0 3.45 0.075 2751 399.4 -97.3 - - 3187 - - - - - - - - 10.98 11.02 11.10
2481 189.9 -5.5 123 2486 roll -0.80 - - 2633 - 3.28 0.037 1372 -420.4 -97.3 - - 3185 - - - - - - - - 11.24 11.07 11.25
2594 197.5 -5.2 139 2599 done -0.80 - - 2624 - 3.45 0.076 2739 396.2 -97.3 - - 3185 - - - - - - - - 11.12 11.02 11.14
2930 220.4 -7.3 152 2934 roll -0.80 - - 2615 - 2.83 0.134 3826 384.1 -97.3 - - 3183 - - - - - - - - 11.24 11.00 11.24
2992 225.1 -6.8 161 2997 done -0.80 - - 2614 - 2.45 0.044 2737 -444.5 -97.3 - - 3183 - - - - - - - - 11.14 11.11 11.15
3322 251.0 -7.8 173 3326 roll -0.80 - - 2614 - 3.22 0.035 1360 -427.6 -97.3 - - 3181 - - - - - - - - 11.24 11.07 11.25
3356 254.6 -13.4 178 3363 done -0.80 0.15 0.214 2634 133.3 3.47 0.075 2742 398.3 -97.3 - - 3180 - - - - - - - - 10.97 11.01 11.10
3713 284.2 -8.8 187 3714 done -0.80 - - 2634 - - - 2742 - -97.3 - - 3180 - - - - - - - - 11.24 11.24 11.26
4049 310.4 -7.7 193 4054 roll -0.80 - - 2634 - 3.28 0.036 1367 -419.2 -97.3 - - 3177 - - - - - - - - 11.24 11.07 11.25
4140 316.6 -7.5 206 4146 done -0.80 - - 2624 - 3.45 0.075 2736 396.8 -97.3 - - 3177 - - - - - - - - 11.13 11.02 11.14
4497 339.8 -6.6 215 4502 roll -0.80 - - 2615 - 2.85 0.137 3830 383.9 -97.3 - - 3175 - - - - - - - - 11.25 10.99 11.25
4532 342.3 -7.1 220 4537 done -0.80 - - 2614 - 2.47 0.045 2739 -441.7 -97.3 - - 3175 - - - - - - - - 11.13 11.10 11.14
4889 362.7 -5.5 229 4890 done -0.80 - - 2614 - - - 2738 - -97.3 - - 3174 - - - - - - - - 11.25 11.25 11.25
5226 383.6 -6.4 235 5231 roll -0.80 - - 2615 - 3.28 0.037 1351 -422.9 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.24
5302 389.8 -8.5 246 5309 done -0.80 0.15 0.219 2634 126.7 3.53 0.076 2748 395.8 -97.3 - - 3172 - - - - - - - - 10.98 11.02 11.11
5617 413.3 -7.8 256 5618 done -0.80 - - 2633 - - - 2748 - -97.3 - - 3171 - - - - - - - - 11.25 11.25 11.25
5953 439.8 -7.8 262 5959 roll -0.80 - - 2634 - 3.33 0.036 1355 -418.3 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.26
6016 444.5 -6.9 271 6021 done -0.80 - - 2624 - 3.47 0.076 2728 395.7 -97.3 - - 3169 - - - - - - - - 11.13 11.02 11.14
6116 end dive: TARGET_DEPTH_EXCEEDED
6116 begin apogee
6128 452.2 -7.1 279 6243 roll -0.23 0.95 0.184 2820 206.3 0.12 0.142 2267 -3841.7 - 112.00 1.502 2799 -3.3 0.240 - - - - - - 10.99 10.95 10.42
6244 end apogee: CONTROL_FINISHED_OK
6244 begin loiter
6475 454.4 2.7 314 6480 done -0.23 - - 2820 - 0.08 0.108 2220 -587.5 - - - 2787 - - - - - - - - 11.11 11.07 11.11
6805 449.1 1.7 326 6806 done -0.60 0.38 0.051 2709 -292.1 - - 2220 - - - - 2786 - - - - - - - - 11.07 11.13 11.12
7141 444.5 1.2 332 7142 done -0.75 0.12 0.071 2652 -475.0 - - 2220 - - - - 2784 - - - - - - - - 11.10 11.14 11.14
7477 443.0 0.7 338 7477 done -0.76 - - 2652 - - - 2220 - -11.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7813 441.1 0.8 344 7813 done -0.78 - - 2652 - - - 2220 - -24.9 - - 2783 - - - - - - - - 11.26 11.26 11.26
8149 439.9 0.6 350 8149 done -0.79 - - 2652 - - - 2220 - -35.9 - - 2782 - - - - - - - - 11.26 11.26 11.26
8485 440.2 - 356 8486 done -0.79 - - 2652 - - - 2220 - -36.7 - - 2782 - - - - - - - - 11.26 11.26 11.26
8821 439.5 0.4 362 8821 done -0.80 - - 2652 - - - 2220 - -44.2 - - 2781 - - - - - - - - 11.27 11.27 11.27
9157 435.9 1.2 368 9157 done -0.80 - - 2652 - - - 2220 - -44.2 - - 2781 - - - - - - - - 11.27 11.27 11.28
9493 431.8 1.2 374 9493 done -0.80 - - 2652 - - - 2219 - -44.2 - - 2779 - - - - - - - - 11.27 11.27 11.27
9829 429.0 0.9 380 9829 done -0.82 - - 2652 - - - 2220 - -59.3 - - 2779 - - - - - - - - 11.27 11.27 11.27
10165 429.7 -0.3 386 10166 done -0.82 - - 2651 - - - 2220 - -54.3 - - 2778 - - - - - - - - 11.27 11.28 11.27
10501 434.0 -0.6 392 10501 done -0.80 - - 2652 - - - 2220 - -43.9 - - 2778 - - - - - - - - 11.28 11.28 11.28
10837 433.1 0.7 398 10837 done -0.82 - - 2652 - - - 2220 - -56.2 - - 2777 - - - - - - - - 11.28 11.28 11.28
11173 430.3 0.7 404 11173 done -0.83 - - 2652 - - - 2220 - -68.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
11509 427.3 0.7 410 11509 done -0.85 - - 2651 - - - 2220 - -80.3 - - 2778 - - - - - - - - 11.30 11.28 11.28
11845 427.5 -0.2 416 11845 done -0.84 - - 2652 - - - 2220 - -76.7 - - 2777 - - - - - - - - 11.28 11.28 11.28
12181 428.7 -0.1 422 12181 done -0.84 - - 2652 - - - 2220 - -74.3 - - 2778 - - - - - - - - 11.28 11.29 11.28
12517 428.3 0.4 428 12517 done -0.85 - - 2652 - - - 2220 - -81.5 - - 2777 - - - - - - - - 11.28 11.29 11.28
12853 426.9 0.3 434 12854 done -0.86 - - 2652 - - - 2220 - -86.2 - - 2777 - - - - - - - - 11.29 11.28 11.29
13189 427.6 - 440 13190 done -0.85 - - 2652 - - - 2220 - -85.7 - - 2777 - - - - - - - - 11.28 11.29 11.28
13525 428.4 -0.3 446 13526 done -0.85 - - 2652 - - - 2220 - -80.1 - - 2777 - - - - - - - - 11.29 11.28 11.28
13861 427.9 0.2 452 13861 done -0.85 - - 2652 - - - 2220 - -83.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
14197 425.8 0.8 458 14197 done -0.87 - - 2652 - - - 2220 - -96.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
14533 423.0 0.7 464 14534 done -0.88 0.08 0.112 2605 -587.5 - - 2220 - -107.9 - - 2776 - - - - - - - - 11.12 11.17 11.17
14869 422.1 - 470 14869 done -0.88 - - 2606 - - - 2220 - -108.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
15205 423.3 -0.5 476 15205 done -0.87 - - 2605 - - - 2220 - -100.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15541 426.1 -0.9 482 15541 done -0.85 - - 2606 - - - 2220 - -85.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
15877 428.0 -0.5 488 15877 done -0.84 - - 2605 - - - 2220 - -77.1 - - 2776 - - - - - - - - 11.31 11.29 11.29
16213 428.3 - 494 16213 done -0.84 - - 2606 - - - 2220 - -77.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
16549 425.8 0.8 500 16549 done -0.86 - - 2605 - - - 2220 - -90.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
16885 422.9 0.9 506 16885 done -0.88 - - 2606 - - - 2220 - -106.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
17221 420.4 0.8 512 17221 done -0.90 - - 2605 - - - 2220 - -119.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
17557 419.2 0.3 518 17557 done -0.90 - - 2605 - - - 2220 - -124.4 - - 2776 - - - - - - - - 11.29 11.28 11.29
17893 418.6 0.1 524 17894 done -0.91 - - 2606 - - - 2220 - -126.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
18229 417.6 0.2 530 18230 done -0.91 - - 2605 - - - 2220 - -129.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
18565 417.5 -0.1 536 18566 done -0.91 - - 2605 - - - 2220 - -128.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
18901 417.1 0.3 542 18902 done -0.91 - - 2605 - - - 2220 - -133.5 - - 2776 - - - - - - - - 11.29 11.29 11.31
19237 415.7 0.4 548 19237 done -0.92 - - 2605 - - - 2220 - -140.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
19573 416.4 - 554 19574 done -0.92 - - 2605 - - - 2220 - -140.2 - - 2776 - - - - - - - - 11.29 11.28 11.29
19909 416.0 - 560 19910 done -0.92 - - 2605 - - - 2219 - -140.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20245 415.5 0.3 566 20246 done -0.93 - - 2605 - - - 2220 - -145.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20581 414.8 0.3 572 20582 done -0.93 - - 2605 - - - 2220 - -150.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
20917 413.9 0.2 578 20918 done -0.94 - - 2605 - - - 2220 - -153.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
21253 414.6 -0.4 584 21254 done -0.93 - - 2605 - - - 2220 - -146.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
21589 416.2 -0.6 590 21590 done -0.92 - - 2606 - - - 2220 - -136.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
21925 418.2 -0.4 596 21926 done -0.91 - - 2605 - - - 2220 - -129.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
22261 418.9 -0.2 602 22262 done -0.90 - - 2606 - - - 2220 - -126.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
22597 418.5 0.2 608 22598 done -0.91 - - 2605 - - - 2220 - -129.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
22933 417.7 0.4 614 22934 done -0.92 - - 2605 - - - 2219 - -136.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
23269 413.3 1.7 620 23270 done -0.92 - - 2606 - - - 2220 - -136.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
23605 409.6 1.1 626 23605 done -0.92 - - 2605 - - - 2220 - -136.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
23941 409.3 0.1 632 23941 done -0.92 - - 2605 - - - 2220 - -137.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
24272 end loiter: LOITER_COMPLETE
24272 begin climb
24277 409.8 - 638 24402 roll 1.04 2.90 0.185 3221 212.4 3.40 0.053 863 -399.1 97.3 115.85 1.453 2405 -3.2 0.218 - - - - - - 11.01 10.97 10.40
24435 404.0 6.7 660 24476 done 1.08 - - 3221 - 3.35 0.054 2248 413.4 125.5 35.33 1.404 2299 -3.0 0.209 - - - - - - 11.09 10.98 10.41
24834 363.3 10.4 675 24835 done 1.08 - - 3221 - - - 2248 - 125.5 - - 2278 - - - - - - - - 11.22 11.21 11.22
25170 330.0 10.1 681 25175 roll 1.08 - - 3231 - 3.38 0.053 860 -410.7 125.5 - - 2277 - - - - - - - - 11.21 11.02 11.23
25198 327.1 10.4 685 25203 done 1.08 - - 3230 - 3.38 0.057 2257 413.3 125.5 - - 2275 - - - - - - - - 11.11 11.00 11.12
25562 287.6 11.1 695 25563 done 1.00 - - 3231 - - - 2257 - 125.5 - - 2275 - - - - - - - - 11.24 11.23 11.24
25898 252.9 10.1 701 25904 roll 0.92 0.12 0.212 3213 -150.0 3.40 0.051 863 -410.0 125.5 - - 2276 - - - - - - - - 10.96 11.02 11.07
25947 248.2 8.2 708 25954 done 0.92 - - 3212 - 3.35 0.055 2250 414.0 127.4 - - 2275 - - - - - - - - 11.12 11.00 11.13
26291 216.2 9.2 715 26297 roll 0.92 - - 3213 - 3.70 0.123 3669 383.5 127.4 - - 2275 - - - - - - - - 11.24 10.96 11.24
26318 214.0 7.4 719 26345 done 0.94 - - 3223 - 3.25 0.039 2251 -436.3 143.8 19.60 1.206 2222 -2.7 0.116 - - - - - - 11.13 11.08 10.49
26682 179.2 9.5 729 26688 roll 0.94 - - 3223 - 3.72 0.122 3669 381.2 143.8 - - 2213 - - - - - - - - 11.23 10.95 11.23
26710 176.5 9.5 733 26716 done 0.87 0.25 0.203 3184 -156.0 3.28 0.041 2243 -434.8 143.8 - - 2213 - - - - - - - - 10.95 11.07 11.10
27074 147.3 8.1 743 27080 roll 0.87 - - 3194 - 3.35 0.053 849 -416.1 147.5 - - 2212 - - - - - - - - 11.23 11.03 11.24
27137 142.3 7.8 752 27158 done 0.88 - - 3195 - 3.38 0.054 2254 415.7 156.3 15.30 1.107 2177 -2.3 0.071 - - - - - - 11.14 11.00 10.52
27516 106.3 9.8 764 27520 roll 0.88 - - 3195 - 3.72 0.125 3672 381.2 156.3 - - 2163 - - - - - - - - 11.24 10.95 11.24
27571 100.7 10.8 772 27576 done 0.88 - - 3206 - 3.28 0.039 2250 -433.5 156.3 - - 2163 - - - - - - - - 11.13 11.07 11.14
27908 72.5 7.9 790 27920 roll 0.89 - - 3206 - 3.78 0.121 3658 372.5 164.4 3.30 0.169 2148 -4.5 0.471 - - - - - - 11.24 10.93 10.94
27956 68.2 9.4 797 27967 done 0.89 - - 3216 - 3.22 0.039 2247 -438.2 164.4 2.70 0.175 2146 - - - - - - - - 11.13 11.08 10.95
28304 49.8 3.2 813 28388 roll 1.00 - - 3226 - 3.42 0.053 849 -408.8 251.5 75.70 0.319 1799 -4.6 0.173 - - - - - - 11.23 11.00 10.86
28465 40.5 7.7 833 28482 done 1.10 - - 3226 - 3.35 0.051 2252 418.8 262.5 10.68 0.264 1756 -4.0 0.149 - - - - - - 11.10 11.00 10.88
28809 24.4 4.6 849 28871 roll 1.34 0.30 0.049 3341 383.3 3.47 0.054 850 -404.0 326.2 52.70 0.240 1501 -4.8 0.119 - - - - - - 11.07 11.00 10.90
29035 7.5 9.1 882 29040 done 1.34 - - 3341 - 3.35 0.053 2256 419.7 326.2 - - 1506 - - - - - - - - 11.11 11.00 11.12
29107 end climb: SURFACE_DEPTH_REACHED
29107 begin surface coast
29136 end surface coast: CONTROL_FINISHED_OK
29136 begin surface
SM -7.45 - - - - -8.40 12.60 0.078 198 15.7 1.33 0.090 2777 1313.5 500.14 118.78 0.134 808 6.8 0.039 - - - - - -