SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 860 * Raw log
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• Previous call tries 2 • 286.03 of 350.00 AH used of 24V (18.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth -6.77 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 38
• 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 - - - 2787 - -97.3 -82.20 - 3188 - - - - - - - - 11.21 10.46 11.21
104 -2.6 -5.8 3 127 roll -1.04 18.40 0.369 2555 133.2 3.35 0.032 1363 -425.1 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.05
163 18.3 -21.7 12 169 done -0.77 0.52 0.244 2642 167.3 3.53 0.078 2764 396.9 -97.3 - - 3190 - - - - - - - - 10.92 11.00 11.07
485 57.7 -6.9 25 491 roll -0.77 - - 2633 - 2.70 0.117 3838 397.8 -97.3 - - 3191 - - - - - - - - 11.26 11.00 11.26
527 60.3 -6.1 31 532 done -0.77 - - 2634 - 2.40 0.041 2754 -451.7 -97.3 - - 3191 - - - - - - - - 11.14 11.10 11.16
849 80.8 -5.7 44 854 roll -0.77 - - 2633 - 3.22 0.036 1362 -432.3 -97.3 - - 3192 - - - - - - - - 11.26 11.06 11.25
884 83.6 -5.4 49 890 done -0.77 - - 2623 - 3.45 0.069 2768 407.5 -97.3 - - 3192 - - - - - - - - 11.12 11.02 11.13
1213 104.5 -6.6 62 1218 roll -0.77 - - 2622 - 3.30 0.037 1364 -425.5 -97.3 - - 3191 - - - - - - - - 11.27 11.07 11.27
1332 113.8 -7.1 79 1337 done -0.77 0.15 0.214 2642 133.3 3.45 0.070 2768 407.0 -97.3 - - 3190 - - - - - - - - 10.97 11.02 11.10
1661 137.3 -7.6 91 1666 roll -0.77 - - 2642 - 3.30 0.037 1366 -424.8 -97.3 - - 3189 - - - - - - - - 11.27 11.07 11.27
1717 141.9 -9.6 99 1722 done -0.77 - - 2632 - 3.45 0.070 2759 403.8 -97.3 - - 3188 - - - - - - - - 11.13 11.03 11.14
2053 168.6 -7.7 112 2058 roll -0.77 - - 2624 - 2.70 0.118 3830 396.7 -97.3 - - 3186 - - - - - - - - 11.27 11.01 11.27
2102 172.7 -8.6 119 2108 done -0.77 - - 2623 - 2.40 0.041 2753 -448.8 -97.3 - - 3185 - - - - - - - - 11.15 11.12 11.16
2445 201.4 -8.4 126 2450 roll -0.77 0.08 0.233 2634 137.5 2.78 0.119 3835 389.2 -97.3 - - 3184 - - - - - - - - 10.98 11.01 11.08
2501 206.2 -8.7 134 2506 done -0.77 - - 2633 - 2.42 0.041 2749 -448.8 -97.3 - - 3183 - - - - - - - - 11.15 11.12 11.16
2837 232.4 -7.7 147 2842 roll -0.77 - - 2633 - 3.25 0.037 1361 -427.1 -97.3 - - 3180 - - - - - - - - 11.26 11.07 11.28
2977 242.4 -6.9 167 2982 done -0.77 - - 2623 - 3.47 0.070 2762 403.7 -97.3 - - 3179 - - - - - - - - 11.14 11.04 11.14
3341 266.6 -6.5 177 3347 roll -0.77 - - 2622 - 3.30 0.037 1366 -423.0 -97.3 - - 3177 - - - - - - - - 11.27 11.07 11.28
3439 273.0 -6.7 191 3444 done -0.77 0.17 0.214 2647 147.1 3.47 0.071 2760 401.7 -97.3 - - 3177 - - - - - - - - 10.98 11.03 11.12
3789 294.4 -6.3 199 3794 roll -0.77 - - 2647 - 3.30 0.037 1367 -422.1 -97.3 - - 3174 - - - - - - - - 11.28 11.08 11.28
3831 297.1 -6.5 205 3837 done -0.85 - - 2639 - 3.45 0.073 2748 400.3 -97.3 - - 3174 - - - - - - - - 11.14 11.03 11.15
4181 319.0 -6.0 213 4187 roll -0.85 - - 2630 - 2.75 0.122 3829 393.1 -97.3 - - 3173 - - - - - - - - 11.28 11.02 11.28
4216 324.2 -14.2 218 4220 done -0.85 - - 2630 - 2.42 0.043 2739 -450.4 -97.3 - - 3173 - - - - - - - - 11.16 11.12 11.17
4573 352.5 -7.9 227 4578 roll -0.85 - - 2630 - 3.20 0.033 1371 -427.5 -97.3 - - 3171 - - - - - - - - 11.28 11.08 11.28
4664 359.6 -7.6 240 4669 done -0.85 - - 2620 - 3.45 0.072 2754 400.9 -97.3 - - 3170 - - - - - - - - 11.14 11.04 11.16
5021 387.1 -7.7 249 5027 roll -0.85 - - 2619 - 3.30 0.035 1363 -421.5 -97.3 - - 3168 - - - - - - - - 11.28 11.08 11.28
5070 390.9 -7.7 256 5076 done -0.85 - - 2610 - 3.45 0.072 2742 399.7 -97.3 - - 3168 - - - - - - - - 11.14 11.04 11.15
5413 417.3 -7.8 263 5418 roll -0.85 - - 2609 - 3.25 0.035 1372 -421.5 -97.3 - - 3167 - - - - - - - - 11.28 11.09 11.29
5448 420.3 -8.0 268 5453 done -0.85 - - 2600 - 3.42 0.073 2740 400.0 -97.3 - - 3167 - - - - - - - - 11.14 11.04 11.16
5805 447.7 -7.7 277 5806 done -0.85 - - 2599 - - - 2739 - -97.3 - - 3166 - - - - - - - - 11.29 11.28 11.29
5856 end dive: TARGET_DEPTH_EXCEEDED
5856 begin apogee
5868 452.1 -7.7 278 5980 roll -0.23 1.08 0.193 2818 202.8 - - 2243 - - 109.25 1.483 2800 -3.4 0.246 - - - - - - 11.00 11.00 10.44
5980 end apogee: CONTROL_FINISHED_OK
5980 begin loiter
6212 453.9 1.6 313 6216 done -0.23 - - 2818 - - - 2243 - - - - 2787 - - - - - - - - 11.24 11.24 11.24
6541 447.0 2.2 325 6543 done -0.59 0.35 0.050 2712 -302.9 - - 2243 - - - - 2786 - - - - - - - - 11.08 11.14 11.13
6877 442.8 1.0 331 6878 done -0.75 0.12 0.070 2652 -500.0 - - 2243 - - - - 2784 - - - - - - - - 11.11 11.15 11.14
7213 441.7 0.2 337 7214 done -0.75 - - 2654 - - - 2243 - -3.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7549 440.3 0.5 343 7550 done -0.76 - - 2653 - - - 2243 - -12.8 - - 2783 - - - - - - - - 11.27 11.27 11.27
7885 438.2 0.6 349 7886 done -0.77 - - 2653 - - - 2243 - -23.4 - - 2782 - - - - - - - - 11.27 11.27 11.27
8221 435.2 1.0 355 8222 done -0.80 - - 2653 - - - 2242 - -39.9 - - 2781 - - - - - - - - 11.27 11.27 11.28
8557 431.5 1.1 361 8558 done -0.80 - - 2653 - - - 2243 - -39.9 - - 2781 - - - - - - - - 11.28 11.28 11.28
8893 426.3 1.6 367 8894 done -0.80 - - 2653 - - - 2243 - -39.9 - - 2780 - - - - - - - - 11.28 11.28 11.28
9229 422.5 1.1 373 9230 done -0.80 - - 2653 - - - 2243 - -39.9 - - 2779 - - - - - - - - 11.28 11.28 11.28
9565 418.6 1.2 379 9566 done -0.80 - - 2653 - - - 2243 - -39.9 - - 2779 - - - - - - - - 11.28 11.28 11.29
9901 417.0 0.4 385 9902 done -0.80 - - 2654 - - - 2243 - -46.7 - - 2778 - - - - - - - - 11.26 11.29 11.29
10237 415.5 0.4 391 10238 done -0.81 - - 2653 - - - 2243 - -53.2 - - 2778 - - - - - - - - 11.29 11.28 11.28
10573 413.1 0.9 397 10574 done -0.83 - - 2653 - - - 2243 - -67.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
10909 408.8 1.3 403 10910 done -0.83 - - 2653 - - - 2243 - -67.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
11245 405.3 0.9 409 11246 done -0.85 - - 2653 - - - 2243 - -83.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
11581 405.3 -0.2 415 11582 done -0.85 - - 2654 - - - 2243 - -80.8 - - 2778 - - - - - - - - 11.28 11.29 11.29
11918 407.4 -0.7 421 11918 done -0.83 - - 2653 - - - 2243 - -69.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
12253 407.6 0.1 427 12254 done -0.83 - - 2653 - - - 2243 - -72.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
12589 406.0 0.4 433 12590 done -0.84 - - 2653 - - - 2243 - -79.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
12925 404.2 0.6 439 12926 done -0.86 - - 2653 - - - 2243 - -89.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
13261 403.3 0.2 445 13262 done -0.86 - - 2653 - - - 2243 - -92.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
13597 402.0 0.5 451 13598 done -0.87 0.08 0.114 2605 -600.0 - - 2243 - -101.2 - - 2776 - - - - - - - - 11.12 11.17 11.17
13933 399.9 0.6 457 13934 done -0.88 - - 2605 - - - 2243 - -111.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
14269 399.7 -0.1 463 14270 done -0.88 - - 2605 - - - 2243 - -109.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
14605 401.6 -0.6 469 14606 done -0.87 - - 2605 - - - 2243 - -98.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
14941 404.7 -1.0 475 14942 done -0.85 - - 2605 - - - 2243 - -82.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
15277 407.1 -0.6 481 15278 done -0.83 - - 2605 - - - 2243 - -72.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
15613 407.2 0.1 487 15614 done -0.84 - - 2605 - - - 2243 - -73.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
15949 404.9 0.8 493 15950 done -0.85 - - 2604 - - - 2243 - -87.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
16285 402.3 0.7 499 16286 done -0.87 - - 2605 - - - 2243 - -99.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
16622 401.6 0.1 505 16622 done -0.87 - - 2605 - - - 2243 - -101.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
16957 403.5 -0.7 511 16958 done -0.86 - - 2605 - - - 2243 - -89.3 - - 2775 - - - - - - - - 11.30 11.29 11.31
17293 406.8 -1.0 517 17294 done -0.84 - - 2605 - - - 2243 - -72.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
17629 407.7 -0.1 523 17630 done -0.83 - - 2604 - - - 2243 - -71.1 - - 2776 - - - - - - - - 11.29 11.30 11.29
17965 407.6 - 529 17966 done -0.83 - - 2605 - - - 2243 - -71.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
18301 408.1 -0.2 535 18302 done -0.83 - - 2605 - - - 2243 - -68.8 - - 2775 - - - - - - - - 11.29 11.29 11.30
18637 409.6 -0.6 541 18638 done -0.82 0.12 0.223 2628 191.7 - - 2243 - -59.2 - - 2775 - - - - - - - - 10.99 11.17 11.14
18973 412.4 -0.8 547 18974 done -0.80 - - 2628 - - - 2243 - -44.9 - - 2775 - - - - - - - - 11.29 11.29 11.30
19309 412.8 0.1 553 19310 done -0.80 - - 2628 - - - 2243 - -46.3 - - 2775 - - - - - - - - 11.29 11.30 11.30
19645 409.6 1.1 559 19646 done -0.80 - - 2627 - - - 2243 - -46.3 - - 2775 - - - - - - - - 11.26 11.30 11.30
19981 406.9 0.6 565 19982 done -0.82 - - 2628 - - - 2243 - -57.2 - - 2776 - - - - - - - - 11.30 11.28 11.30
20317 407.2 -0.2 571 20318 done -0.81 - - 2628 - - - 2243 - -54.3 - - 2776 - - - - - - - - 11.29 11.30 11.30
20653 407.7 -0.1 577 20654 done -0.81 - - 2628 - - - 2243 - -51.9 - - 2775 - - - - - - - - 11.30 11.30 11.30
20989 407.4 0.1 583 20990 done -0.81 - - 2628 - - - 2243 - -54.3 - - 2776 - - - - - - - - 11.30 11.30 11.30
21325 406.0 0.5 589 21326 done -0.82 - - 2628 - - - 2242 - -62.5 - - 2775 - - - - - - - - 11.30 11.30 11.30
21662 404.6 0.4 595 21663 done -0.83 - - 2628 - - - 2243 - -68.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
21997 405.3 -0.3 601 21998 done -0.82 - - 2627 - - - 2243 - -62.9 - - 2776 - - - - - - - - 11.30 11.30 11.30
22333 409.2 -1.3 607 22334 done -0.80 - - 2628 - - - 2243 - -40.1 - - 2775 - - - - - - - - 11.30 11.30 11.30
22669 414.1 -1.3 613 22670 done -0.77 - - 2628 - - - 2243 - -17.2 - - 2775 - - - - - - - - 11.30 11.30 11.30
23005 414.9 - 619 23006 done -0.77 - - 2628 - - - 2243 - -16.6 - - 2776 - - - - - - - - 11.30 11.30 11.30
23341 412.7 0.7 625 23342 done -0.78 - - 2628 - - - 2243 - -29.1 - - 2775 - - - - - - - - 11.30 11.30 11.30
23677 409.6 0.9 631 23678 done -0.80 - - 2627 - - - 2243 - -44.8 - - 2775 - - - - - - - - 11.30 11.30 11.30
24008 end loiter: LOITER_COMPLETE
24008 begin climb
24013 408.3 - 637 24138 roll 1.04 2.78 0.180 3212 210.4 3.72 0.106 3668 383.1 97.3 114.62 1.430 2406 -3.2 0.222 - - - - - - 11.01 10.90 10.42
24318 385.6 9.9 680 24323 done 0.92 - - 3223 - 3.25 0.038 2260 -433.2 97.3 - - 2397 - - - - - - - - 11.12 11.06 11.12
24633 358.3 8.5 690 24639 roll 0.85 0.20 0.202 3189 -170.0 3.40 0.050 846 -415.9 97.3 - - 2394 - - - - - - - - 10.95 11.03 11.06
24696 353.5 7.4 699 24723 done 0.87 - - 3189 - 3.38 0.053 2252 416.0 113.9 20.52 1.371 2342 -2.5 0.158 - - - - - - 11.12 11.01 10.42
25082 322.0 8.4 712 25087 roll 0.87 - - 3189 - 3.62 0.113 3668 391.2 113.9 - - 2330 - - - - - - - - 11.23 10.97 11.23
25116 318.6 9.7 717 25121 done 0.87 - - 3199 - 3.28 0.038 2241 -435.1 113.9 - - 2329 - - - - - - - - 11.13 11.08 11.14
25473 284.4 9.6 726 25474 done 0.87 - - 3200 - - - 2237 - 113.9 - - 2328 - - - - - - - - 11.24 11.24 11.24
25809 254.9 8.6 732 25814 roll 0.87 - - 3200 - 3.70 0.113 3666 386.2 113.9 - - 2328 - - - - - - - - 11.24 10.97 11.24
25872 249.1 9.5 741 25877 done 0.79 0.28 0.198 3156 -157.1 3.28 0.039 2239 -435.1 113.9 - - 2329 - - - - - - - - 10.95 11.08 11.11
26201 223.6 8.0 753 26207 roll 0.79 - - 3166 - 3.35 0.053 849 -414.9 120.3 - - 2328 - - - - - - - - 11.24 11.04 11.24
26278 216.8 8.7 764 26283 done 0.79 - - 3167 - 3.35 0.053 2247 417.3 120.3 - - 2328 - - - - - - - - 11.12 11.02 11.13
26593 190.2 8.4 774 26599 roll 0.79 - - 3166 - 3.67 0.116 3672 388.3 120.3 - - 2328 - - - - - - - - 11.24 10.98 11.24
26677 182.9 8.7 786 26683 done 0.79 - - 3177 - 3.28 0.039 2243 -435.7 120.3 1.65 0.173 2320 -4.8 1.236 - - - - - - 11.14 11.09 11.00
27041 155.1 7.5 796 27073 roll 0.81 - - 3177 - 3.80 0.113 3671 375.8 133.6 22.67 1.118 2258 -2.7 0.091 - - - - - - 11.25 10.93 10.52
27104 149.7 9.1 805 27109 done 0.81 - - 3188 - 3.28 0.040 2247 -434.1 133.6 - - 2254 - - - - - - - - 11.12 11.07 11.12
27434 124.0 7.3 817 27460 roll 0.83 - - 3198 - 3.45 0.054 849 -405.2 150.9 20.88 1.100 2191 -3.0 0.082 - - - - - - 11.24 10.98 10.52
27496 119.9 6.7 826 27522 done 0.87 - - 3198 - 3.38 0.054 2252 415.1 179.2 20.23 0.477 2087 -5.1 0.312 - - - - - - 11.10 10.99 10.76
27846 89.6 9.3 839 27850 done 0.87 - - 3198 - - - 2253 - 179.2 2.58 0.168 2088 - - - - - - - - 11.23 11.10 10.96
28154 65.1 8.2 850 28165 roll 0.87 - - 3208 - 3.40 0.051 850 -412.6 182.3 4.93 0.237 2081 -1.4 0.094 - - - - - - 11.24 11.03 10.86
28252 58.2 6.5 864 28293 done 0.91 - - 3208 - 3.35 0.050 2257 420.0 213.8 30.98 0.323 1956 -4.0 0.175 - - - - - - 11.12 11.01 10.85
28607 42.6 2.0 881 28706 roll 1.19 0.17 0.066 3278 411.8 3.62 0.116 3660 387.6 322.1 92.18 0.288 1518 -4.8 0.169 - - - - - - 11.08 10.93 10.87
28757 37.6 5.8 903 28803 done 1.24 - - 3288 - 3.20 0.037 2249 -440.9 365.1 38.22 0.266 1348 -4.4 0.152 - - - - - - 11.12 11.07 10.87
29132 9.0 8.6 923 29137 roll 1.35 0.08 0.111 3359 887.5 3.35 0.056 853 -416.7 365.1 - - 1353 - - - - - - - - 11.07 11.02 11.08
29189 end climb: SURFACE_DEPTH_REACHED
29189 begin surface coast
29196 end surface coast: CONTROL_FINISHED_OK
29196 begin surface
SM -4.20 - - - - -8.39 12.60 0.074 199 15.8 4.78 0.073 2773 16.9 500.14 95.80 0.132 807 8.4 0.027 - - - - - -