SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 862 * Raw log
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• Previous call tries 1 • 286.48 of 350.00 AH used of 24V (18.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.3 deg, depth -3.04 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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 - - - 99 done -1.04 - - 106 - - - 2788 - -97.3 -81.95 - 3189 - - - - - - - - 11.21 10.45 11.21
104 0.9 -6.7 3 128 roll -1.04 18.52 0.372 2555 132.2 3.38 0.034 1359 -422.8 -97.3 - - 3191 - - - - - - - - 10.85 11.02 11.05
143 18.6 -42.1 9 155 done -0.18 1.62 0.259 2833 171.6 3.53 0.076 2765 398.3 -97.3 - - 3192 - - - - - - - - 10.90 10.98 11.07
465 49.3 -8.6 22 471 roll -0.40 0.15 0.070 2756 -513.3 3.33 0.037 1354 -423.7 -97.3 - - 3191 - - - - - - - - 11.09 11.05 11.10
644 59.3 -4.3 47 649 done -0.56 - - 2749 - 3.47 0.070 2767 407.2 -97.3 - - 3192 - - - - - - - - 11.11 11.01 11.12
972 69.9 -2.0 61 978 roll -0.75 0.22 0.050 2649 -454.5 3.30 0.032 1349 -429.7 -97.3 - - 3193 - - - - - - - - 11.10 11.06 11.12
1014 71.5 -2.4 67 1019 done -0.75 - - 2639 - 3.45 0.067 2759 408.7 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.13
1336 89.9 -6.6 80 1341 roll -0.75 - - 2627 - 2.67 0.117 3826 399.6 -97.3 - - 3193 - - - - - - - - 11.24 11.00 11.25
1441 97.7 -7.1 95 1447 done -0.75 - - 2630 - 2.38 0.040 2736 -458.0 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
1784 118.9 -6.5 103 1789 roll -0.75 - - 2630 - 3.15 0.035 1360 -436.8 -97.3 - - 3191 - - - - - - - - 11.24 11.07 11.24
1854 124.7 -6.9 113 1859 done -0.75 0.15 0.215 2650 133.3 3.42 0.069 2759 409.1 -97.3 - - 3191 - - - - - - - - 10.96 11.02 11.11
2176 148.9 -7.5 124 2181 roll -0.75 - - 2642 - 2.70 0.122 3826 395.2 -97.3 - - 3190 - - - - - - - - 11.25 11.00 11.25
2218 152.1 -7.5 130 2224 done -0.75 - - 2642 - 2.35 0.039 2751 -457.4 -97.3 - - 3189 - - - - - - - - 11.14 11.11 11.15
2568 177.7 -7.4 138 2574 roll -0.75 - - 2642 - 3.20 0.037 1366 -432.8 -97.3 - - 3187 - - - - - - - - 11.24 11.07 11.24
2645 183.7 -7.5 149 2650 done -0.75 - - 2633 - 3.45 0.070 2761 404.3 -97.3 - - 3186 - - - - - - - - 11.12 11.02 11.14
2961 207.6 -7.6 159 2965 roll -0.75 - - 2623 - 2.70 0.120 3830 395.9 -97.3 - - 3184 - - - - - - - - 11.24 11.00 11.24
3058 215.2 -7.7 173 3063 done -0.75 0.15 0.200 2654 206.7 2.40 0.040 2738 -455.0 -97.3 - - 3184 - - - - - - - - 10.98 11.11 11.11
3409 236.9 -6.2 181 3414 roll -0.83 - - 2654 - 3.17 0.035 1371 -431.2 -97.3 - - 3182 - - - - - - - - 11.24 11.07 11.24
3492 242.2 -6.4 193 3497 done -0.92 0.10 0.090 2588 -660.0 3.45 0.071 2761 402.9 -97.3 - - 3181 - - - - - - - - 11.10 11.03 11.14
3856 273.4 -8.9 203 3857 done -0.92 - - 2588 - - - 2759 - -97.3 - - 3179 - - - - - - - - 11.25 11.25 11.25
4192 304.6 -9.3 209 4193 done -0.92 - - 2588 - - - 2760 - -97.3 - - 3181 - - - - - - - - 11.26 11.26 11.26
4528 334.0 -8.6 215 4533 roll -0.92 - - 2586 - 3.28 0.035 1371 -423.5 -97.3 - - 3176 - - - - - - - - 11.26 11.07 11.26
4598 339.8 -8.4 225 4603 done -0.92 - - 2578 - 3.45 0.074 2752 400.3 -97.3 - - 3175 - - - - - - - - 11.13 11.03 11.14
4920 365.2 -7.8 236 4925 roll -0.92 - - 2577 - 3.25 0.035 1371 -424.9 -97.3 - - 3175 - - - - - - - - 11.26 11.07 11.26
4941 367.0 -7.8 239 4947 done -0.92 0.15 0.216 2595 120.0 3.45 0.075 2750 399.7 -97.3 - - 3175 - - - - - - - - 10.98 11.02 11.11
5256 389.7 -7.2 249 5261 roll -0.92 - - 2593 - 3.25 0.035 1369 -424.9 -97.3 - - 3173 - - - - - - - - 11.25 11.07 11.25
5319 394.4 -7.3 258 5325 done -0.92 - - 2586 - 3.45 0.074 2752 400.9 -97.3 - - 3173 - - - - - - - - 11.13 11.04 11.16
5648 420.2 -8.0 270 5649 done -0.92 - - 2586 - - - 2746 - -97.3 - - 3172 - - - - - - - - 11.26 11.25 11.26
5984 447.8 -8.3 276 5989 roll -0.92 - - 2578 - 2.75 0.126 3828 393.5 -97.3 - - 3170 - - - - - - - - 11.25 11.00 11.24
6007 end dive: TARGET_DEPTH_EXCEEDED
6007 begin apogee
6021 450.4 -9.1 280 6171 roll -0.23 1.20 0.201 2818 200.0 - - 2242 - - 147.23 1.304 2800 -2.5 0.210 - - - - - - 10.98 11.00 10.50
6172 end apogee: CONTROL_FINISHED_OK
6172 begin loiter
6404 456.5 -0.2 315 6409 done -0.22 - - 2818 - - - 2243 - 3.1 - - 2791 - - - - - - - - 11.24 11.24 11.24
6734 455.5 0.4 327 6735 done -0.60 0.35 0.050 2711 -305.7 - - 2242 - -3.9 - - 2789 - - - - - - - - 11.08 11.14 11.12
7069 452.0 1.3 333 7071 done -0.75 0.12 0.071 2647 -533.3 - - 2242 - -3.9 - - 2788 - - - - - - - - 11.10 11.14 11.14
7405 447.4 1.3 339 7406 done -0.75 - - 2647 - - - 2242 - -3.9 - - 2786 - - - - - - - - 11.26 11.26 11.26
7741 444.3 0.8 345 7742 done -0.77 - - 2647 - - - 2243 - -17.9 - - 2786 - - - - - - - - 11.26 11.26 11.26
8077 443.0 0.3 351 8078 done -0.78 - - 2647 - - - 2242 - -23.4 - - 2785 - - - - - - - - 11.26 11.27 11.27
8413 442.0 0.4 357 8414 done -0.78 - - 2647 - - - 2243 - -29.8 - - 2784 - - - - - - - - 11.27 11.27 11.27
8749 440.7 0.4 363 8750 done -0.79 - - 2647 - - - 2243 - -37.3 - - 2783 - - - - - - - - 11.27 11.27 11.27
9085 438.9 0.6 369 9086 done -0.81 - - 2647 - - - 2243 - -47.5 - - 2783 - - - - - - - - 11.27 11.28 11.27
9421 436.5 0.7 375 9422 done -0.82 - - 2647 - - - 2242 - -58.9 - - 2783 - - - - - - - - 11.27 11.26 11.28
9757 436.4 - 381 9758 done -0.82 - - 2647 - - - 2243 - -58.1 - - 2782 - - - - - - - - 11.28 11.28 11.28
10093 434.4 0.9 387 10094 done -0.84 - - 2647 - - - 2242 - -73.9 - - 2781 - - - - - - - - 11.28 11.28 11.28
10429 428.7 1.7 393 10430 done -0.84 - - 2647 - - - 2243 - -73.9 - - 2781 - - - - - - - - 11.28 11.28 11.28
10765 426.3 0.5 399 10766 done -0.85 - - 2647 - - - 2243 - -82.4 - - 2780 - - - - - - - - 11.28 11.28 11.28
11101 428.4 -0.7 405 11102 done -0.83 - - 2647 - - - 2242 - -69.7 - - 2780 - - - - - - - - 11.28 11.29 11.27
11437 427.4 0.8 411 11438 done -0.85 - - 2647 - - - 2242 - -82.7 - - 2780 - - - - - - - - 11.29 11.28 11.29
11773 424.4 0.8 417 11774 done -0.87 - - 2647 - - - 2243 - -95.8 - - 2780 - - - - - - - - 11.29 11.29 11.29
12109 426.3 -0.7 423 12110 done -0.85 - - 2647 - - - 2242 - -83.2 - - 2780 - - - - - - - - 11.29 11.29 11.29
12445 427.9 -0.2 429 12446 done -0.85 - - 2647 - - - 2243 - -80.2 - - 2780 - - - - - - - - 11.29 11.29 11.29
12781 428.5 -0.2 435 12782 done -0.84 - - 2647 - - - 2243 - -76.0 - - 2780 - - - - - - - - 11.29 11.29 11.29
13117 429.9 -0.6 441 13118 done -0.83 - - 2647 - - - 2242 - -66.2 - - 2780 - - - - - - - - 11.29 11.29 11.28
13454 430.5 -0.2 447 13455 done -0.83 - - 2647 - - - 2242 - -63.5 - - 2780 - - - - - - - - 11.29 11.29 11.28
13790 428.9 0.7 453 13791 done -0.84 - - 2647 - - - 2243 - -76.0 - - 2779 - - - - - - - - 11.28 11.28 11.29
14125 426.1 0.8 459 14126 done -0.86 - - 2647 - - - 2243 - -90.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
14461 424.9 0.2 465 14462 done -0.86 - - 2647 - - - 2242 - -94.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
14797 425.8 -0.2 471 14798 done -0.86 - - 2647 - - - 2242 - -90.4 - - 2779 - - - - - - - - 11.29 11.29 11.29
15133 425.4 0.2 477 15134 done -0.86 - - 2647 - - - 2243 - -94.1 - - 2779 - - - - - - - - 11.29 11.29 11.29
15469 424.1 0.3 483 15470 done -0.87 - - 2647 - - - 2243 - -99.6 - - 2779 - - - - - - - - 11.29 11.30 11.29
15805 423.9 - 489 15806 done -0.87 - - 2647 - - - 2243 - -99.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
16141 425.2 -0.3 495 16142 done -0.86 - - 2647 - - - 2242 - -94.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
16477 427.9 -0.8 501 16478 done -0.85 - - 2647 - - - 2242 - -81.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
16813 429.1 -0.2 507 16814 done -0.84 - - 2647 - - - 2243 - -77.8 - - 2779 - - - - - - - - 11.31 11.28 11.29
17149 427.7 0.7 513 17150 done -0.86 - - 2647 - - - 2243 - -89.9 - - 2779 - - - - - - - - 11.29 11.29 11.29
17485 423.6 1.3 519 17486 done -0.86 - - 2647 - - - 2243 - -89.9 - - 2779 - - - - - - - - 11.29 11.29 11.26
17821 422.1 0.3 525 17822 done -0.87 - - 2648 - - - 2243 - -95.1 - - 2779 - - - - - - - - 11.29 11.29 11.29
18157 422.1 0.1 531 18158 done -0.87 - - 2647 - - - 2243 - -96.8 - - 2779 - - - - - - - - 11.29 11.29 11.29
18494 421.2 0.3 537 18495 done -0.87 - - 2647 - - - 2242 - -102.6 - - 2779 - - - - - - - - 11.29 11.29 11.29
18829 419.5 0.5 543 18830 done -0.89 - - 2647 - - - 2242 - -111.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
19165 418.0 0.4 549 19166 done -0.89 0.08 0.110 2594 -662.5 - - 2243 - -118.6 - - 2779 - - - - - - - - 11.12 11.18 11.17
19501 418.6 -0.2 555 19502 done -0.89 - - 2594 - - - 2242 - -115.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
19837 419.4 -0.3 561 19838 done -0.88 - - 2593 - - - 2243 - -111.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
20173 421.8 -0.8 567 20174 done -0.87 - - 2593 - - - 2243 - -97.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
20509 422.1 0.2 573 20510 done -0.87 - - 2594 - - - 2243 - -101.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
20845 422.5 0.2 579 20846 done -0.88 - - 2594 - - - 2243 - -104.3 - - 2778 - - - - - - - - 11.29 11.29 11.30
21181 421.0 0.7 585 21182 done -0.89 - - 2593 - - - 2242 - -116.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
21517 419.8 0.3 591 21518 done -0.90 - - 2593 - - - 2242 - -121.5 - - 2778 - - - - - - - - 11.30 11.29 11.29
21853 421.9 -0.4 597 21854 done -0.89 - - 2594 - - - 2243 - -113.9 - - 2778 - - - - - - - - 11.30 11.29 11.30
22189 424.9 -1.0 603 22190 done -0.87 - - 2593 - - - 2242 - -96.1 - - 2778 - - - - - - - - 11.29 11.30 11.29
22525 427.7 -0.8 609 22526 done -0.85 - - 2593 - - - 2243 - -81.9 - - 2778 - - - - - - - - 11.30 11.29 11.30
22861 427.8 0.1 615 22863 done -0.85 0.12 0.222 2616 191.7 - - 2243 - -84.4 - - 2778 - - - - - - - - 11.00 11.17 11.14
23198 425.8 0.3 621 23199 done -0.86 - - 2616 - - - 2243 - -89.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
23533 424.1 0.6 627 23534 done -0.87 - - 2617 - - - 2242 - -100.0 - - 2778 - - - - - - - - 11.30 11.30 11.30
23869 425.9 -0.8 633 23870 done -0.85 - - 2617 - - - 2242 - -86.1 - - 2778 - - - - - - - - 11.30 11.30 11.29
24144 end loiter: LOITER_COMPLETE
24144 begin climb
24149 427.5 - 638 24274 roll 1.04 2.83 0.182 3223 214.1 3.45 0.052 855 -402.0 97.3 115.88 1.471 2404 -3.2 0.227 - - - - - - 11.01 10.96 10.38
24392 414.7 5.9 672 24447 done 1.09 - - 3224 - 3.35 0.050 2251 416.7 138.0 49.72 1.413 2250 -3.1 0.220 - - - - - - 11.09 10.99 10.42
24767 374.5 11.0 690 24772 roll 1.09 - - 3234 - 3.38 0.052 853 -413.6 138.0 - - 2228 - - - - - - - - 11.21 11.02 11.21
24815 369.8 12.7 697 24821 done 1.09 - - 3234 - 3.35 0.054 2248 416.4 138.0 - - 2227 - - - - - - - - 11.10 11.00 11.12
25158 332.4 10.9 704 25159 done 1.09 - - 3234 - - - 2247 - 138.0 - - 2226 - - - - - - - - 11.23 11.23 11.23
25494 296.7 10.6 710 25499 roll 1.09 - - 3244 - 3.33 0.053 860 -416.5 138.0 - - 2225 - - - - - - - - 11.23 11.02 11.23
25564 289.7 12.2 720 25569 done 1.09 - - 3244 - 3.33 0.053 2249 417.1 138.0 - - 2224 - - - - - - - - 11.12 11.02 11.12
25886 251.8 12.1 731 25892 roll 1.01 - - 3244 - 3.62 0.112 3661 390.1 138.0 - - 2225 - - - - - - - - 11.24 10.95 11.24
25928 246.4 13.5 737 25934 done 0.87 0.35 0.207 3185 -168.6 3.20 0.037 2250 -440.9 138.0 - - 2224 - - - - - - - - 10.95 11.08 11.10
26278 209.4 10.5 745 26283 roll 0.87 - - 3195 - 3.33 0.052 847 -421.3 138.0 - - 2224 - - - - - - - - 11.24 11.03 11.24
26355 203.1 8.1 756 26360 done 0.88 - - 3195 - 3.33 0.052 2243 419.2 141.8 - - 2224 - - - - - - - - 11.12 11.02 11.14
26670 169.3 10.5 766 26675 roll 0.88 - - 3195 - 3.65 0.115 3668 390.4 141.8 - - 2224 - - - - - - - - 11.24 10.97 11.24
26705 166.3 11.8 771 26711 done 0.88 - - 3205 - 3.25 0.037 2234 -441.2 141.8 - - 2224 - - - - - - - - 11.13 11.08 11.14
27062 131.8 9.6 780 27067 roll 0.88 - - 3216 - 3.28 0.054 854 -420.7 141.8 - - 2224 - - - - - - - - 11.24 11.04 11.24
27097 128.8 10.2 785 27102 done 0.88 0.15 0.191 3185 -206.7 3.30 0.051 2242 420.6 141.8 - - 2224 - - - - - - - - 10.98 11.02 11.11
27454 101.6 8.4 794 27459 roll 0.88 - - 3189 - 3.33 0.052 853 -417.1 141.8 - - 2224 - - - - - - - - 11.25 11.04 11.24
27489 98.5 9.0 799 27495 done 0.88 - - 3195 - 3.30 0.052 2239 420.0 141.8 - - 2223 - - - - - - - - 11.12 11.02 11.13
27818 73.8 6.6 813 27846 roll 0.91 - - 3194 - 3.72 0.115 3659 381.7 170.5 21.75 0.350 2124 -4.6 0.232 - - - - - - 11.24 10.94 10.85
27970 63.7 6.8 834 27999 done 0.94 - - 3203 - 3.20 0.037 2239 -443.8 196.6 24.17 0.332 2019 -4.3 0.202 - - - - - - 11.15 11.10 10.86
28314 44.3 4.8 850 28377 roll 1.11 0.08 0.114 3260 712.5 3.35 0.053 860 -411.6 257.3 54.08 0.291 1778 -4.5 0.164 - - - - - - 11.07 11.00 10.88
28609 34.1 6.9 893 28637 done 1.25 0.10 0.093 3303 430.0 3.25 0.050 2231 421.8 282.2 22.40 0.256 1676 -4.6 0.147 - - - - - - 11.07 11.02 10.90
28950 7.2 7.9 908 28959 done 1.26 - - 3303 - - - 2231 - 289.2 8.02 0.171 1648 -3.5 0.036 - - - - - - 11.23 11.10 10.96
29024 end climb: SURFACE_DEPTH_REACHED
29024 begin surface coast
29052 end surface coast: CONTROL_FINISHED_OK
29053 begin surface
SM -6.02 - - - - -8.40 12.40 0.072 200 16.1 1.38 0.089 2771 -3955.8 500.14 145.48 0.135 808 5.6 0.025 - - - - - -