SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 864 * Raw log
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• Previous call tries 1 • 286.92 of 350.00 AH used of 24V (18.02% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.5 deg, depth -6.75 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - 127 - - - 2786 - -97.3 -82.93 - 3188 - - - - - - - - 11.21 10.45 11.21
104 -3.2 -6.1 3 127 roll -1.04 18.48 0.375 2554 131.3 3.33 0.031 1364 -427.0 -97.3 - - 3190 - - - - - - - - 10.85 11.02 11.05
184 22.5 -22.0 15 190 done -0.80 0.50 0.255 2634 160.0 3.53 0.076 2772 398.9 -97.3 - - 3191 - - - - - - - - 10.91 10.98 11.07
506 59.3 -8.2 28 511 roll -0.80 - - 2634 - 3.30 0.034 1362 -427.3 -97.3 - - 3192 - - - - - - - - 11.24 11.05 11.24
569 63.9 -6.8 37 575 done -0.80 - - 2625 - 3.45 0.068 2767 407.2 -97.3 - - 3192 - - - - - - - - 11.12 11.01 11.12
898 88.4 -8.0 51 903 roll -0.80 - - 2616 - 2.67 0.118 3829 397.8 -97.3 - - 3192 - - - - - - - - 11.24 11.00 11.24
1045 99.0 -6.1 72 1050 done -0.80 - - 2615 - 2.35 0.037 2753 -457.9 -97.3 - - 3192 - - - - - - - - 11.14 11.10 11.14
1402 121.2 -6.7 81 1408 roll -0.80 - - 2614 - 3.20 0.035 1374 -430.9 -97.3 - - 3191 - - - - - - - - 11.24 11.06 11.25
1458 126.0 -6.9 89 1465 done -0.80 0.15 0.218 2634 133.3 3.45 0.069 2764 402.9 -97.3 - - 3191 - - - - - - - - 10.96 11.02 11.10
1794 150.9 -7.3 102 1799 roll -0.80 - - 2626 - 2.70 0.116 3836 397.0 -97.3 - - 3189 - - - - - - - - 11.24 11.00 11.24
1829 153.6 -8.3 107 1834 done -0.80 - - 2625 - 2.38 0.039 2763 -450.8 -97.3 - - 3190 - - - - - - - - 11.14 11.10 11.14
2186 178.0 -6.8 116 2191 roll -0.80 - - 2625 - 3.28 0.036 1363 -426.8 -97.3 - - 3187 - - - - - - - - 11.24 11.06 11.24
2256 183.2 -6.8 126 2261 done -0.80 - - 2616 - 3.47 0.069 2764 403.7 -97.3 - - 3188 - - - - - - - - 11.12 11.02 11.14
2578 206.2 -7.1 137 2584 roll -0.80 - - 2615 - 3.30 0.037 1371 -422.1 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.24
2634 209.7 -5.7 145 2641 done -0.80 0.15 0.218 2634 126.7 3.47 0.072 2761 400.6 -97.3 - - 3183 - - - - - - - - 10.98 11.03 11.11
2971 232.1 -6.6 158 2975 roll -0.80 - - 2626 - 2.72 0.122 3834 394.5 -97.3 - - 3183 - - - - - - - - 11.25 11.00 11.25
3061 239.5 -8.4 171 3066 done -0.80 - - 2625 - 2.40 0.040 2756 -449.2 -97.3 - - 3182 - - - - - - - - 11.14 11.10 11.15
3418 268.0 -7.5 180 3423 roll -0.80 - - 2625 - 3.25 0.035 1366 -427.7 -97.3 - - 3179 - - - - - - - - 11.24 11.07 11.24
3488 275.1 -8.5 190 3493 done -0.80 - - 2616 - 3.50 0.070 2773 402.0 -97.3 - - 3179 - - - - - - - - 11.12 11.02 11.14
3810 299.6 -7.2 201 3816 roll -0.80 - - 2615 - 3.35 0.035 1361 -421.5 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.24
3894 310.6 -6.0 213 3900 done -0.80 0.15 0.214 2635 133.3 3.47 0.070 2755 401.7 -97.3 - - 3177 - - - - - - - - 10.98 11.03 11.10
4258 338.4 -7.0 223 4263 roll -0.80 - - 2635 - 3.30 0.035 1367 -420.6 -97.3 - - 3175 - - - - - - - - 11.25 11.07 11.25
4328 344.2 -5.9 233 4334 done -0.80 - - 2625 - 3.47 0.071 2758 400.9 -97.3 - - 3174 - - - - - - - - 11.13 11.04 11.14
4651 364.4 -6.4 244 4655 roll -0.80 - - 2616 - 2.75 0.126 3832 390.5 -97.3 - - 3173 - - - - - - - - 11.26 11.00 11.26
4699 368.6 -7.8 251 4705 done -0.80 - - 2616 - 2.42 0.041 2752 -446.3 -97.3 - - 3177 - - - - - - - - 11.15 11.11 11.16
5043 391.2 -6.4 258 5047 roll -0.80 - - 2616 - 3.28 0.035 1355 -425.9 -97.3 - - 3172 - - - - - - - - 11.25 11.08 11.25
5112 397.7 -9.2 268 5118 done -0.80 0.15 0.215 2635 126.7 3.45 0.071 2755 405.8 -97.3 - - 3172 - - - - - - - - 10.98 11.02 11.11
5435 420.0 -6.7 279 5439 roll -0.80 - - 2634 - 2.78 0.129 3833 387.8 -97.3 - - 3170 - - - - - - - - 11.26 11.00 11.25
5511 426.2 -7.0 290 5516 done -0.80 - - 2627 - 2.42 0.043 2753 -446.3 -97.3 - - 3170 - - - - - - - - 11.15 11.11 11.16
5827 446.6 -6.7 300 5832 roll -0.80 - - 2627 - 3.28 0.035 1356 -425.9 -97.3 - - 3169 - - - - - - - - 11.24 11.07 11.24
5856 end dive: TARGET_DEPTH_EXCEEDED
5856 begin apogee
5869 450.2 -10.1 305 5981 roll -0.23 0.95 0.186 2817 200.0 - - 2251 - - 110.00 1.491 2801 -3.3 0.244 - - - - - - 10.99 11.00 10.43
5982 end apogee: CONTROL_FINISHED_OK
5982 begin loiter
6039 453.6 -0.2 315 6043 done -0.22 - - 2817 - - - 2251 - 4.1 - - 2790 - - - - - - - - 11.21 11.21 11.21
6375 451.0 1.0 328 6377 done -0.58 0.35 0.051 2711 -302.9 - - 2251 - 4.1 - - 2788 - - - - - - - - 11.07 11.13 11.12
6711 446.8 1.4 334 6713 done -0.74 0.12 0.075 2657 -450.0 - - 2251 - 4.1 - - 2787 - - - - - - - - 11.10 11.14 11.13
7047 444.6 0.8 340 7048 done -0.76 - - 2657 - - - 2251 - -8.9 - - 2785 - - - - - - - - 11.26 11.26 11.26
7383 443.8 0.1 346 7384 done -0.76 - - 2657 - - - 2251 - -10.6 - - 2785 - - - - - - - - 11.26 11.26 11.26
7719 443.2 - 352 7720 done -0.76 - - 2657 - - - 2251 - -10.7 - - 2784 - - - - - - - - 11.26 11.27 11.27
8055 441.5 0.7 358 8056 done -0.77 - - 2657 - - - 2251 - -22.3 - - 2783 - - - - - - - - 11.26 11.26 11.27
8392 442.8 -0.2 364 8393 done -0.77 - - 2657 - - - 2251 - -19.2 - - 2782 - - - - - - - - 11.27 11.27 11.27
8727 441.6 0.4 370 8728 done -0.78 - - 2657 - - - 2251 - -26.1 - - 2782 - - - - - - - - 11.27 11.28 11.28
9063 439.9 0.8 376 9064 done -0.80 - - 2657 - - - 2251 - -39.7 - - 2782 - - - - - - - - 11.27 11.28 11.28
9399 439.5 - 382 9400 done -0.80 - - 2657 - - - 2251 - -40.3 - - 2781 - - - - - - - - 11.28 11.28 11.27
9735 440.6 - 388 9736 done -0.79 - - 2657 - - - 2251 - -39.5 - - 2781 - - - - - - - - 11.28 11.28 11.28
10071 440.2 0.1 394 10072 done -0.80 - - 2657 - - - 2251 - -41.9 - - 2780 - - - - - - - - 11.28 11.28 11.28
10407 439.5 0.3 400 10408 done -0.80 - - 2657 - - - 2251 - -47.1 - - 2780 - - - - - - - - 11.28 11.28 11.28
10743 436.0 1.0 406 10744 done -0.80 - - 2657 - - - 2251 - -47.1 - - 2779 - - - - - - - - 11.28 11.28 11.29
11079 433.7 0.7 412 11080 done -0.82 - - 2657 - - - 2250 - -58.2 - - 2779 - - - - - - - - 11.28 11.28 11.29
11415 430.1 0.9 418 11416 done -0.84 - - 2657 - - - 2251 - -73.7 - - 2779 - - - - - - - - 11.29 11.29 11.28
11751 428.9 0.5 424 11752 done -0.85 - - 2657 - - - 2250 - -82.7 - - 2779 - - - - - - - - 11.29 11.29 11.29
12087 427.6 0.4 430 12088 done -0.86 - - 2657 - - - 2251 - -89.6 - - 2779 - - - - - - - - 11.29 11.28 11.29
12423 425.3 0.8 436 12424 done -0.87 0.08 0.111 2612 -562.5 - - 2251 - -102.7 - - 2779 - - - - - - - - 11.12 11.17 11.16
12759 422.2 1.2 442 12760 done -0.87 - - 2612 - - - 2250 - -102.7 - - 2778 - - - - - - - - 11.29 11.31 11.29
13096 418.9 1.0 448 13097 done -0.89 - - 2612 - - - 2251 - -119.0 - - 2778 - - - - - - - - 11.28 11.28 11.29
13431 420.3 -0.8 454 13432 done -0.88 - - 2612 - - - 2251 - -105.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
13767 422.5 -0.8 460 13768 done -0.86 - - 2612 - - - 2251 - -92.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
14103 425.2 -0.8 466 14104 done -0.84 - - 2612 - - - 2250 - -78.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
14439 425.7 0.2 472 14440 done -0.85 - - 2612 - - - 2251 - -80.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
14775 423.4 0.9 478 14776 done -0.86 - - 2612 - - - 2251 - -96.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
15111 424.1 - 484 15112 done -0.86 - - 2612 - - - 2251 - -95.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
15447 423.1 0.5 490 15448 done -0.87 - - 2612 - - - 2251 - -103.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
15783 423.1 0.1 496 15784 done -0.88 - - 2612 - - - 2251 - -105.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
16119 421.2 0.7 502 16120 done -0.89 - - 2612 - - - 2251 - -116.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
16455 420.6 - 508 16456 done -0.89 - - 2612 - - - 2251 - -116.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
16791 416.2 1.5 514 16792 done -0.89 - - 2612 - - - 2250 - -116.0 - - 2778 - - - - - - - - 11.29 11.33 11.29
17127 413.2 1.0 520 17128 done -0.91 - - 2612 - - - 2251 - -132.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
17463 417.0 -1.4 526 17464 done -0.88 - - 2612 - - - 2251 - -108.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
17799 422.3 -1.6 532 17800 done -0.85 - - 2612 - - - 2251 - -81.9 - - 2778 - - - - - - - - 11.29 11.28 11.29
18136 423.6 -0.1 538 18137 done -0.85 - - 2612 - - - 2250 - -80.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
18471 424.2 -0.2 544 18472 done -0.84 - - 2613 - - - 2251 - -77.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
18807 422.7 0.3 550 18808 done -0.85 - - 2612 - - - 2251 - -83.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
19143 420.8 1.0 556 19144 done -0.85 - - 2612 - - - 2251 - -83.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
19479 419.4 1.0 562 19480 done -0.87 - - 2612 - - - 2251 - -99.5 - - 2777 - - - - - - - - 11.30 11.29 11.30
19815 418.4 0.5 568 19816 done -0.88 - - 2612 - - - 2250 - -108.7 - - 2777 - - - - - - - - 11.29 11.30 11.29
20151 421.7 -1.1 574 20152 done -0.86 - - 2612 - - - 2251 - -90.0 - - 2777 - - - - - - - - 11.29 11.30 11.29
20487 421.1 0.5 580 20488 done -0.87 - - 2612 - - - 2251 - -98.2 - - 2777 - - - - - - - - 11.29 11.30 11.29
20823 419.2 0.5 586 20824 done -0.88 - - 2612 - - - 2251 - -106.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
21159 420.7 -0.2 592 21160 done -0.87 - - 2612 - - - 2251 - -102.6 - - 2777 - - - - - - - - 11.29 11.29 11.30
21495 419.9 0.4 598 21496 done -0.88 - - 2612 - - - 2251 - -109.4 - - 2777 - - - - - - - - 11.29 11.30 11.30
21831 419.0 0.3 604 21832 done -0.89 - - 2612 - - - 2251 - -114.4 - - 2777 - - - - - - - - 11.29 11.30 11.30
22167 418.1 0.4 610 22168 done -0.89 - - 2612 - - - 2251 - -120.7 - - 2777 - - - - - - - - 11.30 11.29 11.30
22503 415.4 0.9 616 22504 done -0.91 - - 2612 - - - 2251 - -135.6 - - 2777 - - - - - - - - 11.30 11.29 11.29
22840 412.6 0.8 622 22841 done -0.93 - - 2612 - - - 2251 - -149.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
23175 411.8 0.3 628 23176 done -0.94 - - 2612 - - - 2251 - -154.5 - - 2777 - - - - - - - - 11.30 11.30 11.30
23511 412.4 -0.3 634 23512 done -0.93 - - 2612 - - - 2251 - -150.0 - - 2777 - - - - - - - - 11.29 11.30 11.30
23847 412.2 0.1 640 23848 done -0.93 - - 2612 - - - 2250 - -152.1 - - 2777 - - - - - - - - 11.30 11.30 11.30
24010 end loiter: LOITER_COMPLETE
24010 begin climb
24015 411.5 - 643 24145 roll 1.04 2.83 0.182 3212 212.0 3.78 0.116 3667 374.9 97.3 115.95 1.450 2404 -3.2 0.221 - - - - - - 11.00 10.89 10.38
24335 387.7 10.3 688 24340 done 0.92 - - 3223 - 3.28 0.039 2250 -432.0 97.3 - - 2394 - - - - - - - - 11.12 11.06 11.12
24685 354.0 9.6 696 24690 roll 0.84 0.22 0.203 3184 -177.3 3.38 0.052 846 -415.4 97.3 - - 2391 - - - - - - - - 10.97 11.02 11.05
24769 347.2 7.3 708 24795 done 0.86 - - 3184 - 3.38 0.054 2247 414.5 115.3 20.92 1.381 2338 -2.5 0.154 - - - - - - 11.12 11.02 10.41
25133 318.7 7.7 718 25151 roll 0.88 - - 3184 - 3.70 0.118 3668 384.1 126.9 11.93 1.307 2294 -3.7 0.218 - - - - - - 11.23 10.91 10.43
25182 314.9 8.4 725 25189 done 0.88 - - 3195 - 3.28 0.038 2241 -435.1 126.9 - - 2291 - - - - - - - - 11.11 11.06 11.12
25525 285.4 8.8 732 25530 roll 0.88 - - 3205 - 3.35 0.055 855 -413.7 126.9 - - 2289 - - - - - - - - 11.22 11.02 11.22
25623 275.6 10.7 746 25628 done 0.88 - - 3205 - 3.35 0.054 2247 415.5 126.9 - - 2289 - - - - - - - - 11.11 11.02 11.12
25973 242.4 9.9 754 25974 done 0.88 - - 3205 - - - 2247 - 126.9 - - 2288 - - - - - - - - 11.23 11.23 11.22
26309 210.0 9.5 760 26314 roll 0.88 - - 3205 - 3.67 0.119 3661 385.3 126.9 - - 2288 - - - - - - - - 11.24 10.95 11.25
26344 207.2 11.6 765 26350 done 0.88 0.15 0.207 3187 -120.0 3.25 0.037 2242 -436.6 126.9 - - 2288 - - - - - - - - 10.96 11.08 11.09
26701 175.2 8.7 774 26706 roll 0.88 - - 3197 - 3.35 0.055 846 -416.7 126.9 - - 2288 - - - - - - - - 11.24 11.04 11.24
26785 169.6 7.6 786 26812 done 0.89 - - 3197 - 3.38 0.054 2249 415.1 140.0 19.10 1.148 2233 -2.9 0.103 - - - - - - 11.12 11.01 10.49
27149 137.1 8.8 796 27154 roll 0.89 - - 3197 - 3.67 0.118 3667 386.4 140.0 - - 2226 - - - - - - - - 11.23 10.95 11.24
27191 132.3 11.0 802 27196 done 0.89 - - 3207 - 3.25 0.037 2241 -438.8 140.0 - - 2226 - - - - - - - - 11.12 11.08 11.14
27541 100.9 8.7 810 27546 roll 0.89 - - 3218 - 3.33 0.055 855 -416.2 140.0 - - 2225 - - - - - - - - 11.24 11.04 11.24
27569 98.3 9.0 814 27574 done 0.89 0.12 0.203 3193 -208.3 3.35 0.055 2245 414.9 140.0 - - 2224 - - - - - - - - 10.96 11.02 11.11
27909 74.1 6.3 829 27936 done 0.93 - - 3193 - - - 2245 - 173.9 24.80 0.378 2107 -4.7 0.224 - - - - - - 11.24 11.06 10.82
28241 53.4 6.1 844 28281 done 0.98 - - 3193 - - - 2245 - 211.3 35.10 0.333 1962 -4.1 0.160 - - - - - - 11.24 11.06 10.85
28605 39.8 3.0 863 28693 roll 1.25 0.32 0.050 3304 346.9 3.78 0.119 3673 377.8 302.1 77.47 0.292 1598 -4.7 0.155 - - - - - - 11.08 10.94 10.88
28857 21.9 6.2 899 28896 done 1.30 - - 3314 - 3.30 0.039 2234 -436.1 339.2 31.77 0.234 1451 -4.6 0.105 - - - - - - 11.12 11.07 10.90
29132 end climb: SURFACE_DEPTH_REACHED
29132 begin surface coast
29164 end surface coast: CONTROL_FINISHED_OK
29164 begin surface
SM -8.89 - - - - -8.41 12.40 0.070 196 15.8 1.42 0.093 2778 -4560.6 500.14 113.07 0.135 807 7.1 0.048 - - - - - -