SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 866 * Raw log
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• Previous call tries 1 • 287.38 of 350.00 AH used of 24V (17.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.6 deg, depth -7.40 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: 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
16 - - - 100 done -1.04 - - 105 - - - 2791 - -97.3 -82.53 - 3189 - - - - - - - - 11.21 10.45 11.21
105 0.1 -12.6 3 129 roll -1.04 18.65 0.375 2555 131.4 3.38 0.034 1358 -424.0 -97.3 - - 3191 - - - - - - - - 10.85 11.02 11.05
186 25.8 -20.9 15 192 done -0.79 0.50 0.249 2635 160.0 3.55 0.080 2766 396.6 -97.3 - - 3192 - - - - - - - - 10.92 10.98 11.07
515 64.8 -7.8 29 516 done -0.79 - - 2634 - - - 2766 - -97.3 - - 3192 - - - - - - - - 11.25 11.25 11.25
823 90.7 -7.9 40 828 roll -0.79 - - 2627 - 2.72 0.128 3833 392.3 -97.3 - - 3193 - - - - - - - - 11.26 10.99 11.26
1061 103.7 -5.6 74 1067 done -0.79 - - 2627 - 2.40 0.041 2749 -451.7 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.15
1383 127.4 -7.8 85 1388 roll -0.79 - - 2619 - 2.78 0.119 3831 389.2 -97.3 - - 3192 - - - - - - - - 11.26 10.99 11.26
1418 130.2 -8.8 90 1424 done -0.79 - - 2618 - 2.38 0.041 2752 -453.4 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.15
1775 153.4 -6.6 99 1780 roll -0.79 - - 2611 - 2.78 0.119 3835 389.6 -97.3 - - 3191 - - - - - - - - 11.26 11.01 11.26
1873 161.1 -8.0 113 1878 done -0.79 0.12 0.211 2635 200.0 2.38 0.041 2760 -451.7 -97.3 - - 3190 - - - - - - - - 11.00 11.12 11.11
2223 189.2 -8.3 121 2228 roll -0.79 - - 2635 - 3.25 0.037 1370 -427.7 -97.3 - - 3188 - - - - - - - - 11.27 11.07 11.26
2321 197.7 -8.5 135 2326 done -0.79 - - 2625 - 3.50 0.073 2776 401.7 -97.3 - - 3188 - - - - - - - - 11.13 11.02 11.14
2671 225.8 -8.0 143 2672 done -0.79 - - 2624 - - - 2776 - -97.3 - - 3186 - - - - - - - - 11.27 11.26 11.27
3007 255.3 -8.8 149 3008 done -0.79 - - 2625 - - - 2775 - -97.3 - - 3185 - - - - - - - - 11.27 11.26 11.27
3343 280.5 -7.2 155 3348 roll -0.79 - - 2624 - 3.35 0.037 1372 -418.8 -97.3 - - 3181 - - - - - - - - 11.27 11.07 11.27
3406 284.9 -7.2 164 3411 done -0.79 - - 2615 - 3.50 0.078 2758 396.0 -97.3 - - 3181 - - - - - - - - 11.14 11.03 11.15
3735 309.7 -7.6 176 3736 done -0.79 - - 2615 - - - 2757 - -97.3 - - 3180 - - - - - - - - 11.27 11.27 11.27
4071 336.5 -8.0 182 4072 done -0.79 - - 2616 - - - 2758 - -97.3 - - 3179 - - - - - - - - 11.27 11.27 11.28
4407 359.5 -6.7 188 4408 done -0.79 - - 2615 - - - 2757 - -97.3 - - 3177 - - - - - - - - 11.28 11.28 11.27
4743 381.6 -6.6 194 4749 roll -0.79 - - 2614 - 3.33 0.037 1369 -416.8 -97.3 - - 3175 - - - - - - - - 11.28 11.08 11.28
4813 385.8 -6.2 204 4818 done -0.79 0.15 0.218 2633 126.7 3.53 0.076 2768 396.3 -97.3 - - 3175 - - - - - - - - 10.98 11.02 11.12
5135 406.2 -6.4 215 5136 done -0.79 - - 2633 - - - 2768 - -97.3 - - 3174 - - - - - - - - 11.28 11.28 11.28
5471 427.1 -6.1 221 5476 roll -0.79 - - 2633 - 3.33 0.037 1373 -418.9 -97.3 - - 3173 - - - - - - - - 11.28 11.08 11.28
5604 435.6 -6.5 240 5609 done -0.79 - - 2623 - 3.50 0.076 2760 396.3 -97.3 - - 3172 - - - - - - - - 11.14 11.03 11.15
5858 end dive: TARGET_DEPTH_EXCEEDED
5858 begin apogee
5870 453.3 -7.1 249 6018 roll -0.23 0.93 0.180 2816 207.5 - - 2245 - - 145.80 1.327 2799 -2.6 0.212 - - - - - - 11.00 11.00 10.48
6018 end apogee: CONTROL_FINISHED_OK
6018 begin loiter
6250 456.9 0.1 284 6254 done -0.23 - - 2817 - - - 2245 - -1.3 - - 2790 - - - - - - - - 11.24 11.24 11.24
6580 454.8 0.8 296 6581 done -0.61 0.38 0.050 2703 -300.0 - - 2245 - -14.1 - - 2789 - - - - - - - - 11.07 11.13 11.12
6915 452.1 0.7 302 6916 done -0.76 0.12 0.075 2649 -450.0 - - 2245 - -25.2 - - 2788 - - - - - - - - 11.10 11.14 11.14
7251 450.3 0.8 308 7252 done -0.78 - - 2649 - - - 2245 - -38.7 - - 2787 - - - - - - - - 11.26 11.26 11.26
7587 448.9 0.6 314 7588 done -0.79 - - 2649 - - - 2245 - -48.5 - - 2785 - - - - - - - - 11.26 11.26 11.27
7923 447.3 0.7 320 7924 done -0.80 - - 2649 - - - 2245 - -60.1 - - 2785 - - - - - - - - 11.26 11.27 11.27
8259 445.3 0.7 326 8260 done -0.82 - - 2649 - - - 2246 - -71.3 - - 2784 - - - - - - - - 11.27 11.27 11.27
8595 444.2 0.4 332 8596 done -0.82 - - 2649 - - - 2245 - -77.3 - - 2783 - - - - - - - - 11.27 11.27 11.27
8931 443.5 0.2 338 8932 done -0.83 - - 2649 - - - 2245 - -81.1 - - 2783 - - - - - - - - 11.28 11.28 11.28
9267 442.5 0.4 344 9268 done -0.84 - - 2649 - - - 2244 - -87.7 - - 2782 - - - - - - - - 11.28 11.28 11.28
9603 442.0 0.2 350 9604 done -0.84 - - 2649 - - - 2245 - -90.3 - - 2782 - - - - - - - - 11.27 11.28 11.28
9939 441.5 0.1 356 9940 done -0.84 - - 2649 - - - 2245 - -92.5 - - 2782 - - - - - - - - 11.28 11.28 11.28
10275 441.5 -0.1 362 10276 done -0.84 - - 2649 - - - 2245 - -91.2 - - 2782 - - - - - - - - 11.28 11.28 11.28
10611 442.7 -0.3 368 10612 done -0.83 - - 2649 - - - 2245 - -85.8 - - 2781 - - - - - - - - 11.28 11.28 11.28
10947 442.7 0.1 374 10948 done -0.84 - - 2649 - - - 2245 - -87.6 - - 2780 - - - - - - - - 11.28 11.29 11.29
11283 441.5 0.4 380 11284 done -0.85 - - 2650 - - - 2245 - -94.4 - - 2780 - - - - - - - - 11.29 11.29 11.29
11619 440.6 0.2 386 11620 done -0.85 - - 2649 - - - 2245 - -97.9 - - 2780 - - - - - - - - 11.29 11.29 11.29
11955 440.8 -0.1 392 11956 done -0.85 - - 2648 - - - 2245 - -96.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
12291 441.4 -0.2 398 12292 done -0.84 - - 2649 - - - 2245 - -93.8 - - 2779 - - - - - - - - 11.29 11.29 11.29
12627 441.7 - 404 12628 done -0.84 - - 2649 - - - 2245 - -93.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
12963 440.7 0.3 410 12964 done -0.85 - - 2649 - - - 2245 - -98.6 - - 2779 - - - - - - - - 11.28 11.29 11.29
13299 439.1 0.5 416 13300 done -0.86 - - 2649 - - - 2245 - -107.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
13635 438.4 0.2 422 13636 done -0.87 - - 2649 - - - 2245 - -110.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
13971 439.4 -0.4 428 13972 done -0.86 - - 2649 - - - 2245 - -104.3 - - 2779 - - - - - - - - 11.29 11.29 11.31
14307 441.3 -0.6 434 14308 done -0.85 - - 2649 - - - 2245 - -94.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
14643 442.3 -0.3 440 14644 done -0.84 - - 2649 - - - 2245 - -89.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
14979 442.8 -0.1 446 14980 done -0.84 - - 2649 - - - 2244 - -88.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
15315 442.7 - 452 15316 done -0.84 - - 2649 - - - 2245 - -88.4 - - 2779 - - - - - - - - 11.29 11.28 11.29
15652 442.8 - 458 15653 done -0.84 - - 2649 - - - 2245 - -87.7 - - 2779 - - - - - - - - 11.29 11.29 11.29
15988 443.2 -0.1 464 15988 done -0.84 - - 2649 - - - 2245 - -86.1 - - 2779 - - - - - - - - 11.29 11.29 11.29
16323 442.6 0.2 470 16324 done -0.84 - - 2649 - - - 2245 - -88.7 - - 2779 - - - - - - - - 11.29 11.29 11.29
16659 442.3 - 476 16660 done -0.84 - - 2649 - - - 2245 - -89.4 - - 2779 - - - - - - - - 11.29 11.29 11.29
16995 443.8 -0.5 482 16996 done -0.83 - - 2649 - - - 2245 - -80.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
17331 445.4 -0.4 488 17332 done -0.82 - - 2649 - - - 2245 - -73.4 - - 2779 - - - - - - - - 11.29 11.29 11.29
17667 445.8 - 494 17668 done -0.82 - - 2649 - - - 2245 - -72.6 - - 2779 - - - - - - - - 11.29 11.29 11.29
18003 445.5 0.1 500 18004 done -0.82 - - 2649 - - - 2245 - -74.4 - - 2779 - - - - - - - - 11.29 11.29 11.29
18339 444.4 0.4 506 18340 done -0.83 - - 2649 - - - 2245 - -81.9 - - 2779 - - - - - - - - 11.29 11.29 11.29
18675 444.3 -0.1 512 18676 done -0.83 - - 2649 - - - 2245 - -80.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
19011 446.0 -0.5 518 19012 done -0.82 - - 2649 - - - 2243 - -71.1 - - 2778 - - - - - - - - 11.29 11.29 11.29
19347 447.0 -0.2 524 19348 done -0.81 - - 2649 - - - 2245 - -67.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
19683 446.1 0.4 530 19684 done -0.82 - - 2649 - - - 2245 - -74.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
20019 442.8 1.0 536 20020 done -0.82 - - 2649 - - - 2245 - -74.3 - - 2778 - - - - - - - - 11.29 11.29 11.30
20355 439.7 0.7 542 20356 done -0.84 - - 2649 - - - 2245 - -86.9 - - 2778 - - - - - - - - 11.30 11.29 11.30
20692 440.6 -0.4 548 20692 done -0.83 - - 2649 - - - 2245 - -80.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
21027 441.4 -0.1 554 21028 done -0.83 - - 2649 - - - 2245 - -79.0 - - 2779 - - - - - - - - 11.33 11.29 11.29
21363 441.1 0.2 560 21364 done -0.83 - - 2649 - - - 2245 - -82.5 - - 2778 - - - - - - - - 11.29 11.29 11.30
21699 438.2 1.1 566 21700 done -0.83 - - 2649 - - - 2245 - -82.5 - - 2778 - - - - - - - - 11.30 11.30 11.30
22035 436.4 0.6 572 22036 done -0.84 - - 2649 - - - 2245 - -93.0 - - 2779 - - - - - - - - 11.30 11.29 11.30
22371 436.1 - 578 22372 done -0.84 - - 2649 - - - 2245 - -93.3 - - 2778 - - - - - - - - 11.29 11.30 11.30
22707 432.3 1.2 584 22708 done -0.84 - - 2649 - - - 2245 - -93.3 - - 2778 - - - - - - - - 11.30 11.30 11.30
23043 434.0 0.2 590 23044 done -0.85 - - 2649 - - - 2245 - -96.3 - - 2778 - - - - - - - - 11.30 11.30 11.30
23379 435.5 -0.1 596 23380 done -0.85 - - 2650 - - - 2245 - -94.5 - - 2778 - - - - - - - - 11.30 11.30 11.30
23715 436.7 -0.1 602 23716 done -0.84 - - 2649 - - - 2245 - -92.0 - - 2778 - - - - - - - - 11.30 11.30 11.29
23990 end loiter: LOITER_COMPLETE
23990 begin climb
23995 438.1 - 607 24130 roll 1.04 2.60 0.166 3216 218.1 3.80 0.115 3666 373.9 97.3 117.60 1.485 2403 -3.2 0.228 - - - - - - 11.02 10.88 10.37
24201 427.7 10.8 636 24206 done 0.91 0.15 0.216 3197 -126.7 3.25 0.039 2259 -432.9 97.3 - - 2396 - - - - - - - - 10.93 11.06 11.08
24558 394.4 9.4 645 24563 roll 0.91 - - 3207 - 3.38 0.051 852 -416.3 97.3 - - 2392 - - - - - - - - 11.22 11.03 11.23
24629 388.4 9.9 655 24633 done 0.91 - - 3207 - 3.38 0.053 2260 416.6 97.3 - - 2391 - - - - - - - - 11.11 11.00 11.12
24950 358.5 9.3 666 24956 roll 0.91 - - 3207 - 3.60 0.116 3656 387.8 97.3 - - 2391 - - - - - - - - 11.24 10.95 11.24
24985 355.8 8.4 671 24991 done 0.81 0.28 0.217 3166 -146.4 3.22 0.038 2250 -436.6 97.3 - - 2391 - - - - - - - - 10.94 11.08 11.10
25342 329.3 7.1 680 25374 roll 0.84 - - 3177 - 3.42 0.052 848 -409.9 117.7 23.88 1.371 2321 -2.9 0.171 - - - - - - 11.24 10.97 10.42
25412 325.0 8.9 690 25418 done 0.84 - - 3176 - 3.38 0.053 2251 415.1 117.7 - - 2317 - - - - - - - - 11.10 11.00 11.12
25734 293.0 10.3 701 25739 roll 0.84 - - 3176 - 3.67 0.119 3664 385.0 117.7 - - 2316 - - - - - - - - 11.23 10.95 11.23
25832 286.3 9.9 715 25837 done 0.84 - - 3187 - 3.25 0.039 2247 -436.0 117.7 - - 2316 - - - - - - - - 11.13 11.08 11.13
26182 255.3 8.4 723 26187 roll 0.84 - - 3198 - 3.35 0.054 849 -417.3 117.7 - - 2314 - - - - - - - - 11.24 11.04 11.23
26245 251.8 7.2 732 26276 done 0.86 - - 3198 - 3.38 0.054 2255 416.0 137.2 22.83 1.271 2249 -2.8 0.137 - - - - - - 11.12 11.00 10.46
26630 216.4 8.6 745 26631 done 0.86 - - 3197 - - - 2255 - 137.2 - - 2240 - - - - - - - - 11.23 11.23 11.23
26966 186.2 9.1 751 26971 roll 0.86 - - 3197 - 3.65 0.120 3664 386.0 137.2 - - 2240 - - - - - - - - 11.24 10.95 11.24
27001 183.2 9.6 756 27006 done 0.86 - - 3214 - 3.25 0.039 2248 -435.7 137.2 - - 2240 - - - - - - - - 11.13 11.07 11.14
27358 149.9 8.8 765 27363 roll 0.86 0.10 0.220 3194 -200.0 3.35 0.053 852 -416.7 137.2 - - 2240 - - - - - - - - 10.96 11.04 11.07
27449 142.6 7.8 778 27460 done 0.87 - - 3195 - 3.35 0.054 2250 417.3 147.0 5.18 0.964 2214 -5.0 0.180 - - - - - - 11.12 11.02 10.53
27807 114.4 7.8 787 27824 roll 0.88 - - 3194 - 3.70 0.118 3655 379.7 155.9 9.70 0.414 2185 -3.0 0.200 - - - - - - 11.24 10.93 10.77
27848 111.5 7.7 793 27866 done 0.90 - - 3205 - 3.25 0.039 2234 -437.2 165.8 11.60 0.445 2141 -3.8 0.230 - - - - - - 11.13 11.07 10.78
28202 80.2 9.3 811 28212 roll 0.90 - - 3216 - 3.33 0.054 849 -415.9 165.8 3.03 0.174 2141 - - - - - - - - 11.23 11.03 10.94
28255 75.7 9.1 819 28265 done 0.90 - - 3216 - 3.35 0.053 2245 416.7 165.8 2.08 0.177 2142 - - - - - - - - 11.12 11.02 10.95
28591 52.7 5.8 834 28637 roll 0.95 - - 3226 - 3.42 0.053 852 -407.3 209.2 37.75 0.324 1969 -4.6 0.181 - - - - - - 11.24 11.00 10.86
28696 46.9 5.9 849 28736 done 1.00 - - 3226 - 3.33 0.050 2251 420.1 249.9 34.72 0.309 1804 -4.8 0.175 - - - - - - 11.12 11.02 10.86
29072 35.5 2.9 869 29155 roll 1.28 0.22 0.055 3312 390.9 3.72 0.119 3664 379.8 342.7 74.10 0.269 1437 -5.0 0.158 - - - - - - 11.07 10.92 10.90
29283 18.0 10.1 900 29290 done 1.28 - - 3323 - 3.25 0.039 2239 -438.5 342.7 - - 1439 - - - - - - - - 11.12 11.07 11.13
29481 end climb: SURFACE_DEPTH_REACHED
29482 begin surface coast
29510 end surface coast: CONTROL_FINISHED_OK
29510 begin surface
SM -5.67 - - - - -8.40 12.43 0.073 199 16.0 1.40 0.088 2770 1242.9 500.14 107.72 0.132 809 7.5 0.033 - - - - - -