SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 868 * Raw log
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• Previous call tries 1 • 287.81 of 350.00 AH used of 24V (17.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.5 deg, depth -6.38 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 107 - - - 2783 - -97.3 -82.30 - 3189 - - - - - - - - 11.21 10.45 11.21
104 -2.5 -6.2 3 127 roll -1.04 18.60 0.374 2554 131.6 3.38 0.032 1351 -423.7 -97.3 - - 3191 - - - - - - - - 10.85 11.02 11.05
198 24.1 -19.4 17 206 done -0.77 0.55 0.255 2643 161.8 3.58 0.078 2767 395.5 -97.3 - - 3192 - - - - - - - - 10.91 10.97 11.07
513 63.5 -8.4 29 519 roll -0.77 - - 2635 - 2.75 0.130 3837 389.1 -97.3 - - 3192 - - - - - - - - 11.24 11.00 11.24
751 79.7 -4.9 63 756 done -0.77 - - 2634 - 2.40 0.045 2760 -448.8 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
1073 96.0 -6.3 76 1078 roll -0.77 - - 2626 - 2.78 0.125 3833 386.0 -97.3 - - 3193 - - - - - - - - 11.24 11.00 11.24
1150 101.8 -8.1 87 1155 done -0.77 - - 2626 - 2.35 0.043 2764 -454.9 -97.3 - - 3193 - - - - - - - - 11.14 11.08 11.14
1466 125.8 -7.5 97 1471 roll -0.77 - - 2626 - 3.25 0.035 1366 -430.2 -97.3 - - 3192 - - - - - - - - 11.24 11.07 11.24
1514 129.3 -6.7 104 1521 done -0.77 0.15 0.211 2646 133.3 3.53 0.071 2783 401.4 -97.3 - - 3192 - - - - - - - - 10.96 11.02 11.10
1857 152.4 -7.1 111 1862 roll -0.77 - - 2645 - 3.35 0.037 1367 -422.7 -97.3 - - 3191 - - - - - - - - 11.24 11.06 11.24
1906 156.1 -7.7 118 1912 done -0.77 - - 2636 - 3.53 0.074 2779 400.0 -97.3 - - 3190 - - - - - - - - 11.12 11.01 11.13
2249 183.1 -7.8 125 2255 roll -0.77 - - 2635 - 3.35 0.037 1364 -422.4 -97.3 - - 3188 - - - - - - - - 11.25 11.10 11.25
2291 186.4 -7.8 131 2296 done -0.77 - - 2625 - 3.53 0.073 2782 401.7 -97.3 - - 3188 - - - - - - - - 11.12 11.02 11.14
2642 212.1 -7.2 139 2642 done -0.77 - - 2625 - - - 2782 - -97.3 - - 3186 - - - - - - - - 11.25 11.25 11.25
2977 236.8 -7.5 145 2983 roll -0.77 - - 2625 - 3.35 0.037 1370 -421.5 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.24
3026 240.6 -8.1 152 3033 done -0.77 0.15 0.216 2645 133.3 3.53 0.076 2773 397.5 -97.3 - - 3184 - - - - - - - - 10.96 11.01 11.10
3369 266.0 -7.5 159 3374 roll -0.77 - - 2644 - 3.35 0.037 1364 -420.6 -97.3 - - 3181 - - - - - - - - 11.25 11.07 11.25
3439 271.5 -7.8 169 3445 done -0.77 - - 2635 - 3.53 0.075 2775 399.7 -97.3 - - 3181 - - - - - - - - 11.12 11.02 11.14
3761 297.1 -8.0 180 3766 roll -0.77 - - 2634 - 3.33 0.035 1371 -421.6 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3838 303.3 -8.0 191 3843 done -0.77 - - 2624 - 3.53 0.076 2771 396.6 -97.3 - - 3179 - - - - - - - - 11.13 11.02 11.14
4154 326.9 -7.3 201 4159 roll -0.77 - - 2616 - 2.72 0.128 3834 390.8 -97.3 - - 3178 - - - - - - - - 11.24 11.00 11.25
4279 336.0 -7.1 219 4284 done -0.77 0.15 0.209 2645 193.3 2.40 0.047 2776 -440.8 -97.3 - - 3178 - - - - - - - - 10.98 11.11 11.11
4601 353.0 -5.2 230 4606 roll -0.77 - - 2646 - 3.35 0.037 1353 -424.8 -97.3 - - 3175 - - - - - - - - 11.25 11.10 11.24
4720 359.3 -5.3 247 4725 done -0.85 - - 2636 - 3.58 0.076 2778 398.0 -97.3 - - 3172 - - - - - - - - 11.13 11.02 11.14
5050 379.1 -6.1 259 5054 roll -0.85 - - 2635 - 3.40 0.037 1351 -419.7 -97.3 - - 3174 - - - - - - - - 11.24 11.07 11.25
5105 382.9 -6.8 267 5110 done -0.85 - - 2625 - 3.58 0.076 2762 394.1 -97.3 - - 3174 - - - - - - - - 11.13 11.02 11.14
5442 407.6 -7.5 280 5442 done -0.85 - - 2625 - - - 2762 - -97.3 - - 3171 - - - - - - - - 11.26 11.25 11.25
5777 432.3 -7.3 286 5782 roll -0.85 - - 2625 - 3.38 0.037 1354 -416.6 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
5854 437.8 -7.5 297 5860 done -0.85 - - 2615 - 3.58 0.076 2768 395.0 -97.3 - - 3171 - - - - - - - - 11.13 11.01 11.14
6052 end dive: TARGET_DEPTH_EXCEEDED
6052 begin apogee
6064 452.4 -7.2 305 6178 roll -0.23 1.00 0.186 2820 205.0 0.15 0.125 2263 -3366.7 - 111.05 1.484 2801 -3.3 0.245 - - - - - - 10.98 10.98 10.44
6179 end apogee: CONTROL_FINISHED_OK
6179 begin loiter
6411 456.1 - 340 6415 done -0.23 - - 2820 - - - 2262 - -0.4 - - 2789 - - - - - - - - 11.24 11.23 11.24
6740 455.2 0.3 352 6742 done -0.60 0.38 0.048 2707 -297.4 - - 2262 - -5.6 - - 2787 - - - - - - - - 11.07 11.14 11.12
7076 453.2 0.6 358 7077 done -0.76 0.15 0.066 2645 -413.3 - - 2262 - -16.4 - - 2787 - - - - - - - - 11.10 11.14 11.14
7412 449.6 1.1 364 7412 done -0.76 - - 2645 - - - 2262 - -16.4 - - 2785 - - - - - - - - 11.26 11.26 11.26
7748 445.0 1.5 370 7748 done -0.76 - - 2645 - - - 2260 - -16.4 - - 2784 - - - - - - - - 11.26 11.26 11.26
8084 439.9 1.4 376 8084 done -0.76 - - 2645 - - - 2262 - -16.4 - - 2784 - - - - - - - - 11.26 11.26 11.27
8420 434.4 1.7 382 8420 done -0.76 - - 2645 - - - 2261 - -16.4 - - 2783 - - - - - - - - 11.26 11.26 11.27
8756 427.1 2.2 388 8756 done -0.76 - - 2644 - - - 2262 - -16.4 - - 2782 - - - - - - - - 11.27 11.27 11.27
9092 422.1 1.3 394 9092 done -0.76 - - 2645 - - - 2262 - -16.4 - - 2782 - - - - - - - - 11.27 11.27 11.27
9428 421.1 0.2 400 9428 done -0.77 - - 2645 - - - 2262 - -19.0 - - 2781 - - - - - - - - 11.28 11.27 11.27
9764 422.7 -0.7 406 9765 done -0.75 - - 2645 - - - 2262 - -7.5 - - 2781 - - - - - - - - 11.27 11.27 11.28
10100 423.8 -0.3 412 10101 done -0.75 - - 2645 - - - 2262 - -2.5 - - 2780 - - - - - - - - 11.28 11.28 11.28
10436 423.6 0.2 418 10437 done -0.75 - - 2645 - - - 2262 - -5.5 - - 2780 - - - - - - - - 11.28 11.27 11.28
10772 423.5 0.1 424 10773 done -0.75 - - 2645 - - - 2261 - -7.7 - - 2779 - - - - - - - - 11.27 11.28 11.28
11108 422.2 0.6 430 11109 done -0.77 - - 2645 - - - 2262 - -17.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
11444 417.7 1.5 436 11444 done -0.77 - - 2645 - - - 2262 - -17.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
11780 414.9 0.7 442 11781 done -0.78 - - 2645 - - - 2261 - -29.7 - - 2778 - - - - - - - - 11.28 11.28 11.29
12116 414.4 - 448 12117 done -0.78 - - 2645 - - - 2261 - -30.3 - - 2778 - - - - - - - - 11.28 11.29 11.29
12452 416.0 -0.5 454 12453 done -0.77 - - 2645 - - - 2262 - -21.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
12788 418.8 -0.8 460 12789 done -0.75 - - 2645 - - - 2262 - -7.6 - - 2778 - - - - - - - - 11.28 11.28 11.29
13124 420.0 -0.4 466 13125 done -0.74 - - 2645 - - - 2261 - -0.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
13460 421.6 -0.5 472 13461 done -0.74 - - 2645 - - - 2262 - 7.4 - - 2778 - - - - - - - - 11.28 11.28 11.28
13796 423.8 -0.6 478 13817 done -0.72 - - 2645 - - - 2262 - 18.4 20.48 1.463 2726 -2.5 0.177 - - - - - - 11.29 11.00 10.43
14132 419.2 1.8 484 14132 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2714 - - - - - - - - 11.27 11.27 11.27
14468 412.6 2.0 490 14468 done -0.72 - - 2645 - - - 2261 - 18.4 - - 2713 - - - - - - - - 11.28 11.28 11.28
14804 404.5 2.5 496 14804 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.28 11.28 11.28
15140 395.5 2.6 502 15140 done -0.72 - - 2645 - - - 2261 - 18.4 - - 2713 - - - - - - - - 11.28 11.28 11.28
15476 387.4 2.3 508 15476 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
15812 381.4 1.7 514 15813 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.28 11.28 11.29
16148 376.0 1.5 520 16148 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
16484 371.0 1.7 526 16484 done -0.72 - - 2645 - - - 2261 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.27
16820 367.1 1.2 532 16820 done -0.72 - - 2645 - - - 2261 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
17156 363.5 1.0 538 17157 done -0.72 - - 2645 - - - 2261 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
17492 359.7 1.1 544 17492 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
17828 354.0 2.0 550 17828 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
18164 348.2 1.7 556 18164 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
18500 341.3 2.2 562 18501 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
18836 333.6 2.3 568 18836 done -0.72 - - 2644 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
19172 326.9 2.1 574 19172 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.28 11.29 11.29
19508 321.1 1.5 580 19508 done -0.72 - - 2645 - - - 2262 - 18.4 - - 2713 - - - - - - - - 11.29 11.29 11.29
19844 317.5 0.9 586 19845 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
20180 312.4 1.5 592 20181 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
20516 307.0 1.8 598 20516 done -0.74 - - 2644 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
20852 299.8 2.1 604 20852 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
21188 292.1 2.1 610 21188 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
21524 287.7 1.3 616 21524 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.27 11.29
21860 282.8 1.6 622 21861 done -0.74 - - 2645 - - - 2262 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
22196 278.2 1.6 628 22196 done -0.74 - - 2644 - - - 2261 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
22532 273.5 1.3 634 22532 done -0.74 - - 2645 - - - 2260 - 3.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
22868 271.4 0.5 640 22869 done -0.75 - - 2645 - - - 2262 - -5.5 - - 2713 - - - - - - - - 11.29 11.29 11.29
23204 270.7 0.1 646 23205 done -0.75 - - 2645 - - - 2262 - -8.0 - - 2713 - - - - - - - - 11.29 11.29 11.29
23540 268.2 0.8 652 23541 done -0.77 - - 2645 - - - 2261 - -20.8 - - 2713 - - - - - - - - 11.29 11.29 11.29
23876 266.6 0.5 658 23877 done -0.78 - - 2645 - - - 2262 - -29.1 - - 2713 - - - - - - - - 11.29 11.29 11.29
24207 end loiter: LOITER_COMPLETE
24207 begin climb
24212 262.8 - 664 24314 roll 1.04 2.67 0.174 3223 216.5 3.45 0.052 865 -404.9 97.3 92.40 1.256 2403 -3.4 0.169 - - - - - - 11.01 10.97 10.48
24326 259.9 4.8 680 24402 done 1.12 0.05 0.151 3262 780.0 3.35 0.054 2252 414.0 157.4 70.30 1.199 2173 -3.3 0.171 - - - - - - 11.02 10.98 10.48
24712 214.5 12.3 700 24717 roll 1.01 0.15 0.230 3241 -140.0 3.38 0.051 863 -410.9 157.4 - - 2150 - - - - - - - - 10.93 11.02 11.05
24754 209.9 11.9 706 24758 done 1.01 - - 3239 - 3.35 0.056 2250 414.0 157.4 - - 2148 - - - - - - - - 11.10 11.00 11.12
25104 172.4 10.5 714 25104 done 1.01 - - 3241 - - - 2250 - 157.4 - - 2147 - - - - - - - - 11.23 11.23 11.22
25439 135.0 11.3 720 25444 roll 1.01 - - 3249 - 3.35 0.054 871 -411.6 157.4 - - 2146 - - - - - - - - 11.23 11.03 11.24
25474 131.1 11.6 725 25480 done 1.01 - - 3251 - 3.30 0.053 2245 416.4 157.4 - - 2146 - - - - - - - - 11.10 11.00 11.12
25804 97.4 9.7 734 25804 done 1.01 - - 3251 - - - 2244 - 157.4 - - 2145 - - - - - - - - 11.23 11.24 11.24
26112 66.4 9.2 745 26117 roll 1.01 - - 3261 - 3.33 0.053 869 -412.9 157.4 - - 2145 - - - - - - - - 11.24 11.04 11.24
26175 62.4 6.4 754 26202 done 1.05 - - 3259 - 3.30 0.051 2251 418.8 190.0 21.95 0.337 2043 -4.6 0.207 - - - - - - 11.12 11.02 10.86
26529 48.2 1.1 771 26642 roll 1.20 - - 3261 - 3.65 0.114 3665 387.4 313.0 106.38 0.330 1555 -4.6 0.161 - - - - - - 11.22 10.93 10.84
26756 36.1 10.3 804 26761 done 1.28 0.10 0.089 3325 640.0 3.22 0.042 2256 -437.6 313.0 - - 1561 - - - - - - - - 11.07 11.07 11.11
27078 8.8 8.9 817 27084 roll 1.28 - - 3336 - 3.38 0.057 855 -414.5 313.0 - - 1559 - - - - - - - - 11.23 11.03 11.24
27150 end climb: SURFACE_DEPTH_REACHED
27150 begin surface coast
27157 end surface coast: CONTROL_FINISHED_OK
27157 begin surface
SM -10.02 - - - - -8.40 12.75 0.086 197 15.5 4.72 0.067 2768 477.1 500.14 130.70 0.137 809 6.2 0.046 - - - - - -