SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 870 * Raw log
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• Previous call tries 1 • 288.22 of 350.00 AH used of 24V (17.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth -7.66 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: 3 s • Transponder ping count: 3
• 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 - - - 100 done -1.04 - - 106 - - - 2789 - -97.3 -83.93 - 3189 - - - - - - - - 11.21 10.44 11.21
106 -4.9 -4.5 3 132 roll -1.04 18.90 0.379 2553 129.5 3.35 0.032 1350 -429.6 -97.3 - - 3191 - - - - - - - - 10.84 11.00 11.04
163 17.0 -29.8 12 169 done -0.72 0.65 0.254 2660 164.6 3.60 0.083 2768 393.9 -97.3 - - 3191 - - - - - - - - 10.91 10.97 11.07
485 64.0 -8.5 25 490 roll -0.72 - - 2652 - 2.72 0.125 3838 393.4 -97.3 - - 3192 - - - - - - - - 11.24 11.00 11.24
706 76.7 -7.2 56 712 done -0.72 - - 2652 - 2.42 0.043 2749 -450.0 -97.3 - - 3193 - - - - - - - - 11.13 11.10 11.14
1017 96.2 -5.0 68 1022 roll -0.72 - - 2643 - 2.78 0.119 3835 390.6 -97.3 - - 3190 - - - - - - - - 11.24 11.00 11.24
1108 100.5 -5.6 81 1113 done -0.72 - - 2643 - 2.38 0.042 2753 -454.6 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
1465 119.9 -6.0 90 1471 roll -0.72 - - 2644 - 3.22 0.036 1366 -430.7 -97.3 - - 3192 - - - - - - - - 11.24 11.05 11.24
1500 122.9 -7.4 95 1505 done -0.72 0.15 0.203 2664 133.3 3.50 0.070 2778 403.4 -97.3 - - 3192 - - - - - - - - 10.98 11.01 11.10
1857 147.3 -7.1 104 1862 roll -0.80 - - 2664 - 3.33 0.037 1369 -423.1 -97.3 - - 3191 - - - - - - - - 11.25 11.06 11.24
1983 156.2 -7.0 122 1989 done -0.89 0.08 0.116 2608 -700.0 3.50 0.072 2776 402.0 -97.3 - - 3190 - - - - - - - - 11.07 11.01 11.13
2305 184.3 -8.9 133 2310 roll -0.89 - - 2600 - 2.67 0.121 3833 395.9 -97.3 - - 3188 - - - - - - - - 11.24 11.00 11.24
2389 191.9 -9.1 145 2393 done -0.89 - - 2599 - 2.35 0.042 2772 -451.5 -97.3 - - 3187 - - - - - - - - 11.14 11.11 11.16
2753 220.6 -7.7 155 2758 roll -0.89 - - 2599 - 3.30 0.037 1361 -427.6 -97.3 - - 3185 - - - - - - - - 11.25 11.06 11.25
2802 224.6 -8.1 162 2809 done -0.89 - - 2589 - 3.53 0.072 2777 401.1 -97.3 - - 3185 - - - - - - - - 11.12 11.01 11.14
3145 254.3 -8.8 169 3150 roll -0.89 - - 2588 - 3.35 0.036 1364 -421.8 -97.3 - - 3183 - - - - - - - - 11.25 11.07 11.25
3194 258.6 -8.7 176 3200 done -0.89 0.12 0.216 2605 141.7 3.53 0.073 2779 400.8 -97.3 - - 3182 - - - - - - - - 10.96 11.02 11.07
3537 284.9 -7.5 183 3538 done -0.89 - - 2605 - - - 2778 - -97.3 - - 3180 - - - - - - - - 11.25 11.25 11.25
3873 311.1 -7.9 189 3878 roll -0.89 - - 2605 - 3.33 0.037 1371 -422.5 -97.3 - - 3179 - - - - - - - - 11.24 11.07 11.25
3929 315.7 -8.2 197 3934 done -0.89 - - 2596 - 3.53 0.077 2771 396.6 -97.3 - - 3179 - - - - - - - - 11.13 11.01 11.14
4265 343.5 -8.3 210 4271 roll -0.89 - - 2586 - 2.70 0.122 3834 393.7 -97.3 - - 3178 - - - - - - - - 11.25 11.01 11.24
4307 347.1 -8.8 216 4311 done -0.89 - - 2586 - 2.38 0.044 2775 -445.0 -97.3 - - 3177 - - - - - - - - 11.15 11.12 11.15
4657 375.5 -8.0 224 4658 done -0.89 - - 2586 - - - 2774 - -97.3 - - 3175 - - - - - - - - 11.24 11.25 11.25
4993 401.0 -7.5 230 4999 roll -0.89 - - 2586 - 3.33 0.036 1357 -425.5 -97.3 - - 3175 - - - - - - - - 11.26 11.07 11.26
5056 405.5 -7.0 239 5061 done -0.89 0.17 0.213 2610 141.2 3.55 0.073 2773 398.9 -97.3 - - 3174 - - - - - - - - 10.98 11.01 11.10
5385 426.3 -6.3 251 5386 done -0.89 - - 2610 - - - 2773 - -97.3 - - 3173 - - - - - - - - 11.25 11.25 11.25
5716 end dive: TARGET_DEPTH_EXCEEDED
5716 begin apogee
5728 450.1 -7.2 257 5842 roll -0.23 1.02 0.183 2824 209.8 0.10 0.148 2259 -5140.0 - 111.62 1.464 2800 -3.3 0.250 - - - - - - 10.99 10.93 10.44
5843 end apogee: CONTROL_FINISHED_OK
5843 begin loiter
6075 453.0 0.4 292 6079 done -0.24 - - 2823 - - - 2259 - -7.4 - - 2787 - - - - - - - - 11.24 11.24 11.24
6405 451.0 0.7 304 6406 done -0.63 0.43 0.051 2699 -288.4 - - 2258 - -18.6 - - 2786 - - - - - - - - 11.07 11.14 11.12
6740 448.9 0.7 310 6741 done -0.77 0.12 0.074 2645 -450.0 - - 2258 - -29.8 - - 2784 - - - - - - - - 11.10 11.14 11.14
7076 445.6 1.1 316 7077 done -0.77 - - 2644 - - - 2258 - -29.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
7412 440.2 1.7 322 7413 done -0.77 - - 2644 - - - 2258 - -29.8 - - 2783 - - - - - - - - 11.26 11.26 11.27
7748 434.9 1.5 328 7749 done -0.77 - - 2644 - - - 2258 - -29.8 - - 2782 - - - - - - - - 11.26 11.26 11.26
8084 432.5 0.6 334 8085 done -0.79 - - 2644 - - - 2258 - -39.5 - - 2781 - - - - - - - - 11.27 11.29 11.28
8420 432.8 -0.2 340 8421 done -0.78 - - 2644 - - - 2258 - -35.8 - - 2781 - - - - - - - - 11.26 11.27 11.27
8756 433.9 -0.3 346 8757 done -0.77 - - 2644 - - - 2258 - -30.4 - - 2780 - - - - - - - - 11.29 11.27 11.28
9092 433.8 0.1 352 9093 done -0.78 - - 2644 - - - 2258 - -32.5 - - 2778 - - - - - - - - 11.28 11.28 11.28
9428 431.9 0.6 358 9429 done -0.79 - - 2645 - - - 2258 - -43.3 - - 2778 - - - - - - - - 11.28 11.28 11.28
9764 429.5 0.7 364 9765 done -0.80 - - 2644 - - - 2258 - -55.5 - - 2778 - - - - - - - - 11.28 11.27 11.28
10101 428.9 0.1 370 10101 done -0.81 - - 2644 - - - 2258 - -56.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
10436 429.0 - 376 10437 done -0.81 - - 2644 - - - 2258 - -56.6 - - 2777 - - - - - - - - 11.28 11.29 11.28
10772 428.7 0.1 382 10773 done -0.81 - - 2644 - - - 2258 - -58.2 - - 2778 - - - - - - - - 11.28 11.29 11.28
11108 428.7 - 388 11109 done -0.81 - - 2644 - - - 2258 - -57.6 - - 2778 - - - - - - - - 11.28 11.29 11.29
11444 429.8 -0.4 394 11445 done -0.80 - - 2645 - - - 2258 - -50.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
11780 433.1 -1.1 400 11781 done -0.78 - - 2644 - - - 2258 - -32.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
12116 436.2 -0.8 406 12117 done -0.76 - - 2644 - - - 2258 - -18.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
12452 437.2 -0.2 412 12453 done -0.75 - - 2644 - - - 2258 - -14.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
12788 437.0 0.1 418 12789 done -0.76 - - 2644 - - - 2258 - -16.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
13124 435.9 0.3 424 13125 done -0.76 - - 2644 - - - 2258 - -21.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
13460 436.0 -0.1 430 13461 done -0.76 - - 2645 - - - 2258 - -19.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
13796 437.9 -0.6 436 13797 done -0.75 - - 2644 - - - 2258 - -8.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
14132 440.5 -0.8 442 14133 done -0.73 - - 2644 - - - 2258 - 4.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
14468 441.6 -0.2 448 14471 done -0.73 - - 2645 - - - 2258 - 8.4 1.67 0.177 2764 -7.2 4.360 - - - - - - 11.29 11.14 11.02
14804 442.3 -0.2 454 14810 done -0.72 - - 2644 - - - 2258 - 11.9 4.22 1.125 2751 -3.1 0.295 - - - - - - 11.29 11.07 10.33
15140 440.9 0.6 460 15141 done -0.73 - - 2645 - - - 2258 - 2.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
15476 437.6 1.0 466 15477 done -0.73 - - 2644 - - - 2258 - 2.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
15812 434.2 1.0 472 15813 done -0.75 - - 2645 - - - 2258 - -14.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
16148 430.8 1.0 478 16149 done -0.75 - - 2644 - - - 2258 - -14.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
16484 425.9 1.6 484 16485 done -0.75 - - 2644 - - - 2258 - -14.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
16820 419.7 1.9 490 16821 done -0.75 - - 2644 - - - 2258 - -14.4 - - 2763 - - - - - - - - 11.29 11.29 11.29
17156 416.0 0.9 496 17157 done -0.77 - - 2644 - - - 2258 - -29.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
17492 416.2 -0.2 502 17493 done -0.77 - - 2644 - - - 2258 - -25.7 - - 2764 - - - - - - - - 11.29 11.29 11.29
17828 417.0 -0.1 508 17829 done -0.77 - - 2644 - - - 2258 - -23.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
18164 416.0 0.4 514 18165 done -0.77 - - 2644 - - - 2258 - -29.6 - - 2764 - - - - - - - - 11.29 11.29 11.29
18500 413.8 0.7 520 18501 done -0.79 - - 2644 - - - 2258 - -41.1 - - 2764 - - - - - - - - 11.29 11.29 11.29
18836 412.0 0.5 526 18837 done -0.80 - - 2644 - - - 2258 - -49.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
19172 411.3 0.1 532 19173 done -0.80 - - 2645 - - - 2258 - -51.5 - - 2764 - - - - - - - - 11.29 11.29 11.30
19509 411.4 - 538 19509 done -0.80 - - 2645 - - - 2258 - -51.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
19844 411.0 0.1 544 19845 done -0.80 - - 2644 - - - 2258 - -53.5 - - 2764 - - - - - - - - 11.29 11.29 11.29
20180 410.4 0.1 550 20181 done -0.80 - - 2644 - - - 2258 - -55.6 - - 2764 - - - - - - - - 11.29 11.29 11.30
20516 411.3 -0.3 556 20517 done -0.80 - - 2644 - - - 2258 - -50.3 - - 2764 - - - - - - - - 11.29 11.29 11.29
20852 411.0 0.3 562 20853 done -0.80 - - 2645 - - - 2258 - -54.7 - - 2763 - - - - - - - - 11.30 11.29 11.30
21188 408.0 1.0 568 21189 done -0.82 - - 2644 - - - 2258 - -71.5 - - 2764 - - - - - - - - 11.30 11.30 11.29
21524 405.3 0.7 574 21525 done -0.84 - - 2644 - - - 2258 - -83.4 - - 2764 - - - - - - - - 11.30 11.30 11.29
21860 405.3 -0.1 580 21861 done -0.84 - - 2644 - - - 2258 - -81.3 - - 2764 - - - - - - - - 11.29 11.29 11.29
22196 407.1 -0.6 586 22197 done -0.82 - - 2644 - - - 2258 - -71.6 - - 2764 - - - - - - - - 11.30 11.30 11.30
22532 408.5 -0.4 592 22533 done -0.82 - - 2644 - - - 2258 - -65.2 - - 2764 - - - - - - - - 11.29 11.30 11.30
22868 408.1 0.3 598 22869 done -0.82 - - 2644 - - - 2258 - -69.4 - - 2764 - - - - - - - - 11.30 11.29 11.29
23204 405.2 0.9 604 23205 done -0.84 - - 2644 - - - 2258 - -85.4 - - 2763 - - - - - - - - 11.30 11.30 11.30
23540 402.4 0.8 610 23541 done -0.86 - - 2644 - - - 2258 - -98.7 - - 2764 - - - - - - - - 11.30 11.30 11.29
23871 end loiter: LOITER_COMPLETE
23871 begin climb
23876 401.0 - 616 24004 roll 1.04 2.65 0.168 3212 214.3 3.70 0.112 3655 377.6 97.3 112.12 1.421 2403 -3.2 0.221 - - - - - - 11.02 10.89 10.41
24145 382.7 9.3 654 24151 done 0.92 0.12 0.212 3198 -116.7 3.20 0.041 2262 -435.3 97.3 - - 2396 - - - - - - - - 10.94 11.07 11.09
24496 354.5 8.1 662 24502 roll 0.92 - - 3209 - 3.40 0.053 853 -414.4 102.1 - - 2391 - - - - - - - - 11.24 11.03 11.24
24552 349.7 8.6 670 24557 done 0.92 - - 3209 - 3.33 0.052 2242 417.1 102.1 - - 2391 - - - - - - - - 11.11 11.02 11.12
24887 319.7 9.1 683 24893 roll 0.92 - - 3219 - 3.38 0.054 853 -410.9 102.1 - - 2391 - - - - - - - - 11.24 11.04 11.24
24943 314.4 9.4 691 24949 done 0.92 - - 3219 - 3.35 0.052 2254 418.2 102.1 - - 2390 - - - - - - - - 11.12 11.02 11.13
25279 282.1 9.7 704 25284 roll 0.92 - - 3229 - 3.42 0.053 846 -411.7 102.1 - - 2391 - - - - - - - - 11.24 11.04 11.24
25314 278.7 9.7 709 25319 done 0.92 0.15 0.203 3200 -193.3 3.35 0.051 2249 418.8 102.1 - - 2391 - - - - - - - - 10.96 11.02 11.10
25672 248.4 8.2 718 25677 roll 0.93 - - 3202 - 3.62 0.112 3666 391.4 104.1 - - 2390 - - - - - - - - 11.24 10.96 11.24
25741 241.7 9.7 728 25747 done 0.84 0.17 0.206 3176 -152.9 3.28 0.040 2235 -436.3 104.1 - - 2391 - - - - - - - - 10.96 11.09 11.10
26064 215.8 8.1 739 26075 roll 0.84 - - 3186 - 3.38 0.053 853 -408.9 107.6 3.85 0.877 2372 -4.9 0.295 - - - - - - 11.25 11.02 10.44
26106 212.3 8.5 745 26111 done 0.84 - - 3186 - 3.33 0.051 2248 418.9 107.6 - - 2379 - - - - - - - - 11.12 11.03 11.14
26455 182.0 8.6 753 26456 done 0.84 - - 3186 - - - 2247 - 107.6 - - 2379 - - - - - - - - 11.24 11.24 11.24
26792 157.4 7.1 759 26831 roll 0.87 - - 3186 - 3.67 0.116 3664 386.1 128.5 32.83 1.138 2278 -3.1 0.103 - - - - - - 11.25 10.89 10.50
26882 149.8 9.4 772 26887 done 0.87 - - 3196 - 3.28 0.040 2240 -434.1 128.5 - - 2274 - - - - - - - - 11.12 11.07 11.13
27240 119.6 8.3 781 27245 roll 0.87 - - 3207 - 3.35 0.056 845 -416.4 128.8 - - 2271 - - - - - - - - 11.24 11.02 11.24
27316 113.4 7.8 792 27328 done 0.88 - - 3207 - 3.35 0.052 2246 418.2 137.2 3.50 0.171 2254 -4.9 0.783 - - - - - - 11.12 11.02 10.92
27660 86.4 8.7 805 27672 roll 0.88 - - 3207 - 3.67 0.112 3655 383.9 137.2 2.72 0.168 2258 1.5 -0.184 - - - - - - 11.24 10.94 10.97
27786 75.7 7.8 823 27804 done 0.89 0.15 0.197 3187 -133.3 3.22 0.037 2235 -441.0 145.5 10.02 0.334 2223 -3.5 0.193 - - - - - - 10.98 11.09 10.83
28140 54.1 6.2 840 28183 roll 0.93 - - 3187 - 3.67 0.108 3659 388.0 182.2 34.40 0.325 2080 -4.2 0.168 - - - - - - 11.23 10.93 10.86
28241 49.5 10.4 855 28251 done 0.93 - - 3196 - 3.20 0.038 2247 -441.2 182.2 2.35 0.169 2074 -2.6 0.182 - - - - - - 11.13 11.08 10.96
28588 49.1 -2.4 871 28751 roll 1.31 0.38 0.047 3323 334.2 3.67 0.111 3662 385.6 364.7 152.25 0.306 1351 -4.7 0.185 - - - - - - 11.08 10.90 10.87
28855 34.1 10.0 909 28860 done 1.31 - - 3333 - 3.17 0.037 2266 -440.4 364.7 - - 1353 - - - - - - - - 11.12 11.06 11.12
29144 end climb: SURFACE_DEPTH_REACHED
29144 begin surface coast
29172 end surface coast: CONTROL_FINISHED_OK
29172 begin surface
SM -3.76 - - - - -8.39 12.48 0.074 201 16.1 1.33 0.090 2769 1307.5 500.14 94.28 0.130 808 8.6 0.025 - - - - - -