SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 887 * Raw log
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• Previous call tries 1 • 291.63 of 350.00 AH used of 24V (16.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.8 deg, depth -6.96 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 99 done -1.04 - - 107 - - - 2794 - -97.3 -81.75 - 3189 - - - - - - - - 11.21 10.43 11.22
104 -3.7 -4.8 3 128 roll -1.04 18.02 0.363 2553 135.7 3.40 0.034 1358 -422.4 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
164 16.6 -22.0 12 169 done -0.74 0.60 0.246 2653 166.7 3.47 0.063 2768 406.3 -97.3 - - 3191 - - - - - - - - 10.91 11.00 11.08
486 61.2 -9.7 25 491 roll -0.66 0.10 0.224 2676 230.0 3.30 0.034 1364 -425.5 -97.3 - - 3193 - - - - - - - - 10.95 11.05 11.05
689 86.3 -42.1 54 695 done -0.66 - - 2666 - 3.40 0.059 2763 411.5 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.13
1018 102.9 -4.3 67 1019 done -0.66 - - 2666 - - - 2762 - -97.3 - - 3193 - - - - - - - - 11.26 11.26 11.26
1354 122.6 -6.1 73 1359 roll -0.66 - - 2666 - 3.35 0.035 1356 -419.7 -97.3 - - 3192 - - - - - - - - 11.26 11.07 11.26
1382 124.4 -6.4 77 1387 done -0.74 - - 2656 - 3.42 0.059 2764 411.7 -97.3 - - 3192 - - - - - - - - 11.13 11.03 11.14
1746 148.9 -6.9 87 1751 roll -0.74 - - 2648 - 2.58 0.097 3825 411.2 -97.3 - - 3190 - - - - - - - - 11.27 11.02 11.26
1830 155.5 -8.0 99 1835 done -0.74 - - 2648 - 2.38 0.033 2727 -461.3 -97.3 - - 3191 - - - - - - - - 11.15 11.12 11.19
2194 182.0 -6.8 109 2199 roll -0.74 - - 2648 - 3.17 0.035 1374 -426.8 -97.3 - - 3189 - - - - - - - - 11.27 11.07 11.26
2387 194.4 -6.9 136 2392 done -0.74 - - 2639 - 3.38 0.058 2752 407.7 -97.3 - - 3187 - - - - - - - - 11.14 11.03 11.14
2701 218.4 -7.6 146 2707 roll -0.74 - - 2630 - 2.62 0.099 3830 411.5 -97.3 - - 3185 - - - - - - - - 11.26 11.02 11.26
2743 221.8 -8.0 152 2748 done -0.74 0.12 0.200 2656 216.7 2.35 0.034 2749 -460.0 -97.3 - - 3185 - - - - - - - - 10.98 11.12 11.12
3093 243.3 -5.9 160 3098 roll -0.82 - - 2656 - 3.25 0.036 1372 -423.7 -97.3 - - 3183 - - - - - - - - 11.27 11.07 11.27
3212 250.9 -6.6 177 3217 done -0.92 0.10 0.086 2587 -690.0 3.40 0.058 2757 407.4 -97.3 - - 3182 - - - - - - - - 11.10 11.04 11.14
3541 280.1 -9.1 189 3542 done -0.92 - - 2587 - - - 2757 - -97.3 - - 3181 - - - - - - - - 11.27 11.27 11.27
3877 310.0 -8.9 195 3882 roll -0.92 - - 2586 - 3.30 0.035 1373 -419.4 -97.3 - - 3179 - - - - - - - - 11.27 11.07 11.27
3947 316.2 -8.8 205 3952 done -0.92 - - 2577 - 3.40 0.059 2754 406.2 -97.3 - - 3179 - - - - - - - - 11.14 11.05 11.15
4269 346.3 -9.4 216 4270 done -0.92 - - 2577 - - - 2754 - -97.3 - - 3178 - - - - - - - - 11.27 11.27 11.27
4605 378.2 -9.5 222 4610 roll -0.92 - - 2576 - 3.30 0.035 1369 -419.7 -97.3 - - 3175 - - - - - - - - 11.27 11.07 11.28
4654 382.9 -9.4 229 4660 done -0.92 0.17 0.221 2599 135.3 3.40 0.060 2752 406.8 -97.3 - - 3175 - - - - - - - - 10.97 11.04 11.12
4997 410.9 -7.9 236 5002 roll -0.92 - - 2592 - 2.62 0.099 3832 412.2 -97.3 - - 3174 - - - - - - - - 11.28 11.03 11.28
5053 415.3 -8.0 244 5058 done -0.92 - - 2591 - 2.40 0.035 2741 -454.6 -97.3 - - 3174 - - - - - - - - 11.16 11.12 11.17
5389 440.2 -7.3 257 5394 roll -0.92 - - 2590 - 3.25 0.037 1370 -421.8 -97.3 - - 3173 - - - - - - - - 11.28 11.07 11.28
5466 445.9 -7.5 268 5471 done -0.92 - - 2582 - 3.38 0.058 2744 406.5 -97.3 - - 3172 - - - - - - - - 11.14 11.05 11.15
5552 end dive: TARGET_DEPTH_EXCEEDED
5552 begin apogee
5564 453.0 -7.8 274 5677 roll -0.23 1.17 0.194 2819 202.6 - - 2235 - - 110.90 1.464 2800 -3.4 0.251 - - - - - - 10.98 11.00 10.43
5678 end apogee: CONTROL_FINISHED_OK
5678 begin loiter
5909 455.8 0.1 309 5914 done -0.23 - - 2820 - - - 2235 - -2.5 - - 2788 - - - - - - - - 11.24 11.24 11.24
6239 454.2 0.6 321 6241 done -0.61 0.38 0.047 2703 -307.9 - - 2235 - -12.6 - - 2787 - - - - - - - - 11.07 11.14 11.12
6575 451.6 0.8 327 6576 done -0.76 0.12 0.073 2642 -508.3 - - 2234 - -25.6 - - 2786 - - - - - - - - 11.10 11.14 11.14
6911 451.5 -0.1 333 6911 done -0.75 - - 2642 - - - 2235 - -23.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7247 451.1 0.3 339 7247 done -0.76 - - 2642 - - - 2235 - -28.7 - - 2784 - - - - - - - - 11.26 11.26 11.26
7582 446.4 1.6 345 7583 done -0.76 - - 2642 - - - 2235 - -28.7 - - 2782 - - - - - - - - 11.26 11.26 11.26
7918 439.6 2.1 351 7919 done -0.76 - - 2642 - - - 2235 - -28.7 - - 2782 - - - - - - - - 11.27 11.27 11.27
8254 433.8 1.6 357 8255 done -0.76 - - 2642 - - - 2235 - -28.7 - - 2781 - - - - - - - - 11.26 11.27 11.27
8591 432.3 0.2 363 8591 done -0.77 - - 2642 - - - 2235 - -32.3 - - 2781 - - - - - - - - 11.27 11.27 11.27
8927 435.0 -1.0 369 8927 done -0.74 - - 2642 - - - 2234 - -15.9 - - 2780 - - - - - - - - 11.27 11.27 11.28
9263 437.1 -0.5 375 9263 done -0.74 - - 2642 - - - 2235 - -8.0 - - 2779 - - - - - - - - 11.27 11.27 11.28
9599 434.8 0.9 381 9599 done -0.75 - - 2642 - - - 2235 - -23.3 - - 2778 - - - - - - - - 11.27 11.28 11.28
9935 431.3 1.0 387 9935 done -0.75 - - 2642 - - - 2235 - -23.3 - - 2778 - - - - - - - - 11.28 11.28 11.28
10271 429.8 0.4 393 10272 done -0.76 - - 2642 - - - 2234 - -29.3 - - 2778 - - - - - - - - 11.27 11.27 11.28
10607 430.3 -0.3 399 10607 done -0.76 - - 2642 - - - 2235 - -24.5 - - 2778 - - - - - - - - 11.28 11.28 11.28
10943 432.4 -0.6 405 10944 done -0.74 - - 2642 - - - 2235 - -13.8 - - 2778 - - - - - - - - 11.29 11.28 11.28
11279 431.7 0.4 411 11279 done -0.75 - - 2642 - - - 2235 - -20.7 - - 2777 - - - - - - - - 11.28 11.28 11.28
11614 427.6 1.3 417 11615 done -0.75 - - 2642 - - - 2235 - -20.7 - - 2777 - - - - - - - - 11.28 11.28 11.28
11951 424.4 0.8 423 11951 done -0.77 - - 2642 - - - 2235 - -33.7 - - 2777 - - - - - - - - 11.28 11.28 11.29
12287 427.2 -1.1 429 12287 done -0.74 - - 2642 - - - 2235 - -14.7 - - 2777 - - - - - - - - 11.28 11.28 11.29
12623 431.2 -1.1 435 12623 done -0.72 - - 2642 - - - 2235 - 4.4 - - 2777 - - - - - - - - 11.27 11.28 11.29
12959 431.7 0.1 441 12960 done -0.72 0.10 0.208 2661 190.0 - - 2235 - 2.2 - - 2777 - - - - - - - - 11.00 11.16 11.17
13295 427.7 1.3 447 13295 done -0.72 - - 2661 - - - 2235 - 2.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
13631 425.2 0.6 453 13631 done -0.73 - - 2661 - - - 2234 - -7.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
13967 424.9 - 459 13968 done -0.73 - - 2661 - - - 2235 - -7.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
14303 427.2 -0.9 465 14303 done -0.72 - - 2661 - - - 2234 - 7.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
14639 430.6 -0.9 471 14665 done -0.70 - - 2661 - - - 2234 - 22.2 24.92 1.457 2710 -2.6 0.189 - - - - - - 11.29 11.00 10.40
14975 423.8 2.3 477 14976 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.27 11.26 11.27
15311 417.8 1.7 483 15311 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2698 - - - - - - - - 11.28 11.27 11.28
15646 412.0 1.7 489 15647 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.28 11.28 11.28
15983 406.1 1.8 495 15983 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.28 11.28 11.28
16318 399.5 2.0 501 16319 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.28 11.28 11.28
16655 392.1 2.2 507 16655 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.28 11.28 11.29
16991 384.8 2.1 513 16991 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.28 11.28 11.29
17327 377.0 2.4 519 17327 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.28 11.29 11.29
17662 368.6 2.5 525 17663 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
17999 360.4 2.5 531 17999 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.28 11.29 11.29
18335 351.5 2.7 537 18335 done -0.70 - - 2662 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
18670 343.4 2.3 543 18671 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
19006 337.7 1.6 549 19007 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.32
19343 331.4 1.9 555 19343 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
19678 326.6 1.3 561 19679 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
20015 322.8 1.1 567 20016 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
20350 317.9 1.5 573 20351 done -0.70 - - 2662 - - - 2235 - 22.2 - - 2698 - - - - - - - - 11.29 11.29 11.29
20687 312.8 1.5 579 20687 done -0.70 - - 2662 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
21023 306.9 1.7 585 21023 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
21359 300.9 1.8 591 21359 done -0.70 - - 2662 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
21694 294.8 1.7 597 21695 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
22031 290.8 1.2 603 22031 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
22366 285.7 1.6 609 22367 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
22703 280.3 1.6 615 22703 done -0.70 - - 2661 - - - 2234 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
23039 274.4 1.9 621 23039 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
23374 265.8 2.7 627 23375 done -0.70 - - 2661 - - - 2235 - 22.2 - - 2697 - - - - - - - - 11.29 11.29 11.29
23705 end loiter: LOITER_COMPLETE
23705 begin climb
23711 256.5 - 633 23807 roll 1.04 2.58 0.169 3214 214.3 3.58 0.086 3665 399.4 97.3 87.28 1.234 2405 -3.3 0.168 - - - - - - 11.02 10.91 10.45
24012 232.4 10.1 676 24016 done 0.92 - - 3225 - 3.20 0.033 2260 -439.1 97.3 - - 2397 - - - - - - - - 11.13 11.08 11.14
24327 203.9 8.9 686 24333 roll 0.92 - - 3236 - 3.42 0.053 846 -413.5 97.3 - - 2395 - - - - - - - - 11.26 11.04 11.26
24376 199.6 8.9 693 24382 done 0.92 0.17 0.205 3201 -205.9 3.33 0.042 2256 423.4 97.3 - - 2394 - - - - - - - - 10.96 11.05 11.12
24719 172.2 8.0 700 24724 roll 0.93 - - 3201 - 3.45 0.088 3663 407.8 102.9 - - 2394 - - - - - - - - 11.26 11.01 11.26
24838 160.9 9.6 717 24843 done 0.84 0.17 0.205 3177 -141.2 3.20 0.032 2246 -442.8 102.9 - - 2394 - - - - - - - - 10.96 11.10 11.10
25167 135.2 7.7 729 25192 roll 0.85 - - 3187 - 3.38 0.052 852 -412.4 113.3 18.42 1.088 2339 -3.0 0.090 - - - - - - 11.26 11.00 10.50
25279 126.7 7.6 745 25298 done 0.87 - - 3187 - 3.33 0.042 2258 422.2 125.1 13.85 1.086 2302 -2.7 0.075 - - - - - - 11.12 11.05 10.52
25608 100.0 8.3 757 25613 roll 0.87 - - 3187 - 3.42 0.088 3659 409.6 125.5 - - 2288 - - - - - - - - 11.26 11.00 11.26
25678 93.5 9.5 767 25683 done 0.87 - - 3198 - 3.17 0.032 2254 -443.2 125.5 - - 2289 - - - - - - - - 11.14 11.08 11.14
26000 69.4 5.9 780 26033 done 0.92 - - 3198 - - - 2251 - 167.4 31.75 0.350 2133 -4.9 0.235 - - - - - - 11.26 11.07 10.85
26336 56.3 2.4 795 26431 roll 1.04 0.08 0.112 3258 750.0 3.42 0.052 852 -409.1 268.2 86.90 0.323 1734 -4.6 0.193 - - - - - - 11.10 11.00 10.85
26665 41.1 11.6 842 26672 done 1.16 - - 3258 - 3.30 0.042 2255 425.2 268.2 - - 1735 - - - - - - - - 11.12 11.04 11.13
26980 26.4 6.2 854 27019 roll 1.32 0.15 0.069 3326 453.3 3.50 0.088 3654 399.7 304.3 29.77 0.223 1589 -4.9 0.140 - - - - - - 11.08 10.98 10.92
27043 21.2 9.3 863 27048 done 1.32 - - 3337 - 3.17 0.032 2244 -444.8 304.3 - - 1593 - - - - - - - - 11.13 11.07 11.14
27227 end climb: SURFACE_DEPTH_REACHED
27227 begin surface coast
27255 end surface coast: CONTROL_FINISHED_OK
27255 begin surface
SM -3.39 - - - - -8.40 12.45 0.073 171 13.7 1.35 0.068 2776 1293.3 500.14 134.45 0.129 809 6.0 0.016 - - - - - -