SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 872 * Raw log
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• Previous call tries 2 • 288.67 of 350.00 AH used of 24V (17.52% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.4 deg, depth -5.60 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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 - - - 100 done -1.04 - - 106 - - - 2784 - -97.3 -83.35 - 3189 - - - - - - - - 11.21 10.45 11.21
106 -1.7 -4.8 3 132 roll -1.04 18.58 0.373 2554 131.8 3.35 0.031 1348 -428.7 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.06
156 17.7 -29.3 11 162 done -0.57 0.90 0.249 2707 170.0 3.55 0.073 2768 400.0 -97.3 - - 3192 - - - - - - - - 10.90 10.98 11.07
485 58.8 -9.1 25 491 roll -0.57 - - 2707 - 3.33 0.035 1353 -424.9 -97.3 - - 3192 - - - - - - - - 11.26 11.05 11.26
520 61.4 -7.7 30 525 done -0.65 - - 2697 - 3.47 0.068 2771 408.6 -97.3 - - 3192 - - - - - - - - 11.12 11.00 11.13
849 78.2 -4.1 44 854 roll -0.75 0.08 0.109 2640 -712.5 2.60 0.108 3827 406.2 -97.3 - - 3192 - - - - - - - - 11.10 11.01 11.12
1021 90.6 -13.3 68 1032 done -0.75 - - 2640 - 2.38 0.037 2733 -459.7 -97.3 - - 3192 - - - - - - - - 11.14 11.12 11.15
1362 110.7 -6.1 80 1367 roll -0.75 - - 2631 - 2.75 0.106 3829 398.5 -97.3 - - 3192 - - - - - - - - 11.26 11.00 11.26
1404 114.8 -6.7 86 1409 done -0.75 - - 2631 - 2.35 0.037 2736 -465.1 -97.3 - - 3192 - - - - - - - - 11.14 11.10 11.15
1754 137.6 -6.5 94 1759 roll -0.75 - - 2631 - 3.17 0.034 1368 -431.5 -97.3 - - 3190 - - - - - - - - 11.26 11.07 11.26
1789 140.0 -7.3 99 1794 done -0.75 0.15 0.214 2651 133.3 3.40 0.062 2756 408.2 -97.3 - - 3190 - - - - - - - - 10.97 11.03 11.10
2146 165.5 -7.4 108 2151 roll -0.75 - - 2651 - 3.28 0.036 1368 -423.2 -97.3 - - 3188 - - - - - - - - 11.26 11.07 11.27
2209 170.3 -7.3 117 2215 done -0.75 - - 2641 - 3.42 0.063 2761 407.3 -97.3 - - 3188 - - - - - - - - 11.13 11.04 11.14
2538 195.2 -7.6 129 2543 roll -0.75 - - 2632 - 2.67 0.111 3835 402.2 -97.3 - - 3186 - - - - - - - - 11.27 11.02 11.26
2636 202.8 -7.7 143 2641 done -0.75 - - 2632 - 2.40 0.038 2739 -456.7 -97.3 - - 3185 - - - - - - - - 11.15 11.12 11.16
2986 228.9 -7.5 151 2991 roll -0.75 - - 2632 - 3.20 0.035 1371 -427.5 -97.3 - - 3183 - - - - - - - - 11.26 11.07 11.27
3098 238.2 -8.6 167 3103 done -0.75 0.15 0.210 2652 133.3 3.42 0.065 2754 404.4 -97.3 - - 3182 - - - - - - - - 10.98 11.04 11.11
3434 260.9 -6.5 180 3435 done -0.82 - - 2652 - - - 2753 - -97.3 - - 3180 - - - - - - - - 11.27 11.26 11.27
3770 282.2 -6.4 186 3775 roll -0.90 0.08 0.113 2599 -662.5 3.28 0.034 1371 -421.3 -97.3 - - 3179 - - - - - - - - 11.10 11.07 11.11
3833 287.2 -8.2 195 3838 done -0.90 - - 2590 - 3.45 0.069 2756 401.4 -97.3 - - 3179 - - - - - - - - 11.14 11.04 11.15
4162 314.8 -8.4 207 4167 roll -0.90 - - 2582 - 2.70 0.112 3837 400.4 -97.3 - - 3176 - - - - - - - - 11.27 11.03 11.27
4239 321.5 -8.6 218 4243 done -0.90 - - 2580 - 2.40 0.038 2751 -452.5 -97.3 - - 3176 - - - - - - - - 11.16 11.12 11.17
4554 346.1 -7.6 228 4559 roll -0.90 - - 2580 - 3.25 0.034 1363 -427.1 -97.3 - - 3175 - - - - - - - - 11.28 11.08 11.27
4624 351.6 -7.8 238 4629 done -0.90 0.17 0.213 2605 147.1 3.45 0.065 2758 404.3 -97.3 - - 3175 - - - - - - - - 10.98 11.05 11.12
4946 376.3 -7.7 249 4947 done -0.90 - - 2605 - - - 2758 - -97.3 - - 3173 - - - - - - - - 11.27 11.28 11.28
5282 400.3 -6.9 255 5283 done -0.90 - - 2605 - - - 2758 - -97.3 - - 3172 - - - - - - - - 11.27 11.28 11.29
5618 421.3 -6.2 261 5624 roll -0.90 - - 2604 - 3.30 0.034 1371 -420.3 -97.3 - - 3170 - - - - - - - - 11.28 11.08 11.28
5681 425.5 -6.6 270 5686 done -0.90 - - 2596 - 3.45 0.068 2752 400.3 -97.3 - - 3170 - - - - - - - - 11.14 11.03 11.15
6010 449.6 -7.6 282 6015 roll -0.90 - - 2587 - 2.72 0.115 3835 398.2 -97.3 - - 3169 - - - - - - - - 11.28 11.02 11.28
6019 end dive: TARGET_DEPTH_EXCEEDED
6019 begin apogee
6033 450.7 -7.8 284 6148 roll -0.23 1.12 0.190 2817 205.4 - - 2243 - - 111.53 1.459 2799 -3.3 0.248 - - - - - - 10.99 11.00 10.50
6148 end apogee: CONTROL_FINISHED_OK
6148 begin loiter
6380 454.5 0.5 319 6384 done -0.24 - - 2816 - - - 2242 - -9.3 - - 2789 - - - - - - - - 11.24 11.24 11.24
6709 452.1 0.7 331 6711 done -0.61 0.38 0.047 2700 -305.3 - - 2242 - -21.7 - - 2787 - - - - - - - - 11.08 11.14 11.13
7045 449.8 0.8 337 7046 done -0.76 0.10 0.084 2648 -520.0 - - 2242 - -34.9 - - 2786 - - - - - - - - 11.10 11.15 11.14
7381 446.8 0.9 343 7382 done -0.78 - - 2648 - - - 2242 - -50.0 - - 2785 - - - - - - - - 11.26 11.26 11.26
7717 443.0 1.2 349 7718 done -0.78 - - 2648 - - - 2242 - -50.0 - - 2784 - - - - - - - - 11.26 11.26 11.26
8053 438.7 1.2 355 8054 done -0.78 - - 2648 - - - 2242 - -50.0 - - 2783 - - - - - - - - 11.26 11.26 11.26
8389 435.6 0.8 361 8390 done -0.80 - - 2648 - - - 2242 - -64.0 - - 2782 - - - - - - - - 11.27 11.26 11.27
8725 434.9 0.1 367 8726 done -0.80 - - 2648 - - - 2242 - -65.8 - - 2782 - - - - - - - - 11.27 11.27 11.27
9061 434.6 0.1 373 9062 done -0.80 - - 2648 - - - 2242 - -67.9 - - 2781 - - - - - - - - 11.27 11.27 11.27
9397 433.3 0.4 379 9398 done -0.81 - - 2648 - - - 2242 - -74.5 - - 2781 - - - - - - - - 11.27 11.28 11.28
9733 431.2 0.7 385 9734 done -0.83 - - 2648 - - - 2242 - -86.3 - - 2780 - - - - - - - - 11.27 11.28 11.28
10069 430.0 0.3 391 10070 done -0.83 - - 2647 - - - 2242 - -91.9 - - 2779 - - - - - - - - 11.28 11.28 11.28
10405 428.5 0.5 397 10406 done -0.84 - - 2648 - - - 2242 - -99.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
10741 427.0 0.4 403 10742 done -0.85 - - 2648 - - - 2242 - -106.1 - - 2779 - - - - - - - - 11.28 11.28 11.28
11077 427.3 -0.1 409 11078 done -0.85 - - 2647 - - - 2242 - -103.7 - - 2779 - - - - - - - - 11.28 11.28 11.29
11413 428.0 -0.2 415 11414 done -0.84 - - 2647 - - - 2242 - -100.5 - - 2778 - - - - - - - - 11.27 11.28 11.28
11749 428.3 - 421 11750 done -0.84 - - 2648 - - - 2242 - -99.7 - - 2778 - - - - - - - - 11.31 11.28 11.28
12085 427.7 0.2 427 12086 done -0.85 - - 2648 - - - 2242 - -102.7 - - 2778 - - - - - - - - 11.28 11.28 11.29
12421 428.3 -0.3 433 12422 done -0.84 - - 2648 - - - 2242 - -98.3 - - 2778 - - - - - - - - 11.28 11.28 11.29
12757 429.6 -0.3 439 12758 done -0.83 - - 2648 - - - 2242 - -93.1 - - 2778 - - - - - - - - 11.29 11.29 11.28
13093 429.6 0.1 445 13094 done -0.84 - - 2648 - - - 2242 - -95.0 - - 2778 - - - - - - - - 11.28 11.28 11.29
13429 428.1 0.5 451 13430 done -0.85 - - 2648 - - - 2242 - -103.3 - - 2778 - - - - - - - - 11.28 11.29 11.29
13765 426.3 0.5 457 13766 done -0.86 - - 2648 - - - 2242 - -111.5 - - 2778 - - - - - - - - 11.28 11.29 11.29
14101 425.2 0.3 463 14102 done -0.86 - - 2648 - - - 2242 - -117.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
14437 423.7 0.5 469 14438 done -0.87 - - 2648 - - - 2242 - -124.9 - - 2777 - - - - - - - - 11.28 11.29 11.29
14773 421.7 0.6 475 14774 done -0.88 - - 2648 - - - 2242 - -134.5 - - 2777 - - - - - - - - 11.28 11.29 11.29
15109 419.9 0.5 481 15110 done -0.90 0.08 0.112 2598 -625.0 - - 2242 - -143.1 - - 2777 - - - - - - - - 11.14 11.17 11.17
15445 419.6 0.1 487 15446 done -0.90 - - 2599 - - - 2242 - -144.1 - - 2777 - - - - - - - - 11.29 11.29 11.28
15781 419.8 - 493 15782 done -0.90 - - 2599 - - - 2242 - -144.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
16117 420.0 -0.1 499 16118 done -0.89 - - 2599 - - - 2242 - -141.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
16453 421.0 -0.2 505 16454 done -0.89 - - 2599 - - - 2242 - -138.1 - - 2777 - - - - - - - - 11.29 11.27 11.29
16789 419.3 0.6 511 16790 done -0.90 - - 2599 - - - 2243 - -148.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
17125 417.8 0.5 517 17126 done -0.91 - - 2599 - - - 2242 - -156.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
17461 417.9 -0.1 523 17462 done -0.91 - - 2598 - - - 2242 - -154.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
17797 419.3 -0.5 529 17798 done -0.90 - - 2599 - - - 2242 - -146.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
18133 420.0 -0.1 535 18134 done -0.90 - - 2599 - - - 2242 - -143.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
18469 420.7 -0.3 541 18470 done -0.89 - - 2599 - - - 2242 - -138.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
18805 422.3 -0.4 547 18806 done -0.88 - - 2599 - - - 2242 - -131.5 - - 2776 - - - - - - - - 11.29 11.29 11.30
19141 421.0 0.6 553 19142 done -0.89 - - 2599 - - - 2242 - -141.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
19477 419.5 0.3 559 19478 done -0.90 - - 2599 - - - 2242 - -146.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
19813 419.1 0.1 565 19814 done -0.90 - - 2599 - - - 2242 - -148.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
20149 418.9 - 571 20150 done -0.90 - - 2599 - - - 2242 - -147.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
20485 421.4 -0.9 577 20486 done -0.88 - - 2599 - - - 2242 - -132.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20821 424.6 -0.9 583 20822 done -0.86 - - 2599 - - - 2242 - -116.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
21157 425.1 - 589 21158 done -0.86 - - 2599 - - - 2242 - -116.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21493 424.2 0.3 595 21494 done -0.87 - - 2599 - - - 2242 - -121.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
21829 423.5 0.1 601 21830 done -0.87 - - 2599 - - - 2242 - -124.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
22165 424.8 -0.4 607 22166 done -0.86 - - 2599 - - - 2242 - -117.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
22501 426.6 -0.5 613 22502 done -0.85 - - 2599 - - - 2242 - -108.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
22837 428.1 -0.5 619 22838 done -0.84 - - 2598 - - - 2242 - -100.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
23173 428.1 0.1 625 23174 done -0.84 - - 2599 - - - 2242 - -102.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
23509 427.6 0.2 631 23510 done -0.85 - - 2599 - - - 2242 - -105.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
23845 427.9 -0.2 637 23846 done -0.84 - - 2599 - - - 2242 - -102.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
24176 end loiter: LOITER_COMPLETE
24176 begin climb
24181 429.6 - 643 24311 roll 1.04 2.92 0.184 3211 209.6 3.72 0.099 3657 380.4 97.3 116.22 1.464 2405 -3.2 0.227 - - - - - - 11.00 10.89 10.37
24513 406.6 9.8 689 24519 done 0.92 - - 3222 - 3.22 0.036 2250 -437.0 97.3 - - 2394 - - - - - - - - 11.12 11.07 11.13
24851 376.1 8.8 696 24856 roll 0.84 0.20 0.201 3188 -170.0 3.38 0.051 851 -413.9 97.3 - - 2392 - - - - - - - - 10.95 11.03 11.06
24942 369.0 8.1 709 24948 done 0.84 - - 3188 - 3.33 0.046 2253 421.0 101.0 - - 2391 - - - - - - - - 11.12 11.03 11.13
25299 340.9 7.9 718 25310 roll 0.85 - - 3188 - 3.58 0.103 3657 392.2 108.1 4.30 1.033 2370 -4.9 0.390 - - - - - - 11.24 10.94 10.37
25348 336.7 9.4 725 25356 done 0.77 0.22 0.194 3153 -159.1 3.22 0.035 2240 -440.1 108.1 - - 2376 - - - - - - - - 10.95 11.07 11.09
25692 313.1 6.7 732 25740 roll 0.81 - - 3164 - 3.42 0.052 856 -404.7 135.1 42.62 1.335 2253 -2.9 0.164 - - - - - - 11.24 10.96 10.44
25803 304.7 8.0 748 25810 done 0.81 - - 3163 - 3.30 0.048 2241 419.7 141.3 1.77 0.171 2236 -9.6 4.146 - - - - - - 11.09 11.00 10.97
26126 279.7 7.8 759 26151 roll 0.83 - - 3163 - 3.62 0.106 3658 391.4 150.1 18.40 1.300 2194 -2.3 0.119 - - - - - - 11.23 10.90 10.45
26210 272.6 8.9 771 26215 done 0.83 - - 3174 - 3.22 0.035 2243 -439.4 150.1 - - 2189 - - - - - - - - 11.12 11.07 11.12
26574 245.2 7.8 781 26585 roll 0.84 - - 3184 - 3.38 0.055 850 -412.1 159.5 4.18 0.936 2165 -5.7 0.364 - - - - - - 11.23 11.00 10.41
26623 241.5 8.3 788 26629 done 0.84 - - 3184 - 3.33 0.047 2247 419.5 160.2 - - 2171 - - - - - - - - 11.11 11.02 11.12
26966 211.0 9.0 795 26977 roll 0.84 - - 3184 - 3.67 0.106 3667 386.9 160.2 2.55 0.524 2164 -2.7 0.268 - - - - - - 11.24 10.95 10.42
27001 208.0 8.8 800 27006 done 0.84 - - 3194 - 3.25 0.036 2244 -437.8 160.2 - - 2169 - - - - - - - - 11.12 11.07 11.12
27358 174.1 9.4 809 27363 roll 0.84 - - 3205 - 3.38 0.055 846 -413.6 160.2 - - 2170 - - - - - - - - 11.24 11.03 11.24
27414 169.6 9.0 817 27420 done 0.84 0.15 0.190 3174 -206.7 3.28 0.048 2243 425.9 160.2 - - 2170 - - - - - - - - 10.97 11.02 11.10
27751 140.9 8.7 830 27756 roll 0.84 - - 3174 - 3.60 0.103 3669 396.1 160.2 - - 2170 - - - - - - - - 11.24 10.97 11.24
27862 130.1 10.1 846 27867 done 0.84 - - 3184 - 3.28 0.037 2238 -436.3 160.2 - - 2170 - - - - - - - - 11.14 11.08 11.14
28198 100.2 9.0 859 28203 roll 0.84 - - 3193 - 3.35 0.055 846 -415.5 160.2 - - 2170 - - - - - - - - 11.24 11.04 11.24
28275 94.4 7.2 870 28301 done 0.86 - - 3193 - 3.33 0.047 2247 420.7 180.0 18.73 0.416 2084 -4.6 0.252 - - - - - - 11.12 11.03 10.81
28618 70.5 7.6 886 28638 roll 0.88 - - 3193 - 3.65 0.103 3658 386.6 193.3 14.50 0.344 2032 -3.6 0.178 - - - - - - 11.24 10.94 10.84
28756 62.8 5.8 905 28799 done 0.93 - - 3203 - 3.17 0.036 2237 -448.3 236.6 38.83 0.347 1856 -4.5 0.199 - - - - - - 11.12 11.08 10.84
29113 49.5 1.0 923 29220 roll 1.26 0.28 0.053 3309 378.6 3.42 0.059 856 -403.8 361.4 100.05 0.311 1363 -4.9 0.190 - - - - - - 11.08 10.99 10.86
29263 42.4 7.2 945 29288 done 1.36 - - 3309 - 3.30 0.047 2250 422.4 380.5 16.95 0.269 1287 -4.5 0.171 - - - - - - 11.10 11.01 10.87
29613 9.6 10.0 962 29624 roll 1.36 - - 3310 - 3.60 0.102 3661 391.9 380.5 2.10 0.161 1289 - - - - - - - - 11.23 10.94 10.98
29677 end climb: SURFACE_DEPTH_REACHED
29677 begin surface coast
29684 end surface coast: CONTROL_FINISHED_OK
29685 begin surface
SM -3.75 - - - - -8.40 12.40 0.073 199 16.0 2.05 0.041 2759 -2777.1 500.14 83.78 0.132 807 9.6 0.028 - - - - - -