SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 879 * Raw log
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• Previous call tries 1 • 290.08 of 350.00 AH used of 24V (17.12% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -69.9 deg, depth -3.33 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 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
15 - - - 99 done -1.04 - - 113 - - - 2780 - -97.3 -83.32 - 3189 - - - - - - - - 11.21 10.43 11.21
105 -0.6 -4.9 3 132 roll -1.04 19.88 0.393 2552 122.7 3.33 0.033 1359 -426.7 -97.3 - - 3191 - - - - - - - - 10.83 11.01 11.04
184 24.5 -19.8 15 189 done -0.81 0.50 0.261 2631 158.0 3.45 0.063 2767 408.1 -97.3 - - 3190 - - - - - - - - 10.90 11.00 11.07
520 69.0 -8.2 30 521 done -0.81 - - 2631 - - - 2768 - -97.3 - - 3192 - - - - - - - - 11.23 11.23 11.23
828 91.1 -5.0 41 834 roll -0.81 - - 2631 - 3.30 0.034 1357 -427.6 -97.3 - - 3194 - - - - - - - - 11.24 11.05 11.24
877 94.2 -6.7 48 883 done -0.81 - - 2621 - 3.42 0.057 2773 414.0 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.13
1192 116.0 -7.0 56 1193 done -0.81 - - 2621 - - - 2776 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1528 142.4 -8.0 62 1529 done -0.81 - - 2621 - - - 2773 - -97.3 - - 3191 - - - - - - - - 11.24 11.25 11.24
1864 167.7 -7.2 68 1869 roll -0.81 - - 2621 - 3.35 0.036 1355 -423.3 -97.3 - - 3188 - - - - - - - - 11.24 11.06 11.24
2044 179.5 -6.3 93 2049 done -0.81 - - 2610 - 3.45 0.058 2769 409.9 -97.3 - - 3188 - - - - - - - - 11.12 11.02 11.14
2372 203.6 -7.5 105 2378 roll -0.81 - - 2602 - 2.60 0.097 3836 410.4 -97.3 - - 3186 - - - - - - - - 11.24 11.00 11.24
2463 212.1 -9.7 118 2468 done -0.81 0.15 0.211 2631 193.3 2.38 0.034 2747 -457.6 -97.3 - - 3186 - - - - - - - - 10.97 11.12 11.10
2820 244.5 -9.3 127 2825 roll -0.81 - - 2632 - 3.22 0.036 1378 -425.2 -97.3 - - 3184 - - - - - - - - 11.24 11.06 11.24
2939 255.3 -8.8 144 2944 done -0.81 - - 2621 - 3.40 0.058 2768 408.8 -97.3 - - 3182 - - - - - - - - 11.12 11.03 11.14
3268 284.1 -8.7 156 3273 roll -0.81 - - 2621 - 3.30 0.036 1377 -421.5 -97.3 - - 3180 - - - - - - - - 11.25 11.06 11.25
3303 287.0 -8.5 161 3309 done -0.81 - - 2611 - 3.38 0.059 2758 408.6 -97.3 - - 3180 - - - - - - - - 11.12 11.03 11.14
3660 315.2 -7.7 170 3665 roll -0.81 - - 2611 - 3.28 0.036 1376 -421.3 -97.3 - - 3179 - - - - - - - - 11.25 11.07 11.25
3709 319.0 -7.6 177 3716 done -0.81 0.17 0.215 2635 141.2 3.38 0.060 2757 408.6 -97.3 - - 3178 - - - - - - - - 10.97 11.04 11.10
4052 341.9 -6.6 184 4057 roll -0.81 - - 2627 - 2.62 0.101 3826 408.0 -97.3 - - 3176 - - - - - - - - 11.25 11.01 11.25
4108 345.8 -7.1 192 4113 done -0.81 - - 2626 - 2.35 0.034 2757 -454.9 -97.3 - - 3176 - - - - - - - - 11.15 11.12 11.16
4444 366.6 -6.1 205 4450 roll -0.81 - - 2626 - 3.25 0.036 1372 -426.2 -97.3 - - 3174 - - - - - - - - 11.24 11.07 11.25
4549 373.3 -6.4 220 4555 done -0.81 - - 2616 - 3.40 0.060 2756 407.1 -97.3 - - 3174 - - - - - - - - 11.13 11.04 11.14
4892 396.7 -6.9 227 4893 done -0.81 - - 2616 - - - 2755 - -97.3 - - 3174 - - - - - - - - 11.25 11.25 11.26
5228 423.2 -8.0 233 5234 roll -0.81 - - 2619 - 3.30 0.036 1373 -418.8 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.24
5312 430.3 -8.4 245 5318 done -0.81 0.12 0.215 2630 91.7 3.40 0.060 2755 406.5 -97.3 - - 3171 - - - - - - - - 10.97 11.04 11.10
5559 end dive: TARGET_DEPTH_EXCEEDED
5559 begin apogee
5571 450.8 -8.1 253 5684 roll -0.23 0.90 0.179 2817 207.8 - - 2245 - - 110.93 1.459 2799 -3.4 0.252 - - - - - - 10.99 11.00 10.43
5685 end apogee: CONTROL_FINISHED_OK
5685 begin loiter
5917 457.3 -0.2 288 5921 done -0.22 - - 2818 - - - 2245 - 3.0 - - 2787 - - - - - - - - 11.24 11.24 11.24
6246 454.7 1.0 300 6248 done -0.58 0.35 0.049 2710 -308.6 - - 2244 - 3.0 - - 2785 - - - - - - - - 11.07 11.13 11.12
6582 446.8 2.6 306 6583 done -0.74 0.12 0.073 2653 -475.0 - - 2245 - 3.0 - - 2784 - - - - - - - - 11.10 11.14 11.13
6918 437.8 2.5 312 6919 done -0.74 - - 2653 - - - 2245 - 3.0 - - 2783 - - - - - - - - 11.26 11.29 11.26
7254 433.4 1.0 318 7255 done -0.74 - - 2653 - - - 2245 - 3.0 - - 2782 - - - - - - - - 11.26 11.26 11.26
7590 433.0 - 324 7591 done -0.74 - - 2653 - - - 2245 - 2.6 - - 2781 - - - - - - - - 11.26 11.26 11.27
7926 433.3 -0.1 330 7927 done -0.74 - - 2653 - - - 2245 - 3.9 - - 2780 - - - - - - - - 11.27 11.27 11.27
8262 433.1 0.1 336 8263 done -0.74 - - 2653 - - - 2245 - 2.6 - - 2779 - - - - - - - - 11.27 11.27 11.28
8598 432.1 0.4 342 8599 done -0.75 - - 2653 - - - 2244 - -3.7 - - 2779 - - - - - - - - 11.27 11.27 11.28
8934 430.6 0.4 348 8935 done -0.75 - - 2653 - - - 2245 - -11.0 - - 2778 - - - - - - - - 11.27 11.28 11.28
9270 429.5 0.3 354 9271 done -0.76 - - 2653 - - - 2245 - -16.4 - - 2777 - - - - - - - - 11.28 11.28 11.28
9606 428.8 0.2 360 9607 done -0.77 - - 2653 - - - 2245 - -19.4 - - 2777 - - - - - - - - 11.28 11.28 11.28
9942 427.9 0.3 366 9943 done -0.77 - - 2653 - - - 2245 - -24.9 - - 2777 - - - - - - - - 11.28 11.28 11.28
10278 426.9 0.2 372 10279 done -0.78 - - 2653 - - - 2245 - -28.7 - - 2777 - - - - - - - - 11.28 11.28 11.28
10614 427.1 -0.1 378 10615 done -0.78 - - 2653 - - - 2245 - -27.7 - - 2777 - - - - - - - - 11.28 11.28 11.29
10950 424.8 0.9 384 10951 done -0.79 - - 2653 - - - 2245 - -42.3 - - 2777 - - - - - - - - 11.28 11.28 11.29
11286 423.1 0.4 390 11287 done -0.80 - - 2653 - - - 2245 - -48.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
11622 423.3 -0.1 396 11623 done -0.80 - - 2653 - - - 2245 - -46.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
11958 425.6 -0.9 402 11959 done -0.78 - - 2653 - - - 2245 - -31.5 - - 2776 - - - - - - - - 11.29 11.28 11.29
12294 430.4 -1.5 408 12295 done -0.75 - - 2653 - - - 2245 - -6.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
12630 432.2 -0.3 414 12631 done -0.74 - - 2653 - - - 2244 - -1.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
12966 430.2 0.7 420 12967 done -0.76 - - 2653 - - - 2245 - -13.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
13302 426.1 1.3 426 13303 done -0.76 - - 2653 - - - 2245 - -13.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
13638 421.3 1.3 432 13639 done -0.76 - - 2653 - - - 2245 - -13.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
13974 419.4 0.4 438 13975 done -0.77 - - 2653 - - - 2245 - -20.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
14310 419.5 -0.1 444 14311 done -0.77 - - 2653 - - - 2245 - -19.2 - - 2775 - - - - - - - - 11.30 11.29 11.29
14646 420.7 -0.4 450 14647 done -0.76 - - 2653 - - - 2245 - -12.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
14983 422.5 -0.5 456 14984 done -0.75 - - 2653 - - - 2245 - -3.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
15318 423.1 -0.1 462 15319 done -0.74 - - 2653 - - - 2245 - -1.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
15654 422.7 0.1 468 15655 done -0.75 - - 2653 - - - 2245 - -4.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
15990 422.4 0.1 474 15991 done -0.75 - - 2653 - - - 2245 - -5.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
16326 422.3 - 480 16327 done -0.75 - - 2653 - - - 2245 - -5.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
16662 423.2 -0.3 486 16663 done -0.74 - - 2653 - - - 2245 - 0.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
16998 422.8 0.3 492 16999 done -0.75 - - 2653 - - - 2245 - -4.4 - - 2775 - - - - - - - - 11.28 11.29 11.29
17334 421.7 0.3 498 17335 done -0.75 - - 2653 - - - 2244 - -9.0 - - 2775 - - - - - - - - 11.29 11.29 11.29
17670 421.2 0.2 504 17671 done -0.76 - - 2653 - - - 2245 - -11.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
18006 420.9 0.1 510 18007 done -0.76 - - 2654 - - - 2245 - -12.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
18342 421.0 - 516 18343 done -0.76 - - 2653 - - - 2245 - -11.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
18678 420.9 0.1 522 18679 done -0.76 - - 2653 - - - 2245 - -12.6 - - 2774 - - - - - - - - 11.29 11.29 11.29
19014 421.0 - 528 19015 done -0.76 - - 2653 - - - 2245 - -11.8 - - 2774 - - - - - - - - 11.29 11.29 11.29
19350 419.5 0.6 534 19351 done -0.77 - - 2653 - - - 2245 - -21.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
19687 418.5 0.1 540 19688 done -0.77 - - 2653 - - - 2244 - -23.6 - - 2774 - - - - - - - - 11.29 11.29 11.29
20022 421.4 -1.0 546 20023 done -0.75 - - 2653 - - - 2245 - -6.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
20358 424.5 -0.9 552 20359 done -0.73 - - 2653 - - - 2244 - 8.1 - - 2774 - - - - - - - - 11.29 11.29 11.29
20694 425.6 -0.2 558 20700 done -0.73 - - 2653 - - - 2245 - 12.2 4.38 1.134 2751 -5.3 0.480 - - - - - - 11.29 11.06 10.31
21030 423.3 0.8 564 21031 done -0.74 - - 2653 - - - 2245 - -2.2 - - 2763 - - - - - - - - 11.29 11.29 11.29
21366 422.8 - 570 21367 done -0.74 - - 2653 - - - 2244 - -2.1 - - 2763 - - - - - - - - 11.29 11.29 11.29
21702 423.8 -0.3 576 21703 done -0.74 - - 2653 - - - 2245 - 2.5 - - 2763 - - - - - - - - 11.29 11.29 11.29
22038 420.0 1.5 582 22039 done -0.74 - - 2653 - - - 2245 - 2.5 - - 2763 - - - - - - - - 11.29 11.29 11.30
22374 411.7 2.6 588 22375 done -0.74 - - 2653 - - - 2245 - 2.5 - - 2763 - - - - - - - - 11.29 11.29 11.29
22710 405.6 1.6 594 22711 done -0.74 - - 2653 - - - 2245 - 2.5 - - 2763 - - - - - - - - 11.29 11.29 11.30
23046 403.8 0.3 600 23047 done -0.75 - - 2653 - - - 2245 - -3.4 - - 2763 - - - - - - - - 11.29 11.29 11.29
23382 405.3 -0.6 606 23383 done -0.73 - - 2653 - - - 2245 - 6.7 - - 2762 - - - - - - - - 11.30 11.29 11.29
23713 end loiter: LOITER_COMPLETE
23713 begin climb
23718 407.7 - 612 23847 roll 1.04 2.60 0.167 3223 219.2 3.47 0.053 855 -400.6 97.3 111.90 1.421 2401 -3.2 0.226 - - - - - - 11.02 10.96 10.40
23960 395.1 7.9 646 23965 done 1.05 - - 3223 - 3.33 0.047 2251 419.2 103.9 - - 2393 - - - - - - - - 11.10 11.01 11.11
24282 366.0 9.2 657 24283 done 0.97 - - 3223 - - - 2251 - 103.9 - - 2392 - - - - - - - - 11.23 11.23 11.23
24618 333.2 9.8 663 24623 roll 0.89 0.12 0.213 3204 -158.3 3.42 0.052 851 -409.4 103.9 - - 2392 - - - - - - - - 10.95 11.04 11.06
24688 326.9 8.7 673 24694 done 0.89 - - 3204 - 3.33 0.046 2251 420.4 103.9 - - 2391 - - - - - - - - 11.12 11.04 11.13
25010 298.7 8.8 684 25015 roll 0.89 - - 3204 - 3.50 0.092 3660 402.6 103.9 - - 2391 - - - - - - - - 11.24 10.98 11.24
25038 296.0 9.6 688 25043 done 0.81 0.25 0.201 3165 -156.0 3.22 0.033 2247 -438.8 103.9 - - 2391 - - - - - - - - 10.95 11.07 11.10
25402 267.2 7.8 698 25428 roll 0.82 - - 3176 - 3.45 0.054 845 -406.4 112.4 16.90 1.244 2343 -2.8 0.149 - - - - - - 11.24 10.98 10.45
25458 262.7 8.0 706 25468 done 0.83 - - 3176 - 3.33 0.045 2249 421.6 118.4 2.20 0.347 2327 -7.3 1.341 - - - - - - 11.11 11.02 10.36
25794 234.6 8.4 719 25799 roll 0.83 - - 3177 - 3.50 0.092 3659 402.9 118.4 - - 2333 - - - - - - - - 11.23 11.00 11.23
25836 230.8 9.4 725 25842 done 0.83 - - 3187 - 3.22 0.033 2241 -440.4 118.4 - - 2333 - - - - - - - - 11.12 11.07 11.14
26186 201.3 8.4 733 26192 roll 0.83 - - 3197 - 3.35 0.054 853 -414.3 118.4 - - 2333 - - - - - - - - 11.24 11.04 11.24
26270 194.2 8.3 745 26276 done 0.83 - - 3197 - 3.30 0.046 2249 423.0 118.5 - - 2333 - - - - - - - - 11.16 11.02 11.12
26634 161.2 9.3 755 26640 roll 0.83 - - 3197 - 3.50 0.093 3662 403.7 118.5 1.38 0.181 2327 -4.3 0.943 - - - - - - 11.24 11.01 10.98
26746 149.6 10.3 771 26751 done 0.83 0.17 0.202 3173 -141.2 3.20 0.033 2253 -440.3 118.5 - - 2333 - - - - - - - - 10.96 11.08 11.10
27075 124.6 7.3 783 27108 roll 0.85 - - 3184 - 3.40 0.053 845 -414.1 136.1 27.38 1.092 2251 -3.0 0.083 - - - - - - 11.24 10.93 10.51
27194 116.1 7.1 800 27214 done 0.88 - - 3184 - 3.33 0.046 2252 422.5 157.8 14.93 0.438 2170 -5.4 0.350 - - - - - - 11.12 11.03 10.78
27544 88.6 8.3 813 27555 roll 0.88 - - 3183 - 3.53 0.091 3655 397.5 158.8 3.25 0.181 2174 1.2 -0.147 - - - - - - 11.24 10.98 10.90
27642 79.6 9.4 827 27654 done 0.88 - - 3192 - 3.20 0.031 2246 -440.3 158.8 3.30 0.183 2172 - - - - - - - - 11.12 11.07 10.90
27964 58.1 5.5 840 28012 roll 0.94 - - 3193 - 3.53 0.086 3657 399.7 207.7 42.30 0.321 1974 -4.7 0.206 - - - - - - 11.24 10.96 10.84
28034 54.7 5.8 847 28081 done 1.08 0.10 0.090 3250 570.0 3.20 0.031 2238 -443.4 251.2 37.05 0.311 1803 -4.6 0.198 - - - - - - 11.07 11.07 10.85
28405 40.9 4.5 867 28466 roll 1.26 0.10 0.092 3301 510.0 3.58 0.090 3663 398.0 316.0 53.22 0.269 1545 -4.8 0.180 - - - - - - 11.06 10.95 10.88
28521 32.2 10.2 883 28526 done 1.26 - - 3310 - 3.17 0.032 2259 -442.9 316.0 - - 1548 - - - - - - - - 11.12 11.06 11.12
28823 end climb: SURFACE_DEPTH_REACHED
28823 begin surface coast
28851 end surface coast: CONTROL_FINISHED_OK
28851 begin surface
SM -3.02 - - - - -8.39 12.55 0.080 155 12.4 1.30 0.067 2773 1340.8 500.14 127.65 0.129 808 6.3 0.015 - - - - - -