SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 883 * Raw log
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• Previous call tries 1 • 290.87 of 350.00 AH used of 24V (16.89% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -67.0 deg, depth -4.76 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - 110 - - - 2780 - -97.3 -83.97 - 3188 - - - - - - - - 11.22 10.43 11.22
106 -1.9 -5.0 3 132 roll -1.04 18.27 0.368 2556 133.9 3.33 0.031 1355 -427.9 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.06
149 14.3 -30.5 10 157 done -0.37 1.27 0.253 2773 170.9 3.47 0.062 2775 409.2 -97.3 - - 3191 - - - - - - - - 10.90 11.00 11.07
464 48.5 -9.2 22 470 roll -0.47 - - 2774 - 3.35 0.038 1356 -423.6 -97.3 - - 3191 - - - - - - - - 11.26 11.05 11.26
485 49.6 -12.9 25 491 done -0.61 0.17 0.061 2682 -541.2 3.45 0.059 2766 408.7 -97.3 - - 3191 - - - - - - - - 11.10 11.02 11.13
800 61.6 -2.5 37 805 roll -0.61 - - 2682 - 3.30 0.034 1359 -426.4 -97.3 - - 3192 - - - - - - - - 11.26 11.06 11.26
954 72.1 -7.4 59 959 done -0.61 0.12 0.198 2697 125.0 3.38 0.057 2758 413.9 -97.3 - - 3192 - - - - - - - - 10.99 11.03 11.10
1276 87.8 -3.6 72 1281 roll -0.72 - - 2689 - 2.60 0.097 3830 412.3 -97.3 - - 3192 - - - - - - - - 11.27 11.02 11.29
1500 100.7 -5.9 104 1506 done -0.82 0.12 0.070 2628 -508.3 2.40 0.034 2728 -459.2 -97.3 - - 3192 - - - - - - - - 11.10 11.12 11.14
1836 122.9 -6.8 117 1841 roll -0.82 - - 2627 - 3.15 0.034 1373 -430.2 -97.3 - - 3191 - - - - - - - - 11.27 11.07 11.27
1857 124.8 -7.8 120 1862 done -0.82 - - 2617 - 3.35 0.057 2761 414.3 -97.3 - - 3191 - - - - - - - - 11.13 11.04 11.14
2172 150.0 -8.1 130 2178 roll -0.82 - - 2609 - 2.60 0.095 3835 413.1 -97.3 - - 3189 - - - - - - - - 11.27 11.02 11.27
2235 156.2 -10.7 139 2240 done -0.82 - - 2608 - 2.38 0.033 2737 -461.3 -97.3 - - 3189 - - - - - - - - 11.16 11.12 11.16
2564 183.3 -8.1 151 2569 roll -0.82 - - 2608 - 3.20 0.034 1376 -425.3 -97.3 - - 3187 - - - - - - - - 11.27 11.07 11.28
2676 191.6 -7.4 167 2681 done -0.82 0.15 0.209 2628 133.3 3.38 0.057 2754 407.7 -97.3 - - 3186 - - - - - - - - 10.98 11.04 11.11
3012 216.0 -7.4 180 3013 done -0.82 - - 2627 - - - 2753 - -97.3 - - 3184 - - - - - - - - 11.28 11.28 11.28
3348 241.9 -7.8 186 3354 roll -0.82 - - 2628 - 3.28 0.037 1381 -418.3 -97.3 - - 3182 - - - - - - - - 11.28 11.07 11.28
3383 244.9 -7.8 191 3388 done -0.82 - - 2617 - 3.35 0.059 2753 409.6 -97.3 - - 3182 - - - - - - - - 11.14 11.04 11.15
3740 272.5 -7.6 200 3745 roll -0.82 - - 2610 - 2.62 0.097 3829 410.7 -97.3 - - 3180 - - - - - - - - 11.28 11.03 11.29
3789 276.6 -8.2 207 3795 done -0.82 - - 2609 - 2.38 0.034 2741 -457.1 -97.3 - - 3180 - - - - - - - - 11.16 11.13 11.17
4132 303.4 -7.8 214 4138 roll -0.82 - - 2608 - 3.22 0.036 1371 -425.5 -97.3 - - 3178 - - - - - - - - 11.28 11.08 11.28
4202 308.6 -7.6 224 4207 done -0.82 0.15 0.212 2628 133.3 3.38 0.060 2751 408.3 -97.3 - - 3177 - - - - - - - - 10.98 11.05 11.12
4524 330.0 -6.4 235 4529 roll -0.82 - - 2628 - 3.28 0.037 1379 -418.3 -97.3 - - 3175 - - - - - - - - 11.26 11.08 11.28
4573 333.3 -6.2 242 4580 done -0.82 - - 2619 - 3.35 0.059 2746 408.1 -97.3 - - 3175 - - - - - - - - 11.14 11.05 11.15
4916 353.4 -5.8 249 4917 done -0.82 - - 2618 - - - 2746 - -97.3 - - 3174 - - - - - - - - 11.27 11.28 11.29
5252 373.8 -6.1 255 5257 roll -0.82 - - 2610 - 2.67 0.099 3830 406.0 -97.3 - - 3173 - - - - - - - - 11.28 11.03 11.29
5308 377.9 -7.7 263 5313 done -0.82 - - 2609 - 2.40 0.034 2737 -455.4 -97.3 - - 3173 - - - - - - - - 11.17 11.13 11.17
5644 403.3 -7.3 276 5645 done -0.82 - - 2610 - - - 2737 - -97.3 - - 3172 - - - - - - - - 11.29 11.29 11.28
5980 430.2 -8.1 282 5986 roll -0.82 - - 2609 - 3.22 0.037 1377 -422.4 -97.3 - - 3170 - - - - - - - - 11.29 11.08 11.29
6050 435.1 -6.1 292 6055 done -0.82 0.15 0.212 2629 133.3 3.35 0.060 2738 406.3 -97.3 - - 3170 - - - - - - - - 10.98 11.05 11.12
6255 end dive: TARGET_DEPTH_EXCEEDED
6255 begin apogee
6267 451.1 -7.3 301 6381 roll -0.23 0.90 0.177 2818 210.0 - - 2247 - - 111.65 1.480 2799 -3.3 0.244 - - - - - - 11.00 11.00 10.41
6381 end apogee: CONTROL_FINISHED_OK
6381 begin loiter
6613 456.6 -0.2 336 6617 done -0.22 - - 2817 - - - 2247 - 3.1 - - 2786 - - - - - - - - 11.24 11.24 11.24
6942 452.7 1.7 348 6944 done -0.58 0.35 0.049 2709 -308.6 - - 2247 - 3.1 - - 2785 - - - - - - - - 11.08 11.13 11.12
7278 450.0 0.5 354 7279 done -0.75 0.12 0.070 2648 -508.3 - - 2247 - -5.1 - - 2784 - - - - - - - - 11.10 11.15 11.14
7614 446.1 1.3 360 7615 done -0.75 - - 2648 - - - 2247 - -5.1 - - 2782 - - - - - - - - 11.26 11.26 11.26
7950 441.9 1.0 366 7951 done -0.77 - - 2648 - - - 2247 - -21.4 - - 2782 - - - - - - - - 11.27 11.26 11.27
8286 442.1 - 372 8287 done -0.77 - - 2648 - - - 2247 - -21.1 - - 2781 - - - - - - - - 11.27 11.27 11.27
8623 440.6 0.7 378 8623 done -0.78 - - 2648 - - - 2247 - -32.4 - - 2780 - - - - - - - - 11.27 11.27 11.27
8958 439.7 0.3 384 8959 done -0.79 - - 2648 - - - 2247 - -37.6 - - 2780 - - - - - - - - 11.27 11.27 11.28
9294 435.9 0.8 390 9295 done -0.80 - - 2648 - - - 2247 - -51.4 - - 2779 - - - - - - - - 11.28 11.28 11.28
9630 431.6 0.7 396 9631 done -0.82 - - 2648 - - - 2247 - -62.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
9966 429.9 1.5 402 9967 done -0.82 - - 2648 - - - 2247 - -62.7 - - 2777 - - - - - - - - 11.28 11.28 11.28
10302 428.7 0.4 408 10303 done -0.83 - - 2648 - - - 2247 - -69.2 - - 2777 - - - - - - - - 11.28 11.28 11.28
10638 428.1 0.4 414 10639 done -0.83 - - 2648 - - - 2247 - -75.4 - - 2777 - - - - - - - - 11.28 11.29 11.28
10974 424.9 1.4 420 10975 done -0.83 - - 2648 - - - 2247 - -75.4 - - 2776 - - - - - - - - 11.28 11.29 11.29
11310 420.3 1.5 426 11311 done -0.83 - - 2648 - - - 2247 - -75.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
11646 416.7 1.9 432 11647 done -0.83 - - 2648 - - - 2247 - -75.4 - - 2776 - - - - - - - - 11.29 11.29 11.28
11982 413.8 0.9 438 11983 done -0.85 - - 2648 - - - 2247 - -91.0 - - 2776 - - - - - - - - 11.29 11.29 11.28
12318 413.2 0.9 444 12319 done -0.87 - - 2648 - - - 2247 - -105.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
12654 410.9 1.5 450 12655 done -0.87 - - 2648 - - - 2247 - -105.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
12990 408.8 2.1 456 12991 done -0.87 - - 2648 - - - 2247 - -105.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
13326 407.3 2.0 462 13327 done -0.87 - - 2648 - - - 2247 - -105.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
13663 403.8 0.4 468 13663 done -0.88 - - 2648 - - - 2247 - -112.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
13998 404.8 -0.9 474 13999 done -0.86 - - 2648 - - - 2247 - -98.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
14334 409.1 -2.2 480 14335 done -0.82 - - 2648 - - - 2247 - -61.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
14670 411.8 -1.6 486 14671 done -0.78 - - 2648 - - - 2247 - -34.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
15006 410.8 1.8 492 15007 done -0.78 - - 2648 - - - 2247 - -34.7 - - 2775 - - - - - - - - 11.30 11.29 11.29
15342 411.7 0.5 498 15343 done -0.79 - - 2648 - - - 2247 - -42.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
15678 409.4 0.9 504 15679 done -0.81 - - 2648 - - - 2247 - -58.8 - - 2775 - - - - - - - - 11.29 11.29 11.29
16014 407.4 0.4 510 16015 done -0.82 - - 2647 - - - 2247 - -65.0 - - 2775 - - - - - - - - 11.29 11.29 11.29
16350 411.6 -1.5 516 16351 done -0.79 - - 2648 - - - 2247 - -39.9 - - 2775 - - - - - - - - 11.28 11.29 11.29
16686 419.7 -2.5 522 16687 done -0.74 - - 2648 - - - 2247 - 3.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
17022 427.2 -2.1 528 17076 done -0.69 - - 2648 - - - 2247 - 39.6 48.42 1.441 2636 -2.9 0.205 - - - - - - 11.29 10.91 10.43
17414 417.3 3.4 535 17415 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2632 - - - - - - - - 11.27 11.26 11.27
17750 401.9 4.7 541 17751 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.27 11.27 11.27
18086 388.7 3.8 547 18087 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.28 11.28 11.28
18422 379.6 2.6 553 18423 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.28 11.28 11.28
18758 372.6 2.1 559 18759 done -0.69 - - 2647 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.28 11.27 11.28
19094 362.8 3.1 565 19095 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.28 11.29 11.28
19430 349.7 3.9 571 19431 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.28 11.29 11.29
19766 339.1 3.0 577 19767 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.29 11.29 11.29
20102 328.7 3.1 583 20103 done -0.69 - - 2649 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.29 11.29 11.29
20438 317.8 3.3 589 20439 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.29 11.26 11.29
20774 304.1 4.3 595 20775 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.29 11.29 11.29
21110 294.9 2.4 601 21111 done -0.69 - - 2648 - - - 2247 - 39.6 - - 2631 - - - - - - - - 11.29 11.29 11.29
21446 291.5 1.0 607 21447 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
21782 284.0 2.3 613 21783 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
22118 276.6 2.1 619 22119 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
22454 267.1 3.0 625 22455 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
22790 255.7 3.3 631 22791 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
23126 246.0 2.8 637 23127 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
23462 237.1 2.6 643 23463 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
23798 229.5 2.1 649 23799 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
24134 222.8 2.0 655 24135 done -0.71 - - 2648 - - - 2247 - 23.3 - - 2631 - - - - - - - - 11.29 11.29 11.29
24409 end loiter: LOITER_COMPLETE
24409 begin climb
24414 215.7 - 660 24494 roll 1.04 2.65 0.173 3224 217.4 3.53 0.057 853 -394.9 97.3 68.50 1.196 2401 -3.4 0.146 - - - - - - 11.01 10.98 10.49
24554 208.8 7.3 680 24581 done 1.06 - - 3225 - 3.35 0.048 2253 417.9 115.2 21.02 1.173 2340 -2.9 0.125 - - - - - - 11.11 11.02 10.49
24918 176.3 8.9 690 24924 roll 1.06 - - 3235 - 3.42 0.058 863 -406.4 115.2 - - 2325 - - - - - - - - 11.26 11.03 11.26
24988 170.1 9.1 700 24993 done 1.06 - - 3235 - 3.33 0.048 2252 417.1 115.2 - - 2324 - - - - - - - - 11.12 11.04 11.14
25310 138.6 10.0 711 25315 roll 1.06 - - 3234 - 3.50 0.092 3668 404.6 115.2 - - 2324 - - - - - - - - 11.26 11.01 11.26
25408 127.0 11.9 725 25413 done 0.93 0.20 0.216 3206 -140.0 3.20 0.033 2257 -440.9 115.2 - - 2324 - - - - - - - - 10.96 11.08 11.12
25730 97.6 8.6 733 25735 roll 0.93 - - 3217 - 3.40 0.056 848 -414.4 115.2 - - 2323 - - - - - - - - 11.27 11.05 11.27
25902 86.0 6.6 757 25930 done 0.97 - - 3217 - 3.33 0.045 2251 421.3 144.7 20.48 0.386 2226 -4.7 0.255 - - - - - - 11.14 11.05 10.81
26267 65.7 5.4 776 26322 roll 1.03 - - 3217 - 3.55 0.088 3662 397.5 195.3 45.60 0.352 2027 -4.4 0.197 - - - - - - 11.25 10.98 10.84
26556 55.8 2.6 818 26646 done 1.15 0.10 0.083 3275 580.0 3.22 0.033 2229 -445.0 292.5 79.85 0.331 1637 -4.9 0.199 - - - - - - 11.10 11.10 10.85
26962 29.7 6.7 843 26995 roll 1.27 - - 3275 - 3.60 0.089 3655 396.1 320.8 24.90 0.258 1523 -4.6 0.127 - - - - - - 11.26 10.97 10.90
27053 23.0 8.3 856 27064 done 1.27 - - 3284 - 3.15 0.033 2264 -441.6 322.1 3.05 0.171 1519 -1.3 0.043 - - - - - - 11.13 11.07 10.92
27349 end climb: SURFACE_DEPTH_REACHED
27349 begin surface coast
27381 end surface coast: CONTROL_FINISHED_OK
27381 begin surface
SM -7.28 - - - - -8.40 12.12 0.066 184 15.2 1.30 0.076 2769 -4988.5 500.14 124.22 0.133 808 6.5 0.036 - - - - - -