SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 884 * Raw log
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• Previous call tries 1 • 291.06 of 350.00 AH used of 24V (16.84% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -68.5 deg, depth -6.66 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 49 s
• GPS2 time: 4 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 - - - 99 done -1.04 - - 115 - - - 2783 - -97.3 -83.03 - 3188 - - - - - - - - 11.24 10.43 11.22
104 -4.5 -4.8 3 127 roll -1.04 18.17 0.366 2556 134.3 3.38 0.034 1355 -422.5 -97.3 - - 3190 - - - - - - - - 10.84 11.02 11.06
177 16.8 -20.0 14 183 done -0.80 0.50 0.250 2635 158.0 3.45 0.062 2765 408.7 -97.3 - - 3191 - - - - - - - - 10.92 11.01 11.08
513 68.3 -10.5 29 519 roll -0.80 - - 2628 - 2.58 0.096 3831 413.2 -97.3 - - 3191 - - - - - - - - 11.26 11.01 11.26
576 71.4 -5.8 38 582 done -0.72 0.17 0.210 2662 200.0 2.35 0.034 2745 -462.1 -97.3 - - 3191 - - - - - - - - 10.95 11.10 11.10
905 97.8 -4.9 52 910 roll -0.72 - - 2654 - 2.67 0.095 3836 408.6 -97.3 - - 3193 - - - - - - - - 11.26 11.02 11.26
1038 105.3 -5.9 71 1043 done -0.72 - - 2654 - 2.33 0.034 2761 -461.4 -97.3 - - 3192 - - - - - - - - 11.14 11.11 11.16
1353 124.5 -6.4 81 1359 roll -0.72 - - 2654 - 3.22 0.034 1375 -430.4 -97.3 - - 3191 - - - - - - - - 11.26 11.07 11.27
1430 130.2 -8.7 92 1435 done -0.72 - - 2644 - 3.40 0.057 2784 414.4 -97.3 - - 3191 - - - - - - - - 11.13 11.04 11.14
1746 153.9 -7.4 102 1750 roll -0.72 - - 2636 - 2.53 0.095 3830 413.4 -97.3 - - 3189 - - - - - - - - 11.27 11.02 11.27
1864 162.8 -7.4 119 1869 done -0.72 0.12 0.193 2661 208.3 2.30 0.034 2772 -460.0 -97.3 - - 3189 - - - - - - - - 10.98 11.12 11.11
2194 181.5 -5.6 131 2194 done -0.80 - - 2661 - - - 2772 - -97.3 - - 3187 - - - - - - - - 11.27 11.27 11.27
2530 201.5 -6.0 137 2536 roll -0.89 0.08 0.112 2609 -650.0 3.30 0.035 1364 -426.7 -97.3 - - 3185 - - - - - - - - 11.10 11.07 11.12
2667 211.7 -7.7 156 2672 done -0.89 - - 2599 - 3.45 0.058 2778 409.9 -97.3 - - 3184 - - - - - - - - 11.14 11.04 11.15
2981 237.4 -8.2 166 2986 roll -0.89 - - 2591 - 2.58 0.098 3833 408.9 -97.3 - - 3182 - - - - - - - - 11.27 11.02 11.27
3037 242.5 -9.3 174 3042 done -0.89 - - 2591 - 2.35 0.034 2751 -460.4 -97.3 - - 3182 - - - - - - - - 11.16 11.13 11.17
3373 273.3 -9.3 187 3378 roll -0.89 - - 2590 - 3.22 0.035 1380 -425.8 -97.3 - - 3180 - - - - - - - - 11.27 11.07 11.28
3443 280.1 -9.7 197 3449 done -0.89 0.15 0.214 2608 120.0 3.40 0.058 2769 408.5 -97.3 - - 3180 - - - - - - - - 10.98 11.04 11.12
3765 309.8 -9.2 208 3766 done -0.89 - - 2609 - - - 2769 - -97.3 - - 3178 - - - - - - - - 11.27 11.27 11.28
4101 340.4 -9.0 214 4106 roll -0.89 - - 2609 - 3.33 0.037 1380 -417.1 -97.3 - - 3176 - - - - - - - - 11.27 11.07 11.28
4150 344.8 -9.0 221 4157 done -0.89 - - 2600 - 3.42 0.060 2775 407.9 -97.3 - - 3176 - - - - - - - - 11.14 11.04 11.15
4493 375.0 -8.8 228 4498 roll -0.89 - - 2598 - 3.33 0.036 1387 -416.8 -97.3 - - 3174 - - - - - - - - 11.28 11.07 11.28
4542 379.1 -8.3 235 4548 done -0.89 - - 2589 - 3.38 0.059 2763 407.1 -97.3 - - 3173 - - - - - - - - 11.14 11.05 11.16
4885 407.6 -8.4 242 4890 roll -0.89 - - 2581 - 2.60 0.098 3830 410.4 -97.3 - - 3173 - - - - - - - - 11.28 11.03 11.28
4948 413.2 -8.9 251 4953 done -0.89 0.15 0.214 2609 186.7 2.33 0.034 2770 -454.9 -97.3 - - 3173 - - - - - - - - 10.98 11.13 11.12
5277 437.6 -7.4 263 5282 roll -0.89 - - 2609 - 3.33 0.038 1364 -422.2 -97.3 - - 3171 - - - - - - - - 11.28 11.07 11.28
5333 441.9 -7.5 271 5338 done -0.89 - - 2600 - 3.45 0.060 2766 406.4 -97.3 - - 3170 - - - - - - - - 11.14 11.07 11.15
5440 end dive: TARGET_DEPTH_EXCEEDED
5440 begin apogee
5452 450.6 -7.9 280 5565 roll -0.23 1.08 0.189 2819 202.8 - - 2241 - - 111.03 1.455 2799 -3.3 0.252 - - - - - - 10.99 11.00 10.42
5566 end apogee: CONTROL_FINISHED_OK
5566 begin loiter
5797 455.9 -0.3 315 5802 done -0.22 - - 2819 - - - 2241 - 5.4 1.75 0.166 2777 -12.6 8.412 - - - - - - 11.24 11.24 10.97
6127 455.5 0.2 327 6128 done -0.59 0.35 0.047 2710 -311.4 - - 2241 - 1.8 - - 2785 - - - - - - - - 11.08 11.14 11.12
6463 453.2 0.9 333 6464 done -0.76 0.15 0.063 2646 -426.7 - - 2241 - -13.3 - - 2783 - - - - - - - - 11.10 11.14 11.14
6798 446.9 2.1 339 6799 done -0.76 - - 2646 - - - 2240 - -13.3 - - 2782 - - - - - - - - 11.26 11.26 11.26
7134 437.8 2.7 345 7135 done -0.76 - - 2645 - - - 2241 - -13.3 - - 2782 - - - - - - - - 11.26 11.26 11.26
7470 431.8 1.6 351 7471 done -0.76 - - 2646 - - - 2241 - -13.3 - - 2781 - - - - - - - - 11.26 11.27 11.27
7807 430.0 0.4 357 7807 done -0.77 - - 2646 - - - 2241 - -19.4 - - 2780 - - - - - - - - 11.27 11.27 11.27
8143 427.8 0.8 363 8143 done -0.78 - - 2646 - - - 2241 - -33.5 - - 2780 - - - - - - - - 11.27 11.27 11.27
8478 423.8 1.2 369 8479 done -0.78 - - 2646 - - - 2240 - -33.5 - - 2779 - - - - - - - - 11.27 11.27 11.27
8815 420.8 0.8 375 8815 done -0.80 - - 2646 - - - 2240 - -47.3 - - 2778 - - - - - - - - 11.27 11.27 11.29
9151 419.0 0.5 381 9151 done -0.81 - - 2646 - - - 2241 - -55.4 - - 2778 - - - - - - - - 11.27 11.28 11.28
9487 419.3 -0.3 387 9488 done -0.81 - - 2646 - - - 2241 - -50.8 - - 2778 - - - - - - - - 11.27 11.28 11.28
9823 420.4 -0.3 393 9823 done -0.80 - - 2645 - - - 2241 - -46.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
10159 419.4 0.5 399 10159 done -0.81 - - 2646 - - - 2241 - -54.1 - - 2777 - - - - - - - - 11.28 11.28 11.28
10494 415.7 1.2 405 10495 done -0.81 - - 2646 - - - 2241 - -54.1 - - 2777 - - - - - - - - 11.29 11.28 11.28
10831 412.0 0.7 411 10831 done -0.83 - - 2646 - - - 2241 - -66.2 - - 2777 - - - - - - - - 11.28 11.28 11.28
11167 411.4 0.1 417 11167 done -0.83 - - 2646 - - - 2241 - -68.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
11503 410.0 0.5 423 11503 done -0.84 - - 2646 - - - 2241 - -76.3 - - 2776 - - - - - - - - 11.28 11.28 11.29
11839 408.1 0.6 429 11839 done -0.85 - - 2646 - - - 2240 - -85.8 - - 2776 - - - - - - - - 11.28 11.28 11.28
12175 406.4 0.5 435 12175 done -0.86 - - 2646 - - - 2241 - -94.1 - - 2776 - - - - - - - - 11.29 11.28 11.29
12511 406.4 -0.2 441 12511 done -0.86 - - 2646 - - - 2241 - -91.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
12847 409.9 -1.2 447 12847 done -0.83 - - 2646 - - - 2240 - -70.5 - - 2776 - - - - - - - - 11.29 11.28 11.29
13183 415.5 -1.6 453 13183 done -0.80 - - 2646 - - - 2241 - -42.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
13519 417.1 -0.2 459 13519 done -0.79 - - 2645 - - - 2241 - -39.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
13854 413.9 1.1 465 13855 done -0.79 - - 2646 - - - 2241 - -39.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
14191 409.8 1.2 471 14192 done -0.79 - - 2646 - - - 2241 - -39.5 - - 2775 - - - - - - - - 11.28 11.29 11.29
14527 407.6 0.5 477 14527 done -0.80 - - 2646 - - - 2241 - -47.5 - - 2774 - - - - - - - - 11.29 11.29 11.29
14863 409.0 -0.5 483 14863 done -0.79 - - 2645 - - - 2241 - -38.3 - - 2774 - - - - - - - - 11.29 11.29 11.29
15199 410.4 -0.3 489 15199 done -0.78 - - 2646 - - - 2241 - -32.9 - - 2774 - - - - - - - - 11.29 11.29 11.30
15535 409.9 0.2 495 15535 done -0.79 - - 2644 - - - 2241 - -36.9 - - 2774 - - - - - - - - 11.29 11.29 11.29
15871 409.2 0.2 501 15871 done -0.79 - - 2645 - - - 2241 - -39.5 - - 2774 - - - - - - - - 11.29 11.31 11.29
16207 410.1 -0.3 507 16207 done -0.79 - - 2646 - - - 2241 - -34.1 - - 2774 - - - - - - - - 11.29 11.29 11.29
16543 411.2 -0.3 513 16543 done -0.78 - - 2646 - - - 2240 - -28.2 - - 2774 - - - - - - - - 11.29 11.29 11.29
16879 413.0 -0.6 519 16880 done -0.77 - - 2646 - - - 2241 - -18.5 - - 2774 - - - - - - - - 11.29 11.29 11.29
17215 413.9 -0.2 525 17215 done -0.76 - - 2646 - - - 2241 - -15.5 - - 2774 - - - - - - - - 11.29 11.29 11.29
17551 413.3 0.2 531 17551 done -0.77 - - 2645 - - - 2241 - -18.8 - - 2773 - - - - - - - - 11.29 11.29 11.29
17887 413.5 -0.1 537 17887 done -0.76 - - 2646 - - - 2241 - -16.9 - - 2774 - - - - - - - - 11.29 11.29 11.29
18223 415.0 -0.5 543 18223 done -0.75 - - 2646 - - - 2240 - -8.1 - - 2773 - - - - - - - - 11.29 11.29 11.29
18559 416.4 -0.4 549 18559 done -0.75 - - 2646 - - - 2241 - -2.0 - - 2774 - - - - - - - - 11.29 11.29 11.29
18895 416.2 0.2 555 18895 done -0.75 - - 2646 - - - 2241 - -4.7 - - 2774 - - - - - - - - 11.31 11.29 11.29
19231 414.6 0.5 561 19232 done -0.76 - - 2646 - - - 2241 - -13.2 - - 2774 - - - - - - - - 11.29 11.29 11.29
19567 414.4 - 567 19567 done -0.76 - - 2646 - - - 2240 - -12.4 - - 2773 - - - - - - - - 11.29 11.29 11.29
19903 416.2 -0.6 573 19903 done -0.75 - - 2646 - - - 2240 - -1.9 - - 2773 - - - - - - - - 11.29 11.29 11.29
20239 418.8 -0.8 579 20243 done -0.73 - - 2646 - - - 2240 - 10.8 3.17 0.848 2755 -5.7 0.683 - - - - - - 11.29 11.07 10.31
20575 416.7 1.0 585 20575 done -0.75 - - 2646 - - - 2240 - -5.8 - - 2768 - - - - - - - - 11.29 11.29 11.29
20910 411.1 1.7 591 20911 done -0.75 - - 2646 - - - 2241 - -5.8 - - 2768 - - - - - - - - 11.31 11.29 11.29
21246 405.7 1.6 597 21247 done -0.75 - - 2646 - - - 2240 - -5.8 - - 2768 - - - - - - - - 11.29 11.29 11.29
21583 403.6 0.4 603 21583 done -0.76 - - 2646 - - - 2240 - -12.5 - - 2768 - - - - - - - - 11.29 11.29 11.29
21919 405.2 -0.6 609 21919 done -0.75 - - 2646 - - - 2241 - -2.3 - - 2768 - - - - - - - - 11.29 11.29 11.29
22255 406.9 -0.4 615 22255 done -0.74 - - 2645 - - - 2241 - 5.1 - - 2768 - - - - - - - - 11.29 11.29 11.29
22591 407.0 - 621 22591 done -0.74 - - 2646 - - - 2239 - 4.4 - - 2768 - - - - - - - - 11.29 11.29 11.29
22927 406.0 0.3 627 22927 done -0.74 - - 2646 - - - 2240 - -0.9 - - 2768 - - - - - - - - 11.29 11.29 11.29
23263 404.6 0.4 633 23263 done -0.75 - - 2646 - - - 2240 - -8.3 - - 2767 - - - - - - - - 11.29 11.29 11.29
23593 end loiter: LOITER_COMPLETE
23593 begin climb
23599 402.9 - 639 23722 roll 1.04 2.65 0.169 3215 214.7 3.65 0.091 3656 387.9 97.3 112.18 1.419 2407 -3.2 0.222 - - - - - - 11.02 10.93 10.38
23917 377.1 10.6 684 23922 done 0.92 0.12 0.211 3201 -116.7 3.20 0.033 2262 -435.6 97.3 - - 2398 - - - - - - - - 10.95 11.05 11.10
24274 344.9 9.0 693 24280 roll 0.92 - - 3212 - 3.42 0.053 842 -415.2 97.3 - - 2395 - - - - - - - - 11.25 11.04 11.25
24323 340.5 8.9 700 24329 done 0.92 - - 3212 - 3.35 0.045 2253 421.2 97.3 - - 2394 - - - - - - - - 11.12 11.04 11.14
24666 311.0 8.6 707 24671 roll 0.92 - - 3222 - 3.42 0.052 838 -413.7 97.3 - - 2395 - - - - - - - - 11.26 11.04 11.26
24694 308.7 8.2 711 24699 done 0.92 - - 3222 - 3.35 0.045 2252 422.1 99.6 - - 2394 - - - - - - - - 11.13 11.05 11.14
25058 278.7 8.1 721 25064 roll 0.92 - - 3233 - 3.42 0.052 839 -413.2 103.1 - - 2394 - - - - - - - - 11.26 11.05 11.26
25114 273.9 8.5 729 25120 done 0.92 0.15 0.207 3203 -200.0 3.35 0.044 2249 420.9 103.1 - - 2394 - - - - - - - - 10.97 11.05 11.10
25450 246.5 8.3 742 25451 done 0.92 - - 3203 - - - 2250 - 103.1 - - 2394 - - - - - - - - 11.26 11.26 11.26
25786 218.3 8.2 748 25798 roll 0.93 - - 3213 - 3.47 0.052 844 -405.2 105.9 3.30 0.756 2380 -4.2 0.298 - - - - - - 11.26 11.02 10.42
25835 214.6 7.3 755 25873 done 0.95 - - 3213 - 3.33 0.045 2250 422.2 123.5 29.58 1.213 2300 -2.7 0.117 - - - - - - 11.13 11.05 10.46
26234 181.1 8.9 770 26239 roll 0.95 - - 3213 - 3.50 0.091 3665 404.3 123.5 - - 2291 - - - - - - - - 11.26 11.00 11.26
26297 174.5 10.6 779 26302 done 0.86 0.22 0.205 3180 -150.0 3.25 0.031 2230 -441.5 123.5 - - 2291 - - - - - - - - 10.95 11.08 11.11
26626 147.5 7.9 791 26637 roll 0.87 - - 3179 - 3.62 0.087 3655 393.6 130.5 2.28 0.382 2280 -4.8 0.454 - - - - - - 11.26 11.00 10.43
26675 143.5 8.3 798 26682 done 0.87 - - 3190 - 3.20 0.033 2244 -440.9 131.3 2.22 0.360 2276 -1.8 0.175 - - - - - - 11.14 11.09 10.43
27018 114.4 8.7 805 27024 roll 0.87 - - 3190 - 3.53 0.088 3660 401.1 131.3 - - 2285 - - - - - - - - 11.26 11.00 11.26
27060 110.5 9.7 811 27065 done 0.87 - - 3200 - 3.20 0.033 2251 -440.3 131.3 - - 2285 - - - - - - - - 11.14 11.10 11.15
27382 89.1 5.7 821 27428 roll 0.92 - - 3211 - 3.40 0.054 849 -412.4 176.5 38.88 0.412 2102 -4.7 0.248 - - - - - - 11.26 11.01 10.81
27501 81.5 6.4 838 27535 done 0.96 - - 3211 - 3.28 0.043 2243 425.0 208.6 29.08 0.386 1968 -4.6 0.237 - - - - - - 11.13 11.05 10.82
27855 58.3 5.7 855 27899 roll 1.02 - - 3211 - 3.53 0.089 3666 403.1 253.5 37.60 0.327 1791 -4.7 0.204 - - - - - - 11.24 10.98 10.85
27989 48.4 4.6 874 28047 done 1.19 0.15 0.067 3276 433.3 3.22 0.031 2234 -444.7 317.1 51.88 0.310 1537 -4.9 0.186 - - - - - - 11.08 11.10 10.86
28377 22.3 7.4 897 28396 roll 1.30 0.08 0.108 3339 787.5 3.33 0.057 860 -412.6 332.5 13.73 0.219 1476 -4.4 0.110 - - - - - - 11.08 11.02 10.92
28432 17.8 7.9 905 28446 done 1.31 - - 3339 - 3.28 0.044 2253 424.7 340.7 8.60 0.203 1442 -4.0 0.084 - - - - - - 11.12 11.03 10.93
28609 end climb: SURFACE_DEPTH_REACHED
28609 begin surface coast
28638 end surface coast: CONTROL_FINISHED_OK
28638 begin surface
SM -6.58 - - - - -8.40 12.57 0.073 182 14.5 1.27 0.072 2772 -5103.9 500.14 109.60 0.132 809 7.4 0.038 - - - - - -