SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 891 * Raw log
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• Previous call tries 1 • 292.39 of 350.00 AH used of 24V (16.46% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -63.9 deg, depth -0.32 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 14 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 - - - 99 done -1.04 - - 122 - - - 2791 - -97.3 -82.35 - 3190 - - - - - - - - 11.22 10.43 11.21
104 3.5 -6.5 3 127 roll -1.04 17.92 0.363 2554 135.7 3.40 0.034 1355 -422.4 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.06
177 28.5 -23.8 14 184 done -0.77 0.55 0.251 2643 161.8 3.47 0.063 2762 405.5 -97.3 - - 3192 - - - - - - - - 10.91 11.00 11.07
492 71.5 -7.6 26 493 done -0.77 - - 2643 - - - 2762 - -97.3 - - 3193 - - - - - - - - 11.26 11.26 11.26
800 60.7 16.6 37 801 done -0.77 - - 2643 - - - 2762 - -97.3 - - 3194 - - - - - - - - 11.26 11.26 11.26
1108 113.3 -7.0 45 1114 roll -0.77 - - 2635 - 2.60 0.099 3833 411.9 -97.3 - - 3194 - - - - - - - - 11.26 11.01 11.26
1346 130.3 -6.8 79 1351 done -0.77 - - 2634 - 2.35 0.033 2736 -466.8 -97.3 - - 3194 - - - - - - - - 11.14 11.12 11.16
1668 151.5 -6.7 90 1673 roll -0.77 - - 2626 - 2.70 0.096 3832 405.9 -97.3 - - 3192 - - - - - - - - 11.26 11.02 11.27
1731 155.9 -7.3 99 1736 done -0.77 - - 2625 - 2.30 0.033 2764 -464.3 -97.3 - - 3192 - - - - - - - - 11.15 11.12 11.16
2060 181.4 -7.9 111 2065 roll -0.77 - - 2618 - 2.62 0.096 3828 406.1 -97.3 - - 3190 - - - - - - - - 11.27 11.02 11.27
2102 185.0 -8.9 117 2108 done -0.77 0.15 0.199 2648 200.0 2.30 0.034 2772 -459.1 -97.3 - - 3190 - - - - - - - - 10.98 11.12 11.11
2452 210.1 -7.0 125 2458 roll -0.77 - - 2649 - 3.30 0.037 1372 -424.2 -97.3 - - 3187 - - - - - - - - 11.27 11.07 11.27
2611 221.1 -7.0 147 2616 done -0.84 - - 2639 - 3.45 0.059 2779 407.8 -97.3 - - 3186 - - - - - - - - 11.13 11.04 11.14
2960 245.9 -7.0 155 2965 roll -0.84 - - 2639 - 3.35 0.034 1368 -421.2 -97.3 - - 3185 - - - - - - - - 11.27 11.07 11.27
3008 249.4 -7.2 162 3015 done -0.84 - - 2629 - 3.45 0.058 2766 405.2 -97.3 - - 3185 - - - - - - - - 11.14 11.04 11.14
3352 275.6 -7.7 169 3357 roll -0.84 - - 2628 - 3.33 0.033 1365 -420.7 -97.3 - - 3182 - - - - - - - - 11.27 11.07 11.27
3400 279.4 -7.7 176 3407 done -0.84 - - 2618 - 3.42 0.058 2762 408.5 -97.3 - - 3182 - - - - - - - - 11.14 11.05 11.15
3744 306.6 -7.9 183 3744 done -0.84 - - 2618 - - - 2762 - -97.3 - - 3180 - - - - - - - - 11.27 11.27 11.28
4079 334.7 -8.5 189 4085 roll -0.84 - - 2617 - 3.33 0.034 1369 -418.3 -97.3 - - 3179 - - - - - - - - 11.28 11.07 11.28
4156 341.3 -8.7 200 4161 done -0.84 - - 2607 - 3.42 0.059 2767 408.8 -97.3 - - 3179 - - - - - - - - 11.14 11.05 11.15
4471 368.5 -8.6 210 4472 done -0.84 - - 2608 - - - 2766 - -97.3 - - 3177 - - - - - - - - 11.28 11.28 11.28
4807 394.3 -7.5 216 4812 roll -0.84 - - 2607 - 3.33 0.034 1375 -417.7 -97.3 - - 3175 - - - - - - - - 11.28 11.08 11.27
4849 397.5 -7.5 222 4855 done -0.84 0.12 0.217 2621 116.7 3.42 0.059 2768 407.3 -97.3 - - 3174 - - - - - - - - 10.98 11.05 11.12
5200 422.0 -7.1 230 5205 roll -0.84 - - 2614 - 2.62 0.100 3832 406.1 -97.3 - - 3174 - - - - - - - - 11.27 11.02 11.28
5270 427.5 -7.9 240 5274 done -0.84 - - 2613 - 2.38 0.036 2757 -451.7 -97.3 - - 3174 - - - - - - - - 11.16 11.12 11.17
5586 end dive: TARGET_DEPTH_EXCEEDED
5586 begin apogee
5598 451.3 -7.3 251 5747 roll -0.23 1.00 0.182 2820 207.0 0.10 0.124 2267 -4900.0 - 145.62 1.299 2800 -2.6 0.215 - - - - - - 10.99 10.95 10.50
5747 end apogee: CONTROL_FINISHED_OK
5747 begin loiter
5979 455.3 0.2 286 5984 done -0.23 - - 2820 - - - 2267 - -4.1 - - 2791 - - - - - - - - 11.24 11.24 11.24
6309 454.1 0.4 298 6310 done -0.60 0.38 0.049 2707 -297.4 - - 2267 - -10.1 - - 2789 - - - - - - - - 11.07 11.13 11.12
6644 452.9 0.4 304 6646 done -0.76 0.12 0.072 2651 -466.7 - - 2267 - -17.2 - - 2788 - - - - - - - - 11.10 11.14 11.13
6980 450.9 0.7 310 6981 done -0.77 - - 2651 - - - 2267 - -28.3 - - 2787 - - - - - - - - 11.26 11.26 11.26
7316 447.6 1.1 316 7317 done -0.77 - - 2651 - - - 2267 - -28.3 - - 2786 - - - - - - - - 11.26 11.26 11.26
7652 442.9 1.4 322 7653 done -0.77 - - 2651 - - - 2267 - -28.3 - - 2785 - - - - - - - - 11.26 11.26 11.26
7988 439.6 0.9 328 7989 done -0.79 - - 2651 - - - 2267 - -42.9 - - 2785 - - - - - - - - 11.26 11.27 11.26
8324 439.9 -0.3 334 8325 done -0.78 - - 2651 - - - 2267 - -38.1 - - 2784 - - - - - - - - 11.26 11.27 11.27
8660 443.2 -1.1 340 8661 done -0.76 - - 2651 - - - 2267 - -19.6 - - 2782 - - - - - - - - 11.27 11.27 11.27
8996 447.0 -1.1 346 8997 done -0.74 - - 2651 - - - 2266 - -0.7 - - 2782 - - - - - - - - 11.27 11.27 11.28
9332 450.5 -1.0 352 9353 done -0.72 - - 2651 - - - 2267 - 17.0 19.98 1.456 2732 -2.5 0.187 - - - - - - 11.26 11.00 10.41
9668 444.1 2.5 358 9669 done -0.72 - - 2651 - - - 2267 - 17.0 - - 2719 - - - - - - - - 11.26 11.26 11.26
10004 432.9 3.4 364 10005 done -0.72 - - 2651 - - - 2267 - 17.0 - - 2718 - - - - - - - - 11.27 11.27 11.27
10340 423.2 2.8 370 10341 done -0.72 - - 2650 - - - 2267 - 17.0 - - 2718 - - - - - - - - 11.27 11.26 11.27
10677 415.9 2.0 376 10678 done -0.72 - - 2651 - - - 2267 - 17.0 - - 2718 - - - - - - - - 11.26 11.27 11.27
11012 412.5 0.8 382 11013 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.28 11.28 11.28
11348 408.3 1.4 388 11349 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.27 11.28 11.28
11684 400.9 2.2 394 11685 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.28 11.27 11.28
12020 395.1 1.6 400 12021 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2718 - - - - - - - - 11.28 11.28 11.28
12356 388.7 2.0 406 12357 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.28 11.28 11.28
12692 382.2 1.8 412 12693 done -0.73 - - 2650 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.29 11.28 11.29
13028 377.6 1.3 418 13029 done -0.73 - - 2651 - - - 2267 - 3.1 - - 2717 - - - - - - - - 11.28 11.28 11.29
13364 374.6 0.8 424 13365 done -0.75 - - 2651 - - - 2267 - -10.8 - - 2717 - - - - - - - - 11.28 11.28 11.29
13700 369.9 1.6 430 13701 done -0.75 - - 2651 - - - 2267 - -10.8 - - 2717 - - - - - - - - 11.29 11.29 11.29
14036 360.7 2.9 436 14037 done -0.75 - - 2651 - - - 2267 - -10.8 - - 2717 - - - - - - - - 11.29 11.28 11.29
14372 350.4 3.0 442 14373 done -0.75 - - 2651 - - - 2267 - -10.8 - - 2717 - - - - - - - - 11.29 11.29 11.29
14708 343.1 2.0 448 14709 done -0.75 - - 2651 - - - 2267 - -10.8 - - 2717 - - - - - - - - 11.29 11.29 11.29
15044 340.2 0.6 454 15045 done -0.76 - - 2651 - - - 2267 - -21.0 - - 2717 - - - - - - - - 11.29 11.28 11.28
15380 339.5 0.2 460 15381 done -0.77 - - 2651 - - - 2267 - -24.7 - - 2717 - - - - - - - - 11.29 11.29 11.29
15717 335.3 1.4 466 15717 done -0.77 - - 2651 - - - 2267 - -24.7 - - 2717 - - - - - - - - 11.28 11.29 11.29
16052 329.8 1.7 472 16053 done -0.77 - - 2651 - - - 2267 - -24.7 - - 2717 - - - - - - - - 11.29 11.29 11.29
16388 322.1 2.4 478 16389 done -0.77 - - 2651 - - - 2267 - -24.7 - - 2717 - - - - - - - - 11.29 11.29 11.29
16724 315.4 1.8 484 16725 done -0.77 - - 2651 - - - 2267 - -24.7 - - 2717 - - - - - - - - 11.29 11.29 11.29
17060 312.1 0.8 490 17061 done -0.79 - - 2651 - - - 2267 - -38.8 - - 2717 - - - - - - - - 11.29 11.29 11.29
17396 310.9 0.3 496 17397 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
17732 308.0 1.0 502 17733 done -0.79 - - 2650 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
18068 302.9 1.6 508 18069 done -0.79 - - 2650 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
18404 298.0 1.4 514 18405 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
18740 291.0 2.2 520 18741 done -0.79 - - 2650 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
19076 284.9 1.7 526 19077 done -0.79 - - 2651 - - - 2266 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
19412 279.9 1.5 532 19413 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
19748 275.7 1.1 538 19749 done -0.79 - - 2651 - - - 2266 - -43.4 - - 2716 - - - - - - - - 11.29 11.29 11.29
20084 272.2 1.1 544 20085 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
20420 265.4 2.2 550 20421 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
20756 259.2 1.8 556 20757 done -0.79 - - 2651 - - - 2267 - -43.4 - - 2717 - - - - - - - - 11.29 11.29 11.29
21093 255.3 1.0 562 21094 done -0.81 - - 2651 - - - 2266 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.29
21428 252.1 1.0 568 21429 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.29
21764 246.1 1.9 574 21765 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.28 11.29 11.29
22100 239.6 2.0 580 22101 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.30
22436 232.7 2.0 586 22437 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.29
22772 226.3 1.9 592 22773 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.29
23108 220.0 1.8 598 23109 done -0.81 - - 2651 - - - 2267 - -60.0 - - 2717 - - - - - - - - 11.29 11.29 11.29
23444 217.7 0.5 604 23445 done -0.82 - - 2651 - - - 2267 - -68.7 - - 2717 - - - - - - - - 11.29 11.29 11.29
23719 end loiter: LOITER_COMPLETE
23719 begin climb
23724 215.1 - 609 23827 roll 1.04 2.62 0.171 3224 218.7 3.45 0.051 873 -404.1 97.3 91.82 1.167 2402 -3.4 0.153 - - - - - - 11.01 10.98 10.50
24025 194.2 9.3 652 24030 done 1.04 - - 3224 - 3.25 0.042 2248 423.1 97.3 - - 2395 - - - - - - - - 11.12 11.04 11.13
24340 166.3 8.7 662 24346 roll 1.04 - - 3224 - 3.47 0.088 3655 405.5 97.3 - - 2393 - - - - - - - - 11.26 11.01 11.26
24396 161.0 9.8 670 24402 done 0.91 0.17 0.213 3200 -141.2 3.15 0.033 2268 -440.3 97.3 - - 2393 - - - - - - - - 10.96 11.09 11.11
24733 132.7 8.4 683 24734 done 0.91 - - 3200 - - - 2267 - 97.3 - - 2393 - - - - - - - - 11.26 11.26 11.26
25068 104.0 8.6 689 25073 roll 0.91 - - 3210 - 3.40 0.051 854 -415.6 97.3 - - 2392 - - - - - - - - 11.27 11.05 11.27
25208 96.2 5.3 709 25254 done 0.98 - - 3210 - 3.30 0.042 2253 423.9 148.1 37.42 0.411 2211 -4.8 0.273 - - - - - - 11.14 11.06 10.81
25577 74.2 4.7 728 25639 roll 1.05 - - 3220 - 3.50 0.055 852 -400.3 210.1 53.22 0.354 1965 -4.6 0.234 - - - - - - 11.25 11.00 10.85
25874 57.4 1.7 771 25976 done 1.32 0.32 0.047 3328 337.5 3.28 0.040 2250 426.2 322.3 95.75 0.316 1516 -4.7 0.206 - - - - - - 11.09 11.05 10.86
26300 23.2 10.3 799 26305 roll 1.32 - - 3338 - 3.42 0.059 855 -407.9 322.3 - - 1519 - - - - - - - - 11.26 11.03 11.26
26419 10.6 11.6 816 26424 done 1.32 - - 3338 - 3.25 0.044 2242 426.8 322.3 - - 1519 - - - - - - - - 11.13 11.05 11.13
26519 end climb: SURFACE_DEPTH_REACHED
26519 begin surface coast
26547 end surface coast: CONTROL_FINISHED_OK
26547 begin surface
SM -0.17 - - - - -8.43 11.77 0.034 167 14.2 1.25 0.049 2776 1396.8 500.14 124.00 0.129 808 6.5 0.001 - - - - - -