SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 830 * Raw log
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• Previous call tries 2 • 279.51 of 350.00 AH used of 24V (20.14% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.1 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: 25 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
14 - - - 98 done -1.04 - - 122 - - - 2791 - -97.3 -82.45 - 3188 - - - - - - - - 11.20 10.46 11.20
103 -1.3 -6.0 3 125 done -1.04 18.98 0.379 2553 128.1 - - 2792 - -97.3 - - 3189 - - - - - - - - 10.85 11.07 11.05
435 58.7 -7.0 18 440 roll -0.85 0.32 0.236 2609 175.0 2.78 0.142 3832 374.1 -97.3 - - 3191 - - - - - - - - 10.93 10.95 11.04
628 68.5 -5.8 45 636 done -0.77 0.17 0.217 2644 205.9 2.40 0.047 2760 -446.7 -97.3 - - 3192 - - - - - - - - 10.95 11.09 11.09
939 83.1 -5.6 57 945 roll -0.77 - - 2644 - 3.28 0.036 1356 -428.0 -97.3 - - 3193 - - - - - - - - 11.24 11.05 11.23
1058 91.6 -8.2 74 1063 done -0.77 - - 2633 - 3.60 0.090 2769 392.5 -97.3 - - 3192 - - - - - - - - 11.11 10.99 11.12
1387 116.8 -9.1 85 1393 roll -0.77 - - 2633 - 3.33 0.037 1357 -424.0 -97.3 - - 3191 - - - - - - - - 11.24 11.05 11.24
1436 121.3 -7.7 92 1442 done -0.77 - - 2622 - 3.62 0.092 2766 389.2 -97.3 - - 3191 - - - - - - - - 11.11 10.99 11.12
1779 143.6 -6.3 99 1780 done -0.77 - - 2622 - - - 2766 - -97.3 - - 3189 - - - - - - - - 11.24 11.24 11.24
2115 166.1 -6.7 105 2121 roll -0.77 - - 2622 - 3.35 0.038 1355 -421.2 -97.3 - - 3188 - - - - - - - - 11.24 11.06 11.25
2150 173.2 -19.5 110 2155 done -0.77 0.17 0.216 2646 141.2 3.65 0.092 2771 387.9 -97.3 - - 3188 - - - - - - - - 10.96 11.00 11.10
2507 198.9 -7.3 119 2512 roll -0.77 - - 2638 - 2.88 0.156 3832 368.4 -97.3 - - 3190 - - - - - - - - 11.24 10.97 11.24
2549 202.2 -8.3 125 2554 done -0.77 - - 2637 - 2.45 0.050 2753 -440.4 -97.3 - - 3185 - - - - - - - - 11.14 11.10 11.14
2899 229.0 -7.7 133 2900 done -0.77 - - 2637 - - - 2754 - -97.3 - - 3183 - - - - - - - - 11.24 11.24 11.25
3235 255.7 -7.9 139 3240 roll -0.77 - - 2637 - 3.28 0.037 1358 -425.6 -97.3 - - 3181 - - - - - - - - 11.24 11.07 11.24
3354 264.5 -6.9 156 3359 done -0.77 - - 2627 - 3.65 0.094 2764 385.2 -97.3 - - 3180 - - - - - - - - 11.11 11.00 11.13
3683 284.8 -5.9 168 3688 roll -0.77 - - 2626 - 3.35 0.037 1356 -420.3 -97.3 - - 3178 - - - - - - - - 11.25 11.05 11.25
3767 290.0 -6.0 180 3772 done -0.77 0.15 0.222 2645 126.7 3.65 0.093 2769 387.1 -97.3 - - 3178 - - - - - - - - 10.96 11.00 11.10
4131 311.1 -5.9 190 4136 roll -0.77 - - 2645 - 3.35 0.038 1359 -420.9 -97.3 - - 3177 - - - - - - - - 11.24 11.07 11.24
4187 314.4 -5.6 198 4192 done -0.86 - - 2635 - 3.62 0.092 2759 386.7 -97.3 - - 3176 - - - - - - - - 11.12 11.00 11.14
4523 334.6 -6.2 211 4528 roll -0.86 - - 2634 - 3.33 0.039 1360 -420.1 -97.3 - - 3174 - - - - - - - - 11.24 11.06 11.24
4558 337.1 -7.4 216 4563 done -0.86 - - 2624 - 3.62 0.093 2766 388.4 -97.3 - - 3174 - - - - - - - - 11.12 11.00 11.14
4915 363.6 -7.3 225 4921 roll -0.86 - - 2623 - 3.35 0.037 1355 -421.2 -97.3 - - 3173 - - - - - - - - 11.24 11.07 11.24
4964 367.2 -7.4 232 4970 done -0.86 - - 2614 - 3.65 0.094 2762 385.5 -97.3 - - 3172 - - - - - - - - 11.12 11.00 11.14
5307 393.7 -7.9 239 5312 roll -0.86 - - 2607 - 2.90 0.156 3829 367.9 -97.3 - - 3172 - - - - - - - - 11.24 10.97 11.24
5398 401.4 -8.5 252 5402 done -0.86 - - 2605 - 2.47 0.052 2751 -436.4 -97.3 - - 3171 - - - - - - - - 11.14 11.10 11.14
5755 427.0 -6.9 261 5761 roll -0.86 - - 2605 - 3.30 0.037 1351 -424.2 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.24
5860 433.7 -6.0 276 5866 done -0.86 - - 2595 - 3.62 0.091 2754 387.6 -97.3 - - 3170 - - - - - - - - 11.12 11.00 11.13
6142 end dive: TARGET_DEPTH_EXCEEDED
6142 begin apogee
6153 453.3 -6.9 282 6266 roll -0.23 1.12 0.197 2821 201.8 0.12 0.161 2260 -4116.7 - 109.28 1.494 2798 -3.4 0.250 - - - - - - 10.98 10.93 10.45
6267 end apogee: CONTROL_FINISHED_OK
6267 begin loiter
6498 455.0 0.6 317 6503 done -0.24 - - 2820 - - - 2260 - -10.4 - - 2787 - - - - - - - - 11.23 11.23 11.23
6828 453.9 0.2 329 6829 done -0.61 0.40 0.050 2702 -295.0 - - 2260 - -13.3 - - 2785 - - - - - - - - 11.07 11.13 11.12
7164 454.2 - 335 7165 done -0.75 0.10 0.085 2649 -530.0 - - 2260 - -12.8 - - 2784 - - - - - - - - 11.10 11.14 11.13
7499 450.8 1.3 341 7500 done -0.75 - - 2648 - - - 2260 - -12.8 - - 2783 - - - - - - - - 11.26 11.26 11.25
7835 444.2 2.0 347 7836 done -0.75 - - 2649 - - - 2260 - -12.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
8171 438.1 1.7 353 8172 done -0.75 - - 2647 - - - 2260 - -12.8 - - 2782 - - - - - - - - 11.26 11.26 11.26
8507 433.7 1.2 359 8508 done -0.75 - - 2649 - - - 2260 - -12.8 - - 2781 - - - - - - - - 11.26 11.26 11.26
8843 430.6 0.9 365 8844 done -0.77 - - 2649 - - - 2260 - -27.7 - - 2780 - - - - - - - - 11.26 11.26 11.26
9179 426.8 1.2 371 9180 done -0.77 - - 2648 - - - 2260 - -27.7 - - 2779 - - - - - - - - 11.26 11.26 11.26
9515 420.8 1.8 377 9516 done -0.77 - - 2649 - - - 2260 - -27.7 - - 2779 - - - - - - - - 11.26 11.26 11.27
9851 415.8 1.4 383 9852 done -0.77 - - 2649 - - - 2260 - -27.7 - - 2779 - - - - - - - - 11.27 11.27 11.27
10187 414.7 0.1 389 10188 done -0.78 - - 2648 - - - 2259 - -30.2 - - 2778 - - - - - - - - 11.27 11.27 11.27
10523 416.2 -0.5 395 10524 done -0.76 - - 2649 - - - 2260 - -20.9 - - 2777 - - - - - - - - 11.27 11.27 11.27
10859 417.3 -0.2 401 10860 done -0.76 - - 2648 - - - 2260 - -16.8 - - 2777 - - - - - - - - 11.27 11.27 11.27
11195 416.0 0.5 407 11196 done -0.77 - - 2648 - - - 2260 - -25.2 - - 2777 - - - - - - - - 11.27 11.27 11.27
11531 415.1 0.2 413 11532 done -0.77 - - 2648 - - - 2260 - -28.4 - - 2776 - - - - - - - - 11.27 11.27 11.27
11867 415.4 -0.1 419 11868 done -0.77 - - 2649 - - - 2260 - -26.4 - - 2777 - - - - - - - - 11.28 11.28 11.27
12203 415.0 0.2 425 12204 done -0.78 - - 2648 - - - 2259 - -30.2 - - 2776 - - - - - - - - 11.28 11.28 11.28
12539 413.9 0.3 431 12540 done -0.78 - - 2649 - - - 2260 - -34.9 - - 2777 - - - - - - - - 11.28 11.28 11.28
12875 413.8 - 437 12876 done -0.78 - - 2648 - - - 2259 - -34.7 - - 2776 - - - - - - - - 11.28 11.28 11.28
13211 414.7 -0.3 443 13212 done -0.78 - - 2649 - - - 2260 - -30.0 - - 2776 - - - - - - - - 11.28 11.28 11.28
13547 413.9 0.4 449 13548 done -0.78 - - 2648 - - - 2260 - -36.3 - - 2776 - - - - - - - - 11.28 11.28 11.28
13883 410.6 1.1 455 13884 done -0.78 - - 2648 - - - 2260 - -36.3 - - 2776 - - - - - - - - 11.28 11.28 11.28
14220 406.0 1.4 461 14221 done -0.78 - - 2648 - - - 2260 - -36.3 - - 2776 - - - - - - - - 11.28 11.28 11.28
14555 401.3 1.4 467 14556 done -0.78 - - 2648 - - - 2259 - -36.3 - - 2776 - - - - - - - - 11.28 11.28 11.29
14891 399.6 0.2 473 14892 done -0.79 - - 2648 - - - 2260 - -40.5 - - 2776 - - - - - - - - 11.28 11.28 11.28
15227 402.8 -1.1 479 15228 done -0.77 - - 2648 - - - 2260 - -21.1 - - 2776 - - - - - - - - 11.28 11.28 11.28
15563 406.5 -1.0 485 15564 done -0.74 - - 2648 - - - 2260 - -3.7 - - 2776 - - - - - - - - 11.28 11.29 11.28
15899 407.4 -0.1 491 15900 done -0.74 - - 2649 - - - 2260 - -2.0 - - 2776 - - - - - - - - 11.28 11.29 11.29
16236 404.8 0.9 497 16236 done -0.76 - - 2648 - - - 2260 - -17.7 - - 2776 - - - - - - - - 11.28 11.27 11.29
16571 400.6 1.3 503 16572 done -0.76 - - 2648 - - - 2260 - -17.7 - - 2776 - - - - - - - - 11.28 11.28 11.28
16907 396.5 1.2 509 16908 done -0.76 - - 2649 - - - 2260 - -17.7 - - 2776 - - - - - - - - 11.28 11.29 11.29
17244 396.0 - 515 17244 done -0.76 - - 2649 - - - 2260 - -17.0 - - 2776 - - - - - - - - 11.28 11.29 11.29
17579 397.8 -0.6 521 17580 done -0.75 - - 2648 - - - 2260 - -7.5 - - 2775 - - - - - - - - 11.28 11.29 11.28
17915 399.1 -0.3 527 17916 done -0.74 - - 2648 - - - 2260 - -1.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
18251 399.8 -0.2 533 18252 done -0.74 - - 2648 - - - 2260 - 1.1 - - 2776 - - - - - - - - 11.29 11.29 11.31
18588 399.4 0.2 539 18588 done -0.74 - - 2649 - - - 2260 - -2.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
18923 395.4 1.4 545 18924 done -0.74 - - 2649 - - - 2260 - -2.7 - - 2776 - - - - - - - - 11.29 11.28 11.29
19260 389.6 1.7 551 19261 done -0.74 - - 2649 - - - 2260 - -2.7 - - 2776 - - - - - - - - 11.28 11.28 11.28
19595 386.2 0.8 557 19596 done -0.76 - - 2648 - - - 2259 - -16.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
19931 386.0 - 563 19932 done -0.76 - - 2648 - - - 2260 - -15.8 - - 2775 - - - - - - - - 11.29 11.29 11.29
20267 387.1 -0.4 569 20268 done -0.75 - - 2648 - - - 2260 - -9.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
20603 388.1 -0.2 575 20604 done -0.75 - - 2648 - - - 2260 - -5.8 - - 2776 - - - - - - - - 11.31 11.29 11.28
20939 387.7 0.1 581 20940 done -0.75 - - 2649 - - - 2260 - -8.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
21275 388.5 -0.3 587 21276 done -0.74 - - 2648 - - - 2260 - -3.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
21611 390.9 -0.8 593 21616 done -0.73 - - 2649 - - - 2260 - 10.4 3.28 0.874 2757 -5.8 0.627 - - - - - - 11.29 11.07 10.38
21947 393.0 -0.6 599 21969 done -0.71 - - 2648 - - - 2260 - 20.0 20.25 1.403 2719 -1.9 0.127 - - - - - - 11.29 11.01 10.45
22283 388.5 1.5 605 22284 done -0.71 - - 2648 - - - 2260 - 20.0 - - 2707 - - - - - - - - 11.27 11.27 11.28
22619 381.3 2.3 611 22620 done -0.71 - - 2649 - - - 2260 - 20.0 - - 2708 - - - - - - - - 11.28 11.28 11.28
22955 372.0 2.8 617 22956 done -0.71 - - 2649 - - - 2260 - 20.0 - - 2708 - - - - - - - - 11.28 11.28 11.28
23291 364.0 2.2 623 23292 done -0.71 - - 2648 - - - 2260 - 20.0 - - 2708 - - - - - - - - 11.28 11.31 11.28
23627 359.0 1.3 629 23628 done -0.71 - - 2648 - - - 2260 - 20.0 - - 2708 - - - - - - - - 11.28 11.27 11.28
23964 355.2 1.2 635 23965 done -0.71 - - 2648 - - - 2260 - 20.0 - - 2707 - - - - - - - - 11.28 11.28 11.28
24294 end loiter: LOITER_COMPLETE
24295 begin climb
24299 348.8 - 641 24402 roll 1.04 2.67 0.177 3223 215.4 3.42 0.052 859 -409.6 97.3 92.12 1.372 2403 -3.3 0.203 - - - - - - 10.99 10.96 10.43
24442 341.0 8.4 661 24447 done 1.04 - - 3222 - 3.40 0.063 2249 408.8 97.3 - - 2397 - - - - - - - - 11.08 10.97 11.10
24806 306.4 9.7 671 24811 roll 0.96 - - 3223 - 3.80 0.137 3668 373.4 97.3 - - 2393 - - - - - - - - 11.22 10.95 11.22
24862 300.4 10.9 679 24868 done 0.82 0.32 0.222 3173 -156.2 3.25 0.042 2260 -433.2 97.3 - - 2393 - - - - - - - - 10.94 11.07 11.10
25198 272.4 8.2 692 25203 roll 0.82 - - 3183 - 3.38 0.051 845 -418.6 99.7 - - 2393 - - - - - - - - 11.24 11.03 11.24
25233 269.6 8.2 697 25238 done 0.83 - - 3183 - 3.45 0.067 2257 409.3 102.6 - - 2393 - - - - - - - - 11.11 10.99 11.12
25590 242.9 7.3 706 25623 roll 0.85 - - 3183 - 3.83 0.142 3658 365.8 120.5 26.85 1.248 2313 -3.0 0.140 - - - - - - 11.24 10.88 10.48
25667 237.1 8.2 717 25672 done 0.85 - - 3194 - 3.25 0.041 2250 -433.2 122.4 - - 2308 - - - - - - - - 11.11 11.06 11.12
25982 213.3 7.6 727 26008 roll 0.87 - - 3203 - 3.45 0.054 848 -406.4 134.5 16.27 1.205 2256 -3.2 0.137 - - - - - - 11.22 10.98 10.50
26031 209.2 8.3 734 26039 done 0.87 - - 3204 - 3.45 0.069 2249 406.1 135.0 - - 2252 - - - - - - - - 11.10 10.98 11.11
26374 179.0 8.8 741 26379 roll 0.87 - - 3204 - 3.85 0.145 3664 367.5 135.0 - - 2252 - - - - - - - - 11.24 10.95 11.24
26395 177.0 9.2 744 26400 done 0.87 0.15 0.206 3186 -120.0 3.25 0.042 2253 -434.2 135.0 - - 2251 - - - - - - - - 10.95 11.07 11.10
26710 150.4 8.4 754 26716 roll 0.87 - - 3196 - 3.35 0.052 845 -420.3 135.0 - - 2251 - - - - - - - - 11.23 11.03 11.23
26731 148.6 8.6 757 26736 done 0.87 - - 3196 - 3.45 0.068 2252 407.8 135.0 - - 2251 - - - - - - - - 11.11 10.99 11.12
27046 118.2 9.8 767 27047 done 0.87 - - 3196 - - - 2253 - 135.0 - - 2251 - - - - - - - - 11.24 11.24 11.24
27354 93.0 7.9 774 27360 done 0.88 - - 3196 - - - 2253 - 142.0 3.20 0.185 2234 -5.3 0.646 - - - - - - 11.23 11.09 10.90
27690 71.2 5.8 789 27736 roll 0.93 - - 3206 - 3.47 0.055 848 -404.9 185.0 38.33 0.370 2063 -4.5 0.208 - - - - - - 11.24 10.99 10.84
27795 63.6 7.9 804 27807 done 0.94 - - 3206 - 3.47 0.067 2257 406.1 191.5 7.40 0.298 2037 -3.5 0.181 - - - - - - 11.10 10.98 10.86
28131 42.9 4.7 819 28191 roll 1.01 - - 3215 - 3.42 0.053 842 -413.7 254.0 53.12 0.291 1788 -4.7 0.167 - - - - - - 11.26 11.00 10.88
28391 32.3 2.8 853 28472 done 1.33 0.35 0.047 3328 322.9 3.40 0.061 2250 414.1 347.2 73.93 0.257 1417 -5.0 0.153 - - - - - - 11.07 11.00 10.89
28742 end climb: SURFACE_DEPTH_REACHED
28742 begin surface coast
28770 end surface coast: CONTROL_FINISHED_OK
28770 begin surface
SM -5.43 - - - - -8.40 12.55 0.074 199 15.8 1.40 0.119 2769 -6186.4 500.14 104.38 0.135 808 7.7 0.032 - - - - - -