SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 841 * Raw log
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• Previous call tries 1 • 281.88 of 350.00 AH used of 24V (19.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.2 deg, depth -2.27 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 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 - - - 98 done -1.04 - - 105 - - - 2789 - -97.3 -80.93 - 3188 - - - - - - - - 11.21 10.45 11.20
104 2.3 -7.7 3 128 roll -1.04 19.08 0.381 2555 128.4 3.38 0.035 1358 -423.4 -97.3 - - 3189 - - - - - - - - 10.85 11.02 11.05
150 22.5 -37.1 10 158 done -0.38 1.27 0.259 2770 169.3 3.67 0.099 2767 383.9 -97.3 - - 3191 - - - - - - - - 10.90 10.96 11.06
465 49.0 -3.5 22 471 roll -0.56 0.10 0.090 2707 -630.0 3.30 0.035 1358 -427.0 -97.3 - - 3191 - - - - - - - - 11.08 11.05 11.10
514 50.9 -4.3 29 520 done -0.64 - - 2696 - 3.62 0.092 2772 390.6 -97.3 - - 3191 - - - - - - - - 11.11 10.99 11.12
829 67.3 -6.0 41 834 roll -0.73 - - 2689 - 2.85 0.153 3836 373.3 -97.3 - - 3192 - - - - - - - - 11.26 10.96 11.24
1067 85.1 -7.5 75 1072 done -0.82 0.12 0.073 2629 -500.0 2.42 0.050 2765 -442.6 -97.3 - - 3192 - - - - - - - - 11.10 11.10 11.12
1389 108.2 -7.3 86 1395 roll -0.82 - - 2621 - 2.83 0.147 3826 374.9 -97.3 - - 3192 - - - - - - - - 11.25 10.97 11.25
1438 111.7 -6.8 93 1444 done -0.82 - - 2620 - 2.38 0.049 2768 -444.5 -97.3 - - 3192 - - - - - - - - 11.14 11.10 11.14
1781 134.5 -6.8 100 1786 roll -0.82 - - 2620 - 3.30 0.036 1358 -427.3 -97.3 - - 3190 - - - - - - - - 11.24 11.06 11.24
1872 141.3 -7.8 113 1877 done -0.82 - - 2610 - 3.65 0.089 2783 390.4 -97.3 - - 3190 - - - - - - - - 11.12 11.02 11.14
2229 170.2 -8.2 122 2235 roll -0.82 - - 2609 - 3.38 0.037 1356 -422.2 -97.3 - - 3188 - - - - - - - - 11.24 11.07 11.24
2278 174.0 -8.0 129 2284 done -0.82 0.15 0.215 2628 126.7 3.65 0.089 2778 389.6 -97.3 - - 3188 - - - - - - - - 10.97 11.01 11.10
2621 198.4 -6.9 136 2626 roll -0.82 - - 2628 - 3.35 0.038 1366 -421.5 -97.3 - - 3186 - - - - - - - - 11.24 11.05 11.25
2677 202.4 -7.1 144 2682 done -0.82 - - 2618 - 3.62 0.092 2774 389.0 -97.3 - - 3185 - - - - - - - - 11.12 11.01 11.14
3013 227.8 -7.6 157 3014 done -0.82 - - 2618 - - - 2773 - -97.3 - - 3184 - - - - - - - - 11.24 11.25 11.24
3349 257.3 -8.4 163 3354 roll -0.82 - - 2618 - 3.35 0.039 1362 -421.2 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.26
3433 264.1 -8.2 175 3438 done -0.82 - - 2608 - 3.58 0.091 2770 393.3 -97.3 - - 3181 - - - - - - - - 11.13 11.01 11.14
3797 293.1 -7.7 185 3798 done -0.82 - - 2608 - - - 2770 - -97.3 - - 3179 - - - - - - - - 11.26 11.26 11.26
4133 317.3 -7.2 191 4138 roll -0.82 - - 2607 - 3.35 0.039 1362 -420.3 -97.3 - - 3178 - - - - - - - - 11.26 11.07 11.26
4182 320.9 -7.1 198 4189 done -0.82 0.15 0.213 2626 126.7 3.65 0.093 2770 385.8 -97.3 - - 3178 - - - - - - - - 10.98 11.01 11.11
4525 342.7 -6.3 205 4530 roll -0.82 - - 2626 - 3.35 0.037 1360 -420.9 -97.3 - - 3175 - - - - - - - - 11.26 11.07 11.26
4602 348.1 -7.2 216 4607 done -0.82 - - 2616 - 3.62 0.093 2758 386.2 -97.3 - - 3175 - - - - - - - - 11.13 11.01 11.14
4917 370.7 -7.3 226 4918 done -0.82 - - 2616 - - - 2758 - -97.3 - - 3174 - - - - - - - - 11.25 11.25 11.25
5253 395.2 -7.2 232 5258 roll -0.82 - - 2608 - 2.90 0.155 3832 370.3 -97.3 - - 3173 - - - - - - - - 11.26 10.98 11.25
5316 400.1 -7.6 241 5321 done -0.82 - - 2607 - 2.45 0.050 2761 -437.1 -97.3 - - 3173 - - - - - - - - 11.15 11.10 11.15
5645 424.0 -7.4 253 5650 roll -0.82 - - 2605 - 3.30 0.038 1359 -424.8 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.26
5771 433.8 -7.7 271 5776 done -0.82 0.15 0.218 2624 126.7 3.62 0.090 2767 389.0 -97.3 - - 3171 - - - - - - - - 10.98 11.01 11.12
6032 end dive: TARGET_DEPTH_EXCEEDED
6032 begin apogee
6043 452.2 -6.8 281 6156 roll -0.23 0.93 0.183 2818 208.6 0.12 0.156 2261 -4216.7 - 109.80 1.471 2804 -3.3 0.250 - - - - - - 10.99 10.93 10.45
6157 end apogee: CONTROL_FINISHED_OK
6157 begin loiter
6389 453.8 1.3 316 6393 done -0.23 - - 2817 - - - 2261 - - - - 2788 - - - - - - - - 11.24 11.24 11.24
6718 449.1 1.4 328 6720 done -0.59 0.35 0.053 2713 -297.1 - - 2261 - - - - 2787 - - - - - - - - 11.07 11.14 11.12
7054 445.4 1.0 334 7055 done -0.75 0.15 0.064 2648 -433.3 - - 2261 - - - - 2786 - - - - - - - - 11.10 11.15 11.14
7390 443.7 0.4 340 7391 done -0.76 - - 2647 - - - 2261 - -6.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7726 441.8 0.7 346 7727 done -0.77 - - 2647 - - - 2261 - -18.3 - - 2784 - - - - - - - - 11.26 11.26 11.26
8062 438.3 1.2 352 8062 done -0.77 - - 2647 - - - 2261 - -18.3 - - 2783 - - - - - - - - 11.26 11.26 11.26
8398 433.8 1.3 358 8399 done -0.77 - - 2647 - - - 2261 - -18.3 - - 2782 - - - - - - - - 11.26 11.26 11.27
8734 430.1 1.1 364 8734 done -0.77 - - 2647 - - - 2262 - -18.3 - - 2781 - - - - - - - - 11.27 11.27 11.27
9070 427.6 0.7 370 9071 done -0.78 - - 2648 - - - 2261 - -30.2 - - 2781 - - - - - - - - 11.27 11.27 11.27
9406 426.9 0.1 376 9407 done -0.79 - - 2647 - - - 2261 - -32.6 - - 2780 - - - - - - - - 11.27 11.27 11.27
9742 426.8 0.1 382 9743 done -0.79 - - 2647 - - - 2260 - -33.7 - - 2780 - - - - - - - - 11.27 11.27 11.28
10078 426.7 0.1 388 10079 done -0.79 - - 2648 - - - 2261 - -35.2 - - 2779 - - - - - - - - 11.28 11.27 11.28
10414 423.7 1.0 394 10415 done -0.79 - - 2647 - - - 2261 - -35.2 - - 2779 - - - - - - - - 11.28 11.28 11.28
10750 418.6 1.6 400 10751 done -0.79 - - 2647 - - - 2261 - -35.2 - - 2779 - - - - - - - - 11.29 11.28 11.28
11086 412.8 1.7 406 11087 done -0.79 - - 2647 - - - 2261 - -35.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
11422 409.4 0.8 412 11423 done -0.81 - - 2647 - - - 2261 - -49.3 - - 2778 - - - - - - - - 11.27 11.28 11.28
11758 409.6 -0.2 418 11759 done -0.80 - - 2647 - - - 2261 - -45.5 - - 2778 - - - - - - - - 11.28 11.29 11.28
12094 412.8 -1.1 424 12095 done -0.78 - - 2647 - - - 2261 - -27.4 - - 2778 - - - - - - - - 11.29 11.29 11.28
12430 415.2 -0.6 430 12431 done -0.77 - - 2648 - - - 2261 - -17.5 - - 2777 - - - - - - - - 11.28 11.28 11.29
12766 413.1 0.9 436 12767 done -0.79 - - 2647 - - - 2261 - -32.8 - - 2778 - - - - - - - - 11.28 11.28 11.29
13102 407.1 1.9 442 13103 done -0.79 - - 2647 - - - 2261 - -32.8 - - 2778 - - - - - - - - 11.29 11.29 11.29
13438 401.6 1.5 448 13438 done -0.79 - - 2647 - - - 2261 - -32.8 - - 2777 - - - - - - - - 11.29 11.27 11.29
13774 399.9 0.3 454 13775 done -0.79 - - 2647 - - - 2261 - -37.1 - - 2777 - - - - - - - - 11.28 11.28 11.29
14110 402.2 -0.9 460 14111 done -0.78 - - 2647 - - - 2261 - -22.5 - - 2777 - - - - - - - - 11.28 11.28 11.28
14446 405.4 -0.8 466 14447 done -0.76 - - 2647 - - - 2261 - -8.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
14782 405.2 0.2 472 14783 done -0.76 - - 2647 - - - 2261 - -11.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15118 403.5 0.5 478 15119 done -0.77 - - 2647 - - - 2261 - -20.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15454 402.9 0.1 484 15455 done -0.77 - - 2647 - - - 2261 - -22.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
15790 403.8 -0.3 490 15791 done -0.77 - - 2647 - - - 2261 - -17.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
16126 405.1 -0.4 496 16127 done -0.76 - - 2647 - - - 2261 - -10.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
16462 407.5 -0.8 502 16463 done -0.74 - - 2647 - - - 2260 - 2.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
16798 409.5 -0.5 508 16803 done -0.73 - - 2647 - - - 2261 - 11.3 4.15 1.089 2753 -5.8 0.529 - - - - - - 11.29 11.07 10.36
17134 406.5 1.2 514 17137 done -0.73 - - 2647 - - - 2261 - 11.3 2.12 0.321 2754 - - - - - - - - 11.29 11.08 10.33
17470 400.4 1.9 520 17473 done -0.73 - - 2648 - - - 2261 - 11.3 2.15 0.341 2753 - - - - - - - - 11.29 11.09 10.32
17806 394.1 1.8 526 17809 done -0.73 - - 2647 - - - 2261 - 11.3 1.58 0.183 2755 - - - - - - - - 11.29 11.14 11.02
18142 389.5 1.3 532 18145 done -0.73 - - 2647 - - - 2261 - 11.3 1.95 0.180 2753 - - - - - - - - 11.28 11.13 11.00
18478 386.3 0.9 538 18479 done -0.75 - - 2647 - - - 2261 - -4.4 - - 2764 - - - - - - - - 11.28 11.29 11.29
18814 384.3 0.5 544 18815 done -0.76 - - 2647 - - - 2261 - -12.7 - - 2764 - - - - - - - - 11.29 11.29 11.29
19150 384.5 -0.1 550 19151 done -0.76 - - 2647 - - - 2261 - -10.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
19486 384.7 - 556 19487 done -0.76 - - 2647 - - - 2261 - -10.0 - - 2764 - - - - - - - - 11.29 11.29 11.29
19822 383.5 0.5 562 19823 done -0.77 - - 2647 - - - 2261 - -18.0 - - 2764 - - - - - - - - 11.29 11.29 11.29
20158 380.2 1.1 568 20159 done -0.77 - - 2647 - - - 2261 - -18.0 - - 2764 - - - - - - - - 11.29 11.29 11.29
20494 377.0 0.8 574 20495 done -0.79 - - 2647 - - - 2261 - -32.0 - - 2763 - - - - - - - - 11.29 11.29 11.29
20830 376.9 -0.1 580 20831 done -0.78 - - 2648 - - - 2261 - -30.0 - - 2764 - - - - - - - - 11.29 11.29 11.29
21166 378.0 -0.3 586 21167 done -0.78 - - 2647 - - - 2261 - -24.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
21502 378.1 - 592 21503 done -0.78 - - 2648 - - - 2260 - -25.1 - - 2764 - - - - - - - - 11.29 11.29 11.29
21838 377.6 0.2 598 21839 done -0.78 - - 2647 - - - 2261 - -28.2 - - 2764 - - - - - - - - 11.29 11.29 11.29
22174 376.5 0.3 604 22175 done -0.79 - - 2647 - - - 2261 - -34.1 - - 2764 - - - - - - - - 11.29 11.29 11.29
22510 374.9 0.5 610 22511 done -0.80 - - 2647 - - - 2261 - -42.1 - - 2764 - - - - - - - - 11.29 11.29 11.29
22846 373.8 0.3 616 22847 done -0.81 - - 2648 - - - 2261 - -47.4 - - 2764 - - - - - - - - 11.29 11.29 11.29
23182 373.5 - 622 23183 done -0.81 - - 2647 - - - 2261 - -47.3 - - 2764 - - - - - - - - 11.29 11.29 11.29
23518 375.1 -0.6 628 23519 done -0.79 - - 2647 - - - 2261 - -37.7 - - 2764 - - - - - - - - 11.29 11.29 11.29
23854 377.7 -0.8 634 23855 done -0.78 - - 2647 - - - 2261 - -24.5 - - 2764 - - - - - - - - 11.29 11.29 11.29
24185 end loiter: LOITER_COMPLETE
24185 begin climb
24190 378.6 - 640 24312 roll 1.04 2.67 0.176 3214 212.4 3.85 0.135 3655 362.1 97.3 109.75 1.388 2403 -3.3 0.218 - - - - - - 11.02 10.88 10.44
24395 365.7 10.1 669 24400 done 0.92 - - 3225 - 3.22 0.041 2254 -435.1 97.3 - - 2397 - - - - - - - - 11.11 11.07 11.12
24752 330.0 10.1 678 24758 roll 0.84 0.22 0.197 3186 -177.3 3.38 0.051 847 -416.3 97.3 - - 2393 - - - - - - - - 10.95 11.02 11.06
24787 326.7 8.8 683 24792 done 0.84 - - 3185 - 3.42 0.066 2247 409.4 97.3 - - 2393 - - - - - - - - 11.11 10.99 11.12
25144 294.9 8.7 692 25149 roll 0.84 - - 3195 - 3.38 0.053 855 -411.8 97.3 - - 2393 - - - - - - - - 11.24 11.04 11.24
25178 291.9 8.4 697 25183 done 0.84 - - 3196 - 3.42 0.066 2254 409.1 97.3 - - 2392 - - - - - - - - 11.12 11.00 11.13
25536 262.1 8.2 706 25541 roll 0.84 - - 3196 - 3.80 0.141 3670 372.6 98.8 - - 2392 - - - - - - - - 11.24 10.96 11.24
25592 257.4 8.6 714 25598 done 0.75 0.30 0.198 3146 -166.7 3.28 0.041 2248 -433.5 98.8 - - 2392 - - - - - - - - 10.97 11.08 11.10
25928 236.8 6.1 727 25976 done 0.80 - - 3146 - - - 2247 - 137.4 46.83 1.228 2252 -3.0 0.140 - - - - - - 11.24 10.99 10.50
26264 212.4 7.5 733 26283 done 0.90 0.10 0.091 3190 440.0 - - 2247 - 151.6 17.25 1.200 2195 -3.3 0.142 - - - - - - 11.07 11.00 10.50
26600 181.6 9.2 739 26605 roll 0.90 - - 3200 - 3.38 0.056 848 -413.9 151.6 - - 2181 - - - - - - - - 11.23 11.02 11.22
26627 179.1 8.8 743 26632 done 0.90 - - 3200 - 3.47 0.070 2258 406.3 151.6 - - 2179 - - - - - - - - 11.11 10.99 11.12
26992 147.5 8.5 753 26997 roll 0.90 - - 3200 - 3.80 0.145 3664 370.0 151.6 - - 2180 - - - - - - - - 11.23 10.95 11.24
27040 142.9 9.6 760 27046 done 0.90 - - 3210 - 3.25 0.041 2253 -434.2 151.6 - - 2180 - - - - - - - - 11.14 11.08 11.14
27384 108.8 10.3 767 27389 roll 0.90 - - 3221 - 3.35 0.054 849 -419.1 151.6 - - 2179 - - - - - - - - 11.24 11.04 11.24
27440 103.1 10.0 775 27445 done 0.90 0.12 0.195 3195 -216.7 3.45 0.070 2251 406.4 151.6 - - 2177 - - - - - - - - 10.98 10.99 11.11
27780 75.6 7.7 793 27790 roll 0.91 - - 3195 - 3.80 0.142 3664 371.8 162.2 4.95 0.243 2158 -3.8 0.291 - - - - - - 11.23 10.95 10.85
27826 71.6 7.8 800 27845 done 0.92 - - 3205 - 3.28 0.042 2232 -436.6 171.0 10.57 0.328 2123 -3.3 0.176 - - - - - - 11.13 11.08 10.86
28173 57.1 4.1 816 28243 roll 1.01 - - 3215 - 3.30 0.054 856 -417.0 243.1 63.15 0.324 1832 -4.6 0.198 - - - - - - 11.23 11.00 10.86
28328 46.7 8.8 835 28333 done 1.16 0.15 0.070 3274 393.3 3.38 0.059 2252 413.0 243.1 - - 1837 - - - - - - - - 11.08 11.01 11.12
28649 35.0 4.6 848 28709 roll 1.24 - - 3283 - 3.38 0.056 859 -412.1 306.1 53.12 0.260 1581 -4.8 0.158 - - - - - - 11.24 11.00 10.90
28873 22.1 8.1 880 28885 done 1.37 0.15 0.070 3349 440.0 3.45 0.068 2266 407.8 310.7 5.55 0.196 1563 -3.2 0.089 - - - - - - 11.09 10.99 10.93
29176 end climb: SURFACE_DEPTH_REACHED
29176 begin surface coast
29209 end surface coast: CONTROL_FINISHED_OK
29209 begin surface
SM -3.67 - - - - -8.40 11.73 0.030 199 16.9 1.35 0.116 2775 -6411.1 500.14 131.05 0.129 808 6.2 0.018 - - - - - -