SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 852 * Raw log
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• Previous call tries 1 • 284.20 of 350.00 AH used of 24V (18.80% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -66.0 deg, depth -3.00 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - 109 - - - 2784 - -97.3 -82.25 - 3189 - - - - - - - - 11.21 10.45 11.21
104 0.6 -6.3 3 128 roll -1.04 18.80 0.376 2553 130.0 3.35 0.032 1358 -425.7 -97.3 - - 3191 - - - - - - - - 10.86 11.03 11.05
191 27.4 -20.9 16 197 done -0.80 0.50 0.249 2633 160.0 3.58 0.085 2770 394.4 -97.3 - - 3191 - - - - - - - - 10.92 10.98 11.07
506 57.0 -6.8 28 511 roll -0.80 - - 2633 - 3.33 0.036 1355 -424.9 -97.3 - - 3193 - - - - - - - - 11.23 11.05 11.24
548 60.1 -6.9 34 553 done -0.80 - - 2623 - 3.53 0.080 2763 398.9 -97.3 - - 3193 - - - - - - - - 11.12 11.00 11.12
870 82.9 -6.1 47 871 done -0.80 - - 2623 - - - 2763 - -97.3 - - 3194 - - - - - - - - 11.24 11.24 11.24
1206 105.4 -7.8 58 1211 roll -0.80 - - 2616 - 2.78 0.138 3827 382.7 -97.3 - - 3196 - - - - - - - - 11.24 10.98 11.24
1379 120.2 -7.5 82 1384 done -0.80 - - 2614 - 2.40 0.044 2751 -448.3 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.14
1714 146.1 -7.1 95 1718 roll -0.80 - - 2614 - 3.22 0.036 1366 -430.1 -97.3 - - 3191 - - - - - - - - 11.24 11.04 11.24
1790 151.7 -7.3 106 1796 done -0.80 0.15 0.220 2633 126.7 3.50 0.076 2764 399.4 -97.3 - - 3191 - - - - - - - - 10.96 11.02 11.10
2106 172.1 -6.9 116 2107 done -0.80 - - 2633 - - - 2763 - -97.3 - - 3190 - - - - - - - - 11.25 11.24 11.25
2442 196.4 -7.5 122 2442 done -0.80 - - 2633 - - - 2763 - -97.3 - - 3186 - - - - - - - - 11.24 11.24 11.24
2778 223.5 -8.1 128 2782 roll -0.80 - - 2633 - 3.33 0.037 1362 -420.7 -97.3 - - 3185 - - - - - - - - 11.24 11.07 11.25
2882 231.7 -7.4 143 2889 done -0.80 - - 2623 - 3.55 0.081 2764 394.9 -97.3 - - 3185 - - - - - - - - 11.12 11.02 11.14
3226 257.8 -7.7 150 3231 roll -0.80 - - 2622 - 3.33 0.037 1359 -421.9 -97.3 - - 3182 - - - - - - - - 11.25 11.07 11.25
3288 263.0 -7.8 159 3293 done -0.80 - - 2613 - 3.55 0.082 2756 393.5 -97.3 - - 3182 - - - - - - - - 11.13 11.02 11.14
3618 289.9 -8.1 171 3619 done -0.80 - - 2613 - - - 2756 - -97.3 - - 3180 - - - - - - - - 11.25 11.25 11.24
3954 316.7 -8.0 177 3959 roll -0.80 - - 2612 - 3.30 0.037 1369 -420.3 -97.3 - - 3179 - - - - - - - - 11.25 11.07 11.25
3995 320.4 -8.1 183 4001 done -0.80 0.17 0.210 2637 147.1 3.50 0.082 2753 395.4 -97.3 - - 3179 - - - - - - - - 10.97 11.01 11.11
4346 346.6 -7.5 191 4351 roll -0.80 - - 2637 - 3.30 0.036 1364 -420.9 -97.3 - - 3176 - - - - - - - - 11.25 11.07 11.25
4402 350.9 -7.6 199 4407 done -0.80 - - 2627 - 3.50 0.080 2744 394.3 -97.3 - - 3176 - - - - - - - - 11.13 11.01 11.14
4738 376.5 -7.6 212 4743 roll -0.80 - - 2626 - 3.28 0.036 1363 -421.0 -97.3 - - 3174 - - - - - - - - 11.26 11.07 11.26
4821 382.9 -7.5 224 4826 done -0.80 - - 2618 - 3.50 0.081 2751 396.6 -97.3 - - 3174 - - - - - - - - 11.13 11.02 11.14
5186 409.2 -7.2 234 5190 roll -0.80 - - 2616 - 3.30 0.037 1361 -421.2 -97.3 - - 3173 - - - - - - - - 11.26 11.07 11.25
5269 415.5 -7.3 246 5275 done -0.80 0.15 0.213 2635 126.7 3.53 0.082 2744 391.8 -97.3 - - 3173 - - - - - - - - 10.98 11.01 11.11
5634 440.0 -6.8 256 5638 roll -0.80 - - 2635 - 3.28 0.036 1367 -419.8 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
5668 442.5 -7.2 261 5675 done -0.80 - - 2625 - 3.50 0.082 2748 394.6 -97.3 - - 3171 - - - - - - - - 11.13 11.01 11.14
5796 end dive: TARGET_DEPTH_EXCEEDED
5796 begin apogee
5808 451.9 -7.0 266 5921 roll -0.23 0.95 0.184 2821 206.3 - - 2245 - - 110.75 1.473 2798 -3.4 0.249 - - - - - - 10.99 11.00 10.45
5922 end apogee: CONTROL_FINISHED_OK
5922 begin loiter
6154 455.8 0.1 301 6159 done -0.23 - - 2821 - - - 2243 - -2.5 - - 2787 - - - - - - - - 11.24 11.24 11.24
6484 454.9 0.2 313 6485 done -0.60 0.38 0.050 2709 -294.7 - - 2245 - -6.7 - - 2785 - - - - - - - - 11.07 11.14 11.12
6819 454.5 0.2 319 6821 done -0.76 0.12 0.072 2651 -483.3 - - 2245 - -10.7 - - 2784 - - - - - - - - 11.10 11.14 11.14
7155 452.0 0.9 325 7156 done -0.77 - - 2651 - - - 2245 - -25.3 - - 2783 - - - - - - - - 11.26 11.26 11.26
7491 447.0 1.6 331 7492 done -0.77 - - 2651 - - - 2245 - -25.3 - - 2782 - - - - - - - - 11.26 11.26 11.27
7827 438.7 2.6 337 7828 done -0.77 - - 2651 - - - 2245 - -25.3 - - 2781 - - - - - - - - 11.26 11.27 11.27
8163 432.8 1.5 343 8164 done -0.77 - - 2651 - - - 2245 - -25.3 - - 2781 - - - - - - - - 11.27 11.27 11.26
8499 430.8 0.5 349 8500 done -0.78 - - 2651 - - - 2245 - -33.7 - - 2780 - - - - - - - - 11.27 11.27 11.27
8835 429.2 0.5 355 8836 done -0.79 - - 2651 - - - 2244 - -41.7 - - 2780 - - - - - - - - 11.27 11.27 11.28
9171 428.1 0.3 361 9172 done -0.80 - - 2651 - - - 2245 - -46.8 - - 2779 - - - - - - - - 11.27 11.28 11.28
9508 428.1 -0.1 367 9509 done -0.80 - - 2651 - - - 2245 - -45.8 - - 2778 - - - - - - - - 11.27 11.28 11.28
9843 426.0 0.8 373 9844 done -0.82 - - 2651 - - - 2245 - -59.8 - - 2777 - - - - - - - - 11.28 11.28 11.29
10179 423.4 0.7 379 10180 done -0.83 - - 2651 - - - 2244 - -70.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
10515 423.0 0.1 385 10516 done -0.83 - - 2651 - - - 2245 - -71.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
10851 422.5 0.1 391 10852 done -0.83 - - 2651 - - - 2245 - -74.1 - - 2777 - - - - - - - - 11.28 11.29 11.29
11187 420.6 0.7 397 11188 done -0.85 - - 2651 - - - 2245 - -86.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
11523 416.2 1.4 403 11524 done -0.85 - - 2651 - - - 2245 - -86.1 - - 2777 - - - - - - - - 11.28 11.29 11.29
11859 413.4 0.7 409 11860 done -0.86 - - 2651 - - - 2245 - -97.8 - - 2777 - - - - - - - - 11.29 11.28 11.29
12195 412.7 0.1 415 12196 done -0.87 - - 2651 - - - 2245 - -100.2 - - 2777 - - - - - - - - 11.29 11.27 11.29
12531 412.8 - 421 12532 done -0.87 - - 2651 - - - 2245 - -99.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
12867 413.9 -0.4 427 12868 done -0.86 - - 2651 - - - 2245 - -92.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
13203 414.7 -0.1 433 13204 done -0.85 - - 2651 - - - 2245 - -90.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
13539 413.7 0.3 439 13540 done -0.86 - - 2651 - - - 2245 - -96.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
13875 411.5 0.7 445 13876 done -0.88 0.05 0.155 2613 -760.0 - - 2245 - -108.6 - - 2776 - - - - - - - - 11.10 11.17 11.16
14212 409.5 0.5 451 14213 done -0.89 - - 2613 - - - 2244 - -116.9 - - 2776 - - - - - - - - 11.28 11.29 11.32
14547 409.9 -0.2 457 14548 done -0.88 - - 2614 - - - 2245 - -113.1 - - 2776 - - - - - - - - 11.29 11.29 11.30
14883 410.5 -0.1 463 14884 done -0.88 - - 2614 - - - 2245 - -111.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
15219 409.8 0.3 469 15220 done -0.89 - - 2614 - - - 2245 - -115.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
15555 407.6 0.7 475 15556 done -0.90 - - 2614 - - - 2244 - -128.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
15891 405.3 0.6 481 15892 done -0.91 - - 2614 - - - 2244 - -138.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
16227 406.3 -0.5 487 16228 done -0.90 - - 2614 - - - 2245 - -130.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
16563 408.2 -0.5 493 16564 done -0.89 - - 2614 - - - 2244 - -121.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
16899 406.8 0.6 499 16900 done -0.91 - - 2613 - - - 2244 - -132.3 - - 2776 - - - - - - - - 11.29 11.28 11.29
17235 403.1 1.1 505 17236 done -0.91 - - 2614 - - - 2244 - -132.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
17571 401.3 0.4 511 17572 done -0.91 - - 2614 - - - 2244 - -138.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
17907 400.4 0.3 517 17908 done -0.92 - - 2614 - - - 2245 - -143.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
18243 400.0 0.1 523 18244 done -0.92 - - 2613 - - - 2245 - -144.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
18579 401.3 -0.5 529 18580 done -0.91 - - 2613 - - - 2244 - -136.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
18915 404.1 -0.9 535 18916 done -0.89 - - 2613 - - - 2244 - -121.7 - - 2776 - - - - - - - - 11.29 11.29 11.30
19252 407.0 -0.9 541 19253 done -0.88 - - 2613 - - - 2244 - -107.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19587 409.5 -0.7 547 19588 done -0.86 - - 2614 - - - 2245 - -95.3 - - 2775 - - - - - - - - 11.30 11.29 11.29
19923 410.5 -0.2 553 19924 done -0.86 - - 2613 - - - 2245 - -92.0 - - 2775 - - - - - - - - 11.29 11.29 11.29
20259 409.4 0.4 559 20260 done -0.87 - - 2613 - - - 2245 - -99.3 - - 2775 - - - - - - - - 11.29 11.29 11.30
20595 407.3 0.6 565 20596 done -0.88 - - 2614 - - - 2245 - -109.8 - - 2775 - - - - - - - - 11.30 11.29 11.30
20931 407.3 -0.1 571 20932 done -0.88 - - 2614 - - - 2244 - -107.7 - - 2775 - - - - - - - - 11.30 11.29 11.30
21267 409.4 -0.7 577 21268 done -0.86 - - 2614 - - - 2244 - -95.8 - - 2775 - - - - - - - - 11.30 11.29 11.30
21603 411.3 -0.5 583 21604 done -0.85 - - 2614 - - - 2245 - -87.2 - - 2775 - - - - - - - - 11.30 11.29 11.30
21939 411.9 -0.1 589 21940 done -0.85 - - 2614 - - - 2244 - -85.9 - - 2775 - - - - - - - - 11.30 11.30 11.30
22275 409.8 0.7 595 22276 done -0.86 - - 2614 - - - 2245 - -98.6 - - 2775 - - - - - - - - 11.30 11.30 11.30
22611 406.6 0.9 601 22612 done -0.88 - - 2614 - - - 2245 - -114.3 - - 2775 - - - - - - - - 11.29 11.30 11.30
22947 404.8 0.5 607 22948 done -0.89 - - 2613 - - - 2244 - -122.5 - - 2775 - - - - - - - - 11.30 11.30 11.30
23283 403.1 0.5 613 23284 done -0.90 - - 2613 - - - 2245 - -131.2 - - 2775 - - - - - - - - 11.29 11.30 11.30
23619 403.2 -0.2 619 23620 done -0.90 - - 2614 - - - 2245 - -128.4 - - 2775 - - - - - - - - 11.30 11.30 11.30
23950 end loiter: LOITER_COMPLETE
23950 begin climb
23956 403.0 - 625 24080 roll 1.04 2.85 0.183 3221 213.0 3.40 0.052 857 -408.2 97.3 114.25 1.418 2403 -3.3 0.223 - - - - - - 11.01 10.90 10.41
24092 395.8 8.0 644 24097 done 1.05 - - 3221 - 3.40 0.059 2249 409.4 102.3 - - 2397 - - - - - - - - 11.07 10.96 11.08
24407 363.3 10.4 654 24413 roll 0.97 - - 3231 - 3.40 0.053 854 -410.3 102.3 - - 2392 - - - - - - - - 11.23 11.02 11.23
24617 343.0 9.6 684 24622 done 0.97 - - 3231 - 3.40 0.059 2256 412.4 102.3 - - 2391 - - - - - - - - 11.11 10.98 11.12
24967 306.8 10.5 692 24973 roll 0.88 0.20 0.214 3189 -210.0 3.72 0.130 3669 379.8 102.3 - - 2391 - - - - - - - - 10.95 10.96 11.06
25002 303.1 10.4 697 25007 done 0.80 0.17 0.203 3165 -141.2 3.25 0.043 2254 -435.4 102.3 - - 2391 - - - - - - - - 10.95 11.08 11.09
25359 275.8 7.3 706 25393 roll 0.82 - - 3165 - 3.83 0.132 3671 370.0 120.1 26.40 1.287 2312 -3.0 0.155 - - - - - - 11.24 10.90 10.45
25415 271.3 8.5 714 25421 done 0.82 - - 3175 - 3.30 0.043 2250 -430.6 120.1 - - 2307 - - - - - - - - 11.10 11.06 11.12
25751 241.2 9.0 727 25756 roll 0.82 - - 3186 - 3.38 0.054 848 -414.8 120.1 - - 2305 - - - - - - - - 11.23 11.03 11.23
25807 236.1 9.0 735 25812 done 0.82 - - 3186 - 3.42 0.059 2257 412.0 120.1 - - 2304 - - - - - - - - 11.12 11.00 11.13
26144 208.6 8.1 748 26145 done 0.83 - - 3186 - - - 2255 - 124.5 - - 2304 - - - - - - - - 11.23 11.24 11.23
26479 179.4 8.8 754 26480 done 0.83 - - 3186 - - - 2257 - 124.5 - - 2304 - - - - - - - - 11.24 11.24 11.23
26815 153.4 7.5 760 26843 roll 0.85 - - 3186 - 3.83 0.135 3663 367.1 139.0 21.88 1.126 2238 -3.0 0.099 - - - - - - 11.24 10.88 10.50
26899 146.5 8.9 772 26904 done 0.85 - - 3196 - 3.28 0.042 2245 -432.3 139.0 - - 2233 - - - - - - - - 11.12 11.07 11.13
27256 114.2 9.2 781 27261 roll 0.85 - - 3207 - 3.35 0.055 850 -416.4 139.0 - - 2231 - - - - - - - - 11.24 11.03 11.24
27312 108.9 9.5 789 27318 done 0.85 0.15 0.196 3176 -206.7 3.40 0.057 2255 413.2 139.0 - - 2230 - - - - - - - - 10.97 11.00 11.11
27653 83.7 7.2 806 27675 roll 0.87 - - 3177 - 3.78 0.129 3668 373.8 158.5 12.40 0.349 2174 -4.5 0.261 - - - - - - 11.23 10.93 10.84
27704 79.3 8.4 814 27715 done 0.87 - - 3187 - 3.28 0.043 2247 -433.2 158.5 2.75 0.183 2170 -1.5 0.152 - - - - - - 11.12 11.07 10.93
28041 58.3 5.6 829 28087 roll 0.93 - - 3197 - 3.38 0.053 848 -413.9 204.8 41.08 0.321 1984 -4.5 0.198 - - - - - - 11.24 11.01 10.85
28237 46.9 6.8 857 28268 done 1.09 0.12 0.080 3251 450.0 3.40 0.054 2262 415.9 230.6 22.98 0.282 1880 -4.5 0.182 - - - - - - 11.08 11.00 10.88
28606 32.1 3.9 876 28676 roll 1.27 0.10 0.093 3303 520.0 3.78 0.129 3673 373.3 306.0 59.80 0.245 1581 -5.0 0.158 - - - - - - 11.07 10.93 10.90
28731 24.4 7.1 894 28753 done 1.29 - - 3313 - 3.28 0.041 2239 -437.2 326.2 16.85 0.217 1500 -4.8 0.130 - - - - - - 11.12 11.07 10.93
28981 end climb: SURFACE_DEPTH_REACHED
28981 begin surface coast
29013 end surface coast: CONTROL_FINISHED_OK
29013 begin surface
SM -3.27 - - - - -8.40 12.35 0.069 185 15.0 1.40 0.093 2771 -4630.7 500.14 118.95 0.132 808 6.8 0.017 - - - - - -