SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 855 * Raw log
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• Previous call tries 1 • 284.85 of 350.00 AH used of 24V (18.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.7 deg, depth -3.81 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: 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 - - 106 - - - 2788 - -97.3 -83.07 - 3189 - - - - - - - - 11.21 10.45 11.21
105 -0.4 -5.9 3 132 roll -1.04 18.70 0.375 2556 131.0 3.38 0.034 1358 -423.1 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
191 26.3 -19.7 16 196 done -0.81 0.47 0.246 2632 161.7 3.55 0.082 2763 395.8 -97.3 - - 3191 - - - - - - - - 10.91 10.99 11.07
520 60.3 -4.7 30 525 roll -0.81 - - 2623 - 2.75 0.132 3830 388.0 -97.3 - - 3192 - - - - - - - - 11.24 10.98 11.24
653 67.0 -1.4 49 659 done -0.81 - - 2619 - 2.38 0.044 2753 -452.5 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
968 85.1 -2.7 61 973 roll -0.81 - - 2623 - 3.22 0.036 1366 -430.7 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.25
1108 94.2 -6.5 81 1113 done -0.81 - - 2613 - 3.47 0.071 2766 403.5 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.14
1472 117.4 -6.5 92 1477 roll -0.81 - - 2605 - 2.72 0.129 3829 390.8 -97.3 - - 3192 - - - - - - - - 11.25 10.98 11.24
1535 121.5 -7.3 101 1540 done -0.81 0.15 0.212 2635 200.0 2.38 0.044 2756 -450.8 -97.3 - - 3192 - - - - - - - - 10.97 11.10 11.10
1864 140.5 -6.9 113 1869 roll -0.81 - - 2635 - 3.25 0.038 1370 -426.5 -97.3 - - 3190 - - - - - - - - 11.24 11.06 11.24
1913 144.4 -7.3 120 1919 done -0.81 - - 2625 - 3.47 0.075 2761 400.9 -97.3 - - 3189 - - - - - - - - 11.12 11.02 11.13
2256 172.1 -8.2 127 2261 roll -0.81 - - 2617 - 2.78 0.133 3832 385.3 -97.3 - - 3188 - - - - - - - - 11.24 10.99 11.24
2326 177.5 -6.6 137 2330 done -0.81 - - 2617 - 2.40 0.044 2755 -448.8 -97.3 - - 3188 - - - - - - - - 11.14 11.11 11.15
2648 202.3 -7.2 148 2653 roll -0.81 - - 2616 - 3.25 0.037 1370 -426.2 -97.3 - - 3186 - - - - - - - - 11.25 11.07 11.25
2802 215.7 -4.2 170 2808 done -0.81 0.10 0.226 2629 130.0 3.47 0.076 2761 400.9 -97.3 - - 3184 - - - - - - - - 10.96 11.02 11.11
3152 242.9 -6.6 178 3153 done -0.81 - - 2629 - - - 2759 - -97.3 - - 3183 - - - - - - - - 11.25 11.26 11.25
3488 263.8 -5.7 184 3493 roll -0.81 - - 2629 - 3.33 0.037 1364 -418.9 -97.3 - - 3181 - - - - - - - - 11.25 11.07 11.25
3530 266.9 -3.2 190 3537 done -0.81 - - 2619 - 3.50 0.078 2759 398.6 -97.3 - - 3181 - - - - - - - - 11.13 11.02 11.14
3881 288.8 -6.0 198 3881 done -0.81 - - 2619 - - - 2759 - -97.3 - - 3180 - - - - - - - - 11.25 11.25 11.25
4216 312.9 -7.0 204 4222 roll -0.81 - - 2619 - 3.30 0.036 1371 -420.6 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.25
4321 322.4 -11.9 219 4327 done -0.81 - - 2609 - 3.47 0.078 2751 397.7 -97.3 - - 3177 - - - - - - - - 11.12 11.01 11.13
4665 343.0 -6.5 226 4671 roll -0.81 - - 2601 - 2.83 0.138 3834 382.7 -97.3 - - 3175 - - - - - - - - 11.25 11.00 11.25
4727 349.0 -8.8 235 4732 done -0.81 0.17 0.213 2635 200.0 2.45 0.047 2753 -441.2 -97.3 - - 3175 - - - - - - - - 10.98 11.10 11.11
5057 367.7 -7.0 247 5062 roll -0.81 - - 2634 - 3.30 0.037 1361 -421.8 -97.3 - - 3174 - - - - - - - - 11.25 11.09 11.25
5133 373.4 -10.6 258 5140 done -0.81 - - 2624 - 3.50 0.076 2753 397.7 -97.3 - - 3174 - - - - - - - - 11.13 11.02 11.14
5449 392.9 -5.7 268 5449 done -0.81 - - 2625 - - - 2753 - -97.3 - - 3173 - - - - - - - - 11.24 11.25 11.25
5785 414.8 -6.6 274 5790 roll -0.81 - - 2624 - 3.35 0.037 1354 -417.6 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.25
5819 417.6 -9.7 279 5824 done -0.81 - - 2614 - 3.53 0.078 2751 395.8 -97.3 - - 3171 - - - - - - - - 11.13 11.02 11.14
6177 439.5 -5.8 288 6182 roll -0.81 - - 2614 - 3.33 0.037 1362 -417.1 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.25
6218 444.3 -4.3 294 6225 done -0.81 0.15 0.220 2633 126.7 3.50 0.077 2752 397.1 -97.3 - - 3170 - - - - - - - - 10.98 11.02 11.11
6340 end dive: TARGET_DEPTH_EXCEEDED
6340 begin apogee
6351 451.0 -5.2 298 6466 roll -0.23 0.90 0.178 2820 207.8 0.12 0.144 2264 -4066.7 - 111.95 1.507 2799 -3.3 0.240 - - - - - - 10.99 10.95 10.43
6467 end apogee: CONTROL_FINISHED_OK
6467 begin loiter
6699 478.9 1.2 333 6703 done -0.23 - - 2820 - - - 2264 - - - - 2788 - - - - - - - - 11.23 11.24 11.24
7028 474.1 1.5 345 7030 done -0.60 0.38 0.051 2709 -292.1 - - 2264 - - - - 2786 - - - - - - - - 11.07 11.13 11.12
7364 470.7 0.8 351 7365 done -0.77 0.15 0.064 2647 -413.3 - - 2264 - -14.4 - - 2785 - - - - - - - - 11.10 11.14 11.14
7700 468.8 0.4 357 7701 done -0.78 - - 2648 - - - 2264 - -21.1 - - 2784 - - - - - - - - 11.26 11.26 11.26
8036 465.9 1.0 363 8036 done -0.78 - - 2647 - - - 2264 - -21.1 - - 2783 - - - - - - - - 11.26 11.26 11.26
8372 460.2 2.0 369 8372 done -0.78 - - 2647 - - - 2264 - -21.1 - - 2783 - - - - - - - - 11.26 11.26 11.26
8708 454.2 1.7 375 8709 done -0.78 - - 2647 - - - 2264 - -21.1 - - 2782 - - - - - - - - 11.26 11.26 11.26
9044 450.3 1.0 381 9044 done -0.78 - - 2647 - - - 2264 - -21.1 - - 2781 - - - - - - - - 11.27 11.26 11.26
9380 449.0 0.3 387 9381 done -0.78 - - 2647 - - - 2264 - -26.6 - - 2781 - - - - - - - - 11.26 11.27 11.27
9716 446.3 1.0 393 9717 done -0.80 - - 2647 - - - 2264 - -42.9 - - 2780 - - - - - - - - 11.27 11.27 11.27
10052 440.4 1.9 399 10053 done -0.80 - - 2647 - - - 2264 - -42.9 - - 2780 - - - - - - - - 11.27 11.27 11.27
10388 434.5 1.7 405 10389 done -0.80 - - 2647 - - - 2264 - -42.9 - - 2779 - - - - - - - - 11.27 11.27 11.28
10724 433.8 0.1 411 10725 done -0.80 - - 2647 - - - 2263 - -44.5 - - 2779 - - - - - - - - 11.28 11.27 11.27
11060 434.2 -0.2 417 11061 done -0.80 - - 2647 - - - 2264 - -41.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
11396 435.9 - 423 11397 done -0.80 - - 2647 - - - 2264 - -41.1 - - 2778 - - - - - - - - 11.28 11.28 11.28
11732 432.4 1.0 429 11733 done -0.80 - - 2648 - - - 2264 - -41.1 - - 2778 - - - - - - - - 11.28 11.28 11.28
12068 428.8 1.2 435 12069 done -0.80 - - 2647 - - - 2264 - -41.1 - - 2778 - - - - - - - - 11.28 11.28 11.28
12404 426.5 0.4 441 12405 done -0.81 - - 2647 - - - 2264 - -47.5 - - 2778 - - - - - - - - 11.28 11.28 11.28
12740 428.7 -0.6 447 12741 done -0.79 - - 2647 - - - 2264 - -36.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
13076 434.1 -1.8 453 13077 done -0.76 - - 2647 - - - 2264 - -5.4 - - 2778 - - - - - - - - 11.28 11.29 11.29
13412 437.2 -0.7 459 13413 done -0.74 - - 2647 - - - 2264 - 6.0 - - 2777 - - - - - - - - 11.28 11.28 11.29
13748 434.5 1.5 465 13749 done -0.74 - - 2647 - - - 2264 - 6.0 - - 2777 - - - - - - - - 11.28 11.28 11.27
14084 431.2 0.8 471 14085 done -0.76 - - 2647 - - - 2264 - -8.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
14420 429.5 0.4 477 14421 done -0.77 - - 2647 - - - 2264 - -14.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
14756 428.6 0.3 483 14757 done -0.77 - - 2648 - - - 2264 - -19.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
15092 428.3 0.3 489 15093 done -0.78 - - 2647 - - - 2264 - -24.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
15428 429.9 0.2 495 15429 done -0.78 - - 2647 - - - 2264 - -28.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
15764 433.7 -0.2 501 15765 done -0.78 - - 2647 - - - 2264 - -24.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
16100 433.8 0.1 507 16101 done -0.78 - - 2647 - - - 2264 - -26.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
16436 435.2 0.1 513 16437 done -0.78 - - 2648 - - - 2264 - -26.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
16772 433.6 0.8 519 16773 done -0.80 - - 2647 - - - 2264 - -40.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
17108 432.5 0.2 525 17109 done -0.81 - - 2647 - - - 2264 - -44.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
17444 434.1 -0.5 531 17445 done -0.79 - - 2647 - - - 2264 - -36.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
17780 435.4 -0.2 537 17781 done -0.79 - - 2648 - - - 2264 - -32.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
18116 438.0 -0.2 543 18117 done -0.78 - - 2648 - - - 2264 - -28.3 - - 2777 - - - - - - - - 11.29 11.29 11.28
18452 435.6 0.9 549 18453 done -0.80 - - 2647 - - - 2264 - -44.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
18788 431.7 1.1 555 18789 done -0.80 - - 2647 - - - 2264 - -44.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
19124 429.6 0.5 561 19125 done -0.82 - - 2647 - - - 2264 - -53.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
19460 429.6 0.1 567 19461 done -0.82 - - 2647 - - - 2264 - -55.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
19796 431.8 -0.5 573 19797 done -0.81 - - 2647 - - - 2264 - -46.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
20132 432.7 0.2 579 20133 done -0.81 - - 2647 - - - 2264 - -49.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
20468 430.1 1.1 585 20468 done -0.81 - - 2647 - - - 2264 - -49.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
20804 427.2 1.1 591 20805 done -0.81 - - 2647 - - - 2264 - -49.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
21140 429.1 -0.3 597 21141 done -0.80 - - 2647 - - - 2264 - -43.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
21476 429.7 -0.1 603 21477 done -0.80 - - 2647 - - - 2264 - -41.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
21812 429.2 0.5 609 21813 done -0.81 - - 2648 - - - 2264 - -50.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
22148 424.4 1.5 615 22149 done -0.81 - - 2647 - - - 2264 - -50.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
22484 421.5 0.9 621 22485 done -0.83 - - 2647 - - - 2264 - -65.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
22820 420.6 0.1 627 22821 done -0.83 - - 2647 - - - 2264 - -68.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
23156 421.7 -0.3 633 23157 done -0.83 - - 2647 - - - 2264 - -63.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
23492 423.6 -0.5 639 23493 done -0.82 - - 2647 - - - 2264 - -54.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
23828 427.1 -0.9 645 23829 done -0.80 - - 2647 - - - 2264 - -39.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
24164 428.5 -0.4 651 24165 done -0.79 - - 2647 - - - 2264 - -32.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
24495 end loiter: LOITER_COMPLETE
24495 begin climb
24500 427.6 - 657 24625 roll 1.04 2.67 0.172 3215 212.7 3.75 0.122 3652 370.1 97.3 116.05 1.463 2404 -3.2 0.227 - - - - - - 11.01 10.86 10.41
24749 411.1 10.6 692 24755 done 0.92 0.15 0.212 3197 -120.0 3.20 0.041 2269 -432.2 97.3 - - 2395 - - - - - - - - 10.93 11.05 11.09
25064 383.2 8.5 702 25070 roll 0.92 - - 3207 - 3.42 0.053 852 -414.3 97.3 - - 2392 - - - - - - - - 11.23 11.02 11.22
25092 380.5 9.4 706 25098 done 0.92 - - 3206 - 3.35 0.054 2243 415.2 97.3 - - 2391 - - - - - - - - 11.11 11.01 11.13
25457 349.4 8.7 716 25457 done 0.92 - - 3207 - - - 2243 - 97.3 - - 2391 - - - - - - - - 11.24 11.23 11.24
25793 323.2 8.0 722 25798 roll 0.92 - - 3207 - 3.75 0.127 3665 379.2 102.3 - - 2391 - - - - - - - - 11.24 10.94 11.24
25828 320.7 7.6 727 25855 done 0.84 0.22 0.202 3174 -150.0 3.28 0.041 2245 -432.9 114.5 19.67 1.335 2338 -2.7 0.156 - - - - - - 10.96 11.07 10.42
26189 293.2 7.9 743 26198 roll 0.85 - - 3184 - 3.38 0.053 853 -411.8 121.8 2.62 0.578 2315 -8.8 1.076 - - - - - - 11.23 11.02 10.40
26262 287.5 9.3 754 26269 done 0.85 - - 3184 - 3.38 0.055 2254 414.5 121.8 1.55 0.179 2315 - - - - - - - - 11.11 11.00 10.98
26578 260.4 8.6 764 26583 roll 0.85 - - 3184 - 3.70 0.127 3660 380.0 121.8 - - 2322 - - - - - - - - 11.24 10.93 11.23
26627 255.5 10.4 771 26633 done 0.85 - - 3195 - 3.28 0.041 2242 -432.3 121.8 - - 2326 - - - - - - - - 11.13 11.08 11.14
26970 223.6 9.4 778 26970 done 0.85 - - 3194 - - - 2238 - 121.8 - - 2322 - - - - - - - - 11.24 11.24 11.25
27306 193.6 8.9 784 27306 done 0.85 - - 3195 - - - 2238 - 121.8 - - 2322 - - - - - - - - 11.24 11.24 11.24
27642 167.2 7.7 790 27664 done 0.86 - - 3194 - - - 2237 - 132.8 21.40 1.144 2269 -2.5 0.087 - - - - - - 11.24 11.00 10.50
27978 139.7 8.4 796 27978 done 0.86 - - 3194 - - - 2238 - 132.8 - - 2253 - - - - - - - - 11.24 11.24 11.24
28314 109.2 9.1 802 28320 roll 0.86 - - 3195 - 3.78 0.125 3664 377.2 132.8 - - 2254 - - - - - - - - 11.24 10.95 11.24
28370 104.0 9.5 810 28376 done 0.86 - - 3205 - 3.25 0.042 2240 -438.2 132.8 - - 2253 - - - - - - - - 11.13 11.08 11.14
28706 77.6 6.9 828 28732 roll 0.89 - - 3216 - 3.42 0.055 850 -406.4 157.8 16.80 0.359 2178 -4.5 0.233 - - - - - - 11.24 11.01 10.84
28818 69.9 6.3 844 28857 done 0.93 - - 3216 - 3.35 0.054 2242 415.5 192.4 32.12 0.355 2033 -4.5 0.215 - - - - - - 11.11 11.02 10.83
29187 47.9 5.3 863 29239 roll 1.00 - - 3225 - 3.45 0.052 849 -403.8 244.1 44.55 0.296 1831 -4.5 0.177 - - - - - - 11.22 11.01 10.87
29470 34.3 2.7 904 29559 done 1.28 0.25 0.054 3312 348.0 3.28 0.050 2231 421.3 340.2 79.12 0.252 1445 -4.9 0.160 - - - - - - 11.08 11.02 10.90
29883 5.4 6.6 930 29917 roll 1.32 - - 3312 - 3.85 0.134 3655 369.9 370.1 23.75 0.158 1325 -5.1 0.042 - - - - - - 11.23 10.90 10.96
29927 end climb: SURFACE_DEPTH_REACHED
29927 begin surface coast
29934 end surface coast: CONTROL_FINISHED_OK
29934 begin surface
SM -2.88 - - - - -8.40 12.57 0.081 201 16.0 2.10 0.045 2737 -2736.7 500.14 89.40 0.133 808 9.0 0.020 - - - - - -