SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 863 * Raw log
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• Previous call tries 2 • 286.70 of 350.00 AH used of 24V (18.09% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.8 deg, depth -5.65 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 16 s
• GPS2 time: 3 s • Transponder ping count: 5
• 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 - - 106 - - - 2786 - -97.3 -81.38 - 3189 - - - - - - - - 11.21 10.45 11.22
104 -1.8 -7.0 3 128 roll -1.04 18.52 0.372 2556 132.3 3.33 0.034 1370 -425.2 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.06
213 30.7 -19.8 19 218 done -0.80 0.50 0.252 2635 158.0 3.50 0.078 2767 399.1 -97.3 - - 3192 - - - - - - - - 10.92 11.00 11.07
549 62.8 -6.8 34 555 roll -0.80 - - 2634 - 3.28 0.034 1361 -428.7 -97.3 - - 3193 - - - - - - - - 11.26 11.06 11.25
682 73.3 -7.1 53 688 done -0.80 - - 2625 - 3.45 0.067 2773 409.3 -97.3 - - 3192 - - - - - - - - 11.12 11.02 11.14
997 90.3 -5.2 65 1002 roll -0.80 - - 2616 - 2.65 0.117 3829 398.5 -97.3 - - 3193 - - - - - - - - 11.26 11.00 11.26
1067 93.8 -6.2 75 1072 done -0.80 - - 2617 - 2.35 0.037 2750 -459.1 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.15
1417 116.9 -7.1 85 1422 roll -0.80 - - 2616 - 3.15 0.035 1370 -438.1 -97.3 - - 3191 - - - - - - - - 11.26 11.07 11.26
1522 125.5 -7.5 100 1528 done -0.80 0.15 0.216 2636 133.3 3.42 0.067 2759 406.1 -97.3 - - 3191 - - - - - - - - 10.97 11.03 11.10
1865 151.7 -7.8 107 1870 roll -0.80 - - 2628 - 2.70 0.120 3831 397.0 -97.3 - - 3189 - - - - - - - - 11.27 11.01 11.26
1907 155.2 -8.7 113 1912 done -0.80 - - 2628 - 2.38 0.039 2752 -453.4 -97.3 - - 3189 - - - - - - - - 11.15 11.12 11.16
2257 182.1 -7.5 121 2262 roll -0.80 - - 2627 - 3.22 0.037 1372 -428.6 -97.3 - - 3186 - - - - - - - - 11.27 11.07 11.27
2341 188.8 -8.3 133 2346 done -0.80 - - 2618 - 3.45 0.070 2764 403.5 -97.3 - - 3186 - - - - - - - - 11.13 11.04 11.14
2705 219.0 -8.4 143 2710 roll -0.80 - - 2610 - 2.70 0.119 3832 395.6 -97.3 - - 3184 - - - - - - - - 11.27 11.00 11.27
2733 221.3 -8.0 147 2738 done -0.80 0.12 0.210 2634 200.0 2.40 0.040 2751 -450.4 -97.3 - - 3184 - - - - - - - - 10.98 11.12 11.11
3097 246.7 -7.0 157 3098 done -0.80 - - 2633 - - - 2751 - -97.3 - - 3181 - - - - - - - - 11.27 11.27 11.27
3433 269.4 -6.7 163 3438 roll -0.80 - - 2634 - 3.25 0.035 1361 -427.7 -97.3 - - 3179 - - - - - - - - 11.27 11.07 11.28
3468 272.1 -7.0 168 3473 done -0.80 - - 2625 - 3.47 0.068 2760 403.2 -97.3 - - 3179 - - - - - - - - 11.14 11.05 11.15
3825 297.7 -7.3 177 3826 done -0.80 - - 2624 - - - 2759 - -97.3 - - 3177 - - - - - - - - 11.27 11.28 11.28
4161 324.1 -7.8 183 4166 roll -0.80 - - 2623 - 3.33 0.036 1357 -421.0 -97.3 - - 3175 - - - - - - - - 11.27 11.08 11.28
4280 333.8 -7.5 200 4285 done -0.80 - - 2614 - 3.50 0.070 2761 401.1 -97.3 - - 3174 - - - - - - - - 11.14 11.05 11.15
4609 361.0 -8.1 212 4614 roll -0.80 - - 2613 - 3.30 0.035 1365 -423.0 -97.3 - - 3173 - - - - - - - - 11.27 11.08 11.28
4644 364.4 -9.5 217 4649 done -0.80 0.17 0.210 2638 147.1 3.45 0.071 2755 402.9 -97.3 - - 3173 - - - - - - - - 10.99 11.03 11.12
5001 389.6 -7.0 226 5002 done -0.80 - - 2638 - - - 2755 - -97.3 - - 3172 - - - - - - - - 11.28 11.28 11.28
5337 411.8 -6.4 232 5342 roll -0.80 - - 2638 - 3.30 0.037 1364 -421.5 -97.3 - - 3170 - - - - - - - - 11.28 11.08 11.28
5456 419.1 -6.7 249 5461 done -0.88 - - 2627 - 3.47 0.073 2754 400.6 -97.3 - - 3170 - - - - - - - - 11.14 11.03 11.15
5785 439.9 -6.5 261 5786 done -0.88 - - 2628 - - - 2754 - -97.3 - - 3168 - - - - - - - - 11.28 11.28 11.28
5948 end dive: TARGET_DEPTH_EXCEEDED
5948 begin apogee
5959 451.0 -6.6 264 6072 roll -0.23 0.93 0.181 2819 205.4 - - 2243 - - 110.32 1.485 2800 -3.3 0.245 - - - - - - 11.00 11.00 10.43
6073 end apogee: CONTROL_FINISHED_OK
6073 begin loiter
6304 452.4 1.1 299 6309 done -0.23 - - 2819 - - - 2243 - - - - 2788 - - - - - - - - 11.24 11.24 11.24
6634 446.0 2.0 311 6635 done -0.59 0.35 0.049 2713 -302.9 - - 2243 - - - - 2787 - - - - - - - - 11.08 11.14 11.13
6970 443.1 0.7 317 6971 done -0.76 0.15 0.062 2645 -453.3 - - 2243 - -12.1 - - 2785 - - - - - - - - 11.11 11.15 11.14
7306 443.1 -0.2 323 7306 done -0.76 - - 2645 - - - 2243 - -8.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7642 442.8 0.2 329 7642 done -0.76 - - 2646 - - - 2243 - -12.3 - - 2783 - - - - - - - - 11.26 11.27 11.26
7978 440.2 0.9 335 7978 done -0.78 - - 2646 - - - 2243 - -27.6 - - 2782 - - - - - - - - 11.26 11.27 11.27
8313 434.4 1.7 341 8314 done -0.78 - - 2646 - - - 2243 - -27.6 - - 2782 - - - - - - - - 11.27 11.27 11.27
8650 428.8 1.7 347 8650 done -0.78 - - 2646 - - - 2243 - -27.6 - - 2781 - - - - - - - - 11.27 11.27 11.27
8986 425.8 0.8 353 8987 done -0.80 - - 2646 - - - 2243 - -41.3 - - 2781 - - - - - - - - 11.27 11.28 11.27
9322 422.5 1.0 359 9322 done -0.80 - - 2645 - - - 2243 - -41.3 - - 2779 - - - - - - - - 11.27 11.28 11.27
9658 421.0 0.5 365 9658 done -0.81 - - 2646 - - - 2243 - -49.5 - - 2779 - - - - - - - - 11.28 11.28 11.28
9994 420.4 0.2 371 9994 done -0.81 - - 2646 - - - 2243 - -53.1 - - 2779 - - - - - - - - 11.28 11.28 11.28
10330 420.7 - 377 10330 done -0.81 - - 2645 - - - 2243 - -52.4 - - 2778 - - - - - - - - 11.28 11.30 11.28
10666 418.9 0.7 383 10666 done -0.83 - - 2646 - - - 2243 - -64.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
11001 415.1 1.2 389 11002 done -0.83 - - 2646 - - - 2243 - -64.8 - - 2778 - - - - - - - - 11.30 11.29 11.28
11338 411.8 0.9 395 11338 done -0.85 - - 2646 - - - 2243 - -79.9 - - 2778 - - - - - - - - 11.28 11.28 11.28
11674 410.1 0.1 401 11674 done -0.85 - - 2646 - - - 2243 - -81.5 - - 2778 - - - - - - - - 11.29 11.28 11.29
12010 411.4 -0.2 407 12011 done -0.84 - - 2645 - - - 2243 - -77.9 - - 2778 - - - - - - - - 11.29 11.28 11.29
12346 414.1 -0.8 413 12346 done -0.83 - - 2646 - - - 2243 - -65.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
12682 416.0 -0.5 419 12682 done -0.82 - - 2646 - - - 2243 - -56.6 - - 2778 - - - - - - - - 11.29 11.29 11.28
13017 412.5 1.3 425 13018 done -0.82 - - 2646 - - - 2243 - -56.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
13353 408.3 1.2 431 13354 done -0.82 - - 2646 - - - 2243 - -56.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
13690 406.9 0.3 437 13690 done -0.83 - - 2646 - - - 2243 - -62.4 - - 2777 - - - - - - - - 11.29 11.28 11.29
14026 408.6 -0.4 443 14027 done -0.82 - - 2646 - - - 2243 - -55.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
14362 408.2 0.3 449 14362 done -0.82 - - 2646 - - - 2243 - -60.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
14698 406.2 0.9 455 14698 done -0.84 - - 2646 - - - 2243 - -76.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
15034 404.6 0.6 461 15034 done -0.86 - - 2646 - - - 2243 - -87.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
15370 403.6 0.2 467 15370 done -0.86 - - 2646 - - - 2243 - -90.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15706 403.6 0.2 473 15706 done -0.87 - - 2646 - - - 2243 - -94.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
16042 403.2 -0.2 479 16042 done -0.86 - - 2646 - - - 2243 - -92.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
16378 405.1 -0.7 485 16378 done -0.85 - - 2646 - - - 2243 - -81.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
16714 407.3 -0.9 491 16714 done -0.83 - - 2646 - - - 2243 - -65.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
17050 405.7 0.7 497 17050 done -0.84 - - 2646 - - - 2243 - -76.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
17385 401.0 1.7 503 17386 done -0.84 - - 2646 - - - 2243 - -76.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
17721 397.2 1.1 509 17722 done -0.84 - - 2646 - - - 2243 - -76.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
18058 395.8 0.4 515 18058 done -0.85 - - 2646 - - - 2243 - -82.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
18394 395.3 0.2 521 18394 done -0.85 - - 2646 - - - 2243 - -85.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
18730 395.5 - 527 18731 done -0.85 - - 2646 - - - 2243 - -85.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
19066 398.3 -0.9 533 19067 done -0.84 - - 2646 - - - 2243 - -70.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
19402 400.0 -0.7 539 19402 done -0.82 - - 2645 - - - 2243 - -58.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
19738 400.7 - 545 19738 done -0.82 - - 2646 - - - 2243 - -57.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
20074 401.4 -0.1 551 20074 done -0.82 - - 2645 - - - 2243 - -56.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20410 402.5 -0.1 557 20410 done -0.82 - - 2645 - - - 2244 - -54.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20746 403.5 -0.1 563 20746 done -0.81 - - 2646 - - - 2243 - -52.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
21082 403.4 0.1 569 21082 done -0.82 - - 2646 - - - 2243 - -55.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
21418 404.0 -0.2 575 21418 done -0.81 - - 2646 - - - 2243 - -52.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
21754 404.1 0.2 581 21754 done -0.82 - - 2646 - - - 2243 - -55.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
22090 404.1 -0.2 587 22091 done -0.81 - - 2645 - - - 2243 - -52.9 - - 2776 - - - - - - - - 11.29 11.29 11.30
22426 404.6 - 593 22426 done -0.81 - - 2646 - - - 2243 - -53.2 - - 2776 - - - - - - - - 11.29 11.29 11.30
22762 406.1 -0.4 599 22762 done -0.81 - - 2646 - - - 2243 - -45.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
23098 407.6 -0.4 605 23098 done -0.80 - - 2645 - - - 2243 - -38.9 - - 2776 - - - - - - - - 11.29 11.29 11.30
23434 408.6 -0.2 611 23434 done -0.79 - - 2646 - - - 2243 - -34.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
23770 408.8 - 617 23771 done -0.79 - - 2646 - - - 2243 - -34.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
24100 end loiter: LOITER_COMPLETE
24101 begin climb
24106 409.2 - 623 24235 roll 1.04 2.65 0.171 3226 218.9 3.45 0.052 857 -401.7 97.3 116.05 1.450 2404 -3.2 0.219 - - - - - - 11.02 10.96 10.39
24383 391.8 8.1 662 24389 done 1.05 - - 3225 - 3.35 0.052 2250 415.8 100.8 - - 2394 - - - - - - - - 11.10 11.00 11.11
24726 360.7 9.0 669 24732 roll 0.96 - - 3236 - 3.38 0.051 856 -412.4 100.8 - - 2392 - - - - - - - - 11.23 11.03 11.22
24754 358.0 9.5 673 24760 done 0.88 0.25 0.210 3187 -196.0 3.35 0.054 2248 415.5 100.8 - - 2391 - - - - - - - - 10.94 11.01 11.09
25118 331.6 7.1 683 25152 roll 0.90 - - 3187 - 3.70 0.116 3672 384.9 121.1 28.27 1.379 2310 -2.9 0.167 - - - - - - 11.24 10.90 10.44
25216 323.2 8.6 697 25222 done 0.90 - - 3198 - 3.22 0.036 2257 -439.4 121.1 - - 2303 - - - - - - - - 11.11 11.09 11.12
25559 294.6 8.4 704 25565 roll 0.90 - - 3208 - 3.38 0.052 846 -417.5 121.1 - - 2300 - - - - - - - - 11.24 11.03 11.24
25622 289.6 7.7 713 25634 done 0.92 - - 3208 - 3.38 0.053 2252 416.0 132.3 5.15 1.095 2274 -5.0 0.323 - - - - - - 11.12 11.00 10.45
25952 260.0 8.7 725 25955 done 0.92 - - 3208 - - - 2251 - 132.3 2.55 0.536 2272 - - - - - - - - 11.24 11.05 10.41
26287 231.4 8.6 731 26293 roll 0.92 - - 3208 - 3.65 0.116 3661 386.3 132.3 - - 2281 - - - - - - - - 11.24 10.95 11.24
26322 226.9 13.0 736 26328 done 0.92 - - 3218 - 3.25 0.037 2241 -436.9 132.3 - - 2281 - - - - - - - - 11.13 11.08 11.14
26679 194.0 9.3 745 26684 roll 0.92 - - 3229 - 3.35 0.054 847 -416.1 132.3 - - 2281 - - - - - - - - 11.24 11.03 11.24
26714 190.9 8.1 750 26726 done 0.92 0.15 0.196 3199 -200.0 3.35 0.053 2246 417.6 136.2 4.62 0.970 2259 -4.8 0.227 - - - - - - 10.97 11.02 10.43
27071 160.8 8.8 759 27076 done 0.92 - - 3198 - - - 2246 - 136.2 3.20 0.713 2255 -1.2 0.068 - - - - - - 11.24 11.06 10.46
27407 131.1 8.8 765 27408 done 0.92 - - 3198 - - - 2246 - 136.2 - - 2265 - - - - - - - - 11.24 11.24 11.24
27743 99.7 9.3 771 27749 roll 0.92 - - 3209 - 3.40 0.054 850 -410.6 136.2 - - 2266 - - - - - - - - 11.24 11.05 11.24
27764 97.9 9.5 774 27774 done 0.92 - - 3209 - 3.35 0.052 2252 418.5 136.2 2.20 0.167 2257 -4.1 0.580 - - - - - - 11.12 11.02 10.98
28107 69.1 7.5 790 28127 roll 0.94 - - 3208 - 3.62 0.116 3659 388.7 150.9 14.25 0.350 2204 -3.7 0.178 - - - - - - 11.24 10.93 10.84
28266 57.7 7.6 812 28286 done 0.96 - - 3219 - 3.22 0.036 2237 -441.6 163.6 14.00 0.317 2148 -4.0 0.176 - - - - - - 11.13 11.08 10.86
28616 39.5 4.2 829 28679 roll 1.04 - - 3229 - 3.30 0.051 856 -418.5 233.9 57.72 0.301 1871 -4.8 0.152 - - - - - - 11.24 11.02 10.87
28912 33.7 7.1 872 28939 done 1.23 0.17 0.067 3293 376.5 3.30 0.046 2250 422.4 254.3 17.98 0.270 1787 -4.7 0.141 - - - - - - 11.07 11.02 10.89
29253 18.2 4.3 887 29317 roll 1.31 - - 3302 - 3.42 0.056 859 -406.7 323.3 55.45 0.220 1512 -5.0 0.099 - - - - - - 11.23 11.00 10.93
29430 5.7 7.6 913 29449 done 1.43 0.15 0.063 3374 480.0 3.28 0.052 2239 420.7 336.1 11.20 0.177 1461 -4.6 0.035 - - - - - - 11.10 11.02 10.95
29460 end climb: SURFACE_DEPTH_REACHED
29460 begin surface coast
29467 end surface coast: CONTROL_FINISHED_OK
29467 begin surface
SM -9.26 - - - - -8.39 12.77 0.082 200 15.6 1.35 0.089 2772 -6413.3 500.14 112.15 0.139 808 7.2 0.049 - - - - - -