SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 867 * Raw log
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• Previous call tries 1 • 287.60 of 350.00 AH used of 24V (17.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 deg, depth -7.36 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 4 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 - - - 2784 - -97.3 -81.93 - 3190 - - - - - - - - 11.21 10.44 11.21
104 -3.9 -6.2 3 127 roll -1.04 18.65 0.374 2556 131.4 3.38 0.037 1359 -421.6 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
177 20.4 -23.2 14 183 done -0.80 0.50 0.248 2636 160.0 3.55 0.079 2768 396.9 -97.3 - - 3192 - - - - - - - - 10.92 10.97 11.07
506 58.9 -6.5 28 511 roll -0.80 - - 2628 - 2.72 0.128 3833 391.5 -97.3 - - 3191 - - - - - - - - 11.23 10.98 11.23
721 73.7 -7.1 58 726 done -0.80 - - 2628 - 2.40 0.043 2751 -450.8 -97.3 - - 3193 - - - - - - - - 11.13 11.10 11.14
1042 93.8 -6.7 71 1047 roll -0.80 - - 2628 - 3.22 0.036 1363 -431.1 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
1098 98.2 -7.8 79 1103 done -0.80 - - 2617 - 3.50 0.070 2777 404.0 -97.3 - - 3193 - - - - - - - - 11.12 11.00 11.12
1461 123.0 -6.5 89 1462 done -0.80 - - 2618 - - - 2777 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1797 146.5 -7.3 95 1798 done -0.80 - - 2618 - - - 2777 - -97.3 - - 3190 - - - - - - - - 11.25 11.25 11.24
2133 172.3 -7.6 101 2139 roll -0.80 - - 2617 - 3.38 0.039 1365 -417.8 -97.3 - - 3189 - - - - - - - - 11.24 11.06 11.25
2224 180.6 -8.1 114 2230 done -0.80 0.15 0.216 2637 133.3 3.53 0.073 2781 401.1 -97.3 - - 3188 - - - - - - - - 10.97 11.02 11.10
2581 209.0 -8.0 123 2582 done -0.80 - - 2637 - - - 2780 - -97.3 - - 3186 - - - - - - - - 11.24 11.24 11.24
2917 235.9 -8.1 129 2923 roll -0.80 - - 2629 - 2.70 0.129 3830 388.9 -97.3 - - 3183 - - - - - - - - 11.24 11.00 11.24
2959 239.5 -8.6 135 2964 done -0.80 - - 2628 - 2.40 0.044 2754 -448.3 -97.3 - - 3184 - - - - - - - - 11.14 11.11 11.16
3309 264.6 -7.0 143 3314 roll -0.80 - - 2628 - 3.25 0.036 1368 -426.5 -97.3 - - 3182 - - - - - - - - 11.24 11.07 11.24
3442 274.1 -7.2 162 3447 done -0.80 - - 2618 - 3.53 0.073 2779 399.7 -97.3 - - 3181 - - - - - - - - 11.12 11.02 11.14
3757 296.4 -7.1 172 3763 roll -0.80 - - 2617 - 3.35 0.036 1367 -421.5 -97.3 - - 3179 - - - - - - - - 11.25 11.07 11.25
3834 301.9 -7.1 183 3840 done -0.80 0.15 0.216 2636 126.7 3.50 0.075 2759 397.7 -97.3 - - 3179 - - - - - - - - 10.97 11.02 11.11
4149 324.4 -7.0 193 4155 roll -0.80 - - 2629 - 2.75 0.128 3830 389.5 -97.3 - - 3177 - - - - - - - - 11.25 11.00 11.25
4212 329.2 -7.8 202 4217 done -0.80 - - 2628 - 2.40 0.044 2761 -445.4 -97.3 - - 3178 - - - - - - - - 11.14 11.11 11.15
4542 352.1 -6.9 214 4546 roll -0.80 - - 2628 - 3.28 0.035 1365 -425.6 -97.3 - - 3175 - - - - - - - - 11.24 11.07 11.25
4597 355.9 -6.8 222 4602 done -0.80 - - 2618 - 3.53 0.073 2772 398.6 -97.3 - - 3174 - - - - - - - - 11.13 11.01 11.14
4934 382.4 -8.1 235 4939 roll -0.80 - - 2617 - 3.35 0.036 1361 -421.2 -97.3 - - 3175 - - - - - - - - 11.24 11.07 11.24
4982 386.6 -8.7 242 4989 done -0.80 0.15 0.214 2637 133.3 3.53 0.074 2763 397.2 -97.3 - - 3174 - - - - - - - - 10.98 11.02 11.11
5325 414.8 -8.3 249 5331 roll -0.80 - - 2628 - 2.78 0.135 3835 385.6 -97.3 - - 3172 - - - - - - - - 11.25 11.00 11.26
5353 417.3 -8.9 253 5359 done -0.80 - - 2628 - 2.45 0.047 2752 -442.0 -97.3 - - 3173 - - - - - - - - 11.15 11.11 11.16
5717 448.7 -8.6 263 5722 roll -0.80 - - 2628 - 3.30 0.037 1353 -423.9 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
5726 end dive: TARGET_DEPTH_EXCEEDED
5726 begin apogee
5739 450.0 -8.5 265 5854 roll -0.23 0.95 0.187 2817 198.9 - - 2254 - - 112.22 1.466 2802 -3.3 0.265 - - - - - - 10.98 10.99 10.45
5855 end apogee: CONTROL_FINISHED_OK
5855 begin loiter
6086 457.7 -0.2 300 6090 done -0.22 - - 2817 - - - 2254 - 3.7 - - 2788 - - - - - - - - 11.24 11.24 11.23
6416 454.6 1.2 312 6417 done -0.58 0.35 0.049 2709 -308.6 - - 2254 - 3.7 - - 2786 - - - - - - - - 11.07 11.13 11.12
6752 447.3 2.4 318 6753 done -0.73 0.10 0.083 2657 -520.0 - - 2254 - 3.7 - - 2785 - - - - - - - - 11.10 11.14 11.14
7087 439.0 2.4 324 7088 done -0.73 - - 2657 - - - 2253 - 3.7 - - 2784 - - - - - - - - 11.26 11.26 11.26
7423 434.1 1.2 330 7424 done -0.73 - - 2656 - - - 2254 - 3.7 - - 2783 - - - - - - - - 11.26 11.26 11.26
7759 432.3 0.6 336 7760 done -0.74 - - 2656 - - - 2254 - -6.0 - - 2782 - - - - - - - - 11.26 11.27 11.27
8095 430.0 0.7 342 8096 done -0.76 - - 2656 - - - 2254 - -17.8 - - 2781 - - - - - - - - 11.27 11.27 11.26
8431 428.1 0.6 348 8432 done -0.77 - - 2656 - - - 2254 - -27.6 - - 2782 - - - - - - - - 11.27 11.27 11.27
8767 427.0 0.2 354 8768 done -0.78 - - 2656 - - - 2254 - -30.8 - - 2781 - - - - - - - - 11.28 11.27 11.28
9103 426.5 0.2 360 9104 done -0.78 - - 2656 - - - 2254 - -34.3 - - 2780 - - - - - - - - 11.27 11.27 11.28
9440 427.0 -0.3 366 9441 done -0.77 - - 2657 - - - 2254 - -29.0 - - 2779 - - - - - - - - 11.27 11.27 11.27
9775 429.5 -0.8 372 9776 done -0.76 - - 2656 - - - 2254 - -15.9 - - 2778 - - - - - - - - 11.28 11.28 11.28
10112 430.6 -0.2 378 10112 done -0.75 - - 2657 - - - 2254 - -12.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
10448 429.5 0.4 384 10448 done -0.76 - - 2656 - - - 2254 - -19.7 - - 2778 - - - - - - - - 11.28 11.28 11.27
10784 427.4 0.6 390 10784 done -0.77 - - 2657 - - - 2254 - -30.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
11120 425.6 0.5 396 11120 done -0.79 - - 2656 - - - 2254 - -39.5 - - 2778 - - - - - - - - 11.29 11.28 11.29
11456 423.3 0.7 402 11456 done -0.80 - - 2656 - - - 2254 - -52.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
11792 421.3 0.5 408 11792 done -0.81 - - 2657 - - - 2254 - -61.1 - - 2778 - - - - - - - - 11.28 11.28 11.29
12128 421.1 - 414 12128 done -0.81 - - 2656 - - - 2254 - -61.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
12464 420.7 0.1 420 12464 done -0.82 - - 2656 - - - 2254 - -63.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
12800 419.4 0.4 426 12800 done -0.82 - - 2657 - - - 2254 - -70.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
13136 419.4 -0.1 432 13136 done -0.82 - - 2656 - - - 2254 - -68.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
13472 421.1 -0.6 438 13472 done -0.81 - - 2656 - - - 2254 - -58.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
13808 420.8 0.3 444 13808 done -0.82 - - 2657 - - - 2254 - -64.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
14143 417.0 1.1 450 14144 done -0.82 - - 2657 - - - 2254 - -64.7 - - 2777 - - - - - - - - 11.29 11.26 11.29
14480 418.6 -0.8 456 14480 done -0.80 - - 2656 - - - 2254 - -50.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
14816 424.4 -1.8 462 14816 done -0.76 - - 2657 - - - 2254 - -20.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
15151 426.8 -0.5 468 15152 done -0.75 - - 2657 - - - 2254 - -12.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
15488 426.1 0.3 474 15488 done -0.76 - - 2657 - - - 2254 - -18.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
15823 424.0 0.6 480 15824 done -0.77 - - 2656 - - - 2254 - -28.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
16160 422.7 0.4 486 16160 done -0.78 - - 2656 - - - 2254 - -34.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
16495 423.6 -0.4 492 16496 done -0.77 - - 2656 - - - 2254 - -27.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
16832 426.8 -1.0 498 16832 done -0.75 - - 2656 - - - 2254 - -10.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
17167 429.5 -0.7 504 17168 done -0.74 - - 2656 - - - 2254 - 1.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
17504 428.8 0.4 510 17504 done -0.74 - - 2656 - - - 2254 - -5.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
17839 427.1 0.5 516 17840 done -0.75 - - 2656 - - - 2254 - -13.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
18176 424.5 0.8 522 18176 done -0.77 - - 2657 - - - 2254 - -27.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
18511 420.9 1.1 528 18512 done -0.77 - - 2657 - - - 2254 - -27.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
18848 418.4 0.7 534 18848 done -0.79 - - 2656 - - - 2254 - -39.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
19184 416.6 0.4 540 19185 done -0.80 - - 2656 - - - 2254 - -47.3 - - 2776 - - - - - - - - 11.28 11.29 11.29
19520 417.0 -0.2 546 19520 done -0.79 - - 2656 - - - 2254 - -44.5 - - 2776 - - - - - - - - 11.29 11.29 11.30
19855 418.2 -0.4 552 19856 done -0.78 - - 2656 - - - 2254 - -37.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
20192 420.4 -0.7 558 20192 done -0.77 - - 2656 - - - 2254 - -25.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
20527 423.3 -0.9 564 20528 done -0.75 - - 2656 - - - 2254 - -10.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
20864 426.2 -0.9 570 20864 done -0.73 - - 2657 - - - 2254 - 4.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
21199 428.1 -0.4 576 21205 done -0.72 - - 2656 - - - 2254 - 11.3 4.03 1.083 2753 -5.7 0.592 - - - - - - 11.29 11.07 10.31
21535 423.7 1.6 582 21539 done -0.72 - - 2656 - - - 2254 - 11.3 2.40 0.508 2753 - - - - - - - - 11.29 11.08 10.33
21871 417.9 1.6 588 21875 done -0.72 - - 2656 - - - 2254 - 11.3 2.03 0.212 2753 - - - - - - - - 11.30 11.07 9.57
22207 414.2 1.0 594 22210 done -0.72 - - 2656 - - - 2253 - 11.3 1.95 0.178 2753 - - - - - - - - 11.29 11.14 11.02
22543 410.7 1.1 600 22546 done -0.72 - - 2656 - - - 2253 - 11.3 1.92 0.178 2753 - - - - - - - - 11.30 11.14 11.01
22880 408.3 0.6 606 22880 done -0.74 - - 2656 - - - 2254 - 0.6 - - 2763 - - - - - - - - 11.29 11.29 11.29
23215 409.1 -0.4 612 23216 done -0.73 - - 2656 - - - 2254 - 7.6 - - 2763 - - - - - - - - 11.29 11.29 11.29
23552 408.6 0.4 618 23552 done -0.74 - - 2656 - - - 2254 - 0.9 - - 2763 - - - - - - - - 11.29 11.29 11.29
23882 end loiter: LOITER_COMPLETE
23882 begin climb
23888 405.0 - 624 24016 roll 1.04 2.58 0.166 3225 220.5 3.53 0.050 845 -399.2 97.3 110.72 1.434 2401 -3.3 0.242 - - - - - - 11.02 10.96 10.41
24185 384.8 8.6 666 24190 done 1.04 - - 3226 - 3.40 0.054 2256 415.0 97.3 - - 2394 - - - - - - - - 11.10 11.00 11.12
24507 355.8 9.1 677 24513 roll 0.96 - - 3235 - 3.40 0.050 845 -415.0 97.3 - - 2392 - - - - - - - - 11.23 11.03 11.23
24556 351.4 9.3 684 24563 done 0.88 0.22 0.212 3191 -200.0 3.38 0.054 2245 414.2 97.3 - - 2394 - - - - - - - - 10.94 11.02 11.10
24899 322.5 8.5 691 24904 roll 0.88 - - 3191 - 3.67 0.116 3669 388.0 97.3 - - 2392 - - - - - - - - 11.23 10.97 11.24
24934 319.3 9.5 696 24939 done 0.88 - - 3202 - 3.30 0.041 2234 -434.8 97.3 - - 2392 - - - - - - - - 11.13 11.09 11.14
25291 288.1 8.5 705 25297 roll 0.88 - - 3202 - 3.75 0.115 3672 383.5 97.3 - - 2391 - - - - - - - - 11.24 10.98 11.24
25340 283.6 9.4 712 25347 done 0.78 0.28 0.199 3157 -160.7 3.30 0.041 2237 -434.8 97.3 - - 2396 - - - - - - - - 10.96 11.09 11.10
25683 260.6 6.5 719 25730 roll 0.82 - - 3167 - 3.42 0.052 854 -404.4 128.6 36.47 1.275 2276 -3.3 0.177 - - - - - - 11.24 10.96 10.47
25813 252.0 7.0 737 25850 done 0.84 - - 3168 - 3.38 0.054 2255 414.5 150.6 27.15 1.242 2193 -3.1 0.163 - - - - - - 11.10 11.00 10.47
26188 222.9 7.8 749 26192 done 0.85 - - 3168 - - - 2254 - 159.0 2.92 0.657 2165 -9.6 0.854 - - - - - - 11.23 11.04 10.43
26523 194.3 8.6 755 26528 roll 0.85 - - 3168 - 3.70 0.122 3668 382.2 159.0 - - 2170 - - - - - - - - 11.23 10.95 11.24
26572 189.8 9.3 762 26578 done 0.85 - - 3178 - 3.28 0.041 2243 -434.5 159.0 - - 2172 - - - - - - - - 11.13 11.07 11.13
26915 161.9 8.1 769 26926 roll 0.86 - - 3188 - 3.40 0.054 854 -408.5 162.3 3.83 0.826 2156 -4.2 0.215 - - - - - - 11.24 11.00 10.45
26978 156.7 8.4 778 26988 done 0.86 - - 3188 - 3.33 0.054 2242 416.8 162.3 2.25 0.370 2154 - - - - - - - - 11.11 11.02 10.43
27307 128.2 8.7 790 27310 done 0.86 - - 3189 - - - 2242 - 162.3 2.05 0.235 2153 - - - - - - - - 11.24 11.05 10.19
27615 96.4 10.6 796 27626 roll 0.86 - - 3189 - 3.78 0.121 3664 376.2 162.3 1.83 0.169 2155 - - - - - - - - 11.24 10.94 10.98
27671 89.9 11.8 804 27678 done 0.86 - - 3199 - 3.33 0.041 2228 -431.2 162.3 1.80 0.174 2153 - - - - - - - - 11.13 11.08 10.98
28001 65.1 5.6 818 28047 roll 0.92 - - 3210 - 3.33 0.054 848 -414.4 209.4 41.33 0.353 1971 -4.4 0.213 - - - - - - 11.24 11.00 10.84
28099 59.5 6.0 832 28140 done 1.04 - - 3210 - 3.35 0.054 2242 416.1 248.9 35.03 0.335 1809 -4.6 0.216 - - - - - - 11.11 11.01 10.85
28454 42.2 4.0 849 28523 roll 1.30 0.30 0.050 3314 346.7 3.67 0.114 3659 386.1 323.2 60.92 0.301 1513 -4.9 0.179 - - - - - - 11.07 10.92 10.87
28665 25.2 10.0 880 28671 done 1.30 - - 3324 - 3.22 0.041 2256 -435.7 323.2 - - 1517 - - - - - - - - 11.12 11.06 11.12
28947 end climb: SURFACE_DEPTH_REACHED
28947 begin surface coast
28976 end surface coast: CONTROL_FINISHED_OK
28976 begin surface
SM -8.67 - - - - -8.39 12.45 0.075 205 16.5 1.35 0.088 2768 1287.4 500.14 120.38 0.135 807 6.7 0.044 - - - - - -