SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 869 * Raw log
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• Previous call tries 1 • 288.01 of 350.00 AH used of 24V (17.71% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -67.0 deg, depth -6.52 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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
10 begin dive
15 - - - 100 done -1.04 - - 129 - - - 2783 - -97.3 -83.32 - 3187 - - - - - - - - 11.22 10.45 11.22
106 -3.4 -5.0 3 132 roll -1.04 18.65 0.378 2555 130.1 3.33 0.031 1359 -427.6 -97.3 - - 3188 - - - - - - - - 10.86 11.03 11.05
205 26.2 -19.5 18 211 done -0.81 0.47 0.252 2630 159.6 3.55 0.080 2770 397.5 -97.3 - - 3189 - - - - - - - - 10.92 10.98 11.08
520 65.7 -7.6 30 525 roll -0.81 - - 2622 - 2.70 0.124 3833 393.7 -97.3 - - 3190 - - - - - - - - 11.26 10.99 11.26
653 74.4 -4.5 49 660 done -0.81 - - 2621 - 2.40 0.044 2752 -450.4 -97.3 - - 3191 - - - - - - - - 11.14 11.11 11.15
968 89.5 -4.4 61 974 roll -0.81 - - 2621 - 3.22 0.036 1359 -432.6 -97.3 - - 3191 - - - - - - - - 11.27 11.07 11.26
1010 91.8 -4.3 67 1015 done -0.81 - - 2612 - 3.47 0.070 2769 406.3 -97.3 - - 3191 - - - - - - - - 11.12 11.01 11.13
1332 113.1 -6.8 77 1338 roll -0.81 - - 2603 - 2.67 0.120 3832 398.1 -97.3 - - 3189 - - - - - - - - 11.27 11.01 11.27
1437 121.7 -7.8 92 1443 done -0.81 0.15 0.210 2633 200.0 2.38 0.044 2760 -450.4 -97.3 - - 3190 - - - - - - - - 10.98 11.11 11.11
1780 148.8 -8.4 99 1785 roll -0.81 - - 2633 - 3.25 0.037 1369 -428.0 -97.3 - - 3188 - - - - - - - - 11.27 11.07 11.27
1913 159.3 -7.0 118 1918 done -0.81 - - 2623 - 3.47 0.072 2769 403.5 -97.3 - - 3187 - - - - - - - - 11.13 11.02 11.14
2228 182.6 -7.6 128 2233 roll -0.81 - - 2615 - 2.70 0.124 3831 393.3 -97.3 - - 3185 - - - - - - - - 11.27 11.01 11.27
2305 189.2 -8.7 139 2309 done -0.81 - - 2612 - 2.38 0.043 2762 -449.2 -97.3 - - 3186 - - - - - - - - 11.17 11.12 11.16
2620 213.8 -7.7 149 2621 done -0.81 - - 2614 - - - 2762 - -97.3 - - 3184 - - - - - - - - 11.27 11.28 11.27
2956 240.5 -8.1 155 2961 roll -0.81 - - 2614 - 3.28 0.037 1364 -426.2 -97.3 - - 3181 - - - - - - - - 11.28 11.07 11.28
3040 247.6 -8.2 167 3045 done -0.81 0.15 0.212 2634 133.3 3.50 0.073 2769 401.4 -97.3 - - 3180 - - - - - - - - 10.98 11.02 11.12
3404 274.2 -7.2 177 3410 roll -0.81 - - 2634 - 3.35 0.036 1355 -422.1 -97.3 - - 3179 - - - - - - - - 11.27 11.08 11.28
3467 278.6 -6.6 186 3472 done -0.81 - - 2624 - 3.55 0.074 2768 398.0 -97.3 - - 3178 - - - - - - - - 11.13 11.01 11.15
3796 299.4 -6.4 198 3801 roll -0.81 - - 2623 - 3.33 0.037 1368 -420.4 -97.3 - - 3177 - - - - - - - - 11.27 11.08 11.28
3845 302.7 -6.8 205 3852 done -0.81 - - 2613 - 3.50 0.075 2759 397.4 -97.3 - - 3176 - - - - - - - - 11.14 11.03 11.15
4188 326.3 -6.9 212 4193 roll -0.81 - - 2605 - 2.75 0.125 3835 391.3 -97.3 - - 3174 - - - - - - - - 11.28 11.02 11.28
4244 330.3 -7.3 220 4249 done -0.81 0.12 0.222 2629 200.0 2.42 0.047 2770 -440.1 -97.3 - - 3174 - - - - - - - - 10.98 11.12 11.12
4580 351.8 -6.3 233 4586 roll -0.81 - - 2629 - 3.33 0.037 1355 -424.9 -97.3 - - 3173 - - - - - - - - 11.28 11.08 11.28
4650 356.3 -6.0 243 4655 done -0.81 - - 2619 - 3.53 0.072 2772 401.4 -97.3 - - 3173 - - - - - - - - 11.14 11.04 11.15
4972 377.9 -6.8 254 4977 roll -0.81 - - 2618 - 3.38 0.037 1355 -419.2 -97.3 - - 3171 - - - - - - - - 11.28 11.08 11.28
5007 380.6 -7.6 259 5012 done -0.81 - - 2608 - 3.53 0.073 2758 397.5 -97.3 - - 3171 - - - - - - - - 11.14 11.05 11.15
5364 410.2 -8.5 268 5365 done -0.81 - - 2609 - - - 2758 - -97.3 - - 3170 - - - - - - - - 11.29 11.28 11.29
5700 441.3 -9.4 274 5705 roll -0.81 - - 2608 - 3.35 0.037 1355 -418.8 -97.3 - - 3169 - - - - - - - - 11.29 11.08 11.29
5735 444.5 -9.3 279 5740 done -0.81 0.17 0.215 2632 141.2 3.55 0.075 2768 398.0 -97.3 - - 3168 - - - - - - - - 10.99 11.02 11.12
5807 end dive: TARGET_DEPTH_EXCEEDED
5807 begin apogee
5819 451.2 -8.6 283 5931 roll -0.23 0.90 0.173 2822 211.1 0.15 0.118 2266 -3346.7 - 109.88 1.483 2799 -3.4 0.247 - - - - - - 11.01 10.97 10.44
5932 end apogee: CONTROL_FINISHED_OK
5932 begin loiter
6164 458.5 -0.4 318 6169 done -0.22 - - 2822 - - - 2266 - 6.3 1.92 0.165 2776 -12.0 8.056 - - - - - - 11.24 11.24 10.97
6493 456.8 0.7 330 6494 done -0.61 0.40 0.050 2704 -295.0 - - 2265 - -6.2 - - 2784 - - - - - - - - 11.07 11.14 11.13
6829 452.1 1.6 336 6830 done -0.75 0.10 0.090 2657 -470.0 - - 2266 - -6.2 - - 2784 - - - - - - - - 11.10 11.14 11.14
7165 445.9 1.9 342 7165 done -0.75 - - 2658 - - - 2266 - -6.2 - - 2783 - - - - - - - - 11.26 11.26 11.26
7501 440.4 1.5 348 7501 done -0.75 - - 2657 - - - 2266 - -6.2 - - 2782 - - - - - - - - 11.26 11.26 11.26
7837 436.9 1.0 354 7837 done -0.77 - - 2657 - - - 2266 - -22.7 - - 2781 - - - - - - - - 11.26 11.26 11.27
8173 433.7 0.9 360 8173 done -0.79 - - 2657 - - - 2265 - -37.8 - - 2780 - - - - - - - - 11.27 11.27 11.27
8509 431.6 0.5 366 8510 done -0.80 - - 2658 - - - 2266 - -47.1 - - 2780 - - - - - - - - 11.27 11.27 11.27
8845 431.1 0.1 372 8845 done -0.80 - - 2658 - - - 2266 - -49.0 - - 2780 - - - - - - - - 11.31 11.27 11.28
9181 430.7 0.1 378 9181 done -0.81 - - 2657 - - - 2265 - -51.3 - - 2779 - - - - - - - - 11.27 11.27 11.27
9517 430.7 -0.1 384 9517 done -0.80 - - 2657 - - - 2265 - -50.4 - - 2779 - - - - - - - - 11.28 11.28 11.28
9853 430.6 - 390 9853 done -0.80 - - 2657 - - - 2266 - -50.5 - - 2778 - - - - - - - - 11.28 11.28 11.28
10189 428.8 0.7 396 10190 done -0.82 - - 2657 - - - 2265 - -61.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
10525 426.7 0.6 402 10526 done -0.83 - - 2657 - - - 2266 - -71.5 - - 2777 - - - - - - - - 11.28 11.28 11.28
10861 425.7 0.3 408 10862 done -0.84 - - 2657 - - - 2265 - -76.2 - - 2777 - - - - - - - - 11.28 11.28 11.29
11197 425.6 - 414 11198 done -0.84 - - 2658 - - - 2266 - -76.6 - - 2777 - - - - - - - - 11.28 11.28 11.28
11533 426.0 -0.2 420 11534 done -0.83 - - 2657 - - - 2265 - -73.8 - - 2777 - - - - - - - - 11.29 11.28 11.27
11869 427.7 -0.6 426 11870 done -0.82 - - 2658 - - - 2266 - -64.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
12205 427.9 -0.1 432 12206 done -0.82 - - 2657 - - - 2266 - -62.7 - - 2777 - - - - - - - - 11.29 11.28 11.29
12541 428.4 0.1 438 12542 done -0.82 - - 2658 - - - 2265 - -63.8 - - 2776 - - - - - - - - 11.29 11.29 11.28
12877 425.6 1.1 444 12877 done -0.82 - - 2657 - - - 2266 - -63.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
13213 419.9 1.8 450 13213 done -0.82 - - 2658 - - - 2265 - -63.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
13549 416.3 0.9 456 13550 done -0.84 - - 2657 - - - 2265 - -78.3 - - 2776 - - - - - - - - 11.28 11.29 11.29
13885 415.4 - 462 13886 done -0.84 0.03 0.275 2632 -833.3 - - 2265 - -78.4 - - 2776 - - - - - - - - 11.09 11.17 11.16
14221 417.8 -0.8 468 14222 done -0.82 - - 2631 - - - 2265 - -64.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
14557 421.8 -1.0 474 14558 done -0.80 - - 2631 - - - 2265 - -47.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
14893 424.9 -0.6 480 14894 done -0.79 - - 2632 - - - 2265 - -36.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
15229 424.2 0.3 486 15230 done -0.79 - - 2632 - - - 2266 - -40.9 - - 2775 - - - - - - - - 11.29 11.31 11.29
15565 419.9 1.1 492 15565 done -0.79 - - 2631 - - - 2265 - -40.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
15901 415.9 1.2 498 15901 done -0.79 - - 2632 - - - 2265 - -40.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
16237 413.4 0.5 504 16238 done -0.80 - - 2632 - - - 2265 - -48.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
16573 414.4 -0.3 510 16574 done -0.80 - - 2631 - - - 2266 - -43.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
16909 415.3 -0.3 516 16910 done -0.79 - - 2632 - - - 2265 - -38.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
17245 416.7 -0.2 522 17246 done -0.79 - - 2631 - - - 2265 - -35.7 - - 2775 - - - - - - - - 11.31 11.29 11.29
17581 416.0 0.3 528 17582 done -0.79 - - 2632 - - - 2265 - -41.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
17917 416.7 0.2 534 17918 done -0.80 - - 2631 - - - 2265 - -45.0 - - 2774 - - - - - - - - 11.29 11.29 11.29
18253 415.3 0.2 540 18254 done -0.80 - - 2632 - - - 2265 - -49.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
18589 413.6 0.3 546 18590 done -0.81 - - 2632 - - - 2265 - -54.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
18925 415.5 -0.7 552 18926 done -0.80 - - 2631 - - - 2265 - -43.1 - - 2774 - - - - - - - - 11.29 11.29 11.29
19261 417.3 -0.4 558 19262 done -0.79 - - 2632 - - - 2265 - -35.8 - - 2775 - - - - - - - - 11.29 11.29 11.29
19597 418.1 -0.1 564 19598 done -0.79 - - 2631 - - - 2265 - -34.7 - - 2774 - - - - - - - - 11.29 11.29 11.29
19933 414.8 0.9 570 19934 done -0.80 - - 2631 - - - 2265 - -50.6 - - 2774 - - - - - - - - 11.29 11.29 11.29
20269 410.8 0.7 576 20270 done -0.82 - - 2632 - - - 2265 - -62.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
20605 405.2 1.8 582 20605 done -0.82 - - 2632 - - - 2265 - -62.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
20941 400.3 1.5 588 20941 done -0.82 - - 2632 - - - 2265 - -62.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
21277 400.8 -0.3 594 21278 done -0.81 - - 2632 - - - 2265 - -57.8 - - 2774 - - - - - - - - 11.29 11.29 11.29
21613 405.3 -1.4 600 21614 done -0.78 - - 2631 - - - 2265 - -34.0 - - 2774 - - - - - - - - 11.29 11.28 11.29
21949 410.8 -1.3 606 21950 done -0.76 - - 2632 - - - 2265 - -11.8 - - 2774 - - - - - - - - 11.29 11.29 11.29
22285 413.2 -0.1 612 22286 done -0.75 - - 2631 - - - 2265 - -9.7 - - 2774 - - - - - - - - 11.29 11.29 11.29
22621 409.5 1.3 618 22621 done -0.75 - - 2632 - - - 2265 - -9.7 - - 2774 - - - - - - - - 11.29 11.29 11.29
22957 406.2 1.0 624 22958 done -0.77 - - 2632 - - - 2265 - -26.2 - - 2774 - - - - - - - - 11.29 11.29 11.29
23293 403.5 0.5 630 23294 done -0.79 - - 2632 - - - 2265 - -35.1 - - 2774 - - - - - - - - 11.29 11.32 11.29
23629 403.0 - 636 23630 done -0.79 - - 2632 - - - 2265 - -35.8 - - 2774 - - - - - - - - 11.29 11.28 11.29
23960 end loiter: LOITER_COMPLETE
23960 begin climb
23965 406.3 - 642 24094 roll 1.04 2.72 0.171 3227 218.7 3.47 0.053 866 -403.2 97.3 115.30 1.448 2404 -3.2 0.218 - - - - - - 11.02 10.93 10.38
24200 395.8 11.1 675 24206 done 1.04 - - 3227 - 3.35 0.055 2250 413.1 97.3 - - 2394 - - - - - - - - 11.10 11.00 11.12
24529 365.9 8.7 687 24535 roll 0.95 - - 3237 - 3.38 0.054 865 -409.8 97.3 - - 2392 - - - - - - - - 11.24 11.02 11.24
24585 361.5 8.3 695 24592 done 0.87 0.28 0.213 3183 -192.9 3.35 0.054 2250 413.4 97.3 - - 2392 - - - - - - - - 10.94 11.00 11.10
24921 334.4 8.3 708 24926 roll 0.87 - - 3184 - 3.65 0.113 3664 387.4 97.4 - - 2392 - - - - - - - - 11.24 10.95 11.24
24977 330.0 8.9 716 24982 done 0.87 - - 3194 - 3.25 0.043 2260 -432.0 97.4 - - 2391 - - - - - - - - 11.13 11.07 11.14
25313 302.1 8.1 729 25318 roll 0.87 - - 3205 - 3.42 0.054 843 -414.3 100.8 - - 2388 - - - - - - - - 11.24 11.04 11.24
25348 299.6 8.8 734 25353 done 0.87 - - 3204 - 3.40 0.054 2255 415.3 100.8 - - 2391 - - - - - - - - 11.12 11.01 11.13
25706 269.6 8.4 743 25707 done 0.87 - - 3205 - - - 2255 - 100.8 - - 2391 - - - - - - - - 11.24 11.24 11.24
26041 242.2 8.4 749 26046 roll 0.87 - - 3216 - 3.45 0.054 847 -408.1 100.8 - - 2391 - - - - - - - - 11.24 11.04 11.24
26139 234.7 7.2 763 26173 done 0.90 - - 3217 - 3.38 0.054 2249 414.8 119.7 25.67 1.242 2316 -2.9 0.134 - - - - - - 11.12 11.02 10.45
26489 201.0 9.6 778 26490 done 0.90 - - 3215 - - - 2249 - 119.7 - - 2308 - - - - - - - - 11.25 11.24 11.24
26825 171.0 9.0 784 26826 done 0.90 - - 3216 - - - 2249 - 119.7 - - 2308 - - - - - - - - 11.24 11.24 11.24
27161 137.2 10.2 790 27166 roll 0.90 - - 3226 - 3.42 0.056 844 -410.8 119.7 - - 2307 - - - - - - - - 11.24 11.04 11.24
27224 130.9 9.9 799 27230 done 0.90 0.15 0.195 3195 -206.7 3.40 0.056 2255 415.0 119.7 - - 2307 - - - - - - - - 10.97 11.00 11.11
27553 101.9 8.8 811 27554 done 0.90 - - 3195 - - - 2258 - 119.7 - - 2306 - - - - - - - - 11.24 11.24 11.24
27862 79.0 7.1 821 27881 roll 0.92 - - 3194 - 3.62 0.116 3664 388.4 140.0 13.48 0.364 2246 -4.5 0.234 - - - - - - 11.24 10.93 10.83
27966 71.1 7.2 836 27993 done 0.94 - - 3205 - 3.25 0.041 2236 -439.4 159.2 18.92 0.364 2168 -4.1 0.195 - - - - - - 11.14 11.09 10.84
28314 49.9 5.1 852 28370 roll 1.01 - - 3205 - 3.75 0.113 3660 379.7 214.3 48.40 0.327 1948 -4.5 0.168 - - - - - - 11.24 10.92 10.86
28408 46.4 5.0 866 28462 done 1.08 - - 3215 - 3.22 0.041 2245 -439.4 271.1 48.72 0.315 1719 -4.7 0.168 - - - - - - 11.12 11.07 10.86
28779 36.0 1.7 886 28882 roll 1.40 0.40 0.046 3349 335.0 3.72 0.115 3656 379.3 384.0 92.47 0.270 1272 -4.8 0.156 - - - - - - 11.08 10.91 10.88
28932 23.2 12.4 908 28937 done 1.40 - - 3359 - 3.20 0.037 2252 -438.8 384.0 - - 1276 - - - - - - - - 11.12 11.05 11.12
29109 end climb: SURFACE_DEPTH_REACHED
29109 begin surface coast
29137 end surface coast: CONTROL_FINISHED_OK
29137 begin surface
SM -5.68 - - - - -8.40 12.70 0.079 198 15.6 1.38 0.091 2771 1261.6 500.14 79.82 0.133 808 10.1 0.044 - - - - - -