SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 871 * Raw log
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• Previous call tries 1 • 288.45 of 350.00 AH used of 24V (17.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 deg, depth -5.42 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
14 - - - 99 done -1.04 - - 108 - - - 2784 - -97.3 -83.62 - 3189 - - - - - - - - 11.21 10.44 11.20
105 -2.8 -4.6 3 131 roll -1.04 19.05 0.381 2554 128.4 3.33 0.031 1356 -428.8 -97.3 - - 3191 - - - - - - - - 10.85 11.02 11.05
204 27.1 -21.4 18 211 done -0.82 0.47 0.251 2629 159.6 3.50 0.074 2765 402.6 -97.3 - - 3192 - - - - - - - - 10.91 10.98 11.07
519 64.5 -8.3 30 525 roll -0.82 - - 2621 - 2.67 0.120 3828 398.1 -97.3 - - 3192 - - - - - - - - 11.24 10.99 11.24
698 77.2 -4.5 55 703 done -0.82 - - 2621 - 2.40 0.041 2740 -453.3 -97.3 - - 3193 - - - - - - - - 11.13 11.10 11.14
1026 96.2 -4.6 69 1031 roll -0.82 - - 2612 - 2.75 0.112 3829 396.0 -97.3 - - 3193 - - - - - - - - 11.24 11.00 11.24
1205 110.4 -6.5 94 1211 done -0.82 - - 2613 - 2.33 0.039 2762 -457.9 -97.3 - - 3192 - - - - - - - - 11.14 11.11 11.15
1534 138.3 -8.8 106 1540 roll -0.82 - - 2604 - 2.70 0.109 3834 397.0 -97.3 - - 3191 - - - - - - - - 11.24 11.01 11.24
1583 144.4 -11.4 113 1589 done -0.82 0.12 0.216 2629 208.3 2.33 0.039 2778 -453.2 -97.3 - - 3191 - - - - - - - - 10.96 11.11 11.10
1926 173.0 -7.6 120 1931 roll -0.82 - - 2621 - 2.67 0.112 3835 395.9 -97.3 - - 3190 - - - - - - - - 11.24 11.02 11.24
1982 177.3 -7.4 128 1987 done -0.82 - - 2620 - 2.35 0.039 2777 -450.2 -97.3 - - 3189 - - - - - - - - 11.14 11.10 11.14
2318 200.6 -6.8 141 2323 roll -0.82 - - 2620 - 3.33 0.037 1357 -426.4 -97.3 - - 3187 - - - - - - - - 11.24 11.06 11.24
2402 206.4 -6.8 153 2407 done -0.82 - - 2611 - 3.53 0.067 2783 404.0 -97.3 - - 3186 - - - - - - - - 11.12 11.02 11.14
2766 234.1 -7.9 163 2771 roll -0.82 - - 2610 - 3.35 0.035 1366 -423.0 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.25
2808 237.7 -8.6 169 2813 done -0.82 0.15 0.213 2629 126.7 3.50 0.069 2782 404.6 -97.3 - - 3184 - - - - - - - - 10.97 11.02 11.10
3158 267.2 -8.6 177 3163 roll -0.82 - - 2629 - 3.33 0.037 1360 -427.0 -97.3 - - 3181 - - - - - - - - 11.25 11.07 11.24
3200 270.9 -8.7 183 3205 done -0.82 - - 2619 - 3.50 0.070 2775 404.3 -97.3 - - 3181 - - - - - - - - 11.13 11.02 11.14
3550 300.3 -8.3 191 3551 done -0.82 - - 2619 - - - 2775 - -97.3 - - 3179 - - - - - - - - 11.24 11.24 11.24
3886 328.1 -8.3 197 3891 roll -0.82 - - 2619 - 3.35 0.036 1366 -420.6 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.25
3970 335.0 -7.9 209 3976 done -0.82 0.12 0.220 2632 108.3 3.50 0.072 2770 401.1 -97.3 - - 3177 - - - - - - - - 10.98 11.02 11.11
4335 361.1 -6.9 219 4339 roll -0.82 - - 2632 - 3.35 0.036 1357 -421.8 -97.3 - - 3175 - - - - - - - - 11.24 11.07 11.24
4383 364.4 -6.6 226 4390 done -0.82 - - 2622 - 3.53 0.070 2769 400.0 -97.3 - - 3174 - - - - - - - - 11.13 11.01 11.14
4726 385.9 -6.3 233 4727 done -0.82 - - 2622 - - - 2769 - -97.3 - - 3174 - - - - - - - - 11.25 11.25 11.24
5062 406.3 -6.0 239 5067 roll -0.82 - - 2621 - 3.35 0.036 1364 -419.4 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
5111 409.5 -6.0 246 5118 done -0.82 - - 2610 - 3.50 0.071 2770 401.7 -97.3 - - 3172 - - - - - - - - 11.12 11.01 11.14
5454 431.5 -6.6 253 5459 roll -0.82 - - 2604 - 2.70 0.122 3833 393.7 -97.3 - - 3171 - - - - - - - - 11.25 11.01 11.26
5517 436.7 -8.4 262 5523 done -0.82 0.15 0.216 2632 186.7 2.40 0.044 2764 -445.4 -97.3 - - 3170 - - - - - - - - 10.98 11.11 11.11
5729 end dive: TARGET_DEPTH_EXCEEDED
5729 begin apogee
5741 452.1 -7.0 272 5854 roll -0.23 0.88 0.174 2817 210.2 0.10 0.141 2257 -5070.0 - 110.10 1.483 2801 -3.4 0.247 - - - - - - 11.00 10.93 10.43
5855 end apogee: CONTROL_FINISHED_OK
5855 begin loiter
6086 456.4 0.1 307 6091 done -0.23 - - 2817 - - - 2257 - -2.3 - - 2789 - - - - - - - - 11.24 11.24 11.24
6416 454.8 0.5 319 6418 done -0.61 0.38 0.050 2704 -297.4 - - 2257 - -11.5 - - 2788 - - - - - - - - 11.07 11.13 11.12
6752 452.9 0.6 325 6753 done -0.76 0.12 0.075 2648 -466.7 - - 2257 - -22.5 - - 2786 - - - - - - - - 11.09 11.14 11.14
7088 448.2 1.6 331 7088 done -0.76 - - 2649 - - - 2257 - -22.5 - - 2785 - - - - - - - - 11.26 11.26 11.26
7424 442.6 1.6 337 7424 done -0.76 - - 2649 - - - 2257 - -22.5 - - 2784 - - - - - - - - 11.26 11.26 11.26
7760 439.9 0.6 343 7760 done -0.78 - - 2648 - - - 2257 - -33.3 - - 2783 - - - - - - - - 11.26 11.26 11.27
8096 439.8 - 349 8096 done -0.78 - - 2649 - - - 2257 - -33.0 - - 2783 - - - - - - - - 11.26 11.26 11.26
8432 439.5 0.1 355 8432 done -0.78 - - 2649 - - - 2257 - -35.1 - - 2781 - - - - - - - - 11.27 11.27 11.27
8768 437.4 0.8 361 8769 done -0.79 - - 2648 - - - 2257 - -48.3 - - 2781 - - - - - - - - 11.27 11.27 11.27
9104 433.2 1.3 367 9104 done -0.79 - - 2648 - - - 2257 - -48.3 - - 2781 - - - - - - - - 11.27 11.27 11.28
9440 428.5 1.3 373 9440 done -0.79 - - 2648 - - - 2257 - -48.3 - - 2781 - - - - - - - - 11.27 11.28 11.28
9776 425.9 0.7 379 9776 done -0.81 - - 2648 - - - 2257 - -61.0 - - 2780 - - - - - - - - 11.28 11.28 11.28
10112 423.9 0.5 385 10112 done -0.82 - - 2649 - - - 2257 - -70.0 - - 2779 - - - - - - - - 11.28 11.28 11.28
10448 422.1 0.5 391 10448 done -0.83 - - 2648 - - - 2257 - -79.1 - - 2779 - - - - - - - - 11.28 11.27 11.27
10784 421.5 0.1 397 10784 done -0.83 - - 2648 - - - 2257 - -81.1 - - 2778 - - - - - - - - 11.28 11.28 11.28
11120 421.2 - 403 11120 done -0.83 - - 2649 - - - 2257 - -81.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
11456 421.0 - 409 11456 done -0.84 - - 2648 - - - 2257 - -81.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
11792 423.7 -1.0 415 11792 done -0.82 - - 2648 - - - 2257 - -65.3 - - 2778 - - - - - - - - 11.28 11.29 11.28
12128 426.2 -0.5 421 12128 done -0.81 - - 2649 - - - 2257 - -57.3 - - 2778 - - - - - - - - 11.29 11.28 11.29
12464 424.9 0.4 427 12464 done -0.81 - - 2648 - - - 2257 - -63.9 - - 2778 - - - - - - - - 11.28 11.29 11.28
12800 422.0 1.1 433 12800 done -0.81 - - 2649 - - - 2257 - -63.9 - - 2778 - - - - - - - - 11.29 11.29 11.28
13136 418.9 0.8 439 13136 done -0.83 - - 2647 - - - 2257 - -77.8 - - 2778 - - - - - - - - 11.28 11.29 11.29
13472 419.7 -0.4 445 13472 done -0.82 - - 2648 - - - 2257 - -71.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
13808 420.7 -0.4 451 13808 done -0.81 - - 2648 - - - 2257 - -64.0 - - 2778 - - - - - - - - 11.28 11.29 11.29
14145 420.9 0.1 457 14145 done -0.82 - - 2649 - - - 2257 - -66.2 - - 2777 - - - - - - - - 11.28 11.28 11.28
14480 419.7 0.3 463 14480 done -0.82 - - 2648 - - - 2257 - -72.1 - - 2777 - - - - - - - - 11.29 11.29 11.29
14816 418.2 0.5 469 14816 done -0.83 - - 2649 - - - 2257 - -80.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
15152 416.6 0.5 475 15152 done -0.84 - - 2649 - - - 2257 - -88.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
15488 413.8 0.6 481 15488 done -0.86 - - 2649 - - - 2257 - -99.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
15824 413.9 -0.1 487 15824 done -0.85 - - 2649 - - - 2257 - -96.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
16160 415.6 -0.2 493 16160 done -0.85 - - 2649 - - - 2257 - -94.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
16496 416.2 0.1 499 16497 done -0.85 - - 2649 - - - 2257 - -95.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
16832 415.5 0.3 505 16832 done -0.86 - - 2648 - - - 2257 - -100.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
17168 416.3 -0.3 511 17168 done -0.85 - - 2649 - - - 2257 - -95.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
17504 416.8 -0.5 517 17504 done -0.84 - - 2648 - - - 2257 - -87.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
17840 419.9 -0.8 523 17840 done -0.83 - - 2648 - - - 2257 - -74.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
18176 421.6 -0.4 529 18176 done -0.82 - - 2649 - - - 2257 - -68.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
18512 420.3 0.5 535 18512 done -0.83 - - 2648 - - - 2257 - -77.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
18848 416.9 1.1 541 18848 done -0.83 - - 2648 - - - 2257 - -77.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
19184 415.5 0.3 547 19185 done -0.84 - - 2649 - - - 2257 - -82.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
19520 417.1 -0.5 553 19520 done -0.83 - - 2648 - - - 2257 - -74.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19856 420.2 -1.1 559 19856 done -0.80 - - 2648 - - - 2257 - -55.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
20192 424.6 -1.2 565 20192 done -0.78 - - 2649 - - - 2257 - -34.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
20528 428.3 -0.9 571 20529 done -0.76 - - 2648 - - - 2257 - -19.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
20864 428.9 -0.1 577 20864 done -0.76 - - 2649 - - - 2257 - -17.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
21200 427.5 0.8 583 21200 done -0.77 - - 2649 - - - 2257 - -30.9 - - 2777 - - - - - - - - 11.34 11.29 11.29
21536 425.6 0.5 589 21536 done -0.78 - - 2647 - - - 2257 - -39.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
21872 425.1 0.4 595 21873 done -0.79 - - 2649 - - - 2257 - -45.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
22208 426.7 -0.7 601 22208 done -0.78 - - 2648 - - - 2257 - -33.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
22544 431.3 -1.4 607 22544 done -0.75 - - 2649 - - - 2257 - -9.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
22880 434.9 -0.9 613 22880 done -0.73 - - 2649 - - - 2257 - 6.2 - - 2777 - - - - - - - - 11.29 11.29 11.29
23216 436.9 -0.6 619 23233 done -0.72 - - 2649 - - - 2257 - 15.6 16.15 1.491 2737 -2.5 0.176 - - - - - - 11.29 11.01 10.44
23552 433.6 1.7 625 23552 done -0.72 - - 2649 - - - 2257 - 15.6 - - 2727 - - - - - - - - 11.28 11.29 11.29
23883 end loiter: LOITER_COMPLETE
23883 begin climb
23888 427.6 - 631 23999 roll 1.04 2.62 0.165 3215 216.0 3.62 0.107 3654 385.9 97.3 100.85 1.474 2405 -3.2 0.224 - - - - - - 11.01 10.87 10.38
24200 401.3 10.7 675 24206 done 0.91 0.15 0.206 3196 -126.7 3.17 0.038 2271 -436.3 97.3 - - 2397 - - - - - - - - 10.95 11.07 11.09
24564 365.3 9.5 685 24569 roll 0.91 - - 3206 - 3.42 0.052 847 -416.4 97.3 - - 2394 - - - - - - - - 11.24 11.03 11.24
24641 359.0 9.3 696 24647 done 0.91 - - 3206 - 3.35 0.050 2250 418.8 97.3 - - 2394 - - - - - - - - 11.11 11.00 11.13
24956 332.3 8.5 706 24961 roll 0.91 - - 3206 - 3.60 0.109 3664 392.8 97.3 - - 2394 - - - - - - - - 11.24 10.95 11.24
24991 329.9 8.0 711 24997 done 0.82 0.25 0.198 3164 -168.0 3.25 0.039 2246 -436.3 102.9 - - 2394 - - - - - - - - 10.96 11.08 11.10
25348 305.7 6.5 720 25403 roll 0.86 - - 3176 - 3.42 0.053 853 -407.3 133.9 44.53 1.330 2254 -3.1 0.175 - - - - - - 11.24 10.97 10.45
25467 297.6 8.0 737 25472 done 0.86 - - 3177 - 3.35 0.051 2252 417.6 138.9 - - 2248 - - - - - - - - 11.10 11.00 11.11
25796 269.5 8.6 749 25801 roll 0.86 - - 3177 - 3.62 0.112 3658 388.4 138.9 - - 2247 - - - - - - - - 11.22 10.93 11.22
25853 264.8 7.1 757 25891 done 0.89 - - 3188 - 3.25 0.037 2241 -436.0 159.5 29.92 1.281 2162 -2.8 0.142 - - - - - - 11.12 11.07 10.48
26244 227.2 9.5 771 26249 roll 0.89 - - 3198 - 3.35 0.055 853 -414.3 159.5 - - 2151 - - - - - - - - 11.23 11.02 11.23
26307 221.2 9.4 780 26313 done 0.89 - - 3198 - 3.35 0.052 2253 417.9 159.5 - - 2150 - - - - - - - - 11.11 11.00 11.12
26636 191.7 8.7 792 26642 roll 0.89 - - 3208 - 3.40 0.054 848 -413.2 159.5 - - 2150 - - - - - - - - 11.23 11.02 11.23
26685 187.3 10.9 799 26691 done 0.89 - - 3208 - 3.33 0.050 2242 418.6 159.5 - - 2150 - - - - - - - - 11.12 11.02 11.12
27028 153.8 10.2 806 27033 roll 0.89 - - 3208 - 3.65 0.112 3669 391.0 159.5 - - 2150 - - - - - - - - 11.23 10.95 11.23
27084 146.8 15.2 814 27089 done 0.89 0.12 0.201 3193 -125.0 3.25 0.037 2245 -438.2 159.5 - - 2150 - - - - - - - - 10.97 11.07 11.10
27420 114.3 8.9 827 27425 roll 0.89 - - 3203 - 3.35 0.054 850 -416.4 159.5 - - 2150 - - - - - - - - 11.24 11.03 11.24
27462 111.5 8.2 833 27467 done 0.89 - - 3203 - 3.35 0.050 2250 417.9 161.3 - - 2149 - - - - - - - - 11.12 11.02 11.13
27785 86.4 8.1 843 27790 roll 0.90 - - 3203 - 3.62 0.112 3664 390.6 165.0 - - 2150 - - - - - - - - 11.24 10.95 11.24
27854 80.5 9.8 853 27859 done 0.90 - - 3213 - 3.20 0.038 2258 -439.4 165.0 - - 2149 - - - - - - - - 11.14 11.09 11.14
28177 60.0 3.9 866 28252 roll 0.99 - - 3214 - 3.70 0.109 3663 379.7 240.9 64.95 0.348 1844 -4.7 0.196 - - - - - - 11.24 10.91 10.85
28342 52.5 6.5 889 28377 done 1.11 - - 3223 - 3.17 0.038 2264 -441.3 272.3 27.27 0.309 1715 -4.7 0.195 - - - - - - 11.12 11.07 10.85
28713 40.8 3.1 909 28793 roll 1.38 0.35 0.047 3344 345.7 3.67 0.109 3665 381.7 360.4 72.03 0.270 1366 -4.8 0.177 - - - - - - 11.08 10.93 10.88
28898 20.4 13.2 936 28905 done 1.38 - - 3355 - 3.15 0.036 2275 -441.3 360.4 - - 1371 - - - - - - - - 11.12 11.06 11.13
29068 end climb: SURFACE_DEPTH_REACHED
29068 begin surface coast
29097 end surface coast: CONTROL_FINISHED_OK
29097 begin surface
SM -3.50 - - - - -8.39 11.73 0.029 192 16.4 1.30 0.089 2770 1338.5 500.14 96.03 0.131 808 8.4 0.023 - - - - - -