SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 873 * Raw log
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• Previous call tries 1 • 288.87 of 350.00 AH used of 24V (17.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.1 deg, depth -2.21 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 2754 - -97.3 -83.25 - 3189 - - - - - - - - 11.21 10.44 11.21
105 -0.4 -4.2 3 132 roll -1.04 18.73 0.376 2554 130.7 3.25 0.030 1366 -427.1 -97.3 - - 3190 - - - - - - - - 10.86 11.03 11.05
212 29.3 -20.6 19 218 done -0.79 0.52 0.249 2639 163.5 3.47 0.067 2774 405.8 -97.3 - - 3192 - - - - - - - - 10.92 11.00 11.07
548 76.2 -7.1 34 553 roll -0.79 - - 2639 - 3.30 0.036 1368 -426.1 -97.3 - - 3192 - - - - - - - - 11.24 11.05 11.24
583 79.5 -9.2 39 588 done -0.79 - - 2628 - 3.40 0.063 2763 410.3 -97.3 - - 3192 - - - - - - - - 11.12 11.02 11.12
912 105.5 -9.4 52 917 roll -0.79 - - 2620 - 2.62 0.105 3832 408.0 -97.3 - - 3193 - - - - - - - - 11.24 11.01 11.24
1122 121.1 -6.4 82 1127 done -0.79 - - 2620 - 2.35 0.034 2743 -463.4 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.14
1472 141.3 -6.4 90 1477 roll -0.79 - - 2619 - 3.17 0.035 1376 -431.2 -97.3 - - 3192 - - - - - - - - 11.24 11.07 11.24
1549 147.3 -6.3 101 1555 done -0.79 0.15 0.216 2639 133.3 3.40 0.060 2769 409.7 -97.3 - - 3192 - - - - - - - - 10.96 11.03 11.10
1864 170.2 -7.1 111 1869 roll -0.79 - - 2638 - 3.28 0.034 1377 -424.4 -97.3 - - 3190 - - - - - - - - 11.24 11.07 11.25
1934 175.5 -7.0 121 1940 done -0.79 - - 2629 - 3.38 0.060 2763 410.1 -97.3 - - 3190 - - - - - - - - 11.13 11.03 11.14
2256 199.2 -7.3 132 2261 roll -0.79 - - 2620 - 2.62 0.105 3826 405.7 -97.3 - - 3188 - - - - - - - - 11.25 11.00 11.25
2375 207.6 -7.4 149 2381 done -0.79 - - 2620 - 2.35 0.037 2753 -456.6 -97.3 - - 3187 - - - - - - - - 11.14 11.11 11.15
2704 231.5 -7.4 161 2710 roll -0.79 - - 2620 - 3.22 0.034 1376 -427.6 -97.3 - - 3185 - - - - - - - - 11.25 11.07 11.24
2788 238.7 -8.1 173 2794 done -0.79 0.15 0.217 2639 126.7 3.40 0.062 2755 405.6 -97.3 - - 3185 - - - - - - - - 10.97 11.03 11.11
3152 265.2 -7.2 183 3153 done -0.79 - - 2639 - - - 2755 - -97.3 - - 3182 - - - - - - - - 11.24 11.24 11.24
3488 289.1 -7.0 189 3494 roll -0.79 - - 2639 - 3.30 0.036 1371 -419.4 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3537 292.5 -7.1 196 3543 done -0.79 - - 2628 - 3.40 0.064 2752 406.2 -97.3 - - 3180 - - - - - - - - 11.12 11.02 11.14
3880 314.9 -6.4 203 3885 roll -0.79 - - 2621 - 2.67 0.106 3833 404.9 -97.3 - - 3179 - - - - - - - - 11.25 11.02 11.25
3957 320.1 -6.7 214 3962 done -0.79 - - 2620 - 2.40 0.037 2749 -451.7 -97.3 - - 3178 - - - - - - - - 11.15 11.12 11.16
4272 340.8 -6.6 224 4277 roll -0.79 - - 2620 - 3.25 0.034 1365 -425.8 -97.3 - - 3176 - - - - - - - - 11.25 11.07 11.25
4307 343.2 -7.1 229 4313 done -0.79 0.15 0.216 2639 126.7 3.42 0.063 2752 405.6 -97.3 - - 3176 - - - - - - - - 10.96 11.03 11.11
4664 366.7 -6.7 238 4669 roll -0.79 - - 2639 - 3.30 0.034 1366 -420.0 -97.3 - - 3174 - - - - - - - - 11.24 11.07 11.25
4727 371.2 -6.9 247 4732 done -0.79 - - 2629 - 3.42 0.063 2753 405.6 -97.3 - - 3175 - - - - - - - - 11.13 11.03 11.14
5056 395.5 -7.5 259 5061 roll -0.79 - - 2621 - 2.67 0.109 3830 403.4 -97.3 - - 3173 - - - - - - - - 11.25 11.02 11.25
5119 400.5 -8.0 268 5124 done -0.79 - - 2620 - 2.42 0.039 2738 -451.2 -97.3 - - 3173 - - - - - - - - 11.15 11.11 11.15
5448 425.2 -7.5 280 5453 roll -0.79 - - 2620 - 3.22 0.034 1365 -426.4 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
5532 431.5 -7.6 292 5537 done -0.79 0.15 0.215 2640 133.3 3.42 0.063 2755 406.4 -97.3 - - 3171 - - - - - - - - 10.97 11.04 11.11
5835 end dive: TARGET_DEPTH_EXCEEDED
5835 begin apogee
5847 452.2 -6.7 301 5960 roll -0.23 0.85 0.172 2819 210.6 0.08 0.145 2255 -6250.0 - 110.18 1.473 2799 -3.4 0.250 - - - - - - 10.99 10.94 10.44
5961 end apogee: CONTROL_FINISHED_OK
5961 begin loiter
6193 456.0 -0.2 336 6197 done -0.22 - - 2819 - - - 2253 - 3.8 - - 2789 - - - - - - - - 11.24 11.23 11.23
6522 454.6 0.4 348 6524 done -0.59 0.35 0.047 2712 -305.7 - - 2253 - -3.4 - - 2788 - - - - - - - - 11.07 11.14 11.12
6858 450.7 1.3 354 6859 done -0.75 0.12 0.071 2654 -483.3 - - 2253 - -3.4 - - 2786 - - - - - - - - 11.10 11.14 11.14
7194 445.9 1.4 360 7194 done -0.75 - - 2654 - - - 2253 - -3.4 - - 2785 - - - - - - - - 11.26 11.26 11.26
7530 442.5 1.1 366 7530 done -0.75 - - 2653 - - - 2253 - -3.4 - - 2784 - - - - - - - - 11.26 11.26 11.26
7866 439.1 1.0 372 7867 done -0.77 - - 2653 - - - 2252 - -19.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
8202 436.1 0.8 378 8203 done -0.78 - - 2654 - - - 2253 - -34.1 - - 2783 - - - - - - - - 11.26 11.27 11.27
8538 435.0 0.2 384 8539 done -0.79 - - 2653 - - - 2253 - -37.0 - - 2782 - - - - - - - - 11.26 11.28 11.26
8874 433.4 0.6 390 8875 done -0.80 - - 2654 - - - 2253 - -46.9 - - 2781 - - - - - - - - 11.28 11.27 11.27
9210 431.3 0.6 396 9211 done -0.81 - - 2654 - - - 2253 - -57.2 - - 2781 - - - - - - - - 11.27 11.27 11.27
9546 430.2 0.3 402 9547 done -0.82 - - 2654 - - - 2253 - -62.1 - - 2781 - - - - - - - - 11.27 11.27 11.27
9882 429.6 0.2 408 9883 done -0.82 - - 2654 - - - 2253 - -64.9 - - 2780 - - - - - - - - 11.28 11.28 11.28
10218 430.2 -0.2 414 10219 done -0.82 - - 2653 - - - 2253 - -60.9 - - 2780 - - - - - - - - 11.28 11.27 11.27
10554 432.4 -0.7 420 10555 done -0.80 - - 2654 - - - 2253 - -48.9 - - 2779 - - - - - - - - 11.28 11.28 11.28
10890 434.1 -0.4 426 10891 done -0.79 - - 2653 - - - 2253 - -41.5 - - 2779 - - - - - - - - 11.28 11.28 11.28
11226 433.7 0.3 432 11227 done -0.80 - - 2654 - - - 2253 - -46.2 - - 2779 - - - - - - - - 11.28 11.28 11.28
11562 431.4 0.7 438 11563 done -0.81 - - 2653 - - - 2253 - -58.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
11898 429.8 0.4 444 11899 done -0.82 - - 2654 - - - 2253 - -65.4 - - 2778 - - - - - - - - 11.28 11.28 11.28
12234 430.4 -0.3 450 12235 done -0.82 - - 2654 - - - 2252 - -60.1 - - 2778 - - - - - - - - 11.28 11.28 11.29
12570 432.3 -0.6 456 12571 done -0.80 - - 2654 - - - 2253 - -50.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
12906 434.2 -0.6 462 12907 done -0.79 - - 2654 - - - 2253 - -40.6 - - 2778 - - - - - - - - 11.28 11.29 11.28
13242 436.4 -0.7 468 13243 done -0.78 - - 2654 - - - 2253 - -29.2 - - 2778 - - - - - - - - 11.29 11.29 11.29
13578 437.9 -0.4 474 13579 done -0.77 - - 2654 - - - 2253 - -22.4 - - 2778 - - - - - - - - 11.28 11.29 11.29
13914 439.8 -0.7 480 13915 done -0.76 - - 2654 - - - 2253 - -11.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
14250 443.4 -1.1 486 14252 done -0.73 - - 2654 - - - 2253 - 7.7 1.58 0.181 2767 -7.0 4.112 - - - - - - 11.29 11.14 11.02
14586 445.2 -0.4 492 14602 done -0.72 - - 2654 - - - 2253 - 14.5 14.85 1.481 2742 -1.7 0.122 - - - - - - 11.29 11.02 10.42
14922 439.3 2.0 498 14922 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2732 - - - - - - - - 11.28 11.28 11.27
15258 434.0 1.6 504 15258 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.28 11.28 11.29
15594 428.1 1.8 510 15594 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.28 11.28 11.28
15930 421.9 1.9 516 15930 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.28 11.29 11.28
16266 416.9 1.5 522 16266 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.29 11.29 11.28
16602 409.9 2.2 528 16602 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.28 11.29 11.29
16938 402.0 2.3 534 16938 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.29 11.29 11.29
17274 397.2 1.2 540 17274 done -0.72 - - 2654 - - - 2253 - 14.5 - - 2731 - - - - - - - - 11.28 11.29 11.29
17610 395.0 0.7 546 17611 done -0.74 - - 2654 - - - 2253 - 2.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
17946 389.5 1.9 552 17946 done -0.74 - - 2653 - - - 2252 - 2.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
18282 383.4 1.7 558 18283 done -0.74 - - 2654 - - - 2253 - 2.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
18618 379.5 1.1 564 18619 done -0.74 - - 2654 - - - 2253 - 2.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
18954 376.1 1.0 570 18955 done -0.76 - - 2654 - - - 2253 - -13.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
19290 372.6 1.0 576 19291 done -0.78 - - 2654 - - - 2253 - -30.7 - - 2731 - - - - - - - - 11.29 11.29 11.29
19626 369.2 1.0 582 19626 done -0.78 - - 2654 - - - 2253 - -30.7 - - 2731 - - - - - - - - 11.29 11.29 11.29
19962 365.4 1.1 588 19962 done -0.78 - - 2654 - - - 2254 - -30.7 - - 2731 - - - - - - - - 11.29 11.29 11.29
20298 361.4 1.1 594 20298 done -0.78 - - 2654 - - - 2253 - -30.7 - - 2731 - - - - - - - - 11.29 11.29 11.29
20634 358.7 0.8 600 20635 done -0.80 - - 2654 - - - 2253 - -43.9 - - 2731 - - - - - - - - 11.29 11.29 11.29
20970 356.7 0.5 606 20971 done -0.81 - - 2654 - - - 2253 - -52.8 - - 2731 - - - - - - - - 11.29 11.29 11.29
21306 355.8 0.3 612 21307 done -0.81 - - 2653 - - - 2253 - -57.2 - - 2731 - - - - - - - - 11.29 11.29 11.29
21642 353.3 0.9 618 21643 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
21978 349.2 1.2 624 21978 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
22314 344.1 1.6 630 22314 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
22650 338.4 1.7 636 22650 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
22986 334.0 1.2 642 22986 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
23322 329.9 1.2 648 23323 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
23658 326.2 1.1 654 23659 done -0.83 - - 2654 - - - 2253 - -72.1 - - 2731 - - - - - - - - 11.29 11.29 11.29
23989 end loiter: LOITER_COMPLETE
23989 begin climb
23994 322.3 - 660 24104 roll 1.04 2.62 0.168 3227 218.7 3.50 0.053 863 -397.1 97.3 98.30 1.319 2402 -3.3 0.197 - - - - - - 11.00 10.96 10.45
24159 313.9 8.2 683 24165 done 1.04 - - 3227 - 3.30 0.046 2245 418.8 98.7 - - 2397 - - - - - - - - 11.10 11.02 11.12
24502 282.1 9.5 690 24507 roll 0.96 - - 3227 - 3.58 0.099 3669 397.8 98.7 - - 2394 - - - - - - - - 11.24 10.98 11.24
24530 279.2 10.2 694 24535 done 0.85 0.30 0.210 3179 -160.0 3.22 0.036 2254 -439.4 98.7 - - 2393 - - - - - - - - 10.95 11.07 11.10
24894 249.0 8.3 704 24899 roll 0.85 - - 3188 - 3.38 0.051 852 -414.8 99.7 - - 2392 - - - - - - - - 11.24 11.04 11.24
24915 247.3 8.1 707 24921 done 0.85 - - 3189 - 3.35 0.047 2260 420.3 103.4 1.17 0.191 2387 -4.3 1.334 - - - - - - 11.12 11.03 11.00
25279 218.1 7.9 717 25297 roll 0.86 - - 3189 - 3.55 0.099 3667 396.3 110.1 13.10 1.173 2357 -2.3 0.103 - - - - - - 11.24 10.93 10.50
25327 213.9 8.9 724 25334 done 0.86 - - 3200 - 3.22 0.034 2251 -439.8 110.1 - - 2354 - - - - - - - - 11.12 11.07 11.13
25671 183.6 8.8 731 25676 roll 0.86 - - 3210 - 3.38 0.054 846 -415.7 110.1 - - 2352 - - - - - - - - 11.24 11.04 11.23
25755 176.1 9.0 743 25761 done 0.86 0.15 0.197 3179 -206.7 3.33 0.046 2250 421.6 110.1 - - 2352 - - - - - - - - 10.97 11.04 11.11
26119 147.5 7.6 753 26143 roll 0.88 - - 3180 - 3.62 0.100 3656 388.4 122.0 15.85 1.102 2304 -3.0 0.098 - - - - - - 11.24 10.94 10.51
26217 139.5 8.5 767 26222 done 0.88 - - 3190 - 3.22 0.035 2241 -439.4 122.0 - - 2301 - - - - - - - - 11.12 11.07 11.13
26567 112.5 7.8 775 26572 done 0.89 - - 3191 - - - 2238 - 130.2 3.67 0.202 2282 -5.2 0.695 - - - - - - 11.24 11.08 10.81
26875 90.3 6.6 783 26903 done 0.92 - - 3191 - - - 2237 - 158.9 27.15 0.405 2167 -4.2 0.228 - - - - - - 11.24 11.06 10.81
27211 69.2 5.7 795 27251 done 0.98 - - 3191 - - - 2237 - 203.0 39.15 0.351 1991 -4.5 0.214 - - - - - - 11.24 11.06 10.84
27547 55.2 1.0 810 27660 roll 1.29 0.38 0.049 3313 321.1 3.70 0.099 3660 384.6 328.2 104.95 0.314 1493 -4.7 0.201 - - - - - - 11.08 10.93 10.86
27793 37.9 11.1 845 27800 done 1.29 - - 3323 - 3.20 0.035 2252 -440.0 328.2 - - 1498 - - - - - - - - 11.12 11.06 11.13
28109 5.8 9.9 857 28114 roll 1.29 - - 3334 - 3.40 0.059 843 -414.4 328.2 - - 1496 - - - - - - - - 11.24 11.02 11.24
28139 end climb: SURFACE_DEPTH_REACHED
28139 begin surface coast
28146 end surface coast: CONTROL_FINISHED_OK
28146 begin surface
SM -2.72 - - - - -8.39 12.27 0.065 199 16.2 4.68 0.058 2765 480.6 500.14 118.40 0.132 808 6.8 0.014 - - - - - -