SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 898 * Raw log
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• Previous call tries 1 • 293.70 of 350.00 AH used of 24V (16.09% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.3 deg, depth -3.72 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 100 done -1.04 - - 105 - - - 2778 - -97.3 -81.80 - 3188 - - - - - - - - 11.22 10.44 11.23
105 -0.3 -6.2 3 128 roll -1.04 18.35 0.367 2556 133.6 3.28 0.029 1360 -432.3 -97.3 - - 3190 - - - - - - - - 10.86 11.04 11.08
171 22.6 -22.4 13 176 done -0.78 0.52 0.241 2642 165.4 3.45 0.063 2774 409.9 -97.3 - - 3190 - - - - - - - - 10.93 11.00 11.08
493 70.9 -10.0 26 494 done -0.78 - - 2642 - - - 2774 - -97.3 - - 3191 - - - - - - - - 11.26 11.26 11.26
801 94.1 -6.4 37 806 roll -0.78 - - 2634 - 2.55 0.095 3831 414.5 -97.3 - - 3192 - - - - - - - - 11.26 11.02 11.27
1039 108.9 -6.9 71 1044 done -0.78 - - 2634 - 2.33 0.031 2738 -469.1 -97.3 - - 3192 - - - - - - - - 11.15 11.12 11.16
1362 132.8 -7.8 82 1367 roll -0.78 - - 2625 - 2.67 0.093 3830 409.0 -97.3 - - 3192 - - - - - - - - 11.27 11.03 11.27
1438 139.6 -8.7 93 1443 done -0.78 - - 2625 - 2.28 0.032 2765 -467.1 -97.3 - - 3191 - - - - - - - - 11.15 11.12 11.16
1753 163.4 -7.4 103 1754 done -0.78 - - 2625 - - - 2764 - -97.3 - - 3190 - - - - - - - - 11.27 11.27 11.27
2089 186.4 -6.7 109 2090 done -0.78 - - 2625 - - - 2764 - -97.3 - - 3188 - - - - - - - - 11.27 11.28 11.28
2425 211.5 -7.8 115 2430 roll -0.78 - - 2625 - 3.22 0.036 1380 -429.8 -97.3 - - 3185 - - - - - - - - 11.28 11.07 11.28
2488 216.6 -8.0 124 2494 done -0.78 0.12 0.209 2639 116.7 3.38 0.058 2769 410.9 -97.3 - - 3185 - - - - - - - - 10.98 11.05 11.12
2817 238.8 -6.4 136 2818 done -0.78 - - 2639 - - - 2769 - -97.3 - - 3183 - - - - - - - - 11.28 11.28 11.28
3153 259.0 -5.9 142 3159 roll -0.78 - - 2639 - 3.30 0.037 1379 -421.2 -97.3 - - 3180 - - - - - - - - 11.28 11.07 11.26
3272 266.7 -6.6 159 3277 done -0.78 - - 2629 - 3.38 0.059 2764 409.8 -97.3 - - 3180 - - - - - - - - 11.14 11.05 11.15
3601 290.0 -7.1 171 3606 roll -0.78 - - 2621 - 2.60 0.098 3828 409.2 -97.3 - - 3178 - - - - - - - - 11.28 11.03 11.27
3643 293.2 -7.7 177 3648 done -0.78 - - 2620 - 2.30 0.034 2763 -463.0 -97.3 - - 3178 - - - - - - - - 11.16 11.12 11.17
3994 319.3 -7.5 185 3999 roll -0.78 - - 2620 - 3.22 0.034 1378 -430.1 -97.3 - - 3176 - - - - - - - - 11.28 11.08 11.28
4063 324.3 -7.1 195 4068 done -0.78 0.15 0.211 2640 133.3 3.38 0.059 2764 410.1 -97.3 - - 3176 - - - - - - - - 10.97 11.05 11.12
4385 345.1 -6.4 206 4386 done -0.78 - - 2640 - - - 2764 - -97.3 - - 3174 - - - - - - - - 11.28 11.28 11.28
4721 366.2 -6.3 212 4726 roll -0.78 - - 2640 - 3.33 0.034 1364 -420.4 -97.3 - - 3173 - - - - - - - - 11.30 11.08 11.28
4819 372.3 -6.2 226 4825 done -0.86 - - 2630 - 3.40 0.058 2760 410.6 -97.3 - - 3172 - - - - - - - - 11.14 11.05 11.16
5169 395.3 -6.6 234 5170 done -0.86 - - 2629 - - - 2760 - -97.3 - - 3171 - - - - - - - - 11.29 11.29 11.29
5505 418.6 -7.0 240 5506 done -0.86 - - 2630 - - - 2760 - -97.3 - - 3170 - - - - - - - - 11.28 11.29 11.29
5841 443.2 -7.4 246 5847 roll -0.86 - - 2621 - 2.62 0.100 3828 407.6 -97.3 - - 3168 - - - - - - - - 11.29 11.03 11.29
5904 448.3 -8.2 255 5909 done -0.86 - - 2620 - 2.35 0.036 2760 -454.5 -97.3 - - 3168 - - - - - - - - 11.17 11.13 11.17
5927 end dive: TARGET_DEPTH_EXCEEDED
5927 begin apogee
5939 450.5 -7.9 259 6052 roll -0.23 0.95 0.181 2818 208.4 - - 2240 - - 110.85 1.464 2799 -3.3 0.249 - - - - - - 11.00 11.00 10.41
6053 end apogee: CONTROL_FINISHED_OK
6053 begin loiter
6285 455.2 -0.1 294 6289 done -0.22 - - 2818 - - - 2240 - 2.1 - - 2788 - - - - - - - - 11.24 11.24 11.24
6614 453.3 0.7 306 6615 done -0.60 0.38 0.048 2704 -300.0 - - 2241 - -10.3 - - 2786 - - - - - - - - 11.07 11.14 11.12
6950 449.4 1.2 312 6951 done -0.74 0.10 0.085 2652 -520.0 - - 2240 - -10.3 - - 2785 - - - - - - - - 11.10 11.15 11.14
7286 445.9 1.0 318 7286 done -0.76 - - 2652 - - - 2240 - -26.8 - - 2784 - - - - - - - - 11.26 11.26 11.26
7622 443.8 0.5 324 7622 done -0.77 - - 2652 - - - 2240 - -36.0 - - 2783 - - - - - - - - 11.27 11.26 11.26
7958 442.9 0.2 330 7958 done -0.77 - - 2652 - - - 2240 - -38.9 - - 2782 - - - - - - - - 11.26 11.26 11.26
8294 442.9 - 336 8294 done -0.77 - - 2652 - - - 2240 - -39.3 - - 2782 - - - - - - - - 11.27 11.26 11.27
8630 441.7 0.4 342 8630 done -0.78 - - 2652 - - - 2240 - -46.9 - - 2781 - - - - - - - - 11.27 11.27 11.27
8966 439.7 0.6 348 8966 done -0.79 - - 2652 - - - 2240 - -56.8 - - 2781 - - - - - - - - 11.27 11.27 11.28
9302 438.0 0.5 354 9302 done -0.80 - - 2652 - - - 2239 - -64.8 - - 2780 - - - - - - - - 11.27 11.28 11.27
9638 437.4 0.1 360 9638 done -0.81 - - 2652 - - - 2240 - -67.0 - - 2780 - - - - - - - - 11.27 11.28 11.27
9974 438.2 -0.3 366 9974 done -0.80 - - 2652 - - - 2240 - -61.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
10310 439.9 -0.5 372 10310 done -0.79 - - 2652 - - - 2240 - -52.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
10646 440.5 -0.1 378 10647 done -0.79 - - 2652 - - - 2240 - -51.4 - - 2779 - - - - - - - - 11.28 11.28 11.28
10982 438.9 0.6 384 10983 done -0.80 - - 2651 - - - 2240 - -61.4 - - 2779 - - - - - - - - 11.28 11.28 11.28
11318 437.0 0.5 390 11318 done -0.81 - - 2652 - - - 2241 - -70.1 - - 2778 - - - - - - - - 11.28 11.28 11.28
11654 435.8 0.3 396 11654 done -0.82 - - 2652 - - - 2240 - -75.7 - - 2778 - - - - - - - - 11.28 11.28 11.29
11990 434.3 0.5 402 11990 done -0.83 - - 2652 - - - 2240 - -83.9 - - 2778 - - - - - - - - 11.28 11.28 11.28
12326 431.9 0.7 408 12326 done -0.84 - - 2652 - - - 2240 - -96.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
12662 429.1 0.9 414 12662 done -0.86 - - 2652 - - - 2240 - -111.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
12998 426.7 0.7 420 12999 done -0.88 0.08 0.109 2608 -550.0 - - 2240 - -122.6 - - 2776 - - - - - - - - 11.12 11.17 11.16
13334 427.0 -0.3 426 13334 done -0.87 - - 2607 - - - 2240 - -117.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
13670 430.3 -1.1 432 13671 done -0.85 - - 2608 - - - 2240 - -99.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
14006 433.5 -0.9 438 14006 done -0.83 - - 2607 - - - 2240 - -84.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
14342 434.6 -0.2 444 14342 done -0.82 - - 2608 - - - 2240 - -81.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
14678 432.4 0.8 450 14678 done -0.84 - - 2607 - - - 2240 - -95.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
15014 429.7 0.7 456 15015 done -0.86 - - 2608 - - - 2240 - -107.8 - - 2776 - - - - - - - - 11.29 11.28 11.28
15350 430.2 -0.4 462 15350 done -0.85 - - 2607 - - - 2240 - -101.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
15686 434.0 -1.2 468 15687 done -0.82 - - 2607 - - - 2240 - -80.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
16022 436.5 -0.6 474 16023 done -0.81 0.12 0.220 2631 200.0 - - 2240 - -70.8 - - 2775 - - - - - - - - 10.99 11.16 11.14
16358 435.4 0.5 480 16358 done -0.82 - - 2631 - - - 2240 - -79.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
16694 431.6 1.2 486 16695 done -0.82 - - 2631 - - - 2240 - -79.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
17030 429.3 0.5 492 17030 done -0.83 - - 2631 - - - 2240 - -87.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
17366 432.2 -1.1 498 17366 done -0.81 - - 2631 - - - 2240 - -68.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
17702 437.0 -1.4 504 17702 done -0.78 - - 2631 - - - 2240 - -44.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
18038 439.2 -0.4 510 18038 done -0.77 - - 2631 - - - 2240 - -36.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
18374 437.5 0.6 516 18374 done -0.78 - - 2631 - - - 2240 - -47.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
18710 436.1 0.3 522 18710 done -0.79 - - 2631 - - - 2240 - -52.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
19046 438.2 -0.8 528 19046 done -0.77 - - 2631 - - - 2240 - -38.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
19382 441.4 -0.9 534 19382 done -0.75 - - 2631 - - - 2240 - -22.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
19718 444.1 -0.7 540 19719 done -0.74 0.12 0.208 2656 208.3 - - 2240 - -10.3 - - 2776 - - - - - - - - 10.99 11.16 11.14
20054 444.6 - 546 20054 done -0.74 - - 2656 - - - 2241 - -10.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
20390 442.6 0.7 552 20391 done -0.75 - - 2656 - - - 2240 - -21.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
20726 441.2 0.3 558 20726 done -0.76 - - 2656 - - - 2240 - -27.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
21062 441.8 -0.3 564 21062 done -0.75 - - 2656 - - - 2240 - -22.4 - - 2776 - - - - - - - - 11.30 11.29 11.29
21398 444.4 -0.9 570 21398 done -0.73 - - 2655 - - - 2240 - -8.0 - - 2775 - - - - - - - - 11.29 11.29 11.29
21734 446.1 -0.4 576 21734 done -0.73 - - 2656 - - - 2240 - -1.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
22070 445.0 0.4 582 22070 done -0.74 - - 2656 - - - 2240 - -8.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
22406 444.1 0.2 588 22406 done -0.74 - - 2656 - - - 2241 - -12.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
22742 444.1 -0.1 594 22743 done -0.74 - - 2656 - - - 2240 - -11.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
23078 446.4 -0.8 600 23078 done -0.72 - - 2656 - - - 2240 - 2.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
23414 451.5 -1.6 606 23449 done -0.69 - - 2655 - - - 2240 - 30.3 34.25 1.472 2679 -2.8 0.209 - - - - - - 11.29 10.98 10.34
23750 448.7 1.1 612 23750 done -0.69 - - 2656 - - - 2240 - 30.3 - - 2667 - - - - - - - - 11.27 11.27 11.27
24080 end loiter: LOITER_COMPLETE
24080 begin climb
24086 442.1 - 618 24182 roll 1.04 2.60 0.164 3217 215.8 3.65 0.087 3661 389.3 97.3 83.38 1.472 2403 -3.2 0.231 - - - - - - 11.00 10.92 10.36
24359 419.3 10.9 657 24366 done 0.91 0.15 0.215 3198 -126.7 3.20 0.032 2263 -436.9 97.3 - - 2397 - - - - - - - - 10.94 11.07 11.09
24702 386.2 9.7 664 24707 roll 0.91 - - 3198 - 3.47 0.086 3658 402.0 97.3 - - 2394 - - - - - - - - 11.25 11.00 11.25
24751 381.0 11.0 671 24758 done 0.81 0.22 0.203 3164 -154.5 3.20 0.032 2245 -441.6 97.3 - - 2394 - - - - - - - - 10.95 11.08 11.10
25093 351.2 8.5 678 25098 roll 0.81 - - 3174 - 3.33 0.050 848 -419.5 97.3 - - 2393 - - - - - - - - 11.26 11.04 11.26
25149 346.6 8.4 686 25154 done 0.81 - - 3174 - 3.33 0.043 2254 422.2 97.3 - - 2393 - - - - - - - - 11.12 11.05 11.14
25486 319.9 7.8 699 25490 done 0.82 - - 3174 - - - 2254 - 105.9 3.20 0.786 2377 -5.0 0.494 - - - - - - 11.26 11.05 10.34
25822 294.8 7.4 705 25850 done 0.84 - - 3174 - - - 2254 - 121.1 27.77 1.311 2316 -2.2 0.120 - - - - - - 11.26 10.98 10.41
26158 269.3 7.6 711 26175 roll 0.85 - - 3174 - 3.55 0.090 3656 394.9 132.9 8.50 1.206 2274 -4.9 0.268 - - - - - - 11.26 10.96 10.43
26206 265.3 8.5 718 26212 done 0.85 - - 3185 - 3.20 0.034 2253 -438.4 132.9 - - 2275 - - - - - - - - 11.12 11.07 11.13
26550 236.9 8.4 725 26554 roll 0.85 - - 3195 - 3.35 0.054 849 -419.1 132.9 - - 2275 - - - - - - - - 11.26 11.03 11.26
26662 226.8 9.1 741 26667 done 0.85 - - 3195 - 3.30 0.043 2247 423.6 132.9 - - 2274 - - - - - - - - 11.12 11.05 11.14
26997 195.9 9.1 754 27003 roll 0.85 - - 3194 - 3.50 0.090 3664 404.9 132.9 - - 2275 - - - - - - - - 11.26 11.00 11.26
27040 191.6 10.5 760 27045 done 0.85 0.12 0.218 3182 -100.0 3.25 0.033 2232 -440.6 132.9 - - 2275 - - - - - - - - 10.95 11.09 11.10
27390 162.8 7.9 768 27410 roll 0.86 - - 3182 - 3.65 0.087 3658 390.7 140.0 14.82 1.129 2236 -2.6 0.092 - - - - - - 11.26 10.95 10.49
27467 156.0 9.3 779 27472 done 0.86 - - 3192 - 3.20 0.032 2248 -440.6 140.0 - - 2231 - - - - - - - - 11.13 11.07 11.14
27831 126.0 8.2 789 27836 roll 0.86 - - 3192 - 3.53 0.087 3658 399.4 141.4 - - 2229 - - - - - - - - 11.26 11.00 11.26
27852 124.1 8.5 792 27857 done 0.86 - - 3202 - 3.22 0.033 2236 -441.6 141.4 - - 2229 - - - - - - - - 11.14 11.09 11.15
28167 100.1 7.4 802 28179 done 0.88 - - 3203 - - - 2232 - 156.8 11.00 0.383 2177 -4.7 0.300 - - - - - - 11.26 11.07 10.82
28475 77.7 5.6 812 28522 roll 0.94 - - 3203 - 3.55 0.084 3661 402.5 203.2 41.80 0.376 1995 -4.4 0.219 - - - - - - 11.26 10.96 10.81
28566 73.6 5.6 825 28614 done 1.00 - - 3213 - 3.20 0.033 2246 -442.2 250.5 42.70 0.363 1803 -4.5 0.221 - - - - - - 11.13 11.08 10.82
28949 56.7 2.4 846 29041 roll 1.28 0.25 0.052 3310 388.0 3.55 0.088 3666 400.0 351.1 84.88 0.315 1405 -4.7 0.205 - - - - - - 11.08 10.96 10.85
29203 34.9 9.8 883 29209 done 1.28 - - 3320 - 3.15 0.033 2273 -442.2 351.1 - - 1408 - - - - - - - - 11.12 11.07 11.13
29527 end climb: SURFACE_DEPTH_REACHED
29527 begin surface coast
29556 end surface coast: CONTROL_FINISHED_OK
29560 begin surface
SM -1.85 - - - - -8.40 11.85 0.042 188 15.9 1.30 0.089 2773 1340.8 500.14 104.32 0.130 807 7.7 0.011 - - - - - -