SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 822 * Raw log
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• Previous call tries 1 • 277.85 of 350.00 AH used of 24V (20.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth -2.41 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
14 - - - 97 done -1.04 - - 143 - - - 2787 - -97.3 -78.78 - 3439 - - - - - - - - 11.20 10.55 11.20
102 4.5 -12.1 3 126 roll -1.04 18.98 0.382 2555 127.1 3.33 0.034 1362 -427.9 -97.3 - - 3440 - - - - - - - - 10.85 11.00 11.04
134 23.0 -53.6 8 146 done 0.04 1.95 0.252 2892 172.8 3.67 0.100 2772 384.2 -97.3 - - 3441 - - - - - - - - 10.89 10.95 11.05
463 47.6 -6.0 22 468 roll -0.35 0.30 0.067 2796 -320.0 3.30 0.036 1360 -427.9 -97.3 - - 3442 - - - - - - - - 11.04 11.03 11.07
526 51.6 -6.4 31 531 done -0.64 0.30 0.048 2685 -370.0 3.60 0.094 2762 389.4 -97.3 - - 3441 - - - - - - - - 11.05 10.97 11.09
855 71.8 -5.3 45 861 roll -0.73 - - 2677 - 2.88 0.156 3827 369.8 -97.3 - - 3443 - - - - - - - - 11.21 10.94 11.21
890 73.3 -4.3 50 895 done -0.81 0.08 0.106 2632 -562.5 2.40 0.053 2761 -444.2 -97.3 - - 3443 - - - - - - - - 11.07 11.07 11.11
1219 98.8 -10.1 64 1224 roll -0.81 - - 2631 - 3.25 0.036 1357 -432.0 -97.3 - - 3443 - - - - - - - - 11.22 11.04 11.23
1359 111.9 -11.0 84 1363 done -0.81 - - 2621 - 3.60 0.093 2759 389.4 -97.3 - - 3444 - - - - - - - - 11.10 10.98 11.11
1723 143.4 -8.7 94 1728 roll -0.81 - - 2613 - 2.85 0.148 3830 375.8 -97.3 - - 3443 - - - - - - - - 11.23 10.96 11.23
1779 149.3 -10.8 102 1783 done -0.81 - - 2612 - 2.42 0.046 2745 -448.3 -97.3 - - 3442 - - - - - - - - 11.12 11.10 11.13
2115 185.4 -10.8 115 2116 done -0.81 - - 2612 - - - 2745 - -97.3 - - 3441 - - - - - - - - 11.23 11.23 11.22
2451 217.3 -9.2 121 2451 done -0.81 - - 2612 - - - 2745 - -97.3 - - 3438 - - - - - - - - 11.23 11.23 11.23
2787 248.3 -9.4 127 2792 roll -0.81 - - 2612 - 3.22 0.037 1367 -428.0 -97.3 - - 3436 - - - - - - - - 11.23 11.05 11.23
2850 254.2 -9.2 136 2855 done -0.81 0.15 0.204 2632 133.3 3.58 0.087 2763 389.9 -97.3 - - 3436 - - - - - - - - 10.96 11.00 11.10
3179 282.1 -8.5 148 3180 done -0.89 - - 2632 - - - 2762 - -97.3 - - 3433 - - - - - - - - 11.24 11.23 11.23
3515 311.8 -8.9 154 3520 roll -0.97 0.08 0.110 2582 -625.0 3.30 0.037 1371 -421.5 -97.3 - - 3431 - - - - - - - - 11.08 11.05 11.10
3557 316.1 -10.5 160 3561 done -0.97 - - 2573 - 3.58 0.090 2757 387.2 -97.3 - - 3434 - - - - - - - - 11.12 11.00 11.12
3907 356.2 -11.5 168 3912 roll -0.97 - - 2565 - 2.83 0.140 3831 379.5 -97.3 - - 3429 - - - - - - - - 11.24 10.98 11.24
3963 362.9 -11.9 176 3968 done -0.97 - - 2564 - 2.45 0.043 2738 -446.1 -97.3 - - 3429 - - - - - - - - 11.13 11.10 11.14
4299 400.4 -11.1 189 4304 roll -0.97 - - 2564 - 3.20 0.036 1372 -426.9 -97.3 - - 3426 - - - - - - - - 11.24 11.05 11.24
4383 409.3 -10.4 201 4389 done -0.97 0.15 0.216 2582 120.0 3.53 0.084 2751 390.7 -97.3 - - 3427 - - - - - - - - 10.96 11.00 11.10
4747 443.9 -9.4 211 4747 done -0.97 - - 2582 - - - 2753 - -97.3 - - 3425 - - - - - - - - 11.23 11.24 11.23
4854 end dive: TARGET_DEPTH_EXCEEDED
4854 begin apogee
4865 454.3 -9.3 213 4977 roll -0.23 1.17 0.193 2823 206.0 - - 2244 - - 108.78 1.437 3050 -3.4 0.262 - - - - - - 10.97 11.00 10.46
4978 end apogee: CONTROL_FINISHED_OK
4978 begin loiter
5209 463.1 -2.9 248 5269 done -0.17 - - 2819 - - - 2244 - 49.1 56.30 1.459 2849 -3.6 0.272 - - - - - - 11.22 11.22 10.48
5599 467.4 -1.0 268 5621 done -0.52 0.28 0.057 2735 -300.0 - - 2244 - 65.8 20.70 1.450 2786 -3.0 0.236 - - - - - - 11.05 11.00 10.46
5931 465.7 0.7 274 5932 done -0.75 0.22 0.053 2650 -386.4 - - 2244 - 53.2 - - 2774 - - - - - - - - 11.07 11.12 11.10
6266 463.4 0.8 280 6267 done -0.76 - - 2650 - - - 2242 - 40.4 - - 2773 - - - - - - - - 11.23 11.24 11.24
6602 460.1 1.0 286 6603 done -0.76 - - 2651 - - - 2243 - 40.4 - - 2771 - - - - - - - - 11.24 11.24 11.24
6938 456.1 1.2 292 6939 done -0.76 - - 2650 - - - 2244 - 40.4 - - 2770 - - - - - - - - 11.24 11.24 11.24
7274 452.2 1.1 298 7275 done -0.76 - - 2650 - - - 2244 - 40.4 - - 2769 - - - - - - - - 11.24 11.24 11.24
7610 448.3 1.2 304 7611 done -0.76 - - 2650 - - - 2243 - 40.4 - - 2768 - - - - - - - - 11.25 11.24 11.24
7946 443.2 1.6 310 7947 done -0.76 - - 2650 - - - 2244 - 40.4 - - 2768 - - - - - - - - 11.25 11.25 11.25
8282 437.7 1.6 316 8283 done -0.76 - - 2650 - - - 2243 - 40.4 - - 2767 - - - - - - - - 11.25 11.25 11.25
8613 end loiter: LOITER_COMPLETE
8613 begin climb
8618 432.9 - 322 8658 done 1.04 2.72 0.174 3214 207.4 - - 2243 - 97.3 35.33 1.449 2661 -3.0 0.215 - - - - - - 10.98 11.00 10.46
8955 416.0 5.8 328 9009 done 0.99 - - 3214 - - - 2243 - 139.9 52.35 1.437 2489 -3.3 0.228 - - - - - - 11.21 10.99 10.47
9347 384.6 8.2 335 9347 done 0.91 - - 3214 - - - 2243 - 142.3 - - 2478 - - - - - - - - 11.20 11.20 11.20
9683 359.1 7.6 341 9708 roll 0.85 0.15 0.214 3191 -153.3 3.35 0.050 856 -414.0 155.5 18.90 1.356 2423 -2.9 0.185 - - - - - - 10.94 10.98 10.49
9745 354.8 7.0 350 9779 done 0.87 - - 3190 - 3.40 0.060 2258 412.4 178.4 28.55 1.366 2338 -3.0 0.186 - - - - - - 11.08 10.97 10.48
10124 324.7 8.1 362 10125 done 0.88 - - 3191 - - - 2258 - 182.2 - - 2323 - - - - - - - - 11.19 11.20 11.19
10459 296.8 8.3 368 10460 done 0.88 - - 3191 - - - 2258 - 182.6 - - 2322 - - - - - - - - 11.21 11.20 11.21
10795 267.8 8.8 374 10800 roll 0.88 - - 3201 - 3.38 0.052 862 -413.0 182.6 - - 2321 - - - - - - - - 11.21 11.02 11.21
10844 263.1 9.6 381 10851 done 0.88 - - 3201 - 3.40 0.064 2254 409.4 182.6 - - 2321 - - - - - - - - 11.11 10.97 11.10
11187 228.6 10.2 388 11192 roll 0.88 - - 3212 - 3.35 0.052 862 -415.5 182.6 - - 2321 - - - - - - - - 11.22 11.02 11.22
11236 223.7 10.3 395 11242 done 0.88 - - 3211 - 3.38 0.065 2245 409.2 182.6 - - 2321 - - - - - - - - 11.10 10.99 11.11
11579 190.9 9.4 402 11585 roll 0.88 - - 3211 - 3.83 0.141 3663 370.2 182.6 - - 2321 - - - - - - - - 11.21 10.95 11.21
11614 187.5 10.0 407 11620 done 0.79 0.32 0.209 3159 -162.5 3.22 0.042 2254 -437.6 182.6 - - 2321 - - - - - - - - 10.98 11.06 11.08
11971 162.5 6.7 416 12008 done 0.82 - - 3159 - - - 2250 - 209.8 35.42 1.122 2213 -3.0 0.106 - - - - - - 11.22 11.00 10.55
12307 135.1 8.6 422 12312 roll 0.82 - - 3169 - 3.35 0.054 852 -417.3 209.8 - - 2199 - - - - - - - - 11.21 11.01 11.21
12377 129.0 8.6 432 12382 done 0.82 - - 3170 - 3.40 0.063 2248 410.6 209.8 - - 2197 - - - - - - - - 11.10 10.98 11.10
12699 103.7 7.6 443 12711 roll 0.84 - - 3169 - 3.83 0.139 3668 370.8 222.8 6.57 0.332 2169 -4.3 0.320 - - - - - - 11.21 10.95 10.81
12770 98.1 8.3 453 12781 done 0.84 - - 3180 - 3.25 0.042 2245 -437.8 223.9 4.30 0.255 2161 -1.9 0.172 - - - - - - 11.11 11.06 10.81
13117 74.2 7.2 469 13146 roll 0.86 - - 3190 - 3.40 0.053 856 -408.5 242.9 19.38 0.353 2086 -3.9 0.195 - - - - - - 11.20 11.00 10.83
13277 62.0 6.8 492 13307 done 0.89 - - 3189 - 3.40 0.061 2254 411.2 269.1 24.55 0.324 1978 -4.4 0.202 - - - - - - 11.09 10.98 10.86
13621 43.2 4.1 508 13691 roll 1.11 0.15 0.073 3253 426.7 3.85 0.139 3666 366.8 341.4 60.62 0.279 1690 -4.8 0.177 - - - - - - 11.05 10.91 10.88
13840 34.8 3.8 540 13909 done 1.20 - - 3264 - 3.28 0.043 2236 -436.0 418.9 63.70 0.252 1381 -4.9 0.161 - - - - - - 11.10 11.05 10.89
14237 9.4 6.3 563 14272 roll 1.40 0.22 0.056 3364 454.5 3.35 0.056 860 -410.7 452.9 27.30 0.166 1246 -4.9 0.067 - - - - - - 11.05 10.98 10.94
14304 end climb: SURFACE_DEPTH_REACHED
14304 begin surface coast
14316 end surface coast: CONTROL_FINISHED_OK
14316 begin surface
SM -2.47 - - - - -8.39 13.00 0.088 200 15.4 4.85 0.083 2774 -1678.8 500.14 33.50 0.135 1058 31.6 0.059 - - - - - -