SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 877 * Raw log
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• Previous call tries 1 • 289.64 of 350.00 AH used of 24V (17.25% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -69.4 deg, depth -4.17 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 3 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
15 - - - 99 done -1.04 - - 152 - - - 2776 - -97.3 -83.18 - 3190 - - - - - - - - 11.21 10.44 11.21
105 -1.4 -4.2 3 132 roll -1.04 18.42 0.376 2555 130.5 3.35 0.035 1359 -423.0 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.06
205 26.6 -20.7 18 211 done -0.82 0.47 0.252 2629 157.4 3.45 0.063 2767 408.1 -97.3 - - 3191 - - - - - - - - 10.91 11.01 11.07
520 68.6 -8.2 30 525 roll -0.82 - - 2622 - 2.58 0.096 3830 412.0 -97.3 - - 3192 - - - - - - - - 11.24 11.00 11.24
758 86.2 -5.4 64 763 done -0.82 - - 2622 - 2.35 0.034 2739 -464.3 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
1108 104.6 -5.1 77 1114 roll -0.82 - - 2620 - 3.15 0.034 1379 -431.7 -97.3 - - 3193 - - - - - - - - 11.24 11.06 11.24
1178 109.7 -6.7 87 1183 done -0.82 - - 2608 - 3.33 0.057 2773 418.6 -97.3 - - 3193 - - - - - - - - 11.12 11.02 11.13
1501 131.0 -7.1 98 1505 roll -0.82 - - 2612 - 3.28 0.035 1380 -424.7 -97.3 - - 3192 - - - - - - - - 11.24 11.06 11.24
1535 135.0 -10.5 103 1540 done -0.82 0.15 0.212 2630 120.0 3.38 0.058 2767 410.4 -97.3 - - 3191 - - - - - - - - 10.97 11.03 11.10
1892 163.1 -7.8 112 1897 roll -0.82 - - 2623 - 2.58 0.096 3829 411.6 -97.3 - - 3190 - - - - - - - - 11.26 11.01 11.25
1941 167.2 -8.6 119 1947 done -0.82 - - 2622 - 2.33 0.034 2759 -459.2 -97.3 - - 3190 - - - - - - - - 11.15 11.12 11.16
2284 193.6 -7.8 126 2289 roll -0.82 - - 2614 - 2.67 0.096 3833 402.2 -97.3 - - 3187 - - - - - - - - 11.24 11.02 11.24
2333 197.8 -9.0 133 2340 done -0.82 - - 2612 - 2.33 0.034 2764 -458.8 -97.3 - - 3189 - - - - - - - - 11.15 11.12 11.15
2676 229.3 -9.4 140 2681 roll -0.82 - - 2607 - 2.65 0.096 3835 404.2 -97.3 - - 3185 - - - - - - - - 11.24 11.02 11.24
2711 232.7 -9.9 145 2717 done -0.82 0.12 0.209 2630 191.7 2.35 0.034 2761 -457.0 -97.3 - - 3185 - - - - - - - - 10.97 11.11 11.11
3068 262.1 -8.1 154 3073 roll -0.82 - - 2630 - 3.28 0.037 1370 -424.1 -97.3 - - 3182 - - - - - - - - 11.24 11.07 11.25
3187 271.9 -8.3 171 3192 done -0.82 - - 2621 - 3.40 0.059 2765 410.3 -97.3 - - 3181 - - - - - - - - 11.13 11.05 11.14
3516 300.1 -8.7 183 3517 done -0.82 - - 2621 - - - 2764 - -97.3 - - 3180 - - - - - - - - 11.25 11.25 11.25
3852 326.7 -7.8 189 3858 roll -0.82 - - 2619 - 3.33 0.037 1369 -418.9 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.26
3887 329.4 -7.9 194 3892 done -0.82 - - 2610 - 3.42 0.059 2769 409.4 -97.3 - - 3177 - - - - - - - - 11.13 11.04 11.14
4244 358.0 -8.1 203 4249 roll -0.82 - - 2602 - 2.60 0.099 3834 409.6 -97.3 - - 3175 - - - - - - - - 11.26 11.02 11.26
4293 362.2 -8.7 210 4299 done -0.82 0.15 0.207 2630 186.7 2.38 0.034 2749 -455.9 -97.3 - - 3175 - - - - - - - - 10.98 11.11 11.12
4636 388.5 -7.6 217 4643 roll -0.82 - - 2631 - 3.22 0.034 1372 -427.6 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.25
4706 394.0 -7.8 227 4712 done -0.82 - - 2621 - 3.40 0.059 2766 410.0 -97.3 - - 3174 - - - - - - - - 11.14 11.08 11.15
5029 420.2 -8.2 238 5030 done -0.82 - - 2621 - - - 2766 - -97.3 - - 3172 - - - - - - - - 11.26 11.26 11.26
5365 446.8 -7.8 244 5365 done -0.82 - - 2621 - - - 2766 - -97.3 - - 3171 - - - - - - - - 11.25 11.25 11.25
5416 end dive: TARGET_DEPTH_EXCEEDED
5416 begin apogee
5427 450.9 -7.6 245 5539 roll -0.23 0.95 0.177 2819 208.4 - - 2243 - - 108.47 1.477 2802 -3.4 0.253 - - - - - - 10.99 11.00 10.42
5539 end apogee: CONTROL_FINISHED_OK
5540 begin loiter
5771 454.7 0.3 280 5775 done -0.23 - - 2819 - - - 2243 - -5.7 - - 2792 - - - - - - - - 11.24 11.24 11.24
6101 451.2 1.2 292 6102 done -0.60 0.38 0.047 2705 -300.0 - - 2244 - -5.7 - - 2790 - - - - - - - - 11.08 11.14 11.12
6436 446.6 1.4 298 6438 done -0.74 0.10 0.088 2655 -500.0 - - 2243 - -5.7 - - 2789 - - - - - - - - 11.10 11.14 11.14
6772 443.1 0.9 304 6773 done -0.76 - - 2655 - - - 2243 - -21.5 - - 2787 - - - - - - - - 11.26 11.26 11.26
7108 442.7 - 310 7109 done -0.76 - - 2655 - - - 2243 - -20.9 - - 2787 - - - - - - - - 11.26 11.26 11.26
7444 444.0 -0.4 316 7445 done -0.75 - - 2655 - - - 2243 - -13.5 - - 2786 - - - - - - - - 11.27 11.27 11.26
7780 444.3 - 322 7781 done -0.75 - - 2655 - - - 2243 - -14.3 - - 2784 - - - - - - - - 11.27 11.26 11.27
8116 441.7 0.9 328 8117 done -0.77 - - 2655 - - - 2243 - -29.4 - - 2784 - - - - - - - - 11.27 11.27 11.27
8452 437.2 1.4 334 8453 done -0.77 - - 2655 - - - 2243 - -29.4 - - 2784 - - - - - - - - 11.27 11.27 11.28
8788 435.9 0.1 340 8789 done -0.77 - - 2655 - - - 2243 - -30.9 - - 2783 - - - - - - - - 11.28 11.28 11.28
9124 439.4 -1.2 346 9125 done -0.75 - - 2655 - - - 2243 - -10.7 - - 2782 - - - - - - - - 11.28 11.28 11.28
9460 443.7 -1.2 352 9466 done -0.72 - - 2655 - - - 2243 - 10.4 4.10 1.124 2761 -5.1 0.493 - - - - - - 11.28 11.05 10.31
9797 443.5 0.3 358 9798 done -0.73 - - 2655 - - - 2243 - 4.7 - - 2772 - - - - - - - - 11.27 11.28 11.28
10132 441.1 0.8 364 10133 done -0.74 - - 2655 - - - 2243 - -8.1 - - 2772 - - - - - - - - 11.28 11.28 11.28
10468 440.8 -0.1 370 10469 done -0.74 - - 2655 - - - 2243 - -6.2 - - 2772 - - - - - - - - 11.28 11.28 11.28
10804 443.3 -0.8 376 10805 done -0.72 - - 2655 - - - 2243 - 7.5 - - 2771 - - - - - - - - 11.28 11.28 11.28
11140 445.4 -0.5 382 11157 done -0.71 - - 2654 - - - 2243 - 16.8 16.00 1.485 2733 -2.4 0.174 - - - - - - 11.28 11.02 10.43
11476 439.3 2.2 388 11477 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2723 - - - - - - - - 11.27 11.27 11.28
11812 431.1 2.5 394 11813 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2723 - - - - - - - - 11.28 11.28 11.28
12148 423.7 2.2 400 12149 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2723 - - - - - - - - 11.28 11.28 11.28
12484 416.8 2.0 406 12485 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.28 11.28 11.29
12820 411.4 1.5 412 12821 done -0.71 - - 2654 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.28 11.29
13156 406.7 1.4 418 13157 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2723 - - - - - - - - 11.29 11.29 11.29
13492 399.9 2.2 424 13493 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.28 11.29
13828 391.6 2.5 430 13829 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
14164 383.6 2.3 436 14165 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
14500 376.7 2.0 442 14501 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.28
14836 370.7 1.7 448 14837 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
15172 366.8 1.0 454 15173 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
15508 363.3 1.1 460 15509 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
15844 357.7 1.8 466 15845 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
16180 350.5 2.2 472 16181 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
16516 343.6 2.0 478 16517 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
16852 338.0 1.7 484 16853 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
17188 331.7 1.9 490 17189 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.30
17524 326.6 1.5 496 17525 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
17860 322.7 1.1 502 17861 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
18196 318.6 1.2 508 18197 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
18532 314.3 1.3 514 18533 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2721 - - - - - - - - 11.29 11.29 11.29
18868 308.5 1.7 520 18869 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
19204 304.4 1.1 526 19205 done -0.71 - - 2655 - - - 2243 - 16.8 - - 2722 - - - - - - - - 11.29 11.29 11.29
19540 301.0 1.0 532 19541 done -0.73 - - 2655 - - - 2243 - -0.1 - - 2722 - - - - - - - - 11.30 11.29 11.29
19876 297.9 0.9 538 19877 done -0.75 - - 2655 - - - 2243 - -16.0 - - 2722 - - - - - - - - 11.29 11.29 11.29
20213 294.2 1.1 544 20214 done -0.75 - - 2655 - - - 2244 - -16.0 - - 2722 - - - - - - - - 11.29 11.29 11.29
20548 290.6 1.0 550 20549 done -0.75 - - 2655 - - - 2243 - -16.0 - - 2722 - - - - - - - - 11.30 11.29 11.29
20884 289.3 0.2 556 20885 done -0.76 - - 2655 - - - 2243 - -20.1 - - 2722 - - - - - - - - 11.29 11.29 11.29
21220 287.0 0.9 562 21221 done -0.78 - - 2655 - - - 2243 - -34.7 - - 2722 - - - - - - - - 11.29 11.29 11.29
21556 282.5 1.3 568 21557 done -0.78 - - 2655 - - - 2243 - -34.7 - - 2722 - - - - - - - - 11.29 11.30 11.29
21892 279.2 1.0 574 21893 done -0.80 - - 2655 - - - 2243 - -51.2 - - 2722 - - - - - - - - 11.29 11.29 11.29
22228 275.3 1.2 580 22229 done -0.80 - - 2655 - - - 2243 - -51.2 - - 2722 - - - - - - - - 11.29 11.30 11.30
22564 271.5 1.1 586 22565 done -0.80 - - 2655 - - - 2243 - -51.2 - - 2722 - - - - - - - - 11.29 11.30 11.29
22900 266.3 1.7 592 22901 done -0.80 - - 2655 - - - 2243 - -51.2 - - 2722 - - - - - - - - 11.29 11.30 11.30
23236 262.3 1.0 598 23237 done -0.80 - - 2655 - - - 2243 - -51.2 - - 2722 - - - - - - - - 11.30 11.30 11.30
23567 end loiter: LOITER_COMPLETE
23567 begin climb
23572 259.3 - 604 23671 done 1.04 2.65 0.167 3216 211.7 - - 2243 - 97.3 94.90 1.242 2412 -3.3 0.166 - - - - - - 11.02 10.99 10.48
23964 229.5 9.1 611 23965 done 1.04 - - 3215 - - - 2243 - 97.3 - - 2396 - - - - - - - - 11.23 11.23 11.23
24300 199.7 8.8 617 24301 done 1.04 - - 3215 - - - 2243 - 97.3 - - 2395 - - - - - - - - 11.24 11.24 11.24
24636 169.5 9.2 623 24641 roll 1.04 - - 3225 - 3.35 0.052 860 -412.8 97.3 - - 2396 - - - - - - - - 11.24 11.04 11.25
24721 161.8 9.0 635 24726 done 1.04 - - 3225 - 3.30 0.043 2262 424.8 97.3 - - 2394 - - - - - - - - 11.11 11.05 11.14
25084 128.7 9.3 645 25090 roll 1.04 - - 3225 - 3.47 0.094 3663 403.7 97.3 - - 2394 - - - - - - - - 11.24 11.01 11.25
25112 125.9 10.1 649 25119 done 0.94 0.15 0.215 3206 -126.7 3.17 0.032 2265 -441.0 97.3 - - 2393 - - - - - - - - 10.96 11.08 11.11
25477 98.1 7.1 659 25496 roll 0.97 - - 3217 - 3.42 0.052 847 -414.6 117.6 13.05 0.395 2336 -4.4 0.264 - - - - - - 11.25 11.02 10.82
25729 83.0 4.7 695 25789 done 1.04 - - 3217 - 3.30 0.044 2248 424.5 180.1 54.60 0.392 2086 -4.6 0.236 - - - - - - 11.13 11.05 10.82
26125 62.4 2.3 718 26217 roll 1.17 0.15 0.064 3288 473.3 3.42 0.052 842 -411.1 282.1 85.93 0.340 1678 -4.7 0.212 - - - - - - 11.11 11.00 10.84
26226 59.0 5.7 730 26272 done 1.22 - - 3286 - 3.33 0.044 2252 423.4 326.5 37.92 0.327 1503 -4.6 0.203 - - - - - - 11.10 11.02 10.84
26594 33.3 7.8 749 26609 roll 1.24 - - 3298 - 3.42 0.054 844 -411.7 336.3 9.32 0.232 1461 -4.5 0.158 - - - - - - 11.22 11.02 10.91
26660 27.0 9.5 759 26665 done 1.32 - - 3298 - 3.30 0.046 2246 424.8 336.3 - - 1466 - - - - - - - - 11.11 11.03 11.12
26948 end climb: SURFACE_DEPTH_REACHED
26948 begin surface coast
26977 end surface coast: CONTROL_FINISHED_OK
26977 begin surface
SM -2.41 - - - - -8.40 11.62 0.037 192 16.5 1.27 0.060 2777 1274.8 500.14 114.47 0.129 807 7.0 0.013 - - - - - -