SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 620 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 214.26 of 350.00 AH used of 24V (38.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.6 deg, depth -0.97 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
17 - - - 102 done -0.93 - - 106 - - - 2786 - -107.1 -81.70 - 3480 - - - - - - - - 14.64 12.62 14.59
106 5.0 -10.4 3 123 roll -0.93 11.98 0.383 2583 206.8 2.00 0.113 3838 526.0 -107.1 - - 3481 - - - - - - - - 13.93 14.21 14.32
200 37.1 -18.6 17 207 done -0.75 0.25 0.233 2650 268.0 1.83 0.046 2771 -583.1 -107.1 - - 3481 - - - - - - - - 13.95 14.39 14.14
523 67.5 -9.1 30 528 roll -0.75 - - 2643 - 2.12 0.148 3830 499.5 -107.1 - - 3482 - - - - - - - - 14.79 13.93 14.79
620 77.6 -9.1 44 625 done -0.75 - - 2643 - 1.85 0.045 2716 -602.2 -107.1 - - 3483 - - - - - - - - 14.44 14.42 14.45
971 106.9 -8.7 57 976 roll -0.75 - - 2634 - 2.20 0.138 3830 506.4 -107.1 - - 3484 - - - - - - - - 14.83 14.00 14.83
1068 116.6 -9.9 71 1073 done -0.75 - - 2634 - 1.80 0.045 2751 -599.4 -107.1 - - 3484 - - - - - - - - 14.46 14.42 14.47
1419 150.5 -9.9 79 1423 roll -0.75 - - 2634 - 2.35 0.044 1395 -577.0 -107.1 - - 3482 - - - - - - - - 14.87 14.32 14.88
1481 156.8 -9.9 88 1486 done -0.75 0.10 0.240 2653 190.0 2.53 0.085 2753 536.8 -107.1 - - 3482 - - - - - - - - 13.99 14.09 14.23
1811 188.6 -9.7 100 1815 roll -0.75 - - 2653 - 2.38 0.044 1399 -568.9 -107.1 - - 3480 - - - - - - - - 14.85 14.33 14.85
1880 195.3 -9.6 110 1885 done -0.75 - - 2644 - 2.53 0.086 2749 533.6 -107.1 - - 3479 - - - - - - - - 14.31 14.06 14.35
2203 227.3 -10.0 121 2208 roll -0.75 - - 2644 - 2.38 0.043 1396 -568.5 -107.1 - - 3477 - - - - - - - - 14.87 14.31 14.88
2258 232.8 -9.9 129 2264 done -0.75 - - 2635 - 2.55 0.089 2743 528.2 -107.1 - - 3476 - - - - - - - - 14.30 14.04 14.35
2595 266.7 -10.0 142 2595 done -0.75 - - 2635 - - - 2743 - -107.1 - - 3473 - - - - - - - - 14.85 14.85 14.85
2931 299.5 -9.7 148 2931 done -0.75 - - 2635 - - - 2743 - -107.1 - - 3473 - - - - - - - - 14.85 14.85 14.85
3267 331.3 -9.4 154 3272 roll -0.75 - - 2635 - 2.40 0.043 1392 -562.9 -107.1 - - 3470 - - - - - - - - 14.85 14.29 14.85
3294 333.9 -9.4 158 3299 done -0.75 0.10 0.239 2654 190.0 2.58 0.087 2749 526.0 -107.1 - - 3469 - - - - - - - - 13.93 14.02 14.19
3659 363.7 -8.1 168 3663 roll -0.75 - - 2654 - 2.40 0.043 1393 -565.0 -107.1 - - 3466 - - - - - - - - 14.84 14.28 14.84
3700 367.1 -8.3 174 3705 done -0.83 - - 2644 - 2.55 0.093 2743 529.4 -107.1 - - 3467 - - - - - - - - 14.17 13.78 14.24
4051 397.6 -8.8 182 4056 roll -0.83 - - 2644 - 2.38 0.042 1389 -568.9 -107.1 - - 3465 - - - - - - - - 14.88 14.30 14.88
4085 400.7 -9.0 187 4090 done -0.83 - - 2636 - 2.55 0.089 2736 528.2 -107.1 - - 3465 - - - - - - - - 14.26 14.00 14.32
4443 432.6 -8.9 196 4443 done -0.83 - - 2636 - - - 2736 - -107.1 - - 3464 - - - - - - - - 14.88 14.87 14.88
4779 462.1 -8.7 202 4783 roll -0.83 - - 2634 - 2.38 0.043 1395 -563.4 -107.1 - - 3462 - - - - - - - - 14.87 14.24 14.87
4841 467.7 -8.7 211 4846 done -0.83 - - 2627 - 2.58 0.088 2746 523.6 -107.1 - - 3462 - - - - - - - - 14.21 13.94 14.26
5171 497.2 -8.9 223 5175 roll -0.83 - - 2618 - 2.15 0.142 3823 500.9 -107.1 - - 3460 - - - - - - - - 14.83 13.82 14.83
5205 500.4 -9.3 228 5210 done -0.83 - - 2618 - 1.88 0.050 2747 -572.3 -107.1 - - 3458 - - - - - - - - 14.33 14.30 14.34
5563 532.7 -9.1 237 5568 roll -0.83 - - 2617 - 2.40 0.043 1380 -569.6 -107.1 - - 3459 - - - - - - - - 14.87 14.22 14.87
5625 538.6 -9.1 246 5630 done -0.83 - - 2607 - 2.58 0.086 2732 524.0 -107.1 - - 3458 - - - - - - - - 14.19 13.96 14.25
5955 569.6 -9.5 258 5959 roll -0.83 - - 2600 - 2.20 0.140 3835 501.4 -107.1 - - 3457 - - - - - - - - 14.83 13.78 14.83
5989 573.1 -10.3 263 5994 done -0.83 0.10 0.210 2627 270.0 1.92 0.047 2743 -568.8 -107.1 - - 3457 - - - - - - - - 13.83 14.28 13.99
6347 604.3 -8.7 272 6351 roll -0.83 - - 2628 - 2.42 0.043 1365 -569.4 -107.1 - - 3456 - - - - - - - - 14.83 14.20 14.83
6409 609.8 -8.5 281 6415 done -0.83 - - 2618 - 2.60 0.085 2736 527.3 -107.1 - - 3455 - - - - - - - - 14.19 13.92 14.23
6739 639.7 -9.2 293 6744 roll -0.83 - - 2610 - 2.20 0.144 3833 498.6 -107.1 - - 3454 - - - - - - - - 14.81 13.74 14.81
6773 643.2 -10.2 298 6778 done -0.83 - - 2609 - 1.92 0.048 2721 -579.2 -107.1 - - 3454 - - - - - - - - 14.30 14.28 14.32
7131 677.1 -9.4 307 7135 roll -0.83 - - 2609 - 2.38 0.043 1372 -566.8 -107.1 - - 3452 - - - - - - - - 14.85 14.18 14.85
7165 680.4 -9.6 312 7170 done -0.83 0.10 0.255 2626 170.0 2.60 0.085 2740 526.2 -107.1 - - 3456 - - - - - - - - 13.77 13.88 14.03
7523 709.9 -8.2 321 7528 roll -0.83 - - 2619 - 2.20 0.146 3828 494.5 -107.1 - - 3451 - - - - - - - - 14.85 13.71 14.85
7557 712.9 -8.8 326 7562 done -0.83 - - 2618 - 1.90 0.049 2745 -570.0 -107.1 - - 3451 - - - - - - - - 14.25 14.22 14.26
7915 742.0 -8.1 335 7920 roll -0.83 - - 2618 - 2.45 0.044 1369 -561.6 -107.1 - - 3450 - - - - - - - - 14.81 14.14 14.81
7970 746.6 -8.5 343 7975 done -0.83 - - 2609 - 2.62 0.086 2733 520.6 -107.1 - - 3449 - - - - - - - - 14.11 13.85 14.16
8307 773.8 -8.1 356 8307 done -0.83 - - 2609 - - - 2734 - -107.1 - - 3449 - - - - - - - - 14.81 14.81 14.81
8639 end dive: TARGET_DEPTH_EXCEEDED
8639 begin apogee
8648 800.9 -8.1 362 8764 roll -0.23 0.77 0.186 2824 279.2 0.10 0.185 2281 -4530.0 - 113.82 1.811 3049 -3.5 0.331 - - - - - - 13.66 13.88 12.95
8766 end apogee: CONTROL_FINISHED_OK
8766 begin climb
8770 804.0 - 364 8897 roll 0.93 1.10 0.090 3182 325.5 2.62 0.055 851 -545.8 107.1 116.62 1.748 2622 -3.7 0.359 - - - - - - 14.00 14.04 12.96
8945 801.4 5.7 391 8994 done 0.85 - - 3182 - 2.53 0.064 2243 550.2 146.9 43.15 1.770 2461 -3.7 0.360 - - - - - - 14.26 14.12 13.05
9314 770.9 8.7 408 9319 roll 0.74 0.12 0.232 3142 -333.3 2.78 0.132 3655 507.9 146.9 - - 2447 - - - - - - - - 14.03 14.02 14.19
9374 765.2 8.7 417 9381 done 0.64 0.15 0.226 3112 -200.0 2.47 0.044 2229 -577.3 146.9 - - 2447 - - - - - - - - 14.01 14.36 14.30
9704 743.0 6.8 429 9730 roll 0.67 - - 3111 - 2.83 0.135 3655 503.9 166.1 20.10 1.857 2379 -3.4 0.288 - - - - - - 14.76 14.24 13.30
9780 737.1 8.3 440 9785 done 0.67 - - 3121 - 2.42 0.044 2249 -581.0 166.1 - - 2373 - - - - - - - - 14.50 14.42 14.51
10096 712.2 7.9 450 10097 done 0.67 - - 3121 - - - 2245 - 166.1 - - 2371 - - - - - - - - 14.75 14.75 14.75
10432 686.0 7.8 456 10437 roll 0.67 - - 3120 - 2.83 0.138 3654 497.9 166.1 - - 2370 - - - - - - - - 14.81 13.96 14.81
10515 678.9 8.5 468 10521 done 0.67 - - 3130 - 2.45 0.044 2248 -573.9 166.1 - - 2370 - - - - - - - - 14.45 14.35 14.47
10880 651.6 7.4 478 10886 roll 0.68 - - 3130 - 2.90 0.138 3650 483.4 173.5 1.52 0.226 2357 -8.6 5.249 - - - - - - 14.83 13.95 13.85
10921 648.2 8.4 484 10928 done 0.68 - - 3141 - 2.45 0.043 2247 -572.7 173.5 - - 2363 - - - - - - - - 14.44 14.32 14.46
11265 622.5 7.5 491 11277 roll 0.68 - - 3141 - 2.83 0.140 3648 495.1 178.8 4.22 1.534 2340 -5.5 0.471 - - - - - - 14.78 14.19 13.09
11313 618.5 8.5 498 11320 done 0.68 - - 3151 - 2.40 0.044 2251 -582.1 178.8 2.17 0.457 2338 - - - - - - - - 14.56 14.47 12.98
11657 591.8 7.8 505 11664 roll 0.68 0.08 0.272 3134 -212.5 2.53 0.060 865 -547.8 178.8 2.10 0.348 2338 - - - - - - - - 14.07 14.27 12.87
11692 589.2 7.1 510 11720 done 0.70 - - 3134 - 2.50 0.068 2257 556.8 191.7 18.08 1.674 2286 -2.9 0.216 - - - - 1 - 14.41 14.21 13.35
12053 562.2 7.7 526 12058 roll 0.70 - - 3134 - 2.78 0.138 3657 503.6 192.9 - - 2288 - - - - - - - - 14.74 14.01 14.74
12156 552.8 8.9 541 12163 done 0.70 - - 3145 - 2.42 0.044 2272 -572.3 192.9 - - 2288 - - - - - - - - 14.45 14.35 14.47
12499 524.9 8.1 548 12500 done 0.70 - - 3145 - - - 2268 - 192.9 - - 2287 - - - - - - - - 14.78 14.78 14.78
12836 497.3 8.3 554 12840 roll 0.70 - - 3144 - 2.85 0.144 3661 488.8 192.9 - - 2287 - - - - - - - - 14.78 13.88 14.78
12876 493.4 9.3 560 12882 done 0.70 - - 3154 - 2.45 0.044 2260 -571.8 192.9 - - 2288 - - - - - - - - 14.42 14.33 14.44
13227 463.0 8.7 568 13228 done 0.70 - - 3155 - - - 2256 - 192.9 - - 2287 - - - - - - - - 14.78 14.78 14.78
13564 433.4 8.7 574 13564 done 0.70 - - 3155 - - - 2257 - 192.9 - - 2287 - - - - - - - - 14.82 14.82 14.82
13899 404.9 8.4 580 13904 roll 0.70 0.08 0.270 3128 -337.5 2.85 0.138 3656 490.9 192.9 - - 2290 - - - - - - - - 14.04 13.80 14.15
13933 402.0 8.3 585 13940 done 0.70 - - 3138 - 2.42 0.044 2270 -572.7 192.9 - - 2288 - - - - - - - - 14.35 14.23 14.38
14292 376.1 7.0 594 14314 done 0.72 - - 3138 - - - 2268 - 206.6 20.67 1.499 2227 -3.0 0.158 - - - - - - 14.82 14.29 13.38
14628 352.0 7.3 600 14639 roll 0.73 - - 3138 - 2.83 0.140 3657 490.8 215.8 2.78 0.813 2197 -10.8 0.995 - - - - - - 14.77 14.16 13.19
14683 347.3 8.6 608 14689 done 0.73 - - 3147 - 2.40 0.044 2271 -577.5 215.8 1.98 0.235 2189 -4.0 1.271 - - - - - - 14.45 14.38 13.92
15012 320.5 8.2 620 15015 done 0.73 - - 3148 - - - 2274 - 215.8 1.62 0.225 2191 - - - - - - - - 14.80 14.18 13.88
15349 290.6 9.0 626 15352 done 0.73 - - 3148 - - - 2268 - 215.8 1.95 0.220 2189 - - - - - - - - 14.77 14.12 13.76
15684 263.3 7.9 632 15691 roll 0.73 - - 3147 - 2.90 0.142 3662 480.7 215.8 1.90 0.222 2192 1.6 -0.399 - - - - - - 14.78 13.93 13.73
15733 259.2 8.7 639 15739 done 0.73 - - 3157 - 2.42 0.044 2274 -573.6 215.8 1.60 0.239 2190 - - - - - - - - 14.33 14.26 13.78
16069 232.6 7.9 652 16072 done 0.73 - - 3158 - - - 2271 - 215.8 1.95 0.223 2189 - - - - - - - - 14.78 14.05 13.69
16406 205.0 8.2 658 16412 roll 0.73 - - 3168 - 2.62 0.062 855 -540.5 215.8 1.95 0.224 2193 2.1 -0.400 - - - - - - 14.77 14.09 13.66
16467 199.6 8.6 667 16474 done 0.73 0.12 0.208 3132 -300.0 2.58 0.070 2271 548.8 215.8 1.85 0.215 2190 -1.6 0.320 - - - - - - 13.93 14.05 13.74
16790 174.2 8.0 678 16797 roll 0.73 - - 3132 - 2.83 0.135 3658 490.1 215.8 2.00 0.227 2194 2.0 -0.327 - - - - - - 14.78 13.88 11.80
16845 169.3 9.1 686 16851 done 0.73 - - 3140 - 2.40 0.043 2270 -578.3 215.8 1.92 0.231 2190 -2.1 0.325 - - - - - - 14.40 14.32 13.76
17176 144.0 7.5 698 17188 done 0.73 - - 3141 - - - 2266 - 221.2 11.20 1.312 2172 -1.6 0.038 - - - - - - 14.77 14.29 13.50
17505 120.8 7.2 710 17523 roll 0.75 - - 3150 - 2.55 0.062 857 -552.5 232.7 11.55 1.274 2115 -4.9 0.100 - - - - - - 14.76 14.35 13.52
17546 117.2 8.5 716 17551 done 0.75 - - 3151 - 2.55 0.070 2282 558.8 232.7 - - 2112 - - - - - - - - 14.50 14.32 14.54
17869 89.5 7.7 725 17875 roll 0.75 - - 3151 - 2.72 0.138 3656 505.1 233.2 - - 2111 - - - - - - - - 14.78 13.99 14.78
17952 82.5 8.8 737 17958 done 0.75 - - 3161 - 2.40 0.042 2272 -576.7 233.2 - - 2111 - - - - - - - - 14.45 14.35 14.47
18288 58.1 7.4 752 18292 done 0.76 - - 3161 - - - 2268 - 239.5 2.12 0.223 2094 -8.0 0.445 - - - - - - 14.79 14.08 13.68
18597 43.6 3.1 763 18657 roll 0.96 0.08 0.140 3229 850.0 2.80 0.135 3659 496.8 332.7 51.72 0.297 1725 -7.1 0.223 - - - - - - 14.45 14.23 14.04
18890 32.8 5.3 805 18923 done 1.02 - - 3238 - 2.40 0.043 2252 -586.2 380.5 26.90 0.260 1533 -7.1 0.192 - - - - - - 14.45 14.37 14.00
19244 10.5 6.8 822 19259 roll 1.14 - - 3238 - 2.80 0.138 3657 501.8 398.2 10.30 0.191 1461 -7.0 0.082 - - - - - - 14.71 14.02 13.94
19349 end climb: SURFACE_DEPTH_REACHED
19349 begin surface coast
19377 end surface coast: CONTROL_FINISHED_OK
19377 begin surface
SM -0.94 - - - - -8.38 8.98 0.065 181 20.1 1.52 0.055 2785 -3833.6 500.14 51.33 0.150 1056 20.6 0.013 - - - - - -