SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 735 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 250.12 of 350.00 AH used of 24V (28.54% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -67.5 deg, depth -2.31 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 3 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
18 - - - 103 done -0.93 - - 109 - - - 2777 - -107.1 -82.05 - 3478 - - - - - - - - 14.52 12.64 14.45
107 2.9 -9.0 3 124 roll -0.93 12.07 0.380 2591 205.6 2.45 0.034 1369 -574.7 -107.1 - - 3479 - - - - - - - - 13.83 14.26 14.22
166 26.5 -26.0 12 171 done -0.70 0.32 0.230 2668 240.6 2.72 0.112 2767 514.0 -107.1 - - 3479 - - - - - - - - 13.83 13.92 14.12
496 68.9 -7.1 26 501 roll -0.70 - - 2668 - 2.47 0.042 1380 -561.5 -107.1 - - 3480 - - - - - - - - 14.65 14.03 14.65
544 72.5 -6.3 33 551 done -0.70 - - 2658 - 2.75 0.110 2763 502.9 -107.1 - - 3483 - - - - - - - - 14.12 13.83 14.18
860 96.6 -7.6 45 866 roll -0.70 - - 2651 - 2.20 0.173 3824 482.3 -107.1 - - 3481 - - - - - - - - 14.71 13.85 14.71
950 103.4 -7.2 58 955 done -0.70 - - 2650 - 1.83 0.063 2774 -573.8 -107.1 - - 3480 - - - - - - - - 14.22 14.14 14.23
1308 133.9 -9.1 67 1313 roll -0.70 - - 2650 - 2.50 0.041 1365 -563.6 -107.1 - - 3479 - - - - - - - - 14.70 13.95 14.69
1349 138.0 -9.4 73 1355 done -0.70 0.10 0.226 2670 200.0 2.75 0.106 2762 508.0 -107.1 - - 3481 - - - - - - - - 13.86 13.85 14.10
1700 167.5 -8.3 81 1701 done -0.70 - - 2670 - - - 2762 - -107.1 - - 3479 - - - - - - - - 14.69 14.70 14.69
2036 193.2 -7.5 87 2041 roll -0.70 - - 2670 - 2.53 0.043 1367 -551.4 -107.1 - - 3476 - - - - - - - - 14.69 13.93 14.69
2085 197.0 -7.3 94 2091 done -0.79 - - 2661 - 2.78 0.106 2762 501.8 -107.1 - - 3476 - - - - - - - - 14.16 13.88 14.19
2429 221.1 -7.0 101 2434 roll -0.79 - - 2653 - 2.22 0.172 3830 481.1 -107.1 - - 3474 - - - - - - - - 14.74 13.83 14.74
2470 224.4 -7.4 107 2474 done -0.79 - - 2654 - 1.92 0.064 2750 -562.5 -107.1 - - 3473 - - - - - - - - 14.20 14.14 14.22
2821 249.1 -7.1 115 2826 roll -0.79 - - 2653 - 2.50 0.041 1361 -555.6 -107.1 - - 3470 - - - - - - - - 14.69 13.88 14.69
2925 256.8 -7.4 130 2936 done -0.79 - - 2643 - 2.75 0.103 2751 505.5 -107.1 - - 3469 - - - - - - - - 14.13 13.86 14.17
3269 283.5 -7.9 137 3274 roll -0.79 - - 2644 - 2.55 0.042 1359 -545.9 -107.1 - - 3467 - - - - - - - - 14.73 13.88 14.73
3295 285.8 -8.7 141 3301 done -0.79 - - 2636 - 2.75 0.103 2750 505.8 -107.1 - - 3467 - - - - - - - - 14.14 13.86 14.19
3660 316.2 -8.4 151 3661 done -0.79 - - 2636 - - - 2750 - -107.1 - - 3466 - - - - - - - - 14.69 14.69 14.69
3996 343.9 -8.2 157 4002 roll -0.79 - - 2636 - 2.55 0.043 1362 -544.3 -107.1 - - 3463 - - - - - - - - 14.68 13.86 14.68
4052 348.4 -7.7 165 4058 done -0.79 - - 2627 - 2.78 0.103 2751 499.6 -107.1 - - 3463 - - - - - - - - 14.10 13.83 14.14
4388 376.5 -8.5 178 4393 roll -0.79 - - 2619 - 2.22 0.166 3826 484.2 -107.1 - - 3461 - - - - - - - - 14.67 13.83 14.66
4444 382.0 -9.5 186 4449 done -0.79 - - 2618 - 1.92 0.067 2755 -557.8 -107.1 - - 3462 - - - - - - - - 14.20 14.12 14.22
4780 413.1 -9.4 199 4785 roll -0.79 - - 2617 - 2.53 0.042 1360 -551.4 -107.1 - - 3460 - - - - - - - - 14.74 13.85 14.73
4828 418.1 -9.9 206 4835 done -0.79 0.10 0.239 2636 190.0 2.78 0.100 2751 500.4 -107.1 - - 3459 - - - - - - - - 13.84 13.86 14.09
5173 449.8 -9.3 213 5173 done -0.79 - - 2637 - - - 2751 - -107.1 - - 3458 - - - - - - - - 14.73 14.73 14.73
5508 480.1 -8.8 219 5513 roll -0.79 - - 2636 - 2.58 0.043 1357 -540.3 -107.1 - - 3456 - - - - - - - - 14.72 13.83 14.72
5556 484.5 -8.0 226 5563 done -0.79 - - 2627 - 2.80 0.102 2751 497.9 -107.1 - - 3455 - - - - - - - - 14.14 13.86 14.19
5901 513.5 -8.4 233 5901 done -0.79 - - 2626 - - - 2749 - -107.1 - - 3455 - - - - - - - - 14.71 14.72 14.72
6236 540.2 -7.9 239 6241 roll -0.79 - - 2627 - 2.58 0.043 1361 -538.0 -107.1 - - 3454 - - - - - - - - 14.66 13.85 14.66
6270 543.5 -9.6 244 6275 done -0.79 - - 2618 - 2.78 0.104 2751 500.0 -107.1 - - 3454 - - - - - - - - 14.16 13.89 14.23
6629 573.0 -8.3 253 6634 roll -0.79 - - 2609 - 2.22 0.166 3825 483.8 -107.1 - - 3452 - - - - - - - - 14.71 13.83 14.71
6676 577.8 -9.1 260 6683 done -0.79 0.10 0.226 2637 280.0 1.98 0.067 2747 -544.4 -107.1 - - 3452 - - - - - - - - 13.76 14.09 13.98
7021 604.6 -7.7 267 7026 roll -0.79 - - 2638 - 2.55 0.042 1355 -545.9 -107.1 - - 3450 - - - - - - - - 14.64 13.87 14.65
7097 610.7 -7.4 278 7102 done -0.79 - - 2628 - 2.78 0.101 2743 499.3 -107.1 - - 3450 - - - - - - - - 14.16 13.88 14.21
7412 635.3 -7.8 288 7417 roll -0.79 - - 2620 - 2.25 0.165 3828 482.2 -107.1 - - 3450 - - - - - - - - 14.64 13.78 14.64
7439 637.8 -9.2 292 7444 done -0.79 - - 2620 - 1.98 0.067 2736 -551.5 -107.1 - - 3449 - - - - - - - - 14.19 14.09 14.19
7805 667.6 -8.1 302 7806 done -0.79 - - 2620 - - - 2736 - -107.1 - - 3448 - - - - - - - - 14.70 14.70 14.70
8140 694.7 -7.9 308 8141 done -0.79 - - 2620 - - - 2736 - -107.1 - - 3446 - - - - - - - - 14.70 14.70 14.70
8476 721.7 -8.2 314 8481 roll -0.79 - - 2620 - 2.55 0.042 1353 -542.4 -107.1 - - 3445 - - - - - - - - 14.62 13.84 14.62
8510 724.6 -8.3 319 8516 done -0.79 0.10 0.236 2639 190.0 2.78 0.099 2744 500.4 -107.1 - - 3446 - - - - - - - - 13.83 13.83 14.07
8869 749.5 -6.9 328 8873 roll -0.79 - - 2641 - 2.58 0.043 1356 -538.0 -107.1 - - 3442 - - - - - - - - 14.62 13.91 14.62
8896 751.5 -7.2 332 8901 done -0.79 - - 2630 - 2.78 0.099 2741 498.2 -107.1 - - 3445 - - - - - - - - 14.12 13.84 14.18
9261 777.6 -7.3 342 9265 roll -0.79 - - 2621 - 2.25 0.163 3824 481.3 -107.1 - - 3443 - - - - - - - - 14.68 13.83 14.69
9294 780.5 -8.5 347 9299 done -0.79 - - 2620 - 1.98 0.068 2739 -548.0 -107.1 - - 3443 - - - - - - - - 14.16 14.10 14.19
9592 end dive: TARGET_DEPTH_EXCEEDED
9592 begin apogee
9603 804.2 -8.1 355 9721 roll -0.23 0.73 0.168 2825 280.8 0.12 0.190 2271 -3900.0 - 115.72 1.802 3048 -3.4 0.303 - - - - - - 13.76 13.88 13.09
9723 end apogee: CONTROL_FINISHED_OK
9723 begin climb
9727 808.2 - 357 9853 done 0.93 1.15 0.083 3202 327.8 - - 2271 - 107.1 118.72 1.750 2619 -3.6 0.332 - - - - - - 13.82 14.18 13.08
10215 789.1 6.1 387 10254 roll 0.80 0.12 0.247 3172 -250.0 2.53 0.052 879 -550.2 138.6 34.10 1.812 2492 -3.7 0.322 - - - - - - 13.88 14.01 13.30
10323 782.9 6.3 402 10359 done 0.75 - - 3172 - 2.53 0.071 2243 539.1 166.5 31.92 1.788 2387 -3.3 0.286 - - - - - - 14.20 14.01 13.20
10715 753.2 7.8 416 10721 roll 0.66 0.17 0.220 3117 -323.5 2.85 0.144 3665 498.9 166.5 - - 2368 - - - - - - - - 13.93 13.98 14.09
10819 745.6 6.7 431 10846 done 0.68 - - 3128 - 2.45 0.054 2265 -571.4 186.7 21.52 1.845 2303 -3.0 0.243 - - - - - - 14.38 14.30 13.40
11163 721.5 7.2 445 11174 roll 0.70 - - 3138 - 2.55 0.056 865 -549.0 197.1 3.45 1.225 2267 -10.4 1.221 - - - - - - 14.65 14.19 13.17
11197 718.9 7.3 450 11223 done 0.71 - - 3138 - 2.55 0.073 2255 545.1 205.1 16.67 1.951 2225 -2.5 0.185 - - - - 1 - 14.32 14.13 13.04
11555 687.1 9.2 466 11560 roll 0.71 - - 3138 - 2.85 0.151 3664 494.4 205.1 - - 2219 - - - - - - - - 14.63 13.90 14.63
11624 679.7 10.9 476 11629 done 0.71 - - 3148 - 2.45 0.053 2269 -569.4 205.1 - - 2219 - - - - - - - - 14.37 14.29 14.39
11947 645.0 10.9 487 11952 roll 0.71 - - 3149 - 2.88 0.149 3663 484.0 205.1 - - 2218 - - - - - - - - 14.64 13.85 14.64
11981 640.8 12.2 492 11986 done 0.71 0.10 0.235 3132 -170.0 2.47 0.051 2259 -568.4 205.1 - - 2218 - - - - - - - - 13.90 14.19 14.18
12339 606.4 9.3 501 12340 done 0.71 - - 3133 - - - 2254 - 205.1 - - 2217 - - - - - - - - 14.69 14.69 14.69
12675 579.2 8.0 507 12680 roll 0.71 - - 3131 - 2.92 0.149 3667 483.9 205.1 - - 2217 - - - - - - - - 14.69 13.80 14.69
12723 575.0 8.8 514 12730 done 0.71 - - 3143 - 2.53 0.052 2259 -556.5 205.1 - - 2217 - - - - - - - - 14.28 14.19 14.30
13067 547.5 8.1 521 13072 roll 0.71 - - 3143 - 2.92 0.148 3659 479.5 205.1 - - 2217 - - - - - - - - 14.69 13.80 14.69
13094 545.0 8.9 525 13099 done 0.71 - - 3151 - 2.42 0.051 2251 -581.8 205.1 - - 2217 - - - - - - - - 14.26 14.17 14.29
13459 513.0 8.9 535 13464 roll 0.71 - - 3153 - 2.95 0.149 3665 479.3 205.1 - - 2216 - - - - - - - - 14.69 13.81 14.69
13507 508.3 10.0 542 13515 done 0.71 0.12 0.226 3129 -200.0 2.50 0.051 2256 -563.6 205.1 - - 2216 - - - - - - - - 13.78 14.14 14.07
13851 481.6 7.7 549 13855 roll 0.71 - - 3146 - 2.55 0.055 861 -547.1 206.2 - - 2217 - - - - - - - - 14.62 13.88 14.62
13878 479.6 7.3 553 13889 done 0.72 - - 3139 - 2.62 0.073 2265 535.9 215.4 3.45 1.147 2195 -6.4 0.530 - - - - - - 14.10 13.88 13.27
14243 449.1 8.6 563 14253 roll 0.72 - - 3139 - 2.90 0.155 3658 480.3 215.4 2.25 0.498 2193 - - - - - - - - 14.62 13.85 13.13
14319 441.6 9.8 574 14325 done 0.72 - - 3149 - 2.45 0.050 2265 -568.6 215.4 1.42 0.232 2190 -2.1 0.799 - - - - - - 14.29 14.21 13.85
14635 413.5 8.8 584 14637 done 0.72 - - 3149 - - - 2261 - 215.4 1.65 0.224 2191 - - - - - - - - 14.62 14.13 13.85
14971 383.7 8.9 590 14973 done 0.72 - - 3149 - - - 2261 - 215.4 1.38 0.226 2192 - - - - - - - - 14.61 14.13 13.88
15307 355.4 8.3 596 15313 roll 0.72 - - 3149 - 2.95 0.152 3660 474.2 215.4 1.52 0.223 2192 - - - - - - - - 14.60 13.85 13.90
15383 348.5 9.1 607 15389 done 0.72 - - 3160 - 2.47 0.050 2268 -563.6 215.4 1.75 0.219 2191 - - - - - - - - 14.21 14.13 13.83
15741 318.4 8.4 616 15747 roll 0.72 - - 3171 - 2.62 0.056 854 -539.7 215.4 1.65 0.225 2191 - - - - - - - - 14.61 13.94 13.89
15782 315.0 8.2 622 15790 done 0.72 0.12 0.209 3135 -300.0 2.67 0.076 2268 529.6 215.4 1.23 0.229 2192 - - - - - - - - 13.76 13.84 13.86
16126 289.5 7.5 629 16138 roll 0.72 - - 3134 - 2.83 0.153 3665 493.6 220.1 4.97 1.453 2176 -3.2 0.127 - - - - - - 14.67 13.86 13.28
16174 285.6 8.7 636 16181 done 0.72 - - 3145 - 2.50 0.053 2256 -563.6 220.1 1.95 0.248 2175 - - - - - - - - 14.35 14.27 13.68
16518 257.6 8.2 643 16528 roll 0.72 - - 3155 - 2.58 0.056 860 -541.1 220.1 2.33 0.529 2180 2.1 -0.208 - - - - - - 14.62 14.03 13.24
16559 254.0 8.4 649 16565 done 0.72 - - 3155 - 2.62 0.075 2267 537.0 220.1 2.12 0.379 2172 -3.8 0.503 - - - - - - 14.16 13.93 13.05
16903 223.3 9.0 656 16907 done 0.72 - - 3155 - - - 2268 - 220.1 1.98 0.222 2172 - - - - - - - - 14.60 14.12 13.80
17239 194.7 8.3 662 17246 roll 0.72 - - 3155 - 2.90 0.154 3659 479.7 220.1 1.98 0.222 2176 2.0 -0.352 - - - - - - 14.60 13.87 13.81
17267 192.4 8.5 666 17273 done 0.72 0.10 0.234 3138 -170.0 2.47 0.050 2260 -566.4 220.1 - - 2181 - - - - - - - - 13.78 14.14 14.02
17633 167.0 7.0 676 17664 roll 0.74 - - 3138 - 2.90 0.149 3659 482.4 235.4 23.17 1.258 2102 -3.4 0.090 - - - - - - 14.65 13.94 13.59
17680 163.2 8.4 683 17686 done 0.74 - - 3149 - 2.47 0.050 2264 -564.8 235.4 - - 2099 - - - - - - - - 14.25 14.18 14.27
18024 137.7 7.2 690 18035 roll 0.76 - - 3158 - 2.55 0.056 859 -551.0 246.2 3.90 1.055 2076 -5.9 0.153 - - - - - - 14.66 14.11 13.28
18058 135.3 6.9 695 18091 done 0.78 - - 3157 - 2.53 0.073 2267 556.5 263.6 26.40 1.224 1993 -3.1 0.069 - - - - - - 14.28 14.06 13.57
18416 109.5 7.4 711 18422 roll 0.79 - - 3158 - 2.90 0.153 3663 481.4 271.1 1.55 0.216 1969 -15.5 1.560 - - - - - - 14.62 13.87 13.86
18443 107.2 7.9 715 18448 done 0.79 - - 3168 - 2.47 0.050 2250 -572.1 271.1 - - 1974 - - - - - - - - 14.33 14.26 14.35
18773 81.0 8.5 727 18778 roll 0.79 - - 3177 - 2.50 0.056 863 -554.8 271.1 - - 1975 - - - - - - - - 14.62 14.05 14.62
18801 78.8 7.6 731 18807 done 0.79 - - 3178 - 2.60 0.073 2265 539.2 273.0 2.25 0.216 1962 -5.8 0.419 - - - - - - 14.20 13.97 13.76
19131 58.5 4.7 745 19168 done 0.86 - - 3178 - - - 2265 - 333.5 36.03 0.350 1717 -6.8 0.226 - - - - - - 14.63 14.28 13.89
19467 51.1 1.3 760 19543 roll 1.22 0.25 0.065 3315 548.0 2.60 0.059 858 -541.2 461.7 71.25 0.324 1215 -7.0 0.221 - - - - - - 14.15 14.26 13.92
19621 39.2 11.2 782 19628 done 1.22 - - 3314 - 2.62 0.080 2259 534.7 461.7 - - 1217 - - - - - - - - 14.19 13.96 14.23
19936 8.2 10.8 794 19937 done 1.22 - - 3314 - - - 2259 - 461.7 - - 1215 - - - - - - - - 14.62 14.62 14.62
19988 end climb: SURFACE_DEPTH_REACHED
19988 begin surface coast
20016 end surface coast: CONTROL_FINISHED_OK
20016 begin surface
SM -2.10 - - - - -8.39 9.07 0.043 172 19.0 1.02 0.120 2767 2706.9 500.14 20.67 0.151 1056 51.1 0.073 - - - - - -