SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 840 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 281.67 of 350.00 AH used of 24V (19.52% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -66.5 deg, depth -2.89 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 14 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
14 - - - 98 done -1.04 - - 105 - - - 2787 - -97.3 -79.62 - 3188 - - - - - - - - 11.21 10.47 11.21
103 1.6 -8.2 3 127 roll -1.04 18.70 0.373 2554 131.0 3.38 0.035 1352 -424.6 -97.3 - - 3190 - - - - - - - - 10.86 11.01 11.05
177 26.7 -21.0 14 183 done -0.78 0.52 0.249 2638 161.5 3.65 0.094 2769 388.2 -97.3 - - 3190 - - - - - - - - 10.91 10.97 11.07
492 59.6 -5.6 26 497 roll -0.78 - - 2630 - 2.83 0.148 3827 373.9 -97.3 - - 3189 - - - - - - - - 11.21 10.95 11.24
730 79.0 -4.7 60 734 done -0.78 - - 2630 - 2.38 0.045 2762 -447.5 -97.3 - - 3191 - - - - - - - - 11.13 11.10 11.14
1052 97.0 -4.9 73 1058 roll -0.78 - - 2630 - 3.22 0.036 1365 -433.9 -97.3 - - 3191 - - - - - - - - 11.24 11.05 11.24
1108 99.3 -3.6 81 1114 done -0.78 - - 2619 - 3.58 0.084 2773 393.3 -97.3 - - 3191 - - - - - - - - 11.12 11.00 11.13
1472 124.3 -7.1 91 1477 roll -0.78 - - 2619 - 3.30 0.036 1368 -425.8 -97.3 - - 3189 - - - - - - - - 11.24 11.05 11.24
1535 128.7 -16.9 100 1540 done -0.78 0.17 0.220 2643 141.2 3.58 0.086 2776 393.3 -97.3 - - 3188 - - - - - - - - 10.96 11.00 11.10
1864 150.9 -7.7 112 1865 done -0.78 - - 2644 - - - 2772 - -97.3 - - 3187 - - - - - - - - 11.25 11.25 11.25
2200 174.8 -8.6 118 2205 roll -0.78 - - 2644 - 3.33 0.037 1364 -422.8 -97.3 - - 3185 - - - - - - - - 11.24 11.06 11.24
2249 177.7 -15.9 125 2256 done -0.78 - - 2633 - 3.60 0.089 2768 390.0 -97.3 - - 3184 - - - - - - - - 11.12 11.00 11.14
2592 203.6 -7.3 132 2597 roll -0.78 - - 2625 - 2.88 0.154 3830 368.8 -97.3 - - 3182 - - - - - - - - 11.24 10.97 11.24
2669 210.2 -9.0 143 2673 done -0.78 - - 2625 - 2.40 0.046 2761 -445.4 -97.3 - - 3183 - - - - - - - - 11.15 11.11 11.16
2984 233.2 -7.6 153 2990 roll -0.78 - - 2625 - 3.25 0.037 1370 -428.0 -97.3 - - 3180 - - - - - - - - 11.24 11.07 11.25
3117 243.2 -6.7 172 3122 done -0.78 0.15 0.218 2644 126.7 3.60 0.090 2772 389.4 -97.3 - - 3179 - - - - - - - - 10.96 11.00 11.11
3432 264.6 -6.8 182 3437 roll -0.78 - - 2636 - 2.88 0.160 3825 365.6 -97.3 - - 3176 - - - - - - - - 11.26 10.97 11.26
3474 267.3 -5.9 188 3479 done -0.78 - - 2635 - 2.40 0.050 2767 -440.8 -97.3 - - 3177 - - - - - - - - 11.15 11.11 11.16
3824 290.9 -6.7 196 3829 roll -0.78 - - 2635 - 3.30 0.037 1358 -427.0 -97.3 - - 3175 - - - - - - - - 11.25 11.07 11.26
3915 297.2 -7.7 209 3921 done -0.78 - - 2623 - 3.62 0.093 2764 388.4 -97.3 - - 3174 - - - - - - - - 11.12 11.01 11.14
4272 320.5 -6.6 218 4277 roll -0.78 - - 2625 - 3.33 0.037 1361 -421.3 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
4335 324.8 -6.9 227 4340 done -0.78 0.15 0.220 2644 126.7 3.60 0.090 2766 390.3 -97.3 - - 3172 - - - - - - - - 10.97 11.01 11.11
4664 347.8 -7.2 239 4669 roll -0.78 - - 2644 - 3.33 0.037 1362 -421.6 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.25
4720 352.3 -7.4 247 4725 done -0.86 - - 2634 - 3.60 0.091 2757 387.5 -97.3 - - 3170 - - - - - - - - 11.13 11.01 11.14
5056 377.5 -7.4 260 5057 done -0.86 - - 2634 - - - 2758 - -97.3 - - 3169 - - - - - - - - 11.25 11.25 11.25
5392 399.2 -6.3 266 5397 roll -0.86 - - 2633 - 3.33 0.037 1360 -419.8 -97.3 - - 3167 - - - - - - - - 11.25 11.07 11.25
5490 405.3 -6.1 280 5495 done -0.86 - - 2623 - 3.60 0.091 2763 389.7 -97.3 - - 3167 - - - - - - - - 11.13 11.01 11.14
5840 429.2 -7.0 288 5841 done -0.86 - - 2623 - - - 2763 - -97.3 - - 3167 - - - - - - - - 11.26 11.26 11.26
6171 end dive: TARGET_DEPTH_EXCEEDED
6171 begin apogee
6183 453.8 -7.4 294 6293 roll -0.23 0.95 0.185 2818 205.3 0.12 0.156 2265 -4150.0 - 107.28 1.483 2798 -3.4 0.254 - - - - - - 10.99 10.94 10.45
6294 end apogee: CONTROL_FINISHED_OK
6294 begin loiter
6386 457.6 - 309 6390 done -0.23 - - 2818 - - - 2265 - 0.3 - - 2788 - - - - - - - - 11.23 11.22 11.23
6743 453.4 1.5 318 6744 done -0.59 0.35 0.053 2714 -297.1 - - 2265 - 0.3 - - 2786 - - - - - - - - 11.07 11.14 11.12
7079 448.7 1.3 324 7080 done -0.75 0.15 0.064 2651 -420.0 - - 2264 - 0.3 - - 2785 - - - - - - - - 11.10 11.14 11.14
7415 445.4 0.9 330 7415 done -0.77 - - 2651 - - - 2265 - -15.8 - - 2784 - - - - - - - - 11.26 11.26 11.26
7750 442.0 1.0 336 7751 done -0.77 - - 2651 - - - 2265 - -15.8 - - 2783 - - - - - - - - 11.26 11.26 11.26
8087 439.0 0.8 342 8087 done -0.79 - - 2651 - - - 2265 - -29.4 - - 2782 - - - - - - - - 11.26 11.26 11.26
8423 437.3 0.4 348 8423 done -0.80 - - 2651 - - - 2265 - -36.0 - - 2781 - - - - - - - - 11.27 11.26 11.27
8759 436.5 0.3 354 8759 done -0.80 - - 2651 - - - 2264 - -40.3 - - 2780 - - - - - - - - 11.27 11.27 11.27
9095 434.6 0.6 360 9095 done -0.81 - - 2651 - - - 2264 - -50.5 - - 2780 - - - - - - - - 11.27 11.27 11.28
9431 431.6 1.0 366 9431 done -0.84 - - 2651 - - - 2264 - -67.2 - - 2780 - - - - - - - - 11.27 11.27 11.27
9767 428.6 0.7 372 9767 done -0.85 - - 2651 - - - 2265 - -79.7 - - 2779 - - - - - - - - 11.27 11.28 11.28
10103 428.5 -0.1 378 10103 done -0.85 - - 2651 - - - 2265 - -78.1 - - 2779 - - - - - - - - 11.28 11.28 11.28
10439 429.3 -0.2 384 10439 done -0.84 - - 2651 - - - 2265 - -74.3 - - 2778 - - - - - - - - 11.28 11.28 11.28
10775 427.2 0.8 390 10775 done -0.86 - - 2651 - - - 2264 - -88.6 - - 2777 - - - - - - - - 11.28 11.29 11.28
11110 422.1 1.6 396 11111 done -0.86 - - 2651 - - - 2265 - -88.6 - - 2777 - - - - - - - - 11.28 11.28 11.28
11446 418.0 1.1 402 11447 done -0.86 - - 2651 - - - 2264 - -88.6 - - 2777 - - - - - - - - 11.29 11.28 11.28
11783 417.5 -0.1 408 11783 done -0.86 - - 2651 - - - 2264 - -87.6 - - 2777 - - - - - - - - 11.28 11.28 11.28
12119 418.3 -0.2 414 12119 done -0.86 - - 2651 - - - 2265 - -84.3 - - 2777 - - - - - - - - 11.29 11.28 11.28
12455 418.0 0.2 420 12455 done -0.86 - - 2651 - - - 2264 - -87.0 - - 2777 - - - - - - - - 11.28 11.29 11.28
12791 416.5 0.5 426 12792 done -0.87 - - 2651 - - - 2264 - -96.3 - - 2777 - - - - - - - - 11.28 11.28 11.29
13127 413.4 1.0 432 13128 done -0.89 0.08 0.111 2606 -562.5 - - 2264 - -112.9 - - 2776 - - - - - - - - 11.12 11.17 11.16
13462 409.8 1.1 438 13463 done -0.89 - - 2605 - - - 2265 - -112.9 - - 2777 - - - - - - - - 11.29 11.28 11.29
13799 409.1 -0.1 444 13799 done -0.89 - - 2606 - - - 2264 - -111.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
14135 413.0 -1.3 450 14135 done -0.86 - - 2606 - - - 2264 - -89.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
14471 414.7 -0.1 456 14471 done -0.86 - - 2606 - - - 2264 - -86.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
14806 408.4 2.2 462 14807 done -0.86 - - 2606 - - - 2264 - -86.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
15142 402.7 1.4 468 15143 done -0.86 - - 2606 - - - 2264 - -86.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
15479 402.5 -0.1 474 15479 done -0.86 - - 2606 - - - 2264 - -84.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
15815 405.2 -0.9 480 15815 done -0.84 - - 2606 - - - 2264 - -68.4 - - 2777 - - - - - - - - 11.29 11.29 11.29
16151 409.5 -1.3 486 16152 done -0.81 0.15 0.221 2634 186.7 - - 2264 - -47.0 - - 2776 - - - - - - - - 10.99 11.16 11.14
16487 411.2 -0.3 492 16487 done -0.80 - - 2634 - - - 2264 - -41.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
16823 410.3 0.3 498 16823 done -0.81 - - 2634 - - - 2264 - -46.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
17159 408.8 0.5 504 17159 done -0.82 - - 2634 - - - 2264 - -54.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
17495 408.3 0.1 510 17495 done -0.82 - - 2634 - - - 2264 - -55.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
17831 407.7 0.2 516 17831 done -0.83 - - 2634 - - - 2264 - -59.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
18167 407.6 - 522 18168 done -0.82 - - 2634 - - - 2264 - -58.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
18503 408.7 -0.3 528 18503 done -0.82 - - 2634 - - - 2264 - -53.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
18839 409.2 -0.1 534 18839 done -0.82 - - 2634 - - - 2264 - -52.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19175 409.1 - 540 19175 done -0.82 - - 2634 - - - 2264 - -52.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
19511 409.9 -0.3 546 19511 done -0.81 - - 2634 - - - 2264 - -47.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
19847 410.6 -0.2 552 19847 done -0.81 - - 2634 - - - 2264 - -44.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
20183 410.5 - 558 20183 done -0.81 - - 2634 - - - 2264 - -45.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
20519 409.2 0.5 564 20519 done -0.82 - - 2634 - - - 2264 - -53.2 - - 2776 - - - - - - - - 11.33 11.29 11.29
20855 407.1 0.6 570 20855 done -0.83 - - 2634 - - - 2264 - -63.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
21191 406.1 0.2 576 21191 done -0.84 - - 2634 - - - 2264 - -67.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
21527 406.6 -0.2 582 21527 done -0.83 - - 2634 - - - 2264 - -63.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
21863 408.7 -0.7 588 21863 done -0.82 - - 2633 - - - 2264 - -52.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
22199 411.0 -0.7 594 22199 done -0.80 - - 2634 - - - 2264 - -40.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
22535 411.9 -0.1 600 22535 done -0.80 - - 2634 - - - 2264 - -38.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
22871 412.0 - 606 22872 done -0.80 - - 2634 - - - 2264 - -37.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
23207 412.3 -0.1 612 23207 done -0.80 - - 2634 - - - 2264 - -36.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
23543 412.9 -0.2 618 23543 done -0.79 - - 2634 - - - 2264 - -32.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
23879 414.2 -0.4 624 23879 done -0.78 - - 2634 - - - 2264 - -25.7 - - 2776 - - - - - - - - 11.29 11.29 11.33
24215 415.2 -0.2 630 24215 done -0.78 - - 2634 - - - 2264 - -21.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
24321 end loiter: LOITER_COMPLETE
24321 begin climb
24326 415.1 - 632 24445 done 1.04 2.78 0.180 3211 207.6 - - 2264 - 97.3 113.72 1.437 2411 -3.2 0.224 - - - - - - 11.01 10.98 10.42
24779 379.8 9.5 647 24784 roll 1.04 - - 3221 - 3.40 0.053 872 -409.4 97.3 - - 2393 - - - - - - - - 11.22 11.02 11.22
24847 372.7 9.5 657 24853 done 1.04 - - 3221 - 3.38 0.067 2244 405.9 97.3 - - 2392 - - - - - - - - 11.11 11.00 11.12
25170 341.9 9.5 668 25175 roll 0.97 - - 3220 - 3.85 0.142 3668 369.9 97.3 - - 2392 - - - - - - - - 11.24 10.95 11.24
25219 336.7 10.9 675 25225 done 0.83 0.30 0.218 3176 -146.7 3.22 0.041 2262 -436.6 97.3 - - 2391 - - - - - - - - 10.93 11.08 11.10
25562 309.3 7.7 682 25573 roll 0.85 - - 3186 - 3.45 0.053 846 -410.4 107.2 3.72 0.897 2373 -4.8 0.403 - - - - - - 11.24 11.01 10.41
25646 303.0 7.5 694 25678 done 0.86 - - 3186 - 3.42 0.067 2248 409.9 121.3 26.25 1.312 2312 -2.3 0.130 - - - - - - 11.12 11.00 10.45
26010 271.6 8.9 711 26015 roll 0.86 - - 3186 - 3.83 0.143 3662 369.2 121.3 - - 2299 - - - - - - - - 11.24 10.95 11.24
26079 264.7 10.0 721 26085 done 0.86 - - 3197 - 3.28 0.041 2237 -434.5 121.3 - - 2299 - - - - - - - - 11.12 11.07 11.11
26402 235.5 9.1 732 26407 roll 0.86 - - 3206 - 3.33 0.055 849 -416.8 121.3 - - 2298 - - - - - - - - 11.24 11.04 11.24
26451 231.0 9.3 739 26457 done 0.86 - - 3206 - 3.42 0.067 2247 408.8 121.3 - - 2298 - - - - - - - - 11.12 11.01 11.13
26794 198.1 9.9 746 26799 roll 0.86 - - 3206 - 3.85 0.145 3668 369.1 121.3 - - 2298 - - - - - - - - 11.24 10.96 11.24
26836 193.7 11.2 752 26841 done 0.78 0.30 0.197 3157 -163.3 3.28 0.041 2242 -434.8 121.3 - - 2298 - - - - - - - - 10.97 11.08 11.11
27186 164.6 8.1 760 27187 done 0.78 - - 3157 - - - 2238 - 125.8 - - 2297 - - - - - - - - 11.24 11.24 11.25
27522 140.9 7.0 766 27561 roll 0.81 - - 3157 - 3.92 0.143 3661 363.0 149.0 31.98 1.114 2197 -3.1 0.095 - - - - - - 11.25 10.89 10.55
27606 134.3 9.0 778 27611 done 0.81 - - 3167 - 3.28 0.042 2237 -434.1 149.0 - - 2192 - - - - - - - - 11.12 11.06 11.12
27970 105.6 7.7 788 27982 roll 0.83 - - 3178 - 3.33 0.054 853 -415.6 160.4 5.43 0.285 2165 -5.0 0.445 - - - - - - 11.24 11.02 10.81
28019 102.1 7.5 795 28039 done 0.84 - - 3178 - 3.40 0.067 2246 409.7 174.9 15.25 0.423 2103 -4.1 0.237 - - - - - - 11.12 11.01 10.81
28360 74.0 8.8 813 28370 roll 0.84 - - 3178 - 3.90 0.146 3662 363.1 174.9 2.72 0.173 2108 1.8 -0.190 - - - - - - 11.23 10.93 10.95
28469 64.0 8.0 829 28481 done 0.85 - - 3188 - 3.25 0.042 2243 -436.6 180.2 7.30 0.280 2081 -3.7 0.204 - - - - - - 11.13 11.11 10.87
28802 45.7 5.6 843 28852 roll 1.00 0.05 0.156 3237 980.0 3.42 0.054 851 -407.0 226.8 39.95 0.289 1901 -4.5 0.172 - - - - - - 11.07 11.01 10.88
28861 42.0 5.9 849 28901 done 1.13 - - 3237 - 3.40 0.065 2247 410.6 268.2 34.67 0.283 1731 -4.9 0.176 - - - - - - 11.10 10.99 10.88
29216 26.5 5.1 866 29267 roll 1.35 0.25 0.051 3332 380.0 3.80 0.138 3666 373.4 322.3 43.20 0.231 1516 -5.0 0.138 - - - - - - 11.07 10.94 10.91
29408 9.7 10.7 894 29413 done 1.35 - - 3342 - 3.25 0.043 2252 -435.1 322.3 - - 1520 - - - - - - - - 11.13 11.07 11.14
29487 end climb: SURFACE_DEPTH_REACHED
29487 begin surface coast
29516 end surface coast: CONTROL_FINISHED_OK
29516 begin surface
SM -3.29 - - - - -8.40 12.70 0.083 202 15.9 1.42 0.108 2774 1228.2 500.14 121.28 0.132 806 6.6 0.017 - - - - - -