SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 845 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 282.73 of 350.00 AH used of 24V (19.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.8 deg, depth -3.87 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - - 110 done -1.04 - - 110 - - - 2786 - -97.3 -93.80 - 3189 - - - - - - - - 11.21 10.46 11.21
116 -2.5 -2.3 3 140 roll -1.04 18.70 0.374 2554 130.7 3.33 0.034 1353 -430.3 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
190 22.3 -21.1 15 196 done -0.80 0.50 0.243 2634 160.0 3.67 0.096 2773 386.9 -97.3 - - 3191 - - - - - - - - 10.92 10.98 11.07
519 60.6 -8.9 29 524 roll -0.80 - - 2626 - 2.80 0.149 3824 375.4 -97.3 - - 3192 - - - - - - - - 11.23 10.96 11.24
631 65.8 -0.9 45 636 done -0.80 - - 2626 - 2.38 0.045 2759 -447.5 -97.3 - - 3193 - - - - - - - - 11.13 11.09 11.14
967 92.5 -8.0 60 968 done -0.80 - - 2626 - - - 2760 - -97.3 - - 3193 - - - - - - - - 11.24 11.24 11.24
1303 114.2 -6.3 68 1308 roll -0.80 - - 2626 - 3.25 0.037 1359 -431.1 -97.3 - - 3192 - - - - - - - - 11.24 11.07 11.24
1373 119.5 -7.4 78 1378 done -0.80 - - 2616 - 3.60 0.085 2777 393.9 -97.3 - - 3191 - - - - - - - - 11.12 11.01 11.14
1695 144.4 -7.7 89 1696 done -0.80 - - 2617 - - - 2777 - -97.3 - - 3190 - - - - - - - - 11.25 11.24 11.25
2031 169.5 -8.0 95 2036 roll -0.80 - - 2616 - 3.33 0.037 1366 -423.7 -97.3 - - 3188 - - - - - - - - 11.25 11.07 11.25
2066 172.9 -10.0 100 2071 done -0.80 0.15 0.220 2634 120.0 3.58 0.088 2768 391.6 -97.3 - - 3188 - - - - - - - - 10.97 11.00 11.10
2423 200.3 -7.7 109 2428 roll -0.80 - - 2635 - 3.33 0.037 1360 -422.8 -97.3 - - 3185 - - - - - - - - 11.25 11.07 11.25
2507 207.2 -8.0 121 2512 done -0.80 - - 2624 - 3.60 0.089 2776 393.3 -97.3 - - 3185 - - - - - - - - 11.12 11.01 11.14
2871 236.2 -7.9 131 2872 done -0.80 - - 2624 - - - 2775 - -97.3 - - 3183 - - - - - - - - 11.24 11.25 11.25
3207 261.8 -7.6 137 3212 roll -0.80 - - 2627 - 3.35 0.038 1361 -422.1 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3291 268.2 -7.7 149 3296 done -0.80 - - 2613 - 3.62 0.091 2769 389.0 -97.3 - - 3180 - - - - - - - - 11.13 11.00 11.14
3655 295.3 -7.4 159 3660 roll -0.80 - - 2607 - 3.35 0.037 1361 -420.3 -97.3 - - 3179 - - - - - - - - 11.25 11.07 11.25
3711 299.6 -7.6 167 3716 done -0.80 0.17 0.213 2637 176.5 3.62 0.091 2767 388.4 -97.3 - - 3178 - - - - - - - - 10.97 11.01 11.11
4047 322.1 -6.5 180 4048 done -0.80 - - 2637 - - - 2772 - -97.3 - - 3177 - - - - - - - - 11.26 11.26 11.26
4383 345.2 -6.8 186 4389 roll -0.80 - - 2637 - 3.33 0.039 1369 -421.3 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.25
4446 349.8 -7.0 195 4451 done -0.80 - - 2627 - 3.60 0.093 2767 388.3 -97.3 - - 3174 - - - - - - - - 11.13 11.00 11.14
4775 374.1 -7.6 207 4780 roll -0.80 - - 2626 - 3.33 0.038 1365 -421.0 -97.3 - - 3173 - - - - - - - - 11.25 11.07 11.25
4810 376.9 -7.7 212 4815 done -0.80 - - 2617 - 3.58 0.090 2762 390.2 -97.3 - - 3173 - - - - - - - - 11.13 11.01 11.13
5167 406.3 -8.3 221 5172 roll -0.80 - - 2615 - 3.30 0.039 1370 -421.8 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.25
5216 410.6 -8.6 228 5222 done -0.80 0.15 0.215 2634 126.7 3.58 0.091 2756 387.2 -97.3 - - 3171 - - - - - - - - 10.98 11.02 11.11
5559 435.1 -6.9 235 5564 roll -0.80 - - 2627 - 2.90 0.158 3828 369.7 -97.3 - - 3170 - - - - - - - - 11.26 10.98 11.25
5622 439.4 -6.8 244 5627 done -0.80 - - 2627 - 2.42 0.052 2764 -439.7 -97.3 - - 3169 - - - - - - - - 11.14 11.10 11.15
5834 end dive: TARGET_DEPTH_EXCEEDED
5834 begin apogee
5846 452.4 -5.9 254 5958 roll -0.23 0.93 0.183 2818 205.4 0.15 0.140 2262 -3346.7 - 109.05 1.475 2798 -3.4 0.252 - - - - - - 10.99 10.97 10.43
5959 end apogee: CONTROL_FINISHED_OK
5959 begin loiter
5966 454.1 - 257 5970 done -0.23 - - 2818 - - - 2262 - - - - 2789 - - - - - - - - 11.18 11.18 11.18
6295 448.1 2.1 269 6297 done -0.59 0.35 0.050 2713 -300.0 - - 2262 - - - - 2785 - - - - - - - - 11.07 11.13 11.12
6631 442.8 1.4 275 6633 done -0.75 0.12 0.071 2653 -500.0 - - 2262 - - - - 2784 - - - - - - - - 11.09 11.14 11.14
6967 440.9 0.5 281 6968 done -0.76 - - 2653 - - - 2262 - -8.2 - - 2782 - - - - - - - - 11.26 11.26 11.26
7303 438.9 0.6 287 7304 done -0.77 - - 2653 - - - 2262 - -19.2 - - 2782 - - - - - - - - 11.26 11.26 11.25
7639 437.3 0.4 293 7640 done -0.78 - - 2652 - - - 2262 - -26.4 - - 2781 - - - - - - - - 11.26 11.26 11.27
7975 434.7 0.8 299 7976 done -0.80 - - 2653 - - - 2262 - -40.8 - - 2779 - - - - - - - - 11.27 11.27 11.27
8311 431.5 0.9 305 8312 done -0.82 - - 2653 - - - 2262 - -56.6 - - 2779 - - - - - - - - 11.27 11.27 11.27
8647 428.8 0.8 311 8648 done -0.83 - - 2653 - - - 2262 - -70.3 - - 2779 - - - - - - - - 11.27 11.28 11.27
8983 425.1 1.2 317 8984 done -0.83 - - 2653 - - - 2262 - -70.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
9319 420.0 1.5 323 9320 done -0.83 - - 2653 - - - 2262 - -70.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
9655 415.2 1.5 329 9656 done -0.83 - - 2653 - - - 2262 - -70.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
9991 411.1 1.1 335 9992 done -0.83 - - 2653 - - - 2262 - -70.3 - - 2777 - - - - - - - - 11.28 11.28 11.28
10328 410.2 0.1 341 10329 done -0.83 - - 2653 - - - 2262 - -71.8 - - 2776 - - - - - - - - 11.28 11.28 11.28
10663 411.3 -0.4 347 10664 done -0.83 - - 2653 - - - 2262 - -65.7 - - 2776 - - - - - - - - 11.28 11.29 11.29
10999 412.9 -0.5 353 11000 done -0.82 - - 2653 - - - 2262 - -57.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
11335 411.0 0.8 359 11336 done -0.83 - - 2652 - - - 2262 - -71.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
11671 406.3 1.5 365 11672 done -0.83 - - 2653 - - - 2262 - -71.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
12007 400.5 1.7 371 12008 done -0.83 - - 2653 - - - 2262 - -71.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
12343 396.0 1.2 377 12344 done -0.83 - - 2653 - - - 2262 - -71.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
12679 393.8 0.6 383 12680 done -0.84 - - 2653 - - - 2262 - -80.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
13015 395.3 -0.7 389 13016 done -0.83 - - 2652 - - - 2262 - -69.4 - - 2775 - - - - - - - - 11.29 11.29 11.31
13351 399.2 -1.2 395 13352 done -0.81 - - 2653 - - - 2262 - -49.0 - - 2775 - - - - - - - - 11.29 11.32 11.29
13687 401.7 -0.6 401 13688 done -0.79 - - 2653 - - - 2262 - -38.3 - - 2775 - - - - - - - - 11.29 11.29 11.29
14023 402.1 - 407 14024 done -0.79 - - 2653 - - - 2262 - -37.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
14359 399.8 0.9 413 14360 done -0.81 - - 2653 - - - 2262 - -52.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
14695 396.9 0.7 419 14696 done -0.83 - - 2653 - - - 2262 - -64.8 - - 2774 - - - - - - - - 11.29 11.29 11.29
15032 396.2 0.1 425 15033 done -0.83 - - 2653 - - - 2262 - -67.0 - - 2775 - - - - - - - - 11.29 11.28 11.29
15367 396.8 -0.2 431 15368 done -0.82 - - 2653 - - - 2262 - -63.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
15703 397.1 - 437 15704 done -0.82 - - 2653 - - - 2262 - -63.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
16039 395.0 0.7 443 16040 done -0.84 - - 2653 - - - 2262 - -75.6 - - 2774 - - - - - - - - 11.29 11.29 11.29
16375 392.9 0.5 449 16376 done -0.85 - - 2653 - - - 2262 - -84.5 - - 2774 - - - - - - - - 11.29 11.29 11.29
16711 393.3 -0.2 455 16712 done -0.84 - - 2653 - - - 2262 - -80.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
17047 394.9 -0.5 461 17048 done -0.83 - - 2652 - - - 2262 - -72.7 - - 2774 - - - - - - - - 11.31 11.29 11.29
17383 394.7 0.2 467 17384 done -0.84 - - 2653 - - - 2262 - -75.8 - - 2774 - - - - - - - - 11.31 11.29 11.29
17719 392.1 0.9 473 17720 done -0.86 - - 2652 - - - 2262 - -90.3 - - 2774 - - - - - - - - 11.29 11.29 11.29
18055 389.4 0.8 479 18056 done -0.87 0.08 0.114 2607 -562.5 - - 2262 - -103.2 - - 2774 - - - - - - - - 11.12 11.18 11.17
18391 389.6 -0.2 485 18392 done -0.87 - - 2607 - - - 2262 - -99.2 - - 2774 - - - - - - - - 11.29 11.29 11.29
18727 391.6 -0.6 491 18728 done -0.86 - - 2607 - - - 2262 - -89.3 - - 2774 - - - - - - - - 11.29 11.29 11.29
19063 391.5 0.2 497 19064 done -0.86 - - 2607 - - - 2262 - -92.1 - - 2774 - - - - - - - - 11.29 11.30 11.29
19399 389.3 0.7 503 19400 done -0.87 - - 2607 - - - 2262 - -104.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
19735 387.5 0.5 509 19736 done -0.88 - - 2607 - - - 2262 - -112.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
20072 387.3 -0.1 515 20073 done -0.88 - - 2607 - - - 2262 - -111.4 - - 2774 - - - - - - - - 11.29 11.29 11.29
20407 388.5 -0.3 521 20408 done -0.88 - - 2607 - - - 2262 - -105.6 - - 2774 - - - - - - - - 11.29 11.30 11.30
20743 388.5 0.1 527 20744 done -0.88 - - 2608 - - - 2262 - -106.7 - - 2774 - - - - - - - - 11.29 11.29 11.29
21079 386.5 0.7 533 21080 done -0.89 - - 2607 - - - 2262 - -119.2 - - 2774 - - - - - - - - 11.29 11.29 11.30
21415 383.1 1.0 539 21416 done -0.89 - - 2607 - - - 2262 - -119.2 - - 2774 - - - - - - - - 11.30 11.30 11.30
21751 381.0 0.5 545 21752 done -0.90 - - 2607 - - - 2262 - -128.0 - - 2774 - - - - - - - - 11.29 11.29 11.30
22087 381.0 -0.1 551 22088 done -0.90 - - 2606 - - - 2262 - -126.4 - - 2774 - - - - - - - - 11.29 11.30 11.29
22423 381.4 -0.1 557 22424 done -0.90 - - 2607 - - - 2262 - -124.8 - - 2774 - - - - - - - - 11.30 11.30 11.30
22759 382.4 -0.4 563 22760 done -0.89 - - 2607 - - - 2262 - -118.1 - - 2774 - - - - - - - - 11.29 11.30 11.30
23095 384.1 -0.4 569 23096 done -0.88 - - 2607 - - - 2262 - -110.6 - - 2774 - - - - - - - - 11.30 11.30 11.30
23431 382.1 0.8 575 23432 done -0.90 - - 2607 - - - 2262 - -125.0 - - 2774 - - - - - - - - 11.30 11.30 11.30
23767 377.6 1.3 581 23768 done -0.90 - - 2607 - - - 2262 - -125.0 - - 2774 - - - - - - - - 11.30 11.30 11.29
23986 end loiter: LOITER_COMPLETE
23986 begin climb
23991 375.4 - 585 24116 roll 1.04 2.88 0.187 3219 212.5 3.45 0.054 870 -403.5 97.3 111.50 1.379 2403 -3.3 0.218 - - - - - - 11.00 10.96 10.43
24289 356.4 7.6 627 24309 done 1.06 - - 3218 - 3.38 0.064 2250 408.3 109.6 14.65 1.342 2364 -2.7 0.170 - - - - - - 11.10 10.98 10.42
24661 327.0 7.8 638 24672 roll 1.07 - - 3229 - 3.40 0.054 868 -406.5 118.5 4.10 0.956 2327 -9.0 0.744 - - - - - - 11.23 11.02 10.42
24702 323.7 7.7 644 24735 done 1.08 - - 3229 - 3.38 0.067 2247 408.0 129.9 24.23 1.338 2274 -2.2 0.128 - - - - - - 11.11 10.99 10.45
25053 293.5 8.7 659 25053 done 1.08 - - 3229 - - - 2247 - 129.9 - - 2262 - - - - - - - - 11.23 11.23 11.22
25388 261.8 9.7 665 25393 roll 1.08 - - 3239 - 3.33 0.056 871 -413.2 129.9 - - 2261 - - - - - - - - 11.24 11.02 11.23
25444 256.0 10.5 673 25449 done 1.08 - - 3239 - 3.38 0.066 2246 406.8 129.9 - - 2261 - - - - - - - - 11.11 11.00 11.12
25781 217.7 11.5 686 25781 done 1.00 - - 3239 - - - 2246 - 129.9 - - 2261 - - - - - - - - 11.24 11.24 11.24
26117 178.1 11.9 692 26122 roll 0.92 0.15 0.216 3215 -160.0 3.33 0.054 866 -414.4 129.9 - - 2260 - - - - - - - - 10.96 11.03 11.11
26165 172.8 10.6 699 26171 done 0.92 - - 3215 - 3.38 0.067 2247 408.6 129.9 - - 2260 - - - - - - - - 11.12 11.00 11.13
26508 135.3 11.1 706 26514 roll 0.92 - - 3215 - 3.80 0.139 3671 374.7 129.9 - - 2260 - - - - - - - - 11.24 10.96 11.24
26558 129.4 12.4 713 26564 done 0.84 0.25 0.197 3176 -156.0 3.25 0.044 2252 -436.6 129.9 - - 2264 - - - - - - - - 10.97 11.08 11.11
26901 102.1 7.1 720 26920 roll 0.86 - - 3187 - 3.38 0.053 842 -417.2 151.7 12.85 0.383 2202 -4.8 0.310 - - - - - - 11.24 11.02 10.81
26963 98.0 6.6 729 26997 done 0.90 - - 3186 - 3.40 0.064 2242 411.8 181.2 28.42 0.422 2078 -4.4 0.244 - - - - - - 11.12 11.00 10.81
27318 71.9 8.6 746 27321 done 0.90 - - 3186 - - - 2242 - 181.2 2.53 0.167 2078 - - - - - - - - 11.24 11.10 10.98
27622 52.6 3.6 757 27694 done 1.11 0.17 0.068 3259 429.4 - - 2242 - 262.1 69.90 0.312 1756 -4.6 0.187 - - - - - - 11.09 11.06 10.87
27990 39.8 4.2 776 28055 roll 1.31 0.12 0.080 3319 500.0 3.88 0.138 3663 366.2 332.3 59.00 0.265 1479 -4.7 0.170 - - - - - - 11.08 10.91 10.89
28147 25.8 11.1 799 28152 done 1.31 - - 3330 - 3.30 0.042 2229 -434.5 332.3 - - 1484 - - - - - - - - 11.12 11.07 11.13
28394 end climb: SURFACE_DEPTH_REACHED
28394 begin surface coast
28422 end surface coast: CONTROL_FINISHED_OK
28422 begin surface
SM -2.16 - - - - -8.43 11.77 0.031 186 15.8 1.50 0.114 2771 1160.7 500.14 115.47 0.132 809 7.0 0.012 - - - - - -