SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 847 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 283.17 of 350.00 AH used of 24V (19.09% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -65.8 deg, depth -2.98 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
15 - - - 99 done -1.04 - - 108 - - - 2799 - -97.3 -82.95 - 3188 - - - - - - - - 11.21 10.45 11.21
104 -0.3 -5.8 3 128 roll -1.04 18.73 0.374 2555 130.6 3.30 0.028 1373 -432.1 -97.3 - - 3190 - - - - - - - - 10.86 11.04 11.05
157 18.3 -25.9 11 163 done -0.63 0.80 0.252 2689 167.5 3.55 0.093 2762 391.3 -97.3 - - 3191 - - - - - - - - 10.91 10.98 11.07
486 60.6 -9.9 25 491 roll -0.63 - - 2682 - 2.83 0.151 3824 375.3 -97.3 - - 3192 - - - - - - - - 11.24 10.97 11.24
514 62.1 -5.8 29 519 done -0.63 - - 2682 - 2.38 0.051 2764 -445.4 -97.3 - - 3191 - - - - - - - - 11.13 11.08 11.14
850 81.0 -5.0 44 855 roll -0.63 - - 2674 - 2.88 0.148 3833 371.2 -97.3 - - 3192 - - - - - - - - 11.24 10.97 11.24
976 89.0 -7.0 62 982 done -0.63 - - 2674 - 2.40 0.047 2756 -448.8 -97.3 - - 3193 - - - - - - - - 11.14 11.10 11.14
1299 100.1 -4.5 75 1304 roll -0.72 - - 2674 - 3.22 0.034 1357 -434.5 -97.3 - - 3192 - - - - - - - - 11.24 11.07 11.25
1368 103.8 -5.1 85 1373 done -0.82 - - 2664 - 3.58 0.084 2770 394.7 -97.3 - - 3192 - - - - - - - - 11.12 11.01 11.14
1690 124.3 -6.7 96 1696 roll -0.90 0.10 0.090 2596 -680.0 3.30 0.033 1355 -428.8 -97.3 - - 3191 - - - - - - - - 11.10 11.07 11.12
1739 128.4 -8.5 103 1745 done -0.90 - - 2586 - 3.55 0.085 2759 395.5 -97.3 - - 3190 - - - - - - - - 11.12 11.02 11.13
2082 152.4 -6.9 110 2088 roll -0.90 - - 2579 - 2.83 0.147 3833 379.5 -97.3 - - 3189 - - - - - - - - 11.25 10.98 11.25
2233 164.1 -8.1 131 2239 done -0.81 0.28 0.206 2632 189.3 2.40 0.046 2746 -452.9 -97.3 - - 3188 - - - - - - - - 10.96 11.12 11.10
2589 188.6 -7.0 140 2594 roll -0.81 - - 2633 - 3.20 0.035 1367 -430.9 -97.3 - - 3186 - - - - - - - - 11.24 11.07 11.24
2701 197.9 -7.6 156 2706 done -0.81 - - 2622 - 3.53 0.086 2755 393.2 -97.3 - - 3185 - - - - - - - - 11.12 11.02 11.14
3037 223.8 -7.6 169 3038 done -0.81 - - 2623 - - - 2755 - -97.3 - - 3184 - - - - - - - - 11.24 11.25 11.24
3373 248.3 -7.2 175 3379 roll -0.81 - - 2622 - 3.22 0.037 1370 -430.1 -97.3 - - 3181 - - - - - - - - 11.25 11.07 11.25
3408 250.7 -6.9 180 3413 done -0.81 - - 2612 - 3.53 0.088 2755 392.4 -97.3 - - 3181 - - - - - - - - 11.13 11.02 11.14
3765 275.0 -6.8 189 3770 roll -0.81 - - 2604 - 2.88 0.154 3833 374.3 -97.3 - - 3179 - - - - - - - - 11.25 10.97 11.25
3807 278.2 -7.9 195 3812 done -0.81 0.15 0.211 2633 193.3 2.42 0.050 2753 -446.3 -97.3 - - 3179 - - - - - - - - 10.98 11.11 11.11
4157 302.2 -7.0 203 4163 roll -0.81 - - 2633 - 3.25 0.037 1362 -428.0 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.25
4322 313.9 -7.3 226 4330 done -0.81 - - 2623 - 3.55 0.086 2751 391.3 -97.3 - - 3177 - - - - - - - - 11.12 11.00 11.14
4661 340.3 -7.7 233 4662 done -0.81 - - 2623 - - - 2751 - -97.3 - - 3175 - - - - - - - - 11.26 11.26 11.26
4997 365.6 -7.4 239 5002 roll -0.81 - - 2622 - 3.28 0.037 1365 -422.6 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.26
5046 369.2 -7.6 246 5053 done -0.81 - - 2613 - 3.53 0.086 2753 393.2 -97.3 - - 3174 - - - - - - - - 11.13 11.01 11.14
5389 395.0 -7.6 253 5390 done -0.81 - - 2613 - - - 2754 - -97.3 - - 3173 - - - - - - - - 11.26 11.26 11.26
5725 420.8 -7.8 259 5731 roll -0.81 - - 2612 - 3.30 0.037 1360 -422.4 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.25
5788 425.7 -7.5 268 5794 done -0.81 0.15 0.213 2632 133.3 3.58 0.088 2754 389.4 -97.3 - - 3171 - - - - - - - - 10.98 11.02 11.11
6117 447.2 -6.3 280 6118 done -0.81 - - 2630 - - - 2756 - -97.3 - - 3170 - - - - - - - - 11.26 11.26 11.26
6168 end dive: TARGET_DEPTH_EXCEEDED
6168 begin apogee
6180 450.3 -6.0 281 6293 roll -0.23 0.90 0.179 2818 208.9 0.10 0.174 2258 -4980.0 - 110.20 1.472 2799 -3.4 0.248 - - - - - - 11.00 10.91 10.45
6294 end apogee: CONTROL_FINISHED_OK
6294 begin loiter
6526 448.1 2.5 316 6530 done -0.23 - - 2819 - - - 2258 - - - - 2787 - - - - - - - - 11.24 11.24 11.24
6855 441.2 2.1 328 6857 done -0.59 0.35 0.052 2714 -300.0 - - 2258 - - - - 2786 - - - - - - - - 11.07 11.14 11.12
7191 436.2 1.4 334 7192 done -0.75 0.15 0.062 2647 -446.7 - - 2258 - - - - 2784 - - - - - - - - 11.10 11.15 11.14
7527 433.7 0.5 340 7528 done -0.76 - - 2647 - - - 2258 - -9.1 - - 2783 - - - - - - - - 11.26 11.26 11.26
7863 432.0 0.5 346 7864 done -0.77 - - 2647 - - - 2258 - -17.3 - - 2782 - - - - - - - - 11.26 11.25 11.26
8199 429.5 0.8 352 8200 done -0.79 - - 2647 - - - 2257 - -31.5 - - 2781 - - - - - - - - 11.26 11.26 11.26
8535 426.3 1.0 358 8535 done -0.79 - - 2647 - - - 2258 - -31.5 - - 2781 - - - - - - - - 11.27 11.27 11.27
8871 423.8 0.7 364 8872 done -0.81 - - 2647 - - - 2258 - -43.2 - - 2780 - - - - - - - - 11.26 11.27 11.27
9207 421.9 0.6 370 9208 done -0.82 - - 2647 - - - 2258 - -54.0 - - 2780 - - - - - - - - 11.27 11.27 11.27
9543 418.7 1.1 376 9544 done -0.82 - - 2647 - - - 2258 - -54.0 - - 2779 - - - - - - - - 11.27 11.27 11.27
9879 415.3 1.0 382 9880 done -0.82 - - 2647 - - - 2257 - -54.0 - - 2778 - - - - - - - - 11.28 11.28 11.27
10215 411.7 1.1 388 10216 done -0.82 - - 2647 - - - 2258 - -54.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
10551 407.9 1.1 394 10552 done -0.82 - - 2647 - - - 2258 - -54.0 - - 2778 - - - - - - - - 11.28 11.28 11.26
10887 405.0 0.7 400 10888 done -0.84 - - 2647 - - - 2258 - -66.5 - - 2777 - - - - - - - - 11.28 11.28 11.28
11223 405.2 -0.2 406 11224 done -0.83 - - 2647 - - - 2257 - -63.2 - - 2777 - - - - - - - - 11.28 11.28 11.28
11559 407.4 -0.7 412 11560 done -0.82 - - 2647 - - - 2258 - -51.2 - - 2777 - - - - - - - - 11.28 11.27 11.28
11895 409.3 -0.4 418 11896 done -0.81 - - 2648 - - - 2258 - -43.5 - - 2777 - - - - - - - - 11.27 11.28 11.28
12231 407.5 0.7 424 12232 done -0.82 - - 2647 - - - 2258 - -55.6 - - 2777 - - - - - - - - 11.28 11.29 11.28
12567 404.7 0.8 430 12568 done -0.84 - - 2647 - - - 2258 - -68.6 - - 2777 - - - - - - - - 11.28 11.28 11.28
12903 405.5 -0.5 436 12904 done -0.83 - - 2647 - - - 2257 - -60.8 - - 2777 - - - - - - - - 11.29 11.29 11.29
13239 408.6 -1.0 442 13240 done -0.81 - - 2647 - - - 2258 - -44.3 - - 2777 - - - - - - - - 11.29 11.28 11.29
13575 410.3 -0.4 448 13576 done -0.80 - - 2647 - - - 2258 - -38.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
13912 409.4 0.4 454 13912 done -0.81 - - 2647 - - - 2257 - -45.2 - - 2776 - - - - - - - - 11.29 11.28 11.29
14247 406.8 0.8 460 14248 done -0.83 - - 2647 - - - 2258 - -59.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
14583 403.4 1.1 466 14583 done -0.83 - - 2647 - - - 2258 - -59.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
14919 400.6 0.7 472 14920 done -0.84 - - 2647 - - - 2258 - -71.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
15255 400.8 -0.2 478 15256 done -0.84 - - 2647 - - - 2258 - -67.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
15591 403.0 -0.7 484 15592 done -0.82 - - 2647 - - - 2258 - -55.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
15927 403.8 -0.1 490 15928 done -0.82 - - 2647 - - - 2258 - -53.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
16263 401.9 0.6 496 16264 done -0.83 - - 2648 - - - 2258 - -64.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
16599 400.4 0.3 502 16600 done -0.84 - - 2647 - - - 2258 - -69.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
16935 400.0 0.1 508 16936 done -0.84 - - 2647 - - - 2258 - -71.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
17271 400.4 -0.1 514 17272 done -0.84 - - 2647 - - - 2258 - -69.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
17607 401.6 -0.4 520 17608 done -0.83 - - 2647 - - - 2257 - -63.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
17943 401.0 0.3 526 17944 done -0.84 - - 2647 - - - 2257 - -68.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
18279 397.4 1.2 532 18279 done -0.84 - - 2647 - - - 2257 - -68.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
18615 393.0 1.3 538 18616 done -0.84 - - 2647 - - - 2257 - -68.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
18951 389.8 0.8 544 18952 done -0.85 - - 2647 - - - 2258 - -82.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
19287 389.1 0.1 550 19288 done -0.86 - - 2647 - - - 2258 - -83.0 - - 2775 - - - - - - - - 11.29 11.29 11.29
19623 389.6 -0.1 556 19624 done -0.85 - - 2647 - - - 2257 - -80.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
19959 391.5 -0.7 562 19960 done -0.84 - - 2647 - - - 2256 - -69.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
20295 392.9 -0.3 568 20296 done -0.83 - - 2647 - - - 2258 - -64.9 - - 2775 - - - - - - - - 11.29 11.29 11.29
20631 392.8 0.1 574 20632 done -0.84 - - 2647 - - - 2257 - -66.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
20967 392.0 0.2 580 20968 done -0.84 - - 2647 - - - 2257 - -70.6 - - 2775 - - - - - - - - 11.29 11.29 11.29
21303 392.1 -0.1 586 21304 done -0.84 - - 2647 - - - 2258 - -68.5 - - 2776 - - - - - - - - 11.29 11.29 11.31
21639 394.5 -0.8 592 21640 done -0.82 - - 2647 - - - 2257 - -54.1 - - 2775 - - - - - - - - 11.28 11.31 11.29
21975 398.5 -1.2 598 21976 done -0.80 - - 2646 - - - 2258 - -34.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
22311 400.1 -0.3 604 22312 done -0.79 - - 2647 - - - 2257 - -30.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
22647 397.7 0.9 610 22648 done -0.81 - - 2647 - - - 2258 - -45.1 - - 2775 - - - - - - - - 11.29 11.29 11.29
22983 394.5 0.9 616 22984 done -0.83 - - 2647 - - - 2258 - -60.5 - - 2775 - - - - - - - - 11.29 11.29 11.29
23319 393.9 - 622 23320 done -0.83 - - 2647 - - - 2258 - -60.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
23655 395.3 -0.5 628 23656 done -0.82 - - 2647 - - - 2258 - -52.2 - - 2775 - - - - - - - - 11.29 11.29 11.29
23991 397.4 -0.6 634 23992 done -0.80 - - 2647 - - - 2258 - -41.7 - - 2775 - - - - - - - - 11.29 11.29 11.29
24322 end loiter: LOITER_COMPLETE
24322 begin climb
24327 399.1 - 640 24450 roll 1.04 2.65 0.175 3210 212.5 3.80 0.138 3655 367.6 97.3 113.28 1.421 2404 -3.3 0.222 - - - - - - 11.01 10.86 10.43
24624 378.7 9.6 682 24630 done 0.93 - - 3221 - 3.22 0.044 2264 -432.0 97.3 - - 2395 - - - - - - - - 11.12 11.07 11.12
24946 351.6 8.2 693 24951 roll 0.85 0.17 0.205 3193 -164.7 3.40 0.050 843 -417.9 99.3 - - 2392 - - - - - - - - 10.95 11.03 11.05
24995 348.2 7.0 700 25034 done 0.88 - - 3193 - 3.40 0.064 2243 411.8 122.8 30.23 1.371 2302 -3.0 0.182 - - - - - - 11.11 11.00 10.43
25394 317.5 8.0 715 25399 roll 0.89 - - 3192 - 3.83 0.142 3664 371.0 129.3 - - 2293 - - - - - - - - 11.23 10.93 11.22
25457 311.8 9.2 724 25462 done 0.89 - - 3203 - 3.28 0.044 2243 -433.2 129.3 - - 2293 - - - - - - - - 11.10 11.07 11.13
25786 283.0 8.8 736 25792 roll 0.89 - - 3214 - 3.40 0.053 849 -410.0 129.3 1.65 0.173 2283 -6.1 2.388 - - - - - - 11.23 11.02 10.99
25870 275.2 9.3 748 25875 done 0.89 - - 3214 - 3.42 0.064 2250 409.6 129.3 - - 2289 - - - - - - - - 11.11 11.00 11.12
26227 242.5 9.2 757 26232 roll 0.89 - - 3214 - 3.83 0.143 3668 370.2 129.3 - - 2289 - - - - - - - - 11.24 10.95 11.24
26262 238.9 10.2 762 26268 done 0.80 0.30 0.202 3165 -163.3 3.30 0.044 2237 -433.6 129.3 - - 2289 - - - - - - - - 10.95 11.08 11.10
26619 211.7 7.5 771 26651 roll 0.82 - - 3165 - 3.95 0.140 3658 359.7 143.5 23.88 1.201 2220 -2.9 0.123 - - - - - - 11.24 10.86 10.50
26689 206.0 8.7 781 26694 done 0.82 - - 3176 - 3.25 0.044 2250 -433.2 143.5 - - 2214 - - - - - - - - 11.11 11.06 11.12
27011 179.9 8.1 792 27016 roll 0.82 - - 3183 - 3.38 0.054 845 -415.7 146.6 - - 2213 - - - - - - - - 11.23 11.03 11.23
27081 174.2 8.3 802 27087 done 0.83 - - 3185 - 3.42 0.064 2251 411.1 148.0 - - 2213 - - - - - - - - 11.11 11.00 11.12
27403 148.0 8.1 813 27415 roll 0.83 - - 3186 - 3.83 0.144 3665 369.2 152.6 4.03 0.842 2192 -5.2 0.221 - - - - - - 11.24 10.92 10.49
27459 143.5 8.9 821 27464 done 0.83 - - 3196 - 3.30 0.044 2239 -432.1 152.6 - - 2199 - - - - - - - - 11.12 11.07 11.13
27795 115.7 8.5 834 27796 done 0.83 - - 3197 - - - 2235 - 152.6 - - 2200 - - - - - - - - 11.24 11.24 11.24
28103 84.6 10.4 842 28109 roll 0.83 - - 3197 - 3.90 0.142 3669 367.7 152.6 - - 2200 - - - - - - - - 11.24 10.95 11.24
28124 82.5 9.7 845 28131 done 0.83 0.17 0.195 3172 -147.1 3.28 0.044 2247 -433.5 152.6 1.98 0.169 2193 -3.5 0.416 - - - - - - 10.96 11.08 10.98
28439 59.5 6.2 857 28480 roll 0.95 0.05 0.156 3217 900.0 3.38 0.054 846 -414.5 188.3 32.28 0.330 2053 -4.3 0.188 - - - - - - 11.07 11.02 10.86
28509 56.0 5.9 867 28555 done 1.01 - - 3213 - 3.42 0.063 2256 412.3 229.5 37.33 0.325 1890 -4.4 0.181 - - - - - - 11.11 10.99 10.86
28892 39.6 2.0 888 28991 roll 1.28 0.25 0.054 3314 404.0 3.47 0.055 847 -406.1 336.4 89.03 0.279 1461 -4.8 0.165 - - - - - - 11.07 11.00 10.88
29076 30.3 6.7 915 29109 done 1.31 - - 3314 - 3.45 0.063 2266 411.3 364.1 24.45 0.239 1351 -4.5 0.137 - - - - - - 11.10 10.98 10.88
29414 end climb: SURFACE_DEPTH_REACHED
29414 begin surface coast
29447 end surface coast: CONTROL_FINISHED_OK
29447 begin surface
SM -2.72 - - - - -8.41 11.65 0.029 193 16.5 1.30 0.097 2771 -4986.9 500.14 94.00 0.132 809 8.6 0.018 - - - - - -