SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 859 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 285.80 of 350.00 AH used of 24V (18.34% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -68.7 deg, depth -5.65 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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 - - 105 - - - 2789 - -97.3 -81.75 - 3188 - - - - - - - - 11.21 10.46 11.21
104 -2.1 -6.1 3 127 roll -1.04 18.48 0.370 2553 132.5 3.33 0.030 1358 -429.7 -97.3 - - 3190 - - - - - - - - 10.86 11.03 11.06
170 20.9 -23.7 13 176 done -0.76 0.57 0.251 2647 164.9 3.53 0.073 2774 401.1 -97.3 - - 3190 - - - - - - - - 10.91 10.98 11.07
492 55.8 -6.5 26 497 roll -0.76 - - 2647 - 3.30 0.035 1362 -427.9 -97.3 - - 3192 - - - - - - - - 11.24 11.05 11.24
590 62.4 -7.9 40 595 done -0.76 - - 2637 - 3.42 0.067 2762 409.4 -97.3 - - 3192 - - - - - - - - 11.12 11.01 11.12
912 82.3 -7.6 53 918 roll -0.76 - - 2629 - 2.65 0.109 3829 402.6 -97.3 - - 3191 - - - - - - - - 11.24 11.00 11.24
996 89.7 -9.1 65 1002 done -0.76 - - 2628 - 2.40 0.038 2736 -455.4 -97.3 - - 3192 - - - - - - - - 11.14 11.11 11.14
1360 114.9 -6.6 77 1366 roll -0.76 - - 2620 - 2.75 0.106 3829 397.5 -97.3 - - 3190 - - - - - - - - 11.25 11.01 11.25
1395 117.3 -6.8 82 1400 done -0.76 0.12 0.202 2645 208.3 2.35 0.039 2758 -455.7 -97.3 - - 3190 - - - - - - - - 10.98 11.11 11.10
1752 137.9 -6.0 91 1757 roll -0.76 - - 2645 - 3.25 0.037 1366 -428.3 -97.3 - - 3188 - - - - - - - - 11.25 11.06 11.25
1822 142.7 -6.9 101 1828 done -0.76 - - 2635 - 3.45 0.067 2772 407.5 -97.3 - - 3188 - - - - - - - - 11.12 11.02 11.14
2144 165.9 -7.2 112 2149 roll -0.76 - - 2635 - 3.30 0.036 1372 -424.2 -97.3 - - 3185 - - - - - - - - 11.25 11.07 11.25
2221 171.5 -7.0 123 2226 done -0.76 - - 2625 - 3.45 0.067 2766 404.1 -97.3 - - 3185 - - - - - - - - 11.12 11.02 11.14
2536 192.7 -6.7 133 2542 roll -0.76 - - 2617 - 2.65 0.109 3829 401.1 -97.3 - - 3183 - - - - - - - - 11.24 11.02 11.25
2599 197.3 -7.7 142 2604 done -0.76 0.15 0.202 2647 200.0 2.38 0.040 2756 -450.8 -97.3 - - 3183 - - - - - - - - 10.98 11.11 11.11
2928 218.6 -6.5 154 2933 roll -0.76 - - 2647 - 3.25 0.037 1371 -426.2 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3107 231.7 -7.7 179 3112 done -0.84 - - 2637 - 3.45 0.067 2763 403.5 -97.3 - - 3179 - - - - - - - - 11.13 11.02 11.14
3435 259.4 -8.5 191 3440 roll -0.84 - - 2637 - 3.30 0.036 1372 -421.5 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.25
3498 264.7 -8.3 200 3503 done -0.84 - - 2627 - 3.42 0.067 2753 403.8 -97.3 - - 3177 - - - - - - - - 11.13 11.03 11.14
3828 290.2 -7.4 212 3832 roll -0.84 - - 2626 - 3.28 0.035 1370 -421.6 -97.3 - - 3175 - - - - - - - - 11.25 11.07 11.25
3869 293.2 -7.1 218 3874 done -0.84 - - 2617 - 3.45 0.070 2751 400.3 -97.3 - - 3175 - - - - - - - - 11.13 11.03 11.14
4219 317.3 -6.9 226 4224 roll -0.84 - - 2609 - 2.72 0.116 3832 397.4 -97.3 - - 3173 - - - - - - - - 11.25 11.02 11.25
4289 322.7 -7.9 236 4294 done -0.84 - - 2608 - 2.42 0.041 2744 -449.6 -97.3 - - 3173 - - - - - - - - 11.15 11.11 11.16
4611 348.8 -8.2 247 4616 roll -0.84 - - 2608 - 3.22 0.034 1365 -428.3 -97.3 - - 3171 - - - - - - - - 11.26 11.07 11.26
4681 354.7 -8.3 257 4687 done -0.84 0.10 0.224 2617 90.0 3.45 0.070 2750 401.4 -97.3 - - 3171 - - - - - - - - 10.97 11.03 11.10
5004 379.3 -7.7 268 5008 roll -0.84 - - 2611 - 2.72 0.119 3826 395.6 -97.3 - - 3170 - - - - - - - - 11.26 11.02 11.25
5094 386.5 -7.4 281 5100 done -0.84 - - 2610 - 2.42 0.042 2745 -446.7 -97.3 - - 3169 - - - - - - - - 11.15 11.11 11.16
5452 411.7 -7.3 290 5456 roll -0.84 - - 2609 - 3.22 0.034 1366 -428.3 -97.3 - - 3168 - - - - - - - - 11.26 11.07 11.26
5535 418.2 -7.7 302 5540 done -0.84 - - 2600 - 3.45 0.069 2755 402.6 -97.3 - - 3167 - - - - - - - - 11.13 11.03 11.14
5899 447.6 -8.2 312 5904 roll -0.84 - - 2599 - 3.30 0.035 1365 -421.2 -97.3 - - 3166 - - - - - - - - 11.25 11.07 11.25
5929 end dive: TARGET_DEPTH_EXCEEDED
5929 begin apogee
5942 450.4 -8.3 317 6054 roll -0.23 1.12 0.197 2820 197.3 - - 2252 - - 109.50 1.495 2800 -3.3 0.244 - - - - - - 10.98 11.00 10.45
6055 end apogee: CONTROL_FINISHED_OK
6055 begin loiter
6286 453.2 0.2 352 6291 done -0.23 - - 2820 - - - 2252 - -4.1 - - 2788 - - - - - - - - 11.24 11.24 11.24
6616 451.3 0.6 364 6618 done -0.61 0.40 0.050 2700 -300.0 - - 2252 - -14.5 - - 2787 - - - - - - - - 11.07 11.14 11.12
6952 452.3 -0.5 370 6953 done -0.74 0.08 0.106 2657 -537.5 - - 2252 - -5.2 - - 2786 - - - - - - - - 11.10 11.14 11.14
7288 452.2 0.2 376 7288 done -0.74 - - 2657 - - - 2252 - -8.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7623 448.2 1.4 382 7624 done -0.74 - - 2657 - - - 2252 - -8.9 - - 2784 - - - - - - - - 11.26 11.26 11.26
7959 443.4 1.4 388 7960 done -0.74 - - 2657 - - - 2252 - -8.9 - - 2783 - - - - - - - - 11.27 11.27 11.27
8296 440.1 0.8 394 8296 done -0.76 - - 2657 - - - 2252 - -23.0 - - 2782 - - - - - - - - 11.27 11.27 11.27
8631 436.6 1.0 400 8632 done -0.76 - - 2657 - - - 2252 - -23.0 - - 2781 - - - - - - - - 11.27 11.27 11.27
8968 433.5 1.0 406 8968 done -0.78 - - 2657 - - - 2252 - -39.2 - - 2780 - - - - - - - - 11.27 11.28 11.28
9304 430.8 0.9 412 9304 done -0.80 - - 2657 - - - 2252 - -53.8 - - 2780 - - - - - - - - 11.27 11.27 11.28
9640 428.2 0.7 418 9640 done -0.81 - - 2657 - - - 2252 - -65.4 - - 2780 - - - - - - - - 11.28 11.28 11.28
9976 426.8 0.3 424 9976 done -0.82 - - 2657 - - - 2252 - -70.3 - - 2779 - - - - - - - - 11.28 11.28 11.28
10312 428.0 -0.5 430 10312 done -0.81 - - 2657 - - - 2252 - -62.3 - - 2778 - - - - - - - - 11.27 11.28 11.26
10648 430.0 -0.7 436 10648 done -0.79 - - 2657 - - - 2252 - -51.2 - - 2778 - - - - - - - - 11.28 11.28 11.28
10984 429.4 0.6 442 10984 done -0.80 - - 2657 - - - 2252 - -60.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
11320 425.2 1.3 448 11320 done -0.80 - - 2657 - - - 2252 - -60.6 - - 2778 - - - - - - - - 11.29 11.28 11.28
11656 421.2 1.2 454 11656 done -0.80 - - 2657 - - - 2252 - -60.6 - - 2778 - - - - - - - - 11.28 11.28 11.29
11992 418.1 0.9 460 11992 done -0.82 - - 2657 - - - 2252 - -75.4 - - 2777 - - - - - - - - 11.28 11.29 11.29
12328 417.3 0.3 466 12328 done -0.83 - - 2657 - - - 2252 - -80.4 - - 2777 - - - - - - - - 11.28 11.29 11.29
12664 419.5 -0.9 472 12664 done -0.81 - - 2657 - - - 2252 - -64.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
13000 422.7 -0.8 478 13000 done -0.79 - - 2657 - - - 2252 - -50.5 - - 2777 - - - - - - - - 11.29 11.29 11.29
13336 422.0 0.4 484 13336 done -0.80 - - 2657 - - - 2252 - -57.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
13671 418.6 1.0 490 13672 done -0.80 - - 2657 - - - 2252 - -57.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
14007 414.4 1.3 496 14008 done -0.80 - - 2657 - - - 2252 - -57.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
14344 412.6 0.3 502 14344 done -0.81 - - 2657 - - - 2252 - -61.7 - - 2777 - - - - - - - - 11.29 11.29 11.29
14680 415.8 -1.2 508 14680 done -0.78 - - 2657 - - - 2252 - -41.3 - - 2777 - - - - - - - - 11.29 11.29 11.29
15016 419.3 -0.8 514 15016 done -0.76 - - 2657 - - - 2252 - -27.0 - - 2777 - - - - - - - - 11.29 11.29 11.29
15352 419.4 - 520 15352 done -0.76 - - 2657 - - - 2252 - -27.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
15687 416.2 1.0 526 15688 done -0.76 - - 2657 - - - 2252 - -27.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
16023 411.1 1.4 532 16024 done -0.76 - - 2657 - - - 2252 - -27.6 - - 2777 - - - - - - - - 11.29 11.29 11.29
16360 427.7 0.4 538 16361 done -0.77 - - 2657 - - - 2252 - -34.9 - - 2777 - - - - - - - - 11.29 11.29 11.29
16696 428.5 -0.3 544 16696 done -0.77 - - 2657 - - - 2252 - -29.7 - - 2776 - - - - - - - - 11.29 11.29 11.29
17032 428.6 0.1 550 17033 done -0.77 - - 2657 - - - 2252 - -30.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
17368 428.1 0.1 556 17368 done -0.77 - - 2657 - - - 2252 - -33.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
17704 426.3 0.7 562 17704 done -0.78 - - 2657 - - - 2252 - -44.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
18040 424.3 0.5 568 18040 done -0.80 - - 2657 - - - 2252 - -53.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
18376 424.8 -0.3 574 18377 done -0.79 - - 2657 - - - 2252 - -48.3 - - 2776 - - - - - - - - 11.29 11.29 11.29
18712 427.3 -0.8 580 18712 done -0.77 - - 2657 - - - 2252 - -35.1 - - 2776 - - - - - - - - 11.29 11.29 11.29
19048 428.6 -0.3 586 19048 done -0.77 - - 2657 - - - 2252 - -30.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
19384 427.1 0.5 592 19384 done -0.78 - - 2657 - - - 2252 - -39.8 - - 2776 - - - - - - - - 11.31 11.29 11.29
19720 423.9 1.0 598 19720 done -0.78 - - 2657 - - - 2252 - -39.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
20056 420.5 1.0 604 20057 done -0.80 - - 2657 - - - 2252 - -56.6 - - 2776 - - - - - - - - 11.29 11.29 11.29
20392 418.5 0.5 610 20392 done -0.81 - - 2657 - - - 2252 - -65.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
20728 417.9 0.1 616 20728 done -0.81 - - 2657 - - - 2252 - -67.0 - - 2776 - - - - - - - - 11.29 11.29 11.29
21064 418.9 -0.3 622 21064 done -0.81 - - 2657 - - - 2252 - -61.2 - - 2776 - - - - - - - - 11.29 11.29 11.29
21400 419.1 - 628 21401 done -0.81 - - 2657 - - - 2252 - -61.8 - - 2776 - - - - - - - - 11.29 11.29 11.33
21736 416.8 0.8 634 21736 done -0.82 - - 2657 - - - 2252 - -75.4 - - 2776 - - - - - - - - 11.31 11.29 11.29
22072 414.6 0.6 640 22073 done -0.83 - - 2657 - - - 2252 - -84.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
22408 415.3 -0.4 646 22408 done -0.83 - - 2656 - - - 2252 - -78.8 - - 2776 - - - - - - - - 11.29 11.29 11.29
22744 418.2 -0.9 652 22745 done -0.81 - - 2657 - - - 2252 - -63.4 - - 2775 - - - - - - - - 11.29 11.29 11.29
23080 420.5 -0.6 658 23080 done -0.80 - - 2657 - - - 2252 - -53.5 - - 2776 - - - - - - - - 11.29 11.29 11.29
23416 420.4 0.1 664 23416 done -0.80 - - 2657 - - - 2252 - -55.4 - - 2776 - - - - - - - - 11.29 11.29 11.29
23752 419.5 0.3 670 23752 done -0.80 - - 2657 - - - 2252 - -59.9 - - 2776 - - - - - - - - 11.29 11.29 11.29
24083 end loiter: LOITER_COMPLETE
24083 begin climb
24088 418.7 - 676 24213 roll 1.04 2.55 0.168 3211 217.3 3.62 0.103 3667 390.9 97.3 115.38 1.458 2404 -3.2 0.224 - - - - - - 11.01 10.90 10.39
24281 407.3 9.9 703 24286 done 0.92 - - 3221 - 3.25 0.038 2254 -434.8 97.3 - - 2397 - - - - - - - - 11.11 11.06 11.12
24596 378.0 9.2 713 24602 roll 0.84 0.20 0.210 3190 -155.0 3.40 0.052 844 -414.7 97.3 - - 2392 - - - - - - - - 10.93 11.02 11.05
24666 372.4 7.6 723 24685 done 0.85 - - 3190 - 3.35 0.049 2247 418.8 109.8 13.90 1.373 2360 -2.3 0.151 - - - - - - 11.11 11.02 10.41
25045 342.2 8.2 735 25050 roll 0.86 - - 3190 - 3.60 0.106 3658 391.9 112.0 - - 2350 - - - - - - - - 11.23 10.99 11.22
25072 339.6 9.0 739 25077 done 0.86 - - 3201 - 3.25 0.038 2245 -434.8 112.0 - - 2349 - - - - - - - - 11.13 11.07 11.14
25436 308.6 8.4 749 25442 roll 0.86 - - 3211 - 3.35 0.054 851 -416.1 112.0 - - 2348 - - - - - - - - 11.24 11.03 11.23
25464 306.4 8.1 753 25475 done 0.86 0.15 0.212 3183 -186.7 3.35 0.050 2252 418.2 116.3 2.50 0.522 2335 -5.2 0.739 - - - - - - 10.95 11.02 10.38
25828 276.7 8.3 763 25833 roll 0.86 - - 3183 - 3.58 0.106 3659 393.0 116.3 - - 2343 - - - - - - - - 11.24 10.98 11.24
25898 270.0 10.0 773 25903 done 0.86 - - 3193 - 3.25 0.037 2238 -437.2 116.3 - - 2343 - - - - - - - - 11.12 11.08 11.14
26220 241.8 8.6 784 26225 roll 0.86 - - 3203 - 3.35 0.054 848 -414.9 116.3 - - 2343 - - - - - - - - 11.24 11.03 11.24
26304 234.7 8.3 796 26309 done 0.86 - - 3204 - 3.35 0.051 2246 417.3 116.6 - - 2343 - - - - - - - - 11.12 11.02 11.13
26668 204.2 8.3 806 26679 roll 0.86 - - 3214 - 3.47 0.054 847 -403.2 117.7 2.60 0.539 2334 -3.5 0.317 - - - - - - 11.24 11.03 10.45
26724 199.6 8.2 814 26735 done 0.87 0.15 0.202 3184 -200.0 3.38 0.052 2253 416.0 120.2 3.90 0.872 2321 -3.3 0.185 - - - - - - 10.96 11.02 10.44
27065 173.8 7.7 827 27093 roll 0.88 - - 3184 - 3.60 0.106 3663 391.7 130.7 22.17 1.148 2271 -2.3 0.083 - - - - - - 11.24 10.91 10.50
27186 162.9 9.1 845 27192 done 0.88 - - 3194 - 3.25 0.038 2246 -436.0 130.7 - - 2264 - - - - - - - - 11.13 11.07 11.14
27508 134.6 8.8 856 27513 roll 0.88 - - 3212 - 3.35 0.054 848 -417.3 130.7 - - 2263 - - - - - - - - 11.24 11.04 11.24
27557 130.2 9.0 863 27563 done 0.88 - - 3205 - 3.35 0.052 2250 418.5 130.7 - - 2262 - - - - - - - - 11.12 11.02 11.14
27900 97.2 9.7 870 27901 done 0.88 - - 3205 - - - 2250 - 130.7 - - 2263 - - - - - - - - 11.24 11.24 11.24
28208 72.0 8.1 881 28209 done 0.88 - - 3205 - - - 2251 - 134.8 - - 2263 - - - - - - - - 11.24 11.25 11.24
28516 55.8 4.6 892 28577 roll 0.96 - - 3215 - 3.42 0.054 845 -411.1 198.9 53.30 0.329 2010 -4.7 0.195 - - - - - - 11.25 11.01 10.86
28810 41.6 3.9 934 28883 done 1.17 0.15 0.067 3277 413.3 3.35 0.049 2258 421.8 274.9 64.10 0.289 1704 -4.8 0.166 - - - - - - 11.10 11.02 10.87
29216 20.1 5.3 959 29264 roll 1.31 0.08 0.106 3349 900.0 3.62 0.116 3661 387.6 326.3 41.50 0.221 1500 -4.9 0.108 - - - - - - 11.10 10.93 10.90
29412 6.0 6.3 987 29445 done 1.35 - - 3361 - 3.17 0.040 2244 -447.0 361.1 27.73 0.169 1361 -5.0 0.043 - - - - - - 11.13 11.09 10.95
29456 end climb: SURFACE_DEPTH_REACHED
29456 begin surface coast
29463 end surface coast: CONTROL_FINISHED_OK
29463 begin surface
SM -5.84 - - - - -8.39 12.65 0.077 195 15.4 1.38 0.088 2773 -4696.4 500.14 94.07 0.135 808 8.6 0.038 - - - - - -