SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 865 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 287.16 of 350.00 AH used of 24V (17.96% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth -6.34 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 17 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 - - 106 - - - 2791 - -97.3 -82.30 - 3188 - - - - - - - - 11.21 10.45 11.21
104 -2.8 -5.8 3 128 roll -1.04 18.50 0.372 2555 132.4 3.38 0.034 1357 -424.3 -97.3 - - 3190 - - - - - - - - 10.85 11.02 11.05
178 20.7 -19.5 14 186 done -0.82 0.47 0.253 2630 159.6 3.55 0.080 2765 396.6 -97.3 - - 3190 - - - - - - - - 10.91 11.01 11.07
493 59.8 -7.9 26 499 roll -0.82 - - 2622 - 2.72 0.124 3835 393.4 -97.3 - - 3191 - - - - - - - - 11.23 10.99 11.23
612 68.8 -7.3 43 617 done -0.73 0.17 0.210 2657 205.9 2.38 0.040 2755 -453.8 -97.3 - - 3192 - - - - - - - - 10.95 11.10 11.08
941 91.4 -9.5 57 942 done -0.73 - - 2657 - - - 2755 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1249 109.5 -7.0 66 1250 done -0.73 - - 2657 - - - 2755 - -97.3 - - 3192 - - - - - - - - 11.24 11.24 11.24
1585 129.8 -5.7 72 1590 roll -0.73 - - 2657 - 3.25 0.037 1365 -427.7 -97.3 - - 3190 - - - - - - - - 11.25 11.06 11.25
1655 134.2 -6.6 82 1661 done -0.81 - - 2647 - 3.47 0.070 2774 406.1 -97.3 - - 3190 - - - - - - - - 11.12 11.01 11.14
1977 156.7 -7.0 93 1982 roll -0.81 - - 2639 - 2.67 0.122 3830 395.5 -97.3 - - 3189 - - - - - - - - 11.24 11.00 11.24
2026 160.7 -7.6 100 2032 done -0.81 - - 2639 - 2.35 0.039 2761 -454.9 -97.3 - - 3188 - - - - - - - - 11.14 11.11 11.15
2369 183.0 -5.9 107 2374 roll -0.81 - - 2639 - 3.25 0.035 1366 -429.2 -97.3 - - 3186 - - - - - - - - 11.24 11.07 11.25
2411 186.6 -6.1 113 2416 done -0.81 - - 2629 - 3.47 0.072 2764 402.9 -97.3 - - 3186 - - - - - - - - 11.12 11.02 11.14
2761 213.2 -7.5 121 2766 roll -0.81 - - 2628 - 3.30 0.036 1369 -422.7 -97.3 - - 3184 - - - - - - - - 11.24 11.07 11.24
2803 216.3 -5.5 127 2808 done -0.81 - - 2618 - 3.50 0.072 2773 401.1 -97.3 - - 3184 - - - - - - - - 11.12 11.01 11.14
3153 243.9 -7.8 135 3158 roll -0.81 - - 2610 - 2.70 0.122 3835 393.3 -97.3 - - 3181 - - - - - - - - 11.24 11.00 11.25
3216 249.0 -6.3 144 3221 done -0.81 0.12 0.214 2634 200.0 2.38 0.042 2770 -447.5 -97.3 - - 3181 - - - - - - - - 10.97 11.11 11.11
3545 273.1 -6.6 156 3550 roll -0.81 - - 2635 - 3.30 0.036 1365 -425.8 -97.3 - - 3179 - - - - - - - - 11.24 11.07 11.24
3699 284.3 -7.0 178 3705 done -0.81 - - 2625 - 3.50 0.071 2766 400.3 -97.3 - - 3179 - - - - - - - - 11.12 11.01 11.14
4049 308.5 -7.3 186 4055 roll -0.81 - - 2624 - 3.33 0.035 1368 -419.8 -97.3 - - 3178 - - - - - - - - 11.25 11.07 11.25
4098 312.5 -7.6 193 4104 done -0.81 - - 2614 - 3.50 0.074 2763 398.6 -97.3 - - 3177 - - - - - - - - 11.13 11.02 11.14
4441 337.0 -7.1 200 4442 done -0.81 - - 2614 - - - 2762 - -97.3 - - 3175 - - - - - - - - 11.25 11.25 11.26
4777 361.6 -7.4 206 4783 roll -0.81 - - 2613 - 3.33 0.037 1369 -418.3 -97.3 - - 3174 - - - - - - - - 11.26 11.07 11.25
4833 367.2 -6.7 214 4839 done -0.81 0.15 0.218 2633 133.3 3.53 0.076 2763 394.9 -97.3 - - 3174 - - - - - - - - 10.98 11.02 11.11
5169 390.5 -7.2 227 5174 roll -0.81 - - 2633 - 3.33 0.036 1369 -418.6 -97.3 - - 3172 - - - - - - - - 11.25 11.07 11.24
5218 396.1 -6.9 234 5225 done -0.81 - - 2623 - 3.50 0.075 2760 397.4 -97.3 - - 3173 - - - - - - - - 11.13 11.03 11.14
5561 422.1 -7.7 241 5562 done -0.81 - - 2623 - - - 2760 - -97.3 - - 3171 - - - - - - - - 11.26 11.26 11.26
5897 444.6 -7.1 247 5902 roll -0.81 - - 2622 - 3.33 0.037 1364 -419.2 -97.3 - - 3169 - - - - - - - - 11.25 11.07 11.25
5962 end dive: TARGET_DEPTH_EXCEEDED
5962 begin apogee
5975 450.3 -7.7 257 6088 roll -0.23 1.00 0.187 2821 199.0 - - 2258 - - 111.03 1.480 2801 -3.3 0.245 - - - - - - 10.98 11.00 10.44
6089 end apogee: CONTROL_FINISHED_OK
6089 begin loiter
6321 451.6 1.0 292 6325 done -0.25 - - 2821 - - - 2258 - -16.9 - - 2789 - - - - - - - - 11.24 11.24 11.24
6650 446.3 1.2 304 6652 done -0.62 0.40 0.048 2699 -305.0 - - 2258 - -16.9 - - 2788 - - - - - - - - 11.11 11.14 11.12
6986 442.4 0.5 310 6988 done -0.77 0.10 0.084 2647 -520.0 - - 2258 - -25.7 - - 2787 - - - - - - - - 11.10 11.14 11.14
7322 440.9 0.9 316 7323 done -0.78 - - 2647 - - - 2258 - -40.2 - - 2785 - - - - - - - - 11.26 11.26 11.26
7658 436.7 1.0 322 7659 done -0.80 - - 2647 - - - 2258 - -56.9 - - 2785 - - - - - - - - 11.26 11.26 11.26
7994 430.1 2.0 328 7995 done -0.80 - - 2646 - - - 2258 - -56.9 - - 2784 - - - - - - - - 11.26 11.26 11.27
8330 423.8 1.9 334 8331 done -0.80 - - 2647 - - - 2258 - -56.9 - - 2783 - - - - - - - - 11.27 11.27 11.27
8666 419.7 1.2 340 8667 done -0.80 - - 2645 - - - 2258 - -56.9 - - 2782 - - - - - - - - 11.27 11.27 11.27
9002 419.4 -0.4 346 9003 done -0.80 - - 2647 - - - 2257 - -50.8 - - 2782 - - - - - - - - 11.28 11.28 11.28
9338 422.2 -0.9 352 9339 done -0.78 - - 2647 - - - 2258 - -35.5 - - 2782 - - - - - - - - 11.31 11.28 11.28
9674 423.2 -0.1 358 9675 done -0.78 - - 2647 - - - 2258 - -34.3 - - 2781 - - - - - - - - 11.28 11.28 11.28
10010 422.6 0.1 364 10011 done -0.78 - - 2647 - - - 2258 - -36.5 - - 2781 - - - - - - - - 11.28 11.28 11.28
10346 420.9 0.7 370 10347 done -0.79 - - 2647 - - - 2258 - -49.2 - - 2780 - - - - - - - - 11.28 11.28 11.28
10682 420.5 - 376 10683 done -0.80 - - 2647 - - - 2258 - -49.5 - - 2779 - - - - - - - - 11.28 11.28 11.28
11018 422.3 -0.6 382 11019 done -0.78 - - 2647 - - - 2258 - -40.1 - - 2779 - - - - - - - - 11.28 11.29 11.29
11354 424.1 -0.5 388 11355 done -0.77 - - 2647 - - - 2258 - -31.4 - - 2779 - - - - - - - - 11.28 11.29 11.29
11690 426.8 -0.9 394 11691 done -0.76 - - 2646 - - - 2258 - -16.9 - - 2779 - - - - - - - - 11.28 11.29 11.29
12026 428.5 -0.4 400 12027 done -0.75 - - 2647 - - - 2257 - -9.3 - - 2779 - - - - - - - - 11.29 11.29 11.29
12362 429.0 -0.3 406 12363 done -0.74 - - 2647 - - - 2258 - -5.0 - - 2779 - - - - - - - - 11.29 11.29 11.29
12698 429.5 -0.4 412 12699 done -0.73 - - 2647 - - - 2258 - 1.1 - - 2778 - - - - - - - - 11.29 11.29 11.28
13034 430.4 -0.2 418 13035 done -0.73 - - 2647 - - - 2258 - 3.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
13370 432.0 -0.3 424 13374 done -0.72 - - 2647 - - - 2258 - 9.4 2.75 0.702 2762 -5.8 0.871 - - - - - - 11.29 11.07 10.33
13706 429.8 0.9 430 13707 done -0.74 - - 2647 - - - 2258 - -5.0 - - 2773 - - - - - - - - 11.29 11.29 11.29
14042 426.5 1.0 436 14043 done -0.74 - - 2647 - - - 2258 - -5.0 - - 2772 - - - - - - - - 11.29 11.29 11.29
14379 423.8 0.8 442 14379 done -0.76 - - 2647 - - - 2258 - -18.4 - - 2772 - - - - - - - - 11.29 11.29 11.29
14715 420.7 0.7 448 14716 done -0.77 - - 2647 - - - 2258 - -30.5 - - 2773 - - - - - - - - 11.28 11.29 11.29
15050 418.9 1.2 454 15051 done -0.77 - - 2647 - - - 2258 - -30.5 - - 2773 - - - - - - - - 11.29 11.29 11.29
15386 417.9 0.7 460 15387 done -0.79 - - 2647 - - - 2258 - -42.2 - - 2773 - - - - - - - - 11.29 11.29 11.29
15722 418.1 - 466 15723 done -0.79 - - 2647 - - - 2258 - -42.8 - - 2772 - - - - - - - - 11.29 11.29 11.29
16058 419.6 -0.5 472 16059 done -0.78 - - 2647 - - - 2258 - -34.3 - - 2773 - - - - - - - - 11.29 11.29 11.29
16394 419.7 -0.2 478 16395 done -0.77 - - 2647 - - - 2258 - -31.2 - - 2773 - - - - - - - - 11.29 11.29 11.29
16730 420.4 -0.4 484 16731 done -0.76 - - 2647 - - - 2258 - -23.6 - - 2773 - - - - - - - - 11.29 11.29 11.29
17066 421.2 -0.1 490 17067 done -0.76 - - 2647 - - - 2258 - -22.8 - - 2773 - - - - - - - - 11.29 11.29 11.29
17402 421.0 - 496 17403 done -0.76 - - 2647 - - - 2258 - -22.2 - - 2772 - - - - - - - - 11.29 11.29 11.29
17738 420.3 0.4 502 17739 done -0.77 - - 2647 - - - 2258 - -29.6 - - 2772 - - - - - - - - 11.29 11.29 11.29
18074 421.7 -0.2 508 18075 done -0.77 - - 2647 - - - 2258 - -26.1 - - 2772 - - - - - - - - 11.29 11.29 11.30
18410 423.0 -0.3 514 18411 done -0.76 - - 2647 - - - 2258 - -20.5 - - 2772 - - - - - - - - 11.29 11.29 11.29
18746 424.1 -0.2 520 18747 done -0.76 - - 2646 - - - 2257 - -17.0 - - 2772 - - - - - - - - 11.29 11.30 11.29
19083 426.5 -1.0 526 19083 done -0.73 - - 2646 - - - 2258 - -0.3 - - 2773 - - - - - - - - 11.29 11.29 11.29
19418 428.1 -0.5 532 19419 done -0.72 - - 2647 - - - 2258 - 8.5 - - 2772 - - - - - - - - 11.29 11.29 11.29
19754 428.4 0.3 538 19755 done -0.73 - - 2646 - - - 2257 - 4.1 - - 2772 - - - - - - - - 11.29 11.29 11.29
20090 428.4 0.1 544 20091 done -0.73 - - 2647 - - - 2258 - 1.8 - - 2772 - - - - - - - - 11.29 11.29 11.29
20426 426.0 0.8 550 20427 done -0.75 - - 2647 - - - 2258 - -11.7 - - 2772 - - - - - - - - 11.29 11.29 11.29
20762 421.7 1.5 556 20763 done -0.75 - - 2647 - - - 2258 - -11.7 - - 2773 - - - - - - - - 11.29 11.29 11.30
21098 417.9 0.6 562 21099 done -0.76 - - 2647 - - - 2258 - -21.3 - - 2772 - - - - - - - - 11.29 11.29 11.29
21434 418.4 -0.3 568 21435 done -0.75 - - 2647 - - - 2258 - -15.9 - - 2773 - - - - - - - - 11.29 11.29 11.29
21770 420.9 -0.6 574 21771 done -0.74 - - 2647 - - - 2258 - -6.2 - - 2773 - - - - - - - - 11.29 11.29 11.30
22106 422.5 -0.3 580 22107 done -0.74 - - 2647 - - - 2258 - -1.7 - - 2772 - - - - - - - - 11.29 11.30 11.30
22442 422.5 -0.1 586 22443 done -0.74 - - 2647 - - - 2258 - -0.7 - - 2772 - - - - - - - - 11.29 11.29 11.29
22778 419.7 0.8 592 22779 done -0.75 - - 2646 - - - 2258 - -14.0 - - 2772 - - - - - - - - 11.29 11.29 11.30
23114 417.9 0.2 598 23115 done -0.76 - - 2647 - - - 2258 - -18.2 - - 2772 - - - - - - - - 11.29 11.29 11.29
23450 416.7 0.6 604 23451 done -0.77 - - 2647 - - - 2258 - -28.3 - - 2773 - - - - - - - - 11.29 11.30 11.30
23786 416.0 0.2 610 23787 done -0.77 - - 2647 - - - 2258 - -31.7 - - 2773 - - - - - - - - 11.29 11.30 11.30
24117 end loiter: LOITER_COMPLETE
24117 begin climb
24123 415.0 - 616 24251 roll 1.04 2.65 0.168 3217 215.1 3.67 0.114 3666 383.7 97.3 114.57 1.464 2403 -3.2 0.223 - - - - - - 11.02 10.90 10.38
24460 389.8 10.0 663 24465 done 0.91 0.15 0.210 3198 -126.7 3.25 0.039 2252 -435.1 97.3 - - 2394 - - - - - - - - 10.95 11.07 11.09
24795 361.7 8.1 676 24800 roll 0.92 - - 3209 - 3.40 0.053 844 -414.1 101.0 - - 2391 - - - - - - - - 11.23 11.02 11.24
24858 356.6 8.6 685 24863 done 0.92 - - 3209 - 3.40 0.056 2253 414.4 101.0 - - 2390 - - - - - - - - 11.11 11.00 11.12
25187 328.5 8.7 697 25192 roll 0.92 - - 3208 - 3.65 0.119 3660 385.5 101.0 - - 2390 - - - - - - - - 11.24 10.93 11.24
25222 325.2 9.2 702 25229 done 0.82 0.28 0.199 3165 -153.6 3.25 0.039 2239 -437.2 101.0 - - 2390 - - - - - - - - 10.95 11.08 11.10
25580 297.7 7.4 711 25611 roll 0.84 - - 3175 - 3.42 0.054 852 -405.6 117.2 22.88 1.320 2322 -3.0 0.163 - - - - - - 11.24 10.98 10.43
25670 289.0 8.6 724 25675 done 0.84 - - 3175 - 3.38 0.054 2250 413.6 117.2 - - 2318 - - - - - - - - 11.10 11.02 11.13
26027 262.0 7.6 733 26044 done 0.85 - - 3175 - - - 2251 - 129.8 15.40 1.276 2283 -2.3 0.113 - - - - - - 11.24 11.00 10.44
26364 234.9 8.3 739 26369 roll 0.85 - - 3185 - 3.40 0.056 850 -412.1 129.9 - - 2268 - - - - - - - - 11.23 11.03 11.23
26398 232.3 8.4 744 26403 done 0.85 - - 3185 - 3.35 0.054 2244 416.1 129.9 - - 2268 - - - - - - - - 11.12 11.02 11.13
26755 202.9 8.1 753 26760 roll 0.86 - - 3185 - 3.70 0.121 3665 384.1 133.8 - - 2268 - - - - - - - - 11.22 10.95 11.24
26935 186.3 10.8 778 26941 done 0.86 - - 3195 - 3.25 0.039 2246 -436.6 133.8 - - 2269 - - - - - - - - 11.13 11.07 11.13
27263 156.1 9.1 790 27269 roll 0.86 - - 3206 - 3.38 0.054 845 -414.5 133.8 - - 2269 - - - - - - - - 11.24 11.04 11.24
27319 151.9 2.9 798 27442 done 0.97 - - 3206 - 3.40 0.056 2253 414.1 226.1 113.40 1.089 1893 -3.3 0.112 - - - - - - 11.12 11.00 10.53
27767 107.6 10.1 827 27772 roll 0.97 - - 3206 - 3.67 0.122 3664 384.5 226.1 - - 1877 - - - - - - - - 11.21 10.93 11.21
27788 105.0 10.3 830 27794 done 0.97 - - 3216 - 3.25 0.038 2251 -434.8 226.1 - - 1876 - - - - - - - - 11.10 11.06 11.12
28104 73.3 9.4 844 28109 roll 0.97 - - 3227 - 3.38 0.056 846 -415.7 226.1 - - 1875 - - - - - - - - 11.22 11.02 11.22
28145 69.5 9.2 850 28151 done 0.97 - - 3226 - 3.35 0.054 2242 416.7 226.1 - - 1874 - - - - - - - - 11.10 11.00 11.11
28468 46.3 6.1 863 28501 roll 1.02 - - 3227 - 3.70 0.118 3664 384.3 264.0 26.60 0.303 1750 -4.7 0.173 - - - - - - 11.23 10.93 10.86
28524 43.5 7.5 871 28543 done 1.03 - - 3238 - 3.28 0.039 2230 -437.2 278.5 14.60 0.291 1692 -4.0 0.144 - - - - - - 11.12 11.07 10.87
28857 24.3 4.7 885 28920 roll 1.26 0.15 0.075 3298 400.0 3.85 0.120 3667 373.2 340.5 52.38 0.249 1447 -4.7 0.111 - - - - - - 11.07 10.93 10.90
28990 15.4 10.0 904 28996 done 1.26 - - 3309 - 3.22 0.040 2253 -439.1 340.5 - - 1451 - - - - - - - - 11.11 11.06 11.12
29155 end climb: SURFACE_DEPTH_REACHED
29155 begin surface coast
29184 end surface coast: CONTROL_FINISHED_OK
29184 begin surface
SM -9.03 - - - - -8.39 12.40 0.074 200 16.1 1.40 0.096 2778 1248.6 500.14 111.00 0.137 808 7.3 0.049 - - - - - -