SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 886 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 291.46 of 350.00 AH used of 24V (16.73% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -67.0 deg, depth -6.16 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 32 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 - - 124 - - - 2788 - -97.3 -83.30 - 3189 - - - - - - - - 11.21 10.43 11.21
105 -3.5 -4.8 3 128 roll -1.04 18.02 0.366 2554 134.9 3.40 0.033 1353 -422.1 -97.3 - - 3191 - - - - - - - - 10.86 11.02 11.05
206 26.2 -21.3 18 214 done -0.80 0.50 0.249 2634 160.0 3.47 0.064 2761 405.8 -97.3 - - 3191 - - - - - - - - 10.92 11.00 11.08
521 62.5 -8.0 30 527 roll -0.80 - - 2626 - 2.60 0.097 3835 413.1 -97.3 - - 3192 - - - - - - - - 11.26 11.00 11.26
759 77.2 -5.4 64 764 done -0.80 - - 2626 - 2.35 0.034 2746 -463.4 -97.3 - - 3193 - - - - - - - - 11.14 11.11 11.15
1081 93.7 -6.5 77 1086 roll -0.80 - - 2626 - 3.20 0.035 1374 -428.8 -97.3 - - 3193 - - - - - - - - 11.26 11.06 11.26
1186 103.6 -8.0 92 1192 done -0.80 - - 2615 - 3.38 0.057 2768 412.4 -97.3 - - 3193 - - - - - - - - 11.12 11.03 11.14
1529 131.1 -8.3 99 1534 roll -0.80 - - 2608 - 2.58 0.094 3834 413.2 -97.3 - - 3192 - - - - - - - - 11.27 11.02 11.27
1648 140.7 -7.6 116 1653 done -0.80 0.15 0.206 2637 193.3 2.33 0.033 2758 -461.8 -97.3 - - 3192 - - - - - - - - 10.98 11.12 11.11
1977 162.2 -6.4 128 1982 roll -0.80 - - 2638 - 3.25 0.035 1375 -425.5 -97.3 - - 3190 - - - - - - - - 11.27 11.07 11.27
2089 170.0 -6.5 144 2094 done -0.80 - - 2628 - 3.40 0.057 2768 409.7 -97.3 - - 3189 - - - - - - - - 11.13 11.04 11.14
2425 196.3 -8.1 157 2426 done -0.80 - - 2628 - - - 2767 - -97.3 - - 3187 - - - - - - - - 11.27 11.27 11.27
2761 223.8 -8.2 163 2762 done -0.80 - - 2627 - - - 2767 - -97.3 - - 3185 - - - - - - - - 11.27 11.27 11.27
3097 248.4 -7.3 169 3102 roll -0.80 - - 2626 - 3.35 0.037 1369 -417.3 -97.3 - - 3183 - - - - - - - - 11.27 11.07 11.28
3174 254.1 -8.0 180 3179 done -0.80 - - 2617 - 3.45 0.059 2772 406.7 -97.3 - - 3183 - - - - - - - - 11.14 11.04 11.14
3489 277.7 -7.6 190 3490 done -0.80 - - 2617 - - - 2771 - -97.3 - - 3181 - - - - - - - - 11.28 11.28 11.28
3825 303.5 -8.0 196 3830 roll -0.80 - - 2616 - 3.35 0.035 1369 -418.5 -97.3 - - 3180 - - - - - - - - 11.28 11.07 11.28
3860 306.7 -8.8 201 3865 done -0.80 0.15 0.218 2636 133.3 3.42 0.059 2763 407.6 -97.3 - - 3179 - - - - - - - - 10.98 11.05 11.12
4217 335.1 -7.9 210 4218 done -0.80 - - 2636 - - - 2763 - -97.3 - - 3177 - - - - - - - - 11.28 11.28 11.28
4553 358.3 -6.7 216 4558 roll -0.80 - - 2635 - 3.33 0.035 1371 -418.0 -97.3 - - 3175 - - - - - - - - 11.28 11.08 11.28
4609 361.9 -6.6 224 4614 done -0.80 - - 2625 - 3.42 0.059 2762 406.7 -97.3 - - 3175 - - - - - - - - 11.14 11.05 11.15
4945 383.4 -6.4 237 4946 done -0.80 - - 2626 - - - 2762 - -97.3 - - 3175 - - - - - - - - 11.28 11.28 11.28
5281 405.5 -6.8 243 5286 roll -0.80 - - 2625 - 3.33 0.036 1374 -416.8 -97.3 - - 3173 - - - - - - - - 11.28 11.08 11.27
5407 414.7 -7.6 261 5412 done -0.80 - - 2615 - 3.42 0.060 2763 406.1 -97.3 - - 3172 - - - - - - - - 11.14 11.05 11.15
5729 439.1 -7.6 272 5734 roll -0.80 - - 2608 - 2.60 0.099 3825 408.5 -97.3 - - 3171 - - - - - - - - 11.28 11.03 11.28
5792 443.9 -7.9 281 5797 done -0.80 0.15 0.207 2637 193.3 2.38 0.037 2752 -450.8 -97.3 - - 3171 - - - - - - - - 10.99 11.14 11.12
5892 end dive: TARGET_DEPTH_EXCEEDED
5892 begin apogee
5904 451.1 -6.6 289 6017 roll -0.23 0.88 0.171 2822 210.2 - - 2239 - - 111.07 1.478 2799 -3.3 0.249 - - - - - - 11.00 11.00 10.42
6018 end apogee: CONTROL_FINISHED_OK
6018 begin loiter
6025 453.9 - 292 6029 done -0.23 - - 2822 - - - 2238 - - - - 2790 - - - - - - - - 11.18 11.18 11.18
6355 453.3 0.4 304 6356 done -0.60 0.38 0.049 2709 -297.4 - - 2239 - -6.0 - - 2787 - - - - - - - - 11.07 11.13 11.10
6691 450.4 1.1 310 6692 done -0.75 0.12 0.074 2654 -458.3 - - 2239 - -6.0 - - 2785 - - - - - - - - 11.07 11.14 11.13
7026 445.8 1.5 316 7027 done -0.75 - - 2653 - - - 2238 - -6.0 - - 2784 - - - - - - - - 11.26 11.26 11.26
7362 440.7 1.5 322 7363 done -0.75 - - 2654 - - - 2239 - -6.0 - - 2783 - - - - - - - - 11.26 11.26 11.26
7698 434.6 1.8 328 7699 done -0.75 - - 2654 - - - 2239 - -6.0 - - 2783 - - - - - - - - 11.26 11.26 11.25
8035 431.8 0.6 334 8035 done -0.77 - - 2654 - - - 2239 - -15.7 - - 2781 - - - - - - - - 11.26 11.26 11.26
8371 431.7 - 340 8371 done -0.77 - - 2654 - - - 2239 - -15.8 - - 2781 - - - - - - - - 11.26 11.27 11.27
8707 430.7 0.4 346 8707 done -0.77 - - 2654 - - - 2238 - -22.8 - - 2780 - - - - - - - - 11.27 11.27 11.27
9043 430.2 0.1 352 9043 done -0.78 - - 2654 - - - 2239 - -23.7 - - 2780 - - - - - - - - 11.27 11.27 11.27
9379 431.6 -0.5 358 9379 done -0.77 - - 2654 - - - 2239 - -15.8 - - 2780 - - - - - - - - 11.27 11.28 11.27
9715 433.1 -0.4 364 9715 done -0.76 - - 2653 - - - 2238 - -8.3 - - 2779 - - - - - - - - 11.28 11.27 11.28
10051 434.3 -0.3 370 10051 done -0.75 - - 2654 - - - 2239 - -2.4 - - 2779 - - - - - - - - 11.28 11.27 11.28
10387 434.3 0.1 376 10388 done -0.75 - - 2654 - - - 2239 - -3.6 - - 2777 - - - - - - - - 11.27 11.27 11.27
10723 434.6 -0.2 382 10723 done -0.75 - - 2654 - - - 2239 - -0.9 - - 2778 - - - - - - - - 11.27 11.28 11.28
11059 435.9 -0.4 388 11060 done -0.74 - - 2654 - - - 2239 - 5.5 - - 2777 - - - - - - - - 11.28 11.28 11.28
11395 436.8 -0.2 394 11398 done -0.73 - - 2655 - - - 2239 - 9.3 2.47 0.557 2763 -5.7 1.081 - - - - - - 11.28 11.07 10.33
11731 436.5 0.2 400 11731 done -0.74 - - 2653 - - - 2239 - 6.6 - - 2773 - - - - - - - - 11.28 11.28 11.28
12067 434.7 0.6 406 12067 done -0.75 - - 2654 - - - 2239 - -4.2 - - 2773 - - - - - - - - 11.28 11.28 11.28
12403 430.9 1.2 412 12403 done -0.75 - - 2652 - - - 2239 - -4.2 - - 2773 - - - - - - - - 11.28 11.28 11.28
12739 427.0 1.1 418 12739 done -0.75 - - 2653 - - - 2239 - -4.2 - - 2773 - - - - - - - - 11.28 11.29 11.29
13075 427.5 -0.4 424 13075 done -0.74 - - 2654 - - - 2238 - 2.8 - - 2773 - - - - - - - - 11.28 11.28 11.29
13411 429.8 -0.6 430 13417 done -0.73 - - 2654 - - - 2239 - 13.7 5.57 1.290 2747 -4.7 0.378 - - - - - - 11.29 11.05 10.38
13747 427.2 1.0 436 13747 done -0.75 - - 2654 - - - 2239 - -3.2 - - 2759 - - - - - - - - 11.28 11.28 11.28
14083 424.2 0.9 442 14084 done -0.77 - - 2654 - - - 2239 - -18.4 - - 2759 - - - - - - - - 11.28 11.28 11.29
14419 421.9 0.7 448 14419 done -0.78 - - 2654 - - - 2239 - -29.6 - - 2759 - - - - - - - - 11.29 11.28 11.29
14755 420.0 0.5 454 14755 done -0.79 - - 2653 - - - 2239 - -38.6 - - 2759 - - - - - - - - 11.29 11.29 11.29
15091 417.3 0.9 460 15092 done -0.81 - - 2653 - - - 2238 - -54.2 - - 2759 - - - - - - - - 11.28 11.28 11.28
15427 411.9 1.7 466 15427 done -0.81 - - 2654 - - - 2239 - -54.2 - - 2759 - - - - - - - - 11.29 11.29 11.29
15763 407.4 1.2 472 15763 done -0.81 - - 2654 - - - 2239 - -54.2 - - 2759 - - - - - - - - 11.29 11.29 11.29
16099 404.8 0.7 478 16099 done -0.83 - - 2654 - - - 2239 - -66.4 - - 2759 - - - - - - - - 11.28 11.29 11.29
16435 405.2 -0.3 484 16436 done -0.82 - - 2654 - - - 2239 - -61.0 - - 2759 - - - - - - - - 11.29 11.29 11.29
16771 407.1 -0.5 490 16771 done -0.81 - - 2653 - - - 2239 - -53.0 - - 2759 - - - - - - - - 11.29 11.29 11.29
17107 407.3 - 496 17108 done -0.81 - - 2654 - - - 2239 - -53.0 - - 2759 - - - - - - - - 11.29 11.29 11.29
17443 406.5 0.3 502 17443 done -0.82 - - 2654 - - - 2239 - -58.1 - - 2759 - - - - - - - - 11.29 11.29 11.29
17779 403.7 0.9 508 17779 done -0.84 - - 2654 - - - 2239 - -73.5 - - 2759 - - - - - - - - 11.29 11.29 11.29
18115 399.5 1.3 514 18115 done -0.84 - - 2654 - - - 2239 - -73.5 - - 2759 - - - - - - - - 11.29 11.29 11.29
18451 396.7 0.7 520 18451 done -0.85 - - 2654 - - - 2239 - -84.8 - - 2759 - - - - - - - - 11.29 11.29 11.29
18787 399.6 -1.2 526 18787 done -0.83 - - 2653 - - - 2238 - -64.7 - - 2759 - - - - - - - - 11.32 11.28 11.29
19123 405.8 -1.9 532 19123 done -0.79 - - 2654 - - - 2239 - -33.0 - - 2759 - - - - - - - - 11.29 11.29 11.29
19459 409.0 -0.7 538 19460 done -0.77 - - 2654 - - - 2239 - -21.2 - - 2759 - - - - - - - - 11.29 11.29 11.29
19795 407.5 0.7 544 19795 done -0.79 - - 2654 - - - 2239 - -32.4 - - 2759 - - - - - - - - 11.29 11.29 11.29
20131 403.9 1.1 550 20132 done -0.79 - - 2654 - - - 2239 - -32.4 - - 2759 - - - - - - - - 11.29 11.28 11.29
20467 399.7 1.3 556 20467 done -0.79 - - 2653 - - - 2239 - -32.4 - - 2759 - - - - - - - - 11.29 11.29 11.29
20803 397.5 0.5 562 20803 done -0.80 - - 2654 - - - 2239 - -40.1 - - 2759 - - - - - - - - 11.29 11.29 11.29
21139 400.0 -0.9 568 21139 done -0.78 - - 2654 - - - 2238 - -24.0 - - 2759 - - - - - - - - 11.29 11.29 11.29
21475 403.4 -0.9 574 21475 done -0.76 - - 2653 - - - 2238 - -8.4 - - 2759 - - - - - - - - 11.29 11.29 11.29
21811 402.6 0.5 580 21811 done -0.77 - - 2654 - - - 2239 - -16.9 - - 2759 - - - - - - - - 11.29 11.29 11.29
22147 398.9 1.2 586 22147 done -0.77 - - 2654 - - - 2239 - -16.9 - - 2759 - - - - - - - - 11.29 11.29 11.29
22483 394.9 1.2 592 22483 done -0.77 - - 2654 - - - 2239 - -16.9 - - 2759 - - - - - - - - 11.29 11.29 11.29
22819 393.0 0.4 598 22819 done -0.78 - - 2654 - - - 2239 - -23.9 - - 2758 - - - - - - - - 11.29 11.29 11.29
23155 394.6 -0.7 604 23156 done -0.76 - - 2653 - - - 2238 - -12.2 - - 2758 - - - - - - - - 11.29 11.29 11.29
23491 399.1 -1.4 610 23491 done -0.73 - - 2654 - - - 2239 - 11.5 - - 2759 - - - - - - - - 11.29 11.29 11.29
23827 400.2 - 616 23827 done -0.73 - - 2654 - - - 2238 - 11.8 - - 2759 - - - - - - - - 11.29 11.29 11.29
24045 end loiter: LOITER_COMPLETE
24045 begin climb
24051 397.4 - 620 24169 roll 1.04 2.58 0.165 3210 215.5 3.58 0.085 3665 398.6 97.3 109.12 1.418 2404 -3.3 0.222 - - - - - - 11.01 10.90 10.39
24308 376.2 10.9 656 24312 done 0.92 - - 3222 - 3.20 0.032 2259 -439.4 97.3 - - 2396 - - - - - - - - 11.12 11.07 11.13
24664 341.4 9.6 665 24670 roll 0.84 0.20 0.203 3188 -170.0 3.40 0.050 850 -414.4 97.3 - - 2393 - - - - - - - - 10.95 11.04 11.06
24727 336.3 8.0 674 24733 done 0.85 - - 3188 - 3.33 0.042 2251 420.7 102.8 - - 2392 - - - - - - - - 11.12 11.04 11.13
25056 310.7 7.8 686 25081 roll 0.86 - - 3188 - 3.58 0.088 3666 395.3 112.2 16.33 1.305 2347 -2.8 0.160 - - - - - - 11.26 10.95 10.44
25119 305.2 9.5 695 25124 done 0.86 - - 3199 - 3.25 0.033 2237 -439.7 112.2 - - 2343 - - - - - - - - 11.12 11.07 11.13
25448 276.7 8.7 707 25453 roll 0.86 - - 3199 - 3.55 0.088 3660 400.8 112.2 - - 2341 - - - - - - - - 11.25 11.00 11.25
25469 274.7 8.9 710 25475 done 0.86 0.15 0.210 3181 -120.0 3.20 0.033 2253 -439.7 112.2 - - 2342 - - - - - - - - 10.95 11.08 11.11
25785 249.1 8.0 720 25795 roll 0.86 - - 3191 - 3.45 0.052 844 -408.4 117.8 2.15 0.318 2330 -5.6 1.063 - - - - - - 11.26 11.04 10.36
25854 243.6 7.8 730 25879 done 0.88 - - 3190 - 3.33 0.043 2253 423.1 126.3 18.05 1.240 2292 -2.1 0.101 - - - - - - 11.13 11.05 10.46
26232 209.9 9.2 742 26233 done 0.88 - - 3190 - - - 2253 - 126.3 - - 2282 - - - - - - - - 11.26 11.26 11.26
26568 178.5 9.3 748 26573 roll 0.88 - - 3191 - 3.47 0.089 3666 407.2 126.3 - - 2283 - - - - - - - - 11.26 11.00 11.26
26681 166.6 10.5 764 26686 done 0.88 - - 3201 - 3.25 0.032 2238 -439.4 126.3 - - 2283 - - - - - - - - 11.14 11.09 11.15
27016 135.1 9.4 777 27021 roll 0.88 - - 3212 - 3.35 0.056 850 -414.3 126.3 - - 2283 - - - - - - - - 11.26 11.05 11.26
27079 128.8 9.8 786 27085 done 0.88 0.12 0.201 3187 -208.3 3.30 0.045 2244 422.4 126.3 - - 2282 - - - - - - - - 10.97 11.03 11.11
27408 101.7 7.8 798 27419 roll 0.89 - - 3187 - 3.55 0.091 3664 400.0 134.7 3.58 0.190 2268 -3.9 0.509 - - - - - - 11.26 11.00 10.88
27653 79.8 6.8 833 27686 done 0.92 - - 3198 - 3.20 0.034 2248 -442.5 160.8 25.02 0.387 2159 -4.4 0.218 - - - - - - 11.14 11.09 10.82
27996 58.3 5.0 849 28052 done 0.99 - - 3198 - - - 2248 - 217.3 48.97 0.347 1939 -4.5 0.184 - - - - - - 11.26 11.01 10.84
28360 50.9 1.7 862 28464 roll 1.31 0.38 0.046 3334 357.9 3.40 0.057 853 -410.3 330.5 96.93 0.326 1484 -4.7 0.178 - - - - - - 11.09 11.00 10.84
28598 31.4 7.3 896 28623 done 1.34 - - 3334 - 3.33 0.045 2259 422.2 348.8 17.45 0.260 1412 -4.1 0.121 - - - - - - 11.12 11.03 10.88
28908 end climb: SURFACE_DEPTH_REACHED
28908 begin surface coast
28941 end surface coast: CONTROL_FINISHED_OK
28941 begin surface
SM -7.73 - - - - -8.39 12.55 0.074 199 15.8 1.27 0.071 2778 -5099.2 500.14 106.28 0.138 808 7.6 0.044 - - - - - -