SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 828 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 279.10 of 350.00 AH used of 24V (20.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth -4.61 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
10 begin dive
15 - - - 98 done -1.04 - - 159 - - - 2788 - -97.3 -79.47 - 3187 - - - - - - - - 11.20 10.46 11.20
103 0.1 -7.9 3 127 roll -1.04 18.90 0.383 2555 126.8 3.33 0.034 1372 -425.2 -97.3 - - 3190 - - - - - - - - 10.84 11.01 11.05
149 19.0 -35.2 10 155 done -0.40 1.23 0.255 2763 169.1 3.62 0.097 2772 386.7 -97.3 - - 3195 - - - - - - - - 10.90 10.96 11.06
464 48.5 -4.9 22 469 roll -0.56 0.08 0.110 2705 -725.0 2.83 0.150 3832 374.6 -97.3 - - 3192 - - - - - - - - 11.07 10.95 11.09
513 51.3 -5.6 29 520 done -0.56 - - 2706 - 2.40 0.052 2776 -440.0 -97.3 - - 3192 - - - - - - - - 11.10 11.07 11.11
828 62.4 -3.5 41 834 roll -0.66 - - 2706 - 3.30 0.037 1347 -433.0 -97.3 - - 3191 - - - - - - - - 11.23 11.05 11.24
954 68.1 -5.0 59 960 done -0.78 0.10 0.087 2645 -610.0 3.60 0.087 2771 395.6 -97.3 - - 3193 - - - - - - - - 11.07 10.99 11.12
1276 87.7 -5.8 72 1281 roll -0.78 - - 2637 - 2.83 0.149 3829 373.9 -97.3 - - 3193 - - - - - - - - 11.24 10.96 11.24
1423 96.0 -5.4 93 1429 done -0.78 - - 2637 - 2.42 0.050 2754 -444.2 -97.3 - - 3193 - - - - - - - - 11.13 11.09 11.14
1752 112.3 -5.0 103 1757 roll -0.78 - - 2637 - 3.25 0.036 1352 -431.4 -97.3 - - 3191 - - - - - - - - 11.24 11.05 11.24
1815 117.8 -7.2 112 1820 done -0.78 - - 2626 - 3.62 0.090 2771 392.0 -97.3 - - 3191 - - - - - - - - 11.11 11.00 11.12
2144 140.0 -6.9 124 2149 roll -0.78 - - 2626 - 3.33 0.037 1357 -424.6 -97.3 - - 3190 - - - - - - - - 11.26 11.06 11.24
2207 144.9 -7.4 133 2213 done -0.78 0.12 0.216 2640 116.7 3.60 0.090 2761 390.0 -97.3 - - 3189 - - - - - - - - 10.95 11.00 11.10
2536 167.4 -6.9 145 2542 roll -0.78 - - 2640 - 3.30 0.037 1360 -424.5 -97.3 - - 3188 - - - - - - - - 11.24 11.06 11.24
2592 170.9 -5.9 153 2598 done -0.78 - - 2629 - 3.60 0.092 2761 389.2 -97.3 - - 3187 - - - - - - - - 11.12 11.00 11.13
2929 193.0 -6.6 166 2933 roll -0.78 - - 2629 - 3.30 0.037 1361 -424.2 -97.3 - - 3184 - - - - - - - - 11.24 11.06 11.24
2970 195.8 -6.6 172 2975 done -0.78 - - 2619 - 3.58 0.090 2757 389.9 -97.3 - - 3185 - - - - - - - - 11.12 11.00 11.13
3320 220.2 -6.9 180 3325 roll -0.78 - - 2619 - 3.30 0.037 1358 -423.9 -97.3 - - 3184 - - - - - - - - 11.24 11.06 11.24
3362 223.2 -7.1 186 3367 done -0.78 0.17 0.218 2642 135.3 3.60 0.091 2755 388.1 -97.3 - - 3185 - - - - - - - - 10.96 11.00 11.10
3713 246.3 -6.6 194 3717 roll -0.78 - - 2634 - 2.90 0.155 3828 370.0 -97.3 - - 3181 - - - - - - - - 11.24 10.98 11.25
3789 252.0 -7.5 205 3795 done -0.78 - - 2634 - 2.45 0.050 2754 -438.4 -97.3 - - 3182 - - - - - - - - 11.14 11.10 11.15
4104 274.3 -7.0 215 4109 roll -0.78 - - 2633 - 3.28 0.036 1352 -427.4 -97.3 - - 3179 - - - - - - - - 11.24 11.06 11.24
4269 285.6 -6.9 238 4275 done -0.78 - - 2623 - 3.60 0.089 2754 389.4 -97.3 - - 3179 - - - - - - - - 11.12 11.00 11.13
4608 310.5 -7.4 245 4614 roll -0.78 - - 2623 - 3.33 0.037 1353 -420.7 -97.3 - - 3178 - - - - - - - - 11.24 11.07 11.24
4664 314.8 -7.6 253 4670 done -0.78 0.15 0.220 2641 120.0 3.60 0.090 2748 387.5 -97.3 - - 3177 - - - - - - - - 10.96 11.00 11.10
5000 338.8 -7.1 266 5001 done -0.78 - - 2641 - - - 2748 - -97.3 - - 3175 - - - - - - - - 11.25 11.25 11.25
5336 362.5 -7.0 272 5341 roll -0.78 - - 2641 - 3.30 0.037 1358 -421.2 -97.3 - - 3174 - - - - - - - - 11.25 11.07 11.24
5413 367.9 -6.9 283 5418 done -0.86 - - 2631 - 3.58 0.090 2746 387.7 -97.3 - - 3174 - - - - - - - - 11.12 10.99 11.13
5728 390.3 -7.1 293 5729 done -0.86 - - 2630 - - - 2746 - -97.3 - - 3173 - - - - - - - - 11.24 11.25 11.25
6064 412.4 -6.5 299 6069 roll -0.86 - - 2631 - 3.33 0.038 1352 -418.6 -97.3 - - 3172 - - - - - - - - 11.24 11.07 11.24
6141 417.5 -6.6 310 6146 done -0.86 - - 2620 - 3.60 0.092 2743 386.4 -97.3 - - 3170 - - - - - - - - 11.12 10.99 11.14
6456 438.1 -6.6 320 6461 roll -0.86 - - 2621 - 3.30 0.038 1358 -419.7 -97.3 - - 3171 - - - - - - - - 11.25 11.07 11.25
6547 444.2 -6.7 333 6553 done -0.86 - - 2611 - 3.58 0.092 2742 386.6 -97.3 - - 3170 - - - - - - - - 11.12 10.99 11.13
6675 end dive: TARGET_DEPTH_EXCEEDED
6675 begin apogee
6687 453.2 -6.8 338 6800 roll -0.23 1.05 0.194 2821 200.0 0.12 0.158 2263 -3991.7 - 109.90 1.492 2799 -3.4 0.253 - - - - - - 10.98 10.94 10.45
6801 end apogee: CONTROL_FINISHED_OK
6801 begin loiter
7032 453.9 1.2 373 7037 done -0.23 - - 2821 - - - 2263 - - - - 2788 - - - - - - - - 11.23 11.23 11.23
7362 450.4 1.0 385 7363 done -0.62 0.40 0.054 2706 -287.5 - - 2262 - -16.4 - - 2787 - - - - - - - - 11.06 11.13 11.12
7698 450.9 -0.3 391 7699 done -0.76 0.12 0.071 2649 -475.0 - - 2262 - -11.2 - - 2785 - - - - - - - - 11.10 11.14 11.13
8033 452.7 -0.5 397 8034 done -0.75 - - 2650 - - - 2262 - -2.4 - - 2785 - - - - - - - - 11.25 11.26 11.25
8369 451.6 0.6 403 8370 done -0.77 - - 2650 - - - 2262 - -12.1 - - 2784 - - - - - - - - 11.26 11.26 11.26
8705 446.6 1.6 409 8706 done -0.77 - - 2650 - - - 2262 - -12.1 - - 2784 - - - - - - - - 11.26 11.26 11.26
9041 440.8 1.6 415 9042 done -0.77 - - 2650 - - - 2262 - -12.1 - - 2782 - - - - - - - - 11.26 11.26 11.26
9377 437.4 0.8 421 9378 done -0.78 - - 2650 - - - 2262 - -25.9 - - 2782 - - - - - - - - 11.26 11.26 11.26
9713 437.4 -0.1 427 9714 done -0.78 - - 2650 - - - 2262 - -23.8 - - 2782 - - - - - - - - 11.26 11.26 11.26
10049 437.8 - 433 10050 done -0.78 - - 2650 - - - 2262 - -23.7 - - 2781 - - - - - - - - 11.26 11.26 11.26
10385 436.5 0.5 439 10386 done -0.79 - - 2650 - - - 2262 - -32.5 - - 2780 - - - - - - - - 11.26 11.27 11.26
10721 432.8 1.2 445 10722 done -0.79 - - 2650 - - - 2262 - -32.5 - - 2780 - - - - - - - - 11.27 11.27 11.27
11057 429.9 0.8 451 11058 done -0.81 - - 2650 - - - 2262 - -45.5 - - 2779 - - - - - - - - 11.27 11.27 11.27
11393 429.4 0.1 457 11394 done -0.81 - - 2650 - - - 2262 - -46.5 - - 2779 - - - - - - - - 11.27 11.27 11.26
11729 430.4 -0.3 463 11730 done -0.80 - - 2650 - - - 2262 - -40.8 - - 2779 - - - - - - - - 11.27 11.30 11.27
12066 429.1 0.6 469 12067 done -0.81 - - 2650 - - - 2262 - -50.6 - - 2779 - - - - - - - - 11.27 11.27 11.27
12401 422.9 2.0 475 12402 done -0.81 - - 2650 - - - 2262 - -50.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
12737 414.7 2.5 481 12738 done -0.81 - - 2650 - - - 2262 - -50.6 - - 2778 - - - - - - - - 11.28 11.28 11.28
13073 409.4 1.3 487 13074 done -0.81 - - 2650 - - - 2262 - -50.6 - - 2779 - - - - - - - - 11.27 11.28 11.28
13409 409.1 -0.1 493 13410 done -0.81 - - 2650 - - - 2263 - -48.8 - - 2778 - - - - - - - - 11.28 11.28 11.27
13745 410.5 -0.4 499 13746 done -0.80 - - 2650 - - - 2262 - -41.9 - - 2778 - - - - - - - - 11.28 11.28 11.28
14081 411.1 -0.1 505 14082 done -0.80 - - 2650 - - - 2262 - -39.6 - - 2779 - - - - - - - - 11.28 11.28 11.28
14417 410.1 0.4 511 14418 done -0.81 - - 2650 - - - 2262 - -45.9 - - 2779 - - - - - - - - 11.27 11.28 11.28
14753 408.1 0.6 517 14754 done -0.82 - - 2650 - - - 2262 - -56.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
15089 406.6 0.4 523 15090 done -0.83 - - 2650 - - - 2262 - -64.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
15425 405.4 0.3 529 15426 done -0.84 - - 2650 - - - 2262 - -69.5 - - 2778 - - - - - - - - 11.27 11.28 11.28
15761 405.1 - 535 15762 done -0.84 - - 2650 - - - 2262 - -69.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
16097 405.7 -0.2 541 16098 done -0.83 - - 2650 - - - 2262 - -66.0 - - 2778 - - - - - - - - 11.28 11.28 11.28
16433 406.2 -0.1 547 16434 done -0.83 - - 2650 - - - 2262 - -63.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
16769 407.1 -0.3 553 16770 done -0.82 - - 2650 - - - 2262 - -57.7 - - 2778 - - - - - - - - 11.28 11.28 11.28
17106 410.1 -1.0 559 17107 done -0.80 - - 2650 - - - 2262 - -41.3 - - 2778 - - - - - - - - 11.28 11.29 11.28
17441 412.6 -0.6 565 17442 done -0.79 - - 2650 - - - 2262 - -30.8 - - 2778 - - - - - - - - 11.28 11.28 11.28
17777 411.0 0.7 571 17778 done -0.80 - - 2650 - - - 2262 - -42.8 - - 2778 - - - - - - - - 11.28 11.26 11.28
18113 406.9 1.2 577 18114 done -0.80 - - 2650 - - - 2262 - -42.8 - - 2777 - - - - - - - - 11.28 11.29 11.29
18449 404.9 0.5 583 18450 done -0.81 - - 2650 - - - 2262 - -50.5 - - 2778 - - - - - - - - 11.28 11.29 11.28
18785 407.1 -0.8 589 18786 done -0.79 - - 2650 - - - 2262 - -36.1 - - 2777 - - - - - - - - 11.29 11.27 11.28
19121 411.5 -1.3 595 19122 done -0.77 - - 2650 - - - 2262 - -13.3 - - 2778 - - - - - - - - 11.29 11.28 11.28
19457 414.8 -0.9 601 19458 done -0.75 - - 2650 - - - 2262 - 2.1 - - 2777 - - - - - - - - 11.28 11.29 11.29
19793 413.8 0.6 607 19794 done -0.76 - - 2650 - - - 2262 - -8.3 - - 2777 - - - - - - - - 11.29 11.28 11.29
20129 409.7 1.3 613 20130 done -0.76 - - 2650 - - - 2262 - -8.3 - - 2777 - - - - - - - - 11.28 11.28 11.29
20465 406.9 0.6 619 20466 done -0.77 - - 2650 - - - 2263 - -18.5 - - 2778 - - - - - - - - 11.28 11.29 11.29
20801 405.2 -1.7 625 20807 done -0.74 - - 2650 - - - 2262 - 11.2 4.10 1.092 2755 -5.6 0.513 - - - - - - 11.29 11.07 10.36
21137 401.6 1.9 631 21141 done -0.74 - - 2650 - - - 2262 - 11.2 2.50 0.565 2754 - - - - - - - - 11.28 11.07 10.36
21473 394.1 2.0 637 21477 done -0.74 - - 2650 - - - 2262 - 11.2 2.08 0.282 2755 - - - - - - - - 11.28 11.07 10.20
21810 392.6 0.5 643 21811 done -0.75 - - 2650 - - - 2262 - 3.1 - - 2765 - - - - - - - - 11.28 11.28 11.28
22145 394.1 0.4 649 22146 done -0.76 - - 2650 - - - 2262 - -4.3 - - 2765 - - - - - - - - 11.29 11.29 11.28
22481 391.8 0.7 655 22482 done -0.77 - - 2650 - - - 2262 - -16.1 - - 2765 - - - - - - - - 11.27 11.28 11.32
22817 387.2 1.5 661 22818 done -0.77 - - 2650 - - - 2262 - -16.1 - - 2765 - - - - - - - - 11.29 11.29 11.29
23153 383.0 1.0 667 23154 done -0.77 - - 2650 - - - 2262 - -16.1 - - 2765 - - - - - - - - 11.28 11.29 11.29
23489 381.1 0.4 673 23490 done -0.78 - - 2650 - - - 2262 - -22.6 - - 2765 - - - - - - - - 11.28 11.29 11.29
23825 382.0 -0.4 679 23826 done -0.77 - - 2650 - - - 2262 - -16.5 - - 2765 - - - - - - - - 11.29 11.29 11.29
24161 380.9 0.5 685 24162 done -0.78 - - 2650 - - - 2262 - -25.2 - - 2765 - - - - - - - - 11.28 11.29 11.29
24497 378.9 0.7 691 24498 done -0.80 - - 2650 - - - 2262 - -36.8 - - 2765 - - - - - - - - 11.29 11.29 11.29
24828 end loiter: LOITER_COMPLETE
24828 begin climb
24833 376.3 - 697 24957 roll 1.04 2.70 0.178 3215 209.3 3.83 0.133 3655 363.7 97.3 109.65 1.405 2404 -3.3 0.217 - - - - - - 11.00 10.88 10.43
25105 358.7 10.3 735 25111 done 0.91 0.15 0.215 3197 -120.0 3.22 0.042 2257 -434.2 97.3 - - 2395 - - - - - - - - 10.93 11.06 11.08
25447 329.1 8.4 742 25454 roll 0.91 - - 3208 - 3.38 0.052 848 -416.9 97.3 - - 2392 - - - - - - - - 11.22 11.02 11.22
25546 321.2 8.0 756 25551 done 0.92 - - 3207 - 3.40 0.065 2241 409.7 103.5 - - 2391 - - - - - - - - 11.11 11.00 11.12
25895 290.3 9.0 764 25900 roll 0.92 - - 3207 - 3.83 0.137 3667 372.3 103.5 - - 2391 - - - - - - - - 11.23 10.95 11.22
25937 286.0 10.5 770 25944 done 0.81 0.25 0.206 3169 -152.0 3.30 0.042 2237 -433.3 103.5 - - 2391 - - - - - - - - 10.95 11.07 11.09
26288 256.0 8.7 778 26294 roll 0.81 - - 3180 - 3.30 0.052 856 -418.5 103.5 - - 2391 - - - - - - - - 11.23 11.03 11.23
26351 250.6 8.8 787 26355 done 0.81 - - 3179 - 3.40 0.063 2254 411.2 103.5 - - 2391 - - - - - - - - 11.12 10.99 11.12
26680 222.8 8.3 799 26685 roll 0.81 - - 3180 - 3.80 0.142 3659 369.7 104.5 - - 2391 - - - - - - - - 11.23 10.95 11.24
26750 216.5 9.3 809 26754 done 0.81 - - 3190 - 3.25 0.043 2249 -433.8 104.5 - - 2391 - - - - - - - - 11.13 11.08 11.14
27072 189.0 8.6 820 27072 done 0.81 - - 3190 - - - 2247 - 104.5 - - 2391 - - - - - - - - 11.24 11.24 11.24
27408 161.6 8.1 826 27419 roll 0.82 - - 3201 - 3.38 0.053 842 -415.7 108.7 4.43 0.921 2369 -5.0 0.215 - - - - - - 11.23 11.02 10.49
27443 158.8 8.1 831 27455 done 0.82 0.15 0.194 3171 -200.0 3.45 0.065 2258 410.4 112.8 6.45 1.081 2353 -2.5 0.090 - - - - - - 10.96 10.98 10.53
27800 135.3 6.3 840 27854 done 0.87 - - 3171 - - - 2258 - 146.7 48.08 1.096 2206 -3.1 0.093 - - - - - - 11.24 11.00 10.54
28192 109.7 6.8 847 28218 roll 0.90 - - 3181 - 3.45 0.053 852 -407.5 172.2 16.38 0.445 2121 -5.2 0.315 - - - - - - 11.22 10.99 10.79
28261 104.2 8.4 857 28274 done 0.90 - - 3181 - 3.42 0.067 2250 408.8 172.2 3.75 0.223 2116 -1.3 0.153 - - - - - - 11.10 10.98 10.79
28584 78.4 6.9 873 28616 roll 0.93 - - 3181 - 3.88 0.142 3658 362.9 196.8 23.85 0.383 2018 -4.1 0.207 - - - - - - 11.22 10.90 10.83
28654 73.2 8.2 883 28666 done 0.93 - - 3191 - 3.25 0.042 2241 -436.0 199.7 4.10 0.254 2009 -2.2 0.156 - - - - - - 11.11 11.06 10.84
28976 49.4 6.5 896 29014 roll 1.05 0.08 0.112 3244 662.5 3.40 0.054 853 -408.2 230.8 29.38 0.305 1885 -4.2 0.168 - - - - - - 11.07 11.00 10.87
29249 36.7 0.4 935 29367 done 1.33 0.25 0.056 3330 344.0 3.38 0.059 2253 414.2 366.3 110.62 0.277 1339 -4.9 0.161 - - - - - - 11.07 11.00 10.88
29676 5.6 10.1 963 29681 roll 1.33 - - 3330 - 3.88 0.149 3671 365.5 366.3 - - 1345 - - - - - - - - 11.21 10.94 11.22
29706 end climb: SURFACE_DEPTH_REACHED
29706 begin surface coast
29713 end surface coast: CONTROL_FINISHED_OK
29713 begin surface
SM -5.27 - - - - -8.39 12.65 0.078 203 16.0 2.12 0.044 2743 1171.2 500.14 91.45 0.136 808 8.8 0.035 - - - - - -