SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 878 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 289.87 of 350.00 AH used of 24V (17.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth -2.84 m • Intended pitch -20.3 deg, speed -8.333 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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 - - 122 - - - 2792 - -97.3 -83.03 - 3188 - - - - - - - - 11.21 10.44 11.21
104 -0.8 -4.0 3 132 roll -1.04 18.50 0.373 2556 131.6 3.40 0.033 1352 -423.5 -97.3 - - 3190 - - - - - - - - 10.86 11.02 11.05
184 22.2 -19.0 15 189 done -0.81 0.47 0.251 2631 159.6 3.47 0.063 2769 408.4 -97.3 - - 3190 - - - - - - - - 10.91 11.00 11.09
520 71.6 -8.4 30 525 roll -0.81 - - 2625 - 2.58 0.094 3836 413.6 -97.3 - - 3191 - - - - - - - - 11.23 11.00 11.24
597 76.5 -0.5 41 604 done -0.73 0.17 0.206 2658 194.1 2.35 0.034 2750 -462.1 -97.3 - - 3192 - - - - - - - - 10.95 11.10 11.10
912 94.0 -4.8 53 918 roll -0.73 - - 2658 - 3.17 0.034 1376 -433.4 -97.3 - - 3192 - - - - - - - - 11.24 11.06 11.24
1059 99.0 -5.7 74 1064 done -0.73 - - 2648 - 3.35 0.055 2773 417.0 -97.3 - - 3192 - - - - - - - - 11.12 11.03 11.13
1416 121.4 -6.6 83 1421 roll -0.73 - - 2648 - 3.30 0.035 1366 -426.4 -97.3 - - 3190 - - - - - - - - 11.24 11.07 11.24
1563 130.6 -5.5 104 1569 done -0.73 - - 2638 - 3.38 0.057 2766 414.2 -97.3 - - 3191 - - - - - - - - 11.12 11.03 11.14
1920 148.3 -4.9 113 1925 roll -0.73 - - 2638 - 3.28 0.034 1375 -424.1 -97.3 - - 3189 - - - - - - - - 11.24 11.06 11.24
1962 151.0 -6.3 119 1967 done -0.73 0.15 0.212 2658 133.3 3.38 0.058 2763 410.7 -97.3 - - 3189 - - - - - - - - 10.96 11.03 11.10
2312 169.7 -5.3 127 2317 roll -0.81 - - 2650 - 2.60 0.097 3831 410.8 -97.3 - - 3187 - - - - - - - - 11.25 11.01 11.25
2361 172.5 -5.9 134 2367 done -0.81 - - 2649 - 2.35 0.034 2745 -462.1 -97.3 - - 3186 - - - - - - - - 11.15 11.12 11.15
2704 192.9 -6.3 141 2709 roll -0.81 - - 2650 - 3.20 0.035 1379 -426.9 -97.3 - - 3185 - - - - - - - - 11.24 11.07 11.24
2739 195.4 -7.4 146 2744 done -0.81 - - 2640 - 3.40 0.059 2771 409.4 -97.3 - - 3184 - - - - - - - - 11.13 11.03 11.14
3096 220.6 -7.1 155 3097 done -0.81 - - 2640 - - - 2771 - -97.3 - - 3182 - - - - - - - - 11.24 11.24 11.24
3432 239.5 -4.9 161 3437 roll -0.81 - - 2639 - 3.30 0.036 1385 -420.0 -97.3 - - 3180 - - - - - - - - 11.25 11.07 11.25
3530 247.4 -19.7 175 3535 done -0.81 - - 2630 - 3.40 0.061 2769 407.1 -97.3 - - 3179 - - - - - - - - 11.14 11.04 11.14
3880 270.0 -8.1 183 3881 done -0.81 - - 2630 - - - 2769 - -97.3 - - 3178 - - - - - - - - 11.25 11.25 11.25
4216 290.6 -5.9 189 4221 roll -0.81 - - 2630 - 3.30 0.035 1387 -418.8 -97.3 - - 3176 - - - - - - - - 11.25 11.07 11.25
4307 296.1 -7.6 202 4312 done -0.81 - - 2620 - 3.40 0.060 2768 406.2 -97.3 - - 3175 - - - - - - - - 11.13 11.04 11.14
4664 320.9 -6.2 211 4669 roll -0.81 - - 2612 - 2.60 0.099 3829 408.1 -97.3 - - 3174 - - - - - - - - 11.25 11.02 11.25
4699 321.7 -0.7 216 4706 done -0.81 - - 2612 - 2.35 0.035 2759 -455.3 -97.3 - - 3174 - - - - - - - - 11.15 11.12 11.16
5057 349.5 -7.3 225 5062 roll -0.81 - - 2611 - 3.28 0.035 1366 -424.7 -97.3 - - 3172 - - - - - - - - 11.26 11.07 11.26
5141 358.9 -7.0 237 5146 done -0.81 0.15 0.213 2630 126.7 3.42 0.060 2765 409.1 -97.3 - - 3172 - - - - - - - - 10.97 11.04 11.11
5505 384.0 -7.0 247 5510 roll -0.81 - - 2631 - 3.33 0.036 1370 -418.9 -97.3 - - 3170 - - - - - - - - 11.25 11.07 11.25
5540 386.7 -7.7 252 5546 done -0.81 - - 2621 - 3.42 0.061 2762 407.0 -97.3 - - 3171 - - - - - - - - 11.14 11.04 11.14
5897 408.2 -5.7 261 5902 roll -0.81 - - 2620 - 3.33 0.036 1369 -418.3 -97.3 - - 3169 - - - - - - - - 11.25 11.07 11.25
5960 413.2 9.9 270 5965 done -0.81 - - 2611 - 3.42 0.061 2762 407.3 -97.3 - - 3169 - - - - - - - - 11.14 11.03 11.14
6289 444.4 -7.8 282 6294 roll -0.81 - - 2602 - 2.62 0.100 3825 405.7 -97.3 - - 3168 - - - - - - - - 11.25 11.02 11.26
6366 431.6 8.4 293 6371 done -0.81 0.15 0.204 2631 193.3 2.38 0.036 2751 -451.3 -97.3 - - 3168 - - - - - - - - 10.98 11.12 11.11
6508 end dive: TARGET_DEPTH_EXCEEDED
6508 begin apogee
6519 482.8 199.1 301 6632 roll -0.23 0.90 0.174 2821 211.1 0.10 0.125 2267 -4840.0 - 110.07 1.530 2801 -3.3 0.258 - - - - - - 11.00 10.95 10.41
6633 end apogee: CONTROL_FINISHED_OK
6633 begin loiter
6865 486.6 0.6 336 6870 done -0.24 - - 2821 - - - 2266 - -10.4 - - 2790 - - - - - - - - 11.24 11.24 11.24
7195 482.0 1.5 348 7196 done -0.61 0.40 0.050 2701 -300.0 - - 2266 - -10.4 - - 2788 - - - - - - - - 11.06 11.14 11.12
7530 476.9 1.6 354 7531 done -0.75 0.10 0.086 2653 -480.0 - - 2266 - -10.4 - - 2787 - - - - - - - - 11.10 11.14 11.14
7866 473.1 1.0 360 7867 done -0.75 - - 2652 - - - 2266 - -10.4 - - 2786 - - - - - - - - 11.26 11.26 11.26
8203 471.0 0.6 366 8204 done -0.76 - - 2653 - - - 2266 - -20.0 - - 2785 - - - - - - - - 11.26 11.26 11.26
8538 469.3 0.5 372 8539 done -0.78 - - 2652 - - - 2266 - -29.1 - - 2784 - - - - - - - - 11.26 11.26 11.27
8874 466.7 0.8 378 8875 done -0.79 - - 2653 - - - 2266 - -43.1 - - 2784 - - - - - - - - 11.26 11.27 11.27
9210 461.5 1.7 384 9211 done -0.79 - - 2652 - - - 2266 - -43.1 - - 2784 - - - - - - - - 11.27 11.27 11.27
9546 456.4 1.4 390 9547 done -0.79 - - 2652 - - - 2266 - -43.1 - - 2783 - - - - - - - - 11.28 11.27 11.27
9882 452.9 1.0 396 9883 done -0.79 - - 2652 - - - 2266 - -43.1 - - 2782 - - - - - - - - 11.28 11.27 11.29
10218 450.6 0.6 402 10219 done -0.80 - - 2652 - - - 2265 - -53.1 - - 2782 - - - - - - - - 11.28 11.28 11.28
10554 450.7 -0.1 408 10555 done -0.80 - - 2652 - - - 2266 - -51.4 - - 2782 - - - - - - - - 11.28 11.28 11.28
10890 450.6 0.1 414 10891 done -0.80 - - 2653 - - - 2266 - -52.6 - - 2781 - - - - - - - - 11.27 11.28 11.28
11226 450.9 -0.1 420 11227 done -0.80 - - 2652 - - - 2266 - -50.8 - - 2781 - - - - - - - - 11.28 11.28 11.29
11562 451.0 - 426 11563 done -0.80 - - 2652 - - - 2266 - -51.5 - - 2781 - - - - - - - - 11.28 11.28 11.29
11898 451.5 -0.2 432 11899 done -0.80 - - 2652 - - - 2266 - -47.3 - - 2781 - - - - - - - - 11.29 11.28 11.29
12234 452.5 -0.2 438 12235 done -0.79 - - 2652 - - - 2266 - -44.0 - - 2780 - - - - - - - - 11.29 11.29 11.29
12570 451.4 0.4 444 12571 done -0.80 - - 2653 - - - 2266 - -50.9 - - 2780 - - - - - - - - 11.27 11.29 11.29
12906 450.0 0.3 450 12907 done -0.81 - - 2652 - - - 2265 - -56.7 - - 2780 - - - - - - - - 11.29 11.29 11.28
13242 450.7 -0.3 456 13243 done -0.80 - - 2652 - - - 2265 - -51.5 - - 2779 - - - - - - - - 11.29 11.29 11.29
13578 451.4 -0.1 462 13579 done -0.80 - - 2652 - - - 2266 - -49.2 - - 2779 - - - - - - - - 11.29 11.29 11.29
13914 451.1 0.1 468 13915 done -0.80 - - 2652 - - - 2266 - -51.1 - - 2779 - - - - - - - - 11.29 11.29 11.29
14250 451.0 - 474 14251 done -0.80 - - 2652 - - - 2266 - -51.5 - - 2779 - - - - - - - - 11.29 11.29 11.28
14586 450.6 0.1 480 14587 done -0.81 - - 2652 - - - 2266 - -53.6 - - 2779 - - - - - - - - 11.29 11.29 11.29
14922 451.4 -0.3 486 14923 done -0.80 - - 2652 - - - 2266 - -48.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
15258 452.3 -0.2 492 15259 done -0.79 - - 2653 - - - 2266 - -44.6 - - 2779 - - - - - - - - 11.29 11.29 11.29
15594 451.7 0.3 498 15595 done -0.80 - - 2653 - - - 2265 - -49.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
15930 449.8 0.6 504 15931 done -0.81 - - 2652 - - - 2266 - -58.7 - - 2778 - - - - - - - - 11.29 11.29 11.29
16266 449.2 0.1 510 16267 done -0.81 - - 2652 - - - 2266 - -60.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
16602 451.3 -0.7 516 16603 done -0.80 - - 2653 - - - 2266 - -49.0 - - 2778 - - - - - - - - 11.29 11.29 11.29
16938 454.5 -0.9 522 16939 done -0.78 - - 2652 - - - 2265 - -33.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
17274 455.1 -0.1 528 17275 done -0.78 - - 2652 - - - 2266 - -32.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
17610 455.5 -0.1 534 17611 done -0.78 - - 2652 - - - 2266 - -29.9 - - 2778 - - - - - - - - 11.29 11.29 11.29
17947 456.5 -0.3 540 17948 done -0.77 - - 2652 - - - 2266 - -25.3 - - 2778 - - - - - - - - 11.33 11.29 11.29
18282 458.4 -0.6 546 18283 done -0.76 - - 2652 - - - 2266 - -14.6 - - 2778 - - - - - - - - 11.29 11.29 11.29
18618 460.5 -0.5 552 18619 done -0.75 - - 2652 - - - 2266 - -5.4 - - 2778 - - - - - - - - 11.29 11.29 11.29
18954 461.0 - 558 18955 done -0.75 - - 2652 - - - 2265 - -5.3 - - 2778 - - - - - - - - 11.29 11.29 11.29
19290 460.2 0.2 564 19291 done -0.75 - - 2652 - - - 2266 - -9.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
19626 459.7 0.2 570 19627 done -0.76 - - 2652 - - - 2266 - -13.1 - - 2778 - - - - - - - - 11.33 11.29 11.30
19962 459.4 0.1 576 19963 done -0.76 - - 2652 - - - 2266 - -14.5 - - 2778 - - - - - - - - 11.29 11.29 11.29
20298 460.5 -0.4 582 20299 done -0.75 - - 2652 - - - 2266 - -7.2 - - 2778 - - - - - - - - 11.29 11.29 11.30
20634 463.5 -0.9 588 20638 done -0.73 - - 2652 - - - 2266 - 8.8 2.45 0.555 2763 -6.1 1.254 - - - - - - 11.29 11.07 10.24
20970 464.4 - 594 20974 done -0.73 - - 2652 - - - 2266 - 9.5 2.50 0.584 2760 -1.2 0.234 - - - - - - 11.29 11.07 10.26
21306 464.1 0.4 600 21307 done -0.74 - - 2652 - - - 2266 - 3.0 - - 2772 - - - - - - - - 11.29 11.29 11.29
21642 462.0 0.6 606 21643 done -0.75 - - 2652 - - - 2266 - -6.6 - - 2772 - - - - - - - - 11.29 11.29 11.29
21978 461.0 0.2 612 21979 done -0.75 - - 2653 - - - 2266 - -10.7 - - 2772 - - - - - - - - 11.29 11.29 11.30
22314 461.8 -0.3 618 22315 done -0.75 - - 2653 - - - 2266 - -5.8 - - 2771 - - - - - - - - 11.29 11.29 11.29
22650 462.9 -0.3 624 22651 done -0.74 - - 2652 - - - 2265 - -1.2 - - 2772 - - - - - - - - 11.29 11.29 11.29
22987 462.2 0.4 630 22988 done -0.75 - - 2652 - - - 2266 - -7.8 - - 2771 - - - - - - - - 11.29 11.29 11.29
23322 459.9 0.7 636 23323 done -0.76 - - 2653 - - - 2266 - -20.2 - - 2772 - - - - - - - - 11.29 11.29 11.29
23658 457.3 0.8 642 23659 done -0.78 - - 2652 - - - 2266 - -33.4 - - 2771 - - - - - - - - 11.29 11.29 11.29
23994 456.7 0.2 648 23995 done -0.78 - - 2652 - - - 2266 - -36.9 - - 2771 - - - - - - - - 11.29 11.30 11.29
24330 457.2 -0.2 654 24331 done -0.78 - - 2652 - - - 2266 - -33.7 - - 2772 - - - - - - - - 11.29 11.29 11.29
24661 end loiter: LOITER_COMPLETE
24661 begin climb
24666 459.1 - 660 24796 roll 1.04 2.60 0.163 3215 216.5 3.60 0.095 3652 385.0 97.3 116.00 1.502 2405 -3.2 0.237 - - - - - - 11.02 10.93 10.36
25032 430.1 11.0 711 25037 done 0.91 0.15 0.203 3196 -126.7 3.17 0.032 2268 -436.6 97.3 - - 2396 - - - - - - - - 10.94 11.05 11.09
25347 399.4 9.5 721 25352 roll 0.91 - - 3206 - 3.42 0.052 847 -415.5 97.3 - - 2393 - - - - - - - - 11.23 11.02 11.23
25416 392.8 9.2 731 25421 done 0.91 - - 3206 - 3.30 0.043 2247 424.2 97.3 - - 2392 - - - - - - - - 11.12 11.04 11.13
25738 363.5 9.1 742 25739 done 0.91 - - 3206 - - - 2248 - 97.3 - - 2392 - - - - - - - - 11.23 11.24 11.23
26075 335.8 8.1 748 26080 roll 0.92 - - 3217 - 3.45 0.052 842 -407.5 101.1 - - 2392 - - - - - - - - 11.24 11.03 11.24
26137 330.8 8.1 757 26148 done 0.92 - - 3217 - 3.33 0.044 2252 423.4 105.1 2.70 0.623 2379 -4.8 0.627 - - - - - - 11.12 11.04 10.34
26466 303.6 8.2 769 26477 roll 0.92 - - 3216 - 3.55 0.093 3654 394.9 106.6 2.75 0.640 2376 -1.1 0.127 - - - - - - 11.24 10.98 10.35
26536 297.3 9.6 779 26541 done 0.80 0.32 0.203 3163 -165.6 3.22 0.032 2233 -441.3 106.6 - - 2382 - - - - - - - - 10.95 11.08 11.10
26858 274.1 7.2 790 26897 roll 0.82 - - 3173 - 3.38 0.051 855 -407.7 125.4 31.75 1.291 2291 -2.9 0.149 - - - - - - 11.24 10.96 10.43
26963 266.4 7.7 805 26975 done 0.83 - - 3173 - 3.30 0.045 2252 423.3 135.6 4.78 1.063 2261 -6.3 0.386 - - - - - - 11.10 11.02 10.34
27306 238.4 8.2 819 27317 roll 0.84 - - 3173 - 3.53 0.094 3657 398.0 138.3 4.55 0.991 2251 -2.2 0.130 - - - - - - 11.24 10.97 10.38
27348 234.9 9.1 825 27354 done 0.84 - - 3184 - 3.22 0.033 2241 -439.8 138.3 - - 2257 - - - - - - - - 11.12 11.07 11.12
27698 206.2 8.1 833 27710 roll 0.84 - - 3194 - 3.38 0.055 847 -412.4 141.5 5.15 1.052 2239 -3.5 0.168 - - - - - - 11.24 11.01 10.45
27768 201.2 7.9 843 27793 done 0.85 - - 3193 - 3.30 0.046 2243 423.0 148.9 18.83 1.200 2203 -1.9 0.079 - - - - - - 11.11 11.02 10.46
28147 167.4 9.3 855 28152 roll 0.85 - - 3194 - 3.53 0.093 3662 402.0 148.9 - - 2192 - - - - - - - - 11.24 10.99 11.23
28258 155.4 10.8 871 28264 done 0.85 0.12 0.208 3179 -125.0 3.22 0.033 2251 -438.2 148.9 - - 2191 - - - - - - - - 10.95 11.06 11.10
28594 125.6 8.7 884 28599 roll 0.85 - - 3190 - 3.38 0.053 848 -415.1 148.9 - - 2191 - - - - - - - - 11.24 11.03 11.24
28643 121.4 8.9 891 28649 done 0.85 - - 3189 - 3.33 0.046 2253 421.9 148.9 - - 2190 - - - - - - - - 11.12 11.03 11.13
28958 92.5 9.3 898 28963 roll 0.85 - - 3189 - 3.47 0.093 3658 404.9 148.9 - - 2191 - - - - - - - - 11.24 10.99 11.24
28986 89.9 9.4 902 28991 done 0.85 - - 3200 - 3.25 0.032 2233 -438.5 148.9 - - 2191 - - - - - - - - 11.13 11.06 11.14
29322 63.6 6.4 917 29356 roll 0.89 - - 3209 - 3.40 0.057 847 -407.6 182.5 24.77 0.339 2079 -4.5 0.208 - - - - - - 11.24 11.00 10.85
29392 60.9 5.0 927 29448 done 0.96 - - 3208 - 3.30 0.044 2250 425.2 240.0 50.45 0.338 1843 -4.7 0.207 - - - - - - 11.12 11.03 10.84
29768 47.2 2.9 947 29848 roll 1.24 0.25 0.055 3310 408.0 3.50 0.060 853 -399.1 331.7 72.97 0.301 1479 -5.0 0.192 - - - - - - 11.07 10.99 10.86
29932 35.4 8.3 971 29937 done 1.24 - - 3310 - 3.28 0.047 2240 422.9 331.7 - - 1483 - - - - - - - - 11.11 11.02 11.12
30262 6.8 8.4 985 30268 roll 1.24 - - 3319 - 3.40 0.059 846 -410.0 331.7 - - 1483 - - - - - - - - 11.27 11.02 11.23
30312 end climb: SURFACE_DEPTH_REACHED
30312 begin surface coast
30319 end surface coast: CONTROL_FINISHED_OK
30319 begin surface
SM -2.95 - - - - -8.40 12.48 0.076 192 15.4 4.65 0.056 2765 483.7 500.14 116.80 0.132 808 6.9 0.016 - - - - - -