SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 281 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 105.87 of 350.00 AH used of 24V (69.75% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -71.9 deg, depth -1.71 m • Intended pitch -21.6 deg, speed -7.750 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 38 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 89 done -1.08 - - 126 - - - 2788 - -77.5 -74.38 - 3359 - - - - - - - - 14.65 12.77 14.65
92 -0.5 -3.9 2 112 roll -1.08 11.57 0.388 2538 208.5 1.88 0.076 3826 552.1 -77.5 - - 3361 - - - - - - - - 14.07 14.35 14.42
208 48.1 -30.5 20 215 done -0.71 0.45 0.233 2665 282.2 1.83 0.030 2732 -597.8 -77.5 - - 3362 - - - - - - - - 14.11 14.47 14.30
531 84.6 -7.6 33 537 roll -0.71 - - 2666 - 2.28 0.039 1385 -590.8 -79.0 - - 3364 - - - - - - - - 14.82 14.45 14.82
635 91.7 -5.5 48 643 done -0.75 - - 2652 - 2.47 0.064 2782 565.6 -107.1 - - 3364 - - - - - - - - 14.49 14.40 14.53
951 118.6 -8.2 56 952 done -0.75 - - 2656 - - - 2781 - -107.1 - - 3366 - - - - - - - - 14.90 14.90 14.90
1287 145.1 -7.6 62 1292 roll -0.75 - - 2647 - 1.95 0.106 3825 535.4 -107.1 - - 3364 - - - - - - - - 14.92 14.38 14.92
1343 149.7 -8.5 70 1349 done -0.75 - - 2648 - 1.73 0.040 2780 -604.0 -107.1 - - 3364 - - - - - - - - 14.62 14.62 14.62
1679 177.3 -8.3 83 1685 roll -0.75 - - 2647 - 2.38 0.041 1392 -583.2 -107.1 - - 3362 - - - - - - - - 14.94 14.52 14.94
1720 180.9 -8.5 89 1728 done -0.75 - - 2638 - 2.47 0.066 2779 561.5 -107.1 - - 3362 - - - - - - - - 14.53 14.45 14.59
2071 211.4 -8.6 97 2077 roll -0.75 - - 2628 - 1.98 0.107 3827 529.3 -107.1 - - 3360 - - - - - - - - 14.92 14.36 14.93
2098 213.8 -8.7 101 2106 done -0.75 0.10 0.246 2666 380.0 1.75 0.041 2794 -590.3 -107.1 - - 3359 - - - - - - - - 14.33 14.66 14.57
2463 243.2 -8.3 111 2468 roll -0.75 - - 2658 - 2.42 0.041 1375 -586.4 -107.1 - - 3357 - - - - - - - - 14.93 14.50 14.93
2511 247.6 -8.9 118 2519 done -0.84 - - 2648 - 2.53 0.065 2785 557.3 -107.1 - - 3356 - - - - - - - - 14.53 14.44 14.58
2855 279.4 -9.4 125 2862 roll -0.84 - - 2648 - 2.45 0.041 1372 -576.7 -107.1 - - 3354 - - - - - - - - 14.96 14.50 14.95
2903 284.1 -9.5 132 2911 done -0.91 - - 2638 - 2.53 0.065 2780 556.5 -107.1 - - 3356 - - - - - - - - 14.52 14.44 14.57
3247 318.0 -9.9 139 3253 roll -0.91 - - 2629 - 1.98 0.108 3824 527.3 -107.1 - - 3351 - - - - - - - - 14.93 14.35 14.94
3288 322.3 -10.5 145 3295 done -0.91 - - 2629 - 1.77 0.041 2777 -591.5 -107.1 - - 3350 - - - - - - - - 14.73 14.68 14.73
3639 356.9 -9.7 153 3639 done -0.91 - - 2632 - - - 2776 - -107.1 - - 3347 - - - - - - - - 14.97 14.93 14.94
3975 387.5 -8.9 159 3980 roll -0.91 - - 2632 - 2.40 0.043 1385 -579.6 -107.1 - - 3346 - - - - - - - - 14.93 14.48 14.94
4031 392.4 -8.6 167 4037 done -0.91 - - 2623 - 2.53 0.067 2776 549.8 -107.1 - - 3346 - - - - - - - - 14.50 14.41 14.54
4367 421.1 -8.4 180 4368 done -0.91 - - 2623 - - - 2776 - -107.1 - - 3344 - - - - - - - - 14.95 14.97 14.95
4703 448.2 -8.1 186 4709 roll -0.91 - - 2622 - 2.45 0.044 1378 -570.6 -107.1 - - 3343 - - - - - - - - 14.95 14.47 14.95
4765 453.3 -8.0 195 4772 done -0.91 - - 2613 - 2.53 0.068 2770 550.2 -107.1 - - 3342 - - - - - - - - 14.50 14.40 14.54
5095 481.5 -8.6 207 5101 roll -0.91 - - 2605 - 2.00 0.109 3818 524.0 -107.1 - - 3340 - - - - - - - - 14.96 14.30 14.96
5129 484.7 -9.5 212 5135 done -0.91 - - 2603 - 1.80 0.043 2774 -580.0 -107.1 - - 3340 - - - - - - - - 14.71 14.66 14.73
5487 519.4 -10.0 221 5493 roll -0.91 - - 2603 - 2.42 0.043 1373 -578.9 -107.1 - - 3338 - - - - - - - - 14.95 14.45 14.95
5514 522.3 -10.5 225 5522 done -0.91 - - 2594 - 2.53 0.066 2773 553.4 -107.1 - - 3338 - - - - - - - - 14.50 14.40 14.53
5879 562.3 -11.1 235 5879 done -0.91 - - 2594 - - - 2773 - -107.1 - - 3338 - - - - - - - - 14.92 14.92 14.92
6215 599.0 -10.9 241 6215 done -0.91 - - 2594 - - - 2773 - -107.1 - - 3335 - - - - - - - - 14.92 14.92 14.92
6551 634.1 -10.3 247 6557 roll -0.91 - - 2586 - 2.00 0.112 3815 521.0 -107.1 - - 3333 - - - - - - - - 14.93 14.23 14.95
6655 645.2 -10.5 262 6663 done -0.91 - - 2585 - 1.80 0.043 2774 -578.3 -107.1 - - 3333 - - - - - - - - 14.67 14.61 14.69
6999 678.8 -9.7 269 7005 roll -0.91 - - 2585 - 2.42 0.044 1379 -576.4 -107.1 - - 3331 - - - - - - - - 14.92 14.40 14.92
7068 685.5 -9.3 279 7075 done -0.91 - - 2580 - 2.55 0.068 2776 547.8 -107.1 - - 3331 - - - - - - - - 14.44 14.34 14.49
7391 716.5 -9.7 290 7392 done -0.91 - - 2576 - - - 2776 - -107.1 - - 3330 - - - - - - - - 14.94 14.95 14.94
7727 748.6 -9.7 296 7732 roll -0.91 - - 2568 - 2.00 0.112 3819 521.5 -107.1 - - 3329 - - - - - - - - 14.94 14.21 14.94
7775 753.7 -10.5 303 7783 done -0.91 0.12 0.248 2600 266.7 1.83 0.044 2769 -573.8 -107.1 - - 3329 - - - - - - - - 14.16 14.62 14.43
8119 783.5 -8.7 310 8125 roll -0.91 - - 2600 - 2.45 0.046 1368 -571.8 -107.1 - - 3327 - - - - - - - - 14.94 14.38 14.94
8139 785.4 -8.8 313 8147 done -0.91 - - 2592 - 2.58 0.067 2775 545.3 -107.1 - - 3327 - - - - - - - - 14.42 14.33 14.47
8455 813.2 -8.8 323 8456 done -0.91 - - 2591 - - - 2775 - -107.1 - - 3326 - - - - - - - - 14.93 14.93 14.93
8791 844.0 -9.3 329 8798 roll -0.91 - - 2591 - 2.47 0.045 1377 -566.0 -107.1 - - 3324 - - - - - - - - 14.90 14.35 14.90
8825 847.2 -9.6 334 8832 done -0.91 - - 2582 - 2.55 0.067 2773 547.5 -107.1 - - 3324 - - - - - - - - 14.40 14.30 14.44
9183 881.3 -9.6 343 9188 roll -0.91 - - 2574 - 2.03 0.112 3821 516.3 -107.1 - - 3323 - - - - - - - - 14.90 14.14 14.90
9266 890.0 -10.4 355 9272 done -0.91 0.10 0.255 2599 250.0 1.83 0.044 2774 -572.1 -107.1 - - 3323 - - - - - - - - 14.14 14.58 14.40
9631 922.8 -9.0 365 9637 roll -0.91 - - 2599 - 2.45 0.044 1376 -570.6 -107.1 - - 3322 - - - - - - - - 14.89 14.33 14.89
9700 929.1 -9.1 375 9707 done -0.91 - - 2592 - 2.58 0.067 2783 545.3 -107.1 - - 3322 - - - - - - - - 14.38 14.28 14.47
9711 end dive: TARGET_DEPTH_EXCEEDED
9712 begin apogee
9718 931.0 -12.0 377 9796 roll -0.23 0.82 0.199 2823 281.7 0.08 0.182 2262 -6512.5 - 75.88 1.955 3052 -3.6 0.333 - - - - - - 14.14 14.07 13.29
9798 end apogee: CONTROL_FINISHED_OK
9798 begin climb
9800 933.1 - 378 9926 roll 1.11 1.30 0.096 3244 323.8 2.47 0.057 889 -555.9 107.1 114.57 1.912 2619 -3.8 0.363 - - - - - - 14.09 14.12 13.09
9945 927.9 9.7 403 9952 done 0.97 0.10 0.236 3219 -250.0 2.47 0.052 2241 547.4 107.1 - - 2613 - - - - - - - - 13.78 13.92 13.93
10275 897.0 9.9 415 10281 roll 0.87 0.15 0.243 3179 -266.7 2.62 0.097 3655 539.7 107.1 - - 2609 - - - - - - - - 14.09 14.23 14.37
10302 894.3 10.8 419 10309 done 0.77 0.12 0.230 3155 -200.0 2.42 0.041 2263 -575.2 107.1 - - 2609 - - - - - - - - 14.09 14.37 14.27
10667 865.7 7.8 429 10673 roll 0.77 - - 3155 - 2.65 0.100 3649 523.0 107.1 - - 2608 - - - - - - - - 14.76 14.26 14.76
10729 859.8 10.2 438 10736 done 0.77 - - 3165 - 2.42 0.041 2253 -576.9 107.1 - - 2608 - - - - - - - - 14.50 14.46 14.52
11059 833.1 8.2 450 11065 roll 0.77 - - 3166 - 2.65 0.101 3657 529.8 107.1 - - 2607 - - - - - - - - 14.81 14.30 14.81
11107 829.0 8.6 457 11116 done 0.77 - - 3176 - 2.42 0.041 2255 -579.3 107.1 - - 2607 - - - - - - - - 14.51 14.47 14.54
11451 803.1 7.4 464 11457 roll 0.78 - - 3185 - 2.45 0.060 867 -566.5 112.1 - - 2606 - - - - - - - - 14.85 14.39 14.88
11520 798.2 7.3 474 11529 done 0.78 0.10 0.229 3159 -260.0 2.45 0.053 2252 565.3 118.4 4.78 1.961 2578 -5.9 0.469 - - - - - - 14.12 14.37 13.22
11836 776.1 7.0 484 11863 roll 0.80 - - 3158 - 2.62 0.103 3638 529.0 129.9 20.10 1.933 2524 -2.7 0.212 - - - - - - 14.83 14.41 13.69
11970 764.8 9.1 503 11975 done 0.80 - - 3169 - 2.38 0.041 2257 -580.3 129.9 - - 2521 - - - - - - - - 14.52 14.45 14.54
12284 738.3 8.4 513 12285 done 0.80 - - 3169 - - - 2253 - 129.9 - - 2519 - - - - - - - - 14.78 14.78 14.78
12620 709.0 8.8 519 12626 roll 0.80 - - 3169 - 2.62 0.101 3648 532.4 129.9 - - 2519 - - - - - - - - 14.81 14.31 14.81
12661 704.7 10.2 525 12669 done 0.80 - - 3181 - 2.42 0.040 2252 -576.9 129.9 - - 2519 - - - - - - - - 14.54 14.50 14.55
13012 671.9 9.4 533 13013 done 0.80 - - 3180 - - - 2249 - 129.9 - - 2519 - - - - - - - - 14.83 14.83 14.83
13348 640.8 9.2 539 13349 done 0.80 - - 3180 - - - 2250 - 129.9 - - 2519 - - - - - - - - 14.88 14.88 14.88
13684 610.7 8.9 545 13691 roll 0.80 - - 3190 - 2.47 0.061 859 -563.2 129.9 - - 2518 - - - - - - - - 14.85 14.33 14.85
13704 608.9 8.7 548 13711 done 0.80 0.10 0.225 3163 -270.0 2.47 0.054 2260 567.2 129.9 - - 2518 - - - - - - - - 14.11 14.35 14.31
14020 583.4 8.0 558 14026 roll 0.80 - - 3162 - 2.58 0.101 3651 539.1 129.9 - - 2518 - - - - - - - - 14.85 14.29 14.86
14096 576.3 9.3 569 14103 done 0.80 - - 3173 - 2.42 0.040 2253 -577.7 129.9 - - 2518 - - - - - - - - 14.54 14.49 14.55
14412 549.5 8.5 579 14413 done 0.80 - - 3173 - - - 2253 - 129.9 - - 2517 - - - - - - - - 14.86 14.86 14.85
14748 522.3 8.0 585 14749 done 0.80 - - 3173 - - - 2252 - 129.9 - - 2518 - - - - - - - - 14.86 14.86 14.86
15084 494.9 8.2 591 15085 done 0.80 - - 3173 - - - 2252 - 129.9 - - 2518 - - - - - - - - 14.85 14.85 14.85
15420 466.8 8.3 597 15426 roll 0.80 - - 3173 - 2.67 0.100 3643 521.0 129.9 - - 2518 - - - - - - - - 14.89 14.20 14.89
15524 457.1 9.1 612 15532 done 0.80 - - 3184 - 2.40 0.040 2262 -575.4 129.9 - - 2517 - - - - - - - - 14.48 14.45 14.50
15868 429.1 8.1 619 15874 roll 0.80 - - 3194 - 2.45 0.060 867 -569.4 129.9 - - 2518 - - - - - - - - 14.86 14.32 14.86
15909 425.6 8.2 625 15917 done 0.80 0.12 0.219 3160 -283.3 2.47 0.053 2264 565.6 129.9 - - 2518 - - - - - - - - 14.05 14.35 14.24
16260 401.1 6.9 633 16273 done 0.81 - - 3159 - - - 2264 - 142.6 11.52 1.693 2480 -3.3 0.154 - - - - - - 14.85 14.58 13.79
16596 377.7 6.9 639 16611 done 0.83 - - 3160 - - - 2264 - 154.2 13.10 1.632 2435 -3.4 0.156 - - - - - - 14.83 14.54 13.80
16932 352.7 7.4 645 16939 roll 0.83 - - 3159 - 2.60 0.102 3661 537.3 159.2 1.05 0.271 2417 -17.1 4.389 - - - - - - 14.80 14.31 14.12
16994 347.5 8.5 654 17001 done 0.83 - - 3169 - 2.42 0.041 2270 -574.8 159.2 - - 2423 - - - - - - - - 14.50 14.46 14.52
17324 321.3 8.1 666 17325 done 0.83 - - 3169 - - - 2271 - 159.2 - - 2423 - - - - - - - - 14.81 14.81 14.81
17660 293.5 8.3 672 17666 roll 0.83 - - 3169 - 2.67 0.102 3651 516.9 159.2 - - 2424 - - - - - - - - 14.83 14.23 14.83
17708 288.9 9.5 679 17716 done 0.83 - - 3180 - 2.42 0.040 2255 -576.9 159.2 1.10 0.227 2417 -6.4 1.593 - - - - - - 14.52 14.49 14.12
18052 258.9 8.8 686 18058 roll 0.83 - - 3192 - 2.45 0.061 864 -567.8 159.2 - - 2423 - - - - - - - - 14.84 14.36 14.85
18079 256.4 8.8 690 18086 done 0.83 - - 3190 - 2.47 0.054 2263 566.4 159.2 - - 2424 - - - - - - - - 14.45 14.38 14.50
18444 224.3 8.7 700 18445 done 0.83 - - 3190 - - - 2263 - 159.2 - - 2424 - - - - - - - - 14.87 14.88 14.88
18780 196.4 8.3 706 18786 roll 0.83 - - 3190 - 2.60 0.103 3655 535.4 159.2 - - 2425 - - - - - - - - 14.88 14.28 14.88
18828 191.8 9.8 713 18838 done 0.83 0.10 0.228 3173 -170.0 2.40 0.040 2272 -576.2 159.2 1.23 0.226 2418 -5.7 0.950 - - - - - - 14.10 14.50 14.07
19172 165.7 7.6 720 19177 done 0.84 - - 3173 - - - 2272 - 161.5 3.35 1.168 2411 -2.1 0.058 - - - - - - 14.88 14.56 13.40
19508 139.6 7.7 726 19515 roll 0.84 - - 3173 - 2.65 0.102 3658 523.0 162.2 2.60 0.847 2406 -1.9 0.062 - - - - - - 14.92 14.51 13.41
19570 134.5 8.3 735 19577 done 0.84 - - 3184 - 2.40 0.039 2266 -580.0 162.2 1.60 0.298 2407 - - - - - - - - 14.59 14.55 13.87
19893 110.1 7.5 746 19900 roll 0.84 - - 3184 - 2.67 0.099 3662 522.8 165.6 3.17 0.421 2393 -4.4 0.227 - - - - - - 14.85 14.44 13.96
20041 97.9 8.7 767 20046 done 0.84 - - 3194 - 2.35 0.040 2281 -587.7 165.6 - - 2400 - - - - - - - - 14.62 14.54 14.64
20362 77.0 5.1 780 20391 roll 0.89 - - 3205 - 2.47 0.059 860 -575.3 204.8 19.70 0.402 2234 -8.4 0.317 - - - - - - 14.85 14.51 14.15
20620 65.7 5.0 817 20647 done 1.04 - - 3205 - 2.50 0.051 2280 568.0 244.2 19.42 0.366 2079 -8.0 0.282 - - - - - - 14.47 14.39 14.13
20980 49.5 3.6 835 21012 done 1.26 0.22 0.073 3310 477.3 - - 2280 - 305.0 30.00 0.318 1834 -8.2 0.250 - - - - - - 14.47 14.48 14.14
21314 29.8 2.8 847 21355 roll 1.35 - - 3310 - 2.60 0.101 3658 530.0 376.8 33.90 0.261 1549 -8.4 0.189 - - - - - - 14.81 14.33 14.19
21566 16.2 6.0 883 21588 done 1.47 0.08 0.085 3392 1025.0 2.38 0.037 2268 -584.0 402.9 12.77 0.213 1445 -8.1 0.122 - - - - - - 14.41 14.46 14.16
21732 end climb: SURFACE_DEPTH_REACHED
21732 begin surface coast
21761 end surface coast: CONTROL_FINISHED_OK
21762 begin surface
SM -1.64 - - - - -8.44 9.15 0.041 171 18.7 0.90 0.075 2755 -9638.9 500.14 44.35 0.156 1056 23.8 0.026 - - - - - -