SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 479 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 170.08 of 350.00 AH used of 24V (51.40% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -70.7 deg, depth -6.28 m • Intended pitch -17.5 deg, speed -7.729 cm/s
• VBD pumped to 500.39 (SM_CC=500)
• GPS1 time: 20 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 103 done -0.93 - - 105 - - - 2779 - -107.1 -86.30 - 3478 - - - - - - - - 14.65 12.50 14.66
107 -1.7 -7.9 3 120 done -0.93 12.25 0.389 2593 203.1 - - 2778 - -107.1 - - 3481 - - - - - - - - 13.88 14.37 14.28
409 55.8 -9.9 14 414 roll -0.78 0.17 0.234 2635 247.1 1.98 0.110 3830 531.3 -107.1 - - 3482 - - - - - - - - 14.19 14.26 14.45
605 71.5 -6.9 42 610 done -0.78 - - 2634 - 1.83 0.042 2724 -604.4 -107.1 - - 3484 - - - - - - - - 14.61 14.57 14.63
941 100.7 -8.9 57 946 roll -0.78 - - 2626 - 2.12 0.108 3852 532.1 -107.1 - - 3485 - - - - - - - - 14.85 14.28 14.85
968 103.3 -9.3 61 974 done -0.78 - - 2625 - 1.83 0.041 2770 -591.3 -107.1 - - 3484 - - - - - - - - 14.55 14.55 14.56
1333 136.4 -9.1 71 1339 roll -0.78 - - 2625 - 2.38 0.043 1381 -583.6 -107.1 - - 3483 - - - - - - - - 14.90 14.50 14.90
1374 140.1 -8.8 77 1380 done -0.78 0.10 0.210 2645 200.0 2.50 0.068 2767 554.4 -107.1 - - 3483 - - - - - - - - 14.18 14.35 14.33
1725 169.3 -8.4 85 1730 roll -0.78 - - 2637 - 1.98 0.110 3829 536.4 -107.1 - - 3482 - - - - - - - - 14.91 14.31 14.91
1781 174.3 -9.0 93 1786 done -0.78 - - 2637 - 1.75 0.044 2769 -605.7 -107.1 - - 3481 - - - - - - - - 14.64 14.58 14.66
2117 204.6 -9.0 106 2122 roll -0.78 - - 2637 - 2.40 0.043 1374 -581.2 -107.1 - - 3480 - - - - - - - - 14.89 14.48 14.89
2158 208.1 -8.9 112 2164 done -0.78 - - 2627 - 2.55 0.067 2774 549.0 -107.1 - - 3479 - - - - - - - - 14.42 14.33 14.47
2509 240.2 -9.1 120 2514 roll -0.78 - - 2627 - 2.40 0.042 1385 -578.8 -107.1 - - 3477 - - - - - - - - 14.90 14.48 14.90
2543 243.4 -9.0 125 2549 done -0.78 0.08 0.218 2640 162.5 2.53 0.067 2766 545.8 -107.1 - - 3477 - - - - - - - - 14.16 14.33 14.33
2901 276.5 -8.7 134 2906 roll -0.78 - - 2632 - 1.98 0.112 3826 535.4 -107.1 - - 3474 - - - - - - - - 14.90 14.28 14.90
2942 279.6 -7.6 140 2948 done -0.78 - - 2631 - 1.80 0.044 2769 -587.2 -107.1 - - 3474 - - - - - - - - 14.59 14.57 14.61
3293 311.1 -8.9 148 3298 roll -0.78 - - 2632 - 2.40 0.043 1375 -580.8 -107.1 - - 3473 - - - - - - - - 14.90 14.47 14.90
3355 314.5 -6.7 157 3361 done -0.78 - - 2622 - 2.50 0.066 2769 557.6 -107.1 - - 3472 - - - - - - - - 14.54 14.38 14.58
3685 346.4 -9.2 169 3690 roll -0.78 - - 2614 - 2.03 0.110 3821 518.2 -107.1 - - 3475 - - - - - - - - 14.90 14.23 14.90
3733 350.7 -12.9 176 3741 done -0.78 0.10 0.200 2645 310.0 1.80 0.044 2774 -581.7 -107.1 - - 3471 - - - - - - - - 14.19 14.54 14.35
4077 378.8 -8.1 183 4083 roll -0.78 - - 2645 - 2.42 0.044 1372 -579.3 -107.1 - - 3469 - - - - - - - - 14.90 14.45 14.89
4153 384.8 -7.3 194 4159 done -0.78 - - 2642 - 2.55 0.066 2770 548.2 -107.1 - - 3469 - - - - - - - - 14.41 14.33 14.46
4469 409.6 -7.9 204 4474 roll -0.78 - - 2627 - 1.98 0.112 3826 533.3 -107.1 - - 3468 - - - - - - - - 14.92 14.25 14.89
4517 413.6 -7.9 211 4525 done -0.78 - - 2626 - 1.85 0.045 2761 -575.7 -107.1 - - 3467 - - - - - - - - 14.57 14.54 14.57
4861 441.2 -8.2 218 4866 roll -0.78 - - 2626 - 2.40 0.044 1373 -578.3 -107.1 - - 3466 - - - - - - - - 14.92 14.44 14.92
4909 445.4 -8.7 225 4916 done -0.78 0.08 0.220 2640 175.0 2.55 0.067 2767 546.7 -107.1 - - 3465 - - - - - - - - 14.10 14.28 14.26
5253 470.8 -7.5 232 5254 done -0.78 - - 2640 - - - 2767 - -107.1 - - 3464 - - - - - - - - 14.91 14.91 14.91
5589 495.1 -7.2 238 5594 roll -0.78 - - 2640 - 2.45 0.044 1371 -569.8 -107.1 - - 3463 - - - - - - - - 14.91 14.42 14.91
5623 497.1 -6.1 243 5630 done -0.78 - - 2630 - 2.58 0.067 2766 540.7 -107.1 - - 3463 - - - - - - - - 14.37 14.28 14.42
5981 523.7 -7.6 252 5982 done -0.78 - - 2630 - - - 2766 - -107.1 - - 3462 - - - - - - - - 14.91 14.91 14.91
6317 549.8 -7.8 258 6322 roll -0.78 - - 2622 - 2.00 0.114 3826 530.0 -107.1 - - 3461 - - - - - - - - 14.90 14.22 14.91
6373 554.3 -8.7 266 6378 done -0.78 - - 2621 - 1.83 0.047 2749 -588.5 -107.1 - - 3460 - - - - - - - - 14.62 14.55 14.63
6709 580.7 -7.9 279 6715 roll -0.78 - - 2621 - 2.38 0.044 1378 -576.1 -107.1 - - 3459 - - - - - - - - 14.89 14.40 14.88
6778 585.8 -8.4 289 6784 done -0.78 0.10 0.203 2641 200.0 2.55 0.067 2759 541.6 -107.1 - - 3458 - - - - - - - - 14.03 14.23 14.20
7101 608.4 -7.0 300 7106 roll -0.78 - - 2633 - 2.03 0.116 3830 527.6 -107.1 - - 3457 - - - - - - - - 14.91 14.16 14.90
7135 611.2 -7.3 305 7141 done -0.78 - - 2633 - 1.85 0.047 2770 -573.0 -107.1 - - 3457 - - - - - - - - 14.50 14.46 14.51
7493 636.1 -6.9 314 7498 roll -0.78 - - 2633 - 2.45 0.044 1370 -571.4 -107.1 - - 3455 - - - - - - - - 14.88 14.39 14.88
7556 640.3 -6.6 323 7562 done -0.85 - - 2624 - 2.55 0.069 2768 548.2 -107.1 - - 3455 - - - - - - - - 14.46 14.28 14.50
7885 662.9 -6.9 335 7891 roll -0.85 - - 2615 - 2.03 0.113 3830 523.2 -107.1 - - 3454 - - - - - - - - 14.90 14.16 14.90
7919 665.3 -7.2 340 7925 done -0.85 - - 2614 - 1.88 0.045 2757 -570.7 -107.1 - - 3454 - - - - - - - - 14.49 14.46 14.50
8277 691.9 -7.3 349 8282 roll -0.85 - - 2614 - 2.42 0.044 1368 -574.0 -107.1 - - 3453 - - - - - - - - 14.90 14.29 14.92
8311 694.1 -7.0 354 8317 done -0.85 - - 2605 - 2.58 0.067 2759 539.1 -107.1 - - 3453 - - - - - - - - 14.28 14.19 14.33
8669 721.6 -7.6 363 8674 roll -0.85 - - 2597 - 2.03 0.113 3824 524.6 -107.1 - - 3453 - - - - - - - - 14.88 14.13 14.88
8696 723.7 -7.7 367 8703 done -0.85 - - 2597 - 1.85 0.046 2764 -573.0 -107.1 - - 3453 - - - - - - - - 14.47 14.45 14.51
9061 752.4 -7.8 377 9062 done -0.85 - - 2597 - - - 2763 - -107.1 - - 3452 - - - - - - - - 14.90 14.90 14.90
9397 778.3 -7.6 383 9398 done -0.85 - - 2597 - - - 2763 - -107.1 - - 3451 - - - - - - - - 14.86 14.86 14.86
9730 end dive: TARGET_DEPTH_EXCEEDED
9730 begin apogee
9738 803.7 -7.8 389 9846 roll -0.23 0.77 0.177 2821 290.9 0.10 0.158 2272 -4910.0 - 100.40 2.567 3050 -4.0 0.256 - - - - 1 - 14.00 13.79 12.49
9848 end apogee: CONTROL_FINISHED_OK
9848 begin climb
9851 803.5 - 391 9974 roll 0.93 1.12 0.085 3187 326.8 2.55 0.056 893 -540.8 107.1 108.30 2.803 2623 -3.9 0.231 - - - - 1 - 13.90 13.93 12.28
10016 799.5 7.2 415 10042 done 0.80 - - 3188 - 2.45 0.050 2249 553.5 117.7 19.55 1.986 2575 -2.5 0.202 - - - - - - 14.03 13.91 12.89
10352 770.7 8.5 428 10358 roll 0.67 0.22 0.220 3118 -318.2 2.60 0.096 3650 538.8 117.7 - - 2566 - - - - - - - - 14.13 14.26 14.30
10393 767.7 6.5 434 10427 done 0.70 - - 3129 - 2.42 0.041 2265 -572.3 141.8 26.35 1.936 2478 -3.3 0.271 - - - - - - 14.45 14.41 13.25
10744 740.6 7.5 449 10745 done 0.70 - - 3129 - - - 2265 - 146.7 - - 2470 - - - - - - - - 14.75 14.75 14.75
11080 715.5 7.4 455 11093 roll 0.71 - - 3129 - 2.65 0.101 3648 521.9 153.0 4.70 1.876 2447 -4.9 0.382 - - - - - - 14.81 14.38 12.99
11149 710.7 8.0 465 11155 done 0.71 - - 3140 - 2.45 0.041 2252 -569.8 153.0 2.12 0.451 2440 -3.3 1.064 - - - - - - 14.52 14.48 12.79
11472 686.3 7.3 476 11493 roll 0.72 - - 3150 - 2.53 0.062 862 -549.4 161.1 17.23 1.961 2401 -2.3 0.162 - - - - - - 14.81 14.41 13.39
11527 682.2 8.3 484 11534 done 0.72 - - 3150 - 2.47 0.052 2251 562.3 161.1 - - 2393 - - - - - - - - 14.42 14.35 14.45
11857 655.6 8.0 496 11863 roll 0.72 - - 3150 - 2.62 0.101 3657 536.6 161.1 - - 2393 - - - - - - - - 14.78 14.27 14.78
11933 649.1 7.1 507 11954 done 0.64 0.15 0.204 3110 -266.7 2.45 0.041 2256 -571.8 173.4 12.23 1.991 2354 -3.2 0.213 - - - - - - 14.16 14.49 13.37
12305 625.1 6.2 518 12346 roll 0.68 - - 3110 - 2.65 0.101 3651 526.4 203.9 35.90 1.786 2232 -3.4 0.243 - - - - - - 14.81 14.12 13.35
12395 617.9 7.9 531 12401 done 0.68 - - 3120 - 2.47 0.041 2256 -564.8 203.9 - - 2225 - - - - - - - - 14.36 14.32 14.38
12753 592.4 6.9 540 12774 roll 0.70 - - 3120 - 2.72 0.103 3656 514.7 219.8 17.02 1.881 2169 -3.3 0.212 - - - - - - 14.78 14.33 13.37
12802 588.2 7.4 547 12808 done 0.71 - - 3130 - 2.42 0.042 2259 -577.3 226.2 1.73 0.239 2147 -12.7 6.402 - - - - - - 14.49 14.42 14.09
13138 562.6 7.7 560 13144 roll 0.71 - - 3140 - 2.50 0.063 854 -562.0 226.5 - - 2153 - - - - - - - - 14.76 14.33 14.76
13165 560.6 6.7 564 13201 done 0.73 - - 3140 - 2.50 0.054 2257 561.2 246.8 30.27 1.740 2064 -2.9 0.194 - - - - - - 14.40 14.33 13.40
13530 530.5 7.9 581 13531 done 0.73 - - 3140 - - - 2256 - 246.8 - - 2053 - - - - - - - - 14.74 14.76 14.74
13866 503.4 8.0 587 13871 roll 0.73 - - 3140 - 2.62 0.104 3653 533.2 246.8 - - 2051 - - - - - - - - 14.80 14.23 14.80
13907 499.5 8.7 593 13913 done 0.73 - - 3150 - 2.45 0.041 2262 -567.8 246.8 - - 2051 - - - - - - - - 14.47 14.42 14.49
14258 468.8 8.9 601 14263 roll 0.73 - - 3160 - 2.47 0.063 857 -568.8 246.8 - - 2051 - - - - - - - - 14.83 14.33 14.83
14292 464.6 10.8 606 14298 done 0.73 - - 3160 - 2.50 0.055 2256 559.6 246.8 - - 2050 - - - - - - - - 14.40 14.31 14.45
14651 429.2 10.1 615 14655 roll 0.73 - - 3160 - 2.62 0.104 3655 534.0 246.8 - - 2050 - - - - - - - - 14.86 14.24 14.86
14698 423.9 11.6 622 14706 done 0.73 0.10 0.214 3141 -190.0 2.45 0.041 2260 -569.4 246.8 - - 2050 - - - - - - - - 14.11 14.42 14.26
15043 392.2 9.0 629 15047 roll 0.73 - - 3151 - 2.47 0.064 852 -570.0 246.8 - - 2049 - - - - - - - - 14.85 14.33 14.87
15090 387.3 10.8 636 15099 done 0.73 - - 3151 - 2.53 0.055 2267 559.3 246.8 - - 2049 - - - - - - - - 14.39 14.30 14.42
15434 355.8 9.1 643 15435 done 0.73 - - 3150 - - - 2267 - 246.8 - - 2049 - - - - - - - - 14.88 14.88 14.88
15770 329.7 7.8 649 15771 done 0.73 - - 3151 - - - 2265 - 246.8 - - 2049 - - - - - - - - 14.88 14.88 14.88
16106 300.2 8.7 655 16107 done 0.73 - - 3151 - - - 2266 - 246.8 - - 2049 - - - - - - - - 14.85 14.85 14.85
16442 271.8 8.4 661 16443 done 0.73 - - 3151 - - - 2267 - 246.8 - - 2050 - - - - - - - - 14.88 14.88 14.88
16778 245.8 7.7 667 16779 done 0.73 - - 3151 - - - 2267 - 248.0 - - 2048 - - - - - - - - 14.85 14.86 14.86
17115 219.5 7.7 673 17119 roll 0.73 - - 3161 - 2.53 0.065 855 -558.1 248.9 - - 2050 - - - - - - - - 14.85 14.28 14.85
17162 215.7 8.5 680 17171 done 0.73 - - 3164 - 2.53 0.057 2266 557.7 248.9 - - 2050 - - - - - - - - 14.34 14.26 14.38
17506 185.7 8.4 687 17511 roll 0.73 - - 3161 - 2.62 0.103 3659 531.7 248.9 - - 2050 - - - - - - - - 14.85 14.17 14.85
17540 182.6 10.4 692 17548 done 0.73 0.10 0.203 3142 -190.0 2.45 0.041 2262 -570.2 248.9 - - 2050 - - - - - - - - 14.10 14.38 14.21
17899 154.4 7.7 701 17903 roll 0.74 - - 3141 - 2.65 0.100 3653 524.9 250.1 - - 2050 - - - - - - - - 14.85 14.16 14.85
17926 152.8 7.9 705 17931 done 0.74 - - 3151 - 2.45 0.040 2256 -570.2 250.1 - - 2050 - - - - - - - - 14.44 14.40 14.47
18290 120.5 8.7 715 18295 roll 0.74 - - 3161 - 2.47 0.063 856 -566.8 250.1 - - 2049 - - - - - - - - 14.84 14.28 14.85
18338 116.4 9.7 722 18346 done 0.74 - - 3161 - 2.47 0.052 2258 567.6 250.1 - - 2052 - - - - - - - - 14.34 14.27 14.38
18654 90.9 7.9 730 18659 roll 0.74 - - 3161 - 2.62 0.101 3654 532.8 250.1 - - 2047 - - - - - - - - 14.86 14.16 14.86
18695 87.6 8.2 736 18703 done 0.74 0.10 0.198 3141 -200.0 2.45 0.039 2260 -569.0 250.1 - - 2051 - - - - - - - - 14.07 14.37 14.21
19019 65.9 6.3 749 19038 roll 0.77 - - 3151 - 2.45 0.060 863 -570.2 278.1 15.30 0.398 1943 -7.1 0.239 - - - - - - 14.83 14.09 13.74
19088 61.6 7.0 759 19104 done 0.87 - - 3150 - 2.45 0.050 2254 567.8 292.9 9.90 0.372 1883 -6.1 0.205 - - - - - - 14.35 14.28 13.81
19411 42.3 6.0 772 19438 roll 1.01 0.12 0.103 3234 700.0 2.65 0.100 3659 530.2 328.4 20.65 0.333 1744 -6.7 0.175 - - - - - - 14.47 14.29 13.90
19500 38.3 9.8 785 19506 done 1.01 - - 3245 - 2.45 0.038 2253 -573.9 328.4 - - 1747 - - - - - - - - 14.42 14.38 14.45
19830 18.3 2.5 799 19891 roll 1.14 - - 3245 - 2.70 0.101 3677 527.4 431.9 54.47 0.244 1329 -7.7 0.118 - - - - - - 14.81 14.23 14.05
20001 8.0 7.1 823 20013 done 1.25 0.08 0.144 3311 825.0 2.45 0.040 2249 -582.9 444.8 7.15 0.210 1278 -7.1 0.056 - - - - - - 14.36 14.42 13.93
20073 end climb: SURFACE_DEPTH_REACHED
20073 begin surface coast
20101 end surface coast: CONTROL_FINISHED_OK
20101 begin surface
SM -7.27 - - - - -8.40 9.40 0.083 184 19.6 0.98 0.084 2765 -8841.8 500.39 27.88 0.173 1058 37.9 0.163 - - - - - -