SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 587 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 204.13 of 350.00 AH used of 24V (41.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth -1.14 m • Intended pitch -17.5 deg, speed -7.729 cm/s
VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
16 - - - 100 done -0.93 - - 108 - - - 2783 - -107.1 -80.47 - 3478 - - - - - - - - 14.66 12.57 14.63
105 5.3 -11.3 3 122 roll -0.93 12.15 0.392 2597 204.9 2.42 0.034 1373 -582.6 -107.1 - - 3478 - - - - - - - - 13.95 14.40 14.35
150 27.3 -35.6 10 157 done -0.45 0.60 0.249 2745 246.7 2.53 0.068 2771 552.6 -107.1 - - 3479 - - - - - - - - 14.04 14.31 14.32
466 60.7 -7.2 22 471 roll -0.56 - - 2746 - 2.40 0.041 1384 -577.9 -107.1 - - 3479 - - - - - - - - 14.81 14.39 14.81
522 64.6 -7.2 30 527 done -0.70 0.12 0.102 2653 -775.0 2.47 0.067 2767 559.9 -107.1 - - 3479 - - - - - - - - 14.36 14.26 14.43
858 89.3 -6.6 45 863 roll -0.70 - - 2645 - 1.98 0.106 3832 537.9 -107.1 - - 3482 - - - - - - - - 14.84 14.16 14.84
1018 100.8 -7.4 68 1024 done -0.70 - - 2645 - 1.80 0.038 2746 -603.3 -107.1 - - 3482 - - - - - - - - 14.45 14.42 14.46
1362 130.0 -9.1 75 1366 roll -0.70 - - 2645 - 2.30 0.041 1393 -588.3 -107.1 - - 3481 - - - - - - - - 14.90 14.42 14.90
1410 134.7 -9.7 82 1417 done -0.70 0.10 0.216 2666 210.0 2.50 0.066 2766 549.2 -107.1 - - 3481 - - - - - - - - 14.02 14.24 14.19
1753 163.3 -8.1 89 1754 done -0.70 - - 2670 - - - 2765 - -107.1 - - 3478 - - - - - - - - 14.90 14.90 14.90
2089 189.5 -7.8 95 2094 roll -0.70 - - 2666 - 2.40 0.041 1387 -574.2 -107.1 - - 3476 - - - - - - - - 14.89 14.42 14.88
2159 194.4 -7.0 105 2165 done -0.78 - - 2657 - 2.50 0.065 2764 550.8 -107.1 - - 3476 - - - - - - - - 14.47 14.30 14.51
2482 216.9 -7.0 116 2482 done -0.78 - - 2657 - - - 2763 - -107.1 - - 3473 - - - - - - - - 14.88 14.88 14.88
2818 244.3 -8.5 122 2822 roll -0.78 - - 2657 - 2.40 0.041 1386 -573.8 -107.1 - - 3471 - - - - - - - - 14.88 14.39 14.90
2907 252.7 -9.2 135 2913 done -0.78 - - 2649 - 2.47 0.066 2757 555.1 -107.1 - - 3470 - - - - - - - - 14.42 14.21 14.46
3266 286.7 -9.5 144 3266 done -0.78 - - 2649 - - - 2758 - -107.1 - - 3468 - - - - - - - - 14.90 14.90 14.90
3601 316.9 -8.8 150 3606 roll -0.78 - - 2649 - 2.40 0.041 1388 -570.8 -107.1 - - 3466 - - - - - - - - 14.90 14.38 14.90
3635 319.9 -8.8 155 3641 done -0.78 - - 2641 - 2.50 0.067 2763 550.0 -107.1 - - 3465 - - - - - - - - 14.43 14.25 14.46
3993 350.7 -8.7 164 3998 roll -0.78 - - 2641 - 2.40 0.041 1391 -571.7 -107.1 - - 3464 - - - - - - - - 14.88 14.36 14.88
4027 353.8 -9.3 169 4034 done -0.78 - - 2633 - 2.50 0.066 2765 549.6 -107.1 - - 3463 - - - - - - - - 14.38 14.19 14.43
4386 385.1 -8.6 178 4390 roll -0.78 - - 2632 - 2.40 0.041 1389 -573.3 -107.1 - - 3460 - - - - - - - - 14.88 14.36 14.87
4447 390.3 -8.2 187 4453 done -0.78 - - 2623 - 2.47 0.067 2752 551.8 -107.1 - - 3461 - - - - - - - - 14.38 14.16 14.42
4778 416.8 -7.9 199 4782 roll -0.78 - - 2615 - 2.03 0.110 3823 527.6 -107.1 - - 3460 - - - - - - - - 14.86 14.09 14.86
4834 421.6 -8.5 207 4839 done -0.78 0.10 0.227 2643 280.0 1.77 0.043 2762 -599.4 -107.1 - - 3461 - - - - - - - - 14.12 14.50 14.35
5170 448.6 -8.2 220 5174 roll -0.78 - - 2643 - 2.40 0.042 1376 -577.5 -107.1 - - 3458 - - - - - - - - 14.90 14.34 14.90
5225 453.4 -8.5 228 5230 done -0.78 - - 2635 - 2.50 0.065 2752 550.4 -107.1 - - 3457 - - - - - - - - 14.40 14.23 14.43
5561 482.3 -8.5 241 5567 roll -0.78 - - 2634 - 2.40 0.041 1378 -572.5 -107.1 - - 3456 - - - - - - - - 14.86 14.33 14.86
5602 485.9 -8.3 247 5608 done -0.78 - - 2626 - 2.50 0.066 2751 549.2 -107.1 - - 3456 - - - - - - - - 14.38 14.19 14.41
5953 516.9 -9.1 255 5958 roll -0.78 - - 2626 - 2.40 0.041 1384 -569.6 -107.1 - - 3454 - - - - - - - - 14.86 14.33 14.86
5994 520.9 -9.4 261 6001 done -0.78 0.10 0.243 2644 180.0 2.47 0.067 2739 548.6 -107.1 - - 3457 - - - - - - - - 13.97 14.18 14.23
6346 552.2 -9.0 269 6346 done -0.78 - - 2645 - - - 2741 - -107.1 - - 3453 - - - - - - - - 14.88 14.85 14.85
6681 581.6 -8.7 275 6686 roll -0.78 - - 2645 - 2.38 0.042 1384 -570.2 -107.1 - - 3452 - - - - - - - - 14.86 14.31 14.85
6730 585.7 -8.4 282 6736 done -0.86 - - 2637 - 2.50 0.067 2741 542.8 -107.1 - - 3455 - - - - - - - - 14.34 14.15 14.38
7074 613.9 -8.1 289 7074 done -0.86 - - 2637 - - - 2742 - -107.1 - - 3449 - - - - - - - - 14.85 14.85 14.85
7409 640.4 -7.8 295 7414 roll -0.86 - - 2637 - 2.40 0.043 1378 -568.3 -107.1 - - 3448 - - - - - - - - 14.85 14.27 14.85
7450 643.7 -7.8 301 7457 done -0.86 - - 2629 - 2.50 0.069 2748 548.0 -107.1 - - 3448 - - - - - - - - 14.32 14.12 14.35
7802 672.3 -8.2 309 7807 roll -0.86 - - 2621 - 2.10 0.112 3832 516.2 -107.1 - - 3447 - - - - - - - - 14.85 13.95 14.85
7871 678.5 -9.0 319 7876 done -0.86 - - 2620 - 1.90 0.043 2734 -577.9 -107.1 - - 3448 - - - - - - - - 14.37 14.35 14.39
8194 706.4 -8.6 330 8198 roll -0.86 - - 2620 - 2.38 0.043 1375 -571.0 -107.1 - - 3446 - - - - - - - - 14.84 14.23 14.84
8227 709.5 -9.0 335 8233 done -0.86 - - 2612 - 2.50 0.067 2740 546.0 -107.1 - - 3446 - - - - - - - - 14.31 14.12 14.35
8585 740.8 -8.7 344 8590 roll -0.86 - - 2604 - 2.10 0.113 3832 520.0 -107.1 - - 3445 - - - - - - - - 14.84 13.94 14.84
8627 744.5 -9.0 350 8632 done -0.86 - - 2603 - 1.90 0.043 2743 -573.2 -107.1 - - 3444 - - - - - - - - 14.33 14.31 14.35
8977 774.4 -8.5 358 8982 roll -0.86 - - 2602 - 2.40 0.042 1368 -572.9 -107.1 - - 3443 - - - - - - - - 14.83 14.22 14.83
9018 778.2 -9.2 364 9024 done -0.86 - - 2594 - 2.53 0.067 2744 543.9 -107.1 - - 3443 - - - - - - - - 14.28 14.08 14.33
9310 end dive: TARGET_DEPTH_EXCEEDED
9310 begin apogee
9319 805.2 -9.4 371 9435 roll -0.23 0.82 0.197 2819 274.4 0.12 0.139 2281 -3858.3 - 112.75 1.806 3052 -3.5 0.309 - - - - - - 13.72 13.98 12.93
9436 end apogee: CONTROL_FINISHED_OK
9436 begin climb
9440 808.6 - 373 9567 roll 0.93 1.15 0.112 3179 313.0 2.50 0.053 896 -554.0 107.1 116.55 1.786 2620 -3.7 0.335 - - - - - - 14.01 14.08 12.96
9630 805.2 5.7 402 9677 done 0.86 - - 3179 - 2.40 0.053 2247 562.9 146.8 42.83 1.803 2463 -3.7 0.327 - - - - - - 14.31 14.19 13.09
9991 775.9 8.6 418 9997 roll 0.75 0.10 0.256 3143 -360.0 2.65 0.100 3654 530.9 146.8 - - 2447 - - - - - - - - 14.07 14.19 14.24
10059 769.4 9.4 428 10065 done 0.64 0.17 0.239 3110 -194.1 2.35 0.040 2272 -588.1 146.8 - - 2446 - - - - - - - - 14.04 14.41 14.34
10382 747.0 7.0 439 10397 done 0.66 - - 3111 - - - 2270 - 161.8 13.70 1.900 2406 -2.9 0.229 - - - - - - 14.81 14.33 13.31
10718 720.5 7.9 445 10723 roll 0.66 - - 3110 - 2.62 0.103 3652 527.5 161.8 - - 2395 - - - - - - - - 14.79 14.18 14.79
10801 713.0 9.0 457 10806 done 0.66 - - 3121 - 2.40 0.041 2251 -583.8 161.8 - - 2393 - - - - - - - - 14.51 14.42 14.53
11166 682.4 8.4 467 11171 roll 0.66 - - 3121 - 2.67 0.104 3650 524.0 161.8 - - 2393 - - - - - - - - 14.81 14.13 14.81
11207 678.5 9.4 473 11212 done 0.66 - - 3130 - 2.40 0.041 2252 -582.5 161.8 - - 2392 - - - - - - - - 14.51 14.41 14.52
11558 649.0 8.3 481 11563 roll 0.66 - - 3125 - 2.70 0.107 3654 519.3 161.8 - - 2391 - - - - - - - - 14.84 14.08 14.84
11648 640.9 8.8 494 11654 done 0.66 - - 3140 - 2.40 0.041 2257 -582.1 161.8 - - 2391 - - - - - - - - 14.47 14.38 14.50
12006 614.2 7.2 503 12011 done 0.67 - - 3140 - - - 2254 - 172.7 3.85 1.379 2361 -7.8 0.694 - - - - - - 14.81 14.35 13.09
12342 592.4 6.4 509 12389 roll 0.70 - - 3140 - 2.72 0.110 3647 512.1 198.5 38.33 1.674 2249 -2.9 0.207 - - - - - - 14.81 14.24 13.29
12439 585.0 8.5 523 12444 done 0.70 - - 3150 - 2.40 0.041 2252 -581.2 198.5 - - 2244 - - - - - - - - 14.45 14.36 14.47
12790 557.5 8.0 531 12795 roll 0.70 - - 3150 - 2.70 0.109 3655 519.6 198.5 - - 2241 - - - - - - - - 14.77 14.10 14.77
12817 555.1 8.8 535 12823 done 0.70 0.10 0.229 3135 -150.0 2.45 0.041 2258 -570.2 198.5 - - 2241 - - - - - - - - 13.97 14.33 14.32
13182 527.3 7.7 545 13183 done 0.70 - - 3133 - - - 2255 - 199.0 - - 2240 - - - - - - - - 14.79 14.79 14.79
13518 499.0 8.5 551 13523 roll 0.70 - - 3132 - 2.67 0.107 3649 522.1 199.0 - - 2240 - - - - - - - - 14.81 14.04 14.81
13552 495.7 9.5 556 13558 done 0.70 - - 3143 - 2.45 0.041 2254 -569.4 199.0 - - 2240 - - - - - - - - 14.35 14.30 14.38
13910 463.5 9.0 565 13915 roll 0.70 - - 3153 - 2.47 0.060 853 -567.2 199.0 - - 2240 - - - - - - - - 14.81 14.17 14.81
13944 460.3 9.3 570 13951 done 0.70 - - 3153 - 2.50 0.057 2265 564.8 199.0 - - 2239 - - - - - - - - 14.39 14.22 14.43
14302 427.1 9.2 579 14307 roll 0.70 - - 3152 - 2.67 0.110 3662 523.2 199.0 - - 2239 - - - - - - - - 14.81 14.00 14.81
14371 420.1 10.1 589 14377 done 0.70 0.12 0.246 3130 -183.3 2.42 0.041 2252 -582.6 199.0 - - 2239 - - - - - - - - 13.92 14.32 14.23
14694 396.5 7.1 600 14706 roll 0.72 - - 3129 - 2.70 0.106 3652 518.5 211.6 4.65 1.430 2211 -6.0 0.334 - - - - - - 14.81 14.26 13.14
14750 392.2 7.9 608 14756 done 0.72 - - 3140 - 2.38 0.041 2259 -585.3 211.6 2.08 0.342 2207 -1.9 0.441 - - - - - - 14.58 14.50 12.87
15079 368.1 7.4 620 15095 done 0.73 - - 3140 - - - 2256 - 217.8 14.25 1.523 2182 -1.8 0.085 - - - - - - 14.80 14.33 13.43
15415 340.3 8.3 626 15421 roll 0.73 - - 3140 - 2.67 0.107 3652 522.8 217.8 - - 2169 - - - - - - - - 14.77 14.11 14.77
15449 337.1 9.5 631 15455 done 0.73 - - 3148 - 2.42 0.041 2270 -571.1 217.8 - - 2169 - - - - - - - - 14.36 14.32 14.39
15807 306.5 8.5 640 15812 roll 0.73 - - 3159 - 2.50 0.060 858 -564.8 217.8 - - 2169 - - - - - - - - 14.80 14.19 14.80
15841 303.6 8.1 645 15846 done 0.73 - - 3159 - 2.50 0.056 2269 564.4 217.8 - - 2169 - - - - - - - - 14.40 14.23 14.45
16199 272.3 8.9 654 16205 roll 0.73 - - 3159 - 2.65 0.109 3657 523.8 217.8 - - 2168 - - - - - - - - 14.81 14.02 14.81
16261 266.0 10.3 663 16267 done 0.73 0.12 0.249 3135 -200.0 2.40 0.039 2253 -585.0 217.8 - - 2169 - - - - - - - - 13.95 14.35 14.26
16591 240.3 7.7 675 16596 roll 0.73 - - 3134 - 2.70 0.106 3653 518.5 218.5 - - 2169 - - - - - - - - 14.81 14.02 14.81
16625 237.4 8.7 680 16631 done 0.73 - - 3146 - 2.42 0.041 2271 -571.1 218.5 - - 2169 - - - - - - - - 14.33 14.29 14.37
16983 208.3 8.2 689 16988 roll 0.73 - - 3156 - 2.50 0.060 858 -565.2 218.5 - - 2169 - - - - - - - - 14.81 14.07 14.82
17024 204.6 8.9 695 17029 done 0.73 - - 3156 - 2.53 0.056 2279 561.7 218.5 - - 2169 - - - - - - - - 14.34 14.17 14.39
17376 173.5 8.8 703 17381 roll 0.73 - - 3156 - 2.62 0.107 3653 524.4 218.5 - - 2168 - - - - - - - - 14.79 13.98 14.79
17458 165.8 9.0 715 17464 done 0.73 0.10 0.247 3138 -180.0 2.38 0.040 2273 -579.8 218.5 - - 2169 - - - - - - - - 13.94 14.32 14.23
17823 137.1 8.1 725 17828 roll 0.73 - - 3149 - 2.50 0.060 860 -565.2 218.5 - - 2169 - - - - - - - - 14.81 14.04 14.81
17850 134.8 8.3 729 17856 done 0.73 - - 3149 - 2.55 0.055 2275 554.9 218.5 - - 2169 - - - - - - - - 14.17 14.08 14.20
18215 104.5 8.2 739 18220 roll 0.73 - - 3149 - 2.65 0.106 3660 522.6 218.5 - - 2169 - - - - - - - - 14.81 13.97 14.80
18284 98.6 8.5 749 18289 done 0.73 - - 3158 - 2.40 0.039 2262 -582.5 218.5 - - 2169 - - - - - - - - 14.41 14.31 14.44
18607 76.9 6.5 762 18626 roll 0.76 - - 3158 - 2.72 0.107 3654 511.8 242.8 11.93 0.372 2086 -7.0 0.287 - - - - - - 14.79 14.15 13.76
18711 68.3 8.4 777 18719 done 0.76 - - 3168 - 2.40 0.039 2277 -573.8 242.8 2.00 0.200 2083 -1.5 0.102 - - - - - - 14.37 14.33 13.80
19027 52.1 3.8 789 19076 roll 0.85 - - 3168 - 2.67 0.110 3650 514.2 321.1 44.53 0.322 1769 -7.1 0.228 - - - - - - 14.82 14.27 13.97
19301 45.2 3.2 825 19356 done 1.14 0.22 0.075 3289 550.0 2.38 0.039 2268 -580.7 411.6 50.08 0.301 1409 -7.2 0.216 - - - - - - 14.34 14.37 13.97
19668 11.7 10.7 844 19673 roll 1.14 - - 3297 - 2.50 0.064 871 -558.8 411.6 - - 1413 - - - - - - - - 14.70 14.08 14.69
19714 7.9 8.6 851 19721 done 1.14 0.10 0.205 3268 -290.0 2.53 0.062 2278 556.1 411.6 - - 1413 - - - - - - - - 14.02 14.12 14.24
19802 end climb: SURFACE_DEPTH_REACHED
19802 begin surface coast
19830 end surface coast: CONTROL_FINISHED_OK
19830 begin surface
SM -2.12 - - - - -8.39 9.20 0.076 181 19.7 0.93 0.095 2774 -2529.0 500.14 44.45 0.151 1057 23.8 0.034 - - - - - -