SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 210 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 82.32 of 350.00 AH used of 24V (76.48% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth -3.84 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 28 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 96 done -1.19 - - 161 - - - 2782 - -63.1 -73.40 - 3304 - - - - - - - - 14.57 13.09 14.53
98 -2.7 -2.9 2 115 done -1.19 11.30 0.396 2508 207.7 - - 2782 - -63.1 - - 3305 - - - - - - - - 14.11 14.43 14.40
429 87.6 -11.7 17 435 roll -0.98 0.28 0.275 2570 221.4 1.90 0.093 3823 547.9 -63.1 - - 3308 - - - - - - - - 14.11 14.30 14.35
665 110.3 -17.2 51 673 done -0.86 0.17 0.246 2616 270.6 1.83 0.035 2733 -595.6 -63.1 - - 3309 - - - - - - - - 14.14 14.45 14.32
988 136.9 -8.1 62 995 roll -0.86 - - 2603 - 2.05 0.096 3817 528.8 -63.1 - - 3309 - - - - - - - - 14.66 14.30 14.66
1225 158.9 -9.6 96 1234 done -0.86 - - 2609 - 1.80 0.037 2742 -597.2 -63.1 - - 3308 - - - - - - - - 14.53 14.49 14.54
1548 189.1 -9.5 107 1555 roll -0.86 - - 2610 - 2.28 0.041 1390 -593.0 -63.1 - - 3306 - - - - - - - - 14.66 14.40 14.66
1596 193.9 -9.8 114 1606 done -0.86 - - 2599 - 2.45 0.061 2758 558.4 -63.1 - - 3306 - - - - - - - - 14.41 14.34 14.45
1940 229.5 -10.5 121 1947 roll -0.86 - - 2590 - 2.00 0.099 3826 534.0 -63.1 - - 3301 - - - - - - - - 14.66 14.28 14.66
2131 250.5 -11.0 148 2145 done -0.86 0.10 0.267 2616 260.0 1.73 0.041 2774 -608.1 -63.1 - - 3302 - - - - - - - - 14.26 14.58 14.51
2452 280.0 -8.9 158 2465 roll -0.86 - - 2617 - 2.35 0.043 1377 -594.5 -63.1 - - 3300 - - - - - - - - 14.85 14.56 14.85
2547 288.0 -8.0 171 2560 done -0.95 - - 2608 - 2.45 0.064 2771 569.0 -63.1 - - 3299 - - - - - - - - 14.66 14.51 14.68
2909 317.9 -8.3 180 2922 roll -0.95 - - 2599 - 1.92 0.103 3827 550.0 -63.1 - - 3296 - - - - - - - - 14.89 14.47 14.89
2969 323.4 -9.3 188 2982 done -0.95 - - 2599 - 1.75 0.043 2761 -609.1 -63.1 - - 3296 - - - - - - - - 14.69 14.64 14.70
3310 355.1 -9.5 201 3323 roll -0.95 - - 2598 - 2.33 0.044 1379 -593.1 -63.1 - - 3294 - - - - - - - - 14.90 14.61 14.90
3384 362.3 -9.5 211 3397 done -0.95 - - 2589 - 2.42 0.066 2759 570.2 -63.1 - - 3293 - - - - - - - - 14.69 14.54 14.71
3710 395.8 -10.3 222 3724 roll -0.95 - - 2581 - 1.95 0.103 3826 547.2 -63.1 - - 3289 - - - - - - - - 14.92 14.48 14.92
3784 404.1 -11.4 232 3797 done -0.95 - - 2581 - 1.75 0.043 2754 -612.6 -63.1 - - 3291 - - - - - - - - 14.73 14.69 14.76
4111 437.6 -10.0 243 4124 roll -0.95 - - 2581 - 2.30 0.043 1382 -596.5 -63.1 - - 3289 - - - - - - - - 14.93 14.61 14.93
4164 442.7 -9.1 250 4177 done -0.95 - - 2571 - 2.45 0.066 2768 565.7 -63.1 - - 3288 - - - - - - - - 14.71 14.53 14.71
4508 473.9 -9.1 257 4521 roll -0.95 - - 2563 - 1.92 0.105 3821 548.4 -63.1 - - 3286 - - - - - - - - 14.91 14.50 14.91
4701 492.5 -9.0 284 4714 done -0.95 0.10 0.269 2588 250.0 1.77 0.041 2741 -610.2 -63.1 - - 3286 - - - - - - - - 14.31 14.67 14.59
5021 519.4 -8.7 294 5034 roll -0.95 - - 2580 - 2.03 0.103 3825 534.0 -63.1 - - 3283 - - - - - - - - 14.93 14.45 14.93
5060 523.1 -9.7 299 5073 done -0.95 - - 2580 - 1.75 0.042 2761 -608.0 -63.1 - - 3283 - - - - - - - - 14.70 14.64 14.71
5421 558.6 -10.1 308 5434 roll -0.95 - - 2580 - 2.35 0.044 1365 -594.0 -63.1 - - 3281 - - - - - - - - 14.95 14.59 14.91
5482 564.9 -10.4 316 5495 done -0.95 - - 2570 - 2.47 0.067 2771 569.2 -63.1 - - 3285 - - - - - - - - 14.69 14.52 14.71
5823 600.3 -10.4 329 5836 roll -0.95 - - 2562 - 1.92 0.106 3821 546.9 -63.1 - - 3279 - - - - - - - - 14.91 14.44 14.91
5861 604.5 -11.0 334 5875 done -0.95 0.10 0.269 2588 260.0 1.75 0.044 2760 -606.3 -63.1 - - 3279 - - - - - - - - 14.30 14.69 14.57
6223 637.2 -8.9 343 6236 done -0.95 - - 2587 - - - 2760 - -63.1 - - 3277 - - - - - - - - 14.92 14.92 14.92
6560 665.6 -8.4 349 6573 roll -0.95 - - 2586 - 2.35 0.046 1376 -588.9 -63.1 - - 3276 - - - - - - - - 14.92 14.57 14.92
6591 668.3 -8.5 353 6605 done -0.95 - - 2578 - 2.47 0.068 2774 566.0 -63.1 - - 3276 - - - - - - - - 14.67 14.50 14.69
6960 700.4 -8.8 363 6974 roll -0.95 - - 2571 - 1.98 0.109 3824 530.3 -63.1 - - 3274 - - - - - - - - 14.90 14.41 14.90
7055 709.7 -10.0 376 7068 done -0.95 - - 2570 - 1.75 0.044 2766 -604.6 -63.1 - - 3280 - - - - - - - - 14.72 14.66 14.70
7417 743.7 -9.5 385 7430 done -0.95 - - 2569 - - - 2765 - -63.1 - - 3272 - - - - - - - - 14.90 14.90 14.90
7753 775.8 -9.6 391 7766 done -0.95 - - 2569 - - - 2766 - -63.1 - - 3271 - - - - - - - - 14.92 14.92 14.92
8089 808.7 -9.9 397 8102 done -0.95 - - 2569 - - - 2765 - -63.1 - - 3269 - - - - - - - - 14.92 14.92 14.92
8425 839.5 -9.2 403 8438 roll -0.95 - - 2562 - 2.00 0.107 3821 528.0 -63.1 - - 3268 - - - - - - - - 14.91 14.38 14.93
8478 844.8 -9.9 410 8492 done -0.95 0.10 0.267 2587 250.0 1.77 0.044 2771 -593.2 -63.1 - - 3268 - - - - - - - - 14.23 14.63 14.52
8822 873.5 -8.3 417 8835 roll -0.95 - - 2587 - 2.40 0.045 1364 -586.2 -63.1 - - 3266 - - - - - - - - 14.90 14.52 14.90
8883 878.1 -7.9 425 8897 done -1.03 - - 2579 - 2.50 0.067 2769 562.0 -63.1 - - 3266 - - - - - - - - 14.62 14.45 14.66
9224 906.2 -8.2 438 9237 done -1.03 - - 2579 - - - 2769 - -63.1 - - 3265 - - - - - - - - 14.88 14.88 14.88
9559 end dive: TARGET_DEPTH_EXCEEDED
9559 begin apogee
9564 933.7 -8.2 444 9636 roll -0.23 0.88 0.216 2822 276.1 - - 2227 - - 61.83 1.974 3049 -3.5 0.317 - - - - - - 14.24 14.23 13.47
9638 end apogee: CONTROL_FINISHED_OK
9638 begin climb
9640 935.7 - 445 9719 done 1.19 1.42 0.110 3280 322.5 - - 2226 - 63.1 66.88 2.007 2797 -3.8 0.337 - - - - - - 14.19 14.44 13.21
10068 907.6 7.6 467 10081 done 1.03 0.17 0.292 3244 -211.8 - - 2225 - 64.7 - - 2785 - - - - - - - - 14.02 14.40 14.33
10404 885.9 6.3 473 10434 done 0.95 0.12 0.288 3205 -325.0 - - 2226 - 82.5 20.60 2.006 2720 -3.2 0.267 - - - - - - 14.11 14.42 13.69
10740 862.2 7.4 479 10753 roll 0.96 - - 3205 - 2.70 0.096 3667 533.7 86.6 - - 2710 - - - - - - - - 14.71 14.36 14.71
10793 857.8 8.2 486 10807 done 0.85 0.15 0.275 3178 -180.0 2.40 0.041 2267 -583.3 86.6 - - 2710 - - - - - - - - 14.12 14.48 14.42
11137 834.0 6.9 493 11163 roll 0.86 - - 3188 - 2.50 0.059 861 -562.4 96.5 14.15 2.059 2660 -3.5 0.275 - - - - - - 14.77 14.48 13.77
11203 829.0 7.8 502 11216 done 0.86 - - 3188 - 2.42 0.054 2257 576.9 96.5 - - 2656 - - - - - - - - 14.52 14.40 14.54
11529 802.3 8.3 513 11543 roll 0.86 - - 3188 - 2.58 0.099 3650 539.9 96.5 - - 2655 - - - - - - - - 14.76 14.35 14.76
11610 795.0 9.2 524 11624 done 0.86 - - 3198 - 2.40 0.041 2237 -588.8 96.5 - - 2655 - - - - - - - - 14.59 14.51 14.61
11930 767.2 8.7 534 11943 done 0.86 - - 3201 - - - 2234 - 96.5 - - 2654 - - - - - - - - 14.78 14.79 14.79
12266 737.9 8.7 540 12280 roll 0.86 - - 3198 - 2.65 0.100 3652 535.1 96.5 - - 2654 - - - - - - - - 14.81 14.38 14.83
12334 731.6 9.5 549 12347 done 0.78 0.20 0.270 3159 -195.0 2.38 0.041 2254 -587.4 96.5 - - 2654 - - - - - - - - 14.16 14.56 14.50
12669 707.5 7.0 561 12686 roll 0.79 - - 3157 - 2.58 0.099 3649 540.7 105.1 3.80 1.654 2631 -6.1 0.497 - - - - - - 14.82 14.57 13.43
12727 703.0 7.7 569 12744 done 0.80 - - 3169 - 2.38 0.041 2246 -589.5 106.2 2.65 1.049 2632 - - - - - - - - 14.66 14.59 13.35
13065 680.1 6.6 582 13096 done 0.81 - - 3169 - - - 2245 - 119.6 22.08 1.849 2573 -2.7 0.189 - - - - - - 14.81 14.51 13.81
13401 655.8 7.3 588 13415 roll 0.82 - - 3169 - 2.65 0.099 3657 532.8 124.5 0.95 0.272 2553 -21.1 9.741 - - - - - - 14.73 14.34 14.22
13462 650.6 8.6 596 13475 done 0.82 - - 3180 - 2.40 0.040 2253 -585.0 124.5 - - 2560 - - - - - - - - 14.59 14.51 14.60
13803 622.8 8.1 609 13816 roll 0.82 - - 3190 - 2.42 0.062 862 -574.8 124.5 - - 2560 - - - - - - - - 14.79 14.42 14.79
13870 617.0 8.3 618 13883 done 0.82 - - 3190 - 2.42 0.056 2254 575.2 124.5 - - 2560 - - - - - - - - 14.59 14.45 14.60
14204 586.2 9.6 630 14217 roll 0.82 - - 3190 - 2.60 0.100 3660 540.8 124.5 - - 2560 - - - - - - - - 14.80 14.35 14.81
14277 578.0 10.9 640 14291 done 0.82 0.12 0.271 3168 -183.3 2.40 0.041 2240 -591.7 124.5 - - 2559 - - - - - - - - 14.19 14.55 14.48
14605 547.6 9.1 651 14618 roll 0.82 - - 3178 - 2.40 0.061 858 -575.8 124.5 - - 2560 - - - - - - - - 14.81 14.45 14.82
14629 544.4 9.8 654 14643 done 0.82 - - 3178 - 2.40 0.056 2250 580.0 124.5 - - 2560 - - - - - - - - 14.60 14.47 14.63
14949 519.5 7.9 664 14963 roll 0.82 - - 3178 - 2.62 0.100 3653 535.5 124.5 - - 2560 - - - - - - - - 14.83 14.38 14.83
15023 513.2 8.2 674 15036 done 0.82 - - 3189 - 2.38 0.041 2249 -589.9 124.5 - - 2560 - - - - - - - - 14.64 14.56 14.66
15350 490.3 6.8 685 15375 done 0.83 - - 3190 - - - 2244 - 135.6 16.35 1.717 2509 -3.1 0.171 - - - - - - 14.83 14.59 13.90
15686 463.1 8.2 691 15699 roll 0.83 - - 3189 - 2.65 0.098 3660 534.3 135.6 - - 2500 - - - - - - - - 14.77 14.35 14.78
15718 460.1 9.3 695 15731 done 0.83 0.10 0.272 3174 -150.0 2.40 0.041 2246 -589.2 135.6 - - 2499 - - - - - - - - 14.19 14.52 14.50
16087 429.9 8.4 705 16100 roll 0.83 - - 3174 - 2.65 0.099 3655 531.7 135.6 - - 2500 - - - - - - - - 14.80 14.36 14.79
16189 420.0 9.6 719 16202 done 0.83 - - 3184 - 2.40 0.041 2250 -585.4 135.6 - - 2500 - - - - - - - - 14.63 14.54 14.65
16544 388.7 8.7 727 16557 roll 0.83 - - 3194 - 2.40 0.062 860 -579.2 135.6 - - 2500 - - - - - - - - 14.83 14.43 14.83
16611 382.8 8.6 736 16624 done 0.83 - - 3195 - 2.40 0.055 2249 578.8 135.6 - - 2500 - - - - - - - - 14.59 14.45 14.62
16945 353.7 8.6 748 16958 roll 0.83 - - 3195 - 2.58 0.098 3654 544.6 135.6 - - 2500 - - - - - - - - 14.84 14.36 14.83
17005 349.0 9.5 756 17019 done 0.83 0.12 0.262 3172 -191.7 2.38 0.040 2246 -591.6 135.6 - - 2500 - - - - - - - - 14.19 14.55 14.50
17348 321.8 7.9 769 17362 roll 0.91 - - 3183 - 2.40 0.060 853 -580.4 135.6 - - 2500 - - - - - - - - 14.81 14.45 14.82
17409 316.8 8.1 777 17423 done 0.99 0.05 0.197 3234 1020.0 2.42 0.054 2254 578.9 135.6 - - 2500 - - - - - - - - 14.46 14.46 14.59
17750 284.3 9.6 790 17764 roll 0.99 - - 3234 - 2.58 0.099 3661 545.3 135.6 - - 2500 - - - - - - - - 14.83 14.35 14.83
17824 276.3 10.7 800 17838 done 0.92 0.17 0.262 3198 -211.8 2.38 0.039 2248 -593.7 135.6 - - 2500 - - - - - - - - 14.16 14.57 14.50
18152 248.3 8.6 811 18165 roll 0.92 - - 3208 - 2.38 0.059 865 -581.1 135.6 - - 2500 - - - - - - - - 14.83 14.45 14.84
18226 241.9 8.7 821 18239 done 0.92 - - 3208 - 2.40 0.053 2258 580.4 135.6 - - 2500 - - - - - - - - 14.60 14.45 14.64
18552 213.5 8.7 832 18566 roll 0.92 - - 3208 - 2.58 0.099 3659 543.0 135.6 - - 2499 - - - - - - - - 14.85 14.35 14.85
18605 208.4 9.6 839 18619 done 0.92 - - 3217 - 2.40 0.040 2241 -590.8 135.6 - - 2501 - - - - - - - - 14.64 14.57 14.66
18950 178.3 8.7 846 18963 roll 0.92 - - 3219 - 2.65 0.099 3653 532.8 135.6 - - 2500 - - - - - - - - 14.83 14.36 14.84
18981 174.9 10.2 850 18995 done 0.92 0.12 0.268 3197 -183.3 2.35 0.041 2257 -594.0 135.6 - - 2500 - - - - - - - - 14.18 14.57 14.52
19350 145.2 7.9 860 19364 roll 0.92 - - 3207 - 2.40 0.060 858 -582.9 135.6 - - 2504 - - - - - - - - 14.85 14.44 14.85
19473 135.3 7.7 877 19486 done 0.92 - - 3207 - 2.40 0.053 2255 582.1 136.5 - - 2502 - - - - - - - - 14.55 14.42 14.57
19807 109.6 8.1 889 19820 done 0.92 - - 3207 - - - 2255 - 136.5 - - 2502 - - - - - - - - 14.84 14.86 14.85
20115 88.4 6.5 897 20131 done 0.93 - - 3206 - - - 2255 - 151.5 7.28 0.412 2446 -7.7 0.317 - - - - - - 14.84 14.60 14.17
20423 77.8 1.2 908 20476 roll 1.12 0.08 0.148 3276 875.0 2.55 0.096 3661 551.4 230.0 40.03 0.409 2135 -7.8 0.284 - - - - - - 14.56 14.51 14.26
20706 61.0 4.0 948 20745 done 1.18 - - 3287 - 2.40 0.037 2230 -596.2 275.2 23.27 0.355 1954 -7.8 0.256 - - - - - - 14.61 14.52 14.20
21075 49.1 3.4 967 21113 roll 1.36 0.08 0.142 3362 937.5 2.40 0.060 874 -565.0 326.7 26.30 0.314 1749 -7.8 0.234 - - - - - - 14.52 14.51 14.26
21216 41.3 6.5 987 21236 done 1.38 - - 3362 - 2.40 0.053 2270 581.7 342.0 8.48 0.287 1687 -7.3 0.202 - - - - - - 14.57 14.43 14.19
21540 15.3 7.0 1000 21558 roll 1.39 - - 3362 - 2.53 0.096 3654 547.0 350.3 5.00 0.218 1654 -6.6 0.089 - - - - - - 14.78 14.40 14.26
21676 5.0 8.3 1019 21690 done 1.39 - - 3374 - 2.33 0.038 2268 -594.8 350.3 - - 1658 - - - - - - - - 14.63 14.55 14.64
21737 end climb: SURFACE_DEPTH_REACHED
21737 begin surface coast
21765 end surface coast: CONTROL_FINISHED_OK
21765 begin surface
SM -3.25 - - - - -8.40 9.70 0.107 189 19.5 0.93 0.076 2777 1878.5 500.14 68.93 0.152 1056 15.3 0.033 - - - - - -