SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 297 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 110.76 of 350.00 AH used of 24V (68.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth -1.44 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 47 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
11 begin dive
14 - - - 91 done -0.93 - - 120 - - - 2755 - -107.1 -76.10 - 3478 - - - - - - - - 14.65 12.73 14.65
94 - -4.5 2 114 roll -0.93 12.07 0.396 2583 204.1 1.98 0.086 3826 540.9 -107.1 - - 3479 - - - - - - - - 14.06 14.33 14.40
343 73.3 -15.1 39 350 done -0.63 0.38 0.232 2689 278.9 1.80 0.039 2758 -593.3 -107.1 - - 3481 - - - - - - - - 14.12 14.53 14.31
673 99.5 -7.3 53 680 roll -0.63 - - 2681 - 2.03 0.102 3827 526.6 -107.1 - - 3483 - - - - - - - - 14.85 14.31 14.85
910 118.3 -8.0 87 916 done -0.63 - - 2681 - 1.83 0.040 2735 -596.7 -107.1 - - 3484 - - - - - - - - 14.69 14.64 14.70
1233 142.6 -7.5 98 1239 roll -0.63 - - 2680 - 2.30 0.042 1388 -585.7 -107.1 - - 3482 - - - - - - - - 14.92 14.52 14.92
1253 144.3 -7.8 101 1261 done -0.63 - - 2671 - 2.45 0.063 2766 562.4 -107.1 - - 3482 - - - - - - - - 14.56 14.46 14.59
1569 171.5 -8.6 111 1575 roll -0.63 - - 2662 - 1.98 0.103 3821 532.8 -107.1 - - 3479 - - - - - - - - 14.91 14.38 14.92
1603 174.7 -9.2 116 1610 done -0.63 0.10 0.220 2694 320.0 1.77 0.041 2767 -595.5 -107.1 - - 3480 - - - - - - - - 14.40 14.69 14.60
1961 200.0 -7.0 125 1967 roll -0.63 - - 2694 - 2.38 0.042 1383 -581.5 -107.1 - - 3477 - - - - - - - - 14.92 14.52 14.94
2009 203.6 -7.4 132 2017 done -0.71 - - 2684 - 2.45 0.063 2761 562.4 -107.1 - - 3477 - - - - - - - - 14.54 14.45 14.59
2353 229.9 -7.7 139 2354 done -0.71 - - 2685 - - - 2761 - -107.1 - - 3474 - - - - - - - - 14.95 14.95 14.95
2689 255.5 -7.6 145 2695 roll -0.71 - - 2684 - 2.40 0.042 1381 -575.0 -107.1 - - 3471 - - - - - - - - 14.95 14.54 14.97
2730 258.8 -7.8 151 2737 done -0.71 - - 2674 - 2.47 0.065 2761 558.7 -107.1 - - 3470 - - - - - - - - 14.54 14.45 14.59
3081 286.4 -7.9 159 3087 roll -0.71 - - 2665 - 2.00 0.106 3822 530.5 -107.1 - - 3469 - - - - - - - - 14.91 14.35 14.94
3122 290.0 -8.4 165 3129 done -0.71 - - 2666 - 1.83 0.041 2748 -586.9 -107.1 - - 3471 - - - - - - - - 14.73 14.68 14.74
3473 318.3 -8.1 173 3479 roll -0.71 - - 2666 - 2.35 0.042 1384 -580.4 -107.1 - - 3466 - - - - - - - - 14.94 14.52 14.94
3507 321.1 -8.1 178 3514 done -0.71 - - 2658 - 2.45 0.066 2757 560.4 -107.1 - - 3466 - - - - - - - - 14.53 14.43 14.59
3865 350.4 -8.2 187 3866 done -0.71 - - 2657 - - - 2757 - -107.1 - - 3464 - - - - - - - - 14.94 14.94 14.94
4201 379.6 -8.8 193 4207 roll -0.71 - - 2657 - 2.40 0.043 1378 -574.6 -107.1 - - 3462 - - - - - - - - 14.94 14.50 14.94
4228 382.0 -8.5 197 4236 done -0.71 - - 2647 - 2.47 0.067 2753 556.7 -107.1 - - 3461 - - - - - - - - 14.52 14.42 14.57
4593 417.7 -9.9 207 4599 roll -0.71 - - 2639 - 2.03 0.108 3819 525.1 -107.1 - - 3460 - - - - - - - - 14.94 14.30 14.94
4634 422.0 -10.6 213 4641 done -0.71 0.10 0.231 2669 300.0 1.83 0.043 2754 -582.0 -107.1 - - 3460 - - - - - - - - 14.33 14.67 14.56
4985 450.6 -7.9 221 4991 roll -0.71 - - 2669 - 2.38 0.044 1376 -579.0 -107.1 - - 3458 - - - - - - - - 14.95 14.50 14.95
5061 456.2 -7.2 232 5068 done -0.71 - - 2660 - 2.50 0.067 2756 552.0 -107.1 - - 3457 - - - - - - - - 14.50 14.40 14.54
5377 478.7 -7.2 242 5383 roll -0.71 - - 2652 - 2.03 0.109 3818 523.2 -107.1 - - 3457 - - - - - - - - 14.92 14.28 14.91
5411 481.4 -7.7 247 5417 done -0.71 - - 2646 - 1.83 0.042 2751 -583.1 -107.1 - - 3456 - - - - - - - - 14.72 14.66 14.73
5769 508.5 -7.8 256 5775 roll -0.71 - - 2644 - 2.08 0.108 3822 514.9 -107.1 - - 3455 - - - - - - - - 14.95 14.28 14.95
5810 512.0 -8.4 262 5817 done -0.71 - - 2643 - 1.83 0.043 2752 -584.7 -107.1 - - 3455 - - - - - - - - 14.71 14.66 14.73
6161 541.7 -8.7 270 6167 roll -0.71 - - 2643 - 2.38 0.043 1379 -576.9 -107.1 - - 3453 - - - - - - - - 14.95 14.45 14.95
6209 546.0 -8.9 277 6218 done -0.71 0.10 0.220 2662 190.0 2.47 0.067 2747 553.8 -107.1 - - 3453 - - - - - - - - 14.15 14.37 14.34
6553 573.7 -8.1 284 6559 roll -0.71 - - 2655 - 2.05 0.110 3821 523.9 -107.1 - - 3452 - - - - - - - - 14.91 14.26 14.92
6601 577.8 -8.6 291 6609 done -0.71 - - 2654 - 1.85 0.044 2752 -577.8 -107.1 - - 3451 - - - - - - - - 14.68 14.63 14.69
6945 606.4 -8.2 298 6951 roll -0.71 - - 2654 - 2.40 0.044 1374 -574.2 -107.1 - - 3450 - - - - - - - - 14.92 14.43 14.91
6972 608.7 -8.2 302 6979 done -0.71 - - 2645 - 2.50 0.066 2755 552.4 -107.1 - - 3450 - - - - - - - - 14.45 14.35 14.50
7337 638.5 -8.2 312 7338 done -0.71 - - 2644 - - - 2756 - -107.1 - - 3448 - - - - - - - - 14.91 14.91 14.95
7673 665.6 -8.1 318 7674 done -0.71 - - 2644 - - - 2756 - -107.1 - - 3447 - - - - - - - - 14.93 14.94 14.94
8009 692.5 -7.9 324 8015 roll -0.71 - - 2644 - 2.42 0.044 1380 -568.6 -107.1 - - 3445 - - - - - - - - 14.94 14.40 14.94
8043 695.2 -7.9 329 8051 done -0.71 0.10 0.223 2663 190.0 2.50 0.067 2746 546.4 -107.1 - - 3446 - - - - - - - - 14.09 14.33 14.27
8401 719.3 -6.6 338 8407 roll -0.71 - - 2655 - 2.08 0.110 3825 518.8 -107.1 - - 3445 - - - - - - - - 14.91 14.19 14.91
8449 722.7 -7.0 345 8458 done -0.71 - - 2655 - 1.88 0.044 2749 -572.3 -107.1 - - 3444 - - - - - - - - 14.64 14.59 14.66
8793 745.3 -6.5 352 8799 roll -0.71 - - 2655 - 2.38 0.044 1365 -581.5 -107.1 - - 3444 - - - - - - - - 14.97 14.41 14.93
8827 747.7 -7.2 357 8835 done -0.71 - - 2646 - 2.53 0.067 2755 549.4 -107.1 - - 3444 - - - - - - - - 14.35 14.25 14.39
9185 773.5 -7.2 366 9186 done -0.71 - - 2646 - - - 2755 - -107.1 - - 3443 - - - - - - - - 14.90 14.90 14.90
9521 798.9 -7.7 372 9527 roll -0.71 - - 2646 - 2.45 0.044 1369 -565.7 -107.1 - - 3442 - - - - - - - - 14.90 14.35 14.90
9577 803.4 -8.0 380 9583 done -0.71 0.10 0.219 2664 180.0 2.53 0.067 2747 544.7 -107.1 - - 3440 - - - - - - - - 13.97 14.28 14.16
9913 827.9 -7.4 393 9920 roll -0.71 - - 2656 - 2.08 0.111 3820 515.9 -107.1 - - 3440 - - - - - - - - 14.90 14.15 14.90
9947 830.7 -6.3 398 9954 done -0.71 - - 2656 - 1.85 0.045 2751 -577.8 -107.1 - - 3440 - - - - - - - - 14.55 14.54 14.57
10305 858.7 -7.8 407 10311 roll -0.71 - - 2656 - 2.42 0.044 1366 -572.3 -107.1 - - 3439 - - - - - - - - 14.89 14.32 14.89
10339 861.4 -5.5 412 10346 done -0.71 - - 2647 - 2.55 0.067 2754 544.3 -107.1 - - 3436 - - - - - - - - 14.37 14.28 14.43
10697 888.2 -7.3 421 10703 roll -0.71 - - 2646 - 2.42 0.044 1368 -572.7 -107.1 - - 3438 - - - - - - - - 14.90 14.40 14.90
10731 890.7 -4.8 426 10738 done -0.71 0.10 0.220 2665 190.0 2.55 0.067 2759 545.5 -107.1 - - 3438 - - - - - - - - 14.02 14.26 14.20
11089 912.5 -6.0 435 11090 done -0.79 - - 2666 - - - 2759 - -107.1 - - 3438 - - - - - - - - 14.88 14.88 14.88
11422 end dive: TARGET_DEPTH_EXCEEDED
11423 begin apogee
11429 931.8 -5.7 441 11539 roll -0.23 0.52 0.162 2822 300.0 0.10 0.155 2266 -4930.0 - 107.72 1.947 3049 -3.6 0.341 - - - - - - 14.14 13.95 13.15
11541 end apogee: CONTROL_FINISHED_OK
11541 begin climb
11543 934.4 - 443 11672 roll 0.93 1.12 0.095 3186 325.0 2.53 0.055 877 -549.0 107.1 115.40 1.914 2619 -3.7 0.359 - - - - - - 13.98 14.00 12.97
11691 927.9 9.4 465 11699 done 0.77 0.12 0.216 3153 -275.0 2.53 0.050 2245 540.7 107.1 - - 2615 - - - - - - - - 13.73 13.86 13.87
12042 901.0 7.8 473 12049 roll 0.68 0.12 0.239 3118 -291.7 2.62 0.098 3658 539.3 107.1 - - 2612 - - - - - - - - 14.15 14.23 14.38
12146 893.4 6.9 488 12169 done 0.60 0.10 0.207 3100 -180.0 2.42 0.040 2258 -578.5 124.1 18.55 1.997 2556 -3.0 0.267 - - - - - - 14.08 14.33 13.49
12485 873.8 5.8 501 12530 done 0.65 - - 3099 - - - 2257 - 162.9 44.12 1.899 2400 -3.5 0.321 - - - - - - 14.69 14.18 13.36
12820 852.0 6.7 507 12847 roll 0.68 - - 3099 - 2.67 0.101 3660 525.5 183.2 22.80 1.944 2314 -3.8 0.326 - - - - - - 14.66 14.17 13.45
12875 847.9 9.9 515 12881 done 0.68 - - 3104 - 2.47 0.041 2268 -563.6 183.2 - - 2310 - - - - - - - - 14.33 14.29 14.34
13212 821.5 7.9 528 13212 done 0.68 - - 3108 - - - 2264 - 183.2 - - 2307 - - - - - - - - 14.71 14.71 14.71
13547 794.3 8.3 534 13553 roll 0.68 - - 3107 - 2.62 0.103 3657 531.7 183.2 - - 2307 - - - - - - - - 14.78 14.29 14.78
13609 788.7 8.6 543 13616 done 0.68 - - 3119 - 2.45 0.041 2253 -573.1 183.2 - - 2307 - - - - - - - - 14.51 14.46 14.53
13939 760.8 8.4 555 13945 roll 0.68 - - 3118 - 2.65 0.102 3658 530.2 183.2 - - 2303 - - - - - - - - 14.83 14.32 14.83
13967 758.2 9.2 559 13973 done 0.68 - - 3129 - 2.45 0.040 2251 -574.3 183.2 - - 2305 - - - - - - - - 14.56 14.49 14.54
14331 726.1 8.8 569 14332 done 0.68 - - 3129 - - - 2247 - 183.2 - - 2305 - - - - - - - - 14.84 14.85 14.84
14667 697.1 8.6 575 14673 roll 0.68 - - 3128 - 2.65 0.100 3654 530.9 183.2 - - 2304 - - - - - - - - 14.85 14.32 14.85
14729 690.9 9.9 584 14736 done 0.68 - - 3139 - 2.42 0.040 2258 -576.9 183.2 - - 2303 - - - - - - - - 14.54 14.50 14.57
15059 660.5 9.3 596 15060 done 0.68 - - 3139 - - - 2253 - 183.2 - - 2304 - - - - - - - - 14.85 14.86 14.85
15396 628.4 9.6 602 15401 roll 0.68 - - 3139 - 2.62 0.100 3652 534.0 183.2 - - 2304 - - - - - - - - 14.85 14.30 14.85
15452 622.3 11.0 610 15457 done 0.68 0.10 0.235 3121 -180.0 2.40 0.041 2254 -582.5 183.2 - - 2303 - - - - - - - - 14.23 14.52 14.49
15787 592.7 8.7 623 15793 roll 0.68 - - 3120 - 2.67 0.102 3651 523.2 183.2 - - 2304 - - - - - - - - 14.88 14.23 14.88
15814 590.1 9.5 627 15821 done 0.68 - - 3130 - 2.42 0.041 2257 -576.0 183.2 - - 2304 - - - - - - - - 14.52 14.48 14.54
16179 558.8 8.4 637 16180 done 0.68 - - 3130 - - - 2259 - 183.2 - - 2304 - - - - - - - - 14.86 14.86 14.86
16515 532.9 7.6 643 16521 roll 0.68 - - 3131 - 2.65 0.099 3658 527.9 186.6 - - 2304 - - - - - - - - 14.90 14.27 14.90
16584 527.0 8.4 653 16592 done 0.68 - - 3140 - 2.42 0.039 2260 -577.7 186.6 - - 2305 - - - - - - - - 14.52 14.48 14.54
16908 502.4 7.7 664 16908 done 0.68 - - 3141 - - - 2258 - 187.0 - - 2304 - - - - - - - - 14.83 14.83 14.83
17243 476.5 7.7 670 17249 roll 0.68 - - 3141 - 2.65 0.099 3655 527.2 188.0 - - 2304 - - - - - - - - 14.87 14.25 14.87
17299 471.4 9.2 678 17305 done 0.68 0.08 0.215 3127 -175.0 2.42 0.041 2269 -572.7 188.0 - - 2304 - - - - - - - - 14.12 14.42 14.28
17635 445.6 7.7 691 17641 roll 0.68 - - 3137 - 2.53 0.060 856 -558.5 189.2 - - 2304 - - - - - - - - 14.87 14.27 14.87
17676 442.2 8.2 697 17684 done 0.68 - - 3137 - 2.50 0.054 2267 564.4 189.2 0.90 0.233 2295 -10.0 3.745 - - - - - - 14.35 14.27 14.12
18028 413.1 8.3 705 18034 roll 0.68 - - 3137 - 2.60 0.102 3651 532.3 189.2 - - 2301 - - - - - - - - 14.85 14.24 14.85
18061 409.8 9.5 710 18068 done 0.68 - - 3148 - 2.42 0.040 2263 -573.6 189.2 - - 2301 - - - - - - - - 14.50 14.45 14.52
18419 376.9 9.2 719 18425 roll 0.68 - - 3148 - 2.65 0.099 3652 524.2 189.2 - - 2300 - - - - - - - - 14.89 14.21 14.89
18460 372.5 10.7 725 18468 done 0.68 0.10 0.210 3128 -200.0 2.42 0.039 2256 -576.9 189.2 - - 2300 - - - - - - - - 14.09 14.44 14.26
18812 344.0 8.0 733 18812 done 0.68 - - 3128 - - - 2255 - 189.2 - - 2302 - - - - - - - - 14.86 14.86 14.86
19147 319.9 7.0 739 19174 roll 0.70 - - 3127 - 2.67 0.099 3655 524.3 203.4 19.20 1.486 2233 -3.6 0.153 - - - - - - 14.89 14.47 13.78
19216 314.6 8.2 749 19224 done 0.70 - - 3137 - 2.42 0.039 2263 -575.2 203.4 - - 2230 - - - - - - - - 14.46 14.42 14.48
19539 291.3 7.2 760 19551 done 0.71 - - 3136 - - - 2259 - 214.0 10.40 1.561 2197 -3.2 0.117 - - - - - - 14.81 14.52 13.74
19876 264.5 8.1 766 19881 roll 0.71 - - 3136 - 2.62 0.100 3656 533.2 214.0 - - 2189 - - - - - - - - 14.79 14.28 14.78
19916 260.6 9.6 772 19923 done 0.71 - - 3147 - 2.40 0.039 2274 -575.8 214.0 - - 2189 - - - - - - - - 14.45 14.40 14.47
20267 229.6 8.9 780 20268 done 0.71 - - 3147 - - - 2267 - 214.0 - - 2189 - - - - - - - - 14.85 14.84 14.84
20603 199.4 9.0 786 20609 roll 0.71 - - 3147 - 2.65 0.100 3681 533.6 214.0 - - 2189 - - - - - - - - 14.85 14.25 14.85
20637 195.8 10.1 791 20644 done 0.71 - - 3158 - 2.45 0.039 2268 -576.7 214.0 - - 2190 - - - - - - - - 14.51 14.47 14.54
20996 165.4 8.3 800 20997 done 0.71 - - 3157 - - - 2264 - 214.0 - - 2190 - - - - - - - - 14.86 14.87 14.87
21331 136.7 8.6 806 21337 roll 0.71 - - 3157 - 2.62 0.099 3660 532.8 214.0 - - 2190 - - - - - - - - 14.88 14.28 14.88
21407 129.2 9.8 817 21415 done 0.71 0.10 0.200 3137 -200.0 2.42 0.039 2262 -577.7 214.0 - - 2190 - - - - - - - - 14.16 14.46 14.32
21723 107.3 6.7 827 21737 roll 0.74 - - 3147 - 2.47 0.060 866 -565.2 235.4 9.90 0.479 2113 -7.8 0.344 - - - - - - 14.89 14.51 14.02
21772 103.7 7.3 834 21785 done 0.75 - - 3151 - 2.47 0.051 2277 571.3 243.5 5.05 0.431 2083 -5.9 0.282 - - - - - - 14.47 14.39 13.97
22110 82.2 5.6 852 22137 roll 0.80 - - 3152 - 2.53 0.060 867 -557.3 285.6 22.42 0.417 1913 -7.6 0.295 - - - - - - 14.82 14.50 14.10
22277 71.5 6.9 876 22291 done 0.96 0.12 0.099 3219 558.3 2.45 0.051 2282 577.6 302.6 9.25 0.373 1845 -7.4 0.278 - - - - - - 14.47 14.39 14.02
22614 47.8 5.2 891 22646 roll 1.02 - - 3232 - 2.53 0.060 865 -560.1 353.9 25.83 0.317 1640 -7.9 0.236 - - - - - - 14.81 14.42 14.14
22654 45.7 5.2 897 22684 done 1.16 0.05 0.117 3281 980.0 2.47 0.051 2280 572.9 405.0 25.55 0.311 1436 -8.0 0.232 - - - - - - 14.36 14.40 14.15
23000 20.9 7.0 913 23011 roll 1.18 - - 3280 - 2.62 0.099 3656 525.2 420.2 7.47 0.237 1376 -8.0 0.140 - - - - - - 14.77 14.31 14.09
23168 7.1 7.0 937 23180 done 1.20 - - 3290 - 2.35 0.039 2266 -591.5 435.4 7.97 0.195 1315 -7.7 0.055 - - - - - - 14.57 14.49 14.15
23247 end climb: SURFACE_DEPTH_REACHED
23247 begin surface coast
23276 end surface coast: CONTROL_FINISHED_OK
23276 begin surface
SM -2.75 - - - - -8.40 9.15 0.070 186 20.3 0.93 0.082 2764 -6978.5 500.14 30.15 0.164 1057 35.1 0.060 - - - - - -