SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 371 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 134.26 of 350.00 AH used of 24V (61.64% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -71.3 deg, depth 0.05 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 24 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
14 - - - 93 done -0.93 - - 106 - - - 2787 - -107.1 -77.25 - 3479 - - - - - - - - 14.67 12.60 14.66
96 1.4 -3.5 2 116 roll -0.93 12.05 0.392 2585 205.7 1.90 0.086 3827 547.4 -107.1 - - 3480 - - - - - - - - 13.99 14.33 14.37
264 57.6 -14.1 27 269 done -0.71 0.30 0.230 2668 276.7 1.75 0.038 2753 -613.7 -107.1 - - 3482 - - - - - - - - 14.14 14.54 14.40
592 84.5 -8.9 41 598 roll -0.71 - - 2659 - 2.03 0.106 3816 523.6 -107.1 - - 3483 - - - - - - - - 14.85 14.30 14.85
829 105.6 -8.2 75 835 done -0.71 - - 2659 - 1.77 0.038 2755 -599.4 -107.1 - - 3488 - - - - - - - - 14.68 14.64 14.69
1152 131.4 -8.1 86 1157 roll -0.71 - - 2651 - 2.03 0.108 3818 523.6 -107.1 - - 3483 - - - - - - - - 14.92 14.33 14.92
1235 139.3 -9.5 98 1241 done -0.71 - - 2651 - 1.75 0.038 2772 -597.7 -107.1 - - 3483 - - - - - - - - 14.71 14.66 14.72
1600 173.8 -9.5 108 1605 roll -0.71 - - 2651 - 2.33 0.041 1387 -594.4 -107.1 - - 3481 - - - - - - - - 14.92 14.56 14.92
1662 179.8 -9.5 117 1669 done -0.71 - - 2640 - 2.47 0.067 2770 559.9 -107.1 - - 3480 - - - - - - - - 14.53 14.44 14.57
1992 211.4 -9.5 129 1993 done -0.71 - - 2640 - - - 2770 - -107.1 - - 3478 - - - - - - - - 14.92 14.92 14.92
2328 242.5 -9.2 135 2333 roll -0.71 - - 2641 - 2.35 0.041 1387 -588.5 -107.1 - - 3476 - - - - - - - - 14.93 14.54 14.94
2362 245.7 -9.6 140 2368 done -0.71 0.10 0.213 2662 210.0 2.50 0.068 2772 554.0 -107.1 - - 3480 - - - - - - - - 14.26 14.44 14.42
2720 274.3 -7.9 149 2720 done -0.71 - - 2659 - - - 2771 - -107.1 - - 3473 - - - - - - - - 14.94 14.94 14.94
3056 300.3 -7.7 155 3061 roll -0.71 - - 2661 - 2.38 0.043 1388 -581.1 -107.1 - - 3470 - - - - - - - - 14.94 14.56 14.96
3139 307.0 -7.8 167 3145 done -0.71 - - 2652 - 2.50 0.070 2770 552.8 -107.1 - - 3470 - - - - - - - - 14.52 14.42 14.57
3504 337.1 -8.4 177 3505 done -0.71 - - 2652 - - - 2770 - -107.1 - - 3468 - - - - - - - - 14.94 14.94 14.94
3840 366.7 -8.8 183 3845 roll -0.71 - - 2652 - 2.38 0.042 1381 -583.6 -107.1 - - 3466 - - - - - - - - 14.95 14.52 14.95
3916 373.4 -8.6 194 3922 done -0.71 - - 2643 - 2.53 0.070 2764 546.6 -107.1 - - 3466 - - - - - - - - 14.50 14.41 14.57
4232 402.1 -9.2 204 4237 roll -0.71 - - 2635 - 2.03 0.114 3817 518.7 -107.1 - - 3464 - - - - - - - - 14.93 14.31 14.93
4280 406.9 -10.0 211 4288 done -0.71 0.10 0.233 2665 300.0 1.77 0.041 2774 -589.3 -107.1 - - 3464 - - - - - - - - 14.34 14.68 14.55
4624 435.0 -8.1 218 4629 roll -0.71 - - 2665 - 2.42 0.043 1378 -576.9 -107.1 - - 3462 - - - - - - - - 14.95 14.49 14.94
4728 443.2 -7.6 233 4736 done -0.71 - - 2656 - 2.53 0.068 2766 548.6 -107.1 - - 3461 - - - - - - - - 14.47 14.38 14.52
5072 469.9 -7.7 240 5077 roll -0.71 - - 2648 - 2.03 0.114 3818 518.2 -107.1 - - 3459 - - - - - - - - 14.92 14.28 14.92
5120 473.9 -8.2 247 5128 done -0.71 - - 2647 - 1.83 0.043 2759 -578.7 -107.1 - - 3460 - - - - - - - - 14.71 14.70 14.73
5464 499.9 -7.5 254 5469 roll -0.71 - - 2645 - 2.38 0.043 1369 -584.0 -107.1 - - 3458 - - - - - - - - 14.95 14.51 14.95
5491 502.1 -7.9 258 5497 done -0.71 0.08 0.226 2661 200.0 2.53 0.067 2759 549.4 -107.1 - - 3458 - - - - - - - - 14.18 14.38 14.35
5856 528.5 -7.2 268 5857 done -0.71 - - 2661 - - - 2760 - -107.1 - - 3457 - - - - - - - - 14.92 14.92 14.92
6192 553.2 -7.4 274 6197 roll -0.71 - - 2653 - 2.00 0.114 3824 532.0 -107.1 - - 3456 - - - - - - - - 14.92 14.30 14.92
6248 557.5 -7.7 282 6253 done -0.71 - - 2653 - 1.83 0.044 2764 -579.2 -107.1 - - 3455 - - - - - - - - 14.59 14.55 14.60
6584 583.7 -7.8 295 6589 roll -0.71 - - 2653 - 2.42 0.043 1373 -574.8 -107.1 - - 3455 - - - - - - - - 14.92 14.44 14.92
6667 590.3 -7.7 307 6673 done -0.71 - - 2643 - 2.50 0.067 2750 550.8 -107.1 - - 3454 - - - - - - - - 14.44 14.35 14.49
7032 619.4 -8.0 317 7038 roll -0.71 - - 2635 - 2.08 0.114 3831 519.7 -107.1 - - 3454 - - - - - - - - 14.92 14.24 14.91
7066 622.4 -8.9 322 7072 done -0.71 0.08 0.242 2664 362.5 1.88 0.044 2749 -575.5 -107.1 - - 3454 - - - - - - - - 14.25 14.62 14.39
7424 647.6 -7.0 331 7429 roll -0.79 - - 2664 - 2.38 0.044 1365 -581.5 -107.1 - - 3451 - - - - - - - - 14.91 14.48 14.92
7480 651.6 -7.2 339 7486 done -0.89 0.08 0.146 2592 -900.0 2.53 0.067 2771 555.7 -107.1 - - 3451 - - - - - - - - 14.45 14.38 14.55
7816 685.2 -10.3 352 7817 done -0.89 - - 2591 - - - 2771 - -107.1 - - 3448 - - - - - - - - 14.91 14.90 14.91
8152 721.1 -10.7 358 8157 roll -0.89 - - 2590 - 2.42 0.043 1367 -580.2 -107.1 - - 3448 - - - - - - - - 14.92 14.46 14.92
8193 725.6 -10.6 364 8199 done -0.89 0.10 0.230 2610 200.0 2.53 0.067 2746 545.1 -107.1 - - 3448 - - - - - - - - 14.07 14.31 14.26
8544 759.0 -9.4 372 8549 roll -0.89 - - 2601 - 2.08 0.112 3819 515.9 -107.1 - - 3448 - - - - - - - - 14.94 14.19 14.94
8578 762.3 -10.0 377 8585 done -0.89 - - 2601 - 1.88 0.044 2733 -577.7 -107.1 - - 3448 - - - - - - - - 14.64 14.58 14.66
8936 793.8 -8.7 386 8941 roll -0.89 - - 2593 - 2.15 0.111 3827 508.8 -107.1 - - 3446 - - - - - - - - 14.91 14.19 14.91
8977 797.5 -8.6 392 8983 done -0.89 - - 2592 - 1.85 0.044 2756 -578.9 -107.1 - - 3446 - - - - - - - - 14.64 14.57 14.65
9328 826.9 -8.4 400 9328 done -0.89 - - 2592 - - - 2755 - -107.1 - - 3445 - - - - - - - - 14.90 14.91 14.90
9664 857.1 -9.1 406 9669 roll -0.89 - - 2584 - 2.10 0.113 3817 505.7 -107.1 - - 3443 - - - - - - - - 14.93 14.14 14.93
9712 861.9 -10.1 413 9721 done -0.89 0.10 0.246 2616 320.0 1.85 0.043 2751 -576.2 -107.1 - - 3443 - - - - - - - - 14.13 14.57 14.28
10056 891.9 -8.7 420 10061 roll -0.89 - - 2617 - 2.38 0.044 1372 -579.4 -107.1 - - 3443 - - - - - - - - 14.90 14.40 14.90
10112 896.9 -8.0 428 10117 done -0.89 - - 2611 - 2.50 0.066 2756 553.6 -107.1 - - 3442 - - - - - - - - 14.47 14.28 14.49
10448 926.8 -8.8 441 10448 done -0.89 - - 2609 - - - 2756 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
10501 end dive: TARGET_DEPTH_EXCEEDED
10501 begin apogee
10508 931.7 -8.9 442 10621 roll -0.23 0.75 0.181 2824 286.7 0.08 0.181 2260 -6200.0 - 110.15 1.971 3050 -3.6 0.335 - - - - - - 14.08 13.92 12.99
10623 end apogee: CONTROL_FINISHED_OK
10623 begin climb
10626 935.4 - 444 10751 roll 0.93 1.10 0.090 3184 327.3 2.50 0.054 887 -549.2 107.1 116.65 1.959 2623 -3.7 0.348 - - - - - - 13.99 14.02 12.87
10785 929.7 8.7 468 10791 done 0.81 - - 3184 - 2.50 0.050 2250 545.2 107.1 - - 2612 - - - - - - - - 14.00 13.90 14.02
11115 903.0 8.3 480 11120 roll 0.68 0.22 0.222 3120 -290.9 2.62 0.097 3656 536.6 107.1 - - 2610 - - - - - - - - 14.16 14.31 14.42
11191 897.1 7.4 491 11198 done 0.69 - - 3131 - 2.40 0.040 2267 -578.8 114.4 2.45 0.869 2594 -6.5 1.344 - - - - - - 14.46 14.42 12.84
11507 877.1 6.3 501 11547 done 0.73 - - 3131 - - - 2267 - 143.8 39.38 1.924 2479 -2.9 0.265 - - - - - - 14.81 14.25 13.33
11843 853.4 7.3 507 11855 roll 0.74 - - 3131 - 2.67 0.101 3653 519.1 152.6 4.78 1.976 2447 -6.7 0.576 - - - - - - 14.71 14.36 12.94
11898 848.9 8.4 515 11905 done 0.74 - - 3142 - 2.42 0.041 2266 -573.1 152.6 1.27 0.278 2444 -2.4 1.438 - - - - - - 14.48 14.43 13.81
12235 822.5 7.9 528 12235 done 0.74 - - 3142 - - - 2263 - 152.6 - - 2451 - - - - - - - - 14.79 14.79 14.79
12571 795.2 8.2 534 12576 roll 0.74 - - 3142 - 2.65 0.103 3651 523.8 152.6 - - 2450 - - - - - - - - 14.83 14.33 14.83
12627 790.1 8.9 542 12633 done 0.65 0.15 0.222 3110 -213.3 2.40 0.041 2255 -581.7 152.6 1.15 0.262 2443 -6.1 3.660 - - - - - - 14.23 14.52 14.07
12965 765.4 7.2 555 12989 roll 0.66 - - 3110 - 2.67 0.100 3651 522.8 162.8 17.08 1.965 2397 -2.7 0.209 - - - - - - 14.83 14.42 13.54
13032 759.8 8.6 565 13039 done 0.66 - - 3120 - 2.45 0.040 2250 -571.8 162.8 - - 2395 - - - - - - - - 14.49 14.42 14.51
13355 735.0 7.7 576 13355 done 0.67 - - 3120 - - - 2251 - 164.0 - - 2393 - - - - - - - - 14.79 14.79 14.80
13691 710.2 7.4 582 13703 roll 0.68 - - 3120 - 2.70 0.103 3651 518.5 171.3 4.68 1.938 2374 -4.1 0.297 - - - - - - 14.83 14.47 13.05
13753 704.9 8.8 591 13759 done 0.68 - - 3130 - 2.42 0.040 2255 -576.9 171.3 1.30 0.270 2369 -3.8 2.002 - - - - - - 14.55 14.51 13.88
14083 678.3 8.2 603 14083 done 0.68 - - 3130 - - - 2255 - 171.3 - - 2377 - - - - - - - - 14.83 14.83 14.83
14419 650.2 8.3 609 14426 roll 0.68 - - 3130 - 2.65 0.101 3648 525.7 171.3 1.23 0.283 2371 -4.9 2.234 - - - - - - 14.85 14.21 13.93
14453 647.0 9.0 614 14459 done 0.68 - - 3141 - 2.40 0.041 2277 -571.2 171.3 - - 2375 - - - - - - - - 14.53 14.49 14.55
14811 619.5 7.4 623 14832 roll 0.68 - - 3141 - 2.62 0.103 3646 522.5 177.9 12.52 1.908 2337 -3.0 0.196 - - - - - - 14.88 14.46 13.58
14859 615.6 8.5 630 14866 done 0.68 - - 3151 - 2.40 0.041 2266 -575.0 177.9 - - 2335 - - - - - - - - 14.49 14.45 14.51
15203 589.1 7.7 637 15204 done 0.68 0.10 0.233 3122 -290.0 - - 2265 - 178.2 - - 2334 - - - - - - - - 14.28 14.54 14.48
15539 565.4 7.1 643 15560 roll 0.70 - - 3122 - 2.60 0.099 3654 534.2 191.4 15.48 1.802 2282 -3.4 0.210 - - - - - - 14.84 14.34 13.60
15587 561.5 8.6 650 15594 done 0.70 - - 3131 - 2.42 0.041 2262 -575.2 191.4 - - 2279 - - - - - - - - 14.50 14.45 14.52
15931 533.5 8.2 657 15937 roll 0.70 - - 3131 - 2.62 0.102 3650 529.8 191.4 - - 2278 - - - - - - - - 14.80 14.28 14.80
15958 531.0 8.9 661 15965 done 0.70 - - 3141 - 2.40 0.041 2274 -573.3 191.4 - - 2278 - - - - - - - - 14.52 14.47 14.54
16323 501.3 8.1 671 16328 roll 0.70 - - 3141 - 2.60 0.100 3655 531.2 191.4 - - 2278 - - - - - - - - 14.85 14.28 14.85
16357 498.1 9.3 676 16363 done 0.70 - - 3151 - 2.40 0.040 2276 -574.6 191.4 - - 2278 - - - - - - - - 14.52 14.47 14.53
16715 466.1 9.1 685 16721 roll 0.70 - - 3151 - 2.60 0.099 3655 530.4 191.4 - - 2277 - - - - - - - - 14.87 14.30 14.87
16756 461.8 10.5 691 16763 done 0.70 0.10 0.207 3131 -200.0 2.40 0.040 2273 -575.8 191.4 - - 2278 - - - - - - - - 14.16 14.47 14.32
17107 431.1 8.8 699 17112 roll 0.70 - - 3131 - 2.60 0.101 3650 529.6 191.4 - - 2278 - - - - - - - - 14.86 14.28 14.86
17176 424.1 10.1 709 17183 done 0.70 - - 3141 - 2.38 0.040 2284 -573.9 191.4 - - 2278 - - - - - - - - 14.53 14.47 14.55
17499 395.5 8.7 720 17504 roll 0.70 - - 3152 - 2.50 0.061 865 -567.6 191.4 - - 2278 - - - - - - - - 14.85 14.35 14.86
17575 388.8 8.6 731 17581 done 0.70 - - 3152 - 2.50 0.052 2280 566.0 191.4 - - 2278 - - - - - - - - 14.44 14.35 14.47
17891 361.9 8.5 741 17897 roll 0.70 - - 3152 - 2.58 0.102 3658 534.1 191.4 - - 2278 - - - - - - - - 14.87 14.26 14.86
17918 359.3 9.3 745 17926 done 0.70 0.10 0.207 3131 -210.0 2.40 0.039 2272 -577.5 191.4 - - 2278 - - - - - - - - 14.15 14.48 14.32
18283 331.5 7.6 755 18288 roll 0.70 - - 3131 - 2.62 0.101 3653 527.1 194.8 - - 2277 - - - - - - - - 14.88 14.26 14.89
18324 327.8 8.9 761 18331 done 0.70 - - 3142 - 2.40 0.039 2273 -575.0 194.8 - - 2278 - - - - - - - - 14.52 14.47 14.53
18675 298.1 8.6 769 18676 done 0.70 - - 3141 - - - 2270 - 194.8 - - 2278 - - - - - - - - 14.87 14.87 14.88
19011 272.5 7.4 775 19023 done 0.71 - - 3142 - - - 2270 - 202.3 11.27 1.533 2244 -3.0 0.107 - - - - - - 14.88 14.52 13.69
19347 250.0 6.6 781 19375 roll 0.74 - - 3141 - 2.67 0.102 3653 518.0 225.3 23.98 1.375 2146 -4.1 0.148 - - - - - - 14.85 14.40 13.68
19396 246.4 7.9 788 19401 done 0.74 - - 3152 - 2.40 0.040 2284 -570.4 225.3 - - 2144 - - - - - - - - 14.48 14.44 14.49
19732 220.1 7.9 801 19738 roll 0.74 - - 3162 - 2.50 0.061 856 -571.2 225.3 - - 2142 - - - - - - - - 14.78 14.35 14.78
19773 216.5 8.5 807 19779 done 0.74 - - 3162 - 2.53 0.051 2282 563.6 225.3 - - 2142 - - - - - - - - 14.38 14.34 14.45
20124 185.8 8.8 815 20125 done 0.74 - - 3162 - - - 2281 - 225.3 - - 2142 - - - - - - - - 14.83 14.83 14.83
20460 155.6 9.0 821 20460 done 0.74 - - 3162 - - - 2282 - 225.3 - - 2141 - - - - - - - - 14.85 14.85 14.85
20796 125.6 8.7 827 20801 roll 0.74 - - 3171 - 2.50 0.060 862 -568.0 225.3 - - 2142 - - - - - - - - 14.86 14.38 14.86
20837 121.8 9.2 833 20844 done 0.74 0.10 0.182 3141 -300.0 2.50 0.053 2277 566.0 225.3 - - 2141 - - - - - - - - 14.20 14.37 14.33
21160 98.0 7.0 841 21172 roll 0.76 - - 3140 - 2.58 0.102 3660 536.0 241.2 6.70 0.432 2093 -7.2 0.324 - - - - - - 14.86 14.37 13.84
21292 87.5 8.5 860 21299 done 0.76 - - 3149 - 2.38 0.037 2280 -579.8 241.2 - - 2094 - - - - - - - - 14.53 14.49 14.55
21608 65.6 6.3 872 21628 roll 0.88 - - 3160 - 2.45 0.057 870 -575.5 270.7 15.68 0.362 1971 -7.8 0.283 - - - - - - 14.84 14.30 14.02
21656 62.6 6.4 879 21678 done 1.03 0.15 0.067 3245 566.7 2.50 0.050 2288 567.2 297.5 14.00 0.353 1866 -7.5 0.265 - - - - - - 14.45 14.38 14.02
22002 39.2 5.4 895 22033 roll 1.09 - - 3245 - 2.62 0.102 3660 523.7 344.7 23.73 0.287 1676 -8.0 0.218 - - - - - - 14.83 14.35 14.04
22076 33.8 8.3 906 22083 done 1.09 - - 3255 - 2.40 0.038 2274 -577.5 344.7 - - 1676 - - - - - - - - 14.49 14.47 14.51
22392 20.2 2.2 918 22450 roll 1.33 0.15 0.090 3359 693.3 2.50 0.063 869 -562.0 454.8 52.85 0.220 1237 -8.3 0.152 - - - - - - 14.55 14.39 14.14
22561 5.8 10.1 942 22567 done 1.33 0.10 0.226 3330 -290.0 2.45 0.055 2261 568.2 454.8 - - 1237 - - - - - - - - 14.22 14.33 14.44
22615 end climb: SURFACE_DEPTH_REACHED
22615 begin surface coast
22643 end surface coast: CONTROL_FINISHED_OK
22643 begin surface
SM -0.19 - - - - -8.40 9.07 0.052 183 20.2 0.93 0.090 2769 -2534.4 500.14 20.62 0.161 1058 51.3 0.006 - - - - - -