SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 373 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 134.88 of 350.00 AH used of 24V (61.46% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -70.0 deg, depth 0.00 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 20 s
• GPS2 time: 1 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
15 - - - 93 done -0.93 - - 107 - - - 2772 - -107.1 -76.90 - 3478 - - - - - - - - 14.66 12.61 14.66
96 1.4 -4.4 2 116 roll -0.93 12.02 0.390 2584 206.1 1.92 0.073 3834 553.1 -107.1 - - 3480 - - - - - - - - 13.98 14.31 14.36
346 67.1 -15.9 39 352 done -0.63 0.40 0.236 2693 272.5 1.83 0.039 2757 -588.5 -107.1 - - 3480 - - - - - - - - 14.11 14.57 14.30
676 94.6 -8.3 53 682 roll -0.63 - - 2692 - 2.33 0.041 1374 -593.6 -107.1 - - 3482 - - - - - - - - 14.88 14.50 14.89
913 111.7 -6.2 87 919 done -0.63 - - 2683 - 2.50 0.067 2773 559.6 -107.1 - - 3483 - - - - - - - - 14.52 14.40 14.54
1236 135.4 -7.6 98 1241 roll -0.63 - - 2682 - 2.38 0.041 1370 -589.5 -107.1 - - 3481 - - - - - - - - 14.91 14.55 14.91
1292 139.8 -7.8 106 1297 done -0.63 - - 2674 - 2.50 0.067 2776 562.4 -107.1 - - 3482 - - - - - - - - 14.62 14.45 14.64
1628 167.7 -8.6 119 1629 done -0.63 - - 2674 - - - 2776 - -107.1 - - 3480 - - - - - - - - 14.91 14.92 14.92
1964 195.9 -8.2 125 1965 done -0.63 - - 2674 - - - 2776 - -107.1 - - 3482 - - - - - - - - 14.93 14.92 14.93
2300 223.2 -8.0 131 2305 roll -0.63 - - 2673 - 2.40 0.042 1377 -582.9 -107.1 - - 3475 - - - - - - - - 14.93 14.54 14.93
2383 229.9 -7.7 143 2389 done -0.63 0.08 0.208 2688 187.5 2.53 0.068 2764 548.2 -107.1 - - 3475 - - - - - - - - 14.28 14.41 14.42
2748 256.1 -7.3 153 2754 roll -0.72 - - 2689 - 2.38 0.041 1380 -581.5 -107.1 - - 3473 - - - - - - - - 14.93 14.52 14.93
2782 258.6 -7.3 158 2788 done -0.82 0.08 0.087 2616 -912.5 2.53 0.069 2771 549.8 -107.1 - - 3472 - - - - - - - - 14.47 14.41 14.54
3140 294.7 -10.2 167 3141 done -0.82 - - 2616 - - - 2771 - -107.1 - - 3469 - - - - - - - - 14.93 14.93 14.93
3476 327.9 -9.8 173 3482 roll -0.82 - - 2615 - 2.40 0.043 1376 -581.2 -107.1 - - 3467 - - - - - - - - 14.94 14.55 14.94
3510 331.2 -9.4 178 3517 done -0.82 0.08 0.234 2628 162.5 2.53 0.069 2766 549.4 -107.1 - - 3467 - - - - - - - - 14.21 14.40 14.39
3868 362.6 -8.8 187 3873 roll -0.82 - - 2620 - 2.03 0.112 3815 516.7 -107.1 - - 3465 - - - - - - - - 14.94 14.29 14.94
3909 366.6 -9.5 193 3916 done -0.82 - - 2620 - 1.80 0.041 2768 -581.7 -107.1 - - 3465 - - - - - - - - 14.68 14.63 14.69
4260 400.3 -9.7 201 4266 roll -0.82 - - 2620 - 2.40 0.043 1379 -578.8 -107.1 - - 3463 - - - - - - - - 14.95 14.50 14.97
4301 404.4 -10.0 207 4307 done -0.82 - - 2612 - 2.53 0.068 2766 548.2 -107.1 - - 3463 - - - - - - - - 14.50 14.40 14.55
4652 443.1 -11.2 215 4653 done -0.82 - - 2611 - - - 2766 - -107.1 - - 3461 - - - - - - - - 14.95 14.96 14.95
4988 481.3 -11.2 221 4994 roll -0.82 - - 2602 - 2.05 0.112 3828 518.0 -107.1 - - 3460 - - - - - - - - 14.93 14.30 14.94
5092 492.8 -10.6 236 5100 done -0.82 0.10 0.223 2630 280.0 1.80 0.042 2774 -585.6 -107.1 - - 3460 - - - - - - - - 14.23 14.66 14.39
5436 521.8 -8.1 243 5441 roll -0.82 - - 2630 - 2.40 0.042 1373 -583.8 -107.1 - - 3458 - - - - - - - - 14.93 14.51 14.93
5498 526.7 -7.6 252 5504 done -0.82 - - 2621 - 2.53 0.067 2769 551.8 -107.1 - - 3458 - - - - - - - - 14.48 14.38 14.52
5828 552.3 -7.8 264 5833 roll -0.82 - - 2620 - 2.40 0.042 1373 -581.7 -107.1 - - 3457 - - - - - - - - 14.95 14.51 14.95
5876 556.3 -8.0 271 5883 done -0.82 - - 2611 - 2.50 0.067 2755 552.8 -107.1 - - 3457 - - - - - - - - 14.46 14.35 14.50
6220 587.1 -9.1 278 6225 roll -0.82 - - 2603 - 2.05 0.112 3822 520.5 -107.1 - - 3455 - - - - - - - - 14.92 14.25 14.92
6247 589.9 -9.9 282 6253 done -0.82 0.08 0.257 2629 325.0 1.85 0.042 2749 -580.0 -107.1 - - 3455 - - - - - - - - 14.24 14.63 14.38
6612 623.6 -9.4 292 6617 roll -0.82 - - 2628 - 2.38 0.043 1365 -581.5 -107.1 - - 3453 - - - - - - - - 14.92 14.47 14.92
6653 627.7 -9.8 298 6659 done -0.82 - - 2619 - 2.53 0.067 2758 550.6 -107.1 - - 3451 - - - - - - - - 14.45 14.35 14.50
7004 662.0 -9.7 306 7005 done -0.82 - - 2619 - - - 2757 - -107.1 - - 3452 - - - - - - - - 14.95 14.93 14.95
7340 693.6 -9.3 312 7345 roll -0.82 - - 2619 - 2.40 0.043 1380 -573.8 -107.1 - - 3448 - - - - - - - - 14.92 14.42 14.92
7374 696.8 -9.4 317 7381 done -0.82 - - 2610 - 2.53 0.068 2756 543.9 -107.1 - - 3450 - - - - - - - - 14.43 14.33 14.47
7732 730.6 -9.5 326 7737 roll -0.82 - - 2601 - 2.03 0.111 3825 526.6 -107.1 - - 3449 - - - - - - - - 14.94 14.26 14.94
7766 734.1 -10.3 331 7772 done -0.82 0.10 0.243 2635 340.0 1.85 0.044 2760 -575.7 -107.1 - - 3452 - - - - - - - - 14.18 14.60 14.33
8124 763.4 -8.1 340 8129 roll -0.82 - - 2635 - 2.40 0.044 1368 -580.0 -107.1 - - 3447 - - - - - - - - 14.91 14.44 14.91
8151 765.7 -8.3 344 8157 done -0.82 - - 2625 - 2.55 0.067 2754 543.5 -107.1 - - 3447 - - - - - - - - 14.39 14.29 14.44
8516 795.3 -8.1 354 8516 done -0.82 - - 2626 - - - 2755 - -107.1 - - 3449 - - - - - - - - 14.91 14.91 14.91
8852 821.5 -7.7 360 8857 roll -0.82 - - 2625 - 2.45 0.044 1355 -571.4 -107.1 - - 3445 - - - - - - - - 14.93 14.40 14.93
8908 825.6 -6.8 368 8913 done -0.82 - - 2616 - 2.55 0.067 2761 551.4 -107.1 - - 3445 - - - - - - - - 14.51 14.35 14.54
9244 852.0 -7.8 381 9250 roll -0.82 - - 2608 - 2.05 0.114 3816 514.6 -107.1 - - 3443 - - - - - - - - 14.90 14.12 14.90
9278 854.8 -6.8 386 9284 done -0.82 - - 2607 - 1.85 0.044 2750 -576.2 -107.1 - - 3443 - - - - - - - - 14.54 14.52 14.57
9636 884.0 -8.2 395 9641 roll -0.82 - - 2606 - 2.38 0.044 1374 -578.2 -107.1 - - 3442 - - - - - - - - 14.90 14.42 14.90
9677 887.1 -7.3 401 9684 done -0.82 0.12 0.217 2633 225.0 2.53 0.067 2749 543.5 -107.1 - - 3442 - - - - - - - - 14.02 14.27 14.20
10028 912.0 -7.0 409 10034 roll -0.82 - - 2625 - 2.08 0.114 3820 514.9 -107.1 - - 3441 - - - - - - - - 14.92 14.14 14.92
10104 917.9 -7.8 420 10110 done -0.82 - - 2624 - 1.88 0.044 2748 -570.2 -107.1 - - 3444 - - - - - - - - 14.60 14.54 14.62
10305 end dive: TARGET_DEPTH_EXCEEDED
10305 begin apogee
10312 933.2 -7.6 428 10425 roll -0.23 0.68 0.173 2823 292.6 0.10 0.156 2271 -4770.0 - 110.62 1.962 3049 -3.6 0.338 - - - - - - 14.10 13.93 12.99
10426 end apogee: CONTROL_FINISHED_OK
10426 begin climb
10429 936.6 - 430 10556 roll 0.93 1.12 0.092 3184 322.3 2.60 0.056 850 -546.5 107.1 117.50 1.955 2625 -3.6 0.344 - - - - - - 13.97 14.02 12.87
10562 932.7 7.0 450 10584 done 0.72 0.17 0.216 3140 -258.8 2.55 0.049 2234 542.7 122.2 17.50 2.046 2562 -3.6 0.327 - - - - - - 13.69 13.83 12.88
10920 906.6 7.6 459 10925 roll 0.72 - - 3140 - 2.67 0.099 3663 535.2 124.8 - - 2548 - - - - - - - - 14.67 14.28 14.68
10988 900.7 8.6 469 10996 done 0.62 0.15 0.216 3108 -213.3 2.47 0.040 2236 -577.7 124.8 - - 2548 - - - - - - - - 14.14 14.41 14.30
11312 879.7 6.5 480 11346 roll 0.65 - - 3107 - 2.78 0.101 3653 509.7 150.5 30.25 1.953 2446 -3.4 0.303 - - - - - - 14.79 14.26 13.36
11416 871.8 8.0 495 11422 done 0.65 - - 3117 - 2.42 0.040 2242 -583.1 150.5 - - 2441 - - - - - - - - 14.45 14.38 14.47
11752 847.3 7.3 508 11765 roll 0.67 - - 3117 - 2.72 0.101 3656 519.9 159.6 4.57 1.912 2418 -5.0 0.444 - - - - - - 14.76 14.42 12.94
11800 843.2 8.6 515 11808 done 0.67 - - 3135 - 2.42 0.040 2258 -577.7 159.6 1.35 0.257 2416 - - - - - - - - 14.50 14.47 13.96
12145 815.9 7.9 522 12150 roll 0.67 - - 3128 - 2.62 0.099 3653 532.4 159.6 1.45 0.272 2415 - - - - - - - - 14.82 14.23 13.97
12186 812.3 8.7 528 12192 done 0.67 - - 3139 - 2.42 0.040 2261 -575.2 159.6 - - 2421 - - - - - - - - 14.53 14.50 14.56
12536 782.4 8.5 536 12537 done 0.67 - - 3139 - - - 2257 - 159.6 - - 2421 - - - - - - - - 14.83 14.83 14.83
12873 753.9 8.5 542 12878 roll 0.67 - - 3140 - 2.65 0.102 3653 526.8 159.6 - - 2422 - - - - - - - - 14.86 14.33 14.87
12906 750.6 9.5 547 12914 done 0.67 0.10 0.217 3121 -190.0 2.42 0.041 2254 -578.1 159.6 0.73 0.250 2416 -8.2 4.916 - - - - - - 14.19 14.50 14.16
13264 721.1 8.2 556 13270 roll 0.67 - - 3121 - 2.67 0.102 3662 527.3 159.6 - - 2421 - - - - - - - - 14.85 14.30 14.86
13312 716.7 9.3 563 13320 done 0.67 - - 3130 - 2.42 0.041 2260 -579.3 159.6 - - 2421 - - - - - - - - 14.48 14.43 14.50
13656 689.3 7.8 570 13662 roll 0.67 - - 3141 - 2.45 0.061 864 -569.8 159.6 - - 2421 - - - - - - - - 14.88 14.40 14.88
13677 687.7 7.6 573 13684 done 0.67 - - 3140 - 2.47 0.053 2262 566.0 162.4 2.88 1.183 2406 -5.2 0.603 - - - - - - 14.46 14.39 12.98
13992 663.9 7.5 583 14012 roll 0.67 - - 3140 - 2.62 0.103 3651 530.2 167.2 11.25 1.996 2381 -2.2 0.147 - - - - - - 14.85 14.49 13.57
14096 655.1 8.4 598 14105 done 0.67 0.08 0.230 3127 -162.5 2.42 0.040 2253 -577.7 167.2 - - 2379 - - - - - - - - 14.22 14.47 14.36
14440 630.9 7.0 605 14461 roll 0.69 - - 3138 - 2.50 0.061 871 -552.8 181.2 16.42 1.858 2325 -3.3 0.222 - - - - - - 14.83 14.45 13.57
14482 627.9 7.0 611 14503 done 0.71 - - 3138 - 2.47 0.053 2261 562.8 195.6 16.67 1.821 2270 -3.3 0.227 - - - - - - 14.45 14.36 13.46
14825 600.8 7.9 625 14831 roll 0.71 - - 3138 - 2.60 0.102 3657 536.9 195.6 - - 2259 - - - - - - - - 14.74 14.26 14.74
14901 593.8 9.4 636 14908 done 0.71 - - 3148 - 2.42 0.040 2275 -571.1 195.6 - - 2258 - - - - - - - - 14.47 14.42 14.49
15217 564.4 9.4 646 15223 roll 0.71 - - 3159 - 2.47 0.062 858 -573.7 195.6 - - 2258 - - - - - - - - 14.80 14.37 14.80
15259 560.3 9.9 652 15265 done 0.71 0.08 0.213 3136 -287.5 2.50 0.054 2264 562.4 195.6 - - 2258 - - - - - - - - 14.18 14.37 14.33
15609 528.5 9.0 660 15615 roll 0.71 - - 3135 - 2.60 0.103 3658 536.2 195.6 - - 2258 - - - - - - - - 14.83 14.28 14.83
15679 521.9 9.3 670 15685 done 0.71 - - 3145 - 2.42 0.041 2267 -574.8 195.6 - - 2258 - - - - - - - - 14.50 14.45 14.53
16001 496.0 7.9 681 16007 roll 0.71 - - 3156 - 2.47 0.063 855 -571.7 195.6 - - 2258 - - - - - - - - 14.86 14.38 14.86
16035 493.1 8.1 686 16042 done 0.71 - - 3156 - 2.50 0.054 2265 564.0 195.6 - - 2257 - - - - - - - - 14.43 14.38 14.50
16393 461.5 8.9 695 16399 roll 0.71 - - 3156 - 2.60 0.102 3654 534.2 195.6 - - 2258 - - - - - - - - 14.87 14.28 14.88
16449 455.9 10.2 703 16455 done 0.71 0.12 0.230 3131 -208.3 2.42 0.041 2272 -571.1 195.6 - - 2258 - - - - - - - - 14.18 14.45 14.45
16786 429.8 7.6 716 16791 roll 0.71 - - 3130 - 2.65 0.103 3654 521.5 198.6 - - 2258 - - - - - - - - 14.85 14.27 14.85
16847 424.2 9.1 725 16855 done 0.71 - - 3141 - 2.40 0.040 2273 -575.4 198.6 - - 2258 - - - - - - - - 14.52 14.47 14.52
17177 396.9 8.3 737 17184 roll 0.71 - - 3151 - 2.50 0.061 858 -566.0 198.6 - - 2258 - - - - - - - - 14.85 14.35 14.85
17246 391.2 8.1 747 17253 done 0.71 - - 3151 - 2.50 0.053 2276 567.2 198.6 - - 2258 - - - - - - - - 14.42 14.35 14.46
17569 364.6 8.3 758 17575 roll 0.71 - - 3151 - 2.60 0.102 3647 527.3 198.6 - - 2258 - - - - - - - - 14.88 14.26 14.88
17631 358.5 9.9 767 17638 done 0.71 0.10 0.209 3132 -190.0 2.40 0.040 2267 -575.0 198.6 - - 2258 - - - - - - - - 14.12 14.45 14.28
17961 331.5 8.2 779 17962 done 0.71 - - 3132 - - - 2266 - 198.6 - - 2258 - - - - - - - - 14.86 14.86 14.85
18297 304.3 8.1 785 18303 roll 0.71 - - 3142 - 2.47 0.061 862 -568.4 198.6 - - 2258 - - - - - - - - 14.87 14.34 14.86
18324 302.0 8.1 789 18332 done 0.71 - - 3142 - 2.47 0.053 2266 568.4 198.6 - - 2258 - - - - - - - - 14.43 14.35 14.47
18690 271.9 8.3 799 18695 roll 0.71 - - 3141 - 2.62 0.103 3660 532.1 198.6 - - 2258 - - - - - - - - 14.88 14.24 14.89
18745 266.8 9.3 807 18751 done 0.71 - - 3152 - 2.35 0.039 2280 -587.2 198.6 - - 2258 - - - - - - - - 14.57 14.49 14.59
19081 240.8 7.5 820 19089 roll 0.72 - - 3163 - 2.55 0.060 855 -558.8 203.6 3.22 1.160 2243 -4.7 0.193 - - - - - - 14.86 14.45 13.14
19109 238.8 7.0 824 19136 done 0.74 - - 3162 - 2.50 0.052 2275 568.0 219.2 22.88 1.369 2175 -3.0 0.103 - - - - - - 14.52 14.45 13.66
19466 210.1 8.2 840 19472 roll 0.74 - - 3162 - 2.58 0.101 3653 534.1 219.2 - - 2164 - - - - - - - - 14.78 14.26 14.78
19514 205.4 10.0 847 19522 done 0.74 0.10 0.207 3143 -190.0 2.40 0.039 2275 -574.2 219.2 - - 2165 - - - - - - - - 14.14 14.43 14.28
19859 175.1 8.9 854 19860 done 0.74 - - 3143 - - - 2274 - 219.2 - - 2162 - - - - - - - - 14.84 14.88 14.84
20194 145.9 8.6 860 20200 roll 0.74 - - 3143 - 2.62 0.100 3653 526.3 219.2 - - 2165 - - - - - - - - 14.86 14.26 14.86
20235 142.2 9.1 866 20242 done 0.74 - - 3159 - 2.40 0.038 2275 -574.2 219.2 - - 2165 - - - - - - - - 14.51 14.46 14.52
20587 114.8 7.9 874 20592 roll 0.74 - - 3163 - 2.47 0.061 855 -574.9 219.2 - - 2165 - - - - - - - - 14.88 14.37 14.85
20613 112.3 8.9 878 20620 done 0.74 - - 3163 - 2.53 0.052 2286 565.6 219.2 - - 2164 - - - - - - - - 14.44 14.36 14.47
20950 83.1 7.9 891 20956 roll 0.74 - - 3163 - 2.55 0.102 3657 537.6 219.2 - - 2165 - - - - - - - - 14.85 14.26 14.85
21090 71.8 7.0 911 21103 done 0.76 - - 3173 - 2.35 0.038 2267 -591.5 234.8 6.35 0.363 2118 -7.4 0.292 - - - - - - 14.57 14.48 13.87
21427 54.7 5.0 926 21460 roll 0.83 - - 3173 - 2.62 0.100 3658 530.9 290.4 28.35 0.332 1893 -7.9 0.260 - - - - - - 14.85 14.38 14.07
21483 52.1 5.1 934 21517 done 0.99 0.05 0.198 3246 1460.0 2.30 0.038 2292 -593.9 343.7 27.05 0.324 1680 -7.9 0.252 - - - - - - 14.41 14.52 14.04
21849 28.4 6.5 953 21866 roll 1.02 - - 3255 - 2.47 0.060 872 -574.9 368.1 11.80 0.249 1584 -8.1 0.185 - - - - - - 14.81 14.35 14.03
21888 26.3 4.7 959 21923 done 1.19 - - 3253 - 2.50 0.050 2291 567.6 429.1 30.35 0.243 1340 -8.0 0.173 - - - - - - 14.40 14.33 14.12
22241 7.8 5.8 976 22267 roll 1.45 0.22 0.066 3415 736.4 2.53 0.062 876 -559.3 468.0 18.25 0.179 1186 -8.4 0.073 - - - - - - 14.51 14.35 14.13
22298 end climb: SURFACE_DEPTH_REACHED
22298 begin surface coast
22307 end surface coast: CONTROL_FINISHED_OK
22307 begin surface
SM 0.54 - - - - -8.40 9.12 0.038 180 19.7 3.38 0.063 2759 -2413.3 500.14 15.00 0.163 1056 70.4 -0.024 - - - - - -