SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 353 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 128.64 of 350.00 AH used of 24V (63.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth -2.62 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 18 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
15 - - - 93 done -0.93 - - 106 - - - 2786 - -107.1 -76.85 - 3478 - - - - - - - - 14.70 12.63 14.70
96 -1.2 -4.3 2 116 roll -0.93 11.57 0.373 2590 214.7 2.40 0.034 1360 -594.2 -107.1 - - 3480 - - - - - - - - 14.03 14.43 14.40
129 22.3 -46.4 8 137 done -0.09 1.02 0.249 2863 267.6 2.58 0.074 2763 543.8 -107.1 - - 3480 - - - - - - - - 14.12 14.31 14.40
452 48.0 -6.0 21 453 done -0.31 0.12 0.103 2773 -750.0 - - 2763 - -107.1 - - 3481 - - - - - - - - 14.57 14.65 14.63
760 67.3 -5.0 32 766 roll -0.45 - - 2767 - 2.00 0.112 3820 528.5 -107.1 - - 3482 - - - - - - - - 14.88 14.34 14.88
958 75.3 -2.7 60 964 done -0.63 0.15 0.085 2664 -686.7 1.77 0.042 2725 -618.6 -107.1 - - 3480 - - - - - - - - 14.57 14.64 14.63
1292 104.5 -7.9 74 1298 roll -0.63 0.10 0.230 2682 180.0 2.08 0.104 3832 532.2 -107.1 - - 3483 - - - - - - - - 14.43 14.39 14.62
1404 112.8 -7.5 90 1409 done -0.63 - - 2685 - 1.75 0.041 2778 -602.3 -107.1 - - 3483 - - - - - - - - 14.63 14.62 14.65
1740 136.6 -7.2 103 1745 roll -0.63 - - 2683 - 2.35 0.044 1382 -594.0 -107.1 - - 3481 - - - - - - - - 14.93 14.58 14.93
1809 141.5 -7.1 113 1815 done -0.63 - - 2676 - 2.50 0.067 2788 562.4 -107.1 - - 3482 - - - - - - - - 14.57 14.49 14.62
2132 165.3 -7.4 124 2133 done -0.63 - - 2676 - - - 2789 - -107.1 - - 3480 - - - - - - - - 14.94 14.94 14.94
2468 191.4 -7.9 130 2473 roll -0.63 - - 2676 - 2.42 0.044 1374 -584.7 -107.1 - - 3480 - - - - - - - - 14.97 14.57 14.97
2530 196.5 -8.1 139 2537 done -0.63 0.08 0.210 2690 175.0 2.50 0.066 2777 561.2 -107.1 - - 3477 - - - - - - - - 14.33 14.48 14.48
2860 221.9 -7.8 151 2861 done -0.71 - - 2690 - - - 2777 - -107.1 - - 3474 - - - - - - - - 14.94 14.95 14.95
3196 247.1 -7.4 157 3202 roll -0.80 0.10 0.111 2613 -770.0 2.38 0.044 1385 -584.9 -107.1 - - 3471 - - - - - - - - 14.71 14.59 14.74
3237 251.1 -10.1 163 3244 done -0.80 0.10 0.226 2632 190.0 2.50 0.067 2777 556.8 -107.1 - - 3470 - - - - - - - - 14.27 14.46 14.44
3588 284.5 -9.4 171 3594 roll -0.80 - - 2625 - 2.00 0.109 3836 529.5 -107.1 - - 3469 - - - - - - - - 14.95 14.37 14.95
3644 289.8 -9.5 179 3650 done -0.80 - - 2624 - 1.77 0.042 2776 -598.9 -107.1 - - 3469 - - - - - - - - 14.67 14.65 14.69
3980 322.0 -9.8 192 3986 roll -0.80 - - 2623 - 2.40 0.043 1386 -579.2 -107.1 - - 3466 - - - - - - - - 14.95 14.52 14.95
4028 326.9 -9.8 199 4036 done -0.80 - - 2614 - 2.53 0.066 2793 556.1 -107.1 - - 3466 - - - - - - - - 14.55 14.45 14.59
4372 362.6 -10.6 206 4377 roll -0.80 - - 2603 - 1.95 0.109 3823 528.2 -107.1 - - 3464 - - - - - - - - 14.97 14.35 14.97
4406 366.5 -11.4 211 4413 done -0.80 0.12 0.230 2642 325.0 1.77 0.041 2773 -593.2 -107.1 - - 3464 - - - - - - - - 14.33 14.69 14.57
4764 399.8 -9.2 220 4765 done -0.80 - - 2642 - - - 2775 - -107.1 - - 3462 - - - - - - - - 14.96 14.96 14.96
5100 429.3 -8.7 226 5105 roll -0.80 - - 2643 - 2.40 0.044 1363 -588.3 -107.1 - - 3460 - - - - - - - - 14.97 14.53 14.97
5176 435.9 -8.6 237 5182 done -0.80 - - 2633 - 2.55 0.067 2777 554.5 -107.1 - - 3460 - - - - - - - - 14.52 14.42 14.56
5492 463.7 -8.8 247 5497 roll -0.80 - - 2625 - 1.98 0.111 3818 525.8 -107.1 - - 3458 - - - - - - - - 14.95 14.32 14.95
5526 466.8 -9.3 252 5533 done -0.80 - - 2624 - 1.77 0.043 2771 -591.5 -107.1 - - 3458 - - - - - - - - 14.71 14.69 14.73
5884 500.1 -9.4 261 5889 roll -0.80 - - 2623 - 2.40 0.043 1360 -587.9 -107.1 - - 3457 - - - - - - - - 14.95 14.53 14.96
5925 504.1 -9.5 267 5931 done -0.80 - - 2614 - 2.55 0.066 2780 556.9 -107.1 - - 3456 - - - - - - - - 14.53 14.44 14.57
6276 539.1 -10.1 275 6277 done -0.80 0.10 0.259 2642 280.0 - - 2780 - -107.1 - - 3455 - - - - - - - - 14.33 14.63 14.57
6612 567.8 -8.3 281 6613 done -0.80 - - 2643 - - - 2780 - -107.1 - - 3453 - - - - - - - - 14.95 14.96 14.95
6948 593.9 -7.6 287 6953 roll -0.80 - - 2643 - 2.40 0.044 1388 -580.0 -107.1 - - 3452 - - - - - - - - 14.96 14.51 14.96
6982 596.5 -7.6 292 6989 done -0.80 - - 2633 - 2.53 0.067 2779 549.8 -107.1 - - 3452 - - - - - - - - 14.49 14.40 14.53
7340 623.8 -7.7 301 7345 roll -0.80 - - 2632 - 2.40 0.044 1387 -580.0 -107.1 - - 3450 - - - - - - - - 14.92 14.51 14.93
7381 627.1 -8.1 307 7387 done -0.80 - - 2623 - 2.53 0.068 2771 547.0 -107.1 - - 3450 - - - - - - - - 14.47 14.38 14.51
7732 656.3 -8.4 315 7733 done -0.80 - - 2623 - - - 2772 - -107.1 - - 3448 - - - - - - - - 14.92 14.92 14.92
8068 685.3 -8.6 321 8069 done -0.80 - - 2623 - - - 2772 - -107.1 - - 3447 - - - - - - - - 14.95 14.95 14.95
8404 714.0 -8.5 327 8409 roll -0.80 - - 2621 - 2.45 0.045 1387 -565.3 -107.1 - - 3445 - - - - - - - - 14.95 14.44 14.95
8452 718.3 -8.8 334 8460 done -0.80 - - 2613 - 2.53 0.068 2769 546.2 -107.1 - - 3445 - - - - - - - - 14.46 14.36 14.50
8796 747.8 -8.6 341 8801 roll -0.80 - - 2612 - 2.40 0.046 1386 -576.2 -107.1 - - 3445 - - - - - - - - 14.94 14.47 14.94
8837 751.4 -8.6 347 8844 done -0.80 0.12 0.227 2638 216.7 2.53 0.069 2767 545.8 -107.1 - - 3445 - - - - - - - - 14.07 14.35 14.26
9188 778.1 -7.6 355 9189 done -0.80 - - 2637 - - - 2767 - -107.1 - - 3444 - - - - - - - - 14.94 14.94 14.93
9524 804.4 -7.9 361 9529 roll -0.80 - - 2638 - 2.40 0.045 1386 -575.4 -107.1 - - 3442 - - - - - - - - 14.94 14.43 14.94
9572 808.4 -8.0 368 9580 done -0.80 - - 2630 - 2.53 0.068 2768 546.2 -107.1 - - 3442 - - - - - - - - 14.41 14.31 14.44
9916 835.8 -8.2 375 9917 done -0.80 - - 2628 - - - 2768 - -107.1 - - 3441 - - - - - - - - 14.91 14.90 14.91
10252 863.4 -8.1 381 10257 roll -0.80 - - 2628 - 2.40 0.045 1390 -574.2 -107.1 - - 3440 - - - - - - - - 14.92 14.40 14.93
10286 866.4 -6.1 386 10293 done -0.80 - - 2619 - 2.53 0.069 2762 542.3 -107.1 - - 3439 - - - - - - - - 14.38 14.29 14.42
10644 896.3 -8.3 395 10645 done -0.80 - - 2617 - - - 2765 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
10980 924.9 -8.6 401 10981 done -0.80 - - 2619 - - - 2770 - -107.1 - - 3438 - - - - - - - - 14.90 14.90 14.90
11089 end dive: TARGET_DEPTH_EXCEEDED
11089 begin apogee
11096 934.4 -8.6 403 11211 roll -0.23 0.70 0.178 2822 290.0 - - 2232 - - 112.40 1.954 3050 -3.5 0.328 - - - - - - 14.12 13.99 13.05
11212 end apogee: CONTROL_FINISHED_OK
11212 begin climb
11215 938.6 - 405 11346 roll 0.93 1.12 0.092 3187 325.9 2.45 0.058 886 -549.4 107.1 117.93 1.958 2615 -3.7 0.352 - - - - - - 13.99 14.01 12.88
11578 919.2 7.4 458 11584 done 0.82 - - 3186 - 2.40 0.053 2259 572.1 114.8 1.77 0.273 2593 -12.4 8.324 - - - - - - 14.41 14.30 13.78
11927 892.9 7.5 466 11942 roll 0.69 0.22 0.230 3125 -277.3 2.65 0.100 3653 526.0 119.6 10.23 2.140 2574 -1.9 0.154 - - - - - - 14.18 14.40 13.43
12172 876.0 6.8 501 12202 done 0.63 0.10 0.216 3107 -180.0 2.40 0.040 2269 -576.7 138.0 23.23 1.987 2494 -3.4 0.302 - - - - - - 14.21 14.47 13.42
12537 854.8 5.8 511 12585 roll 0.67 - - 3106 - 2.70 0.099 3649 511.1 176.3 43.67 1.932 2342 -3.5 0.306 - - - - - - 14.76 14.16 13.35
12641 847.6 7.7 526 12647 done 0.68 - - 3116 - 2.42 0.041 2259 -574.4 177.0 - - 2338 - - - - - - - - 14.38 14.31 14.38
12977 823.4 7.3 539 12982 done 0.69 - - 3116 - - - 2254 - 185.4 3.17 1.360 2313 -7.9 0.950 - - - - - - 14.73 14.39 12.93
13314 799.0 7.2 545 13341 roll 0.70 - - 3116 - 2.62 0.100 3649 532.4 196.8 20.98 1.963 2258 -2.6 0.212 - - - - - - 14.81 14.35 13.49
13369 794.4 8.1 553 13375 done 0.70 - - 3125 - 2.45 0.041 2260 -566.9 196.8 - - 2255 - - - - - - - - 14.42 14.38 14.45
13705 766.2 8.4 566 13711 roll 0.70 - - 3126 - 2.60 0.099 3649 534.2 196.8 - - 2252 - - - - - - - - 14.76 14.33 14.76
13732 763.7 9.2 570 13739 done 0.70 - - 3136 - 2.42 0.041 2259 -574.4 196.8 - - 2252 - - - - - - - - 14.50 14.47 14.53
14097 732.6 8.5 580 14103 roll 0.70 - - 3147 - 2.45 0.063 853 -573.9 196.8 - - 2251 - - - - - - - - 14.82 14.41 14.82
14138 729.0 8.7 586 14145 done 0.70 - - 3146 - 2.47 0.054 2254 567.2 196.8 - - 2251 - - - - - - - - 14.49 14.41 14.53
14489 697.8 9.0 594 14495 roll 0.70 - - 3146 - 2.62 0.099 3647 531.7 196.8 - - 2251 - - - - - - - - 14.85 14.31 14.85
14551 691.5 10.1 603 14558 done 0.70 0.10 0.220 3127 -190.0 2.42 0.040 2257 -574.4 196.8 - - 2251 - - - - - - - - 14.20 14.50 14.37
14881 664.1 8.3 615 14882 done 0.70 - - 3127 - - - 2253 - 196.8 - - 2250 - - - - - - - - 14.88 14.88 14.88
15218 637.0 8.0 621 15223 roll 0.70 - - 3127 - 2.62 0.099 3652 534.0 196.8 - - 2250 - - - - - - - - 14.86 14.33 14.86
15244 634.6 8.6 625 15251 done 0.70 - - 3137 - 2.42 0.041 2258 -576.0 196.8 - - 2250 - - - - - - - - 14.54 14.50 14.57
15609 606.5 7.5 635 15615 roll 0.71 - - 3147 - 2.45 0.063 862 -569.8 201.3 - - 2250 - - - - - - - - 14.86 14.39 14.86
15643 603.8 7.7 640 15651 done 0.71 - - 3148 - 2.47 0.056 2261 566.4 201.4 - - 2250 - - - - - - - - 14.47 14.39 14.50
16001 576.7 7.6 649 16007 roll 0.71 - - 3148 - 2.60 0.098 3658 537.3 205.0 1.58 0.263 2237 -8.2 3.588 - - - - - - 14.87 14.14 13.83
16049 572.5 8.9 656 16058 done 0.71 - - 3158 - 2.42 0.041 2259 -578.1 205.0 1.50 0.240 2238 - - - - - - - - 14.52 14.47 13.80
16394 544.1 8.3 663 16397 done 0.71 - - 3158 - - - 2259 - 205.0 2.08 0.426 2234 -1.9 0.489 - - - - - - 14.85 14.36 12.74
16729 513.7 9.2 669 16732 done 0.71 - - 3158 - - - 2259 - 205.0 1.75 0.286 2234 - - - - - - - - 14.87 14.22 13.55
17065 481.4 9.6 675 17072 roll 0.71 - - 3158 - 2.62 0.099 3651 531.3 205.0 1.80 0.301 2236 - - - - - - - - 14.87 14.00 13.51
17106 477.0 10.8 681 17113 done 0.71 0.12 0.210 3132 -216.7 2.42 0.040 2262 -574.0 205.0 1.52 0.290 2234 - - - - - - - - 14.12 14.48 13.62
17457 446.4 8.7 689 17463 roll 0.71 - - 3143 - 2.47 0.061 853 -570.4 205.0 1.65 0.278 2237 1.8 -0.581 - - - - - - 14.86 14.04 13.62
17505 442.1 8.8 696 17514 done 0.71 - - 3143 - 2.50 0.054 2266 565.2 205.0 1.08 0.231 2237 - - - - - - - - 14.43 14.35 14.07
17850 412.3 8.7 703 17855 roll 0.71 - - 3142 - 2.60 0.100 3658 535.4 205.0 1.60 0.272 2236 - - - - - - - - 14.85 14.06 13.69
17911 406.3 9.6 712 17919 done 0.71 - - 3151 - 2.42 0.039 2265 -575.6 205.0 1.62 0.290 2237 - - - - - - - - 14.50 14.45 13.61
18241 378.4 8.3 724 18248 roll 0.71 - - 3163 - 2.47 0.062 852 -572.1 205.0 1.95 0.327 2237 - - - - - - - - 14.88 14.05 13.57
18268 376.2 8.0 728 18276 done 0.71 0.10 0.200 3133 -300.0 2.50 0.054 2272 568.0 205.0 1.12 0.253 2239 - - - - - - - - 14.14 14.36 13.90
18633 350.4 7.0 738 18660 roll 0.73 - - 3133 - 2.55 0.100 3659 543.9 219.6 23.05 1.502 2170 -3.0 0.139 - - - - - - 14.86 14.32 13.64
18695 345.5 8.5 747 18702 done 0.73 - - 3142 - 2.42 0.040 2263 -576.9 219.6 - - 2165 - - - - - - - - 14.48 14.45 14.50
19025 319.6 7.9 759 19031 roll 0.73 - - 3153 - 2.45 0.063 860 -572.7 219.6 - - 2162 - - - - - - - - 14.81 14.32 14.81
19052 317.3 8.0 763 19059 done 0.73 - - 3153 - 2.50 0.054 2272 564.8 219.6 - - 2162 - - - - - - - - 14.42 14.35 14.46
19417 287.6 8.2 773 19423 roll 0.73 - - 3153 - 2.58 0.102 3656 536.4 219.6 - - 2162 - - - - - - - - 14.83 14.27 14.83
19444 285.0 9.2 777 19451 done 0.73 - - 3163 - 2.42 0.040 2265 -574.8 219.6 - - 2162 - - - - - - - - 14.50 14.45 14.52
19810 252.0 9.3 787 19810 done 0.73 - - 3164 - - - 2260 - 219.6 - - 2163 - - - - - - - - 14.83 14.84 14.84
20146 218.9 9.9 793 20151 roll 0.73 - - 3164 - 2.60 0.099 3650 534.6 219.6 - - 2162 - - - - - - - - 14.88 14.28 14.88
20179 215.4 10.5 798 20186 done 0.73 0.12 0.202 3137 -225.0 2.40 0.039 2270 -575.0 219.6 - - 2163 - - - - - - - - 14.12 14.46 14.30
20538 189.5 6.8 807 20564 roll 0.75 - - 3137 - 2.62 0.099 3656 529.0 238.5 19.12 1.344 2094 -3.6 0.101 - - - - - - 14.85 14.45 13.75
20641 181.7 7.8 822 20649 done 0.75 - - 3147 - 2.42 0.038 2265 -574.8 238.5 - - 2089 - - - - - - - - 14.50 14.46 14.53
20985 154.9 8.1 829 20991 roll 0.75 - - 3147 - 2.60 0.099 3652 533.5 238.5 - - 2089 - - - - - - - - 14.83 14.31 14.83
21110 142.8 9.8 847 21117 done 0.75 - - 3157 - 2.40 0.040 2275 -573.8 238.5 - - 2089 - - - - - - - - 14.49 14.45 14.52
21433 115.5 8.4 858 21439 roll 0.75 - - 3157 - 2.58 0.099 3651 533.3 238.5 - - 2089 - - - - - - - - 14.86 14.28 14.86
21616 98.6 8.6 884 21622 done 0.75 - - 3167 - 2.33 0.039 2279 -588.8 238.5 - - 2089 - - - - - - - - 14.60 14.52 14.62
21937 74.9 6.6 897 21951 roll 0.78 - - 3167 - 2.62 0.097 3652 524.0 261.5 9.82 0.383 2010 -8.0 0.313 - - - - - - 14.84 14.40 13.99
22055 65.6 8.1 914 22062 done 0.78 - - 3176 - 2.33 0.037 2305 -578.1 261.5 1.12 0.214 2009 - - - - - - - - 14.52 14.49 14.15
22379 53.0 2.7 927 22435 roll 1.03 0.10 0.119 3245 690.0 2.58 0.099 3655 523.3 363.0 51.47 0.331 1604 -7.9 0.251 - - - - - - 14.54 14.39 14.09
22560 38.1 5.1 953 22594 done 1.10 - - 3256 - 2.33 0.038 2307 -578.5 415.7 26.45 0.291 1390 -8.1 0.211 - - - - - - 14.51 14.47 14.08
22913 16.9 5.8 970 22939 roll 1.28 0.08 0.145 3323 837.5 2.55 0.101 3659 530.2 453.8 19.10 0.220 1243 -7.7 0.118 - - - - - - 14.52 14.31 14.11
23068 end climb: SURFACE_DEPTH_REACHED
23068 begin surface coast
23076 end surface coast: CONTROL_FINISHED_OK
23076 begin surface
SM -2.22 - - - - -8.38 9.32 0.080 177 19.0 1.52 0.041 2754 -5201.3 500.14 21.95 0.167 1057 48.1 0.065 - - - - - -