SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 166 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 65.72 of 350.00 AH used of 24V (81.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.7 deg, depth -0.68 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 4 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 98 done -0.90 - - 153 - - - 2784 - -116.8 -75.75 - 3516 - - - - - - - - 14.66 13.19 14.66
100 0.8 -4.4 2 122 roll -0.90 11.57 0.394 2602 211.7 2.38 0.031 1352 -601.7 -116.8 - - 3516 - - - - - - - - 14.21 14.48 14.49
183 43.5 -28.1 15 191 done -0.53 0.47 0.262 2716 242.6 2.55 0.071 2765 554.1 -116.8 - - 3517 - - - - - - - - 14.23 14.40 14.40
513 88.2 -8.3 29 520 roll -0.53 - - 2709 - 1.98 0.106 3836 540.9 -116.8 - - 3519 - - - - - - - - 14.79 14.42 14.80
750 106.9 -3.5 63 758 done -0.53 - - 2708 - 1.80 0.039 2735 -611.7 -116.8 - - 3519 - - - - - - - - 14.71 14.66 14.71
1073 130.0 -7.3 74 1080 roll -0.53 - - 2700 - 2.05 0.103 3828 533.2 -116.8 - - 3520 - - - - - - - - 14.86 14.50 14.85
1269 144.3 -7.4 102 1276 done -0.53 - - 2700 - 1.73 0.040 2776 -608.1 -116.8 - - 3518 - - - - - - - - 14.69 14.67 14.71
1633 171.6 -7.6 112 1641 roll -0.53 - - 2700 - 2.35 0.044 1390 -589.8 -116.8 - - 3516 - - - - - - - - 14.89 14.57 14.89
1660 173.8 -8.1 116 1669 done -0.53 0.10 0.212 2720 200.0 2.45 0.068 2769 562.9 -116.8 - - 3517 - - - - - - - - 14.44 14.56 14.58
2025 200.9 -7.5 126 2028 done -0.61 - - 2721 - - - 2769 - -116.8 - - 3513 - - - - - - - - 14.89 14.89 14.89
2361 225.1 -7.1 132 2369 roll -0.70 0.08 0.147 2655 -825.0 2.33 0.045 1381 -595.7 -116.8 - - 3510 - - - - - - - - 14.66 14.62 14.73
2430 231.4 -9.3 142 2438 done -0.70 - - 2645 - 2.47 0.070 2758 557.5 -116.8 - - 3509 - - - - - - - - 14.63 14.54 14.66
2753 262.8 -9.7 153 2766 roll -0.70 0.08 0.273 2664 237.5 1.95 0.106 3837 553.3 -116.8 - - 3505 - - - - - - - - 14.47 14.57 14.62
2834 270.2 -8.9 164 2847 done -0.70 - - 2664 - 1.73 0.042 2767 -618.5 -116.8 - - 3506 - - - - - - - - 14.79 14.74 14.80
3153 298.3 -8.9 174 3166 roll -0.70 - - 2664 - 2.30 0.047 1390 -598.7 -116.8 - - 3503 - - - - - - - - 14.95 14.68 14.95
3205 303.1 -8.9 181 3219 done -0.70 - - 2654 - 2.45 0.072 2776 565.7 -116.8 - - 3503 - - - - - - - - 14.76 14.62 14.78
3550 335.3 -9.5 188 3563 roll -0.70 - - 2646 - 1.92 0.110 3829 548.4 -116.8 - - 3500 - - - - - - - - 14.95 14.58 14.95
3610 341.4 -10.3 196 3624 done -0.70 0.10 0.241 2675 290.0 1.73 0.044 2776 -608.7 -116.8 - - 3501 - - - - - - - - 14.50 14.77 14.71
3951 371.4 -8.7 209 3964 roll -0.70 - - 2675 - 2.35 0.045 1366 -600.0 -116.8 - - 3498 - - - - - - - - 14.95 14.69 14.95
3975 373.6 -8.6 212 3989 done -0.70 - - 2666 - 2.45 0.070 2773 574.3 -116.8 - - 3498 - - - - - - - - 14.78 14.63 14.80
4295 399.8 -8.1 222 4308 roll -0.70 - - 2657 - 1.92 0.112 3826 548.4 -116.8 - - 3495 - - - - - - - - 14.96 14.57 14.97
4334 402.9 -8.2 227 4347 done -0.70 - - 2657 - 1.75 0.045 2755 -612.0 -116.8 - - 3495 - - - - - - - - 14.81 14.76 14.83
4695 433.8 -8.8 236 4709 roll -0.70 - - 2657 - 2.30 0.045 1375 -600.0 -116.8 - - 3493 - - - - - - - - 14.95 14.69 14.96
4741 438.1 -9.4 242 4755 done -0.70 - - 2647 - 2.42 0.070 2765 574.4 -116.8 - - 3493 - - - - - - - - 14.78 14.62 14.80
5096 473.7 -10.3 250 5109 roll -0.70 - - 2639 - 1.95 0.112 3827 544.6 -116.8 - - 3492 - - - - - - - - 14.97 14.56 14.97
5135 478.0 -10.9 255 5148 done -0.70 0.12 0.231 2675 300.0 1.75 0.045 2758 -610.9 -116.8 - - 3492 - - - - - - - - 14.43 14.71 14.67
5496 510.8 -9.0 264 5510 roll -0.70 - - 2675 - 2.33 0.047 1373 -594.4 -116.8 - - 3489 - - - - - - - - 14.95 14.66 14.95
5535 514.3 -9.3 269 5549 done -0.70 - - 2666 - 2.45 0.070 2766 568.6 -116.8 - - 3489 - - - - - - - - 14.76 14.61 14.78
5897 545.5 -8.5 278 5910 done -0.70 - - 2666 - - - 2765 - -116.8 - - 3488 - - - - - - - - 14.95 14.95 14.95
6233 572.6 -8.0 284 6246 roll -0.70 - - 2666 - 2.38 0.047 1374 -584.5 -116.8 - - 3486 - - - - - - - - 14.95 14.67 14.97
6272 575.8 -8.1 289 6285 done -0.70 - - 2657 - 2.45 0.073 2766 568.2 -116.8 - - 3486 - - - - - - - - 14.76 14.60 14.79
6633 604.5 -7.9 298 6646 done -0.70 - - 2657 - - - 2766 - -116.8 - - 3484 - - - - - - - - 14.97 14.96 14.96
6969 630.4 -7.6 304 6983 roll -0.70 - - 2657 - 2.38 0.049 1375 -584.5 -116.8 - - 3483 - - - - - - - - 14.96 14.65 14.95
7008 633.5 -8.0 309 7022 done -0.70 - - 2649 - 2.47 0.072 2771 565.2 -116.8 - - 3482 - - - - - - - - 14.75 14.59 14.76
7370 661.7 -7.9 318 7383 done -0.70 - - 2648 - - - 2771 - -116.8 - - 3481 - - - - - - - - 14.94 14.94 14.95
7706 687.8 -7.8 324 7719 roll -0.70 - - 2648 - 2.40 0.047 1371 -583.3 -116.8 - - 3480 - - - - - - - - 14.94 14.65 14.95
7767 692.8 -8.4 332 7780 done -0.70 0.12 0.251 2674 216.7 2.50 0.072 2768 558.8 -116.8 - - 3480 - - - - - - - - 14.40 14.57 14.66
8108 718.5 -7.6 345 8121 roll -0.70 - - 2666 - 1.95 0.116 3824 541.5 -116.8 - - 3478 - - - - - - - - 14.95 14.49 14.95
8154 722.4 -9.2 351 8167 done -0.70 - - 2666 - 1.75 0.046 2765 -605.1 -116.8 - - 3479 - - - - - - - - 14.78 14.71 14.79
8508 750.8 -8.0 359 8522 roll -0.70 - - 2669 - 2.35 0.047 1373 -592.3 -116.8 - - 3477 - - - - - - - - 14.93 14.63 14.93
8561 755.2 -8.1 366 8575 done -0.70 - - 2657 - 2.47 0.072 2767 564.4 -116.8 - - 3477 - - - - - - - - 14.71 14.55 14.73
8905 781.7 -7.6 373 8918 done -0.70 - - 2656 - - - 2767 - -116.8 - - 3476 - - - - - - - - 14.92 14.92 14.92
9241 806.4 -7.3 379 9254 roll -0.70 - - 2657 - 2.40 0.047 1364 -584.6 -116.8 - - 3474 - - - - - - - - 14.93 14.62 14.92
9294 810.3 -7.2 386 9308 done -0.70 - - 2649 - 2.47 0.072 2763 566.4 -116.8 - - 3474 - - - - - - - - 14.66 14.48 14.69
9638 835.7 -7.6 393 9651 done -0.70 - - 2648 - - - 2763 - -116.8 - - 3473 - - - - - - - - 14.92 14.92 14.92
9974 860.9 -7.4 399 9987 done -0.70 - - 2648 - - - 2763 - -116.8 - - 3472 - - - - - - - - 14.92 14.92 14.92
10310 886.2 -7.5 405 10322 done -0.70 - - 2651 - - - 2763 - -116.8 - - 3473 - - - - - - - - 14.94 14.98 14.94
10646 911.3 -7.5 411 10659 roll -0.70 - - 2648 - 2.40 0.048 1365 -582.5 -116.8 - - 3471 - - - - - - - - 14.94 14.60 14.94
10719 916.7 -7.4 421 10733 done -0.70 0.12 0.248 2674 216.7 2.50 0.073 2763 559.2 -116.8 - - 3470 - - - - - - - - 14.35 14.52 14.62
10932 end dive: TARGET_DEPTH_EXCEEDED
10932 begin apogee
10938 930.8 -6.5 430 11062 roll -0.23 0.50 0.180 2824 300.0 - - 2234 - - 114.38 1.950 3049 -3.7 0.335 - - - - - - 14.40 14.08 13.30
11063 end apogee: CONTROL_FINISHED_OK
11063 begin climb
11065 934.4 - 432 11206 roll 0.90 1.10 0.112 3172 316.4 2.45 0.058 865 -558.8 116.8 121.72 1.955 2579 -3.9 0.352 - - - - - - 14.05 14.07 13.16
11211 928.8 8.5 455 11225 done 0.64 0.25 0.236 3108 -256.0 2.53 0.054 2260 551.4 116.8 - - 2574 - - - - - - - - 13.84 13.94 14.01
11555 903.9 7.3 462 11572 roll 0.65 - - 3106 - 2.58 0.103 3654 540.3 126.0 3.75 1.649 2550 -6.4 0.670 - - - - - - 14.63 14.38 13.30
11655 895.8 8.0 476 11669 done 0.55 0.12 0.243 3083 -191.7 2.38 0.042 2255 -587.8 126.0 1.17 0.252 2549 - - - - - - - - 14.23 14.46 14.20
12011 872.9 6.4 484 12059 done 0.58 - - 3083 - - - 2254 - 154.7 38.30 1.916 2433 -3.0 0.263 - - - - - - 14.76 14.31 13.61
12346 849.6 7.1 490 12378 roll 0.60 - - 3082 - 2.70 0.103 3652 517.8 169.0 15.38 2.035 2369 -4.2 0.332 - - - - - - 14.70 14.34 13.71
12446 841.7 8.2 504 12459 done 0.60 - - 3092 - 2.40 0.044 2258 -580.8 169.0 - - 2367 - - - - - - - - 14.50 14.43 14.52
12800 815.8 7.2 512 12825 roll 0.61 - - 3093 - 2.62 0.106 3651 531.7 180.4 11.43 2.088 2325 -3.7 0.274 - - - - - - 14.74 14.42 13.78
12864 811.0 8.6 521 12877 done 0.61 - - 3108 - 2.38 0.043 2259 -584.9 180.4 - - 2322 - - - - - - - - 14.56 14.49 14.61
13198 784.3 8.1 533 13211 done 0.61 - - 3102 - - - 2254 - 180.4 - - 2321 - - - - - - - - 14.77 14.77 14.77
13534 756.5 8.4 539 13547 roll 0.61 - - 3102 - 2.62 0.108 3660 536.6 180.4 - - 2320 - - - - - - - - 14.83 14.46 14.83
13565 753.5 8.9 543 13579 done 0.61 - - 3112 - 2.38 0.045 2261 -587.8 180.4 - - 2322 - - - - - - - - 14.68 14.60 14.70
13934 721.2 8.7 553 13947 done 0.61 - - 3112 - - - 2256 - 180.4 - - 2320 - - - - - - - - 14.85 14.85 14.85
14270 692.2 8.7 559 14284 roll 0.61 - - 3112 - 2.60 0.109 3650 536.2 180.4 - - 2319 - - - - - - - - 14.87 14.48 14.87
14351 684.2 9.8 570 14364 done 0.61 - - 3116 - 2.38 0.044 2247 -589.5 180.4 - - 2319 - - - - - - - - 14.71 14.63 14.73
14670 655.9 8.9 580 14684 roll 0.61 - - 3132 - 2.40 0.066 851 -581.7 180.4 - - 2319 - - - - - - - - 14.88 14.54 14.88
14709 652.5 8.7 585 14723 done 0.61 0.10 0.234 3103 -290.0 2.45 0.060 2269 578.8 180.4 - - 2320 - - - - - - - - 14.42 14.56 14.65
15071 625.3 7.3 594 15089 roll 0.63 - - 3103 - 2.53 0.108 3651 546.2 189.9 4.12 1.750 2301 -4.6 0.315 - - - - - - 14.88 14.62 13.59
15129 620.7 8.2 602 15143 done 0.63 - - 3112 - 2.38 0.044 2254 -587.0 189.9 1.38 0.299 2293 -5.8 2.297 - - - - - - 14.72 14.64 14.20
15471 595.2 7.4 615 15493 done 0.64 - - 3112 - - - 2251 - 196.8 13.48 1.877 2265 -2.1 0.126 - - - - - - 14.85 14.62 13.94
15806 569.2 7.8 621 15820 roll 0.64 - - 3112 - 2.62 0.106 3652 534.7 196.8 - - 2256 - - - - - - - - 14.81 14.45 14.81
15859 564.4 9.1 628 15873 done 0.64 - - 3121 - 2.40 0.044 2248 -585.0 196.8 - - 2257 - - - - - - - - 14.66 14.59 14.69
16203 535.6 8.4 635 16216 done 0.64 - - 3124 - - - 2244 - 196.8 - - 2256 - - - - - - - - 14.83 14.83 14.83
16539 508.7 7.9 641 16553 roll 0.64 - - 3121 - 2.65 0.104 3654 532.1 196.8 - - 2256 - - - - - - - - 14.85 14.47 14.85
16600 503.5 8.6 649 16613 done 0.64 - - 3130 - 2.38 0.042 2257 -587.0 196.8 - - 2256 - - - - - - - - 14.72 14.62 14.72
16941 476.3 8.0 662 16954 done 0.64 - - 3131 - - - 2252 - 196.8 - - 2256 - - - - - - - - 14.86 14.88 14.88
17277 448.3 8.4 668 17290 roll 0.64 - - 3131 - 2.60 0.104 3651 538.1 196.8 - - 2256 - - - - - - - - 14.88 14.47 14.88
17323 444.0 9.3 674 17336 done 0.64 0.12 0.243 3107 -200.0 2.35 0.042 2256 -593.6 196.8 - - 2256 - - - - - - - - 14.39 14.66 14.64
17678 416.7 7.7 682 17691 roll 0.64 - - 3116 - 2.40 0.061 862 -580.8 197.5 - - 2256 - - - - - - - - 14.89 14.55 14.89
17709 414.1 7.8 686 17723 done 0.64 - - 3116 - 2.40 0.054 2266 585.0 197.5 - - 2256 - - - - - - - - 14.70 14.57 14.72
18078 382.7 8.7 696 18091 roll 0.64 - - 3116 - 2.55 0.103 3657 545.5 197.5 - - 2256 - - - - - - - - 14.89 14.47 14.89
18124 378.2 10.1 702 18137 done 0.64 - - 3126 - 2.35 0.041 2258 -595.3 197.5 - - 2256 - - - - - - - - 14.72 14.64 14.73
18478 346.0 9.1 710 18492 roll 0.64 - - 3126 - 2.60 0.102 3658 538.5 197.5 - - 2256 - - - - - - - - 14.88 14.47 14.88
18524 341.4 10.2 716 18537 done 0.64 - - 3134 - 2.35 0.041 2258 -595.7 197.5 - - 2256 - - - - - - - - 14.73 14.65 14.74
18879 309.9 8.7 724 18892 roll 0.64 - - 3145 - 2.40 0.061 861 -582.1 197.5 - - 2256 - - - - - - - - 14.90 14.54 14.90
18917 306.5 8.6 729 18931 done 0.64 0.12 0.229 3109 -300.0 2.40 0.054 2267 585.8 197.5 - - 2256 - - - - - - - - 14.38 14.56 14.62
19279 280.9 7.0 738 19312 roll 0.66 - - 3109 - 2.58 0.103 3650 536.0 214.3 17.83 1.455 2189 -3.8 0.138 - - - - - - 14.90 14.54 14.05
19358 274.8 8.1 749 19372 done 0.66 - - 3117 - 2.33 0.041 2266 -594.0 214.3 - - 2186 - - - - - - - - 14.66 14.59 14.68
19678 251.0 7.5 759 19691 done 0.66 - - 3118 - - - 2261 - 220.1 1.38 0.274 2174 -8.7 1.521 - - - - - - 14.82 14.54 14.12
20014 225.1 7.8 765 20027 done 0.66 - - 3118 - - - 2261 - 220.1 1.33 0.272 2174 - - - - - - - - 14.85 14.57 14.19
20350 199.5 7.6 771 20368 roll 0.67 - - 3118 - 2.58 0.104 3654 539.9 223.4 4.43 1.463 2162 -2.7 0.071 - - - - - - 14.86 14.59 13.75
20414 193.9 8.9 780 20427 done 0.67 - - 3127 - 2.33 0.041 2268 -594.8 223.4 1.25 0.284 2159 -2.4 0.313 - - - - - - 14.71 14.64 14.22
20748 167.0 8.1 792 20761 roll 0.67 - - 3127 - 2.53 0.100 3656 548.6 223.4 1.35 0.285 2166 5.2 -0.580 - - - - - - 14.86 14.45 14.14
20773 164.8 8.1 795 20786 done 0.67 - - 3135 - 2.33 0.041 2269 -595.3 223.4 1.12 0.300 2161 -4.5 0.468 - - - - - - 14.72 14.64 14.17
21092 139.2 7.9 805 21106 roll 0.67 - - 3147 - 2.40 0.059 861 -586.7 223.4 1.45 0.301 2163 - - - - - - - - 14.87 14.40 13.98
21118 137.3 7.6 808 21137 done 0.67 - - 3146 - 2.42 0.055 2282 587.2 227.4 6.90 1.491 2146 -2.5 0.043 - - - - - - 14.69 14.57 14.05
21493 105.5 9.0 819 21506 roll 0.67 - - 3146 - 2.53 0.103 3658 543.9 227.4 - - 2146 - - - - - - - - 14.88 14.49 14.86
21573 99.4 7.1 830 21592 done 0.69 0.10 0.242 3128 -180.0 2.33 0.040 2262 -599.1 241.3 6.85 0.451 2089 -8.3 0.350 - - - - - - 14.41 14.64 14.21
21920 81.0 5.3 846 21959 roll 0.86 0.08 0.148 3195 837.5 2.38 0.058 870 -584.9 294.4 26.65 0.422 1876 -8.0 0.293 - - - - - - 14.62 14.52 14.23
22054 71.2 8.1 865 22070 done 0.86 - - 3199 - 2.42 0.053 2279 582.2 294.4 - - 1878 - - - - - - - - 14.62 14.50 14.64
22371 57.8 4.9 877 22410 done 1.02 - - 3195 - - - 2279 - 356.4 29.83 0.345 1631 -8.3 0.265 - - - - - - 14.84 14.61 14.28
22708 44.6 4.1 892 22760 roll 1.33 0.30 0.070 3335 466.7 2.50 0.099 3654 550.0 436.4 38.75 0.298 1312 -8.2 0.235 - - - - - - 14.59 14.47 14.30
22827 34.6 10.1 909 22841 done 1.33 - - 3343 - 2.30 0.040 2276 -599.1 436.4 - - 1315 - - - - - - - - 14.66 14.59 14.67
23161 4.1 9.2 923 23174 roll 1.33 - - 3354 - 2.42 0.067 863 -583.9 436.4 - - 1313 - - - - - - - - 14.85 14.54 14.82
23184 end climb: SURFACE_DEPTH_REACHED
23184 begin surface coast
23192 end surface coast: CONTROL_FINISHED_OK
23192 begin surface
SM -0.50 - - - - -8.38 9.40 0.090 197 21.0 3.33 0.059 2766 675.7 500.14 28.88 0.153 1056 36.6 0.012 - - - - - -