SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 176 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 69.16 of 350.00 AH used of 24V (80.24% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth -0.77 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.89 (SM_CC=500)
• GPS1 time: 29 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 98 done -0.90 - - 131 - - - 2789 - -116.8 -76.35 - 3515 - - - - - - - - 14.64 13.16 14.64
100 0.7 -4.5 2 122 roll -0.90 11.82 0.398 2606 209.4 2.40 0.032 1342 -602.9 -116.8 - - 3515 - - - - - - - - 14.20 14.45 14.47
141 28.9 -39.0 9 150 done -0.26 0.82 0.265 2807 245.1 2.58 0.070 2761 550.0 -116.8 - - 3519 - - - - - - - - 14.20 14.33 14.38
457 68.7 -9.0 21 464 roll -0.26 - - 2800 - 1.98 0.103 3820 534.8 -116.8 - - 3519 - - - - - - - - 14.73 14.36 14.74
526 74.5 -7.2 31 534 done -0.36 - - 2799 - 1.83 0.040 2730 -595.6 -116.8 - - 3519 - - - - - - - - 14.59 14.57 14.61
849 92.1 -4.8 44 857 roll -0.50 0.15 0.095 2710 -593.3 2.20 0.043 1396 -606.4 -116.8 - - 3520 - - - - - - - - 14.54 14.52 14.59
911 97.3 -8.9 53 919 done -0.50 0.10 0.218 2731 210.0 2.42 0.064 2773 569.0 -116.8 - - 3521 - - - - - - - - 14.33 14.46 14.47
1241 118.4 -5.7 62 1248 roll -0.50 - - 2731 - 2.38 0.043 1362 -592.9 -116.8 - - 3521 - - - - - - - - 14.77 14.52 14.76
1282 121.1 -6.2 68 1291 done -0.50 - - 2722 - 2.47 0.061 2767 568.8 -116.8 - - 3521 - - - - - - - - 14.54 14.47 14.57
1633 143.5 -7.6 76 1635 done -0.50 - - 2723 - - - 2767 - -116.8 - - 3519 - - - - - - - - 14.78 14.78 14.78
1969 165.7 -6.5 82 1976 roll -0.57 - - 2723 - 2.33 0.044 1395 -588.8 -116.8 - - 3518 - - - - - - - - 14.82 14.54 14.79
2025 169.3 -6.2 90 2032 done -0.66 - - 2714 - 2.42 0.063 2757 562.8 -116.8 - - 3517 - - - - - - - - 14.55 14.47 14.59
2361 191.0 -6.5 103 2363 done -0.66 - - 2714 - - - 2757 - -116.8 - - 3515 - - - - - - - - 14.78 14.78 14.76
2697 215.2 -7.2 109 2704 roll -0.66 - - 2714 - 2.33 0.044 1388 -587.6 -116.8 - - 3512 - - - - - - - - 14.78 14.54 14.79
2794 221.9 -6.7 123 2802 done -0.75 0.08 0.090 2644 -875.0 2.47 0.064 2771 559.9 -116.8 - - 3512 - - - - - - - - 14.52 14.47 14.60
3145 255.8 -9.9 131 3158 roll -0.75 - - 2636 - 1.92 0.103 3830 551.6 -116.8 - - 3509 - - - - - - - - 14.86 14.51 14.85
3253 267.7 -10.7 146 3267 done -0.75 - - 2636 - 1.75 0.042 2777 -601.7 -116.8 - - 3508 - - - - - - - - 14.68 14.66 14.69
3597 304.7 -10.7 153 3611 roll -0.75 - - 2636 - 2.33 0.044 1383 -598.3 -116.8 - - 3505 - - - - - - - - 14.92 14.65 14.92
3622 307.5 -10.9 156 3636 done -0.75 0.10 0.259 2655 190.0 2.45 0.067 2783 571.4 -116.8 - - 3505 - - - - - - - - 14.42 14.60 14.66
3942 337.7 -9.3 166 3955 roll -0.75 - - 2646 - 1.90 0.106 3824 547.9 -116.8 - - 3503 - - - - - - - - 14.93 14.54 14.93
3995 343.0 -9.9 173 4008 done -0.75 - - 2647 - 1.75 0.044 2756 -610.3 -116.8 - - 3502 - - - - - - - - 14.78 14.73 14.80
4339 375.1 -9.4 180 4352 roll -0.75 - - 2645 - 2.30 0.046 1378 -599.1 -116.8 - - 3500 - - - - - - - - 14.95 14.67 14.95
4399 380.7 -9.3 188 4413 done -0.75 - - 2635 - 2.45 0.067 2769 567.8 -116.8 - - 3500 - - - - - - - - 14.76 14.61 14.78
4740 413.9 -9.8 201 4753 roll -0.75 - - 2628 - 1.92 0.107 3824 549.5 -116.8 - - 3498 - - - - - - - - 14.96 14.55 14.95
4778 418.0 -10.7 206 4792 done -0.75 0.10 0.249 2657 290.0 1.73 0.044 2771 -608.7 -116.8 - - 3497 - - - - - - - - 14.45 14.76 14.69
5140 448.7 -8.3 215 5153 done -0.75 - - 2657 - - - 2771 - -116.8 - - 3495 - - - - - - - - 14.95 14.95 14.95
5476 476.4 -8.3 221 5490 roll -0.75 - - 2657 - 2.35 0.048 1373 -594.9 -116.8 - - 3493 - - - - - - - - 14.95 14.66 14.95
5529 480.9 -8.4 228 5544 done -0.75 - - 2647 - 2.47 0.067 2772 566.4 -116.8 - - 3493 - - - - - - - - 14.76 14.60 14.78
5873 511.1 -8.9 235 5886 done -0.75 - - 2647 - - - 2771 - -116.8 - - 3491 - - - - - - - - 14.95 14.95 14.95
6209 541.4 -9.1 241 6222 done -0.75 - - 2646 - - - 2772 - -116.8 - - 3490 - - - - - - - - 14.97 14.97 14.97
6545 572.1 -9.1 247 6558 roll -0.75 - - 2647 - 2.38 0.047 1375 -587.0 -116.8 - - 3489 - - - - - - - - 14.95 14.66 14.95
6633 580.0 -8.7 259 6646 done -0.75 - - 2638 - 2.42 0.067 2763 573.6 -116.8 - - 3487 - - - - - - - - 14.74 14.59 14.77
7001 613.0 -9.0 269 7014 roll -0.75 - - 2629 - 1.95 0.109 3826 545.1 -116.8 - - 3487 - - - - - - - - 14.94 14.52 14.94
7047 617.4 -9.6 275 7060 done -0.75 0.08 0.265 2653 300.0 1.75 0.044 2758 -610.3 -116.8 - - 3486 - - - - - - - - 14.42 14.73 14.66
7401 645.5 -7.8 283 7415 roll -0.75 - - 2653 - 2.33 0.047 1374 -594.0 -116.8 - - 3484 - - - - - - - - 14.94 14.64 14.94
7433 648.1 -7.8 287 7446 done -0.75 - - 2643 - 2.45 0.068 2773 571.0 -116.8 - - 3484 - - - - - - - - 14.74 14.58 14.76
7801 677.9 -8.1 297 7815 roll -0.75 - - 2636 - 1.92 0.110 3823 546.9 -116.8 - - 3483 - - - - - - - - 14.95 14.50 14.95
7847 681.9 -8.7 303 7860 done -0.75 - - 2636 - 1.75 0.044 2760 -607.4 -116.8 - - 3482 - - - - - - - - 14.78 14.72 14.79
8201 712.1 -8.6 311 8215 roll -0.75 - - 2635 - 2.35 0.047 1371 -591.1 -116.8 - - 3481 - - - - - - - - 14.95 14.62 14.94
8240 715.5 -8.9 316 8254 done -0.75 0.10 0.261 2653 180.0 2.47 0.069 2765 564.4 -116.8 - - 3481 - - - - - - - - 14.38 14.55 14.64
8602 744.2 -7.9 325 8615 done -0.75 - - 2654 - - - 2765 - -116.8 - - 3481 - - - - - - - - 14.95 14.95 14.96
8938 770.8 -7.8 331 8951 done -0.75 - - 2652 - - - 2766 - -116.8 - - 3479 - - - - - - - - 14.93 14.93 14.93
9274 796.8 -7.7 337 9287 roll -0.75 - - 2654 - 2.40 0.049 1374 -580.0 -116.8 - - 3478 - - - - - - - - 14.93 14.61 14.93
9335 801.5 -7.6 345 9348 done -0.75 - - 2645 - 2.50 0.070 2771 558.8 -116.8 - - 3478 - - - - - - - - 14.70 14.53 14.72
9676 827.4 -7.7 358 9689 roll -0.75 - - 2644 - 2.40 0.049 1370 -583.8 -116.8 - - 3476 - - - - - - - - 14.92 14.59 14.93
9715 830.5 -6.2 363 9728 done -0.75 - - 2634 - 2.50 0.070 2770 560.0 -116.8 - - 3476 - - - - - - - - 14.65 14.49 14.68
10076 859.7 -8.2 372 10090 roll -0.75 - - 2627 - 1.98 0.112 3830 535.4 -116.8 - - 3475 - - - - - - - - 14.91 14.45 14.91
10129 864.3 -7.5 379 10143 done -0.75 0.10 0.253 2655 280.0 1.80 0.046 2756 -596.7 -116.8 - - 3475 - - - - - - - - 14.34 14.67 14.59
10474 890.3 -7.5 386 10487 roll -0.75 - - 2656 - 2.35 0.047 1367 -591.1 -116.8 - - 3473 - - - - - - - - 14.90 14.58 14.90
10526 894.5 -7.7 393 10540 done -0.75 - - 2647 - 2.50 0.070 2760 557.2 -116.8 - - 3473 - - - - - - - - 14.68 14.51 14.71
10870 921.4 -7.9 400 10883 done -0.75 - - 2647 - - - 2759 - -116.8 - - 3473 - - - - - - - - 14.92 14.92 14.92
10980 end dive: TARGET_DEPTH_EXCEEDED
10981 begin apogee
10986 930.4 -7.9 402 11110 roll -0.23 0.60 0.196 2821 290.0 - - 2228 - - 114.32 1.965 3050 -3.7 0.334 - - - - - - 14.37 14.04 13.29
11112 end apogee: CONTROL_FINISHED_OK
11112 begin climb
11113 934.2 - 404 11254 roll 0.90 1.10 0.113 3174 320.9 2.42 0.058 876 -558.7 116.8 121.95 1.968 2580 -3.9 0.349 - - - - - - 14.04 14.07 13.16
11273 928.0 9.5 429 11287 done 0.71 0.15 0.243 3130 -293.3 2.47 0.054 2256 558.7 116.8 - - 2574 - - - - - - - - 13.88 13.99 14.05
11607 902.1 7.8 441 11621 roll 0.62 0.08 0.273 3107 -287.5 2.60 0.099 3659 539.6 116.8 - - 2570 - - - - - - - - 14.19 14.28 14.35
11688 895.5 9.1 452 11702 done 0.52 0.15 0.237 3074 -220.0 2.38 0.041 2267 -584.9 116.8 - - 2570 - - - - - - - - 14.20 14.46 14.45
12008 875.9 6.0 462 12057 done 0.57 - - 3073 - - - 2264 - 153.8 39.62 1.941 2437 -3.4 0.289 - - - - - - 14.76 14.30 13.59
12344 852.9 7.0 468 12375 roll 0.59 - - 3073 - 2.65 0.103 3659 526.4 169.7 17.48 2.020 2367 -4.0 0.323 - - - - - - 14.68 14.30 13.68
12408 847.7 8.4 477 12421 done 0.59 - - 3083 - 2.42 0.041 2255 -580.2 169.7 - - 2360 - - - - - - - - 14.45 14.39 14.47
12742 822.4 7.6 489 12755 done 0.59 - - 3083 - - - 2244 - 172.3 - - 2361 - - - - - - - - 14.73 14.73 14.73
13078 797.5 7.3 495 13103 roll 0.60 - - 3082 - 2.65 0.102 3661 534.7 182.3 11.80 2.078 2319 -3.6 0.261 - - - - - - 14.79 14.47 13.83
13121 794.1 7.8 501 13135 done 0.60 - - 3092 - 2.42 0.042 2237 -588.4 182.3 - - 2317 - - - - - - - - 14.60 14.54 14.62
13477 766.6 7.7 509 13490 done 0.60 - - 3092 - - - 2233 - 184.4 - - 2315 - - - - - - - - 14.78 14.78 14.78
13812 740.6 7.8 515 13825 roll 0.60 - - 3092 - 2.67 0.103 3657 533.3 184.4 - - 2314 - - - - - - - - 14.83 14.45 14.81
13865 735.9 9.0 522 13879 done 0.60 - - 3102 - 2.40 0.044 2254 -584.6 184.4 - - 2314 - - - - - - - - 14.68 14.59 14.68
14209 707.1 8.4 529 14222 done 0.60 - - 3103 - - - 2250 - 184.4 - - 2313 - - - - - - - - 14.85 14.85 14.85
14545 679.0 8.4 535 14558 roll 0.60 - - 3102 - 2.62 0.105 3651 534.7 184.4 - - 2313 - - - - - - - - 14.86 14.47 14.85
14583 675.4 9.2 540 14597 done 0.60 - - 3112 - 2.38 0.044 2248 -589.5 184.4 - - 2313 - - - - - - - - 14.71 14.63 14.73
14945 645.1 8.2 549 14958 done 0.60 - - 3112 - - - 2244 - 184.4 - - 2313 - - - - - - - - 14.87 14.87 14.87
15281 618.7 7.8 555 15294 roll 0.60 - - 3112 - 2.62 0.103 3650 536.6 184.4 - - 2313 - - - - - - - - 14.89 14.47 14.89
15334 614.1 9.0 562 15348 done 0.60 - - 3122 - 2.38 0.042 2250 -588.2 184.4 - - 2313 - - - - - - - - 14.71 14.64 14.73
15678 586.7 7.9 569 15691 roll 0.60 - - 3132 - 2.40 0.063 862 -578.3 184.4 - - 2312 - - - - - - - - 14.88 14.49 14.88
15695 585.2 8.1 571 15709 done 0.60 0.12 0.218 3096 -300.0 2.40 0.055 2260 582.5 184.4 - - 2312 - - - - - - - - 14.39 14.55 14.62
16023 561.8 7.1 582 16055 roll 0.62 - - 3094 - 2.60 0.103 3652 535.4 198.4 16.95 1.791 2252 -3.5 0.212 - - - - - - 14.89 14.52 13.93
16081 557.0 8.6 590 16094 done 0.62 - - 3105 - 2.38 0.041 2260 -584.9 198.4 - - 2250 - - - - - - - - 14.64 14.57 14.66
16422 528.8 8.4 603 16435 done 0.62 - - 3104 - - - 2252 - 198.4 - - 2249 - - - - - - - - 14.81 14.81 14.81
16758 500.2 8.6 609 16771 done 0.62 - - 3105 - - - 2252 - 198.4 - - 2248 - - - - - - - - 14.84 14.85 14.84
17094 472.7 8.1 615 17107 roll 0.62 - - 3104 - 2.62 0.101 3658 536.6 198.4 - - 2248 - - - - - - - - 14.85 14.43 14.85
17147 468.1 8.9 622 17160 done 0.62 - - 3114 - 2.40 0.041 2246 -588.3 198.4 - - 2248 - - - - - - - - 14.68 14.64 14.70
17490 441.2 7.7 629 17503 done 0.62 - - 3114 - - - 2242 - 198.8 - - 2248 - - - - - - - - 14.85 14.85 14.85
17827 415.3 7.7 635 17839 done 0.62 - - 3114 - - - 2242 - 199.2 - - 2248 - - - - - - - - 14.86 14.86 14.86
18162 388.2 8.1 641 18176 roll 0.62 - - 3114 - 2.62 0.102 3651 537.8 199.2 - - 2248 - - - - - - - - 14.87 14.45 14.87
18236 381.4 9.3 651 18249 done 0.62 - - 3124 - 2.35 0.042 2262 -591.1 199.2 - - 2249 - - - - - - - - 14.70 14.62 14.71
18563 353.3 8.7 662 18576 roll 0.62 - - 3134 - 2.42 0.064 857 -580.6 199.2 - - 2248 - - - - - - - - 14.88 14.52 14.89
18615 348.5 9.1 669 18630 done 0.62 0.10 0.226 3105 -290.0 2.42 0.054 2260 579.8 199.2 - - 2248 - - - - - - - - 14.38 14.54 14.62
18959 320.4 8.2 676 18973 roll 0.62 - - 3105 - 2.55 0.099 3651 545.5 199.2 - - 2248 - - - - - - - - 14.87 14.43 14.87
19020 315.0 9.1 684 19033 done 0.62 - - 3114 - 2.38 0.041 2250 -588.7 199.2 - - 2248 - - - - - - - - 14.71 14.63 14.73
19361 287.0 8.1 697 19374 roll 0.62 - - 3114 - 2.62 0.100 3657 537.0 199.2 - - 2249 - - - - - - - - 14.88 14.43 14.88
19392 284.3 8.4 701 19406 done 0.62 - - 3124 - 2.35 0.041 2258 -595.3 199.2 - - 2248 - - - - - - - - 14.70 14.62 14.72
19761 254.4 7.9 711 19774 done 0.62 - - 3124 - - - 2254 - 199.2 - - 2248 - - - - - - - - 14.88 14.88 14.89
20098 228.2 7.9 717 20111 roll 0.62 - - 3123 - 2.60 0.099 3660 540.8 199.2 - - 2247 - - - - - - - - 14.88 14.43 14.88
20136 224.8 9.0 722 20150 done 0.62 0.10 0.236 3105 -180.0 2.35 0.041 2257 -597.0 199.2 - - 2249 - - - - - - - - 14.38 14.64 14.62
20498 200.7 6.4 731 20537 done 0.66 - - 3105 - - - 2253 - 228.3 29.45 1.295 2141 -3.7 0.108 - - - - - - 14.89 14.57 14.00
20834 177.4 7.1 737 20857 done 0.68 - - 3105 - - - 2253 - 243.2 13.75 1.368 2083 -4.2 0.104 - - - - - - 14.78 14.56 14.00
21171 153.5 7.0 743 21197 roll 0.78 0.08 0.151 3169 800.0 2.65 0.096 3651 527.5 258.5 14.45 1.333 2016 -4.6 0.102 - - - - - - 14.52 14.45 14.00
21237 146.8 11.5 752 21250 done 0.78 - - 3180 - 2.35 0.041 2265 -589.8 258.5 - - 2013 - - - - - - - - 14.59 14.52 14.60
21570 110.5 10.9 764 21583 roll 0.78 - - 3191 - 2.42 0.062 856 -582.2 258.5 - - 2011 - - - - - - - - 14.77 14.47 14.78
21595 107.6 11.2 767 21608 done 0.78 0.12 0.227 3155 -300.0 2.42 0.053 2266 582.6 258.5 - - 2012 - - - - - - - - 14.33 14.49 14.57
21916 85.3 6.4 781 21939 done 0.81 - - 3155 - - - 2266 - 286.9 12.48 0.423 1908 -8.3 0.321 - - - - - - 14.81 14.59 14.21
22253 65.1 5.2 796 22293 roll 0.98 0.10 0.121 3235 800.0 2.50 0.061 859 -562.8 342.7 27.70 0.368 1684 -8.1 0.273 - - - - - - 14.57 14.53 14.26
22445 52.5 6.1 823 22478 done 1.02 - - 3235 - 2.42 0.050 2275 585.1 379.0 17.88 0.328 1539 -8.1 0.248 - - - - - - 14.63 14.51 14.21
22783 37.7 4.7 838 22824 done 1.23 0.08 0.146 3301 825.0 - - 2275 - 444.3 31.52 0.278 1281 -8.2 0.212 - - - - - - 14.57 14.54 14.26
23118 12.8 7.3 853 23136 roll 1.24 - - 3309 - 2.45 0.062 854 -580.0 453.4 4.85 0.209 1244 -7.6 0.089 - - - - - - 14.81 14.51 14.35
23272 end climb: SURFACE_DEPTH_REACHED
23272 begin surface coast
23279 end surface coast: CONTROL_FINISHED_OK
23279 begin surface
SM -0.89 - - - - -8.40 9.18 0.081 190 20.7 3.33 0.057 2758 -1796.4 500.89 21.77 0.156 1056 48.5 0.028 - - - - - -