SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 186 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 73.00 of 350.00 AH used of 24V (79.14% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.7 deg, depth -2.76 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 47 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - 138 - - - 2779 - -116.8 -76.65 - 3517 - - - - - - - - 14.59 13.15 14.57
100 -0.7 -5.9 2 116 done -0.90 11.82 0.396 2601 208.4 - - 2779 - -116.8 - - 3515 - - - - - - - - 14.14 14.46 14.42
430 81.2 -14.8 17 437 roll -0.63 0.32 0.234 2691 281.2 1.92 0.099 3826 545.3 -116.8 - - 3519 - - - - - - - - 14.21 14.33 14.44
478 86.5 -10.8 24 489 done -0.51 0.12 0.230 2724 275.0 1.77 0.038 2775 -593.8 -116.8 - - 3519 - - - - - - - - 14.27 14.50 14.38
822 112.9 -7.6 34 829 roll -0.51 - - 2721 - 2.35 0.044 1382 -592.8 -116.8 - - 3520 - - - - - - - - 14.69 14.41 14.68
905 118.5 -6.5 46 913 done -0.51 - - 2714 - 2.50 0.065 2782 560.0 -116.8 - - 3520 - - - - - - - - 14.46 14.38 14.48
1270 143.1 -6.6 56 1278 roll -0.51 - - 2706 - 1.95 0.106 3821 532.8 -116.8 - - 3524 - - - - - - - - 14.70 14.33 14.70
1360 149.5 -7.0 69 1368 done -0.51 - - 2706 - 1.75 0.041 2783 -593.1 -116.8 - - 3519 - - - - - - - - 14.57 14.52 14.58
1718 174.5 -7.2 78 1725 roll -0.51 - - 2706 - 2.38 0.046 1381 -589.1 -116.8 - - 3517 - - - - - - - - 14.70 14.44 14.70
1801 181.0 -7.7 90 1809 done -0.51 0.10 0.203 2727 210.0 2.53 0.069 2783 554.2 -116.8 - - 3517 - - - - - - - - 14.23 14.38 14.38
2166 205.8 -6.8 100 2174 roll -0.61 - - 2727 - 2.40 0.047 1388 -581.2 -116.8 - - 3513 - - - - - - - - 14.69 14.45 14.69
2200 208.2 -6.9 105 2208 done -0.71 0.08 0.089 2656 -887.5 2.53 0.070 2784 551.8 -116.8 - - 3513 - - - - - - - - 14.42 14.38 14.48
2558 241.5 -9.5 114 2560 done -0.71 - - 2657 - - - 2784 - -116.8 - - 3509 - - - - - - - - 14.69 14.69 14.69
2894 274.0 -9.8 120 2907 done -0.71 - - 2656 - - - 2785 - -116.8 - - 3508 - - - - - - - - 14.85 14.85 14.85
3230 308.1 -10.2 126 3243 roll -0.71 - - 2656 - 2.40 0.047 1383 -584.2 -116.8 - - 3505 - - - - - - - - 14.90 14.62 14.90
3269 312.2 -10.4 131 3282 done -0.71 - - 2647 - 2.47 0.072 2781 566.0 -116.8 - - 3504 - - - - - - - - 14.71 14.56 14.72
3631 348.6 -10.0 140 3644 roll -0.71 - - 2646 - 2.38 0.047 1388 -585.3 -116.8 - - 3502 - - - - - - - - 14.91 14.62 14.91
3676 353.1 -9.7 146 3690 done -0.71 0.10 0.244 2666 200.0 2.47 0.073 2785 565.6 -116.8 - - 3502 - - - - - - - - 14.42 14.57 14.65
4031 383.4 -8.4 154 4044 done -0.71 - - 2666 - - - 2785 - -116.8 - - 3501 - - - - - - - - 14.93 14.93 14.93
4367 410.7 -8.1 160 4380 roll -0.71 - - 2666 - 2.40 0.049 1383 -584.2 -116.8 - - 3499 - - - - - - - - 14.93 14.64 14.93
4420 414.9 -7.8 167 4434 done -0.71 - - 2656 - 2.47 0.073 2779 565.2 -116.8 - - 3498 - - - - - - - - 14.73 14.57 14.75
4764 442.7 -8.2 174 4777 roll -0.71 - - 2649 - 1.92 0.112 3823 543.8 -116.8 - - 3496 - - - - - - - - 14.95 14.51 14.95
4802 446.0 -9.0 179 4816 done -0.71 - - 2648 - 1.70 0.044 2791 -607.1 -116.8 - - 3496 - - - - - - - - 14.78 14.72 14.79
5164 477.6 -8.9 188 5177 roll -0.71 - - 2648 - 2.40 0.046 1368 -592.9 -116.8 - - 3494 - - - - - - - - 14.93 14.64 14.93
5216 482.5 -9.2 195 5230 done -0.71 0.10 0.249 2667 190.0 2.50 0.068 2784 566.4 -116.8 - - 3494 - - - - - - - - 14.41 14.57 14.65
5561 511.1 -8.4 202 5574 roll -0.71 - - 2667 - 2.40 0.046 1370 -589.2 -116.8 - - 3492 - - - - - - - - 14.92 14.64 14.93
5606 515.2 -8.8 208 5620 done -0.71 - - 2657 - 2.50 0.069 2783 565.2 -116.8 - - 3492 - - - - - - - - 14.73 14.57 14.76
5961 547.3 -9.1 216 5974 done -0.71 - - 2657 - - - 2784 - -116.8 - - 3491 - - - - - - - - 14.95 14.94 14.94
6297 577.8 -9.1 222 6310 roll -0.71 - - 2657 - 2.42 0.047 1369 -584.7 -116.8 - - 3489 - - - - - - - - 14.93 14.62 14.93
6336 581.3 -9.1 227 6349 done -0.71 - - 2649 - 2.50 0.070 2776 562.8 -116.8 - - 3488 - - - - - - - - 14.71 14.55 14.74
6697 612.7 -8.5 236 6710 done -0.71 - - 2648 - - - 2776 - -116.8 - - 3487 - - - - - - - - 14.92 14.93 14.93
7033 640.0 -8.0 242 7046 roll -0.71 - - 2647 - 2.42 0.047 1366 -582.6 -116.8 - - 3486 - - - - - - - - 14.92 14.63 14.92
7072 643.1 -7.9 247 7086 done -0.71 0.10 0.248 2665 180.0 2.50 0.071 2772 562.4 -116.8 - - 3485 - - - - - - - - 14.38 14.54 14.63
7434 668.6 -7.1 256 7447 roll -0.71 - - 2666 - 2.42 0.048 1365 -581.4 -116.8 - - 3484 - - - - - - - - 14.91 14.59 14.94
7495 673.0 -7.3 264 7508 done -0.71 - - 2657 - 2.45 0.070 2776 575.9 -116.8 - - 3485 - - - - - - - - 14.69 14.53 14.71
7836 699.0 -7.7 277 7849 done -0.71 - - 2657 - - - 2777 - -116.8 - - 3483 - - - - - - - - 14.91 14.91 14.91
8172 726.6 -8.4 283 8185 roll -0.71 - - 2657 - 2.42 0.048 1370 -581.4 -116.8 - - 3481 - - - - - - - - 14.91 14.59 14.91
8238 732.5 -8.6 292 8252 done -0.71 - - 2648 - 2.53 0.072 2773 554.5 -116.8 - - 3481 - - - - - - - - 14.65 14.48 14.68
8572 762.6 -9.1 304 8585 done -0.71 - - 2648 - - - 2774 - -116.8 - - 3480 - - - - - - - - 14.91 14.91 14.91
8908 792.7 -8.9 310 8921 roll -0.71 - - 2648 - 2.42 0.049 1373 -578.9 -116.8 - - 3479 - - - - - - - - 14.91 14.57 14.91
8989 799.8 -8.7 321 9002 done -0.71 0.10 0.253 2670 220.0 2.50 0.071 2777 561.6 -116.8 - - 3478 - - - - - - - - 14.34 14.50 14.59
9309 823.8 -7.4 331 9322 done -0.71 - - 2666 - - - 2777 - -116.8 - - 3478 - - - - - - - - 14.92 14.92 14.92
9645 847.4 -6.9 337 9658 roll -0.71 - - 2666 - 2.42 0.048 1369 -581.8 -116.8 - - 3477 - - - - - - - - 14.90 14.56 14.91
9698 851.6 -8.6 344 9713 done -0.71 - - 2657 - 2.53 0.073 2765 551.8 -116.8 - - 3477 - - - - - - - - 14.66 14.48 14.69
10042 874.6 -6.9 351 10055 done -0.71 - - 2657 - - - 2765 - -116.8 - - 3474 - - - - - - - - 14.90 14.92 14.87
10378 898.0 -7.1 357 10391 roll -0.71 - - 2657 - 2.42 0.050 1370 -576.4 -116.8 - - 3474 - - - - - - - - 14.89 14.54 14.90
10410 900.4 -7.6 361 10423 done -0.71 - - 2649 - 2.50 0.073 2765 558.0 -116.8 - - 3474 - - - - - - - - 14.66 14.49 14.70
10778 929.2 -8.0 371 10791 done -0.71 - - 2649 - - - 2765 - -116.8 - - 3473 - - - - - - - - 14.91 14.91 14.91
10833 end dive: TARGET_DEPTH_EXCEEDED
10833 begin apogee
10838 932.6 -7.9 372 10963 roll -0.23 0.60 0.184 2825 293.3 - - 2245 - - 115.35 1.970 3049 -3.7 0.333 - - - - - - 14.35 14.02 13.24
10965 end apogee: CONTROL_FINISHED_OK
10965 begin climb
10967 934.0 - 374 11106 roll 0.90 1.08 0.104 3170 319.4 2.47 0.059 866 -558.3 116.8 122.53 1.965 2585 -3.8 0.345 - - - - - - 14.02 14.05 13.11
11111 931.6 7.8 397 11125 done 0.64 0.22 0.229 3112 -263.6 2.53 0.054 2255 549.0 116.8 - - 2575 - - - - - - - - 13.80 13.89 13.97
11455 907.8 7.0 404 11486 roll 0.66 - - 3111 - 2.62 0.103 3654 534.0 134.1 17.48 2.026 2510 -3.7 0.319 - - - - - - 14.62 14.24 13.60
11576 897.9 8.5 421 11589 done 0.56 0.12 0.238 3086 -208.3 2.42 0.044 2253 -578.9 134.1 - - 2506 - - - - - - - - 14.17 14.38 14.38
11911 875.1 6.8 433 11948 roll 0.59 - - 3087 - 2.65 0.103 3655 529.1 155.7 24.40 1.971 2423 -3.4 0.289 - - - - - - 14.72 14.29 13.66
11974 870.3 9.1 442 11987 done 0.59 - - 3096 - 2.40 0.044 2256 -582.9 155.7 - - 2417 - - - - - - - - 14.40 14.36 14.45
12307 845.1 7.7 454 12321 roll 0.59 - - 3096 - 2.65 0.105 3649 525.7 157.6 - - 2418 - - - - - - - - 14.73 14.37 14.73
12346 841.7 10.6 459 12359 done 0.59 - - 3106 - 2.40 0.043 2245 -585.0 157.6 - - 2419 - - - - - - - - 14.59 14.51 14.60
12708 813.9 7.6 468 12721 roll 0.59 - - 3113 - 2.65 0.105 3652 530.9 160.5 - - 2417 - - - - - - - - 14.80 14.41 14.80
12753 810.3 8.7 474 12767 done 0.52 0.17 0.222 3065 -282.4 2.38 0.043 2256 -586.6 160.5 - - 2416 - - - - - - - - 14.31 14.57 14.54
13109 787.6 6.3 482 13157 done 0.56 - - 3067 - - - 2252 - 192.4 39.22 1.878 2287 -3.3 0.264 - - - - - - 14.82 14.36 13.67
13445 764.3 6.9 488 13477 roll 0.58 - - 3067 - 2.72 0.104 3656 516.2 210.3 20.60 1.944 2207 -3.9 0.293 - - - - - - 14.69 14.30 13.69
13538 756.8 8.3 501 13551 done 0.58 - - 3076 - 2.42 0.042 2248 -581.8 210.3 - - 2202 - - - - - - - - 14.46 14.39 14.47
13892 729.1 7.9 509 13905 done 0.58 - - 3077 - - - 2243 - 210.3 - - 2200 - - - - - - - - 14.72 14.72 14.72
14229 702.7 7.7 515 14242 roll 0.58 - - 3077 - 2.65 0.103 3659 534.3 210.7 - - 2199 - - - - - - - - 14.78 14.41 14.78
14302 696.1 8.6 525 14316 done 0.58 - - 3089 - 2.38 0.042 2259 -588.2 210.7 - - 2199 - - - - - - - - 14.64 14.56 14.64
14629 670.1 7.9 536 14642 done 0.58 - - 3086 - - - 2253 - 210.7 - - 2199 - - - - - - - - 14.83 14.83 14.83
14965 644.2 7.6 542 14979 roll 0.58 - - 3086 - 2.62 0.104 3656 535.5 213.5 - - 2198 - - - - - - - - 14.85 14.43 14.84
15004 640.7 8.9 547 15017 done 0.58 - - 3095 - 2.38 0.043 2257 -587.8 213.5 - - 2198 - - - - - - - - 14.68 14.59 14.69
15366 612.1 7.8 556 15378 done 0.58 - - 3096 - - - 2253 - 213.5 - - 2198 - - - - - - - - 14.85 14.85 14.85
15702 584.9 7.9 562 15715 roll 0.58 - - 3095 - 2.65 0.105 3656 529.4 213.5 - - 2198 - - - - - - - - 14.86 14.42 14.86
15768 580.5 8.6 571 15782 done 0.58 - - 3106 - 2.38 0.044 2256 -588.2 213.5 - - 2198 - - - - - - - - 14.69 14.61 14.71
16102 553.8 8.0 583 16115 done 0.58 - - 3105 - - - 2251 - 213.5 - - 2197 - - - - - - - - 14.85 14.86 14.85
16438 526.9 8.0 589 16451 roll 0.58 - - 3105 - 2.62 0.103 3650 534.0 213.5 - - 2198 - - - - - - - - 14.88 14.45 14.88
16512 519.9 9.3 599 16525 done 0.58 - - 3115 - 2.35 0.042 2258 -592.3 213.5 - - 2198 - - - - - - - - 14.70 14.61 14.71
16838 492.2 8.5 610 16851 roll 0.58 - - 3125 - 2.42 0.064 863 -576.4 213.5 - - 2198 - - - - - - - - 14.88 14.50 14.88
16870 489.3 8.6 614 16883 done 0.58 0.12 0.208 3088 -308.3 2.40 0.057 2280 590.4 213.5 - - 2198 - - - - - - - - 14.37 14.50 14.59
17239 462.5 7.2 624 17265 roll 0.60 - - 3088 - 2.58 0.103 3655 532.9 225.4 14.30 1.717 2148 -3.5 0.180 - - - - - - 14.88 14.54 13.95
17349 453.4 8.3 639 17362 done 0.60 - - 3096 - 2.38 0.041 2266 -583.6 225.4 - - 2143 - - - - - - - - 14.62 14.55 14.64
17689 427.5 7.6 652 17703 roll 0.60 - - 3103 - 2.62 0.103 3653 529.4 229.1 - - 2143 - - - - - - - - 14.81 14.39 14.81
17736 423.3 8.4 658 17749 done 0.60 - - 3105 - 2.35 0.042 2270 -588.5 229.1 0.60 0.339 2135 -13.3 3.190 - - - - - - 14.64 14.57 14.38
18091 395.6 7.7 666 18104 roll 0.60 - - 3115 - 2.45 0.063 863 -574.3 230.3 - - 2140 - - - - - - - - 14.86 14.45 14.83
18129 393.6 3.4 671 18247 done 0.72 - - 3115 - 2.45 0.057 2277 577.1 324.5 105.32 1.407 1758 -3.6 0.194 - - - - - - 14.64 14.50 13.59
18596 354.0 8.8 695 18609 roll 0.80 0.08 0.148 3182 837.5 2.58 0.103 3650 532.2 324.5 - - 1740 - - - - - - - - 14.42 14.28 14.45
18649 347.1 14.0 702 18663 done 0.72 0.20 0.218 3135 -235.0 2.38 0.041 2279 -576.1 324.5 - - 1741 - - - - - - - - 14.20 14.42 14.44
18993 311.8 10.2 709 19006 roll 0.72 - - 3146 - 2.47 0.063 855 -576.5 324.5 - - 1739 - - - - - - - - 14.74 14.41 14.74
19046 306.1 10.4 716 19061 done 0.72 - - 3146 - 2.50 0.055 2284 571.6 324.5 - - 1738 - - - - - - - - 14.57 14.43 14.64
19390 268.9 10.9 723 19403 roll 0.72 - - 3145 - 2.53 0.103 3654 541.5 324.5 - - 1738 - - - - - - - - 14.79 14.38 14.79
19436 263.3 12.3 729 19449 done 0.72 - - 3155 - 2.35 0.041 2269 -589.4 324.5 - - 1738 - - - - - - - - 14.63 14.54 14.65
19790 223.9 11.0 737 19803 roll 0.72 - - 3165 - 2.45 0.065 850 -579.2 324.5 - - 1739 - - - - - - - - 14.82 14.42 14.82
19836 218.9 10.5 743 19849 done 0.72 0.10 0.220 3138 -270.0 2.47 0.056 2283 580.2 324.5 - - 1737 - - - - - - - - 14.36 14.49 14.59
20191 186.5 9.0 751 20204 roll 0.72 - - 3134 - 2.53 0.101 3654 541.9 324.5 - - 1737 - - - - - - - - 14.85 14.40 14.85
20230 182.5 10.2 756 20243 done 0.72 - - 3144 - 2.35 0.041 2260 -593.2 324.5 - - 1737 - - - - - - - - 14.67 14.58 14.69
20591 146.2 10.2 765 20605 roll 0.72 - - 3154 - 2.42 0.063 853 -581.4 324.5 - - 1737 - - - - - - - - 14.84 14.50 14.85
20616 143.5 10.0 768 20629 done 0.72 - - 3154 - 2.45 0.055 2275 580.4 324.5 - - 1737 - - - - - - - - 14.66 14.51 14.67
20936 110.6 10.3 778 20949 roll 0.72 - - 3154 - 2.55 0.103 3662 543.9 324.5 - - 1737 - - - - - - - - 14.85 14.43 14.85
20961 107.7 10.2 781 20974 done 0.72 - - 3164 - 2.35 0.041 2269 -592.8 324.5 - - 1737 - - - - - - - - 14.64 14.54 14.66
21281 78.3 8.2 795 21294 roll 0.72 0.08 0.251 3144 -250.0 2.42 0.060 855 -584.3 324.5 - - 1737 - - - - - - - - 14.36 14.47 14.50
21314 76.0 6.9 799 21332 done 0.86 - - 3149 - 2.45 0.052 2283 582.9 342.9 6.43 0.376 1685 -8.1 0.313 - - - - - - 14.67 14.53 14.21
21654 57.1 5.3 814 21697 roll 1.09 0.20 0.087 3257 540.0 2.53 0.060 858 -563.2 396.8 27.58 0.348 1472 -7.7 0.243 - - - - - - 14.57 14.56 14.31
21779 49.2 7.2 832 21799 done 1.11 - - 3257 - 2.45 0.051 2289 584.1 409.0 6.97 0.310 1420 -7.5 0.227 - - - - - - 14.64 14.51 14.23
22103 28.5 4.8 845 22148 roll 1.27 0.08 0.145 3326 862.5 2.50 0.098 3662 549.2 473.4 31.75 0.258 1166 -8.0 0.169 - - - - - - 14.55 14.44 14.30
22292 11.3 11.8 872 22307 done 1.27 - - 3334 - 2.33 0.039 2289 -589.3 473.4 - - 1169 - - - - - - - - 14.65 14.57 14.66
22382 end climb: SURFACE_DEPTH_REACHED
22382 begin surface coast
22410 end surface coast: CONTROL_FINISHED_OK
22410 begin surface
SM -1.10 - - - - -8.39 9.38 0.090 190 20.3 0.88 0.080 2762 1968.2 500.14 12.70 0.161 1058 83.3 0.058 - - - - - -