SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 191 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 74.94 of 350.00 AH used of 24V (78.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth -1.80 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 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
19 - - - 98 done -0.90 - - 151 - - - 2785 - -116.8 -75.93 - 3516 - - - - - - - - 14.59 13.14 14.56
100 -0.2 -5.0 2 122 roll -0.90 11.73 0.396 2600 208.8 2.38 0.035 1371 -594.1 -116.8 - - 3518 - - - - - - - - 14.14 14.39 14.42
162 35.3 -28.8 12 170 done -0.53 0.50 0.265 2721 242.0 2.50 0.063 2753 552.8 -116.8 - - 3516 - - - - - - - - 14.13 14.28 14.32
485 73.9 -10.2 25 493 roll -0.53 - - 2712 - 2.00 0.102 3823 535.0 -116.8 - - 3520 - - - - - - - - 14.64 14.31 14.64
722 96.8 -4.7 59 730 done -0.53 - - 2712 - 1.80 0.038 2752 -595.0 -116.8 - - 3522 - - - - - - - - 14.54 14.50 14.56
1073 121.8 -7.0 68 1080 roll -0.53 - - 2704 - 2.03 0.102 3818 525.1 -116.8 - - 3522 - - - - - - - - 14.69 14.34 14.69
1176 129.7 -7.8 83 1186 done -0.53 - - 2704 - 1.77 0.037 2755 -600.6 -116.8 - - 3521 - - - - - - - - 14.57 14.53 14.57
1521 154.4 -7.2 90 1523 done -0.53 - - 2704 - - - 2755 - -116.8 - - 3520 - - - - - - - - 14.70 14.69 14.69
1857 179.4 -7.4 96 1864 roll -0.53 - - 2704 - 2.33 0.042 1398 -582.4 -116.8 - - 3517 - - - - - - - - 14.70 14.40 14.73
1905 183.1 -7.6 103 1914 done -0.53 0.10 0.203 2725 210.0 2.47 0.065 2780 559.5 -116.8 - - 3517 - - - - - - - - 14.26 14.38 14.40
2249 205.3 -6.4 110 2251 done -0.62 - - 2725 - - - 2781 - -116.8 - - 3514 - - - - - - - - 14.69 14.69 14.69
2585 227.1 -6.6 116 2592 roll -0.72 0.12 0.098 2644 -675.0 2.35 0.041 1391 -591.5 -116.8 - - 3511 - - - - - - - - 14.50 14.45 14.54
2674 235.6 -9.7 129 2684 done -0.72 0.10 0.220 2663 190.0 2.53 0.067 2779 548.6 -116.8 - - 3510 - - - - - - - - 14.23 14.37 14.39
3033 268.3 -9.0 138 3046 done -0.72 - - 2663 - - - 2779 - -116.8 - - 3509 - - - - - - - - 14.83 14.83 14.83
3369 297.5 -8.6 144 3382 done -0.72 - - 2663 - - - 2779 - -116.8 - - 3505 - - - - - - - - 14.88 14.88 14.88
3704 325.0 -8.1 150 3718 roll -0.72 - - 2663 - 2.35 0.044 1396 -588.5 -116.8 - - 3503 - - - - - - - - 14.91 14.64 14.91
3736 327.7 -8.2 154 3749 done -0.72 - - 2653 - 2.42 0.070 2775 569.8 -116.8 - - 3503 - - - - - - - - 14.71 14.57 14.73
4105 360.4 -9.1 164 4118 done -0.72 - - 2653 - - - 2775 - -116.8 - - 3501 - - - - - - - - 14.92 14.92 14.92
4441 392.7 -9.7 170 4454 roll -0.72 - - 2645 - 1.95 0.109 3833 542.6 -116.8 - - 3499 - - - - - - - - 14.92 14.52 14.93
4487 397.4 -10.0 176 4500 done -0.72 - - 2645 - 1.70 0.044 2785 -616.5 -116.8 - - 3499 - - - - - - - - 14.78 14.73 14.79
4841 431.9 -9.7 184 4855 roll -0.72 - - 2645 - 2.38 0.046 1370 -594.5 -116.8 - - 3497 - - - - - - - - 14.94 14.64 14.94
4866 434.3 -9.5 187 4880 done -0.72 0.10 0.249 2664 190.0 2.50 0.071 2777 562.8 -116.8 - - 3497 - - - - - - - - 14.41 14.57 14.65
5186 460.2 -7.9 197 5199 done -0.72 - - 2664 - - - 2777 - -116.8 - - 3495 - - - - - - - - 14.95 14.94 14.95
5522 486.5 -7.8 203 5535 roll -0.72 - - 2664 - 2.38 0.048 1386 -584.5 -116.8 - - 3493 - - - - - - - - 14.95 14.63 14.95
5575 490.8 -7.9 210 5589 done -0.72 - - 2654 - 2.47 0.073 2776 562.8 -116.8 - - 3493 - - - - - - - - 14.71 14.55 14.74
5919 519.1 -8.4 217 5932 done -0.72 - - 2654 - - - 2775 - -116.8 - - 3492 - - - - - - - - 14.95 14.95 14.95
6255 548.3 -8.8 223 6268 roll -0.72 - - 2654 - 2.38 0.048 1386 -583.6 -116.8 - - 3490 - - - - - - - - 14.95 14.62 14.95
6315 553.7 -8.8 231 6328 done -0.72 - - 2645 - 2.50 0.074 2771 554.0 -116.8 - - 3490 - - - - - - - - 14.72 14.56 14.73
6656 584.9 -9.2 244 6669 roll -0.72 - - 2637 - 1.95 0.111 3823 539.5 -116.8 - - 3488 - - - - - - - - 14.95 14.48 14.93
6695 588.7 -10.2 249 6708 done -0.72 0.10 0.234 2666 290.0 1.73 0.044 2775 -605.8 -116.8 - - 3488 - - - - - - - - 14.41 14.71 14.64
7057 618.0 -8.0 258 7070 roll -0.72 - - 2666 - 2.38 0.048 1371 -589.9 -116.8 - - 3485 - - - - - - - - 14.94 14.61 14.95
7166 626.6 -7.8 273 7181 done -0.72 - - 2656 - 2.50 0.073 2768 558.8 -116.8 - - 3488 - - - - - - - - 14.69 14.52 14.72
7510 653.5 -7.9 280 7523 roll -0.72 - - 2649 - 1.98 0.112 3825 533.8 -116.8 - - 3485 - - - - - - - - 14.94 14.45 14.93
7590 660.3 -8.3 291 7603 done -0.72 - - 2648 - 1.77 0.044 2752 -606.2 -116.8 - - 3484 - - - - - - - - 14.74 14.66 14.75
7910 686.5 -8.3 301 7923 roll -0.72 - - 2649 - 2.33 0.047 1377 -590.1 -116.8 - - 3483 - - - - - - - - 14.92 14.59 14.92
7977 692.3 -8.7 310 7990 done -0.72 - - 2639 - 2.47 0.073 2772 564.8 -116.8 - - 3482 - - - - - - - - 14.69 14.52 14.76
8310 722.5 -9.2 322 8323 roll -0.72 - - 2631 - 1.98 0.112 3831 534.8 -116.8 - - 3482 - - - - - - - - 14.92 14.44 14.92
8349 726.5 -10.1 327 8362 done -0.72 0.12 0.226 2667 300.0 1.75 0.044 2774 -604.0 -116.8 - - 3482 - - - - - - - - 14.35 14.69 14.60
8711 755.8 -8.1 336 8724 roll -0.72 - - 2667 - 2.38 0.047 1373 -588.7 -116.8 - - 3479 - - - - - - - - 14.90 14.57 14.90
8828 765.0 -7.9 352 8841 done -0.72 - - 2658 - 2.50 0.072 2765 556.8 -116.8 - - 3480 - - - - - - - - 14.66 14.49 14.69
9168 791.7 -7.8 365 9181 roll -0.72 - - 2650 - 1.98 0.112 3825 535.4 -116.8 - - 3479 - - - - - - - - 14.92 14.42 14.92
9214 795.5 -8.2 371 9227 done -0.72 - - 2650 - 1.77 0.044 2751 -606.8 -116.8 - - 3479 - - - - - - - - 14.69 14.63 14.70
9568 822.9 -7.8 379 9582 roll -0.72 - - 2650 - 2.35 0.047 1370 -587.7 -116.8 - - 3477 - - - - - - - - 14.91 14.55 14.91
9663 830.2 -7.8 392 9676 done -0.72 - - 2641 - 2.53 0.073 2767 552.2 -116.8 - - 3478 - - - - - - - - 14.61 14.43 14.63
10025 859.2 -8.1 401 10038 done -0.72 - - 2648 - - - 2768 - -116.8 - - 3477 - - - - - - - - 14.92 14.92 14.92
10361 886.1 -8.0 407 10374 done -0.72 - - 2641 - - - 2767 - -116.8 - - 3479 - - - - - - - - 14.90 14.90 14.90
10697 913.1 -7.9 413 10710 roll -0.72 - - 2642 - 2.42 0.048 1370 -577.3 -116.8 - - 3474 - - - - - - - - 14.92 14.54 14.92
10778 919.9 -8.2 424 10791 done -0.72 0.10 0.252 2662 200.0 2.53 0.073 2765 551.4 -116.8 - - 3474 - - - - - - - - 14.30 14.47 14.54
10928 end dive: TARGET_DEPTH_EXCEEDED
10928 begin apogee
10933 931.6 -7.8 431 11057 roll -0.23 0.55 0.178 2825 296.4 - - 2233 - - 114.47 1.976 3050 -3.7 0.335 - - - - - - 14.35 14.02 13.25
11059 end apogee: CONTROL_FINISHED_OK
11059 begin climb
11061 935.0 - 433 11202 roll 0.90 1.08 0.103 3171 320.4 2.45 0.059 876 -553.9 116.8 122.53 1.955 2581 -3.8 0.351 - - - - - - 14.02 14.05 13.11
11228 928.7 8.8 459 11241 done 0.73 0.12 0.244 3138 -275.0 2.50 0.055 2256 552.0 116.8 - - 2574 - - - - - - - - 13.85 13.97 14.04
11556 903.7 7.8 470 11569 roll 0.63 0.10 0.252 3105 -330.0 2.62 0.101 3658 535.1 116.8 - - 2571 - - - - - - - - 14.14 14.25 14.31
11609 899.4 7.8 477 11623 done 0.53 0.15 0.231 3080 -166.7 2.38 0.041 2263 -586.1 116.8 - - 2570 - - - - - - - - 14.16 14.45 14.41
11953 879.3 5.8 484 12014 roll 0.58 - - 3076 - 2.70 0.104 3654 515.2 158.7 45.03 1.938 2412 -3.5 0.305 - - - - - - 14.74 14.17 13.53
12046 872.8 8.0 497 12060 done 0.58 - - 3085 - 2.42 0.041 2253 -578.9 158.7 - - 2408 - - - - - - - - 14.36 14.29 14.38
12408 845.6 7.7 506 12422 roll 0.58 - - 3089 - 2.67 0.106 3659 526.6 160.8 - - 2405 - - - - - - - - 14.69 14.33 14.69
12447 842.2 10.5 511 12460 done 0.58 - - 3095 - 2.40 0.041 2252 -586.2 160.8 - - 2405 - - - - - - - - 14.57 14.50 14.59
12809 811.6 8.6 520 12822 done 0.58 - - 3095 - - - 2247 - 160.8 - - 2404 - - - - - - - - 14.78 14.78 14.78
13145 782.4 8.9 526 13158 roll 0.58 - - 3095 - 2.65 0.106 3654 530.9 160.8 - - 2404 - - - - - - - - 14.82 14.40 14.82
13184 778.7 9.0 531 13198 done 0.58 - - 3105 - 2.38 0.042 2256 -587.4 160.8 - - 2404 - - - - - - - - 14.65 14.57 14.66
13546 747.3 8.5 540 13559 done 0.58 - - 3105 - - - 2252 - 160.8 - - 2403 - - - - - - - - 14.84 14.85 14.85
13882 720.3 7.9 546 13895 roll 0.58 - - 3105 - 2.65 0.105 3658 530.6 160.8 - - 2403 - - - - - - - - 14.85 14.40 14.85
13921 716.9 8.3 551 13934 done 0.58 - - 3115 - 2.38 0.042 2256 -589.1 160.8 - - 2403 - - - - - - - - 14.69 14.59 14.69
14283 689.7 7.3 560 14296 done 0.59 - - 3115 - - - 2253 - 169.5 4.55 1.891 2377 -5.7 0.399 - - - - - - 14.85 14.66 13.50
14619 665.4 7.2 566 14648 done 0.61 - - 3115 - - - 2253 - 181.7 20.50 1.844 2325 -2.5 0.175 - - - - - - 14.85 14.54 13.86
14955 640.2 7.6 572 14968 roll 0.61 - - 3115 - 2.67 0.105 3661 527.3 185.8 - - 2318 - - - - - - - - 14.76 14.37 14.76
15008 635.6 8.8 579 15022 done 0.61 - - 3125 - 2.42 0.041 2249 -583.5 185.8 - - 2315 - - - - - - - - 14.60 14.52 14.62
15352 606.9 8.5 586 15365 roll 0.61 - - 3125 - 2.67 0.103 3663 529.6 185.8 - - 2313 - - - - - - - - 14.80 14.40 14.80
15384 603.8 9.3 590 15398 done 0.61 0.12 0.230 3100 -208.3 2.38 0.041 2261 -589.1 185.8 - - 2314 - - - - - - - - 14.31 14.56 14.54
15754 573.9 8.2 600 15767 roll 0.61 - - 3110 - 2.42 0.063 859 -579.3 185.8 - - 2314 - - - - - - - - 14.84 14.48 14.84
15785 571.1 8.5 604 15798 done 0.61 - - 3110 - 2.42 0.057 2259 578.5 185.8 - - 2313 - - - - - - - - 14.64 14.50 14.66
16154 539.0 8.7 614 16167 roll 0.61 - - 3110 - 2.60 0.106 3660 538.8 185.8 - - 2313 - - - - - - - - 14.85 14.40 14.85
16228 531.9 9.6 624 16241 done 0.61 - - 3119 - 2.38 0.041 2256 -589.9 185.8 - - 2313 - - - - - - - - 14.66 14.58 14.68
16555 503.1 8.9 635 16568 roll 0.61 - - 3129 - 2.42 0.064 856 -578.5 185.8 - - 2313 - - - - - - - - 14.85 14.43 14.85
16600 499.0 8.8 641 16614 done 0.61 0.10 0.223 3101 -280.0 2.45 0.058 2266 575.5 185.8 - - 2313 - - - - - - - - 14.34 14.49 14.56
16956 472.2 7.5 649 16974 roll 0.62 - - 3099 - 2.53 0.105 3654 548.6 191.4 4.22 1.658 2291 -5.2 0.284 - - - - - - 14.86 14.60 13.58
17027 466.3 8.2 659 17045 done 0.62 - - 3108 - 2.35 0.041 2255 -595.3 191.4 2.33 0.755 2289 - - - - - - - - 14.67 14.59 13.45
17351 442.1 7.5 670 17375 roll 0.63 - - 3119 - 2.45 0.064 837 -578.8 197.2 10.57 1.765 2261 -2.6 0.127 - - - - - - 14.83 14.57 13.94
17387 439.3 7.3 675 17407 done 0.64 - - 3119 - 2.47 0.058 2268 579.4 206.2 8.25 1.790 2231 -3.6 0.171 - - - - - - 14.64 14.53 13.88
17738 410.8 8.2 683 17751 roll 0.64 - - 3119 - 2.60 0.106 3661 535.8 206.2 - - 2226 - - - - - - - - 14.77 14.40 14.77
17799 405.2 9.5 691 17812 done 0.64 - - 3128 - 2.38 0.041 2263 -587.4 206.2 - - 2226 - - - - - - - - 14.62 14.54 14.64
18140 375.3 8.8 704 18153 roll 0.64 - - 3128 - 2.62 0.104 3654 530.9 206.2 - - 2227 - - - - - - - - 14.81 14.40 14.81
18178 371.5 10.0 709 18192 done 0.64 0.10 0.236 3109 -190.0 2.35 0.041 2263 -591.9 206.2 - - 2226 - - - - - - - - 14.33 14.57 14.55
18540 342.5 7.9 718 18553 roll 0.64 - - 3110 - 2.62 0.105 3656 531.7 206.2 - - 2226 - - - - - - - - 14.83 14.42 14.83
18572 339.7 8.2 722 18586 done 0.64 - - 3118 - 2.33 0.041 2274 -593.1 206.2 - - 2226 - - - - - - - - 14.66 14.59 14.67
18942 311.1 7.7 732 18955 roll 0.64 - - 3128 - 2.45 0.062 857 -578.4 207.3 - - 2226 - - - - - - - - 14.84 14.50 14.84
19002 306.4 7.7 740 19015 done 0.64 - - 3128 - 2.45 0.056 2274 578.4 208.4 - - 2226 - - - - - - - - 14.66 14.51 14.68
19343 278.7 8.3 753 19356 roll 0.64 - - 3128 - 2.58 0.106 3662 538.0 208.4 - - 2226 - - - - - - - - 14.85 14.42 14.85
19409 272.3 9.7 762 19423 done 0.64 - - 3137 - 2.35 0.041 2261 -596.2 208.4 - - 2226 - - - - - - - - 14.68 14.59 14.69
19743 242.8 8.9 774 19757 roll 0.64 0.08 0.269 3120 -212.5 2.40 0.059 862 -582.9 208.4 - - 2227 - - - - - - - - 14.34 14.50 14.48
19775 240.0 8.3 778 19789 done 0.64 - - 3120 - 2.45 0.057 2282 579.6 208.4 - - 2226 - - - - - - - - 14.62 14.47 14.64
20145 209.4 8.3 788 20158 roll 0.64 - - 3120 - 2.50 0.102 3646 545.6 208.4 - - 2226 - - - - - - - - 14.86 14.34 14.86
20183 205.8 9.4 793 20196 done 0.64 - - 3128 - 2.30 0.040 2272 -597.4 208.4 - - 2226 - - - - - - - - 14.69 14.61 14.71
20545 175.9 8.1 802 20558 done 0.64 - - 3128 - - - 2267 - 208.4 - - 2226 - - - - - - - - 14.88 14.88 14.88
20881 149.3 8.0 808 20894 done 0.64 - - 3128 - - - 2267 - 208.4 - - 2227 - - - - - - - - 14.88 14.88 14.90
21217 122.8 7.8 814 21230 roll 0.64 - - 3128 - 2.60 0.100 3651 532.3 208.4 - - 2228 - - - - - - - - 14.88 14.42 14.88
21263 119.2 7.8 820 21276 done 0.64 - - 3137 - 2.33 0.040 2266 -594.4 208.4 - - 2228 - - - - - - - - 14.70 14.62 14.71
21589 95.6 7.4 828 21603 done 0.65 - - 3137 - - - 2261 - 215.5 4.62 0.420 2191 -8.0 0.349 - - - - - - 14.87 14.61 14.16
21898 76.6 4.9 839 21943 roll 0.73 - - 3147 - 2.45 0.060 862 -571.0 277.5 30.60 0.408 1946 -8.0 0.288 - - - - - - 14.85 14.57 14.29
21998 71.6 5.5 853 22036 done 0.90 0.08 0.148 3201 675.0 2.40 0.052 2263 583.8 326.3 24.00 0.389 1749 -8.2 0.289 - - - - - - 14.54 14.51 14.26
22351 47.5 7.0 870 22374 roll 0.92 - - 3201 - 2.60 0.099 3653 534.6 342.9 7.82 0.317 1685 -8.2 0.235 - - - - - - 14.79 14.43 14.23
22603 36.3 6.0 906 22637 done 1.06 0.05 0.210 3263 1240.0 2.33 0.037 2253 -600.9 381.8 19.40 0.277 1529 -8.0 0.202 - - - - - - 14.48 14.58 14.28
22941 18.1 5.2 921 22979 roll 1.21 - - 3271 - 2.42 0.060 872 -570.7 436.7 26.45 0.218 1310 -8.3 0.132 - - - - - - 14.81 14.52 14.32
23012 13.9 6.8 931 23037 done 1.36 0.12 0.099 3351 666.7 2.40 0.050 2275 584.6 457.2 10.00 0.206 1228 -8.2 0.106 - - - - - - 14.52 14.46 14.31
23160 end climb: SURFACE_DEPTH_REACHED
23160 begin surface coast
23189 end surface coast: CONTROL_FINISHED_OK
23189 begin surface
SM -1.90 - - - - -8.41 9.05 0.056 184 20.3 0.85 0.062 2773 -10184.7 500.14 19.42 0.156 1057 54.4 0.068 - - - - - -