SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 196 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 76.90 of 350.00 AH used of 24V (78.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth -0.88 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 25 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 97 done -0.90 - - 140 - - - 2776 - -116.8 -75.50 - 3516 - - - - - - - - 14.59 13.13 14.56
99 1.0 -6.2 2 121 roll -0.90 11.88 0.397 2603 207.3 2.40 0.035 1353 -592.9 -116.8 - - 3517 - - - - - - - - 14.13 14.36 14.42
154 34.2 -34.2 11 162 done -0.47 0.52 0.265 2741 265.4 2.60 0.073 2768 544.2 -116.8 - - 3518 - - - - - - - - 14.14 14.28 14.38
483 81.7 -10.6 25 492 roll -0.47 - - 2742 - 2.42 0.044 1348 -586.8 -116.8 - - 3519 - - - - - - - - 14.65 14.40 14.65
567 88.3 -7.4 37 576 done -0.47 - - 2732 - 2.55 0.066 2786 563.9 -116.8 - - 3520 - - - - - - - - 14.50 14.38 14.51
903 110.1 -6.0 49 912 roll -0.47 - - 2724 - 1.95 0.104 3822 531.3 -116.8 - - 3521 - - - - - - - - 14.69 14.33 14.69
952 110.4 -7.1 56 961 done -0.47 - - 2724 - 1.80 0.038 2751 -595.0 -116.8 - - 3521 - - - - - - - - 14.54 14.52 14.54
1296 135.8 -7.2 63 1303 roll -0.47 - - 2722 - 2.05 0.103 3824 523.4 -116.8 - - 3520 - - - - - - - - 14.69 14.33 14.70
1358 140.0 -6.8 72 1366 done -0.47 0.10 0.210 2753 310.0 1.75 0.040 2788 -592.0 -116.8 - - 3520 - - - - - - - - 14.30 14.52 14.42
1688 158.9 -5.9 84 1695 roll -0.61 0.10 0.121 2672 -810.0 2.35 0.044 1386 -596.6 -116.8 - - 3518 - - - - - - - - 14.49 14.45 14.54
1785 167.1 -8.7 98 1793 done -0.61 0.12 0.204 2699 225.0 2.53 0.067 2784 552.6 -116.8 - - 3517 - - - - - - - - 14.26 14.38 14.40
2136 195.2 -8.2 106 2143 roll -0.61 - - 2699 - 2.40 0.046 1386 -582.5 -116.8 - - 3514 - - - - - - - - 14.69 14.44 14.69
2170 198.1 -8.7 111 2178 done -0.61 - - 2690 - 2.55 0.069 2785 548.6 -116.8 - - 3514 - - - - - - - - 14.45 14.36 14.48
2528 226.4 -7.8 120 2530 done -0.61 - - 2689 - - - 2785 - -116.8 - - 3511 - - - - - - - - 14.69 14.69 14.69
2867 251.3 -7.2 126 2882 roll -0.61 - - 2689 - 2.40 0.047 1386 -582.9 -116.8 - - 3509 - - - - - - - - 14.77 14.52 14.77
2943 257.1 -7.2 136 2956 done -0.61 - - 2679 - 2.47 0.070 2781 564.8 -116.8 - - 3508 - - - - - - - - 14.62 14.47 14.64
3269 280.2 -7.0 147 3282 done -0.61 - - 2680 - - - 2780 - -116.8 - - 3505 - - - - - - - - 14.88 14.88 14.87
3606 303.7 -7.0 153 3619 roll -0.61 - - 2679 - 2.38 0.047 1386 -585.7 -116.8 - - 3503 - - - - - - - - 14.90 14.63 14.90
3672 308.3 -7.1 162 3686 done -0.61 0.10 0.236 2700 210.0 2.45 0.070 2775 566.9 -116.8 - - 3501 - - - - - - - - 14.42 14.54 14.62
4007 330.1 -6.7 174 4020 done -0.61 - - 2700 - - - 2775 - -116.8 - - 3501 - - - - - - - - 14.92 14.91 14.91
4343 353.5 -6.9 180 4356 roll -0.61 - - 2700 - 2.38 0.050 1385 -584.0 -116.8 - - 3499 - - - - - - - - 14.94 14.63 14.94
4459 363.6 -10.4 196 4472 done -0.61 - - 2691 - 2.50 0.073 2782 558.8 -116.8 - - 3499 - - - - - - - - 14.71 14.55 14.73
4800 390.0 -7.7 209 4813 roll -0.61 - - 2691 - 2.40 0.049 1377 -585.4 -116.8 - - 3496 - - - - - - - - 14.92 14.62 14.92
4888 396.9 -5.7 221 4902 done -0.61 - - 2682 - 2.47 0.073 2777 566.8 -116.8 - - 3496 - - - - - - - - 14.72 14.56 14.74
5257 424.5 -7.7 231 5270 done -0.61 - - 2681 - - - 2777 - -116.8 - - 3494 - - - - - - - - 14.92 14.92 14.93
5594 448.9 -6.9 237 5607 done -0.61 - - 2682 - - - 2776 - -116.8 - - 3493 - - - - - - - - 14.92 14.93 14.92
5929 475.9 -8.0 243 5942 roll -0.61 - - 2682 - 2.40 0.050 1384 -580.0 -116.8 - - 3492 - - - - - - - - 14.93 14.61 14.93
5990 481.7 -7.9 251 6003 done -0.61 0.10 0.237 2702 200.0 2.47 0.073 2766 559.5 -116.8 - - 3491 - - - - - - - - 14.40 14.54 14.64
6333 506.0 -7.1 264 6346 roll -0.69 - - 2702 - 2.38 0.050 1383 -581.1 -116.8 - - 3490 - - - - - - - - 14.92 14.60 14.92
6400 511.6 -7.4 273 6413 done -0.79 0.10 0.116 2628 -740.0 2.45 0.074 2767 564.9 -116.8 - - 3490 - - - - - - - - 14.64 14.53 14.71
6734 543.7 -9.6 285 6747 done -0.79 - - 2628 - - - 2769 - -116.8 - - 3486 - - - - - - - - 14.92 14.92 14.92
7070 574.7 -9.0 291 7083 roll -0.79 - - 2618 - 1.98 0.115 3833 537.4 -116.8 - - 3486 - - - - - - - - 14.92 14.45 14.92
7109 578.9 -11.5 296 7122 done -0.79 - - 2620 - 1.75 0.044 2775 -604.6 -116.8 - - 3486 - - - - - - - - 14.75 14.69 14.76
7471 611.6 -8.9 305 7484 roll -0.79 - - 2619 - 2.38 0.046 1370 -590.3 -116.8 - - 3487 - - - - - - - - 14.93 14.59 14.92
7531 616.9 -8.4 313 7545 done -0.79 0.12 0.249 2645 216.7 2.50 0.070 2771 560.4 -116.8 - - 3484 - - - - - - - - 14.33 14.51 14.58
7873 643.8 -8.0 326 7886 roll -0.79 - - 2645 - 2.40 0.047 1372 -582.9 -116.8 - - 3483 - - - - - - - - 14.91 14.59 14.91
7933 649.0 -7.9 334 7946 done -0.79 - - 2636 - 2.47 0.070 2765 564.0 -116.8 - - 3483 - - - - - - - - 14.68 14.50 14.70
8274 679.1 -8.9 347 8287 roll -0.79 - - 2627 - 1.98 0.112 3831 538.4 -116.8 - - 3482 - - - - - - - - 14.92 14.42 14.92
8362 688.0 -9.9 359 8375 done -0.79 - - 2630 - 1.80 0.045 2753 -598.9 -116.8 - - 3482 - - - - - - - - 14.72 14.65 14.73
8730 724.6 -9.9 369 8743 roll -0.79 - - 2626 - 2.35 0.046 1366 -590.2 -116.8 - - 3480 - - - - - - - - 14.90 14.57 14.90
8783 729.9 -10.3 376 8797 done -0.79 - - 2617 - 2.50 0.070 2767 560.4 -116.8 - - 3480 - - - - - - - - 14.66 14.48 14.69
9127 766.6 -10.7 383 9140 roll -0.79 - - 2609 - 1.98 0.112 3828 535.9 -116.8 - - 3479 - - - - - - - - 14.90 14.42 14.91
9173 771.7 -9.6 389 9186 done -0.71 0.20 0.216 2667 290.0 1.77 0.045 2753 -607.3 -116.8 - - 3478 - - - - - - - - 14.33 14.68 14.58
9528 800.2 -7.8 397 9542 roll -0.71 - - 2667 - 2.35 0.046 1372 -587.7 -116.8 - - 3478 - - - - - - - - 14.92 14.56 14.92
9624 808.0 -6.9 410 9637 done -0.71 - - 2658 - 2.47 0.070 2755 559.9 -116.8 - - 3477 - - - - - - - - 14.65 14.47 14.68
9986 834.8 -7.5 419 9999 done -0.71 - - 2659 - - - 2755 - -116.8 - - 3477 - - - - - - - - 14.90 14.90 14.90
10322 858.7 -7.1 425 10335 roll -0.71 - - 2658 - 2.38 0.048 1375 -579.8 -116.8 - - 3475 - - - - - - - - 14.90 14.54 14.90
10382 863.5 -8.3 433 10396 done -0.71 - - 2649 - 2.50 0.071 2765 556.0 -116.8 - - 3475 - - - - - - - - 14.64 14.46 14.66
10724 888.1 -7.2 446 10737 roll -0.71 - - 2649 - 2.40 0.047 1373 -580.0 -116.8 - - 3474 - - - - - - - - 14.90 14.53 14.90
10770 892.1 -5.1 452 10783 done -0.71 0.10 0.247 2669 200.0 2.47 0.071 2757 560.3 -116.8 - - 3474 - - - - - - - - 14.30 14.46 14.54
11125 915.8 -6.7 460 11138 roll -0.71 - - 2669 - 2.38 0.047 1375 -580.7 -116.8 - - 3473 - - - - - - - - 14.88 14.53 14.88
11164 918.5 -6.9 465 11177 done -0.71 - - 2660 - 2.47 0.071 2762 561.5 -116.8 - - 3473 - - - - - - - - 14.63 14.46 14.66
11356 end dive: TARGET_DEPTH_EXCEEDED
11356 begin apogee
11361 931.9 -7.0 471 11486 roll -0.23 0.55 0.180 2823 296.4 - - 2228 - - 115.38 1.970 3050 -3.7 0.333 - - - - - - 14.33 14.01 13.24
11488 end apogee: CONTROL_FINISHED_OK
11488 begin climb
11490 935.5 - 473 11630 roll 0.90 1.10 0.103 3175 320.0 2.42 0.056 870 -561.2 116.8 123.82 1.981 2585 -3.8 0.340 - - - - - - 14.01 14.04 13.09
11649 929.3 9.8 498 11663 done 0.69 0.17 0.234 3129 -270.6 2.50 0.053 2258 555.2 116.8 - - 2574 - - - - - - - - 13.81 13.93 14.00
11985 902.1 8.2 510 11998 roll 0.60 0.10 0.254 3100 -290.0 2.60 0.099 3652 536.2 116.8 - - 2570 - - - - - - - - 14.13 14.24 14.29
12066 895.4 8.5 521 12080 done 0.52 0.12 0.236 3073 -225.0 2.38 0.041 2259 -585.3 116.8 - - 2570 - - - - - - - - 14.16 14.42 14.42
12386 875.3 6.3 531 12430 done 0.56 - - 3073 - - - 2254 - 149.1 34.53 1.939 2456 -3.3 0.286 - - - - - - 14.73 14.31 13.57
12722 854.5 6.2 537 12774 roll 0.60 - - 3072 - 2.72 0.104 3648 512.5 183.1 37.28 1.942 2316 -3.8 0.317 - - - - - - 14.66 14.16 13.52
12898 841.6 8.0 562 12911 done 0.60 - - 3079 - 2.40 0.044 2255 -580.4 183.1 - - 2310 - - - - - - - - 14.43 14.37 14.44
13232 817.4 7.4 574 13245 done 0.61 - - 3081 - - - 2254 - 191.0 2.38 0.747 2289 -8.8 1.853 - - - - - - 14.71 14.50 13.27
13568 793.6 7.2 580 13600 roll 0.63 - - 3081 - 2.65 0.104 3658 529.8 202.1 19.38 1.963 2240 -2.5 0.196 - - - - - - 14.77 14.38 13.77
13653 787.0 8.8 592 13666 done 0.63 - - 3091 - 2.42 0.044 2252 -581.0 202.1 - - 2235 - - - - - - - - 14.52 14.43 14.52
14022 758.4 7.8 602 14035 done 0.63 - - 3091 - - - 2248 - 202.1 - - 2233 - - - - - - - - 14.75 14.75 14.75
14358 730.9 8.3 608 14371 roll 0.63 - - 3090 - 2.65 0.106 3660 532.8 202.1 - - 2232 - - - - - - - - 14.79 14.39 14.79
14425 724.8 9.1 617 14438 done 0.63 - - 3101 - 2.40 0.043 2249 -587.9 202.1 - - 2232 - - - - - - - - 14.64 14.56 14.66
14758 695.7 8.7 629 14771 roll 0.63 - - 3111 - 2.40 0.065 861 -578.3 202.1 - - 2231 - - - - - - - - 14.83 14.47 14.83
14790 693.3 7.3 633 14809 done 0.64 - - 3111 - 2.42 0.057 2262 578.9 211.6 3.35 1.437 2213 -5.4 0.497 - - - - - - 14.63 14.50 13.43
15158 662.6 8.2 643 15175 roll 0.64 - - 3111 - 2.65 0.104 3658 526.8 211.6 1.85 0.308 2214 - - - - - - - - 14.83 14.43 13.92
15228 656.3 9.1 653 15242 done 0.64 - - 3120 - 2.38 0.042 2257 -588.7 211.6 2.05 0.407 2208 -2.9 0.906 - - - - - - 14.66 14.58 13.23
15548 628.9 8.6 663 15562 roll 0.64 - - 3130 - 2.50 0.064 853 -561.6 211.6 1.67 0.282 2209 - - - - - - - - 14.83 14.50 13.95
15588 625.6 8.4 668 15601 done 0.64 - - 3130 - 2.45 0.057 2268 577.6 211.6 1.38 0.301 2207 - - - - - - - - 14.64 14.50 14.04
15950 593.3 8.9 677 15967 roll 0.64 - - 3130 - 2.65 0.107 3658 524.5 211.6 1.52 0.262 2211 2.6 -1.144 - - - - - - 14.83 14.42 14.08
16000 588.4 10.6 684 16014 done 0.64 0.12 0.238 3105 -208.3 2.40 0.043 2256 -584.2 211.6 1.50 0.287 2208 -2.0 0.787 - - - - - - 14.32 14.58 13.95
16344 561.4 7.7 691 16357 done 0.64 - - 3105 - - - 2252 - 213.0 2.97 1.219 2202 -2.0 0.179 - - - - - - 14.85 14.64 13.45
16680 535.2 7.8 697 16693 roll 0.64 - - 3105 - 2.62 0.101 3658 536.6 213.0 1.45 0.263 2206 2.8 -1.077 - - - - - - 14.85 14.43 14.17
16733 530.3 9.3 704 16747 done 0.64 - - 3114 - 2.40 0.044 2257 -583.8 213.0 1.60 0.295 2204 - - - - - - - - 14.67 14.59 13.95
17077 501.3 8.4 711 17091 roll 0.64 - - 3124 - 2.50 0.064 853 -561.6 213.0 1.58 0.275 2204 - - - - - - - - 14.86 14.50 14.01
17109 498.6 8.1 715 17123 done 0.64 - - 3124 - 2.45 0.057 2266 576.7 213.0 1.15 0.275 2204 - - - - - - - - 14.65 14.50 14.28
17478 465.8 8.8 725 17496 roll 0.64 - - 3125 - 2.65 0.106 3661 526.4 213.0 1.65 0.287 2208 2.4 -0.755 - - - - - - 14.84 14.44 13.90
17557 458.2 10.1 736 17570 done 0.64 - - 3134 - 2.38 0.041 2257 -589.9 213.0 1.70 0.298 2203 -2.9 0.868 - - - - - - 14.67 14.59 13.91
17926 425.2 9.0 746 17939 done 0.64 - - 3131 - - - 2253 - 213.0 1.73 0.295 2203 - - - - - - - - 14.86 14.49 13.88
18262 395.3 8.9 752 18279 roll 0.64 - - 3133 - 2.70 0.103 3658 520.4 213.0 1.77 0.313 2207 2.3 -0.548 - - - - - - 14.87 14.44 13.90
18353 386.7 9.5 765 18367 done 0.64 0.12 0.226 3110 -191.7 2.38 0.042 2261 -587.0 213.0 1.77 0.308 2203 -2.3 0.544 - - - - - - 14.29 14.57 13.93
18709 358.9 8.0 773 18726 roll 0.64 - - 3119 - 2.47 0.063 866 -564.8 213.0 1.73 0.304 2208 2.9 -0.655 - - - - - - 14.85 14.52 13.90
18738 357.5 4.5 777 18834 done 0.73 - - 3119 - 2.42 0.056 2272 581.0 284.2 82.62 1.372 1916 -3.5 0.177 - - - - - - 14.66 14.52 13.66
19161 320.4 8.9 802 19174 done 0.73 - - 3117 - - - 2273 - 284.2 - - 1900 - - - - - - - - 14.65 14.65 14.65
19497 290.1 9.0 808 19510 roll 0.73 - - 3118 - 2.58 0.106 3655 535.7 284.2 - - 1898 - - - - - - - - 14.75 14.32 14.75
19522 288.1 8.8 811 19535 done 0.73 - - 3127 - 2.38 0.042 2262 -585.3 284.2 - - 1899 - - - - - - - - 14.59 14.50 14.61
19842 258.7 9.0 821 19855 done 0.73 - - 3127 - - - 2256 - 284.2 - - 1898 - - - - - - - - 14.78 14.78 14.78
20178 230.1 8.5 827 20191 roll 0.73 - - 3127 - 2.62 0.103 3658 535.1 284.2 - - 1898 - - - - - - - - 14.81 14.38 14.81
20216 226.6 10.0 832 20230 done 0.73 - - 3135 - 2.38 0.044 2262 -586.6 284.2 - - 1898 - - - - - - - - 14.65 14.57 14.67
20578 198.6 9.6 841 20591 roll 0.73 - - 3146 - 2.42 0.064 858 -580.2 284.2 - - 1898 - - - - - - - - 14.84 14.45 14.83
20610 195.3 10.1 845 20623 done 0.73 - - 3146 - 2.45 0.056 2279 580.0 284.2 - - 1898 - - - - - - - - 14.62 14.48 14.65
20978 158.1 10.1 855 20992 roll 0.73 - - 3146 - 2.53 0.104 3654 543.5 284.2 - - 1898 - - - - - - - - 14.85 14.39 14.85
21024 152.9 11.4 861 21037 done 0.73 - - 3156 - 2.35 0.042 2263 -591.9 284.2 - - 1898 - - - - - - - - 14.62 14.54 14.66
21379 117.0 10.1 869 21392 roll 0.73 - - 3156 - 2.60 0.101 3654 535.0 284.2 - - 1897 - - - - - - - - 14.86 14.40 14.87
21396 115.1 10.0 871 21410 done 0.73 0.10 0.239 3136 -200.0 2.35 0.043 2263 -591.9 284.2 - - 1898 - - - - - - - - 14.33 14.59 14.59
21725 90.1 6.2 884 21756 roll 0.84 0.05 0.205 3186 1000.0 2.65 0.102 3658 526.4 316.7 13.70 0.425 1791 -7.8 0.318 - - - - - - 14.57 14.52 14.23
21810 82.0 9.1 896 21824 done 0.84 - - 3195 - 2.33 0.041 2284 -589.7 316.7 - - 1795 - - - - - - - - 14.66 14.59 14.68
22151 58.8 5.1 911 22195 roll 0.91 - - 3205 - 2.53 0.062 852 -566.0 373.7 28.70 0.347 1564 -8.0 0.262 - - - - - - 14.83 14.55 14.28
22278 51.8 5.4 929 22317 done 1.12 0.10 0.121 3274 690.0 2.47 0.051 2298 585.4 423.7 25.23 0.324 1363 -8.0 0.244 - - - - - - 14.50 14.45 14.26
22630 31.1 5.5 946 22670 roll 1.29 0.08 0.148 3347 912.5 2.53 0.100 3651 534.8 472.5 24.02 0.255 1169 -8.1 0.189 - - - - - - 14.54 14.42 14.29
22675 27.8 7.6 952 22689 done 1.30 0.12 0.225 3317 -250.0 2.30 0.041 2280 -596.1 475.1 1.90 0.239 1159 -5.3 0.117 - - - - - - 14.35 14.57 14.28
22990 end climb: SURFACE_DEPTH_REACHED
22990 begin surface coast
23017 end surface coast: CONTROL_FINISHED_OK
23017 begin surface
SM -1.11 - - - - -8.38 8.95 0.054 193 21.5 0.88 0.076 2761 -12033.0 500.14 12.55 0.158 1057 84.2 0.060 - - - - - -