SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 397 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 142.38 of 350.00 AH used of 24V (59.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth -1.90 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 3 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 93 done -0.93 - - 107 - - - 2794 - -107.1 -77.65 - 3478 - - - - - - - - 14.69 12.58 14.67
96 -0.6 -3.7 2 112 roll -0.93 11.90 0.383 2583 208.1 1.88 0.079 3816 543.6 -107.1 - - 3479 - - - - - - - - 13.97 14.35 14.35
342 69.2 -14.1 38 348 done -0.70 0.30 0.213 2668 283.3 1.75 0.037 2749 -609.7 -107.1 - - 3481 - - - - - - - - 14.14 14.53 14.32
678 98.3 -9.0 53 683 roll -0.70 - - 2660 - 2.03 0.105 3813 524.1 -107.1 - - 3483 - - - - - - - - 14.85 14.32 14.86
740 103.6 -8.2 62 746 done -0.70 - - 2660 - 1.73 0.039 2753 -612.7 -107.1 - - 3483 - - - - - - - - 14.64 14.62 14.64
1070 131.9 -8.6 74 1075 roll -0.70 - - 2651 - 2.00 0.106 3803 525.0 -107.1 - - 3483 - - - - - - - - 14.90 14.35 14.90
1174 141.7 -9.5 89 1182 done -0.70 - - 2651 - 1.73 0.041 2767 -598.8 -107.1 - - 3482 - - - - - - - - 14.71 14.66 14.72
1518 172.4 -8.8 96 1524 roll -0.70 - - 2651 - 2.30 0.044 1392 -597.8 -107.1 - - 3480 - - - - - - - - 14.94 14.56 14.94
1574 177.3 -8.5 104 1581 done -0.70 0.10 0.235 2672 210.0 2.40 0.067 2763 571.2 -107.1 - - 3480 - - - - - - - - 14.33 14.45 14.55
1910 204.0 -8.0 117 1911 done -0.70 - - 2672 - - - 2763 - -107.1 - - 3478 - - - - - - - - 14.95 14.95 14.92
2246 230.4 -7.9 123 2247 done -0.70 - - 2671 - - - 2763 - -107.1 - - 3475 - - - - - - - - 14.93 14.93 14.95
2583 255.3 -7.4 129 2587 roll -0.70 - - 2671 - 2.35 0.044 1388 -585.1 -107.1 - - 3471 - - - - - - - - 14.93 14.52 14.93
2665 261.5 -7.4 141 2671 done -0.70 - - 2662 - 2.50 0.068 2771 553.2 -107.1 - - 3472 - - - - - - - - 14.53 14.45 14.57
3030 290.4 -8.1 151 3035 roll -0.70 - - 2654 - 2.00 0.109 3850 539.5 -107.1 - - 3470 - - - - - - - - 14.95 14.37 14.95
3050 292.1 -8.2 154 3056 done -0.70 - - 2654 - 1.83 0.043 2765 -592.9 -107.1 - - 3470 - - - - - - - - 14.72 14.67 14.73
3366 319.5 -8.7 164 3372 roll -0.70 - - 2654 - 2.33 0.044 1386 -591.8 -107.1 - - 3468 - - - - - - - - 14.95 14.57 14.95
3422 324.4 -8.6 172 3428 done -0.70 - - 2645 - 2.47 0.068 2777 563.2 -107.1 - - 3467 - - - - - - - - 14.55 14.38 14.58
3759 353.4 -8.6 185 3760 done -0.70 0.10 0.243 2675 300.0 - - 2777 - -107.1 - - 3465 - - - - - - - - 14.38 14.64 14.59
4094 378.3 -7.4 191 4099 roll -0.78 - - 2675 - 2.38 0.045 1389 -583.2 -107.1 - - 3464 - - - - - - - - 14.93 14.55 14.95
4170 384.1 -7.4 202 4177 done -0.87 0.08 0.089 2603 -900.0 2.47 0.069 2762 555.9 -107.1 - - 3463 - - - - - - - - 14.45 14.39 14.52
4486 416.2 -10.4 212 4487 done -0.87 - - 2603 - - - 2763 - -107.1 - - 3461 - - - - - - - - 14.95 14.95 14.95
4822 450.4 -10.1 218 4823 done -0.87 - - 2602 - - - 2763 - -107.1 - - 3460 - - - - - - - - 14.95 14.95 14.95
5158 484.2 -10.1 224 5164 roll -0.87 - - 2602 - 2.38 0.045 1384 -579.4 -107.1 - - 3458 - - - - - - - - 14.95 14.52 14.97
5221 490.7 -10.2 233 5226 done -0.87 - - 2592 - 2.50 0.069 2764 552.0 -107.1 - - 3458 - - - - - - - - 14.47 14.38 14.52
5550 525.3 -10.6 245 5556 roll -0.87 - - 2584 - 2.00 0.110 3817 526.5 -107.1 - - 3457 - - - - - - - - 14.92 14.28 14.92
5591 529.9 -11.2 251 5598 done -0.78 0.22 0.196 2650 300.0 1.75 0.041 2772 -597.1 -107.1 - - 3457 - - - - - - - - 14.21 14.62 14.40
5942 558.1 -7.9 259 5947 roll -0.78 - - 2650 - 2.38 0.045 1380 -584.9 -107.1 - - 3455 - - - - - - - - 14.92 14.49 14.92
6025 564.8 -8.0 271 6031 done -0.78 - - 2640 - 2.53 0.067 2759 545.1 -107.1 - - 3455 - - - - - - - - 14.45 14.35 14.50
6390 595.1 -8.4 281 6391 done -0.78 - - 2640 - - - 2760 - -107.1 - - 3453 - - - - - - - - 14.92 14.92 14.92
6726 622.1 -7.9 287 6731 roll -0.78 - - 2637 - 2.40 0.045 1377 -576.2 -107.1 - - 3451 - - - - - - - - 14.92 14.49 14.92
6760 624.8 -7.8 292 6767 done -0.78 - - 2632 - 2.50 0.067 2759 552.8 -107.1 - - 3451 - - - - - - - - 14.44 14.34 14.49
7119 651.3 -7.4 301 7119 done -0.78 - - 2630 - - - 2759 - -107.1 - - 3450 - - - - - - - - 14.92 14.91 14.92
7454 676.2 -7.4 307 7459 roll -0.78 - - 2630 - 2.40 0.044 1374 -577.1 -107.1 - - 3449 - - - - - - - - 14.91 14.47 14.91
7502 680.0 -7.7 314 7510 done -0.78 - - 2620 - 2.55 0.068 2770 547.5 -107.1 - - 3449 - - - - - - - - 14.42 14.33 14.46
7846 708.4 -8.5 321 7852 roll -0.78 - - 2619 - 2.42 0.044 1373 -577.3 -107.1 - - 3447 - - - - - - - - 14.94 14.47 14.93
7873 710.9 -9.0 325 7880 done -0.78 0.10 0.218 2640 210.0 2.50 0.067 2753 552.0 -107.1 - - 3447 - - - - - - - - 14.12 14.33 14.28
8238 740.3 -8.1 335 8239 done -0.78 - - 2640 - - - 2754 - -107.1 - - 3446 - - - - - - - - 14.93 14.93 14.93
8574 766.2 -7.7 341 8579 roll -0.78 - - 2640 - 2.38 0.044 1375 -579.4 -107.1 - - 3449 - - - - - - - - 14.92 14.45 14.92
8608 768.9 -7.9 346 8614 done -0.78 - - 2631 - 2.53 0.067 2760 547.4 -107.1 - - 3444 - - - - - - - - 14.40 14.30 14.44
8967 795.3 -7.3 355 8972 roll -0.78 - - 2630 - 2.38 0.044 1381 -579.4 -107.1 - - 3443 - - - - - - - - 14.92 14.45 14.93
8993 797.4 -7.5 359 8999 done -0.78 - - 2622 - 2.53 0.068 2761 545.5 -107.1 - - 3443 - - - - - - - - 14.36 14.29 14.44
9358 824.3 -7.2 369 9359 done -0.78 - - 2621 - - - 2760 - -107.1 - - 3443 - - - - - - - - 14.90 14.92 14.92
9694 849.5 -7.6 375 9700 roll -0.78 - - 2621 - 2.42 0.046 1372 -573.6 -107.1 - - 3441 - - - - - - - - 14.92 14.39 14.92
9778 855.7 -7.7 387 9784 done -0.78 0.10 0.215 2640 190.0 2.55 0.069 2754 542.0 -107.1 - - 3441 - - - - - - - - 14.04 14.26 14.21
10142 882.7 -7.5 397 10148 roll -0.78 - - 2637 - 2.40 0.045 1376 -574.2 -107.1 - - 3440 - - - - - - - - 14.89 14.39 14.89
10176 885.5 -6.4 402 10182 done -0.78 - - 2631 - 2.53 0.070 2756 545.5 -107.1 - - 3440 - - - - - - - - 14.35 14.24 14.39
10534 913.9 -7.9 411 10535 done -0.78 - - 2631 - - - 2757 - -107.1 - - 3440 - - - - - - - - 14.89 14.89 14.89
10755 end dive: TARGET_DEPTH_EXCEEDED
10755 begin apogee
10763 930.3 -7.2 415 10875 roll -0.23 0.65 0.168 2825 298.5 0.08 0.170 2258 -6237.5 - 109.90 1.954 3049 -3.6 0.338 - - - - - - 14.14 13.93 12.97
10877 end apogee: CONTROL_FINISHED_OK
10877 begin climb
10880 934.3 - 417 11006 roll 0.93 1.10 0.089 3183 325.5 2.50 0.058 883 -550.0 107.1 117.25 1.961 2624 -3.6 0.345 - - - - - - 13.99 14.01 12.83
11012 930.7 6.9 437 11041 done 0.71 0.17 0.207 3131 -305.9 2.50 0.050 2247 545.6 124.5 20.45 2.023 2553 -3.5 0.319 - - - - - - 13.71 13.84 12.83
11372 903.6 8.0 453 11377 roll 0.71 - - 3136 - 2.62 0.099 3658 538.5 124.5 - - 2540 - - - - - - - - 14.66 14.28 14.66
11474 894.3 9.0 468 11483 done 0.62 0.12 0.206 3110 -216.7 2.40 0.041 2274 -576.7 124.5 - - 2540 - - - - - - - - 14.15 14.42 14.32
11818 870.5 6.8 475 11838 done 0.65 - - 3110 - - - 2274 - 142.8 19.02 1.993 2484 -2.9 0.257 - - - - - - 14.82 14.38 13.43
12154 847.6 6.9 481 12182 roll 0.67 - - 3110 - 2.60 0.098 3654 530.8 160.6 21.73 1.968 2403 -3.7 0.321 - - - - - - 14.76 14.19 13.40
12230 842.0 7.8 492 12237 done 0.67 - - 3120 - 2.45 0.041 2256 -570.6 160.6 - - 2400 - - - - - - - - 14.42 14.37 14.42
12546 819.8 7.0 502 12563 done 0.69 - - 3120 - - - 2255 - 175.3 16.35 2.004 2351 -3.0 0.245 - - - - - - 14.76 14.37 13.40
12882 795.4 7.4 508 12889 roll 0.70 - - 3120 - 2.72 0.100 3660 516.5 181.6 1.98 0.360 2331 -10.1 4.456 - - - - - - 14.76 14.31 13.62
12951 789.4 8.9 518 12957 done 0.70 - - 3130 - 2.45 0.041 2253 -574.3 181.6 1.48 0.275 2328 -2.0 1.162 - - - - - - 14.51 14.45 13.64
13274 762.6 8.4 529 13276 done 0.70 - - 3130 - - - 2251 - 181.6 1.42 0.277 2326 - - - - - - - - 14.83 14.34 13.85
13610 734.3 8.4 535 13616 roll 0.70 - - 3129 - 2.65 0.098 3654 529.4 181.6 1.08 0.269 2328 - - - - - - - - 14.84 14.28 14.07
13672 728.6 8.8 544 13679 done 0.70 - - 3141 - 2.42 0.041 2258 -576.9 181.6 1.15 0.242 2328 - - - - - - - - 14.52 14.48 13.96
14002 700.1 8.8 556 14002 done 0.70 - - 3139 - - - 2255 - 181.6 - - 2334 - - - - - - - - 14.85 14.85 14.85
14338 670.5 8.8 562 14343 roll 0.70 - - 3140 - 2.65 0.100 3654 527.9 181.6 - - 2334 - - - - - - - - 14.87 14.30 14.87
14435 661.0 9.8 576 14442 done 0.70 - - 3151 - 2.40 0.040 2265 -578.8 181.6 1.15 0.235 2327 -6.1 3.419 - - - - - - 14.53 14.49 14.02
14786 630.4 8.6 584 14786 done 0.70 - - 3151 - - - 2262 - 181.6 - - 2334 - - - - - - - - 14.85 14.87 14.87
15122 602.7 8.2 590 15127 roll 0.70 - - 3150 - 2.65 0.100 3658 526.8 181.6 - - 2334 - - - - - - - - 14.87 14.26 14.87
15163 598.9 9.3 596 15170 done 0.70 0.10 0.213 3131 -190.0 2.42 0.041 2258 -578.5 181.6 - - 2334 - - - - - - - - 14.14 14.50 14.29
15514 571.5 7.8 604 15515 done 0.70 - - 3127 - - - 2254 - 181.6 - - 2334 - - - - - - - - 14.87 14.87 14.87
15850 543.9 8.3 610 15855 roll 0.70 - - 3131 - 2.65 0.101 3655 528.7 181.6 - - 2334 - - - - - - - - 14.88 14.25 14.88
15912 538.2 9.1 619 15918 done 0.70 - - 3141 - 2.42 0.041 2257 -577.7 181.6 - - 2334 - - - - - - - - 14.49 14.43 14.51
16242 510.4 8.4 631 16243 done 0.70 - - 3141 - - - 2255 - 181.6 - - 2334 - - - - - - - - 14.89 14.89 14.89
16578 483.2 8.1 637 16583 roll 0.70 - - 3142 - 2.67 0.101 3652 523.2 181.6 - - 2334 - - - - - - - - 14.88 14.24 14.88
16626 478.8 9.2 644 16635 done 0.70 - - 3153 - 2.40 0.041 2269 -576.2 181.6 1.23 0.230 2328 -4.9 2.028 - - - - - - 14.49 14.44 13.88
16970 450.4 8.3 651 16975 roll 0.70 - - 3152 - 2.65 0.101 3659 524.5 181.6 - - 2333 - - - - - - - - 14.90 14.23 14.90
16997 447.8 9.0 655 17003 done 0.70 0.12 0.206 3126 -216.7 2.42 0.041 2267 -575.2 181.6 - - 2334 - - - - - - - - 14.07 14.42 14.24
17362 420.9 7.3 665 17381 roll 0.71 - - 3136 - 2.47 0.064 850 -573.7 189.8 13.98 1.666 2287 -3.4 0.170 - - - - - - 14.86 14.49 13.54
17410 417.2 7.6 672 17418 done 0.71 - - 3136 - 2.50 0.054 2270 568.0 193.3 - - 2284 - - - - - - - - 14.48 14.41 14.52
17754 390.9 7.6 679 17760 roll 0.71 - - 3136 - 2.58 0.100 3652 535.7 195.4 1.58 0.292 2276 -5.1 1.353 - - - - - - 14.82 14.00 13.53
17844 383.3 8.5 692 17851 done 0.71 - - 3147 - 2.40 0.039 2264 -578.3 195.4 1.40 0.248 2274 - - - - - - - - 14.48 14.42 13.75
18202 356.0 7.6 701 18213 roll 0.72 - - 3157 - 2.50 0.063 864 -560.0 197.8 4.07 1.512 2266 -2.0 0.092 - - - - - - 14.85 14.46 13.07
18250 352.1 8.0 708 18258 done 0.72 - - 3156 - 2.47 0.054 2270 569.2 197.8 1.15 0.238 2265 - - - - - - - - 14.48 14.40 14.04
18594 324.0 8.3 715 18600 roll 0.72 - - 3157 - 2.58 0.099 3653 536.0 197.8 1.40 0.281 2265 - - - - - - - - 14.84 14.04 13.66
18691 314.9 9.5 729 18698 done 0.72 0.10 0.207 3137 -200.0 2.38 0.039 2278 -577.7 197.8 1.33 0.246 2264 - - - - - - - - 14.15 14.45 13.80
19042 288.5 7.5 737 19056 roll 0.72 - - 3137 - 2.62 0.099 3653 524.8 202.7 9.70 1.592 2240 -2.5 0.090 - - - - - - 14.87 14.48 13.63
19076 285.7 8.3 742 19082 done 0.72 - - 3147 - 2.38 0.039 2274 -579.4 202.7 - - 2238 - - - - - - - - 14.54 14.50 14.56
19427 258.5 7.7 750 19428 done 0.72 - - 3147 - - - 2271 - 203.3 - - 2237 - - - - - - - - 14.83 14.83 14.83
19763 233.8 7.3 756 19781 roll 0.73 - - 3147 - 2.65 0.100 3659 523.8 212.2 10.62 1.496 2200 -3.5 0.109 - - - - - - 14.84 14.47 13.67
19819 229.3 8.8 764 19825 done 0.73 - - 3157 - 2.35 0.040 2272 -590.2 212.2 - - 2198 - - - - - - - - 14.58 14.49 14.59
20155 202.7 8.0 777 20160 roll 0.73 - - 3157 - 2.62 0.099 3661 530.2 212.2 - - 2197 - - - - - - - - 14.85 14.28 14.85
20189 199.6 9.5 782 20195 done 0.73 - - 3168 - 2.38 0.038 2283 -579.0 212.2 - - 2197 - - - - - - - - 14.49 14.45 14.52
20547 168.3 8.8 791 20548 done 0.73 0.10 0.226 3137 -310.0 - - 2281 - 212.2 - - 2197 - - - - - - - - 14.29 14.56 14.50
20883 143.5 7.2 797 20897 roll 0.75 - - 3137 - 2.62 0.100 3655 524.4 222.3 9.70 1.416 2163 -3.5 0.071 - - - - - - 14.85 14.49 13.72
20959 137.2 8.4 808 20966 done 0.75 - - 3147 - 2.38 0.038 2277 -579.0 222.3 - - 2161 - - - - - - - - 14.52 14.49 14.55
21324 110.5 7.4 818 21328 done 0.75 - - 3147 - - - 2275 - 228.5 2.62 0.401 2141 -7.6 0.420 - - - - - - 14.85 14.28 13.70
21632 88.7 7.0 826 21645 roll 0.77 - - 3147 - 2.65 0.099 3653 520.0 243.2 9.07 0.418 2082 -6.5 0.276 - - - - - - 14.84 14.38 13.93
21737 80.4 8.2 841 21742 done 0.77 - - 3156 - 2.33 0.038 2281 -588.8 243.2 - - 2086 - - - - - - - - 14.59 14.52 14.61
22073 57.4 6.3 856 22094 roll 0.91 0.03 0.353 3204 1600.0 2.62 0.098 3651 522.9 272.2 16.02 0.337 1966 -7.5 0.255 - - - - - - 14.54 14.38 14.02
22206 49.7 5.4 875 22235 done 0.97 - - 3214 - 2.33 0.037 2273 -591.4 319.4 25.00 0.317 1777 -7.6 0.237 - - - - - - 14.58 14.50 14.08
22566 30.1 5.1 893 22598 roll 1.14 0.08 0.144 3284 875.0 2.60 0.097 3661 533.8 371.6 26.42 0.254 1569 -7.9 0.186 - - - - - - 14.52 14.27 14.04
22772 15.0 5.7 923 22800 done 1.19 - - 3293 - 2.35 0.037 2291 -583.0 412.7 20.40 0.208 1407 -7.9 0.114 - - - - - - 14.44 14.39 14.06
22980 end climb: SURFACE_DEPTH_REACHED
22980 begin surface coast
23008 end surface coast: CONTROL_FINISHED_OK
23011 begin surface
SM -1.91 - - - - -8.38 8.88 0.049 183 20.6 0.90 0.093 2766 -7208.9 500.14 40.80 0.154 1058 25.9 0.033 - - - - - -