SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 456 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 161.16 of 350.00 AH used of 24V (53.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth -1.43 m • Intended pitch -17.6 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: 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 101 done -0.93 - - 107 - - - 2777 - -107.1 -79.38 - 3478 - - - - - - - - 14.66 12.51 14.66
105 6.4 -13.8 3 122 roll -0.93 11.85 0.384 2582 208.9 1.95 0.090 3839 544.6 -107.1 - - 3479 - - - - - - - - 14.00 14.33 14.26
136 24.6 -49.3 8 142 done 0.04 1.12 0.243 2892 276.8 1.83 0.042 2772 -583.1 -107.1 - - 3480 - - - - - - - - 14.08 14.45 14.36
466 44.8 -5.5 22 472 roll -0.43 0.35 0.084 2757 -385.7 2.38 0.039 1359 -593.7 -107.1 - - 3481 - - - - - - - - 14.43 14.46 14.49
601 50.6 -4.4 41 607 done -0.61 0.10 0.115 2671 -860.0 2.50 0.069 2768 563.6 -107.1 - - 3484 - - - - - - - - 14.48 14.38 14.56
914 74.6 -7.7 53 919 roll -0.61 0.10 0.225 2693 220.0 1.95 0.109 3832 545.6 -107.1 - - 3482 - - - - - - - - 14.36 14.32 14.55
1018 81.3 -6.2 68 1026 done -0.61 - - 2692 - 1.83 0.041 2734 -600.0 -107.1 - - 3482 - - - - - - - - 14.60 14.57 14.61
1362 103.7 -6.8 80 1368 roll -0.61 - - 2692 - 2.28 0.041 1388 -590.4 -107.1 - - 3482 - - - - - - - - 14.92 14.52 14.92
1431 108.6 -6.5 90 1437 done -0.70 - - 2683 - 2.47 0.069 2757 554.3 -107.1 - - 3481 - - - - - - - - 14.46 14.37 14.51
1754 129.6 -6.4 101 1759 roll -0.70 - - 2683 - 2.35 0.041 1385 -583.8 -107.1 - - 3480 - - - - - - - - 14.92 14.53 14.92
1837 135.2 -6.2 113 1843 done -0.79 - - 2675 - 2.50 0.069 2767 552.8 -107.1 - - 3479 - - - - - - - - 14.61 14.38 14.63
2202 159.9 -7.0 123 2207 roll -0.79 - - 2674 - 2.35 0.041 1391 -585.5 -107.1 - - 3476 - - - - - - - - 14.92 14.53 14.92
2243 163.0 -8.0 129 2249 done -0.86 0.08 0.089 2605 -862.5 2.47 0.069 2756 552.6 -107.1 - - 3477 - - - - - - - - 14.38 14.32 14.45
2594 196.7 -9.7 137 2599 roll -0.86 - - 2597 - 2.05 0.112 3830 523.9 -107.1 - - 3475 - - - - - - - - 14.90 14.28 14.92
2698 208.1 -10.3 152 2706 done -0.77 0.15 0.196 2643 306.7 1.80 0.043 2769 -589.4 -107.1 - - 3474 - - - - - - - - 14.23 14.60 14.39
3042 237.3 -8.5 159 3047 roll -0.77 - - 2643 - 2.38 0.042 1377 -584.9 -107.1 - - 3472 - - - - - - - - 14.94 14.52 14.94
3125 244.7 -8.7 171 3131 done -0.77 - - 2633 - 2.50 0.067 2753 550.4 -107.1 - - 3474 - - - - - - - - 14.44 14.34 14.49
3490 278.0 -9.3 181 3495 roll -0.77 - - 2625 - 2.05 0.113 3828 524.4 -107.1 - - 3470 - - - - - - - - 14.92 14.28 14.92
3531 282.2 -10.3 187 3537 done -0.77 - - 2624 - 1.83 0.044 2751 -588.5 -107.1 - - 3469 - - - - - - - - 14.63 14.61 14.65
3882 316.5 -9.8 195 3883 done -0.77 - - 2624 - - - 2751 - -107.1 - - 3467 - - - - - - - - 14.94 14.94 14.94
4218 347.6 -9.2 201 4219 done -0.77 - - 2624 - - - 2750 - -107.1 - - 3470 - - - - - - - - 14.95 14.95 14.95
4554 378.4 -9.2 207 4559 roll -0.77 - - 2624 - 2.38 0.044 1374 -578.2 -107.1 - - 3464 - - - - - - - - 14.94 14.50 14.94
4595 382.1 -9.5 213 4601 done -0.77 0.12 0.209 2651 225.0 2.53 0.067 2753 545.1 -107.1 - - 3464 - - - - - - - - 14.14 14.34 14.31
4946 411.2 -8.4 221 4947 done -0.77 - - 2651 - - - 2753 - -107.1 - - 3463 - - - - - - - - 14.94 14.94 14.95
5282 439.8 -8.6 227 5283 done -0.77 - - 2651 - - - 2753 - -107.1 - - 3460 - - - - - - - - 14.94 14.94 14.95
5618 467.7 -8.3 233 5623 roll -0.77 - - 2652 - 2.40 0.043 1378 -572.9 -107.1 - - 3459 - - - - - - - - 14.94 14.48 14.94
5674 472.5 -8.5 241 5679 done -0.77 - - 2643 - 2.50 0.068 2757 551.6 -107.1 - - 3459 - - - - - - - - 14.54 14.35 14.57
6010 500.3 -8.3 254 6011 done -0.77 - - 2643 - - - 2757 - -107.1 - - 3457 - - - - - - - - 14.94 14.94 14.94
6346 527.2 -8.0 260 6347 done -0.77 - - 2643 - - - 2757 - -107.1 - - 3456 - - - - - - - - 14.92 14.91 14.91
6682 553.7 -7.9 266 6687 roll -0.77 - - 2640 - 2.42 0.044 1376 -570.7 -107.1 - - 3454 - - - - - - - - 14.96 14.46 14.91
6723 557.0 -7.6 272 6730 done -0.77 - - 2634 - 2.53 0.067 2745 541.1 -107.1 - - 3454 - - - - - - - - 14.41 14.31 14.45
7074 586.2 -8.4 280 7080 roll -0.77 - - 2625 - 2.10 0.113 3833 518.1 -107.1 - - 3453 - - - - - - - - 14.93 14.16 14.93
7115 590.0 -9.6 286 7121 done -0.77 - - 2625 - 1.85 0.045 2759 -580.5 -107.1 - - 3453 - - - - - - - - 14.55 14.52 14.57
7466 620.8 -8.7 294 7471 roll -0.77 - - 2625 - 2.40 0.043 1376 -576.2 -107.1 - - 3451 - - - - - - - - 14.90 14.43 14.90
7535 626.6 -8.0 304 7542 done -0.77 0.10 0.214 2645 200.0 2.53 0.067 2754 544.7 -107.1 - - 3450 - - - - - - - - 14.07 14.28 14.24
7858 649.5 -6.9 315 7863 roll -0.77 - - 2645 - 2.40 0.043 1376 -574.2 -107.1 - - 3450 - - - - - - - - 14.90 14.42 14.89
7906 652.9 -6.5 322 7913 done -0.77 - - 2637 - 2.53 0.067 2752 543.9 -107.1 - - 3449 - - - - - - - - 14.35 14.25 14.40
8250 675.8 -6.6 329 8255 roll -0.77 - - 2629 - 2.05 0.114 3834 527.8 -107.1 - - 3449 - - - - - - - - 14.92 14.19 14.92
8326 681.2 -7.2 340 8332 done -0.77 - - 2628 - 1.88 0.045 2748 -577.7 -107.1 - - 3448 - - - - - - - - 14.52 14.48 14.52
8642 702.1 -6.7 350 8647 roll -0.77 - - 2627 - 2.38 0.043 1375 -576.9 -107.1 - - 3448 - - - - - - - - 14.95 14.41 14.91
8698 706.3 -7.3 358 8703 done -0.77 0.10 0.237 2645 180.0 2.50 0.066 2755 552.0 -107.1 - - 3448 - - - - - - - - 14.12 14.29 14.36
9034 727.4 -6.2 371 9035 done -0.77 - - 2647 - - - 2755 - -107.1 - - 3447 - - - - - - - - 14.91 14.90 14.92
9370 750.8 -7.1 377 9375 roll -0.77 - - 2648 - 2.42 0.044 1370 -572.3 -107.1 - - 3446 - - - - - - - - 14.91 14.40 14.91
9404 753.4 -7.5 382 9410 done -0.85 - - 2640 - 2.55 0.067 2742 538.0 -107.1 - - 3446 - - - - - - - - 14.33 14.22 14.38
9762 779.9 -7.5 391 9767 roll -0.85 - - 2631 - 2.10 0.117 3839 522.4 -107.1 - - 3444 - - - - - - - - 14.88 14.10 14.88
9803 783.1 -8.4 397 9809 done -0.85 - - 2631 - 1.90 0.045 2742 -577.4 -107.1 - - 3444 - - - - - - - - 14.50 14.48 14.50
10154 810.3 -7.8 405 10159 roll -0.85 - - 2631 - 2.38 0.044 1372 -575.6 -107.1 - - 3446 - - - - - - - - 14.91 14.39 14.91
10188 813.6 -7.7 410 10194 done -0.85 - - 2624 - 2.53 0.067 2741 541.1 -107.1 - - 3443 - - - - - - - - 14.31 14.21 14.35
10546 842.8 -8.1 419 10551 roll -0.85 - - 2614 - 2.08 0.116 3832 524.5 -107.1 - - 3442 - - - - - - - - 14.90 14.11 14.90
10580 846.2 -8.2 424 10587 done -0.85 - - 2614 - 1.90 0.046 2734 -577.9 -107.1 - - 3442 - - - - - - - - 14.45 14.44 14.48
10938 878.6 -9.3 433 10943 roll -0.85 - - 2613 - 2.38 0.044 1373 -571.8 -107.1 - - 3441 - - - - - - - - 14.88 14.35 14.88
10979 882.6 -7.9 439 10985 done -0.85 - - 2605 - 2.55 0.067 2748 539.2 -107.1 - - 3441 - - - - - - - - 14.23 14.15 14.31
11330 915.8 -9.5 447 11335 roll -0.85 - - 2597 - 2.05 0.114 3830 527.8 -107.1 - - 3443 - - - - - - - - 14.88 14.08 14.88
11378 920.7 -10.2 454 11385 done -0.85 - - 2596 - 1.90 0.046 2741 -573.2 -107.1 - - 3441 - - - - - - - - 14.45 14.44 14.48
11495 end dive: TARGET_DEPTH_EXCEEDED
11495 begin apogee
11502 931.9 -9.1 457 11618 roll -0.23 0.77 0.181 2821 292.2 0.08 0.180 2256 -6062.5 - 112.43 1.991 3048 -3.5 0.329 - - - - - - 14.00 13.88 12.85
11619 end apogee: CONTROL_FINISHED_OK
11619 begin climb
11622 935.4 - 459 11751 roll 0.93 1.12 0.089 3185 325.0 2.55 0.056 854 -549.8 107.1 118.50 1.966 2620 -3.6 0.345 - - - - - - 13.97 14.00 12.81
11785 928.6 5.5 484 11841 done 0.86 - - 3185 - 2.55 0.050 2253 548.6 152.6 50.97 1.981 2443 -3.5 0.327 - - - - - - 14.04 13.98 12.91
12174 886.7 10.3 504 12180 roll 0.76 0.10 0.239 3149 -360.0 2.60 0.098 3651 537.7 152.6 - - 2429 - - - - - - - - 14.15 14.26 14.31
12229 880.4 8.1 512 12235 done 0.66 0.15 0.226 3119 -200.0 2.42 0.041 2244 -581.4 152.6 - - 2429 - - - - - - - - 14.16 14.45 14.42
12564 850.3 8.5 525 12565 done 0.66 - - 3119 - - - 2241 - 152.6 - - 2427 - - - - - - - - 14.78 14.78 14.78
12900 822.0 8.9 531 12906 roll 0.66 - - 3118 - 2.67 0.103 3650 527.7 152.6 - - 2427 - - - - - - - - 14.82 14.26 14.82
12962 815.3 12.4 540 12969 done 0.66 - - 3129 - 2.45 0.041 2249 -571.8 152.6 - - 2426 - - - - - - - - 14.50 14.47 14.52
13292 790.1 7.8 552 13298 roll 0.66 - - 3126 - 2.65 0.103 3651 529.1 152.6 - - 2425 - - - - - - - - 14.83 14.24 14.83
13319 785.3 17.3 556 13326 done 0.66 - - 3140 - 2.45 0.041 2245 -573.9 152.6 - - 2426 - - - - - - - - 14.49 14.45 14.51
13685 755.4 7.5 566 13689 roll 0.67 - - 3140 - 2.67 0.103 3652 527.0 158.3 - - 2425 - - - - - - - - 14.84 14.23 14.84
13711 750.2 23.6 570 13717 done 0.67 0.10 0.223 3121 -190.0 2.45 0.041 2254 -570.6 158.3 - - 2427 - - - - - - - - 14.11 14.43 14.26
14076 719.8 7.8 580 14082 roll 0.67 - - 3120 - 2.67 0.103 3656 525.1 158.3 - - 2425 - - - - - - - - 14.85 14.21 14.85
14103 715.9 13.6 584 14110 done 0.67 - - 3131 - 2.42 0.041 2262 -576.0 158.3 - - 2424 - - - - - - - - 14.48 14.44 14.50
14469 726.9 7.1 594 14488 done 0.69 - - 3131 - - - 2261 - 170.7 18.52 1.929 2371 -2.9 0.217 - - - - - - 14.83 14.38 13.39
14805 702.7 7.3 600 14817 roll 0.70 - - 3130 - 2.70 0.106 3655 516.3 179.8 4.38 1.821 2338 -7.5 0.584 - - - - - - 14.78 14.38 12.88
14867 697.6 8.6 609 14873 done 0.70 - - 3141 - 2.45 0.041 2261 -569.0 179.8 1.42 0.245 2335 -2.1 1.208 - - - - - - 14.46 14.46 13.89
15196 671.6 7.9 621 15197 done 0.70 - - 3141 - - - 2257 - 179.8 - - 2344 - - - - - - - - 14.82 14.79 14.81
15532 643.8 8.4 627 15538 roll 0.70 - - 3141 - 2.67 0.103 3652 522.5 179.8 1.17 0.261 2333 -9.4 4.657 - - - - - - 14.85 14.16 13.97
15574 639.7 9.9 633 15580 done 0.70 - - 3151 - 2.45 0.041 2259 -568.6 179.8 1.17 0.239 2336 2.6 -1.378 - - - - - - 14.46 14.42 13.96
15925 607.1 9.4 641 15930 roll 0.70 - - 3157 - 2.47 0.060 855 -568.4 179.8 1.45 0.257 2335 - - - - - - - - 14.83 14.07 13.80
15980 601.9 9.5 649 15986 done 0.70 0.12 0.219 3126 -258.3 2.45 0.053 2261 573.9 179.8 - - 2342 - - - - - - - - 14.12 14.35 14.37
16316 574.0 8.2 662 16321 roll 0.70 - - 3124 - 2.62 0.103 3653 531.3 179.8 - - 2343 - - - - - - - - 14.85 14.16 14.83
16385 567.8 8.8 672 16393 done 0.70 - - 3134 - 2.45 0.041 2257 -569.8 179.8 1.15 0.224 2335 -7.0 3.541 - - - - - - 14.45 14.41 13.98
16708 542.5 7.7 683 16711 done 0.70 - - 3133 - - - 2254 - 180.0 1.35 0.256 2334 - - - - - - - - 14.83 14.23 13.88
17044 517.0 7.6 689 17056 roll 0.70 - - 3134 - 2.67 0.104 3652 523.6 183.7 4.80 1.825 2325 -1.9 0.107 - - - - - - 14.84 14.38 13.06
17100 512.3 8.6 697 17106 done 0.70 - - 3145 - 2.40 0.041 2256 -581.7 183.7 1.60 0.280 2318 -4.4 1.607 - - - - - - 14.62 14.54 13.85
17437 487.2 7.3 710 17454 done 0.71 - - 3145 - - - 2253 - 191.7 15.80 1.730 2285 -2.1 0.118 - - - - - - 14.82 14.40 13.49
17773 462.7 7.3 716 17785 roll 0.72 - - 3145 - 2.70 0.104 3656 519.6 201.0 4.68 1.719 2253 -6.8 0.370 - - - - - - 14.77 14.35 12.96
17834 457.2 8.9 725 17841 done 0.72 - - 3156 - 2.45 0.041 2270 -565.7 201.0 1.60 0.265 2251 - - - - - - - - 14.46 14.42 13.64
18164 430.7 8.1 737 18170 roll 0.72 - - 3156 - 2.65 0.102 3658 523.8 201.0 1.52 0.266 2252 - - - - - - - - 14.82 14.01 13.67
18198 427.5 9.1 742 18205 done 0.72 0.10 0.210 3137 -190.0 2.45 0.041 2264 -569.0 201.0 - - 2257 - - - - - - - - 14.07 14.39 14.23
18557 399.2 7.9 751 18559 done 0.72 - - 3137 - - - 2260 - 201.0 1.35 0.252 2250 -5.2 1.649 - - - - - - 14.81 14.23 13.85
18892 373.4 7.6 757 18905 roll 0.73 - - 3137 - 2.67 0.105 3654 522.1 204.5 4.72 1.663 2241 -1.9 0.086 - - - - - - 14.85 14.39 13.10
18926 370.5 8.4 762 18933 done 0.73 - - 3147 - 2.42 0.041 2269 -572.3 204.5 1.20 0.248 2237 -3.3 1.000 - - - - - - 14.52 14.48 13.98
19284 342.1 7.9 771 19290 roll 0.73 - - 3158 - 2.50 0.060 855 -565.6 204.5 1.48 0.263 2237 - - - - - - - - 14.83 14.04 13.71
19332 338.3 7.8 778 19340 done 0.73 - - 3158 - 2.50 0.054 2265 564.0 204.5 1.40 0.236 2238 - - - - - - - - 14.36 14.28 13.78
19677 311.9 7.6 785 19689 roll 0.73 - - 3157 - 2.62 0.104 3654 530.2 207.1 4.28 1.514 2229 -2.1 0.087 - - - - - - 14.82 14.39 13.07
19745 306.1 8.6 795 19752 done 0.73 0.10 0.208 3138 -190.0 2.42 0.040 2271 -571.5 207.1 1.52 0.257 2227 - - - - - - - - 14.11 14.40 13.67
20068 284.7 6.6 806 20108 roll 0.76 - - 3149 - 2.55 0.062 862 -552.5 230.7 31.58 1.380 2122 -3.3 0.138 - - - - - - 14.85 14.38 13.56
20137 279.9 7.1 816 20157 done 0.77 - - 3149 - 2.50 0.054 2269 562.8 242.9 12.52 1.486 2077 -3.6 0.136 - - - - - - 14.37 14.29 13.47
20516 246.4 9.3 828 20522 roll 0.77 - - 3149 - 2.60 0.104 3654 532.7 242.9 - - 2071 - - - - - - - - 14.73 14.18 14.74
20578 239.6 10.9 837 20584 done 0.77 - - 3159 - 2.42 0.040 2270 -571.9 242.9 - - 2071 - - - - - - - - 14.41 14.36 14.42
20908 206.8 9.8 849 20913 roll 0.77 - - 3169 - 2.47 0.061 860 -570.9 242.9 - - 2070 - - - - - - - - 14.79 14.29 14.79
20942 203.4 9.7 854 20948 done 0.77 - - 3169 - 2.50 0.054 2269 563.6 242.9 - - 2070 - - - - - - - - 14.37 14.29 14.41
21300 169.0 9.5 863 21306 roll 0.77 - - 3169 - 2.60 0.103 3658 534.2 242.9 - - 2070 - - - - - - - - 14.85 14.20 14.84
21376 161.4 9.9 874 21382 done 0.77 - - 3179 - 2.42 0.039 2270 -573.6 242.9 - - 2070 - - - - - - - - 14.45 14.39 14.47
21692 132.3 9.4 884 21698 roll 0.77 - - 3188 - 2.47 0.061 862 -570.0 242.9 - - 2070 - - - - - - - - 14.83 14.29 14.84
21720 129.5 9.8 888 21727 done 0.77 0.10 0.189 3151 -370.0 2.53 0.054 2282 561.3 242.9 - - 2069 - - - - - - - - 14.12 14.28 14.35
22084 95.5 9.4 898 22090 roll 0.77 - - 3160 - 2.50 0.060 862 -568.0 242.9 - - 2072 - - - - - - - - 14.84 14.31 14.85
22113 93.0 8.9 902 22117 done 0.77 - - 3160 - 2.47 0.054 2280 574.1 242.9 - - 2070 - - - - - - - - 14.49 14.33 14.52
22448 66.0 7.4 917 22455 roll 0.78 - - 3160 - 2.65 0.102 3653 518.1 250.1 2.10 0.291 2056 -6.7 0.304 - - - - - - 14.83 14.16 13.57
22482 63.4 7.5 922 22491 done 0.79 - - 3170 - 2.40 0.039 2271 -575.8 255.7 4.35 0.328 2032 -5.5 0.214 - - - - - - 14.45 14.40 13.75
22798 40.6 6.4 934 22815 done 0.82 - - 3170 - - - 2268 - 283.1 15.75 0.289 1920 -7.1 0.201 - - - - - - 14.85 14.31 13.94
23107 25.8 4.3 945 23144 done 1.05 0.15 0.088 3259 593.3 - - 2267 - 351.3 35.55 0.243 1650 -7.6 0.162 - - - - - - 14.52 14.33 14.03
23445 9.0 4.4 960 23483 roll 1.22 - - 3269 - 2.47 0.060 858 -570.4 417.8 32.85 0.187 1384 -8.1 0.078 - - - - - - 14.79 14.23 14.05
23533 4.7 5.2 973 23562 done 1.42 0.17 0.057 3380 652.9 2.50 0.051 2273 566.0 468.0 24.17 0.173 1185 -8.2 0.045 - - - - - - 14.35 14.27 14.12
23564 end climb: SURFACE_DEPTH_REACHED
23564 begin surface coast
23571 end surface coast: CONTROL_FINISHED_OK
23572 begin surface
SM -1.33 - - - - -8.39 9.62 0.087 191 19.8 0.93 0.090 2772 -9309.7 500.14 15.05 0.164 1057 70.2 0.058 - - - - - -