SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 93 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 40.36 of 350.00 AH used of 24V (88.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.0 deg, depth 0.31 m • Intended pitch -24.5 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 45 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 93 done -1.19 - - 186 - - - 2785 - -63.1 -72.85 - 3301 - - - - - - - - 14.70 13.52 14.70
95 1.9 -5.1 2 117 roll -1.19 10.90 0.397 2507 212.9 2.38 0.034 1354 -601.3 -63.1 - - 3303 - - - - - - - - 14.28 14.52 14.54
171 33.8 -29.7 14 178 done -1.02 0.28 0.305 2576 246.4 2.50 0.074 2755 560.4 -63.1 - - 3303 - - - - - - - - 14.34 14.49 14.57
507 99.5 -14.6 29 515 roll -0.95 - - 2569 - 1.95 0.107 3821 546.7 -63.1 - - 3305 - - - - - - - - 14.82 14.55 14.82
632 109.4 -6.4 47 640 done -0.88 0.15 0.274 2607 253.3 1.75 0.037 2759 -606.9 -79.4 - - 3306 - - - - - - - - 14.48 14.69 14.68
955 136.7 -8.6 58 962 roll -0.88 - - 2608 - 2.25 0.044 1391 -608.0 -79.4 - - 3306 - - - - - - - - 14.88 14.68 14.88
1017 142.4 -9.2 67 1025 done -0.88 - - 2598 - 2.45 0.070 2789 570.6 -79.4 - - 3306 - - - - - - - - 14.71 14.64 14.74
1346 173.0 -9.4 79 1349 done -0.88 - - 2598 - - - 2787 - -79.4 - - 3305 - - - - - - - - 14.91 14.92 14.92
1683 204.9 -9.6 85 1691 roll -0.88 - - 2597 - 2.38 0.046 1389 -587.4 -79.4 - - 3303 - - - - - - - - 14.93 14.67 14.93
1739 210.3 -9.4 93 1747 done -0.88 - - 2588 - 2.50 0.071 2801 564.8 -79.4 - - 3303 - - - - - - - - 14.75 14.67 14.77
2075 243.6 -10.0 106 2082 roll -0.88 - - 2586 - 2.40 0.045 1395 -585.8 -79.4 - - 3300 - - - - - - - - 14.93 14.71 14.94
2108 247.2 -10.2 111 2117 done -0.88 0.10 0.291 2609 230.0 2.50 0.071 2797 560.8 -79.4 - - 3299 - - - - - - - - 14.56 14.69 14.71
2466 281.6 -9.6 120 2479 done -0.88 - - 2609 - - - 2797 - -79.4 - - 3295 - - - - - - - - 14.97 14.97 14.97
2803 312.8 -9.1 126 2816 done -0.88 - - 2609 - - - 2797 - -79.4 - - 3294 - - - - - - - - 14.99 15.00 15.00
3138 343.9 -9.3 132 3152 roll -0.88 - - 2602 - 1.88 0.117 3827 547.9 -79.4 - - 3292 - - - - - - - - 15.01 14.71 15.02
3169 347.1 -9.9 136 3183 done -0.88 - - 2602 - 1.67 0.047 2787 -622.8 -79.4 - - 3293 - - - - - - - - 14.92 14.85 14.90
3538 382.1 -9.6 146 3551 roll -0.88 - - 2602 - 2.35 0.049 1371 -602.6 -79.4 - - 3290 - - - - - - - - 15.01 14.79 15.01
3618 389.8 -9.5 157 3631 done -0.88 - - 2592 - 2.47 0.076 2793 575.7 -79.4 - - 3289 - - - - - - - - 14.88 14.76 14.89
3937 421.1 -9.9 167 3950 roll -0.88 - - 2584 - 1.88 0.118 3826 549.5 -79.4 - - 3287 - - - - - - - - 15.01 14.73 15.01
4059 434.9 -11.2 184 4072 done -0.88 0.10 0.284 2609 250.0 1.67 0.047 2792 -619.2 -79.4 - - 3284 - - - - - - - - 14.62 14.85 14.83
4392 466.9 -9.6 196 4405 roll -0.88 - - 2609 - 2.35 0.046 1372 -604.3 -79.4 - - 3284 - - - - - - - - 15.01 14.80 15.03
4486 476.1 -9.3 209 4500 done -0.93 - - 2600 - 2.47 0.075 2790 574.1 -79.4 - - 3283 - - - - - - - - 14.87 14.75 14.89
4848 509.9 -9.2 218 4861 done -0.93 - - 2600 - - - 2790 - -79.4 - - 3282 - - - - - - - - 15.01 15.02 15.00
5184 538.1 -8.2 224 5197 done -0.93 - - 2601 - - - 2790 - -79.4 - - 3280 - - - - - - - - 15.02 15.02 15.01
5520 565.9 -8.3 230 5533 roll -0.93 - - 2599 - 2.40 0.048 1371 -591.2 -79.4 - - 3278 - - - - - - - - 15.01 14.80 15.02
5580 571.1 -8.4 238 5593 done -0.93 - - 2590 - 2.50 0.075 2791 568.0 -79.4 - - 3278 - - - - - - - - 14.87 14.74 14.89
5920 600.9 -8.8 251 5934 roll -0.93 - - 2582 - 1.90 0.120 3832 547.9 -79.4 - - 3276 - - - - - - - - 15.01 14.71 15.01
6015 609.8 -9.5 264 6028 done -0.93 - - 2581 - 1.70 0.047 2786 -615.3 -79.4 - - 3275 - - - - - - - - 14.89 14.83 14.90
6376 645.1 -10.0 273 6389 roll -0.93 - - 2580 - 2.35 0.047 1367 -603.8 -79.4 - - 3274 - - - - - - - - 15.00 14.79 15.00
6436 650.9 -9.6 281 6449 done -0.93 - - 2571 - 2.47 0.073 2789 575.7 -79.4 - - 3274 - - - - - - - - 14.86 14.73 14.88
6776 684.6 -10.0 294 6789 roll -0.93 0.08 0.322 2594 287.5 2.38 0.045 1369 -596.6 -79.4 - - 3271 - - - - - - - - 14.57 14.78 14.74
6808 687.6 -9.3 298 6821 done -0.93 - - 2585 - 2.50 0.076 2798 571.6 -79.4 - - 3272 - - - - - - - - 14.85 14.73 14.87
7176 722.0 -9.2 308 7189 roll -0.93 - - 2577 - 1.88 0.120 3827 547.3 -79.4 - - 3270 - - - - - - - - 15.00 14.70 15.00
7263 730.0 -9.2 320 7276 done -0.93 - - 2576 - 1.75 0.048 2787 -594.3 -79.4 - - 3270 - - - - - - - - 14.88 14.81 14.89
7631 761.7 -8.5 330 7644 roll -0.93 - - 2576 - 2.38 0.048 1362 -598.7 -79.4 - - 3268 - - - - - - - - 15.00 14.76 15.00
7676 765.7 -8.5 336 7689 done -0.93 0.10 0.291 2596 200.0 2.53 0.076 2802 569.2 -79.4 - - 3270 - - - - - - - - 14.56 14.71 14.80
8030 793.2 -7.8 344 8043 done -0.93 - - 2593 - - - 2802 - -79.4 - - 3267 - - - - - - - - 15.00 15.00 15.00
8367 819.6 -7.9 350 8379 done -0.93 - - 2592 - - - 2803 - -79.4 - - 3267 - - - - - - - - 14.99 15.00 15.00
8702 848.5 -8.7 356 8715 roll -0.93 - - 2593 - 2.42 0.050 1373 -590.9 -79.4 - - 3265 - - - - - - - - 14.99 14.75 14.99
8734 851.1 -8.2 360 8747 done -0.98 - - 2584 - 2.47 0.077 2786 572.1 -79.4 - - 3266 - - - - - - - - 14.84 14.70 14.86
9102 883.6 -8.7 370 9115 roll -0.98 - - 2582 - 2.40 0.050 1365 -592.1 -79.4 - - 3263 - - - - - - - - 15.00 14.74 14.99
9203 892.4 -8.4 384 9216 done -0.98 - - 2574 - 2.50 0.079 2788 569.2 -79.4 - - 3263 - - - - - - - - 14.83 14.69 14.83
9557 922.8 -8.6 392 9570 roll -0.98 - - 2566 - 1.92 0.123 3836 545.8 -79.4 - - 3262 - - - - - - - - 14.97 14.65 14.98
9636 end dive: TARGET_DEPTH_EXCEEDED
9636 begin apogee
9642 930.3 -9.4 403 9710 roll -0.23 0.93 0.235 2823 276.3 - - 2286 - - 57.97 2.008 3051 -3.6 0.317 - - - - - - 14.54 14.33 13.62
9711 end apogee: CONTROL_FINISHED_OK
9711 begin climb
9713 932.9 - 404 9813 roll 1.21 1.40 0.113 3276 323.6 2.42 0.060 899 -573.1 79.4 82.82 1.952 2730 -3.9 0.348 - - - - - - 14.28 14.29 13.38
9880 923.0 9.2 430 9893 done 1.13 - - 3275 - 2.47 0.061 2301 567.6 79.4 - - 2721 - - - - - - - - 14.34 14.25 14.35
10206 891.7 9.6 441 10220 roll 1.05 0.10 0.314 3245 -300.0 2.53 0.107 3707 555.7 79.4 - - 2720 - - - - - - - - 14.32 14.45 14.50
10316 881.0 9.7 456 10330 done 0.94 0.20 0.298 3205 -200.0 2.40 0.046 2291 -590.0 79.4 - - 2719 - - - - - - - - 14.36 14.58 14.60
10659 856.3 7.0 463 10677 roll 0.95 - - 3216 - 2.40 0.062 900 -579.6 88.0 3.62 1.631 2702 -4.7 0.463 - - - - - - 14.84 14.61 13.57
10780 847.1 7.5 480 10799 done 0.95 - - 3214 - 2.40 0.063 2302 584.2 90.4 4.03 1.787 2691 -2.7 0.243 - - - - - - 14.72 14.60 13.57
11112 819.7 8.5 492 11125 roll 0.95 - - 3225 - 2.42 0.062 892 -582.6 90.4 - - 2698 - - - - - - - - 14.85 14.63 14.85
11150 816.4 9.7 497 11163 done 0.95 - - 3224 - 2.40 0.063 2288 581.7 90.4 - - 2698 - - - - - - - - 14.73 14.62 14.75
11511 783.9 9.3 506 11525 roll 0.95 - - 3225 - 2.60 0.114 3703 544.2 90.4 - - 2697 - - - - - - - - 14.90 14.59 14.89
11564 778.6 10.2 513 11579 done 0.87 0.20 0.299 3185 -200.0 2.40 0.046 2281 -592.5 90.4 - - 2697 - - - - - - - - 14.47 14.71 14.71
11908 751.4 7.8 520 11921 roll 0.87 - - 3198 - 2.38 0.063 892 -583.6 90.4 - - 2697 - - - - - - - - 14.92 14.67 14.92
11960 747.5 7.1 527 11987 done 0.88 - - 3195 - 2.40 0.063 2288 581.7 98.4 12.35 2.051 2653 -3.6 0.244 - - - - - - 14.78 14.66 13.96
12307 718.2 8.5 541 12321 roll 0.88 - - 3195 - 2.58 0.113 3691 543.8 98.4 - - 2650 - - - - - - - - 14.85 14.57 14.85
12395 709.7 9.7 553 12408 done 0.88 - - 3206 - 2.38 0.046 2278 -593.7 98.4 - - 2650 - - - - - - - - 14.75 14.69 14.76
12763 678.3 8.6 563 12776 done 0.88 - - 3206 - - - 2277 - 98.4 - - 2650 - - - - - - - - 14.90 14.90 14.90
13099 649.4 8.5 569 13112 done 0.88 - - 3206 - - - 2277 - 98.4 - - 2649 - - - - - - - - 14.92 14.92 14.92
13435 623.3 7.5 575 13448 done 0.89 - - 3206 - - - 2277 - 101.2 - - 2650 - - - - - - - - 14.93 14.93 14.89
13771 596.8 8.1 581 13785 roll 0.89 - - 3206 - 2.62 0.113 3692 540.1 101.2 - - 2649 - - - - - - - - 14.93 14.62 14.93
13866 588.4 8.5 594 13879 done 0.84 0.17 0.290 3172 -200.0 2.35 0.047 2293 -595.3 101.2 - - 2648 - - - - - - - - 14.51 14.74 14.74
14227 562.5 7.3 603 14241 done 0.84 - - 3171 - - - 2294 - 106.3 4.45 1.818 2626 -4.9 0.287 - - - - - - 14.95 14.73 13.75
14563 538.0 7.2 609 14588 roll 0.85 - - 3172 - 2.60 0.112 3692 537.7 112.6 10.90 1.885 2596 -2.8 0.147 - - - - - - 14.92 14.59 14.03
14599 535.2 7.5 614 14612 done 0.85 - - 3181 - 2.35 0.048 2296 -594.0 116.0 - - 2596 - - - - - - - - 14.73 14.64 14.74
14961 507.6 7.7 623 14977 roll 0.86 - - 3182 - 2.67 0.111 3700 525.8 117.1 1.60 0.395 2588 -5.0 1.206 - - - - - - 14.88 14.58 14.24
15002 503.9 8.6 629 15017 done 0.86 - - 3193 - 2.40 0.047 2274 -594.2 117.1 1.77 0.431 2585 -1.7 0.372 - - - - - - 14.76 14.69 14.24
15358 475.1 8.3 637 15372 roll 0.86 - - 3193 - 2.70 0.113 3694 525.9 117.1 1.55 0.396 2587 - - - - - - - - 14.90 14.59 14.23
15439 467.2 9.6 648 15452 done 0.86 - - 3204 - 2.35 0.047 2296 -594.9 117.1 1.62 0.410 2585 - - - - - - - - 14.77 14.71 14.23
15758 439.0 8.9 658 15772 roll 0.86 - - 3214 - 2.38 0.060 896 -588.2 117.1 1.20 0.337 2586 - - - - - - - - 14.91 14.59 14.23
15853 431.1 8.2 671 15867 done 0.86 0.12 0.268 3181 -275.0 2.40 0.065 2289 580.4 117.1 2.20 0.682 2583 -1.4 0.162 - - - - - - 14.51 14.66 13.62
16208 404.7 7.3 679 16234 roll 0.86 - - 3181 - 2.62 0.116 3694 536.3 122.6 9.75 1.760 2556 -2.8 0.120 - - - - - - 14.92 14.59 14.07
16280 398.9 8.5 689 16293 done 0.86 - - 3192 - 2.38 0.047 2282 -593.3 122.6 - - 2555 - - - - - - - - 14.74 14.66 14.74
16606 373.7 7.6 700 16619 roll 0.86 - - 3202 - 2.38 0.066 896 -582.4 123.9 - - 2555 - - - - - - - - 14.88 14.64 14.88
16672 368.5 7.8 709 16685 done 0.86 - - 3202 - 2.40 0.065 2291 581.2 123.9 - - 2555 - - - - - - - - 14.75 14.63 14.76
17005 341.5 8.2 721 17018 done 0.86 - - 3202 - - - 2292 - 123.9 - - 2555 - - - - - - - - 14.90 14.90 14.90
17341 313.2 8.6 727 17354 done 0.86 - - 3202 - - - 2292 - 123.9 - - 2553 - - - - - - - - 14.92 14.92 14.92
17677 283.7 8.8 733 17691 roll 0.86 - - 3201 - 2.60 0.116 3702 542.3 123.9 - - 2556 - - - - - - - - 14.94 14.62 14.93
17723 279.1 10.1 739 17736 done 0.86 0.12 0.283 3180 -175.0 2.38 0.047 2290 -593.3 123.9 - - 2555 - - - - - - - - 14.51 14.73 14.74
18077 250.8 7.8 747 18090 roll 0.86 - - 3190 - 2.38 0.063 891 -587.8 123.9 - - 2556 - - - - - - - - 14.95 14.69 14.95
18115 247.8 7.5 752 18130 done 0.87 - - 3190 - 2.38 0.061 2289 587.4 127.1 2.70 1.004 2543 -4.8 0.223 - - - - - - 14.77 14.69 13.79
18471 219.0 8.2 760 18484 done 0.87 - - 3190 - - - 2289 - 127.1 1.10 0.317 2544 - - - - - - - - 14.93 14.73 14.35
18807 192.6 7.8 766 18820 done 0.87 - - 3190 - - - 2289 - 127.1 1.17 0.335 2544 - - - - - - - - 14.95 14.72 14.25
19143 169.1 6.9 772 19168 roll 0.88 - - 3189 - 2.55 0.111 3692 550.2 136.8 13.27 1.408 2499 -3.4 0.076 - - - - - - 14.95 14.61 14.18
19201 164.6 8.1 780 19214 done 0.88 - - 3198 - 2.38 0.046 2279 -593.7 136.8 - - 2498 - - - - - - - - 14.75 14.69 14.76
19541 137.1 8.3 793 19554 roll 0.88 - - 3212 - 2.35 0.063 898 -587.7 136.8 - - 2498 - - - - - - - - 14.89 14.66 14.92
19593 133.2 7.3 800 19608 done 0.89 - - 3210 - 2.40 0.061 2292 580.8 141.9 1.90 0.432 2486 -6.3 0.366 - - - - - - 14.76 14.64 14.25
19937 107.2 7.5 807 19955 roll 0.89 - - 3212 - 2.60 0.112 3693 538.8 144.4 2.45 0.432 2477 -3.7 0.171 - - - - - - 14.92 14.60 14.31
19987 102.9 8.2 814 20001 done 0.89 0.12 0.277 3189 -191.7 2.38 0.044 2274 -596.2 144.4 - - 2481 - - - - - - - - 14.49 14.70 14.71
20304 84.3 4.0 825 20337 roll 1.01 0.05 0.216 3241 1040.0 2.38 0.059 896 -579.0 189.4 21.30 0.421 2296 -8.7 0.327 - - - - - - 14.68 14.65 14.38
20545 75.5 4.0 859 20578 done 1.12 - - 3240 - 2.35 0.059 2284 590.6 233.8 20.80 0.395 2118 -8.6 0.307 - - - - - - 14.76 14.64 14.35
20899 59.7 3.9 876 20932 roll 1.25 0.08 0.145 3316 950.0 2.42 0.060 894 -574.4 279.2 21.42 0.344 1937 -8.5 0.275 - - - - - - 14.69 14.62 14.40
21008 52.3 7.3 891 21025 done 1.26 - - 3318 - 2.40 0.060 2292 582.5 285.1 2.85 0.316 1915 -7.7 0.240 - - - - - - 14.72 14.59 14.38
21346 34.4 6.0 906 21370 roll 1.33 - - 3328 - 2.38 0.061 900 -584.9 306.0 10.50 0.270 1831 -8.0 0.191 - - - - - - 14.89 14.62 14.50
21599 18.0 7.0 942 21617 done 1.41 - - 3328 - 2.38 0.059 2302 589.1 314.8 4.65 0.230 1794 -8.0 0.117 - - - - - - 14.76 14.66 14.53
21880 end climb: SURFACE_DEPTH_REACHED
21880 begin surface coast
21909 end surface coast: CONTROL_FINISHED_OK
21909 begin surface
SM -0.86 - - - - -8.41 8.93 0.060 181 20.2 0.82 0.095 2773 -8059.8 500.14 81.43 0.155 1058 13.0 0.007 - - - - - -