SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 111 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 51.06 of 350.00 AH used of 24V (85.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 0.98 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 16 s • Transponder ping count: 8
• 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 - - - 102 VBD -0.68 - - 203 - - - 2295 - -116.8 -84.62 - 2897 - - - - - - - - 14.76 - 14.78
106 4.7 -6.4 3 130 roll -0.68 8.80 0.422 1964 200.1 2.67 2.123 3687 521.3 -116.8 -5.75 - 3221 -56.3 - - - - - - - 14.31 13.50 14.59
346 75.3 -15.2 38 353 done -0.49 0.20 0.249 2036 360.0 2.42 0.045 2249 -594.2 -116.8 - - 3223 - - - - - - - - 14.47 14.64 14.66
663 106.6 -9.6 49 669 roll -0.40 0.12 0.278 2057 175.0 2.55 0.084 3701 569.4 -116.8 - - 3225 - - - - - - - - 14.56 14.66 14.68
760 114.6 -8.5 63 765 done -0.40 - - 2060 - 2.33 0.046 2286 -607.3 -116.8 - - 3225 - - - - - - - - 14.81 14.76 14.82
1111 138.6 -6.9 71 1115 roll -0.40 - - 2059 - 2.35 0.055 888 -594.9 -116.8 - - 3225 - - - - - - - - 14.97 14.76 14.99
1229 147.3 -7.0 88 1234 done -0.40 - - 2056 - 2.45 0.069 2298 575.5 -116.8 - - 3226 - - - - - - - - 14.84 14.75 14.85
1558 170.3 -7.0 100 1563 roll -0.40 - - 2047 - 2.40 0.090 3690 580.0 -116.8 - - 3225 - - - - - - - - 15.02 14.76 15.02
1614 174.6 -7.9 108 1619 done -0.40 - - 2047 - 2.30 0.047 2284 -611.3 -116.8 - - 3227 - - - - - - - - 14.87 14.82 14.89
1951 201.1 -7.9 121 1956 roll -0.40 - - 2047 - 2.38 0.058 878 -590.8 -116.8 - - 3221 - - - - - - - - 15.01 14.79 15.02
2012 206.0 -7.8 130 2018 done -0.40 - - 2042 - 2.47 0.072 2294 573.3 -116.8 - - 3220 - - - - - - - - 14.85 14.78 14.87
2342 230.7 -7.5 142 2347 roll -0.40 - - 2034 - 2.45 0.093 3699 573.5 -116.8 - - 3220 - - - - - - - - 15.02 14.76 15.03
2391 234.5 -8.0 149 2398 done -0.40 0.08 0.213 2068 425.0 2.38 0.050 2284 -594.5 -116.8 - - 3219 - - - - - - - - 14.67 14.81 14.84
2735 257.7 -6.9 156 2739 roll -0.40 - - 2068 - 2.38 0.061 894 -584.0 -116.8 - - 3217 - - - - - - - - 15.02 14.80 15.04
2853 266.4 -7.3 173 2859 done -0.40 - - 2068 - 2.45 0.076 2286 568.2 -116.8 - - 3216 - - - - - - - - 14.87 14.77 14.89
3182 288.4 -6.6 185 3183 done -0.40 - - 2068 - - - 2286 - -116.8 - - 3213 - - - - - - - - 15.02 15.04 15.04
3518 310.1 -6.5 191 3519 done -0.40 - - 2068 - - - 2286 - -116.8 - - 3211 - - - - - - - - 15.03 15.06 15.05
3855 333.3 -7.0 197 3856 done -0.40 - - 2068 - - - 2286 - -116.8 - - 3209 - - - - - - - - 15.03 15.05 15.05
4190 356.3 -6.7 203 4195 roll -0.40 - - 2068 - 2.40 0.062 897 -578.8 -116.8 - - 3207 - - - - - - - - 15.02 14.79 15.05
4252 360.6 -6.7 212 4258 done -0.40 - - 2068 - 2.47 0.080 2289 563.6 -116.8 - - 3206 - - - - - - - - 14.88 14.76 14.90
4583 379.3 -5.6 224 4583 done -0.40 - - 2068 - - - 2289 - -116.8 - - 3204 - - - - - - - - 15.03 15.05 15.05
4918 397.1 -5.3 230 4919 done -0.40 - - 2068 - - - 2289 - -116.8 - - 3203 - - - - - - - - 15.04 15.06 15.06
5254 416.9 -6.0 236 5255 done -0.40 - - 2064 - - - 2289 - -116.8 - - 3200 - - - - - - - - 15.03 15.05 15.04
5590 438.2 -6.4 242 5595 roll -0.40 - - 2059 - 2.50 0.099 3702 565.2 -116.8 - - 3199 - - - - - - - - 15.03 14.76 15.05
5625 440.6 -7.0 247 5630 done -0.45 - - 2059 - 2.38 0.057 2283 -596.2 -116.8 - - 3200 - - - - - - - - 14.89 14.82 14.90
5983 464.6 -6.7 256 5987 roll -0.45 - - 2059 - 2.40 0.067 887 -581.7 -116.8 - - 3199 - - - - - - - - 15.02 14.76 15.04
6101 473.0 -7.2 273 6107 done -0.45 - - 2056 - 2.47 0.080 2276 562.3 -116.8 - - 3197 - - - - - - - - 14.86 14.75 14.88
6430 494.0 -6.3 285 6436 roll -0.45 - - 2050 - 2.53 0.104 3700 562.8 -116.8 - - 3195 - - - - - - - - 15.02 14.73 15.04
6471 496.7 -6.6 291 6477 done -0.45 - - 2050 - 2.42 0.059 2259 -595.5 -116.8 - - 3195 - - - - - - - - 14.87 14.80 14.90
6823 518.4 -6.2 299 6827 roll -0.45 - - 2050 - 2.38 0.067 885 -577.3 -116.8 - - 3194 - - - - - - - - 15.02 14.76 15.04
6878 522.2 -6.8 307 6883 done -0.45 - - 2043 - 2.47 0.081 2271 561.1 -116.8 - - 3193 - - - - - - - - 14.85 14.73 14.88
7214 544.9 -6.8 320 7219 roll -0.45 - - 2038 - 2.53 0.104 3693 562.1 -116.8 - - 3193 - - - - - - - - 15.01 14.72 15.03
7284 549.8 -7.0 330 7289 done -0.45 - - 2037 - 2.38 0.057 2275 -595.8 -116.8 - - 3193 - - - - - - - - 14.87 14.80 14.89
7607 571.2 -6.5 341 7612 roll -0.45 - - 2037 - 2.40 0.069 887 -578.3 -116.8 - - 3192 - - - - - - - - 15.01 14.74 15.03
7662 574.9 -6.5 349 7668 done -0.45 - - 2036 - 2.50 0.080 2280 557.2 -116.8 - - 3191 - - - - - - - - 14.84 14.72 14.86
7999 595.4 -6.2 362 8004 roll -0.45 - - 2030 - 2.53 0.104 3692 558.1 -116.8 - - 3190 - - - - - - - - 15.01 14.71 15.03
8039 598.3 -6.9 368 8045 done -0.45 - - 2030 - 2.45 0.062 2280 -576.3 -116.8 - - 3189 - - - - - - - - 14.80 14.76 14.88
8391 623.3 -7.3 376 8395 roll -0.45 - - 2030 - 2.45 0.072 874 -573.9 -116.8 - - 3189 - - - - - - - - 15.01 14.73 15.03
8432 626.6 -7.7 382 8437 done -0.45 0.12 0.292 2053 191.7 2.53 0.083 2283 556.9 -116.8 - - 3188 - - - - - - - - 14.56 14.71 14.78
8782 648.1 -6.1 390 8787 roll -0.45 - - 2043 - 2.53 0.107 3699 559.7 -116.8 - - 3187 - - - - - - - - 15.01 14.69 15.02
8830 651.4 -7.0 397 8838 done -0.45 - - 2042 - 2.47 0.063 2260 -582.6 -116.8 - - 3187 - - - - - - - - 14.79 14.76 14.82
9175 673.9 -6.7 404 9179 roll -0.45 - - 2043 - 2.40 0.071 887 -572.1 -116.8 - - 3187 - - - - - - - - 15.00 14.73 15.02
9271 680.9 -7.0 418 9277 done -0.45 - - 2042 - 2.55 0.087 2277 545.1 -116.8 - - 3187 - - - - - - - - 14.76 14.67 14.80
9622 706.0 -7.3 426 9623 done -0.45 - - 2043 - - - 2277 - -116.8 - - 3186 - - - - - - - - 15.00 15.02 15.02
9959 730.4 -7.3 432 9963 roll -0.45 - - 2042 - 2.42 0.070 891 -572.7 -116.8 - - 3185 - - - - - - - - 15.00 14.72 15.00
9999 733.5 -7.6 438 10005 done -0.45 - - 2042 - 2.55 0.086 2305 554.5 -116.8 - - 3184 - - - - - - - - 14.82 14.69 14.85
10351 757.1 -6.7 446 10356 roll -0.45 - - 2037 - 2.47 0.111 3683 557.9 -116.8 - - 3184 - - - - - - - - 15.00 14.64 15.02
10427 762.5 -6.9 457 10433 done -0.45 - - 2037 - 2.40 0.060 2268 -589.6 -116.8 - - 3183 - - - - - - - - 14.83 14.76 14.85
10742 782.2 -6.2 467 10747 roll -0.45 - - 2037 - 2.42 0.074 888 -570.2 -116.8 - - 3183 - - - - - - - - 14.99 14.66 15.01
10847 789.0 -6.5 482 10854 done -0.45 - - 2037 - 2.50 0.086 2270 552.8 -116.8 - - 3182 - - - - - - - - 14.80 14.66 14.83
11190 809.4 -5.9 489 11196 roll -0.45 - - 2032 - 2.58 0.111 3694 551.9 -116.8 - - 3182 - - - - - - - - 14.98 14.66 15.00
11259 813.5 -6.2 499 11265 done -0.45 - - 2031 - 2.42 0.063 2276 -586.0 -116.8 - - 3181 - - - - - - - - 14.81 14.73 14.83
11583 832.1 -5.9 510 11588 roll -0.45 - - 2031 - 2.45 0.075 886 -567.3 -116.8 - - 3183 - - - - - - - - 14.99 14.66 15.00
11651 836.4 -6.1 520 11657 done -0.45 - - 2026 - 2.53 0.086 2279 550.6 -116.8 - - 3180 - - - - - - - - 14.78 14.66 14.82
11975 855.1 -5.9 531 11980 roll -0.45 0.12 0.285 2054 233.3 2.58 0.113 3693 548.1 -116.8 - - 3180 - - - - - - - - 14.47 14.64 14.62
12009 857.0 -5.2 536 12015 done -0.50 - - 2054 - 2.42 0.067 2274 -586.4 -116.8 - - 3180 - - - - - - - - 14.82 14.73 14.84
12367 875.1 -5.2 545 12372 roll -0.55 - - 2054 - 2.45 0.076 884 -567.3 -116.8 - - 3179 - - - - - - - - 14.98 14.68 15.00
12457 880.6 -6.1 558 12462 done -0.60 0.15 0.135 1997 -380.0 2.53 0.089 2271 548.2 -116.8 - - 3179 - - - - - - - - 14.70 14.64 14.79
12814 908.7 -8.1 567 12819 roll -0.60 - - 1987 - 2.60 0.116 3700 549.6 -116.8 - - 3178 - - - - - - - - 14.97 14.62 14.99
12911 917.5 -10.3 581 12917 done -0.60 - - 1987 - 2.50 0.066 2267 -573.2 -116.8 - - 3178 - - - - - - - - 14.74 14.69 14.76
13263 945.3 -8.0 589 13268 roll -0.60 - - 1987 - 2.45 0.079 889 -562.4 -116.8 - - 3177 - - - - - - - - 14.97 14.63 15.02
13366 954.2 -8.2 604 13373 done -0.60 - - 1985 - 2.55 0.090 2261 538.0 -116.8 - - 3177 - - - - - - - - 14.69 14.60 14.73
13711 981.5 -8.0 611 13711 done -0.60 - - 1986 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.96 14.98 14.98
13875 end dive: TARGET_DEPTH_EXCEEDED
13875 begin apogee
13883 994.2 -7.6 614 14073 roll -0.19 0.55 0.249 2133 267.3 - - 2261 - - 188.40 1.713 2741 -2.3 0.250 - - - - - - 14.45 14.01 13.41
14075 end apogee: CONTROL_FINISHED_OK
14075 begin climb
14079 998.9 - 617 14236 done 0.68 0.90 0.151 2410 307.8 - - 2261 - 116.8 146.48 1.923 2254 -3.3 0.321 - - - - - - 13.97 14.19 13.19
14551 952.5 10.9 654 14552 done 0.62 - - 2411 - - - 2260 - 116.8 - - 2228 - - - - - - - - 14.59 14.62 14.62
14887 916.8 10.6 660 14889 done 0.55 0.12 0.298 2384 -225.0 - - 2261 - 116.8 - - 2226 - - - - - - - - 14.37 14.62 14.59
15224 885.2 9.3 666 15229 roll 0.55 - - 2384 - 2.55 0.118 3646 543.1 116.8 - - 2225 - - - - - - - - 14.83 14.55 14.85
15264 880.9 10.5 672 15270 done 0.50 0.12 0.301 2368 -133.3 2.50 0.083 2250 -558.4 116.8 - - 2224 - - - - - - - - 14.45 14.58 14.67
15616 851.4 8.3 680 15620 roll 0.50 - - 2377 - 2.60 0.100 822 -549.2 116.8 - - 2224 - - - - - - - - 14.88 14.59 14.90
15713 843.0 8.2 694 15719 done 0.50 - - 2377 - 2.58 0.090 2230 545.7 116.8 - - 2223 - - - - - - - - 14.73 14.61 14.76
16063 812.3 8.7 702 16069 roll 0.50 - - 2377 - 2.60 0.120 3639 541.9 116.8 - - 2222 - - - - - - - - 14.90 14.60 14.93
16119 807.0 9.7 710 16125 done 0.50 - - 2386 - 2.53 0.082 2216 -562.5 116.8 - - 2221 - - - - - - - - 14.74 14.64 14.77
16456 776.9 8.8 723 16461 roll 0.50 - - 2397 - 2.55 0.098 816 -549.0 116.8 - - 2222 - - - - - - - - 14.92 14.64 14.93
16517 771.6 8.4 732 16523 done 0.50 0.15 0.269 2363 -226.7 2.60 0.092 2213 537.3 116.8 - - 2221 - - - - - - - - 14.50 14.61 14.73
16847 746.7 7.5 744 16852 roll 0.50 - - 2363 - 2.62 0.119 3650 548.5 116.8 - - 2221 - - - - - - - - 14.92 14.62 14.95
16896 742.5 8.8 751 16902 done 0.50 - - 2372 - 2.55 0.083 2219 -561.2 116.8 - - 2220 - - - - - - - - 14.76 14.66 14.79
17239 713.4 8.8 758 17245 roll 0.50 - - 2382 - 2.55 0.097 818 -549.4 116.8 - - 2218 - - - - - - - - 14.94 14.63 14.94
17301 707.9 8.8 767 17307 done 0.50 - - 2382 - 2.55 0.089 2223 551.0 116.8 - - 2219 - - - - - - - - 14.76 14.63 14.78
17632 676.3 9.7 779 17636 roll 0.50 - - 2382 - 2.60 0.119 3641 545.4 116.8 - - 2218 - - - - - - - - 14.94 14.61 14.95
17687 670.5 10.9 787 17692 done 0.50 - - 2391 - 2.50 0.081 2232 -563.6 116.8 - - 2219 - - - - - - - - 14.76 14.65 14.80
18024 637.8 9.6 800 18029 roll 0.50 - - 2401 - 2.55 0.098 820 -553.7 116.8 - - 2219 - - - - - - - - 14.93 14.62 14.95
18079 632.6 9.1 808 18084 done 0.50 0.15 0.262 2366 -233.3 2.58 0.089 2231 546.9 116.8 - - 2219 - - - - - - - - 14.49 14.66 14.73
18416 607.1 7.4 821 18420 roll 0.50 - - 2366 - 2.60 0.120 3649 545.4 116.8 - - 2219 - - - - - - - - 14.95 14.60 14.97
18485 601.4 8.0 831 18490 done 0.50 - - 2376 - 2.50 0.082 2227 -568.8 116.8 - - 2219 - - - - - - - - 14.76 14.66 14.80
18808 578.0 7.3 842 18813 roll 0.50 - - 2385 - 2.55 0.098 822 -551.0 117.5 - - 2219 - - - - - - - - 14.96 14.62 14.96
18848 574.8 7.4 848 18854 done 0.50 - - 2385 - 2.60 0.088 2230 541.5 117.5 - - 2219 - - - - - - - - 14.69 14.60 14.73
19200 546.8 8.0 856 19204 roll 0.50 - - 2385 - 2.58 0.118 3644 548.1 117.5 - - 2219 - - - - - - - - 14.93 14.61 14.95
19268 540.3 9.3 866 19275 done 0.50 0.08 0.243 2372 -162.5 2.53 0.079 2233 -557.7 117.5 - - 2218 - - - - - - - - 14.47 14.63 14.62
19591 514.7 8.0 877 19596 roll 0.50 - - 2381 - 2.58 0.094 810 -551.6 117.5 - - 2218 - - - - - - - - 14.94 14.62 14.97
19633 511.3 8.0 883 19638 done 0.50 - - 2382 - 2.60 0.090 2238 549.2 117.5 - - 2218 - - - - - - - - 14.75 14.62 14.79
19983 483.3 7.9 891 19988 roll 0.50 - - 2381 - 2.58 0.117 3638 542.6 117.5 - - 2218 - - - - - - - - 14.94 14.60 14.96
20073 475.5 8.6 904 20079 done 0.50 - - 2391 - 2.53 0.077 2233 -555.3 117.5 - - 2218 - - - - - - - - 14.69 14.63 14.73
20432 447.7 7.7 913 20436 roll 0.50 - - 2401 - 2.55 0.093 821 -553.7 117.5 - - 2218 - - - - - - - - 14.94 14.59 14.95
20521 440.9 7.4 926 20528 done 0.50 0.08 0.230 2364 -462.5 2.60 0.086 2230 541.9 117.5 - - 2218 - - - - - - - - 14.50 14.60 14.73
20880 418.2 6.4 935 20906 roll 0.52 - - 2364 - 2.60 0.118 3646 544.6 140.0 19.55 1.470 2162 -2.9 0.152 - - - - - - 14.94 14.58 14.06
20962 412.2 7.5 947 20968 done 0.52 - - 2372 - 2.53 0.079 2245 -553.8 140.0 - - 2152 - - - - - - - - 14.64 14.59 14.67
21327 386.6 7.1 957 21332 roll 0.52 - - 2382 - 2.58 0.094 817 -553.5 146.6 - - 2150 - - - - - - - - 14.87 14.59 14.89
21404 381.3 6.8 968 21431 done 0.53 - - 2382 - 2.60 0.086 2246 549.6 159.3 22.08 1.421 2088 -2.8 0.140 - - - - - - 14.72 14.60 14.02
21775 353.5 7.5 979 21780 roll 0.53 - - 2382 - 2.58 0.114 3646 542.6 159.3 - - 2066 - - - - - - - - 14.83 14.55 14.85
21823 349.4 8.5 986 21831 done 0.53 - - 2391 - 2.55 0.076 2235 -553.3 159.3 - - 2067 - - - - - - - - 14.63 14.57 14.66
22168 322.6 7.8 993 22172 roll 0.53 - - 2401 - 2.58 0.089 813 -551.2 159.3 - - 2066 - - - - - - - - 14.88 14.61 14.92
22236 317.2 7.7 1003 22242 done 0.53 - - 2401 - 2.58 0.085 2237 551.9 159.3 - - 2066 - - - - - - - - 14.72 14.61 14.76
22559 289.9 8.5 1014 22565 roll 0.53 - - 2400 - 2.58 0.113 3647 546.5 159.3 - - 2066 - - - - - - - - 14.90 14.61 14.92
22636 282.3 9.7 1025 22641 done 0.53 0.15 0.254 2374 -173.3 2.47 0.075 2239 -570.0 159.3 - - 2065 - - - - - - - - 14.53 14.66 14.73
22951 258.8 7.4 1035 22956 roll 0.53 - - 2383 - 2.55 0.086 815 -558.4 159.3 - - 2066 - - - - - - - - 14.92 14.63 14.94
23028 253.2 7.5 1046 23034 done 0.58 - - 2382 - 2.55 0.082 2233 556.1 159.3 - - 2066 - - - - - - - - 14.76 14.64 14.79
23344 227.8 8.2 1056 23348 roll 0.58 - - 2383 - 2.55 0.111 3638 551.0 159.3 - - 2063 - - - - - - - - 14.93 14.63 14.96
23412 221.4 9.2 1066 23419 done 0.58 - - 2392 - 2.47 0.071 2241 -565.6 159.3 - - 2065 - - - - - - - - 14.70 14.64 14.74
23736 193.9 8.6 1077 23740 roll 0.58 - - 2402 - 2.53 0.087 820 -561.7 159.3 - - 2065 - - - - - - - - 14.93 14.65 14.95
23783 189.8 8.4 1084 23790 done 0.58 - - 2402 - 2.60 0.081 2242 546.9 159.3 - - 2065 - - - - - - - - 14.71 14.63 14.75
24128 158.3 9.3 1091 24132 roll 0.58 - - 2402 - 2.53 0.109 3643 553.8 159.3 - - 2065 - - - - - - - - 14.95 14.64 14.97
24184 152.6 10.5 1099 24189 done 0.58 - - 2411 - 2.45 0.072 2242 -571.8 159.3 - - 2065 - - - - - - - - 14.78 14.69 14.81
24519 119.4 9.7 1112 24524 roll 0.58 - - 2421 - 2.53 0.085 822 -561.3 159.3 - - 2065 - - - - - - - - 14.95 14.66 15.00
24609 111.6 8.5 1125 24615 done 0.58 0.12 0.260 2391 -250.0 2.58 0.079 2239 549.2 159.3 - - 2065 - - - - - - - - 14.54 14.64 14.76
24940 89.4 5.8 1136 24966 done 0.65 - - 2392 - - - 2239 - 196.0 19.83 0.387 1941 -6.3 0.269 - - - - - - 14.94 14.71 14.40
25275 74.1 3.9 1148 25331 roll 0.80 0.17 0.110 2474 482.4 2.60 0.106 3641 539.2 276.7 50.83 0.361 1613 -6.5 0.246 - - - - - - 14.71 14.55 14.37
25429 62.4 7.7 1170 25436 done 0.80 - - 2484 - 2.45 0.067 2235 -573.9 276.7 1.90 0.186 1610 -1.6 0.099 - - - - - - 14.70 14.61 14.51
25752 45.8 4.9 1183 25793 roll 0.91 - - 2488 - 2.58 0.078 819 -548.8 335.1 36.72 0.272 1374 -6.4 0.201 - - - - - - 14.88 14.58 14.40
25880 38.7 6.2 1201 25904 done 1.06 0.17 0.102 2572 494.1 2.47 0.070 2227 570.0 363.0 19.42 0.243 1258 -6.0 0.177 - - - - - - 14.66 14.59 14.41
26224 17.0 5.6 1217 26255 roll 1.09 - - 2572 - 2.58 0.097 3638 546.9 405.4 27.35 0.179 1084 -6.4 0.112 - - - - - - 14.87 14.58 14.51
26277 12.9 8.1 1222 26283 done 1.09 0.12 0.260 2554 -150.0 2.47 0.064 2208 -578.9 405.4 - - 1085 - - - - - - - - 14.47 14.60 14.64
26413 end climb: SURFACE_DEPTH_REACHED
26413 begin surface coast
26441 end surface coast: CONTROL_FINISHED_OK
26441 begin surface
SM 0.97 - - - - -6.14 6.62 0.071 222 33.5 0.17 0.120 2303 -16605.9 500.17 56.92 0.133 700 12.3 -0.009 - - - - - -