SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 163 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.27 of 350.00 AH used of 24V (79.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.2 deg, depth 0.95 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 13 s • Transponder ping count: 9
• 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 103 VBD -0.68 - - 211 - - - 2261 - -116.8 -84.38 - 3048 - - - - - - - - 14.73 - 14.75
107 7.6 -11.4 3 124 roll -0.68 9.00 0.428 1962 194.6 2.75 2.107 3692 520.4 -116.8 -2.62 - 3220 -65.6 - - - - - - - 14.19 13.40 14.55
132 22.6 -52.4 7 137 done 0.07 0.98 0.295 2210 253.1 2.40 0.054 2277 -589.6 -116.8 - - 3222 - - - - - - - - 14.33 14.53 14.56
467 60.9 -8.4 22 472 roll 0.02 - - 2203 - 2.50 0.087 3691 565.6 -116.8 - - 3223 - - - - - - - - 14.85 14.57 14.88
524 65.0 -7.0 30 529 done -0.09 0.12 0.132 2132 -591.7 2.35 0.049 2266 -606.4 -116.8 - - 3222 - - - - - - - - 14.63 14.64 14.73
860 90.4 -6.1 45 865 roll -0.14 - - 2135 - 2.35 0.060 883 -588.5 -116.8 - - 3224 - - - - - - - - 14.92 14.66 14.94
964 95.8 -5.4 60 970 done -0.21 - - 2137 - 2.47 0.063 2285 567.6 -116.8 - - 3223 - - - - - - - - 14.67 14.61 14.73
1280 111.7 -5.1 68 1285 roll -0.34 0.12 0.132 2060 -641.7 2.38 0.051 882 -589.5 -116.8 - - 3225 - - - - - - - - 14.73 14.71 14.79
1369 117.1 -5.9 81 1376 done -0.34 0.12 0.265 2085 208.3 2.50 0.063 2324 576.8 -116.8 - - 3225 - - - - - - - - 14.54 14.70 14.74
1728 137.1 -5.6 90 1733 roll -0.34 - - 2081 - 2.35 0.090 3685 579.1 -116.8 - - 3224 - - - - - - - - 14.99 14.64 15.00
1804 142.0 -6.7 101 1810 done -0.40 - - 2081 - 2.28 0.047 2289 -612.3 -116.8 - - 3224 - - - - - - - - 14.83 14.76 14.84
2119 162.0 -6.3 111 2124 roll -0.40 - - 2081 - 2.38 0.062 901 -583.2 -116.8 - - 3222 - - - - - - - - 14.99 14.72 15.01
2262 170.8 -6.2 131 2267 done -0.45 - - 2085 - 2.47 0.067 2323 575.7 -116.8 - - 3221 - - - - - - - - 14.82 14.72 14.85
2624 192.1 -6.0 141 2630 roll -0.50 0.12 0.135 2022 -525.0 2.45 0.057 893 -583.7 -116.8 - - 3219 - - - - - - - - 14.76 14.73 14.79
2658 195.0 -8.8 146 2664 done -0.50 - - 2015 - 2.50 0.067 2316 569.2 -116.8 - - 3222 - - - - - - - - 14.79 14.69 14.82
3016 229.2 -9.5 155 3017 done -0.50 - - 2015 - - - 2316 - -116.8 - - 3217 - - - - - - - - 15.00 15.02 15.02
3352 260.9 -9.5 161 3357 roll -0.50 - - 2015 - 2.42 0.057 900 -585.1 -116.8 - - 3215 - - - - - - - - 15.02 14.73 15.03
3408 266.3 -9.5 169 3414 done -0.50 0.10 0.302 2033 180.0 2.47 0.070 2307 569.6 -116.8 - - 3214 - - - - - - - - 14.53 14.71 14.76
3744 294.0 -8.1 182 3749 roll -0.50 - - 2021 - 2.42 0.092 3696 574.0 -116.8 - - 3212 - - - - - - - - 15.01 14.69 15.03
3785 297.4 -8.3 188 3790 done -0.50 - - 2022 - 2.30 0.054 2315 -600.4 -116.8 - - 3211 - - - - - - - - 14.84 14.78 14.86
4136 325.8 -8.2 196 4141 roll -0.50 - - 2021 - 2.45 0.063 884 -584.1 -116.8 - - 3209 - - - - - - - - 15.00 14.71 15.02
4219 333.1 -8.6 208 4224 done -0.50 - - 2015 - 2.53 0.071 2317 566.4 -116.8 - - 3209 - - - - - - - - 14.81 14.68 14.85
4584 366.6 -9.3 218 4585 done -0.50 - - 2014 - - - 2317 - -116.8 - - 3210 - - - - - - - - 15.00 15.02 15.02
4920 398.1 -9.5 224 4925 roll -0.50 - - 2015 - 2.47 0.060 884 -580.2 -116.8 - - 3205 - - - - - - - - 15.01 14.72 15.03
5010 406.9 -9.6 237 5016 done -0.50 - - 2010 - 2.55 0.073 2301 555.7 -116.8 - - 3207 - - - - - - - - 14.83 14.66 14.85
5368 439.9 -9.2 246 5372 roll -0.50 - - 2014 - 2.47 0.063 877 -576.5 -116.8 - - 3202 - - - - - - - - 14.98 14.70 15.02
5410 443.9 -9.3 252 5415 done -0.50 - - 2012 - 2.53 0.073 2298 561.7 -116.8 - - 3202 - - - - - - - - 14.80 14.68 14.83
5760 474.4 -8.7 260 5760 done -0.50 - - 2012 - - - 2298 - -116.8 - - 3200 - - - - - - - - 15.00 15.02 15.01
6096 503.8 -8.8 266 6097 done -0.50 - - 2008 - - - 2297 - -116.8 - - 3199 - - - - - - - - 15.00 15.02 15.01
6432 533.7 -8.9 272 6437 roll -0.50 - - 2012 - 2.47 0.067 885 -571.7 -116.8 - - 3197 - - - - - - - - 14.98 14.69 15.00
6522 541.9 -8.9 285 6528 done -0.50 - - 2012 - 2.50 0.076 2288 561.2 -116.8 - - 3197 - - - - - - - - 14.79 14.67 14.83
6880 572.4 -8.5 294 6885 roll -0.50 - - 2007 - 2.50 0.099 3696 563.2 -116.8 - - 3195 - - - - - - - - 15.00 14.64 15.02
6921 576.0 -8.7 300 6927 done -0.50 0.08 0.230 2031 300.0 2.40 0.057 2303 -580.4 -116.8 - - 3194 - - - - - - - - 14.47 14.71 14.61
7272 600.6 -6.8 308 7277 roll -0.50 - - 2031 - 2.47 0.068 873 -578.9 -116.8 - - 3193 - - - - - - - - 14.99 14.67 15.01
7355 606.5 -6.9 320 7360 done -0.50 - - 2026 - 2.55 0.076 2301 560.0 -116.8 - - 3193 - - - - - - - - 14.77 14.65 14.81
7720 631.7 -7.0 330 7721 done -0.50 - - 2026 - - - 2301 - -116.8 - - 3191 - - - - - - - - 14.99 15.01 15.01
8056 657.0 -7.7 336 8060 roll -0.50 - - 2026 - 2.50 0.067 875 -570.4 -116.8 - - 3190 - - - - - - - - 14.99 14.66 15.01
8146 664.7 -8.6 349 8152 done -0.50 - - 2026 - 2.53 0.080 2285 557.3 -116.8 - - 3189 - - - - - - - - 14.76 14.62 14.79
8504 692.7 -7.9 358 8505 done -0.50 - - 2026 - - - 2285 - -116.8 - - 3188 - - - - - - - - 14.99 15.00 15.00
8840 716.5 -6.9 364 8841 done -0.50 - - 2025 - - - 2285 - -116.8 - - 3187 - - - - - - - - 14.97 14.99 14.99
9176 737.8 -6.3 370 9177 done -0.50 - - 2025 - - - 2284 - -116.8 - - 3186 - - - - - - - - 14.99 15.01 15.00
9512 760.2 -6.7 376 9513 done -0.50 - - 2026 - - - 2285 - -116.8 - - 3186 - - - - - - - - 14.97 15.00 14.99
9849 783.5 -7.0 382 9849 done -0.50 - - 2026 - - - 2285 - -116.8 - - 3184 - - - - - - - - 14.98 15.00 15.00
10184 807.1 -7.0 388 10189 roll -0.50 - - 2026 - 2.50 0.069 869 -566.4 -116.8 - - 3183 - - - - - - - - 14.98 14.62 15.00
10246 811.8 -7.3 397 10252 done -0.50 - - 2026 - 2.58 0.080 2288 550.0 -116.8 - - 3182 - - - - - - - - 14.73 14.59 14.76
10577 833.8 -6.7 409 10578 done -0.50 - - 2026 - - - 2288 - -116.8 - - 3182 - - - - - - - - 14.95 14.97 14.97
10912 857.8 -7.1 415 10917 roll -0.50 - - 2025 - 2.50 0.068 874 -565.6 -116.8 - - 3181 - - - - - - - - 14.95 14.61 14.97
10953 861.1 -6.3 421 10959 done -0.50 - - 2026 - 2.55 0.082 2283 552.5 -116.8 - - 3181 - - - - - - - - 14.71 14.58 14.76
11304 886.5 -7.2 429 11305 done -0.50 - - 2026 - - - 2283 - -116.8 - - 3180 - - - - - - - - 14.96 14.98 14.98
11640 908.3 -6.3 435 11641 done -0.50 - - 2030 - - - 2283 - -116.8 - - 3179 - - - - - - - - 14.95 14.97 14.97
11976 926.3 -5.3 441 11981 roll -0.50 - - 2026 - 2.50 0.070 875 -563.2 -116.8 - - 3178 - - - - - - - - 14.95 14.59 14.97
12025 929.0 -5.5 448 12031 done -0.50 - - 2026 - 2.58 0.084 2283 545.7 -116.8 - - 3178 - - - - - - - - 14.71 14.57 14.74
12368 947.6 -5.6 455 12373 roll -0.50 - - 2026 - 2.50 0.071 878 -562.0 -116.8 - - 3178 - - - - - - - - 14.95 14.55 14.97
12424 951.1 -3.4 463 12429 done -0.50 - - 2025 - 2.58 0.085 2284 545.0 -116.8 - - 3178 - - - - - - - - 14.69 14.54 14.73
12760 972.3 -6.4 476 12765 roll -0.50 - - 2022 - 2.58 0.111 3695 546.9 -116.8 - - 3177 - - - - - - - - 14.93 14.52 14.95
12829 977.1 -4.8 486 12834 done -0.50 - - 2022 - 2.47 0.068 2276 -574.5 -116.8 - - 3177 - - - - - - - - 14.72 14.62 14.75
13036 end dive: TARGET_DEPTH_EXCEEDED
13036 begin apogee
13044 991.7 -6.5 495 13235 roll -0.19 0.40 0.214 2133 277.5 0.03 0.289 2227 -1633.3 - 189.02 1.670 2740 -2.3 0.257 - - - - - - 14.40 13.93 13.38
13237 end apogee: CONTROL_FINISHED_OK
13237 begin climb
13241 997.6 - 498 13399 roll 0.68 0.90 0.165 2406 303.3 2.75 0.112 3639 513.5 116.8 147.15 1.917 2263 -3.2 0.316 - - - - - - 13.95 13.98 13.10
13504 975.8 11.1 540 13509 done 0.59 - - 2416 - 2.58 0.079 2235 -544.2 116.8 - - 2235 - - - - 1 - - - 14.17 14.07 14.20
13820 942.0 10.8 550 13825 roll 0.52 0.17 0.273 2370 -270.6 2.62 0.109 3638 535.5 116.8 - - 2230 - - - - - - - - 14.19 14.35 14.35
13962 928.3 9.1 570 13967 done 0.52 - - 2380 - 2.53 0.077 2223 -559.3 116.8 - - 2228 - - - - - - - - 14.55 14.45 14.58
14324 895.9 8.9 580 14328 roll 0.52 - - 2389 - 2.58 0.096 821 -543.4 116.8 - - 2230 - - - - - - - - 14.81 14.47 14.83
14386 890.5 8.5 589 14392 done 0.52 - - 2390 - 2.58 0.085 2229 545.7 116.8 - - 2227 - - - - - - - - 14.62 14.50 14.66
14716 859.6 9.5 601 14721 roll 0.52 - - 2390 - 2.60 0.115 3638 541.9 116.8 - - 2226 - - - - - - - - 14.85 14.49 14.88
14799 850.3 10.7 613 14806 done 0.46 0.20 0.262 2353 -185.0 2.47 0.077 2235 -568.0 116.8 - - 2225 - - - - 1 - - - 14.35 14.54 14.62
15164 822.1 7.6 623 15169 roll 0.46 - - 2362 - 2.60 0.093 812 -547.3 116.8 - - 2224 - - - - - - - - 14.88 14.52 14.89
15226 817.4 7.4 632 15231 done 0.46 - - 2362 - 2.62 0.084 2245 546.9 116.8 - - 2224 - - - - - - - - 14.66 14.52 14.70
15556 792.1 7.6 644 15561 roll 0.46 - - 2362 - 2.58 0.112 3650 544.6 116.8 - - 2223 - - - - - - - - 14.90 14.51 14.92
15618 786.6 9.0 653 15624 done 0.46 - - 2372 - 2.50 0.076 2236 -565.6 116.8 - - 2223 - - - - - - - - 14.69 14.57 14.72
15948 760.4 8.0 665 15953 roll 0.46 - - 2382 - 2.58 0.091 821 -548.4 116.8 - - 2223 - - - - - - - - 14.90 14.53 14.92
16004 755.9 8.0 673 16010 done 0.46 0.15 0.264 2350 -213.3 2.58 0.081 2238 549.2 116.8 - - 2225 - - - - - - - - 14.35 14.54 14.64
16341 731.7 7.3 686 16345 roll 0.46 - - 2350 - 2.58 0.109 3642 544.2 118.2 - - 2222 - - - - - - - - 14.90 14.52 14.91
16416 725.5 8.2 697 16422 done 0.46 - - 2359 - 2.53 0.074 2239 -554.5 118.2 - - 2222 - - - - - - - - 14.62 14.55 14.66
16732 701.5 7.6 707 16737 roll 0.46 - - 2369 - 2.58 0.091 818 -550.8 118.2 - - 2222 - - - - - - - - 14.88 14.53 14.90
16815 695.4 7.2 719 16820 done 0.46 - - 2369 - 2.60 0.080 2253 551.9 122.3 - - 2222 - - - - - - - - 14.65 14.52 14.69
17180 667.5 7.7 729 17185 roll 0.46 - - 2369 - 2.55 0.112 3639 543.5 122.3 - - 2221 - - - - - - - - 14.92 14.50 14.93
17256 660.9 8.5 740 17262 done 0.46 0.12 0.272 2352 -141.7 2.47 0.074 2239 -566.8 122.3 - - 2221 - - - - - - - - 14.37 14.57 14.64
17572 639.3 6.9 750 17584 roll 0.47 - - 2361 - 2.58 0.091 814 -552.3 133.8 6.85 1.597 2195 -3.8 0.285 - - - - - - 14.90 14.64 13.86
17648 634.1 6.8 761 17684 done 0.52 - - 2369 - 2.60 0.080 2246 550.8 147.6 26.23 1.621 2133 -2.4 0.173 - - - - - - 14.67 14.54 13.87
18020 606.3 7.6 772 18025 roll 0.52 - - 2361 - 2.58 0.109 3641 540.7 147.6 - - 2121 - - - - - - - - 14.78 14.45 14.78
18096 599.9 8.3 783 18101 done 0.52 - - 2371 - 2.50 0.073 2258 -553.2 147.6 - - 2120 - - - - - - - - 14.64 14.48 14.66
18412 573.8 8.5 793 18417 roll 0.52 - - 2380 - 2.62 0.088 814 -551.1 147.6 - - 2120 - - - - - - - - 14.83 14.48 14.88
18474 568.3 8.5 802 18479 done 0.52 - - 2380 - 2.62 0.079 2261 552.3 147.6 - - 2118 - - - - - - - - 14.64 14.51 14.67
18804 538.4 9.1 814 18808 roll 0.52 - - 2380 - 2.53 0.108 3641 545.5 147.6 - - 2118 - - - - - - - - 14.86 14.49 14.88
18873 531.4 9.9 824 18878 done 0.52 - - 2389 - 2.45 0.072 2251 -567.3 147.6 - - 2118 - - - - - - - - 14.66 14.56 14.70
19196 502.5 8.9 835 19201 roll 0.52 - - 2399 - 2.60 0.089 819 -550.8 147.6 - - 2118 - - - - - - - - 14.88 14.52 14.90
19265 496.7 8.1 845 19271 done 0.52 - - 2399 - 2.62 0.078 2268 553.1 147.6 - - 2117 - - - - - - - - 14.63 14.50 14.68
19588 469.4 8.5 856 19593 roll 0.52 0.12 0.264 2364 -291.7 2.50 0.107 3639 548.4 147.6 - - 2117 - - - - - - - - 14.35 14.50 14.50
19671 462.8 7.6 868 19676 done 0.52 - - 2372 - 2.47 0.071 2261 -557.9 147.6 - - 2117 - - - - - - - - 14.61 14.55 14.64
20036 434.9 8.0 878 20042 roll 0.52 - - 2382 - 2.60 0.086 818 -555.0 147.6 - - 2117 - - - - - - - - 14.91 14.50 14.90
20105 429.3 8.0 888 20110 done 0.52 - - 2382 - 2.62 0.078 2271 554.6 147.6 - - 2116 - - - - - - - - 14.64 14.51 14.69
20428 401.5 8.6 899 20433 roll 0.52 - - 2382 - 2.50 0.109 3639 547.2 147.6 - - 2117 - - - - - - - - 14.89 14.51 14.91
20497 395.0 9.2 909 20503 done 0.52 - - 2391 - 2.40 0.070 2270 -570.4 147.6 - - 2117 - - - - - - - - 14.69 14.59 14.73
20820 368.1 8.3 920 20824 roll 0.52 - - 2401 - 2.62 0.087 817 -554.6 147.6 - - 2117 - - - - - - - - 14.91 14.53 14.93
20896 362.0 7.9 931 20902 done 0.52 0.12 0.252 2371 -250.0 2.62 0.079 2268 553.8 147.6 - - 2117 - - - - - - - - 14.40 14.54 14.64
21212 338.9 7.3 941 21218 roll 0.52 - - 2372 - 2.50 0.109 3642 549.6 148.0 - - 2121 - - - - - - - - 14.90 14.51 14.92
21267 334.2 8.6 949 21273 done 0.52 - - 2379 - 2.42 0.071 2261 -570.7 148.0 - - 2117 - - - - - - - - 14.69 14.59 14.72
21604 306.7 8.3 962 21609 roll 0.52 - - 2389 - 2.58 0.085 826 -556.2 148.0 - - 2116 - - - - - - - - 14.90 14.54 14.92
21660 302.2 8.1 970 21665 done 0.52 - - 2389 - 2.62 0.078 2276 553.4 148.0 - - 2117 - - - - - - - - 14.68 14.55 14.72
21996 273.3 8.6 983 22001 roll 0.52 - - 2389 - 2.50 0.107 3646 548.0 148.0 - - 2120 - - - - - - - - 14.91 14.52 14.93
22065 266.7 9.4 993 22071 done 0.52 - - 2398 - 2.40 0.070 2274 -571.7 148.0 - - 2117 - - - - - - - - 14.69 14.57 14.73
22388 238.4 8.8 1004 22392 roll 0.52 - - 2408 - 2.62 0.086 821 -554.6 148.0 - - 2117 - - - - - - - - 14.91 14.53 14.93
22444 233.6 8.5 1012 22449 done 0.52 0.15 0.244 2372 -240.0 2.62 0.077 2274 554.6 148.0 - - 2117 - - - - - - - - 14.40 14.55 14.64
22780 209.7 7.0 1025 22786 roll 0.52 - - 2372 - 2.55 0.107 3639 535.3 155.0 1.65 0.192 2105 -7.3 1.487 - - - - - - 14.91 14.52 14.46
22828 205.8 8.1 1032 22834 done 0.52 - - 2379 - 2.45 0.069 2260 -562.9 155.0 - - 2113 - - - - - - - - 14.62 14.56 14.65
23172 180.6 7.3 1039 23177 roll 0.52 - - 2389 - 2.58 0.084 821 -557.8 155.5 - - 2113 - - - - - - - - 14.92 14.54 14.93
23229 176.8 6.7 1047 23261 done 0.58 - - 2389 - 2.60 0.076 2266 555.8 169.8 26.40 1.157 2044 -2.6 0.075 - - - - - - 14.69 14.55 14.05
23620 150.5 6.6 1061 23645 roll 0.59 - - 2389 - 2.55 0.105 3639 538.4 187.2 17.20 1.147 1969 -4.4 0.107 - - - - - - 14.83 14.52 14.03
23682 145.8 8.0 1070 23687 done 0.59 - - 2396 - 2.42 0.068 2258 -570.7 187.2 - - 1962 - - - - - - - - 14.62 14.53 14.64
24012 116.4 9.5 1082 24017 roll 0.59 - - 2406 - 2.58 0.083 823 -556.2 187.2 - - 1958 - - - - - - - - 14.83 14.50 14.85
24046 113.4 8.7 1087 24051 done 0.59 - - 2406 - 2.62 0.076 2278 555.3 187.2 - - 1958 - - - - - - - - 14.64 14.52 14.68
24376 90.2 6.2 1098 24395 roll 0.61 - - 2406 - 2.45 0.100 3643 557.1 213.2 14.32 0.377 1866 -6.4 0.288 - - - - - - 14.85 14.50 14.25
24544 78.1 6.4 1122 24563 done 0.67 - - 2411 - 2.38 0.067 2285 -570.6 234.8 15.45 0.350 1782 -5.4 0.227 - - - - - - 14.66 14.57 14.25
24884 64.3 3.4 1137 24949 roll 0.87 0.17 0.112 2499 517.6 2.67 0.077 821 -548.3 328.7 60.17 0.330 1399 -6.4 0.232 - - - - - - 14.60 14.47 14.28
25061 53.6 6.5 1163 25082 done 0.97 - - 2500 - 2.62 0.070 2287 559.5 347.7 14.27 0.278 1321 -5.5 0.197 - - - - - - 14.60 14.49 14.26
25408 35.7 4.2 1179 25461 roll 1.15 0.17 0.107 2597 570.6 2.70 0.074 819 -543.7 421.6 47.75 0.236 1021 -6.3 0.178 - - - - - - 14.60 14.50 14.33
25559 23.3 9.4 1201 25565 done 1.20 - - 2597 - 2.67 0.070 2317 561.0 421.6 - - 1026 - - - - - - - - 14.62 14.50 14.64
25766 end climb: SURFACE_DEPTH_REACHED
25766 begin surface coast
25794 end surface coast: CONTROL_FINISHED_OK
25794 begin surface
SM 0.98 - - - - -6.14 6.80 0.071 211 31.0 0.10 0.131 2248 10900.0 500.17 50.35 0.138 699 13.9 -0.010 - - - - - -