SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 220 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 91.47 of 350.00 AH used of 24V (73.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.90 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 17 s • Transponder ping count: 12
• 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 - - 212 - - - 2310 - -116.8 -84.78 - 2916 - - - - - - - - 14.71 - 14.73
106 5.0 -7.0 3 130 roll -0.68 8.77 0.412 1963 199.7 2.70 2.098 3685 509.3 -116.8 -5.30 - 3221 -57.5 - - - - - - - 14.14 13.34 14.50
192 40.0 -34.0 16 198 done -0.40 0.40 0.288 2063 250.0 2.40 0.047 2265 -591.7 -116.8 - - 3222 - - - - - - - - 14.19 14.45 14.45
523 94.7 -10.0 30 527 roll -0.34 - - 2054 - 2.50 0.081 3679 565.6 -116.8 - - 3223 - - - - - - - - 14.84 14.50 14.85
759 113.8 -8.0 64 765 done -0.34 0.10 0.218 2084 300.0 2.38 0.039 2245 -602.5 -116.8 - - 3225 - - - - - - - - 14.37 14.63 14.51
1083 133.7 -6.1 75 1087 roll -0.34 - - 2085 - 2.30 0.055 895 -587.0 -116.8 - - 3225 - - - - - - - - 14.91 14.59 14.93
1117 136.2 -7.3 80 1122 done -0.34 - - 2082 - 2.38 0.060 2258 572.7 -116.8 - - 3225 - - - - - - - - 14.72 14.62 14.75
1474 157.8 -5.6 89 1480 roll -0.34 - - 2082 - 2.50 0.084 3700 576.8 -116.8 - - 3225 - - - - - - - - 14.93 14.59 14.95
1565 162.7 -5.4 102 1570 done -0.40 - - 2081 - 2.38 0.044 2257 -606.3 -116.8 - - 3223 - - - - - - - - 14.77 14.71 14.79
1923 183.4 -5.9 111 1928 roll -0.40 - - 2081 - 2.35 0.054 883 -584.7 -116.8 - - 3222 - - - - - - - - 14.95 14.62 14.97
1978 187.1 -6.6 119 1983 done -0.46 - - 2081 - 2.42 0.061 2271 573.6 -116.8 - - 3220 - - - - - - - - 14.73 14.64 14.77
2315 207.2 -6.0 132 2320 roll -0.51 0.12 0.132 2014 -558.3 2.50 0.083 3699 571.2 -116.8 - - 3218 - - - - - - - - 14.64 14.61 14.69
2383 213.3 -9.5 142 2389 done -0.51 - - 2014 - 2.42 0.044 2258 -595.5 -116.8 - - 3218 - - - - - - - - 14.71 14.67 14.73
2706 245.9 -10.3 153 2712 roll -0.51 - - 2014 - 2.35 0.054 885 -584.3 -116.8 - - 3216 - - - - - - - - 14.97 14.66 14.99
2769 253.0 -10.9 162 2774 done -0.51 - - 2011 - 2.42 0.064 2263 569.4 -116.8 - - 3218 - - - - - - - - 14.74 14.64 14.78
3098 289.7 -11.2 174 3103 roll -0.51 - - 2004 - 2.50 0.086 3691 571.2 -116.8 - - 3214 - - - - - - - - 14.96 14.59 14.98
3140 294.4 -11.5 180 3145 done -0.51 0.12 0.250 2033 241.7 2.35 0.044 2260 -608.9 -116.8 - - 3213 - - - - - - - - 14.43 14.72 14.66
3491 328.0 -9.4 188 3495 roll -0.51 - - 2033 - 2.35 0.056 887 -584.3 -116.8 - - 3210 - - - - - - - - 14.96 14.65 14.97
3580 336.1 -8.7 201 3586 done -0.51 - - 2026 - 2.47 0.063 2266 558.3 -116.8 - - 3212 - - - - - - - - 14.64 14.58 14.69
3938 364.7 -7.9 210 3939 done -0.51 - - 2026 - - - 2267 - -116.8 - - 3208 - - - - - - - - 14.96 14.98 14.98
4275 389.5 -7.3 216 4280 roll -0.51 - - 2026 - 2.40 0.056 886 -575.4 -116.8 - - 3206 - - - - - - - - 14.97 14.63 14.99
4315 392.7 -7.7 222 4321 done -0.51 - - 2026 - 2.47 0.067 2285 566.4 -116.8 - - 3206 - - - - - - - - 14.72 14.59 14.76
4666 419.2 -7.7 230 4671 roll -0.51 - - 2018 - 2.50 0.089 3700 566.0 -116.8 - - 3204 - - - - - - - - 14.95 14.57 14.97
4701 422.1 -8.4 235 4706 done -0.51 - - 2017 - 2.42 0.048 2249 -599.6 -116.8 - - 3202 - - - - - - - - 14.76 14.70 14.78
5058 453.7 -9.0 244 5063 roll -0.51 - - 2017 - 2.35 0.060 891 -577.9 -116.8 - - 3201 - - - - - - - - 14.96 14.61 14.97
5134 460.8 -9.2 255 5140 done -0.51 - - 2015 - 2.47 0.067 2261 554.7 -116.8 - - 3200 - - - - - - - - 14.63 14.57 14.67
5451 490.0 -9.4 265 5457 roll -0.51 - - 2010 - 2.53 0.091 3693 566.0 -116.8 - - 3199 - - - - - - - - 14.96 14.51 14.98
5533 497.9 -9.4 277 5540 done -0.51 - - 2010 - 2.45 0.050 2262 -584.1 -116.8 - - 3198 - - - - - - - - 14.67 14.64 14.70
5898 531.4 -9.2 287 5903 roll -0.51 - - 2010 - 2.40 0.061 895 -569.6 -116.8 - - 3197 - - - - - - - - 14.95 14.59 14.96
5982 539.0 -8.9 299 5987 done -0.51 - - 2008 - 2.47 0.069 2278 559.9 -116.8 - - 3194 - - - - - - - - 14.70 14.58 14.73
6346 570.6 -8.7 309 6347 done -0.51 - - 2008 - - - 2277 - -116.8 - - 3195 - - - - - - - - 14.96 14.98 14.98
6682 598.7 -8.3 315 6683 done -0.51 - - 2008 - - - 2277 - -116.8 - - 3193 - - - - - - - - 14.96 14.98 14.97
7019 625.9 -8.1 321 7020 done -0.51 - - 2008 - - - 2277 - -116.8 - - 3191 - - - - - - - - 14.94 14.97 14.96
7354 653.3 -8.2 327 7359 roll -0.51 - - 2008 - 2.45 0.060 894 -564.5 -116.8 - - 3190 - - - - - - - - 14.94 14.57 14.96
7382 655.6 -8.4 331 7387 done -0.51 0.12 0.275 2032 200.0 2.47 0.069 2275 559.1 -116.8 - - 3190 - - - - - - - - 14.34 14.54 14.59
7747 680.5 -6.8 341 7752 roll -0.51 - - 2032 - 2.45 0.060 891 -564.9 -116.8 - - 3189 - - - - - - - - 14.93 14.56 14.95
7781 683.0 -7.5 346 7786 done -0.51 - - 2032 - 2.47 0.070 2268 557.5 -116.8 - - 3188 - - - - - - - - 14.68 14.55 14.71
8138 707.9 -7.0 355 8144 roll -0.51 - - 2025 - 2.53 0.097 3686 560.5 -116.8 - - 3187 - - - - - - - - 14.95 14.45 14.97
8194 712.2 -8.0 363 8199 done -0.51 - - 2025 - 2.42 0.055 2264 -587.6 -116.8 - - 3187 - - - - - - - - 14.71 14.66 14.72
8531 737.8 -7.7 376 8536 roll -0.51 - - 2025 - 2.42 0.066 885 -569.8 -116.8 - - 3186 - - - - - - - - 14.93 14.53 14.95
8586 742.3 -8.0 384 8592 done -0.51 - - 2025 - 2.50 0.072 2268 553.2 -116.8 - - 3185 - - - - - - - - 14.65 14.52 14.69
8922 767.2 -7.4 397 8923 done -0.51 - - 2025 - - - 2268 - -116.8 - - 3184 - - - - - - - - 14.94 14.96 14.96
9259 790.4 -6.8 403 9264 roll -0.51 - - 2024 - 2.47 0.063 877 -563.2 -116.8 - - 3184 - - - - - - - - 14.92 14.52 14.93
9286 792.3 -7.1 407 9291 done -0.51 - - 2025 - 2.50 0.073 2260 553.2 -116.8 - - 3183 - - - - - - - - 14.66 14.53 14.70
9651 816.2 -6.5 417 9656 roll -0.51 - - 2017 - 2.58 0.097 3693 555.4 -116.8 - - 3183 - - - - - - - - 14.93 14.46 14.95
9708 819.9 -6.8 425 9713 done -0.51 - - 2017 - 2.47 0.057 2254 -582.6 -116.8 - - 3182 - - - - - - - - 14.67 14.59 14.70
10043 842.3 -6.7 438 10047 roll -0.51 - - 2017 - 2.42 0.065 881 -567.4 -116.8 - - 3181 - - - - - - - - 14.90 14.50 14.92
10140 849.0 -6.8 452 10145 done -0.51 - - 2015 - 2.55 0.073 2261 541.2 -116.8 - - 3180 - - - - - - - - 14.53 14.46 14.59
10491 872.1 -6.6 460 10495 roll -0.51 - - 2012 - 2.60 0.100 3700 553.5 -116.8 - - 3179 - - - - - - - - 14.90 14.45 14.92
10518 873.9 -7.4 464 10523 done -0.51 - - 2012 - 2.47 0.054 2247 -588.3 -116.8 - - 3182 - - - - - - - - 14.67 14.57 14.70
10883 897.8 -6.3 474 10888 roll -0.51 - - 2011 - 2.42 0.068 882 -564.0 -116.8 - - 3178 - - - - - - - - 14.89 14.50 14.91
10973 904.0 -6.7 487 10978 done -0.51 - - 2012 - 2.50 0.073 2257 550.0 -116.8 - - 3178 - - - - - - - - 14.62 14.47 14.67
11331 927.1 -6.5 496 11335 roll -0.51 - - 2011 - 2.60 0.101 3690 551.2 -116.8 - - 3177 - - - - - - - - 14.90 14.43 14.91
11366 929.4 -6.0 501 11371 done -0.51 - - 2011 - 2.45 0.056 2254 -586.1 -116.8 - - 3178 - - - - - - - - 14.68 14.60 14.71
11723 954.2 -7.0 510 11727 roll -0.51 - - 2012 - 2.42 0.066 882 -566.9 -116.8 - - 3177 - - - - - - - - 14.91 14.48 14.92
11771 958.6 -7.4 517 11778 done -0.51 - - 2016 - 2.55 0.073 2260 540.4 -116.8 - - 3177 - - - - - - - - 14.51 14.45 14.57
12115 983.4 -7.5 524 12120 roll -0.51 - - 2011 - 2.60 0.102 3693 551.2 -116.8 - - 3176 - - - - - - - - 14.88 14.42 14.90
12184 988.9 -7.9 534 12189 done -0.51 - - 2011 - 2.47 0.058 2256 -581.8 -116.8 - - 3176 - - - - - - - - 14.64 14.54 14.67
12201 end dive: TARGET_DEPTH_EXCEEDED
12201 begin apogee
12209 990.5 -7.8 537 12399 roll -0.19 0.45 0.219 2135 275.6 - - 2199 - - 188.07 1.651 2739 -2.3 0.262 - - - - - - 14.31 13.97 13.33
12401 end apogee: CONTROL_FINISHED_OK
12401 begin climb
12405 996.4 - 540 12564 roll 0.68 0.93 0.160 2408 293.5 2.70 0.100 3611 523.0 116.8 147.40 1.896 2260 -3.2 0.322 - - - - - - 13.93 13.97 13.03
12656 976.6 11.1 580 12661 done 0.59 - - 2419 - 2.55 0.067 2211 -549.0 116.8 - - 2239 - - - - - - - - 14.11 14.02 14.14
12991 939.9 11.0 593 12997 roll 0.51 0.17 0.267 2372 -276.5 2.60 0.097 3611 538.5 116.8 - - 2232 - - - - - - - - 14.14 14.32 14.28
13147 925.1 8.6 615 13152 done 0.51 - - 2381 - 2.50 0.067 2197 -565.6 116.8 - - 2231 - - - - - - - - 14.52 14.42 14.56
13496 893.8 9.0 623 13501 roll 0.51 - - 2391 - 2.58 0.086 796 -543.0 116.8 - - 2229 - - - - - - - - 14.79 14.41 14.81
13551 888.9 8.8 631 13556 done 0.51 - - 2391 - 2.58 0.074 2211 548.4 116.8 - - 2226 - - - - - - - - 14.57 14.45 14.61
13888 858.3 9.1 644 13893 roll 0.51 - - 2390 - 2.55 0.100 3615 550.6 116.8 - - 2227 - - - - - - - - 14.82 14.44 14.83
13936 853.3 10.5 651 13943 done 0.44 0.17 0.240 2353 -217.6 2.53 0.067 2201 -558.9 116.8 - - 2227 - - - - - - - - 14.21 14.45 14.38
14279 828.5 7.2 658 14284 roll 0.45 - - 2363 - 2.60 0.087 777 -547.7 120.4 - - 2226 - - - - - - - - 14.85 14.44 14.87
14328 825.1 7.0 665 14335 done 0.45 - - 2362 - 2.60 0.072 2198 546.5 128.0 - - 2226 - - - - - - - - 14.59 14.47 14.63
14672 799.4 7.6 672 14676 roll 0.45 - - 2362 - 2.58 0.102 3612 548.1 128.0 - - 2226 - - - - - - - - 14.86 14.42 14.88
14762 791.4 8.7 685 14768 done 0.45 - - 2372 - 2.50 0.067 2189 -569.2 128.0 - - 2226 - - - - - - - - 14.61 14.50 14.64
15120 761.6 8.6 694 15124 roll 0.45 - - 2382 - 2.55 0.083 781 -552.2 128.0 - - 2225 - - - - - - - - 14.87 14.44 14.88
15160 758.0 8.7 700 15166 done 0.45 0.10 0.241 2354 -280.0 2.62 0.073 2204 543.1 128.0 - - 2225 - - - - - - - - 14.23 14.43 14.39
15512 730.5 7.8 708 15517 roll 0.45 - - 2355 - 2.58 0.102 3620 548.8 128.0 - - 2226 - - - - - - - - 14.88 14.41 14.88
15601 722.7 8.5 721 15608 done 0.45 - - 2363 - 2.53 0.068 2212 -556.5 128.0 - - 2224 - - - - - - - - 14.52 14.45 14.65
15959 694.8 7.7 730 15964 roll 0.45 - - 2374 - 2.60 0.083 781 -550.4 128.0 - - 2224 - - - - - - - - 14.88 14.43 14.90
16001 691.7 7.6 736 16006 done 0.45 - - 2374 - 2.62 0.073 2227 551.9 128.0 - - 2224 - - - - - - - - 14.61 14.47 14.64
16351 664.0 7.9 744 16356 roll 0.45 - - 2376 - 2.53 0.101 3612 547.4 128.0 - - 2224 - - - - - - - - 14.88 14.40 14.90
16448 655.5 8.6 758 16454 done 0.45 0.10 0.236 2354 -220.0 2.50 0.066 2216 -558.4 128.0 - - 2223 - - - - - - - - 14.20 14.45 14.38
16800 631.8 6.7 766 16832 roll 0.46 - - 2364 - 2.60 0.084 791 -548.1 143.1 26.77 1.636 2149 -2.8 0.201 - - - - - - 14.85 14.47 13.81
16890 625.7 6.8 779 16902 done 0.51 - - 2361 - 2.62 0.073 2226 547.7 154.8 4.82 1.392 2107 -8.7 0.737 - - - - - - 14.48 14.36 13.58
17248 598.6 7.7 788 17253 roll 0.51 - - 2364 - 2.53 0.101 3610 547.0 154.8 - - 2116 - - - - - - - - 14.76 14.36 14.78
17330 591.2 8.9 800 17336 done 0.51 - - 2373 - 2.47 0.065 2233 -557.5 154.8 - - 2116 - - - - - - - - 14.47 14.41 14.51
17695 560.4 8.4 810 17700 roll 0.51 - - 2380 - 2.62 0.081 784 -553.1 154.8 - - 2116 - - - - - - - - 14.81 14.41 14.83
17765 554.7 8.0 820 17770 done 0.51 - - 2383 - 2.62 0.072 2233 553.1 154.8 - - 2116 - - - - - - - - 14.57 14.45 14.61
18088 526.7 8.8 831 18092 roll 0.51 - - 2383 - 2.53 0.099 3617 547.0 154.8 - - 2116 - - - - - - - - 14.83 14.40 14.85
18170 518.7 9.4 843 18176 done 0.51 - - 2392 - 2.47 0.067 2217 -566.8 154.8 - - 2116 - - - - - - - - 14.59 14.47 14.62
18536 487.6 8.4 853 18542 roll 0.51 - - 2403 - 2.60 0.083 793 -547.7 154.8 - - 2116 - - - - - - - - 14.83 14.41 14.85
18597 482.4 8.0 862 18603 done 0.51 0.15 0.249 2368 -233.3 2.62 0.072 2239 551.9 154.8 - - 2116 - - - - - - - - 14.26 14.46 14.50
18929 460.9 6.5 874 18974 roll 0.53 - - 2368 - 2.55 0.100 3607 536.5 175.6 39.00 1.387 2014 -2.6 0.164 - - - - - - 14.84 14.40 13.84
19045 452.1 7.8 891 19051 done 0.53 - - 2377 - 2.47 0.063 2238 -554.3 175.6 - - 2008 - - - - - - - - 14.38 14.33 14.42
19375 426.8 7.9 903 19380 roll 0.53 - - 2387 - 2.65 0.080 788 -547.2 175.6 - - 2005 - - - - - - - - 14.74 14.36 14.76
19445 421.2 7.9 913 19451 done 0.57 - - 2387 - 2.62 0.070 2234 551.9 175.6 - - 2004 - - - - - - - - 14.52 14.40 14.57
19768 392.5 9.1 924 19772 roll 0.57 - - 2386 - 2.50 0.097 3609 550.0 175.6 - - 2003 - - - - - - - - 14.79 14.37 14.81
19837 385.3 10.2 934 19842 done 0.57 - - 2401 - 2.42 0.062 2229 -570.2 175.6 - - 2004 - - - - - - - - 14.57 14.45 14.61
20159 352.7 10.2 945 20165 roll 0.57 - - 2406 - 2.62 0.080 786 -550.8 175.6 - - 2004 - - - - - - - - 14.82 14.40 14.83
20242 344.4 9.6 957 20249 done 0.57 - - 2406 - 2.62 0.071 2239 554.6 175.6 - - 2004 - - - - - - - - 14.57 14.43 14.62
20608 307.9 9.9 967 20613 roll 0.57 - - 2406 - 2.50 0.098 3616 550.8 175.6 - - 2001 - - - - - - - - 14.85 14.40 14.86
20683 299.5 10.9 978 20689 done 0.57 0.12 0.266 2388 -150.0 2.42 0.063 2232 -571.9 175.6 - - 2003 - - - - - - - - 14.24 14.47 14.52
21000 272.8 8.3 988 21004 roll 0.57 - - 2397 - 2.62 0.077 784 -552.7 175.6 - - 2003 - - - - - - - - 14.86 14.43 14.88
21062 267.8 7.8 997 21068 done 0.57 - - 2397 - 2.62 0.069 2240 555.7 175.6 - - 2003 - - - - - - - - 14.58 14.45 14.63
21392 239.9 8.6 1009 21397 roll 0.57 - - 2395 - 2.50 0.096 3624 553.6 175.6 - - 2003 - - - - - - - - 14.87 14.41 14.88
21439 235.3 9.5 1016 21447 done 0.57 - - 2406 - 2.47 0.062 2237 -561.5 175.6 - - 2003 - - - - - - - - 14.52 14.46 14.56
21784 204.1 9.1 1023 21789 roll 0.57 - - 2416 - 2.62 0.076 785 -554.2 175.6 - - 2003 - - - - - - - - 14.87 14.44 14.88
21845 198.8 8.2 1032 21851 done 0.57 0.12 0.256 2388 -233.3 2.62 0.068 2242 556.1 175.6 - - 2001 - - - - - - - - 14.27 14.47 14.54
22175 175.6 7.0 1044 22182 roll 0.58 - - 2388 - 2.53 0.096 3615 542.7 183.7 2.12 0.327 1990 -5.2 0.525 - - - - - - 14.85 14.54 13.66
22280 166.8 8.5 1059 22286 done 0.58 - - 2395 - 2.42 0.060 2236 -569.8 183.7 - - 1997 - - - - - - - - 14.63 14.54 14.66
22616 138.0 8.6 1072 22621 roll 0.58 - - 2406 - 2.60 0.074 786 -557.7 183.7 - - 1997 - - - - - - - - 14.86 14.43 14.88
22644 135.7 8.4 1076 22649 done 0.58 - - 2406 - 2.62 0.067 2253 559.9 183.7 - - 1998 - - - - - - - - 14.62 14.50 14.66
23009 105.1 8.1 1086 23014 roll 0.58 - - 2406 - 2.45 0.094 3613 555.1 183.7 - - 1998 - - - - - - - - 14.86 14.44 14.88
23077 99.4 7.9 1096 23083 done 0.58 - - 2414 - 2.40 0.058 2254 -566.2 183.7 - - 1998 - - - - - - - - 14.54 14.49 14.66
23401 79.4 5.4 1112 23436 roll 0.66 - - 2414 - 2.53 0.090 3613 537.2 229.4 30.23 0.369 1803 -6.5 0.261 - - - - - - 14.85 14.55 14.28
23498 74.9 4.5 1123 23548 done 0.77 - - 2418 - 2.40 0.056 2246 -569.6 296.9 43.62 0.366 1531 -6.2 0.240 - - - - - - 14.50 14.45 14.24
23874 56.4 5.9 1143 23903 roll 1.05 0.32 0.116 2533 359.4 2.45 0.087 3610 556.7 331.4 23.85 0.291 1387 -6.0 0.220 - - - - - - 14.38 14.44 14.22
23946 50.8 7.4 1154 23953 done 1.05 - - 2538 - 2.38 0.054 2255 -569.3 331.4 - - 1394 - - - - - - - - 14.51 14.47 14.54
24263 35.1 4.3 1166 24318 roll 1.15 - - 2541 - 2.65 0.070 797 -550.2 402.7 46.35 0.233 1097 -6.4 0.182 - - - - - - 14.80 14.46 14.31
24378 28.3 6.8 1182 24394 done 1.27 0.20 0.093 2633 460.0 2.60 0.060 2263 563.8 416.0 9.85 0.208 1043 -5.5 0.140 - - - - - - 14.48 14.46 14.26
24595 end climb: SURFACE_DEPTH_REACHED
24595 begin surface coast
24627 end surface coast: CONTROL_FINISHED_OK
24627 begin surface
SM 0.89 - - - - -6.14 7.00 0.078 210 30.0 - - 2276 - 500.17 53.83 0.138 699 13.0 -0.009 - - - - - -