SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 222 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 92.18 of 350.00 AH used of 24V (73.66% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.6 deg, depth 0.92 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 29 s
• GPS2 time: 20 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 212 - - - 2294 - -116.8 -84.90 - 2930 - - - - - - - - 14.71 - 14.72
106 5.3 -7.4 3 130 roll -0.68 8.95 0.422 1981 197.7 2.78 2.088 877 -509.7 -116.8 -4.88 - 3221 -59.6 - - - - - - - 14.11 13.34 14.48
259 58.5 -27.3 25 265 done -0.43 0.35 0.291 2054 208.6 2.50 0.065 2285 563.2 -116.8 - - 3221 - - - - - - - - 14.19 14.45 14.47
580 100.1 -8.0 38 585 roll -0.37 - - 2044 - 2.42 0.077 3695 582.6 -116.8 - - 3223 - - - - - - - - 14.83 14.52 14.85
643 105.0 -7.2 47 648 done -0.37 0.12 0.247 2073 241.7 2.35 0.041 2255 -612.8 -116.8 - - 3224 - - - - - - - - 14.37 14.64 14.54
972 124.2 -5.9 59 973 done -0.37 - - 2073 - - - 2256 - -116.8 - - 3224 - - - - - - - - 14.90 14.92 14.91
1308 146.9 -6.9 65 1314 roll -0.37 - - 2073 - 2.33 0.054 895 -584.1 -116.8 - - 3224 - - - - - - - - 14.92 14.62 14.93
1392 153.0 -7.2 77 1397 done -0.37 - - 2069 - 2.45 0.060 2301 573.9 -116.8 - - 3223 - - - - - - - - 14.72 14.61 14.74
1756 178.9 -7.2 87 1761 roll -0.37 - - 2062 - 2.42 0.085 3689 573.6 -116.8 - - 3222 - - - - - - - - 14.93 14.58 14.95
1791 181.3 -6.9 92 1796 done -0.37 - - 2062 - 2.30 0.044 2287 -609.6 -116.8 - - 3221 - - - - - - - - 14.77 14.72 14.79
2148 205.7 -6.9 101 2154 roll -0.37 - - 2062 - 2.40 0.055 892 -581.2 -116.8 - - 3219 - - - - - - - - 14.94 14.62 14.96
2260 213.6 -6.8 117 2266 done -0.37 - - 2057 - 2.45 0.061 2285 568.6 -116.8 - - 3218 - - - - - - - - 14.72 14.62 14.76
2597 237.9 -7.3 130 2601 roll -0.37 - - 2052 - 2.47 0.087 3694 570.4 -116.8 - - 3216 - - - - - - - - 14.94 14.57 14.95
2623 239.9 -7.3 134 2629 done -0.37 - - 2052 - 2.35 0.047 2279 -602.1 -116.8 - - 3216 - - - - - - - - 14.71 14.65 14.73
2988 266.4 -7.2 144 2993 roll -0.37 - - 2052 - 2.40 0.055 887 -580.0 -116.8 - - 3214 - - - - - - - - 14.95 14.62 14.96
3086 273.7 -7.4 158 3091 done -0.37 - - 2050 - 2.47 0.063 2282 564.8 -116.8 - - 3213 - - - - - - - - 14.72 14.60 14.75
3436 299.0 -7.2 166 3441 roll -0.37 - - 2049 - 2.42 0.053 888 -576.0 -116.8 - - 3210 - - - - - - - - 14.95 14.63 14.96
3470 301.7 -7.6 171 3476 done -0.37 0.12 0.264 2073 200.0 2.45 0.063 2278 567.3 -116.8 - - 3210 - - - - - - - - 14.40 14.62 14.64
3828 324.5 -6.4 180 3833 roll -0.42 - - 2068 - 2.50 0.090 3690 564.8 -116.8 - - 3207 - - - - - - - - 14.94 14.56 14.96
3876 327.9 -7.0 187 3883 done -0.48 - - 2068 - 2.38 0.050 2269 -597.1 -116.8 - - 3208 - - - - - - - - 14.74 14.66 14.76
4221 351.9 -7.1 194 4226 roll -0.48 - - 2068 - 2.40 0.058 892 -573.8 -116.8 - - 3206 - - - - - - - - 14.94 14.62 14.96
4303 358.2 -7.3 206 4309 done -0.53 0.12 0.137 2016 -433.3 2.45 0.063 2276 564.9 -116.8 - - 3205 - - - - - - - - 14.61 14.55 14.71
4668 392.3 -9.5 216 4673 roll -0.53 - - 2008 - 2.50 0.089 3688 564.8 -116.8 - - 3203 - - - - - - - - 14.92 14.55 14.94
4695 394.9 -9.3 220 4701 done -0.53 - - 2010 - 2.38 0.047 2265 -597.9 -116.8 - - 3203 - - - - - - - - 14.76 14.70 14.78
5060 431.0 -10.2 230 5065 roll -0.53 - - 2008 - 2.38 0.058 897 -574.8 -116.8 - - 3201 - - - - - - - - 14.95 14.59 14.97
5178 443.3 -10.3 247 5183 done -0.53 - - 1999 - 2.47 0.067 2262 552.6 -116.8 - - 3201 - - - - - - - - 14.60 14.52 14.74
5509 477.6 -10.4 259 5510 done -0.49 0.15 0.263 2036 246.7 - - 2262 - -116.8 - - 3199 - - - - - - - - 14.33 14.66 14.59
5844 504.6 -7.8 265 5845 done -0.49 - - 2037 - - - 2262 - -116.8 - - 3198 - - - - - - - - 14.94 14.96 14.95
6180 529.6 -7.3 271 6181 done -0.49 - - 2033 - - - 2262 - -116.8 - - 3194 - - - - - - - - 14.94 14.95 14.96
6517 554.3 -7.3 277 6518 done -0.49 - - 2036 - - - 2262 - -116.8 - - 3194 - - - - - - - - 14.93 14.98 14.95
6852 578.5 -7.2 283 6857 roll -0.49 - - 2025 - 2.55 0.090 3698 563.1 -116.8 - - 3193 - - - - - - - - 14.95 14.51 14.97
6893 581.6 -7.6 289 6899 done -0.49 - - 2025 - 2.45 0.051 2248 -591.8 -116.8 - - 3193 - - - - - - - - 14.68 14.60 14.70
7245 607.4 -7.4 297 7250 roll -0.49 - - 2025 - 2.38 0.060 895 -568.5 -116.8 - - 3192 - - - - - - - - 14.95 14.57 14.96
7313 612.9 -7.8 307 7318 done -0.49 - - 2025 - 2.50 0.069 2265 548.0 -116.8 - - 3192 - - - - - - - - 14.53 14.46 14.57
7636 637.2 -7.5 318 7641 roll -0.49 - - 2015 - 2.55 0.093 3694 560.4 -116.8 - - 3190 - - - - - - - - 14.92 14.49 14.95
7678 640.5 -8.0 324 7683 done -0.49 - - 2015 - 2.42 0.053 2257 -593.8 -116.8 - - 3189 - - - - - - - - 14.72 14.64 14.74
8028 668.4 -8.0 332 8033 roll -0.49 - - 2015 - 2.40 0.062 887 -570.8 -116.8 - - 3189 - - - - - - - - 14.93 14.54 14.95
8132 676.9 -8.1 347 8139 done -0.49 - - 2015 - 2.50 0.070 2256 547.6 -116.8 - - 3188 - - - - - - - - 14.56 14.48 14.60
8477 704.5 -8.0 354 8481 roll -0.49 - - 2010 - 2.58 0.096 3693 557.0 -116.8 - - 3186 - - - - - - - - 14.91 14.48 14.93
8517 708.0 -8.4 360 8523 done -0.49 0.08 0.220 2048 475.0 2.47 0.054 2260 -580.2 -116.8 - - 3187 - - - - - - - - 14.31 14.58 14.57
8868 731.2 -6.6 368 8873 roll -0.49 - - 2048 - 2.40 0.062 884 -573.3 -116.8 - - 3186 - - - - - - - - 14.93 14.53 14.95
8903 733.7 -7.1 373 8909 done -0.49 - - 2043 - 2.47 0.070 2260 557.1 -116.8 - - 3186 - - - - - - - - 14.62 14.49 14.66
9260 757.4 -6.6 382 9265 roll -0.49 - - 2037 - 2.58 0.098 3694 555.8 -116.8 - - 3185 - - - - - - - - 14.92 14.47 14.94
9294 759.6 -6.7 387 9300 done -0.49 - - 2037 - 2.50 0.054 2247 -578.8 -116.8 - - 3184 - - - - - - - - 14.61 14.57 14.63
9653 781.9 -6.2 396 9657 roll -0.49 - - 2037 - 2.40 0.064 891 -565.0 -116.8 - - 3183 - - - - - - - - 14.90 14.45 14.92
9742 787.7 -6.2 409 9748 done -0.49 - - 2037 - 2.45 0.070 2250 554.7 -116.8 - - 3183 - - - - - - - - 14.62 14.49 14.67
10100 807.8 -5.6 418 10105 roll -0.49 - - 2036 - 2.62 0.102 3700 553.4 -116.8 - - 3182 - - - - - - - - 14.92 14.44 14.93
10163 811.3 -5.6 427 10168 done -0.54 - - 2036 - 2.47 0.054 2247 -588.3 -116.8 - - 3182 - - - - - - - - 14.62 14.54 14.64
10492 829.8 -5.6 439 10497 roll -0.54 - - 2036 - 2.42 0.068 887 -562.0 -116.8 - - 3181 - - - - - - - - 14.90 14.50 14.92
10561 834.1 -6.1 449 10567 done -0.54 - - 2036 - 2.47 0.072 2250 551.8 -116.8 - - 3181 - - - - - - - - 14.62 14.48 14.66
10885 852.7 -5.8 460 10889 roll -0.54 - - 2026 - 2.62 0.100 3694 551.1 -116.8 - - 3180 - - - - - - - - 14.90 14.44 14.92
10940 856.3 -6.5 468 10945 done -0.54 - - 2026 - 2.50 0.057 2240 -581.6 -116.8 - - 3180 - - - - - - - - 14.66 14.57 14.69
11277 877.5 -6.3 481 11282 roll -0.54 - - 2026 - 2.42 0.069 879 -562.4 -116.8 - - 3179 - - - - - - - - 14.88 14.47 14.90
11345 882.2 -6.7 491 11351 done -0.54 - - 2026 - 2.50 0.074 2257 551.2 -116.8 - - 3179 - - - - - - - - 14.62 14.48 14.65
11669 902.0 -6.2 502 11673 roll -0.54 - - 2020 - 2.60 0.100 3690 551.2 -116.8 - - 3178 - - - - - - - - 14.88 14.42 14.90
11703 904.2 -5.8 507 11708 done -0.54 - - 2020 - 2.50 0.058 2240 -580.0 -116.8 - - 3178 - - - - - - - - 14.66 14.57 14.69
12060 927.2 -6.5 516 12065 roll -0.54 - - 2021 - 2.40 0.068 887 -563.8 -116.8 - - 3178 - - - - - - - - 14.88 14.47 14.89
12108 930.5 -7.4 523 12115 done -0.54 - - 2020 - 2.53 0.074 2248 537.9 -116.8 - - 3177 - - - - - - - - 14.50 14.43 14.56
12453 953.0 -6.6 530 12454 done -0.54 - - 2017 - - - 2248 - -116.8 - - 3177 - - - - - - - - 14.88 14.89 14.90
12789 975.2 -6.6 536 12793 roll -0.54 - - 2020 - 2.45 0.068 885 -556.3 -116.8 - - 3176 - - - - - - - - 14.88 14.47 14.89
12822 978.5 -9.5 541 12829 done -0.54 - - 2017 - 2.50 0.076 2255 548.0 -116.8 - - 3176 - - - - - - - - 14.61 14.46 14.65
13008 end dive: TARGET_DEPTH_EXCEEDED
13008 begin apogee
13017 991.0 -7.0 547 13208 roll -0.19 0.43 0.222 2135 274.4 - - 2201 - - 188.60 1.618 2741 -2.3 0.266 - - - - - - 14.28 13.97 13.34
13210 end apogee: CONTROL_FINISHED_OK
13210 begin climb
13213 997.0 - 550 13373 roll 0.68 0.93 0.154 2410 295.7 2.62 0.065 799 -535.1 116.8 148.85 1.867 2263 -3.2 0.323 - - - - - - 13.93 13.98 13.02
13463 981.5 8.7 590 13469 done 0.68 - - 2411 - 2.70 0.075 2200 518.9 116.8 - - 2236 - - - - - - - - 14.04 13.96 14.07
13793 949.0 10.0 602 13798 roll 0.61 - - 2421 - 2.58 0.083 811 -538.4 116.8 - - 2229 - - - - - - - - 14.63 14.32 14.65
13884 940.4 9.2 615 13889 done 0.57 0.15 0.277 2388 -220.0 2.60 0.078 2216 540.4 116.8 - - 2230 - - - - - - - - 14.16 14.35 14.43
14241 909.5 8.7 624 14246 roll 0.57 - - 2388 - 2.58 0.106 3618 543.4 116.8 - - 2229 - - - - - - - - 14.77 14.39 14.79
14367 897.5 7.9 642 14372 done 0.51 0.12 0.295 2371 -141.7 2.45 0.070 2236 -564.1 116.8 - - 2228 - - - - - - - - 14.21 14.46 14.49
14689 869.5 8.5 653 14695 roll 0.51 - - 2381 - 2.65 0.085 793 -544.5 116.8 - - 2227 - - - - - - - - 14.82 14.42 14.83
14737 865.1 9.4 660 14744 done 0.51 - - 2381 - 2.65 0.076 2218 537.7 116.8 - - 2228 - - - - - - - - 14.48 14.40 14.54
15082 833.4 9.3 667 15087 roll 0.51 - - 2382 - 2.58 0.103 3621 543.8 116.8 - - 2226 - - - - - - - - 14.82 14.40 14.84
15164 824.7 10.2 679 15170 done 0.51 - - 2391 - 2.50 0.068 2233 -555.2 116.8 - - 2225 - - - - - - - - 14.51 14.45 14.55
15529 789.9 9.5 689 15535 roll 0.51 - - 2402 - 2.62 0.082 783 -553.4 116.8 - - 2225 - - - - - - - - 14.84 14.42 14.85
15586 784.6 10.0 697 15592 done 0.51 0.15 0.262 2369 -220.0 2.65 0.074 2238 549.1 116.8 - - 2225 - - - - - - - - 14.23 14.45 14.52
15922 758.3 7.8 710 15926 roll 0.51 - - 2369 - 2.50 0.100 3612 549.6 116.8 - - 2225 - - - - - - - - 14.85 14.41 14.87
16012 750.5 8.5 723 16017 done 0.51 - - 2378 - 2.42 0.063 2219 -575.6 116.8 - - 2224 - - - - - - - - 14.61 14.50 14.64
16370 720.7 8.4 732 16374 roll 0.51 - - 2388 - 2.58 0.082 797 -551.2 116.8 - - 2224 - - - - - - - - 14.87 14.42 14.88
16417 716.8 7.8 739 16425 done 0.51 - - 2388 - 2.65 0.070 2236 543.0 116.8 - - 2224 - - - - - - - - 14.49 14.41 14.54
16762 686.9 8.7 746 16767 roll 0.51 - - 2388 - 2.50 0.099 3615 551.6 116.8 - - 2224 - - - - - - - - 14.84 14.40 14.85
16866 676.5 9.8 761 16874 done 0.46 0.15 0.236 2356 -213.3 2.45 0.063 2243 -560.0 116.8 - - 2223 - - - - - - - - 14.16 14.45 14.34
17209 650.2 7.7 768 17214 roll 0.46 - - 2366 - 2.65 0.082 783 -550.9 116.8 - - 2223 - - - - - - - - 14.85 14.40 14.88
17279 644.9 7.7 778 17284 done 0.46 - - 2366 - 2.65 0.072 2243 550.9 116.8 - - 2222 - - - - - - - - 14.57 14.45 14.63
17601 618.6 8.2 789 17607 roll 0.46 - - 2366 - 2.50 0.101 3609 546.4 116.8 - - 2222 - - - - - - - - 14.88 14.40 14.90
17698 609.8 8.8 803 17704 done 0.46 - - 2375 - 2.42 0.062 2254 -559.9 116.8 - - 2223 - - - - - - - - 14.50 14.45 14.54
18050 581.4 8.1 811 18055 roll 0.46 - - 2386 - 2.65 0.080 793 -551.3 116.8 - - 2222 - - - - - - - - 14.87 14.41 14.89
18091 578.2 7.5 817 18097 done 0.46 0.15 0.258 2352 -226.7 2.65 0.071 2256 552.1 116.8 - - 2222 - - - - - - - - 14.21 14.45 14.51
18441 556.0 6.3 825 18474 roll 0.48 - - 2352 - 2.53 0.101 3613 536.4 142.2 24.50 1.549 2152 -2.9 0.193 - - - - - - 14.85 14.48 13.84
18532 549.7 7.3 838 18537 done 0.48 - - 2360 - 2.40 0.063 2254 -566.2 143.1 - - 2143 - - - - - - - - 14.51 14.42 14.54
18889 525.8 6.7 847 18915 roll 0.49 - - 2369 - 2.70 0.080 787 -543.3 158.3 18.40 1.549 2082 -3.3 0.212 - - - - - - 14.78 14.45 13.83
18959 521.2 6.6 857 18985 done 0.55 - - 2369 - 2.70 0.073 2264 547.0 175.7 19.27 1.523 2018 -3.3 0.214 - - - - - - 14.49 14.38 13.74
19337 494.5 7.1 869 19343 roll 0.56 - - 2368 - 2.45 0.099 3608 548.6 182.3 - - 2001 - - - - - - - - 14.71 14.34 14.73
19385 490.7 8.0 876 19392 done 0.56 - - 2378 - 2.42 0.062 2257 -558.3 182.3 - - 2000 - - - - - - - - 14.45 14.40 14.49
19730 464.2 7.9 883 19735 roll 0.56 - - 2387 - 2.65 0.079 790 -553.6 182.3 - - 2000 - - - - - - - - 14.77 14.40 14.79
19805 458.2 7.6 894 19811 done 0.56 - - 2387 - 2.65 0.070 2257 553.6 182.3 - - 1999 - - - - - - - - 14.56 14.43 14.59
20121 431.7 8.5 904 20126 roll 0.56 - - 2387 - 2.45 0.098 3609 551.8 182.3 - - 1998 - - - - - - - - 14.81 14.40 14.83
20184 425.6 9.6 913 20190 done 0.56 - - 2395 - 2.38 0.062 2247 -572.3 182.3 - - 1996 - - - - - - - - 14.59 14.50 14.63
20514 396.3 8.9 925 20519 roll 0.56 - - 2404 - 2.62 0.080 798 -553.1 182.3 - - 1998 - - - - - - - - 14.83 14.42 14.85
20583 390.3 8.5 935 20588 done 0.56 - - 2405 - 2.62 0.068 2255 556.1 182.3 - - 1998 - - - - - - - - 14.59 14.46 14.63
20906 360.4 9.4 946 20911 roll 0.56 - - 2405 - 2.45 0.098 3609 552.7 182.3 - - 1998 - - - - - - - - 14.85 14.41 14.87
20981 352.3 10.3 957 20988 done 0.56 0.08 0.233 2379 -325.0 2.42 0.060 2256 -559.1 182.3 - - 1998 - - - - - - - - 14.24 14.47 14.50
21298 327.0 8.0 967 21303 roll 0.56 - - 2388 - 2.65 0.076 796 -550.9 182.3 - - 1998 - - - - - - - - 14.86 14.44 14.86
21359 321.9 8.0 976 21365 done 0.61 - - 2388 - 2.67 0.067 2257 547.2 182.3 - - 1998 - - - - - - - - 14.50 14.43 14.55
21689 293.4 8.8 988 21694 roll 0.61 - - 2388 - 2.45 0.096 3609 551.8 182.3 - - 2001 - - - - - - - - 14.85 14.42 14.86
21746 288.3 9.1 996 21751 done 0.61 - - 2396 - 2.38 0.060 2256 -568.5 182.3 - - 1998 - - - - - - - - 14.63 14.53 14.66
22081 259.4 8.5 1009 22087 roll 0.61 - - 2405 - 2.62 0.076 797 -556.9 182.3 - - 1998 - - - - - - - - 14.85 14.42 14.87
22143 254.3 8.0 1018 22149 done 0.61 - - 2405 - 2.62 0.067 2261 558.8 182.3 - - 1998 - - - - - - - - 14.60 14.48 14.64
22474 225.5 8.9 1030 22479 roll 0.61 - - 2405 - 2.45 0.095 3618 553.9 182.3 - - 1998 - - - - - - - - 14.85 14.42 14.87
22530 220.0 10.0 1038 22534 done 0.61 - - 2414 - 2.38 0.060 2259 -571.0 182.3 - - 1997 - - - - - - - - 14.62 14.52 14.66
22866 188.6 9.4 1051 22871 roll 0.61 - - 2424 - 2.65 0.075 787 -555.5 182.3 - - 1997 - - - - - - - - 14.85 14.40 14.87
22934 182.0 9.2 1061 22941 done 0.61 - - 2424 - 2.65 0.069 2258 555.1 182.3 - - 1998 - - - - - - - - 14.59 14.47 14.63
23257 150.6 9.7 1072 23262 roll 0.61 - - 2424 - 2.45 0.093 3613 553.1 182.3 - - 1997 - - - - - - - - 14.86 14.42 14.88
23348 140.5 11.2 1085 23354 done 0.61 0.15 0.268 2399 -166.7 2.38 0.059 2255 -570.6 182.3 - - 1998 - - - - - - - - 14.23 14.52 14.50
23705 112.4 7.9 1094 23710 roll 0.61 - - 2407 - 2.62 0.074 790 -559.2 182.3 - - 1997 - - - - - - - - 14.86 14.45 14.88
23841 102.8 6.2 1113 23864 done 0.69 - - 2407 - 2.62 0.067 2245 555.3 208.9 17.70 0.418 1887 -6.2 0.288 - - - - - - 14.59 14.47 14.23
24185 84.0 5.0 1128 24228 roll 0.82 0.15 0.120 2481 493.3 2.50 0.093 3612 546.8 263.6 36.30 0.387 1670 -6.0 0.244 - - - - - - 14.52 14.48 14.26
24461 64.7 7.3 1168 24468 done 0.82 - - 2491 - 2.38 0.057 2245 -574.4 265.1 2.42 0.177 1659 -4.5 0.313 - - - - - - 14.54 14.45 14.32
24794 51.4 2.9 1182 24866 roll 0.95 - - 2489 - 2.65 0.073 798 -546.0 370.7 67.97 0.288 1227 -6.4 0.214 - - - - - - 14.81 14.48 14.28
24927 45.7 5.3 1201 24964 done 1.13 0.22 0.086 2594 477.3 2.58 0.058 2257 565.5 418.8 32.22 0.267 1032 -6.1 0.195 - - - - - - 14.52 14.45 14.25
25284 10.6 9.8 1219 25289 roll 1.13 - - 2596 - 2.40 0.085 3613 565.0 418.8 - - 1040 - - - - - - - - 14.77 14.42 14.79
25316 6.5 11.6 1224 25322 done 1.13 0.10 0.226 2560 -360.0 2.38 0.052 2255 -570.6 418.8 - - 1039 - - - - - - - - 14.22 14.48 14.45
25363 end climb: SURFACE_DEPTH_REACHED
25363 begin surface coast
25390 end surface coast: CONTROL_FINISHED_OK
25391 begin surface
SM 0.83 - - - - -6.15 6.72 0.070 211 31.4 0.08 0.175 2277 -35612.5 500.17 51.72 0.138 699 13.5 -0.008 - - - - - -