SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 347 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 138.38 of 350.00 AH used of 24V (60.46% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.4 deg, depth 0.79 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 14 s • Transponder ping count: 2
• 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 - - 190 - - - 2316 - -116.8 -84.55 - 2863 - - - - - - - - 14.68 - 14.69
106 4.7 -6.5 3 130 roll -0.68 9.18 0.415 1982 195.2 2.88 2.043 871 -501.7 -116.8 -6.20 - 3219 -57.4 - - - - - - - 13.93 13.07 14.37
218 36.8 -19.6 19 223 done -0.49 0.25 0.288 2031 196.0 2.45 0.056 2261 567.3 -116.8 - - 3220 - - - - - - - - 14.07 14.38 14.34
552 76.2 -9.8 34 558 roll -0.43 0.12 0.268 2055 200.0 2.50 0.073 3700 575.6 -116.8 - - 3222 - - - - - - - - 14.22 14.39 14.35
587 79.6 -9.2 39 592 done -0.43 - - 2055 - 2.40 0.038 2246 -605.8 -116.8 - - 3222 - - - - - - - - 14.61 14.56 14.64
916 100.1 -5.6 53 922 roll -0.43 - - 2047 - 2.60 0.080 3696 557.7 -116.8 - - 3223 - - - - - - - - 14.85 14.44 14.87
985 104.5 -6.7 63 991 done -0.43 - - 2047 - 2.38 0.039 2282 -594.1 -116.8 - - 3223 - - - - - - - - 14.57 14.54 14.65
1309 128.5 -7.6 74 1310 done -0.43 - - 2047 - - - 2273 - -116.8 - - 3223 - - - - - - - - 14.88 14.90 14.90
1644 152.9 -7.0 80 1650 roll -0.43 - - 2047 - 2.38 0.049 896 -578.6 -116.8 - - 3221 - - - - - - - - 14.90 14.52 14.91
1700 157.1 -7.3 88 1706 done -0.43 - - 2043 - 2.42 0.055 2290 576.0 -116.8 - - 3220 - - - - - - - - 14.62 14.51 14.65
2037 181.4 -7.2 101 2042 roll -0.43 - - 2038 - 2.47 0.079 3690 566.8 -116.8 - - 3219 - - - - - - - - 14.91 14.45 14.92
2084 184.9 -7.3 108 2093 done -0.43 - - 2038 - 2.40 0.039 2262 -595.0 -116.8 - - 3219 - - - - - - - - 14.58 14.56 14.61
2428 210.1 -7.4 115 2433 roll -0.43 - - 2040 - 2.35 0.051 907 -576.6 -116.8 - - 3217 - - - - - - - - 14.90 14.54 14.92
2512 216.7 -7.6 127 2517 done -0.43 - - 2037 - 2.40 0.057 2279 571.7 -116.8 - - 3216 - - - - - - - - 14.62 14.51 14.65
2876 245.8 -8.0 137 2881 roll -0.43 - - 2036 - 2.40 0.050 907 -571.7 -116.8 - - 3215 - - - - - - - - 14.92 14.51 14.94
2903 248.1 -8.5 141 2909 done -0.43 - - 2037 - 2.42 0.058 2285 569.4 -116.8 - - 3212 - - - - - - - - 14.57 14.43 14.62
3269 277.9 -8.3 151 3274 roll -0.43 - - 2031 - 2.50 0.081 3693 563.2 -116.8 - - 3212 - - - - - - - - 14.90 14.43 14.92
3344 284.5 -8.5 162 3350 done -0.43 - - 2031 - 2.40 0.044 2284 -587.1 -116.8 - - 3211 - - - - - - - - 14.58 14.55 14.60
3660 312.1 -8.8 172 3666 roll -0.43 0.12 0.246 2067 300.0 2.42 0.050 883 -578.9 -116.8 - - 3210 - - - - - - - - 14.27 14.48 14.39
3709 316.0 -7.4 179 3715 done -0.49 - - 2067 - 2.50 0.058 2279 558.4 -116.8 - - 3209 - - - - - - - - 14.47 14.41 14.52
4053 340.0 -7.0 186 4057 roll -0.55 0.12 0.138 2007 -500.0 2.53 0.083 3687 556.5 -116.8 - - 3208 - - - - - - - - 14.55 14.34 14.59
4093 343.6 -9.4 192 4100 done -0.55 - - 2007 - 2.42 0.043 2272 -584.7 -116.8 - - 3208 - - - - - - - - 14.50 14.46 14.52
4445 377.1 -9.5 200 4451 roll -0.55 - - 2007 - 2.42 0.056 882 -574.4 -116.8 - - 3205 - - - - - - - - 14.90 14.48 14.91
4506 383.1 -9.3 209 4512 done -0.55 - - 1999 - 2.47 0.060 2280 566.0 -116.8 - - 3203 - - - - - - - - 14.55 14.42 14.59
4836 414.0 -9.3 221 4841 roll -0.55 - - 1995 - 2.53 0.086 3699 560.9 -116.8 - - 3204 - - - - - - - - 14.90 14.38 14.92
4864 416.6 -9.4 225 4869 done -0.55 - - 1995 - 2.42 0.044 2268 -591.3 -116.8 - - 3203 - - - - - - - - 14.65 14.59 14.67
5228 450.5 -9.4 235 5229 done -0.55 - - 1995 - - - 2260 - -116.8 - - 3202 - - - - - - - - 14.92 14.94 14.94
5564 481.5 -9.1 241 5569 roll -0.55 - - 1995 - 2.42 0.057 890 -566.1 -116.8 - - 3200 - - - - - - - - 14.92 14.45 14.93
5613 486.1 -9.3 248 5620 done -0.55 - - 1993 - 2.47 0.063 2273 559.9 -116.8 - - 3200 - - - - - - - - 14.47 14.36 14.52
5956 517.1 -9.1 255 5961 roll -0.55 - - 1985 - 2.55 0.088 3688 554.9 -116.8 - - 3198 - - - - - - - - 14.92 14.36 14.94
5983 519.7 -9.3 259 5989 done -0.55 0.10 0.220 2029 440.0 2.45 0.047 2273 -577.6 -116.8 - - 3198 - - - - - - - - 14.09 14.50 14.38
6349 546.7 -7.3 269 6354 roll -0.55 - - 2029 - 2.45 0.058 875 -570.6 -116.8 - - 3197 - - - - - - - - 14.88 14.43 14.89
6404 551.0 -7.7 277 6409 done -0.55 - - 2028 - 2.50 0.063 2274 559.6 -116.8 - - 3198 - - - - - - - - 14.53 14.40 14.57
6741 574.7 -7.0 290 6745 roll -0.55 - - 2020 - 2.55 0.090 3687 554.1 -116.8 - - 3195 - - - - - - - - 14.91 14.33 14.93
6810 579.6 -7.0 300 6816 done -0.55 - - 2021 - 2.42 0.049 2264 -588.0 -116.8 - - 3195 - - - - - - - - 14.58 14.51 14.61
7132 602.1 -7.0 311 7137 roll -0.55 - - 2020 - 2.42 0.057 878 -572.7 -116.8 - - 3194 - - - - - - - - 14.91 14.40 14.92
7222 608.9 -7.5 324 7229 done -0.55 - - 2015 - 2.53 0.063 2261 546.6 -116.8 - - 3194 - - - - - - - - 14.52 14.33 14.55
7581 636.9 -8.0 333 7586 roll -0.55 - - 2011 - 2.58 0.088 3692 554.7 -116.8 - - 3192 - - - - - - - - 14.88 14.31 14.90
7649 642.8 -8.6 343 7655 done -0.55 - - 2012 - 2.47 0.049 2267 -576.9 -116.8 - - 3191 - - - - - - - - 14.55 14.42 14.58
7973 671.1 -8.8 354 7977 roll -0.55 - - 2012 - 2.42 0.060 886 -570.7 -116.8 - - 3191 - - - - - - - - 14.90 14.37 14.92
8035 676.9 -9.1 363 8040 done -0.55 - - 2011 - 2.50 0.063 2279 557.2 -116.8 - - 3190 - - - - - - - - 14.48 14.35 14.52
8364 705.2 -8.6 375 8365 done -0.55 - - 2012 - - - 2279 - -116.8 - - 3189 - - - - - - - - 14.90 14.92 14.92
8701 731.6 -7.6 381 8705 roll -0.55 - - 2008 - 2.58 0.092 3688 546.1 -116.8 - - 3190 - - - - - - - - 14.88 14.28 14.89
8758 735.8 -8.0 389 8762 done -0.55 - - 2009 - 2.45 0.050 2262 -582.0 -116.8 - - 3187 - - - - - - - - 14.54 14.47 14.57
9092 758.9 -6.8 402 9097 roll -0.55 - - 2008 - 2.42 0.059 890 -566.9 -116.8 - - 3187 - - - - - - - - 14.90 14.26 14.92
9190 765.8 -7.8 416 9196 done -0.55 - - 2004 - 2.50 0.063 2269 551.6 -116.8 - - 3187 - - - - - - - - 14.45 14.32 14.50
9540 790.2 -7.0 424 9546 roll -0.55 - - 1999 - 2.60 0.091 3693 547.7 -116.8 - - 3186 - - - - - - - - 14.87 14.23 14.88
9623 796.4 -7.6 436 9630 done -0.55 - - 1999 - 2.45 0.050 2259 -585.3 -116.8 - - 3185 - - - - - - - - 14.50 14.40 14.53
9989 826.3 -8.4 446 9994 roll -0.55 - - 1999 - 2.45 0.061 893 -557.6 -116.8 - - 3184 - - - - - - - - 14.88 14.30 14.90
10050 832.1 -9.1 455 10056 done -0.55 - - 1999 - 2.53 0.064 2286 550.6 -116.8 - - 3184 - - - - - - - - 14.39 14.23 14.42
10380 862.0 -9.3 467 10385 roll -0.55 - - 1997 - 2.58 0.092 3699 547.7 -116.8 - - 3184 - - - - - - - - 14.86 14.20 14.88
10437 866.9 -8.3 475 10442 done -0.55 - - 1997 - 2.47 0.050 2263 -581.4 -116.8 - - 3183 - - - - - - - - 14.51 14.42 14.54
10772 897.0 -8.9 488 10778 roll -0.55 - - 1997 - 2.45 0.059 878 -565.3 -116.8 - - 3182 - - - - - - - - 14.85 14.20 14.87
10848 903.9 -9.7 499 10854 done -0.55 - - 1996 - 2.55 0.066 2279 549.4 -116.8 - - 3183 - - - - - - - - 14.38 14.22 14.43
11165 929.8 -8.1 509 11170 roll -0.55 - - 1986 - 2.58 0.091 3689 546.5 -116.8 - - 3181 - - - - - - - - 14.87 14.17 14.89
11206 933.0 -8.2 515 11211 done -0.55 0.12 0.247 2013 225.0 2.47 0.052 2258 -579.4 -116.8 - - 3183 - - - - - - - - 14.02 14.39 14.26
11556 956.8 -6.7 523 11561 roll -0.55 - - 2014 - 2.42 0.059 883 -568.2 -116.8 - - 3180 - - - - - - - - 14.88 14.27 14.90
11598 959.8 -7.2 529 11603 done -0.55 - - 2012 - 2.50 0.064 2262 551.6 -116.8 - - 3180 - - - - - - - - 14.40 14.26 14.45
11949 983.5 -6.9 537 11954 roll -0.55 - - 2011 - 2.62 0.092 3701 549.2 -116.8 - - 3180 - - - - - - - - 14.84 14.16 14.85
11997 987.0 -3.8 544 12005 done -0.60 - - 2011 - 2.53 0.049 2251 -573.1 -116.8 - - 3179 - - - - - - - - 14.35 14.32 14.39
12057 end dive: TARGET_DEPTH_EXCEEDED
12057 begin apogee
12066 991.5 -7.0 546 12258 roll -0.19 0.45 0.208 2134 273.3 - - 2180 - - 190.35 1.626 2742 -2.3 0.268 - - - - - - 13.96 13.93 13.21
12260 end apogee: CONTROL_FINISHED_OK
12260 begin climb
12264 996.9 - 549 12421 done 0.68 0.88 0.134 2414 318.2 - - 2180 - 116.8 149.35 1.889 2263 -3.2 0.324 - - - - - - 13.90 14.16 12.81
12729 959.8 9.6 585 12734 roll 0.68 - - 2409 - 2.60 0.089 3601 546.5 116.8 - - 2234 - - - - - - - - 14.62 14.29 14.64
12819 949.8 11.0 598 12825 done 0.61 - - 2419 - 2.45 0.059 2200 -571.8 116.8 - - 2232 - - - - - - - - 14.47 14.38 14.52
13178 911.8 10.7 607 13183 roll 0.55 0.15 0.278 2391 -186.7 2.60 0.076 768 -550.8 116.8 - - 2230 - - - - - - - - 14.12 14.38 14.27
13233 906.5 8.9 615 13238 done 0.55 - - 2391 - 2.55 0.065 2183 554.9 116.8 - - 2229 - - - - - - - - 14.55 14.41 14.57
13570 876.5 8.9 628 13576 roll 0.55 - - 2391 - 2.58 0.093 3595 547.3 116.8 - - 2226 - - - - - - - - 14.82 14.36 14.83
13638 869.7 9.7 638 13644 done 0.55 - - 2401 - 2.50 0.060 2170 -570.0 116.8 - - 2228 - - - - - - - - 14.54 14.42 14.58
13961 840.0 9.4 649 13966 roll 0.55 - - 2412 - 2.53 0.076 769 -553.8 116.8 - - 2229 - - - - - - - - 14.83 14.37 14.84
13989 837.4 9.5 653 13994 done 0.55 0.15 0.252 2378 -226.7 2.55 0.063 2188 556.5 116.8 - - 2227 - - - - - - - - 14.12 14.40 14.42
14354 807.6 8.2 663 14358 roll 0.55 - - 2377 - 2.55 0.090 3599 553.3 116.8 - - 2227 - - - - - - - - 14.83 14.33 14.85
14457 798.1 8.9 678 14464 done 0.55 - - 2387 - 2.53 0.059 2185 -558.9 116.8 - - 2226 - - - - - - - - 14.35 14.31 14.40
14803 770.3 8.0 685 14807 roll 0.55 - - 2397 - 2.58 0.074 767 -549.6 116.8 - - 2226 - - - - - - - - 14.85 14.34 14.87
14842 766.9 8.2 691 14848 done 0.55 - - 2397 - 2.60 0.063 2188 546.5 116.8 - - 2225 - - - - - - - - 14.40 14.33 14.45
15193 738.8 8.0 699 15198 roll 0.55 - - 2397 - 2.55 0.089 3592 550.6 116.8 - - 2226 - - - - - - - - 14.83 14.30 14.85
15291 730.1 8.7 713 15296 done 0.50 0.17 0.265 2367 -176.5 2.47 0.057 2184 -570.0 116.8 - - 2224 - - - - - - - - 14.04 14.40 14.36
15641 707.6 6.4 721 15669 roll 0.52 - - 2377 - 2.60 0.076 761 -547.3 140.0 23.23 1.710 2163 -2.6 0.208 - - - - - - 14.83 14.47 13.56
15726 702.1 6.5 733 15755 done 0.57 - - 2382 - 2.58 0.062 2197 556.6 159.6 24.80 1.704 2087 -3.1 0.242 - - - - - - 14.49 14.38 13.47
16090 674.7 7.6 743 16095 roll 0.57 - - 2377 - 2.53 0.088 3590 550.6 159.6 - - 2065 - - - - - - - - 14.72 14.30 14.73
16158 668.6 8.7 753 16164 done 0.57 - - 2385 - 2.45 0.055 2177 -576.7 159.6 - - 2064 - - - - - - - - 14.49 14.40 14.53
16482 642.0 8.3 764 16488 roll 0.57 - - 2395 - 2.55 0.074 774 -550.2 159.6 - - 2063 - - - - - - - - 14.78 14.35 14.81
16543 636.8 8.2 773 16549 done 0.57 - - 2395 - 2.55 0.058 2202 560.0 159.6 - - 2063 - - - - - - - - 14.49 14.38 14.54
16873 608.0 8.8 785 16878 roll 0.57 - - 2395 - 2.53 0.089 3589 548.2 159.6 - - 2063 - - - - - - - - 14.83 14.31 14.85
16943 601.1 9.9 795 16949 done 0.57 - - 2405 - 2.42 0.055 2196 -575.6 159.6 - - 2062 - - - - - - - - 14.35 14.29 14.40
17266 572.7 8.7 806 17270 roll 0.57 - - 2414 - 2.58 0.073 776 -550.4 159.6 - - 2062 - - - - - - - - 14.85 14.33 14.87
17341 566.4 8.1 817 17347 done 0.57 - - 2414 - 2.55 0.059 2197 557.3 159.6 - - 2061 - - - - - - - - 14.48 14.36 14.53
17658 538.4 9.0 827 17663 roll 0.57 - - 2415 - 2.55 0.086 3596 548.6 159.6 - - 2061 - - - - - - - - 14.83 14.29 14.85
17761 528.1 9.7 842 17769 done 0.57 0.12 0.223 2387 -233.3 2.50 0.057 2197 -559.6 159.6 - - 2062 - - - - - - - - 13.99 14.30 14.16
18106 502.6 7.4 849 18111 roll 0.57 - - 2397 - 2.58 0.073 774 -551.6 159.6 - - 2061 - - - - - - - - 14.85 14.31 14.87
18175 497.6 7.0 859 18180 done 0.58 - - 2397 - 2.58 0.059 2209 556.2 167.3 - - 2061 - - - - - - - - 14.47 14.35 14.52
18497 473.4 7.6 870 18502 roll 0.58 - - 2397 - 2.53 0.086 3590 545.8 167.3 - - 2061 - - - - - - - - 14.84 14.26 14.85
18574 466.8 8.6 881 18579 done 0.58 - - 2406 - 2.45 0.054 2190 -571.4 167.3 - - 2060 - - - - - - - - 14.50 14.40 14.54
18890 441.1 8.2 891 18894 roll 0.58 - - 2416 - 2.58 0.068 768 -551.2 167.3 - - 2060 - - - - - - - - 14.83 14.31 14.86
18923 438.3 8.3 896 18930 done 0.58 - - 2416 - 2.58 0.058 2204 556.6 167.3 - - 2060 - - - - - - - - 14.46 14.33 14.50
19282 407.5 8.6 905 19287 roll 0.58 - - 2416 - 2.53 0.086 3592 548.6 167.3 - - 2060 - - - - - - - - 14.83 14.26 14.85
19393 397.1 9.4 921 19398 done 0.58 0.15 0.252 2390 -173.3 2.42 0.054 2206 -572.7 167.3 - - 2060 - - - - - - - - 14.02 14.39 14.29
19730 374.2 6.8 934 19757 roll 0.59 - - 2400 - 2.62 0.070 775 -546.2 181.0 21.98 1.369 1996 -2.9 0.152 - - - - - - 14.83 14.49 13.69
19813 368.4 7.1 946 19818 done 0.64 - - 2400 - 2.55 0.057 2207 561.6 186.0 - - 1983 - - - - - - - - 14.50 14.39 14.54
20170 340.1 8.1 955 20175 roll 0.64 - - 2400 - 2.50 0.086 3587 552.0 186.0 - - 1981 - - - - - - - - 14.81 14.29 14.83
20261 331.6 9.2 968 20267 done 0.64 - - 2409 - 2.40 0.052 2211 -573.3 186.0 - - 1981 - - - - - - - - 14.50 14.40 14.52
20618 298.5 9.5 977 20623 roll 0.64 - - 2418 - 2.60 0.067 774 -552.7 186.0 - - 1980 - - - - - - - - 14.81 14.31 14.85
20674 293.2 9.4 985 20679 done 0.64 - - 2418 - 2.58 0.056 2213 557.8 186.0 - - 1980 - - - - - - - - 14.47 14.35 14.51
21012 260.3 9.8 998 21016 roll 0.64 - - 2418 - 2.50 0.083 3598 554.0 186.0 - - 1980 - - - - - - - - 14.81 14.29 14.85
21079 253.0 10.5 1008 21086 done 0.64 - - 2428 - 2.45 0.050 2214 -564.9 186.0 - - 1980 - - - - - - - - 14.38 14.33 14.40
21403 220.7 10.0 1019 21408 roll 0.64 - - 2438 - 2.60 0.067 772 -554.6 186.0 - - 1979 - - - - - - - - 14.84 14.30 14.86
21478 213.5 9.0 1030 21484 done 0.64 0.12 0.257 2410 -233.3 2.58 0.057 2214 558.9 186.0 - - 1978 - - - - - - - - 14.05 14.33 14.31
21794 188.6 7.8 1040 21800 roll 0.64 - - 2410 - 2.47 0.081 3586 555.5 186.0 - - 1980 - - - - - - - - 14.86 14.29 14.88
21871 182.2 8.2 1051 21876 done 0.64 - - 2419 - 2.38 0.049 2213 -576.9 186.0 - - 1980 - - - - - - - - 14.49 14.40 14.52
22187 156.9 8.2 1061 22191 roll 0.64 - - 2424 - 2.58 0.067 780 -555.4 186.0 - - 1980 - - - - - - - - 14.85 14.23 14.88
22262 150.4 8.6 1072 22269 done 0.64 - - 2424 - 2.58 0.056 2223 559.3 186.0 - - 1980 - - - - - - - - 14.45 14.33 14.50
22579 122.5 8.8 1082 22584 roll 0.64 - - 2424 - 2.47 0.083 3590 553.4 186.0 - - 1983 - - - - - - - - 14.83 14.26 14.85
22647 115.9 9.3 1092 22654 done 0.64 - - 2433 - 2.42 0.049 2215 -568.2 186.0 - - 1981 - - - - - - - - 14.38 14.33 14.42
22971 87.8 8.9 1105 22975 roll 0.64 - - 2433 - 2.50 0.078 3587 548.8 186.0 - - 1980 - - - - - - - - 14.83 14.28 14.85
23061 79.5 8.8 1118 23066 done 0.64 0.15 0.243 2406 -180.0 2.35 0.048 2226 -579.1 186.0 - - 1980 - - - - - - - - 13.99 14.40 14.23
23391 61.5 5.4 1132 23425 roll 0.73 - - 2406 - 2.62 0.067 777 -553.1 232.2 29.23 0.308 1797 -6.3 0.239 - - - - - - 14.83 14.49 14.14
23488 57.3 4.1 1146 23545 done 0.92 0.28 0.084 2516 392.9 2.55 0.054 2225 567.8 309.4 52.15 0.303 1477 -6.1 0.222 - - - - - - 14.45 14.39 14.12
23861 34.5 4.4 1166 23915 roll 1.02 - - 2516 - 2.47 0.079 3581 549.0 379.7 45.58 0.234 1193 -6.2 0.176 - - - - - - 14.80 14.35 14.15
24056 23.7 6.3 1194 24084 done 1.13 0.15 0.119 2578 413.3 2.33 0.047 2231 -579.4 404.6 18.02 0.197 1088 -5.8 0.134 - - - - - - 14.31 14.39 14.12
24305 end climb: SURFACE_DEPTH_REACHED
24305 begin surface coast
24337 end surface coast: CONTROL_FINISHED_OK
24337 begin surface
SM 0.78 - - - - -6.14 6.88 0.072 219 31.8 0.12 0.149 2284 -76216.7 500.17 60.00 0.137 702 11.7 -0.007 - - - - - -