SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 409 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 161.79 of 350.00 AH used of 24V (53.77% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.2 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 13 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
19 - - - 105 VBD -0.68 - - 210 - - - 2314 - -116.8 -84.75 - 2833 - - - - - - - - 14.67 - 14.71
109 3.9 -5.1 3 133 roll -0.68 9.38 0.425 1959 186.5 2.70 2.041 3673 503.3 -116.8 -7.25 - 3220 -53.4 - - - - - - - 13.90 13.00 14.35
190 30.3 -27.4 15 195 done -0.48 0.30 0.264 2035 253.3 2.38 0.045 2275 -587.4 -116.8 - - 3219 - - - - - - - - 14.06 14.42 14.35
526 70.7 -9.2 30 530 roll -0.43 - - 2036 - 2.42 0.054 866 -582.2 -116.8 - - 3222 - - - - - - - - 14.81 14.43 14.83
630 79.5 -8.1 45 638 done -0.43 0.12 0.259 2056 166.7 2.45 0.054 2265 571.0 -116.8 - - 3223 - - - - - - - - 14.20 14.45 14.43
945 100.5 -6.3 57 951 roll -0.43 - - 2055 - 2.50 0.077 3690 570.0 -116.8 - - 3223 - - - - - - - - 14.88 14.41 14.89
1015 104.6 -5.9 67 1020 done -0.48 - - 2055 - 2.40 0.040 2248 -600.8 -116.8 - - 3223 - - - - - - - - 14.62 14.56 14.64
1338 125.3 -6.6 78 1343 roll -0.48 - - 2055 - 2.35 0.053 890 -577.9 -116.8 - - 3223 - - - - - - - - 14.88 14.49 14.90
1421 131.2 -7.2 90 1426 done -0.48 - - 2053 - 2.42 0.054 2279 574.0 -116.8 - - 3223 - - - - - - - - 14.59 14.49 14.62
1786 155.6 -6.6 100 1791 roll -0.48 - - 2048 - 2.47 0.076 3689 570.9 -116.8 - - 3221 - - - - - - - - 14.88 14.44 14.90
1812 157.5 -6.7 104 1818 done -0.48 - - 2048 - 2.40 0.041 2279 -587.5 -116.8 - - 3221 - - - - - - - - 14.50 14.48 14.54
2177 182.6 -6.9 114 2182 roll -0.48 - - 2048 - 2.42 0.051 879 -578.5 -116.8 - - 3218 - - - - - - - - 14.90 14.48 14.92
2226 186.2 -7.4 121 2233 done -0.48 - - 2043 - 2.47 0.056 2278 566.4 -116.8 - - 3218 - - - - - - - - 14.58 14.47 14.62
2570 212.2 -7.7 128 2574 roll -0.48 - - 2042 - 2.50 0.080 3691 565.2 -116.8 - - 3216 - - - - - - - - 14.88 14.40 14.90
2646 218.0 -7.4 139 2651 done -0.55 - - 2042 - 2.40 0.043 2263 -595.0 -116.8 - - 3216 - - - - - - - - 14.63 14.57 14.64
2962 241.5 -7.5 149 2968 roll -0.55 - - 2042 - 2.38 0.052 893 -575.6 -116.8 - - 3215 - - - - - - - - 14.92 14.47 14.93
3037 247.2 -7.4 160 3043 done -0.55 - - 2041 - 2.47 0.056 2276 559.9 -116.8 - - 3214 - - - - - - - - 14.57 14.38 14.60
3353 269.4 -7.1 170 3358 roll -0.55 - - 2041 - 2.53 0.083 3694 560.5 -116.8 - - 3212 - - - - - - - - 14.90 14.39 14.91
3424 274.4 -7.1 180 3429 done -0.60 0.12 0.136 1984 -475.0 2.38 0.044 2281 -593.7 -116.8 - - 3211 - - - - - - - - 14.48 14.57 14.57
3746 306.6 -10.3 191 3750 roll -0.60 - - 1983 - 2.45 0.053 881 -571.4 -116.8 - - 3209 - - - - - - - - 14.90 14.45 14.92
3828 315.1 -10.0 203 3834 done -0.60 0.12 0.265 2003 166.7 2.47 0.057 2279 566.0 -116.8 - - 3209 - - - - - - - - 14.17 14.42 14.42
4194 349.7 -9.6 213 4200 roll -0.60 - - 1994 - 2.50 0.080 3693 565.6 -116.8 - - 3204 - - - - - - - - 14.88 14.39 14.90
4255 356.0 -10.1 222 4261 done -0.60 - - 1994 - 2.40 0.045 2269 -593.3 -116.8 - - 3207 - - - - - - - - 14.59 14.51 14.62
4586 389.3 -10.1 234 4591 roll -0.60 - - 1994 - 2.42 0.056 883 -572.7 -116.8 - - 3206 - - - - - - - - 14.89 14.45 14.90
4668 397.5 -9.6 246 4674 done -0.60 - - 1986 - 2.50 0.060 2284 560.4 -116.8 - - 3204 - - - - - - - - 14.52 14.40 14.57
5033 432.8 -9.5 256 5034 done -0.60 - - 1986 - - - 2285 - -116.8 - - 3203 - - - - - - - - 14.89 14.91 14.91
5369 463.2 -9.0 262 5370 done -0.60 - - 1987 - - - 2285 - -116.8 - - 3201 - - - - - - - - 14.89 14.92 14.92
5706 493.7 -9.2 268 5711 roll -0.60 - - 1986 - 2.47 0.052 885 -566.8 -116.8 - - 3199 - - - - - - - - 14.89 14.42 14.90
5739 497.0 -9.6 273 5746 done -0.60 - - 1986 - 2.50 0.060 2279 557.6 -116.8 - - 3199 - - - - - - - - 14.50 14.35 14.53
6098 528.7 -9.0 282 6102 roll -0.60 - - 1986 - 2.47 0.054 890 -562.3 -116.8 - - 3198 - - - - - - - - 14.89 14.42 14.90
6132 532.0 -9.4 287 6137 done -0.60 - - 1986 - 2.50 0.060 2281 556.4 -116.8 - - 3200 - - - - - - - - 14.52 14.40 14.56
6489 564.5 -9.3 296 6494 roll -0.60 - - 1984 - 2.53 0.085 3692 557.7 -116.8 - - 3196 - - - - - - - - 14.91 14.32 14.93
6531 568.3 -9.1 302 6536 done -0.60 - - 1985 - 2.42 0.046 2268 -588.4 -116.8 - - 3199 - - - - - - - - 14.58 14.52 14.61
6882 599.9 -9.0 310 6887 roll -0.60 - - 1985 - 2.45 0.057 887 -563.7 -116.8 - - 3196 - - - - - - - - 14.88 14.38 14.90
6971 607.7 -8.5 323 6977 done -0.60 - - 1984 - 2.50 0.062 2275 555.2 -116.8 - - 3194 - - - - - - - - 14.46 14.32 14.50
7329 636.3 -8.0 332 7330 done -0.60 - - 1984 - - - 2275 - -116.8 - - 3193 - - - - - - - - 14.87 14.90 14.90
7666 663.9 -8.3 338 7671 roll -0.60 - - 1984 - 2.50 0.058 888 -554.8 -116.8 - - 3192 - - - - - - - - 14.87 14.35 14.88
7713 668.3 -8.8 345 7721 done -0.60 - - 1984 - 2.55 0.063 2267 540.8 -116.8 - - 3191 - - - - - - - - 14.31 14.24 14.36
8057 698.8 -9.1 352 8062 roll -0.60 - - 1979 - 2.60 0.090 3702 551.9 -116.8 - - 3190 - - - - - - - - 14.88 14.25 14.89
8113 704.0 -9.5 360 8118 done -0.60 - - 1980 - 2.45 0.047 2272 -583.7 -116.8 - - 3190 - - - - - - - - 14.52 14.45 14.54
8450 736.0 -9.6 373 8456 roll -0.60 - - 1980 - 2.47 0.061 884 -561.9 -116.8 - - 3188 - - - - - - - - 14.86 14.32 14.88
8532 744.0 -9.5 385 8539 done -0.60 0.12 0.268 2000 166.7 2.50 0.063 2264 552.0 -116.8 - - 3188 - - - - - - - - 14.00 14.28 14.26
8898 773.8 -8.3 395 8903 roll -0.60 - - 1999 - 2.60 0.090 3696 550.8 -116.8 - - 3187 - - - - - - - - 14.88 14.21 14.90
8932 776.7 -8.4 400 8937 done -0.60 - - 1999 - 2.47 0.049 2259 -581.8 -116.8 - - 3187 - - - - - - - - 14.50 14.42 14.52
9289 805.7 -8.2 409 9295 roll -0.60 - - 1999 - 2.45 0.058 876 -564.5 -116.8 - - 3189 - - - - - - - - 14.86 14.28 14.88
9337 809.8 -8.3 416 9344 done -0.60 - - 1999 - 2.58 0.063 2263 537.6 -116.8 - - 3185 - - - - - - - - 14.25 14.18 14.31
9683 836.1 -7.5 423 9687 roll -0.60 - - 1999 - 2.62 0.090 3701 548.9 -116.8 - - 3187 - - - - - - - - 14.85 14.17 14.86
9738 840.3 -7.5 431 9742 done -0.60 - - 1999 - 2.50 0.047 2252 -579.6 -116.8 - - 3184 - - - - - - - - 14.47 14.40 14.50
10073 864.6 -7.2 444 10078 roll -0.60 - - 1998 - 2.45 0.060 887 -557.1 -116.8 - - 3183 - - - - - - - - 14.85 14.26 14.87
10136 869.3 -7.3 453 10142 done -0.60 - - 1998 - 2.53 0.063 2270 546.6 -116.8 - - 3183 - - - - - - - - 14.38 14.24 14.42
10465 893.3 -7.4 465 10471 roll -0.60 - - 2000 - 2.60 0.091 3691 546.5 -116.8 - - 3182 - - - - - - - - 14.88 14.14 14.89
10508 896.5 -5.8 471 10513 done -0.60 - - 1999 - 2.47 0.051 2259 -579.8 -116.8 - - 3182 - - - - - - - - 14.45 14.37 14.48
10857 923.6 -7.8 479 10862 roll -0.60 - - 1998 - 2.45 0.060 885 -560.8 -116.8 - - 3181 - - - - - - - - 14.88 14.23 14.89
10933 929.8 -8.0 490 10939 done -0.60 - - 1999 - 2.53 0.063 2265 545.5 -116.8 - - 3180 - - - - - - - - 14.33 14.19 14.38
11250 954.4 -7.9 500 11255 roll -0.60 - - 1998 - 2.62 0.092 3700 547.7 -116.8 - - 3180 - - - - - - - - 14.86 14.14 14.87
11319 959.7 -5.5 510 11324 done -0.60 - - 1999 - 2.50 0.050 2257 -577.2 -116.8 - - 3180 - - - - - - - - 14.42 14.33 14.45
11642 983.8 -7.5 521 11647 roll -0.60 - - 1999 - 2.47 0.060 882 -556.7 -116.8 - - 3179 - - - - - - - - 14.85 14.21 14.88
11690 987.6 -7.8 528 11697 done -0.60 - - 1999 - 2.55 0.064 2266 542.7 -116.8 - - 3179 - - - - - - - - 14.32 14.19 14.37
11750 end dive: TARGET_DEPTH_EXCEEDED
11750 begin apogee
11758 992.2 -7.3 530 11912 roll -0.19 0.50 0.207 2134 270.0 - - 2193 - - 151.88 1.825 2739 -2.9 0.301 - - - - - - 13.85 13.91 12.97
11914 end apogee: CONTROL_FINISHED_OK
11914 begin climb
11918 996.1 - 532 12079 roll 0.68 0.93 0.148 2413 300.0 2.60 0.061 805 -533.8 116.8 148.60 1.866 2260 -3.2 0.329 - - - - - - 13.89 13.98 12.83
12197 978.9 10.8 579 12204 done 0.68 - - 2413 - 2.60 0.063 2194 534.2 116.8 - - 2236 - - - - - - - - 14.21 14.16 14.33
12542 948.1 9.1 586 12547 roll 0.68 - - 2420 - 2.53 0.068 815 -545.1 116.8 - - 2232 - - - - - - - - 14.73 14.36 14.74
12701 933.6 8.8 609 12709 done 0.68 - - 2422 - 2.55 0.063 2212 547.8 116.8 - - 2230 - - - - - - - - 14.44 14.32 14.49
13047 900.6 9.7 616 13051 roll 0.63 - - 2422 - 2.53 0.086 3612 553.4 116.8 - - 2229 - - - - - - - - 14.80 14.34 14.82
13102 894.4 11.2 624 13107 done 0.55 0.22 0.265 2379 -195.5 2.45 0.055 2210 -572.2 116.8 - - 2227 - - - - - - - - 14.07 14.43 14.40
13438 867.3 8.1 637 13443 roll 0.55 - - 2390 - 2.55 0.070 797 -554.1 116.8 - - 2227 - - - - - - - - 14.83 14.35 14.86
13507 861.6 8.2 647 13512 done 0.55 - - 2390 - 2.53 0.059 2207 557.3 116.8 - - 2230 - - - - - - - - 14.50 14.39 14.54
13829 834.2 8.5 658 13834 roll 0.55 - - 2392 - 2.55 0.086 3606 548.6 116.8 - - 2226 - - - - - - - - 14.83 14.29 14.85
13885 828.9 9.6 666 13890 done 0.55 - - 2399 - 2.47 0.054 2190 -573.3 116.8 - - 2225 - - - - - - - - 14.49 14.40 14.53
14222 799.6 8.8 679 14227 roll 0.55 - - 2410 - 2.53 0.070 797 -550.6 116.8 - - 2225 - - - - - - - - 14.85 14.33 14.86
14283 794.2 8.4 688 14289 done 0.55 0.15 0.245 2376 -226.7 2.53 0.059 2198 553.8 116.8 - - 2225 - - - - - - - - 14.04 14.35 14.33
14615 770.9 6.9 700 14619 roll 0.55 - - 2376 - 2.58 0.087 3615 549.2 126.6 - - 2225 - - - - - - - - 14.84 14.26 14.85
14682 765.3 8.0 710 14688 done 0.55 - - 2385 - 2.47 0.056 2202 -572.1 126.6 - - 2224 - - - - - - - - 14.46 14.35 14.50
15005 742.5 7.0 721 15024 roll 0.56 - - 2396 - 2.58 0.074 794 -545.7 134.1 11.70 1.760 2193 -2.6 0.214 - - - - - - 14.85 14.46 13.35
15103 735.6 7.1 735 15110 done 0.56 - - 2396 - 2.53 0.058 2208 558.9 139.2 2.38 0.571 2170 -9.7 2.380 - - - - - - 14.52 14.42 13.02
15446 709.4 7.7 742 15451 roll 0.56 - - 2395 - 2.55 0.086 3615 551.8 139.2 - - 2176 - - - - - - - - 14.79 14.30 14.81
15494 705.1 9.1 749 15502 done 0.56 - - 2406 - 2.53 0.055 2198 -560.1 139.2 - - 2176 - - - - - - - - 14.38 14.33 14.41
15839 674.9 8.9 756 15844 roll 0.56 - - 2417 - 2.55 0.071 796 -549.8 139.2 - - 2177 - - - - - - - - 14.81 14.28 14.82
15894 670.0 8.9 764 15899 done 0.56 0.15 0.243 2381 -240.0 2.53 0.058 2197 553.8 139.2 - - 2177 - - - - - - - - 14.05 14.34 14.31
16230 643.6 7.8 777 16236 roll 0.56 - - 2382 - 2.58 0.087 3613 548.8 139.2 - - 2177 - - - - - - - - 14.84 14.26 14.85
16300 637.5 8.6 787 16305 done 0.56 - - 2391 - 2.47 0.054 2189 -576.5 139.2 - - 2177 - - - - - - - - 14.49 14.37 14.52
16623 612.4 7.8 798 16627 roll 0.56 - - 2393 - 2.53 0.071 797 -550.2 139.2 - - 2177 - - - - - - - - 14.81 14.28 14.83
16720 605.1 7.3 812 16726 done 0.56 - - 2393 - 2.53 0.057 2205 556.5 140.4 1.83 0.192 2166 -6.0 3.622 - - - - - - 14.44 14.32 14.12
17064 579.2 7.6 819 17068 roll 0.56 - - 2393 - 2.55 0.085 3612 551.8 140.4 - - 2174 - - - - - - - - 14.81 14.21 14.83
17175 569.5 8.4 835 17180 done 0.56 - - 2402 - 2.47 0.053 2192 -574.9 140.4 - - 2174 - - - - - - - - 14.45 14.35 14.48
17512 543.5 7.7 848 17517 roll 0.56 - - 2411 - 2.53 0.069 799 -550.6 140.4 - - 2174 - - - - - - - - 14.83 14.26 14.83
17573 538.7 7.5 857 17579 done 0.56 - - 2411 - 2.53 0.057 2204 555.3 140.4 - - 2174 - - - - - - - - 14.40 14.28 14.45
17903 513.0 7.9 869 17909 roll 0.56 - - 2411 - 2.58 0.085 3613 546.1 140.4 - - 2174 - - - - - - - - 14.83 14.19 14.85
17972 506.8 8.8 879 17978 done 0.56 0.15 0.255 2386 -166.7 2.47 0.053 2205 -570.0 140.4 - - 2174 - - - - - - - - 13.96 14.32 14.23
18296 485.8 6.4 890 18356 roll 0.57 - - 2394 - 2.58 0.069 797 -545.7 162.0 48.22 1.242 2077 -2.0 0.150 - - - - 1 - 14.81 14.28 13.23
18414 478.0 6.7 907 18449 done 0.58 - - 2394 - 2.55 0.057 2208 553.3 177.6 30.15 1.389 2014 -2.1 0.137 - - - - - - 14.40 14.30 13.47
18792 450.5 7.4 919 18797 roll 0.58 - - 2394 - 2.55 0.085 3606 548.2 177.6 - - 1998 - - - - - - - - 14.72 14.23 14.74
18849 445.8 8.5 927 18854 done 0.58 - - 2403 - 2.47 0.052 2189 -573.7 177.6 - - 1998 - - - - - - - - 14.44 14.35 14.47
19184 418.6 8.1 940 19189 roll 0.58 - - 2409 - 2.53 0.068 790 -553.0 177.6 - - 1996 - - - - - - - - 14.78 14.30 14.81
19253 412.9 8.1 950 19259 done 0.58 - - 2410 - 2.55 0.057 2210 556.9 177.6 - - 1995 - - - - - - - - 14.43 14.31 14.48
19577 385.0 8.7 961 19583 roll 0.58 - - 2410 - 2.53 0.083 3609 553.0 177.6 - - 1995 - - - - - - - - 14.78 14.26 14.81
19639 378.9 9.5 970 19645 done 0.58 0.08 0.227 2395 -187.5 2.47 0.050 2215 -564.4 177.6 - - 1995 - - - - - - - - 14.01 14.30 14.16
19969 352.8 7.9 982 19973 roll 0.58 - - 2404 - 2.58 0.066 787 -553.5 177.6 - - 1995 - - - - - - - - 14.83 14.27 14.85
20039 347.2 7.9 992 20043 done 0.64 - - 2404 - 2.55 0.057 2210 558.0 177.6 - - 1995 - - - - - - - - 14.43 14.31 14.48
20361 320.6 8.3 1003 20365 roll 0.64 - - 2404 - 2.53 0.082 3607 552.2 177.6 - - 1995 - - - - - - - - 14.81 14.23 14.86
20417 315.6 9.1 1011 20421 done 0.64 - - 2409 - 2.45 0.050 2193 -577.1 177.6 - - 1995 - - - - - - - - 14.45 14.35 14.51
20754 289.2 7.7 1024 20759 roll 0.64 - - 2425 - 2.53 0.068 798 -551.4 177.6 - - 1995 - - - - - - - - 14.81 14.25 14.83
20801 285.5 7.6 1031 20808 done 0.64 - - 2420 - 2.58 0.055 2210 547.3 177.6 - - 1995 - - - - - - - - 14.29 14.23 14.34
21145 257.4 8.3 1038 21149 roll 0.64 - - 2420 - 2.55 0.081 3616 551.4 177.6 - - 1995 - - - - - - - - 14.82 14.24 14.83
21222 250.4 9.2 1049 21228 done 0.64 - - 2429 - 2.45 0.051 2208 -574.7 177.6 - - 1995 - - - - - - - - 14.45 14.35 14.49
21537 222.6 8.9 1059 21542 roll 0.64 - - 2437 - 2.55 0.065 791 -555.7 177.6 - - 1995 - - - - - - - - 14.82 14.23 14.83
21606 216.3 9.0 1069 21613 done 0.64 0.12 0.240 2409 -233.3 2.55 0.056 2213 557.6 177.6 - - 1995 - - - - - - - - 14.02 14.28 14.28
21930 190.4 8.0 1080 21935 roll 0.64 - - 2408 - 2.53 0.080 3612 553.0 177.6 - - 1995 - - - - - - - - 14.83 14.22 14.85
21977 186.1 9.0 1087 21984 done 0.64 - - 2420 - 2.47 0.048 2208 -568.4 177.6 - - 1995 - - - - - - - - 14.34 14.29 14.38
22322 157.5 8.4 1094 22327 roll 0.64 - - 2424 - 2.55 0.064 793 -554.9 177.6 - - 1994 - - - - - - - - 14.81 14.25 14.83
22369 153.5 8.2 1101 22377 done 0.64 - - 2424 - 2.58 0.054 2209 548.8 177.6 - - 1994 - - - - - - - - 14.29 14.23 14.46
22713 123.5 8.8 1108 22718 roll 0.64 - - 2423 - 2.53 0.081 3608 553.0 177.6 - - 1995 - - - - - - - - 14.80 14.19 14.81
22769 118.2 9.7 1116 22774 done 0.64 - - 2432 - 2.45 0.049 2191 -578.4 177.6 - - 1995 - - - - - - - - 14.43 14.34 14.48
23106 89.4 8.2 1131 23111 roll 0.64 - - 2439 - 2.53 0.064 789 -554.2 177.6 - - 1995 - - - - - - - - 14.80 14.19 14.81
23202 83.1 6.2 1145 23222 done 0.65 - - 2440 - 2.60 0.055 2213 547.7 204.9 15.50 0.352 1903 -5.9 0.268 - - - - - - 14.28 14.21 13.92
23557 59.6 6.2 1162 23581 roll 0.67 - - 2448 - 2.60 0.058 798 -544.2 230.7 19.33 0.295 1803 -5.2 0.200 - - - - - - 14.78 14.42 14.01
23710 50.8 5.1 1181 23754 done 0.78 - - 2448 - 2.47 0.051 2194 565.2 284.2 37.40 0.281 1580 -6.0 0.206 - - - - - - 14.45 14.34 14.04
24090 31.6 4.2 1202 24147 roll 0.96 0.15 0.122 2531 553.3 2.55 0.060 796 -548.2 359.6 49.45 0.221 1271 -6.2 0.171 - - - - - - 14.38 14.34 14.12
24246 22.3 5.7 1225 24282 done 1.08 - - 2531 - 2.53 0.051 2209 558.5 398.7 26.73 0.195 1111 -6.0 0.131 - - - - - - 14.36 14.26 14.07
24593 3.9 6.0 1241 24604 VBD 1.18 0.12 0.127 2594 525.0 - - 2209 - 429.8 8.82 0.141 1062 -5.6 0.029 - - - - - - 14.40 - 14.42
24604 end climb: SURFACE_DEPTH_REACHED
24604 begin surface coast
24643 end surface coast: CONTROL_FINISHED_OK
24643 begin surface
SM 0.62 - - - - -6.14 6.97 0.075 215 30.8 0.12 0.143 2288 -69750.0 500.17 56.03 0.134 698 12.5 -0.006 - - - - - -