SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 487 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 191.78 of 350.00 AH used of 24V (45.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.0 deg, depth 0.77 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 17 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 112 VBD -0.68 - - 203 - - - 2244 - -116.8 -84.93 - 2778 - - - - - - - - 14.66 - 14.69
116 3.1 -3.9 3 140 roll -0.68 9.02 0.401 1972 196.1 2.62 2.013 904 -511.5 -116.8 -8.90 - 3217 -49.3 - - - - - - - 13.83 13.14 14.30
228 31.3 -21.3 19 233 done -0.52 0.25 0.262 2022 200.0 2.47 0.057 2290 561.1 -116.8 - - 3218 - - - - - - - - 13.99 14.35 14.28
563 73.1 -8.3 34 568 roll -0.47 - - 2012 - 2.47 0.075 3701 571.3 -116.8 - - 3219 - - - - - - - - 14.81 14.31 14.82
648 80.2 -8.5 46 653 done -0.47 0.12 0.239 2042 250.0 2.33 0.037 2279 -610.3 -116.8 - - 3219 - - - - - - - - 14.14 14.48 14.36
983 106.6 -8.6 60 987 roll -0.47 - - 2042 - 2.40 0.050 895 -576.7 -116.8 - - 3220 - - - - - - - - 14.87 14.39 14.88
1038 111.7 -8.9 68 1043 done -0.47 - - 2042 - 2.47 0.055 2284 562.3 -116.8 - - 3220 - - - - - - - - 14.49 14.38 14.52
1375 137.1 -7.4 81 1381 roll -0.47 - - 2038 - 2.47 0.077 3697 572.1 -116.8 - - 3220 - - - - - - - - 14.88 14.32 14.89
1415 140.3 -7.6 87 1421 done -0.47 - - 2039 - 2.38 0.040 2292 -590.3 -116.8 - - 3220 - - - - - - - - 14.45 14.42 14.48
1766 167.2 -7.7 95 1771 roll -0.47 - - 2038 - 2.42 0.053 890 -579.3 -116.8 - - 3219 - - - - - - - - 14.87 14.38 14.89
1865 175.2 -8.1 109 1870 done -0.47 - - 2039 - 2.47 0.056 2280 562.8 -116.8 - - 3218 - - - - - - - - 14.50 14.38 14.56
2214 203.0 -7.9 117 2220 roll -0.47 - - 2037 - 2.50 0.078 3699 567.6 -116.8 - - 3217 - - - - - - - - 14.87 14.30 14.88
2271 207.2 -7.4 125 2277 done -0.53 - - 2037 - 2.40 0.041 2260 -599.6 -116.8 - - 3216 - - - - - - - - 14.57 14.51 14.59
2607 232.3 -7.4 138 2612 roll -0.53 - - 2036 - 2.38 0.053 895 -573.5 -116.8 - - 3214 - - - - - - - - 14.83 14.38 14.84
2724 241.5 -7.5 155 2730 done -0.53 - - 2037 - 2.45 0.055 2271 561.6 -116.8 - - 3213 - - - - - - - - 14.43 14.29 14.47
3055 265.9 -7.5 167 3060 roll -0.53 - - 2033 - 2.53 0.083 3692 561.7 -116.8 - - 3211 - - - - - - - - 14.85 14.26 14.88
3096 269.0 -7.4 173 3102 done -0.53 - - 2033 - 2.40 0.044 2267 -593.8 -116.8 - - 3210 - - - - - - - - 14.53 14.46 14.55
3447 293.1 -6.8 181 3452 roll -0.53 - - 2033 - 2.40 0.056 895 -571.7 -116.8 - - 3209 - - - - - - - - 14.85 14.33 14.89
3496 296.5 -6.8 188 3502 done -0.53 - - 2030 - 2.45 0.057 2270 561.2 -116.8 - - 3208 - - - - - - - - 14.44 14.33 14.48
3839 321.2 -7.4 195 3843 roll -0.53 - - 2025 - 2.55 0.085 3686 555.3 -116.8 - - 3206 - - - - - - - - 14.86 14.24 14.88
3879 324.4 -7.4 201 3886 done -0.53 - - 2025 - 2.45 0.044 2267 -579.2 -116.8 - - 3206 - - - - - - - - 14.43 14.39 14.46
4230 352.3 -8.1 209 4236 roll -0.53 - - 2025 - 2.45 0.057 882 -565.3 -116.8 - - 3204 - - - - - - - - 14.90 14.31 14.92
4272 355.9 -8.7 215 4277 done -0.53 - - 2029 - 2.50 0.059 2273 556.4 -116.8 - - 3204 - - - - - - - - 14.43 14.31 14.47
4622 385.0 -8.5 223 4627 roll -0.53 - - 2020 - 2.55 0.086 3691 556.1 -116.8 - - 3204 - - - - - - - - 14.90 14.23 14.91
4691 391.1 -8.8 233 4698 done -0.53 - - 2020 - 2.47 0.046 2270 -575.3 -116.8 - - 3201 - - - - - - - - 14.47 14.35 14.50
5015 419.3 -8.9 244 5020 roll -0.53 - - 2020 - 2.45 0.057 890 -563.3 -116.8 - - 3200 - - - - - - - - 14.87 14.28 14.89
5077 424.9 -8.7 253 5083 done -0.53 - - 2015 - 2.50 0.058 2277 554.8 -116.8 - - 3200 - - - - - - - - 14.40 14.26 14.44
5408 453.4 -8.7 265 5413 roll -0.53 - - 2012 - 2.55 0.085 3690 554.1 -116.8 - - 3199 - - - - - - - - 14.85 14.19 14.87
5449 456.9 -8.5 271 5454 done -0.53 - - 2012 - 2.45 0.046 2267 -580.8 -116.8 - - 3198 - - - - - - - - 14.48 14.41 14.51
5799 486.0 -8.3 279 5803 roll -0.53 - - 2012 - 2.42 0.057 894 -567.4 -116.8 - - 3199 - - - - - - - - 14.85 14.27 14.87
5861 491.5 -8.6 288 5866 done -0.53 - - 2012 - 2.50 0.059 2277 553.2 -116.8 - - 3196 - - - - - - - - 14.37 14.23 14.42
6192 519.2 -8.5 300 6197 roll -0.53 - - 2016 - 2.58 0.086 3692 548.4 -116.8 - - 3194 - - - - - - - - 14.88 14.14 14.89
6247 523.8 -8.2 308 6252 done -0.53 - - 2011 - 2.45 0.046 2268 -581.2 -116.8 - - 3194 - - - - - - - - 14.46 14.41 14.49
6583 550.3 -7.8 321 6588 roll -0.53 - - 2011 - 2.45 0.059 892 -561.6 -116.8 - - 3193 - - - - - - - - 14.87 14.24 14.87
6640 554.6 -7.6 329 6645 done -0.53 - - 2011 - 2.50 0.060 2269 550.8 -116.8 - - 3193 - - - - - - - - 14.37 14.24 14.42
6975 578.5 -7.0 342 6980 roll -0.53 - - 2011 - 2.60 0.090 3694 548.1 -116.8 - - 3192 - - - - - - - - 14.85 14.14 14.86
7023 582.0 -7.2 349 7031 done -0.53 - - 2011 - 2.45 0.047 2262 -584.5 -116.8 - - 3192 - - - - - - - - 14.40 14.31 14.43
7368 608.0 -7.7 356 7373 roll -0.53 - - 2011 - 2.45 0.059 895 -558.0 -116.8 - - 3191 - - - - - - - - 14.86 14.26 14.88
7423 612.7 -8.3 364 7427 done -0.53 - - 2012 - 2.50 0.060 2272 550.8 -116.8 - - 3191 - - - - - - - - 14.35 14.23 14.40
7759 641.3 -8.6 377 7764 roll -0.53 - - 2011 - 2.60 0.090 3693 546.5 -116.8 - - 3190 - - - - - - - - 14.84 14.09 14.86
7816 646.2 -8.8 385 7821 done -0.53 - - 2011 - 2.45 0.047 2278 -577.6 -116.8 - - 3189 - - - - - - - - 14.42 14.35 14.45
8151 675.4 -8.6 398 8156 roll -0.53 - - 2011 - 2.50 0.057 873 -562.0 -116.8 - - 3188 - - - - - - - - 14.83 14.19 14.83
8199 679.6 -8.5 405 8207 done -0.53 - - 2011 - 2.58 0.060 2265 539.5 -116.8 - - 3188 - - - - - - - - 14.15 14.09 14.21
8544 706.1 -7.6 412 8548 roll -0.53 - - 2011 - 2.62 0.090 3696 546.2 -116.8 - - 3186 - - - - - - - - 14.85 13.98 14.88
8599 710.2 -7.3 420 8604 done -0.58 - - 2011 - 2.50 0.048 2258 -575.2 -116.8 - - 3186 - - - - - - - - 14.38 14.31 14.41
8936 734.6 -7.3 433 8941 roll -0.58 - - 2011 - 2.45 0.057 886 -560.0 -116.8 - - 3186 - - - - - - - - 14.85 14.16 14.87
8983 738.3 -7.6 440 8990 done -0.58 - - 2011 - 2.53 0.060 2273 548.2 -116.8 - - 3185 - - - - - - - - 14.26 14.12 14.31
9328 762.5 -7.0 447 9333 roll -0.58 - - 2007 - 2.60 0.090 3688 544.2 -116.8 - - 3185 - - - - - - - - 14.81 14.03 14.83
9369 765.5 -7.2 453 9375 done -0.58 - - 2007 - 2.45 0.049 2275 -576.7 -116.8 - - 3184 - - - - - - - - 14.38 14.30 14.40
9719 790.5 -7.1 461 9725 roll -0.58 - - 2006 - 2.53 0.063 878 -552.2 -116.8 - - 3183 - - - - - - - - 14.82 14.12 14.83
9775 794.4 -7.3 469 9781 done -0.58 - - 2005 - 2.60 0.063 2278 538.5 -116.8 - - 3182 - - - - - - - - 14.23 14.11 14.28
10112 818.4 -7.2 482 10117 roll -0.58 - - 1999 - 2.60 0.090 3690 543.1 -116.8 - - 3181 - - - - - - - - 14.81 13.99 14.82
10167 822.6 -7.7 490 10171 done -0.58 - - 1999 - 2.50 0.050 2267 -569.2 -116.8 - - 3181 - - - - - - - - 14.32 14.24 14.35
10503 850.1 -8.4 503 10507 roll -0.58 - - 1999 - 2.53 0.063 882 -547.4 -116.8 - - 3181 - - - - - - - - 14.81 14.06 14.83
10587 857.3 -8.7 515 10592 done -0.58 - - 1999 - 2.55 0.063 2262 541.2 -116.8 - - 3181 - - - - - - - - 14.22 14.08 14.27
10951 888.3 -8.5 525 10956 roll -0.58 - - 1999 - 2.67 0.092 3701 539.0 -116.8 - - 3180 - - - - - - - - 14.81 13.96 14.83
11013 893.5 -8.2 534 11018 done -0.58 - - 1998 - 2.53 0.047 2256 -571.1 -116.8 - - 3180 - - - - - - - - 14.33 14.27 14.36
11344 920.3 -8.2 546 11349 roll -0.58 - - 1999 - 2.47 0.060 887 -554.3 -116.8 - - 3179 - - - - - - - - 14.79 14.07 14.81
11384 923.7 -8.4 552 11389 done -0.58 - - 1999 - 2.58 0.061 2260 532.2 -116.8 - - 3177 - - - - - - - - 14.08 14.01 14.14
11735 951.0 -7.8 560 11739 roll -0.58 - - 1999 - 2.67 0.092 3701 539.7 -116.8 - - 3178 - - - - - - - - 14.82 13.93 14.85
11805 956.4 -7.5 570 11810 done -0.63 - - 1999 - 2.50 0.047 2267 -573.6 -116.8 - - 3178 - - - - - - - - 14.30 14.22 14.33
12127 979.9 -7.3 581 12132 roll -0.63 - - 1999 - 2.53 0.062 879 -548.6 -116.8 - - 3177 - - - - - - - - 14.79 14.02 14.81
12168 983.0 -4.2 587 12173 done -0.63 - - 1998 - 2.58 0.064 2268 538.4 -116.8 - - 3177 - - - - - - - - 14.18 14.03 14.23
12291 end dive: TARGET_DEPTH_EXCEEDED
12291 begin apogee
12301 991.9 -6.9 591 12497 roll -0.19 0.50 0.206 2132 268.0 - - 2181 - - 194.20 1.604 2741 -2.2 0.263 - - - - - - 13.68 13.97 13.07
12498 end apogee: CONTROL_FINISHED_OK
12498 begin climb
12502 997.4 - 594 12668 roll 0.68 0.93 0.141 2413 302.2 2.58 0.063 794 -537.6 116.8 152.02 1.743 2258 -3.2 0.344 - - - - - - 13.93 14.02 12.95
12832 978.6 7.8 646 12836 done 0.68 - - 2412 - 2.55 0.060 2203 552.5 116.8 - - 2235 - - - - - - - - 14.38 14.28 14.42
13194 947.9 8.5 656 13199 roll 0.68 - - 2422 - 2.55 0.070 816 -543.9 116.8 - - 2231 - - - - - - - - 14.77 14.28 14.78
13365 933.9 7.0 680 13369 done 0.68 - - 2422 - 2.50 0.062 2200 553.6 125.9 - - 2230 - - - - - - - - 14.45 14.33 14.48
13700 904.5 9.1 693 13705 roll 0.63 - - 2422 - 2.55 0.092 3608 552.2 125.9 - - 2229 - - - - - - - - 14.79 14.22 14.81
13775 897.5 8.3 704 13780 done 0.55 0.22 0.268 2380 -190.9 2.45 0.057 2221 -566.1 125.9 - - 2228 - - - - - - - - 13.91 14.33 14.21
14091 875.6 6.6 714 14126 roll 0.56 - - 2390 - 2.65 0.076 799 -536.6 143.9 30.62 1.756 2149 -2.6 0.244 - - - - - - 14.84 14.36 13.45
14197 867.9 7.4 729 14203 done 0.56 - - 2390 - 2.55 0.060 2199 549.0 143.9 - - 2134 - - - - - - - - 14.42 14.31 14.45
14532 840.2 8.4 742 14537 roll 0.56 - - 2390 - 2.58 0.092 3610 546.9 143.9 - - 2130 - - - - - - - - 14.73 14.21 14.79
14574 836.1 11.6 748 14579 done 0.56 - - 2400 - 2.47 0.057 2194 -573.3 143.9 - - 2129 - - - - - - - - 14.45 14.35 14.49
14924 802.8 9.7 756 14929 roll 0.56 - - 2410 - 2.55 0.074 802 -545.9 143.9 - - 2129 - - - - - - - - 14.78 14.21 14.81
15014 794.5 8.9 769 15020 done 0.56 - - 2410 - 2.53 0.060 2195 550.6 143.9 - - 2129 - - - - - - - - 14.40 14.26 14.45
15373 762.8 8.8 778 15378 roll 0.56 - - 2410 - 2.60 0.089 3619 547.7 143.9 - - 2129 - - - - - - - - 14.81 14.17 14.83
15448 755.3 9.6 789 15455 done 0.52 0.20 0.251 2374 -180.0 2.53 0.057 2192 -564.0 143.9 - - 2128 - - - - - - - - 13.90 14.28 14.22
15764 733.5 6.7 799 15776 roll 0.53 - - 2384 - 2.53 0.073 791 -553.8 157.8 5.60 1.542 2096 -5.7 0.515 - - - - - - 14.79 14.40 13.28
15869 726.3 6.8 814 15908 done 0.53 - - 2383 - 2.53 0.060 2194 554.5 170.2 30.80 1.606 2042 -1.8 0.150 - - - - - - 14.49 14.38 13.43
16268 697.1 7.3 829 16274 roll 0.53 - - 2384 - 2.60 0.087 3615 546.5 170.2 - - 2029 - - - - - - - - 14.75 14.19 14.76
16338 691.4 8.3 839 16343 done 0.53 - - 2393 - 2.53 0.055 2186 -564.8 170.2 - - 2032 - - - - - - - - 14.41 14.31 14.45
16660 666.0 7.9 850 16665 roll 0.53 - - 2403 - 2.55 0.069 789 -547.8 170.2 - - 2028 - - - - - - - - 14.79 14.21 14.83
16765 657.8 7.8 865 16772 done 0.53 0.12 0.246 2377 -216.7 2.58 0.059 2200 546.9 170.2 - - 2027 - - - - - - - - 13.90 14.23 14.19
17108 635.3 6.4 872 17149 roll 0.55 - - 2377 - 2.60 0.088 3607 541.2 192.8 31.55 1.535 1947 -2.5 0.199 - - - - - - 14.78 14.35 13.45
17205 628.6 7.4 886 17211 done 0.55 - - 2386 - 2.50 0.054 2181 -570.4 192.8 - - 1940 - - - - - - - - 14.42 14.33 14.46
17557 605.9 6.4 894 17596 roll 0.56 - - 2395 - 2.58 0.073 797 -536.4 214.5 32.05 1.472 1859 -2.5 0.197 - - - - - - 14.74 14.31 13.45
17671 598.3 6.8 910 17682 done 0.62 - - 2395 - 2.53 0.057 2189 550.2 226.6 6.18 1.441 1817 -6.8 0.534 - - - - - - 14.39 14.28 13.19
17998 573.5 7.7 922 18003 roll 0.62 - - 2395 - 2.58 0.083 3609 550.4 226.6 - - 1820 - - - - - - - - 14.71 14.20 14.74
18053 568.5 9.1 930 18058 done 0.62 - - 2404 - 2.50 0.053 2187 -568.8 226.6 - - 1821 - - - - - - - - 14.40 14.31 14.44
18389 537.3 9.4 943 18394 roll 0.62 - - 2407 - 2.55 0.071 784 -550.2 226.6 - - 1821 - - - - - - - - 14.78 14.20 14.81
18466 529.9 9.5 954 18471 done 0.67 - - 2407 - 2.55 0.057 2198 554.5 226.6 - - 1821 - - - - - - - - 14.36 14.26 14.41
18781 497.2 10.5 964 18786 roll 0.67 - - 2407 - 2.58 0.084 3612 548.1 226.6 - - 1821 - - - - - - - - 14.78 14.15 14.82
18837 490.9 11.3 972 18842 done 0.67 - - 2416 - 2.53 0.054 2184 -564.4 226.6 - - 1821 - - - - - - - - 14.40 14.30 14.42
19174 456.8 10.0 985 19180 roll 0.67 - - 2424 - 2.55 0.070 782 -549.8 226.6 - - 1821 - - - - - - - - 14.81 14.16 14.83
19242 450.5 8.8 995 19248 done 0.67 - - 2424 - 2.55 0.056 2188 551.4 226.6 - - 1821 - - - - - - - - 14.34 14.22 14.38
19567 421.2 9.1 1006 19571 roll 0.67 - - 2424 - 2.58 0.083 3608 550.4 226.6 - - 1821 - - - - - - - - 14.78 14.12 14.79
19648 413.0 9.7 1018 19654 done 0.67 - - 2434 - 2.50 0.051 2178 -572.0 226.6 - - 1821 - - - - - - - - 14.38 14.27 14.41
20013 376.7 10.2 1028 20018 roll 0.67 - - 2444 - 2.53 0.068 791 -548.2 226.6 - - 1821 - - - - - - - - 14.81 14.14 14.83
20083 369.6 10.1 1038 20088 done 0.67 - - 2444 - 2.55 0.057 2201 552.9 226.6 - - 1821 - - - - - - - - 14.33 14.21 14.36
20405 335.5 10.6 1049 20411 roll 0.67 - - 2444 - 2.58 0.083 3614 547.7 226.6 - - 1821 - - - - - - - - 14.82 14.09 14.84
20467 328.5 11.1 1058 20473 done 0.67 0.15 0.264 2421 -153.3 2.50 0.053 2190 -569.6 226.6 - - 1821 - - - - - - - - 13.82 14.23 14.10
20798 299.2 8.9 1070 20803 roll 0.67 - - 2430 - 2.55 0.068 787 -550.2 226.6 - - 1821 - - - - - - - - 14.78 14.12 14.79
20880 291.7 8.8 1082 20886 done 0.67 - - 2430 - 2.55 0.055 2193 551.4 226.6 - - 1821 - - - - - - - - 14.32 14.20 14.36
21246 256.2 10.0 1092 21251 roll 0.67 - - 2430 - 2.58 0.081 3613 550.4 226.6 - - 1821 - - - - - - - - 14.81 14.07 14.83
21314 248.3 11.2 1102 21320 done 0.67 - - 2438 - 2.50 0.050 2190 -569.2 226.6 - - 1822 - - - - - - - - 14.31 14.20 14.33
21638 215.7 9.9 1113 21643 roll 0.67 - - 2447 - 2.55 0.067 792 -548.2 226.6 - - 1821 - - - - - - - - 14.76 14.11 14.79
21714 208.7 8.7 1124 21719 done 0.67 0.12 0.246 2417 -250.0 2.55 0.055 2205 554.1 226.6 - - 1821 - - - - - - - - 13.88 14.19 14.13
22029 182.0 8.5 1134 22034 roll 0.67 - - 2419 - 2.55 0.082 3605 549.0 226.6 - - 1821 - - - - - - - - 14.78 14.07 14.80
22091 175.8 10.2 1143 22097 done 0.67 - - 2429 - 2.47 0.049 2188 -573.7 226.6 - - 1821 - - - - - - - - 14.31 14.20 14.35
22422 144.9 9.3 1155 22427 roll 0.67 - - 2438 - 2.55 0.066 793 -547.1 226.6 - - 1820 - - - - - - - - 14.81 14.10 14.82
22504 137.6 8.7 1167 22510 done 0.67 - - 2438 - 2.53 0.054 2186 550.6 226.6 - - 1822 - - - - - - - - 14.28 14.16 14.33
22869 104.9 8.9 1177 22875 roll 0.67 - - 2438 - 2.60 0.080 3614 549.2 226.6 - - 1821 - - - - - - - - 14.78 14.06 14.79
22933 99.1 9.5 1186 22938 done 0.67 0.12 0.253 2420 -150.0 2.50 0.050 2188 -570.4 226.6 - - 1822 - - - - - - - - 13.88 14.24 14.12
23261 75.9 7.3 1200 23266 roll 0.67 - - 2429 - 2.55 0.063 790 -548.2 226.6 - - 1821 - - - - - - - - 14.79 14.12 14.81
23367 67.7 7.7 1215 23373 done 0.74 - - 2429 - 2.55 0.054 2197 551.8 226.6 - - 1821 - - - - - - - - 14.28 14.16 14.32
23682 49.9 4.2 1227 23737 roll 0.86 0.12 0.135 2485 466.7 2.60 0.080 3612 544.2 300.6 49.78 0.281 1512 -6.2 0.209 - - - - - - 14.33 14.35 14.01
23811 42.5 7.2 1245 23823 done 0.86 - - 2493 - 2.50 0.048 2177 -574.0 304.0 3.72 0.206 1501 -3.0 0.116 - - - - - - 14.39 14.30 13.79
24133 31.3 4.6 1258 24186 roll 0.99 - - 2500 - 2.47 0.065 796 -559.1 370.2 45.28 0.222 1227 -6.1 0.162 - - - - - - 14.72 14.21 14.04
24296 23.2 5.7 1281 24328 done 1.15 0.20 0.090 2590 450.0 2.45 0.048 2181 565.3 409.7 26.73 0.195 1068 -5.9 0.134 - - - - - - 14.28 14.19 14.06
24519 end climb: SURFACE_DEPTH_REACHED
24519 begin surface coast
24551 end surface coast: CONTROL_FINISHED_OK
24551 begin surface
SM 0.69 - - - - -6.14 6.75 0.048 206 30.5 0.15 0.086 2321 -60726.7 500.41 58.35 0.136 700 12.0 -0.006 - - - - - -