SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 525 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 206.15 of 350.00 AH used of 24V (41.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -56.2 deg, depth 0.72 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 16 s • Transponder ping count: 10
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 108 VBD -0.68 - - 188 - - - 2222 - -116.8 -84.40 - 2763 - - - - - - - - 14.65 - 14.67
112 3.2 -4.1 3 136 roll -0.68 9.48 0.416 1961 187.0 2.95 2.046 3678 493.6 -116.8 -9.05 - 3219 -50.4 - - - - - - - 13.83 12.93 14.29
216 31.8 -24.2 18 223 done -0.49 0.28 0.249 2032 253.6 2.33 0.039 2301 -591.0 -116.8 - - 3224 - - - - - - - - 13.98 14.40 14.28
529 74.4 -9.0 30 534 roll -0.45 - - 2032 - 2.47 0.050 871 -578.9 -116.8 - - 3221 - - - - - - - - 14.78 14.31 14.80
683 86.1 -6.5 52 688 done -0.45 - - 2026 - 2.45 0.051 2272 571.8 -116.8 - - 3222 - - - - - - - - 14.47 14.33 14.47
1033 115.2 -9.0 63 1037 roll -0.45 - - 2019 - 2.50 0.074 3698 570.4 -116.8 - - 3222 - - - - - - - - 14.83 14.28 14.85
1146 125.2 -8.3 79 1151 done -0.45 0.12 0.217 2050 258.3 2.38 0.036 2258 -605.0 -116.8 - - 3222 - - - - - - - - 14.16 14.47 14.35
1481 148.9 -7.2 92 1485 roll -0.45 - - 2050 - 2.35 0.049 909 -574.0 -116.8 - - 3222 - - - - - - - - 14.85 14.35 14.86
1564 155.7 -8.1 104 1569 done -0.45 - - 2050 - 2.47 0.054 2308 566.4 -116.8 - - 3222 - - - - - - - - 14.41 14.28 14.46
1930 184.6 -7.9 114 1934 roll -0.45 - - 2042 - 2.47 0.077 3701 564.0 -116.8 - - 3221 - - - - - - - - 14.84 14.27 14.85
1991 189.1 -7.1 123 1996 done -0.51 - - 2043 - 2.35 0.038 2290 -600.4 -116.8 - - 3221 - - - - - - - - 14.51 14.45 14.54
2322 211.4 -6.7 135 2327 roll -0.51 - - 2043 - 2.42 0.051 900 -574.4 -116.8 - - 3219 - - - - - - - - 14.86 14.34 14.88
2404 217.0 -6.6 147 2409 done -0.51 - - 2042 - 2.47 0.055 2288 561.9 -116.8 - - 3219 - - - - - - - - 14.41 14.30 14.45
2769 243.3 -7.5 157 2774 roll -0.51 - - 2039 - 2.53 0.081 3696 556.5 -116.8 - - 3216 - - - - - - - - 14.88 14.21 14.90
2826 247.5 -7.5 165 2832 done -0.57 - - 2039 - 2.40 0.043 2279 -590.4 -116.8 - - 3216 - - - - - - - - 14.50 14.42 14.52
3161 271.5 -7.0 178 3166 roll -0.57 - - 2040 - 2.45 0.054 899 -563.3 -116.8 - - 3213 - - - - - - - - 14.88 14.28 14.90
3244 277.2 -6.5 190 3250 done -0.62 0.12 0.138 1987 -441.7 2.50 0.056 2279 552.0 -116.8 - - 3212 - - - - - - - - 14.26 14.26 14.38
3610 311.2 -9.6 200 3615 roll -0.62 - - 1980 - 2.53 0.080 3692 558.5 -116.8 - - 3211 - - - - - - - - 14.84 14.20 14.85
3665 316.6 -9.6 208 3670 done -0.62 - - 1980 - 2.40 0.043 2282 -587.5 -116.8 - - 3210 - - - - - - - - 14.45 14.38 14.48
4002 350.1 -10.1 221 4008 roll -0.58 0.12 0.252 2014 283.3 2.47 0.051 887 -564.8 -116.8 - - 3208 - - - - - - - - 14.05 14.26 14.15
4113 359.5 -7.8 237 4119 done -0.58 - - 2015 - 2.50 0.057 2273 554.4 -116.8 - - 3208 - - - - - - - - 14.35 14.23 14.40
4449 388.4 -8.9 250 4454 roll -0.58 - - 2012 - 2.58 0.083 3699 552.7 -116.8 - - 3206 - - - - - - - - 14.87 14.16 14.89
4492 392.2 -9.2 256 4496 done -0.58 - - 2012 - 2.42 0.044 2273 -589.3 -116.8 - - 3205 - - - - - - - - 14.46 14.40 14.49
4841 425.0 -9.3 264 4846 roll -0.58 - - 2011 - 2.47 0.059 888 -560.7 -116.8 - - 3204 - - - - - - - - 14.88 14.24 14.90
4931 433.0 -8.4 277 4938 done -0.58 - - 2011 - 2.50 0.058 2270 552.8 -116.8 - - 3202 - - - - - - - - 14.33 14.19 14.38
5291 461.8 -8.0 286 5295 roll -0.58 - - 2011 - 2.60 0.086 3696 548.5 -116.8 - - 3201 - - - - - - - - 14.83 14.12 14.85
5346 466.2 -7.7 294 5350 done -0.58 - - 2011 - 2.47 0.045 2261 -581.0 -116.8 - - 3201 - - - - - - - - 14.45 14.38 14.47
5682 493.1 -8.2 307 5687 roll -0.58 - - 2012 - 2.45 0.056 886 -561.2 -116.8 - - 3197 - - - - - - - - 14.83 14.23 14.85
5724 496.8 -8.9 313 5730 done -0.58 - - 2011 - 2.50 0.059 2271 554.0 -116.8 - - 3200 - - - - - - - - 14.35 14.23 14.40
6074 526.4 -8.5 321 6079 roll -0.58 - - 2011 - 2.58 0.086 3687 548.8 -116.8 - - 3198 - - - - - - - - 14.84 14.07 14.85
6108 529.4 -8.5 326 6113 done -0.58 - - 2011 - 2.42 0.046 2266 -587.2 -116.8 - - 3198 - - - - - - - - 14.43 14.35 14.46
6467 558.4 -8.0 335 6471 roll -0.58 - - 2011 - 2.45 0.057 895 -559.6 -116.8 - - 3196 - - - - - - - - 14.85 14.18 14.87
6500 561.1 -8.1 340 6505 done -0.58 - - 2011 - 2.50 0.059 2266 548.4 -116.8 - - 3196 - - - - - - - - 14.27 14.12 14.32
6858 586.3 -7.0 349 6863 roll -0.58 - - 2011 - 2.60 0.088 3688 546.9 -116.8 - - 3195 - - - - - - - - 14.83 14.05 14.84
6921 590.5 -6.6 358 6926 done -0.63 - - 2011 - 2.45 0.046 2260 -582.9 -116.8 - - 3194 - - - - - - - - 14.41 14.34 14.44
7250 613.8 -7.2 370 7255 roll -0.63 - - 2011 - 2.45 0.055 888 -560.0 -116.8 - - 3193 - - - - - - - - 14.81 14.16 14.83
7312 618.7 -7.7 379 7317 done -0.63 - - 2011 - 2.53 0.059 2276 548.6 -116.8 - - 3192 - - - - - - - - 14.26 14.12 14.31
7643 643.3 -7.6 391 7647 roll -0.63 - - 2007 - 2.60 0.086 3696 546.2 -116.8 - - 3191 - - - - - - - - 14.84 14.04 14.85
7690 647.1 -7.9 398 7697 done -0.63 - - 2007 - 2.47 0.044 2261 -581.0 -116.8 - - 3191 - - - - - - - - 14.32 14.23 14.35
8034 673.8 -7.9 405 8039 roll -0.63 - - 2007 - 2.47 0.058 894 -553.4 -116.8 - - 3190 - - - - - - - - 14.81 14.12 14.83
8083 677.7 -7.7 412 8089 done -0.63 - - 2004 - 2.53 0.059 2277 546.6 -116.8 - - 3190 - - - - - - - - 14.24 14.12 14.29
8426 706.1 -8.3 419 8431 roll -0.63 - - 1999 - 2.60 0.086 3692 544.2 -116.8 - - 3189 - - - - - - - - 14.81 14.02 14.83
8482 710.9 -8.5 427 8487 done -0.63 - - 1999 - 2.45 0.046 2276 -578.0 -116.8 - - 3188 - - - - - - - - 14.37 14.28 14.39
8819 739.1 -8.4 440 8824 roll -0.63 - - 1999 - 2.50 0.057 899 -550.8 -116.8 - - 3187 - - - - - - - - 14.80 14.11 14.81
8859 742.8 -8.7 446 8864 done -0.63 - - 1999 - 2.53 0.059 2268 541.1 -116.8 - - 3187 - - - - - - - - 14.20 14.05 14.26
9210 771.4 -8.1 454 9214 roll -0.63 - - 1999 - 2.62 0.090 3691 543.1 -116.8 - - 3186 - - - - - - - - 14.84 13.95 14.85
9279 777.0 -8.0 464 9284 done -0.63 - - 1999 - 2.47 0.047 2271 -574.9 -116.8 - - 3186 - - - - - - - - 14.22 14.10 14.26
9603 803.5 -8.5 475 9608 roll -0.63 - - 1999 - 2.53 0.060 879 -550.2 -116.8 - - 3185 - - - - - - - - 14.78 14.06 14.81
9650 807.7 -8.2 482 9657 done -0.63 - - 1999 - 2.62 0.062 2270 530.9 -116.8 - - 3185 - - - - - - - - 14.00 13.93 14.05
9994 836.5 -8.5 489 9999 roll -0.63 - - 1999 - 2.65 0.091 3691 536.2 -116.8 - - 3183 - - - - - - - - 14.80 13.91 14.81
10064 842.4 -8.3 499 10069 done -0.63 - - 2000 - 2.50 0.047 2259 -572.8 -116.8 - - 3183 - - - - - - - - 14.27 14.19 14.30
10386 869.2 -8.3 510 10390 roll -0.63 - - 1999 - 2.47 0.056 889 -554.7 -116.8 - - 3182 - - - - - - - - 14.79 14.02 14.81
10442 873.6 -7.2 518 10447 done -0.63 - - 1999 - 2.58 0.060 2279 538.8 -116.8 - - 3182 - - - - - - - - 14.16 14.02 14.21
10779 899.6 -7.8 531 10784 roll -0.63 - - 1999 - 2.65 0.090 3701 536.6 -116.8 - - 3181 - - - - - - - - 14.77 13.88 14.79
10834 903.8 -7.5 539 10839 done -0.63 - - 1999 - 2.53 0.045 2257 -570.8 -116.8 - - 3181 - - - - - - - - 14.27 14.20 14.30
11171 928.6 -7.4 552 11176 roll -0.63 - - 1999 - 2.50 0.056 890 -546.8 -116.8 - - 3180 - - - - - - - - 14.77 14.02 14.78
11218 932.3 -7.7 559 11224 done -0.63 - - 1998 - 2.60 0.060 2272 531.5 -116.8 - - 3180 - - - - - - - - 13.96 13.86 14.02
11562 958.1 -7.6 566 11567 roll -0.63 - - 1999 - 2.65 0.092 3690 535.1 -116.8 - - 3180 - - - - - - - - 14.81 13.85 14.83
11620 961.3 -7.1 574 11624 done -0.67 - - 1999 - 2.50 0.049 2276 -565.6 -116.8 - - 3180 - - - - - - - - 14.23 14.15 14.26
11954 985.1 -7.1 587 11958 roll -0.67 - - 1998 - 2.55 0.060 877 -548.6 -116.8 - - 3177 - - - - - - - - 14.81 13.95 14.83
12010 989.3 -4.7 595 12014 done -0.67 - - 1999 - 2.62 0.063 2276 534.0 -116.8 - - 3179 - - - - - - - - 14.10 13.96 14.15
12019 end dive: TARGET_DEPTH_EXCEEDED
12019 begin apogee
12029 991.0 -9.2 597 12223 roll -0.19 0.50 0.204 2133 268.0 - - 2183 - - 192.70 1.567 2740 -2.3 0.273 - - - - - - 13.62 13.95 13.03
12225 end apogee: CONTROL_FINISHED_OK
12225 begin climb
12229 996.0 - 600 12396 roll 0.68 0.93 0.145 2412 300.0 2.58 0.061 815 -530.2 116.8 152.88 1.833 2252 -3.2 0.329 - - - - - - 13.93 14.02 12.93
12431 987.0 10.3 634 12436 done 0.68 - - 2412 - 2.58 0.060 2210 540.7 116.8 - - 2240 - - - - - - - - 14.21 14.12 14.25
12754 957.9 9.2 645 12760 roll 0.63 - - 2413 - 2.55 0.088 3612 549.8 116.8 - - 2232 - - - - - - - - 14.73 14.23 14.75
12803 952.8 13.8 652 12810 done 0.56 0.17 0.272 2383 -176.5 2.45 0.056 2218 -569.0 116.8 - - 2231 - - - - - - - - 13.95 14.28 14.28
13146 924.6 8.2 659 13150 roll 0.56 - - 2394 - 2.62 0.072 791 -544.7 116.8 - - 2230 - - - - - - - - 14.76 14.21 14.78
13257 915.5 8.0 675 13263 done 0.56 - - 2389 - 2.58 0.059 2205 548.1 116.8 - - 2229 - - - - - - - - 14.38 14.26 14.43
13595 887.0 8.5 688 13599 roll 0.56 - - 2394 - 2.58 0.090 3605 542.6 116.8 - - 2228 - - - - - - - - 14.77 14.16 14.79
13642 882.3 10.0 695 13649 done 0.51 0.15 0.267 2371 -153.3 2.50 0.055 2195 -564.0 116.8 - - 2227 - - - - - - - - 13.87 14.24 14.19
13987 857.8 7.0 702 13992 roll 0.51 - - 2381 - 2.58 0.073 796 -542.2 123.7 - - 2227 - - - - - - - - 14.78 14.14 14.79
14083 851.3 6.5 716 14117 done 0.52 - - 2381 - 2.53 0.057 2187 549.8 144.6 30.40 1.785 2151 -2.5 0.226 - - - - - - 14.34 14.21 13.31
14427 829.0 6.4 730 14460 roll 0.54 - - 2381 - 2.58 0.086 3612 552.3 167.1 28.12 1.764 2052 -3.5 0.314 - - - - - - 14.75 14.02 13.31
14490 824.5 7.8 739 14495 done 0.54 - - 2391 - 2.50 0.054 2185 -570.8 167.1 - - 2042 - - - - - - - - 14.40 14.31 14.42
14819 801.9 6.9 751 14829 roll 0.54 - - 2401 - 2.58 0.070 790 -540.7 177.3 2.97 0.943 2015 -9.1 1.467 - - - - - - 14.74 14.33 13.12
14917 795.0 7.0 765 14942 done 0.55 - - 2401 - 2.53 0.058 2188 552.6 185.2 19.23 1.793 1979 -1.9 0.157 - - - - - - 14.42 14.30 13.31
15267 766.7 8.2 780 15271 roll 0.55 - - 2401 - 2.60 0.086 3618 550.0 185.2 - - 1962 - - - - - - - - 14.73 14.20 14.75
15308 762.8 9.9 786 15314 done 0.55 0.12 0.264 2382 -158.3 2.53 0.057 2181 -568.0 185.2 - - 1963 - - - - - - - - 14.00 14.29 14.28
15660 733.3 8.6 794 15666 roll 0.55 - - 2392 - 2.55 0.071 788 -546.3 185.2 - - 1962 - - - - - - - - 14.76 14.14 14.78
15742 725.8 8.8 806 15748 done 0.55 - - 2392 - 2.55 0.058 2187 548.6 185.2 - - 1960 - - - - - - - - 14.31 14.19 14.35
16108 691.9 9.4 816 16113 roll 0.55 - - 2392 - 2.62 0.084 3619 546.6 185.2 - - 1960 - - - - - - - - 14.80 14.14 14.81
16169 685.5 9.8 825 16176 done 0.55 - - 2402 - 2.55 0.054 2174 -566.7 185.2 - - 1960 - - - - - - - - 14.36 14.26 14.41
16500 655.6 8.9 837 16505 roll 0.55 - - 2412 - 2.55 0.072 788 -543.5 185.2 - - 1960 - - - - - - - - 14.78 14.14 14.79
16576 649.2 8.0 848 16581 done 0.55 0.15 0.240 2378 -226.7 2.55 0.057 2192 550.6 185.2 - - 1960 - - - - - - - - 13.89 14.22 14.19
16891 628.7 6.4 858 16925 roll 0.56 - - 2378 - 2.62 0.087 3612 542.0 207.9 29.10 1.553 1887 -2.5 0.193 - - - - - - 14.78 14.36 13.44
16967 623.4 7.5 869 16974 done 0.56 - - 2386 - 2.53 0.054 2168 -570.8 207.9 - - 1876 - - - - - - - - 14.44 14.35 14.47
17334 597.9 7.0 879 17339 roll 0.57 - - 2394 - 2.55 0.070 798 -537.3 214.9 1.73 0.189 1860 -9.2 5.551 - - - - - - 14.71 14.19 14.00
17433 591.2 6.8 893 17465 done 0.62 - - 2394 - 2.50 0.056 2181 553.2 228.4 25.02 1.554 1805 -2.2 0.159 - - - - - - 14.36 14.24 13.44
17775 565.8 7.5 907 17779 roll 0.62 - - 2394 - 2.60 0.084 3607 548.5 228.4 - - 1789 - - - - - - - - 14.71 14.18 14.73
17830 560.9 8.8 915 17834 done 0.62 - - 2404 - 2.53 0.053 2170 -568.0 228.4 - - 1788 - - - - - - - - 14.38 14.30 14.44
18167 532.0 8.7 928 18172 roll 0.62 - - 2410 - 2.53 0.072 792 -544.7 228.4 - - 1788 - - - - - - - - 14.75 14.17 14.76
18249 524.7 8.6 940 18254 done 0.67 - - 2410 - 2.50 0.057 2173 552.4 228.4 - - 1787 - - - - - - - - 14.35 14.23 14.40
18614 490.7 9.4 950 18619 roll 0.67 - - 2410 - 2.62 0.085 3607 547.3 228.4 - - 1787 - - - - - - - - 14.76 14.10 14.78
18684 483.4 10.3 960 18688 done 0.67 - - 2420 - 2.53 0.053 2171 -567.6 228.4 - - 1785 - - - - - - - - 14.37 14.26 14.42
19006 453.0 9.3 971 19010 roll 0.67 - - 2424 - 2.55 0.073 792 -540.8 228.4 - - 1786 - - - - - - - - 14.78 14.10 14.80
19096 445.2 8.4 984 19101 done 0.67 - - 2424 - 2.50 0.056 2171 551.6 228.4 - - 1786 - - - - - - - - 14.31 14.19 14.38
19455 413.8 8.7 993 19460 roll 0.67 - - 2424 - 2.62 0.084 3606 547.7 228.4 - - 1786 - - - - - - - - 14.79 14.06 14.81
19530 406.4 9.5 1004 19535 done 0.67 - - 2434 - 2.53 0.051 2172 -566.8 228.4 - - 1786 - - - - - - - - 14.31 14.21 14.36
19846 376.7 9.5 1014 19851 roll 0.67 - - 2444 - 2.55 0.070 787 -543.1 228.4 - - 1786 - - - - - - - - 14.77 14.09 14.81
19937 368.1 9.3 1027 19941 done 0.67 - - 2444 - 2.53 0.057 2177 549.4 228.4 - - 1786 - - - - - - - - 14.27 14.16 14.34
20294 331.5 10.3 1036 20299 roll 0.67 - - 2444 - 2.62 0.084 3611 547.3 228.4 - - 1786 - - - - - - - - 14.77 14.02 14.78
20385 321.4 11.0 1049 20391 done 0.67 0.15 0.263 2421 -153.3 2.53 0.053 2175 -567.6 228.4 - - 1786 - - - - - - - - 13.78 14.22 14.11
20742 288.7 9.2 1058 20746 roll 0.67 - - 2430 - 2.55 0.070 796 -540.8 228.4 - - 1785 - - - - - - - - 14.77 13.97 14.79
20811 282.4 9.1 1068 20816 done 0.67 - - 2430 - 2.50 0.054 2177 552.4 228.4 - - 1786 - - - - - - - - 14.23 14.11 14.31
21135 252.0 9.4 1079 21140 roll 0.67 - - 2430 - 2.62 0.083 3606 545.4 228.4 - - 1786 - - - - - - - - 14.79 14.00 14.81
21224 242.7 10.1 1092 21229 done 0.67 - - 2438 - 2.53 0.051 2178 -564.4 228.4 - - 1786 - - - - - - - - 14.26 14.14 14.31
21582 208.5 9.6 1101 21588 roll 0.67 - - 2449 - 2.55 0.067 797 -541.6 228.4 - - 1786 - - - - - - - - 14.76 13.95 14.78
21659 201.4 9.3 1112 21664 done 0.67 0.12 0.239 2421 -233.3 2.50 0.054 2174 550.8 228.4 - - 1786 - - - - - - - - 13.85 14.13 14.12
21974 174.2 8.7 1122 21979 roll 0.67 - - 2421 - 2.65 0.082 3615 543.8 228.4 - - 1786 - - - - - - - - 14.76 14.00 14.78
22043 167.4 9.8 1132 22049 done 0.67 - - 2430 - 2.55 0.051 2169 -567.1 228.4 - - 1786 - - - - - - - - 14.27 14.16 14.33
22367 137.5 9.2 1143 22372 roll 0.67 - - 2438 - 2.55 0.070 793 -539.6 228.4 - - 1786 - - - - - - - - 14.75 14.03 14.77
22449 130.0 8.7 1155 22454 done 0.67 - - 2438 - 2.53 0.055 2183 549.4 228.4 - - 1786 - - - - - - - - 14.23 14.11 14.30
22815 100.7 7.6 1165 22821 roll 0.67 - - 2438 - 2.60 0.081 3607 547.7 228.4 - - 1786 - - - - - - - - 14.75 14.00 14.77
22862 96.6 8.8 1172 22869 done 0.67 0.08 0.223 2418 -250.0 2.55 0.048 2185 -557.6 228.4 - - 1786 - - - - - - - - 13.66 14.00 13.97
23181 78.5 5.8 1184 23211 roll 0.75 - - 2419 - 2.53 0.064 788 -552.2 265.7 22.02 0.352 1665 -5.5 0.232 - - - - - - 14.71 14.33 13.88
23315 70.4 5.8 1203 23346 done 0.87 0.20 0.098 2497 390.0 2.50 0.051 2172 553.6 301.3 27.17 0.334 1510 -5.7 0.228 - - - - - - 14.26 14.22 13.93
23676 45.8 4.7 1222 23725 roll 0.97 - - 2497 - 2.62 0.080 3606 547.3 365.0 44.25 0.269 1253 -5.8 0.188 - - - - - - 14.73 14.33 14.02
23753 41.4 6.3 1233 23781 done 1.08 0.15 0.125 2557 400.0 2.55 0.048 2146 -572.5 388.9 17.70 0.251 1155 -5.5 0.173 - - - - - - 14.28 14.31 13.98
24090 14.8 8.0 1248 24095 roll 1.08 - - 2566 - 2.47 0.067 782 -552.2 388.9 - - 1160 - - - - - - - - 14.71 14.12 14.73
24130 11.4 8.7 1254 24136 done 1.13 - - 2566 - 2.50 0.052 2177 558.0 388.9 - - 1163 - - - - - - - - 14.31 14.19 14.34
24226 end climb: SURFACE_DEPTH_REACHED
24226 begin surface coast
24253 end surface coast: CONTROL_FINISHED_OK
24253 begin surface
SM 0.72 - - - - -6.14 6.88 0.068 219 31.8 0.17 0.108 2302 6729.4 500.17 70.57 0.138 702 9.9 -0.005 - - - - - -