SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 581 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 226.07 of 350.00 AH used of 24V (35.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.7 deg, depth 0.78 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: 18 s • Transponder ping count: 27
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
8 - - - 98 VBD -0.68 - - 204 - - - 2307 - -116.8 -89.53 - 2933 - - - - - - - - 14.68 - 14.70
102 3.0 -3.8 3 127 roll -0.68 9.05 0.402 1970 195.1 2.83 2.045 870 -507.8 -116.8 -5.18 - 3219 -55.2 - - - - - - - 13.80 13.19 14.07
221 36.5 -23.2 19 226 done -0.49 0.30 0.253 2034 213.3 2.47 0.054 2275 568.8 -116.8 - - 3220 - - - - - - - - 13.93 14.33 14.25
560 77.6 -7.8 34 565 roll -0.49 - - 2023 - 2.47 0.072 3695 574.9 -116.8 - - 3221 - - - - - - - - 14.85 14.21 14.87
619 81.5 -6.9 42 624 done -0.49 - - 2023 - 2.40 0.037 2248 -602.9 -116.8 - - 3222 - - - - - - - - 14.48 14.41 14.50
987 110.4 -7.8 56 992 roll -0.49 - - 2023 - 2.38 0.051 896 -568.1 -116.8 - - 3223 - - - - - - - - 14.89 14.27 14.90
1045 115.6 -8.8 64 1050 done -0.49 - - 2023 - 2.47 0.055 2286 562.8 -116.8 - - 3223 - - - - - - - - 14.39 14.28 14.43
1385 143.2 -8.1 77 1391 roll -0.49 - - 2015 - 2.50 0.076 3689 561.2 -116.8 - - 3223 - - - - - - - - 14.91 14.17 14.93
1524 155.8 -8.0 97 1530 done -0.49 - - 2015 - 2.40 0.040 2293 -581.7 -116.8 - - 3222 - - - - - - - - 14.33 14.30 14.45
1893 185.9 -8.3 107 1898 roll -0.49 - - 2015 - 2.47 0.052 890 -568.0 -116.8 - - 3221 - - - - - - - - 14.93 14.25 14.95
1983 193.8 -8.1 120 1988 done -0.49 - - 2015 - 2.50 0.056 2292 560.8 -116.8 - - 3221 - - - - - - - - 14.36 14.26 14.40
2344 226.3 -9.3 129 2350 roll -0.49 - - 2012 - 2.53 0.080 3685 550.6 -116.8 - - 3219 - - - - - - - - 14.94 14.12 14.95
2391 231.1 -9.3 136 2403 done -0.49 - - 2012 - 2.42 0.042 2288 -577.3 -116.8 - - 3219 - - - - - - - - 14.26 14.23 14.31
2741 263.8 -9.6 143 2746 roll -0.49 - - 2011 - 2.47 0.054 889 -566.4 -116.8 - - 3217 - - - - - - - - 14.92 14.22 14.94
2837 273.7 -9.3 157 2843 done -0.49 - - 2012 - 2.50 0.056 2281 556.8 -116.8 - - 3216 - - - - - - - - 14.30 14.16 14.35
3193 306.7 -9.5 165 3198 roll -0.49 - - 2011 - 2.55 0.080 3698 555.7 -116.8 - - 3215 - - - - - - - - 14.92 14.09 14.95
3277 314.4 -8.3 177 3282 done -0.49 - - 2011 - 2.42 0.039 2261 -593.8 -116.8 - - 3214 - - - - - - - - 14.45 14.38 14.47
3645 345.7 -8.7 187 3650 roll -0.49 - - 2012 - 2.40 0.051 898 -567.9 -116.8 - - 3211 - - - - - - - - 14.92 14.20 14.94
3704 350.8 -8.6 195 3709 done -0.49 - - 2011 - 2.50 0.057 2280 552.8 -116.8 - - 3212 - - - - - - - - 14.31 14.19 14.36
4044 379.7 -8.6 208 4049 roll -0.49 - - 2011 - 2.55 0.080 3690 552.9 -116.8 - - 3210 - - - - - - - - 14.92 14.07 14.93
4104 385.5 -8.6 217 4111 done -0.49 - - 2011 - 2.45 0.042 2287 -572.7 -116.8 - - 3209 - - - - - - - - 14.28 14.24 14.40
4439 414.7 -9.0 229 4445 roll -0.49 - - 2011 - 2.53 0.054 877 -557.3 -116.8 - - 3208 - - - - - - - - 14.92 14.16 14.94
4536 423.7 -8.5 243 4541 done -0.49 - - 2011 - 2.53 0.057 2273 551.8 -116.8 - - 3207 - - - - - - - - 14.28 14.16 14.33
4891 453.6 -8.6 251 4896 roll -0.49 - - 2011 - 2.60 0.084 3688 544.2 -116.8 - - 3206 - - - - - - - - 14.92 14.02 14.94
4974 460.7 -7.8 263 4979 done -0.49 - - 2011 - 2.45 0.044 2263 -581.6 -116.8 - - 3206 - - - - - - - - 14.40 14.33 14.42
5343 491.3 -8.4 273 5348 roll -0.49 - - 2011 - 2.45 0.054 893 -559.2 -116.8 - - 3204 - - - - - - - - 14.92 14.14 14.94
5384 495.4 -8.6 279 5389 done -0.49 - - 2011 - 2.55 0.058 2275 542.0 -116.8 - - 3203 - - - - - - - - 14.10 14.02 14.16
5739 524.3 -8.2 287 5744 roll -0.49 - - 2008 - 2.60 0.084 3691 544.6 -116.8 - - 3202 - - - - - - - - 14.93 14.00 14.95
5798 529.1 -8.1 295 5803 done -0.49 0.12 0.220 2038 250.0 2.45 0.045 2279 -576.3 -116.8 - - 3201 - - - - - - - - 13.91 14.29 14.11
6137 550.5 -6.2 308 6142 roll -0.54 - - 2039 - 2.50 0.057 882 -558.8 -116.8 - - 3200 - - - - - - - - 14.92 14.09 14.93
6197 554.3 -6.5 316 6202 done -0.61 0.12 0.135 1988 -425.0 2.55 0.058 2278 547.5 -116.8 - - 3199 - - - - - - - - 14.09 14.10 14.22
6536 584.5 -9.2 329 6541 roll -0.61 - - 1985 - 2.60 0.085 3689 542.7 -116.8 - - 3198 - - - - - - - - 14.92 13.95 14.93
6595 590.1 -9.6 337 6601 done -0.61 - - 1985 - 2.47 0.045 2267 -575.7 -116.8 - - 3198 - - - - - - - - 14.33 14.26 14.36
6936 623.2 -9.8 350 6940 roll -0.61 - - 1985 - 2.47 0.057 891 -557.1 -116.8 - - 3197 - - - - - - - - 14.92 14.06 14.92
6994 629.3 -10.1 358 6999 done -0.61 - - 1985 - 2.55 0.060 2277 543.5 -116.8 - - 3196 - - - - - - - - 14.19 14.05 14.24
7333 662.4 -9.8 371 7337 roll -0.61 - - 1983 - 2.62 0.086 3696 541.6 -116.8 - - 3196 - - - - - - - - 14.92 13.92 14.93
7392 668.0 -9.5 379 7397 done -0.61 - - 1983 - 2.50 0.044 2264 -572.8 -116.8 - - 3195 - - - - - - - - 14.31 14.23 14.34
7731 700.9 -9.7 392 7735 roll -0.61 - - 1983 - 2.47 0.057 891 -555.9 -116.8 - - 3193 - - - - - - - - 14.92 14.02 14.93
7763 704.5 -9.7 397 7769 done -0.61 - - 1982 - 2.55 0.060 2277 543.5 -116.8 - - 3193 - - - - - - - - 14.14 14.00 14.20
8127 738.1 -9.4 406 8132 roll -0.61 - - 1972 - 2.62 0.086 3692 540.1 -116.8 - - 3192 - - - - - - - - 14.91 13.88 14.92
8201 745.5 -9.2 417 8208 done -0.61 0.12 0.228 2000 233.3 2.47 0.047 2279 -572.1 -116.8 - - 3191 - - - - - - - - 13.75 14.14 13.97
8523 768.6 -7.2 427 8528 roll -0.61 - - 2000 - 2.55 0.058 882 -547.8 -116.8 - - 3191 - - - - - - - - 14.90 13.97 14.91
8591 773.9 -5.6 437 8598 done -0.61 - - 1999 - 2.58 0.060 2278 541.1 -116.8 - - 3190 - - - - - - - - 14.12 13.97 14.16
8919 796.6 -7.2 448 8924 roll -0.61 - - 1998 - 2.65 0.088 3689 532.5 -116.8 - - 3190 - - - - - - - - 14.91 13.83 14.92
8995 802.4 -5.6 459 8999 done -0.61 - - 1999 - 2.50 0.047 2266 -569.2 -116.8 - - 3190 - - - - - - - - 14.24 14.19 14.27
9314 826.3 -7.7 469 9320 roll -0.61 - - 1999 - 2.53 0.059 885 -545.8 -116.8 - - 3189 - - - - - - - - 14.90 13.94 14.92
9374 831.8 -8.1 477 9379 done -0.61 - - 1999 - 2.58 0.061 2270 536.8 -116.8 - - 3188 - - - - - - - - 14.09 13.96 14.15
9714 858.8 -8.3 490 9719 roll -0.61 - - 1998 - 2.70 0.091 3700 529.6 -116.8 - - 3187 - - - - - - - - 14.90 13.81 14.92
9774 864.4 -8.3 498 9778 done -0.66 - - 1999 - 2.53 0.047 2267 -566.4 -116.8 - - 3187 - - - - - - - - 14.23 14.15 14.26
10112 892.1 -8.4 511 10117 roll -0.66 - - 1999 - 2.53 0.060 892 -543.5 -116.8 - - 3186 - - - - - - - - 14.90 13.91 14.92
10176 897.9 -6.4 520 10181 done -0.66 - - 1999 - 2.58 0.061 2280 538.0 -116.8 - - 3186 - - - - - - - - 14.07 13.93 14.13
10509 926.5 -8.7 532 10514 roll -0.66 - - 1999 - 2.67 0.090 3692 528.8 -116.8 - - 3185 - - - - - - - - 14.91 13.78 14.92
10571 932.9 -8.4 541 10577 done -0.70 - - 1999 - 2.50 0.048 2276 -566.4 -116.8 - - 3185 - - - - - - - - 14.20 14.12 14.23
10905 960.2 -8.5 553 10911 roll -0.70 - - 1999 - 2.55 0.060 888 -544.3 -116.8 - - 3184 - - - - - - - - 14.90 13.86 14.90
10965 966.2 -8.6 561 10971 done -0.70 - - 1998 - 2.58 0.061 2267 534.5 -116.8 - - 3184 - - - - - - - - 14.05 13.91 14.10
11301 end dive: TARGET_DEPTH_EXCEEDED
11301 begin apogee
11311 992.8 -8.0 574 11507 roll -0.19 0.50 0.192 2134 272.0 - - 2182 - - 194.27 1.629 2742 -2.3 0.264 - - - - - - 13.55 13.90 13.02
11508 end apogee: CONTROL_FINISHED_OK
11508 begin climb
11511 999.6 - 577 11674 roll 0.68 0.95 0.139 2418 298.9 2.60 0.060 805 -529.6 116.8 151.40 1.868 2263 -3.2 0.322 - - - - - - 13.89 13.95 12.88
11730 990.9 7.8 614 11736 done 0.68 - - 2418 - 2.58 0.060 2201 541.1 116.8 - - 2239 - - - - - - - - 14.25 14.14 14.29
12086 960.2 8.8 622 12091 roll 0.62 - - 2418 - 2.60 0.090 3614 543.5 116.8 - - 2232 - - - - - - - - 14.76 14.16 14.78
12147 955.1 10.2 630 12153 done 0.53 0.22 0.259 2376 -190.9 2.47 0.057 2212 -567.6 116.8 - - 2230 - - - - - - - - 13.85 14.30 14.19
12487 929.0 7.2 643 12492 roll 0.54 - - 2386 - 2.62 0.071 792 -542.0 118.8 - - 2230 - - - - - - - - 14.86 14.16 14.85
12592 921.4 6.8 658 12604 done 0.54 - - 2386 - 2.60 0.060 2192 538.5 130.7 4.20 1.396 2206 -5.7 0.718 - - - - - - 14.17 14.11 13.22
12939 897.5 7.0 665 12962 roll 0.55 - - 2386 - 2.62 0.089 3609 540.8 138.9 18.50 1.895 2167 -2.1 0.190 - - - - - - 14.85 14.33 13.31
13011 891.6 8.4 676 13016 done 0.55 - - 2395 - 2.47 0.055 2189 -574.9 138.9 - - 2158 - - - - - - - - 14.50 14.40 14.53
13381 865.0 7.2 686 13387 roll 0.55 - - 2406 - 2.53 0.070 798 -549.8 141.3 - - 2155 - - - - - - - - 14.82 14.20 14.83
13471 857.9 8.9 699 13476 done 0.55 - - 2406 - 2.55 0.057 2208 552.9 141.3 - - 2153 - - - - - - - - 14.38 14.26 14.43
13833 828.3 8.6 708 13838 roll 0.55 - - 2406 - 2.60 0.086 3614 540.8 141.3 - - 2154 - - - - - - - - 14.87 14.10 14.87
13881 823.6 10.4 715 13893 done 0.49 0.17 0.229 2368 -223.5 2.55 0.056 2199 -554.9 141.3 - - 2153 - - - - - - - - 13.74 14.16 13.92
14228 796.3 7.8 722 14234 roll 0.49 - - 2379 - 2.60 0.071 794 -540.4 141.3 - - 2153 - - - - - - - - 14.88 14.07 14.90
14297 790.2 9.4 732 14303 done 0.49 - - 2379 - 2.60 0.057 2196 539.2 141.3 - - 2152 - - - - - - - - 14.17 14.10 14.23
14625 764.0 8.1 743 14630 roll 0.49 - - 2379 - 2.62 0.086 3609 539.3 141.3 - - 2152 - - - - - - - - 14.88 14.01 14.92
14684 759.2 8.9 751 14689 done 0.49 - - 2388 - 2.53 0.054 2188 -561.7 141.3 - - 2152 - - - - - - - - 14.33 14.23 14.38
15024 732.5 7.7 764 15029 roll 0.49 - - 2399 - 2.58 0.068 791 -541.5 141.3 - - 2152 - - - - - - - - 14.88 14.04 14.90
15106 726.1 7.7 776 15111 done 0.49 0.17 0.246 2360 -229.4 2.58 0.057 2197 545.0 141.3 - - 2151 - - - - - - - - 13.68 14.12 14.04
15475 705.7 5.5 786 15545 roll 0.52 - - 2359 - 2.62 0.087 3606 537.8 185.1 62.45 1.614 1976 -2.8 0.233 - - - - - - 14.88 14.15 13.22
15588 699.1 7.2 802 15594 done 0.52 - - 2369 - 2.50 0.054 2189 -566.8 187.1 - - 1966 - - - - - - - - 14.35 14.26 14.38
15928 676.9 6.4 815 15963 roll 0.53 - - 2371 - 2.58 0.073 796 -539.9 209.3 28.50 1.636 1878 -3.1 0.243 - - - - - - 14.77 14.26 13.29
16061 668.4 6.3 834 16098 done 0.62 - - 2371 - 2.50 0.056 2187 556.4 233.1 29.38 1.612 1781 -3.3 0.261 - - - - - - 14.39 14.28 13.22
16433 643.6 6.7 845 16454 roll 0.68 0.12 0.139 2427 466.7 2.62 0.084 3612 543.9 247.3 13.05 1.652 1724 -4.4 0.324 - - - - - - 14.33 14.30 13.33
16499 636.6 10.7 855 16504 done 0.68 - - 2437 - 2.50 0.055 2186 -570.4 247.3 - - 1719 - - - - - - - - 14.46 14.37 14.50
16826 601.2 11.0 866 16831 roll 0.68 - - 2448 - 2.55 0.069 783 -550.2 247.3 - - 1715 - - - - - - - - 14.80 14.21 14.81
16922 590.5 10.0 880 16928 done 0.68 - - 2448 - 2.55 0.057 2189 551.4 247.3 - - 1715 - - - - - - - - 14.36 14.23 14.40
17280 551.0 11.4 888 17285 roll 0.68 - - 2447 - 2.60 0.083 3613 547.7 247.3 - - 1715 - - - - - - - - 14.84 14.12 14.85
17326 544.4 12.2 895 17338 done 0.68 0.12 0.230 2423 -200.0 2.58 0.055 2182 -554.7 247.3 - - 1714 - - - - - - - - 13.78 14.16 13.95
17675 510.4 9.9 902 17680 roll 0.68 - - 2433 - 2.55 0.070 785 -547.8 247.3 - - 1713 - - - - - - - - 14.86 14.11 14.88
17759 501.7 9.7 914 17764 done 0.68 - - 2433 - 2.53 0.057 2180 551.4 247.3 - - 1713 - - - - - - - - 14.32 14.20 14.38
18127 463.1 10.8 924 18132 roll 0.68 - - 2433 - 2.62 0.083 3606 544.3 247.3 - - 1713 - - - - - - - - 14.88 14.04 14.89
18203 453.9 11.6 935 18208 done 0.68 - - 2443 - 2.53 0.053 2168 -568.4 247.3 - - 1713 - - - - - - - - 14.33 14.23 14.39
18522 418.4 11.3 945 18527 roll 0.68 - - 2452 - 2.53 0.069 785 -546.6 247.3 - - 1712 - - - - - - - - 14.88 14.07 14.90
18597 409.9 10.5 956 18602 done 0.68 0.12 0.248 2425 -225.0 2.55 0.056 2189 550.6 247.3 - - 1712 - - - - - - - - 13.83 14.15 14.12
18918 381.5 8.7 966 18924 roll 0.68 - - 2425 - 2.62 0.083 3611 542.7 247.3 - - 1712 - - - - - - - - 14.88 14.00 14.89
18978 376.0 9.0 974 18984 done 0.68 - - 2435 - 2.55 0.052 2171 -564.7 247.3 - - 1712 - - - - - - - - 14.31 14.20 14.36
19318 344.6 9.5 987 19323 roll 0.68 - - 2444 - 2.55 0.068 789 -542.0 247.3 - - 1712 - - - - - - - - 14.88 14.02 14.90
19408 335.2 9.8 1000 19413 done 0.68 - - 2444 - 2.53 0.057 2182 550.6 247.3 - - 1712 - - - - - - - - 14.28 14.12 14.31
19769 298.7 10.1 1009 19774 roll 0.68 - - 2444 - 2.62 0.081 3607 543.9 247.3 - - 1712 - - - - - - - - 14.89 13.96 14.90
19828 292.3 10.8 1017 19833 done 0.68 0.15 0.246 2420 -160.0 2.53 0.051 2179 -564.4 247.3 - - 1712 - - - - - - - - 13.76 14.19 14.07
20168 260.9 9.4 1030 20174 roll 0.68 - - 2429 - 2.55 0.069 798 -541.6 247.3 - - 1712 - - - - - - - - 14.88 13.98 14.90
20265 251.4 9.2 1044 20270 done 0.68 - - 2429 - 2.50 0.054 2174 550.4 247.3 - - 1712 - - - - - - - - 14.21 14.08 14.27
20622 218.1 9.5 1052 20627 roll 0.68 - - 2428 - 2.65 0.081 3605 540.0 247.3 - - 1712 - - - - - - - - 14.88 13.93 14.89
20681 211.7 10.7 1060 20686 done 0.68 - - 2438 - 2.55 0.050 2170 -562.7 247.3 - - 1712 - - - - - - - - 14.26 14.16 14.32
21020 178.1 9.7 1073 21025 roll 0.68 - - 2437 - 2.55 0.070 796 -538.8 247.3 - - 1712 - - - - - - - - 14.89 13.95 14.93
21082 172.3 8.6 1082 21087 done 0.68 - - 2438 - 2.53 0.054 2187 549.8 247.3 - - 1712 - - - - - - - - 14.22 14.09 14.28
21415 141.4 9.5 1094 21421 roll 0.68 - - 2437 - 2.62 0.078 3607 542.0 247.3 - - 1712 - - - - - - - - 14.88 13.93 14.90
21475 135.2 10.4 1102 21480 done 0.68 - - 2448 - 2.55 0.049 2169 -563.9 247.3 - - 1712 - - - - - - - - 14.26 14.15 14.31
21815 100.8 10.2 1115 21820 roll 0.68 - - 2449 - 2.55 0.067 793 -539.6 247.3 - - 1712 - - - - - - - - 14.88 13.96 14.90
21885 93.6 8.9 1125 21890 done 0.68 - - 2449 - 2.53 0.053 2186 550.6 247.3 - - 1712 - - - - - - - - 14.20 14.07 14.26
22214 71.8 5.9 1138 22241 roll 0.70 - - 2449 - 2.55 0.074 3609 558.0 281.9 21.58 0.334 1595 -5.4 0.222 - - - - - - 14.87 14.09 13.83
22321 65.7 5.6 1153 22358 done 0.78 - - 2451 - 2.55 0.048 2181 -560.0 323.1 30.77 0.325 1421 -5.7 0.218 - - - - - - 14.24 14.19 13.95
22671 49.5 4.0 1169 22734 roll 1.01 0.20 0.099 2544 465.0 2.50 0.067 782 -559.6 403.5 55.50 0.278 1094 -5.9 0.200 - - - - - - 14.27 14.38 14.02
22784 42.6 6.7 1185 22810 done 1.10 - - 2544 - 2.53 0.051 2194 558.1 418.2 11.90 0.243 1036 -4.9 0.163 - - - - - - 14.40 14.29 13.92
23119 17.0 9.6 1200 23123 roll 1.16 - - 2544 - 2.55 0.074 3613 556.5 418.2 - - 1040 - - - - - - - - 14.83 14.07 14.84
23151 13.3 9.5 1205 23157 done 1.24 0.12 0.075 2613 575.0 2.55 0.050 2183 -560.8 418.2 - - 1040 - - - - - - - - 14.16 14.14 14.28
23258 end climb: SURFACE_DEPTH_REACHED
23258 begin surface coast
23286 end surface coast: CONTROL_FINISHED_OK
23286 begin surface
SM 0.81 - - - - -6.13 7.00 0.065 216 30.9 0.20 0.088 2302 -4520.0 500.17 53.67 0.135 700 13.0 -0.008 - - - - - -