SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 589 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 228.89 of 350.00 AH used of 24V (34.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.6 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 18 s • Transponder ping count: 42
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
8 - - - 98 VBD -0.68 - - 200 - - - 2243 - -116.8 -89.05 - 2906 - - - - - - - - 14.69 - 14.71
102 2.6 -2.8 3 127 roll -0.68 8.95 0.399 1970 197.8 2.62 2.039 910 -508.8 -116.8 -5.90 - 3219 -53.1 - - - - - - - 13.81 13.21 14.09
237 41.8 -23.1 22 249 done -0.48 0.28 0.242 2034 228.6 2.47 0.055 2278 553.8 -116.8 - - 3220 - - - - - - - - 13.87 14.24 14.04
553 86.0 -8.3 34 558 roll -0.48 - - 2024 - 2.50 0.073 3693 566.0 -116.8 - - 3221 - - - - - - - - 14.85 14.21 14.87
728 99.3 -7.4 58 732 done -0.48 - - 2024 - 2.35 0.037 2288 -597.9 -116.8 - - 3222 - - - - - - - - 14.45 14.40 14.49
1094 123.5 -6.2 68 1099 roll -0.48 - - 2024 - 2.47 0.052 895 -564.0 -116.8 - - 3223 - - - - - - - - 14.91 14.25 14.93
1153 128.2 -8.3 76 1158 done -0.48 - - 2024 - 2.47 0.055 2281 561.1 -116.8 - - 3223 - - - - - - - - 14.38 14.26 14.42
1493 160.2 -9.6 89 1499 roll -0.48 - - 2017 - 2.53 0.076 3697 559.7 -116.8 - - 3223 - - - - - - - - 14.91 14.16 14.92
1568 167.2 -8.5 100 1574 done -0.48 - - 2017 - 2.42 0.038 2277 -586.8 -116.8 - - 3222 - - - - - - - - 14.42 14.29 14.45
1889 194.6 -8.8 110 1893 roll -0.48 - - 2017 - 2.42 0.050 895 -571.1 -116.8 - - 3221 - - - - - - - - 14.92 14.23 14.94
1948 200.0 -9.4 118 1953 done -0.48 - - 2015 - 2.47 0.055 2277 559.5 -116.8 - - 3220 - - - - - - - - 14.35 14.23 14.40
2287 233.1 -9.8 131 2291 roll -0.48 - - 2011 - 2.53 0.077 3691 558.9 -116.8 - - 3218 - - - - - - - - 14.92 14.11 14.95
2347 238.7 -8.4 140 2353 done -0.48 0.08 0.194 2036 312.5 2.42 0.040 2276 -584.7 -116.8 - - 3218 - - - - - - - - 13.91 14.29 14.02
2683 262.6 -7.3 152 2687 roll -0.48 - - 2036 - 2.45 0.052 898 -562.4 -116.8 - - 3216 - - - - - - - - 14.92 14.19 14.93
2779 270.4 -7.6 166 2784 done -0.53 - - 2036 - 2.47 0.056 2275 557.5 -116.8 - - 3216 - - - - - - - - 14.31 14.19 14.36
3135 296.3 -7.3 174 3140 roll -0.53 - - 2030 - 2.58 0.079 3694 550.0 -116.8 - - 3214 - - - - - - - - 14.92 14.07 14.93
3203 301.4 -6.5 184 3208 done -0.59 - - 2030 - 2.42 0.041 2274 -586.8 -116.8 - - 3214 - - - - - - - - 14.41 14.35 14.44
3530 323.7 -7.0 195 3535 roll -0.59 - - 2030 - 2.45 0.053 894 -563.3 -116.8 - - 3212 - - - - - - - - 14.93 14.16 14.95
3590 328.0 -7.4 203 3594 done -0.59 - - 2029 - 2.50 0.055 2279 554.0 -116.8 - - 3211 - - - - - - - - 14.29 14.17 14.34
3928 353.5 -7.6 216 3933 roll -0.59 - - 2025 - 2.55 0.080 3686 551.8 -116.8 - - 3210 - - - - - - - - 14.93 14.03 14.95
3974 357.3 -7.6 223 3986 done -0.64 0.08 0.086 1977 -600.0 2.47 0.042 2276 -570.9 -116.8 - - 3209 - - - - - - - - 14.01 14.16 14.09
4324 392.8 -10.5 230 4329 roll -0.64 - - 1977 - 2.50 0.054 882 -557.6 -116.8 - - 3207 - - - - - - - - 14.91 14.12 14.93
4439 405.1 -10.4 246 4444 done -0.64 - - 1973 - 2.53 0.059 2268 547.8 -116.8 - - 3207 - - - - - - - - 14.25 14.12 14.30
4779 442.0 -11.1 259 4784 roll -0.59 0.12 0.259 1999 216.7 2.60 0.080 3694 548.5 -116.8 - - 3206 - - - - - - - - 14.00 13.99 14.07
4874 452.0 -9.4 273 4881 done -0.59 - - 1999 - 2.47 0.044 2257 -581.8 -116.8 - - 3204 - - - - - - - - 14.31 14.21 14.35
5230 486.4 -9.8 281 5236 roll -0.59 - - 1998 - 2.45 0.056 893 -556.7 -116.8 - - 3203 - - - - - - - - 14.92 14.09 14.95
5329 496.3 -9.2 295 5334 done -0.59 - - 1998 - 2.50 0.058 2268 550.0 -116.8 - - 3202 - - - - - - - - 14.23 14.09 14.27
5683 527.6 -8.8 303 5688 roll -0.59 - - 1993 - 2.62 0.086 3692 543.5 -116.8 - - 3201 - - - - - - - - 14.92 13.96 14.94
5765 534.9 -8.4 315 5771 done -0.59 - - 1994 - 2.47 0.045 2266 -577.3 -116.8 - - 3200 - - - - - - - - 14.27 14.16 14.31
6136 565.9 -8.5 325 6142 roll -0.59 - - 1994 - 2.50 0.057 890 -550.4 -116.8 - - 3199 - - - - - - - - 14.90 14.05 14.92
6233 574.9 -8.4 339 6238 done -0.59 - - 1989 - 2.53 0.058 2271 545.8 -116.8 - - 3199 - - - - - - - - 14.16 14.02 14.22
6588 607.1 -9.4 347 6593 roll -0.59 - - 1984 - 2.65 0.087 3695 537.4 -116.8 - - 3197 - - - - - - - - 14.91 13.89 14.94
6648 612.5 -9.0 355 6653 done -0.59 - - 1984 - 2.50 0.045 2263 -572.8 -116.8 - - 3197 - - - - - - - - 14.29 14.21 14.33
6987 644.0 -9.3 368 6992 roll -0.59 - - 1984 - 2.50 0.058 895 -547.2 -116.8 - - 3196 - - - - - - - - 14.92 14.01 14.93
7090 654.2 -9.3 383 7101 done -0.59 - - 1984 - 2.58 0.061 2260 529.1 -116.8 - - 3195 - - - - - - - - 13.93 13.85 13.99
7438 687.4 -9.8 390 7443 roll -0.59 - - 1977 - 2.67 0.086 3698 538.6 -116.8 - - 3194 - - - - - - - - 14.91 13.87 14.93
7513 695.5 -9.9 401 7519 done -0.59 0.12 0.224 2004 225.0 2.50 0.045 2257 -576.4 -116.8 - - 3193 - - - - - - - - 13.76 14.12 13.97
7834 724.3 -9.2 411 7839 roll -0.59 - - 2004 - 2.47 0.057 894 -551.8 -116.8 - - 3192 - - - - - - - - 14.90 13.97 14.92
7923 733.0 -8.3 424 7928 done -0.59 - - 2003 - 2.53 0.058 2269 543.5 -116.8 - - 3192 - - - - - - - - 14.09 13.94 14.15
8285 765.6 -9.1 433 8291 roll -0.59 - - 1998 - 2.67 0.090 3688 531.5 -116.8 - - 3190 - - - - - - - - 14.91 13.80 14.93
8346 770.8 -8.9 441 8352 done -0.59 - - 1999 - 2.50 0.047 2265 -569.2 -116.8 - - 3190 - - - - - - - - 14.23 14.15 14.26
8686 799.8 -8.6 454 8691 roll -0.59 - - 1998 - 2.55 0.060 883 -542.0 -116.8 - - 3189 - - - - - - - - 14.90 13.92 14.92
8725 804.0 -8.8 460 8731 done -0.59 - - 1999 - 2.55 0.062 2258 539.2 -116.8 - - 3189 - - - - - - - - 14.08 13.93 14.14
9082 833.1 -8.4 468 9087 roll -0.59 - - 1999 - 2.70 0.090 3691 530.7 -116.8 - - 3188 - - - - - - - - 14.89 13.80 14.91
9157 839.2 -5.4 479 9162 done -0.65 - - 1998 - 2.53 0.048 2258 -566.4 -116.8 - - 3188 - - - - - - - - 14.20 14.12 14.23
9477 865.8 -8.5 489 9483 roll -0.65 - - 1998 - 2.50 0.057 888 -548.0 -116.8 - - 3187 - - - - - - - - 14.90 13.91 14.92
9526 871.1 -8.9 496 9537 done -0.65 - - 1998 - 2.60 0.060 2259 527.3 -116.8 - - 3186 - - - - - - - - 13.85 13.78 13.91
9873 901.0 -8.9 503 9878 roll -0.65 - - 1998 - 2.70 0.089 3693 531.1 -116.8 - - 3186 - - - - - - - - 14.91 13.78 14.92
9948 907.0 -5.0 514 9953 done -0.70 - - 1998 - 2.53 0.046 2260 -566.4 -116.8 - - 3185 - - - - - - - - 14.17 14.09 14.21
10269 933.0 -8.2 524 10274 roll -0.70 - - 1998 - 2.50 0.056 883 -550.8 -116.8 - - 3184 - - - - - - - - 14.89 13.88 14.90
10308 937.5 -8.3 530 10314 done -0.70 - - 1998 - 2.58 0.060 2271 538.0 -116.8 - - 3183 - - - - - - - - 14.04 13.89 14.09
10664 963.7 -7.4 538 10669 roll -0.70 - - 1998 - 2.70 0.093 3693 526.7 -116.8 - - 3183 - - - - - - - - 14.90 13.79 14.92
10724 967.8 -7.0 546 10730 done -0.75 0.12 0.135 1950 -400.0 2.53 0.047 2263 -565.2 -116.8 - - 3183 - - - - - - - - 13.97 14.09 14.09
11005 end dive: TARGET_DEPTH_EXCEEDED
11005 begin apogee
11013 994.2 -9.5 558 11208 roll -0.19 0.70 0.223 2130 257.1 - - 2194 - - 192.07 1.637 2742 -2.3 0.269 - - - - - - 13.66 13.90 13.03
11208 end apogee: CONTROL_FINISHED_OK
11208 begin climb
11213 1000.5 - 561 11376 roll 0.68 0.95 0.140 2413 297.9 2.70 0.086 3619 527.8 116.8 149.55 1.915 2255 -3.3 0.328 - - - - - - 13.87 13.93 12.87
11478 985.8 9.7 604 11482 done 0.60 - - 2423 - 2.50 0.057 2210 -563.6 116.8 - - 2239 - - - - - - - - 14.33 14.23 14.36
11797 958.0 8.8 614 11803 roll 0.53 0.17 0.262 2379 -258.8 2.60 0.083 3616 540.8 116.8 - - 2233 - - - - - - - - 13.85 14.12 14.01
11901 949.2 7.7 629 11913 done 0.53 - - 2388 - 2.55 0.055 2199 -555.7 116.8 - - 2232 - - - - - - - - 14.24 14.19 14.27
12251 924.1 7.4 636 12256 roll 0.53 - - 2398 - 2.58 0.072 797 -543.4 116.8 - - 2230 - - - - - - - - 14.83 14.14 14.85
12366 915.5 7.3 652 12371 done 0.53 - - 2398 - 2.55 0.057 2203 551.4 117.3 - - 2229 - - - - - - - - 14.34 14.21 14.40
12706 889.6 7.7 665 12710 roll 0.53 - - 2398 - 2.60 0.088 3614 542.7 117.3 - - 2228 - - - - - - - - 14.85 14.06 14.88
12738 887.1 6.5 670 12764 done 0.48 0.20 0.255 2363 -175.0 2.53 0.056 2186 -564.4 137.9 20.88 1.873 2175 -2.5 0.232 - - - - - - 13.78 14.25 13.28
13100 863.4 6.3 679 13136 roll 0.50 - - 2372 - 2.50 0.067 797 -555.6 161.5 30.25 1.818 2075 -3.3 0.303 - - - - - - 14.81 13.99 13.25
13227 854.9 6.8 697 13237 done 0.55 - - 2373 - 2.50 0.057 2187 556.0 173.3 4.82 1.518 2031 -9.1 0.992 - - - - - - 14.41 14.31 13.07
13550 832.1 7.1 708 13560 roll 0.55 - - 2373 - 2.55 0.084 3616 560.4 178.5 4.85 1.530 2017 -2.9 0.303 - - - - - - 14.79 14.08 13.16
13608 828.2 8.3 716 13617 done 0.55 - - 2382 - 2.50 0.055 2186 -572.0 178.5 2.45 0.649 2013 -1.6 0.402 - - - - - - 14.51 14.42 13.05
13944 802.0 7.8 729 13954 roll 0.55 - - 2392 - 2.55 0.068 796 -545.1 178.5 2.17 0.406 2011 - - - - - - - - 14.83 14.28 13.02
14058 792.6 7.6 745 14068 done 0.55 - - 2393 - 2.50 0.056 2184 555.2 178.5 1.67 0.197 2011 - - - - - - - - 14.39 14.27 14.04
14395 764.5 8.4 758 14401 roll 0.55 - - 2392 - 2.60 0.085 3611 548.8 178.5 - - 2020 - - - - - - - - 14.85 14.07 14.87
14455 759.3 9.5 766 14460 done 0.55 - - 2402 - 2.53 0.053 2175 -567.6 178.5 - - 2020 - - - - - - - - 14.36 14.27 14.40
14796 729.1 8.9 779 14801 roll 0.55 - - 2413 - 2.53 0.071 793 -546.2 178.5 - - 2020 - - - - - - - - 14.86 14.07 14.88
14898 719.5 8.3 794 14912 done 0.55 0.10 0.213 2385 -280.0 2.55 0.056 2175 542.0 178.5 1.62 0.184 2010 -6.2 4.659 - - - - - - 13.73 14.04 13.89
15248 694.4 7.3 801 15253 roll 0.55 - - 2385 - 2.62 0.085 3606 546.2 178.5 - - 2018 - - - - - - - - 14.86 13.98 14.88
15323 687.6 8.6 812 15328 done 0.55 - - 2393 - 2.50 0.051 2182 -569.6 178.5 - - 2019 - - - - - - - - 14.28 14.16 14.32
15643 663.1 7.9 822 15649 roll 0.55 - - 2403 - 2.53 0.067 796 -547.8 178.5 - - 2019 - - - - - - - - 14.88 14.00 14.90
15713 657.1 7.6 832 15718 done 0.55 - - 2403 - 2.53 0.056 2188 550.2 178.5 - - 2019 - - - - - - - - 14.26 14.11 14.28
16039 630.0 8.5 843 16044 roll 0.55 - - 2403 - 2.62 0.083 3616 545.0 178.5 - - 2019 - - - - - - - - 14.88 13.93 14.90
16078 625.9 9.7 849 16084 done 0.55 0.12 0.246 2384 -158.3 2.55 0.053 2174 -565.5 178.5 - - 2019 - - - - - - - - 13.81 14.16 14.04
16435 600.2 7.3 857 16445 roll 0.55 - - 2393 - 2.58 0.070 795 -534.5 179.4 2.08 0.295 2009 -4.8 1.888 - - - - - - 14.86 14.14 12.71
16502 594.7 7.3 867 16508 done 0.55 - - 2394 - 2.53 0.055 2185 549.4 179.4 1.70 0.197 2006 -1.8 1.028 - - - - - - 14.28 14.16 13.93
16831 570.0 7.7 878 16838 roll 0.55 - - 2394 - 2.67 0.083 3617 536.3 179.4 1.77 0.191 2007 - - - - - - - - 14.86 14.06 13.87
16902 563.4 8.7 888 16908 done 0.55 - - 2403 - 2.55 0.053 2169 -567.8 179.4 1.75 0.195 2007 - - - - - - - - 14.28 14.18 13.90
17228 538.4 7.7 899 17234 roll 0.55 - - 2412 - 2.55 0.065 791 -540.4 179.4 1.67 0.191 2007 - - - - - - - - 14.87 13.96 13.80
17312 531.9 7.1 911 17332 done 0.56 0.12 0.243 2385 -225.0 2.53 0.055 2180 549.0 184.9 15.30 1.568 1986 -1.4 0.090 - - - - - - 13.78 14.09 13.44
17673 508.6 6.6 920 17702 roll 0.57 - - 2384 - 2.58 0.083 3615 556.2 203.1 23.40 1.515 1904 -3.5 0.227 - - - - - - 14.83 14.02 13.33
17767 501.1 8.1 934 17773 done 0.57 - - 2391 - 2.53 0.053 2187 -564.4 203.1 - - 1894 - - - - - - - - 14.45 14.36 14.49
18122 474.0 7.9 942 18127 roll 0.57 - - 2391 - 2.55 0.068 796 -545.5 203.1 - - 1890 - - - - - - - - 14.81 14.14 14.83
18212 466.3 8.2 955 18216 done 0.63 - - 2391 - 2.50 0.054 2183 554.8 203.1 - - 1889 - - - - - - - - 14.33 14.21 14.38
18575 435.8 8.6 964 18580 roll 0.63 - - 2391 - 2.62 0.083 3612 545.4 203.1 - - 1889 - - - - - - - - 14.84 14.06 14.86
18634 430.2 9.5 972 18639 done 0.63 - - 2399 - 2.55 0.050 2165 -567.5 203.1 - - 1890 - - - - - - - - 14.35 14.25 14.40
18974 401.9 8.1 985 18979 roll 0.63 - - 2406 - 2.50 0.066 799 -546.4 203.1 - - 1889 - - - - - - - - 14.85 14.07 14.88
19033 397.3 7.6 993 19038 done 0.63 - - 2407 - 2.50 0.054 2179 552.0 203.1 - - 1889 - - - - - - - - 14.29 14.16 14.35
19371 370.5 8.0 1006 19377 roll 0.63 - - 2406 - 2.65 0.083 3612 540.8 203.1 - - 1889 - - - - - - - - 14.88 14.00 14.89
19433 365.2 9.0 1014 19438 done 0.63 - - 2416 - 2.53 0.050 2182 -565.2 203.1 - - 1889 - - - - - - - - 14.31 14.22 14.36
19772 336.4 8.5 1027 19777 roll 0.63 - - 2424 - 2.58 0.066 789 -539.9 203.1 - - 1889 - - - - - - - - 14.88 14.00 14.90
19862 328.3 8.1 1040 19868 done 0.63 - - 2424 - 2.53 0.054 2180 549.8 203.1 - - 1889 - - - - - - - - 14.21 14.08 14.28
20226 296.3 9.1 1049 20231 roll 0.63 - - 2424 - 2.65 0.081 3607 538.5 203.1 - - 1889 - - - - - - - - 14.88 13.95 14.89
20294 289.0 9.9 1059 20300 done 0.63 0.12 0.249 2406 -150.0 2.53 0.048 2173 -566.8 203.1 - - 1889 - - - - - - - - 13.80 14.16 14.08
20622 264.4 7.5 1070 20628 roll 0.63 - - 2414 - 2.55 0.067 798 -539.2 203.1 - - 1889 - - - - - - - - 14.88 13.96 14.90
20713 257.1 7.7 1083 20717 done 0.63 - - 2414 - 2.50 0.054 2178 552.0 203.1 - - 1889 - - - - - - - - 14.21 14.09 14.28
21074 228.0 8.3 1092 21079 roll 0.63 - - 2414 - 2.65 0.080 3616 542.6 203.1 - - 1889 - - - - - - - - 14.88 13.92 14.90
21120 223.3 9.4 1099 21132 done 0.63 - - 2424 - 2.58 0.050 2185 -554.7 203.1 - - 1889 - - - - - - - - 14.05 14.01 14.11
21470 193.5 8.6 1106 21475 roll 0.63 - - 2431 - 2.58 0.064 782 -543.8 203.1 - - 1889 - - - - - - - - 14.87 13.93 14.89
21559 185.7 8.0 1119 21565 done 0.63 - - 2431 - 2.55 0.054 2184 549.8 203.1 - - 1889 - - - - - - - - 14.17 14.04 14.23
21923 156.9 8.1 1128 21928 roll 0.63 - - 2431 - 2.62 0.078 3610 544.3 203.1 - - 1888 - - - - - - - - 14.88 13.89 14.89
22006 148.5 9.7 1140 22012 done 0.63 0.15 0.240 2405 -173.3 2.53 0.047 2168 -570.0 203.1 - - 1889 - - - - - - - - 13.70 14.11 14.00
22376 122.4 7.0 1150 22382 roll 0.63 - - 2410 - 2.58 0.064 798 -531.0 211.2 1.90 0.171 1876 -6.8 0.945 - - - - - - 14.88 14.05 13.86
22467 116.0 6.6 1163 22492 done 0.70 - - 2410 - 2.50 0.051 2183 554.0 228.6 13.93 0.444 1812 -4.6 0.232 - - - - - - 14.21 14.09 13.73
22801 94.8 6.2 1173 22828 roll 0.76 0.10 0.155 2453 430.0 2.55 0.076 3606 558.0 255.6 21.27 0.401 1701 -5.2 0.238 - - - - - - 14.45 14.08 13.77
22893 87.6 8.6 1185 22903 done 0.76 - - 2462 - 2.47 0.047 2181 -576.9 255.6 1.85 0.180 1696 -2.7 0.254 - - - - - - 14.42 14.33 14.00
23230 63.8 5.4 1200 23272 roll 0.79 - - 2462 - 2.53 0.063 796 -547.4 301.3 33.58 0.319 1511 -5.5 0.213 - - - - - - 14.85 14.39 13.97
23465 54.6 2.7 1234 23545 done 1.02 0.20 0.092 2556 470.0 2.47 0.049 2184 561.9 411.8 74.28 0.296 1059 -6.1 0.217 - - - - - - 14.25 14.20 14.00
23879 18.3 11.0 1259 23884 roll 1.02 - - 2556 - 2.55 0.072 3610 559.2 411.8 - - 1061 - - - - - - - - 14.82 14.07 14.83
23910 14.9 11.5 1263 23915 done 1.06 - - 2559 - 2.53 0.047 2165 -571.1 411.8 - - 1061 - - - - - - - - 14.33 14.23 14.35
24049 end climb: SURFACE_DEPTH_REACHED
24050 begin surface coast
24077 end surface coast: CONTROL_FINISHED_OK
24077 begin surface
SM 0.71 - - - - -6.15 6.97 0.074 217 31.1 0.22 0.081 2298 5181.8 500.41 56.83 0.132 699 12.3 -0.007 - - - - - -