SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 676 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 259.95 of 350.00 AH used of 24V (25.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 17 s • Transponder ping count: 41
• 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 - - 195 - - - 2312 - -116.8 -89.45 - 3095 - - - - - - - - 14.61 - 14.63
103 4.7 -6.8 3 118 roll -0.68 8.82 0.392 1959 200.0 2.70 2.061 3675 504.8 -116.8 -1.98 - 3220 -63.1 - - - - - - - 13.83 12.76 14.09
158 28.9 -32.2 11 163 done -0.44 0.38 0.249 2052 244.7 2.42 0.041 2259 -585.1 -116.8 - - 3221 - - - - - - - - 13.88 14.31 14.19
499 82.4 -9.0 26 503 roll -0.44 - - 2052 - 2.47 0.049 870 -562.3 -116.8 - - 3221 - - - - - - - - 14.79 14.06 14.81
529 85.0 -8.2 30 534 done -0.44 - - 2052 - 2.47 0.052 2257 561.5 -116.8 - - 3221 - - - - - - - - 14.23 14.10 14.27
896 113.0 -7.5 43 901 roll -0.44 - - 2043 - 2.60 0.072 3691 551.5 -116.8 - - 3222 - - - - - - - - 14.83 13.90 14.85
1000 120.9 -7.6 58 1011 done -0.44 - - 2043 - 2.47 0.038 2274 -573.7 -116.8 - - 3222 - - - - - - - - 14.02 13.99 14.05
1347 146.7 -7.5 65 1353 roll -0.44 - - 2043 - 2.55 0.051 885 -544.7 -116.8 - - 3221 - - - - - - - - 14.85 13.88 14.87
1380 149.6 -7.7 70 1386 done -0.44 - - 2043 - 2.55 0.054 2291 551.4 -116.8 - - 3221 - - - - - - - - 14.09 13.97 14.14
1744 173.0 -6.3 79 1749 roll -0.44 - - 2040 - 2.58 0.078 3689 541.9 -116.8 - - 3219 - - - - - - - - 14.84 13.88 14.86
1840 179.1 -6.0 93 1846 done -0.50 - - 2040 - 2.42 0.040 2285 -580.2 -116.8 - - 3219 - - - - - - - - 14.16 14.09 14.19
2197 204.3 -7.6 101 2203 roll -0.50 - - 2040 - 2.55 0.052 893 -545.9 -116.8 - - 3216 - - - - - - - - 14.85 13.83 14.86
2280 212.2 -8.7 113 2286 done -0.55 - - 2040 - 2.55 0.052 2296 550.2 -116.8 - - 3216 - - - - - - - - 14.08 13.96 14.13
2650 246.1 -9.5 123 2654 roll -0.55 - - 2038 - 2.58 0.079 3689 539.9 -116.8 - - 3214 - - - - - - - - 14.86 13.85 14.88
2733 253.9 -8.4 135 2738 done -0.62 0.12 0.124 1981 -475.0 2.42 0.041 2284 -580.6 -116.8 - - 3214 - - - - - - - - 13.95 14.05 14.06
3101 293.3 -10.8 145 3107 roll -0.57 0.12 0.248 2014 275.0 2.55 0.050 897 -543.9 -116.8 - - 3211 - - - - - - - - 13.81 13.81 13.85
3198 302.1 -7.8 159 3204 done -0.57 - - 2014 - 2.55 0.054 2285 544.3 -116.8 - - 3211 - - - - - - - - 14.08 13.95 14.12
3555 329.0 -7.7 167 3560 roll -0.57 - - 2012 - 2.60 0.081 3692 541.2 -116.8 - - 3209 - - - - - - - - 14.84 13.88 14.86
3637 335.3 -6.8 179 3643 done -0.57 - - 2011 - 2.45 0.041 2289 -572.7 -116.8 - - 3209 - - - - - - - - 14.12 14.04 14.15
4008 364.2 -8.1 189 4014 roll -0.57 - - 2012 - 2.58 0.054 885 -544.2 -116.8 - - 3206 - - - - - - - - 14.84 13.78 14.86
4077 370.4 -7.9 199 4082 done -0.57 - - 2012 - 2.58 0.056 2284 542.2 -116.8 - - 3205 - - - - - - - - 14.10 13.97 14.15
4405 396.8 -8.3 210 4410 roll -0.57 - - 2011 - 2.62 0.082 3699 540.1 -116.8 - - 3204 - - - - - - - - 14.85 13.90 14.88
4502 405.3 -8.2 224 4507 done -0.62 - - 2011 - 2.45 0.040 2283 -578.0 -116.8 - - 3203 - - - - - - - - 14.12 14.04 14.15
4856 438.1 -9.6 232 4861 roll -0.62 - - 2011 - 2.55 0.052 892 -545.5 -116.8 - - 3202 - - - - - - - - 14.85 13.80 14.87
4931 445.7 -9.3 243 4936 done -0.62 - - 2011 - 2.58 0.054 2294 543.4 -116.8 - - 3201 - - - - - - - - 14.10 13.97 14.14
5253 474.7 -9.3 253 5258 roll -0.62 - - 2011 - 2.60 0.084 3685 535.0 -116.8 - - 3200 - - - - - - - - 14.85 13.89 14.86
5336 482.5 -8.0 265 5343 done -0.67 - - 2011 - 2.50 0.043 2269 -566.4 -116.8 - - 3199 - - - - - - - - 14.09 13.98 14.13
5706 513.4 -8.4 275 5711 roll -0.67 - - 2011 - 2.58 0.056 882 -537.6 -116.8 - - 3198 - - - - - - - - 14.85 13.80 14.87
5766 518.3 -8.3 283 5771 done -0.67 - - 2011 - 2.60 0.057 2283 538.8 -116.8 - - 3198 - - - - - - - - 14.09 13.96 14.14
6105 546.8 -8.5 296 6110 roll -0.67 - - 2008 - 2.62 0.084 3693 538.2 -116.8 - - 3197 - - - - - - - - 14.85 13.92 14.87
6188 554.1 -8.3 308 6193 done -0.72 0.12 0.128 1954 -450.0 2.47 0.043 2276 -573.7 -116.8 - - 3195 - - - - - - - - 13.93 14.03 14.04
6557 598.6 -12.4 318 6562 roll -0.66 0.12 0.259 1985 258.3 2.55 0.054 894 -542.0 -116.8 - - 3195 - - - - - - - - 13.76 13.81 13.76
6672 610.5 -9.8 334 6677 done -0.66 - - 1986 - 2.60 0.057 2293 538.1 -116.8 - - 3195 - - - - - - - - 14.11 13.98 14.14
7013 643.3 -9.7 347 7017 roll -0.66 - - 1975 - 2.60 0.084 3690 537.3 -116.8 - - 3193 - - - - - - - - 14.83 13.91 14.85
7080 650.3 -9.5 357 7087 done -0.66 - - 1976 - 2.50 0.044 2295 -558.0 -116.8 - - 3193 - - - - - - - - 14.00 13.95 14.04
7409 682.4 -10.0 368 7414 roll -0.66 - - 1976 - 2.60 0.057 885 -542.3 -116.8 - - 3192 - - - - - - - - 14.83 13.85 14.85
7467 688.4 -10.3 376 7472 done -0.66 - - 1972 - 2.60 0.060 2280 536.5 -116.8 - - 3192 - - - - - - - - 14.10 13.97 14.14
7806 721.8 -10.0 389 7812 roll -0.66 - - 1972 - 2.65 0.086 3701 536.2 -116.8 - - 3190 - - - - - - - - 14.85 13.92 14.86
7904 731.1 -9.2 403 7908 done -0.66 - - 1972 - 2.47 0.043 2285 -573.3 -116.8 - - 3190 - - - - - - - - 14.10 14.02 14.13
8258 765.2 -9.6 411 8263 roll -0.66 - - 1972 - 2.58 0.056 888 -541.5 -116.8 - - 3189 - - - - - - - - 14.83 13.88 14.85
8333 772.4 -8.7 422 8338 done -0.66 - - 1971 - 2.62 0.058 2299 538.5 -116.8 - - 3188 - - - - - - - - 14.12 13.99 14.17
8655 802.2 -9.4 432 8660 roll -0.66 - - 1967 - 2.62 0.087 3695 532.8 -116.8 - - 3188 - - - - - - - - 14.83 13.94 14.83
8723 808.6 -8.9 442 8728 done -0.66 - - 1967 - 2.50 0.044 2283 -564.8 -116.8 - - 3187 - - - - - - - - 14.12 14.04 14.15
9050 839.3 -9.4 453 9055 roll -0.66 - - 1968 - 2.55 0.055 888 -547.1 -116.8 - - 3186 - - - - - - - - 14.83 13.90 14.85
9098 843.6 -9.3 460 9109 done -0.66 - - 1965 - 2.62 0.059 2278 530.5 -116.8 - - 3186 - - - - - - - - 14.02 13.95 14.07
9445 875.7 -9.2 467 9450 roll -0.66 - - 1958 - 2.65 0.086 3692 533.6 -116.8 - - 3185 - - - - - - - - 14.83 13.97 14.85
9513 881.7 -9.6 477 9519 done -0.66 - - 1958 - 2.50 0.046 2286 -562.4 -116.8 - - 3184 - - - - - - - - 14.13 14.04 14.16
9842 913.2 -9.6 488 9847 roll -0.66 - - 1959 - 2.58 0.057 885 -543.0 -116.8 - - 3183 - - - - - - - - 14.82 13.90 14.83
9888 917.6 -9.8 495 9900 done -0.66 - - 1958 - 2.65 0.060 2282 527.2 -116.8 - - 3183 - - - - - - - - 14.05 13.98 14.11
10237 952.6 -10.1 502 10242 roll -0.66 - - 1949 - 2.65 0.086 3701 535.5 -116.8 - - 3183 - - - - - - - - 14.83 13.98 14.85
10326 961.7 -8.4 515 10331 done -0.66 0.15 0.236 1981 213.3 2.50 0.046 2289 -564.8 -116.8 - - 3182 - - - - - - - - 13.60 14.03 13.88
10685 end dive: TARGET_DEPTH_EXCEEDED
10685 begin apogee
10693 994.9 -9.0 524 10842 roll -0.19 0.57 0.207 2133 266.7 - - 2198 - - 141.23 2.450 2740 -3.1 0.251 - - - - 1 - 13.71 13.58 12.40
10842 end apogee: CONTROL_FINISHED_OK
10842 begin climb
10847 999.3 - 526 11028 roll 0.68 0.98 0.130 2416 288.8 2.78 0.083 3613 509.0 116.8 163.57 1.833 2249 -3.0 0.324 - - - - - - 13.35 13.40 12.88
11147 990.6 8.5 574 11152 done 0.59 0.15 0.259 2393 -153.3 2.55 0.056 2201 -553.7 116.8 - - 2234 - - - - - - - - 13.72 14.09 14.04
11487 968.3 6.8 587 11497 roll 0.60 - - 2393 - 2.60 0.081 3615 543.8 130.5 4.97 1.490 2207 -5.4 0.698 - - - - - - 14.73 14.11 13.27
11614 957.5 6.8 605 11643 done 0.55 - - 2402 - 2.53 0.056 2188 -564.0 142.8 22.55 1.838 2151 -2.5 0.256 - - - - - - 14.32 14.23 13.36
11993 928.6 8.0 617 11998 roll 0.55 - - 2413 - 2.55 0.069 799 -544.7 142.8 - - 2137 - - - - - - - - 14.74 14.13 14.76
12109 919.3 5.5 633 12181 done 0.57 - - 2413 - 2.55 0.055 2195 547.5 185.8 66.97 1.605 1982 -2.3 0.262 - - - - - - 14.31 14.19 13.33
12499 884.4 9.3 653 12504 roll 0.57 - - 2413 - 2.62 0.087 3616 542.4 185.8 - - 1958 - - - - - - - - 14.66 14.09 14.67
12532 879.3 11.7 658 12538 done 0.57 0.15 0.256 2389 -160.0 2.55 0.057 2188 -560.0 185.8 - - 1957 - - - - - - - - 13.88 14.18 14.18
12895 850.1 8.4 667 12900 roll 0.57 - - 2399 - 2.58 0.069 796 -539.5 185.8 - - 1956 - - - - - - - - 14.76 14.08 14.78
13020 838.7 7.8 685 13026 done 0.57 - - 2399 - 2.58 0.055 2187 539.1 185.8 - - 1954 - - - - - - - - 14.18 14.12 14.33
13347 810.9 8.8 696 13352 roll 0.57 - - 2399 - 2.65 0.083 3618 540.0 185.8 - - 1954 - - - - - - - - 14.79 14.00 14.81
13387 806.2 10.9 702 13392 done 0.57 - - 2409 - 2.55 0.056 2182 -563.1 185.8 - - 1954 - - - - - - - - 14.27 14.17 14.31
13742 776.5 8.4 710 13747 roll 0.57 - - 2420 - 2.58 0.068 797 -536.8 185.8 - - 1953 - - - - - - - - 14.80 13.97 14.80
13845 767.5 7.7 725 13857 done 0.57 0.10 0.214 2392 -280.0 2.58 0.054 2185 538.0 185.8 - - 1953 - - - - - - - - 13.73 14.00 13.90
14194 745.7 6.3 732 14230 roll 0.59 - - 2391 - 2.65 0.084 3613 538.9 210.1 30.95 1.607 1880 -2.4 0.217 - - - - - - 14.79 14.20 13.49
14279 739.1 7.8 745 14285 done 0.59 - - 2401 - 2.53 0.054 2182 -565.6 210.1 - - 1865 - - - - - - - - 14.33 14.23 14.37
14643 713.6 7.4 754 14647 roll 0.59 - - 2410 - 2.55 0.069 792 -545.1 210.1 - - 1861 - - - - - - - - 14.73 14.08 14.76
14758 704.7 6.9 770 14767 done 0.59 - - 2410 - 2.53 0.054 2183 549.8 219.4 2.97 0.890 1840 -7.1 1.108 - - - - - - 14.29 14.18 13.28
15094 676.6 8.5 783 15099 roll 0.59 - - 2410 - 2.60 0.081 3606 547.3 219.4 - - 1848 - - - - - - - - 14.77 14.02 14.79
15154 670.8 9.6 791 15159 done 0.59 - - 2420 - 2.53 0.051 2178 -564.4 219.4 - - 1848 - - - - - - - - 14.28 14.19 14.32
15493 637.1 10.0 804 15498 roll 0.59 - - 2430 - 2.58 0.070 787 -539.1 219.4 - - 1848 - - - - - - - - 14.79 13.97 14.81
15625 623.7 9.4 823 15631 done 0.59 0.15 0.243 2396 -226.7 2.55 0.056 2180 546.3 219.4 - - 1848 - - - - - - - - 13.76 14.09 14.04
15944 597.3 8.4 833 15950 roll 0.59 - - 2397 - 2.65 0.081 3614 541.1 219.4 - - 1847 - - - - - - - - 14.80 13.94 14.81
15991 592.5 9.2 840 16003 done 0.59 - - 2406 - 2.62 0.053 2169 -551.5 219.4 - - 1848 - - - - - - - - 14.05 14.00 14.09
16341 564.9 7.9 847 16346 roll 0.59 - - 2416 - 2.55 0.067 797 -538.0 219.4 - - 1848 - - - - - - - - 14.78 13.93 14.80
16444 556.8 7.2 862 16456 done 0.60 - - 2415 - 2.58 0.054 2175 534.1 222.2 2.88 0.796 1831 -5.9 0.817 - - - - - - 13.99 13.93 13.35
16792 530.7 7.7 869 16798 roll 0.60 - - 2415 - 2.65 0.082 3605 539.6 222.2 - - 1839 - - - - - - - - 14.80 13.95 14.81
16841 526.1 8.8 876 16853 done 0.60 - - 2425 - 2.62 0.050 2163 -550.4 222.2 - - 1839 - - - - - - - - 14.09 14.00 14.08
17189 497.8 8.4 883 17195 roll 0.60 0.12 0.254 2401 -200.0 2.53 0.063 791 -542.3 222.2 1.33 0.177 1831 -6.0 3.347 - - - - - - 13.75 13.99 13.80
17266 491.9 7.1 894 17277 done 0.60 - - 2401 - 2.53 0.054 2170 545.1 228.1 4.88 1.252 1809 -4.5 0.350 - - - - - - 14.16 14.04 13.45
17641 464.3 7.6 905 17651 roll 0.60 - - 2401 - 2.67 0.083 3611 539.7 228.1 3.00 0.813 1808 - - - - - - - - 14.79 14.07 13.41
17764 453.3 8.7 923 17769 done 0.60 - - 2410 - 2.55 0.052 2166 -566.7 228.1 - - 1818 - - - - - - - - 14.28 14.18 14.32
18093 427.1 8.2 934 18102 roll 0.60 - - 2410 - 2.58 0.067 788 -534.1 228.1 1.88 0.181 1811 -3.7 1.738 - - - - - - 14.78 13.95 13.97
18186 419.2 7.9 948 18192 done 0.60 - - 2410 - 2.53 0.054 2171 546.6 228.1 1.75 0.185 1810 - - - - - - - - 14.14 14.02 13.94
18542 389.1 8.7 956 18553 roll 0.60 - - 2410 - 2.72 0.082 3616 531.2 228.1 1.80 0.182 1809 - - - - - - - - 14.78 13.99 13.97
18599 383.6 9.6 964 18604 done 0.60 - - 2419 - 2.60 0.051 2164 -558.5 228.1 - - 1814 - - - - - - - - 14.16 14.06 14.21
18938 354.9 8.3 977 18945 roll 0.60 - - 2428 - 2.60 0.063 785 -530.4 228.1 1.58 0.187 1811 -1.9 0.713 - - - - - - 14.79 13.97 13.98
19016 348.4 8.0 988 19022 done 0.60 0.15 0.232 2393 -233.3 2.53 0.054 2164 545.1 228.1 1.77 0.181 1809 - - - - - - - - 13.71 14.00 13.97
19384 324.1 6.7 998 19441 roll 0.61 - - 2393 - 2.72 0.080 3617 534.2 244.0 46.12 1.131 1740 -1.5 0.085 - - - - 1 - 14.79 14.08 13.55
19503 314.8 8.7 1014 19508 done 0.61 - - 2401 - 2.60 0.050 2161 -560.0 244.0 - - 1736 - - - - - - - - 14.28 14.19 14.32
19842 287.2 8.0 1027 19847 roll 0.61 - - 2406 - 2.55 0.066 788 -538.4 244.0 - - 1734 - - - - - - - - 14.74 14.03 14.76
19933 280.1 7.5 1040 19937 done 0.67 - - 2406 - 2.50 0.054 2164 550.4 244.0 - - 1734 - - - - - - - - 14.23 14.11 14.28
20293 254.9 6.9 1049 20304 roll 0.67 - - 2406 - 2.62 0.080 3613 553.1 254.0 5.15 1.047 1703 -6.0 0.290 - - - - - - 14.78 14.14 13.58
20408 245.5 8.4 1065 20414 done 0.67 - - 2416 - 2.55 0.048 2160 -569.8 254.0 - - 1712 - - - - - - - - 14.38 14.28 14.40
20748 218.5 8.0 1078 20757 roll 0.67 - - 2424 - 2.58 0.063 791 -530.6 254.0 1.80 0.174 1702 -5.6 1.380 - - - - - - 14.78 14.04 13.97
20778 215.7 7.9 1083 20783 done 0.67 - - 2424 - 2.50 0.052 2174 553.2 254.0 - - 1706 - - - - - - - - 14.25 14.13 14.29
21142 188.4 7.4 1092 21147 roll 0.67 - - 2424 - 2.67 0.079 3614 539.3 254.0 - - 1712 - - - - - - - - 14.78 13.95 14.80
21202 182.5 8.9 1101 21209 done 0.67 - - 2433 - 2.58 0.049 2166 -561.2 254.0 - - 1712 - - - - - - - - 14.21 14.11 14.24
21537 154.5 8.5 1113 21542 roll 0.67 - - 2434 - 2.55 0.066 795 -537.6 254.0 - - 1712 - - - - - - - - 14.79 13.91 14.81
21642 145.9 7.7 1128 21653 done 0.67 - - 2434 - 2.55 0.052 2164 536.9 254.0 1.48 0.166 1705 -4.7 0.822 - - - - - - 14.00 13.93 13.95
21989 120.0 7.5 1135 21994 roll 0.67 - - 2434 - 2.65 0.078 3607 544.5 254.0 - - 1712 - - - - - - - - 14.80 13.94 14.81
22057 113.0 9.9 1145 22063 done 0.67 - - 2442 - 2.55 0.047 2165 -565.5 254.0 - - 1712 - - - - - - - - 14.15 14.05 14.19
22386 86.0 8.0 1158 22390 roll 0.67 - - 2450 - 2.53 0.063 791 -543.1 254.0 - - 1712 - - - - - - - - 14.78 13.92 14.80
22505 77.8 6.4 1174 22534 done 0.74 - - 2450 - 2.50 0.050 2163 548.8 276.9 18.33 0.331 1618 -5.1 0.238 - - - - - - 14.13 14.02 13.90
22846 64.2 3.2 1189 22925 roll 0.90 0.12 0.130 2511 508.3 2.55 0.073 3606 565.9 375.8 72.65 0.323 1208 -5.6 0.222 - - - - - - 14.28 14.12 13.88
23025 54.8 5.5 1215 23071 done 0.99 - - 2518 - 2.53 0.045 2159 -571.9 418.3 33.28 0.287 1032 -5.3 0.200 - - - - - - 14.27 14.19 13.83
23383 33.8 5.7 1232 23418 roll 1.15 0.12 0.122 2586 566.7 2.60 0.070 3611 558.5 457.0 29.73 0.219 874 -5.3 0.162 - - - - - - 14.27 14.14 13.99
23522 20.7 11.4 1252 23532 done 1.15 - - 2595 - 2.60 0.048 2134 -568.1 457.0 3.05 0.150 874 - - - - - - - - 14.24 14.14 13.94
23715 end climb: SURFACE_DEPTH_REACHED
23715 begin surface coast
23743 end surface coast: CONTROL_FINISHED_OK
23743 begin surface
SM 0.72 - - - - -6.13 7.05 0.066 213 30.2 0.28 0.073 2289 -24760.7 500.17 33.40 0.132 700 21.0 -0.012 - - - - - -