SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 130 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 58.06 of 350.00 AH used of 24V (83.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.9 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 20 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 206 - - - 2298 - -116.8 -84.88 - 2910 - - - - - - - - 14.76 - 14.78
107 4.9 -6.7 3 131 roll -0.68 8.95 0.431 1981 198.3 2.75 2.105 874 -517.8 -116.8 -5.47 - 3220 -56.7 - - - - - - - 14.26 13.45 14.57
271 63.2 -25.9 27 276 done -0.45 0.32 0.298 2049 212.5 2.47 0.075 2270 565.2 -116.8 - - 3222 - - - - - - - - 14.40 14.57 14.62
635 107.0 -8.8 42 640 roll -0.37 - - 2039 - 2.45 0.084 3695 581.6 -116.8 - - 3225 - - - - - - - - 14.92 14.66 14.93
872 128.1 -7.6 76 878 done -0.37 0.10 0.215 2071 320.0 2.35 0.044 2283 -600.9 -116.8 - - 3225 - - - - - - - - 14.57 14.74 14.70
1196 149.0 -6.5 87 1197 done -0.37 - - 2071 - - - 2283 - -116.8 - - 3225 - - - - - - - - 14.98 15.00 15.00
1532 169.7 -5.9 93 1537 roll -0.37 - - 2071 - 2.38 0.060 886 -587.0 -116.8 - - 3225 - - - - - - - - 15.00 14.76 15.02
1587 173.2 -6.4 101 1593 done -0.37 - - 2068 - 2.47 0.071 2305 574.5 -116.8 - - 3224 - - - - - - - - 14.85 14.76 14.88
1924 194.4 -6.4 114 1929 roll -0.37 - - 2058 - 2.42 0.091 3699 576.0 -116.8 - - 3222 - - - - - - - - 15.01 14.74 15.03
1985 198.7 -7.0 123 1991 done -0.37 - - 2058 - 2.38 0.053 2299 -588.2 -116.8 - - 3220 - - - - - - - - 14.83 14.80 14.89
2315 221.5 -6.9 135 2320 roll -0.37 - - 2058 - 2.42 0.064 882 -585.5 -116.8 - - 3219 - - - - - - - - 15.02 14.77 15.04
2385 226.5 -7.0 145 2391 done -0.37 - - 2056 - 2.47 0.073 2299 573.7 -116.8 - - 3218 - - - - - - - - 14.85 14.76 14.88
2707 248.0 -6.7 156 2712 roll -0.37 - - 2050 - 2.45 0.096 3696 570.2 -116.8 - - 3216 - - - - - - - - 15.02 14.75 15.04
2734 250.0 -7.1 160 2740 done -0.37 - - 2050 - 2.40 0.054 2289 -586.2 -116.8 - - 3216 - - - - - - - - 14.81 14.79 14.85
3100 276.5 -7.3 170 3104 roll -0.37 - - 2050 - 2.40 0.063 880 -587.1 -116.8 - - 3213 - - - - - - - - 15.02 14.78 15.04
3245 288.1 -7.9 191 3251 done -0.37 0.08 0.229 2074 300.0 2.50 0.075 2281 560.4 -116.8 - - 3212 - - - - - - - - 14.64 14.74 14.83
3603 311.1 -6.4 200 3608 roll -0.37 - - 2066 - 2.47 0.097 3690 570.4 -116.8 - - 3209 - - - - - - - - 15.03 14.74 15.07
3631 312.9 -6.3 204 3636 done -0.37 - - 2066 - 2.38 0.056 2273 -595.4 -116.8 - - 3209 - - - - - - - - 14.88 14.81 14.90
3995 335.2 -6.0 214 4000 roll -0.37 - - 2066 - 2.40 0.068 884 -578.8 -116.8 - - 3207 - - - - - - - - 15.02 14.75 15.04
4114 342.4 -5.9 231 4119 done -0.37 - - 2061 - 2.47 0.077 2279 564.8 -116.8 - - 3206 - - - - - - - - 14.85 14.75 14.88
4444 360.9 -5.7 243 4444 done -0.37 - - 2061 - - - 2279 - -116.8 - - 3204 - - - - - - - - 15.02 15.04 15.04
4779 382.0 -6.5 249 4785 roll -0.37 - - 2061 - 2.42 0.065 883 -576.9 -116.8 - - 3204 - - - - - - - - 15.02 14.76 15.04
4821 385.1 -7.5 255 4826 done -0.37 - - 2056 - 2.47 0.077 2282 566.4 -116.8 - - 3202 - - - - - - - - 14.85 14.75 14.88
5171 412.0 -7.8 263 5176 roll -0.37 - - 2056 - 2.50 0.103 3695 565.2 -116.8 - - 3200 - - - - - - - - 15.02 14.71 15.04
5247 417.9 -7.6 274 5253 done -0.37 - - 2056 - 2.42 0.060 2285 -582.6 -116.8 - - 3197 - - - - - - - - 14.82 14.78 14.85
5564 439.6 -6.8 284 5569 roll -0.37 - - 2056 - 2.42 0.067 876 -582.2 -116.8 - - 3199 - - - - - - - - 15.02 14.73 15.03
5646 445.2 -6.6 296 5652 done -0.37 - - 2056 - 2.50 0.083 2278 560.8 -116.8 - - 3198 - - - - - - - - 14.84 14.73 14.87
6011 467.0 -5.9 306 6012 done -0.37 - - 2056 - - - 2277 - -116.8 - - 3196 - - - - - - - - 15.02 15.04 15.04
6348 489.2 -6.8 312 6352 roll -0.37 - - 2056 - 2.45 0.068 875 -572.2 -116.8 - - 3194 - - - - - - - - 15.02 14.74 15.03
6381 491.8 -7.5 317 6388 done -0.37 - - 2056 - 2.53 0.081 2265 549.4 -116.8 - - 3195 - - - - - - - - 14.86 14.69 14.88
6739 516.1 -6.7 326 6740 done -0.37 - - 2056 - - - 2265 - -116.8 - - 3190 - - - - - - - - 15.01 15.03 15.03
7076 536.2 -5.8 332 7081 roll -0.37 - - 2056 - 2.42 0.065 875 -574.4 -116.8 - - 3192 - - - - - - - - 15.01 14.74 15.02
7131 539.6 -6.0 340 7136 done -0.37 - - 2056 - 2.53 0.083 2282 556.1 -116.8 - - 3191 - - - - - - - - 14.83 14.71 14.85
7467 557.0 -5.1 353 7473 roll -0.37 - - 2052 - 2.53 0.106 3691 556.9 -116.8 - - 3190 - - - - - - - - 15.01 14.69 15.02
7558 561.8 -5.3 366 7563 done -0.42 - - 2052 - 2.42 0.063 2268 -588.0 -116.8 - - 3189 - - - - - - - - 14.85 14.77 14.86
7915 582.7 -6.1 375 7920 roll -0.42 - - 2052 - 2.42 0.071 876 -575.2 -116.8 - - 3189 - - - - - - - - 15.00 14.71 15.02
8069 593.6 -7.3 397 8075 done -0.42 - - 2047 - 2.50 0.084 2265 555.6 -116.8 - - 3188 - - - - - - - - 14.82 14.69 14.85
8419 619.3 -7.4 405 8420 done -0.42 - - 2048 - - - 2265 - -116.8 - - 3187 - - - - - - - - 15.00 15.02 15.02
8756 642.3 -6.6 411 8757 done -0.42 - - 2047 - - - 2265 - -116.8 - - 3186 - - - - - - - - 15.00 15.02 15.02
9091 661.8 -5.7 417 9092 done -0.42 - - 2047 - - - 2265 - -116.8 - - 3185 - - - - - - - - 15.00 15.02 15.02
9428 679.6 -5.3 423 9433 roll -0.42 - - 2048 - 2.42 0.067 883 -571.1 -116.8 - - 3184 - - - - - - - - 15.00 14.71 15.04
9475 682.4 -6.0 430 9482 done -0.42 - - 2044 - 2.53 0.085 2259 543.9 -116.8 - - 3184 - - - - - - - - 14.72 14.65 14.76
9819 701.2 -5.6 437 9825 roll -0.42 - - 2040 - 2.60 0.110 3695 552.3 -116.8 - - 3183 - - - - - - - - 14.99 14.65 15.02
9903 706.6 -6.5 449 9909 done -0.46 - - 2040 - 2.45 0.063 2253 -588.6 -116.8 - - 3182 - - - - - - - - 14.82 14.74 14.86
10267 730.5 -6.6 459 10272 roll -0.46 - - 2040 - 2.40 0.070 889 -568.3 -116.8 - - 3181 - - - - - - - - 14.99 14.69 15.01
10323 734.6 -7.5 467 10328 done -0.46 - - 2040 - 2.47 0.086 2264 556.7 -116.8 - - 3181 - - - - - - - - 14.78 14.65 14.82
10660 758.1 -7.0 480 10661 done -0.46 - - 2040 - - - 2264 - -116.8 - - 3181 - - - - - - - - 14.97 14.99 14.99
10995 779.4 -6.2 486 10996 done -0.46 - - 2040 - - - 2264 - -116.8 - - 3179 - - - - - - - - 14.98 15.01 15.00
11331 797.7 -5.3 492 11336 roll -0.46 - - 2035 - 2.60 0.112 3695 550.4 -116.8 - - 3180 - - - - - - - - 14.98 14.62 15.00
11401 801.6 -5.7 502 11406 done -0.46 - - 2035 - 2.45 0.065 2268 -582.4 -116.8 - - 3179 - - - - - - - - 14.81 14.71 14.83
11723 819.9 -5.7 513 11729 roll -0.46 - - 2035 - 2.45 0.075 877 -567.8 -116.8 - - 3179 - - - - - - - - 14.97 14.65 15.00
11842 827.5 -6.4 530 11847 done -0.46 - - 2029 - 2.50 0.088 2261 553.6 -116.8 - - 3178 - - - - - - - - 14.76 14.62 14.79
12171 848.3 -6.3 542 12172 done -0.46 - - 2029 - - - 2261 - -116.8 - - 3178 - - - - - - - - 14.97 14.99 14.99
12507 871.7 -6.9 548 12508 done -0.46 - - 2029 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.97 15.00 14.99
12844 896.9 -7.6 554 12845 done -0.46 - - 2029 - - - 2261 - -116.8 - - 3177 - - - - - - - - 14.97 14.99 14.99
13179 921.8 -7.6 560 13180 done -0.46 - - 2028 - - - 2261 - -116.8 - - 3176 - - - - - - - - 14.97 14.99 14.99
13516 945.2 -6.8 566 13520 roll -0.46 - - 2021 - 2.62 0.113 3701 549.6 -116.8 - - 3175 - - - - - - - - 14.97 14.60 14.99
13549 947.6 -7.0 571 13555 done -0.46 - - 2021 - 2.53 0.069 2262 -568.8 -116.8 - - 3175 - - - - - - - - 14.70 14.64 14.74
13908 970.9 -6.3 580 13912 roll -0.46 - - 2021 - 2.45 0.076 878 -564.9 -116.8 - - 3174 - - - - - - - - 14.95 14.62 14.97
13977 975.5 -3.4 590 13982 done -0.46 0.12 0.289 2042 175.0 2.53 0.090 2266 548.6 -116.8 - - 3174 - - - - - - - - 14.42 14.59 14.67
14296 end dive: TARGET_DEPTH_EXCEEDED
14296 begin apogee
14304 993.0 -5.4 601 14451 roll -0.19 0.32 0.223 2132 281.2 - - 2267 - - 145.30 1.938 2737 -3.0 0.287 - - - - - - 14.46 14.01 13.35
14453 end apogee: CONTROL_FINISHED_OK
14453 begin climb
14457 996.6 - 603 14616 roll 0.68 0.93 0.163 2407 295.7 2.70 0.071 827 -533.3 116.8 148.73 1.930 2263 -3.2 0.307 - - - - - - 13.97 14.02 13.15
14693 979.5 9.1 643 14698 done 0.68 - - 2408 - 2.67 0.088 2234 527.0 116.8 - - 2237 - - - - - - - - 14.16 14.05 14.18
15030 944.6 10.4 656 15034 roll 0.62 - - 2418 - 2.62 0.096 836 -533.6 116.8 - - 2231 - - - - - - - - 14.65 14.38 14.67
15148 932.3 10.1 673 15154 done 0.62 - - 2418 - 2.60 0.092 2241 540.4 116.8 - - 2229 - - - - - - - - 14.54 14.42 14.58
15477 895.9 11.2 685 15483 roll 0.55 0.12 0.297 2385 -275.0 2.60 0.116 3649 541.5 116.8 - - 2228 - - - - - - - - 14.34 14.49 14.50
15561 886.8 10.6 697 15567 done 0.50 0.12 0.297 2368 -141.7 2.47 0.082 2261 -561.9 116.8 - - 2227 - - - - - - - - 14.38 14.54 14.63
15925 855.2 8.6 707 15930 roll 0.50 - - 2378 - 2.62 0.097 821 -549.6 116.8 - - 2226 - - - - - - - - 14.85 14.55 14.88
16008 848.0 8.0 719 16014 done 0.50 - - 2378 - 2.60 0.088 2253 550.8 116.8 - - 2225 - - - - - - - - 14.71 14.56 14.73
16374 817.6 8.2 729 16379 roll 0.50 - - 2379 - 2.58 0.119 3649 541.1 116.8 - - 2225 - - - - - - - - 14.90 14.56 14.92
16414 813.8 10.3 735 16420 done 0.50 - - 2388 - 2.55 0.083 2239 -552.9 116.8 - - 2224 - - - - - - - - 14.65 14.59 14.69
16765 784.1 8.5 743 16766 done 0.50 - - 2388 - - - 2239 - 116.8 - - 2225 - - - - - - - - 14.92 14.94 14.93
17102 755.7 8.5 749 17107 roll 0.50 - - 2399 - 2.58 0.096 821 -549.6 116.8 - - 2225 - - - - - - - - 14.92 14.59 14.94
17158 751.0 8.3 757 17163 done 0.50 0.15 0.265 2365 -226.7 2.58 0.088 2242 550.8 116.8 - - 2224 - - - - - - - - 14.45 14.60 14.70
17494 725.9 7.5 770 17498 roll 0.50 - - 2365 - 2.58 0.117 3643 543.0 116.8 - - 2224 - - - - - - - - 14.92 14.58 14.95
17584 718.2 8.6 783 17589 done 0.50 - - 2374 - 2.47 0.080 2245 -566.0 116.8 - - 2223 - - - - - - - - 14.74 14.63 14.77
17941 688.1 8.6 792 17942 done 0.50 - - 2374 - - - 2245 - 116.8 - - 2226 - - - - - - - - 14.93 14.95 14.95
18277 658.5 8.8 798 18282 roll 0.50 - - 2384 - 2.60 0.097 820 -548.1 116.8 - - 2223 - - - - - - - - 14.93 14.59 14.95
18319 654.8 8.6 804 18324 done 0.50 - - 2384 - 2.62 0.086 2270 553.4 116.8 - - 2223 - - - - - - - - 14.76 14.61 14.78
18670 622.2 9.4 812 18674 roll 0.50 - - 2384 - 2.53 0.116 3643 542.7 116.8 - - 2223 - - - - - - - - 14.95 14.57 14.95
18731 615.7 10.3 821 18738 done 0.50 0.08 0.243 2364 -250.0 2.50 0.080 2264 -551.6 116.8 - - 2223 - - - - - - - - 14.45 14.60 14.71
19062 589.7 7.7 833 19067 roll 0.50 - - 2374 - 2.62 0.094 821 -550.8 116.8 - - 2223 - - - - - - - - 14.92 14.59 14.95
19123 585.0 7.4 842 19129 done 0.50 - - 2374 - 2.60 0.085 2265 555.4 116.8 - - 2223 - - - - - - - - 14.73 14.60 14.77
19454 561.0 7.1 854 19459 roll 0.51 - - 2374 - 2.53 0.116 3641 543.9 121.4 - - 2223 - - - - - - - - 14.94 14.57 14.95
19550 553.3 7.8 868 19556 done 0.51 - - 2383 - 2.45 0.077 2277 -556.7 121.4 - - 2223 - - - - - - - - 14.67 14.61 14.71
19902 526.5 7.8 876 19906 roll 0.51 - - 2392 - 2.65 0.095 819 -550.2 121.4 - - 2223 - - - - - - - - 14.93 14.58 14.95
19978 520.3 7.8 887 19983 done 0.51 - - 2392 - 2.62 0.087 2273 555.0 121.4 - - 2222 - - - - - - - - 14.72 14.59 14.76
20294 492.3 9.0 897 20299 roll 0.51 - - 2392 - 2.53 0.117 3647 543.1 121.4 - - 2222 - - - - - - - - 14.94 14.57 14.95
20349 486.7 10.1 905 20355 done 0.51 0.15 0.265 2368 -160.0 2.45 0.080 2266 -563.7 121.4 - - 2222 - - - - - - - - 14.41 14.63 14.64
20686 462.3 7.1 918 20691 roll 0.51 - - 2377 - 2.60 0.092 829 -552.7 126.7 - - 2223 - - - - - - - - 14.92 14.56 14.95
20742 458.6 6.5 926 20775 done 0.52 - - 2377 - 2.60 0.086 2265 552.3 146.3 29.23 1.511 2145 -2.7 0.151 - - - - - - 14.72 14.59 13.95
21127 431.9 6.8 939 21138 roll 0.53 - - 2377 - 2.55 0.113 3632 536.1 158.2 4.62 1.232 2093 -11.3 0.736 - - - - - - 14.81 14.54 13.82
21188 427.1 7.6 948 21194 done 0.53 - - 2386 - 2.47 0.074 2264 -553.8 158.2 - - 2095 - - - - - - - - 14.60 14.54 14.63
21518 403.5 7.3 960 21523 roll 0.53 - - 2396 - 2.60 0.090 822 -554.6 158.4 - - 2100 - - - - - - - - 14.85 14.54 14.86
21567 399.6 7.9 967 21573 done 0.53 - - 2396 - 2.62 0.084 2275 554.6 158.4 - - 2100 - - - - - - - - 14.68 14.55 14.70
21910 367.8 9.5 974 21915 roll 0.53 - - 2394 - 2.50 0.114 3644 547.6 158.4 - - 2100 - - - - - - - - 14.88 14.55 14.90
21986 359.3 10.8 985 21993 done 0.53 0.08 0.235 2369 -312.5 2.47 0.076 2267 -557.5 158.4 - - 2101 - - - - - - - - 14.45 14.59 14.66
22303 333.5 8.1 995 22307 roll 0.53 - - 2378 - 2.62 0.091 815 -554.2 158.4 - - 2101 - - - - - - - - 14.90 14.58 14.91
22385 327.0 7.7 1007 22391 done 0.58 - - 2379 - 2.60 0.083 2265 557.7 158.4 - - 2100 - - - - - - - - 14.72 14.59 14.76
22751 299.7 7.4 1017 22756 roll 0.58 - - 2382 - 2.50 0.109 3641 550.4 158.4 - - 2101 - - - - - - - - 14.92 14.57 14.93
22798 295.7 8.4 1024 22805 done 0.58 - - 2388 - 2.47 0.073 2260 -559.1 158.4 - - 2101 - - - - - - - - 14.66 14.61 14.71
23142 269.9 7.6 1031 23147 roll 0.58 - - 2394 - 2.58 0.088 819 -558.5 158.4 - - 2101 - - - - - - - - 14.92 14.60 14.95
23198 265.8 7.2 1039 23210 done 0.59 - - 2397 - 2.60 0.083 2267 556.9 162.3 4.03 1.020 2079 -5.5 0.265 - - - - - - 14.73 14.61 13.95
23535 237.7 8.5 1052 23541 roll 0.59 - - 2397 - 2.55 0.111 3641 538.8 162.3 2.20 0.392 2074 -2.3 0.257 - - - - - - 14.91 14.64 13.87
23617 229.4 9.9 1064 23623 done 0.59 - - 2406 - 2.45 0.073 2266 -561.2 162.3 - - 2083 - - - - - - - - 14.69 14.63 14.71
23976 196.0 9.3 1073 23981 roll 0.59 - - 2416 - 2.58 0.087 821 -560.1 162.3 - - 2088 - - - - - - - - 14.92 14.62 14.93
24044 189.8 8.4 1083 24051 done 0.59 - - 2416 - 2.62 0.081 2290 560.7 162.3 1.73 0.194 2077 -6.4 1.160 - - - - - - 14.73 14.61 14.53
24367 160.0 9.4 1094 24373 roll 0.59 - - 2416 - 2.53 0.109 3646 536.0 162.3 1.73 0.196 2078 - - - - - - - - 14.93 14.59 14.53
24451 151.3 10.4 1106 24457 done 0.59 0.15 0.262 2390 -173.3 2.42 0.072 2263 -571.5 162.3 1.70 0.207 2077 - - - - - - - - 14.47 14.65 14.54
24808 124.5 7.3 1115 24815 roll 0.59 - - 2399 - 2.65 0.086 814 -546.8 163.2 2.47 0.519 2073 -1.6 0.072 - - - - - - 14.93 14.67 13.93
24899 117.9 7.0 1128 24914 done 0.64 - - 2399 - 2.58 0.079 2268 563.6 170.8 7.50 0.389 2043 -4.0 0.226 - - - - - - 14.75 14.63 14.28
25250 97.9 5.0 1136 25296 roll 0.72 - - 2399 - 2.55 0.106 3641 538.4 227.5 38.45 0.437 1812 -6.0 0.251 - - - - - - 14.92 14.57 14.31
25340 92.2 6.6 1149 25361 done 0.78 0.15 0.126 2467 453.3 2.42 0.067 2241 -578.5 244.0 12.00 0.399 1744 -5.7 0.244 - - - - - - 14.61 14.58 14.27
25672 72.3 4.8 1163 25717 roll 0.87 - - 2467 - 2.58 0.103 3647 545.0 303.6 38.92 0.352 1506 -6.1 0.234 - - - - - - 14.86 14.51 14.31
25851 60.8 6.3 1189 25872 done 0.95 - - 2475 - 2.40 0.068 2276 -571.2 328.7 17.33 0.303 1400 -6.1 0.229 - - - - - - 14.66 14.57 14.31
26198 42.7 5.6 1205 26234 roll 1.09 0.20 0.100 2579 520.0 2.67 0.079 822 -544.6 369.8 28.02 0.255 1231 -6.0 0.188 - - - - - - 14.64 14.54 14.38
26301 34.9 7.5 1220 26307 done 1.09 - - 2579 - 2.62 0.074 2297 563.0 369.8 - - 1238 - - - - - - - - 14.66 14.57 14.69
26614 8.7 9.0 1232 26619 roll 1.09 - - 2588 - 2.60 0.076 826 -565.8 369.8 - - 1240 - - - - - - - - 14.86 14.57 14.89
26673 end climb: SURFACE_DEPTH_REACHED
26673 begin surface coast
26701 end surface coast: CONTROL_FINISHED_OK
26701 begin surface
SM 0.98 - - - - -6.14 6.57 0.052 215 32.7 2.60 0.069 2282 679.2 500.17 78.15 0.135 700 9.0 -0.007 - - - - - -