SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 259 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 106.03 of 350.00 AH used of 24V (69.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.6 deg, depth 0.93 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 26 s
• GPS2 time: 16 s • Transponder ping count: 9
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
16 - - - 102 VBD -0.68 - - 206 - - - 2312 - -116.8 -84.97 - 2921 - - - - - - - - 14.69 - 14.71
106 5.0 -7.1 3 130 roll -0.68 8.93 0.415 1980 198.7 2.80 2.071 869 -515.4 -116.8 -5.15 - 3221 -58.3 - - - - - - - 14.09 13.29 14.47
187 33.2 -27.6 15 192 done -0.47 0.30 0.292 2042 206.7 2.45 0.061 2255 565.7 -116.8 - - 3223 - - - - - - - - 14.13 14.40 14.40
522 86.5 -8.7 30 527 roll -0.39 0.12 0.269 2065 191.7 2.50 0.071 3705 580.0 -116.8 - - 3224 - - - - - - - - 14.25 14.43 14.39
759 102.1 -6.4 64 765 done -0.39 - - 2065 - 2.45 0.039 2256 -591.4 -116.8 - - 3225 - - - - - - - - 14.60 14.57 14.68
1083 124.4 -7.0 75 1087 roll -0.39 - - 2065 - 2.33 0.050 891 -585.8 -116.8 - - 3225 - - - - - - - - 14.88 14.51 14.90
1117 127.0 -7.8 80 1122 done -0.39 - - 2065 - 2.42 0.057 2286 576.4 -116.8 - - 3225 - - - - - - - - 14.66 14.56 14.69
1474 154.4 -8.0 89 1480 roll -0.39 - - 2065 - 2.42 0.048 881 -580.6 -116.8 - - 3224 - - - - - - - - 14.92 14.58 14.94
1530 158.8 -8.0 97 1536 done -0.39 - - 2065 - 2.42 0.057 2278 577.3 -116.8 - - 3224 - - - - - - - - 14.69 14.56 14.70
1867 183.6 -7.3 110 1872 roll -0.39 - - 2057 - 2.47 0.081 3684 569.2 -116.8 - - 3222 - - - - - - - - 14.92 14.52 14.95
1935 188.7 -7.5 120 1941 done -0.39 - - 2056 - 2.40 0.041 2261 -592.9 -116.8 - - 3222 - - - - - - - - 14.63 14.62 14.66
2258 212.5 -7.3 131 2263 roll -0.39 - - 2059 - 2.38 0.052 886 -577.7 -116.8 - - 3219 - - - - - - - - 14.92 14.52 14.94
2321 217.4 -7.9 140 2326 done -0.39 - - 2056 - 2.42 0.060 2269 571.5 -116.8 - - 3219 - - - - - - - - 14.67 14.57 14.71
2650 240.4 -6.9 152 2655 roll -0.39 - - 2052 - 2.53 0.086 3694 563.2 -116.8 - - 3217 - - - - - - - - 14.92 14.50 14.95
2677 242.3 -7.1 156 2683 done -0.39 - - 2052 - 2.42 0.046 2268 -589.3 -116.8 - - 3217 - - - - - - - - 14.65 14.61 14.68
3043 268.4 -7.4 166 3048 roll -0.39 - - 2052 - 2.40 0.057 883 -577.1 -116.8 - - 3215 - - - - - - - - 14.93 14.55 14.95
3083 271.7 -7.9 172 3089 done -0.39 - - 2052 - 2.50 0.062 2272 555.6 -116.8 - - 3214 - - - - - - - - 14.56 14.50 14.60
3435 297.7 -7.5 180 3439 roll -0.39 - - 2052 - 2.42 0.054 886 -572.7 -116.8 - - 3211 - - - - - - - - 14.92 14.56 14.93
3476 300.9 -7.7 186 3481 done -0.39 - - 2052 - 2.45 0.062 2276 567.3 -116.8 - - 3212 - - - - - - - - 14.66 14.54 14.69
3826 327.1 -7.5 194 3831 roll -0.39 - - 2045 - 2.53 0.086 3700 562.8 -116.8 - - 3209 - - - - - - - - 14.93 14.49 14.95
3853 329.3 -8.2 198 3859 done -0.39 - - 2043 - 2.45 0.045 2264 -586.1 -116.8 - - 3208 - - - - - - - - 14.62 14.59 14.65
4218 360.8 -8.9 208 4223 roll -0.39 0.10 0.260 2067 240.0 2.38 0.056 887 -578.6 -116.8 - - 3206 - - - - - - - - 14.39 14.52 14.54
4295 367.1 -7.8 219 4300 done -0.44 - - 2067 - 2.45 0.062 2268 563.7 -116.8 - - 3206 - - - - - - - - 14.65 14.53 14.69
4611 389.3 -7.0 229 4616 roll -0.49 - - 2058 - 2.53 0.087 3689 561.7 -116.8 - - 3204 - - - - - - - - 14.92 14.47 14.94
4659 392.8 -7.2 236 4666 done -0.55 0.12 0.136 2006 -433.3 2.45 0.048 2250 -587.3 -116.8 - - 3204 - - - - - - - - 14.54 14.62 14.64
5002 424.9 -9.4 243 5003 done -0.55 - - 2006 - - - 2247 - -116.8 - - 3202 - - - - - - - - 14.92 14.94 14.94
5338 454.5 -8.7 249 5344 roll -0.55 - - 2005 - 2.40 0.057 888 -566.2 -116.8 - - 3200 - - - - - - - - 14.92 14.52 14.95
5395 459.5 -8.8 257 5400 done -0.55 - - 1999 - 2.47 0.063 2271 559.9 -116.8 - - 3200 - - - - - - - - 14.64 14.50 14.66
5730 489.7 -9.1 270 5735 roll -0.55 - - 1990 - 2.58 0.090 3698 553.1 -116.8 - - 3199 - - - - - - - - 14.92 14.44 14.94
5765 493.2 -10.2 275 5770 done -0.55 0.12 0.256 2016 216.7 2.42 0.050 2273 -588.8 -116.8 - - 3198 - - - - - - - - 14.26 14.61 14.52
6123 525.6 -9.2 284 6128 roll -0.55 - - 2017 - 2.45 0.063 887 -565.7 -116.8 - - 3197 - - - - - - - - 14.91 14.47 14.93
6226 535.5 -9.3 299 6233 done -0.55 - - 2015 - 2.50 0.065 2262 550.0 -116.8 - - 3196 - - - - - - - - 14.50 14.43 14.55
6570 566.2 -8.8 306 6575 roll -0.55 - - 2008 - 2.58 0.089 3702 558.1 -116.8 - - 3194 - - - - - - - - 14.93 14.43 14.95
6647 572.9 -8.7 317 6653 done -0.55 - - 2008 - 2.45 0.047 2253 -591.4 -116.8 - - 3195 - - - - - - - - 14.66 14.59 14.69
6962 599.3 -8.3 327 6967 roll -0.55 - - 2008 - 2.40 0.062 889 -568.3 -116.8 - - 3193 - - - - - - - - 14.91 14.42 14.92
7024 604.8 -8.6 336 7030 done -0.55 - - 2003 - 2.47 0.063 2274 560.7 -116.8 - - 3193 - - - - - - - - 14.59 14.46 14.64
7355 632.8 -8.5 348 7356 done -0.55 - - 2003 - - - 2270 - -116.8 - - 3192 - - - - - - - - 14.90 14.92 14.92
7690 661.6 -8.6 354 7691 done -0.55 - - 2003 - - - 2278 - -116.8 - - 3190 - - - - - - - - 14.90 14.92 14.92
8026 690.6 -8.6 360 8027 done -0.55 - - 2003 - - - 2274 - -116.8 - - 3188 - - - - - - - - 14.90 14.92 14.92
8363 719.6 -8.6 366 8364 done -0.55 - - 2003 - - - 2274 - -116.8 - - 3188 - - - - - - - - 14.90 14.92 14.92
8699 748.2 -8.4 372 8703 roll -0.55 - - 2003 - 2.47 0.063 891 -559.9 -116.8 - - 3187 - - - - - - - - 14.92 14.43 14.94
8739 751.9 -8.7 378 8745 done -0.55 - - 1998 - 2.47 0.067 2263 555.5 -116.8 - - 3186 - - - - - - - - 14.57 14.43 14.62
9091 781.5 -8.5 386 9091 done -0.55 - - 1998 - - - 2263 - -116.8 - - 3186 - - - - - - - - 14.89 14.91 14.91
9427 810.4 -8.6 392 9428 done -0.55 - - 1999 - - - 2264 - -116.8 - - 3183 - - - - - - - - 14.91 14.93 14.93
9762 837.5 -8.0 398 9767 roll -0.55 - - 1993 - 2.60 0.094 3696 550.8 -116.8 - - 3183 - - - - - - - - 14.88 14.35 14.90
9797 840.2 -7.3 403 9802 done -0.55 0.12 0.256 2021 233.3 2.47 0.054 2259 -581.8 -116.8 - - 3183 - - - - - - - - 14.19 14.53 14.45
10155 863.2 -6.3 412 10160 roll -0.55 - - 2021 - 2.45 0.063 876 -564.5 -116.8 - - 3184 - - - - - - - - 14.90 14.41 14.91
10259 870.1 -6.5 427 10266 done -0.55 - - 2018 - 2.55 0.069 2258 542.0 -116.8 - - 3182 - - - - - - - - 14.42 14.35 14.47
10602 893.5 -6.9 434 10607 roll -0.55 - - 2012 - 2.62 0.096 3693 547.7 -116.8 - - 3181 - - - - - - - - 14.90 14.34 14.91
10651 896.7 -7.7 441 10658 done -0.55 - - 2011 - 2.50 0.055 2251 -576.8 -116.8 - - 3180 - - - - - - - - 14.57 14.50 14.60
10994 923.8 -8.0 448 10999 roll -0.55 - - 2012 - 2.42 0.063 885 -564.5 -116.8 - - 3179 - - - - - - - - 14.85 14.39 14.89
11077 930.9 -8.5 460 11083 done -0.55 - - 2011 - 2.53 0.069 2251 539.9 -116.8 - - 3179 - - - - - - - - 14.57 14.35 14.60
11443 961.9 -8.6 470 11448 roll -0.55 - - 2011 - 2.65 0.099 3700 546.8 -116.8 - - 3176 - - - - - - - - 14.88 14.33 14.90
11490 966.0 -8.5 477 11498 done -0.55 - - 2011 - 2.53 0.055 2252 -572.3 -116.8 - - 3178 - - - - - - - - 14.47 14.42 14.51
11831 end dive: TARGET_DEPTH_EXCEEDED
11831 begin apogee
11839 993.4 -8.1 484 12028 roll -0.19 0.45 0.221 2132 268.9 - - 2251 - - 187.68 1.629 2741 -2.3 0.268 - - - - - - 14.16 13.95 13.30
12030 end apogee: CONTROL_FINISHED_OK
12030 begin climb
12034 999.7 - 487 12193 roll 0.68 0.95 0.161 2412 294.7 2.62 0.096 3614 520.2 116.8 147.05 1.899 2257 -3.3 0.327 - - - - - - 13.90 13.95 12.98
12299 977.5 11.8 529 12305 done 0.59 0.15 0.290 2396 -106.7 2.55 0.063 2215 -548.6 116.8 - - 2238 - - - - - - - - 13.82 14.04 14.08
12620 944.0 10.4 540 12625 roll 0.59 - - 2390 - 2.62 0.093 3621 536.6 116.8 - - 2232 - - - - - - - - 14.64 14.29 14.66
12760 928.1 11.2 560 12765 done 0.53 - - 2400 - 2.53 0.064 2194 -564.0 116.8 - - 2230 - - - - - - - - 14.49 14.38 14.52
13125 889.0 10.7 570 13130 roll 0.48 0.15 0.272 2372 -186.7 2.55 0.077 795 -548.6 116.8 - - 2229 - - - - - - - - 14.12 14.36 14.28
13165 885.1 10.8 576 13171 done 0.48 - - 2372 - 2.60 0.067 2207 543.1 116.8 - - 2228 - - - - - - - - 14.44 14.35 14.49
13517 854.9 8.5 584 13522 roll 0.48 - - 2374 - 2.60 0.096 3623 544.6 116.8 - - 2228 - - - - - - - - 14.80 14.36 14.83
13593 847.8 9.2 595 13598 done 0.48 - - 2382 - 2.55 0.063 2175 -567.8 116.8 - - 2227 - - - - - - - - 14.54 14.42 14.59
13908 821.4 8.4 605 13914 roll 0.48 - - 2392 - 2.53 0.080 792 -546.6 116.8 - - 2227 - - - - - - - - 14.82 14.36 14.84
13957 817.6 7.7 612 13964 done 0.48 0.15 0.250 2359 -220.0 2.58 0.068 2215 551.6 116.8 - - 2226 - - - - - - - - 14.16 14.40 14.45
14301 795.0 6.5 619 14322 roll 0.49 - - 2359 - 2.58 0.095 3611 541.1 136.3 16.80 1.812 2181 -2.7 0.222 - - - - - - 14.85 14.51 13.78
14419 786.2 7.4 636 14425 done 0.49 - - 2367 - 2.47 0.060 2203 -570.0 136.3 - - 2171 - - - - - - - - 14.51 14.42 14.55
14742 764.2 6.9 647 14754 roll 0.50 - - 2378 - 2.58 0.080 801 -543.4 147.5 5.22 1.570 2139 -6.1 0.564 - - - - - - 14.77 14.53 13.64
14825 758.3 6.8 659 14854 done 0.51 - - 2378 - 2.55 0.065 2211 552.9 159.1 24.52 1.793 2093 -1.9 0.150 - - - - - - 14.52 14.42 13.71
15191 728.9 8.3 669 15196 roll 0.51 - - 2378 - 2.58 0.095 3608 541.5 159.1 - - 2072 - - - - - - - - 14.71 14.32 14.73
15246 723.9 9.0 677 15252 done 0.51 - - 2387 - 2.47 0.061 2212 -565.2 159.1 - - 2072 - - - - - - - - 14.50 14.40 14.54
15582 692.2 9.6 690 15587 roll 0.51 - - 2398 - 2.60 0.077 782 -550.0 159.1 - - 2071 - - - - - - - - 14.79 14.37 14.81
15644 686.2 9.5 699 15650 done 0.51 0.12 0.252 2371 -225.0 2.60 0.066 2218 552.3 159.1 - - 2070 - - - - - - - - 14.14 14.34 14.44
15974 657.6 8.6 711 15978 roll 0.51 - - 2372 - 2.55 0.094 3611 546.3 159.1 - - 2070 - - - - - - - - 14.82 14.32 14.84
16036 651.7 9.4 720 16041 done 0.51 - - 2379 - 2.45 0.060 2212 -571.0 159.1 - - 2070 - - - - - - - - 14.54 14.45 14.59
16366 622.4 8.9 732 16371 roll 0.51 - - 2389 - 2.58 0.075 785 -553.1 159.1 - - 2070 - - - - - - - - 14.81 14.37 14.83
16428 617.1 8.4 741 16434 done 0.51 - - 2389 - 2.58 0.064 2217 555.0 159.1 - - 2069 - - - - - - - - 14.54 14.41 14.59
16758 587.4 9.1 753 16764 roll 0.51 - - 2389 - 2.55 0.092 3609 545.9 159.1 - - 2069 - - - - - - - - 14.81 14.34 14.83
16834 579.7 9.8 764 16840 done 0.51 0.08 0.228 2368 -262.5 2.50 0.059 2213 -558.4 159.1 - - 2069 - - - - - - - - 14.14 14.40 14.45
17150 555.4 7.6 774 17155 roll 0.51 - - 2378 - 2.60 0.073 781 -550.8 159.1 - - 2069 - - - - - - - - 14.82 14.36 14.84
17213 550.8 6.9 783 17219 done 0.56 - - 2378 - 2.60 0.063 2224 555.0 168.4 2.50 0.646 2052 -6.8 1.096 - - - - - - 14.52 14.38 13.52
17535 525.9 7.8 794 17540 roll 0.56 - - 2378 - 2.50 0.093 3605 552.4 168.4 - - 2061 - - - - - - - - 14.83 14.30 14.84
17618 518.5 8.7 806 17624 done 0.56 - - 2388 - 2.42 0.058 2214 -574.8 168.4 - - 2064 - - - - - - - - 14.55 14.45 14.59
17983 487.3 8.7 816 17988 roll 0.56 - - 2396 - 2.58 0.076 787 -553.1 168.4 - - 2060 - - - - - - - - 14.83 14.36 14.85
18052 481.1 8.6 826 18057 done 0.56 - - 2396 - 2.58 0.063 2219 555.0 168.4 - - 2061 - - - - - - - - 14.53 14.40 14.57
18376 449.9 9.8 837 18381 roll 0.56 - - 2397 - 2.53 0.092 3611 550.2 168.4 - - 2060 - - - - - - - - 14.82 14.34 14.83
18465 440.0 10.7 850 18470 done 0.56 - - 2406 - 2.47 0.057 2215 -565.2 168.4 - - 2061 - - - - - - - - 14.55 14.38 14.58
18823 402.5 10.5 859 18828 roll 0.56 - - 2417 - 2.58 0.074 796 -550.0 168.4 - - 2061 - - - - - - - - 14.83 14.35 14.85
18865 398.3 9.9 865 18871 done 0.56 0.15 0.245 2381 -240.0 2.60 0.063 2233 552.7 168.4 - - 2061 - - - - - - - - 14.17 14.40 14.42
19215 371.3 7.4 873 19220 roll 0.56 - - 2382 - 2.53 0.093 3615 546.2 168.4 - - 2061 - - - - - - - - 14.83 14.31 14.84
19291 365.4 7.7 884 19296 done 0.56 - - 2387 - 2.45 0.057 2240 -561.2 168.4 - - 2060 - - - - - - - - 14.44 14.39 14.48
19608 343.0 7.2 894 19619 roll 0.56 - - 2400 - 2.60 0.073 797 -555.0 172.7 4.18 1.098 2037 -5.5 0.325 - - - - - - 14.82 14.59 13.69
19663 339.1 7.1 902 19683 done 0.56 - - 2401 - 2.58 0.061 2236 557.8 178.5 15.75 1.396 2012 -1.6 0.073 - - - - - - 14.56 14.45 13.94
19993 311.4 8.8 914 19997 roll 0.56 - - 2400 - 2.50 0.090 3609 549.2 178.5 - - 1996 - - - - - - - - 14.78 14.33 14.79
20054 305.1 10.0 923 20059 done 0.56 - - 2411 - 2.45 0.055 2235 -560.8 178.5 - - 1996 - - - - - - - - 14.43 14.39 14.47
20384 273.0 9.9 935 20389 roll 0.56 - - 2420 - 2.62 0.070 788 -552.3 178.5 - - 1995 - - - - - - - - 14.81 14.31 14.83
20454 266.4 9.3 945 20460 done 0.56 0.15 0.238 2384 -240.0 2.60 0.062 2235 556.5 178.5 - - 1994 - - - - - - - - 14.17 14.40 14.44
20776 242.4 7.3 956 20781 roll 0.57 - - 2384 - 2.50 0.088 3613 551.2 180.4 - - 1994 - - - - - - - - 14.83 14.35 14.84
20860 235.9 7.3 968 20865 done 0.57 - - 2392 - 2.40 0.055 2233 -575.0 181.2 - - 1994 - - - - - - - - 14.54 14.45 14.57
21224 210.5 7.1 978 21230 roll 0.57 - - 2401 - 2.62 0.070 790 -550.8 185.9 2.12 0.332 1980 -6.6 0.791 - - - - - - 14.82 14.51 13.58
21286 206.0 7.1 987 21298 done 0.57 - - 2401 - 2.58 0.060 2238 561.2 192.0 4.78 1.166 1966 -2.9 0.098 - - - - - - 14.57 14.46 13.66
21609 180.1 8.2 998 21620 roll 0.57 - - 2401 - 2.50 0.086 3609 548.4 192.0 3.30 0.811 1956 -3.0 0.127 - - - - - - 14.81 14.56 13.73
21678 173.5 9.5 1008 21683 done 0.57 - - 2409 - 2.42 0.053 2233 -568.6 192.0 - - 1963 - - - - - - - - 14.51 14.45 14.53
22001 145.5 8.5 1019 22007 roll 0.57 - - 2420 - 2.65 0.068 788 -545.3 192.0 1.73 0.190 1958 -2.9 0.418 - - - - - - 14.83 14.43 14.30
22070 139.7 8.4 1029 22077 done 0.57 0.12 0.241 2390 -250.0 2.60 0.060 2246 560.8 192.0 - - 1965 - - - - - - - - 14.23 14.41 14.47
22386 118.5 6.4 1039 22407 roll 0.59 - - 2390 - 2.50 0.087 3611 546.0 214.3 17.17 0.467 1865 -5.8 0.279 - - - - - - 14.85 14.54 14.16
22507 110.1 7.2 1056 22518 done 0.59 - - 2397 - 2.40 0.052 2218 -580.4 217.8 4.43 0.300 1853 -2.7 0.188 - - - - - - 14.57 14.48 14.02
22831 89.6 6.4 1069 22855 roll 0.66 - - 2404 - 2.53 0.069 799 -560.9 240.9 17.55 0.386 1762 -5.2 0.227 - - - - - - 14.79 14.53 14.19
22918 84.7 5.3 1082 22958 done 0.80 0.17 0.107 2477 429.4 2.55 0.057 2235 563.1 289.5 33.65 0.392 1561 -6.0 0.244 - - - - - - 14.49 14.45 14.16
23279 62.0 5.7 1100 23309 roll 0.88 - - 2480 - 2.62 0.064 798 -548.5 327.8 26.30 0.316 1403 -6.0 0.223 - - - - - - 14.76 14.47 14.20
23436 54.4 5.2 1123 23477 done 1.03 0.15 0.115 2549 460.0 2.58 0.054 2256 565.1 379.7 35.80 0.296 1191 -5.9 0.206 - - - - - - 14.45 14.45 14.19
23803 28.4 7.5 1142 23804 done 1.03 - - 2549 - - - 2256 - 379.7 - - 1198 - - - - - - - - 14.76 14.78 14.77
24108 3.8 8.1 1153 24114 roll 1.09 - - 2549 - 2.40 0.077 3620 568.3 379.7 - - 1199 - - - - - - - - 14.81 14.42 14.83
24118 end climb: SURFACE_DEPTH_REACHED
24118 begin surface coast
24139 end surface coast: CONTROL_FINISHED_OK
24139 begin surface
SM 0.87 - - - - -6.13 6.65 0.064 221 33.2 2.35 0.052 2284 806.8 500.17 74.05 0.141 699 9.4 -0.006 - - - - - -