SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 167 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 71.73 of 350.00 AH used of 24V (79.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.1 deg, depth 0.98 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 15 s • Transponder ping count: 12
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 107 VBD -0.68 - - 217 - - - 2296 - -116.8 -84.65 - 2937 - - - - - - - - 14.72 - 14.74
111 5.4 -7.7 3 135 roll -0.68 8.98 0.428 1962 194.3 2.75 2.112 3699 510.2 -116.8 -4.75 - 3221 -59.8 - - - - - - - 14.17 13.36 14.53
205 46.0 -35.6 17 211 done -0.40 0.40 0.250 2067 262.5 2.40 0.052 2283 -590.0 -116.8 - - 3223 - - - - - - - - 14.33 14.52 14.56
528 92.5 -9.8 30 532 roll -0.34 - - 2058 - 2.50 0.088 3700 566.8 -116.8 - - 3223 - - - - - - - - 14.85 14.56 14.87
632 102.1 -8.9 45 640 done -0.34 0.08 0.214 2082 300.0 2.38 0.047 2282 -595.8 -116.8 - - 3225 - - - - - - - - 14.47 14.65 14.57
975 121.9 -5.2 52 980 roll -0.34 - - 2082 - 2.35 0.057 889 -592.8 -116.8 - - 3225 - - - - - - - - 14.94 14.69 14.96
1188 135.5 -6.8 82 1192 done -0.34 - - 2082 - 2.45 0.066 2300 575.9 -116.8 - - 3225 - - - - - - - - 14.76 14.66 14.78
1536 160.3 -7.0 90 1540 roll -0.34 - - 2079 - 2.42 0.056 881 -586.4 -116.8 - - 3224 - - - - - - - - 14.97 14.71 14.97
1592 164.0 -6.6 98 1597 done -0.34 - - 2081 - 2.45 0.067 2280 571.0 -116.8 - - 3224 - - - - - - - - 14.81 14.70 14.83
1928 184.1 -5.9 111 1933 roll -0.34 - - 2082 - 2.47 0.093 3701 575.3 -116.8 - - 3221 - - - - - - - - 14.98 14.68 15.00
1969 186.6 -6.1 117 1975 done -0.40 - - 2081 - 2.35 0.052 2270 -608.9 -116.8 - - 3224 - - - - - - - - 14.83 14.77 14.85
2321 207.8 -6.1 125 2326 roll -0.44 - - 2082 - 2.38 0.063 890 -579.8 -116.8 - - 3220 - - - - - - - - 14.98 14.73 15.00
2382 211.9 -6.6 134 2388 done -0.49 0.15 0.122 2017 -433.3 2.42 0.069 2278 573.6 -116.8 - - 3218 - - - - - - - - 14.75 14.71 14.83
2712 241.7 -9.2 146 2712 done -0.49 - - 2017 - - - 2278 - -116.8 - - 3217 - - - - - - - - 14.99 15.01 15.01
3048 271.3 -8.7 152 3049 done -0.49 - - 2017 - - - 2279 - -116.8 - - 3215 - - - - - - - - 15.00 15.02 15.01
3384 299.9 -8.5 158 3388 roll -0.49 - - 2017 - 2.40 0.061 890 -578.8 -116.8 - - 3212 - - - - - - - - 15.00 14.72 15.02
3411 302.5 -9.3 162 3417 done -0.49 - - 2012 - 2.47 0.071 2269 558.3 -116.8 - - 3211 - - - - - - - - 14.75 14.66 14.79
3776 337.2 -9.6 172 3781 roll -0.49 - - 2004 - 2.50 0.097 3692 569.2 -116.8 - - 3209 - - - - - - - - 15.00 14.67 15.02
3803 339.9 -9.6 176 3808 done -0.49 0.10 0.222 2035 310.0 2.38 0.053 2291 -588.7 -116.8 - - 3209 - - - - - - - - 14.51 14.75 14.64
4168 369.1 -7.8 186 4173 roll -0.49 - - 2035 - 2.40 0.063 885 -585.8 -116.8 - - 3209 - - - - - - - - 15.00 14.71 15.02
4237 374.8 -8.0 196 4242 done -0.49 - - 2028 - 2.47 0.073 2284 566.4 -116.8 - - 3207 - - - - - - - - 14.78 14.65 14.81
4560 402.3 -8.8 207 4560 done -0.49 - - 2028 - - - 2283 - -116.8 - - 3204 - - - - - - - - 15.00 15.02 15.02
4896 431.9 -8.8 213 4901 roll -0.49 - - 2028 - 2.42 0.061 884 -578.1 -116.8 - - 3203 - - - - - - - - 15.00 14.71 15.01
4930 435.0 -8.7 218 4935 done -0.49 - - 2025 - 2.50 0.074 2268 553.6 -116.8 - - 3202 - - - - - - - - 14.72 14.65 14.76
5288 463.6 -7.8 227 5293 roll -0.49 - - 2015 - 2.53 0.099 3693 563.2 -116.8 - - 3201 - - - - - - - - 14.99 14.64 15.01
5336 467.6 -8.3 234 5343 done -0.49 - - 2015 - 2.42 0.057 2265 -590.1 -116.8 - - 3200 - - - - - - - - 14.76 14.72 14.79
5680 493.6 -7.4 241 5685 roll -0.49 - - 2015 - 2.38 0.067 891 -577.3 -116.8 - - 3199 - - - - - - - - 14.99 14.69 15.01
5784 501.5 -7.4 256 5791 done -0.49 - - 2015 - 2.47 0.078 2265 556.3 -116.8 - - 3198 - - - - 1 - - - 14.71 14.64 14.75
6128 528.1 -7.9 263 6128 done -0.49 - - 2015 - - - 2266 - -116.8 - - 3196 - - - - - - - - 15.00 15.02 15.01
6463 557.7 -8.9 269 6464 done -0.49 - - 2015 - - - 2265 - -116.8 - - 3195 - - - - - - - - 15.00 15.02 15.02
6800 586.7 -8.5 275 6801 done -0.49 - - 2017 - - - 2265 - -116.8 - - 3194 - - - - - - - - 15.00 15.02 15.01
7136 612.7 -7.6 281 7141 roll -0.49 - - 2015 - 2.40 0.063 890 -572.9 -116.8 - - 3192 - - - - - - - - 15.00 14.69 15.02
7192 617.1 -7.8 289 7197 done -0.49 - - 2015 - 2.47 0.080 2264 556.3 -116.8 - - 3192 - - - - - - - - 14.78 14.64 14.81
7529 642.1 -7.4 302 7529 done -0.49 - - 2015 - - - 2264 - -116.8 - - 3190 - - - - - - - - 14.97 15.00 15.00
7863 667.3 -7.4 308 7864 done -0.49 - - 2015 - - - 2264 - -116.8 - - 3189 - - - - - - - - 14.98 15.00 15.00
8200 692.6 -7.6 314 8204 roll -0.49 - - 2015 - 2.40 0.064 891 -572.1 -116.8 - - 3188 - - - - - - - - 14.99 14.65 15.01
8241 696.0 -8.0 320 8246 done -0.49 - - 2015 - 2.50 0.080 2257 546.4 -116.8 - - 3188 - - - - - - - - 14.78 14.59 14.81
8592 722.7 -7.7 328 8597 roll -0.49 - - 2009 - 2.60 0.106 3702 555.8 -116.8 - - 3187 - - - - - - - - 14.97 14.59 14.99
8619 725.0 -8.2 332 8625 done -0.49 0.08 0.226 2041 400.0 2.50 0.060 2262 -576.0 -116.8 - - 3187 - - - - - - - - 14.45 14.66 14.69
8984 750.8 -7.2 342 8989 roll -0.49 - - 2041 - 2.40 0.068 881 -575.4 -116.8 - - 3186 - - - - - - - - 14.97 14.63 14.98
9054 756.1 -7.6 352 9058 done -0.49 - - 2040 - 2.50 0.083 2263 552.8 -116.8 - - 3185 - - - - - - - - 14.74 14.62 14.78
9375 779.7 -7.3 363 9380 roll -0.49 - - 2039 - 2.60 0.110 3697 551.5 -116.8 - - 3184 - - - - - - - - 14.97 14.56 14.98
9410 782.0 -7.5 368 9415 done -0.49 - - 2039 - 2.50 0.062 2260 -574.8 -116.8 - - 3184 - - - - - - - - 14.69 14.64 14.72
9769 807.1 -6.8 377 9774 roll -0.49 - - 2039 - 2.42 0.070 874 -572.7 -116.8 - - 3182 - - - - - - - - 14.95 14.62 14.97
9851 812.9 -6.9 389 9857 done -0.49 - - 2039 - 2.50 0.084 2257 553.2 -116.8 - - 3179 - - - - - - - - 14.72 14.58 14.76
10216 834.5 -5.8 399 10220 roll -0.49 - - 2031 - 2.60 0.110 3692 551.9 -116.8 - - 3181 - - - - - - - - 14.97 14.54 14.99
10251 836.5 -5.2 404 10255 done -0.49 - - 2033 - 2.45 0.063 2258 -585.3 -116.8 - - 3181 - - - - - - - - 14.75 14.66 14.77
10608 857.7 -5.8 413 10613 roll -0.49 - - 2032 - 2.42 0.071 876 -571.1 -116.8 - - 3181 - - - - - - - - 14.95 14.60 14.97
10684 862.8 -6.5 424 10689 done -0.49 - - 2029 - 2.53 0.086 2263 548.2 -116.8 - - 3180 - - - - - - - - 14.72 14.58 14.76
11000 882.1 -6.2 434 11004 roll -0.49 - - 2025 - 2.60 0.110 3693 550.0 -116.8 - - 3180 - - - - - - - - 14.95 14.54 14.95
11056 885.7 -6.6 442 11061 done -0.49 - - 2025 - 2.47 0.065 2258 -581.0 -116.8 - - 3179 - - - - - - - - 14.74 14.64 14.76
11393 906.9 -6.2 455 11397 roll -0.49 - - 2025 - 2.42 0.073 878 -570.2 -116.8 - - 3178 - - - - - - - - 14.95 14.59 14.96
11468 912.2 -5.6 466 11473 done -0.49 - - 2025 - 2.53 0.086 2260 546.2 -116.8 - - 3178 - - - - - - - - 14.72 14.55 14.73
11784 932.0 -6.3 476 11788 roll -0.49 - - 2021 - 2.60 0.110 3693 551.2 -116.8 - - 3178 - - - - - - - - 14.95 14.53 14.97
11867 937.7 -7.7 488 11872 done -0.49 - - 2020 - 2.50 0.067 2247 -578.4 -116.8 - - 3177 - - - - - - - - 14.72 14.63 14.76
12232 961.3 -6.5 498 12236 roll -0.49 - - 2021 - 2.42 0.079 880 -564.9 -116.8 - - 3177 - - - - - - - - 14.97 14.56 14.97
12308 966.7 -4.6 509 12314 done -0.49 - - 2020 - 2.50 0.086 2255 550.0 -116.8 - - 3176 - - - - - - - - 14.69 14.55 14.73
12624 987.5 -6.6 519 12629 roll -0.49 - - 2012 - 2.62 0.112 3692 548.5 -116.8 - - 3176 - - - - - - - - 14.94 14.52 14.96
12654 end dive: TARGET_DEPTH_EXCEEDED
12654 begin apogee
12665 990.0 -6.0 524 12812 roll -0.19 0.43 0.225 2130 274.4 - - 2212 - - 140.70 2.578 2740 -3.1 0.228 - - - - 1 - 14.38 13.83 12.83
12814 end apogee: CONTROL_FINISHED_OK
12814 begin climb
12818 994.4 - 526 12979 done 0.68 0.93 0.147 2413 304.3 - - 2212 - 116.8 154.85 1.913 2258 -3.1 0.309 - - - - - - 13.83 14.06 13.01
13331 948.0 10.4 564 13336 roll 0.61 - - 2413 - 2.70 0.116 3642 529.6 116.8 - - 2236 - - - - - - - - 14.59 14.26 14.62
13407 938.5 12.2 575 13413 done 0.51 0.22 0.285 2371 -190.9 2.50 0.083 2254 -555.2 116.8 - - 2235 - - - - 1 - - - 14.19 14.37 14.44
13722 910.4 8.8 585 13728 roll 0.51 - - 2381 - 2.65 0.099 821 -540.8 116.8 - - 2233 - - - - - - - - 14.76 14.43 14.78
13764 906.6 9.1 591 13769 done 0.51 - - 2381 - 2.60 0.087 2233 543.1 116.8 - - 2232 - - - - - - - - 14.59 14.46 14.63
14115 872.3 9.9 599 14119 roll 0.51 - - 2381 - 2.60 0.116 3637 540.0 116.8 - - 2232 - - - - - - - - 14.83 14.47 14.84
14184 864.4 11.0 609 14190 done 0.47 0.17 0.271 2351 -176.5 2.47 0.080 2235 -567.6 116.8 - - 2231 - - - - 1 - - - 14.34 14.57 14.61
14507 837.2 8.3 620 14512 roll 0.47 - - 2361 - 2.58 0.095 821 -548.1 116.8 - - 2231 - - - - - - - - 14.85 14.51 14.88
14562 832.8 8.0 628 14567 done 0.47 - - 2361 - 2.60 0.086 2245 547.7 116.8 - - 2230 - - - - - - - - 14.66 14.52 14.69
14899 806.4 7.8 641 14905 roll 0.47 - - 2361 - 2.55 0.115 3639 546.7 116.8 - - 2229 - - - - - - - - 14.90 14.50 14.90
14940 802.6 10.1 647 14946 done 0.47 - - 2371 - 2.53 0.076 2237 -554.2 116.8 - - 2229 - - - - - - - - 14.61 14.54 14.65
15291 774.1 8.2 655 15295 roll 0.47 - - 2381 - 2.58 0.094 821 -548.8 116.8 - - 2229 - - - - - - - - 14.89 14.52 14.91
15360 768.8 8.0 665 15367 done 0.47 0.12 0.272 2359 -183.3 2.58 0.084 2238 549.2 116.8 - - 2228 - - - - - - - - 14.37 14.54 14.64
15683 745.5 7.2 676 15687 roll 0.47 - - 2354 - 2.58 0.112 3639 543.0 119.2 - - 2228 - - - - - - - - 14.89 14.50 14.91
15759 739.1 8.3 687 15764 done 0.47 - - 2364 - 2.53 0.075 2208 -565.6 119.2 - - 2227 - - - - - - - - 14.68 14.56 14.72
16075 714.9 7.7 697 16081 roll 0.47 - - 2374 - 2.53 0.095 824 -547.0 119.2 - - 2227 - - - - - - - - 14.90 14.53 14.95
16116 711.7 7.8 703 16122 done 0.47 - - 2374 - 2.62 0.085 2238 539.7 119.2 - - 2225 - - - - - - - - 14.59 14.52 14.65
16467 683.0 8.2 711 16472 roll 0.47 - - 2374 - 2.58 0.114 3643 544.6 119.2 - - 2227 - - - - - - - - 14.92 14.50 14.93
16543 675.8 9.3 722 16549 done 0.47 0.12 0.271 2356 -150.0 2.47 0.080 2246 -565.6 119.2 - - 2227 - - - - - - - - 14.35 14.57 14.63
16859 651.6 7.7 732 16863 roll 0.47 - - 2367 - 2.60 0.096 823 -547.3 119.2 - - 2227 - - - - - - - - 14.91 14.51 14.93
16928 646.2 7.6 742 16933 done 0.47 - - 2367 - 2.58 0.084 2241 549.6 119.2 - - 2227 - - - - - - - - 14.67 14.53 14.72
17251 620.1 8.2 753 17257 roll 0.47 - - 2370 - 2.58 0.114 3639 541.9 119.2 - - 2226 - - - - - - - - 14.90 14.49 14.92
17320 613.8 9.0 763 17325 done 0.47 - - 2376 - 2.50 0.076 2250 -555.6 119.2 - - 2226 - - - - - - - - 14.61 14.54 14.65
17643 586.6 8.5 774 17647 roll 0.47 - - 2386 - 2.60 0.094 821 -549.6 119.2 - - 2229 - - - - - - - - 14.90 14.51 14.92
17726 579.3 8.6 786 17732 done 0.47 0.12 0.269 2357 -241.7 2.60 0.083 2250 549.6 119.2 - - 2226 - - - - - - - - 14.35 14.54 14.63
18091 550.4 7.9 796 18095 roll 0.47 - - 2357 - 2.58 0.115 3649 542.2 119.2 - - 2227 - - - - - - - - 14.91 14.47 14.94
18160 544.2 8.7 806 18165 done 0.47 - - 2366 - 2.50 0.079 2239 -564.0 119.2 - - 2226 - - - - - - - - 14.68 14.56 14.72
18483 519.8 7.4 817 18488 roll 0.47 - - 2376 - 2.58 0.092 821 -549.6 119.2 - - 2226 - - - - - - - - 14.90 14.51 14.92
18524 516.9 6.8 823 18538 done 0.47 - - 2376 - 2.62 0.083 2239 541.2 131.5 5.15 1.356 2202 -4.7 0.340 - - - - - - 14.58 14.50 13.85
18875 492.3 7.0 831 18895 roll 0.48 - - 2376 - 2.62 0.112 3640 534.7 138.6 14.90 1.593 2168 -2.3 0.135 - - - - - - 14.88 14.56 13.95
18958 485.7 8.1 843 18963 done 0.48 0.08 0.236 2356 -250.0 2.53 0.074 2240 -553.4 138.6 - - 2160 - - - - - - - - 14.35 14.50 14.59
19323 461.2 6.9 853 19334 roll 0.48 - - 2366 - 2.60 0.090 826 -543.8 149.0 4.43 1.267 2133 -6.1 0.424 - - - - - - 14.83 14.58 13.75
19385 456.6 7.4 862 19392 done 0.54 - - 2365 - 2.58 0.082 2240 548.1 149.0 1.98 0.201 2132 - - - - - - - - 14.63 14.52 14.42
19708 430.9 8.1 873 19713 roll 0.54 - - 2366 - 2.58 0.110 3646 545.0 149.0 - - 2140 - - - - - - - - 14.85 14.48 14.86
19777 424.6 9.2 883 19783 done 0.54 - - 2375 - 2.47 0.074 2243 -568.0 149.0 - - 2140 - - - - - - - - 14.66 14.54 14.69
20100 399.5 7.6 894 20106 roll 0.54 - - 2385 - 2.65 0.090 822 -536.2 149.0 1.75 0.197 2131 -5.1 1.994 - - - - - - 14.86 14.49 14.41
20183 393.6 6.8 906 20211 done 0.55 - - 2384 - 2.58 0.080 2242 550.4 161.6 23.58 1.535 2079 -2.2 0.108 - - - - - - 14.66 14.53 13.93
20541 366.9 7.6 922 20545 roll 0.55 - - 2384 - 2.58 0.109 3639 541.5 161.6 - - 2061 - - - - - - - - 14.78 14.44 14.81
20624 359.4 8.9 934 20629 done 0.55 - - 2392 - 2.47 0.073 2239 -566.8 161.6 - - 2060 - - - - - - - - 14.62 14.50 14.64
20989 327.3 8.9 944 20994 roll 0.55 - - 2403 - 2.58 0.087 821 -549.6 161.6 - - 2061 - - - - - - - - 14.84 14.50 14.85
21065 320.4 8.8 955 21070 done 0.55 - - 2403 - 2.62 0.079 2267 551.9 161.6 - - 2059 - - - - - - - - 14.64 14.50 14.69
21381 290.8 9.4 965 21387 roll 0.55 - - 2404 - 2.53 0.109 3645 544.7 161.6 - - 2059 - - - - - - - - 14.86 14.47 14.87
21443 284.3 10.5 974 21449 done 0.55 0.15 0.260 2376 -186.7 2.45 0.073 2256 -566.9 161.6 - - 2057 - - - - - - - - 14.38 14.56 14.62
21773 258.8 7.7 986 21778 roll 0.55 - - 2385 - 2.60 0.088 820 -552.3 161.6 - - 2059 - - - - - - - - 14.88 14.52 14.89
21842 253.3 7.8 996 21847 done 0.60 - - 2385 - 2.60 0.079 2258 553.1 161.6 - - 2060 - - - - - - - - 14.67 14.54 14.71
22165 226.6 8.3 1007 22170 roll 0.60 - - 2386 - 2.53 0.108 3638 545.5 161.6 - - 2060 - - - - - - - - 14.88 14.50 14.90
22241 219.4 9.2 1018 22246 done 0.60 - - 2394 - 2.47 0.070 2250 -561.9 161.6 - - 2059 - - - - - - - - 14.61 14.55 14.66
22557 193.2 8.3 1028 22562 roll 0.60 - - 2404 - 2.58 0.087 821 -553.9 161.6 - - 2060 - - - - - - - - 14.89 14.52 14.91
22605 189.2 8.2 1035 22612 done 0.60 - - 2404 - 2.62 0.078 2252 546.2 161.6 - - 2059 - - - - - - - - 14.59 14.52 14.64
22949 160.0 8.6 1042 22954 roll 0.60 - - 2404 - 2.53 0.108 3637 547.4 161.6 - - 2060 - - - - - - - - 14.94 14.52 14.92
23039 151.4 9.2 1055 23044 done 0.60 - - 2411 - 2.40 0.070 2261 -573.3 161.6 - - 2059 - - - - - - - - 14.70 14.59 14.73
23397 120.2 8.7 1064 23402 roll 0.60 - - 2422 - 2.58 0.085 822 -557.8 161.6 - - 2060 - - - - - - - - 14.90 14.54 14.92
23473 114.0 7.5 1075 23478 done 0.60 - - 2423 - 2.60 0.077 2267 555.8 161.6 - - 2060 - - - - - - - - 14.69 14.56 14.73
23789 91.5 5.7 1087 23816 roll 0.62 - - 2431 - 2.67 0.078 816 -543.4 201.0 22.20 0.405 1919 -6.4 0.274 - - - - - - 14.90 14.60 14.31
23837 89.0 5.2 1091 23877 done 0.65 - - 2431 - 2.62 0.076 2256 549.6 251.5 32.35 0.417 1713 -6.4 0.260 - - - - - - 14.62 14.55 14.28
24213 69.7 4.7 1111 24257 roll 0.78 - - 2431 - 2.58 0.102 3642 537.2 313.1 39.55 0.347 1468 -6.2 0.238 - - - - - - 14.83 14.50 14.27
24358 63.0 4.9 1132 24404 done 0.95 0.22 0.095 2523 418.2 2.40 0.064 2253 -578.8 372.0 38.62 0.324 1223 -6.3 0.236 - - - - - - 14.57 14.54 14.25
24717 39.1 5.6 1150 24748 roll 1.05 - - 2528 - 2.62 0.079 829 -543.5 412.5 27.23 0.247 1057 -6.1 0.185 - - - - - - 14.80 14.50 14.29
24797 34.0 6.5 1162 24818 done 1.19 0.15 0.111 2600 480.0 2.55 0.070 2256 559.6 432.6 14.10 0.231 975 -5.8 0.164 - - - - - - 14.57 14.50 14.29
25130 3.7 9.8 1176 25131 done 1.19 - - 2600 - - - 2256 - 432.6 - - 981 - - - - - - - - 14.83 14.84 14.84
25151 end climb: SURFACE_DEPTH_REACHED
25151 begin surface coast
25179 end surface coast: CONTROL_FINISHED_OK
25179 begin surface
SM 0.94 - - - - -6.13 6.85 0.078 214 31.2 - - 2256 - 500.17 43.65 0.135 699 16.0 -0.011 - - - - - -