SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 666 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 256.08 of 350.00 AH used of 24V (26.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.9 deg, depth 0.80 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 26 s • Transponder ping count: 39
• 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 - - 192 - - - 2228 - -116.8 -89.28 - 3078 - - - - - - - - 14.61 - 14.63
103 4.8 -6.7 3 128 roll -0.68 9.20 0.407 1960 192.2 2.85 2.061 3663 503.5 -116.8 -2.25 - 3221 -63.6 - - - - - - - 13.78 12.78 14.06
170 33.5 -26.1 13 176 done -0.47 0.32 0.257 2042 256.2 2.40 0.043 2259 -585.0 -116.8 - - 3222 - - - - - - - - 13.90 14.31 14.21
498 83.1 -9.6 26 503 roll -0.47 - - 2042 - 2.42 0.047 881 -569.4 -116.8 - - 3222 - - - - - - - - 14.77 14.18 14.78
574 91.0 -9.7 37 586 done -0.47 - - 2042 - 2.50 0.053 2252 548.4 -116.8 - - 3223 - - - - - - - - 14.12 14.07 14.18
922 120.8 -8.4 46 927 roll -0.47 - - 2034 - 2.60 0.073 3691 553.5 -116.8 - - 3223 - - - - - - - - 14.83 13.98 14.85
1062 131.1 -6.4 66 1066 done -0.47 - - 2035 - 2.40 0.037 2281 -587.5 -116.8 - - 3223 - - - - - - - - 14.29 14.23 14.33
1430 155.5 -6.9 76 1434 roll -0.47 - - 2035 - 2.50 0.050 892 -555.6 -116.8 - - 3223 - - - - - - - - 14.85 13.99 14.87
1455 157.9 -7.8 80 1460 done -0.47 - - 2030 - 2.55 0.055 2298 551.4 -116.8 - - 3222 - - - - - - - - 14.19 14.07 14.23
1826 189.9 -9.3 90 1831 roll -0.47 - - 2023 - 2.55 0.076 3689 545.5 -116.8 - - 3221 - - - - - - - - 14.85 13.89 14.87
1886 195.8 -8.8 99 1892 done -0.47 - - 2024 - 2.42 0.040 2276 -583.9 -116.8 - - 3220 - - - - - - - - 14.20 14.09 14.23
2221 223.8 -8.4 111 2226 roll -0.47 - - 2023 - 2.53 0.050 884 -550.2 -116.8 - - 3218 - - - - - - - - 14.86 13.92 14.88
2304 231.3 -8.4 123 2309 done -0.47 - - 2023 - 2.58 0.054 2297 547.7 -116.8 - - 3217 - - - - - - - - 14.13 14.01 14.17
2672 261.6 -8.3 133 2677 roll -0.47 - - 2018 - 2.58 0.079 3692 540.7 -116.8 - - 3215 - - - - - - - - 14.86 13.90 14.88
2754 269.1 -8.3 145 2761 done -0.47 0.12 0.213 2047 241.7 2.42 0.040 2279 -583.9 -116.8 - - 3215 - - - - - - - - 13.75 14.09 13.95
3124 301.1 -9.1 155 3129 roll -0.52 - - 2047 - 2.50 0.052 893 -554.4 -116.8 - - 3213 - - - - - - - - 14.86 13.83 14.88
3192 307.8 -8.9 165 3198 done -0.57 - - 2043 - 2.55 0.053 2290 547.8 -116.8 - - 3213 - - - - - - - - 14.09 13.97 14.14
3521 332.1 -7.2 176 3526 roll -0.57 - - 2040 - 2.60 0.082 3695 540.4 -116.8 - - 3211 - - - - - - - - 14.85 13.93 14.87
3596 336.8 -5.7 187 3601 done -0.65 0.15 0.115 1975 -433.3 2.45 0.041 2280 -577.6 -116.8 - - 3210 - - - - - - - - 14.00 14.10 14.10
3918 366.6 -9.8 197 3923 roll -0.60 0.12 0.259 2008 275.0 2.53 0.050 894 -547.8 -116.8 - - 3208 - - - - - - - - 13.78 13.84 13.82
4000 374.6 -8.1 209 4007 done -0.60 - - 2002 - 2.60 0.054 2285 535.0 -116.8 - - 3207 - - - - - - - - 13.95 13.88 14.12
4370 406.8 -8.9 219 4375 roll -0.60 - - 1999 - 2.62 0.083 3699 539.7 -116.8 - - 3206 - - - - - - - - 14.86 13.89 14.88
4460 414.9 -8.5 232 4465 done -0.60 - - 1999 - 2.42 0.040 2293 -581.0 -116.8 - - 3205 - - - - - - - - 14.14 14.08 14.17
4822 447.8 -9.4 241 4827 roll -0.60 - - 1999 - 2.58 0.055 886 -545.3 -116.8 - - 3204 - - - - - - - - 14.86 13.79 14.88
4897 455.9 -9.5 252 4903 done -0.60 - - 1999 - 2.60 0.056 2292 540.8 -116.8 - - 3203 - - - - - - - - 14.09 13.96 14.14
5219 486.6 -9.7 262 5224 roll -0.60 - - 1997 - 2.60 0.083 3689 537.3 -116.8 - - 3202 - - - - - - - - 14.85 13.93 14.86
5280 492.2 -9.1 270 5284 done -0.60 - - 1997 - 2.45 0.044 2293 -569.8 -116.8 - - 3201 - - - - - - - - 14.12 14.04 14.15
5618 521.6 -8.5 283 5623 roll -0.60 - - 1997 - 2.58 0.056 889 -544.2 -116.8 - - 3200 - - - - - - - - 14.86 13.83 14.88
5714 530.2 -8.3 297 5720 done -0.60 - - 1997 - 2.60 0.057 2290 538.8 -116.8 - - 3199 - - - - - - - - 14.09 13.95 14.14
6070 561.5 -9.1 305 6075 roll -0.60 - - 1993 - 2.60 0.084 3687 537.3 -116.8 - - 3198 - - - - - - - - 14.85 13.91 14.88
6159 570.1 -9.1 318 6165 done -0.60 - - 1993 - 2.47 0.044 2277 -570.9 -116.8 - - 3197 - - - - - - - - 14.11 14.02 14.14
6523 604.9 -9.8 327 6528 roll -0.60 - - 1993 - 2.55 0.054 890 -543.9 -116.8 - - 3196 - - - - - - - - 14.84 13.81 14.85
6591 612.2 -9.6 337 6597 done -0.60 - - 1991 - 2.60 0.057 2292 539.2 -116.8 - - 3196 - - - - - - - - 14.09 13.96 14.14
6919 644.7 -10.1 348 6924 roll -0.60 - - 1986 - 2.62 0.086 3687 532.4 -116.8 - - 3195 - - - - - - - - 14.85 13.92 14.87
7023 654.8 -9.2 363 7034 done -0.60 - - 1986 - 2.53 0.046 2283 -554.9 -116.8 - - 3194 - - - - - - - - 14.01 13.97 14.04
7370 686.8 -9.2 370 7375 roll -0.60 - - 1986 - 2.58 0.055 880 -543.8 -116.8 - - 3193 - - - - - - - - 14.85 13.88 14.88
7487 696.7 -9.0 386 7492 done -0.60 - - 1986 - 2.65 0.060 2291 532.5 -116.8 - - 3192 - - - - - - - - 14.10 13.95 14.14
7826 725.7 -8.6 399 7830 roll -0.60 - - 1984 - 2.62 0.088 3692 534.7 -116.8 - - 3191 - - - - - - - - 14.85 13.92 14.87
7872 729.7 -8.4 406 7883 done -0.60 - - 1984 - 2.53 0.046 2286 -555.7 -116.8 - - 3191 - - - - - - - - 14.04 13.99 14.07
8221 761.4 -9.3 413 8227 roll -0.60 - - 1984 - 2.58 0.057 885 -543.0 -116.8 - - 3189 - - - - - - - - 14.84 13.90 14.85
8281 767.2 -10.6 421 8287 done -0.60 - - 1984 - 2.62 0.060 2284 534.0 -116.8 - - 3189 - - - - - - - - 14.08 13.94 14.12
8621 799.3 -9.5 434 8626 roll -0.60 - - 1980 - 2.65 0.090 3694 532.1 -116.8 - - 3188 - - - - - - - - 14.85 13.94 14.86
8662 803.0 -8.1 440 8667 done -0.60 - - 1980 - 2.50 0.045 2276 -567.2 -116.8 - - 3188 - - - - - - - - 14.08 14.00 14.12
9017 834.2 -8.6 448 9021 roll -0.60 - - 1980 - 2.58 0.057 889 -537.6 -116.8 - - 3187 - - - - - - - - 14.85 13.89 14.86
9075 839.1 -9.8 456 9081 done -0.60 0.12 0.262 2000 166.7 2.62 0.058 2288 534.0 -116.8 - - 3187 - - - - - - - - 13.66 13.95 13.92
9416 862.6 -6.9 469 9422 roll -0.60 - - 1999 - 2.65 0.090 3693 530.2 -116.8 - - 3186 - - - - - - - - 14.83 13.95 14.85
9485 867.2 -7.1 479 9490 done -0.65 - - 1999 - 2.53 0.047 2274 -560.9 -116.8 - - 3185 - - - - - - - - 14.12 14.03 14.14
9812 893.0 -8.1 490 9817 roll -0.65 - - 1998 - 2.58 0.057 879 -540.7 -116.8 - - 3185 - - - - - - - - 14.83 13.90 14.85
9859 896.7 -8.7 497 9871 done -0.65 - - 1998 - 2.67 0.060 2278 524.0 -116.8 - - 3184 - - - - - - - - 13.99 13.92 14.04
10207 927.1 -8.7 504 10212 roll -0.65 - - 1998 - 2.67 0.089 3696 531.1 -116.8 - - 3183 - - - - - - - - 14.83 13.95 14.85
10268 932.4 -11.0 513 10274 done -0.71 - - 1998 - 2.53 0.046 2274 -562.1 -116.8 - - 3183 - - - - - - - - 14.09 14.02 14.13
10603 960.7 -8.5 525 10609 roll -0.71 - - 1998 - 2.58 0.057 890 -536.4 -116.8 - - 3181 - - - - - - - - 14.82 13.91 14.83
10637 963.2 -7.5 530 10642 done -0.71 - - 1998 - 2.62 0.059 2286 532.8 -116.8 - - 3182 - - - - - - - - 14.09 13.95 14.14
10995 end dive: TARGET_DEPTH_EXCEEDED
10995 begin apogee
11005 992.4 -7.9 539 11204 roll -0.19 0.50 0.203 2129 262.0 - - 2191 - - 197.10 1.579 2739 -2.2 0.271 - - - - - - 13.66 13.91 13.14
11205 end apogee: CONTROL_FINISHED_OK
11205 begin climb
11209 997.8 - 542 11374 roll 0.68 0.98 0.142 2414 290.8 2.60 0.059 811 -530.8 116.8 153.32 1.785 2261 -3.1 0.335 - - - - - - 13.70 13.83 13.02
11467 987.9 8.9 585 11473 done 0.68 - - 2414 - 2.58 0.057 2204 539.9 116.8 - - 2233 - - - - - - - - 14.14 14.02 14.19
11786 962.7 8.4 595 11791 roll 0.63 - - 2414 - 2.60 0.089 3617 543.5 116.8 - - 2228 - - - - - - - - 14.73 14.12 14.75
11833 957.0 9.6 602 11845 done 0.55 0.15 0.240 2384 -200.0 2.55 0.057 2210 -551.8 116.8 - - 2227 - - - - - - - - 13.80 14.12 13.98
12183 934.0 6.8 609 12193 roll 0.55 - - 2394 - 2.65 0.069 793 -534.7 129.0 2.72 0.814 2211 -5.9 1.296 - - - - - - 14.78 14.14 13.17
12270 927.1 7.5 622 12276 done 0.55 - - 2394 - 2.62 0.057 2223 545.8 129.0 - - 2215 - - - - - - - - 14.23 14.09 14.28
12634 904.0 6.7 631 12668 roll 0.56 - - 2394 - 2.53 0.087 3613 549.4 144.2 29.52 1.686 2149 -2.2 0.230 - - - - - - 14.80 14.06 13.43
12697 898.0 11.1 641 12704 done 0.56 - - 2403 - 2.53 0.057 2189 -562.8 144.2 - - 2140 - - - - - - - - 14.29 14.18 14.33
13026 871.9 8.5 652 13031 roll 0.56 - - 2414 - 2.58 0.070 794 -540.7 144.2 - - 2137 - - - - - - - - 14.73 14.09 14.75
13110 863.4 10.7 664 13115 done 0.56 0.12 0.253 2388 -216.7 2.58 0.057 2201 545.3 144.2 - - 2136 - - - - - - - - 13.87 14.16 14.16
13478 834.1 8.3 674 13483 roll 0.56 - - 2387 - 2.62 0.086 3617 540.5 144.2 - - 2136 - - - - - - - - 14.78 14.00 14.81
13555 826.3 9.7 685 13560 done 0.56 - - 2397 - 2.53 0.054 2188 -564.8 144.2 - - 2134 - - - - - - - - 14.26 14.16 14.31
13874 801.3 8.0 695 13879 roll 0.56 - - 2407 - 2.60 0.069 797 -535.0 144.2 - - 2134 - - - - - - - - 14.81 13.96 14.82
13989 792.5 6.0 711 14049 done 0.58 - - 2407 - 2.58 0.055 2198 543.0 175.8 53.88 1.508 2021 -2.1 0.212 - - - - - - 14.21 14.09 13.38
14388 761.1 8.0 732 14393 roll 0.58 - - 2407 - 2.60 0.086 3611 543.5 175.8 - - 2003 - - - - - - - - 14.68 14.07 14.69
14436 755.8 9.1 739 14447 done 0.58 0.08 0.235 2395 -150.0 2.55 0.055 2201 -552.9 175.8 - - 2002 - - - - - - - - 13.81 14.12 13.96
14784 730.3 7.6 746 14789 roll 0.58 - - 2405 - 2.62 0.070 786 -540.1 175.8 - - 2002 - - - - - - - - 14.76 14.04 14.78
14930 718.7 7.3 767 14935 done 0.58 - - 2405 - 2.58 0.057 2189 543.8 176.4 - - 2000 - - - - - - - - 14.25 14.12 14.31
15292 690.6 8.0 776 15297 roll 0.58 - - 2405 - 2.65 0.086 3606 534.7 176.4 - - 2000 - - - - - - - - 14.80 13.98 14.81
15333 686.3 9.4 782 15338 done 0.58 - - 2415 - 2.53 0.052 2181 -563.2 176.4 - - 2000 - - - - - - - - 14.26 14.16 14.31
15687 656.7 8.5 790 15692 roll 0.58 - - 2425 - 2.60 0.068 787 -536.2 176.4 - - 1999 - - - - - - - - 14.81 13.97 14.83
15804 647.0 7.7 806 15810 done 0.58 0.15 0.241 2392 -220.0 2.58 0.057 2183 541.1 176.4 - - 1999 - - - - - - - - 13.76 14.09 14.08
16144 622.9 7.0 819 16153 roll 0.59 - - 2392 - 2.65 0.083 3608 537.7 185.3 2.60 0.690 1980 -7.3 1.266 - - - - - - 14.81 14.06 13.26
16200 618.8 7.4 827 16204 done 0.59 - - 2402 - 2.53 0.051 2177 -565.6 185.3 - - 1986 - - - - - - - - 14.33 14.23 14.37
16540 594.5 7.2 840 16550 roll 0.59 - - 2412 - 2.53 0.070 791 -547.8 188.8 3.42 1.026 1969 -5.0 0.553 - - - - - - 14.80 14.17 13.38
16642 586.6 7.1 855 16654 done 0.59 - - 2412 - 2.58 0.055 2179 538.0 193.6 5.05 1.352 1950 -3.8 0.313 - - - - - - 14.17 14.09 13.45
16992 558.7 8.4 862 17001 roll 0.59 - - 2412 - 2.65 0.083 3613 541.1 193.6 2.62 0.686 1949 - - - - - - - - 14.78 14.11 13.29
17071 550.4 9.7 874 17078 done 0.59 0.08 0.223 2398 -175.0 2.58 0.054 2184 -553.9 193.6 1.83 0.174 1948 - - - - - - - - 13.85 14.15 13.99
17443 519.8 8.4 884 17453 roll 0.59 - - 2407 - 2.60 0.064 797 -533.5 193.6 1.90 0.185 1950 - - - - - - - - 14.78 13.95 13.94
17566 509.1 8.1 902 17572 done 0.59 - - 2407 - 2.53 0.054 2180 546.6 193.6 1.75 0.189 1949 - - - - - - - - 14.18 14.06 13.90
17886 485.3 7.4 912 17896 roll 0.59 - - 2407 - 2.67 0.082 3605 533.7 193.6 1.75 0.187 1952 1.7 -0.854 - - - - - - 14.80 13.93 13.94
17931 481.4 8.0 919 17943 done 0.59 - - 2417 - 2.60 0.050 2167 -553.1 193.6 1.80 0.175 1947 -2.8 1.467 - - - - - - 14.04 13.99 13.89
18279 455.2 7.8 926 18284 roll 0.59 - - 2424 - 2.53 0.064 796 -541.9 193.6 1.45 0.194 1950 2.1 -0.932 - - - - - - 14.80 13.97 13.91
18396 445.9 7.8 942 18402 done 0.59 0.12 0.249 2397 -225.0 2.55 0.053 2173 540.0 193.6 1.58 0.190 1949 - - - - - - - - 13.71 14.01 13.92
18736 420.6 7.5 955 18742 roll 0.59 - - 2397 - 2.65 0.080 3606 540.8 193.6 1.77 0.186 1947 - - - - - - - - 14.81 13.96 13.93
18812 413.9 8.5 966 18818 done 0.59 - - 2406 - 2.55 0.049 2174 -561.6 193.6 1.55 0.191 1948 - - - - - - - - 14.16 14.07 13.90
19134 391.6 7.0 976 19167 roll 0.60 - - 2406 - 2.60 0.070 800 -528.5 202.5 24.73 1.246 1910 -1.5 0.093 - - - - - - 14.78 14.15 13.59
19245 384.5 6.0 992 19305 done 0.62 - - 2406 - 2.50 0.053 2176 550.4 234.1 53.88 1.199 1783 -2.4 0.145 - - - - - - 14.33 14.22 13.43
19643 356.8 7.4 1013 19649 roll 0.62 - - 2407 - 2.62 0.081 3605 545.4 234.1 - - 1766 - - - - - - - - 14.66 14.06 14.68
19740 347.3 9.0 1027 19745 done 0.62 - - 2416 - 2.50 0.048 2181 -569.6 234.1 - - 1765 - - - - - - - - 14.28 14.19 14.31
20096 317.1 8.7 1035 20101 roll 0.62 - - 2424 - 2.58 0.066 798 -536.0 234.1 - - 1765 - - - - - - - - 14.75 14.03 14.77
20199 307.4 8.9 1050 20211 done 0.62 - - 2424 - 2.55 0.053 2171 538.4 234.1 - - 1765 - - - - - - - - 14.09 14.02 14.14
20548 275.8 9.2 1057 20554 roll 0.62 - - 2424 - 2.67 0.082 3605 537.1 234.1 - - 1765 - - - - - - - - 14.79 13.97 14.81
20609 270.1 9.5 1065 20615 done 0.62 0.15 0.230 2396 -186.7 2.53 0.049 2179 -563.6 234.1 - - 1764 - - - - - - - - 13.84 14.16 14.12
20950 246.6 6.7 1078 20977 roll 0.67 - - 2405 - 2.58 0.065 791 -538.0 249.2 19.48 1.128 1719 -2.3 0.097 - - - - - - 14.81 14.24 13.65
21076 237.6 7.3 1096 21081 done 0.74 0.10 0.157 2448 430.0 2.50 0.052 2182 556.4 249.6 - - 1712 - - - - - - - - 14.22 14.27 14.37
21401 208.3 9.1 1107 21406 roll 0.74 - - 2448 - 2.60 0.078 3614 550.8 249.6 - - 1712 - - - - - - - - 14.77 14.06 14.78
21470 200.9 10.3 1117 21476 done 0.74 - - 2457 - 2.55 0.051 2164 -568.6 249.6 - - 1711 - - - - - - - - 14.30 14.20 14.35
21797 166.4 10.9 1128 21802 roll 0.74 - - 2467 - 2.55 0.064 786 -540.4 249.6 - - 1711 - - - - - - - - 14.80 14.02 14.81
21900 155.0 10.0 1143 21911 done 0.74 - - 2467 - 2.58 0.054 2165 534.5 249.6 - - 1710 - - - - - - - - 14.07 14.00 14.11
22249 119.3 10.2 1150 22254 roll 0.74 - - 2467 - 2.67 0.080 3612 541.9 249.6 - - 1710 - - - - - - - - 14.80 13.95 14.82
22319 110.8 10.8 1160 22325 done 0.74 0.15 0.260 2444 -153.3 2.58 0.050 2163 -561.6 249.6 - - 1711 - - - - - - - - 13.75 14.14 14.07
22650 89.7 5.7 1174 22681 roll 0.77 - - 2451 - 2.50 0.064 789 -549.6 289.7 25.90 0.385 1558 -5.9 0.264 - - - - - - 14.78 14.28 13.89
22769 82.3 6.2 1190 22794 done 0.88 - - 2451 - 2.50 0.051 2171 552.8 316.5 21.52 0.363 1449 -5.1 0.220 - - - - - - 14.32 14.21 13.83
23105 66.5 3.6 1205 23183 roll 1.08 0.25 0.086 2568 468.0 2.65 0.078 3613 544.2 405.8 63.15 0.329 1086 -5.7 0.223 - - - - - - 14.15 13.97 13.91
23244 55.0 10.1 1225 23250 done 1.08 - - 2576 - 2.58 0.050 2155 -565.1 405.8 - - 1089 - - - - - - - - 14.31 14.22 14.35
23585 25.8 9.0 1240 23590 roll 1.08 - - 2576 - 2.67 0.073 3610 544.9 405.8 - - 1089 - - - - - - - - 14.76 13.97 14.77
23603 23.3 9.2 1243 23615 done 1.08 0.10 0.206 2555 -210.0 2.60 0.048 2163 -556.5 405.8 - - 1089 - - - - - - - - 13.70 14.00 13.85
23892 end climb: SURFACE_DEPTH_REACHED
23893 begin surface coast
23920 end surface coast: CONTROL_FINISHED_OK
23920 begin surface
SM 0.83 - - - - -6.13 6.93 0.065 215 31.0 0.22 0.062 2343 -12650.0 500.17 61.88 0.132 697 11.3 -0.007 - - - - - -