SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 98 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 46.36 of 350.00 AH used of 24V (86.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 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: 38 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
14 - - - 100 VBD -0.68 - - 217 - - - 2301 - -116.8 -84.60 - 2859 - - - - - - - - 14.77 - 14.80
104 4.0 -5.2 3 128 roll -0.68 8.90 0.434 1964 196.3 2.67 2.129 3680 516.5 -116.8 -6.65 - 3219 -54.1 - - - - - - - 14.31 13.53 14.62
243 51.6 -28.4 23 248 done -0.43 0.35 0.298 2051 248.6 2.35 0.047 2266 -601.7 -116.8 - - 3221 - - - - - - - - 14.43 14.61 14.64
578 96.1 -7.3 38 583 roll -0.35 0.12 0.282 2086 291.7 2.35 0.054 875 -591.9 -116.8 - - 3223 - - - - - - - - 14.56 14.69 14.68
815 111.4 -6.0 72 821 done -0.35 - - 2081 - 2.42 0.068 2249 567.8 -116.8 - - 3224 - - - - - - - - 14.77 14.71 14.79
1138 129.2 -5.7 83 1142 roll -0.35 - - 2080 - 2.50 0.090 3694 578.0 -116.8 - - 3225 - - - - - - - - 14.98 14.73 15.00
1242 135.8 -6.3 98 1249 done -0.35 - - 2081 - 2.40 0.047 2251 -601.2 -116.8 - - 3224 - - - - - - - - 14.83 14.81 14.85
1586 156.9 -6.4 105 1591 roll -0.35 - - 2081 - 2.30 0.057 894 -590.0 -116.8 - - 3225 - - - - - - - - 15.01 14.79 15.04
1690 163.9 -6.7 120 1697 done -0.35 - - 2081 - 2.42 0.072 2260 564.5 -116.8 - - 3221 - - - - - - - - 14.83 14.77 14.85
2034 185.9 -6.4 127 2038 roll -0.35 - - 2078 - 2.50 0.093 3696 574.4 -116.8 - - 3220 - - - - - - - - 15.02 14.79 15.04
2082 189.0 -6.6 134 2088 done -0.41 - - 2078 - 2.40 0.051 2260 -598.3 -116.8 - - 3219 - - - - - - - - 14.85 14.83 14.90
2426 210.6 -6.3 141 2432 roll -0.41 - - 2078 - 2.33 0.060 896 -585.4 -116.8 - - 3217 - - - - - - - - 15.02 14.81 15.04
2495 215.3 -6.8 151 2500 done -0.46 - - 2074 - 2.40 0.075 2267 571.2 -116.8 - - 3217 - - - - - - - - 14.89 14.79 14.91
2818 236.3 -6.6 162 2822 roll -0.46 - - 2069 - 2.50 0.095 3699 572.8 -116.8 - - 3214 - - - - - - - - 15.03 14.76 15.07
2860 239.2 -7.0 168 2864 done -0.51 - - 2069 - 2.38 0.054 2270 -600.4 -116.8 - - 3214 - - - - - - - - 14.92 14.85 14.92
3210 263.0 -6.8 176 3215 roll -0.51 0.10 0.161 2027 -420.0 2.35 0.060 887 -588.5 -116.8 - - 3211 - - - - - - - - 14.83 14.81 14.89
3300 270.7 -8.5 189 3306 done -0.51 - - 2018 - 2.40 0.075 2260 572.1 -116.8 - - 3210 - - - - - - - - 14.89 14.79 14.93
3657 299.7 -8.0 198 3662 roll -0.51 - - 2008 - 2.50 0.095 3697 574.8 -116.8 - - 3208 - - - - - - - - 15.04 14.76 15.06
3699 303.1 -8.1 204 3704 done -0.51 - - 2011 - 2.38 0.054 2262 -602.9 -116.8 - - 3208 - - - - - - - - 14.93 14.84 14.92
4050 330.9 -8.0 212 4054 roll -0.51 - - 2011 - 2.35 0.063 881 -587.7 -116.8 - - 3205 - - - - - - - - 15.04 14.81 15.05
4140 339.0 -8.9 225 4146 done -0.51 0.12 0.285 2031 166.7 2.42 0.078 2253 566.9 -116.8 - - 3205 - - - - - - - - 14.66 14.78 14.85
4498 367.9 -8.1 234 4502 roll -0.51 - - 2020 - 2.53 0.097 3693 569.2 -116.8 - - 3203 - - - - - - - - 15.04 14.76 15.05
4539 371.6 -8.9 240 4544 done -0.51 - - 2020 - 2.42 0.056 2244 -598.8 -116.8 - - 3202 - - - - - - - - 14.90 14.83 14.92
4889 401.9 -8.6 248 4894 roll -0.51 - - 2020 - 2.33 0.065 886 -582.8 -116.8 - - 3201 - - - - - - - - 15.03 14.78 15.08
4924 404.8 -8.5 253 4930 done -0.51 - - 2012 - 2.47 0.077 2260 556.3 -116.8 - - 3200 - - - - - - - - 14.83 14.77 14.87
5282 433.9 -8.0 262 5283 done -0.51 - - 2012 - - - 2260 - -116.8 - - 3199 - - - - - - - - 15.03 15.06 15.04
5618 460.7 -8.0 268 5623 roll -0.51 - - 2004 - 2.53 0.100 3692 566.0 -116.8 - - 3197 - - - - - - - - 15.04 14.76 15.05
5659 464.4 -9.1 274 5665 done -0.51 0.12 0.268 2033 241.7 2.40 0.056 2258 -597.5 -116.8 - - 3196 - - - - - - - - 14.64 14.83 14.84
6010 490.7 -7.4 282 6014 roll -0.51 - - 2036 - 2.35 0.065 887 -583.4 -116.8 - - 3195 - - - - - - - - 15.02 14.80 15.04
6072 495.5 -7.7 291 6077 done -0.51 - - 2026 - 2.42 0.079 2258 566.5 -116.8 - - 3195 - - - - - - - - 14.88 14.77 14.90
6401 520.1 -7.4 303 6406 roll -0.51 - - 2015 - 2.55 0.102 3701 565.9 -116.8 - - 3194 - - - - - - - - 15.03 14.75 15.04
6464 525.2 -8.3 312 6469 done -0.51 - - 2015 - 2.47 0.059 2259 -583.8 -116.8 - - 3193 - - - - - - - - 14.84 14.80 14.87
6794 550.9 -7.7 324 6799 roll -0.51 - - 2016 - 2.38 0.067 874 -581.9 -116.8 - - 3192 - - - - - - - - 15.02 14.78 15.04
6856 555.7 -7.6 333 6862 done -0.51 - - 2011 - 2.47 0.085 2257 559.9 -116.8 - - 3194 - - - - - - - - 14.87 14.76 14.89
7186 580.5 -7.5 345 7191 roll -0.51 - - 2006 - 2.55 0.105 3692 562.7 -116.8 - - 3190 - - - - - - - - 15.02 14.73 15.04
7227 583.7 -7.9 351 7232 done -0.51 - - 2006 - 2.42 0.059 2248 -596.7 -116.8 - - 3190 - - - - - - - - 14.88 14.81 14.90
7578 610.8 -7.7 359 7582 roll -0.51 - - 2005 - 2.35 0.068 883 -580.9 -116.8 - - 3189 - - - - - - - - 15.02 14.76 15.04
7619 614.1 -7.9 365 7625 done -0.51 0.08 0.270 2034 362.5 2.50 0.083 2252 547.6 -116.8 - - 3189 - - - - - - - - 14.59 14.74 14.81
7970 638.5 -7.1 373 7976 roll -0.51 - - 2025 - 2.58 0.106 3701 561.6 -116.8 - - 3188 - - - - - - - - 15.02 14.72 15.03
8011 641.6 -7.8 379 8016 done -0.51 - - 2025 - 2.47 0.060 2261 -583.0 -116.8 - - 3187 - - - - - - - - 14.82 14.78 14.85
8362 669.2 -8.0 387 8366 roll -0.51 - - 2031 - 2.38 0.070 878 -581.1 -116.8 - - 3186 - - - - - - - - 15.02 14.76 15.04
8438 675.4 -8.0 398 8443 done -0.51 - - 2025 - 2.50 0.087 2266 555.2 -116.8 - - 3185 - - - - - - - - 14.84 14.73 14.87
8754 697.9 -7.0 408 8754 done -0.51 - - 2025 - - - 2266 - -116.8 - - 3185 - - - - - - - - 15.02 15.04 15.04
9090 719.6 -6.4 414 9095 roll -0.51 - - 2017 - 2.55 0.106 3692 559.2 -116.8 - - 3184 - - - - - - - - 15.01 14.71 15.03
9131 722.4 -6.8 420 9136 done -0.51 - - 2017 - 2.45 0.062 2250 -588.6 -116.8 - - 3184 - - - - - - - - 14.87 14.80 14.90
9482 746.5 -6.8 428 9483 done -0.51 - - 2017 - - - 2243 - -116.8 - - 3183 - - - - - - - - 15.00 15.02 15.02
9818 769.7 -6.9 434 9822 roll -0.51 - - 2017 - 2.38 0.073 884 -571.0 -116.8 - - 3182 - - - - - - - - 15.00 14.73 15.02
9859 773.1 -8.4 440 9864 done -0.51 - - 2012 - 2.47 0.085 2264 558.7 -116.8 - - 3182 - - - - - - - - 14.83 14.71 14.85
10210 798.8 -7.5 448 10211 done -0.51 - - 2012 - - - 2263 - -116.8 - - 3181 - - - - - - - - 15.01 15.02 15.02
10546 823.1 -7.1 454 10551 roll -0.51 - - 2007 - 2.58 0.108 3698 556.2 -116.8 - - 3179 - - - - - - - - 15.01 14.70 15.02
10580 825.6 -7.0 459 10586 done -0.51 - - 2007 - 2.50 0.062 2259 -575.6 -116.8 - - 3179 - - - - - - - - 14.80 14.75 14.82
10938 849.5 -6.4 468 10943 roll -0.51 - - 2007 - 2.40 0.073 878 -575.4 -116.8 - - 3177 - - - - - - - - 15.00 14.71 15.02
11014 854.6 -5.9 479 11019 done -0.51 0.15 0.285 2033 173.3 2.50 0.088 2258 552.0 -116.8 - - 3178 - - - - - - - - 14.53 14.69 14.77
11330 870.5 -4.9 489 11335 roll -0.51 - - 2025 - 2.60 0.111 3699 554.2 -116.8 - - 3179 - - - - - - - - 14.99 14.67 15.00
11357 871.9 -5.9 493 11363 done -0.51 - - 2026 - 2.47 0.067 2246 -588.3 -116.8 - - 3177 - - - - - - - - 14.83 14.76 14.85
11722 891.5 -5.3 503 11722 done -0.51 - - 2025 - - - 2245 - -116.8 - - 3177 - - - - - - - - 14.98 15.00 15.00
12058 911.9 -6.2 509 12064 roll -0.51 - - 2018 - 2.65 0.119 3691 545.7 -116.8 - - 3178 - - - - - - - - 14.99 14.65 15.01
12092 914.3 -6.2 514 12098 done -0.51 - - 2018 - 2.47 0.070 2265 -577.3 -116.8 - - 3176 - - - - - - - - 14.82 14.73 14.85
12450 938.8 -6.9 523 12454 roll -0.51 - - 2018 - 2.42 0.076 878 -573.1 -116.8 - - 3176 - - - - - - - - 14.98 14.68 15.00
12533 945.1 -7.4 535 12538 done -0.51 - - 2015 - 2.53 0.092 2264 547.8 -116.8 - - 3175 - - - - - - - - 14.80 14.66 14.83
12898 970.2 -6.8 545 12898 done -0.51 - - 2017 - - - 2264 - -116.8 - - 3174 - - - - - - - - 14.97 15.00 15.00
13230 end dive: TARGET_DEPTH_EXCEEDED
13230 begin apogee
13238 992.7 -6.6 551 13423 roll -0.19 0.43 0.235 2130 262.8 - - 2264 - - 182.85 1.666 2741 -2.4 0.261 - - - - - - 14.51 14.04 13.50
13424 end apogee: CONTROL_FINISHED_OK
13425 begin climb
13428 996.9 - 554 13585 roll 0.68 0.93 0.163 2407 297.8 2.70 0.071 828 -531.9 116.8 145.52 1.929 2261 -3.3 0.316 - - - - - - 14.00 14.05 13.24
13654 978.7 10.1 590 13660 done 0.68 - - 2411 - 2.67 0.092 2232 525.8 116.8 - - 2238 - - - - - - - - 14.19 14.08 14.21
14020 938.8 10.9 600 14024 roll 0.62 - - 2416 - 2.60 0.094 837 -536.5 116.8 - - 2231 - - - - - - - - 14.68 14.44 14.69
14144 925.6 10.3 618 14150 done 0.62 - - 2416 - 2.65 0.093 2239 529.1 116.8 - - 2230 - - - - - - - - 14.53 14.46 14.57
14468 890.2 11.1 629 14473 roll 0.56 0.12 0.304 2384 -266.7 2.60 0.119 3647 541.5 116.8 - - 2228 - - - - - - - - 14.42 14.52 14.57
14543 881.9 10.4 640 14549 done 0.51 - - 2393 - 2.50 0.083 2248 -559.6 116.8 - - 2227 - - - - - - - - 14.69 14.59 14.71
14859 851.4 9.7 650 14864 roll 0.51 - - 2404 - 2.60 0.101 824 -547.7 116.8 - - 2227 - - - - - - - - 14.87 14.59 14.90
14894 848.1 10.0 655 14899 done 0.51 0.15 0.272 2370 -226.7 2.60 0.094 2242 545.4 116.8 - - 2227 - - - - - - - - 14.50 14.61 14.71
15251 818.7 8.3 664 15256 roll 0.51 - - 2367 - 2.58 0.119 3641 542.2 116.8 - - 2226 - - - - - - - - 14.90 14.61 14.92
15334 811.0 9.1 676 15340 done 0.51 - - 2380 - 2.45 0.082 2244 -570.2 116.8 - - 2226 - - - - 1 - - - 14.76 14.66 14.78
15699 779.9 8.5 686 15704 roll 0.51 - - 2389 - 2.58 0.098 822 -551.2 116.8 - - 2225 - - - - - - - - 14.92 14.63 14.94
15747 776.1 7.9 693 15755 done 0.51 - - 2390 - 2.65 0.090 2254 540.4 116.8 - - 2225 - - - - - - - - 14.70 14.62 14.74
16091 745.7 8.8 700 16096 roll 0.51 - - 2390 - 2.55 0.120 3639 543.1 116.8 - - 2226 - - - - - - - - 14.93 14.63 14.95
16167 738.1 10.0 711 16173 done 0.46 0.20 0.262 2352 -190.0 2.45 0.081 2258 -563.7 116.8 - - 2225 - - - - - - - - 14.52 14.67 14.75
16483 716.2 6.8 721 16489 roll 0.47 - - 2362 - 2.60 0.098 819 -553.5 128.4 - - 2227 - - - - - - - - 14.94 14.64 14.95
16525 713.4 6.9 727 16551 done 0.48 - - 2361 - 2.62 0.090 2261 550.4 138.9 20.52 1.774 2170 -2.8 0.207 - - - - - - 14.77 14.65 13.97
16875 686.7 7.7 742 16880 roll 0.48 - - 2362 - 2.55 0.119 3641 541.2 138.9 - - 2153 - - - - - - - - 14.85 14.58 14.88
16931 681.8 8.7 750 16936 done 0.48 - - 2371 - 2.47 0.080 2244 -565.6 138.9 - - 2152 - - - - - - - - 14.71 14.62 14.73
17268 654.4 8.2 763 17272 roll 0.48 - - 2380 - 2.58 0.097 825 -550.0 138.9 - - 2152 - - - - - - - - 14.88 14.62 14.90
17329 649.4 8.0 772 17335 done 0.48 - - 2381 - 2.60 0.090 2254 549.6 138.9 - - 2151 - - - - - - - - 14.73 14.63 14.77
17659 621.6 8.4 784 17664 roll 0.48 - - 2381 - 2.55 0.119 3639 543.1 138.9 - - 2149 - - - - - - - - 14.91 14.63 14.92
17708 617.2 9.1 791 17715 done 0.48 0.15 0.261 2355 -173.3 2.45 0.080 2261 -562.4 138.9 - - 2150 - - - - - - - - 14.54 14.67 14.75
18051 594.8 6.4 798 18084 roll 0.49 - - 2365 - 2.67 0.095 824 -538.2 161.0 25.55 1.652 2073 -3.0 0.201 - - - - - - 14.92 14.50 13.97
18135 589.3 6.6 810 18164 done 0.56 - - 2365 - 2.62 0.089 2255 546.2 178.8 19.65 1.623 2002 -3.6 0.243 - - - - - - 14.62 14.52 13.87
18499 562.2 7.5 820 18504 roll 0.56 - - 2363 - 2.55 0.119 3635 541.2 178.8 - - 1989 - - - - - - - - 14.78 14.52 14.80
18555 557.3 8.8 828 18560 done 0.56 - - 2374 - 2.45 0.078 2257 -562.4 178.8 - - 1988 - - - - - - - - 14.66 14.57 14.68
18891 529.7 8.2 841 18897 roll 0.56 - - 2383 - 2.60 0.093 817 -553.8 178.8 - - 1988 - - - - - - - - 14.85 14.58 14.88
18967 523.5 8.0 852 18973 done 0.61 - - 2383 - 2.60 0.086 2250 551.2 178.8 - - 1987 - - - - - - - - 14.71 14.60 14.74
19283 495.3 9.1 862 19288 roll 0.61 - - 2382 - 2.55 0.118 3641 545.5 178.8 - - 1987 - - - - - - - - 14.89 14.62 14.90
19345 488.8 10.2 871 19351 done 0.61 - - 2393 - 2.45 0.079 2246 -569.4 178.8 - - 1986 - - - - - - - - 14.76 14.66 14.78
19675 455.8 10.1 883 19680 roll 0.61 - - 2402 - 2.58 0.096 823 -551.6 178.8 - - 1986 - - - - - - - - 14.90 14.64 14.92
19744 449.0 9.6 893 19751 done 0.61 - - 2402 - 2.60 0.090 2256 551.2 178.8 - - 1985 - - - - - - - - 14.74 14.65 14.79
20067 417.6 9.6 904 20072 roll 0.61 - - 2402 - 2.53 0.116 3639 546.6 178.8 - - 1986 - - - - - - - - 14.92 14.64 14.94
20123 411.9 10.2 912 20128 done 0.61 - - 2411 - 2.45 0.077 2250 -566.9 178.8 - - 1986 - - - - - - - - 14.78 14.68 14.81
20459 378.9 10.0 925 20465 roll 0.61 - - 2422 - 2.60 0.096 816 -551.5 178.8 - - 1985 - - - - - - - - 14.92 14.65 14.95
20528 372.2 9.5 935 20534 done 0.61 - - 2422 - 2.60 0.088 2254 553.1 178.8 - - 1985 - - - - - - - - 14.78 14.66 14.81
20851 338.4 10.5 946 20856 roll 0.61 - - 2422 - 2.55 0.116 3647 546.3 178.8 - - 1985 - - - - - - - - 14.93 14.64 14.95
20920 330.6 11.0 956 20926 done 0.61 0.15 0.278 2397 -166.7 2.45 0.079 2253 -569.0 178.8 - - 1985 - - - - - - - - 14.55 14.69 14.76
21243 302.2 8.9 967 21248 roll 0.61 - - 2407 - 2.60 0.095 818 -551.9 178.8 - - 1985 - - - - - - - - 14.94 14.67 14.97
21319 295.4 8.7 978 21325 done 0.61 - - 2407 - 2.58 0.086 2246 553.5 178.8 - - 1986 - - - - - - - - 14.78 14.66 14.82
21636 265.3 9.6 988 21640 roll 0.61 - - 2407 - 2.55 0.114 3650 550.6 178.8 - - 1985 - - - - - - - - 14.95 14.66 14.97
21683 260.0 11.0 995 21690 done 0.61 - - 2416 - 2.47 0.076 2242 -570.0 178.8 - - 1985 - - - - - - - - 14.79 14.72 14.82
22027 225.8 10.0 1002 22032 roll 0.61 - - 2427 - 2.55 0.090 820 -557.6 178.8 - - 1985 - - - - - - - - 14.95 14.67 14.97
22083 220.2 9.8 1010 22088 done 0.61 - - 2427 - 2.60 0.085 2261 554.2 178.8 - - 1985 - - - - - - - - 14.78 14.67 14.82
22419 183.7 11.0 1023 22424 roll 0.61 - - 2427 - 2.50 0.112 3639 551.2 178.8 - - 1986 - - - - - - - - 14.95 14.65 14.96
22488 175.2 11.9 1033 22495 done 0.61 0.08 0.260 2401 -325.0 2.45 0.073 2260 -562.9 178.8 - - 1986 - - - - - - - - 14.54 14.69 14.76
22812 147.8 8.2 1044 22817 roll 0.61 - - 2410 - 2.58 0.087 822 -557.4 178.8 - - 1985 - - - - - - - - 14.94 14.68 14.95
22853 144.5 7.9 1050 22858 done 0.61 - - 2409 - 2.60 0.084 2259 552.7 178.8 - - 1985 - - - - - - - - 14.79 14.67 14.82
23203 113.5 8.9 1058 23208 roll 0.61 - - 2410 - 2.53 0.112 3651 550.2 178.8 - - 1985 - - - - - - - - 14.95 14.66 14.97
23300 105.4 7.7 1072 23306 done 0.61 - - 2420 - 2.45 0.073 2271 -563.3 178.8 - - 1985 - - - - - - - - 14.76 14.71 14.79
23623 82.9 7.3 1083 23628 roll 0.61 - - 2429 - 2.60 0.089 821 -557.7 179.3 - - 1985 - - - - - - - - 14.95 14.68 14.97
23780 74.5 5.1 1105 23818 done 0.71 - - 2429 - 2.58 0.079 2268 560.9 232.9 29.02 0.349 1791 -6.7 0.264 - - - - - - 14.79 14.69 14.42
24130 57.5 3.5 1122 24196 roll 0.89 0.15 0.121 2506 513.3 2.67 0.083 822 -541.6 325.0 57.40 0.304 1414 -6.6 0.230 - - - - - - 14.71 14.57 14.41
24288 48.7 5.9 1145 24314 done 1.01 - - 2506 - 2.55 0.078 2239 555.7 359.1 22.42 0.272 1277 -6.1 0.203 - - - - - - 14.69 14.59 14.40
24634 30.1 4.6 1161 24680 roll 1.15 0.15 0.118 2580 493.3 2.60 0.103 3648 541.9 423.8 41.17 0.216 1010 -6.5 0.167 - - - - - - 14.67 14.55 14.47
24722 22.8 9.4 1174 24727 done 1.15 - - 2589 - 2.47 0.067 2224 -576.5 423.8 - - 1016 - - - - - - - - 14.69 14.61 14.71
24957 end climb: SURFACE_DEPTH_REACHED
24957 begin surface coast
24985 end surface coast: CONTROL_FINISHED_OK
24985 begin surface
SM 0.90 - - - - -6.12 6.68 0.067 224 33.5 0.15 0.160 2287 8380.0 500.17 46.58 0.131 700 15.0 -0.011 - - - - - -