SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 109 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 44.71 of 350.00 AH used of 24V (87.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.4 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 17 s • Transponder ping count: 1
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 107 done -0.84 - - 154 - - - 1833 - -116.8 -82.80 - 3271 - - - - - - - - 14.81 13.67 14.83
110 6.7 -9.6 3 128 roll -0.84 11.73 0.384 2659 213.6 2.33 0.044 461 -588.8 -116.8 - - 3273 - - - - - - - - 14.45 14.66 14.66
141 26.5 -57.9 8 148 done 0.47 1.70 0.293 3071 242.4 2.30 0.037 1850 603.9 -116.8 - - 3274 - - - - - - - - 14.46 14.66 14.66
471 57.9 -10.5 22 478 roll -0.09 0.50 0.115 2902 -338.0 2.35 0.048 3278 607.7 -116.8 - - 3275 - - - - - - - - 14.71 14.73 14.76
512 61.3 -7.3 28 519 done -0.41 0.32 0.075 2770 -412.5 2.28 0.033 1859 -622.4 -116.8 - - 3275 - - - - - - - - 14.75 14.78 14.81
835 97.4 -7.9 41 841 roll -0.41 - - 2769 - 2.30 0.054 474 -602.2 -116.8 - - 3272 - - - - - - - - 14.97 14.79 15.00
939 105.1 -7.2 56 947 done -0.41 0.10 0.222 2789 200.0 2.17 0.031 1814 617.5 -116.8 - - 3275 - - - - - - - - 14.67 14.83 14.78
1283 127.6 -6.5 63 1286 done -0.41 - - 2788 - - - 1814 - -116.8 - - 3275 - - - - - - - - 15.01 15.03 15.02
1619 150.3 -6.8 69 1626 roll -0.41 - - 2779 - 2.40 0.052 3273 607.9 -116.8 - - 3275 - - - - - - - - 15.02 14.88 15.04
1688 155.3 -7.0 79 1695 done -0.51 - - 2780 - 2.50 0.036 1735 -615.2 -116.8 - - 3274 - - - - - - - - 14.92 14.86 14.93
2011 178.9 -7.3 90 2017 roll -0.51 - - 2780 - 2.10 0.057 475 -600.0 -116.8 - - 3273 - - - - - - - - 15.02 14.85 15.04
2123 187.6 -7.6 106 2129 done -0.51 - - 2773 - 1.98 0.031 1716 626.8 -116.8 - - 3271 - - - - - - - - 14.93 14.89 14.94
2459 212.8 -7.7 119 2466 roll -0.51 - - 2758 - 2.58 0.053 3271 602.7 -116.8 - - 3268 - - - - - - - - 15.03 14.85 15.05
2571 221.5 -7.7 135 2577 done -0.51 - - 2761 - 2.53 0.036 1724 -611.5 -116.8 - - 3268 - - - - - - - - 14.92 14.86 14.94
2907 249.7 -8.5 148 2920 roll -0.51 - - 2762 - 2.10 0.059 473 -595.7 -116.8 - - 3265 - - - - - - - - 15.03 14.84 15.05
2982 256.9 -9.6 158 2996 done -0.51 - - 2754 - 2.03 0.033 1744 626.1 -116.8 - - 3264 - - - - - - - - 14.95 14.91 14.95
3310 286.4 -9.0 169 3324 roll -0.51 - - 2742 - 2.55 0.054 3281 602.7 -116.8 - - 3262 - - - - - - - - 15.07 14.89 15.09
3365 291.2 -8.8 176 3379 done -0.51 - - 2742 - 2.55 0.038 1730 -608.2 -116.8 - - 3261 - - - - - - - - 14.96 14.90 14.97
3709 322.3 -9.1 183 3722 roll -0.51 - - 2742 - 2.10 0.060 476 -597.1 -116.8 - - 3258 - - - - - - - - 15.08 14.90 15.10
3798 331.2 -9.9 195 3811 done -0.51 0.12 0.259 2760 150.0 2.00 0.034 1727 625.5 -116.8 - - 3257 - - - - - - - - 14.77 14.93 14.93
4168 362.6 -8.4 205 4182 roll -0.51 - - 2751 - 2.58 0.054 3277 600.8 -116.8 - - 3255 - - - - - - - - 15.08 14.90 15.14
4201 365.5 -8.7 209 4215 done -0.51 - - 2751 - 2.55 0.038 1714 -612.9 -116.8 - - 3255 - - - - - - - - 14.97 14.92 14.98
4572 398.1 -8.8 219 4585 roll -0.51 - - 2751 - 2.08 0.060 477 -594.7 -116.8 - - 3253 - - - - - - - - 15.09 14.90 15.14
4668 407.1 -9.3 232 4681 done -0.51 - - 2743 - 1.98 0.034 1714 624.7 -116.8 - - 3252 - - - - - - - - 14.99 14.94 15.00
5031 439.1 -8.9 241 5044 roll -0.51 - - 2732 - 2.60 0.056 3273 599.6 -116.8 - - 3250 - - - - - - - - 15.09 14.90 15.11
5142 448.7 -8.5 256 5156 done -0.51 0.12 0.241 2758 216.7 2.55 0.038 1724 -607.5 -116.8 - - 3249 - - - - - - - - 14.78 14.92 14.95
5486 474.8 -7.5 263 5499 roll -0.51 - - 2759 - 2.10 0.062 476 -594.3 -116.8 - - 3248 - - - - - - - - 15.09 14.90 15.11
5548 479.8 -8.2 271 5561 done -0.51 - - 2754 - 2.03 0.035 1729 617.2 -116.8 - - 3246 - - - - - - - - 14.98 14.93 15.00
5890 505.8 -7.5 284 5903 roll -0.51 - - 2742 - 2.58 0.056 3271 597.7 -116.8 - - 3245 - - - - - - - - 15.09 14.90 15.11
5986 513.1 -7.5 297 5999 done -0.51 - - 2742 - 2.50 0.038 1744 -610.8 -116.8 - - 3245 - - - - - - - - 14.99 14.91 14.99
6350 541.3 -7.8 306 6363 roll -0.51 - - 2742 - 2.15 0.063 473 -591.2 -116.8 - - 3247 - - - - - - - - 15.08 14.88 15.10
6460 550.8 -8.6 321 6475 done -0.51 0.12 0.262 2760 150.0 2.03 0.035 1719 613.8 -116.8 - - 3243 - - - - - - - - 14.75 14.93 14.92
6805 576.7 -7.6 328 6818 roll -0.51 - - 2751 - 2.62 0.057 3278 595.0 -116.8 - - 3242 - - - - - - - - 15.09 14.86 15.10
6974 590.4 -8.2 351 6987 done -0.51 - - 2751 - 2.50 0.038 1763 -606.0 -116.8 - - 3242 - - - - - - - - 14.95 14.90 14.98
7315 620.3 -8.8 358 7329 roll -0.51 - - 2751 - 2.17 0.063 478 -592.2 -116.8 - - 3240 - - - - - - - - 15.08 14.87 15.10
7405 628.7 -9.5 370 7418 done -0.51 - - 2743 - 2.05 0.036 1747 619.0 -116.8 - - 3240 - - - - - - - - 14.97 14.92 14.99
7775 659.4 -8.1 380 7788 roll -0.51 - - 2732 - 2.55 0.057 3270 597.3 -116.8 - - 3242 - - - - - - - - 15.07 14.87 15.09
7937 672.1 -7.7 402 7950 done -0.51 0.12 0.244 2759 225.0 2.45 0.039 1776 -609.8 -116.8 - - 3238 - - - - - - - - 14.73 14.89 14.91
8294 695.2 -6.3 410 8307 roll -0.51 - - 2758 - 2.20 0.063 479 -589.5 -116.8 - - 3237 - - - - - - - - 15.07 14.85 15.09
8376 701.0 -7.0 421 8389 done -0.51 - - 2754 - 2.10 0.037 1769 614.3 -116.8 - - 3236 - - - - - - - - 14.95 14.91 14.97
8697 722.7 -6.9 431 8711 roll -0.51 - - 2743 - 2.53 0.058 3269 592.9 -116.8 - - 3235 - - - - - - - - 15.06 14.86 15.07
8780 728.7 -7.4 442 8793 done -0.51 - - 2743 - 2.50 0.040 1756 -605.2 -116.8 - - 3235 - - - - - - - - 14.94 14.88 14.96
9101 753.8 -8.0 452 9114 roll -0.51 - - 2743 - 2.17 0.064 477 -589.4 -116.8 - - 3233 - - - - - - - - 15.06 14.85 15.08
9169 759.8 -8.5 461 9183 done -0.51 0.12 0.262 2761 150.0 2.08 0.037 1754 613.9 -116.8 - - 3235 - - - - - - - - 14.70 14.90 14.89
9508 785.2 -7.6 473 9521 roll -0.60 - - 2752 - 2.55 0.059 3269 594.1 -116.8 - - 3233 - - - - - - - - 15.05 14.85 15.07
9629 794.3 -7.4 489 9643 done -0.71 0.17 0.116 2686 -388.2 2.47 0.041 1774 -605.3 -116.8 - - 3233 - - - - - - - - 14.85 14.85 14.92
9972 827.4 -9.6 502 9985 roll -0.71 - - 2686 - 2.22 0.065 473 -586.0 -116.8 - - 3231 - - - - - - - - 15.04 14.83 15.07
10075 837.9 -10.0 516 10089 done -0.62 0.20 0.262 2723 185.0 2.10 0.037 1748 607.1 -116.8 - - 3229 - - - - - - - - 14.66 14.88 14.87
10432 865.1 -7.7 524 10446 roll -0.62 - - 2716 - 2.58 0.060 3270 589.9 -116.8 - - 3230 - - - - - - - - 15.04 14.83 15.07
10580 876.8 -8.0 544 10593 done -0.62 - - 2714 - 2.47 0.041 1773 -606.1 -116.8 - - 3229 - - - - - - - - 14.92 14.85 14.94
10951 907.6 -8.2 554 10964 roll -0.62 - - 2714 - 2.22 0.066 475 -584.7 -116.8 - - 3229 - - - - - - - - 15.04 14.82 15.06
11054 916.9 -8.9 568 11067 done -0.62 - - 2705 - 2.10 0.038 1758 611.0 -116.8 - - 3229 - - - - - - - - 14.92 14.87 14.94
11410 946.9 -8.5 576 11423 roll -0.62 - - 2699 - 2.58 0.061 3275 588.0 -116.8 - - 3229 - - - - - - - - 15.03 14.81 15.05
11500 955.4 -10.5 588 11513 done -0.62 0.15 0.254 2726 180.0 2.50 0.041 1769 -602.4 -116.8 - - 3228 - - - - - - - - 14.65 14.84 14.85
11870 980.9 -7.1 598 11884 roll -0.62 - - 2727 - 2.22 0.067 477 -582.0 -116.8 - - 3228 - - - - - - - - 15.03 14.81 15.08
11946 986.7 -5.6 608 11959 done -0.62 - - 2720 - 2.12 0.039 1772 610.8 -116.8 - - 3228 - - - - - - - - 14.91 14.85 14.92
11991 end dive: TARGET_DEPTH_EXCEEDED
11991 begin apogee
11998 990.2 -4.1 614 12126 roll -0.21 0.50 0.223 2855 270.0 - - 1772 - - 118.60 2.168 2793 -3.7 0.309 - - - - - - 14.63 14.09 13.40
12128 end apogee: CONTROL_FINISHED_OK
12128 begin climb
12132 994.6 - 616 12273 roll 0.84 1.17 0.179 3190 286.3 2.53 0.063 385 -548.2 116.8 122.90 2.133 2315 -3.9 0.335 - - - - - - 14.10 14.14 13.28
12454 969.1 8.5 665 12468 done 0.84 - - 3190 - 2.42 0.033 1815 590.9 116.8 - - 2291 - - - - - - - - 14.49 14.46 14.50
12790 937.3 9.5 677 12803 roll 0.84 - - 3200 - 2.47 0.063 411 -568.4 116.8 - - 2290 - - - - - - - - 14.80 14.60 14.82
13026 913.1 10.4 710 13040 done 0.73 0.17 0.253 3161 -229.4 2.33 0.034 1816 603.0 116.8 - - 2289 - - - - - - - - 14.54 14.71 14.73
13362 883.9 8.7 722 13375 roll 0.73 - - 3162 - 2.33 0.054 3181 585.8 116.8 - - 2288 - - - - - - - - 14.92 14.73 14.94
13409 880.0 9.3 728 13422 done 0.73 - - 3168 - 2.28 0.040 1813 -600.0 116.8 - - 2287 - - - - - - - - 14.82 14.76 14.83
13765 846.7 9.2 736 13778 roll 0.73 - - 3178 - 2.45 0.067 403 -575.5 116.8 - - 2287 - - - - - - - - 14.96 14.75 14.98
13827 841.1 9.7 744 13840 done 0.73 - - 3179 - 2.30 0.033 1806 610.0 116.8 - - 2287 - - - - - - - - 14.86 14.81 14.88
14170 808.5 9.4 757 14183 roll 0.73 - - 3179 - 2.33 0.054 3185 591.8 116.8 - - 2287 - - - - - - - - 14.98 14.79 15.00
14217 803.8 9.7 763 14230 done 0.73 - - 3188 - 2.28 0.041 1810 -603.1 116.8 - - 2287 - - - - - - - - 14.87 14.81 14.90
14574 771.7 8.9 771 14587 roll 0.73 - - 3199 - 2.45 0.068 398 -576.3 116.8 - - 2288 - - - - - - - - 14.99 14.78 15.01
14656 763.8 9.6 782 14669 done 0.63 0.25 0.249 3139 -240.0 2.30 0.034 1803 610.9 116.8 - - 2287 - - - - - - - - 14.63 14.83 14.84
14978 741.0 7.0 792 14996 roll 0.65 - - 3139 - 2.38 0.055 3176 576.9 133.1 6.43 1.703 2252 -5.4 0.437 - - - - - - 15.00 14.80 14.04
15051 735.3 7.8 802 15064 done 0.65 - - 3146 - 2.28 0.041 1803 -602.2 134.1 - - 2252 - - - - - - - - 14.85 14.79 14.86
15379 710.6 7.5 813 15397 roll 0.65 - - 3156 - 2.50 0.068 402 -560.4 140.2 6.18 1.672 2220 -5.2 0.406 - - - - - - 14.96 14.76 14.03
15480 702.4 8.3 827 15494 done 0.65 - - 3157 - 2.30 0.034 1793 604.8 140.2 - - 2227 - - - - - - - - 14.84 14.79 14.85
15836 672.9 8.4 835 15850 roll 0.65 - - 3157 - 2.33 0.053 3183 596.6 140.2 - - 2227 - - - - - - - - 14.96 14.78 14.98
15905 666.8 8.9 844 15918 done 0.65 - - 3165 - 2.28 0.041 1808 -603.1 140.2 - - 2226 - - - - - - - - 14.85 14.79 14.87
16240 637.6 8.8 856 16253 roll 0.65 - - 3176 - 2.42 0.067 404 -580.2 140.2 - - 2227 - - - - - - - - 14.98 14.78 15.00
16323 630.1 9.1 867 16336 done 0.65 0.15 0.255 3144 -213.3 2.30 0.034 1806 609.6 140.2 - - 2226 - - - - - - - - 14.65 14.83 14.81
16644 607.3 6.8 877 16689 roll 0.68 - - 3143 - 2.42 0.055 3183 569.0 159.0 32.58 1.646 2138 -2.7 0.184 - - - - - - 15.00 14.58 14.01
16723 601.9 7.3 888 16741 done 0.69 - - 3150 - 2.30 0.041 1804 -599.6 168.8 4.00 1.207 2104 -8.5 0.783 - - - - - - 14.63 14.59 13.85
17098 575.7 7.0 899 17136 roll 0.71 - - 3160 - 2.55 0.068 401 -550.2 185.6 25.48 1.639 2034 -2.7 0.178 - - - - - - 14.87 14.51 13.96
17222 566.1 8.2 916 17235 done 0.71 - - 3160 - 2.28 0.034 1772 601.3 185.6 - - 2027 - - - - - - - - 14.65 14.61 14.66
17551 538.4 8.4 927 17564 done 0.71 - - 3160 - - - 1772 - 185.6 - - 2025 - - - - - - - - 14.86 14.88 14.88
17886 509.3 8.7 933 17899 roll 0.71 - - 3160 - 2.40 0.053 3193 592.1 185.6 - - 2025 - - - - - - - - 14.92 14.73 14.94
17948 503.6 9.3 941 17962 done 0.71 - - 3169 - 2.42 0.041 1754 -594.6 185.6 - - 2025 - - - - - - - - 14.81 14.76 14.84
18291 472.0 9.2 954 18304 roll 0.71 - - 3179 - 2.38 0.068 391 -572.7 185.6 - - 2024 - - - - - - - - 14.95 14.75 14.97
18409 460.4 9.9 970 18422 done 0.71 - - 3182 - 2.20 0.033 1737 611.8 185.6 - - 2025 - - - - - - - - 14.86 14.81 14.88
18751 428.3 9.3 983 18764 roll 0.71 - - 3181 - 2.45 0.053 3190 593.1 185.6 - - 2024 - - - - - - - - 14.97 14.79 15.00
18819 421.9 9.2 992 18832 done 0.71 - - 3188 - 2.40 0.042 1749 -600.4 185.6 - - 2024 - - - - - - - - 14.86 14.80 14.88
19155 392.2 8.8 1004 19168 roll 0.71 - - 3198 - 2.35 0.068 391 -577.9 185.6 - - 2025 - - - - - - - - 14.99 14.78 15.01
19230 385.2 9.3 1014 19243 done 0.71 0.15 0.251 3165 -220.0 2.20 0.033 1753 619.1 185.6 - - 2025 - - - - - - - - 14.66 14.84 14.85
19559 360.7 7.4 1025 19576 roll 0.72 - - 3165 - 2.42 0.050 3173 586.8 193.3 2.78 0.714 2003 -7.9 0.738 - - - - - - 15.00 14.81 14.03
19610 356.4 8.4 1032 19624 done 0.72 - - 3171 - 2.38 0.041 1749 -598.3 193.3 - - 2006 - - - - - - - - 14.87 14.81 14.89
19954 326.3 8.9 1039 19968 roll 0.72 - - 3182 - 2.33 0.067 397 -580.3 193.3 - - 2007 - - - - - - - - 15.00 14.78 15.02
20017 320.3 9.9 1047 20030 done 0.72 - - 3181 - 2.20 0.033 1749 614.5 193.3 - - 2006 - - - - - - - - 14.89 14.85 14.90
20359 287.5 9.6 1060 20372 roll 0.72 - - 3183 - 2.38 0.050 3176 599.6 193.3 - - 2007 - - - - - - - - 15.00 14.82 15.02
20421 281.5 9.7 1068 20434 done 0.72 - - 3186 - 2.33 0.040 1773 -602.1 193.3 - - 2006 - - - - - - - - 14.88 14.83 14.90
20763 250.1 9.1 1081 20776 roll 0.72 - - 3200 - 2.35 0.067 402 -583.4 193.3 - - 2006 - - - - - - - - 15.00 14.79 15.02
20845 242.5 9.0 1092 20859 done 0.72 0.15 0.245 3167 -220.0 2.20 0.032 1767 620.5 193.3 - - 2006 - - - - - - - - 14.66 14.83 14.83
21167 218.4 7.5 1102 21185 roll 0.73 - - 3167 - 2.42 0.050 3179 583.5 200.0 5.93 1.167 1975 -5.2 0.181 - - - - - - 15.01 14.81 14.17
21212 214.7 8.5 1108 21225 done 0.73 - - 3173 - 2.33 0.040 1766 -606.4 200.0 - - 1984 - - - - - - - - 14.88 14.81 14.89
21568 183.6 8.8 1116 21581 roll 0.73 - - 3183 - 2.35 0.066 395 -583.4 200.0 - - 1985 - - - - - - - - 14.99 14.78 15.01
21671 173.8 9.3 1130 21684 done 0.73 - - 3184 - 2.15 0.032 1727 619.5 200.0 - - 1985 - - - - - - - - 14.89 14.85 14.92
22028 143.0 8.6 1138 22041 roll 0.73 - - 3183 - 2.40 0.048 3176 603.8 200.0 - - 1985 - - - - - - - - 15.00 14.82 15.02
22131 133.3 9.4 1152 22144 done 0.73 - - 3192 - 2.38 0.040 1746 -600.8 200.0 - - 1984 - - - - - - - - 14.89 14.83 14.90
22487 103.3 8.2 1160 22500 roll 0.73 - - 3202 - 2.30 0.065 399 -585.7 200.0 - - 1985 - - - - - - - - 15.01 14.80 15.03
22622 93.8 6.2 1178 22665 done 0.77 - - 3200 - 2.22 0.031 1784 623.9 230.4 30.98 0.371 1853 -4.3 0.199 - - - - - - 14.91 14.87 14.50
22973 74.8 4.3 1195 23049 roll 0.98 0.12 0.137 3267 558.3 2.42 0.063 394 -574.4 296.1 61.62 0.330 1593 -4.2 0.177 - - - - - - 14.76 14.66 14.47
23056 70.2 6.4 1207 23095 done 1.01 - - 3264 - 2.08 0.032 1682 619.2 324.0 27.40 0.308 1472 -4.4 0.186 - - - - - - 14.77 14.73 14.44
23420 47.2 4.8 1225 23484 roll 1.23 0.15 0.119 3338 493.3 2.58 0.046 3183 581.8 381.7 51.25 0.249 1237 -4.6 0.161 - - - - - - 14.73 14.68 14.49
23630 30.8 8.5 1255 23644 done 1.23 - - 3345 - 2.38 0.037 1746 -603.8 381.7 2.20 0.151 1237 - - - - - - - - 14.76 14.71 14.64
23946 3.5 8.6 1267 23963 roll 1.23 - - 3355 - 2.35 0.063 399 -573.2 381.7 2.60 0.145 1234 -1.2 0.005 - - - - - - 14.95 14.73 14.71
23966 end climb: SURFACE_DEPTH_REACHED
23966 begin surface coast
23974 end surface coast: CONTROL_FINISHED_OK
23974 begin surface
SM 1.24 - - - - -8.61 9.25 0.067 156 16.8 2.42 0.031 1838 -2838.8 515.13 78.68 0.124 691 8.8 -0.009 - - - - - -