SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 344 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 131.04 of 350.00 AH used of 24V (62.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth 1.12 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 36 s
• GPS2 time: 19 s • Transponder ping count: 2
• 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 111 done -0.84 - - 151 - - - 1824 - -116.8 -80.38 - 3273 - - - - - - - - 14.69 12.90 14.69
115 8.5 -13.0 3 133 roll -0.84 12.70 0.402 2659 197.5 2.42 0.047 420 -580.2 -116.8 - - 3274 - - - - - - - - 14.15 14.48 14.49
238 51.9 -19.6 21 247 done -0.45 0.52 0.253 2780 232.7 2.28 0.031 1792 601.8 -116.8 - - 3278 - - - - - - - - 14.11 14.49 14.42
553 76.5 -7.1 33 560 roll -0.45 - - 2772 - 2.40 0.051 3221 595.4 -116.8 - - 3276 - - - - - - - - 14.80 14.47 14.82
609 80.4 -7.3 41 616 done -0.45 - - 2772 - 2.30 0.037 1827 -606.1 -116.8 - - 3276 - - - - - - - - 14.62 14.55 14.64
946 105.5 -7.4 55 952 roll -0.45 - - 2772 - 2.40 0.057 425 -584.2 -116.8 - - 3274 - - - - - - - - 14.83 14.53 14.85
1035 113.0 -8.2 68 1042 done -0.45 - - 2764 - 2.35 0.030 1853 607.7 -116.8 - - 3276 - - - - - - - - 14.65 14.59 14.67
1394 140.9 -7.9 77 1401 roll -0.45 - - 2761 - 2.45 0.055 430 -580.8 -116.8 - - 3275 - - - - - - - - 14.85 14.52 14.87
1421 143.4 -8.9 81 1428 done -0.45 - - 2755 - 2.30 0.032 1826 607.0 -116.8 - - 3275 - - - - - - - - 14.65 14.62 14.69
1786 176.8 -9.3 91 1788 done -0.45 - - 2755 - - - 1824 - -116.8 - - 3272 - - - - - - - - 14.85 14.88 14.88
2122 208.1 -9.2 97 2125 done -0.45 - - 2755 - - - 1826 - -116.8 - - 3269 - - - - - - - - 14.85 14.88 14.88
2459 236.0 -8.3 103 2465 roll -0.45 - - 2754 - 2.42 0.057 427 -578.1 -116.8 - - 3267 - - - - - - - - 14.85 14.51 14.87
2499 239.6 -8.6 109 2507 done -0.45 0.15 0.236 2778 160.0 2.33 0.032 1831 602.6 -116.8 - - 3266 - - - - - - - - 14.26 14.62 14.50
2851 264.6 -7.2 117 2864 roll -0.54 - - 2770 - 2.35 0.055 3220 591.1 -116.8 - - 3264 - - - - - - - - 14.93 14.56 14.95
2906 268.6 -7.3 124 2920 done -0.66 0.17 0.103 2701 -405.9 2.33 0.037 1824 -599.1 -116.8 - - 3263 - - - - - - - - 14.60 14.62 14.67
3249 303.0 -10.1 131 3262 roll -0.66 - - 2700 - 2.40 0.059 434 -579.2 -116.8 - - 3261 - - - - - - - - 14.92 14.55 14.95
3375 316.4 -10.7 148 3388 done -0.56 0.22 0.242 2741 186.4 2.30 0.034 1829 606.5 -116.8 - - 3259 - - - - - - - - 14.23 14.66 14.50
3710 345.4 -8.5 160 3723 roll -0.56 - - 2735 - 2.38 0.055 3227 587.4 -116.8 - - 3258 - - - - - - - - 14.95 14.57 14.97
3786 352.1 -8.8 170 3799 done -0.56 - - 2735 - 2.33 0.036 1833 -598.3 -116.8 - - 3257 - - - - - - - - 14.70 14.63 14.74
4114 381.5 -9.0 181 4127 roll -0.56 - - 2735 - 2.42 0.060 428 -580.6 -116.8 - - 3255 - - - - - - - - 14.94 14.56 14.95
4238 393.1 -9.2 198 4252 done -0.56 - - 2726 - 2.33 0.032 1836 604.3 -116.8 - - 3255 - - - - - - - - 14.71 14.65 14.73
4574 422.2 -8.7 210 4588 roll -0.56 - - 2726 - 2.42 0.057 433 -579.8 -116.8 - - 3253 - - - - - - - - 14.92 14.54 14.95
4615 426.0 -9.6 215 4628 done -0.56 0.12 0.249 2742 133.3 2.33 0.033 1838 603.0 -116.8 - - 3252 - - - - - - - - 14.28 14.64 14.52
4979 455.5 -8.2 224 4992 roll -0.56 - - 2734 - 2.35 0.053 3223 589.4 -116.8 - - 3251 - - - - - - - - 14.94 14.54 14.96
5047 461.6 -8.8 233 5060 done -0.56 - - 2734 - 2.33 0.037 1824 -600.4 -116.8 - - 3250 - - - - - - - - 14.68 14.61 14.71
5382 492.7 -9.5 245 5395 roll -0.56 - - 2734 - 2.42 0.060 428 -576.9 -116.8 - - 3249 - - - - - - - - 14.92 14.53 14.95
5487 503.7 -10.4 259 5500 done -0.56 - - 2725 - 2.33 0.033 1833 603.0 -116.8 - - 3249 - - - - - - - - 14.69 14.64 14.71
5843 540.3 -10.2 267 5857 roll -0.56 - - 2714 - 2.33 0.054 3207 589.7 -116.8 - - 3247 - - - - - - - - 14.92 14.47 14.95
5912 547.0 -9.7 276 5926 done -0.56 0.12 0.240 2741 225.0 2.30 0.037 1825 -600.9 -116.8 - - 3246 - - - - - - - - 14.26 14.60 14.50
6248 573.0 -7.4 288 6261 roll -0.56 - - 2741 - 2.42 0.060 430 -576.4 -116.8 - - 3244 - - - - - - - - 14.92 14.51 14.95
6380 582.7 -7.2 306 6394 done -0.56 - - 2734 - 2.33 0.033 1831 601.3 -116.8 - - 3245 - - - - - - - - 14.68 14.62 14.70
6709 605.3 -6.9 317 6722 roll -0.56 - - 2724 - 2.38 0.057 3217 582.4 -116.8 - - 3246 - - - - - - - - 14.92 14.50 14.94
6805 612.1 -7.1 330 6818 done -0.56 - - 2723 - 2.33 0.039 1828 -596.1 -116.8 - - 3243 - - - - - - - - 14.66 14.59 14.69
7169 641.4 -8.3 339 7182 roll -0.56 - - 2723 - 2.45 0.060 434 -569.0 -116.8 - - 3243 - - - - - - - - 14.93 14.47 14.95
7293 653.2 -9.6 356 7307 done -0.56 0.12 0.256 2740 141.7 2.33 0.034 1830 599.1 -116.8 - - 3242 - - - - - - - - 14.21 14.61 14.45
7630 681.7 -8.6 368 7643 roll -0.56 - - 2732 - 2.40 0.057 3225 581.2 -116.8 - - 3241 - - - - - - - - 14.90 14.41 14.92
7670 685.4 -9.1 373 7683 done -0.56 - - 2732 - 2.33 0.038 1833 -597.4 -116.8 - - 3240 - - - - - - - - 14.64 14.57 14.67
8033 717.2 -8.7 382 8046 roll -0.56 - - 2734 - 2.45 0.062 433 -571.4 -116.8 - - 3239 - - - - - - - - 14.92 14.44 14.95
8196 731.9 -9.0 404 8209 done -0.56 - - 2722 - 2.35 0.035 1836 597.0 -116.8 - - 3238 - - - - - - - - 14.65 14.59 14.67
8552 761.4 -8.1 412 8565 done -0.56 - - 2722 - - - 1836 - -116.8 - - 3237 - - - - - - - - 14.93 14.95 14.95
8889 787.3 -7.7 418 8902 done -0.56 - - 2722 - - - 1836 - -116.8 - - 3236 - - - - - - - - 14.92 14.95 14.94
9224 812.8 -7.6 424 9237 roll -0.56 - - 2712 - 2.40 0.057 3219 576.2 -116.8 - - 3236 - - - - - - - - 14.93 14.45 14.95
9258 815.4 -7.8 428 9271 done -0.56 0.15 0.235 2740 186.7 2.35 0.040 1826 -592.8 -116.8 - - 3236 - - - - - - - - 14.13 14.51 14.38
9629 839.5 -6.4 438 9642 roll -0.56 - - 2745 - 2.47 0.062 422 -568.4 -116.8 - - 3234 - - - - - - - - 14.88 14.40 14.91
9753 848.5 -7.8 455 9767 done -0.56 - - 2738 - 2.38 0.035 1834 593.3 -116.8 - - 3233 - - - - - - - - 14.57 14.51 14.59
10090 871.4 -7.1 467 10103 roll -0.56 - - 2727 - 2.42 0.057 3224 574.4 -116.8 - - 3233 - - - - - - - - 14.90 14.31 14.90
10172 877.6 -6.4 478 10185 done -0.56 - - 2727 - 2.38 0.039 1826 -587.4 -116.8 - - 3232 - - - - - - - - 14.56 14.48 14.59
10493 902.6 -7.9 488 10507 roll -0.56 - - 2727 - 2.47 0.062 426 -566.8 -116.8 - - 3231 - - - - - - - - 14.90 14.36 14.92
10613 912.7 -8.6 504 10626 done -0.56 - - 2718 - 2.38 0.034 1839 593.7 -116.8 - - 3232 - - - - - - - - 14.59 14.54 14.62
10955 941.1 -8.3 517 10968 roll -0.56 - - 2708 - 2.40 0.057 3218 574.6 -116.8 - - 3231 - - - - - - - - 14.88 14.30 14.90
11004 945.1 -6.5 523 11017 done -0.56 0.15 0.241 2739 206.7 2.35 0.040 1829 -591.1 -116.8 - - 3231 - - - - - - - - 14.08 14.48 14.34
11360 969.8 -6.8 531 11373 roll -0.56 - - 2740 - 2.47 0.063 432 -565.6 -116.8 - - 3230 - - - - - - - - 14.90 14.34 14.91
11479 978.3 -7.1 547 11493 done -0.56 - - 2733 - 2.35 0.034 1831 595.3 -116.8 - - 3230 - - - - - - - - 14.58 14.52 14.60
11707 end dive: TARGET_DEPTH_EXCEEDED
11707 begin apogee
11715 993.7 -6.6 558 11846 done -0.21 0.47 0.216 2854 257.4 - - 1682 - - 120.75 2.188 2794 -3.6 0.314 - - - - - - 14.02 13.96 13.06
11848 end apogee: CONTROL_FINISHED_OK
11848 begin climb
11852 997.9 - 560 11997 roll 0.84 1.15 0.149 3201 301.7 2.62 0.066 326 -517.6 116.8 127.00 2.123 2305 -3.9 0.346 - - - - - - 13.93 13.67 12.83
12059 984.9 9.4 593 12073 done 0.84 - - 3201 - 2.35 0.031 1691 580.9 116.8 - - 2296 - - - - - - - - 14.12 14.07 14.13
12396 954.8 8.9 605 12409 roll 0.84 - - 3201 - 2.38 0.050 3063 576.5 116.8 - - 2292 - - - - - - - - 14.69 14.42 14.71
12537 941.7 8.6 624 12551 done 0.74 0.17 0.275 3175 -152.9 2.35 0.041 1681 -588.1 116.8 - - 2291 - - - - - - - - 14.14 14.47 14.45
12860 916.5 7.8 634 12873 roll 0.75 - - 3182 - 2.40 0.067 325 -565.0 118.6 - - 2291 - - - - - - - - 14.80 14.45 14.81
12900 913.1 11.0 639 12913 done 0.75 - - 3183 - 2.25 0.032 1685 604.4 118.6 - - 2291 - - - - - - - - 14.64 14.59 14.67
13264 883.5 8.2 648 13277 roll 0.75 - - 3183 - 2.35 0.049 3056 583.4 118.6 - - 2290 - - - - - - - - 14.83 14.48 14.86
13346 876.2 8.6 659 13359 done 0.75 - - 3191 - 2.35 0.041 1674 -588.1 118.6 - - 2289 - - - - - - - - 14.64 14.53 14.64
13667 849.2 8.4 669 13680 done 0.75 - - 3191 - - - 1674 - 118.6 - - 2290 - - - - - - - - 14.87 14.87 14.87
14005 820.7 8.2 675 14018 done 0.75 - - 3191 - - - 1674 - 118.6 - - 2289 - - - - - - - - 14.85 14.87 14.87
14339 793.5 8.1 681 14353 roll 0.75 - - 3191 - 2.40 0.047 3061 577.9 118.6 - - 2289 - - - - - - - - 14.86 14.47 14.88
14380 790.0 7.7 686 14393 done 0.75 - - 3201 - 2.35 0.041 1684 -586.0 120.7 - - 2289 - - - - - - - - 14.60 14.52 14.64
14744 760.3 8.2 695 14757 done 0.75 - - 3200 - - - 1683 - 120.7 - - 2289 - - - - - - - - 14.88 14.90 14.90
15080 732.3 8.4 701 15093 roll 0.75 - - 3200 - 2.38 0.047 3057 577.3 120.7 - - 2289 - - - - - - - - 14.90 14.44 14.90
15121 728.8 8.2 706 15134 done 0.75 0.17 0.264 3173 -158.8 2.35 0.041 1676 -587.7 120.7 - - 2289 - - - - - - - - 14.07 14.50 14.40
15484 702.8 7.1 715 15514 roll 0.77 - - 3182 - 2.42 0.068 326 -557.9 135.6 16.00 1.837 2233 -3.5 0.256 - - - - - - 14.86 14.57 13.66
15535 699.1 7.3 722 15553 done 0.78 - - 3181 - 2.25 0.031 1686 604.4 146.5 5.22 1.503 2195 -7.3 0.647 - - - - - - 14.62 14.58 13.46
15886 673.1 7.4 736 15914 roll 0.79 - - 3181 - 2.40 0.049 3054 570.0 155.1 16.05 1.812 2154 -2.6 0.181 - - - - - - 14.78 14.54 13.66
15986 665.3 7.7 750 16000 done 0.79 - - 3190 - 2.38 0.044 1676 -579.0 157.7 - - 2146 - - - - - - - - 14.53 14.45 14.55
16328 638.6 7.8 757 16341 roll 0.80 - - 3201 - 2.40 0.066 322 -564.2 158.1 - - 2145 - - - - - - - - 14.77 14.40 14.77
16368 635.1 8.2 762 16381 done 0.80 - - 3201 - 2.25 0.031 1687 606.7 158.1 - - 2145 - - - - - - - - 14.62 14.59 14.63
16731 604.1 8.6 771 16744 roll 0.80 - - 3201 - 2.33 0.047 3051 585.4 158.1 - - 2145 - - - - - - - - 14.83 14.45 14.85
16843 594.1 9.0 786 16857 done 0.80 - - 3209 - 2.35 0.041 1678 -584.3 158.1 - - 2144 - - - - - - - - 14.57 14.47 14.59
17185 562.3 9.4 793 17198 done 0.80 - - 3209 - - - 1678 - 158.1 - - 2146 - - - - - - - - 14.85 14.88 14.88
17523 530.7 9.5 799 17536 done 0.80 - - 3209 - - - 1677 - 158.1 - - 2144 - - - - - - - - 14.85 14.88 14.88
17857 500.3 9.0 805 17871 roll 0.80 - - 3220 - 2.40 0.066 326 -562.9 158.1 - - 2144 - - - - - - - - 14.88 14.38 14.90
17898 496.4 9.5 810 17912 done 0.80 0.15 0.246 3189 -206.7 2.25 0.031 1693 607.6 158.1 - - 2144 - - - - - - - - 14.11 14.57 14.38
18263 467.1 8.0 819 18276 roll 0.80 - - 3189 - 2.33 0.049 3043 579.4 158.1 - - 2144 - - - - - - - - 14.84 14.44 14.85
18381 457.2 8.3 835 18394 done 0.80 - - 3196 - 2.33 0.043 1683 -583.7 158.1 - - 2144 - - - - - - - - 14.54 14.45 14.57
18723 428.1 8.6 848 18736 roll 0.80 - - 3206 - 2.40 0.065 326 -565.4 158.1 - - 2144 - - - - - - - - 14.84 14.36 14.86
18750 425.7 8.8 851 18763 done 0.80 - - 3205 - 2.22 0.031 1674 607.2 158.1 - - 2144 - - - - - - - - 14.59 14.56 14.63
19072 398.9 8.1 861 19085 done 0.80 - - 3206 - - - 1676 - 158.1 - - 2144 - - - - - - - - 14.84 14.86 14.86
19409 374.1 7.3 867 19437 roll 0.81 - - 3206 - 2.38 0.049 3050 577.3 169.3 13.88 1.461 2093 -3.7 0.180 - - - - - - 14.84 14.63 13.81
19471 369.0 8.2 876 19485 done 0.81 - - 3215 - 2.33 0.043 1680 -588.0 169.3 - - 2089 - - - - - - - - 14.59 14.51 14.62
19807 340.3 8.8 888 19820 roll 0.81 - - 3226 - 2.42 0.065 316 -563.6 169.3 - - 2088 - - - - - - - - 14.83 14.38 14.85
19848 336.4 9.5 893 19862 done 0.81 0.15 0.240 3194 -213.3 2.25 0.031 1689 610.2 169.3 - - 2088 - - - - - - - - 14.14 14.56 14.42
20212 307.7 7.8 902 20225 roll 0.81 - - 3194 - 2.33 0.047 3047 582.8 169.7 - - 2088 - - - - - - - - 14.82 14.44 14.85
20288 301.5 8.2 912 20301 done 0.81 - - 3200 - 2.35 0.041 1680 -581.7 169.7 - - 2088 - - - - - - - - 14.52 14.43 14.55
20616 275.7 7.9 923 20629 roll 0.81 - - 3209 - 2.42 0.065 319 -562.4 169.7 - - 2088 - - - - - - - - 14.87 14.36 14.89
20663 271.7 8.5 929 20677 done 0.81 - - 3210 - 2.22 0.031 1675 610.8 169.7 - - 2087 - - - - - - - - 14.61 14.55 14.63
21021 244.7 7.4 937 21038 roll 0.82 - - 3210 - 2.33 0.047 3053 591.4 178.9 3.90 0.947 2061 -6.7 0.329 - - - - - - 14.83 14.63 13.62
21100 238.7 7.2 948 21131 done 0.84 - - 3219 - 2.33 0.041 1677 -590.6 190.8 18.83 1.284 2012 -2.6 0.092 - - - - - - 14.61 14.53 13.88
21475 209.5 8.1 959 21488 roll 0.84 - - 3230 - 2.40 0.065 327 -562.5 190.8 - - 1998 - - - - - - - - 14.79 14.34 14.81
21529 204.6 9.0 966 21544 done 0.84 0.12 0.243 3204 -216.7 2.25 0.030 1694 607.6 190.8 - - 1997 - - - - - - - - 14.18 14.56 14.45
21874 176.7 8.3 973 21887 roll 0.84 - - 3204 - 2.30 0.047 3045 587.4 190.8 - - 1998 - - - - - - - - 14.84 14.43 14.86
21964 168.5 9.0 985 21977 done 0.84 - - 3210 - 2.33 0.039 1673 -588.8 190.8 - - 1997 - - - - - - - - 14.57 14.48 14.61
22334 136.7 8.4 995 22347 roll 0.84 - - 3221 - 2.40 0.065 320 -563.8 190.8 - - 1997 - - - - - - - - 14.87 14.39 14.89
22367 133.6 8.9 999 22381 done 0.84 - - 3221 - 2.22 0.030 1678 611.7 190.8 - - 1997 - - - - - - - - 14.62 14.58 14.65
22739 101.0 8.6 1009 22752 roll 0.84 - - 3221 - 2.33 0.045 3053 590.1 190.8 - - 1997 - - - - - - - - 14.85 14.47 14.86
22786 97.1 8.0 1015 22799 done 0.84 0.12 0.260 3205 -133.3 2.33 0.040 1678 -590.1 190.8 - - 1997 - - - - - - - - 14.15 14.51 14.44
23118 73.2 7.3 1028 23131 done 0.85 - - 3204 - - - 1678 - 200.4 3.20 0.156 1975 -6.9 0.617 - - - - - - 14.82 14.43 14.17
23422 58.0 4.2 1039 23502 roll 1.04 0.15 0.116 3268 426.7 2.38 0.044 3053 577.7 268.9 63.85 0.276 1704 -4.2 0.171 - - - - - - 14.43 14.55 14.26
23621 44.9 6.5 1067 23658 done 1.07 - - 3277 - 2.33 0.039 1678 -590.1 293.7 24.30 0.236 1596 -4.4 0.162 - - - - - - 14.57 14.50 14.21
23991 25.2 4.9 1086 24052 roll 1.29 0.17 0.108 3353 447.1 2.38 0.041 3051 576.9 348.7 45.72 0.187 1371 -4.9 0.127 - - - - - - 14.46 14.52 14.28
24191 13.2 5.9 1115 24231 done 1.34 - - 3362 - 2.33 0.040 1681 -588.0 384.7 27.92 0.155 1224 -5.3 0.086 - - - - - - 14.57 14.48 14.33
24346 end climb: SURFACE_DEPTH_REACHED
24347 begin surface coast
24379 end surface coast: CONTROL_FINISHED_OK
24379 begin surface
SM 1.23 - - - - -8.60 9.48 0.068 165 17.4 0.20 0.067 1838 -37080.0 515.13 78.43 0.123 692 8.8 -0.009 - - - - - -