SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 190 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 74.16 of 350.00 AH used of 24V (78.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.17 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 25 s
• GPS2 time: 16 s • Transponder ping count: 4
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 done -0.84 - - 155 - - - 1874 - -116.8 -79.40 - 3269 - - - - - - - - 14.76 13.74 14.78
113 9.7 -14.8 3 130 roll -0.84 11.90 0.388 2644 209.2 2.40 0.059 3252 574.2 -116.8 - - 3271 - - - - - - - - 14.31 14.58 14.58
298 74.0 -19.9 30 305 done -0.50 0.47 0.262 2761 248.9 2.30 0.038 1866 -602.6 -116.8 - - 3272 - - - - - - - - 14.39 14.62 14.62
634 105.9 -8.8 44 642 roll -0.50 - - 2754 - 2.30 0.053 3244 599.1 -116.8 - - 3274 - - - - - - - - 14.90 14.68 14.92
753 117.0 -9.8 61 759 done -0.50 - - 2754 - 2.12 0.036 1936 -617.0 -116.8 - - 3273 - - - - - - - - 14.76 14.69 14.78
1083 146.7 -9.0 73 1089 roll -0.50 - - 2754 - 2.50 0.057 459 -590.8 -116.8 - - 3274 - - - - - - - - 14.94 14.71 14.96
1159 153.8 -9.1 84 1166 done -0.50 - - 2745 - 2.30 0.034 1870 613.5 -116.8 - - 3274 - - - - - - - - 14.81 14.76 14.83
1475 179.8 -8.1 94 1477 done -0.50 - - 2746 - - - 1871 - -116.8 - - 3272 - - - - - - - - 14.95 14.97 14.97
1810 211.8 -9.8 100 1818 roll -0.50 - - 2745 - 2.40 0.055 454 -590.4 -116.8 - - 3268 - - - - - - - - 14.96 14.73 14.98
1845 215.5 -11.0 105 1852 done -0.50 0.12 0.261 2763 150.0 2.35 0.034 1891 611.5 -116.8 - - 3268 - - - - - - - - 14.55 14.78 14.76
2203 245.8 -8.5 114 2210 roll -0.50 - - 2763 - 2.42 0.056 466 -588.8 -116.8 - - 3269 - - - - - - - - 14.96 14.73 14.99
2253 250.2 -9.1 121 2268 done -0.50 - - 2756 - 2.30 0.034 1865 608.3 -116.8 - - 3265 - - - - - - - - 14.83 14.76 14.84
2595 279.3 -8.5 128 2608 roll -0.50 - - 2746 - 2.35 0.055 3266 596.2 -116.8 - - 3262 - - - - - - - - 15.01 14.77 15.03
2635 282.8 -8.9 133 2648 done -0.50 - - 2746 - 2.33 0.037 1847 -609.0 -116.8 - - 3263 - - - - - - - - 14.88 14.81 14.89
2998 315.3 -9.0 142 3011 roll -0.50 - - 2746 - 2.33 0.057 468 -591.8 -116.8 - - 3260 - - - - - - - - 15.02 14.79 15.04
3168 331.6 -9.9 165 3182 done -0.50 0.12 0.264 2762 133.3 2.17 0.034 1813 619.8 -116.8 - - 3258 - - - - - - - - 14.58 14.83 14.80
3508 361.7 -8.8 172 3521 done -0.50 - - 2765 - - - 1813 - -116.8 - - 3255 - - - - - - - - 15.03 15.05 15.05
3844 390.0 -8.3 178 3858 roll -0.50 - - 2754 - 2.42 0.054 3267 600.8 -116.8 - - 3253 - - - - - - - - 15.03 14.79 15.05
3920 396.1 -7.9 188 3933 done -0.50 - - 2754 - 2.42 0.037 1784 -612.8 -116.8 - - 3253 - - - - - - - - 14.89 14.82 14.90
4248 420.8 -7.4 199 4261 roll -0.50 - - 2754 - 2.22 0.058 470 -591.9 -116.8 - - 3253 - - - - - - - - 15.04 14.78 15.06
4397 432.3 -7.8 219 4410 done -0.50 - - 2746 - 2.12 0.034 1785 620.3 -116.8 - - 3249 - - - - - - - - 14.90 14.85 14.92
4767 462.4 -8.4 229 4780 roll -0.50 - - 2734 - 2.47 0.056 3263 598.4 -116.8 - - 3248 - - - - - - - - 15.03 14.77 15.05
4856 470.4 -9.1 241 4869 done -0.50 0.15 0.239 2767 220.0 2.42 0.039 1788 -609.5 -116.8 - - 3247 - - - - - - - - 14.57 14.81 14.78
5227 502.7 -8.8 251 5240 roll -0.50 - - 2767 - 2.25 0.060 465 -588.0 -116.8 - - 3245 - - - - - - - - 15.02 14.76 15.04
5337 513.2 -9.3 266 5351 done -0.50 - - 2762 - 2.17 0.036 1792 611.5 -116.8 - - 3245 - - - - - - - - 14.88 14.82 14.89
5682 542.3 -8.4 273 5695 roll -0.50 - - 2751 - 2.47 0.056 3265 596.4 -116.8 - - 3243 - - - - - - - - 15.02 14.76 15.04
5793 551.5 -7.9 288 5807 done -0.50 - - 2751 - 2.42 0.038 1804 -603.7 -116.8 - - 3243 - - - - - - - - 14.86 14.80 14.88
6137 577.5 -7.5 295 6151 roll -0.50 - - 2751 - 2.28 0.060 469 -585.5 -116.8 - - 3241 - - - - - - - - 15.00 14.75 15.04
6227 585.0 -8.2 307 6240 done -0.50 - - 2742 - 2.20 0.034 1807 608.2 -116.8 - - 3241 - - - - - - - - 14.87 14.83 14.89
6597 614.0 -7.8 317 6610 roll -0.50 - - 2732 - 2.47 0.057 3268 591.5 -116.8 - - 3240 - - - - - - - - 15.03 14.74 15.04
6666 619.5 -8.0 326 6679 done -0.50 0.15 0.243 2763 206.7 2.42 0.039 1800 -606.6 -116.8 - - 3239 - - - - - - - - 14.51 14.78 14.76
7001 643.0 -7.0 338 7015 roll -0.50 - - 2768 - 2.28 0.060 469 -583.8 -116.8 - - 3241 - - - - - - - - 15.00 14.74 15.02
7126 652.6 -7.8 355 7139 done -0.50 - - 2759 - 2.10 0.034 1762 615.7 -116.8 - - 3237 - - - - - - - - 14.86 14.81 14.88
7461 678.2 -7.7 367 7474 roll -0.50 - - 2747 - 2.55 0.057 3269 591.0 -116.8 - - 3236 - - - - - - - - 15.00 14.73 15.02
7530 683.7 -8.0 376 7543 done -0.50 - - 2748 - 2.50 0.039 1761 -603.2 -116.8 - - 3235 - - - - - - - - 14.85 14.77 14.87
7865 711.3 -8.3 388 7878 roll -0.50 - - 2749 - 2.20 0.060 472 -585.9 -116.8 - - 3234 - - - - - - - - 15.00 14.71 15.02
7968 720.4 -8.7 402 7981 done -0.50 - - 2740 - 2.08 0.035 1747 613.0 -116.8 - - 3234 - - - - - - - - 14.85 14.79 14.87
8325 748.9 -7.9 410 8338 roll -0.50 - - 2728 - 2.58 0.057 3266 588.8 -116.8 - - 3233 - - - - - - - - 14.99 14.71 15.01
8456 759.6 -7.8 428 8469 done -0.50 0.15 0.241 2762 226.7 2.47 0.040 1776 -603.2 -116.8 - - 3232 - - - - - - - - 14.49 14.75 14.72
8788 781.4 -6.6 439 8801 roll -0.59 - - 2762 - 2.22 0.063 474 -586.5 -116.8 - - 3231 - - - - - - - - 14.99 14.70 15.00
8870 787.7 -7.2 450 8883 done -0.59 - - 2757 - 2.12 0.036 1760 606.6 -116.8 - - 3231 - - - - - - - - 14.83 14.78 14.85
9192 810.2 -7.1 460 9205 roll -0.59 - - 2746 - 2.55 0.058 3263 589.4 -116.8 - - 3230 - - - - - - - - 14.98 14.70 15.00
9267 815.7 -7.3 470 9281 done -0.59 - - 2746 - 2.50 0.041 1761 -600.8 -116.8 - - 3231 - - - - - - - - 14.81 14.73 14.84
9596 838.9 -7.1 481 9609 roll -0.59 - - 2746 - 2.22 0.062 469 -582.0 -116.8 - - 3229 - - - - - - - - 14.99 14.69 15.00
9659 844.1 -7.7 489 9672 done -0.59 - - 2738 - 2.12 0.036 1758 608.0 -116.8 - - 3229 - - - - - - - - 14.83 14.77 14.85
10001 868.0 -7.1 502 10014 roll -0.59 - - 2726 - 2.58 0.060 3268 585.3 -116.8 - - 3228 - - - - - - - - 14.97 14.69 15.00
10097 875.0 -8.1 515 10111 done -0.59 - - 2726 - 2.50 0.041 1771 -598.8 -116.8 - - 3228 - - - - - - - - 14.81 14.73 14.83
10461 901.4 -7.3 524 10474 roll -0.59 - - 2726 - 2.25 0.064 469 -578.7 -116.8 - - 3227 - - - - - - - - 14.97 14.67 14.99
10579 911.0 -8.7 540 10593 done -0.59 - - 2718 - 2.10 0.037 1743 606.7 -116.8 - - 3227 - - - - - - - - 14.81 14.76 14.83
10922 938.6 -8.1 553 10935 roll -0.59 - - 2706 - 2.60 0.060 3266 585.8 -116.8 - - 3227 - - - - - - - - 14.97 14.66 15.00
11012 946.2 -7.4 565 11025 done -0.59 0.15 0.256 2735 193.3 2.55 0.041 1751 -594.1 -116.8 - - 3225 - - - - - - - - 14.42 14.71 14.67
11383 973.9 -7.4 575 11396 roll -0.59 - - 2739 - 2.22 0.064 472 -576.1 -116.8 - - 3225 - - - - - - - - 14.97 14.66 14.99
11479 981.8 -9.1 588 11492 done -0.59 - - 2733 - 2.08 0.037 1738 608.7 -116.8 - - 3225 - - - - - - - - 14.79 14.75 14.81
11615 end dive: TARGET_DEPTH_EXCEEDED
11615 begin apogee
11624 992.6 -7.3 593 11752 roll -0.21 0.47 0.232 2855 259.6 - - 1798 - - 118.55 2.196 2791 -3.7 0.309 - - - - - - 14.42 14.04 13.27
11754 end apogee: CONTROL_FINISHED_OK
11754 begin climb
11757 998.0 - 595 11899 roll 0.84 1.17 0.181 3187 283.8 2.58 0.062 409 -538.4 116.8 123.68 2.141 2317 -3.8 0.334 - - - - - - 14.03 14.09 13.12
12083 975.7 7.9 644 12096 done 0.84 - - 3187 - 2.38 0.032 1812 589.5 116.8 - - 2296 - - - - - - - - 14.40 14.36 14.43
12412 946.2 8.9 655 12425 roll 0.84 - - 3197 - 2.50 0.061 399 -565.2 116.8 - - 2290 - - - - - - - - 14.74 14.52 14.77
12606 927.2 9.8 682 12619 done 0.74 - - 3197 - 2.35 0.034 1818 603.8 116.8 - - 2293 - - - - - - - - 14.69 14.63 14.70
12928 896.3 9.7 692 12942 roll 0.64 0.20 0.256 3145 -260.0 2.33 0.051 3188 588.0 116.8 - - 2292 - - - - - - - - 14.37 14.62 14.53
12997 890.3 8.2 701 13010 done 0.64 - - 3150 - 2.25 0.041 1838 -600.0 116.8 - - 2292 - - - - - - - - 14.73 14.66 14.74
13332 864.4 7.7 713 13346 roll 0.64 - - 3163 - 2.53 0.065 398 -569.2 119.4 - - 2291 - - - - - - - - 14.89 14.62 14.91
13443 855.6 7.9 728 13458 done 0.64 - - 3164 - 2.38 0.034 1820 597.5 119.4 - - 2293 - - - - - - - - 14.76 14.70 14.78
13787 830.6 7.1 735 13816 roll 0.66 - - 3164 - 2.38 0.054 3187 574.4 134.3 15.50 1.997 2236 -3.7 0.286 - - - - - - 14.92 14.64 13.91
13886 823.0 7.8 749 13899 done 0.66 0.12 0.273 3149 -125.0 2.30 0.040 1824 -592.6 135.7 - - 2231 - - - - - - - - 14.40 14.62 14.63
14243 799.0 6.8 757 14279 roll 0.69 - - 3157 - 2.50 0.066 406 -567.2 156.3 23.60 1.938 2147 -3.6 0.274 - - - - - - 14.87 14.51 13.90
14373 789.3 7.9 775 14386 done 0.69 - - 3157 - 2.33 0.033 1803 599.6 156.3 - - 2140 - - - - - - - - 14.62 14.57 14.64
14701 762.2 8.3 786 14714 roll 0.69 - - 3157 - 2.38 0.054 3189 582.4 156.3 - - 2139 - - - - - - - - 14.82 14.60 14.85
14764 756.6 9.0 794 14777 done 0.69 - - 3165 - 2.30 0.041 1814 -597.8 156.3 - - 2138 - - - - - - - - 14.64 14.59 14.67
15106 726.5 8.8 807 15119 roll 0.69 - - 3179 - 2.47 0.066 395 -574.5 156.3 - - 2138 - - - - - - - - 14.88 14.61 14.90
15196 718.1 9.5 819 15209 done 0.69 - - 3176 - 2.35 0.034 1812 603.0 156.3 - - 2138 - - - - - - - - 14.76 14.70 14.77
15566 684.8 8.9 829 15579 roll 0.69 - - 3176 - 2.33 0.054 3184 588.8 156.3 - - 2138 - - - - - - - - 14.91 14.66 14.93
15628 678.9 9.6 837 15641 done 0.69 0.15 0.269 3154 -146.7 2.33 0.041 1800 -594.0 156.3 - - 2135 - - - - - - - - 14.43 14.69 14.71
15971 650.6 8.3 850 15984 roll 0.69 - - 3162 - 2.45 0.065 403 -570.2 156.3 - - 2137 - - - - - - - - 14.91 14.64 14.94
16053 643.2 9.1 861 16066 done 0.69 - - 3162 - 2.30 0.033 1803 608.7 156.3 - - 2137 - - - - - - - - 14.78 14.73 14.79
16375 614.2 9.1 871 16388 roll 0.69 - - 3162 - 2.33 0.053 3185 593.1 156.3 - - 2137 - - - - - - - - 14.92 14.67 14.95
16429 609.1 9.4 878 16443 done 0.69 - - 3172 - 2.30 0.041 1800 -602.2 156.3 - - 2137 - - - - - - - - 14.77 14.69 14.80
16773 577.7 9.1 885 16786 roll 0.69 - - 3182 - 2.42 0.065 402 -577.7 156.3 - - 2137 - - - - - - - - 14.92 14.68 14.95
16849 570.4 9.6 895 16862 done 0.69 - - 3182 - 2.28 0.033 1788 607.9 156.3 - - 2137 - - - - - - - - 14.80 14.74 14.82
17177 540.6 9.1 906 17190 roll 0.69 - - 3182 - 2.38 0.052 3190 589.1 156.3 - - 2137 - - - - - - - - 14.93 14.68 14.96
17281 530.6 9.4 920 17295 done 0.69 0.17 0.254 3152 -176.5 2.30 0.041 1818 -596.5 156.3 - - 2137 - - - - - - - - 14.43 14.69 14.69
17638 503.4 7.5 928 17652 roll 0.70 - - 3161 - 2.45 0.065 406 -576.3 162.2 - - 2137 - - - - - - - - 14.93 14.64 14.95
17693 499.0 8.2 935 17706 done 0.70 - - 3161 - 2.33 0.033 1810 602.6 162.2 - - 2137 - - - - - - - - 14.78 14.73 14.81
18037 472.9 7.5 942 18055 roll 0.71 - - 3161 - 2.38 0.053 3184 577.3 169.2 5.47 1.394 2101 -6.6 0.417 - - - - - - 14.94 14.76 13.91
18088 468.8 8.0 949 18102 done 0.71 - - 3169 - 2.33 0.041 1799 -594.4 169.2 - - 2106 - - - - - - - - 14.77 14.69 14.79
18434 443.3 7.4 956 18462 roll 0.72 - - 3180 - 2.42 0.066 403 -576.9 178.0 15.62 1.554 2060 -2.9 0.157 - - - - - - 14.91 14.66 14.05
18531 435.1 8.4 970 18545 done 0.72 - - 3179 - 2.28 0.031 1786 606.6 178.0 - - 2054 - - - - - - - - 14.72 14.67 14.73
18888 403.1 9.3 978 18901 roll 0.72 - - 3180 - 2.38 0.052 3185 587.8 178.0 - - 2053 - - - - - - - - 14.90 14.63 14.90
18928 399.0 10.1 983 18942 done 0.72 - - 3189 - 2.35 0.041 1780 -597.9 178.0 - - 2053 - - - - - - - - 14.73 14.66 14.76
19291 361.6 10.4 992 19305 roll 0.72 - - 3200 - 2.40 0.064 404 -573.3 178.0 - - 2052 - - - - - - - - 14.90 14.63 14.92
19354 354.7 11.3 1000 19367 done 0.72 0.15 0.245 3166 -226.7 2.28 0.031 1797 611.0 178.0 - - 2053 - - - - - - - - 14.43 14.72 14.69
19697 324.1 8.7 1013 19710 roll 0.72 - - 3166 - 2.33 0.050 3173 590.6 178.0 - - 2053 - - - - - - - - 14.92 14.67 14.94
19751 319.3 8.5 1020 19765 done 0.72 - - 3172 - 2.33 0.040 1786 -595.3 178.0 - - 2053 - - - - - - - - 14.76 14.69 14.79
20096 292.8 7.6 1027 20109 roll 0.72 - - 3182 - 2.40 0.063 402 -576.7 182.6 - - 2053 - - - - - - - - 14.92 14.64 14.96
20199 284.5 8.3 1041 20212 done 0.72 - - 3182 - 2.20 0.031 1753 614.1 182.6 - - 2052 - - - - - - - - 14.79 14.74 14.81
20556 255.0 8.4 1049 20569 roll 0.72 - - 3182 - 2.40 0.049 3183 595.8 182.6 - - 2053 - - - - - - - - 14.92 14.68 14.95
20631 248.1 9.0 1059 20644 done 0.72 - - 3190 - 2.38 0.041 1771 -593.3 182.6 - - 2053 - - - - - - - - 14.78 14.71 14.81
20959 217.4 9.5 1070 20973 roll 0.72 - - 3200 - 2.38 0.063 396 -577.7 182.6 - - 2057 - - - - - - - - 14.95 14.65 14.94
21049 208.0 10.5 1082 21063 done 0.72 0.15 0.239 3167 -220.0 2.25 0.031 1782 616.0 182.6 - - 2052 - - - - - - - - 14.46 14.75 14.68
21420 176.6 8.2 1092 21433 roll 0.72 - - 3167 - 2.35 0.050 3177 593.6 182.6 - - 2053 - - - - - - - - 14.92 14.69 14.95
21482 171.4 8.6 1100 21496 done 0.72 - - 3178 - 2.35 0.041 1778 -595.3 182.6 - - 2053 - - - - - - - - 14.78 14.71 14.81
21825 143.2 8.2 1113 21838 roll 0.72 - - 3186 - 2.40 0.063 393 -577.1 182.6 - - 2053 - - - - - - - - 14.94 14.64 14.96
21935 133.6 8.8 1128 21950 done 0.72 - - 3183 - 2.20 0.031 1741 612.7 182.6 - - 2053 - - - - - - - - 14.80 14.74 14.81
22279 106.5 7.7 1135 22296 roll 0.72 - - 3183 - 2.45 0.049 3169 582.9 184.9 2.45 0.158 2040 -5.3 0.669 - - - - - - 14.95 14.69 14.54
22359 100.6 7.5 1146 22383 done 0.73 - - 3191 - 2.30 0.038 1783 -602.6 192.1 8.65 0.313 2015 -2.9 0.174 - - - - - - 14.80 14.73 14.33
22708 77.7 6.7 1162 22744 roll 0.76 - - 3191 - 2.40 0.047 3171 578.3 213.8 23.90 0.321 1924 -3.8 0.172 - - - - - - 14.92 14.70 14.40
22795 73.0 5.0 1174 22858 done 0.93 - - 3198 - 2.12 0.037 1876 -610.8 266.5 50.65 0.322 1706 -4.3 0.182 - - - - - - 14.73 14.66 14.37
23181 55.9 3.5 1196 23268 roll 1.27 0.38 0.076 3359 423.7 2.55 0.058 403 -577.6 348.4 73.50 0.274 1373 -4.5 0.173 - - - - - - 14.63 14.50 14.34
23278 49.4 8.2 1209 23295 done 1.27 - - 3358 - 2.22 0.029 1776 618.5 348.4 2.38 0.160 1375 - - - - - - - - 14.68 14.64 14.40
23612 21.6 7.4 1223 23632 roll 1.28 - - 3367 - 2.45 0.060 406 -559.2 356.7 8.35 0.170 1338 -4.4 0.105 - - - - - - 14.85 14.62 14.46
23688 16.2 6.6 1233 23719 done 1.31 - - 3368 - 2.15 0.028 1753 626.5 379.3 19.08 0.164 1246 -4.8 0.089 - - - - - - 14.75 14.71 14.47
23898 end climb: SURFACE_DEPTH_REACHED
23898 begin surface coast
23929 end surface coast: CONTROL_FINISHED_OK
23929 begin surface
SM 1.03 - - - - -8.61 9.38 0.067 158 16.8 0.10 0.109 1870 -73840.0 515.38 81.43 0.123 693 8.5 -0.007 - - - - - -