SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 355 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 134.94 of 350.00 AH used of 24V (61.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.9 deg, depth 1.14 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 54 s
• GPS2 time: 13 s • Transponder ping count: 3
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 113 done -0.84 - - 145 - - - 1820 - -116.8 -80.43 - 3271 - - - - - - - - 14.69 13.49 14.70
117 8.8 -13.4 3 135 roll -0.84 12.18 0.382 2643 205.1 2.40 0.046 3223 584.6 -116.8 - - 3269 - - - - - - - - 14.13 14.52 14.48
170 36.1 -36.0 11 177 done -0.19 0.88 0.287 2858 244.3 2.33 0.037 1833 -596.6 -116.8 - - 3272 - - - - - - - - 14.13 14.49 14.42
507 67.8 -6.3 26 513 roll -0.32 - - 2851 - 2.33 0.050 3208 590.1 -116.8 - - 3273 - - - - - - - - 14.79 14.50 14.81
590 71.8 -4.8 38 597 done -0.52 0.28 0.077 2740 -396.4 2.30 0.035 1815 -605.7 -116.8 - - 3273 - - - - - - - - 14.56 14.56 14.62
927 101.7 -8.5 53 930 done -0.52 - - 2740 - - - 1816 - -116.8 - - 3273 - - - - - - - - 14.84 14.86 14.85
1262 134.0 -9.8 59 1268 roll -0.52 - - 2740 - 2.38 0.058 431 -581.9 -116.8 - - 3273 - - - - - - - - 14.86 14.54 14.88
1374 145.3 -9.7 75 1381 done -0.52 - - 2730 - 2.28 0.031 1824 611.0 -116.8 - - 3276 - - - - - - - - 14.67 14.63 14.70
1711 175.5 -9.1 88 1718 roll -0.52 - - 2719 - 2.35 0.052 3218 593.2 -116.8 - - 3272 - - - - - - - - 14.86 14.54 14.88
1745 178.6 -9.3 93 1753 done -0.52 0.15 0.227 2753 226.7 2.30 0.037 1828 -604.3 -116.8 - - 3271 - - - - - - - - 14.29 14.59 14.53
2103 207.5 -8.1 102 2109 roll -0.52 - - 2753 - 2.40 0.057 432 -581.7 -116.8 - - 3271 - - - - - - - - 14.86 14.51 14.88
2215 217.6 -9.1 118 2222 done -0.52 - - 2747 - 2.33 0.031 1839 603.9 -116.8 - - 3267 - - - - - - - - 14.66 14.62 14.69
2551 247.8 -9.0 131 2553 done -0.52 - - 2747 - - - 1839 - -116.8 - - 3265 - - - - - - - - 14.84 14.88 14.86
2888 276.5 -8.5 137 2901 roll -0.52 - - 2736 - 2.33 0.051 3217 591.4 -116.8 - - 3262 - - - - - - - - 14.92 14.59 14.94
2928 280.0 -8.3 142 2941 done -0.52 - - 2736 - 2.30 0.039 1833 -601.7 -116.8 - - 3261 - - - - - - - - 14.71 14.63 14.73
3291 311.1 -8.6 151 3304 roll -0.52 - - 2736 - 2.42 0.060 428 -580.6 -116.8 - - 3258 - - - - - - - - 14.95 14.57 14.97
3416 323.0 -9.7 168 3430 done -0.52 0.12 0.259 2753 141.7 2.30 0.033 1827 608.3 -116.8 - - 3258 - - - - - - - - 14.32 14.69 14.56
3752 353.3 -9.2 180 3765 roll -0.52 - - 2745 - 2.35 0.056 3219 592.3 -116.8 - - 3259 - - - - - - - - 14.92 14.59 14.95
3821 359.6 -9.4 189 3834 done -0.52 - - 2745 - 2.33 0.039 1826 -597.9 -116.8 - - 3255 - - - - - - - - 14.70 14.62 14.73
4156 390.8 -9.2 201 4169 roll -0.52 - - 2744 - 2.42 0.060 425 -578.9 -116.8 - - 3253 - - - - - - - - 14.96 14.55 14.98
4287 402.7 -8.7 219 4300 done -0.52 - - 2735 - 2.33 0.032 1843 608.6 -116.8 - - 3252 - - - - - - - - 14.73 14.68 14.76
4616 429.9 -8.2 230 4629 roll -0.52 - - 2734 - 2.45 0.057 428 -577.6 -116.8 - - 3251 - - - - - - - - 14.93 14.56 14.95
4684 435.7 -8.3 239 4698 done -0.52 0.15 0.252 2757 153.3 2.30 0.033 1824 607.0 -116.8 - - 3251 - - - - - - - - 14.26 14.66 14.50
5021 459.2 -7.0 251 5034 roll -0.52 - - 2750 - 2.38 0.056 3220 586.6 -116.8 - - 3248 - - - - - - - - 14.95 14.55 14.97
5061 462.2 -7.0 256 5074 done -0.61 - - 2750 - 2.33 0.040 1830 -596.6 -116.8 - - 3248 - - - - - - - - 14.68 14.66 14.70
5424 488.8 -7.4 265 5438 roll -0.61 - - 2750 - 2.42 0.062 429 -578.9 -116.8 - - 3247 - - - - - - - - 14.94 14.54 14.96
5515 496.2 -8.3 277 5528 done -0.61 - - 2741 - 2.33 0.034 1828 600.4 -116.8 - - 3247 - - - - - - - - 14.70 14.64 14.72
5885 525.5 -7.9 287 5898 roll -0.61 - - 2730 - 2.40 0.057 3227 582.9 -116.8 - - 3244 - - - - - - - - 14.92 14.52 14.97
5948 530.4 -8.0 295 5961 done -0.61 - - 2731 - 2.35 0.038 1827 -595.7 -116.8 - - 3244 - - - - - - - - 14.68 14.60 14.71
6290 559.0 -8.3 308 6303 roll -0.61 - - 2730 - 2.42 0.060 432 -576.4 -116.8 - - 3243 - - - - - - - - 14.93 14.51 14.95
6437 571.9 -8.9 328 6450 done -0.61 - - 2721 - 2.35 0.033 1840 599.1 -116.8 - - 3242 - - - - - - - - 14.68 14.62 14.70
6807 604.8 -9.0 338 6820 done -0.61 - - 2721 - - - 1839 - -116.8 - - 3241 - - - - - - - - 14.92 14.95 14.94
7143 636.2 -9.4 344 7156 roll -0.61 - - 2721 - 2.45 0.058 432 -574.3 -116.8 - - 3240 - - - - - - - - 14.92 14.50 14.94
7184 640.3 -10.5 349 7198 done -0.61 - - 2713 - 2.33 0.034 1831 600.4 -116.8 - - 3239 - - - - - - - - 14.69 14.62 14.71
7548 675.3 -9.6 358 7561 roll -0.61 - - 2700 - 2.40 0.057 3226 581.2 -116.8 - - 3242 - - - - - - - - 14.94 14.47 14.96
7616 681.9 -9.6 367 7630 done -0.61 0.12 0.252 2725 208.3 2.35 0.039 1828 -594.9 -116.8 - - 3238 - - - - - - - - 14.18 14.54 14.42
7952 710.6 -8.5 379 7966 roll -0.61 - - 2725 - 2.45 0.062 429 -571.0 -116.8 - - 3237 - - - - - - - - 14.90 14.45 14.92
8077 721.7 -8.8 396 8090 done -0.61 - - 2718 - 2.35 0.034 1835 598.3 -116.8 - - 3237 - - - - - - - - 14.64 14.57 14.66
8413 750.8 -8.7 408 8426 done -0.61 - - 2718 - - - 1835 - -116.8 - - 3234 - - - - - - - - 14.89 14.92 14.92
8748 779.4 -8.4 414 8761 done -0.61 - - 2716 - - - 1835 - -116.8 - - 3233 - - - - - - - - 14.90 14.92 14.92
9084 806.1 -7.9 420 9097 roll -0.61 - - 2708 - 2.40 0.057 3219 576.7 -116.8 - - 3233 - - - - - - - - 14.90 14.42 14.92
9139 810.4 -7.9 427 9154 done -0.61 - - 2708 - 2.38 0.041 1825 -585.7 -116.8 - - 3233 - - - - - - - - 14.50 14.42 14.53
9482 837.4 -7.9 434 9496 roll -0.61 - - 2708 - 2.47 0.062 424 -567.2 -116.8 - - 3232 - - - - - - - - 14.94 14.39 14.95
9586 846.5 -8.7 448 9599 done -0.61 0.15 0.266 2729 140.0 2.38 0.034 1833 592.0 -116.8 - - 3231 - - - - - - - - 14.04 14.53 14.33
9943 871.7 -7.0 456 9956 roll -0.61 - - 2721 - 2.42 0.058 3231 577.7 -116.8 - - 3230 - - - - - - - - 14.90 14.39 14.92
9984 874.6 -5.2 461 9997 done -0.61 - - 2721 - 2.38 0.039 1827 -589.9 -116.8 - - 3230 - - - - - - - - 14.57 14.47 14.59
10348 902.4 -7.6 470 10361 roll -0.61 - - 2721 - 2.50 0.063 423 -561.6 -116.8 - - 3229 - - - - - - - - 14.87 14.38 14.89
10458 911.7 -8.3 485 10473 done -0.61 - - 2712 - 2.40 0.036 1836 588.8 -116.8 - - 3229 - - - - - - - - 14.57 14.50 14.59
10803 938.7 -7.9 492 10816 done -0.61 - - 2711 - - - 1836 - -116.8 - - 3232 - - - - - - - - 14.87 14.90 14.90
11139 964.0 -7.6 498 11153 roll -0.61 - - 2701 - 2.40 0.058 3214 574.2 -116.8 - - 3228 - - - - - - - - 14.87 14.36 14.89
11208 969.4 -8.6 507 11222 done -0.61 0.12 0.252 2725 200.0 2.38 0.041 1822 -584.9 -116.8 - - 3228 - - - - - - - - 14.06 14.44 14.31
11540 end dive: TARGET_DEPTH_EXCEEDED
11540 begin apogee
11549 992.1 -6.7 519 11680 done -0.21 0.50 0.219 2855 260.0 - - 1671 - - 121.00 2.179 2793 -3.6 0.313 - - - - - - 14.00 13.96 13.02
11683 end apogee: CONTROL_FINISHED_OK
11683 begin climb
11686 996.4 - 521 11831 roll 0.84 1.15 0.155 3187 288.7 2.55 0.047 3068 547.8 116.8 125.38 2.139 2304 -3.9 0.348 - - - - - - 13.93 13.52 12.81
11893 984.2 8.6 554 11907 done 0.84 - - 3196 - 2.42 0.041 1690 -569.4 116.8 - - 2296 - - - - - - - - 14.12 14.05 14.14
12230 955.4 8.5 566 12243 done 0.84 - - 3196 - - - 1690 - 116.8 - - 2293 - - - - - - - - 14.71 14.73 14.73
12565 926.8 8.5 572 12578 roll 0.84 - - 3197 - 2.38 0.048 3072 580.7 116.8 - - 2295 - - - - - - - - 14.80 14.50 14.81
12612 922.5 10.9 578 12626 done 0.84 - - 3205 - 2.38 0.042 1677 -586.1 116.8 - - 2291 - - - - - - - - 14.62 14.54 14.65
12970 890.7 9.0 586 12983 roll 0.84 - - 3216 - 2.40 0.067 323 -564.2 116.8 - - 2292 - - - - - - - - 14.84 14.45 14.86
13032 884.6 9.8 594 13046 done 0.74 0.20 0.245 3171 -225.0 2.28 0.031 1709 607.9 116.8 - - 2291 - - - - - - - - 14.19 14.60 14.49
13375 858.0 7.6 607 13388 roll 0.74 - - 3170 - 2.28 0.051 3048 587.3 121.5 - - 2291 - - - - - - - - 14.85 14.48 14.86
13458 851.9 7.8 618 13472 done 0.74 - - 3178 - 2.35 0.045 1675 -584.3 121.9 - - 2289 - - - - - - - - 14.61 14.54 14.64
13780 827.0 7.6 628 13793 done 0.75 - - 3178 - - - 1675 - 126.9 2.33 0.529 2274 -6.4 1.927 - - - - - - 14.87 14.47 13.15
14117 801.5 7.5 634 14132 done 0.76 - - 3178 - - - 1675 - 133.6 5.40 1.633 2249 -4.6 0.435 - - - - - - 14.87 14.59 13.43
14452 778.0 6.9 640 14498 roll 0.78 - - 3178 - 2.45 0.050 3050 561.2 152.0 33.53 1.791 2168 -2.4 0.201 - - - - - - 14.86 14.45 13.67
14549 771.3 7.6 653 14568 done 0.79 - - 3187 - 2.38 0.045 1673 -578.6 157.6 1.75 0.171 2144 -13.7 11.845 - - - - - - 14.50 14.42 14.27
14898 745.0 7.6 661 14911 done 0.79 - - 3186 - - - 1673 - 161.9 2.97 0.939 2132 -4.0 0.614 - - - - - - 14.77 14.47 13.29
15233 718.5 8.0 667 15247 roll 0.79 - - 3197 - 2.40 0.067 318 -564.6 161.9 - - 2137 - - - - - - - - 14.81 14.43 14.82
15274 715.0 7.9 672 15288 done 0.79 - - 3197 - 2.25 0.031 1681 605.8 161.9 - - 2137 - - - - - - - - 14.64 14.59 14.66
15638 683.7 8.7 681 15651 roll 0.79 - - 3197 - 2.38 0.049 3063 580.7 161.9 - - 2137 - - - - - - - - 14.85 14.47 14.88
15748 673.2 9.6 696 15762 done 0.79 - - 3206 - 2.38 0.042 1679 -581.5 161.9 - - 2137 - - - - - - - - 14.58 14.48 14.61
16093 639.2 10.0 703 16106 roll 0.79 - - 3206 - 2.38 0.049 3057 579.0 161.9 - - 2137 - - - - - - - - 14.85 14.46 14.88
16126 635.6 9.9 707 16139 done 0.79 - - 3215 - 2.35 0.042 1678 -586.8 161.9 - - 2137 - - - - - - - - 14.59 14.50 14.62
16497 598.0 10.2 717 16510 roll 0.79 - - 3225 - 2.40 0.067 323 -564.6 161.9 - - 2137 - - - - - - - - 14.85 14.41 14.87
16551 592.1 10.9 724 16565 done 0.79 0.17 0.246 3188 -217.6 2.28 0.031 1694 601.3 161.9 - - 2137 - - - - - - - - 14.10 14.57 14.38
16896 561.2 8.8 731 16909 roll 0.79 - - 3187 - 2.33 0.050 3052 582.8 161.9 - - 2137 - - - - - - - - 14.88 14.44 14.89
16951 556.1 9.2 738 16966 done 0.79 - - 3194 - 2.35 0.042 1682 -583.0 161.9 - - 2137 - - - - - - - - 14.54 14.48 14.59
17294 526.2 8.7 745 17307 roll 0.79 - - 3204 - 2.42 0.067 317 -564.0 161.9 - - 2137 - - - - - - - - 14.85 14.38 14.85
17321 523.8 8.7 748 17334 done 0.79 - - 3204 - 2.25 0.032 1674 603.1 161.9 - - 2137 - - - - - - - - 14.62 14.56 14.64
17643 497.2 8.1 758 17656 roll 0.79 - - 3204 - 2.38 0.049 3058 581.5 161.9 - - 2137 - - - - - - - - 14.84 14.44 14.86
17698 492.5 8.2 765 17712 done 0.79 - - 3213 - 2.38 0.043 1678 -579.8 161.9 - - 2137 - - - - - - - - 14.54 14.45 14.57
18042 465.2 8.0 772 18056 roll 0.79 - - 3212 - 2.38 0.047 3053 577.7 161.9 - - 2137 - - - - - - - - 14.88 14.42 14.90
18119 458.8 8.1 782 18133 done 0.79 0.15 0.268 3192 -133.3 2.35 0.042 1678 -585.1 161.9 - - 2138 - - - - - - - - 14.04 14.46 14.33
18448 433.7 7.8 793 18465 roll 0.79 - - 3200 - 2.42 0.067 326 -558.7 163.2 2.40 0.525 2126 -5.0 0.791 - - - - - - 14.85 14.49 13.30
18521 427.2 9.0 803 18534 done 0.79 - - 3200 - 2.22 0.031 1685 612.2 163.2 - - 2132 - - - - - - - - 14.63 14.57 14.65
18849 398.1 8.9 814 18862 roll 0.79 - - 3200 - 2.33 0.047 3051 586.3 163.2 - - 2131 - - - - - - - - 14.87 14.44 14.89
18911 392.3 9.3 822 18924 done 0.79 - - 3209 - 2.35 0.043 1676 -585.1 163.2 - - 2131 - - - - - - - - 14.56 14.47 14.59
19254 360.7 9.1 835 19268 roll 0.79 - - 3219 - 2.40 0.066 321 -564.6 163.2 - - 2131 - - - - - - - - 14.84 14.39 14.88
19288 357.4 9.5 839 19301 done 0.79 0.15 0.237 3188 -206.7 2.22 0.029 1690 616.7 163.2 - - 2131 - - - - - - - - 14.16 14.58 14.38
19659 328.7 7.5 849 19688 roll 0.80 - - 3187 - 2.33 0.049 3037 578.1 170.4 15.35 1.381 2089 -2.7 0.125 - - - - - - 14.87 14.61 13.84
19744 322.0 8.0 861 19757 done 0.80 - - 3194 - 2.30 0.041 1679 -590.4 170.4 - - 2084 - - - - - - - - 14.58 14.50 14.63
20115 293.0 7.9 871 20128 done 0.80 - - 3194 - - - 1678 - 170.4 - - 2084 - - - - - - - - 14.82 14.84 14.84
20450 266.9 7.8 877 20463 done 0.80 - - 3195 - - - 1678 - 171.8 - - 2084 - - - - - - - - 14.85 14.88 14.88
20786 239.8 8.1 883 20799 roll 0.80 - - 3194 - 2.35 0.047 3042 580.4 171.8 - - 2085 - - - - - - - - 14.87 14.44 14.89
20833 235.8 8.2 889 20847 done 0.80 - - 3203 - 2.33 0.041 1682 -583.7 171.8 - - 2084 - - - - - - - - 14.57 14.49 14.61
21189 206.3 8.3 897 21203 roll 0.80 - - 3212 - 2.42 0.066 316 -564.5 171.8 - - 2084 - - - - - - - - 14.85 14.32 14.87
21230 202.8 8.7 902 21243 done 0.80 - - 3212 - 2.22 0.030 1678 613.5 171.8 - - 2084 - - - - - - - - 14.54 14.49 14.57
21594 170.1 9.3 911 21607 roll 0.80 - - 3216 - 2.33 0.045 3048 588.0 171.8 - - 2084 - - - - - - - - 14.87 14.44 14.89
21690 161.0 8.8 924 21704 done 0.80 0.15 0.252 3191 -166.7 2.35 0.040 1675 -584.3 171.8 - - 2084 - - - - - - - - 14.08 14.47 14.35
22055 132.7 7.6 933 22068 roll 0.81 - - 3198 - 2.40 0.065 323 -563.3 175.9 - - 2085 - - - - - - - - 14.87 14.36 14.88
22117 128.2 7.3 941 22147 done 0.82 - - 3198 - 2.25 0.029 1693 608.9 185.6 15.25 1.140 2029 -3.7 0.079 - - - - - - 14.61 14.56 13.90
22455 103.3 7.4 954 22472 roll 0.83 - - 3198 - 2.33 0.046 3040 578.1 193.8 2.92 0.155 2001 -9.6 1.224 - - - - - - 14.82 14.45 14.23
22529 97.4 8.1 964 22542 done 0.83 - - 3206 - 2.30 0.041 1679 -591.7 193.8 - - 2003 - - - - - - - - 14.57 14.49 14.60
22857 73.3 7.5 977 22880 roll 0.84 - - 3209 - 2.38 0.044 3045 573.9 200.9 8.65 0.259 1979 -2.8 0.150 - - - - - - 14.83 14.51 14.11
22916 69.5 6.6 985 22958 done 0.87 - - 3214 - 2.33 0.039 1668 -591.0 224.8 26.90 0.301 1875 -3.9 0.171 - - - - - - 14.60 14.52 14.21
23283 53.5 3.7 1004 23368 roll 1.12 0.20 0.100 3298 420.0 2.40 0.043 3043 572.9 302.0 71.57 0.265 1561 -4.4 0.170 - - - - - - 14.46 14.54 14.24
23586 34.7 5.4 1044 23638 done 1.18 - - 3305 - 2.33 0.038 1678 -585.8 347.3 40.28 0.213 1377 -4.6 0.143 - - - - - - 14.55 14.47 14.23
23961 15.0 5.4 1064 24013 roll 1.44 0.25 0.089 3407 408.0 2.38 0.040 3047 575.2 392.4 35.05 0.157 1191 -5.3 0.097 - - - - - - 14.47 14.51 14.31
24071 4.5 11.5 1079 24085 done 1.44 - - 3415 - 2.30 0.038 1680 -594.3 392.4 - - 1198 - - - - - - - - 14.57 14.49 14.59
24100 end climb: SURFACE_DEPTH_REACHED
24100 begin surface coast
24129 end surface coast: CONTROL_FINISHED_OK
24129 begin surface
SM 1.01 - - - - -8.61 9.62 0.070 161 16.7 0.17 0.074 1810 4588.2 515.13 74.20 0.122 693 9.3 -0.008 - - - - - -