SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 441 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 166.68 of 350.00 AH used of 24V (52.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth 1.07 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 112 VBD -0.84 - - 156 - - - 1783 - -116.8 -83.43 - 3211 - - - - - - - - 14.69 - 14.71
116 5.0 -6.9 3 139 roll -0.84 12.60 0.382 2662 198.9 2.78 2.026 375 -506.5 -116.8 -0.90 - 3274 -70.0 - - - - - - - 14.00 13.09 14.41
182 32.3 -28.1 13 189 done -0.45 0.50 0.242 2779 234.0 2.28 0.034 1744 600.4 -116.8 - - 3274 - - - - - - - - 14.09 14.50 14.35
504 67.5 -8.6 26 511 roll -0.45 - - 2772 - 2.40 0.050 3169 593.8 -116.8 - - 3275 - - - - - - - - 14.78 14.46 14.79
741 80.3 -5.6 60 748 done -0.45 - - 2771 - 2.33 0.036 1764 -603.0 -116.8 - - 3276 - - - - - - - - 14.59 14.52 14.62
1092 106.7 -8.2 73 1099 roll -0.45 - - 2763 - 2.38 0.050 3170 590.8 -116.8 - - 3276 - - - - - - - - 14.83 14.45 14.85
1161 112.7 -8.4 83 1168 done -0.45 - - 2763 - 2.33 0.036 1769 -601.3 -116.8 - - 3276 - - - - - - - - 14.60 14.52 14.62
1486 136.6 -7.1 94 1492 roll -0.45 - - 2763 - 2.40 0.058 377 -580.0 -116.8 - - 3273 - - - - - - - - 14.84 14.47 14.86
1561 143.0 -8.7 105 1568 done -0.45 - - 2755 - 2.33 0.031 1789 606.0 -116.8 - - 3274 - - - - - - - - 14.63 14.57 14.64
1877 168.5 -7.9 115 1883 roll -0.45 - - 2744 - 2.33 0.051 3163 589.7 -116.8 - - 3272 - - - - - - - - 14.82 14.47 14.85
1926 172.2 -7.8 122 1934 done -0.45 0.15 0.217 2778 226.7 2.33 0.037 1776 -595.3 -116.8 - - 3272 - - - - - - - - 14.23 14.50 14.45
2269 196.1 -6.9 129 2276 roll -0.57 - - 2778 - 2.42 0.060 377 -578.1 -116.8 - - 3270 - - - - - - - - 14.83 14.45 14.84
2327 200.3 -7.6 137 2334 done -0.66 0.17 0.103 2705 -429.4 2.33 0.032 1774 599.6 -116.8 - - 3269 - - - - - - - - 14.50 14.56 14.58
2663 235.8 -10.8 150 2669 roll -0.66 - - 2694 - 2.35 0.052 3157 588.5 -116.8 - - 3266 - - - - - - - - 14.85 14.45 14.84
2746 244.4 -10.1 162 2753 done -0.66 - - 2694 - 2.33 0.038 1777 -592.3 -116.8 - - 3266 - - - - - - - - 14.57 14.49 14.62
3112 282.2 -10.6 172 3125 roll -0.66 - - 2694 - 2.45 0.060 369 -574.7 -116.8 - - 3263 - - - - - - - - 14.90 14.50 14.92
3230 295.9 -11.4 188 3244 done -0.57 0.22 0.231 2738 200.0 2.33 0.033 1770 601.3 -116.8 - - 3262 - - - - - - - - 14.19 14.62 14.45
3574 325.5 -8.5 201 3587 roll -0.57 - - 2730 - 2.38 0.052 3163 585.3 -116.8 - - 3260 - - - - - - - - 14.91 14.52 14.92
3642 331.3 -8.1 210 3655 done -0.57 - - 2730 - 2.33 0.038 1774 -596.1 -116.8 - - 3260 - - - - - - - - 14.64 14.57 14.68
3978 358.2 -8.0 222 3991 roll -0.57 - - 2730 - 2.42 0.061 376 -577.7 -116.8 - - 3257 - - - - - - - - 14.95 14.49 14.96
4061 365.3 -8.5 233 4074 done -0.57 - - 2721 - 2.35 0.034 1782 598.3 -116.8 - - 3257 - - - - - - - - 14.67 14.62 14.70
4382 392.3 -8.5 243 4395 roll -0.57 - - 2710 - 2.35 0.055 3162 587.2 -116.8 - - 3255 - - - - - - - - 14.92 14.52 14.95
4446 397.5 -8.5 251 4459 done -0.57 - - 2711 - 2.33 0.038 1769 -597.9 -116.8 - - 3256 - - - - - - - - 14.64 14.57 14.67
4788 428.2 -9.0 264 4801 roll -0.57 0.12 0.250 2742 258.3 2.45 0.060 371 -570.6 -116.8 - - 3253 - - - - - - - - 14.23 14.46 14.35
4907 438.3 -8.1 280 4920 done -0.57 - - 2735 - 2.33 0.034 1774 602.1 -116.8 - - 3252 - - - - - - - - 14.68 14.62 14.70
5249 464.0 -7.5 293 5263 roll -0.57 - - 2725 - 2.38 0.054 3164 584.0 -116.8 - - 3251 - - - - - - - - 14.92 14.42 14.94
5319 469.4 -7.7 302 5332 done -0.57 - - 2725 - 2.33 0.038 1775 -596.1 -116.8 - - 3251 - - - - - - - - 14.62 14.54 14.65
5655 496.1 -8.0 314 5669 roll -0.57 - - 2724 - 2.45 0.062 374 -571.8 -116.8 - - 3250 - - - - - - - - 14.94 14.45 14.95
5745 504.3 -9.0 326 5758 done -0.57 - - 2716 - 2.35 0.034 1775 596.2 -116.8 - - 3249 - - - - - - - - 14.64 14.57 14.66
6116 538.3 -9.4 336 6129 roll -0.57 - - 2705 - 2.38 0.054 3163 583.2 -116.8 - - 3247 - - - - - - - - 14.92 14.47 14.94
6163 543.0 -9.9 342 6177 done -0.57 0.15 0.230 2738 220.0 2.35 0.037 1774 -591.1 -116.8 - - 3248 - - - - - - - - 14.10 14.45 14.34
6520 574.0 -8.7 350 6533 roll -0.57 - - 2738 - 2.45 0.061 377 -570.2 -116.8 - - 3245 - - - - - - - - 14.90 14.43 14.92
6625 583.6 -9.2 364 6638 done -0.57 - - 2732 - 2.35 0.034 1788 600.4 -116.8 - - 3245 - - - - - - - - 14.63 14.57 14.65
6981 614.2 -8.5 372 6994 roll -0.57 - - 2720 - 2.38 0.055 3163 577.7 -116.8 - - 3244 - - - - - - - - 14.90 14.44 14.92
7079 622.4 -8.4 385 7092 done -0.57 - - 2717 - 2.35 0.037 1770 -592.8 -116.8 - - 3244 - - - - - - - - 14.61 14.52 14.63
7442 652.9 -8.4 394 7455 roll -0.57 - - 2727 - 2.45 0.062 377 -568.6 -116.8 - - 3243 - - - - - - - - 14.92 14.39 14.94
7545 662.4 -9.1 408 7559 done -0.57 0.12 0.256 2738 91.7 2.35 0.035 1776 595.3 -116.8 - - 3242 - - - - - - - - 14.14 14.54 14.37
7903 689.6 -7.7 416 7916 roll -0.57 - - 2731 - 2.42 0.056 3172 576.9 -116.8 - - 3241 - - - - - - - - 14.90 14.40 14.92
7972 695.1 -7.8 425 7985 done -0.67 - - 2730 - 2.35 0.040 1776 -594.0 -116.8 - - 3241 - - - - - - - - 14.55 14.47 14.58
8308 721.9 -8.1 437 8321 roll -0.67 - - 2730 - 2.47 0.063 373 -568.0 -116.8 - - 3240 - - - - - - - - 14.88 14.38 14.90
8412 730.9 -8.4 451 8425 done -0.67 - - 2721 - 2.35 0.034 1785 600.9 -116.8 - - 3239 - - - - - - - - 14.59 14.52 14.61
8768 760.0 -8.2 459 8782 roll -0.67 - - 2711 - 2.38 0.056 3154 575.2 -116.8 - - 3236 - - - - - - - - 14.88 14.37 14.91
8880 769.3 -8.3 474 8894 done -0.67 - - 2711 - 2.35 0.040 1771 -588.5 -116.8 - - 3238 - - - - - - - - 14.52 14.43 14.54
9223 797.9 -8.3 481 9236 roll -0.67 - - 2711 - 2.47 0.063 374 -565.6 -116.8 - - 3237 - - - - - - - - 14.90 14.33 14.92
9327 807.1 -8.6 495 9340 done -0.67 - - 2702 - 2.35 0.035 1767 592.8 -116.8 - - 3237 - - - - - - - - 14.55 14.49 14.57
9683 835.3 -7.7 503 9697 roll -0.67 - - 2691 - 2.40 0.055 3161 580.8 -116.8 - - 3236 - - - - - - - - 14.90 14.35 14.92
9746 840.5 -7.6 511 9759 done -0.67 - - 2691 - 2.35 0.039 1774 -590.2 -116.8 - - 3239 - - - - - - - - 14.48 14.42 14.54
10089 866.5 -7.7 524 10102 roll -0.67 - - 2691 - 2.47 0.063 379 -564.8 -116.8 - - 3235 - - - - - - - - 14.85 14.23 14.88
10185 875.0 -8.8 537 10200 done -0.67 0.12 0.263 2706 125.0 2.38 0.035 1777 587.4 -116.8 - - 3235 - - - - - - - - 14.02 14.47 14.26
10551 902.2 -7.5 546 10565 roll -0.67 - - 2700 - 2.42 0.057 3163 572.7 -116.8 - - 3234 - - - - - - - - 14.86 14.31 14.88
10670 911.5 -8.9 562 10683 done -0.67 - - 2698 - 2.38 0.039 1772 -584.5 -116.8 - - 3233 - - - - - - - - 14.48 14.39 14.51
11013 940.5 -8.6 575 11026 roll -0.67 - - 2698 - 2.50 0.064 372 -560.0 -116.8 - - 3233 - - - - - - - - 14.87 14.25 14.89
11124 951.0 -9.2 590 11137 done -0.67 - - 2689 - 2.40 0.036 1776 585.0 -116.8 - - 3233 - - - - - - - - 14.50 14.43 14.52
11467 981.3 -8.9 597 11481 roll -0.67 - - 2678 - 2.42 0.057 3164 573.6 -116.8 - - 3232 - - - - - - - - 14.88 14.27 14.90
11502 985.1 -9.7 601 11516 done -0.67 0.12 0.253 2707 241.7 2.40 0.040 1766 -582.5 -116.8 - - 3232 - - - - - - - - 13.95 14.36 14.21
11590 end dive: TARGET_DEPTH_EXCEEDED
11590 begin apogee
11598 991.9 -7.3 606 11730 done -0.21 0.57 0.216 2855 259.6 - - 1663 - - 122.88 2.242 2792 -3.6 0.306 - - - - - - 13.82 13.92 12.84
11732 end apogee: CONTROL_FINISHED_OK
11732 begin climb
11737 996.8 - 608 11885 roll 0.84 1.15 0.148 3189 290.4 2.65 0.049 3077 533.6 116.8 126.80 2.197 2304 -3.8 0.338 - - - - - - 13.92 13.71 12.69
11912 988.6 9.5 637 11925 done 0.84 - - 3198 - 2.42 0.040 1699 -569.4 116.8 - - 2298 - - - - - - - - 14.06 14.00 14.09
12276 958.7 8.3 646 12289 roll 0.84 - - 3209 - 2.45 0.066 320 -562.9 116.8 - - 2292 - - - - - - - - 14.76 14.42 14.76
12330 953.8 8.9 653 12345 done 0.84 - - 3209 - 2.30 0.031 1697 598.7 116.8 - - 2294 - - - - - - - - 14.61 14.55 14.62
12676 924.4 8.5 660 12689 roll 0.84 - - 3209 - 2.33 0.050 3055 582.8 116.8 - - 2293 - - - - - - - - 14.82 14.47 14.84
12779 915.0 8.7 674 12792 done 0.84 - - 3218 - 2.35 0.041 1678 -586.0 116.8 - - 2292 - - - - - - - - 14.59 14.51 14.62
13135 883.9 8.7 682 13149 roll 0.84 - - 3218 - 2.38 0.047 3054 578.2 116.8 - - 2292 - - - - - - - - 14.86 14.47 14.88
13191 879.0 9.0 689 13206 done 0.73 0.25 0.261 3172 -184.0 2.35 0.041 1678 -585.5 116.8 - - 2292 - - - - - - - - 14.06 14.50 14.40
13534 856.9 6.2 696 13575 done 0.77 - - 3172 - - - 1678 - 147.6 31.62 2.044 2190 -3.2 0.261 - - - - - - 14.85 14.36 13.35
13871 836.1 6.2 702 13920 roll 0.81 - - 3172 - 2.47 0.048 3059 559.1 178.8 33.47 2.013 2052 -4.1 0.331 - - - - - - 14.75 14.32 13.29
13948 830.7 5.8 713 14006 done 0.86 - - 3178 - 2.38 0.041 1678 -580.3 216.9 41.70 1.985 1898 -3.7 0.299 - - - - - - 14.43 14.36 13.16
14324 800.8 8.2 731 14338 roll 0.86 - - 3188 - 2.42 0.067 317 -562.4 216.9 - - 1886 - - - - - - - - 14.71 14.38 14.73
14358 797.5 8.2 735 14371 done 0.86 - - 3188 - 2.28 0.032 1686 600.4 216.9 - - 1886 - - - - - - - - 14.57 14.53 14.59
14728 764.9 8.8 745 14741 roll 0.86 - - 3188 - 2.35 0.049 3057 583.4 216.9 - - 1885 - - - - - - - - 14.81 14.47 14.83
14832 755.4 9.0 759 14845 done 0.86 - - 3197 - 2.35 0.042 1680 -586.0 216.9 - - 1884 - - - - - - - - 14.57 14.51 14.62
15188 722.3 9.4 767 15201 done 0.86 - - 3197 - - - 1679 - 216.9 - - 1884 - - - - - - - - 14.83 14.86 14.85
15525 688.8 10.1 773 15538 done 0.86 - - 3197 - - - 1679 - 216.9 - - 1883 - - - - - - - - 14.86 14.88 14.87
15861 653.8 10.4 779 15874 done 0.86 - - 3197 - - - 1679 - 216.9 - - 1883 - - - - - - - - 14.85 14.88 14.87
16197 620.5 9.9 785 16209 done 0.86 - - 3197 - - - 1679 - 216.9 - - 1884 - - - - - - - - 14.85 14.88 14.88
16532 588.3 9.5 791 16546 roll 0.86 - - 3197 - 2.40 0.049 3064 577.1 216.9 - - 1884 - - - - - - - - 14.86 14.42 14.88
16581 583.7 9.9 797 16594 done 0.86 - - 3205 - 2.38 0.041 1676 -583.2 216.9 - - 1882 - - - - - - - - 14.55 14.46 14.59
16937 550.1 9.5 805 16950 roll 0.86 - - 3215 - 2.40 0.067 327 -562.1 216.9 - - 1882 - - - - - - - - 14.88 14.35 14.90
16977 545.9 9.8 810 16990 done 0.86 - - 3219 - 2.25 0.031 1686 604.0 216.9 - - 1884 - - - - - - - - 14.59 14.57 14.62
17342 507.7 10.7 819 17356 roll 0.86 - - 3215 - 2.35 0.047 3056 583.0 216.9 - - 1882 - - - - - - - - 14.84 14.42 14.86
17439 496.7 11.2 832 17452 done 0.86 - - 3223 - 2.35 0.041 1681 -585.1 216.9 - - 1882 - - - - - - - - 14.52 14.44 14.57
17803 456.6 10.9 841 17816 done 0.86 - - 3223 - - - 1679 - 216.9 - - 1885 - - - - - - - - 14.84 14.86 14.86
18138 427.3 8.3 847 18151 roll 0.86 - - 3222 - 2.38 0.047 3059 579.8 216.9 - - 1882 - - - - - - - - 14.85 14.38 14.85
18172 424.5 8.1 851 18185 done 0.86 - - 3231 - 2.38 0.041 1676 -581.1 216.9 - - 1883 - - - - - - - - 14.51 14.42 14.55
18543 391.7 9.4 861 18556 roll 0.86 - - 3242 - 2.42 0.065 312 -563.6 216.9 - - 1882 - - - - - - - - 14.86 14.31 14.88
18576 388.0 10.6 865 18590 done 0.86 0.15 0.247 3210 -213.3 2.28 0.030 1698 607.9 216.9 - - 1883 - - - - - - - - 14.02 14.52 14.33
18947 355.5 8.6 875 18960 roll 0.86 - - 3211 - 2.33 0.049 3050 580.3 216.9 - - 1883 - - - - - - - - 14.84 14.39 14.86
19016 349.2 9.1 884 19030 done 0.86 - - 3217 - 2.33 0.041 1679 -588.4 216.9 - - 1885 - - - - - - - - 14.38 14.34 14.42
19352 318.2 9.3 896 19365 roll 0.86 - - 3217 - 2.35 0.047 3043 580.4 216.9 - - 1882 - - - - - - - - 14.87 14.38 14.90
19378 315.7 9.3 899 19391 done 0.86 - - 3226 - 2.33 0.040 1677 -586.3 216.9 - - 1883 - - - - - - - - 14.50 14.42 14.54
19701 285.3 9.5 909 19714 roll 0.86 - - 3236 - 2.42 0.065 321 -560.3 216.9 - - 1885 - - - - - - - - 14.83 14.29 14.85
19734 281.8 9.7 913 19748 done 0.86 0.12 0.249 3211 -208.3 2.22 0.030 1678 611.3 216.9 - - 1882 - - - - - - - - 14.06 14.51 14.33
20106 246.0 9.9 923 20119 roll 0.86 - - 3212 - 2.35 0.047 3050 583.8 216.9 - - 1882 - - - - - - - - 14.88 14.37 14.88
20181 238.0 10.2 933 20194 done 0.86 - - 3218 - 2.35 0.041 1676 -584.7 216.9 - - 1882 - - - - - - - - 14.48 14.40 14.52
20509 207.4 9.0 944 20522 roll 0.86 - - 3229 - 2.42 0.065 314 -562.8 216.9 - - 1883 - - - - - - - - 14.85 14.31 14.86
20543 204.4 9.0 948 20557 done 0.86 - - 3229 - 2.25 0.030 1678 606.2 216.9 - - 1882 - - - - - - - - 14.57 14.53 14.59
20914 171.1 8.9 958 20927 roll 0.86 - - 3229 - 2.38 0.045 3063 581.9 216.9 - - 1882 - - - - - - - - 14.87 14.37 14.89
21025 160.6 9.5 973 21041 done 0.86 0.15 0.252 3208 -140.0 2.38 0.039 1676 -582.8 216.9 - - 1883 - - - - - - - - 13.97 14.39 14.28
21368 133.9 7.8 980 21381 roll 0.86 - - 3215 - 2.40 0.064 327 -562.1 218.8 - - 1883 - - - - - - - - 14.87 14.29 14.88
21422 129.2 8.7 987 21436 done 0.86 - - 3215 - 2.25 0.029 1689 605.3 218.8 - - 1883 - - - - - - - - 14.54 14.50 14.57
21768 101.0 8.1 994 21781 roll 0.86 - - 3215 - 2.33 0.045 3051 584.5 218.8 - - 1883 - - - - - - - - 14.83 14.38 14.85
21850 94.4 8.1 1005 21864 done 0.86 - - 3224 - 2.35 0.041 1684 -581.7 218.8 - - 1883 - - - - - - - - 14.39 14.30 14.44
22167 67.8 8.2 1017 22180 roll 0.86 - - 3234 - 2.42 0.063 314 -566.1 218.8 - - 1883 - - - - - - - - 14.82 14.30 14.84
22257 61.6 6.1 1029 22295 done 0.90 - - 3234 - 2.25 0.029 1686 609.8 252.0 25.83 0.276 1765 -4.6 0.197 - - - - - - 14.54 14.50 14.04
22628 46.2 4.2 1048 22704 done 1.12 0.15 0.118 3300 440.0 - - 1691 - 320.8 62.92 0.243 1485 -4.5 0.164 - - - - - - 14.42 14.27 14.12
23023 22.9 5.4 1068 23073 roll 1.37 0.20 0.094 3382 410.0 2.38 0.043 3053 572.3 366.8 37.90 0.179 1298 -4.9 0.122 - - - - - - 14.44 14.45 14.19
23219 5.0 9.5 1096 23232 done 1.37 - - 3391 - 2.33 0.039 1676 -591.0 366.8 - - 1305 - - - - - - - - 14.53 14.44 14.55
23270 end climb: SURFACE_DEPTH_REACHED
23270 begin surface coast
23299 end surface coast: CONTROL_FINISHED_OK
23299 begin surface
SM 1.06 - - - - -8.61 9.70 0.070 156 16.1 0.10 0.107 1794 7640.0 515.13 89.55 0.123 691 7.7 -0.007 - - - - - -