SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 471 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 177.93 of 350.00 AH used of 24V (49.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.2 deg, depth 1.03 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 38 s
• GPS2 time: 17 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 114 VBD -0.84 - - 143 - - - 1793 - -116.8 -83.57 - 3208 - - - - - - - - 14.70 - 14.71
118 5.1 -6.9 3 142 roll -0.84 12.52 0.381 2642 199.6 2.60 2.018 3124 511.9 -116.8 -0.93 - 3274 -71.0 - - - - - - - 13.97 13.09 14.40
191 33.7 -25.0 14 199 done -0.49 0.52 0.275 2764 234.6 2.30 0.042 1766 -590.4 -116.8 - - 3274 - - - - - - - - 14.07 14.45 14.38
506 72.8 -7.7 26 508 done -0.49 - - 2764 - - - 1766 - -116.8 - - 3274 - - - - - - - - 14.78 14.80 14.80
814 94.8 -7.5 37 821 roll -0.49 - - 2764 - 2.40 0.057 376 -579.2 -116.8 - - 3276 - - - - - - - - 14.81 14.45 14.82
919 103.4 -8.3 52 927 done -0.49 - - 2758 - 2.25 0.031 1747 609.3 -116.8 - - 3275 - - - - - - - - 14.59 14.54 14.59
1262 130.9 -7.9 59 1268 roll -0.49 - - 2747 - 2.40 0.051 3167 591.7 -116.8 - - 3275 - - - - - - - - 14.83 14.47 14.85
1310 134.9 -8.5 66 1318 done -0.49 - - 2748 - 2.35 0.036 1769 -594.9 -116.8 - - 3275 - - - - - - - - 14.58 14.51 14.59
1656 162.8 -7.9 73 1662 roll -0.49 - - 2747 - 2.42 0.058 367 -579.3 -116.8 - - 3273 - - - - - - - - 14.83 14.43 14.85
1809 175.2 -8.1 95 1815 done -0.49 0.12 0.258 2764 141.7 2.33 0.032 1774 603.9 -116.8 - - 3271 - - - - - - - - 14.17 14.55 14.45
2159 201.2 -7.6 103 2166 roll -0.49 - - 2756 - 2.38 0.052 3163 583.6 -116.8 - - 3269 - - - - - - - - 14.84 14.43 14.87
2279 211.0 -8.4 120 2285 done -0.59 - - 2756 - 2.33 0.036 1769 -598.3 -116.8 - - 3268 - - - - - - - - 14.58 14.51 14.59
2607 238.1 -8.1 132 2614 roll -0.59 - - 2756 - 2.42 0.060 377 -575.2 -116.8 - - 3265 - - - - - - - - 14.83 14.39 14.84
2698 245.9 -8.5 145 2705 done -0.59 - - 2747 - 2.33 0.033 1777 600.9 -116.8 - - 3264 - - - - - - - - 14.59 14.52 14.60
3055 275.4 -8.3 154 3069 roll -0.59 - - 2737 - 2.35 0.053 3160 588.5 -116.8 - - 3262 - - - - - - - - 14.90 14.49 14.92
3131 281.7 -8.3 164 3144 done -0.59 - - 2737 - 2.30 0.036 1772 -603.5 -116.8 - - 3261 - - - - - - - - 14.64 14.57 14.67
3460 310.2 -8.7 175 3474 roll -0.59 - - 2736 - 2.40 0.060 382 -579.2 -116.8 - - 3260 - - - - - - - - 14.90 14.42 14.92
3543 317.7 -8.9 186 3556 done -0.59 - - 2727 - 2.33 0.032 1780 600.0 -116.8 - - 3259 - - - - - - - - 14.66 14.59 14.67
3865 344.7 -8.4 196 3879 roll -0.59 - - 2716 - 2.38 0.054 3165 581.9 -116.8 - - 3255 - - - - - - - - 14.92 14.48 14.95
3955 352.3 -8.3 208 3968 done -0.59 - - 2717 - 2.33 0.038 1774 -597.0 -116.8 - - 3257 - - - - - - - - 14.62 14.54 14.65
4325 384.0 -8.6 218 4338 roll -0.59 - - 2717 - 2.45 0.060 370 -573.1 -116.8 - - 3254 - - - - - - - - 14.92 14.45 14.95
4457 396.4 -9.3 236 4471 done -0.59 0.12 0.264 2732 125.0 2.33 0.034 1770 600.9 -116.8 - - 3254 - - - - - - - - 14.19 14.60 14.43
4786 422.9 -8.0 247 4799 roll -0.59 - - 2724 - 2.38 0.054 3168 587.4 -116.8 - - 3252 - - - - - - - - 14.90 14.48 14.92
4869 429.7 -8.1 258 4883 done -0.59 - - 2724 - 2.35 0.038 1765 -597.0 -116.8 - - 3252 - - - - - - - - 14.53 14.45 14.56
5191 457.0 -8.6 268 5204 roll -0.59 - - 2724 - 2.45 0.061 373 -568.2 -116.8 - - 3250 - - - - - - - - 14.93 14.41 14.95
5302 467.7 -9.7 283 5316 done -0.59 - - 2715 - 2.38 0.034 1786 593.7 -116.8 - - 3250 - - - - - - - - 14.61 14.57 14.63
5645 499.2 -9.1 290 5658 roll -0.59 - - 2704 - 2.35 0.056 3160 584.7 -116.8 - - 3248 - - - - - - - - 14.90 14.42 14.95
5764 509.9 -8.9 306 5777 done -0.59 0.15 0.236 2736 213.3 2.35 0.037 1769 -591.9 -116.8 - - 3248 - - - - - - - - 14.13 14.52 14.38
6107 537.0 -7.9 319 6120 roll -0.59 - - 2737 - 2.45 0.061 379 -567.3 -116.8 - - 3246 - - - - - - - - 14.88 14.40 14.90
6225 547.5 -8.7 335 6239 done -0.59 - - 2730 - 2.33 0.033 1776 599.6 -116.8 - - 3244 - - - - - - - - 14.60 14.54 14.62
6569 575.7 -8.2 348 6582 roll -0.59 - - 2719 - 2.38 0.054 3162 582.4 -116.8 - - 3245 - - - - - - - - 14.88 14.40 14.90
6673 584.5 -8.1 362 6686 done -0.59 - - 2719 - 2.33 0.037 1776 -594.8 -116.8 - - 3248 - - - - - - - - 14.56 14.48 14.61
7029 614.8 -8.6 370 7043 roll -0.59 - - 2719 - 2.47 0.061 375 -567.2 -116.8 - - 3242 - - - - - - - - 14.88 14.28 14.90
7149 625.8 -9.2 386 7162 done -0.59 - - 2709 - 2.38 0.034 1781 590.8 -116.8 - - 3243 - - - - - - - - 14.57 14.51 14.59
7491 655.2 -8.4 399 7504 roll -0.59 - - 2700 - 2.38 0.055 3161 579.8 -116.8 - - 3241 - - - - - - - - 14.88 14.36 14.90
7568 661.5 -8.4 409 7582 done -0.59 0.15 0.239 2732 213.3 2.35 0.037 1766 -593.6 -116.8 - - 3241 - - - - - - - - 14.06 14.47 14.31
7897 684.1 -6.7 420 7910 roll -0.59 - - 2737 - 2.45 0.062 380 -565.7 -116.8 - - 3239 - - - - - - - - 14.89 14.34 14.90
8001 691.8 -7.3 434 8015 done -0.59 - - 2725 - 2.38 0.034 1784 589.9 -116.8 - - 3239 - - - - - - - - 14.54 14.49 14.57
8358 717.8 -7.4 442 8371 roll -0.59 - - 2714 - 2.38 0.055 3160 578.2 -116.8 - - 3238 - - - - - - - - 14.88 14.33 14.90
8507 729.0 -7.7 462 8521 done -0.59 - - 2715 - 2.35 0.038 1774 -589.8 -116.8 - - 3238 - - - - - - - - 14.50 14.42 14.53
8878 759.6 -8.3 472 8891 roll -0.59 - - 2715 - 2.47 0.063 379 -564.8 -116.8 - - 3237 - - - - - - - - 14.87 14.31 14.88
8996 770.4 -9.1 488 9010 done -0.59 0.15 0.254 2737 146.7 2.35 0.034 1775 594.0 -116.8 - - 3236 - - - - - - - - 13.97 14.46 14.22
9340 797.1 -7.7 501 9353 roll -0.59 - - 2728 - 2.42 0.054 3168 575.6 -116.8 - - 3235 - - - - - - - - 14.85 14.30 14.87
9444 805.4 -7.9 515 9457 done -0.69 - - 2728 - 2.38 0.038 1773 -586.1 -116.8 - - 3235 - - - - - - - - 14.49 14.40 14.52
9801 835.0 -8.4 523 9814 roll -0.69 - - 2728 - 2.50 0.063 379 -557.6 -116.8 - - 3234 - - - - - - - - 14.87 14.25 14.90
9946 848.3 -9.0 543 9960 done -0.69 - - 2719 - 2.38 0.034 1779 588.2 -116.8 - - 3234 - - - - - - - - 14.49 14.42 14.52
10318 879.8 -8.6 553 10331 roll -0.69 - - 2709 - 2.42 0.057 3164 572.3 -116.8 - - 3233 - - - - - - - - 14.84 14.28 14.86
10400 886.8 -8.3 564 10413 done -0.69 - - 2709 - 2.38 0.038 1771 -585.3 -116.8 - - 3232 - - - - - - - - 14.45 14.35 14.47
10722 912.8 -8.0 574 10735 roll -0.69 - - 2709 - 2.50 0.063 376 -558.0 -116.8 - - 3231 - - - - - - - - 14.88 14.21 14.90
10819 920.0 -8.0 587 10833 done -0.69 - - 2700 - 2.38 0.036 1771 586.1 -116.8 - - 3232 - - - - - - - - 14.47 14.43 14.49
11183 946.7 -7.2 596 11196 roll -0.69 - - 2690 - 2.42 0.056 3162 574.8 -116.8 - - 3230 - - - - - - - - 14.87 14.24 14.89
11260 952.1 -7.0 606 11273 done -0.69 - - 2689 - 2.40 0.039 1773 -578.8 -116.8 - - 3231 - - - - - - - - 14.34 14.22 14.38
11588 975.8 -7.3 617 11601 roll -0.69 - - 2690 - 2.50 0.063 379 -557.6 -116.8 - - 3230 - - - - - - - - 14.83 14.21 14.85
11672 982.5 -7.8 628 11685 done -0.69 - - 2680 - 2.40 0.035 1778 582.9 -116.8 - - 3230 - - - - - - - - 14.44 14.38 14.46
11822 end dive: TARGET_DEPTH_EXCEEDED
11822 begin apogee
11830 993.9 -7.5 635 11963 done -0.21 0.73 0.237 2857 242.5 - - 1652 - - 123.07 2.221 2792 -3.6 0.307 - - - - - - 13.70 13.92 12.83
11965 end apogee: CONTROL_FINISHED_OK
11965 begin climb
11968 997.3 - 637 12116 roll 0.84 1.15 0.150 3201 299.1 2.50 0.064 346 -522.4 116.8 127.15 2.180 2305 -3.8 0.337 - - - - - - 13.93 13.77 12.74
12158 984.8 9.7 668 12171 done 0.84 - - 3201 - 2.33 0.031 1699 580.7 116.8 - - 2297 - - - - - - - - 14.21 14.16 14.22
12503 953.4 9.0 675 12516 roll 0.84 - - 3201 - 2.33 0.048 3055 582.0 116.8 - - 2293 - - - - - - - - 14.74 14.43 14.76
12607 943.8 9.8 689 12620 done 0.84 - - 3209 - 2.33 0.042 1699 -582.0 116.8 - - 2292 - - - - - - - - 14.57 14.50 14.59
12963 913.9 8.3 697 12976 roll 0.84 - - 3220 - 2.45 0.065 322 -562.0 116.8 - - 2292 - - - - - - - - 14.81 14.40 14.88
13004 911.2 9.0 702 13018 done 0.74 0.20 0.246 3175 -225.0 2.25 0.031 1700 612.4 116.8 - - 2292 - - - - - - - - 14.10 14.56 14.41
13369 886.8 6.3 711 13412 roll 0.78 - - 3175 - 2.35 0.050 3035 568.1 145.3 28.60 2.065 2189 -3.6 0.298 - - - - - - 14.83 14.42 13.35
13486 878.8 7.3 727 13504 done 0.79 - - 3181 - 2.35 0.042 1679 -577.0 155.5 3.53 1.213 2158 -8.8 1.225 - - - - - - 14.50 14.43 13.03
13826 853.2 7.5 740 13843 roll 0.80 - - 3192 - 2.38 0.064 322 -570.2 161.3 5.38 1.659 2135 -4.3 0.423 - - - - - - 14.78 14.14 13.18
13871 850.0 7.4 746 13901 done 0.81 - - 3192 - 2.22 0.032 1675 609.5 169.9 18.77 2.020 2100 -1.9 0.151 - - - - - - 14.62 14.57 13.35
14223 819.4 8.6 761 14237 roll 0.81 - - 3192 - 2.38 0.050 3050 577.7 169.9 - - 2085 - - - - - - - - 14.76 14.42 14.78
14314 811.2 9.0 773 14327 done 0.81 - - 3201 - 2.35 0.041 1677 -584.3 169.9 - - 2083 - - - - - - - - 14.52 14.45 14.57
14684 777.6 9.1 783 14697 roll 0.81 - - 3211 - 2.42 0.066 322 -559.9 169.9 - - 2083 - - - - - - - - 14.82 14.38 14.84
14732 773.3 9.8 789 14745 done 0.81 - - 3211 - 2.25 0.032 1681 604.0 169.9 - - 2083 - - - - - - - - 14.51 14.46 14.54
15088 739.5 9.6 797 15101 roll 0.81 - - 3211 - 2.40 0.050 3057 573.3 169.9 - - 2083 - - - - - - - - 14.85 14.40 14.88
15191 729.1 9.3 811 15205 done 0.81 - - 3220 - 2.35 0.041 1677 -587.2 169.9 - - 2082 - - - - - - - - 14.54 14.45 14.58
15549 693.5 10.1 819 15562 done 0.81 - - 3220 - - - 1677 - 169.9 - - 2082 - - - - - - - - 14.85 14.88 14.88
15884 659.8 10.0 825 15897 roll 0.81 - - 3220 - 2.40 0.047 3058 575.4 169.9 - - 2082 - - - - - - - - 14.87 14.38 14.89
15931 654.8 10.0 831 15945 done 0.81 0.17 0.259 3193 -158.8 2.38 0.042 1670 -583.2 169.9 - - 2083 - - - - - - - - 13.90 14.35 14.23
16289 625.2 8.2 839 16302 done 0.81 - - 3194 - - - 1672 - 169.9 - - 2082 - - - - - - - - 14.83 14.85 14.85
16624 599.4 7.7 845 16637 done 0.81 - - 3194 - - - 1671 - 173.4 - - 2082 - - - - - - - - 14.84 14.86 14.85
16960 573.9 7.5 851 16978 roll 0.82 - - 3201 - 2.38 0.067 325 -565.5 179.3 2.92 0.869 2060 -7.5 0.958 - - - - - - 14.84 14.45 13.28
17013 569.7 8.0 857 17026 done 0.82 - - 3201 - 2.22 0.031 1676 608.6 179.3 - - 2063 - - - - - - - - 14.64 14.59 14.66
17369 541.6 8.0 865 17383 roll 0.82 - - 3201 - 2.38 0.049 3061 581.9 179.3 - - 2063 - - - - - - - - 14.87 14.36 14.89
17433 536.2 8.6 873 17446 done 0.82 - - 3210 - 2.38 0.041 1673 -583.2 179.3 - - 2064 - - - - - - - - 14.50 14.41 14.53
17777 506.7 8.7 886 17790 roll 0.82 - - 3221 - 2.40 0.065 326 -561.2 179.3 - - 2064 - - - - - - - - 14.81 14.30 14.84
17852 499.4 9.4 896 17865 done 0.82 - - 3221 - 2.25 0.031 1683 603.1 179.3 - - 2063 - - - - - - - - 14.48 14.39 14.49
18182 469.5 9.2 907 18195 roll 0.82 - - 3221 - 2.35 0.047 3052 582.6 179.3 - - 2064 - - - - - - - - 14.85 14.32 14.87
18257 462.4 9.2 917 18270 done 0.82 0.15 0.254 3200 -140.0 2.35 0.041 1683 -582.6 179.3 - - 2063 - - - - - - - - 13.95 14.38 14.23
18587 436.9 7.8 928 18604 roll 0.82 - - 3207 - 2.45 0.067 323 -555.1 181.1 2.72 0.715 2051 -4.4 0.519 - - - - - - 14.81 14.40 13.30
18659 430.8 8.5 938 18672 done 0.82 - - 3207 - 2.25 0.031 1688 606.7 181.1 - - 2058 - - - - - - - - 14.59 14.54 14.61
18987 404.1 8.1 949 19000 roll 0.82 - - 3208 - 2.35 0.047 3054 581.3 181.1 - - 2058 - - - - - - - - 14.85 14.34 14.86
19015 401.8 8.3 952 19028 done 0.82 - - 3216 - 2.38 0.041 1668 -582.4 181.1 - - 2058 - - - - - - - - 14.49 14.40 14.50
19336 375.3 8.2 962 19349 done 0.82 - - 3216 - - - 1668 - 181.1 - - 2056 - - - - - - - - 14.81 14.84 14.84
19672 346.0 8.9 968 19685 done 0.82 - - 3216 - - - 1667 - 181.1 - - 2058 - - - - - - - - 14.82 14.85 14.84
20009 315.8 8.9 974 20022 done 0.82 - - 3216 - - - 1668 - 181.1 - - 2057 - - - - - - - - 14.81 14.83 14.83
20344 287.2 8.4 980 20358 roll 0.82 - - 3216 - 2.40 0.047 3052 576.7 181.1 - - 2058 - - - - - - - - 14.86 14.31 14.85
20385 283.6 8.8 985 20398 done 0.82 - - 3225 - 2.35 0.039 1677 -585.1 181.1 - - 2060 - - - - - - - - 14.46 14.38 14.50
20750 253.0 8.4 994 20764 roll 0.82 0.12 0.265 3195 -250.0 2.38 0.042 3053 578.2 181.1 - - 2059 - - - - - - - - 14.02 14.23 14.12
20791 249.7 7.4 999 20822 done 0.83 - - 3201 - 2.35 0.041 1679 -584.7 189.9 16.25 1.323 2011 -3.0 0.107 - - - - - - 14.37 14.34 13.51
21155 222.3 8.0 1015 21168 roll 0.83 - - 3211 - 2.40 0.064 324 -564.6 189.9 - - 2004 - - - - - - - - 14.77 14.35 14.79
21203 217.7 9.2 1021 21216 done 0.83 - - 3212 - 2.25 0.030 1695 609.3 189.9 - - 2005 - - - - - - - - 14.57 14.52 14.59
21559 187.6 8.3 1029 21572 roll 0.83 - - 3211 - 2.33 0.047 3047 580.3 189.9 - - 2005 - - - - - - - - 14.84 14.37 14.86
21615 182.9 8.6 1036 21628 done 0.83 - - 3220 - 2.35 0.039 1678 -582.6 189.9 - - 2005 - - - - - - - - 14.50 14.42 14.54
21958 153.6 8.7 1043 21971 roll 0.83 - - 3231 - 2.42 0.063 316 -562.8 189.9 - - 2004 - - - - - - - - 14.83 14.30 14.85
22012 148.4 9.5 1050 22028 done 0.83 0.15 0.228 3199 -213.3 2.25 0.028 1693 612.0 189.9 - - 2005 - - - - - - - - 14.05 14.49 14.34
22358 123.0 7.0 1057 22386 roll 0.85 - - 3199 - 2.25 0.044 3036 596.9 205.3 15.85 1.161 1949 -3.5 0.072 - - - - - - 14.84 14.23 13.65
22487 114.5 6.8 1075 22515 done 0.97 0.12 0.131 3252 441.7 2.30 0.040 1675 -591.7 224.6 14.30 0.380 1879 -4.9 0.284 - - - - - - 14.44 14.49 13.97
22841 83.2 9.1 1089 22859 roll 0.97 - - 3263 - 2.45 0.063 321 -552.7 224.6 2.12 0.158 1881 - - - - - - - - 14.78 14.29 14.10
22929 74.8 9.0 1101 22942 done 0.97 - - 3263 - 2.20 0.028 1676 615.9 224.6 - - 1885 - - - - - - - - 14.56 14.50 14.57
23274 53.1 5.4 1116 23333 roll 1.02 - - 3263 - 2.33 0.043 3045 587.6 271.0 45.22 0.264 1689 -4.3 0.168 - - - - - - 14.80 14.33 14.12
23367 48.1 5.6 1129 23420 done 1.07 - - 3269 - 2.33 0.040 1672 -589.3 312.5 39.25 0.251 1517 -4.4 0.162 - - - - - - 14.55 14.47 14.14
23729 29.1 4.7 1147 23792 roll 1.38 0.30 0.083 3386 390.0 2.40 0.043 3045 572.1 371.9 49.92 0.197 1276 -4.8 0.137 - - - - - - 14.39 14.47 14.19
23960 7.4 10.6 1180 23974 done 1.38 - - 3395 - 2.33 0.040 1679 -586.3 371.9 2.05 0.151 1276 - - - - - - - - 14.50 14.41 14.19
24005 end climb: SURFACE_DEPTH_REACHED
24006 begin surface coast
24034 end surface coast: CONTROL_FINISHED_OK
24034 begin surface
SM 0.99 - - - - -8.61 9.45 0.055 159 16.8 0.08 0.137 1764 -93225.0 515.13 86.55 0.123 692 8.0 -0.007 - - - - - -