SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 488 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 184.32 of 350.00 AH used of 24V (47.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 deg, depth 1.04 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 42 s
• GPS2 time: 18 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
25 - - - 111 VBD -0.84 - - 145 - - - 1782 - -116.8 -83.53 - 3227 - - - - - - - - 14.68 - 14.70
115 5.1 -7.0 3 139 roll -0.84 12.20 0.368 2659 206.1 2.75 2.019 382 -509.1 -116.8 -0.68 - 3274 -69.1 - - - - - - - 13.97 13.07 14.40
219 39.9 -22.9 18 228 done -0.50 0.45 0.262 2760 224.4 2.25 0.031 1743 604.9 -116.8 - - 3274 - - - - - - - - 14.08 14.50 14.36
531 71.8 -8.8 30 534 done -0.50 - - 2759 - - - 1743 - -116.8 - - 3276 - - - - - - - - 14.77 14.79 14.79
840 98.5 -9.1 41 847 roll -0.50 - - 2759 - 2.38 0.056 375 -574.8 -116.8 - - 3276 - - - - - - - - 14.81 14.42 14.82
881 102.8 -9.8 47 888 done -0.50 - - 2753 - 2.30 0.031 1774 608.3 -116.8 - - 3274 - - - - - - - - 14.59 14.53 14.61
1233 135.6 -9.4 55 1239 roll -0.50 - - 2743 - 2.35 0.052 3164 591.5 -116.8 - - 3276 - - - - - - - - 14.82 14.36 14.84
1289 140.8 -9.2 63 1295 done -0.50 - - 2743 - 2.30 0.037 1775 -603.9 -116.8 - - 3279 - - - - - - - - 14.58 14.50 14.61
1625 171.2 -9.0 76 1632 roll -0.50 - - 2743 - 2.45 0.059 375 -571.4 -116.8 - - 3273 - - - - - - - - 14.81 14.41 14.85
1722 180.8 -9.7 90 1729 done -0.50 0.15 0.242 2765 146.7 2.33 0.031 1782 603.9 -116.8 - - 3273 - - - - - - - - 14.09 14.52 14.33
2075 206.8 -7.2 98 2081 roll -0.50 - - 2758 - 2.35 0.053 3160 586.4 -116.8 - - 3270 - - - - - - - - 14.81 14.40 14.82
2151 212.5 -7.3 109 2158 done -0.60 - - 2754 - 2.33 0.036 1766 -598.3 -116.8 - - 3270 - - - - - - - - 14.57 14.49 14.59
2467 235.9 -7.5 119 2473 roll -0.60 - - 2757 - 2.42 0.060 376 -574.4 -116.8 - - 3267 - - - - - - - - 14.81 14.38 14.83
2551 242.4 -7.8 131 2557 done -0.60 - - 2749 - 2.33 0.032 1773 599.6 -116.8 - - 3264 - - - - - - - - 14.57 14.50 14.59
2914 271.1 -8.1 141 2928 roll -0.60 - - 2739 - 2.38 0.053 3171 587.4 -116.8 - - 3264 - - - - - - - - 14.89 14.47 14.94
3011 279.3 -8.5 154 3024 done -0.60 - - 2739 - 2.35 0.037 1771 -595.7 -116.8 - - 3263 - - - - - - - - 14.63 14.55 14.65
3375 311.1 -8.8 163 3388 roll -0.60 - - 2739 - 2.45 0.059 372 -571.0 -116.8 - - 3260 - - - - - - - - 14.91 14.43 14.93
3486 321.7 -9.4 178 3499 done -0.60 - - 2729 - 2.35 0.032 1779 598.7 -116.8 - - 3260 - - - - - - - - 14.62 14.57 14.65
3831 351.1 -8.5 185 3844 roll -0.60 - - 2718 - 2.35 0.053 3160 587.7 -116.8 - - 3257 - - - - - - - - 14.92 14.46 14.94
3893 356.7 -8.8 193 3906 done -0.60 - - 2718 - 2.33 0.038 1770 -596.6 -116.8 - - 3258 - - - - - - - - 14.60 14.52 14.62
4235 387.7 -9.1 206 4249 roll -0.60 - - 2719 - 2.42 0.061 379 -574.8 -116.8 - - 3255 - - - - - - - - 14.90 14.42 14.92
4319 395.5 -9.5 217 4333 done -0.60 - - 2710 - 2.35 0.033 1780 596.2 -116.8 - - 3255 - - - - - - - - 14.62 14.57 14.62
4641 425.0 -9.3 227 4654 roll -0.60 - - 2700 - 2.38 0.054 3163 581.1 -116.8 - - 3254 - - - - - - - - 14.92 14.42 14.93
4724 433.0 -9.7 238 4738 done -0.60 0.15 0.238 2732 213.3 2.35 0.038 1769 -593.2 -116.8 - - 3253 - - - - - - - - 14.12 14.49 14.36
5046 463.1 -9.4 248 5059 roll -0.60 - - 2733 - 2.45 0.062 374 -569.4 -116.8 - - 3251 - - - - - - - - 14.90 14.40 14.90
5108 469.6 -10.3 256 5121 done -0.60 - - 2726 - 2.35 0.034 1778 597.4 -116.8 - - 3251 - - - - - - - - 14.59 14.53 14.62
5452 503.1 -9.6 269 5465 roll -0.60 - - 2716 - 2.40 0.056 3173 581.2 -116.8 - - 3250 - - - - - - - - 14.92 14.40 14.94
5492 506.9 -9.5 274 5505 done -0.60 - - 2716 - 2.35 0.040 1779 -593.2 -116.8 - - 3247 - - - - - - - - 14.55 14.47 14.58
5857 538.6 -8.6 283 5870 roll -0.60 - - 2716 - 2.47 0.062 373 -569.2 -116.8 - - 3248 - - - - - - - - 14.88 14.38 14.90
5939 546.0 -8.6 294 5952 done -0.60 - - 2706 - 2.35 0.033 1776 597.0 -116.8 - - 3248 - - - - - - - - 14.48 14.42 14.50
6260 572.0 -8.1 304 6274 roll -0.60 - - 2696 - 2.40 0.055 3168 580.0 -116.8 - - 3246 - - - - - - - - 14.92 14.38 14.94
6351 579.5 -8.2 316 6365 done -0.60 0.15 0.243 2728 213.3 2.38 0.038 1769 -587.8 -116.8 - - 3246 - - - - - - - - 14.04 14.45 14.30
6722 607.4 -7.6 326 6735 roll -0.60 - - 2727 - 2.47 0.061 379 -562.8 -116.8 - - 3245 - - - - - - - - 14.91 14.32 14.93
6834 616.9 -8.7 341 6848 done -0.60 - - 2721 - 2.38 0.033 1787 591.6 -116.8 - - 3244 - - - - - - - - 14.55 14.50 14.57
7177 646.3 -8.7 348 7190 roll -0.60 - - 2711 - 2.38 0.054 3161 577.3 -116.8 - - 3243 - - - - - - - - 14.91 14.35 14.94
7266 654.2 -8.7 360 7279 done -0.60 - - 2711 - 2.35 0.037 1772 -591.1 -116.8 - - 3243 - - - - - - - - 14.51 14.42 14.54
7638 685.9 -8.5 370 7651 roll -0.60 - - 2711 - 2.47 0.062 376 -565.2 -116.8 - - 3241 - - - - - - - - 14.89 14.29 14.91
7734 694.6 -8.8 383 7747 done -0.60 0.15 0.252 2733 146.7 2.38 0.034 1774 587.4 -116.8 - - 3241 - - - - - - - - 13.98 14.47 14.24
8099 719.8 -6.8 392 8112 roll -0.60 - - 2725 - 2.42 0.054 3168 576.0 -116.8 - - 3240 - - - - - - - - 14.89 14.21 14.91
8196 726.3 -6.6 405 8209 done -0.60 - - 2725 - 2.38 0.037 1769 -587.8 -116.8 - - 3239 - - - - - - - - 14.48 14.40 14.51
8560 751.8 -7.1 414 8573 roll -0.60 - - 2724 - 2.47 0.063 381 -561.9 -116.8 - - 3238 - - - - - - - - 14.88 14.19 14.90
8608 755.8 -8.3 420 8621 done -0.60 - - 2716 - 2.35 0.034 1776 593.6 -116.8 - - 3236 - - - - - - - - 14.50 14.45 14.53
8964 784.5 -8.2 428 8977 roll -0.60 - - 2705 - 2.40 0.055 3161 577.1 -116.8 - - 3237 - - - - - - - - 14.85 14.30 14.88
9041 790.8 -9.3 438 9054 done -0.60 - - 2705 - 2.38 0.037 1775 -582.4 -116.8 - - 3237 - - - - - - - - 14.45 14.37 14.47
9369 818.6 -8.4 449 9382 roll -0.60 - - 2705 - 2.53 0.063 375 -553.4 -116.8 - - 3234 - - - - - - - - 14.88 14.22 14.90
9431 824.4 -9.5 457 9446 done -0.60 0.15 0.259 2727 146.7 2.40 0.035 1781 585.8 -116.8 - - 3236 - - - - - - - - 13.89 14.40 14.16
9776 849.3 -7.2 470 9789 roll -0.60 - - 2718 - 2.42 0.056 3168 573.1 -116.8 - - 3235 - - - - - - - - 14.80 14.26 14.81
9839 854.5 -7.5 478 9852 done -0.60 - - 2718 - 2.40 0.039 1770 -582.5 -116.8 - - 3235 - - - - - - - - 14.38 14.33 14.38
10182 880.3 -7.7 491 10196 roll -0.60 - - 2718 - 2.53 0.063 373 -552.2 -116.8 - - 3233 - - - - - - - - 14.86 14.19 14.88
10258 886.9 -8.5 501 10271 done -0.60 - - 2710 - 2.40 0.036 1785 588.3 -116.8 - - 3234 - - - - - - - - 14.45 14.39 14.47
10588 912.7 -7.8 512 10601 roll -0.60 - - 2699 - 2.40 0.057 3157 571.7 -116.8 - - 3235 - - - - - - - - 14.83 14.23 14.85
10663 918.7 -7.7 522 10677 done -0.60 0.15 0.240 2731 213.3 2.38 0.040 1780 -578.6 -116.8 - - 3233 - - - - - - - - 13.87 14.31 14.12
10992 940.9 -6.7 533 11005 roll -0.60 - - 2731 - 2.53 0.064 372 -556.5 -116.8 - - 3232 - - - - - - - - 14.85 14.16 14.88
11091 947.2 -6.9 546 11104 done -0.60 - - 2725 - 2.40 0.036 1772 583.3 -116.8 - - 3232 - - - - - - - - 14.42 14.36 14.45
11455 970.0 -6.2 555 11468 roll -0.60 - - 2714 - 2.42 0.055 3159 573.1 -116.8 - - 3232 - - - - - - - - 14.87 14.19 14.88
11575 977.4 -6.2 571 11588 done -0.60 - - 2714 - 2.40 0.040 1761 -582.5 -116.8 - - 3231 - - - - - - - - 14.38 14.30 14.42
11802 end dive: TARGET_DEPTH_EXCEEDED
11802 begin apogee
11810 992.1 -6.4 582 11943 done -0.21 0.57 0.220 2858 252.6 - - 1669 - - 123.30 2.221 2794 -3.5 0.305 - - - - - - 13.71 13.93 12.82
11945 end apogee: CONTROL_FINISHED_OK
11945 begin climb
11950 995.5 - 584 12097 roll 0.84 1.12 0.145 3189 295.5 2.58 0.047 3066 541.5 116.8 126.57 2.185 2304 -3.9 0.340 - - - - - - 13.94 13.80 12.74
12154 983.1 7.7 617 12167 done 0.84 - - 3198 - 2.38 0.039 1695 -576.1 118.8 - - 2300 - - - - - - - - 14.27 14.21 14.29
12489 954.8 8.6 629 12503 roll 0.84 - - 3209 - 2.45 0.066 319 -561.6 118.8 - - 2294 - - - - - - - - 14.76 14.40 14.80
12544 950.0 9.0 636 12558 done 0.84 - - 3209 - 2.30 0.031 1701 600.9 118.8 - - 2293 - - - - - - - - 14.58 14.53 14.60
12889 920.9 8.5 643 12903 roll 0.84 - - 3208 - 2.33 0.048 3055 581.1 118.8 - - 2293 - - - - - - - - 14.81 14.42 14.84
13014 909.9 9.7 660 13027 done 0.84 - - 3218 - 2.35 0.041 1676 -586.8 118.8 - - 2292 - - - - - - - - 14.55 14.47 14.59
13351 880.9 8.7 672 13364 roll 0.84 - - 3229 - 2.40 0.066 327 -562.1 118.8 - - 2292 - - - - - - - - 14.83 14.36 14.85
13399 876.2 11.1 678 13412 done 0.73 0.25 0.245 3170 -236.0 2.25 0.031 1707 613.3 118.8 - - 2292 - - - - - - - - 14.01 14.52 14.35
13755 851.5 6.7 686 13792 roll 0.75 - - 3170 - 2.30 0.049 3027 573.9 139.5 22.02 2.035 2213 -3.6 0.289 - - - - - - 14.84 14.46 13.34
13866 844.3 7.2 701 13885 done 0.77 - - 3175 - 2.30 0.042 1684 -583.9 151.2 5.22 1.620 2175 -7.3 0.731 - - - - - - 14.53 14.45 13.10
14217 819.0 7.2 715 14251 roll 0.78 - - 3187 - 2.40 0.065 322 -567.5 164.1 21.80 1.965 2117 -2.7 0.214 - - - - - - 14.76 14.15 13.35
14315 811.4 8.0 729 14328 done 0.78 - - 3187 - 2.25 0.031 1672 600.0 164.1 - - 2109 - - - - - - - - 14.50 14.46 14.54
14671 783.4 7.9 737 14684 roll 0.78 - - 3187 - 2.38 0.050 3045 576.9 164.1 - - 2108 - - - - - - - - 14.77 14.40 14.78
14783 773.9 8.5 752 14797 done 0.78 - - 3196 - 2.38 0.044 1674 -576.1 164.1 - - 2107 - - - - - - - - 14.50 14.42 14.55
15126 744.3 8.7 759 15139 roll 0.78 - - 3206 - 2.42 0.067 316 -561.2 164.1 - - 2107 - - - - - - - - 14.83 14.35 14.85
15196 737.8 9.6 768 15209 done 0.78 - - 3206 - 2.25 0.031 1674 603.6 164.1 - - 2107 - - - - - - - - 14.57 14.51 14.59
15531 707.5 8.9 780 15544 roll 0.78 - - 3206 - 2.38 0.050 3056 580.7 164.1 - - 2107 - - - - - - - - 14.83 14.38 14.85
15642 697.5 8.9 795 15656 done 0.78 0.15 0.267 3186 -133.3 2.38 0.041 1676 -579.8 164.1 - - 2106 - - - - - - - - 14.00 14.42 14.32
15987 671.5 7.5 802 16001 roll 0.79 - - 3194 - 2.50 0.065 315 -544.4 170.9 1.60 0.172 2091 -9.4 7.047 - - - - - - 14.82 14.31 14.12
16050 666.3 8.2 810 16063 done 0.79 - - 3193 - 2.28 0.030 1692 603.9 170.9 - - 2094 - - - - - - - - 14.55 14.50 14.57
16394 639.0 8.0 823 16407 roll 0.79 - - 3193 - 2.35 0.049 3053 579.1 170.9 - - 2095 - - - - - - - - 14.85 14.33 14.87
16497 630.3 8.2 837 16510 done 0.79 - - 3202 - 2.35 0.041 1682 -583.4 170.9 - - 2095 - - - - - - - - 14.47 14.39 14.51
16856 601.5 8.1 845 16869 done 0.79 - - 3202 - - - 1682 - 170.9 - - 2090 - - - - - - - - 14.84 14.85 14.86
17191 574.7 8.0 851 17204 done 0.79 - - 3202 - - - 1681 - 170.9 - - 2094 - - - - - - - - 14.85 14.87 14.87
17527 546.3 8.6 857 17540 roll 0.79 - - 3202 - 2.38 0.048 3050 575.2 170.9 - - 2094 - - - - - - - - 14.85 14.31 14.88
17581 541.3 9.0 864 17596 done 0.79 - - 3211 - 2.38 0.043 1679 -576.1 170.9 - - 2094 - - - - - - - - 14.44 14.35 14.47
17927 510.8 8.9 871 17940 done 0.79 - - 3211 - - - 1679 - 170.9 - - 2094 - - - - - - - - 14.82 14.84 14.84
18262 482.1 8.5 877 18275 done 0.79 - - 3208 - - - 1679 - 170.9 - - 2094 - - - - - - - - 14.83 14.85 14.84
18597 454.2 8.3 883 18611 roll 0.79 - - 3211 - 2.40 0.048 3056 573.8 170.9 - - 2094 - - - - - - - - 14.82 14.28 14.84
18662 448.9 8.4 891 18675 done 0.79 0.15 0.256 3190 -140.0 2.38 0.041 1672 -581.5 170.9 - - 2093 - - - - - - - - 13.91 14.35 14.19
19007 424.5 7.0 904 19042 roll 0.81 - - 3197 - 2.45 0.067 322 -551.0 187.0 22.65 1.554 2024 -3.0 0.160 - - - - - - 14.79 14.45 13.46
19070 419.6 7.9 913 19084 done 0.81 - - 3198 - 2.25 0.031 1689 607.6 187.0 - - 2016 - - - - - - - - 14.57 14.52 14.60
19399 392.9 8.2 924 19412 roll 0.81 - - 3197 - 2.35 0.048 3050 579.1 187.0 - - 2014 - - - - - - - - 14.79 14.35 14.81
19469 387.0 8.6 933 19482 done 0.81 - - 3205 - 2.35 0.043 1682 -582.1 187.0 - - 2014 - - - - - - - - 14.48 14.39 14.52
19804 359.4 8.2 945 19817 roll 0.81 - - 3216 - 2.42 0.066 321 -562.4 187.0 - - 2014 - - - - - - - - 14.80 14.30 14.82
19851 355.2 8.9 951 19865 done 0.81 - - 3216 - 2.25 0.030 1685 606.2 187.0 - - 2014 - - - - - - - - 14.56 14.51 14.58
20209 324.3 8.7 959 20222 roll 0.81 - - 3216 - 2.35 0.047 3050 580.9 187.0 - - 2014 - - - - - - - - 14.83 14.34 14.85
20271 318.3 9.6 967 20285 done 0.81 0.12 0.255 3197 -158.3 2.35 0.039 1673 -586.0 187.0 - - 2014 - - - - - - - - 14.00 14.39 14.31
20615 289.8 8.3 980 20628 done 0.81 - - 3197 - - - 1672 - 187.0 - - 2013 - - - - - - - - 14.81 14.83 14.83
20950 263.4 7.7 986 20963 done 0.81 - - 3197 - - - 1672 - 189.1 - - 2014 - - - - - - - - 14.82 14.84 14.84
21286 238.6 7.4 992 21304 roll 0.82 - - 3198 - 2.38 0.045 3059 582.8 198.3 5.22 1.121 1982 -6.1 0.251 - - - - - - 14.83 14.17 13.44
21340 234.5 7.7 998 21358 done 0.83 - - 3203 - 2.35 0.041 1670 -591.1 201.8 3.65 0.894 1970 -3.3 0.166 - - - - - - 14.62 14.54 13.33
21690 206.3 8.3 1006 21703 roll 0.83 - - 3214 - 2.40 0.066 323 -561.2 201.8 - - 1977 - - - - - - - - 14.84 14.31 14.86
21752 200.8 8.8 1014 21765 done 0.83 - - 3214 - 2.22 0.028 1676 609.5 201.8 - - 1977 - - - - - - - - 14.56 14.52 14.58
22096 172.9 8.0 1027 22109 roll 0.83 - - 3214 - 2.35 0.046 3053 586.0 201.8 - - 1976 - - - - - - - - 14.81 14.37 14.83
22150 168.2 8.4 1034 22164 done 0.83 - - 3221 - 2.35 0.041 1685 -582.1 201.8 - - 1977 - - - - - - - - 14.48 14.38 14.51
22496 138.4 8.8 1041 22509 roll 0.83 - - 3232 - 2.42 0.065 322 -563.2 201.8 - - 1977 - - - - - - - - 14.85 14.26 14.87
22544 133.8 9.2 1047 22557 done 0.83 0.15 0.225 3200 -213.3 2.25 0.028 1695 610.2 201.8 - - 1977 - - - - - - - - 14.04 14.47 14.28
22902 107.3 7.3 1055 22925 roll 0.84 - - 3199 - 2.35 0.047 3041 572.8 211.3 11.62 0.346 1933 -3.8 0.226 - - - - - - 14.83 14.47 13.96
22988 100.4 7.9 1067 23005 done 0.84 - - 3205 - 2.35 0.040 1669 -583.8 211.3 3.03 0.169 1934 - - - - - - - - 14.52 14.44 14.02
23330 75.6 7.3 1082 23359 roll 0.85 - - 3215 - 2.38 0.061 325 -564.7 221.9 14.57 0.294 1891 -3.0 0.146 - - - - - - 14.78 14.26 14.02
23429 68.1 6.7 1096 23466 done 0.88 - - 3215 - 2.25 0.030 1684 604.0 243.2 24.23 0.294 1801 -3.7 0.166 - - - - - - 14.56 14.52 14.09
23786 45.8 5.8 1113 23841 roll 1.12 0.22 0.091 3302 395.5 2.38 0.044 3046 572.3 282.1 37.70 0.242 1645 -4.1 0.151 - - - - - - 14.44 14.47 14.14
24071 29.4 4.3 1151 24139 done 1.20 - - 3309 - 2.35 0.040 1670 -585.5 348.2 55.47 0.201 1372 -4.9 0.139 - - - - - - 14.48 14.40 14.18
24454 9.8 5.3 1172 24505 roll 1.39 0.17 0.106 3393 494.1 2.42 0.062 327 -555.0 395.3 34.80 0.145 1182 -5.5 0.071 - - - - - - 14.41 14.38 14.21
24526 4.9 8.0 1182 24540 done 1.39 - - 3393 - 2.20 0.027 1674 612.3 395.3 - - 1185 - - - - - - - - 14.54 14.49 14.57
24571 end climb: SURFACE_DEPTH_REACHED
24571 begin surface coast
24599 end surface coast: CONTROL_FINISHED_OK
24599 begin surface
SM 1.07 - - - - -8.60 9.65 0.066 162 16.8 0.10 0.110 1795 7650.0 515.13 72.30 0.125 690 9.5 -0.008 - - - - - -