SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 581 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 219.72 of 350.00 AH used of 24V (37.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth 1.00 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 26 s
• GPS2 time: 20 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 116 VBD -0.84 - - 151 - - - 1786 - -116.8 -83.12 - 3176 - - - - - - - - 14.63 - 14.66
121 4.5 -6.0 3 144 roll -0.84 12.43 0.375 2657 201.6 2.72 2.030 366 -522.1 -116.8 -1.42 - 3273 -68.3 - - - - - - - 13.92 13.07 14.36
232 39.8 -24.0 19 239 done -0.44 0.55 0.272 2780 223.6 2.33 0.032 1755 596.1 -116.8 - - 3273 - - - - - - - - 13.98 14.41 14.28
569 75.5 -8.4 34 575 roll -0.44 - - 2780 - 2.42 0.055 369 -572.7 -116.8 - - 3275 - - - - - - - - 14.74 14.33 14.76
806 95.9 -7.6 68 812 done -0.44 - - 2773 - 2.35 0.031 1789 604.3 -116.8 - - 3274 - - - - - - - - 14.50 14.45 14.52
1157 122.3 -8.0 77 1164 roll -0.44 - - 2773 - 2.47 0.054 372 -573.7 -116.8 - - 3275 - - - - - - - - 14.76 14.28 14.76
1292 134.2 -8.5 96 1298 done -0.44 - - 2765 - 2.33 0.031 1771 600.4 -116.8 - - 3274 - - - - - - - - 14.49 14.44 14.50
1607 160.2 -8.2 106 1613 roll -0.44 - - 2755 - 2.38 0.050 3162 584.5 -116.8 - - 3273 - - - - - - - - 14.74 14.30 14.76
1669 164.9 -7.4 115 1675 done -0.44 - - 2755 - 2.35 0.036 1765 -594.5 -116.8 - - 3271 - - - - - - - - 14.43 14.36 14.45
2000 188.4 -7.0 127 2007 roll -0.44 0.12 0.253 2782 225.0 2.45 0.057 378 -566.1 -116.8 - - 3270 - - - - - - - - 14.00 14.21 14.11
2084 194.2 -6.7 139 2091 done -0.56 - - 2778 - 2.35 0.032 1780 596.6 -116.8 - - 3269 - - - - - - - - 14.45 14.39 14.47
2450 218.3 -6.8 149 2457 roll -0.67 0.17 0.106 2692 -505.9 2.38 0.050 3162 580.7 -116.8 - - 3266 - - - - - - - - 14.33 14.26 14.37
2527 225.8 -10.1 160 2533 done -0.67 - - 2692 - 2.35 0.037 1777 -589.4 -116.8 - - 3265 - - - - - - - - 14.40 14.32 14.42
2843 257.7 -10.0 170 2857 roll -0.67 - - 2692 - 2.47 0.060 375 -567.6 -116.8 - - 3262 - - - - - - - - 14.84 14.26 14.88
2955 269.7 -10.7 185 2970 done -0.57 0.25 0.246 2740 192.0 2.38 0.033 1776 588.7 -116.8 - - 3261 - - - - - - - - 13.85 14.41 14.14
3298 300.2 -9.0 192 3312 roll -0.57 - - 2731 - 2.42 0.052 3168 575.2 -116.8 - - 3260 - - - - - - - - 14.87 14.29 14.89
3355 305.4 -9.4 199 3369 done -0.57 - - 2732 - 2.40 0.039 1768 -583.3 -116.8 - - 3260 - - - - - - - - 14.43 14.35 14.47
3697 338.4 -9.7 206 3711 roll -0.57 - - 2732 - 2.47 0.060 372 -565.2 -116.8 - - 3257 - - - - - - - - 14.84 14.23 14.86
3780 347.1 -10.2 217 3794 done -0.57 - - 2723 - 2.38 0.033 1776 589.9 -116.8 - - 3256 - - - - - - - - 14.49 14.43 14.52
4104 378.8 -9.9 227 4117 roll -0.57 - - 2713 - 2.40 0.054 3163 577.9 -116.8 - - 3255 - - - - - - - - 14.83 14.27 14.85
4187 386.8 -9.3 238 4200 done -0.57 0.12 0.244 2738 208.3 2.38 0.039 1765 -587.4 -116.8 - - 3255 - - - - - - - - 13.94 14.34 14.18
4510 412.3 -7.7 248 4523 roll -0.57 - - 2739 - 2.47 0.061 380 -560.7 -116.8 - - 3252 - - - - - - - - 14.86 14.19 14.88
4614 420.4 -7.3 262 4628 done -0.57 - - 2732 - 2.38 0.034 1775 586.1 -116.8 - - 3251 - - - - - - - - 14.45 14.38 14.48
4971 444.5 -6.7 270 4985 roll -0.57 - - 2721 - 2.42 0.054 3164 574.0 -116.8 - - 3249 - - - - - - - - 14.87 14.21 14.88
5035 448.8 -7.1 278 5048 done -0.57 - - 2721 - 2.38 0.037 1774 -584.0 -116.8 - - 3250 - - - - - - - - 14.38 14.31 14.42
5377 475.1 -7.8 291 5391 roll -0.57 - - 2721 - 2.50 0.062 375 -559.6 -116.8 - - 3248 - - - - - - - - 14.83 14.17 14.84
5456 481.9 -8.7 301 5470 done -0.57 0.12 0.265 2738 141.7 2.38 0.034 1775 588.2 -116.8 - - 3246 - - - - - - - - 13.85 14.35 14.11
5786 507.1 -7.6 312 5799 roll -0.57 - - 2729 - 2.42 0.053 3164 574.0 -116.8 - - 3244 - - - - - - - - 14.85 14.19 14.88
5863 513.0 -7.6 322 5876 done -0.57 - - 2729 - 2.40 0.037 1764 -583.3 -116.8 - - 3245 - - - - - - - - 14.35 14.27 14.39
6192 538.5 -7.8 333 6205 roll -0.57 - - 2729 - 2.50 0.061 379 -554.0 -116.8 - - 3245 - - - - - - - - 14.81 14.14 14.85
6313 548.4 -8.2 349 6326 done -0.57 - - 2720 - 2.38 0.034 1777 587.4 -116.8 - - 3244 - - - - - - - - 14.38 14.33 14.41
6655 576.9 -8.5 362 6669 roll -0.57 - - 2710 - 2.42 0.054 3163 572.7 -116.8 - - 3243 - - - - - - - - 14.81 14.17 14.83
6724 583.0 -8.8 371 6738 done -0.57 0.15 0.240 2740 200.0 2.38 0.038 1776 -582.8 -116.8 - - 3245 - - - - - - - - 13.79 14.24 14.04
7062 610.5 -8.2 383 7075 roll -0.57 - - 2740 - 2.53 0.063 376 -553.4 -116.8 - - 3242 - - - - - - - - 14.83 14.07 14.85
7096 613.7 -9.0 387 7109 done -0.57 - - 2733 - 2.40 0.034 1786 587.5 -116.8 - - 3241 - - - - - - - - 14.38 14.32 14.40
7467 644.1 -8.0 397 7480 roll -0.57 - - 2724 - 2.42 0.056 3167 570.7 -116.8 - - 3240 - - - - - - - - 14.80 14.13 14.82
7531 649.0 -7.8 405 7544 done -0.57 - - 2723 - 2.40 0.039 1776 -579.6 -116.8 - - 3239 - - - - - - - - 14.29 14.21 14.33
7874 675.2 -7.4 418 7887 roll -0.57 - - 2722 - 2.55 0.063 370 -551.4 -116.8 - - 3238 - - - - - - - - 14.80 14.04 14.82
7972 682.9 -7.9 431 7986 done -0.57 0.12 0.271 2737 125.0 2.42 0.035 1771 578.9 -116.8 - - 3238 - - - - - - - - 13.76 14.31 14.02
8337 707.0 -6.6 440 8350 roll -0.57 - - 2729 - 2.47 0.055 3171 566.8 -116.8 - - 3237 - - - - - - - - 14.83 14.07 14.85
8428 713.0 -6.6 452 8442 done -0.66 - - 2729 - 2.42 0.040 1774 -577.3 -116.8 - - 3237 - - - - - - - - 14.24 14.15 14.27
8799 739.1 -7.1 462 8813 roll -0.66 - - 2729 - 2.55 0.063 372 -549.8 -116.8 - - 3236 - - - - - - - - 14.83 14.00 14.85
8912 748.1 -8.2 477 8927 done -0.66 - - 2716 - 2.45 0.035 1784 576.3 -116.8 - - 3235 - - - - - - - - 14.28 14.21 14.31
9255 775.2 -8.0 484 9268 roll -0.66 - - 2710 - 2.45 0.056 3165 563.7 -116.8 - - 3234 - - - - - - - - 14.82 14.02 14.84
9366 784.3 -8.1 499 9380 done -0.66 - - 2709 - 2.42 0.039 1775 -574.4 -116.8 - - 3234 - - - - - - - - 14.21 14.12 14.25
9711 813.0 -8.3 506 9724 roll -0.66 - - 2709 - 2.55 0.063 376 -548.6 -116.8 - - 3233 - - - - - - - - 14.81 13.96 14.83
9808 821.7 -8.8 519 9821 done -0.66 - - 2700 - 2.42 0.035 1772 576.9 -116.8 - - 3236 - - - - - - - - 14.27 14.21 14.30
10172 851.4 -8.1 528 10185 roll -0.66 - - 2690 - 2.47 0.055 3162 562.8 -116.8 - - 3232 - - - - - - - - 14.81 13.97 14.83
10292 861.5 -8.5 544 10305 done -0.66 - - 2690 - 2.42 0.040 1770 -575.2 -116.8 - - 3232 - - - - - - - - 14.21 14.12 14.24
10635 891.9 -8.8 557 10649 roll -0.66 - - 2690 - 2.55 0.064 376 -546.7 -116.8 - - 3231 - - - - - - - - 14.76 13.95 14.78
10741 902.0 -9.5 571 10754 done -0.66 0.15 0.270 2706 106.7 2.45 0.036 1782 573.9 -116.8 - - 3231 - - - - - - - - 13.58 14.17 13.87
11098 930.4 -7.8 579 11111 roll -0.66 - - 2701 - 2.47 0.057 3161 558.3 -116.8 - - 3230 - - - - - - - - 14.75 13.97 14.77
11155 935.0 -8.1 586 11169 done -0.66 - - 2701 - 2.42 0.040 1774 -573.1 -116.8 - - 3230 - - - - - - - - 14.16 14.07 14.20
11497 963.4 -8.3 593 11510 roll -0.66 - - 2701 - 2.58 0.065 376 -541.9 -116.8 - - 3230 - - - - - - - - 14.78 13.90 14.80
11545 967.8 -7.1 599 11558 done -0.66 - - 2691 - 2.42 0.036 1773 577.3 -116.8 - - 3230 - - - - - - - - 14.22 14.16 14.25
11842 end dive: TARGET_DEPTH_EXCEEDED
11842 begin apogee
11853 994.4 -8.7 606 11985 done -0.21 0.70 0.246 2857 237.1 - - 1648 - - 122.53 2.219 2792 -3.6 0.307 - - - - - - 13.66 13.85 12.79
11987 end apogee: CONTROL_FINISHED_OK
11987 begin climb
11991 999.9 - 608 12140 roll 0.84 1.17 0.159 3202 294.9 2.40 0.067 353 -539.6 116.8 127.47 2.172 2307 -3.8 0.336 - - - - - - 13.88 13.88 12.80
12167 992.9 9.0 637 12181 done 0.84 - - 3202 - 2.28 0.031 1700 590.8 116.8 - - 2297 - - - - - - - - 14.27 14.24 14.31
12531 964.8 8.1 646 12544 roll 0.84 - - 3209 - 2.35 0.049 3058 577.9 116.8 - - 2292 - - - - - - - - 14.76 14.35 14.75
12616 958.0 7.2 657 12634 done 0.85 - - 3211 - 2.35 0.043 1701 -577.4 128.8 4.62 1.529 2265 -5.8 0.702 - - - - - - 14.45 14.36 13.21
12991 927.0 8.3 668 13005 roll 0.85 - - 3222 - 2.45 0.067 327 -560.8 128.8 - - 2269 - - - - - - - - 14.76 14.30 14.78
13048 922.0 9.2 675 13062 done 0.75 0.20 0.251 3179 -215.0 2.25 0.031 1694 607.6 128.8 - - 2266 - - - - - - - - 13.97 14.41 14.27
13391 897.6 7.0 682 13427 roll 0.77 - - 3179 - 2.33 0.049 3042 578.5 145.1 23.48 2.068 2195 -3.0 0.252 - - - - - - 14.79 14.07 13.24
13516 888.3 7.8 699 13529 done 0.77 - - 3185 - 2.35 0.043 1680 -579.6 145.4 - - 2187 - - - - - - - - 14.50 14.42 14.54
13852 862.2 7.8 711 13866 roll 0.77 - - 3196 - 2.45 0.067 320 -555.1 146.9 - - 2186 - - - - - - - - 14.74 14.30 14.76
13916 857.1 8.1 719 13929 done 0.77 - - 3196 - 2.25 0.034 1674 601.8 146.9 - - 2185 - - - - - - - - 14.50 14.43 14.52
14260 830.4 7.7 732 14274 roll 0.78 - - 3195 - 2.38 0.049 3046 576.5 150.4 - - 2184 - - - - - - - - 14.79 14.30 14.81
14386 820.4 7.8 749 14399 done 0.78 - - 3204 - 2.38 0.043 1672 -577.3 151.4 1.95 0.168 2169 -7.7 7.204 - - - - - - 14.43 14.35 14.12
14724 794.1 7.8 761 14737 roll 0.78 - - 3214 - 2.42 0.067 323 -557.4 151.9 - - 2172 - - - - - - - - 14.80 14.20 14.82
14772 789.9 7.6 767 14790 done 0.79 0.15 0.249 3184 -200.0 2.25 0.031 1694 609.3 157.5 4.90 1.554 2149 -4.7 0.458 - - - - - - 13.93 14.41 13.28
15124 765.1 7.0 775 15166 roll 0.81 - - 3184 - 2.33 0.050 3037 576.4 174.4 28.08 1.929 2073 -2.7 0.206 - - - - - - 14.78 14.34 13.26
15267 754.6 7.5 795 15284 done 0.81 - - 3191 - 2.35 0.044 1671 -581.3 181.0 1.88 0.169 2049 -12.8 10.932 - - - - - - 14.42 14.36 14.18
15636 726.1 7.8 805 15649 roll 0.82 - - 3201 - 2.42 0.067 319 -558.7 182.1 - - 2050 - - - - - - - - 14.73 14.30 14.76
15670 723.1 7.9 809 15683 done 0.82 - - 3202 - 2.25 0.033 1673 601.8 182.1 - - 2052 - - - - - - - - 14.50 14.45 14.52
16041 690.6 8.9 819 16054 roll 0.82 - - 3201 - 2.40 0.049 3057 576.7 182.1 - - 2052 - - - - - - - - 14.80 14.27 14.82
16161 679.4 9.4 835 16175 done 0.82 - - 3209 - 2.38 0.043 1684 -576.9 182.1 - - 2051 - - - - - - - - 14.43 14.34 14.46
16504 647.6 9.2 848 16517 roll 0.82 - - 3220 - 2.45 0.067 319 -557.1 182.1 - - 2050 - - - - - - - - 14.77 14.21 14.79
16539 644.3 9.7 852 16553 done 0.82 - - 3220 - 2.28 0.031 1682 597.8 182.1 - - 2048 - - - - - - - - 14.49 14.43 14.51
16910 609.7 9.2 862 16924 roll 0.82 - - 3220 - 2.38 0.048 3051 575.2 182.1 - - 2050 - - - - - - - - 14.81 14.22 14.82
17024 599.4 9.1 877 17040 done 0.82 0.15 0.258 3199 -140.0 2.40 0.042 1676 -572.9 182.1 - - 2048 - - - - - - - - 13.85 14.28 14.14
17369 572.7 7.7 884 17386 roll 0.82 - - 3206 - 2.45 0.067 323 -552.2 185.0 2.80 0.801 2036 -4.3 0.588 - - - - - - 14.79 14.34 13.33
17421 568.2 8.5 891 17435 done 0.82 - - 3207 - 2.28 0.032 1684 596.9 185.0 - - 2041 - - - - - - - - 14.54 14.47 14.55
17766 540.3 8.3 898 17780 roll 0.82 - - 3206 - 2.38 0.047 3055 576.1 185.0 - - 2042 - - - - - - - - 14.75 14.23 14.76
17842 533.3 8.9 908 17855 done 0.82 - - 3216 - 2.38 0.042 1679 -578.2 185.0 - - 2046 - - - - - - - - 14.38 14.28 14.40
18172 503.7 9.1 919 18186 roll 0.82 - - 3226 - 2.45 0.066 323 -553.5 185.0 - - 2042 - - - - - - - - 14.78 14.10 14.81
18213 499.6 9.2 924 18227 done 0.82 0.15 0.242 3196 -200.0 2.25 0.031 1691 608.0 185.0 - - 2042 - - - - - - - - 13.88 14.37 14.15
18578 470.9 7.7 933 18595 roll 0.82 - - 3197 - 2.35 0.048 3033 571.1 188.2 3.45 1.005 2025 -4.9 0.443 - - - - - - 14.75 14.40 13.37
18666 464.1 7.8 945 18684 done 0.83 - - 3202 - 2.33 0.044 1678 -581.5 189.3 3.22 0.929 2020 -1.6 0.149 - - - - - - 14.50 14.40 13.35
19034 435.2 7.9 955 19048 roll 0.83 - - 3212 - 2.45 0.067 316 -555.9 189.3 - - 2028 - - - - - - - - 14.75 14.20 14.77
19084 431.0 8.7 961 19097 done 0.83 - - 3212 - 2.25 0.031 1659 596.9 189.3 - - 2026 - - - - - - - - 14.46 14.40 14.48
19441 400.0 8.8 969 19455 roll 0.83 - - 3212 - 2.42 0.046 3073 584.3 189.3 - - 2028 - - - - - - - - 14.79 14.12 14.81
19510 393.6 9.2 978 19527 done 0.83 - - 3221 - 2.42 0.042 1676 -577.3 189.3 1.77 0.165 2022 -3.4 1.551 - - - - - - 14.38 14.26 14.00
19845 364.3 8.8 990 19858 roll 0.83 - - 3232 - 2.45 0.065 319 -553.9 189.3 - - 2027 - - - - - - - - 14.73 14.09 14.76
19907 358.3 9.7 998 19925 done 0.83 0.15 0.239 3201 -206.7 2.30 0.030 1700 600.4 189.3 2.00 0.160 2021 -3.0 1.288 - - - - - - 13.82 14.34 13.66
20252 331.0 7.9 1011 20265 roll 0.83 - - 3201 - 2.35 0.047 3044 571.9 189.3 - - 2028 - - - - - - - - 14.75 14.12 14.77
20342 322.8 8.7 1023 20355 done 0.83 - - 3207 - 2.38 0.041 1678 -573.9 189.3 - - 2029 - - - - - - - - 14.30 14.21 14.33
20713 290.1 9.0 1033 20726 roll 0.83 - - 3217 - 2.45 0.065 324 -552.7 189.3 - - 2027 - - - - - - - - 14.79 14.02 14.81
20797 282.1 9.5 1044 20810 done 0.83 - - 3217 - 2.28 0.031 1676 593.0 189.3 - - 2028 - - - - - - - - 14.28 14.24 14.30
21119 253.3 8.9 1054 21132 roll 0.83 - - 3217 - 2.42 0.047 3060 571.9 189.3 - - 2027 - - - - - - - - 14.75 14.11 14.78
21182 247.7 8.9 1062 21195 done 0.83 0.12 0.254 3201 -133.3 2.40 0.042 1679 -575.4 189.3 - - 2031 - - - - - - - - 13.78 14.17 14.04
21525 221.0 7.8 1075 21542 roll 0.83 - - 3210 - 2.42 0.066 323 -560.3 191.0 3.88 0.929 2014 -4.4 0.200 - - - - - - 14.79 14.36 13.45
21592 215.7 8.3 1084 21605 done 0.83 - - 3209 - 2.25 0.029 1682 604.0 191.0 - - 2019 - - - - - - - - 14.55 14.50 14.57
21928 187.8 8.4 1096 21941 roll 0.83 - - 3207 - 2.38 0.046 3055 576.9 191.0 - - 2020 - - - - - - - - 14.76 14.24 14.81
22011 180.5 8.5 1107 22024 done 0.83 - - 3218 - 2.40 0.041 1671 -576.7 191.0 - - 2021 - - - - - - - - 14.36 14.27 14.40
22334 155.3 7.7 1117 22347 done 0.83 - - 3218 - - - 1670 - 193.1 4.20 0.929 2002 -4.5 0.145 - - - - - - 14.76 14.36 13.49
22669 131.9 6.7 1123 22707 done 0.86 - - 3215 - - - 1669 - 214.0 29.17 1.169 1919 -2.8 0.062 - - - - - - 14.78 14.32 13.51
23006 105.3 8.5 1129 23020 roll 0.86 - - 3229 - 2.42 0.066 320 -557.4 214.0 - - 1903 - - - - - - - - 14.72 14.23 14.75
23041 102.0 8.9 1133 23054 done 0.86 - - 3228 - 2.28 0.029 1701 605.7 214.0 - - 1903 - - - - - - - - 14.47 14.42 14.50
23384 76.4 6.3 1148 23416 done 0.89 - - 3228 - - - 1702 - 243.4 23.17 0.312 1800 -4.4 0.209 - - - - - - 14.73 14.39 14.02
23725 60.4 4.7 1163 23792 roll 1.10 0.15 0.122 3301 486.7 2.53 0.065 320 -546.2 301.3 55.03 0.282 1567 -4.2 0.174 - - - - - - 14.23 14.42 14.08
23799 55.9 5.7 1171 23851 done 1.15 - - 3301 - 2.25 0.028 1684 606.2 341.5 38.62 0.272 1399 -4.4 0.171 - - - - - - 14.57 14.52 14.07
24179 32.4 6.1 1191 24224 roll 1.33 0.15 0.112 3374 486.7 2.45 0.061 328 -553.5 374.9 29.90 0.202 1266 -4.4 0.137 - - - - - - 14.31 14.33 14.11
24373 13.1 11.4 1219 24390 done 1.33 - - 3374 - 2.22 0.028 1679 608.6 374.9 2.28 0.146 1264 - - - - - - - - 14.46 14.41 14.04
24487 end climb: SURFACE_DEPTH_REACHED
24487 begin surface coast
24513 end surface coast: CONTROL_FINISHED_OK
24513 begin surface
SM 1.00 - - - - -8.60 9.55 0.060 159 16.6 - - 1690 - 515.13 85.95 0.122 689 8.0 -0.007 - - - - - -