SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 582 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 220.11 of 350.00 AH used of 24V (37.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.0 deg, depth 0.97 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 562.72 (SM_CC=562.4729)
• GPS1 time: 30 s
• GPS2 time: 14 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
32 - - - 116 VBD -0.84 - - 148 - - - 1689 - -116.8 -81.62 - 3104 - - - - - - - - 14.67 - 14.69
121 4.1 -5.4 3 144 roll -0.84 12.20 0.365 2658 205.7 2.53 2.030 371 -520.9 -116.8 -2.50 - 3271 -66.8 - - - - - - - 13.93 13.07 14.38
234 39.8 -25.9 19 241 done -0.45 0.52 0.274 2770 215.4 2.30 0.033 1752 600.4 -116.8 - - 3271 - - - - - - - - 14.04 14.50 14.35
570 76.1 -5.3 34 577 roll -0.45 - - 2765 - 2.40 0.050 3169 590.4 -116.8 - - 3270 - - - - - - - - 14.74 14.37 14.76
723 88.5 -8.7 56 730 done -0.45 - - 2765 - 2.35 0.037 1762 -598.7 -116.8 - - 3272 - - - - - - - - 14.48 14.41 14.51
1048 113.4 -7.4 66 1055 roll -0.45 - - 2763 - 2.40 0.057 378 -576.7 -116.8 - - 3275 - - - - - - - - 14.73 14.31 14.76
1195 127.1 -9.1 87 1201 done -0.45 - - 2756 - 2.30 0.031 1777 608.3 -116.8 - - 3272 - - - - - - - - 14.41 14.38 14.42
1554 156.0 -7.9 96 1560 roll -0.45 - - 2746 - 2.38 0.051 3163 582.4 -116.8 - - 3270 - - - - - - - - 14.74 14.30 14.77
1588 159.1 -8.8 101 1596 done -0.45 0.15 0.226 2778 213.3 2.33 0.037 1777 -594.8 -116.8 - - 3270 - - - - - - - - 14.02 14.38 14.27
1947 186.8 -7.7 110 1953 roll -0.57 - - 2776 - 2.47 0.059 373 -568.4 -116.8 - - 3268 - - - - - - - - 14.74 14.26 14.76
2067 196.2 -7.7 127 2074 done -0.67 0.20 0.101 2697 -395.0 2.35 0.031 1774 596.2 -116.8 - - 3267 - - - - - - - - 14.31 14.40 14.40
2396 228.0 -9.7 139 2403 roll -0.67 - - 2687 - 2.40 0.051 3165 579.6 -116.8 - - 3264 - - - - - - - - 14.74 14.26 14.76
2474 235.5 -9.7 150 2480 done -0.67 - - 2687 - 2.35 0.037 1778 -590.2 -116.8 - - 3263 - - - - - - - - 14.42 14.35 14.45
2789 267.2 -10.1 160 2802 roll -0.67 - - 2687 - 2.47 0.060 372 -569.2 -116.8 - - 3260 - - - - - - - - 14.83 14.21 14.85
2900 278.8 -10.4 175 2914 done -0.56 0.28 0.243 2740 189.3 2.38 0.033 1775 589.5 -116.8 - - 3260 - - - - - - - - 13.86 14.43 14.16
3246 305.0 -7.6 182 3259 roll -0.56 - - 2733 - 2.40 0.052 3166 579.6 -116.8 - - 3257 - - - - - - - - 14.83 14.30 14.85
3287 308.4 -7.8 187 3300 done -0.56 - - 2733 - 2.38 0.038 1765 -588.7 -116.8 - - 3257 - - - - - - - - 14.46 14.38 14.50
3652 339.7 -8.8 196 3665 roll -0.56 - - 2732 - 2.45 0.060 376 -566.9 -116.8 - - 3254 - - - - - - - - 14.87 14.24 14.89
3728 347.4 -9.8 206 3741 done -0.56 - - 2724 - 2.38 0.033 1784 591.6 -116.8 - - 3254 - - - - - - - - 14.51 14.42 14.50
4057 377.7 -9.2 217 4070 roll -0.56 - - 2714 - 2.40 0.054 3168 576.7 -116.8 - - 3251 - - - - - - - - 14.84 14.28 14.86
4106 382.0 -8.9 223 4120 done -0.56 0.15 0.239 2745 206.7 2.38 0.039 1773 -586.1 -116.8 - - 3251 - - - - - - - - 13.95 14.39 14.20
4464 407.2 -6.7 231 4477 roll -0.56 - - 2745 - 2.50 0.062 373 -560.0 -116.8 - - 3249 - - - - - - - - 14.88 14.21 14.89
4555 413.8 -7.4 243 4568 done -0.56 - - 2739 - 2.38 0.034 1778 590.3 -116.8 - - 3249 - - - - - - - - 14.46 14.40 14.48
4926 441.6 -7.7 253 4940 roll -0.56 - - 2728 - 2.40 0.054 3162 576.7 -116.8 - - 3247 - - - - - - - - 14.87 14.22 14.88
5009 448.5 -8.1 264 5023 done -0.56 - - 2728 - 2.40 0.037 1766 -581.7 -116.8 - - 3246 - - - - - - - - 14.29 14.21 14.33
5333 477.3 -9.1 274 5346 roll -0.56 - - 2728 - 2.47 0.061 377 -562.3 -116.8 - - 3245 - - - - - - - - 14.81 14.19 14.84
5397 483.7 -9.8 282 5411 done -0.56 - - 2719 - 2.38 0.034 1782 590.3 -116.8 - - 3244 - - - - - - - - 14.43 14.36 14.45
5742 515.1 -9.1 295 5755 roll -0.56 - - 2709 - 2.40 0.054 3161 574.6 -116.8 - - 3244 - - - - - - - - 14.85 14.19 14.87
5805 520.7 -8.7 303 5818 done -0.56 0.15 0.242 2740 206.7 2.38 0.037 1768 -585.3 -116.8 - - 3242 - - - - - - - - 13.83 14.29 14.09
6148 546.3 -7.4 316 6161 roll -0.56 - - 2746 - 2.50 0.063 374 -557.6 -116.8 - - 3242 - - - - - - - - 14.83 14.15 14.85
6253 554.7 -8.1 330 6267 done -0.56 - - 2739 - 2.40 0.035 1777 584.6 -116.8 - - 3241 - - - - - - - - 14.39 14.33 14.42
6611 582.1 -7.7 338 6624 roll -0.56 - - 2728 - 2.42 0.054 3164 573.1 -116.8 - - 3239 - - - - - - - - 14.81 14.17 14.82
6723 591.1 -8.0 353 6738 done -0.56 - - 2728 - 2.40 0.038 1775 -578.8 -116.8 - - 3239 - - - - - - - - 14.33 14.23 14.35
7066 619.3 -8.3 360 7079 roll -0.56 - - 2728 - 2.53 0.063 375 -553.4 -116.8 - - 3238 - - - - - - - - 14.81 14.09 14.82
7135 625.4 -8.7 369 7148 done -0.56 - - 2719 - 2.40 0.034 1784 587.1 -116.8 - - 3237 - - - - - - - - 14.39 14.33 14.42
7472 652.2 -7.9 381 7486 roll -0.56 0.12 0.266 2739 166.7 2.42 0.054 3160 568.6 -116.8 - - 3236 - - - - - - - - 13.87 14.07 13.97
7542 657.1 -6.6 390 7555 done -0.68 - - 2740 - 2.38 0.038 1778 -580.7 -116.8 - - 3236 - - - - - - - - 14.31 14.20 14.34
7879 679.8 -6.7 402 7893 roll -0.68 - - 2740 - 2.55 0.062 371 -551.8 -116.8 - - 3233 - - - - - - - - 14.82 14.02 14.84
7962 686.2 -7.6 413 7976 done -0.68 - - 2730 - 2.42 0.035 1776 580.6 -116.8 - - 3234 - - - - - - - - 14.33 14.27 14.36
8284 710.3 -7.6 423 8298 roll -0.68 - - 2719 - 2.45 0.056 3163 566.1 -116.8 - - 3233 - - - - - - - - 14.78 14.13 14.80
8362 716.5 -8.2 433 8375 done -0.68 - - 2720 - 2.40 0.039 1776 -577.9 -116.8 - - 3233 - - - - - - - - 14.28 14.19 14.31
8691 744.8 -8.7 444 8704 roll -0.68 - - 2720 - 2.55 0.063 370 -551.4 -116.8 - - 3232 - - - - - - - - 14.78 14.00 14.81
8811 756.2 -9.2 460 8824 done -0.68 - - 2711 - 2.42 0.035 1779 582.2 -116.8 - - 3232 - - - - - - - - 14.30 14.23 14.31
9154 787.4 -9.0 473 9167 roll -0.68 - - 2700 - 2.45 0.055 3166 566.1 -116.8 - - 3231 - - - - - - - - 14.78 14.01 14.80
9252 796.1 -8.9 486 9266 done -0.68 - - 2704 - 2.42 0.039 1770 -576.9 -116.8 - - 3231 - - - - - - - - 14.27 14.18 14.31
9616 828.2 -8.7 495 9630 roll -0.68 - - 2700 - 2.55 0.064 375 -547.1 -116.8 - - 3230 - - - - - - - - 14.82 13.97 14.83
9720 837.8 -9.0 509 9734 done -0.68 - - 2692 - 2.42 0.035 1780 580.6 -116.8 - - 3230 - - - - - - - - 14.28 14.23 14.31
10079 868.0 -8.6 517 10092 roll -0.68 - - 2682 - 2.47 0.057 3167 561.5 -116.8 - - 3229 - - - - - - - - 14.81 13.97 14.82
10198 878.2 -8.4 533 10212 done -0.68 - - 2682 - 2.42 0.040 1775 -575.2 -116.8 - - 3229 - - - - - - - - 14.20 14.10 14.23
10543 907.0 -8.3 546 10556 roll -0.68 - - 2682 - 2.55 0.064 379 -547.5 -116.8 - - 3228 - - - - - - - - 14.79 13.93 14.81
10647 916.5 -8.8 560 10660 done -0.68 0.17 0.267 2706 141.2 2.45 0.036 1781 572.2 -116.8 - - 3228 - - - - - - - - 13.54 14.17 13.87
11005 941.7 -7.0 568 11019 roll -0.68 - - 2699 - 2.50 0.057 3167 554.4 -116.8 - - 3227 - - - - - - - - 14.78 13.95 14.80
11069 946.4 -7.2 576 11082 done -0.68 - - 2698 - 2.45 0.041 1775 -568.2 -116.8 - - 3226 - - - - - - - - 14.16 14.07 14.20
11413 972.6 -7.7 589 11426 roll -0.68 - - 2698 - 2.58 0.065 376 -542.2 -116.8 - - 3226 - - - - - - - - 14.73 13.92 14.76
11505 980.2 -8.3 601 11519 done -0.68 - - 2695 - 2.42 0.036 1773 577.3 -116.8 - - 3225 - - - - - - - - 14.21 14.14 14.24
11648 end dive: TARGET_DEPTH_EXCEEDED
11648 begin apogee
11657 992.1 -7.8 607 11788 done -0.21 0.70 0.244 2855 228.6 - - 1649 - - 120.55 2.219 2793 -3.6 0.313 - - - - - - 13.64 13.86 12.80
11790 end apogee: CONTROL_FINISHED_OK
11790 begin climb
11795 996.5 - 609 11943 roll 0.84 1.17 0.164 3197 292.3 2.42 0.065 359 -533.1 116.8 127.53 2.170 2305 -3.8 0.343 - - - - - - 13.88 13.89 12.79
11972 987.7 10.7 638 11986 done 0.84 - - 3198 - 2.28 0.030 1710 592.5 116.8 - - 2298 - - - - - - - - 14.30 14.25 14.31
12337 956.8 8.7 647 12350 roll 0.84 - - 3194 - 2.33 0.049 3052 576.0 116.8 - - 2293 - - - - - - - - 14.73 14.33 14.76
12434 948.3 9.4 660 12447 done 0.84 - - 3205 - 2.33 0.041 1696 -582.0 116.8 - - 2292 - - - - - - - - 14.46 14.38 14.50
12799 917.9 8.3 669 12812 roll 0.84 - - 3216 - 2.47 0.066 323 -555.9 116.8 - - 2292 - - - - - - - - 14.75 14.25 14.77
12882 910.4 8.8 680 12895 done 0.84 - - 3216 - 2.25 0.031 1681 603.6 116.8 - - 2292 - - - - - - - - 14.49 14.43 14.54
13205 883.4 8.4 690 13219 roll 0.84 - - 3216 - 2.40 0.049 3057 573.3 116.8 - - 2291 - - - - - - - - 14.81 14.26 14.83
13348 871.1 8.5 709 13361 done 0.74 0.25 0.262 3171 -180.0 2.38 0.042 1678 -579.4 116.8 - - 2290 - - - - - - - - 13.77 14.31 14.17
13672 849.6 6.4 719 13707 done 0.77 - - 3172 - - - 1679 - 143.1 25.85 2.023 2208 -3.2 0.260 - - - - - - 14.77 14.28 13.27
14057 822.8 6.9 732 14087 roll 0.79 - - 3171 - 2.38 0.047 3053 577.3 160.2 17.42 2.001 2133 -4.3 0.345 - - - - - - 14.73 14.07 13.27
14116 818.4 7.6 740 14129 done 0.80 - - 3177 - 2.35 0.043 1685 -582.1 164.9 - - 2124 - - - - - - - - 14.50 14.43 14.53
14460 792.0 7.7 753 14478 roll 0.80 - - 3188 - 2.40 0.067 324 -567.1 167.0 2.05 0.238 2108 -7.8 5.068 - - - - - - 14.76 14.28 12.57
14520 786.9 8.4 760 14534 done 0.80 - - 3189 - 2.28 0.032 1682 595.6 167.0 - - 2111 - - - - - - - - 14.52 14.45 14.53
14866 759.6 7.9 767 14879 roll 0.80 - - 3188 - 2.38 0.047 3057 577.7 167.0 - - 2110 - - - - - - - - 14.76 14.31 14.78
14963 751.6 8.0 780 14976 done 0.80 - - 3197 - 2.38 0.041 1677 -579.8 167.0 - - 2110 - - - - - - - - 14.45 14.36 14.48
15328 721.4 8.5 789 15341 roll 0.80 - - 3207 - 2.45 0.066 314 -556.3 167.0 - - 2110 - - - - - - - - 14.76 14.21 14.78
15369 717.5 9.3 794 15383 done 0.80 - - 3207 - 2.30 0.031 1678 593.0 167.0 - - 2110 - - - - - - - - 14.47 14.40 14.50
15734 681.9 9.9 803 15747 roll 0.80 - - 3207 - 2.40 0.048 3062 576.7 167.0 - - 2110 - - - - - - - - 14.81 14.23 14.83
15832 671.8 10.4 816 15846 done 0.80 - - 3216 - 2.40 0.042 1678 -576.7 167.0 - - 2110 - - - - - - - - 14.41 14.31 14.44
16196 635.0 10.0 825 16210 roll 0.80 - - 3226 - 2.45 0.065 319 -554.7 167.0 - - 2110 - - - - - - - - 14.80 14.15 14.83
16237 630.6 10.3 830 16251 done 0.80 0.15 0.247 3195 -206.7 2.30 0.031 1700 600.4 167.0 - - 2110 - - - - - - - - 13.90 14.41 14.18
16603 599.0 8.4 839 16616 roll 0.80 - - 3195 - 2.35 0.050 3049 574.0 167.0 - - 2110 - - - - - - - - 14.75 14.22 14.77
16688 592.0 7.8 850 16701 done 0.80 - - 3201 - 2.38 0.041 1678 -576.1 167.3 - - 2111 - - - - - - - - 14.38 14.28 14.40
17011 567.2 7.7 860 17025 roll 0.81 - - 3201 - 2.45 0.047 3054 561.6 169.9 2.15 0.350 2097 -6.5 2.059 - - - - - - 14.78 14.33 13.10
17053 563.6 8.1 865 17066 done 0.81 - - 3210 - 2.38 0.041 1675 -579.4 169.9 - - 2099 - - - - - - - - 14.45 14.35 14.48
17417 531.6 9.1 874 17430 roll 0.81 - - 3221 - 2.45 0.066 319 -553.5 169.9 - - 2101 - - - - - - - - 14.75 14.13 14.76
17445 528.9 9.5 877 17459 done 0.81 0.15 0.246 3191 -200.0 2.28 0.031 1695 603.5 169.9 - - 2101 - - - - - - - - 13.88 14.39 14.16
17768 501.9 8.2 887 17781 roll 0.81 - - 3191 - 2.35 0.049 3043 573.6 169.9 - - 2101 - - - - - - - - 14.75 14.19 14.77
17837 496.2 8.2 896 17850 done 0.81 - - 3197 - 2.38 0.042 1673 -575.6 169.9 - - 2104 - - - - - - - - 14.34 14.24 14.38
18174 468.8 8.2 908 18187 roll 0.81 - - 3208 - 2.45 0.066 320 -552.2 169.9 - - 2101 - - - - - - - - 14.78 14.07 14.81
18208 465.6 8.7 912 18221 done 0.81 - - 3207 - 2.25 0.031 1673 601.3 169.9 - - 2101 - - - - - - - - 14.40 14.34 14.42
18580 434.7 8.2 922 18594 roll 0.81 - - 3208 - 2.40 0.047 3047 572.5 169.9 - - 2101 - - - - - - - - 14.74 14.16 14.76
18723 423.4 7.7 941 18740 done 0.81 - - 3216 - 2.38 0.041 1678 -575.2 173.3 3.85 1.079 2085 -4.2 0.318 - - - - - - 14.30 14.20 13.38
19100 394.5 7.7 952 19117 roll 0.81 - - 3227 - 2.38 0.063 324 -568.9 177.2 5.20 1.270 2068 -3.3 0.198 - - - - - - 14.75 14.16 13.40
19144 390.7 7.9 958 19159 done 0.81 0.15 0.241 3196 -206.7 2.22 0.031 1695 617.6 177.2 - - 2075 - - - - - - - - 14.18 14.56 14.43
19502 364.5 7.4 966 19532 roll 0.83 - - 3196 - 2.35 0.047 3034 569.8 186.3 18.38 1.457 2026 -2.7 0.130 - - - - - - 14.79 14.38 13.46
19622 355.6 7.8 982 19636 done 0.83 - - 3202 - 2.33 0.042 1681 -580.7 186.5 - - 2015 - - - - - - - - 14.51 14.42 14.54
19965 329.1 7.6 995 19978 done 0.83 - - 3202 - - - 1679 - 191.7 - - 2018 - - - - - - - - 14.73 14.76 14.76
20303 302.0 8.2 1001 20316 done 0.83 - - 3202 - - - 1680 - 191.7 - - 2018 - - - - - - - - 14.74 14.76 14.76
20637 273.1 8.6 1007 20650 done 0.83 - - 3202 - - - 1680 - 191.7 - - 2017 - - - - - - - - 14.76 14.78 14.78
20974 245.8 8.0 1013 20987 roll 0.83 - - 3202 - 2.35 0.047 3034 576.2 191.7 - - 2018 - - - - - - - - 14.76 14.24 14.78
21023 241.7 8.4 1019 21036 done 0.83 - - 3211 - 2.35 0.041 1671 -580.0 191.7 - - 2017 - - - - - - - - 14.40 14.31 14.43
21380 212.4 8.2 1027 21393 roll 0.83 - - 3221 - 2.42 0.064 323 -557.0 191.7 - - 2018 - - - - - - - - 14.79 14.12 14.82
21414 209.5 8.4 1031 21427 done 0.83 - - 3221 - 2.22 0.030 1669 606.3 191.7 - - 2018 - - - - - - - - 14.43 14.38 14.45
21787 178.2 8.4 1041 21800 roll 0.83 - - 3221 - 2.38 0.045 3043 577.3 191.7 - - 2017 - - - - - - - - 14.74 14.20 14.76
21891 168.7 8.8 1055 21904 done 0.83 0.15 0.245 3199 -146.7 2.38 0.041 1675 -574.8 191.7 - - 2018 - - - - - - - - 13.84 14.24 14.12
22249 141.4 7.5 1063 22264 done 0.84 - - 3199 - - - 1673 - 198.0 5.97 1.086 1984 -5.7 0.145 - - - - - - 14.74 14.38 13.51
22584 119.0 6.6 1069 22621 roll 0.87 - - 3200 - 2.40 0.045 3046 572.1 220.9 25.38 0.425 1896 -3.5 0.189 - - - - - - 14.77 14.46 13.96
22665 113.9 6.5 1080 22707 done 0.90 - - 3204 - 2.33 0.041 1678 -587.1 246.5 29.10 0.423 1790 -3.6 0.191 - - - - - - 14.53 14.45 13.97
23032 86.8 7.7 1100 23054 roll 1.01 0.12 0.122 3272 566.7 2.47 0.063 322 -549.0 250.1 6.10 0.248 1774 -2.6 0.179 - - - - - - 14.35 14.27 13.80
23091 81.1 11.0 1108 23108 done 1.01 - - 3272 - 2.25 0.028 1682 604.4 250.1 1.90 0.169 1777 1.6 -0.148 - - - - - - 14.47 14.42 13.98
23434 56.0 4.5 1123 23509 roll 1.08 - - 3272 - 2.38 0.044 3081 587.8 313.0 60.62 0.276 1518 -4.3 0.169 - - - - - - 14.73 14.40 14.04
23686 45.4 6.3 1159 23729 done 1.31 0.22 0.090 3366 427.3 2.40 0.040 1678 -584.6 342.0 27.88 0.237 1400 -4.2 0.158 - - - - - - 14.32 14.32 14.04
24053 14.1 8.8 1178 24068 roll 1.31 - - 3376 - 2.47 0.060 321 -549.4 342.0 2.75 0.145 1402 - - - - - - - - 14.74 14.17 13.93
24179 end climb: SURFACE_DEPTH_REACHED
24179 begin surface coast
24183 end surface coast: CONTROL_FINISHED_OK
24183 begin surface
SM 0.95 - - - - -8.59 9.75 0.072 167 17.1 2.45 0.029 1765 -2833.9 562.72 132.70 0.122 498 3.8 -0.003 - - - - - -