SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 110 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 45.08 of 350.00 AH used of 24V (87.12% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.15 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 27 s
• GPS2 time: 19 s • Transponder ping count: 3
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 108 done -0.84 - - 151 - - - 1871 - -116.8 -82.32 - 3272 - - - - - - - - 14.80 13.66 14.83
111 7.0 -10.3 3 129 roll -0.84 11.52 0.376 2660 217.8 2.40 0.039 446 -593.8 -116.8 - - 3274 - - - - - - - - 14.43 14.64 14.66
156 31.6 -43.9 10 164 done -0.06 1.00 0.274 2904 244.0 2.40 0.036 1887 600.4 -116.8 - - 3275 - - - - - - - - 14.47 14.67 14.69
472 70.7 -9.0 22 478 roll -0.19 0.12 0.131 2848 -466.7 2.40 0.053 466 -592.1 -116.8 - - 3276 - - - - - - - - 14.75 14.74 14.78
499 73.5 -10.4 26 506 done -0.19 - - 2839 - 2.25 0.034 1847 613.8 -116.8 - - 3276 - - - - - - - - 14.82 14.78 14.84
864 104.8 -7.3 41 871 roll -0.19 0.12 0.248 2864 208.3 2.35 0.051 3272 606.4 -116.8 - - 3279 - - - - - - - - 14.69 14.80 14.78
884 106.2 -6.9 44 891 done -0.34 0.15 0.111 2795 -460.0 2.30 0.037 1860 -613.9 -116.8 - - 3275 - - - - - - - - 14.81 14.81 14.87
1200 129.3 -7.6 54 1203 done -0.34 - - 2795 - - - 1860 - -116.8 - - 3277 - - - - - - - - 15.00 15.02 15.02
1536 152.7 -6.9 60 1543 roll -0.34 - - 2795 - 2.35 0.060 461 -595.3 -116.8 - - 3276 - - - - - - - - 15.02 14.83 15.04
1598 158.0 -8.4 69 1606 done -0.34 0.12 0.253 2813 150.0 2.25 0.034 1856 620.0 -116.8 - - 3278 - - - - - - - - 14.73 14.87 14.88
1929 178.5 -6.2 81 1936 roll -0.47 0.12 0.137 2748 -541.7 2.33 0.054 3263 603.9 -116.8 - - 3276 - - - - - - - - 14.84 14.84 14.88
1991 183.9 -9.2 90 1998 done -0.47 - - 2745 - 2.25 0.037 1874 -617.3 -116.8 - - 3274 - - - - - - - - 14.92 14.87 14.94
2321 214.3 -9.1 102 2328 roll -0.47 0.12 0.256 2780 291.7 2.38 0.056 463 -592.9 -116.8 - - 3271 - - - - - - - - 14.72 14.85 14.82
2502 230.4 -8.9 128 2509 done -0.47 - - 2774 - 2.20 0.034 1824 618.6 -116.8 - - 3269 - - - - - - - - 14.93 14.88 14.94
2825 258.1 -8.7 139 2839 roll -0.47 - - 2774 - 2.28 0.056 471 -593.4 -116.8 - - 3267 - - - - - - - - 15.04 14.87 15.07
2894 264.2 -8.8 148 2907 done -0.47 - - 2766 - 2.10 0.034 1780 623.3 -116.8 - - 3267 - - - - - - - - 14.95 14.90 14.95
3229 292.3 -8.4 160 3242 roll -0.47 - - 2755 - 2.45 0.054 3260 604.1 -116.8 - - 3264 - - - - - - - - 15.07 14.91 15.09
3297 297.9 -8.1 169 3310 done -0.47 - - 2754 - 2.40 0.038 1786 -614.2 -116.8 - - 3264 - - - - - - - - 14.96 14.90 14.98
3632 322.9 -7.3 181 3645 roll -0.47 - - 2755 - 2.22 0.060 463 -595.9 -116.8 - - 3261 - - - - - - - - 15.08 14.90 15.10
3770 333.8 -7.9 200 3783 done -0.47 - - 2747 - 2.05 0.035 1735 620.5 -116.8 - - 3260 - - - - - - - - 14.98 14.93 15.00
4092 358.1 -7.6 210 4105 roll -0.47 0.12 0.266 2769 183.3 2.53 0.054 3257 601.6 -116.8 - - 3256 - - - - - - - - 14.76 14.90 14.87
4168 363.2 -6.4 220 4181 done -0.57 - - 2769 - 2.45 0.038 1754 -613.5 -116.8 - - 3258 - - - - - - - - 14.98 14.95 15.00
4496 386.9 -7.5 231 4509 roll -0.57 - - 2769 - 2.15 0.060 472 -596.3 -116.8 - - 3255 - - - - - - - - 15.09 14.90 15.11
4614 397.1 -8.6 247 4627 done -0.57 - - 2761 - 2.03 0.034 1729 619.2 -116.8 - - 3255 - - - - - - - - 15.00 14.94 15.00
4957 426.0 -8.5 260 4970 roll -0.57 - - 2750 - 2.55 0.054 3263 601.6 -116.8 - - 3253 - - - - - - - - 15.09 14.90 15.11
5019 431.4 -8.6 268 5032 done -0.57 - - 2750 - 2.50 0.039 1738 -610.0 -116.8 - - 3252 - - - - - - - - 14.97 14.92 15.00
5361 459.9 -8.2 281 5374 roll -0.57 - - 2750 - 2.12 0.060 473 -596.7 -116.8 - - 3254 - - - - - - - - 15.09 14.90 15.11
5450 467.3 -8.1 293 5463 done -0.57 - - 2742 - 2.00 0.035 1718 622.5 -116.8 - - 3251 - - - - - - - - 14.98 14.93 15.00
5820 495.3 -7.6 303 5833 roll -0.57 - - 2730 - 2.58 0.056 3257 596.5 -116.8 - - 3249 - - - - - - - - 15.09 14.89 15.10
5882 500.0 -7.6 311 5896 done -0.57 - - 2730 - 2.58 0.041 1701 -603.1 -116.8 - - 3248 - - - - - - - - 15.00 14.91 14.99
6224 528.1 -8.3 324 6238 roll -0.57 - - 2730 - 2.10 0.063 468 -587.1 -116.8 - - 3244 - - - - - - - - 15.09 14.89 15.11
6314 536.5 -9.3 336 6327 done -0.57 - - 2722 - 1.92 0.035 1670 626.0 -116.8 - - 3246 - - - - - - - - 14.98 14.94 14.99
6684 571.1 -9.5 346 6697 roll -0.57 - - 2710 - 2.67 0.057 3265 597.4 -116.8 - - 3244 - - - - - - - - 15.08 14.88 15.10
6830 586.2 -10.3 366 6843 done -0.57 0.15 0.245 2744 226.7 2.55 0.041 1716 -607.5 -116.8 - - 3249 - - - - - - - - 14.75 14.90 14.92
7200 619.6 -8.9 376 7213 roll -0.57 - - 2745 - 2.10 0.063 473 -591.9 -116.8 - - 3242 - - - - - - - - 15.08 14.85 15.10
7282 627.1 -9.0 387 7295 done -0.57 - - 2740 - 2.00 0.035 1700 613.5 -116.8 - - 3243 - - - - - - - - 14.97 14.92 14.99
7603 654.0 -8.4 397 7617 roll -0.57 - - 2728 - 2.62 0.057 3266 597.7 -116.8 - - 3242 - - - - - - - - 15.10 14.88 15.09
7765 667.1 -8.1 419 7778 done -0.57 - - 2728 - 2.53 0.041 1733 -605.9 -116.8 - - 3241 - - - - - - - - 14.95 14.88 14.97
8122 696.5 -8.2 427 8135 roll -0.57 - - 2727 - 2.15 0.063 466 -589.3 -116.8 - - 3239 - - - - - - - - 15.07 14.86 15.09
8190 702.6 -8.9 436 8203 done -0.57 - - 2720 - 2.05 0.036 1722 612.7 -116.8 - - 3239 - - - - - - - - 14.93 14.88 14.95
8525 731.3 -8.6 448 8538 roll -0.57 - - 2709 - 2.58 0.057 3257 595.0 -116.8 - - 3237 - - - - - - - - 15.06 14.85 15.08
8607 738.5 -8.9 459 8621 done -0.57 0.15 0.246 2742 220.0 2.53 0.041 1736 -601.2 -116.8 - - 3236 - - - - - - - - 14.71 14.87 14.90
8928 764.2 -8.0 469 8942 roll -0.57 - - 2745 - 2.15 0.064 473 -587.4 -116.8 - - 3236 - - - - - - - - 15.06 14.85 15.09
8991 769.6 -8.8 477 9004 done -0.57 - - 2740 - 2.05 0.037 1734 615.1 -116.8 - - 3236 - - - - - - - - 14.95 14.90 14.96
9333 799.0 -8.6 490 9346 roll -0.57 - - 2728 - 2.58 0.058 3259 591.1 -116.8 - - 3237 - - - - - - - - 15.05 14.84 15.07
9472 811.4 -9.1 509 9485 done -0.57 - - 2729 - 2.45 0.041 1774 -606.1 -116.8 - - 3234 - - - - - - - - 14.93 14.86 14.95
9793 841.4 -9.4 519 9806 roll -0.57 - - 2729 - 2.22 0.065 472 -586.5 -116.8 - - 3234 - - - - - - - - 15.05 14.83 15.07
9875 850.4 -10.4 530 9888 done -0.57 - - 2720 - 2.10 0.037 1756 611.4 -116.8 - - 3233 - - - - - - - - 14.94 14.89 14.95
10196 880.7 -9.5 540 10209 roll -0.57 - - 2709 - 2.55 0.060 3265 591.8 -116.8 - - 3232 - - - - - - - - 15.04 14.83 15.07
10264 887.2 -9.3 549 10278 done -0.57 0.15 0.249 2743 226.7 2.47 0.041 1770 -605.3 -116.8 - - 3232 - - - - - - - - 14.67 14.85 14.87
10600 912.9 -7.5 561 10614 roll -0.57 - - 2743 - 2.22 0.067 470 -585.6 -116.8 - - 3231 - - - - - - - - 15.04 14.82 15.06
10683 919.4 -7.7 572 10696 done -0.57 - - 2737 - 2.10 0.038 1749 609.0 -116.8 - - 3231 - - - - - - - - 14.92 14.87 14.94
11004 942.1 -7.0 582 11017 roll -0.57 - - 2725 - 2.55 0.059 3259 592.2 -116.8 - - 3230 - - - - - - - - 15.03 14.82 15.05
11073 946.9 -6.2 591 11086 done -0.57 - - 2725 - 2.47 0.041 1766 -604.5 -116.8 - - 3230 - - - - - - - - 14.91 14.85 14.92
11408 969.9 -7.0 603 11422 roll -0.57 - - 2725 - 2.22 0.067 470 -583.8 -116.8 - - 3230 - - - - - - - - 15.03 14.81 15.05
11456 973.5 -5.6 609 11469 done -0.57 - - 2717 - 2.12 0.038 1766 611.3 -116.8 - - 3230 - - - - - - - - 14.91 14.86 14.93
11697 end dive: TARGET_DEPTH_EXCEEDED
11697 begin apogee
11704 991.1 -7.1 615 11832 roll -0.21 0.52 0.229 2857 269.2 - - 1767 - - 118.55 2.162 2794 -3.7 0.311 - - - - - - 14.63 14.10 13.41
11834 end apogee: CONTROL_FINISHED_OK
11834 begin climb
11837 995.0 - 617 11979 roll 0.84 1.17 0.179 3193 287.2 2.53 0.063 389 -544.7 116.8 122.85 2.130 2313 -3.9 0.338 - - - - - - 14.09 14.16 13.29
12183 964.7 12.6 669 12197 done 0.84 - - 3193 - 2.40 0.035 1810 592.1 116.8 - - 2292 - - - - - - - - 14.52 14.47 14.53
12553 926.8 10.1 679 12567 roll 0.84 - - 3203 - 2.47 0.063 405 -568.8 116.8 - - 2290 - - - - - - - - 14.82 14.63 14.84
12797 901.1 10.5 713 12810 done 0.73 0.17 0.260 3165 -223.5 2.30 0.034 1809 610.4 116.8 - - 2288 - - - - - - - - 14.54 14.73 14.74
13125 872.7 8.5 724 13138 roll 0.73 - - 3165 - 2.33 0.055 3181 588.8 116.8 - - 2289 - - - - - - - - 14.92 14.74 14.95
13158 869.7 9.4 728 13171 done 0.73 - - 3171 - 2.30 0.041 1798 -601.3 116.8 - - 2288 - - - - - - - - 14.83 14.79 14.85
13529 837.5 8.8 738 13542 roll 0.73 - - 3182 - 2.42 0.067 404 -576.0 116.8 - - 2288 - - - - - - - - 14.96 14.76 14.97
13611 830.2 9.5 749 13624 done 0.73 - - 3182 - 2.30 0.034 1803 608.3 116.8 - - 2289 - - - - - - - - 14.84 14.76 14.86
13932 800.9 9.1 759 13945 roll 0.73 - - 3182 - 2.35 0.054 3195 592.3 116.8 - - 2288 - - - - - - - - 14.98 14.78 15.00
13986 795.7 9.5 766 14001 done 0.73 - - 3191 - 2.30 0.041 1811 -601.7 116.8 - - 2287 - - - - - - - - 14.87 14.81 14.89
14330 764.4 9.1 773 14344 roll 0.73 - - 3202 - 2.45 0.067 398 -576.7 116.8 - - 2287 - - - - - - - - 14.99 14.76 15.01
14399 757.8 9.8 782 14413 done 0.61 0.30 0.249 3130 -240.0 2.33 0.034 1822 611.2 116.8 - - 2287 - - - - - - - - 14.62 14.84 14.85
14735 734.9 6.7 794 14766 roll 0.64 - - 3130 - 2.38 0.055 3181 571.0 139.1 19.23 1.901 2220 -3.5 0.249 - - - - - - 15.00 14.68 14.01
14814 729.5 7.3 805 14832 done 0.65 - - 3135 - 2.25 0.041 1830 -600.4 149.2 4.12 1.340 2182 -9.2 0.927 - - - - - - 14.74 14.69 13.86
15182 703.7 7.0 815 15221 roll 0.67 - - 3146 - 2.60 0.067 398 -550.8 165.8 26.98 1.738 2112 -2.6 0.194 - - - - - - 14.91 14.52 13.96
15325 692.8 8.0 835 15338 done 0.67 - - 3146 - 2.33 0.035 1794 599.1 165.8 - - 2104 - - - - - - - - 14.71 14.62 14.68
15688 664.5 7.9 844 15701 roll 0.67 - - 3146 - 2.38 0.054 3192 587.4 165.9 - - 2103 - - - - - - - - 14.88 14.70 14.90
15764 658.1 8.4 854 15777 done 0.67 - - 3155 - 2.28 0.041 1825 -599.6 165.9 - - 2102 - - - - - - - - 14.79 14.73 14.81
16092 630.5 8.5 865 16105 roll 0.67 - - 3166 - 2.50 0.067 398 -570.8 165.9 - - 2102 - - - - - - - - 14.94 14.73 14.96
16195 620.8 9.4 879 16208 done 0.67 - - 3166 - 2.30 0.034 1800 609.6 165.9 - - 2102 - - - - - - - - 14.84 14.80 14.86
16551 588.0 9.3 887 16564 roll 0.67 - - 3161 - 2.33 0.054 3186 594.8 165.9 - - 2102 - - - - - - - - 14.97 14.78 14.99
16613 581.9 10.0 895 16626 done 0.67 - - 3174 - 2.30 0.041 1806 -600.0 165.9 - - 2102 - - - - - - - - 14.86 14.81 14.88
16956 549.6 9.5 908 16969 roll 0.67 - - 3185 - 2.42 0.067 400 -581.0 165.9 - - 2102 - - - - - - - - 14.98 14.78 15.00
17031 542.1 9.9 918 17045 done 0.67 0.15 0.252 3152 -220.0 2.30 0.034 1815 615.2 165.9 - - 2102 - - - - - - - - 14.65 14.82 14.85
17360 515.9 7.9 929 17373 done 0.67 - - 3152 - - - 1815 - 165.9 - - 2101 - - - - - - - - 15.00 15.02 15.02
17696 489.7 7.8 935 17709 roll 0.68 - - 3152 - 2.30 0.054 3183 594.8 167.0 - - 2102 - - - - - - - - 15.00 14.81 15.02
17750 485.1 8.3 942 17765 done 0.68 - - 3159 - 2.33 0.041 1785 -600.0 167.0 - - 2102 - - - - - - - - 14.88 14.81 14.90
18095 457.8 8.0 949 18108 roll 0.68 - - 3169 - 2.40 0.067 400 -577.1 167.0 - - 2099 - - - - - - - - 15.00 14.79 15.02
18191 449.5 8.6 962 18204 done 0.68 - - 3169 - 2.22 0.033 1767 615.8 167.0 - - 2102 - - - - - - - - 14.90 14.85 14.92
18554 418.2 8.7 971 18567 roll 0.68 - - 3169 - 2.38 0.052 3181 594.1 167.0 - - 2102 - - - - - - - - 15.00 14.81 15.03
18623 411.9 9.1 980 18636 done 0.68 - - 3177 - 2.33 0.041 1774 -603.9 167.0 - - 2102 - - - - - - - - 14.89 14.83 14.91
18958 382.5 8.8 992 18971 roll 0.68 - - 3188 - 2.38 0.067 402 -576.5 167.0 - - 2102 - - - - - - - - 15.00 14.80 15.02
19054 373.4 9.3 1005 19068 done 0.68 0.15 0.246 3154 -226.7 2.20 0.033 1768 620.9 167.0 - - 2101 - - - - - - - - 14.66 14.85 14.85
19418 345.0 7.8 1014 19431 roll 0.68 - - 3154 - 2.35 0.051 3177 599.6 168.2 - - 2102 - - - - - - - - 15.00 14.82 15.02
19486 339.2 8.4 1023 19499 done 0.68 - - 3160 - 2.33 0.041 1768 -604.7 168.2 - - 2101 - - - - - - - - 14.90 14.83 14.91
19821 311.5 8.4 1035 19834 roll 0.68 - - 3176 - 2.35 0.066 401 -581.7 168.2 - - 2102 - - - - - - - - 15.00 14.80 15.02
19917 302.8 9.0 1048 19931 done 0.68 - - 3171 - 2.17 0.033 1743 618.4 168.2 - - 2102 - - - - - - - - 14.90 14.85 14.92
20281 270.5 8.9 1057 20294 roll 0.68 - - 3171 - 2.38 0.050 3173 600.8 168.2 - - 2104 - - - - - - - - 15.01 14.81 15.03
20363 263.0 8.9 1068 20376 done 0.68 0.12 0.270 3154 -141.7 2.33 0.040 1770 -602.1 168.2 - - 2102 - - - - - - - - 14.66 14.83 14.85
20685 240.0 7.0 1078 20714 roll 0.70 - - 3162 - 2.38 0.067 402 -574.8 183.4 16.75 1.295 2039 -3.8 0.129 - - - - - - 15.00 14.73 14.23
20793 232.6 7.0 1093 20821 done 0.72 - - 3162 - 2.20 0.032 1745 610.5 198.8 14.48 1.274 1977 -4.3 0.144 - - - - - - 14.82 14.78 14.13
21140 207.9 7.2 1107 21157 roll 0.73 - - 3162 - 2.47 0.050 3179 580.6 210.7 5.45 1.100 1932 -8.3 0.288 - - - - - - 14.90 14.72 14.08
21191 203.5 8.1 1114 21205 done 0.73 - - 3171 - 2.42 0.041 1730 -598.8 210.7 - - 1936 - - - - - - - - 14.76 14.70 14.78
21535 174.0 8.8 1121 21549 roll 0.73 - - 3181 - 2.30 0.066 394 -580.9 210.7 - - 1937 - - - - - - - - 14.94 14.73 14.96
21617 165.9 9.6 1132 21631 done 0.73 - - 3181 - 2.10 0.031 1696 620.0 210.7 - - 1937 - - - - - - - - 14.85 14.81 14.86
21938 136.1 9.3 1142 21952 roll 0.73 - - 3181 - 2.45 0.049 3174 603.3 210.7 - - 1937 - - - - - - - - 14.97 14.79 14.99
22014 129.0 9.1 1152 22027 done 0.73 - - 3189 - 2.42 0.041 1708 -605.8 210.7 - - 1934 - - - - - - - - 14.86 14.80 14.88
22342 101.2 8.2 1163 22356 roll 0.73 - - 3199 - 2.25 0.064 395 -583.6 210.7 - - 1937 - - - - - - - - 14.99 14.81 15.01
22390 97.2 8.5 1169 22403 done 0.73 0.15 0.228 3164 -233.3 2.17 0.031 1757 627.6 210.7 - - 1937 - - - - - - - - 14.68 14.83 14.84
22722 78.9 4.8 1182 22790 roll 0.98 0.22 0.103 3255 413.6 2.42 0.047 3169 583.5 267.7 52.62 0.339 1710 -4.3 0.185 - - - - - - 14.80 14.71 14.50
22852 68.3 8.9 1201 22867 done 0.98 - - 3264 - 2.38 0.037 1733 -603.4 267.7 2.53 0.159 1701 -3.6 0.282 - - - - - - 14.80 14.74 14.64
23168 49.3 5.3 1213 23227 roll 1.04 - - 3274 - 2.33 0.063 402 -571.2 315.5 43.28 0.256 1514 -4.3 0.154 - - - - - - 14.95 14.69 14.54
23409 36.9 4.5 1247 23475 done 1.29 0.22 0.099 3362 400.0 1.95 0.029 1649 639.5 377.5 52.92 0.223 1252 -5.0 0.151 - - - - - - 14.75 14.80 14.54
23790 5.2 9.0 1268 23807 roll 1.29 - - 3362 - 2.58 0.041 3172 590.3 377.5 2.12 0.151 1254 - - - - - - - - 14.93 14.76 14.69
23824 end climb: SURFACE_DEPTH_REACHED
23825 begin surface coast
23831 end surface coast: CONTROL_FINISHED_OK
23831 begin surface
SM 1.25 - - - - -8.61 9.32 0.076 159 17.0 2.20 0.037 1851 -3000.5 515.13 81.88 0.124 693 8.5 -0.009 - - - - - -