SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 21 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 11.58 of 350.00 AH used of 24V (96.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.24 m • Intended pitch -16.1 deg, speed -9.167 cm/s
• VBD pumped to 595.59 (SM_CC=595.40039)
• GPS1 time: 24 s
• GPS2 time: 22 s • Transponder ping count: 0
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
20 - - - 98 VBD -0.95 - - 154 - - - 1811 - -146.0 -74.62 - 2788 - - - - - - - - 14.80 - 14.82
102 3.9 -3.9 5 134 roll -0.95 12.07 0.412 2610 203.5 2.62 2.134 377 -547.3 -146.0 -11.27 - 3570 -69.4 - - - - - - - 14.47 13.95 14.69
192 43.3 -43.4 22 201 done -0.75 0.28 0.329 2660 178.6 2.30 0.037 1784 611.7 -146.0 - - 3571 - - - - - - - - 14.49 14.64 14.66
498 109.4 -14.4 41 505 roll -0.67 0.12 0.308 2682 183.3 2.30 0.052 3182 607.8 -146.0 - - 3567 - - - - - - - - 14.66 14.77 14.76
581 120.5 -12.1 57 588 done -0.61 0.12 0.277 2708 216.7 2.30 0.041 1756 -620.0 -146.0 - - 3568 - - - - - - - - 14.69 14.79 14.83
895 160.0 -12.8 69 902 roll -0.58 - - 2700 - 2.33 0.053 3173 608.2 -146.0 - - 3568 - - - - - - - - 15.00 14.85 15.02
948 166.5 -11.7 79 955 done -0.57 - - 2700 - 2.28 0.041 1764 -618.0 -146.0 - - 3568 - - - - - - - - 14.90 14.85 14.92
1262 205.6 -12.9 91 1269 roll -0.54 0.12 0.266 2734 283.3 2.33 0.060 375 -596.1 -146.0 - - 3567 - - - - - - - - 14.78 14.86 14.87
1301 210.5 -11.8 98 1307 done -0.54 - - 2727 - 2.22 0.037 1758 623.0 -146.0 - - 3567 - - - - - - - - 14.94 14.89 14.95
1629 246.6 -11.0 113 1635 roll -0.54 - - 2716 - 2.33 0.057 3181 610.7 -146.0 - - 3564 - - - - - - - - 15.05 14.89 15.07
1671 251.3 -10.6 121 1677 done -0.54 - - 2716 - 2.30 0.040 1754 -620.4 -146.0 - - 3561 - - - - - - - - 14.95 14.90 14.97
1994 287.4 -11.2 135 2001 roll -0.52 - - 2716 - 2.30 0.063 378 -598.3 -146.0 - - 3560 - - - - - - - - 15.07 14.90 15.08
2067 296.1 -11.5 149 2074 done -0.51 0.15 0.260 2741 166.7 2.22 0.036 1767 625.7 -146.0 - - 3559 - - - - - - - - 14.82 14.92 14.95
2391 328.7 -10.2 163 2398 roll -0.51 - - 2732 - 2.30 0.057 3172 610.9 -146.0 - - 3556 - - - - - - - - 15.07 14.91 15.09
2459 335.7 -10.1 176 2466 done -0.53 - - 2732 - 2.28 0.041 1763 -618.0 -146.0 - - 3553 - - - - - - - - 14.97 14.92 14.99
2787 370.4 -10.6 191 2795 roll -0.53 - - 2730 - 2.33 0.063 378 -594.4 -146.0 - - 3552 - - - - - - - - 15.07 14.90 15.09
2852 377.5 -10.8 203 2859 done -0.53 - - 2723 - 2.25 0.037 1771 619.1 -146.0 - - 3552 - - - - - - - - 14.98 14.93 14.99
3186 413.6 -11.0 219 3193 roll -0.53 - - 2713 - 2.30 0.056 3174 610.0 -146.0 - - 3549 - - - - - - - - 15.07 14.92 15.10
3269 422.6 -10.8 235 3276 done -0.53 - - 2713 - 2.30 0.041 1757 -616.1 -146.0 - - 3548 - - - - - - - - 14.98 14.92 14.99
3583 458.8 -11.6 247 3589 roll -0.53 - - 2719 - 2.33 0.063 375 -593.1 -146.0 - - 3546 - - - - - - - - 15.07 14.90 15.09
3651 467.2 -11.9 260 3657 done -0.52 0.15 0.259 2738 126.7 2.22 0.038 1751 619.8 -146.0 - - 3546 - - - - - - - - 14.83 14.93 14.95
3980 499.6 -9.7 275 3993 roll -0.53 - - 2730 - 2.33 0.057 3170 609.0 -146.0 - - 3544 - - - - - - - - 15.07 14.91 15.10
4077 508.5 -9.0 292 4091 done -0.56 - - 2729 - 2.33 0.042 1748 -610.3 -146.0 - - 3546 - - - - - - - - 14.99 14.92 15.00
4380 536.8 -9.0 303 4394 roll -0.57 - - 2729 - 2.33 0.065 370 -591.4 -146.0 - - 3541 - - - - - - - - 15.09 14.92 15.11
4439 542.5 -9.5 313 4453 done -0.57 - - 2720 - 2.22 0.039 1755 623.9 -146.0 - - 3541 - - - - - - - - 15.02 14.95 15.01
4760 571.2 -8.9 325 4773 roll -0.57 - - 2709 - 2.35 0.059 3180 606.4 -146.0 - - 3538 - - - - - - - - 15.09 14.93 15.11
4830 577.5 -9.0 337 4843 done -0.58 - - 2709 - 2.33 0.042 1759 -609.9 -146.0 - - 3538 - - - - - - - - 15.00 14.94 15.02
5170 611.1 -10.2 353 5183 roll -0.58 - - 2709 - 2.33 0.067 381 -591.4 -146.0 - - 3536 - - - - - - - - 15.10 14.93 15.12
5234 618.1 -10.6 364 5249 done -0.58 - - 2700 - 2.22 0.038 1756 619.4 -146.0 - - 3535 - - - - - - - - 15.00 14.96 15.02
5540 652.0 -11.2 375 5554 roll -0.58 - - 2689 - 2.35 0.060 3176 604.3 -146.0 - - 3534 - - - - - - - - 15.08 14.93 15.12
5625 661.3 -10.9 390 5638 done -0.58 0.12 0.262 2716 225.0 2.30 0.044 1765 -613.5 -146.0 - - 3533 - - - - - - - - 14.85 14.94 14.98
5950 694.0 -9.9 403 5963 roll -0.58 - - 2716 - 2.35 0.067 379 -589.8 -146.0 - - 3532 - - - - - - - - 15.09 14.92 15.12
6029 702.4 -10.7 417 6042 done -0.58 - - 2709 - 2.25 0.041 1760 613.8 -146.0 - - 3531 - - - - - - - - 15.00 14.95 15.02
6360 735.6 -10.1 431 6373 roll -0.58 - - 2698 - 2.35 0.061 3179 603.8 -146.0 - - 3529 - - - - - - - - 15.09 14.93 15.12
6463 745.5 -9.5 449 6476 done -0.59 - - 2698 - 2.33 0.044 1761 -608.6 -146.0 - - 3529 - - - - - - - - 15.00 14.94 15.01
6803 779.5 -9.8 465 6816 roll -0.59 - - 2698 - 2.35 0.068 375 -589.8 -146.0 - - 3528 - - - - - - - - 15.09 14.92 15.11
6847 784.1 -10.4 472 6860 done -0.59 - - 2688 - 2.25 0.041 1762 616.4 -146.0 - - 3527 - - - - - - - - 15.00 14.95 15.01
7183 818.7 -10.5 487 7196 roll -0.58 0.12 0.288 2711 191.7 2.35 0.060 3173 600.4 -146.0 - - 3526 - - - - - - - - 14.83 14.92 14.94
7275 827.2 -9.3 503 7288 done -0.61 - - 2711 - 2.30 0.045 1766 -611.7 -146.0 - - 3526 - - - - - - - - 15.00 14.93 15.01
7596 856.1 -9.1 515 7609 roll -0.61 - - 2711 - 2.38 0.069 369 -587.0 -146.0 - - 3524 - - - - - - - - 15.09 14.92 15.11
7645 861.1 -9.9 523 7658 done -0.61 - - 2702 - 2.28 0.041 1767 613.2 -146.0 - - 3524 - - - - - - - - 15.00 14.94 15.00
7975 893.6 -10.0 537 7988 roll -0.61 - - 2691 - 2.35 0.062 3180 601.3 -146.0 - - 3523 - - - - - - - - 15.08 14.92 15.10
8065 902.3 -9.5 553 8078 done -0.62 - - 2691 - 2.33 0.044 1761 -609.0 -146.0 - - 3523 - - - - - - - - 14.99 14.92 15.00
8385 935.5 -10.5 565 8398 roll -0.62 - - 2691 - 2.35 0.070 379 -588.1 -146.0 - - 3523 - - - - - - - - 15.08 14.90 15.10
8434 940.4 -8.3 573 8447 done -0.62 - - 2683 - 2.28 0.041 1773 611.4 -146.0 - - 3522 - - - - - - - - 14.99 14.93 15.00
8765 975.3 -10.5 587 8778 roll -0.61 0.10 0.306 2698 150.0 2.33 0.060 3172 600.4 -146.0 - - 3522 - - - - - - - - 14.82 14.91 14.95
8820 980.7 -7.8 596 8833 done -0.63 - - 2698 - 2.30 0.046 1773 -608.3 -146.0 - - 3521 - - - - - - - - 14.98 14.92 15.00
8931 end dive: TARGET_DEPTH_EXCEEDED
8931 begin apogee
8939 991.4 -9.4 602 9106 roll -0.24 0.47 0.228 2826 272.3 - - 1713 - - 152.40 2.258 2968 -3.6 0.297 - - - - 1 - 14.82 13.93 13.16
9108 end apogee: CONTROL_FINISHED_OK
9108 begin climb
9112 998.9 - 607 9284 roll 0.95 1.38 0.182 3206 275.4 2.53 0.059 3115 554.2 146.0 156.57 2.115 2371 -3.8 0.336 - - - - - - 13.97 14.03 13.23
9481 972.5 10.6 685 9494 done 0.89 - - 3216 - 2.38 0.042 1725 -584.0 146.0 - - 2350 - - - - - - - - 14.50 14.44 14.52
9824 936.2 10.7 701 9838 roll 0.83 0.15 0.312 3191 -166.7 2.45 0.067 319 -573.9 146.0 - - 2349 - - - - - - - - 14.54 14.64 14.65
10064 912.5 9.4 747 10077 done 0.78 - - 3191 - 2.33 0.034 1745 612.0 146.0 - - 2348 - - - - - - - - 14.79 14.75 14.80
10384 883.7 9.0 759 10398 roll 0.75 0.15 0.298 3155 -240.0 2.28 0.052 3115 600.9 150.8 - - 2348 - - - - - - - - 14.67 14.78 14.78
10444 878.9 6.8 769 10537 done 0.79 - - 3161 - 2.30 0.044 1722 -605.7 205.6 76.75 1.782 2126 -2.9 0.266 - - - - - - 14.84 14.79 13.66
10849 843.3 9.2 799 10862 roll 0.78 - - 3173 - 2.45 0.071 330 -568.2 205.9 - - 2115 - - - - - - - - 14.76 14.59 14.78
10883 839.9 9.6 804 10899 done 0.77 - - 3173 - 2.35 0.037 1733 597.0 205.9 - - 2115 - - - - - - - - 14.69 14.64 14.71
11189 810.5 9.6 815 11202 roll 0.75 - - 3173 - 2.30 0.054 3113 600.0 205.9 - - 2118 - - - - - - - - 14.88 14.71 14.90
11260 803.4 10.8 827 11273 done 0.73 0.17 0.290 3148 -147.1 2.30 0.044 1736 -598.7 205.9 - - 2114 - - - - - - - - 14.62 14.74 14.78
11603 774.5 8.5 843 11633 roll 0.75 - - 3154 - 2.53 0.073 330 -555.7 222.1 16.48 1.945 2054 -3.6 0.270 - - - - - - 14.95 14.61 14.01
11674 767.5 10.5 856 11687 done 0.75 - - 3154 - 2.33 0.037 1739 604.7 222.1 - - 2046 - - - - - - - - 14.71 14.67 14.73
12009 737.1 9.2 871 12023 roll 0.75 - - 3154 - 2.33 0.054 3113 589.7 222.1 - - 2044 - - - - - - - - 14.90 14.74 14.92
12079 730.4 9.0 883 12093 done 0.75 - - 3163 - 2.30 0.044 1735 -599.1 226.3 - - 2047 - - - - - - - - 14.82 14.76 14.84
12420 698.2 9.6 899 12433 roll 0.75 - - 3174 - 2.45 0.072 321 -577.1 226.3 - - 2044 - - - - - - - - 14.95 14.78 14.97
12484 691.5 11.1 910 12498 done 0.74 - - 3174 - 2.33 0.036 1741 609.4 226.3 - - 2043 - - - - - - - - 14.87 14.83 14.88
12790 660.9 10.0 921 12803 roll 0.73 - - 3173 - 2.28 0.054 3114 602.2 226.3 - - 2044 - - - - - - - - 14.98 14.82 15.00
12854 654.2 10.2 932 12869 done 0.71 0.17 0.280 3145 -164.7 2.28 0.044 1741 -602.2 226.3 - - 2046 - - - - - - - - 14.71 14.83 14.87
13161 628.5 8.3 943 13198 roll 0.75 - - 3154 - 2.55 0.073 325 -555.3 246.2 25.27 1.726 1961 -3.4 0.228 - - - - - - 15.00 14.61 14.09
13252 620.5 9.4 959 13265 done 0.76 - - 3154 - 2.35 0.036 1749 606.0 246.2 - - 1952 - - - - - - - - 14.71 14.66 14.72
13572 591.2 9.1 971 13585 roll 0.76 - - 3154 - 2.28 0.054 3106 595.2 246.9 - - 1948 - - - - - - - - 14.90 14.73 14.92
13621 586.3 9.7 979 13634 done 0.76 - - 3162 - 2.28 0.044 1743 -597.8 246.9 - - 1949 - - - - - - - - 14.81 14.74 14.83
13952 554.3 9.8 993 13965 roll 0.76 - - 3173 - 2.47 0.072 321 -575.7 246.9 - - 1949 - - - - - - - - 14.95 14.77 14.97
14011 548.0 10.5 1003 14024 done 0.76 - - 3173 - 2.33 0.036 1746 611.6 246.9 - - 1949 - - - - - - - - 14.88 14.82 14.88
14331 515.5 10.1 1015 14344 roll 0.76 - - 3173 - 2.28 0.054 3114 600.0 246.9 - - 1950 - - - - - - - - 14.98 14.82 15.00
14421 506.4 9.8 1031 14434 done 0.76 - - 3182 - 2.22 0.044 1759 -610.4 246.9 - - 1949 - - - - - - - - 14.88 14.83 14.90
14741 474.9 9.9 1043 14747 roll 0.76 - - 3193 - 2.47 0.071 325 -580.6 246.9 - - 1949 - - - - - - - - 14.97 14.83 15.00
14804 468.1 10.9 1055 14811 done 0.75 0.17 0.268 3154 -229.4 2.35 0.035 1765 612.8 246.9 - - 1949 - - - - - - - - 14.71 14.84 14.88
15141 439.1 8.7 1071 15152 roll 0.77 - - 3154 - 2.22 0.052 3106 604.1 257.2 4.70 1.269 1917 -6.8 0.439 - - - - - - 14.97 14.68 14.12
15199 433.4 9.1 1082 15207 done 0.79 - - 3161 - 2.25 0.044 1755 -600.4 258.8 3.20 0.913 1909 -2.5 0.221 - - - - - - 14.84 14.78 14.08
15504 405.6 9.2 1093 15511 roll 0.79 - - 3171 - 2.47 0.072 324 -579.4 258.8 - - 1916 - - - - - - - - 14.94 14.76 14.96
15568 399.4 9.9 1105 15574 done 0.79 - - 3174 - 2.33 0.035 1745 609.9 258.8 - - 1914 - - - - - - - - 14.85 14.81 14.86
15901 367.3 9.6 1121 15907 roll 0.79 - - 3172 - 2.28 0.053 3119 602.6 258.8 - - 1916 - - - - - - - - 14.95 14.80 14.97
15964 361.1 9.9 1133 15970 done 0.79 - - 3180 - 2.28 0.044 1751 -600.0 258.8 - - 1916 - - - - - - - - 14.85 14.80 14.87
16297 327.6 10.2 1149 16304 roll 0.79 - - 3191 - 2.47 0.071 316 -581.0 258.8 - - 1916 - - - - - - - - 14.95 14.78 14.97
16340 322.9 11.2 1157 16346 done 0.79 - - 3191 - 2.33 0.035 1751 615.9 258.8 - - 1916 - - - - - - - - 14.87 14.82 14.88
16663 288.3 10.6 1171 16670 roll 0.78 0.12 0.289 3161 -250.0 2.25 0.049 3113 605.3 258.8 - - 1916 - - - - - - - - 14.70 14.80 14.81
16716 283.0 9.3 1181 16722 done 0.79 - - 3168 - 2.25 0.042 1746 -607.6 258.8 - - 1920 - - - - - - - - 14.86 14.81 14.88
17029 254.9 9.1 1193 17035 roll 0.79 - - 3180 - 2.45 0.070 326 -579.6 259.4 - - 1916 - - - - - - - - 14.97 14.79 14.98
17071 250.7 10.0 1201 17078 done 0.79 - - 3176 - 2.33 0.035 1757 614.2 259.4 - - 1916 - - - - - - - - 14.87 14.83 14.88
17395 219.6 9.7 1215 17401 roll 0.79 - - 3179 - 2.25 0.052 3118 604.9 259.4 - - 1916 - - - - - - - - 14.98 14.79 14.99
17472 211.9 9.8 1230 17478 done 0.79 - - 3187 - 2.22 0.043 1765 -609.5 259.4 - - 1918 - - - - - - - - 14.87 14.81 14.88
17791 180.6 10.0 1243 17798 roll 0.79 - - 3198 - 2.45 0.069 330 -585.7 259.4 - - 1916 - - - - - - - - 14.97 14.78 14.99
17829 176.4 11.2 1250 17836 done 0.79 0.15 0.265 3167 -206.7 2.35 0.035 1780 617.0 259.4 - - 1916 - - - - - - - - 14.71 14.83 14.84
18161 146.7 8.7 1265 18185 roll 0.82 - - 3166 - 2.22 0.050 3120 603.6 270.2 18.25 1.194 1861 -3.0 0.069 - - - - - - 14.96 14.63 14.26
18264 137.5 8.6 1285 18279 done 0.85 - - 3172 - 2.20 0.041 1781 -608.6 282.8 6.12 1.084 1813 -7.8 0.185 - - - - - - 14.76 14.71 14.19
18589 110.4 8.5 1299 18620 roll 0.89 - - 3178 - 2.33 0.050 3119 574.2 299.2 25.08 1.130 1742 -2.8 0.052 - - - - - - 14.88 14.59 14.20
18679 102.8 8.2 1316 18710 done 0.95 0.12 0.141 3225 391.7 2.22 0.041 1792 -597.7 321.9 22.50 1.122 1646 -4.3 0.073 - - - - - - 14.60 14.62 14.07
19017 73.2 6.9 1343 19063 done 1.03 - - 3225 - - - 1791 - 375.6 41.22 0.326 1438 -5.0 0.211 - - - - - - 14.81 14.62 14.44
19362 54.6 5.9 1372 19439 roll 1.19 0.17 0.113 3307 482.4 2.58 0.069 329 -566.7 452.9 67.57 0.274 1128 -4.6 0.170 - - - - - - 14.67 14.57 14.48
19600 37.8 7.0 1419 19653 done 1.30 - - 3308 - 2.40 0.032 1812 617.9 504.3 43.38 0.226 913 -5.0 0.155 - - - - - - 14.73 14.69 14.50
19951 15.2 7.0 1449 19996 done 1.44 0.17 0.111 3389 476.5 - - 1812 - 555.6 38.10 0.161 704 -5.5 0.097 - - - - - - 14.71 14.69 14.59
20082 end climb: SURFACE_DEPTH_REACHED
20082 begin surface coast
20097 end surface coast: CONTROL_FINISHED_OK
20100 begin surface
SM 1.14 - - - - -8.55 9.25 0.057 158 17.1 - - 1815 - 595.59 25.67 0.127 539 21.0 -0.019 - - - - - -