SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 703 * Raw log
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• Previous call tries 1 • 266.85 of 350.00 AH used of 24V (23.76% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.8 deg, depth 1.08 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 29 s
• GPS2 time: 17 s • Transponder ping count: 1
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 113 VBD -0.84 - - 150 - - - 1771 - -116.8 -82.95 - 3207 - - - - - - - - 14.46 - 14.48
118 5.2 -7.2 3 135 done -0.84 12.32 0.374 2650 202.9 - - 1768 - -116.8 -0.93 - 3273 -71.0 - - - - - - - 13.98 12.74 14.38
453 77.6 -12.1 18 460 roll -0.58 0.35 0.250 2736 245.7 2.47 0.054 370 -566.0 -116.8 - - 3280 - - - - - - - - 13.72 14.04 13.91
538 86.7 -9.9 30 545 done -0.47 0.20 0.246 2771 175.0 2.33 0.031 1752 593.1 -116.8 - - 3275 - - - - - - - - 13.81 14.27 14.08
877 112.8 -7.2 42 884 roll -0.47 - - 2772 - 2.45 0.054 372 -563.3 -116.8 - - 3275 - - - - - - - - 14.59 14.09 14.61
926 116.3 -6.7 49 935 done -0.47 - - 2765 - 2.38 0.031 1775 589.5 -116.8 - - 3272 - - - - - - - - 14.31 14.24 14.32
1270 140.5 -7.6 56 1276 roll -0.47 - - 2755 - 2.40 0.050 3158 576.2 -116.8 - - 3275 - - - - - - - - 14.59 14.09 14.61
1425 152.3 -7.6 78 1432 done -0.47 - - 2755 - 2.38 0.036 1765 -585.3 -116.8 - - 3277 - - - - - - - - 14.26 14.18 14.29
1776 178.1 -7.1 86 1782 roll -0.47 - - 2755 - 2.47 0.057 377 -561.9 -116.8 - - 3271 - - - - - - - - 14.58 14.06 14.61
1897 187.4 -7.8 103 1904 done -0.47 0.15 0.233 2777 146.7 2.38 0.031 1778 588.7 -116.8 - - 3271 - - - - - - - - 13.78 14.23 14.03
2227 209.4 -6.7 115 2233 roll -0.58 - - 2769 - 2.42 0.052 3163 572.3 -116.8 - - 3268 - - - - - - - - 14.62 14.07 14.64
2332 216.9 -7.2 130 2340 done -0.72 0.22 0.086 2679 -409.1 2.40 0.036 1774 -578.8 -116.8 - - 3267 - - - - - - - - 14.16 14.15 14.25
2679 254.3 -11.1 137 2692 roll -0.62 0.17 0.248 2721 247.1 2.50 0.057 376 -559.2 -116.8 - - 3265 - - - - - - - - 13.69 13.97 13.84
2777 265.1 -10.4 150 2790 done -0.62 - - 2714 - 2.38 0.031 1772 586.6 -116.8 - - 3263 - - - - - - - - 14.31 14.25 14.33
3143 302.7 -10.5 159 3156 roll -0.62 - - 2703 - 2.45 0.051 3162 567.3 -116.8 - - 3261 - - - - - - - - 14.67 14.00 14.69
3199 308.9 -10.6 166 3213 done -0.62 - - 2703 - 2.40 0.036 1779 -576.2 -116.8 - - 3260 - - - - - - - - 14.20 14.12 14.23
3543 344.2 -10.1 173 3556 roll -0.62 - - 2703 - 2.55 0.059 370 -552.5 -116.8 - - 3258 - - - - - - - - 14.73 13.95 14.75
3664 356.2 -9.8 189 3678 done -0.62 0.15 0.256 2723 133.3 2.40 0.032 1776 585.8 -116.8 - - 3257 - - - - - - - - 13.60 14.16 13.88
4008 384.0 -7.9 202 4021 roll -0.62 - - 2715 - 2.47 0.053 3172 565.2 -116.8 - - 3255 - - - - - - - - 14.66 13.88 14.69
4107 391.8 -7.9 215 4121 done -0.62 - - 2716 - 2.45 0.039 1767 -573.5 -116.8 - - 3255 - - - - - - - - 14.19 14.09 14.22
4472 422.5 -8.5 224 4485 roll -0.62 - - 2715 - 2.53 0.060 376 -549.8 -116.8 - - 3252 - - - - - - - - 14.71 13.94 14.73
4593 433.4 -9.0 240 4607 done -0.62 - - 2705 - 2.40 0.032 1774 582.5 -116.8 - - 3252 - - - - - - - - 14.22 14.16 14.25
4937 462.6 -8.4 253 4950 roll -0.62 - - 2695 - 2.47 0.052 3164 562.8 -116.8 - - 3251 - - - - - - - - 14.66 13.97 14.69
4979 466.2 -8.5 258 4992 done -0.62 0.15 0.240 2724 193.3 2.42 0.037 1773 -574.8 -116.8 - - 3250 - - - - - - - - 13.62 14.09 13.89
5346 495.5 -8.2 267 5359 roll -0.62 - - 2725 - 2.58 0.061 373 -542.6 -116.8 - - 3248 - - - - - - - - 14.69 13.91 14.71
5430 503.5 -9.3 278 5443 done -0.62 - - 2718 - 2.42 0.032 1785 583.5 -116.8 - - 3248 - - - - - - - - 14.21 14.15 14.23
5754 533.9 -9.6 288 5767 roll -0.62 - - 2707 - 2.45 0.054 3161 561.6 -116.8 - - 3247 - - - - - - - - 14.66 13.95 14.67
5819 540.0 -9.6 296 5832 done -0.62 - - 2707 - 2.42 0.037 1769 -575.2 -116.8 - - 3246 - - - - - - - - 14.14 14.06 14.17
6163 573.1 -9.6 309 6176 roll -0.62 - - 2707 - 2.55 0.061 376 -546.3 -116.8 - - 3245 - - - - - - - - 14.66 13.90 14.68
6262 583.1 -10.2 322 6276 done -0.62 0.12 0.264 2720 108.3 2.42 0.033 1779 579.8 -116.8 - - 3245 - - - - - - - - 13.62 14.12 13.87
6627 614.6 -8.5 331 6640 roll -0.62 - - 2712 - 2.47 0.054 3162 559.9 -116.8 - - 3243 - - - - - - - - 14.70 13.91 14.71
6726 622.7 -8.1 344 6740 done -0.62 - - 2712 - 2.42 0.038 1777 -572.3 -116.8 - - 3243 - - - - - - - - 14.13 14.04 14.15
7091 652.8 -8.2 353 7104 roll -0.62 - - 2712 - 2.58 0.061 375 -543.4 -116.8 - - 3242 - - - - - - - - 14.69 13.90 14.70
7181 661.0 -9.0 365 7195 done -0.62 - - 2703 - 2.45 0.033 1782 574.3 -116.8 - - 3243 - - - - - - - - 14.18 14.12 14.21
7555 694.8 -9.4 375 7568 roll -0.62 - - 2693 - 2.50 0.055 3166 553.6 -116.8 - - 3240 - - - - - - - - 14.68 13.91 14.69
7702 709.0 -9.4 395 7715 done -0.62 0.15 0.239 2721 186.7 2.45 0.037 1771 -569.4 -116.8 - - 3239 - - - - - - - - 13.56 14.03 13.83
8075 739.8 -8.1 405 8089 roll -0.62 - - 2721 - 2.60 0.063 373 -537.7 -116.8 - - 3238 - - - - - - - - 14.63 13.90 14.65
8160 746.9 -8.2 416 8173 done -0.62 - - 2715 - 2.42 0.034 1771 577.7 -116.8 - - 3238 - - - - - - - - 14.17 14.10 14.20
8482 770.8 -7.3 426 8496 roll -0.62 - - 2704 - 2.50 0.054 3164 557.2 -116.8 - - 3236 - - - - - - - - 14.69 13.91 14.71
8610 779.3 -6.7 443 8623 done -0.62 - - 2704 - 2.42 0.037 1776 -573.6 -116.8 - - 3237 - - - - - - - - 14.12 14.02 14.15
8947 802.4 -6.9 455 8960 roll -0.62 - - 2704 - 2.58 0.063 379 -541.5 -116.8 - - 3236 - - - - - - - - 14.64 13.88 14.66
9068 811.5 -7.6 471 9082 done -0.62 0.15 0.256 2723 126.7 2.42 0.033 1773 576.0 -116.8 - - 3235 - - - - - - - - 13.45 13.98 13.76
9413 834.1 -6.5 484 9426 roll -0.62 - - 2715 - 2.50 0.054 3168 558.0 -116.8 - - 3234 - - - - - - - - 14.62 13.91 14.64
9505 840.3 -6.9 496 9518 done -0.62 - - 2715 - 2.47 0.039 1772 -565.2 -116.8 - - 3233 - - - - - - - - 14.11 14.01 14.14
9877 866.8 -7.0 506 9890 roll -0.62 - - 2715 - 2.60 0.063 372 -538.5 -116.8 - - 3233 - - - - - - - - 14.62 13.90 14.65
9990 875.6 -7.9 521 10005 done -0.62 - - 2706 - 2.47 0.034 1779 569.6 -116.8 - - 3232 - - - - - - - - 14.14 14.07 14.16
10333 901.3 -7.4 528 10346 roll -0.62 - - 2695 - 2.50 0.057 3163 553.6 -116.8 - - 3231 - - - - - - - - 14.63 13.92 14.64
10424 908.1 -7.5 540 10437 done -0.62 0.12 0.244 2719 200.0 2.45 0.038 1772 -567.8 -116.8 - - 3231 - - - - - - - - 13.58 14.02 13.84
10797 932.8 -6.6 550 10811 roll -0.62 - - 2720 - 2.60 0.064 375 -537.3 -116.8 - - 3231 - - - - - - - - 14.65 13.89 14.70
10923 942.1 -6.6 567 10937 done -0.62 - - 2713 - 2.45 0.035 1774 571.0 -116.8 - - 3230 - - - - - - - - 14.14 14.07 14.16
11262 966.4 -7.3 579 11275 roll -0.62 - - 2703 - 2.53 0.056 3167 550.6 -116.8 - - 3230 - - - - - - - - 14.65 13.91 14.67
11381 975.6 -7.7 595 11395 done -0.62 - - 2702 - 2.45 0.038 1777 -567.3 -116.8 - - 3230 - - - - - - - - 14.09 14.00 14.12
11608 end dive: TARGET_DEPTH_EXCEEDED
11609 begin apogee
11621 994.5 -8.2 606 11752 done -0.21 0.65 0.239 2855 235.4 - - 1666 - - 121.47 2.212 2792 -3.6 0.324 - - - - - - 13.67 13.73 12.86
11756 end apogee: CONTROL_FINISHED_OK
11756 begin climb
11761 999.9 - 608 11914 roll 0.84 1.23 0.164 3191 273.2 2.78 0.047 3076 507.2 116.8 128.57 2.179 2304 -3.8 0.348 - - - - - - 13.57 13.13 12.28
11971 991.0 7.1 642 11993 done 0.85 - - 3200 - 2.60 0.039 1685 -535.0 130.3 6.75 1.787 2262 -6.2 0.689 - - - - - - 13.46 13.38 12.43
12353 963.0 7.5 654 12370 roll 0.86 - - 3200 - 2.42 0.047 3073 573.6 136.8 5.38 1.678 2234 -5.2 0.597 - - - - - - 14.51 14.14 13.30
12419 957.5 8.1 663 12433 done 0.86 - - 3208 - 2.45 0.039 1674 -571.0 136.8 - - 2236 - - - - - - - - 14.26 14.17 14.28
12758 930.2 8.2 675 12771 roll 0.86 - - 3219 - 2.45 0.065 323 -551.4 136.8 - - 2236 - - - - - - - - 14.58 14.07 14.59
12799 926.4 11.6 680 12813 done 0.86 - - 3218 - 2.33 0.029 1700 591.0 136.8 - - 2237 - - - - - - - - 14.31 14.25 14.33
13164 894.7 8.7 689 13177 roll 0.86 - - 3219 - 2.40 0.048 3056 565.0 136.8 - - 2237 - - - - - - - - 14.64 14.00 14.66
13278 884.5 9.2 704 13292 done 0.77 0.22 0.256 3181 -172.7 2.45 0.041 1678 -562.4 136.8 - - 2236 - - - - - - - - 13.64 14.09 13.98
13620 859.1 7.3 711 13649 done 0.78 - - 3181 - - - 1678 - 147.5 19.85 1.978 2191 -2.3 0.197 - - - - - - 14.65 14.38 13.54
13957 833.3 7.7 717 13970 done 0.78 - - 3181 - - - 1678 - 150.1 - - 2178 - - - - - - - - 14.62 14.64 14.64
14291 806.4 8.0 723 14305 roll 0.78 - - 3181 - 2.47 0.047 3062 560.3 150.1 - - 2178 - - - - - - - - 14.65 14.07 14.67
14340 802.4 8.2 729 14353 done 0.78 - - 3188 - 2.42 0.041 1680 -571.1 150.1 - - 2177 - - - - - - - - 14.24 14.16 14.28
14700 775.4 7.5 737 14717 roll 0.79 - - 3198 - 2.42 0.066 323 -560.7 157.0 4.15 1.385 2150 -6.5 0.728 - - - - - - 14.57 14.20 13.39
14746 771.7 7.6 743 14764 done 0.80 - - 3197 - 2.30 0.029 1683 591.3 161.8 5.07 1.591 2132 -3.6 0.344 - - - - - - 14.32 14.27 13.43
15097 746.6 6.9 751 15139 roll 0.82 - - 3198 - 2.40 0.049 3059 573.3 178.8 28.65 1.885 2054 -2.7 0.215 - - - - - - 14.63 14.29 13.49
15230 737.3 7.5 769 15247 done 0.83 - - 3207 - 2.42 0.042 1671 -573.6 185.9 2.20 0.405 2034 -9.1 3.306 - - - - - - 14.31 14.22 12.99
15557 711.3 7.9 780 15570 roll 0.83 - - 3215 - 2.45 0.066 324 -549.8 185.9 - - 2032 - - - - - - - - 14.59 14.08 14.61
15614 706.4 9.1 787 15628 done 0.83 - - 3217 - 2.33 0.030 1683 583.3 185.9 - - 2031 - - - - - - - - 14.31 14.26 14.33
15957 674.9 9.3 794 15971 roll 0.83 - - 3217 - 2.40 0.048 3053 570.8 185.9 - - 2031 - - - - - - - - 14.63 13.98 14.65
16079 662.7 10.1 810 16093 done 0.83 - - 3225 - 2.40 0.041 1682 -571.2 185.9 - - 2032 - - - - - - - - 14.26 14.16 14.29
16423 627.1 10.4 823 16436 roll 0.83 - - 3236 - 2.50 0.066 319 -545.2 185.9 - - 2032 - - - - - - - - 14.59 13.99 14.61
16486 620.2 10.9 831 16500 done 0.83 0.17 0.245 3196 -235.3 2.30 0.029 1698 599.6 185.9 - - 2032 - - - - - - - - 13.69 14.23 14.00
16832 589.8 8.6 844 16845 roll 0.83 - - 3200 - 2.38 0.048 3039 563.4 185.9 - - 2032 - - - - - - - - 14.57 14.01 14.59
16929 581.3 8.4 857 16943 done 0.83 - - 3206 - 2.40 0.042 1677 -567.5 185.9 - - 2031 - - - - - - - - 14.17 14.08 14.21
17296 552.6 7.7 866 17309 roll 0.83 - - 3217 - 2.50 0.066 325 -540.8 188.3 - - 2032 - - - - - - - - 14.57 13.95 14.59
17351 547.9 8.3 873 17366 done 0.83 - - 3217 - 2.30 0.030 1672 585.7 188.3 - - 2031 - - - - - - - - 14.20 14.14 14.22
17695 520.3 8.1 880 17708 roll 0.83 - - 3217 - 2.47 0.048 3059 561.5 188.3 - - 2032 - - - - - - - - 14.63 13.95 14.64
17830 509.1 8.3 898 17843 done 0.83 - - 3226 - 2.45 0.041 1682 -562.0 188.3 - - 2031 - - - - - - - - 14.14 14.05 14.18
18159 482.1 8.2 909 18173 roll 0.83 - - 3237 - 2.53 0.066 314 -540.7 188.3 - - 2032 - - - - - - - - 14.56 13.95 14.59
18231 475.9 9.0 918 18245 done 0.83 0.17 0.239 3201 -211.8 2.33 0.028 1698 594.0 188.3 - - 2032 - - - - - - - - 13.54 14.12 13.86
18568 452.1 7.0 930 18605 roll 0.85 - - 3200 - 2.38 0.049 3035 561.8 205.0 25.48 1.562 1951 -3.2 0.184 - - - - - - 14.58 14.30 13.62
18670 444.3 8.0 944 18684 done 0.85 - - 3206 - 2.38 0.041 1678 -570.2 205.0 - - 1941 - - - - - - - - 14.28 14.19 14.33
19013 414.4 9.0 951 19026 roll 0.85 - - 3217 - 2.47 0.065 319 -550.2 205.0 - - 1941 - - - - - - - - 14.63 14.08 14.65
19068 408.8 10.3 958 19082 done 0.85 - - 3217 - 2.28 0.029 1655 586.0 205.0 - - 1941 - - - - - - - - 14.33 14.28 14.35
19414 374.7 9.9 965 19428 roll 0.85 - - 3217 - 2.50 0.047 3067 564.8 205.0 - - 1941 - - - - - - - - 14.57 14.05 14.59
19512 364.7 9.9 978 19526 done 0.85 - - 3224 - 2.45 0.041 1677 -567.3 205.0 - - 1942 - - - - - - - - 14.24 14.15 14.31
19877 329.1 9.8 987 19890 roll 0.85 - - 3235 - 2.50 0.066 324 -541.2 205.0 - - 1941 - - - - - - - - 14.59 13.97 14.60
19942 322.3 10.7 995 19956 done 0.85 0.15 0.236 3205 -200.0 2.33 0.029 1703 591.8 205.0 - - 1941 - - - - - - - - 13.69 14.16 14.04
20286 292.1 8.6 1008 20299 roll 0.85 - - 3205 - 2.38 0.046 3047 564.7 205.0 - - 1941 - - - - - - - - 14.58 14.00 14.59
20365 285.5 8.3 1018 20378 done 0.85 - - 3211 - 2.40 0.041 1682 -568.8 205.0 - - 1942 - - - - - - - - 14.19 14.07 14.21
20694 259.8 7.7 1029 20707 roll 0.85 - - 3227 - 2.50 0.063 320 -544.8 208.4 - - 1942 - - - - - - - - 14.63 13.95 14.65
20743 255.8 8.4 1035 20756 done 0.85 - - 3221 - 2.33 0.028 1674 581.1 208.4 - - 1941 - - - - - - - - 14.21 14.16 14.23
21102 226.8 8.2 1043 21115 roll 0.85 - - 3221 - 2.45 0.047 3057 564.5 208.4 - - 1941 - - - - - - - - 14.57 13.97 14.59
21172 220.7 8.5 1052 21185 done 0.85 - - 3230 - 2.45 0.041 1673 -564.9 208.4 - - 1941 - - - - - - - - 14.12 14.02 14.15
21510 193.0 8.2 1064 21523 done 0.85 - - 3229 - - - 1673 - 208.4 - - 1941 - - - - - - - - 14.62 14.64 14.64
21845 164.0 8.9 1070 21858 roll 0.85 - - 3230 - 2.47 0.044 3064 563.2 208.4 - - 1941 - - - - - - - - 14.64 13.98 14.66
21894 159.2 10.0 1076 21907 done 0.85 0.15 0.240 3207 -153.3 2.45 0.041 1674 -567.3 208.4 - - 1941 - - - - - - - - 13.62 14.02 13.90
22253 129.2 8.3 1084 22267 roll 0.85 - - 3215 - 2.50 0.064 316 -543.2 208.4 - - 1940 - - - - - - - - 14.59 13.88 14.59
22302 125.1 8.2 1090 22315 done 0.85 - - 3215 - 2.33 0.028 1691 590.1 208.4 - - 1941 - - - - - - - - 14.21 14.16 14.23
22660 100.4 6.8 1098 22690 roll 0.88 - - 3215 - 2.40 0.046 3055 568.3 228.0 17.90 0.358 1864 -4.3 0.241 - - - - - - 14.64 14.28 14.00
22734 95.3 7.8 1108 22753 done 0.88 - - 3223 - 2.40 0.040 1682 -572.1 228.4 3.08 0.161 1863 - - - - - - - - 14.23 14.14 13.91
23055 68.4 8.0 1121 23073 roll 0.88 - - 3232 - 2.50 0.063 319 -545.2 228.4 2.80 0.152 1861 - - - - - - - - 14.59 14.04 14.00
23200 59.7 5.4 1140 23260 done 1.06 0.12 0.121 3284 433.3 2.33 0.028 1695 590.6 273.7 44.62 0.278 1678 -4.1 0.176 - - - - - - 14.08 14.22 14.07
23566 43.1 4.3 1160 23638 roll 1.14 - - 3285 - 2.53 0.063 314 -545.8 339.9 60.10 0.238 1407 -4.5 0.163 - - - - - - 14.60 14.38 14.14
23751 36.4 4.2 1186 23823 done 1.45 0.30 0.051 3412 423.3 2.33 0.028 1674 583.7 407.6 58.85 0.216 1130 -4.7 0.158 - - - - - - 14.14 14.20 14.12
24120 end climb: SURFACE_DEPTH_REACHED
24120 begin surface coast
24148 end surface coast: CONTROL_FINISHED_OK
24148 begin surface
SM 0.94 - - - - -8.61 9.90 0.066 159 16.0 0.10 0.109 1779 -96510.0 515.13 66.12 0.122 693 10.5 -0.008 - - - - - -