SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 712 * Raw log
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• Previous call tries 1 • 270.22 of 350.00 AH used of 24V (22.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 1.02 m • Intended pitch -21.3 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 47 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 99 done -0.97 - - 152 - - - 1796 - -70.5 -80.07 - 3083 - - - - - - - - 14.61 12.50 14.58
104 5.7 -8.0 3 121 roll -0.97 11.77 0.363 2619 209.6 2.50 0.051 368 -571.2 -70.5 - - 3084 - - - - - - - - 14.03 14.38 14.35
199 38.2 -25.4 17 205 done -0.62 0.52 0.308 2721 196.2 2.33 0.033 1748 592.3 -70.5 - - 3084 - - - - - - - - 13.74 14.22 14.09
521 73.4 -7.7 30 526 roll -0.62 - - 2713 - 2.47 0.050 3175 577.7 -72.7 - - 3086 - - - - - - - - 14.73 14.12 14.76
758 89.8 -6.6 64 763 done -0.64 - - 2712 - 2.40 0.037 1767 -586.7 -88.0 - - 3086 - - - - - - - - 14.18 14.10 14.21
1082 113.3 -7.2 74 1087 roll -0.65 - - 2704 - 2.47 0.050 3178 571.3 -96.6 - - 3086 - - - - - - - - 14.73 14.08 14.76
1123 116.3 -7.2 80 1128 done -0.66 - - 2702 - 2.40 0.038 1775 -584.6 -104.9 - - 3086 - - - - - - - - 14.26 14.17 14.29
1473 144.7 -8.3 88 1478 roll -0.66 - - 2704 - 2.50 0.057 372 -561.2 -104.9 - - 3085 - - - - - - - - 14.75 14.01 14.77
1629 158.3 -8.8 110 1633 done -0.66 - - 2694 - 2.40 0.031 1791 591.2 -104.9 - - 3085 - - - - - - - - 14.17 14.12 14.21
1977 188.4 -8.8 118 1978 done -0.66 - - 2694 - - - 1792 - -104.9 - - 3082 - - - - - - - - 14.76 14.78 14.78
2313 222.1 -10.2 124 2318 roll -0.66 - - 2683 - 2.40 0.051 3164 571.7 -104.9 - - 3078 - - - - - - - - 14.75 14.02 14.77
2377 228.3 -10.0 133 2383 done -0.66 0.15 0.246 2713 200.0 2.40 0.037 1764 -583.3 -104.9 - - 3080 - - - - - - - - 13.63 14.14 13.90
2706 257.7 -8.9 145 2711 roll -0.66 - - 2713 - 2.50 0.059 375 -555.6 -104.9 - - 3078 - - - - - - - - 14.81 13.98 14.83
2861 271.6 -8.9 167 2866 done -0.66 - - 2706 - 2.38 0.031 1778 589.5 -104.9 - - 3076 - - - - - - - - 14.29 14.23 14.32
3210 300.7 -8.2 175 3214 roll -0.66 - - 2695 - 2.45 0.052 3167 566.9 -104.9 - - 3074 - - - - - - - - 14.80 14.01 14.82
3252 304.1 -8.1 181 3257 done -0.66 - - 2695 - 2.40 0.037 1778 -578.8 -104.9 - - 3074 - - - - - - - - 14.21 14.12 14.25
3603 332.9 -8.3 189 3609 roll -0.66 - - 2696 - 2.55 0.059 374 -550.6 -104.9 - - 3072 - - - - - - - - 14.73 13.94 14.76
3729 344.7 -9.3 207 3733 done -0.66 - - 2686 - 2.40 0.031 1777 584.6 -104.9 - - 3071 - - - - - - - - 14.13 14.07 14.16
4051 373.9 -9.1 218 4056 roll -0.66 0.12 0.275 2705 158.3 2.45 0.050 3163 565.7 -104.9 - - 3069 - - - - - - - - 13.68 13.84 13.73
4087 376.9 -8.6 223 4092 done -0.75 - - 2706 - 2.42 0.039 1774 -574.0 -104.9 - - 3069 - - - - - - - - 14.20 14.11 14.23
4443 407.8 -8.7 232 4447 roll -0.75 - - 2705 - 2.55 0.060 370 -550.6 -104.9 - - 3067 - - - - - - - - 14.75 13.93 14.76
4623 423.8 -8.9 257 4629 done -0.75 - - 2697 - 2.42 0.033 1785 584.7 -104.9 - - 3066 - - - - - - - - 14.19 14.12 14.21
4951 451.8 -8.4 269 4957 roll -0.75 - - 2686 - 2.45 0.054 3167 564.1 -104.9 - - 3065 - - - - - - - - 14.74 13.97 14.76
5014 457.3 -9.0 278 5019 done -0.75 - - 2686 - 2.42 0.039 1766 -578.9 -104.9 - - 3064 - - - - - - - - 14.20 14.12 14.24
5345 488.4 -9.5 290 5350 roll -0.75 - - 2686 - 2.53 0.060 373 -550.6 -104.9 - - 3063 - - - - - - - - 14.71 13.95 14.73
5434 497.9 -10.3 303 5439 done -0.75 - - 2677 - 2.40 0.032 1774 583.8 -104.9 - - 3063 - - - - - - - - 14.23 14.17 14.26
5792 532.5 -9.6 312 5792 done -0.75 - - 2677 - - - 1774 - -104.9 - - 3060 - - - - - - - - 14.78 14.81 14.80
6129 562.0 -8.6 318 6134 roll -0.75 - - 2667 - 2.47 0.053 3161 561.5 -104.9 - - 3061 - - - - - - - - 14.77 13.95 14.78
6156 564.4 -8.5 322 6160 done -0.75 - - 2666 - 2.40 0.037 1774 -577.9 -104.9 - - 3060 - - - - - - - - 14.18 14.09 14.21
6520 595.6 -8.6 332 6525 roll -0.75 - - 2666 - 2.55 0.060 375 -548.6 -104.9 - - 3059 - - - - - - - - 14.73 13.90 14.76
6730 614.7 -9.0 362 6735 done -0.75 - - 2657 - 2.42 0.033 1773 577.7 -104.9 - - 3058 - - - - - - - - 14.19 14.13 14.22
7080 644.7 -8.6 370 7085 roll -0.75 - - 2647 - 2.47 0.053 3167 564.4 -104.9 - - 3057 - - - - - - - - 14.73 13.95 14.75
7143 650.3 -8.8 379 7148 done -0.75 0.17 0.270 2678 182.4 2.42 0.038 1773 -576.0 -104.9 - - 3057 - - - - - - - - 13.38 14.06 13.71
7474 678.2 -8.7 391 7478 roll -0.75 - - 2679 - 2.55 0.063 379 -546.7 -104.9 - - 3056 - - - - - - - - 14.76 13.88 14.78
7658 695.4 -9.7 417 7664 done -0.75 - - 2672 - 2.42 0.032 1786 581.4 -104.9 - - 3055 - - - - - - - - 14.19 14.12 14.21
7981 726.2 -9.5 428 7986 roll -0.75 - - 2661 - 2.45 0.054 3162 561.6 -104.9 - - 3054 - - - - - - - - 14.76 13.94 14.78
8070 734.9 -9.5 441 8076 done -0.75 - - 2662 - 2.42 0.039 1771 -574.8 -104.9 - - 3054 - - - - - - - - 14.14 14.04 14.17
8428 767.5 -9.0 450 8433 roll -0.75 - - 2662 - 2.58 0.062 372 -542.2 -104.9 - - 3053 - - - - - - - - 14.72 13.89 14.74
8562 779.6 -10.0 469 8568 done -0.75 0.15 0.286 2678 106.7 2.45 0.033 1778 573.9 -104.9 - - 3052 - - - - - - - - 13.42 14.10 13.73
8877 803.2 -7.5 479 8882 roll -0.76 - - 2670 - 2.50 0.055 3163 554.0 -109.8 - - 3052 - - - - - - - - 14.73 13.90 14.74
8912 805.7 -7.5 484 8917 done -0.77 - - 2670 - 2.42 0.039 1778 -572.3 -114.6 - - 3051 - - - - - - - - 14.13 14.03 14.16
9271 832.2 -7.4 493 9277 roll -0.77 - - 2670 - 2.60 0.063 371 -541.2 -116.8 - - 3051 - - - - - - - - 14.70 13.88 14.72
9417 844.0 -7.8 514 9422 done -0.77 - - 2661 - 2.45 0.034 1783 576.3 -116.8 - - 3049 - - - - - - - - 14.16 14.09 14.19
9776 870.5 -7.6 523 9781 roll -0.77 - - 2651 - 2.47 0.057 3161 557.9 -116.8 - - 3049 - - - - - - - - 14.71 13.89 14.72
9830 874.9 -8.0 531 9835 done -0.77 0.12 0.273 2672 175.0 2.45 0.040 1763 -570.6 -116.8 - - 3048 - - - - - - - - 13.50 14.02 13.78
10167 899.7 -7.3 544 10171 roll -0.77 - - 2676 - 2.55 0.064 380 -542.4 -116.8 - - 3048 - - - - - - - - 14.76 13.85 14.78
10287 909.3 -8.1 561 10292 done -0.77 - - 2670 - 2.42 0.034 1776 576.9 -116.8 - - 3047 - - - - - - - - 14.19 14.12 14.22
10615 935.3 -7.9 573 10620 roll -0.77 - - 2659 - 2.50 0.056 3163 554.8 -116.8 - - 3047 - - - - - - - - 14.72 13.89 14.73
10693 942.3 -10.3 584 10698 done -0.77 - - 2660 - 2.45 0.040 1772 -567.8 -116.8 - - 3047 - - - - - - - - 14.10 14.00 14.14
11007 967.7 -8.3 594 11012 roll -0.77 - - 2659 - 2.58 0.063 375 -541.5 -116.8 - - 3046 - - - - - - - - 14.77 13.84 14.79
11105 976.5 -9.1 608 11110 done -0.77 0.15 0.281 2676 113.3 2.45 0.034 1780 573.5 -116.8 - - 3046 - - - - - - - - 13.38 14.08 13.69
11282 end dive: TARGET_DEPTH_EXCEEDED
11282 begin apogee
11294 990.3 -7.5 613 11372 done -0.21 0.75 0.250 2853 236.0 - - 1653 - - 74.93 2.190 2792 -3.4 0.305 - - - - - - 13.61 13.97 13.08
11374 end apogee: CONTROL_FINISHED_OK
11374 begin climb
11379 993.2 - 614 11522 roll 1.03 1.42 0.169 3261 287.3 2.62 0.065 351 -496.9 116.8 129.75 2.183 2309 -3.7 0.337 - - - - - - 13.76 13.17 12.32
11564 981.0 11.0 645 11571 done 1.03 - - 3261 - 2.45 0.028 1688 545.7 116.8 - - 2297 - - - - - - - - 13.36 13.31 13.38
11908 943.5 11.0 652 11913 roll 1.03 - - 3261 - 2.45 0.049 3064 561.6 116.8 - - 2293 - - - - - - - - 14.51 14.03 14.54
12028 930.1 11.2 669 12034 done 1.03 - - 3270 - 2.38 0.042 1707 -570.2 116.8 - - 2292 - - - - - - - - 14.21 14.13 14.26
12356 894.2 10.9 681 12362 roll 1.03 - - 3280 - 2.53 0.064 319 -548.6 116.8 - - 2292 - - - - - - - - 14.70 14.04 14.73
12391 890.4 11.9 686 12396 done 1.03 - - 3280 - 2.33 0.029 1690 588.4 116.8 - - 2292 - - - - - - - - 14.30 14.24 14.33
12750 851.4 10.8 695 12755 roll 1.03 - - 3280 - 2.42 0.049 3057 564.9 116.8 - - 2291 - - - - - - - - 14.66 14.02 14.68
12846 841.3 10.7 709 12852 done 0.94 0.25 0.285 3238 -168.0 2.42 0.041 1674 -571.5 116.8 - - 2291 - - - - - - - - 13.57 14.14 14.02
13196 809.8 8.9 717 13202 roll 0.94 - - 3246 - 2.50 0.065 320 -541.6 116.8 - - 2291 - - - - - - - - 14.73 13.95 14.76
13240 805.8 9.8 723 13244 done 0.94 - - 3246 - 2.33 0.029 1679 583.3 116.8 - - 2290 - - - - - - - - 14.25 14.19 14.28
13588 772.2 9.7 731 13593 roll 0.94 - - 3246 - 2.47 0.048 3070 563.2 116.8 - - 2291 - - - - - - - - 14.69 13.95 14.71
13702 761.0 9.0 747 13707 done 0.94 - - 3255 - 2.45 0.041 1676 -569.0 116.8 - - 2290 - - - - - - - - 14.14 14.05 14.19
14036 728.5 9.7 760 14041 roll 0.94 - - 3265 - 2.50 0.064 319 -542.8 116.8 - - 2290 - - - - - - - - 14.73 13.93 14.76
14106 721.4 10.2 770 14111 done 0.94 0.15 0.272 3239 -173.3 2.35 0.028 1704 589.4 116.8 - - 2290 - - - - - - - - 13.48 14.15 13.85
14430 693.4 8.6 781 14435 roll 0.94 - - 3238 - 2.38 0.047 3041 561.8 116.8 - - 2290 - - - - - - - - 14.67 13.93 14.69
14492 687.8 8.9 790 14497 done 0.94 - - 3245 - 2.40 0.040 1675 -569.2 116.8 - - 2290 - - - - - - - - 14.14 14.04 14.19
14821 658.0 9.1 802 14826 roll 0.94 - - 3256 - 2.50 0.066 325 -540.0 116.8 - - 2290 - - - - - - - - 14.69 13.91 14.71
14879 652.7 9.8 810 14883 done 0.94 - - 3255 - 2.30 0.029 1673 586.1 116.8 - - 2287 - - - - - - - - 14.17 14.11 14.20
15213 621.2 9.4 823 15218 roll 0.94 - - 3255 - 2.47 0.049 3060 561.5 116.8 - - 2289 - - - - - - - - 14.74 13.90 14.76
15362 607.4 9.3 844 15367 done 0.94 0.15 0.280 3238 -113.3 2.45 0.041 1680 -563.3 116.8 - - 2289 - - - - - - - - 13.44 14.00 13.82
15717 578.6 8.0 853 15718 done 0.94 - - 3238 - - - 1680 - 116.8 - - 2288 - - - - - - - - 14.68 14.70 14.70
16053 550.9 8.3 859 16054 done 0.94 - - 3238 - - - 1681 - 116.8 - - 2288 - - - - - - - - 14.69 14.71 14.71
16389 522.2 8.6 865 16395 roll 0.94 - - 3246 - 2.50 0.065 325 -542.4 116.8 - - 2289 - - - - - - - - 14.69 13.88 14.71
16440 517.9 8.9 872 16446 done 0.94 - - 3246 - 2.33 0.029 1686 584.1 116.8 - - 2288 - - - - - - - - 14.15 14.09 14.19
16781 490.7 7.8 879 16786 roll 0.94 - - 3246 - 2.45 0.047 3055 558.8 117.2 - - 2288 - - - - - - - - 14.74 13.90 14.76
16914 480.3 7.8 898 16919 done 0.94 - - 3253 - 2.42 0.039 1683 -566.9 117.6 - - 2288 - - - - - - - - 14.10 14.00 14.15
17232 454.7 8.3 908 17232 done 0.94 - - 3253 - - - 1683 - 117.6 - - 2288 - - - - - - - - 14.66 14.69 14.69
17565 425.7 8.7 914 17570 roll 0.94 - - 3254 - 2.47 0.046 3060 557.5 117.6 - - 2288 - - - - - - - - 14.69 13.91 14.70
17628 419.9 9.3 923 17633 done 0.94 0.15 0.273 3235 -126.7 2.45 0.040 1672 -566.5 117.6 - - 2288 - - - - - - - - 13.42 13.98 13.78
17960 392.7 8.2 935 17964 roll 0.94 - - 3243 - 2.50 0.064 324 -539.2 117.6 - - 2288 - - - - - - - - 14.71 13.85 14.73
18000 389.2 8.7 941 18006 done 0.94 - - 3244 - 2.33 0.028 1683 583.3 117.6 - - 2289 - - - - - - - - 14.16 14.12 14.19
18350 361.3 7.9 949 18355 roll 0.94 - - 3243 - 2.45 0.046 3058 561.2 117.6 - - 2289 - - - - - - - - 14.76 13.88 14.77
18415 356.3 7.9 958 18419 done 0.94 - - 3252 - 2.42 0.040 1682 -568.6 117.6 - - 2289 - - - - - - - - 14.07 13.98 14.13
18742 331.5 7.5 970 18747 roll 0.94 - - 3263 - 2.53 0.065 321 -537.9 121.8 - - 2289 - - - - - - - - 14.69 13.76 14.71
18770 329.2 8.1 974 18775 done 0.94 - - 3263 - 2.33 0.028 1686 585.8 121.8 - - 2289 - - - - - - - - 14.17 14.12 14.20
19136 300.0 8.0 984 19141 roll 0.94 - - 3263 - 2.42 0.046 3055 565.7 121.8 - - 2288 - - - - - - - - 14.66 13.90 14.68
19267 288.6 8.5 1003 19273 done 0.94 0.17 0.259 3238 -147.1 2.45 0.040 1673 -564.1 121.8 - - 2288 - - - - - - - - 13.40 13.97 13.78
19584 265.5 7.2 1013 19594 roll 0.95 - - 3246 - 2.40 0.064 320 -563.8 129.4 4.18 1.008 2263 -6.0 0.314 - - - - - - 14.68 14.31 13.33
19638 261.2 7.8 1021 19644 done 0.95 - - 3246 - 2.30 0.027 1691 596.1 129.7 - - 2265 - - - - - - - - 14.33 14.26 14.35
19977 236.3 7.4 1034 19986 roll 0.96 - - 3246 - 2.33 0.045 3055 585.4 134.8 5.05 1.093 2241 -4.8 0.205 - - - - - - 14.68 14.16 13.44
20037 231.0 8.7 1043 20042 done 0.96 - - 3255 - 2.40 0.041 1679 -573.3 134.8 - - 2246 - - - - - - - - 14.25 14.12 14.26
20366 200.9 9.3 1055 20371 roll 0.96 - - 3265 - 2.47 0.063 324 -548.6 134.8 - - 2246 - - - - - - - - 14.74 13.89 14.76
20396 198.3 9.2 1059 20401 done 0.96 - - 3266 - 2.30 0.028 1677 588.3 134.8 - - 2244 - - - - - - - - 14.20 14.14 14.23
20759 169.9 7.2 1069 20777 roll 0.97 - - 3265 - 2.42 0.047 3058 570.7 143.2 14.93 1.215 2205 -2.6 0.073 - - - - - - 14.69 14.38 13.68
20917 157.5 8.9 1091 20922 done 0.97 0.15 0.260 3246 -126.7 2.40 0.041 1679 -574.6 143.2 - - 2199 - - - - - - - - 13.73 14.17 14.07
21267 128.0 8.6 1099 21272 roll 0.97 - - 3254 - 2.50 0.063 317 -544.8 143.2 - - 2199 - - - - - - - - 14.66 13.94 14.69
21349 121.4 7.9 1111 21354 done 0.97 - - 3253 - 2.30 0.027 1682 593.5 143.2 - - 2198 - - - - - - - - 14.25 14.20 14.28
21687 94.4 8.3 1121 21693 roll 0.97 - - 3253 - 2.45 0.045 3064 564.1 143.2 - - 2199 - - - - - - - - 14.72 13.88 14.74
21806 85.2 7.1 1138 21817 done 0.98 - - 3262 - 2.42 0.040 1680 -571.9 152.7 5.32 0.212 2169 -5.6 0.451 - - - - - - 14.14 14.07 13.85
22135 66.1 4.7 1152 22182 roll 1.03 - - 3273 - 2.40 0.063 320 -566.7 192.3 40.45 0.294 2013 -3.9 0.173 - - - - - - 14.68 14.38 14.09
22296 56.6 5.8 1174 22330 done 1.16 - - 3273 - 2.28 0.026 1710 609.6 218.2 27.05 0.263 1903 -4.1 0.174 - - - - - - 14.32 14.27 14.08
22645 42.4 0.4 1191 22735 roll 1.55 0.45 0.070 3446 384.4 2.47 0.061 316 -564.4 310.3 82.57 0.239 1527 -4.6 0.161 - - - - - - 14.07 14.42 14.12
22968 19.2 10.4 1238 22974 done 1.55 - - 3445 - 2.22 0.025 1657 604.1 310.3 - - 1534 - - - - - - - - 14.33 14.28 14.35
23138 end climb: SURFACE_DEPTH_REACHED
23138 begin surface coast
23166 end surface coast: CONTROL_FINISHED_OK
23167 begin surface
SM 1.04 - - - - -8.60 10.07 0.072 162 16.1 0.12 0.091 1783 6275.0 515.13 123.22 0.122 693 5.6 -0.005 - - - - - -