SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 719 * Raw log
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• Previous call tries 1 • 272.63 of 350.00 AH used of 24V (22.11% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.1 deg, depth 1.03 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: 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 99 VBD -0.84 - - 144 - - - 1770 - -116.8 -82.68 - 3209 - - - - - - - - 14.62 - 14.64
104 5.3 -7.4 3 126 roll -0.84 12.15 0.366 2643 205.7 2.70 2.028 3152 511.9 -116.8 -0.93 - 3274 -69.9 - - - - - - - 14.00 12.81 14.44
198 37.9 -24.4 17 203 done -0.51 0.50 0.258 2758 230.0 2.35 0.041 1774 -586.4 -116.8 - - 3275 - - - - - - - - 13.72 14.25 14.04
520 75.6 -8.6 30 524 roll -0.51 - - 2758 - 2.47 0.057 370 -568.4 -116.8 - - 3275 - - - - - - - - 14.73 14.15 14.75
674 90.8 -8.0 52 678 done -0.51 - - 2751 - 2.33 0.031 1764 598.3 -116.8 - - 3276 - - - - - - - - 14.26 14.21 14.28
1026 118.3 -7.9 62 1027 done -0.51 - - 2751 - - - 1764 - -116.8 - - 3276 - - - - - - - - 14.77 14.79 14.78
1360 147.7 -8.9 68 1364 roll -0.51 - - 2740 - 2.42 0.051 3159 576.4 -116.8 - - 3276 - - - - - - - - 14.75 14.09 14.77
1402 151.3 -8.6 74 1406 done -0.51 - - 2741 - 2.38 0.037 1762 -587.0 -116.8 - - 3276 - - - - - - - - 14.29 14.21 14.33
1753 182.5 -9.0 82 1758 roll -0.51 - - 2740 - 2.47 0.057 379 -559.9 -116.8 - - 3274 - - - - - - - - 14.77 13.95 14.80
1857 192.6 -9.5 97 1864 done -0.51 0.15 0.236 2762 146.7 2.35 0.031 1772 592.8 -116.8 - - 3272 - - - - - - - - 13.73 14.24 13.97
2200 218.6 -7.4 104 2205 roll -0.51 - - 2754 - 2.42 0.051 3162 574.4 -116.8 - - 3271 - - - - - - - - 14.74 14.09 14.76
2258 222.6 -7.2 112 2263 done -0.61 - - 2754 - 2.38 0.037 1775 -582.8 -116.8 - - 3270 - - - - - - - - 14.25 14.16 14.28
2592 247.3 -7.3 125 2597 roll -0.61 - - 2754 - 2.50 0.059 375 -560.0 -116.8 - - 3268 - - - - - - - - 14.73 14.04 14.76
2747 259.5 -8.0 147 2752 done -0.61 - - 2751 - 2.38 0.031 1775 588.2 -116.8 - - 3267 - - - - - - - - 14.29 14.23 14.31
3096 287.6 -8.1 155 3101 roll -0.61 - - 2735 - 2.42 0.052 3161 572.7 -116.8 - - 3264 - - - - - - - - 14.74 14.04 14.76
3145 291.7 -8.4 162 3151 done -0.61 - - 2735 - 2.40 0.036 1769 -580.0 -116.8 - - 3264 - - - - - - - - 14.24 14.16 14.27
3488 321.8 -8.8 169 3493 roll -0.61 - - 2735 - 2.53 0.059 375 -551.0 -116.8 - - 3262 - - - - - - - - 14.74 14.02 14.76
3574 329.6 -9.4 181 3579 done -0.61 - - 2726 - 2.40 0.031 1782 586.2 -116.8 - - 3261 - - - - - - - - 14.26 14.20 14.28
3936 363.6 -9.5 191 3941 roll -0.61 - - 2716 - 2.45 0.054 3170 566.5 -116.8 - - 3259 - - - - - - - - 14.73 14.02 14.76
4043 373.5 -9.4 206 4049 done -0.61 - - 2716 - 2.42 0.038 1767 -579.8 -116.8 - - 3259 - - - - - - - - 14.10 14.02 14.14
4384 404.8 -8.9 213 4389 roll -0.61 - - 2716 - 2.53 0.060 372 -551.4 -116.8 - - 3257 - - - - - - - - 14.78 14.00 14.81
4503 415.4 -8.7 230 4508 done -0.61 - - 2708 - 2.40 0.032 1774 584.2 -116.8 - - 3256 - - - - - - - - 14.15 14.09 14.19
4834 443.0 -8.4 242 4839 roll -0.61 - - 2696 - 2.45 0.054 3163 566.9 -116.8 - - 3255 - - - - - - - - 14.72 14.04 14.74
4895 448.3 -8.4 251 4901 done -0.61 0.15 0.234 2727 206.7 2.40 0.037 1774 -578.8 -116.8 - - 3255 - - - - - - - - 13.66 14.12 13.91
5225 473.5 -7.7 263 5229 roll -0.61 - - 2727 - 2.55 0.060 372 -549.8 -116.8 - - 3253 - - - - - - - - 14.78 13.98 14.80
5302 480.1 -8.7 274 5306 done -0.61 - - 2720 - 2.40 0.033 1775 584.6 -116.8 - - 3252 - - - - - - - - 14.27 14.21 14.29
5617 508.6 -9.2 284 5622 roll -0.61 - - 2709 - 2.45 0.054 3163 566.5 -116.8 - - 3252 - - - - - - - - 14.73 14.00 14.74
5707 517.2 -9.4 297 5713 done -0.61 - - 2709 - 2.40 0.038 1776 -577.9 -116.8 - - 3251 - - - - - - - - 14.23 14.14 14.26
6066 551.1 -9.4 306 6071 roll -0.61 - - 2709 - 2.55 0.061 378 -548.2 -116.8 - - 3250 - - - - - - - - 14.76 13.95 14.78
6177 561.5 -9.0 322 6182 done -0.61 0.15 0.250 2729 133.3 2.40 0.033 1776 582.5 -116.8 - - 3249 - - - - - - - - 13.63 14.21 13.88
6515 586.1 -7.2 335 6520 roll -0.61 - - 2718 - 2.47 0.054 3171 564.8 -116.8 - - 3248 - - - - - - - - 14.71 14.00 14.73
6583 591.1 -7.1 345 6588 done -0.61 - - 2721 - 2.45 0.040 1770 -571.8 -116.8 - - 3247 - - - - - - - - 14.07 13.98 14.11
6905 615.2 -7.5 356 6910 roll -0.61 - - 2721 - 2.55 0.061 375 -547.1 -116.8 - - 3246 - - - - - - - - 14.78 13.93 14.79
7019 624.4 -8.2 372 7024 done -0.61 - - 2712 - 2.40 0.033 1772 582.1 -116.8 - - 3245 - - - - - - - - 14.26 14.19 14.28
7354 650.8 -7.8 385 7359 roll -0.61 - - 2701 - 2.47 0.053 3167 564.8 -116.8 - - 3246 - - - - - - - - 14.72 14.00 14.74
7388 653.6 -8.1 390 7393 done -0.61 0.15 0.235 2731 200.0 2.42 0.038 1769 -577.7 -116.8 - - 3245 - - - - - - - - 13.64 14.12 13.88
7747 681.5 -8.0 399 7752 roll -0.61 - - 2732 - 2.55 0.063 377 -545.9 -116.8 - - 3244 - - - - - - - - 14.76 13.91 14.78
7850 691.1 -9.1 414 7856 done -0.61 - - 2724 - 2.42 0.034 1779 579.3 -116.8 - - 3243 - - - - - - - - 14.21 14.14 14.23
8193 723.8 -9.8 421 8194 done -0.61 - - 2725 - - - 1778 - -116.8 - - 3242 - - - - - - - - 14.72 14.74 14.72
8531 756.6 -9.7 427 8536 roll -0.61 - - 2714 - 2.47 0.056 3164 561.1 -116.8 - - 3241 - - - - - - - - 14.71 13.95 14.73
8620 765.2 -10.2 440 8625 done -0.61 - - 2714 - 2.42 0.038 1777 -573.1 -116.8 - - 3244 - - - - - - - - 14.15 14.06 14.19
8977 797.0 -8.7 449 8983 roll -0.61 - - 2714 - 2.58 0.062 374 -543.8 -116.8 - - 3239 - - - - - - - - 14.72 13.89 14.74
9098 807.2 -8.5 466 9103 done -0.61 - - 2706 - 2.45 0.034 1779 573.5 -116.8 - - 3239 - - - - - - - - 14.20 14.14 14.23
9426 831.9 -7.4 478 9430 roll -0.61 - - 2695 - 2.50 0.057 3172 557.2 -116.8 - - 3238 - - - - - - - - 14.76 13.90 14.78
9490 836.4 -7.1 487 9495 done -0.61 0.15 0.238 2729 226.7 2.45 0.040 1775 -570.2 -116.8 - - 3238 - - - - - - - - 13.56 14.04 13.82
9818 856.0 -6.0 499 9823 roll -0.61 - - 2726 - 2.58 0.064 376 -542.2 -116.8 - - 3238 - - - - - - - - 14.71 13.87 14.74
9916 862.5 -6.6 513 9921 done -0.61 - - 2720 - 2.42 0.034 1774 577.7 -116.8 - - 3237 - - - - - - - - 14.19 14.13 14.23
10268 884.2 -6.2 521 10274 roll -0.61 - - 2708 - 2.50 0.056 3167 557.2 -116.8 - - 3237 - - - - - - - - 14.75 13.91 14.77
10344 889.1 -6.2 532 10349 done -0.61 - - 2708 - 2.45 0.039 1774 -568.6 -116.8 - - 3236 - - - - - - - - 14.13 14.03 14.17
10659 910.2 -6.8 542 10664 roll -0.61 - - 2708 - 2.58 0.063 376 -541.9 -116.8 - - 3236 - - - - - - - - 14.71 13.87 14.73
10752 917.0 -7.5 555 10757 done -0.61 0.15 0.252 2727 126.7 2.45 0.034 1781 573.5 -116.8 - - 3235 - - - - - - - - 13.53 14.14 13.80
11108 940.2 -6.7 564 11113 roll -0.61 - - 2716 - 2.50 0.057 3168 554.8 -116.8 - - 3234 - - - - - - - - 14.76 13.89 14.78
11201 946.5 -6.9 577 11206 done -0.70 - - 2719 - 2.45 0.040 1777 -567.8 -116.8 - - 3234 - - - - - - - - 14.12 14.02 14.16
11558 973.1 -7.5 586 11563 roll -0.70 - - 2720 - 2.60 0.064 369 -541.5 -116.8 - - 3234 - - - - - - - - 14.71 13.88 14.73
11686 983.6 -8.3 604 11691 done -0.70 - - 2710 - 2.47 0.035 1780 571.3 -116.8 - - 3234 - - - - - - - - 14.16 14.09 14.20
11777 end dive: TARGET_DEPTH_EXCEEDED
11778 begin apogee
11788 991.5 -7.8 611 11913 done -0.21 0.62 0.238 2856 235.5 - - 1653 - - 122.22 2.210 2795 -3.6 0.334 - - - - - - 13.58 13.57 12.70
11914 end apogee: CONTROL_FINISHED_OK
11914 begin climb
11919 996.9 - 613 12067 roll 0.84 1.23 0.167 3202 281.3 2.70 0.064 353 -481.5 116.8 131.73 2.173 2305 -3.7 0.354 - - - - - - 13.46 12.76 11.93
12103 989.5 7.3 642 12114 done 0.85 - - 3201 - 2.53 0.028 1696 530.8 127.7 5.22 1.583 2269 -6.9 0.895 - - - - - - 13.00 12.95 11.82
12460 963.2 7.6 651 12471 roll 0.86 - - 3201 - 2.50 0.050 3063 546.8 133.2 4.38 1.465 2248 -4.8 0.654 - - - - - - 14.26 13.79 12.74
12580 953.9 7.8 668 12585 done 0.86 - - 3209 - 2.42 0.041 1707 -560.3 134.1 - - 2248 - - - - - - - - 13.95 13.87 13.99
12908 927.7 8.1 680 12913 roll 0.86 - - 3220 - 2.58 0.065 321 -537.2 134.1 - - 2249 - - - - - - - - 14.59 13.93 14.61
12958 923.4 9.0 687 12965 done 0.76 0.20 0.249 3180 -200.0 2.35 0.029 1704 588.5 134.1 - - 2248 - - - - - - - - 13.57 14.13 13.90
13300 898.8 7.2 694 13328 roll 0.78 - - 3179 - 2.40 0.049 3047 559.6 146.7 23.85 1.955 2189 -2.5 0.236 - - - - - - 14.61 14.28 13.50
13432 889.2 7.7 712 13437 done 0.78 - - 3186 - 2.40 0.041 1678 -570.4 149.8 - - 2181 - - - - - - - - 14.20 14.11 14.23
13746 865.4 7.4 722 13757 roll 0.79 - - 3196 - 2.45 0.067 326 -551.8 157.6 5.15 1.633 2149 -6.2 0.683 - - - - - - 14.69 14.37 13.38
13808 860.5 8.1 731 13813 done 0.79 - - 3196 - 2.28 0.030 1671 589.9 157.6 - - 2152 - - - - - - - - 14.31 14.26 14.33
14139 834.8 8.0 743 14144 roll 0.79 - - 3192 - 2.45 0.049 3054 564.5 157.6 - - 2151 - - - - - - - - 14.63 14.02 14.65
14264 824.1 8.4 761 14268 done 0.79 - - 3204 - 2.42 0.041 1681 -567.4 157.6 - - 2153 - - - - - - - - 14.17 14.07 14.21
14587 796.7 8.6 772 14592 roll 0.79 - - 3215 - 2.50 0.066 323 -543.2 157.6 - - 2152 - - - - - - - - 14.70 13.92 14.72
14642 791.5 9.5 780 14646 done 0.79 - - 3215 - 2.33 0.029 1688 585.8 157.6 - - 2153 - - - - - - - - 14.23 14.17 14.25
14978 761.0 9.1 793 14983 roll 0.79 - - 3215 - 2.42 0.048 3054 564.5 157.6 - - 2154 - - - - - - - - 14.66 13.95 14.68
15077 752.1 8.9 807 15082 done 0.79 0.17 0.259 3189 -152.9 2.42 0.040 1673 -570.7 157.6 - - 2152 - - - - - - - - 13.50 14.06 13.82
15426 726.5 7.1 815 15451 done 0.81 - - 3189 - - - 1673 - 171.7 23.92 1.864 2092 -2.5 0.203 - - - - - - 14.72 14.31 13.48
15762 703.3 6.8 821 15787 roll 0.83 - - 3197 - 2.42 0.067 324 -557.4 190.5 20.40 1.860 2008 -4.1 0.323 - - - - - - 14.71 14.31 13.53
15819 699.4 7.3 829 15830 done 0.85 - - 3197 - 2.30 0.031 1675 587.4 201.4 5.00 1.457 1971 -7.4 0.737 - - - - - - 14.25 14.19 13.28
16154 673.7 7.8 842 16160 roll 0.85 - - 3197 - 2.45 0.049 3060 565.3 203.3 2.35 0.534 1961 -4.3 1.114 - - - - - - 14.67 14.33 13.16
16261 664.8 8.5 857 16265 done 0.85 - - 3205 - 2.42 0.042 1678 -571.1 203.3 - - 1965 - - - - - - - - 14.23 14.14 14.26
16595 637.2 8.2 870 16600 roll 0.85 - - 3216 - 2.50 0.067 321 -542.8 203.3 - - 1966 - - - - - - - - 14.71 13.95 14.73
16672 630.8 8.4 881 16677 done 0.85 - - 3216 - 2.33 0.029 1687 586.3 203.3 - - 1966 - - - - - - - - 14.26 14.21 14.28
16989 605.6 8.0 891 16993 roll 0.85 - - 3216 - 2.42 0.047 3057 566.1 203.3 - - 1966 - - - - - - - - 14.64 13.97 14.66
17057 599.6 8.6 901 17062 done 0.85 - - 3223 - 2.42 0.041 1685 -566.9 203.3 - - 1966 - - - - - - - - 14.16 14.06 14.20
17379 569.8 9.5 912 17384 roll 0.85 - - 3234 - 2.53 0.066 310 -543.5 203.3 - - 1966 - - - - - - - - 14.66 13.93 14.68
17430 564.7 10.7 919 17436 done 0.85 0.15 0.245 3205 -193.3 2.35 0.029 1701 591.9 203.3 - - 1966 - - - - - - - - 13.57 14.15 13.84
17771 533.8 8.9 926 17776 roll 0.85 - - 3205 - 2.38 0.047 3042 563.4 203.3 - - 1966 - - - - - - - - 14.71 13.95 14.73
17848 526.6 9.2 937 17853 done 0.85 - - 3211 - 2.42 0.041 1671 -566.5 203.3 - - 1966 - - - - - - - - 14.13 14.03 14.16
18165 497.9 9.1 947 18170 roll 0.85 - - 3222 - 2.50 0.065 314 -542.8 203.3 - - 1966 - - - - - - - - 14.64 13.88 14.66
18198 494.6 9.4 952 18203 done 0.85 - - 3222 - 2.33 0.029 1669 581.5 203.3 - - 1963 - - - - - - - - 14.21 14.14 14.23
18555 460.7 9.5 961 18560 roll 0.85 - - 3222 - 2.47 0.048 3060 563.2 203.3 - - 1966 - - - - - - - - 14.66 13.93 14.67
18676 448.7 10.1 978 18681 done 0.85 - - 3231 - 2.45 0.041 1676 -564.9 203.3 - - 1966 - - - - - - - - 14.12 14.01 14.14
19004 416.1 9.9 990 19009 roll 0.85 - - 3242 - 2.50 0.065 320 -542.4 203.3 - - 1966 - - - - - - - - 14.67 13.88 14.69
19082 407.9 10.6 1001 19087 done 0.85 0.17 0.241 3206 -211.8 2.33 0.028 1696 590.6 203.3 - - 1966 - - - - - - - - 13.50 14.15 13.79
19396 381.1 8.3 1011 19401 roll 0.85 - - 3206 - 2.40 0.047 3048 563.3 203.3 - - 1966 - - - - - - - - 14.66 13.96 14.69
19452 376.4 8.3 1019 19457 done 0.85 - - 3212 - 2.45 0.041 1672 -561.6 203.3 - - 1966 - - - - - - - - 14.09 13.99 14.12
19790 350.8 7.5 1032 19809 roll 0.86 - - 3222 - 2.47 0.067 314 -549.8 210.6 14.88 1.437 1927 -2.6 0.133 - - - - - - 14.69 14.38 13.60
19844 346.6 7.8 1040 19849 done 0.86 - - 3222 - 2.30 0.028 1674 591.3 210.8 - - 1922 - - - - - - - - 14.32 14.26 14.34
20173 319.6 8.4 1052 20178 roll 0.86 - - 3222 - 2.45 0.048 3057 564.5 210.8 - - 1920 - - - - - - - - 14.67 14.03 14.69
20238 314.0 9.0 1061 20242 done 0.86 - - 3229 - 2.42 0.041 1677 -570.2 210.8 - - 1920 - - - - - - - - 14.20 14.10 14.26
20565 285.1 8.7 1073 20566 done 0.86 - - 3231 - - - 1676 - 210.8 - - 1920 - - - - - - - - 14.67 14.70 14.69
20901 255.4 9.0 1079 20906 roll 0.86 - - 3242 - 2.53 0.066 322 -535.2 210.8 - - 1920 - - - - - - - - 14.67 13.81 14.69
20931 252.7 9.6 1083 20936 done 0.86 0.15 0.233 3212 -200.0 2.30 0.028 1696 597.4 210.8 - - 1920 - - - - - - - - 13.59 14.17 13.88
21293 222.8 7.9 1093 21298 roll 0.86 - - 3212 - 2.40 0.047 3044 561.7 210.8 - - 1920 - - - - - - - - 14.71 13.95 14.73
21349 218.5 7.5 1101 21356 done 0.87 - - 3217 - 2.40 0.041 1678 -569.2 216.5 2.17 0.341 1910 -4.6 0.613 - - - - - - 14.12 14.02 12.93
21680 193.8 7.6 1113 21690 roll 0.87 - - 3231 - 2.40 0.063 316 -567.5 221.3 4.93 1.044 1888 -4.5 0.172 - - - - - - 14.66 14.14 13.41
21706 191.5 8.2 1117 21711 done 0.87 - - 3229 - 2.28 0.028 1669 593.4 221.3 - - 1892 - - - - - - - - 14.33 14.28 14.35
22072 158.6 9.1 1127 22077 roll 0.87 - - 3228 - 2.47 0.046 3061 563.6 221.3 - - 1893 - - - - - - - - 14.66 14.00 14.69
22150 151.1 9.3 1138 22155 done 0.87 - - 3237 - 2.42 0.041 1680 -570.7 221.3 - - 1893 - - - - - - - - 14.12 14.02 14.16
22464 122.3 9.2 1148 22469 roll 0.87 - - 3243 - 2.50 0.063 316 -545.6 221.3 - - 1894 - - - - - - - - 14.72 13.86 14.74
22494 119.7 9.2 1152 22499 done 0.87 0.15 0.230 3216 -180.0 2.33 0.028 1698 593.1 221.3 - - 1893 - - - - - - - - 13.60 14.15 13.84
22829 94.9 7.0 1162 22847 done 0.89 - - 3216 - - - 1698 - 236.4 17.05 0.340 1830 -3.7 0.214 - - - - - - 14.66 14.38 13.95
23137 73.7 5.7 1173 23184 roll 1.04 0.17 0.103 3291 441.2 2.45 0.062 325 -560.4 276.1 41.35 0.316 1669 -3.9 0.188 - - - - - - 14.21 14.22 14.02
23215 68.3 7.8 1181 23226 done 1.04 - - 3290 - 2.28 0.028 1673 591.2 277.1 3.28 0.156 1667 - - - - - - - - 14.31 14.26 13.89
23557 45.8 5.1 1197 23611 roll 1.11 - - 3295 - 2.40 0.062 317 -565.0 328.6 48.42 0.246 1455 -4.4 0.169 - - - - - - 14.68 14.31 14.14
23696 41.9 3.5 1216 23772 done 1.40 0.28 0.078 3396 360.7 2.30 0.028 1690 597.0 409.1 70.32 0.233 1124 -4.7 0.176 - - - - - - 14.20 14.30 14.12
24090 6.4 9.2 1240 24100 roll 1.40 - - 3402 - 2.40 0.044 3044 564.2 409.1 2.25 0.145 1124 - - - - - - - - 14.66 14.25 14.09
24133 end climb: SURFACE_DEPTH_REACHED
24133 begin surface coast
24140 end surface coast: CONTROL_FINISHED_OK
24140 begin surface
SM 0.82 - - - - -8.59 9.82 0.067 158 16.1 2.22 0.035 1768 -3010.8 515.13 65.03 0.122 691 10.6 -0.007 - - - - - -