SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 723 * Raw log
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• Previous call tries 1 • 274.01 of 350.00 AH used of 24V (21.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.8 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 69 s
• GPS2 time: 30 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
11 begin dive
16 - - - 100 VBD -0.84 - - 144 - - - 1804 - -116.8 -82.78 - 3256 - - - - - - - - 14.61 - 14.63
105 5.8 -8.4 3 120 done -0.84 12.57 0.380 2650 199.4 - - 1802 - -116.8 -0.22 - 3272 -72.7 - - - - - - - 13.99 12.99 14.40
437 75.7 -11.6 18 438 done -0.58 0.35 0.262 2732 234.3 - - 1802 - -116.8 - - 3273 - - - - - - - - 13.64 14.10 14.00
745 97.0 -6.9 29 746 done -0.58 - - 2732 - - - 1802 - -116.8 - - 3274 - - - - - - - - 14.71 14.74 14.73
1081 125.3 -8.7 36 1085 roll -0.58 - - 2732 - 2.53 0.056 373 -564.8 -116.8 - - 3272 - - - - - - - - 14.73 14.09 14.76
1137 130.5 -9.4 44 1141 done -0.58 - - 2726 - 2.28 0.031 1738 598.7 -116.8 - - 3274 - - - - - - - - 14.33 14.26 14.35
1475 161.3 -9.4 57 1479 roll -0.58 - - 2715 - 2.47 0.052 3160 575.7 -116.8 - - 3273 - - - - - - - - 14.71 14.10 14.73
1550 168.7 -9.7 68 1554 done -0.58 - - 2715 - 2.38 0.037 1769 -584.5 -116.8 - - 3272 - - - - - - - - 14.28 14.19 14.31
1865 197.0 -8.8 78 1870 roll -0.58 - - 2715 - 2.50 0.059 370 -559.6 -116.8 - - 3269 - - - - - - - - 14.77 14.07 14.79
2046 213.2 -9.6 103 2051 done -0.58 0.15 0.247 2735 133.3 2.40 0.032 1772 584.2 -116.8 - - 3269 - - - - - - - - 13.73 14.25 13.99
2373 241.8 -8.7 115 2378 roll -0.58 - - 2727 - 2.42 0.051 3166 576.0 -116.8 - - 3266 - - - - - - - - 14.77 14.10 14.79
2417 245.6 -8.9 121 2422 done -0.58 - - 2727 - 2.38 0.037 1777 -583.6 -116.8 - - 3266 - - - - - - - - 14.28 14.19 14.31
2765 277.7 -9.3 129 2770 roll -0.58 - - 2727 - 2.55 0.060 369 -552.2 -116.8 - - 3263 - - - - - - - - 14.73 14.06 14.74
2998 301.6 -10.5 162 3004 done -0.58 - - 2718 - 2.40 0.032 1783 589.2 -116.8 - - 3261 - - - - - - - - 14.32 14.26 14.35
3326 334.2 -9.8 174 3332 roll -0.58 - - 2718 - 2.55 0.057 370 -554.1 -116.8 - - 3259 - - - - - - - - 14.73 14.07 14.75
3396 341.4 -10.2 184 3401 done -0.58 0.12 0.255 2732 116.7 2.40 0.032 1779 587.1 -116.8 - - 3259 - - - - - - - - 13.76 14.24 14.00
3720 370.5 -9.1 195 3725 roll -0.58 - - 2732 - 2.53 0.058 376 -554.5 -116.8 - - 3257 - - - - - - - - 14.75 14.03 14.77
3809 379.3 -9.5 208 3814 done -0.58 - - 2725 - 2.38 0.033 1773 587.0 -116.8 - - 3256 - - - - - - - - 14.29 14.23 14.32
4166 411.0 -8.8 217 4171 roll -0.58 - - 2715 - 2.45 0.053 3167 569.0 -116.8 - - 3255 - - - - - - - - 14.72 14.08 14.74
4224 415.8 -8.5 225 4229 done -0.58 - - 2715 - 2.40 0.037 1776 -579.6 -116.8 - - 3254 - - - - - - - - 14.15 14.06 14.18
4558 445.2 -8.8 238 4564 roll -0.58 - - 2715 - 2.53 0.061 376 -553.4 -116.8 - - 3253 - - - - - - - - 14.76 14.01 14.78
4671 455.9 -9.6 254 4676 done -0.58 0.15 0.249 2735 133.3 2.40 0.032 1789 588.8 -116.8 - - 3252 - - - - - - - - 13.70 14.25 13.96
5008 483.0 -7.9 267 5013 roll -0.58 - - 2735 - 2.58 0.060 376 -547.7 -116.8 - - 3250 - - - - - - - - 14.70 14.06 14.72
5084 489.3 -8.1 278 5089 done -0.58 - - 2729 - 2.38 0.033 1771 586.1 -116.8 - - 3250 - - - - - - - - 14.19 14.13 14.21
5400 512.9 -7.5 288 5405 roll -0.58 - - 2718 - 2.45 0.053 3163 568.2 -116.8 - - 3248 - - - - - - - - 14.76 14.04 14.78
5476 518.8 -7.7 299 5480 done -0.58 - - 2718 - 2.40 0.038 1776 -577.9 -116.8 - - 3248 - - - - - - - - 14.23 14.14 14.26
5791 544.9 -8.3 309 5796 roll -0.58 - - 2718 - 2.55 0.062 370 -551.4 -116.8 - - 3247 - - - - - - - - 14.72 14.00 14.74
5939 559.0 -9.6 330 5945 done -0.58 0.12 0.252 2732 116.7 2.40 0.034 1774 585.0 -116.8 - - 3246 - - - - - - - - 13.72 14.19 13.95
6296 590.0 -8.7 339 6297 done -0.58 - - 2732 - - - 1774 - -116.8 - - 3244 - - - - - - - - 14.73 14.74 14.74
6632 619.0 -8.6 345 6633 done -0.58 - - 2732 - - - 1774 - -116.8 - - 3244 - - - - - - - - 14.72 14.74 14.74
6970 646.5 -8.1 351 6970 done -0.58 - - 2732 - - - 1774 - -116.8 - - 3243 - - - - - - - - 14.71 14.73 14.72
7304 672.2 -7.6 357 7305 done -0.58 - - 2732 - - - 1774 - -116.8 - - 3242 - - - - - - - - 14.70 14.73 14.73
7640 698.5 -7.9 363 7645 roll -0.58 - - 2733 - 2.58 0.061 370 -544.2 -116.8 - - 3240 - - - - - - - - 14.71 13.95 14.73
7696 703.2 -8.5 371 7701 done -0.58 - - 2726 - 2.42 0.034 1774 580.2 -116.8 - - 3240 - - - - - - - - 14.26 14.20 14.30
8034 730.0 -7.9 384 8039 roll -0.58 - - 2715 - 2.50 0.056 3167 557.2 -116.8 - - 3239 - - - - - - - - 14.70 14.01 14.71
8116 736.5 -7.8 396 8121 done -0.58 - - 2715 - 2.42 0.039 1775 -575.2 -116.8 - - 3238 - - - - - - - - 14.19 14.09 14.22
8482 762.8 -6.9 406 8487 roll -0.58 - - 2715 - 2.58 0.063 373 -543.4 -116.8 - - 3237 - - - - - - - - 14.69 13.94 14.71
8667 776.0 -7.2 432 8672 done -0.58 0.15 0.251 2735 133.3 2.42 0.034 1778 580.6 -116.8 - - 3236 - - - - - - - - 13.59 14.16 13.85
8990 795.9 -6.1 443 8995 roll -0.58 - - 2727 - 2.47 0.057 3164 561.1 -116.8 - - 3236 - - - - - - - - 14.69 13.97 14.71
9030 798.7 -7.8 449 9035 done -0.68 - - 2727 - 2.42 0.039 1775 -574.0 -116.8 - - 3235 - - - - - - - - 14.19 14.10 14.23
9381 824.6 -7.6 457 9385 roll -0.68 - - 2727 - 2.58 0.063 372 -543.8 -116.8 - - 3235 - - - - - - - - 14.70 13.95 14.72
9508 835.8 -9.0 475 9513 done -0.68 - - 2718 - 2.45 0.034 1775 572.7 -116.8 - - 3237 - - - - - - - - 14.22 14.15 14.25
9828 864.6 -9.1 486 9833 roll -0.68 - - 2707 - 2.50 0.057 3170 558.0 -116.8 - - 3234 - - - - - - - - 14.70 13.95 14.71
9891 870.6 -9.6 495 9896 done -0.68 - - 2707 - 2.45 0.040 1770 -571.4 -116.8 - - 3233 - - - - - - - - 14.18 14.08 14.22
10223 903.3 -10.0 507 10227 roll -0.68 - - 2707 - 2.55 0.063 375 -547.1 -116.8 - - 3232 - - - - - - - - 14.68 13.95 14.70
10382 920.5 -10.6 530 10389 done -0.68 - - 2698 - 2.42 0.035 1773 577.7 -116.8 - - 3232 - - - - - - - - 14.20 14.12 14.23
10727 954.0 -9.7 537 10732 roll -0.68 - - 2688 - 2.45 0.057 3170 570.2 -116.8 - - 3232 - - - - - - - - 14.68 13.93 14.70
10767 958.0 -7.6 543 10772 done -0.68 - - 2688 - 2.45 0.040 1771 -571.0 -116.8 - - 3231 - - - - - - - - 14.19 14.09 14.26
11117 989.6 -8.7 551 11122 roll -0.68 - - 2688 - 2.58 0.064 373 -541.9 -116.8 - - 3231 - - - - - - - - 14.74 13.90 14.76
11126 end dive: TARGET_DEPTH_EXCEEDED
11126 begin apogee
11140 991.5 -8.8 553 11265 done -0.21 0.75 0.244 2856 224.0 - - 1690 - - 122.22 2.200 2793 -3.6 0.336 - - - - - - 13.59 13.43 12.53
11266 end apogee: CONTROL_FINISHED_OK
11266 begin climb
11271 995.5 - 555 11415 roll 0.84 1.25 0.166 3190 267.2 2.78 0.047 3068 495.7 116.8 133.07 2.183 2303 -3.7 0.349 - - - - - - 13.36 12.49 11.80
11522 979.8 8.6 594 11528 done 0.84 - - 3198 - 2.65 0.039 1685 -521.9 116.8 - - 2296 - - - - - - - - 13.07 12.98 13.12
11859 950.2 8.8 607 11864 roll 0.84 - - 3208 - 2.60 0.066 312 -528.1 116.8 - - 2294 - - - - - - - - 14.26 13.72 14.28
11930 943.6 9.5 617 11936 done 0.84 - - 3209 - 2.42 0.029 1696 571.9 116.8 - - 2294 - - - - - - - - 13.93 13.88 13.95
12251 914.7 8.7 628 12256 roll 0.84 - - 3208 - 2.45 0.049 3059 556.3 116.8 - - 2293 - - - - - - - - 14.55 13.90 14.58
12370 904.1 8.7 645 12375 done 0.84 - - 3217 - 2.45 0.043 1676 -564.5 116.8 - - 2292 - - - - - - - - 14.09 14.00 14.13
12701 876.3 8.5 657 12706 roll 0.84 - - 3228 - 2.53 0.067 320 -536.0 116.8 - - 2291 - - - - - - - - 14.55 13.94 14.57
12727 873.8 8.9 661 12733 done 0.74 0.25 0.248 3174 -216.0 2.33 0.029 1698 591.4 116.8 - - 2291 - - - - - - - - 13.52 14.15 13.92
13092 850.1 6.1 671 13131 roll 0.78 - - 3174 - 2.40 0.051 3033 556.2 149.4 32.90 2.017 2174 -3.6 0.312 - - - - - - 14.66 14.12 13.24
13223 842.2 6.7 689 13250 done 0.80 - - 3180 - 2.40 0.041 1672 -567.1 170.9 22.48 1.991 2095 -3.5 0.309 - - - - - - 14.12 14.04 13.23
13596 816.1 6.9 701 13614 done 0.82 - - 3180 - - - 1672 - 188.2 17.30 1.972 2025 -4.0 0.348 - - - - - - 14.64 14.20 13.33
13933 791.9 7.3 707 13943 roll 0.84 - - 3180 - 2.40 0.048 3048 573.3 198.9 4.05 1.341 1981 -10.9 1.334 - - - - - - 14.63 14.36 13.26
13966 789.2 7.8 712 13971 done 0.84 - - 3188 - 2.40 0.041 1681 -569.6 199.8 - - 1982 - - - - - - - - 14.23 14.14 14.26
14323 759.4 8.5 721 14324 done 0.84 - - 3188 - - - 1679 - 199.8 - - 1984 - - - - - - - - 14.61 14.64 14.63
14661 728.4 9.3 727 14666 roll 0.84 - - 3199 - 2.53 0.067 317 -538.3 199.8 - - 1984 - - - - - - - - 14.60 13.95 14.62
14688 725.6 9.7 731 14692 done 0.84 - - 3198 - 2.30 0.030 1667 587.0 199.8 - - 1983 - - - - - - - - 14.24 14.19 14.27
15052 688.4 10.2 741 15057 roll 0.84 - - 3199 - 2.47 0.049 3059 563.6 199.8 - - 1983 - - - - - - - - 14.63 13.98 14.65
15208 672.6 10.0 763 15212 done 0.84 - - 3206 - 2.45 0.041 1672 -566.1 199.8 - - 1984 - - - - - - - - 14.14 14.05 14.18
15556 638.6 9.7 771 15561 roll 0.84 - - 3216 - 2.47 0.067 326 -544.9 199.8 - - 1983 - - - - - - - - 14.64 13.91 14.66
15612 633.2 10.1 779 15617 done 0.84 - - 3216 - 2.33 0.030 1689 585.0 199.8 - - 1983 - - - - - - - - 14.21 14.15 14.23
15950 601.2 9.4 792 15954 roll 0.84 - - 3216 - 2.42 0.049 3055 564.5 199.8 - - 1983 - - - - - - - - 14.68 13.95 14.70
16053 591.3 9.3 807 16059 done 0.84 - - 3224 - 2.42 0.041 1682 -567.4 199.8 - - 1983 - - - - - - - - 14.14 14.04 14.17
16398 560.0 9.1 814 16404 roll 0.84 - - 3234 - 2.53 0.066 321 -537.9 199.8 - - 1983 - - - - - - - - 14.64 13.91 14.66
16488 551.5 9.2 827 16493 done 0.84 0.15 0.242 3205 -193.3 2.33 0.029 1700 591.8 199.8 - - 1983 - - - - - - - - 13.57 14.16 13.88
16845 524.1 7.7 836 16857 roll 0.84 - - 3205 - 2.35 0.049 3039 569.8 203.6 4.22 1.223 1962 -5.0 0.443 - - - - - - 14.66 14.40 13.18
16924 517.9 8.0 847 16929 done 0.84 - - 3210 - 2.38 0.042 1680 -571.0 203.6 - - 1967 - - - - - - - - 14.24 14.15 14.28
17238 491.2 8.6 857 17238 done 0.84 - - 3211 - - - 1679 - 203.6 - - 1967 - - - - - - - - 14.66 14.67 14.67
17573 461.0 9.1 863 17578 roll 0.84 - - 3221 - 2.50 0.066 321 -543.2 203.6 - - 1967 - - - - - - - - 14.65 13.90 14.67
17617 457.0 9.8 869 17622 done 0.84 - - 3221 - 2.30 0.029 1670 586.5 203.6 - - 1968 - - - - - - - - 14.23 14.17 14.26
17967 423.9 9.3 877 17972 roll 0.84 - - 3222 - 2.47 0.048 3063 564.0 203.6 - - 1968 - - - - - - - - 14.70 13.93 14.72
18107 410.8 9.5 897 18112 done 0.84 - - 3231 - 2.45 0.042 1677 -565.7 203.6 - - 1967 - - - - - - - - 14.13 14.03 14.16
18473 376.8 9.3 907 18478 roll 0.84 - - 3242 - 2.50 0.066 320 -542.8 203.6 - - 1968 - - - - - - - - 14.69 13.86 14.71
18513 372.7 9.8 913 18519 done 0.84 0.17 0.236 3206 -211.8 2.33 0.030 1690 588.0 203.6 - - 1968 - - - - - - - - 13.52 14.14 13.81
18864 344.8 7.9 921 18868 roll 0.84 - - 3205 - 2.40 0.047 3051 567.1 203.6 - - 1968 - - - - - - - - 14.66 13.94 14.69
18921 340.4 8.0 929 18926 done 0.84 - - 3212 - 2.42 0.041 1680 -566.5 203.6 - - 1968 - - - - - - - - 14.13 14.03 14.17
19256 314.3 7.8 942 19267 roll 0.84 - - 3222 - 2.47 0.067 320 -550.6 205.2 3.42 0.890 1952 -4.7 0.343 - - - - - - 14.66 14.35 13.15
19291 311.3 8.4 947 19295 done 0.84 - - 3222 - 2.28 0.029 1674 593.9 205.2 - - 1958 - - - - - - - - 14.35 14.31 14.38
19649 279.7 9.1 956 19654 roll 0.84 - - 3222 - 2.45 0.047 3059 565.3 205.2 - - 1960 - - - - - - - - 14.71 13.96 14.72
19711 273.5 9.7 965 19716 done 0.84 - - 3230 - 2.45 0.041 1674 -565.3 205.2 - - 1960 - - - - - - - - 14.12 14.02 14.16
20042 241.0 9.9 977 20042 done 0.84 - - 3231 - - - 1674 - 205.2 - - 1960 - - - - - - - - 14.64 14.66 14.66
20376 209.6 9.3 983 20381 roll 0.84 - - 3242 - 2.50 0.066 321 -541.2 205.2 - - 1960 - - - - - - - - 14.66 13.73 14.68
20404 206.9 9.3 987 20409 done 0.84 0.17 0.227 3205 -217.6 2.30 0.028 1695 597.4 205.2 - - 1961 - - - - - - - - 13.54 14.14 13.81
20768 180.0 7.1 997 20801 roll 0.86 - - 3206 - 2.38 0.048 3042 566.0 220.1 26.45 1.194 1889 -2.7 0.085 - - - - - - 14.65 14.32 13.59
20847 174.7 6.9 1008 20871 done 0.88 - - 3211 - 2.40 0.042 1672 -570.8 237.4 18.17 1.197 1819 -3.9 0.117 - - - - - - 14.21 14.12 13.57
21216 147.8 7.3 1019 21227 roll 0.90 - - 3222 - 2.45 0.066 318 -552.7 247.3 3.75 0.837 1783 -9.6 0.352 - - - - - - 14.65 14.32 13.50
21259 144.5 8.1 1025 21264 done 0.90 - - 3222 - 2.28 0.028 1672 593.9 247.3 - - 1786 - - - - - - - - 14.32 14.27 14.34
21608 113.6 9.0 1033 21613 roll 0.90 - - 3222 - 2.42 0.046 3053 570.7 247.3 - - 1787 - - - - - - - - 14.66 14.04 14.67
21727 102.8 9.2 1050 21732 done 0.90 - - 3230 - 2.42 0.042 1679 -567.8 247.3 - - 1787 - - - - - - - - 14.16 14.06 14.19
22058 74.6 8.7 1067 22062 roll 0.90 - - 3240 - 2.47 0.064 323 -549.0 247.3 - - 1787 - - - - - - - - 14.64 13.97 14.66
22091 71.4 9.3 1072 22096 done 0.90 - - 3240 - 2.30 0.029 1681 590.4 247.3 - - 1786 - - - - - - - - 14.14 14.10 14.16
22422 48.3 5.4 1086 22469 roll 1.09 0.12 0.131 3301 508.3 2.50 0.063 316 -546.0 293.9 42.47 0.248 1599 -4.4 0.178 - - - - - - 14.21 14.34 14.08
22537 44.9 2.4 1099 22630 done 1.36 0.20 0.093 3374 365.0 2.30 0.027 1693 598.7 394.6 88.00 0.241 1185 -4.7 0.182 - - - - - - 14.14 14.26 14.04
22939 13.8 7.8 1124 22945 roll 1.36 - - 3374 - 2.40 0.044 3051 565.8 395.4 2.72 0.142 1180 -1.8 0.037 - - - - - - 14.70 14.23 14.05
22967 11.5 8.3 1128 22971 done 1.36 - - 3382 - 2.40 0.042 1674 -573.8 395.4 - - 1187 - - - - - - - - 14.23 14.14 14.27
23067 end climb: SURFACE_DEPTH_REACHED
23067 begin surface coast
23095 end surface coast: CONTROL_FINISHED_OK
23095 begin surface
SM 0.98 - - - - -8.60 9.80 0.067 159 16.2 0.10 0.108 1787 7570.0 515.13 74.07 0.121 692 9.3 -0.008 - - - - - -