SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 729 * Raw log
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• Previous call tries 1 • 276.08 of 350.00 AH used of 24V (21.12% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.0 deg, depth 0.99 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.13 (SM_CC=515)
• GPS1 time: 39 s
• GPS2 time: 16 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
15 - - - 99 done -0.84 - - 142 - - - 1790 - -116.8 -82.85 - 3272 - - - - - - - - 14.35 12.12 14.37
104 6.2 -9.0 3 126 roll -0.84 13.05 0.382 2642 191.6 2.38 0.047 3135 565.1 -116.8 - - 3274 - - - - - - - - 13.71 14.15 14.09
272 53.5 -14.8 27 277 done -0.59 0.40 0.254 2734 230.0 2.35 0.038 1764 -583.4 -116.8 - - 3275 - - - - - - - - 13.61 14.09 13.83
607 86.8 -8.2 42 611 roll -0.59 - - 2735 - 2.47 0.057 375 -562.3 -116.8 - - 3277 - - - - - - - - 14.62 14.01 14.63
768 99.5 -7.5 65 775 done -0.59 - - 2728 - 2.30 0.031 1746 596.1 -116.8 - - 3277 - - - - - - - - 14.14 14.09 14.16
1085 122.9 -7.6 72 1090 roll -0.59 - - 2717 - 2.47 0.050 3157 571.3 -116.8 - - 3276 - - - - - - - - 14.62 14.02 14.63
1139 127.4 -8.2 80 1144 done -0.59 - - 2716 - 2.38 0.037 1779 -579.0 -116.8 - - 3276 - - - - - - - - 14.20 14.12 14.23
1475 159.9 -9.9 93 1481 roll -0.59 - - 2722 - 2.53 0.058 376 -554.5 -116.8 - - 3274 - - - - - - - - 14.63 14.00 14.65
1575 169.8 -9.8 107 1580 done -0.59 0.12 0.252 2728 50.0 2.40 0.031 1771 581.2 -116.8 - - 3274 - - - - - - - - 13.72 14.16 13.95
1924 198.5 -8.1 115 1928 roll -0.59 - - 2723 - 2.45 0.050 3166 569.4 -116.8 - - 3271 - - - - - - - - 14.63 13.98 14.65
2030 207.2 -8.4 130 2036 done -0.59 - - 2723 - 2.42 0.037 1764 -579.3 -116.8 - - 3271 - - - - - - - - 14.17 14.09 14.20
2371 238.8 -9.4 137 2377 roll -0.59 - - 2723 - 2.50 0.059 376 -555.2 -116.8 - - 3268 - - - - - - - - 14.69 13.97 14.71
2497 251.7 -10.0 155 2502 done -0.59 - - 2714 - 2.40 0.031 1783 586.2 -116.8 - - 3267 - - - - - - - - 14.15 14.11 14.16
2821 281.5 -9.1 166 2826 roll -0.59 - - 2704 - 2.42 0.054 3161 569.4 -116.8 - - 3265 - - - - - - - - 14.62 14.02 14.64
2876 286.4 -8.7 174 2881 done -0.59 0.15 0.232 2733 193.3 2.40 0.037 1774 -577.9 -116.8 - - 3264 - - - - - - - - 13.66 14.09 13.92
3212 312.1 -7.7 187 3217 roll -0.59 - - 2733 - 2.53 0.060 378 -551.8 -116.8 - - 3262 - - - - - - - - 14.69 13.95 14.71
3325 322.1 -9.0 203 3330 done -0.59 - - 2726 - 2.40 0.031 1774 581.7 -116.8 - - 3261 - - - - - - - - 14.23 14.16 14.26
3660 353.8 -9.7 216 3665 roll -0.59 - - 2716 - 2.45 0.052 3161 566.1 -116.8 - - 3260 - - - - - - - - 14.64 14.00 14.66
3760 364.2 -10.7 230 3765 done -0.59 - - 2716 - 2.42 0.037 1771 -574.4 -116.8 - - 3259 - - - - - - - - 14.16 14.07 14.19
4108 404.5 -11.7 238 4113 roll -0.59 - - 2716 - 2.53 0.060 379 -550.2 -116.8 - - 3257 - - - - - - - - 14.64 13.94 14.66
4206 416.2 -11.6 252 4211 done -0.59 0.12 0.255 2730 116.7 2.40 0.031 1784 585.4 -116.8 - - 3256 - - - - - - - - 13.69 14.16 13.93
4558 448.2 -8.6 260 4559 done -0.59 - - 2730 - - - 1784 - -116.8 - - 3255 - - - - - - - - 14.68 14.70 14.69
4892 470.3 -6.3 266 4897 roll -0.59 - - 2722 - 2.45 0.054 3162 562.4 -116.8 - - 3253 - - - - - - - - 14.69 13.93 14.71
4927 472.3 -5.8 271 4932 done -0.59 - - 2722 - 2.42 0.037 1769 -575.6 -116.8 - - 3252 - - - - - - - - 14.16 14.07 14.19
5286 495.9 -6.9 280 5291 roll -0.59 - - 2722 - 2.55 0.060 374 -547.1 -116.8 - - 3252 - - - - - - - - 14.62 13.93 14.64
5341 500.6 -8.6 288 5345 done -0.59 - - 2713 - 2.40 0.033 1771 582.1 -116.8 - - 3251 - - - - - - - - 14.19 14.15 14.24
5677 533.3 -10.2 301 5683 roll -0.59 - - 2702 - 2.47 0.053 3166 564.8 -116.8 - - 3250 - - - - - - - - 14.64 13.98 14.67
5728 538.6 -10.9 308 5734 done -0.59 0.15 0.230 2732 200.0 2.42 0.037 1775 -574.8 -116.8 - - 3249 - - - - - - - - 13.54 13.95 13.80
6069 572.7 -9.9 315 6074 roll -0.59 - - 2732 - 2.58 0.061 370 -544.6 -116.8 - - 3247 - - - - - - - - 14.69 13.90 14.71
6202 586.5 -10.3 334 6207 done -0.59 - - 2725 - 2.42 0.033 1772 579.3 -116.8 - - 3247 - - - - - - - - 14.19 14.12 14.22
6519 615.5 -9.0 344 6524 roll -0.59 - - 2714 - 2.50 0.053 3172 560.0 -116.8 - - 3246 - - - - - - - - 14.62 13.97 14.64
6650 626.7 -8.4 363 6655 done -0.59 - - 2714 - 2.45 0.040 1776 -569.8 -116.8 - - 3245 - - - - - - - - 14.12 14.03 14.16
6967 652.4 -8.0 373 6973 roll -0.59 - - 2714 - 2.58 0.062 373 -543.8 -116.8 - - 3245 - - - - - - - - 14.62 13.90 14.64
7058 660.0 -8.0 386 7063 done -0.59 0.15 0.252 2735 140.0 2.45 0.032 1793 579.6 -116.8 - - 3244 - - - - - - - - 13.59 14.13 13.85
7415 682.3 -6.0 395 7416 done -0.59 - - 2734 - - - 1794 - -116.8 - - 3243 - - - - - - - - 14.69 14.71 14.71
7753 702.8 -6.3 401 7758 roll -0.59 - - 2726 - 2.45 0.055 3162 558.4 -116.8 - - 3242 - - - - - - - - 14.66 13.91 14.69
7808 706.7 -6.8 409 7813 done -0.68 - - 2726 - 2.42 0.037 1777 -572.3 -116.8 - - 3242 - - - - - - - - 14.14 14.02 14.15
8144 732.5 -8.0 422 8149 roll -0.68 - - 2726 - 2.58 0.063 375 -543.4 -116.8 - - 3241 - - - - - - - - 14.62 13.88 14.62
8229 740.0 -8.9 434 8234 done -0.68 - - 2717 - 2.42 0.033 1776 578.9 -116.8 - - 3240 - - - - - - - - 14.18 14.11 14.20
8592 770.2 -8.2 444 8597 roll -0.68 - - 2706 - 2.50 0.055 3172 558.4 -116.8 - - 3239 - - - - - - - - 14.68 13.90 14.70
8648 774.7 -8.0 452 8653 done -0.68 - - 2706 - 2.45 0.039 1775 -570.2 -116.8 - - 3238 - - - - - - - - 14.10 14.01 14.14
8986 801.5 -8.0 465 8991 roll -0.68 - - 2706 - 2.60 0.063 375 -538.5 -116.8 - - 3238 - - - - - - - - 14.61 13.88 14.63
9111 812.6 -8.8 483 9115 done -0.68 - - 2698 - 2.45 0.034 1782 574.3 -116.8 - - 3238 - - - - - - - - 14.13 14.07 14.16
9435 839.7 -8.5 494 9440 roll -0.68 - - 2687 - 2.47 0.056 3162 558.7 -116.8 - - 3237 - - - - - - - - 14.65 13.90 14.67
9531 848.7 -8.5 508 9536 done -0.68 - - 2687 - 2.45 0.040 1769 -568.6 -116.8 - - 3237 - - - - - - - - 14.09 14.00 14.13
9881 880.0 -9.2 516 9886 roll -0.68 - - 2687 - 2.58 0.063 375 -540.3 -116.8 - - 3236 - - - - - - - - 14.61 13.88 14.63
10002 890.5 -9.3 533 10008 done -0.68 0.15 0.262 2706 126.7 2.45 0.034 1779 573.1 -116.8 - - 3235 - - - - - - - - 13.48 14.07 13.78
10331 916.9 -7.9 545 10336 roll -0.68 - - 2697 - 2.50 0.057 3164 554.0 -116.8 - - 3233 - - - - - - - - 14.61 13.88 14.63
10408 922.9 -7.8 556 10412 done -0.68 - - 2697 - 2.45 0.040 1777 -566.1 -116.8 - - 3234 - - - - - - - - 14.01 13.92 14.04
10725 949.3 -8.4 566 10729 roll -0.68 - - 2698 - 2.60 0.063 372 -540.4 -116.8 - - 3234 - - - - - - - - 14.59 13.88 14.61
10849 960.3 -10.1 584 10854 done -0.68 - - 2688 - 2.45 0.035 1771 571.0 -116.8 - - 3233 - - - - - - - - 14.13 14.06 14.16
11173 989.4 -9.1 595 11178 roll -0.68 - - 2677 - 2.53 0.056 3173 554.2 -116.8 - - 3233 - - - - - - - - 14.59 13.89 14.62
11180 end dive: TARGET_DEPTH_EXCEEDED
11180 begin apogee
11193 991.4 -9.3 597 11323 done -0.21 0.75 0.243 2854 236.0 - - 1677 - - 127.43 2.218 2791 -3.5 0.329 - - - - - - 13.55 12.99 11.99
11325 end apogee: CONTROL_FINISHED_OK
11325 begin climb
11330 996.2 - 599 11483 roll 0.84 1.30 0.165 3199 265.4 2.88 0.064 325 -469.4 116.8 136.82 2.182 2306 -3.5 0.343 - - - - - - 12.93 12.46 11.56
11511 989.1 9.0 629 11519 done 0.84 - - 3199 - 2.58 0.028 1689 528.7 116.8 - - 2298 - - - - - - - - 12.81 12.78 12.83
11863 962.6 7.6 637 11869 roll 0.84 - - 3199 - 2.65 0.048 3066 519.6 121.6 - - 2293 - - - - - - - - 13.55 13.04 13.57
11983 953.1 8.0 654 11988 done 0.84 - - 3207 - 2.62 0.038 1681 -528.6 121.6 - - 2292 - - - - - - - - 13.25 13.16 13.28
12311 925.7 8.4 666 12316 roll 0.84 - - 3218 - 2.62 0.065 317 -520.6 121.6 - - 2292 - - - - - - - - 13.97 13.39 14.00
12369 920.6 9.3 674 12374 done 0.75 0.22 0.244 3174 -200.0 2.45 0.028 1706 566.9 121.6 - - 2292 - - - - - - - - 13.05 13.59 13.36
12704 896.4 7.0 687 12729 roll 0.77 - - 3173 - 2.45 0.047 3044 546.1 137.9 21.38 2.054 2223 -3.2 0.299 - - - - - - 14.37 13.39 12.68
12824 887.9 7.2 704 12835 done 0.78 - - 3179 - 2.53 0.040 1678 -539.9 150.5 6.20 1.731 2178 -7.3 0.790 - - - - - - 13.62 13.54 12.61
13152 865.3 6.8 716 13186 roll 0.81 - - 3190 - 2.65 0.067 323 -511.3 169.8 30.38 2.004 2094 -2.8 0.253 - - - - - - 14.26 13.50 12.69
13229 859.8 7.8 727 13234 done 0.81 - - 3189 - 2.42 0.028 1672 557.4 171.1 - - 2085 - - - - - - - - 13.52 13.48 13.54
13595 832.2 7.6 737 13601 roll 0.81 - - 3189 - 2.58 0.049 3059 537.6 176.4 1.90 0.164 2066 -10.0 10.768 - - - - - - 14.23 13.78 13.64
13721 821.6 8.2 755 13726 done 0.81 - - 3198 - 2.50 0.041 1677 -552.8 176.4 - - 2067 - - - - - - - - 13.85 13.76 13.89
14045 794.0 8.7 766 14050 roll 0.81 - - 3209 - 2.55 0.067 323 -531.0 176.4 - - 2068 - - - - - - - - 14.48 13.71 14.52
14092 789.1 10.0 773 14099 done 0.81 - - 3208 - 2.38 0.029 1685 572.3 176.4 - - 2068 - - - - - - - - 13.95 13.89 13.97
14435 756.0 9.6 780 14440 roll 0.81 - - 3208 - 2.50 0.049 3064 551.6 176.4 - - 2067 - - - - - - - - 14.46 13.76 14.48
14556 744.3 9.6 797 14561 done 0.81 - - 3217 - 2.50 0.041 1673 -556.4 176.4 - - 2067 - - - - - - - - 13.93 13.84 13.97
14884 714.4 8.9 809 14889 roll 0.81 - - 3228 - 2.53 0.065 317 -536.0 176.4 - - 2067 - - - - - - - - 14.59 13.75 14.60
14933 710.1 9.4 816 14939 done 0.81 0.15 0.241 3199 -193.3 2.38 0.029 1702 581.9 176.4 - - 2067 - - - - - - - - 13.46 13.97 13.73
15278 683.5 7.7 823 15282 roll 0.82 - - 3199 - 2.40 0.047 3045 559.6 179.7 - - 2067 - - - - - - - - 14.52 13.83 14.54
15353 677.3 8.1 834 15358 done 0.82 - - 3205 - 2.42 0.041 1680 -564.0 179.7 - - 2068 - - - - - - - - 14.01 13.91 14.04
15668 650.1 8.7 844 15673 roll 0.82 - - 3216 - 2.53 0.066 324 -536.0 179.7 - - 2067 - - - - - - - - 14.54 13.78 14.56
15747 642.8 9.8 855 15751 done 0.82 - - 3216 - 2.33 0.029 1677 580.7 179.7 - - 2067 - - - - - - - - 14.07 14.02 14.09
16060 612.7 9.6 865 16066 roll 0.82 - - 3215 - 2.47 0.047 3057 558.7 179.7 - - 2067 - - - - - - - - 14.62 13.83 14.64
16202 598.9 9.7 885 16207 done 0.82 0.15 0.250 3196 -126.7 2.45 0.041 1678 -562.9 179.7 - - 2067 - - - - - - - - 13.47 13.93 13.75
16565 569.2 7.9 895 16570 roll 0.82 - - 3196 - 2.47 0.047 3054 557.1 179.7 - - 2067 - - - - - - - - 14.62 13.85 14.64
16600 566.5 7.7 900 16612 done 0.82 - - 3203 - 2.47 0.041 1676 -557.9 183.2 4.78 1.350 2044 -4.8 0.428 - - - - - - 14.01 13.91 12.83
16960 539.1 7.6 909 16969 roll 0.83 - - 3213 - 2.45 0.064 317 -554.7 187.9 5.80 1.458 2025 -3.3 0.257 - - - - - - 14.52 13.78 12.88
17041 532.0 8.6 921 17047 done 0.83 - - 3213 - 2.33 0.029 1673 582.0 187.9 - - 2031 - - - - - - - - 14.09 14.04 14.12
17407 503.5 7.6 931 17417 roll 0.83 - - 3213 - 2.50 0.049 3061 555.2 192.6 6.25 1.457 2006 -4.0 0.293 - - - - - - 14.59 14.13 12.99
17482 497.7 7.4 942 17508 done 0.84 - - 3222 - 2.47 0.041 1675 -561.1 200.6 18.83 1.591 1968 -2.0 0.134 - - - - - - 14.01 13.91 13.02
17854 467.6 8.3 953 17859 roll 0.84 - - 3233 - 2.53 0.067 323 -534.4 200.6 - - 1960 - - - - - - - - 14.47 13.74 14.50
17876 465.7 8.6 956 17881 done 0.84 0.15 0.231 3203 -200.0 2.35 0.028 1696 584.3 200.6 - - 1960 - - - - - - - - 13.53 14.02 13.83
18190 439.7 8.3 966 18195 roll 0.84 - - 3203 - 2.42 0.047 3047 558.3 200.6 - - 1960 - - - - - - - - 14.52 13.86 14.54
18245 434.6 9.1 974 18251 done 0.84 - - 3209 - 2.45 0.041 1681 -557.6 200.6 - - 1960 - - - - - - - - 13.99 13.89 14.03
18583 404.0 9.2 987 18588 roll 0.84 - - 3220 - 2.53 0.066 322 -537.2 200.6 - - 1960 - - - - - - - - 14.59 13.77 14.61
18651 397.1 10.1 997 18657 done 0.84 - - 3220 - 2.33 0.028 1673 579.8 200.6 - - 1960 - - - - - - - - 14.07 14.01 14.10
18974 366.2 9.5 1008 18978 roll 0.84 - - 3220 - 2.47 0.047 3057 560.3 200.6 - - 1959 - - - - - - - - 14.54 13.76 14.57
19073 356.8 9.3 1022 19078 done 0.84 - - 3229 - 2.45 0.041 1681 -561.6 200.6 - - 1960 - - - - - - - - 13.90 13.81 13.94
19422 326.8 8.4 1030 19427 roll 0.84 - - 3240 - 2.53 0.066 323 -536.8 200.6 - - 1960 - - - - - - - - 14.54 13.78 14.56
19470 322.4 9.4 1037 19478 done 0.84 0.17 0.227 3204 -211.8 2.35 0.029 1695 583.8 200.6 - - 1958 - - - - - - - - 13.46 14.01 13.76
19815 295.6 7.9 1044 19820 roll 0.84 - - 3204 - 2.42 0.047 3048 559.1 200.6 - - 1959 - - - - - - - - 14.60 13.86 14.62
19863 291.7 8.0 1051 19868 done 0.84 - - 3209 - 2.42 0.041 1679 -565.7 200.6 - - 1960 - - - - - - - - 14.00 13.90 14.05
20206 265.9 7.4 1058 20217 roll 0.85 - - 3220 - 2.47 0.065 326 -547.8 209.5 3.92 0.959 1937 -5.9 0.345 - - - - - - 14.56 14.13 12.89
20256 262.1 8.0 1065 20265 done 0.85 - - 3221 - 2.28 0.028 1669 589.0 209.5 - - 1940 - - - - - - - - 14.14 14.09 14.16
20598 234.0 8.4 1072 20603 roll 0.85 - - 3220 - 2.50 0.045 3060 556.4 209.5 - - 1941 - - - - - - - - 14.56 13.88 14.58
20661 227.9 10.0 1081 20666 done 0.85 - - 3228 - 2.45 0.041 1681 -562.9 209.5 - - 1941 - - - - - - - - 14.00 13.90 14.04
20992 196.2 9.5 1093 20997 roll 0.85 - - 3240 - 2.53 0.064 316 -539.5 209.5 - - 1941 - - - - - - - - 14.62 13.78 14.63
21046 190.8 9.7 1101 21052 done 0.85 0.15 0.221 3209 -206.7 2.35 0.028 1700 588.9 209.5 - - 1941 - - - - - - - - 13.55 14.04 13.78
21384 164.1 7.9 1114 21389 roll 0.85 - - 3209 - 2.40 0.045 3047 561.2 209.5 - - 1941 - - - - - - - - 14.54 13.88 14.57
21453 158.2 8.3 1124 21457 done 0.85 - - 3215 - 2.42 0.041 1679 -565.3 209.5 - - 1941 - - - - - - - - 14.04 13.95 14.08
21775 129.3 9.2 1135 21780 roll 0.85 - - 3226 - 2.50 0.063 322 -542.8 209.5 - - 1941 - - - - - - - - 14.56 13.82 14.57
21797 127.3 9.5 1138 21802 done 0.85 - - 3226 - 2.30 0.028 1674 587.8 209.5 - - 1941 - - - - - - - - 14.14 14.09 14.16
22113 99.7 8.4 1148 22118 roll 0.85 - - 3227 - 2.45 0.046 3057 564.5 209.5 - - 1941 - - - - - - - - 14.57 13.90 14.59
22203 92.4 7.7 1161 22215 done 0.86 - - 3235 - 2.45 0.041 1674 -564.5 212.5 4.18 0.168 1931 -2.4 0.279 - - - - - - 13.94 13.85 13.52
22534 67.3 7.0 1175 22560 roll 0.88 - - 3245 - 2.45 0.063 318 -553.5 227.7 20.02 0.284 1868 -3.1 0.158 - - - - - - 14.55 13.88 13.66
22631 60.4 7.2 1189 22649 done 0.89 - - 3245 - 2.33 0.027 1684 586.3 239.1 14.85 0.260 1817 -3.4 0.169 - - - - - - 14.12 14.09 13.71
22987 45.0 2.4 1206 23092 roll 1.16 0.15 0.115 3318 486.7 2.53 0.063 323 -537.9 340.3 96.80 0.249 1405 -4.3 0.163 - - - - - - 14.04 13.91 13.66
23135 40.6 5.6 1228 23181 done 1.36 0.15 0.103 3377 393.3 2.33 0.028 1701 591.4 382.1 40.33 0.230 1235 -4.2 0.158 - - - - - - 13.87 13.95 13.62
23513 8.4 8.3 1249 23518 roll 1.36 - - 3388 - 2.53 0.060 324 -544.3 382.1 - - 1244 - - - - - - - - 14.50 13.89 14.53
23548 4.9 10.3 1254 23552 done 1.36 - - 3388 - 2.25 0.028 1657 592.4 382.1 - - 1243 - - - - - - - - 14.14 14.09 14.15
23592 end climb: SURFACE_DEPTH_REACHED
23592 begin surface coast
23620 end surface coast: CONTROL_FINISHED_OK
23620 begin surface
SM 1.10 - - - - -8.60 10.07 0.076 161 16.0 0.12 0.089 1788 6316.7 515.13 83.75 0.123 692 8.3 -0.008 - - - - - -