SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 721 * Raw log
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• Previous call tries 1 • 273.32 of 350.00 AH used of 24V (21.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.5 deg, depth 1.13 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: 13 s • Transponder ping count: 3
• 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 - - - 100 done -0.84 - - 155 - - - 1769 - -116.8 -81.88 - 3272 - - - - - - - - 14.61 12.36 14.59
105 6.9 -10.3 3 121 roll -0.84 12.23 0.373 2642 203.4 2.40 0.045 3161 580.0 -116.8 - - 3273 - - - - - - - - 14.00 14.40 14.36
150 27.7 -35.7 10 156 done -0.17 0.95 0.267 2866 235.8 2.35 0.040 1776 -589.4 -116.8 - - 3274 - - - - - - - - 13.74 14.28 14.11
465 63.1 -6.3 22 470 roll -0.34 0.12 0.126 2804 -516.7 2.47 0.054 372 -568.4 -116.8 - - 3275 - - - - - - - - 14.26 14.14 14.26
584 71.0 -6.8 39 589 done -0.34 - - 2796 - 2.33 0.031 1762 596.6 -116.8 - - 3275 - - - - - - - - 14.25 14.19 14.28
914 86.8 -5.1 53 920 roll -0.34 - - 2786 - 2.45 0.052 3169 574.3 -116.8 - - 3275 - - - - - - - - 14.71 14.14 14.73
1046 96.2 -7.6 72 1052 done -0.44 - - 2786 - 2.38 0.035 1764 -590.3 -116.8 - - 3276 - - - - - - - - 14.29 14.21 14.32
1389 122.2 -7.1 80 1394 roll -0.44 - - 2786 - 2.45 0.057 377 -566.1 -116.8 - - 3275 - - - - - - - - 14.73 14.09 14.75
1524 128.9 -4.6 99 1529 done -0.44 - - 2780 - 2.35 0.031 1777 595.7 -116.8 - - 3275 - - - - - - - - 14.31 14.25 14.33
1838 146.1 -6.0 109 1843 roll -0.54 - - 2770 - 2.40 0.051 3161 576.7 -116.8 - - 3274 - - - - - - - - 14.77 14.09 14.79
1909 151.8 -8.1 119 1914 done -0.66 0.17 0.096 2699 -417.6 2.35 0.036 1778 -588.5 -116.8 - - 3272 - - - - - - - - 14.17 14.19 14.26
2230 186.3 -10.8 130 2234 roll -0.66 - - 2699 - 2.50 0.058 376 -560.8 -116.8 - - 3270 - - - - - - - - 14.73 14.06 14.74
2322 195.9 -10.5 143 2327 done -0.57 0.22 0.234 2740 186.4 2.35 0.031 1772 594.0 -116.8 - - 3269 - - - - - - - - 13.65 14.27 13.95
2678 228.2 -9.4 152 2683 roll -0.57 - - 2731 - 2.42 0.051 3163 574.8 -116.8 - - 3268 - - - - - - - - 14.78 14.08 14.80
2776 237.5 -9.3 166 2780 done -0.57 - - 2731 - 2.40 0.037 1764 -582.9 -116.8 - - 3267 - - - - - - - - 14.25 14.16 14.28
3128 268.7 -8.8 174 3133 roll -0.57 - - 2731 - 2.47 0.059 376 -561.9 -116.8 - - 3264 - - - - - - - - 14.71 14.06 14.73
3217 277.4 -9.4 187 3222 done -0.57 - - 2723 - 2.38 0.032 1773 587.0 -116.8 - - 3264 - - - - - - - - 14.29 14.23 14.32
3574 309.3 -8.7 196 3579 roll -0.57 - - 2713 - 2.45 0.052 3167 569.0 -116.8 - - 3262 - - - - - - - - 14.73 14.07 14.74
3667 317.1 -8.7 209 3672 done -0.57 0.15 0.226 2743 200.0 2.40 0.037 1768 -582.9 -116.8 - - 3262 - - - - - - - - 13.74 14.18 13.97
4023 346.4 -8.2 218 4028 roll -0.57 - - 2743 - 2.53 0.061 372 -551.8 -116.8 - - 3257 - - - - - - - - 14.78 13.99 14.79
4185 360.5 -8.7 241 4192 done -0.57 - - 2740 - 2.42 0.033 1786 584.3 -116.8 - - 3258 - - - - - - - - 14.26 14.20 14.29
4527 387.6 -7.8 248 4532 roll -0.57 - - 2726 - 2.42 0.054 3161 568.2 -116.8 - - 3257 - - - - - - - - 14.77 14.03 14.79
4597 393.1 -8.0 258 4602 done -0.57 - - 2726 - 2.40 0.038 1774 -577.9 -116.8 - - 3256 - - - - - - - - 14.23 14.14 14.26
4921 421.2 -8.9 269 4927 roll -0.57 - - 2726 - 2.53 0.060 375 -553.0 -116.8 - - 3257 - - - - - - - - 14.71 14.00 14.73
5018 430.8 -9.6 283 5023 done -0.57 0.12 0.254 2740 116.7 2.40 0.032 1785 587.5 -116.8 - - 3255 - - - - - - - - 13.74 14.23 13.97
5368 460.1 -8.3 291 5373 roll -0.57 - - 2732 - 2.45 0.054 3167 564.1 -116.8 - - 3253 - - - - - - - - 14.76 14.02 14.79
5404 463.0 -8.1 296 5408 done -0.57 - - 2733 - 2.42 0.039 1770 -577.3 -116.8 - - 3253 - - - - - - - - 14.22 14.13 14.26
5761 491.1 -7.8 305 5766 roll -0.57 - - 2732 - 2.53 0.061 375 -551.4 -116.8 - - 3250 - - - - - - - - 14.73 13.97 14.75
5894 502.4 -8.6 324 5899 done -0.57 - - 2724 - 2.40 0.032 1778 584.6 -116.8 - - 3250 - - - - - - - - 14.26 14.20 14.28
6210 530.4 -9.1 334 6215 roll -0.57 - - 2714 - 2.45 0.054 3161 564.5 -116.8 - - 3249 - - - - - - - - 14.76 14.00 14.78
6258 534.8 -9.1 341 6264 done -0.57 0.15 0.225 2744 200.0 2.40 0.038 1774 -577.9 -116.8 - - 3249 - - - - - - - - 13.67 14.12 13.92
6601 561.2 -7.4 348 6606 roll -0.57 - - 2743 - 2.55 0.062 376 -548.2 -116.8 - - 3247 - - - - - - - - 14.72 13.95 14.74
6757 572.7 -7.3 370 6762 done -0.57 - - 2737 - 2.42 0.034 1777 578.9 -116.8 - - 3247 - - - - - - - - 14.23 14.17 14.26
7106 596.9 -6.9 378 7110 roll -0.57 - - 2726 - 2.47 0.054 3168 563.2 -116.8 - - 3246 - - - - - - - - 14.71 13.98 14.73
7163 600.9 -7.2 386 7168 done -0.57 - - 2726 - 2.42 0.038 1775 -575.6 -116.8 - - 3246 - - - - - - - - 14.11 14.02 14.14
7498 627.6 -8.1 399 7503 roll -0.57 - - 2726 - 2.55 0.061 372 -550.2 -116.8 - - 3244 - - - - - - - - 14.71 13.97 14.73
7630 639.4 -8.9 418 7636 done -0.57 0.12 0.256 2741 125.0 2.42 0.033 1776 580.2 -116.8 - - 3244 - - - - - - - - 13.66 14.17 13.90
7947 663.6 -7.7 428 7952 roll -0.57 - - 2733 - 2.47 0.054 3162 561.1 -116.8 - - 3243 - - - - - - - - 14.69 13.97 14.71
8009 668.4 -7.5 437 8014 done -0.67 - - 2733 - 2.42 0.038 1768 -576.0 -116.8 - - 3243 - - - - - - - - 14.21 14.11 14.23
8340 692.4 -7.2 449 8345 roll -0.67 - - 2733 - 2.55 0.063 370 -548.2 -116.8 - - 3242 - - - - - - - - 14.70 13.95 14.72
8422 698.9 -7.7 461 8427 done -0.67 - - 2721 - 2.42 0.034 1777 581.4 -116.8 - - 3242 - - - - - - - - 14.23 14.16 14.26
8787 726.0 -7.5 471 8791 roll -0.67 - - 2714 - 2.47 0.055 3163 561.1 -116.8 - - 3241 - - - - - - - - 14.71 13.95 14.73
8872 732.4 -7.5 483 8877 done -0.67 - - 2714 - 2.42 0.038 1770 -575.6 -116.8 - - 3241 - - - - - - - - 14.19 14.09 14.23
9234 761.2 -8.0 493 9240 roll -0.67 - - 2714 - 2.55 0.063 376 -546.7 -116.8 - - 3239 - - - - - - - - 14.76 13.93 14.78
9395 775.3 -8.6 516 9401 done -0.67 - - 2705 - 2.42 0.034 1778 579.3 -116.8 - - 3238 - - - - - - - - 14.19 14.12 14.21
9740 804.2 -8.4 523 9745 roll -0.67 - - 2694 - 2.50 0.057 3163 554.0 -116.8 - - 3237 - - - - - - - - 14.72 13.94 14.76
9823 810.9 -7.3 535 9828 done -0.67 - - 2694 - 2.42 0.039 1776 -573.1 -116.8 - - 3237 - - - - - - - - 14.16 14.06 14.19
10187 842.7 -8.6 545 10192 roll -0.67 - - 2694 - 2.58 0.063 373 -543.8 -116.8 - - 3236 - - - - - - - - 14.71 13.92 14.73
10265 849.9 -9.8 556 10270 done -0.67 - - 2685 - 2.42 0.034 1776 579.8 -116.8 - - 3236 - - - - - - - - 14.19 14.13 14.22
10579 877.9 -9.1 566 10584 roll -0.67 - - 2675 - 2.50 0.055 3169 557.2 -116.8 - - 3235 - - - - - - - - 14.76 13.93 14.77
10635 883.0 -8.9 574 10640 done -0.67 0.17 0.249 2709 200.0 2.45 0.040 1772 -570.2 -116.8 - - 3235 - - - - - - - - 13.47 14.04 13.77
10973 909.2 -7.7 587 10978 roll -0.67 - - 2710 - 2.60 0.064 375 -537.3 -116.8 - - 3234 - - - - - - - - 14.69 13.78 14.71
11118 921.2 -8.1 608 11123 done -0.67 - - 2703 - 2.42 0.034 1772 577.3 -116.8 - - 3234 - - - - - - - - 14.19 14.12 14.21
11477 948.8 -7.7 617 11483 roll -0.67 - - 2692 - 2.50 0.056 3165 557.2 -116.8 - - 3233 - - - - - - - - 14.68 13.91 14.70
11560 955.3 -7.6 629 11566 done -0.67 - - 2692 - 2.45 0.040 1768 -570.2 -116.8 - - 3233 - - - - - - - - 14.16 14.06 14.19
11926 983.5 -7.7 639 11931 roll -0.67 - - 2692 - 2.58 0.063 369 -542.2 -116.8 - - 3232 - - - - - - - - 14.73 13.90 14.74
12004 end dive: TARGET_DEPTH_EXCEEDED
12004 begin apogee
12016 990.5 -8.4 651 12141 done -0.21 0.73 0.243 2854 221.9 - - 1680 - - 122.95 2.196 2792 -3.6 0.333 - - - - - - 13.60 13.51 12.62
12142 end apogee: CONTROL_FINISHED_OK
12142 begin climb
12147 994.8 - 653 12294 roll 0.84 1.25 0.168 3200 276.8 2.75 0.064 330 -490.9 116.8 130.88 2.173 2306 -3.7 0.351 - - 1 - - - 13.42 12.74 11.88
12329 984.8 8.4 682 12335 done 0.84 - - 3200 - 2.55 0.028 1689 532.9 116.8 - - 2295 - - - - - - - - 12.99 12.95 13.01
12686 955.0 8.2 691 12691 roll 0.84 - - 3200 - 2.53 0.049 3067 544.7 116.8 - - 2293 - - - - - - - - 14.28 13.74 14.28
12821 945.0 5.7 710 12867 done 0.89 - - 3208 - 2.45 0.041 1687 -563.3 156.8 41.75 2.069 2153 -3.4 0.316 - - - - - - 13.87 13.81 12.83
13188 912.1 9.0 727 13192 roll 0.89 - - 3220 - 2.50 0.065 324 -545.2 156.8 - - 2133 - - - - - - - - 14.42 13.97 14.43
13223 908.6 10.4 732 13227 done 0.89 - - 3220 - 2.35 0.030 1691 581.7 156.8 - - 2133 - - - - - - - - 14.17 14.12 14.19
13578 875.5 9.4 741 13583 roll 0.89 - - 3219 - 2.45 0.050 3066 561.2 156.8 - - 2132 - - - - - - - - 14.57 14.04 14.59
13697 864.2 9.3 758 13702 done 0.89 - - 3228 - 2.45 0.041 1674 -568.2 156.8 - - 2131 - - - - - - - - 14.19 14.09 14.23
14028 834.8 8.9 770 14034 roll 0.89 - - 3238 - 2.50 0.066 324 -540.0 156.8 - - 2130 - - - - - - - - 14.60 13.96 14.62
14090 828.8 9.6 779 14096 done 0.78 0.25 0.246 3185 -212.0 2.35 0.030 1701 586.0 156.8 - - 2131 - - - - - - - - 13.59 14.21 13.98
14421 806.1 6.7 791 14451 roll 0.81 - - 3185 - 2.40 0.050 3048 561.2 179.3 21.92 1.967 2051 -3.6 0.309 - - - - - - 14.62 14.31 13.45
14538 797.7 7.2 808 14550 done 0.82 - - 3191 - 2.40 0.041 1680 -570.0 191.0 5.00 1.540 2013 -7.6 0.813 - - - - - - 14.21 14.12 13.26
14869 773.0 7.6 820 14879 roll 0.83 - - 3202 - 2.40 0.065 321 -566.2 195.9 4.93 1.525 1993 -4.1 0.425 - - - - - - 14.62 14.23 13.37
14916 768.9 8.8 827 14922 done 0.83 - - 3202 - 2.30 0.030 1677 589.6 195.9 - - 1999 - - - - - - - - 14.30 14.25 14.32
15259 738.5 9.0 834 15264 roll 0.83 - - 3202 - 2.45 0.049 3057 563.3 195.9 - - 1999 - - - - - - - - 14.65 14.03 14.66
15345 730.5 9.4 846 15351 done 0.83 - - 3209 - 2.42 0.042 1681 -568.6 195.9 - - 1999 - - - - - - - - 14.18 14.08 14.21
15708 696.6 9.2 856 15713 roll 0.83 - - 3220 - 2.50 0.066 321 -544.0 195.9 - - 1999 - - - - - - - - 14.65 13.93 14.67
15729 694.7 9.0 859 15734 done 0.83 - - 3220 - 2.33 0.029 1687 586.3 195.9 - - 1999 - - - - - - - - 14.24 14.18 14.26
16046 666.2 8.8 869 16051 roll 0.83 - - 3220 - 2.42 0.049 3055 565.3 195.9 - - 1999 - - - - - - - - 14.64 13.96 14.66
16159 656.4 8.4 885 16164 done 0.83 0.15 0.249 3200 -133.3 2.42 0.041 1678 -569.0 195.9 - - 1999 - - - - - - - - 13.58 14.04 13.85
16493 631.9 7.3 898 16519 roll 0.84 - - 3208 - 2.42 0.067 323 -559.9 206.0 19.75 1.734 1947 -2.6 0.198 - - - - - - 14.71 14.32 13.52
16558 626.9 8.5 907 16563 done 0.84 - - 3207 - 2.30 0.030 1679 589.6 206.0 - - 1942 - - - - - - - - 14.26 14.21 14.29
16887 598.1 8.9 919 16892 roll 0.84 - - 3207 - 2.42 0.048 3055 568.6 206.0 - - 1941 - - - - - - - - 14.66 14.05 14.68
16965 590.6 9.8 930 16971 done 0.84 - - 3213 - 2.42 0.041 1678 -569.0 206.0 - - 1940 - - - - - - - - 14.21 14.12 14.26
17280 558.8 10.2 940 17284 roll 0.84 - - 3223 - 2.50 0.066 317 -544.4 206.0 - - 1940 - - - - - - - - 14.67 13.94 14.69
17329 553.5 10.9 947 17334 done 0.84 - - 3223 - 2.33 0.029 1682 585.8 206.0 - - 1940 - - - - - - - - 14.23 14.17 14.25
17672 517.1 10.6 954 17677 roll 0.84 - - 3224 - 2.45 0.048 3055 560.4 206.0 - - 1940 - - - - - - - - 14.71 14.00 14.74
17800 503.5 11.0 972 17805 done 0.84 0.15 0.243 3203 -140.0 2.42 0.041 1675 -570.2 206.0 - - 1940 - - - - - - - - 13.58 14.06 13.91
18120 473.9 9.0 983 18125 roll 0.84 - - 3211 - 2.50 0.066 326 -539.6 206.0 - - 1940 - - - - - - - - 14.66 13.90 14.69
18150 471.3 9.1 987 18155 done 0.84 - - 3211 - 2.30 0.029 1679 588.3 206.0 - - 1940 - - - - - - - - 14.25 14.19 14.28
18512 439.4 8.5 997 18517 roll 0.84 - - 3211 - 2.45 0.048 3059 563.3 206.0 - - 1940 - - - - - - - - 14.71 13.97 14.74
18603 431.6 8.5 1010 18609 done 0.84 - - 3220 - 2.42 0.042 1684 -568.2 206.0 - - 1940 - - - - - - - - 14.13 14.04 14.18
18963 400.4 8.9 1019 18967 roll 0.84 - - 3230 - 2.50 0.065 322 -544.8 206.0 - - 1940 - - - - - - - - 14.64 13.89 14.66
19038 392.8 9.8 1030 19044 done 0.84 0.12 0.235 3206 -200.0 2.30 0.029 1692 595.7 206.0 - - 1940 - - - - - - - - 13.67 14.17 13.93
19353 365.3 8.7 1040 19358 roll 0.84 - - 3206 - 2.40 0.047 3044 563.3 206.0 - - 1940 - - - - - - - - 14.67 13.98 14.69
19418 359.5 9.3 1049 19422 done 0.84 - - 3212 - 2.40 0.041 1679 -568.8 206.0 - - 1940 - - - - - - - - 14.12 14.03 14.18
19745 328.2 9.6 1061 19750 roll 0.84 - - 3223 - 2.50 0.065 323 -542.4 206.0 - - 1940 - - - - - - - - 14.72 13.87 14.74
19822 320.2 10.6 1072 19827 done 0.84 - - 3223 - 2.30 0.028 1674 587.4 206.0 - - 1940 - - - - - - - - 14.21 14.16 14.23
20139 288.8 9.9 1082 20144 roll 0.84 - - 3223 - 2.47 0.047 3065 563.2 206.0 - - 1940 - - - - - - - - 14.66 13.95 14.68
20222 280.4 9.7 1094 20228 done 0.84 0.15 0.236 3202 -140.0 2.45 0.041 1672 -568.6 206.0 - - 1943 - - - - - - - - 13.59 14.04 13.88
20588 249.7 8.4 1104 20593 roll 0.84 - - 3210 - 2.50 0.064 318 -541.6 206.0 - - 1940 - - - - - - - - 14.71 13.87 14.73
20643 244.4 9.7 1112 20648 done 0.84 - - 3209 - 2.33 0.028 1688 588.0 206.0 - - 1940 - - - - - - - - 14.23 14.17 14.26
20979 213.2 9.3 1125 20983 roll 0.84 - - 3210 - 2.42 0.046 3058 566.1 206.0 - - 1940 - - - - - - - - 14.67 13.97 14.69
21071 205.4 8.2 1138 21077 done 0.84 - - 3219 - 2.45 0.041 1678 -563.3 206.0 - - 1940 - - - - - - - - 14.15 14.06 14.21
21427 177.7 7.6 1147 21432 roll 0.84 - - 3230 - 2.47 0.063 324 -548.2 210.5 - - 1940 - - - - - - - - 14.73 13.88 14.75
21455 175.6 7.6 1151 21467 done 0.85 - - 3229 - 2.30 0.028 1682 590.4 215.1 4.35 0.962 1915 -5.7 0.217 - - - - - - 14.23 14.18 13.38
21821 147.1 7.8 1161 21831 roll 0.85 - - 3229 - 2.40 0.047 3055 572.1 216.2 2.75 0.601 1910 -1.8 0.092 - - - - - - 14.68 14.31 13.21
21889 140.8 8.9 1171 21894 done 0.85 0.15 0.236 3206 -153.3 2.40 0.041 1678 -573.8 216.2 - - 1915 - - - - - - - - 13.71 14.14 13.97
22213 114.5 8.1 1182 22218 roll 0.85 - - 3213 - 2.47 0.063 323 -548.6 216.2 - - 1915 - - - - - - - - 14.66 13.93 14.69
22275 109.0 8.7 1191 22279 done 0.85 - - 3214 - 2.30 0.028 1684 591.7 216.2 - - 1915 - - - - - - - - 14.24 14.19 14.26
22604 86.2 6.2 1206 22643 roll 0.89 - - 3214 - 2.38 0.044 3048 573.1 246.8 31.90 0.340 1787 -4.0 0.210 - - - - - - 14.68 14.35 13.99
22725 78.0 6.9 1223 22750 done 0.91 - - 3222 - 2.40 0.040 1677 -571.2 265.4 20.95 0.310 1711 -3.6 0.188 - - - - - - 14.23 14.14 14.00
23077 58.1 5.6 1240 23128 roll 1.11 0.17 0.101 3306 494.1 2.45 0.064 324 -552.2 306.9 40.92 0.271 1545 -4.1 0.180 - - - - - - 14.10 14.38 14.11
23361 43.4 3.7 1281 23437 done 1.34 0.17 0.098 3373 394.1 2.28 0.029 1703 604.8 384.6 68.88 0.236 1224 -4.7 0.177 - - - - - - 14.16 14.26 14.13
23746 12.3 8.5 1303 23751 roll 1.34 - - 3373 - 2.30 0.043 3040 581.3 384.6 - - 1233 - - - - - - - - 14.68 14.14 14.70
23823 6.9 6.6 1314 23848 done 1.37 - - 3381 - 2.35 0.043 1683 -577.4 407.2 17.40 0.137 1134 -5.7 0.059 - - - - - - 14.25 14.16 14.14
23883 end climb: SURFACE_DEPTH_REACHED
23883 begin surface coast
23909 end surface coast: CONTROL_FINISHED_OK
23909 begin surface
SM 1.17 - - - - -8.59 10.20 0.099 165 16.2 - - 1681 - 515.13 66.22 0.122 691 10.4 -0.010 - - - - - -