SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 204 * Raw log
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• Previous call tries 1 • 80.00 of 350.00 AH used of 24V (77.14% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth -2.32 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 117 done -0.90 - - 184 - - - 2787 - -116.8 -95.15 - 3516 - - - - - - - - 14.57 13.09 14.54
119 1.0 -5.7 3 136 roll -0.90 11.45 0.387 2593 210.4 1.88 0.060 3835 557.4 -116.8 - - 3517 - - - - - - - - 14.12 14.34 14.40
169 29.5 -35.8 11 177 done -0.37 0.65 0.251 2777 283.1 1.83 0.034 2735 -601.1 -116.8 - - 3518 - - - - - - - - 14.12 14.41 14.36
506 75.1 -7.0 26 512 roll -0.37 - - 2771 - 2.05 0.103 3827 532.7 -116.8 - - 3518 - - - - - - - - 14.62 14.30 14.62
681 86.0 -5.9 51 688 done -0.46 - - 2771 - 1.73 0.041 2798 -594.8 -116.8 - - 3518 - - - - - - - - 14.47 14.44 14.48
1010 98.3 -5.3 65 1017 roll -0.58 0.12 0.103 2685 -716.7 2.35 0.042 1382 -602.6 -116.8 - - 3520 - - - - - - - - 14.46 14.41 14.51
1037 100.2 -7.1 69 1046 done -0.58 0.12 0.233 2711 216.7 2.45 0.065 2784 572.2 -116.8 - - 3519 - - - - - - - - 14.23 14.36 14.45
1402 126.5 -7.4 79 1408 roll -0.58 - - 2703 - 1.95 0.105 3826 534.4 -116.8 - - 3517 - - - - - - - - 14.67 14.27 14.67
1485 133.2 -7.9 91 1492 done -0.58 - - 2703 - 1.77 0.039 2763 -600.6 -116.8 - - 3518 - - - - - - - - 14.55 14.51 14.56
1850 159.8 -7.2 101 1857 roll -0.58 - - 2703 - 2.30 0.043 1386 -598.7 -116.8 - - 3515 - - - - - - - - 14.68 14.42 14.68
1877 161.7 -7.0 105 1885 done -0.58 - - 2694 - 2.50 0.067 2776 556.0 -116.8 - - 3515 - - - - - - - - 14.43 14.35 14.47
2242 190.0 -8.0 115 2249 roll -0.58 - - 2698 - 2.40 0.043 1393 -576.2 -116.8 - - 3512 - - - - - - - - 14.67 14.36 14.67
2297 194.6 -8.1 123 2305 done -0.58 - - 2684 - 2.50 0.068 2806 565.2 -116.8 - - 3511 - - - - - - - - 14.50 14.35 14.51
2634 222.0 -8.1 136 2636 done -0.58 - - 2684 - - - 2808 - -116.8 - - 3508 - - - - - - - - 14.66 14.67 14.66
2970 248.2 -7.7 142 2972 done -0.58 - - 2684 - - - 2807 - -116.8 - - 3506 - - - - - - - - 14.66 14.66 14.66
3306 273.8 -7.7 148 3319 roll -0.58 - - 2684 - 2.42 0.043 1379 -590.1 -116.8 - - 3503 - - - - - - - - 14.83 14.56 14.84
3380 279.6 -7.7 158 3393 done -0.58 0.12 0.230 2711 225.0 2.47 0.070 2779 566.8 -116.8 - - 3502 - - - - - - - - 14.35 14.50 14.59
3708 301.3 -6.7 169 3721 roll -0.66 - - 2711 - 2.35 0.044 1383 -594.0 -116.8 - - 3500 - - - - - - - - 14.88 14.59 14.88
3769 305.8 -7.4 177 3783 done -0.75 0.08 0.143 2644 -837.5 2.47 0.069 2778 564.8 -116.8 - - 3499 - - - - - - - - 14.59 14.52 14.68
4111 339.3 -10.1 190 4124 roll -0.75 - - 2643 - 2.35 0.044 1385 -592.8 -116.8 - - 3498 - - - - - - - - 14.91 14.61 14.90
4157 344.1 -10.3 196 4170 done -0.75 - - 2634 - 2.45 0.070 2775 567.3 -116.8 - - 3497 - - - - - - - - 14.69 14.54 14.72
4511 381.6 -10.6 204 4524 roll -0.75 - - 2626 - 1.92 0.110 3826 547.4 -116.8 - - 3495 - - - - - - - - 14.92 14.47 14.92
4550 385.8 -10.6 209 4564 done -0.75 0.10 0.239 2655 290.0 1.70 0.043 2778 -616.5 -116.8 - - 3495 - - - - - - - - 14.40 14.71 14.65
4912 418.7 -9.0 218 4925 done -0.75 - - 2656 - - - 2778 - -116.8 - - 3493 - - - - - - - - 14.91 14.91 14.91
5248 448.9 -9.0 224 5261 roll -0.75 - - 2647 - 1.95 0.111 3824 536.4 -116.8 - - 3492 - - - - - - - - 14.90 14.47 14.92
5280 451.9 -8.9 228 5293 done -0.75 - - 2647 - 1.73 0.045 2774 -606.9 -116.8 - - 3490 - - - - - - - - 14.77 14.71 14.78
5649 483.7 -8.7 238 5662 roll -0.75 - - 2647 - 2.35 0.044 1373 -596.2 -116.8 - - 3490 - - - - - - - - 14.92 14.62 14.92
5681 486.5 -8.9 242 5694 done -0.75 - - 2637 - 2.45 0.067 2777 573.1 -116.8 - - 3489 - - - - - - - - 14.71 14.55 14.73
6049 520.3 -9.3 252 6063 roll -0.75 - - 2637 - 2.40 0.045 1367 -587.5 -116.8 - - 3487 - - - - - - - - 14.93 14.61 14.93
6102 525.4 -9.4 259 6117 done -0.75 0.10 0.256 2655 180.0 2.47 0.068 2770 568.0 -116.8 - - 3486 - - - - - - - - 14.34 14.52 14.59
6446 556.3 -9.1 266 6459 roll -0.75 - - 2647 - 1.95 0.111 3826 541.5 -116.8 - - 3486 - - - - - - - - 14.93 14.45 14.93
6492 560.8 -9.8 272 6505 done -0.75 - - 2644 - 1.73 0.044 2773 -608.7 -116.8 - - 3486 - - - - - - - - 14.75 14.69 14.76
6846 592.1 -8.6 280 6860 roll -0.75 - - 2647 - 2.35 0.044 1375 -594.9 -116.8 - - 3484 - - - - - - - - 14.92 14.59 14.92
6899 596.7 -8.5 287 6913 done -0.75 - - 2638 - 2.50 0.068 2782 562.8 -116.8 - - 3483 - - - - - - - - 14.68 14.52 14.71
7243 626.8 -8.9 294 7256 done -0.75 - - 2637 - - - 2781 - -116.8 - - 3482 - - - - - - - - 14.93 14.91 14.91
7579 657.1 -9.0 300 7592 roll -0.75 - - 2637 - 2.40 0.044 1374 -586.2 -116.8 - - 3480 - - - - - - - - 14.91 14.57 14.91
7667 665.1 -8.7 312 7680 done -0.75 0.10 0.255 2656 190.0 2.45 0.067 2769 569.4 -116.8 - - 3480 - - - - - - - - 14.31 14.50 14.55
8036 694.3 -7.8 322 8049 roll -0.75 - - 2656 - 2.38 0.045 1372 -587.0 -116.8 - - 3479 - - - - - - - - 14.92 14.56 14.92
8082 698.0 -7.9 328 8095 done -0.75 - - 2647 - 2.45 0.068 2766 569.0 -116.8 - - 3479 - - - - - - - - 14.66 14.49 14.69
8436 725.5 -7.8 336 8449 done -0.75 - - 2647 - - - 2765 - -116.8 - - 3478 - - - - - - - - 14.90 14.90 14.90
8773 751.4 -7.7 342 8785 done -0.75 - - 2647 - - - 2766 - -116.8 - - 3476 - - - - - - - - 14.90 14.90 14.90
9108 778.7 -8.2 348 9121 roll -0.75 - - 2646 - 2.40 0.047 1376 -579.2 -116.8 - - 3475 - - - - - - - - 14.89 14.54 14.90
9161 783.3 -8.6 355 9175 done -0.75 - - 2638 - 2.47 0.071 2769 564.0 -116.8 - - 3475 - - - - - - - - 14.64 14.47 14.67
9505 813.9 -8.9 362 9518 roll -0.75 - - 2637 - 2.38 0.045 1378 -584.5 -116.8 - - 3476 - - - - - - - - 14.90 14.54 14.89
9537 816.8 -8.8 366 9550 done -0.75 0.10 0.252 2656 190.0 2.45 0.070 2766 566.5 -116.8 - - 3474 - - - - - - - - 14.28 14.47 14.54
9906 846.4 -7.9 376 9919 done -0.75 - - 2656 - - - 2766 - -116.8 - - 3472 - - - - - - - - 14.89 14.89 14.89
10242 870.0 -6.9 382 10255 roll -0.75 - - 2656 - 2.38 0.047 1378 -583.2 -116.8 - - 3471 - - - - - - - - 14.88 14.52 14.88
10316 874.9 -6.3 392 10329 done -0.75 - - 2647 - 2.45 0.071 2762 564.9 -116.8 - - 3471 - - - - - - - - 14.63 14.45 14.66
10643 897.0 -6.7 403 10656 done -0.75 - - 2647 - - - 2760 - -116.8 - - 3471 - - - - - - - - 14.88 14.88 14.88
10979 921.1 -7.3 409 10992 roll -0.75 - - 2646 - 2.38 0.047 1375 -581.9 -116.8 - - 3470 - - - - - - - - 14.85 14.50 14.85
11032 925.0 -6.2 416 11046 done -0.75 - - 2638 - 2.47 0.070 2760 560.7 -116.8 - - 3470 - - - - - - - - 14.62 14.43 14.64
11150 end dive: TARGET_DEPTH_EXCEEDED
11150 begin apogee
11155 934.3 -7.7 419 11280 roll -0.23 0.62 0.189 2819 291.9 - - 2237 - - 115.10 1.963 3050 -3.6 0.333 - - - - - - 14.31 14.01 13.26
11281 end apogee: CONTROL_FINISHED_OK
11281 begin climb
11283 936.8 - 421 11424 roll 0.90 1.10 0.104 3169 318.2 2.47 0.056 845 -563.6 116.8 123.70 1.980 2583 -3.8 0.343 - - - - - - 14.00 14.04 13.09
11457 926.6 6.8 448 11491 done 0.78 - - 3173 - 2.53 0.053 2255 557.3 136.9 21.67 2.063 2506 -3.6 0.306 - - - - - - 14.05 13.95 13.20
11822 894.3 9.4 458 11836 roll 0.64 0.20 0.229 3109 -320.0 2.60 0.099 3661 540.8 136.9 - - 2489 - - - - - - - - 14.11 14.24 14.28
11876 889.5 8.4 465 11890 done 0.54 0.15 0.230 3079 -200.0 2.45 0.039 2231 -583.7 136.9 - - 2488 - - - - - - - - 14.16 14.42 14.42
12220 868.7 5.9 472 12274 roll 0.59 - - 3078 - 2.75 0.102 3651 516.4 176.0 42.05 1.951 2343 -3.4 0.295 - - - - - - 14.72 14.18 13.53
12321 861.1 7.7 486 12335 done 0.59 - - 3088 - 2.40 0.041 2251 -583.3 176.6 - - 2338 - - - - - - - - 14.37 14.30 14.38
12676 836.3 7.1 494 12708 roll 0.61 - - 3089 - 2.70 0.104 3651 518.5 191.7 16.02 2.052 2278 -3.7 0.293 - - - - - - 14.69 14.32 13.67
12734 830.2 12.1 502 12748 done 0.61 - - 3099 - 2.40 0.042 2251 -583.3 191.7 - - 2276 - - - - - - - - 14.47 14.40 14.48
13075 807.5 7.2 515 13100 roll 0.63 - - 3099 - 2.62 0.103 3651 534.4 204.1 11.80 2.100 2230 -3.9 0.288 - - - - - - 14.73 14.38 13.71
13118 803.7 8.7 521 13132 done 0.63 - - 3108 - 2.38 0.042 2257 -585.7 204.1 - - 2230 - - - - - - - - 14.55 14.45 14.53
13473 773.6 8.6 529 13486 roll 0.63 - - 3119 - 2.42 0.063 855 -579.3 204.1 - - 2227 - - - - - - - - 14.75 14.44 14.73
13505 770.7 8.7 533 13518 done 0.63 - - 3119 - 2.45 0.057 2265 575.5 204.1 - - 2226 - - - - - - - - 14.58 14.45 14.61
13874 736.0 9.5 543 13887 roll 0.63 - - 3119 - 2.58 0.107 3660 540.7 204.1 - - 2226 - - - - - - - - 14.80 14.39 14.80
13962 726.1 11.0 555 13975 done 0.63 - - 3129 - 2.38 0.041 2256 -589.9 204.1 - - 2226 - - - - - - - - 14.64 14.57 14.66
14331 687.4 10.5 565 14343 done 0.63 - - 3129 - - - 2251 - 204.1 - - 2226 - - - - - - - - 14.81 14.81 14.82
14667 661.9 8.6 571 14680 done 0.63 - - 3129 - - - 2251 - 204.1 - - 2225 - - - - - - - - 14.83 14.83 14.83
15002 633.8 8.3 577 15015 done 0.63 - - 3129 - - - 2251 - 204.1 - - 2225 - - - - - - - - 14.85 14.86 14.86
15339 604.0 9.0 583 15352 roll 0.63 - - 3129 - 2.62 0.104 3654 535.5 204.1 - - 2225 - - - - - - - - 14.85 14.40 14.85
15392 598.6 10.1 590 15407 done 0.63 0.12 0.234 3104 -208.3 2.40 0.042 2254 -583.3 204.1 - - 2225 - - - - - - - - 14.30 14.59 14.57
15736 570.3 8.2 597 15749 done 0.63 - - 3104 - - - 2253 - 204.1 - - 2225 - - - - - - - - 14.86 14.86 14.86
16072 543.0 8.1 603 16084 done 0.63 - - 3104 - - - 2253 - 204.1 - - 2225 - - - - - - - - 14.86 14.87 14.88
16408 516.7 7.8 609 16421 roll 0.63 - - 3104 - 2.58 0.103 3662 546.1 204.1 - - 2225 - - - - - - - - 14.87 14.38 14.87
16489 509.6 8.8 620 16502 done 0.63 - - 3113 - 2.35 0.042 2276 -589.8 204.1 - - 2225 - - - - - - - - 14.66 14.58 14.68
16808 484.1 8.0 630 16822 roll 0.63 - - 3124 - 2.45 0.062 859 -578.4 204.1 - - 2225 - - - - - - - - 14.86 14.46 14.87
16847 480.8 8.0 635 16860 done 0.63 - - 3123 - 2.45 0.057 2276 578.4 204.1 - - 2225 - - - - - - - - 14.62 14.47 14.66
17209 451.0 8.3 644 17222 roll 0.63 - - 3123 - 2.55 0.103 3658 542.0 204.1 - - 2225 - - - - - - - - 14.86 14.38 14.86
17297 442.4 9.5 656 17310 done 0.63 0.10 0.234 3105 -180.0 2.35 0.040 2262 -594.0 204.1 - - 2225 - - - - - - - - 14.26 14.52 14.51
17666 416.2 6.3 666 17709 done 0.67 - - 3105 - - - 2257 - 235.8 33.78 1.533 2111 -3.4 0.176 - - - - - - 14.89 14.50 13.83
18002 390.3 7.7 672 18015 roll 0.67 - - 3105 - 2.62 0.101 3660 535.5 236.7 - - 2097 - - - - - - - - 14.71 14.31 14.71
18069 384.6 8.5 681 18082 done 0.67 - - 3114 - 2.35 0.041 2273 -590.2 236.7 - - 2097 - - - - - - - - 14.57 14.49 14.59
18403 360.3 7.2 693 18428 roll 0.68 - - 3124 - 2.47 0.063 863 -570.9 247.9 10.45 1.652 2058 -3.7 0.156 - - - - - - 14.76 14.50 13.89
18439 357.5 7.1 698 18466 done 0.70 - - 3124 - 2.45 0.055 2282 579.2 261.0 13.90 1.583 2009 -3.5 0.153 - - - - - - 14.59 14.45 13.84
18797 328.6 8.3 707 18811 roll 0.70 - - 3123 - 2.55 0.103 3657 539.2 261.0 - - 1999 - - - - - - - - 14.71 14.33 14.73
18836 324.7 10.0 712 18850 done 0.70 - - 3132 - 2.35 0.040 2270 -590.2 261.0 - - 1998 - - - - - - - - 14.57 14.50 14.59
19198 291.6 9.2 721 19211 roll 0.70 - - 3144 - 2.42 0.062 865 -580.6 261.0 - - 1998 - - - - - - - - 14.78 14.44 14.78
19223 289.2 9.5 724 19236 done 0.70 - - 3144 - 2.45 0.055 2281 578.0 261.0 - - 1998 - - - - - - - - 14.59 14.46 14.63
19543 258.2 9.7 734 19556 roll 0.70 - - 3144 - 2.53 0.102 3653 542.3 261.0 - - 1998 - - - - - - - - 14.80 14.38 14.80
19575 254.4 11.7 738 19588 done 0.70 - - 3153 - 2.33 0.041 2271 -593.1 261.0 - - 1998 - - - - - - - - 14.64 14.57 14.66
19944 216.2 9.7 748 19957 roll 0.70 - - 3164 - 2.42 0.062 862 -582.2 261.0 - - 1998 - - - - - - - - 14.82 14.47 14.83
19969 215.0 8.2 751 19982 done 0.70 0.12 0.218 3127 -308.3 2.45 0.054 2279 578.4 261.0 - - 1998 - - - - - - - - 14.32 14.49 14.57
20289 187.6 8.5 761 20302 roll 0.70 - - 3127 - 2.53 0.099 3656 544.3 261.0 - - 1997 - - - - - - - - 14.83 14.40 14.83
20320 184.6 9.5 765 20334 done 0.70 - - 3135 - 2.33 0.040 2265 -597.0 261.0 - - 1998 - - - - - - - - 14.67 14.59 14.69
20689 151.3 9.1 775 20702 roll 0.70 - - 3146 - 2.40 0.060 866 -582.9 261.0 - - 1999 - - - - - - - - 14.84 14.48 14.85
20750 145.8 9.1 783 20763 done 0.70 - - 3146 - 2.45 0.052 2288 580.4 261.0 - - 1998 - - - - - - - - 14.63 14.49 14.66
21091 115.8 8.7 796 21104 roll 0.70 - - 3146 - 2.50 0.101 3653 546.0 261.0 - - 1998 - - - - - - - - 14.86 14.40 14.87
21115 113.2 9.0 799 21129 done 0.70 0.10 0.233 3126 -200.0 2.30 0.040 2280 -597.0 261.0 - - 1998 - - - - - - - - 14.33 14.59 14.58
21437 88.3 7.1 811 21455 roll 0.71 - - 3126 - 2.60 0.099 3652 527.7 275.7 6.15 0.401 1955 -7.0 0.295 - - - - - - 14.83 14.50 14.16
21536 79.8 8.4 825 21551 done 0.71 - - 3133 - 2.30 0.040 2276 -598.3 275.7 1.17 0.243 1953 - - - - - - - - 14.67 14.60 14.36
21854 62.4 4.7 837 21904 roll 0.92 0.10 0.121 3219 860.0 2.47 0.057 868 -570.0 341.2 34.67 0.373 1691 -7.6 0.243 - - - - - - 14.52 14.56 14.26
21916 59.3 5.0 846 21958 done 0.99 - - 3218 - 2.42 0.050 2295 589.7 400.0 30.33 0.366 1457 -7.7 0.240 - - - - - - 14.68 14.52 14.23
22280 39.1 6.3 864 22311 roll 1.23 0.12 0.108 3308 750.0 2.50 0.060 866 -571.6 432.5 16.38 0.295 1332 -7.6 0.194 - - - - - - 14.50 14.45 14.23
22395 39.7 9.0 880 22409 done 1.23 - - 3310 - 2.42 0.051 2286 586.8 432.5 - - 1335 - - - - - - - - 14.59 14.45 14.61
22736 4.0 8.1 895 22750 roll 1.23 - - 3310 - 2.50 0.096 3656 548.0 432.5 - - 1335 - - - - - - - - 14.81 14.37 14.81
22767 end climb: SURFACE_DEPTH_REACHED
22767 begin surface coast
22773 end surface coast: CONTROL_FINISHED_OK
22773 begin surface
SM -2.59 - - - - -8.40 9.35 0.089 188 20.1 1.50 0.040 2757 1664.7 500.14 32.60 0.158 1058 32.5 0.054 - - - - - -