SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 207 * Raw log
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• Previous call tries 1 • 81.20 of 350.00 AH used of 24V (76.80% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth -4.28 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 45 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 - - - 100 done -0.90 - - 151 - - - 2740 - -116.8 -78.07 - 3515 - - - - - - - - 14.58 13.10 14.54
102 -3.1 -3.0 2 119 roll -0.90 11.77 0.394 2596 207.7 2.03 0.096 3818 531.0 -116.8 - - 3516 - - - - - - - - 14.12 14.32 14.40
153 26.8 -34.1 10 160 done -0.35 0.65 0.252 2779 281.5 1.77 0.036 2756 -600.0 -116.8 - - 3518 - - - - - - - - 14.12 14.39 14.37
489 70.4 -8.2 25 496 roll -0.35 - - 2779 - 2.30 0.042 1386 -595.7 -116.8 - - 3519 - - - - - - - - 14.64 14.39 14.63
558 74.9 -6.3 35 566 done -0.46 - - 2769 - 2.50 0.063 2782 558.4 -116.8 - - 3519 - - - - - - - - 14.41 14.33 14.44
881 87.4 -1.7 48 884 done -0.57 0.10 0.118 2691 -780.0 - - 2782 - -116.8 - - 3519 - - - - - - - - 14.45 14.53 14.51
1189 114.2 -10.2 57 1196 roll -0.57 - - 2683 - 1.95 0.102 3825 534.9 -116.8 - - 3520 - - - - - - - - 14.67 14.31 14.68
1349 128.6 -9.6 80 1360 done -0.57 0.10 0.194 2712 290.0 1.75 0.040 2790 -591.4 -116.8 - - 3519 - - - - - - - - 14.24 14.46 14.40
1693 156.0 -7.7 87 1700 roll -0.57 - - 2713 - 2.38 0.043 1376 -594.1 -116.8 - - 3518 - - - - - - - - 14.68 14.42 14.68
1734 159.2 -7.5 93 1742 done -0.57 - - 2703 - 2.53 0.064 2787 557.7 -116.8 - - 3518 - - - - - - - - 14.44 14.35 14.47
2085 185.4 -7.5 101 2092 roll -0.57 - - 2703 - 2.40 0.043 1376 -587.9 -116.8 - - 3513 - - - - - - - - 14.68 14.42 14.68
2147 190.1 -7.4 110 2155 done -0.57 - - 2694 - 2.53 0.064 2781 555.3 -116.8 - - 3515 - - - - - - - - 14.42 14.34 14.45
2477 215.0 -7.5 122 2484 roll -0.57 - - 2686 - 1.98 0.103 3823 526.3 -116.8 - - 3510 - - - - - - - - 14.71 14.30 14.67
2518 218.4 -8.2 128 2527 done -0.57 0.10 0.220 2723 370.0 1.80 0.042 2775 -582.2 -116.8 - - 3512 - - - - - - - - 14.25 14.50 14.40
2869 240.1 -6.2 136 2877 roll -0.66 0.05 0.203 2666 -1140.0 2.35 0.043 1377 -594.9 -116.8 - - 3509 - - - - - - - - 14.42 14.42 14.50
2896 242.2 -7.6 140 2906 done -0.66 - - 2656 - 2.55 0.065 2785 552.2 -116.8 - - 3509 - - - - - - - - 14.42 14.34 14.46
3261 274.8 -9.1 150 3274 roll -0.66 0.08 0.274 2675 237.5 1.90 0.102 3821 545.3 -116.8 - - 3506 - - - - - - - - 14.33 14.43 14.47
3328 280.8 -8.7 159 3341 done -0.66 - - 2675 - 1.73 0.044 2773 -605.8 -116.8 - - 3505 - - - - - - - - 14.69 14.64 14.70
3662 309.1 -8.6 171 3675 roll -0.66 - - 2674 - 2.35 0.044 1375 -594.9 -116.8 - - 3503 - - - - - - - - 14.88 14.59 14.88
3714 313.6 -8.4 178 3728 done -0.66 - - 2665 - 2.50 0.066 2784 563.6 -116.8 - - 3504 - - - - - - - - 14.68 14.52 14.70
4059 343.3 -8.8 185 4072 done -0.66 - - 2665 - - - 2783 - -116.8 - - 3500 - - - - - - - - 14.90 14.90 14.90
4394 373.0 -8.8 191 4407 roll -0.66 - - 2657 - 1.92 0.107 3827 543.8 -116.8 - - 3498 - - - - - - - - 14.94 14.49 14.91
4433 376.6 -9.1 196 4446 done -0.66 - - 2656 - 1.77 0.045 2754 -606.2 -116.8 - - 3498 - - - - - - - - 14.76 14.69 14.77
4795 409.2 -9.0 205 4808 roll -0.66 - - 2656 - 2.33 0.045 1372 -593.1 -116.8 - - 3496 - - - - - - - - 14.93 14.61 14.92
4841 413.4 -9.2 211 4854 done -0.66 0.12 0.237 2682 216.7 2.45 0.067 2774 572.2 -116.8 - - 3496 - - - - - - - - 14.38 14.54 14.62
5196 441.4 -7.9 219 5209 roll -0.66 - - 2682 - 2.38 0.045 1377 -587.0 -116.8 - - 3494 - - - - - - - - 14.94 14.62 14.91
5235 444.5 -8.1 224 5248 done -0.66 - - 2673 - 2.47 0.067 2783 569.2 -116.8 - - 3494 - - - - - - - - 14.71 14.55 14.73
5596 473.9 -8.2 233 5610 roll -0.66 - - 2664 - 1.92 0.108 3829 544.8 -116.8 - - 3493 - - - - - - - - 14.93 14.47 14.94
5649 478.4 -8.8 240 5664 done -0.66 - - 2664 - 1.77 0.047 2773 -596.6 -116.8 - - 3492 - - - - - - - - 14.70 14.64 14.71
5993 506.6 -8.1 247 6007 roll -0.66 - - 2664 - 2.38 0.045 1367 -590.8 -116.8 - - 3491 - - - - - - - - 14.93 14.60 14.93
6046 511.0 -8.4 254 6060 done -0.66 0.10 0.244 2683 190.0 2.53 0.069 2780 558.5 -116.8 - - 3490 - - - - - - - - 14.37 14.52 14.60
6391 536.6 -7.3 261 6404 done -0.66 - - 2682 - - - 2780 - -116.8 - - 3489 - - - - - - - - 14.91 14.92 14.95
6726 561.2 -7.3 267 6739 roll -0.66 - - 2683 - 2.42 0.044 1364 -585.1 -116.8 - - 3488 - - - - - - - - 14.91 14.59 14.92
6758 563.7 -7.7 271 6771 done -0.66 - - 2674 - 2.50 0.069 2776 564.8 -116.8 - - 3486 - - - - - - - - 14.69 14.52 14.71
7127 590.4 -7.2 281 7140 done -0.66 - - 2674 - - - 2776 - -116.8 - - 3486 - - - - - - - - 14.91 14.92 14.92
7463 614.9 -7.4 287 7476 roll -0.66 - - 2674 - 2.42 0.046 1363 -583.9 -116.8 - - 3481 - - - - - - - - 14.91 14.58 14.91
7502 617.9 -7.5 292 7516 done -0.66 - - 2665 - 2.50 0.071 2775 564.8 -116.8 - - 3484 - - - - - - - - 14.68 14.51 14.71
7865 646.0 -7.7 301 7878 done -0.66 - - 2665 - - - 2775 - -116.8 - - 3482 - - - - - - - - 14.90 14.90 14.90
8201 671.5 -7.6 307 8214 roll -0.66 - - 2665 - 2.42 0.047 1369 -581.0 -116.8 - - 3481 - - - - - - - - 14.90 14.56 14.90
8246 675.0 -7.9 313 8260 done -0.66 0.10 0.247 2684 190.0 2.50 0.071 2775 562.4 -116.8 - - 3481 - - - - - - - - 14.33 14.49 14.57
8602 698.7 -6.6 321 8615 roll -0.66 - - 2677 - 1.95 0.112 3824 537.9 -116.8 - - 3480 - - - - - - - - 14.91 14.39 14.91
8641 701.4 -6.8 326 8654 done -0.66 - - 2678 - 1.77 0.047 2762 -600.0 -116.8 - - 3480 - - - - - - - - 14.71 14.62 14.72
9002 724.4 -6.6 335 9016 roll -0.66 - - 2676 - 2.38 0.047 1373 -583.6 -116.8 - - 3479 - - - - - - - - 14.89 14.55 14.89
9069 728.8 -6.8 344 9082 done -0.66 - - 2668 - 2.50 0.071 2768 558.0 -116.8 - - 3479 - - - - - - - - 14.68 14.47 14.66
9403 751.4 -7.0 356 9416 done -0.66 - - 2667 - - - 2768 - -116.8 - - 3477 - - - - - - - - 14.91 14.91 14.91
9739 773.2 -6.4 362 9753 roll -0.66 - - 2666 - 2.40 0.046 1375 -580.4 -116.8 - - 3476 - - - - - - - - 14.95 14.52 14.92
9785 776.3 -6.0 368 9799 done -0.66 - - 2658 - 2.50 0.071 2768 557.2 -116.8 - - 3476 - - - - - - - - 14.65 14.47 14.68
10141 800.0 -6.7 376 10154 roll -0.66 - - 2649 - 1.98 0.112 3821 531.8 -116.8 - - 3475 - - - - - - - - 14.90 14.37 14.90
10173 802.6 -8.4 380 10186 done -0.66 0.10 0.230 2679 300.0 1.77 0.045 2760 -599.4 -116.8 - - 3475 - - - - - - - - 14.33 14.64 14.56
10542 827.2 -6.7 390 10555 roll -0.66 - - 2679 - 2.38 0.047 1367 -585.3 -116.8 - - 3474 - - - - - - - - 14.89 14.52 14.89
10653 834.5 -6.9 405 10667 done -0.75 - - 2671 - 2.50 0.070 2763 558.4 -116.8 - - 3474 - - - - - - - - 14.61 14.45 14.64
10995 859.1 -7.3 412 11008 roll -0.75 - - 2663 - 2.00 0.113 3831 534.0 -116.8 - - 3473 - - - - - - - - 14.90 14.35 14.90
11027 861.7 -7.0 416 11041 done -0.75 - - 2662 - 1.80 0.047 2760 -595.0 -116.8 - - 3473 - - - - - - - - 14.69 14.62 14.70
11396 889.3 -7.4 426 11410 roll -0.75 - - 2663 - 2.38 0.048 1373 -582.8 -116.8 - - 3471 - - - - - - - - 14.87 14.50 14.88
11484 895.5 -7.1 438 11497 done -0.75 - - 2654 - 2.50 0.070 2772 559.6 -116.8 - - 3472 - - - - - - - - 14.61 14.43 14.64
11853 921.6 -7.2 448 11867 roll -0.75 - - 2646 - 2.00 0.114 3827 527.5 -116.8 - - 3471 - - - - - - - - 14.87 14.33 14.87
11893 924.0 -3.8 453 11906 done -0.75 - - 2645 - 1.80 0.047 2757 -594.4 -116.8 - - 3471 - - - - - - - - 14.66 14.59 14.68
12028 end dive: TARGET_DEPTH_EXCEEDED
12028 begin apogee
12034 933.8 -6.6 458 12164 roll -0.23 0.60 0.187 2821 293.3 - - 2224 - - 120.62 1.943 3048 -3.5 0.324 - - - - - - 14.29 13.99 13.21
12166 end apogee: CONTROL_FINISHED_OK
12166 begin climb
12168 937.7 - 460 12309 roll 0.90 1.10 0.104 3169 316.4 2.47 0.057 849 -556.7 116.8 125.12 1.976 2587 -3.7 0.337 - - - - - - 13.99 14.02 13.05
12538 914.5 8.1 516 12551 done 0.76 - - 3169 - 2.50 0.055 2261 564.8 116.8 - - 2570 - - - - - - - - 14.31 14.20 14.34
12872 886.7 8.4 528 12885 roll 0.60 0.22 0.226 3110 -268.2 2.47 0.057 852 -570.4 116.8 - - 2568 - - - - - - - - 14.13 14.35 14.31
13101 874.2 4.9 560 13182 done 0.68 - - 3110 - 2.45 0.055 2260 574.7 178.8 68.30 1.909 2338 -3.4 0.297 - - - - - - 14.52 14.40 13.40
13495 846.0 7.7 581 13509 roll 0.68 - - 3110 - 2.60 0.101 3653 535.8 180.1 - - 2321 - - - - - - - - 14.62 14.27 14.62
13576 839.3 10.0 592 13589 done 0.68 - - 3121 - 2.42 0.042 2240 -583.9 180.1 - - 2321 - - - - - - - - 14.51 14.43 14.53
13896 813.0 8.4 602 13909 roll 0.68 - - 3130 - 2.40 0.063 861 -574.6 180.1 - - 2320 - - - - - - - - 14.73 14.40 14.73
13942 809.5 9.7 608 13955 done 0.68 - - 3130 - 2.42 0.056 2254 575.6 180.1 - - 2320 - - - - - - - - 14.52 14.38 14.54
14296 775.7 9.7 616 14310 roll 0.68 - - 3130 - 2.55 0.103 3652 548.2 180.1 - - 2319 - - - - - - - - 14.81 14.38 14.79
14363 769.0 10.9 625 14377 done 0.59 0.17 0.220 3092 -223.5 2.40 0.042 2242 -587.5 180.1 - - 2319 - - - - - - - - 14.26 14.53 14.52
14697 741.7 7.9 637 14710 done 0.59 - - 3092 - - - 2238 - 180.1 - - 2318 - - - - - - - - 14.80 14.80 14.80
15034 717.2 7.2 643 15051 roll 0.60 - - 3092 - 2.70 0.102 3659 526.3 192.7 5.90 2.039 2287 -5.3 0.356 - - - - - - 14.83 14.56 13.69
15119 710.5 8.3 655 15133 done 0.60 - - 3100 - 2.40 0.043 2250 -587.1 192.7 1.73 0.249 2281 -3.5 1.905 - - - - - - 14.63 14.55 14.21
15482 684.3 7.2 664 15514 roll 0.62 - - 3100 - 2.70 0.103 3656 520.7 204.5 20.05 1.888 2231 -2.5 0.174 - - - - - - 14.80 14.43 13.85
15546 679.0 8.8 673 15560 done 0.62 - - 3110 - 2.40 0.043 2254 -584.2 204.5 - - 2225 - - - - - - - - 14.55 14.47 14.56
15873 651.8 8.4 684 15886 done 0.62 - - 3110 - - - 2256 - 204.5 - - 2224 - - - - - - - - 14.73 14.73 14.73
16210 622.7 8.8 690 16223 roll 0.62 - - 3110 - 2.65 0.104 3653 527.2 204.5 - - 2224 - - - - - - - - 14.77 14.35 14.78
16270 616.8 9.4 698 16284 done 0.62 - - 3120 - 2.40 0.043 2256 -582.1 204.5 - - 2224 - - - - - - - - 14.61 14.52 14.62
16611 585.1 9.2 711 16624 done 0.62 - - 3120 - - - 2251 - 204.5 - - 2224 - - - - - - - - 14.81 14.81 14.81
16947 555.1 8.9 717 16960 roll 0.62 - - 3120 - 2.62 0.104 3652 534.7 204.5 - - 2223 - - - - - - - - 14.83 14.38 14.83
17008 549.4 9.7 725 17021 done 0.62 - - 3129 - 2.40 0.043 2251 -583.8 204.5 - - 2223 - - - - - - - - 14.63 14.54 14.65
17349 518.2 9.2 738 17362 roll 0.62 0.08 0.263 3102 -337.5 2.62 0.099 3654 535.5 204.5 - - 2223 - - - - - - - - 14.28 14.38 14.45
17381 515.0 9.5 742 17394 done 0.62 - - 3111 - 2.38 0.043 2257 -587.0 204.5 - - 2223 - - - - - - - - 14.65 14.57 14.67
17750 483.9 8.6 752 17763 roll 0.62 - - 3111 - 2.62 0.099 3661 535.9 204.5 - - 2223 - - - - - - - - 14.85 14.36 14.85
17796 479.1 10.3 758 17809 done 0.62 - - 3121 - 2.38 0.041 2261 -588.2 204.5 - - 2223 - - - - - - - - 14.64 14.56 14.65
18151 448.2 8.6 766 18164 done 0.62 - - 3121 - - - 2255 - 204.5 - - 2223 - - - - - - - - 14.83 14.83 14.81
18487 421.9 7.7 772 18500 roll 0.62 - - 3121 - 2.62 0.103 3651 532.8 205.6 - - 2223 - - - - - - - - 14.83 14.35 14.83
18568 414.9 8.5 783 18581 done 0.62 - - 3130 - 2.35 0.044 2271 -587.2 205.6 - - 2223 - - - - - - - - 14.64 14.55 14.66
18887 391.1 7.6 793 18901 roll 0.62 - - 3140 - 2.47 0.063 853 -574.1 209.2 - - 2223 - - - - - - - - 14.83 14.42 14.84
18926 388.8 7.7 798 18940 done 0.62 0.12 0.213 3104 -300.0 2.47 0.057 2278 576.9 211.2 1.62 0.226 2208 -9.3 3.066 - - - - - - 14.28 14.45 14.22
19282 366.3 6.5 806 19329 roll 0.66 - - 3104 - 2.62 0.103 3661 527.9 237.8 34.97 1.463 2098 -3.1 0.152 - - - - - - 14.83 14.40 13.83
19383 358.7 8.2 820 19396 done 0.66 - - 3112 - 2.42 0.041 2258 -579.8 237.8 - - 2091 - - - - - - - - 14.50 14.42 14.51
19727 328.7 8.7 827 19740 done 0.66 - - 3112 - - - 2252 - 237.8 - - 2089 - - - - - - - - 14.73 14.73 14.73
20063 299.1 9.1 833 20076 roll 0.66 - - 3111 - 2.65 0.103 3657 530.2 237.8 - - 2088 - - - - - - - - 14.76 14.31 14.76
20102 295.8 9.0 838 20115 done 0.66 - - 3121 - 2.38 0.043 2274 -581.1 237.8 - - 2088 - - - - - - - - 14.59 14.50 14.62
20463 262.2 9.0 847 20477 roll 0.66 - - 3131 - 2.47 0.064 851 -576.1 237.8 - - 2089 - - - - - - - - 14.80 14.41 14.80
20495 259.9 7.4 851 20513 done 0.67 - - 3131 - 2.47 0.057 2278 577.7 246.2 2.15 0.428 2073 -7.4 0.870 - - - - - - 14.59 14.44 13.47
20861 228.1 8.7 861 20875 roll 0.67 - - 3131 - 2.62 0.103 3660 527.5 246.2 1.90 0.246 2071 - - - - - - - - 14.83 14.40 14.08
20894 226.2 6.2 865 20947 done 0.71 - - 3140 - 2.38 0.041 2255 -590.3 278.8 40.85 1.306 1936 -3.3 0.110 - - - - - - 14.64 14.56 13.85
21262 192.6 9.3 882 21275 roll 0.71 - - 3140 - 2.62 0.101 3656 534.7 278.8 - - 1922 - - - - - - - - 14.69 14.29 14.69
21315 187.0 11.6 889 21330 done 0.71 - - 3150 - 2.38 0.041 2275 -580.3 278.8 - - 1923 - - - - - - - - 14.54 14.46 14.56
21659 154.4 9.8 896 21672 roll 0.71 - - 3160 - 2.47 0.063 852 -576.1 278.8 - - 1923 - - - - - - - - 14.78 14.39 14.78
21720 149.0 10.3 904 21733 done 0.71 0.10 0.220 3130 -300.0 2.47 0.056 2274 575.7 278.8 - - 1921 - - - - - - - - 14.27 14.42 14.50
22061 120.5 8.1 917 22074 done 0.71 - - 3130 - - - 2274 - 278.8 - - 1921 - - - - - - - - 14.81 14.83 14.81
22369 97.1 7.8 923 22382 roll 0.71 - - 3129 - 2.55 0.099 3661 543.9 278.8 - - 1921 - - - - - - - - 14.79 14.36 14.81
22430 92.8 7.0 931 22447 done 0.73 - - 3137 - 2.38 0.040 2255 -590.8 295.5 5.97 0.402 1876 -7.5 0.335 - - - - - - 14.64 14.57 14.09
22769 69.7 6.3 946 22802 roll 0.87 0.08 0.151 3204 837.5 2.60 0.097 3661 540.8 325.9 17.62 0.385 1754 -6.9 0.241 - - - - - - 14.53 14.48 14.22
22806 68.2 6.6 951 22835 done 0.90 - - 3214 - 2.30 0.041 2290 -596.1 350.2 13.77 0.381 1657 -7.0 0.243 - - - - - - 14.63 14.57 14.23
23138 48.4 3.9 965 23197 roll 1.09 0.05 0.205 3277 1260.0 2.50 0.061 872 -567.2 432.5 42.30 0.331 1329 -7.8 0.218 - - - - - - 14.51 14.44 14.24
23300 40.5 9.1 988 23313 done 1.09 - - 3277 - 2.47 0.054 2293 575.3 432.5 - - 1331 - - - - - - - - 14.56 14.42 14.57
23616 16.6 9.0 1000 23629 roll 1.09 - - 3285 - 2.50 0.061 859 -573.6 432.5 - - 1330 - - - - - - - - 14.78 14.45 14.78
23820 end climb: SURFACE_DEPTH_REACHED
23821 begin surface coast
23849 end surface coast: CONTROL_FINISHED_OK
23849 begin surface
SM -4.59 - - - - -8.38 9.12 0.080 194 21.3 3.38 0.063 2765 665.4 500.14 31.98 0.161 1058 33.1 0.096 - - - - - -