SPURS Mar13 * SG160 * Dive index * Mission links * Dive 452 * Raw log
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• Previous call tries 1 • 177.97 of 350.00 AH used of 24V (49.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.0 deg, depth 3.89 m • Intended pitch -15.5 deg, speed -7.364 cm/s
VBD pumped to 561.49 (beyond SM_CC=300)
• GPS1 time: 38 s
• GPS2 time: 11 s, HDOP was 99.0 m • 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
17 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 39 VBD -0.88 - - 134 - - - 1965 - -107.1 -14.95 - 528 - - - - - - - - - - -
44 4.0 - 1 177 roll -0.88 12.93 0.321 3009 222.4 2.47 0.071 893 -434.0 -107.1 -108.45 - 2914 -22.0 - - - - - - - 14.16 14.47 14.77
344 26.8 -12.7 20 351 done -0.81 - - 3009 - 2.35 0.044 1939 445.1 -107.1 - - 2914 - - - - - - - - - 14.49 -
650 62.7 -9.8 41 652 done -0.73 0.20 0.236 3057 240.0 - - 1938 - -107.1 - - 2914 - - - - - - - - 14.16 - -
951 88.3 -9.5 61 956 roll -0.71 - - 3058 - 2.38 0.053 892 -439.5 -107.1 - - 2914 - - - - - - - - - 14.48 -
1078 101.7 -11.1 69 1083 done -0.68 - - 3058 - 2.40 0.043 1960 445.0 -107.1 - - 2913 - - - - - - - - - 14.52 -
1398 133.4 -8.0 90 1404 roll -0.66 - - 3055 - 2.42 0.054 894 -440.5 -107.1 - - 2913 - - - - - - - - - 14.48 -
1544 144.5 -7.9 99 1549 done -0.64 - - 3058 - 2.35 0.043 1952 450.2 -107.1 - - 2913 - - - - - - - - - 14.54 -
1858 166.6 -7.0 120 1864 roll -0.64 0.12 0.235 3092 283.3 2.42 0.050 887 -440.1 -107.1 - - 2913 - - - - - - - - 14.24 14.49 -
1919 169.7 -6.1 123 1925 done -0.64 - - 3092 - 2.35 0.041 1944 449.8 -107.1 - - 2913 - - - - - - - - - 14.55 -
2225 194.7 -9.3 144 2230 roll -0.70 - - 3092 - 2.38 0.051 893 -441.6 -107.1 - - 2913 - - - - - - - - - 14.51 -
2278 199.6 -9.8 147 2284 done -0.74 0.12 0.115 3041 -425.0 2.28 0.038 1926 453.1 -107.1 - - 2912 - - - - - - - - 14.54 14.57 -
2595 231.8 -8.5 168 2600 roll -0.72 - - 3041 - 2.45 0.064 2996 436.7 -107.1 - - 2912 - - - - - - - - - 14.45 -
2649 235.7 -7.8 171 2654 done -0.70 - - 3040 - 2.38 0.032 1907 -457.6 -107.1 - - 2912 - - - - - - - - - 14.59 -
2963 260.2 -8.0 188 2970 roll -0.68 0.12 0.230 3074 283.3 2.25 0.050 901 -447.1 -107.1 - - 2911 - - - - - - - - 14.24 14.50 -
3080 267.6 -7.8 191 3086 done -0.68 - - 3074 - 2.25 0.039 1919 452.4 -107.1 - - 2910 - - - - - - - - - 14.55 -
3400 295.4 -8.3 202 3405 roll -0.70 - - 3074 - 2.30 0.050 899 -443.5 -107.1 - - 2909 - - - - - - - - - 14.53 -
3464 301.3 -8.4 204 3470 done -0.73 - - 3074 - 2.22 0.037 1904 452.7 -107.1 - - 2909 - - - - - - - - - 14.57 -
3803 328.2 -7.8 215 3808 roll -0.78 - - 3074 - 2.25 0.050 905 -444.0 -107.1 - - 2908 - - - - - - - - - 14.52 -
3877 333.5 -7.6 217 3883 done -0.81 0.15 0.106 3018 -373.3 2.17 0.037 1890 453.9 -107.1 - - 2908 - - - - - - - - 14.54 14.57 -
4206 362.2 -8.5 228 4212 roll -0.78 - - 3018 - 2.55 0.069 2997 434.1 -107.1 - - 2907 - - - - - - - - - 14.37 -
4280 368.1 -8.5 230 4286 done -0.75 0.15 0.223 3053 233.3 2.42 0.036 1896 -455.0 -107.1 - - 2907 - - - - - - - - 14.26 14.58 -
4609 396.1 -8.8 241 4614 roll -0.75 - - 3053 - 2.22 0.052 900 -448.6 -107.1 - - 2906 - - - - - - - - - 14.50 -
4765 411.5 -9.8 246 4770 done -0.75 - - 3053 - 2.20 0.038 1886 448.2 -107.1 - - 2905 - - - - - - - - - 14.54 -
5102 444.4 -9.9 257 5107 roll -0.75 - - 3053 - 2.22 0.051 906 -441.4 -107.1 - - 2904 - - - - - - - - - 14.50 -
5208 454.2 -9.9 260 5213 done -0.75 - - 3053 - 2.15 0.038 1873 449.8 -107.1 - - 2904 - - - - - - - - - 14.54 -
5537 486.1 -9.0 271 5542 roll -0.75 - - 3053 - 2.20 0.051 905 -440.0 -107.1 - - 2903 - - - - - - - - - 14.49 -
5589 489.4 -8.8 272 5594 done -0.75 - - 3053 - 2.15 0.038 1870 448.8 -107.1 - - 2903 - - - - - - - - - 14.54 -
5911 514.9 -7.1 283 5916 roll -0.75 - - 3050 - 2.20 0.053 906 -438.2 -107.1 - - 2902 - - - - - - - - - 14.48 -
5946 517.6 -7.3 284 5951 done -0.75 - - 3053 - 2.15 0.039 1866 446.5 -107.1 - - 2902 - - - - - - - - - 14.54 -
6284 543.5 -7.8 295 6289 roll -0.75 - - 3054 - 2.20 0.052 902 -438.2 -107.1 - - 2901 - - - - - - - - - 14.48 -
6332 546.6 -7.9 296 6337 done -0.75 - - 3053 - 2.12 0.039 1856 450.0 -107.1 - - 2900 - - - - - - - - - 14.53 -
6655 575.3 -8.8 307 6661 roll -0.78 - - 3053 - 2.65 0.070 3001 432.1 -107.1 - - 2900 - - - - - - - - - 14.40 -
6690 578.7 -8.8 308 6696 done -0.81 - - 3053 - 2.53 0.037 1866 -448.6 -107.1 - - 2899 - - - - - - - - - 14.55 -
7029 607.5 -8.2 319 7034 roll -0.81 - - 3054 - 2.17 0.056 904 -443.3 -107.1 - - 2898 - - - - - - - - - 14.46 -
7178 618.1 -8.4 323 7184 done -0.81 - - 3053 - 2.10 0.042 1839 445.2 -107.1 - - 2897 - - - - - - - - - 14.50 -
7489 642.3 -6.7 334 7494 roll -0.81 - - 3054 - 2.15 0.054 902 -435.8 -107.1 - - 2896 - - - - - - - - - 14.47 -
7547 644.9 -6.7 335 7554 done -0.81 - - 3053 - 2.08 0.041 1826 444.2 -107.1 - - 2895 - - - - - - - - - 14.51 -
7857 666.6 -6.6 346 7862 roll -0.85 - - 3053 - 2.72 0.070 2999 431.2 -107.1 - - 2895 - - - - - - - - - 14.36 -
7876 666.6 -6.6 346 7882 done -0.88 0.15 0.115 2999 -360.0 2.65 0.043 1834 -439.6 -107.1 - - 2895 - - - - - - - - 14.46 14.48 -
8200 698.3 -10.2 357 8205 roll -0.84 - - 2999 - 2.12 0.060 903 -439.2 -107.1 - - 2893 - - - - - - - - - 14.42 -
8351 712.2 -10.8 361 8359 done -0.80 0.15 0.244 3032 220.0 2.05 0.045 1809 442.0 -107.1 - - 2893 - - - - - - - - 14.13 14.47 -
8660 745.9 -9.7 372 8665 roll -0.80 - - 3033 - 2.12 0.058 902 -427.8 -107.1 - - 2892 - - - - - - - - - 14.40 -
8697 749.8 -9.8 373 8702 done -0.80 - - 3033 - 2.05 0.044 1805 440.5 -107.1 - - 2892 - - - - - - - - - 14.41 -
9031 780.7 -8.5 384 9036 roll -0.80 - - 3032 - 2.10 0.059 903 -429.5 -107.1 - - 2890 - - - - - - - - - 14.40 -
9079 783.6 -8.3 385 9084 done -0.80 - - 3032 - 2.03 0.044 1797 440.4 -107.1 - - 2890 - - - - - - - - - 14.46 -
9401 808.1 -7.3 396 9406 roll -0.80 - - 3032 - 2.08 0.060 906 -428.4 -107.1 - - 2888 - - - - - - - - - 14.39 -
9439 810.8 -7.4 397 9444 done -0.80 - - 3033 - 2.03 0.045 1799 439.9 -107.1 - - 2888 - - - - - - - - - 14.45 -
9771 839.5 -9.1 408 9776 roll -0.80 - - 3033 - 2.08 0.060 907 -428.8 -107.1 - - 2888 - - - - - - - - - 14.38 -
9880 849.1 -9.8 411 9885 done -0.80 - - 3033 - 2.00 0.044 1790 441.5 -107.1 - - 2887 - - - - - - - - - 14.45 -
10201 882.1 -9.7 422 10207 roll -0.80 - - 3033 - 2.08 0.060 906 -425.0 -107.1 - - 2887 - - - - - - - - - 14.34 -
10240 885.5 -9.6 423 10245 done -0.80 - - 3033 - 2.00 0.044 1787 440.5 -107.1 - - 2886 - - - - - - - - - 14.44 -
10572 913.1 -7.6 434 10578 roll -0.80 - - 3033 - 2.08 0.060 903 -425.0 -107.1 - - 2885 - - - - - - - - - 14.34 -
10617 915.8 -7.3 435 10623 done -0.80 - - 3033 - 2.00 0.044 1781 439.0 -107.1 - - 2885 - - - - - - - - - 14.43 -
10946 938.4 -6.5 446 10951 roll -0.80 - - 3033 - 2.85 0.067 2996 426.3 -107.1 - - 2884 - - - - - - - - - 14.28 -
10984 940.9 -6.5 447 10989 done -0.80 - - 3033 - 2.72 0.038 1788 -444.1 -107.1 - - 2883 - - - - - - - - - 14.44 -
11129 end dive: TARGET_DEPTH_EXCEEDED
11129 begin apogee
11138 951.5 -7.0 452 11240 roll -0.25 0.62 0.187 3203 274.2 - - 1789 - - 93.65 2.157 2476 -4.3 0.362 - - - - - - 13.84 - 13.02
11244 end apogee: CONTROL_FINISHED_OK
11244 begin climb
11247 953.2 - 455 11364 roll 0.88 1.20 0.093 3581 315.0 2.55 0.063 2852 416.9 107.1 100.78 2.160 2038 -4.3 0.362 - - - - - - 14.22 14.22 13.06
11594 951.3 4.4 467 11662 done 0.81 0.15 0.282 3557 -160.0 2.35 0.041 1807 -444.7 171.3 60.55 2.083 1778 -4.3 0.370 - - - - - - 14.19 14.52 13.19
11983 919.8 8.7 480 11988 roll 0.73 - - 3558 - 2.45 0.060 2856 428.2 171.3 - - 1767 - - - - - - - - - 14.48 -
12056 913.6 9.0 482 12063 done 0.64 0.25 0.246 3503 -220.0 2.40 0.043 1798 -440.8 171.3 - - 1765 - - - - - - - - 14.21 14.54 -
12383 890.6 6.4 493 12411 roll 0.63 - - 3503 - 2.50 0.069 750 -419.2 191.6 19.02 1.904 1694 -3.7 0.329 - - - - - - - 14.54 13.49
12510 882.3 6.3 497 12539 done 0.62 - - 3502 - 2.35 0.040 1793 443.8 214.8 24.33 1.935 1600 -3.9 0.332 - - - - - - - 14.52 13.41
12869 858.2 6.6 509 12891 roll 0.61 - - 3502 - 2.40 0.061 2844 437.9 230.6 16.60 1.867 1535 -3.9 0.340 - - - - - - - 14.54 13.47
12982 851.3 7.2 512 12987 done 0.58 - - 3506 - 2.40 0.044 1789 -439.6 233.9 - - 1531 - - - - - - - - - 14.52 -
13300 829.0 6.4 523 13331 roll 0.58 - - 3506 - 2.50 0.070 745 -417.6 254.0 24.38 1.867 1440 -3.7 0.313 - - - - - - - 14.47 13.48
13437 820.6 6.2 527 13470 done 0.58 - - 3506 - 2.35 0.040 1784 442.1 278.1 25.70 1.863 1343 -3.8 0.314 - - - - - - - 14.50 13.39
13784 797.3 6.5 539 13813 roll 0.60 - - 3506 - 2.50 0.065 2848 425.6 295.7 19.10 1.808 1271 -3.8 0.314 - - - - - - - 14.47 13.45
13866 792.4 7.5 541 13871 done 0.60 - - 3507 - 2.42 0.045 1787 -438.4 295.7 - - 1269 - - - - - - - - - 14.47 -
14184 765.3 8.5 552 14189 roll 0.60 - - 3506 - 2.45 0.068 744 -425.7 295.7 - - 1266 - - - - - - - - - 14.43 -
14273 759.2 9.0 554 14281 done 0.60 - - 3506 - 2.35 0.040 1788 444.3 295.7 - - 1266 - - - - - - - - - 14.53 -
14582 728.7 9.3 565 14587 roll 0.60 - - 3506 - 2.45 0.065 2847 432.2 295.7 - - 1265 - - - - - - - - - 14.44 -
14635 724.7 9.5 566 14640 done 0.60 - - 3508 - 2.42 0.046 1784 -439.3 295.7 - - 1264 - - - - - - - - - 14.53 -
14954 696.7 7.8 577 14959 roll 0.60 - - 3507 - 2.45 0.067 743 -424.9 295.7 - - 1264 - - - - - - - - - 14.41 -
15057 689.5 7.4 580 15063 done 0.60 - - 3507 - 2.33 0.039 1770 440.8 295.7 - - 1264 - - - - - - - - - 14.51 -
15386 669.8 5.4 591 15440 roll 0.64 - - 3507 - 2.55 0.063 2848 422.7 337.4 45.17 1.710 1101 -3.6 0.267 - - - - - - - 14.38 13.45
15491 663.8 6.6 594 15520 done 0.66 - - 3507 - 2.47 0.046 1778 -433.2 354.3 20.15 1.681 1029 -3.6 0.266 - - - - - - - 14.41 13.40
15839 637.6 7.5 606 15844 roll 0.66 - - 3507 - 2.45 0.067 738 -424.5 354.3 - - 1026 - - - - - - - - - 14.42 -
15970 627.7 8.0 610 15976 done 0.68 - - 3507 - 2.33 0.038 1761 439.1 354.3 - - 1025 - - - - - - - - - 14.49 -
16303 599.3 8.5 621 16308 roll 0.68 - - 3507 - 2.55 0.064 2857 429.8 354.3 - - 1024 - - - - - - - - - 14.41 -
16351 595.8 8.8 622 16357 done 0.68 - - 3507 - 2.53 0.047 1761 -433.2 354.3 - - 1024 - - - - - - - - - 14.47 -
16676 565.4 9.6 633 16681 roll 0.68 - - 3507 - 2.40 0.067 741 -425.0 354.3 - - 1023 - - - - - - - - - 14.38 -
16759 558.6 9.9 635 16765 done 0.70 - - 3507 - 2.30 0.037 1751 439.1 354.3 - - 1023 - - - - - - - - - 14.50 -
17079 526.4 9.1 646 17084 roll 0.72 - - 3507 - 2.58 0.064 2856 428.3 354.3 - - 1023 - - - - - - - - - 14.38 -
17167 519.7 9.4 648 17173 done 0.72 - - 3507 - 2.55 0.047 1753 -432.5 354.3 - - 1023 - - - - - - - - - 14.44 -
17478 493.6 7.3 659 17483 roll 0.74 - - 3507 - 2.38 0.067 743 -424.4 356.6 - - 1023 - - - - - - - - - 14.35 -
17547 488.8 6.9 661 17566 done 0.78 0.12 0.135 3554 391.7 2.30 0.037 1752 438.7 366.5 12.93 1.436 984 -3.0 0.194 - - - - - - 14.40 14.47 13.62
17875 461.6 8.2 672 17876 done 0.78 - - 3554 - - - 1751 - 366.5 - - 979 - - - - - - - - - - -
18175 433.0 10.1 682 18180 roll 0.78 - - 3554 - 2.55 0.061 2851 431.4 366.5 - - 979 - - - - - - - - - 14.38 -
18204 433.0 10.1 682 18213 done 0.78 - - 3554 - 2.55 0.047 1745 -433.7 366.5 - - 979 - - - - - - - - - 14.45 -
18509 396.2 11.2 693 18514 roll 0.78 - - 3554 - 2.35 0.065 742 -426.8 366.5 - - 979 - - - - - - - - - 14.34 -
18640 382.3 11.1 697 18646 done 0.78 - - 3554 - 2.25 0.037 1733 440.4 366.5 - - 979 - - - - - - - - - 14.47 -
18972 347.8 10.1 708 18977 roll 0.78 - - 3554 - 2.60 0.063 2853 430.8 366.5 - - 979 - - - - - - - - - 14.34 -
19027 343.9 10.2 709 19032 done 0.78 - - 3550 - 2.60 0.047 1723 -434.6 366.5 - - 979 - - - - - - - - - 14.39 -
19344 310.6 9.9 720 19350 roll 0.78 - - 3560 - 2.30 0.066 741 -427.0 366.5 - - 979 - - - - - - - - - 14.24 -
19444 301.0 9.8 723 19450 done 0.78 - - 3554 - 2.25 0.037 1724 436.9 366.5 - - 979 - - - - - - - - - 14.45 -
19776 268.8 9.6 734 19782 roll 0.78 - - 3554 - 2.62 0.062 2853 430.9 366.5 - - 979 - - - - - - - - - 14.33 -
19831 264.8 10.0 735 19837 done 0.78 - - 3554 - 2.62 0.047 1716 -434.0 366.5 - - 979 - - - - - - - - - 14.38 -
20146 228.6 11.3 752 20151 roll 0.78 - - 3554 - 2.30 0.064 739 -424.8 366.5 - - 979 - - - - - - - - - 14.17 -
20211 221.0 11.8 756 20216 done 0.78 - - 3554 - 2.22 0.037 1721 442.3 366.5 - - 979 - - - - - - - - - 14.43 -
20530 190.4 7.7 777 20535 roll 0.78 - - 3554 - 2.62 0.061 2852 431.7 366.5 - - 979 - - - - - - - - - 14.30 -
20591 186.4 8.0 780 20598 done 0.78 - - 3554 - 2.65 0.047 1708 -431.7 366.5 - - 979 - - - - - - - - - 14.38 -
20895 162.4 9.6 801 20901 roll 0.78 - - 3554 - 2.28 0.065 740 -424.6 366.5 - - 979 - - - - - - - - - 14.28 -
20993 152.3 10.7 807 20999 done 0.79 - - 3554 - 2.20 0.036 1706 439.1 366.5 - - 979 - - - - - - - - - 14.42 -
21313 116.6 11.1 828 21318 roll 0.79 - - 3554 - 2.67 0.060 2857 431.1 366.5 - - 979 - - - - - - - - - 14.30 -
21372 110.4 12.2 831 21379 done 0.79 - - 3554 - 2.67 0.046 1700 -433.3 366.5 - - 979 - - - - - - - - - 14.37 -
21677 79.2 8.6 852 21682 roll 0.79 - - 3554 - 2.25 0.066 738 -427.6 366.5 - - 979 - - - - - - - - - 14.28 -
21737 75.5 7.4 855 21744 done 0.81 - - 3554 - 2.17 0.036 1701 443.8 366.5 - - 979 - - - - - - - - - 14.42 -
22044 55.4 6.9 876 22060 roll 0.82 - - 3554 - 2.70 0.059 2860 429.3 375.9 10.32 0.866 942 -3.6 0.043 - - - - - - - 14.58 13.76
22132 48.7 6.2 881 22163 done 0.85 - - 3554 - 2.67 0.044 1692 -437.5 401.5 23.48 0.901 840 -4.3 0.044 - - - - - - - 14.45 13.81
22478 19.1 9.0 904 22484 roll 0.87 - - 3554 - 2.22 0.065 740 -428.8 401.5 - - 837 - - - - - - - - - 14.33 -
22585 10.5 8.9 910 22593 done 0.92 0.12 0.115 3600 383.3 2.20 0.035 1715 443.2 401.5 - - 837 - - - - - - - - 14.25 14.28 -
22825 end climb: NO_VERTICAL_VELOCITY
22825 begin surface
SM 7.26 - - - - -9.78 10.12 0.045 143 14.1 0.50 0.066 1952 -2252.0 561.74 - - 189 - - - - - - - -