SPURS Mar13 * SG160 * Dive index * Mission links * Dive 237 * Raw log
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• Previous call tries 1 • 89.20 of 350.00 AH used of 24V (74.51% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth 3.50 m • Intended pitch -15.0 deg, speed -7.857 cm/s
• No surface pump (final VBD was 324.53, SM_CC=300)
• GPS1 time: 25 s, HDOP was 99.0 m
• GPS2 time: 10 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
23 - - - 41 VBD -0.81 - - 144 - - - 1922 - -126.5 -16.38 - 1307 - - - - - - - - - - -
44 3.3 - 1 141 roll -0.81 13.38 0.350 3048 217.0 2.30 0.068 855 -463.9 -126.5 -76.45 - 2995 -22.1 - - - - - - - 14.42 14.60 14.81
250 15.1 -13.4 14 257 done -0.74 - - 3049 - 2.17 0.037 1893 478.3 -126.5 - - 2996 - - - - - - - - - 14.63 -
556 56.0 -11.8 35 563 roll -0.67 0.15 0.243 3088 260.0 2.53 0.057 2960 421.7 -126.5 - - 2996 - - - - - - - - 14.43 14.62 -
662 65.7 -9.7 41 670 done -0.65 - - 3088 - 2.40 0.032 1895 -443.8 -126.5 - - 2996 - - - - - - - - - 14.71 -
968 93.9 -9.0 62 973 roll -0.63 - - 3085 - 2.17 0.050 862 -476.0 -126.5 - - 2995 - - - - - - - - - 14.70 -
1017 98.6 -9.4 65 1022 done -0.61 - - 3088 - 2.20 0.037 1910 476.4 -126.5 - - 2996 - - - - - - - - - 14.74 -
1336 128.1 -9.2 86 1342 roll -0.59 0.12 0.243 3119 258.3 2.45 0.055 2959 428.2 -126.5 - - 2995 - - - - - - - - 14.47 14.71 -
1404 133.2 -7.9 90 1409 done -0.59 - - 3120 - 2.35 0.030 1905 -448.5 -126.5 - - 2996 - - - - - - - - - 14.78 -
1718 155.9 -6.8 111 1724 roll -0.59 - - 3120 - 2.20 0.048 859 -475.5 -126.5 - - 2999 - - - - - - - - - 14.76 -
1797 161.5 -6.8 116 1802 done -0.59 - - 3120 - 2.17 0.034 1904 481.6 -126.5 - - 2996 - - - - - - - - - 14.77 -
2116 181.8 -6.4 137 2121 roll -0.60 - - 3120 - 2.45 0.057 2957 429.8 -126.5 - - 2996 - - - - - - - - - 14.72 -
2216 187.5 -6.2 143 2221 done -0.63 - - 3120 - 2.33 0.029 1912 -448.5 -126.5 - - 2996 - - - - - - - - - 14.78 -
2530 207.2 -6.5 164 2535 roll -0.64 - - 3120 - 2.20 0.048 867 -475.0 -126.5 - - 2996 - - - - - - - - - 14.74 -
2610 213.0 -7.6 169 2615 done -0.66 - - 3120 - 2.17 0.035 1911 481.1 -126.5 - - 2996 - - - - - - - - - 14.78 -
2930 236.5 -7.8 190 2935 roll -0.68 - - 3120 - 2.45 0.058 2964 429.8 -126.5 - - 2996 - - - - - - - - - 14.71 -
2983 240.4 -7.8 193 2988 done -0.71 - - 3120 - 2.35 0.030 1905 -450.6 -126.5 - - 2996 - - - - - - - - - 14.80 -
3311 267.8 -8.4 208 3317 roll -0.73 0.12 0.130 3059 -508.3 2.17 0.046 867 -478.3 -126.5 - - 2995 - - - - - - - - 14.81 14.78 -
3421 278.3 -10.6 211 3427 done -0.73 - - 3059 - 2.15 0.036 1904 482.3 -126.5 - - 2994 - - - - - - - - - 14.81 -
3743 314.1 -10.5 222 3749 roll -0.70 0.12 0.244 3092 275.0 2.45 0.056 2960 431.0 -126.5 - - 2994 - - - - - - - - 14.60 14.76 -
3801 317.7 -10.3 223 3809 done -0.67 - - 3092 - 2.35 0.031 1901 -450.6 -126.5 - - 2993 - - - - - - - - - 14.85 -
4108 349.2 -9.6 234 4113 roll -0.67 - - 3092 - 2.17 0.049 863 -478.3 -126.5 - - 2993 - - - - - - - - - 14.81 -
4185 355.7 -10.0 236 4190 done -0.67 - - 3092 - 2.15 0.036 1903 483.7 -126.5 - - 2993 - - - - - - - - - 14.84 -
4505 388.0 -9.3 247 4510 roll -0.67 - - 3092 - 2.45 0.059 2958 430.6 -126.5 - - 2992 - - - - - - - - - 14.78 -
4532 388.0 -9.3 247 4540 done -0.67 - - 3092 - 2.35 0.031 1898 -451.1 -126.5 - - 2992 - - - - - - - - - 14.86 -
4840 415.2 -7.5 258 4846 roll -0.67 - - 3092 - 2.15 0.048 868 -479.1 -126.5 - - 2991 - - - - - - - - - 14.76 -
4966 424.6 -7.5 262 4971 done -0.67 - - 3096 - 2.12 0.036 1889 481.6 -126.5 - - 2991 - - - - - - - - - 14.84 -
5302 445.6 -6.3 273 5307 roll -0.67 - - 3092 - 2.47 0.059 2954 431.2 -126.5 - - 2990 - - - - - - - - - 14.78 -
5375 449.8 -6.5 275 5381 done -0.67 - - 3092 - 2.38 0.031 1893 -445.8 -126.5 - - 2989 - - - - - - - - - 14.85 -
5701 473.5 -7.6 286 5707 roll -0.67 - - 3092 - 2.15 0.050 865 -478.1 -126.5 - - 2988 - - - - - - - - - 14.80 -
5774 479.1 -8.2 288 5779 done -0.67 - - 3092 - 2.15 0.037 1897 480.0 -126.5 - - 2988 - - - - - - - - - 14.83 -
6099 508.3 -9.0 299 6104 roll -0.67 - - 3092 - 2.47 0.060 2958 429.6 -126.5 - - 2986 - - - - - - - - - 14.76 -
6186 514.3 -9.2 301 6194 done -0.67 - - 3092 - 2.38 0.034 1896 -446.2 -126.5 - - 2987 - - - - - - - - - 14.84 -
6492 544.9 -9.2 312 6497 roll -0.67 - - 3092 - 2.17 0.051 863 -476.0 -126.5 - - 2986 - - - - - - - - - 14.79 -
6565 551.1 -9.4 314 6571 done -0.67 - - 3092 - 2.15 0.037 1891 478.1 -126.5 - - 2986 - - - - - - - - - 14.83 -
6891 578.7 -7.8 325 6896 roll -0.67 - - 3092 - 2.50 0.062 2959 427.2 -126.5 - - 2984 - - - - - - - - - 14.76 -
6928 581.3 -7.7 326 6933 done -0.67 - - 3092 - 2.40 0.034 1886 -447.1 -126.5 - - 2985 - - - - - - - - - 14.85 -
7259 604.5 -6.7 337 7260 done -0.67 - - 3092 - - - 1888 - -126.5 - - 2984 - - - - - - - - - - -
7557 624.9 -6.9 347 7563 roll -0.67 - - 3092 - 2.15 0.053 866 -475.3 -126.5 - - 2983 - - - - - - - - - 14.78 -
7591 627.4 -7.0 348 7596 done -0.67 - - 3092 - 2.15 0.038 1890 476.3 -126.5 - - 2983 - - - - - - - - - 14.83 -
7927 652.6 -7.9 359 7932 roll -0.67 - - 3092 - 2.53 0.063 2966 425.3 -126.5 - - 2982 - - - - - - - - - 14.74 -
7984 655.5 -7.9 360 7992 done -0.67 - - 3092 - 2.42 0.034 1887 -445.9 -126.5 - - 2981 - - - - - - - - - 14.83 -
8290 683.2 -8.3 371 8295 roll -0.67 - - 3092 - 2.17 0.053 861 -472.8 -126.5 - - 2980 - - - - - - - - - 14.77 -
8363 688.7 -8.5 373 8368 done -0.67 - - 3092 - 2.15 0.039 1887 477.2 -126.5 - - 2980 - - - - - - - - - 14.81 -
8688 713.3 -6.9 384 8694 roll -0.67 - - 3092 - 2.53 0.063 2962 424.9 -126.5 - - 2982 - - - - - - - - - 14.74 -
8819 721.5 -6.6 388 8825 done -0.69 - - 3091 - 2.40 0.035 1896 -444.2 -126.5 - - 2979 - - - - - - - - - 14.82 -
9150 742.2 -6.1 399 9151 done -0.69 - - 3092 - - - 1898 - -126.5 - - 2978 - - - - - - - - - - -
9449 761.9 -6.9 409 9451 done -0.71 - - 3092 - - - 1898 - -126.5 - - 2977 - - - - - - - - - - -
9748 785.2 -8.0 419 9753 roll -0.72 - - 3088 - 2.20 0.056 864 -470.0 -126.5 - - 2976 - - - - - - - - - 14.74 -
9791 788.1 -8.2 420 9796 done -0.72 - - 3092 - 2.17 0.041 1897 476.0 -126.5 - - 2976 - - - - - - - - - 14.80 -
10118 816.6 -8.5 431 10123 roll -0.74 - - 3092 - 2.50 0.065 2954 422.8 -126.5 - - 2974 - - - - - - - - - 14.71 -
10206 822.3 -8.4 433 10213 done -0.76 - - 3092 - 2.38 0.036 1906 -440.3 -126.5 - - 2974 - - - - - - - - - 14.80 -
10514 847.2 -7.2 444 10519 roll -0.78 - - 3092 - 2.25 0.056 857 -466.2 -126.5 - - 2974 - - - - - - - - - 14.73 -
10549 849.7 -7.0 445 10554 done -0.79 - - 3092 - 2.22 0.041 1903 471.2 -126.5 - - 2974 - - - - - - - - - 14.78 -
10885 870.7 -5.9 456 10891 roll -0.81 0.12 0.135 3036 -466.7 2.50 0.063 2960 422.8 -126.5 - - 2973 - - - - - - - - 14.78 14.70 -
11002 878.1 -7.2 459 11007 done -0.81 - - 3037 - 2.40 0.037 1905 -439.6 -126.5 - - 2972 - - - - - - - - - 14.83 -
11318 903.6 -7.5 470 11323 roll -0.78 - - 3037 - 2.28 0.058 856 -460.1 -126.5 - - 2971 - - - - - - - - - 14.71 -
11396 909.0 -7.9 472 11403 done -0.75 0.15 0.229 3071 226.7 2.22 0.044 1902 471.2 -126.5 - - 2971 - - - - - - - - 14.51 14.76 -
11719 930.8 -6.3 483 11725 roll -0.75 - - 3071 - 2.53 0.067 2962 419.0 -126.5 - - 2970 - - - - - - - - - 14.68 -
11772 933.1 -6.3 484 11777 done -0.75 - - 3072 - 2.42 0.039 1901 -438.4 -126.5 - - 2970 - - - - - - - - - 14.78 -
12087 954.5 -6.6 495 12088 done -0.75 - - 3071 - - - 1903 - -126.5 - - 2969 - - - - - - - - - - -
12387 973.1 -6.1 505 12388 done -0.75 - - 3071 - - - 1903 - -126.5 - - 2968 - - - - - - - - - - -
12683 end dive: TARGET_DEPTH_EXCEEDED
12683 begin apogee
12689 991.2 -6.1 515 12812 roll -0.23 0.57 0.183 3235 287.7 - - 1762 - - 113.85 2.064 2476 -4.3 0.383 - - - - - - 14.48 - 13.40
12813 end apogee: CONTROL_FINISHED_OK
12813 begin climb
12816 994.0 - 519 12947 roll 0.81 1.10 0.111 3572 306.4 2.33 0.060 739 -439.1 126.5 118.20 2.050 1961 -4.4 0.390 - - - - - - 14.23 14.26 13.30
13175 976.7 8.4 531 13182 done 0.70 0.15 0.259 3540 -213.3 2.25 0.040 1788 466.2 126.5 - - 1952 - - - - - - - - 14.31 14.55 -
13506 957.0 5.4 542 13570 roll 0.67 - - 3540 - 2.55 0.063 2827 407.5 185.9 56.78 1.925 1718 -4.1 0.378 - - - - - - - 14.34 13.61
13797 932.7 9.9 551 13803 done 0.58 0.20 0.255 3502 -190.0 2.40 0.042 1804 -426.2 185.9 - - 1709 - - - - - - - - 14.38 14.60 -
14114 903.4 9.1 562 14115 done 0.53 - - 3502 - - - 1806 - 185.9 - - 1707 - - - - - - - - - - -
14412 874.8 9.8 572 14417 roll 0.49 - - 3504 - 2.38 0.066 724 -454.6 185.9 - - 1707 - - - - - - - - - 14.67 -
14470 871.4 10.0 573 14479 done 0.44 0.17 0.205 3461 -252.9 2.25 0.043 1777 468.0 185.9 - - 1706 - - - - - - - - 14.51 14.74 -
14777 842.8 8.3 584 14782 roll 0.44 - - 3461 - 2.50 0.062 2831 421.6 185.9 - - 1705 - - - - - - - - - 14.71 -
14916 831.9 8.8 588 14921 done 0.42 - - 3463 - 2.42 0.044 1788 -431.0 185.9 - - 1705 - - - - - - - - - 14.73 -
15236 808.1 6.7 599 15269 roll 0.45 - - 3463 - 2.35 0.067 719 -454.9 213.4 27.52 1.769 1605 -3.6 0.306 - - - - - - - 14.64 13.95
15302 803.9 6.6 601 15341 done 0.48 - - 3463 - 2.30 0.042 1790 465.7 243.9 33.22 1.738 1483 -3.7 0.313 - - - - - - - 14.63 13.76
15660 778.3 7.3 613 15682 roll 0.49 - - 3463 - 2.55 0.064 2833 409.0 258.1 14.60 1.739 1423 -4.1 0.339 - - - - - - - 14.57 13.88
15774 770.6 8.3 616 15782 done 0.49 - - 3464 - 2.45 0.044 1787 -426.9 258.1 - - 1419 - - - - - - - - - 14.62 -
16082 742.9 8.4 627 16088 roll 0.49 - - 3464 - 2.35 0.067 728 -450.6 258.1 - - 1417 - - - - - - - - - 14.64 -
16150 737.4 8.4 629 16156 done 0.49 - - 3464 - 2.28 0.043 1789 465.4 258.1 - - 1417 - - - - - - - - - 14.70 -
16481 708.3 9.0 640 16486 roll 0.49 - - 3464 - 2.47 0.063 2833 422.7 258.1 - - 1416 - - - - - - - - - 14.69 -
16615 695.7 10.1 644 16620 done 0.49 - - 3461 - 2.40 0.044 1802 -429.6 258.1 - - 1415 - - - - - - - - - 14.73 -
16940 666.1 8.6 655 16946 roll 0.49 - - 3464 - 2.38 0.067 726 -452.1 258.1 - - 1415 - - - - - - - - - 14.68 -
16982 663.2 8.4 656 16988 done 0.49 - - 3464 - 2.30 0.043 1805 469.1 258.1 - - 1415 - - - - - - - - - 14.74 -
17310 634.9 8.6 667 17315 roll 0.49 - - 3464 - 2.45 0.063 2834 420.0 258.1 - - 1415 - - - - - - - - - 14.69 -
17382 628.8 8.8 669 17387 done 0.49 - - 3464 - 2.38 0.044 1810 -430.3 258.1 - - 1414 - - - - - - - - - 14.74 -
17708 602.3 7.7 680 17713 roll 0.49 - - 3464 - 2.38 0.066 728 -454.6 261.6 - - 1414 - - - - - - - - - 14.67 -
17772 597.4 7.4 682 17795 done 0.52 - - 3464 - 2.33 0.042 1814 466.1 273.4 15.48 1.540 1363 -3.3 0.236 - - - - - - - 14.73 14.07
18104 576.4 5.8 693 18169 roll 0.59 0.12 0.131 3512 400.0 2.50 0.063 2832 407.2 322.1 55.17 1.439 1162 -3.6 0.269 - - - - - - 14.69 14.48 13.88
18252 566.2 8.1 697 18259 done 0.57 - - 3512 - 2.40 0.044 1819 -422.1 322.1 - - 1157 - - - - - - - - - 14.51 -
18559 539.3 8.1 708 18564 roll 0.57 - - 3512 - 2.42 0.067 726 -451.7 322.1 - - 1155 - - - - - - - - - 14.58 -
18672 531.1 8.6 711 18678 done 0.57 - - 3512 - 2.30 0.041 1803 468.3 322.1 - - 1155 - - - - - - - - - 14.66 -
18988 502.0 8.6 722 18993 roll 0.57 - - 3512 - 2.45 0.062 2831 419.6 322.1 - - 1154 - - - - - - - - - 14.65 -
19081 492.6 9.5 725 19087 done 0.57 - - 3512 - 2.38 0.044 1815 -426.9 322.1 - - 1154 - - - - - - - - - 14.69 -
19417 463.0 8.6 736 19422 roll 0.57 - - 3512 - 2.42 0.065 717 -453.7 322.1 - - 1154 - - - - - - - - - 14.65 -
19496 457.2 8.8 738 19502 done 0.57 - - 3512 - 2.33 0.041 1811 469.5 322.1 - - 1154 - - - - - - - - - 14.71 -
19817 426.8 9.6 749 19823 roll 0.57 - - 3512 - 2.42 0.061 2827 419.8 322.1 - - 1154 - - - - - - - - - 14.68 -
19895 419.3 10.5 751 19901 done 0.57 - - 3512 - 2.38 0.043 1806 -429.0 322.1 - - 1154 - - - - - - - - - 14.71 -
20217 384.7 10.2 762 20222 roll 0.57 - - 3512 - 2.38 0.064 727 -453.4 322.1 - - 1155 - - - - - - - - - 14.66 -
20314 375.1 10.0 765 20320 done 0.57 - - 3512 - 2.28 0.039 1801 471.1 322.1 - - 1154 - - - - - - - - - 14.73 -
20646 344.3 8.7 776 20651 roll 0.57 - - 3512 - 2.42 0.060 2832 426.0 322.1 - - 1154 - - - - - - - - - 14.70 -
20718 338.3 8.8 778 20724 done 0.57 - - 3512 - 2.38 0.042 1808 -430.3 322.1 - - 1154 - - - - - - - - - 14.73 -
21044 311.1 8.0 789 21049 roll 0.57 - - 3516 - 2.38 0.063 726 -454.6 322.1 - - 1154 - - - - - - - - - 14.67 -
21101 308.2 8.0 790 21107 done 0.57 - - 3512 - 2.30 0.039 1813 472.6 322.1 - - 1154 - - - - - - - - - 14.74 -
21408 279.2 9.4 801 21413 roll 0.57 - - 3512 - 2.40 0.060 2832 424.6 322.1 - - 1154 - - - - - - - - - 14.69 -
21472 272.1 10.3 803 21477 done 0.57 - - 3512 - 2.38 0.041 1806 -431.1 322.1 - - 1154 - - - - - - - - - 14.72 -
21790 240.1 9.3 816 21795 roll 0.57 - - 3512 - 2.35 0.062 732 -457.0 322.1 - - 1154 - - - - - - - - - 14.57 -
21873 232.9 9.4 821 21878 done 0.57 - - 3512 - 2.30 0.039 1820 473.0 322.1 - - 1154 - - - - - - - - - 14.71 -
22187 205.8 8.3 842 22193 roll 0.57 - - 3512 - 2.40 0.059 2832 421.7 322.1 - - 1154 - - - - - - - - - 14.64 -
22244 201.3 8.8 845 22252 done 0.57 - - 3512 - 2.35 0.039 1817 -431.9 322.1 - - 1157 - - - - - - - - - 14.69 -
22551 174.6 8.6 866 22557 roll 0.57 - - 3512 - 2.40 0.060 727 -454.2 322.1 - - 1155 - - - - - - - - - 14.62 -
22616 169.0 8.9 870 22621 done 0.59 - - 3512 - 2.33 0.037 1822 470.0 322.1 - - 1154 - - - - - - - - - 14.69 -
22935 139.0 9.7 891 22941 roll 0.60 - - 3512 - 2.38 0.057 2830 423.5 322.1 - - 1153 - - - - - - - - - 14.59 -
22973 135.4 10.0 893 22978 done 0.60 - - 3512 - 2.33 0.039 1822 -432.6 322.1 - - 1151 - - - - - - - - - 14.69 -
23288 104.2 9.1 914 23293 roll 0.62 - - 3512 - 2.42 0.060 723 -454.1 322.1 - - 1155 - - - - - - - - - 14.64 -
23412 93.2 8.8 922 23418 done 0.65 - - 3512 - 2.30 0.036 1811 473.0 322.1 - - 1155 - - - - - - - - - 14.68 -
23731 65.8 8.4 943 23737 roll 0.67 - - 3512 - 2.40 0.056 2827 423.3 322.1 - - 1155 - - - - - - - - - 14.59 -
23780 61.1 9.2 946 23786 done 0.67 - - 3512 - 2.35 0.037 1807 -434.0 322.1 - - 1155 - - - - - - - - - 14.67 -
24100 33.3 9.0 967 24106 roll 0.69 - - 3512 - 2.35 0.060 729 -458.7 322.1 - - 1156 - - - - - - - - - 14.59 -
24189 26.4 8.6 972 24197 done 0.73 0.12 0.130 3564 433.3 2.25 0.034 1797 474.7 322.1 - - 1156 - - - - - - - - 14.52 14.59 -
24417 end climb: SURFACE_DEPTH_REACHED
24417 begin surface coast
24448 end surface coast: CONTROL_FINISHED_OK
24448 begin surface
SM 3.64 - - - - -9.84 10.12 0.060 138 13.6 0.22 0.078 1922 -5254.5 324.53 - - 1156 - - - - - - - -