SPURS Mar13 * SG160 * Dive index * Mission links * Dive 332 * Raw log
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• Previous call tries 1 • 128.23 of 350.00 AH used of 24V (63.36% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth 3.71 m • Intended pitch -15.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 409.90, SM_CC=300)
• GPS1 time: 36 s
• GPS2 time: 9 s, HDOP was 2.2 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 43 VBD -0.88 - - 136 - - - 1970 - -107.1 -16.27 - 1083 - - - - - - - - - - -
47 3.7 - 1 150 roll -0.88 12.88 0.326 3006 222.8 2.55 0.078 2988 399.2 -107.1 -82.82 - 2917 -22.1 - - - - - - - 14.33 14.52 14.76
210 8.7 -9.1 11 216 done -0.84 - - 3006 - 2.45 0.031 1937 -429.0 -107.1 - - 2918 - - - - - - - - - 14.57 -
517 44.1 -10.2 32 523 roll -0.77 0.12 0.261 3039 275.0 2.22 0.046 902 -466.2 -107.1 - - 2917 - - - - - - - - 14.25 14.48 -
596 52.2 -9.8 37 602 done -0.72 - - 3044 - 2.20 0.036 1931 467.7 -107.1 - - 2917 - - - - - - - - - 14.63 -
916 80.1 -9.1 58 922 roll -0.67 0.12 0.242 3073 241.7 2.22 0.045 906 -461.7 -107.1 - - 2922 - - - - - - - - 14.31 14.59 -
936 82.1 -9.2 59 942 done -0.64 - - 3073 - 2.20 0.034 1940 470.0 -107.1 - - 2918 - - - - - - - - - 14.62 -
1255 110.4 -9.6 80 1261 roll -0.64 - - 3073 - 2.25 0.047 900 -462.2 -107.1 - - 2918 - - - - - - - - - 14.60 -
1355 120.0 -10.4 86 1360 done -0.62 - - 3073 - 2.17 0.034 1928 473.7 -107.1 - - 2918 - - - - - - - - - 14.64 -
1668 149.6 -9.2 107 1674 roll -0.62 - - 3072 - 2.58 0.056 2999 415.1 -107.1 - - 2917 - - - - - - - - - 14.57 -
1748 157.2 -9.9 112 1753 done -0.62 - - 3072 - 2.47 0.028 1909 -441.3 -107.1 - - 2918 - - - - - - - - - 14.66 -
2067 185.3 -7.9 133 2068 done -0.62 - - 3073 - - - 1911 - -107.1 - - 2918 - - - - - - - - - - -
2367 203.0 -4.6 153 2372 roll -0.62 - - 3073 - 2.12 0.047 910 -472.2 -107.1 - - 2918 - - - - - - - - - 14.62 -
2447 206.4 -4.4 158 2452 done -0.62 - - 3073 - 2.17 0.034 1943 476.0 -107.1 - - 2917 - - - - - - - - - 14.65 -
2766 216.0 -3.1 179 2772 roll -0.62 - - 3073 - 2.53 0.055 3001 418.2 -107.1 - - 2918 - - - - - - - - - 14.59 -
2802 217.2 -3.3 181 2807 done -0.62 - - 3073 - 2.45 0.028 1927 -438.4 -107.1 - - 2917 - - - - - - - - - 14.71 -
3121 233.6 -6.7 202 3127 roll -0.62 - - 3073 - 2.15 0.044 911 -472.6 -107.1 - - 2917 - - - - - - - - - 14.62 -
3190 238.7 -8.1 206 3195 done -0.62 - - 3073 - 2.15 0.034 1936 476.7 -107.1 - - 2916 - - - - - - - - - 14.67 -
3504 270.2 -11.0 221 3509 roll -0.62 - - 3072 - 2.53 0.056 2992 417.4 -107.1 - - 2917 - - - - - - - - - 14.64 -
3587 277.8 -11.7 223 3593 done -0.62 - - 3073 - 2.40 0.028 1936 -440.0 -107.1 - - 2913 - - - - - - - - - 14.76 -
3903 315.0 -10.4 234 3908 roll -0.62 - - 3073 - 2.17 0.045 908 -473.7 -107.1 - - 2916 - - - - - - - - - 14.67 -
3991 321.4 -9.9 236 3998 done -0.62 - - 3073 - 2.15 0.034 1937 478.6 -107.1 - - 2915 - - - - - - - - - 14.73 -
4299 343.8 -5.5 247 4305 roll -0.64 - - 3073 - 2.53 0.057 2992 417.0 -107.1 - - 2915 - - - - - - - - - 14.65 -
4335 345.8 -5.5 248 4341 done -0.65 - - 3072 - 2.42 0.028 1926 -440.5 -107.1 - - 2915 - - - - - - - - - 14.77 -
4672 363.6 -5.6 259 4678 roll -0.67 - - 3073 - 2.15 0.046 909 -473.0 -107.1 - - 2914 - - - - - - - - - 14.69 -
4711 366.0 -5.8 260 4717 done -0.67 - - 3072 - 2.15 0.034 1936 477.7 -107.1 - - 2913 - - - - - - - - - 14.74 -
5043 389.4 -7.7 271 5048 roll -0.69 - - 3073 - 2.53 0.056 2995 418.6 -107.1 - - 2913 - - - - - - - - - 14.59 -
5087 392.5 -8.0 272 5092 done -0.70 - - 3072 - 2.40 0.029 1935 -441.7 -107.1 - - 2912 - - - - - - - - - 14.77 -
5413 421.4 -8.7 283 5419 roll -0.72 - - 3073 - 2.17 0.046 909 -472.8 -107.1 - - 2911 - - - - - - - - - 14.69 -
5437 421.4 -8.7 283 5443 done -0.74 - - 3073 - 2.17 0.034 1945 477.4 -107.1 - - 2911 - - - - - - - - - 14.73 -
5755 449.8 -8.2 294 5761 roll -0.76 - - 3073 - 2.50 0.057 2993 419.2 -107.1 - - 2911 - - - - - - - - - 14.66 -
5794 453.1 -8.3 295 5799 done -0.79 - - 3073 - 2.40 0.030 1936 -440.4 -107.1 - - 2910 - - - - - - - - - 14.76 -
6126 480.4 -8.4 306 6132 roll -0.81 0.12 0.122 3018 -458.3 2.58 0.054 2997 411.2 -107.1 - - 2910 - - - - - - - - 14.76 14.64 -
6174 484.0 -8.6 307 6179 done -0.81 - - 3018 - 2.42 0.030 1938 -437.6 -107.1 - - 2909 - - - - - - - - - 14.75 -
6496 516.5 -9.7 318 6502 roll -0.78 - - 3018 - 2.20 0.047 909 -467.7 -107.1 - - 2908 - - - - - - - - - 14.66 -
6575 523.2 -9.8 320 6581 done -0.75 0.15 0.246 3053 233.3 2.17 0.036 1942 476.0 -107.1 - - 2908 - - - - - - - - 14.37 14.71 -
6897 552.8 -9.0 331 6898 done -0.75 - - 3053 - - - 1941 - -107.1 - - 2908 - - - - - - - - - - -
7194 579.4 -8.9 341 7199 roll -0.75 - - 3053 - 2.55 0.058 3001 415.7 -107.1 - - 2906 - - - - - - - - - 14.62 -
7274 585.2 -8.9 343 7280 done -0.75 - - 3053 - 2.42 0.030 1942 -437.6 -107.1 - - 2906 - - - - - - - - - 14.74 -
7595 613.8 -8.1 354 7596 done -0.75 - - 3053 - - - 1943 - -107.1 - - 2905 - - - - - - - - - - -
7894 633.6 -6.0 364 7895 done -0.75 - - 3053 - - - 1944 - -107.1 - - 2905 - - - - - - - - - - -
8194 649.3 -5.1 374 8199 roll -0.76 - - 3053 - 2.20 0.048 911 -469.5 -107.1 - - 2904 - - - - - - - - - 14.64 -
8257 652.9 -5.4 376 8263 done -0.76 - - 3053 - 2.20 0.037 1948 471.4 -107.1 - - 2904 - - - - - - - - - 14.69 -
8594 676.7 -8.3 387 8599 roll -0.76 - - 3053 - 2.55 0.060 3002 413.3 -107.1 - - 2903 - - - - - - - - - 14.59 -
8682 683.2 -9.2 389 8688 done -0.76 - - 3053 - 2.40 0.032 1961 -433.8 -107.1 - - 2903 - - - - - - - - - 14.73 -
8991 719.8 -11.4 400 8992 done -0.78 - - 3053 - - - 1961 - -107.1 - - 2901 - - - - - - - - - - -
9288 751.9 -10.0 410 9294 roll -0.80 - - 3053 - 2.55 0.060 2998 406.7 -107.1 - - 2900 - - - - - - - - - 14.57 -
9324 755.1 -9.7 411 9329 done -0.82 - - 3052 - 2.42 0.032 1963 -427.7 -107.1 - - 2900 - - - - - - - - - 14.71 -
9660 778.3 -5.6 422 9666 roll -0.84 - - 3053 - 2.28 0.050 906 -463.6 -107.1 - - 2899 - - - - - - - - - 14.62 -
9690 778.3 -5.6 422 9697 done -0.86 0.12 0.135 3011 -350.0 2.28 0.039 1973 468.0 -107.1 - - 2899 - - - - - - - - 14.57 14.65 -
9997 794.4 -4.5 433 10002 roll -0.83 - - 3010 - 2.50 0.062 2999 410.4 -107.1 - - 2898 - - - - - - - - - 14.55 -
10032 796.2 -4.5 434 10039 done -0.81 - - 3010 - 2.40 0.034 1972 -427.9 -107.1 - - 2898 - - - - - - - - - 14.62 -
10370 812.0 -5.2 445 10376 roll -0.78 0.12 0.241 3044 283.3 2.33 0.049 902 -459.2 -107.1 - - 2896 - - - - - - - - 14.36 14.57 -
10473 817.7 -5.7 448 10478 done -0.78 - - 3044 - 2.28 0.040 1959 463.6 -107.1 - - 2896 - - - - - - - - - 14.62 -
10805 843.3 -9.2 459 10810 roll -0.78 - - 3044 - 2.55 0.061 3006 410.6 -107.1 - - 2895 - - - - - - - - - 14.54 -
10893 850.4 -10.1 461 10900 done -0.78 - - 3044 - 2.40 0.032 1970 -431.7 -107.1 - - 2895 - - - - - - - - - 14.68 -
11201 889.4 -12.2 472 11206 roll -0.78 - - 3044 - 2.55 0.063 2998 403.1 -107.1 - - 2894 - - - - - - - - - 14.50 -
11229 889.4 -12.2 472 11236 done -0.78 - - 3044 - 2.40 0.036 1980 -424.2 -107.1 - - 2894 - - - - - - - - - 14.66 -
11536 929.3 -11.4 483 11542 roll -0.78 - - 3041 - 2.53 0.063 2998 402.4 -107.1 - - 2893 - - - - - - - - - 14.52 -
11579 933.1 -11.2 484 11584 done -0.78 - - 3044 - 2.38 0.035 1985 -425.6 -107.1 - - 2893 - - - - - - - - - 14.65 -
11906 967.0 -9.9 495 11911 roll -0.78 - - 3044 - 2.35 0.052 907 -458.7 -107.1 - - 2891 - - - - - - - - - 14.52 -
11979 973.8 -10.0 497 11984 done -0.78 - - 3044 - 2.33 0.043 1984 462.2 -107.1 - - 2891 - - - - - - - - - 14.58 -
12149 end dive: TARGET_DEPTH_EXCEEDED
12149 begin apogee
12157 990.5 -9.0 503 12261 roll -0.25 0.57 0.174 3205 282.5 - - 1778 - - 96.07 2.112 2477 -4.3 0.376 - - - - - - 14.16 - 13.24
12264 end apogee: CONTROL_FINISHED_OK
12264 begin climb
12267 995.7 - 506 12375 done 0.88 1.17 0.103 3574 315.4 - - 1777 - 107.1 100.75 2.112 2040 -4.3 0.380 - - - - - - 14.19 - 13.16
12698 981.8 6.6 521 12720 roll 0.79 - - 3575 - 2.65 0.057 2855 406.8 123.7 16.25 1.948 1972 -4.2 0.392 - - - - - - - 14.53 13.54
12861 969.4 8.3 526 12867 done 0.66 0.30 0.275 3509 -220.0 2.47 0.039 1816 -420.6 123.7 - - 1967 - - - - - - - - 14.26 14.59 -
13189 949.4 5.5 537 13234 roll 0.64 - - 3509 - 2.38 0.060 749 -448.3 162.2 38.40 1.951 1815 -4.0 0.358 - - - - - - - 14.45 13.60
13297 943.4 6.2 540 13330 done 0.61 - - 3509 - 2.30 0.039 1809 460.9 186.0 24.65 1.942 1716 -4.0 0.363 - - - - - - - 14.52 13.49
13639 917.8 7.2 552 13645 roll 0.57 - - 3509 - 2.55 0.059 2854 409.8 188.6 - - 1708 - - - - - - - - - 14.57 -
13825 901.9 8.7 558 13831 done 0.51 0.20 0.222 3460 -245.0 2.47 0.037 1813 -421.5 188.6 - - 1706 - - - - - - - - 14.36 14.64 -
14159 878.8 7.3 569 14164 roll 0.51 - - 3460 - 2.55 0.056 2859 410.2 188.6 - - 1706 - - - - - - - - - 14.60 -
14223 873.5 7.9 571 14229 done 0.51 - - 3463 - 2.47 0.037 1817 -421.9 188.6 - - 1705 - - - - - - - - - 14.66 -
14559 848.3 7.5 582 14560 done 0.51 - - 3463 - - - 1820 - 188.6 - - 1705 - - - - - - - - - - -
14859 826.0 7.4 592 14864 roll 0.51 - - 3463 - 2.35 0.061 751 -454.9 188.6 - - 1704 - - - - - - - - - 14.59 -
14906 823.5 7.4 593 14912 done 0.51 - - 3463 - 2.30 0.041 1827 467.8 188.6 - - 1704 - - - - - - - - - 14.66 -
15228 800.6 6.6 604 15256 roll 0.53 - - 3463 - 2.50 0.059 2854 410.8 204.5 17.62 1.775 1643 -3.5 0.290 - - - - - - - 14.69 13.76
15355 791.7 7.1 608 15366 done 0.53 - - 3465 - 2.45 0.041 1829 -418.4 208.7 4.35 1.460 1627 -3.7 0.371 - - - - - - - 14.62 13.46
15684 771.7 5.4 619 15743 roll 0.58 - - 3465 - 2.42 0.065 751 -445.5 251.2 50.30 1.674 1451 -3.5 0.300 - - - - - - - 14.41 13.66
15818 765.0 5.4 623 15876 done 0.62 - - 3465 - 2.33 0.040 1821 459.2 293.7 48.80 1.650 1278 -3.5 0.305 - - - - - - - 14.48 13.54
16201 739.8 6.9 636 16216 roll 0.68 0.12 0.129 3518 441.7 2.50 0.060 2849 411.2 302.1 8.68 1.646 1243 -4.0 0.337 - - - - - - 14.51 14.57 13.69
16372 724.3 10.2 641 16378 done 0.66 - - 3519 - 2.60 0.044 1766 -416.5 302.1 - - 1239 - - - - - - - - - 14.58 -
16697 692.0 9.8 652 16702 roll 0.66 - - 3519 - 2.28 0.067 748 -446.5 302.1 - - 1238 - - - - - - - - - 14.55 -
16774 685.3 9.8 654 16780 done 0.66 - - 3519 - 2.17 0.040 1762 467.3 302.1 - - 1238 - - - - - - - - - 14.64 -
17097 655.2 9.0 665 17102 roll 0.66 - - 3518 - 2.65 0.060 2849 410.2 302.1 - - 1238 - - - - - - - - - 14.57 -
17198 645.6 9.8 668 17204 done 0.64 - - 3520 - 2.58 0.043 1773 -417.1 302.1 - - 1237 - - - - - - - - - 14.62 -
17530 616.7 8.4 679 17536 roll 0.64 - - 3520 - 2.30 0.066 743 -447.8 302.1 - - 1237 - - - - - - - - - 14.54 -
17608 610.9 8.4 681 17613 done 0.64 - - 3520 - 2.20 0.039 1771 467.3 302.1 - - 1237 - - - - - - - - - 14.65 -
17929 579.7 9.8 692 17934 roll 0.64 - - 3520 - 2.65 0.060 2856 409.4 302.1 - - 1236 - - - - - - - - - 14.55 -
18023 569.0 11.0 695 18028 done 0.64 - - 3521 - 2.60 0.043 1769 -418.1 302.1 - - 1236 - - - - - - - - - 14.61 -
18360 533.7 10.3 706 18365 roll 0.64 - - 3521 - 2.28 0.066 745 -449.1 302.1 - - 1240 - - - - - - - - - 14.53 -
18403 530.1 10.0 707 18409 done 0.64 - - 3521 - 2.20 0.039 1772 466.8 302.1 - - 1236 - - - - - - - - - 14.64 -
18730 502.3 7.6 718 18735 roll 0.64 - - 3521 - 2.65 0.060 2850 406.8 302.1 - - 1238 - - - - - - - - - 14.53 -
18833 494.0 8.4 721 18838 done 0.64 - - 3521 - 2.55 0.042 1783 -418.4 302.1 - - 1236 - - - - - - - - - 14.59 -
19160 471.5 6.5 732 19187 roll 0.66 - - 3521 - 2.28 0.064 746 -454.8 320.9 20.05 1.411 1166 -3.5 0.217 - - - - - - - 14.69 13.87
19235 466.9 6.9 734 19252 done 0.66 - - 3522 - 2.22 0.039 1782 466.7 330.5 10.75 1.388 1129 -3.4 0.215 - - - - - - - 14.63 13.81
19554 439.9 8.6 745 19559 roll 0.66 - - 3522 - 2.60 0.059 2851 411.2 330.5 - - 1125 - - - - - - - - - 14.52 -
19658 430.2 9.9 748 19663 done 0.66 - - 3521 - 2.53 0.041 1792 -418.6 330.5 - - 1124 - - - - - - - - - 14.52 -
19986 397.0 10.4 759 19991 roll 0.66 - - 3521 - 2.33 0.064 748 -448.1 330.5 - - 1124 - - - - - - - - - 14.53 -
20080 386.6 10.5 762 20085 done 0.66 - - 3522 - 2.25 0.038 1791 463.6 330.5 - - 1124 - - - - - - - - - 14.63 -
20416 353.8 9.4 773 20422 roll 0.66 - - 3521 - 2.58 0.060 2850 410.5 330.5 - - 1124 - - - - - - - - - 14.54 -
20496 346.9 9.8 775 20502 done 0.66 - - 3522 - 2.53 0.041 1788 -419.8 330.5 - - 1124 - - - - - - - - - 14.59 -
20819 322.1 6.2 786 20850 roll 0.69 - - 3521 - 2.28 0.063 749 -455.7 355.2 25.90 1.222 1026 -3.8 0.185 - - - - - - - 14.66 14.00
20927 316.7 5.7 789 20969 done 0.74 - - 3522 - 2.20 0.037 1781 469.1 389.8 35.70 1.186 887 -3.9 0.193 - - - - - - - 14.62 13.85
21270 295.7 6.5 801 21298 roll 0.79 - - 3522 - 2.65 0.059 2848 402.6 408.4 17.70 1.203 811 -4.3 0.196 - - - - - - - 14.59 13.90
21342 290.6 7.3 803 21348 done 0.82 0.12 0.123 3574 433.3 2.55 0.040 1782 -418.0 409.1 - - 810 - - - - - - - - 14.53 14.56 -
21669 250.4 13.6 814 21674 roll 0.82 - - 3574 - 2.28 0.061 748 -453.5 409.1 - - 809 - - - - - - - - - 14.53 -
21711 245.1 13.9 815 21717 done 0.82 - - 3575 - 2.20 0.036 1782 470.0 409.1 - - 808 - - - - - - - - - 14.59 -
22026 195.7 16.1 836 22031 roll 0.82 - - 3575 - 2.60 0.057 2853 411.9 409.1 - - 808 - - - - - - - - - 14.52 -
22109 182.1 17.6 841 22114 done 0.80 - - 3575 - 2.53 0.040 1792 -419.4 409.1 - - 809 - - - - - - - - - 14.57 -
22423 135.5 12.5 862 22429 roll 0.80 - - 3574 - 2.33 0.061 744 -449.8 409.1 - - 808 - - - - - - - - - 14.45 -
22492 127.7 12.3 866 22497 done 0.80 - - 3575 - 2.22 0.035 1790 471.2 409.1 - - 808 - - - - - - - - - 14.60 -
22806 94.1 9.6 887 22811 roll 0.80 - - 3574 - 2.58 0.055 2855 412.8 409.1 - - 808 - - - - - - - - - 14.51 -
22864 88.7 10.4 890 22870 done 0.80 - - 3575 - 2.55 0.039 1785 -419.6 409.1 - - 808 - - - - - - - - - 14.57 -
23170 58.7 8.6 911 23175 roll 0.80 - - 3574 - 2.30 0.060 744 -452.6 409.1 - - 808 - - - - - - - - - 14.49 -
23269 51.2 8.0 917 23274 done 0.80 - - 3574 - 2.22 0.034 1792 472.1 409.1 - - 808 - - - - - - - - - 14.58 -
23582 25.9 8.9 938 23589 roll 0.80 - - 3575 - 2.58 0.054 2843 407.4 409.1 - - 808 - - - - - - - - - 14.45 -
23656 17.9 12.2 942 23663 done 0.80 - - 3576 - 2.53 0.037 1780 -420.2 409.1 - - 808 - - - - - - - - - 14.57 -
23810 end climb: SURFACE_DEPTH_REACHED
23810 begin surface coast
23841 end surface coast: CONTROL_FINISHED_OK
23841 begin surface
SM 3.97 - - - - -9.79 10.10 0.050 131 13.0 0.38 0.059 1963 2455.3 409.90 - - 808 - - - - - - - -