SPURS Mar13 * SG160 * Dive index * Mission links * Dive 346 * Raw log
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• Previous call tries 1 • 134.03 of 350.00 AH used of 24V (61.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth 3.66 m • Intended pitch -15.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 387.57, SM_CC=300)
• GPS1 time: 38 s, HDOP was 99.0 m
• GPS2 time: 11 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 42 VBD -0.88 - - 140 - - - 1960 - -107.1 -15.57 - 1344 - - - - - - - - - - -
46 3.4 - 1 139 roll -0.88 13.50 0.351 3003 212.1 2.38 0.071 890 -449.6 -107.1 -67.75 - 2917 -23.2 - - - - - - - 14.22 14.50 14.76
351 31.5 -12.9 21 357 done -0.79 0.15 0.256 3035 213.3 2.25 0.037 1946 469.3 -107.1 - - 2917 - - - - - - - - 14.25 14.52 -
672 71.0 -11.8 42 673 done -0.74 - - 3035 - - - 1950 - -107.1 - - 2917 - - - - - - - - - - -
972 100.9 -8.5 62 977 roll -0.70 0.12 0.236 3069 283.3 2.28 0.048 890 -464.9 -107.1 - - 2918 - - - - - - - - 14.38 14.57 -
1016 103.6 -7.8 64 1023 done -0.66 - - 3069 - 2.22 0.036 1944 474.8 -107.1 - - 2918 - - - - - - - - - 14.64 -
1321 121.8 -6.0 85 1327 roll -0.66 - - 3069 - 2.58 0.058 3002 410.1 -107.1 - - 2917 - - - - - - - - - 14.57 -
1374 125.1 -6.6 88 1381 done -0.66 - - 3066 - 2.50 0.029 1915 -434.8 -107.1 - - 2918 - - - - - - - - - 14.67 -
1689 152.3 -8.9 109 1695 roll -0.66 - - 3069 - 2.12 0.047 913 -472.6 -107.1 - - 2918 - - - - - - - - - 14.60 -
1739 156.5 -8.5 112 1744 done -0.66 - - 3070 - 2.20 0.034 1954 473.2 -107.1 - - 2918 - - - - - - - - - 14.60 -
2057 182.1 -8.4 133 2063 roll -0.66 - - 3069 - 2.50 0.058 2995 416.4 -107.1 - - 2918 - - - - - - - - - 14.57 -
2086 183.7 -8.5 134 2093 done -0.66 - - 3069 - 2.42 0.033 1943 -434.7 -107.1 - - 2918 - - - - - - - - - 14.68 -
2391 210.5 -8.0 155 2397 roll -0.66 - - 3070 - 2.20 0.047 906 -471.4 -107.1 - - 2918 - - - - - - - - - 14.62 -
2497 217.7 -7.7 161 2505 done -0.66 - - 3069 - 2.15 0.034 1935 478.6 -107.1 - - 2917 - - - - - - - - - 14.66 -
2802 237.4 -6.4 182 2807 roll -0.66 - - 3069 - 2.55 0.059 2990 413.7 -107.1 - - 2917 - - - - - - - - - 14.59 -
2881 242.9 -7.0 187 2887 done -0.66 - - 3069 - 2.45 0.029 1922 -435.9 -107.1 - - 2917 - - - - - - - - - 14.69 -
3201 266.1 -7.4 201 3207 roll -0.66 - - 3069 - 2.17 0.048 906 -468.2 -107.1 - - 2917 - - - - - - - - - 14.66 -
3284 271.0 -7.6 203 3290 done -0.66 - - 3070 - 2.15 0.034 1931 476.7 -107.1 - - 2920 - - - - - - - - - 14.66 -
3602 294.5 -6.9 214 3608 roll -0.66 - - 3069 - 2.55 0.057 3003 420.4 -107.1 - - 2916 - - - - - - - - - 14.66 -
3631 294.5 -6.9 214 3638 done -0.66 - - 3069 - 2.45 0.030 1922 -441.2 -107.1 - - 2916 - - - - - - - - - 14.76 -
3937 322.2 -9.0 225 3943 roll -0.66 - - 3069 - 2.15 0.048 908 -471.6 -107.1 - - 2915 - - - - - - - - - 14.69 -
3976 325.7 -9.4 226 3981 done -0.66 - - 3070 - 2.15 0.035 1926 473.5 -107.1 - - 2915 - - - - - - - - - 14.73 -
4307 362.0 -11.3 237 4312 roll -0.66 - - 3069 - 2.58 0.057 2999 415.9 -107.1 - - 2914 - - - - - - - - - 14.66 -
4381 369.6 -11.4 239 4387 done -0.66 - - 3070 - 2.45 0.029 1918 -441.2 -107.1 - - 2914 - - - - - - - - - 14.76 -
4708 400.4 -7.8 250 4713 roll -0.68 - - 3069 - 2.15 0.049 906 -470.7 -107.1 - - 2914 - - - - - - - - - 14.68 -
4825 407.0 -6.8 253 4831 done -0.68 - - 3070 - 2.10 0.034 1908 477.1 -107.1 - - 2913 - - - - - - - - - 14.73 -
5142 420.2 -3.0 264 5149 roll -0.68 - - 3070 - 2.60 0.057 2995 418.1 -107.1 - - 2912 - - - - - - - - - 14.65 -
5214 422.5 -3.2 266 5219 done -0.68 - - 3070 - 2.47 0.030 1905 -441.3 -107.1 - - 2915 - - - - - - - - - 14.76 -
5545 437.5 -5.6 277 5552 roll -0.68 - - 3069 - 2.12 0.048 906 -471.2 -107.1 - - 2911 - - - - - - - - - 14.67 -
5581 440.2 -6.3 278 5587 done -0.68 - - 3069 - 2.15 0.035 1919 471.2 -107.1 - - 2910 - - - - - - - - - 14.73 -
5918 468.8 -9.2 289 5923 roll -0.70 - - 3069 - 2.58 0.057 2995 417.1 -107.1 - - 2910 - - - - - - - - - 14.64 -
5962 472.1 -9.2 290 5967 done -0.72 - - 3069 - 2.45 0.031 1916 -440.4 -107.1 - - 2910 - - - - - - - - - 14.76 -
6288 500.8 -8.0 301 6294 roll -0.74 - - 3070 - 2.15 0.049 907 -469.3 -107.1 - - 2909 - - - - - - - - - 14.66 -
6368 506.2 -8.0 303 6374 done -0.76 - - 3069 - 2.15 0.036 1916 469.3 -107.1 - - 2908 - - - - - - - - - 14.71 -
6690 530.4 -7.4 314 6696 roll -0.78 - - 3069 - 2.58 0.057 2993 417.4 -107.1 - - 2907 - - - - - - - - - 14.64 -
6725 533.4 -7.6 315 6731 done -0.81 0.12 0.125 3025 -366.7 2.45 0.031 1925 -435.9 -107.1 - - 2907 - - - - - - - - 14.64 14.75 -
7060 567.5 -10.7 326 7065 roll -0.78 - - 3025 - 2.17 0.050 909 -468.2 -107.1 - - 2906 - - - - - - - - - 14.64 -
7124 574.6 -11.0 328 7129 done -0.76 - - 3024 - 2.15 0.037 1922 471.2 -107.1 - - 2906 - - - - - - - - - 14.63 -
7461 609.4 -10.0 339 7467 roll -0.73 0.12 0.244 3058 283.3 2.60 0.057 3000 414.6 -107.1 - - 2905 - - - - - - - - 14.45 14.61 -
7525 615.6 -9.4 341 7530 done -0.73 - - 3058 - 2.47 0.031 1924 -435.6 -107.1 - - 2905 - - - - - - - - - 14.73 -
7862 640.3 -6.8 352 7867 roll -0.75 - - 3058 - 2.17 0.048 907 -468.7 -107.1 - - 2905 - - - - - - - - - 14.64 -
7905 642.9 -6.9 353 7910 done -0.77 - - 3058 - 2.17 0.037 1931 471.9 -107.1 - - 2904 - - - - - - - - - 14.69 -
8233 662.5 -5.8 364 8239 roll -0.79 - - 3058 - 2.22 0.048 906 -461.7 -107.1 - - 2903 - - - - - - - - - 14.63 -
8332 669.3 -6.8 367 8338 done -0.79 - - 3058 - 2.12 0.037 1909 473.1 -107.1 - - 2903 - - - - - - - - - 14.68 -
8664 697.0 -9.2 378 8665 done -0.80 - - 3058 - - - 1909 - -107.1 - - 2902 - - - - - - - - - - -
8962 726.0 -9.7 388 8968 roll -0.83 - - 3058 - 2.17 0.049 908 -461.3 -107.1 - - 2901 - - - - - - - - - 14.61 -
9057 735.8 -10.1 391 9063 done -0.85 0.12 0.125 3013 -375.0 2.12 0.037 1909 472.2 -107.1 - - 2900 - - - - - - - - 14.60 14.66 -
9392 770.7 -10.0 402 9397 roll -0.82 - - 3013 - 2.65 0.061 2994 409.4 -107.1 - - 2899 - - - - - - - - - 14.57 -
9450 773.8 -9.7 403 9457 done -0.80 - - 3013 - 2.53 0.034 1904 -430.8 -107.1 - - 2900 - - - - - - - - - 14.68 -
9759 803.4 -8.6 414 9766 roll -0.77 0.12 0.238 3046 275.0 2.17 0.050 907 -459.4 -107.1 - - 2899 - - - - - - - - 14.39 14.58 -
9871 810.9 -7.7 417 9876 done -0.77 - - 3046 - 2.10 0.039 1893 469.5 -107.1 - - 2898 - - - - - - - - - 14.64 -
10193 834.2 -7.0 428 10198 roll -0.77 - - 3046 - 2.70 0.062 3001 410.4 -107.1 - - 2896 - - - - - - - - - 14.54 -
10241 837.0 -7.2 429 10246 done -0.77 - - 3046 - 2.55 0.034 1902 -431.0 -107.1 - - 2896 - - - - - - - - - 14.67 -
10563 864.9 -8.9 440 10569 roll -0.77 - - 3046 - 2.15 0.052 909 -461.9 -107.1 - - 2895 - - - - - - - - - 14.56 -
10633 871.4 -9.3 442 10638 done -0.77 - - 3046 - 2.10 0.040 1889 466.7 -107.1 - - 2895 - - - - - - - - - 14.62 -
10965 902.5 -9.3 453 10966 done -0.77 - - 3046 - - - 1888 - -107.1 - - 2895 - - - - - - - - - - -
11262 928.7 -8.3 463 11267 roll -0.77 - - 3046 - 2.70 0.062 2994 409.6 -107.1 - - 2893 - - - - - - - - - 14.50 -
11310 931.5 -8.2 464 11315 done -0.77 - - 3046 - 2.55 0.035 1901 -428.6 -107.1 - - 2894 - - - - - - - - - 14.64 -
11633 955.7 -6.9 475 11639 roll -0.79 - - 3046 - 2.17 0.052 909 -457.1 -107.1 - - 2892 - - - - - - - - - 14.52 -
11707 960.5 -6.9 477 11712 done -0.79 - - 3046 - 2.12 0.041 1898 466.5 -107.1 - - 2892 - - - - - - - - - 14.59 -
12035 981.8 -6.2 488 12041 roll -0.81 - - 3046 - 2.70 0.063 2998 407.4 -107.1 - - 2890 - - - - - - - - - 14.49 -
12129 988.4 -6.5 491 12135 done -0.81 - - 3046 - 2.60 0.037 1896 -423.8 -107.1 - - 2890 - - - - - - - - - 14.61 -
12160 end dive: TARGET_DEPTH_EXCEEDED
12160 begin apogee
12168 990.6 -6.7 492 12271 roll -0.25 0.55 0.175 3200 280.0 - - 1796 - - 96.35 2.116 2479 -4.3 0.374 - - - - - - 14.16 - 13.21
12274 end apogee: CONTROL_FINISHED_OK
12275 begin climb
12277 994.1 - 495 12394 roll 0.88 1.23 0.109 3576 305.7 2.65 0.060 2849 397.4 107.1 101.22 2.110 2038 -4.4 0.384 - - - - - - 14.21 14.23 13.14
12432 997.2 -1.7 500 12626 done 0.98 - - 3577 - 2.55 0.038 1798 -412.2 302.9 184.70 2.066 1239 -4.3 0.391 - - - - - - - 14.30 13.12
12951 939.4 11.7 518 12956 roll 0.91 - - 3577 - 2.58 0.056 2852 408.5 302.9 - - 1231 - - - - - - - - - 14.56 -
12995 935.2 12.0 519 13000 done 0.85 - - 3577 - 2.50 0.043 1802 -420.0 302.9 - - 1228 - - - - - - - - - 14.61 -
13321 894.4 12.4 530 13327 roll 0.79 - - 3577 - 2.35 0.067 744 -450.2 302.9 - - 1227 - - - - - - - - - 14.64 -
13386 886.1 12.6 532 13392 done 0.73 0.20 0.220 3529 -240.0 2.25 0.039 1797 468.0 302.9 - - 1228 - - - - - - - - 14.41 14.68 -
13721 849.2 11.2 543 13726 roll 0.71 - - 3529 - 2.55 0.059 2846 411.4 302.9 - - 1226 - - - - - - - - - 14.63 -
13837 837.2 12.3 546 13843 done 0.68 - - 3533 - 2.47 0.043 1804 -421.9 302.9 - - 1225 - - - - - - - - - 14.67 -
14155 798.1 11.4 557 14160 roll 0.66 - - 3533 - 2.33 0.066 749 -452.8 302.9 - - 1226 - - - - - - - - - 14.59 -
14222 790.3 11.4 559 14229 done 0.64 0.12 0.210 3503 -250.0 2.25 0.040 1805 469.3 302.9 - - 1225 - - - - - - - - 14.45 14.68 -
14553 757.9 9.5 570 14559 roll 0.64 - - 3503 - 2.55 0.060 2850 409.8 302.9 - - 1225 - - - - - - - - - 14.60 -
14618 751.4 9.7 572 14623 done 0.64 - - 3503 - 2.50 0.042 1804 -418.4 302.9 - - 1224 - - - - - - - - - 14.64 -
14955 725.6 6.9 583 14965 roll 0.65 - - 3504 - 2.30 0.065 749 -458.7 311.7 4.82 1.480 1209 -3.1 0.286 - - - - - - - 14.74 13.47
15045 721.1 6.7 585 15069 done 0.66 - - 3503 - 2.25 0.039 1800 467.1 324.5 18.48 1.662 1154 -3.0 0.242 - - - - - - - 14.70 13.77
15383 695.6 7.6 597 15388 roll 0.66 - - 3503 - 2.58 0.060 2857 409.7 324.5 - - 1151 - - - - - - - - - 14.58 -
15425 692.5 8.2 598 15431 done 0.66 - - 3503 - 2.55 0.043 1787 -419.6 324.5 - - 1150 - - - - - - - - - 14.60 -
15754 657.5 11.6 609 15759 roll 0.66 - - 3504 - 2.30 0.066 749 -451.3 324.5 - - 1149 - - - - - - - - - 14.55 -
15851 645.9 12.1 612 15858 done 0.66 - - 3510 - 2.22 0.039 1789 468.5 324.5 - - 1150 - - - - - - - - - 14.66 -
16184 612.3 9.1 623 16189 roll 0.66 - - 3504 - 2.58 0.058 2848 410.5 324.5 - - 1149 - - - - - - - - - 14.51 -
16267 606.3 8.9 625 16272 done 0.66 - - 3503 - 2.53 0.041 1789 -418.6 324.5 - - 1150 - - - - - - - - - 14.61 -
16584 584.1 6.1 636 16624 roll 0.69 - - 3503 - 2.35 0.067 752 -441.3 351.4 31.98 1.508 1044 -3.3 0.240 - - - - - - - 14.57 13.85
16689 578.2 6.3 639 16722 done 0.73 - - 3503 - 2.25 0.039 1793 462.7 373.2 25.10 1.498 957 -3.5 0.251 - - - - - - - 14.58 13.72
17035 551.2 8.0 651 17041 roll 0.78 0.12 0.132 3561 483.3 2.58 0.058 2846 408.1 373.2 - - 952 - - - - - - - - 14.58 14.52 -
17104 543.9 9.7 653 17110 done 0.79 - - 3561 - 2.50 0.043 1806 -416.0 373.2 - - 952 - - - - - - - - - 14.58 -
17437 508.2 10.5 664 17442 roll 0.79 - - 3561 - 2.35 0.066 745 -451.5 373.2 - - 951 - - - - - - - - - 14.54 -
17544 498.0 10.7 667 17550 done 0.79 - - 3561 - 2.22 0.037 1787 469.4 373.2 - - 952 - - - - - - - - - 14.64 -
17867 464.8 9.7 678 17872 roll 0.79 - - 3561 - 2.58 0.056 2850 412.0 373.2 - - 951 - - - - - - - - - 14.57 -
17951 457.7 10.1 680 17956 done 0.78 - - 3561 - 2.50 0.040 1801 -419.6 373.2 - - 952 - - - - - - - - - 14.62 -
18268 423.4 10.6 691 18273 roll 0.78 - - 3561 - 2.33 0.061 745 -453.2 373.2 - - 952 - - - - - - - - - 14.54 -
18332 415.9 10.9 693 18337 done 0.78 - - 3561 - 2.28 0.035 1807 465.8 373.2 - - 952 - - - - - - - - - 14.65 -
18669 376.3 12.3 704 18674 roll 0.78 - - 3561 - 2.53 0.055 2847 411.1 373.2 - - 951 - - - - - - - - - 14.55 -
18752 367.3 12.8 706 18758 done 0.78 - - 3567 - 2.47 0.039 1806 -421.5 373.2 - - 951 - - - - - - - - - 14.62 -
19070 330.7 10.2 717 19075 roll 0.78 - - 3563 - 2.35 0.062 749 -449.8 373.2 - - 951 - - - - - - - - - 14.52 -
19134 324.1 9.9 719 19140 done 0.78 - - 3561 - 2.28 0.036 1810 465.4 373.2 - - 952 - - - - - - - - - 14.57 -
19472 298.2 6.8 730 19491 roll 0.79 - - 3561 - 2.50 0.055 2855 418.0 385.0 12.35 1.172 908 -3.6 0.170 - - - - - - - 14.73 13.91
19543 293.0 7.2 732 19554 done 0.79 - - 3561 - 2.47 0.038 1809 -423.5 387.8 3.03 0.757 898 -3.3 0.239 - - - - - - - 14.66 13.61
19870 263.0 10.1 743 19876 roll 0.79 - - 3561 - 2.33 0.061 751 -454.1 387.8 - - 898 - - - - - - - - - 14.54 -
20001 249.0 11.1 747 20006 done 0.79 - - 3561 - 2.22 0.035 1791 468.5 387.8 - - 898 - - - - - - - - - 14.52 -
20320 209.2 12.4 768 20326 roll 0.79 - - 3562 - 2.58 0.054 2853 411.6 387.8 - - 898 - - - - - - - - - 14.42 -
20374 202.4 13.3 771 20379 done 0.79 - - 3561 - 2.53 0.040 1794 -418.6 387.8 - - 898 - - - - - - - - - 14.56 -
20687 167.0 10.0 792 20694 roll 0.79 - - 3561 - 2.33 0.061 748 -448.9 387.8 - - 897 - - - - - - - - - 14.49 -
20809 156.3 10.0 799 20816 done 0.79 - - 3560 - 2.20 0.034 1778 468.2 387.8 - - 898 - - - - - - - - - 14.59 -
21116 128.6 7.8 820 21122 roll 0.79 - - 3561 - 2.60 0.055 2847 411.2 387.8 - - 898 - - - - - - - - - 14.48 -
21175 124.3 8.3 823 21182 done 0.79 - - 3562 - 2.58 0.038 1767 -418.6 387.8 - - 898 - - - - - - - - - 14.56 -
21482 99.3 9.8 844 21488 roll 0.79 - - 3561 - 2.28 0.060 747 -447.4 387.8 - - 898 - - - - - - - - - 14.48 -
21540 94.0 10.5 847 21547 done 0.79 - - 3561 - 2.17 0.033 1771 471.9 387.8 - - 898 - - - - - - - - - 14.49 -
21846 61.2 9.6 868 21853 roll 0.79 - - 3561 - 2.60 0.053 2844 412.7 387.8 - - 898 - - - - - - - - - 14.45 -
21941 50.5 12.2 874 21946 done 0.79 - - 3561 - 2.55 0.037 1775 -419.2 387.8 - - 898 - - - - - - - - - 14.46 -
22261 19.9 8.8 895 22266 roll 0.81 - - 3562 - 2.28 0.058 746 -451.3 387.8 - - 899 - - - - - - - - - 14.33 -
22367 11.3 9.2 901 22374 done 0.84 - - 3561 - 2.15 0.032 1770 476.3 387.8 - - 899 - - - - - - - - - 14.59 -
22456 end climb: SURFACE_DEPTH_REACHED
22456 begin surface coast
22490 end surface coast: CONTROL_FINISHED_OK
22490 begin surface
SM 3.69 - - - - -9.79 10.05 0.049 138 13.7 0.35 0.058 1966 2674.3 387.57 - - 899 - - - - - - - -