SPURS Mar13 * SG160 * Dive index * Mission links * Dive 348 * Raw log
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• Previous call tries 2 • 134.86 of 350.00 AH used of 24V (61.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.4 deg, depth 3.50 m • Intended pitch -15.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 353.48, SM_CC=300)
• GPS1 time: 34 s
• GPS2 time: 12 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 43 VBD -0.88 - - 139 - - - 1964 - -107.1 -15.75 - 1262 - - - - - - - - - - -
48 3.3 - 1 140 roll -0.88 13.15 0.337 3003 217.8 2.33 0.066 896 -458.4 -107.1 -71.25 - 2913 -23.2 - - - - - - - 14.28 14.42 14.77
277 20.7 -13.4 16 283 done -0.79 0.15 0.256 3037 226.7 2.22 0.037 1938 469.4 -107.1 - - 2914 - - - - - - - - 14.22 14.52 -
598 55.9 -9.5 37 603 roll -0.73 - - 3036 - 2.55 0.057 2997 415.3 -107.1 - - 2914 - - - - - - - - - 14.54 -
637 59.1 -9.3 39 643 done -0.68 0.15 0.227 3070 226.7 2.45 0.031 1933 -434.3 -107.1 - - 2914 - - - - - - - - 14.29 14.59 -
952 86.1 -8.5 60 958 roll -0.66 - - 3070 - 2.20 0.047 907 -466.4 -107.1 - - 2914 - - - - - - - - - 14.59 -
1011 90.6 -8.9 63 1017 done -0.64 - - 3070 - 2.20 0.034 1950 474.1 -107.1 - - 2914 - - - - - - - - - 14.64 -
1317 115.6 -7.5 84 1318 done -0.62 - - 3069 - - - 1949 - -107.1 - - 2914 - - - - - - - - - - -
1617 135.6 -6.1 104 1623 roll -0.62 - - 3070 - 2.25 0.046 906 -463.6 -107.1 - - 2914 - - - - - - - - - 14.60 -
1645 136.9 -6.2 105 1653 done -0.62 - - 3070 - 2.17 0.033 1948 480.2 -107.1 - - 2915 - - - - - - - - - 14.67 -
1953 157.4 -7.2 126 1954 done -0.62 - - 3070 - - - 1947 - -107.1 - - 2915 - - - - - - - - - - -
2251 180.6 -7.8 146 2257 roll -0.62 - - 3070 - 2.50 0.057 2994 418.8 -107.1 - - 2914 - - - - - - - - - 14.54 -
2280 182.2 -8.1 147 2287 done -0.62 - - 3071 - 2.40 0.028 1933 -442.1 -107.1 - - 2914 - - - - - - - - - 14.71 -
2585 207.9 -8.5 168 2590 roll -0.62 - - 3070 - 2.17 0.046 909 -471.9 -107.1 - - 2914 - - - - - - - - - 14.63 -
2740 221.9 -9.0 178 2745 done -0.62 - - 3071 - 2.15 0.033 1933 476.3 -107.1 - - 2913 - - - - - - - - - 14.67 -
3059 253.9 -10.9 198 3064 roll -0.62 - - 3070 - 2.53 0.057 2994 419.4 -107.1 - - 2913 - - - - - - - - - 14.63 -
3093 257.8 -11.0 199 3098 done -0.62 - - 3070 - 2.42 0.028 1929 -440.1 -107.1 - - 2915 - - - - - - - - - 14.66 -
3430 290.4 -8.7 210 3435 roll -0.62 - - 3070 - 2.15 0.046 911 -473.5 -107.1 - - 2912 - - - - - - - - - 14.69 -
3497 295.4 -7.9 212 3502 done -0.62 - - 3070 - 2.12 0.034 1931 481.1 -107.1 - - 2912 - - - - - - - - - 14.73 -
3829 310.9 -4.1 223 3835 roll -0.62 - - 3070 - 2.17 0.045 912 -469.6 -107.1 - - 2911 - - - - - - - - - 14.69 -
3867 312.8 -4.5 224 3873 done -0.62 - - 3070 - 2.12 0.034 1932 481.1 -107.1 - - 2911 - - - - - - - - - 14.74 -
4199 337.4 -8.8 235 4204 roll -0.62 - - 3072 - 2.55 0.057 3002 419.6 -107.1 - - 2910 - - - - - - - - - 14.66 -
4237 340.9 -9.3 236 4242 done -0.62 - - 3071 - 2.42 0.029 1927 -444.2 -107.1 - - 2910 - - - - - - - - - 14.78 -
4568 374.9 -10.5 247 4573 roll -0.62 - - 3069 - 2.15 0.046 911 -472.6 -107.1 - - 2908 - - - - - - - - - 14.69 -
4617 378.8 -10.6 248 4622 done -0.62 - - 3070 - 2.12 0.034 1928 479.7 -107.1 - - 2909 - - - - - - - - - 14.73 -
4938 407.4 -7.5 259 4943 roll -0.62 - - 3069 - 2.55 0.057 2994 418.0 -107.1 - - 2908 - - - - - - - - - 14.65 -
4965 407.4 -7.5 259 4973 done -0.62 - - 3070 - 2.42 0.029 1921 -443.4 -107.1 - - 2908 - - - - - - - - - 14.77 -
5275 427.1 -5.4 270 5280 roll -0.62 - - 3070 - 2.15 0.047 907 -471.6 -107.1 - - 2907 - - - - - - - - - 14.69 -
5395 433.4 -6.2 273 5402 done -0.62 - - 3070 - 2.10 0.034 1918 481.4 -107.1 - - 2906 - - - - - - - - - 14.73 -
5700 460.3 -9.0 284 5706 roll -0.62 - - 3070 - 2.55 0.057 2985 418.4 -107.1 - - 2906 - - - - - - - - - 14.64 -
5743 463.6 -9.1 285 5749 done -0.62 - - 3071 - 2.45 0.030 1910 -438.8 -107.1 - - 2906 - - - - - - - - - 14.76 -
6071 495.5 -9.5 296 6076 roll -0.64 - - 3071 - 2.12 0.047 907 -473.1 -107.1 - - 2905 - - - - - - - - - 14.68 -
6173 504.8 -9.5 299 6178 done -0.64 - - 3071 - 2.08 0.035 1896 475.5 -107.1 - - 2904 - - - - - - - - - 14.72 -
6501 533.0 -8.2 310 6506 roll -0.66 - - 3070 - 2.60 0.057 2989 420.4 -107.1 - - 2903 - - - - - - - - - 14.64 -
6549 536.2 -8.3 311 6554 done -0.67 - - 3070 - 2.47 0.031 1898 -441.7 -107.1 - - 2904 - - - - - - - - - 14.75 -
6871 563.5 -8.3 322 6876 roll -0.70 - - 3077 - 2.10 0.047 909 -471.0 -107.1 - - 2903 - - - - - - - - - 14.66 -
6992 571.9 -8.5 325 6998 done -0.73 - - 3070 - 2.03 0.035 1874 475.4 -107.1 - - 2901 - - - - - - - - - 14.71 -
7299 598.6 -7.9 336 7304 roll -0.76 - - 3070 - 2.08 0.047 909 -463.9 -107.1 - - 2901 - - - - - - - - - 14.66 -
7347 601.5 -8.0 337 7352 done -0.79 - - 3076 - 2.00 0.035 1864 477.5 -107.1 - - 2901 - - - - - - - - - 14.70 -
7669 627.2 -7.5 348 7671 done -0.82 0.12 0.126 3025 -425.0 - - 1863 - -107.1 - - 2900 - - - - - - - - 14.76 - -
7966 652.4 -8.4 358 7967 done -0.80 - - 3024 - - - 1863 - -107.1 - - 2900 - - - - - - - - - - -
8267 677.5 -8.5 368 8272 roll -0.78 - - 3024 - 2.70 0.060 2986 415.9 -107.1 - - 2898 - - - - - - - - - 14.59 -
8304 680.6 -8.6 369 8310 done -0.76 - - 3024 - 2.55 0.032 1870 -437.6 -107.1 - - 2898 - - - - - - - - - 14.71 -
8638 710.9 -9.3 380 8644 roll -0.75 - - 3024 - 2.05 0.050 913 -466.8 -107.1 - - 2897 - - - - - - - - - 14.62 -
8732 720.1 -9.3 383 8738 done -0.73 0.15 0.228 3059 233.3 2.00 0.038 1855 471.0 -107.1 - - 2896 - - - - - - - - 14.35 14.68 -
9070 744.8 -7.2 394 9071 done -0.75 - - 3059 - - - 1855 - -107.1 - - 2895 - - - - - - - - - - -
9368 766.5 -7.3 404 9373 roll -0.78 - - 3059 - 2.05 0.049 911 -460.5 -107.1 - - 2895 - - - - - - - - - 14.61 -
9407 769.2 -7.4 405 9413 done -0.81 - - 3059 - 1.98 0.038 1844 471.2 -107.1 - - 2897 - - - - - - - - - 14.66 -
9739 794.2 -7.5 416 9744 roll -0.84 - - 3058 - 2.78 0.061 2988 411.5 -107.1 - - 2893 - - - - - - - - - 14.54 -
9793 796.9 -7.4 417 9800 done -0.86 0.15 0.114 3006 -346.7 2.62 0.034 1856 -432.1 -107.1 - - 2893 - - - - - - - - 14.62 14.69 -
10111 824.9 -8.1 428 10116 roll -0.83 - - 3006 - 2.03 0.051 914 -464.0 -107.1 - - 2892 - - - - - - - - - 14.58 -
10268 838.3 -8.4 433 10274 done -0.80 0.12 0.258 3033 225.0 1.98 0.040 1836 465.7 -107.1 - - 2891 - - - - - - - - 14.27 14.64 -
10602 863.5 -7.9 444 10608 roll -0.80 - - 3032 - 2.80 0.063 2988 411.4 -107.1 - - 2893 - - - - - - - - - 14.51 -
10686 868.8 -8.1 446 10691 done -0.80 - - 3033 - 2.62 0.035 1856 -432.1 -107.1 - - 2889 - - - - - - - - - 14.64 -
11003 899.8 -9.9 457 11008 roll -0.80 - - 3037 - 2.05 0.054 909 -462.0 -107.1 - - 2889 - - - - - - - - - 14.54 -
11086 906.9 -10.3 459 11091 done -0.80 - - 3032 - 1.98 0.041 1831 465.7 -107.1 - - 2888 - - - - - - - - - 14.61 -
11402 941.4 -10.3 470 11407 roll -0.80 - - 3032 - 2.80 0.065 2983 411.4 -107.1 - - 2887 - - - - - - - - - 14.48 -
11451 944.9 -10.2 471 11457 done -0.80 - - 3032 - 2.62 0.036 1857 -429.8 -107.1 - - 2887 - - - - - - - - - 14.62 -
11773 974.1 -8.0 482 11778 roll -0.80 - - 3032 - 2.05 0.054 915 -459.5 -107.1 - - 2886 - - - - - - - - - 14.52 -
11929 986.3 -7.6 487 11934 done -0.80 - - 3033 - 1.98 0.041 1830 462.1 -107.1 - - 2886 - - - - - - - - - 14.57 -
11990 end dive: TARGET_DEPTH_EXCEEDED
11990 begin apogee
11996 990.6 -7.1 489 12096 roll -0.25 0.62 0.186 3206 279.0 - - 1829 - - 94.65 2.113 2480 -4.3 0.374 - - - - - - 14.11 - 13.21
12100 end apogee: CONTROL_FINISHED_OK
12100 begin climb
12103 993.3 - 492 12218 roll 0.88 1.23 0.111 3578 302.4 2.47 0.055 760 -432.8 107.1 101.53 2.100 2038 -4.4 0.383 - - - - - - 14.21 14.25 13.15
12448 977.6 7.9 504 12454 done 0.77 0.15 0.255 3547 -206.7 2.22 0.037 1792 464.9 107.1 - - 2030 - - - - - - - - 14.28 14.57 -
12784 956.8 5.6 515 12826 roll 0.72 - - 3549 - 2.30 0.060 765 -446.5 144.4 35.55 1.971 1888 -4.0 0.360 - - - - - - - 14.46 13.56
13059 938.6 6.8 524 13078 done 0.65 0.17 0.225 3507 -247.1 2.28 0.039 1827 465.8 155.0 11.93 1.870 1843 -3.8 0.352 - - - - - - 14.35 14.59 13.60
13393 918.4 6.0 535 13430 roll 0.64 - - 3507 - 2.50 0.062 2840 405.2 183.1 30.17 1.860 1728 -3.8 0.350 - - - - - - - 14.50 13.64
13509 911.4 7.1 538 13520 done 0.59 - - 3508 - 2.38 0.042 1846 -417.6 188.5 3.50 1.279 1713 -4.3 0.568 - - - - - - - 14.54 13.24
13850 884.9 7.0 550 13865 roll 0.56 0.12 0.230 3475 -275.0 2.45 0.062 734 -453.9 195.1 9.75 1.807 1682 -3.2 0.289 - - - - - - 14.41 14.64 13.65
13898 882.6 6.9 551 13918 done 0.54 - - 3473 - 2.35 0.040 1822 463.0 204.7 11.90 1.823 1642 -3.4 0.302 - - - - - - - 14.63 13.62
14247 859.4 6.3 563 14281 roll 0.56 - - 3475 - 2.55 0.063 2846 401.6 227.2 25.73 1.802 1549 -3.6 0.320 - - - - - - - 14.51 13.70
14410 847.7 7.6 568 14416 done 0.54 - - 3478 - 2.42 0.043 1828 -420.7 227.2 - - 1544 - - - - - - - - - 14.56 -
14737 824.3 6.8 579 14756 roll 0.55 - - 3478 - 2.40 0.063 742 -452.5 239.0 12.73 1.783 1502 -3.3 0.283 - - - - - - - 14.64 13.69
14810 819.9 6.8 581 14830 done 0.57 - - 3478 - 2.35 0.040 1825 460.9 251.1 13.95 1.789 1456 -3.3 0.281 - - - - - - - 14.62 13.64
15131 796.5 7.2 592 15141 roll 0.57 - - 3478 - 2.50 0.064 2855 412.0 254.9 3.60 1.268 1439 -4.7 0.551 - - - - - - - 14.65 13.35
15174 793.7 7.5 593 15179 done 0.57 - - 3478 - 2.45 0.044 1824 -420.8 254.9 - - 1440 - - - - - - - - - 14.61 -
15500 765.5 8.7 604 15505 roll 0.57 - - 3478 - 2.40 0.064 745 -449.6 254.9 - - 1439 - - - - - - - - - 14.58 -
15574 759.7 8.7 606 15579 done 0.57 - - 3478 - 2.33 0.041 1822 462.2 254.9 - - 1439 - - - - - - - - - 14.66 -
15900 733.5 7.2 617 15905 roll 0.57 - - 3478 - 2.50 0.063 2851 411.6 256.8 - - 1438 - - - - - - - - - 14.58 -
16009 726.3 7.5 620 16014 done 0.57 - - 3478 - 2.42 0.040 1827 -423.1 256.8 - - 1437 - - - - - - - - - 14.64 -
16332 707.8 5.0 631 16402 roll 0.62 - - 3478 - 2.42 0.062 749 -445.5 307.1 62.35 1.599 1225 -3.4 0.280 - - - - - - - 14.40 13.64
16521 697.3 5.9 637 16565 done 0.68 0.12 0.130 3522 366.7 2.33 0.040 1816 457.9 339.1 38.03 1.590 1095 -3.4 0.279 - - - - - - 14.45 14.50 13.57
16874 666.8 9.4 649 16879 roll 0.68 - - 3521 - 2.55 0.063 2857 408.2 339.1 - - 1088 - - - - - - - - - 14.51 -
16941 659.6 10.7 651 16948 done 0.68 - - 3522 - 2.47 0.044 1822 -419.0 339.1 - - 1086 - - - - - - - - - 14.54 -
17274 619.8 12.5 662 17279 roll 0.68 - - 3522 - 2.42 0.066 742 -446.3 339.1 - - 1085 - - - - - - - - - 14.50 -
17362 611.4 12.5 664 17370 done 0.68 - - 3522 - 2.33 0.040 1816 460.9 339.1 - - 1085 - - - - - - - - - 14.63 -
17671 571.4 11.6 675 17672 done 0.68 - - 3522 - - - 1815 - 339.1 - - 1084 - - - - - - - - - - -
17968 544.6 7.7 685 17970 done 0.68 - - 3522 - - - 1816 - 339.1 - - 1084 - - - - - - - - - - -
18269 524.6 6.7 695 18285 done 0.70 - - 3522 - - - 1815 - 352.5 14.05 1.462 1040 -3.1 0.209 - - - - - - - - 13.83
18568 500.4 8.5 705 18570 done 0.70 - - 3522 - - - 1815 - 352.5 - - 1036 - - - - - - - - - - -
18869 473.8 9.0 715 18874 roll 0.70 - - 3522 - 2.53 0.062 2854 410.7 352.5 - - 1036 - - - - - - - - - 14.56 -
18891 473.8 9.0 715 18897 done 0.70 - - 3522 - 2.50 0.043 1799 -422.0 352.5 - - 1036 - - - - - - - - - 14.59 -
19209 443.1 9.0 726 19214 roll 0.70 - - 3521 - 2.33 0.065 753 -448.9 352.5 - - 1035 - - - - - - - - - 14.55 -
19320 434.6 8.8 729 19326 done 0.72 - - 3522 - 2.25 0.038 1794 462.7 352.5 - - 1035 - - - - - - - - - 14.64 -
19643 405.6 8.6 740 19648 roll 0.72 - - 3522 - 2.58 0.060 2856 411.6 352.5 - - 1035 - - - - - - - - - 14.56 -
19691 402.2 8.7 741 19696 done 0.72 - - 3522 - 2.53 0.041 1791 -420.9 352.5 - - 1035 - - - - - - - - - 14.59 -
20012 373.7 8.8 752 20017 roll 0.73 - - 3522 - 2.33 0.063 745 -448.9 352.5 - - 1035 - - - - - - - - - 14.52 -
20139 362.1 9.3 756 20144 done 0.75 - - 3522 - 2.22 0.037 1777 464.9 352.5 - - 1040 - - - - - - - - - 14.64 -
20476 328.8 10.2 767 20477 done 0.77 - - 3522 - - - 1776 - 352.5 - - 1035 - - - - - - - - - - -
20774 297.5 10.4 777 20779 roll 0.79 - - 3522 - 2.60 0.059 2853 414.2 352.5 - - 1035 - - - - - - - - - 14.47 -
20817 293.6 10.5 778 20823 done 0.79 - - 3522 - 2.55 0.041 1776 -422.4 352.5 - - 1035 - - - - - - - - - 14.59 -
21146 262.7 8.8 789 21151 roll 0.81 - - 3522 - 2.30 0.063 744 -448.7 352.5 - - 1035 - - - - - - - - - 14.47 -
21256 254.3 8.6 792 21263 done 0.83 0.12 0.132 3576 450.0 2.20 0.035 1766 464.5 352.5 - - 1035 - - - - - - - - 14.54 14.62 -
21577 221.9 9.8 812 21583 roll 0.81 - - 3576 - 2.60 0.057 2844 414.6 352.5 - - 1035 - - - - - - - - - 14.47 -
21658 212.8 11.6 817 21664 done 0.77 0.15 0.249 3544 -213.3 2.60 0.041 1764 -415.4 352.5 - - 1036 - - - - - - - - 14.18 14.52 -
21979 181.3 10.6 838 21985 roll 0.77 - - 3543 - 2.25 0.062 749 -451.1 352.5 - - 1036 - - - - - - - - - 14.45 -
22059 172.9 10.5 843 22064 done 0.79 - - 3543 - 2.15 0.035 1756 468.4 352.5 - - 1036 - - - - - - - - - 14.52 -
22379 140.1 9.9 864 22384 roll 0.79 - - 3543 - 2.65 0.057 2851 413.2 352.5 - - 1036 - - - - - - - - - 14.40 -
22451 133.2 10.8 868 22459 done 0.79 - - 3546 - 2.60 0.040 1762 -418.8 352.5 - - 1036 - - - - - - - - - 14.52 -
22758 102.2 9.2 889 22763 roll 0.79 - - 3546 - 2.25 0.060 748 -450.7 352.5 - - 1039 - - - - - - - - - 14.45 -
22826 96.3 9.2 893 22831 done 0.80 - - 3546 - 2.17 0.034 1763 467.7 352.5 - - 1036 - - - - - - - - - 14.54 -
23140 69.0 8.8 914 23146 roll 0.80 - - 3546 - 2.62 0.056 2849 414.5 352.5 - - 1037 - - - - - - - - - 14.40 -
23205 62.9 9.7 918 23212 done 0.80 - - 3547 - 2.60 0.038 1762 -418.1 352.5 - - 1037 - - - - - - - - - 14.42 -
23527 37.8 7.4 939 23532 roll 0.82 - - 3547 - 2.28 0.059 739 -448.7 352.5 - - 1037 - - - - - - - - - 14.44 -
23617 31.8 7.7 944 23624 done 0.85 - - 3553 - 2.17 0.033 1763 471.9 352.5 - - 1037 - - - - - - - - - 14.56 -
23922 5.3 8.2 965 23927 roll 0.87 - - 3547 - 2.62 0.055 2851 415.3 352.5 - - 1038 - - - - - - - - - 14.40 -
23953 end climb: SURFACE_DEPTH_REACHED
23953 begin surface coast
23985 end surface coast: CONTROL_FINISHED_OK
23985 begin surface
SM 3.94 - - - - -9.78 10.02 0.050 143 14.3 2.22 0.039 1946 759.5 353.48 - - 1038 - - - - - - - -