SPURS Mar13 * SG160 * Dive index * Mission links * Dive 357 * Raw log
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• Previous call tries 1 • 138.43 of 350.00 AH used of 24V (60.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.2 deg, depth 3.68 m • Intended pitch -15.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 406.22, SM_CC=300)
• GPS1 time: 32 s, HDOP was 2.2 m
• GPS2 time: 36 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 - - 131 - - - 1945 - -107.1 -15.68 - 1425 - - - - - - - - - - -
46 3.6 - 1 133 roll -0.88 13.60 0.351 3007 211.5 2.55 0.073 3000 413.7 -107.1 -65.00 - 2909 -22.8 - - - - - - - 14.21 14.50 14.76
308 24.2 -13.0 18 313 done -0.81 - - 3007 - 2.45 0.031 1941 -432.2 -107.1 - - 2909 - - - - - - - - - 14.59 -
627 65.1 -12.3 39 634 roll -0.74 0.17 0.234 3054 276.5 2.25 0.044 903 -461.3 -107.1 - - 2909 - - - - - - - - 14.22 14.54 -
794 80.0 -9.1 49 802 done -0.71 - - 3054 - 2.22 0.034 1947 470.3 -107.1 - - 2908 - - - - - - - - - 14.60 -
1102 104.1 -7.5 70 1103 done -0.68 - - 3059 - - - 1946 - -107.1 - - 2913 - - - - - - - - - - -
1401 128.3 -8.3 90 1402 done -0.66 - - 3054 - - - 1946 - -107.1 - - 2910 - - - - - - - - - - -
1701 155.0 -9.7 110 1707 roll -0.64 0.12 0.239 3088 283.3 2.28 0.044 898 -459.6 -107.1 - - 2910 - - - - - - - - 14.42 14.59 -
1754 159.9 -9.8 113 1759 done -0.64 - - 3088 - 2.20 0.033 1940 473.6 -107.1 - - 2910 - - - - - - - - - 14.64 -
2069 191.8 -10.0 134 2070 done -0.67 - - 3088 - - - 1939 - -107.1 - - 2912 - - - - - - - - - - -
2369 219.1 -7.9 154 2374 roll -0.71 - - 3088 - 2.22 0.045 904 -466.2 -107.1 - - 2910 - - - - - - - - - 14.62 -
2476 225.8 -6.7 160 2483 done -0.73 - - 3088 - 2.15 0.032 1933 478.6 -107.1 - - 2910 - - - - - - - - - 14.67 -
2778 243.6 -6.2 181 2784 roll -0.77 0.12 0.116 3031 -475.0 2.22 0.043 900 -465.3 -107.1 - - 2909 - - - - - - - - 14.69 14.62 -
2818 246.3 -7.2 183 2824 done -0.77 - - 3030 - 2.15 0.034 1924 476.3 -107.1 - - 2908 - - - - - - - - - 14.66 -
3135 278.2 -11.1 195 3140 roll -0.74 - - 3030 - 2.55 0.057 2993 419.2 -107.1 - - 2909 - - - - - - - - - 14.64 -
3195 282.5 -11.3 196 3202 done -0.72 0.12 0.228 3053 191.7 2.42 0.028 1918 -444.2 -107.1 - - 2909 - - - - - - - - 14.42 14.74 -
3501 320.1 -11.3 207 3507 roll -0.72 - - 3059 - 2.15 0.046 909 -469.3 -107.1 - - 2908 - - - - - - - - - 14.68 -
3571 327.6 -11.3 209 3576 done -0.72 - - 3059 - 2.12 0.034 1925 479.2 -107.1 - - 2908 - - - - - - - - - 14.73 -
3902 358.5 -8.3 220 3903 done -0.72 - - 3060 - - - 1925 - -107.1 - - 2908 - - - - - - - - - - -
4201 378.2 -5.8 230 4206 roll -0.72 - - 3059 - 2.17 0.046 913 -466.4 -107.1 - - 2907 - - - - - - - - - 14.71 -
4279 381.8 -5.6 232 4284 done -0.72 - - 3059 - 2.12 0.034 1924 476.9 -107.1 - - 2906 - - - - - - - - - 14.73 -
4601 398.4 -5.3 243 4603 done -0.72 - - 3058 - - - 1922 - -107.1 - - 2905 - - - - - - - - - - -
4898 420.6 -8.5 253 4904 roll -0.72 - - 3059 - 2.55 0.057 2998 422.0 -107.1 - - 2905 - - - - - - - - - 14.65 -
4952 424.0 -8.8 254 4957 done -0.72 - - 3059 - 2.42 0.028 1917 -446.7 -107.1 - - 2904 - - - - - - - - - 14.77 -
5266 457.3 -9.9 265 5272 roll -0.72 - - 3059 - 2.15 0.047 908 -469.3 -107.1 - - 2904 - - - - - - - - - 14.68 -
5334 463.7 -9.9 267 5339 done -0.72 - - 3059 - 2.12 0.034 1919 476.9 -107.1 - - 2904 - - - - - - - - - 14.73 -
5666 491.4 -7.6 278 5667 done -0.74 - - 3059 - - - 1917 - -107.1 - - 2902 - - - - - - - - - - -
5963 509.6 -5.7 288 5969 roll -0.76 - - 3059 - 2.17 0.046 911 -463.6 -107.1 - - 2902 - - - - - - - - - 14.67 -
6049 513.3 -5.7 290 6055 done -0.77 - - 3059 - 2.10 0.034 1914 477.6 -107.1 - - 2901 - - - - - - - - - 14.72 -
6366 532.0 -5.8 301 6373 roll -0.80 - - 3059 - 2.17 0.047 910 -462.7 -107.1 - - 2901 - - - - - - - - - 14.66 -
6462 538.9 -6.8 304 6467 done -0.80 - - 3058 - 2.08 0.034 1891 471.6 -107.1 - - 2901 - - - - - - - - - 14.71 -
6799 566.1 -8.9 315 6804 roll -0.82 - - 3059 - 2.10 0.047 913 -465.7 -107.1 - - 2899 - - - - - - - - - 14.66 -
6848 569.6 -9.1 316 6853 done -0.84 0.12 0.131 3016 -358.3 2.05 0.036 1888 475.6 -107.1 - - 2899 - - - - - - - - 14.62 14.71 -
7169 603.8 -10.1 327 7176 roll -0.82 - - 3015 - 2.65 0.060 2993 417.0 -107.1 - - 2898 - - - - - - - - - 14.60 -
7200 603.8 -10.1 327 7207 done -0.80 - - 3016 - 2.55 0.031 1878 -437.3 -107.1 - - 2895 - - - - - - - - - 14.72 -
7507 634.6 -8.6 338 7513 roll -0.78 - - 3016 - 2.08 0.049 911 -464.9 -107.1 - - 2899 - - - - - - - - - 14.64 -
7536 634.6 -8.6 338 7543 done -0.76 0.12 0.246 3043 225.0 2.05 0.037 1877 471.2 -107.1 - - 2897 - - - - - - - - 14.37 14.69 -
7847 659.8 -7.3 349 7853 roll -0.76 - - 3043 - 2.10 0.049 911 -460.0 -107.1 - - 2896 - - - - - - - - - 14.65 -
7885 662.9 -7.4 350 7890 done -0.76 - - 3043 - 2.05 0.037 1877 471.2 -107.1 - - 2896 - - - - - - - - - 14.69 -
8217 686.5 -7.1 361 8219 done -0.76 - - 3043 - - - 1876 - -107.1 - - 2895 - - - - - - - - - - -
8514 707.6 -7.2 371 8520 roll -0.76 - - 3044 - 2.10 0.050 915 -457.6 -107.1 - - 2893 - - - - - - - - - 14.62 -
8569 710.4 -7.4 372 8574 done -0.76 - - 3043 - 2.00 0.037 1861 473.0 -107.1 - - 2893 - - - - - - - - - 14.69 -
8883 740.0 -9.7 383 8888 roll -0.76 - - 3043 - 2.08 0.050 910 -457.2 -107.1 - - 2891 - - - - - - - - - 14.61 -
8910 740.0 -9.7 383 8917 done -0.76 - - 3044 - 2.03 0.038 1862 469.0 -107.1 - - 2891 - - - - - - - - - 14.66 -
9218 774.2 -10.3 394 9223 roll -0.76 - - 3043 - 2.72 0.062 2990 414.7 -107.1 - - 2891 - - - - - - - - - 14.55 -
9245 774.2 -10.3 394 9252 done -0.76 - - 3043 - 2.60 0.034 1854 -436.9 -107.1 - - 2891 - - - - - - - - - 14.68 -
9555 806.8 -9.4 405 9560 roll -0.78 - - 3043 - 2.03 0.050 915 -462.6 -107.1 - - 2890 - - - - - - - - - 14.59 -
9628 813.2 -9.4 407 9634 done -0.78 - - 3044 - 1.98 0.039 1844 469.2 -107.1 - - 2889 - - - - - - - - - 14.64 -
9955 840.4 -7.6 418 9961 roll -0.78 - - 3043 - 2.78 0.063 2997 414.7 -107.1 - - 2889 - - - - - - - - - 14.54 -
9994 843.1 -7.5 419 9999 done -0.78 - - 3043 - 2.62 0.035 1856 -435.5 -107.1 - - 2888 - - - - - - - - - 14.66 -
10325 863.8 -5.7 430 10331 roll -0.79 - - 3043 - 2.05 0.053 914 -459.5 -107.1 - - 2887 - - - - - - - - - 14.57 -
10361 866.1 -5.8 431 10366 done -0.79 - - 3043 - 2.03 0.040 1853 462.6 -107.1 - - 2887 - - - - - - - - - 14.62 -
10697 886.8 -6.6 442 10702 roll -0.79 - - 3043 - 2.75 0.063 2990 413.5 -107.1 - - 2885 - - - - - - - - - 14.50 -
10736 889.4 -6.9 443 10741 done -0.79 - - 3043 - 2.62 0.036 1856 -432.8 -107.1 - - 2886 - - - - - - - - - 14.64 -
11068 916.5 -8.8 454 11074 roll -0.79 - - 3043 - 2.08 0.054 907 -456.2 -107.1 - - 2885 - - - - - - - - - 14.53 -
11186 925.9 -9.6 457 11191 done -0.79 - - 3043 - 2.00 0.041 1836 464.5 -107.1 - - 2885 - - - - - - - - - 14.59 -
11503 959.6 -10.1 468 11508 roll -0.81 - - 3044 - 2.83 0.065 2995 409.5 -107.1 - - 2883 - - - - - - - - - 14.47 -
11564 963.3 -10.0 469 11571 done -0.83 - - 3043 - 2.65 0.037 1857 -429.4 -107.1 - - 2883 - - - - - - - - - 14.60 -
11864 end dive: TARGET_DEPTH_EXCEEDED
11866 begin apogee
11874 992.0 -7.8 480 11974 roll -0.25 0.57 0.164 3205 284.2 - - 1823 - - 94.43 2.118 2477 -4.3 0.377 - - - - - - 14.07 - 13.17
11979 end apogee: CONTROL_FINISHED_OK
11979 begin climb
11982 995.7 - 483 12097 roll 0.88 1.20 0.102 3578 310.8 2.60 0.062 2849 394.6 107.1 100.75 2.111 2037 -4.4 0.386 - - - - - - 14.22 14.24 13.13
12326 979.2 9.3 495 12332 done 0.75 0.20 0.278 3536 -210.0 2.47 0.041 1798 -425.5 107.1 - - 2030 - - - - - - - - 14.23 14.55 -
12656 951.9 7.9 506 12661 roll 0.66 - - 3536 - 2.35 0.062 747 -447.2 107.1 - - 2027 - - - - - - - - - 14.59 -
12871 936.9 6.8 513 12891 done 0.60 0.17 0.216 3494 -247.1 2.28 0.039 1801 462.3 118.6 10.48 1.851 1993 -3.2 0.307 - - - - - - 14.36 14.66 13.67
13206 921.4 3.8 524 13295 roll 0.63 - - 3494 - 2.60 0.060 2855 405.4 195.5 80.57 1.877 1678 -3.9 0.359 - - - - - - - 14.26 13.39
13404 911.8 5.6 530 13449 done 0.62 - - 3493 - 2.50 0.042 1808 -418.8 233.8 38.62 1.898 1525 -4.0 0.356 - - - - - - - 14.47 13.39
13750 892.0 5.5 542 13797 roll 0.66 - - 3494 - 2.40 0.067 750 -440.8 272.7 40.42 1.864 1363 -4.0 0.359 - - - - - - - 14.37 13.51
13868 886.5 5.9 545 13911 done 0.69 - - 3494 - 2.30 0.039 1804 458.3 303.9 33.97 1.847 1238 -3.7 0.331 - - - - - - - 14.48 13.41
14235 857.8 7.9 558 14236 done 0.69 - - 3494 - - - 1804 - 303.9 - - 1231 - - - - - - - - - - -
14536 831.3 9.0 568 14542 roll 0.69 - - 3494 - 2.40 0.063 744 -441.7 303.9 - - 1230 - - - - - - - - - 14.58 -
14573 827.9 9.2 569 14580 done 0.69 - - 3498 - 2.33 0.041 1816 460.1 303.9 - - 1230 - - - - - - - - - 14.64 -
14907 795.1 10.1 580 14913 roll 0.73 0.12 0.129 3539 341.7 2.53 0.060 2850 408.7 303.9 - - 1228 - - - - - - - - 14.70 14.60 -
14943 790.6 10.6 581 14948 done 0.74 - - 3546 - 2.50 0.044 1799 -420.4 303.9 - - 1228 - - - - - - - - - 14.62 -
15281 749.4 12.2 592 15286 roll 0.71 - - 3548 - 2.38 0.067 747 -442.0 303.9 - - 1227 - - - - - - - - - 14.57 -
15348 741.1 12.2 594 15354 done 0.69 0.12 0.219 3519 -241.7 2.28 0.041 1804 463.6 303.9 - - 1227 - - - - - - - - 14.39 14.64 -
15680 703.5 11.4 605 15686 roll 0.69 - - 3519 - 2.53 0.062 2844 411.1 303.9 - - 1227 - - - - - - - - - 14.57 -
15753 695.5 11.8 607 15759 done 0.69 - - 3519 - 2.47 0.044 1802 -421.9 303.9 - - 1226 - - - - - - - - - 14.61 -
16081 660.9 9.7 618 16086 roll 0.69 - - 3519 - 2.38 0.066 750 -442.0 303.9 - - 1226 - - - - - - - - - 14.54 -
16179 651.9 9.2 621 16185 done 0.69 - - 3519 - 2.25 0.040 1789 461.8 303.9 - - 1226 - - - - - - - - - 14.67 -
16511 624.6 8.0 632 16517 roll 0.69 - - 3519 - 2.60 0.063 2856 410.4 303.9 - - 1226 - - - - - - - - - 14.54 -
16595 618.4 8.3 634 16601 done 0.69 - - 3520 - 2.53 0.044 1795 -419.4 303.9 - - 1225 - - - - - - - - - 14.59 -
16912 589.2 8.9 645 16917 roll 0.69 - - 3520 - 2.38 0.065 741 -442.9 303.9 - - 1225 - - - - - - - - - 14.51 -
17007 580.0 9.4 648 17012 done 0.69 - - 3520 - 2.28 0.040 1783 457.0 303.9 - - 1225 - - - - - - - - - 14.62 -
17345 546.8 9.8 659 17350 roll 0.69 - - 3520 - 2.60 0.061 2852 411.2 303.9 - - 1225 - - - - - - - - - 14.51 -
17428 540.1 9.7 661 17433 done 0.69 - - 3520 - 2.53 0.044 1790 -419.8 303.9 - - 1225 - - - - - - - - - 14.57 -
17745 512.1 7.8 672 17750 roll 0.69 - - 3521 - 2.35 0.065 747 -443.8 303.9 - - 1224 - - - - - - - - - 14.49 -
17839 504.5 7.9 675 17844 done 0.69 - - 3520 - 2.25 0.038 1779 458.7 303.9 - - 1225 - - - - - - - - - 14.61 -
18177 479.6 7.4 686 18182 roll 0.69 - - 3521 - 2.60 0.060 2853 413.1 303.9 - - 1225 - - - - - - - - - 14.50 -
18240 473.8 8.0 688 18246 done 0.69 - - 3521 - 2.55 0.038 1781 -420.4 303.9 - - 1225 - - - - - - - - - 14.57 -
18577 444.8 9.2 699 18583 roll 0.69 - - 3521 - 2.33 0.063 748 -443.3 303.9 - - 1225 - - - - - - - - - 14.47 -
18655 438.6 9.4 701 18660 done 0.69 - - 3521 - 2.22 0.037 1776 463.1 303.9 - - 1225 - - - - - - - - - 14.60 -
18977 405.7 10.1 712 18982 roll 0.69 - - 3521 - 2.62 0.060 2855 411.8 303.9 - - 1225 - - - - - - - - - 14.49 -
19014 401.6 10.4 713 19019 done 0.69 - - 3521 - 2.58 0.042 1773 -419.4 303.9 - - 1225 - - - - - - - - - 14.56 -
19346 368.7 9.3 724 19351 roll 0.69 - - 3521 - 2.33 0.064 742 -442.5 303.9 - - 1225 - - - - - - - - - 14.47 -
19430 362.9 8.8 726 19435 done 0.69 - - 3522 - 2.22 0.037 1770 463.1 303.9 - - 1225 - - - - - - - - - 14.59 -
19747 340.3 5.8 737 19787 roll 0.72 - - 3521 - 2.65 0.060 2849 407.2 337.2 31.83 1.264 1101 -3.9 0.196 - - - - - - - 14.56 13.81
19857 335.1 5.6 740 19900 done 0.76 - - 3521 - 2.55 0.042 1778 -420.0 375.1 37.67 1.235 947 -4.1 0.208 - - - - - - - 14.55 13.76
20231 313.3 6.0 753 20265 roll 0.81 0.12 0.121 3579 483.3 2.30 0.062 745 -449.1 404.4 27.92 1.217 827 -4.3 0.207 - - - - - - 14.57 14.51 13.83
20435 296.5 9.2 759 20440 done 0.81 - - 3579 - 2.17 0.036 1755 465.4 404.4 - - 825 - - - - - - - - - 14.57 -
20751 260.9 11.4 770 20756 roll 0.81 - - 3579 - 2.62 0.057 2848 417.2 404.4 - - 824 - - - - - - - - - 14.53 -
20794 256.1 11.9 771 20799 done 0.81 - - 3579 - 2.60 0.041 1752 -421.5 404.4 - - 824 - - - - - - - - - 14.57 -
21103 216.6 12.2 790 21109 roll 0.81 - - 3579 - 2.25 0.062 743 -448.4 404.4 - - 823 - - - - - - - - - 14.49 -
21210 205.2 11.9 796 21216 done 0.81 - - 3579 - 2.15 0.034 1746 466.5 404.4 - - 824 - - - - - - - - - 14.57 -
21513 170.2 10.6 817 21519 roll 0.81 - - 3579 - 2.67 0.056 2851 413.9 404.4 - - 823 - - - - - - - - - 14.50 -
21593 160.2 12.9 822 21598 done 0.79 - - 3580 - 2.60 0.041 1754 -421.9 404.4 - - 823 - - - - - - - - - 14.54 -
21912 122.6 11.8 843 21918 roll 0.79 - - 3580 - 2.25 0.061 743 -449.3 404.4 - - 823 - - - - - - - - - 14.47 -
22001 113.5 11.5 848 22007 done 0.79 - - 3579 - 2.15 0.034 1746 466.5 404.4 - - 823 - - - - - - - - - 14.57 -
22306 80.9 9.9 869 22312 roll 0.79 - - 3579 - 2.65 0.055 2849 416.2 404.4 - - 823 - - - - - - - - - 14.48 -
22379 73.9 11.2 873 22387 done 0.79 - - 3579 - 2.62 0.039 1748 -420.2 404.4 - - 823 - - - - - - - - - 14.53 -
22686 42.9 10.0 894 22691 roll 0.79 - - 3579 - 2.22 0.060 747 -450.9 404.4 - - 823 - - - - - - - - - 14.47 -
22802 31.9 10.1 901 22807 done 0.81 - - 3579 - 2.12 0.033 1743 469.8 404.4 - - 823 - - - - - - - - - 14.58 -
23097 end climb: SURFACE_DEPTH_REACHED
23097 begin surface coast
23129 end surface coast: CONTROL_FINISHED_OK
23129 begin surface
SM 3.89 - - - - -9.77 10.12 0.050 142 14.0 0.43 0.048 1966 2176.7 406.22 - - 823 - - - - - - - -