SPURS Mar13 * SG160 * Dive index * Mission links * Dive 211 * Raw log
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• Previous call tries 1 • 79.02 of 350.00 AH used of 24V (77.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth 3.34 m • Intended pitch -15.0 deg, speed -7.857 cm/s
• No surface pump (final VBD was 415.78, SM_CC=300)
• GPS1 time: 36 s
• 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
20 end surface: CONTROL_FINISHED_OK
21 begin dive
23 - - - 41 VBD -0.81 - - 135 - - - 1927 - -126.5 -16.12 - 1472 - - - - - - - - - - -
44 3.1 - 1 132 roll -0.81 13.45 0.353 3046 216.4 2.40 0.078 2949 425.8 -126.5 -66.28 - 2995 -23.0 - - - - - - - 14.40 14.61 14.85
363 32.9 -14.1 22 369 done -0.74 - - 3046 - 2.33 0.031 1907 -447.2 -126.5 - - 2994 - - - - - - - - - 14.70 -
682 76.9 -14.0 43 688 roll -0.67 0.15 0.243 3087 273.3 2.22 0.047 858 -472.5 -126.5 - - 2996 - - - - - - - - 14.52 14.74 -
735 83.2 -12.9 46 741 done -0.62 - - 3087 - 2.17 0.036 1898 479.3 -126.5 - - 2996 - - - - - - - - - 14.74 -
1049 119.4 -11.6 67 1056 roll -0.59 0.12 0.252 3120 275.0 2.45 0.057 2961 433.9 -126.5 - - 2996 - - - - - - - - 14.59 14.74 -
1108 124.4 -10.3 70 1115 done -0.59 - - 3120 - 2.33 0.032 1912 -450.2 -126.5 - - 2995 - - - - - - - - - 14.81 -
1414 151.1 -8.3 91 1420 roll -0.59 - - 3120 - 2.22 0.048 861 -473.4 -126.5 - - 2996 - - - - - - - - - 14.72 -
1502 157.6 -8.4 96 1509 done -0.59 - - 3120 - 2.17 0.035 1903 480.2 -126.5 - - 2996 - - - - - - - - - 14.81 -
1808 180.0 -6.7 117 1809 done -0.59 - - 3120 - - - 1902 - -126.5 - - 2996 - - - - - - - - - - -
2108 199.7 -6.6 137 2113 roll -0.59 - - 3120 - 2.42 0.058 2961 437.6 -126.5 - - 2996 - - - - - - - - - 14.78 -
2228 207.0 -6.8 144 2235 done -0.61 - - 3120 - 2.33 0.031 1907 -452.4 -126.5 - - 2996 - - - - - - - - - 14.83 -
2533 230.3 -7.8 165 2538 roll -0.63 - - 3120 - 2.20 0.049 863 -474.5 -126.5 - - 2995 - - - - - - - - - 14.75 -
2611 237.1 -8.6 170 2617 done -0.63 - - 3120 - 2.17 0.035 1905 480.2 -126.5 - - 2995 - - - - - - - - - 14.83 -
2930 263.7 -8.4 186 2935 roll -0.64 - - 3120 - 2.40 0.057 2958 438.8 -126.5 - - 2995 - - - - - - - - - 14.82 -
3024 271.4 -8.3 189 3029 done -0.67 - - 3120 - 2.30 0.030 1909 -456.1 -126.5 - - 2995 - - - - - - - - - 14.88 -
3360 297.2 -7.6 200 3365 roll -0.68 - - 3117 - 2.17 0.049 867 -480.2 -126.5 - - 2995 - - - - - - - - - 14.82 -
3528 309.3 -7.9 205 3533 done -0.68 - - 3120 - 2.15 0.036 1906 483.3 -126.5 - - 2995 - - - - - - - - - 14.89 -
3848 332.6 -7.0 216 3849 done -0.70 - - 3120 - - - 1905 - -126.5 - - 2994 - - - - - - - - - - -
4148 353.0 -6.7 226 4154 roll -0.72 0.12 0.130 3058 -516.7 2.40 0.056 2958 438.8 -126.5 - - 2992 - - - - - - - - 14.89 14.85 -
4192 355.9 -7.1 227 4197 done -0.72 - - 3058 - 2.33 0.031 1895 -456.2 -126.5 - - 2992 - - - - - - - - - 14.91 -
4517 388.6 -10.1 238 4523 roll -0.69 0.12 0.240 3092 283.3 2.17 0.048 861 -476.5 -126.5 - - 2991 - - - - - - - - 14.65 14.86 -
4546 388.6 -10.1 238 4553 done -0.66 - - 3091 - 2.15 0.037 1897 481.9 -126.5 - - 2992 - - - - - - - - - 14.90 -
4852 417.9 -8.2 249 4857 roll -0.66 - - 3091 - 2.40 0.057 2953 440.0 -126.5 - - 2991 - - - - - - - - - 14.84 -
4894 420.6 -8.2 250 4899 done -0.66 - - 3092 - 2.30 0.031 1900 -457.8 -126.5 - - 2988 - - - - - - - - - 14.91 -
5219 447.4 -8.2 261 5224 roll -0.66 - - 3092 - 2.17 0.050 866 -476.5 -126.5 - - 2990 - - - - - - - - - 14.85 -
5376 461.5 -9.2 266 5382 done -0.66 - - 3092 - 2.12 0.037 1886 481.1 -126.5 - - 2989 - - - - - - - - - 14.90 -
5707 489.7 -8.3 277 5713 roll -0.66 - - 3091 - 2.47 0.058 2961 435.2 -126.5 - - 2988 - - - - - - - - - 14.83 -
5780 494.8 -8.0 279 5785 done -0.66 - - 3091 - 2.38 0.032 1881 -453.8 -126.5 - - 2988 - - - - - - - - - 14.88 -
6105 519.5 -7.3 290 6111 roll -0.66 - - 3092 - 2.15 0.052 865 -472.6 -126.5 - - 2986 - - - - - - - - - 14.85 -
6158 522.1 -7.4 291 6164 done -0.66 - - 3092 - 2.12 0.037 1885 481.1 -126.5 - - 2986 - - - - - - - - - 14.89 -
6474 546.1 -7.2 302 6479 roll -0.66 - - 3086 - 2.47 0.060 2964 436.8 -126.5 - - 2985 - - - - - - - - - 14.82 -
6578 553.3 -7.4 305 6583 done -0.66 - - 3092 - 2.35 0.033 1895 -454.9 -126.5 - - 2985 - - - - - - - - - 14.90 -
6902 581.2 -9.0 316 6907 roll -0.66 - - 3091 - 2.17 0.053 868 -473.3 -126.5 - - 2984 - - - - - - - - - 14.83 -
6966 587.4 -9.3 318 6971 done -0.66 - - 3092 - 2.15 0.037 1892 476.3 -126.5 - - 2984 - - - - - - - - - 14.88 -
7300 619.2 -9.6 329 7305 roll -0.66 - - 3091 - 2.45 0.061 2955 433.9 -126.5 - - 2983 - - - - - - - - - 14.81 -
7368 625.5 -9.7 331 7374 done -0.66 - - 3092 - 2.35 0.034 1891 -452.8 -126.5 - - 2983 - - - - - - - - - 14.89 -
7698 657.6 -9.3 342 7703 roll -0.66 - - 3092 - 2.17 0.053 864 -473.3 -126.5 - - 2982 - - - - - - - - - 14.83 -
7771 664.0 -9.7 344 7776 done -0.66 - - 3092 - 2.17 0.038 1893 474.2 -126.5 - - 2981 - - - - - - - - - 14.87 -
8096 695.7 -9.4 355 8101 roll -0.66 - - 3092 - 2.47 0.062 2964 433.6 -126.5 - - 2980 - - - - - - - - - 14.80 -
8159 701.6 -9.3 357 8164 done -0.66 - - 3092 - 2.38 0.034 1895 -449.2 -126.5 - - 2979 - - - - - - - - - 14.88 -
8494 730.4 -8.4 368 8499 roll -0.66 - - 3092 - 2.20 0.054 863 -469.1 -126.5 - - 2979 - - - - - - - - - 14.81 -
8551 733.3 -8.3 369 8557 done -0.66 - - 3091 - 2.17 0.040 1896 476.0 -126.5 - - 2978 - - - - - - - - - 14.85 -
8860 758.1 -7.3 380 8865 roll -0.66 - - 3092 - 2.47 0.063 2963 432.0 -126.5 - - 2977 - - - - - - - - - 14.75 -
8924 762.8 -7.2 382 8929 done -0.67 - - 3092 - 2.38 0.035 1897 -447.9 -126.5 - - 2977 - - - - - - - - - 14.87 -
9260 785.7 -7.0 393 9261 done -0.67 - - 3088 - - - 1899 - -126.5 - - 2975 - - - - - - - - - - -
9557 808.5 -7.8 403 9558 done -0.67 - - 3091 - - - 1899 - -126.5 - - 2975 - - - - - - - - - - -
9858 832.5 -8.1 413 9863 roll -0.67 - - 3092 - 2.20 0.055 868 -468.6 -126.5 - - 2974 - - - - - - - - - 14.81 -
9915 835.3 -8.1 414 9923 done -0.67 - - 3092 - 2.17 0.041 1897 474.2 -126.5 - - 2974 - - - - - - - - - 14.84 -
10224 862.4 -8.2 425 10229 roll -0.69 - - 3092 - 2.50 0.064 2962 426.0 -126.5 - - 2973 - - - - - - - - - 14.76 -
10266 865.2 -8.1 426 10272 done -0.70 - - 3092 - 2.38 0.037 1898 -447.1 -126.5 - - 2973 - - - - - - - - - 14.86 -
10593 890.1 -7.6 437 10598 roll -0.72 - - 3092 - 2.20 0.056 868 -468.2 -126.5 - - 2972 - - - - - - - - - 14.79 -
10635 893.0 -7.7 438 10641 done -0.72 - - 3092 - 2.20 0.041 1904 470.9 -126.5 - - 2971 - - - - - - - - - 14.83 -
10961 917.9 -7.4 449 10967 roll -0.73 - - 3092 - 2.47 0.065 2963 428.7 -126.5 - - 2970 - - - - - - - - - 14.75 -
11026 922.9 -7.5 451 11031 done -0.75 - - 3092 - 2.38 0.037 1906 -444.1 -126.5 - - 2970 - - - - - - - - - 14.85 -
11361 948.6 -7.9 462 11367 roll -0.77 - - 3089 - 2.22 0.056 868 -467.6 -126.5 - - 2969 - - - - - - - - - 14.77 -
11428 953.8 -7.9 464 11434 done -0.79 - - 3092 - 2.20 0.042 1903 470.5 -126.5 - - 2969 - - - - - - - - - 14.81 -
11760 978.2 -7.1 475 11766 roll -0.80 0.12 0.132 3038 -450.0 2.47 0.063 2960 427.9 -126.5 - - 2968 - - - - - - - - 14.79 14.74 -
11898 989.5 -8.9 479 11904 done -0.79 - - 3039 - 2.35 0.037 1915 -444.7 -126.5 - - 2967 - - - - - - - - - 14.83 -
11915 end dive: TARGET_DEPTH_EXCEEDED
11915 begin apogee
11922 992.5 -9.1 480 12043 roll -0.23 0.70 0.202 3233 277.1 - - 1761 - - 111.85 2.081 2478 -4.4 0.385 - - - - - - 14.54 - 13.44
12044 end apogee: CONTROL_FINISHED_OK
12045 begin climb
12047 996.5 - 484 12178 roll 0.81 1.12 0.115 3577 307.1 2.28 0.058 749 -443.9 126.5 116.75 2.066 1959 -4.4 0.395 - - - - - - 14.26 14.28 13.36
12195 995.9 0.7 489 12362 done 0.82 - - 3577 - 2.28 0.038 1780 452.2 296.3 156.88 2.017 1269 -4.4 0.401 - - - - - - - 14.28 13.31
12678 920.7 16.7 505 12683 roll 0.75 - - 3577 - 2.47 0.060 2837 427.9 296.3 - - 1261 - - - - - - - - - 14.61 -
12847 893.3 17.6 510 12853 done 0.66 0.20 0.259 3532 -225.0 2.38 0.044 1802 -434.9 296.3 - - 1258 - - - - - - - - 14.49 14.70 -
13169 849.2 12.6 521 13174 roll 0.61 - - 3533 - 2.38 0.067 726 -452.1 296.3 - - 1257 - - - - - - - - - 14.75 -
13233 841.0 12.6 523 13239 done 0.57 0.15 0.220 3504 -193.3 2.28 0.041 1793 468.0 296.3 - - 1257 - - - - - - - - 14.60 14.78 -
13567 808.4 9.3 534 13572 roll 0.55 - - 3497 - 2.42 0.062 2829 428.1 296.3 - - 1256 - - - - - - - - - 14.76 -
13634 802.1 9.5 536 13641 done 0.53 - - 3497 - 2.38 0.043 1782 -439.9 296.3 - - 1255 - - - - - - - - - 14.78 -
13966 772.3 8.7 547 13967 done 0.51 - - 3498 - - - 1787 - 296.3 - - 1255 - - - - - - - - - - -
14264 744.8 9.4 557 14265 done 0.51 - - 3497 - - - 1787 - 296.3 - - 1255 - - - - - - - - - - -
14564 714.1 10.4 567 14569 roll 0.51 - - 3497 - 2.33 0.067 730 -453.6 296.3 - - 1255 - - - - - - - - - 14.76 -
14591 714.1 10.4 567 14599 done 0.51 - - 3497 - 2.30 0.041 1806 467.8 296.3 - - 1255 - - - - - - - - - 14.81 -
14899 676.5 11.9 578 14904 roll 0.51 - - 3497 - 2.40 0.062 2830 426.7 296.3 - - 1254 - - - - - - - - - 14.77 -
14978 668.1 12.6 580 14983 done 0.51 - - 3497 - 2.33 0.043 1814 -436.1 296.3 - - 1254 - - - - - - - - - 14.81 -
15297 625.1 12.9 591 15302 roll 0.51 - - 3498 - 2.40 0.066 726 -453.3 296.3 - - 1254 - - - - - - - - - 14.74 -
15376 617.0 12.7 593 15381 done 0.51 - - 3497 - 2.28 0.041 1797 469.7 296.3 - - 1254 - - - - - - - - - 14.79 -
15696 578.2 11.1 604 15701 roll 0.51 - - 3498 - 2.42 0.063 2829 426.4 296.3 - - 1254 - - - - - - - - - 14.73 -
15783 571.0 11.0 606 15791 done 0.51 - - 3497 - 2.35 0.042 1802 -437.0 296.3 - - 1254 - - - - - - - - - 14.79 -
16091 544.3 7.0 617 16120 roll 0.53 - - 3497 - 2.35 0.065 728 -457.0 317.1 20.70 1.486 1184 -3.4 0.228 - - - - - - - 14.76 14.08
16163 540.2 6.6 619 16202 done 0.56 - - 3498 - 2.30 0.041 1807 469.1 347.1 32.85 1.453 1062 -3.7 0.255 - - - - - - - 14.71 13.97
16516 519.0 5.9 631 16576 roll 0.61 - - 3497 - 2.50 0.062 2827 408.0 394.2 48.35 1.412 868 -4.0 0.272 - - - - - - - 14.47 13.90
16640 510.3 7.1 635 16669 done 0.63 - - 3497 - 2.40 0.041 1808 -424.6 413.4 20.05 1.411 790 -3.9 0.259 - - - - - - - 14.54 13.87
16970 483.6 8.6 646 16976 roll 0.66 - - 3496 - 2.40 0.065 725 -451.2 413.4 - - 785 - - - - - - - - - 14.64 -
17067 474.6 9.4 649 17074 done 0.69 0.12 0.131 3540 366.7 2.30 0.040 1793 464.3 413.4 - - 785 - - - - - - - - 14.67 14.70 -
17397 429.6 14.4 660 17403 roll 0.69 - - 3540 - 2.45 0.061 2832 424.1 413.4 - - 784 - - - - - - - - - 14.73 -
17419 429.6 14.4 660 17425 done 0.69 - - 3541 - 2.38 0.043 1794 -436.1 413.4 - - 785 - - - - - - - - - 14.76 -
17735 378.1 15.6 671 17740 roll 0.69 - - 3541 - 2.35 0.064 724 -455.3 413.4 - - 783 - - - - - - - - - 14.73 -
17791 372.5 15.7 672 17798 done 0.69 - - 3540 - 2.28 0.039 1799 471.5 413.4 - - 784 - - - - - - - - - 14.78 -
18098 321.7 15.0 683 18104 roll 0.69 - - 3540 - 2.42 0.063 2825 424.0 413.4 - - 784 - - - - - - - - - 14.76 -
18121 321.7 15.0 683 18127 done 0.69 - - 3540 - 2.38 0.042 1784 -437.4 413.4 - - 784 - - - - - - - - - 14.81 -
18436 273.3 14.1 694 18442 roll 0.69 - - 3541 - 2.30 0.065 728 -459.1 413.4 - - 784 - - - - - - - - - 14.76 -
18524 264.5 13.6 696 18531 done 0.69 - - 3541 - 2.22 0.038 1782 474.8 413.4 - - 784 - - - - - - - - - 14.81 -
18829 222.2 11.9 714 18836 roll 0.69 - - 3540 - 2.47 0.060 2833 425.5 413.4 - - 784 - - - - - - - - - 14.73 -
18903 214.3 12.4 718 18910 done 0.69 - - 3541 - 2.40 0.041 1782 -437.9 413.4 - - 784 - - - - - - - - - 14.77 -
19209 183.5 9.0 739 19215 roll 0.69 - - 3541 - 2.30 0.063 728 -458.3 413.4 - - 784 - - - - - - - - - 14.71 -
19307 175.4 8.5 745 19312 done 0.69 - - 3535 - 2.22 0.037 1783 475.2 413.4 - - 788 - - - - - - - - - 14.71 -
19620 149.9 8.0 766 19626 roll 0.69 - - 3540 - 2.42 0.058 2826 431.0 413.4 - - 784 - - - - - - - - - 14.68 -
19663 146.9 8.5 768 19671 done 0.69 - - 3540 - 2.40 0.039 1772 -439.2 413.4 - - 785 - - - - - - - - - 14.75 -
19970 116.8 10.4 789 19975 roll 0.69 - - 3540 - 2.30 0.062 725 -455.2 413.4 - - 784 - - - - - - - - - 14.71 -
20068 106.3 11.3 795 20075 done 0.71 - - 3541 - 2.20 0.035 1771 475.5 413.4 - - 779 - - - - - - - - - 14.71 -
20383 68.4 12.1 816 20388 roll 0.72 - - 3541 - 2.45 0.056 2827 431.0 413.4 - - 784 - - - - - - - - - 14.71 -
20431 62.1 12.9 819 20437 done 0.72 - - 3542 - 2.40 0.037 1769 -440.8 413.4 - - 784 - - - - - - - - - 14.75 -
20750 25.1 11.2 840 20755 roll 0.74 - - 3540 - 2.28 0.060 723 -458.8 413.4 - - 784 - - - - - - - - - 14.66 -
20838 16.4 11.0 845 20845 done 0.77 - - 3540 - 2.17 0.033 1762 478.8 413.4 - - 784 - - - - - - - - - 14.73 -
20961 end climb: SURFACE_DEPTH_REACHED
20961 begin surface coast
20994 end surface coast: CONTROL_FINISHED_OK
20994 begin surface
SM 3.56 - - - - -9.84 9.82 0.047 140 14.3 0.30 0.070 1922 2973.3 415.78 - - 785 - - - - - - - -