SPURS Mar13 * SG160 * Dive index * Mission links * Dive 253 * Raw log
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• Previous call tries 1 • 95.63 of 350.00 AH used of 24V (72.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 3.54 m • Intended pitch -15.0 deg, speed -7.857 cm/s
• No surface pump (final VBD was 385.61, SM_CC=300)
• GPS1 time: 28 s
• GPS2 time: 13 s, HDOP was 2.1 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
24 - - - 42 VBD -0.81 - - 144 - - - 1922 - -126.5 -16.67 - 1047 - - - - - - - - - - -
46 3.3 - 1 152 roll -0.81 12.85 0.327 3050 226.1 2.45 0.078 2953 420.8 -126.5 -85.90 - 2993 -22.7 - - - - - - - 14.45 14.57 14.81
262 17.4 -12.6 15 267 done -0.75 - - 3050 - 2.38 0.032 1900 -442.4 -126.5 - - 2993 - - - - - - - - - 14.65 -
576 55.4 -11.3 36 581 roll -0.69 0.12 0.244 3083 275.0 2.22 0.047 864 -466.7 -126.5 - - 2993 - - - - - - - - 14.37 14.65 -
660 63.9 -10.5 41 665 done -0.66 - - 3080 - 2.17 0.036 1895 475.1 -126.5 - - 2994 - - - - - - - - - 14.70 -
974 92.8 -9.2 62 979 roll -0.63 - - 3083 - 2.47 0.057 2958 430.4 -126.5 - - 2992 - - - - - - - - - 14.59 -
1041 98.7 -9.3 66 1048 done -0.61 0.12 0.231 3112 241.7 2.38 0.031 1893 -447.5 -126.5 - - 2993 - - - - - - - - 14.48 14.73 -
1356 122.8 -7.3 87 1362 roll -0.61 - - 3117 - 2.20 0.049 864 -467.7 -126.5 - - 2993 - - - - - - - - - 14.66 -
1425 127.8 -7.8 91 1430 done -0.61 - - 3113 - 2.15 0.034 1892 478.1 -126.5 - - 2993 - - - - - - - - - 14.73 -
1739 149.9 -6.9 112 1741 done -0.61 - - 3113 - - - 1890 - -126.5 - - 2993 - - - - - - - - - - -
2039 171.2 -7.0 132 2044 roll -0.61 - - 3113 - 2.47 0.057 2961 433.6 -126.5 - - 2993 - - - - - - - - - 14.69 -
2113 175.7 -7.2 136 2120 done -0.63 - - 3113 - 2.40 0.028 1880 -450.4 -126.5 - - 2993 - - - - - - - - - 14.70 -
2418 196.4 -6.4 157 2423 roll -0.63 - - 3113 - 2.17 0.049 860 -470.0 -126.5 - - 2993 - - - - - - - - - 14.71 -
2497 201.7 -6.7 162 2503 done -0.63 - - 3113 - 2.12 0.034 1872 477.4 -126.5 - - 2993 - - - - - - - - - 14.76 -
2817 221.4 -6.4 183 2823 roll -0.64 - - 3113 - 2.53 0.056 2968 433.2 -126.5 - - 2993 - - - - - - - - - 14.69 -
2882 226.0 -6.8 187 2888 done -0.67 - - 3113 - 2.42 0.029 1867 -455.0 -126.5 - - 2992 - - - - - - - - - 14.78 -
3202 248.7 -7.5 208 3207 roll -0.68 - - 3113 - 2.12 0.050 868 -471.2 -126.5 - - 2992 - - - - - - - - - 14.73 -
3266 253.8 -7.9 211 3271 done -0.70 - - 3113 - 2.12 0.034 1885 479.7 -126.5 - - 2992 - - - - - - - - - 14.79 -
3602 280.5 -8.1 222 3607 roll -0.72 - - 3113 - 2.47 0.056 2961 435.6 -126.5 - - 2992 - - - - - - - - - 14.73 -
3655 283.5 -8.2 223 3661 done -0.74 0.12 0.120 3057 -466.7 2.40 0.029 1873 -453.3 -126.5 - - 2991 - - - - - - - - 14.77 14.83 -
3972 316.2 -9.6 234 3978 roll -0.71 - - 3057 - 2.12 0.049 871 -472.6 -126.5 - - 2990 - - - - - - - - - 14.76 -
4077 325.7 -9.8 237 4082 done -0.68 0.15 0.220 3092 233.3 2.10 0.035 1877 479.0 -126.5 - - 2989 - - - - - - - - 14.56 14.81 -
4404 351.6 -7.4 248 4409 roll -0.68 - - 3093 - 2.47 0.055 2955 436.4 -126.5 - - 2989 - - - - - - - - - 14.75 -
4499 358.9 -7.6 251 4504 done -0.68 - - 3092 - 2.38 0.031 1882 -450.8 -126.5 - - 2988 - - - - - - - - - 14.83 -
4834 383.2 -7.3 262 4840 roll -0.68 - - 3092 - 2.15 0.050 870 -470.7 -126.5 - - 2987 - - - - - - - - - 14.77 -
4908 388.4 -7.6 264 4913 done -0.68 - - 3093 - 2.10 0.036 1876 479.0 -126.5 - - 2988 - - - - - - - - - 14.82 -
5234 413.7 -7.6 275 5239 roll -0.68 - - 3092 - 2.50 0.057 2961 434.0 -126.5 - - 2987 - - - - - - - - - 14.75 -
5333 421.2 -7.6 278 5339 done -0.68 - - 3093 - 2.38 0.031 1886 -451.7 -126.5 - - 2986 - - - - - - - - - 14.83 -
5664 447.0 -7.8 289 5669 roll -0.68 - - 3092 - 2.17 0.050 865 -470.5 -126.5 - - 2984 - - - - - - - - - 14.78 -
5758 455.0 -8.3 292 5763 done -0.68 - - 3092 - 2.15 0.037 1884 474.0 -126.5 - - 2985 - - - - - - - - - 14.81 -
6093 482.2 -8.2 303 6099 roll -0.68 - - 3092 - 2.47 0.057 2956 434.0 -126.5 - - 2984 - - - - - - - - - 14.75 -
6146 485.2 -8.2 304 6151 done -0.68 - - 3092 - 2.38 0.031 1884 -450.4 -126.5 - - 2983 - - - - - - - - - 14.83 -
6459 511.8 -7.9 315 6465 roll -0.68 - - 3100 - 2.17 0.050 865 -469.6 -126.5 - - 2982 - - - - - - - - - 14.76 -
6573 519.8 -8.5 318 6578 done -0.68 - - 3092 - 2.12 0.037 1877 477.4 -126.5 - - 2983 - - - - - - - - - 14.81 -
6889 545.2 -7.3 329 6894 roll -0.68 - - 3092 - 2.53 0.058 2962 428.9 -126.5 - - 2981 - - - - - - - - - 14.73 -
6999 552.0 -7.1 332 7004 done -0.68 - - 3093 - 2.38 0.032 1894 -448.7 -126.5 - - 2981 - - - - - - - - - 14.81 -
7319 575.4 -7.0 343 7324 roll -0.68 - - 3092 - 2.20 0.051 866 -467.3 -126.5 - - 2981 - - - - - - - - - 14.76 -
7414 582.9 -7.6 346 7419 done -0.68 - - 3092 - 2.20 0.037 1904 471.8 -126.5 - - 2980 - - - - - - - - - 14.79 -
7749 611.5 -9.2 357 7755 roll -0.68 - - 3092 - 2.45 0.059 2957 429.8 -126.5 - - 2979 - - - - - - - - - 14.72 -
7827 618.1 -9.7 359 7833 done -0.68 - - 3092 - 2.35 0.033 1906 -447.2 -126.5 - - 2978 - - - - - - - - - 14.81 -
8148 652.0 -10.1 370 8153 roll -0.68 - - 3092 - 2.22 0.051 868 -467.6 -126.5 - - 2977 - - - - - - - - - 14.73 -
8215 658.6 -10.0 372 8220 done -0.68 - - 3092 - 2.17 0.037 1899 475.1 -126.5 - - 2977 - - - - - - - - - 14.78 -
8546 686.7 -7.7 383 8551 roll -0.68 - - 3092 - 2.47 0.060 2960 429.6 -126.5 - - 2975 - - - - - - - - - 14.69 -
8599 689.4 -7.5 384 8604 done -0.69 - - 3092 - 2.38 0.034 1898 -446.2 -126.5 - - 2976 - - - - - - - - - 14.81 -
8916 710.0 -5.8 395 8921 roll -0.71 - - 3092 - 2.22 0.053 866 -464.9 -126.5 - - 2975 - - - - - - - - - 14.66 -
8989 714.0 -5.9 397 8994 done -0.71 - - 3092 - 2.20 0.039 1903 471.4 -126.5 - - 2975 - - - - - - - - - 14.78 -
9315 733.0 -5.9 408 9320 roll -0.73 - - 3092 - 2.47 0.060 2963 429.1 -126.5 - - 2973 - - - - - - - - - 14.69 -
9363 735.4 -6.1 409 9369 done -0.74 - - 3093 - 2.38 0.034 1900 -446.6 -126.5 - - 2973 - - - - - - - - - 14.80 -
9685 761.0 -8.4 420 9691 roll -0.76 - - 3092 - 2.22 0.053 870 -464.0 -126.5 - - 2972 - - - - - - - - - 14.71 -
9743 764.4 -8.7 421 9750 done -0.78 - - 3093 - 2.17 0.039 1897 473.3 -126.5 - - 2972 - - - - - - - - - 14.76 -
10051 795.9 -9.7 432 10057 roll -0.80 - - 3092 - 2.50 0.061 2957 424.0 -126.5 - - 2971 - - - - - - - - - 14.69 -
10139 802.3 -9.7 434 10147 done -0.82 0.12 0.122 3044 -400.0 2.38 0.035 1900 -444.1 -126.5 - - 2974 - - - - - - - - 14.72 14.78 -
10448 835.2 -9.4 445 10449 done -0.79 - - 3044 - - - 1902 - -126.5 - - 2970 - - - - - - - - - - -
10746 858.5 -7.0 455 10752 roll -0.77 - - 3044 - 2.25 0.054 865 -460.9 -126.5 - - 2968 - - - - - - - - - 14.69 -
10786 860.8 -6.8 456 10792 done -0.75 - - 3043 - 2.22 0.041 1905 468.5 -126.5 - - 2965 - - - - - - - - - 14.75 -
11117 880.6 -5.6 467 11123 roll -0.73 0.12 0.239 3077 283.3 2.50 0.060 2964 423.6 -126.5 - - 2968 - - - - - - - - 14.47 14.66 -
11192 883.6 -5.2 469 11197 done -0.73 - - 3077 - 2.38 0.036 1913 -441.6 -126.5 - - 2968 - - - - - - - - - 14.77 -
11517 899.0 -4.9 480 11522 roll -0.73 - - 3077 - 2.30 0.056 857 -459.1 -126.5 - - 2966 - - - - - - - - - 14.68 -
11575 901.1 -5.1 481 11582 done -0.73 - - 3078 - 2.25 0.041 1906 466.2 -126.5 - - 2966 - - - - - - - - - 14.73 -
11883 919.7 -5.7 492 11888 roll -0.73 - - 3077 - 2.50 0.063 2963 422.8 -126.5 - - 2965 - - - - - - - - - 14.65 -
11981 925.6 -6.1 495 11988 done -0.73 - - 3077 - 2.40 0.037 1915 -436.7 -126.5 - - 2965 - - - - - - - - - 14.76 -
12312 949.8 -7.9 506 12318 roll -0.73 - - 3077 - 2.30 0.056 861 -458.3 -126.5 - - 2964 - - - - - - - - - 14.65 -
12356 952.8 -8.2 507 12361 done -0.73 - - 3077 - 2.28 0.043 1917 463.2 -126.5 - - 2964 - - - - - - - - - 14.72 -
12681 983.9 -9.7 518 12686 roll -0.73 - - 3078 - 2.47 0.065 2960 422.3 -126.5 - - 2963 - - - - - - - - - 14.64 -
12742 end dive: TARGET_DEPTH_EXCEEDED
12742 begin apogee
12752 990.4 -9.8 520 12869 roll -0.23 0.55 0.176 3236 287.3 - - 1779 - - 111.70 2.088 2477 -4.4 0.381 - - - - - - 14.46 - 13.38
12873 end apogee: CONTROL_FINISHED_OK
12873 begin climb
12875 998.0 - 524 13006 roll 0.81 1.10 0.102 3577 310.0 2.60 0.060 2831 404.6 126.5 117.03 2.081 1960 -4.4 0.391 - - - - - - 14.22 14.25 13.27
13235 986.5 8.6 536 13242 done 0.67 0.20 0.281 3535 -210.0 2.47 0.041 1772 -428.7 126.5 - - 1951 - - - - - - - - 14.24 14.54 -
13565 960.8 8.0 547 13571 roll 0.59 0.12 0.260 3506 -241.7 2.33 0.061 724 -449.8 126.5 - - 1948 - - - - - - - - 14.39 14.61 -
13800 945.3 7.0 554 13829 done 0.54 - - 3506 - 2.28 0.040 1786 465.8 146.6 19.62 1.911 1878 -3.6 0.326 - - - - - - - 14.68 13.85
14143 923.5 5.3 566 14211 roll 0.55 - - 3506 - 2.50 0.059 2826 416.0 207.1 61.05 1.886 1632 -4.0 0.364 - - - - - - - 14.33 13.61
14239 918.1 5.6 569 14300 done 0.53 - - 3508 - 2.45 0.042 1786 -424.5 261.3 54.85 1.872 1412 -4.0 0.363 - - - - - - - 14.40 13.49
14629 889.8 7.2 582 14651 roll 0.52 - - 3508 - 2.38 0.068 724 -446.2 276.6 15.70 1.832 1348 -4.1 0.365 - - - - - - - 14.54 13.81
14679 887.5 7.2 583 14704 done 0.50 0.12 0.209 3478 -250.0 2.30 0.041 1790 463.5 291.7 18.00 1.811 1287 -3.4 0.306 - - - - - - 14.45 14.58 13.76
15023 864.3 6.7 595 15062 roll 0.53 - - 3478 - 2.47 0.060 2826 419.4 319.5 32.10 1.745 1174 -3.5 0.322 - - - - - - - 14.47 13.80
15175 851.3 8.7 600 15181 done 0.53 - - 3478 - 2.40 0.043 1805 -425.4 319.5 - - 1169 - - - - - - - - - 14.56 -
15510 820.7 10.2 611 15515 roll 0.53 - - 3478 - 2.40 0.067 728 -448.8 319.5 - - 1167 - - - - - - - - - 14.64 -
15573 813.4 10.9 613 15579 done 0.53 - - 3478 - 2.33 0.041 1806 462.7 319.5 - - 1166 - - - - - - - - - 14.70 -
15909 774.6 11.8 624 15914 roll 0.53 - - 3478 - 2.42 0.062 2829 422.7 319.5 - - 1166 - - - - - - - - - 14.69 -
15987 766.3 12.4 626 15993 done 0.53 - - 3478 - 2.38 0.044 1804 -430.7 319.5 - - 1165 - - - - - - - - - 14.73 -
16309 726.9 11.5 637 16314 roll 0.53 - - 3478 - 2.40 0.067 728 -448.3 319.5 - - 1164 - - - - - - - - - 14.69 -
16386 719.7 11.2 639 16391 done 0.53 - - 3478 - 2.30 0.041 1803 467.4 319.5 - - 1164 - - - - - - - - - 14.73 -
16707 687.7 8.9 650 16712 roll 0.53 - - 3478 - 2.42 0.061 2826 422.7 319.5 - - 1164 - - - - - - - - - 14.69 -
16764 684.4 8.9 651 16770 done 0.53 - - 3478 - 2.38 0.042 1806 -428.6 319.5 - - 1164 - - - - - - - - - 14.73 -
17072 659.2 7.1 662 17100 roll 0.54 - - 3478 - 2.45 0.068 724 -441.6 336.6 18.33 1.616 1103 -3.3 0.250 - - - - - - - 14.70 14.03
17150 654.9 6.8 664 17186 done 0.59 - - 3478 - 2.33 0.041 1806 464.4 360.7 28.52 1.547 1006 -3.4 0.266 - - - - - - - 14.67 13.90
17496 629.2 7.3 676 17518 roll 0.62 0.12 0.140 3527 408.3 2.42 0.062 2826 421.5 374.1 15.35 1.575 950 -3.6 0.269 - - - - - - 14.64 14.62 13.94
17577 622.7 8.8 678 17582 done 0.62 - - 3532 - 2.38 0.043 1808 -427.7 374.1 - - 948 - - - - - - - - - 14.61 -
17893 582.8 12.7 689 17898 roll 0.62 - - 3532 - 2.40 0.066 728 -450.0 374.1 - - 947 - - - - - - - - - 14.62 -
17975 574.1 13.0 691 17980 done 0.62 - - 3532 - 2.30 0.040 1802 467.0 374.1 - - 947 - - - - - - - - - 14.69 -
18290 530.5 13.0 702 18296 roll 0.62 - - 3532 - 2.42 0.060 2831 425.2 374.1 - - 947 - - - - - - - - - 14.67 -
18348 525.5 13.2 703 18354 done 0.62 - - 3533 - 2.38 0.043 1806 -430.7 374.1 - - 946 - - - - - - - - - 14.71 -
18655 481.6 13.0 714 18660 roll 0.62 - - 3533 - 2.40 0.066 723 -451.2 374.1 - - 947 - - - - - - - - - 14.65 -
18732 473.6 12.6 716 18738 done 0.62 - - 3533 - 2.33 0.039 1810 466.5 374.1 - - 946 - - - - - - - - - 14.69 -
19053 434.5 11.1 727 19059 roll 0.62 - - 3533 - 2.40 0.060 2827 423.8 374.1 - - 946 - - - - - - - - - 14.68 -
19106 430.3 11.1 728 19111 done 0.62 - - 3534 - 2.35 0.042 1810 -432.8 374.1 - - 946 - - - - - - - - - 14.73 -
19421 398.6 8.5 739 19426 roll 0.62 - - 3534 - 2.40 0.064 727 -451.2 374.1 - - 946 - - - - - - - - - 14.66 -
19504 393.5 8.1 741 19509 done 0.62 - - 3534 - 2.28 0.038 1798 469.7 374.1 - - 946 - - - - - - - - - 14.75 -
19819 368.7 7.6 752 19834 roll 0.63 - - 3534 - 2.45 0.060 2826 419.6 381.2 7.18 1.232 922 -3.3 0.184 - - - - - - - 14.79 14.15
19887 363.0 8.3 754 19893 done 0.63 - - 3534 - 2.35 0.041 1802 -435.7 381.2 - - 921 - - - - - - - - - 14.73 -
20217 330.7 10.5 765 20223 roll 0.63 - - 3534 - 2.38 0.064 726 -452.1 381.2 - - 921 - - - - - - - - - 14.66 -
20301 323.4 11.1 767 20306 done 0.63 - - 3534 - 2.30 0.038 1810 471.3 381.2 - - 921 - - - - - - - - - 14.73 -
20615 281.6 13.3 778 20621 roll 0.63 - - 3534 - 2.38 0.058 2822 425.2 381.2 - - 921 - - - - - - - - - 14.68 -
20695 271.9 14.1 780 20700 done 0.63 - - 3534 - 2.33 0.041 1810 -434.3 381.2 - - 921 - - - - - - - - - 14.71 -
21013 225.5 13.4 796 21019 roll 0.63 - - 3535 - 2.40 0.062 726 -451.7 381.2 - - 921 - - - - - - - - - 14.62 -
21118 213.4 12.8 802 21125 done 0.63 - - 3534 - 2.28 0.036 1798 470.2 381.2 - - 921 - - - - - - - - - 14.69 -
21423 176.8 10.5 823 21428 roll 0.63 - - 3534 - 2.42 0.057 2827 425.2 381.2 - - 921 - - - - - - - - - 14.63 -
21476 171.3 11.0 826 21481 done 0.63 - - 3534 - 2.35 0.039 1802 -436.2 381.2 - - 921 - - - - - - - - - 14.66 -
21791 143.5 7.7 847 21800 roll 0.64 - - 3537 - 2.35 0.060 724 -458.7 386.0 4.55 0.903 906 -3.3 0.097 - - - - - - - 14.76 14.02
21903 134.8 7.9 854 21909 done 0.66 - - 3534 - 2.25 0.035 1785 471.6 386.1 - - 906 - - - - - - - - - 14.69 -
22217 109.8 8.5 875 22223 roll 0.66 - - 3534 - 2.45 0.056 2829 426.1 386.1 - - 906 - - - - - - - - - 14.58 -
22282 103.3 10.2 879 22287 done 0.66 - - 3534 - 2.38 0.037 1791 -436.1 386.1 - - 906 - - - - - - - - - 14.63 -
22601 69.8 10.8 900 22607 roll 0.68 - - 3534 - 2.33 0.060 733 -454.1 386.1 - - 907 - - - - - - - - - 14.61 -
22666 63.0 10.6 904 22672 done 0.70 - - 3534 - 2.25 0.034 1790 469.8 386.1 - - 907 - - - - - - - - - 14.64 -
22986 31.9 9.0 925 22991 roll 0.73 - - 3534 - 2.42 0.054 2825 427.7 386.1 - - 906 - - - - - - - - - 14.51 -
23029 28.5 9.4 927 23035 done 0.75 - - 3534 - 2.38 0.037 1790 -434.9 386.1 - - 907 - - - - - - - - - 14.69 -
23302 end climb: SURFACE_DEPTH_REACHED
23302 begin surface coast
23333 end surface coast: CONTROL_FINISHED_OK
23333 begin surface
SM 3.58 - - - - -9.84 9.90 0.050 145 14.6 0.25 0.073 1919 3556.0 385.61 - - 907 - - - - - - - -