SPURS Mar13 * SG160 * Dive index * Mission links * Dive 293 * Raw log
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• Previous call tries 1 • 112.20 of 350.00 AH used of 24V (67.94% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.2 deg, depth 3.69 m • Intended pitch -15.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 398.61, SM_CC=300)
• GPS1 time: 36 s
• GPS2 time: 13 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
25 - - - 42 VBD -0.88 - - 136 - - - 1937 - -107.1 -15.65 - 1271 - - - - - - - - - - -
46 3.6 - 1 142 roll -0.88 13.30 0.347 3007 215.9 2.60 0.083 2991 405.4 -107.1 -73.05 - 2916 -22.5 - - - - - - - 14.28 14.42 14.76
308 24.3 -13.1 18 314 done -0.79 0.12 0.263 3031 200.0 2.40 0.031 1938 -438.8 -107.1 - - 2917 - - - - - - - - 14.28 14.59 -
623 62.0 -11.3 39 624 done -0.73 - - 3032 - - - 1940 - -107.1 - - 2917 - - - - - - - - - - -
924 91.8 -8.7 59 930 roll -0.68 0.12 0.242 3067 291.7 2.22 0.044 900 -468.5 -107.1 - - 2917 - - - - - - - - 14.32 14.60 -
998 97.0 -7.8 63 1005 done -0.64 - - 3064 - 2.25 0.035 1958 470.2 -107.1 - - 2917 - - - - - - - - - 14.63 -
1305 117.6 -6.1 84 1310 roll -0.61 0.12 0.247 3100 300.0 2.30 0.043 898 -460.9 -107.1 - - 2917 - - - - - - - - 14.39 14.62 -
1333 118.8 -6.2 85 1341 done -0.59 - - 3100 - 2.25 0.034 1960 472.0 -107.1 - - 2917 - - - - - - - - - 14.58 -
1640 134.7 -5.2 106 1645 roll -0.59 - - 3100 - 2.45 0.057 2996 422.9 -107.1 - - 2917 - - - - - - - - - 14.59 -
1673 136.3 -5.1 108 1678 done -0.59 - - 3099 - 2.38 0.029 1946 -441.2 -107.1 - - 2917 - - - - - - - - - 14.62 -
1992 153.6 -5.9 129 1997 roll -0.59 - - 3100 - 2.22 0.046 905 -468.9 -107.1 - - 2917 - - - - - - - - - 14.63 -
2150 164.9 -8.0 139 2156 done -0.59 - - 3100 - 2.17 0.034 1939 476.5 -107.1 - - 2917 - - - - - - - - - 14.67 -
2465 193.7 -10.1 160 2470 roll -0.59 - - 3100 - 2.25 0.045 898 -462.7 -107.1 - - 2917 - - - - - - - - - 14.64 -
2513 199.1 -10.9 163 2519 done -0.59 - - 3100 - 2.20 0.034 1936 471.8 -107.1 - - 2918 - - - - - - - - - 14.60 -
2833 231.7 -9.8 184 2838 roll -0.61 - - 3100 - 2.50 0.058 2997 424.4 -107.1 - - 2917 - - - - - - - - - 14.52 -
2870 234.9 -9.5 186 2876 done -0.62 - - 3100 - 2.40 0.029 1920 -448.8 -107.1 - - 2917 - - - - - - - - - 14.73 -
3199 262.6 -7.6 203 3205 roll -0.64 - - 3100 - 2.15 0.047 910 -469.8 -107.1 - - 2917 - - - - - - - - - 14.69 -
3343 271.4 -7.0 207 3349 done -0.64 - - 3100 - 2.15 0.034 1934 476.3 -107.1 - - 2916 - - - - - - - - - 14.73 -
3661 291.2 -5.9 218 3667 roll -0.66 - - 3100 - 2.20 0.044 909 -465.9 -107.1 - - 2916 - - - - - - - - - 14.70 -
3695 293.7 -6.1 219 3701 done -0.67 - - 3100 - 2.12 0.034 1919 476.4 -107.1 - - 2916 - - - - - - - - - 14.75 -
4032 315.3 -6.6 230 4034 done -0.70 - - 3100 - - - 1918 - -107.1 - - 2915 - - - - - - - - - - -
4329 337.0 -7.6 240 4331 done -0.71 0.12 0.119 3045 -458.3 - - 1919 - -107.1 - - 2915 - - - - - - - - 14.81 - -
4630 366.1 -10.0 250 4635 roll -0.69 - - 3045 - 2.53 0.058 2997 426.1 -107.1 - - 2915 - - - - - - - - - 14.67 -
4658 366.1 -10.0 250 4666 done -0.66 0.15 0.222 3080 233.3 2.42 0.031 1917 -446.3 -107.1 - - 2914 - - - - - - - - 14.45 14.78 -
4966 396.1 -8.7 261 4972 roll -0.66 - - 3080 - 2.15 0.047 909 -468.8 -107.1 - - 2914 - - - - - - - - - 14.66 -
5060 404.7 -8.9 264 5066 done -0.66 - - 3076 - 2.10 0.035 1906 474.8 -107.1 - - 2913 - - - - - - - - - 14.75 -
5396 431.1 -7.8 275 5402 roll -0.66 - - 3081 - 2.55 0.057 2994 426.7 -107.1 - - 2912 - - - - - - - - - 14.68 -
5421 431.1 -7.8 275 5427 done -0.66 - - 3080 - 2.42 0.031 1906 -449.6 -107.1 - - 2913 - - - - - - - - - 14.80 -
5735 458.8 -8.3 286 5741 roll -0.66 - - 3080 - 2.12 0.047 906 -471.7 -107.1 - - 2911 - - - - - - - - - 14.70 -
5874 469.9 -9.0 290 5879 done -0.66 - - 3080 - 2.08 0.036 1888 472.1 -107.1 - - 2910 - - - - - - - - - 14.73 -
6195 499.2 -8.8 301 6201 roll -0.66 - - 3080 - 2.60 0.058 2995 425.8 -107.1 - - 2910 - - - - - - - - - 14.65 -
6275 505.1 -8.9 303 6280 done -0.66 - - 3080 - 2.47 0.031 1893 -446.2 -107.1 - - 2910 - - - - - - - - - 14.76 -
6593 533.2 -8.2 314 6599 roll -0.66 - - 3080 - 2.10 0.048 907 -469.5 -107.1 - - 2909 - - - - - - - - - 14.71 -
6628 536.2 -8.4 315 6633 done -0.66 - - 3080 - 2.08 0.037 1893 474.0 -107.1 - - 2908 - - - - - - - - - 14.74 -
6964 561.1 -7.0 326 6965 done -0.66 - - 3080 - - - 1893 - -107.1 - - 2904 - - - - - - - - - - -
7262 579.7 -5.8 336 7269 roll -0.66 - - 3080 - 2.60 0.060 2993 423.1 -107.1 - - 2906 - - - - - - - - - 14.64 -
7312 581.8 -5.8 337 7317 done -0.66 - - 3080 - 2.50 0.032 1884 -443.6 -107.1 - - 2906 - - - - - - - - - 14.75 -
7633 600.6 -5.7 348 7638 roll -0.66 - - 3080 - 2.10 0.050 903 -467.1 -107.1 - - 2906 - - - - - - - - - 14.66 -
7721 604.8 -6.1 350 7728 done -0.66 - - 3080 - 2.08 0.037 1880 469.7 -107.1 - - 2906 - - - - - - - - - 14.72 -
8027 627.4 -7.3 361 8033 roll -0.66 - - 3080 - 2.65 0.060 2998 421.9 -107.1 - - 2904 - - - - - - - - - 14.63 -
8121 634.9 -7.9 364 8127 done -0.68 - - 3080 - 2.50 0.033 1896 -440.8 -107.1 - - 2904 - - - - - - - - - 14.73 -
8458 662.8 -8.5 375 8464 roll -0.68 - - 3080 - 2.12 0.050 906 -467.0 -107.1 - - 2903 - - - - - - - - - 14.66 -
8527 668.6 -8.6 377 8532 done -0.68 - - 3080 - 2.10 0.038 1896 471.4 -107.1 - - 2903 - - - - - - - - - 14.71 -
8858 695.5 -7.9 388 8864 roll -0.70 - - 3080 - 2.62 0.063 2997 420.2 -107.1 - - 2902 - - - - - - - - - 14.59 -
8932 700.8 -7.9 390 8937 done -0.72 - - 3080 - 2.50 0.034 1897 -440.0 -107.1 - - 2902 - - - - - - - - - 14.73 -
9259 724.4 -6.8 401 9260 done -0.73 - - 3080 - - - 1899 - -107.1 - - 2901 - - - - - - - - - - -
9556 742.8 -5.8 411 9561 roll -0.75 - - 3080 - 2.15 0.051 910 -460.0 -107.1 - - 2900 - - - - - - - - - 14.56 -
9624 746.6 -5.7 413 9630 done -0.77 - - 3080 - 2.10 0.040 1896 469.5 -107.1 - - 2900 - - - - - - - - - 14.69 -
9956 762.4 -4.5 424 9962 roll -0.79 0.12 0.122 3029 -425.0 2.65 0.063 2994 414.3 -107.1 - - 2899 - - - - - - - - 14.71 14.57 -
10025 766.6 -5.3 426 10031 done -0.79 - - 3028 - 2.50 0.035 1903 -436.4 -107.1 - - 2898 - - - - - - - - - 14.69 -
10356 789.6 -7.4 437 10361 roll -0.76 - - 3029 - 2.17 0.054 898 -463.1 -107.1 - - 2897 - - - - - - - - - 14.60 -
10486 800.2 -8.4 441 10492 done -0.73 0.12 0.243 3056 225.0 2.12 0.041 1887 466.5 -107.1 - - 2896 - - - - - - - - 14.35 14.64 -
10817 829.0 -9.1 452 10818 done -0.73 - - 3056 - - - 1887 - -107.1 - - 2895 - - - - - - - - - - -
11116 858.4 -9.9 462 11123 roll -0.73 - - 3056 - 2.67 0.067 2996 415.4 -107.1 - - 2895 - - - - - - - - - 14.54 -
11166 862.0 -9.9 463 11172 done -0.73 - - 3056 - 2.55 0.037 1894 -432.2 -107.1 - - 2892 - - - - - - - - - 14.67 -
11488 894.0 -9.3 474 11493 roll -0.73 - - 3056 - 2.17 0.054 896 -459.9 -107.1 - - 2892 - - - - - - - - - 14.57 -
11575 900.0 -9.1 476 11582 done -0.73 - - 3057 - 2.12 0.041 1885 466.5 -107.1 - - 2893 - - - - - - - - - 14.64 -
11884 925.3 -7.2 487 11890 roll -0.73 - - 3056 - 2.67 0.067 2990 413.9 -107.1 - - 2892 - - - - - - - - - 14.52 -
11943 927.9 -7.1 488 11949 done -0.73 - - 3057 - 2.55 0.037 1886 -432.9 -107.1 - - 2892 - - - - - - - - - 14.66 -
12251 949.9 -6.5 499 12257 roll -0.73 - - 3056 - 2.15 0.055 900 -458.6 -107.1 - - 2891 - - - - - - - - - 14.57 -
12334 954.7 -6.8 501 12340 done -0.73 - - 3056 - 2.10 0.042 1876 464.8 -107.1 - - 2891 - - - - - - - - - 14.62 -
12652 977.4 -6.8 512 12658 roll -0.73 - - 3056 - 2.70 0.069 2990 412.6 -107.1 - - 2889 - - - - - - - - - 14.51 -
12747 984.1 -7.0 515 12752 done -0.73 - - 3056 - 2.58 0.038 1884 -428.7 -107.1 - - 2889 - - - - - - - - - 14.63 -
12838 end dive: TARGET_DEPTH_EXCEEDED
12838 begin apogee
12845 990.9 -7.2 518 12948 roll -0.25 0.55 0.187 3209 278.2 - - 1787 - - 96.60 2.082 2477 -4.3 0.377 - - - - - - 14.25 - 13.31
12952 end apogee: CONTROL_FINISHED_OK
12952 begin climb
12954 994.4 - 521 13063 done 0.88 1.17 0.106 3576 313.7 - - 1787 - 107.1 101.62 2.079 2038 -4.3 0.384 - - - - - - 14.19 - 13.21
13386 980.6 6.1 536 13418 roll 0.79 - - 3576 - 2.58 0.058 2844 409.7 134.6 26.33 1.973 1928 -4.2 0.386 - - - - - - - 14.45 13.60
13568 966.0 8.3 542 13575 done 0.66 0.28 0.274 3517 -210.7 2.42 0.039 1817 -424.4 134.6 - - 1922 - - - - - - - - 14.22 14.54 -
13905 944.5 6.3 553 13933 roll 0.62 - - 3521 - 2.55 0.061 2844 402.7 155.8 22.05 1.928 1840 -3.7 0.339 - - - - - - - 14.57 13.76
13970 939.5 7.1 555 13981 done 0.56 0.17 0.239 3480 -241.2 2.45 0.042 1807 -423.3 159.9 3.45 1.270 1827 -3.8 0.518 - - - - - - 14.33 14.54 13.38
14301 916.2 6.9 566 14314 done 0.53 - - 3480 - - - 1813 - 168.6 11.52 1.859 1792 -3.0 0.278 - - - - - - - - 13.78
14602 895.5 6.7 576 14624 roll 0.52 - - 3480 - 2.53 0.063 2846 408.3 181.9 15.60 1.865 1734 -3.7 0.332 - - - - - - - 14.62 13.79
14705 888.8 7.1 579 14716 done 0.49 - - 3480 - 2.45 0.044 1806 -424.5 186.0 3.25 1.183 1722 -3.7 0.516 - - - - - - - 14.59 13.43
15031 868.4 5.5 590 15088 roll 0.51 - - 3480 - 2.47 0.066 745 -429.6 224.9 46.97 1.760 1559 -3.5 0.318 - - - - - - - 14.41 13.69
15111 865.1 5.5 592 15165 done 0.54 - - 3480 - 2.33 0.041 1803 454.1 264.4 45.15 1.735 1396 -3.6 0.335 - - - - - - - 14.45 13.54
15483 842.2 5.9 605 15527 roll 0.57 - - 3480 - 2.58 0.066 2854 407.4 296.1 35.22 1.733 1268 -3.6 0.328 - - - - - - - 14.40 13.70
15637 830.9 7.6 610 15642 done 0.57 - - 3481 - 2.47 0.043 1820 -418.6 296.1 - - 1263 - - - - - - - - - 14.50 -
15973 807.3 7.3 621 15979 roll 0.57 - - 3480 - 2.40 0.065 746 -447.5 297.9 - - 1261 - - - - - - - - - 14.57 -
16079 799.9 7.5 624 16084 done 0.59 - - 3480 - 2.33 0.041 1816 459.2 297.9 - - 1260 - - - - - - - - - 14.64 -
16404 773.7 7.9 635 16410 roll 0.59 - - 3480 - 2.50 0.064 2854 415.2 297.9 - - 1260 - - - - - - - - - 14.59 -
16505 765.0 8.8 638 16511 done 0.59 - - 3480 - 2.42 0.044 1824 -425.6 297.9 - - 1259 - - - - - - - - - 14.65 -
16838 739.5 7.3 649 16843 roll 0.59 - - 3480 - 2.40 0.066 747 -448.8 298.7 - - 1258 - - - - - - - - - 14.59 -
16897 737.0 7.2 650 16908 done 0.60 - - 3480 - 2.35 0.042 1828 460.0 301.7 3.65 1.242 1249 -2.5 0.272 - - - - - - - 14.66 13.62
17237 713.5 6.0 662 17280 roll 0.65 - - 3480 - 2.47 0.063 2852 414.6 330.8 36.90 1.615 1129 -3.3 0.267 - - - - - - - 14.54 13.86
17364 705.4 6.6 666 17389 done 0.67 - - 3480 - 2.45 0.043 1821 -420.8 346.2 18.73 1.653 1064 -3.5 0.275 - - - - - - - 14.53 13.77
17693 685.5 5.8 677 17738 roll 0.73 0.12 0.129 3535 458.3 2.42 0.064 747 -443.8 378.5 38.25 1.562 933 -3.4 0.279 - - - - - - 14.57 14.43 13.76
17843 673.0 8.3 682 17849 done 0.73 - - 3535 - 2.38 0.042 1822 451.7 378.5 - - 929 - - - - - - - - - 14.50 -
18179 644.7 8.5 693 18186 roll 0.73 - - 3535 - 2.47 0.064 2849 415.8 378.5 - - 928 - - - - - - - - - 14.54 -
18259 637.8 9.6 695 18264 done 0.73 - - 3535 - 2.42 0.045 1824 -423.6 378.5 - - 928 - - - - - - - - - 14.59 -
18580 600.8 11.6 706 18587 roll 0.73 - - 3534 - 2.42 0.067 747 -445.0 378.5 - - 927 - - - - - - - - - 14.57 -
18669 592.6 12.0 708 18676 done 0.73 - - 3534 - 2.33 0.042 1821 460.9 378.5 - - 930 - - - - - - - - - 14.63 -
18978 549.8 13.4 719 18984 roll 0.73 - - 3535 - 2.47 0.062 2847 415.4 378.5 - - 927 - - - - - - - - - 14.58 -
19036 544.5 13.5 720 19043 done 0.73 - - 3535 - 2.42 0.041 1814 -426.9 378.5 - - 927 - - - - - - - - - 14.64 -
19343 500.2 13.2 731 19349 roll 0.73 - - 3535 - 2.40 0.064 748 -444.2 378.5 - - 926 - - - - - - - - - 14.57 -
19381 495.7 13.1 732 19387 done 0.73 - - 3535 - 2.33 0.041 1820 460.1 378.5 - - 926 - - - - - - - - - 14.58 -
19712 454.5 11.7 743 19718 roll 0.73 - - 3535 - 2.47 0.062 2852 417.8 378.5 - - 926 - - - - - - - - - 14.57 -
19761 450.4 11.4 744 19766 done 0.73 - - 3535 - 2.42 0.041 1818 -427.3 378.5 - - 926 - - - - - - - - - 14.58 -
20082 417.4 9.1 755 20087 roll 0.73 - - 3535 - 2.40 0.063 747 -446.2 378.5 - - 926 - - - - - - - - - 14.50 -
20180 408.8 9.0 758 20185 done 0.73 - - 3535 - 2.28 0.040 1804 463.6 378.5 - - 926 - - - - - - - - - 14.64 -
20511 380.9 8.5 769 20517 roll 0.73 - - 3535 - 2.53 0.060 2858 416.6 378.5 - - 925 - - - - - - - - - 14.56 -
20555 377.5 8.8 770 20561 done 0.73 - - 3535 - 2.47 0.040 1799 -428.7 378.5 - - 925 - - - - - - - - - 14.62 -
20882 343.6 10.5 781 20887 roll 0.73 - - 3535 - 2.35 0.063 749 -446.8 378.5 - - 926 - - - - - - - - - 14.54 -
20955 336.6 10.6 783 20961 done 0.73 - - 3535 - 2.28 0.038 1807 464.0 378.5 - - 926 - - - - - - - - - 14.64 -
21281 298.5 11.7 794 21287 roll 0.73 - - 3534 - 2.50 0.061 2847 416.0 378.5 - - 926 - - - - - - - - - 14.50 -
21315 294.0 11.9 795 21321 done 0.73 - - 3535 - 2.47 0.041 1797 -425.1 378.5 - - 926 - - - - - - - - - 14.61 -
21652 256.2 11.0 806 21658 roll 0.73 - - 3535 - 2.35 0.063 750 -445.5 378.5 - - 926 - - - - - - - - - 14.44 -
21772 243.9 10.8 811 21777 done 0.74 - - 3537 - 2.25 0.037 1795 464.4 378.5 - - 926 - - - - - - - - - 14.53 -
22086 211.1 10.7 832 22092 roll 0.74 - - 3535 - 2.55 0.059 2852 414.5 378.5 - - 926 - - - - - - - - - 14.50 -
22169 201.1 13.1 837 22176 done 0.74 - - 3535 - 2.47 0.040 1797 -427.1 378.5 - - 926 - - - - - - - - - 14.54 -
22484 164.6 11.2 858 22489 roll 0.74 - - 3535 - 2.35 0.061 748 -446.4 378.5 - - 927 - - - - - - - - - 14.49 -
22589 154.2 11.1 864 22596 done 0.77 - - 3535 - 2.25 0.035 1794 464.9 378.5 - - 927 - - - - - - - - - 14.59 -
22893 122.0 9.5 885 22899 roll 0.78 - - 3535 - 2.55 0.057 2849 413.7 378.5 - - 927 - - - - - - - - - 14.50 -
22972 113.8 10.6 890 22977 done 0.78 - - 3535 - 2.47 0.040 1798 -425.5 378.5 - - 927 - - - - - - - - - 14.45 -
23291 87.2 7.4 911 23297 roll 0.81 - - 3535 - 2.33 0.060 750 -449.8 378.5 - - 928 - - - - - - - - - 14.37 -
23388 81.2 6.5 917 23413 done 0.85 0.12 0.125 3588 441.7 2.25 0.034 1795 464.4 396.5 17.17 0.893 858 -4.1 0.069 - - - - - - 14.53 14.59 14.12
23722 52.3 8.9 939 23728 roll 0.85 - - 3588 - 2.50 0.056 2847 420.8 396.5 - - 855 - - - - - - - - - 14.53 -
23806 43.6 11.2 944 23811 done 0.83 - - 3588 - 2.45 0.037 1795 -429.4 396.5 - - 855 - - - - - - - - - 14.57 -
24119 6.3 11.9 965 24125 roll 0.83 - - 3588 - 2.33 0.058 746 -450.2 396.5 - - 855 - - - - - - - - - 14.47 -
24151 end climb: SURFACE_DEPTH_REACHED
24151 begin surface coast
24167 end surface coast: CONTROL_FINISHED_OK
24167 begin surface
SM 3.87 - - - - -9.77 10.20 0.055 147 14.4 2.67 0.041 1946 535.6 398.61 - - 854 - - - - - - - -