SPURS Mar13 * SG160 * Dive index * Mission links * Dive 491 * Raw log
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• Previous call tries 5 • 189.75 of 350.00 AH used of 24V (45.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.5 deg, depth 3.73 m • Intended pitch -26.8 deg, speed -7.364 cm/s
VBD pumped to 517.58 (SM_CC=517.58301)
• GPS1 time: 0 s, HDOP was 10000.0 m
• GPS2 time: 301 s, HDOP was 99.0 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 39 VBD -1.38 - - 136 - - - 1986 - -39.9 -15.00 - 534 - - - - - - - - - - -
44 3.6 - 1 156 roll -1.38 12.73 0.343 2844 212.7 2.53 0.077 894 -431.6 -39.9 -87.07 - 2464 -22.2 - - - - - - - 14.23 14.45 14.82
333 30.9 -14.3 20 339 done -1.28 0.15 0.299 2873 193.3 2.33 0.050 1907 434.8 -39.9 - - 2464 - - - - - - - - 13.87 14.44 -
654 71.8 -11.4 41 655 done -1.23 - - 2874 - - - 1903 - -39.9 - - 2464 - - - - - - - - - - -
953 99.8 -7.9 61 959 roll -1.18 0.15 0.288 2909 233.3 2.35 0.054 895 -428.9 -39.9 - - 2463 - - - - - - - - 13.93 14.31 -
1065 108.6 -8.1 68 1070 done -1.14 - - 2909 - 2.45 0.050 1958 433.9 -39.9 - - 2462 - - - - - - - - - 14.45 -
1386 139.2 -10.1 89 1391 roll -1.12 - - 2910 - 2.45 0.055 899 -432.2 -39.9 - - 2463 - - - - - - - - - 14.34 -
1567 156.6 -10.6 100 1574 done -1.08 0.15 0.282 2940 200.0 2.40 0.049 1947 436.7 -39.9 - - 2462 - - - - - - - - 14.04 14.44 -
1872 184.6 -8.0 121 1877 roll -1.08 - - 2940 - 2.42 0.054 895 -434.7 -39.9 - - 2462 - - - - - - - - - 14.42 -
2014 196.0 -8.2 130 2019 done -1.08 - - 2940 - 2.40 0.050 1929 430.8 -39.9 - - 2462 - - - - - - - - - 14.37 -
2335 218.1 -6.5 151 2341 roll -1.09 - - 2940 - 2.38 0.053 899 -432.8 -46.7 - - 2462 - - - - - - - - - 14.41 -
2571 234.4 -7.2 166 2576 done -1.09 - - 2940 - 2.33 0.050 1915 436.1 -47.6 - - 2461 - - - - - - - - - 14.36 -
2901 260.2 -7.9 184 2906 roll -1.09 - - 2940 - 2.35 0.057 900 -431.9 -47.6 - - 2460 - - - - - - - - - 14.42 -
3137 278.3 -8.4 191 3142 done -1.09 - - 2940 - 2.30 0.050 1902 435.7 -47.6 - - 2459 - - - - - - - - - 14.44 -
3452 306.7 -8.7 202 3457 roll -1.09 - - 2940 - 2.33 0.060 899 -430.5 -47.6 - - 2458 - - - - - - - - - 14.43 -
3582 318.3 -9.2 206 3588 done -1.09 - - 2940 - 2.28 0.051 1890 434.6 -47.6 - - 2458 - - - - - - - - - 14.44 -
3916 350.7 -9.5 217 3922 roll -1.09 - - 2940 - 2.30 0.059 898 -431.3 -47.6 - - 2457 - - - - - - - - - 14.42 -
4037 359.5 -9.0 220 4044 done -1.09 - - 2940 - 2.25 0.050 1881 436.9 -47.6 - - 2456 - - - - - - - - - 14.43 -
4345 381.7 -6.0 231 4351 roll -1.10 - - 2940 - 2.28 0.057 897 -431.6 -58.8 - - 2455 - - - - - - - - - 14.42 -
4582 395.2 -6.3 238 4588 done -1.11 - - 2940 - 2.22 0.049 1871 438.7 -67.6 - - 2455 - - - - - - - - - 14.45 -
4897 420.1 -8.0 249 4902 roll -1.11 - - 2940 - 2.25 0.058 898 -432.4 -67.6 - - 2454 - - - - - - - - - 14.42 -
5043 431.2 -9.0 253 5048 done -1.11 - - 2941 - 2.20 0.048 1862 438.2 -67.6 - - 2453 - - - - - - - - - 14.44 -
5357 462.6 -9.2 264 5363 roll -1.11 - - 2940 - 2.25 0.058 897 -428.9 -67.6 - - 2453 - - - - - - - - - 14.41 -
5594 482.8 -9.3 271 5599 done -1.11 - - 2940 - 2.17 0.047 1849 438.7 -67.6 - - 2451 - - - - - - - - - 14.43 -
5909 511.9 -8.3 282 5914 roll -1.11 - - 2940 - 2.20 0.057 896 -433.2 -67.6 - - 2450 - - - - - - - - - 14.43 -
6125 528.9 -7.7 289 6130 done -1.11 - - 2940 - 2.17 0.047 1844 436.9 -67.6 - - 2451 - - - - - - - - - 14.42 -
6464 551.6 -6.6 300 6469 roll -1.12 - - 2940 - 2.20 0.058 895 -431.4 -73.6 - - 2449 - - - - - - - - - 14.41 -
6621 562.7 -6.8 305 6626 done -1.12 - - 2940 - 2.12 0.047 1824 438.2 -77.8 - - 2449 - - - - - - - - - 14.42 -
6961 585.5 -7.0 316 6966 roll -1.14 - - 2940 - 2.15 0.058 897 -431.2 -80.9 - - 2447 - - - - - - - - - 14.30 -
7020 588.4 -7.0 317 7027 done -1.16 - - 2940 - 2.12 0.047 1829 439.6 -83.7 - - 2447 - - - - - - - - - 14.42 -
7330 614.6 -8.2 328 7335 roll -1.18 - - 2940 - 2.17 0.058 897 -429.5 -83.7 - - 2447 - - - - - - - - - 14.39 -
7532 630.8 -8.6 334 7537 done -1.18 - - 2940 - 2.10 0.047 1818 438.6 -83.7 - - 2446 - - - - - - - - - 14.39 -
7855 659.4 -8.5 345 7861 roll -1.19 - - 2940 - 2.15 0.057 897 -428.4 -83.7 - - 2445 - - - - - - - - - 14.35 -
8047 676.8 -9.3 351 8053 done -1.19 - - 2940 - 2.10 0.047 1809 434.3 -83.7 - - 2448 - - - - - - - - - 14.38 -
8380 708.3 -9.5 362 8386 roll -1.21 0.12 0.139 2883 -475.0 2.12 0.056 897 -430.2 -83.7 - - 2446 - - - - - - - - 14.43 14.33 -
8493 718.9 -10.5 365 8499 done -1.21 - - 2882 - 2.08 0.047 1804 436.1 -83.7 - - 2443 - - - - - - - - - 14.38 -
8818 755.7 -10.8 376 8823 roll -1.19 - - 2882 - 2.12 0.058 892 -430.2 -83.7 - - 2442 - - - - - - - - - 14.33 -
8907 763.1 -10.7 378 8914 done -1.17 0.15 0.288 2912 200.0 2.05 0.047 1794 440.0 -83.7 - - 2442 - - - - - - - - 13.88 14.38 -
9217 792.4 -8.3 389 9222 roll -1.17 - - 2913 - 2.12 0.059 893 -425.0 -83.7 - - 2441 - - - - - - - - - 14.31 -
9270 795.5 -8.1 390 9276 done -1.17 - - 2913 - 2.08 0.047 1796 434.1 -83.7 - - 2440 - - - - - - - - - 14.38 -
9585 822.1 -7.8 401 9590 roll -1.17 - - 2912 - 2.10 0.059 897 -428.1 -83.7 - - 2440 - - - - - - - - - 14.31 -
9670 827.4 -8.0 403 9675 done -1.17 - - 2911 - 2.05 0.046 1791 436.1 -83.7 - - 2439 - - - - - - - - - 14.35 -
9984 858.0 -9.5 414 9989 roll -1.17 - - 2911 - 2.10 0.058 893 -427.6 -83.7 - - 2439 - - - - - - - - - 14.31 -
10112 870.5 -10.0 418 10117 done -1.17 - - 2911 - 2.05 0.046 1783 434.1 -83.7 - - 2438 - - - - - - - - - 14.33 -
10449 903.5 -9.7 429 10450 done -1.17 - - 2911 - - - 1777 - -83.7 - - 2437 - - - - - - - - - - -
10748 931.7 -9.4 439 10749 done -1.17 - - 2911 - - - 1777 - -83.7 - - 2436 - - - - - - - - - - -
10952 end dive: TARGET_DEPTH_EXCEEDED
10952 begin apogee
10960 951.4 -9.4 446 11001 roll -0.25 1.17 0.229 3204 250.4 - - 1777 - - 33.20 2.061 2297 -4.2 0.365 - - - - - - 13.52 - 13.07
11003 end apogee: CONTROL_FINISHED_OK
11003 begin climb
11007 951.5 - 447 11102 roll 1.42 1.73 0.096 3755 318.5 2.55 0.067 2856 423.1 83.7 83.00 2.162 1958 -4.1 0.339 - - - - - - 14.42 14.43 12.99
11334 943.2 7.1 458 11340 done 1.28 0.28 0.334 3711 -157.1 2.42 0.044 1797 -437.6 85.9 - - 1945 - - - - - - - - 13.93 14.47 -
11660 921.2 6.4 469 11675 roll 1.19 0.12 0.328 3686 -208.3 2.42 0.064 742 -436.0 93.5 9.02 1.816 1916 -3.2 0.308 - - - - - - 13.99 14.62 13.40
11792 912.6 6.7 473 11807 done 1.11 0.15 0.288 3657 -193.3 2.40 0.041 1807 443.8 98.8 6.15 1.728 1894 -3.6 0.356 - - - - - - 14.13 14.54 13.33
12122 893.9 5.1 484 12151 roll 1.07 - - 3657 - 2.40 0.062 2856 437.1 116.9 21.00 1.901 1819 -3.6 0.317 - - - - - - - 14.55 13.41
12385 876.7 7.2 492 12391 done 0.99 0.20 0.301 3618 -195.0 2.40 0.045 1811 -435.4 118.2 - - 1815 - - - - - - - - 14.02 14.48 -
12711 855.3 6.6 503 12725 roll 0.96 - - 3618 - 2.42 0.060 2852 430.2 124.5 8.02 1.773 1789 -3.2 0.295 - - - - - - - 14.64 13.43
12881 841.8 8.7 508 12888 done 0.91 0.12 0.296 3594 -200.0 2.40 0.044 1801 -437.9 124.5 - - 1786 - - - - - - - - 14.15 14.52 -
13205 814.3 8.1 519 13211 roll 0.91 - - 3594 - 2.47 0.058 2854 426.3 124.5 - - 1785 - - - - - - - - - 14.42 -
13353 803.1 8.9 523 13358 done 0.88 - - 3594 - 2.40 0.045 1807 -436.2 124.5 - - 1784 - - - - - - - - - 14.48 -
13671 778.2 7.0 534 13676 roll 0.88 - - 3594 - 2.47 0.059 2854 423.9 127.8 - - 1784 - - - - - - - - - 14.38 -
13907 763.1 6.6 541 13923 done 0.86 - - 3594 - 2.38 0.044 1821 -434.0 133.7 10.07 1.723 1752 -3.2 0.266 - - - - - - - 14.41 13.49
14253 741.5 6.4 553 14267 roll 0.87 - - 3594 - 2.40 0.059 2853 430.0 141.3 8.90 1.693 1721 -3.5 0.288 - - - - - - - 14.63 13.47
14483 724.9 7.6 560 14488 done 0.84 - - 3594 - 2.35 0.045 1828 -436.2 141.3 - - 1718 - - - - - - - - - 14.46 -
14807 698.8 8.0 571 14812 roll 0.84 - - 3594 - 2.42 0.060 2854 424.0 141.3 - - 1717 - - - - - - - - - 14.37 -
14954 687.4 8.9 575 14960 done 0.81 0.15 0.281 3563 -206.7 2.33 0.045 1842 -434.3 141.3 - - 1716 - - - - - - - - 14.01 14.42 -
15273 661.0 7.8 586 15279 roll 0.83 - - 3563 - 2.60 0.067 745 -421.9 141.3 - - 1717 - - - - - - - - - 14.29 -
15357 655.9 7.5 588 15362 done 0.85 - - 3563 - 2.47 0.040 1831 439.7 141.3 - - 1716 - - - - - - - - - 14.43 -
15676 632.9 6.7 599 15687 roll 0.88 - - 3563 - 2.35 0.060 2862 438.7 147.0 4.82 1.418 1701 -3.1 0.262 - - - - - - - 14.62 13.31
15919 616.2 7.4 606 15926 done 0.88 - - 3562 - 2.33 0.044 1849 -434.8 147.1 - - 1701 - - - - - - - - - 14.44 -
16228 595.8 6.1 617 16250 roll 0.91 - - 3563 - 2.40 0.060 2856 419.6 157.6 14.12 1.571 1654 -3.3 0.238 - - - - - - - 14.57 13.53
16366 586.9 6.9 621 16376 done 0.92 - - 3563 - 2.30 0.042 1852 -436.5 161.7 3.85 1.182 1640 -3.6 0.341 - - - - - - - 14.46 13.24
16689 564.7 6.8 632 16703 roll 0.94 0.12 0.125 3612 408.3 2.35 0.060 2856 427.2 166.1 7.20 1.479 1618 -3.1 0.220 - - - - - - 14.38 14.61 13.50
16846 549.9 9.5 637 16852 done 0.92 - - 3616 - 2.33 0.044 1863 -426.2 166.1 - - 1616 - - - - - - - - - 14.45 -
17185 521.6 8.2 648 17191 roll 0.92 - - 3616 - 2.38 0.060 2858 418.1 166.1 - - 1616 - - - - - - - - - 14.35 -
17416 501.2 9.4 655 17422 done 0.89 0.15 0.289 3588 -186.7 2.28 0.041 1872 -432.5 166.1 - - 1614 - - - - - - - - 13.91 14.39 -
17740 475.4 7.5 666 17745 roll 0.89 - - 3588 - 2.65 0.063 748 -424.2 166.1 - - 1614 - - - - - - - - - 14.27 -
17814 469.6 8.1 668 17820 done 0.89 - - 3587 - 2.55 0.037 1872 440.8 166.1 - - 1615 - - - - - - - - - 14.40 -
18143 438.6 9.6 679 18148 roll 0.90 - - 3588 - 2.30 0.060 2856 427.8 166.1 - - 1614 - - - - - - - - - 14.27 -
18378 415.3 10.4 686 18383 done 0.90 - - 3588 - 2.25 0.044 1885 -431.6 166.1 - - 1614 - - - - - - - - - 14.32 -
18695 384.9 8.9 697 18700 roll 0.90 - - 3587 - 2.33 0.057 2859 418.0 166.1 - - 1614 - - - - - - - - - 14.27 -
18764 378.5 9.1 699 18770 done 0.90 - - 3588 - 2.28 0.043 1878 -430.3 166.1 - - 1614 - - - - - - - - - 14.31 -
19097 351.0 8.0 710 19098 done 0.90 - - 3588 - - - 1879 - 166.1 - - 1614 - - - - - - - - - - -
19396 326.9 8.1 720 19397 done 0.92 - - 3588 - - - 1879 - 166.1 - - 1614 - - - - - - - - - - -
19695 302.3 8.3 730 19700 roll 0.93 - - 3588 - 2.35 0.057 2858 416.6 166.1 - - 1614 - - - - - - - - - 14.20 -
19784 296.3 8.8 732 19792 done 0.93 - - 3588 - 2.28 0.044 1878 -429.8 166.1 - - 1615 - - - - - - - - - 14.27 -
20092 266.2 9.7 743 20097 roll 0.95 - - 3588 - 2.33 0.057 2856 419.7 166.1 - - 1615 - - - - - - - - - 14.20 -
20161 258.8 10.3 745 20167 done 0.95 - - 3588 - 2.25 0.042 1891 -428.9 166.1 - - 1615 - - - - - - - - - 14.13 -
20477 229.1 8.4 763 20482 roll 0.97 - - 3588 - 2.30 0.056 2857 420.0 166.1 - - 1615 - - - - - - - - - 14.19 -
20584 220.5 9.0 769 20591 done 0.97 - - 3588 - 2.25 0.042 1895 -427.6 166.1 - - 1615 - - - - - - - - - 14.26 -
20889 195.9 8.7 790 20894 roll 0.99 - - 3588 - 2.70 0.063 747 -425.2 166.1 - - 1616 - - - - - - - - - 14.14 -
21001 185.0 9.7 797 21008 done 1.02 0.12 0.136 3629 341.7 2.62 0.037 1890 436.3 166.1 - - 1616 - - - - - - - - 14.15 14.14 -
21322 154.5 8.5 818 21328 roll 1.02 - - 3630 - 2.30 0.059 2859 421.3 166.1 - - 1616 - - - - - - - - - 14.15 -
21481 139.0 9.8 828 21486 done 0.99 - - 3630 - 2.28 0.042 1883 -428.1 166.1 - - 1616 - - - - - - - - - 14.09 -
21801 112.4 8.3 849 21807 roll 0.99 - - 3631 - 2.70 0.063 743 -422.2 166.1 - - 1617 - - - - - - - - - 14.12 -
21860 108.2 8.2 852 21867 done 0.99 - - 3637 - 2.62 0.037 1893 438.9 166.1 - - 1617 - - - - - - - - - 14.14 -
22167 82.9 9.0 873 22168 done 0.99 - - 3631 - - - 1892 - 166.1 - - 1617 - - - - - - - - - - -
22467 61.1 4.8 893 22492 roll 1.02 - - 3630 - 2.20 0.058 2863 441.4 187.1 18.65 0.894 1533 -4.5 0.058 - - - - - - - 14.56 13.71
22726 40.8 9.1 909 22733 done 1.02 - - 3634 - 2.28 0.041 1869 -436.0 187.1 - - 1530 - - - - - - - - - 14.31 -
23028 15.5 8.4 930 23034 roll 1.02 - - 3630 - 2.35 0.054 2864 423.4 187.1 - - 1530 - - - - - - - - - 14.23 -
23261 5.3 -0.1 945 23295 done 1.32 0.28 0.071 3728 350.0 2.33 0.047 1876 -424.0 247.0 27.70 0.070 1291 -8.6 0.123 - - - - - - 14.24 14.12 14.41
23487 end climb: NO_VERTICAL_VELOCITY
23487 begin surface
SM 6.31 - - - - -9.79 10.52 0.045 139 13.2 0.17 0.076 1957 -54782.4 517.83 - - 189 - - - - - - - -