SPURS Sep12 * SG189 * Dive index * Mission links * Dive 229 * Raw log
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• Previous call tries 5 • 44.65 of 150.00 AH used of 24V (70.24% remains)
• Previous NAKs 0, Timeouts 0 • 37.47 of 97.00 AH used of 10V (61.37% remains)
• Surface angle -60.8 deg, depth 2.05 m • Intended pitch -11.8 deg, speed -6.111 cm/s
VBD pumped to 446.45 (SM_CC=446.44598)
• GPS1 time: 39 s
• GPS2 time: 18 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
20 begin dive
23 - - - 37 VBD -0.86 - - 154 - - - 2127 - -146.6 -11.93 - 1449 - - - - - - - - - - -
40 2.1 - 1 117 roll -0.86 9.48 0.190 2720 270.7 2.55 0.050 546 -620.0 -146.6 -56.72 - 2918 -25.9 - - - - - - - 25.80 26.17 26.70
347 17.1 -9.0 32 356 done -0.73 0.15 0.139 2758 253.3 2.50 0.024 2192 658.4 -146.6 - - 2919 - - - - - - - - 26.01 26.39 -
657 40.4 -7.3 63 658 done -0.67 - - 2762 - - - 2192 - -146.6 - - 2917 - - - - - - - - - - -
957 62.0 -6.8 93 959 done -0.62 0.15 0.132 2804 280.0 - - 2192 - -146.6 - - 2918 - - - - - - - - 26.38 - -
1276 83.2 -6.8 117 1277 done -0.62 - - 2808 - - - 2192 - -146.6 - - 2919 - - - - - - - - - - -
1576 104.8 -7.0 127 1584 roll -0.62 - - 2794 - 2.47 0.041 3750 630.8 -146.6 - - 2919 - - - - - - - - - 26.33 -
1616 106.9 -7.0 128 1623 done -0.64 - - 2794 - 2.45 0.020 2097 -674.7 -146.6 - - 2919 - - - - - - - - - 26.58 -
1936 129.7 -7.1 139 1937 done -0.64 - - 2794 - - - 2097 - -146.6 - - 2919 - - - - - - - - - - -
2236 150.5 -6.4 149 2244 roll -0.64 - - 2782 - 2.62 0.040 3755 632.8 -146.6 - - 2919 - - - - - - - - - 26.34 -
2436 157.7 -4.3 152 2444 done -0.64 - - 2782 - 2.45 0.020 2104 -673.9 -146.6 - - 2919 - - - - - - - - - 26.59 -
2777 171.1 -4.4 158 2784 roll -0.64 - - 2770 - 2.60 0.040 3749 632.7 -146.6 - - 2920 - - - - - - - - - 26.35 -
2957 181.0 -5.5 161 2964 done -0.64 - - 2770 - 2.42 0.020 2105 -679.3 -146.6 - - 2920 - - - - - - - - - 26.60 -
3317 197.6 -4.6 167 3325 roll -0.64 - - 2757 - 2.58 0.040 3740 633.7 -146.6 - - 2921 - - - - - - - - - 26.36 -
3486 204.2 -5.2 169 3496 done -0.64 0.12 0.128 2796 325.0 2.42 0.020 2097 -678.9 -146.6 - - 2920 - - - - - - - - 26.32 26.60 -
3797 227.4 -6.7 175 3798 done -0.68 - - 2796 - - - 2097 - -146.6 - - 2919 - - - - - - - - - - -
4097 247.9 -6.8 180 4104 roll -0.74 - - 2796 - 2.42 0.037 553 -638.0 -146.6 - - 2919 - - - - - - - - - 26.39 -
4308 259.3 -6.4 183 4315 done -0.78 0.08 0.053 2721 -937.5 2.45 0.024 2187 666.9 -146.6 - - 2918 - - - - - - - - 26.45 26.55 -
4637 283.9 -7.0 189 4645 roll -0.73 0.15 0.125 2755 226.7 2.47 0.042 3750 632.8 -146.6 - - 2918 - - - - - - - - 26.46 26.35 -
4737 287.8 -6.9 190 4744 done -0.69 - - 2755 - 2.45 0.021 2101 -673.1 -146.6 - - 2917 - - - - - - - - - 26.60 -
5057 307.1 -5.1 196 5065 roll -0.69 - - 2743 - 2.60 0.041 3739 630.0 -146.6 - - 2917 - - - - - - - - - 26.35 -
5186 313.8 -5.3 198 5194 done -0.69 0.12 0.127 2780 308.3 2.45 0.021 2094 -671.4 -146.6 - - 2916 - - - - - - - - 26.32 26.59 -
5537 334.5 -6.0 204 5538 done -0.73 - - 2780 - - - 2092 - -146.6 - - 2916 - - - - - - - - - - -
5837 351.4 -5.5 209 5845 roll -0.79 0.12 0.080 2705 -625.0 2.42 0.038 549 -637.6 -146.6 - - 2915 - - - - - - - - 26.72 26.39 -
5986 358.0 -5.4 211 5995 done -0.79 0.17 0.132 2744 229.4 2.47 0.024 2188 663.6 -146.6 - - 2914 - - - - - - - - 26.16 26.53 -
6317 375.2 -4.7 217 6324 roll -0.79 - - 2734 - 2.50 0.042 3750 624.8 -146.6 - - 2913 - - - - - - - - - 26.33 -
6476 382.5 -5.5 219 6484 done -0.79 - - 2734 - 2.47 0.021 2095 -670.0 -146.6 - - 2913 - - - - - - - - - 26.58 -
6797 408.2 -7.3 225 6804 roll -0.77 - - 2722 - 2.62 0.041 3746 630.2 -146.6 - - 2911 - - - - - - - - - 26.33 -
7039 427.2 -7.9 229 7045 done -0.74 0.12 0.131 2758 300.0 2.42 0.022 2085 -686.4 -146.6 - - 2911 - - - - - - - - 26.29 26.57 -
7397 453.2 -7.2 235 7398 done -0.78 - - 2758 - - - 2085 - -146.6 - - 2910 - - - - - - - - - - -
7697 474.1 -7.0 240 7704 roll -0.82 - - 2759 - 2.45 0.039 541 -630.2 -146.6 - - 2909 - - - - - - - - - 26.36 -
7938 490.8 -7.0 244 7944 done -0.82 - - 2749 - 2.45 0.025 2194 674.7 -146.6 - - 2908 - - - - - - - - - 26.51 -
8357 516.9 -6.2 249 8365 roll -0.86 - - 2749 - 2.60 0.037 544 -634.6 -146.6 - - 2907 - - - - - - - - - 26.34 -
8599 530.0 -5.7 251 8604 done -0.86 - - 2739 - 2.42 0.025 2185 678.1 -146.6 - - 2906 - - - - - - - - - 26.51 -
8957 551.0 -5.7 254 8964 roll -0.86 - - 2726 - 2.50 0.044 3747 624.8 -146.6 - - 2905 - - - - - - - - - 26.29 -
9016 551.0 -5.7 254 9024 done -0.86 - - 2726 - 2.47 0.021 2095 -668.8 -146.6 - - 2905 - - - - - - - - - 26.56 -
9436 586.2 -7.3 258 9444 roll -0.86 - - 2714 - 2.67 0.043 3756 622.1 -146.6 - - 2904 - - - - - - - - - 26.27 -
9676 604.0 -7.4 260 9684 done -0.86 - - 2714 - 2.50 0.022 2101 -662.0 -146.6 - - 2903 - - - - - - - - - 26.54 -
10037 629.5 -7.1 263 10045 roll -0.83 - - 2702 - 2.62 0.043 3741 626.0 -146.6 - - 2902 - - - - - - - - - 26.27 -
10257 638.6 -7.2 264 10265 done -0.81 0.10 0.109 2739 370.0 2.45 0.022 2098 -670.6 -146.6 - - 2902 - - - - - - - - 26.22 26.54 -
10637 671.7 -6.9 268 10644 roll -0.81 - - 2728 - 2.62 0.043 3740 626.7 -146.6 - - 2900 - - - - - - - - - 26.25 -
10836 678.8 -6.4 269 10843 done -0.81 - - 2728 - 2.47 0.022 2100 -664.0 -146.6 - - 2900 - - - - - - - - - 26.53 -
11237 703.4 -5.1 273 11245 roll -0.81 - - 2716 - 2.65 0.044 3750 622.6 -146.6 - - 2899 - - - - - - - - - 26.22 -
11406 710.6 -5.2 274 11413 done -0.81 - - 2716 - 2.47 0.023 2108 -664.8 -146.6 - - 2898 - - - - - - - - - 26.52 -
11717 735.5 -6.7 277 11724 roll -0.81 - - 2704 - 2.60 0.043 3737 626.5 -146.6 - - 2897 - - - - - - - - - 26.22 -
11826 735.5 -6.7 277 11836 done -0.81 0.12 0.132 2741 308.3 2.47 0.022 2095 -664.8 -146.6 - - 2897 - - - - - - - - 26.22 26.51 -
12197 773.4 -7.9 281 12205 roll -0.84 - - 2742 - 2.45 0.041 550 -630.6 -146.6 - - 2896 - - - - - - - - - 26.25 -
12366 782.5 -7.8 282 12374 done -0.87 - - 2731 - 2.53 0.026 2192 649.0 -146.6 - - 2896 - - - - - - - - - 26.46 -
12677 807.3 -7.1 285 12684 roll -0.92 - - 2731 - 2.62 0.040 545 -628.6 -146.6 - - 2895 - - - - - - - - - 26.24 -
12797 815.3 -6.8 286 12805 done -0.95 - - 2720 - 2.50 0.026 2181 654.4 -146.6 - - 2895 - - - - - - - - - 26.46 -
13158 839.9 -6.8 289 13165 roll -0.99 0.12 0.081 2655 -541.7 2.60 0.041 546 -628.8 -146.6 - - 2893 - - - - - - - - 26.70 26.22 -
13286 849.8 -7.1 290 13294 done -0.99 0.12 0.155 2675 166.7 2.50 0.026 2185 655.6 -146.6 - - 2892 - - - - - - - - 26.09 26.44 -
13637 877.2 -7.7 293 13644 roll -0.95 - - 2665 - 2.50 0.045 3739 621.6 -146.6 - - 2892 - - - - - - - - - 26.16 -
13766 886.6 -7.7 294 13774 done -0.90 0.15 0.137 2708 286.7 2.47 0.024 2106 -661.1 -146.6 - - 2892 - - - - - - - - 26.08 26.47 -
14117 911.1 -7.0 297 14124 roll -0.87 - - 2697 - 2.65 0.044 3751 620.8 -146.6 - - 2891 - - - - - - - - - 26.15 -
14285 919.0 -6.7 298 14290 done -0.87 - - 2697 - 2.50 0.024 2102 -659.6 -146.6 - - 2890 - - - - - - - - - 26.46 -
14588 939.0 -5.9 301 14589 done -0.87 - - 2696 - - - 2102 - -146.6 - - 2890 - - - - - - - - - - -
14948 961.0 -6.0 304 14955 roll -0.87 - - 2684 - 2.65 0.044 3745 620.0 -146.6 - - 2888 - - - - - - - - - 26.12 -
15189 977.9 -6.7 306 15196 done -0.87 0.08 0.121 2713 362.5 2.47 0.024 2105 -664.0 -146.6 - - 2888 - - - - - - - - 26.13 26.44 -
15385 end dive: TARGET_DEPTH_EXCEEDED
15385 begin apogee
15393 991.2 -6.8 311 15521 done -0.29 0.55 0.101 2902 343.6 0.03 0.192 1621 -16133.3 - 123.15 1.679 2319 -4.6 0.291 - - - - - - 25.80 24.65 23.46
15524 end apogee: CONTROL_FINISHED_OK
15524 begin climb
15526 996.3 - 317 15666 roll 0.86 1.05 0.063 3287 366.7 2.17 0.049 358 -582.0 146.6 131.18 1.650 1721 -4.6 0.294 - - - - - - 24.97 24.31 23.03
15857 978.8 7.6 331 15865 done 0.69 0.22 0.137 3222 -295.5 1.98 0.024 1652 653.5 146.6 - - 1714 - - - - - - - - 25.63 25.95 -
16218 957.7 6.1 334 16220 done 0.58 0.12 0.145 3186 -300.0 - - 1652 - 148.1 - - 1712 - - - - - - - - 26.17 - -
16578 936.8 5.8 337 16596 roll 0.55 - - 3185 - 2.50 0.037 3204 620.8 158.5 10.05 1.479 1671 -4.1 0.276 - - - - - - - 26.13 24.58
16737 929.2 5.9 338 16749 done 0.52 - - 3196 - 2.58 0.031 1574 -631.8 164.6 6.80 1.375 1648 -3.4 0.244 - - - - - - - 26.22 24.47
17048 906.5 6.4 341 17049 done 0.49 0.12 0.136 3160 -300.0 - - 1574 - 164.6 - - 1647 - - - - - - - - 26.25 - -
17407 884.2 6.3 344 17414 roll 0.49 - - 3168 - 1.98 0.050 353 -616.7 164.6 - - 1645 - - - - - - - - - 26.25 -
17547 876.8 6.2 345 17554 done 0.52 - - 3168 - 1.95 0.026 1649 664.6 164.6 - - 1644 - - - - - - - - - 26.49 -
17887 854.8 6.1 348 17895 roll 0.54 - - 3178 - 2.10 0.049 356 -615.7 164.6 - - 1644 - - - - - - - - - 26.26 -
18067 847.5 6.1 349 18075 done 0.57 - - 3178 - 1.95 0.026 1648 662.6 165.2 - - 1643 - - - - - - - - - 26.52 -
18487 819.4 5.9 353 18501 roll 0.58 - - 3188 - 2.12 0.050 356 -609.4 174.1 8.82 1.424 1609 -3.9 0.237 - - - - - - - 26.27 24.62
18608 813.2 5.7 354 18627 done 0.59 - - 3188 - 1.98 0.027 1655 656.1 187.2 13.52 1.510 1555 -4.0 0.229 - - - - - - - 26.39 24.51
18959 790.8 6.1 357 18967 roll 0.60 - - 3198 - 2.12 0.049 354 -613.7 188.9 - - 1553 - - - - - - - - - 26.13 -
19107 782.6 6.4 358 19111 done 0.60 - - 3198 - 1.98 0.026 1658 658.6 188.9 - - 1553 - - - - - - - - - 26.41 -
19429 755.8 7.5 361 19436 roll 0.60 - - 3208 - 2.12 0.049 350 -617.0 188.9 - - 1552 - - - - - - - - - 26.22 -
19629 746.1 7.8 362 19636 done 0.60 - - 3208 - 1.98 0.026 1660 661.6 188.9 - - 1552 - - - - - - - - - 26.50 -
20029 709.9 7.6 366 20036 roll 0.60 - - 3218 - 2.12 0.049 351 -617.5 188.9 - - 1552 - - - - - - - - - 26.23 -
20168 702.5 7.1 367 20172 done 0.60 - - 3218 - 1.95 0.026 1649 665.6 188.9 - - 1551 - - - - - - - - - 26.53 -
20500 684.7 5.3 370 20531 roll 0.63 - - 3228 - 2.17 0.050 353 -597.2 216.1 26.12 1.465 1437 -4.4 0.218 - - - - - - - 25.80 24.49
20621 678.5 5.1 371 20658 done 0.65 - - 3228 - 1.98 0.026 1647 653.5 249.8 30.98 1.472 1300 -4.4 0.217 - - - - - - - 26.08 24.03
20969 653.6 6.6 374 20977 roll 0.65 - - 3238 - 2.12 0.049 354 -609.9 249.8 - - 1296 - - - - - - - - - 26.01 -
21048 653.6 6.6 374 21052 done 0.65 - - 3238 - 1.98 0.026 1650 654.5 249.8 - - 1296 - - - - - - - - - 26.26 -
21440 610.9 9.1 378 21447 roll 0.65 - - 3248 - 2.12 0.049 347 -614.6 249.8 - - 1295 - - - - - - - - - 26.16 -
21599 599.3 9.3 379 21603 done 0.65 0.12 0.132 3210 -316.7 1.98 0.026 1655 660.6 249.8 - - 1295 - - - - - - - - 26.15 26.44 -
21911 569.1 8.8 382 21919 roll 0.65 - - 3210 - 2.45 0.037 3202 631.4 249.8 - - 1293 - - - - - - - - - 26.29 -
22060 558.9 8.5 383 22068 done 0.67 - - 3221 - 2.55 0.030 1576 -637.6 249.8 - - 1295 - - - - - - - - - 26.34 -
22391 529.6 8.2 386 22398 roll 0.72 - - 3230 - 1.98 0.050 356 -616.2 249.8 - - 1294 - - - - - - - - - 26.21 -
22551 519.9 8.1 387 22558 done 0.76 - - 3230 - 1.98 0.026 1658 657.6 249.8 - - 1294 - - - - - - - - - 26.52 -
22871 493.4 7.5 390 22879 roll 0.80 - - 3240 - 2.12 0.049 349 -617.5 249.8 - - 1295 - - - - - - - - - 26.21 -
23001 485.1 7.1 392 23008 done 0.83 - - 3241 - 1.95 0.025 1651 667.7 249.8 - - 1294 - - - - - - - - - 26.54 -
23351 459.0 7.3 398 23359 roll 0.85 0.10 0.094 3312 710.0 2.10 0.048 354 -617.6 249.8 - - 1294 - - - - - - - - 26.67 26.20 -
23552 441.3 9.3 401 23559 done 0.80 0.15 0.108 3258 -360.0 1.92 0.025 1652 676.0 249.8 - - 1297 - - - - - - - - 26.10 26.54 -
23891 409.8 8.5 407 23892 done 0.78 - - 3258 - - - 1652 - 249.8 - - 1294 - - - - - - - - - - -
24191 387.7 7.2 412 24199 roll 0.76 - - 3267 - 2.10 0.048 355 -617.6 249.8 - - 1294 - - - - - - - - - 26.18 -
24341 379.3 6.8 414 24349 done 0.73 0.12 0.129 3230 -308.3 1.95 0.025 1658 668.2 249.8 - - 1294 - - - - - - - - 26.24 26.54 -
24671 353.8 7.4 420 24679 roll 0.77 - - 3229 - 2.47 0.037 3203 625.5 249.8 - - 1294 - - - - - - - - - 26.28 -
24761 348.5 8.0 421 24768 done 0.81 - - 3240 - 2.55 0.030 1575 -638.4 249.8 - - 1294 - - - - - - - - - 26.34 -
25091 317.2 8.6 427 25099 roll 0.86 0.10 0.092 3316 760.0 1.98 0.049 352 -617.7 249.8 - - 1294 - - - - - - - - 26.70 26.17 -
25331 296.7 8.6 431 25339 done 0.81 0.20 0.119 3255 -305.0 1.95 0.024 1658 669.7 249.8 - - 1294 - - - - - - - - 26.09 26.53 -
25691 274.5 6.2 437 25698 roll 0.81 - - 3263 - 2.12 0.047 348 -617.9 249.8 - - 1294 - - - - - - - - - 26.16 -
25871 261.2 7.3 440 25878 done 0.81 - - 3263 - 1.95 0.024 1651 668.2 249.8 - - 1294 - - - - - - - - - 26.54 -
26231 239.5 5.5 446 26253 roll 0.83 - - 3273 - 2.12 0.048 356 -610.8 269.4 16.95 1.111 1220 -4.4 0.100 - - - - - - - 26.18 24.87
26341 233.3 5.3 448 26369 done 0.86 - - 3273 - 1.95 0.024 1646 661.5 296.1 23.88 1.118 1112 -4.5 0.101 - - - - - - - 26.33 24.63
26701 203.4 9.0 454 26708 roll 0.86 - - 3282 - 2.12 0.048 348 -612.3 296.1 - - 1110 - - - - - - - - - 26.04 -
26871 192.5 9.3 456 26880 done 0.86 - - 3282 - 1.98 0.024 1656 660.6 296.1 - - 1109 - - - - - - - - - 26.36 -
27181 167.3 6.6 462 27188 roll 0.86 - - 3293 - 2.12 0.047 353 -614.6 296.1 - - 1110 - - - - - - - - - 26.16 -
27380 152.1 8.1 465 27383 done 0.86 - - 3293 - 1.95 0.024 1655 667.7 296.1 - - 1110 - - - - - - - - - 26.48 -
27681 122.6 9.1 475 27689 roll 0.86 - - 3302 - 2.10 0.048 356 -618.6 296.1 - - 1110 - - - - - - - - - 26.21 -
27760 117.2 8.9 477 27764 done 0.86 - - 3302 - 1.92 0.024 1648 672.9 296.1 - - 1110 - - - - - - - - - 26.52 -
28061 86.1 10.2 487 28068 roll 0.86 - - 3312 - 2.10 0.047 346 -620.0 296.1 - - 1110 - - - - - - - - - 26.22 -
28110 83.2 10.1 488 28115 done 0.86 0.12 0.124 3274 -316.7 1.95 0.023 1659 673.3 296.1 - - 1110 - - - - - - - - 26.27 26.54 -
28412 57.5 8.1 512 28420 roll 0.94 - - 3274 - 2.42 0.036 3205 638.8 296.1 - - 1110 - - - - - - - - - 26.32 -
28491 50.9 8.5 520 28501 done 1.01 0.12 0.076 3360 716.7 2.53 0.028 1580 -642.3 296.1 - - 1110 - - - - - - - - 26.37 26.39 -
28803 21.7 8.5 551 28811 roll 0.95 0.17 0.125 3314 -270.6 1.95 0.047 360 -625.6 296.1 - - 1110 - - - - - - - - 26.33 26.27 -
28902 11.9 10.1 561 28910 done 0.95 - - 3314 - 1.92 0.023 1656 675.0 296.1 - - 1109 - - - - - - - - - 26.57 -
29009 end climb: SURFACE_DEPTH_REACHED
29009 begin surface coast
29040 end surface coast: CONTROL_FINISHED_OK
29040 begin surface
SM 1.92 - - - - -8.81 8.18 0.033 153 -386.4 0.77 0.032 2188 690.9 446.45 61.25 0.126 498 -10.0 0.016 - - - - - -