SPURS Sep12 * SG189 * Dive index * Mission links * Dive 384 * Raw log
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• Previous call tries 1 • 68.16 of 150.00 AH used of 24V (54.56% remains)
• Previous NAKs 0, Timeouts 0 • 59.60 of 97.00 AH used of 10V (38.55% remains)
• Surface angle -53.2 deg, depth 1.98 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 35 s
• GPS2 time: 17 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 34 VBD -1.26 - - 155 - - - 2115 - -97.7 -10.98 - 1412 - - - - - - - - - - -
38 2.3 - 1 104 roll -1.26 8.98 0.181 2592 271.4 2.58 0.054 547 -607.8 -97.7 -50.95 - 2718 -25.6 - - - - - - - 25.61 26.01 26.68
394 25.3 -7.1 37 403 done -1.17 0.12 0.140 2621 241.7 2.47 0.024 2184 662.8 -97.7 - - 2720 - - - - - - - - 25.82 26.33 -
704 46.9 -7.8 68 713 roll -1.14 - - 2621 - 2.58 0.037 548 -634.1 -97.7 - - 2723 - - - - - - - - - 26.20 -
775 52.6 -8.4 75 783 done -1.09 0.10 0.138 2642 210.0 2.47 0.024 2194 666.4 -97.7 - - 2720 - - - - - - - - 25.98 26.41 -
1084 74.9 -7.5 106 1093 roll -1.09 - - 2633 - 2.50 0.041 3748 621.6 -97.7 - - 2722 - - - - - - - - - 26.20 -
1243 86.0 -7.4 112 1251 done -1.09 - - 2633 - 2.47 0.021 2090 -671.3 -97.7 - - 2721 - - - - - - - - - 26.48 -
1565 108.9 -6.6 123 1571 roll -1.09 - - 2620 - 2.62 0.039 3755 635.5 -97.7 - - 2721 - - - - - - - - - 26.22 -
1733 119.8 -7.3 128 1743 done -1.07 0.12 0.145 2653 275.0 2.47 0.020 2083 -676.9 -97.7 - - 2722 - - - - - - - - 26.13 26.50 -
2047 143.3 -7.2 139 2053 roll -1.09 - - 2642 - 2.65 0.039 3756 631.3 -97.7 - - 2723 - - - - - - - - - 26.22 -
2143 149.7 -7.2 142 2150 done -1.09 - - 2642 - 2.47 0.020 2091 -674.1 -97.7 - - 2723 - - - - - - - - - 26.51 -
2465 168.0 -5.2 148 2471 roll -1.09 - - 2630 - 2.65 0.039 3744 623.8 -97.7 - - 2723 - - - - - - - - - 26.23 -
2634 173.6 -4.7 150 2643 done -1.09 - - 2629 - 2.42 0.021 2106 -676.9 -97.7 - - 2723 - - - - - - - - - 26.51 -
2945 192.8 -5.4 156 2946 done -1.09 - - 2629 - - - 2106 - -97.7 - - 2725 - - - - - - - - - - -
3244 212.6 -6.7 161 3251 roll -1.09 - - 2618 - 2.62 0.039 3743 624.8 -97.7 - - 2723 - - - - - - - - - 26.24 -
3425 226.8 -7.7 164 3432 done -1.09 0.08 0.125 2644 325.0 2.42 0.021 2100 -678.9 -97.7 - - 2723 - - - - - - - - 26.21 26.52 -
3785 252.8 -6.9 170 3791 roll -1.12 - - 2633 - 2.65 0.040 3744 620.4 -97.7 - - 2723 - - - - - - - - - 26.24 -
3894 256.4 -6.5 171 3902 done -1.14 - - 2633 - 2.42 0.021 2103 -678.1 -97.7 - - 2723 - - - - - - - - - 26.51 -
4205 272.4 -4.1 177 4211 roll -1.16 - - 2621 - 2.60 0.040 3754 635.0 -97.7 - - 2722 - - - - - - - - - 26.23 -
4426 279.7 -4.0 180 4431 done -1.16 - - 2621 - 2.40 0.021 2102 -688.3 -97.7 - - 2723 - - - - - - - - - 26.51 -
4744 295.7 -4.6 186 4752 roll -1.16 - - 2609 - 2.62 0.040 3739 624.8 -97.7 - - 2722 - - - - - - - - - 26.24 -
4934 307.0 -6.0 189 4941 done -1.16 - - 2609 - 2.42 0.021 2102 -676.4 -97.7 - - 2722 - - - - - - - - - 26.51 -
5284 338.2 -9.2 195 5291 roll -1.16 - - 2597 - 2.62 0.040 3739 624.8 -97.7 - - 2721 - - - - - - - - - 26.23 -
5584 371.6 -11.2 200 5591 done -1.16 - - 2597 - 2.45 0.021 2089 -673.5 -97.7 - - 2721 - - - - - - - - - 26.51 -
5945 409.0 -10.1 206 5951 roll -1.16 - - 2585 - 2.65 0.041 3743 624.2 -97.7 - - 2720 - - - - - - - - - 26.23 -
6103 419.8 -9.3 208 6111 done -1.16 0.15 0.142 2625 266.7 2.45 0.021 2098 -671.4 -97.7 - - 2719 - - - - - - - - 26.08 26.51 -
6425 445.0 -6.6 214 6431 roll -1.19 - - 2615 - 2.62 0.041 3759 634.0 -97.7 - - 2719 - - - - - - - - - 26.21 -
6574 453.0 -6.6 216 6581 done -1.22 - - 2615 - 2.50 0.021 2095 -665.6 -97.7 - - 2718 - - - - - - - - - 26.49 -
6905 475.4 -6.1 222 6911 roll -1.22 - - 2602 - 2.62 0.041 3749 631.3 -97.7 - - 2718 - - - - - - - - - 26.21 -
7063 483.3 -6.4 224 7071 done -1.22 - - 2602 - 2.47 0.021 2098 -668.4 -97.7 - - 2717 - - - - - - - - - 26.49 -
7444 513.0 -7.2 230 7451 roll -1.22 - - 2590 - 2.65 0.041 3744 621.1 -97.7 - - 2716 - - - - - - - - - 26.21 -
7635 522.8 -7.5 231 7641 done -1.22 - - 2591 - 2.42 0.022 2086 -685.1 -97.7 - - 2716 - - - - - - - - - 26.48 -
8044 563.4 -8.5 235 8052 roll -1.22 - - 2578 - 2.67 0.041 3747 622.1 -97.7 - - 2715 - - - - - - - - - 26.20 -
8224 573.1 -8.4 236 8232 done -1.22 0.12 0.146 2610 266.7 2.47 0.022 2100 -666.8 -97.7 - - 2714 - - - - - - - - 26.13 26.48 -
8645 602.5 -6.1 240 8651 roll -1.24 - - 2611 - 2.45 0.039 551 -632.2 -97.7 - - 2713 - - - - - - - - - 26.22 -
8684 602.5 -6.1 240 8691 done -1.26 - - 2600 - 2.53 0.024 2188 647.0 -97.7 - - 2714 - - - - - - - - - 26.42 -
9006 618.8 -4.6 243 9011 roll -1.29 - - 2589 - 2.47 0.042 3749 632.0 -97.7 - - 2713 - - - - - - - - - 26.18 -
9125 625.0 -4.6 244 9132 done -1.31 - - 2589 - 2.45 0.022 2109 -669.4 -97.7 - - 2712 - - - - - - - - - 26.48 -
9485 648.0 -6.0 247 9491 roll -1.31 - - 2588 - 2.42 0.039 541 -647.9 -97.7 - - 2711 - - - - - - - - - 26.20 -
9553 648.0 -6.0 247 9561 done -1.31 - - 2577 - 2.50 0.024 2189 659.2 -97.7 - - 2711 - - - - - - - - - 26.41 -
9964 691.9 -9.2 251 9965 done -1.31 - - 2577 - - - 2189 - -97.7 - - 2710 - - - - - - - - - - -
10324 728.2 -10.0 254 10325 done -1.31 - - 2577 - - - 2189 - -97.7 - - 2709 - - - - - - - - - - -
10685 761.2 -9.4 257 10691 roll -1.31 - - 2565 - 2.53 0.044 3745 615.0 -97.7 - - 2708 - - - - - - - - - 26.13 -
10743 761.2 -9.4 257 10750 done -1.31 - - 2565 - 2.47 0.024 2108 -662.8 -97.7 - - 2707 - - - - - - - - - 26.44 -
11164 800.0 -8.1 261 11165 done -1.31 - - 2565 - - - 2107 - -97.7 - - 2706 - - - - - - - - - - -
11524 825.0 -7.1 264 11531 roll -1.31 - - 2553 - 2.65 0.042 3738 615.5 -97.7 - - 2705 - - - - - - - - - 26.12 -
11665 832.2 -6.7 265 11671 done -1.31 - - 2553 - 2.45 0.024 2109 -664.9 -97.7 - - 2705 - - - - - - - - - 26.43 -
12005 853.7 -6.0 268 12006 done -1.31 - - 2553 - - - 2110 - -97.7 - - 2704 - - - - - - - - - - -
12365 878.6 -6.8 271 12371 roll -1.31 - - 2541 - 2.62 0.043 3758 629.0 -97.7 - - 2703 - - - - - - - - - 26.07 -
12484 888.0 -7.1 272 12492 done -1.31 0.10 0.133 2573 320.0 2.47 0.024 2106 -668.8 -97.7 - - 2702 - - - - - - - - 25.98 26.41 -
12844 915.4 -7.6 275 12846 done -1.31 - - 2573 - - - 2106 - -97.7 - - 2701 - - - - - - - - - - -
13205 944.8 -8.1 278 13211 roll -1.34 - - 2574 - 2.42 0.041 549 -643.4 -97.7 - - 2700 - - - - - - - - - 26.09 -
13283 944.8 -8.1 278 13291 done -1.36 - - 2563 - 2.50 0.025 2187 655.2 -97.7 - - 2700 - - - - - - - - - 26.34 -
13684 989.9 -9.4 282 13686 done -1.36 - - 2563 - - - 2188 - -97.7 - - 2699 - - - - - - - - - - -
13701 end dive: TARGET_DEPTH_EXCEEDED
13701 begin apogee
13710 992.0 -9.6 283 13803 done -0.29 1.08 0.129 2898 310.2 - - 1576 - - 85.65 1.678 2319 -4.4 0.280 - - - - - - 25.17 - 23.05
13805 end apogee: CONTROL_FINISHED_OK
13805 begin climb
13808 998.0 - 288 13908 roll 1.26 1.45 0.064 3406 350.3 2.80 0.036 3200 580.0 97.7 91.93 1.656 1921 -4.3 0.278 - - - - - - 25.24 24.87 23.05
13959 997.5 3.6 296 14025 done 1.19 0.15 0.179 3384 -146.7 2.55 0.030 1583 -634.1 162.9 59.50 1.644 1654 -4.5 0.290 - - - - - - 25.34 25.65 23.25
14386 966.4 7.7 307 14393 roll 1.11 - - 3391 - 1.98 0.048 357 -619.2 162.9 - - 1645 - - - - - - - - - 26.15 -
14588 956.1 7.9 308 14594 done 1.03 0.15 0.148 3331 -400.0 1.92 0.024 1658 677.6 162.9 - - 1644 - - - - - - - - 25.85 26.42 -
14986 918.8 7.7 312 14994 roll 0.99 - - 3340 - 2.10 0.048 359 -618.6 162.9 - - 1642 - - - - - - - - - 26.24 -
15136 909.2 7.6 313 15143 done 0.97 - - 3340 - 1.95 0.024 1656 665.1 162.9 - - 1641 - - - - - - - - - 26.49 -
15466 882.9 7.5 316 15474 roll 0.94 0.15 0.157 3309 -206.7 2.10 0.048 353 -620.5 162.9 - - 1640 - - - - - - - - 26.20 26.22 -
15595 874.6 7.2 317 15602 done 0.92 - - 3309 - 1.95 0.024 1652 666.2 162.9 - - 1639 - - - - - - - - - 26.51 -
15947 849.4 7.0 320 15954 roll 0.92 - - 3318 - 2.10 0.049 352 -619.0 162.9 - - 1639 - - - - - - - - - 26.20 -
16015 849.4 7.0 320 16019 done 0.92 - - 3318 - 1.95 0.025 1650 665.6 162.9 - - 1639 - - - - - - - - - 26.51 -
16417 812.7 7.8 324 16418 done 0.92 - - 3318 - - - 1651 - 162.9 - - 1638 - - - - - - - - - - -
16777 784.7 7.8 327 16784 roll 0.92 - - 3328 - 2.10 0.049 356 -616.7 162.9 - - 1638 - - - - - - - - - 26.15 -
16936 774.5 7.9 328 16940 done 0.92 0.12 0.150 3296 -266.7 1.95 0.025 1658 667.7 162.9 - - 1636 - - - - - - - - 26.11 26.49 -
17250 745.8 8.2 331 17256 roll 0.92 - - 3304 - 2.12 0.048 350 -617.0 162.9 - - 1636 - - - - - - - - - 26.13 -
17338 745.8 8.2 331 17342 done 0.92 - - 3304 - 1.95 0.026 1648 665.6 162.9 - - 1636 - - - - - - - - - 26.48 -
17721 707.4 8.1 335 17722 done 0.95 - - 3302 - - - 1648 - 162.9 - - 1636 - - - - - - - - - - -
18081 681.9 7.3 338 18087 roll 0.99 - - 3304 - 2.53 0.037 3202 614.2 162.9 - - 1636 - - - - - - - - - 26.19 -
18170 681.9 7.3 338 18177 done 1.02 - - 3317 - 2.53 0.031 1584 -639.5 162.9 - - 1636 - - - - - - - - - 26.27 -
18561 651.8 6.2 342 18572 roll 1.06 - - 3317 - 2.67 0.036 3208 608.2 171.9 5.68 1.222 1618 -3.2 0.180 - - - - - - - 26.11 23.90
18672 644.7 6.2 343 18689 done 1.10 - - 3328 - 2.50 0.031 1581 -650.8 182.6 11.77 1.379 1574 -3.7 0.186 - - - - - - - 26.19 23.86
19021 618.3 7.3 346 19028 roll 1.12 - - 3329 - 2.60 0.035 3196 621.2 182.6 - - 1573 - - - - - - - - - 26.13 -
19110 618.3 7.3 346 19117 done 1.15 - - 3346 - 2.55 0.029 1571 -637.3 182.6 - - 1573 - - - - - - - - - 26.21 -
19502 571.3 9.8 350 19509 roll 1.17 0.10 0.097 3396 500.0 2.60 0.036 3199 626.2 182.6 - - 1573 - - - - - - - - 26.58 26.17 -
19590 571.3 9.8 350 19597 done 1.20 - - 3408 - 2.55 0.030 1572 -638.0 182.6 - - 1573 - - - - - - - - - 26.25 -
19981 519.3 10.9 354 19989 roll 1.15 0.15 0.155 3376 -213.3 1.95 0.048 354 -624.6 182.6 - - 1573 - - - - - - - - 26.20 26.10 -
20230 499.4 9.3 356 20237 done 1.10 - - 3376 - 1.95 0.025 1654 666.7 182.6 - - 1572 - - - - - - - - - 26.46 -
20581 472.7 7.4 362 20588 roll 1.10 - - 3386 - 2.10 0.048 356 -618.1 182.6 - - 1570 - - - - - - - - - 26.06 -
20792 457.3 8.4 365 20799 done 1.08 0.10 0.132 3353 -330.0 1.92 0.026 1654 676.0 182.6 - - 1571 - - - - - - - - 26.03 26.46 -
21122 425.0 9.1 371 21128 roll 1.10 - - 3353 - 2.47 0.037 3200 625.9 182.6 - - 1572 - - - - - - - - - 26.16 -
21189 418.8 9.6 372 21197 done 1.10 - - 3363 - 2.55 0.030 1572 -638.4 182.6 - - 1572 - - - - - - - - - 26.23 -
21540 378.5 11.2 378 21547 roll 1.10 - - 3372 - 1.98 0.047 349 -617.7 182.6 - - 1572 - - - - - - - - - 26.05 -
21730 359.4 10.7 381 21737 done 1.10 - - 3372 - 1.95 0.024 1649 666.7 182.6 - - 1572 - - - - - - - - - 26.46 -
22080 327.7 8.4 387 22087 roll 1.10 - - 3382 - 2.10 0.047 354 -616.7 182.6 - - 1572 - - - - - - - - - 26.03 -
22189 322.8 8.2 388 22193 done 1.10 - - 3382 - 1.95 0.024 1654 666.7 182.6 - - 1572 - - - - - - - - - 26.46 -
22491 297.7 7.0 393 22498 roll 1.10 - - 3391 - 2.10 0.047 355 -618.6 182.6 - - 1572 - - - - - - - - - 26.03 -
22579 293.1 7.2 394 22584 done 1.10 0.15 0.145 3352 -260.0 1.95 0.024 1661 669.7 182.6 - - 1572 - - - - - - - - 25.99 26.46 -
22904 264.8 8.4 400 22909 roll 1.13 - - 3360 - 2.10 0.046 355 -621.9 182.6 - - 1572 - - - - - - - - - 26.03 -
23142 241.5 9.8 404 23149 done 1.13 - - 3360 - 1.98 0.024 1652 655.1 182.6 - - 1572 - - - - - - - - - 26.47 -
23503 206.2 9.8 410 23510 roll 1.16 - - 3370 - 2.08 0.047 359 -621.6 182.6 - - 1572 - - - - - - - - - 26.03 -
23672 193.8 10.1 412 23680 done 1.19 - - 3369 - 1.92 0.024 1648 671.4 182.6 - - 1572 - - - - - - - - - 26.46 -
23983 158.9 9.7 418 23990 roll 1.21 - - 3379 - 2.10 0.047 346 -620.0 182.6 - - 1572 - - - - - - - - - 26.03 -
24062 153.1 9.7 419 24069 done 1.21 - - 3379 - 1.98 0.024 1646 656.6 182.6 - - 1572 - - - - - - - - - 26.46 -
24372 127.2 7.1 429 24379 roll 1.21 - - 3389 - 2.10 0.046 348 -618.1 182.6 - - 1572 - - - - - - - - - 26.02 -
24433 123.0 6.8 431 24439 done 1.21 - - 3389 - 1.92 0.024 1647 676.6 182.6 - - 1571 - - - - - - - - - 26.47 -
24765 101.4 6.0 442 24780 roll 1.22 - - 3389 - 2.45 0.035 3202 634.7 197.2 8.52 0.865 1515 -6.6 0.082 - - - - - - - 26.14 24.19
24822 97.3 6.4 444 24831 done 1.23 - - 3401 - 2.53 0.029 1574 -643.5 203.1 3.17 0.327 1491 -7.6 0.240 - - - - - - - 26.19 24.94
25135 71.4 8.6 456 25141 done 1.23 - - 3401 - - - 1575 - 203.1 - - 1490 - - - - - - - - - - -
25443 42.5 8.6 487 25451 roll 1.23 - - 3410 - 1.95 0.046 356 -625.1 203.1 - - 1490 - - - - - - - - - 26.03 -
25612 26.3 10.3 504 25620 done 1.23 - - 3410 - 1.92 0.023 1649 673.4 203.1 - - 1490 - - - - - - - - - 26.47 -
25859 end climb: SURFACE_DEPTH_REACHED
25859 begin surface coast
25891 end surface coast: CONTROL_FINISHED_OK
25891 begin surface
SM 2.13 - - - - -8.81 8.48 0.033 151 -384.3 0.82 0.039 2190 659.8 300.00 42.65 0.128 1094 -9.3 0.016 - - - - - -