SPURS Sep12 * SG189 * Dive index * Mission links * Dive 420 * Raw log
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• Previous call tries 1 • 73.30 of 150.00 AH used of 24V (51.13% remains)
• Previous NAKs 0, Timeouts 0 • 64.66 of 97.00 AH used of 10V (33.34% remains)
• Surface angle -56.4 deg, depth 2.19 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 42 s
• GPS2 time: 16 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 35 VBD -1.32 - - 154 - - - 2170 - -90.7 -11.00 - 1412 - - - - - - - - - - -
39 2.2 - 1 105 roll -1.33 9.20 0.190 2570 262.6 2.58 0.050 547 -629.1 -97.7 -49.42 - 2719 -26.4 - - - - - - - 25.29 25.96 26.70
348 19.9 -6.3 32 355 done -1.23 0.17 0.158 2604 200.0 2.42 0.024 2192 679.8 -97.7 - - 2720 - - - - - - - - 25.77 26.32 -
655 40.0 -5.1 63 664 roll -1.23 - - 2594 - 2.47 0.040 3740 626.7 -97.7 - - 2721 - - - - - - - - - 26.13 -
956 62.0 -8.7 93 964 done -1.19 - - 2594 - 2.42 0.021 2103 -676.4 -97.7 - - 2721 - - - - - - - - - 26.46 -
1286 88.5 -8.6 116 1293 roll -1.16 0.12 0.152 2616 183.3 2.62 0.039 3745 626.7 -97.7 - - 2721 - - - - - - - - 26.36 26.18 -
1586 110.5 -7.4 126 1592 done -1.16 - - 2616 - 2.42 0.021 2102 -678.9 -97.7 - - 2722 - - - - - - - - - 26.48 -
1918 128.9 -5.9 137 1923 roll -1.16 - - 2604 - 2.60 0.039 3757 636.5 -97.7 - - 2722 - - - - - - - - - 26.20 -
2147 143.5 -7.2 144 2154 done -1.16 - - 2604 - 2.40 0.021 2099 -690.8 -97.7 - - 2722 - - - - - - - - - 26.48 -
2485 169.8 -7.3 152 2486 done -1.16 - - 2604 - - - 2099 - -97.7 - - 2723 - - - - - - - - - - -
2786 194.2 -8.2 157 2792 roll -1.16 - - 2591 - 2.65 0.039 3752 623.8 -97.7 - - 2723 - - - - - - - - - 26.21 -
3085 219.5 -8.5 162 3093 done -1.16 0.08 0.125 2619 350.0 2.45 0.021 2086 -680.0 -97.7 - - 2723 - - - - - - - - 26.17 26.51 -
3445 245.0 -6.7 168 3447 done -1.19 - - 2618 - - - 2086 - -97.7 - - 2723 - - - - - - - - - - -
3747 257.7 -4.0 173 3748 done -1.22 - - 2619 - - - 2086 - -97.7 - - 2724 - - - - - - - - - - -
4046 272.5 -5.1 178 4047 done -1.25 - - 2618 - - - 2086 - -97.7 - - 2723 - - - - - - - - - - -
4346 290.8 -6.2 183 4352 roll -1.29 - - 2619 - 2.38 0.037 545 -647.5 -97.7 - - 2724 - - - - - - - - - 26.26 -
4456 294.9 -6.4 184 4464 done -1.32 - - 2608 - 2.45 0.023 2189 671.0 -97.7 - - 2724 - - - - - - - - - 26.46 -
4766 317.9 -6.4 190 4773 roll -1.34 0.12 0.079 2532 -633.3 2.50 0.041 3758 627.6 -97.7 - - 2723 - - - - - - - - 26.67 26.20 -
5065 344.0 -8.9 195 5073 done -1.27 0.17 0.130 2587 323.5 2.45 0.021 2092 -680.0 -97.7 - - 2722 - - - - - - - - 25.90 26.51 -
5425 376.7 -9.0 201 5432 roll -1.27 - - 2577 - 2.67 0.040 3751 621.3 -97.7 - - 2721 - - - - - - - - - 26.21 -
5714 398.6 -9.2 205 5723 done -1.27 - - 2577 - 2.47 0.021 2093 -671.3 -97.7 - - 2721 - - - - - - - - - 26.49 -
6025 427.5 -7.9 211 6032 roll -1.27 - - 2565 - 2.65 0.039 3741 621.9 -97.7 - - 2719 - - - - - - - - - 26.21 -
6215 441.5 -7.7 214 6222 done -1.27 - - 2565 - 2.45 0.021 2101 -669.4 -97.7 - - 2719 - - - - - - - - - 26.49 -
6565 470.8 -8.3 220 6566 done -1.27 - - 2565 - - - 2101 - -97.7 - - 2719 - - - - - - - - - - -
6865 496.7 -8.6 225 6872 roll -1.27 - - 2553 - 2.65 0.040 3739 618.1 -97.7 - - 2718 - - - - - - - - - 26.20 -
7164 515.5 -8.0 228 7173 done -1.27 0.15 0.144 2593 266.7 2.45 0.021 2097 -670.2 -97.7 - - 2717 - - - - - - - - 26.05 26.48 -
7586 544.3 -5.9 232 7593 roll -1.30 - - 2582 - 2.67 0.041 3750 619.1 -97.7 - - 2715 - - - - - - - - - 26.17 -
7756 551.9 -5.9 233 7762 done -1.33 - - 2582 - 2.45 0.021 2104 -671.8 -97.7 - - 2715 - - - - - - - - - 26.48 -
8066 576.2 -6.6 236 8073 roll -1.35 - - 2575 - 2.62 0.041 3735 622.5 -97.7 - - 2713 - - - - - - - - - 26.18 -
8166 576.2 -6.6 236 8172 done -1.37 - - 2570 - 2.42 0.021 2106 -673.1 -97.7 - - 2713 - - - - - - - - - 26.48 -
8545 613.1 -7.7 240 8553 roll -1.37 - - 2558 - 2.65 0.041 3751 620.8 -97.7 - - 2713 - - - - - - - - - 26.17 -
8644 613.1 -7.7 240 8652 done -1.37 - - 2558 - 2.47 0.021 2097 -669.6 -97.7 - - 2712 - - - - - - - - - 26.46 -
9026 654.7 -8.7 244 9033 roll -1.37 - - 2546 - 2.65 0.041 3739 619.6 -97.7 - - 2711 - - - - - - - - - 26.16 -
9064 654.7 -8.7 244 9072 done -1.37 - - 2546 - 2.45 0.021 2104 -667.3 -97.7 - - 2711 - - - - - - - - - 26.46 -
9385 686.4 -8.8 247 9392 roll -1.37 - - 2546 - 2.45 0.038 545 -636.3 -97.7 - - 2710 - - - - - - - - - 26.20 -
9444 686.4 -8.8 247 9452 done -1.37 - - 2534 - 2.53 0.024 2187 649.0 -97.7 - - 2710 - - - - - - - - - 26.40 -
9866 724.7 -7.9 251 9872 roll -1.37 - - 2522 - 2.53 0.043 3751 618.2 -97.7 - - 2709 - - - - - - - - - 26.13 -
10097 733.8 -7.7 252 10104 done -1.35 0.15 0.153 2558 240.0 2.42 0.023 2088 -687.2 -97.7 - - 2709 - - - - - - - - 25.97 26.44 -
10466 769.1 -7.3 256 10473 roll -1.35 - - 2551 - 2.67 0.042 3739 618.4 -97.7 - - 2708 - - - - - - - - - 26.13 -
10514 769.1 -7.3 256 10522 done -1.35 - - 2551 - 2.47 0.022 2092 -666.8 -97.7 - - 2707 - - - - - - - - - 26.43 -
10826 803.6 -9.2 259 10827 done -1.37 - - 2551 - - - 2092 - -97.7 - - 2706 - - - - - - - - - - -
11185 840.6 -10.3 262 11192 roll -1.37 - - 2538 - 2.70 0.042 3751 614.4 -97.7 - - 2705 - - - - - - - - - 26.09 -
11335 852.1 -10.1 263 11342 done -1.37 - - 2539 - 2.45 0.023 2113 -668.6 -97.7 - - 2704 - - - - - - - - - 26.42 -
11665 881.7 -8.5 266 11666 done -1.37 - - 2538 - - - 2113 - -97.7 - - 2703 - - - - - - - - - - -
12025 909.1 -7.6 269 12032 roll -1.37 - - 2539 - 2.47 0.041 552 -632.0 -97.7 - - 2703 - - - - - - - - - 26.11 -
12135 909.1 -7.6 269 12144 done -1.37 0.08 0.149 2550 137.5 2.47 0.025 2185 661.1 -97.7 - - 2702 - - - - - - - - 25.98 26.36 -
12505 947.7 -8.0 273 12512 roll -1.37 - - 2541 - 2.53 0.044 3744 616.2 -97.7 - - 2701 - - - - - - - - - 26.05 -
12584 947.7 -8.0 273 12592 done -1.37 - - 2540 - 2.47 0.024 2107 -662.8 -97.7 - - 2701 - - - - - - - - - 26.39 -
12986 984.9 -7.7 277 12992 roll -1.37 - - 2529 - 2.67 0.043 3748 614.6 -97.7 - - 2700 - - - - - - - - - 26.03 -
13102 end dive: TARGET_DEPTH_EXCEEDED
13102 begin apogee
13113 994.1 -7.7 278 13205 done -0.29 1.20 0.132 2898 307.5 - - 1573 - - 85.55 1.679 2320 -4.4 0.280 - - - - - - 25.07 - 22.99
13206 end apogee: CONTROL_FINISHED_OK
13206 begin climb
13210 998.0 - 283 13313 roll 1.33 1.48 0.064 3431 360.1 2.10 0.048 352 -581.4 97.7 92.12 1.675 1920 -4.3 0.276 - - - - - - 25.25 24.88 23.03
13435 989.3 7.3 294 13444 done 1.18 0.17 0.167 3384 -276.5 2.00 0.023 1651 649.5 97.7 - - 1912 - - - - - - - - 25.62 26.07 -
13746 969.9 5.9 300 13760 done 1.11 - - 3384 - - - 1652 - 112.1 12.05 1.515 1863 -4.1 0.278 - - - - - - - - 23.91
14106 948.8 5.8 303 14128 roll 1.05 0.17 0.164 3337 -276.5 2.58 0.036 3206 602.3 128.7 16.35 1.566 1796 -4.1 0.265 - - - - - - 25.99 25.87 23.90
14297 941.9 5.9 304 14316 done 1.00 - - 3348 - 2.55 0.030 1575 -639.6 143.0 14.57 1.554 1735 -4.2 0.271 - - - - - - - 26.16 23.86
14687 906.9 7.5 308 14694 roll 0.97 0.12 0.170 3325 -191.7 1.95 0.048 351 -627.7 143.0 - - 1731 - - - - - - - - 26.15 26.15 -
14757 906.9 7.5 308 14764 done 0.94 - - 3325 - 1.95 0.024 1649 665.6 143.0 - - 1731 - - - - - - - - - 26.41 -
15167 871.5 7.4 312 15174 roll 0.94 - - 3335 - 2.08 0.047 358 -620.7 143.0 - - 1729 - - - - - - - - - 26.20 -
15316 863.0 7.2 313 15323 done 0.94 0.12 0.156 3303 -266.7 1.95 0.025 1668 671.8 143.0 - - 1729 - - - - - - - - 26.10 26.48 -
15648 839.8 6.6 316 15654 roll 0.95 - - 3311 - 2.12 0.048 350 -621.7 145.2 - - 1728 - - - - - - - - - 26.18 -
15706 839.8 6.6 316 15713 done 0.95 - - 3311 - 1.95 0.025 1651 667.2 147.3 - - 1728 - - - - - - - - - 26.49 -
16129 808.9 6.5 320 16144 roll 0.99 - - 3311 - 2.53 0.036 3205 614.2 151.5 7.62 1.395 1701 -3.5 0.219 - - - - - - - 26.22 23.96
16206 808.9 6.5 320 16217 done 1.02 - - 3324 - 2.53 0.030 1583 -641.1 155.7 5.65 1.280 1684 -3.0 0.203 - - - - - - - 26.26 23.91
16597 776.2 7.0 324 16599 done 1.05 - - 3324 - - - 1583 - 155.7 - - 1683 - - - - - - - - - - -
16958 751.7 6.8 327 16964 roll 1.07 - - 3333 - 1.98 0.049 326 -634.8 155.7 - - 1682 - - - - - - - - - 26.13 -
17066 751.7 6.8 327 17075 done 1.10 - - 3333 - 2.00 0.025 1652 663.0 155.7 - - 1682 - - - - - - - - - 26.47 -
17437 719.3 6.7 331 17438 done 1.10 - - 3333 - - - 1652 - 155.7 - - 1682 - - - - - - - - - - -
17797 695.1 6.7 334 17804 roll 1.10 - - 3343 - 2.10 0.047 356 -617.1 155.7 - - 1681 - - - - - - - - - 26.11 -
17936 686.3 6.9 335 17939 done 1.10 - - 3343 - 1.95 0.025 1653 665.1 155.7 - - 1681 - - - - - - - - - 26.48 -
18268 659.4 7.6 338 18275 roll 1.10 - - 3353 - 2.10 0.047 352 -619.5 155.7 - - 1681 - - - - - - - - - 26.08 -
18407 649.2 7.9 339 18415 done 1.10 - - 3352 - 1.95 0.025 1651 666.2 155.7 - - 1681 - - - - - - - - - 26.47 -
18748 620.6 8.1 342 18749 done 1.10 - - 3352 - - - 1651 - 155.7 - - 1681 - - - - - - - - - - -
19108 595.7 7.2 345 19115 roll 1.10 - - 3362 - 2.12 0.047 347 -615.1 155.7 - - 1681 - - - - - - - - - 26.05 -
19317 588.1 6.8 346 19324 done 1.10 - - 3362 - 1.98 0.025 1658 662.1 155.7 - - 1681 - - - - - - - - - 26.46 -
19708 553.9 7.1 350 19709 done 1.10 - - 3362 - - - 1658 - 155.7 - - 1681 - - - - - - - - - - -
20068 521.2 8.8 353 20075 roll 1.10 - - 3372 - 2.10 0.047 355 -620.5 155.7 - - 1681 - - - - - - - - - 26.02 -
20267 509.4 9.3 354 20274 done 1.10 - - 3372 - 1.95 0.025 1653 665.6 155.7 - - 1681 - - - - - - - - - 26.45 -
20608 474.7 7.5 360 20609 done 1.10 - - 3372 - - - 1653 - 155.7 - - 1681 - - - - - - - - - - -
20909 457.2 5.7 365 20935 roll 1.12 - - 3381 - 2.17 0.047 347 -601.8 174.7 18.12 1.289 1606 -4.1 0.157 - - - - - - - 25.94 23.87
20987 453.7 5.6 366 21015 done 1.14 - - 3381 - 1.98 0.025 1649 657.6 195.2 19.75 1.284 1523 -4.2 0.158 - - - - - - - 26.20 23.75
21328 428.4 7.2 372 21335 roll 1.14 - - 3391 - 2.10 0.047 354 -616.7 195.2 - - 1520 - - - - - - - - - 25.99 -
21497 418.1 8.0 374 21506 done 1.14 - - 3391 - 1.95 0.024 1648 663.6 195.2 - - 1520 - - - - - - - - - 26.36 -
21808 385.0 9.3 380 21815 roll 1.14 - - 3400 - 2.08 0.047 357 -620.7 195.2 - - 1520 - - - - - - - - - 26.08 -
21967 372.7 10.0 382 21975 done 1.14 0.12 0.149 3368 -266.7 1.95 0.024 1662 669.2 195.2 - - 1519 - - - - - - - - 26.06 26.44 -
22289 336.2 10.2 388 22295 roll 1.18 - - 3377 - 2.10 0.046 356 -621.9 195.2 - - 1520 - - - - - - - - - 26.10 -
22357 329.6 10.4 389 22364 done 1.22 - - 3377 - 1.95 0.024 1659 668.2 195.2 - - 1519 - - - - - - - - - 26.46 -
22709 290.2 10.8 395 22715 roll 1.25 - - 3386 - 2.10 0.046 349 -623.8 195.2 - - 1520 - - - - - - - - - 26.08 -
22997 266.8 9.8 399 23000 done 1.25 - - 3387 - 2.00 0.024 1656 653.5 195.2 - - 1518 - - - - - - - - - 26.48 -
23299 238.9 7.7 404 23305 roll 1.28 - - 3396 - 2.10 0.046 350 -621.9 195.2 - - 1520 - - - - - - - - - 26.08 -
23399 233.8 7.9 405 23405 done 1.31 - - 3396 - 1.95 0.024 1642 662.6 195.2 - - 1520 - - - - - - - - - 26.48 -
23719 200.5 9.6 411 23725 roll 1.33 - - 3406 - 2.08 0.046 347 -622.6 195.2 - - 1520 - - - - - - - - - 26.07 -
23887 188.1 10.1 413 23890 done 1.33 - - 3406 - 1.95 0.023 1654 670.3 195.2 - - 1520 - - - - - - - - - 26.48 -
24188 157.9 8.2 418 24195 roll 1.33 - - 3406 - 2.47 0.034 3201 626.3 195.2 - - 1520 - - - - - - - - - 26.18 -
24217 157.9 8.2 418 24225 done 1.33 - - 3418 - 2.53 0.028 1566 -646.2 195.2 - - 1520 - - - - - - - - - 26.25 -
24548 127.6 8.8 428 24555 roll 1.33 - - 3428 - 1.95 0.045 351 -623.1 195.2 - - 1520 - - - - - - - - - 26.07 -
24848 99.3 9.5 438 24855 done 1.33 - - 3428 - 1.95 0.024 1648 665.1 195.2 - - 1520 - - - - - - - - - 26.48 -
25158 67.1 10.5 453 25166 roll 1.33 - - 3437 - 2.10 0.046 349 -618.6 195.2 - - 1521 - - - - - - - - - 26.06 -
25268 53.8 12.7 464 25276 done 1.33 - - 3438 - 1.92 0.023 1656 680.7 195.2 - - 1520 - - - - - - - - - 26.49 -
25578 19.4 7.9 495 25587 roll 1.33 - - 3447 - 2.08 0.046 358 -624.0 195.2 - - 1521 - - - - - - - - - 26.08 -
25775 end climb: SURFACE_DEPTH_REACHED
25775 begin surface coast
25806 end surface coast: CONTROL_FINISHED_OK
25806 begin surface
SM 2.18 - - - - -8.81 8.60 0.034 154 -382.9 2.80 0.024 2173 648.2 300.00 46.72 0.125 1094 -9.1 0.016 - - - - - -