SPURS Sep12 * SG189 * Dive index * Mission links * Dive 453 * Raw log
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• Previous call tries 1 • 77.81 of 150.00 AH used of 24V (48.12% remains)
• Previous NAKs 0, Timeouts 0 • 69.05 of 97.00 AH used of 10V (28.81% remains)
• Surface angle -58.6 deg, depth 2.24 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 38 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 34 VBD -1.32 - - 151 - - - 2121 - -90.7 -10.93 - 1409 - - - - - - - - - - -
38 2.1 - 1 103 done -1.33 9.18 0.192 2564 262.9 - - 2118 - -97.7 -49.83 - 2718 -26.3 - - - - - - - 25.37 - 26.70
407 26.9 -7.9 38 414 roll -1.27 - - 2554 - 2.60 0.040 3748 626.9 -97.7 - - 2719 - - - - - - - - - 26.10 -
705 51.8 -8.6 68 713 done -1.20 0.17 0.132 2609 323.5 2.45 0.021 2088 -677.6 -97.7 - - 2720 - - - - - - - - 25.79 26.42 -
1014 75.7 -7.7 99 1021 roll -1.20 - - 2598 - 2.67 0.038 3752 623.2 -97.7 - - 2720 - - - - - - - - - 26.15 -
1216 90.8 -8.5 105 1223 done -1.17 - - 2598 - 2.40 0.021 2102 -687.5 -97.7 - - 2720 - - - - - - - - - 26.45 -
1524 118.7 -8.5 116 1531 roll -1.17 - - 2586 - 2.65 0.038 3744 619.6 -97.7 - - 2720 - - - - - - - - - 26.17 -
1645 128.5 -8.2 120 1652 done -1.14 0.17 0.142 2634 282.4 2.38 0.021 2094 -693.3 -97.7 - - 2720 - - - - - - - - 25.94 26.46 -
1977 150.3 -6.4 131 1983 roll -1.17 - - 2635 - 2.40 0.037 541 -647.1 -97.7 - - 2721 - - - - - - - - - 26.20 -
2075 154.1 -6.3 132 2081 done -1.20 - - 2625 - 2.45 0.023 2187 671.8 -97.7 - - 2721 - - - - - - - - - 26.42 -
2395 177.7 -6.7 138 2401 roll -1.22 - - 2611 - 2.50 0.040 3772 634.0 -97.7 - - 2721 - - - - - - - - - 26.18 -
2483 182.2 -7.0 139 2491 done -1.22 - - 2611 - 2.50 0.020 2092 -672.0 -97.7 - - 2721 - - - - - - - - - 26.48 -
2815 209.2 -7.4 145 2816 done -1.22 - - 2611 - - - 2092 - -97.7 - - 2722 - - - - - - - - - - -
3115 228.0 -6.1 150 3121 roll -1.24 - - 2611 - 2.42 0.037 540 -641.3 -97.7 - - 2722 - - - - - - - - - 26.22 -
3204 231.4 -5.9 151 3212 done -1.24 - - 2599 - 2.55 0.024 2201 651.4 -97.7 - - 2722 - - - - - - - - - 26.42 -
3535 252.2 -5.8 157 3536 done -1.24 - - 2599 - - - 2201 - -97.7 - - 2722 - - - - - - - - - - -
3834 273.0 -7.1 162 3842 roll -1.24 - - 2599 - 2.60 0.036 546 -636.5 -97.7 - - 2722 - - - - - - - - - 26.23 -
3943 277.9 -7.6 163 3952 done -1.24 - - 2587 - 2.50 0.023 2204 663.2 -97.7 - - 2722 - - - - - - - - - 26.43 -
4255 310.1 -9.0 169 4261 roll -1.24 - - 2588 - 2.55 0.036 542 -651.8 -97.7 - - 2721 - - - - - - - - - 26.22 -
4353 315.6 -9.1 170 4361 done -1.24 - - 2575 - 2.50 0.023 2200 663.2 -97.7 - - 2722 - - - - - - - - - 26.42 -
4674 345.2 -7.9 176 4681 roll -1.24 - - 2563 - 2.47 0.040 3744 625.1 -97.7 - - 2721 - - - - - - - - - 26.19 -
4795 354.1 -7.4 178 4802 done -1.24 0.12 0.148 2595 266.7 2.42 0.021 2071 -691.3 -97.7 - - 2720 - - - - - - - - 26.10 26.46 -
5155 376.4 -6.0 184 5161 roll -1.27 - - 2596 - 2.38 0.038 549 -639.5 -97.7 - - 2720 - - - - - - - - - 26.22 -
5194 376.4 -6.0 184 5201 done -1.29 - - 2585 - 2.45 0.024 2189 669.4 -97.7 - - 2720 - - - - - - - - - 26.42 -
5515 400.6 -6.9 190 5522 roll -1.29 - - 2573 - 2.53 0.041 3751 617.4 -97.7 - - 2718 - - - - - - - - - 26.18 -
5594 405.3 -7.2 191 5601 done -1.29 - - 2573 - 2.47 0.021 2091 -672.1 -97.7 - - 2718 - - - - - - - - - 26.47 -
5935 433.1 -7.8 197 5936 done -1.29 - - 2569 - - - 2091 - -97.7 - - 2717 - - - - - - - - - - -
6235 457.0 -8.0 202 6241 roll -1.29 - - 2574 - 2.42 0.038 548 -637.6 -97.7 - - 2717 - - - - - - - - - 26.23 -
6313 461.7 -8.0 203 6321 done -1.29 - - 2561 - 2.50 0.024 2198 660.0 -97.7 - - 2716 - - - - - - - - - 26.41 -
6654 489.3 -7.5 209 6661 roll -1.29 - - 2550 - 2.50 0.041 3742 617.6 -97.7 - - 2715 - - - - - - - - - 26.17 -
6854 503.5 -7.7 212 6862 done -1.29 0.10 0.128 2582 320.0 2.42 0.021 2098 -679.3 -97.7 - - 2715 - - - - - - - - 26.06 26.46 -
7255 536.6 -7.9 216 7256 done -1.29 - - 2582 - - - 2098 - -97.7 - - 2713 - - - - - - - - - - -
7616 566.5 -8.3 219 7617 done -1.32 - - 2582 - - - 2098 - -97.7 - - 2713 - - - - - - - - - - -
7975 592.3 -7.4 222 7981 roll -1.35 - - 2583 - 2.47 0.040 543 -629.6 -97.7 - - 2712 - - - - - - - - - 26.17 -
8075 592.3 -7.4 222 8081 done -1.39 - - 2572 - 2.45 0.025 2193 673.5 -97.7 - - 2712 - - - - - - - - - 26.39 -
8456 625.4 -6.9 226 8457 done -1.41 - - 2572 - - - 2193 - -97.7 - - 2710 - - - - - - - - - - -
8815 654.3 -7.8 229 8822 roll -1.44 0.10 0.097 2517 -550.0 2.58 0.039 548 -637.6 -97.7 - - 2710 - - - - - - - - 26.65 26.15 -
8874 654.3 -7.8 229 8882 done -1.47 - - 2505 - 2.50 0.024 2189 656.4 -97.7 - - 2709 - - - - - - - - - 26.38 -
9295 700.5 -9.6 233 9302 roll -1.44 0.12 0.168 2526 175.0 2.53 0.043 3738 612.3 -97.7 - - 2708 - - - - - - - - 26.31 26.10 -
9375 700.5 -9.6 233 9381 done -1.41 - - 2526 - 2.42 0.022 2113 -671.5 -97.7 - - 2710 - - - - - - - - - 26.44 -
9775 739.1 -8.0 237 9782 roll -1.38 0.12 0.155 2547 175.0 2.65 0.041 3742 614.7 -97.7 - - 2707 - - - - - - - - 26.34 26.10 -
9944 746.9 -7.4 238 9951 done -1.38 - - 2547 - 2.45 0.022 2109 -666.5 -97.7 - - 2706 - - - - - - - - - 26.41 -
10255 767.2 -5.8 241 10261 roll -1.38 - - 2535 - 2.62 0.041 3755 628.2 -97.7 - - 2705 - - - - - - - - - 26.08 -
10344 767.2 -5.8 241 10351 done -1.38 - - 2535 - 2.50 0.022 2095 -664.0 -97.7 - - 2705 - - - - - - - - - 26.40 -
10735 802.2 -7.3 245 10741 roll -1.38 - - 2535 - 2.40 0.041 549 -644.2 -97.7 - - 2704 - - - - - - - - - 26.10 -
10794 802.2 -7.3 245 10802 done -1.38 0.12 0.165 2552 141.7 2.50 0.024 2188 655.6 -97.7 - - 2703 - - - - - - - - 25.94 26.35 -
11215 847.2 -9.4 249 11221 roll -1.40 - - 2553 - 2.58 0.040 542 -638.0 -97.7 - - 2702 - - - - - - - - - 26.08 -
11284 847.2 -9.4 249 11291 done -1.43 - - 2543 - 2.50 0.025 2186 657.6 -97.7 - - 2702 - - - - - - - - - 26.34 -
11695 893.3 -9.6 253 11701 roll -1.43 - - 2531 - 2.53 0.044 3744 615.8 -97.7 - - 2701 - - - - - - - - - 26.03 -
11793 893.3 -9.6 253 11801 done -1.43 - - 2531 - 2.47 0.024 2108 -662.3 -97.7 - - 2701 - - - - - - - - - 26.37 -
12175 935.1 -8.7 257 12181 roll -1.43 - - 2519 - 2.62 0.043 3752 627.5 -97.7 - - 2700 - - - - - - - - - 26.01 -
12243 935.1 -8.7 257 12251 done -1.43 - - 2519 - 2.50 0.024 2101 -660.4 -97.7 - - 2699 - - - - - - - - - 26.36 -
12655 974.4 -8.2 261 12661 roll -1.43 - - 2519 - 2.47 0.041 545 -630.0 -97.7 - - 2698 - - - - - - - - - 26.03 -
12694 974.4 -8.2 261 12702 done -1.43 0.10 0.145 2538 190.0 2.50 0.026 2185 656.0 -97.7 - - 2698 - - - - - - - - 25.84 26.31 -
12891 end dive: TARGET_DEPTH_EXCEEDED
12891 begin apogee
12900 993.6 -8.1 263 12993 done -0.29 1.15 0.126 2898 313.0 - - 1576 - - 85.35 1.677 2323 -4.4 0.278 - - - - - - 25.07 - 23.01
12995 end apogee: CONTROL_FINISHED_OK
12995 begin climb
12999 997.3 - 268 13095 done 1.33 1.50 0.061 3429 354.0 - - 1576 - 97.7 91.53 1.676 1922 -4.4 0.278 - - - - - - 25.32 - 23.05
13395 975.5 7.4 283 13397 done 1.20 0.17 0.168 3385 -258.8 - - 1575 - 97.7 - - 1912 - - - - - - - - 25.88 - -
13755 951.4 6.9 286 13757 done 1.09 0.12 0.177 3355 -250.0 - - 1576 - 97.7 - - 1913 - - - - - - - - 26.17 - -
14115 931.3 5.8 289 14136 roll 1.05 - - 3354 - 2.70 0.036 3202 602.2 115.7 15.32 1.569 1847 -4.3 0.273 - - - - - - - 25.98 23.87
14194 931.3 5.8 289 14218 done 1.01 0.12 0.148 3327 -225.0 2.55 0.030 1582 -635.3 133.7 17.90 1.572 1775 -4.0 0.254 - - - - - - 25.74 26.10 23.70
14576 901.0 6.4 292 14586 roll 0.99 - - 3326 - 2.70 0.035 3206 601.5 139.0 5.20 1.271 1755 -3.8 0.291 - - - - - - - 26.16 23.91
14766 893.1 6.7 293 14772 done 0.99 - - 3337 - 2.53 0.030 1584 -641.1 139.0 - - 1755 - - - - - - - - - 26.25 -
15166 859.9 6.9 297 15172 roll 0.99 - - 3337 - 2.62 0.036 3202 617.6 139.0 - - 1753 - - - - - - - - - 26.25 -
15294 851.4 7.0 298 15301 done 0.99 - - 3349 - 2.55 0.030 1572 -639.2 139.0 - - 1753 - - - - - - - - - 26.32 -
15645 827.2 6.8 301 15652 roll 0.99 - - 3358 - 1.92 0.047 360 -631.2 139.0 - - 1752 - - - - - - - - - 26.17 -
15745 827.2 6.8 301 15752 done 0.99 0.15 0.158 3320 -253.3 1.95 0.025 1664 668.7 139.0 - - 1751 - - - - - - - - 25.98 26.47 -
16125 798.3 6.0 305 16144 roll 1.01 - - 3319 - 2.53 0.037 3202 607.9 152.4 13.65 1.489 1697 -4.0 0.226 - - - - - - - 26.07 23.93
16224 798.3 6.0 305 16243 done 1.03 - - 3330 - 2.55 0.030 1581 -635.7 165.7 13.65 1.475 1644 -3.9 0.224 - - - - - - - 26.15 23.81
16586 764.8 7.3 309 16592 roll 1.03 - - 3339 - 1.98 0.049 353 -620.2 165.7 - - 1641 - - - - - - - - - 26.07 -
16674 764.8 7.3 309 16681 done 1.03 - - 3339 - 1.98 0.025 1662 661.1 165.7 - - 1641 - - - - - - - - - 26.38 -
17066 721.6 9.0 313 17067 done 1.03 - - 3339 - - - 1662 - 165.7 - - 1640 - - - - - - - - - - -
17425 688.3 9.3 316 17432 roll 1.03 - - 3349 - 2.10 0.047 353 -623.3 165.7 - - 1639 - - - - - - - - - 26.13 -
17564 677.4 9.2 317 17571 done 1.03 - - 3349 - 1.95 0.025 1650 665.1 165.7 - - 1639 - - - - - - - - - 26.46 -
17906 649.5 8.1 320 17907 done 1.03 - - 3349 - - - 1650 - 165.7 - - 1639 - - - - - - - - - - -
18265 624.8 7.0 323 18272 roll 1.03 - - 3359 - 2.08 0.047 357 -621.6 165.7 - - 1639 - - - - - - - - - 26.08 -
18334 624.8 7.0 323 18341 done 1.03 - - 3359 - 1.95 0.026 1649 662.6 165.7 - - 1639 - - - - - - - - - 26.43 -
18745 594.0 6.4 327 18755 roll 1.03 - - 3368 - 2.12 0.048 353 -611.3 171.0 5.47 1.176 1621 -3.3 0.177 - - - - - - - 26.15 24.02
18976 575.2 7.2 329 18982 done 1.03 0.10 0.133 3335 -330.0 1.95 0.026 1658 669.2 171.0 - - 1621 - - - - - - - - 25.98 26.41 -
19336 541.7 9.1 332 19337 done 1.03 - - 3335 - - - 1658 - 171.0 - - 1621 - - - - - - - - - - -
19695 506.3 9.9 335 19702 roll 1.08 - - 3335 - 2.50 0.036 3195 614.8 171.0 - - 1621 - - - - - - - - - 26.14 -
19744 506.3 9.9 335 19752 done 1.12 - - 3346 - 2.55 0.030 1571 -636.9 171.0 - - 1621 - - - - - - - - - 26.22 -
20056 477.9 7.6 340 20062 roll 1.16 - - 3355 - 1.95 0.049 356 -623.1 171.0 - - 1621 - - - - - - - - - 26.02 -
20184 468.5 7.7 342 20191 done 1.18 - - 3355 - 1.95 0.024 1650 663.6 171.0 - - 1621 - - - - - - - - - 26.43 -
20535 439.6 8.2 348 20542 roll 1.21 - - 3365 - 2.10 0.047 354 -617.1 171.0 - - 1624 - - - - - - - - - 26.01 -
20645 434.4 8.3 349 20653 done 1.24 - - 3365 - 1.92 0.025 1646 672.9 171.0 - - 1621 - - - - - - - - - 26.41 -
20955 404.2 8.2 355 20963 roll 1.24 0.10 0.096 3428 630.0 2.08 0.047 357 -619.7 171.0 - - 1621 - - - - - - - - 26.63 25.99 -
21116 392.8 8.8 357 21122 done 1.24 0.08 0.144 3403 -312.5 1.92 0.025 1654 675.5 171.0 - - 1622 - - - - - - - - 26.05 26.43 -
21435 360.5 8.9 363 21442 roll 1.24 - - 3412 - 2.10 0.047 353 -619.5 171.0 - - 1621 - - - - - - - - - 25.98 -
21564 349.3 9.0 365 21571 done 1.21 - - 3411 - 1.95 0.024 1650 665.1 171.0 - - 1621 - - - - - - - - - 26.43 -
21916 317.4 8.8 371 21922 roll 1.21 - - 3421 - 2.10 0.047 350 -619.0 171.0 - - 1621 - - - - - - - - - 25.98 -
22025 311.9 8.8 372 22034 done 1.19 0.15 0.149 3381 -266.7 1.95 0.024 1659 671.3 171.0 - - 1622 - - - - - - - - 25.94 26.43 -
22336 282.2 8.1 378 22342 roll 1.19 - - 3389 - 2.10 0.046 357 -620.0 171.0 - - 1622 - - - - - - - - - 25.98 -
22495 271.5 8.7 380 22502 done 1.19 - - 3389 - 1.92 0.024 1652 674.5 171.0 - - 1621 - - - - - - - - - 26.42 -
22815 237.6 9.5 386 22822 roll 1.19 - - 3399 - 2.08 0.046 356 -623.1 171.0 - - 1622 - - - - - - - - - 25.98 -
23005 220.2 9.6 389 23012 done 1.19 - - 3399 - 1.95 0.024 1658 667.7 171.0 - - 1622 - - - - - - - - - 26.43 -
23355 188.3 8.7 395 23362 roll 1.19 - - 3409 - 2.10 0.046 355 -620.5 171.0 - - 1622 - - - - - - - - - 25.98 -
23435 182.9 8.7 396 23442 done 1.19 - - 3409 - 1.95 0.023 1656 667.2 171.0 - - 1622 - - - - - - - - - 26.44 -
23775 152.6 8.4 402 23782 roll 1.19 - - 3419 - 2.10 0.046 354 -620.0 171.0 - - 1623 - - - - - - - - - 25.98 -
24065 130.9 7.5 410 24074 done 1.19 0.12 0.148 3386 -275.0 1.95 0.022 1662 670.8 171.0 - - 1623 - - - - - - - - 26.04 26.46 -
24379 105.6 8.1 421 24385 roll 1.23 - - 3390 - 2.45 0.035 3209 631.4 171.0 - - 1624 - - - - - - - - - 26.13 -
24436 100.5 8.4 423 24442 done 1.26 - - 3397 - 2.53 0.029 1577 -645.1 171.0 - - 1624 - - - - - - - - - 26.20 -
24768 73.9 7.9 434 24776 roll 1.29 - - 3406 - 1.92 0.047 350 -639.1 171.0 - - 1625 - - - - - - - - - 25.98 -
24986 54.0 9.9 456 24993 done 1.29 - - 3406 - 1.92 0.023 1656 680.2 171.0 - - 1625 - - - - - - - - - 26.46 -
25296 27.4 8.2 487 25304 roll 1.32 - - 3406 - 2.47 0.034 3230 637.2 171.0 - - 1626 - - - - - - - - - 26.15 -
25335 23.9 8.6 491 25343 done 1.32 - - 3418 - 2.58 0.028 1575 -641.5 171.0 - - 1626 - - - - - - - - - 26.21 -
25552 end climb: SURFACE_DEPTH_REACHED
25552 begin surface coast
25583 end surface coast: CONTROL_FINISHED_OK
25583 begin surface
SM 2.30 - - - - -8.82 8.57 0.036 152 -381.1 0.95 0.031 2217 675.8 300.00 58.03 0.123 1094 -9.2 0.018 - - - - - -