SPURS Sep12 * SG189 * Dive index * Mission links * Dive 454 * Raw log
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• Previous call tries 4 • 77.96 of 150.00 AH used of 24V (48.03% remains)
• Previous NAKs 0, Timeouts 0 • 69.18 of 97.00 AH used of 10V (28.68% remains)
• Surface angle -57.2 deg, depth 2.17 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: 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 35 VBD -1.32 - - 152 - - - 2128 - -90.7 -11.05 - 1414 - - - - - - - - - - -
39 2.2 - 1 105 roll -1.33 9.07 0.187 2569 266.5 2.53 0.050 543 -626.5 -97.7 -49.85 - 2719 -26.2 - - - - - - - 25.47 25.98 26.70
395 20.6 -7.9 37 404 done -1.24 0.12 0.143 2596 225.0 2.47 0.023 2188 666.0 -97.7 - - 2719 - - - - - - - - 25.81 26.34 -
706 43.5 -7.8 68 714 roll -1.21 - - 2586 - 2.50 0.040 3740 620.8 -97.7 - - 2719 - - - - - - - - - 26.14 -
966 66.4 -8.7 94 975 done -1.17 0.10 0.133 2619 330.0 2.42 0.021 2093 -680.6 -97.7 - - 2719 - - - - - - - - 26.03 26.46 -
1285 90.1 -6.9 112 1292 roll -1.17 - - 2608 - 2.65 0.039 3745 623.4 -97.7 - - 2719 - - - - - - - - - 26.17 -
1585 112.6 -7.8 122 1593 done -1.17 - - 2608 - 2.42 0.021 2106 -677.3 -97.7 - - 2719 - - - - - - - - - 26.47 -
1916 136.8 -6.7 133 1922 roll -1.17 - - 2596 - 2.65 0.038 3755 622.3 -97.7 - - 2720 - - - - - - - - - 26.19 -
2216 155.0 -6.4 142 2223 done -1.15 0.08 0.131 2622 325.0 2.45 0.020 2082 -682.9 -97.7 - - 2720 - - - - - - - - 26.13 26.48 -
2576 179.4 -6.9 148 2582 roll -1.18 - - 2611 - 2.65 0.037 3756 631.7 -97.7 - - 2721 - - - - - - - - - 26.20 -
2854 197.7 -7.7 152 2862 done -1.18 - - 2611 - 2.47 0.020 2091 -674.1 -97.7 - - 2721 - - - - - - - - - 26.49 -
3176 224.3 -7.3 158 3182 roll -1.18 - - 2611 - 2.38 0.037 541 -651.3 -97.7 - - 2721 - - - - - - - - - 26.23 -
3244 228.5 -7.2 159 3252 done -1.18 - - 2598 - 2.47 0.022 2194 669.2 -97.7 - - 2719 - - - - - - - - - 26.44 -
3595 253.2 -6.8 165 3602 roll -1.18 - - 2587 - 2.50 0.039 3747 621.2 -97.7 - - 2721 - - - - - - - - - 26.19 -
3735 261.5 -6.8 167 3743 done -1.18 0.08 0.128 2613 325.0 2.45 0.020 2083 -679.2 -97.7 - - 2721 - - - - - - - - 26.15 26.49 -
4076 284.6 -6.4 173 4082 roll -1.21 - - 2613 - 2.40 0.037 546 -640.4 -97.7 - - 2721 - - - - - - - - - 26.24 -
4136 288.8 -6.6 174 4142 done -1.23 - - 2603 - 2.45 0.024 2191 671.4 -97.7 - - 2720 - - - - - - - - - 26.44 -
4496 316.6 -7.9 180 4502 roll -1.26 - - 2592 - 2.47 0.041 3752 632.0 -97.7 - - 2721 - - - - - - - - - 26.20 -
4584 321.5 -8.1 181 4592 done -1.26 - - 2592 - 2.45 0.020 2099 -674.7 -97.7 - - 2721 - - - - - - - - - 26.49 -
4916 350.3 -7.9 187 4922 roll -1.26 - - 2580 - 2.62 0.039 3751 630.5 -97.7 - - 2720 - - - - - - - - - 26.20 -
5004 355.2 -7.9 188 5012 done -1.26 - - 2580 - 2.47 0.021 2091 -672.1 -97.7 - - 2720 - - - - - - - - - 26.48 -
5335 380.9 -6.9 194 5342 roll -1.26 - - 2568 - 2.67 0.039 3746 619.9 -97.7 - - 2719 - - - - - - - - - 26.20 -
5415 384.9 -6.6 195 5422 done -1.26 - - 2568 - 2.42 0.021 2104 -678.5 -97.7 - - 2719 - - - - - - - - - 26.48 -
5756 407.8 -6.2 201 5763 roll -1.26 - - 2555 - 2.67 0.040 3754 618.0 -97.7 - - 2718 - - - - - - - - - 26.19 -
5895 416.2 -6.6 203 5903 done -1.26 0.15 0.144 2596 273.3 2.47 0.021 2088 -674.5 -97.7 - - 2717 - - - - - - - - 26.04 26.48 -
6236 442.1 -7.4 209 6243 roll -1.29 - - 2596 - 2.42 0.038 545 -637.6 -97.7 - - 2717 - - - - - - - - - 26.22 -
6315 447.2 -7.8 210 6322 done -1.31 - - 2585 - 2.47 0.024 2193 667.2 -97.7 - - 2717 - - - - - - - - - 26.45 -
6657 478.2 -8.7 216 6662 roll -1.33 - - 2574 - 2.47 0.041 3750 630.4 -97.7 - - 2716 - - - - - - - - - 26.17 -
6724 483.4 -8.7 217 6732 done -1.33 - - 2574 - 2.47 0.021 2093 -670.9 -97.7 - - 2716 - - - - - - - - - 26.47 -
7076 512.9 -8.2 222 7082 roll -1.33 - - 2562 - 2.67 0.041 3749 620.2 -97.7 - - 2714 - - - - - - - - - 26.17 -
7206 522.6 -8.0 223 7212 done -1.33 - - 2562 - 2.45 0.021 2106 -670.6 -97.7 - - 2714 - - - - - - - - - 26.47 -
7555 552.4 -8.2 226 7562 roll -1.33 - - 2550 - 2.65 0.041 3750 620.4 -97.7 - - 2713 - - - - - - - - - 26.16 -
7656 552.4 -8.2 226 7662 done -1.33 - - 2550 - 2.45 0.021 2103 -672.2 -97.7 - - 2713 - - - - - - - - - 26.47 -
8036 592.4 -8.3 230 8042 roll -1.33 - - 2538 - 2.62 0.041 3754 630.2 -97.7 - - 2712 - - - - - - - - - 26.15 -
8136 592.4 -8.3 230 8143 done -1.33 0.08 0.134 2563 312.5 2.45 0.021 2098 -675.9 -97.7 - - 2711 - - - - - - - - 26.11 26.46 -
8515 631.0 -8.0 234 8523 roll -1.33 - - 2552 - 2.67 0.041 3751 619.1 -97.7 - - 2710 - - - - - - - - - 26.14 -
8595 631.0 -8.0 234 8602 done -1.33 - - 2553 - 2.47 0.021 2098 -669.2 -97.7 - - 2710 - - - - - - - - - 26.44 -
8996 666.6 -7.4 238 9003 roll -1.33 - - 2541 - 2.67 0.042 3745 616.9 -97.7 - - 2709 - - - - - - - - - 26.13 -
9094 666.6 -7.4 238 9103 done -1.33 0.12 0.151 2572 258.3 2.47 0.022 2093 -668.8 -97.7 - - 2709 - - - - - - - - 26.06 26.44 -
9476 704.2 -7.8 242 9483 roll -1.36 - - 2572 - 2.42 0.039 550 -637.6 -97.7 - - 2708 - - - - - - - - - 26.16 -
9545 704.2 -7.8 242 9553 done -1.38 - - 2562 - 2.47 0.024 2194 665.6 -97.7 - - 2707 - - - - - - - - - 26.37 -
9956 748.3 -9.2 246 9963 roll -1.40 - - 2561 - 2.60 0.038 551 -631.9 -97.7 - - 2706 - - - - - - - - - 26.14 -
10046 748.3 -9.2 246 10052 done -1.43 - - 2550 - 2.47 0.025 2186 661.9 -97.7 - - 2705 - - - - - - - - - 26.37 -
10435 793.2 -9.4 250 10443 roll -1.43 - - 2550 - 2.60 0.039 547 -630.4 -97.7 - - 2705 - - - - - - - - - 26.12 -
10515 793.2 -9.4 250 10522 done -1.43 - - 2538 - 2.50 0.024 2188 656.4 -97.7 - - 2704 - - - - - - - - - 26.36 -
10915 831.0 -7.9 254 10923 roll -1.43 - - 2526 - 2.55 0.044 3751 612.9 -97.7 - - 2702 - - - - - - - - - 26.06 -
10975 831.0 -7.9 254 10983 done -1.43 - - 2526 - 2.47 0.023 2105 -666.4 -97.7 - - 2702 - - - - - - - - - 26.39 -
11395 870.7 -8.3 258 11403 roll -1.43 - - 2515 - 2.67 0.042 3740 612.4 -97.7 - - 2701 - - - - - - - - - 26.06 -
11544 882.2 -8.7 259 11552 done -1.43 - - 2515 - 2.47 0.023 2108 -660.7 -97.7 - - 2701 - - - - - - - - - 26.38 -
11876 919.5 -10.2 262 11877 done -1.43 - - 2515 - - - 2108 - -97.7 - - 2701 - - - - - - - - - - -
12235 955.8 -10.2 265 12243 roll -1.43 - - 2503 - 2.67 0.043 3743 612.4 -97.7 - - 2699 - - - - - - - - - 26.02 -
12315 955.8 -10.2 265 12323 done -1.43 0.10 0.170 2532 290.0 2.47 0.023 2103 -664.0 -97.7 - - 2699 - - - - - - - - 25.96 26.36 -
12612 end dive: TARGET_DEPTH_EXCEEDED
12612 begin apogee
12621 990.7 -9.1 269 12715 done -0.29 1.17 0.128 2899 313.7 0.03 0.077 1615 -16266.7 - 85.07 1.681 2321 -4.4 0.279 - - - - - - 25.10 24.46 23.05
12716 end apogee: CONTROL_FINISHED_OK
12717 begin climb
12720 995.2 - 274 12815 done 1.33 1.50 0.060 3431 354.7 - - 1615 - 97.7 91.40 1.668 1921 -4.4 0.278 - - - - - - 25.32 - 23.11
13216 968.0 6.9 289 13218 done 1.19 0.17 0.171 3387 -258.8 - - 1615 - 97.7 - - 1911 - - - - - - - - 25.94 - -
13576 945.0 6.5 292 13578 done 1.09 0.12 0.176 3356 -258.3 - - 1615 - 101.5 - - 1907 - - - - - - - - 26.20 - -
13937 921.6 6.5 295 13947 roll 1.03 - - 3364 - 2.08 0.048 354 -606.2 105.8 5.72 1.341 1888 -3.3 0.243 - - - - - - - 26.22 23.96
14216 903.7 7.2 297 14223 done 0.97 0.17 0.156 3318 -270.6 1.95 0.024 1658 668.7 105.8 - - 1886 - - - - - - - - 25.92 26.45 -
14527 877.0 7.6 300 14528 done 0.94 - - 3318 - - - 1658 - 105.8 - - 1886 - - - - - - - - - - -
14886 854.9 6.4 303 14898 roll 0.95 - - 3317 - 2.55 0.036 3207 607.5 111.7 6.65 1.379 1863 -3.5 0.229 - - - - - - - 26.25 23.96
14988 854.9 6.4 303 15003 done 0.96 - - 3328 - 2.50 0.031 1572 -654.0 117.7 6.57 1.362 1842 -3.2 0.214 - - - - - - - 26.27 23.93
15357 829.5 5.4 307 15386 roll 0.99 - - 3337 - 2.03 0.049 355 -599.5 142.5 24.27 1.558 1739 -4.2 0.241 - - - - - - - 25.68 23.77
15497 823.1 5.4 308 15526 done 1.02 - - 3337 - 1.95 0.024 1650 664.1 167.8 24.83 1.545 1634 -4.2 0.240 - - - - - - - 26.16 23.62
15937 794.4 6.1 312 15955 roll 1.03 - - 3347 - 2.12 0.050 360 -608.5 178.9 10.88 1.444 1589 -4.1 0.243 - - - - - - - 25.98 23.96
16128 785.8 6.3 313 16140 done 1.04 - - 3347 - 1.95 0.026 1655 664.1 185.3 7.15 1.336 1563 -3.6 0.228 - - - - - - - 26.34 23.94
16529 749.0 7.8 317 16530 done 1.04 - - 3347 - - - 1655 - 185.3 - - 1562 - - - - - - - - - - -
16888 718.1 8.4 320 16896 roll 1.04 - - 3357 - 2.10 0.048 357 -618.1 185.3 - - 1561 - - - - - - - - - 26.15 -
17038 706.9 8.8 321 17046 done 1.04 - - 3357 - 1.95 0.025 1651 663.6 185.3 - - 1560 - - - - - - - - - 26.46 -
17368 674.4 9.1 324 17376 roll 1.04 - - 3366 - 2.10 0.048 352 -618.6 185.3 - - 1560 - - - - - - - - - 26.14 -
17517 663.6 9.0 325 17526 done 1.04 0.12 0.153 3334 -266.7 1.98 0.025 1664 662.6 185.3 - - 1559 - - - - - - - - 26.08 26.47 -
17849 632.8 8.7 328 17856 roll 1.06 - - 3334 - 2.45 0.036 3198 626.1 185.3 - - 1559 - - - - - - - - - 26.21 -
17888 632.8 8.7 328 17895 done 1.09 - - 3345 - 2.53 0.030 1582 -638.7 185.3 - - 1559 - - - - - - - - - 26.27 -
18209 601.6 8.6 331 18215 roll 1.13 - - 3354 - 1.98 0.049 350 -622.2 185.3 - - 1559 - - - - - - - - - 26.09 -
18279 601.6 8.6 331 18285 done 1.17 - - 3354 - 1.95 0.025 1659 671.3 185.3 - - 1559 - - - - - - - - - 26.46 -
18689 562.1 8.2 335 18695 roll 1.19 - - 3364 - 2.10 0.047 360 -618.6 185.3 - - 1559 - - - - - - - - - 26.06 -
18879 553.3 7.9 336 18885 done 1.19 - - 3364 - 1.98 0.026 1649 651.0 185.3 - - 1559 - - - - - - - - - 26.45 -
19289 523.7 6.2 340 19306 roll 1.20 - - 3364 - 2.55 0.037 3204 609.8 195.6 9.98 1.276 1521 -3.8 0.167 - - - - - - - 26.15 23.99
19368 523.7 6.2 340 19387 done 1.22 - - 3375 - 2.55 0.030 1582 -636.1 205.9 10.85 1.283 1479 -3.9 0.169 - - - - - - - 26.19 23.92
19710 487.4 8.7 344 19715 roll 1.22 - - 3385 - 1.98 0.047 352 -621.2 205.9 - - 1478 - - - - - - - - - 26.04 -
19828 474.0 10.2 346 19836 done 1.22 - - 3385 - 1.98 0.024 1656 658.6 205.9 - - 1477 - - - - - - - - - 26.37 -
20189 431.5 11.9 352 20195 roll 1.22 - - 3395 - 2.10 0.047 349 -622.4 205.9 - - 1477 - - - - - - - - - 26.08 -
20258 424.1 12.1 353 20265 done 1.22 - - 3395 - 2.00 0.025 1647 649.0 205.9 - - 1478 - - - - - - - - - 26.44 -
20608 384.0 10.8 359 20615 roll 1.22 - - 3404 - 2.08 0.046 357 -620.2 205.9 - - 1478 - - - - - - - - - 26.08 -
20758 371.8 10.3 361 20765 done 1.22 - - 3404 - 1.95 0.024 1653 664.6 205.9 - - 1478 - - - - - - - - - 26.45 -
21088 338.3 9.3 367 21095 roll 1.22 - - 3415 - 2.08 0.046 357 -623.1 205.9 - - 1478 - - - - - - - - - 26.07 -
21148 332.2 9.4 368 21155 done 1.22 - - 3414 - 1.95 0.025 1653 664.6 205.9 - - 1477 - - - - - - - - - 26.44 -
21509 297.1 9.7 374 21515 roll 1.22 - - 3423 - 2.08 0.047 359 -622.1 205.9 - - 1478 - - - - - - - - - 26.06 -
21577 291.0 9.9 375 21585 done 1.22 0.12 0.151 3392 -258.3 1.95 0.025 1659 666.7 205.9 - - 1478 - - - - - - - - 26.05 26.44 -
21929 257.1 9.3 381 21935 roll 1.25 - - 3400 - 2.10 0.046 348 -624.3 205.9 - - 1477 - - - - - - - - - 26.08 -
22079 246.0 9.2 383 22086 done 1.27 - - 3400 - 1.92 0.024 1640 672.9 205.9 - - 1480 - - - - - - - - - 26.45 -
22409 216.7 7.9 389 22415 roll 1.29 - - 3410 - 2.08 0.046 353 -618.8 205.9 - - 1478 - - - - - - - - - 26.04 -
22618 200.3 8.8 392 22625 done 1.29 - - 3409 - 1.95 0.024 1651 665.6 205.9 - - 1478 - - - - - - - - - 26.45 -
22948 164.8 10.1 398 22955 roll 1.29 - - 3420 - 2.08 0.045 356 -622.6 205.9 - - 1478 - - - - - - - - - 26.04 -
23027 158.6 10.2 399 23034 done 1.29 - - 3420 - 1.95 0.024 1656 666.7 205.9 - - 1478 - - - - - - - - - 26.44 -
23339 128.2 8.5 408 23340 done 1.29 - - 3420 - - - 1656 - 205.9 - - 1477 - - - - - - - - - - -
23638 100.1 9.7 418 23645 roll 1.29 - - 3430 - 2.10 0.045 354 -620.0 205.9 - - 1478 - - - - - - - - - 26.03 -
23778 87.9 10.2 422 23787 done 1.29 - - 3430 - 1.95 0.023 1658 668.7 205.9 - - 1478 - - - - - - - - - 26.46 -
24088 53.3 10.9 445 24097 roll 1.29 - - 3439 - 2.12 0.046 344 -619.8 205.9 - - 1479 - - - - - - - - - 26.03 -
24242 35.7 10.9 460 24249 done 1.29 - - 3440 - 1.92 0.023 1646 678.1 205.9 - - 1478 - - - - - - - - - 26.47 -
24548 4.3 8.6 491 24557 roll 1.29 - - 3449 - 2.08 0.045 353 -621.6 205.9 - - 1480 - - - - - - - - - 26.05 -
24566 end climb: SURFACE_DEPTH_REACHED
24566 begin surface coast
24596 end surface coast: CONTROL_FINISHED_OK
24597 begin surface
SM 2.11 - - - - -8.83 8.70 0.037 151 -379.1 2.83 0.030 2181 645.9 300.00 42.90 0.124 1095 -9.0 0.016 - - - - - -