SPURS Sep12 * SG189 * Dive index * Mission links * Dive 459 * Raw log
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• Previous call tries 1 • 78.65 of 150.00 AH used of 24V (47.56% remains)
• Previous NAKs 0, Timeouts 0 • 69.82 of 97.00 AH used of 10V (28.02% remains)
• Surface angle -58.5 deg, depth 2.26 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: 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 36 VBD -1.32 - - 153 - - - 2132 - -90.7 -10.80 - 1404 - - - - - - - - - - -
40 2.2 - 1 106 roll -1.33 9.18 0.190 2568 263.1 2.53 0.050 546 -626.9 -97.7 -50.15 - 2719 -26.2 - - - - - - - 25.34 25.94 26.70
396 26.0 -8.5 37 405 done -1.24 0.12 0.140 2596 233.3 2.47 0.023 2189 665.2 -97.7 - - 2719 - - - - - - - - 25.82 26.34 -
707 45.3 -5.2 68 708 done -1.22 - - 2596 - - - 2188 - -97.7 - - 2719 - - - - - - - - - - -
1006 64.2 -6.7 98 1008 done -1.22 - - 2595 - - - 2189 - -97.7 - - 2720 - - - - - - - - - - -
1327 89.3 -7.3 118 1333 roll -1.22 - - 2586 - 2.53 0.040 3748 616.2 -97.7 - - 2721 - - - - - - - - - 26.16 -
1447 98.6 -7.8 122 1454 done -1.18 0.08 0.135 2611 312.5 2.45 0.021 2083 -679.6 -97.7 - - 2721 - - - - - - - - 26.10 26.46 -
1780 119.6 -5.9 133 1785 roll -1.18 - - 2600 - 2.65 0.039 3751 629.4 -97.7 - - 2721 - - - - - - - - - 26.17 -
1927 127.7 -5.4 138 1934 done -1.16 - - 2600 - 2.45 0.021 2092 -677.1 -97.7 - - 2721 - - - - - - - - - 26.47 -
2258 149.6 -7.1 149 2259 done -1.16 - - 2600 - - - 2092 - -97.7 - - 2722 - - - - - - - - - - -
2586 175.8 -8.1 155 2593 roll -1.16 - - 2600 - 2.42 0.037 543 -640.1 -97.7 - - 2722 - - - - - - - - - 26.22 -
2696 180.8 -8.3 156 2705 done -1.16 0.12 0.157 2620 166.7 2.47 0.023 2193 668.0 -97.7 - - 2722 - - - - - - - - 26.06 26.43 -
3008 204.1 -5.9 162 3014 roll -1.19 - - 2610 - 2.47 0.040 3754 632.0 -97.7 - - 2722 - - - - - - - - - 26.19 -
3046 204.1 -5.9 162 3053 done -1.21 - - 2610 - 2.45 0.020 2094 -677.6 -97.7 - - 2722 - - - - - - - - - 26.48 -
3367 226.1 -6.3 168 3373 roll -1.21 - - 2598 - 2.67 0.039 3753 621.3 -97.7 - - 2722 - - - - - - - - - 26.20 -
3447 230.2 -6.5 169 3453 done -1.21 - - 2597 - 2.45 0.020 2091 -678.4 -97.7 - - 2722 - - - - - - - - - 26.48 -
3786 257.9 -7.9 175 3793 roll -1.21 - - 2598 - 2.42 0.037 546 -638.4 -97.7 - - 2722 - - - - - - - - - 26.23 -
3876 263.1 -8.1 176 3884 done -1.21 - - 2586 - 2.45 0.023 2191 671.4 -97.7 - - 2722 - - - - - - - - - 26.44 -
4206 291.5 -7.7 182 4213 roll -1.21 - - 2585 - 2.58 0.035 552 -635.3 -97.7 - - 2722 - - - - - - - - - 26.24 -
4285 296.1 -7.7 183 4294 done -1.21 0.12 0.159 2605 166.7 2.47 0.023 2196 665.6 -97.7 - - 2722 - - - - - - - - 26.06 26.44 -
4628 319.1 -6.1 189 4629 done -1.24 - - 2605 - - - 2196 - -97.7 - - 2722 - - - - - - - - - - -
4928 336.3 -5.8 194 4933 roll -1.27 - - 2605 - 2.58 0.036 536 -643.4 -97.7 - - 2722 - - - - - - - - - 26.22 -
5006 340.1 -6.0 195 5013 done -1.30 - - 2594 - 2.50 0.024 2196 664.0 -97.7 - - 2722 - - - - - - - - - 26.43 -
5348 362.1 -6.0 201 5353 roll -1.30 - - 2583 - 2.47 0.042 3751 629.6 -97.7 - - 2721 - - - - - - - - - 26.17 -
5396 362.1 -6.0 201 5405 done -1.30 - - 2583 - 2.47 0.021 2092 -671.7 -97.7 - - 2722 - - - - - - - - - 26.48 -
5707 385.9 -6.9 207 5713 roll -1.30 - - 2583 - 2.45 0.037 543 -632.2 -97.7 - - 2720 - - - - - - - - - 26.22 -
5786 390.7 -7.3 208 5793 done -1.30 - - 2571 - 2.47 0.024 2189 666.4 -97.7 - - 2720 - - - - - - - - - 26.42 -
6126 421.3 -8.7 214 6133 roll -1.30 - - 2562 - 2.53 0.041 3748 616.2 -97.7 - - 2719 - - - - - - - - - 26.17 -
6186 426.9 -8.8 215 6193 done -1.30 - - 2559 - 2.45 0.021 2098 -673.5 -97.7 - - 2718 - - - - - - - - - 26.48 -
6547 457.4 -8.3 221 6548 done -1.30 - - 2559 - - - 2098 - -97.7 - - 2718 - - - - - - - - - - -
6847 480.5 -7.7 226 6854 roll -1.30 - - 2559 - 2.42 0.038 549 -640.1 -97.7 - - 2718 - - - - - - - - - 26.20 -
6917 485.3 -7.6 227 6924 done -1.30 0.10 0.139 2579 200.0 2.53 0.024 2191 649.0 -97.7 - - 2717 - - - - - - - - 25.98 26.41 -
7268 511.4 -7.3 232 7274 roll -1.32 - - 2579 - 2.55 0.037 540 -647.5 -97.7 - - 2717 - - - - - - - - - 26.20 -
7386 520.9 -7.5 233 7394 done -1.32 - - 2569 - 2.50 0.024 2194 661.6 -97.7 - - 2716 - - - - - - - - - 26.41 -
7747 547.6 -7.5 236 7753 roll -1.32 - - 2557 - 2.53 0.042 3741 611.5 -97.7 - - 2715 - - - - - - - - - 26.15 -
7878 556.9 -7.5 237 7884 done -1.32 - - 2557 - 2.40 0.021 2089 -688.3 -97.7 - - 2714 - - - - - - - - - 26.45 -
8227 585.0 -7.8 240 8233 roll -1.32 - - 2557 - 2.42 0.038 552 -635.1 -97.7 - - 2713 - - - - - - - - - 26.18 -
8286 585.0 -7.8 240 8294 done -1.32 0.12 0.164 2575 150.0 2.50 0.024 2200 659.2 -97.7 - - 2713 - - - - - - - - 26.01 26.40 -
8708 623.4 -8.0 244 8713 roll -1.34 - - 2576 - 2.58 0.038 542 -642.6 -97.7 - - 2712 - - - - - - - - - 26.17 -
8898 633.3 -8.0 245 8903 done -1.37 - - 2566 - 2.45 0.024 2196 675.1 -97.7 - - 2711 - - - - - - - - - 26.39 -
9307 672.6 -8.2 249 9314 roll -1.37 - - 2565 - 2.62 0.038 545 -630.2 -97.7 - - 2711 - - - - - - - - - 26.15 -
9395 672.6 -8.2 249 9403 done -1.37 - - 2552 - 2.50 0.024 2189 657.6 -97.7 - - 2711 - - - - - - - - - 26.39 -
9787 714.0 -8.6 253 9788 done -1.37 - - 2553 - - - 2189 - -97.7 - - 2710 - - - - - - - - - - -
10147 742.7 -8.1 256 10154 roll -1.37 - - 2553 - 2.60 0.040 555 -628.5 -97.7 - - 2709 - - - - - - - - - 26.12 -
10286 751.8 -7.9 257 10294 done -1.37 - - 2541 - 2.58 0.026 2193 634.9 -97.7 - - 2709 - - - - - - - - - 26.36 -
10627 775.6 -6.8 260 10633 roll -1.37 - - 2529 - 2.53 0.044 3746 613.8 -97.7 - - 2707 - - - - - - - - - 26.07 -
10768 783.9 -6.6 261 10774 done -1.37 0.12 0.155 2561 266.7 2.42 0.024 2091 -683.9 -97.7 - - 2707 - - - - - - - - 26.00 26.39 -
11107 807.8 -6.7 264 11113 roll -1.37 - - 2560 - 2.45 0.041 549 -629.4 -97.7 - - 2705 - - - - - - - - - 26.10 -
11286 817.3 -6.9 265 11293 done -1.37 - - 2550 - 2.47 0.024 2185 662.3 -97.7 - - 2704 - - - - - - - - - 26.36 -
11707 859.2 -8.7 269 11713 roll -1.37 - - 2550 - 2.60 0.040 550 -628.8 -97.7 - - 2703 - - - - - - - - - 26.08 -
11826 871.0 -9.1 270 11833 done -1.37 - - 2539 - 2.47 0.025 2180 659.9 -97.7 - - 2703 - - - - - - - - - 26.34 -
12187 905.3 -9.6 273 12193 roll -1.37 - - 2527 - 2.55 0.044 3766 622.0 -97.7 - - 2702 - - - - - - - - - 26.01 -
12326 916.4 -9.5 274 12334 done -1.37 0.12 0.154 2557 250.0 2.53 0.024 2094 -660.9 -97.7 - - 2700 - - - - - - - - 25.97 26.36 -
12668 945.2 -8.3 277 12674 roll -1.39 - - 2557 - 2.45 0.042 549 -630.6 -97.7 - - 2701 - - - - - - - - - 26.04 -
12756 945.2 -8.3 277 12763 done -1.42 - - 2547 - 2.53 0.025 2195 650.6 -97.7 - - 2701 - - - - - - - - - 26.32 -
13147 981.2 -7.5 281 13154 roll -1.45 - - 2547 - 2.62 0.041 549 -628.2 -97.7 - - 2699 - - - - - - - - - 26.02 -
13247 981.2 -7.5 281 13253 done -1.48 - - 2535 - 2.55 0.026 2185 641.6 -97.7 - - 2699 - - - - - - - - - 26.31 -
13263 end dive: TARGET_DEPTH_EXCEEDED
13263 begin apogee
13272 990.4 -7.4 282 13365 done -0.29 1.17 0.128 2900 312.0 - - 1576 - - 85.93 1.687 2320 -4.4 0.276 - - - - - - 25.08 - 22.99
13367 end apogee: CONTROL_FINISHED_OK
13367 begin climb
13370 993.6 - 287 13467 done 1.33 1.48 0.060 3429 357.4 - - 1576 - 97.7 92.05 1.684 1920 -4.3 0.273 - - - - - - 25.29 - 23.01
13847 970.9 5.9 301 13867 roll 1.21 0.15 0.172 3392 -246.7 2.72 0.035 3205 598.9 113.1 13.27 1.546 1858 -4.7 0.313 - - - - - - 26.00 25.92 23.87
13947 970.9 5.9 301 13968 done 1.10 0.15 0.148 3357 -233.3 2.55 0.031 1586 -634.9 128.5 15.50 1.551 1795 -4.1 0.271 - - - - - - 25.71 26.10 23.75
14310 945.0 5.6 305 14336 roll 1.06 - - 3366 - 2.05 0.049 354 -601.0 150.3 20.73 1.587 1706 -4.3 0.273 - - - - - - - 25.68 23.80
14490 937.1 5.9 306 14511 done 1.02 0.15 0.158 3327 -260.0 1.92 0.025 1666 683.3 165.6 15.40 1.550 1643 -4.1 0.264 - - - - - - 25.83 26.24 23.82
14890 899.3 8.0 310 14891 done 1.02 - - 3327 - - - 1666 - 165.6 - - 1640 - - - - - - - - - - -
15251 866.5 9.0 313 15256 roll 1.04 - - 3336 - 2.08 0.049 350 -632.7 165.6 - - 1638 - - - - - - - - - 26.19 -
15309 866.5 9.0 313 15316 done 1.06 - - 3335 - 1.98 0.025 1661 662.1 165.6 - - 1637 - - - - - - - - - 26.46 -
15730 820.4 9.6 317 15736 roll 1.06 - - 3345 - 2.10 0.047 352 -623.3 165.6 - - 1636 - - - - - - - - - 26.18 -
15973 798.4 9.3 319 15978 done 1.06 - - 3346 - 1.90 0.026 1653 684.7 165.6 - - 1636 - - - - - - - - - 26.48 -
16329 772.2 7.7 322 16336 roll 1.06 - - 3355 - 2.10 0.047 356 -617.6 165.6 - - 1635 - - - - - - - - - 26.15 -
16458 764.2 7.1 323 16465 done 1.06 - - 3355 - 1.95 0.025 1652 664.6 165.6 - - 1637 - - - - - - - - - 26.48 -
16810 741.1 6.4 326 16816 roll 1.07 - - 3364 - 2.08 0.048 358 -622.1 170.0 - - 1635 - - - - - - - - - 26.12 -
16931 732.3 6.6 327 16939 done 1.07 - - 3360 - 1.92 0.027 1648 671.9 170.6 3.90 1.076 1623 -3.1 0.223 - - - - - - - 26.46 24.01
17280 704.1 7.9 330 17286 roll 1.07 - - 3374 - 2.08 0.048 360 -619.2 170.6 - - 1624 - - - - - - - - - 26.10 -
17440 693.7 8.2 331 17447 done 1.07 0.08 0.133 3349 -312.5 1.92 0.026 1649 671.4 170.6 - - 1623 - - - - - - - - 26.10 26.46 -
17760 663.0 8.6 334 17766 roll 1.07 - - 3358 - 2.08 0.048 354 -622.6 170.6 - - 1623 - - - - - - - - - 26.08 -
17968 653.2 8.4 335 17976 done 1.07 - - 3358 - 1.98 0.025 1659 659.1 170.6 - - 1623 - - - - - - - - - 26.44 -
18359 618.7 7.2 339 18360 done 1.07 - - 3362 - - - 1659 - 170.6 - - 1623 - - - - - - - - - - -
18720 596.3 6.3 342 18737 roll 1.08 - - 3367 - 2.15 0.048 354 -607.0 177.5 8.00 1.285 1595 -3.5 0.173 - - - - - - - 26.10 23.97
18888 588.2 6.3 343 18901 done 1.09 - - 3367 - 1.98 0.025 1657 658.1 184.4 8.12 1.278 1567 -3.4 0.169 - - - - - - - 26.36 23.94
19310 552.9 7.5 347 19317 roll 1.09 - - 3377 - 2.10 0.047 356 -619.5 184.4 - - 1566 - - - - - - - - - 26.06 -
19359 552.9 7.5 347 19366 done 1.09 - - 3377 - 1.98 0.025 1661 659.1 184.4 - - 1569 - - - - - - - - - 26.39 -
19670 521.7 8.5 350 19677 roll 1.09 - - 3386 - 2.10 0.047 357 -621.0 184.4 - - 1566 - - - - - - - - - 26.06 -
19769 521.7 8.5 350 19776 done 1.09 0.15 0.144 3346 -266.7 1.95 0.026 1654 665.1 184.4 - - 1566 - - - - - - - - 25.98 26.43 -
20091 485.7 8.5 354 20097 roll 1.12 - - 3355 - 2.05 0.048 354 -634.1 184.4 - - 1566 - - - - - - - - - 26.05 -
20159 480.5 8.5 355 20166 done 1.16 - - 3355 - 1.98 0.025 1659 659.1 184.4 - - 1566 - - - - - - - - - 26.43 -
20511 449.2 8.8 361 20517 roll 1.20 - - 3363 - 2.10 0.047 330 -632.9 184.4 - - 1566 - - - - - - - - - 26.03 -
20570 443.6 8.9 362 20577 done 1.23 - - 3365 - 1.98 0.025 1648 665.7 184.4 - - 1566 - - - - - - - - - 26.44 -
20930 411.2 8.9 368 20937 roll 1.26 0.12 0.082 3438 608.3 2.08 0.047 353 -622.6 184.4 - - 1566 - - - - - - - - 26.60 26.03 -
20990 405.5 9.0 369 20997 done 1.26 0.10 0.137 3405 -330.0 1.92 0.025 1651 676.0 184.4 - - 1566 - - - - - - - - 25.98 26.43 -
21350 374.5 8.4 375 21357 roll 1.26 - - 3413 - 2.10 0.046 350 -619.5 184.4 - - 1566 - - - - - - - - - 26.02 -
21531 358.6 8.7 378 21537 done 1.23 - - 3413 - 1.95 0.024 1658 670.8 184.4 - - 1566 - - - - - - - - - 26.44 -
21890 326.1 9.2 384 21897 roll 1.23 - - 3423 - 2.08 0.046 360 -624.0 184.4 - - 1566 - - - - - - - - - 26.01 -
22010 313.8 9.8 386 22017 done 1.21 0.10 0.131 3390 -330.0 1.92 0.024 1660 677.1 184.4 - - 1566 - - - - - - - - 26.00 26.43 -
22370 280.8 9.1 392 22376 roll 1.21 - - 3398 - 2.10 0.046 354 -621.9 184.4 - - 1566 - - - - - - - - - 26.01 -
22559 263.7 9.4 395 22566 done 1.21 - - 3398 - 1.95 0.024 1654 666.7 184.4 - - 1566 - - - - - - - - - 26.44 -
22910 232.1 8.6 401 22917 roll 1.21 - - 3408 - 2.10 0.046 353 -619.5 184.4 - - 1566 - - - - - - - - - 26.00 -
23090 216.1 8.8 404 23097 done 1.21 - - 3408 - 1.95 0.024 1653 666.7 184.4 - - 1566 - - - - - - - - - 26.44 -
23450 184.1 9.1 410 23457 roll 1.21 - - 3418 - 2.08 0.047 357 -623.1 184.4 - - 1566 - - - - - - - - - 26.00 -
23539 178.3 9.2 411 23546 done 1.21 - - 3417 - 1.95 0.024 1658 667.2 184.4 - - 1566 - - - - - - - - - 26.44 -
23870 142.9 9.8 418 23877 roll 1.21 - - 3427 - 2.10 0.045 351 -622.4 184.4 - - 1566 - - - - - - - - - 25.99 -
24129 121.0 9.3 426 24138 done 1.19 0.17 0.135 3378 -288.2 1.95 0.023 1661 671.8 184.4 - - 1566 - - - - - - - - 25.94 26.44 -
24443 91.9 9.8 437 24448 roll 1.24 - - 3386 - 2.05 0.046 354 -637.6 184.4 - - 1567 - - - - - - - - - 26.00 -
24519 86.5 9.6 439 24528 done 1.29 - - 3386 - 1.95 0.023 1658 668.7 184.4 - - 1567 - - - - - - - - - 26.44 -
24831 53.0 10.0 462 24839 roll 1.34 0.12 0.076 3464 650.0 2.05 0.047 350 -638.0 184.4 - - 1568 - - - - - - - - 26.63 25.99 -
24942 40.2 12.3 473 24950 done 1.30 0.17 0.148 3418 -270.6 1.88 0.023 1661 697.3 184.4 - - 1568 - - - - - - - - 25.88 26.46 -
25250 5.1 11.3 504 25258 roll 1.30 - - 3427 - 2.10 0.045 352 -623.3 184.4 - - 1570 - - - - - - - - - 26.06 -
25277 end climb: SURFACE_DEPTH_REACHED
25277 begin surface coast
25298 end surface coast: CONTROL_FINISHED_OK
25298 begin surface
SM 2.24 - - - - -8.83 8.60 0.035 152 -380.8 2.83 0.026 2177 644.9 300.00 52.75 0.126 1096 -9.0 0.016 - - - - - -