SPURS Sep12 * SG189 * Dive index * Mission links * Dive 469 * Raw log
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• Previous call tries 1 • 80.01 of 150.00 AH used of 24V (46.66% remains)
• Previous NAKs 0, Timeouts 0 • 71.10 of 97.00 AH used of 10V (26.70% remains)
• Surface angle -60.1 deg, depth 2.25 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 39 s
• GPS2 time: 18 s • Transponder ping count: 1
• 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 - - 153 - - - 2130 - -90.7 -10.73 - 1404 - - - - - - - - - - -
38 2.2 - 1 104 roll -1.33 9.02 0.183 2570 268.0 2.53 0.050 547 -625.7 -97.7 -50.20 - 2715 -26.1 - - - - - - - 25.37 25.91 26.70
225 7.5 -7.0 20 233 done -1.24 0.10 0.143 2590 200.0 2.47 0.024 2184 662.8 -97.7 - - 2717 - - - - - - - - 25.80 26.26 -
535 31.5 -8.3 51 542 roll -1.21 - - 2581 - 2.50 0.040 3739 622.0 -97.7 - - 2719 - - - - - - - - - 26.08 -
615 37.3 -7.0 59 623 done -1.17 0.10 0.131 2614 330.0 2.42 0.021 2093 -680.2 -97.7 - - 2717 - - - - - - - - 25.96 26.40 -
924 59.8 -7.6 90 925 done -1.17 - - 2614 - - - 2093 - -97.7 - - 2717 - - - - - - - - - - -
1244 83.2 -6.8 114 1251 roll -1.17 - - 2603 - 2.67 0.039 3749 620.2 -97.7 - - 2717 - - - - - - - - - 26.13 -
1343 89.3 -6.8 117 1351 done -1.17 - - 2603 - 2.47 0.021 2092 -670.9 -97.7 - - 2717 - - - - - - - - - 26.44 -
1665 116.1 -8.7 128 1671 roll -1.17 - - 2603 - 2.42 0.037 547 -638.4 -97.7 - - 2718 - - - - - - - - - 26.17 -
1703 119.0 -9.0 129 1712 done -1.17 0.12 0.157 2623 166.7 2.50 0.023 2205 663.2 -97.7 - - 2718 - - - - - - - - 26.01 26.39 -
2028 143.3 -6.6 140 2033 roll -1.19 - - 2623 - 2.58 0.036 542 -644.6 -97.7 - - 2718 - - - - - - - - - 26.17 -
2104 147.2 -6.6 142 2113 done -1.19 - - 2613 - 2.50 0.023 2201 663.6 -97.7 - - 2718 - - - - - - - - - 26.40 -
2445 169.2 -6.0 149 2451 roll -1.19 - - 2613 - 2.60 0.035 540 -638.8 -97.7 - - 2719 - - - - - - - - - 26.19 -
2534 173.6 -6.3 150 2542 done -1.19 - - 2600 - 2.45 0.023 2186 671.8 -97.7 - - 2719 - - - - - - - - - 26.42 -
2864 200.4 -7.6 156 2871 roll -1.19 - - 2589 - 2.50 0.040 3747 624.4 -97.7 - - 2719 - - - - - - - - - 26.16 -
3003 210.7 -8.2 158 3011 done -1.19 - - 2589 - 2.45 0.020 2099 -672.7 -97.7 - - 2719 - - - - - - - - - 26.46 -
3345 240.7 -8.2 164 3346 done -1.19 - - 2589 - - - 2099 - -97.7 - - 2719 - - - - - - - - - - -
3645 260.4 -6.4 169 3651 roll -1.19 - - 2592 - 2.42 0.037 548 -640.9 -97.7 - - 2719 - - - - - - - - - 26.20 -
3694 260.4 -6.4 169 3703 done -1.19 0.12 0.160 2614 183.3 2.47 0.023 2193 666.0 -97.7 - - 2719 - - - - - - - - 25.98 26.41 -
4006 280.5 -5.5 175 4012 roll -1.23 - - 2615 - 2.55 0.036 542 -647.5 -97.7 - - 2719 - - - - - - - - - 26.20 -
4125 287.6 -5.7 177 4132 done -1.23 - - 2604 - 2.47 0.023 2191 667.6 -97.7 - - 2719 - - - - - - - - - 26.41 -
4486 310.6 -6.5 183 4492 roll -1.25 - - 2592 - 2.47 0.041 3758 634.4 -97.7 - - 2719 - - - - - - - - - 26.15 -
4534 310.6 -6.5 183 4543 done -1.28 - - 2592 - 2.45 0.021 2106 -674.3 -97.7 - - 2719 - - - - - - - - - 26.47 -
4844 338.2 -7.9 189 4852 roll -1.28 - - 2592 - 2.45 0.037 549 -635.5 -97.7 - - 2719 - - - - - - - - - 26.19 -
4905 343.4 -8.1 190 4912 done -1.28 - - 2580 - 2.47 0.024 2194 666.0 -97.7 - - 2718 - - - - - - - - - 26.41 -
5265 374.6 -8.7 196 5266 done -1.28 - - 2580 - - - 2194 - -97.7 - - 2718 - - - - - - - - - - -
5564 403.8 -9.9 201 5571 roll -1.28 - - 2580 - 2.60 0.037 549 -632.7 -97.7 - - 2717 - - - - - - - - - 26.19 -
5634 409.9 -10.0 202 5641 done -1.28 - - 2569 - 2.47 0.024 2195 666.4 -97.7 - - 2717 - - - - - - - - - 26.41 -
5984 442.3 -8.7 208 5991 roll -1.28 - - 2557 - 2.50 0.041 3747 620.8 -97.7 - - 2716 - - - - - - - - - 26.15 -
6123 451.6 -8.0 210 6132 done -1.28 0.12 0.150 2588 258.3 2.47 0.021 2088 -671.7 -97.7 - - 2716 - - - - - - - - 26.07 26.45 -
6466 474.1 -6.1 216 6471 roll -1.31 - - 2589 - 2.40 0.038 538 -645.8 -97.7 - - 2715 - - - - - - - - - 26.17 -
6504 474.1 -6.1 216 6511 done -1.34 - - 2578 - 2.50 0.024 2196 663.2 -97.7 - - 2715 - - - - - - - - - 26.40 -
6825 498.3 -7.1 222 6826 done -1.34 - - 2578 - - - 2196 - -97.7 - - 2714 - - - - - - - - - - -
7125 523.1 -8.2 225 7131 roll -1.34 - - 2578 - 2.58 0.037 546 -639.5 -97.7 - - 2713 - - - - - - - - - 26.17 -
7193 523.1 -8.2 225 7201 done -1.34 - - 2566 - 2.50 0.024 2194 659.2 -97.7 - - 2713 - - - - - - - - - 26.39 -
7605 564.3 -8.6 229 7606 done -1.34 - - 2567 - - - 2194 - -97.7 - - 2712 - - - - - - - - - - -
7965 593.4 -8.2 232 7971 roll -1.34 - - 2566 - 2.58 0.038 540 -641.1 -97.7 - - 2712 - - - - - - - - - 26.15 -
8053 593.4 -8.2 232 8061 done -1.34 - - 2554 - 2.53 0.024 2197 654.9 -97.7 - - 2711 - - - - - - - - - 26.37 -
8444 631.5 -7.9 236 8451 roll -1.34 - - 2542 - 2.53 0.043 3750 613.8 -97.7 - - 2710 - - - - - - - - - 26.09 -
8624 640.8 -7.8 237 8632 done -1.34 - - 2542 - 2.45 0.022 2109 -669.8 -97.7 - - 2710 - - - - - - - - - 26.42 -
9044 680.9 -8.4 241 9051 roll -1.34 - - 2542 - 2.47 0.039 547 -632.4 -97.7 - - 2709 - - - - - - - - - 26.13 -
9124 680.9 -8.4 241 9132 done -1.34 0.10 0.144 2563 210.0 2.50 0.024 2193 658.4 -97.7 - - 2708 - - - - - - - - 25.94 26.36 -
9525 721.0 -8.3 245 9532 roll -1.34 - - 2553 - 2.53 0.044 3751 615.8 -97.7 - - 2707 - - - - - - - - - 26.06 -
9583 721.0 -8.3 245 9591 done -1.34 - - 2553 - 2.47 0.022 2105 -666.4 -97.7 - - 2706 - - - - - - - - - 26.41 -
10005 752.9 -6.6 249 10012 roll -1.36 - - 2542 - 2.67 0.042 3750 616.1 -97.7 - - 2705 - - - - - - - - - 26.06 -
10055 752.9 -6.6 249 10062 done -1.38 - - 2541 - 2.45 0.023 2111 -669.0 -97.7 - - 2705 - - - - - - - - - 26.41 -
10365 773.9 -5.8 252 10371 roll -1.38 - - 2541 - 2.47 0.040 548 -632.8 -97.7 - - 2704 - - - - - - - - - 26.10 -
10434 773.9 -5.8 252 10441 done -1.38 - - 2530 - 2.50 0.024 2191 657.2 -97.7 - - 2703 - - - - - - - - - 26.34 -
10845 808.3 -7.2 256 10846 done -1.38 - - 2529 - - - 2191 - -97.7 - - 2702 - - - - - - - - - - -
11204 842.4 -9.1 259 11205 done -1.38 - - 2529 - - - 2191 - -97.7 - - 2702 - - - - - - - - - - -
11564 879.5 -10.3 262 11572 roll -1.38 - - 2517 - 2.53 0.044 3744 613.8 -97.7 - - 2701 - - - - - - - - - 26.00 -
11623 879.5 -10.3 262 11632 done -1.38 0.15 0.151 2556 260.0 2.47 0.023 2103 -664.4 -97.7 - - 2701 - - - - - - - - 25.89 26.36 -
12046 921.8 -8.8 266 12052 roll -1.41 - - 2557 - 2.45 0.041 545 -635.9 -97.7 - - 2699 - - - - - - - - - 26.05 -
12154 921.8 -8.8 266 12163 done -1.44 - - 2546 - 2.58 0.026 2189 637.2 -97.7 - - 2699 - - - - - - - - - 26.30 -
12525 959.0 -7.7 270 12532 roll -1.46 - - 2546 - 2.62 0.040 549 -626.0 -97.7 - - 2698 - - - - - - - - - 26.02 -
12615 959.0 -7.7 270 12621 done -1.49 - - 2534 - 2.50 0.026 2187 655.2 -97.7 - - 2698 - - - - - - - - - 26.29 -
12921 end dive: TARGET_DEPTH_EXCEEDED
12921 begin apogee
12930 990.7 -7.8 275 13024 done -0.29 1.17 0.127 2899 312.0 0.03 0.069 1616 -19033.3 - 85.20 1.678 2318 -4.5 0.281 - - - - - - 25.04 24.41 22.97
13026 end apogee: CONTROL_FINISHED_OK
13026 begin climb
13030 994.5 - 280 13132 roll 1.33 1.48 0.060 3441 366.2 2.15 0.047 357 -585.6 97.7 92.25 1.676 1920 -4.3 0.273 - - - - - - 25.33 24.94 23.03
13245 985.8 7.9 291 13252 done 1.17 0.20 0.150 3381 -300.0 1.95 0.024 1658 667.2 97.7 - - 1912 - - - - - - - - 25.57 26.08 -
13625 958.9 7.1 295 13632 roll 1.07 0.15 0.168 3342 -260.0 2.47 0.036 3202 625.1 97.7 - - 1909 - - - - - - - - 26.06 26.22 -
13674 958.9 7.1 295 13682 done 0.97 0.10 0.151 3321 -210.0 2.53 0.031 1586 -638.7 97.7 - - 1908 - - - - - - - - 25.89 26.27 -
13986 934.0 7.0 298 13991 roll 0.93 - - 3329 - 1.98 0.049 356 -621.2 97.7 - - 1906 - - - - - - - - - 26.16 -
14105 925.4 6.9 299 14112 done 0.90 0.10 0.138 3296 -330.0 1.92 0.024 1647 672.4 97.7 - - 1906 - - - - - - - - 26.03 26.47 -
14465 903.1 6.4 302 14471 roll 0.90 - - 3295 - 2.45 0.036 3210 638.0 102.7 - - 1905 - - - - - - - - - 26.23 -
14544 903.1 6.4 302 14556 done 0.91 - - 3306 - 2.55 0.030 1580 -639.2 107.7 7.12 1.390 1880 -3.5 0.243 - - - - - - - 26.29 23.94
14935 876.6 5.6 306 14962 roll 0.93 - - 3306 - 2.65 0.037 3201 611.7 128.2 20.50 1.570 1796 -4.1 0.244 - - - - - - - 25.82 23.77
15056 869.2 5.7 307 15082 done 0.96 - - 3318 - 2.53 0.030 1576 -642.3 147.4 19.40 1.552 1716 -4.1 0.246 - - - - - - - 26.06 23.62
15415 845.0 6.6 310 15422 roll 0.96 - - 3318 - 2.62 0.036 3197 618.7 149.2 - - 1713 - - - - - - - - - 26.13 -
15454 845.0 6.6 310 15461 done 0.96 - - 3330 - 2.55 0.030 1572 -637.3 150.9 - - 1712 - - - - - - - - - 26.22 -
15775 817.7 7.4 313 15781 roll 0.96 - - 3330 - 2.58 0.036 3202 631.8 150.9 - - 1711 - - - - - - - - - 26.20 -
15843 817.7 7.4 313 15852 done 0.96 0.12 0.164 3311 -158.3 2.55 0.030 1571 -639.6 150.9 - - 1711 - - - - - - - - 25.96 26.28 -
16256 778.1 8.3 317 16257 done 0.99 - - 3311 - - - 1571 - 150.9 - - 1708 - - - - - - - - - - -
16615 749.6 8.0 320 16622 roll 1.03 - - 3311 - 2.65 0.036 3205 616.6 150.9 - - 1710 - - - - - - - - - 26.19 -
16814 740.9 7.8 321 16821 done 1.06 - - 3322 - 2.53 0.030 1581 -641.9 150.9 - - 1710 - - - - - - - - - 26.27 -
17216 710.0 6.4 325 17232 roll 1.09 - - 3322 - 2.65 0.036 3201 611.3 155.5 6.93 1.317 1685 -3.6 0.207 - - - - - - - 26.21 23.96
17304 710.0 6.4 325 17315 done 1.12 - - 3334 - 2.53 0.030 1582 -639.9 160.1 6.05 1.271 1667 -3.0 0.177 - - - - - - - 26.24 23.89
17687 680.1 6.3 329 17703 roll 1.15 0.10 0.096 3391 570.0 2.65 0.037 3206 612.8 166.8 7.95 1.343 1638 -3.6 0.197 - - - - - - 26.53 26.14 23.96
17805 670.5 6.8 330 17812 done 1.15 0.08 0.142 3379 -150.0 2.55 0.030 1574 -640.0 166.8 - - 1638 - - - - - - - - 25.89 26.18 -
18164 640.4 8.2 333 18171 roll 1.15 - - 3386 - 1.95 0.047 356 -624.6 166.8 - - 1636 - - - - - - - - - 26.08 -
18464 618.2 9.0 335 18471 done 1.13 - - 3386 - 1.95 0.025 1651 664.1 166.8 - - 1637 - - - - - - - - - 26.43 -
18885 576.2 8.7 339 18887 done 1.10 0.12 0.158 3355 -258.3 - - 1651 - 166.8 - - 1637 - - - - - - - - 26.30 - -
19245 545.3 8.6 342 19252 roll 1.10 - - 3363 - 2.10 0.047 346 -621.4 166.8 - - 1637 - - - - - - - - - 26.04 -
19313 545.3 8.6 342 19321 done 1.10 - - 3363 - 1.98 0.025 1656 661.6 166.8 - - 1637 - - - - - - - - - 26.44 -
19724 504.0 8.6 346 19732 roll 1.10 - - 3373 - 2.10 0.047 356 -619.0 166.8 - - 1637 - - - - - - - - - 26.02 -
19864 493.3 8.6 347 19872 done 1.10 - - 3373 - 1.95 0.025 1651 664.1 166.8 - - 1637 - - - - - - - - - 26.44 -
20204 463.6 8.0 353 20212 roll 1.10 - - 3382 - 2.08 0.047 360 -620.7 166.8 - - 1637 - - - - - - - - - 26.00 -
20293 458.8 8.0 354 20300 done 1.10 - - 3382 - 1.95 0.026 1652 662.6 166.8 - - 1637 - - - - - - - - - 26.41 -
20626 430.4 7.9 360 20627 done 1.10 - - 3382 - - - 1652 - 166.8 - - 1637 - - - - - - - - - - -
20924 405.6 8.3 365 20931 roll 1.10 - - 3392 - 2.10 0.047 359 -615.7 166.8 - - 1637 - - - - - - - - - 25.97 -
21034 400.5 8.4 366 21043 done 1.10 0.15 0.146 3352 -266.7 1.95 0.026 1655 664.6 166.8 - - 1637 - - - - - - - - 25.94 26.40 -
21346 371.6 8.0 372 21352 roll 1.14 - - 3360 - 2.10 0.047 352 -620.5 166.8 - - 1637 - - - - - - - - - 25.97 -
21414 366.8 8.0 373 21421 done 1.18 - - 3361 - 1.98 0.025 1660 660.6 166.8 - - 1637 - - - - - - - - - 26.40 -
21766 338.4 7.9 379 21772 roll 1.21 - - 3370 - 2.10 0.047 358 -620.0 166.8 - - 1636 - - - - - - - - - 25.97 -
21814 338.4 7.9 379 21823 done 1.24 - - 3370 - 1.95 0.025 1651 663.1 166.8 - - 1637 - - - - - - - - - 26.41 -
22125 311.4 7.4 385 22132 roll 1.26 0.10 0.095 3437 670.0 2.10 0.047 349 -620.0 166.8 - - 1637 - - - - - - - - 26.63 25.96 -
22264 301.1 8.0 387 22272 done 1.26 0.12 0.156 3404 -275.0 1.95 0.024 1659 671.8 166.8 - - 1637 - - - - - - - - 25.99 26.41 -
22604 272.6 7.8 393 22611 roll 1.26 - - 3415 - 2.10 0.045 356 -620.5 166.8 - - 1637 - - - - - - - - - 26.00 -
22795 257.4 8.3 396 22802 done 1.24 - - 3413 - 1.92 0.024 1647 672.4 166.8 - - 1637 - - - - - - - - - 26.41 -
23144 224.9 9.2 402 23152 roll 1.24 - - 3423 - 2.08 0.046 361 -618.3 166.8 - - 1637 - - - - - - - - - 25.96 -
23275 212.9 9.7 404 23281 done 1.22 - - 3422 - 1.92 0.024 1654 673.4 166.8 - - 1637 - - - - - - - - - 26.42 -
23625 179.2 9.0 410 23632 roll 1.20 0.12 0.152 3398 -200.0 2.10 0.046 355 -618.6 166.8 - - 1638 - - - - - - - - 26.33 25.95 -
23744 169.5 8.4 412 23751 done 1.20 - - 3398 - 1.95 0.024 1653 665.6 166.8 - - 1637 - - - - - - - - - 26.41 -
24075 142.9 8.0 418 24081 roll 1.20 - - 3408 - 2.10 0.047 354 -618.6 166.8 - - 1638 - - - - - - - - - 25.95 -
24233 129.6 9.1 423 24240 done 1.20 - - 3408 - 1.95 0.023 1656 667.7 166.8 - - 1638 - - - - - - - - - 26.42 -
24555 99.8 9.2 434 24562 roll 1.20 - - 3417 - 2.10 0.046 357 -618.6 166.8 - - 1639 - - - - - - - - - 25.94 -
24824 73.3 9.5 443 24833 done 1.20 0.12 0.145 3385 -266.7 1.95 0.022 1665 670.8 166.8 - - 1639 - - - - - - - - 26.05 26.43 -
25137 47.9 8.3 474 25144 roll 1.24 - - 3393 - 2.08 0.046 351 -631.7 166.8 - - 1640 - - - - - - - - - 25.96 -
25235 40.0 7.8 484 25243 done 1.24 - - 3393 - 1.95 0.023 1644 663.1 166.8 - - 1639 - - - - - - - - - 26.44 -
25546 12.9 9.8 515 25552 done 1.24 - - 3393 - - - 1644 - 166.8 - - 1641 - - - - - - - - - - -
25681 end climb: SURFACE_DEPTH_REACHED
25681 begin surface coast
25713 end surface coast: CONTROL_FINISHED_OK
25713 begin surface
SM 2.22 - - - - -8.83 8.45 0.032 154 -383.3 0.82 0.034 2189 664.6 300.00 59.95 0.123 1096 -9.1 0.017 - - - - - -