SPURS Sep12 * SG189 * Dive index * Mission links * Dive 477 * Raw log
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• Previous call tries 5 • 81.16 of 150.00 AH used of 24V (45.90% remains)
• Previous NAKs 0, Timeouts 0 • 72.12 of 97.00 AH used of 10V (25.65% remains)
• Surface angle -52.4 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: 36 s
• GPS2 time: 14 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 - - 151 - - - 2176 - -90.7 -10.95 - 1411 - - - - - - - - - - -
39 2.2 - 1 105 roll -1.33 8.98 0.179 2568 269.2 2.60 0.050 539 -629.6 -97.7 -49.40 - 2720 -26.5 - - - - - - - 25.26 25.98 26.69
276 13.3 -10.8 25 284 done -1.24 0.12 0.146 2595 225.0 2.47 0.023 2182 665.2 -97.7 - - 2720 - - - - - - - - 25.75 26.29 -
586 35.7 -7.6 56 593 roll -1.22 - - 2585 - 2.50 0.041 3755 629.2 -97.7 - - 2720 - - - - - - - - - 26.08 -
718 46.9 -8.7 69 725 done -1.18 0.12 0.150 2617 266.7 2.42 0.021 2081 -691.7 -97.7 - - 2720 - - - - - - - - 26.02 26.40 -
1026 69.2 -8.0 100 1033 roll -1.18 - - 2605 - 2.70 0.039 3754 619.6 -97.7 - - 2721 - - - - - - - - - 26.11 -
1235 84.9 -7.5 113 1242 done -1.18 - - 2605 - 2.45 0.021 2102 -674.3 -97.7 - - 2721 - - - - - - - - - 26.44 -
1565 108.8 -6.9 124 1573 roll -1.18 - - 2605 - 2.45 0.037 546 -635.1 -97.7 - - 2721 - - - - - - - - - 26.17 -
1716 119.8 -7.3 129 1723 done -1.15 0.10 0.131 2627 220.0 2.45 0.024 2186 669.4 -97.7 - - 2721 - - - - - - - - 25.99 26.41 -
2048 142.6 -6.9 140 2054 roll -1.18 - - 2627 - 2.55 0.036 535 -647.5 -97.7 - - 2722 - - - - - - - - - 26.19 -
2115 146.7 -6.9 142 2122 done -1.18 - - 2613 - 2.47 0.023 2192 670.9 -97.7 - - 2722 - - - - - - - - - 26.41 -
2466 168.9 -6.2 149 2472 roll -1.20 - - 2617 - 2.53 0.035 545 -651.0 -97.7 - - 2722 - - - - - - - - - 26.20 -
2545 172.7 -6.2 150 2552 done -1.20 - - 2604 - 2.50 0.023 2202 662.8 -97.7 - - 2722 - - - - - - - - - 26.40 -
2886 199.7 -8.0 156 2892 roll -1.20 - - 2593 - 2.45 0.041 3755 633.9 -97.7 - - 2722 - - - - - - - - - 26.14 -
2986 205.0 -8.3 157 2992 done -1.20 - - 2590 - 2.45 0.021 2091 -679.2 -97.7 - - 2722 - - - - - - - - - 26.46 -
3305 236.6 -8.6 163 3313 roll -1.20 - - 2593 - 2.42 0.037 541 -640.5 -97.7 - - 2722 - - - - - - - - - 26.20 -
3426 246.0 -8.0 165 3433 done -1.20 0.08 0.140 2607 175.0 2.45 0.023 2181 669.4 -97.7 - - 2722 - - - - - - - - 26.06 26.41 -
3786 267.1 -5.6 171 3793 roll -1.22 - - 2607 - 2.55 0.036 550 -639.6 -97.7 - - 2720 - - - - - - - - - 26.20 -
3856 270.4 -5.5 172 3862 done -1.22 - - 2596 - 2.45 0.023 2190 669.4 -97.7 - - 2722 - - - - - - - - - 26.41 -
4206 289.6 -5.4 178 4207 done -1.22 - - 2596 - - - 2190 - -97.7 - - 2722 - - - - - - - - - - -
4506 309.9 -7.0 183 4512 roll -1.22 - - 2585 - 2.53 0.041 3746 615.0 -97.7 - - 2721 - - - - - - - - - 26.15 -
4566 314.7 -7.5 184 4572 done -1.22 - - 2585 - 2.40 0.021 2095 -687.9 -97.7 - - 2721 - - - - - - - - - 26.46 -
4925 346.1 -8.9 190 4932 roll -1.22 - - 2585 - 2.45 0.037 546 -632.2 -97.7 - - 2721 - - - - - - - - - 26.19 -
4985 351.4 -8.9 191 4993 done -1.22 0.10 0.135 2605 200.0 2.47 0.023 2192 666.4 -97.7 - - 2720 - - - - - - - - 25.99 26.41 -
5347 377.6 -6.9 197 5352 roll -1.26 - - 2606 - 2.55 0.037 538 -648.6 -97.7 - - 2720 - - - - - - - - - 26.19 -
5415 381.6 -6.7 198 5422 done -1.30 - - 2595 - 2.50 0.024 2193 662.0 -97.7 - - 2719 - - - - - - - - - 26.40 -
5766 405.1 -6.6 204 5767 done -1.32 - - 2595 - - - 2193 - -97.7 - - 2719 - - - - - - - - - - -
6067 426.3 -7.1 209 6073 roll -1.35 - - 2594 - 2.55 0.037 546 -645.9 -97.7 - - 2719 - - - - - - - - - 26.17 -
6145 430.8 -7.2 210 6152 done -1.38 - - 2583 - 2.47 0.024 2190 665.6 -97.7 - - 2718 - - - - - - - - - 26.40 -
6487 458.4 -7.7 216 6492 roll -1.40 - - 2584 - 2.55 0.037 545 -645.1 -97.7 - - 2717 - - - - - - - - - 26.17 -
6574 463.2 -7.8 217 6582 done -1.40 - - 2571 - 2.50 0.024 2193 659.2 -97.7 - - 2717 - - - - - - - - - 26.37 -
6905 492.8 -8.2 223 6912 roll -1.40 - - 2560 - 2.50 0.042 3740 618.8 -97.7 - - 2715 - - - - - - - - - 26.13 -
7004 497.6 -8.1 224 7012 done -1.40 - - 2560 - 2.45 0.021 2099 -669.8 -97.7 - - 2716 - - - - - - - - - 26.45 -
7385 529.8 -7.7 228 7386 done -1.40 - - 2560 - - - 2100 - -97.7 - - 2714 - - - - - - - - - - -
7745 557.3 -7.6 231 7752 roll -1.40 - - 2560 - 2.45 0.038 552 -631.8 -97.7 - - 2713 - - - - - - - - - 26.16 -
7865 567.2 -7.8 232 7872 done -1.40 - - 2548 - 2.47 0.024 2193 664.4 -97.7 - - 2713 - - - - - - - - - 26.39 -
8226 598.2 -8.5 235 8227 done -1.40 - - 2548 - - - 2193 - -97.7 - - 2712 - - - - - - - - - - -
8585 631.3 -9.1 238 8592 roll -1.40 - - 2548 - 2.60 0.037 552 -631.2 -97.7 - - 2711 - - - - - - - - - 26.14 -
8755 642.5 -9.2 239 8762 done -1.40 - - 2536 - 2.50 0.024 2203 660.4 -97.7 - - 2712 - - - - - - - - - 26.37 -
9066 672.6 -8.6 242 9072 roll -1.40 - - 2524 - 2.53 0.043 3751 611.9 -97.7 - - 2708 - - - - - - - - - 26.09 -
9154 672.6 -8.6 242 9162 done -1.40 - - 2524 - 2.47 0.022 2105 -666.4 -97.7 - - 2710 - - - - - - - - - 26.41 -
9545 712.7 -8.3 246 9553 roll -1.40 - - 2524 - 2.47 0.039 546 -631.2 -97.7 - - 2709 - - - - - - - - - 26.13 -
9585 712.7 -8.3 246 9593 done -1.40 0.10 0.140 2544 200.0 2.47 0.024 2186 664.0 -97.7 - - 2709 - - - - - - - - 25.92 26.36 -
9905 745.9 -9.1 249 9912 roll -1.40 - - 2544 - 2.60 0.038 542 -632.3 -97.7 - - 2708 - - - - - - - - - 26.11 -
9964 745.9 -9.1 249 9972 done -1.40 - - 2533 - 2.58 0.024 2187 637.6 -97.7 - - 2708 - - - - - - - - - 26.35 -
10386 793.9 -10.0 253 10392 roll -1.40 - - 2534 - 2.55 0.039 546 -643.5 -97.7 - - 2706 - - - - - - - - - 26.09 -
10444 793.9 -10.0 253 10452 done -1.40 - - 2522 - 2.50 0.024 2189 657.2 -97.7 - - 2706 - - - - - - - - - 26.34 -
10865 831.7 -7.9 257 10872 roll -1.40 - - 2510 - 2.55 0.044 3745 610.2 -97.7 - - 2704 - - - - - - - - - 26.03 -
10935 831.7 -7.9 257 10943 done -1.40 0.10 0.135 2542 320.0 2.47 0.024 2090 -670.0 -97.7 - - 2704 - - - - - - - - 25.94 26.36 -
11346 862.1 -6.3 261 11352 roll -1.40 - - 2543 - 2.45 0.041 545 -630.6 -97.7 - - 2703 - - - - - - - - - 26.05 -
11435 862.1 -6.3 261 11443 done -1.40 - - 2532 - 2.55 0.025 2182 642.0 -97.7 - - 2702 - - - - - - - - - 26.32 -
11826 903.4 -8.6 265 11827 done -1.40 - - 2532 - - - 2181 - -97.7 - - 2702 - - - - - - - - - - -
12185 939.4 -9.9 268 12193 roll -1.40 - - 2532 - 2.60 0.041 548 -628.1 -97.7 - - 2701 - - - - - - - - - 26.02 -
12334 951.8 -10.1 269 12342 done -1.40 - - 2520 - 2.53 0.025 2192 649.8 -97.7 - - 2700 - - - - - - - - - 26.29 -
12666 983.5 -9.2 272 12673 roll -1.40 0.12 0.168 2541 175.0 2.55 0.045 3744 608.6 -97.7 - - 2699 - - - - - - - - 26.28 25.94 -
12745 983.5 -9.2 272 12752 done -1.40 - - 2541 - 2.47 0.024 2109 -661.9 -97.7 - - 2699 - - - - - - - - - 26.33 -
12782 end dive: TARGET_DEPTH_EXCEEDED
12782 begin apogee
12791 992.4 -8.5 273 12884 done -0.29 1.15 0.127 2899 311.3 - - 1573 - - 85.97 1.682 2319 -4.4 0.279 - - - - - - 25.03 - 22.94
12886 end apogee: CONTROL_FINISHED_OK
12886 begin climb
12890 995.0 - 278 12993 roll 1.33 1.48 0.061 3427 356.8 2.78 0.035 3196 583.8 97.7 92.82 1.694 1924 -4.3 0.268 - - - - - - 25.30 24.96 22.99
13047 989.7 6.4 286 13058 done 1.19 0.22 0.170 3382 -204.5 2.53 0.030 1580 -638.7 103.1 5.57 1.300 1898 -4.7 0.381 - - - - - - 25.38 25.76 23.45
13356 967.0 7.3 291 13362 roll 1.11 - - 3382 - 2.58 0.035 3207 630.6 103.1 - - 1893 - - - - - - - - - 26.17 -
13435 967.0 7.3 291 13443 done 1.02 0.20 0.151 3332 -250.0 2.53 0.029 1589 -639.5 103.1 - - 1893 - - - - - - - - 25.72 26.25 -
13837 943.4 4.9 295 13872 done 1.03 - - 3332 - - - 1589 - 138.9 32.92 1.626 1752 -4.3 0.266 - - - - - - - - 23.54
14196 923.9 5.1 298 14228 done 1.07 - - 3332 - - - 1588 - 170.8 29.95 1.626 1622 -4.3 0.264 - - - - - - - - 23.56
14555 897.1 7.1 301 14563 roll 1.07 - - 3340 - 1.98 0.048 358 -621.2 170.8 - - 1617 - - - - - - - - - 26.09 -
14635 897.1 7.1 301 14642 done 1.07 - - 3340 - 1.92 0.025 1642 668.8 170.8 - - 1617 - - - - - - - - - 26.37 -
15035 854.7 8.8 305 15043 roll 1.07 - - 3351 - 2.08 0.048 354 -619.2 170.8 - - 1615 - - - - - - - - - 26.15 -
15134 854.7 8.8 305 15141 done 1.07 - - 3349 - 1.95 0.025 1648 663.6 170.8 - - 1615 - - - - - - - - - 26.45 -
15516 811.3 9.0 309 15523 roll 1.07 - - 3359 - 2.08 0.048 359 -619.7 170.8 - - 1613 - - - - - - - - - 26.13 -
15595 811.3 9.0 309 15602 done 1.07 - - 3359 - 1.95 0.025 1655 664.6 170.8 - - 1613 - - - - - - - - - 26.46 -
15995 776.1 7.3 313 16003 roll 1.07 - - 3366 - 2.10 0.047 353 -620.0 170.8 - - 1613 - - - - - - - - - 26.10 -
16157 767.4 7.1 314 16162 done 1.07 - - 3369 - 1.92 0.027 1657 679.2 170.8 - - 1612 - - - - - - - - - 26.44 -
16476 738.8 7.8 317 16482 roll 1.07 - - 3378 - 2.12 0.048 352 -615.6 170.8 - - 1612 - - - - - - - - - 26.07 -
16584 738.8 7.8 317 16594 done 1.07 0.12 0.158 3347 -258.3 1.98 0.026 1663 662.1 170.8 - - 1612 - - - - - - - - 26.03 26.44 -
16956 699.3 8.2 321 16963 roll 1.07 - - 3356 - 2.12 0.048 351 -618.9 170.8 - - 1612 - - - - - - - - - 26.04 -
17044 699.3 8.2 321 17051 done 1.07 - - 3356 - 1.98 0.026 1657 659.6 170.8 - - 1611 - - - - - - - - - 26.44 -
17435 659.0 8.4 325 17437 done 1.07 - - 3356 - - - 1657 - 170.8 - - 1611 - - - - - - - - - - -
17795 630.5 8.0 328 17796 done 1.07 - - 3356 - - - 1657 - 170.8 - - 1611 - - - - - - - - - - -
18155 596.7 9.0 331 18163 roll 1.07 - - 3365 - 2.12 0.047 355 -614.2 170.8 - - 1611 - - - - - - - - - 25.98 -
18275 584.2 9.7 332 18282 done 1.07 - - 3365 - 1.98 0.026 1655 656.6 170.8 - - 1611 - - - - - - - - - 26.40 -
18636 550.9 9.5 335 18643 roll 1.07 - - 3375 - 2.12 0.047 350 -615.6 170.8 - - 1611 - - - - - - - - - 25.97 -
18724 550.9 9.5 335 18732 done 1.07 0.12 0.153 3343 -266.7 1.98 0.026 1660 661.6 170.8 - - 1611 - - - - - - - - 26.00 26.40 -
19116 519.4 6.5 339 19123 roll 1.11 - - 3352 - 2.10 0.047 359 -619.5 174.5 - - 1611 - - - - - - - - - 25.96 -
19176 519.4 6.5 339 19186 done 1.14 - - 3352 - 1.92 0.026 1645 669.8 178.2 5.55 1.147 1594 -3.1 0.149 - - - - - - - 26.39 24.01
19526 489.3 7.3 343 19532 roll 1.18 - - 3361 - 2.08 0.047 361 -617.3 178.2 - - 1594 - - - - - - - - - 25.94 -
19615 484.1 7.7 344 19622 done 1.21 - - 3361 - 1.95 0.025 1650 661.0 178.2 - - 1594 - - - - - - - - - 26.37 -
19947 454.1 8.3 350 19948 done 1.24 0.10 0.096 3417 560.0 - - 1650 - 178.2 - - 1594 - - - - - - - - 26.60 - -
20246 428.6 8.4 355 20253 roll 1.21 - - 3427 - 2.08 0.047 361 -619.7 178.2 - - 1594 - - - - - - - - - 25.95 -
20491 409.3 8.0 359 20496 done 1.16 0.20 0.140 3371 -280.0 1.90 0.026 1663 685.3 178.2 - - 1594 - - - - - - - - 25.77 26.39 -
20846 383.6 7.2 365 20847 done 1.18 - - 3371 - - - 1663 - 178.2 - - 1594 - - - - - - - - - - -
21147 359.3 8.2 370 21152 roll 1.21 - - 3379 - 2.08 0.047 351 -630.8 178.2 - - 1594 - - - - - - - - - 25.94 -
21285 348.7 8.6 372 21292 done 1.23 - - 3379 - 2.00 0.025 1647 648.0 178.2 - - 1594 - - - - - - - - - 26.39 -
21626 318.5 8.3 378 21632 roll 1.26 - - 3379 - 2.53 0.035 3201 614.2 178.2 - - 1594 - - - - - - - - - 26.08 -
21686 313.5 8.2 379 21692 done 1.28 - - 3391 - 2.47 0.029 1579 -656.7 178.2 - - 1594 - - - - - - - - - 26.16 -
22045 284.4 8.1 385 22052 roll 1.28 - - 3401 - 1.98 0.047 351 -620.2 178.2 - - 1594 - - - - - - - - - 25.94 -
22216 273.5 8.7 387 22223 done 1.28 - - 3401 - 1.92 0.024 1645 674.0 178.2 - - 1594 - - - - - - - - - 26.41 -
22525 239.2 9.6 393 22533 roll 1.28 - - 3410 - 2.08 0.045 358 -618.8 178.2 - - 1594 - - - - - - - - - 25.94 -
22714 220.3 10.4 396 22721 done 1.28 - - 3414 - 1.95 0.024 1656 665.6 178.2 - - 1594 - - - - - - - - - 26.40 -
23066 184.5 9.6 402 23072 roll 1.28 - - 3420 - 2.08 0.046 360 -623.1 178.2 - - 1594 - - - - - - - - - 25.94 -
23245 169.7 8.4 405 23252 done 1.28 - - 3420 - 1.92 0.024 1657 675.5 178.2 - - 1594 - - - - - - - - - 26.41 -
23576 142.9 8.1 411 23582 roll 1.28 - - 3431 - 2.10 0.046 349 -622.9 178.2 - - 1595 - - - - - - - - - 25.94 -
23865 118.6 9.1 420 23874 done 1.26 - - 3431 - 2.00 0.023 1657 654.0 178.2 - - 1595 - - - - - - - - - 26.41 -
24179 90.4 8.3 431 24184 roll 1.26 - - 3440 - 2.08 0.046 347 -629.8 178.2 - - 1596 - - - - - - - - - 25.97 -
24456 67.9 7.9 445 24464 done 1.23 0.12 0.124 3398 -350.0 1.95 0.023 1663 674.9 178.2 - - 1597 - - - - - - - - 25.92 26.43 -
24769 42.5 8.8 476 24776 roll 1.26 - - 3406 - 2.08 0.046 347 -632.7 178.2 - - 1595 - - - - - - - - - 25.96 -
24865 33.4 9.0 486 24874 done 1.26 - - 3406 - 1.95 0.022 1652 669.2 178.2 - - 1597 - - - - - - - - - 26.43 -
25176 4.4 9.5 517 25184 roll 1.30 - - 3416 - 2.08 0.045 354 -624.0 178.2 - - 1598 - - - - - - - - - 25.98 -
25192 end climb: SURFACE_DEPTH_REACHED
25192 begin surface coast
25223 end surface coast: CONTROL_FINISHED_OK
25223 begin surface
SM 2.26 - - - - -8.83 8.43 0.028 151 -387.3 2.80 0.024 2188 655.0 300.00 55.67 0.124 1096 -9.0 0.017 - - - - - -