SPURS Sep12 * SG189 * Dive index * Mission links * Dive 504 * Raw log
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• Previous call tries 1 • 85.17 of 150.00 AH used of 24V (43.22% remains)
• Previous NAKs 0, Timeouts 0 • 75.56 of 97.00 AH used of 10V (22.11% remains)
• Surface angle -57.2 deg, depth 2.18 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: 17 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 - - 152 - - - 2125 - -90.7 -10.60 - 1399 - - - - - - - - - - -
38 2.2 - 1 104 roll -1.33 9.07 0.184 2558 265.3 2.72 0.054 3747 596.3 -97.7 -50.40 - 2720 -26.2 - - - - - - - 25.32 25.89 26.70
395 23.3 -8.9 37 403 done -1.26 0.10 0.135 2589 310.0 2.45 0.022 2099 -672.7 -97.7 - - 2722 - - - - - - - - 25.90 26.34 -
705 47.9 -8.4 68 713 roll -1.23 - - 2578 - 2.65 0.040 3758 626.0 -97.7 - - 2723 - - - - - - - - - 26.05 -
1005 71.3 -7.4 98 1014 done -1.19 0.10 0.129 2611 330.0 2.47 0.021 2092 -674.5 -97.7 - - 2723 - - - - - - - - 25.98 26.41 -
1334 96.4 -8.1 113 1341 roll -1.19 - - 2600 - 2.67 0.040 3746 619.5 -97.7 - - 2723 - - - - - - - - - 26.09 -
1523 111.9 -8.6 119 1531 done -1.19 - - 2600 - 2.47 0.021 2093 -669.2 -97.7 - - 2724 - - - - - - - - - 26.41 -
1845 139.6 -8.3 130 1851 roll -1.19 - - 2588 - 2.62 0.040 3748 631.7 -97.7 - - 2724 - - - - - - - - - 26.10 -
1995 151.5 -8.0 135 2002 done -1.17 0.10 0.125 2622 340.0 2.45 0.021 2089 -677.1 -97.7 - - 2725 - - - - - - - - 26.01 26.43 -
2326 171.4 -5.7 141 2327 done -1.20 - - 2622 - - - 2084 - -97.7 - - 2725 - - - - - - - - - - -
2625 187.7 -5.5 146 2631 roll -1.23 - - 2611 - 2.67 0.040 3745 622.1 -97.7 - - 2725 - - - - - - - - - 26.12 -
2746 195.2 -5.9 148 2751 done -1.26 - - 2610 - 2.40 0.021 2092 -688.8 -97.7 - - 2725 - - - - - - - - - 26.44 -
3105 222.4 -7.9 154 3112 roll -1.29 - - 2611 - 2.42 0.037 543 -640.1 -97.7 - - 2725 - - - - - - - - - 26.17 -
3154 222.4 -7.9 154 3163 done -1.31 - - 2599 - 2.45 0.023 2187 671.0 -97.7 - - 2724 - - - - - - - - - 26.38 -
3465 255.4 -9.2 160 3471 roll -1.31 - - 2587 - 2.47 0.041 3754 634.4 -97.7 - - 2725 - - - - - - - - - 26.11 -
3543 260.7 -9.1 161 3551 done -1.31 - - 2587 - 2.47 0.021 2094 -672.1 -97.7 - - 2725 - - - - - - - - - 26.43 -
3884 290.3 -8.0 167 3891 roll -1.31 - - 2587 - 2.42 0.037 542 -641.3 -97.7 - - 2725 - - - - - - - - - 26.17 -
3954 295.1 -8.0 168 3961 done -1.31 - - 2580 - 2.47 0.024 2193 668.4 -97.7 - - 2725 - - - - - - - - - 26.38 -
4305 318.9 -6.3 174 4311 roll -1.31 - - 2564 - 2.50 0.041 3742 619.6 -97.7 - - 2725 - - - - - - - - - 26.12 -
4474 325.9 -5.9 176 4483 done -1.31 - - 2564 - 2.45 0.021 2100 -670.2 -97.7 - - 2725 - - - - - - - - - 26.44 -
4786 347.4 -6.1 182 4787 done -1.31 - - 2564 - - - 2100 - -97.7 - - 2724 - - - - - - - - - - -
5085 365.7 -6.0 187 5092 roll -1.31 - - 2552 - 2.67 0.041 3752 618.7 -97.7 - - 2723 - - - - - - - - - 26.10 -
5224 373.8 -6.4 189 5231 done -1.31 - - 2552 - 2.45 0.021 2103 -673.1 -97.7 - - 2723 - - - - - - - - - 26.44 -
5565 401.0 -7.8 195 5572 roll -1.31 - - 2540 - 2.65 0.041 3744 619.2 -97.7 - - 2723 - - - - - - - - - 26.11 -
5694 411.2 -8.2 197 5702 done -1.29 0.12 0.128 2580 333.3 2.42 0.021 2098 -680.2 -97.7 - - 2722 - - - - - - - - 25.94 26.42 -
6045 440.0 -8.0 203 6046 done -1.29 - - 2580 - - - 2099 - -97.7 - - 2722 - - - - - - - - - - -
6345 463.5 -7.8 208 6351 roll -1.31 - - 2581 - 2.40 0.038 542 -648.8 -97.7 - - 2721 - - - - - - - - - 26.15 -
6423 468.5 -7.9 209 6431 done -1.31 - - 2570 - 2.50 0.024 2190 659.2 -97.7 - - 2720 - - - - - - - - - 26.36 -
6765 498.9 -8.5 215 6771 roll -1.31 - - 2558 - 2.47 0.042 3751 632.0 -97.7 - - 2720 - - - - - - - - - 26.08 -
6863 504.3 -8.6 216 6871 done -1.31 - - 2558 - 2.47 0.021 2097 -669.6 -97.7 - - 2719 - - - - - - - - - 26.42 -
7244 542.2 -9.0 220 7246 done -1.31 - - 2558 - - - 2097 - -97.7 - - 2719 - - - - - - - - - - -
7605 574.0 -8.9 223 7611 roll -1.31 - - 2546 - 2.65 0.042 3754 625.3 -97.7 - - 2718 - - - - - - - - - 26.06 -
7763 584.8 -8.8 224 7772 done -1.31 0.12 0.149 2578 266.7 2.47 0.021 2101 -669.2 -97.7 - - 2717 - - - - - - - - 26.03 26.41 -
8085 614.0 -8.3 227 8091 roll -1.33 - - 2578 - 2.45 0.038 544 -635.5 -97.7 - - 2717 - - - - - - - - - 26.12 -
8165 614.0 -8.3 227 8172 done -1.35 - - 2568 - 2.53 0.025 2181 647.0 -97.7 - - 2716 - - - - - - - - - 26.34 -
8565 654.7 -8.5 231 8571 roll -1.38 - - 2556 - 2.55 0.043 3749 614.9 -97.7 - - 2715 - - - - - - - - - 26.05 -
8614 654.7 -8.5 231 8621 done -1.41 - - 2556 - 2.45 0.022 2106 -670.6 -97.7 - - 2714 - - - - - - - - - 26.40 -
8926 683.7 -8.2 234 8931 roll -1.41 - - 2556 - 2.42 0.039 540 -647.1 -97.7 - - 2713 - - - - - - - - - 26.10 -
8983 683.7 -8.2 234 8991 done -1.41 - - 2544 - 2.53 0.024 2201 656.5 -97.7 - - 2713 - - - - - - - - - 26.33 -
9405 720.1 -7.6 238 9411 roll -1.41 - - 2544 - 2.62 0.038 546 -631.7 -97.7 - - 2713 - - - - - - - - - 26.09 -
9614 729.3 -7.5 239 9622 done -1.41 - - 2532 - 2.47 0.025 2182 662.3 -97.7 - - 2712 - - - - - - - - - 26.32 -
10005 768.9 -8.2 243 10006 done -1.41 - - 2532 - - - 2181 - -97.7 - - 2711 - - - - - - - - - - -
10364 803.7 -9.4 246 10366 done -1.41 - - 2532 - - - 2181 - -97.7 - - 2710 - - - - - - - - - - -
10725 841.6 -10.4 249 10731 roll -1.41 - - 2532 - 2.55 0.040 548 -640.4 -97.7 - - 2709 - - - - - - - - - 26.03 -
10783 841.6 -10.4 249 10791 done -1.41 - - 2521 - 2.53 0.025 2196 651.4 -97.7 - - 2709 - - - - - - - - - 26.29 -
11204 888.4 -9.8 253 11211 roll -1.41 - - 2521 - 2.62 0.039 549 -628.6 -97.7 - - 2708 - - - - - - - - - 26.03 -
11364 898.8 -9.2 254 11372 done -1.41 0.10 0.142 2541 200.0 2.50 0.026 2185 654.4 -97.7 - - 2707 - - - - - - - - 25.82 26.28 -
11685 925.6 -7.7 257 11686 done -1.41 - - 2541 - - - 2185 - -97.7 - - 2706 - - - - - - - - - - -
12045 951.1 -7.1 260 12051 roll -1.44 - - 2541 - 2.62 0.041 544 -626.3 -97.7 - - 2705 - - - - - - - - - 25.98 -
12155 951.1 -7.1 260 12163 done -1.46 - - 2530 - 2.58 0.026 2217 648.4 -97.7 - - 2704 - - - - - - - - - 26.26 -
12521 end dive: TARGET_DEPTH_EXCEEDED
12521 begin apogee
12530 992.4 -8.6 264 12623 done -0.29 1.20 0.125 2903 310.8 - - 1575 - - 87.15 1.709 2321 -4.4 0.273 - - - - - - 25.01 - 22.93
12625 end apogee: CONTROL_FINISHED_OK
12625 begin climb
12629 997.5 - 269 12727 done 1.33 1.48 0.059 3427 354.1 - - 1575 - 97.7 94.40 1.742 1920 -4.2 0.261 - - - - - - 25.27 - 22.94
13125 977.8 5.5 289 13148 done 1.22 0.12 0.175 3398 -241.7 - - 1575 - 120.3 19.83 1.606 1830 -4.5 0.296 - - - - - - 26.08 - 23.70
13486 952.2 6.8 292 13488 done 1.12 0.15 0.169 3360 -253.3 - - 1580 - 120.3 - - 1826 - - - - - - - - 26.01 - -
13845 925.0 7.5 295 13852 roll 1.06 - - 3367 - 1.95 0.048 357 -627.2 120.3 - - 1824 - - - - - - - - - 26.14 -
13934 925.0 7.5 295 13942 done 0.99 0.17 0.160 3322 -264.7 1.95 0.024 1666 671.3 120.3 - - 1823 - - - - - - - - 25.89 26.45 -
14325 890.1 7.2 299 14332 roll 0.99 - - 3322 - 2.47 0.036 3200 621.1 120.3 - - 1823 - - - - - - - - - 26.22 -
14513 882.3 6.9 300 14521 done 0.99 - - 3332 - 2.55 0.031 1571 -638.8 120.3 - - 1822 - - - - - - - - - 26.25 -
14926 853.2 6.1 304 14942 roll 1.01 - - 3342 - 1.92 0.048 354 -633.9 132.2 10.93 1.515 1780 -3.8 0.232 - - - - - - - 26.06 23.87
15074 845.5 6.1 305 15092 done 1.02 - - 3342 - 1.98 0.025 1661 660.1 143.5 12.10 1.515 1733 -3.9 0.232 - - - - - - - 26.32 23.80
15405 821.8 6.6 308 15411 roll 1.02 - - 3338 - 2.50 0.036 3202 616.4 145.9 - - 1731 - - - - - - - - - 26.13 -
15475 821.8 6.6 308 15485 done 1.03 - - 3354 - 2.53 0.031 1585 -639.1 148.2 5.20 1.263 1716 -2.9 0.201 - - - - - - - 26.21 23.94
15874 786.7 7.5 312 15881 roll 1.03 - - 3354 - 2.62 0.035 3204 617.9 148.2 - - 1715 - - - - - - - - - 26.17 -
16035 777.3 7.7 313 16042 done 1.01 0.12 0.142 3327 -225.0 2.53 0.031 1585 -639.9 148.2 - - 1715 - - - - - - - - 25.81 26.25 -
16354 752.0 7.2 316 16361 roll 1.01 - - 3326 - 2.60 0.036 3200 621.2 148.2 - - 1714 - - - - - - - - - 26.17 -
16423 752.0 7.2 316 16431 done 1.01 - - 3337 - 2.55 0.030 1569 -639.6 148.2 - - 1714 - - - - - - - - - 26.25 -
16836 721.7 6.3 320 16852 roll 1.02 - - 3346 - 2.00 0.048 346 -611.5 155.6 8.23 1.389 1684 -3.6 0.203 - - - - - - - 26.13 23.96
16955 713.0 6.4 321 16965 done 1.02 - - 3347 - 1.95 0.025 1651 669.2 160.0 5.88 1.261 1666 -3.1 0.185 - - - - - - - 26.36 23.91
17306 683.4 8.2 324 17307 done 1.02 - - 3346 - - - 1651 - 160.0 - - 1666 - - - - - - - - - - -
17665 649.3 9.4 327 17672 roll 1.02 - - 3346 - 2.50 0.035 3198 618.8 160.0 - - 1666 - - - - - - - - - 26.14 -
17764 649.3 9.4 327 17772 done 1.02 - - 3358 - 2.55 0.030 1572 -637.6 160.0 - - 1666 - - - - - - - - - 26.21 -
18145 607.4 8.7 331 18152 roll 1.02 - - 3358 - 2.62 0.035 3206 623.7 160.0 - - 1666 - - - - - - - - - 26.14 -
18205 607.4 8.7 331 18213 done 1.02 0.12 0.133 3330 -233.3 2.53 0.030 1587 -639.9 160.0 - - 1665 - - - - - - - - 25.78 26.21 -
18625 575.0 6.7 335 18627 done 1.05 - - 3330 - - - 1587 - 160.0 - - 1666 - - - - - - - - - - -
18986 550.7 6.6 338 18992 roll 1.09 - - 3330 - 2.60 0.035 3206 622.7 160.6 - - 1665 - - - - - - - - - 26.10 -
19146 541.1 7.0 339 19152 done 1.13 - - 3340 - 2.53 0.029 1584 -641.1 160.6 - - 1666 - - - - - - - - - 26.19 -
19466 511.2 8.2 342 19468 done 1.17 0.10 0.097 3398 580.0 - - 1582 - 160.6 - - 1666 - - - - - - - - 26.60 - -
19766 483.8 9.0 345 19772 roll 1.17 - - 3408 - 1.95 0.047 358 -627.7 160.6 - - 1665 - - - - - - - - - 25.96 -
19844 478.3 9.1 346 19852 done 1.15 0.15 0.150 3368 -266.7 1.95 0.024 1664 669.7 160.6 - - 1666 - - - - - - - - 25.89 26.40 -
20185 445.8 9.1 352 20192 roll 1.15 - - 3377 - 2.10 0.047 358 -621.9 160.6 - - 1665 - - - - - - - - - 25.94 -
20315 434.3 9.3 354 20322 done 1.15 - - 3377 - 1.95 0.024 1655 665.1 160.6 - - 1666 - - - - - - - - - 26.39 -
20665 401.0 9.2 360 20672 roll 1.15 - - 3386 - 2.10 0.047 357 -618.1 160.6 - - 1666 - - - - - - - - - 25.92 -
20744 395.7 9.0 361 20751 done 1.15 - - 3386 - 1.95 0.024 1653 664.6 160.6 - - 1665 - - - - - - - - - 26.39 -
21086 370.8 6.5 367 21097 roll 1.15 - - 3387 - 2.55 0.037 3205 608.6 164.7 5.75 1.082 1647 -3.1 0.115 - - - - - - - 26.03 24.10
21155 367.7 6.1 368 21174 done 1.17 - - 3398 - 2.55 0.029 1580 -637.3 175.4 11.38 1.202 1604 -3.8 0.124 - - - - - - - 26.14 23.93
21497 345.3 6.4 374 21507 roll 1.17 - - 3408 - 2.00 0.047 353 -613.5 180.0 5.62 1.043 1585 -3.4 0.120 - - - - - - - 26.10 24.05
21606 336.9 7.1 376 21613 done 1.17 0.08 0.138 3382 -325.0 1.95 0.024 1671 675.9 180.0 - - 1585 - - - - - - - - 25.96 26.32 -
21966 304.6 9.4 382 21973 roll 1.17 - - 3391 - 2.12 0.046 350 -623.1 180.0 - - 1585 - - - - - - - - - 26.00 -
22077 298.0 9.9 383 22084 done 1.17 - - 3391 - 1.90 0.024 1653 685.8 180.0 - - 1585 - - - - - - - - - 26.40 -
22386 258.1 11.0 389 22393 roll 1.17 - - 3401 - 2.10 0.047 354 -618.6 180.0 - - 1585 - - - - - - - - - 25.99 -
22512 245.5 10.6 391 22517 done 1.17 - - 3401 - 1.90 0.024 1658 686.3 180.0 - - 1588 - - - - - - - - - 26.41 -
22866 213.4 8.5 397 22873 roll 1.17 - - 3410 - 2.10 0.046 354 -621.0 180.0 - - 1585 - - - - - - - - - 25.98 -
22926 208.9 8.0 398 22934 done 1.17 0.08 0.134 3385 -312.5 1.92 0.024 1657 678.6 180.0 - - 1585 - - - - - - - - 26.06 26.41 -
23288 184.1 6.8 404 23293 roll 1.20 - - 3393 - 2.05 0.046 353 -636.1 180.0 - - 1585 - - - - - - - - - 25.98 -
23415 174.6 7.3 406 23423 done 1.22 - - 3393 - 1.95 0.024 1654 667.2 180.0 - - 1585 - - - - - - - - - 26.41 -
23737 142.3 10.4 412 23738 done 1.25 - - 3393 - - - 1654 - 180.0 - - 1585 - - - - - - - - - - -
24036 110.3 10.0 422 24043 roll 1.27 - - 3403 - 2.10 0.047 353 -619.5 180.0 - - 1585 - - - - - - - - - 25.94 -
24165 99.4 9.0 426 24172 done 1.27 - - 3403 - 1.95 0.024 1651 665.6 180.0 - - 1585 - - - - - - - - - 26.41 -
24490 75.2 6.8 437 24495 roll 1.30 - - 3413 - 2.08 0.047 346 -627.4 180.0 - - 1585 - - - - - - - - - 25.96 -
24586 68.1 7.1 445 24594 done 1.30 - - 3409 - 1.98 0.024 1648 657.6 180.0 - - 1585 - - - - - - - - - 26.42 -
24896 43.4 8.8 476 24904 roll 1.32 - - 3423 - 2.08 0.047 357 -620.7 180.0 - - 1588 - - - - - - - - - 26.00 -
25007 33.9 8.5 487 25014 done 1.32 - - 3423 - 1.90 0.024 1641 675.8 180.0 - - 1586 - - - - - - - - - 26.41 -
25317 9.0 7.9 518 25324 roll 1.32 - - 3423 - 2.45 0.035 3201 636.7 180.0 - - 1587 - - - - - - - - - 26.10 -
25366 3.7 10.9 523 25374 done 1.32 - - 3435 - 2.50 0.028 1581 -648.0 180.0 - - 1587 - - - - - - - - - 26.20 -
25383 end climb: SURFACE_DEPTH_REACHED
25383 begin surface coast
25404 end surface coast: CONTROL_FINISHED_OK
25404 begin surface
SM 2.42 - - - - -8.82 8.52 0.031 154 -385.1 0.93 0.030 2184 648.4 300.00 54.47 0.125 1095 -9.0 0.018 - - - - - -