SPURS Sep12 * SG189 * Dive index * Mission links * Dive 507 * Raw log
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• Previous call tries 1 • 85.62 of 150.00 AH used of 24V (42.92% remains)
• Previous NAKs 0, Timeouts 0 • 75.94 of 97.00 AH used of 10V (21.71% remains)
• Surface angle -59.4 deg, depth 2.29 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 30 s
• GPS2 time: 13 s • Transponder ping count: 2
• 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 -1.26 - - 156 - - - 2178 - -97.7 -10.93 - 1410 - - - - - - - - - - -
39 2.4 - 1 105 roll -1.26 9.32 0.194 2582 260.3 2.65 0.055 3752 594.0 -97.7 -49.97 - 2719 -26.2 - - - - - - - 25.41 25.91 26.69
129 2.4 -2.5 10 136 done -1.44 0.12 0.088 2525 -475.0 2.42 0.021 2088 -687.6 -97.7 - - 2720 - - - - - - - - 26.13 26.27 -
436 28.3 -8.5 41 444 roll -1.32 0.17 0.154 2571 270.6 2.42 0.038 548 -636.4 -97.7 - - 2721 - - - - - - - - 26.02 26.08 -
656 48.0 -9.7 63 665 done -1.22 0.12 0.136 2600 241.7 2.47 0.024 2187 663.6 -97.7 - - 2721 - - - - - - - - 25.82 26.34 -
966 74.6 -8.4 94 973 roll -1.18 - - 2590 - 2.50 0.041 3741 621.6 -97.7 - - 2722 - - - - - - - - - 26.08 -
1215 93.7 -7.6 103 1223 done -1.12 0.12 0.128 2632 350.0 2.42 0.021 2095 -680.2 -97.7 - - 2722 - - - - - - - - 25.92 26.42 -
1539 114.4 -5.9 114 1544 roll -1.12 - - 2621 - 2.62 0.040 3748 630.9 -97.7 - - 2723 - - - - - - - - - 26.12 -
1596 118.0 -6.0 116 1602 done -1.12 - - 2621 - 2.45 0.021 2097 -673.9 -97.7 - - 2723 - - - - - - - - - 26.43 -
1928 135.1 -5.1 127 1934 roll -1.12 - - 2609 - 2.62 0.040 3750 630.9 -97.7 - - 2723 - - - - - - - - - 26.11 -
2056 141.6 -5.4 131 2062 done -1.12 - - 2609 - 2.45 0.021 2099 -673.9 -97.7 - - 2724 - - - - - - - - - 26.44 -
2375 163.4 -7.0 139 2383 roll -1.12 0.10 0.156 2623 140.0 2.65 0.040 3744 620.8 -97.7 - - 2724 - - - - - - - - 26.44 26.12 -
2445 167.7 -7.1 140 2452 done -1.12 - - 2623 - 2.42 0.021 2105 -677.3 -97.7 - - 2725 - - - - - - - - - 26.44 -
2795 197.9 -8.8 146 2797 done -1.12 - - 2623 - - - 2105 - -97.7 - - 2725 - - - - - - - - - - -
3095 225.0 -9.1 151 3103 roll -1.12 - - 2623 - 2.45 0.037 546 -636.3 -97.7 - - 2725 - - - - - - - - - 26.17 -
3225 235.0 -8.6 153 3232 done -1.12 - - 2611 - 2.47 0.024 2193 666.8 -97.7 - - 2724 - - - - - - - - - 26.38 -
3576 259.4 -6.4 159 3582 roll -1.12 - - 2611 - 2.58 0.036 551 -636.4 -97.7 - - 2725 - - - - - - - - - 26.17 -
3675 262.7 -5.9 160 3683 done -1.12 0.10 0.130 2633 220.0 2.45 0.023 2185 666.9 -97.7 - - 2725 - - - - - - - - 25.98 26.38 -
3997 278.9 -4.3 166 4003 roll -1.16 - - 2633 - 2.55 0.036 539 -645.5 -97.7 - - 2725 - - - - - - - - - 26.17 -
4076 281.6 -4.3 167 4082 done -1.19 - - 2623 - 2.47 0.024 2184 666.0 -97.7 - - 2725 - - - - - - - - - 26.38 -
4417 300.4 -5.5 173 4423 roll -1.22 - - 2623 - 2.53 0.036 545 -647.8 -97.7 - - 2724 - - - - - - - - - 26.17 -
4485 304.3 -5.9 174 4492 done -1.24 - - 2611 - 2.47 0.023 2194 667.6 -97.7 - - 2725 - - - - - - - - - 26.39 -
4835 332.9 -8.4 180 4842 roll -1.24 - - 2611 - 2.60 0.036 543 -635.0 -97.7 - - 2724 - - - - - - - - - 26.17 -
5055 351.3 -9.9 183 5062 done -1.24 - - 2599 - 2.47 0.024 2190 666.8 -97.7 - - 2723 - - - - - - - - - 26.38 -
5376 385.8 -9.2 189 5382 roll -1.24 - - 2587 - 2.53 0.042 3750 616.6 -97.7 - - 2723 - - - - - - - - - 26.10 -
5455 390.5 -8.7 190 5462 done -1.24 - - 2587 - 2.45 0.021 2102 -672.7 -97.7 - - 2723 - - - - - - - - - 26.44 -
5796 411.6 -5.3 196 5802 roll -1.24 - - 2587 - 2.45 0.037 549 -633.9 -97.7 - - 2720 - - - - - - - - - 26.15 -
5895 414.2 -4.8 197 5903 done -1.24 - - 2575 - 2.50 0.024 2203 661.6 -97.7 - - 2721 - - - - - - - - - 26.37 -
6217 428.8 -4.3 203 6218 done -1.24 - - 2575 - - - 2203 - -97.7 - - 2721 - - - - - - - - - - -
6516 449.4 -7.2 208 6522 roll -1.24 - - 2575 - 2.62 0.037 542 -634.0 -97.7 - - 2720 - - - - - - - - - 26.15 -
6645 460.4 -8.5 210 6653 done -1.22 0.12 0.133 2603 233.3 2.47 0.024 2186 665.6 -97.7 - - 2720 - - - - - - - - 25.88 26.36 -
6997 493.9 -9.3 216 6998 done -1.25 - - 2603 - - - 2187 - -97.7 - - 2719 - - - - - - - - - - -
7356 523.5 -8.2 220 7362 roll -1.28 - - 2604 - 2.55 0.037 546 -643.5 -97.7 - - 2718 - - - - - - - - - 26.13 -
7496 533.1 -8.0 221 7502 done -1.31 - - 2593 - 2.47 0.024 2190 665.6 -97.7 - - 2718 - - - - - - - - - 26.36 -
7836 562.7 -8.2 224 7842 roll -1.33 - - 2593 - 2.55 0.037 542 -646.3 -97.7 - - 2717 - - - - - - - - - 26.12 -
7925 562.7 -8.2 224 7932 done -1.35 - - 2581 - 2.47 0.024 2183 664.4 -97.7 - - 2716 - - - - - - - - - 26.36 -
8317 605.3 -8.9 228 8322 roll -1.35 - - 2581 - 2.55 0.038 548 -641.2 -97.7 - - 2715 - - - - - - - - - 26.11 -
8446 615.9 -8.9 229 8452 done -1.35 - - 2570 - 2.47 0.025 2187 663.6 -97.7 - - 2715 - - - - - - - - - 26.34 -
8795 641.2 -7.5 232 8802 roll -1.35 - - 2570 - 2.58 0.038 553 -633.3 -97.7 - - 2712 - - - - - - - - - 26.10 -
8936 647.5 -6.6 233 8942 done -1.35 - - 2557 - 2.47 0.024 2192 663.6 -97.7 - - 2713 - - - - - - - - - 26.35 -
9276 666.1 -5.1 236 9277 done -1.35 - - 2557 - - - 2192 - -97.7 - - 2713 - - - - - - - - - - -
9635 695.5 -7.6 239 9642 roll -1.35 - - 2557 - 2.60 0.039 549 -631.9 -97.7 - - 2711 - - - - - - - - - 26.08 -
9756 708.4 -8.8 240 9762 done -1.35 - - 2546 - 2.42 0.026 2187 676.9 -97.7 - - 2711 - - - - - - - - - 26.32 -
10116 746.4 -10.6 243 10122 roll -1.35 - - 2546 - 2.60 0.039 545 -631.5 -97.7 - - 2711 - - - - - - - - - 26.06 -
10277 758.1 -10.4 244 10283 done -1.33 0.15 0.158 2572 173.3 2.45 0.025 2197 674.3 -97.7 - - 2711 - - - - - - - - 25.84 26.32 -
10596 784.9 -7.9 247 10602 roll -1.33 - - 2572 - 2.62 0.039 545 -630.5 -97.7 - - 2710 - - - - - - - - - 26.05 -
10674 784.9 -7.9 247 10682 done -1.33 - - 2561 - 2.53 0.025 2196 652.6 -97.7 - - 2710 - - - - - - - - - 26.32 -
11077 821.8 -7.7 251 11082 roll -1.33 - - 2561 - 2.58 0.040 547 -639.1 -97.7 - - 2708 - - - - - - - - - 26.03 -
11134 821.8 -7.7 251 11142 done -1.33 - - 2549 - 2.53 0.026 2193 650.6 -97.7 - - 2708 - - - - - - - - - 26.30 -
11556 864.8 -9.0 255 11562 roll -1.33 - - 2538 - 2.53 0.044 3740 611.5 -97.7 - - 2707 - - - - - - - - - 25.96 -
11605 864.8 -9.0 255 11613 done -1.33 0.10 0.132 2570 320.0 2.45 0.023 2101 -669.0 -97.7 - - 2707 - - - - - - - - 25.91 26.34 -
11917 892.3 -7.9 258 11923 roll -1.35 - - 2570 - 2.45 0.041 539 -637.6 -97.7 - - 2706 - - - - - - - - - 26.00 -
12025 892.3 -7.9 258 12034 done -1.37 - - 2560 - 2.50 0.025 2183 657.6 -97.7 - - 2706 - - - - - - - - - 26.29 -
12397 924.1 -6.6 262 12403 roll -1.37 - - 2560 - 2.55 0.041 549 -640.8 -97.7 - - 2704 - - - - - - - - - 25.98 -
12525 932.5 -6.6 263 12532 done -1.37 - - 2548 - 2.47 0.025 2180 660.3 -97.7 - - 2706 - - - - - - - - - 26.29 -
12875 958.2 -7.1 266 12883 roll -1.37 - - 2548 - 2.60 0.041 550 -626.9 -97.7 - - 2703 - - - - - - - - - 25.96 -
12965 958.2 -7.1 266 12972 done -1.37 - - 2536 - 2.50 0.026 2183 653.2 -97.7 - - 2703 - - - - - - - - - 26.26 -
13252 end dive: TARGET_DEPTH_EXCEEDED
13252 begin apogee
13261 991.3 -8.7 270 13354 done -0.29 1.17 0.125 2901 312.0 - - 1577 - - 86.55 1.674 2320 -4.4 0.279 - - - - - - 25.00 - 22.99
13356 end apogee: CONTROL_FINISHED_OK
13356 begin climb
13360 996.4 - 275 13457 done 1.26 1.40 0.062 3402 357.9 - - 1577 - 97.7 92.70 1.651 1920 -4.3 0.278 - - - - - - 25.29 - 23.00
13856 977.2 5.7 295 13884 roll 1.15 0.12 0.181 3374 -233.3 2.67 0.035 3196 606.4 118.7 18.35 1.566 1835 -4.6 0.308 - - - - - - 26.07 25.79 23.73
14009 969.5 6.0 296 14033 done 1.05 0.17 0.171 3340 -200.0 2.47 0.031 1582 -653.4 133.4 14.90 1.534 1775 -4.0 0.271 - - - - - - 25.67 26.10 23.75
14336 944.2 6.9 299 14342 roll 0.97 - - 3348 - 1.98 0.049 351 -621.7 133.4 - - 1772 - - - - - - - - - 26.10 -
14406 944.2 6.9 299 14413 done 0.90 0.17 0.142 3294 -317.6 1.95 0.025 1655 668.7 133.4 - - 1771 - - - - - - - - 25.80 26.38 -
14815 911.9 6.7 303 14822 roll 0.90 - - 3293 - 2.47 0.035 3202 626.3 133.4 - - 1770 - - - - - - - - - 26.23 -
14845 911.9 6.7 303 14852 done 0.90 - - 3304 - 2.53 0.030 1583 -639.9 133.4 - - 1769 - - - - - - - - - 26.28 -
15177 889.2 6.3 306 15192 roll 0.91 - - 3304 - 2.65 0.035 3206 612.5 140.4 6.53 1.360 1746 -3.5 0.246 - - - - - - - 26.22 24.00
15435 873.2 6.5 308 15445 done 0.92 - - 3317 - 2.55 0.030 1580 -637.6 144.9 5.47 1.290 1729 -3.1 0.224 - - - - - - - 26.25 23.98
15766 848.6 7.0 311 15772 roll 0.92 - - 3326 - 1.95 0.049 360 -625.6 144.9 - - 1728 - - - - - - - - - 26.10 -
15844 848.6 7.0 311 15853 done 0.92 0.12 0.158 3295 -258.3 1.95 0.026 1664 668.7 144.9 - - 1727 - - - - - - - - 26.03 26.42 -
16247 817.2 6.5 315 16255 roll 0.92 - - 3295 - 2.53 0.037 3203 608.3 148.0 3.72 1.072 1717 -2.7 0.219 - - - - - - - 26.26 24.05
16428 810.6 6.2 316 16444 done 0.95 - - 3305 - 2.50 0.031 1579 -649.6 157.2 10.93 1.466 1678 -3.6 0.210 - - - - - - - 26.25 23.91
16827 783.5 5.8 320 16853 roll 0.98 - - 3306 - 2.65 0.037 3201 612.1 176.8 19.33 1.496 1597 -4.2 0.234 - - - - - - - 25.83 23.84
16985 774.7 6.2 321 17003 done 0.99 - - 3318 - 2.55 0.030 1577 -636.9 187.6 11.73 1.422 1553 -3.8 0.218 - - - - - - - 26.07 23.82
17306 743.8 8.3 324 17312 roll 1.02 - - 3318 - 2.62 0.036 3228 630.2 187.6 - - 1551 - - - - - - - - - 26.10 -
17396 743.8 8.3 324 17403 done 1.04 - - 3330 - 2.58 0.030 1576 -640.3 187.6 - - 1551 - - - - - - - - - 26.20 -
17785 700.9 8.9 328 17787 done 1.04 - - 3330 - - - 1576 - 187.6 - - 1549 - - - - - - - - - - -
18145 672.7 8.0 331 18147 done 1.04 - - 3330 - - - 1576 - 187.6 - - 1549 - - - - - - - - - - -
18507 647.3 7.1 334 18512 roll 1.06 - - 3330 - 2.60 0.036 3203 625.8 187.6 - - 1548 - - - - - - - - - 26.14 -
18664 637.9 7.2 335 18672 done 1.06 - - 3342 - 2.55 0.030 1575 -638.4 187.6 - - 1549 - - - - - - - - - 26.23 -
18985 607.4 8.3 338 18992 roll 1.06 - - 3352 - 1.95 0.048 360 -623.1 187.6 - - 1548 - - - - - - - - - 26.03 -
19055 607.4 8.3 338 19062 done 1.06 - - 3351 - 1.95 0.025 1655 664.1 187.6 - - 1547 - - - - - - - - - 26.41 -
19465 561.9 9.5 342 19472 roll 1.06 - - 3351 - 2.50 0.036 3204 619.6 187.6 - - 1547 - - - - - - - - - 26.11 -
19604 550.6 9.5 343 19612 done 1.06 - - 3363 - 2.55 0.030 1579 -637.3 187.6 - - 1547 - - - - - - - - - 26.19 -
19946 518.5 9.0 346 19952 roll 1.06 - - 3363 - 2.58 0.035 3203 629.5 187.6 - - 1547 - - - - - - - - - 26.09 -
19984 518.5 9.0 346 19993 done 1.06 0.12 0.157 3344 -158.3 2.55 0.030 1576 -638.0 187.6 - - 1548 - - - - - - - - 25.85 26.18 -
20306 491.9 7.4 350 20307 done 1.06 - - 3344 - - - 1576 - 187.6 - - 1547 - - - - - - - - - - -
20607 472.8 6.3 355 20622 roll 1.10 - - 3344 - 2.70 0.036 3210 605.2 194.6 6.70 1.280 1525 -3.3 0.129 - - - - - - - 26.08 23.99
20685 468.6 6.4 356 20697 done 1.13 - - 3354 - 2.55 0.030 1577 -640.4 199.7 6.65 1.244 1504 -3.2 0.127 - - - - - - - 26.16 23.95
21017 442.8 7.5 362 21022 roll 1.16 - - 3355 - 2.58 0.036 3207 631.8 199.7 - - 1504 - - - - - - - - - 26.08 -
21136 433.2 7.9 364 21142 done 1.18 - - 3366 - 2.53 0.029 1585 -641.1 199.7 - - 1504 - - - - - - - - - 26.18 -
21496 404.8 7.9 370 21497 done 1.18 - - 3366 - - - 1585 - 199.7 - - 1504 - - - - - - - - - - -
21796 383.5 6.9 375 21802 roll 1.18 - - 3366 - 2.55 0.035 3207 636.1 199.7 - - 1504 - - - - - - - - - 26.09 -
21865 379.2 6.8 376 21872 done 1.18 - - 3378 - 2.55 0.029 1571 -641.6 199.7 - - 1504 - - - - - - - - - 26.20 -
22216 350.5 8.3 382 22222 roll 1.18 - - 3378 - 2.60 0.035 3200 626.5 199.7 - - 1504 - - - - - - - - - 26.08 -
22255 350.5 8.3 382 22262 done 1.18 - - 3390 - 2.53 0.028 1576 -641.9 199.7 - - 1504 - - - - - - - - - 26.20 -
22576 316.6 9.5 388 22582 roll 1.18 - - 3399 - 1.95 0.047 355 -626.2 199.7 - - 1504 - - - - - - - - - 25.97 -
22645 310.5 9.6 389 22652 done 1.18 - - 3400 - 1.95 0.024 1655 666.7 199.7 - - 1504 - - - - - - - - - 26.41 -
22996 275.0 9.8 395 23002 roll 1.18 - - 3400 - 2.42 0.035 3201 638.8 199.7 - - 1504 - - - - - - - - - 26.08 -
23074 268.4 10.0 396 23083 done 1.18 0.12 0.158 3380 -166.7 2.55 0.030 1573 -638.4 199.7 - - 1507 - - - - - - - - 25.83 26.16 -
23416 230.1 10.7 402 23418 done 1.18 - - 3381 - - - 1573 - 199.7 - - 1504 - - - - - - - - - - -
23716 200.1 9.8 407 23722 roll 1.18 - - 3380 - 2.62 0.035 3200 621.0 199.7 - - 1504 - - - - - - - - - 26.07 -
23795 194.6 9.5 408 23802 done 1.18 - - 3393 - 2.55 0.029 1574 -637.6 199.7 - - 1504 - - - - - - - - - 26.16 -
24136 162.9 8.7 414 24142 roll 1.18 - - 3400 - 1.95 0.047 360 -622.6 199.7 - - 1504 - - - - - - - - - 25.94 -
24185 162.9 8.7 414 24193 done 1.18 - - 3400 - 1.92 0.023 1650 671.9 199.7 - - 1504 - - - - - - - - - 26.44 -
24496 128.3 10.0 423 24502 roll 1.18 - - 3402 - 2.47 0.035 3197 626.3 199.7 - - 1504 - - - - - - - - - 26.08 -
24586 119.3 10.0 426 24593 done 1.18 0.10 0.128 3380 -220.0 2.53 0.030 1583 -637.9 199.7 - - 1504 - - - - - - - - 25.79 26.16 -
24919 89.5 8.8 437 24924 roll 1.21 - - 3387 - 1.92 0.047 354 -640.1 199.7 - - 1504 - - - - - - - - - 25.94 -
25055 78.2 9.4 441 25064 done 1.21 - - 3387 - 1.95 0.022 1655 667.2 199.7 - - 1504 - - - - - - - - - 26.41 -
25367 49.4 8.5 470 25374 roll 1.25 - - 3397 - 2.10 0.047 358 -617.6 199.7 - - 1504 - - - - - - - - - 25.94 -
25436 42.9 9.5 477 25444 done 1.25 - - 3397 - 1.90 0.023 1642 675.8 199.7 - - 1504 - - - - - - - - - 26.42 -
25747 15.4 8.7 508 25754 roll 1.27 - - 3407 - 2.08 0.047 354 -619.2 199.7 - - 1506 - - - - - - - - - 25.95 -
25785 11.7 9.2 512 25794 done 1.27 - - 3407 - 1.92 0.022 1649 674.5 199.7 - - 1508 - - - - - - - - - 26.43 -
25882 end climb: SURFACE_DEPTH_REACHED
25882 begin surface coast
25917 end surface coast: CONTROL_FINISHED_OK
25917 begin surface
SM 2.34 - - - - -8.81 8.48 0.031 151 -384.0 0.82 0.030 2190 659.8 300.00 45.75 0.124 1094 -9.0 0.017 - - - - - -