SPURS Sep12 * SG189 * Dive index * Mission links * Dive 509 * Raw log
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• Previous call tries 1 • 85.91 of 150.00 AH used of 24V (42.73% remains)
• Previous NAKs 0, Timeouts 0 • 76.19 of 97.00 AH used of 10V (21.46% remains)
• Surface angle -58.4 deg, depth 2.32 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 38 s
• GPS2 time: 15 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 - - - 34 VBD -1.26 - - 151 - - - 2121 - -97.7 -10.18 - 1387 - - - - - - - - - - -
38 2.4 - 1 104 roll -1.26 9.27 0.189 2590 263.1 2.72 0.051 3745 597.1 -97.7 -50.80 - 2717 -26.2 - - - - - - - 25.34 25.93 26.70
118 1.6 -0.3 9 125 done -1.60 0.30 0.053 2467 -410.0 2.42 0.022 2098 -680.6 -97.7 - - 2718 - - - - - - - - 26.15 26.24 -
425 25.5 -8.4 40 433 roll -1.43 0.25 0.160 2534 268.0 2.45 0.037 545 -633.9 -97.7 - - 2718 - - - - - - - - 25.71 26.08 -
725 51.7 -9.1 70 734 done -1.29 0.15 0.140 2571 246.7 2.55 0.025 2188 644.3 -97.7 - - 2718 - - - - - - - - 25.73 26.33 -
1035 77.5 -8.0 99 1042 roll -1.23 0.12 0.163 2594 191.7 2.50 0.040 3756 627.2 -97.7 - - 2719 - - - - - - - - 26.29 26.09 -
1227 91.6 -8.0 105 1232 done -1.19 - - 2594 - 2.42 0.021 2098 -685.1 -97.7 - - 2719 - - - - - - - - - 26.42 -
1549 114.8 -6.3 116 1551 done -1.15 0.12 0.153 2626 266.7 - - 2102 - -97.7 - - 2720 - - - - - - - - 26.32 - -
1845 132.2 -5.6 126 1851 roll -1.15 - - 2627 - 2.45 0.037 549 -633.9 -97.7 - - 2721 - - - - - - - - - 26.16 -
1906 135.7 -5.8 128 1911 done -1.15 - - 2616 - 2.45 0.024 2198 673.1 -97.7 - - 2721 - - - - - - - - - 26.38 -
2235 154.1 -5.6 138 2236 done -1.15 - - 2616 - - - 2198 - -97.7 - - 2721 - - - - - - - - - - -
2535 173.4 -6.5 143 2541 roll -1.15 - - 2616 - 2.58 0.035 543 -641.5 -97.7 - - 2721 - - - - - - - - - 26.17 -
2624 177.8 -6.8 144 2631 done -1.15 - - 2603 - 2.47 0.023 2193 668.0 -97.7 - - 2721 - - - - - - - - - 26.39 -
2954 206.8 -8.1 150 2961 roll -1.15 - - 2604 - 2.58 0.035 550 -636.8 -97.7 - - 2722 - - - - - - - - - 26.17 -
3093 216.3 -8.0 152 3102 done -1.15 0.15 0.151 2632 186.7 2.47 0.023 2191 664.4 -97.7 - - 2721 - - - - - - - - 25.94 26.39 -
3436 238.4 -5.8 158 3441 roll -1.18 - - 2632 - 2.55 0.037 545 -645.5 -97.7 - - 2721 - - - - - - - - - 26.17 -
3574 245.8 -5.9 160 3581 done -1.18 - - 2622 - 2.45 0.023 2184 669.0 -97.7 - - 2721 - - - - - - - - - 26.39 -
3916 270.4 -7.1 166 3921 roll -1.20 - - 2622 - 2.55 0.037 542 -643.9 -97.7 - - 2721 - - - - - - - - - 26.17 -
3993 275.0 -7.3 167 4001 done -1.20 - - 2609 - 2.50 0.023 2196 661.6 -97.7 - - 2722 - - - - - - - - - 26.39 -
4334 303.1 -7.8 173 4341 roll -1.20 - - 2610 - 2.58 0.037 550 -638.0 -97.7 - - 2721 - - - - - - - - - 26.17 -
4424 307.7 -7.7 174 4432 done -1.20 - - 2597 - 2.45 0.024 2187 668.2 -97.7 - - 2721 - - - - - - - - - 26.39 -
4755 331.5 -6.4 180 4756 done -1.20 - - 2598 - - - 2186 - -97.7 - - 2721 - - - - - - - - - - -
5055 349.4 -6.0 185 5062 roll -1.20 - - 2597 - 2.58 0.037 546 -635.7 -97.7 - - 2720 - - - - - - - - - 26.16 -
5145 353.4 -6.1 186 5151 done -1.20 - - 2586 - 2.47 0.024 2193 666.8 -97.7 - - 2720 - - - - - - - - - 26.39 -
5475 378.4 -7.0 192 5481 roll -1.20 - - 2585 - 2.60 0.037 545 -633.8 -97.7 - - 2719 - - - - - - - - - 26.15 -
5643 387.9 -7.5 194 5653 done -1.20 0.15 0.152 2613 186.7 2.50 0.024 2196 660.4 -97.7 - - 2719 - - - - - - - - 25.93 26.38 -
5956 416.1 -7.8 200 5961 roll -1.23 - - 2614 - 2.58 0.037 539 -642.2 -97.7 - - 2718 - - - - - - - - - 26.15 -
6034 421.2 -8.0 201 6041 done -1.25 - - 2603 - 2.47 0.024 2185 666.4 -97.7 - - 2718 - - - - - - - - - 26.41 -
6376 450.1 -8.0 207 6381 roll -1.28 - - 2603 - 2.55 0.037 542 -644.3 -97.7 - - 2717 - - - - - - - - - 26.14 -
6473 454.8 -8.0 208 6481 done -1.28 - - 2591 - 2.50 0.024 2193 660.4 -97.7 - - 2717 - - - - - - - - - 26.38 -
6794 480.8 -7.1 214 6801 roll -1.28 - - 2591 - 2.60 0.037 550 -631.9 -97.7 - - 2716 - - - - - - - - - 26.14 -
6864 485.2 -7.0 215 6871 done -1.28 - - 2579 - 2.47 0.024 2194 665.6 -97.7 - - 2716 - - - - - - - - - 26.38 -
7214 509.1 -6.7 220 7221 roll -1.28 - - 2579 - 2.60 0.037 540 -636.2 -97.7 - - 2716 - - - - - - - - - 26.13 -
7293 509.1 -6.7 220 7301 done -1.28 - - 2567 - 2.50 0.024 2189 659.6 -97.7 - - 2715 - - - - - - - - - 26.36 -
7695 546.1 -7.7 224 7701 roll -1.28 - - 2567 - 2.55 0.037 543 -645.5 -97.7 - - 2717 - - - - - - - - - 26.12 -
7783 546.1 -7.7 224 7792 done -1.28 0.12 0.164 2585 150.0 2.55 0.024 2185 643.9 -97.7 - - 2714 - - - - - - - - 25.95 26.35 -
8174 591.1 -9.4 228 8176 done -1.28 - - 2586 - - - 2185 - -97.7 - - 2713 - - - - - - - - - - -
8534 625.6 -9.7 231 8541 roll -1.28 - - 2586 - 2.60 0.039 549 -629.2 -97.7 - - 2712 - - - - - - - - - 26.10 -
8636 625.6 -9.7 231 8641 done -1.28 - - 2576 - 2.45 0.024 2198 673.1 -97.7 - - 2712 - - - - - - - - - 26.35 -
9014 668.4 -8.9 235 9021 roll -1.28 - - 2576 - 2.60 0.038 549 -634.2 -97.7 - - 2711 - - - - - - - - - 26.09 -
9124 668.4 -8.9 235 9133 done -1.28 - - 2564 - 2.50 0.024 2200 660.4 -97.7 - - 2711 - - - - - - - - - 26.34 -
9495 702.2 -7.0 239 9501 roll -1.28 - - 2564 - 2.58 0.039 545 -641.5 -97.7 - - 2710 - - - - - - - - - 26.08 -
9563 702.2 -7.0 239 9572 done -1.28 0.15 0.155 2590 173.3 2.50 0.024 2186 656.4 -97.7 - - 2710 - - - - - - - - 25.86 26.33 -
9975 737.1 -7.2 243 9981 roll -1.31 - - 2591 - 2.58 0.040 532 -641.1 -97.7 - - 2708 - - - - - - - - - 26.04 -
10076 737.1 -7.2 243 10082 done -1.34 - - 2580 - 2.47 0.025 2199 674.9 -97.7 - - 2708 - - - - - - - - - 26.33 -
10455 781.3 -9.2 247 10462 roll -1.37 - - 2580 - 2.62 0.040 548 -630.2 -97.7 - - 2707 - - - - - - - - - 26.05 -
10564 781.3 -9.2 247 10573 done -1.40 - - 2568 - 2.50 0.025 2188 656.0 -97.7 - - 2707 - - - - - - - - - 26.32 -
10935 826.6 -9.5 251 10942 roll -1.40 - - 2568 - 2.62 0.040 545 -627.1 -97.7 - - 2705 - - - - - - - - - 26.03 -
11094 837.2 -9.1 252 11101 done -1.40 - - 2557 - 2.50 0.025 2181 654.4 -97.7 - - 2705 - - - - - - - - - 26.31 -
11416 865.0 -8.0 255 11421 roll -1.40 - - 2556 - 2.58 0.041 549 -632.6 -97.7 - - 2704 - - - - - - - - - 26.01 -
11483 865.0 -8.0 255 11491 done -1.40 - - 2545 - 2.53 0.025 2195 650.6 -97.7 - - 2704 - - - - - - - - - 26.29 -
11895 898.7 -7.0 259 11901 roll -1.40 - - 2544 - 2.62 0.041 548 -628.6 -97.7 - - 2703 - - - - - - - - - 26.00 -
12015 908.4 -7.2 260 12022 done -1.40 - - 2532 - 2.50 0.026 2191 657.2 -97.7 - - 2702 - - - - - - - - - 26.29 -
12375 940.0 -8.6 263 12381 roll -1.40 - - 2533 - 2.62 0.041 546 -627.9 -97.7 - - 2702 - - - - - - - - - 25.98 -
12453 940.0 -8.6 263 12461 done -1.40 - - 2520 - 2.53 0.026 2188 649.0 -97.7 - - 2701 - - - - - - - - - 26.27 -
12856 987.3 -9.9 267 12861 roll -1.40 - - 2520 - 2.58 0.041 549 -635.3 -97.7 - - 2701 - - - - - - - - - 25.96 -
12891 end dive: TARGET_DEPTH_EXCEEDED
12891 begin apogee
12900 991.2 -9.7 269 12994 done -0.29 1.27 0.134 2900 299.2 0.08 0.106 1595 13075.0 - 85.93 1.660 2320 -4.4 0.282 - - - - - - 24.89 24.81 22.99
12996 end apogee: CONTROL_FINISHED_OK
12996 begin climb
12999 996.2 - 274 13102 roll 1.26 1.40 0.059 3408 362.9 2.80 0.034 3213 577.9 97.7 91.75 1.651 1920 -4.4 0.281 - - - - - - 25.32 25.01 23.03
13135 995.0 3.2 281 13214 done 1.21 0.08 0.164 3391 -212.5 2.60 0.031 1591 -623.8 172.9 68.75 1.638 1613 -4.5 0.289 - - - - - - 25.34 25.64 23.23
13519 961.6 9.2 290 13524 roll 1.12 - - 3399 - 1.95 0.049 350 -636.4 172.9 - - 1605 - - - - - - - - - 26.10 -
13584 961.6 9.2 290 13592 done 1.04 0.22 0.155 3338 -277.3 1.98 0.024 1668 665.7 172.9 - - 1604 - - - - - - - - 25.79 26.35 -
13995 921.5 8.3 294 14001 roll 1.01 - - 3348 - 2.12 0.048 351 -621.2 172.9 - - 1601 - - - - - - - - - 26.15 -
14238 902.0 8.0 296 14244 done 0.98 0.12 0.161 3316 -266.7 1.90 0.026 1658 687.9 172.9 - - 1600 - - - - - - - - 26.06 26.46 -
14594 876.8 7.3 299 14602 roll 0.98 - - 3316 - 2.50 0.037 3204 618.4 172.9 - - 1600 - - - - - - - - - 26.22 -
14644 876.8 7.3 299 14652 done 0.98 - - 3327 - 2.53 0.030 1579 -642.3 172.9 - - 1600 - - - - - - - - - 26.27 -
14954 852.2 6.8 302 14961 roll 0.98 - - 3327 - 2.62 0.035 3199 618.3 172.9 - - 1599 - - - - - - - - - 26.20 -
15013 852.2 6.8 302 15021 done 0.98 - - 3338 - 2.55 0.030 1571 -638.4 172.9 - - 1599 - - - - - - - - - 26.26 -
15435 812.3 8.3 306 15441 roll 0.98 - - 3348 - 1.95 0.049 360 -621.0 172.9 - - 1597 - - - - - - - - - 26.08 -
15633 800.9 8.8 307 15641 done 0.98 0.12 0.155 3316 -266.7 1.95 0.026 1661 667.2 172.9 - - 1597 - - - - - - - - 26.03 26.44 -
16036 759.7 8.6 311 16041 roll 0.98 - - 3321 - 2.08 0.048 351 -629.8 172.9 - - 1597 - - - - - - - - - 26.04 -
16123 759.7 8.6 311 16130 done 0.98 - - 3325 - 1.98 0.026 1659 660.6 172.9 - - 1596 - - - - - - - - - 26.42 -
16515 724.9 7.3 315 16521 roll 0.98 - - 3325 - 2.47 0.037 3195 621.9 172.9 - - 1596 - - - - - - - - - 26.12 -
16553 724.9 7.3 315 16561 done 0.98 - - 3338 - 2.53 0.030 1581 -637.9 172.9 - - 1596 - - - - - - - - - 26.21 -
16875 699.0 7.2 318 16882 roll 0.98 - - 3346 - 1.98 0.049 360 -616.7 172.9 - - 1595 - - - - - - - - - 26.00 -
16963 699.0 7.2 318 16970 done 0.98 - - 3346 - 1.95 0.026 1650 661.5 172.9 - - 1595 - - - - - - - - - 26.41 -
17354 660.4 8.1 322 17362 roll 0.98 - - 3356 - 2.10 0.048 359 -614.8 172.9 - - 1595 - - - - - - - - - 25.98 -
17484 650.1 8.2 323 17492 done 0.98 0.10 0.132 3322 -340.0 1.92 0.026 1651 672.9 172.9 - - 1595 - - - - - - - - 25.95 26.39 -
17836 622.3 7.9 326 17842 roll 0.98 - - 3322 - 2.47 0.037 3205 629.1 172.9 - - 1595 - - - - - - - - - 26.06 -
17883 622.3 7.9 326 17891 done 0.98 - - 3333 - 2.55 0.029 1580 -637.3 172.9 - - 1595 - - - - - - - - - 26.16 -
18196 595.7 7.5 329 18201 roll 1.01 - - 3333 - 2.60 0.036 3210 626.9 172.9 - - 1594 - - - - - - - - - 26.05 -
18244 595.7 7.5 329 18251 done 1.03 - - 3345 - 2.53 0.029 1585 -642.3 172.9 - - 1595 - - - - - - - - - 26.15 -
18555 570.4 7.1 332 18561 roll 1.03 - - 3345 - 2.62 0.035 3204 617.9 172.9 - - 1597 - - - - - - - - - 26.05 -
18615 570.4 7.1 332 18621 done 1.03 - - 3356 - 2.53 0.030 1582 -641.1 172.9 - - 1595 - - - - - - - - - 26.15 -
19035 533.1 7.7 336 19041 roll 1.03 - - 3366 - 1.98 0.048 359 -617.7 172.9 - - 1595 - - - - - - - - - 25.92 -
19297 510.0 8.9 338 19303 done 1.03 0.12 0.152 3334 -266.7 1.90 0.026 1664 686.8 172.9 - - 1595 - - - - - - - - 25.96 26.36 -
19638 475.7 9.5 343 19643 roll 1.06 - - 3343 - 2.10 0.047 348 -626.7 172.9 - - 1595 - - - - - - - - - 25.89 -
19775 464.7 9.1 345 19782 done 1.08 - - 3343 - 1.95 0.025 1655 670.3 172.9 - - 1595 - - - - - - - - - 26.38 -
20115 434.1 8.4 351 20122 roll 1.11 - - 3343 - 2.53 0.037 3206 613.0 172.9 - - 1595 - - - - - - - - - 26.01 -
20214 429.1 8.3 352 20221 done 1.13 - - 3355 - 2.53 0.030 1589 -639.1 172.9 - - 1595 - - - - - - - - - 26.12 -
20536 400.3 7.9 358 20541 roll 1.13 - - 3361 - 1.98 0.048 341 -630.3 172.9 - - 1595 - - - - - - - - - 25.89 -
20643 395.4 7.9 359 20652 done 1.13 - - 3365 - 1.98 0.024 1654 663.1 172.9 - - 1595 - - - - - - - - - 26.38 -
20955 370.9 6.5 365 20961 roll 1.13 - - 3374 - 2.10 0.047 357 -617.6 176.9 - - 1595 - - - - - - - - - 25.88 -
21164 358.6 6.8 368 21171 done 1.13 - - 3374 - 2.00 0.024 1662 652.5 176.9 - - 1595 - - - - - - - - - 26.36 -
21495 333.8 6.8 374 21496 done 1.13 - - 3373 - - - 1662 - 176.9 - - 1595 - - - - - - - - - - -
21795 310.8 7.9 379 21801 roll 1.13 - - 3384 - 2.12 0.047 355 -616.5 176.9 - - 1595 - - - - - - - - - 25.88 -
21943 300.2 8.5 381 21950 done 1.13 - - 3384 - 1.95 0.024 1648 663.1 176.9 - - 1595 - - - - - - - - - 26.38 -
22274 265.1 9.9 387 22276 done 1.13 - - 3383 - - - 1648 - 176.9 - - 1595 - - - - - - - - - - -
22575 234.0 10.3 392 22581 roll 1.13 - - 3390 - 2.10 0.047 351 -617.6 176.9 - - 1595 - - - - - - - - - 25.86 -
22684 227.8 10.3 393 22692 done 1.13 - - 3393 - 1.95 0.024 1648 665.1 176.9 - - 1595 - - - - - - - - - 26.38 -
22995 194.0 9.1 399 22996 done 1.13 - - 3393 - - - 1648 - 176.9 - - 1595 - - - - - - - - - - -
23296 169.4 8.1 404 23301 roll 1.13 - - 3403 - 2.05 0.047 354 -631.2 176.9 - - 1596 - - - - - - - - - 25.88 -
23373 164.0 8.3 405 23381 done 1.13 0.15 0.145 3363 -266.7 1.95 0.022 1658 668.7 176.9 - - 1596 - - - - - - - - 25.90 26.38 -
23687 136.0 8.9 413 23693 roll 1.17 - - 3371 - 2.08 0.047 350 -628.8 176.9 - - 1597 - - - - - - - - - 25.88 -
23765 130.3 9.3 415 23773 done 1.19 - - 3371 - 1.92 0.023 1648 676.0 176.9 - - 1597 - - - - - - - - - 26.39 -
24075 97.3 10.2 426 24082 roll 1.23 - - 3371 - 2.50 0.036 3199 620.4 176.9 - - 1597 - - - - - - - - - 26.02 -
24125 94.3 10.2 427 24133 done 1.25 - - 3383 - 2.53 0.030 1581 -639.5 176.9 - - 1597 - - - - - - - - - 26.11 -
24434 63.1 9.2 446 24443 roll 1.25 - - 3392 - 1.98 0.047 355 -619.2 176.9 - - 1597 - - - - - - - - - 25.89 -
24495 57.6 9.0 452 24503 done 1.25 - - 3392 - 1.92 0.023 1650 674.5 176.9 - - 1597 - - - - - - - - - 26.40 -
24805 28.9 8.6 483 24813 roll 1.25 - - 3402 - 2.08 0.047 360 -620.2 176.9 - - 1598 - - - - - - - - - 25.90 -
24854 24.1 9.6 488 24862 done 1.25 - - 3402 - 1.92 0.022 1661 677.6 176.9 - - 1598 - - - - - - - - - 26.41 -
25061 end climb: SURFACE_DEPTH_REACHED
25061 begin surface coast
25092 end surface coast: CONTROL_FINISHED_OK
25093 begin surface
SM 2.35 - - - - -8.83 8.65 0.040 151 -375.8 0.80 0.034 2181 650.0 300.00 57.00 0.123 1093 -8.9 0.017 - - - - - -