SPURS Sep12 * SG191 * Dive index * Mission links * Dive 509 * Raw log
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• Previous call tries 1 • 236.52 of 350.00 AH used of 24V (32.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -56.2 deg, depth 1.01 m • Intended pitch -13.3 deg, speed -6.049 cm/s
• No surface pump (final VBD was 364.03, SM_CC=320)
• GPS1 time: 30 s
• GPS2 time: 20 s • Transponder ping count: 3
• 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 - - - 84 done -0.60 - - 163 - - - 1517 - -97.3 -58.88 - 3459 - - - - - - - - - - 14.67
88 4.3 -9.7 4 103 roll -0.60 10.00 0.411 1997 183.4 1.90 0.073 463 -554.7 -97.3 - - 3461 - - 1 - - - - - 13.53 14.36 -
311 28.0 -8.2 19 314 done -0.57 - - 1992 - 1.80 0.041 1513 583.3 -97.3 - - 3464 - - - - - - - - - 14.35 -
611 51.9 -8.9 39 612 done -0.56 - - 1992 - - - 1513 - -97.3 - - 3463 - - - - - - - - - - -
911 77.0 -8.9 59 915 roll -0.55 - - 1992 - 1.95 0.083 463 -538.5 -97.3 - - 3464 - - - - - - - - - 14.07 -
1001 85.6 -9.6 65 1005 done -0.53 0.15 0.235 2016 160.0 1.80 0.040 1519 586.7 -97.3 - - 3463 - - - - - - - - 13.90 14.35 -
1301 107.4 -6.3 85 1302 done -0.54 - - 2016 - - - 1520 - -97.3 - - 3464 - - - - - - - - - - -
1601 125.9 -6.1 105 1605 roll -0.58 - - 2016 - 1.98 0.081 458 -536.4 -97.3 - - 3465 - - - - - - - - - 14.04 -
1661 129.9 -6.7 109 1665 done -0.60 - - 2011 - 1.83 0.039 1523 582.0 -97.3 - - 3464 - - - - - - - - - 14.33 -
1961 149.5 -7.0 129 1962 done -0.64 - - 2011 - - - 1525 - -97.3 - - 3465 - - - - - - - - - - -
2263 168.4 -6.0 149 2267 roll -0.69 0.15 0.122 1951 -400.0 1.98 0.080 458 -538.9 -97.3 - - 3465 - - - - - - - - 14.45 14.04 -
2487 187.0 -8.6 164 2491 done -0.64 0.17 0.241 1980 170.6 1.83 0.040 1525 583.1 -97.3 - - 3465 - - - - - - - - 13.77 14.31 -
2786 208.4 -7.5 184 2787 done -0.64 - - 1980 - - - 1526 - -97.3 - - 3465 - - - - - - - - - - -
3086 232.4 -8.5 204 3090 roll -0.64 - - 1980 - 1.98 0.081 458 -539.4 -97.3 - - 3465 - - - - - - - - - 14.08 -
3206 243.7 -9.7 212 3210 done -0.62 - - 1975 - 1.83 0.039 1527 584.2 -97.3 - - 3465 - - - - - - - - - 14.34 -
3525 270.0 -7.7 225 3527 done -0.61 - - 1975 - - - 1529 - -97.3 - - 3465 - - - - - - - - - - -
3822 289.0 -5.7 235 3826 roll -0.60 - - 1975 - 1.98 0.082 463 -538.4 -97.3 - - 3465 - - - - - - - - - 14.03 -
3928 295.5 -6.1 239 3933 done -0.58 0.15 0.234 1998 153.3 1.80 0.039 1521 587.8 -97.3 - - 3465 - - - - - - - - 13.85 14.33 -
4245 309.6 -4.9 250 4248 roll -0.63 - - 1998 - 1.98 0.081 463 -534.3 -97.3 - - 3464 - - - - - - - - - 14.03 -
4348 315.5 -5.6 254 4352 done -0.66 - - 1994 - 1.80 0.039 1522 588.3 -97.3 - - 3464 - - - - - - - - - 14.33 -
4667 335.6 -6.9 265 4674 roll -0.71 - - 1994 - 1.98 0.081 460 -536.4 -97.3 - - 3463 - - - - - - - - - 14.04 -
4722 340.1 -7.4 267 4727 done -0.74 0.12 0.135 1942 -433.3 1.83 0.040 1529 584.2 -97.3 - - 3463 - - - - - - - - 14.20 14.32 -
5042 369.0 -9.4 278 5043 done -0.70 - - 1942 - - - 1530 - -97.3 - - 3462 - - - - - - - - - - -
5338 396.7 -9.1 288 5342 roll -0.67 0.12 0.256 1967 208.3 2.00 0.083 460 -535.0 -97.3 - - 3461 - - - - - - - - 14.10 14.00 -
5444 406.0 -8.9 292 5447 done -0.64 - - 1962 - 1.83 0.041 1521 579.8 -97.3 - - 3461 - - - - - - - - - 14.15 -
5761 430.9 -7.8 303 5762 done -0.62 - - 1962 - - - 1522 - -97.3 - - 3459 - - - - - - - - - - -
6059 453.5 -7.3 313 6064 roll -0.61 0.12 0.253 1988 216.7 1.98 0.083 464 -534.3 -97.3 - - 3459 - - - - - - - - 14.13 13.89 -
6117 456.6 -7.0 315 6121 done -0.60 - - 1983 - 1.83 0.040 1528 581.4 -97.3 - - 3459 - - - - - - - - - 14.31 -
6419 477.0 -6.4 325 6423 roll -0.60 - - 1982 - 2.00 0.084 461 -533.5 -97.3 - - 3457 - - - - - - - - - 13.90 -
6506 482.3 -6.9 328 6510 done -0.60 - - 1975 - 1.83 0.041 1521 579.2 -97.3 - - 3458 - - - - - - - - - 14.28 -
6808 505.4 -7.5 338 6812 roll -0.60 - - 1975 - 1.98 0.083 463 -534.3 -97.3 - - 3458 - - - - - - - - - 14.00 -
6884 511.4 -7.9 341 6889 done -0.58 0.15 0.239 1997 146.7 1.85 0.041 1526 574.6 -97.3 - - 3458 - - - - - - - - 13.65 14.07 -
7203 530.9 -6.1 352 7204 done -0.63 - - 1997 - - - 1528 - -97.3 - - 3457 - - - - - - - - - - -
7499 549.0 -6.1 362 7503 roll -0.69 - - 1992 - 1.85 0.054 2577 567.0 -97.3 - - 3456 - - - - - - - - - 14.16 -
7543 551.6 -6.0 364 7548 done -0.74 0.15 0.122 1938 -360.0 1.95 0.063 1509 -547.7 -97.3 - - 3455 - - - - - - - - 13.96 14.00 -
7862 576.1 -8.1 375 7869 roll -0.70 - - 1938 - 1.92 0.084 471 -540.6 -97.3 - - 3454 - - - - - - - - - 13.93 -
7932 581.5 -8.6 377 7937 done -0.66 0.20 0.248 1972 170.0 1.83 0.041 1527 577.0 -97.3 - - 3455 - - - - - - - - 13.66 14.28 -
8236 605.4 -7.5 387 8239 roll -0.66 - - 1978 - 2.00 0.086 465 -531.0 -97.3 - - 3453 - - - - - - - - - 13.95 -
8312 611.7 -8.2 390 8315 done -0.66 - - 1967 - 1.83 0.041 1521 577.0 -97.3 - - 3453 - - - - - - - - - 14.25 -
8624 637.6 -8.2 401 8625 done -0.66 - - 1967 - - - 1522 - -97.3 - - 3452 - - - - - - - - - - -
8925 663.2 -8.5 411 8929 roll -0.66 - - 1967 - 2.00 0.083 467 -527.5 -97.3 - - 3451 - - - - - - - - - 13.90 -
9013 670.1 -9.1 414 9017 done -0.64 - - 1959 - 1.83 0.042 1521 576.0 -97.3 - - 3450 - - - - - - - - - 14.22 -
9315 697.9 -8.8 424 9319 roll -0.63 - - 1959 - 2.00 0.086 463 -529.0 -97.3 - - 3450 - - - - - - - - - 13.88 -
9375 702.0 -9.0 426 9379 done -0.61 0.17 0.241 1988 170.6 1.85 0.042 1526 574.6 -97.3 - - 3450 - - - - - - - - 13.66 14.21 -
9677 727.7 -7.9 436 9678 done -0.66 - - 1988 - - - 1528 - -97.3 - - 3449 - - - - - - - - - - -
9976 748.6 -6.7 446 9979 roll -0.71 - - 1983 - 1.88 0.055 2579 559.0 -97.3 - - 3448 - - - - - - - - - 14.07 -
10123 757.3 -6.5 451 10128 done -0.76 0.15 0.126 1932 -340.0 1.95 0.064 1522 -542.1 -97.3 - - 3448 - - - - - - - - 13.85 13.88 -
10428 779.3 -6.9 461 10435 roll -0.73 - - 1932 - 2.00 0.086 466 -528.0 -97.3 - - 3446 - - - - - - - - - 13.85 -
10514 786.3 -7.5 464 10519 done -0.69 0.17 0.255 1960 164.7 1.85 0.044 1522 570.8 -97.3 - - 3446 - - - - - - - - 13.58 14.16 -
10833 804.9 -5.8 475 10834 done -0.69 - - 1960 - - - 1524 - -97.3 - - 3445 - - - - - - - - - - -
11130 823.6 -6.4 485 11131 done -0.69 - - 1960 - - - 1523 - -97.3 - - 3444 - - - - - - - - - - -
11429 844.5 -7.1 495 11430 done -0.69 - - 1960 - - - 1524 - -97.3 - - 3443 - - - - - - - - - - -
11731 867.8 -8.0 505 11734 roll -0.69 - - 1960 - 2.03 0.086 463 -522.7 -97.3 - - 3442 - - - - - - - - - 13.82 -
11849 877.3 -9.2 509 11853 done -0.67 - - 1955 - 1.88 0.044 1525 564.9 -97.3 - - 3442 - - - - - - - - - 14.11 -
12154 904.9 -8.7 519 12155 done -0.66 - - 1955 - - - 1526 - -97.3 - - 3441 - - - - - - - - - - -
12450 929.7 -8.0 529 12454 roll -0.65 - - 1955 - 2.05 0.090 463 -518.5 -97.3 - - 3439 - - - - - - - - - 13.80 -
12525 936.1 -8.3 532 12530 done -0.63 0.15 0.248 1977 146.7 1.88 0.044 1521 562.8 -97.3 - - 3439 - - - - - - - - 13.59 14.08 -
12843 957.5 -6.6 543 12850 roll -0.68 - - 1977 - 2.05 0.090 461 -517.1 -97.3 - - 3438 - - - - - - - - - 13.80 -
12973 965.4 -6.7 547 12977 done -0.71 - - 1974 - 1.88 0.045 1521 563.8 -97.3 - - 3439 - - - - - - - - - 14.06 -
13211 end dive: TARGET_DEPTH_EXCEEDED
13211 begin apogee
13221 981.7 -6.2 555 13347 done -0.18 0.55 0.182 2126 276.4 - - 1396 - - 115.80 1.839 3062 -3.3 0.328 - - - - 1 - 13.73 - 13.02
13348 end apogee: CONTROL_FINISHED_OK
13348 begin climb
13352 987.0 - 559 13489 roll 0.60 0.82 0.105 2381 311.0 1.92 0.055 2460 554.2 97.3 125.88 1.827 2665 -3.2 0.321 - - - - 1 - 14.04 14.12 13.02
13504 991.9 -2.3 565 13756 done 0.51 0.12 0.262 2361 -166.7 1.95 0.070 1403 -542.1 295.8 232.43 1.898 1857 -3.5 0.343 - - - - 1 - 13.76 14.07 13.05
14069 956.1 6.6 584 14073 roll 0.54 - - 2361 - 1.85 0.052 2460 571.4 295.8 - - 1850 - - - - - - - - - 14.38 -
14218 947.6 6.4 589 14222 done 0.54 - - 2366 - 1.95 0.072 1397 -545.1 295.8 - - 1849 - - - - - - - - - 14.31 -
14520 929.9 5.6 599 14561 roll 0.55 - - 2374 - 2.00 0.097 337 -530.0 306.9 27.48 1.019 1811 -1.4 0.238 - - - - 1 - - 14.40 13.32
14624 924.2 6.0 602 14627 done 0.54 - - 2374 - 1.85 0.045 1409 579.5 308.2 - - 1811 - - - - - - - - - 14.50 -
14929 904.0 6.7 612 14930 done 0.53 - - 2374 - - - 1410 - 308.2 - - 1810 - - - - - - - - - - -
15224 880.9 8.1 622 15225 done 0.53 - - 2374 - - - 1410 - 308.2 - - 1809 - - - - - - - - - - -
15526 852.4 9.9 632 15527 done 0.53 - - 2374 - - - 1410 - 308.2 - - 1809 - - - - - - - - - - -
15824 821.7 10.3 642 15825 done 0.53 - - 2374 - - - 1410 - 308.2 - - 1809 - - - - - - - - - - -
16124 792.4 9.4 652 16126 done 0.53 - - 2374 - - - 1408 - 308.2 - - 1808 - - - - - - - - - - -
16425 766.3 8.4 662 16429 roll 0.53 - - 2382 - 2.05 0.096 345 -518.5 308.2 - - 1808 - - - - - - - - - 14.00 -
16499 759.7 8.6 665 16503 done 0.52 - - 2382 - 1.85 0.046 1400 570.3 308.2 - - 1807 - - - - - - - - - 14.28 -
16818 736.5 6.9 676 16819 done 0.51 - - 2382 - - - 1402 - 308.2 - - 1808 - - - - - - - - - - -
17115 718.3 6.0 686 17127 roll 0.50 0.12 0.256 2363 -158.3 2.03 0.098 340 -523.2 310.0 2.70 1.812 1796 -4.4 0.332 - - - - - - 14.03 14.27 13.47
17176 714.8 5.8 688 17187 done 0.51 - - 2363 - 1.85 0.048 1405 575.7 316.2 5.72 1.769 1774 -3.8 0.293 - - - - - - - 14.46 13.41
17508 696.0 6.0 699 17515 roll 0.55 - - 2363 - 1.85 0.056 2454 567.0 317.2 - - 1774 - - - - - - - - - 14.33 -
17595 690.1 6.5 702 17599 done 0.57 - - 2370 - 1.95 0.073 1400 -540.5 317.2 - - 1774 - - - - - - - - - 14.25 -
17912 665.4 8.6 713 17916 roll 0.61 - - 2370 - 1.88 0.054 2456 561.7 317.2 - - 1774 - - - - - - - - - 14.23 -
17924 664.2 8.7 714 17928 done 0.64 - - 2378 - 1.95 0.073 1401 -541.0 317.2 - - 1773 - - - - - - - - - 14.22 -
18244 632.5 10.3 725 18251 roll 0.67 - - 2378 - 1.88 0.054 2453 559.6 317.2 - - 1774 - - - - - - - - - 14.16 -
18300 626.3 10.3 727 18304 done 0.69 - - 2386 - 1.95 0.073 1400 -540.0 317.2 - - 1774 - - - - - - - - - 14.15 -
18617 596.9 8.7 738 18620 roll 0.69 - - 2397 - 2.03 0.095 347 -518.7 317.2 - - 1774 - - - - - - - - - 13.95 -
18750 585.5 8.4 743 18754 done 0.67 - - 2394 - 1.85 0.044 1407 573.0 317.2 - - 1774 - - - - - - - - - 14.25 -
19070 565.2 6.0 754 19075 done 0.65 - - 2394 - - - 1407 - 318.5 2.95 1.600 1762 -4.1 0.271 - - - - - - - - 13.52
19368 547.9 5.7 764 19408 roll 0.65 - - 2402 - 2.00 0.095 344 -531.5 326.5 26.50 0.859 1730 -1.2 0.145 - - - - 1 - - 14.32 13.43
19456 541.9 6.5 767 19460 done 0.63 - - 2402 - 1.83 0.046 1402 578.1 326.5 - - 1729 - - - - - - - - - 14.47 -
19773 516.3 8.9 778 19780 roll 0.61 - - 2410 - 2.03 0.094 339 -523.6 326.5 - - 1729 - - - - - - - - - 14.13 -
19830 510.2 9.6 780 19834 done 0.58 0.15 0.240 2379 -206.7 1.85 0.045 1404 575.7 326.5 - - 1729 - - - - - - - - 13.93 14.33 -
20149 480.6 9.6 791 20150 done 0.58 - - 2379 - - - 1405 - 326.5 - - 1729 - - - - - - - - - - -
20445 453.1 8.9 801 20449 roll 0.58 - - 2384 - 2.03 0.094 346 -521.7 326.5 - - 1729 - - - - - - - - - 14.01 -
20521 446.0 9.3 804 20525 done 0.58 - - 2384 - 1.85 0.044 1405 572.4 326.5 - - 1730 - - - - - - - - - 14.26 -
20835 419.9 8.1 815 20836 done 0.58 - - 2384 - - - 1405 - 326.5 - - 1729 - - - - - - - - - - -
21136 398.6 6.9 825 21140 roll 0.58 - - 2392 - 2.05 0.093 342 -518.5 326.5 - - 1729 - - - - - - - - - 13.94 -
21210 393.0 7.4 828 21213 done 0.58 - - 2392 - 1.85 0.044 1400 571.9 326.5 - - 1731 - - - - - - - - - 14.21 -
21525 370.6 7.2 839 21526 done 0.58 - - 2392 - - - 1401 - 326.5 - - 1730 - - - - - - - - - - -
21826 348.7 7.2 849 21827 done 0.58 - - 2392 - - - 1402 - 326.5 - - 1730 - - - - - - - - - - -
22125 326.9 7.4 859 22126 done 0.58 - - 2392 - - - 1401 - 326.5 - - 1730 - - - - - - - - - - -
22426 304.5 7.4 869 22427 done 0.57 - - 2392 - - - 1401 - 326.5 - - 1730 - - - - - - - - - - -
22725 281.7 7.9 879 22728 roll 0.57 - - 2400 - 2.03 0.092 346 -519.7 326.5 - - 1730 - - - - - - - - - 13.90 -
22800 275.0 8.6 882 22804 done 0.56 - - 2400 - 1.85 0.043 1406 573.0 326.5 - - 1730 - - - - - - - - - 14.09 -
23119 247.8 8.6 893 23121 done 0.55 0.15 0.237 2368 -213.3 - - 1408 - 326.5 - - 1730 - - - - - - - - 13.87 - -
23417 225.5 7.2 913 23421 roll 0.60 - - 2368 - 1.85 0.052 2447 561.6 326.5 - - 1731 - - - - - - - - - 14.07 -
23522 218.3 6.7 920 23526 done 0.63 - - 2372 - 1.95 0.069 1399 -537.4 326.5 - - 1730 - - - - - - - - - 14.00 -
23822 197.1 7.0 940 23826 roll 0.69 0.12 0.140 2421 408.3 1.88 0.050 2450 559.0 326.5 - - 1731 - - - - - - - - 14.32 14.07 -
23836 195.9 7.3 941 23840 done 0.73 - - 2429 - 1.95 0.068 1398 -539.5 326.5 - - 1731 - - - - - - - - - 14.04 -
24136 168.2 9.6 961 24140 roll 0.70 - - 2428 - 1.88 0.050 2450 559.6 326.5 - - 1732 - - - - - - - - - 14.08 -
24286 153.1 10.0 971 24291 done 0.66 0.15 0.264 2407 -140.0 1.95 0.068 1403 -536.9 326.5 - - 1731 - - - - - - - - 13.64 14.02 -
24586 127.9 8.1 991 24590 roll 0.65 - - 2413 - 2.03 0.090 346 -520.7 326.5 - - 1732 - - - - - - - - - 13.93 -
24677 120.4 8.3 997 24681 done 0.63 - - 2413 - 1.83 0.040 1405 578.7 326.5 - - 1732 - - - - - - - - - 14.21 -
24976 97.0 7.8 1017 24977 done 0.62 - - 2413 - - - 1406 - 326.5 - - 1732 - - - - - - - - - - -
25276 73.7 7.5 1037 25280 roll 0.60 - - 2421 - 2.03 0.087 345 -522.7 326.5 - - 1734 - - - - - - - - - 13.88 -
25336 68.5 8.7 1041 25341 done 0.58 0.17 0.219 2382 -229.4 1.83 0.040 1405 579.2 326.5 - - 1734 - - - - - - - - 13.71 14.22 -
25637 49.0 4.6 1061 25680 done 0.64 - - 2382 - - - 1407 - 361.8 35.50 0.734 1584 -4.2 0.053 - - - - - - - - 13.74
25982 21.7 6.7 1084 25987 roll 0.70 0.12 0.135 2434 433.3 2.00 0.090 339 -534.0 361.8 - - 1580 - - - - - - - - 14.38 14.15 -
26187 end climb: SURFACE_DEPTH_REACHED
26188 begin surface coast
26204 end surface coast: CONTROL_FINISHED_OK
26204 begin surface
SM 1.02 - - - - -6.29 6.97 0.086 157 -326.7 2.03 0.049 1499 571.4 364.03 - - 1578 - - - - - - - -