SPURS Sep12 * SG191 * Dive index * Mission links * Dive 540 * Raw log
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• Previous call tries 1 • 249.76 of 350.00 AH used of 24V (28.64% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -51.2 deg, depth 0.96 m • Intended pitch -13.3 deg, speed -6.049 cm/s
• No surface pump (final VBD was 345.63, SM_CC=320)
• GPS1 time: 37 s
• GPS2 time: 17 s • Transponder ping count: 8
• 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
18 begin dive
21 - - - 84 VBD -0.60 - - 159 - - - 1510 - -97.3 -60.20 - 3323 - - - - - - - - - - -
88 3.2 -6.1 4 106 roll -0.60 9.93 0.410 1997 185.1 1.95 0.106 457 -540.0 -97.3 -2.78 - 3460 -49.3 - 1 - - - - - 13.54 14.21 14.68
254 21.4 -7.8 15 263 done -0.58 - - 1991 - 1.85 0.040 1527 578.4 -97.3 - - 3461 - - - - - - - - - 14.32 -
566 45.4 -7.0 36 569 roll -0.57 - - 1991 - 1.98 0.082 464 -536.9 -97.3 - - 3461 - - - - - - - - - 14.07 -
642 51.1 -7.8 41 646 done -0.54 0.12 0.251 2008 141.7 1.83 0.041 1524 579.2 -97.3 - - 3461 - - - - - - - - 13.88 14.27 -
940 71.1 -6.9 61 944 roll -0.54 - - 2009 - 1.98 0.081 464 -535.4 -97.3 - - 3462 - - - - - - - - - 13.95 -
1001 75.7 -7.8 65 1005 done -0.54 - - 2004 - 1.83 0.040 1526 580.3 -97.3 - - 3461 - - - - - - - - - 14.28 -
1300 98.9 -7.9 85 1301 done -0.54 - - 2003 - - - 1527 - -97.3 - - 3462 - - - - - - - - - - -
1600 121.7 -7.5 105 1604 roll -0.54 - - 2003 - 1.98 0.082 464 -536.9 -97.3 - - 3462 - - - - - - - - - 13.97 -
1705 130.4 -8.2 112 1709 done -0.54 - - 1996 - 1.83 0.039 1529 582.0 -97.3 - - 3463 - - - - - - - - - 14.25 -
2005 152.0 -7.3 132 2006 done -0.54 - - 1995 - - - 1529 - -97.3 - - 3461 - - - - - - - - - - -
2305 175.6 -8.0 152 2309 roll -0.54 - - 1995 - 2.00 0.082 459 -535.0 -97.3 - - 3462 - - - - - - - - - 13.96 -
2365 180.7 -8.4 156 2369 done -0.54 - - 1987 - 1.83 0.040 1523 581.4 -97.3 - - 3463 - - - - - - - - - 14.25 -
2666 203.1 -7.1 176 2669 roll -0.56 - - 1993 - 1.98 0.080 459 -537.4 -97.3 - - 3462 - - - - - - - - - 13.97 -
2710 206.6 -7.7 179 2714 done -0.56 - - 1979 - 1.83 0.040 1528 584.2 -97.3 - - 3462 - - - - - - - - - 14.25 -
3010 227.5 -6.7 199 3011 done -0.56 - - 1979 - - - 1529 - -97.3 - - 3462 - - - - - - - - - - -
3311 246.6 -6.0 219 3315 roll -0.56 - - 1979 - 2.00 0.083 458 -535.5 -97.3 - - 3462 - - - - - - - - - 13.93 -
3418 253.8 -7.0 225 3422 done -0.54 0.17 0.230 2010 182.4 1.83 0.040 1522 581.4 -97.3 - - 3462 - - - - - - - - 13.61 14.12 -
3736 272.8 -6.5 236 3737 done -0.60 - - 2009 - - - 1522 - -97.3 - - 3462 - - - - - - - - - - -
4033 293.9 -7.3 246 4036 roll -0.66 - - 2005 - 1.85 0.052 2581 572.4 -97.3 - - 3462 - - - - - - - - - 14.16 -
4167 303.3 -7.0 251 4171 done -0.72 0.15 0.118 1946 -393.3 1.92 0.060 1512 -556.8 -97.3 - - 3462 - - - - - - - - 14.11 14.11 -
4486 328.6 -8.0 262 4493 roll -0.69 - - 1946 - 1.95 0.082 461 -539.0 -97.3 - - 3460 - - - - - - - - - 13.94 -
4586 336.3 -8.5 265 4591 done -0.65 0.17 0.246 1974 164.7 1.83 0.040 1526 582.0 -97.3 - - 3462 - - - - - - - - 13.64 14.23 -
4887 357.2 -6.4 275 4891 roll -0.65 - - 1975 - 1.98 0.083 467 -534.8 -97.3 - - 3462 - - - - - - - - - 13.81 -
4945 360.5 -6.6 277 4949 done -0.65 - - 1970 - 1.80 0.040 1521 585.6 -97.3 - - 3462 - - - - - - - - - 14.23 -
5247 380.8 -6.1 287 5248 done -0.65 - - 1970 - - - 1522 - -97.3 - - 3461 - - - - - - - - - - -
5548 396.9 -5.1 297 5552 roll -0.65 - - 1970 - 1.98 0.082 467 -532.8 -97.3 - - 3461 - - - - - - - - - 13.80 -
5622 401.3 -5.7 300 5626 done -0.63 - - 1962 - 1.80 0.041 1521 585.6 -97.3 - - 3461 - - - - - - - - - 14.21 -
5941 423.2 -7.9 311 5942 done -0.61 - - 1962 - - - 1520 - -97.3 - - 3460 - - - - - - - - - - -
6237 451.6 -9.9 321 6242 roll -0.60 0.15 0.241 1995 220.0 1.98 0.082 469 -530.8 -97.3 - - 3460 - - - - - - - - 13.97 13.81 -
6312 458.9 -10.0 324 6316 done -0.60 - - 1989 - 1.83 0.041 1527 578.1 -97.3 - - 3459 - - - - - - - - - 14.20 -
6630 486.5 -8.3 335 6631 done -0.64 - - 1989 - - - 1528 - -97.3 - - 3458 - - - - - - - - - - -
6928 507.4 -6.5 345 6929 done -0.69 - - 1990 - - - 1529 - -97.3 - - 3457 - - - - - - - - - - -
7227 526.4 -6.1 355 7232 roll -0.74 0.12 0.135 1943 -391.7 2.00 0.082 463 -533.0 -97.3 - - 3456 - - - - - - - - 14.45 13.88 -
7376 536.7 -7.8 360 7379 done -0.70 - - 1935 - 1.83 0.041 1519 577.0 -97.3 - - 3456 - - - - - - - - - 14.16 -
7678 560.7 -7.8 370 7680 done -0.67 0.17 0.241 1973 223.5 - - 1521 - -97.3 - - 3455 - - - - - - - - 13.87 - -
7977 584.1 -8.3 380 7980 roll -0.67 - - 1973 - 2.00 0.083 461 -530.0 -97.3 - - 3454 - - - - - - - - - 13.83 -
8068 591.0 -9.0 383 8072 done -0.67 - - 1968 - 1.83 0.041 1520 578.7 -97.3 - - 3453 - - - - - - - - - 14.19 -
8366 619.6 -9.4 393 8367 done -0.67 - - 1968 - - - 1521 - -97.3 - - 3453 - - - - - - - - - - -
8668 646.5 -8.6 403 8672 roll -0.67 - - 1968 - 2.00 0.083 462 -529.5 -97.3 - - 3452 - - - - - - - - - 13.81 -
8756 653.1 -8.8 406 8759 done -0.65 - - 1960 - 1.85 0.041 1524 574.1 -97.3 - - 3452 - - - - - - - - - 14.12 -
9058 676.2 -6.7 416 9062 roll -0.64 - - 1960 - 2.00 0.083 467 -528.5 -97.3 - - 3448 - - - - - - - - - 13.70 -
9133 681.3 -6.8 419 9137 done -0.62 0.15 0.247 1983 153.3 1.83 0.042 1521 576.0 -97.3 - - 3451 - - - - - - - - 13.62 14.12 -
9451 698.4 -5.4 430 9452 done -0.66 - - 1982 - - - 1522 - -97.3 - - 3450 - - - - - - - - - - -
9748 716.3 -6.2 440 9752 roll -0.71 - - 1977 - 1.88 0.054 2574 559.6 -97.3 - - 3448 - - - - - - - - - 13.97 -
9836 721.2 -6.4 443 9840 done -0.76 - - 1977 - 1.95 0.064 1522 -539.5 -97.3 - - 3448 - - - - - - - - - 13.95 -
10138 744.2 -7.8 453 10140 done -0.80 0.15 0.125 1924 -353.3 - - 1522 - -97.3 - - 3447 - - - - - - - - 14.33 - -
10437 772.8 -9.9 463 10438 done -0.80 - - 1924 - - - 1522 - -97.3 - - 3446 - - - - - - - - - - -
10736 802.6 -9.8 473 10740 roll -0.80 - - 1924 - 2.03 0.087 463 -521.7 -97.3 - - 3445 - - - - - - - - - 13.78 -
10843 813.5 -10.4 477 10846 done -0.76 - - 1915 - 1.85 0.044 1519 570.8 -97.3 - - 3445 - - - - - - - - - 14.07 -
11160 844.0 -9.4 488 11168 roll -0.72 0.17 0.252 1946 182.4 1.90 0.054 2574 555.3 -97.3 - - 3443 - - - - - - - - 13.51 13.97 -
11232 849.1 -9.0 490 11236 done -0.69 - - 1946 - 1.95 0.067 1522 -539.5 -97.3 - - 3445 - - - - - - - - - 13.94 -
11535 876.9 -8.9 500 11538 roll -0.66 - - 1946 - 2.03 0.089 464 -521.2 -97.3 - - 3442 - - - - - - - - - 13.83 -
11653 886.7 -9.4 504 11658 done -0.64 0.20 0.239 1981 175.0 1.88 0.043 1524 563.8 -97.3 - - 3441 - - - - - - - - 13.54 14.03 -
11956 909.9 -6.8 514 11959 roll -0.69 - - 1976 - 1.90 0.057 2576 553.7 -97.3 - - 3440 - - - - - - - - - 13.90 -
12044 914.9 -6.6 517 12048 done -0.74 - - 1977 - 1.98 0.067 1518 -534.3 -97.3 - - 3440 - - - - - - - - - 13.95 -
12347 933.1 -5.3 527 12355 roll -0.79 0.12 0.142 1925 -433.3 1.92 0.056 2577 551.6 -97.3 - - 3439 - - - - - - - - 14.33 13.90 -
12421 936.6 -5.4 529 12425 done -0.82 - - 1925 - 1.98 0.067 1521 -533.3 -97.3 - - 3439 - - - - - - - - - 13.95 -
12722 954.8 -6.0 539 12724 done -0.78 - - 1925 - - - 1521 - -97.3 - - 3438 - - - - - - - - - - -
13019 973.2 -6.3 549 13020 done -0.75 - - 1925 - - - 1521 - -97.3 - - 3437 - - - - - - - - - - -
13135 end dive: TARGET_DEPTH_EXCEEDED
13135 begin apogee
13145 981.2 -6.7 553 13271 done -0.18 0.77 0.226 2121 254.5 - - 1391 - - 113.90 1.811 3061 -3.3 0.335 - - - - 1 - 13.85 - 13.09
13273 end apogee: CONTROL_FINISHED_OK
13273 begin climb
13276 985.9 - 557 13412 roll 0.60 0.85 0.116 2386 311.8 2.03 0.094 341 -517.2 97.3 124.50 1.807 2665 -3.2 0.325 - - - - 1 - 13.95 14.09 13.12
13634 985.2 2.9 570 13744 done 0.59 - - 2386 - 1.88 0.045 1421 574.5 172.9 99.65 1.750 2356 -3.1 0.327 - - - - 1 - - 14.33 13.16
14039 963.5 5.9 583 14050 roll 0.54 - - 2392 - 2.05 0.096 341 -526.8 177.5 2.90 1.932 2337 -6.6 0.612 - - - - - - - 14.26 13.33
14219 950.8 7.3 589 14224 done 0.47 0.20 0.252 2348 -220.0 1.85 0.045 1409 577.3 177.5 - - 2336 - - - - - - - - 13.92 14.35 -
14539 929.8 7.2 600 14545 roll 0.45 - - 2348 - 1.83 0.055 2470 579.8 177.5 - - 2335 - - - - - - - - - 14.15 -
14624 922.7 7.8 603 14628 done 0.43 - - 2353 - 1.98 0.071 1403 -538.9 177.5 - - 2334 - - - - - - - - - 14.12 -
14943 896.9 8.1 614 14951 roll 0.40 0.15 0.262 2329 -160.0 2.05 0.096 340 -518.5 177.5 - - 2332 - - - - - - - - 13.83 13.99 -
15119 883.1 7.7 620 15122 done 0.40 - - 2329 - 1.88 0.045 1405 566.5 177.5 - - 2332 - - - - - - - - - 14.16 -
15438 863.7 5.6 631 15476 roll 0.41 - - 2329 - 1.77 0.055 2449 589.8 189.0 28.08 1.033 2291 -1.5 0.229 - - - - 1 - - 14.39 13.36
15676 853.8 3.5 639 15769 done 0.49 - - 2336 - 1.92 0.073 1399 -546.9 249.0 82.55 1.648 2047 -3.0 0.287 - - - - 1 - - 14.27 13.19
16079 840.1 3.0 653 16185 roll 0.60 0.15 0.130 2387 340.0 1.90 0.057 2445 550.5 322.1 95.20 1.668 1749 -3.1 0.295 - - - - 1 - 14.38 14.17 13.17
16278 830.4 5.2 659 16326 done 0.58 - - 2395 - 1.92 0.074 1397 -545.8 342.2 38.22 1.237 1666 -2.2 0.273 - - - - 1 - - 14.20 13.20
16621 806.4 7.8 670 16625 roll 0.57 - - 2403 - 2.00 0.098 348 -524.5 342.2 - - 1662 - - - - - - - - - 14.20 -
16786 790.2 10.0 676 16791 done 0.55 0.15 0.236 2375 -186.7 1.85 0.047 1409 573.5 342.2 - - 1661 - - - - - - - - 13.98 14.35 -
17103 759.8 9.9 687 17107 roll 0.58 - - 2377 - 2.03 0.097 347 -523.2 342.2 - - 1660 - - - - - - - - - 14.12 -
17298 740.0 10.1 694 17301 done 0.64 - - 2377 - 1.85 0.047 1405 571.9 342.2 - - 1659 - - - - - - - - - 14.30 -
17614 711.0 8.6 705 17622 roll 0.67 - - 2377 - 1.85 0.056 2446 562.7 342.2 - - 1659 - - - - - - - - - 14.19 -
17747 701.8 7.7 709 17751 done 0.68 - - 2384 - 1.95 0.072 1394 -539.5 342.2 - - 1659 - - - - - - - - - 14.14 -
18050 681.5 5.9 719 18057 roll 0.72 0.12 0.148 2435 425.0 2.03 0.096 343 -517.7 344.9 - - 1658 - - - - - - - - 14.30 14.00 -
18261 664.6 8.3 726 18267 done 0.68 - - 2436 - 1.83 0.046 1393 573.8 344.9 - - 1661 - - - - - - - - - 14.12 -
18590 635.9 9.1 737 18597 roll 0.63 0.17 0.256 2404 -188.2 2.03 0.095 344 -516.7 344.9 - - 1659 - - - - - - - - 13.73 13.97 -
18708 625.3 8.8 741 18711 done 0.61 - - 2404 - 1.85 0.046 1401 571.4 344.9 - - 1658 - - - - - - - - - 14.20 -
19024 597.9 8.7 752 19028 roll 0.59 - - 2412 - 2.05 0.096 346 -514.6 344.9 - - 1658 - - - - - - - - - 13.94 -
19082 593.4 9.0 754 19087 done 0.58 0.15 0.236 2381 -206.7 1.85 0.046 1403 571.4 344.9 - - 1658 - - - - - - - - 13.80 14.19 -
19386 567.9 7.9 764 19393 roll 0.61 - - 2386 - 2.05 0.096 346 -515.6 344.9 - - 1658 - - - - - - - - - 13.88 -
19444 563.0 7.8 766 19447 done 0.64 - - 2387 - 1.85 0.045 1398 568.6 344.9 - - 1658 - - - - - - - - - 14.19 -
19762 539.4 7.5 777 19768 roll 0.67 - - 2393 - 2.03 0.095 349 -516.7 344.9 - - 1659 - - - - - - - - - 13.88 -
19878 530.2 7.6 781 19881 done 0.70 - - 2394 - 1.85 0.044 1399 567.6 344.9 - - 1658 - - - - - - - - - 14.14 -
20196 506.2 7.7 792 20204 roll 0.73 - - 2393 - 1.88 0.054 2446 556.9 344.9 - - 1659 - - - - - - - - - 14.01 -
20341 494.2 8.0 797 20345 done 0.73 - - 2401 - 1.98 0.073 1396 -530.3 344.9 - - 1659 - - - - - - - - - 13.98 -
20658 468.7 8.3 808 20662 roll 0.73 - - 2409 - 2.05 0.096 343 -513.7 344.9 - - 1658 - - - - - - - - - 13.91 -
20837 452.5 9.9 814 20841 done 0.72 - - 2409 - 1.88 0.045 1405 564.9 344.9 - - 1659 - - - - - - - - - 14.10 -
21138 421.8 9.7 824 21142 roll 0.70 - - 2419 - 2.05 0.093 347 -516.1 344.9 - - 1659 - - - - - - - - - 13.93 -
21212 413.9 10.2 827 21216 done 0.68 - - 2417 - 1.85 0.044 1401 569.7 344.9 - - 1659 - - - - - - - - - 14.12 -
21531 385.2 8.6 838 21532 done 0.66 - - 2417 - - - 1402 - 344.9 - - 1659 - - - - - - - - - - -
21827 360.7 8.1 848 21831 roll 0.64 - - 2425 - 2.05 0.093 345 -515.6 344.9 - - 1658 - - - - - - - - - 13.93 -
21932 351.4 8.9 852 21936 done 0.62 0.15 0.231 2394 -206.7 1.88 0.044 1409 566.0 344.9 - - 1659 - - - - - - - - 13.70 14.10 -
22251 329.3 6.8 863 22258 roll 0.62 - - 2399 - 2.05 0.092 347 -518.0 344.9 - - 1659 - - - - - - - - - 13.94 -
22306 325.0 6.9 865 22310 done 0.62 - - 2399 - 1.85 0.043 1403 570.8 344.9 - - 1659 - - - - - - - - - 14.11 -
22623 303.7 6.8 876 22624 done 0.62 - - 2399 - - - 1404 - 344.9 - - 1659 - - - - - - - - - - -
22922 282.4 7.2 886 22925 roll 0.62 - - 2407 - 2.05 0.091 343 -517.6 344.9 - - 1659 - - - - - - - - - 13.95 -
23010 276.1 8.2 889 23014 done 0.62 - - 2407 - 1.85 0.043 1402 572.4 344.9 - - 1659 - - - - - - - - - 14.12 -
23313 252.2 7.1 899 23317 roll 0.62 - - 2415 - 2.05 0.092 345 -515.6 344.9 - - 1659 - - - - - - - - - 13.95 -
23417 243.8 8.5 905 23422 done 0.60 0.15 0.223 2384 -206.7 1.85 0.042 1404 572.4 344.9 - - 1659 - - - - - - - - 13.69 14.09 -
23717 222.5 7.5 925 23721 roll 0.65 - - 2383 - 1.85 0.051 2442 561.1 344.9 - - 1660 - - - - - - - - - 13.96 -
23777 218.1 7.4 929 23781 done 0.67 - - 2388 - 1.95 0.069 1399 -534.9 344.9 - - 1660 - - - - - - - - - 13.97 -
24077 193.9 8.2 949 24081 roll 0.70 - - 2388 - 1.88 0.052 2445 556.4 344.9 - - 1661 - - - - - - - - - 14.02 -
24108 191.3 8.4 951 24111 done 0.72 - - 2396 - 1.95 0.068 1398 -536.9 344.9 - - 1661 - - - - - - - - - 14.00 -
24408 163.0 10.3 971 24412 roll 0.75 0.10 0.156 2442 460.0 2.03 0.089 338 -522.2 344.9 - - 1661 - - - - - - - - 14.38 13.97 -
24484 154.5 11.7 976 24487 done 0.71 - - 2442 - 1.85 0.041 1401 574.6 344.9 - - 1664 - - - - - - - - - 14.05 -
24782 123.2 9.8 996 24784 done 0.68 0.15 0.245 2410 -213.3 - - 1402 - 344.9 - - 1662 - - - - - - - - 13.81 - -
25083 103.3 6.2 1016 25087 roll 0.68 - - 2415 - 2.03 0.088 343 -521.7 344.9 - - 1662 - - - - - - - - - 13.93 -
25189 96.2 6.9 1023 25192 done 0.67 - - 2415 - 1.83 0.041 1399 577.0 344.9 - - 1662 - - - - - - - - - 14.06 -
25487 74.9 7.6 1043 25488 done 0.67 - - 2415 - - - 1400 - 344.9 - - 1663 - - - - - - - - - - -
25787 50.9 8.1 1063 25788 done 0.67 - - 2415 - - - 1400 - 344.9 - - 1664 - - - - - - - - - - -
26088 28.1 6.9 1083 26092 roll 0.67 - - 2423 - 2.00 0.087 344 -528.0 344.9 - - 1665 - - - - - - - - - 14.02 -
26207 18.3 7.7 1091 26220 done 0.66 - - 2423 - 1.83 0.041 1397 575.4 344.9 2.95 0.851 1654 -3.7 0.015 - - - - - - - 14.08 13.83
26398 end climb: SURFACE_DEPTH_REACHED
26398 begin surface coast
26414 end surface coast: CONTROL_FINISHED_OK
26414 begin surface
SM 0.74 - - - - -6.28 6.88 0.078 162 -328.6 0.17 0.087 1532 794.1 345.63 - - 1654 - - - - - - - -