SPURS Sep12 * SG191 * Dive index * Mission links * Dive 543 * Raw log
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• Previous call tries 1 • 251.01 of 350.00 AH used of 24V (28.28% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -51.7 deg, depth 0.93 m • Intended pitch -13.3 deg, speed -6.049 cm/s
• No surface pump (final VBD was 362.55, SM_CC=320)
• GPS1 time: 56 s
• GPS2 time: 15 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 84 VBD -0.60 - - 166 - - - 1513 - -97.3 -59.97 - 3401 - - - - - - - - - - -
88 3.4 -7.2 4 104 roll -0.60 9.93 0.415 1995 184.2 1.92 0.103 461 -547.9 -97.3 -1.20 - 3461 -50.0 - 1 - - - - - 13.50 14.23 14.63
280 21.4 -6.5 17 283 done -0.57 - - 1990 - 1.83 0.038 1526 582.0 -97.3 - - 3463 - - - - - - - - - 14.31 -
580 46.1 -8.6 37 581 done -0.56 - - 1989 - - - 1527 - -97.3 - - 3463 - - - - - - - - - - -
880 74.1 -8.8 57 884 roll -0.55 - - 1990 - 1.98 0.080 464 -536.9 -97.3 - - 3463 - - - - - - - - - 14.05 -
985 83.6 -9.0 64 989 done -0.52 0.15 0.238 2014 160.0 1.83 0.039 1527 580.9 -97.3 - - 3463 - - - - - - - - 13.81 14.26 -
1285 104.2 -6.4 84 1286 done -0.56 - - 2013 - - - 1528 - -97.3 - - 3462 - - - - - - - - - - -
1585 123.7 -6.1 104 1589 roll -0.62 - - 2014 - 2.00 0.081 458 -535.0 -97.3 - - 3464 - - - - - - - - - 13.97 -
1705 130.9 -5.8 112 1709 done -0.65 - - 2009 - 1.83 0.038 1524 582.5 -97.3 - - 3464 - - - - - - - - - 14.24 -
2005 150.5 -6.9 132 2010 roll -0.70 0.15 0.118 1944 -433.3 1.83 0.050 2576 574.9 -97.3 - - 3463 - - - - - - - - 14.42 14.16 -
2064 155.0 -7.5 136 2068 done -0.70 - - 1944 - 1.92 0.059 1509 -555.7 -97.3 - - 3464 - - - - - - - - - 14.14 -
2365 181.2 -9.2 156 2369 roll -0.66 0.15 0.246 1976 213.3 1.95 0.080 461 -537.4 -97.3 - - 3464 - - - - - - - - 13.94 13.96 -
2426 186.7 -9.3 160 2430 done -0.63 - - 1971 - 1.83 0.037 1531 584.7 -97.3 - - 3464 - - - - - - - - - 14.26 -
2725 211.7 -8.3 180 2729 roll -0.62 - - 1970 - 2.00 0.080 461 -535.0 -97.3 - - 3464 - - - - - - - - - 13.93 -
2801 218.4 -9.1 185 2806 done -0.59 0.15 0.240 1994 160.0 1.80 0.038 1517 586.7 -97.3 - - 3464 - - - - - - - - 13.77 14.26 -
3101 237.9 -5.7 205 3104 roll -0.61 - - 1994 - 1.98 0.080 461 -533.3 -97.3 - - 3464 - - - - - - - - - 13.93 -
3161 241.7 -6.3 209 3164 done -0.61 - - 1989 - 1.83 0.038 1525 581.4 -97.3 - - 3464 - - - - - - - - - 14.23 -
3463 258.9 -5.9 224 3466 roll -0.61 - - 1989 - 2.00 0.080 457 -534.0 -97.3 - - 3463 - - - - - - - - - 13.92 -
3506 261.8 -6.1 226 3510 done -0.61 - - 1980 - 1.83 0.038 1525 583.6 -97.3 - - 3464 - - - - - - - - - 14.24 -
3821 284.6 -7.9 237 3825 roll -0.61 - - 1981 - 1.98 0.081 467 -534.3 -97.3 - - 3463 - - - - - - - - - 13.93 -
3911 291.2 -8.6 240 3914 done -0.61 - - 1973 - 1.80 0.038 1520 585.0 -97.3 - - 3464 - - - - - - - - - 14.23 -
4212 319.0 -9.0 250 4216 roll -0.61 - - 1973 - 1.98 0.080 463 -533.8 -97.3 - - 3463 - - - - - - - - - 13.90 -
4285 326.2 -9.3 253 4290 done -0.59 0.15 0.237 1997 160.0 1.83 0.038 1526 580.9 -97.3 - - 3464 - - - - - - - - 13.75 14.22 -
4606 351.5 -8.0 264 4612 roll -0.64 - - 1997 - 1.98 0.081 465 -535.9 -97.3 - - 3463 - - - - - - - - - 13.81 -
4690 358.5 -7.7 267 4694 done -0.68 - - 1994 - 1.80 0.038 1518 585.0 -97.3 - - 3463 - - - - - - - - - 14.23 -
5010 379.6 -6.5 278 5017 roll -0.73 0.12 0.132 1937 -475.0 1.85 0.050 2573 570.3 -97.3 - - 3463 - - - - - - - - 14.45 14.04 -
5066 383.8 -6.7 280 5069 done -0.76 - - 1937 - 1.92 0.060 1513 -552.1 -97.3 - - 3462 - - - - - - - - - 14.09 -
5385 408.7 -8.0 291 5392 roll -0.72 - - 1937 - 1.95 0.082 465 -537.4 -97.3 - - 3462 - - - - - - - - - 13.78 -
5441 413.8 -8.4 293 5446 done -0.68 0.17 0.252 1965 164.7 1.83 0.039 1527 580.3 -97.3 - - 3462 - - - - - - - - 13.64 14.21 -
5759 436.9 -7.3 304 5767 roll -0.67 - - 1965 - 2.00 0.082 464 -531.5 -97.3 - - 3461 - - - - - - - - - 13.87 -
5847 444.1 -7.8 307 5850 done -0.65 - - 1960 - 1.83 0.038 1527 580.9 -97.3 - - 3460 - - - - - - - - - 14.23 -
6164 466.4 -7.1 318 6171 roll -0.63 - - 1960 - 2.00 0.081 464 -531.5 -97.3 - - 3460 - - - - - - - - - 13.88 -
6236 471.1 -7.5 320 6240 done -0.61 0.17 0.237 1989 170.6 1.83 0.039 1524 579.2 -97.3 - - 3460 - - - - - - - - 13.65 14.19 -
6538 492.5 -6.9 330 6542 roll -0.65 - - 1990 - 2.00 0.081 461 -531.5 -97.3 - - 3459 - - - - - - - - - 13.85 -
6612 498.0 -7.2 333 6616 done -0.68 - - 1985 - 1.83 0.039 1520 578.7 -97.3 - - 3458 - - - - - - - - - 14.19 -
6931 519.3 -6.5 344 6939 roll -0.72 - - 1985 - 1.98 0.082 467 -531.8 -97.3 - - 3457 - - - - - - - - - 13.76 -
7061 527.1 -6.5 348 7065 done -0.75 - - 1978 - 1.83 0.039 1524 577.6 -97.3 - - 3460 - - - - - - - - - 14.17 -
7363 547.1 -6.6 358 7367 roll -0.79 0.15 0.123 1922 -373.3 2.00 0.082 463 -530.5 -97.3 - - 3457 - - - - - - - - 14.37 13.85 -
7451 553.4 -7.9 361 7455 done -0.78 - - 1914 - 1.83 0.039 1521 578.1 -97.3 - - 3456 - - - - - - - - - 14.16 -
7753 584.7 -10.4 371 7755 done -0.72 0.17 0.252 1951 217.6 - - 1523 - -97.3 - - 3455 - - - - - - - - 13.79 - -
8052 612.9 -9.3 381 8056 roll -0.71 - - 1952 - 2.00 0.083 465 -529.0 -97.3 - - 3454 - - - - - - - - - 13.80 -
8142 620.2 -9.7 384 8146 done -0.68 - - 1946 - 1.85 0.041 1527 574.1 -97.3 - - 3454 - - - - - - - - - 14.13 -
8442 644.4 -7.0 394 8444 done -0.65 0.12 0.259 1971 208.3 - - 1528 - -97.3 - - 3453 - - - - - - - - 14.00 - -
8742 661.3 -5.4 404 8745 roll -0.65 - - 1971 - 2.03 0.083 464 -524.1 -97.3 - - 3452 - - - - - - - - - 13.80 -
8847 667.8 -6.2 408 8851 done -0.65 - - 1966 - 1.85 0.041 1522 571.9 -97.3 - - 3452 - - - - - - - - - 14.11 -
9162 687.1 -6.5 419 9166 roll -0.65 - - 1966 - 2.00 0.083 467 -527.5 -97.3 - - 3451 - - - - - - - - - 13.81 -
9223 690.5 -6.9 421 9226 done -0.64 - - 1958 - 1.85 0.042 1527 573.0 -97.3 - - 3451 - - - - - - - - - 14.13 -
9522 715.3 -8.3 431 9523 done -0.63 - - 1958 - - - 1528 - -97.3 - - 3449 - - - - - - - - - - -
9823 744.0 -9.9 441 9828 roll -0.62 0.12 0.256 1983 208.3 2.05 0.086 462 -520.0 -97.3 - - 3448 - - - - - - - - 13.95 13.81 -
9911 752.0 -10.4 444 9915 done -0.62 - - 1978 - 1.85 0.041 1522 573.0 -97.3 - - 3448 - - - - - - - - - 14.07 -
10214 784.9 -10.5 454 10215 done -0.66 - - 1975 - - - 1523 - -97.3 - - 3447 - - - - - - - - - - -
10514 812.6 -8.7 464 10517 roll -0.71 - - 1970 - 1.90 0.055 2573 552.6 -97.3 - - 3447 - - - - - - - - - 13.90 -
10647 823.1 -7.6 469 10651 done -0.75 - - 1966 - 1.95 0.064 1524 -537.9 -97.3 - - 3446 - - - - - - - - - 13.92 -
10967 843.2 -6.0 480 10974 roll -0.79 0.12 0.141 1926 -333.3 2.00 0.085 469 -527.5 -97.3 - - 3444 - - - - - - - - 14.31 13.76 -
11189 859.5 -8.2 487 11194 done -0.74 0.15 0.266 1946 133.3 1.85 0.043 1519 567.6 -97.3 - - 3445 - - - - - - - - 13.48 14.00 -
11492 883.1 -7.7 497 11493 done -0.72 - - 1947 - - - 1519 - -97.3 - - 3443 - - - - - - - - - - -
11787 907.4 -8.2 507 11789 done -0.71 - - 1946 - - - 1520 - -97.3 - - 3442 - - - - - - - - - - -
12089 932.1 -8.1 517 12092 roll -0.69 - - 1947 - 2.03 0.086 464 -520.2 -97.3 - - 3441 - - - - - - - - - 13.84 -
12163 938.4 -8.4 520 12168 done -0.67 0.15 0.256 1971 160.0 1.88 0.043 1521 562.2 -97.3 - - 3440 - - - - - - - - 13.53 14.00 -
12482 961.3 -7.3 531 12490 roll -0.71 - - 1971 - 2.03 0.086 465 -520.2 -97.3 - - 3442 - - - - - - - - - 13.88 -
12597 970.0 -7.2 535 12601 done -0.74 - - 1966 - 1.88 0.043 1522 562.2 -97.3 - - 3439 - - - - - - - - - 14.00 -
12758 end dive: TARGET_DEPTH_EXCEEDED
12759 begin apogee
12768 981.7 -7.0 541 12894 done -0.18 0.57 0.185 2125 278.9 - - 1395 - - 114.30 1.817 3062 -3.3 0.334 - - - - 1 - 13.81 - 13.14
12896 end apogee: CONTROL_FINISHED_OK
12896 begin climb
12900 987.9 - 545 13035 roll 0.60 0.82 0.101 2384 315.9 1.92 0.054 2461 555.2 97.3 123.97 1.802 2665 -3.2 0.329 - - - - 1 - 13.98 14.12 13.12
13258 987.4 3.4 558 13355 done 0.59 - - 2392 - 1.95 0.069 1402 -543.1 161.0 86.53 1.702 2406 -3.0 0.325 - - - - 1 - - 14.21 13.17
13665 963.3 6.4 572 13667 done 0.52 0.15 0.273 2362 -200.0 - - 1402 - 161.0 - - 2400 - - - - - - - - 14.02 - -
13968 945.9 5.7 582 13976 done 0.49 - - 2362 - - - 1402 - 169.1 6.07 1.941 2374 -4.3 0.391 - - - - - - - - 14.31
14269 928.4 5.8 592 14280 roll 0.46 - - 2368 - 2.00 0.095 342 -530.0 175.6 7.07 1.736 2349 -3.5 0.354 - - - - - - - 14.35 13.97
14492 913.9 6.6 599 14500 done 0.41 0.17 0.240 2330 -223.5 1.85 0.044 1411 577.8 175.6 - - 2349 - - - - - - - - 13.96 14.38 -
14824 895.5 5.7 610 14861 roll 0.42 - - 2330 - 1.75 0.050 2445 590.9 183.4 26.77 0.996 2312 -1.4 0.233 - - - - 1 - - 14.43 13.38
15013 885.1 5.8 616 15028 done 0.43 - - 2335 - 1.92 0.070 1396 -546.4 189.6 5.97 1.939 2291 -3.5 0.301 - - - - - - - 14.28 13.40
15334 867.0 5.5 627 15373 done 0.45 - - 2335 - - - 1396 - 203.4 32.12 1.144 2233 -1.8 0.256 - - - - 1 - - - 13.35
15662 847.8 5.8 638 15672 roll 0.47 - - 2335 - 1.85 0.054 2446 567.6 209.5 5.43 1.893 2209 -4.4 0.371 - - - - - - - 14.35 13.43
15855 837.2 5.9 644 15867 done 0.48 - - 2343 - 1.92 0.071 1397 -546.4 214.1 5.05 1.874 2189 -4.0 0.331 - - - - - - - 14.30 13.44
16172 816.7 6.4 655 16176 roll 0.49 - - 2343 - 1.85 0.053 2445 566.5 214.1 - - 2188 - - - - - - - - - 14.29 -
16350 805.6 6.7 661 16354 done 0.49 - - 2350 - 1.92 0.070 1401 -543.8 214.1 - - 2187 - - - - - - - - - 14.20 -
16650 782.1 7.9 671 16653 roll 0.49 - - 2350 - 1.85 0.054 2444 563.8 214.1 - - 2188 - - - - - - - - - 14.18 -
16786 770.7 8.5 676 16790 done 0.49 - - 2357 - 1.95 0.071 1395 -537.9 214.1 - - 2187 - - - - - - - - - 14.13 -
17103 746.6 7.2 687 17107 roll 0.48 - - 2366 - 2.03 0.094 346 -516.7 214.1 - - 2188 - - - - - - - - - 13.97 -
17208 738.9 7.4 691 17212 done 0.45 - - 2366 - 1.85 0.044 1401 570.3 214.1 - - 2187 - - - - - - - - - 14.20 -
17524 718.2 6.4 702 17533 roll 0.43 0.15 0.252 2341 -166.7 2.05 0.093 343 -516.1 214.1 - - 2187 - - - - - - - - 13.78 13.96 -
17582 714.7 6.1 704 17586 done 0.41 - - 2341 - 1.85 0.044 1401 571.9 214.1 - - 2186 - - - - - - - - - 14.21 -
17900 697.0 5.6 715 17938 roll 0.44 - - 2341 - 1.80 0.053 2447 581.1 223.8 27.58 0.952 2149 -1.3 0.184 - - - - 1 - - 14.40 13.44
18140 684.8 5.0 723 18195 done 0.48 - - 2354 - 1.92 0.072 1401 -544.8 249.5 45.20 1.265 2045 -2.3 0.233 - - - - 1 - - 14.26 13.33
18497 664.9 5.8 735 18505 done 0.51 - - 2348 - - - 1401 - 256.2 6.03 1.685 2017 -4.6 0.343 - - - - - - - - 14.05
18800 647.3 5.9 745 18808 roll 0.54 - - 2348 - 1.85 0.056 2444 563.8 259.3 3.20 1.672 2004 -4.1 0.295 - - - - - - - 14.44 13.52
18930 639.6 6.4 749 18934 done 0.55 - - 2356 - 1.92 0.073 1397 -545.3 259.3 - - 2004 - - - - - - - - - 14.31 -
19232 618.2 7.2 759 19236 roll 0.57 - - 2356 - 1.85 0.054 2444 565.9 259.3 - - 2004 - - - - - - - - - 14.25 -
19410 606.3 7.3 765 19413 done 0.57 - - 2363 - 1.95 0.072 1393 -539.0 259.3 - - 2004 - - - - - - - - - 14.19 -
19712 583.7 7.1 775 19716 roll 0.60 - - 2363 - 1.88 0.054 2444 559.0 259.3 - - 2003 - - - - - - - - - 14.16 -
19876 572.3 6.9 781 19880 done 0.60 - - 2370 - 1.95 0.072 1398 -536.4 259.3 - - 2004 - - - - - - - - - 14.11 -
20195 550.6 6.9 792 20202 roll 0.61 - - 2371 - 1.88 0.054 2443 555.9 259.3 - - 2003 - - - - - - - - - 14.11 -
20355 540.8 6.5 797 20359 done 0.61 - - 2377 - 1.95 0.071 1399 -535.4 259.3 - - 2003 - - - - - - - - - 14.07 -
20660 521.6 5.9 807 20668 roll 0.60 - - 2386 - 1.95 0.092 340 -543.1 262.2 3.15 1.532 1992 -3.5 0.223 - - - - - - - 14.26 13.58
20776 514.0 6.4 811 20780 done 0.57 - - 2386 - 1.85 0.044 1409 577.8 262.2 - - 1991 - - - - - - - - - 14.41 -
21095 492.9 7.2 822 21102 roll 0.55 - - 2386 - 1.85 0.053 2453 564.3 262.2 - - 1991 - - - - - - - - - 14.19 -
21136 490.7 7.3 823 21140 done 0.53 0.15 0.265 2364 -146.7 1.95 0.072 1399 -540.5 262.2 - - 1991 - - - - - - - - 13.87 14.16 -
21439 465.6 8.4 833 21443 roll 0.55 - - 2364 - 1.88 0.052 2445 556.4 262.2 - - 1991 - - - - - - - - - 14.09 -
21588 453.2 9.1 838 21591 done 0.55 - - 2369 - 1.95 0.070 1400 -535.9 262.2 - - 1991 - - - - - - - - - 13.97 -
21887 424.2 9.2 848 21891 roll 0.57 - - 2369 - 1.88 0.052 2446 556.4 262.2 - - 1991 - - - - - - - - - 13.98 -
22053 409.9 8.6 854 22057 done 0.57 - - 2377 - 1.98 0.070 1391 -532.8 262.2 - - 1991 - - - - - - - - - 14.01 -
22367 385.3 7.5 865 22371 roll 0.57 - - 2385 - 2.03 0.091 342 -516.7 262.2 - - 1991 - - - - - - - - - 13.90 -
22427 382.0 7.2 867 22430 done 0.56 - - 2385 - 1.85 0.043 1403 573.5 262.2 - - 1991 - - - - - - - - - 14.14 -
22731 362.1 5.8 877 22738 done 0.55 - - 2384 - - - 1404 - 267.7 4.93 1.315 1970 -4.3 0.220 - - - - - - - - 13.62
23032 345.4 5.5 887 23071 roll 0.55 - - 2393 - 2.00 0.093 344 -530.0 279.6 29.62 0.823 1923 -1.6 0.125 - - - - 1 - - 14.27 13.53
23132 338.7 6.3 890 23137 done 0.53 0.12 0.243 2367 -216.7 1.80 0.042 1405 589.4 279.6 - - 1923 - - - - - - - - 14.11 14.43 -
23451 315.6 8.3 901 23458 roll 0.56 - - 2367 - 1.83 0.050 2446 568.9 279.6 - - 1923 - - - - - - - - - 14.26 -
23597 302.2 8.9 906 23601 done 0.56 - - 2372 - 1.92 0.069 1399 -545.3 279.6 - - 1923 - - - - - - - - - 14.17 -
23912 277.4 7.5 917 23915 roll 0.56 - - 2381 - 2.00 0.091 346 -526.5 279.6 - - 1923 - - - - - - - - - 14.02 -
24018 268.9 8.2 921 24021 done 0.56 - - 2380 - 1.83 0.041 1402 577.0 279.6 - - 1923 - - - - - - - - - 14.25 -
24317 247.3 6.8 932 24318 done 0.56 - - 2380 - - - 1404 - 279.6 - - 1923 - - - - - - - - - - -
24617 228.5 5.8 952 24630 done 0.57 - - 2380 - - - 1404 - 286.5 6.50 1.079 1898 -3.8 0.153 - - - - - - - - 13.96
24933 210.0 6.0 973 24945 roll 0.57 - - 2387 - 2.00 0.090 340 -532.0 288.1 2.75 1.142 1886 -4.4 0.150 - - - - - - - 14.28 13.69
24992 206.3 6.2 977 24995 done 0.57 - - 2387 - 1.80 0.041 1401 589.4 288.1 - - 1886 - - - - - - - - - 14.43 -
25292 191.0 4.8 997 25350 done 0.61 - - 2386 - - - 1403 - 317.7 46.15 0.879 1767 -2.6 0.105 - - - - 1 - - - 13.61
25653 167.2 7.2 1021 25654 done 0.63 - - 2387 - - - 1403 - 317.7 - - 1766 - - - - - - - - - - -
25952 145.4 7.6 1041 25956 roll 0.66 - - 2387 - 1.83 0.050 2447 570.5 317.7 - - 1766 - - - - - - - - - 14.26 -
26118 132.9 7.4 1052 26122 done 0.66 - - 2395 - 1.92 0.067 1397 -546.9 317.7 - - 1765 - - - - - - - - - 14.18 -
26418 110.8 7.9 1072 26421 roll 0.66 - - 2403 - 1.98 0.089 348 -529.8 317.7 - - 1765 - - - - - - - - - 14.10 -
26536 100.9 8.1 1080 26540 done 0.66 - - 2403 - 1.80 0.039 1404 586.7 317.7 - - 1765 - - - - - - - - - 14.31 -
26838 80.5 7.4 1100 26842 roll 0.66 - - 2411 - 2.00 0.087 346 -529.0 317.7 - - 1765 - - - - - - - - - 14.08 -
26899 76.1 7.4 1104 26902 done 0.64 - - 2411 - 1.80 0.040 1396 583.3 317.7 - - 1765 - - - - - - - - - 14.30 -
27197 56.7 6.3 1124 27201 roll 0.63 - - 2419 - 2.00 0.087 340 -528.0 317.7 - - 1766 - - - - - - - - - 14.08 -
27258 52.7 6.6 1128 27262 done 0.61 0.15 0.223 2386 -220.0 1.83 0.040 1407 583.1 317.7 - - 1766 - - - - - - - - 13.86 14.31 -
27557 40.2 4.3 1148 27602 done 0.66 - - 2386 - - - 1408 - 360.1 40.00 0.735 1591 -4.4 0.045 - - - - - - - - 13.86
27903 3.7 10.9 1171 27907 roll 0.69 - - 2391 - 1.98 0.086 346 -536.4 360.1 - - 1587 - - - - - - - - - 14.19 -
27928 end climb: SURFACE_DEPTH_REACHED
27928 begin surface coast
27944 end surface coast: CONTROL_FINISHED_OK
27944 begin surface
SM 0.89 - - - - -6.29 6.82 0.083 162 -326.8 2.00 0.040 1524 589.0 362.55 - - 1583 - - - - - - - -