SPURS Sep12 * SG191 * Dive index * Mission links * Dive 551 * Raw log
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• Previous call tries 1 • 254.35 of 350.00 AH used of 24V (27.33% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.7 deg, depth 1.08 m • Intended pitch -13.3 deg, speed -6.049 cm/s
• No surface pump (final VBD was 327.97, SM_CC=320)
• GPS1 time: 40 s
• GPS2 time: 15 s • Transponder ping count: 9
• 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 - - - 83 done -0.60 - - 155 - - - 1519 - -97.3 -57.95 - 3460 - - - - - - - - - - 14.58
87 4.0 -7.8 4 103 roll -0.60 10.05 0.413 1982 181.8 1.80 0.048 2564 580.6 -97.3 - - 3463 - - 1 - - - - - 13.50 14.30 -
309 27.6 -7.9 19 313 done -0.60 - - 1982 - 1.90 0.061 1514 -552.6 -97.3 - - 3464 - - - - - - - - - 14.15 -
610 52.3 -8.3 39 614 roll -0.58 - - 1982 - 1.95 0.080 463 -539.0 -97.3 - - 3465 - - - - - - - - - 14.04 -
717 62.1 -9.5 46 721 done -0.55 0.15 0.234 2006 160.0 1.80 0.038 1517 585.6 -97.3 - - 3464 - - - - - - - - 13.78 14.20 -
1017 83.6 -6.6 66 1021 roll -0.55 - - 2006 - 1.95 0.079 465 -539.5 -97.3 - - 3465 - - - - - - - - - 13.99 -
1076 87.9 -7.2 70 1079 done -0.55 - - 2001 - 1.80 0.037 1518 585.0 -97.3 - - 3465 - - - - - - - - - 14.24 -
1377 106.9 -6.1 90 1380 roll -0.55 - - 2001 - 1.98 0.080 461 -533.8 -97.3 - - 3465 - - - - - - - - - 13.95 -
1436 111.2 -7.2 94 1439 done -0.55 - - 1993 - 1.83 0.039 1524 580.9 -97.3 - - 3465 - - - - - - - - - 14.22 -
1737 132.5 -7.5 114 1741 roll -0.55 - - 1993 - 1.98 0.079 464 -535.4 -97.3 - - 3465 - - - - - - - - - 13.95 -
1811 138.8 -8.5 119 1815 done -0.54 0.12 0.249 2010 141.7 1.83 0.039 1522 578.1 -97.3 - - 3465 - - - - - - - - 13.78 14.20 -
2112 162.4 -8.2 139 2115 roll -0.59 - - 2005 - 1.85 0.050 2577 570.3 -97.3 - - 3466 - - - - - - - - - 14.08 -
2216 171.4 -8.7 146 2220 done -0.65 - - 2004 - 1.92 0.060 1520 -550.5 -97.3 - - 3466 - - - - - - - - - 14.08 -
2516 197.8 -8.6 166 2521 roll -0.71 0.12 0.130 1955 -408.3 1.98 0.080 457 -536.9 -97.3 - - 3466 - - - - - - - - 14.40 13.93 -
2638 209.2 -9.7 174 2641 done -0.66 - - 1947 - 1.83 0.039 1519 580.3 -97.3 - - 3465 - - - - - - - - - 14.20 -
2936 231.7 -6.7 194 2938 done -0.63 0.15 0.247 1979 213.3 - - 1521 - -97.3 - - 3466 - - - - - - - - 13.88 - -
3236 250.0 -6.5 214 3239 roll -0.63 - - 1979 - 1.98 0.080 462 -534.8 -97.3 - - 3465 - - - - - - - - - 13.90 -
3311 255.8 -7.7 217 3314 done -0.62 - - 1974 - 1.83 0.039 1521 578.7 -97.3 - - 3466 - - - - - - - - - 14.18 -
3627 279.8 -7.6 228 3628 done -0.62 - - 1974 - - - 1523 - -97.3 - - 3466 - - - - - - - - - - -
3925 299.9 -6.3 238 3929 roll -0.62 - - 1974 - 1.98 0.079 463 -535.4 -97.3 - - 3465 - - - - - - - - - 13.85 -
4015 304.9 -6.5 241 4019 done -0.60 - - 1966 - 1.83 0.039 1522 578.7 -97.3 - - 3465 - - - - - - - - - 14.17 -
4320 322.6 -5.2 251 4322 done -0.58 0.15 0.239 1998 213.3 - - 1524 - -97.3 - - 3464 - - - - - - - - 13.95 - -
4620 338.5 -5.7 261 4627 roll -0.64 - - 1998 - 2.00 0.080 460 -532.0 -97.3 - - 3464 - - - - - - - - - 13.88 -
4660 340.3 -5.8 262 4664 done -0.68 - - 1993 - 1.85 0.038 1531 578.9 -97.3 - - 3464 - - - - - - - - - 14.17 -
4961 362.3 -7.6 272 4965 roll -0.73 0.12 0.132 1947 -383.3 2.03 0.081 458 -528.6 -97.3 - - 3463 - - - - - - - - 14.39 13.88 -
5081 372.5 -9.8 276 5085 done -0.71 - - 1939 - 1.85 0.039 1525 576.8 -97.3 - - 3463 - - - - - - - - - 14.14 -
5381 405.6 -10.8 286 5383 done -0.68 0.12 0.258 1964 208.3 - - 1526 - -97.3 - - 3462 - - - - - - - - 13.98 - -
5682 433.9 -9.1 296 5686 roll -0.66 - - 1964 - 2.00 0.081 461 -532.5 -97.3 - - 3462 - - - - - - - - - 13.84 -
5770 440.7 -9.1 299 5773 done -0.65 - - 1959 - 1.83 0.039 1520 578.7 -97.3 - - 3463 - - - - - - - - - 14.14 -
6072 465.8 -7.4 309 6073 done -0.63 - - 1959 - - - 1522 - -97.3 - - 3460 - - - - - - - - - - -
6371 484.9 -5.7 319 6376 roll -0.61 0.12 0.253 1985 216.7 2.00 0.081 461 -530.5 -97.3 - - 3460 - - - - - - - - 14.02 13.84 -
6446 488.3 -4.8 322 6450 done -0.61 - - 1980 - 1.83 0.039 1522 579.8 -97.3 - - 3459 - - - - - - - - - 14.14 -
6765 500.6 -4.1 333 6773 roll -0.65 - - 1980 - 1.98 0.081 465 -533.8 -97.3 - - 3459 - - - - - - - - - 13.75 -
6865 505.3 -4.9 336 6869 done -0.67 - - 1973 - 1.83 0.040 1522 577.6 -97.3 - - 3459 - - - - - - - - - 14.13 -
7168 526.6 -7.7 346 7172 roll -0.71 - - 1973 - 2.03 0.081 458 -524.1 -97.3 - - 3458 - - - - - - - - - 13.76 -
7286 536.3 -9.3 350 7290 done -0.73 - - 1965 - 1.85 0.040 1523 575.7 -97.3 - - 3458 - - - - - - - - - 14.11 -
7588 565.6 -9.1 360 7591 roll -0.76 - - 1965 - 2.00 0.082 464 -529.5 -97.3 - - 3457 - - - - - - - - - 13.72 -
7661 572.4 -8.9 363 7665 done -0.76 - - 1957 - 1.85 0.041 1527 574.6 -97.3 - - 3457 - - - - - - - - - 14.11 -
7979 595.8 -6.8 374 7983 roll -0.77 - - 1957 - 2.03 0.083 461 -525.1 -97.3 - - 3456 - - - - - - - - - 13.80 -
8038 598.7 -6.6 376 8041 done -0.77 - - 1950 - 1.85 0.041 1522 573.5 -97.3 - - 3456 - - - - - - - - - 14.10 -
8341 617.5 -6.0 386 8348 roll -0.75 - - 1949 - 2.03 0.083 460 -523.2 -97.3 - - 3454 - - - - - - - - - 13.81 -
8413 621.9 -6.5 388 8416 done -0.72 - - 1942 - 1.85 0.041 1522 574.1 -97.3 - - 3455 - - - - - - - - - 14.12 -
8712 645.1 -7.6 398 8713 done -0.69 - - 1942 - - - 1524 - -97.3 - - 3454 - - - - - - - - - - -
9012 668.5 -7.5 408 9017 roll -0.66 0.15 0.252 1973 206.7 2.03 0.083 463 -522.7 -97.3 - - 3453 - - - - - - - - 13.82 13.81 -
9073 671.7 -7.2 410 9076 done -0.64 - - 1968 - 1.85 0.041 1521 571.9 -97.3 - - 3452 - - - - - - - - - 14.07 -
9373 691.0 -6.0 420 9374 done -0.64 - - 1968 - - - 1521 - -97.3 - - 3452 - - - - - - - - - - -
9674 709.0 -6.0 430 9677 roll -0.64 - - 1968 - 2.03 0.083 461 -522.2 -97.3 - - 3451 - - - - - - - - - 13.80 -
9731 712.2 -6.7 432 9735 done -0.64 - - 1960 - 1.85 0.041 1518 571.4 -97.3 - - 3450 - - - - - - - - - 14.07 -
10034 734.2 -7.3 442 10038 roll -0.63 - - 1960 - 2.03 0.085 463 -519.7 -97.3 - - 3450 - - - - - - - - - 13.78 -
10122 740.1 -7.7 445 10126 done -0.61 0.17 0.243 1989 170.6 1.88 0.041 1524 564.4 -97.3 - - 3451 - - - - - - - - 13.53 14.02 -
10425 761.9 -7.0 455 10429 roll -0.67 - - 1988 - 2.03 0.085 465 -521.7 -97.3 - - 3449 - - - - - - - - - 13.81 -
10530 769.5 -7.3 459 10533 done -0.71 - - 1984 - 1.88 0.043 1522 562.2 -97.3 - - 3448 - - - - - - - - - 14.07 -
10846 792.2 -7.3 470 10848 done -0.75 0.12 0.142 1941 -358.3 - - 1524 - -97.3 - - 3447 - - - - - - - - 14.31 - -
11145 816.9 -8.2 480 11149 roll -0.77 - - 1941 - 2.03 0.084 464 -522.2 -97.3 - - 3446 - - - - - - - - - 13.82 -
11262 825.9 -8.6 484 11266 done -0.74 - - 1933 - 1.88 0.043 1521 562.2 -97.3 - - 3445 - - - - - - - - - 13.98 -
11567 849.8 -7.1 494 11575 roll -0.71 - - 1925 - 1.90 0.053 2577 555.8 -97.3 - - 3445 - - - - - - - - - 13.88 -
11653 855.8 -6.7 497 11658 done -0.68 0.17 0.248 1962 217.6 1.98 0.065 1518 -534.8 -97.3 - - 3444 - - - - - - - - 13.57 13.94 -
11972 874.0 -5.9 508 11979 roll -0.68 - - 1962 - 2.03 0.087 463 -519.7 -97.3 - - 3443 - - - - - - - - - 13.90 -
12042 878.2 -6.5 510 12046 done -0.68 - - 1957 - 1.88 0.042 1524 564.4 -97.3 - - 3443 - - - - - - - - - 14.03 -
12344 901.8 -7.8 520 12345 done -0.67 - - 1957 - - - 1525 - -97.3 - - 3443 - - - - - - - - - - -
12644 927.6 -8.7 530 12645 done -0.67 - - 1957 - - - 1525 - -97.3 - - 3441 - - - - - - - - - - -
12943 955.0 -9.1 540 12947 roll -0.67 - - 1957 - 2.05 0.087 463 -518.0 -97.3 - - 3440 - - - - - - - - - 13.86 -
13004 959.3 -9.1 542 13007 done -0.66 - - 1949 - 1.88 0.043 1520 562.2 -97.3 - - 3439 - - - - - - - - - 13.97 -
13240 end dive: TARGET_DEPTH_EXCEEDED
13240 begin apogee
13249 980.3 -7.8 550 13376 done -0.18 0.70 0.217 2123 248.6 - - 1395 - - 114.90 1.808 3062 -3.3 0.333 - - - - 1 - 13.83 - 13.08
13377 end apogee: CONTROL_FINISHED_OK
13377 begin climb
13382 985.7 - 554 13517 roll 0.60 0.85 0.106 2384 307.1 1.92 0.054 2462 555.7 97.3 123.85 1.810 2666 -3.2 0.326 - - - - 1 - 13.92 14.11 13.12
13739 981.7 4.5 567 13811 done 0.56 - - 2392 - 1.98 0.069 1393 -539.9 134.9 58.50 1.551 2511 -2.6 0.314 - - - - 1 - - 14.16 13.21
14129 958.6 5.8 580 14141 roll 0.49 0.17 0.278 2361 -182.4 1.95 0.094 350 -534.9 140.3 3.85 1.945 2490 -5.5 0.503 - - - - - - 13.95 14.22 13.35
14327 949.5 5.0 586 14382 done 0.47 - - 2360 - 1.85 0.043 1422 579.5 165.6 45.92 1.424 2386 -2.3 0.283 - - - - 1 - - 14.38 13.31
14684 932.5 4.4 598 14757 roll 0.48 - - 2366 - 2.03 0.095 352 -527.1 204.7 59.10 1.559 2226 -2.7 0.303 - - - - 1 - - 14.21 13.25
14868 923.1 5.5 604 14909 done 0.44 0.15 0.251 2335 -206.7 1.83 0.044 1410 578.1 217.9 31.20 1.128 2172 -1.7 0.265 - - - - 1 - 14.03 14.38 13.22
15210 903.3 6.3 615 15214 roll 0.46 - - 2335 - 1.83 0.053 2451 568.9 217.9 - - 2170 - - - - - - - - - 14.34 -
15403 890.7 6.4 622 15407 done 0.46 - - 2337 - 1.95 0.071 1395 -541.5 217.9 - - 2171 - - - - - - - - - 14.23 -
15723 868.4 7.2 633 15730 roll 0.48 - - 2340 - 1.83 0.053 2435 568.3 217.9 - - 2168 - - - - - - - - - 14.15 -
15868 858.2 6.7 638 15872 done 0.48 - - 2347 - 1.95 0.072 1391 -535.4 217.9 - - 2167 - - - - - - - - - 14.14 -
16186 839.9 5.3 649 16229 done 0.50 - - 2348 - - - 1390 - 235.9 35.42 1.219 2101 -1.9 0.240 - - - - 1 - - - 13.37
16518 823.8 4.9 660 16577 roll 0.55 - - 2356 - 2.00 0.096 343 -523.5 264.3 48.72 1.412 1985 -2.4 0.260 - - - - 1 - - 14.25 13.28
16743 811.1 5.9 668 16751 done 0.55 - - 2356 - 1.83 0.045 1400 577.6 267.1 2.60 1.850 1971 -5.4 0.442 - - - - - - - 14.37 13.40
17073 791.4 5.9 679 17082 roll 0.58 - - 2363 - 1.95 0.095 335 -546.2 270.9 2.88 1.840 1957 -4.9 0.392 - - - - - - - 14.32 13.47
17219 781.2 6.9 684 17223 done 0.58 - - 2364 - 1.85 0.044 1403 577.3 270.9 - - 1955 - - - - - - - - - 14.40 -
17537 760.1 6.8 695 17544 roll 0.60 - - 2371 - 2.03 0.096 343 -522.2 270.9 - - 1957 - - - - - - - - - 14.13 -
17759 744.7 7.5 702 17763 done 0.58 - - 2372 - 1.85 0.045 1403 573.0 270.9 - - 1957 - - - - - - - - - 14.27 -
18062 720.2 8.0 712 18069 roll 0.57 - - 2379 - 2.05 0.094 336 -520.5 270.9 - - 1956 - - - - - - - - - 14.02 -
18148 712.5 8.5 715 18152 done 0.55 - - 2379 - 1.88 0.045 1405 568.6 270.9 - - 1956 - - - - - - - - - 14.25 -
18468 687.3 7.9 726 18469 done 0.53 - - 2379 - - - 1407 - 270.9 - - 1956 - - - - - - - - - - -
18764 665.7 7.0 736 18768 roll 0.51 - - 2387 - 2.08 0.094 333 -516.3 270.9 - - 1956 - - - - - - - - - 13.95 -
18854 660.2 7.3 739 18858 done 0.49 0.17 0.239 2349 -223.5 1.88 0.044 1405 570.2 270.9 - - 1955 - - - - - - - - 13.79 14.22 -
19157 639.6 6.4 749 19164 roll 0.52 - - 2356 - 2.05 0.094 345 -517.1 270.9 - - 1955 - - - - - - - - - 13.95 -
19245 633.5 6.7 752 19248 done 0.55 - - 2355 - 1.85 0.044 1398 569.2 270.9 - - 1955 - - - - - - - - - 14.18 -
19561 612.9 6.6 763 19562 done 0.57 - - 2356 - - - 1400 - 270.9 - - 1955 - - - - - - - - - - -
19860 590.5 7.7 773 19863 roll 0.59 - - 2356 - 1.90 0.054 2453 554.2 270.9 - - 1955 - - - - - - - - - 13.97 -
19994 579.4 8.1 778 19997 done 0.59 - - 2363 - 1.98 0.072 1400 -531.8 270.9 - - 1955 - - - - - - - - - 14.00 -
20313 553.0 8.3 789 20320 roll 0.62 - - 2363 - 1.90 0.054 2451 553.2 270.9 - - 1955 - - - - - - - - - 13.98 -
20488 539.3 7.4 795 20492 done 0.62 - - 2371 - 1.98 0.072 1399 -531.3 270.9 - - 1955 - - - - - - - - - 13.97 -
20808 519.9 5.7 806 20845 roll 0.65 - - 2371 - 1.80 0.053 2448 582.8 279.8 26.88 0.861 1920 -1.3 0.147 - - - - 1 - - 14.34 13.47
21030 507.2 6.1 813 21034 done 0.65 - - 2378 - 1.95 0.071 1391 -542.1 279.8 - - 1920 - - - - - - - - - 14.25 -
21329 486.3 7.1 823 21333 roll 0.65 - - 2386 - 2.00 0.093 342 -524.5 279.8 - - 1920 - - - - - - - - - 14.05 -
21464 475.1 8.5 828 21468 done 0.63 - - 2386 - 1.85 0.044 1406 575.1 279.8 - - 1920 - - - - - - - - - 14.26 -
21782 447.7 8.7 839 21784 done 0.62 - - 2386 - - - 1408 - 279.8 - - 1919 - - - - - - - - - - -
22078 425.8 6.6 849 22082 roll 0.60 - - 2394 - 2.05 0.091 343 -519.5 279.8 - - 1920 - - - - - - - - - 13.93 -
22167 421.0 6.4 852 22171 done 0.58 - - 2394 - 1.85 0.044 1404 573.5 279.8 - - 1920 - - - - - - - - - 14.20 -
22473 405.0 4.7 862 22531 roll 0.59 - - 2402 - 2.00 0.093 346 -529.0 310.6 49.00 1.081 1796 -2.5 0.178 - - - - 1 - - 14.26 13.48
22574 399.1 5.6 866 22615 done 0.59 - - 2402 - 1.83 0.043 1404 578.1 321.5 28.33 0.827 1751 -1.6 0.144 - - - - 1 - - 14.35 13.35
22934 367.4 10.2 878 22938 roll 0.57 - - 2410 - 2.00 0.092 346 -529.0 321.5 - - 1750 - - - - - - - - - 14.16 -
23008 358.7 11.3 881 23013 done 0.55 0.17 0.229 2372 -223.5 1.83 0.043 1406 579.2 321.5 - - 1750 - - - - - - - - 13.95 14.33 -
23328 327.0 9.5 892 23335 roll 0.59 - - 2377 - 2.00 0.092 347 -529.5 321.5 - - 1749 - - - - - - - - - 14.04 -
23427 318.9 9.1 895 23431 done 0.63 - - 2377 - 1.83 0.041 1405 578.1 321.5 - - 1749 - - - - - - - - - 14.29 -
23733 294.0 7.4 905 23740 roll 0.67 - - 2383 - 2.03 0.091 345 -522.2 321.5 - - 1749 - - - - - - - - - 14.02 -
23802 289.6 7.3 907 23807 done 0.71 0.12 0.137 2427 366.7 1.83 0.042 1403 578.1 321.5 - - 1749 - - - - - - - - 14.16 14.28 -
24108 264.6 7.9 917 24115 roll 0.68 - - 2427 - 1.83 0.051 2439 566.1 321.5 - - 1749 - - - - - - - - - 14.04 -
24164 259.7 8.0 919 24168 done 0.65 0.15 0.267 2405 -146.7 1.92 0.069 1399 -541.7 321.5 - - 1749 - - - - - - - - 13.78 14.11 -
24463 238.1 7.3 934 24467 roll 0.64 - - 2411 - 2.03 0.090 340 -521.7 321.5 - - 1749 - - - - - - - - - 13.98 -
24647 224.4 7.6 946 24656 done 0.62 - - 2411 - 1.85 0.041 1408 577.3 321.5 - - 1749 - - - - - - - - - 14.20 -
24959 201.9 7.6 967 24963 roll 0.60 - - 2425 - 2.03 0.089 346 -523.2 321.5 - - 1749 - - - - - - - - - 14.00 -
25063 192.9 9.0 974 25068 done 0.57 0.17 0.221 2381 -258.8 1.83 0.041 1403 577.6 321.5 - - 1749 - - - - - - - - 13.77 14.14 -
25363 170.0 8.2 994 25367 roll 0.62 - - 2380 - 1.83 0.048 2440 566.7 321.5 - - 1749 - - - - - - - - - 14.06 -
25483 159.8 8.5 1002 25487 done 0.62 - - 2385 - 1.92 0.068 1400 -541.7 321.5 - - 1749 - - - - - - - - - 14.01 -
25783 135.0 7.9 1022 25787 roll 0.65 - - 2393 - 2.03 0.090 339 -522.7 321.5 - - 1749 - - - - - - - - - 13.96 -
25967 121.5 7.0 1034 25977 done 0.69 - - 2393 - 1.83 0.041 1400 579.8 321.5 - - 1749 - - - - - - - - - 14.19 -
26281 102.3 5.8 1055 26292 roll 0.73 - - 2399 - 2.00 0.090 336 -532.0 328.5 6.35 0.965 1725 -3.8 0.075 - - - - - - - 14.26 14.13
26431 92.1 7.2 1065 26435 done 0.77 0.12 0.133 2445 383.3 1.83 0.041 1408 585.8 328.5 - - 1725 - - - - - - - - 14.29 14.40 -
26730 65.0 9.4 1085 26731 done 0.73 - - 2446 - - - 1410 - 328.5 - - 1725 - - - - - - - - - - -
27031 37.5 9.0 1105 27035 roll 0.69 0.15 0.248 2421 -166.7 2.00 0.086 344 -533.0 328.5 - - 1725 - - - - - - - - 13.93 14.12 -
27135 28.4 8.7 1112 27138 done 0.68 - - 2421 - 1.83 0.040 1407 580.9 328.5 - - 1725 - - - - - - - - - 14.27 -
27435 4.9 7.4 1132 27439 roll 0.66 - - 2429 - 2.03 0.087 336 -527.6 328.5 - - 1726 - - - - - - - - - 14.07 -
27477 end climb: SURFACE_DEPTH_REACHED
27477 begin surface coast
27492 end surface coast: CONTROL_FINISHED_OK
27493 begin surface
SM 0.83 - - - - -6.29 6.90 0.071 157 -329.3 2.08 0.050 1511 564.9 327.97 - - 1725 - - - - - - - -