SPURS Sep12 * SG189 * Dive index * Mission links * Dive 571 * Raw log
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• Previous call tries 1 • 95.09 of 150.00 AH used of 24V (36.60% remains)
• Previous NAKs 0, Timeouts 0 • 84.69 of 97.00 AH used of 10V (12.69% remains)
• Surface angle -59.7 deg, depth 1.81 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 16 s
• GPS2 time: 20 s • Transponder ping count: 581
• 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
19 begin dive
23 - - - 54 VBD -1.32 - - 160 - - - 2179 - -90.7 -29.60 - 1945 - - - - - - - - - - -
59 2.1 -2.1 3 105 roll -1.33 9.77 0.210 2566 246.3 2.60 0.047 545 -628.5 -97.7 -26.73 - 2720 -29.0 - - - - - - - 24.82 26.18 26.82
216 10.2 -8.3 19 224 done -1.22 0.15 0.132 2603 246.7 2.45 0.022 2197 674.3 -97.7 - - 2720 - - - - - - - - 25.90 26.44 -
527 33.9 -7.7 50 534 roll -1.22 - - 2593 - 2.40 0.040 3751 647.5 -97.7 - - 2720 - - - - - - - - - 26.22 -
817 56.3 -7.1 79 824 done -1.22 - - 2593 - 2.42 0.021 2101 -681.8 -97.7 - - 2720 - - - - - - - - - 26.48 -
1126 77.3 -7.0 108 1132 roll -1.24 - - 2584 - 2.55 0.037 3753 647.8 -97.7 - - 2720 - - - - - - - - - 26.23 -
1405 99.1 -8.3 117 1413 done -1.19 0.10 0.131 2613 290.0 2.42 0.020 2087 -688.4 -97.7 - - 2720 - - - - - - - - 26.06 26.48 -
1729 124.9 -7.8 128 1735 roll -1.19 - - 2602 - 2.58 0.039 3753 645.7 -97.7 - - 2720 - - - - - - - - - 26.21 -
1835 131.5 -7.3 131 1844 done -1.19 - - 2602 - 2.45 0.020 2090 -678.8 -97.7 - - 2720 - - - - - - - - - 26.48 -
2146 150.8 -5.5 142 2147 done -1.19 - - 2602 - - - 2090 - -97.7 - - 2720 - - - - - - - - - - -
2447 166.8 -5.3 147 2453 roll -1.19 - - 2602 - 2.38 0.037 539 -651.7 -97.7 - - 2719 - - - - - - - - - 26.25 -
2495 166.8 -5.3 147 2504 done -1.19 - - 2590 - 2.45 0.022 2190 673.9 -97.7 - - 2719 - - - - - - - - - 26.44 -
2806 188.2 -6.2 153 2807 done -1.19 - - 2590 - - - 2190 - -97.7 - - 2720 - - - - - - - - - - -
3107 208.6 -6.8 158 3112 roll -1.19 - - 2590 - 2.50 0.035 546 -657.6 -97.7 - - 2720 - - - - - - - - - 26.24 -
3166 212.9 -6.9 159 3173 done -1.19 0.10 0.133 2612 220.0 2.45 0.023 2194 672.7 -97.7 - - 2719 - - - - - - - - 26.04 26.43 -
3526 237.5 -7.0 165 3532 roll -1.22 - - 2601 - 2.45 0.041 3748 634.3 -97.7 - - 2719 - - - - - - - - - 26.22 -
3596 242.3 -7.3 166 3603 done -1.25 - - 2602 - 2.42 0.020 2098 -681.8 -97.7 - - 2719 - - - - - - - - - 26.48 -
3946 274.3 -9.3 172 3952 roll -1.27 - - 2601 - 2.40 0.037 550 -645.0 -97.7 - - 2721 - - - - - - - - - 26.23 -
4015 280.3 -9.5 173 4023 done -1.27 - - 2590 - 2.47 0.023 2199 667.6 -97.7 - - 2719 - - - - - - - - - 26.41 -
4367 313.3 -9.0 179 4368 done -1.27 - - 2590 - - - 2199 - -97.7 - - 2718 - - - - - - - - - - -
4666 334.9 -7.0 184 4667 done -1.27 - - 2590 - - - 2199 - -97.7 - - 2718 - - - - - - - - - - -
4966 352.1 -5.6 189 4972 roll -1.30 - - 2591 - 2.55 0.037 539 -651.0 -97.7 - - 2717 - - - - - - - - - 26.21 -
5087 359.0 -5.6 191 5092 done -1.30 - - 2578 - 2.42 0.024 2192 683.1 -97.7 - - 2717 - - - - - - - - - 26.40 -
5446 381.2 -6.4 197 5452 roll -1.30 - - 2566 - 2.50 0.041 3750 623.2 -97.7 - - 2715 - - - - - - - - - 26.17 -
5536 385.8 -6.8 198 5543 done -1.30 - - 2566 - 2.45 0.021 2091 -677.1 -97.7 - - 2713 - - - - - - - - - 26.47 -
5866 419.0 -9.7 204 5867 done -1.30 - - 2566 - - - 2091 - -97.7 - - 2714 - - - - - - - - - - -
6166 448.7 -9.9 209 6172 roll -1.30 - - 2566 - 2.40 0.037 548 -642.9 -97.7 - - 2713 - - - - - - - - - 26.20 -
6206 448.7 -9.9 209 6212 done -1.30 - - 2554 - 2.50 0.024 2189 656.4 -97.7 - - 2713 - - - - - - - - - 26.38 -
6526 479.2 -8.1 215 6527 done -1.30 - - 2554 - - - 2188 - -97.7 - - 2712 - - - - - - - - - - -
6826 501.1 -7.1 220 6827 done -1.30 - - 2554 - - - 2189 - -97.7 - - 2711 - - - - - - - - - - -
7186 525.6 -6.8 223 7193 roll -1.30 - - 2554 - 2.58 0.037 546 -636.8 -97.7 - - 2710 - - - - - - - - - 26.16 -
7286 525.6 -6.8 223 7293 done -1.30 0.10 0.136 2575 210.0 2.47 0.024 2189 665.2 -97.7 - - 2713 - - - - - - - - 25.95 26.36 -
7667 560.9 -7.3 227 7669 done -1.32 - - 2574 - - - 2188 - -97.7 - - 2709 - - - - - - - - - - -
8026 591.9 -8.4 230 8033 roll -1.35 - - 2575 - 2.60 0.037 543 -632.7 -97.7 - - 2708 - - - - - - - - - 26.14 -
8156 603.1 -8.8 231 8162 done -1.38 - - 2565 - 2.53 0.025 2177 645.8 -97.7 - - 2707 - - - - - - - - - 26.32 -
8506 635.6 -9.1 234 8513 roll -1.40 - - 2565 - 2.58 0.037 540 -634.5 -97.7 - - 2706 - - - - - - - - - 26.12 -
8565 635.6 -9.1 234 8573 done -1.42 - - 2553 - 2.50 0.025 2190 660.0 -97.7 - - 2706 - - - - - - - - - 26.32 -
8987 671.3 -7.4 238 8993 roll -1.42 - - 2553 - 2.55 0.037 546 -644.7 -97.7 - - 2705 - - - - - - - - - 26.10 -
9035 671.3 -7.4 238 9043 done -1.42 - - 2541 - 2.50 0.025 2188 656.8 -97.7 - - 2704 - - - - - - - - - 26.32 -
9346 697.2 -7.1 241 9352 roll -1.42 - - 2541 - 2.58 0.037 547 -636.0 -97.7 - - 2703 - - - - - - - - - 26.10 -
9406 697.2 -7.1 241 9412 done -1.42 - - 2529 - 2.47 0.025 2180 661.1 -97.7 - - 2703 - - - - - - - - - 26.32 -
9826 742.6 -9.5 245 9832 roll -1.42 - - 2529 - 2.58 0.038 547 -632.9 -97.7 - - 2702 - - - - - - - - - 26.07 -
9875 742.6 -9.5 245 9882 done -1.42 - - 2517 - 2.53 0.025 2197 652.2 -97.7 - - 2701 - - - - - - - - - 26.29 -
10187 778.4 -10.0 248 10192 roll -1.42 - - 2505 - 2.50 0.044 3753 622.4 -97.7 - - 2701 - - - - - - - - - 25.99 -
10265 778.4 -10.0 248 10273 done -1.42 0.10 0.139 2537 320.0 2.50 0.023 2087 -666.4 -97.7 - - 2700 - - - - - - - - 25.92 26.34 -
10666 814.7 -7.5 252 10672 roll -1.42 - - 2537 - 2.42 0.040 552 -634.3 -97.7 - - 2699 - - - - - - - - - 26.01 -
10816 822.2 -6.8 253 10822 done -1.42 - - 2527 - 2.53 0.026 2181 643.9 -97.7 - - 2698 - - - - - - - - - 26.27 -
11146 843.2 -5.9 256 11152 roll -1.42 - - 2527 - 2.53 0.039 547 -645.8 -97.7 - - 2696 - - - - - - - - - 26.01 -
11255 843.2 -5.9 256 11264 done -1.42 - - 2515 - 2.47 0.025 2181 661.5 -97.7 - - 2697 - - - - - - - - - 26.27 -
11627 882.8 -8.2 260 11628 done -1.42 - - 2515 - - - 2181 - -97.7 - - 2697 - - - - - - - - - - -
11986 920.9 -10.3 263 11993 roll -1.42 - - 2515 - 2.60 0.039 546 -628.8 -97.7 - - 2695 - - - - - - - - - 25.96 -
12125 934.7 -10.8 264 12133 done -1.42 0.10 0.141 2534 190.0 2.50 0.026 2183 654.8 -97.7 - - 2695 - - - - - - - - 25.77 26.22 -
12467 970.5 -10.3 267 12472 roll -1.42 - - 2535 - 2.58 0.040 544 -635.3 -97.7 - - 2694 - - - - - - - - - 25.93 -
12635 981.6 -9.7 268 12642 done -1.42 - - 2525 - 2.60 0.027 2187 631.9 -97.7 - - 2693 - - - - - - - - - 26.20 -
12702 end dive: TARGET_DEPTH_EXCEEDED
12702 begin apogee
12712 992.0 -9.3 269 12804 done -0.29 1.20 0.125 2898 310.8 - - 1575 - - 84.55 1.655 2320 -4.4 0.281 - - - - - - 24.90 - 23.08
12806 end apogee: CONTROL_FINISHED_OK
12806 begin climb
12810 996.0 - 274 12907 done 1.33 1.50 0.062 3432 356.0 - - 1575 - 97.7 92.62 1.651 1920 -4.3 0.277 - - - - - - 25.41 - 23.16
13306 967.9 7.1 289 13308 done 1.19 0.17 0.175 3388 -258.8 - - 1574 - 97.7 - - 1908 - - - - - - - - 25.92 - -
13666 947.7 5.9 292 13682 done 1.11 0.12 0.182 3358 -250.0 - - 1574 - 113.3 12.45 1.515 1859 -3.9 0.261 - - - - - - 26.17 - 23.87
14027 929.8 5.1 295 14064 roll 1.08 - - 3365 - 2.00 0.047 351 -611.5 145.5 31.35 1.595 1724 -4.3 0.267 - - - - - - - 25.56 23.59
14208 922.7 5.2 296 14243 done 1.06 - - 3365 - 1.92 0.026 1652 677.6 175.7 28.62 1.576 1603 -4.2 0.263 - - - - - - - 26.23 23.56
14627 887.5 7.4 300 14633 roll 1.03 0.12 0.167 3334 -258.3 2.45 0.036 3203 633.1 175.7 - - 1597 - - - - - - - - 26.15 26.17 -
14686 887.5 7.4 300 14692 done 1.01 - - 3345 - 2.53 0.031 1582 -640.7 175.7 - - 1597 - - - - - - - - - 26.24 -
15106 845.5 8.7 304 15112 roll 1.01 - - 3346 - 2.62 0.035 3206 619.8 175.7 - - 1594 - - - - - - - - - 26.19 -
15207 845.5 8.7 304 15213 done 1.01 0.12 0.170 3327 -158.3 2.47 0.030 1581 -657.9 175.7 - - 1595 - - - - - - - - 25.90 26.25 -
15586 799.8 9.5 308 15593 roll 1.03 - - 3327 - 2.62 0.037 3202 618.7 175.7 - - 1593 - - - - - - - - - 26.15 -
15635 799.8 9.5 308 15643 done 1.05 - - 3338 - 2.53 0.030 1578 -641.9 175.7 - - 1594 - - - - - - - - - 26.23 -
15947 770.5 8.4 311 15952 roll 1.08 - - 3338 - 2.58 0.036 3205 630.6 175.7 - - 1593 - - - - - - - - - 26.13 -
16005 770.5 8.4 311 16012 done 1.10 - - 3350 - 2.53 0.029 1580 -642.3 175.7 - - 1593 - - - - - - - - - 26.22 -
16426 737.0 6.9 315 16427 done 1.10 - - 3350 - - - 1580 - 175.7 - - 1592 - - - - - - - - - - -
16786 707.0 8.1 318 16787 done 1.10 - - 3350 - - - 1580 - 175.7 - - 1594 - - - - - - - - - - -
17147 672.2 9.5 321 17148 done 1.10 - - 3350 - - - 1580 - 175.7 - - 1591 - - - - - - - - - - -
17506 638.0 9.6 324 17513 roll 1.10 - - 3350 - 2.65 0.037 3197 610.2 175.7 - - 1591 - - - - - - - - - 26.03 -
17665 627.7 9.3 325 17672 done 1.10 - - 3362 - 2.53 0.030 1575 -641.1 175.7 - - 1591 - - - - - - - - - 26.18 -
17988 601.2 7.6 328 17993 roll 1.10 - - 3362 - 2.62 0.037 3210 624.0 175.7 - - 1591 - - - - - - - - - 26.01 -
18075 601.2 7.6 328 18082 done 1.10 - - 3374 - 2.55 0.029 1578 -640.0 175.7 - - 1591 - - - - - - - - - 26.15 -
18466 564.3 7.7 332 18472 roll 1.10 - - 3383 - 1.98 0.047 351 -619.7 175.7 - - 1591 - - - - - - - - - 25.91 -
18596 552.6 8.4 333 18602 done 1.10 - - 3383 - 1.92 0.025 1641 671.9 175.7 - - 1591 - - - - - - - - - 26.35 -
18946 517.1 9.8 336 18952 roll 1.10 - - 3392 - 2.08 0.047 356 -617.8 175.7 - - 1592 - - - - - - - - - 25.89 -
19035 517.1 9.8 336 19043 done 1.10 0.15 0.151 3354 -253.3 1.95 0.025 1658 667.7 175.7 - - 1590 - - - - - - - - 25.82 26.32 -
19367 480.4 8.4 341 19372 roll 1.13 - - 3354 - 2.45 0.036 3203 630.6 175.7 - - 1590 - - - - - - - - - 25.98 -
19445 475.3 8.3 342 19452 done 1.13 - - 3365 - 2.55 0.030 1577 -637.6 175.7 - - 1590 - - - - - - - - - 26.08 -
19787 445.5 8.2 348 19792 roll 1.13 - - 3374 - 1.92 0.047 353 -637.5 175.7 - - 1590 - - - - - - - - - 25.86 -
19945 434.9 8.5 350 19952 done 1.13 - - 3374 - 2.00 0.025 1645 646.0 175.7 - - 1594 - - - - - - - - - 26.32 -
20266 402.1 9.3 356 20272 roll 1.13 - - 3384 - 2.10 0.047 353 -615.2 175.7 - - 1590 - - - - - - - - - 25.84 -
20336 396.1 9.4 357 20342 done 1.13 - - 3384 - 1.95 0.025 1654 667.2 175.7 - - 1590 - - - - - - - - - 26.32 -
20686 361.6 9.6 363 20692 roll 1.13 - - 3393 - 2.12 0.047 351 -614.6 175.7 - - 1590 - - - - - - - - - 25.84 -
20765 355.9 9.5 364 20773 done 1.13 0.12 0.155 3363 -250.0 1.98 0.024 1667 664.6 175.7 - - 1591 - - - - - - - - 25.90 26.33 -
21107 330.0 6.8 370 21113 roll 1.16 - - 3362 - 2.47 0.036 3210 624.7 175.7 - - 1590 - - - - - - - - - 25.96 -
21245 322.3 6.4 372 21253 done 1.19 - - 3373 - 2.53 0.029 1588 -641.1 180.7 - - 1591 - - - - - - - - - 26.07 -
21587 301.7 5.7 378 21614 roll 1.25 - - 3373 - 2.70 0.035 3206 599.3 200.7 21.12 1.168 1501 -4.3 0.117 - - - - - - - 25.89 23.88
21685 298.5 5.8 379 21707 done 1.29 - - 3383 - 2.55 0.029 1578 -638.4 217.5 16.15 1.151 1434 -4.1 0.114 - - - - - - - 26.04 23.78
22050 265.3 8.5 386 22056 roll 1.33 0.12 0.081 3458 625.0 2.58 0.034 3206 631.0 217.5 - - 1432 - - - - - - - - 26.42 26.03 -
22075 265.3 8.5 386 22083 done 1.37 0.08 0.159 3446 -150.0 2.53 0.029 1581 -642.3 217.5 - - 1432 - - - - - - - - 25.76 26.12 -
22407 225.3 11.6 392 22412 roll 1.35 - - 3454 - 1.90 0.046 353 -646.3 217.5 - - 1432 - - - - - - - - - 25.97 -
22587 200.8 13.3 395 22593 done 1.31 0.12 0.160 3423 -258.3 1.90 0.024 1655 685.3 217.5 - - 1432 - - - - - - - - 25.94 26.38 -
22946 155.7 12.1 401 22953 roll 1.31 - - 3431 - 2.08 0.046 360 -622.6 217.5 - - 1431 - - - - - - - - - 25.95 -
23076 142.4 11.2 404 23082 done 1.31 - - 3431 - 1.92 0.023 1651 672.4 217.5 - - 1431 - - - - - - - - - 26.38 -
23396 111.9 8.8 415 23397 done 1.31 - - 3431 - - - 1651 - 217.5 - - 1431 - - - - - - - - - - -
23697 85.5 8.9 425 23702 roll 1.31 - - 3442 - 2.05 0.046 354 -632.7 217.5 - - 1432 - - - - - - - - - 25.91 -
23786 77.1 9.3 428 23793 done 1.31 - - 3441 - 1.90 0.023 1642 677.9 217.5 - - 1431 - - - - - - - - - 26.39 -
24096 46.4 9.9 457 24104 roll 1.31 - - 3451 - 2.08 0.046 353 -619.7 217.5 - - 1431 - - - - - - - - - 25.91 -
24156 40.2 10.6 463 24164 done 1.31 0.08 0.137 3425 -325.0 1.95 0.023 1653 666.7 217.5 - - 1431 - - - - - - - - 26.01 26.39 -
24469 9.7 9.0 494 24476 roll 1.33 - - 3433 - 2.05 0.046 348 -636.6 217.5 - - 1431 - - - - - - - - - 25.91 -
24532 end climb: SURFACE_DEPTH_REACHED
24532 begin surface coast
24554 end surface coast: CONTROL_FINISHED_OK
24554 begin surface
SM 2.08 - - - - -8.82 8.68 0.037 154 -377.8 2.83 0.024 2188 650.2 300.00 38.30 0.125 1093 -8.8 0.015 - - - - - -