SPURS Sep12 * SG189 * Dive index * Mission links * Dive 34 * Raw log
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• Previous call tries 1 • 8.88 of 150.00 AH used of 24V (94.08% remains)
• Previous NAKs 0, Timeouts 0 • 8.03 of 97.00 AH used of 10V (91.72% remains)
• Surface angle -56.1 deg, depth 1.66 m • Intended pitch -13.6 deg, speed -6.111 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 31 s
• GPS2 time: 38 s • Transponder ping count: 13
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
21 - - - 65 VBD -0.92 - - 162 - - - 1873 - -117.3 -42.10 - 2163 - - - - - - - - - - -
68 2.1 -1.5 4 103 roll -0.92 9.77 0.219 2682 257.9 2.15 0.050 3277 653.0 -117.3 -19.62 - 2808 -32.9 - - - - - - - 25.89 26.25 26.56
330 32.4 -12.6 30 336 done -0.75 0.25 0.148 2753 284.0 2.12 0.025 1825 -684.9 -117.3 - - 2811 - - - - - - - - 26.18 26.42 -
643 63.7 -8.3 61 649 roll -0.66 0.12 0.157 2783 250.0 2.20 0.036 3285 663.6 -117.3 - - 2811 - - - - - - - - 26.38 26.51 -
727 69.2 -6.6 69 732 done -0.62 - - 2783 - 2.12 0.024 1823 -689.6 -117.3 - - 2811 - - - - - - - - - 26.57 -
1049 89.0 -4.4 89 1055 roll -0.57 0.12 0.144 2815 266.7 2.17 0.036 3277 670.0 -117.3 - - 2812 - - - - - - - - 26.50 26.60 -
1196 93.1 -2.5 96 1201 done -0.57 - - 2815 - 2.12 0.024 1822 -686.3 -117.3 - - 2812 - - - - - - - - - 26.65 -
1513 102.5 -4.3 112 1518 roll -0.57 - - 2804 - 2.17 0.037 3277 670.5 -117.3 - - 2812 - - - - - - - - - 26.66 -
1661 109.9 -5.7 119 1666 done -0.57 - - 2804 - 2.10 0.024 1825 -691.4 -117.3 - - 2813 - - - - - - - - - 26.70 -
1978 129.0 -6.1 135 1983 roll -0.57 - - 2804 - 2.12 0.044 415 -665.1 -117.3 - - 2812 - - - - - - - - - 26.65 -
2029 131.8 -6.1 137 2034 done -0.57 - - 2793 - 2.12 0.026 1889 695.3 -117.3 - - 2812 - - - - - - - - - 26.74 -
2341 147.9 -4.3 153 2347 roll -0.57 - - 2783 - 2.08 0.039 3287 672.1 -117.3 - - 2812 - - - - - - - - - 26.71 -
2553 156.7 -4.6 160 2558 done -0.57 0.12 0.140 2818 291.7 2.12 0.024 1820 -692.0 -117.3 - - 2812 - - - - - - - - 26.59 26.75 -
2867 175.1 -5.8 168 2872 roll -0.60 - - 2819 - 2.10 0.044 427 -663.3 -117.3 - - 2812 - - - - - - - - - 26.70 -
3014 182.6 -6.0 171 3019 done -0.60 - - 2810 - 2.10 0.026 1885 694.3 -117.3 - - 2812 - - - - - - - - - 26.78 -
3352 203.9 -5.9 180 3357 roll -0.62 - - 2808 - 2.22 0.044 416 -661.7 -117.3 - - 2811 - - - - - - - - - 26.71 -
3484 211.1 -5.7 183 3489 done -0.62 - - 2799 - 2.12 0.026 1889 694.8 -117.3 - - 2810 - - - - - - - - - 26.79 -
3796 230.6 -6.1 191 3801 roll -0.62 - - 2798 - 2.22 0.044 424 -659.9 -117.3 - - 2810 - - - - - - - - - 26.72 -
3897 236.1 -6.5 193 3902 done -0.62 - - 2788 - 2.12 0.026 1893 692.9 -117.3 - - 2809 - - - - - - - - - 26.79 -
4239 257.0 -5.3 201 4240 done -0.62 - - 2788 - - - 1893 - -117.3 - - 2808 - - - - - - - - - - -
4539 271.8 -4.9 206 4540 done -0.62 - - 2788 - - - 1893 - -117.3 - - 2807 - - - - - - - - - - -
4839 287.6 -5.3 211 4844 roll -0.62 - - 2788 - 2.22 0.044 428 -659.9 -117.3 - - 2806 - - - - - - - - - 26.72 -
4896 287.6 -5.3 211 4902 done -0.62 - - 2778 - 2.12 0.027 1894 691.5 -117.3 - - 2805 - - - - - - - - - 26.79 -
5201 309.2 -5.8 217 5207 roll -0.62 - - 2779 - 2.25 0.044 416 -656.9 -117.3 - - 2803 - - - - - - - - - 26.71 -
5328 317.2 -6.2 219 5334 done -0.62 0.12 0.145 2804 208.3 2.12 0.027 1883 692.0 -117.3 - - 2803 - - - - - - - - 26.60 26.79 -
5687 336.7 -5.3 225 5692 roll -0.66 - - 2793 - 2.10 0.041 3286 668.1 -117.3 - - 2803 - - - - - - - - - 26.73 -
5844 343.9 -5.6 227 5849 done -0.70 - - 2794 - 2.12 0.026 1828 -687.7 -117.3 - - 2802 - - - - - - - - - 26.77 -
6171 366.3 -6.3 233 6172 done -0.73 - - 2795 - - - 1828 - -117.3 - - 2801 - - - - - - - - - - -
6471 384.1 -5.9 238 6473 done -0.76 0.12 0.083 2730 -541.7 - - 1828 - -117.3 - - 2800 - - - - - - - - 26.85 - -
6771 403.3 -6.4 243 6773 done -0.72 0.12 0.147 2763 275.0 - - 1827 - -117.3 - - 2798 - - - - - - - - 26.66 - -
7071 420.2 -5.6 248 7076 roll -0.72 - - 2765 - 2.12 0.046 428 -659.9 -117.3 - - 2798 - - - - - - - - - 26.71 -
7177 424.4 -5.9 249 7182 done -0.72 - - 2754 - 2.12 0.028 1887 688.2 -117.3 - - 2797 - - - - - - - - - 26.79 -
7494 448.1 -6.6 255 7495 done -0.72 - - 2754 - - - 1887 - -117.3 - - 2796 - - - - - - - - - - -
7794 467.9 -6.6 260 7799 roll -0.72 - - 2755 - 2.25 0.045 418 -652.9 -117.3 - - 2795 - - - - - - - - - 26.70 -
7885 472.2 -6.6 261 7890 done -0.72 - - 2744 - 2.15 0.028 1893 686.0 -117.3 - - 2795 - - - - - - - - - 26.79 -
8217 494.9 -6.2 267 8222 roll -0.72 - - 2734 - 2.08 0.042 3278 665.9 -117.3 - - 2794 - - - - - - - - - 26.72 -
8279 498.9 -6.2 268 8285 done -0.72 0.12 0.145 2768 283.3 2.12 0.026 1821 -687.3 -117.3 - - 2794 - - - - - - - - 26.58 26.76 -
8702 525.3 -6.2 272 8707 roll -0.72 - - 2768 - 2.12 0.047 427 -657.5 -117.3 - - 2792 - - - - - - - - - 26.69 -
8913 534.5 -6.6 273 8918 done -0.72 - - 2759 - 2.12 0.028 1884 687.3 -117.3 - - 2792 - - - - - - - - - 26.78 -
9305 564.0 -6.1 277 9310 roll -0.72 - - 2749 - 2.10 0.042 3281 665.2 -117.3 - - 2791 - - - - - - - - - 26.71 -
9376 564.0 -6.1 277 9381 done -0.72 - - 2749 - 2.12 0.027 1829 -684.9 -117.3 - - 2791 - - - - - - - - - 26.76 -
9788 586.6 -4.7 281 9793 roll -0.72 - - 2749 - 2.15 0.047 423 -654.0 -117.3 - - 2789 - - - - - - - - - 26.67 -
9885 586.6 -4.7 281 9890 done -0.72 - - 2738 - 2.15 0.028 1893 683.7 -117.3 - - 2789 - - - - - - - - - 26.77 -
10272 619.2 -6.7 285 10273 done -0.72 - - 2738 - - - 1893 - -117.3 - - 2788 - - - - - - - - - - -
10632 646.7 -7.6 288 10633 done -0.72 - - 2738 - - - 1893 - -117.3 - - 2787 - - - - - - - - - - -
10992 671.9 -7.1 291 10997 roll -0.72 - - 2738 - 2.25 0.047 431 -649.8 -117.3 - - 2787 - - - - - - - - - 26.66 -
11068 671.9 -7.1 291 11074 done -0.72 0.15 0.145 2770 213.3 2.12 0.028 1882 684.4 -117.3 - - 2788 - - - - - - - - 26.52 26.76 -
11476 699.4 -5.6 295 11478 done -0.76 - - 2770 - - - 1882 - -117.3 - - 2785 - - - - - - - - - - -
11837 720.4 -5.8 298 11838 done -0.80 - - 2770 - - - 1882 - -117.3 - - 2785 - - - - - - - - - - -
12196 739.6 -5.5 301 12198 done -0.84 0.12 0.086 2710 -500.0 - - 1882 - -117.3 - - 2783 - - - - - - - - 26.82 - -
12556 759.7 -5.5 304 12557 done -0.84 - - 2710 - - - 1883 - -117.3 - - 2783 - - - - - - - - - - -
12917 778.6 -5.2 307 12922 roll -0.82 - - 2710 - 2.25 0.048 425 -648.0 -117.3 - - 2782 - - - - - - - - - 26.63 -
12983 778.6 -5.2 307 12989 done -0.80 0.15 0.148 2741 206.7 2.15 0.029 1888 680.5 -117.3 - - 2782 - - - - - - - - 26.48 26.74 -
13401 809.6 -6.3 311 13406 roll -0.80 - - 2742 - 2.25 0.048 431 -647.6 -117.3 - - 2781 - - - - - - - - - 26.63 -
13557 819.8 -7.0 312 13562 done -0.80 - - 2732 - 2.12 0.028 1882 684.4 -117.3 - - 2784 - - - - - - - - - 26.74 -
13884 850.6 -8.5 315 13889 roll -0.80 - - 2723 - 2.10 0.044 3273 662.4 -117.3 - - 2780 - - - - - - - - - 26.65 -
14029 861.2 -8.6 316 14035 done -0.80 - - 2722 - 2.12 0.028 1832 -679.7 -117.3 - - 2779 - - - - - - - - - 26.71 -
14367 890.9 -8.4 319 14372 roll -0.80 - - 2722 - 2.17 0.049 421 -650.2 -117.3 - - 2778 - - - - - - - - - 26.60 -
14438 890.9 -8.4 319 14444 done -0.80 0.12 0.154 2745 191.7 2.15 0.028 1886 681.4 -117.3 - - 2777 - - - - - - - - 26.48 26.74 -
14851 921.4 -6.2 323 14856 roll -0.83 - - 2736 - 2.10 0.043 3274 661.0 -117.3 - - 2777 - - - - - - - - - 26.64 -
14997 927.2 -5.5 324 15003 done -0.86 - - 2736 - 2.15 0.029 1823 -674.9 -117.3 - - 2777 - - - - - - - - - 26.70 -
15336 943.5 -4.6 327 15342 roll -0.89 - - 2736 - 2.15 0.050 431 -647.4 -117.3 - - 2776 - - - - - - - - - 26.58 -
15464 950.2 -4.7 328 15470 done -0.91 - - 2726 - 2.15 0.028 1885 676.3 -117.3 - - 2775 - - - - - - - - - 26.72 -
15823 970.3 -5.5 331 15824 done -0.91 - - 2726 - - - 1884 - -117.3 - - 2775 - - - - - - - - - - -
16181 end dive: TARGET_DEPTH_EXCEEDED
16181 begin apogee
16185 993.2 -6.2 334 16286 done -0.29 0.52 0.119 2900 334.6 - - 1834 - - 93.45 1.713 2331 -4.8 0.285 - - - - - - 26.35 - 23.96
16287 end apogee: CONTROL_FINISHED_OK
16288 begin climb
16290 993.2 - 334 16402 roll 0.92 1.15 0.077 3296 344.3 2.40 0.040 3280 602.5 117.3 104.32 1.686 1851 -4.6 0.281 - - - - - - 25.10 24.75 23.80
16464 989.5 - 336 16620 done 0.97 - - 3307 - 2.28 0.031 1832 -635.1 285.9 146.12 1.668 1164 -4.7 0.289 - - - - - - - 25.47 23.71
17027 912.4 13.5 341 17032 roll 0.87 - - 3318 - 2.25 0.052 426 -624.9 285.9 - - 1155 - - - - - - - - - 26.09 -
17079 912.4 13.5 341 17085 done 0.77 0.25 0.138 3246 -288.0 2.20 0.028 1883 662.3 285.9 - - 1154 - - - - - - - - 26.04 26.20 -
17393 871.8 11.7 344 17395 done 0.72 - - 3246 - - - 1883 - 285.9 - - 1153 - - - - - - - - - - -
17752 833.7 10.6 347 17753 done 0.72 - - 3246 - - - 1883 - 285.9 - - 1152 - - - - - - - - - - -
18112 795.1 10.7 350 18118 roll 0.72 - - 3256 - 2.30 0.052 422 -635.2 285.9 - - 1151 - - - - - - - - - 26.47 -
18208 795.1 10.7 350 18214 done 0.72 - - 3256 - 2.17 0.029 1884 673.7 285.9 - - 1150 - - - - - - - - - 26.57 -
18596 744.7 10.4 354 18601 roll 0.70 - - 3266 - 2.30 0.052 428 -633.0 285.9 - - 1150 - - - - - - - - - 26.53 -
18633 744.7 10.4 354 18639 done 0.68 0.17 0.130 3214 -305.9 2.15 0.028 1881 675.8 285.9 - - 1153 - - - - - - - - 26.45 26.62 -
18961 710.2 9.6 357 18963 done 0.68 - - 3214 - - - 1882 - 285.9 - - 1150 - - - - - - - - - - -
19321 674.6 9.8 360 19326 roll 0.68 - - 3224 - 2.28 0.052 430 -636.8 285.9 - - 1150 - - - - - - - - - 26.57 -
19372 674.6 9.8 360 19378 done 0.68 - - 3224 - 2.15 0.028 1884 676.3 285.9 - - 1149 - - - - - - - - - 26.67 -
19685 640.4 9.6 363 19686 done 0.68 - - 3224 - - - 1884 - 285.9 - - 1149 - - - - - - - - - - -
20045 607.1 9.2 366 20046 done 0.68 - - 3224 - - - 1885 - 285.9 - - 1150 - - - - - - - - - - -
20405 572.1 9.7 369 20410 roll 0.68 - - 3235 - 2.28 0.052 429 -638.6 285.9 - - 1149 - - - - - - - - - 26.60 -
20466 572.1 9.7 369 20471 done 0.68 - - 3235 - 2.15 0.028 1889 679.1 285.9 - - 1149 - - - - - - - - - 26.70 -
20888 521.8 10.4 373 20893 roll 0.68 - - 3247 - 2.28 0.051 430 -639.9 285.9 - - 1149 - - - - - - - - - 26.61 -
20964 521.8 10.4 373 20970 done 0.68 - - 3246 - 2.15 0.028 1886 677.2 285.9 - - 1149 - - - - - - - - - 26.72 -
21312 478.7 10.1 378 21317 roll 0.68 - - 3257 - 2.28 0.051 426 -640.4 285.9 - - 1150 - - - - - - - - - 26.61 -
21363 478.7 10.1 378 21369 done 0.68 0.12 0.137 3221 -300.0 2.15 0.028 1893 682.3 285.9 - - 1149 - - - - - - - - 26.55 26.72 -
21677 447.7 8.0 384 21678 done 0.71 - - 3220 - - - 1893 - 285.9 - - 1150 - - - - - - - - - - -
21976 424.8 7.6 389 21982 roll 0.75 - - 3230 - 2.30 0.050 423 -639.1 285.9 - - 1149 - - - - - - - - - 26.62 -
22013 424.8 7.6 389 22018 done 0.79 - - 3230 - 2.15 0.028 1886 680.5 285.9 - - 1149 - - - - - - - - - 26.73 -
22340 392.0 9.3 395 22346 roll 0.82 0.10 0.098 3289 590.0 2.10 0.038 3283 665.2 285.9 - - 1149 - - - - - - - - 26.79 26.67 -
22397 392.0 9.3 395 22404 done 0.85 - - 3299 - 2.15 0.029 1831 -675.3 285.9 - - 1150 - - - - - - - - - 26.70 -
22704 342.4 13.9 401 22710 roll 0.81 0.12 0.149 3267 -266.7 2.17 0.049 425 -647.9 285.9 - - 1150 - - - - - - - - 26.58 26.63 -
22751 342.4 13.9 401 22756 done 0.77 - - 3267 - 2.15 0.028 1888 680.5 285.9 - - 1149 - - - - - - - - - 26.73 -
23069 300.7 10.9 407 23074 roll 0.77 - - 3279 - 2.28 0.050 428 -640.4 285.9 - - 1148 - - - - - - - - - 26.63 -
23110 300.7 10.9 407 23115 done 0.77 0.12 0.135 3249 -250.0 2.12 0.028 1883 686.3 285.9 - - 1149 - - - - - - - - 26.55 26.74 -
23433 266.6 9.1 413 23438 roll 0.79 - - 3253 - 2.25 0.050 432 -644.9 285.9 - - 1149 - - - - - - - - - 26.63 -
23470 266.6 9.1 413 23475 done 0.82 - - 3253 - 2.12 0.028 1883 684.4 285.9 - - 1150 - - - - - - - - - 26.74 -
23778 235.8 8.5 420 23779 done 0.84 - - 3253 - - - 1883 - 285.9 - - 1150 - - - - - - - - - - -
24098 206.9 9.2 428 24103 roll 0.86 - - 3264 - 2.25 0.050 431 -645.3 285.9 - - 1150 - - - - - - - - - 26.64 -
24149 203.0 9.2 429 24154 done 0.86 - - 3264 - 2.12 0.028 1882 684.4 285.9 - - 1150 - - - - - - - - - 26.74 -
24461 171.8 9.8 437 24466 roll 0.86 - - 3275 - 2.25 0.050 429 -645.8 285.9 - - 1150 - - - - - - - - - 26.64 -
24523 167.7 9.9 438 24528 done 0.86 - - 3275 - 2.12 0.028 1881 684.9 285.9 - - 1151 - - - - - - - - - 26.74 -
24846 134.4 9.7 450 24847 done 0.86 - - 3275 - - - 1881 - 285.9 - - 1151 - - - - - - - - - - -
25146 107.4 9.0 465 25147 done 0.86 - - 3274 - - - 1881 - 285.9 - - 1151 - - - - - - - - - - -
25446 79.0 9.3 480 25451 roll 0.88 - - 3286 - 2.25 0.049 432 -644.0 285.9 - - 1152 - - - - - - - - - 26.65 -
25508 72.4 10.5 484 25513 done 0.88 - - 3286 - 2.12 0.028 1887 686.3 285.9 - - 1152 - - - - - - - - - 26.75 -
25821 40.7 8.7 515 25826 roll 0.92 - - 3296 - 2.25 0.048 431 -647.1 285.9 - - 1153 - - - - - - - - - 26.66 -
25864 36.8 9.1 519 25869 done 0.95 - - 3297 - 2.12 0.027 1888 687.3 285.9 - - 1153 - - - - - - - - - 26.76 -
26176 9.4 8.3 550 26177 done 0.98 - - 3301 - - - 1888 - 285.9 - - 1153 - - - - - - - - - - -
26255 end climb: SURFACE_DEPTH_REACHED
26255 begin surface coast
26286 end surface coast: CONTROL_FINISHED_OK
26287 begin surface
SM 1.75 - - - - -8.83 8.02 0.032 163 -391.3 0.08 0.110 1838 -625.0 350.04 23.92 0.135 899 -10.6 0.014 - - - - - -