SPURS Sep12 * SG189 * Dive index * Mission links * Dive 370 * Raw log
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• Previous call tries 1 • 66.17 of 150.00 AH used of 24V (55.89% remains)
• Previous NAKs 0, Timeouts 0 • 57.61 of 97.00 AH used of 10V (40.61% remains)
• Surface angle -60.6 deg, depth 2.28 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 38 s
• GPS2 time: 15 s • Transponder ping count: 0
• 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
17 begin dive
20 - - - 34 VBD -1.26 - - 153 - - - 2115 - -97.7 -11.43 - 1428 - - - - - - - - - - -
37 2.1 - 1 104 roll -1.26 9.18 0.189 2582 264.6 2.65 0.051 3745 615.1 -97.7 -49.30 - 2720 -26.2 - - - - - - - 25.46 25.98 26.67
394 25.8 -8.7 37 403 done -1.18 0.10 0.135 2614 320.0 2.45 0.021 2097 -672.7 -97.7 - - 2721 - - - - - - - - 25.96 26.37 -
704 49.5 -7.5 68 713 roll -1.14 - - 2604 - 2.65 0.041 3743 621.1 -97.7 - - 2722 - - - - - - - - - 26.15 -
1004 71.3 -7.4 98 1013 done -1.09 0.12 0.125 2645 341.7 2.45 0.021 2087 -675.9 -97.7 - - 2724 - - - - - - - - 26.01 26.47 -
1334 96.0 -7.6 113 1341 roll -1.09 - - 2649 - 2.42 0.037 547 -636.4 -97.7 - - 2723 - - - - - - - - - 26.24 -
1536 110.6 -8.1 119 1543 done -1.06 - - 2635 - 2.42 0.024 2201 683.5 -97.7 - - 2723 - - - - - - - - - 26.45 -
1844 139.2 -8.4 130 1851 roll -1.06 - - 2623 - 2.47 0.040 3751 627.5 -97.7 - - 2724 - - - - - - - - - 26.23 -
2145 157.5 -5.4 138 2152 done -1.04 0.15 0.138 2664 273.3 2.45 0.021 2057 -691.4 -97.7 - - 2724 - - - - - - - - 26.09 26.50 -
2505 178.6 -6.2 144 2511 roll -1.08 - - 2665 - 2.38 0.037 542 -636.6 -97.7 - - 2724 - - - - - - - - - 26.27 -
2565 182.4 -6.3 145 2571 done -1.12 - - 2654 - 2.45 0.023 2189 672.2 -97.7 - - 2725 - - - - - - - - - 26.47 -
2925 203.3 -5.6 151 2926 done -1.15 - - 2654 - - - 2189 - -97.7 - - 2725 - - - - - - - - - - -
3225 220.2 -5.8 156 3232 roll -1.19 0.12 0.082 2584 -583.3 2.53 0.036 547 -649.0 -97.7 - - 2725 - - - - - - - - 26.67 26.27 -
3324 224.3 -6.1 157 3332 done -1.19 0.12 0.138 2612 233.3 2.45 0.023 2184 668.2 -97.7 - - 2724 - - - - - - - - 25.98 26.48 -
3644 247.7 -6.4 163 3645 done -1.19 - - 2612 - - - 2184 - -97.7 - - 2724 - - - - - - - - - - -
3944 270.0 -7.6 168 3951 roll -1.19 - - 2602 - 2.50 0.040 3740 622.4 -97.7 - - 2725 - - - - - - - - - 26.25 -
4196 289.1 -8.0 172 4201 done -1.19 - - 2602 - 2.42 0.021 2103 -676.4 -97.7 - - 2724 - - - - - - - - - 26.53 -
4544 313.9 -6.7 178 4551 roll -1.19 - - 2590 - 2.62 0.040 3744 626.3 -97.7 - - 2724 - - - - - - - - - 26.25 -
4787 330.5 -6.9 182 4793 done -1.16 0.12 0.146 2623 275.0 2.42 0.021 2087 -684.7 -97.7 - - 2723 - - - - - - - - 26.15 26.51 -
5144 354.9 -6.7 188 5145 done -1.16 - - 2623 - - - 2092 - -97.7 - - 2726 - - - - - - - - - - -
5444 376.1 -7.1 193 5451 roll -1.16 - - 2612 - 2.67 0.040 3752 621.7 -97.7 - - 2722 - - - - - - - - - 26.24 -
5565 385.4 -7.4 195 5571 done -1.16 - - 2612 - 2.45 0.021 2098 -675.1 -97.7 - - 2722 - - - - - - - - - 26.51 -
5924 414.9 -8.3 201 5931 roll -1.16 - - 2600 - 2.65 0.040 3742 620.4 -97.7 - - 2721 - - - - - - - - - 26.23 -
6224 438.6 -7.8 206 6231 done -1.16 - - 2600 - 2.47 0.020 2094 -667.2 -97.7 - - 2720 - - - - - - - - - 26.51 -
6584 460.6 -5.8 212 6591 roll -1.16 - - 2587 - 2.65 0.040 3742 621.9 -97.7 - - 2719 - - - - - - - - - 26.23 -
6884 479.8 -6.5 217 6892 done -1.16 0.10 0.123 2622 350.0 2.45 0.021 2095 -672.2 -97.7 - - 2719 - - - - - - - - 26.13 26.52 -
7304 509.1 -7.1 223 7311 roll -1.20 - - 2611 - 2.65 0.041 3741 621.1 -97.7 - - 2718 - - - - - - - - - 26.22 -
7384 509.1 -7.1 223 7391 done -1.23 - - 2610 - 2.45 0.021 2095 -671.8 -97.7 - - 2718 - - - - - - - - - 26.51 -
7784 545.9 -7.7 227 7791 roll -1.26 - - 2598 - 2.67 0.041 3749 619.5 -97.7 - - 2716 - - - - - - - - - 26.21 -
7913 555.4 -7.7 228 7921 done -1.28 - - 2598 - 2.47 0.021 2097 -668.8 -97.7 - - 2716 - - - - - - - - - 26.50 -
8265 583.5 -7.8 231 8271 roll -1.28 - - 2586 - 2.65 0.041 3749 623.4 -97.7 - - 2715 - - - - - - - - - 26.20 -
8525 602.5 -7.9 233 8531 done -1.28 - - 2586 - 2.45 0.021 2111 -668.6 -97.7 - - 2715 - - - - - - - - - 26.51 -
8865 627.8 -7.2 236 8872 roll -1.28 - - 2574 - 2.62 0.041 3742 622.5 -97.7 - - 2714 - - - - - - - - - 26.20 -
9125 645.9 -7.1 238 9131 done -1.28 - - 2575 - 2.42 0.021 2097 -679.8 -97.7 - - 2713 - - - - - - - - - 26.49 -
9465 674.2 -7.8 241 9471 roll -1.28 - - 2563 - 2.65 0.041 3738 619.2 -97.7 - - 2712 - - - - - - - - - 26.19 -
9603 684.5 -8.1 242 9610 done -1.28 - - 2562 - 2.47 0.021 2091 -666.8 -97.7 - - 2712 - - - - - - - - - 26.48 -
9944 713.1 -8.1 245 9951 roll -1.28 - - 2549 - 2.65 0.041 3744 623.8 -97.7 - - 2711 - - - - - - - - - 26.17 -
10228 732.1 -7.8 247 10233 done -1.25 0.17 0.141 2599 294.1 2.40 0.022 2101 -684.6 -97.7 - - 2710 - - - - - - - - 25.97 26.47 -
10544 760.8 -8.0 250 10545 done -1.25 - - 2598 - - - 2102 - -97.7 - - 2709 - - - - - - - - - - -
10905 791.3 -8.4 253 10911 roll -1.29 - - 2598 - 2.42 0.040 545 -643.4 -97.7 - - 2708 - - - - - - - - - 26.18 -
10955 791.3 -8.4 253 10961 done -1.33 - - 2588 - 2.47 0.024 2184 663.6 -97.7 - - 2708 - - - - - - - - - 26.41 -
11264 821.1 -8.4 256 11272 roll -1.37 - - 2588 - 2.60 0.039 546 -630.0 -97.7 - - 2707 - - - - - - - - - 26.16 -
11324 821.1 -8.4 256 11332 done -1.40 - - 2576 - 2.47 0.024 2185 663.6 -97.7 - - 2707 - - - - - - - - - 26.41 -
11744 859.5 -8.0 260 11746 done -1.43 0.10 0.098 2526 -500.0 - - 2182 - -97.7 - - 2706 - - - - - - - - 26.67 - -
12104 892.4 -8.9 263 12112 roll -1.43 - - 2514 - 2.55 0.044 3746 613.3 -97.7 - - 2704 - - - - - - - - - 26.10 -
12225 904.6 -9.4 264 12232 done -1.40 0.10 0.139 2546 320.0 2.47 0.024 2101 -666.0 -97.7 - - 2704 - - - - - - - - 25.97 26.41 -
12584 940.0 -9.9 267 12592 roll -1.37 - - 2535 - 2.67 0.043 3741 614.2 -97.7 - - 2703 - - - - - - - - - 26.08 -
12684 940.0 -9.9 267 12692 done -1.35 0.08 0.137 2559 300.0 2.45 0.023 2104 -668.2 -97.7 - - 2704 - - - - - - - - 26.06 26.41 -
13064 982.9 -8.9 271 13072 roll -1.35 - - 2549 - 2.65 0.042 3745 619.2 -97.7 - - 2702 - - - - - - - - - 26.07 -
13181 end dive: TARGET_DEPTH_EXCEEDED
13181 begin apogee
13192 992.2 -8.4 272 13283 done -0.29 1.12 0.125 2902 315.2 - - 1576 - - 85.72 1.663 2320 -4.5 0.282 - - - - - - 25.24 - 23.13
13285 end apogee: CONTROL_FINISHED_OK
13285 begin climb
13289 995.4 - 277 13387 roll 1.26 1.40 0.063 3412 364.3 2.12 0.047 347 -579.7 97.7 91.40 1.645 1920 -4.4 0.281 - - - - - - 25.22 24.83 23.09
13566 980.7 9.0 289 13574 done 1.11 0.20 0.159 3361 -255.0 1.98 0.023 1658 662.1 97.7 - - 1911 - - - - - - - - 25.68 26.15 -
13896 952.3 8.0 292 13898 done 1.00 0.15 0.169 3322 -260.0 - - 1658 - 97.7 - - 1908 - - - - - - - - 26.06 - -
14257 932.1 6.0 295 14274 roll 0.96 - - 3330 - 2.08 0.047 354 -626.9 111.0 10.90 1.488 1866 -3.9 0.256 - - - - - - - 26.08 24.06
14468 926.1 5.4 296 14498 done 0.94 - - 3330 - 1.92 0.025 1658 679.2 137.4 25.17 1.583 1759 -4.3 0.264 - - - - - - - 26.36 23.81
14849 900.5 5.5 300 14878 roll 0.94 - - 3339 - 2.20 0.048 354 -592.7 163.2 24.42 1.574 1653 -4.3 0.264 - - - - - - - 25.60 23.84
15116 884.6 6.2 302 15135 done 0.92 0.15 0.151 3300 -260.0 1.98 0.025 1666 662.6 173.2 9.57 1.449 1613 -4.2 0.271 - - - - - - 25.89 26.28 24.01
15437 857.0 7.5 305 15444 roll 0.92 - - 3309 - 2.12 0.048 351 -620.3 173.2 - - 1612 - - - - - - - - - 26.14 -
15606 845.3 8.1 306 15609 done 0.92 - - 3309 - 1.98 0.025 1659 660.6 173.2 - - 1611 - - - - - - - - - 26.42 -
15909 808.0 10.4 309 15915 roll 0.94 - - 3318 - 2.10 0.048 356 -620.5 173.2 - - 1610 - - - - - - - - - 26.22 -
16107 794.8 10.8 310 16110 done 0.94 - - 3318 - 1.95 0.025 1653 665.1 173.2 - - 1609 - - - - - - - - - 26.50 -
16498 753.0 8.9 314 16506 roll 0.94 - - 3328 - 2.12 0.048 348 -615.6 173.2 - - 1608 - - - - - - - - - 26.21 -
16588 753.0 8.9 314 16595 done 0.94 - - 3328 - 1.95 0.025 1653 669.2 173.2 - - 1608 - - - - - - - - - 26.51 -
16979 725.1 5.8 318 16999 done 0.96 - - 3328 - - - 1654 - 192.7 18.25 1.479 1533 -4.1 0.214 - - - - - - - - 24.02
17339 703.9 5.6 321 17366 roll 1.01 - - 3338 - 2.12 0.050 356 -612.3 214.6 20.88 1.489 1445 -4.2 0.212 - - - - - - - 25.73 23.96
17469 694.2 6.4 322 17480 done 1.04 - - 3338 - 1.98 0.026 1652 654.5 220.2 6.75 1.284 1421 -3.6 0.204 - - - - - - - 26.13 23.91
17809 660.3 9.3 325 17816 roll 1.08 - - 3348 - 2.10 0.048 356 -617.1 220.2 - - 1420 - - - - - - - - - 26.10 -
18008 646.7 10.1 326 18015 done 1.10 - - 3348 - 1.95 0.025 1656 666.7 220.2 - - 1419 - - - - - - - - - 26.41 -
18408 597.4 10.3 330 18416 roll 1.10 - - 3358 - 2.12 0.047 350 -616.0 220.2 - - 1418 - - - - - - - - - 26.18 -
18568 586.9 9.7 331 18575 done 1.10 - - 3358 - 1.95 0.024 1653 668.2 220.2 - - 1418 - - - - - - - - - 26.49 -
18888 560.5 7.6 334 18896 roll 1.10 - - 3367 - 2.12 0.047 346 -616.5 220.2 - - 1418 - - - - - - - - - 26.17 -
19017 551.3 7.4 335 19021 done 1.10 - - 3367 - 1.98 0.025 1665 666.2 220.2 - - 1418 - - - - - - - - - 26.51 -
19360 520.3 8.6 338 19367 roll 1.10 - - 3376 - 2.10 0.048 356 -623.3 220.2 - - 1417 - - - - - - - - - 26.16 -
19538 508.4 9.1 339 19542 done 1.10 - - 3377 - 1.95 0.025 1658 667.7 220.2 - - 1418 - - - - - - - - - 26.51 -
19890 465.1 10.6 345 19898 roll 1.10 - - 3386 - 2.12 0.047 347 -618.4 220.2 - - 1418 - - - - - - - - - 26.15 -
20030 452.1 10.7 347 20038 done 1.10 0.12 0.149 3355 -258.3 1.95 0.024 1659 672.8 220.2 - - 1417 - - - - - - - - 26.13 26.51 -
20371 418.6 9.0 353 20372 done 1.14 - - 3355 - - - 1660 - 220.2 - - 1417 - - - - - - - - - - -
20672 392.2 8.7 358 20677 roll 1.19 - - 3354 - 2.45 0.035 3206 631.0 220.2 - - 1418 - - - - - - - - - 26.24 -
20710 392.2 8.7 358 20718 done 1.24 - - 3365 - 2.55 0.029 1581 -637.3 220.2 - - 1417 - - - - - - - - - 26.29 -
21031 359.5 9.3 364 21038 roll 1.27 0.12 0.083 3433 566.7 1.95 0.048 362 -625.1 220.2 - - 1421 - - - - - - - - 26.63 26.12 -
21190 345.5 10.6 366 21197 done 1.27 - - 3437 - 1.92 0.024 1655 673.4 220.2 - - 1418 - - - - - - - - - 26.50 -
21511 302.5 12.0 372 21518 roll 1.23 0.15 0.154 3405 -213.3 2.10 0.047 349 -621.9 220.2 - - 1417 - - - - - - - - 26.23 26.10 -
21640 288.7 11.7 374 21647 done 1.20 - - 3405 - 1.98 0.024 1652 658.1 220.2 - - 1418 - - - - - - - - - 26.49 -
21995 248.3 11.2 380 22000 roll 1.20 - - 3415 - 2.05 0.047 352 -634.1 220.2 - - 1418 - - - - - - - - - 26.10 -
22190 227.4 11.5 383 22198 done 1.20 0.12 0.148 3382 -275.0 1.98 0.024 1662 661.6 220.2 - - 1417 - - - - - - - - 26.12 26.50 -
22531 192.3 9.4 389 22537 roll 1.22 - - 3390 - 2.10 0.045 356 -621.9 220.2 - - 1418 - - - - - - - - - 26.10 -
22782 170.6 9.1 393 22787 done 1.22 - - 3390 - 1.92 0.024 1663 680.7 220.2 - - 1418 - - - - - - - - - 26.50 -
23101 143.0 8.4 399 23107 roll 1.25 - - 3400 - 2.12 0.046 349 -619.8 220.2 - - 1418 - - - - - - - - - 26.09 -
23169 137.5 8.9 401 23173 done 1.25 - - 3401 - 1.95 0.023 1658 671.3 220.2 - - 1421 - - - - - - - - - 26.51 -
23482 106.7 10.0 412 23489 roll 1.25 - - 3410 - 2.10 0.046 354 -621.0 220.2 - - 1418 - - - - - - - - - 26.10 -
23580 96.4 11.2 415 23584 done 1.25 - - 3410 - 1.95 0.023 1661 670.3 220.2 - - 1418 - - - - - - - - - 26.51 -
23882 62.4 10.3 433 23890 roll 1.25 - - 3420 - 2.12 0.045 350 -618.4 220.2 - - 1418 - - - - - - - - - 26.11 -
24072 42.0 11.1 452 24080 done 1.25 - - 3420 - 1.92 0.023 1651 677.6 220.2 - - 1418 - - - - - - - - - 26.51 -
24382 9.3 10.1 483 24391 roll 1.28 - - 3430 - 2.08 0.046 360 -620.7 220.2 - - 1420 - - - - - - - - - 26.10 -
24459 end climb: SURFACE_DEPTH_REACHED
24459 begin surface coast
24494 end surface coast: CONTROL_FINISHED_OK
24494 begin surface
SM 2.28 - - - - -8.83 8.65 0.039 151 -379.1 2.80 0.030 2164 644.3 300.00 35.03 0.128 1095 -9.3 0.017 - - - - - -