SPURS Sep12 * SG189 * Dive index * Mission links * Dive 491 * Raw log
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• Previous call tries 1 • 83.20 of 150.00 AH used of 24V (44.53% remains)
• Previous NAKs 0, Timeouts 0 • 73.89 of 97.00 AH used of 10V (23.82% remains)
• Surface angle -61.7 deg, depth 2.30 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 41 s
• GPS2 time: 16 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
18 begin dive
21 - - - 34 VBD -1.32 - - 150 - - - 2121 - -90.7 -10.43 - 1397 - - - - - - - - - - -
38 2.3 - 1 103 done -1.33 8.93 0.178 2565 270.4 - - 2118 - -97.7 -50.55 - 2720 -26.2 - - - - - - - 25.32 - 26.70
407 23.2 -7.9 38 414 roll -1.28 - - 2555 - 2.62 0.040 3751 623.3 -97.7 - - 2722 - - - - - - - - - 26.04 -
705 48.0 -7.8 68 713 done -1.21 0.12 0.135 2610 458.3 2.45 0.022 2091 -677.6 -97.7 - - 2725 - - - - - - - - 25.76 26.39 -
1014 70.2 -7.3 99 1023 roll -1.21 - - 2599 - 2.67 0.039 3744 619.1 -97.7 - - 2723 - - - - - - - - - 26.11 -
1304 90.8 -7.7 113 1313 done -1.19 - - 2599 - 2.45 0.021 2102 -670.2 -97.7 - - 2723 - - - - - - - - - 26.42 -
1614 117.1 -8.2 124 1622 roll -1.19 - - 2587 - 2.65 0.039 3747 620.8 -97.7 - - 2724 - - - - - - - - - 26.13 -
1798 132.5 -8.5 130 1804 done -1.16 0.15 0.144 2627 266.7 2.40 0.021 2082 -693.8 -97.7 - - 2724 - - - - - - - - 25.98 26.44 -
2127 156.1 -7.3 140 2132 roll -1.19 - - 2627 - 2.38 0.037 539 -648.3 -97.7 - - 2724 - - - - - - - - - 26.17 -
2195 160.9 -7.6 141 2201 done -1.21 - - 2616 - 2.47 0.023 2191 668.8 -97.7 - - 2724 - - - - - - - - - 26.39 -
2544 190.1 -8.0 147 2551 roll -1.21 - - 2605 - 2.50 0.041 3745 621.6 -97.7 - - 2725 - - - - - - - - - 26.15 -
2674 199.5 -7.8 149 2681 done -1.21 - - 2604 - 2.45 0.021 2087 -676.7 -97.7 - - 2725 - - - - - - - - - 26.46 -
3025 222.6 -6.3 155 3031 roll -1.21 - - 2605 - 2.40 0.037 549 -640.8 -97.7 - - 2725 - - - - - - - - - 26.20 -
3145 230.4 -6.3 157 3151 done -1.21 - - 2592 - 2.47 0.023 2197 667.2 -97.7 - - 2725 - - - - - - - - - 26.40 -
3505 254.6 -6.8 163 3506 done -1.21 - - 2592 - - - 2197 - -97.7 - - 2725 - - - - - - - - - - -
3804 277.6 -7.8 168 3811 roll -1.21 - - 2581 - 2.53 0.041 3755 615.8 -97.7 - - 2725 - - - - - - - - - 26.14 -
3883 282.6 -7.9 169 3891 done -1.21 - - 2581 - 2.47 0.020 2099 -670.4 -97.7 - - 2725 - - - - - - - - - 26.46 -
4225 312.6 -8.3 175 4231 roll -1.21 - - 2581 - 2.45 0.037 544 -634.7 -97.7 - - 2727 - - - - - - - - - 26.20 -
4273 312.6 -8.3 175 4284 done -1.21 0.15 0.150 2608 180.0 2.50 0.024 2200 662.4 -97.7 - - 2725 - - - - - - - - 25.96 26.39 -
4585 340.7 -7.6 181 4591 roll -1.25 - - 2609 - 2.60 0.036 545 -636.5 -97.7 - - 2725 - - - - - - - - - 26.19 -
4645 345.2 -7.6 182 4651 done -1.28 - - 2598 - 2.42 0.024 2194 681.4 -97.7 - - 2725 - - - - - - - - - 26.39 -
5005 369.9 -6.7 188 5011 roll -1.31 - - 2598 - 2.58 0.036 550 -637.2 -97.7 - - 2724 - - - - - - - - - 26.18 -
5115 373.7 -6.6 189 5123 done -1.33 - - 2586 - 2.47 0.024 2193 665.2 -97.7 - - 2723 - - - - - - - - - 26.40 -
5426 395.5 -6.0 195 5427 done -1.35 - - 2586 - - - 2193 - -97.7 - - 2723 - - - - - - - - - - -
5725 414.8 -6.5 200 5731 roll -1.37 - - 2586 - 2.55 0.037 539 -648.6 -97.7 - - 2723 - - - - - - - - - 26.17 -
5814 419.2 -6.9 201 5821 done -1.37 - - 2574 - 2.47 0.024 2182 665.2 -97.7 - - 2722 - - - - - - - - - 26.39 -
6144 448.2 -8.3 207 6151 roll -1.37 - - 2562 - 2.55 0.042 3747 613.7 -97.7 - - 2721 - - - - - - - - - 26.11 -
6233 453.9 -8.7 208 6241 done -1.37 - - 2562 - 2.47 0.021 2095 -668.8 -97.7 - - 2721 - - - - - - - - - 26.44 -
6565 488.7 -9.7 214 6571 roll -1.37 - - 2563 - 2.40 0.038 538 -648.8 -97.7 - - 2720 - - - - - - - - - 26.17 -
6624 495.0 -10.0 215 6631 done -1.37 - - 2551 - 2.47 0.024 2185 666.8 -97.7 - - 2720 - - - - - - - - - 26.38 -
7044 535.0 -9.5 219 7046 done -1.37 - - 2551 - - - 2186 - -97.7 - - 2719 - - - - - - - - - - -
7404 565.7 -8.7 222 7411 roll -1.37 - - 2551 - 2.60 0.037 548 -630.0 -97.7 - - 2718 - - - - - - - - - 26.15 -
7525 575.5 -8.4 223 7531 done -1.37 - - 2539 - 2.47 0.024 2189 664.4 -97.7 - - 2718 - - - - - - - - - 26.36 -
7885 602.7 -7.7 226 7891 roll -1.37 - - 2527 - 2.50 0.042 3751 624.8 -97.7 - - 2716 - - - - - - - - - 26.09 -
7973 602.7 -7.7 226 7982 done -1.37 0.12 0.151 2558 258.3 2.47 0.021 2103 -667.2 -97.7 - - 2718 - - - - - - - - 26.03 26.42 -
8365 642.9 -8.4 230 8371 roll -1.37 - - 2562 - 2.40 0.039 546 -648.8 -97.7 - - 2715 - - - - - - - - - 26.13 -
8423 642.9 -8.4 230 8431 done -1.37 - - 2548 - 2.50 0.024 2190 657.6 -97.7 - - 2715 - - - - - - - - - 26.36 -
8844 688.0 -9.4 234 8846 done -1.37 - - 2548 - - - 2191 - -97.7 - - 2714 - - - - - - - - - - -
9205 719.7 -8.9 237 9211 roll -1.37 - - 2548 - 2.58 0.038 548 -636.8 -97.7 - - 2712 - - - - - - - - - 26.10 -
9253 719.7 -8.9 237 9261 done -1.37 - - 2536 - 2.55 0.024 2193 645.1 -97.7 - - 2710 - - - - - - - - - 26.34 -
9565 749.0 -8.3 240 9571 roll -1.37 - - 2524 - 2.55 0.043 3751 611.0 -97.7 - - 2712 - - - - - - - - - 26.05 -
9634 749.0 -8.3 240 9642 done -1.37 0.10 0.128 2557 330.0 2.45 0.023 2100 -673.9 -97.7 - - 2712 - - - - - - - - 25.98 26.40 -
10046 780.8 -6.6 244 10051 roll -1.40 - - 2557 - 2.42 0.040 539 -645.0 -97.7 - - 2710 - - - - - - - - - 26.08 -
10124 780.8 -6.6 244 10131 done -1.42 - - 2547 - 2.50 0.025 2187 659.2 -97.7 - - 2710 - - - - - - - - - 26.34 -
10526 816.7 -7.5 248 10527 done -1.42 - - 2547 - - - 2187 - -97.7 - - 2709 - - - - - - - - - - -
10884 846.8 -8.3 251 10891 roll -1.42 - - 2547 - 2.60 0.039 548 -630.4 -97.7 - - 2708 - - - - - - - - - 26.06 -
10963 846.8 -8.3 251 10971 done -1.42 - - 2535 - 2.53 0.025 2197 651.8 -97.7 - - 2708 - - - - - - - - - 26.31 -
11365 889.3 -8.8 255 11366 done -1.42 - - 2534 - - - 2197 - -97.7 - - 2707 - - - - - - - - - - -
11724 921.9 -9.0 258 11732 roll -1.42 - - 2535 - 2.62 0.040 552 -627.9 -97.7 - - 2705 - - - - - - - - - 26.02 -
11833 921.9 -9.0 258 11842 done -1.42 - - 2523 - 2.53 0.026 2192 648.2 -97.7 - - 2705 - - - - - - - - - 26.29 -
12204 965.5 -9.1 262 12212 roll -1.42 - - 2523 - 2.62 0.041 553 -625.6 -97.7 - - 2703 - - - - - - - - - 26.01 -
12264 965.5 -9.1 262 12272 done -1.42 0.08 0.145 2535 150.0 2.50 0.026 2185 652.8 -97.7 - - 2703 - - - - - - - - 25.91 26.27 -
12561 end dive: TARGET_DEPTH_EXCEEDED
12561 begin apogee
12570 994.5 -8.2 265 12663 done -0.29 1.17 0.125 2904 315.4 - - 1577 - - 86.78 1.686 2320 -4.4 0.278 - - - - - - 25.05 - 22.96
12665 end apogee: CONTROL_FINISHED_OK
12665 begin climb
12669 998.6 - 270 12772 roll 1.33 1.45 0.060 3426 360.0 2.80 0.035 3204 581.1 97.7 93.07 1.714 1920 -4.3 0.267 - - - - - - 25.29 24.95 22.96
12854 994.0 6.2 279 12872 done 1.19 0.17 0.159 3388 -223.5 2.58 0.030 1576 -631.0 106.9 8.32 1.434 1885 -4.2 0.311 - - - - - - 25.47 25.88 23.56
13228 968.2 6.8 288 13230 done 1.11 0.12 0.177 3357 -258.3 - - 1576 - 106.9 - - 1880 - - - - - - - - 26.10 - -
13585 944.1 6.7 291 13592 roll 1.04 - - 3357 - 2.62 0.035 3198 619.1 106.9 - - 1878 - - - - - - - - - 26.24 -
13735 935.8 6.7 292 13742 done 0.98 0.15 0.149 3321 -240.0 2.53 0.030 1578 -640.3 106.9 - - 1877 - - - - - - - - 25.79 26.29 -
14065 912.1 6.7 295 14072 roll 0.95 - - 3329 - 1.95 0.048 353 -628.2 106.9 - - 1876 - - - - - - - - - 26.14 -
14195 903.9 6.6 296 14201 done 0.93 - - 3329 - 1.92 0.025 1648 674.5 107.5 - - 1875 - - - - - - - - - 26.46 -
14545 883.2 6.0 299 14559 done 0.95 - - 3329 - - - 1648 - 120.6 12.48 1.522 1827 -3.8 0.238 - - - - - - - - 23.87
14905 864.0 5.3 302 14933 done 0.98 - - 3329 - - - 1648 - 147.9 26.33 1.586 1716 -4.2 0.245 - - - - - - - - 23.62
15265 840.0 6.4 305 15273 done 0.99 - - 3330 - - - 1648 - 153.1 5.47 1.285 1696 -3.7 0.255 - - - - - - - - 23.89
15624 812.4 7.5 308 15632 roll 0.99 - - 3344 - 2.10 0.048 350 -618.1 153.1 - - 1695 - - - - - - - - - 26.10 -
15785 801.9 7.9 309 15791 done 0.99 - - 3339 - 1.95 0.026 1652 667.7 153.1 - - 1694 - - - - - - - - - 26.42 -
16106 771.7 8.5 312 16111 roll 0.99 - - 3339 - 2.45 0.036 3208 635.1 153.1 - - 1697 - - - - - - - - - 26.20 -
16164 771.7 8.5 312 16172 done 0.99 0.08 0.142 3326 -162.5 2.55 0.031 1574 -640.8 153.1 - - 1694 - - - - - - - - 25.95 26.26 -
16585 738.4 6.9 316 16591 roll 1.01 - - 3334 - 1.95 0.048 355 -625.1 153.1 - - 1692 - - - - - - - - - 26.08 -
16635 738.4 6.9 316 16641 done 1.04 - - 3333 - 1.92 0.026 1649 674.0 153.1 - - 1692 - - - - - - - - - 26.45 -
16945 717.3 6.0 319 16963 roll 1.08 - - 3333 - 2.58 0.036 3206 603.5 166.2 12.75 1.453 1642 -3.9 0.206 - - - - - - - 26.08 23.90
17055 710.0 6.0 320 17074 done 1.12 - - 3345 - 2.50 0.031 1579 -650.8 179.5 13.80 1.463 1589 -3.8 0.199 - - - - - - - 26.13 23.79
17406 681.8 7.7 323 17412 roll 1.15 - - 3345 - 2.62 0.036 3206 621.0 179.5 - - 1587 - - - - - - - - - 26.10 -
17494 681.8 7.7 323 17501 done 1.17 - - 3357 - 2.53 0.030 1588 -639.5 179.5 - - 1587 - - - - - - - - - 26.19 -
17885 632.6 10.3 327 17886 done 1.17 - - 3358 - - - 1588 - 179.5 - - 1586 - - - - - - - - - - -
18244 596.3 10.3 330 18251 roll 1.17 - - 3357 - 2.60 0.036 3195 618.1 179.5 - - 1586 - - - - - - - - - 26.15 -
18333 596.3 10.3 330 18341 done 1.17 - - 3369 - 2.53 0.030 1580 -638.3 179.5 - - 1586 - - - - - - - - - 26.23 -
18725 560.7 7.4 334 18732 roll 1.17 - - 3378 - 1.98 0.048 348 -622.2 179.5 - - 1585 - - - - - - - - - 26.04 -
18773 560.7 7.4 334 18780 done 1.17 - - 3379 - 1.98 0.025 1660 662.6 179.5 - - 1585 - - - - - - - - - 26.43 -
19085 536.8 6.6 337 19091 roll 1.17 - - 3388 - 2.10 0.047 354 -621.9 181.0 - - 1585 - - - - - - - - - 26.02 -
19194 536.8 6.6 337 19202 done 1.17 - - 3388 - 1.98 0.025 1660 659.6 182.5 - - 1585 - - - - - - - - - 26.41 -
19565 496.6 8.4 341 19571 roll 1.17 - - 3398 - 2.10 0.047 356 -621.0 182.5 - - 1584 - - - - - - - - - 26.01 -
19854 475.1 9.0 345 19862 done 1.15 - - 3398 - 1.95 0.025 1650 663.6 182.5 - - 1584 - - - - - - - - - 26.41 -
20166 448.2 7.2 351 20171 roll 1.15 - - 3408 - 2.05 0.047 353 -632.7 182.5 - - 1584 - - - - - - - - - 25.98 -
20304 439.9 7.0 353 20312 done 1.12 0.17 0.142 3361 -276.5 2.03 0.026 1661 644.3 182.5 - - 1584 - - - - - - - - 25.86 26.40 -
20646 417.9 6.1 359 20665 roll 1.17 - - 3360 - 2.58 0.037 3209 600.0 193.3 13.43 1.255 1530 -4.0 0.143 - - - - - - - 26.06 23.95
20744 414.5 6.3 360 20757 done 1.22 - - 3370 - 2.55 0.029 1582 -638.0 200.9 8.12 1.167 1500 -3.7 0.140 - - - - - - - 26.12 23.92
21110 380.3 8.7 367 21111 done 1.26 - - 3370 - - - 1582 - 200.9 - - 1500 - - - - - - - - - - -
21407 353.8 8.8 372 21413 roll 1.30 0.12 0.081 3437 558.3 2.60 0.036 3201 622.7 200.9 - - 1500 - - - - - - - - 26.55 26.11 -
21495 347.9 9.1 373 21503 done 1.32 - - 3448 - 2.53 0.030 1580 -640.7 200.9 - - 1500 - - - - - - - - - 26.20 -
21827 309.7 10.7 379 21833 roll 1.28 0.15 0.163 3417 -206.7 1.92 0.047 347 -642.2 200.9 - - 1500 - - - - - - - - 26.14 26.03 -
22018 290.3 10.8 382 22024 done 1.25 - - 3417 - 1.90 0.025 1655 688.4 200.9 - - 1500 - - - - - - - - - 26.42 -
22367 252.3 10.5 388 22373 roll 1.25 - - 3427 - 2.10 0.047 350 -621.4 200.9 - - 1499 - - - - - - - - - 26.01 -
22505 239.3 10.6 390 22512 done 1.25 - - 3427 - 1.95 0.024 1652 667.7 200.9 - - 1500 - - - - - - - - - 26.43 -
22846 203.3 9.9 396 22853 roll 1.25 - - 3437 - 2.08 0.047 356 -623.1 200.9 - - 1500 - - - - - - - - - 26.00 -
23059 184.0 10.6 399 23065 done 1.22 0.17 0.140 3388 -288.2 1.88 0.024 1657 692.0 200.9 - - 1500 - - - - - - - - 25.90 26.44 -
23386 144.0 11.1 405 23388 done 1.27 - - 3388 - - - 1658 - 200.9 - - 1501 - - - - - - - - - - -
23687 113.0 9.9 415 23693 roll 1.32 0.10 0.091 3458 700.0 2.08 0.047 351 -628.4 200.9 - - 1500 - - - - - - - - 26.63 25.98 -
23746 106.6 10.2 417 23753 done 1.32 0.10 0.138 3425 -330.0 2.00 0.024 1671 660.0 200.9 - - 1500 - - - - - - - - 25.96 26.42 -
24080 75.7 8.7 428 24085 roll 1.32 - - 3434 - 2.10 0.047 354 -627.1 200.9 - - 1500 - - - - - - - - - 25.98 -
24238 61.8 8.7 442 24245 done 1.32 - - 3434 - 1.88 0.023 1654 691.5 200.9 - - 1500 - - - - - - - - - 26.43 -
24546 34.1 9.8 473 24554 roll 1.32 - - 3444 - 2.10 0.046 347 -622.4 200.9 - - 1503 - - - - - - - - - 25.99 -
24689 18.8 11.3 487 24696 done 1.32 - - 3444 - 1.95 0.024 1660 673.3 200.9 - - 1500 - - - - - - - - - 26.43 -
24843 end climb: SURFACE_DEPTH_REACHED
24843 begin surface coast
24864 end surface coast: CONTROL_FINISHED_OK
24864 begin surface
SM 2.30 - - - - -8.84 8.65 0.035 153 -380.5 0.80 0.034 2186 657.5 300.00 45.28 0.125 1095 -8.9 0.017 - - - - - -