SPURS Sep12 * SG189 * Dive index * Mission links * Dive 523 * Raw log
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• Previous call tries 1 • 87.88 of 150.00 AH used of 24V (41.41% remains)
• Previous NAKs 0, Timeouts 0 • 78.05 of 97.00 AH used of 10V (19.54% remains)
• Surface angle -50.0 deg, depth 2.03 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 25 s
• GPS2 time: 17 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 35 VBD -1.32 - - 152 - - - 2117 - -90.7 -10.90 - 1403 - - - - - - - - - - -
39 2.2 - 1 105 roll -1.33 8.55 0.161 2557 281.3 2.75 0.052 3754 595.3 -97.7 -51.42 - 2720 -25.6 - - - - - - - 25.24 25.89 26.70
396 28.1 -8.7 37 404 done -1.25 0.10 0.132 2590 330.0 2.47 0.021 2090 -673.7 -97.7 - - 2721 - - - - - - - - 25.89 26.34 -
706 53.1 -8.9 68 713 roll -1.25 - - 2579 - 2.67 0.039 3775 631.1 -97.7 - - 2722 - - - - - - - - - 26.02 -
926 71.5 -9.6 90 935 done -1.21 0.08 0.132 2604 312.5 2.50 0.021 2086 -675.6 -97.7 - - 2722 - - - - - - - - 26.03 26.39 -
1238 99.2 -8.8 103 1244 roll -1.21 - - 2593 - 2.65 0.039 3755 629.8 -97.7 - - 2722 - - - - - - - - - 26.06 -
1334 107.4 -9.0 106 1342 done -1.21 - - 2593 - 2.47 0.021 2098 -670.9 -97.7 - - 2723 - - - - - - - - - 26.40 -
1656 134.1 -8.1 117 1662 roll -1.21 - - 2581 - 2.65 0.039 3747 622.3 -97.7 - - 2723 - - - - - - - - - 26.08 -
1747 140.5 -7.3 120 1753 done -1.19 0.12 0.148 2614 275.0 2.40 0.021 2081 -694.2 -97.7 - - 2723 - - - - - - - - 26.01 26.41 -
2106 161.4 -5.5 129 2113 roll -1.19 - - 2614 - 2.40 0.037 545 -640.0 -97.7 - - 2723 - - - - - - - - - 26.12 -
2186 164.7 -5.5 130 2192 done -1.19 - - 2603 - 2.47 0.024 2194 667.6 -97.7 - - 2724 - - - - - - - - - 26.36 -
2526 185.1 -5.8 136 2532 roll -1.19 - - 2591 - 2.45 0.040 3751 635.5 -97.7 - - 2724 - - - - - - - - - 26.09 -
2646 193.3 -6.3 138 2652 done -1.19 - - 2592 - 2.45 0.021 2090 -678.0 -97.7 - - 2724 - - - - - - - - - 26.42 -
3007 218.5 -7.1 144 3012 roll -1.19 - - 2580 - 2.62 0.039 3748 632.8 -97.7 - - 2724 - - - - - - - - - 26.10 -
3084 222.5 -7.0 145 3093 done -1.19 0.15 0.139 2620 266.7 2.47 0.020 2077 -676.5 -97.7 - - 2724 - - - - - - - - 25.98 26.43 -
3427 246.0 -6.6 151 3428 done -1.23 - - 2620 - - - 2077 - -97.7 - - 2724 - - - - - - - - - - -
3726 266.2 -6.9 156 3732 roll -1.27 - - 2620 - 2.38 0.037 538 -646.6 -97.7 - - 2724 - - - - - - - - - 26.15 -
3786 270.6 -7.0 157 3793 done -1.31 0.10 0.093 2554 -660.0 2.42 0.023 2194 684.3 -97.7 - - 2724 - - - - - - - - 26.27 26.37 -
4147 297.3 -7.3 163 4153 roll -1.28 0.12 0.151 2587 275.0 2.55 0.035 535 -650.6 -97.7 - - 2724 - - - - - - - - 26.34 26.15 -
4225 301.5 -7.2 164 4232 done -1.26 - - 2576 - 2.47 0.023 2185 668.0 -97.7 - - 2724 - - - - - - - - - 26.37 -
4566 327.5 -7.3 170 4567 done -1.26 - - 2576 - - - 2185 - -97.7 - - 2724 - - - - - - - - - - -
4866 348.4 -7.0 175 4873 roll -1.26 - - 2576 - 2.55 0.036 551 -640.8 -97.7 - - 2724 - - - - - - - - - 26.15 -
4934 352.6 -6.9 176 4943 done -1.26 0.12 0.159 2596 166.7 2.50 0.023 2201 660.0 -97.7 - - 2724 - - - - - - - - 25.98 26.36 -
5286 375.0 -6.2 182 5293 roll -1.29 - - 2596 - 2.60 0.037 545 -636.9 -97.7 - - 2723 - - - - - - - - - 26.14 -
5367 379.2 -6.4 183 5372 done -1.31 - - 2585 - 2.42 0.024 2193 681.0 -97.7 - - 2723 - - - - - - - - - 26.36 -
5706 406.4 -7.7 189 5712 roll -1.34 - - 2585 - 2.55 0.037 540 -648.2 -97.7 - - 2722 - - - - - - - - - 26.13 -
5805 411.5 -8.0 190 5812 done -1.34 - - 2571 - 2.50 0.024 2196 662.4 -97.7 - - 2721 - - - - - - - - - 26.36 -
6125 440.3 -7.9 196 6132 roll -1.34 - - 2562 - 2.50 0.042 3750 621.6 -97.7 - - 2721 - - - - - - - - - 26.07 -
6255 449.6 -7.7 198 6262 done -1.34 - - 2562 - 2.47 0.021 2096 -669.6 -97.7 - - 2721 - - - - - - - - - 26.41 -
6607 473.4 -6.3 204 6608 done -1.34 - - 2562 - - - 2096 - -97.7 - - 2720 - - - - - - - - - - -
6906 490.9 -5.8 209 6913 roll -1.34 - - 2562 - 2.45 0.038 549 -631.4 -97.7 - - 2721 - - - - - - - - - 26.12 -
6955 490.9 -5.8 209 6964 done -1.34 - - 2550 - 2.47 0.024 2190 664.4 -97.7 - - 2719 - - - - - - - - - 26.35 -
7327 518.4 -6.6 214 7332 roll -1.34 - - 2550 - 2.55 0.037 545 -645.1 -97.7 - - 2717 - - - - - - - - - 26.10 -
7415 518.4 -6.6 214 7423 done -1.34 0.08 0.146 2562 150.0 2.47 0.024 2185 664.0 -97.7 - - 2717 - - - - - - - - 25.98 26.35 -
7806 558.4 -8.3 218 7812 roll -1.34 - - 2563 - 2.60 0.037 546 -630.4 -97.7 - - 2717 - - - - - - - - - 26.10 -
7945 569.6 -8.8 219 7952 done -1.34 - - 2553 - 2.47 0.024 2182 662.3 -97.7 - - 2716 - - - - - - - - - 26.34 -
8285 601.1 -8.9 222 8292 roll -1.34 - - 2553 - 2.58 0.037 550 -632.6 -97.7 - - 2715 - - - - - - - - - 26.09 -
8365 601.1 -8.9 222 8372 done -1.34 - - 2541 - 2.47 0.024 2186 662.3 -97.7 - - 2714 - - - - - - - - - 26.34 -
8766 637.8 -7.6 226 8768 done -1.34 - - 2541 - - - 2186 - -97.7 - - 2713 - - - - - - - - - - -
9125 662.2 -6.8 229 9133 roll -1.34 - - 2541 - 2.60 0.038 549 -629.6 -97.7 - - 2713 - - - - - - - - - 26.08 -
9215 662.2 -6.8 229 9223 done -1.34 0.15 0.156 2567 173.3 2.53 0.024 2199 652.2 -97.7 - - 2715 - - - - - - - - 25.86 26.33 -
9607 692.3 -6.3 233 9613 roll -1.36 - - 2568 - 2.60 0.039 539 -638.5 -97.7 - - 2711 - - - - - - - - - 26.06 -
9705 692.3 -6.3 233 9712 done -1.39 - - 2557 - 2.53 0.024 2192 653.4 -97.7 - - 2711 - - - - - - - - - 26.32 -
10086 724.0 -6.6 237 10093 roll -1.41 - - 2557 - 2.60 0.039 551 -631.2 -97.7 - - 2710 - - - - - - - - - 26.04 -
10295 733.1 -6.8 238 10302 done -1.41 - - 2545 - 2.50 0.025 2187 654.4 -97.7 - - 2710 - - - - - - - - - 26.32 -
10686 773.4 -8.4 242 10687 done -1.41 - - 2545 - - - 2186 - -97.7 - - 2709 - - - - - - - - - - -
11046 807.5 -9.3 245 11052 roll -1.41 - - 2545 - 2.62 0.039 544 -626.7 -97.7 - - 2707 - - - - - - - - - 26.01 -
11145 807.5 -9.3 245 11152 done -1.41 - - 2533 - 2.50 0.025 2182 655.2 -97.7 - - 2706 - - - - - - - - - 26.29 -
11526 856.4 -10.2 249 11532 roll -1.41 - - 2533 - 2.60 0.040 548 -628.5 -97.7 - - 2705 - - - - - - - - - 25.99 -
11615 856.4 -10.2 249 11622 done -1.41 - - 2521 - 2.53 0.025 2191 649.4 -97.7 - - 2705 - - - - - - - - - 26.28 -
12007 902.9 -9.7 253 12012 roll -1.41 - - 2509 - 2.53 0.044 3754 617.8 -97.7 - - 2704 - - - - - - - - - 25.91 -
12055 902.9 -9.7 253 12063 done -1.41 0.10 0.135 2541 320.0 2.47 0.023 2098 -670.4 -97.7 - - 2704 - - - - - - - - 25.86 26.30 -
12366 932.0 -8.3 256 12373 roll -1.41 - - 2541 - 2.47 0.042 549 -627.1 -97.7 - - 2703 - - - - - - - - - 25.95 -
12425 932.0 -8.3 256 12433 done -1.41 - - 2531 - 2.53 0.026 2192 649.4 -97.7 - - 2703 - - - - - - - - - 26.26 -
12846 970.6 -8.0 260 12848 done -1.41 - - 2531 - - - 2192 - -97.7 - - 2702 - - - - - - - - - - -
13082 end dive: TARGET_DEPTH_EXCEEDED
13082 begin apogee
13091 991.4 -8.4 262 13184 done -0.29 1.20 0.125 2903 310.0 - - 1578 - - 85.72 1.649 2320 -4.5 0.286 - - - - - - 24.93 - 23.01
13186 end apogee: CONTROL_FINISHED_OK
13186 begin climb
13190 996.5 - 267 13293 roll 1.33 1.45 0.061 3426 360.7 2.80 0.034 3203 580.4 97.7 91.55 1.617 1921 -4.4 0.286 - - - - - - 25.34 25.05 23.05
13376 994.6 4.6 276 13424 done 1.23 0.12 0.163 3402 -200.0 2.58 0.030 1577 -630.2 139.1 37.97 1.579 1752 -4.5 0.299 - - - - - - 25.51 25.91 23.36
13770 969.7 6.3 286 13784 roll 1.16 0.12 0.180 3373 -241.7 1.98 0.050 361 -614.1 146.2 6.45 1.323 1723 -4.5 0.351 - - - - - - 26.00 26.06 23.91
13985 962.6 6.2 287 14004 done 1.09 - - 3373 - 2.00 0.025 1646 642.5 155.8 9.82 1.456 1685 -3.9 0.273 - - - - - - - 26.36 23.88
14366 929.3 6.9 291 14373 roll 1.03 0.15 0.165 3344 -193.3 2.08 0.047 360 -618.3 155.8 - - 1684 - - - - - - - - 26.06 26.13 -
14436 929.3 6.9 291 14442 done 0.98 - - 3344 - 1.92 0.026 1647 670.3 155.8 - - 1683 - - - - - - - - - 26.41 -
14846 886.0 9.1 295 14853 roll 0.98 - - 3354 - 2.10 0.048 349 -618.1 155.8 - - 1681 - - - - - - - - - 26.13 -
15015 874.4 9.4 296 15023 done 0.98 0.15 0.157 3315 -260.0 1.98 0.025 1665 664.6 155.8 - - 1680 - - - - - - - - 25.95 26.44 -
15326 844.3 8.7 299 15327 done 0.98 - - 3315 - - - 1665 - 155.8 - - 1680 - - - - - - - - - - -
15686 819.2 7.2 302 15687 done 1.01 - - 3315 - - - 1665 - 155.8 - - 1680 - - - - - - - - - - -
16046 793.9 7.0 305 16053 roll 1.04 - - 3321 - 2.50 0.036 3200 614.0 155.8 - - 1679 - - - - - - - - - 26.15 -
16256 785.3 7.1 306 16262 done 1.07 - - 3326 - 2.53 0.031 1585 -638.3 155.8 - - 1679 - - - - - - - - - 26.21 -
16647 754.0 6.5 310 16652 roll 1.09 - - 3326 - 2.60 0.035 3209 624.6 159.1 - - 1679 - - - - - - - - - 26.12 -
16745 754.0 6.5 310 16757 done 1.12 - - 3337 - 2.55 0.030 1575 -640.8 162.4 6.30 1.296 1657 -3.5 0.217 - - - - - - - 26.20 23.99
17117 725.0 6.2 313 17130 done 1.15 - - 3337 - - - 1575 - 172.5 10.85 1.405 1616 -3.8 0.208 - - - - - - - - 23.91
17476 700.6 6.6 316 17483 roll 1.18 0.12 0.083 3403 550.0 2.62 0.036 3201 620.6 173.2 - - 1614 - - - - - - - - 26.48 26.10 -
17595 690.7 7.1 317 17603 done 1.18 0.10 0.142 3384 -190.0 2.53 0.031 1578 -641.5 173.2 - - 1614 - - - - - - - - 25.82 26.19 -
17956 660.2 8.4 320 17963 roll 1.18 - - 3392 - 1.95 0.049 358 -625.6 173.2 - - 1614 - - - - - - - - - 26.02 -
18035 660.2 8.4 320 18042 done 1.18 - - 3392 - 1.95 0.025 1657 666.2 173.2 - - 1613 - - - - - - - - - 26.40 -
18437 613.5 9.7 324 18438 done 1.15 - - 3391 - - - 1656 - 173.2 - - 1613 - - - - - - - - - - -
18796 581.5 9.0 327 18803 roll 1.12 0.12 0.164 3369 -183.3 2.12 0.047 355 -613.7 173.2 - - 1613 - - - - - - - - 26.26 25.96 -
18956 571.5 8.8 328 18962 done 1.09 - - 3369 - 1.92 0.026 1647 672.9 173.2 - - 1613 - - - - - - - - - 26.39 -
19277 543.5 7.9 331 19282 roll 1.09 - - 3379 - 2.05 0.047 349 -633.2 173.2 - - 1613 - - - - - - - - - 25.94 -
19364 543.5 7.9 331 19371 done 1.09 - - 3379 - 1.98 0.025 1658 661.1 173.2 - - 1613 - - - - - - - - - 26.38 -
19756 503.8 8.3 335 19762 roll 1.09 - - 3388 - 2.10 0.047 360 -618.1 173.2 - - 1613 - - - - - - - - - 25.93 -
19835 503.8 8.3 335 19843 done 1.09 0.10 0.134 3356 -320.0 1.95 0.025 1662 667.7 173.2 - - 1613 - - - - - - - - 25.91 26.37 -
20176 471.1 7.4 341 20182 roll 1.12 - - 3356 - 2.50 0.037 3203 616.4 173.2 - - 1613 - - - - - - - - - 26.03 -
20236 466.8 7.3 342 20242 done 1.14 - - 3366 - 2.53 0.030 1583 -640.3 173.2 - - 1613 - - - - - - - - - 26.13 -
20596 440.5 7.4 348 20602 roll 1.14 - - 3366 - 2.58 0.035 3203 627.9 173.2 - - 1613 - - - - - - - - - 26.03 -
20644 440.5 7.4 348 20653 done 1.14 - - 3378 - 2.55 0.029 1575 -638.4 173.2 - - 1612 - - - - - - - - - 26.13 -
20956 409.4 8.9 354 20962 roll 1.14 - - 3378 - 2.62 0.034 3235 633.6 173.2 - - 1610 - - - - - - - - - 26.01 -
21017 403.8 9.0 355 21022 done 1.14 - - 3390 - 2.53 0.029 1578 -654.9 173.2 - - 1610 - - - - - - - - - 26.13 -
21375 372.8 8.5 361 21382 roll 1.14 - - 3400 - 1.95 0.047 358 -625.6 173.2 - - 1613 - - - - - - - - - 25.89 -
21535 362.7 8.5 363 21543 done 1.14 0.08 0.136 3374 -325.0 1.92 0.024 1655 675.5 173.2 - - 1613 - - - - - - - - 25.98 26.37 -
21855 335.9 7.3 369 21862 roll 1.14 - - 3374 - 2.50 0.035 3196 616.4 173.2 - - 1613 - - - - - - - - - 26.01 -
21904 335.9 7.3 369 21913 done 1.14 - - 3384 - 2.55 0.029 1572 -636.9 173.2 - - 1613 - - - - - - - - - 26.10 -
22216 305.8 8.6 375 22222 roll 1.14 - - 3385 - 2.60 0.034 3207 628.8 173.2 - - 1613 - - - - - - - - - 26.01 -
22275 300.3 8.8 376 22283 done 1.14 - - 3396 - 2.53 0.028 1588 -639.9 173.2 - - 1613 - - - - - - - - - 26.12 -
22636 268.6 8.6 382 22642 roll 1.14 - - 3406 - 1.98 0.047 360 -620.2 173.2 - - 1613 - - - - - - - - - 25.87 -
22816 253.4 8.4 385 22823 done 1.14 0.10 0.130 3373 -330.0 1.92 0.024 1655 674.5 173.2 - - 1613 - - - - - - - - 25.92 26.37 -
23179 229.3 6.7 391 23180 done 1.18 - - 3373 - - - 1656 - 173.2 - - 1613 - - - - - - - - - - -
23477 204.1 8.7 396 23482 roll 1.22 - - 3373 - 2.47 0.035 3208 628.3 173.2 - - 1613 - - - - - - - - - 26.02 -
23575 198.6 9.0 397 23582 done 1.26 - - 3380 - 2.53 0.029 1585 -641.5 173.2 - - 1614 - - - - - - - - - 26.11 -
23896 167.2 8.6 403 23897 done 1.28 - - 3383 - - - 1585 - 173.2 - - 1614 - - - - - - - - - - -
24197 142.0 8.4 409 24203 roll 1.31 0.12 0.080 3461 650.0 1.95 0.047 354 -631.3 173.2 - - 1614 - - - - - - - - 26.60 25.86 -
24305 133.8 8.9 412 24314 done 1.29 0.17 0.150 3413 -282.4 1.95 0.022 1662 670.8 173.2 - - 1615 - - - - - - - - 25.77 26.39 -
24619 104.8 8.8 423 24620 done 1.29 - - 3413 - - - 1662 - 173.2 - - 1615 - - - - - - - - - - -
24915 76.6 9.5 433 24922 roll 1.29 - - 3413 - 2.50 0.034 3206 617.6 173.2 - - 1616 - - - - - - - - - 26.03 -
24975 70.8 9.8 437 24984 done 1.29 - - 3423 - 2.53 0.028 1587 -639.9 173.2 - - 1616 - - - - - - - - - 26.13 -
25285 43.2 8.9 468 25294 roll 1.29 - - 3433 - 1.98 0.047 353 -623.2 173.2 - - 1617 - - - - - - - - - 25.89 -
25409 32.0 10.4 480 25416 done 1.27 - - 3433 - 1.88 0.023 1658 694.1 173.2 - - 1616 - - - - - - - - - 26.41 -
25702 end climb: SURFACE_DEPTH_REACHED
25703 begin surface coast
25737 end surface coast: CONTROL_FINISHED_OK
25737 begin surface
SM 2.31 - - - - -8.81 8.75 0.041 151 -375.1 0.80 0.035 2197 673.8 300.00 58.17 0.125 1094 -9.0 0.017 - - - - - -