SPURS Sep12 * SG189 * Dive index * Mission links * Dive 562 * Raw log
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• Previous call tries 1 • 93.62 of 150.00 AH used of 24V (37.58% remains)
• Previous NAKs 0, Timeouts 0 • 83.30 of 97.00 AH used of 10V (14.12% remains)
• Surface angle -60.1 deg, depth 2.23 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 39 s
• GPS2 time: 19 s • Transponder ping count: 99
• 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 - - 150 - - - 2120 - -90.7 -10.60 - 1397 - - - - - - - - - - -
39 2.4 - 1 105 roll -1.33 8.98 0.181 2564 268.8 2.58 0.050 545 -610.5 -97.7 -50.40 - 2719 -26.2 - - - - - - - 25.22 25.92 26.70
396 25.0 -8.8 37 404 done -1.24 0.12 0.136 2593 241.7 2.47 0.024 2189 665.6 -97.7 - - 2721 - - - - - - - - 25.75 26.28 -
706 48.0 -7.0 68 714 roll -1.24 - - 2583 - 2.50 0.041 3741 620.8 -97.7 - - 2721 - - - - - - - - - 26.01 -
849 58.7 -7.6 82 856 done -1.20 0.12 0.152 2615 266.7 2.40 0.021 2084 -690.4 -97.7 - - 2722 - - - - - - - - 25.96 26.36 -
1166 82.4 -7.9 108 1172 roll -1.20 - - 2604 - 2.67 0.039 3741 620.6 -97.7 - - 2722 - - - - - - - - - 26.03 -
1225 87.4 -8.2 110 1232 done -1.20 - - 2604 - 2.42 0.021 2106 -675.6 -97.7 - - 2722 - - - - - - - - - 26.39 -
1556 116.9 -8.9 121 1562 roll -1.20 - - 2592 - 2.62 0.039 3758 630.5 -97.7 - - 2723 - - - - - - - - - 26.03 -
1625 122.5 -9.1 123 1632 done -1.20 - - 2592 - 2.45 0.020 2101 -676.3 -97.7 - - 2723 - - - - - - - - - 26.39 -
1946 148.3 -6.7 134 1952 roll -1.20 - - 2592 - 2.42 0.037 546 -642.6 -97.7 - - 2723 - - - - - - - - - 26.10 -
2086 155.2 -5.9 137 2093 done -1.17 0.15 0.148 2620 186.7 2.42 0.023 2201 683.9 -97.7 - - 2723 - - - - - - - - 25.89 26.34 -
2426 174.1 -5.2 143 2432 roll -1.21 - - 2609 - 2.45 0.041 3751 632.7 -97.7 - - 2724 - - - - - - - - - 26.05 -
2486 177.2 -5.2 144 2492 done -1.24 - - 2609 - 2.40 0.021 2096 -689.6 -97.7 - - 2724 - - - - - - - - - 26.40 -
2847 193.1 -4.3 150 2853 roll -1.26 - - 2610 - 2.40 0.037 539 -648.8 -97.7 - - 2724 - - - - - - - - - 26.12 -
2906 195.8 -4.3 151 2912 done -1.26 - - 2598 - 2.47 0.023 2199 672.1 -97.7 - - 2725 - - - - - - - - - 26.35 -
3267 217.4 -6.6 157 3268 done -1.26 - - 2597 - - - 2194 - -97.7 - - 2724 - - - - - - - - - - -
3566 240.6 -7.9 162 3567 done -1.26 - - 2598 - - - 2194 - -97.7 - - 2724 - - - - - - - - - - -
3866 268.3 -9.3 167 3867 done -1.28 - - 2597 - - - 2194 - -97.7 - - 2724 - - - - - - - - - - -
4167 295.4 -9.0 172 4173 roll -1.30 - - 2597 - 2.58 0.036 537 -642.2 -97.7 - - 2724 - - - - - - - - - 26.12 -
4235 300.7 -8.8 173 4242 done -1.30 - - 2585 - 2.50 0.023 2191 661.6 -97.7 - - 2724 - - - - - - - - - 26.34 -
4586 326.7 -6.8 179 4587 done -1.30 - - 2585 - - - 2191 - -97.7 - - 2724 - - - - - - - - - - -
4887 341.7 -4.8 184 4892 roll -1.30 - - 2585 - 2.55 0.036 545 -645.5 -97.7 - - 2723 - - - - - - - - - 26.11 -
4975 344.5 -4.7 185 4982 done -1.30 - - 2573 - 2.47 0.023 2196 668.4 -97.7 - - 2723 - - - - - - - - - 26.34 -
5306 366.2 -6.4 191 5307 done -1.30 - - 2574 - - - 2196 - -97.7 - - 2723 - - - - - - - - - - -
5607 392.2 -9.0 196 5613 roll -1.30 - - 2573 - 2.58 0.036 537 -643.0 -97.7 - - 2722 - - - - - - - - - 26.10 -
5705 398.4 -9.5 197 5712 done -1.30 - - 2561 - 2.50 0.023 2189 660.8 -97.7 - - 2722 - - - - - - - - - 26.33 -
6026 435.0 -10.1 203 6032 roll -1.30 - - 2551 - 2.53 0.042 3745 615.0 -97.7 - - 2721 - - - - - - - - - 26.01 -
6125 440.8 -9.9 204 6133 done -1.30 0.08 0.134 2574 287.5 2.45 0.021 2087 -676.7 -97.7 - - 2721 - - - - - - - - 26.03 26.39 -
6446 468.2 -7.2 210 6447 done -1.33 - - 2574 - - - 2087 - -97.7 - - 2720 - - - - - - - - - - -
6746 487.9 -6.5 215 6752 roll -1.35 - - 2574 - 2.40 0.038 539 -645.0 -97.7 - - 2719 - - - - - - - - - 26.08 -
6836 492.0 -6.5 216 6843 done -1.35 - - 2565 - 2.50 0.024 2194 662.0 -97.7 - - 2719 - - - - - - - - - 26.32 -
7166 521.0 -8.0 220 7172 roll -1.35 - - 2564 - 2.60 0.037 548 -633.1 -97.7 - - 2718 - - - - - - - - - 26.08 -
7245 521.0 -8.0 220 7253 done -1.35 - - 2552 - 2.50 0.024 2194 658.4 -97.7 - - 2717 - - - - - - - - - 26.32 -
7647 565.9 -9.4 224 7652 roll -1.35 - - 2552 - 2.55 0.037 546 -646.3 -97.7 - - 2717 - - - - - - - - - 26.07 -
7695 565.9 -9.4 224 7702 done -1.35 - - 2540 - 2.50 0.024 2191 658.0 -97.7 - - 2716 - - - - - - - - - 26.32 -
8006 593.6 -8.0 227 8012 roll -1.35 - - 2528 - 2.53 0.042 3740 612.3 -97.7 - - 2715 - - - - - - - - - 26.00 -
8115 593.6 -8.0 227 8125 done -1.35 0.10 0.134 2561 330.0 2.42 0.021 2100 -677.7 -97.7 - - 2715 - - - - - - - - 25.93 26.36 -
8487 629.3 -7.4 231 8488 done -1.35 - - 2561 - - - 2100 - -97.7 - - 2714 - - - - - - - - - - -
8846 660.0 -8.4 234 8852 roll -1.38 - - 2561 - 2.47 0.039 543 -630.4 -97.7 - - 2712 - - - - - - - - - 26.03 -
8955 660.0 -8.4 234 8964 done -1.40 - - 2551 - 2.50 0.024 2189 658.4 -97.7 - - 2712 - - - - - - - - - 26.29 -
9327 700.7 -8.5 238 9328 done -1.40 - - 2547 - - - 2189 - -97.7 - - 2712 - - - - - - - - - - -
9686 731.4 -8.5 241 9692 roll -1.40 - - 2550 - 2.62 0.038 546 -627.1 -97.7 - - 2711 - - - - - - - - - 26.01 -
9806 742.2 -8.6 242 9812 done -1.40 - - 2539 - 2.50 0.024 2192 658.4 -97.7 - - 2710 - - - - - - - - - 26.27 -
10167 774.3 -8.9 245 10173 roll -1.40 - - 2538 - 2.58 0.039 548 -637.2 -97.7 - - 2710 - - - - - - - - - 25.99 -
10235 774.3 -8.9 245 10243 done -1.40 - - 2527 - 2.53 0.024 2196 651.4 -97.7 - - 2709 - - - - - - - - - 26.26 -
10646 817.4 -9.0 249 10652 roll -1.40 - - 2527 - 2.62 0.038 542 -631.3 -97.7 - - 2708 - - - - - - - - - 25.98 -
10766 828.2 -8.9 250 10773 done -1.40 0.12 0.164 2545 150.0 2.45 0.025 2188 671.8 -97.7 - - 2707 - - - - - - - - 25.86 26.27 -
11126 857.4 -8.3 253 11132 roll -1.40 - - 2546 - 2.62 0.039 543 -627.9 -97.7 - - 2706 - - - - - - - - - 25.96 -
11165 857.4 -8.3 253 11172 done -1.40 - - 2535 - 2.53 0.025 2188 650.2 -97.7 - - 2706 - - - - - - - - - 26.25 -
11487 886.4 -8.1 256 11492 roll -1.42 - - 2535 - 2.58 0.039 542 -638.0 -97.7 - - 2705 - - - - - - - - - 25.95 -
11545 886.4 -8.1 256 11552 done -1.44 - - 2523 - 2.50 0.025 2179 654.8 -97.7 - - 2705 - - - - - - - - - 26.24 -
11966 923.7 -7.7 260 11972 roll -1.44 - - 2523 - 2.60 0.041 546 -628.1 -97.7 - - 2704 - - - - - - - - - 25.92 -
12045 923.7 -7.7 260 12053 done -1.44 - - 2511 - 2.50 0.026 2180 653.6 -97.7 - - 2704 - - - - - - - - - 26.23 -
12446 964.7 -8.6 264 12452 roll -1.44 - - 2511 - 2.60 0.041 546 -628.5 -97.7 - - 2702 - - - - - - - - - 25.93 -
12525 964.7 -8.6 264 12533 done -1.44 0.10 0.176 2528 170.0 2.53 0.026 2186 648.2 -97.7 - - 2702 - - - - - - - - 25.81 26.20 -
12722 end dive: TARGET_DEPTH_EXCEEDED
12722 begin apogee
12732 991.6 -9.6 268 12824 done -0.29 1.20 0.125 2900 310.0 - - 1576 - - 86.07 1.648 2320 -4.4 0.285 - - - - - - 24.88 - 22.99
12826 end apogee: CONTROL_FINISHED_OK
12826 begin climb
12830 997.0 - 273 12927 done 1.33 1.50 0.059 3436 357.3 - - 1575 - 97.7 92.70 1.651 1921 -4.3 0.277 - - - - - - 25.30 - 22.97
13286 976.2 6.7 291 13288 done 1.19 0.20 0.171 3384 -260.0 - - 1574 - 97.7 - - 1909 - - - - - - - - 25.79 - -
13647 949.2 7.3 294 13653 roll 1.09 0.12 0.181 3353 -258.3 2.65 0.037 3208 616.6 97.7 - - 1907 - - - - - - - - 26.14 26.15 -
13695 949.2 7.3 294 13703 done 0.98 0.15 0.151 3318 -233.3 2.53 0.030 1585 -641.5 97.7 - - 1906 - - - - - - - - 25.70 26.22 -
14006 921.5 7.8 297 14012 roll 0.94 - - 3318 - 2.60 0.034 3210 625.0 97.7 - - 1906 - - - - - - - - - 26.17 -
14146 912.6 7.6 298 14153 done 0.91 0.15 0.167 3292 -173.3 2.53 0.030 1580 -644.3 97.7 - - 1905 - - - - - - - - 25.81 26.23 -
14486 890.9 6.3 301 14495 roll 0.91 - - 3291 - 2.67 0.035 3207 609.4 104.2 3.85 1.111 1894 -2.9 0.244 - - - - - - - 26.19 24.03
14646 884.8 5.9 302 14667 done 0.93 - - 3302 - 2.53 0.029 1582 -642.3 119.7 16.45 1.545 1830 -3.9 0.238 - - - - - - - 26.22 23.72
15067 862.5 4.8 306 15107 roll 0.98 - - 3302 - 2.78 0.035 3209 585.3 156.8 34.95 1.577 1679 -4.3 0.252 - - - - - - - 25.49 23.46
15282 857.2 4.7 307 15324 done 1.05 - - 3315 - 2.50 0.029 1580 -651.6 196.5 37.25 1.555 1518 -4.3 0.254 - - - - - - - 26.06 23.39
15660 831.6 5.3 311 15688 done 1.12 0.12 0.083 3381 550.0 - - 1579 - 223.4 25.45 1.525 1408 -4.3 0.251 - - - - - - 26.39 - 23.63
16018 800.2 8.0 314 16023 roll 1.14 - - 3391 - 1.98 0.049 351 -620.2 223.4 - - 1403 - - - - - - - - - 26.03 -
16145 786.9 9.3 315 16152 done 1.14 - - 3391 - 1.98 0.025 1658 660.1 223.4 - - 1401 - - - - - - - - - 26.35 -
16496 743.0 11.9 318 16503 roll 1.14 - - 3401 - 2.10 0.047 357 -619.5 223.4 - - 1400 - - - - - - - - - 26.07 -
16740 712.5 12.6 320 16746 done 1.14 0.12 0.155 3370 -258.3 1.90 0.027 1661 686.3 223.4 - - 1399 - - - - - - - - 26.00 26.40 -
17096 674.9 10.9 323 17103 roll 1.14 - - 3370 - 2.50 0.036 3205 617.6 223.4 - - 1399 - - - - - - - - - 26.13 -
17166 674.9 10.9 323 17173 done 1.14 - - 3380 - 2.53 0.031 1581 -641.9 223.4 - - 1399 - - - - - - - - - 26.20 -
17576 636.9 7.9 327 17578 done 1.14 - - 3380 - - - 1581 - 223.4 - - 1399 - - - - - - - - - - -
17936 607.8 7.8 330 17943 roll 1.14 - - 3380 - 2.65 0.036 3200 610.9 223.4 - - 1398 - - - - - - - - - 26.08 -
18057 596.1 8.5 331 18063 done 1.14 - - 3392 - 2.47 0.031 1581 -655.5 223.4 - - 1398 - - - - - - - - - 26.17 -
18416 556.3 10.8 334 18423 roll 1.14 - - 3392 - 2.65 0.036 3200 610.9 223.4 - - 1398 - - - - - - - - - 26.06 -
18485 556.3 10.8 334 18494 done 1.14 0.15 0.152 3363 -193.3 2.55 0.030 1573 -638.0 223.4 - - 1398 - - - - - - - - 25.71 26.15 -
18898 509.9 9.7 338 18903 roll 1.17 - - 3362 - 2.62 0.036 3202 621.8 223.4 - - 1398 - - - - - - - - - 26.03 -
18976 509.9 9.7 338 18983 done 1.20 - - 3377 - 2.53 0.029 1582 -640.3 223.4 - - 1398 - - - - - - - - - 26.17 -
19317 478.8 7.2 343 19323 roll 1.24 - - 3372 - 2.62 0.035 3194 615.3 223.4 - - 1398 - - - - - - - - - 26.02 -
19397 474.2 7.4 344 19403 done 1.27 - - 3384 - 2.47 0.030 1571 -657.1 223.4 - - 1398 - - - - - - - - - 26.13 -
19737 443.4 9.0 350 19744 roll 1.30 0.10 0.096 3449 650.0 1.95 0.048 360 -621.0 223.4 - - 1398 - - - - - - - - 26.58 25.90 -
19796 436.9 9.5 351 19803 done 1.30 - - 3449 - 1.98 0.024 1653 653.0 223.4 - - 1398 - - - - - - - - - 26.36 -
20158 395.8 11.5 357 20164 roll 1.26 0.15 0.158 3417 -213.3 2.05 0.047 354 -633.7 223.4 - - 1398 - - - - - - - - 26.12 25.89 -
20446 367.4 11.9 361 20454 done 1.26 - - 3418 - 1.95 0.024 1652 665.6 223.4 - - 1398 - - - - - - - - - 26.33 -
20756 328.1 10.7 367 20763 roll 1.26 - - 3427 - 2.10 0.047 358 -616.2 223.4 - - 1398 - - - - - - - - - 25.89 -
20825 321.6 10.7 368 20833 done 1.26 - - 3427 - 1.95 0.024 1654 664.6 223.4 - - 1398 - - - - - - - - - 26.35 -
21177 283.7 10.4 374 21183 roll 1.26 - - 3437 - 2.10 0.047 355 -618.6 223.4 - - 1398 - - - - - - - - - 25.87 -
21256 277.4 10.4 375 21264 done 1.26 0.12 0.152 3404 -275.0 1.95 0.024 1659 668.7 223.4 - - 1397 - - - - - - - - 25.94 26.35 -
21600 243.2 9.4 381 21605 roll 1.29 - - 3405 - 2.47 0.036 3207 626.7 223.4 - - 1398 - - - - - - - - - 25.99 -
21647 243.2 9.4 381 21654 done 1.32 - - 3415 - 2.50 0.030 1577 -652.0 223.4 - - 1396 - - - - - - - - - 26.08 -
21956 211.3 8.8 387 21963 roll 1.32 - - 3415 - 2.62 0.034 3197 618.3 223.4 - - 1398 - - - - - - - - - 26.01 -
22025 205.6 9.0 388 22033 done 1.32 - - 3427 - 2.55 0.029 1570 -638.0 223.4 - - 1398 - - - - - - - - - 26.10 -
22377 165.5 11.7 394 22383 roll 1.32 - - 3437 - 1.95 0.047 357 -622.1 223.4 - - 1398 - - - - - - - - - 25.86 -
22445 158.0 12.1 395 22453 done 1.32 - - 3437 - 1.95 0.024 1662 669.2 223.4 - - 1398 - - - - - - - - - 26.37 -
22767 119.4 11.1 404 22773 roll 1.32 - - 3447 - 2.12 0.047 350 -618.9 223.4 - - 1398 - - - - - - - - - 25.86 -
22906 106.9 10.5 408 22914 done 1.32 - - 3447 - 1.92 0.023 1648 676.0 223.4 - - 1398 - - - - - - - - - 26.39 -
23219 71.5 10.5 421 23226 roll 1.32 - - 3457 - 2.08 0.047 348 -625.0 223.4 - - 1398 - - - - - - - - - 25.86 -
23337 58.8 10.7 433 23347 done 1.32 0.08 0.137 3431 -325.0 1.92 0.023 1652 679.2 223.4 - - 1398 - - - - - - - - 26.02 26.38 -
23651 28.4 9.7 464 23656 done 1.35 - - 3431 - - - 1648 - 223.4 - - 1399 - - - - - - - - - - -
23903 end climb: SURFACE_DEPTH_REACHED
23903 begin surface coast
23934 end surface coast: CONTROL_FINISHED_OK
23935 begin surface
SM 2.47 - - - - -8.82 8.65 0.036 152 -379.1 0.80 0.037 2185 671.2 300.00 35.17 0.125 1096 -8.6 0.017 - - - - - -