SPURS Sep12 * SG189 * Dive index * Mission links * Dive 566 * Raw log
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• Previous call tries 1 • 94.21 of 150.00 AH used of 24V (37.19% remains)
• Previous NAKs 0, Timeouts 0 • 83.90 of 97.00 AH used of 10V (13.51% remains)
• Surface angle -62.7 deg, depth 2.26 m • Intended pitch -21.1 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 36 s
• GPS2 time: 16 s • Transponder ping count: 303
• 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
22 - - - 34 VBD -1.32 - - 150 - - - 2124 - -90.7 -10.05 - 1383 - - - - - - - - - - -
38 2.3 - 1 104 roll -1.33 9.25 0.190 2564 261.0 2.50 0.048 548 -630.4 -97.7 -49.58 - 2719 -26.9 - - - - - - - 25.34 25.91 26.67
195 9.2 -8.6 17 203 done -1.24 0.12 0.138 2595 258.3 2.47 0.024 2182 661.5 -97.7 - - 2721 - - - - - - - - 25.68 26.22 -
505 32.6 -7.6 48 512 roll -1.21 - - 2585 - 2.50 0.041 3753 628.4 -97.7 - - 2721 - - - - - - - - - 25.97 -
565 37.2 -8.0 54 573 done -1.17 0.10 0.131 2618 330.0 2.45 0.021 2093 -677.6 -97.7 - - 2720 - - - - - - - - 25.89 26.33 -
875 60.0 -7.0 85 882 roll -1.17 - - 2618 - 2.42 0.037 550 -637.6 -97.7 - - 2722 - - - - - - - - - 26.05 -
1055 73.5 -7.2 103 1062 done -1.15 - - 2607 - 2.47 0.023 2195 666.0 -97.7 - - 2722 - - - - - - - - - 26.32 -
1385 99.5 -8.3 116 1386 done -1.15 - - 2607 - - - 2195 - -97.7 - - 2723 - - - - - - - - - - -
1686 126.1 -8.8 126 1687 done -1.15 - - 2607 - - - 2195 - -97.7 - - 2723 - - - - - - - - - - -
2015 156.0 -8.9 136 2021 roll -1.15 - - 2607 - 2.60 0.035 552 -631.9 -97.7 - - 2724 - - - - - - - - - 26.09 -
2084 161.1 -8.7 137 2092 done -1.15 0.12 0.155 2627 166.7 2.47 0.022 2193 664.4 -97.7 - - 2724 - - - - - - - - 25.94 26.33 -
2436 186.7 -6.8 143 2437 done -1.18 - - 2627 - - - 2193 - -97.7 - - 2724 - - - - - - - - - - -
2735 206.6 -6.7 148 2741 roll -1.23 - - 2627 - 2.55 0.036 545 -646.3 -97.7 - - 2724 - - - - - - - - - 26.10 -
2804 210.6 -6.7 149 2811 done -1.27 - - 2617 - 2.47 0.022 2191 666.4 -97.7 - - 2724 - - - - - - - - - 26.33 -
3156 232.7 -6.0 155 3162 roll -1.31 0.12 0.080 2540 -641.7 2.55 0.034 546 -645.1 -97.7 - - 2724 - - - - - - - - 26.58 26.10 -
3324 240.8 -6.4 157 3334 done -1.31 0.15 0.132 2575 233.3 2.47 0.022 2196 668.0 -97.7 - - 2725 - - - - - - - - 25.76 26.32 -
3636 262.2 -5.8 163 3641 roll -1.31 - - 2575 - 2.58 0.035 536 -643.4 -97.7 - - 2724 - - - - - - - - - 26.10 -
3684 262.2 -5.8 163 3693 done -1.31 - - 2565 - 2.47 0.023 2183 666.8 -97.7 - - 2724 - - - - - - - - - 26.33 -
3995 285.7 -6.7 169 4001 roll -1.31 - - 2565 - 2.53 0.035 541 -649.0 -97.7 - - 2724 - - - - - - - - - 26.10 -
4085 289.9 -6.8 170 4091 done -1.31 - - 2552 - 2.53 0.024 2191 652.2 -97.7 - - 2724 - - - - - - - - - 26.32 -
4415 314.4 -6.7 176 4422 roll -1.28 0.12 0.157 2575 191.7 2.50 0.041 3751 624.0 -97.7 - - 2724 - - - - - - - - 26.30 26.03 -
4454 314.4 -6.7 176 4461 done -1.26 - - 2575 - 2.45 0.021 2099 -674.3 -97.7 - - 2724 - - - - - - - - - 26.39 -
4776 338.2 -6.7 182 4781 roll -1.26 - - 2575 - 2.40 0.037 536 -651.2 -97.7 - - 2723 - - - - - - - - - 26.10 -
4924 347.3 -7.2 184 4932 done -1.26 0.12 0.156 2600 208.3 2.50 0.023 2190 661.6 -97.7 - - 2723 - - - - - - - - 25.90 26.32 -
5256 374.6 -7.7 190 5257 done -1.30 - - 2600 - - - 2190 - -97.7 - - 2723 - - - - - - - - - - -
5555 400.2 -8.6 195 5561 roll -1.34 - - 2600 - 2.58 0.036 550 -635.7 -97.7 - - 2722 - - - - - - - - - 26.08 -
5644 405.7 -8.8 196 5651 done -1.38 - - 2589 - 2.47 0.024 2189 663.6 -97.7 - - 2722 - - - - - - - - - 26.32 -
5976 437.2 -8.6 202 5982 roll -1.42 0.12 0.081 2513 -633.3 2.55 0.035 544 -645.1 -97.7 - - 2721 - - - - - - - - 26.57 26.07 -
6044 442.7 -8.6 203 6052 done -1.42 0.12 0.138 2540 225.0 2.50 0.023 2194 660.0 -97.7 - - 2721 - - - - - - - - 25.82 26.33 -
6395 471.2 -7.8 209 6396 done -1.40 - - 2540 - - - 2194 - -97.7 - - 2720 - - - - - - - - - - -
6696 493.7 -7.5 214 6702 roll -1.40 - - 2540 - 2.58 0.037 546 -638.8 -97.7 - - 2719 - - - - - - - - - 26.07 -
6784 498.5 -7.7 215 6791 done -1.37 - - 2530 - 2.47 0.023 2188 664.8 -97.7 - - 2719 - - - - - - - - - 26.31 -
7175 531.7 -7.9 219 7182 roll -1.34 0.15 0.153 2569 260.0 2.60 0.037 543 -632.7 -97.7 - - 2718 - - - - - - - - 26.17 26.06 -
7265 531.7 -7.9 219 7271 done -1.31 - - 2560 - 2.50 0.024 2191 659.2 -97.7 - - 2717 - - - - - - - - - 26.32 -
7655 568.0 -7.5 223 7662 roll -1.31 - - 2559 - 2.60 0.037 542 -634.2 -97.7 - - 2716 - - - - - - - - - 26.05 -
7734 568.0 -7.5 223 7742 done -1.31 0.08 0.138 2572 162.5 2.47 0.024 2179 662.8 -97.7 - - 2717 - - - - - - - - 25.94 26.29 -
8137 607.5 -8.2 227 8142 roll -1.34 - - 2572 - 2.55 0.037 548 -639.6 -97.7 - - 2715 - - - - - - - - - 26.03 -
8194 607.5 -8.2 227 8202 done -1.37 - - 2562 - 2.50 0.024 2192 657.6 -97.7 - - 2715 - - - - - - - - - 26.29 -
8615 648.7 -8.6 231 8622 roll -1.39 - - 2562 - 2.60 0.038 548 -632.3 -97.7 - - 2714 - - - - - - - - - 26.02 -
8695 648.7 -8.6 231 8701 done -1.42 - - 2550 - 2.45 0.025 2194 671.8 -97.7 - - 2714 - - - - - - - - - 26.27 -
9095 689.0 -8.4 235 9102 roll -1.42 - - 2550 - 2.60 0.037 550 -632.3 -97.7 - - 2712 - - - - - - - - - 26.01 -
9194 689.0 -8.4 235 9201 done -1.42 - - 2539 - 2.50 0.024 2188 655.2 -97.7 - - 2712 - - - - - - - - - 26.28 -
9576 734.0 -9.4 239 9582 roll -1.42 - - 2538 - 2.58 0.038 542 -638.0 -97.7 - - 2711 - - - - - - - - - 25.99 -
9714 746.5 -9.7 240 9722 done -1.42 - - 2526 - 2.53 0.024 2188 650.6 -97.7 - - 2710 - - - - - - - - - 26.27 -
10055 780.0 -9.6 243 10061 roll -1.42 - - 2526 - 2.58 0.038 544 -637.2 -97.7 - - 2709 - - - - - - - - - 25.97 -
10115 780.0 -9.6 243 10121 done -1.42 - - 2514 - 2.58 0.025 2187 636.8 -97.7 - - 2709 - - - - - - - - - 26.25 -
10535 816.8 -7.7 247 10542 roll -1.42 0.12 0.161 2546 266.7 2.58 0.039 542 -637.6 -97.7 - - 2707 - - - - - - - - 26.25 25.94 -
10594 816.8 -7.7 247 10601 done -1.42 - - 2536 - 2.58 0.025 2187 637.6 -97.7 - - 2708 - - - - - - - - - 26.25 -
11016 848.2 -6.5 251 11022 roll -1.42 - - 2535 - 2.58 0.040 546 -636.0 -97.7 - - 2707 - - - - - - - - - 25.93 -
11114 848.2 -6.5 251 11121 done -1.42 - - 2524 - 2.58 0.025 2183 634.5 -97.7 - - 2706 - - - - - - - - - 26.24 -
11495 890.9 -8.9 255 11496 done -1.42 - - 2524 - - - 2183 - -97.7 - - 2706 - - - - - - - - - - -
11856 928.4 -10.3 258 11861 roll -1.42 - - 2524 - 2.60 0.041 542 -631.2 -97.7 - - 2705 - - - - - - - - - 25.89 -
11934 928.4 -10.3 258 11942 done -1.42 0.08 0.145 2535 137.5 2.60 0.025 2195 635.8 -97.7 - - 2704 - - - - - - - - 25.82 26.20 -
12335 976.2 -9.9 262 12341 roll -1.42 - - 2536 - 2.62 0.041 551 -627.5 -97.7 - - 2703 - - - - - - - - - 25.87 -
12425 976.2 -9.9 262 12432 done -1.42 - - 2525 - 2.50 0.026 2184 653.2 -97.7 - - 2702 - - - - - - - - - 26.21 -
12491 end dive: TARGET_DEPTH_EXCEEDED
12491 begin apogee
12500 990.7 -9.3 265 12593 done -0.29 1.20 0.125 2898 310.8 - - 1576 - - 85.85 1.640 2321 -4.4 0.286 - - - - - - 24.87 - 22.97
12595 end apogee: CONTROL_FINISHED_OK
12595 begin climb
12600 995.5 - 270 12697 done 1.33 1.50 0.061 3429 354.0 - - 1575 - 97.7 92.55 1.616 1921 -4.3 0.284 - - - - - - 25.32 - 22.98
12995 975.2 7.3 285 13002 roll 1.20 0.17 0.171 3385 -258.8 2.65 0.034 3219 620.4 97.7 - - 1910 - - - - - - - - 25.83 26.10 -
13175 966.5 7.3 286 13182 done 1.07 0.12 0.157 3349 -300.0 2.55 0.030 1584 -641.2 97.7 - - 1909 - - - - - - - - 25.66 26.19 -
13595 937.3 6.1 290 13607 done 1.03 - - 3351 - - - 1584 - 109.3 9.35 1.444 1874 -3.7 0.259 - - - - - - - - 23.91
13956 917.6 5.4 293 13984 roll 1.01 - - 3359 - 2.05 0.049 355 -599.5 133.6 23.23 1.559 1775 -4.3 0.268 - - - - - - - 25.67 23.67
14094 910.3 5.7 294 14123 done 0.99 0.10 0.145 3327 -320.0 1.98 0.025 1654 656.1 153.0 19.23 1.525 1695 -4.2 0.265 - - - - - - 25.75 26.16 23.61
14426 883.8 7.2 297 14431 roll 0.99 - - 3327 - 2.47 0.034 3210 630.0 153.0 - - 1692 - - - - - - - - - 26.10 -
14514 883.8 7.2 297 14522 done 0.99 - - 3338 - 2.58 0.030 1571 -635.3 153.0 - - 1692 - - - - - - - - - 26.17 -
14905 845.5 8.0 301 14911 roll 0.99 - - 3338 - 2.62 0.034 3197 620.6 153.0 - - 1690 - - - - - - - - - 26.16 -
15014 845.5 8.0 301 15023 done 0.99 0.08 0.149 3326 -150.0 2.53 0.030 1579 -639.5 153.0 - - 1689 - - - - - - - - 25.89 26.22 -
15386 809.3 7.5 305 15391 roll 0.99 - - 3325 - 2.58 0.035 3207 631.0 153.0 - - 1688 - - - - - - - - - 26.13 -
15514 800.8 7.3 306 15521 done 0.99 - - 3336 - 2.55 0.029 1577 -639.2 153.0 - - 1689 - - - - - - - - - 26.20 -
15866 775.9 6.9 309 15867 done 0.99 - - 3336 - - - 1577 - 153.0 - - 1688 - - - - - - - - - - -
16225 750.5 7.0 312 16232 roll 0.99 - - 3336 - 2.65 0.035 3204 614.0 153.0 - - 1687 - - - - - - - - - 26.08 -
16314 750.5 7.0 312 16321 done 0.99 - - 3348 - 2.55 0.030 1570 -640.8 153.0 - - 1687 - - - - - - - - - 26.17 -
16705 713.5 7.7 316 16706 done 0.99 - - 3348 - - - 1570 - 153.0 - - 1687 - - - - - - - - - - -
17066 684.8 8.0 319 17072 roll 0.99 - - 3348 - 2.62 0.036 3203 623.3 153.0 - - 1687 - - - - - - - - - 26.02 -
17154 684.8 8.0 319 17162 done 0.99 0.10 0.135 3327 -210.0 2.53 0.029 1581 -641.1 153.0 - - 1687 - - - - - - - - 25.75 26.13 -
17545 651.0 7.0 323 17552 roll 1.02 - - 3327 - 2.65 0.036 3201 611.3 153.0 - - 1686 - - - - - - - - - 26.01 -
17626 651.0 7.0 323 17631 done 1.04 - - 3337 - 2.47 0.030 1578 -657.1 153.0 - - 1686 - - - - - - - - - 26.13 -
18025 617.5 7.0 327 18032 roll 1.07 - - 3337 - 2.62 0.036 3196 617.6 153.0 - - 1686 - - - - - - - - - 25.98 -
18105 617.5 7.0 327 18111 done 1.10 - - 3349 - 2.50 0.029 1585 -644.4 153.0 - - 1686 - - - - - - - - - 26.12 -
18505 581.5 7.5 331 18512 roll 1.10 - - 3349 - 2.65 0.036 3206 611.7 153.0 - - 1686 - - - - - - - - - 25.97 -
18604 581.5 7.5 331 18611 done 1.10 - - 3361 - 2.55 0.029 1578 -638.4 153.0 - - 1686 - - - - - - - - - 26.10 -
18985 545.2 7.6 335 18992 roll 1.10 - - 3361 - 2.65 0.036 3206 614.3 153.0 - - 1686 - - - - - - - - - 25.98 -
19095 545.2 7.6 335 19103 done 1.10 - - 3373 - 2.53 0.029 1579 -643.1 153.0 - - 1686 - - - - - - - - - 26.10 -
19465 507.4 7.8 339 19466 done 1.10 - - 3373 - - - 1579 - 153.0 - - 1686 - - - - - - - - - - -
19765 482.4 8.4 343 19766 done 1.10 - - 3373 - - - 1579 - 153.0 - - 1686 - - - - - - - - - - -
20066 456.4 8.7 348 20071 roll 1.10 - - 3373 - 2.62 0.036 3200 618.7 153.0 - - 1687 - - - - - - - - - 25.93 -
20204 445.6 8.8 350 20212 done 1.10 0.10 0.171 3356 -170.0 2.55 0.028 1572 -638.4 153.0 - - 1686 - - - - - - - - 25.74 26.08 -
20545 414.4 8.7 356 20551 roll 1.12 - - 3356 - 2.62 0.036 3210 625.2 153.0 - - 1686 - - - - - - - - - 25.92 -
20656 409.0 8.9 357 20663 done 1.12 - - 3366 - 2.47 0.029 1578 -660.7 153.0 - - 1686 - - - - - - - - - 26.08 -
20965 379.4 8.0 363 20972 roll 1.12 - - 3375 - 1.98 0.047 357 -616.7 153.0 - - 1686 - - - - - - - - - 25.81 -
21014 379.4 8.0 363 21023 done 1.12 - - 3375 - 1.95 0.024 1652 664.1 153.0 - - 1686 - - - - - - - - - 26.32 -
21326 354.7 6.7 369 21327 done 1.12 - - 3375 - - - 1652 - 153.0 - - 1686 - - - - - - - - - - -
21625 333.6 7.1 374 21632 roll 1.12 - - 3385 - 2.10 0.047 360 -615.2 153.0 - - 1686 - - - - - - - - - 25.79 -
21714 328.8 7.4 375 21721 done 1.12 - - 3385 - 1.95 0.024 1653 663.1 153.0 - - 1686 - - - - - - - - - 26.31 -
22046 297.0 8.9 381 22047 done 1.12 - - 3385 - - - 1653 - 153.0 - - 1686 - - - - - - - - - - -
22345 268.3 9.6 386 22351 roll 1.12 - - 3395 - 2.10 0.047 358 -616.7 153.0 - - 1687 - - - - - - - - - 25.78 -
22405 262.6 9.6 387 22412 done 1.12 0.10 0.132 3362 -330.0 1.92 0.024 1655 675.5 153.0 - - 1687 - - - - - - - - 25.85 26.32 -
22769 232.3 8.1 393 22775 roll 1.15 - - 3362 - 2.47 0.037 3200 625.5 153.0 - - 1687 - - - - - - - - - 25.92 -
22854 227.9 7.8 394 22861 done 1.19 - - 3373 - 2.53 0.029 1582 -639.5 153.0 - - 1687 - - - - - - - - - 26.03 -
23187 207.9 5.2 400 23214 done 1.25 - - 3373 - - - 1582 - 182.3 25.73 1.100 1575 -4.4 0.088 - - - - - - - - 23.88
23486 189.7 6.3 405 23502 roll 1.30 0.12 0.079 3441 566.7 2.67 0.035 3206 608.2 190.3 8.02 1.015 1543 -4.0 0.080 - - - - - - 26.41 26.05 24.10
23554 184.8 6.8 406 23561 done 1.33 - - 3453 - 2.55 0.029 1577 -638.8 190.3 - - 1543 - - - - - - - - - 26.08 -
23906 146.1 11.5 412 23912 roll 1.29 0.12 0.166 3429 -200.0 1.92 0.044 354 -637.0 190.3 - - 1543 - - - - - - - - 26.17 25.94 -
24014 135.3 11.9 415 24022 done 1.27 - - 3429 - 1.95 0.022 1654 666.7 190.3 - - 1542 - - - - - - - - - 26.35 -
24326 99.6 10.0 426 24327 done 1.27 - - 3429 - - - 1654 - 190.3 - - 1542 - - - - - - - - - - -
24625 72.8 8.6 436 24633 roll 1.27 - - 3439 - 2.10 0.047 352 -620.0 190.3 - - 1542 - - - - - - - - - 25.91 -
24768 60.2 9.3 450 24776 done 1.27 0.05 0.111 3406 -660.0 1.90 0.023 1652 684.2 190.3 - - 1542 - - - - - - - - 25.95 26.39 -
25079 32.8 9.0 481 25085 done 1.31 - - 3406 - - - 1652 - 190.3 - - 1542 - - - - - - - - - - -
25386 5.0 9.2 512 25393 roll 1.34 - - 3406 - 2.45 0.037 3203 633.1 190.3 - - 1543 - - - - - - - - - 26.00 -
25411 end climb: SURFACE_DEPTH_REACHED
25411 begin surface coast
25422 end surface coast: CONTROL_FINISHED_OK
25423 begin surface
SM 2.39 - - - - -8.83 8.70 0.041 152 -374.0 1.67 0.028 2114 -652.1 300.00 50.53 0.123 1095 -8.9 0.018 - - - - - -