SPURS Sep12 * SG190 * Dive index * Mission links * Dive 133 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 55.54 of 350.00 AH used of 24V (84.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 deg, depth 2.05 m • Intended pitch -13.5 deg, speed -6.111 cm/s
VBD pumped to 610.80 (beyond SM_CC=350)
• GPS1 time: 35 s
• GPS2 time: 18 s • Transponder ping count: 3
• 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
19 end surface: CONTROL_FINISHED_OK
20 begin dive
22 - - - 46 VBD -0.58 - - 142 - - - 1653 - -97.3 -22.25 - 2075 - - - - - - - - - - -
49 2.2 - 2 131 roll -0.58 11.77 0.386 2695 216.9 1.60 0.134 2529 547.5 -97.3 -61.40 - 3387 -21.4 - - - - - - - 14.35 14.54 14.83
285 12.4 -9.3 25 291 done -0.55 - - 2696 - 1.62 0.110 1649 -543.2 -97.3 - - 3387 - - - - - - - - - 14.53 -
590 41.6 -9.3 56 591 done -0.51 - - 2696 - - - 1649 - -97.3 - - 3387 - - - - - - - - - - -
890 64.7 -6.9 86 892 done -0.49 0.12 0.232 2728 266.7 - - 1649 - -97.3 - - 3388 - - - - - - - - 14.55 - -
1190 85.4 -7.1 116 1191 done -0.52 - - 2728 - - - 1649 - -97.3 - - 3389 - - - - - - - - - - -
1490 106.1 -8.1 146 1496 roll -0.55 - - 2728 - 1.60 0.125 763 -553.8 -97.3 - - 3389 - - - - - - - - - 14.64 -
1607 115.8 -8.6 157 1614 done -0.56 - - 2728 - 1.55 0.083 1659 578.1 -97.3 - - 3389 - - - - - - - - - 14.69 -
1915 133.4 -3.5 188 1920 roll -0.59 - - 2728 - 1.52 0.099 2530 573.0 -97.3 - - 3389 - - - - - - - - - 14.66 -
1963 135.1 -3.7 192 1970 done -0.63 0.12 0.132 2669 -491.7 1.62 0.114 1642 -548.1 -97.3 - - 3389 - - - - - - - - 14.69 14.60 -
2269 154.0 -6.8 223 2275 roll -0.61 - - 2669 - 1.62 0.128 771 -537.7 -97.3 - - 3389 - - - - - - - - - 14.62 -
2437 167.9 -9.0 239 2445 done -0.56 0.12 0.211 2704 291.7 1.55 0.087 1646 564.5 -97.3 - - 3389 - - - - - - - - 14.56 14.68 -
2744 188.6 -6.1 270 2749 roll -0.58 - - 2700 - 1.58 0.099 2536 563.3 -97.3 - - 3389 - - - - - - - - - 14.65 -
2791 191.1 -5.7 274 2797 done -0.60 - - 2701 - 1.62 0.114 1651 -546.3 -97.3 - - 3391 - - - - - - - - - 14.66 -
3097 208.7 -6.0 305 3102 roll -0.62 - - 2702 - 1.62 0.130 755 -553.1 -97.3 - - 3388 - - - - - - - - - 14.65 -
3230 217.9 -7.3 318 3236 done -0.62 - - 2701 - 1.58 0.086 1661 573.4 -97.3 - - 3387 - - - - - - - - - 14.71 -
3544 239.6 -6.3 349 3550 roll -0.63 - - 2701 - 1.55 0.102 2539 566.5 -97.3 - - 3387 - - - - - - - - - 14.70 -
3602 242.9 -5.9 354 3608 done -0.67 - - 2701 - 1.62 0.109 1645 -551.9 -97.3 - - 3386 - - - - - - - - - 14.68 -
3908 259.6 -5.2 373 3909 done -0.68 - - 2701 - - - 1645 - -97.3 - - 3385 - - - - - - - - - - -
4208 275.8 -5.4 383 4214 roll -0.70 0.12 0.139 2641 -500.0 1.62 0.133 755 -549.4 -97.3 - - 3384 - - - - - - - - 14.83 14.71 -
4337 285.7 -8.0 387 4342 done -0.65 0.15 0.256 2673 213.3 1.58 0.091 1654 569.0 -97.3 - - 3384 - - - - - - - - 14.62 14.75 -
4666 308.0 -6.5 398 4672 roll -0.65 - - 2673 - 1.55 0.106 2537 569.7 -97.3 - - 3382 - - - - - - - - - 14.75 -
4738 312.1 -6.3 400 4743 done -0.65 - - 2672 - 1.65 0.114 1648 -538.8 -97.3 - - 3382 - - - - - - - - - 14.71 -
5062 332.8 -6.1 411 5063 done -0.65 - - 2672 - - - 1648 - -97.3 - - 3381 - - - - - - - - - - -
5361 350.1 -5.7 421 5366 roll -0.65 - - 2672 - 1.62 0.134 754 -551.9 -97.3 - - 3380 - - - - - - - - - 14.71 -
5427 354.2 -6.2 423 5432 done -0.64 - - 2667 - 1.58 0.092 1654 569.6 -97.3 - - 3380 - - - - - - - - - 14.77 -
5756 378.9 -8.3 434 5761 roll -0.62 - - 2662 - 1.58 0.113 2532 555.7 -97.3 - - 3379 - - - - - - - - - 14.74 -
5813 381.9 -8.5 435 5819 done -0.62 - - 2662 - 1.62 0.122 1651 -543.8 -97.3 - - 3378 - - - - - - - - - 14.72 -
6120 412.8 -9.6 446 6121 done -0.61 0.12 0.241 2694 266.7 - - 1651 - -97.3 - - 3377 - - - - - - - - 14.69 - -
6419 435.3 -7.0 456 6420 done -0.62 - - 2694 - - - 1651 - -97.3 - - 3376 - - - - - - - - - - -
6720 454.6 -6.3 466 6721 done -0.64 - - 2694 - - - 1651 - -97.3 - - 3374 - - - - - - - - - - -
7019 471.0 -5.2 476 7021 done -0.66 - - 2694 - - - 1651 - -97.3 - - 3373 - - - - - - - - - - -
7320 486.7 -5.2 486 7326 roll -0.69 - - 2695 - 1.62 0.138 767 -545.7 -97.3 - - 3372 - - - - - - - - - 14.68 -
7384 490.3 -5.4 488 7389 done -0.70 - - 2691 - 1.58 0.096 1652 560.1 -97.3 - - 3372 - - - - - - - - - 14.75 -
7719 509.1 -5.8 499 7721 done -0.72 0.10 0.168 2648 -430.0 - - 1651 - -97.3 - - 3370 - - - - - - - - 14.84 - -
8017 532.2 -7.8 509 8018 done -0.70 - - 2648 - - - 1652 - -97.3 - - 3369 - - - - - - - - - - -
8317 554.8 -7.4 519 8323 roll -0.67 - - 2649 - 1.67 0.138 765 -531.1 -97.3 - - 3369 - - - - - - - - - 14.66 -
8405 559.9 -7.6 521 8412 done -0.64 0.12 0.268 2682 275.0 1.58 0.096 1651 560.8 -97.3 - - 3368 - - - - - - - - 14.61 14.74 -
8712 580.3 -6.2 532 8713 done -0.64 - - 2677 - - - 1650 - -97.3 - - 3367 - - - - - - - - - - -
9011 600.4 -7.0 542 9016 roll -0.64 - - 2674 - 1.60 0.115 2536 553.8 -97.3 - - 3367 - - - - - - - - - 14.71 -
9073 605.1 -7.3 544 9078 done -0.64 - - 2674 - 1.62 0.109 1645 -550.0 -97.3 - - 3366 - - - - - - - - - 14.67 -
9407 630.6 -7.6 555 9408 done -0.64 - - 2674 - - - 1645 - -97.3 - - 3365 - - - - - - - - - - -
9705 651.5 -6.5 565 9706 done -0.64 - - 2674 - - - 1645 - -97.3 - - 3365 - - - - - - - - - - -
10006 668.3 -5.3 575 10011 roll -0.64 - - 2674 - 1.60 0.127 764 -550.6 -97.3 - - 3363 - - - - - - - - - 14.67 -
10048 670.0 -5.3 576 10053 done -0.64 - - 2674 - 1.55 0.089 1651 572.3 -97.3 - - 3363 - - - - - - - - - 14.73 -
10371 688.8 -5.8 587 10377 roll -0.64 - - 2668 - 1.58 0.111 2533 558.2 -97.3 - - 3362 - - - - - - - - - 14.70 -
10424 690.9 -5.7 588 10429 done -0.64 - - 2668 - 1.62 0.120 1643 -549.4 -97.3 - - 3361 - - - - - - - - - 14.69 -
10736 711.9 -6.6 599 10737 done -0.64 - - 2668 - - - 1644 - -97.3 - - 3361 - - - - - - - - - - -
11037 733.1 -7.2 609 11043 roll -0.64 - - 2665 - 1.62 0.117 2531 547.5 -97.3 - - 3361 - - - - - - - - - 14.69 -
11114 737.5 -7.1 611 11120 done -0.64 - - 2666 - 1.60 0.109 1644 -554.4 -97.3 - - 3359 - - - - - - - - - 14.69 -
11434 758.6 -5.9 622 11440 roll -0.64 - - 2666 - 1.60 0.129 765 -549.4 -97.3 - - 3358 - - - - - - - - - 14.64 -
11542 764.7 -6.1 625 11547 done -0.64 - - 2664 - 1.58 0.090 1659 565.8 -97.3 - - 3358 - - - - - - - - - 14.71 -
11861 782.8 -5.2 636 11862 done -0.64 - - 2664 - - - 1659 - -97.3 - - 3357 - - - - - - - - - - -
12160 799.6 -5.6 646 12166 roll -0.64 - - 2662 - 1.58 0.110 2531 551.9 -97.3 - - 3356 - - - - - - - - - 14.66 -
12217 801.3 -5.6 647 12224 done -0.64 - - 2662 - 1.60 0.109 1643 -555.0 -97.3 - - 3356 - - - - - - - - - 14.69 -
12523 822.4 -6.7 658 12524 done -0.64 - - 2661 - - - 1643 - -97.3 - - 3355 - - - - - - - - - - -
12823 843.9 -7.4 668 12824 done -0.64 - - 2662 - - - 1643 - -97.3 - - 3354 - - - - - - - - - - -
13123 866.7 -7.7 678 13128 roll -0.64 - - 2662 - 1.60 0.127 766 -548.1 -97.3 - - 3354 - - - - - - - - - 14.63 -
13189 871.8 -7.8 680 13194 done -0.64 - - 2661 - 1.58 0.090 1659 565.2 -97.3 - - 3354 - - - - - - - - - 14.70 -
13518 895.5 -6.7 691 13519 done -0.64 - - 2661 - - - 1659 - -97.3 - - 3352 - - - - - - - - - - -
13816 915.0 -6.3 701 13822 roll -0.64 - - 2661 - 1.67 0.128 765 -535.3 -97.3 - - 3351 - - - - - - - - - 14.62 -
13873 917.1 -6.3 702 13880 done -0.64 - - 2661 - 1.58 0.090 1653 562.0 -97.3 - - 3351 - - - - - - - - - 14.64 -
14180 935.4 -5.2 713 14185 roll -0.64 - - 2662 - 1.67 0.128 755 -537.7 -97.3 - - 3351 - - - - - - - - - 14.61 -
14232 937.2 -5.2 714 14238 done -0.64 - - 2661 - 1.58 0.090 1651 567.1 -97.3 - - 3351 - - - - - - - - - 14.69 -
14547 954.0 -5.2 725 14548 done -0.64 - - 2661 - - - 1651 - -97.3 - - 3350 - - - - - - - - - - -
14845 971.1 -6.1 735 14850 roll -0.64 - - 2662 - 1.60 0.113 2530 549.4 -97.3 - - 3349 - - - - - - - - - 14.63 -
14974 977.5 -5.2 739 14979 done -0.66 - - 2661 - 1.62 0.109 1646 -545.7 -97.3 - - 3349 - - - - - - - - - 14.64 -
15179 end dive: TARGET_DEPTH_EXCEEDED
15180 begin apogee
15185 990.2 -6.0 746 15276 done -0.19 0.55 0.203 2823 294.5 - - 1479 - - 87.28 1.867 2987 -4.1 0.403 - - - - - - 14.54 - 13.54
15279 end apogee: CONTROL_FINISHED_OK
15279 begin climb
15281 991.7 - 749 15382 done 0.58 0.77 0.129 3073 324.7 - - 1479 - 97.3 96.88 1.853 2592 -4.1 0.399 - - - - - - 14.24 - 13.42
15662 974.5 6.0 762 15668 roll 0.53 - - 3073 - 1.65 0.109 2365 537.0 99.0 - - 2576 - - - - - - - - - 14.47 -
15781 968.8 5.9 765 15789 done 0.48 0.12 0.302 3053 -166.7 1.67 0.122 1481 -529.3 105.0 1.77 0.177 2560 -9.0 9.057 - - - - - - 14.28 14.45 14.46
16087 951.3 5.2 776 16121 roll 0.47 - - 3050 - 1.70 0.109 2369 522.4 127.3 27.83 1.831 2466 -3.4 0.321 - - - - - - - 14.50 13.85
16350 937.4 5.6 784 16370 done 0.46 - - 3060 - 1.67 0.124 1473 -536.5 140.0 13.40 1.739 2411 -4.1 0.405 - - - - - - - 14.52 13.88
16693 917.6 5.2 796 16722 done 0.45 - - 3060 - - - 1473 - 161.0 21.30 1.788 2326 -4.0 0.375 - - - - - - - - 13.91
17022 899.9 5.3 807 17043 done 0.46 - - 3060 - - - 1473 - 179.1 18.98 1.767 2258 -3.6 0.334 - - - - - - - - 13.90
17323 882.6 5.9 817 17329 roll 0.47 - - 3060 - 1.60 0.103 2364 556.9 184.7 1.25 0.198 2235 -18.4 15.014 - - - - - - - 14.60 14.54
17397 878.4 6.1 819 17402 done 0.47 - - 3066 - 1.65 0.122 1481 -535.2 184.7 - - 2242 - - - - - - - - - 14.59 -
17722 857.2 6.5 830 17723 done 0.47 - - 3066 - - - 1481 - 184.7 - - 2243 - - - - - - - - - - -
18020 838.3 6.1 840 18025 roll 0.47 - - 3066 - 1.58 0.104 2361 557.0 184.9 - - 2242 - - - - - - - - - 14.66 -
18112 832.6 6.2 843 18118 done 0.47 0.12 0.294 3045 -175.0 1.65 0.122 1478 -535.2 184.9 - - 2242 - - - - - - - - 14.50 14.64 -
18446 815.3 5.0 854 18486 roll 0.48 - - 3044 - 1.60 0.106 2361 551.9 212.0 32.78 1.729 2118 -3.8 0.327 - - - - - - - 14.54 13.93
18582 809.3 4.9 858 18617 done 0.50 - - 3051 - 1.67 0.122 1475 -530.5 239.9 28.23 1.698 2007 -3.9 0.343 - - - - - - - 14.50 13.78
18930 789.3 5.9 870 18935 roll 0.53 - - 3051 - 1.60 0.105 2360 553.1 245.7 - - 1996 - - - - - - - - - 14.56 -
18978 787.2 5.9 871 18988 done 0.55 - - 3057 - 1.67 0.122 1471 -532.3 249.5 3.25 0.986 1972 -7.4 1.079 - - - - - - - 14.55 13.83
19297 763.7 7.7 882 19301 done 0.57 - - 3058 - - - 1471 - 249.5 1.77 0.187 1970 - - - - - - - - - - 14.57
19596 740.5 7.6 892 19602 roll 0.59 - - 3057 - 1.67 0.105 2360 532.3 249.5 1.62 0.192 1970 - - - - - - - - - 14.66 14.58
19710 733.4 7.7 895 19716 done 0.61 - - 3064 - 1.65 0.121 1477 -535.2 249.5 - - 1981 - - - - - - - - - 14.59 -
20023 708.9 7.4 906 20029 roll 0.61 - - 3068 - 1.67 0.105 2367 532.9 249.5 1.62 0.194 1970 -6.8 4.542 - - - - - - - 14.66 14.60
20111 704.0 7.6 908 20117 done 0.61 - - 3070 - 1.65 0.120 1480 -537.6 249.5 - - 1982 - - - - - - - - - 14.64 -
20418 676.9 8.4 919 20424 roll 0.61 - - 3070 - 1.65 0.103 2361 533.9 249.5 1.50 0.194 1970 -8.0 5.110 - - - - - - - 14.68 14.60
20535 668.8 8.5 922 20542 done 0.61 - - 3077 - 1.65 0.119 1479 -534.5 249.5 - - 1981 - - - - - - - - - 14.64 -
20842 641.9 8.0 933 20845 done 0.61 - - 3076 - - - 1479 - 249.5 1.48 0.191 1971 -6.8 4.157 - - - - - - - - 14.61
21142 618.3 7.9 943 21148 roll 0.61 - - 3077 - 1.60 0.096 2368 555.6 249.5 1.40 0.196 1971 - - - - - - - - - 14.69 14.59
21256 610.5 8.3 946 21261 done 0.61 - - 3083 - 1.65 0.116 1478 -539.4 249.5 - - 1981 - - - - - - - - - 14.65 -
21568 581.9 8.5 957 21574 roll 0.61 - - 3083 - 1.65 0.100 2364 537.0 249.5 1.48 0.192 1971 -6.8 3.749 - - - - - - - 14.71 14.59
21672 573.3 9.0 960 21677 done 0.61 - - 3090 - 1.65 0.117 1475 -538.8 249.5 - - 1981 - - - - - - - - - 14.65 -
21995 543.2 9.0 971 22001 roll 0.61 - - 3090 - 1.60 0.096 2367 557.5 249.5 1.33 0.195 1972 -6.8 3.451 - - - - - - - 14.69 14.60
22048 540.1 9.1 972 22053 done 0.61 - - 3096 - 1.65 0.117 1476 -540.0 249.5 - - 1977 - - - - - - - - - 14.66 -
22362 511.3 8.3 983 22365 done 0.59 - - 3096 - - - 1476 - 249.5 1.50 0.187 1971 -4.0 2.002 - - - - - - - - 14.62
22662 489.3 6.7 993 22668 roll 0.57 - - 3096 - 1.65 0.101 2361 536.4 249.5 1.48 0.194 1972 - - - - - - - - - 14.69 14.59
22789 480.8 6.8 997 22796 done 0.55 0.12 0.284 3074 -183.3 1.62 0.115 1480 -543.8 249.5 1.50 0.187 1971 - - - - - - - - 14.50 14.64 14.61
23118 460.2 6.5 1008 23122 done 0.55 - - 3074 - - - 1481 - 249.5 1.55 0.191 1971 - - - - - - - - - - 14.62
23418 439.1 7.1 1018 23424 roll 0.55 - - 3074 - 1.65 0.099 2368 537.6 249.5 1.50 0.187 1972 - - - - - - - - - 14.69 14.62
23491 434.4 7.3 1020 23497 done 0.55 - - 3085 - 1.67 0.114 1480 -531.7 249.5 1.15 0.185 1972 - - - - - - - - - 14.62 14.63
23816 408.1 8.2 1031 23822 roll 0.55 - - 3080 - 1.62 0.094 2363 545.1 249.5 1.65 0.183 1971 - - - - - - - - - 14.69 14.60
23893 402.5 8.4 1033 23899 done 0.55 - - 3087 - 1.65 0.112 1481 -534.5 249.5 - - 1980 - - - - - - - - - 14.62 -
24212 376.2 7.3 1044 24215 done 0.55 - - 3087 - - - 1481 - 249.5 1.70 0.184 1971 -5.3 1.981 - - - - - - - - 14.60
24512 353.7 8.2 1054 24518 roll 0.55 - - 3087 - 1.62 0.093 2363 544.4 249.5 1.67 0.183 1973 - - - - - - - - - 14.71 14.62
24644 342.3 9.1 1058 24650 done 0.55 - - 3093 - 1.65 0.113 1482 -533.9 249.5 1.73 0.164 1971 - - - - - - - - - 14.62 14.61
24969 309.9 9.6 1069 24975 roll 0.55 - - 3093 - 1.62 0.093 2363 543.8 249.5 1.88 0.173 1972 - - - - - - - - - 14.70 14.59
25057 303.9 9.4 1071 25065 done 0.55 0.12 0.255 3069 -200.0 1.62 0.112 1479 -545.7 249.5 1.62 0.179 1971 - - - - - - - - 14.54 14.65 14.62
25365 277.6 7.5 1082 25371 roll 0.57 - - 3069 - 1.62 0.093 2363 545.7 249.5 1.95 0.174 1972 - - - - - - - - - 14.69 14.57
25440 272.9 7.2 1084 25446 done 0.58 - - 3076 - 1.62 0.114 1480 -545.1 249.5 1.73 0.184 1971 - - - - - - - - - 14.64 14.54
25768 249.3 6.9 1095 25774 roll 0.58 - - 3076 - 1.62 0.094 2363 545.1 249.5 2.03 0.210 1972 - - - - - - - - - 14.71 13.57
25833 244.7 6.7 1101 25839 done 0.58 - - 3082 - 1.65 0.123 1480 -535.2 249.5 1.75 0.186 1971 - - - - - - - - - 14.63 14.57
26149 224.1 6.1 1132 26160 roll 0.58 - - 3082 - 1.62 0.104 2362 544.4 250.0 2.35 0.423 1973 - - - - - - - - - 14.69 13.91
26202 220.4 6.3 1137 26208 done 0.58 - - 3088 - 1.65 0.126 1482 -533.3 250.0 1.80 0.188 1968 -2.8 0.596 - - - - - - - 14.59 14.55
26517 199.7 7.5 1168 26539 roll 0.58 - - 3099 - 12.88 0.005 43 -111.7 250.0 1.98 0.171 1980 6.1 -1.296 - - 85 1 - - - 14.73 14.54
26544 end climb: MOTOR_MAX_ERRORS_EXCEEDED
SM 1.90 - - - - -8.52 8.20 0.055 144 -360.4 2.58 0.083 1478 556.2 607.36 - - 513 - - - - 1 - - -