SPURS Sep12 * SG189 * Dive index * Mission links * Dive 200 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 39.11 of 150.00 AH used of 24V (73.93% remains)
• Previous NAKs 0, Timeouts 0 • 32.44 of 97.00 AH used of 10V (66.56% remains)
• Surface angle -52.8 deg, depth 1.81 m • Intended pitch -11.8 deg, speed -6.111 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 11 s
• GPS2 time: 19 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
20 end surface: CONTROL_FINISHED_OK
21 begin dive
23 - - - 56 VBD -0.86 - - 156 - - - 1830 - -146.6 -31.20 - 1472 - - - - - - - - - - -
60 2.1 -2.7 3 136 roll -0.86 8.90 0.164 2728 289.0 2.58 0.049 3456 630.2 -146.6 -56.58 - 2916 -25.5 - - - - - - - 25.83 26.27 26.81
366 18.5 -8.0 34 376 done -0.74 0.12 0.138 2758 250.0 2.47 0.022 1815 -664.4 -146.6 - - 2916 - - - - - - - - 26.18 26.47 -
677 37.9 -7.6 65 686 roll -0.66 - - 2743 - 2.55 0.037 3454 642.7 -146.6 - - 2915 - - - - - - - - - 26.36 -
819 49.2 -8.3 79 826 done -0.58 0.22 0.120 2816 331.8 2.40 0.022 1816 -682.5 -146.6 - - 2916 - - - - - - - - 26.12 26.52 -
1146 77.9 -9.4 110 1154 roll -0.58 - - 2805 - 2.58 0.037 3462 638.0 -146.6 - - 2916 - - - - - - - - - 26.39 -
1255 85.4 -8.5 113 1259 done -0.58 - - 2805 - 2.47 0.021 1814 -667.2 -146.6 - - 2915 - - - - - - - - - 26.55 -
1557 105.2 -5.0 123 1564 roll -0.58 - - 2793 - 2.55 0.036 3452 642.4 -146.6 - - 2914 - - - - - - - - - 26.41 -
1696 110.7 -4.6 127 1700 done -0.58 - - 2793 - 2.45 0.021 1819 -666.5 -146.6 - - 2917 - - - - - - - - - 26.56 -
1997 126.1 -5.2 137 2004 roll -0.58 - - 2782 - 2.53 0.036 3448 643.9 -146.6 - - 2915 - - - - - - - - - 26.42 -
2176 136.5 -5.8 143 2185 done -0.58 0.12 0.129 2819 308.3 2.45 0.021 1815 -666.5 -146.6 - - 2914 - - - - - - - - 26.34 26.57 -
2539 157.0 -5.6 153 2544 roll -0.60 - - 2809 - 2.50 0.037 3456 656.4 -146.6 - - 2913 - - - - - - - - - 26.42 -
2626 160.1 -5.5 154 2633 done -0.63 - - 2808 - 2.47 0.021 1805 -668.4 -146.6 - - 2914 - - - - - - - - - 26.57 -
2957 179.1 -5.4 160 2958 done -0.63 - - 2808 - - - 1805 - -146.6 - - 2912 - - - - - - - - - - -
3257 192.2 -4.2 165 3264 roll -0.63 - - 2796 - 2.58 0.037 3452 638.4 -146.6 - - 2913 - - - - - - - - - 26.41 -
3456 199.0 -3.7 168 3460 done -0.63 - - 2796 - 2.45 0.022 1821 -665.7 -146.6 - - 2913 - - - - - - - - - 26.58 -
3788 215.3 -5.0 174 3795 roll -0.63 - - 2785 - 2.53 0.037 3448 643.1 -146.6 - - 2912 - - - - - - - - - 26.45 -
4029 228.5 -5.5 178 4035 done -0.63 - - 2785 - 2.42 0.023 1824 -671.1 -146.6 - - 2911 - - - - - - - - - 26.57 -
4388 245.3 -4.5 184 4395 roll -0.63 - - 2773 - 2.55 0.037 3457 640.4 -146.6 - - 2911 - - - - - - - - - 26.41 -
4597 253.0 -4.2 187 4601 done -0.63 - - 2773 - 2.47 0.022 1815 -664.8 -146.6 - - 2909 - - - - - - - - - 26.57 -
4919 268.7 -4.5 193 4927 roll -0.63 - - 2762 - 2.55 0.037 3450 641.2 -146.6 - - 2908 - - - - - - - - - 26.41 -
5008 271.8 -4.7 194 5016 done -0.63 0.12 0.125 2799 308.3 2.45 0.022 1820 -665.3 -146.6 - - 2908 - - - - - - - - 26.33 26.58 -
5340 288.4 -4.7 200 5346 roll -0.65 - - 2789 - 2.53 0.037 3446 642.7 -146.6 - - 2907 - - - - - - - - - 26.41 -
5529 298.1 -5.3 203 5536 done -0.68 - - 2789 - 2.45 0.022 1821 -663.3 -146.6 - - 2907 - - - - - - - - - 26.56 -
5879 319.1 -5.9 209 5886 roll -0.68 - - 2777 - 2.58 0.037 3455 633.3 -146.6 - - 2905 - - - - - - - - - 26.39 -
6120 334.1 -6.3 213 6126 done -0.68 - - 2777 - 2.45 0.023 1823 -666.1 -146.6 - - 2904 - - - - - - - - - 26.57 -
6479 356.2 -6.1 219 6487 roll -0.68 - - 2766 - 2.58 0.038 3456 632.9 -146.6 - - 2903 - - - - - - - - - 26.39 -
6720 370.2 -5.8 223 6727 done -0.68 - - 2766 - 2.45 0.023 1825 -665.7 -146.6 - - 2903 - - - - - - - - - 26.55 -
7079 391.3 -5.9 229 7086 roll -0.68 - - 2755 - 2.55 0.038 3453 638.4 -146.6 - - 2901 - - - - - - - - - 26.37 -
7320 406.2 -6.2 233 7326 done -0.68 - - 2755 - 2.45 0.024 1828 -663.3 -146.6 - - 2901 - - - - - - - - - 26.55 -
7678 431.1 -7.0 239 7686 roll -0.68 - - 2748 - 2.58 0.038 3461 632.9 -146.6 - - 2900 - - - - - - - - - 26.36 -
7817 439.1 -6.8 241 7822 done -0.68 0.12 0.126 2780 266.7 2.47 0.023 1822 -663.6 -146.6 - - 2899 - - - - - - - - 26.29 26.54 -
8151 458.4 -5.2 247 8158 roll -0.70 - - 2770 - 2.55 0.038 3448 637.6 -146.6 - - 2898 - - - - - - - - - 26.34 -
8310 464.2 -4.9 249 8317 done -0.72 - - 2770 - 2.47 0.023 1818 -659.9 -146.6 - - 2898 - - - - - - - - - 26.52 -
8631 479.6 -4.3 255 8638 roll -0.72 - - 2758 - 2.58 0.038 3457 635.3 -146.6 - - 2897 - - - - - - - - - 26.35 -
8851 487.8 -4.5 258 8858 done -0.72 - - 2758 - 2.47 0.023 1819 -663.2 -146.6 - - 2897 - - - - - - - - - 26.53 -
9171 508.5 -5.9 263 9178 roll -0.72 - - 2747 - 2.58 0.038 3455 634.1 -146.6 - - 2895 - - - - - - - - - 26.34 -
9290 517.4 -6.5 264 9297 done -0.72 - - 2747 - 2.47 0.023 1824 -660.3 -146.6 - - 2895 - - - - - - - - - 26.52 -
9650 548.1 -8.3 267 9657 roll -0.72 - - 2734 - 2.58 0.038 3451 630.6 -146.6 - - 2893 - - - - - - - - - 26.33 -
9839 558.6 -8.6 268 9848 done -0.72 0.12 0.129 2771 308.3 2.47 0.024 1824 -658.7 -146.6 - - 2893 - - - - - - - - 26.25 26.51 -
10250 593.4 -7.2 272 10258 roll -0.72 - - 2761 - 2.60 0.039 3459 628.8 -146.6 - - 2893 - - - - - - - - - 26.30 -
10420 600.1 -6.6 273 10428 done -0.75 - - 2761 - 2.50 0.024 1819 -656.0 -146.6 - - 2892 - - - - - - - - - 26.50 -
10730 619.2 -5.4 276 10738 roll -0.75 - - 2749 - 2.58 0.038 3454 633.7 -146.6 - - 2891 - - - - - - - - - 26.31 -
10919 625.5 -5.3 277 10924 done -0.75 - - 2746 - 2.50 0.024 1814 -656.0 -146.6 - - 2890 - - - - - - - - - 26.49 -
11322 654.8 -6.2 281 11329 roll -0.75 - - 2737 - 2.60 0.039 3448 628.5 -146.6 - - 2889 - - - - - - - - - 26.28 -
11563 674.5 -7.5 283 11569 done -0.75 - - 2737 - 2.47 0.024 1819 -659.5 -146.6 - - 2888 - - - - - - - - - 26.47 -
11921 706.0 -8.7 286 11929 roll -0.75 - - 2726 - 2.58 0.040 3448 631.4 -146.6 - - 2888 - - - - - - - - - 26.27 -
12130 716.7 -8.8 287 12139 done -0.75 0.12 0.129 2762 300.0 2.50 0.024 1816 -652.8 -146.6 - - 2887 - - - - - - - - 26.20 26.48 -
12522 747.8 -6.5 291 12529 roll -0.77 - - 2752 - 2.58 0.040 3447 632.2 -146.6 - - 2886 - - - - - - - - - 26.25 -
12732 753.0 -5.5 292 12739 done -0.80 - - 2751 - 2.47 0.025 1821 -658.3 -146.6 - - 2886 - - - - - - - - - 26.45 -
13122 771.8 -3.9 296 13129 roll -0.82 - - 2740 - 2.58 0.040 3446 629.8 -146.6 - - 2885 - - - - - - - - - 26.23 -
13340 777.1 -4.0 297 13345 done -0.82 - - 2740 - 2.50 0.025 1817 -651.6 -146.6 - - 2884 - - - - - - - - - 26.44 -
13713 803.5 -5.6 301 13720 roll -0.82 - - 2728 - 2.60 0.040 3449 627.7 -146.6 - - 2883 - - - - - - - - - 26.21 -
13921 812.0 -6.2 302 13926 done -0.82 - - 2728 - 2.50 0.025 1823 -650.4 -146.6 - - 2882 - - - - - - - - - 26.41 -
14304 848.9 -7.8 306 14311 roll -0.82 - - 2717 - 2.60 0.041 3464 631.2 -146.6 - - 2881 - - - - - - - - - 26.16 -
14462 858.1 -7.9 307 14467 done -0.82 - - 2716 - 2.53 0.025 1819 -650.2 -146.6 - - 2881 - - - - - - - - - 26.41 -
14775 883.7 -7.4 310 14782 roll -0.82 - - 2704 - 2.60 0.041 3449 626.9 -146.6 - - 2881 - - - - - - - - - 26.17 -
14903 892.0 -7.2 311 14908 done -0.82 0.12 0.134 2740 300.0 2.50 0.026 1825 -649.6 -146.6 - - 2880 - - - - - - - - 26.11 26.39 -
15247 911.6 -5.9 314 15254 roll -0.82 - - 2729 - 2.58 0.041 3444 627.5 -146.6 - - 2880 - - - - - - - - - 26.15 -
15345 911.6 -5.9 314 15350 done -0.82 - - 2730 - 2.50 0.025 1821 -649.2 -146.6 - - 2879 - - - - - - - - - 26.39 -
15717 934.8 -4.9 318 15725 roll -0.82 - - 2718 - 2.60 0.041 3453 627.7 -146.6 - - 2878 - - - - - - - - - 26.13 -
15907 941.2 -5.0 319 15914 done -0.82 - - 2717 - 2.53 0.026 1817 -646.6 -146.6 - - 2878 - - - - - - - - - 26.36 -
16228 964.4 -6.2 326 16235 roll -0.82 - - 2705 - 2.62 0.041 3453 624.4 -146.6 - - 2877 - - - - - - - - - 26.11 -
16408 976.6 -6.9 332 16415 done -0.82 - - 2703 - 2.50 0.026 1827 -650.4 -146.6 - - 2877 - - - - - - - - - 26.34 -
16615 end dive: TARGET_DEPTH_EXCEEDED
16615 begin apogee
16620 991.2 -7.0 339 16746 done -0.29 0.57 0.108 2898 342.1 - - 1827 - - 120.00 1.694 2322 -4.6 0.287 - - - - - - 25.64 - 23.57
16748 end apogee: CONTROL_FINISHED_OK
16748 begin climb
16750 995.6 - 343 16889 roll 0.86 1.08 0.068 3287 360.2 2.62 0.047 349 -564.1 146.6 131.07 1.654 1721 -4.6 0.293 - - - - - - 24.98 24.33 23.13
16938 988.2 6.4 350 16947 done 0.69 0.22 0.138 3226 -277.3 2.47 0.024 1886 622.3 146.6 - - 1716 - - - - - - - - 24.93 25.17 -
17272 967.0 6.2 361 17274 done 0.60 0.12 0.148 3190 -300.0 - - 1887 - 146.6 - - 1713 - - - - - - - - 26.01 - -
17571 949.4 6.0 371 17572 done 0.55 - - 3190 - - - 1887 - 151.2 - - 1711 - - - - - - - - - - -
17929 926.7 6.3 374 17930 done 0.50 - - 3190 - - - 1887 - 151.2 - - 1710 - - - - - - - - - - -
18289 903.4 6.4 377 18290 done 0.46 0.15 0.133 3145 -300.0 - - 1887 - 151.2 - - 1709 - - - - - - - - 26.30 - -
18648 885.0 5.4 380 18677 roll 0.49 - - 3155 - 2.50 0.048 352 -614.0 174.8 23.42 1.587 1606 -4.4 0.260 - - - - - - - 25.80 24.52
18738 885.0 5.4 380 18768 done 0.51 - - 3155 - 2.40 0.027 1888 640.0 198.4 22.12 1.572 1510 -4.3 0.259 - - - - - - - 26.01 24.16
19128 862.0 4.8 384 19171 done 0.57 - - 3155 - - - 1888 - 243.7 40.40 1.597 1328 -4.5 0.258 - - - - - - - - 24.03
19489 843.9 4.9 387 19537 roll 0.65 0.17 0.067 3254 582.4 2.62 0.050 359 -583.6 285.8 38.58 1.582 1152 -4.6 0.258 - - - - - - 26.20 25.22 24.01
19728 821.9 7.1 389 19736 done 0.65 0.15 0.129 3210 -293.3 2.40 0.027 1896 640.4 285.8 - - 1147 - - - - - - - - 25.81 26.03 -
20089 790.3 9.0 392 20096 roll 0.62 - - 3221 - 2.50 0.050 362 -613.6 285.8 - - 1145 - - - - - - - - - 26.13 -
20167 790.3 9.0 392 20172 done 0.58 - - 3221 - 2.35 0.027 1886 648.5 285.8 - - 1144 - - - - - - - - - 26.32 -
20560 743.0 10.0 396 20568 roll 0.56 0.12 0.134 3194 -225.0 2.50 0.049 353 -613.2 285.8 - - 1144 - - - - - - - - 26.33 26.22 -
20629 743.0 10.0 396 20636 done 0.54 - - 3194 - 2.38 0.027 1899 649.6 285.8 - - 1143 - - - - - - - - - 26.41 -
21039 701.0 8.7 400 21047 roll 0.54 - - 3206 - 2.53 0.049 356 -609.9 285.8 - - 1143 - - - - - - - - - 26.23 -
21138 701.0 8.7 400 21143 done 0.54 0.12 0.124 3164 -350.0 2.35 0.027 1892 653.6 285.8 - - 1142 - - - - - - - - 26.23 26.46 -
21512 668.7 6.8 404 21518 roll 0.59 - - 3179 - 2.50 0.049 357 -614.0 285.8 - - 1142 - - - - - - - - - 26.23 -
21580 668.7 6.8 404 21584 done 0.64 - - 3179 - 2.35 0.026 1897 655.3 285.8 - - 1142 - - - - - - - - - 26.48 -
21982 634.0 7.4 408 21990 roll 0.74 0.17 0.066 3275 564.7 2.47 0.040 3453 630.0 285.8 - - 1142 - - - - - - - - 26.60 26.30 -
22131 622.1 7.9 409 22139 done 0.80 - - 3292 - 2.53 0.028 1829 -641.9 285.8 - - 1142 - - - - - - - - - 26.39 -
22462 584.0 10.4 412 22470 roll 0.75 0.15 0.135 3253 -260.0 2.38 0.049 356 -618.9 285.8 - - 1142 - - - - - - - - 26.35 26.21 -
22551 584.0 10.4 412 22559 done 0.70 - - 3253 - 2.35 0.026 1894 654.5 285.8 - - 1142 - - - - - - - - - 26.48 -
22942 536.7 9.8 416 22951 roll 0.66 0.15 0.128 3217 -240.0 2.50 0.048 358 -614.4 285.8 - - 1142 - - - - - - - - 26.38 26.19 -
23051 536.7 9.8 416 23055 done 0.61 - - 3217 - 2.35 0.026 1895 654.0 285.8 - - 1143 - - - - - - - - - 26.47 -
23412 494.1 9.3 419 23420 roll 0.61 - - 3229 - 2.53 0.048 345 -612.6 285.8 - - 1142 - - - - - - - - - 26.16 -
23510 488.6 9.1 420 23515 done 0.61 0.12 0.123 3190 -325.0 2.35 0.026 1889 657.0 285.8 - - 1142 - - - - - - - - 26.22 26.47 -
23823 461.6 7.4 426 23831 roll 0.66 - - 3201 - 2.53 0.049 348 -609.1 285.8 - - 1142 - - - - - - - - - 26.15 -
23923 457.5 7.1 427 23930 done 0.70 - - 3201 - 2.35 0.027 1887 654.9 285.8 - - 1142 - - - - - - - - - 26.46 -
24244 435.3 5.9 433 24256 roll 0.75 0.12 0.083 3285 700.0 2.50 0.048 356 -612.4 293.4 6.00 1.131 1122 -3.3 0.136 - - - - - - 26.66 26.39 24.75
24394 426.5 6.7 435 24402 done 0.75 0.10 0.112 3247 -380.0 2.33 0.026 1889 657.9 293.4 - - 1124 - - - - - - - - 26.17 26.44 -
24713 401.7 6.5 441 24721 roll 0.75 - - 3258 - 2.50 0.047 357 -612.8 293.4 - - 1122 - - - - - - - - - 26.21 -
24793 397.5 6.5 442 24797 done 0.75 - - 3258 - 2.35 0.026 1890 652.3 293.4 - - 1122 - - - - - - - - - 26.46 -
25125 372.8 7.0 448 25132 roll 0.73 - - 3269 - 2.47 0.047 357 -620.6 293.4 - - 1122 - - - - - - - - - 26.20 -
25204 368.0 7.3 449 25212 done 0.71 0.15 0.122 3224 -300.0 2.35 0.025 1902 657.4 293.4 - - 1123 - - - - - - - - 26.17 26.46 -
25545 344.1 6.5 455 25552 roll 0.73 - - 3234 - 2.50 0.047 354 -619.2 293.4 - - 1122 - - - - - - - - - 26.18 -
25664 335.6 6.9 457 25672 done 0.75 - - 3234 - 2.35 0.025 1896 656.2 293.4 - - 1122 - - - - - - - - - 26.47 -
26024 310.0 7.2 463 26032 roll 0.75 - - 3246 - 2.53 0.047 347 -612.3 293.4 - - 1122 - - - - - - - - - 26.17 -
26104 305.3 7.4 464 26108 done 0.75 - - 3246 - 2.35 0.025 1889 656.2 293.4 - - 1122 - - - - - - - - - 26.48 -
26435 277.4 7.8 470 26436 done 0.75 - - 3246 - - - 1889 - 293.4 - - 1123 - - - - - - - - - - -
26735 255.3 7.3 475 26743 roll 0.75 - - 3257 - 2.50 0.047 353 -614.4 293.4 - - 1125 - - - - - - - - - 26.16 -
26845 250.7 7.3 476 26854 done 0.75 - - 3257 - 2.35 0.025 1898 657.4 293.4 - - 1123 - - - - - - - - - 26.47 -
27155 223.0 7.7 482 27163 roll 0.75 - - 3269 - 2.50 0.047 356 -616.8 293.4 - - 1123 - - - - - - - - - 26.15 -
27215 218.2 7.9 483 27223 done 0.75 - - 3269 - 2.33 0.024 1886 656.7 293.4 - - 1123 - - - - - - - - - 26.47 -
27576 189.2 8.0 489 27583 roll 0.75 - - 3281 - 2.47 0.047 358 -618.6 293.4 - - 1125 - - - - - - - - - 26.15 -
27684 184.2 8.1 490 27689 done 0.75 0.12 0.125 3243 -316.7 2.33 0.024 1888 656.7 293.4 - - 1124 - - - - - - - - 26.22 26.47 -
27986 160.0 6.5 495 27993 roll 0.78 - - 3253 - 2.45 0.047 363 -622.4 293.4 - - 1124 - - - - - - - - - 26.15 -
28075 155.2 6.8 496 28079 done 0.81 - - 3250 - 2.33 0.024 1892 656.2 293.4 - - 1124 - - - - - - - - - 26.48 -
28397 123.9 9.1 506 28404 roll 0.84 - - 3265 - 2.47 0.047 355 -622.3 293.4 - - 1124 - - - - - - - - - 26.15 -
28496 115.1 9.6 509 28500 done 0.84 - - 3265 - 2.33 0.024 1894 660.5 293.4 - - 1123 - - - - - - - - - 26.48 -
28809 82.6 10.0 520 28815 roll 0.86 - - 3277 - 2.42 0.047 351 -637.6 293.4 - - 1125 - - - - - - - - - 26.15 -
28887 77.0 9.6 522 28891 done 0.86 - - 3277 - 2.33 0.024 1887 659.2 293.4 - - 1125 - - - - - - - - - 26.48 -
29188 50.1 7.3 550 29189 done 0.88 - - 3277 - - - 1887 - 293.4 - - 1125 - - - - - - - - - - -
29488 29.4 8.0 580 29496 roll 0.88 - - 3288 - 2.47 0.046 356 -619.8 293.4 - - 1126 - - - - - - - - - 26.16 -
29638 14.4 10.7 595 29647 done 0.88 - - 3288 - 2.30 0.024 1887 665.7 293.4 - - 1129 - - - - - - - - - 26.49 -
29787 end climb: SURFACE_DEPTH_REACHED
29787 begin surface coast
29816 end surface coast: CONTROL_FINISHED_OK
29816 begin surface
SM 2.60 - - - - -8.82 8.07 0.031 161 -387.5 0.08 0.105 1833 -675.0 300.00 3.03 0.167 1095 -11.2 0.018 - - - - - -