SPURS Sep12 * SG189 * Dive index * Mission links * Dive 214 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 41.85 of 150.00 AH used of 24V (72.10% remains)
• Previous NAKs 0, Timeouts 0 • 34.89 of 97.00 AH used of 10V (64.03% remains)
• Surface angle -59.8 deg, depth 2.00 m • Intended pitch -11.8 deg, speed -6.111 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 29 s
• GPS2 time: 14 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 - - - 46 VBD -0.86 - - 154 - - - 2171 - -146.6 -21.20 - 1732 - - - - - - - - - - -
50 2.1 - 2 109 roll -0.86 9.48 0.187 2710 269.6 2.58 0.055 3749 611.6 -146.6 -43.20 - 2919 -27.5 - - - - - - - 25.66 26.08 26.64
337 23.2 -8.7 31 347 done -0.74 0.17 0.132 2766 329.4 2.47 0.021 2101 -667.2 -146.6 - - 2920 - - - - - - - - 25.93 26.37 -
647 47.1 -7.2 62 657 roll -0.68 - - 2755 - 2.60 0.041 3739 630.0 -146.6 - - 2920 - - - - - - - - - 26.19 -
887 65.4 -7.9 86 897 done -0.63 0.15 0.122 2799 293.3 2.45 0.021 2097 -670.2 -146.6 - - 2920 - - - - - - - - 26.15 26.48 -
1217 88.1 -7.2 107 1218 done -0.63 - - 2799 - - - 2097 - -146.6 - - 2921 - - - - - - - - - - -
1517 107.9 -6.1 117 1525 roll -0.63 - - 2789 - 2.62 0.041 3747 629.8 -146.6 - - 2922 - - - - - - - - - 26.27 -
1626 112.6 -5.6 120 1630 done -0.63 - - 2789 - 2.45 0.021 2100 -672.2 -146.6 - - 2920 - - - - - - - - - 26.54 -
1928 128.1 -5.2 130 1935 roll -0.63 - - 2788 - 2.42 0.038 550 -640.5 -146.6 - - 2921 - - - - - - - - - 26.34 -
1978 129.8 -5.4 131 1986 done -0.63 - - 2777 - 2.45 0.024 2190 669.4 -146.6 - - 2921 - - - - - - - - - 26.50 -
2287 150.7 -5.9 142 2295 roll -0.63 - - 2767 - 2.47 0.041 3752 632.4 -146.6 - - 2922 - - - - - - - - - 26.29 -
2376 154.2 -5.9 143 2384 done -0.63 0.12 0.125 2804 308.3 2.45 0.021 2096 -675.9 -146.6 - - 2921 - - - - - - - - 26.30 26.58 -
2708 170.6 -4.3 149 2715 roll -0.65 - - 2804 - 2.42 0.037 540 -643.0 -146.6 - - 2922 - - - - - - - - - 26.36 -
2776 173.4 -4.3 150 2780 done -0.65 - - 2794 - 2.47 0.024 2189 667.6 -146.6 - - 2922 - - - - - - - - - 26.51 -
3119 190.1 -4.8 156 3126 roll -0.65 - - 2783 - 2.45 0.043 3743 634.3 -146.6 - - 2922 - - - - - - - - - 26.31 -
3277 195.5 -4.7 158 3281 done -0.65 - - 2783 - 2.45 0.021 2094 -673.1 -146.6 - - 2922 - - - - - - - - - 26.58 -
3590 208.5 -3.5 164 3591 done -0.65 - - 2783 - - - 2094 - -146.6 - - 2924 - - - - - - - - - - -
3890 222.1 -4.7 169 3897 roll -0.65 - - 2770 - 2.62 0.042 3752 632.8 -146.6 - - 2922 - - - - - - - - - 26.30 -
4018 229.1 -5.5 171 4022 done -0.65 - - 2770 - 2.45 0.021 2103 -673.1 -146.6 - - 2921 - - - - - - - - - 26.58 -
4361 249.9 -6.0 177 4368 roll -0.65 - - 2759 - 2.60 0.042 3743 630.8 -146.6 - - 2921 - - - - - - - - - 26.31 -
4469 253.5 -5.9 178 4479 done -0.65 0.12 0.124 2796 308.3 2.45 0.021 2093 -673.5 -146.6 - - 2921 - - - - - - - - 26.31 26.58 -
4781 274.1 -5.7 184 4782 done -0.68 - - 2796 - - - 2094 - -146.6 - - 2920 - - - - - - - - - - -
5081 293.4 -6.5 189 5082 done -0.73 - - 2796 - - - 2094 - -146.6 - - 2922 - - - - - - - - - - -
5380 315.6 -7.5 194 5389 roll -0.80 0.17 0.063 2699 -570.6 2.42 0.038 545 -640.1 -146.6 - - 2918 - - - - - - - - 26.70 26.35 -
5469 320.8 -7.6 195 5478 done -0.84 0.15 0.138 2729 200.0 2.47 0.024 2187 664.8 -146.6 - - 2918 - - - - - - - - 26.16 26.51 -
5801 345.9 -6.6 201 5808 roll -0.81 - - 2719 - 2.47 0.044 3749 632.4 -146.6 - - 2917 - - - - - - - - - 26.29 -
5910 349.5 -6.4 202 5919 done -0.77 0.12 0.130 2755 300.0 2.47 0.021 2088 -672.5 -146.6 - - 2917 - - - - - - - - 26.28 26.56 -
6221 366.4 -4.4 208 6222 done -0.77 - - 2756 - - - 2088 - -146.6 - - 2916 - - - - - - - - - - -
6521 380.2 -4.7 213 6522 done -0.77 - - 2756 - - - 2089 - -146.6 - - 2915 - - - - - - - - - - -
6820 394.7 -5.0 218 6828 roll -0.77 - - 2744 - 2.65 0.043 3746 625.3 -146.6 - - 2915 - - - - - - - - - 26.28 -
6950 401.2 -5.2 220 6957 done -0.77 - - 2744 - 2.47 0.021 2094 -668.8 -146.6 - - 2914 - - - - - - - - - 26.55 -
7300 421.3 -5.7 226 7308 roll -0.77 - - 2732 - 2.62 0.043 3743 629.4 -146.6 - - 2913 - - - - - - - - - 26.27 -
7421 428.5 -5.8 228 7428 done -0.77 - - 2733 - 2.42 0.022 2113 -673.6 -146.6 - - 2913 - - - - - - - - - 26.56 -
7780 452.6 -6.9 234 7788 roll -0.75 - - 2721 - 2.60 0.044 3749 629.2 -146.6 - - 2912 - - - - - - - - - 26.27 -
7879 457.1 -7.1 235 7888 done -0.72 0.15 0.121 2766 300.0 2.47 0.022 2098 -668.4 -146.6 - - 2912 - - - - - - - - 26.23 26.55 -
8201 480.9 -6.5 241 8208 roll -0.72 - - 2755 - 2.62 0.044 3744 628.2 -146.6 - - 2911 - - - - - - - - - 26.26 -
8329 488.9 -6.5 243 8333 done -0.72 - - 2756 - 2.47 0.021 2095 -667.6 -146.6 - - 2911 - - - - - - - - - 26.54 -
8731 515.8 -6.5 248 8739 roll -0.72 - - 2744 - 2.65 0.044 3746 623.0 -146.6 - - 2909 - - - - - - - - - 26.25 -
8851 523.5 -6.5 249 8859 done -0.72 - - 2744 - 2.47 0.022 2100 -666.4 -146.6 - - 2909 - - - - - - - - - 26.53 -
9211 544.0 -5.9 252 9219 roll -0.72 - - 2731 - 2.62 0.044 3741 626.3 -146.6 - - 2908 - - - - - - - - - 26.24 -
9351 550.4 -5.6 253 9359 done -0.72 0.12 0.125 2769 316.7 2.47 0.021 2091 -668.0 -146.6 - - 2907 - - - - - - - - 26.27 26.54 -
9691 567.4 -4.8 256 9692 done -0.72 - - 2769 - - - 2091 - -146.6 - - 2907 - - - - - - - - - - -
10052 586.5 -5.2 259 10059 roll -0.76 - - 2758 - 2.65 0.044 3745 624.2 -146.6 - - 2906 - - - - - - - - - 26.22 -
10181 593.9 -5.5 260 10189 done -0.79 - - 2758 - 2.47 0.022 2107 -663.2 -146.6 - - 2905 - - - - - - - - - 26.52 -
10531 618.4 -6.7 263 10539 roll -0.81 - - 2746 - 2.60 0.043 3736 626.5 -146.6 - - 2904 - - - - - - - - - 26.22 -
10652 626.4 -6.8 264 10659 done -0.84 - - 2746 - 2.42 0.022 2114 -670.2 -146.6 - - 2904 - - - - - - - - - 26.53 -
11011 647.5 -6.1 267 11019 roll -0.84 - - 2737 - 2.62 0.044 3744 622.1 -146.6 - - 2904 - - - - - - - - - 26.20 -
11091 647.5 -6.1 267 11098 done -0.84 - - 2734 - 2.47 0.022 2106 -663.2 -146.6 - - 2903 - - - - - - - - - 26.53 -
11492 671.5 -5.0 271 11499 roll -0.84 - - 2722 - 2.65 0.044 3748 619.6 -146.6 - - 2902 - - - - - - - - - 26.19 -
11660 678.2 -5.0 272 11664 done -0.84 - - 2722 - 2.47 0.022 2109 -663.6 -146.6 - - 2902 - - - - - - - - - 26.51 -
11963 700.4 -6.1 275 11964 done -0.84 - - 2723 - - - 2110 - -146.6 - - 2902 - - - - - - - - - - -
12322 726.1 -7.1 278 12330 roll -0.84 - - 2710 - 2.65 0.043 3754 620.4 -146.6 - - 2900 - - - - - - - - - 26.17 -
12551 734.7 -7.2 279 12555 done -0.84 - - 2710 - 2.50 0.023 2105 -659.6 -146.6 - - 2900 - - - - - - - - - 26.49 -
12913 764.5 -6.5 282 12920 roll -0.84 - - 2698 - 2.62 0.044 3739 623.7 -146.6 - - 2902 - - - - - - - - - 26.16 -
12991 764.5 -6.5 282 13000 done -0.84 0.12 0.132 2734 300.0 2.47 0.022 2099 -664.0 -146.6 - - 2899 - - - - - - - - 26.18 26.48 -
13392 789.3 -5.1 286 13400 roll -0.84 - - 2724 - 2.65 0.044 3743 620.4 -146.6 - - 2898 - - - - - - - - - 26.13 -
13612 796.0 -5.1 287 13620 done -0.84 - - 2724 - 2.47 0.022 2107 -662.3 -146.6 - - 2897 - - - - - - - - - 26.48 -
13992 828.0 -6.7 291 14000 roll -0.84 - - 2712 - 2.65 0.044 3743 617.4 -146.6 - - 2896 - - - - - - - - - 26.12 -
14093 828.0 -6.7 291 14100 done -0.84 - - 2712 - 2.45 0.022 2112 -665.7 -146.6 - - 2896 - - - - - - - - - 26.48 -
14473 861.4 -7.0 295 14480 roll -0.84 - - 2700 - 2.62 0.044 3738 620.6 -146.6 - - 2895 - - - - - - - - - 26.10 -
14641 869.4 -6.8 296 14646 done -0.84 0.12 0.132 2736 300.0 2.47 0.022 2105 -661.1 -146.6 - - 2895 - - - - - - - - 26.15 26.46 -
14945 889.2 -5.9 299 14952 roll -0.84 - - 2726 - 2.62 0.045 3739 623.7 -146.6 - - 2894 - - - - - - - - - 26.08 -
15174 896.6 -5.7 300 15183 done -0.84 - - 2725 - 2.45 0.023 2114 -663.3 -146.6 - - 2894 - - - - - - - - - 26.46 -
15544 929.2 -6.8 304 15552 roll -0.84 - - 2714 - 2.67 0.045 3750 612.7 -146.6 - - 2892 - - - - - - - - - 26.04 -
15704 938.4 -7.1 305 15711 done -0.84 - - 2713 - 2.50 0.024 2113 -654.8 -146.6 - - 2892 - - - - - - - - - 26.42 -
16024 963.9 -7.2 308 16025 done -0.84 - - 2713 - - - 2113 - -146.6 - - 2891 - - - - - - - - - - -
16384 986.3 -6.3 311 16392 roll -0.84 - - 2701 - 2.65 0.046 3738 613.2 -146.6 - - 2891 - - - - - - - - - 26.02 -
16462 end dive: TARGET_DEPTH_EXCEEDED
16462 begin apogee
16471 991.3 -6.1 315 16603 done -0.29 0.60 0.107 2903 336.7 - - 1573 - - 123.05 1.676 2319 -4.6 0.293 - - - - - - 25.63 - 23.48
16605 end apogee: CONTROL_FINISHED_OK
16607 begin climb
16609 995.9 - 322 16745 done 0.86 1.05 0.065 3277 356.2 - - 1572 - 146.6 131.20 1.652 1721 -4.6 0.293 - - - - - - 24.99 - 22.98
17084 966.7 7.3 336 17092 roll 0.71 0.17 0.142 3228 -288.2 2.65 0.037 3203 615.5 146.6 - - 1713 - - - - - - - - 25.84 26.00 -
17204 958.9 7.0 337 17212 done 0.57 0.15 0.123 3188 -266.7 2.55 0.030 1585 -634.5 146.6 - - 1713 - - - - - - - - 25.86 26.15 -
17564 939.4 5.6 340 17581 done 0.52 - - 3188 - - - 1585 - 163.4 14.15 1.538 1653 -4.2 0.276 - - - - - - - - 24.56
17924 916.7 6.1 343 17926 done 0.48 0.12 0.142 3152 -300.0 - - 1585 - 163.4 - - 1651 - - - - - - - - 26.19 - -
18284 891.6 6.8 346 18292 roll 0.48 - - 3151 - 2.58 0.037 3197 624.8 163.4 - - 1649 - - - - - - - - - 26.26 -
18473 882.2 7.2 347 18477 done 0.48 - - 3161 - 2.55 0.029 1574 -636.5 163.4 - - 1649 - - - - - - - - - 26.34 -
18875 847.1 7.5 351 18882 roll 0.50 - - 3171 - 1.98 0.049 352 -617.2 163.4 - - 1648 - - - - - - - - - 26.24 -
19107 839.1 7.2 352 19114 done 0.53 - - 3171 - 1.90 0.026 1642 678.9 163.4 - - 1647 - - - - - - - - - 26.51 -
19475 813.6 5.3 356 19503 done 0.56 - - 3171 - - - 1641 - 191.8 25.00 1.563 1537 -4.4 0.244 - - - - - - - - 24.46
19836 796.5 4.6 359 19888 roll 0.65 0.12 0.082 3239 566.7 2.62 0.037 3198 594.3 242.6 45.88 1.571 1329 -4.5 0.245 - - - - - - 26.33 25.20 23.94
20114 780.0 6.0 361 20126 done 0.65 0.15 0.135 3208 -206.7 2.60 0.031 1575 -624.2 247.9 5.22 1.235 1308 -4.0 0.271 - - - - - - 25.79 25.99 24.32
20536 745.7 7.3 365 20543 roll 0.65 - - 3216 - 2.00 0.050 351 -612.0 247.9 - - 1305 - - - - - - - - - 26.11 -
20594 745.7 7.3 365 20598 done 0.65 - - 3216 - 1.98 0.026 1651 656.6 247.9 - - 1305 - - - - - - - - - 26.36 -
21006 711.7 7.3 369 21007 done 0.65 - - 3217 - - - 1651 - 247.9 - - 1305 - - - - - - - - - - -
21366 688.2 6.6 372 21373 roll 0.65 - - 3226 - 2.12 0.050 348 -614.6 247.9 - - 1305 - - - - - - - - - 26.20 -
21416 688.2 6.6 372 21423 done 0.65 - - 3226 - 1.98 0.026 1656 660.6 247.9 - - 1304 - - - - - - - - - 26.48 -
21725 665.2 6.4 375 21727 done 0.65 - - 3226 - - - 1656 - 247.9 - - 1305 - - - - - - - - - - -
22086 640.2 6.8 378 22087 done 0.65 - - 3226 - - - 1656 - 247.9 - - 1305 - - - - - - - - - - -
22445 611.0 8.0 381 22453 roll 0.65 - - 3237 - 2.12 0.050 358 -612.3 247.9 - - 1304 - - - - - - - - - 26.19 -
22514 611.0 8.0 381 22518 done 0.65 - - 3236 - 1.95 0.026 1648 661.5 247.9 - - 1304 - - - - - - - - - 26.52 -
22916 569.9 8.8 385 22917 done 0.65 - - 3236 - - - 1648 - 247.9 - - 1306 - - - - - - - - - - -
23276 542.1 7.9 388 23277 done 0.65 - - 3236 - - - 1648 - 247.9 - - 1304 - - - - - - - - - - -
23636 518.4 6.7 391 23643 roll 0.65 - - 3246 - 2.12 0.049 351 -611.8 247.9 - - 1304 - - - - - - - - - 26.15 -
23695 518.4 6.7 391 23699 done 0.65 0.12 0.131 3209 -308.3 1.95 0.026 1654 668.2 247.9 - - 1304 - - - - - - - - 26.22 26.52 -
24048 489.5 7.0 395 24049 done 0.68 - - 3210 - - - 1654 - 247.9 - - 1304 - - - - - - - - - - -
24347 463.5 8.7 400 24354 roll 0.75 - - 3218 - 2.12 0.049 349 -615.6 247.9 - - 1304 - - - - - - - - - 26.13 -
24456 458.4 8.7 401 24466 done 0.82 0.12 0.081 3289 591.7 1.95 0.026 1650 667.2 247.9 - - 1304 - - - - - - - - 26.40 26.51 -
24768 425.8 9.0 407 24776 roll 0.75 0.17 0.122 3235 -317.6 2.45 0.037 3200 632.7 247.9 - - 1304 - - - - - - - - 26.32 26.22 -
24846 421.2 8.7 408 24854 done 0.69 - - 3246 - 2.55 0.030 1574 -637.6 247.9 - - 1305 - - - - - - - - - 26.30 -
25188 395.9 6.9 414 25195 roll 0.69 - - 3256 - 1.98 0.049 354 -616.2 247.9 - - 1305 - - - - - - - - - 26.12 -
25247 391.6 6.9 415 25255 done 0.69 0.12 0.129 3218 -316.7 1.95 0.024 1657 668.2 247.9 - - 1305 - - - - - - - - 26.20 26.51 -
25607 367.7 6.7 421 25615 roll 0.74 - - 3218 - 2.45 0.037 3201 630.2 247.9 - - 1305 - - - - - - - - - 26.22 -
25687 363.4 7.0 422 25694 done 0.79 - - 3228 - 2.53 0.028 1582 -639.9 247.9 - - 1305 - - - - - - - - - 26.31 -
26027 337.2 7.4 428 26035 roll 0.85 0.12 0.078 3312 700.0 1.98 0.049 356 -619.2 247.9 - - 1305 - - - - - - - - 26.67 26.10 -
26267 315.4 9.1 432 26275 done 0.79 0.20 0.119 3250 -310.0 1.95 0.024 1661 669.2 247.9 - - 1304 - - - - - - - - 26.04 26.51 -
26627 288.6 7.5 438 26634 roll 0.79 - - 3259 - 2.12 0.047 350 -618.4 247.9 - - 1305 - - - - - - - - - 26.12 -
26687 283.8 7.5 439 26694 done 0.79 - - 3259 - 1.95 0.024 1650 666.7 247.9 - - 1305 - - - - - - - - - 26.52 -
27047 256.3 7.7 445 27055 roll 0.79 - - 3259 - 2.47 0.037 3209 631.2 247.9 - - 1305 - - - - - - - - - 26.21 -
27097 256.3 7.7 445 27106 done 0.79 - - 3271 - 2.55 0.029 1569 -643.1 247.9 - - 1305 - - - - - - - - - 26.30 -
27407 225.9 8.4 451 27415 roll 0.79 - - 3281 - 1.98 0.047 346 -617.7 247.9 - - 1305 - - - - - - - - - 26.11 -
27487 220.7 8.4 452 27494 done 0.77 0.12 0.125 3243 -316.7 1.95 0.024 1655 671.3 247.9 - - 1305 - - - - - - - - 26.22 26.52 -
27827 195.8 6.7 458 27834 roll 0.77 - - 3252 - 2.10 0.047 356 -618.6 247.9 - - 1306 - - - - - - - - - 26.10 -
27956 187.5 6.8 460 27960 done 0.77 - - 3252 - 1.92 0.024 1647 672.4 247.9 - - 1306 - - - - - - - - - 26.52 -
28297 164.6 6.5 466 28304 roll 0.77 - - 3261 - 2.10 0.047 349 -618.1 247.9 - - 1306 - - - - - - - - - 26.11 -
28346 164.6 6.5 466 28350 done 0.77 - - 3261 - 1.95 0.024 1654 669.2 247.9 - - 1305 - - - - - - - - - 26.52 -
28648 144.2 5.6 472 28668 roll 0.79 - - 3261 - 2.47 0.037 3198 625.1 264.1 14.68 1.047 1243 -4.2 0.062 - - - - - - - 26.27 24.89
28746 138.6 6.5 474 28751 done 0.79 - - 3273 - 2.55 0.029 1574 -636.9 264.1 - - 1244 - - - - - - - - - 26.23 -
29048 112.9 7.9 484 29055 roll 0.79 - - 3283 - 1.98 0.047 350 -618.2 264.1 - - 1244 - - - - - - - - - 26.15 -
29137 105.6 8.0 487 29141 done 0.79 - - 3282 - 1.95 0.023 1651 667.2 264.1 - - 1244 - - - - - - - - - 26.46 -
29459 84.4 6.7 498 29460 done 0.79 - - 3283 - - - 1652 - 264.1 - - 1244 - - - - - - - - - - -
29758 61.5 7.8 518 29767 roll 0.79 - - 3292 - 2.10 0.047 351 -619.5 264.1 - - 1244 - - - - - - - - - 26.18 -
29829 56.1 7.8 525 29838 done 0.79 0.12 0.123 3250 -350.0 1.95 0.024 1660 671.3 264.1 - - 1244 - - - - - - - - 26.25 26.52 -
30141 33.6 7.4 556 30147 done 0.88 - - 3254 - - - 1657 - 264.1 - - 1244 - - - - - - - - - - -
30449 11.0 6.2 587 30458 roll 0.96 0.15 0.068 3355 673.3 2.12 0.046 346 -618.4 264.1 - - 1244 - - - - - - - - 26.69 26.20 -
30546 end climb: SURFACE_DEPTH_REACHED
30546 begin surface coast
30577 end surface coast: CONTROL_FINISHED_OK
30578 begin surface
SM 2.02 - - - - -8.82 8.25 0.031 153 -388.1 2.80 0.025 2186 657.1 300.00 15.18 0.134 1096 -9.7 0.015 - - - - - -