SPURS Sep12 * SG189 * Dive index * Mission links * Dive 221 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 43.16 of 150.00 AH used of 24V (71.23% remains)
• Previous NAKs 0, Timeouts 0 • 36.09 of 97.00 AH used of 10V (62.80% remains)
• Surface angle -62.4 deg, depth 1.98 m • Intended pitch -11.8 deg, speed -6.111 cm/s
• No surface pump (final VBD was 316.44, SM_CC=300)
• GPS1 time: 31 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
24 - - - 47 VBD -0.86 - - 158 - - - 2134 - -146.6 -21.60 - 1740 - - - - - - - - - - -
51 2.1 - 2 111 roll -0.86 9.70 0.198 2715 263.6 2.58 0.050 537 -619.0 -146.6 -44.45 - 2918 -26.5 - - - - - - - 25.56 26.12 26.63
339 21.4 -9.1 31 349 done -0.71 0.20 0.135 2767 260.0 2.53 0.024 2195 655.3 -146.6 - - 2919 - - - - - - - - 25.87 26.32 -
649 45.7 -7.4 62 658 roll -0.67 - - 2767 - 2.58 0.037 550 -637.6 -146.6 - - 2920 - - - - - - - - - 26.23 -
769 54.8 -7.3 74 779 done -0.59 0.15 0.133 2807 266.7 2.47 0.024 2185 661.9 -146.6 - - 2920 - - - - - - - - 26.08 26.41 -
1079 71.3 -5.0 105 1080 done -0.59 - - 2807 - - - 2187 - -146.6 - - 2920 - - - - - - - - - - -
1392 89.5 -6.3 120 1397 roll -0.59 - - 2797 - 2.42 0.042 3750 645.9 -146.6 - - 2920 - - - - - - - - - 26.29 -
1468 93.5 -6.5 122 1472 done -0.59 - - 2797 - 2.45 0.020 2104 -671.8 -146.6 - - 2920 - - - - - - - - - 26.55 -
1769 111.8 -5.1 132 1770 done -0.59 - - 2797 - - - 2104 - -146.6 - - 2921 - - - - - - - - - - -
2069 128.2 -6.1 142 2077 roll -0.59 - - 2784 - 2.58 0.040 3743 635.3 -146.6 - - 2921 - - - - - - - - - 26.33 -
2309 142.7 -5.8 150 2316 done -0.59 - - 2785 - 2.45 0.021 2093 -673.5 -146.6 - - 2924 - - - - - - - - - 26.58 -
2639 161.0 -5.4 158 2647 roll -0.59 - - 2773 - 2.60 0.040 3745 635.4 -146.6 - - 2921 - - - - - - - - - 26.34 -
2808 167.6 -5.4 160 2818 done -0.59 0.12 0.129 2810 308.3 2.45 0.020 2085 -677.6 -146.6 - - 2921 - - - - - - - - 26.29 26.58 -
3120 186.5 -5.5 166 3127 roll -0.64 - - 2810 - 2.40 0.037 545 -641.7 -146.6 - - 2921 - - - - - - - - - 26.38 -
3289 192.6 -5.4 168 3297 done -0.69 - - 2800 - 2.47 0.024 2192 666.8 -146.6 - - 2921 - - - - - - - - - 26.53 -
3600 209.1 -4.7 174 3607 roll -0.72 - - 2788 - 2.45 0.041 3749 635.5 -146.6 - - 2921 - - - - - - - - - 26.34 -
3719 215.5 -5.1 176 3727 done -0.74 - - 2788 - 2.42 0.020 2104 -679.8 -146.6 - - 2921 - - - - - - - - - 26.60 -
4080 236.3 -5.9 182 4087 roll -0.77 0.10 0.095 2715 -730.0 2.60 0.040 3750 633.1 -146.6 - - 2921 - - - - - - - - 26.73 26.34 -
4261 249.7 -7.2 185 4267 done -0.74 0.15 0.128 2756 273.3 2.40 0.021 2090 -691.7 -146.6 - - 2921 - - - - - - - - 26.24 26.59 -
4619 273.3 -6.5 191 4620 done -0.74 - - 2760 - - - 2089 - -146.6 - - 2921 - - - - - - - - - - -
4919 292.1 -6.2 196 4927 roll -0.74 - - 2748 - 2.62 0.041 3746 632.4 -146.6 - - 2920 - - - - - - - - - 26.34 -
5088 299.8 -6.4 198 5092 done -0.74 - - 2748 - 2.45 0.021 2104 -670.2 -146.6 - - 2920 - - - - - - - - - 26.58 -
5390 321.6 -6.1 203 5397 roll -0.74 - - 2737 - 2.60 0.041 3745 631.2 -146.6 - - 2919 - - - - - - - - - 26.34 -
5610 332.3 -6.0 206 5617 done -0.72 0.08 0.112 2770 412.5 2.45 0.021 2090 -675.5 -146.6 - - 2918 - - - - - - - - 26.32 26.58 -
5929 351.6 -5.3 212 5937 roll -0.72 - - 2755 - 2.62 0.041 3740 629.8 -146.6 - - 2917 - - - - - - - - - 26.33 -
6171 365.6 -5.8 216 6177 done -0.72 - - 2755 - 2.40 0.021 2090 -687.5 -146.6 - - 2916 - - - - - - - - - 26.58 -
6529 386.7 -5.9 222 6537 roll -0.72 - - 2742 - 2.62 0.041 3746 632.1 -146.6 - - 2916 - - - - - - - - - 26.32 -
6771 402.6 -6.6 226 6777 done -0.72 - - 2743 - 2.45 0.022 2100 -671.8 -146.6 - - 2915 - - - - - - - - - 26.57 -
7129 426.3 -6.5 232 7137 roll -0.72 - - 2731 - 2.65 0.042 3753 623.8 -146.6 - - 2913 - - - - - - - - - 26.30 -
7358 437.4 -6.1 235 7369 done -0.72 0.12 0.128 2767 300.0 2.47 0.021 2100 -669.2 -146.6 - - 2913 - - - - - - - - 26.29 26.56 -
7669 453.9 -4.3 241 7677 roll -0.72 - - 2757 - 2.62 0.042 3752 630.5 -146.6 - - 2912 - - - - - - - - - 26.29 -
7869 462.7 -4.8 244 7877 done -0.72 - - 2756 - 2.47 0.021 2099 -669.2 -146.6 - - 2911 - - - - - - - - - 26.55 -
8210 483.4 -5.9 250 8217 roll -0.72 - - 2743 - 2.62 0.043 3743 627.5 -146.6 - - 2910 - - - - - - - - - 26.29 -
8398 495.0 -6.4 253 8406 done -0.72 - - 2745 - 2.47 0.022 2097 -666.4 -146.6 - - 2909 - - - - - - - - - 26.55 -
8749 519.8 -6.9 257 8756 roll -0.72 - - 2732 - 2.65 0.044 3745 621.9 -146.6 - - 2908 - - - - - - - - - 26.27 -
8989 537.5 -7.2 259 8997 done -0.72 0.12 0.128 2769 308.3 2.47 0.022 2101 -665.6 -146.6 - - 2907 - - - - - - - - 26.25 26.55 -
9350 561.7 -6.8 262 9351 done -0.75 - - 2773 - - - 2101 - -146.6 - - 2907 - - - - - - - - - - -
9709 587.0 -7.0 265 9711 done -0.82 0.12 0.081 2698 -625.0 - - 2101 - -146.6 - - 2906 - - - - - - - - 26.72 - -
10069 612.7 -7.2 268 10078 roll -0.82 0.12 0.136 2723 208.3 2.67 0.044 3756 619.9 -146.6 - - 2903 - - - - - - - - 26.49 26.23 -
10189 619.6 -6.8 269 10197 done -0.82 - - 2723 - 2.50 0.023 2103 -661.2 -146.6 - - 2905 - - - - - - - - - 26.53 -
10550 638.9 -5.5 272 10557 roll -0.80 - - 2711 - 2.62 0.044 3739 624.4 -146.6 - - 2907 - - - - - - - - - 26.24 -
10729 645.9 -5.4 273 10737 done -0.80 0.12 0.132 2746 291.7 2.47 0.022 2100 -663.6 -146.6 - - 2903 - - - - - - - - 26.24 26.53 -
11149 673.2 -5.7 277 11157 roll -0.80 - - 2735 - 2.65 0.044 3748 621.9 -146.6 - - 2902 - - - - - - - - - 26.22 -
11270 680.9 -5.8 278 11277 done -0.83 - - 2735 - 2.47 0.023 2101 -666.8 -146.6 - - 2902 - - - - - - - - - 26.52 -
11629 705.6 -6.8 281 11637 roll -0.87 - - 2735 - 2.45 0.040 551 -632.7 -146.6 - - 2901 - - - - - - - - - 26.27 -
11871 722.9 -7.1 283 11877 done -0.90 - - 2725 - 2.42 0.026 2184 674.8 -146.6 - - 2900 - - - - - - - - - 26.44 -
12229 748.0 -7.0 286 12237 roll -0.90 - - 2714 - 2.53 0.045 3745 617.0 -146.6 - - 2899 - - - - - - - - - 26.18 -
12378 757.3 -7.2 287 12382 done -0.90 - - 2714 - 2.47 0.024 2109 -662.3 -146.6 - - 2899 - - - - - - - - - 26.49 -
12700 785.7 -8.0 290 12708 roll -0.90 - - 2701 - 2.62 0.044 3740 622.5 -146.6 - - 2898 - - - - - - - - - 26.17 -
12941 804.8 -8.0 292 12948 done -0.90 - - 2701 - 2.45 0.024 2115 -663.3 -146.6 - - 2897 - - - - - - - - - 26.49 -
13301 828.2 -6.8 295 13308 roll -0.88 - - 2690 - 2.60 0.044 3735 623.1 -146.6 - - 2896 - - - - - - - - - 26.16 -
13460 835.5 -6.4 296 13468 done -0.86 0.12 0.138 2725 291.7 2.47 0.023 2101 -661.5 -146.6 - - 2896 - - - - - - - - 26.15 26.47 -
13781 853.2 -5.2 299 13788 roll -0.86 - - 2714 - 2.62 0.045 3736 624.0 -146.6 - - 2895 - - - - - - - - - 26.14 -
13900 859.5 -4.9 300 13908 done -0.86 - - 2714 - 2.47 0.024 2105 -660.3 -146.6 - - 2895 - - - - - - - - - 26.46 -
14261 880.1 -5.6 303 14267 roll -0.86 - - 2702 - 2.62 0.045 3739 623.7 -146.6 - - 2894 - - - - - - - - - 26.13 -
14502 896.8 -6.4 305 14508 done -0.86 - - 2702 - 2.42 0.024 2101 -676.9 -146.6 - - 2893 - - - - - - - - - 26.45 -
14860 922.2 -7.0 308 14867 roll -0.86 - - 2690 - 2.67 0.045 3753 618.7 -146.6 - - 2892 - - - - - - - - - 26.08 -
15059 930.8 -7.1 309 15068 done -0.86 0.12 0.136 2725 291.7 2.50 0.024 2110 -657.2 -146.6 - - 2892 - - - - - - - - 26.13 26.44 -
15461 960.4 -6.1 313 15462 done -0.89 - - 2725 - - - 2109 - -146.6 - - 2891 - - - - - - - - - - -
15821 981.5 -5.9 316 15828 roll -0.95 - - 2726 - 2.47 0.041 556 -628.7 -146.6 - - 2890 - - - - - - - - - 26.13 -
15941 989.5 -6.0 317 15949 done -1.00 0.08 0.054 2662 -800.0 2.50 0.027 2191 654.0 -146.6 - - 2890 - - - - - - - - 26.25 26.37 -
15957 end dive: TARGET_DEPTH_EXCEEDED
15958 begin apogee
15964 990.9 -6.2 318 16092 done -0.29 0.73 0.107 2903 330.1 0.05 0.130 1621 -11400.0 - 123.30 1.688 2320 -4.6 0.289 - - - - - - 25.58 24.64 23.47
16096 end apogee: CONTROL_FINISHED_OK
16096 begin climb
16098 996.1 - 324 16239 roll 0.86 1.05 0.063 3288 366.7 2.25 0.048 353 -563.6 146.6 131.57 1.652 1722 -4.5 0.292 - - - - - - 24.95 24.24 22.99
16429 979.8 7.7 338 16437 done 0.69 0.22 0.138 3224 -290.9 2.00 0.024 1652 649.5 146.6 - - 1714 - - - - - - - - 25.58 25.91 -
16770 957.7 6.3 341 16778 roll 0.57 0.12 0.145 3187 -308.3 2.47 0.037 3200 626.7 146.6 - - 1712 - - - - - - - - 26.14 26.17 -
16860 957.7 6.3 341 16868 done 0.46 0.17 0.132 3148 -229.4 2.55 0.030 1582 -634.5 146.6 - - 1712 - - - - - - - - 26.00 26.25 -
17250 929.0 6.0 345 17259 roll 0.47 - - 3148 - 2.55 0.036 3208 637.6 151.9 4.03 1.144 1699 -3.2 0.279 - - - - - - - 26.32 24.43
17489 913.1 6.6 347 17497 done 0.49 - - 3159 - 2.55 0.030 1581 -638.0 151.9 - - 1699 - - - - - - - - - 26.34 -
17840 888.5 6.9 350 17848 roll 0.51 - - 3159 - 2.58 0.036 3207 630.2 151.9 - - 1698 - - - - - - - - - 26.32 -
18081 873.0 6.7 352 18088 done 0.51 - - 3170 - 2.55 0.031 1575 -640.0 151.9 - - 1698 - - - - - - - - - 26.38 -
18440 852.9 5.7 355 18458 roll 0.53 - - 3180 - 1.95 0.048 348 -629.2 165.0 12.73 1.515 1647 -4.0 0.241 - - - - - - - 26.13 24.66
18671 846.5 5.5 356 18698 done 0.55 - - 3180 - 1.95 0.026 1646 665.6 185.3 19.33 1.542 1564 -4.3 0.251 - - - - - - - 26.36 24.41
19040 822.1 5.1 360 19075 done 0.60 - - 3180 - - - 1645 - 221.3 33.28 1.569 1417 -4.4 0.247 - - - - - - - - 24.11
19400 799.2 6.0 363 19408 roll 0.63 - - 3190 - 2.12 0.050 355 -608.5 223.5 - - 1412 - - - - - - - - - 26.04 -
19549 790.6 6.6 364 19557 done 0.67 - - 3190 - 1.98 0.027 1650 654.0 223.5 - - 1411 - - - - - - - - - 26.32 -
19880 763.3 7.5 367 19888 roll 0.71 0.12 0.081 3271 675.0 2.10 0.050 356 -616.2 223.5 - - 1410 - - - - - - - - 26.48 26.20 -
20029 753.3 7.7 368 20034 done 0.71 0.15 0.132 3227 -293.3 1.95 0.026 1650 663.6 223.5 - - 1410 - - - - - - - - 26.12 26.44 -
20352 729.6 7.1 371 20353 done 0.68 - - 3227 - - - 1651 - 223.5 - - 1410 - - - - - - - - - - -
20712 708.5 5.9 374 20724 roll 0.66 - - 3235 - 2.12 0.050 356 -610.8 229.8 7.43 1.337 1382 -3.8 0.213 - - - - - - - 26.29 24.69
20852 701.7 5.9 375 20865 done 0.64 - - 3235 - 1.98 0.026 1650 653.5 237.2 8.15 1.356 1352 -3.7 0.203 - - - - - - - 26.40 24.66
21173 681.0 5.9 378 21185 roll 0.61 0.12 0.137 3199 -300.0 2.53 0.038 3203 613.8 242.7 6.35 1.261 1330 -3.5 0.200 - - - - - - 26.24 26.18 24.63
21233 681.0 5.9 378 21245 done 0.59 - - 3210 - 2.58 0.031 1580 -629.1 248.3 6.80 1.287 1307 -3.4 0.191 - - - - - - - 26.19 24.53
21633 650.7 6.6 382 21640 roll 0.59 - - 3220 - 2.00 0.050 354 -613.0 248.3 - - 1306 - - - - - - - - - 26.16 -
21692 650.7 6.6 382 21697 done 0.59 0.12 0.126 3183 -308.3 1.98 0.027 1657 658.1 248.3 - - 1306 - - - - - - - - 26.15 26.39 -
22105 610.4 8.6 386 22112 roll 0.64 - - 3191 - 2.10 0.049 351 -621.9 248.3 - - 1306 - - - - - - - - - 26.23 -
22204 610.4 8.6 386 22208 done 0.70 0.10 0.094 3254 630.0 1.98 0.026 1658 660.1 248.3 - - 1306 - - - - - - - - 26.38 26.48 -
22577 573.4 7.9 390 22584 roll 0.70 - - 3254 - 2.42 0.037 3194 634.7 248.3 - - 1306 - - - - - - - - - 26.31 -
22635 573.4 7.9 390 22643 done 0.70 0.15 0.131 3222 -213.3 2.53 0.030 1582 -637.2 248.3 - - 1306 - - - - - - - - 26.13 26.37 -
23056 549.7 4.9 394 23097 done 0.75 - - 3222 - - - 1582 - 291.1 38.95 1.385 1131 -4.5 0.190 - - - - - - - - 24.36
23417 527.8 5.7 397 23434 roll 0.78 - - 3231 - 1.98 0.049 357 -618.7 303.5 11.95 1.284 1080 -4.3 0.187 - - - - - - - 25.87 24.55
23515 527.8 5.7 397 23536 done 0.82 - - 3230 - 2.00 0.025 1658 650.5 315.9 12.10 1.271 1031 -4.0 0.179 - - - - - - - 26.10 24.43
23836 490.2 9.0 401 23844 roll 0.89 0.15 0.070 3322 613.3 2.15 0.049 349 -608.8 315.9 - - 1029 - - - - - - - - 26.29 26.05 -
23896 482.8 9.8 402 23904 done 0.92 - - 3322 - 1.98 0.025 1644 654.0 315.9 - - 1029 - - - - - - - - - 26.28 -
24256 435.2 13.3 408 24265 roll 0.84 0.17 0.130 3269 -311.8 2.45 0.037 3194 632.7 315.9 - - 1029 - - - - - - - - 26.15 26.23 -
24317 427.8 13.1 409 24325 done 0.77 0.08 0.114 3250 -237.5 2.53 0.031 1580 -637.9 315.9 - - 1029 - - - - - - - - 26.09 26.29 -
24676 392.3 9.3 415 24677 done 0.77 - - 3250 - - - 1580 - 315.9 - - 1029 - - - - - - - - - - -
24976 369.9 7.3 420 24983 roll 0.77 - - 3258 - 2.00 0.050 346 -617.0 315.9 - - 1031 - - - - - - - - - 26.23 -
25135 361.8 6.8 422 25139 done 0.77 - - 3258 - 1.98 0.025 1657 662.1 315.9 - - 1028 - - - - - - - - - 26.51 -
25447 340.5 6.1 428 25454 roll 0.77 - - 3268 - 2.12 0.049 352 -615.6 317.8 - - 1028 - - - - - - - - - 26.24 -
25616 332.1 6.6 430 25620 done 0.77 - - 3268 - 1.95 0.024 1651 666.2 317.8 - - 1027 - - - - - - - - - 26.54 -
25916 306.0 7.5 435 25924 roll 0.77 - - 3278 - 2.10 0.049 355 -617.1 317.8 - - 1028 - - - - - - - - - 26.23 -
26015 300.9 7.8 436 26020 done 0.77 0.12 0.126 3240 -316.7 1.95 0.024 1654 666.2 317.8 - - 1028 - - - - - - - - 26.27 26.54 -
26328 271.0 8.7 442 26330 done 0.82 - - 3240 - - - 1653 - 317.8 - - 1028 - - - - - - - - - - -
26628 244.2 8.9 447 26636 roll 0.93 0.17 0.062 3353 664.7 2.08 0.049 362 -620.7 317.8 - - 1028 - - - - - - - - 26.65 26.23 -
26657 244.2 8.9 447 26661 done 1.03 - - 3353 - 1.92 0.025 1648 669.8 317.8 - - 1028 - - - - - - - - - 26.55 -
26979 209.0 10.1 453 26987 roll 0.93 0.17 0.136 3307 -270.6 2.45 0.037 3197 632.2 317.8 - - 1028 - - - - - - - - 26.27 26.31 -
27027 209.0 10.1 453 27037 done 0.84 0.15 0.128 3267 -266.7 2.53 0.030 1583 -637.9 317.8 - - 1028 - - - - - - - - 26.13 26.36 -
27339 178.2 8.5 459 27346 roll 0.84 - - 3276 - 1.98 0.049 350 -622.7 317.8 - - 1028 - - - - - - - - - 26.22 -
27437 172.8 8.8 460 27441 done 0.84 - - 3276 - 1.95 0.024 1651 667.2 317.8 - - 1028 - - - - - - - - - 26.55 -
27749 141.0 9.3 467 27756 roll 0.84 - - 3285 - 2.10 0.048 357 -616.2 317.8 - - 1028 - - - - - - - - - 26.21 -
27869 129.7 9.4 471 27876 done 0.84 - - 3285 - 1.92 0.024 1644 670.3 317.8 - - 1028 - - - - - - - - - 26.55 -
28199 99.4 9.1 482 28200 done 0.84 - - 3285 - - - 1643 - 317.8 - - 1028 - - - - - - - - - - -
28499 72.0 9.3 494 28508 roll 0.87 - - 3295 - 2.08 0.047 352 -620.7 317.8 - - 1029 - - - - - - - - - 26.22 -
28688 54.3 9.1 513 28692 done 0.87 - - 3295 - 1.92 0.023 1645 673.4 317.8 - - 1029 - - - - - - - - - 26.56 -
28989 28.3 8.2 543 28998 roll 0.87 - - 3304 - 2.08 0.047 356 -619.7 317.8 - - 1030 - - - - - - - - - 26.22 -
29110 17.8 8.9 555 29118 done 0.87 - - 3305 - 1.92 0.023 1649 673.4 317.8 - - 1029 - - - - - - - - - 26.58 -
29287 end climb: SURFACE_DEPTH_REACHED
29287 begin surface coast
29319 end surface coast: CONTROL_FINISHED_OK
29319 begin surface
SM 2.00 - - - - -8.83 8.15 0.032 152 -386.9 0.80 0.034 2196 683.8 316.44 - - 1030 - - - - - - - -