SPURS Sep12 * SG189 * Dive index * Mission links * Dive 231 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 45.03 of 150.00 AH used of 24V (69.98% remains)
• Previous NAKs 0, Timeouts 0 • 37.82 of 97.00 AH used of 10V (61.01% remains)
• Surface angle -53.6 deg, depth 1.94 m • Intended pitch -11.8 deg, speed -6.111 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 39 s
• GPS2 time: 17 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
20 begin dive
23 - - - 46 VBD -0.86 - - 151 - - - 2128 - -146.6 -21.45 - 1163 - - - - - - - - - - -
50 2.0 - 2 137 roll -0.86 9.25 0.177 2725 278.3 2.58 0.051 549 -612.0 -146.6 -66.82 - 2919 -26.3 - - - - - - - 25.70 26.04 26.60
327 19.1 -8.7 30 336 done -0.74 0.17 0.135 2768 252.9 2.50 0.025 2185 654.4 -146.6 - - 2919 - - - - - - - - 25.95 26.30 -
637 39.1 -7.4 61 638 done -0.70 - - 2768 - - - 2185 - -146.6 - - 2919 - - - - - - - - - - -
937 59.6 -7.3 91 946 roll -0.66 - - 2758 - 2.50 0.041 3752 626.8 -146.6 - - 2919 - - - - - - - - - 26.27 -
1027 66.9 -8.3 100 1036 done -0.61 0.12 0.104 2803 375.0 2.45 0.021 2096 -675.9 -146.6 - - 2919 - - - - - - - - 26.17 26.52 -
1346 89.6 -6.4 118 1354 roll -0.61 - - 2792 - 2.62 0.041 3749 630.9 -146.6 - - 2919 - - - - - - - - - 26.31 -
1467 96.0 -5.4 122 1474 done -0.61 - - 2792 - 2.42 0.021 2104 -679.8 -146.6 - - 2919 - - - - - - - - - 26.55 -
1798 112.5 -5.0 133 1804 roll -0.61 - - 2792 - 2.42 0.037 550 -642.1 -146.6 - - 2919 - - - - - - - - - 26.36 -
1846 114.3 -5.2 134 1855 done -0.61 - - 2781 - 2.47 0.024 2196 666.4 -146.6 - - 2919 - - - - - - - - - 26.52 -
2157 136.5 -7.1 145 2164 roll -0.61 - - 2769 - 2.47 0.041 3759 632.8 -146.6 - - 2919 - - - - - - - - - 26.33 -
2355 148.1 -6.2 151 2360 done -0.61 0.12 0.128 2806 308.3 2.47 0.020 2084 -678.1 -146.6 - - 2920 - - - - - - - - 26.31 26.58 -
2688 164.3 -4.6 157 2689 done -0.64 - - 2806 - - - 2084 - -146.6 - - 2919 - - - - - - - - - - -
2987 184.8 -7.1 162 2994 roll -0.69 - - 2807 - 2.40 0.037 547 -640.4 -146.6 - - 2919 - - - - - - - - - 26.39 -
3232 200.5 -6.6 166 3237 done -0.72 - - 2797 - 2.40 0.024 2191 685.0 -146.6 - - 2919 - - - - - - - - - 26.55 -
3587 215.9 -3.9 172 3595 roll -0.77 0.12 0.080 2719 -650.0 2.55 0.036 550 -643.5 -146.6 - - 2919 - - - - - - - - 26.72 26.39 -
3827 227.1 -4.7 176 3835 done -0.71 0.17 0.108 2768 288.2 2.45 0.024 2192 670.2 -146.6 - - 2919 - - - - - - - - 26.14 26.55 -
4187 243.2 -4.7 182 4195 roll -0.71 - - 2758 - 2.47 0.042 3749 630.4 -146.6 - - 2919 - - - - - - - - - 26.34 -
4428 257.2 -5.9 186 4435 done -0.71 - - 2758 - 2.42 0.021 2105 -679.3 -146.6 - - 2918 - - - - - - - - - 26.60 -
4787 276.3 -5.2 192 4794 roll -0.71 - - 2746 - 2.60 0.041 3753 633.8 -146.6 - - 2918 - - - - - - - - - 26.34 -
5028 287.4 -4.6 196 5034 done -0.71 - - 2746 - 2.40 0.021 2090 -692.9 -146.6 - - 2917 - - - - - - - - - 26.59 -
5387 303.9 -4.7 202 5394 roll -0.71 - - 2734 - 2.62 0.041 3753 634.7 -146.6 - - 2916 - - - - - - - - - 26.34 -
5629 319.9 -6.7 206 5635 done -0.68 0.15 0.122 2779 300.0 2.40 0.021 2101 -688.3 -146.6 - - 2915 - - - - - - - - 26.27 26.59 -
5987 343.5 -6.5 212 5988 done -0.73 - - 2779 - - - 2101 - -146.6 - - 2915 - - - - - - - - - - -
6288 359.9 -5.4 217 6295 roll -0.79 0.12 0.079 2705 -616.7 2.42 0.038 549 -641.3 -146.6 - - 2913 - - - - - - - - 26.72 26.37 -
6528 375.3 -6.4 221 6535 done -0.74 0.17 0.109 2755 294.1 2.45 0.025 2178 664.9 -146.6 - - 2913 - - - - - - - - 26.12 26.53 -
6887 396.5 -6.2 227 6894 roll -0.74 - - 2745 - 2.47 0.042 3743 633.6 -146.6 - - 2912 - - - - - - - - - 26.33 -
7128 414.1 -7.3 231 7134 done -0.74 - - 2745 - 2.42 0.021 2106 -676.4 -146.6 - - 2911 - - - - - - - - - 26.58 -
7487 439.3 -6.9 237 7495 roll -0.74 - - 2733 - 2.60 0.041 3749 631.9 -146.6 - - 2910 - - - - - - - - - 26.32 -
7728 454.8 -6.5 241 7734 done -0.74 - - 2733 - 2.45 0.022 2101 -672.7 -146.6 - - 2908 - - - - - - - - - 26.57 -
8087 476.5 -6.1 247 8094 roll -0.74 - - 2721 - 2.62 0.042 3747 628.2 -146.6 - - 2907 - - - - - - - - - 26.31 -
8328 492.1 -6.5 251 8335 done -0.72 0.17 0.120 2774 311.8 2.40 0.022 2104 -684.6 -146.6 - - 2907 - - - - - - - - 26.20 26.56 -
8748 512.8 -4.9 256 8755 roll -0.78 - - 2775 - 2.45 0.039 550 -634.3 -146.6 - - 2906 - - - - - - - - - 26.34 -
8906 518.4 -4.7 257 8915 done -0.85 0.12 0.077 2693 -683.3 2.50 0.024 2199 659.6 -146.6 - - 2905 - - - - - - - - 26.45 26.51 -
9227 539.5 -5.5 260 9235 roll -0.85 0.12 0.139 2718 208.3 2.45 0.043 3742 629.8 -146.6 - - 2904 - - - - - - - - 26.48 26.29 -
9336 539.5 -5.5 260 9345 done -0.85 - - 2718 - 2.45 0.021 2104 -668.6 -146.6 - - 2904 - - - - - - - - - 26.56 -
9707 576.7 -7.8 264 9714 roll -0.82 - - 2706 - 2.62 0.042 3748 627.5 -146.6 - - 2903 - - - - - - - - - 26.28 -
9949 595.0 -7.9 266 9955 done -0.79 0.15 0.127 2750 293.3 2.40 0.022 2104 -685.0 -146.6 - - 2901 - - - - - - - - 26.20 26.55 -
10306 617.4 -6.4 269 10314 roll -0.79 - - 2751 - 2.47 0.038 547 -630.4 -146.6 - - 2902 - - - - - - - - - 26.32 -
10395 617.4 -6.4 269 10400 done -0.79 - - 2741 - 2.50 0.024 2195 659.2 -146.6 - - 2901 - - - - - - - - - 26.50 -
10778 649.6 -6.8 273 10785 roll -0.83 - - 2741 - 2.60 0.038 551 -632.3 -146.6 - - 2901 - - - - - - - - - 26.29 -
11019 667.5 -7.2 275 11025 done -0.86 - - 2730 - 2.42 0.026 2192 678.1 -146.6 - - 2899 - - - - - - - - - 26.48 -
11378 691.5 -6.8 278 11385 roll -0.89 - - 2730 - 2.60 0.039 546 -633.1 -146.6 - - 2899 - - - - - - - - - 26.28 -
11618 706.9 -6.5 280 11625 done -0.89 - - 2719 - 2.47 0.025 2184 663.2 -146.6 - - 2899 - - - - - - - - - 26.48 -
11978 729.0 -6.1 283 11979 done -0.89 - - 2718 - - - 2184 - -146.6 - - 2897 - - - - - - - - - - -
12338 754.1 -6.9 286 12345 roll -0.92 - - 2719 - 2.60 0.040 551 -628.1 -146.6 - - 2897 - - - - - - - - - 26.25 -
12579 773.1 -7.5 288 12585 done -0.92 - - 2707 - 2.42 0.027 2184 674.8 -146.6 - - 2896 - - - - - - - - - 26.44 -
12937 802.6 -8.2 291 12945 roll -0.92 - - 2707 - 2.60 0.040 550 -628.5 -146.6 - - 2895 - - - - - - - - - 26.23 -
13178 821.4 -8.1 293 13185 done -0.92 - - 2695 - 2.47 0.026 2178 659.1 -146.6 - - 2894 - - - - - - - - - 26.45 -
13538 845.1 -6.9 296 13545 roll -0.89 - - 2683 - 2.50 0.044 3740 624.8 -146.6 - - 2893 - - - - - - - - - 26.17 -
13780 860.8 -6.5 298 13786 done -0.86 0.15 0.132 2726 286.7 2.40 0.024 2107 -680.4 -146.6 - - 2893 - - - - - - - - 26.11 26.48 -
14138 881.8 -5.9 301 14145 roll -0.86 - - 2723 - 2.50 0.042 546 -624.4 -146.6 - - 2892 - - - - - - - - - 26.20 -
14226 881.8 -5.9 301 14234 done -0.86 - - 2717 - 2.53 0.025 2195 651.8 -146.6 - - 2891 - - - - - - - - - 26.44 -
14618 911.0 -6.1 305 14625 roll -0.90 - - 2717 - 2.62 0.041 553 -626.7 -146.6 - - 2891 - - - - - - - - - 26.19 -
14827 919.1 -6.3 306 14834 done -0.93 - - 2705 - 2.50 0.026 2185 652.8 -146.6 - - 2890 - - - - - - - - - 26.42 -
15218 954.5 -7.4 310 15225 roll -0.96 - - 2706 - 2.60 0.041 553 -627.7 -146.6 - - 2888 - - - - - - - - - 26.15 -
15459 973.6 -7.9 312 15465 done -0.96 - - 2693 - 2.45 0.027 2193 669.4 -146.6 - - 2886 - - - - - - - - - 26.40 -
15695 end dive: TARGET_DEPTH_EXCEEDED
15695 begin apogee
15702 991.1 -7.6 314 15828 done -0.29 0.62 0.106 2910 350.0 - - 1580 - - 121.70 1.680 2319 -4.7 0.293 - - - - - - 25.70 - 23.47
15830 end apogee: CONTROL_FINISHED_OK
15831 begin climb
15833 995.8 - 320 15972 roll 0.86 1.05 0.064 3289 361.0 2.17 0.049 356 -564.1 146.6 131.05 1.645 1721 -4.6 0.295 - - - - - - 24.96 24.30 23.03
16111 983.6 8.6 332 16116 done 0.69 0.22 0.137 3225 -290.9 2.00 0.024 1651 647.5 146.6 - - 1715 - - - - - - - - 25.48 25.79 -
16514 948.4 7.8 336 16515 done 0.59 0.12 0.145 3188 -308.3 - - 1652 - 146.6 - - 1712 - - - - - - - - 26.17 - -
16874 922.6 7.3 339 16881 roll 0.54 - - 3197 - 2.10 0.049 358 -616.2 146.6 - - 1709 - - - - - - - - - 26.22 -
17003 913.9 7.2 340 17007 done 0.50 0.12 0.138 3162 -291.7 1.95 0.026 1654 664.6 146.6 - - 1708 - - - - - - - - 26.17 26.47 -
17345 892.6 6.3 343 17352 roll 0.50 - - 3161 - 2.47 0.037 3202 626.7 146.6 - - 1708 - - - - - - - - - 26.32 -
17514 885.9 5.9 344 17524 done 0.51 - - 3173 - 2.55 0.031 1580 -636.1 152.4 3.85 1.118 1698 -2.6 0.220 - - - - - - - 26.36 24.40
17825 868.3 5.0 347 17864 roll 0.55 - - 3172 - 2.70 0.036 3203 601.1 188.9 33.80 1.589 1547 -4.5 0.260 - - - - - - - 25.55 24.21
18084 855.7 5.1 349 18123 done 0.60 - - 3184 - 2.60 0.031 1573 -626.9 223.3 31.33 1.584 1408 -4.4 0.256 - - - - - - - 26.08 24.05
18535 827.0 6.0 353 18543 done 0.64 - - 3184 - - - 1573 - 227.3 3.65 1.081 1392 -4.4 0.358 - - - - - - - - 24.30
18896 802.0 6.8 356 18904 roll 0.68 0.10 0.095 3254 700.0 1.95 0.050 358 -623.1 227.3 - - 1391 - - - - - - - - 26.48 26.20 -
18984 802.0 6.8 356 18988 done 0.72 - - 3254 - 1.95 0.025 1651 663.1 227.3 - - 1391 - - - - - - - - - 26.44 -
19366 762.6 8.4 360 19374 roll 0.68 0.12 0.139 3226 -233.3 2.08 0.049 361 -620.2 227.3 - - 1390 - - - - - - - - 26.34 26.25 -
19436 762.6 8.4 360 19443 done 0.64 - - 3227 - 1.95 0.026 1666 669.2 227.3 - - 1390 - - - - - - - - - 26.49 -
19846 730.6 6.6 364 19853 roll 0.61 - - 3237 - 2.12 0.050 356 -617.9 227.3 - - 1390 - - - - - - - - - 26.25 -
20016 722.3 6.6 365 20023 done 0.58 0.17 0.122 3183 -317.6 1.95 0.026 1657 667.2 227.3 - - 1390 - - - - - - - - 26.17 26.53 -
20325 698.5 6.7 368 20333 roll 0.58 - - 3183 - 2.45 0.036 3204 631.4 227.3 - - 1390 - - - - - - - - - 26.32 -
20496 689.6 6.8 369 20503 done 0.60 - - 3193 - 2.55 0.031 1578 -637.6 227.3 - - 1390 - - - - - - - - - 26.36 -
20806 662.1 7.6 372 20814 roll 0.64 - - 3193 - 2.55 0.035 3198 635.3 227.3 - - 1390 - - - - - - - - - 26.32 -
20835 662.1 7.6 372 20842 done 0.69 - - 3205 - 2.53 0.030 1578 -640.3 227.3 - - 1389 - - - - - - - - - 26.36 -
21166 635.1 7.5 375 21167 done 0.73 - - 3205 - - - 1581 - 227.3 - - 1390 - - - - - - - - - - -
21526 609.5 7.2 378 21534 roll 0.76 0.12 0.082 3289 700.0 2.00 0.050 348 -616.5 227.3 - - 1389 - - - - - - - - 26.65 26.19 -
21645 599.4 7.4 379 21653 done 0.76 0.15 0.130 3245 -293.3 1.98 0.026 1662 663.6 227.3 - - 1389 - - - - - - - - 26.15 26.53 -
22006 572.7 7.6 382 22013 roll 0.73 - - 3254 - 2.10 0.049 359 -620.5 227.3 - - 1389 - - - - - - - - - 26.17 -
22145 562.0 7.7 383 22149 done 0.68 0.12 0.133 3217 -308.3 1.95 0.026 1658 666.2 227.3 - - 1389 - - - - - - - - 26.21 26.52 -
22477 529.8 9.1 386 22485 roll 0.68 - - 3225 - 2.12 0.049 353 -615.6 227.3 - - 1389 - - - - - - - - - 26.16 -
22606 518.2 9.3 387 22610 done 0.68 - - 3225 - 1.95 0.026 1649 664.6 227.3 - - 1389 - - - - - - - - - 26.53 -
22948 488.8 8.4 391 22955 roll 0.68 - - 3235 - 2.10 0.048 353 -617.1 227.3 - - 1389 - - - - - - - - - 26.15 -
23076 479.7 7.7 393 23080 done 0.68 - - 3236 - 1.95 0.025 1653 666.7 227.3 - - 1389 - - - - - - - - - 26.53 -
23418 457.9 6.1 399 23425 roll 0.68 - - 3241 - 2.10 0.048 356 -617.6 227.3 - - 1390 - - - - - - - - - 26.14 -
23639 446.4 6.3 402 23646 done 0.68 0.05 0.123 3223 -360.0 1.92 0.025 1654 676.0 227.3 - - 1389 - - - - - - - - 26.28 26.52 -
23958 420.8 7.4 408 23965 roll 0.71 - - 3231 - 2.10 0.048 355 -618.6 227.3 - - 1390 - - - - - - - - - 26.13 -
24038 415.7 7.8 409 24045 done 0.73 - - 3231 - 1.95 0.026 1654 666.2 227.3 - - 1388 - - - - - - - - - 26.52 -
24378 382.7 9.3 415 24385 roll 0.76 - - 3242 - 2.10 0.048 355 -618.6 227.3 - - 1389 - - - - - - - - - 26.12 -
24527 371.5 9.4 417 24531 done 0.79 - - 3242 - 1.95 0.025 1653 665.6 227.3 - - 1390 - - - - - - - - - 26.51 -
24849 344.2 7.3 423 24856 roll 0.79 - - 3251 - 2.12 0.048 351 -614.2 227.3 - - 1389 - - - - - - - - - 26.11 -
24947 340.0 7.0 424 24951 done 0.79 - - 3252 - 1.98 0.026 1650 656.1 227.3 - - 1390 - - - - - - - - - 26.51 -
25259 315.1 7.2 430 25266 roll 0.79 - - 3261 - 2.10 0.047 356 -616.2 227.3 - - 1389 - - - - - - - - - 26.11 -
25388 305.3 7.8 432 25392 done 0.79 - - 3261 - 1.95 0.025 1654 665.6 227.3 - - 1389 - - - - - - - - - 26.51 -
25730 277.8 7.8 438 25731 done 0.77 - - 3261 - - - 1654 - 227.3 - - 1390 - - - - - - - - - - -
26030 255.3 7.5 443 26037 roll 0.75 - - 3271 - 2.10 0.048 355 -618.6 227.3 - - 1390 - - - - - - - - - 26.10 -
26150 246.3 7.4 445 26157 done 0.72 0.15 0.121 3225 -306.7 1.95 0.025 1655 666.7 227.3 - - 1390 - - - - - - - - 26.15 26.51 -
26510 219.1 8.0 451 26517 roll 0.78 - - 3224 - 2.42 0.036 3197 637.2 227.3 - - 1391 - - - - - - - - - 26.22 -
26679 208.9 8.4 453 26688 done 0.83 0.10 0.090 3296 720.0 2.53 0.028 1577 -640.3 227.3 - - 1391 - - - - - - - - 26.27 26.30 -
26990 176.3 9.0 459 26992 done 0.78 0.15 0.129 3251 -300.0 - - 1576 - 227.3 - - 1391 - - - - - - - - 26.39 - -
27291 155.4 6.9 464 27292 done 0.81 - - 3252 - - - 1576 - 227.3 - - 1394 - - - - - - - - - - -
27590 134.7 6.5 472 27597 roll 0.85 - - 3259 - 2.00 0.048 348 -614.0 227.3 - - 1392 - - - - - - - - - 26.12 -
27761 125.7 6.0 477 27769 done 0.88 - - 3259 - 1.95 0.024 1648 666.7 230.0 1.60 0.395 1382 -6.2 0.212 - - - - - - - 26.53 24.12
28071 104.6 7.0 488 28077 roll 0.91 - - 3269 - 2.10 0.047 353 -616.7 230.0 - - 1382 - - - - - - - - - 26.13 -
28130 99.9 7.5 490 28137 done 0.93 - - 3269 - 1.92 0.024 1648 674.5 230.0 - - 1382 - - - - - - - - - 26.53 -
28441 73.4 8.8 501 28450 roll 0.97 0.12 0.078 3343 616.7 2.45 0.036 3202 634.3 230.0 - - 1383 - - - - - - - - 26.69 26.25 -
28670 50.6 10.2 524 28679 done 0.88 0.20 0.131 3289 -270.0 2.55 0.029 1575 -638.0 230.0 - - 1381 - - - - - - - - 25.89 26.31 -
28980 28.2 8.7 555 28988 roll 0.88 - - 3297 - 1.98 0.047 351 -618.2 230.0 - - 1384 - - - - - - - - - 26.15 -
29099 20.3 6.7 567 29108 done 0.88 - - 3297 - 1.92 0.022 1647 675.0 230.0 - - 1384 - - - - - - - - - 26.55 -
29337 end climb: SURFACE_DEPTH_REACHED
29337 begin surface coast
29368 end surface coast: CONTROL_FINISHED_OK
29368 begin surface
SM 2.10 - - - - -8.82 8.20 0.036 152 -383.5 0.80 0.032 2182 668.8 300.00 29.70 0.127 1094 -9.8 0.017 - - - - - -