SPURS Sep12 * SG189 * Dive index * Mission links * Dive 235 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 45.80 of 150.00 AH used of 24V (69.47% remains)
• Previous NAKs 0, Timeouts 0 • 38.51 of 97.00 AH used of 10V (60.30% remains)
• Surface angle -54.2 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: 36 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
21 begin dive
23 - - - 56 VBD -0.86 - - 152 - - - 2133 - -146.6 -31.08 - 1452 - - - - - - - - - - -
60 2.0 -2.2 3 130 done -0.86 9.23 0.175 2724 278.7 - - 2131 - -146.6 -57.50 - 2917 -25.5 - - - - - - - 25.69 - 26.61
428 23.7 -5.0 40 437 roll -0.76 0.12 0.142 2761 308.3 2.50 0.038 550 -632.4 -146.6 - - 2919 - - - - - - - - 26.29 26.20 -
549 30.5 -6.1 52 556 done -0.69 - - 2749 - 2.42 0.025 2189 677.3 -146.6 - - 2919 - - - - - - - - - 26.38 -
858 53.5 -8.9 83 867 roll -0.63 0.15 0.131 2784 233.3 2.47 0.042 3752 632.8 -146.6 - - 2919 - - - - - - - - 26.34 26.22 -
969 60.9 -6.2 94 976 done -0.61 - - 2784 - 2.40 0.021 2104 -686.7 -146.6 - - 2919 - - - - - - - - - 26.51 -
1278 80.9 -6.5 119 1279 done -0.59 - - 2783 - - - 2103 - -146.6 - - 2919 - - - - - - - - - - -
1577 97.5 -5.2 129 1579 done -0.59 - - 2784 - - - 2103 - -146.6 - - 2923 - - - - - - - - - - -
1877 112.6 -5.2 139 1879 done -0.59 - - 2784 - - - 2103 - -146.6 - - 2920 - - - - - - - - - - -
2178 130.0 -5.9 149 2185 roll -0.59 - - 2772 - 2.60 0.041 3747 632.3 -146.6 - - 2920 - - - - - - - - - 26.34 -
2398 142.8 -6.0 156 2406 done -0.59 0.10 0.098 2811 390.0 2.42 0.020 2098 -681.4 -146.6 - - 2920 - - - - - - - - 26.29 26.59 -
2718 162.3 -6.2 164 2719 done -0.64 - - 2811 - - - 2098 - -146.6 - - 2920 - - - - - - - - - - -
3017 183.8 -7.2 169 3026 roll -0.70 0.12 0.080 2731 -666.7 2.42 0.037 546 -641.3 -146.6 - - 2920 - - - - - - - - 26.72 26.38 -
3166 192.9 -7.3 171 3171 done -0.70 0.17 0.126 2771 235.3 2.47 0.024 2191 666.0 -146.6 - - 2920 - - - - - - - - 26.17 26.54 -
3490 209.5 -4.1 177 3497 roll -0.70 - - 2762 - 2.45 0.041 3745 634.3 -146.6 - - 2917 - - - - - - - - - 26.35 -
3618 214.0 -3.7 179 3626 done -0.70 - - 2761 - 2.45 0.021 2095 -673.5 -146.6 - - 2919 - - - - - - - - - 26.59 -
3970 233.3 -5.9 185 3977 roll -0.70 - - 2761 - 2.40 0.037 548 -644.6 -146.6 - - 2919 - - - - - - - - - 26.38 -
4029 237.4 -6.3 186 4036 done -0.70 - - 2750 - 2.47 0.024 2194 666.4 -146.6 - - 2919 - - - - - - - - - 26.53 -
4389 261.3 -6.8 192 4397 roll -0.70 - - 2738 - 2.47 0.042 3753 631.2 -146.6 - - 2918 - - - - - - - - - 26.33 -
4631 277.4 -6.7 196 4637 done -0.68 0.15 0.119 2784 306.7 2.40 0.021 2090 -692.9 -146.6 - - 2917 - - - - - - - - 26.29 26.58 -
4990 297.5 -5.7 202 4997 roll -0.73 - - 2784 - 2.40 0.037 549 -642.1 -146.6 - - 2917 - - - - - - - - - 26.38 -
5170 308.3 -5.9 205 5177 done -0.77 - - 2776 - 2.45 0.024 2183 666.9 -146.6 - - 2916 - - - - - - - - - 26.53 -
5530 331.3 -6.6 211 5537 roll -0.83 0.12 0.079 2704 -600.0 2.55 0.037 553 -639.2 -146.6 - - 2916 - - - - - - - - 26.72 26.37 -
5730 345.4 -7.6 214 5738 done -0.80 0.12 0.113 2738 283.3 2.45 0.024 2185 666.1 -146.6 - - 2915 - - - - - - - - 26.17 26.53 -
6069 369.4 -6.5 220 6077 roll -0.80 - - 2727 - 2.50 0.043 3748 625.2 -146.6 - - 2915 - - - - - - - - - 26.32 -
6311 385.6 -6.8 224 6317 done -0.77 - - 2727 - 2.45 0.021 2101 -672.2 -146.6 - - 2914 - - - - - - - - - 26.58 -
6670 410.6 -7.0 230 6677 roll -0.74 0.12 0.129 2754 225.0 2.62 0.042 3752 630.2 -146.6 - - 2913 - - - - - - - - 26.53 26.32 -
6838 419.1 -7.0 232 6847 done -0.74 - - 2754 - 2.47 0.021 2099 -669.2 -146.6 - - 2912 - - - - - - - - - 26.58 -
7150 445.8 -7.6 238 7157 roll -0.78 - - 2754 - 2.42 0.038 547 -641.3 -146.6 - - 2911 - - - - - - - - - 26.35 -
7309 455.1 -7.7 240 7316 done -0.81 - - 2744 - 2.50 0.024 2198 660.4 -146.6 - - 2910 - - - - - - - - - 26.51 -
7630 482.4 -7.5 246 7637 roll -0.83 - - 2744 - 2.60 0.037 547 -635.0 -146.6 - - 2909 - - - - - - - - - 26.34 -
7768 490.4 -6.9 248 7776 done -0.83 - - 2732 - 2.50 0.024 2198 660.4 -146.6 - - 2909 - - - - - - - - - 26.51 -
8170 513.4 -5.4 253 8177 roll -0.83 - - 2721 - 2.45 0.044 3739 629.0 -146.6 - - 2907 - - - - - - - - - 26.29 -
8410 527.8 -5.6 255 8417 done -0.83 - - 2720 - 2.42 0.021 2113 -671.9 -146.6 - - 2907 - - - - - - - - - 26.56 -
8769 553.2 -6.8 258 8777 roll -0.83 - - 2706 - 2.60 0.043 3746 628.1 -146.6 - - 2906 - - - - - - - - - 26.28 -
9011 572.0 -7.6 260 9017 done -0.81 - - 2709 - 2.40 0.023 2107 -682.9 -146.6 - - 2905 - - - - - - - - - 26.54 -
9370 599.4 -7.7 263 9378 roll -0.78 0.15 0.125 2744 233.3 2.62 0.042 3749 626.7 -146.6 - - 2905 - - - - - - - - 26.44 26.26 -
9558 606.9 -7.3 264 9562 done -0.78 - - 2744 - 2.47 0.022 2104 -666.0 -146.6 - - 2904 - - - - - - - - - 26.55 -
9961 631.3 -5.2 268 9967 roll -0.83 - - 2744 - 2.45 0.039 551 -633.9 -146.6 - - 2903 - - - - - - - - - 26.30 -
10203 643.2 -4.9 270 10208 done -0.87 - - 2733 - 2.45 0.026 2190 669.0 -146.6 - - 2902 - - - - - - - - - 26.48 -
10560 663.5 -5.5 273 10567 roll -0.91 - - 2733 - 2.60 0.039 554 -629.2 -146.6 - - 2901 - - - - - - - - - 26.28 -
10792 671.2 -5.9 274 10799 done -0.94 - - 2722 - 2.42 0.026 2189 675.6 -146.6 - - 2900 - - - - - - - - - 26.48 -
11160 701.8 -6.4 278 11168 roll -0.94 - - 2722 - 2.62 0.039 543 -628.2 -146.6 - - 2899 - - - - - - - - - 26.27 -
11369 709.7 -6.4 279 11377 done -0.94 - - 2710 - 2.55 0.026 2194 647.5 -146.6 - - 2898 - - - - - - - - - 26.46 -
11760 745.3 -7.4 283 11767 roll -0.94 - - 2710 - 2.62 0.040 548 -628.2 -146.6 - - 2898 - - - - - - - - - 26.25 -
12002 766.1 -8.3 285 12008 done -0.94 - - 2698 - 2.47 0.026 2194 666.4 -146.6 - - 2897 - - - - - - - - - 26.45 -
12360 795.0 -8.3 288 12367 roll -0.91 - - 2686 - 2.47 0.044 3743 627.1 -146.6 - - 2896 - - - - - - - - - 26.19 -
12602 811.8 -7.4 290 12608 done -0.88 0.10 0.145 2714 280.0 2.42 0.024 2097 -680.2 -146.6 - - 2895 - - - - - - - - 26.24 26.48 -
12960 833.0 -6.0 293 12968 roll -0.88 - - 2703 - 2.65 0.044 3750 623.8 -146.6 - - 2894 - - - - - - - - - 26.17 -
12999 833.0 -6.0 293 13007 done -0.88 - - 2703 - 2.50 0.023 2097 -661.2 -146.6 - - 2894 - - - - - - - - - 26.48 -
13321 856.8 -6.5 296 13327 roll -0.91 - - 2703 - 2.45 0.041 551 -631.0 -146.6 - - 2893 - - - - - - - - - 26.20 -
13489 865.1 -6.7 297 13493 done -0.91 - - 2691 - 2.50 0.026 2184 653.2 -146.6 - - 2893 - - - - - - - - - 26.42 -
13791 889.1 -6.9 300 13798 roll -0.91 - - 2679 - 2.50 0.044 3739 622.0 -146.6 - - 2892 - - - - - - - - - 26.14 -
14032 905.3 -6.8 302 14039 done -0.88 0.08 0.119 2718 487.5 2.45 0.023 2104 -667.3 -146.6 - - 2892 - - - - - - - - 26.11 26.48 -
14392 926.1 -6.0 305 14399 roll -0.88 - - 2718 - 2.47 0.041 549 -629.6 -146.6 - - 2891 - - - - - - - - - 26.17 -
14500 926.1 -6.0 305 14509 done -0.88 - - 2708 - 2.50 0.026 2186 654.8 -146.6 - - 2890 - - - - - - - - - 26.41 -
14871 952.8 -5.6 309 14879 roll -0.91 - - 2708 - 2.62 0.041 546 -626.0 -146.6 - - 2888 - - - - - - - - - 26.14 -
15114 967.5 -5.9 311 15119 done -0.94 - - 2696 - 2.47 0.027 2184 663.2 -146.6 - - 2888 - - - - - - - - - 26.39 -
15468 end dive: TARGET_DEPTH_EXCEEDED
15469 begin apogee
15475 990.2 -6.3 314 15602 done -0.29 0.60 0.098 2903 345.0 - - 1578 - - 122.80 1.676 2319 -4.6 0.292 - - - - - - 25.78 - 23.43
15603 end apogee: CONTROL_FINISHED_OK
15606 begin climb
15608 994.9 - 320 15751 roll 0.86 1.05 0.062 3287 365.7 2.17 0.050 356 -563.1 146.6 131.15 1.631 1723 -4.5 0.296 - - - - - - 24.97 24.30 22.99
15980 976.3 7.9 333 15988 done 0.69 0.22 0.136 3222 -295.5 1.98 0.025 1648 652.5 146.6 - - 1715 - - - - - - - - 25.70 26.05 -
16301 953.2 6.7 336 16303 done 0.58 0.12 0.145 3186 -300.0 - - 1650 - 146.6 - - 1714 - - - - - - - - 26.17 - -
16662 932.2 5.9 339 16672 roll 0.54 - - 3194 - 2.12 0.050 356 -610.4 152.7 5.10 1.261 1696 -3.5 0.278 - - - - - - - 26.25 24.44
16790 925.5 5.9 340 16803 done 0.51 - - 3194 - 1.98 0.026 1659 658.1 160.2 8.48 1.443 1665 -3.7 0.250 - - - - - - - 26.40 24.53
17122 907.6 5.3 343 17152 roll 0.52 - - 3204 - 2.20 0.050 355 -592.7 186.9 24.83 1.586 1557 -4.3 0.265 - - - - - - - 25.62 24.27
17292 901.7 5.1 344 17330 done 0.53 0.08 0.115 3175 -362.5 1.95 0.026 1646 662.1 220.4 30.60 1.580 1421 -4.4 0.271 - - - - - - 25.89 26.12 23.99
17712 870.7 6.4 348 17719 roll 0.55 - - 3185 - 2.10 0.050 356 -614.3 220.4 - - 1416 - - - - - - - - - 26.11 -
17820 870.7 6.4 348 17824 done 0.58 - - 3184 - 1.98 0.026 1655 656.1 220.4 - - 1415 - - - - - - - - - 26.34 -
18181 833.7 7.8 351 18189 roll 0.63 - - 3194 - 2.12 0.049 353 -614.2 220.4 - - 1414 - - - - - - - - - 26.24 -
18261 833.7 7.8 351 18268 done 0.67 - - 3194 - 1.98 0.026 1659 659.6 220.4 - - 1414 - - - - - - - - - 26.46 -
18661 798.0 7.5 355 18670 roll 0.71 0.10 0.096 3263 690.0 2.12 0.049 356 -614.6 220.4 - - 1411 - - - - - - - - 26.59 26.26 -
18700 798.0 7.5 355 18704 done 0.74 - - 3263 - 1.95 0.026 1651 664.1 220.4 - - 1413 - - - - - - - - - 26.51 -
19013 773.1 7.1 358 19020 roll 0.71 0.12 0.139 3237 -216.7 2.10 0.049 355 -617.1 220.4 - - 1413 - - - - - - - - 26.39 26.27 -
19191 765.7 6.9 359 19195 done 0.67 - - 3236 - 1.95 0.026 1649 663.6 220.4 - - 1415 - - - - - - - - - 26.53 -
19604 733.7 6.8 363 19606 done 0.63 0.12 0.135 3199 -308.3 - - 1650 - 220.4 - - 1412 - - - - - - - - 26.43 - -
19963 704.0 8.1 366 19970 roll 0.63 - - 3208 - 2.12 0.050 351 -612.7 220.4 - - 1412 - - - - - - - - - 26.22 -
20083 693.5 8.4 367 20090 done 0.63 - - 3208 - 1.98 0.026 1660 661.1 220.4 - - 1411 - - - - - - - - - 26.53 -
20444 664.0 8.3 370 20450 roll 0.66 - - 3219 - 2.10 0.049 358 -620.0 220.4 - - 1412 - - - - - - - - - 26.22 -
20562 655.4 8.0 371 20570 done 0.66 - - 3218 - 1.95 0.026 1655 665.1 220.4 - - 1411 - - - - - - - - - 26.54 -
20923 633.2 6.4 374 20930 roll 0.66 - - 3228 - 2.12 0.050 353 -614.2 220.4 - - 1411 - - - - - - - - - 26.19 -
21102 626.5 6.0 375 21106 done 0.66 - - 3228 - 1.95 0.027 1650 665.1 224.4 - - 1411 - - - - - - - - - 26.53 -
21513 594.6 6.8 379 21520 roll 0.66 - - 3238 - 2.10 0.049 356 -616.2 224.4 - - 1411 - - - - - - - - - 26.17 -
21634 584.2 7.5 380 21641 done 0.66 - - 3238 - 1.95 0.026 1653 665.1 224.4 - - 1412 - - - - - - - - - 26.53 -
21993 552.0 8.9 383 22001 roll 0.66 - - 3238 - 2.47 0.036 3208 629.6 224.4 - - 1412 - - - - - - - - - 26.26 -
22132 541.9 8.9 384 22141 done 0.66 0.12 0.137 3214 -200.0 2.55 0.030 1582 -637.6 224.4 - - 1411 - - - - - - - - 26.09 26.32 -
22474 514.1 7.8 387 22481 roll 0.66 - - 3214 - 2.55 0.035 3191 631.0 224.4 - - 1411 - - - - - - - - - 26.28 -
22674 504.3 7.8 388 22681 done 0.66 - - 3225 - 2.53 0.031 1576 -638.3 224.4 - - 1412 - - - - - - - - - 26.31 -
23015 467.6 9.0 394 23021 roll 0.69 - - 3234 - 1.98 0.050 352 -618.2 224.4 - - 1412 - - - - - - - - - 26.13 -
23214 452.0 8.8 397 23221 done 0.72 - - 3234 - 1.98 0.025 1663 662.1 224.4 - - 1411 - - - - - - - - - 26.52 -
23554 424.4 7.6 403 23561 roll 0.72 - - 3244 - 2.15 0.049 352 -609.8 224.4 - - 1412 - - - - - - - - - 26.11 -
23742 410.4 7.7 406 23746 done 0.72 - - 3244 - 1.95 0.025 1648 664.6 224.4 - - 1412 - - - - - - - - - 26.51 -
24084 380.8 8.7 412 24091 roll 0.72 - - 3254 - 2.10 0.047 355 -615.7 224.4 - - 1412 - - - - - - - - - 26.11 -
24243 369.9 9.0 414 24246 done 0.72 - - 3254 - 1.95 0.025 1654 666.2 224.4 - - 1411 - - - - - - - - - 26.51 -
24554 338.6 8.9 420 24561 roll 0.72 - - 3264 - 2.10 0.048 356 -618.1 224.4 - - 1412 - - - - - - - - - 26.10 -
24765 324.4 8.1 423 24772 done 0.69 0.10 0.106 3226 -380.0 1.92 0.025 1654 676.0 224.4 - - 1412 - - - - - - - - 26.17 26.51 -
25095 303.8 5.5 429 25122 roll 0.76 - - 3225 - 2.47 0.037 3195 623.9 243.9 20.05 1.174 1325 -4.3 0.120 - - - - - - - 26.11 24.66
25277 293.1 5.8 432 25293 done 0.82 - - 3236 - 2.50 0.030 1575 -648.0 254.1 10.48 1.107 1282 -4.1 0.116 - - - - - - - 26.15 24.63
25634 267.3 7.5 438 25642 roll 0.89 0.15 0.068 3332 640.0 2.00 0.049 352 -611.5 254.1 - - 1281 - - - - - - - - 26.42 26.08 -
25874 244.7 9.5 442 25882 done 0.83 0.20 0.121 3270 -310.0 1.95 0.024 1657 669.2 254.1 - - 1280 - - - - - - - - 26.01 26.42 -
26234 220.4 6.7 448 26242 roll 0.83 - - 3278 - 2.12 0.048 350 -616.5 254.1 - - 1281 - - - - - - - - - 26.17 -
26393 210.4 7.8 450 26397 done 0.83 - - 3279 - 1.95 0.024 1652 667.7 254.1 - - 1278 - - - - - - - - - 26.50 -
26705 179.0 9.1 456 26713 roll 0.83 - - 3289 - 2.10 0.047 356 -617.1 254.1 - - 1280 - - - - - - - - - 26.19 -
26815 174.0 8.9 457 26819 done 0.83 - - 3288 - 1.95 0.024 1660 668.7 254.1 - - 1280 - - - - - - - - - 26.53 -
27115 150.7 6.4 462 27123 roll 0.83 - - 3298 - 2.12 0.047 349 -618.4 254.1 - - 1280 - - - - - - - - - 26.20 -
27306 136.2 8.3 467 27314 done 0.80 0.12 0.126 3256 -350.0 1.95 0.024 1658 671.3 254.1 - - 1281 - - - - - - - - 26.24 26.55 -
27628 110.8 7.5 478 27634 roll 0.84 - - 3265 - 2.10 0.047 353 -621.4 254.1 - - 1280 - - - - - - - - - 26.20 -
27716 103.9 7.5 481 27723 done 0.86 - - 3265 - 1.95 0.024 1651 665.6 254.1 - - 1280 - - - - - - - - - 26.55 -
28048 81.2 7.6 492 28053 roll 0.90 - - 3275 - 2.03 0.048 354 -638.9 254.1 - - 1283 - - - - - - - - - 26.21 -
28207 66.3 9.1 502 28215 done 0.93 - - 3275 - 1.90 0.024 1645 679.5 254.1 - - 1280 - - - - - - - - - 26.56 -
28516 40.9 9.2 533 28524 roll 0.96 - - 3285 - 2.10 0.047 345 -619.0 254.1 - - 1281 - - - - - - - - - 26.20 -
28575 36.0 8.1 539 28584 done 0.96 - - 3285 - 1.95 0.023 1659 673.8 254.1 - - 1281 - - - - - - - - - 26.57 -
28886 10.6 7.7 570 28895 roll 0.98 - - 3294 - 2.10 0.047 352 -622.4 254.1 - - 1282 - - - - - - - - - 26.21 -
28973 end climb: SURFACE_DEPTH_REACHED
28973 begin surface coast
29006 end surface coast: CONTROL_FINISHED_OK
29006 begin surface
SM 1.83 - - - - -8.82 8.02 0.027 152 -391.8 2.78 0.023 2171 654.3 300.00 19.58 0.131 1093 -9.7 0.014 - - - - - -