SPURS Sep12 * SG190 * Dive index * Mission links * Dive 242 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 101.69 of 350.00 AH used of 24V (70.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 2.23 m • Intended pitch -11.8 deg, speed -6.875 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 34 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
21 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 38 VBD -0.63 - - 138 - - - 1434 - -146.0 -11.12 - 1819 - - - - - - - - - - -
41 2.3 - 1 143 roll -0.63 11.38 0.360 2682 223.6 1.73 0.171 558 -506.4 -146.0 -80.20 - 3586 -22.0 - - - - - - - 14.26 14.25 14.73
353 22.3 -8.1 31 360 done -0.60 - - 2680 - 1.58 0.083 1447 562.7 -146.0 - - 3586 - - - - - - - - - 14.43 -
659 49.8 -9.0 62 664 roll -0.57 - - 2676 - 1.60 0.101 2322 546.9 -146.0 - - 3587 - - - - - - - - - 14.26 -
808 62.2 -8.0 76 815 done -0.57 - - 2676 - 1.65 0.120 1452 -527.3 -146.0 - - 3587 - - - - - - - - - 14.38 -
1115 85.8 -7.0 107 1121 roll -0.56 0.12 0.228 2713 308.3 1.58 0.099 2323 551.3 -146.0 - - 3587 - - - - - - - - 14.35 14.45 -
1206 90.7 -5.4 115 1214 done -0.60 - - 2713 - 1.62 0.119 1460 -532.7 -146.0 - - 3587 - - - - - - - - - 14.40 -
1512 108.9 -7.0 146 1518 roll -0.65 - - 2713 - 1.75 0.140 557 -516.0 -146.0 - - 3587 - - - - - - - - - 14.33 -
1556 112.3 -7.7 150 1562 done -0.68 0.10 0.080 2655 -580.0 1.65 0.083 1477 557.6 -146.0 - - 3587 - - - - - - - - 14.52 14.47 -
1873 141.5 -9.2 181 1878 roll -0.68 - - 2655 - 1.75 0.138 556 -526.3 -146.0 - - 3587 - - - - - - - - - 14.31 -
2020 154.4 -8.1 195 2028 done -0.65 - - 2652 - 1.60 0.085 1467 569.4 -146.0 - - 3587 - - - - - - - - - 14.47 -
2329 173.7 -5.9 226 2335 roll -0.64 0.12 0.236 2687 291.7 1.52 0.099 2315 557.9 -146.0 - - 3587 - - - - - - - - 14.38 14.42 -
2429 179.8 -6.6 235 2436 done -0.68 - - 2688 - 1.62 0.120 1457 -529.6 -146.0 - - 3587 - - - - - - - - - 14.25 -
2736 207.3 -10.2 266 2741 roll -0.72 - - 2688 - 1.73 0.138 552 -523.1 -146.0 - - 3587 - - - - - - - - - 14.39 -
2769 210.6 -10.0 269 2775 done -0.74 0.08 0.093 2639 -612.5 1.55 0.082 1418 558.7 -146.0 - - 3587 - - - - - - - - 14.49 14.50 -
3085 241.5 -8.8 300 3090 roll -0.74 - - 2638 - 1.62 0.099 2330 563.0 -146.0 - - 3587 - - - - - - - - - 14.48 -
3304 257.6 -6.9 315 3309 done -0.76 - - 2639 - 1.73 0.119 1413 -530.1 -146.0 - - 3587 - - - - - - - - - 14.42 -
3635 280.7 -7.4 326 3640 roll -0.76 - - 2639 - 1.62 0.135 551 -532.1 -146.0 - - 3586 - - - - - - - - - 14.43 -
3743 289.1 -8.5 329 3748 done -0.74 - - 2637 - 1.52 0.085 1422 573.0 -146.0 - - 3586 - - - - - - - - - 14.55 -
4064 320.7 -9.4 340 4069 roll -0.72 - - 2632 - 1.62 0.101 2323 556.2 -146.0 - - 3586 - - - - - - - - - 14.52 -
4193 331.7 -8.7 344 4199 done -0.71 - - 2632 - 1.67 0.119 1432 -533.5 -146.0 - - 3586 - - - - - - - - - 14.46 -
4524 356.2 -6.6 355 4530 roll -0.69 0.12 0.238 2664 266.7 1.60 0.100 2320 555.0 -146.0 - - 3584 - - - - - - - - 14.44 14.53 -
4583 358.3 -6.3 356 4590 done -0.67 - - 2664 - 1.67 0.121 1432 -531.7 -146.0 - - 3584 - - - - - - - - - 14.47 -
4891 378.8 -6.7 367 4896 roll -0.70 - - 2663 - 1.65 0.136 550 -534.5 -146.0 - - 3583 - - - - - - - - - 14.44 -
4994 385.5 -6.9 370 4999 done -0.72 - - 2662 - 1.55 0.083 1426 565.2 -146.0 - - 3583 - - - - - - - - - 14.56 -
5319 412.8 -8.6 381 5320 done -0.75 - - 2666 - - - 1426 - -146.0 - - 3581 - - - - - - - - - - -
5619 439.4 -9.0 391 5624 roll -0.78 - - 2662 - 1.70 0.138 554 -512.9 -146.0 - - 3580 - - - - - - - - - 14.32 -
5776 453.6 -9.1 396 5782 done -0.80 - - 2662 - 1.52 0.084 1401 557.2 -146.0 - - 3579 - - - - - - - - - 14.52 -
6107 480.2 -7.7 407 6113 roll -0.83 0.12 0.138 2596 -550.0 1.67 0.099 2322 551.5 -146.0 - - 3578 - - - - - - - - 14.69 14.51 -
6235 490.5 -8.2 411 6241 done -0.83 - - 2596 - 1.70 0.119 1418 -531.8 -146.0 - - 3578 - - - - - - - - - 14.43 -
6566 517.7 -8.2 422 6568 done -0.78 0.15 0.233 2634 253.3 - - 1418 - -146.0 - - 3577 - - - - - - - - 14.40 - -
6865 540.9 -8.1 432 6870 roll -0.76 - - 2632 - 1.67 0.104 2325 543.1 -146.0 - - 3575 - - - - - - - - - 14.49 -
6982 549.1 -8.5 435 6990 done -0.76 - - 2631 - 1.70 0.123 1429 -527.1 -146.0 - - 3575 - - - - - - - - - 14.42 -
7291 581.0 -10.1 446 7296 roll -0.77 - - 2632 - 1.67 0.142 555 -523.4 -146.0 - - 3573 - - - - - - - - - 14.38 -
7526 602.9 -9.9 453 7531 done -0.76 - - 2631 - 1.52 0.091 1407 560.5 -146.0 - - 3572 - - - - - - - - - 14.48 -
7843 631.8 -8.1 464 7844 done -0.75 - - 2631 - - - 1407 - -146.0 - - 3571 - - - - - - - - - - -
8139 654.2 -7.5 474 8140 done -0.75 - - 2632 - - - 1408 - -146.0 - - 3570 - - - - - - - - - - -
8441 676.6 -7.5 484 8446 roll -0.76 - - 2631 - 1.65 0.143 550 -520.0 -146.0 - - 3569 - - - - - - - - - 14.36 -
8543 684.3 -8.1 487 8548 done -0.76 - - 2631 - 1.55 0.090 1415 558.1 -146.0 - - 3568 - - - - - - - - - 14.48 -
8869 711.7 -8.5 498 8874 roll -0.77 - - 2631 - 1.65 0.146 555 -521.2 -146.0 - - 3567 - - - - - - - - - 14.35 -
8975 720.1 -8.6 501 8981 done -0.77 - - 2631 - 1.50 0.093 1376 547.3 -146.0 - - 3567 - - - - - - - - - 14.43 -
9297 748.7 -8.7 512 9302 roll -0.79 - - 2632 - 1.62 0.148 548 -511.1 -146.0 - - 3565 - - - - - - - - - 14.34 -
9344 752.0 -8.9 513 9349 done -0.80 - - 2632 - 1.50 0.096 1366 545.3 -146.0 - - 3565 - - - - - - - - - 14.44 -
9665 782.5 -9.3 524 9666 done -0.82 - - 2632 - - - 1367 - -146.0 - - 3563 - - - - - - - - - - -
9963 808.7 -8.5 534 9968 roll -0.83 - - 2631 - 1.62 0.155 559 -498.8 -146.0 - - 3562 - - - - - - - - - 14.26 -
9991 808.7 -8.5 534 9997 done -0.85 - - 2631 - 1.48 0.100 1356 538.5 -146.0 - - 3562 - - - - - - - - - 14.44 -
10299 834.8 -7.5 545 10301 done -0.87 - - 2631 - - - 1360 - -146.0 - - 3561 - - - - - - - - - - -
10597 855.5 -6.6 555 10598 done -0.89 - - 2631 - - - 1361 - -146.0 - - 3560 - - - - - - - - - - -
10898 873.8 -5.9 565 10903 roll -0.90 - - 2631 - 1.60 0.158 556 -503.1 -146.0 - - 3559 - - - - - - - - - 14.28 -
10991 879.8 -6.2 568 10996 done -0.90 - - 2631 - 1.48 0.105 1342 531.1 -146.0 - - 3559 - - - - - - - - - 14.38 -
11327 902.6 -7.6 579 11333 roll -0.92 0.12 0.162 2582 -408.3 1.85 0.116 2320 528.6 -146.0 - - 3557 - - - - - - - - 14.53 14.38 -
11460 914.0 -9.0 583 11465 done -0.92 - - 2582 - 1.88 0.132 1357 -512.2 -146.0 - - 3557 - - - - - - - - - 14.36 -
11786 950.4 -11.6 594 11791 roll -0.88 - - 2579 - 1.85 0.122 2320 520.5 -146.0 - - 3555 - - - - - - - - - 14.36 -
11891 961.2 -11.5 597 11896 done -0.83 0.15 0.238 2616 246.7 1.85 0.132 1370 -513.5 -146.0 - - 3555 - - - - - - - - 14.25 14.34 -
12183 end dive: TARGET_DEPTH_EXCEEDED
12183 begin apogee
12190 992.8 -9.9 607 12337 roll -0.23 0.68 0.203 2811 286.8 - - 1636 - - 137.27 1.850 2986 -4.1 0.433 - - - - - - 14.26 - 13.32
12339 end apogee: CONTROL_FINISHED_OK
12339 begin climb
12341 1002.5 - 612 12498 roll 0.63 0.82 0.110 3093 343.9 1.85 0.161 756 -475.7 146.0 146.02 1.837 2389 -4.1 0.434 - - - - - - 14.12 14.06 13.28
12712 992.1 6.6 624 12721 done 0.57 - - 3093 - 1.65 0.110 1639 535.2 154.5 2.30 0.480 2358 -13.5 5.423 - - - - - - - 14.36 13.29
13032 970.0 6.6 635 13052 roll 0.52 0.12 0.294 3062 -258.3 1.73 0.132 2523 511.0 161.6 14.12 1.707 2325 -2.3 0.259 - - - - - - 14.26 14.52 13.76
13167 961.9 6.4 639 13188 done 0.50 - - 3068 - 1.70 0.138 1650 -513.5 176.0 15.55 1.720 2270 -3.5 0.385 - - - - - - - 14.40 13.72
13488 941.2 6.1 650 13521 roll 0.48 - - 3069 - 1.83 0.169 755 -489.1 199.8 25.25 1.758 2170 -4.0 0.413 - - - - - - - 14.40 13.73
13593 935.4 6.1 653 13625 done 0.47 - - 3069 - 1.65 0.109 1641 537.0 222.5 24.75 1.737 2075 -3.8 0.402 - - - - - - - 14.39 13.61
13944 911.4 6.7 665 13950 roll 0.48 - - 3069 - 1.73 0.129 2522 509.2 229.4 1.62 0.181 2051 -14.8 14.523 - - - - - - - 14.43 14.40
13997 908.9 6.8 666 14003 done 0.48 0.12 0.285 3048 -175.0 1.73 0.142 1641 -509.2 231.3 - - 2055 - - - - - - - - 14.31 14.40 -
14315 887.7 6.3 677 14346 roll 0.50 - - 3048 - 1.67 0.125 2531 532.9 248.5 26.17 1.738 1971 -3.2 0.319 - - - - - - - 14.48 13.74
14576 871.8 6.4 685 14600 done 0.54 - - 3052 - 1.65 0.138 1687 -511.5 264.0 17.05 1.680 1907 -3.8 0.379 - - - - - - - 14.36 13.74
14919 848.8 6.3 697 14942 roll 0.58 - - 3056 - 1.90 0.168 757 -489.5 281.4 18.33 1.685 1837 -3.8 0.375 - - - - - - - 14.45 13.76
14984 844.7 6.6 699 15003 done 0.61 - - 3056 - 1.83 0.109 1731 532.2 291.4 10.95 1.590 1798 -3.6 0.368 - - - - - - - 14.40 13.67
15313 822.6 6.7 710 15318 roll 0.64 0.12 0.145 3110 450.0 1.95 0.164 758 -499.0 296.0 - - 1790 - - - - - - - - 14.55 14.36 -
15502 807.5 8.2 716 15508 done 0.62 - - 3110 - 1.92 0.108 1782 533.3 296.0 - - 1790 - - - - - - - - - 14.46 -
15833 779.9 8.2 727 15839 roll 0.60 - - 3113 - 2.05 0.164 758 -499.5 296.0 - - 1789 - - - - - - - - - 14.35 -
15996 766.9 8.3 732 16001 done 0.58 0.15 0.261 3078 -233.3 1.88 0.105 1766 536.2 296.0 - - 1789 - - - - - - - - 14.30 14.46 -
16322 740.8 7.9 743 16323 done 0.59 - - 3078 - - - 1766 - 296.0 - - 1788 - - - - - - - - - - -
16619 716.6 8.1 753 16624 roll 0.59 - - 3078 - 1.42 0.114 2525 534.5 296.0 - - 1788 - - - - - - - - - 14.30 -
16677 713.8 8.2 754 16683 done 0.59 - - 3083 - 1.45 0.123 1771 -520.0 296.0 - - 1787 - - - - - - - - - 14.37 -
16983 685.5 8.7 765 16988 roll 0.59 - - 3091 - 2.00 0.145 752 -509.5 296.0 - - 1787 - - - - - - - - - 14.35 -
17109 674.3 9.0 769 17114 done 0.59 - - 3091 - 1.88 0.096 1764 538.3 296.0 - - 1788 - - - - - - - - - 14.44 -
17444 646.3 7.8 780 17449 roll 0.59 - - 3099 - 1.98 0.145 755 -509.6 296.0 - - 1787 - - - - - - - - - 14.32 -
17636 632.1 7.6 786 17642 done 0.58 - - 3099 - 1.83 0.093 1757 547.5 296.0 - - 1787 - - - - - - - - - 14.40 -
17962 609.3 6.8 797 17973 roll 0.58 - - 3107 - 1.98 0.145 755 -506.1 299.8 2.65 0.666 1766 -7.9 1.411 - - - - - - - 14.54 13.52
18130 598.1 7.1 802 18136 done 0.56 0.12 0.260 3077 -250.0 1.77 0.093 1728 549.7 299.8 1.80 0.180 1767 - - - - - - - - 14.31 14.47 14.42
18450 575.9 6.8 813 18455 done 0.58 - - 3077 - - - 1728 - 302.4 3.08 0.837 1757 -3.2 0.435 - - - - - - - - 13.69
18752 553.4 7.9 823 18762 roll 0.59 - - 3077 - 1.48 0.109 2525 538.5 302.4 2.58 0.612 1759 - - - - - - - - - 14.63 13.59
18876 542.9 8.4 827 18882 done 0.60 - - 3082 - 1.50 0.117 1747 -518.7 302.4 2.15 0.340 1756 -1.4 0.434 - - - - - - - 14.41 13.55
19210 515.4 8.0 838 19217 roll 0.62 - - 3082 - 1.48 0.112 2525 525.7 302.4 2.22 0.389 1756 - - - - - - - - - 14.63 13.58
19254 512.7 7.9 839 19260 done 0.63 - - 3088 - 1.48 0.120 1752 -522.3 302.4 1.27 0.203 1756 - - - - - - - - - 14.45 14.47
19580 487.2 7.6 850 19591 roll 0.63 - - 3095 - 1.92 0.136 755 -519.3 302.4 2.10 0.295 1757 - - - - - - - - - 14.53 13.52
19743 475.4 7.6 855 19750 done 0.63 - - 3095 - 1.80 0.090 1745 550.0 302.4 1.85 0.181 1755 - - - - - - - - - 14.50 14.41
20069 452.0 6.8 866 20079 roll 0.63 - - 3103 - 1.92 0.138 754 -516.1 304.4 3.20 0.812 1752 -0.9 0.102 - - - - - - - 14.61 13.78
20262 438.9 7.1 872 20273 done 0.62 - - 3103 - 1.75 0.090 1722 553.1 304.4 2.72 0.646 1748 -1.5 0.195 - - - - - - - 14.50 13.66
20588 413.1 8.3 883 20597 roll 0.62 - - 3110 - 1.88 0.135 756 -513.8 304.4 2.15 0.330 1750 - - - - - - - - - 14.54 13.61
20720 401.7 9.2 887 20726 done 0.60 - - 3110 - 1.73 0.087 1700 545.7 304.4 2.00 0.163 1747 -1.5 0.720 - - - - - - - 14.48 12.59
21047 372.0 8.6 898 21054 roll 0.59 - - 3117 - 1.88 0.135 753 -503.7 304.4 1.85 0.171 1749 - - - - - - - - - 14.44 14.41
21162 363.8 8.4 901 21169 done 0.58 0.15 0.248 3080 -246.7 1.70 0.090 1694 553.5 304.4 1.85 0.177 1749 - - - - - - - - 14.32 14.50 14.40
21477 338.6 7.8 912 21483 roll 0.59 - - 3080 - 1.58 0.106 2532 530.4 304.4 2.15 0.322 1748 - - - - - - - - - 14.55 13.60
21531 335.7 8.0 913 21537 done 0.61 - - 3086 - 1.58 0.119 1696 -529.1 304.4 1.55 0.188 1748 - - - - - - - - - 14.48 14.46
21848 305.9 9.4 924 21852 done 0.61 - - 3087 - - - 1696 - 304.4 2.15 0.318 1747 - - - - - - - - - - 13.64
22145 281.0 7.7 934 22155 roll 0.61 - - 3093 - 1.88 0.146 749 -503.7 304.4 2.05 0.239 1752 2.4 -0.558 - - - - - - - 14.52 13.23
22278 271.4 7.7 938 22285 done 0.61 - - 3093 - 1.75 0.089 1704 545.7 304.4 2.00 0.155 1748 -2.0 0.682 - - - - - - - 14.47 12.76
22593 246.1 8.0 950 22602 done 0.61 - - 3092 - - - 1704 - 304.4 2.15 0.309 1750 - - - - - - - - - - 13.66
22903 222.4 7.7 981 22912 done 0.61 - - 3093 - - - 1704 - 304.4 2.15 0.309 1750 - - - - - - - - - - 13.66
23214 197.6 8.2 1012 23220 roll 0.61 - - 3093 - 1.58 0.109 2533 524.7 304.4 1.92 0.168 1748 - - - - - - - - - 14.47 14.35
23301 190.8 8.1 1020 23309 done 0.61 - - 3098 - 1.58 0.125 1705 -524.1 304.4 1.75 0.177 1748 - - - - - - - - - 14.40 14.38
23610 167.2 7.0 1051 23616 roll 0.61 - - 3098 - 1.58 0.110 2533 524.1 304.4 2.08 0.259 1748 - - - - - - - - - 14.51 13.47
23699 161.1 7.0 1059 23706 done 0.61 - - 3104 - 1.55 0.123 1719 -525.2 304.4 1.75 0.174 1746 - - - - - - - - - 14.30 14.41
24010 141.2 6.5 1090 24035 roll 0.61 - - 3109 - 1.85 0.142 752 -522.7 317.1 20.55 0.962 1691 -2.7 0.076 - - - - - - - 14.54 14.04
24139 132.0 7.6 1102 24145 done 0.61 - - 3109 - 1.75 0.090 1718 552.0 317.1 - - 1687 - - - - - - - - - 14.38 -
24446 106.1 8.6 1133 24451 roll 0.62 - - 3109 - 1.90 0.148 752 -508.4 317.1 - - 1687 - - - - - - - - - 14.33 -
24551 96.9 8.4 1143 24556 done 0.62 - - 3109 - 1.75 0.092 1709 546.9 317.1 - - 1686 - - - - - - - - - 14.40 -
24864 72.6 7.1 1174 24869 roll 0.62 - - 3110 - 1.90 0.149 750 -504.7 317.1 - - 1687 - - - - - - - - - 14.33 -
24947 66.9 6.8 1182 24952 done 0.63 - - 3110 - 1.75 0.090 1709 548.0 318.6 - - 1687 - - - - - - - - - 14.42 -
25263 43.9 7.8 1213 25268 roll 0.64 - - 3110 - 1.90 0.148 749 -505.3 318.6 - - 1687 - - - - - - - - - 14.28 -
25326 38.4 8.4 1219 25331 done 0.64 - - 3110 - 1.73 0.089 1699 549.1 318.6 - - 1687 - - - - - - - - - 14.44 -
25639 15.0 7.8 1250 25644 roll 0.64 - - 3109 - 1.85 0.147 756 -509.7 318.6 - - 1688 - - - - - - - - - 14.28 -
25793 3.3 8.8 1265 25799 done 0.64 - - 3110 - 1.67 0.090 1682 554.5 318.6 - - 1688 - - - - - - - - - 14.42 -
25804 end climb: SURFACE_DEPTH_REACHED
25805 begin surface coast
25837 end surface coast: CONTROL_FINISHED_OK
25837 begin surface
SM 2.55 - - - - -8.55 8.40 0.061 132 -354.5 0.52 0.171 1442 -461.5 350.04 14.48 0.127 1561 -8.8 0.018 - - - - - -