SPURS Sep12 * SG189 * Dive index * Mission links * Dive 32 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 8.49 of 150.00 AH used of 24V (94.34% remains)
• Previous NAKs 0, Timeouts 0 • 7.65 of 97.00 AH used of 10V (92.11% remains)
• Surface angle -57.6 deg, depth 1.33 m • Intended pitch -13.6 deg, speed -6.111 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 18 s
• GPS2 time: 20 s • Transponder ping count: 6
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
21 - - - 86 VBD -0.92 - - 164 - - - 1834 - -117.3 -62.72 - 2412 - - - - - - - - - - -
88 2.3 -1.9 6 119 roll -0.92 9.55 0.216 2686 264.1 2.22 0.051 3279 650.9 -117.3 -11.35 - 2812 -35.2 - - - - - - - 26.28 26.60 26.91
346 25.8 -11.6 31 353 done -0.74 0.25 0.146 2758 288.0 2.10 0.026 1827 -691.4 -117.3 - - 2812 - - - - - - - - 26.47 26.70 -
653 53.8 -7.3 62 658 roll -0.64 0.12 0.158 2788 250.0 2.15 0.035 3278 674.9 -117.3 - - 2812 - - - - - - - - 26.60 26.72 -
769 60.6 -6.0 73 776 done -0.58 - - 2788 - 2.10 0.025 1821 -693.8 -117.3 - - 2812 - - - - - - - - - 26.76 -
1085 82.4 -8.4 101 1091 roll -0.54 0.12 0.145 2830 350.0 2.10 0.042 421 -666.7 -117.3 - - 2812 - - - - - - - - 26.66 26.74 -
1318 93.3 -3.0 112 1323 done -0.51 - - 2820 - 2.10 0.025 1889 699.0 -117.3 - - 2812 - - - - - - - - - 26.82 -
1630 100.7 -3.4 128 1635 roll -0.51 - - 2810 - 2.05 0.038 3283 680.0 -117.3 - - 2812 - - - - - - - - - 26.77 -
1861 110.2 -4.6 139 1867 done -0.51 - - 2809 - 2.12 0.025 1826 -687.3 -117.3 - - 2811 - - - - - - - - - 26.82 -
2173 127.3 -5.6 155 2175 done -0.51 - - 2810 - - - 1824 - -117.3 - - 2811 - - - - - - - - - - -
2475 143.0 -4.7 170 2480 roll -0.51 - - 2809 - 2.10 0.044 424 -666.7 -117.3 - - 2809 - - - - - - - - - 26.77 -
2592 147.6 -4.5 175 2600 done -0.49 0.15 0.135 2849 266.7 2.10 0.026 1888 697.1 -117.3 - - 2809 - - - - - - - - 26.66 26.84 -
2898 158.4 -3.7 185 2904 roll -0.53 - - 2845 - 2.22 0.044 421 -660.8 -117.3 - - 2808 - - - - - - - - - 26.76 -
3130 171.3 -6.6 190 3135 done -0.56 - - 2835 - 2.10 0.026 1887 698.1 -117.3 - - 2808 - - - - - - - - - 26.83 -
3463 191.8 -4.7 199 3468 roll -0.61 - - 2825 - 2.05 0.039 3277 678.0 -117.3 - - 2807 - - - - - - - - - 26.78 -
3694 199.1 -3.5 204 3700 done -0.65 0.10 0.103 2777 -480.0 2.10 0.026 1825 -691.4 -117.3 - - 2806 - - - - - - - - 26.76 26.81 -
4027 220.6 -6.8 213 4028 done -0.65 - - 2777 - - - 1825 - -117.3 - - 2804 - - - - - - - - - - -
4348 238.2 -4.8 221 4353 roll -0.65 - - 2777 - 2.12 0.045 417 -664.2 -117.3 - - 2803 - - - - - - - - - 26.75 -
4439 242.1 -4.6 223 4445 done -0.63 0.12 0.147 2801 200.0 2.12 0.027 1891 695.3 -117.3 - - 2802 - - - - - - - - 26.64 26.83 -
4793 255.3 -3.7 231 4795 done -0.65 - - 2801 - - - 1892 - -117.3 - - 2801 - - - - - - - - - - -
5093 267.5 -4.0 236 5094 done -0.68 - - 2801 - - - 1891 - -117.3 - - 2800 - - - - - - - - - - -
5393 283.0 -5.4 241 5398 roll -0.70 - - 2792 - 2.08 0.040 3288 671.6 -117.3 - - 2799 - - - - - - - - - 26.77 -
5516 291.4 -6.5 243 5521 done -0.73 - - 2792 - 2.12 0.027 1824 -690.6 -117.3 - - 2798 - - - - - - - - - 26.80 -
5877 316.0 -6.5 249 5879 done -0.73 - - 2792 - - - 1824 - -117.3 - - 2797 - - - - - - - - - - -
6178 331.0 -4.8 254 6180 done -0.75 0.10 0.102 2738 -540.0 - - 1824 - -117.3 - - 2795 - - - - - - - - 26.87 - -
6478 350.0 -6.5 259 6484 roll -0.72 0.12 0.145 2778 333.3 2.12 0.044 424 -660.4 -117.3 - - 2794 - - - - - - - - 26.67 26.73 -
6665 362.6 -6.8 262 6670 done -0.69 - - 2769 - 2.12 0.027 1885 689.2 -117.3 - - 2794 - - - - - - - - - 26.82 -
7022 387.2 -6.8 268 7027 roll -0.69 - - 2759 - 2.08 0.041 3276 668.8 -117.3 - - 2792 - - - - - - - - - 26.76 -
7149 395.3 -6.6 270 7154 done -0.69 - - 2758 - 2.10 0.027 1830 -688.6 -117.3 - - 2791 - - - - - - - - - 26.79 -
7506 417.9 -6.2 276 7507 done -0.69 - - 2758 - - - 1829 - -117.3 - - 2791 - - - - - - - - - - -
7806 434.9 -5.6 281 7811 roll -0.69 - - 2748 - 2.17 0.040 3278 667.7 -117.3 - - 2789 - - - - - - - - - 26.74 -
7902 438.3 -5.5 282 7907 done -0.69 - - 2748 - 2.12 0.027 1821 -687.3 -117.3 - - 2789 - - - - - - - - - 26.78 -
8229 456.3 -4.9 288 8235 roll -0.69 - - 2748 - 2.12 0.047 424 -659.0 -117.3 - - 2788 - - - - - - - - - 26.72 -
8416 466.6 -5.4 291 8422 done -0.66 0.17 0.138 2788 235.3 2.12 0.027 1886 689.6 -117.3 - - 2788 - - - - - - - - 26.57 26.80 -
8775 486.5 -5.8 297 8780 roll -0.70 - - 2779 - 2.08 0.041 3276 668.3 -117.3 - - 2788 - - - - - - - - - 26.74 -
8842 490.7 -6.1 298 8847 done -0.74 - - 2785 - 2.12 0.027 1822 -685.8 -117.3 - - 2787 - - - - - - - - - 26.77 -
9259 522.3 -7.5 303 9261 done -0.76 - - 2779 - - - 1822 - -117.3 - - 2786 - - - - - - - - - - -
9620 540.8 -5.6 306 9625 roll -0.80 0.12 0.086 2697 -683.3 2.20 0.039 3281 663.2 -117.3 - - 2785 - - - - - - - - 26.84 26.73 -
9738 540.8 -5.6 306 9745 done -0.83 0.12 0.152 2730 275.0 2.15 0.028 1827 -676.3 -117.3 - - 2785 - - - - - - - - 26.55 26.77 -
10103 565.9 -5.1 310 10108 roll -0.83 - - 2721 - 2.17 0.041 3275 667.3 -117.3 - - 2784 - - - - - - - - - 26.72 -
10255 573.3 -5.2 311 10260 done -0.80 - - 2721 - 2.12 0.028 1823 -684.9 -117.3 - - 2783 - - - - - - - - - 26.76 -
10588 599.6 -7.0 314 10590 done -0.78 0.10 0.161 2746 250.0 - - 1823 - -117.3 - - 2782 - - - - - - - - 26.70 - -
10947 625.7 -7.4 317 10952 roll -0.78 - - 2747 - 2.15 0.048 418 -653.5 -117.3 - - 2781 - - - - - - - - - 26.68 -
11023 625.7 -7.4 317 11028 done -0.78 - - 2737 - 2.15 0.028 1882 680.9 -117.3 - - 2781 - - - - - - - - - 26.78 -
11431 658.2 -6.7 321 11432 done -0.78 - - 2737 - - - 1883 - -117.3 - - 2780 - - - - - - - - - - -
11791 679.5 -6.0 324 11796 roll -0.78 - - 2737 - 2.25 0.047 421 -649.8 -117.3 - - 2778 - - - - - - - - - 26.66 -
11848 679.5 -6.0 324 11853 done -0.78 - - 2726 - 2.15 0.028 1893 684.7 -117.3 - - 2778 - - - - - - - - - 26.77 -
12155 698.9 -5.4 327 12160 roll -0.78 - - 2727 - 2.28 0.048 425 -643.9 -117.3 - - 2777 - - - - - - - - - 26.65 -
12202 698.9 -5.4 327 12208 done -0.78 0.12 0.152 2750 191.7 2.12 0.028 1883 687.7 -117.3 - - 2777 - - - - - - - - 26.53 26.77 -
12521 718.8 -5.3 330 12526 roll -0.78 - - 2742 - 2.10 0.042 3281 665.7 -117.3 - - 2777 - - - - - - - - - 26.69 -
12628 718.8 -5.3 330 12633 done -0.78 - - 2741 - 2.15 0.028 1823 -678.1 -117.3 - - 2776 - - - - - - - - - 26.72 -
13005 754.4 -7.3 334 13006 done -0.78 - - 2741 - - - 1823 - -117.3 - - 2775 - - - - - - - - - - -
13365 781.8 -7.8 337 13370 roll -0.78 - - 2741 - 2.15 0.050 425 -650.2 -117.3 - - 2774 - - - - - - - - - 26.63 -
13431 781.8 -7.8 337 13436 done -0.78 - - 2730 - 2.15 0.028 1894 683.3 -117.3 - - 2774 - - - - - - - - - 26.76 -
13849 811.2 -6.1 341 13854 roll -0.78 - - 2720 - 2.08 0.043 3274 663.5 -117.3 - - 2773 - - - - - - - - - 26.67 -
13960 811.2 -6.1 341 13966 done -0.78 0.12 0.147 2754 283.3 2.12 0.029 1832 -680.2 -117.3 - - 2773 - - - - - - - - 26.50 26.71 -
14334 838.3 -5.6 345 14339 roll -0.80 - - 2754 - 2.17 0.050 421 -650.2 -117.3 - - 2772 - - - - - - - - - 26.61 -
14421 838.3 -5.6 345 14426 done -0.83 - - 2745 - 2.15 0.028 1889 682.8 -117.3 - - 2772 - - - - - - - - - 26.74 -
14819 867.2 -6.0 349 14820 done -0.86 - - 2745 - - - 1889 - -117.3 - - 2771 - - - - - - - - - - -
15178 885.0 -5.1 352 15183 roll -0.89 - - 2745 - 2.28 0.050 424 -642.5 -117.3 - - 2769 - - - - - - - - - 26.59 -
15245 885.0 -5.1 352 15250 done -0.92 - - 2735 - 2.15 0.028 1889 681.4 -117.3 - - 2769 - - - - - - - - - 26.74 -
15663 912.8 -5.7 356 15665 done -0.95 0.12 0.086 2676 -491.7 - - 1889 - -117.3 - - 2768 - - - - - - - - 26.82 - -
16022 943.5 -8.0 359 16027 roll -0.95 - - 2676 - 2.28 0.050 427 -641.2 -117.3 - - 2768 - - - - - - - - - 26.57 -
16093 943.5 -8.0 359 16098 done -0.95 - - 2665 - 2.15 0.028 1889 680.0 -117.3 - - 2767 - - - - - - - - - 26.72 -
16506 986.7 -8.9 363 16511 roll -0.90 0.12 0.167 2703 316.7 2.28 0.048 430 -639.9 -117.3 - - 2766 - - - - - - - - 26.51 26.55 -
16593 986.7 -8.9 363 16599 done -0.85 0.12 0.158 2727 200.0 2.15 0.028 1892 680.0 -117.3 - - 2766 - - - - - - - - 26.44 26.72 -
16629 end dive: TARGET_DEPTH_EXCEEDED
16629 begin apogee
16634 996.5 -8.6 364 16730 done -0.29 0.52 0.118 2904 340.4 - - 1839 - - 91.47 1.707 2333 -4.7 0.284 - - - - - - 26.33 - 24.01
16732 end apogee: CONTROL_FINISHED_OK
16732 begin climb
16734 996.5 - 364 16844 done 0.92 1.12 0.075 3293 347.3 - - 1839 - 117.3 105.93 1.680 1851 -4.6 0.277 - - - - - - 25.14 - 23.87
17111 968.4 9.8 368 17113 done 0.80 0.15 0.155 3255 -253.3 - - 1839 - 117.3 - - 1843 - - - - - - - - 25.94 - -
17471 934.6 9.5 371 17476 roll 0.70 - - 3264 - 2.22 0.052 429 -635.1 117.3 - - 1840 - - - - - - - - - 26.30 -
17615 922.7 9.5 372 17621 done 0.61 0.22 0.138 3197 -304.5 2.17 0.028 1891 673.7 117.3 - - 1838 - - - - - - - - 26.25 26.45 -
17959 896.3 7.8 375 17960 done 0.56 - - 3197 - - - 1891 - 117.3 - - 1839 - - - - - - - - - - -
18318 872.5 6.6 378 18323 roll 0.56 - - 3208 - 2.30 0.053 434 -633.5 117.3 - - 1836 - - - - - - - - - 26.49 -
18359 872.5 6.6 378 18364 done 0.56 - - 3213 - 2.15 0.029 1884 674.4 117.3 - - 1835 - - - - - - - - - 26.60 -
18681 847.4 6.8 381 18688 roll 0.54 0.12 0.143 3176 -308.3 2.30 0.050 431 -631.7 117.3 - - 1835 - - - - - - - - 26.50 26.53 -
18729 847.4 6.8 381 18734 done 0.52 - - 3176 - 2.15 0.029 1884 675.8 117.3 - - 1834 - - - - - - - - - 26.64 -
19046 825.8 6.1 384 19048 done 0.52 - - 3176 - - - 1884 - 117.9 - - 1835 - - - - - - - - - - -
19406 804.8 5.8 387 19417 roll 0.53 - - 3176 - 2.15 0.040 3285 651.6 125.5 4.95 1.266 1819 -3.2 0.211 - - - - - - - 26.54 25.43
19473 804.8 5.8 387 19488 done 0.54 - - 3186 - 2.17 0.031 1835 -668.2 133.1 8.35 1.440 1787 -3.8 0.220 - - - - - - - 26.55 25.32
19890 770.0 7.2 391 19895 roll 0.54 - - 3197 - 2.20 0.053 435 -636.4 133.1 - - 1787 - - - - - - - - - 26.44 -
19966 770.0 7.2 391 19971 done 0.54 - - 3197 - 2.15 0.029 1883 673.5 133.1 - - 1786 - - - - - - - - - 26.54 -
20373 730.5 8.2 395 20374 done 0.54 - - 3197 - - - 1883 - 133.1 - - 1786 - - - - - - - - - - -
20733 704.5 7.4 398 20734 done 0.54 - - 3197 - - - 1883 - 133.1 - - 1786 - - - - - - - - - - -
21093 684.4 5.9 401 21103 done 0.54 - - 3197 - - - 1883 - 139.9 7.30 1.347 1758 -3.8 0.200 - - - - - - - - 25.46
21453 664.0 5.5 404 21470 done 0.56 - - 3197 - - - 1883 - 156.1 15.07 1.452 1693 -4.3 0.202 - - - - - - - - 25.17
21813 638.5 6.9 407 21818 roll 0.56 - - 3209 - 2.30 0.051 432 -630.9 156.1 - - 1693 - - - - - - - - - 26.34 -
21919 638.5 6.9 407 21924 done 0.56 - - 3209 - 2.17 0.029 1891 672.4 156.1 - - 1692 - - - - - - - - - 26.46 -
22296 603.4 7.3 411 22297 done 0.56 - - 3209 - - - 1891 - 156.1 - - 1691 - - - - - - - - - - -
22656 578.1 7.0 414 22661 roll 0.56 - - 3220 - 2.30 0.051 424 -637.8 156.1 - - 1691 - - - - - - - - - 26.53 -
22737 578.1 7.0 414 22743 done 0.56 0.12 0.132 3184 -300.0 2.15 0.028 1883 678.6 156.1 - - 1691 - - - - - - - - 26.48 26.63 -
23140 547.9 6.2 418 23146 roll 0.59 - - 3184 - 2.10 0.041 3276 663.3 156.1 - - 1691 - - - - - - - - - 26.62 -
23222 547.9 6.2 418 23227 done 0.62 - - 3193 - 2.15 0.030 1829 -673.0 156.1 - - 1692 - - - - - - - - - 26.64 -
23624 516.5 6.5 422 23625 done 0.65 - - 3193 - - - 1829 - 156.1 - - 1691 - - - - - - - - - - -
23984 494.0 6.2 425 23989 roll 0.67 - - 3193 - 2.17 0.040 3274 665.9 156.1 - - 1691 - - - - - - - - - 26.65 -
24026 494.0 6.2 425 24031 done 0.70 - - 3204 - 2.15 0.029 1826 -673.5 156.1 - - 1692 - - - - - - - - - 26.68 -
24348 467.1 7.3 431 24349 done 0.70 - - 3204 - - - 1826 - 156.1 - - 1692 - - - - - - - - - - -
24648 451.9 4.7 436 24688 roll 0.77 0.12 0.086 3289 708.3 2.25 0.050 425 -622.7 194.2 32.58 1.333 1538 -4.7 0.164 - - - - - - 26.77 25.84 25.03
24770 443.7 5.3 438 24795 done 0.80 0.12 0.141 3256 -275.0 2.20 0.028 1886 664.1 215.6 18.50 1.283 1453 -4.6 0.163 - - - - - - 25.97 26.10 24.80
25132 421.6 6.2 444 25137 roll 0.80 - - 3255 - 2.12 0.040 3273 654.2 215.6 - - 1451 - - - - - - - - - 26.22 -
25183 421.6 6.2 444 25189 done 0.80 - - 3264 - 2.17 0.030 1833 -663.6 215.6 - - 1451 - - - - - - - - - 26.27 -
25496 386.5 10.3 450 25501 roll 0.77 - - 3276 - 2.20 0.051 434 -635.9 215.6 - - 1450 - - - - - - - - - 26.36 -
25553 386.5 10.3 450 25560 done 0.74 0.12 0.137 3240 -300.0 2.15 0.028 1882 673.5 215.6 - - 1450 - - - - - - - - 26.32 26.46 -
25859 350.1 9.6 456 25860 done 0.74 - - 3240 - - - 1881 - 215.6 - - 1450 - - - - - - - - - - -
26158 322.6 9.2 461 26159 done 0.74 - - 3240 - - - 1881 - 215.6 - - 1450 - - - - - - - - - - -
26459 296.3 8.6 466 26464 roll 0.74 - - 3250 - 2.28 0.050 422 -639.9 215.6 - - 1450 - - - - - - - - - 26.54 -
26540 291.1 8.4 467 26545 done 0.74 - - 3250 - 2.15 0.028 1884 680.0 215.6 - - 1449 - - - - - - - - - 26.65 -
26882 262.5 8.0 473 26883 done 0.74 - - 3250 - - - 1884 - 215.6 - - 1449 - - - - - - - - - - -
27183 236.0 8.8 479 27184 done 0.74 - - 3250 - - - 1884 - 215.6 - - 1449 - - - - - - - - - - -
27502 209.8 8.0 487 27507 roll 0.74 - - 3250 - 2.10 0.041 3281 665.2 215.6 - - 1449 - - - - - - - - - 26.66 -
27553 206.4 8.0 488 27558 done 0.74 - - 3261 - 2.15 0.029 1830 -674.9 215.6 - - 1449 - - - - - - - - - 26.67 -
27865 178.6 8.8 496 27866 done 0.74 - - 3261 - - - 1828 - 215.6 - - 1449 - - - - - - - - - - -
28185 148.1 9.5 504 28190 roll 0.74 - - 3272 - 2.15 0.050 432 -649.3 215.6 - - 1448 - - - - - - - - - 26.65 -
28251 142.2 9.3 507 28257 done 0.74 0.12 0.134 3235 -308.3 2.12 0.027 1879 682.5 215.6 - - 1449 - - - - - - - - 26.58 26.74 -
28569 121.0 6.4 523 28574 roll 0.78 - - 3245 - 2.25 0.049 426 -645.8 215.6 - - 1450 - - - - - - - - - 26.65 -
28626 118.0 6.8 525 28632 done 0.82 - - 3245 - 2.15 0.027 1886 679.1 215.6 - - 1449 - - - - - - - - - 26.77 -
28931 92.7 8.6 541 28936 roll 0.86 - - 3256 - 2.25 0.050 428 -648.0 215.6 - - 1450 - - - - - - - - - 26.66 -
28988 89.1 8.7 543 28995 done 0.89 - - 3256 - 2.12 0.027 1884 686.8 215.6 - - 1450 - - - - - - - - - 26.75 -
29294 61.3 7.8 567 29299 roll 0.93 0.12 0.081 3332 633.3 2.08 0.037 3274 668.3 215.6 - - 1451 - - - - - - - - 26.80 26.71 -
29387 51.9 10.4 576 29393 done 0.87 0.20 0.128 3282 -250.0 2.12 0.028 1830 -681.1 215.6 - - 1452 - - - - - - - - 26.57 26.73 -
29701 30.6 7.2 607 29706 roll 0.90 - - 3282 - 2.17 0.038 3279 667.7 215.6 - - 1452 - - - - - - - - - 26.71 -
29763 25.8 7.5 613 29768 done 0.90 - - 3291 - 2.12 0.028 1828 -684.4 215.6 - - 1453 - - - - - - - - - 26.75 -
30063 end climb: SURFACE_DEPTH_REACHED
30063 begin surface coast
30096 end surface coast: CONTROL_FINISHED_OK
30096 begin surface
SM 1.72 - - - - -8.82 7.97 0.031 161 -392.7 - - 1828 - 350.04 50.38 0.132 901 -11.0 0.015 - - - - - -