SPURS Sep12 * SG189 * Dive index * Mission links * Dive 37 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 9.31 of 150.00 AH used of 24V (93.79% remains)
• Previous NAKs 0, Timeouts 0 • 8.53 of 97.00 AH used of 10V (91.21% remains)
• Surface angle -53.4 deg, depth 1.56 m • Intended pitch -13.6 deg, speed -6.111 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 42 s
• GPS2 time: 17 s • Transponder ping count: 17
• 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 - - - 65 VBD -0.92 - - 162 - - - 1880 - -117.3 -41.80 - 2151 - - - - - - - - - - -
68 2.0 -1.5 4 108 roll -0.92 9.75 0.219 2702 260.5 2.30 0.054 423 -633.5 -117.3 -20.02 - 2813 -33.1 - - - - - - - 25.98 26.27 26.65
334 30.0 -10.8 30 341 done -0.72 0.25 0.157 2762 240.0 2.15 0.026 1892 683.3 -117.3 - - 2814 - - - - - - - - 26.18 26.48 -
641 57.2 -8.6 61 646 roll -0.63 0.12 0.155 2801 325.0 2.25 0.041 420 -654.2 -117.3 - - 2815 - - - - - - - - 26.42 26.51 -
875 72.2 -6.0 84 880 done -0.57 - - 2793 - 2.12 0.026 1882 689.6 -117.3 - - 2815 - - - - - - - - - 26.63 -
1187 88.4 -6.1 102 1193 roll -0.54 0.12 0.148 2836 358.3 2.22 0.041 419 -659.0 -117.3 - - 2817 - - - - - - - - 26.54 26.60 -
1419 103.3 -7.0 113 1424 done -0.54 - - 2826 - 2.12 0.026 1887 692.5 -117.3 - - 2818 - - - - - - - - - 26.71 -
1731 117.0 -3.3 129 1736 roll -0.54 - - 2826 - 2.22 0.043 419 -661.3 -117.3 - - 2818 - - - - - - - - - 26.65 -
1963 128.9 -5.8 140 1968 done -0.54 - - 2815 - 2.12 0.026 1890 693.9 -117.3 - - 2817 - - - - - - - - - 26.74 -
2275 147.2 -6.0 156 2276 done -0.54 - - 2815 - - - 1890 - -117.3 - - 2818 - - - - - - - - - - -
2575 164.8 -5.7 165 2580 roll -0.54 - - 2808 - 2.05 0.039 3277 676.6 -117.3 - - 2817 - - - - - - - - - 26.72 -
2806 176.3 -5.7 170 2811 done -0.54 - - 2805 - 2.10 0.025 1824 -691.9 -117.3 - - 2817 - - - - - - - - - 26.76 -
3138 195.8 -5.6 179 3143 roll -0.54 - - 2794 - 2.17 0.038 3283 672.4 -117.3 - - 2818 - - - - - - - - - 26.72 -
3270 202.9 -5.8 182 3276 done -0.54 0.10 0.145 2822 280.0 2.12 0.025 1816 -692.0 -117.3 - - 2818 - - - - - - - - 26.61 26.77 -
3584 216.1 -3.7 190 3585 done -0.58 - - 2822 - - - 1816 - -117.3 - - 2817 - - - - - - - - - - -
3903 231.9 -5.4 198 3908 roll -0.62 - - 2823 - 2.10 0.044 425 -662.4 -117.3 - - 2817 - - - - - - - - - 26.72 -
4100 241.7 -6.0 202 4107 done -0.64 - - 2814 - 2.12 0.026 1896 693.9 -117.3 - - 2816 - - - - - - - - - 26.79 -
4406 258.6 -4.6 209 4407 done -0.68 - - 2813 - - - 1896 - -117.3 - - 2815 - - - - - - - - - - -
4706 270.1 -3.8 214 4712 roll -0.71 0.12 0.081 2737 -633.3 2.25 0.042 418 -656.9 -117.3 - - 2814 - - - - - - - - 26.84 26.70 -
4764 270.1 -3.8 214 4771 done -0.75 0.12 0.152 2760 191.7 2.12 0.026 1886 692.5 -117.3 - - 2814 - - - - - - - - 26.58 26.79 -
5069 292.3 -6.1 220 5074 roll -0.73 - - 2751 - 2.08 0.041 3280 670.2 -117.3 - - 2814 - - - - - - - - - 26.72 -
5132 296.3 -6.2 221 5137 done -0.71 - - 2751 - 2.12 0.026 1818 -689.6 -117.3 - - 2814 - - - - - - - - - 26.77 -
5494 321.6 -7.0 227 5496 done -0.68 - - 2751 - - - 1817 - -117.3 - - 2812 - - - - - - - - - - -
5795 342.7 -7.0 232 5801 roll -0.66 0.12 0.143 2792 341.7 2.12 0.044 418 -659.9 -117.3 - - 2812 - - - - - - - - 26.63 26.70 -
5996 354.4 -6.5 235 6001 done -0.66 - - 2782 - 2.12 0.027 1884 691.5 -117.3 - - 2811 - - - - - - - - - 26.78 -
6338 377.9 -6.5 241 6339 done -0.66 - - 2783 - - - 1884 - -117.3 - - 2810 - - - - - - - - - - -
6638 397.2 -6.4 246 6644 roll -0.66 - - 2772 - 2.08 0.041 3274 668.3 -117.3 - - 2809 - - - - - - - - - 26.72 -
6739 400.8 -6.1 247 6744 done -0.66 - - 2772 - 2.10 0.026 1828 -688.6 -117.3 - - 2809 - - - - - - - - - 26.77 -
7062 419.5 -5.1 253 7067 roll -0.66 - - 2772 - 2.12 0.045 429 -659.9 -117.3 - - 2808 - - - - - - - - - 26.70 -
7143 422.6 -4.9 254 7148 done -0.66 - - 2761 - 2.12 0.027 1893 690.6 -117.3 - - 2808 - - - - - - - - - 26.78 -
7485 439.1 -4.6 260 7486 done -0.66 - - 2762 - - - 1893 - -117.3 - - 2807 - - - - - - - - - - -
7785 456.2 -5.8 265 7790 roll -0.66 - - 2762 - 2.25 0.045 421 -654.2 -117.3 - - 2806 - - - - - - - - - 26.68 -
7932 464.0 -6.1 267 7938 done -0.66 0.12 0.147 2786 200.0 2.12 0.027 1883 689.6 -117.3 - - 2806 - - - - - - - - 26.57 26.77 -
8271 480.5 -4.4 273 8277 roll -0.69 - - 2777 - 2.08 0.041 3274 668.8 -117.3 - - 2805 - - - - - - - - - 26.71 -
8328 480.5 -4.4 273 8335 done -0.73 - - 2777 - 2.12 0.027 1820 -685.8 -117.3 - - 2804 - - - - - - - - - 26.75 -
8635 497.5 -4.7 279 8640 roll -0.75 - - 2777 - 2.12 0.046 424 -658.5 -117.3 - - 2803 - - - - - - - - - 26.67 -
8686 497.5 -4.7 279 8691 done -0.78 - - 2767 - 2.12 0.027 1887 690.1 -117.3 - - 2803 - - - - - - - - - 26.77 -
9058 520.4 -5.3 283 9064 roll -0.78 - - 2767 - 2.25 0.045 417 -653.3 -117.3 - - 2802 - - - - - - - - - 26.67 -
9175 520.4 -5.3 283 9182 done -0.78 - - 2757 - 2.15 0.027 1884 682.3 -117.3 - - 2802 - - - - - - - - - 26.77 -
9540 554.4 -7.1 287 9546 roll -0.78 - - 2757 - 2.25 0.046 416 -652.4 -117.3 - - 2801 - - - - - - - - - 26.66 -
9626 554.4 -7.1 287 9632 done -0.78 - - 2746 - 2.15 0.027 1893 687.0 -117.3 - - 2801 - - - - - - - - - 26.77 -
10024 583.3 -5.9 291 10025 done -0.78 - - 2748 - - - 1895 - -117.3 - - 2800 - - - - - - - - - - -
10384 601.4 -4.9 294 10385 done -0.78 - - 2746 - - - 1893 - -117.3 - - 2799 - - - - - - - - - - -
10743 624.5 -6.3 297 10749 roll -0.78 - - 2736 - 2.08 0.042 3274 663.9 -117.3 - - 2798 - - - - - - - - - 26.68 -
10819 624.5 -6.3 297 10824 done -0.78 - - 2736 - 2.12 0.028 1826 -683.0 -117.3 - - 2798 - - - - - - - - - 26.74 -
11226 657.5 -6.8 301 11231 roll -0.78 - - 2733 - 2.15 0.047 422 -653.0 -117.3 - - 2797 - - - - - - - - - 26.65 -
11368 666.8 -6.9 302 11373 done -0.78 - - 2726 - 2.15 0.028 1893 684.2 -117.3 - - 2796 - - - - - - - - - 26.75 -
11710 695.0 -7.8 305 11711 done -0.78 - - 2726 - - - 1893 - -117.3 - - 2795 - - - - - - - - - - -
12070 719.0 -6.9 308 12075 roll -0.78 - - 2716 - 2.08 0.043 3273 663.5 -117.3 - - 2794 - - - - - - - - - 26.67 -
12161 719.0 -6.9 308 12167 done -0.78 0.12 0.142 2750 283.3 2.12 0.028 1827 -682.1 -117.3 - - 2794 - - - - - - - - 26.52 26.72 -
12554 741.5 -4.6 312 12559 roll -0.78 - - 2750 - 2.15 0.047 427 -651.2 -117.3 - - 2793 - - - - - - - - - 26.63 -
12750 746.4 -4.2 313 12755 done -0.78 - - 2742 - 2.15 0.028 1891 680.9 -117.3 - - 2793 - - - - - - - - - 26.74 -
13158 766.4 -4.2 317 13159 done -0.78 - - 2741 - - - 1890 - -117.3 - - 2791 - - - - - - - - - - -
13518 787.9 -5.6 320 13519 done -0.78 - - 2741 - - - 1890 - -117.3 - - 2791 - - - - - - - - - - -
13878 813.2 -7.0 323 13883 roll -0.78 - - 2731 - 2.10 0.043 3280 661.9 -117.3 - - 2789 - - - - - - - - - 26.65 -
13933 813.2 -7.0 323 13939 done -0.78 - - 2731 - 2.15 0.028 1823 -677.7 -117.3 - - 2790 - - - - - - - - - 26.71 -
14241 837.0 -6.7 326 14246 roll -0.78 - - 2731 - 2.15 0.049 428 -648.8 -117.3 - - 2788 - - - - - - - - - 26.60 -
14356 837.0 -6.7 326 14363 done -0.78 - - 2721 - 2.12 0.028 1882 685.8 -117.3 - - 2788 - - - - - - - - - 26.73 -
14723 868.8 -6.5 330 14724 done -0.78 - - 2721 - - - 1882 - -117.3 - - 2788 - - - - - - - - - - -
15082 895.6 -7.3 333 15084 done -0.78 - - 2717 - - - 1882 - -117.3 - - 2787 - - - - - - - - - - -
15442 923.6 -7.7 336 15448 roll -0.78 - - 2721 - 2.25 0.049 431 -644.9 -117.3 - - 2787 - - - - - - - - - 26.58 -
15499 923.6 -7.7 336 15505 done -0.78 0.15 0.146 2752 206.7 2.12 0.028 1879 683.0 -117.3 - - 2787 - - - - - - - - 26.42 26.71 -
15807 947.2 -6.9 339 15808 done -0.80 - - 2752 - - - 1879 - -117.3 - - 2786 - - - - - - - - - - -
16167 964.3 -4.9 342 16172 roll -0.85 - - 2752 - 2.25 0.050 432 -643.1 -117.3 - - 2786 - - - - - - - - - 26.55 -
16204 964.3 -4.9 342 16209 done -0.89 - - 2744 - 2.15 0.029 1890 678.1 -117.3 - - 2786 - - - - - - - - - 26.70 -
16533 981.2 -4.6 345 16535 done -0.93 0.12 0.086 2682 -516.7 - - 1890 - -117.3 - - 2785 - - - - - - - - 26.80 - -
16770 end dive: TARGET_DEPTH_EXCEEDED
16770 begin apogee
16774 996.3 -5.4 347 16876 done -0.29 0.68 0.124 2903 325.0 - - 1838 - - 95.62 1.732 2330 -4.8 0.283 - - - - - - 26.27 - 23.93
16877 end apogee: CONTROL_FINISHED_OK
16878 begin climb
16880 996.3 - 347 16992 roll 0.92 1.12 0.076 3291 346.4 2.38 0.040 3270 601.7 117.3 104.00 1.710 1852 -4.6 0.277 - - - - - - 25.06 24.72 23.75
17084 990.4 - 349 17240 done 0.98 - - 3302 - 2.25 0.030 1831 -639.6 286.5 147.10 1.672 1160 -4.7 0.288 - - - - - - - 25.60 23.70
17617 916.8 12.8 354 17619 done 0.89 - - 3302 - - - 1831 - 286.5 - - 1152 - - - - - - - - - - -
17977 866.0 13.8 357 17979 done 0.80 0.15 0.150 3261 -273.3 - - 1831 - 286.5 - - 1150 - - - - - - - - 26.21 - -
18337 823.2 12.5 360 18338 done 0.75 - - 3261 - - - 1831 - 286.5 - - 1149 - - - - - - - - - - -
18697 783.1 11.1 363 18699 done 0.71 0.12 0.148 3224 -308.3 - - 1831 - 286.5 - - 1148 - - - - - - - - 26.44 - -
19057 745.1 10.6 366 19058 done 0.71 - - 3224 - - - 1831 - 286.5 - - 1147 - - - - - - - - - - -
19417 705.5 11.0 369 19422 roll 0.71 - - 3234 - 2.20 0.053 427 -638.2 286.5 - - 1147 - - - - - - - - - 26.52 -
19453 705.5 11.0 369 19458 done 0.71 - - 3233 - 2.15 0.028 1880 675.8 286.5 - - 1146 - - - - - - - - - 26.63 -
19780 667.5 10.6 372 19785 roll 0.71 - - 3234 - 2.12 0.041 3276 658.5 286.5 - - 1146 - - - - - - - - - 26.60 -
19811 667.5 10.6 372 19816 done 0.71 - - 3244 - 2.15 0.030 1834 -670.7 286.5 - - 1146 - - - - - - - - - 26.62 -
20143 629.2 10.4 375 20144 done 0.71 - - 3244 - - - 1833 - 286.5 - - 1146 - - - - - - - - - - -
20503 586.5 11.7 378 20504 done 0.71 - - 3244 - - - 1833 - 286.5 - - 1146 - - - - - - - - - - -
20863 547.1 11.2 381 20868 roll 0.71 - - 3244 - 2.20 0.041 3274 655.0 286.5 - - 1146 - - - - - - - - - 26.63 -
20899 547.1 11.2 381 20904 done 0.71 - - 3255 - 2.15 0.029 1828 -672.6 286.5 - - 1146 - - - - - - - - - 26.66 -
21226 509.7 10.3 384 21231 roll 0.71 - - 3266 - 2.17 0.050 432 -643.3 286.5 - - 1146 - - - - - - - - - 26.59 -
21282 509.7 10.3 384 21288 done 0.71 0.12 0.138 3229 -308.3 2.12 0.028 1883 684.4 286.5 - - 1146 - - - - - - - - 26.51 26.70 -
21591 470.9 10.3 389 21592 done 0.71 - - 3230 - - - 1884 - 286.5 - - 1146 - - - - - - - - - - -
21890 443.3 9.1 394 21891 done 0.73 - - 3230 - - - 1884 - 286.5 - - 1146 - - - - - - - - - - -
22190 415.3 9.5 399 22195 roll 0.76 - - 3240 - 2.28 0.050 429 -638.2 286.5 - - 1146 - - - - - - - - - 26.60 -
22237 415.3 9.5 399 22242 done 0.78 - - 3240 - 2.15 0.028 1893 680.9 286.5 - - 1146 - - - - - - - - - 26.72 -
22554 380.4 9.5 405 22555 done 0.78 - - 3236 - - - 1893 - 286.5 - - 1146 - - - - - - - - - - -
22854 349.3 10.5 410 22855 done 0.78 - - 3240 - - - 1893 - 286.5 - - 1147 - - - - - - - - - - -
23154 318.4 10.1 415 23159 roll 0.78 - - 3251 - 2.28 0.050 428 -642.5 286.5 - - 1146 - - - - - - - - - 26.61 -
23210 318.4 10.1 415 23217 done 0.78 - - 3251 - 2.15 0.028 1891 680.5 286.5 - - 1146 - - - - - - - - - 26.72 -
23516 282.5 10.0 421 23517 done 0.78 - - 3251 - - - 1891 - 286.5 - - 1146 - - - - - - - - - - -
23816 253.8 9.5 426 23817 done 0.78 - - 3251 - - - 1891 - 286.5 - - 1146 - - - - - - - - - - -
24116 227.6 8.7 433 24117 done 0.78 - - 3247 - - - 1888 - 286.5 - - 1146 - - - - - - - - - - -
24436 199.4 9.1 441 24441 roll 0.78 - - 3262 - 2.28 0.049 422 -643.0 286.5 - - 1147 - - - - - - - - - 26.63 -
24537 191.2 9.6 443 24542 done 0.78 - - 3261 - 2.15 0.028 1891 683.3 286.5 - - 1147 - - - - - - - - - 26.73 -
24879 154.7 10.1 452 24884 roll 0.78 - - 3273 - 2.28 0.049 431 -640.4 286.5 - - 1147 - - - - - - - - - 26.63 -
24910 154.7 10.1 452 24915 done 0.78 - - 3273 - 2.12 0.028 1884 685.4 286.5 - - 1148 - - - - - - - - - 26.74 -
25222 124.2 9.3 467 25227 roll 0.78 - - 3273 - 2.10 0.041 3283 666.2 286.5 - - 1148 - - - - - - - - - 26.67 -
25258 121.8 9.7 468 25265 done 0.78 0.12 0.135 3247 -216.7 2.15 0.028 1823 -679.1 286.5 - - 1148 - - - - - - - - 26.55 26.71 -
25564 92.4 8.1 484 25569 roll 0.83 - - 3257 - 2.15 0.049 422 -651.6 286.5 - - 1148 - - - - - - - - - 26.64 -
25650 85.9 7.9 488 25655 done 0.87 - - 3257 - 2.12 0.027 1881 688.2 286.5 - - 1148 - - - - - - - - - 26.74 -
25958 61.9 8.2 511 25959 done 0.92 0.12 0.081 3330 608.3 - - 1881 - 286.5 - - 1148 - - - - - - - - 26.82 - -
26257 30.5 10.5 541 26263 roll 0.90 0.12 0.132 3297 -275.0 2.25 0.047 424 -647.6 286.5 - - 1149 - - - - - - - - 26.65 26.64 -
26380 20.5 7.1 553 26386 done 0.92 - - 3297 - 2.12 0.026 1885 689.2 286.5 - - 1149 - - - - - - - - - 26.75 -
26591 end climb: SURFACE_DEPTH_REACHED
26591 begin surface coast
26632 end surface coast: CONTROL_FINISHED_OK
26632 begin surface
SM 1.48 - - - - -8.82 7.97 0.029 162 -393.4 0.08 0.114 1835 -625.0 350.04 23.58 0.138 901 -10.5 0.012 - - - - - -