SPURS Sep12 * SG189 * Dive index * Mission links * Dive 397 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.11 of 150.00 AH used of 24V (53.26% remains)
• Previous NAKs 0, Timeouts 0 • 61.45 of 97.00 AH used of 10V (36.64% remains)
• Surface angle -58.1 deg, depth 2.09 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 24 s
• GPS2 time: 16 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 35 VBD -1.26 - - 153 - - - 2126 - -97.7 -11.32 - 1419 - - - - - - - - - - -
39 2.1 - 1 105 roll -1.26 9.15 0.188 2579 265.1 2.72 0.054 3754 598.5 -97.7 -50.47 - 2719 -25.8 - - - - - - - 25.48 26.02 26.69
395 22.6 -8.5 37 404 done -1.17 0.12 0.131 2619 333.3 2.47 0.021 2087 -674.9 -97.7 - - 2720 - - - - - - - - 25.89 26.36 -
705 52.7 -9.1 68 714 roll -1.15 - - 2608 - 2.67 0.040 3754 624.3 -97.7 - - 2720 - - - - - - - - - 26.15 -
1005 79.7 -8.1 95 1013 done -1.10 0.10 0.128 2643 350.0 2.45 0.021 2095 -677.1 -97.7 - - 2721 - - - - - - - - 26.06 26.46 -
1337 104.7 -6.3 106 1343 roll -1.10 - - 2631 - 2.62 0.040 3755 633.6 -97.7 - - 2721 - - - - - - - - - 26.18 -
1635 123.8 -7.0 116 1642 done -1.10 - - 2630 - 2.45 0.021 2102 -674.7 -97.7 - - 2722 - - - - - - - - - 26.49 -
1968 140.8 -5.6 127 1973 roll -1.10 - - 2619 - 2.60 0.039 3748 633.1 -97.7 - - 2722 - - - - - - - - - 26.24 -
2265 163.7 -7.9 135 2272 done -1.10 - - 2618 - 2.45 0.021 2095 -674.7 -97.7 - - 2723 - - - - - - - - - 26.49 -
2625 187.1 -6.3 141 2632 roll -1.10 - - 2606 - 2.65 0.039 3746 623.0 -97.7 - - 2723 - - - - - - - - - 26.22 -
2926 205.5 -6.2 146 2933 done -1.07 0.12 0.121 2649 358.3 2.45 0.021 2082 -679.2 -97.7 - - 2723 - - - - - - - - 26.06 26.50 -
3286 228.3 -6.3 152 3292 roll -1.11 - - 2638 - 2.67 0.039 3746 623.2 -97.7 - - 2723 - - - - - - - - - 26.22 -
3387 232.3 -6.4 153 3392 done -1.14 - - 2637 - 2.40 0.021 2095 -687.9 -97.7 - - 2723 - - - - - - - - - 26.51 -
3705 257.6 -7.1 159 3712 roll -1.17 - - 2638 - 2.42 0.037 551 -638.0 -97.7 - - 2721 - - - - - - - - - 26.26 -
3794 262.2 -7.3 160 3802 done -1.20 - - 2626 - 2.47 0.024 2195 665.6 -97.7 - - 2723 - - - - - - - - - 26.45 -
4126 290.8 -8.1 166 4132 roll -1.20 - - 2614 - 2.50 0.041 3744 619.6 -97.7 - - 2723 - - - - - - - - - 26.22 -
4176 290.8 -8.1 166 4184 done -1.20 - - 2614 - 2.42 0.021 2104 -677.7 -97.7 - - 2723 - - - - - - - - - 26.51 -
4485 316.9 -7.0 172 4492 roll -1.20 - - 2602 - 2.65 0.039 3751 621.5 -97.7 - - 2722 - - - - - - - - - 26.21 -
4555 320.9 -6.8 173 4562 done -1.20 - - 2603 - 2.47 0.020 2089 -672.9 -97.7 - - 2722 - - - - - - - - - 26.50 -
4905 341.8 -5.7 179 4912 roll -1.20 - - 2590 - 2.65 0.040 3745 624.9 -97.7 - - 2721 - - - - - - - - - 26.22 -
5026 349.4 -6.0 181 5032 done -1.20 - - 2590 - 2.42 0.021 2106 -677.3 -97.7 - - 2721 - - - - - - - - - 26.50 -
5385 372.0 -6.4 187 5392 roll -1.20 - - 2579 - 2.65 0.040 3745 618.5 -97.7 - - 2720 - - - - - - - - - 26.21 -
5534 380.4 -6.7 189 5543 done -1.18 0.15 0.139 2619 266.7 2.45 0.021 2098 -672.2 -97.7 - - 2720 - - - - - - - - 26.08 26.49 -
5866 404.5 -6.8 195 5867 done -1.20 - - 2619 - - - 2098 - -97.7 - - 2719 - - - - - - - - - - -
6165 426.9 -7.5 200 6172 roll -1.22 - - 2608 - 2.65 0.041 3742 620.4 -97.7 - - 2719 - - - - - - - - - 26.20 -
6244 431.5 -7.5 201 6252 done -1.25 - - 2608 - 2.45 0.021 2100 -670.2 -97.7 - - 2719 - - - - - - - - - 26.50 -
6586 459.8 -8.0 207 6592 roll -1.25 - - 2596 - 2.65 0.041 3741 619.2 -97.7 - - 2718 - - - - - - - - - 26.20 -
6674 465.0 -8.2 208 6681 done -1.25 - - 2596 - 2.45 0.021 2101 -669.4 -97.7 - - 2718 - - - - - - - - - 26.49 -
7006 494.3 -8.1 214 7007 done -1.25 - - 2596 - - - 2101 - -97.7 - - 2717 - - - - - - - - - - -
7365 522.2 -7.7 218 7372 roll -1.25 - - 2596 - 2.45 0.038 542 -636.3 -97.7 - - 2716 - - - - - - - - - 26.22 -
7444 522.2 -7.7 218 7451 done -1.25 - - 2584 - 2.50 0.024 2195 661.2 -97.7 - - 2715 - - - - - - - - - 26.42 -
7845 556.6 -7.2 222 7852 roll -1.25 - - 2572 - 2.50 0.043 3744 619.6 -97.7 - - 2714 - - - - - - - - - 26.17 -
8015 565.4 -7.0 223 8023 done -1.25 - - 2572 - 2.47 0.022 2093 -668.4 -97.7 - - 2714 - - - - - - - - - 26.46 -
8325 595.8 -8.2 226 8332 roll -1.25 - - 2560 - 2.67 0.041 3745 618.7 -97.7 - - 2713 - - - - - - - - - 26.17 -
8525 607.8 -8.8 227 8533 done -1.25 0.10 0.129 2593 330.0 2.45 0.022 2092 -674.7 -97.7 - - 2713 - - - - - - - - 26.06 26.46 -
8925 650.5 -8.9 231 8926 done -1.25 - - 2593 - - - 2093 - -97.7 - - 2712 - - - - - - - - - - -
9285 675.1 -7.1 234 9287 done -1.27 - - 2593 - - - 2092 - -97.7 - - 2711 - - - - - - - - - - -
9647 699.2 -6.6 237 9653 roll -1.29 - - 2593 - 2.45 0.041 544 -631.8 -97.7 - - 2710 - - - - - - - - - 26.18 -
9745 699.2 -6.6 237 9752 done -1.32 - - 2583 - 2.50 0.024 2190 658.4 -97.7 - - 2710 - - - - - - - - - 26.41 -
10125 738.0 -8.1 241 10126 done -1.32 - - 2583 - - - 2190 - -97.7 - - 2709 - - - - - - - - - - -
10485 767.9 -8.3 244 10493 roll -1.34 - - 2583 - 2.60 0.039 547 -631.9 -97.7 - - 2708 - - - - - - - - - 26.16 -
10635 777.5 -8.2 245 10643 done -1.34 - - 2571 - 2.50 0.025 2187 656.0 -97.7 - - 2708 - - - - - - - - - 26.38 -
10965 803.7 -7.4 248 10973 roll -1.34 - - 2559 - 2.53 0.043 3738 613.0 -97.7 - - 2706 - - - - - - - - - 26.10 -
11075 803.7 -7.4 248 11084 done -1.34 - - 2560 - 2.47 0.024 2098 -664.0 -97.7 - - 2704 - - - - - - - - - 26.41 -
11445 842.6 -8.1 252 11453 roll -1.34 - - 2547 - 2.67 0.043 3744 616.5 -97.7 - - 2705 - - - - - - - - - 26.08 -
11514 842.6 -8.1 252 11522 done -1.34 - - 2547 - 2.47 0.023 2106 -663.2 -97.7 - - 2705 - - - - - - - - - 26.41 -
11925 881.4 -8.1 256 11932 roll -1.34 - - 2535 - 2.67 0.043 3744 613.5 -97.7 - - 2704 - - - - - - - - - 26.07 -
12025 881.4 -8.1 256 12033 done -1.34 0.12 0.155 2570 291.7 2.47 0.024 2104 -664.0 -97.7 - - 2703 - - - - - - - - 25.98 26.39 -
12405 918.7 -7.7 260 12412 roll -1.34 - - 2570 - 2.47 0.041 547 -630.4 -97.7 - - 2702 - - - - - - - - - 26.10 -
12464 918.7 -7.7 260 12472 done -1.34 - - 2560 - 2.50 0.025 2187 656.0 -97.7 - - 2702 - - - - - - - - - 26.35 -
12886 961.1 -8.8 264 12893 roll -1.34 - - 2562 - 2.60 0.041 551 -629.2 -97.7 - - 2700 - - - - - - - - - 26.08 -
12924 961.1 -8.8 264 12931 done -1.34 - - 2548 - 2.50 0.026 2188 654.8 -97.7 - - 2700 - - - - - - - - - 26.34 -
13242 end dive: TARGET_DEPTH_EXCEEDED
13242 begin apogee
13251 991.7 -8.6 267 13344 done -0.29 1.12 0.129 2899 313.4 - - 1576 - - 85.82 1.678 2320 -4.4 0.279 - - - - - - 25.16 - 23.02
13346 end apogee: CONTROL_FINISHED_OK
13346 begin climb
13349 995.5 - 272 13445 done 1.26 1.42 0.063 3406 357.0 - - 1576 - 97.7 91.95 1.662 1920 -4.4 0.278 - - - - - - 25.24 - 23.02
13846 968.5 6.7 287 13853 roll 1.13 0.15 0.169 3376 -200.0 1.95 0.049 357 -625.1 97.7 - - 1908 - - - - - - - - 25.99 26.14 -
14088 953.6 6.4 289 14094 done 1.01 0.20 0.161 3324 -260.0 1.92 0.025 1664 680.7 102.7 - - 1906 - - - - - - - - 25.84 26.41 -
14447 935.7 5.2 292 14484 roll 0.97 - - 3333 - 2.20 0.049 355 -595.0 134.8 32.25 1.616 1768 -4.3 0.264 - - - - - - - 25.53 23.64
14617 929.1 5.1 293 14653 done 0.95 - - 3333 - 1.92 0.025 1658 678.6 167.9 30.88 1.607 1635 -4.3 0.266 - - - - - - - 26.15 23.54
15037 894.7 7.2 297 15043 roll 0.93 0.12 0.158 3310 -191.7 2.08 0.049 347 -630.3 167.9 - - 1629 - - - - - - - - 26.14 26.12 -
15194 886.2 7.3 298 15198 done 0.93 - - 3310 - 1.98 0.025 1655 660.6 167.9 - - 1629 - - - - - - - - - 26.41 -
15507 862.4 6.9 301 15513 roll 0.93 - - 3320 - 2.10 0.049 358 -617.6 167.9 - - 1627 - - - - - - - - - 26.20 -
15595 862.4 6.9 301 15599 done 0.93 - - 3320 - 1.95 0.025 1654 664.6 167.9 - - 1626 - - - - - - - - - 26.47 -
15977 830.8 6.7 305 15984 roll 0.93 - - 3330 - 2.12 0.049 352 -614.2 167.9 - - 1625 - - - - - - - - - 26.18 -
16087 830.8 6.7 305 16096 done 0.93 0.12 0.151 3298 -266.7 1.95 0.026 1656 668.7 167.9 - - 1625 - - - - - - - - 26.13 26.49 -
16457 801.7 6.0 309 16472 done 0.95 - - 3298 - - - 1657 - 181.9 12.55 1.500 1579 -3.7 0.209 - - - - - - - - 23.98
16818 777.0 6.7 312 16824 roll 0.99 - - 3306 - 2.12 0.048 350 -616.5 182.2 - - 1575 - - - - - - - - - 26.12 -
16938 767.8 7.0 313 16944 done 1.03 - - 3306 - 1.95 0.026 1653 668.2 182.2 - - 1574 - - - - - - - - - 26.43 -
17297 736.8 8.3 316 17305 roll 1.07 0.12 0.083 3378 600.0 2.10 0.048 353 -619.0 182.2 - - 1575 - - - - - - - - 26.58 26.15 -
17447 723.2 9.2 317 17455 done 1.07 0.12 0.156 3346 -266.7 1.95 0.025 1655 667.7 182.2 - - 1573 - - - - - - - - 26.08 26.48 -
17777 682.1 11.4 320 17785 roll 1.07 - - 3347 - 2.47 0.037 3199 625.1 182.2 - - 1573 - - - - - - - - - 26.22 -
17846 682.1 11.4 320 17854 done 1.07 - - 3357 - 2.55 0.031 1574 -637.3 182.2 - - 1575 - - - - - - - - - 26.29 -
18258 637.1 9.4 324 18264 roll 1.07 - - 3362 - 1.95 0.049 362 -621.5 182.2 - - 1573 - - - - - - - - - 26.11 -
18486 628.3 8.5 325 18490 done 1.07 - - 3366 - 1.95 0.026 1655 663.1 182.2 - - 1573 - - - - - - - - - 26.47 -
18847 597.3 6.7 328 18855 roll 1.05 - - 3376 - 2.10 0.048 350 -621.4 182.2 - - 1573 - - - - - - - - - 26.09 -
19027 587.4 6.8 329 19035 done 1.03 0.17 0.142 3323 -311.8 1.98 0.025 1665 664.1 182.2 - - 1573 - - - - - - - - 25.91 26.46 -
19447 544.3 9.0 333 19454 roll 1.05 - - 3332 - 2.10 0.048 360 -621.4 182.2 - - 1573 - - - - - - - - - 26.06 -
19517 544.3 9.0 333 19524 done 1.07 - - 3332 - 1.98 0.025 1649 651.0 182.2 - - 1573 - - - - - - - - - 26.45 -
19927 501.2 9.1 337 19934 roll 1.09 - - 3341 - 2.10 0.047 349 -619.0 182.2 - - 1573 - - - - - - - - - 26.06 -
20038 501.2 9.1 337 20045 done 1.12 - - 3342 - 1.95 0.025 1654 669.2 182.2 - - 1573 - - - - - - - - - 26.46 -
20348 475.7 6.0 343 20368 roll 1.16 - - 3351 - 2.15 0.048 355 -604.2 197.3 14.50 1.295 1514 -4.1 0.159 - - - - - - - 26.02 23.95
20496 467.5 6.9 345 20500 done 1.16 - - 3351 - 2.00 0.025 1649 647.0 197.3 - - 1513 - - - - - - - - - 26.29 -
20809 437.6 8.8 351 20811 done 1.19 - - 3351 - - - 1649 - 197.3 - - 1514 - - - - - - - - - - -
21108 408.6 9.6 356 21116 roll 1.22 0.12 0.085 3427 633.3 2.08 0.047 360 -619.7 197.3 - - 1513 - - - - - - - - 26.56 26.07 -
21197 402.2 9.8 357 21205 done 1.22 0.15 0.148 3388 -260.0 1.95 0.025 1663 668.2 197.3 - - 1516 - - - - - - - - 25.97 26.44 -
21529 368.1 9.2 363 21535 roll 1.22 - - 3396 - 2.10 0.047 357 -621.9 197.3 - - 1513 - - - - - - - - - 26.08 -
21697 356.5 9.4 365 21701 done 1.22 - - 3396 - 1.95 0.025 1653 664.6 197.3 - - 1513 - - - - - - - - - 26.46 -
21999 322.6 9.6 370 22005 roll 1.22 - - 3405 - 2.10 0.047 352 -619.5 197.3 - - 1513 - - - - - - - - - 26.08 -
22077 316.9 9.6 371 22084 done 1.19 - - 3405 - 1.95 0.024 1649 665.1 197.3 - - 1513 - - - - - - - - - 26.46 -
22418 283.0 9.4 377 22425 roll 1.17 - - 3415 - 2.08 0.046 355 -622.1 197.3 - - 1513 - - - - - - - - - 26.10 -
22528 276.9 9.6 378 22538 done 1.15 0.17 0.139 3367 -282.4 1.95 0.024 1660 669.2 197.3 - - 1512 - - - - - - - - 25.95 26.46 -
22838 242.3 9.5 384 22840 done 1.18 - - 3367 - - - 1660 - 197.3 - - 1513 - - - - - - - - - - -
23138 215.7 8.7 389 23146 roll 1.21 - - 3367 - 2.47 0.036 3200 623.5 197.3 - - 1512 - - - - - - - - - 26.17 -
23178 215.7 8.7 389 23185 done 1.24 - - 3377 - 2.50 0.028 1582 -647.2 197.3 - - 1513 - - - - - - - - - 26.27 -
23498 186.5 8.1 395 23505 roll 1.26 - - 3386 - 1.95 0.047 359 -627.2 197.3 - - 1513 - - - - - - - - - 26.06 -
23668 175.3 8.8 397 23676 done 1.26 - - 3386 - 1.92 0.024 1648 671.4 197.3 - - 1513 - - - - - - - - - 26.47 -
23978 140.6 9.8 404 23985 roll 1.26 - - 3396 - 2.08 0.045 353 -622.6 197.3 - - 1513 - - - - - - - - - 26.06 -
24017 137.6 9.9 405 24021 done 1.26 - - 3396 - 1.98 0.024 1648 654.0 197.3 - - 1513 - - - - - - - - - 26.47 -
24330 109.6 8.1 416 24337 roll 1.26 - - 3406 - 2.08 0.045 356 -621.2 197.3 - - 1513 - - - - - - - - - 26.06 -
24419 102.4 7.9 419 24426 done 1.26 - - 3406 - 1.95 0.023 1659 668.2 197.3 - - 1513 - - - - - - - - - 26.48 -
24750 74.8 9.2 430 24758 roll 1.26 - - 3416 - 2.10 0.045 354 -621.4 197.3 - - 1514 - - - - - - - - - 26.06 -
24959 54.3 9.0 451 24968 done 1.26 - - 3416 - 1.95 0.023 1659 669.2 197.3 - - 1514 - - - - - - - - - 26.48 -
25269 27.8 5.9 482 25282 roll 1.28 - - 3426 - 2.17 0.045 345 -605.5 212.9 8.50 0.184 1447 -7.9 0.127 - - - - - - - 26.00 24.89
25442 10.6 11.4 499 25450 done 1.28 - - 3426 - 1.95 0.022 1654 671.3 212.9 - - 1447 - - - - - - - - - 26.48 -
25509 end climb: SURFACE_DEPTH_REACHED
25509 begin surface coast
25530 end surface coast: CONTROL_FINISHED_OK
25530 begin surface
SM 2.26 - - - - -8.81 8.45 0.029 154 -387.2 0.82 0.036 2193 657.3 300.00 38.00 0.124 1094 -9.3 0.017 - - - - - -