SPURS Sep12 * SG189 * Dive index * Mission links * Dive 402 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.81 of 150.00 AH used of 24V (52.79% remains)
• Previous NAKs 0, Timeouts 0 • 62.15 of 97.00 AH used of 10V (35.93% remains)
• Surface angle -57.0 deg, depth 2.20 m • Intended pitch -19.9 deg, speed -6.667 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 37 s
• GPS2 time: 20 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
21 - - - 34 VBD -1.26 - - 151 - - - 2125 - -97.7 -11.30 - 1423 - - - - - - - - - - -
38 2.1 - 1 104 roll -1.26 9.10 0.185 2589 267.9 2.50 0.051 548 -630.8 -97.7 -49.55 - 2720 -26.2 - - - - - - - 25.48 26.00 26.70
394 21.8 -8.5 37 403 done -1.16 0.12 0.138 2619 250.0 2.50 0.024 2185 654.8 -97.7 - - 2721 - - - - - - - - 25.84 26.34 -
704 46.0 -7.7 68 706 done -1.13 - - 2619 - - - 2185 - -97.7 - - 2721 - - - - - - - - - - -
1004 70.6 -8.1 98 1013 roll -1.10 - - 2608 - 2.53 0.041 3744 616.2 -97.7 - - 2721 - - - - - - - - - 26.18 -
1304 94.3 -7.6 112 1312 done -1.06 0.12 0.128 2650 350.0 2.45 0.021 2084 -677.6 -97.7 - - 2722 - - - - - - - - 26.00 26.48 -
1637 113.5 -6.1 123 1642 roll -1.06 - - 2639 - 2.65 0.040 3751 629.1 -97.7 - - 2722 - - - - - - - - - 26.21 -
1934 137.1 -8.6 133 1941 done -1.06 - - 2640 - 2.45 0.021 2093 -676.7 -97.7 - - 2723 - - - - - - - - - 26.50 -
2265 166.8 -8.7 141 2271 roll -1.06 - - 2627 - 2.65 0.039 3749 624.9 -97.7 - - 2724 - - - - - - - - - 26.22 -
2403 175.0 -7.6 143 2411 done -1.06 0.12 0.144 2660 275.0 2.45 0.020 2091 -676.7 -97.7 - - 2723 - - - - - - - - 26.15 26.50 -
2745 191.3 -4.4 149 2751 roll -1.10 - - 2660 - 2.40 0.037 549 -642.5 -97.7 - - 2724 - - - - - - - - - 26.26 -
2814 194.3 -4.5 150 2821 done -1.14 - - 2650 - 2.45 0.023 2192 670.6 -97.7 - - 2724 - - - - - - - - - 26.46 -
3165 215.0 -6.1 156 3171 roll -1.18 - - 2650 - 2.58 0.036 543 -639.1 -97.7 - - 2724 - - - - - - - - - 26.27 -
3225 219.3 -6.5 157 3231 done -1.21 - - 2637 - 2.42 0.024 2199 684.3 -97.7 - - 2724 - - - - - - - - - 26.46 -
3584 245.7 -7.4 163 3592 roll -1.23 - - 2626 - 2.47 0.041 3745 625.9 -97.7 - - 2724 - - - - - - - - - 26.22 -
3784 259.8 -7.8 166 3791 done -1.23 - - 2625 - 2.45 0.021 2101 -671.0 -97.7 - - 2724 - - - - - - - - - 26.51 -
4124 287.6 -7.7 172 4125 done -1.23 - - 2625 - - - 2100 - -97.7 - - 2723 - - - - - - - - - - -
4425 306.6 -6.2 177 4431 roll -1.26 - - 2626 - 2.42 0.038 553 -639.3 -97.7 - - 2724 - - - - - - - - - 26.26 -
4534 310.1 -5.9 178 4543 done -1.26 - - 2613 - 2.45 0.024 2187 666.9 -97.7 - - 2723 - - - - - - - - - 26.46 -
4844 331.9 -6.3 184 4851 roll -1.26 - - 2602 - 2.53 0.041 3751 618.2 -97.7 - - 2723 - - - - - - - - - 26.22 -
4993 340.5 -6.8 186 5001 done -1.26 - - 2602 - 2.47 0.021 2092 -671.7 -97.7 - - 2723 - - - - - - - - - 26.50 -
5325 367.7 -7.5 192 5331 roll -1.26 - - 2590 - 2.67 0.041 3745 619.1 -97.7 - - 2721 - - - - - - - - - 26.22 -
5624 391.7 -8.0 197 5631 done -1.26 - - 2590 - 2.42 0.021 2109 -676.0 -97.7 - - 2721 - - - - - - - - - 26.49 -
5985 419.3 -7.6 203 5991 roll -1.26 - - 2578 - 2.65 0.041 3749 618.9 -97.7 - - 2720 - - - - - - - - - 26.22 -
6284 439.9 -6.8 208 6291 done -1.23 - - 2578 - 2.45 0.021 2102 -672.2 -97.7 - - 2719 - - - - - - - - - 26.48 -
6645 462.8 -6.3 214 6652 roll -1.23 - - 2566 - 2.65 0.041 3744 619.6 -97.7 - - 2719 - - - - - - - - - 26.20 -
6774 470.8 -6.5 216 6782 done -1.21 0.12 0.124 2607 341.7 2.45 0.021 2096 -672.7 -97.7 - - 2718 - - - - - - - - 26.03 26.48 -
7125 495.2 -7.0 222 7126 done -1.23 - - 2606 - - - 2096 - -97.7 - - 2718 - - - - - - - - - - -
7484 524.6 -8.2 226 7486 done -1.25 - - 2606 - - - 2096 - -97.7 - - 2717 - - - - - - - - - - -
7844 555.5 -8.6 229 7851 roll -1.28 - - 2607 - 2.45 0.039 547 -632.2 -97.7 - - 2715 - - - - - - - - - 26.22 -
7904 555.5 -8.6 229 7912 done -1.31 - - 2597 - 2.47 0.024 2192 666.0 -97.7 - - 2715 - - - - - - - - - 26.43 -
8324 590.4 -7.3 233 8325 done -1.31 - - 2597 - - - 2193 - -97.7 - - 2715 - - - - - - - - - - -
8684 612.5 -6.3 236 8686 done -1.31 - - 2596 - - - 2192 - -97.7 - - 2714 - - - - - - - - - - -
9045 635.4 -6.2 239 9052 roll -1.33 - - 2596 - 2.60 0.039 554 -630.0 -97.7 - - 2712 - - - - - - - - - 26.25 -
9094 635.4 -6.2 239 9102 done -1.35 - - 2585 - 2.45 0.024 2179 663.3 -97.7 - - 2712 - - - - - - - - - 26.41 -
9404 663.1 -7.5 242 9411 roll -1.35 - - 2573 - 2.53 0.043 3740 617.0 -97.7 - - 2711 - - - - - - - - - 26.15 -
9483 663.1 -7.5 242 9491 done -1.35 - - 2573 - 2.47 0.023 2097 -665.2 -97.7 - - 2711 - - - - - - - - - 26.44 -
9885 707.6 -9.3 246 9891 roll -1.35 - - 2561 - 2.67 0.042 3737 614.2 -97.7 - - 2710 - - - - - - - - - 26.13 -
10043 719.1 -9.5 247 10051 done -1.35 - - 2561 - 2.47 0.022 2098 -663.6 -97.7 - - 2709 - - - - - - - - - 26.44 -
10364 749.8 -8.8 250 10371 roll -1.35 - - 2550 - 2.65 0.041 3739 619.2 -97.7 - - 2708 - - - - - - - - - 26.13 -
10474 749.8 -8.8 250 10483 done -1.35 - - 2549 - 2.42 0.022 2115 -671.1 -97.7 - - 2708 - - - - - - - - - 26.45 -
10844 785.1 -7.4 254 10845 done -1.35 - - 2549 - - - 2115 - -97.7 - - 2707 - - - - - - - - - - -
11204 812.1 -7.4 257 11211 roll -1.35 - - 2537 - 2.65 0.042 3738 612.5 -97.7 - - 2706 - - - - - - - - - 26.10 -
11503 832.8 -8.1 259 11512 done -1.33 0.12 0.151 2568 258.3 2.47 0.023 2095 -665.2 -97.7 - - 2706 - - - - - - - - 26.04 26.41 -
11924 871.8 -8.1 263 11931 roll -1.33 - - 2558 - 2.70 0.043 3744 610.7 -97.7 - - 2704 - - - - - - - - - 26.08 -
12054 881.9 -8.0 264 12061 done -1.33 - - 2558 - 2.47 0.023 2109 -661.9 -97.7 - - 2704 - - - - - - - - - 26.40 -
12404 911.5 -8.2 267 12411 roll -1.33 - - 2546 - 2.67 0.043 3749 614.2 -97.7 - - 2703 - - - - - - - - - 26.06 -
12483 911.5 -8.2 267 12491 done -1.33 - - 2546 - 2.50 0.023 2095 -661.6 -97.7 - - 2703 - - - - - - - - - 26.40 -
12885 954.8 -9.0 271 12891 roll -1.33 - - 2534 - 2.70 0.044 3749 612.6 -97.7 - - 2702 - - - - - - - - - 26.04 -
13083 966.4 -9.2 272 13091 done -1.33 0.15 0.148 2573 260.0 2.50 0.024 2098 -660.4 -97.7 - - 2701 - - - - - - - - 25.92 26.38 -
13281 end dive: TARGET_DEPTH_EXCEEDED
13281 begin apogee
13290 991.4 -8.9 276 13383 done -0.29 1.05 0.126 2903 314.3 - - 1579 - - 86.10 1.676 2319 -4.4 0.280 - - - - - - 25.22 - 23.05
13385 end apogee: CONTROL_FINISHED_OK
13385 begin climb
13388 995.8 - 281 13484 done 1.26 1.40 0.063 3405 358.6 - - 1576 - 97.7 91.43 1.656 1920 -4.4 0.280 - - - - - - 25.25 - 23.06
13784 975.6 7.2 296 13792 roll 1.13 0.15 0.172 3377 -186.7 1.98 0.047 348 -620.2 97.7 - - 1909 - - - - - - - - 25.94 26.10 -
13944 967.3 7.1 297 13952 done 1.00 0.20 0.163 3325 -260.0 2.00 0.024 1662 657.0 97.7 - - 1908 - - - - - - - - 25.83 26.39 -
14266 946.2 6.1 300 14277 done 0.94 - - 3325 - - - 1662 - 109.6 9.62 1.471 1872 -3.7 0.257 - - - - - - - - 23.99
14625 925.8 5.6 303 14652 roll 0.93 - - 3333 - 2.12 0.047 352 -617.9 132.5 22.10 1.584 1779 -4.2 0.262 - - - - - - - 25.72 23.85
14944 909.4 6.2 305 14962 done 0.90 0.17 0.148 3287 -270.6 1.98 0.024 1667 664.1 141.6 9.40 1.466 1741 -4.0 0.267 - - - - - - 25.88 26.34 23.98
15344 873.9 7.4 309 15351 roll 0.90 - - 3295 - 2.12 0.048 350 -621.2 141.6 - - 1738 - - - - - - - - - 26.15 -
15465 863.7 7.7 310 15472 done 0.92 - - 3296 - 1.92 0.025 1642 672.9 141.6 - - 1738 - - - - - - - - - 26.45 -
15825 833.6 8.4 313 15831 roll 0.94 - - 3295 - 2.50 0.036 3204 624.8 141.6 - - 1741 - - - - - - - - - 26.28 -
15875 833.6 8.4 313 15881 done 0.96 - - 3307 - 2.53 0.031 1584 -640.3 141.6 - - 1738 - - - - - - - - - 26.33 -
16185 806.2 7.8 316 16192 roll 0.96 - - 3307 - 2.58 0.035 3200 626.4 141.6 - - 1737 - - - - - - - - - 26.27 -
16233 806.2 7.8 316 16241 done 0.96 - - 3325 - 2.55 0.030 1570 -639.2 141.6 - - 1737 - - - - - - - - - 26.32 -
16544 783.3 6.6 319 16551 roll 0.96 - - 3329 - 1.95 0.048 353 -624.1 143.9 - - 1735 - - - - - - - - - 26.17 -
16704 775.9 6.3 320 16722 done 0.97 - - 3329 - 1.95 0.025 1652 666.2 152.1 9.93 1.442 1698 -3.7 0.214 - - - - - - - 26.50 24.00
17024 753.1 6.3 323 17042 roll 0.98 - - 3339 - 2.15 0.048 350 -605.6 160.4 9.05 1.405 1666 -3.5 0.202 - - - - - - - 26.09 24.05
17194 743.8 6.6 324 17201 done 0.98 - - 3338 - 1.98 0.025 1654 658.6 160.7 - - 1664 - - - - - - - - - 26.34 -
17504 713.3 8.3 327 17511 roll 0.98 - - 3348 - 2.12 0.047 336 -621.7 160.7 - - 1664 - - - - - - - - - 26.15 -
17573 713.3 8.3 327 17581 done 0.98 0.12 0.152 3316 -266.7 1.98 0.024 1657 667.2 160.7 - - 1663 - - - - - - - - 26.06 26.44 -
17984 673.6 8.3 331 17991 roll 0.98 - - 3325 - 2.10 0.047 353 -621.0 160.7 - - 1663 - - - - - - - - - 26.15 -
18053 673.6 8.3 331 18057 done 0.98 - - 3325 - 1.95 0.024 1655 667.7 160.7 - - 1664 - - - - - - - - - 26.48 -
18455 644.2 6.3 335 18473 roll 0.99 - - 3334 - 2.15 0.048 350 -607.0 169.6 9.50 1.353 1627 -3.9 0.198 - - - - - - - 26.17 24.06
18585 636.9 6.0 336 18605 done 1.01 - - 3335 - 1.98 0.025 1652 657.6 184.9 15.48 1.406 1565 -4.0 0.193 - - - - - - - 26.36 23.99
18925 613.4 6.5 339 18934 roll 1.02 - - 3345 - 2.15 0.047 352 -604.7 188.2 4.25 1.070 1551 -3.3 0.201 - - - - - - - 26.12 23.93
19026 613.4 6.5 339 19036 done 1.02 - - 3344 - 1.98 0.026 1642 651.5 191.4 4.72 1.108 1538 -2.8 0.163 - - - - - - - 26.33 23.99
19385 570.0 9.4 343 19386 done 1.02 - - 3341 - - - 1642 - 191.4 - - 1537 - - - - - - - - - - -
19745 531.2 10.7 346 19752 roll 1.02 - - 3354 - 2.10 0.048 352 -614.3 191.4 - - 1537 - - - - - - - - - 26.14 -
19805 531.2 10.7 346 19812 done 1.02 - - 3354 - 1.95 0.025 1652 666.7 191.4 - - 1537 - - - - - - - - - 26.46 -
20165 491.4 9.5 350 20166 done 1.02 - - 3354 - - - 1653 - 191.4 - - 1538 - - - - - - - - - - -
20465 467.9 7.8 355 20472 roll 1.02 - - 3364 - 2.10 0.047 349 -621.0 191.4 - - 1537 - - - - - - - - - 26.11 -
20605 458.2 8.0 357 20613 done 1.02 0.12 0.147 3331 -275.0 1.95 0.024 1659 671.8 191.4 - - 1539 - - - - - - - - 26.11 26.48 -
20946 431.1 7.5 363 20952 roll 1.06 - - 3339 - 2.10 0.047 353 -621.9 191.4 - - 1537 - - - - - - - - - 26.12 -
21025 426.5 7.6 364 21032 done 1.10 - - 3339 - 1.95 0.025 1651 665.6 191.4 - - 1537 - - - - - - - - - 26.48 -
21365 398.4 7.8 370 21372 roll 1.15 - - 3349 - 2.08 0.047 359 -621.2 191.4 - - 1537 - - - - - - - - - 26.10 -
21425 393.5 7.9 371 21432 done 1.19 - - 3349 - 1.92 0.025 1657 676.0 191.4 - - 1537 - - - - - - - - - 26.47 -
21786 365.2 7.8 377 21793 roll 1.22 0.12 0.084 3426 641.7 2.08 0.047 357 -625.0 191.4 - - 1537 - - - - - - - - 26.62 26.09 -
21934 354.2 8.4 379 21942 done 1.22 0.12 0.155 3395 -258.3 1.95 0.024 1664 670.3 191.4 - - 1537 - - - - - - - - 26.07 26.48 -
22266 325.2 7.8 385 22267 done 1.22 - - 3395 - - - 1664 - 191.4 - - 1537 - - - - - - - - - - -
22565 299.2 8.9 390 22572 roll 1.22 - - 3395 - 2.47 0.035 3205 623.9 191.4 - - 1537 - - - - - - - - - 26.20 -
22604 299.2 8.9 390 22612 done 1.22 - - 3405 - 2.55 0.029 1574 -639.6 191.4 - - 1538 - - - - - - - - - 26.25 -
22927 261.8 10.4 396 22932 roll 1.20 - - 3415 - 1.95 0.047 355 -625.1 191.4 - - 1537 - - - - - - - - - 26.08 -
23054 248.9 10.5 398 23062 done 1.17 0.15 0.144 3375 -266.7 1.95 0.024 1665 671.8 191.4 - - 1538 - - - - - - - - 26.01 26.46 -
23405 213.3 9.8 404 23412 roll 1.17 - - 3383 - 2.12 0.046 343 -623.6 191.4 - - 1537 - - - - - - - - - 26.07 -
23535 201.3 9.8 406 23542 done 1.17 - - 3383 - 1.95 0.023 1650 670.3 191.4 - - 1537 - - - - - - - - - 26.48 -
23885 168.3 9.0 412 23892 roll 1.17 - - 3393 - 2.08 0.045 349 -625.5 191.4 - - 1537 - - - - - - - - - 26.08 -
23955 163.1 8.8 413 23962 done 1.17 - - 3393 - 1.95 0.023 1655 669.7 191.4 - - 1538 - - - - - - - - - 26.48 -
24275 138.2 7.1 421 24282 roll 1.17 - - 3393 - 2.47 0.035 3206 627.9 191.4 - - 1538 - - - - - - - - - 26.17 -
24344 133.8 7.2 423 24352 done 1.17 0.12 0.154 3373 -166.7 2.53 0.028 1579 -643.1 191.4 - - 1538 - - - - - - - - 25.95 26.27 -
24668 109.7 8.2 434 24674 roll 1.21 - - 3382 - 1.95 0.047 340 -635.4 191.4 - - 1538 - - - - - - - - - 26.06 -
24785 97.6 10.0 438 24792 done 1.23 - - 3381 - 1.95 0.023 1656 674.9 191.4 - - 1538 - - - - - - - - - 26.48 -
25095 66.7 9.2 453 25096 done 1.27 - - 3381 - - - 1656 - 191.4 - - 1539 - - - - - - - - - - -
25396 43.3 7.3 483 25405 roll 1.31 0.12 0.078 3457 633.3 2.10 0.047 355 -619.5 191.4 - - 1540 - - - - - - - - 26.65 26.06 -
25485 35.4 8.8 492 25494 done 1.25 0.15 0.132 3408 -326.7 1.90 0.022 1658 685.8 191.4 - - 1539 - - - - - - - - 25.89 26.50 -
25795 9.1 9.0 523 25803 roll 1.25 - - 3416 - 2.12 0.044 348 -617.9 191.4 - - 1541 - - - - - - - - - 26.10 -
25872 end climb: SURFACE_DEPTH_REACHED
25872 begin surface coast
25906 end surface coast: CONTROL_FINISHED_OK
25906 begin surface
SM 2.25 - - - - -8.84 8.55 0.035 151 -381.9 2.80 0.025 2174 652.1 300.00 49.28 0.125 1094 -9.1 0.017 - - - - - -