SPURS Sep12 * SG189 * Dive index * Mission links * Dive 48 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 11.16 of 150.00 AH used of 24V (92.56% remains)
• Previous NAKs 0, Timeouts 0 • 10.58 of 97.00 AH used of 10V (89.09% remains)
• Surface angle -60.8 deg, depth 1.60 m • Intended pitch -11.8 deg, speed -6.111 cm/s
• No surface pump (final VBD was 300.00, SM_CC=300)
• GPS1 time: 16 s
• GPS2 time: 19 s • Transponder ping count: 14
• 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
22 - - - 76 VBD -0.86 - - 161 - - - 1838 - -146.6 -51.88 - 2089 - - - - - - - - - - -
79 2.3 -1.9 5 124 roll -0.86 9.75 0.216 2721 262.6 2.20 0.054 425 -642.3 -146.6 -25.95 - 2918 -31.9 - - - - - - - 26.12 26.46 26.79
341 30.5 -14.5 31 346 done -0.64 0.28 0.144 2791 250.0 2.12 0.025 1890 691.0 -146.6 - - 2918 - - - - - - - - 26.31 26.60 -
654 61.3 -8.5 62 659 roll -0.56 - - 2782 - 2.08 0.038 3286 671.2 -146.6 - - 2918 - - - - - - - - - 26.60 -
827 72.9 -5.7 79 833 done -0.48 0.20 0.126 2843 305.0 2.12 0.024 1813 -694.8 -146.6 - - 2918 - - - - - - - - 26.46 26.67 -
1151 88.4 -4.9 93 1156 roll -0.48 - - 2834 - 2.20 0.037 3289 670.9 -146.6 - - 2919 - - - - - - - - - 26.66 -
1262 93.3 -5.2 96 1267 done -0.48 - - 2834 - 2.12 0.024 1816 -694.8 -146.6 - - 2918 - - - - - - - - - 26.72 -
1574 113.4 -5.7 107 1580 roll -0.48 - - 2834 - 2.10 0.042 419 -665.2 -146.6 - - 2918 - - - - - - - - - 26.66 -
1806 126.5 -6.3 114 1811 done -0.46 - - 2823 - 2.12 0.024 1887 692.5 -146.6 - - 2918 - - - - - - - - - 26.76 -
2119 147.8 -6.1 125 2124 roll -0.46 - - 2823 - 2.22 0.041 415 -663.1 -146.6 - - 2917 - - - - - - - - - 26.68 -
2156 149.7 -6.0 126 2161 done -0.46 0.12 0.135 2850 225.0 2.12 0.025 1894 697.6 -146.6 - - 2916 - - - - - - - - 26.58 26.77 -
2484 164.8 -4.5 132 2486 done -0.49 - - 2849 - - - 1894 - -146.6 - - 2915 - - - - - - - - - - -
2784 178.6 -4.4 137 2789 roll -0.52 - - 2851 - 2.22 0.042 422 -663.1 -146.6 - - 2914 - - - - - - - - - 26.68 -
2861 180.5 -3.9 138 2866 done -0.55 - - 2842 - 2.12 0.025 1897 695.8 -146.6 - - 2914 - - - - - - - - - 26.77 -
3209 190.8 -3.2 144 3214 roll -0.59 - - 2831 - 2.05 0.039 3279 674.1 -146.6 - - 2912 - - - - - - - - - 26.72 -
3410 200.4 -4.9 147 3415 done -0.62 - - 2831 - 2.10 0.024 1825 -692.4 -146.6 - - 2914 - - - - - - - - - 26.76 -
3753 220.3 -5.2 153 3755 done -0.64 0.12 0.081 2763 -566.7 - - 1825 - -146.6 - - 2911 - - - - - - - - 26.84 - -
4053 236.4 -5.3 158 4059 roll -0.59 0.12 0.138 2802 325.0 2.12 0.042 418 -663.7 -146.6 - - 2909 - - - - - - - - 26.65 26.69 -
4177 244.0 -5.8 160 4182 done -0.55 - - 2795 - 2.12 0.025 1890 694.3 -146.6 - - 2909 - - - - - - - - - 26.78 -
4539 271.9 -8.1 166 4540 done -0.55 - - 2795 - - - 1890 - -146.6 - - 2907 - - - - - - - - - - -
4839 293.4 -6.9 171 4840 done -0.55 - - 2795 - - - 1890 - -146.6 - - 2906 - - - - - - - - - - -
5139 309.8 -5.3 176 5144 roll -0.55 - - 2795 - 2.22 0.043 427 -659.0 -146.6 - - 2905 - - - - - - - - - 26.68 -
5181 309.8 -5.3 176 5187 done -0.55 0.12 0.138 2820 208.3 2.12 0.026 1894 692.0 -146.6 - - 2905 - - - - - - - - 26.58 26.77 -
5504 327.7 -4.9 182 5505 done -0.59 - - 2822 - - - 1895 - -146.6 - - 2904 - - - - - - - - - - -
5804 341.0 -4.3 187 5806 done -0.62 - - 2822 - - - 1894 - -146.6 - - 2900 - - - - - - - - - - -
6104 355.1 -4.8 192 6110 roll -0.66 0.10 0.095 2762 -600.0 2.25 0.042 419 -655.6 -146.6 - - 2902 - - - - - - - - 26.85 26.67 -
6186 359.5 -5.4 193 6192 done -0.66 0.12 0.142 2786 200.0 2.12 0.027 1884 691.0 -146.6 - - 2901 - - - - - - - - 26.55 26.77 -
6529 383.2 -6.4 199 6530 done -0.66 - - 2786 - - - 1883 - -146.6 - - 2897 - - - - - - - - - - -
6829 402.2 -6.3 204 6834 roll -0.66 - - 2787 - 2.22 0.044 424 -657.2 -146.6 - - 2899 - - - - - - - - - 26.66 -
6891 406.4 -6.4 205 6896 done -0.66 - - 2777 - 2.15 0.027 1892 682.8 -146.6 - - 2899 - - - - - - - - - 26.76 -
7253 427.8 -5.7 211 7255 done -0.66 - - 2777 - - - 1893 - -146.6 - - 2898 - - - - - - - - - - -
7553 443.5 -5.3 216 7559 roll -0.66 - - 2777 - 2.25 0.044 419 -655.1 -146.6 - - 2896 - - - - - - - - - 26.65 -
7702 451.0 -5.7 218 7707 done -0.66 - - 2767 - 2.15 0.027 1893 685.6 -146.6 - - 2896 - - - - - - - - - 26.75 -
8039 476.6 -7.3 224 8040 done -0.66 - - 2767 - - - 1893 - -146.6 - - 2895 - - - - - - - - - - -
8340 500.7 -8.1 229 8345 roll -0.66 - - 2757 - 2.08 0.041 3276 664.9 -146.6 - - 2894 - - - - - - - - - 26.67 -
8483 510.4 -8.0 230 8489 done -0.66 0.12 0.140 2792 291.7 2.12 0.026 1823 -685.4 -146.6 - - 2892 - - - - - - - - 26.53 26.73 -
8827 535.8 -7.2 233 8832 roll -0.66 - - 2792 - 2.12 0.046 428 -658.0 -146.6 - - 2893 - - - - - - - - - 26.64 -
8888 535.8 -7.2 233 8893 done -0.66 - - 2784 - 2.12 0.027 1885 687.3 -146.6 - - 2893 - - - - - - - - - 26.74 -
9311 563.2 -5.7 237 9312 done -0.66 - - 2784 - - - 1884 - -146.6 - - 2891 - - - - - - - - - - -
9671 581.0 -5.0 240 9672 done -0.66 - - 2784 - - - 1884 - -146.6 - - 2890 - - - - - - - - - - -
10031 597.8 -4.7 243 10036 roll -0.66 - - 2784 - 2.25 0.045 421 -650.2 -146.6 - - 2889 - - - - - - - - - 26.62 -
10127 597.8 -4.7 243 10132 done -0.66 - - 2774 - 2.15 0.028 1888 682.3 -146.6 - - 2889 - - - - - - - - - 26.73 -
10515 626.2 -5.8 247 10520 roll -0.66 - - 2775 - 2.25 0.045 424 -650.7 -146.6 - - 2888 - - - - - - - - - 26.61 -
10661 635.6 -6.3 248 10666 done -0.66 - - 2764 - 2.12 0.028 1882 687.7 -146.6 - - 2888 - - - - - - - - - 26.73 -
10998 661.9 -7.4 251 10999 done -0.66 - - 2765 - - - 1881 - -146.6 - - 2887 - - - - - - - - - - -
11358 679.8 -5.4 254 11363 roll -0.66 - - 2765 - 2.25 0.046 424 -647.6 -146.6 - - 2885 - - - - - - - - - 26.60 -
11435 679.8 -5.4 254 11441 done -0.66 0.12 0.144 2790 208.3 2.15 0.028 1889 681.4 -146.6 - - 2886 - - - - - - - - 26.49 26.72 -
11843 696.9 -3.4 258 11845 done -0.69 - - 2789 - - - 1889 - -146.6 - - 2884 - - - - - - - - - - -
12203 714.6 -4.7 261 12205 done -0.73 - - 2790 - - - 1889 - -146.6 - - 2883 - - - - - - - - - - -
12564 734.8 -5.6 264 12566 done -0.78 0.12 0.082 2726 -533.3 - - 1889 - -146.6 - - 2882 - - - - - - - - 26.82 - -
12923 757.7 -6.2 267 12928 roll -0.78 - - 2727 - 2.28 0.047 418 -645.2 -146.6 - - 2881 - - - - - - - - - 26.57 -
12969 757.7 -6.2 267 12975 done -0.78 0.12 0.148 2750 191.7 2.15 0.028 1883 681.4 -146.6 - - 2881 - - - - - - - - 26.45 26.71 -
13288 775.1 -5.0 270 13293 roll -0.78 - - 2741 - 2.10 0.042 3273 661.9 -146.6 - - 2880 - - - - - - - - - 26.60 -
13330 775.1 -5.0 270 13335 done -0.78 - - 2741 - 2.12 0.028 1828 -681.6 -146.6 - - 2880 - - - - - - - - - 26.67 -
13652 796.6 -5.6 273 13658 roll -0.78 - - 2741 - 2.17 0.047 425 -646.5 -146.6 - - 2879 - - - - - - - - - 26.55 -
13704 796.6 -5.6 273 13709 done -0.78 - - 2734 - 2.15 0.028 1891 681.9 -146.6 - - 2880 - - - - - - - - - 26.70 -
14016 821.7 -6.8 276 14021 roll -0.78 - - 2731 - 2.28 0.047 419 -645.6 -146.6 - - 2879 - - - - - - - - - 26.54 -
14087 821.7 -6.8 276 14093 done -0.78 0.12 0.149 2754 191.7 2.15 0.027 1886 682.3 -146.6 - - 2879 - - - - - - - - 26.43 26.70 -
14500 848.4 -5.5 280 14505 roll -0.78 - - 2746 - 2.10 0.042 3274 661.0 -146.6 - - 2878 - - - - - - - - - 26.58 -
14551 848.4 -5.5 280 14557 done -0.78 - - 2746 - 2.12 0.028 1830 -681.1 -146.6 - - 2878 - - - - - - - - - 26.66 -
14865 869.2 -5.5 283 14866 done -0.78 - - 2746 - - - 1829 - -146.6 - - 2877 - - - - - - - - - - -
15224 894.0 -6.7 286 15225 done -0.78 - - 2745 - - - 1829 - -146.6 - - 2876 - - - - - - - - - - -
15584 921.6 -7.6 289 15589 roll -0.78 - - 2746 - 2.17 0.049 427 -646.1 -146.6 - - 2876 - - - - - - - - - 26.51 -
15621 921.6 -7.6 289 15626 done -0.78 - - 2735 - 2.15 0.028 1885 678.1 -146.6 - - 2875 - - - - - - - - - 26.67 -
15948 947.7 -7.3 292 15953 roll -0.78 - - 2725 - 2.10 0.042 3273 661.0 -146.6 - - 2874 - - - - - - - - - 26.55 -
16064 947.7 -7.3 292 16071 done -0.78 - - 2725 - 2.15 0.028 1822 -674.9 -146.6 - - 2875 - - - - - - - - - 26.63 -
16430 979.0 -6.5 296 16435 roll -0.78 - - 2714 - 2.22 0.042 3280 656.8 -146.6 - - 2874 - - - - - - - - - 26.53 -
16487 979.0 -6.5 296 16492 done -0.78 0.12 0.143 2748 283.3 2.15 0.028 1829 -674.9 -146.6 - - 2873 - - - - - - - - 26.38 26.63 -
16673 end dive: TARGET_DEPTH_EXCEEDED
16674 begin apogee
16678 992.8 -5.9 298 16800 done -0.29 0.45 0.112 2902 342.2 - - 1829 - - 117.20 1.750 2319 -4.7 0.278 - - - - - - 26.25 - 23.87
16802 end apogee: CONTROL_FINISHED_OK
16802 begin climb
16804 994.6 - 299 16939 done 0.86 1.08 0.074 3274 344.4 - - 1829 - 146.6 129.95 1.714 1720 -4.6 0.277 - - - - - - 25.00 - 23.68
17275 954.3 9.8 303 17277 done 0.72 0.15 0.156 3234 -266.7 - - 1829 - 146.6 - - 1713 - - - - - - - - 25.91 - -
17635 924.0 8.7 306 17641 roll 0.62 0.12 0.155 3192 -350.0 2.25 0.041 3283 646.2 146.6 - - 1711 - - - - - - - - 26.19 26.29 -
17687 924.0 8.7 306 17693 done 0.51 0.12 0.145 3167 -208.3 2.20 0.030 1825 -662.7 146.6 - - 1710 - - - - - - - - 26.19 26.34 -
18002 901.5 6.6 309 18007 roll 0.47 - - 3177 - 2.20 0.050 423 -637.3 146.6 - - 1709 - - - - - - - - - 26.36 -
18048 901.5 6.6 309 18054 done 0.43 0.15 0.132 3136 -273.3 2.17 0.028 1886 674.2 146.6 - - 1708 - - - - - - - - 26.28 26.47 -
18366 884.1 5.0 312 18400 done 0.48 - - 3133 - - - 1886 - 184.9 32.15 1.691 1565 -4.4 0.241 - - - - - - - - 24.53
18727 865.7 5.0 315 18764 done 0.55 0.15 0.074 3206 486.7 - - 1886 - 223.0 35.08 1.659 1408 -4.5 0.242 - - - - - - 26.26 - 24.27
19086 833.9 8.1 318 19087 done 0.55 - - 3206 - - - 1886 - 223.0 - - 1404 - - - - - - - - - - -
19446 801.8 9.0 321 19452 roll 0.52 0.12 0.138 3174 -266.7 2.30 0.049 432 -632.2 223.0 - - 1402 - - - - - - - - 26.28 26.32 -
19483 801.8 9.0 321 19488 done 0.49 - - 3174 - 2.17 0.029 1886 670.0 223.0 - - 1401 - - - - - - - - - 26.41 -
19810 774.4 7.8 324 19812 done 0.49 - - 3174 - - - 1886 - 223.0 - - 1401 - - - - - - - - - - -
20170 747.5 7.5 327 20175 roll 0.49 - - 3185 - 2.30 0.050 431 -632.6 223.0 - - 1401 - - - - - - - - - 26.47 -
20211 747.5 7.5 327 20216 done 0.49 - - 3184 - 2.15 0.028 1882 674.9 223.0 - - 1400 - - - - - - - - - 26.56 -
20534 725.4 6.3 330 20539 roll 0.49 - - 3185 - 2.12 0.041 3274 656.6 223.0 - - 1403 - - - - - - - - - 26.54 -
20575 725.4 6.3 330 20581 done 0.49 0.12 0.137 3160 -208.3 2.15 0.029 1831 -671.2 223.0 - - 1400 - - - - - - - - 26.44 26.58 -
20899 706.0 5.3 333 20922 done 0.52 - - 3160 - - - 1831 - 249.2 21.80 1.538 1303 -4.4 0.211 - - - - - - - - 24.96
21258 680.4 6.8 336 21259 done 0.56 - - 3160 - - - 1831 - 249.2 - - 1302 - - - - - - - - - - -
21618 655.7 7.1 339 21619 done 0.59 - - 3160 - - - 1831 - 249.2 - - 1301 - - - - - - - - - - -
21978 640.0 4.8 342 22022 done 0.69 0.17 0.068 3245 500.0 - - 1831 - 295.1 40.95 1.536 1116 -4.5 0.195 - - - - - - 26.57 - 24.46
22337 608.1 7.7 345 22343 roll 0.69 - - 3256 - 2.22 0.050 430 -631.1 295.1 - - 1113 - - - - - - - - - 26.11 -
22394 608.1 7.7 345 22399 done 0.69 0.12 0.138 3221 -291.7 2.17 0.028 1882 669.1 295.1 - - 1112 - - - - - - - - 26.09 26.22 -
22702 565.3 11.5 348 22703 done 0.66 - - 3221 - - - 1883 - 295.1 - - 1111 - - - - - - - - - - -
23061 525.4 11.3 351 23066 roll 0.66 - - 3231 - 2.30 0.049 431 -631.3 295.1 - - 1111 - - - - - - - - - 26.41 -
23107 525.4 11.3 351 23112 done 0.66 - - 3230 - 2.15 0.028 1883 675.3 295.1 - - 1110 - - - - - - - - - 26.51 -
23424 491.1 9.7 354 23430 roll 0.66 - - 3242 - 2.28 0.049 424 -639.9 295.1 - - 1109 - - - - - - - - - 26.48 -
23470 491.1 9.7 354 23476 done 0.66 - - 3242 - 2.15 0.028 1883 678.6 295.1 - - 1110 - - - - - - - - - 26.57 -
23788 459.0 8.8 360 23790 done 0.64 0.12 0.135 3205 -308.3 - - 1883 - 295.1 - - 1110 - - - - - - - - 26.51 - -
24088 437.0 7.3 365 24089 done 0.66 - - 3205 - - - 1883 - 295.1 - - 1111 - - - - - - - - - - -
24388 413.4 7.9 370 24393 roll 0.68 - - 3215 - 2.28 0.049 426 -639.0 295.1 - - 1110 - - - - - - - - - 26.56 -
24474 407.8 8.3 371 24480 done 0.70 - - 3215 - 2.15 0.028 1884 678.1 295.1 - - 1110 - - - - - - - - - 26.65 -
24811 374.9 9.1 377 24812 done 0.70 - - 3215 - - - 1880 - 295.1 - - 1110 - - - - - - - - - - -
25112 348.8 8.6 382 25117 roll 0.70 - - 3226 - 2.28 0.049 421 -639.9 295.1 - - 1110 - - - - - - - - - 26.59 -
25148 348.8 8.6 382 25153 done 0.70 - - 3226 - 2.15 0.027 1885 680.9 295.1 - - 1110 - - - - - - - - - 26.69 -
25475 316.8 8.9 388 25476 done 0.70 - - 3226 - - - 1885 - 295.1 - - 1110 - - - - - - - - - - -
25775 286.9 10.1 393 25780 roll 0.70 - - 3238 - 2.28 0.048 426 -639.9 295.1 - - 1110 - - - - - - - - - 26.61 -
25856 280.4 10.2 394 25861 done 0.70 - - 3237 - 2.15 0.027 1891 681.4 295.1 - - 1110 - - - - - - - - - 26.70 -
26202 248.8 8.2 400 26203 done 0.70 - - 3237 - - - 1891 - 295.1 - - 1110 - - - - - - - - - - -
26498 226.1 7.6 405 26503 roll 0.70 - - 3237 - 2.08 0.040 3274 664.9 295.1 - - 1110 - - - - - - - - - 26.66 -
26529 226.1 7.6 405 26535 done 0.70 - - 3248 - 2.12 0.028 1830 -681.1 295.1 - - 1110 - - - - - - - - - 26.69 -
26862 194.3 8.9 411 26867 roll 0.70 - - 3259 - 2.15 0.048 430 -651.2 295.1 - - 1110 - - - - - - - - - 26.63 -
26943 189.2 8.5 412 26949 done 0.70 0.12 0.129 3221 -316.7 2.12 0.026 1888 687.7 295.1 - - 1111 - - - - - - - - 26.55 26.73 -
27287 166.2 6.3 418 27292 roll 0.74 - - 3223 - 2.08 0.039 3276 667.3 295.1 - - 1111 - - - - - - - - - 26.67 -
27349 161.1 6.8 419 27355 done 0.78 - - 3229 - 2.12 0.028 1828 -683.0 295.1 - - 1111 - - - - - - - - - 26.70 -
27683 132.0 9.1 427 27688 roll 0.81 - - 3245 - 2.15 0.047 426 -652.1 295.1 - - 1114 - - - - - - - - - 26.63 -
27729 128.8 9.2 428 27734 done 0.84 - - 3240 - 2.12 0.026 1885 688.2 295.1 - - 1112 - - - - - - - - - 26.74 -
28047 97.1 8.9 439 28053 roll 0.87 0.12 0.080 3332 766.7 2.25 0.046 426 -648.4 295.1 - - 1112 - - - - - - - - 26.79 26.64 -
28090 93.3 9.3 440 28095 done 0.87 0.17 0.127 3279 -311.8 2.12 0.025 1888 689.6 295.1 - - 1110 - - - - - - - - 26.54 26.74 -
28402 60.7 9.6 460 28407 roll 0.87 - - 3289 - 2.25 0.046 425 -650.2 295.1 - - 1112 - - - - - - - - - 26.65 -
28469 55.2 9.2 466 28475 done 0.85 - - 3289 - 2.12 0.026 1885 688.7 295.1 - - 1112 - - - - - - - - - 26.74 -
28774 29.0 7.8 497 28780 roll 0.85 - - 3300 - 2.25 0.047 422 -650.2 295.1 - - 1113 - - - - - - - - - 26.67 -
28817 25.5 8.3 501 28822 done 0.85 - - 3300 - 2.12 0.025 1883 689.2 295.1 - - 1113 - - - - - - - - - 26.74 -
29077 end climb: SURFACE_DEPTH_REACHED
29077 begin surface coast
29108 end surface coast: CONTROL_FINISHED_OK
29108 begin surface
SM 2.68 - - - - -8.84 8.10 0.037 161 -387.5 0.05 0.143 1836 -940.0 300.00 1.65 0.207 1095 -10.9 0.014 - - - - - -