SPURS Sep12 * SG189 * Dive index * Mission links * Dive 203 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 39.72 of 150.00 AH used of 24V (73.52% remains)
• Previous NAKs 0, Timeouts 0 • 32.96 of 97.00 AH used of 10V (66.02% remains)
• Surface angle -58.3 deg, depth 1.99 m • Intended pitch -11.8 deg, speed -6.111 cm/s
• No surface pump (final VBD was 306.38, SM_CC=300)
• GPS1 time: 39 s
• GPS2 time: 19 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
20 end surface: CONTROL_FINISHED_OK
20 begin dive
23 - - - 37 VBD -0.86 - - 161 - - - 1834 - -146.6 -11.82 - 1453 - - - - - - - - - - -
40 2.1 - 1 117 roll -0.86 9.65 0.197 2710 264.1 2.60 0.046 3459 625.0 -146.6 -55.85 - 2919 -26.2 - - - - - - - 25.63 26.15 26.64
347 21.2 -9.5 32 356 done -0.73 0.17 0.132 2765 323.5 2.50 0.023 1823 -654.4 -146.6 - - 2919 - - - - - - - - 25.92 26.31 -
657 43.1 -5.9 63 666 roll -0.67 - - 2754 - 2.55 0.037 3450 638.0 -146.6 - - 2919 - - - - - - - - - 26.25 -
897 60.8 -7.2 87 906 done -0.61 0.17 0.121 2807 311.8 2.47 0.022 1819 -660.3 -146.6 - - 2919 - - - - - - - - 26.10 26.43 -
1206 82.4 -7.7 112 1214 roll -0.61 - - 2796 - 2.58 0.037 3454 633.7 -146.6 - - 2920 - - - - - - - - - 26.32 -
1447 101.6 -7.7 120 1454 done -0.61 - - 2796 - 2.45 0.022 1821 -666.5 -146.6 - - 2919 - - - - - - - - - 26.48 -
1778 121.7 -5.5 131 1784 roll -0.61 - - 2784 - 2.55 0.036 3456 641.2 -146.6 - - 2920 - - - - - - - - - 26.35 -
1977 129.6 -4.4 137 1986 done -0.61 - - 2784 - 2.45 0.021 1823 -666.5 -146.6 - - 2920 - - - - - - - - - 26.51 -
2287 145.8 -5.6 148 2294 roll -0.61 - - 2773 - 2.55 0.036 3452 638.8 -146.6 - - 2921 - - - - - - - - - 26.36 -
2485 157.8 -6.8 153 2490 done -0.61 - - 2772 - 2.47 0.022 1811 -664.4 -146.6 - - 2921 - - - - - - - - - 26.53 -
2818 180.9 -6.4 159 2826 roll -0.58 0.12 0.129 2799 225.0 2.55 0.036 3448 642.0 -146.6 - - 2921 - - - - - - - - 26.53 26.37 -
3059 191.9 -4.6 163 3065 done -0.58 - - 2799 - 2.45 0.022 1817 -665.7 -146.6 - - 2920 - - - - - - - - - 26.53 -
3417 207.0 -4.1 169 3425 roll -0.58 - - 2788 - 2.58 0.037 3455 634.9 -146.6 - - 2921 - - - - - - - - - 26.37 -
3659 217.5 -4.4 173 3665 done -0.58 - - 2788 - 2.45 0.023 1820 -667.3 -146.6 - - 2920 - - - - - - - - - 26.53 -
4017 235.2 -5.0 179 4025 roll -0.58 - - 2776 - 2.58 0.037 3458 634.9 -146.6 - - 2919 - - - - - - - - - 26.36 -
4259 248.4 -5.5 183 4266 done -0.58 0.12 0.122 2814 316.7 2.40 0.022 1820 -682.5 -146.6 - - 2919 - - - - - - - - 26.30 26.53 -
4618 265.6 -4.7 189 4625 roll -0.63 - - 2804 - 2.55 0.037 3450 639.2 -146.6 - - 2918 - - - - - - - - - 26.36 -
4859 277.7 -5.0 193 4865 done -0.67 - - 2803 - 2.40 0.023 1818 -680.0 -146.6 - - 2917 - - - - - - - - - 26.53 -
5218 297.4 -5.7 199 5225 roll -0.71 - - 2792 - 2.55 0.037 3448 639.2 -146.6 - - 2916 - - - - - - - - - 26.36 -
5459 313.2 -6.6 203 5465 done -0.74 - - 2792 - 2.45 0.023 1821 -664.1 -146.6 - - 2916 - - - - - - - - - 26.53 -
5818 334.7 -5.7 209 5826 roll -0.77 0.12 0.080 2708 -700.0 2.55 0.037 3447 637.6 -146.6 - - 2915 - - - - - - - - 26.72 26.36 -
6059 350.8 -6.8 213 6066 done -0.73 0.12 0.106 2762 450.0 2.45 0.023 1820 -664.1 -146.6 - - 2914 - - - - - - - - 26.15 26.52 -
6417 371.4 -5.8 219 6425 roll -0.73 - - 2751 - 2.58 0.037 3451 632.2 -146.6 - - 2914 - - - - - - - - - 26.35 -
6659 387.4 -6.7 223 6665 done -0.73 - - 2752 - 2.45 0.023 1826 -663.3 -146.6 - - 2913 - - - - - - - - - 26.52 -
7018 413.5 -7.3 229 7025 roll -0.73 - - 2741 - 2.58 0.037 3457 632.2 -146.6 - - 2912 - - - - - - - - - 26.34 -
7259 431.2 -7.4 233 7265 done -0.73 - - 2740 - 2.47 0.023 1823 -661.5 -146.6 - - 2911 - - - - - - - - - 26.51 -
7618 454.3 -6.1 239 7626 roll -0.71 0.12 0.132 2766 216.7 2.55 0.037 3447 636.9 -146.6 - - 2910 - - - - - - - - 26.52 26.33 -
7848 461.9 -4.6 242 7856 done -0.71 - - 2766 - 2.45 0.024 1823 -662.9 -146.6 - - 2909 - - - - - - - - - 26.51 -
8158 474.6 -3.5 248 8165 roll -0.71 - - 2755 - 2.55 0.038 3446 636.5 -146.6 - - 2908 - - - - - - - - - 26.32 -
8338 483.4 -4.6 251 8345 done -0.71 - - 2754 - 2.45 0.023 1823 -662.4 -146.6 - - 2908 - - - - - - - - - 26.50 -
8757 515.1 -8.2 257 8765 roll -0.71 - - 2743 - 2.60 0.038 3458 628.8 -146.6 - - 2907 - - - - - - - - - 26.31 -
8998 537.3 -9.0 259 9005 done -0.71 - - 2743 - 2.47 0.024 1818 -664.0 -146.6 - - 2906 - - - - - - - - - 26.49 -
9357 566.1 -8.3 262 9365 roll -0.71 - - 2731 - 2.60 0.038 3456 630.0 -146.6 - - 2905 - - - - - - - - - 26.29 -
9597 580.9 -6.9 264 9605 done -0.71 0.15 0.119 2777 306.7 2.50 0.023 1813 -657.2 -146.6 - - 2905 - - - - - - - - 26.20 26.48 -
9958 597.1 -4.7 267 9966 roll -0.71 - - 2766 - 2.58 0.039 3450 634.5 -146.6 - - 2903 - - - - - - - - - 26.28 -
10200 609.9 -4.9 269 10205 done -0.74 - - 2766 - 2.42 0.024 1814 -676.0 -146.6 - - 2903 - - - - - - - - - 26.48 -
10558 633.8 -6.4 272 10565 roll -0.77 - - 2754 - 2.58 0.039 3445 632.2 -146.6 - - 2902 - - - - - - - - - 26.27 -
10799 651.6 -7.2 274 10805 done -0.80 - - 2754 - 2.45 0.024 1826 -660.8 -146.6 - - 2902 - - - - - - - - - 26.47 -
11158 676.2 -7.0 277 11165 roll -0.82 - - 2743 - 2.58 0.039 3452 630.2 -146.6 - - 2901 - - - - - - - - - 26.26 -
11399 689.3 -6.0 279 11405 done -0.82 - - 2743 - 2.42 0.024 1825 -672.3 -146.6 - - 2900 - - - - - - - - - 26.46 -
11758 706.3 -4.8 282 11765 roll -0.82 - - 2731 - 2.58 0.039 3451 630.2 -146.6 - - 2899 - - - - - - - - - 26.24 -
11999 718.6 -4.9 284 12005 done -0.82 - - 2732 - 2.47 0.025 1822 -659.5 -146.6 - - 2898 - - - - - - - - - 26.45 -
12358 740.6 -5.9 287 12366 roll -0.82 - - 2720 - 2.58 0.039 3449 630.6 -146.6 - - 2897 - - - - - - - - - 26.22 -
12599 757.2 -6.6 289 12605 done -0.82 - - 2720 - 2.47 0.026 1827 -656.7 -146.6 - - 2897 - - - - - - - - - 26.43 -
12958 784.6 -7.5 292 12965 roll -0.82 - - 2708 - 2.58 0.039 3452 629.8 -146.6 - - 2896 - - - - - - - - - 26.20 -
13198 803.2 -7.7 294 13205 done -0.82 - - 2708 - 2.50 0.025 1821 -652.4 -146.6 - - 2895 - - - - - - - - - 26.41 -
13558 827.1 -6.9 297 13566 roll -0.80 0.12 0.136 2733 208.3 2.60 0.040 3448 625.8 -146.6 - - 2894 - - - - - - - - 26.48 26.18 -
13799 838.1 -5.4 299 13805 done -0.80 - - 2733 - 2.42 0.026 1827 -669.8 -146.6 - - 2893 - - - - - - - - - 26.40 -
14158 854.6 -4.5 302 14165 roll -0.80 - - 2722 - 2.60 0.041 3452 625.0 -146.6 - - 2892 - - - - - - - - - 26.17 -
14399 867.8 -5.1 304 14405 done -0.80 - - 2722 - 2.47 0.026 1831 -656.3 -146.6 - - 2892 - - - - - - - - - 26.39 -
14758 891.9 -6.4 307 14765 roll -0.80 - - 2710 - 2.58 0.041 3448 626.7 -146.6 - - 2891 - - - - - - - - - 26.14 -
14999 910.5 -7.3 309 15006 done -0.80 0.08 0.112 2739 362.5 2.50 0.027 1821 -650.8 -146.6 - - 2890 - - - - - - - - 26.10 26.36 -
15358 937.4 -7.6 312 15365 roll -0.80 - - 2728 - 2.58 0.041 3444 629.1 -146.6 - - 2889 - - - - - - - - - 26.12 -
15599 954.4 -7.3 314 15605 done -0.82 - - 2728 - 2.47 0.026 1833 -652.2 -146.6 - - 2889 - - - - - - - - - 26.36 -
15929 974.3 -5.8 325 15936 roll -0.82 - - 2717 - 2.55 0.041 3450 634.1 -146.6 - - 2888 - - - - - - - - - 26.09 -
16168 988.7 -6.1 333 16175 done -0.82 - - 2717 - 2.50 0.026 1825 -650.0 -146.6 - - 2887 - - - - - - - - - 26.34 -
16195 end dive: TARGET_DEPTH_EXCEEDED
16195 begin apogee
16201 990.6 -6.1 334 16327 done -0.29 0.55 0.103 2903 338.2 - - 1825 - - 122.70 1.699 2319 -4.6 0.288 - - - - - - 25.69 - 23.51
16329 end apogee: CONTROL_FINISHED_OK
16329 begin climb
16331 994.4 - 338 16470 roll 0.86 1.05 0.064 3287 365.7 2.62 0.047 356 -560.7 146.6 131.55 1.652 1721 -4.5 0.292 - - - - - - 24.88 24.20 22.99
16699 971.4 8.4 351 16708 done 0.69 0.22 0.137 3222 -295.5 2.40 0.026 1890 639.2 146.6 - - 1713 - - - - - - - - 25.59 25.90 -
17022 949.4 6.4 362 17024 done 0.60 - - 3222 - - - 1890 - 146.6 - - 1712 - - - - - - - - - - -
17380 927.3 6.2 365 17388 roll 0.52 0.17 0.133 3179 -252.9 2.50 0.048 355 -614.0 146.6 - - 1709 - - - - - - - - 26.16 26.18 -
17481 927.3 6.2 365 17488 done 0.43 0.10 0.108 3142 -370.0 2.33 0.027 1889 658.4 146.6 - - 1709 - - - - - - - - 26.11 26.38 -
17861 906.7 4.2 369 17921 roll 0.51 - - 3153 - 2.65 0.050 357 -578.1 210.4 54.92 1.637 1460 -4.5 0.268 - - - - - - - 25.13 23.91
18000 901.6 4.1 370 18070 done 0.62 0.15 0.072 3229 506.7 2.42 0.027 1897 636.4 279.2 62.15 1.626 1179 -4.5 0.267 - - - - - - 25.73 25.77 23.68
18452 870.2 6.6 374 18454 done 0.60 0.12 0.133 3193 -300.0 - - 1898 - 279.2 - - 1172 - - - - - - - - 26.07 - -
18810 847.8 6.3 377 18817 roll 0.60 - - 3203 - 2.55 0.050 353 -605.9 279.2 - - 1169 - - - - - - - - - 26.17 -
18879 847.8 6.3 377 18883 done 0.60 - - 3204 - 2.38 0.027 1891 646.2 279.2 - - 1168 - - - - - - - - - 26.36 -
19281 809.6 8.1 381 19288 roll 0.60 - - 3215 - 2.53 0.049 356 -606.7 279.2 - - 1168 - - - - - - - - - 26.22 -
19369 809.6 8.1 381 19374 done 0.60 - - 3216 - 2.35 0.027 1886 651.1 279.2 - - 1167 - - - - - - - - - 26.43 -
19751 767.0 9.1 385 19759 roll 0.60 - - 3226 - 2.53 0.049 352 -606.3 279.2 - - 1167 - - - - - - - - - 26.22 -
19892 756.5 8.8 386 19900 done 0.60 0.08 0.108 3192 -425.0 2.35 0.027 1893 655.7 279.2 - - 1166 - - - - - - - - 26.22 26.46 -
20231 733.9 6.8 389 20239 roll 0.60 - - 3207 - 2.53 0.049 355 -607.9 279.2 - - 1166 - - - - - - - - - 26.22 -
20300 733.9 6.8 389 20304 done 0.60 - - 3207 - 2.35 0.027 1887 651.9 279.2 - - 1166 - - - - - - - - - 26.47 -
20702 704.0 6.3 393 20703 done 0.60 - - 3207 - - - 1888 - 279.2 - - 1166 - - - - - - - - - - -
21061 675.0 7.8 396 21069 roll 0.60 - - 3219 - 2.53 0.050 349 -608.3 279.2 - - 1166 - - - - - - - - - 26.19 -
21271 664.1 8.3 397 21275 done 0.60 - - 3219 - 2.35 0.027 1888 654.9 279.2 - - 1166 - - - - - - - - - 26.47 -
21653 622.3 8.9 401 21654 done 0.60 - - 3219 - - - 1887 - 279.2 - - 1166 - - - - - - - - - - -
22012 592.4 8.4 404 22020 roll 0.60 - - 3231 - 2.53 0.049 352 -606.7 279.2 - - 1166 - - - - - - - - - 26.15 -
22153 581.9 8.4 405 22161 done 0.60 0.12 0.126 3192 -325.0 2.38 0.027 1888 645.4 279.2 - - 1166 - - - - - - - - 26.20 26.46 -
22493 556.3 7.4 408 22500 roll 0.60 - - 3202 - 2.50 0.049 353 -614.0 279.2 - - 1166 - - - - - - - - - 26.13 -
22571 556.3 7.4 408 22575 done 0.60 - - 3203 - 2.35 0.026 1889 653.6 279.2 - - 1166 - - - - - - - - - 26.46 -
22964 517.4 8.3 412 22971 roll 0.63 - - 3214 - 2.50 0.049 359 -612.0 279.2 - - 1166 - - - - - - - - - 26.12 -
23113 506.4 8.6 413 23120 done 0.65 - - 3214 - 2.35 0.026 1892 652.3 279.2 - - 1166 - - - - - - - - - 26.45 -
23443 477.3 7.7 418 23451 roll 0.67 - - 3227 - 2.50 0.048 355 -614.8 279.2 - - 1165 - - - - - - - - - 26.09 -
23503 473.0 7.4 419 23511 done 0.67 - - 3227 - 2.35 0.026 1889 652.8 279.2 - - 1166 - - - - - - - - - 26.44 -
23863 451.2 5.7 425 23882 roll 0.69 - - 3239 - 2.53 0.049 350 -608.3 292.1 9.98 1.219 1127 -3.9 0.154 - - - - - - - 26.30 24.82
23952 447.6 5.7 426 23972 done 0.70 - - 3239 - 2.35 0.026 1887 654.0 306.4 13.80 1.252 1070 -4.1 0.157 - - - - - - - 26.37 24.77
24283 423.9 6.8 432 24290 roll 0.70 - - 3251 - 2.53 0.048 347 -608.7 306.4 - - 1069 - - - - - - - - - 26.06 -
24372 419.4 7.0 433 24376 done 0.70 - - 3251 - 2.38 0.026 1896 650.8 306.4 - - 1069 - - - - - - - - - 26.29 -
24694 390.3 8.4 439 24701 roll 0.70 - - 3262 - 2.53 0.047 347 -612.3 306.4 - - 1069 - - - - - - - - - 26.13 -
24804 384.5 8.8 440 24813 done 0.70 0.12 0.127 3225 -308.3 2.38 0.026 1887 647.1 306.4 - - 1069 - - - - - - - - 26.14 26.38 -
25114 352.2 8.7 446 25122 roll 0.73 - - 3235 - 2.50 0.047 356 -612.4 306.4 - - 1069 - - - - - - - - - 26.15 -
25193 346.5 8.9 447 25201 done 0.76 - - 3235 - 2.35 0.025 1892 653.6 306.4 - - 1068 - - - - - - - - - 26.42 -
25534 314.3 8.8 453 25541 roll 0.78 - - 3247 - 2.47 0.047 356 -621.9 306.4 - - 1069 - - - - - - - - - 26.17 -
25632 308.8 8.9 454 25637 done 0.78 - - 3247 - 2.35 0.025 1897 655.7 306.4 - - 1069 - - - - - - - - - 26.45 -
25945 277.0 8.9 460 25952 roll 0.78 - - 3259 - 2.50 0.047 354 -617.2 306.4 - - 1069 - - - - - - - - - 26.17 -
26073 266.3 8.9 462 26077 done 0.78 - - 3258 - 2.35 0.024 1894 655.3 306.4 - - 1069 - - - - - - - - - 26.46 -
26416 235.7 8.7 468 26423 roll 0.78 - - 3270 - 2.47 0.047 358 -621.9 306.4 - - 1069 - - - - - - - - - 26.17 -
26475 230.0 8.9 469 26482 done 0.78 - - 3270 - 2.33 0.025 1886 655.8 306.4 - - 1069 - - - - - - - - - 26.46 -
26839 197.1 9.1 475 26844 roll 0.78 - - 3282 - 2.42 0.047 353 -633.5 306.4 - - 1069 - - - - - - - - - 26.16 -
26955 185.4 9.5 477 26963 done 0.78 - - 3282 - 2.35 0.025 1888 653.2 306.4 - - 1068 - - - - - - - - - 26.46 -
27315 152.2 9.1 483 27322 roll 0.78 - - 3293 - 2.50 0.047 356 -612.8 306.4 - - 1069 - - - - - - - - - 26.16 -
27375 146.4 9.1 484 27383 done 0.78 0.15 0.116 3247 -306.7 2.35 0.024 1900 657.0 306.4 - - 1069 - - - - - - - - 26.20 26.49 -
27707 121.6 7.0 495 27713 roll 0.83 - - 3257 - 2.50 0.047 353 -618.8 306.4 - - 1068 - - - - - - - - - 26.16 -
27804 115.2 7.1 498 27808 done 0.87 - - 3257 - 2.33 0.024 1886 657.9 306.4 - - 1069 - - - - - - - - - 26.48 -
28118 92.1 7.2 509 28124 roll 0.90 0.10 0.093 3334 770.0 2.42 0.047 355 -632.6 306.4 - - 1069 - - - - - - - - 26.70 26.15 -
28307 73.6 9.6 516 28316 done 0.85 0.17 0.096 3270 -376.5 2.30 0.024 1887 666.1 306.4 - - 1070 - - - - - - - - 26.10 26.48 -
28618 53.2 10.0 547 28626 roll 0.87 - - 3280 - 2.47 0.047 347 -623.5 306.4 - - 1070 - - - - - - - - - 26.17 -
28736 43.1 7.6 559 28745 done 0.87 - - 3280 - 2.33 0.024 1887 660.9 306.4 - - 1070 - - - - - - - - - 26.48 -
29046 21.4 7.9 590 29055 roll 0.87 - - 3292 - 2.47 0.045 352 -621.5 306.4 - - 1071 - - - - - - - - - 26.18 -
29126 14.9 8.5 598 29135 done 0.87 - - 3292 - 2.33 0.024 1890 660.1 306.4 - - 1071 - - - - - - - - - 26.49 -
29275 end climb: SURFACE_DEPTH_REACHED
29276 begin surface coast
29305 end surface coast: CONTROL_FINISHED_OK
29305 begin surface
SM 2.02 - - - - -8.82 8.10 0.031 165 -386.0 0.08 0.102 1823 -837.5 306.38 - - 1072 - - - - - - - -