SPURS Sep12 * SG189 * Dive index * Mission links * Dive 218 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 42.58 of 150.00 AH used of 24V (71.61% remains)
• Previous NAKs 0, Timeouts 0 • 35.58 of 97.00 AH used of 10V (63.32% remains)
• Surface angle -62.5 deg, depth 2.02 m • Intended pitch -11.8 deg, speed -6.111 cm/s
VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 43 s
• GPS2 time: 17 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
24 - - - 38 VBD -0.86 - - 153 - - - 2122 - -146.6 -11.85 - 1445 - - - - - - - - - - -
41 2.0 - 1 118 roll -0.86 9.55 0.193 2718 268.6 2.55 0.050 534 -622.7 -146.6 -56.65 - 2918 -26.0 - - - - - - - 25.71 26.10 26.62
258 12.9 -8.7 23 268 done -0.72 0.17 0.140 2762 258.8 2.53 0.024 2188 653.8 -146.6 - - 2919 - - - - - - - - 25.86 26.29 -
568 33.8 -6.4 54 569 done -0.67 - - 2762 - - - 2188 - -146.6 - - 2920 - - - - - - - - - - -
868 52.7 -6.7 84 870 done -0.62 0.12 0.145 2798 300.0 - - 2186 - -146.6 - - 2920 - - - - - - - - 26.39 - -
1167 74.1 -7.7 114 1176 roll -0.62 - - 2788 - 2.50 0.042 3756 628.0 -146.6 - - 2921 - - - - - - - - - 26.25 -
1246 78.8 -7.8 118 1251 done -0.62 - - 2788 - 2.47 0.020 2097 -671.7 -146.6 - - 2919 - - - - - - - - - 26.52 -
1548 98.8 -5.3 128 1549 done -0.62 - - 2787 - - - 2097 - -146.6 - - 2921 - - - - - - - - - - -
1848 114.4 -5.5 138 1855 roll -0.62 - - 2776 - 2.60 0.040 3748 635.0 -146.6 - - 2921 - - - - - - - - - 26.31 -
2087 128.2 -5.6 146 2095 done -0.62 - - 2776 - 2.45 0.020 2101 -672.2 -146.6 - - 2921 - - - - - - - - - 26.57 -
2418 144.7 -4.9 157 2426 roll -0.62 - - 2764 - 2.60 0.040 3753 635.4 -146.6 - - 2922 - - - - - - - - - 26.32 -
2648 153.4 -4.8 162 2658 done -0.59 0.12 0.100 2816 433.3 2.42 0.020 2100 -683.1 -146.6 - - 2922 - - - - - - - - 26.23 26.58 -
2958 170.4 -4.7 168 2960 done -0.63 - - 2811 - - - 2100 - -146.6 - - 2922 - - - - - - - - - - -
3258 189.4 -6.5 173 3259 done -0.68 0.10 0.094 2744 -670.0 - - 2100 - -146.6 - - 2920 - - - - - - - - 26.74 - -
3558 209.0 -6.4 178 3566 roll -0.64 0.17 0.117 2787 252.9 2.60 0.041 3746 633.1 -146.6 - - 2922 - - - - - - - - 26.41 26.31 -
3657 212.3 -6.2 179 3665 done -0.62 - - 2787 - 2.45 0.020 2095 -673.9 -146.6 - - 2922 - - - - - - - - - 26.59 -
3978 230.6 -4.9 185 3979 done -0.62 - - 2787 - - - 2097 - -146.6 - - 2922 - - - - - - - - - - -
4278 245.2 -4.9 190 4286 roll -0.62 - - 2776 - 2.60 0.041 3740 631.9 -146.6 - - 2922 - - - - - - - - - 26.33 -
4519 258.3 -5.4 194 4526 done -0.62 - - 2776 - 2.42 0.021 2100 -677.7 -146.6 - - 2921 - - - - - - - - - 26.59 -
4878 278.6 -5.7 200 4885 roll -0.62 - - 2764 - 2.60 0.041 3745 632.7 -146.6 - - 2920 - - - - - - - - - 26.32 -
5047 286.0 -6.0 202 5057 done -0.62 0.12 0.125 2801 308.3 2.45 0.021 2093 -674.3 -146.6 - - 2920 - - - - - - - - 26.31 26.58 -
5358 305.4 -5.1 208 5365 roll -0.67 - - 2791 - 2.60 0.041 3745 635.4 -146.6 - - 2919 - - - - - - - - - 26.32 -
5419 308.3 -5.1 209 5425 done -0.73 - - 2790 - 2.42 0.021 2095 -681.8 -146.6 - - 2919 - - - - - - - - - 26.58 -
5778 326.8 -5.3 215 5786 roll -0.80 0.15 0.070 2702 -586.7 2.40 0.038 551 -643.3 -146.6 - - 2918 - - - - - - - - 26.71 26.35 -
5887 330.6 -5.6 216 5897 done -0.83 0.15 0.138 2733 206.7 2.47 0.024 2193 664.8 -146.6 - - 2920 - - - - - - - - 26.17 26.51 -
6198 352.8 -6.0 222 6205 roll -0.79 - - 2723 - 2.45 0.043 3745 633.5 -146.6 - - 2916 - - - - - - - - - 26.30 -
6327 360.5 -6.2 224 6335 done -0.76 0.12 0.132 2759 300.0 2.45 0.021 2095 -673.5 -146.6 - - 2917 - - - - - - - - 26.28 26.57 -
6678 379.2 -5.1 230 6685 roll -0.76 - - 2748 - 2.60 0.042 3742 633.5 -146.6 - - 2915 - - - - - - - - - 26.30 -
6858 389.1 -5.3 233 6865 done -0.76 - - 2751 - 2.45 0.021 2096 -671.8 -146.6 - - 2915 - - - - - - - - - 26.57 -
7218 411.6 -6.5 239 7225 roll -0.76 - - 2736 - 2.62 0.042 3749 630.9 -146.6 - - 2914 - - - - - - - - - 26.29 -
7357 420.7 -7.2 241 7361 done -0.76 - - 2736 - 2.47 0.021 2093 -670.4 -146.6 - - 2914 - - - - - - - - - 26.55 -
7688 446.7 -7.4 247 7697 roll -0.76 - - 2724 - 2.65 0.042 3746 623.8 -146.6 - - 2913 - - - - - - - - - 26.29 -
7858 455.2 -7.2 249 7868 done -0.74 0.12 0.129 2761 308.3 2.47 0.021 2091 -670.0 -146.6 - - 2912 - - - - - - - - 26.27 26.55 -
8169 473.1 -4.4 255 8177 roll -0.74 - - 2750 - 2.62 0.042 3738 628.6 -146.6 - - 2911 - - - - - - - - - 26.28 -
8268 475.3 -4.1 256 8276 done -0.74 - - 2750 - 2.45 0.021 2099 -669.0 -146.6 - - 2911 - - - - - - - - - 26.56 -
8589 489.1 -3.9 262 8596 roll -0.74 - - 2739 - 2.62 0.042 3749 629.8 -146.6 - - 2910 - - - - - - - - - 26.27 -
8709 495.5 -4.8 264 8717 done -0.74 - - 2738 - 2.47 0.021 2097 -668.8 -146.6 - - 2910 - - - - - - - - - 26.55 -
9069 520.1 -6.9 268 9077 roll -0.74 - - 2726 - 2.62 0.043 3743 628.2 -146.6 - - 2908 - - - - - - - - - 26.26 -
9309 539.6 -7.7 270 9317 done -0.74 0.12 0.128 2763 308.3 2.47 0.022 2095 -667.2 -146.6 - - 2908 - - - - - - - - 26.26 26.54 -
9669 565.7 -7.4 273 9676 roll -0.74 - - 2752 - 2.62 0.043 3739 627.5 -146.6 - - 2904 - - - - - - - - - 26.25 -
9910 582.1 -7.0 275 9916 done -0.76 - - 2752 - 2.42 0.022 2110 -673.1 -146.6 - - 2905 - - - - - - - - - 26.54 -
10269 604.5 -6.3 278 10277 roll -0.78 - - 2741 - 2.60 0.043 3746 629.2 -146.6 - - 2905 - - - - - - - - - 26.24 -
10467 612.0 -6.2 279 10472 done -0.78 - - 2740 - 2.47 0.022 2100 -666.4 -146.6 - - 2904 - - - - - - - - - 26.53 -
10860 643.5 -6.7 283 10867 roll -0.78 - - 2728 - 2.65 0.043 3751 623.0 -146.6 - - 2903 - - - - - - - - - 26.22 -
10949 643.5 -6.7 283 10956 done -0.78 - - 2728 - 2.47 0.022 2108 -665.2 -146.6 - - 2903 - - - - - - - - - 26.52 -
11340 677.8 -7.2 287 11341 done -0.78 - - 2728 - - - 2108 - -146.6 - - 2903 - - - - - - - - - - -
11700 700.0 -6.3 290 11707 roll -0.78 - - 2717 - 2.62 0.044 3745 624.8 -146.6 - - 2901 - - - - - - - - - 26.20 -
11942 714.1 -6.0 292 11948 done -0.78 0.12 0.128 2753 300.0 2.42 0.023 2095 -681.8 -146.6 - - 2901 - - - - - - - - 26.22 26.50 -
12300 733.9 -5.5 295 12301 done -0.78 - - 2753 - - - 2095 - -146.6 - - 2899 - - - - - - - - - - -
12661 755.4 -5.9 298 12668 roll -0.82 - - 2743 - 2.65 0.044 3742 621.5 -146.6 - - 2899 - - - - - - - - - 26.17 -
12709 755.4 -5.9 298 12717 done -0.86 - - 2742 - 2.47 0.023 2102 -664.0 -146.6 - - 2897 - - - - - - - - - 26.50 -
13020 779.7 -6.6 301 13028 roll -0.92 0.12 0.081 2673 -575.0 2.45 0.041 553 -632.2 -146.6 - - 2898 - - - - - - - - 26.70 26.21 -
13201 789.1 -7.0 302 13208 done -0.95 0.08 0.135 2688 187.5 2.47 0.027 2177 657.5 -146.6 - - 2897 - - - - - - - - 26.09 26.41 -
13620 826.5 -7.7 306 13628 roll -0.90 - - 2675 - 2.50 0.046 3736 623.6 -146.6 - - 2896 - - - - - - - - - 26.13 -
13700 826.5 -7.7 306 13708 done -0.86 0.12 0.140 2720 375.0 2.47 0.024 2099 -662.8 -146.6 - - 2896 - - - - - - - - 26.09 26.46 -
14099 862.5 -7.5 310 14107 roll -0.86 - - 2709 - 2.67 0.044 3745 616.5 -146.6 - - 2895 - - - - - - - - - 26.11 -
14328 870.7 -7.1 311 14333 done -0.86 - - 2709 - 2.50 0.024 2099 -658.4 -146.6 - - 2895 - - - - - - - - - 26.44 -
14690 898.6 -6.1 314 14698 roll -0.86 - - 2696 - 2.65 0.045 3743 620.4 -146.6 - - 2894 - - - - - - - - - 26.08 -
14869 905.2 -5.8 315 14876 done -0.86 - - 2697 - 2.47 0.024 2111 -660.7 -146.6 - - 2893 - - - - - - - - - 26.44 -
15290 933.3 -5.8 319 15297 roll -0.86 - - 2684 - 2.65 0.045 3746 617.0 -146.6 - - 2892 - - - - - - - - - 26.07 -
15479 941.7 -6.2 320 15487 done -0.84 0.15 0.130 2728 293.3 2.50 0.024 2105 -656.4 -146.6 - - 2891 - - - - - - - - 26.05 26.42 -
15890 973.3 -6.6 324 15897 roll -0.84 - - 2718 - 2.65 0.045 3738 616.2 -146.6 - - 2891 - - - - - - - - - 26.05 -
16131 988.7 -6.4 326 16137 done -0.84 - - 2717 - 2.42 0.024 2101 -676.4 -146.6 - - 2890 - - - - - - - - - 26.40 -
16167 end dive: TARGET_DEPTH_EXCEEDED
16167 begin apogee
16174 991.3 -6.4 328 16301 done -0.29 0.55 0.103 2905 341.8 0.05 0.131 1623 -9560.0 - 123.10 1.678 2319 -4.6 0.292 - - - - - - 25.74 24.65 23.47
16305 end apogee: CONTROL_FINISHED_OK
16305 begin climb
16307 995.9 - 334 16448 roll 0.86 1.08 0.062 3282 349.1 2.75 0.037 3196 572.0 146.6 131.77 1.645 1721 -4.5 0.293 - - - - - - 24.95 24.27 23.00
16520 986.2 7.7 345 16528 done 0.69 0.20 0.132 3231 -255.0 2.62 0.029 1589 -613.4 146.6 - - 1718 - - - - - - - - 25.08 25.32 -
16900 960.5 6.7 349 16908 roll 0.59 0.15 0.142 3187 -293.3 2.58 0.037 3194 622.1 146.6 - - 1712 - - - - - - - - 26.03 26.12 -
17039 952.7 6.7 350 17047 done 0.51 0.12 0.145 3163 -200.0 2.55 0.029 1574 -635.3 146.6 - - 1712 - - - - - - - - 26.02 26.23 -
17380 931.2 6.1 353 17388 roll 0.48 - - 3163 - 2.58 0.037 3200 630.2 148.1 - - 1710 - - - - - - - - - 26.27 -
17459 931.2 6.1 353 17467 done 0.45 - - 3174 - 2.55 0.029 1571 -638.8 149.6 - - 1711 - - - - - - - - - 26.33 -
17860 903.1 5.9 357 17877 roll 0.46 - - 3174 - 2.65 0.038 3202 615.5 157.6 8.77 1.450 1676 -4.0 0.265 - - - - - - - 26.22 24.66
17998 896.8 5.6 358 18019 done 0.48 - - 3186 - 2.55 0.030 1582 -635.3 173.6 15.50 1.538 1611 -4.2 0.261 - - - - - - - 26.27 24.49
18330 879.2 5.0 361 18368 roll 0.53 - - 3195 - 2.03 0.048 349 -607.4 209.8 32.78 1.602 1465 -4.5 0.261 - - - - - - - 25.37 24.10
18408 879.2 5.0 361 18449 done 0.57 - - 3195 - 2.03 0.026 1647 639.4 246.0 34.10 1.593 1315 -4.4 0.259 - - - - - - - 25.76 23.80
18809 845.9 6.9 365 18817 roll 0.57 - - 3205 - 2.15 0.050 348 -604.2 246.0 - - 1308 - - - - - - - - - 26.06 -
18849 845.9 6.9 365 18852 done 0.57 - - 3205 - 2.00 0.026 1657 654.5 246.0 - - 1308 - - - - - - - - - 26.26 -
19160 815.5 8.5 368 19167 roll 0.57 - - 3215 - 2.15 0.050 346 -609.8 246.0 - - 1307 - - - - - - - - - 26.19 -
19299 804.3 8.8 369 19303 done 0.57 0.12 0.129 3178 -308.3 1.98 0.026 1654 660.6 246.0 - - 1307 - - - - - - - - 26.17 26.42 -
19632 773.8 8.8 372 19639 roll 0.60 - - 3178 - 2.45 0.037 3203 632.2 246.0 - - 1306 - - - - - - - - - 26.31 -
19690 773.8 8.8 372 19698 done 0.63 - - 3187 - 2.55 0.031 1576 -638.0 246.0 - - 1307 - - - - - - - - - 26.35 -
20111 734.8 8.1 376 20119 roll 0.69 0.10 0.096 3259 720.0 2.00 0.052 349 -613.5 246.0 - - 1306 - - - - - - - - 26.61 26.25 -
20211 734.8 8.1 376 20214 done 0.75 - - 3259 - 1.98 0.027 1653 658.6 246.0 - - 1306 - - - - - - - - - 26.51 -
20583 698.4 7.7 380 20590 roll 0.72 - - 3268 - 2.12 0.050 353 -613.2 246.0 - - 1306 - - - - - - - - - 26.24 -
20642 698.4 7.7 380 20650 done 0.69 0.15 0.130 3224 -293.3 1.95 0.026 1651 665.6 246.0 - - 1307 - - - - - - - - 26.18 26.53 -
21063 665.1 6.9 384 21070 roll 0.69 - - 3233 - 2.12 0.050 348 -614.6 246.0 - - 1305 - - - - - - - - - 26.22 -
21202 656.1 6.9 385 21209 done 0.69 - - 3233 - 1.98 0.027 1654 659.6 246.0 - - 1305 - - - - - - - - - 26.53 -
21543 628.4 7.6 388 21550 roll 0.69 - - 3242 - 2.12 0.050 352 -614.2 246.0 - - 1305 - - - - - - - - - 26.21 -
21671 618.8 7.8 389 21675 done 0.67 - - 3243 - 1.95 0.026 1644 662.6 246.0 - - 1305 - - - - - - - - - 26.53 -
22013 591.8 7.8 392 22022 roll 0.64 0.12 0.137 3204 -325.0 2.47 0.037 3205 632.0 246.0 - - 1305 - - - - - - - - 26.44 26.29 -
22072 591.8 7.8 392 22080 done 0.61 - - 3216 - 2.55 0.031 1579 -637.6 246.0 - - 1305 - - - - - - - - - 26.34 -
22493 557.8 7.1 396 22500 roll 0.63 - - 3225 - 2.00 0.050 353 -613.0 246.0 - - 1305 - - - - - - - - - 26.17 -
22682 549.0 7.2 397 22686 done 0.67 - - 3225 - 1.95 0.026 1650 665.1 246.0 - - 1305 - - - - - - - - - 26.53 -
23084 513.6 7.5 401 23092 roll 0.70 - - 3235 - 2.12 0.050 352 -612.3 246.0 - - 1305 - - - - - - - - - 26.15 -
23243 504.7 7.5 402 23247 done 0.73 - - 3235 - 1.95 0.026 1644 662.6 246.0 - - 1305 - - - - - - - - - 26.52 -
23555 480.7 6.7 407 23556 done 0.73 - - 3235 - - - 1647 - 246.0 - - 1305 - - - - - - - - - - -
23854 459.6 7.1 412 23861 roll 0.73 - - 3246 - 2.12 0.049 351 -611.3 246.0 - - 1305 - - - - - - - - - 26.14 -
23954 455.1 7.2 413 23958 done 0.73 - - 3245 - 1.95 0.026 1647 664.6 246.0 - - 1305 - - - - - - - - - 26.51 -
24265 428.5 7.7 419 24272 roll 0.73 - - 3255 - 2.12 0.049 349 -612.3 246.0 - - 1305 - - - - - - - - - 26.13 -
24334 423.6 7.8 420 24338 done 0.73 - - 3255 - 1.95 0.025 1646 665.1 246.0 - - 1305 - - - - - - - - - 26.51 -
24676 397.2 7.4 426 24683 roll 0.71 - - 3255 - 2.45 0.037 3199 633.9 246.0 - - 1305 - - - - - - - - - 26.22 -
24745 392.7 7.4 427 24753 done 0.69 0.15 0.129 3223 -213.3 2.53 0.030 1583 -638.7 246.0 - - 1305 - - - - - - - - 26.03 26.29 -
25096 367.0 7.2 433 25103 roll 0.73 - - 3223 - 2.55 0.035 3197 632.9 246.0 - - 1305 - - - - - - - - - 26.23 -
25185 362.3 7.5 434 25193 done 0.77 - - 3233 - 2.53 0.030 1579 -639.5 246.0 - - 1305 - - - - - - - - - 26.30 -
25516 334.6 7.6 440 25523 roll 0.82 - - 3243 - 2.00 0.050 354 -612.5 246.0 - - 1305 - - - - - - - - - 26.11 -
25705 321.7 7.2 443 25713 done 0.86 0.10 0.094 3305 620.0 1.95 0.024 1654 666.7 246.0 - - 1305 - - - - - - - - 26.39 26.51 -
26056 291.7 8.5 449 26058 done 0.78 0.17 0.123 3252 -311.8 - - 1655 - 246.0 - - 1305 - - - - - - - - 26.32 - -
26355 270.3 7.0 454 26356 done 0.78 - - 3252 - - - 1655 - 246.0 - - 1306 - - - - - - - - - - -
26656 250.7 6.5 459 26663 roll 0.78 - - 3260 - 2.12 0.048 355 -613.2 246.0 - - 1306 - - - - - - - - - 26.10 -
26724 246.4 6.7 460 26728 done 0.78 - - 3260 - 1.95 0.024 1653 665.6 246.0 - - 1307 - - - - - - - - - 26.51 -
27066 217.6 8.4 466 27067 done 0.78 - - 3261 - - - 1653 - 246.0 - - 1306 - - - - - - - - - - -
27366 193.5 7.9 471 27374 roll 0.78 - - 3260 - 2.47 0.037 3200 626.3 246.0 - - 1305 - - - - - - - - - 26.20 -
27434 189.2 7.6 472 27439 done 0.78 - - 3272 - 2.53 0.029 1580 -640.3 246.0 - - 1307 - - - - - - - - - 26.29 -
27777 163.9 7.2 478 27784 roll 0.78 - - 3272 - 2.58 0.035 3206 630.2 246.0 - - 1307 - - - - - - - - - 26.22 -
27845 159.1 7.3 479 27850 done 0.78 0.12 0.134 3248 -200.0 2.55 0.029 1576 -639.2 246.0 - - 1307 - - - - - - - - 26.08 26.29 -
28160 137.4 6.1 487 28166 roll 0.81 - - 3255 - 1.95 0.049 358 -624.6 246.0 - - 1307 - - - - - - - - - 26.12 -
28258 132.2 5.8 490 28267 done 0.84 - - 3256 - 1.95 0.024 1654 664.6 255.2 4.07 0.800 1278 -7.1 0.126 - - - - - - - 26.52 24.46
28580 113.1 6.2 501 28586 roll 0.87 - - 3265 - 2.10 0.048 347 -622.4 255.2 - - 1278 - - - - - - - - - 26.18 -
28728 102.5 7.1 506 28736 done 0.87 - - 3265 - 1.95 0.024 1654 670.3 255.2 - - 1278 - - - - - - - - - 26.53 -
29060 75.5 8.3 517 29066 roll 0.90 - - 3275 - 2.10 0.048 352 -620.0 255.2 - - 1278 - - - - - - - - - 26.17 -
29168 66.0 8.4 526 29177 done 0.90 - - 3275 - 1.95 0.024 1646 663.6 255.2 - - 1279 - - - - - - - - - 26.53 -
29478 42.7 7.1 557 29487 roll 0.90 - - 3285 - 2.10 0.047 349 -617.6 255.2 - - 1278 - - - - - - - - - 26.18 -
29568 36.0 7.4 566 29577 done 0.90 - - 3285 - 1.95 0.023 1657 670.8 255.2 - - 1279 - - - - - - - - - 26.55 -
29878 13.8 7.4 597 29887 roll 0.90 - - 3285 - 2.45 0.036 3209 633.5 255.2 - - 1280 - - - - - - - - - 26.29 -
29948 8.2 8.2 604 29957 done 0.90 - - 3297 - 2.53 0.029 1582 -643.1 255.2 - - 1280 - - - - - - - - - 26.35 -
30026 end climb: SURFACE_DEPTH_REACHED
30026 begin surface coast
30061 end surface coast: CONTROL_FINISHED_OK
30061 begin surface
SM 1.76 - - - - -8.82 8.15 0.034 153 -385.8 0.93 0.034 2194 658.1 300.00 18.67 0.132 1095 -9.9 0.014 - - - - - -