SPURS Sep12 * SG189 * Dive index * Mission links * Dive 26 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 7.20 of 150.00 AH used of 24V (95.20% remains)
• Previous NAKs 0, Timeouts 0 • 6.37 of 97.00 AH used of 10V (93.43% remains)
• Surface angle -64.7 deg, depth 1.75 m • Intended pitch -13.6 deg, speed -6.111 cm/s
VBD pumped to 250.21 (SM_CC=250)
• GPS1 time: 40 s
• GPS2 time: 15 s • Transponder ping count: 6
• 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
20 - - - 44 VBD -0.92 - - 161 - - - 1825 - -117.3 -22.08 - 2080 - - - - - - - - - - -
47 2.0 - 2 91 roll -0.92 9.65 0.214 2701 263.2 2.22 0.060 424 -631.1 -117.3 -27.08 - 2913 -30.8 - - - - - - - 26.02 26.26 26.59
282 23.4 -13.2 25 290 done -0.73 0.25 0.151 2762 244.0 2.15 0.027 1888 680.9 -117.3 - - 2916 - - - - - - - - 26.25 26.46 -
598 55.2 -7.9 54 599 done -0.65 - - 2762 - - - 1888 - -117.3 - - 2916 - - - - - - - - - - -
899 78.4 -8.2 69 904 roll -0.59 0.12 0.157 2795 275.0 2.08 0.038 3279 668.8 -117.3 - - 2916 - - - - - - - - 26.51 26.60 -
1015 86.5 -7.7 74 1022 done -0.59 - - 2795 - 2.12 0.025 1817 -689.6 -117.3 - - 2917 - - - - - - - - - 26.66 -
1322 107.6 -6.2 90 1327 roll -0.56 - - 2795 - 2.10 0.044 426 -662.4 -117.3 - - 2917 - - - - - - - - - 26.65 -
1468 118.4 -7.8 97 1474 done -0.52 0.17 0.133 2838 252.9 2.10 0.026 1883 693.8 -117.3 - - 2917 - - - - - - - - 26.58 26.73 -
1786 139.3 -6.3 113 1791 roll -0.55 - - 2829 - 2.08 0.040 3280 671.6 -117.3 - - 2917 - - - - - - - - - 26.72 -
1857 143.1 -6.2 116 1862 done -0.59 - - 2828 - 2.10 0.025 1827 -691.9 -117.3 - - 2915 - - - - - - - - - 26.74 -
2170 162.2 -5.8 132 2171 done -0.63 - - 2828 - - - 1827 - -117.3 - - 2917 - - - - - - - - - - -
2470 178.0 -5.0 147 2476 roll -0.67 0.12 0.083 2744 -700.0 2.17 0.037 3283 671.0 -117.3 - - 2914 - - - - - - - - 26.82 26.74 -
2597 186.1 -6.6 153 2603 done -0.62 0.20 0.132 2803 295.0 2.12 0.025 1816 -692.0 -117.3 - - 2915 - - - - - - - - 26.63 26.78 -
2915 204.7 -5.9 169 2920 roll -0.62 - - 2803 - 2.10 0.044 424 -662.9 -117.3 - - 2915 - - - - - - - - - 26.74 -
3146 218.6 -6.3 180 3151 done -0.62 - - 2794 - 2.12 0.027 1891 692.0 -117.3 - - 2914 - - - - - - - - - 26.81 -
3458 235.5 -4.5 196 3459 done -0.62 - - 2794 - - - 1892 - -117.3 - - 2914 - - - - - - - - - - -
3759 247.4 -4.1 211 3760 done -0.62 - - 2794 - - - 1892 - -117.3 - - 2913 - - - - - - - - - - -
4059 262.0 -5.5 226 4064 roll -0.64 - - 2794 - 2.22 0.044 428 -659.5 -117.3 - - 2912 - - - - - - - - - 26.76 -
4121 266.0 -6.0 229 4126 done -0.64 - - 2783 - 2.10 0.027 1882 692.4 -117.3 - - 2912 - - - - - - - - - 26.82 -
4443 285.4 -5.8 245 4444 done -0.64 - - 2783 - - - 1882 - -117.3 - - 2911 - - - - - - - - - - -
4754 302.5 -5.9 260 4759 roll -0.64 - - 2783 - 2.22 0.045 418 -659.5 -117.3 - - 2909 - - - - - - - - - 26.76 -
4825 306.8 -6.4 262 4830 done -0.64 - - 2773 - 2.12 0.028 1880 689.6 -117.3 - - 2909 - - - - - - - - - 26.82 -
5147 331.0 -7.8 273 5148 done -0.64 - - 2773 - - - 1880 - -117.3 - - 2908 - - - - - - - - - - -
5447 355.0 -7.9 283 5452 roll -0.64 - - 2764 - 2.10 0.042 3286 669.5 -117.3 - - 2907 - - - - - - - - - 26.77 -
5509 359.8 -7.7 285 5514 done -0.64 - - 2763 - 2.12 0.027 1825 -689.2 -117.3 - - 2906 - - - - - - - - - 26.80 -
5841 384.5 -7.1 296 5846 roll -0.64 - - 2763 - 2.12 0.046 421 -662.3 -117.3 - - 2905 - - - - - - - - - 26.75 -
5892 387.0 -7.1 297 5898 done -0.64 0.15 0.141 2796 220.0 2.12 0.028 1883 689.6 -117.3 - - 2905 - - - - - - - - 26.65 26.82 -
6206 404.7 -4.6 308 6211 roll -0.69 - - 2797 - 2.22 0.045 422 -658.1 -117.3 - - 2904 - - - - - - - - - 26.75 -
6247 406.4 -4.7 309 6253 done -0.73 - - 2783 - 2.15 0.028 1883 679.5 -117.3 - - 2904 - - - - - - - - - 26.82 -
6571 422.5 -5.0 320 6576 roll -0.77 0.12 0.083 2705 -650.0 2.10 0.041 3285 667.6 -117.3 - - 2903 - - - - - - - - 26.85 26.77 -
6633 426.9 -6.0 322 6639 done -0.77 0.15 0.144 2748 286.7 2.12 0.028 1827 -687.7 -117.3 - - 2903 - - - - - - - - 26.63 26.79 -
6966 451.8 -7.7 333 6971 roll -0.77 - - 2748 - 2.12 0.047 429 -659.4 -117.3 - - 2902 - - - - - - - - - 26.74 -
7107 462.6 -8.8 337 7113 done -0.75 - - 2739 - 2.12 0.028 1887 687.7 -117.3 - - 2901 - - - - - - - - - 26.82 -
7420 489.5 -7.7 348 7425 roll -0.75 - - 2738 - 2.22 0.046 429 -656.8 -117.3 - - 2901 - - - - - - - - - 26.74 -
7482 494.8 -8.0 350 7488 done -0.72 0.12 0.151 2763 208.3 2.12 0.028 1886 687.3 -117.3 - - 2900 - - - - - - - - 26.63 26.84 -
7815 516.5 -5.9 361 7821 roll -0.72 - - 2753 - 2.10 0.043 3281 664.3 -117.3 - - 2900 - - - - - - - - - 26.76 -
7892 520.0 -5.6 363 7897 done -0.72 - - 2753 - 2.12 0.028 1828 -685.4 -117.3 - - 2900 - - - - - - - - - 26.79 -
8209 536.9 -4.8 374 8214 roll -0.72 - - 2754 - 2.12 0.047 430 -659.4 -117.3 - - 2898 - - - - - - - - - 26.74 -
8286 540.5 -5.2 376 8291 done -0.72 - - 2743 - 2.12 0.028 1887 687.3 -117.3 - - 2898 - - - - - - - - - 26.81 -
8602 563.1 -7.7 387 8608 roll -0.72 - - 2733 - 2.08 0.042 3275 667.3 -117.3 - - 2897 - - - - - - - - - 26.76 -
8673 568.1 -8.2 389 8679 done -0.72 0.12 0.142 2767 283.3 2.12 0.027 1822 -685.4 -117.3 - - 2897 - - - - - - - - 26.63 26.79 -
8997 593.8 -7.5 400 8998 done -0.76 - - 2767 - - - 1822 - -117.3 - - 2896 - - - - - - - - - - -
9297 615.1 -6.9 410 9298 done -0.79 - - 2767 - - - 1822 - -117.3 - - 2895 - - - - - - - - - - -
9597 633.5 -6.0 420 9602 roll -0.83 0.12 0.086 2699 -566.7 2.12 0.046 428 -657.5 -117.3 - - 2894 - - - - - - - - 26.84 26.72 -
9668 638.3 -6.7 422 9674 done -0.83 0.15 0.150 2730 206.7 2.12 0.028 1884 686.8 -117.3 - - 2894 - - - - - - - - 26.60 26.80 -
9991 660.7 -6.8 433 9993 done -0.83 - - 2730 - - - 1884 - -117.3 - - 2893 - - - - - - - - - - -
10291 682.6 -7.4 443 10292 done -0.83 - - 2730 - - - 1884 - -117.3 - - 2892 - - - - - - - - - - -
10591 703.9 -7.0 453 10592 done -0.83 - - 2730 - - - 1884 - -117.3 - - 2891 - - - - - - - - - - -
10891 722.8 -6.1 463 10893 done -0.83 - - 2730 - - - 1884 - -117.3 - - 2890 - - - - - - - - - - -
11191 741.1 -6.2 473 11197 roll -0.83 - - 2721 - 2.10 0.044 3273 661.4 -117.3 - - 2889 - - - - - - - - - 26.74 -
11242 743.2 -6.3 474 11248 done -0.83 - - 2721 - 2.12 0.028 1830 -680.7 -117.3 - - 2888 - - - - - - - - - 26.77 -
11554 767.1 -7.8 485 11560 roll -0.83 - - 2721 - 2.15 0.049 428 -652.1 -117.3 - - 2888 - - - - - - - - - 26.70 -
11626 772.7 -8.4 487 11631 done -0.83 - - 2710 - 2.12 0.028 1882 685.8 -117.3 - - 2885 - - - - - - - - - 26.79 -
11948 802.6 -9.2 498 11953 roll -0.83 - - 2700 - 2.10 0.043 3276 663.8 -117.3 - - 2887 - - - - - - - - - 26.72 -
11989 805.7 -9.2 499 11995 done -0.83 0.12 0.147 2734 283.3 2.12 0.029 1830 -682.1 -117.3 - - 2887 - - - - - - - - 26.58 26.77 -
12314 833.0 -7.8 510 12315 done -0.83 - - 2734 - - - 1830 - -117.3 - - 2886 - - - - - - - - - - -
12612 853.5 -6.5 520 12613 done -0.85 - - 2734 - - - 1831 - -117.3 - - 2885 - - - - - - - - - - -
12912 870.6 -5.6 530 12918 roll -0.88 - - 2734 - 2.15 0.050 431 -651.2 -117.3 - - 2884 - - - - - - - - - 26.69 -
13024 876.2 -5.9 533 13029 done -0.88 - - 2725 - 2.12 0.028 1880 683.5 -117.3 - - 2884 - - - - - - - - - 26.77 -
13337 895.4 -5.8 544 13342 roll -0.88 - - 2715 - 2.10 0.044 3273 663.3 -117.3 - - 2881 - - - - - - - - - 26.71 -
13388 897.3 -5.7 545 13394 done -0.88 - - 2715 - 2.12 0.029 1832 -679.7 -117.3 - - 2883 - - - - - - - - - 26.75 -
13700 917.4 -6.2 556 13701 done -0.88 - - 2715 - - - 1832 - -117.3 - - 2882 - - - - - - - - - - -
14000 937.5 -6.8 566 14002 done -0.88 - - 2715 - - - 1832 - -117.3 - - 2881 - - - - - - - - - - -
14300 959.1 -7.3 576 14301 done -0.88 - - 2715 - - - 1832 - -117.3 - - 2881 - - - - - - - - - - -
14600 982.7 -7.9 586 14601 done -0.88 - - 2715 - - - 1832 - -117.3 - - 2880 - - - - - - - - - - -
14719 end dive: TARGET_DEPTH_EXCEEDED
14719 begin apogee
14723 991.7 -7.6 590 14820 done -0.29 0.55 0.119 2899 334.5 - - 1832 - - 92.70 1.700 2433 -4.8 0.290 - - - - - - 26.49 - 23.99
14822 end apogee: CONTROL_FINISHED_OK
14822 begin climb
14824 994.4 - 593 14937 roll 0.92 1.15 0.075 3296 345.2 2.40 0.041 3280 603.3 117.3 104.57 1.672 1954 -4.6 0.281 - - - - - - 25.05 24.77 23.82
14998 985.8 6.3 599 15004 done 0.76 0.22 0.152 3247 -222.7 2.28 0.030 1829 -636.4 117.3 - - 1951 - - - - - - - - 25.39 25.51 -
15327 959.8 7.8 610 15333 roll 0.67 0.12 0.156 3217 -250.0 2.22 0.049 425 -632.4 117.3 - - 1944 - - - - - - - - 26.08 26.15 -
15474 950.8 7.3 614 15481 done 0.60 - - 3217 - 2.17 0.028 1879 670.0 117.3 - - 1943 - - - - - - - - - 26.32 -
15780 928.0 6.9 625 15786 roll 0.55 0.12 0.148 3175 -350.0 2.15 0.041 3284 653.5 117.3 - - 1942 - - - - - - - - 26.33 26.41 -
15897 922.0 6.4 628 15904 done 0.52 - - 3184 - 2.17 0.030 1835 -667.7 117.3 - - 1943 - - - - - - - - - 26.46 -
16203 901.2 6.4 639 16204 done 0.52 - - 3184 - - - 1835 - 117.3 - - 1940 - - - - - - - - - - -
16503 882.8 5.8 649 16518 roll 0.53 - - 3184 - 2.28 0.041 3273 630.7 126.2 6.25 1.396 1917 -3.7 0.240 - - - - - - - 26.39 25.30
16605 877.0 6.1 652 16611 done 0.50 0.12 0.143 3161 -191.7 2.17 0.030 1828 -665.9 126.3 - - 1917 - - - - - - - - 26.34 26.45 -
16929 861.9 4.6 663 16969 done 0.56 - - 3161 - - - 1828 - 168.8 38.15 1.628 1743 -4.6 0.249 - - - - - - - - 24.45
17259 843.9 5.7 674 17278 roll 0.60 0.10 0.096 3220 590.0 2.30 0.052 435 -605.7 180.4 10.57 1.482 1696 -4.4 0.261 - - - - - - 26.22 25.83 24.88
17339 839.3 6.5 676 17344 done 0.60 - - 3221 - 2.20 0.029 1883 658.2 180.4 - - 1696 - - - - - - - - - 26.04 -
17652 813.5 7.7 687 17657 roll 0.57 0.12 0.142 3190 -258.3 2.30 0.050 434 -630.0 180.4 - - 1695 - - - - - - - - 26.22 26.27 -
17694 811.0 7.6 688 17699 done 0.54 - - 3190 - 2.17 0.029 1886 669.1 180.4 - - 1694 - - - - - - - - - 26.36 -
18016 789.2 6.6 699 18018 done 0.54 - - 3190 - - - 1886 - 180.4 - - 1694 - - - - - - - - - - -
18316 767.8 7.4 709 18317 done 0.54 - - 3190 - - - 1886 - 180.4 - - 1693 - - - - - - - - - - -
18616 745.2 7.4 719 18621 roll 0.54 - - 3201 - 2.28 0.052 434 -636.8 180.4 - - 1693 - - - - - - - - - 26.53 -
18677 740.5 7.5 721 18683 done 0.54 - - 3201 - 2.15 0.029 1884 674.4 180.4 - - 1691 - - - - - - - - - 26.60 -
19010 716.9 6.7 732 19011 done 0.54 - - 3201 - - - 1884 - 180.4 - - 1691 - - - - - - - - - - -
19309 697.6 6.5 742 19314 roll 0.54 - - 3201 - 2.10 0.041 3274 661.9 180.4 - - 1691 - - - - - - - - - 26.63 -
19371 693.2 6.9 744 19377 done 0.54 0.12 0.140 3177 -200.0 2.15 0.030 1828 -672.6 180.4 - - 1691 - - - - - - - - 26.53 26.65 -
19704 670.6 7.4 755 19709 roll 0.57 - - 3186 - 2.17 0.052 431 -643.8 180.4 - - 1691 - - - - - - - - - 26.62 -
19767 665.4 8.1 757 19772 done 0.59 - - 3186 - 2.15 0.028 1889 678.1 180.4 - - 1691 - - - - - - - - - 26.69 -
20099 638.6 7.6 768 20105 roll 0.61 - - 3186 - 2.10 0.041 3280 662.4 180.4 - - 1691 - - - - - - - - - 26.67 -
20150 636.2 7.4 769 20156 done 0.61 - - 3197 - 2.15 0.030 1833 -673.0 180.4 - - 1691 - - - - - - - - - 26.68 -
20463 614.5 6.4 780 20464 done 0.61 - - 3197 - - - 1834 - 180.4 - - 1691 - - - - - - - - - - -
20763 593.5 7.3 790 20768 roll 0.61 - - 3208 - 2.20 0.051 426 -640.0 180.4 - - 1690 - - - - - - - - - 26.65 -
20814 590.9 7.5 791 20819 done 0.61 - - 3208 - 2.15 0.028 1887 679.5 180.4 - - 1691 - - - - - - - - - 26.73 -
21126 563.5 8.3 802 21127 done 0.61 - - 3208 - - - 1887 - 180.4 - - 1691 - - - - - - - - - - -
21426 541.3 7.0 812 21431 roll 0.61 - - 3208 - 2.10 0.041 3282 664.3 180.4 - - 1691 - - - - - - - - - 26.70 -
21482 539.1 7.0 813 21489 done 0.61 - - 3219 - 2.15 0.029 1830 -675.3 180.4 - - 1691 - - - - - - - - - 26.72 -
21788 516.9 6.3 824 21793 roll 0.61 - - 3230 - 2.17 0.050 424 -647.9 180.4 - - 1690 - - - - - - - - - 26.67 -
21874 512.8 6.5 826 21881 done 0.61 0.12 0.138 3194 -300.0 2.15 0.028 1888 680.9 180.4 - - 1691 - - - - - - - - 26.60 26.75 -
22181 492.5 6.2 837 22187 roll 0.64 - - 3194 - 2.10 0.041 3285 665.2 180.4 - - 1691 - - - - - - - - - 26.70 -
22223 490.0 6.5 838 22228 done 0.67 - - 3203 - 2.15 0.028 1828 -677.7 180.4 - - 1691 - - - - - - - - - 26.73 -
22546 467.9 6.4 849 22547 done 0.69 - - 3203 - - - 1828 - 180.4 - - 1691 - - - - - - - - - - -
22846 450.0 5.9 859 22860 roll 0.72 - - 3213 - 2.22 0.050 435 -627.5 186.7 6.15 1.141 1670 -3.4 0.139 - - - - - - - 26.56 25.60
22980 442.1 6.5 863 22985 done 0.72 - - 3214 - 2.12 0.028 1880 681.6 186.7 - - 1670 - - - - - - - - - 26.65 -
23297 421.5 6.1 874 23303 roll 0.72 - - 3225 - 2.28 0.050 421 -639.9 186.7 - - 1670 - - - - - - - - - 26.60 -
23329 419.5 6.1 875 23335 done 0.72 - - 3226 - 2.15 0.028 1880 678.6 186.7 - - 1670 - - - - - - - - - 26.68 -
23662 398.4 6.8 886 23667 roll 0.72 - - 3225 - 2.10 0.041 3276 664.8 186.7 - - 1670 - - - - - - - - - 26.66 -
23703 396.0 6.9 887 23708 done 0.72 - - 3232 - 2.15 0.028 1822 -676.3 186.7 - - 1670 - - - - - - - - - 26.69 -
24025 368.7 9.0 898 24027 done 0.72 - - 3236 - - - 1822 - 186.7 - - 1670 - - - - - - - - - - -
24325 339.6 9.7 908 24330 roll 0.72 - - 3236 - 2.20 0.041 3277 661.4 186.7 - - 1671 - - - - - - - - - 26.69 -
24386 333.5 9.6 910 24392 done 0.72 - - 3247 - 2.12 0.028 1831 -682.1 186.7 - - 1671 - - - - - - - - - 26.72 -
24719 306.2 7.3 921 24720 done 0.72 - - 3247 - - - 1830 - 186.7 - - 1671 - - - - - - - - - - -
25019 286.3 7.0 934 25024 roll 0.72 - - 3247 - 2.20 0.040 3286 661.8 186.7 - - 1672 - - - - - - - - - 26.71 -
25081 281.3 7.8 937 25087 done 0.70 0.12 0.143 3221 -216.7 2.15 0.028 1825 -679.5 186.7 - - 1672 - - - - - - - - 26.60 26.74 -
25404 256.2 8.3 953 25409 roll 0.72 - - 3231 - 2.15 0.050 426 -650.7 186.7 - - 1672 - - - - - - - - - 26.69 -
25469 250.6 8.8 956 25475 done 0.72 - - 3231 - 2.12 0.028 1881 686.3 186.7 - - 1672 - - - - - - - - - 26.77 -
25787 226.4 6.7 972 25792 roll 0.72 - - 3231 - 2.10 0.041 3283 667.6 186.7 - - 1672 - - - - - - - - - 26.72 -
25833 223.6 6.6 974 25838 done 0.72 - - 3241 - 2.15 0.028 1822 -679.5 186.7 - - 1672 - - - - - - - - - 26.74 -
26150 202.4 6.8 990 26155 roll 0.72 - - 3253 - 2.15 0.049 422 -651.2 186.7 - - 1673 - - - - - - - - - 26.70 -
26191 199.4 7.0 992 26197 done 0.72 - - 3252 - 2.12 0.028 1882 688.7 186.7 - - 1673 - - - - - - - - - 26.77 -
26513 174.7 7.7 1008 26518 roll 0.72 - - 3252 - 2.10 0.040 3286 668.6 186.7 - - 1674 - - - - - - - - - 26.72 -
26555 170.9 8.2 1010 26561 done 0.72 0.12 0.138 3226 -216.7 2.15 0.028 1821 -681.4 186.7 - - 1674 - - - - - - - - 26.63 26.75 -
26878 145.7 8.5 1026 26883 roll 0.75 - - 3236 - 2.12 0.048 431 -655.7 186.7 - - 1674 - - - - - - - - - 26.70 -
26950 140.2 8.7 1029 26955 done 0.78 - - 3236 - 2.12 0.027 1886 686.3 186.7 - - 1674 - - - - - - - - - 26.78 -
27262 112.6 8.1 1045 27263 done 0.81 - - 3236 - - - 1886 - 186.7 - - 1674 - - - - - - - - - - -
27562 91.1 7.1 1060 27564 done 0.84 0.10 0.094 3295 590.0 - - 1886 - 186.7 - - 1675 - - - - - - - - 26.84 - -
27862 64.5 8.4 1075 27867 roll 0.82 0.12 0.138 3253 -350.0 2.08 0.038 3275 667.8 186.7 - - 1676 - - - - - - - - 26.68 26.74 -
28094 52.3 4.3 1086 28119 done 0.88 - - 3268 - 2.12 0.028 1825 -684.0 236.2 20.20 0.233 1470 -10.2 0.236 - - - - - - - 26.77 26.33
28427 32.4 6.6 1117 28433 roll 0.93 0.12 0.081 3355 725.0 2.15 0.047 422 -652.6 236.2 - - 1465 - - - - - - - - 26.79 26.65 -
28480 27.1 10.8 1122 28486 done 0.86 0.25 0.121 3276 -316.0 2.12 0.025 1887 691.0 236.2 - - 1464 - - - - - - - - 26.57 26.74 -
28793 3.2 7.2 1153 28798 roll 0.91 - - 3276 - 2.08 0.040 3279 669.2 236.2 - - 1464 - - - - - - - - - 26.71 -
28803 end climb: SURFACE_DEPTH_REACHED
28803 begin surface coast
28845 end surface coast: CONTROL_FINISHED_OK
28845 begin surface
SM 2.80 - - - - -8.83 8.02 0.037 161 -388.4 2.20 0.029 1828 -659.5 250.21 4.40 0.158 1409 -12.5 0.023 - - - - - -