PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 2 • 7.76 of 91.80 AH used of 24V (91.54% remains)
• Previous NAKs 0, Timeouts 0 • 2.85 of 61.20 AH used of 10V (95.34% remains)
• Surface angle -71.2 deg, depth 2.23 m • Intended pitch -11.0 deg, speed -6.002 cm/s
• VBD pumped to 667.71 (beyond SM_CC=658)
• GPS1 time: 9 s • bottom range 44.8 m at 81.1 m, depth 126 m (150 m grid)
• GPS2 time: 11 s • Transponder ping count: 115
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
14 - - - 114 VBD -0.91 - - 43 - - - 1998 - -146.6 -98.12 - 3578 - - - - - - - - - - -
116 4.2 -3.0 16 142 done -0.91 11.50 0.146 2122 180.8 - - 1998 - -146.6 -7.47 - 3894 -42.3 - - - - - - - - - -
211 11.7 -6.5 32 218 roll -0.91 - - 2122 - 2.67 0.056 3479 554.7 -146.6 - - 3894 - - - - - - - - - - -
302 18.6 -7.4 48 309 done -0.91 - - 2122 - 2.45 0.040 2073 -573.9 -146.6 - - 3893 - - - - - - - - - - -
373 23.7 -6.8 56 374 done -0.91 - - 2122 - - - 2071 - -146.6 - - 3893 - - - - - - - - - - -
564 37.2 -7.0 74 565 done -0.91 - - 2122 - - - 2070 - -146.6 - - 3894 - - - - - - - - - - -
755 49.9 -6.7 92 759 roll -0.91 - - 2122 - 2.53 0.057 3472 554.2 -146.6 - - 3893 - - - - - - - - - - -
820 54.6 -7.1 95 825 done -0.91 - - 2122 - 2.45 0.039 2080 -568.2 -146.6 - - 3893 - - - - - - - - - - -
1148 73.9 -5.6 111 1149 done -0.91 - - 2122 - - - 2080 - -146.6 - - 3894 - - - - - - - - - - -
1457 91.6 -5.7 126 1461 roll -0.91 - - 2122 - 2.50 0.054 3476 558.4 -146.6 - - 3894 - - - - - - - - - - -
1499 94.2 -6.2 128 1504 done -0.91 - - 2122 - 2.45 0.038 2077 -571.0 -146.6 - - 3894 - - - - - - - - - - -
1823 111.7 -5.6 153 1827 roll -0.91 - - 2122 - 2.50 0.054 3473 558.4 -146.6 - - 3894 - - - - - - - - - - -
1861 114.0 -6.3 156 1865 done -0.91 - - 2122 - 2.42 0.038 2061 -583.5 -146.6 - - 3894 - - - - - - - - - - -
1902 end dive: BOTTOM_OBSTACLE_DETECTED
1902 begin apogee
1906 116.3 5.6 160 2026 done -0.33 0.60 0.067 2250 213.3 - - 1777 - - 115.70 0.759 3296 -5.2 0.083 - - - - - - - - -
2026 end apogee: CONTROL_FINISHED_OK
2027 begin climb
2028 118.8 - 172 2152 roll 0.91 1.25 0.058 2523 218.4 2.62 0.068 373 -535.9 146.6 115.07 0.723 2698 -5.2 0.089 - - - - - - - - -
2178 110.8 8.4 185 2187 done 0.91 - - 2524 - 2.45 0.033 1773 571.4 146.6 - - 2698 - - - - - - - - - - -
2509 86.4 7.2 208 2513 roll 0.91 - - 2524 - 2.50 0.051 3184 564.4 146.6 - - 2699 - - - - - - - - - - -
2562 82.0 8.1 210 2571 done 0.91 - - 2524 - 2.50 0.042 1780 -561.6 146.6 - - 2698 - - - - - - - - - - -
2879 59.3 7.0 226 2883 roll 0.91 - - 2524 - 2.58 0.067 372 -545.7 146.6 - - 2699 - - - - - - - - - - -
2949 53.6 8.0 229 2954 done 0.91 - - 2524 - 2.42 0.034 1774 579.3 146.6 - - 2699 - - - - - - - - - - -
3279 31.4 6.9 258 3283 roll 0.91 - - 2524 - 2.47 0.050 3177 568.0 146.6 - - 2699 - - - - - - - - - - -
3321 28.4 6.8 261 3329 done 0.91 - - 2524 - 2.47 0.041 1779 -566.0 146.6 - - 2699 - - - - - - - - - - -
3523 15.6 6.5 286 3530 roll 0.91 - - 2524 - 2.58 0.067 367 -547.3 146.6 - - 2699 - - - - - - - - - - -
3576 12.4 6.2 295 3583 done 0.91 - - 2524 - 2.42 0.035 1787 586.8 146.6 - - 2699 - - - - - - - - - - -
3651 8.4 5.2 308 3682 roll 0.95 - - 2524 - 2.50 0.049 3177 556.0 176.3 24.77 0.668 2577 -4.9 0.006 - - - - - - - - -
3937 3.8 - 358 4007 VBD 1.22 0.30 0.038 2601 256.7 2.45 0.042 1768 -575.1 394.4 63.72 0.672 2177 -6.3 0.004 - - - - - - - - -
4008 end climb: SURFACE_DEPTH_REACHED
4008 begin surface coast
4262 end surface coast: CONTROL_FINISHED_OK
4262 begin surface
SM 2.24 - - - - -10.45 11.73 0.048 44 -218.0 - - 2081 - 667.71 - - 574 - - - - - - - -