PortSusan 01Feb10 * SG147 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 2.76 of 92.00 AH used of 24V (97.00% remains)
• Previous NAKs 0, Timeouts 0 • 2.57 of 100.00 AH used of 10V (97.43% remains)
• Surface angle -60.7 deg, depth 1.01 m • Intended pitch -14.6 deg, speed -6.944 cm/s
• VBD pumped to 600.24 (SM_CC=600)
• GPS1 time: 10 s, HDOP was 99.0 m • bottom range 38.9 m at 80.3 m, depth 119 m (150 m grid)
• GPS2 time: 10 s • Transponder ping count: 17
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 163 VBD -1.10 - - 480 - - - 2605 - -107.5 -141.75 - 3083 - - - - - - - - - - -
166 3.0 -2.6 18 216 roll -1.10 10.23 0.186 2231 171.2 2.38 0.052 1191 -594.1 -107.5 -30.33 - 3952 -28.7 - - - - - - - - - -
268 8.2 -4.9 31 277 done -1.10 - - 2231 - 2.35 0.039 2597 598.3 -107.5 - - 3952 - - - - - - - - - - -
361 13.5 -6.0 44 370 roll -1.10 - - 2232 - 2.33 0.061 3929 571.7 -107.5 - - 3953 - - - - - - - - - - -
381 14.9 -6.1 46 390 done -1.10 - - 2231 - 2.20 0.028 2583 -611.8 -107.5 - - 3952 - - - - - - - - - - -
475 20.8 -5.9 59 485 roll -1.10 - - 2231 - 2.35 0.061 3923 570.2 -107.5 - - 3952 - - - - - - - - - - -
510 23.2 -6.4 63 519 done -1.10 - - 2231 - 2.15 0.029 2608 -611.6 -107.5 - - 3952 - - - - - - - - - - -
604 29.4 -6.4 76 613 roll -1.10 - - 2231 - 2.38 0.044 1194 -594.1 -107.5 - - 3952 - - - - - - - - - - -
624 30.8 -6.4 78 633 done -1.10 - - 2231 - 2.35 0.040 2599 597.9 -107.5 - - 3952 - - - - - - - - - - -
717 36.5 -6.2 91 726 done -1.10 - - 2231 - - - 2599 - -107.5 - - 3952 - - - - - - - - - - -
803 42.5 -6.4 104 812 roll -1.10 - - 2231 - 2.33 0.062 3931 571.7 -107.5 - - 3952 - - - - - - - - - - -
828 43.9 -6.7 107 834 done -1.10 - - 2231 - 2.15 0.028 2591 -623.3 -107.5 - - 3952 - - - - - - - - - - -
987 54.3 -6.5 132 996 roll -1.10 - - 2231 - 2.35 0.061 3928 568.9 -107.5 - - 3952 - - - - - - - - - - -
1024 56.7 -6.7 137 1030 done -1.10 - - 2231 - 2.12 0.028 2597 -627.8 -107.5 - - 3952 - - - - - - - - - - -
1184 67.1 -6.4 162 1193 roll -1.10 - - 2231 - 2.33 0.061 3925 570.0 -107.5 - - 3952 - - - - - - - - - - -
1209 68.7 -6.4 165 1215 done -1.10 - - 2231 - 2.15 0.028 2590 -620.9 -107.5 - - 3952 - - - - - - - - - - -
1367 78.6 -6.1 190 1376 done -1.10 - - 2231 - - - 2590 - -107.5 - - 3952 - - - - - - - - - - -
1528 88.0 -6.1 215 1533 roll -1.10 - - 2231 - 2.33 0.062 3930 575.1 -107.5 - - 3952 - - - - - - - - - - -
1570 90.8 -6.4 221 1576 done -1.10 - - 2231 - 2.15 0.028 2594 -621.4 -107.5 - - 3952 - - - - - - - - - - -
1729 101.0 -6.2 246 1737 done -1.10 - - 2231 - - - 2592 - -107.5 - - 3952 - - - - - - - - - - -
1891 110.1 -5.2 271 1897 roll -1.10 - - 2231 - 2.33 0.047 1194 -600.0 -107.5 - - 3952 - - - - - - - - - - -
1908 110.9 -4.9 273 1913 done -1.10 - - 2231 - 2.33 0.039 2601 603.9 -107.5 - - 3952 - - - - - - - - - - -
1934 end dive: BOTTOM_OBSTACLE_DETECTED
1934 begin apogee
1939 112.4 5.1 277 2039 done -0.33 0.80 0.096 2401 212.5 - - 2601 - - 94.20 0.683 3519 -4.6 0.078 - - - - - - - - -
2040 end apogee: CONTROL_FINISHED_OK
2042 begin climb
2044 113.9 - 292 2133 done 1.10 1.40 0.057 2719 227.1 - - 2601 - 107.5 84.85 0.661 3080 -5.2 0.092 - - - - - - - - -
2285 95.1 8.8 329 2290 roll 1.10 - - 2719 - 2.35 0.049 1208 -592.8 107.5 - - 3077 - - - - - - - - - - -
2313 92.6 8.9 333 2318 done 1.10 - - 2719 - 2.33 0.039 2601 597.9 107.5 - - 3077 - - - - - - - - - - -
2469 78.7 8.7 358 2478 roll 1.10 - - 2719 - 2.33 0.064 3927 569.1 107.5 - - 3076 - - - - - - - - - - -
2544 71.7 10.0 369 2549 done 1.10 - - 2719 - 2.15 0.029 2609 -613.0 107.5 - - 3077 - - - - - - - - - - -
2701 57.8 8.4 394 2710 done 1.10 - - 2719 - - - 2608 - 107.5 - - 3077 - - - - - - - - - - -
2862 43.8 8.7 419 2868 roll 1.10 - - 2719 - 2.30 0.064 3930 574.8 107.5 - - 3077 - - - - - - - - - - -
2906 39.4 9.5 426 2916 done 1.10 - - 2719 - 2.20 0.031 2598 -605.5 107.5 - - 3077 - - - - - - - - - - -
3000 31.8 8.2 439 3009 roll 1.10 - - 2719 - 2.42 0.061 1201 -577.3 107.5 - - 3077 - - - - - - - - - - -
3019 30.2 8.1 441 3029 done 1.10 - - 2719 - 2.35 0.041 2596 593.6 107.5 - - 3077 - - - - - - - - - - -
3112 22.8 8.1 454 3121 done 1.10 - - 2720 - - - 2596 - 107.5 - - 3077 - - - - - - - - - - -
3205 15.6 7.5 467 3214 roll 1.10 - - 2719 - 2.38 0.049 1199 -587.0 107.5 - - 3077 - - - - - - - - - - -
3246 12.6 7.4 472 3255 done 1.10 - - 2719 - 2.35 0.041 2598 595.3 107.5 - - 3077 - - - - - - - - - - -
3339 7.0 5.6 485 3372 done 1.14 - - 2719 - - - 2598 - 137.5 24.33 0.590 2957 -4.9 0.006 - - - - - - - - -
3456 4.6 -0.5 501 3554 VBD 1.35 0.22 0.053 2781 281.8 - - 2598 - 306.7 94.32 0.593 2473 -5.1 0.004 - - - - - - - - -
3555 end climb: NO_VERTICAL_VELOCITY
3555 begin surface
SM 1.10 - - - - -9.19 - - 483 - - - 2600 - 600.24 286.27 0.558 1072 -4.9 0.001 - - - - - -