PortSusan 09Sep09 * SG033 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 5 • 7.22 of 151.00 AH used of 24V (95.22% remains)
• Previous NAKs 0, Timeouts 0 • 2.09 of 122.20 AH used of 10V (98.29% remains)
• Surface angle -64.4 deg, depth 1.17 m • Intended pitch -8.7 deg, speed -5.000 cm/s
• VBD pumped to 575.40 (SM_CC=575.39563) • surface range 19.5 m at 19.7 m depth, ceiling 0.2 m
• GPS1 time: 9 s, HDOP was 99.0 m • bottom range 43.6 m at 80.7 m, depth 124 m (150 m grid)
• GPS2 time: 14 s, HDOP was 99.0 m • 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
14 - - - 82 VBD -0.76 - - 26 - - - 1790 - -146.6 -65.65 - 1498 - - - - - - - - - - -
84 3.3 -3.6 12 125 roll -0.76 10.52 0.228 1857 174.0 2.45 0.099 3199 575.1 -146.6 -24.60 - 2151 -26.5 - - - - - - - - - -
214 16.3 -6.8 35 221 done -0.76 - - 1857 - 2.33 0.079 1792 -603.9 -146.6 - - 2151 - - - - - - - - - - -
292 22.0 -7.8 47 296 roll -0.82 - - 1857 - 2.40 0.109 395 -582.1 -146.6 - - 2151 - - - - - - - - - - -
313 23.6 -7.7 48 320 done -0.86 - - 1857 - 2.30 0.070 1819 619.1 -146.6 - - 2151 - - - - - - - - - - -
447 33.4 -6.8 61 451 roll -0.90 0.12 0.087 1817 -333.3 2.35 0.102 3189 583.0 -146.6 - - 2151 - - - - - - - - - - -
500 38.2 -8.4 65 507 done -0.90 - - 1817 - 2.33 0.079 1795 -598.3 -146.6 - - 2151 - - - - - - - - - - -
634 48.2 -8.0 78 637 roll -0.90 - - 1816 - 2.40 0.109 389 -585.8 -146.6 - - 2151 - - - - - - - - - - -
656 50.0 -8.4 80 661 done -0.88 0.10 0.127 1838 220.0 2.25 0.072 1798 626.2 -146.6 - - 2151 - - - - - - - - - - -
789 59.9 -8.0 92 796 roll -0.91 - - 1838 - 2.38 0.107 3195 587.0 -146.6 - - 2151 - - - - - - - - - - -
846 64.2 -7.8 97 850 done -0.91 - - 1838 - 2.30 0.084 1797 -607.8 -146.6 - - 2151 - - - - - - - - - - -
984 75.2 -7.4 110 988 roll -0.94 - - 1838 - 2.40 0.114 392 -585.4 -146.6 - - 2151 - - - - - - - - - - -
1011 77.6 -7.6 112 1016 done -0.94 - - 1838 - 2.25 0.074 1802 626.7 -146.6 - - 2151 - - - - - - - - - - -
1150 88.5 -8.1 125 1154 roll -0.96 - - 1837 - 2.38 0.109 3195 585.3 -146.6 - - 2151 - - - - - - - - - - -
1199 92.4 -7.7 129 1203 done -0.96 - - 1838 - 2.30 0.084 1799 -607.0 -146.6 - - 2151 - - - - - - - - - - -
1337 103.6 -8.1 142 1341 roll -0.96 - - 1838 - 2.40 0.117 396 -584.6 -146.6 - - 2151 - - - - - - - - - - -
1360 105.3 -8.0 144 1364 done -0.96 - - 1838 - 2.25 0.077 1804 625.8 -146.6 - - 2151 - - - - - - - - - - -
1407 end dive: BOTTOM_OBSTACLE_DETECTED
1407 begin apogee
1410 109.4 7.9 148 1520 done -0.33 0.52 0.114 1956 226.9 - - 1959 - - 105.07 0.869 1750 -3.8 0.072 - - - - - - - - -
1521 end apogee: CONTROL_FINISHED_OK
1521 begin climb
1522 116.4 - 159 1638 roll 0.76 1.05 0.097 2194 226.7 2.60 0.114 545 -543.8 146.6 106.20 0.844 1351 -3.8 0.078 - - - - - - - - -
1789 115.7 1.9 183 1893 done 0.86 - - 2194 - 2.38 0.079 1941 586.6 282.2 97.72 0.839 982 -3.8 0.079 - - - - - - - - -
2026 101.9 7.2 206 2028 done 0.88 0.12 0.082 2237 358.3 - - 1941 - 282.2 - - 982 - - - - - - - - - - -
2154 92.8 7.1 218 2158 roll 0.85 - - 2237 - 2.47 0.112 544 -565.6 282.2 - - 982 - - - - - - - - - - -
2215 88.7 7.0 223 2219 done 0.77 0.20 0.142 2198 -195.0 2.35 0.082 1957 601.3 282.2 - - 981 - - - - - - - - - - -
2347 81.5 5.8 235 2348 done 0.77 - - 2198 - - - 1957 - 282.2 - - 982 - - - - - - - - - - -
2474 74.6 5.2 247 2475 done 0.77 - - 2198 - - - 1957 - 282.2 - - 981 - - - - - - - - - - -
2603 67.8 5.3 259 2604 done 0.77 - - 2198 - - - 1957 - 282.2 - - 981 - - - - - - - - - - -
2729 60.9 5.3 271 2733 roll 0.77 - - 2197 - 2.45 0.112 545 -576.3 282.2 - - 981 - - - - - - - - - - -
2750 59.8 5.1 272 2757 done 0.77 - - 2197 - 2.33 0.079 1947 601.7 282.2 - - 981 - - - - - - - - - - -
2884 53.2 5.3 285 2885 done 0.77 - - 2198 - - - 1947 - 282.2 - - 981 - - - - - - - - - - -
3011 47.0 5.0 297 3012 done 0.77 - - 2197 - - - 1947 - 284.2 - - 980 - - - - - - - - - - -
3139 41.2 4.8 309 3150 done 0.78 - - 2197 - - - 1947 - 294.3 9.40 0.737 950 -3.2 0.027 - - - - - - - - -
3277 34.4 5.5 322 3281 roll 0.78 - - 2197 - 2.45 0.114 544 -572.7 294.3 - - 950 - - - - - - - - - - -
3293 33.6 4.9 323 3305 done 0.79 - - 2197 - 2.30 0.082 1950 611.3 298.4 4.93 0.611 938 -2.4 0.020 - - - - - - - - -
3432 26.6 4.9 336 3442 done 0.79 - - 2197 - - - 1950 - 303.1 5.00 0.613 925 -2.6 0.017 - - - - - - - - -
3568 19.3 5.4 350 3575 roll 0.79 - - 2197 - 2.45 0.114 539 -575.9 303.1 - - 925 - - - - - - - - - - -
3585 18.2 5.2 353 3592 done 0.79 - - 2197 - 2.30 0.082 1951 613.9 303.1 - - 925 - - - - - - - - - - -
3658 14.5 5.5 366 3664 done 0.79 - - 2197 - - - 1951 - 303.1 - - 925 - - - - - - - - - - -
3732 10.9 4.9 379 3744 roll 0.80 - - 2197 - 2.47 0.114 544 -569.6 306.9 4.45 0.579 915 -2.2 0.006 - - - - - - - - -
3749 10.0 5.0 382 3755 done 0.80 - - 2197 - 2.30 0.079 1955 613.5 306.9 - - 915 - - - - - - - - - - -
3823 6.8 4.3 395 3852 roll 0.88 0.10 0.097 2229 320.0 2.50 0.124 3350 558.0 337.5 22.62 0.790 831 -3.7 0.005 - - - - - - - - -
4076 end climb: SURFACE_DEPTH_REACHED
4076 begin surface coast
4110 end surface coast: CONTROL_FINISHED_OK
4110 begin surface
SM 1.15 - - - - -9.22 - - 26 - - - 1800 - 575.40 168.18 0.797 186 -3.8 0.001 - - - - - -