PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 1 • 52.00 of 91.80 AH used of 24V (43.36% remains)
• Previous NAKs 2, Timeouts 0 • 7.92 of 61.20 AH used of 10V (87.05% remains)
• Surface angle -69.8 deg, depth 0.34 m • Intended pitch -26.0 deg, speed -13.750 cm/s
• VBD pumped to 451.11 (SM_CC=450.37079) • surface range 19.2 m at 19.0 m depth, ceiling -0.2 m
• GPS1 time: 25 s • bottom range 65.1 m at 500.4 m, depth 566 m (990 m grid)
• GPS2 time: 24 s • Transponder ping count: -1
• 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
35 end surface: CONTROL_FINISHED_OK
35 begin dive
41 - - - 58 done -1.49 - - 647 - - - 1924 - -116.8 -8.23 - 2831 - - - - - - - - - - -
64 0.3 - 2 83 roll -1.49 6.88 - 1999 196.5 3.42 - 3587 486.3 -116.8 - - 2835 - - - - - - - - - - -
303 25.9 -8.9 40 312 done -1.49 0.52 - 1867 -253.8 2.97 - 1885 -573.1 -116.8 - - 2831 - - - - - - - - - - -
672 79.6 -15.0 101 681 roll -1.76 0.03 - 1861 -200.0 3.42 - 3589 498.2 -116.8 - - 2838 - - - - - - - - - - -
762 93.1 -15.5 115 771 done -1.45 0.60 - 1982 201.7 3.22 - 1901 -524.2 -116.8 - - 2831 - - - - - - - - - - -
1092 125.3 -9.4 137 1098 roll -1.32 - - 1991 - 3.22 - 3578 520.8 -116.8 - - 2833 - - - - - - - - - - -
1174 132.7 -9.6 140 1179 done -1.34 - - 1979 - 2.55 - 2197 -541.6 -116.8 - - 2832 - - - - - - - - - - -
1498 163.2 -9.5 155 1506 roll -1.50 0.55 - 1865 -207.3 3.22 - 498 -527.6 -116.8 - - 2832 - - - - - - - - - - -
1524 166.6 -10.8 156 1533 done -1.50 0.50 - 1999 268.0 3.75 - 2372 499.7 -116.8 - - 2834 - - - - - - - - - - -
1860 197.7 -9.8 172 1862 done -1.50 0.45 - 1861 -306.7 - - 2368 - -116.8 - - 2831 - - - - - - - - - - -
2174 241.2 -14.8 187 2182 roll -1.52 0.52 - 1973 215.4 3.50 - 507 -531.7 -116.8 - - 2836 - - - - - - - - - - -
2223 247.3 -9.1 189 2228 done -1.21 - - 1997 - 2.88 - 2033 529.9 -116.8 - - 2838 - - - - - - - - - - -
2559 278.2 -9.3 205 2566 roll -1.47 0.50 - 1878 -238.0 3.00 - 3558 508.3 -116.8 - - 2838 - - - - - - - - - - -
2643 290.0 -14.9 208 2656 done -1.49 0.52 - 1984 203.8 3.08 - 2065 -484.7 -116.8 - - 2837 - - - - - - - - - - -
2972 320.7 -9.1 224 2978 roll -1.37 0.28 - 1933 -182.1 2.67 - 3595 573.0 -116.8 - - 2841 - - - - - - - - - - -
3009 325.2 -11.2 225 3018 done -1.41 - - 1937 - 2.65 - 2122 -555.8 -116.8 - - 2830 - - - - - - - - - - -
3336 362.8 -11.9 241 3342 roll -1.69 0.47 - 1829 -229.8 2.78 - 3431 470.9 -116.8 - - 2837 - - - - - - - - - - -
3372 369.4 -17.4 242 3381 done -1.55 0.77 - 2001 223.4 2.05 - 2118 -640.5 -116.8 - - 2837 - - - - - - - - - - -
3699 400.4 -9.2 258 3700 done -1.24 - - 2001 - - - 2109 - -116.8 - - 2837 - - - - - - - - - - -
4002 428.8 -8.9 273 4006 roll -1.26 - - 1981 - 2.42 - 3627 627.3 -116.8 - - 2834 - - - - - - - - - - -
4048 432.6 -9.0 275 4056 done -1.41 0.10 - 1984 30.0 3.22 - 1989 -508.7 -116.8 - - 2842 - - - - - - - - - - -
4378 462.9 -9.3 291 4384 roll -1.59 0.38 - 1859 -328.9 2.83 - 3549 551.2 -116.8 - - 2839 - - - - - - - - - - -
4436 471.5 -15.2 293 4445 done -1.62 0.55 - 1985 229.1 2.55 - 2081 -575.7 -116.8 - - 2839 - - - - - - - - - - -
4777 503.7 -9.0 309 4783 roll -1.47 0.38 - 1856 -339.5 2.75 - 3549 533.8 -116.8 - - 2841 - - - - - - - - - - -
4813 508.6 -15.1 309 4823 done -1.52 0.40 - 2000 360.0 2.38 - 2189 -571.4 -116.8 - - 2840 - - - - - - - - - - -
5149 540.5 -9.3 318 5150 done -1.37 0.03 - 1981 -633.3 - - 2193 - -116.8 - - 2842 - - - - - - - - - - -
5305 end dive: BOTTOM_OBSTACLE_DETECTED
5305 begin apogee
5318 555.6 9.3 322 5335 done -0.25 1.33 - 2290 232.3 - - 1853 - - 14.00 - 2241 -42.9 - - - - - - - - - -
5336 end apogee: CONTROL_FINISHED_OK
5336 begin climb
5342 555.6 - 322 5358 done 1.49 1.73 - 2661 214.5 - - 1853 - 116.8 11.77 - 1759 -41.0 - - - - - - - - - -
5657 493.7 21.4 331 5665 roll 1.49 0.50 - 2517 -288.0 3.53 - 3690 520.4 116.8 - - 1762 - - - - - - - - - - -
5786 473.7 13.1 336 5799 done 1.23 - - 2529 - 3.22 - 1989 -528.3 125.2 0.60 - 1732 -50.0 - - - - - - - - - -
6115 431.1 13.2 352 6123 roll 1.44 0.55 - 2580 92.7 3.25 - 3672 517.8 132.3 0.90 - 1692 -44.4 - - - - - - - - - -
6201 415.2 18.0 355 6210 done 1.52 - - 2555 - 3.17 - 2154 -478.9 132.3 - - 1702 - - - - - - - - - - -
6526 358.7 17.8 371 6531 roll 1.57 - - 2573 - 3.10 - 3640 479.4 132.3 - - 1694 - - - - - - - - - - -
6573 348.8 17.8 373 6579 done 1.46 - - 2580 - 3.03 - 1971 -550.8 132.3 - - 1695 - - - - - - - - - - -
6903 291.3 18.0 389 6910 roll 1.51 - - 2579 - 3.45 - 3672 493.0 132.3 - - 1694 - - - - - - - - - - -
6988 274.8 17.8 392 6996 done 1.41 - - 2578 - 2.33 - 2140 -657.5 132.3 - - 1692 - - - - - - - - - - -
7313 218.2 17.9 408 7318 roll 1.47 - - 2598 - 2.88 - 3469 461.5 132.3 - - 1697 - - - - - - - - - - -
7371 206.4 17.9 410 7380 done 1.36 0.12 - 2586 -100.0 2.35 - 2168 -553.6 132.3 - - 1702 - - - - - - - - - - -
7695 149.9 17.9 426 7700 roll 1.36 0.25 - 2534 -208.0 2.45 - 3681 617.6 132.3 - - 1697 - - - - - - - - - - -
7731 142.6 16.8 427 7739 done 1.26 - - 2505 - 2.55 - 2160 -596.5 132.3 - - 1700 - - - - - - - - - - -
8056 97.7 13.6 443 8065 roll 1.26 0.03 - 2514 300.0 2.92 - 3664 515.1 133.8 - - 1700 - - - - - - - - - - -
8103 90.6 16.3 449 8111 done 1.32 - - 2522 - 3.03 - 2182 -489.1 133.8 - - 1699 - - - - - - - - - - -
8472 39.3 13.2 510 8482 roll 1.47 0.85 - 2632 129.4 1.95 - 3519 685.6 141.3 0.65 0.001 1670 -44.6 181.479 - - - - - - - - -
8515 32.5 21.2 515 8524 done 1.55 0.40 - 2580 -130.0 2.47 - 2375 -463.2 141.3 - - 1670 - - - - - - - - - - -
8676 end climb: SURFACE_DEPTH_REACHED
8676 begin surface coast
8687 end surface coast: CONTROL_FINISHED_OK
8687 begin surface
SM 0.34 - - - - -7.43 - - 653 - - - 1864 - 451.11 19.62 - 391 -65.2 INF - - - - - -