PortSusan 17Jun09 * SG159 * Dive index * Mission links * Dive 23 * Raw log
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• Previous call tries 1 • 2.96 of 150.00 AH used of 24V (98.03% remains)
• Previous NAKs 4, Timeouts 0 • 1.15 of 100.00 AH used of 10V (98.85% remains)
• Surface angle -75.9 deg, depth -0.04 m • Intended pitch -18.0 deg, speed -7.463 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 12 s
• GPS2 time: 12 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
24 - - - 125 VBD -0.85 - 0.007 151 - - - 2174 - -127.1 -98.00 - 3462 - - - - - - - - - - -
129 3.3 -2.8 19 147 roll -0.85 8.70 0.217 2444 263.6 2.50 0.039 3780 642.4 -127.1 -2.90 - 3581 -41.0 - - - - - - - - - -
267 20.5 -10.4 44 275 done -0.66 0.22 0.135 2517 331.8 2.38 0.043 2207 -660.9 -127.1 - 0.135 3581 - - - - - - - - - - -
340 27.6 -9.0 57 347 done -0.57 0.08 0.007 2545 350.0 - 0.018 2206 - -127.1 - 0.018 3582 - - - - - - - - - - -
415 33.7 -8.1 70 422 done -0.53 0.03 0.007 2560 500.0 - 0.013 2206 - -127.1 - 0.013 3582 - - - - - - - - - - -
488 39.6 -8.0 83 495 roll -0.53 - 0.007 2560 - 2.42 0.056 618 -656.2 -127.1 - - 3583 - - - - - - - - - - -
506 41.4 -8.1 86 512 done -0.53 - 0.046 2550 - 2.33 0.035 2205 681.1 -127.1 - 0.009 3583 - - - - - - - - - - -
648 53.2 -8.7 111 654 roll -0.53 - 0.007 2549 - 2.40 0.053 615 -662.5 -127.1 - - 3583 - - - - - - - - - - -
671 55.2 -8.6 115 678 done -0.51 0.08 0.046 2565 200.0 2.33 0.028 2206 682.8 -127.1 - 0.011 3583 - - - - - - - - - - -
816 66.2 -7.3 140 821 done -0.53 - 0.007 2566 - - 0.007 2207 - -127.1 - - 3583 - - - - - - - - - - -
957 76.5 -6.9 165 962 done -0.55 - 0.007 2566 - - 0.007 2207 - -127.1 - 0.007 3583 - - - - - - - - - - -
1098 86.2 -7.3 190 1104 roll -0.58 - 0.007 2556 - 2.33 0.037 3779 674.7 -127.1 - 0.007 3583 - - - - - - - - - - -
1116 87.4 -7.1 193 1122 done -0.62 - - 2555 - 2.33 0.043 2199 -678.1 -127.1 - 0.011 3583 - - - - - - - - - - -
1260 97.1 -7.0 218 1266 roll -0.64 - 0.007 2555 - 2.35 0.066 617 -673.2 -127.1 - 0.007 3583 - - - - - - - - - - -
1306 101.0 -8.2 226 1312 done -0.64 - 0.047 2544 - 2.30 0.044 2201 688.7 -127.1 - 0.010 3583 - - - - - - - - - - -
1366 end dive: TARGET_DEPTH_EXCEEDED
1366 begin apogee
1372 105.5 6.7 237 1475 done -0.19 0.28 0.119 2665 432.1 - 0.033 2203 - - 92.57 0.773 3060 -5.6 0.078 - - - - - - - - -
1476 end apogee: CONTROL_FINISHED_OK
1476 begin climb
1478 108.0 - 257 1587 roll 0.85 0.93 0.080 3005 365.6 2.60 0.055 3776 605.0 127.1 94.22 0.746 2541 -5.5 0.081 - - - - - - - - -
1655 93.1 12.2 290 1661 done 0.75 - 0.013 3005 - 2.45 0.047 2198 -644.1 127.1 - 0.013 2540 - - - - - - - - - - -
1799 77.6 10.4 315 1804 done 0.67 0.03 0.007 2994 -366.7 - 0.009 2198 - 127.1 - 0.007 2539 - - - - - - - - - - -
1940 63.4 9.5 340 1947 roll 0.61 0.05 0.007 2971 -460.0 2.42 0.037 3784 655.4 127.1 - 0.015 2539 - - - - - - - - - - -
1981 59.5 9.0 347 1988 done 0.57 0.05 0.022 2960 -220.0 2.40 0.033 2197 -661.2 127.1 - - 2539 - - - - - - - - - - -
2125 48.0 8.1 372 2131 roll 0.57 - 0.007 2970 - 2.42 0.059 614 -654.1 127.1 - - 2538 - - - - - - - - - - -
2154 45.5 7.9 377 2160 done 0.57 0.03 0.051 2959 -366.7 2.35 0.043 2204 676.6 127.1 - - 2538 - - - - - - - - - - -
2296 35.5 7.2 402 2309 roll 0.58 - 0.007 2959 - 2.40 0.066 3779 656.2 132.8 5.60 0.501 2517 -3.8 0.027 - - - - - - - - -
2328 32.8 7.8 407 2335 done 0.58 - 0.056 2962 - 2.40 0.045 2205 -655.8 132.8 - 0.056 2517 - - - - - - - - - - -
2401 27.2 7.4 420 2414 roll 0.58 - 0.007 2965 - 2.47 0.044 604 -648.2 135.2 3.55 0.422 2507 -2.8 0.018 - - - - - - - - -
2426 25.3 7.6 424 2433 done 0.58 - - 2965 - 2.40 0.042 2199 664.6 135.2 - 0.012 2507 - - - - - - - - - - -
2498 20.0 7.1 437 2516 roll 0.59 - 0.007 2965 - 2.42 0.055 3780 653.3 143.6 7.57 0.714 2474 -4.4 0.012 - - - - - - - - -
2544 16.4 7.7 445 2551 done 0.59 - 0.016 2965 - 2.42 0.045 2194 -655.4 143.6 - 0.016 2474 - - - - - - - - - - -
2617 11.3 6.8 458 2640 roll 0.63 - 0.007 2965 - 2.45 0.059 621 -642.0 160.3 13.77 0.783 2405 -5.0 0.007 - - - - - - - - -
2654 8.8 6.6 464 2677 done 0.68 - 0.019 2966 - 2.40 0.031 2203 659.2 181.4 16.73 0.685 2320 -5.1 0.007 - - - - - - - - -
2744 4.0 5.2 480 2751 VBD 0.85 0.10 0.007 3025 590.0 - - 2204 - 234.2 4.47 - 2301 -4.3 - - - - - - - - - -
2752 end climb: SURFACE_DEPTH_REACHED
2752 begin surface coast
2852 end surface coast: CONTROL_FINISHED_OK
2852 begin surface
SM 0.39 - - - - -8.13 - 0.007 153 - - 0.713 2205 - 500.17 236.77 0.722 1020 -5.4 0.000 - - - - - -