PortSusan 16Sep09 * SG151 * Dive index * Mission links * Dive 16 * Raw log
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• Previous call tries 5 • 2.93 of 91.80 AH used of 24V (96.81% remains)
• Previous NAKs 0, Timeouts 0 • 1.01 of 61.20 AH used of 10V (98.35% remains)
• Surface angle -57.8 deg, depth 1.06 m • Intended pitch -21.3 deg, speed -12.500 cm/s
• VBD pumped to 696.16 (SM_CC=696.16138)
• GPS1 time: 7 s, HDOP was 99.0 m • bottom range 13.5 m at 80.1 m, depth 94 m (150 m grid)
• GPS2 time: 15 s • Transponder ping count: 9
• 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
19 - - - 140 VBD -1.70 - - 427 - - - 2201 - -146.0 -117.90 - 3353 - - - - - - - - - - -
146 3.3 -5.4 19 181 roll -1.70 10.68 0.215 2175 163.7 2.53 0.089 790 -557.7 -146.0 -13.07 - 3956 -46.1 - - - - - - - - - -
248 16.9 -11.6 38 255 done -1.70 - - 2175 - 2.38 0.049 2194 589.9 -146.0 - - 3957 - - - - - - - - - - -
326 25.6 -11.2 54 332 done -1.70 - - 2175 - - - 2194 - -146.0 - - 3957 - - - - - - - - - - -
402 34.8 -12.5 70 409 done -1.70 - - 2175 - - - 2195 - -146.0 - - 3957 - - - - - - - - - - -
478 44.5 -12.3 86 485 done -1.70 - - 2175 - - - 2195 - -146.0 - - 3957 - - - - - - - - - - -
555 54.8 -14.1 102 565 done -1.70 - - 2175 - - - 2196 - -146.0 - - 3957 - - - - - - - - - - -
638 65.9 -12.7 118 644 done -1.70 - - 2175 - - - 2195 - -146.0 - - 3957 - - - - - - - - - - -
715 76.2 -12.8 134 722 roll -1.70 - - 2175 - 2.45 0.067 3599 573.1 -146.0 - - 3957 - - - - - - - - - - -
753 81.2 -13.4 140 760 done -1.70 - - 2175 - 2.38 0.050 2200 -587.8 -146.0 - - 3958 - - - - - - - - - - -
769 end dive: BOTTOM_OBSTACLE_DETECTED
769 begin apogee
783 84.0 13.7 143 901 done -0.36 1.42 0.138 2465 204.2 - - 2091 - - 112.57 0.741 3363 -5.3 0.063 - - - - - - - - -
901 end apogee: CONTROL_FINISHED_OK
901 begin climb
908 88.9 - 163 1026 done 1.70 1.95 0.061 2919 232.8 - - 2091 - 146.0 112.70 0.710 2767 -5.3 0.069 - - - - - - - - -
1102 64.8 18.2 198 1108 done 1.70 - - 2919 - - - 2091 - 146.0 - - 2766 - - - - - - - - - - -
1179 51.0 17.4 214 1185 done 1.70 - - 2919 - - - 2092 - 146.0 - - 2766 - - - - - - - - - - -
1256 37.5 17.3 230 1263 roll 1.70 - - 2919 - 2.50 0.070 3492 560.0 146.0 - - 2765 - - - - - - - - - - -
1278 33.5 18.1 233 1285 done 1.70 - - 2919 - 2.40 0.060 2113 -574.6 146.0 - - 2765 - - - - - - - - - - -
1355 20.0 17.2 249 1362 roll 1.70 - - 2919 - 2.58 0.092 693 -550.4 146.0 - - 2764 - - - - - - - - - - -
1373 16.9 17.0 251 1380 done 1.70 - - 2919 - 2.42 0.057 2098 580.6 146.0 - - 2764 - - - - - - - - - - -
1448 5.6 9.3 267 1488 VBD 1.77 - - 2919 - - - 2099 - 202.2 37.90 0.678 2575 -5.0 0.004 - - - - - - - - -
1489 end climb: SURFACE_DEPTH_REACHED
1489 begin surface coast
1660 end surface coast: CONTROL_FINISHED_OK
1660 begin surface
SM 1.17 - - - - -9.77 - - 425 - - - 2204 - 696.16 402.38 0.655 525 -5.1 0.001 - - - - - -