PortSusan 17Jun09 * SG159 * Dive index * Mission links * Dive 16 * Raw log
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• Previous call tries 1 • 2.12 of 150.00 AH used of 24V (98.59% remains)
• Previous NAKs 18, Timeouts 0 • 0.82 of 100.00 AH used of 10V (99.17% remains)
• Surface angle -75.6 deg, depth 0.08 m • Intended pitch -18.0 deg, speed -7.463 cm/s
• VBD pumped to 520.04 (SM_CC=520)
• GPS1 time: 68 s, HDOP was 99.0 m • bottom range 42.5 m at 80.3 m, depth 123 m (150 m grid)
• GPS2 time: 11 s, HDOP was 99.0 m • 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 132 VBD -0.85 - 0.007 148 - - - 2192 - -127.1 -102.95 - 3396 - - - - - - - - - - -
135 3.2 -5.8 20 159 roll -0.85 8.65 0.218 2457 266.9 2.72 0.055 431 -647.4 -127.1 -4.38 - 3580 -42.0 - - - - - - - - - -
249 18.0 -11.1 40 257 done -0.62 0.25 - 2525 272.0 2.65 0.041 2193 664.9 -127.1 - 0.024 3582 - - - - - - - - - - -
322 24.7 -8.5 53 329 done -0.54 0.10 0.007 2562 370.0 - 0.011 2195 - -127.1 - 0.011 3582 - - - - - - - - - - -
396 30.3 -7.7 66 403 done -0.54 - 0.007 2563 - - 0.007 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
469 35.9 -7.5 79 475 done -0.54 - 0.007 2563 - - 0.007 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
543 41.5 -7.9 92 548 done -0.54 - 0.007 2563 - - - 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
683 52.6 -7.8 117 688 done -0.54 - 0.007 2562 - - 0.007 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
824 63.3 -7.1 142 829 done -0.54 - 0.007 2562 - - 0.007 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
965 73.4 -7.2 167 970 done -0.56 - 0.007 2562 - - 0.007 2195 - -127.1 - 0.007 3583 - - - - - - - - - - -
1108 84.2 -7.4 192 1114 roll -0.59 - - 2562 - 2.67 0.056 431 -660.7 -127.1 - 0.007 3583 - - - - - - - - - - -
1137 86.8 -8.2 197 1143 done -0.59 - 0.020 2551 - 2.60 0.030 2203 681.5 -127.1 - 0.020 3583 - - - - - - - - - - -
1278 97.4 -7.9 222 1283 done -0.59 - 0.007 2551 - - 0.007 2204 - -127.1 - 0.007 3582 - - - - - - - - - - -
1419 108.0 -7.3 247 1425 roll -0.59 - 0.007 2538 - 2.60 0.041 3956 673.8 -127.1 - - 3583 - - - - - - - - - - -
1448 110.3 -7.5 252 1454 done -0.61 - 0.036 2537 - 2.58 0.031 2194 -682.9 -127.1 - - 3583 - - - - - - - - - - -
1481 end dive: BOTTOM_OBSTACLE_DETECTED
1481 begin apogee
1487 113.1 7.7 258 1590 done -0.19 0.32 0.008 2665 400.0 - 0.747 2194 - - 93.35 0.773 3061 -5.6 0.083 - - - - - - - - -
1591 end apogee: CONTROL_FINISHED_OK
1591 begin climb
1593 115.8 - 278 1702 roll 0.85 0.90 0.081 3001 373.3 2.88 0.055 3970 616.7 127.1 95.78 0.748 2541 -5.4 0.085 - - - - - - - - -
1719 107.1 10.6 302 1726 done 0.76 - 0.059 3004 - 2.78 0.050 2207 -634.2 127.1 - - 2540 - - - - - - - - - - -
1863 91.3 10.7 327 1869 roll 0.67 - 0.007 3005 - 2.75 0.052 3967 640.0 127.1 - 0.007 2540 - - - - - - - - - - -
1881 89.1 11.1 330 1888 done 0.58 0.12 0.110 2964 -341.7 2.72 0.047 2186 -654.8 127.1 - 0.110 2540 - - - - - - - - - - -
2025 76.0 8.4 355 2030 done 0.58 - 0.007 2965 - - 0.007 2187 - 127.1 - 0.007 2539 - - - - - - - - - - -
2166 63.2 8.4 380 2171 done 0.58 - - 2964 - - - 2186 - 127.1 - 0.007 2538 - - - - - - - - - - -
2306 51.7 8.1 405 2311 done 0.58 - 0.007 2964 - - 0.008 2186 - 127.1 - 0.007 2538 - - - - - - - - - - -
2446 40.4 7.8 430 2452 done 0.58 - 0.007 2964 - - 0.007 2186 - 127.1 - 0.007 2538 - - - - - - - - - - -
2582 30.3 7.7 455 2588 done 0.58 - - 2964 - - - 2186 - 127.1 - 0.007 2537 - - - - - - - - - - -
2655 25.4 6.5 468 2677 done 0.61 - 0.007 2964 - - - 2186 - 149.5 17.58 0.707 2447 -5.1 0.019 - - - - - - - - -
2743 18.7 7.8 484 2750 roll 0.61 - 0.007 2976 - 2.72 0.045 439 -642.3 149.5 - 0.007 2446 - - - - - - - - - - -
2769 16.6 7.9 488 2776 done 0.61 - 0.029 2977 - 2.65 0.032 2199 664.2 149.5 - 0.029 2446 - - - - - - - - - - -
2843 10.5 8.0 501 2850 roll 0.61 - - 2977 - 2.70 0.053 3960 652.2 149.5 - 0.008 2446 - - - - - - - - - - -
2858 9.5 7.8 503 2865 done 0.61 - 0.060 2978 - 2.67 0.049 2202 -658.4 149.5 - 0.060 2446 - - - - - - - - - - -
2933 4.8 4.6 516 2951 VBD 0.74 - 0.008 2978 - - - 2202 - 216.5 15.35 - 2367 -5.1 - - - - - - - - - -
2952 end climb: SURFACE_DEPTH_REACHED
2952 begin surface coast
3062 end surface coast: CONTROL_FINISHED_OK
3063 begin surface
SM 0.37 - - - - -8.14 - 0.008 151 - - 0.690 2200 - 520.04 264.27 0.710 940 -5.4 0.000 - - - - - -