PortSusan 10Dec08 * SG132 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 2 • 2.85 of 91.80 AH used of 24V (96.90% remains)
• Previous NAKs 0, Timeouts 0 • 1.45 of 61.20 AH used of 10V (97.63% remains)
• Surface angle -65.7 deg, depth 0.68 m • Intended pitch -14.1 deg, speed -8.065 cm/s
• VBD pumped to 650.04 (SM_CC=650)
• GPS1 time: 14 s, HDOP was 2.4 m • bottom range 6.3 m at 100.2 m, depth 106 m (103 m grid)
• GPS2 time: 9 s • Transponder ping count: 203
• 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
15 - - - 138 VBD -1.12 - - 417 - - - 2484 - -146.6 -120.28 - 3678 - - - - - - - - - - -
142 3.4 -3.1 21 167 roll -1.12 11.77 0.161 2475 174.9 2.40 0.051 1109 -572.9 -146.6 -5.88 - 3900 -37.8 - - - - - - - - - -
422 25.0 -8.1 70 428 done -1.12 - - 2475 - 2.42 0.039 2509 578.5 -146.6 - - 3900 - - - - - - - - - - -
497 31.3 -8.1 83 503 roll -1.12 - - 2475 - 2.50 0.058 3911 560.8 -146.6 - - 3900 - - - - - - - - - - -
544 35.4 -9.0 91 550 done -1.12 - - 2475 - 2.38 0.031 2493 -595.8 -146.6 - - 3900 - - - - - - - - - - -
619 41.6 -8.4 104 624 done -1.12 - - 2474 - - - 2490 - -146.6 - - 3900 - - - - - - - - - - -
760 52.6 -7.9 129 767 roll -1.12 - - 2475 - 2.55 0.051 3913 558.0 -146.6 - - 3900 - - - - - - - - - - -
830 58.5 -8.8 141 836 done -1.12 - - 2475 - 2.38 0.027 2496 -595.4 -146.6 - - 3900 - - - - - - - - - - -
972 69.1 -7.0 166 978 roll -1.12 - - 2475 - 2.53 0.054 3912 559.7 -146.6 - - 3900 - - - - - - - - - - -
1013 72.4 -8.4 173 1019 done -1.12 - - 2475 - 2.38 0.027 2492 -596.6 -146.6 - - 3900 - - - - - - - - - - -
1155 82.7 -7.2 198 1161 done -1.12 - - 2474 - - - 2488 - -146.6 - - 3900 - - - - - - - - - - -
1297 92.7 -7.1 223 1303 roll -1.12 - - 2475 - 2.55 0.051 3916 560.0 -146.6 - - 3900 - - - - - - - - - - -
1377 98.5 -7.5 237 1383 done -1.12 - - 2475 - 2.38 0.027 2494 -597.5 -146.6 - - 3900 - - - - - - - - - - -
1403 end dive: BOTTOM_OBSTACLE_DETECTED
1403 begin apogee
1409 100.2 7.0 241 1533 done -0.33 0.80 0.073 2647 215.0 - - 2492 - - 118.65 0.661 3300 -5.1 0.079 - - - - - - - - -
1534 end apogee: CONTROL_FINISHED_OK
1534 begin climb
1536 102.4 - 263 1660 done 1.12 1.45 0.049 2969 222.1 - - 2491 - 146.6 118.15 0.634 2702 -5.1 0.085 - - - - - - - - -
1796 80.1 10.4 309 1802 roll 1.12 - - 2969 - 2.55 0.049 3912 557.3 146.6 - - 2701 - - - - - - - - - - -
1814 78.1 10.6 312 1821 done 1.12 - - 2969 - 2.38 0.033 2504 -591.6 146.6 - - 2702 - - - - - - - - - - -
1957 63.9 9.4 337 1962 done 1.12 - - 2969 - - - 2499 - 146.6 - - 2701 - - - - - - - - - - -
2098 50.1 9.8 362 2104 roll 1.12 - - 2969 - 2.50 0.055 3904 562.0 146.6 - - 2701 - - - - - - - - - - -
2127 47.1 10.4 367 2134 done 1.12 - - 2969 - 2.38 0.026 2495 -592.0 146.6 - - 2701 - - - - - - - - - - -
2271 33.1 10.2 392 2277 done 1.12 - - 2969 - - - 2490 - 146.6 - - 2702 - - - - - - - - - - -
2346 25.8 9.6 405 2352 done 1.12 - - 2969 - - - 2490 - 146.6 - - 2701 - - - - - - - - - - -
2422 18.7 9.4 418 2428 roll 1.12 - - 2969 - 2.53 0.051 3913 562.5 146.6 - - 2701 - - - - - - - - - - -
2458 15.1 9.5 424 2464 done 1.12 - - 2969 - 2.38 0.029 2493 -596.6 146.6 - - 2701 - - - - - - - - - - -
2534 8.8 7.9 437 2545 done 1.13 - - 2969 - - - 2489 - 152.2 6.20 0.486 2678 -3.7 0.007 - - - - - - - - -
2578 end climb: SURFACE_DEPTH_REACHED
2578 begin surface coast
2688 end surface coast: CONTROL_FINISHED_OK
2688 begin surface
SM 0.76 - - - - -10.60 - - 420 - - - 2489 - 650.04 413.55 0.571 650 -4.9 0.001 - - - - - -