PortSusan 25Aug09 * SG177 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 1.92 of 150.00 AH used of 24V (98.72% remains)
• Previous NAKs 2, Timeouts 0 • 1.12 of 100.00 AH used of 10V (98.88% remains)
• Surface angle -70.3 deg, depth 0.73 m • Intended pitch -26.6 deg, speed -6.667 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 8 s, HDOP was 2.7 m • bottom range 41.0 m at 80.1 m, depth 121 m (150 m grid)
• GPS2 time: 11 s, HDOP was 2.8 m • Transponder ping count: 0
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
11 - - - 143 VBD -0.66 - - 144 - - - 2196 - -34.5 -129.32 - 3674 - - - - - - - - - - -
144 3.1 -3.8 23 163 done -0.69 8.55 0.265 2157 235.4 - - 2194 - -56.4 -6.43 - 3919 -38.1 - - - - - - - - - -
227 12.8 -9.8 41 232 done -0.69 - - 2157 - - - 2194 - -56.4 - - 3921 - - - - - - - - - - -
297 17.6 -6.5 57 302 roll -0.69 - - 2148 - 2.28 0.070 3621 625.9 -57.4 - - 3921 - - - - - - - - - - -
332 19.9 -6.2 65 339 done -0.69 - - 2148 - 2.28 0.061 2197 -624.6 -61.4 -0.30 - 3940 -63.3 - - - - - - - - - -
403 25.1 -7.5 81 408 done -0.69 - - 2148 - - - 2197 - -61.4 - - 3941 - - - - - - - - - - -
473 30.7 -8.1 97 478 done -0.69 0.05 0.219 2159 220.0 - - 2196 - -61.4 - - 3941 - - - - - - - - - - -
543 36.3 -7.9 113 549 roll -0.69 - - 2161 - 2.22 0.074 784 -636.0 -61.4 - - 3941 - - - - - - - - - - -
596 40.7 -8.2 125 602 done -0.69 - - 2152 - 2.28 0.071 2199 620.6 -61.4 - - 3941 - - - - - - - - - - -
731 52.6 -9.1 156 738 roll -0.69 - - 2141 - 2.28 0.074 3613 620.2 -61.4 - - 3941 - - - - - - - - - - -
754 54.9 -9.7 161 760 done -0.69 0.05 0.198 2155 280.0 2.25 0.063 2198 -628.9 -61.4 - - 3941 - - - - - - - - - - -
891 67.8 -9.3 192 896 roll -0.69 - - 2146 - 2.25 0.071 3626 634.7 -61.4 - - 3941 - - - - - - - - - - -
913 70.2 -9.8 197 919 done -0.69 0.03 0.206 2153 233.3 2.25 0.062 2206 -631.1 -61.4 - - 3941 - - - - - - - - - - -
1049 83.2 -9.4 228 1054 done -0.69 - - 2153 - - - 2205 - -61.4 - - 3941 - - - - - - - - - - -
1184 95.8 -9.6 259 1189 done -0.69 - - 2153 - - - 2205 - -61.4 - - 3941 - - - - - - - - - - -
1318 107.9 -8.9 290 1323 done -0.69 - - 2153 - - - 2205 - -61.4 - - 3941 - - - - - - - - - - -
1356 end dive: BOTTOM_OBSTACLE_DETECTED
1356 begin apogee
1359 111.4 9.0 299 1432 done -0.12 0.62 0.179 2338 298.4 - - 2308 - - 68.40 0.643 3688 -3.7 0.065 - - - - - - - - -
1433 end apogee: CONTROL_FINISHED_OK
1433 begin climb
1434 112.6 - 312 1506 done 0.69 0.77 0.087 2609 351.9 - - 2308 - 61.4 68.57 0.634 3437 -3.7 0.066 - - - - - - - - -
1636 83.6 16.7 355 1641 roll 0.69 - - 2620 - 2.35 0.081 887 -604.7 61.4 - - 3437 - - - - - - - - - - -
1663 79.2 16.7 361 1668 done 0.69 - - 2620 - 2.35 0.083 2298 600.4 61.4 - - 3437 - - - - - - - - - - -
1798 56.0 17.0 392 1804 done 0.69 - - 2620 - - - 2298 - 61.4 - - 3436 - - - - - - - - - - -
1933 33.4 16.7 423 1939 roll 0.69 - - 2630 - 2.30 0.077 893 -610.9 61.4 - - 3436 - - - - - - - - - - -
1956 30.0 16.0 428 1962 done 0.69 0.10 0.209 2611 -190.0 2.30 0.081 2300 611.7 61.4 - - 3436 - - - - - - - - - - -
2027 19.5 14.6 444 2032 done 0.69 - - 2611 - - - 2300 - 61.4 - - 3436 - - - - - - - - - - -
2096 9.9 13.5 460 2102 roll 0.69 - - 2620 - 2.30 0.078 889 -613.5 61.4 - - 3436 - - - - - - - - - - -
2106 8.7 13.1 462 2112 done 0.69 - - 2611 - 2.35 0.084 2300 600.4 61.4 - - 3436 - - - - - - - - - - -
2177 5.7 0.6 478 2219 roll 0.75 - - 2611 - 2.40 0.081 3718 590.8 108.2 38.33 0.593 3246 -5.0 0.005 - - - - - - - - -
2321 end climb: SURFACE_DEPTH_REACHED
2321 begin surface coast
2343 end surface coast: CONTROL_FINISHED_OK
2343 begin surface
SM 1.31 - - - - -6.99 - - 149 - - - 2197 - 350.04 116.05 0.572 2260 -8.5 0.002 - - - - - -