PortSusan 16Sep09 * SG502 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 3 • 6.03 of 150.00 AH used of 24V (95.98% remains)
• Previous NAKs 2, Timeouts 0 • 2.40 of 100.00 AH used of 10V (97.60% remains)
• Surface angle -73.5 deg, depth 1.07 m • Intended pitch -9.9 deg, speed -6.024 cm/s
• VBD pumped to 380.21 (SM_CC=380)
• GPS1 time: 10 s • bottom range 6.9 m at 80.0 m, depth 87 m (150 m grid)
• GPS2 time: 14 s • Transponder ping count: 33
• 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
13 - - - 118 VBD -0.49 - - 432 - - - 2262 - -146.6 -101.43 - 3086 - - - - - - - - - - -
120 3.1 -3.2 18 156 roll -0.49 9.45 0.235 2836 254.4 2.22 0.067 3659 629.3 -146.6 -20.67 - 3964 -42.5 - - - - - - - - - -
210 14.0 -10.0 36 217 done -0.49 - - 2836 - 2.22 0.046 2241 -638.7 -146.6 - - 3964 - - - - - - - - - - -
283 21.2 -10.1 52 289 done -0.49 - - 2836 - - - 2241 - -146.6 - - 3965 - - - - - - - - - - -
354 28.6 -10.7 68 359 done -0.49 - - 2836 - - - 2241 - -146.6 - - 3965 - - - - - - - - - - -
425 36.0 -10.5 84 431 roll -0.49 - - 2836 - 2.22 0.055 829 -636.0 -146.6 - - 3965 - - - - - - - - - - -
464 40.3 -10.9 92 470 done -0.49 - - 2828 - 2.20 0.044 2244 643.2 -146.6 - - 3965 - - - - - - - - - - -
609 56.3 -11.0 123 615 done -0.49 - - 2828 - - - 2244 - -146.6 - - 3966 - - - - - - - - - - -
752 72.1 -11.0 154 758 roll -0.49 - - 2828 - 2.22 0.054 833 -635.6 -146.6 - - 3965 - - - - - - - - - - -
805 78.3 -11.8 165 811 done -0.49 0.12 0.136 2854 216.7 2.20 0.044 2251 644.5 -146.6 - - 3965 - - - - - - - - - - -
823 end dive: BOTTOM_OBSTACLE_DETECTED
823 begin apogee
827 80.0 11.4 168 934 done -0.16 0.30 0.109 2959 350.0 - - 2073 - - 99.35 0.640 3424 -5.4 0.068 - - - - - - - - -
935 end apogee: CONTROL_FINISHED_OK
935 begin climb
936 84.1 - 187 1053 done 0.49 0.57 0.076 3168 366.7 - - 2073 - 146.6 111.50 0.622 2826 -5.4 0.073 - - - - - - - - -
1189 66.6 9.0 238 1196 roll 0.49 - - 3168 - 2.30 0.051 3506 623.0 146.6 - - 2822 - - - - - - - - - - -
1242 61.4 10.0 249 1248 done 0.49 - - 3176 - 2.25 0.048 2094 -627.6 146.6 - - 2820 - - - - - - - - - - -
1386 48.0 9.5 280 1392 roll 0.49 - - 3179 - 2.28 0.059 673 -623.2 146.6 - - 2821 - - - - - - - - - - -
1421 44.6 9.3 287 1427 done 0.49 - - 3179 - 2.22 0.041 2100 642.8 146.6 - - 2821 - - - - - - - - - - -
1560 32.1 9.1 318 1566 roll 0.49 - - 3179 - 2.20 0.051 3505 638.6 146.6 - - 2819 - - - - - - - - - - -
1597 28.5 9.5 326 1604 done 0.49 - - 3185 - 2.25 0.049 2076 -635.1 146.6 - - 2819 - - - - - - - - - - -
1670 21.6 9.3 342 1677 roll 0.49 - - 3193 - 2.22 0.059 676 -630.6 146.6 - - 2819 - - - - - - - - - - -
1702 18.6 9.5 349 1708 done 0.49 - - 3194 - 2.20 0.043 2098 646.4 146.6 - - 2819 - - - - - - - - - - -
1774 12.2 8.7 365 1780 roll 0.49 - - 3195 - 2.17 0.052 3493 642.9 146.6 - - 2819 - - - - - - - - - - -
1820 8.2 8.9 375 1827 done 0.49 0.12 0.161 3171 -200.0 2.20 0.048 2084 -640.5 146.6 - - 2818 - - - - - - - - - - -
1893 5.7 2.0 391 2005 roll 0.67 0.15 0.059 3248 513.3 2.35 0.051 3496 600.9 290.6 103.53 0.598 2239 -5.6 0.005 - - - - - - - - -
2013 end climb: SURFACE_DEPTH_REACHED
2013 begin surface coast
2118 end surface coast: CONTROL_FINISHED_OK
2118 begin surface
SM 1.23 - - - - -8.06 - - 433 - - - 2238 - 380.21 44.30 0.562 1874 -8.2 0.002 - - - - - -