PortSusan 17Jun09 * SG131 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 2 • 1.08 of 91.80 AH used of 24V (98.82% remains)
• Previous NAKs 0, Timeouts 0 • 0.47 of 100.00 AH used of 10V (99.53% remains)
• Surface angle -60.6 deg, depth 0.63 m • Intended pitch -17.8 deg, speed -7.989 cm/s
• VBD pumped to 600.24 (SM_CC=600)
• GPS1 time: 38 s • bottom range 32.6 m at 90.2 m, depth 123 m (151 m grid)
• GPS2 time: 16 s, HDOP was 3.3 m • Transponder ping count: 6
• 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
14 - - - 128 VBD -1.31 - - 403 - - - 2300 - -97.3 -111.35 - 3875 - - - - - - - - - - -
130 3.3 -5.2 19 149 roll -1.31 9.80 0.152 2188 182.1 2.62 0.058 3716 540.5 -97.3 - - 3876 - - - - - - - - - - -
334 22.5 -8.2 55 340 done -1.31 - - 2188 - 2.45 0.035 2304 -576.3 -97.3 - - 3878 - - - - - - - - - - -
408 28.7 -8.5 68 413 done -1.31 - - 2189 - - - 2304 - -97.3 - - 3877 - - - - - - - - - - -
480 35.3 -9.0 81 487 roll -1.31 - - 2188 - 2.60 0.060 3719 544.2 -97.3 - - 3877 - - - - - - - - - - -
520 39.3 -10.4 88 526 done -1.31 - - 2188 - 2.47 0.033 2302 -573.7 -97.3 - - 3878 - - - - - - - - - - -
593 46.3 -9.4 101 599 done -1.31 - - 2188 - - - 2302 - -97.3 - - 3878 - - - - - - - - - - -
733 59.1 -9.1 126 739 roll -1.31 - - 2188 - 2.55 0.061 911 -545.5 -97.3 - - 3877 - - - - - - - - - - -
755 61.3 -9.2 130 762 done -1.31 - - 2188 - 2.55 0.050 2308 547.8 -97.3 - - 3878 - - - - - - - - - - -
897 73.8 -8.9 155 903 roll -1.31 - - 2188 - 2.60 0.063 3725 545.0 -97.3 - - 3877 - - - - - - - - - - -
925 76.6 -9.3 160 931 done -1.31 - - 2188 - 2.50 0.033 2307 -567.2 -97.3 - - 3877 - - - - - - - - - - -
1068 88.7 -8.1 185 1074 roll -1.31 - - 2188 - 2.60 0.063 3715 541.5 -97.3 - - 3877 - - - - - - - - - - -
1095 91.0 -8.4 190 1102 done -1.31 - - 2188 - 2.47 0.035 2312 -568.0 -97.3 - - 3877 - - - - - - - - - - -
1237 102.0 -7.4 215 1242 done -1.31 - - 2188 - - - 2312 - -97.3 - - 3876 - - - - - - - - - - -
1376 end dive: BOTTOM_OBSTACLE_DETECTED
1376 begin apogee
1379 113.2 8.2 240 1464 done -0.33 1.00 0.083 2399 211.0 - - 2312 - - 78.45 0.601 3478 -5.1 0.099 - - - - - - - - -
1464 end apogee: CONTROL_FINISHED_OK
1464 begin climb
1465 115.2 - 255 1552 roll 1.31 1.60 0.048 2762 226.9 2.72 0.067 910 -515.4 97.3 78.35 0.583 3081 -5.1 0.104 - - - - - - - - -
1591 108.0 8.5 277 1597 done 1.31 - - 2762 - 2.58 0.054 2306 541.1 97.3 - - 3081 - - - - - - - - - - -
1731 96.0 8.6 302 1737 done 1.31 - - 2762 - - - 2306 - 97.3 - - 3080 - - - - - - - - - - -
1871 84.1 7.9 327 1878 roll 1.31 - - 2762 - 2.62 0.064 902 -535.9 98.9 - - 3080 - - - - - - - - - - -
1928 79.2 8.5 337 1934 done 1.31 - - 2762 - 2.58 0.052 2313 546.9 98.9 - - 3079 - - - - - - - - - - -
2068 67.8 7.8 362 2075 done 1.31 - - 2762 - - - 2313 - 102.5 5.50 0.476 3060 -3.5 0.051 - - - - - - - - -
2210 57.0 7.6 387 2224 roll 1.32 - - 2762 - 2.65 0.069 3726 533.2 109.7 7.45 0.515 3030 -4.0 0.046 - - - - - - - - -
2246 53.9 8.4 393 2252 done 1.32 - - 2762 - 2.50 0.036 2304 -568.8 109.7 - - 3030 - - - - - - - - - - -
2386 43.0 7.3 418 2405 roll 1.34 - - 2762 - 2.62 0.066 903 -534.7 122.0 11.57 0.545 2980 -4.3 0.035 - - - - - - - - -
2478 36.0 7.8 434 2491 done 1.34 - - 2762 - 2.58 0.053 2320 549.2 125.7 4.70 0.442 2964 -3.4 0.029 - - - - - - - - -
2558 30.0 7.6 448 2571 done 1.35 - - 2762 - - - 2320 - 132.0 6.88 0.498 2938 -3.8 0.024 - - - - - - - - -
2638 23.9 7.5 462 2650 done 1.36 - - 2762 - - - 2320 - 140.2 8.00 0.512 2906 -4.0 0.019 - - - - - - - - -
2717 17.5 8.0 476 2724 roll 1.36 - - 2762 - 2.62 0.062 903 -540.8 140.2 - - 2905 - - - - - - - - - - -
2746 15.1 8.4 481 2752 done 1.36 - - 2762 - 2.55 0.051 2312 552.5 140.2 - - 2905 - - - - - - - - - - -
2820 9.6 7.5 494 2832 done 1.37 - - 2762 - - - 2312 - 148.8 8.52 0.515 2871 -4.0 0.008 - - - - - - - - -
2899 4.1 6.7 508 2907 VBD 1.40 - - 2762 - - - 2312 - 172.1 5.62 0.463 2846 -4.4 0.004 - - - - - - - - -
2907 end climb: SURFACE_DEPTH_REACHED
2908 begin surface coast
2980 end surface coast: CONTROL_FINISHED_OK
2980 begin surface
SM 0.57 - - - - -9.54 - - 404 - - - 2312 - 600.24 360.15 0.525 1031 -5.0 0.001 - - - - - -