PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 3 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 18.68 of 91.80 AH used of 24V (79.66% remains)
• Previous NAKs 0, Timeouts 0 • 2.76 of 61.20 AH used of 10V (95.50% remains)
• Surface angle -50.0 deg, depth 0.34 m • Intended pitch -12.7 deg, speed -6.250 cm/s
VBD pumped to 350.04 (SM_CC=350) • surface range 18.7 m at 19.7 m depth, ceiling 1.0 m
• GPS1 time: 11 s • bottom range 89.2 m at 901.6 m, depth 991 m (990 m grid)
• GPS2 time: 33 s • 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
32 end surface: CONTROL_FINISHED_OK
32 begin dive
38 - - - 109 done -0.83 - - 627 - - - 1831 - -116.8 -62.78 - 2730 - - - - - - - - - - -
115 3.1 -4.6 10 133 roll -0.83 7.05 - 2097 208.5 2.45 - 560 -518.8 -116.8 - - 2741 - - - - - - - - - - -
425 39.6 -11.4 60 433 done -0.83 0.38 - 2034 -165.8 2.40 - 2096 640.0 -116.8 - - 2739 - - - - - - - - - - -
795 83.8 -12.1 121 804 roll -0.83 0.40 - 2104 175.0 2.70 - 451 -609.3 -116.8 - - 2731 - - - - - - - - - - -
1085 113.5 -8.6 151 1090 done -0.83 0.28 - 2033 -253.6 2.53 - 2126 662.1 -116.8 - - 2736 - - - - - - - - - - -
1409 141.1 -8.5 167 1411 done -0.83 0.47 - 2110 163.8 - - 2120 - -116.8 - - 2739 - - - - - - - - - - -
1718 166.4 -8.5 182 1726 roll -0.83 0.35 - 2025 -242.9 3.72 - 380 -467.7 -116.8 - - 2740 - - - - - - - - - - -
1945 187.1 -8.8 191 1954 done -0.83 0.45 - 2125 222.2 3.22 - 2206 567.1 -116.8 - - 2737 - - - - - - - - - - -
2264 214.3 -8.0 207 2270 roll -0.83 0.40 - 2016 -272.5 2.90 - 418 -616.6 -116.8 - - 2737 - - - - - - - - - - -
2551 237.5 -8.5 219 2556 done -0.83 0.38 - 2120 273.7 2.70 - 2186 654.8 -116.8 - - 2740 - - - - - - - - - - -
2869 262.1 -7.7 234 2870 done -0.83 - - 2127 - - - 2190 - -116.8 - - 2736 - - - - - - - - - - -
3183 284.5 -7.4 249 3185 done -0.83 0.32 - 2025 -318.8 - - 2180 - -116.8 - - 2734 - - - - - - - - - - -
3488 307.9 -7.3 264 3495 roll -0.83 0.30 - 2114 296.7 3.10 - 402 -573.5 -116.8 - - 2731 - - - - - - - - - - -
3778 328.2 -7.3 276 3784 done -0.83 0.38 - 1986 -336.8 2.70 - 2193 663.3 -116.8 - - 2732 - - - - - - - - - - -
4097 351.8 -7.6 291 4104 roll -0.83 0.38 - 2117 344.7 3.15 - 383 -574.6 -116.8 - - 2729 - - - - - - - - - - -
4387 374.9 -7.7 303 4399 done -0.83 0.35 - 2022 -271.4 3.45 - 2069 488.7 -116.8 - - 2736 - - - - - - - - - - -
4710 399.4 -7.4 319 4718 roll -0.83 0.45 - 2140 262.2 3.42 - 395 -489.5 -116.8 - - 2743 - - - - - - - - - - -
4996 420.5 -7.3 331 5001 done -0.83 - - 2098 - 2.90 - 2170 612.1 -116.8 - - 2733 - - - - - - - - - - -
5315 442.1 -6.5 346 5323 roll -0.83 0.15 - 2068 -200.0 3.45 - 529 -475.7 -116.8 - - 2729 - - - - - - - - - - -
5606 462.1 -6.6 358 5610 done -0.83 - - 2063 - 2.38 - 2049 638.7 -116.8 - - 2740 - - - - - - - - - - -
5924 483.3 -6.8 373 5932 roll -0.83 0.15 - 2109 306.7 3.55 - 405 -463.1 -116.8 - - 2737 - - - - - - - - - - -
6214 503.9 -7.1 385 6219 done -0.83 - - 2114 - 2.80 - 2192 638.2 -116.8 - - 2737 - - - - - - - - - - -
6531 527.4 -7.6 393 6539 roll -0.83 0.03 - 2105 -300.0 3.75 - 380 -483.2 -116.8 - - 2738 - - - - - - - - - - -
6814 548.8 -7.0 399 6822 done -0.83 0.05 - 2108 60.0 3.95 - 2059 425.1 -116.8 - - 2738 - - - - - - - - - - -
7135 569.7 -6.5 407 7136 done -0.83 - - 2114 - - - 2056 - -116.8 - - 2738 - - - - - - - - - - -
7461 590.2 -6.2 415 7466 roll -0.83 0.40 - 2027 -217.5 2.70 - 422 -605.2 -116.8 - - 2731 - - - - - - - - - - -
7742 608.3 -6.3 421 7747 done -0.83 0.35 - 2114 248.6 2.62 - 2095 638.5 -116.8 - - 2739 - - - - - - - - - - -
8058 629.5 -6.9 429 8064 roll -0.83 0.30 - 2033 -270.0 2.92 - 411 -576.7 -116.8 - - 2740 - - - - - - - - - - -
8337 648.6 -7.2 435 8345 done -0.83 0.40 - 2115 205.0 2.90 - 2094 580.3 -116.8 - - 2734 - - - - - - - - - - -
8658 670.5 -6.7 443 8663 roll -0.83 0.30 - 2010 -350.0 2.70 - 452 -608.1 -116.8 - - 2741 - - - - - - - - - - -
8939 689.5 -6.5 449 8945 done -0.83 0.43 - 2126 269.8 2.80 - 2096 587.1 -116.8 - - 2737 - - - - - - - - - - -
9256 710.1 -6.4 457 9258 done -0.83 0.20 - 2067 -295.0 - - 2102 - -116.8 - - 2730 - - - - - - - - - - -
9581 730.9 -6.5 465 9588 roll -0.83 - - 2073 - 4.03 - 441 -412.2 -116.8 - - 2735 - - - - - - - - - - -
9867 749.1 -6.8 471 9873 done -0.83 - - 2066 - 3.25 - 2091 507.7 -116.8 - - 2733 - - - - - - - - - - -
10188 769.2 -6.2 479 10192 roll -0.83 - - 2063 - 2.55 - 429 -651.8 -116.8 - - 2738 - - - - - - - - - - -
10475 786.0 -5.9 485 10482 done -0.83 - - 2067 - 3.35 - 2086 494.6 -116.8 - - 2741 - - - - - - - - - - -
10796 804.9 -5.8 493 10801 roll -0.83 0.08 - 2110 537.5 2.50 - 407 -671.6 -116.8 - - 2735 - - - - - - - - - - -
11081 821.1 -5.9 499 11087 done -0.83 0.05 0.001 2122 240.0 2.50 - 2084 670.8 -116.8 - - 2738 - - - - - - - - - - -
11402 840.1 -6.0 507 11407 roll -0.83 - - 2081 - 2.90 - 402 -580.0 -116.8 - - 2738 - - - - - - - - - - -
11689 856.5 -5.3 513 11696 done -0.83 0.05 - 2108 540.0 3.45 - 2082 487.0 -116.8 - - 2739 - - - - - - - - - - -
12016 875.2 -5.9 521 12021 roll -0.83 - - 2087 - 3.15 - 455 -516.5 -116.8 - - 2731 - - - - - - - - - - -
12303 892.3 -6.0 527 12307 done -0.83 - - 2102 - 2.60 - 2096 631.2 -116.8 - - 2736 - - - - - - - - - - -
12619 912.4 -6.5 535 12625 roll -0.83 - - 2112 - 2.97 - 479 -544.4 -116.8 - - 2736 - - - - - - - - - - -
12906 928.9 -6.6 541 12911 done -0.83 0.08 - 2107 -62.5 2.90 - 2122 566.6 -116.8 - - 2733 - - - - - - - - - - -
13223 948.8 -6.3 549 13225 done -0.83 0.05 - 2104 -60.0 - - 2116 - -116.8 - - 2732 - - - - - - - - - - -
13548 967.1 -5.7 557 13557 roll -0.83 0.22 - 2044 -272.7 2.90 - 480 -564.1 -116.8 - - 2731 - - - - - - - - - - -
13802 end dive: BOTTOM_OBSTACLE_DETECTED
13802 begin apogee
13819 980.9 5.2 562 13956 done -0.25 0.82 - 2260 263.4 - - 2117 - - 113.18 - 2263 -4.1 - - - - - - - - - -
13957 end apogee: CONTROL_FINISHED_OK
13957 begin climb
13968 988.7 - 566 14087 roll 0.83 1.17 - 2486 193.2 2.10 - 3521 668.6 116.8 111.93 - 1784 -4.3 - - - - - - - - - -
14369 975.9 8.1 574 14378 done 0.83 0.40 - 2386 -250.0 3.05 - 1982 -504.6 116.8 - - 1787 - - - - - - - - - - -
14703 947.9 8.3 583 14705 done 0.83 0.32 - 2445 184.4 - - 1978 - 116.8 - - 1785 - - - - - - - - - - -
15028 922.0 7.9 591 15029 done 0.83 - - 2415 - - - 1980 - 116.8 - - 1784 - - - - - - - - - - -
15353 898.1 7.3 599 15354 done 0.83 - - 2428 - - - 1986 - 116.8 - - 1780 - - - - - - - - - - -
15678 873.8 7.5 607 15682 roll 0.83 - - 2464 - 2.42 - 3494 623.1 116.8 - - 1790 - - - - - - - - - - -
15958 852.3 7.2 613 15965 done 0.83 - - 2449 - 3.42 - 1833 -485.7 116.8 - - 1786 - - - - - - - - - - -
16279 828.0 7.7 621 16286 roll 0.83 - - 2422 - 3.55 - 3539 480.6 116.8 - - 1784 - - - - - - - - - - -
16570 805.1 9.0 627 16575 done 0.83 - - 2448 - 2.83 - 1825 -605.7 116.8 - - 1787 - - - - - - - - - - -
16888 779.4 8.3 635 16893 roll 0.83 - - 2449 - 3.20 - 3598 554.1 116.8 - - 1787 - - - - - - - - - - -
17169 755.1 8.3 641 17174 done 0.83 - - 2418 - 3.25 - 1831 -543.7 116.8 - - 1789 - - - - - - - - - - -
17486 728.7 8.4 649 17491 roll 0.83 - - 2439 - 2.60 - 3520 649.6 116.8 - - 1788 - - - - - - - - - - -
17766 705.3 8.5 655 17771 done 0.83 - - 2439 - 2.70 - 1844 -620.7 116.8 - - 1784 - - - - - - - - - - -
18082 678.2 8.6 663 18083 done 0.83 - - 2467 - - - 1825 - 116.8 - - 1781 - - - - - - - - - - -
18406 651.9 8.0 671 18408 done 0.83 - - 2438 - - - 1839 - 116.8 - - 1789 - - - - - - - - - - -
18731 626.1 7.7 679 18732 done 0.83 - - 2439 - - - 1833 - 116.8 - - 1785 - - - - - - - - - - -
19056 601.6 7.7 687 19062 roll 0.83 0.08 - 2419 -250.0 2.53 - 3485 653.0 116.8 - - 1781 - - - - - - - - - - -
19241 587.9 6.6 691 19249 done 0.83 - - 2420 - 3.42 - 1869 -472.5 116.8 0.10 - 1786 50.0 - - - - - - - - - -
19568 565.5 6.7 699 19573 roll 0.83 - - 2434 - 3.00 - 3541 557.3 116.8 - - 1777 - - - - - - - - - - -
19848 547.5 5.9 705 19864 done 0.83 - - 2457 - 3.58 - 1750 -500.3 127.1 9.02 - 1737 -4.4 - - - - - - - - - -
20205 523.8 6.8 714 20206 done 0.85 - - 2448 - - - 1727 - 127.1 - - 1743 - - - - - - - - - - -
20530 502.3 6.6 722 20536 roll 0.85 - - 2459 - 3.10 - 3512 575.8 127.1 0.03 - 1745 - - - - - - - - - - -
20817 485.9 5.2 733 20853 done 0.85 - - 2440 - 2.90 - 1753 -606.6 154.1 26.42 - 1630 -4.4 - - - - - - - - - -
21164 467.0 5.7 750 21185 done 0.89 - - 2456 - - - 1766 - 168.9 13.90 - 1578 -3.7 - - - - - - - - - -
21493 444.8 7.4 766 21499 roll 0.92 0.08 - 2443 -162.5 2.72 - 338 -525.0 168.9 - - 1576 - - - - - - - - - - -
21650 432.1 8.6 772 21659 done 0.92 0.15 - 2485 280.0 3.65 - 2143 494.5 168.9 - - 1579 - - - - - - - - - - -
21969 403.6 8.9 788 21971 done 0.92 - - 2499 - - - 2138 - 168.9 0.45 - 1579 - - - - - - - - - - -
22278 377.4 7.8 803 22280 done 0.92 0.05 - 2508 180.0 - - 2144 - 168.9 - - 1571 - - - - - - - - - - -
22587 353.5 7.5 818 22589 done 0.92 0.15 - 2437 -473.3 - - 2137 - 168.9 - - 1566 - - - - - - - - - - -
22897 331.4 7.2 833 22898 done 0.92 - - 2431 - - - 2142 - 168.9 - - 1572 - - - - - - - - - - -
23211 309.0 7.4 848 23212 done 0.92 - - 2434 - - - 2149 - 168.9 - - 1569 - - - - - - - - - - -
23520 285.6 7.7 863 23525 roll 0.92 0.15 - 2439 33.3 2.47 - 3412 511.3 168.9 - - 1572 - - - - - - - - - - -
23807 264.4 6.6 875 23812 done 0.92 0.22 - 2475 163.6 2.42 - 1839 -650.0 168.9 - - 1573 - - - - - - - - - - -
24125 242.5 6.8 890 24127 done 0.92 0.20 - 2436 -195.0 - - 1821 - 168.9 - - 1579 - - - - - - - - - - -
24435 221.0 6.9 905 24436 done 0.92 0.03 - 2452 533.3 - - 1835 - 168.9 - - 1565 - - - - - - - - - - -
24744 201.3 6.2 920 24750 roll 0.92 0.10 - 2466 140.0 2.90 - 3532 585.2 169.8 - - 1571 - - - - - - - - - - -
25031 183.5 5.4 932 25057 done 0.92 - - 2482 - 2.70 - 1743 -662.6 193.0 18.98 - 1471 -5.3 - - - - - - - - - -
25379 163.4 6.3 949 25380 done 0.96 - - 2474 - - - 1748 - 193.0 - - 1478 - - - - - - - - - - -
25693 142.4 6.9 964 25694 done 0.96 0.03 - 2475 - - - 1748 - 193.0 - - 1472 - - - - - - - - - - -
25997 122.0 6.3 979 26004 roll 0.96 - - 2501 - 3.58 - 3374 454.2 193.0 - - 1475 - - - - - - - - - - -
26286 105.5 4.4 991 26331 done 0.96 - - 2498 - 3.22 - 1838 -477.0 241.7 38.53 - 1276 -5.2 - - - - - - - - - -
26689 83.6 6.7 1044 26698 roll 1.04 - - 2495 - 2.90 - 444 -480.7 241.7 - - 1273 - - - - - - - - - - -
26748 79.8 6.4 1052 26756 done 1.04 - - 2493 - 2.80 - 2093 588.9 241.7 - - 1280 - - - - - - - - - - -
27122 55.5 5.9 1113 27137 done 1.04 - - 2483 - - - 2087 - 251.2 8.55 - 1237 -5.0 - - - - - - - - - -
27506 29.8 7.6 1175 27513 done 1.05 - - 2468 - - - 2101 - 251.2 - - 1230 - - - - - - - - - - -
27887 3.7 6.4 1236 27894 done 1.05 - - 2483 - - - 2102 - 251.2 - - 1237 - - - - - - - - - - -
27904 end climb: SURFACE_DEPTH_REACHED
27904 begin surface coast
27945 end surface coast: CONTROL_FINISHED_OK
27945 begin surface
SM 0.34 - - - - -7.46 - - 634 - - - 1823 - 350.04 62.08 - 830 -6.6 INF - - - - - -