PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 5 * Raw log
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• Previous call tries 1 • 20.57 of 91.80 AH used of 24V (77.59% remains)
• Previous NAKs 0, Timeouts 0 • 3.02 of 61.20 AH used of 10V (95.06% 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 19.6 m at 19.8 m depth, ceiling 0.2 m
• GPS1 time: 31 s • bottom range 90.9 m at 900.2 m, depth 991 m (990 m grid)
• GPS2 time: 32 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
33 end surface: CONTROL_FINISHED_OK
33 begin dive
39 - - - 110 done -0.83 - - 629 - - - 2091 - -116.8 -62.95 - 2740 - - - - - - - - - - -
116 2.9 -4.5 10 126 done -0.83 7.25 - 2116 205.1 - - 2097 - -116.8 - - 2737 - - - - - - - - - - -
488 45.1 -11.0 71 496 roll -0.83 - - 2102 - 2.60 - 408 -649.6 -116.8 - - 2737 - - - - - - - - - - -
790 78.6 -11.3 120 799 done -0.83 0.35 - 2029 -208.6 2.92 - 2161 600.3 -116.8 - - 2728 - - - - - - - - - - -
1141 115.3 -10.8 160 1143 done -0.83 0.30 - 2051 73.3 - - 2154 - -116.8 - - 2737 - - - - - - - - - - -
1449 144.0 -8.5 175 1456 roll -0.83 - - 2062 - 3.65 - 376 -487.1 -116.8 - - 2735 - - - - - - - - - - -
1739 169.1 -9.4 187 1744 done -0.83 - - 2063 - 2.62 - 2121 666.0 -116.8 - - 2741 - - - - - - - - - - -
2058 198.1 -9.2 202 2063 roll -0.83 - - 2055 - 2.70 - 452 -618.1 -116.8 - - 2744 - - - - - - - - - - -
2341 219.6 -6.9 214 2353 done -0.83 - - 2064 - 3.25 - 2008 478.8 -116.8 - - 2743 - - - - - - - - - - -
2664 240.9 -6.6 230 2669 roll -0.83 - - 2071 - 2.50 - 352 -662.4 -116.8 - - 2735 - - - - - - - - - - -
2949 262.1 -8.3 242 2962 done -0.83 0.08 - 2063 -100.0 3.75 - 2009 441.9 -116.8 - - 2736 - - - - - - - - - - -
3273 286.9 -7.9 258 3274 done -0.83 - - 2046 - - - 2005 - -116.8 - - 2736 - - - - - - - - - - -
3587 310.5 -7.5 273 3592 roll -0.83 0.03 - 2073 900.0 2.62 - 354 -630.2 -116.8 - - 2740 - - - - - - - - - - -
3873 333.0 -7.9 285 3879 done -0.83 0.10 - 2119 460.0 3.03 - 2160 596.0 -116.8 - - 2733 - - - - - - - - - - -
4192 357.7 -7.8 300 4198 roll -0.83 0.30 - 2062 -190.0 2.70 - 350 -670.4 -116.8 - - 2733 - - - - - - - - - - -
4478 379.7 -6.8 312 4490 done -0.83 0.28 - 2109 167.9 3.10 - 2114 569.0 -116.8 - - 2736 - - - - - - - - - - -
4802 401.2 -6.4 328 4809 roll -0.83 0.28 - 2070 -139.3 3.50 - 394 -491.4 -116.8 - - 2741 - - - - - - - - - - -
5093 419.0 -6.0 340 5098 done -0.83 - - 2042 - 2.80 - 2215 650.4 -116.8 - - 2742 - - - - - - - - - - -
5411 439.2 -6.5 355 5419 roll -0.83 0.05 - 2062 400.0 3.75 - 408 -481.9 -116.8 - - 2732 - - - - - - - - - - -
5702 459.9 -7.2 367 5708 done -0.83 0.10 - 2059 -30.0 2.70 - 2178 655.6 -116.8 - - 2734 - - - - - - - - - - -
6021 482.8 -7.3 382 6026 roll -0.83 0.08 - 2058 - 2.72 - 356 -669.9 -116.8 - - 2741 - - - - - - - - - - -
6307 503.5 -7.8 394 6315 done -0.83 0.15 - 2101 286.7 3.55 - 2168 510.4 -116.8 - - 2742 - - - - - - - - - - -
6629 527.1 -7.4 402 6635 roll -0.83 - - 2107 - 3.30 - 335 -555.5 -116.8 - - 2743 - - - - - - - - - - -
6913 549.2 -7.5 408 6919 done -0.83 - - 2117 - 3.15 - 2131 570.2 -116.8 - - 2733 - - - - - - - - - - -
7230 573.4 -7.6 416 7236 roll -0.83 0.03 - 2108 -300.0 3.25 - 473 -510.2 -116.8 - - 2738 - - - - - - - - - - -
7511 594.8 -7.5 422 7516 done -0.83 0.08 - 2045 -787.5 2.92 - 2153 575.3 -116.8 - - 2735 - - - - - - - - - - -
7828 616.1 -6.4 430 7835 roll -0.83 0.12 - 2116 591.7 3.45 - 367 -517.7 -116.8 - - 2740 - - - - - - - - - - -
8118 633.5 -6.2 436 8123 done -0.83 0.17 - 2039 -452.9 2.72 - 2147 654.4 -116.8 - - 2736 - - - - - - - - - - -
8435 653.8 -6.5 444 8441 roll -0.83 0.05 - 2100 1220.0 3.12 - 360 -572.8 -116.8 - - 2738 - - - - - - - - - - -
8713 670.1 -6.4 450 8719 done -0.83 0.03 - 2109 300.0 2.70 - 2166 668.9 -116.8 - - 2744 - - - - - - - - - - -
9030 687.9 -5.7 458 9038 roll -0.83 0.35 - 2006 -294.3 3.75 - 360 -481.6 -116.8 - - 2733 - - - - - - - - - - -
9321 705.2 -6.0 464 9328 done -0.83 0.60 - 2154 246.7 3.30 - 2156 544.2 -116.8 - - 2736 - - - - - - - - - - -
9642 723.4 -5.6 472 9648 roll -0.83 0.30 - 2043 -370.0 2.90 - 383 -611.4 -116.8 - - 2740 - - - - - - - - - - -
9929 740.5 -6.1 478 9934 done -0.83 - - 2058 - 3.10 - 2166 575.2 -116.8 - - 2737 - - - - - - - - - - -
10246 760.4 -6.3 486 10251 roll -0.83 0.08 - 2054 -50.0 2.70 - 397 -655.2 -116.8 - - 2738 - - - - - - - - - - -
10524 778.5 -6.2 492 10530 done -0.83 0.10 - 2099 450.0 2.83 - 2163 624.0 -116.8 - - 2735 - - - - - - - - - - -
10841 798.2 -6.3 500 10846 roll -0.83 - - 2105 - 3.00 - 376 -595.7 -116.8 - - 2741 - - - - - - - - - - -
11122 815.9 -6.2 506 11128 done -0.83 0.35 - 2011 -268.6 2.92 - 2182 618.5 -116.8 - - 2741 - - - - - - - - - - -
11445 834.9 -5.9 514 11452 roll -0.83 0.45 - 2096 188.9 2.92 - 420 -603.4 -116.8 - - 2738 - - - - - - - - - - -
11728 852.8 -6.0 520 11735 done -0.83 0.03 - 2104 266.7 3.45 - 2174 508.4 -116.8 - - 2733 - - - - - - - - - - -
12053 871.4 -5.7 528 12055 done -0.83 - - 2077 - - - 2191 - -116.8 - - 2741 - - - - - - - - - - -
12374 889.4 -5.3 536 12381 roll -0.83 - - 2106 - 3.75 - 365 -486.9 -116.8 - - 2735 - - - - - - - - - - -
12667 904.7 -5.1 542 12674 done -0.83 - - 2093 - 3.55 - 2032 469.6 -116.8 - - 2731 - - - - - - - - - - -
12988 920.4 -4.8 550 12994 roll -0.83 0.08 - 2104 137.5 2.92 - 374 -567.8 -116.8 - - 2732 - - - - - - - - - - -
13274 934.4 -4.4 556 13279 done -0.83 - - 2119 - 2.70 - 2141 654.4 -116.8 - - 2733 - - - - - - - - - - -
13590 951.3 -5.5 564 13598 roll -0.83 0.17 - 2064 -323.5 3.65 - 350 -490.7 -116.8 - - 2735 - - - - - - - - - - -
13881 968.3 -5.8 570 13889 done -0.83 0.12 0.001 2094 250.0 3.62 - 2150 497.2 -116.8 - - 2729 - - - - - - - - - - -
14115 end dive: BOTTOM_OBSTACLE_DETECTED
14115 begin apogee
14128 982.8 6.0 576 14246 done -0.25 1.15 - 2277 159.1 - - 1754 - - 114.12 - 2260 -4.1 - - - - - - - - - -
14246 end apogee: CONTROL_FINISHED_OK
14247 begin climb
14252 990.0 - 579 14373 roll 0.83 0.95 - 2472 205.3 3.62 - 3521 488.1 116.8 111.50 - 1784 -4.3 - - - - - - - - - -
14654 982.5 7.1 587 14663 done 0.83 0.38 - 2385 -228.9 2.60 - 1859 -639.2 116.8 - - 1784 - - - - - - - - - - -
14989 955.9 8.1 596 14996 roll 0.83 0.40 - 2473 220.0 3.15 - 3501 521.3 116.8 - - 1788 - - - - - - - - - - -
15278 931.7 8.2 602 15283 done 0.83 - - 2477 - 2.50 - 1848 -661.2 116.8 - - 1786 - - - - - - - - - - -
15594 905.5 8.3 610 15596 done 0.83 0.32 - 2374 -321.9 - - 1856 - 116.8 - - 1781 - - - - - - - - - - -
15919 878.7 8.2 618 15922 done 0.83 0.45 - 2484 244.4 - - 1845 - 116.8 0.10 0.001 1791 100.0 -9094.730 - - - - - - - - -
16244 852.6 8.0 626 16250 roll 0.83 0.32 - 2403 -253.1 2.72 - 3512 612.9 116.8 - - 1781 - - - - - - - - - - -
16530 831.0 7.3 632 16536 done 0.83 0.38 - 2485 215.8 2.60 - 1846 -640.8 116.8 0.22 - 1781 - - - - - - - - - - -
16847 807.0 7.5 640 16849 done 0.83 0.40 - 2406 -197.5 - - 1845 - 116.8 - - 1781 - - - - - - - - - - -
17172 783.4 7.1 648 17174 done 0.83 0.45 - 2506 222.2 - - 1847 - 116.8 - - 1786 - - - - - - - - - - -
17497 760.6 7.2 656 17505 roll 0.83 0.38 - 2408 -257.9 3.10 - 3589 561.9 116.8 - - 1782 - - - - - - - - - - -
17786 740.4 6.5 662 17795 done 0.83 0.38 - 2491 218.4 3.55 - 1939 -464.8 116.8 - - 1777 - - - - - - - - - - -
18108 717.6 7.2 670 18114 roll 0.83 0.30 - 2446 -150.0 2.90 - 3581 566.2 116.8 - - 1782 - - - - - - - - - - -
18393 697.3 7.1 676 18399 done 0.83 - - 2457 - 2.90 - 1808 -611.4 116.8 0.20 - 1788 30.0 - - - - - - - - - -
18710 675.7 6.7 684 18718 roll 0.83 0.03 - 2442 -500.0 3.55 - 3475 469.6 116.8 - - 1782 - - - - - - - - - - -
19001 656.3 6.0 690 19011 done 0.83 - - 2456 - 2.53 - 1785 -668.0 122.2 5.35 - 1757 -4.7 - - - - - - - - - -
19358 633.0 6.4 699 19363 roll 0.84 - - 2468 - 2.72 - 3550 648.9 122.2 - - 1756 - - - - - - - - - - -
19638 614.0 7.3 705 19643 done 0.84 - - 2453 - 2.92 - 1861 -578.4 122.2 - - 1758 - - - - - - - - - - -
19954 592.6 6.7 713 19955 done 0.84 - - 2444 - - - 1884 - 122.2 - - 1757 - - - - - - - - - - -
20279 570.7 6.8 721 20280 done 0.84 - - 2453 - - - 1860 - 122.2 - - 1754 - - - - - - - - - - -
20604 549.5 6.1 729 20614 roll 0.84 - - 2453 - 2.75 - 3532 608.0 127.3 3.78 - 1742 -3.2 - - - - - - - - - -
20753 541.2 5.5 732 20782 done 0.85 - - 2433 - 2.70 - 1874 -614.1 147.2 19.02 - 1658 -4.4 - - - - - - - - - -
21108 519.7 6.2 741 21116 roll 0.88 - - 2427 - 3.53 - 3523 467.1 148.1 0.98 0.001 1662 4.1 -219.551 - - - - - - - - -
21398 502.1 6.5 747 21406 done 0.88 - - 2456 - 3.65 - 1754 -484.7 148.1 0.12 - 1658 -33.3 - - - - - - - - - -
21724 483.0 5.5 762 21749 roll 0.88 - - 2474 - 2.95 - 320 -486.1 167.4 18.48 - 1580 -4.2 - - - - - - - - - -
21981 465.2 7.7 772 21989 done 0.91 - - 2444 - 2.70 - 2134 671.9 167.4 - - 1576 - - - - - - - - - - -
22300 437.8 9.0 788 22307 roll 0.91 - - 2465 - 3.33 - 363 -531.8 167.4 - - 1577 - - - - - - - - - - -
22590 410.2 9.2 800 22603 done 0.91 - - 2456 - 4.03 - 2183 451.6 167.4 - - 1580 - - - - - - - - - - -
22914 381.5 8.9 816 22919 roll 0.91 - - 2456 - 2.12 - 3570 654.2 167.4 - - 1581 - - - - - - - - - - -
23124 362.8 8.3 825 23129 done 0.91 - - 2459 - 2.70 - 1777 -664.1 167.4 - - 1578 - - - - - - - - - - -
23448 333.6 9.2 841 23453 roll 0.91 - - 2460 - 2.40 - 373 -585.0 167.4 - - 1581 - - - - - - - - - - -
23505 328.2 9.2 843 23513 done 0.91 - - 2444 - 2.80 - 2127 626.4 167.4 - - 1576 - - - - - - - - - - -
23824 300.4 9.2 859 23830 roll 0.91 - - 2466 - 2.65 - 3539 532.8 167.4 0.22 0.001 1579 13.6 -423.982 - - - - - - - - -
24111 275.4 9.8 871 24117 done 0.91 - - 2450 - 3.08 - 1997 -500.6 167.4 0.08 - 1569 -125.0 - - - - - - - - - -
24430 251.5 7.4 886 24437 roll 0.91 0.05 - 2475 500.0 3.38 - 3425 422.5 167.4 - - 1579 - - - - - - - - - - -
24720 227.9 8.3 898 24726 done 0.91 0.38 - 2399 -200.0 2.80 - 1794 -582.5 167.4 - - 1575 - - - - - - - - - - -
25039 203.5 8.0 913 25047 roll 0.91 0.28 - 2472 260.7 3.55 - 3427 460.0 167.4 - - 1576 - - - - - - - - - - -
25263 182.7 11.2 922 25275 done 0.91 - - 2457 - 3.65 - 1797 -446.6 167.4 - - 1581 - - - - - - - - - - -
25587 154.7 8.7 938 25589 done 0.91 0.03 - 2452 -166.7 - - 1782 - 167.4 - - 1573 - - - - - - - - - - -
25896 130.1 7.5 953 25900 roll 0.91 - - 2453 - 2.20 - 402 -627.3 167.4 - - 1573 - - - - - - - - - - -
26088 115.6 6.4 961 26101 done 0.91 - - 2444 - 3.75 - 2188 476.3 167.4 - - 1578 - - - - - - - - - - -
26434 92.9 5.6 992 26457 roll 0.91 - - 2461 - 2.83 - 3549 480.9 184.1 12.73 - 1520 -4.6 - - - - - - - - - -
26755 71.2 6.2 1043 26764 done 0.94 - - 2428 - 2.83 - 1788 -622.3 186.4 2.50 0.001 1498 -8.8 64.850 - - - - - - - - -
27133 47.4 6.2 1104 27142 roll 0.95 0.05 - 2440 240.0 2.80 - 3574 637.9 186.9 - - 1497 - - - - - - - - - - -
27435 28.1 6.7 1153 27444 done 0.95 0.05 0.002 2458 360.0 3.75 - 1778 -478.9 186.9 - - 1498 - - - - - - - - - - -
27812 2.2 7.6 1214 27821 roll 0.95 - - 2454 - 3.30 - 3544 535.2 186.9 - - 1497 - - - - - - - - - - -
27825 end climb: SURFACE_DEPTH_REACHED
27826 begin surface coast
27835 end surface coast: CONTROL_FINISHED_OK
27836 begin surface
SM 0.35 - - - - -7.72 - - 612 - - - 1727 - 350.04 101.90 - 834 -6.5 INF - - - - - -