PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 6 * Raw log
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• Previous call tries 2 • 21.45 of 91.80 AH used of 24V (76.63% remains)
• Previous NAKs 0, Timeouts 0 • 3.16 of 61.20 AH used of 10V (94.84% remains)
• Surface angle -50.0 deg, depth 0.35 m • Intended pitch -12.7 deg, speed -6.250 cm/s
VBD pumped to 350.04 (SM_CC=350) • surface range 19.3 m at 19.7 m depth, ceiling 0.4 m
• GPS1 time: 26 s • bottom range 89.1 m at 900.8 m, depth 990 m (990 m grid)
• GPS2 time: 25 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
33 begin dive
39 - - - 109 done -0.83 - - 599 - - - 1726 - -116.8 -62.90 - 2735 - - - - - - - - - - -
116 3.0 -4.7 10 126 done -0.83 7.50 - 2133 204.5 - - 1716 - -116.8 - - 2736 - - - - - - - - - - -
487 45.8 -11.2 71 496 roll -0.83 0.30 - 2079 -180.0 2.33 - 456 -540.8 -116.8 - - 2728 - - - - - - - - - - -
787 79.4 -10.6 120 796 done -0.83 - - 2095 - 2.60 - 2125 641.9 -116.8 - - 2738 - - - - - - - - - - -
1154 116.3 -9.2 160 1161 roll -0.83 - - 2093 - 3.58 - 460 -465.1 -116.8 - - 2734 - - - - - - - - - - -
1444 142.1 -8.0 172 1449 done -0.83 - - 2075 - 2.50 - 2085 650.0 -116.8 - - 2733 - - - - - - - - - - -
1764 168.1 -8.1 187 1772 roll -0.83 0.03 - 2083 266.7 3.55 - 422 -468.5 -116.8 - - 2739 - - - - - - - - - - -
2056 191.5 -7.9 199 2061 done -0.83 - - 2099 - 2.67 - 2092 625.5 -116.8 - - 2732 - - - - - - - - - - -
2374 216.7 -7.5 214 2380 roll -0.83 0.03 - 2078 -700.0 2.50 - 404 -675.2 -116.8 - - 2739 - - - - - - - - - - -
2660 237.5 -6.6 226 2666 done -0.83 - - 2086 - 3.12 - 2151 559.9 -116.8 - - 2736 - - - - - - - - - - -
2979 260.4 -7.9 241 2986 roll -0.83 - - 2091 - 3.45 - 402 -507.0 -116.8 - - 2729 - - - - - - - - - - -
3267 282.9 -7.5 253 3272 done -0.83 - - 2078 - 2.80 - 2172 632.1 -116.8 - - 2738 - - - - - - - - - - -
3585 308.6 -8.0 268 3593 roll -0.83 - - 2090 - 3.95 - 392 -450.6 -116.8 - - 2735 - - - - - - - - - - -
3874 331.5 -7.8 280 3885 done -0.83 - - 2077 - 3.38 - 2047 489.6 -116.8 - - 2733 - - - - - - - - - - -
4197 354.7 -6.9 296 4202 roll -0.83 - - 2085 - 2.53 - 392 -654.2 -116.8 - - 2736 - - - - - - - - - - -
4479 375.2 -6.9 308 4485 done -0.83 0.03 - 2078 -233.3 3.00 - 2211 606.3 -116.8 - - 2732 - - - - - - - - - - -
4798 397.4 -6.8 323 4803 roll -0.83 - - 2077 - 3.10 - 415 -579.4 -116.8 - - 2729 - - - - - - - - - - -
5082 419.0 -7.7 335 5087 done -0.83 - - 2070 - 3.00 - 2151 578.7 -116.8 - - 2740 - - - - - - - - - - -
5402 443.7 -7.3 350 5407 roll -0.83 - - 2080 - 2.80 - 374 -634.6 -116.8 - - 2731 - - - - - - - - - - -
5687 464.6 -6.9 362 5692 done -0.83 - - 2061 - 2.80 - 2149 633.9 -116.8 - - 2735 - - - - - - - - - - -
6006 487.1 -6.5 377 6011 roll -0.83 - - 2080 - 2.60 - 438 -658.1 -116.8 - - 2731 - - - - - - - - - - -
6287 504.4 -5.9 388 6292 done -0.83 0.03 - 2097 566.7 2.60 - 2127 649.6 -116.8 - - 2737 - - - - - - - - - - -
6604 523.1 -6.1 396 6608 roll -0.83 - - 2083 - 2.58 - 451 -649.6 -116.8 - - 2734 - - - - - - - - - - -
6882 539.7 -6.1 402 6887 done -0.83 0.03 - 2077 -200.0 2.60 - 2123 643.1 -116.8 - - 2739 - - - - - - - - - - -
7198 558.3 -5.8 410 7204 roll -0.83 - - 2072 - 3.25 - 461 -511.4 -116.8 - - 2737 - - - - - - - - - - -
7479 576.5 -7.0 416 7484 done -0.83 - - 2075 - 2.62 - 2106 627.9 -116.8 - - 2737 - - - - - - - - - - -
7795 598.6 -7.3 424 7801 roll -0.83 0.05 - 2082 140.0 2.70 - 438 -617.8 -116.8 - - 2734 - - - - - - - - - - -
8076 617.9 -6.6 430 8083 done -0.83 - - 2089 - 3.35 - 2117 501.2 -116.8 - - 2740 - - - - - - - - - - -
8397 639.3 -6.8 438 8402 roll -0.83 - - 2087 - 2.90 - 451 -574.5 -116.8 - - 2732 - - - - - - - - - - -
8677 658.2 -6.4 444 8684 done -0.83 - - 2073 - 3.85 - 2219 459.2 -116.8 - - 2736 - - - - - - - - - - -
8998 678.9 -6.7 452 9003 roll -0.83 - - 2088 - 3.10 - 426 -578.4 -116.8 - - 2736 - - - - - - - - - - -
9278 697.2 -6.5 458 9284 done -0.83 - - 2088 - 2.83 - 2190 623.3 -116.8 - - 2735 - - - - - - - - - - -
9595 717.9 -6.7 466 9602 roll -0.83 - - 2092 - 4.75 - 335 -390.5 -116.8 - - 2729 - - - - - - - - - - -
9880 738.9 -7.4 472 9887 done -0.83 - - 2093 - 3.62 - 2113 491.2 -116.8 - - 2733 - - - - - - - - - - -
10201 761.3 -6.8 480 10208 roll -0.83 - - 2078 - 3.55 - 436 -472.4 -116.8 - - 2728 - - - - - - - - - - -
10486 780.8 -6.5 486 10491 done -0.83 - - 2075 - 2.72 - 2107 614.3 -116.8 - - 2734 - - - - - - - - - - -
10803 802.3 -6.5 494 10808 roll -0.83 - - 2062 - 2.70 - 357 -648.1 -116.8 - - 2742 - - - - - - - - - - -
11087 820.8 -6.6 500 11094 done -0.83 - - 2084 - 3.45 - 2120 511.0 -116.8 - - 2739 - - - - - - - - - - -
11409 840.7 -6.2 508 11414 roll -0.83 - - 2098 - 2.72 - 448 -614.7 -116.8 - - 2736 - - - - - - - - - - -
11690 858.2 -5.6 514 11696 done -0.83 0.03 0.001 2083 -500.0 2.53 - 2063 638.3 -116.8 - - 2736 - - - - - - - - - - -
12009 875.3 -5.4 522 12013 roll -0.83 - - 2094 - 2.50 - 404 -663.6 -116.8 - - 2738 - - - - - - - - - - -
12293 890.7 -5.4 528 12298 done -0.83 - - 2071 - 2.70 - 2177 656.7 -116.8 - - 2736 - - - - - - - - - - -
12609 907.6 -5.6 536 12614 roll -0.83 - - 2077 - 2.92 - 460 -588.0 -116.8 - - 2733 - - - - - - - - - - -
12894 923.9 -5.7 542 12899 done -0.83 - - 2084 - 3.00 - 2190 576.7 -116.8 - - 2731 - - - - - - - - - - -
13211 941.9 -5.7 550 13218 roll -0.83 - - 2083 - 3.67 - 549 -447.1 -116.8 - - 2731 - - - - - - - - - - -
13496 958.4 -5.5 556 13501 done -0.83 - - 2066 - 2.42 - 2121 649.6 -116.8 - - 2741 - - - - - - - - - - -
13812 976.7 -6.0 564 13819 roll -0.83 - - 2077 - 3.35 - 502 -483.3 -116.8 - - 2735 - - - - - - - - - - -
13863 end dive: BOTTOM_OBSTACLE_DETECTED
13863 begin apogee
13879 980.2 5.9 565 14004 done -0.25 0.90 - 2270 214.4 - - 2134 - - 111.47 - 2270 -4.2 - - - - - - - - - -
14005 end apogee: CONTROL_FINISHED_OK
14010 begin climb
14015 987.1 - 568 14146 roll 0.83 1.12 - 2522 225.0 2.17 - 3423 594.0 116.8 113.28 0.001 1786 -4.3 436.518 - - - - - - - - -
14428 981.4 9.5 577 14436 done 0.83 0.40 - 2427 -237.5 3.45 - 1773 -478.3 116.8 - - 1785 - - - - - - - - - - -
14760 950.3 9.4 585 14766 roll 0.83 0.20 - 2466 195.0 2.80 - 3550 634.6 116.8 - - 1782 - - - - - - - - - - -
15046 925.9 8.3 591 15051 done 0.83 0.12 - 2430 -300.0 2.50 - 1870 -672.0 116.8 - - 1784 - - - - - - - - - - -
15363 900.9 7.6 599 15369 roll 0.83 0.05 - 2425 -100.0 3.25 - 3559 519.7 116.8 - - 1785 - - - - - - - - - - -
15649 878.8 7.6 605 15654 done 0.83 0.05 - 2425 - 2.70 - 1798 -652.2 116.8 - - 1781 - - - - - - - - - - -
15965 852.7 8.3 613 15971 roll 0.83 0.20 - 2468 215.0 2.72 - 3574 652.9 116.8 - - 1782 - - - - - - - - - - -
16247 828.7 7.7 619 16255 done 0.83 0.40 - 2396 -180.0 3.55 - 1927 -463.9 116.8 - - 1785 - - - - - - - - - - -
16569 801.8 8.4 627 16577 roll 0.83 0.47 - 2464 144.7 3.55 - 3592 469.0 116.8 - - 1786 - - - - - - - - - - -
16859 778.5 7.3 633 16867 done 0.83 0.38 - 2389 -197.4 3.75 - 1813 -474.4 116.8 - - 1780 - - - - - - - - - - -
17180 755.1 7.2 641 17186 roll 0.83 0.32 - 2435 143.8 2.70 - 3613 666.7 116.8 - - 1779 - - - - - - - - - - -
17466 733.0 8.3 647 17472 done 0.83 - - 2438 - 3.00 - 1828 -595.0 116.8 - - 1781 - - - - - - - - - - -
17782 706.6 8.3 655 17787 roll 0.83 - - 2434 - 2.83 - 3596 624.7 116.8 - - 1778 - - - - - - - - - - -
18063 682.2 8.6 661 18068 done 0.83 - - 2422 - 2.83 - 1842 -619.8 116.8 - - 1784 - - - - - - - - - - -
18379 655.4 8.5 669 18381 done 0.83 0.03 - 2436 466.7 - - 1824 - 116.8 - - 1784 - - - - - - - - - - -
18704 628.7 8.0 677 18709 roll 0.83 - - 2428 - 2.92 - 3632 619.2 116.8 - - 1785 - - - - - - - - - - -
18984 607.1 7.3 683 18989 done 0.83 - - 2434 - 2.83 - 1838 -633.9 116.8 - - 1787 - - - - - - - - - - -
19301 585.3 6.6 691 19308 roll 0.83 - - 2416 - 3.35 - 3510 499.1 116.8 - - 1785 - - - - - - - - - - -
19586 567.9 5.6 697 19606 done 0.83 - - 2431 - 2.70 - 1754 -650.4 133.0 14.82 - 1718 -4.5 - - - - - - - - - -
19942 547.7 6.0 706 19955 roll 0.86 - - 2453 - 2.72 - 3568 666.9 140.2 6.35 0.001 1687 -4.9 276.745 - - - - - - - - -
20237 527.8 7.6 712 20242 done 0.87 - - 2430 - 2.70 - 1805 -653.0 140.2 - - 1691 - - - - - - - - - - -
20588 501.6 7.4 721 20594 roll 0.87 0.15 - 2487 380.0 2.70 - 3529 638.5 140.2 - - 1691 - - - - - - - - - - -
20874 479.5 8.6 732 20879 done 0.87 - - 2498 - 3.03 - 1837 -558.4 140.2 - - 1693 - - - - - - - - - - -
21193 457.3 6.6 747 21198 roll 0.87 0.05 - 2474 -480.0 2.60 - 3514 645.0 140.2 - - 1693 - - - - - - - - - - -
21479 438.2 6.6 759 21491 done 0.87 0.03 - 2486 400.0 3.28 - 1877 -499.1 140.2 - - 1691 - - - - - - - - - - -
21802 417.0 6.7 775 21811 roll 0.87 - - 2464 - 3.95 - 3531 418.7 140.2 0.17 0.002 1688 -17.6 380.827 - - - - - - - - -
22094 398.4 5.8 787 22114 done 0.87 0.12 - 2446 -150.0 3.05 - 1862 -547.2 153.1 12.68 - 1638 -3.9 - - - - - - - - - -
22441 376.9 6.4 804 22446 roll 0.89 0.03 - 2395 -1700.0 2.70 - 3551 625.6 153.1 - - 1635 - - - - - - - - - - -
22718 357.4 7.3 816 22724 done 0.89 0.12 - 2472 641.7 2.90 - 1764 -616.2 153.1 - - 1641 - - - - - - - - - - -
23049 331.8 8.0 832 23056 roll 0.89 - - 2479 - 2.90 - 3578 625.5 153.1 0.45 0.001 1631 -22.2 763.156 - - - - - - - - -
23332 308.8 7.3 844 23336 done 0.89 - - 2468 - 2.70 - 1799 -658.9 153.1 - - 1632 - - - - - - - - - - -
23651 285.4 7.1 859 23658 roll 0.89 - - 2488 - 3.75 - 3578 474.4 153.1 - - 1632 - - - - - - - - - - -
23942 266.6 5.8 871 23959 done 0.89 0.05 - 2467 -420.0 2.80 - 1794 -637.1 165.6 11.48 0.001 1583 -4.3 117.778 - - - - - - - - -
24285 244.8 6.4 888 24290 roll 0.91 0.05 - 2481 280.0 2.90 - 3565 610.7 165.6 - - 1591 - - - - - - - - - - -
24572 226.4 6.7 900 24585 done 0.91 - - 2476 - 3.15 - 1989 -500.3 165.6 0.95 - 1583 -8.4 - - - - - - - - - -
24896 206.6 6.1 916 24902 done 0.91 - - 2486 - - - 1999 - 170.5 4.72 - 1561 -4.7 - - - - - - - - - -
25205 186.7 6.3 931 25206 done 0.92 - - 2484 - - - 1995 - 170.5 - - 1557 - - - - - - - - - - -
25514 166.6 6.6 946 25519 roll 0.92 - - 2475 - 3.12 - 3551 498.7 170.5 - - 1563 - - - - - - - - - - -
25805 145.6 5.8 958 25820 done 0.92 - - 2492 - 2.62 - 1869 -642.0 182.4 9.23 0.001 1510 -5.7 86.534 - - - - - - - - -
26130 125.6 5.4 974 26149 done 0.94 - - 2472 - - - 1879 - 204.4 17.67 - 1424 -4.9 - - - - - - - - - -
26459 107.1 5.6 990 26483 roll 0.98 - - 2478 - 3.22 - 3537 514.9 220.4 13.07 0.001 1362 -4.7 52.584 - - - - - - - - -
26689 93.4 5.7 1012 26713 done 1.00 - - 2490 - 3.08 - 2003 -498.1 235.1 11.77 0.001 1298 -5.4 52.565 - - - - - - - - -
27084 68.0 6.1 1075 27093 roll 1.03 - - 2465 - 3.25 - 3386 425.5 238.6 2.80 0.001 1287 -3.9 27.650 - - - - - - - - -
27391 49.0 6.0 1124 27407 done 1.03 - - 2477 - 3.25 - 1750 -503.4 244.7 4.82 0.001 1262 -5.2 26.305 - - - - - - - - -
27776 25.6 5.6 1186 27799 roll 1.04 - - 2460 - 3.20 - 3566 567.5 262.3 13.27 0.001 1194 -5.1 13.578 - - - - - - - - -
28092 5.3 7.6 1237 28101 done 1.07 0.03 - 2476 533.3 3.03 - 1830 -572.9 262.3 - - 1198 - - - - - - - - - - -
28143 end climb: SURFACE_DEPTH_REACHED
28143 begin surface coast
28180 end surface coast: CONTROL_FINISHED_OK
28180 begin surface
SM 0.34 - - - - -7.41 - - 661 - - - 2194 - 350.04 54.90 - 841 -6.5 INF - - - - - -