PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 1 • 24.11 of 91.80 AH used of 24V (73.74% remains)
• Previous NAKs 0, Timeouts 0 • 3.56 of 61.20 AH used of 10V (94.17% 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 20.9 m at 19.9 m depth, ceiling -1.0 m
• GPS1 time: 11 s • bottom range 90.2 m at 900.3 m, depth 990 m (990 m grid)
• GPS2 time: 15 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 - - 651 - - - 1925 - -116.8 -63.22 - 2738 - - - - - - - - - - -
116 3.0 -4.7 10 134 roll -0.83 7.65 - 2148 195.7 2.35 - 392 -652.3 -116.8 - - 2740 - - - - - - - - - - -
427 40.4 -12.2 60 436 done -0.83 0.43 - 2065 -193.0 3.00 - 2142 583.3 -116.8 - - 2741 - - - - - - - - - - -
799 85.7 -12.1 121 807 roll -0.83 - - 2052 - 3.10 - 367 -572.6 -116.8 - - 2741 - - - - - - - - - - -
1086 115.0 -8.0 149 1094 done -0.83 0.38 - 2160 284.2 3.10 - 2182 585.5 -116.8 - - 2748 - - - - - - - - - - -
1416 143.9 -9.6 165 1422 roll -0.83 0.50 - 2080 -160.0 2.72 - 392 -658.1 -116.8 - - 2745 - - - - - - - - - - -
1701 169.9 -8.5 177 1713 done -0.83 - - 2069 - 3.62 - 2162 489.0 -116.8 - - 2738 - - - - - - - - - - -
2024 195.1 -7.4 193 2032 roll -0.83 0.03 - 2057 -400.0 3.92 - 437 -440.1 -116.8 - - 2742 - - - - - - - - - - -
2313 217.8 -8.1 205 2318 done -0.83 0.05 - 2053 -80.0 2.83 - 2214 627.9 -116.8 - - 2743 - - - - - - - - - - -
2632 244.3 -8.3 220 2639 roll -0.83 - - 2056 - 3.75 - 428 -476.3 -116.8 - - 2740 - - - - - - - - - - -
2921 267.2 -8.3 232 2926 done -0.83 0.05 - 2063 140.0 2.80 - 2185 627.5 -116.8 - - 2734 - - - - - - - - - - -
3240 292.0 -7.9 247 3246 roll -0.83 - - 2071 - 3.30 - 395 -542.4 -116.8 - - 2740 - - - - - - - - - - -
3530 315.9 -7.8 259 3536 done -0.83 0.08 - 2051 -250.0 3.00 - 2170 591.7 -116.8 - - 2738 - - - - - - - - - - -
3849 340.5 -7.6 274 3857 roll -0.83 0.17 - 2045 -35.3 3.92 - 369 -459.4 -116.8 - - 2741 - - - - - - - - - - -
4138 362.2 -7.3 286 4150 done -0.83 - - 2061 - 3.30 - 2179 548.5 -116.8 - - 2740 - - - - - - - - - - -
4461 385.7 -7.8 302 4469 roll -0.83 0.30 - 2177 386.7 3.62 - 479 -469.6 -116.8 - - 2736 - - - - - - - - - - -
4751 406.3 -7.0 314 4764 done -0.83 0.40 - 2072 -262.5 3.53 - 2152 473.9 -116.8 - - 2746 - - - - - - - - - - -
5075 427.7 -6.6 330 5082 roll -0.83 - - 2054 - 3.55 - 358 -505.4 -116.8 - - 2746 - - - - - - - - - - -
5360 447.1 -7.0 342 5372 done -0.83 0.03 - 2058 133.3 3.58 - 2037 469.0 -116.8 - - 2742 - - - - - - - - - - -
5683 469.3 -6.9 358 5689 roll -0.83 0.03 - 2080 733.3 2.90 - 360 -578.3 -116.8 - - 2748 - - - - - - - - - - -
5969 490.2 -7.5 370 5982 done -0.83 0.05 - 2082 - 3.33 - 2167 542.6 -116.8 - - 2739 - - - - - - - - - - -
6310 515.2 -7.4 382 6315 roll -0.83 - - 2081 - 2.80 - 386 -636.1 -116.8 - - 2750 - - - - - - - - - - -
6590 536.8 -7.5 388 6595 done -0.83 - - 2067 - 3.12 - 2140 562.2 -116.8 - - 2742 - - - - - - - - - - -
6907 560.9 -7.6 396 6913 roll -0.83 - - 2082 - 3.42 - 467 -489.2 -116.8 - - 2742 - - - - - - - - - - -
7191 582.3 -7.9 402 7198 done -0.83 0.03 - 2056 -866.7 3.53 - 2118 467.7 -116.8 - - 2742 - - - - - - - - - - -
7511 604.8 -6.7 410 7517 roll -0.83 0.03 - 2072 533.3 2.80 - 361 -627.5 -116.8 - - 2739 - - - - - - - - - - -
7789 624.0 -7.1 416 7796 done -0.83 0.08 - 2071 - 3.25 - 2151 550.8 -116.8 - - 2749 - - - - - - - - - - -
8110 643.8 -6.1 424 8117 roll -0.83 - - 2071 - 3.55 - 377 -499.7 -116.8 - - 2743 - - - - - - - - - - -
8395 660.5 -5.1 430 8401 done -0.83 0.03 - 2071 - 3.00 - 2173 598.7 -116.8 - - 2744 - - - - - - - - - - -
8712 679.2 -6.0 438 8720 roll -0.83 - - 2056 - 3.62 - 357 -501.7 -116.8 - - 2744 - - - - - - - - - - -
8998 697.9 -5.7 444 9003 done -0.83 0.15 - 2103 313.3 2.70 - 2177 674.1 -116.8 - - 2742 - - - - - - - - - - -
9314 717.6 -6.3 452 9322 roll -0.83 0.05 0.002 2121 360.0 3.55 - 411 -497.5 -116.8 - - 2742 - - - - - - - - - - -
9599 735.2 -6.9 458 9607 done -0.83 0.25 - 2060 -244.0 3.25 - 2094 517.8 -116.8 - - 2735 - - - - - - - - - - -
9920 755.2 -6.4 466 9927 roll -0.83 0.28 - 2150 321.4 3.55 - 421 -471.3 -116.8 - - 2742 - - - - - - - - - - -
10210 773.2 -6.1 472 10218 done -0.83 0.55 - 2061 -161.8 2.92 - 2091 571.9 -116.8 - - 2740 - - - - - - - - - - -
10533 792.6 -5.9 480 10540 roll -0.83 - - 2056 - 3.53 - 446 -466.0 -116.8 - - 2747 - - - - - - - - - - -
10825 810.7 -6.1 486 10830 done -0.83 - - 2056 - 2.60 - 2123 645.0 -116.8 - - 2745 - - - - - - - - - - -
11141 829.3 -5.5 494 11146 roll -0.83 - - 2063 - 2.62 - 482 -626.3 -116.8 - - 2744 - - - - - - - - - - -
11427 845.1 -5.3 500 11433 done -0.83 0.15 - 2117 360.0 3.03 - 2183 561.4 -116.8 - - 2739 - - - - - - - - - - -
11750 862.3 -5.4 508 11757 roll -0.83 - - 2115 - 3.65 - 397 -489.3 -116.8 - - 2742 - - - - - - - - - - -
12040 878.8 -5.0 514 12046 done -0.83 0.03 - 2113 - 3.12 - 2187 573.7 -116.8 - - 2746 - - - - - - - - - - -
12358 897.0 -5.9 522 12365 roll -0.83 0.12 - 2092 -175.0 3.25 - 391 -552.6 -116.8 - - 2748 - - - - - - - - - - -
12648 915.6 -7.0 528 12655 done -0.83 - - 2099 - 3.65 - 2127 475.6 -116.8 - - 2739 - - - - - - - - - - -
12969 936.7 -6.3 536 12975 roll -0.83 - - 2072 - 3.15 - 469 -526.3 -116.8 - - 2743 - - - - - - - - - - -
13255 954.4 -6.2 542 13264 done -0.83 - - 2111 - 3.10 - 2140 539.0 -116.8 - - 2742 - - - - - - - - - - -
13581 974.4 -6.0 550 13588 roll -0.83 0.32 - 2068 -134.4 3.28 - 460 -512.2 -116.8 - - 2742 - - - - - - - - - - -
13683 end dive: BOTTOM_OBSTACLE_DETECTED
13683 begin apogee
13698 980.5 5.7 552 13826 done -0.25 0.95 - 2247 188.4 - - 2120 - - 114.28 - 2255 -4.3 - - - - - - - - - -
13827 end apogee: CONTROL_FINISHED_OK
13827 begin climb
13838 986.6 - 555 13970 roll 0.83 1.02 - 2436 185.3 2.10 - 3504 659.0 116.8 112.97 0.001 1784 -4.2 425.744 - - - - - - - - -
14252 987.6 7.9 564 14259 done 0.83 - - 2456 - 3.35 - 1967 -458.8 116.8 - - 1783 - - - - - - - - - - -
14585 959.6 8.1 572 14590 roll 0.83 - - 2475 - 2.83 - 3498 541.0 116.8 - - 1782 - - - - - - - - - - -
14865 936.4 7.7 578 14871 done 0.83 0.05 - 2422 -1060.0 2.62 - 1812 -643.5 116.8 - - 1779 - - - - - - - - - - -
15182 911.7 7.7 586 15187 roll 0.83 0.05 - 2464 840.0 2.90 - 3633 627.9 116.8 - - 1783 - - - - - - - - - - -
15467 889.4 7.8 592 15475 done 0.83 0.35 - 2376 -251.4 3.12 - 1854 -570.2 116.8 - - 1778 - - - - - - - - - - -
15788 862.8 8.4 600 15795 roll 0.83 0.38 - 2465 234.2 3.15 - 3535 533.7 116.8 - - 1782 - - - - - - - - - - -
16077 840.6 7.7 606 16082 done 0.83 - - 2451 - 2.83 - 1836 -600.4 116.8 - - 1781 - - - - - - - - - - -
16394 817.5 7.3 614 16399 roll 0.83 0.20 - 2396 -275.0 2.83 - 3516 593.6 116.8 - - 1783 - - - - - - - - - - -
16676 796.7 7.0 620 16681 done 0.83 - - 2441 - 3.25 - 1860 -509.5 116.8 - - 1793 - - - - - - - - - - -
16992 771.9 8.1 628 16998 roll 0.83 0.05 - 2433 -160.0 2.53 - 3557 670.8 116.8 - - 1788 - - - - - - - - - - -
17277 748.8 8.0 634 17284 done 0.83 - - 2418 - 3.53 - 1869 -478.2 116.8 0.10 - 1787 - - - - - - - - - - -
17597 722.7 8.1 642 17602 roll 0.83 0.10 - 2471 530.0 2.50 - 3524 662.0 116.8 - - 1782 - - - - - - - - - - -
17882 700.5 7.3 648 17888 done 0.83 0.10 - 2422 -490.0 3.10 - 1771 -565.5 116.8 - - 1780 - - - - - - - - - - -
18199 675.4 7.7 656 18206 roll 0.83 - - 2430 - 3.65 - 3530 481.9 116.8 - - 1784 - - - - - - - - - - -
18485 655.9 6.6 662 18490 done 0.83 - - 2425 - 2.70 - 1763 -654.4 116.8 - - 1782 - - - - - - - - - - -
18801 637.4 5.9 670 18816 roll 0.83 - - 2434 - 3.62 - 3567 498.3 126.3 8.62 0.001 1743 -4.5 298.482 - - - - - - - - -
19097 620.0 6.5 676 19104 done 0.85 0.03 - 2425 -300.0 3.62 - 1890 -463.3 126.3 - - 1744 - - - - - - - - - - -
19448 598.3 6.3 685 19454 roll 0.85 0.05 - 2427 - 2.80 - 3553 593.9 126.3 - - 1743 - - - - - - - - - - -
19734 578.6 7.6 691 19742 done 0.85 - - 2412 - 3.75 - 1779 -473.1 126.3 - - 1744 - - - - - - - - - - -
20055 554.5 7.1 699 20063 roll 0.85 0.10 - 2415 30.0 4.45 - 3485 383.4 126.3 - - 1743 - - - - - - - - - - -
20345 534.4 6.8 705 20353 done 0.85 0.03 - 2424 300.0 3.33 - 1853 -490.1 126.3 - - 1742 - - - - - - - - - - -
20666 511.0 7.3 713 20672 roll 0.85 0.03 - 2479 1833.3 2.70 - 3513 614.8 126.3 - - 1742 - - - - - - - - - - -
20950 490.5 7.4 721 20956 done 0.85 0.10 - 2410 -690.0 2.70 - 1852 -615.2 126.3 - - 1740 - - - - - - - - - - -
21269 467.4 7.1 736 21277 roll 0.85 0.12 - 2409 - 3.42 - 3518 487.1 126.3 - - 1739 - - - - - - - - - - -
21552 447.6 6.4 748 21557 done 0.85 0.10 - 2469 600.0 2.83 - 1888 -576.0 126.3 - - 1745 - - - - - - - - - - -
21871 426.5 6.7 763 21875 roll 0.85 - - 2486 - 2.50 - 3577 675.6 126.3 - - 1743 - - - - - - - - - - -
22156 407.1 6.8 775 22168 done 0.85 0.20 - 2418 -340.0 3.55 - 1810 -497.7 126.3 - - 1750 - - - - - - - - - - -
22480 386.6 6.2 791 22488 roll 0.85 0.12 - 2451 275.0 3.33 - 3484 502.7 128.3 2.28 - 1734 -7.0 - - - - - - - - - -
22763 368.1 7.0 803 22769 done 0.85 - - 2471 - 3.25 - 1925 -479.7 128.3 - - 1733 - - - - - - - - - - -
23082 346.1 7.2 818 23088 roll 0.85 0.05 - 2466 -100.0 2.60 - 3611 648.5 128.3 0.03 0.002 1737 133.3 -2388.139 - - - - - - - - -
23361 325.8 7.3 830 23373 done 0.85 0.03 - 2475 300.0 3.45 - 1809 -522.3 128.3 - - 1732 - - - - - - - - - - -
23684 302.4 7.0 846 23692 roll 0.85 0.03 - 2454 -700.0 3.83 - 3618 472.3 128.3 - - 1732 - - - - - - - - - - -
23975 282.6 5.9 858 23990 done 0.85 - - 2462 - 3.22 - 1844 -550.9 137.4 7.35 - 1708 -3.3 - - - - - - - - - -
24300 262.0 6.5 874 24305 roll 0.86 0.05 - 2467 100.0 3.00 - 3591 582.3 137.4 - - 1710 - - - - - - - - - - -
24586 241.6 6.7 886 24598 done 0.86 - - 2470 - 3.62 - 1791 -497.2 137.4 - - 1707 - - - - - - - - - - -
24910 222.0 5.6 902 24936 roll 0.86 - - 2472 - 4.12 - 3483 410.7 155.5 18.40 0.001 1630 -4.2 96.156 - - - - - - - - -
25220 203.8 6.0 915 25238 done 0.89 - - 2452 - 3.42 - 1835 -481.9 163.2 7.97 - 1600 -3.8 - - - - - - - - - -
25549 182.1 7.0 931 25556 roll 0.91 - - 2463 - 3.55 - 3629 505.4 163.2 - - 1586 - - - - - - - - - - -
25837 160.2 6.6 943 25849 done 0.91 - - 2464 - 3.55 - 1856 -499.4 163.2 - - 1597 - - - - - - - - - - -
26161 138.6 6.7 959 26166 roll 0.91 - - 2469 - 2.80 - 3633 634.6 163.2 - - 1590 - - - - - - - - - - -
26443 123.8 4.7 971 26483 done 0.91 - - 2466 - 3.10 - 1817 -585.8 204.8 33.35 0.001 1426 -4.9 63.011 - - - - - - - - -
26819 99.0 8.2 989 26828 roll 0.98 - - 2459 - 3.75 - 3579 469.9 204.8 - - 1418 - - - - - - - - - - -
27128 77.2 5.9 1038 27144 done 0.98 - - 2466 - 3.45 - 1781 -521.2 213.9 7.30 0.001 1397 -2.9 22.986 - - - - - - - - -
27512 54.6 6.3 1100 27521 roll 0.99 - - 2465 - 2.80 - 3580 642.5 213.9 - - 1392 - - - - - - - - - - -
27820 34.4 6.5 1149 27829 done 0.99 0.03 - 2463 - 2.80 - 1798 -636.4 213.9 - - 1398 - - - - - - - - - - -
28197 9.8 6.6 1210 28205 roll 0.99 0.15 - 2520 380.0 2.70 - 3613 672.2 213.9 - - 1395 - - - - - - - - - - -
28312 end climb: SURFACE_DEPTH_REACHED
28312 begin surface coast
28348 end surface coast: CONTROL_FINISHED_OK
28348 begin surface
SM 0.34 - - - - -7.52 - - 627 - - - 1838 - 350.04 84.72 - 836 -6.6 INF - - - - - -