PortSusan 17Sep09 * SG152 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 3.07 of 91.80 AH used of 24V (96.65% remains)
• Previous NAKs 2, Timeouts 0 • 1.43 of 100.00 AH used of 10V (98.57% remains)
• Surface angle -70.6 deg, depth 3.76 m • Intended pitch -10.2 deg, speed -7.143 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 12 s • bottom range 44.9 m at 80.1 m, depth 125 m (150 m grid)
• GPS2 time: 14 s • Transponder ping count: 17
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
19 - - - 27 VBD -1.09 - - 440 - - - 1935 - -194.6 -6.25 - 1695 - - - - - - - - - - -
33 3.6 - 1 154 roll -1.09 12.27 0.163 2683 182.8 2.40 0.075 564 -571.2 -194.6 -101.05 - 3951 -22.3 - - - - - - - - - -
407 29.7 -8.9 76 414 done -1.09 - - 2683 - 2.28 0.030 1954 609.6 -194.6 - - 3952 - - - - - - - - - - -
484 36.4 -8.1 89 491 roll -1.09 - - 2683 - 2.50 0.069 561 -557.2 -194.6 - - 3952 - - - - - - - - - - -
650 51.1 -8.8 124 657 done -1.09 - - 2683 - 2.28 0.031 1949 608.8 -194.6 - - 3952 - - - - - - - - - - -
798 63.2 -8.2 149 804 roll -1.09 - - 2683 - 2.47 0.075 561 -561.9 -194.6 - - 3952 - - - - - - - - - - -
835 66.5 -8.3 156 842 done -1.09 - - 2683 - 2.28 0.031 1950 609.2 -194.6 - - 3952 - - - - - - - - - - -
982 78.6 -8.5 181 988 roll -1.09 - - 2683 - 2.47 0.073 563 -561.5 -194.6 - - 3952 - - - - - - - - - - -
1029 82.5 -8.8 189 1035 done -1.09 - - 2683 - 2.25 0.032 1950 616.4 -194.6 - - 3952 - - - - - - - - - - -
1173 94.8 -8.2 214 1180 done -1.09 - - 2683 - - - 1954 - -194.6 - - 3952 - - - - - - - - - - -
1317 106.2 -8.0 239 1323 roll -1.09 - - 2683 - 2.47 0.074 566 -561.9 -194.6 - - 3952 - - - - - - - - - - -
1372 110.8 -8.3 250 1379 done -1.09 - - 2683 - 2.28 0.033 1951 607.5 -194.6 - - 3952 - - - - - - - - - - -
1424 end dive: BOTTOM_OBSTACLE_DETECTED
1425 begin apogee
1437 115.2 7.8 259 1587 done -0.42 0.62 0.075 2822 224.2 - - 1952 - - 144.07 0.841 3210 -5.2 0.074 - - - - - - - - -
1588 end apogee: CONTROL_FINISHED_OK
1588 begin climb
1594 119.5 - 284 1758 roll 1.09 1.48 0.062 3153 223.6 2.55 0.045 3394 565.5 194.6 155.90 0.803 2415 -5.1 0.079 - - - - - - - - -
1796 104.6 10.7 317 1802 done 1.09 - - 3153 - 2.35 0.037 2005 -591.1 194.6 - - 2414 - - - - - - - - - - -
1940 89.9 10.2 342 1947 roll 1.09 - - 3153 - 2.58 0.079 598 -545.3 194.6 - - 2410 - - - - - - - - - - -
1972 86.7 10.8 347 1978 done 1.09 - - 3153 - 2.30 0.031 2003 610.9 194.6 - - 2410 - - - - - - - - - - -
2116 71.8 9.6 372 2123 done 1.09 - - 3153 - - - 2007 - 194.6 - - 2410 - - - - - - - - - - -
2261 58.0 9.6 397 2266 done 1.09 - - 3153 - - - 2007 - 194.6 - - 2410 - - - - - - - - - - -
2404 44.7 9.1 422 2411 done 1.09 - - 3153 - - - 2007 - 194.6 - - 2410 - - - - - - - - - - -
2549 31.2 9.3 447 2556 done 1.09 - - 3153 - - - 2007 - 194.6 - - 2410 - - - - - - - - - - -
2624 24.1 9.0 460 2631 roll 1.09 - - 3153 - 2.53 0.070 600 -556.1 194.6 - - 2409 - - - - - - - - - - -
2654 21.2 9.7 465 2662 done 1.09 - - 3152 - 2.30 0.031 1992 605.2 194.6 - - 2409 - - - - - - - - - - -
2732 14.0 8.8 478 2739 roll 1.09 - - 3153 - 2.38 0.044 3388 586.6 194.6 - - 2409 - - - - - - - - - - -
2778 9.8 9.5 487 2785 done 1.09 - - 3153 - 2.35 0.035 1997 -591.9 194.6 - - 2409 - - - - - - - - - - -
2856 6.2 3.4 500 2962 roll 1.27 0.17 0.049 3208 323.5 2.42 0.041 3399 579.3 344.8 96.72 0.763 1802 -6.3 0.005 - - - - - - - - -
2967 end climb: SURFACE_DEPTH_REACHED
2967 begin surface coast
2978 end surface coast: CONTROL_FINISHED_OK
2978 begin surface
SM 2.85 - - - - -11.40 - - 442 - - - 1948 - 400.08 25.25 0.718 1579 -8.8 0.004 - - - - - -