PortSusan 01Feb10 * SG161 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 1 • 2.93 of 150.00 AH used of 24V (98.05% remains)
• Previous NAKs 0, Timeouts 0 • 2.36 of 100.00 AH used of 10V (97.64% remains)
• Surface angle -73.6 deg, depth 1.15 m • Intended pitch -14.6 deg, speed -6.944 cm/s
• VBD pumped to 600.00 (SM_CC=600)
• GPS1 time: 34 s • bottom range 13.7 m at 85.2 m, depth 99 m (150 m grid)
• GPS2 time: 10 s, HDOP was 3.4 m • Transponder ping count: 0
• 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
12 - - - 89 VBD -0.74 - - 145 - - - 2004 - -107.1 -74.20 - 2758 - - - - - - - - - - -
92 3.0 -3.8 12 150 roll -0.74 11.02 0.232 2990 258.2 2.58 0.073 3593 615.9 -107.1 -38.00 - 3881 -29.6 - - - - - - - - - -
165 5.6 -4.0 24 172 done -0.74 - - 2991 - 2.38 0.038 2046 -650.0 -107.1 - - 3882 - - - - - - - - - - -
235 10.6 -7.8 40 242 roll -0.74 - - 2991 - 2.40 0.051 508 -640.8 -107.1 - - 3882 - - - - - - - - - - -
293 15.4 -8.4 53 300 done -0.74 - - 2980 - 2.38 0.043 2046 646.2 -107.1 - - 3882 - - - - - - - - - - -
363 21.3 -8.3 69 370 done -0.74 - - 2980 - - - 2046 - -107.1 - - 3882 - - - - - - - - - - -
433 27.2 -8.8 85 439 roll -0.74 - - 2980 - 2.40 0.051 506 -641.7 -107.1 - - 3882 - - - - - - - - - - -
466 30.3 -9.3 92 473 done -0.74 0.10 0.145 3002 220.0 2.38 0.045 2044 646.2 -107.1 - - 3882 - - - - - - - - - - -
536 35.9 -7.5 108 543 roll -0.74 - - 2993 - 2.45 0.061 3590 631.0 -107.1 - - 3882 - - - - - - - - - - -
579 39.4 -8.3 117 585 done -0.74 - - 2993 - 2.35 0.037 2040 -659.6 -107.1 - - 3882 - - - - - - - - - - -
648 45.3 -8.5 133 655 done -0.74 - - 2993 - - - 2040 - -107.1 - - 3882 - - - - - - - - - - -
778 55.7 -8.0 164 785 roll -0.74 - - 2982 - 2.50 0.061 3600 624.0 -107.1 - - 3882 - - - - - - - - - - -
807 58.2 -8.0 170 814 done -0.74 - - 2982 - 2.33 0.038 2057 -662.2 -107.1 - - 3882 - - - - - - - - - - -
939 69.6 -8.8 201 946 roll -0.74 - - 2972 - 2.45 0.061 3590 625.7 -107.1 - - 3882 - - - - - - - - - - -
980 73.2 -8.6 210 988 done -0.74 0.08 0.143 2998 325.0 2.33 0.037 2041 -664.8 -107.1 - - 3882 - - - - - - - - - - -
1114 83.2 -7.3 241 1121 roll -0.74 - - 2990 - 2.47 0.061 3593 628.3 -107.1 - - 3882 - - - - - - - - - - -
1167 87.3 -8.2 252 1174 done -0.74 - - 2990 - 2.33 0.038 2050 -662.2 -107.1 - - 3882 - - - - - - - - - - -
1227 end dive: BOTTOM_OBSTACLE_DETECTED
1227 begin apogee
1232 92.1 7.5 266 1316 done -0.21 0.55 0.127 3173 332.7 - - 2046 - - 78.35 0.746 3442 -5.6 0.071 - - - - - - - - -
1316 end apogee: CONTROL_FINISHED_OK
1316 begin climb
1319 93.9 - 279 1407 roll 0.74 0.85 0.070 3493 376.5 2.53 0.054 523 -602.0 107.1 79.05 0.735 3005 -5.5 0.072 - - - - - - - - -
1448 84.3 10.8 302 1455 done 0.74 - - 3493 - 2.42 0.040 2051 631.4 107.1 - - 3003 - - - - - - - - - - -
1580 68.9 11.9 333 1587 roll 0.74 - - 3493 - 2.50 0.054 3598 618.8 107.1 - - 3003 - - - - - - - - - - -
1666 58.3 12.2 353 1672 done 0.74 - - 3504 - 2.38 0.038 2063 -645.0 107.1 - - 3002 - - - - - - - - - - -
1797 42.4 12.0 384 1804 roll 0.74 - - 3504 - 2.45 0.054 3594 624.9 107.1 - - 3002 - - - - - - - - - - -
1834 37.7 12.4 392 1842 done 0.74 0.08 0.166 3492 -150.0 2.38 0.038 2049 -649.2 107.1 - - 3002 - - - - - - - - - - -
1904 29.9 10.8 408 1911 done 0.74 - - 3492 - - - 2049 - 107.1 - - 3002 - - - - - - - - - - -
1974 22.3 10.6 424 1981 roll 0.74 - - 3501 - 2.38 0.052 516 -644.1 107.1 - - 3002 - - - - - - - - - - -
2016 17.8 11.1 433 2022 done 0.74 - - 3501 - 2.35 0.039 2053 654.0 107.1 - - 3002 - - - - - - - - - - -
2086 10.5 9.9 449 2092 roll 0.74 - - 3512 - 2.40 0.051 507 -644.2 107.1 - - 3003 - - - - - - - - - - -
2157 end climb: SURFACE_DEPTH_REACHED
2157 begin surface coast
2211 end surface coast: CONTROL_FINISHED_OK
2211 begin surface
SM 1.22 - - - - -9.69 - - 143 - - - 2055 - 600.00 376.45 0.665 996 -5.3 0.001 - - - - - -