PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 122 * Raw log
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• Previous call tries 2 • 15.37 of 150.00 AH used of 24V (89.75% remains)
• Previous NAKs 4, Timeouts 0 • 4.42 of 100.00 AH used of 10V (95.58% remains)
• Surface angle -75.7 deg, depth 1.32 m • Intended pitch -13.8 deg, speed -6.024 cm/s
• VBD pumped to 480.04 (SM_CC=480)
• GPS1 time: 22 s • bottom range 10.2 m at 80.0 m, depth 90 m (105 m grid)
• GPS2 time: 18 s • Transponder ping count: 2
• 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 - - - 68 VBD -0.64 - - 160 - - - 2223 - -91.2 -54.95 - 2714 - - - - - - - - - - -
70 3.0 -3.8 13 113 roll -0.71 12.77 0.281 2935 217.3 2.83 0.090 3868 581.3 -141.8 -23.98 - 3641 -38.7 - - - - - - - - - -
278 22.5 -8.4 61 283 done -0.71 - - 2935 - 2.65 0.060 2238 -615.1 -141.8 - - 3641 - - - - - - - - - - -
317 25.7 -8.2 70 321 done -0.71 - - 2935 - - - 2239 - -141.8 - - 3641 - - - - - - - - - - -
355 28.8 -8.1 79 360 roll -0.71 - - 2936 - 2.90 0.067 465 -611.7 -141.8 - - 3641 - - - - - - - - - - -
407 33.6 -9.1 91 413 done -0.71 - - 2923 - 2.83 0.059 2218 619.4 -141.8 - - 3641 - - - - 1 - - - - - -
447 37.2 -9.3 100 451 done -0.71 - - 2923 - - - 2217 - -141.8 - - 3641 - - - - - - - - - - -
485 40.8 -9.3 109 489 done -0.71 - - 2923 - - - 2217 - -141.8 - - 3641 - - - - - - - - - - -
523 44.2 -9.1 118 527 done -0.71 - - 2923 - - - 2217 - -141.8 - - 3641 - - - - - - - - - - -
561 47.7 -9.3 127 565 done -0.71 - - 2923 - - - 2217 - -141.8 - - 3641 - - - - - - - - - - -
599 51.6 -9.8 136 604 roll -0.71 - - 2911 - 2.78 0.081 3873 595.7 -141.8 - - 3640 - - - - - - - - - - -
638 55.9 -10.8 145 644 done -0.71 0.15 0.162 2950 260.0 2.67 0.060 2220 -619.1 -141.8 - - 3641 - - - - - - - - - - -
678 59.5 -9.3 154 683 roll -0.71 - - 2950 - 2.85 0.067 467 -615.1 -141.8 - - 3641 - - - - - - - - - - -
704 61.7 -8.4 160 710 done -0.71 - - 2939 - 2.80 0.062 2196 617.5 -141.8 - - 3640 - - - - 1 - - - - - -
743 65.1 -8.8 169 749 roll -0.71 - - 2926 - 2.78 0.077 3875 604.0 -141.8 - - 3641 - - - - - - - - - - -
765 67.2 -8.9 174 771 done -0.71 - - 2926 - 2.65 0.048 2198 -632.8 -141.8 - - 3640 - - - - - - - - - - -
805 70.6 -8.9 183 810 roll -0.71 - - 2926 - 2.78 0.065 481 -617.6 -141.8 - - 3640 - - - - - - - - - - -
826 72.7 -9.1 188 832 done -0.71 0.12 0.174 2946 166.7 2.75 0.054 2206 627.3 -141.8 - - 3640 - - - - - - - - - - -
866 76.1 -8.6 197 872 roll -0.71 - - 2935 - 2.75 0.077 3876 607.3 -141.8 - - 3640 - - - - - - - - - - -
884 77.5 -7.8 201 889 done -0.71 - - 2935 - 2.67 0.060 2218 -621.0 -141.8 - - 3640 - - - - - - - - - - -
916 end dive: BOTTOM_OBSTACLE_DETECTED
916 begin apogee
918 80.0 8.4 208 1033 done -0.19 0.55 0.137 3111 320.0 - - 2218 - - 111.03 0.643 3059 -5.2 0.067 - - - - - - - - -
1034 end apogee: CONTROL_FINISHED_OK
1034 begin climb
1035 82.0 - 235 1154 roll 0.71 0.85 0.089 3399 338.8 2.95 0.071 3872 560.7 141.8 112.82 0.611 2480 -5.1 0.071 - - - - - - - - -
1171 69.2 12.6 267 1176 done 0.71 - - 3412 - 2.83 0.045 2174 -600.0 141.8 - - 2479 - - - - - - - - - - -
1210 63.5 14.6 276 1216 roll 0.71 - - 3425 - 2.95 0.065 441 -587.5 141.8 - - 2479 - - - - - - - - - - -
1232 60.4 14.0 281 1238 done 0.71 - - 3425 - 2.88 0.054 2173 601.4 141.8 - - 2479 - - - - 1 - - - - - -
1272 54.7 14.6 290 1276 done 0.71 - - 3425 - - - 2173 - 141.8 - - 2478 - - - - - - - - - - -
1310 49.1 14.4 299 1315 roll 0.71 - - 3425 - 2.90 0.073 3873 586.2 141.8 - - 2478 - - - - - - - - - - -
1327 46.5 14.6 303 1333 done 0.71 0.12 0.188 3409 -133.3 2.80 0.054 2180 -604.6 141.8 - - 2478 - - - - - - - - - - -
1367 40.5 15.2 312 1372 roll 0.71 - - 3421 - 2.95 0.067 423 -595.6 141.8 - - 2478 - - - - - - - - - - -
1389 37.4 14.1 317 1394 done 0.71 - - 3421 - 2.85 0.057 2157 608.4 141.8 - - 2478 - - - - 1 - - - - - -
1428 31.9 14.3 326 1433 done 0.71 - - 3421 - - - 2157 - 141.8 - - 2478 - - - - - - - - - - -
1466 26.4 14.3 335 1471 done 0.71 - - 3421 - - - 2157 - 141.8 - - 2478 - - - - - - - - - - -
1504 21.1 14.2 344 1509 done 0.71 - - 3421 - - - 2156 - 141.8 - - 2478 - - - - - - - - - - -
1542 15.8 13.9 353 1547 done 0.71 - - 3421 - - - 2157 - 141.8 - - 2478 - - - - - - - - - - -
1580 10.7 13.4 362 1585 done 0.71 - - 3421 - - - 2156 - 141.8 - - 2478 - - - - - - - - - - -
1618 5.7 13.8 371 1623 done 0.71 - - 3421 - - - 2156 - 141.8 - - 2478 - - - - - - - - - - -
1657 4.5 4.0 380 1704 roll 0.76 - - 3435 - 2.92 0.065 420 -594.5 186.0 37.67 0.425 2299 -4.8 0.005 - - - - 1 - - - -
1729 end climb: SURFACE_DEPTH_REACHED
1729 begin surface coast
1750 end surface coast: CONTROL_FINISHED_OK
1750 begin surface
SM 1.17 - - - - -9.45 - - 156 - - - 2234 - 480.04 194.07 0.515 1102 -6.2 0.001 - - - - - -