Subject: Comparison of Odyssey (218 cm) , Short Dorado (246 cm), and
Medium Dorado (388 cm) Turning Rates


Folks;

Here is a summary of the turning rates of the various vehicles.  These are
all steady-state turn rates, with a rudder or tailcone deflection of 10
degrees.

         Yaw Rate, Deg/Sec  Diameter, Vehicle Lengths  Diameter, Meters
Odyssey              8                 10                     21
Short Dorado 246    10                 6.5                    16
Medium Dorado 388    7                 6.3                    25


Odyssey results are from 2000.018.20.
Dorado 246 measurements are from 2000.146.08.
Dorado 388 measurements are from 2000.348.07

An interesting property of the Odyssey data is that the vehicle starts
turning faster, at about 10-12 Deg/sec, but then slows down to 6-7 Deg/sec
after about 2 minutes.

Last week's data shows the Dorado 388 vehicle can dive at least 30
meters/minute, steady-state.  It can probably go faster, but we have yet to
ask it to.


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Rob McEwen 				
Controls Engineer                                          
Research and Development Division                
Monterey Bay Aquarium Research Institute     
P.O. Box 628  (7700 Sandholdt Rd)                
Moss Landing CA 95039	 
voice :  831/775-1863
fax    :  831/775-1645
web  :  http://www.mbari.org/~rob
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