From:	McEwen, Rob
Sent:	Wednesday, January 03, 2001 4:44 PM
To:	'dorado@mbari.org'; Knut Streitlien (E-mail)
Subject:	Revised Turn Rate Comparison of Odyssey, Dorado 246 and Dorado 388
Folks;

I've corrected the Odyssey turn rate.  Jim B. pointed out that the KVH had
problems measuring body rates, and indeed, it was way off.  I checked the
Crossbow yaw rate against the compass (data set 2000.018.20), and both gave the
following number, 13.8 degrees/sec.  The Crossbow and KVH compasses agreed
closely.

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             13.8               5.8                    13
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

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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