433 Eros
So what is the gravity on an asteroid, such as 433 Eros?
It is 40km long, and has a density typical of rock (ie. 3000 kg per cubic metre). Thus the gravitational acceleration on the surface is
If you dropped a pen, it would take 11 seconds to hit the ground.
How high could you jump, and how long would it take you to come down again?
You would be up for ten minutes, reaching nearly a km in altitude.