SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 17.93 of 150.00 AH used of 24V (88.05% remains)
• Previous NAKs 0, Timeouts 0 • 13.85 of 100.00 AH used of 10V (86.15% remains)
• Surface angle -70.0 deg, depth 2.02 m • Intended pitch -15.7 deg, speed -10.010 cm/s
• No surface pump (final VBD was 350.77, SM_CC=300)
• GPS1 time: 38 s • bottom range 23.9 m at 230.4 m, depth 254 m (1000 m grid)
• GPS2 time: 41 s • 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
24 - - - 79 VBD -1.02 - - 79 - - - 1953 - -194.6 -53.00 - 2715 - - - - - - - - - - -
82 3.1 -3.3 6 127 roll -1.02 11.45 0.265 2669 226.2 2.40 0.101 3323 570.8 -194.6 -27.98 - 3660 -33.8 - - - - - - - - - -
259 34.8 -22.5 32 269 done -0.79 0.30 0.169 2757 293.3 2.47 0.092 1914 -570.4 -194.6 - - 3665 - - - - - - - - - - -
378 53.1 -14.2 51 386 roll -0.71 0.12 0.199 2787 250.0 2.47 0.105 495 -574.5 -194.6 - - 3666 - - - - - - - - - - -
459 62.7 -11.0 64 468 done -0.71 - - 2779 - 2.53 0.102 1887 550.2 -194.6 - - 3666 - - - - - - - - - - -
574 74.2 -9.9 83 582 roll -0.71 - - 2767 - 2.47 0.096 3354 593.9 -194.6 - - 3668 - - - - - - - - - - -
707 88.6 -11.4 105 714 done -0.71 0.08 0.167 2783 200.0 2.47 0.092 1909 -585.0 -194.6 - - 3669 - - - - - - - - - - -
822 101.3 -10.7 124 830 done -0.71 - - 2784 - - - 1909 - -194.6 - - 3670 - - - - - - - - - - -
935 113.7 -11.6 143 943 roll -0.71 - - 2774 - 2.47 0.096 3361 587.9 -194.6 - - 3670 - - - - - - - - - - -
1001 121.3 -11.1 154 1010 done -0.71 - - 2774 - 2.50 0.093 1925 -574.4 -194.6 - - 3670 - - - - - - - - - - -
1116 133.9 -11.6 173 1123 done -0.71 - - 2774 - - - 1925 - -194.6 - - 3670 - - - - - - - - - - -
1229 146.7 -10.8 192 1238 done -0.71 0.03 0.254 2782 266.7 - - 1925 - -194.6 - - 3670 - - - - - - - - - - -
1345 159.5 -11.2 211 1353 roll -0.71 - - 2773 - 2.45 0.102 3354 583.3 -194.6 - - 3671 - - - - - - - - - - -
1385 164.2 -11.4 217 1393 done -0.71 0.05 0.186 2784 220.0 2.50 0.100 1910 -577.6 -194.6 - - 3671 - - - - - - - - - - -
1500 177.0 -11.2 236 1508 done -0.71 - - 2784 - - - 1910 - -194.6 - - 3671 - - - - - - - - - - -
1617 190.3 -11.3 255 1624 done -0.71 - - 2784 - - - 1910 - -194.6 - - 3671 - - - - - - - - - - -
1731 202.8 -11.7 274 1739 done -0.71 - - 2784 - - - 1911 - -194.6 - - 3671 - - - - - - - - - - -
1846 215.1 -10.2 293 1852 done -0.71 - - 2784 - - - 1910 - -194.6 - - 3671 - - - - - - - - - - -
1960 227.5 -10.1 312 1968 done -0.71 - - 2784 - - - 1910 - -194.6 - - 3670 - - - - - - - - - - -
2069 end dive: BOTTOM_OBSTACLE_DETECTED
2069 begin apogee
2073 239.7 11.7 330 2236 done -0.25 0.50 0.172 2935 302.0 - - 1755 - - 152.10 0.740 2862 -5.3 0.175 - - - - - - - - -
2237 end apogee: CONTROL_FINISHED_OK
2237 begin climb
2238 246.8 - 352 2401 roll 1.02 1.25 0.109 3347 329.6 2.47 0.051 332 -576.1 194.6 154.10 0.711 2069 -5.1 0.182 - - - - - - - - -
2456 231.9 12.2 383 2465 done 0.92 0.12 0.158 3316 -258.3 2.38 0.034 1784 610.1 194.6 - - 2065 - - - - - - - - - - -
2570 220.1 9.9 402 2579 done 0.88 - - 3316 - - - 1783 - 198.2 - - 2063 - - - - - - - - - - -
2684 208.8 10.5 421 2691 done 0.84 0.10 0.181 3291 -250.0 - - 1784 - 198.2 - - 2062 - - - - - - - - - - -
2798 198.3 9.2 440 2822 done 0.87 - - 3291 - - - 1784 - 220.6 22.08 0.685 1964 -4.4 0.131 - - - - - - - - -
2930 185.9 9.6 461 2945 done 0.88 - - 3292 - - - 1784 - 232.0 10.48 0.640 1917 -4.5 0.133 - - - - - - - - -
3051 173.9 10.3 481 3057 done 0.88 - - 3291 - - - 1784 - 232.0 - - 1914 - - - - - - - - - - -
3162 162.8 10.0 500 3171 roll 0.88 - - 3301 - 2.40 0.054 335 -603.8 232.0 - - 1913 - - - - - - - - - - -
3198 159.4 9.6 505 3221 done 0.89 - - 3301 - 2.30 0.044 1758 618.7 244.6 11.85 0.649 1865 -4.1 0.101 - - - - - - - - -
3327 145.9 10.3 526 3335 roll 0.89 - - 3301 - 2.38 0.073 3183 598.7 244.6 - - 1862 - - - - - - - - - - -
3365 141.2 12.0 532 3374 done 0.89 - - 3310 - 2.40 0.064 1747 -598.3 244.6 - - 1861 - - - - - - - - - - -
3482 127.4 12.0 551 3490 roll 0.87 - - 3322 - 2.30 0.059 329 -616.5 244.6 - - 1861 - - - - - - - - - - -
3537 120.2 12.0 560 3547 done 0.84 0.08 0.133 3296 -325.0 2.30 0.040 1751 618.3 244.6 - - 1861 - - - - - - - - - - -
3653 107.6 10.7 579 3661 roll 0.84 - - 3296 - 2.28 0.064 3178 625.9 244.6 - - 1860 - - - - - - - - - - -
3697 102.4 11.4 586 3707 done 0.84 0.03 0.185 3296 - 2.38 0.070 1757 -597.1 244.6 - - 1860 - - - - - - - - - - -
3813 90.7 10.8 605 3820 roll 0.84 - - 3306 - 2.30 0.061 327 -621.7 244.6 - - 1860 - - - - - - - - - - -
3844 87.1 10.9 610 3853 done 0.84 0.03 0.152 3296 -333.3 2.33 0.044 1759 614.6 244.6 - - 1859 - - - - - - - - - - -
3960 75.7 10.3 629 3967 roll 0.84 - - 3296 - 2.28 0.067 3181 623.7 244.6 - - 1859 - - - - - - - - - - -
3991 72.2 11.0 634 4000 done 0.84 0.03 0.177 3296 - 2.38 0.068 1756 -598.7 244.6 - - 1859 - - - - - - - - - - -
4107 60.9 9.8 653 4114 done 0.85 - - 3296 - - - 1756 - 249.2 4.45 0.504 1847 -2.7 0.033 - - - - - - - - -
4220 50.0 8.8 672 4258 roll 0.89 - - 3306 - 2.33 0.060 336 -609.4 285.1 31.33 0.639 1700 -4.7 0.037 - - - - - - - - -
4312 40.9 10.9 686 4320 done 0.91 - - 3306 - 2.35 0.046 1757 604.7 285.1 - - 1695 - - - - - - - - - - -
4428 30.5 8.3 705 4462 roll 1.01 0.12 0.082 3392 716.7 2.40 0.054 336 -592.1 333.8 27.05 0.608 1500 -7.2 0.037 - - - - - - - - -
4502 21.0 14.5 715 4513 done 0.95 0.20 0.135 3329 -315.0 2.33 0.039 1758 610.3 333.8 - - 1494 - - - - - - - - - - -
4590 11.7 9.5 728 4608 roll 0.99 - - 3329 - 2.38 0.067 3178 596.6 347.7 5.85 0.448 1443 -8.7 0.023 - - - - - - - - -
4654 4.9 10.3 737 4664 done 1.01 - - 3337 - 2.42 0.073 1755 -588.0 347.7 - - 1440 - - - - - - - - - - -
4671 end climb: SURFACE_DEPTH_REACHED
4671 begin surface coast
4704 end surface coast: CONTROL_FINISHED_OK
4704 begin surface
SM 2.06 - - - - -9.09 8.85 0.053 72 -368.9 - - 1968 - 350.77 - - 1434 - - - - - - - -