SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 186 * Raw log
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• Previous call tries 1 • 19.87 of 150.00 AH used of 24V (86.75% remains)
• Previous NAKs 0, Timeouts 0 • 16.27 of 100.00 AH used of 10V (83.73% remains)
• Surface angle -61.8 deg, depth 2.14 m • Intended pitch -16.9 deg, speed -10.010 cm/s
• No surface pump (final VBD was 378.49, SM_CC=300)
• GPS1 time: 41 s • bottom range 27.1 m at 250.2 m, depth 277 m (1000 m grid)
• GPS2 time: 39 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
23 begin dive
24 - - - 73 VBD -1.05 - - 88 - - - 1936 - -170.3 -46.10 - 2557 - - - - - - - - - - -
75 3.0 -3.1 5 128 roll -1.05 11.32 0.263 2659 227.1 2.45 0.099 3342 573.9 -170.3 -30.15 - 3563 -33.4 - - - - - - - - - -
199 22.5 -21.7 22 210 done -0.81 0.32 0.183 2751 287.5 2.45 0.084 1930 -576.3 -170.3 - - 3566 - - - - - - - - - - -
286 37.4 -14.6 35 293 roll -0.71 0.15 0.196 2787 240.0 2.53 0.103 490 -569.2 -170.3 - - 3566 - - - - - - - - - - -
486 60.6 -12.3 68 495 done -0.71 - - 2778 - 2.65 0.113 1917 538.5 -170.3 - - 3568 - - - - - - - - - - -
606 73.5 -12.0 87 613 roll -0.71 - - 2767 - 2.45 0.098 3362 589.8 -170.3 - - 3569 - - - - - - - - - - -
790 94.6 -10.1 117 798 done -0.71 0.08 0.169 2782 187.5 2.47 0.092 1920 -583.8 -170.3 - - 3571 - - - - - - - - - - -
908 106.1 -10.0 136 916 done -0.71 - - 2782 - - - 1920 - -170.3 - - 3571 - - - - - - - - - - -
1027 118.6 -9.5 155 1034 roll -0.71 - - 2773 - 2.45 0.096 3354 585.3 -170.3 - - 3572 - - - - - - - - - - -
1090 126.0 -11.6 165 1098 done -0.71 0.05 0.185 2784 220.0 2.53 0.105 1916 -568.4 -170.3 - - 3572 - - - - - - - - - - -
1209 139.2 -10.4 184 1217 done -0.71 - - 2784 - - - 1916 - -170.3 - - 3573 - - - - - - - - - - -
1327 151.9 -11.6 203 1334 roll -0.71 - - 2784 - 2.45 0.101 486 -583.7 -170.3 - - 3573 - - - - - - - - - - -
1355 155.0 -11.2 207 1363 done -0.71 0.05 0.252 2782 - 2.53 0.096 1926 569.2 -170.3 - - 3573 - - - - - - - - - - -
1471 168.4 -11.8 226 1480 roll -0.71 - - 2772 - 2.45 0.103 3342 578.0 -170.3 - - 3573 - - - - - - - - - - -
1534 175.5 -10.5 236 1544 done -0.71 0.03 0.141 2781 300.0 2.53 0.105 1925 -560.1 -170.3 - - 3573 - - - - - - - - - - -
1657 188.9 -11.8 255 1663 done -0.71 - - 2781 - - - 1925 - -170.3 - - 3573 - - - - - - - - - - -
1774 203.2 -11.7 274 1783 done -0.71 - - 2781 - - - 1925 - -170.3 - - 3573 - - - - - - - - - - -
1894 217.4 -12.5 293 1901 roll -0.71 - - 2781 - 2.45 0.102 490 -585.7 -170.3 - - 3573 - - - - - - - - - - -
1921 220.9 -12.7 297 1928 done -0.71 0.08 0.244 2784 37.5 2.47 0.088 1929 582.6 -170.3 - - 3573 - - - - - - - - - - -
2038 236.4 -12.8 316 2047 roll -0.71 - - 2774 - 2.47 0.105 3354 576.9 -170.3 - - 3573 - - - - - - - - - - -
2067 239.5 -11.6 320 2081 done -0.71 - - 2774 - 2.58 0.110 1924 -554.3 -170.3 - - 3572 - - - - - - - - - - -
2199 251.5 -8.3 339 2206 done -0.71 0.05 0.198 2783 180.0 - - 1924 - -170.3 - - 3572 - - - - - - - - - - -
2297 end dive: BOTTOM_OBSTACLE_DETECTED
2297 begin apogee
2301 262.4 8.1 355 2442 done -0.25 0.50 0.169 2935 304.0 - - 1753 - - 134.05 0.758 2863 -5.3 0.187 - - - - - - - - -
2442 end apogee: CONTROL_FINISHED_OK
2442 begin climb
2444 268.4 - 374 2592 roll 1.05 1.27 0.110 3353 329.1 2.47 0.054 329 -576.5 170.3 134.90 0.731 2167 -5.2 0.194 - - - - - - - - -
2733 246.9 11.4 417 2741 done 0.97 0.08 0.181 3337 -200.0 2.35 0.037 1773 614.5 170.3 - - 2163 - - - - - - - - - - -
2853 236.7 8.2 436 2896 done 0.95 - - 3337 - - - 1773 - 217.0 37.92 0.712 1981 -4.8 0.163 - - - - - - - - -
3007 221.4 10.3 460 3016 done 0.90 0.10 0.182 3312 -250.0 - - 1774 - 217.0 - - 1978 - - - - - - - - - - -
3125 210.9 7.7 479 3184 done 0.97 - - 3312 - - - 1774 - 275.9 50.78 0.708 1738 -4.7 0.144 - - - - - - - - -
3295 195.5 10.1 505 3302 roll 0.99 0.08 0.114 3369 712.5 2.40 0.054 326 -603.3 275.9 - - 1733 - - - - - - - - - - -
3336 190.4 14.6 511 3344 done 0.93 0.17 0.151 3321 -282.4 2.33 0.040 1766 618.0 275.9 - - 1733 - - - - - - - - - - -
3452 177.3 10.6 530 3461 done 0.93 - - 3321 - - - 1766 - 275.9 - - 1731 - - - - - - - - - - -
3571 164.7 10.7 549 3577 done 0.93 - - 3321 - - - 1766 - 275.9 - - 1730 - - - - - - - - - - -
3686 151.9 11.6 568 3694 done 0.93 - - 3321 - - - 1766 - 275.9 - - 1730 - - - - - - - - - - -
3804 139.3 11.0 587 3811 roll 0.93 - - 3331 - 2.33 0.054 329 -616.7 275.9 - - 1730 - - - - - - - - - - -
3843 134.7 12.0 593 3850 done 0.93 - - 3331 - 2.30 0.042 1767 625.2 275.9 - - 1729 - - - - - - - - - - -
3959 121.9 10.9 612 3968 roll 0.93 - - 3331 - 2.33 0.074 3175 604.3 275.9 - - 1728 - - - - - - - - - - -
3997 117.8 12.2 617 4004 done 0.90 0.12 0.173 3308 -191.7 2.40 0.081 1747 -595.0 275.9 - - 1728 - - - - - - - - - - -
4115 104.6 11.1 636 4124 roll 0.90 - - 3319 - 2.33 0.063 334 -606.4 275.9 - - 1728 - - - - - - - - - - -
4174 98.1 11.5 645 4181 done 0.90 - - 3319 - 2.28 0.042 1765 627.6 275.9 - - 1728 - - - - - - - - - - -
4290 84.1 11.5 664 4298 done 0.90 - - 3319 - - - 1765 - 275.9 - - 1728 - - - - - - - - - - -
4408 72.0 9.4 683 4430 roll 0.92 - - 3319 - 2.38 0.078 3183 595.8 291.4 12.93 0.636 1675 -4.1 0.047 - - - - - - - - -
4451 67.3 11.1 689 4458 done 0.92 - - 3329 - 2.42 0.083 1750 -592.1 291.4 - - 1674 - - - - - - - - - - -
4569 53.7 10.6 708 4577 done 0.92 - - 3329 - - - 1750 - 291.4 - - 1672 - - - - - - - - - - -
4687 44.9 6.8 727 4767 roll 1.02 0.05 0.164 3387 1160.0 2.38 0.061 335 -594.5 373.9 70.72 0.642 1336 -4.8 0.034 - - - - - - - - -
4892 17.0 17.6 758 4903 done 0.98 0.15 0.136 3340 -313.3 2.33 0.041 1758 610.7 373.9 - - 1327 - - - - - - - - - - -
4980 4.0 12.4 771 4989 roll 0.98 - - 3340 - 2.40 0.078 3178 591.7 373.9 - - 1325 - - - - - - - - - - -
4996 end climb: SURFACE_DEPTH_REACHED
4996 begin surface coast
5011 end surface coast: CONTROL_FINISHED_OK
5011 begin surface
SM 1.97 - - - - -9.09 8.73 0.043 71 -374.5 - - 1911 - 378.49 - - 1321 - - - - - - - -