SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 421 * Raw log
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• Previous call tries 1 • 41.69 of 150.00 AH used of 24V (72.21% remains)
• Previous NAKs 0, Timeouts 0 • 33.77 of 100.00 AH used of 10V (66.23% remains)
• Surface angle -62.0 deg, depth 1.98 m • Intended pitch -16.9 deg, speed -10.010 cm/s
VBD pumped to 611.52 (SM_CC=611.52295)
• GPS1 time: 33 s • bottom range 36.3 m at 460.7 m, depth 497 m (1000 m grid)
• GPS2 time: 43 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
26 - - - 101 VBD -1.05 - - 81 - - - 1939 - -170.3 -72.40 - 2231 - - - - - - - - - - -
103 3.2 -4.2 12 166 roll -1.05 11.12 0.246 2689 234.5 2.53 0.107 495 -570.8 -170.3 -40.45 - 3598 -33.8 - - - - - - - - - -
286 38.5 -22.6 42 295 done -0.89 0.20 0.196 2735 230.0 2.72 0.124 1916 522.4 -170.3 - - 3600 - - - - - - - - - - -
437 67.6 -19.2 67 443 roll -0.78 0.17 0.189 2768 194.1 2.50 0.099 3366 580.0 -170.3 - - 3602 - - - - - - - - - - -
634 92.1 -11.8 101 639 done -0.75 0.10 0.181 2789 210.0 2.65 0.115 1917 -546.8 -170.3 - - 3602 - - - - - - - - - - -
964 124.8 -10.2 139 968 roll -0.75 - - 2780 - 2.50 0.100 3369 580.8 -170.3 - - 3604 - - - - - - - - - - -
1031 132.3 -10.7 144 1038 done -0.78 - - 2780 - 2.67 0.116 1919 -543.1 -170.3 - - 3604 - - - - - - - - - - -
1357 162.8 -7.7 175 1361 roll -0.82 - - 2771 - 2.53 0.108 3349 565.2 -170.3 - - 3606 - - - - - - - - - - -
1378 164.6 -7.8 176 1385 done -0.85 - - 2771 - 2.62 0.113 1919 -545.8 -170.3 - - 3605 - - - - - - - - - - -
1703 198.3 -10.8 207 1707 roll -0.85 - - 2771 - 2.47 0.099 481 -582.2 -170.3 - - 3606 - - - - - - - - - - -
1753 204.4 -12.2 211 1758 done -0.85 - - 2762 - 2.53 0.091 1929 572.3 -170.3 - - 3606 - - - - - - - - - - -
2080 249.9 -14.6 241 2085 roll -0.85 - - 2750 - 2.45 0.106 3352 580.8 -170.3 - - 3605 - - - - - - - - - - -
2263 274.3 -15.2 257 2267 done -0.85 - - 2750 - 2.58 0.112 1917 -556.2 -170.3 - - 3603 - - - - - - - - - - -
2588 318.8 -13.2 287 2592 roll -0.85 - - 2750 - 2.45 0.091 475 -588.6 -170.3 - - 3603 - - - - - - - - - - -
2627 324.3 -14.0 290 2633 done -0.82 0.10 0.179 2763 130.0 2.45 0.075 1922 590.6 -170.3 - - 3602 - - - - - - - - - - -
2953 370.2 -14.8 320 2957 roll -0.82 - - 2753 - 2.58 0.125 3337 548.4 -170.3 - - 3601 - - - - - - - - - - -
3083 388.1 -14.3 331 3088 done -0.82 - - 2753 - 2.60 0.119 1920 -545.0 -170.3 - - 3600 - - - - - - - - - - -
3412 423.4 -9.4 351 3413 done -0.82 - - 2753 - - - 1919 - -170.3 - - 3599 - - - - - - - - - - -
3721 457.8 -10.6 366 3725 roll -0.82 - - 2753 - 2.42 0.089 484 -593.0 -170.3 - - 3598 - - - - - - - - - - -
3837 475.3 -15.7 371 3842 done -0.80 0.12 0.182 2772 158.3 2.40 0.067 1928 601.7 -170.3 - - 3598 - - - - - - - - - - -
3894 end dive: BOTTOM_OBSTACLE_DETECTED
3894 begin apogee
3900 484.6 15.0 374 4036 done -0.25 0.62 0.170 2950 287.1 - - 1719 - - 132.95 0.893 2902 -5.2 0.298 - - - - - - - - -
4036 end apogee: CONTROL_FINISHED_OK
4037 begin climb
4039 495.3 - 381 4189 roll 1.05 1.27 0.106 3372 332.3 2.35 0.052 373 -572.8 170.3 140.95 0.867 2207 -4.9 0.295 - - - - - - - - -
4441 486.3 4.0 399 4578 done 1.07 - - 3372 - 2.22 0.033 1770 629.3 322.7 128.00 0.861 1584 -4.9 0.288 - - - - - - - - -
4900 433.1 13.3 422 4904 roll 0.99 0.08 0.184 3365 -87.5 2.30 0.052 358 -613.9 322.7 - - 1577 - - - - - - - - - - -
4988 418.8 15.9 426 4993 done 0.90 0.15 0.155 3324 -273.3 2.20 0.036 1756 635.5 322.7 - - 1576 - - - - - - - - - - -
5312 378.6 13.0 449 5317 done 0.90 - - 3324 - - - 1757 - 322.7 - - 1575 - - - - - - - - - - -
5639 335.3 13.4 480 5643 roll 0.88 - - 3324 - 2.35 0.076 3180 605.5 322.7 - - 1574 - - - - - - - - - - -
5693 327.4 14.1 484 5702 done 0.88 0.03 0.185 3324 - 2.40 0.086 1791 -578.8 322.7 - - 1574 - - - - - - - - - - -
6019 287.4 9.5 515 6034 roll 0.89 - - 3335 - 2.35 0.060 332 -620.9 334.9 9.70 0.725 1535 -4.0 0.167 - - - - - - - - -
6136 274.5 11.9 525 6142 done 0.86 0.10 0.168 3309 -260.0 2.25 0.036 1762 635.6 334.9 - - 1536 - - - - - - - - - - -
6461 240.2 10.7 556 6465 roll 0.86 - - 3309 - 2.28 0.073 3175 619.7 334.9 - - 1536 - - - - - - - - - - -
6490 236.9 11.9 558 6494 done 0.86 - - 3318 - 2.45 0.092 1758 -578.4 334.9 - - 1536 - - - - - - - - - - -
6814 199.2 11.9 588 6818 roll 0.86 - - 3330 - 2.25 0.059 333 -633.3 334.9 - - 1535 - - - - - - - - - - -
6934 183.4 13.8 598 6939 done 0.83 0.10 0.159 3304 -260.0 2.22 0.034 1770 647.3 334.9 - - 1535 - - - - - - - - - - -
7259 148.1 9.3 628 7279 done 0.85 - - 3304 - - - 1770 - 353.0 17.30 0.696 1461 -4.3 0.095 - - - - - - - - -
7598 115.2 10.5 660 7602 roll 0.89 - - 3304 - 2.33 0.075 3182 606.0 353.0 - - 1459 - - - - - - - - - - -
7650 109.6 11.3 664 7654 done 0.91 - - 3312 - 2.45 0.086 1756 -582.0 353.0 - - 1459 - - - - - - - - - - -
7993 75.7 9.9 716 7999 roll 0.96 0.10 0.094 3386 740.0 2.38 0.080 3177 597.1 355.1 - - 1458 - - - - - - - - - - -
8035 70.3 13.9 723 8043 done 0.88 0.22 0.134 3324 -281.8 2.50 0.097 1760 -566.8 355.1 - - 1457 - - - - - - - - - - -
8388 30.6 10.4 784 8395 roll 0.91 - - 3324 - 2.38 0.076 3179 596.2 355.1 - - 1457 - - - - - - - - - - -
8508 20.2 8.7 804 8534 done 1.00 0.03 0.088 3385 2033.3 2.40 0.076 1762 -590.4 388.1 18.38 0.547 1318 -7.6 0.029 - - - - - - - - -
8585 12.3 11.8 816 8592 roll 1.00 0.10 0.157 3370 -150.0 2.33 0.056 330 -614.6 388.1 - - 1315 - - - - - - - - - - -
8637 7.3 9.6 824 8651 done 1.01 - - 3370 - 2.33 0.050 1739 604.7 399.7 5.30 0.399 1271 -8.3 0.016 - - - - - - - - -
8682 end climb: SURFACE_DEPTH_REACHED
8682 begin surface coast
8714 end surface coast: CONTROL_FINISHED_OK
8714 begin surface
SM 1.89 - - - - -9.27 - - 70 - - - 1938 - 611.52 97.60 0.045 408 -8.8 0.038 - - - - - -