SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 516 * Raw log
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• Previous call tries 2 • 51.30 of 150.00 AH used of 24V (65.80% remains)
• Previous NAKs 0, Timeouts 0 • 40.55 of 100.00 AH used of 10V (59.45% remains)
• Surface angle -65.9 deg, depth 1.92 m • Intended pitch -16.9 deg, speed -10.010 cm/s
VBD pumped to 611.52 (SM_CC=611.52295)
• GPS1 time: 32 s • bottom range 21.1 m at 610.8 m, depth 632 m (1000 m grid)
• GPS2 time: 27 s • Transponder ping count: 3
• 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
25 - - - 108 VBD -1.05 - - 90 - - - 1927 - -170.3 -80.18 - 2454 - - - - - - - - - - -
111 3.2 -3.6 9 163 roll -1.05 11.35 0.249 2677 227.9 2.50 0.106 3348 568.4 -170.3 -28.98 - 3600 -39.5 - - - - - - - - - -
184 13.7 -21.4 18 195 done -0.82 0.28 0.165 2757 285.7 2.55 0.095 1922 -559.2 -170.3 - - 3601 - - - - - - - - - - -
247 25.8 -18.0 27 254 roll -0.71 0.17 0.212 2789 188.2 2.45 0.083 3354 584.5 -170.3 - - 3602 - - - - - - - - - - -
335 37.8 -11.8 41 342 done -0.71 - - 2789 - 2.50 0.089 1916 -575.2 -170.3 - - 3603 - - - - - - - - - - -
482 58.1 -14.3 66 491 roll -0.71 - - 2789 - 2.50 0.099 488 -571.2 -170.3 - - 3604 - - - - - - - - - - -
499 60.7 -14.9 68 506 done -0.71 0.10 0.234 2798 90.0 2.75 0.125 1926 522.9 -170.3 - - 3603 - - - - - - - - - - -
854 101.2 -9.8 128 858 roll -0.75 - - 2787 - 2.42 0.098 3352 589.3 -170.3 - - 3606 - - - - - - - - - - -
963 113.3 -10.7 137 968 done -0.81 - - 2788 - 2.53 0.096 1911 -569.6 -170.3 - - 3606 - - - - - - - - - - -
1289 147.2 -10.4 167 1294 roll -0.86 0.10 0.102 2747 -410.0 2.42 0.096 484 -589.7 -170.3 - - 3607 - - - - - - - - - - -
1333 153.3 -13.8 170 1342 done -0.82 0.10 0.187 2761 140.0 2.45 0.077 1925 588.2 -170.3 - - 3607 - - - - - - - - - - -
1662 198.1 -14.2 201 1667 roll -0.82 - - 2751 - 2.47 0.109 3341 573.3 -170.3 - - 3607 - - - - - - - - - - -
1872 225.9 -12.0 219 1878 done -0.82 0.05 0.158 2762 220.0 2.58 0.110 1925 -548.8 -170.3 - - 3606 - - - - - - - - - - -
2200 268.9 -14.2 249 2204 roll -0.82 - - 2762 - 2.45 0.093 471 -593.5 -170.3 - - 3605 - - - - - - - - - - -
2248 276.6 -14.2 253 2256 done -0.82 - - 2754 - 2.45 0.073 1918 590.6 -170.3 - - 3605 - - - - - - - - - - -
2574 318.9 -12.4 284 2578 roll -0.82 - - 2743 - 2.53 0.111 3349 565.6 -170.3 - - 3604 - - - - - - - - - - -
2784 344.0 -12.4 302 2789 done -0.82 0.10 0.154 2764 210.0 2.58 0.107 1919 -554.3 -170.3 - - 3603 - - - - - - - - - - -
3110 380.3 -10.9 332 3114 roll -0.82 - - 2764 - 2.45 0.096 481 -586.9 -170.3 - - 3603 - - - - - - - - - - -
3130 382.5 -11.4 333 3134 done -0.82 - - 2756 - 2.45 0.077 1922 588.2 -170.3 - - 3603 - - - - - - - - - - -
3461 424.6 -12.9 355 3465 roll -0.82 - - 2745 - 2.58 0.116 3346 551.9 -170.3 - - 3601 - - - - - - - - - - -
3612 443.3 -12.0 362 3617 done -0.82 0.08 0.160 2759 175.0 2.60 0.112 1919 -548.8 -170.3 - - 3600 - - - - - - - - - - -
3939 482.7 -12.2 378 3943 roll -0.82 - - 2760 - 2.45 0.093 483 -586.1 -170.3 - - 3599 - - - - - - - - - - -
3988 489.2 -12.3 380 3993 done -0.82 0.05 0.233 2760 - 2.42 0.070 1922 594.6 -170.3 - - 3599 - - - - - - - - - - -
4312 531.8 -13.5 396 4316 roll -0.82 - - 2751 - 2.62 0.125 3336 539.7 -170.3 - - 3597 - - - - - - - - - - -
4429 547.3 -12.6 401 4434 done -0.84 - - 2751 - 2.70 0.125 1908 -528.9 -170.3 - - 3596 - - - - - - - - - - -
4747 585.9 -12.3 416 4751 roll -0.84 - - 2751 - 2.38 0.085 488 -596.6 -170.3 - - 3595 - - - - - - - - - - -
4835 597.0 -12.3 420 4840 done -0.84 0.08 0.198 2756 62.5 2.35 0.057 1922 610.2 -170.3 - - 3595 - - - - - - - - - - -
5016 end dive: BOTTOM_OBSTACLE_DETECTED
5016 begin apogee
5023 617.9 11.5 429 5164 done -0.25 0.70 0.182 2948 274.3 - - 1715 - - 137.50 0.978 2902 -5.0 0.341 - - - - - - - - -
5165 end apogee: CONTROL_FINISHED_OK
5165 begin climb
5167 625.0 - 436 5322 roll 1.05 1.30 0.104 3374 327.7 2.38 0.054 375 -563.0 170.3 146.30 0.950 2207 -4.8 0.335 - - - - - - - - -
5574 600.3 10.5 454 5579 done 0.90 0.17 0.164 3329 -264.7 2.22 0.036 1767 627.0 170.3 - - 2204 - - - - - - - - - - -
5892 574.1 7.8 469 5946 roll 0.89 - - 3338 - 2.30 0.046 364 -610.0 227.3 48.70 0.937 1974 -4.7 0.310 - - - - - - - - -
6187 544.8 11.0 482 6192 done 0.82 0.15 0.161 3299 -260.0 2.22 0.036 1764 630.6 227.3 - - 1970 - - - - - - - - - - -
6504 517.2 8.7 497 6535 done 0.86 - - 3299 - - - 1764 - 261.3 29.50 0.907 1835 -4.6 0.280 - - - - - - - - -
6833 487.1 9.5 513 6855 roll 0.88 - - 3308 - 2.30 0.051 371 -605.7 275.4 13.10 0.822 1779 -4.3 0.271 - - - - - - - - -
6912 479.1 10.4 516 6916 done 0.88 - - 3308 - 2.22 0.038 1756 623.9 275.4 - - 1777 - - - - - - - - - - -
7230 445.3 11.5 531 7231 done 0.88 - - 3308 - - - 1756 - 275.4 - - 1776 - - - - - - - - - - -
7537 412.7 10.3 546 7541 roll 0.88 - - 3308 - 2.40 0.091 3169 588.8 275.4 - - 1775 - - - - - - - - - - -
7580 407.9 11.0 548 7585 done 0.88 - - 3317 - 2.45 0.103 1795 -560.8 275.4 - - 1774 - - - - - - - - - - -
7907 371.3 11.6 575 7911 roll 0.86 - - 3328 - 2.40 0.064 323 -613.3 275.4 - - 1774 - - - - - - - - - - -
8050 355.6 10.5 587 8055 done 0.82 0.12 0.158 3296 -266.7 2.28 0.038 1756 628.5 275.4 - - 1773 - - - - - - - - - - -
8378 326.1 9.1 617 8405 roll 0.84 - - 3296 - 2.42 0.076 3185 590.5 298.1 20.45 0.806 1686 -4.3 0.184 - - - - - - - - -
8508 313.7 8.9 628 8540 done 0.88 - - 3304 - 2.58 0.099 1756 -553.9 325.3 24.70 0.783 1575 -4.5 0.193 - - - - - - - - -
8859 281.2 9.6 661 8874 roll 0.89 - - 3316 - 2.38 0.061 327 -600.4 334.8 8.48 0.663 1537 -4.5 0.204 - - - - - - - - -
8996 266.6 10.7 673 9001 done 0.89 - - 3315 - 2.30 0.037 1767 626.1 334.8 - - 1536 - - - - - - - - - - -
9322 230.8 11.8 703 9326 roll 0.89 - - 3316 - 2.40 0.093 3171 585.0 334.8 - - 1536 - - - - - - - - - - -
9352 227.5 12.3 705 9357 done 0.89 - - 3324 - 2.55 0.105 1756 -554.9 334.8 - - 1535 - - - - - - - - - - -
9678 187.0 12.1 735 9682 roll 0.89 - - 3336 - 2.30 0.060 321 -623.9 334.8 - - 1535 - - - - - - - - - - -
9824 168.8 12.4 747 9832 done 0.86 0.10 0.157 3310 -260.0 2.28 0.038 1759 630.7 334.8 - - 1535 - - - - - - - - - - -
10149 133.6 10.6 778 10153 roll 0.86 - - 3309 - 2.33 0.073 3177 608.6 334.8 - - 1534 - - - - - - - - - - -
10177 130.7 10.6 780 10182 done 0.86 - - 3318 - 2.53 0.097 1747 -565.2 334.8 - - 1534 - - - - - - - - - - -
10504 97.5 8.7 812 10541 roll 0.90 - - 3330 - 2.28 0.058 332 -620.6 367.8 29.30 0.643 1402 -4.5 0.073 - - - - - - - - -
10800 69.4 9.4 862 10822 done 0.95 - - 3330 - 2.30 0.044 1759 620.4 383.1 13.15 0.575 1340 -4.7 0.061 - - - - - - - - -
11173 35.0 9.5 925 11190 roll 1.03 0.10 0.098 3399 690.0 2.38 0.055 328 -601.3 396.5 11.80 0.562 1285 -4.7 0.031 - - - - - - - - -
11205 31.5 10.3 929 11212 done 1.03 0.12 0.146 3365 -283.3 2.30 0.044 1759 622.2 396.5 - - 1284 - - - - - - - - - - -
11363 16.3 10.3 954 11372 roll 1.06 - - 3365 - 2.38 0.074 3186 599.6 396.5 - - 1283 - - - - - - - - - - -
11424 9.6 11.1 963 11433 done 1.06 - - 3374 - 2.53 0.096 1764 -562.1 396.5 - - 1283 - - - - - - - - - - -
11483 end climb: SURFACE_DEPTH_REACHED
11483 begin surface coast
11515 end surface coast: CONTROL_FINISHED_OK
11515 begin surface
SM 1.81 - - - - -9.26 - - 71 - - - 1979 - 611.52 99.00 0.044 406 -8.9 0.037 - - - - - -