SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 520 * Raw log
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• Previous call tries 1 • 51.84 of 150.00 AH used of 24V (65.44% remains)
• Previous NAKs 0, Timeouts 0 • 40.96 of 100.00 AH used of 10V (59.04% remains)
• Surface angle -60.3 deg, depth 2.01 m • Intended pitch -16.9 deg, speed -10.010 cm/s
• VBD pumped to 611.52 (SM_CC=611.52295)
• GPS1 time: 37 s • bottom range 35.0 m at 450.4 m, depth 485 m (1000 m grid)
• GPS2 time: 44 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
25 begin dive
27 - - - 101 VBD -1.05 - - 68 - - - 1937 - -170.3 -71.25 - 2213 - - - - - - - - - - -
104 3.2 -4.4 12 167 roll -1.05 12.23 0.272 2691 214.5 2.53 0.098 497 -569.2 -170.3 -39.85 - 3598 -34.8 - 5 - - - - - - - -
190 12.1 -19.9 25 197 done -0.85 0.25 0.192 2750 236.0 2.62 0.104 1923 544.3 -170.3 - - 3600 - - - - - - - - - - -
246 24.8 -20.5 34 254 roll -0.72 0.20 0.211 2786 180.0 2.50 0.100 3341 567.2 -170.3 - - 3600 - - - - - - - - - - -
417 47.8 -12.5 63 424 done -0.72 0.03 0.132 2796 333.3 2.58 0.102 1914 -553.1 -170.3 - - 3601 - - - - - - - - - - -
769 93.6 -12.7 124 774 roll -0.72 - - 2796 - 2.45 0.096 480 -585.3 -170.3 - - 3603 - - - - - - - - - - -
815 99.8 -11.8 132 826 done -0.75 - - 2787 - 2.65 0.108 1919 543.0 -170.3 - - 3603 - - - - - - - - - - -
1141 132.7 -10.7 163 1145 roll -0.78 - - 2776 - 2.42 0.096 3345 589.3 -170.3 - - 3605 - - - - - - - - - - -
1355 155.6 -11.0 181 1359 done -0.82 - - 2776 - 2.53 0.099 1917 -564.4 -170.3 - - 3605 - - - - - - - - - - -
1680 193.1 -10.9 211 1684 roll -0.85 - - 2776 - 2.42 0.090 471 -597.5 -170.3 - - 3606 - - - - - - - - - - -
1764 202.9 -11.9 218 1769 done -0.85 - - 2767 - 2.47 0.078 1920 586.6 -170.3 - - 3606 - - - - - - - - - - -
2090 243.2 -13.5 248 2094 roll -0.85 - - 2755 - 2.47 0.105 3352 579.8 -170.3 - - 3605 - - - - - - - - - - -
2246 262.2 -12.1 261 2252 done -0.85 - - 2755 - 2.60 0.111 1917 -551.9 -170.3 - - 3604 - - - - - - - - - - -
2572 301.3 -11.5 292 2576 roll -0.85 - - 2755 - 2.45 0.090 471 -590.2 -170.3 - - 3603 - - - - - - - - - - -
2645 310.5 -12.2 298 2650 done -0.85 - - 2746 - 2.42 0.070 1920 598.8 -170.3 - - 3604 - - - - - - - - - - -
2972 351.3 -12.5 329 2978 roll -0.82 0.10 0.207 2756 100.0 2.60 0.119 3345 548.1 -170.3 - - 3602 - - - - - - - - - - -
3119 367.9 -10.6 341 3124 done -0.85 - - 2756 - 2.65 0.119 1908 -542.3 -170.3 - - 3601 - - - - - - - - - - -
3443 402.6 -11.6 371 3448 roll -0.85 - - 2757 - 2.40 0.089 480 -595.0 -170.3 - - 3601 - - - - - - - - - - -
3465 405.3 -11.5 372 3469 done -0.85 - - 2747 - 2.40 0.067 1920 600.0 -170.3 - - 3601 - - - - - - - - - - -
3794 444.5 -12.4 388 3799 roll -0.83 0.08 0.213 2752 62.5 2.62 0.123 3336 540.5 -170.3 - - 3600 - - - - - - - - - - -
3956 464.1 -11.9 395 3960 done -0.83 - - 2751 - 2.60 0.116 1914 -546.9 -170.3 - - 3599 - - - - - - - - - - -
4028 end dive: BOTTOM_OBSTACLE_DETECTED
4028 begin apogee
4034 472.0 10.9 399 4170 done -0.25 0.70 0.168 2949 282.9 - - 1750 - - 133.00 0.869 2902 -5.2 0.298 - - - - - - - - -
4171 end apogee: CONTROL_FINISHED_OK
4171 begin climb
4173 479.4 - 406 4326 roll 1.05 1.30 0.099 3368 322.3 2.72 0.096 3172 522.8 170.3 141.30 0.845 2207 -4.9 0.293 - - - - - - - - -
4580 454.3 8.7 425 4615 done 0.94 0.15 0.185 3341 -180.0 2.53 0.096 1753 -560.9 202.8 27.75 0.817 2074 -4.8 0.279 - - - - - - - - -
4932 419.6 9.4 442 4953 roll 0.88 0.10 0.194 3317 -240.0 2.47 0.085 3170 573.7 217.5 13.50 0.776 2015 -4.4 0.248 - - - - - - - - -
5033 411.2 7.8 446 5088 done 0.90 - - 3325 - 2.45 0.087 1760 -575.5 274.0 48.65 0.826 1783 -4.8 0.249 - - - - - - - - -
5413 378.1 8.5 476 5455 roll 0.91 - - 3337 - 2.42 0.063 328 -591.7 312.8 33.05 0.809 1626 -4.8 0.233 - - - - - - - - -
5696 352.2 8.2 501 5742 done 0.93 - - 3337 - 2.28 0.040 1763 629.4 359.5 40.17 0.802 1435 -4.8 0.219 - - - - - - - - -
6068 307.9 12.4 536 6072 roll 0.93 - - 3346 - 2.33 0.051 324 -617.6 359.5 - - 1430 - - - - - - - - - - -
6102 303.3 13.7 538 6108 done 0.89 0.10 0.162 3320 -260.0 2.30 0.041 1766 627.0 359.5 - - 1429 - - - - - - - - - - -
6429 264.4 10.5 569 6433 roll 0.89 - - 3330 - 2.30 0.048 327 -625.7 359.5 - - 1428 - - - - - - - - - - -
6484 258.5 11.0 573 6488 done 0.89 - - 3330 - 2.25 0.041 1758 636.0 359.5 - - 1428 - - - - - - - - - - -
6809 224.5 10.8 603 6810 done 0.89 - - 3330 - - - 1758 - 359.5 - - 1427 - - - - - - - - - - -
7132 185.1 13.6 633 7136 roll 0.89 - - 3339 - 2.30 0.050 322 -624.3 359.5 - - 1427 - - - - - - - - - - -
7155 181.5 13.8 634 7160 done 0.89 0.08 0.172 3321 -225.0 2.28 0.041 1758 629.8 359.5 - - 1426 - - - - - - - - - - -
7482 138.6 14.0 665 7486 roll 0.89 - - 3331 - 2.28 0.053 327 -627.6 359.5 - - 1427 - - - - - - - - - - -
7514 133.7 14.3 667 7519 done 0.89 - - 3331 - 2.30 0.042 1752 619.6 359.5 - - 1426 - - - - - - - - - - -
7845 93.3 11.1 703 7850 done 0.89 - - 3331 - - - 1752 - 359.5 - - 1426 - - - - - - - - - - -
8194 58.1 10.4 764 8199 roll 0.92 - - 3331 - 2.40 0.090 3183 596.2 359.5 - - 1424 - - - - - - - - - - -
8276 49.1 11.8 778 8282 done 0.95 - - 3340 - 2.47 0.092 1758 -576.9 359.5 - - 1424 - - - - - - - - - - -
8637 16.1 4.2 839 8717 roll 1.17 0.20 0.060 3464 620.0 2.38 0.057 322 -603.4 506.8 70.82 0.511 831 -8.4 0.028 - - - - - - - - -
8732 end climb: SURFACE_DEPTH_REACHED
8732 begin surface coast
8757 end surface coast: CONTROL_FINISHED_OK
8757 begin surface
SM 1.99 - - - - -9.27 - - 68 - - - 1939 - 611.52 49.17 0.044 407 -8.6 0.040 - - - - - -