• Previous call tries 1 | • 43.66 of 150.00 AH used of 24V (70.90% remains) | |
• Previous NAKs 0, Timeouts 0 | • 49.01 of 100.00 AH used of 10V (50.99% remains) | |
• Surface angle -77.8 deg, depth 2.60 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | • surface range 17.6 m at 19.3 m depth, ceiling 1.7 m | |
• GPS1 time: 31 s | • bottom range 12.4 m at 902.4 m, depth 915 m (908 m grid) | |
• GPS2 time: 15 s | • Transponder ping count: 13 | |
• Time spent turning 0 s |
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 | pit | roll | vbd | flags | |||||
13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 52 | VBD | -0.75 | - | - | 338 | - | - | - | 2098 | - | -146.6 | -33.58 | - | 2400 | - | - | - | - | - | - | - | - | - | - | - |
56 | 3.2 | -2.4 | 6 | 124 | roll | -0.75 | 10.55 | 0.252 | 2876 | 240.6 | 2.22 | 0.066 | 3503 | 632.9 | -146.6 | -47.80 | - | 3882 | -31.0 | - | - | - | - | - | - | - | 25.37 | 26.06 | 26.74 |
305 | 36.0 | -13.3 | 52 | 312 | done | -0.75 | - | - | 2875 | - | 2.10 | 0.031 | 2096 | -670.0 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.27 | - |
620 | 76.7 | -13.1 | 113 | 627 | roll | -0.75 | - | - | 2865 | - | 2.20 | 0.050 | 3509 | 642.3 | -146.6 | - | - | 3891 | - | - | - | - | - | - | - | - | - | 26.01 | - |
760 | 95.8 | -13.9 | 140 | 768 | done | -0.75 | - | - | 2865 | - | 2.10 | 0.031 | 2103 | -669.5 | -146.6 | - | - | 3892 | - | - | - | - | - | - | - | - | - | 26.32 | - |
1076 | 137.1 | -12.8 | 174 | 1085 | roll | -0.75 | - | - | 2854 | - | 2.17 | 0.050 | 3513 | 649.8 | -146.6 | - | - | 3891 | - | - | - | - | - | - | - | - | - | 26.01 | - |
1161 | 147.9 | -13.2 | 182 | 1168 | done | -0.75 | 0.12 | 0.174 | 2885 | 258.3 | 2.08 | 0.031 | 2116 | -671.6 | -146.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 25.89 | 26.33 | - |
1469 | 181.6 | -10.8 | 213 | 1477 | roll | -0.75 | - | - | 2876 | - | 2.15 | 0.050 | 3504 | 645.6 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.03 | - |
1601 | 196.5 | -11.5 | 226 | 1610 | done | -0.75 | - | - | 2877 | - | 2.08 | 0.031 | 2101 | -674.5 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.35 | - |
1911 | 230.1 | -10.3 | 257 | 1919 | roll | -0.75 | - | - | 2867 | - | 2.15 | 0.050 | 3504 | 652.6 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.01 | - |
2034 | 243.9 | -11.4 | 269 | 2042 | done | -0.75 | - | - | 2867 | - | 2.05 | 0.031 | 2130 | -670.2 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.36 | - |
2343 | 277.4 | -10.3 | 300 | 2352 | roll | -0.75 | - | - | 2856 | - | 2.17 | 0.050 | 3511 | 636.4 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.01 | - |
2416 | 285.4 | -11.2 | 307 | 2420 | done | -0.75 | 0.12 | 0.158 | 2888 | 266.7 | 2.05 | 0.031 | 2135 | -671.2 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | 25.96 | 26.36 | - |
2729 | 312.4 | -8.6 | 338 | 2733 | roll | -0.75 | - | - | 2880 | - | 2.15 | 0.050 | 3513 | 640.9 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.03 | - |
2802 | 319.0 | -9.2 | 345 | 2811 | done | -0.75 | - | - | 2880 | - | 2.03 | 0.031 | 2144 | -674.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.37 | - |
3111 | 346.5 | -9.0 | 376 | 3121 | roll | -0.75 | - | - | 2872 | - | 2.10 | 0.050 | 3494 | 642.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
3195 | 354.4 | -10.0 | 384 | 3204 | done | -0.75 | - | - | 2872 | - | 2.00 | 0.031 | 2145 | -674.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.37 | - |
3505 | 382.5 | -9.1 | 415 | 3513 | roll | -0.75 | - | - | 2863 | - | 2.10 | 0.049 | 3498 | 644.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
3560 | 387.5 | -9.9 | 420 | 3568 | done | -0.75 | - | - | 2863 | - | 1.98 | 0.031 | 2161 | -675.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.38 | - |
3866 | 417.6 | -9.8 | 451 | 3875 | roll | -0.75 | - | - | 2853 | - | 2.08 | 0.049 | 3501 | 644.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.03 | - |
3969 | 428.2 | -10.5 | 461 | 3974 | done | -0.75 | 0.12 | 0.154 | 2887 | 283.3 | 1.95 | 0.031 | 2171 | -682.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 25.98 | 26.38 | - |
4282 | 454.3 | -8.4 | 492 | 4292 | roll | -0.75 | - | - | 2879 | - | 2.08 | 0.050 | 3504 | 640.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.01 | - |
4346 | 459.9 | -9.2 | 498 | 4355 | done | -0.75 | - | - | 2879 | - | 1.98 | 0.031 | 2169 | -674.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
4656 | 487.1 | -8.8 | 529 | 4665 | roll | -0.75 | - | - | 2871 | - | 2.08 | 0.049 | 3507 | 643.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
4718 | 493.0 | -10.0 | 535 | 4722 | done | -0.75 | - | - | 2871 | - | 1.95 | 0.031 | 2189 | -675.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
5030 | 522.2 | -9.3 | 566 | 5039 | roll | -0.75 | - | - | 2861 | - | 2.08 | 0.049 | 3510 | 635.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
5093 | 528.4 | -10.2 | 572 | 5102 | done | -0.75 | - | - | 2861 | - | 1.95 | 0.030 | 2188 | -677.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
5403 | 559.1 | -9.7 | 603 | 5411 | roll | -0.75 | - | - | 2851 | - | 2.08 | 0.049 | 3514 | 637.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.01 | - |
5486 | 567.5 | -10.1 | 611 | 5495 | done | -0.75 | 0.15 | 0.147 | 2896 | 300.0 | 1.95 | 0.030 | 2190 | -679.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 25.88 | 26.39 | - |
5795 | 590.8 | -7.3 | 642 | 5804 | roll | -0.75 | - | - | 2888 | - | 2.03 | 0.048 | 3512 | 651.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
5838 | 594.1 | -8.0 | 646 | 5847 | done | -0.75 | - | - | 2889 | - | 1.92 | 0.030 | 2203 | -681.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
6158 | 618.2 | -7.5 | 662 | 6163 | roll | -0.75 | - | - | 2881 | - | 2.05 | 0.048 | 3528 | 646.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.02 | - |
6196 | 620.6 | -7.7 | 663 | 6200 | done | -0.75 | - | - | 2881 | - | 1.92 | 0.029 | 2210 | -686.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
6514 | 646.6 | -8.0 | 674 | 6517 | roll | -0.75 | - | - | 2872 | - | 2.00 | 0.049 | 3502 | 646.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.01 | - |
6565 | 649.5 | -8.2 | 675 | 6575 | done | -0.75 | - | - | 2872 | - | 1.90 | 0.030 | 2205 | -682.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
6877 | 677.7 | -8.6 | 686 | 6882 | roll | -0.75 | - | - | 2864 | - | 2.03 | 0.049 | 3501 | 638.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.01 | - |
6919 | 680.5 | -8.7 | 687 | 6923 | done | -0.75 | - | - | 2864 | - | 1.88 | 0.030 | 2230 | -676.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
7237 | 711.3 | -9.4 | 698 | 7242 | roll | -0.75 | - | - | 2855 | - | 2.00 | 0.049 | 3501 | 635.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
7300 | 717.0 | -9.5 | 700 | 7305 | done | -0.75 | 0.12 | 0.150 | 2886 | 258.3 | 1.88 | 0.031 | 2221 | -680.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 25.99 | 26.38 | - |
7623 | 742.3 | -7.5 | 711 | 7629 | roll | -0.75 | - | - | 2879 | - | 2.00 | 0.049 | 3502 | 640.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.01 | - |
7656 | 744.6 | -7.6 | 712 | 7659 | done | -0.75 | - | - | 2879 | - | 1.85 | 0.030 | 2241 | -681.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
7984 | 770.6 | -7.8 | 723 | 7988 | roll | -0.75 | - | - | 2870 | - | 1.98 | 0.049 | 3505 | 638.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
8020 | 773.4 | -8.0 | 724 | 8023 | done | -0.75 | - | - | 2870 | - | 1.85 | 0.030 | 2243 | -682.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
8348 | 801.7 | -8.7 | 735 | 8354 | roll | -0.75 | - | - | 2860 | - | 1.98 | 0.049 | 3502 | 635.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
8390 | 804.5 | -8.8 | 736 | 8394 | done | -0.75 | - | - | 2860 | - | 1.85 | 0.031 | 2241 | -681.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
8708 | 834.8 | -9.1 | 747 | 8713 | roll | -0.75 | - | - | 2851 | - | 1.98 | 0.049 | 3502 | 636.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
8776 | 840.5 | -9.3 | 749 | 8781 | done | -0.75 | 0.15 | 0.145 | 2890 | 260.0 | 1.83 | 0.030 | 2253 | -682.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 25.91 | 26.38 | - |
9094 | 866.2 | -7.8 | 760 | 9100 | roll | -0.75 | - | - | 2883 | - | 1.95 | 0.049 | 3502 | 640.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
9126 | 868.8 | -7.9 | 761 | 9129 | done | -0.75 | - | - | 2883 | - | 1.83 | 0.031 | 2260 | -678.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
9458 | 894.8 | -7.4 | 772 | 9462 | roll | -0.75 | - | - | 2874 | - | 1.98 | 0.048 | 3537 | 644.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.01 | - |
9503 | 897.3 | -7.4 | 773 | 9507 | done | -0.75 | - | - | 2874 | - | 1.88 | 0.030 | 2269 | -674.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
9550 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
9550 | begin apogee | ||||||||||||||||||||||||||||
9558 | 902.4 | -7.9 | 775 | 9688 | roll | -0.17 | 0.62 | 0.130 | 3071 | 317.7 | - | - | 1901 | - | - | 125.40 | 1.346 | 3279 | -4.8 | 0.355 | - | - | - | - | - | - | 25.46 | - | 23.18 |
9691 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9691 | begin climb | ||||||||||||||||||||||||||||
9694 | 907.0 | - | 779 | 9834 | roll | 0.75 | 0.88 | 0.060 | 3378 | 348.9 | 2.35 | 0.037 | 501 | -595.7 | 146.6 | 128.20 | 1.248 | 2681 | -4.7 | 0.371 | - | - | - | - | - | - | 24.47 | 24.49 | 22.42 |
9841 | 903.6 | 4.8 | 784 | 9940 | done | 0.87 | - | - | 3379 | - | 2.40 | 0.033 | 1896 | 581.2 | 250.5 | 93.60 | 1.226 | 2257 | -4.5 | 0.366 | - | - | - | - | - | - | - | 23.89 | 22.44 |
10269 | 836.5 | 15.7 | 799 | 10274 | roll | 0.87 | - | - | 3388 | - | 2.25 | 0.039 | 511 | -615.6 | 250.5 | - | - | 2247 | - | - | - | - | - | - | - | - | - | 25.39 | - |
10293 | 836.5 | 15.7 | 799 | 10299 | done | 0.87 | - | - | 3387 | - | 2.25 | 0.035 | 1905 | 619.6 | 250.5 | - | - | 2248 | - | - | - | - | - | - | - | - | - | 25.48 | - |
10598 | 783.0 | 16.6 | 810 | 10604 | roll | 0.87 | - | - | 3397 | - | 2.22 | 0.038 | 500 | -632.9 | 250.5 | - | - | 2246 | - | - | - | - | - | - | - | - | - | 25.85 | - |
10629 | 778.0 | 16.6 | 811 | 10634 | done | 0.87 | - | - | 3397 | - | 2.20 | 0.035 | 1894 | 633.6 | 250.5 | - | - | 2246 | - | - | - | - | - | - | - | - | - | 25.93 | - |
10958 | 722.7 | 16.6 | 822 | 10959 | done | 0.87 | - | - | 3397 | - | - | - | 1894 | - | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | - | - |
11258 | 673.7 | 16.6 | 832 | 11264 | roll | 0.87 | - | - | 3406 | - | 2.22 | 0.040 | 497 | -629.3 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.08 | - |
11312 | 668.7 | 16.6 | 833 | 11319 | done | 0.87 | - | - | 3406 | - | 2.17 | 0.035 | 1890 | 641.9 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.16 | - |
11618 | 611.7 | 17.4 | 844 | 11624 | roll | 0.87 | - | - | 3415 | - | 2.20 | 0.039 | 494 | -634.5 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.13 | - |
11641 | 611.7 | 17.4 | 844 | 11649 | done | 0.87 | - | - | 3415 | - | 2.17 | 0.035 | 1887 | 641.9 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.20 | - |
11951 | 553.4 | 17.7 | 871 | 11960 | roll | 0.87 | - | - | 3424 | - | 2.17 | 0.040 | 504 | -637.3 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.15 | - |
11995 | 545.6 | 17.8 | 875 | 12002 | done | 0.87 | - | - | 3425 | - | 2.15 | 0.036 | 1881 | 640.5 | 250.5 | - | - | 2245 | - | - | - | - | - | - | - | - | - | 26.22 | - |
12303 | 489.3 | 18.2 | 906 | 12311 | roll | 0.87 | - | - | 3434 | - | 2.17 | 0.040 | 497 | -637.8 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.17 | - |
12335 | 483.4 | 18.3 | 909 | 12344 | done | 0.87 | - | - | 3432 | - | 2.12 | 0.036 | 1867 | 646.2 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.25 | - |
12645 | 425.8 | 18.6 | 940 | 12655 | roll | 0.87 | - | - | 3439 | - | 2.15 | 0.041 | 499 | -636.3 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.19 | - |
12681 | 419.6 | 18.1 | 943 | 12688 | done | 0.87 | - | - | 3439 | - | 2.12 | 0.035 | 1867 | 645.3 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.26 | - |
12989 | 361.5 | 18.2 | 974 | 12997 | roll | 0.87 | - | - | 3448 | - | 2.12 | 0.041 | 507 | -641.5 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.19 | - |
13023 | 355.5 | 18.5 | 977 | 13032 | done | 0.87 | 0.15 | 0.184 | 3409 | -260.0 | 2.10 | 0.035 | 1860 | 644.3 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | 25.75 | 26.27 | - |
13331 | 304.1 | 16.3 | 1008 | 13340 | roll | 0.87 | - | - | 3399 | - | 2.17 | 0.046 | 3301 | 664.1 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.13 | - |
13356 | 300.2 | 16.5 | 1010 | 13363 | done | 0.87 | - | - | 3407 | - | 2.17 | 0.031 | 1846 | -670.5 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.32 | - |
13664 | 252.1 | 14.9 | 1041 | 13673 | roll | 0.87 | - | - | 3417 | - | 2.05 | 0.041 | 500 | -656.6 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.18 | - |
13776 | 234.9 | 15.3 | 1052 | 13780 | done | 0.87 | - | - | 3417 | - | 2.10 | 0.036 | 1853 | 644.3 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.27 | - |
14089 | 188.4 | 14.0 | 1083 | 14098 | roll | 0.87 | - | - | 3417 | - | 2.20 | 0.046 | 3298 | 656.8 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.13 | - |
14144 | 180.4 | 15.4 | 1088 | 14152 | done | 0.87 | - | - | 3426 | - | 2.17 | 0.031 | 1844 | -670.0 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.33 | - |
14451 | 138.5 | 13.3 | 1119 | 14460 | roll | 0.87 | - | - | 3437 | - | 2.08 | 0.041 | 501 | -645.7 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | 26.18 | - |
14477 | 135.6 | 13.3 | 1121 | 14485 | done | 0.87 | - | - | 3437 | - | 2.12 | 0.036 | 1872 | 646.7 | 250.5 | - | - | 2242 | - | - | - | - | - | - | - | - | - | 26.28 | - |
14784 | 93.7 | 13.6 | 1156 | 14791 | done | 0.87 | - | - | 3437 | - | - | - | 1872 | - | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | - | - |
15098 | 55.8 | 11.8 | 1217 | 15104 | done | 0.87 | - | - | 3437 | - | - | - | 1873 | - | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | - | - | - |
15411 | 20.9 | 9.3 | 1278 | 15418 | roll | 0.87 | - | - | 3447 | - | 2.17 | 0.041 | 496 | -634.6 | 250.5 | - | - | 2242 | - | - | - | - | - | - | - | - | - | 26.16 | - |
15472 | 14.8 | 10.0 | 1289 | 15480 | done | 0.87 | 0.15 | 0.165 | 3407 | -266.7 | 2.15 | 0.037 | 1872 | 640.0 | 250.5 | - | - | 2243 | - | - | - | - | - | - | - | - | 25.81 | 26.27 | - |
15791 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15791 | begin surface coast | ||||||||||||||||||||||||||||
15968 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15968 | begin surface | ||||||||||||||||||||||||||||
SM | 2.38 | - | - | - | - | -8.64 | 8.43 | 0.061 | 345 | -363.2 | 0.32 | 0.064 | 2102 | 718.8 | 400.08 | 67.22 | 0.073 | 1647 | -8.9 | 0.030 | - | - | - | - | - | - |