• Previous call tries 2 | • 36.67 of 350.00 AH used of 24V (89.52% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -65.7 deg, depth 0.38 m | • Intended pitch -15.4 deg, speed -9.429 cm/s | |
• surface range 15.1 m at 18.5 m depth, ceiling 3.4 m (m = 1.33, R^2 = 0.99) | ||
• GPS1 time: 28 s | ||
• GPS2 time: 2 s | • Transponder ping count: 0 | |
• 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 | |||||
6 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6 | begin dive | ||||||||||||||||||||||||||||
8 | - | - | - | 113 | done | -0.88 | - | - | 197 | - | - | - | 2513 | - | -146.0 | -98.12 | 0.002 | 3310 | - | - | - | - | - | - | - | - | 14.74 | 13.85 | 14.76 |
114 | 4.3 | -8.1 | 10 | 131 | roll | -0.88 | 12.27 | 0.485 | 2407 | 180.1 | 2.65 | 0.106 | 1081 | -540.4 | -146.0 | - | - | 3311 | - | - | - | - | - | - | - | - | 14.28 | 14.51 | 14.50 |
140 | 15.3 | -35.6 | 15 | 147 | done | -0.88 | - | - | 2398 | - | 2.75 | 0.132 | 2495 | 514.2 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.57 | 14.48 | 14.62 |
446 | 62.0 | -15.9 | 46 | 451 | roll | -0.88 | - | - | 2389 | - | 2.40 | 0.155 | 3757 | 525.8 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.86 | 14.60 | 14.89 |
675 | 96.8 | -14.3 | 92 | 681 | done | -0.88 | - | - | 2389 | - | 2.30 | 0.099 | 2493 | -549.6 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.76 | 14.70 | 14.80 |
985 | 139.9 | -14.0 | 124 | 991 | roll | -0.88 | - | - | 2381 | - | 2.45 | 0.152 | 3762 | 518.0 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.00 | 14.67 | 15.02 |
1020 | 144.9 | -14.5 | 131 | 1029 | done | -0.88 | 0.12 | 0.276 | 2414 | 275.0 | 2.30 | 0.099 | 2497 | -550.0 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.61 | 14.74 | 14.76 |
1325 | 184.5 | -13.4 | 162 | 1331 | roll | -0.88 | - | - | 2406 | - | 2.42 | 0.155 | 3751 | 518.2 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.03 | 14.71 | 15.05 |
1350 | 188.0 | -14.3 | 167 | 1357 | done | -0.88 | - | - | 2407 | - | 2.28 | 0.099 | 2496 | -550.4 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.85 | 14.77 | 14.88 |
1655 | 227.7 | -12.7 | 198 | 1656 | done | -0.88 | - | - | 2406 | - | - | - | 2496 | - | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.04 | 15.08 | 15.07 |
1955 | 268.2 | -13.7 | 228 | 1961 | roll | -0.88 | - | - | 2406 | - | 2.60 | 0.118 | 1090 | -540.8 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.07 | 14.76 | 15.09 |
1980 | 271.7 | -14.1 | 233 | 1988 | done | -0.88 | - | - | 2397 | - | 2.67 | 0.128 | 2503 | 529.2 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 14.85 | 14.76 | 14.89 |
2296 | 313.8 | -13.1 | 260 | 2301 | roll | -0.88 | - | - | 2388 | - | 2.35 | 0.150 | 3763 | 536.2 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.04 | 14.77 | 15.07 |
2335 | 319.4 | -14.2 | 268 | 2341 | done | -0.88 | - | - | 2387 | - | 2.30 | 0.100 | 2491 | -553.0 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.88 | 14.82 | 14.92 |
2655 | 362.6 | -13.4 | 287 | 2656 | done | -0.88 | - | - | 2388 | - | - | - | 2491 | - | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
2955 | 403.2 | -13.6 | 302 | 2961 | roll | -0.88 | - | - | 2380 | - | 2.40 | 0.152 | 3766 | 531.2 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.10 | 14.78 | 15.12 |
3000 | 409.7 | -14.6 | 311 | 3006 | done | -0.88 | 0.12 | 0.281 | 2412 | 266.7 | 2.30 | 0.100 | 2491 | -554.3 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.69 | 14.84 | 14.84 |
3315 | 447.8 | -11.7 | 329 | 3316 | done | -0.88 | - | - | 2412 | - | - | - | 2491 | - | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
3615 | 482.2 | -11.3 | 344 | 3616 | done | -0.88 | - | - | 2412 | - | - | - | 2491 | - | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.13 |
3926 | 517.3 | -11.0 | 357 | 3932 | roll | -0.88 | - | - | 2404 | - | 2.40 | 0.154 | 3762 | 529.6 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.08 | 14.81 | 15.10 |
3976 | 523.3 | -11.9 | 367 | 3982 | done | -0.88 | - | - | 2404 | - | 2.30 | 0.102 | 2488 | -553.9 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.91 | 14.85 | 14.95 |
4346 | 566.3 | -11.8 | 381 | 4347 | done | -0.88 | - | - | 2404 | - | - | - | 2488 | - | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.11 | 15.15 | 15.14 |
4706 | 607.9 | -11.4 | 393 | 4713 | roll | -0.88 | - | - | 2397 | - | 2.42 | 0.152 | 3756 | 524.0 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.12 | 14.80 | 15.15 |
4777 | 616.4 | -12.1 | 407 | 4783 | done | -0.88 | - | - | 2397 | - | 2.28 | 0.099 | 2492 | -554.4 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.92 | 14.86 | 14.96 |
5158 | 659.3 | -11.1 | 423 | 5163 | roll | -0.88 | - | - | 2388 | - | 2.38 | 0.152 | 3757 | 531.5 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.11 |
5202 | 664.6 | -12.0 | 432 | 5208 | done | -0.88 | - | - | 2388 | - | 2.28 | 0.100 | 2491 | -555.3 | -146.0 | - | - | 3312 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.97 |
5577 | 708.0 | -11.6 | 447 | 5578 | done | -0.88 | - | - | 2388 | - | - | - | 2491 | - | -146.0 | - | - | 3311 | - | - | - | - | - | - | - | - | 15.12 | 15.16 | 15.15 |
5937 | 749.1 | -11.3 | 459 | 5943 | roll | -0.88 | - | - | 2380 | - | 2.40 | 0.150 | 3749 | 524.2 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 15.14 | 14.80 | 15.16 |
5962 | 752.1 | -12.5 | 464 | 5970 | done | -0.88 | 0.12 | 0.277 | 2413 | 275.0 | 2.25 | 0.098 | 2493 | -558.2 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 14.71 | 14.87 | 14.86 |
6329 | 787.7 | -9.4 | 477 | 6335 | roll | -0.88 | - | - | 2405 | - | 2.38 | 0.151 | 3757 | 531.1 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
6378 | 792.8 | -10.6 | 487 | 6385 | done | -0.88 | - | - | 2405 | - | 2.28 | 0.099 | 2494 | -553.9 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 14.93 | 14.85 | 14.96 |
6749 | 830.4 | -10.3 | 501 | 6755 | roll | -0.88 | - | - | 2398 | - | 2.40 | 0.152 | 3750 | 523.3 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 15.11 | 14.78 | 15.14 |
6829 | 839.3 | -11.3 | 517 | 6836 | done | -0.88 | - | - | 2398 | - | 2.25 | 0.099 | 2503 | -554.2 | -146.0 | - | - | 3313 | - | - | - | - | - | - | - | - | 14.91 | 14.85 | 14.95 |
7200 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7200 | begin apogee | ||||||||||||||||||||||||||||
7203 | 877.4 | -9.6 | 531 | 7365 | done | -0.23 | 0.82 | 0.240 | 2621 | 272.0 | - | - | 2190 | - | - | 159.05 | 3.102 | 2714 | -3.8 | 0.214 | - | - | - | - | - | - | 14.73 | 13.52 | 12.42 |
7366 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7366 | begin climb | ||||||||||||||||||||||||||||
7367 | 881.2 | - | 536 | 7547 | roll | 0.88 | 1.25 | 0.151 | 2985 | 291.2 | 2.95 | 0.131 | 792 | -473.9 | 146.0 | 170.62 | 3.104 | 2115 | -3.5 | 0.200 | - | - | - | - | - | - | 13.51 | 13.24 | 12.21 |
7601 | 861.8 | 11.5 | 582 | 7607 | done | 0.88 | - | - | 2985 | - | 2.83 | 0.115 | 2212 | 501.8 | 146.0 | - | - | 2109 | - | - | - | - | - | - | - | - | 13.84 | 13.74 | 13.86 |
7971 | 814.3 | 12.9 | 596 | 7977 | roll | 0.88 | - | - | 2992 | - | 2.75 | 0.145 | 3625 | 513.8 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.62 | 14.37 | 14.64 |
7996 | 810.7 | 14.6 | 601 | 8005 | done | 0.88 | - | - | 2995 | - | 2.67 | 0.102 | 2205 | -531.8 | 146.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.47 | 14.40 | 14.51 |
8362 | 761.6 | 13.1 | 614 | 8363 | done | 0.88 | - | - | 2996 | - | - | - | 2205 | - | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.82 | 14.85 | 14.85 |
8722 | 714.3 | 13.3 | 626 | 8723 | done | 0.88 | - | - | 2995 | - | - | - | 2204 | - | 146.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.92 | 14.95 | 14.95 |
9082 | 668.0 | 12.9 | 638 | 9087 | roll | 0.88 | - | - | 3006 | - | 2.62 | 0.133 | 783 | -542.4 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.98 | 14.74 | 15.01 |
9101 | 665.4 | 13.3 | 642 | 9107 | done | 0.88 | - | - | 3006 | - | 2.60 | 0.116 | 2207 | 547.7 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.88 | 14.76 | 14.91 |
9471 | 615.3 | 13.5 | 656 | 9472 | done | 0.88 | - | - | 3006 | - | - | - | 2207 | - | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.05 | 15.08 | 15.08 |
9832 | 566.9 | 13.4 | 668 | 9832 | done | 0.88 | - | - | 3006 | - | - | - | 2207 | - | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
10191 | 520.9 | 12.8 | 680 | 10197 | roll | 0.88 | - | - | 3017 | - | 2.67 | 0.131 | 780 | -534.5 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.10 | 14.81 | 15.13 |
10251 | 513.1 | 12.9 | 692 | 10258 | done | 0.88 | 0.10 | 0.229 | 2989 | -280.0 | 2.62 | 0.116 | 2200 | 542.0 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.76 | 14.83 | 14.88 |
10632 | 467.5 | 12.0 | 714 | 10638 | roll | 0.88 | - | - | 2988 | - | 2.65 | 0.146 | 3618 | 535.1 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.10 |
10686 | 460.4 | 13.0 | 725 | 10695 | done | 0.88 | - | - | 2998 | - | 2.60 | 0.103 | 2190 | -549.2 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.91 | 14.84 | 14.95 |
10992 | 423.7 | 12.1 | 741 | 10993 | done | 0.88 | - | - | 2999 | - | - | - | 2190 | - | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
11291 | 388.3 | 11.4 | 756 | 11298 | roll | 0.88 | - | - | 3008 | - | 2.62 | 0.133 | 783 | -537.0 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.11 | 14.83 | 15.14 |
11311 | 386.0 | 11.5 | 760 | 11318 | done | 0.88 | - | - | 3009 | - | 2.62 | 0.116 | 2207 | 543.5 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.97 |
11632 | 348.5 | 11.6 | 779 | 11638 | roll | 0.88 | - | - | 3009 | - | 2.65 | 0.145 | 3628 | 536.2 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.11 | 14.83 | 15.14 |
11656 | 345.4 | 13.7 | 784 | 11664 | done | 0.88 | 0.12 | 0.241 | 2986 | -191.7 | 2.60 | 0.103 | 2197 | -550.4 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.76 | 14.85 | 14.88 |
11973 | 310.8 | 11.2 | 802 | 11979 | roll | 0.88 | - | - | 2995 | - | 2.65 | 0.133 | 781 | -534.3 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.12 | 14.82 | 15.15 |
12018 | 305.7 | 11.4 | 811 | 12024 | done | 0.88 | - | - | 2995 | - | 2.62 | 0.118 | 2203 | 542.7 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.97 |
12323 | 272.4 | 10.4 | 841 | 12330 | roll | 0.88 | - | - | 2995 | - | 2.70 | 0.148 | 3618 | 524.1 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.11 | 14.82 | 15.14 |
12379 | 266.0 | 11.7 | 852 | 12387 | done | 0.88 | - | - | 3006 | - | 2.60 | 0.105 | 2189 | -549.6 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.96 |
12684 | 233.4 | 10.9 | 883 | 12685 | done | 0.88 | - | - | 3006 | - | - | - | 2189 | - | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
12984 | 200.5 | 11.3 | 913 | 12991 | roll | 0.88 | - | - | 3017 | - | 2.62 | 0.135 | 788 | -534.7 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.81 | 15.14 |
13020 | 196.4 | 11.5 | 920 | 13028 | done | 0.88 | 0.10 | 0.223 | 2988 | -290.0 | 2.62 | 0.117 | 2204 | 540.5 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.74 | 14.83 | 14.88 |
13325 | 165.7 | 10.0 | 951 | 13331 | roll | 0.88 | - | - | 2997 | - | 2.67 | 0.133 | 784 | -531.8 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.81 | 15.14 |
13366 | 161.6 | 10.4 | 959 | 13371 | done | 0.88 | - | - | 2997 | - | 2.60 | 0.118 | 2214 | 550.0 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.97 | 14.84 | 15.00 |
13675 | 128.9 | 10.4 | 991 | 13676 | done | 0.88 | - | - | 2997 | - | - | - | 2215 | - | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.15 | 15.14 |
13975 | 98.0 | 10.0 | 1021 | 13982 | roll | 0.88 | - | - | 2997 | - | 2.65 | 0.147 | 3609 | 526.0 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.81 | 15.14 |
13996 | 95.8 | 10.5 | 1025 | 14003 | done | 0.88 | - | - | 3008 | - | 2.55 | 0.103 | 2204 | -551.0 | 146.0 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.96 |
14307 | 63.5 | 9.9 | 1057 | 14308 | done | 0.88 | - | - | 3008 | - | - | - | 2202 | - | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
14607 | 34.8 | 8.4 | 1087 | 14613 | roll | 0.90 | - | - | 3012 | - | 2.70 | 0.148 | 3612 | 522.2 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.81 | 15.14 |
14677 | 28.5 | 10.3 | 1101 | 14684 | done | 0.90 | - | - | 3018 | - | 2.58 | 0.103 | 2196 | -548.8 | 146.0 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.96 |
14807 | end climb: SURFACE_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
14808 | begin subsurface finish | ||||||||||||||||||||||||||||
14811 | 12.6 | 11.7 | 1115 | 14829 | roll | 0.01 | 1.08 | 0.220 | 2710 | -285.2 | 2.67 | 0.154 | 779 | -530.7 | 10.3 | -13.18 | 0.010 | 2676 | -43.7 | 11.063 | - | - | - | - | - | - | 14.76 | 13.71 | 14.88 |
14830 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14830 | begin surface |