• Previous call tries 1 | • 14.50 of 150.00 AH used of 24V (90.33% remains) | |
• Previous NAKs 0, Timeouts 0 | • 16.84 of 100.00 AH used of 10V (83.16% remains) | |
• Surface angle -75.3 deg, depth 2.32 m | • Intended pitch -16.3 deg, speed -9.167 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | • surface range 18.7 m at 19.9 m depth, ceiling 1.2 m | |
• GPS1 time: 32 s | • bottom range 40.9 m at 750.8 m, depth 792 m (793 m grid) | |
• GPS2 time: 17 s | • Transponder ping count: 1 | |
• 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 | |||||
15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15 | begin dive | ||||||||||||||||||||||||||||
18 | - | - | - | 84 | VBD | -0.72 | - | - | 339 | - | - | - | 2105 | - | -146.6 | -62.97 | - | 2860 | - | - | - | - | - | - | - | - | - | - | - |
88 | 3.0 | -2.6 | 11 | 132 | roll | -0.72 | 9.88 | 0.249 | 2904 | 259.6 | 2.22 | 0.056 | 702 | -632.0 | -146.6 | -26.58 | - | 3630 | -29.0 | - | - | - | - | - | - | - | 26.21 | 26.49 | 26.79 |
185 | 11.8 | -13.0 | 28 | 192 | done | -0.72 | - | - | 2897 | - | 2.17 | 0.041 | 2106 | 647.0 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.50 | - |
497 | 47.4 | -11.9 | 89 | 505 | roll | -0.72 | - | - | 2886 | - | 2.15 | 0.053 | 3517 | 656.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.51 | - |
651 | 65.5 | -12.2 | 118 | 658 | done | -0.72 | - | - | 2893 | - | 2.10 | 0.031 | 2094 | -677.6 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.60 | - |
962 | 98.7 | -10.5 | 179 | 969 | roll | -0.72 | - | - | 2885 | - | 2.17 | 0.051 | 3515 | 654.8 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.55 | - |
1057 | 109.7 | -11.6 | 189 | 1061 | done | -0.72 | - | - | 2886 | - | 2.08 | 0.032 | 2100 | -680.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.63 | - |
1369 | 140.6 | -9.2 | 220 | 1378 | roll | -0.72 | - | - | 2878 | - | 2.15 | 0.052 | 3502 | 652.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.58 | - |
1455 | 148.8 | -9.9 | 228 | 1462 | done | -0.72 | - | - | 2878 | - | 2.08 | 0.032 | 2099 | -674.5 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.65 | - |
1761 | 177.6 | -9.4 | 259 | 1762 | done | -0.72 | - | - | 2879 | - | - | - | 2098 | - | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | - | - |
2064 | 205.0 | -9.2 | 289 | 2068 | roll | -0.72 | - | - | 2868 | - | 2.17 | 0.051 | 3516 | 653.5 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.61 | - |
2209 | 219.5 | -10.1 | 303 | 2217 | done | -0.72 | - | - | 2868 | - | 2.05 | 0.032 | 2096 | -692.7 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.69 | - |
2517 | 249.9 | -10.2 | 334 | 2526 | roll | -0.72 | - | - | 2857 | - | 2.12 | 0.050 | 3499 | 661.8 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.63 | - |
2569 | 255.4 | -10.9 | 339 | 2578 | done | -0.72 | 0.15 | 0.175 | 2900 | 286.7 | 2.08 | 0.031 | 2090 | -677.4 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | 26.48 | 26.70 | - |
2879 | 281.1 | -8.2 | 370 | 2888 | roll | -0.72 | - | - | 2891 | - | 2.15 | 0.050 | 3509 | 660.0 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.64 | - |
2981 | 290.2 | -9.1 | 380 | 2986 | done | -0.72 | - | - | 2891 | - | 2.05 | 0.031 | 2097 | -688.8 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.71 | - |
3294 | 316.4 | -7.9 | 411 | 3298 | roll | -0.72 | - | - | 2881 | - | 2.17 | 0.050 | 3516 | 653.9 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.65 | - |
3336 | 319.9 | -8.6 | 415 | 3340 | done | -0.72 | - | - | 2880 | - | 2.08 | 0.031 | 2094 | -683.7 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.72 | - |
3649 | 344.2 | -7.4 | 446 | 3658 | roll | -0.72 | - | - | 2870 | - | 2.12 | 0.050 | 3500 | 663.2 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.65 | - |
3701 | 348.5 | -8.5 | 451 | 3705 | done | -0.72 | - | - | 2870 | - | 2.05 | 0.031 | 2094 | -685.9 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.72 | - |
4014 | 372.9 | -7.4 | 482 | 4018 | roll | -0.72 | - | - | 2860 | - | 2.17 | 0.050 | 3517 | 655.8 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.66 | - |
4099 | 379.9 | -8.6 | 490 | 4107 | done | -0.72 | 0.15 | 0.171 | 2899 | 260.0 | 2.10 | 0.030 | 2080 | -684.3 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | 26.51 | 26.73 | - |
4406 | 399.9 | -6.4 | 521 | 4408 | done | -0.72 | - | - | 2899 | - | - | - | 2080 | - | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | - | - |
4709 | 419.3 | -6.3 | 551 | 4718 | roll | -0.72 | - | - | 2891 | - | 2.17 | 0.050 | 3509 | 658.5 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.67 | - |
4774 | 423.8 | -7.3 | 557 | 4781 | done | -0.72 | - | - | 2891 | - | 2.08 | 0.031 | 2091 | -681.7 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.74 | - |
5081 | 444.3 | -6.8 | 588 | 5085 | roll | -0.72 | - | - | 2880 | - | 2.17 | 0.050 | 3516 | 656.7 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.67 | - |
5157 | 449.7 | -7.7 | 595 | 5167 | done | -0.72 | - | - | 2880 | - | 2.08 | 0.030 | 2093 | -684.1 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.75 | - |
5466 | 471.6 | -7.3 | 626 | 5474 | roll | -0.72 | - | - | 2870 | - | 2.15 | 0.049 | 3510 | 659.1 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.68 | - |
5498 | 474.0 | -7.5 | 629 | 5507 | done | -0.72 | - | - | 2869 | - | 2.08 | 0.030 | 2087 | -684.1 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.75 | - |
5808 | 497.2 | -7.2 | 660 | 5816 | roll | -0.72 | - | - | 2859 | - | 2.15 | 0.049 | 3499 | 656.7 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.68 | - |
5880 | 503.0 | -8.2 | 667 | 5889 | done | -0.72 | 0.10 | 0.150 | 2892 | 330.0 | 2.05 | 0.031 | 2093 | -685.9 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | 26.54 | 26.76 | - |
6191 | 523.0 | -6.4 | 698 | 6194 | roll | -0.72 | - | - | 2884 | - | 2.15 | 0.049 | 3508 | 658.1 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.69 | - |
6274 | 528.8 | -7.3 | 706 | 6278 | done | -0.72 | - | - | 2884 | - | 2.05 | 0.030 | 2088 | -692.7 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.76 | - |
6586 | 549.6 | -6.8 | 737 | 6599 | roll | -0.72 | - | - | 2873 | - | 2.15 | 0.049 | 3503 | 658.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.70 | - |
6643 | 553.7 | -7.7 | 742 | 6651 | done | -0.72 | - | - | 2873 | - | 2.05 | 0.030 | 2096 | -686.3 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.76 | - |
6952 | 575.5 | -7.1 | 773 | 6962 | roll | -0.72 | - | - | 2863 | - | 2.15 | 0.049 | 3510 | 657.7 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.70 | - |
7025 | 581.1 | -7.8 | 780 | 7030 | done | -0.72 | 0.12 | 0.174 | 2893 | 250.0 | 2.05 | 0.030 | 2091 | -692.2 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | 26.55 | 26.77 | - |
7359 | 602.6 | -6.5 | 811 | 7364 | roll | -0.72 | - | - | 2886 | - | 2.15 | 0.049 | 3505 | 657.7 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.70 | - |
7421 | 606.7 | -6.8 | 813 | 7425 | done | -0.72 | - | - | 2886 | - | 2.05 | 0.029 | 2095 | -687.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.77 | - |
7746 | 629.0 | -6.8 | 824 | 7752 | roll | -0.72 | - | - | 2875 | - | 2.12 | 0.049 | 3506 | 665.6 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.70 | - |
7835 | 636.0 | -7.4 | 827 | 7839 | done | -0.72 | - | - | 2875 | - | 2.03 | 0.030 | 2101 | -692.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.77 | - |
8168 | 661.1 | -7.7 | 838 | 8173 | roll | -0.72 | - | - | 2866 | - | 2.15 | 0.049 | 3515 | 657.7 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.71 | - |
8228 | 666.0 | -8.0 | 840 | 8233 | done | -0.72 | 0.12 | 0.173 | 2896 | 250.0 | 2.05 | 0.030 | 2098 | -691.2 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | 26.56 | 26.77 | - |
8561 | 689.0 | -6.6 | 851 | 8567 | roll | -0.72 | - | - | 2890 | - | 2.12 | 0.049 | 3500 | 661.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.71 | - |
8625 | 693.2 | -6.6 | 853 | 8629 | done | -0.72 | - | - | 2890 | - | 2.05 | 0.030 | 2093 | -686.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.78 | - |
8947 | 714.4 | -6.3 | 864 | 8953 | roll | -0.72 | - | - | 2879 | - | 2.12 | 0.049 | 3503 | 665.1 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.71 | - |
9046 | 720.7 | -7.0 | 867 | 9050 | done | -0.72 | - | - | 2879 | - | 2.05 | 0.030 | 2096 | -686.3 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.78 | - |
9364 | 743.0 | -6.8 | 878 | 9365 | done | -0.72 | - | - | 2879 | - | - | - | 2096 | - | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | - | - |
9663 | 762.7 | -6.7 | 888 | 9669 | roll | -0.72 | - | - | 2870 | - | 2.12 | 0.050 | 3499 | 661.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.71 | - |
9732 | 767.2 | -7.1 | 890 | 9736 | done | -0.72 | - | - | 2869 | - | 2.05 | 0.031 | 2093 | -685.9 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.78 | - |
9866 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
9866 | begin apogee | ||||||||||||||||||||||||||||
9873 | 778.1 | -7.3 | 895 | 10002 | done | -0.17 | 0.62 | 0.142 | 3070 | 324.2 | - | - | 1889 | - | - | 123.70 | 1.329 | 3029 | -4.9 | 0.303 | - | - | - | - | - | - | 26.55 | - | 23.77 |
10005 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10005 | begin climb | ||||||||||||||||||||||||||||
10008 | 779.8 | - | 899 | 10147 | roll | 0.72 | 0.88 | 0.093 | 3361 | 330.7 | 2.47 | 0.047 | 3298 | 570.4 | 146.6 | 126.90 | 1.299 | 2430 | -4.7 | 0.300 | - | - | - | - | - | - | 24.77 | 24.06 | 23.17 |
10188 | 761.0 | 13.3 | 905 | 10196 | done | 0.72 | - | - | 3370 | - | 2.22 | 0.029 | 1914 | -623.4 | 146.6 | - | - | 2424 | - | - | - | - | - | - | - | - | - | 24.61 | - |
10496 | 705.8 | 16.3 | 916 | 10501 | roll | 0.72 | - | - | 3381 | - | 2.22 | 0.038 | 501 | -636.5 | 146.6 | - | - | 2418 | - | - | - | - | - | - | - | - | - | 25.54 | - |
10533 | 700.9 | 16.2 | 917 | 10537 | done | 0.72 | - | - | 3380 | - | 2.25 | 0.036 | 1901 | 622.2 | 146.6 | - | - | 2418 | - | - | - | - | - | - | - | - | - | 25.60 | - |
10852 | 646.8 | 16.8 | 928 | 10858 | roll | 0.72 | - | - | 3380 | - | 2.17 | 0.048 | 3304 | 646.5 | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | - | 25.92 | - |
10904 | 641.5 | 16.9 | 929 | 10912 | done | 0.72 | - | - | 3390 | - | 2.15 | 0.031 | 1883 | -660.9 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.01 | - |
11211 | 583.2 | 17.7 | 946 | 11220 | roll | 0.72 | - | - | 3401 | - | 2.12 | 0.039 | 507 | -649.1 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | 26.15 | - |
11247 | 577.5 | 17.7 | 949 | 11255 | done | 0.72 | 0.12 | 0.170 | 3367 | -283.3 | 2.20 | 0.037 | 1905 | 635.5 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | 26.03 | 26.17 | - |
11553 | 529.3 | 15.4 | 980 | 11562 | roll | 0.72 | - | - | 3367 | - | 2.12 | 0.048 | 3302 | 659.0 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | 26.25 | - |
11585 | 524.1 | 16.2 | 983 | 11594 | done | 0.72 | - | - | 3374 | - | 2.10 | 0.031 | 1899 | -668.1 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.31 | - |
11896 | 473.8 | 15.9 | 1014 | 11904 | roll | 0.72 | - | - | 3385 | - | 2.12 | 0.040 | 505 | -657.5 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.36 | - |
11998 | 457.7 | 15.4 | 1024 | 12006 | done | 0.72 | - | - | 3385 | - | 2.15 | 0.037 | 1896 | 647.0 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.39 | - |
12307 | 405.3 | 17.0 | 1055 | 12316 | roll | 0.72 | - | - | 3385 | - | 2.15 | 0.048 | 3302 | 654.0 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.41 | - |
12349 | 397.9 | 18.3 | 1059 | 12358 | done | 0.72 | - | - | 3393 | - | 2.10 | 0.031 | 1886 | -674.3 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.46 | - |
12660 | 342.3 | 17.8 | 1090 | 12669 | roll | 0.72 | 0.12 | 0.187 | 3367 | -216.7 | 2.05 | 0.037 | 519 | -666.8 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | 26.33 | 26.48 | - |
12732 | 331.0 | 14.7 | 1097 | 12736 | done | 0.72 | - | - | 3367 | - | 2.12 | 0.037 | 1906 | 654.2 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.49 | - |
13044 | 285.2 | 14.3 | 1128 | 13053 | roll | 0.72 | - | - | 3366 | - | 2.12 | 0.047 | 3305 | 659.9 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.49 | - |
13080 | 280.5 | 15.0 | 1131 | 13086 | done | 0.72 | - | - | 3374 | - | 2.08 | 0.031 | 1898 | -676.4 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.54 | - |
13387 | 232.4 | 15.4 | 1162 | 13395 | roll | 0.72 | - | - | 3385 | - | 2.08 | 0.040 | 520 | -662.5 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.54 | - |
13514 | 213.8 | 15.1 | 1174 | 13521 | done | 0.72 | - | - | 3385 | - | 2.15 | 0.037 | 1912 | 647.4 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.56 | - |
13819 | 167.8 | 14.7 | 1205 | 13829 | roll | 0.72 | - | - | 3394 | - | 2.17 | 0.038 | 505 | -648.4 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.57 | - |
13842 | 164.4 | 14.6 | 1207 | 13847 | done | 0.72 | 0.08 | 0.148 | 3369 | -312.5 | 2.15 | 0.036 | 1911 | 654.0 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | 26.44 | 26.58 | - |
14156 | 126.1 | 11.6 | 1238 | 14159 | roll | 0.72 | - | - | 3367 | - | 2.08 | 0.047 | 3301 | 668.3 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.58 | - |
14188 | 122.0 | 12.2 | 1241 | 14198 | done | 0.72 | - | - | 3375 | - | 2.05 | 0.031 | 1901 | -682.9 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.63 | - |
14500 | 85.7 | 11.5 | 1284 | 14507 | roll | 0.72 | - | - | 3385 | - | 2.10 | 0.041 | 504 | -665.2 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.60 | - |
14565 | 78.4 | 11.6 | 1296 | 14572 | done | 0.72 | - | - | 3385 | - | 2.15 | 0.035 | 1905 | 651.6 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.63 | - |
14879 | 44.4 | 10.8 | 1357 | 14886 | roll | 0.72 | - | - | 3394 | - | 2.15 | 0.040 | 511 | -648.4 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.63 | - |
14914 | 40.1 | 11.3 | 1363 | 14923 | done | 0.72 | 0.12 | 0.163 | 3361 | -275.0 | 2.15 | 0.037 | 1908 | 649.8 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | 26.49 | 26.63 | - |
15231 | 11.9 | 8.5 | 1424 | 15245 | roll | 0.75 | - | - | 3361 | - | 2.10 | 0.047 | 3308 | 666.7 | 163.7 | 6.45 | 0.094 | 2360 | -7.9 | 0.106 | - | - | - | - | - | - | - | 26.60 | 26.53 |
15337 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15337 | begin surface coast | ||||||||||||||||||||||||||||
15401 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15401 | begin surface | ||||||||||||||||||||||||||||
SM | 2.18 | - | - | - | - | -8.65 | 8.02 | 0.056 | 341 | -376.6 | 1.85 | 0.035 | 2105 | -650.3 | 400.08 | 103.78 | 0.071 | 1397 | -9.3 | 0.029 | - | - | - | - | - | - |