• Previous call tries 1 | • 36.06 of 310.00 AH used of 24V (88.37% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -70.6 deg, depth 1.08 m | • Intended pitch -18.6 deg, speed -9.980 cm/s | |
• No surface pump (final VBD was 332.13, SM_CC=290) | • surface range 19.0 m at 19.9 m depth, ceiling 0.9 m | |
• GPS1 time: 26 s | • bottom range 44.3 m at 250.4 m, depth 295 m (1000 m grid) | |
• GPS2 time: 18 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 | |||||
16 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16 | begin dive | ||||||||||||||||||||||||||||
18 | - | - | - | 81 | VBD | -0.86 | - | - | 87 | - | - | - | 2131 | - | -139.8 | -61.45 | - | 3094 | - | - | - | - | - | - | - | - | 15.01 | - | 15.02 |
83 | 4.1 | -11.4 | 11 | 106 | roll | -0.86 | 11.93 | 0.286 | 2194 | 176.6 | 2.40 | 0.084 | 3542 | 587.9 | -139.8 | -4.88 | - | 3383 | -59.2 | - | - | - | - | - | - | - | 14.68 | 14.26 | 14.81 |
180 | 32.1 | -21.0 | 30 | 187 | done | -0.86 | 0.05 | 0.265 | 2205 | 220.0 | 2.35 | 0.040 | 2122 | -604.3 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 14.78 | 14.89 | 14.88 |
247 | 45.9 | -20.9 | 43 | 252 | done | -0.86 | - | - | 2205 | - | - | - | 2121 | - | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.10 |
311 | 58.4 | -19.4 | 56 | 318 | roll | -0.86 | - | - | 2196 | - | 2.40 | 0.070 | 3535 | 589.2 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.11 | 14.92 | 15.11 |
347 | 65.4 | -19.6 | 63 | 354 | done | -0.86 | - | - | 2197 | - | 2.33 | 0.040 | 2127 | -604.3 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 15.00 |
413 | 78.4 | -18.8 | 76 | 414 | done | -0.86 | 0.05 | 0.354 | 2207 | 200.0 | - | - | 2126 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 14.84 | 15.02 | 15.00 |
473 | 89.2 | -17.9 | 88 | 474 | done | -0.86 | - | - | 2206 | - | - | - | 2125 | - | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.15 |
533 | 99.4 | -15.9 | 100 | 534 | done | -0.86 | - | - | 2206 | - | - | - | 2126 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
593 | 109.6 | -17.2 | 112 | 600 | roll | -0.86 | - | - | 2207 | - | 2.45 | 0.073 | 3536 | 575.5 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.16 | 14.91 | 15.16 |
634 | 116.1 | -15.5 | 120 | 641 | done | -0.86 | - | - | 2207 | - | 2.30 | 0.037 | 2136 | -608.7 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.00 | 14.94 | 15.01 |
700 | 126.0 | -15.8 | 133 | 707 | roll | -0.86 | - | - | 2207 | - | 2.35 | 0.066 | 720 | -602.6 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.16 | 14.97 | 15.16 |
746 | 133.5 | -16.2 | 142 | 753 | done | -0.86 | - | - | 2206 | - | 2.33 | 0.049 | 2124 | 602.6 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.02 | 14.97 | 15.04 |
812 | 143.5 | -15.0 | 155 | 818 | roll | -0.86 | - | - | 2207 | - | 2.38 | 0.073 | 3539 | 594.5 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.16 | 14.94 | 15.17 |
873 | 152.4 | -14.3 | 167 | 879 | done | -0.86 | - | - | 2206 | - | 2.28 | 0.037 | 2126 | -619.7 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.04 | 14.96 | 15.04 |
939 | 162.4 | -14.8 | 180 | 944 | done | -0.86 | - | - | 2207 | - | - | - | 2126 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
1003 | 171.6 | -13.9 | 193 | 1004 | done | -0.86 | - | - | 2207 | - | - | - | 2126 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
1064 | 180.4 | -15.0 | 205 | 1069 | done | -0.86 | - | - | 2210 | - | - | - | 2126 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
1129 | 190.1 | -14.5 | 218 | 1134 | done | -0.86 | - | - | 2206 | - | - | - | 2125 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
1193 | 199.6 | -14.2 | 231 | 1201 | roll | -0.86 | - | - | 2200 | - | 2.42 | 0.070 | 3535 | 582.6 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.21 |
1235 | 205.5 | -14.2 | 239 | 1242 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.037 | 2125 | -613.0 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.05 | 15.00 | 15.06 |
1302 | 214.6 | -14.4 | 252 | 1307 | done | -0.86 | - | - | 2200 | - | - | - | 2124 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.20 |
1366 | 223.7 | -14.0 | 265 | 1367 | done | -0.86 | - | - | 2200 | - | - | - | 2124 | - | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
1426 | 231.9 | -13.0 | 277 | 1433 | roll | -0.86 | - | - | 2192 | - | 2.42 | 0.070 | 3537 | 583.9 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.22 |
1493 | 240.5 | -13.2 | 290 | 1499 | done | -0.86 | 0.08 | 0.268 | 2209 | 212.5 | 2.28 | 0.038 | 2125 | -619.3 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 14.95 | 15.04 | 15.08 |
1558 | 249.0 | -13.3 | 303 | 1565 | roll | -0.86 | - | - | 2209 | - | 2.35 | 0.065 | 729 | -594.0 | -139.8 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
1594 | 254.0 | -13.5 | 310 | 1601 | done | -0.86 | - | - | 2207 | - | 2.30 | 0.049 | 2127 | 607.8 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.07 | 15.02 | 15.09 |
1661 | 262.6 | -13.3 | 323 | 1667 | roll | -0.86 | - | - | 2207 | - | 2.38 | 0.073 | 3544 | 595.4 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.22 |
1726 | 271.7 | -12.8 | 336 | 1733 | done | -0.86 | - | - | 2207 | - | 2.28 | 0.037 | 2127 | -621.5 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.13 | 15.05 | 15.14 |
1793 | 279.9 | -12.3 | 349 | 1799 | roll | -0.86 | - | - | 2207 | - | 2.33 | 0.066 | 717 | -605.2 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.23 |
1818 | 283.3 | -13.8 | 354 | 1824 | done | -0.86 | - | - | 2207 | - | 2.33 | 0.049 | 2127 | 605.2 | -139.8 | - | - | 3384 | - | - | - | - | - | - | - | - | 15.02 | 14.98 | 15.04 |
1832 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
1832 | begin apogee | ||||||||||||||||||||||||||||
1836 | 285.5 | -12.9 | 357 | 1946 | done | -0.19 | 1.05 | 0.151 | 2424 | 206.7 | - | - | 1890 | - | - | 103.57 | 1.323 | 2811 | -5.5 | 0.211 | - | - | - | - | - | - | 14.96 | 14.55 | 14.02 |
1947 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
1947 | begin climb | ||||||||||||||||||||||||||||
1948 | 289.4 | - | 377 | 2064 | roll | 0.86 | 1.52 | 0.085 | 2759 | 220.4 | 2.38 | 0.073 | 522 | -574.8 | 139.8 | 105.35 | 1.306 | 2239 | -5.4 | 0.212 | - | - | - | - | - | - | 14.55 | 14.40 | 13.90 |
2228 | 276.9 | 8.4 | 430 | 2262 | done | 0.90 | - | - | 2759 | - | 2.33 | 0.043 | 1924 | 601.7 | 173.7 | 26.77 | 1.260 | 2102 | -5.1 | 0.198 | - | - | - | - | - | - | 14.82 | 14.79 | 14.16 |
2322 | 269.0 | 8.2 | 448 | 2356 | roll | 0.95 | 0.08 | 0.182 | 2807 | 600.0 | 2.40 | 0.065 | 3303 | 574.6 | 210.0 | 29.45 | 1.260 | 1955 | -5.0 | 0.188 | - | - | - | - | - | - | 14.76 | 14.61 | 14.12 |
2400 | 260.7 | 11.8 | 463 | 2408 | done | 0.95 | 0.08 | 0.229 | 2801 | -75.0 | 2.33 | 0.045 | 1926 | -591.0 | 210.0 | - | - | 1952 | - | - | - | - | - | - | - | - | 14.63 | 14.71 | 14.71 |
2467 | 253.0 | 11.2 | 476 | 2473 | roll | 0.95 | - | - | 2810 | - | 2.42 | 0.074 | 497 | -590.5 | 210.0 | - | - | 1951 | - | - | - | - | - | - | - | - | 14.97 | 14.76 | 14.97 |
2482 | 251.2 | 11.4 | 479 | 2489 | done | 0.95 | 0.05 | 0.249 | 2798 | -240.0 | 2.35 | 0.044 | 1917 | 604.3 | 210.0 | - | - | 1950 | - | - | - | - | - | - | - | - | 14.71 | 14.81 | 14.81 |
2549 | 243.8 | 11.6 | 492 | 2555 | roll | 0.95 | - | - | 2807 | - | 2.40 | 0.073 | 506 | -587.9 | 210.0 | - | - | 1950 | - | - | - | - | - | - | - | - | 15.04 | 14.83 | 15.04 |
2569 | 241.2 | 12.2 | 496 | 2576 | done | 0.95 | - | - | 2808 | - | 2.33 | 0.044 | 1911 | 603.0 | 210.0 | - | - | 1949 | - | - | - | - | - | - | - | - | 14.90 | 14.84 | 14.92 |
2636 | 233.0 | 12.4 | 509 | 2641 | done | 0.95 | - | - | 2807 | - | - | - | 1911 | - | 210.0 | - | - | 1949 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
2700 | 225.5 | 11.1 | 522 | 2707 | roll | 0.95 | - | - | 2807 | - | 2.38 | 0.067 | 3300 | 583.6 | 210.0 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.11 | 14.90 | 15.11 |
2811 | 211.9 | 12.2 | 544 | 2818 | done | 0.95 | 0.03 | 0.370 | 2802 | -166.7 | 2.33 | 0.047 | 1910 | -596.6 | 210.0 | - | - | 1948 | - | - | - | - | - | - | - | - | 14.79 | 14.94 | 14.92 |
2877 | 204.4 | 11.3 | 557 | 2883 | done | 0.95 | - | - | 2802 | - | - | - | 1910 | - | 210.0 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.15 | 15.16 | 15.15 |
2942 | 197.7 | 10.5 | 570 | 2949 | roll | 0.95 | - | - | 2802 | - | 2.38 | 0.063 | 3297 | 582.8 | 210.0 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.16 |
3009 | 190.1 | 11.5 | 583 | 3015 | done | 0.95 | - | - | 2807 | - | 2.28 | 0.046 | 1906 | -610.1 | 210.0 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.04 |
3075 | 183.5 | 10.5 | 596 | 3080 | done | 0.95 | - | - | 2803 | - | - | - | 1907 | - | 210.0 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.17 |
3139 | 176.6 | 10.4 | 609 | 3140 | done | 0.95 | - | - | 2808 | - | - | - | 1906 | - | 210.0 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
3199 | 170.3 | 10.7 | 621 | 3200 | done | 0.95 | - | - | 2807 | - | - | - | 1906 | - | 210.0 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
3259 | 163.8 | 10.7 | 633 | 3260 | done | 0.95 | - | - | 2807 | - | - | - | 1906 | - | 210.0 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.19 |
3319 | 157.6 | 10.4 | 645 | 3326 | roll | 0.95 | - | - | 2808 | - | 2.38 | 0.076 | 510 | -586.6 | 210.0 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.19 | 14.94 | 15.20 |
3345 | 154.8 | 10.7 | 650 | 3352 | done | 0.95 | 0.03 | 0.339 | 2802 | -200.0 | 2.30 | 0.043 | 1919 | 612.6 | 210.0 | - | - | 1945 | - | - | - | - | - | - | - | - | 14.84 | 14.97 | 14.97 |
3411 | 148.2 | 9.6 | 663 | 3424 | roll | 0.96 | - | - | 2801 | - | 2.30 | 0.067 | 3297 | 599.1 | 217.8 | 6.28 | 0.923 | 1923 | -3.5 | 0.099 | - | - | - | - | - | - | 15.18 | 14.95 | 14.42 |
3478 | 141.2 | 10.8 | 676 | 3485 | done | 0.96 | - | - | 2807 | - | 2.33 | 0.045 | 1903 | -598.3 | 217.8 | - | - | 1922 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 14.99 |
3545 | 134.7 | 10.3 | 689 | 3550 | done | 0.96 | - | - | 2803 | - | - | - | 1903 | - | 217.8 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.17 | 15.17 | 15.17 |
3609 | 127.8 | 10.6 | 702 | 3616 | roll | 0.96 | - | - | 2807 | - | 2.40 | 0.065 | 3296 | 580.4 | 217.8 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.17 | 14.93 | 15.18 |
3630 | 125.4 | 11.7 | 706 | 3637 | done | 0.96 | - | - | 2807 | - | 2.30 | 0.047 | 1916 | -600.0 | 217.8 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.00 | 14.96 | 15.02 |
3696 | 118.9 | 9.4 | 719 | 3714 | roll | 0.97 | - | - | 2808 | - | 2.38 | 0.076 | 503 | -593.7 | 229.6 | 10.82 | 1.039 | 1875 | -4.3 | 0.088 | - | - | - | - | - | - | 15.16 | 14.91 | 14.42 |
3748 | 113.6 | 10.5 | 729 | 3755 | done | 0.97 | - | - | 2807 | - | 2.30 | 0.043 | 1903 | 608.7 | 229.6 | - | - | 1876 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.96 |
3815 | 107.4 | 9.1 | 742 | 3837 | roll | 1.00 | - | - | 2807 | - | 2.35 | 0.065 | 3313 | 600.0 | 247.8 | 15.95 | 1.077 | 1800 | -4.8 | 0.084 | - | - | - | - | - | - | 15.14 | 14.85 | 14.37 |
3872 | 101.8 | 10.0 | 753 | 3878 | done | 1.00 | - | - | 2807 | - | 2.33 | 0.046 | 1902 | -605.6 | 248.3 | - | - | 1799 | - | - | - | - | - | - | - | - | 14.97 | 14.90 | 14.99 |
3938 | 95.4 | 9.5 | 766 | 3955 | roll | 1.01 | - | - | 2807 | - | 2.40 | 0.063 | 3305 | 584.6 | 257.6 | 9.32 | 0.974 | 1760 | -4.2 | 0.072 | - | - | - | - | - | - | 15.10 | 14.82 | 14.38 |
3974 | 91.9 | 9.7 | 773 | 3987 | done | 1.01 | - | - | 2807 | - | 2.35 | 0.047 | 1911 | -593.2 | 263.7 | 6.18 | 0.936 | 1736 | -3.9 | 0.067 | - | - | - | - | - | - | 14.90 | 14.85 | 14.37 |
4046 | 85.1 | 9.1 | 787 | 4069 | roll | 1.04 | - | - | 2807 | - | 2.42 | 0.078 | 503 | -581.8 | 281.4 | 15.75 | 1.040 | 1663 | -4.6 | 0.067 | - | - | - | - | - | - | 15.07 | 14.78 | 14.34 |
4089 | 81.5 | 8.2 | 795 | 4123 | done | 1.08 | - | - | 2807 | - | 2.33 | 0.042 | 1910 | 603.9 | 317.8 | 30.38 | 1.077 | 1516 | -4.8 | 0.065 | - | - | - | - | - | - | 14.84 | 14.80 | 14.25 |
4182 | 71.1 | 11.2 | 813 | 4189 | roll | 1.08 | - | - | 2807 | - | 2.40 | 0.064 | 3329 | 591.2 | 317.8 | - | - | 1512 | - | - | - | - | - | - | - | - | 14.95 | 14.76 | 14.96 |
4193 | 69.8 | 11.5 | 815 | 4200 | done | 1.08 | - | - | 2807 | - | 2.40 | 0.046 | 1909 | -591.7 | 317.8 | - | - | 1511 | - | - | - | - | - | - | - | - | 14.82 | 14.78 | 14.83 |
4260 | 62.6 | 11.4 | 828 | 4265 | done | 1.08 | - | - | 2807 | - | - | - | 1908 | - | 317.8 | - | - | 1511 | - | - | - | - | - | - | - | - | 15.02 | 15.03 | 15.02 |
4324 | 55.2 | 10.9 | 841 | 4331 | roll | 1.08 | - | - | 2808 | - | 2.45 | 0.078 | 500 | -574.7 | 317.8 | - | - | 1511 | - | - | - | - | - | - | - | - | 15.06 | 14.82 | 15.06 |
4340 | 53.4 | 11.6 | 844 | 4347 | done | 1.08 | - | - | 2807 | - | 2.33 | 0.041 | 1905 | 603.0 | 317.8 | - | - | 1511 | - | - | - | - | - | - | - | - | 14.90 | 14.85 | 14.92 |
4407 | 46.2 | 10.6 | 857 | 4413 | roll | 1.08 | - | - | 2807 | - | 2.35 | 0.064 | 3302 | 594.5 | 317.8 | - | - | 1510 | - | - | - | - | - | - | - | - | 15.08 | 14.89 | 15.08 |
4422 | 44.4 | 10.9 | 860 | 4429 | done | 1.08 | - | - | 2808 | - | 2.35 | 0.047 | 1903 | -595.3 | 317.8 | - | - | 1510 | - | - | - | - | - | - | - | - | 14.94 | 14.89 | 14.96 |
4489 | 38.1 | 9.4 | 873 | 4506 | roll | 1.10 | 0.05 | 0.262 | 2846 | 760.0 | 2.38 | 0.064 | 3313 | 592.4 | 330.2 | 10.85 | 0.927 | 1464 | -4.2 | 0.031 | - | - | - | - | - | - | 14.89 | 14.86 | 14.40 |
4520 | 34.2 | 12.6 | 879 | 4527 | done | 1.10 | - | - | 2849 | - | 2.38 | 0.047 | 1902 | -592.9 | 330.2 | - | - | 1463 | - | - | - | - | - | - | - | - | 14.92 | 14.87 | 14.93 |
4587 | 27.1 | 10.5 | 892 | 4592 | done | 1.10 | - | - | 2849 | - | - | - | 1902 | - | 330.2 | - | - | 1463 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
4653 | 19.9 | 11.1 | 905 | 4659 | roll | 1.10 | - | - | 2849 | - | 2.38 | 0.079 | 502 | -588.2 | 330.2 | - | - | 1462 | - | - | - | - | - | - | - | - | 15.09 | 14.87 | 15.09 |
4673 | 17.7 | 10.1 | 909 | 4679 | done | 1.10 | - | - | 2849 | - | 2.33 | 0.044 | 1912 | 605.2 | 330.2 | - | - | 1461 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 14.99 |
4739 | 11.3 | 10.1 | 922 | 4745 | roll | 1.10 | - | - | 2849 | - | 2.33 | 0.062 | 3303 | 597.0 | 330.2 | - | - | 1462 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
4769 | 7.7 | 12.6 | 928 | 4776 | done | 1.10 | - | - | 2849 | - | 2.35 | 0.047 | 1905 | -594.9 | 330.2 | - | - | 1461 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 14.98 |
4820 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
4820 | begin surface coast | ||||||||||||||||||||||||||||
4845 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4845 | begin surface | ||||||||||||||||||||||||||||
SM | 1.39 | - | - | - | - | -7.26 | 12.38 | 0.050 | 146 | 11.8 | 0.35 | 0.057 | 2162 | -8468.6 | 332.13 | - | - | 1458 | - | - | - | - | - | - | - | - |