• Previous call tries 5 | • 60.79 of 310.00 AH used of 24V (80.39% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -62.0 deg, depth 0.78 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
• VBD pumped to 515.37 (SM_CC=515.36688) | ||
• GPS1 time: 7 s | • bottom range 33.4 m at 411.5 m, depth 445 m (500 m grid) | |
• GPS2 time: 7 s | • Transponder ping count: 18 | |
• 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 | |||||
18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18 | begin dive | ||||||||||||||||||||||||||||
20 | - | - | - | 109 | VBD | -0.88 | - | - | 53 | - | - | - | 1804 | - | -92.5 | -86.43 | - | 2867 | - | - | - | - | - | - | - | - | 15.10 | - | 15.11 |
112 | 3.2 | -6.7 | 15 | 138 | roll | -0.88 | 13.88 | 0.292 | 2460 | 173.4 | 2.33 | 0.065 | 3222 | 608.6 | -92.5 | -3.95 | - | 3078 | -53.4 | - | - | - | - | - | - | - | 14.75 | 14.24 | 14.96 |
176 | 19.6 | -16.3 | 26 | 183 | done | -0.88 | 0.05 | 0.335 | 2468 | 160.0 | 2.35 | 0.044 | 1801 | -604.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.79 | 14.92 | 14.96 |
246 | 32.7 | -18.1 | 39 | 252 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.063 | 408 | -592.8 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.14 |
264 | 36.0 | -17.2 | 42 | 271 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.037 | 1819 | 613.5 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.97 | 14.90 | 14.98 |
333 | 46.4 | -14.2 | 55 | 340 | roll | -0.88 | - | - | 2453 | - | 2.30 | 0.053 | 3219 | 608.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.15 | 14.95 | 15.15 |
396 | 54.6 | -13.9 | 67 | 406 | done | -0.88 | 0.10 | 0.247 | 2471 | 180.0 | 2.33 | 0.044 | 1807 | -606.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.86 | 14.94 | 15.01 |
470 | 65.5 | -15.4 | 80 | 477 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.052 | 3220 | 601.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.17 | 14.95 | 15.17 |
515 | 72.2 | -14.7 | 88 | 521 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.044 | 1803 | -608.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.01 |
586 | 83.6 | -17.1 | 101 | 592 | done | -0.88 | - | - | 2463 | - | - | - | 1803 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 15.18 | 15.19 |
656 | 98.4 | -21.9 | 114 | 664 | roll | -0.88 | - | - | 2455 | - | 2.35 | 0.051 | 3222 | 603.8 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.19 |
695 | 106.6 | -20.1 | 121 | 704 | done | -0.88 | 0.08 | 0.265 | 2470 | 187.5 | 2.33 | 0.044 | 1805 | -608.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.87 | 14.97 | 15.01 |
767 | 118.9 | -16.9 | 134 | 774 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.051 | 3222 | 603.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.20 |
866 | 132.5 | -11.7 | 153 | 874 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.044 | 1814 | -604.3 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.09 |
938 | 140.1 | -10.4 | 166 | 943 | done | -0.88 | - | - | 2462 | - | - | - | 1814 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.20 |
1005 | 147.3 | -10.6 | 179 | 1012 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.061 | 408 | -598.3 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.20 | 14.96 | 15.21 |
1024 | 149.5 | -11.9 | 182 | 1034 | done | -0.88 | - | - | 2461 | - | 2.28 | 0.036 | 1818 | 618.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
1096 | 157.7 | -12.1 | 195 | 1102 | roll | -0.88 | - | - | 2460 | - | 2.38 | 0.062 | 408 | -592.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
1145 | 164.4 | -13.4 | 204 | 1155 | done | -0.88 | - | - | 2461 | - | 2.28 | 0.036 | 1814 | 616.7 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
1218 | 173.9 | -12.7 | 217 | 1226 | roll | -0.88 | 0.03 | 0.528 | 2461 | - | 2.28 | 0.050 | 3215 | 614.5 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.05 |
1248 | 178.3 | -15.8 | 222 | 1255 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.045 | 1812 | -610.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
1319 | 189.3 | -16.2 | 235 | 1326 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.063 | 408 | -597.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.20 |
1343 | 193.9 | -18.7 | 239 | 1350 | done | -0.88 | 0.08 | 0.297 | 2472 | 137.5 | 2.28 | 0.036 | 1812 | 615.8 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.90 | 15.02 | 15.05 |
1414 | 205.1 | -14.8 | 252 | 1420 | done | -0.88 | - | - | 2472 | - | - | - | 1814 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.19 |
1483 | 216.1 | -16.1 | 265 | 1490 | done | -0.88 | - | - | 2471 | - | - | - | 1814 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
1553 | 227.2 | -16.0 | 278 | 1559 | done | -0.88 | - | - | 2472 | - | - | - | 1814 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
1622 | 238.3 | -16.2 | 291 | 1629 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.053 | 3213 | 608.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
1671 | 245.8 | -15.2 | 300 | 1677 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.044 | 1812 | -609.1 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
1739 | 256.6 | -16.3 | 313 | 1747 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.054 | 3212 | 600.9 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.24 | 14.97 | 15.24 |
1789 | 264.3 | -14.8 | 322 | 1799 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.046 | 1813 | -608.3 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
1861 | 275.7 | -16.0 | 335 | 1867 | done | -0.88 | - | - | 2464 | - | - | - | 1813 | - | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
1931 | 286.9 | -15.8 | 348 | 1937 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.054 | 3213 | 600.9 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.25 | 15.00 | 15.25 |
1986 | 295.2 | -14.8 | 358 | 1992 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.047 | 1810 | -602.1 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.16 |
2061 | 306.5 | -15.1 | 366 | 2062 | done | -0.88 | - | - | 2461 | - | - | - | 1810 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
2179 | 324.0 | -14.6 | 372 | 2185 | roll | -0.88 | - | - | 2457 | - | 2.33 | 0.054 | 3212 | 601.7 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.27 | 15.04 | 15.28 |
2215 | 327.1 | -14.3 | 373 | 2223 | done | -0.88 | 0.08 | 0.269 | 2472 | 187.5 | 2.30 | 0.047 | 1806 | -611.3 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 14.95 | 15.06 | 15.10 |
2343 | 346.2 | -13.9 | 380 | 2345 | done | -0.88 | - | - | 2472 | - | - | - | 1807 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
2462 | 362.9 | -14.0 | 386 | 2463 | done | -0.88 | - | - | 2472 | - | - | - | 1807 | - | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
2582 | 379.4 | -13.4 | 392 | 2587 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.057 | 3219 | 600.9 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.30 | 15.08 | 15.30 |
2619 | 382.5 | -13.5 | 393 | 2626 | done | -0.88 | - | - | 2472 | - | 2.30 | 0.048 | 1814 | -610.9 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.18 | 15.09 | 15.19 |
2746 | 400.8 | -13.4 | 400 | 2747 | done | -0.88 | - | - | 2473 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.30 |
2865 | 417.0 | -13.5 | 406 | 2870 | roll | -0.88 | - | - | 2470 | - | 2.33 | 0.058 | 3211 | 599.6 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 15.30 | 15.08 | 15.30 |
2901 | 420.2 | -13.8 | 407 | 2909 | done | -0.88 | - | - | 2471 | - | 2.30 | 0.049 | 1809 | -609.6 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 15.19 | 15.09 | 15.19 |
3006 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
3006 | begin apogee | ||||||||||||||||||||||||||||
3010 | 436.1 | -13.2 | 413 | 3088 | done | -0.17 | 1.17 | 0.174 | 2701 | 196.6 | - | - | 1809 | - | - | 70.35 | 1.314 | 2697 | -5.3 | 0.309 | - | - | - | - | - | - | 15.00 | 14.57 | 14.16 |
3089 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
3090 | begin climb | ||||||||||||||||||||||||||||
3091 | 439.1 | - | 417 | 3178 | roll | 0.88 | 1.55 | 0.076 | 3033 | 214.2 | 2.53 | 0.070 | 395 | -558.9 | 92.5 | 76.70 | 1.314 | 2320 | -4.9 | 0.289 | - | - | - | - | - | - | 14.70 | 14.45 | 13.94 |
3225 | 435.0 | 4.4 | 423 | 3297 | done | 0.98 | 0.08 | 0.197 | 3061 | 350.0 | 2.35 | 0.039 | 1814 | 603.8 | 170.0 | 63.92 | 1.283 | 2004 | -4.9 | 0.295 | - | - | - | - | - | - | 14.63 | 14.66 | 13.97 |
3434 | 400.4 | 17.9 | 434 | 3436 | done | 0.98 | - | - | 3061 | - | - | - | 1814 | - | 170.0 | - | - | 1997 | - | - | - | - | - | - | - | - | 14.97 | 14.97 | 14.98 |
3555 | 378.4 | 18.5 | 440 | 3556 | done | 0.98 | - | - | 3061 | - | - | - | 1814 | - | 170.0 | - | - | 1995 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.09 |
3674 | 356.2 | 18.5 | 446 | 3675 | done | 0.98 | - | - | 3061 | - | - | - | 1814 | - | 170.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
3795 | 334.0 | 18.5 | 452 | 3800 | roll | 0.98 | - | - | 3070 | - | 2.42 | 0.072 | 394 | -586.8 | 170.0 | - | - | 1992 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
3817 | 329.4 | 18.8 | 453 | 3823 | done | 0.98 | - | - | 3070 | - | 2.30 | 0.038 | 1803 | 612.6 | 170.0 | - | - | 1991 | - | - | - | - | - | - | - | - | 15.06 | 15.00 | 15.07 |
3960 | 301.9 | 18.8 | 460 | 3961 | done | 0.98 | - | - | 3070 | - | - | - | 1806 | - | 170.0 | - | - | 1990 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
4080 | 280.9 | 16.9 | 481 | 4087 | roll | 0.98 | - | - | 3070 | - | 2.30 | 0.054 | 3205 | 608.3 | 170.0 | - | - | 1989 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.22 |
4109 | 275.6 | 17.8 | 486 | 4116 | done | 0.98 | - | - | 3074 | - | 2.35 | 0.054 | 1800 | -597.9 | 170.0 | - | - | 1989 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
4178 | 263.6 | 17.3 | 499 | 4184 | done | 0.98 | - | - | 3074 | - | - | - | 1801 | - | 170.0 | - | - | 1989 | - | - | - | - | - | - | - | - | 15.21 | 15.23 | 15.22 |
4246 | 251.6 | 17.7 | 512 | 4252 | roll | 0.98 | - | - | 3074 | - | 2.33 | 0.054 | 3201 | 600.9 | 170.0 | - | - | 1989 | - | - | - | - | - | - | - | - | 15.21 | 14.96 | 15.23 |
4280 | 245.7 | 18.7 | 518 | 4286 | done | 0.98 | - | - | 3077 | - | 2.38 | 0.055 | 1792 | -592.0 | 170.0 | - | - | 1988 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.12 |
4349 | 234.3 | 17.1 | 531 | 4354 | done | 0.98 | - | - | 3077 | - | - | - | 1792 | - | 170.0 | - | - | 1988 | - | - | - | - | - | - | - | - | 15.19 | 15.23 | 15.22 |
4416 | 223.2 | 15.5 | 544 | 4423 | roll | 0.98 | - | - | 3077 | - | 2.38 | 0.073 | 392 | -588.2 | 170.0 | - | - | 1989 | - | - | - | - | - | - | - | - | 15.23 | 14.95 | 15.23 |
4430 | 221.1 | 16.3 | 546 | 4437 | done | 0.98 | - | - | 3077 | - | 2.30 | 0.038 | 1807 | 615.2 | 170.0 | - | - | 1987 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.12 |
4499 | 210.8 | 14.5 | 559 | 4505 | roll | 0.98 | - | - | 3077 | - | 2.28 | 0.052 | 3198 | 610.1 | 170.0 | - | - | 1988 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.23 |
4518 | 207.9 | 16.1 | 562 | 4524 | done | 0.98 | - | - | 3085 | - | 2.35 | 0.055 | 1800 | -594.9 | 170.0 | - | - | 1987 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.12 |
4587 | 197.2 | 16.3 | 575 | 4592 | done | 0.98 | - | - | 3085 | - | - | - | 1794 | - | 170.0 | - | - | 1987 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
4654 | 186.2 | 15.7 | 588 | 4660 | done | 0.98 | - | - | 3085 | - | - | - | 1795 | - | 170.0 | - | - | 1987 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
4722 | 175.0 | 15.8 | 601 | 4729 | roll | 0.98 | - | - | 3087 | - | 2.40 | 0.074 | 386 | -587.1 | 170.0 | - | - | 1987 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.21 |
4781 | 166.0 | 15.6 | 612 | 4789 | done | 0.98 | 0.08 | 0.321 | 3078 | -112.5 | 2.30 | 0.037 | 1805 | 617.0 | 170.0 | - | - | 1986 | - | - | - | - | - | - | - | - | 14.82 | 14.95 | 15.01 |
4850 | 155.2 | 16.2 | 625 | 4858 | roll | 0.98 | - | - | 3080 | - | 2.42 | 0.073 | 389 | -585.1 | 170.0 | - | - | 1986 | - | - | - | - | - | - | - | - | 15.20 | 14.91 | 15.21 |
4900 | 146.1 | 19.7 | 634 | 4907 | done | 0.98 | - | - | 3080 | - | 2.30 | 0.040 | 1794 | 610.9 | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.09 | 15.02 | 15.11 |
4969 | 133.1 | 16.8 | 647 | 4976 | roll | 0.98 | - | - | 3080 | - | 2.33 | 0.054 | 3209 | 607.3 | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.20 | 15.00 | 15.20 |
5032 | 123.2 | 14.9 | 659 | 5039 | done | 0.98 | - | - | 3087 | - | 2.38 | 0.053 | 1791 | -595.8 | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.08 |
5101 | 113.0 | 14.5 | 672 | 5108 | done | 0.98 | 0.05 | 0.395 | 3079 | -160.0 | - | - | 1790 | - | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 14.84 | 15.07 | 15.01 |
5170 | 101.8 | 17.4 | 685 | 5177 | roll | 0.98 | - | - | 3079 | - | 2.38 | 0.054 | 3212 | 597.5 | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.20 |
5240 | 91.2 | 14.7 | 698 | 5247 | done | 0.98 | - | - | 3085 | - | 2.38 | 0.054 | 1793 | -596.2 | 170.0 | - | - | 1984 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
5309 | 80.8 | 15.8 | 711 | 5315 | done | 0.98 | - | - | 3085 | - | - | - | 1793 | - | 170.0 | - | - | 1984 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
5377 | 70.0 | 14.4 | 724 | 5383 | done | 0.98 | - | - | 3086 | - | - | - | 1793 | - | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.20 |
5444 | 61.4 | 13.2 | 737 | 5450 | done | 0.98 | - | - | 3086 | - | - | - | 1793 | - | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
5512 | 52.0 | 10.3 | 750 | 5519 | roll | 0.98 | - | - | 3085 | - | 2.35 | 0.054 | 3208 | 602.1 | 170.0 | - | - | 1985 | - | - | - | - | - | - | - | - | 15.20 | 14.96 | 15.20 |
5661 | 39.3 | 7.4 | 779 | 5696 | done | 1.02 | - | - | 3091 | - | 2.35 | 0.051 | 1796 | -600.9 | 205.5 | 26.35 | 0.894 | 1859 | -4.8 | 0.037 | - | - | - | - | - | - | 15.06 | 14.99 | 14.47 |
5758 | 29.6 | 15.9 | 797 | 5764 | done | 1.02 | - | - | 3090 | - | - | - | 1796 | - | 205.5 | - | - | 1855 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.10 |
5827 | 21.1 | 9.8 | 810 | 5834 | roll | 1.02 | - | - | 3090 | - | 2.38 | 0.054 | 3211 | 594.5 | 208.2 | - | - | 1853 | - | - | - | - | - | - | - | - | 15.11 | 14.89 | 15.11 |
6014 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
6014 | begin surface coast | ||||||||||||||||||||||||||||
6040 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6040 | begin surface | ||||||||||||||||||||||||||||
SM | 0.73 | - | - | - | - | -8.18 | 13.77 | 0.044 | 122 | 8.9 | 2.38 | 0.047 | 1809 | -1070.2 | 515.37 | 194.27 | 0.806 | 600 | 3.1 | -0.000 | - | - | - | - | - | - |