• Previous call tries 1 | • 36.71 of 310.00 AH used of 24V (88.16% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -70.4 deg, depth 1.32 m | • Intended pitch -18.2 deg, speed -9.980 cm/s | |
• No surface pump (final VBD was 340.47, SM_CC=290) | • surface range 19.3 m at 19.7 m depth, ceiling 0.4 m | |
• GPS1 time: 73 s | • bottom range 29.3 m at 220.1 m, depth 249 m (500 m grid) | |
• GPS2 time: 38 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 | - | - | - | 65 | VBD | -0.85 | - | - | 73 | - | - | - | 2146 | - | -146.0 | -45.50 | - | 2918 | - | - | - | - | - | - | - | - | 15.08 | - | 15.09 |
66 | 3.2 | -7.8 | 8 | 95 | roll | -0.85 | 11.88 | 0.279 | 2195 | 178.6 | 2.33 | 0.087 | 3516 | 588.0 | -146.0 | -8.98 | - | 3410 | -54.8 | - | - | - | - | - | - | - | 14.76 | 14.02 | 14.90 |
99 | 14.7 | -31.0 | 14 | 106 | done | -0.85 | 0.05 | 0.274 | 2206 | 220.0 | 2.30 | 0.038 | 2113 | -610.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.78 | 14.90 | 14.90 |
166 | 29.1 | -20.5 | 27 | 172 | roll | -0.85 | - | - | 2197 | - | 2.38 | 0.070 | 3524 | 592.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.11 | 14.92 | 15.11 |
191 | 34.1 | -20.1 | 32 | 198 | done | -0.85 | 0.05 | 0.260 | 2208 | 220.0 | 2.28 | 0.038 | 2136 | -608.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.82 | 14.92 | 14.93 |
258 | 46.9 | -20.0 | 45 | 264 | roll | -0.85 | - | - | 2209 | - | 2.33 | 0.065 | 729 | -603.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.14 |
293 | 53.8 | -18.5 | 52 | 300 | done | -0.85 | - | - | 2202 | - | 2.28 | 0.048 | 2104 | 603.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.96 | 14.92 | 14.98 |
359 | 65.5 | -17.8 | 65 | 366 | roll | -0.85 | - | - | 2193 | - | 2.42 | 0.070 | 3546 | 595.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 14.96 | 15.16 |
400 | 73.2 | -19.1 | 73 | 407 | done | -0.85 | 0.05 | 0.255 | 2206 | 260.0 | 2.33 | 0.039 | 2128 | -608.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.86 | 14.97 | 14.97 |
467 | 85.1 | -17.8 | 86 | 472 | done | -0.85 | - | - | 2206 | - | - | - | 2127 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
531 | 96.4 | -17.5 | 99 | 538 | roll | -0.85 | - | - | 2206 | - | 2.35 | 0.065 | 733 | -593.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 14.96 | 15.17 |
562 | 101.8 | -17.7 | 105 | 569 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.048 | 2128 | 606.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.02 | 14.98 | 15.04 |
628 | 113.0 | -16.3 | 118 | 634 | roll | -0.85 | - | - | 2200 | - | 2.38 | 0.073 | 3545 | 595.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
678 | 121.0 | -15.7 | 128 | 685 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.037 | 2135 | -605.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.02 | 14.97 | 15.04 |
746 | 130.7 | -14.6 | 141 | 751 | roll | -0.85 | - | - | 2200 | - | 2.35 | 0.066 | 713 | -605.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 15.00 | 15.17 |
780 | 136.0 | -15.1 | 148 | 788 | done | -0.85 | 0.05 | 0.267 | 2209 | 180.0 | 2.35 | 0.047 | 2139 | 606.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.00 |
847 | 145.2 | -13.8 | 161 | 854 | roll | -0.85 | - | - | 2203 | - | 2.38 | 0.071 | 3531 | 584.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.20 | 14.95 | 15.20 |
902 | 153.5 | -13.8 | 172 | 910 | done | -0.85 | - | - | 2203 | - | 2.30 | 0.037 | 2128 | -610.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.01 | 14.97 | 15.02 |
969 | 162.8 | -14.8 | 185 | 975 | roll | -0.85 | - | - | 2194 | - | 2.38 | 0.069 | 3538 | 592.4 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
984 | 165.0 | -13.8 | 188 | 992 | done | -0.85 | 0.05 | 0.246 | 2207 | 260.0 | 2.33 | 0.037 | 2121 | -608.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.01 |
1051 | 174.2 | -13.5 | 201 | 1058 | roll | -0.85 | - | - | 2207 | - | 2.35 | 0.065 | 725 | -594.0 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
1082 | 178.6 | -14.1 | 207 | 1088 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.047 | 2123 | 607.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.06 | 15.01 | 15.07 |
1148 | 187.6 | -13.8 | 220 | 1154 | roll | -0.85 | - | - | 2200 | - | 2.38 | 0.072 | 3541 | 595.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 14.99 | 15.21 |
1198 | 194.2 | -12.5 | 230 | 1205 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.036 | 2132 | -612.6 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.04 | 15.00 | 15.05 |
1265 | 202.5 | -12.5 | 243 | 1271 | roll | -0.85 | - | - | 2201 | - | 2.40 | 0.071 | 3549 | 590.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.22 |
1280 | 204.4 | -12.7 | 246 | 1287 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.035 | 2127 | -610.3 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.07 | 15.02 | 15.08 |
1347 | 213.3 | -14.0 | 259 | 1353 | roll | -0.85 | - | - | 2200 | - | 2.38 | 0.070 | 3542 | 594.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.22 |
1372 | 217.0 | -14.1 | 264 | 1379 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.037 | 2125 | -616.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.06 | 15.02 | 15.08 |
1438 | 226.2 | -14.1 | 277 | 1443 | done | -0.85 | - | - | 2200 | - | - | - | 2126 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
1503 | 235.5 | -13.3 | 290 | 1509 | roll | -0.85 | - | - | 2200 | - | 2.40 | 0.071 | 3548 | 592.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
1537 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
1537 | begin apogee | ||||||||||||||||||||||||||||
1543 | 239.8 | -12.9 | 297 | 1658 | done | -0.19 | 1.08 | 0.149 | 2423 | 206.5 | - | - | 1908 | - | - | 108.25 | 1.257 | 2810 | -5.6 | 0.186 | - | - | - | - | - | - | 14.96 | 14.58 | 14.05 |
1659 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
1659 | begin climb | ||||||||||||||||||||||||||||
1660 | 245.2 | - | 318 | 1776 | roll | 0.85 | 1.52 | 0.083 | 2762 | 223.0 | 2.38 | 0.070 | 501 | -591.2 | 146.0 | 108.20 | 1.245 | 2214 | -5.5 | 0.190 | - | - | - | - | - | - | 14.58 | 14.44 | 13.97 |
1870 | 238.4 | 9.2 | 357 | 1889 | done | 0.88 | - | - | 2762 | - | 2.35 | 0.042 | 1917 | 602.6 | 163.0 | 14.18 | 1.145 | 2146 | -4.8 | 0.175 | - | - | - | - | - | - | 14.77 | 14.73 | 14.19 |
1949 | 231.0 | 9.3 | 372 | 1966 | roll | 0.89 | - | - | 2762 | - | 2.35 | 0.062 | 3310 | 592.8 | 177.3 | 12.02 | 1.089 | 2089 | -4.7 | 0.177 | - | - | - | - | - | - | 14.95 | 14.64 | 14.21 |
2055 | 220.7 | 9.8 | 393 | 2068 | done | 0.90 | - | - | 2770 | - | 2.35 | 0.044 | 1904 | -598.3 | 181.9 | 5.20 | 0.843 | 2070 | -3.7 | 0.168 | - | - | - | - | - | - | 14.83 | 14.79 | 14.30 |
2127 | 213.9 | 9.7 | 407 | 2139 | done | 0.91 | - | - | 2770 | - | - | - | 1904 | - | 188.1 | 6.47 | 1.004 | 2044 | -4.0 | 0.150 | - | - | - | - | - | - | 15.05 | 14.74 | 14.32 |
2199 | 206.7 | 10.2 | 421 | 2205 | roll | 0.91 | - | - | 2770 | - | 2.38 | 0.063 | 3314 | 592.4 | 188.1 | - | - | 2043 | - | - | - | - | - | - | - | - | 15.06 | 14.86 | 15.07 |
2284 | 196.7 | 11.8 | 438 | 2291 | done | 0.91 | - | - | 2776 | - | 2.35 | 0.044 | 1905 | -599.6 | 188.1 | - | - | 2043 | - | - | - | - | - | - | - | - | 14.96 | 14.92 | 14.97 |
2350 | 189.6 | 10.2 | 451 | 2357 | roll | 0.91 | - | - | 2783 | - | 2.33 | 0.074 | 503 | -601.7 | 188.1 | - | - | 2042 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.12 |
2391 | 185.7 | 9.7 | 459 | 2403 | done | 0.91 | - | - | 2782 | - | 2.30 | 0.042 | 1907 | 610.4 | 194.4 | 6.43 | 1.003 | 2020 | -3.4 | 0.111 | - | - | - | - | - | - | 14.95 | 14.90 | 14.38 |
2462 | 178.3 | 10.0 | 473 | 2469 | roll | 0.91 | - | - | 2783 | - | 2.38 | 0.064 | 3314 | 591.2 | 194.4 | - | - | 2015 | - | - | - | - | - | - | - | - | 15.12 | 14.91 | 15.13 |
2553 | 168.7 | 9.9 | 491 | 2560 | done | 0.92 | - | - | 2786 | - | 2.33 | 0.044 | 1914 | -600.9 | 195.9 | - | - | 2016 | - | - | - | - | - | - | - | - | 15.00 | 14.96 | 15.02 |
2620 | 162.8 | 8.9 | 504 | 2648 | roll | 0.94 | - | - | 2787 | - | 2.42 | 0.075 | 500 | -584.3 | 218.8 | 20.40 | 1.139 | 1917 | -4.9 | 0.122 | - | - | - | - | - | - | 15.14 | 14.79 | 14.36 |
2652 | 159.8 | 8.7 | 510 | 2681 | done | 0.98 | - | - | 2786 | - | 2.33 | 0.041 | 1915 | 607.3 | 247.0 | 23.40 | 1.150 | 1803 | -4.9 | 0.119 | - | - | - | - | - | - | 14.89 | 14.85 | 14.26 |
2740 | 150.7 | 10.4 | 527 | 2747 | roll | 0.98 | - | - | 2787 | - | 2.38 | 0.063 | 3306 | 584.5 | 247.0 | - | - | 1800 | - | - | - | - | - | - | - | - | 15.00 | 14.76 | 15.00 |
2781 | 146.6 | 11.2 | 535 | 2787 | done | 0.98 | - | - | 2787 | - | 2.33 | 0.045 | 1914 | -597.4 | 247.0 | - | - | 1799 | - | - | - | - | - | - | - | - | 14.86 | 14.82 | 14.87 |
2847 | 139.5 | 10.6 | 548 | 2852 | done | 0.98 | - | - | 2787 | - | - | - | 1918 | - | 247.0 | - | - | 1799 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
2912 | 132.6 | 10.5 | 561 | 2918 | roll | 0.98 | - | - | 2787 | - | 2.38 | 0.062 | 3298 | 579.8 | 247.0 | - | - | 1798 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.11 |
2942 | 129.1 | 11.2 | 567 | 2949 | done | 0.98 | - | - | 2787 | - | 2.33 | 0.045 | 1911 | -595.3 | 247.0 | - | - | 1799 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.97 |
3009 | 122.4 | 9.6 | 580 | 3021 | roll | 0.99 | - | - | 2787 | - | 2.42 | 0.076 | 505 | -581.0 | 256.2 | 8.10 | 0.961 | 1766 | -4.1 | 0.091 | - | - | - | - | - | - | 15.12 | 14.88 | 14.41 |
3045 | 119.0 | 8.8 | 587 | 3074 | done | 1.02 | - | - | 2787 | - | 2.30 | 0.041 | 1907 | 609.6 | 281.3 | 21.42 | 1.095 | 1664 | -4.8 | 0.091 | - | - | - | - | - | - | 14.92 | 14.88 | 14.32 |
3133 | 110.4 | 10.1 | 604 | 3139 | done | 1.02 | - | - | 2786 | - | - | - | 1908 | - | 281.3 | - | - | 1662 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.04 |
3198 | 103.5 | 10.5 | 617 | 3205 | roll | 1.02 | 0.03 | 0.455 | 2825 | 1300.0 | 2.38 | 0.064 | 3306 | 587.4 | 281.3 | - | - | 1661 | - | - | - | - | - | - | - | - | 14.81 | 14.88 | 14.92 |
3229 | 99.8 | 12.4 | 623 | 3236 | done | 1.02 | - | - | 2828 | - | 2.33 | 0.045 | 1916 | -596.6 | 281.3 | - | - | 1661 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.97 |
3296 | 91.8 | 11.8 | 636 | 3302 | roll | 1.02 | - | - | 2828 | - | 2.40 | 0.077 | 499 | -590.4 | 281.3 | - | - | 1660 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.11 |
3336 | 87.4 | 12.0 | 644 | 3343 | done | 1.02 | - | - | 2827 | - | 2.33 | 0.043 | 1913 | 606.9 | 281.3 | - | - | 1659 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.96 |
3403 | 80.0 | 10.9 | 657 | 3408 | done | 1.02 | - | - | 2828 | - | - | - | 1914 | - | 281.3 | - | - | 1660 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
3467 | 72.6 | 11.1 | 670 | 3468 | done | 1.02 | - | - | 2832 | - | - | - | 1914 | - | 281.3 | - | - | 1660 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
3527 | 66.2 | 10.7 | 682 | 3534 | roll | 1.02 | - | - | 2828 | - | 2.38 | 0.063 | 3308 | 585.7 | 281.3 | - | - | 1660 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.16 |
3548 | 63.8 | 11.8 | 686 | 3555 | done | 1.02 | - | - | 2828 | - | 2.33 | 0.045 | 1914 | -598.3 | 281.3 | - | - | 1659 | - | - | - | - | - | - | - | - | 15.01 | 14.97 | 15.03 |
3614 | 57.2 | 10.6 | 699 | 3620 | done | 1.02 | - | - | 2829 | - | - | - | 1913 | - | 281.3 | - | - | 1659 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
3679 | 50.2 | 11.2 | 712 | 3680 | done | 1.02 | - | - | 2828 | - | - | - | 1913 | - | 281.3 | - | - | 1659 | - | - | - | - | - | - | - | - | 15.17 | 15.17 | 15.17 |
3739 | 43.7 | 10.7 | 724 | 3740 | done | 1.02 | - | - | 2828 | - | - | - | 1913 | - | 281.3 | - | - | 1659 | - | - | - | - | - | - | - | - | 15.17 | 15.16 | 15.18 |
3799 | 37.6 | 9.9 | 736 | 3806 | roll | 1.02 | - | - | 2828 | - | 2.42 | 0.076 | 499 | -584.3 | 283.2 | - | - | 1658 | - | - | - | - | - | - | - | - | 15.18 | 14.97 | 15.18 |
3810 | 36.6 | 9.4 | 738 | 3828 | done | 1.04 | - | - | 2828 | - | 2.30 | 0.041 | 1910 | 613.5 | 295.9 | 12.70 | 0.959 | 1603 | -4.3 | 0.029 | - | - | - | - | - | - | 15.04 | 14.99 | 14.46 |
3887 | 29.2 | 10.1 | 753 | 3894 | roll | 1.04 | - | - | 2828 | - | 2.40 | 0.076 | 495 | -589.6 | 295.9 | - | - | 1602 | - | - | - | - | - | - | - | - | 15.14 | 14.93 | 15.15 |
3918 | 25.9 | 11.0 | 759 | 3925 | done | 1.04 | - | - | 2828 | - | 2.30 | 0.041 | 1904 | 612.6 | 295.9 | - | - | 1602 | - | - | - | - | - | - | - | - | 15.00 | 14.96 | 15.01 |
3984 | 19.2 | 9.5 | 772 | 3997 | roll | 1.05 | - | - | 2828 | - | 2.33 | 0.062 | 3300 | 599.1 | 306.5 | 6.45 | 0.830 | 1560 | -6.5 | 0.026 | - | - | - | - | - | - | 15.14 | 14.86 | 14.47 |
4031 | 15.3 | 9.0 | 781 | 4049 | done | 1.08 | - | - | 2828 | - | 2.33 | 0.046 | 1907 | -597.9 | 327.8 | 13.07 | 0.890 | 1474 | -6.6 | 0.020 | - | - | - | - | - | - | 14.95 | 14.90 | 14.48 |
4108 | 7.9 | 9.5 | 796 | 4121 | roll | 1.09 | - | - | 2829 | - | 2.38 | 0.078 | 496 | -592.9 | 338.2 | 5.70 | 0.716 | 1431 | -7.5 | 0.015 | - | - | - | - | - | - | 15.11 | 14.88 | 14.47 |
4158 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
4158 | begin surface coast | ||||||||||||||||||||||||||||
4189 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4189 | begin surface | ||||||||||||||||||||||||||||
SM | 1.14 | - | - | - | - | -7.31 | 12.35 | 0.047 | 124 | 10.0 | 2.70 | 0.044 | 2124 | -3197.0 | 340.47 | - | - | 1423 | - | - | - | - | - | - | - | - |