• Previous call tries 1 | • 67.12 of 310.00 AH used of 24V (78.35% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -69.0 deg, depth 0.93 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
• VBD pumped to 515.37 (SM_CC=515.36688) | ||
• GPS1 time: 6 s | • bottom range 31.3 m at 225.4 m, depth 257 m (500 m grid) | |
• GPS2 time: 7 s | • Transponder ping count: 19 | |
• 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 | - | - | - | 107 | VBD | -0.88 | - | - | 68 | - | - | - | 1830 | - | -92.5 | -83.85 | - | 2846 | - | - | - | - | - | - | - | - | 15.07 | - | 15.08 |
110 | 3.5 | -7.2 | 15 | 136 | done | -0.88 | 13.73 | 0.288 | 2466 | 174.7 | - | - | 1831 | - | -92.5 | -4.20 | - | 3081 | -56.0 | - | - | - | - | - | - | - | 14.73 | 13.99 | 14.95 |
197 | 30.8 | -25.9 | 31 | 204 | roll | -0.88 | - | - | 2467 | - | 2.40 | 0.062 | 404 | -594.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.14 | 14.92 | 15.14 |
225 | 38.4 | -27.0 | 36 | 233 | done | -0.88 | 0.05 | 0.358 | 2468 | - | 2.30 | 0.037 | 1810 | 611.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.78 | 14.92 | 14.95 |
295 | 52.6 | -20.3 | 49 | 302 | roll | -0.88 | - | - | 2459 | - | 2.33 | 0.054 | 3224 | 606.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.16 | 14.88 | 15.16 |
319 | 58.1 | -22.6 | 53 | 327 | done | -0.88 | 0.05 | 0.323 | 2469 | 200.0 | 2.33 | 0.045 | 1809 | -607.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.78 | 14.92 | 14.95 |
391 | 69.3 | -14.9 | 66 | 398 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.050 | 3225 | 602.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
450 | 78.4 | -14.7 | 77 | 457 | done | -0.88 | - | - | 2464 | - | 2.35 | 0.044 | 1804 | -604.7 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.03 |
521 | 89.0 | -15.3 | 90 | 530 | done | -0.88 | - | - | 2463 | - | - | - | 1803 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
592 | 98.8 | -13.3 | 103 | 598 | done | -0.88 | - | - | 2463 | - | - | - | 1803 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
661 | 109.2 | -17.2 | 116 | 668 | roll | -0.88 | - | - | 2453 | - | 2.35 | 0.050 | 3223 | 604.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.21 |
690 | 113.8 | -14.4 | 121 | 699 | done | -0.88 | 0.08 | 0.265 | 2469 | 200.0 | 2.33 | 0.044 | 1805 | -608.6 | -92.5 | - | - | 3083 | - | - | - | - | - | - | - | - | 14.89 | 14.99 | 15.03 |
761 | 123.1 | -13.7 | 134 | 768 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.063 | 401 | -597.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
809 | 129.7 | -13.7 | 143 | 817 | done | -0.88 | - | - | 2467 | - | 2.28 | 0.037 | 1813 | 619.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
880 | 137.8 | -10.1 | 156 | 886 | roll | -0.88 | - | - | 2467 | - | 2.30 | 0.054 | 3215 | 609.6 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.22 | 14.98 | 15.22 |
978 | 148.5 | -11.8 | 175 | 985 | done | -0.88 | - | - | 2467 | - | 2.28 | 0.044 | 1810 | -616.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.13 |
1049 | 157.0 | -11.9 | 188 | 1055 | roll | -0.88 | - | - | 2458 | - | 2.33 | 0.050 | 3226 | 607.7 | -92.5 | - | - | 3082 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.23 |
1092 | 163.2 | -14.7 | 196 | 1100 | done | -0.88 | 0.08 | 0.262 | 2473 | 187.5 | 2.33 | 0.047 | 1812 | -606.9 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.92 | 15.03 | 15.07 |
1163 | 173.5 | -14.9 | 209 | 1170 | done | -0.88 | - | - | 2472 | - | - | - | 1812 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
1233 | 184.8 | -15.3 | 222 | 1240 | done | -0.88 | - | - | 2473 | - | - | - | 1808 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
1304 | 200.6 | -23.9 | 235 | 1310 | done | -0.88 | - | - | 2473 | - | - | - | 1809 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
1374 | 210.8 | -11.2 | 248 | 1380 | done | -0.88 | - | - | 2473 | - | - | - | 1808 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
1443 | 219.7 | -16.2 | 261 | 1450 | done | -0.88 | - | - | 2473 | - | - | - | 1808 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.25 |
1515 | 228.7 | -9.5 | 274 | 1522 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.051 | 3220 | 606.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.26 |
1540 | 230.9 | -8.8 | 278 | 1547 | done | -0.88 | - | - | 2468 | - | 2.30 | 0.042 | 1808 | -613.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.11 |
1609 | 236.8 | -7.6 | 291 | 1616 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.050 | 3218 | 605.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.26 | 14.98 | 15.26 |
1649 | 239.1 | -5.8 | 298 | 1656 | done | -0.88 | 0.03 | 0.474 | 2469 | 300.0 | 2.30 | 0.045 | 1811 | -611.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.85 | 14.98 | 15.04 |
1719 | 245.7 | -11.0 | 311 | 1724 | done | -0.88 | - | - | 2469 | - | - | - | 1811 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.27 | 15.27 | 15.27 |
1729 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
1729 | begin apogee | ||||||||||||||||||||||||||||
1733 | 247.1 | -12.0 | 313 | 1809 | done | -0.17 | 1.12 | 0.167 | 2695 | 201.8 | - | - | 1810 | - | - | 68.75 | 1.056 | 2701 | -5.5 | 0.226 | - | - | - | - | - | - | 14.94 | 14.76 | 14.32 |
1812 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
1812 | begin climb | ||||||||||||||||||||||||||||
1813 | 250.4 | - | 326 | 1897 | roll | 0.88 | 1.52 | 0.079 | 3026 | 217.8 | 2.42 | 0.047 | 3215 | 580.6 | 92.5 | 74.32 | 1.056 | 2320 | -5.1 | 0.213 | - | - | - | - | - | - | 14.73 | 14.57 | 14.14 |
1949 | 241.8 | 11.8 | 349 | 1957 | done | 0.88 | - | - | 3030 | - | 2.40 | 0.047 | 1795 | -591.7 | 92.5 | - | - | 2316 | - | - | - | - | - | - | - | - | 14.78 | 14.69 | 14.78 |
2020 | 232.9 | 13.0 | 362 | 2026 | done | 0.88 | - | - | 3030 | - | - | - | 1795 | - | 92.5 | - | - | 2315 | - | - | - | - | - | - | - | - | 15.02 | 15.03 | 15.03 |
2087 | 225.2 | 10.5 | 375 | 2094 | roll | 0.88 | - | - | 3030 | - | 2.33 | 0.048 | 3207 | 606.0 | 92.5 | - | - | 2314 | - | - | - | - | - | - | - | - | 15.09 | 14.88 | 15.09 |
2162 | 217.7 | 9.7 | 389 | 2169 | done | 0.88 | - | - | 3033 | - | 2.33 | 0.047 | 1799 | -604.3 | 96.1 | - | - | 2313 | - | - | - | - | - | - | - | - | 15.01 | 14.92 | 15.02 |
2233 | 211.4 | 8.6 | 402 | 2258 | roll | 0.91 | - | - | 3033 | - | 2.38 | 0.048 | 3206 | 591.2 | 114.6 | 17.98 | 0.963 | 2230 | -4.6 | 0.178 | - | - | - | - | - | - | 15.14 | 14.87 | 14.38 |
2325 | 200.7 | 13.1 | 419 | 2332 | done | 0.91 | - | - | 3037 | - | 2.35 | 0.050 | 1797 | -599.6 | 114.6 | - | - | 2229 | - | - | - | - | - | - | - | - | 15.01 | 14.92 | 15.01 |
2395 | 191.7 | 11.9 | 432 | 2401 | roll | 0.91 | - | - | 3037 | - | 2.38 | 0.069 | 398 | -587.8 | 114.6 | - | - | 2227 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.14 |
2453 | 186.0 | 9.5 | 443 | 2466 | done | 0.92 | - | - | 3037 | - | 2.30 | 0.037 | 1812 | 614.8 | 121.6 | 6.47 | 0.788 | 2204 | -3.6 | 0.147 | - | - | - | - | - | - | 15.05 | 14.97 | 14.45 |
2528 | 177.7 | 10.9 | 457 | 2536 | roll | 0.92 | - | - | 3036 | - | 2.28 | 0.049 | 3200 | 608.8 | 121.6 | - | - | 2201 | - | - | - | - | - | - | - | - | 15.14 | 14.95 | 15.15 |
2613 | 168.2 | 11.1 | 473 | 2620 | done | 0.92 | - | - | 3037 | - | 2.33 | 0.048 | 1800 | -600.9 | 121.6 | - | - | 2200 | - | - | - | - | - | - | - | - | 15.07 | 14.96 | 15.07 |
2684 | 161.6 | 9.4 | 486 | 2697 | roll | 0.93 | - | - | 3037 | - | 2.35 | 0.047 | 3200 | 595.7 | 130.1 | 8.00 | 0.812 | 2169 | -3.9 | 0.135 | - | - | - | - | - | - | 15.18 | 14.96 | 14.47 |
2733 | 155.9 | 11.0 | 495 | 2740 | done | 0.93 | - | - | 3037 | - | 2.33 | 0.050 | 1801 | -600.4 | 130.1 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.00 | 14.90 | 15.00 |
2803 | 149.0 | 9.8 | 508 | 2810 | roll | 0.93 | - | - | 3037 | - | 2.33 | 0.049 | 3208 | 603.9 | 132.3 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.17 | 14.94 | 15.17 |
2922 | 137.2 | 9.8 | 531 | 2935 | done | 0.93 | - | - | 3040 | - | 2.35 | 0.050 | 1794 | -601.7 | 134.8 | 4.93 | 0.665 | 2149 | -3.7 | 0.132 | - | - | - | - | - | - | 15.08 | 14.99 | 14.49 |
2997 | 130.6 | 6.8 | 545 | 3040 | roll | 0.99 | 0.08 | 0.204 | 3081 | 512.5 | 2.45 | 0.068 | 384 | -575.5 | 179.4 | 36.28 | 0.939 | 1966 | -5.0 | 0.123 | - | - | - | - | - | - | 14.92 | 14.78 | 14.41 |
3062 | 122.5 | 15.4 | 556 | 3068 | done | 0.99 | - | - | 3081 | - | 2.30 | 0.034 | 1798 | 614.8 | 179.4 | - | - | 1962 | - | - | - | - | - | - | - | - | 14.95 | 14.87 | 14.95 |
3131 | 110.4 | 18.5 | 569 | 3137 | done | 0.99 | - | - | 3081 | - | - | - | 1801 | - | 179.4 | - | - | 1961 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
3199 | 98.3 | 18.1 | 582 | 3206 | roll | 0.99 | - | - | 3081 | - | 2.30 | 0.050 | 3199 | 607.8 | 179.4 | - | - | 1960 | - | - | - | - | - | - | - | - | 15.14 | 14.88 | 15.12 |
3253 | 87.0 | 20.9 | 592 | 3260 | done | 0.99 | - | - | 3084 | - | 2.33 | 0.050 | 1801 | -600.0 | 179.4 | - | - | 1958 | - | - | - | - | - | - | - | - | 15.03 | 14.94 | 15.04 |
3322 | 75.7 | 16.3 | 605 | 3328 | done | 0.99 | - | - | 3084 | - | - | - | 1800 | - | 179.4 | - | - | 1959 | - | - | - | - | - | - | - | - | 15.15 | 15.16 | 15.16 |
3390 | 65.3 | 14.0 | 618 | 3396 | done | 0.99 | - | - | 3084 | - | - | - | 1800 | - | 179.4 | - | - | 1957 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.18 |
3458 | 55.7 | 15.2 | 631 | 3464 | roll | 0.99 | - | - | 3085 | - | 2.30 | 0.050 | 3200 | 608.7 | 179.4 | - | - | 1957 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
3647 | 34.9 | 4.9 | 668 | 3706 | done | 1.07 | - | - | 3093 | - | 2.33 | 0.049 | 1792 | -604.3 | 249.8 | 52.80 | 0.843 | 1679 | -5.3 | 0.038 | - | - | - | - | - | - | 15.09 | 15.00 | 14.43 |
3769 | 24.7 | 11.2 | 690 | 3776 | roll | 1.07 | - | - | 3102 | - | 2.38 | 0.064 | 393 | -587.8 | 249.8 | - | - | 1676 | - | - | - | - | - | - | - | - | 15.05 | 14.81 | 15.05 |
3793 | 21.7 | 12.4 | 694 | 3800 | done | 1.07 | - | - | 3102 | - | 2.30 | 0.035 | 1813 | 617.4 | 249.8 | - | - | 1674 | - | - | - | - | - | - | - | - | 14.91 | 14.85 | 14.92 |
3863 | 15.6 | 8.1 | 707 | 3882 | roll | 1.11 | - | - | 3102 | - | 2.30 | 0.041 | 3203 | 604.3 | 275.5 | 14.57 | 0.863 | 1575 | -6.8 | 0.022 | - | - | - | - | - | - | 15.10 | 14.87 | 14.41 |
3963 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
3964 | begin surface coast | ||||||||||||||||||||||||||||
3975 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
3975 | begin surface | ||||||||||||||||||||||||||||
SM | 0.88 | - | - | - | - | -8.18 | 13.80 | 0.044 | 127 | 9.1 | 2.35 | 0.047 | 1818 | -3694.5 | 515.37 | 142.80 | 0.781 | 598 | 4.2 | -0.000 | - | - | - | - | - | - |