prev dive
*
next dive
* dive
| • Previous call tries 1 | • 70.97 of 310.00 AH used of 24V (77.11% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.2 deg, depth 0.85 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 35.4 m at 407.0 m, depth 442 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 17 | |
| • 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 | |||||
| 19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19 | begin dive | ||||||||||||||||||||||||||||
| 21 | - | - | - | 112 | VBD | -0.88 | - | - | 54 | - | - | - | 1798 | - | -92.5 | -88.07 | - | 2968 | - | - | - | - | - | - | - | - | 15.06 | - | 15.07 |
| 114 | 3.8 | -8.2 | 15 | 140 | roll | -0.88 | 13.90 | 0.291 | 2467 | 173.6 | 2.33 | 0.075 | 403 | -598.7 | -92.5 | -1.90 | - | 3079 | -58.4 | - | - | - | - | - | - | - | 14.69 | 13.85 | 14.90 |
| 243 | 43.8 | -19.0 | 39 | 250 | done | -0.88 | 0.05 | 0.358 | 2469 | - | 2.30 | 0.037 | 1806 | 610.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.76 | 14.92 | 14.95 |
| 314 | 54.7 | -15.1 | 52 | 321 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 384 | 64.7 | -14.8 | 65 | 392 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.053 | 3217 | 604.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.15 | 14.88 | 15.15 |
| 455 | 75.2 | -15.1 | 78 | 463 | done | -0.88 | 0.05 | 0.321 | 2470 | 200.0 | 2.33 | 0.044 | 1807 | -605.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.76 | 14.89 | 14.93 |
| 526 | 85.6 | -14.4 | 91 | 533 | roll | -0.88 | - | - | 2470 | - | 2.35 | 0.063 | 408 | -595.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.18 | 14.92 | 15.18 |
| 545 | 88.7 | -15.1 | 94 | 552 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.037 | 1810 | 614.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.99 | 14.91 | 15.00 |
| 616 | 99.1 | -15.2 | 107 | 623 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.056 | 3216 | 603.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.18 | 14.93 | 15.18 |
| 676 | 107.7 | -12.4 | 118 | 684 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.045 | 1805 | -605.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.05 |
| 747 | 116.6 | -13.3 | 131 | 754 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.062 | 405 | -595.7 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.20 |
| 820 | 127.9 | -16.2 | 145 | 828 | done | -0.88 | 0.08 | 0.288 | 2469 | 75.0 | 2.30 | 0.037 | 1822 | 616.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.82 | 14.95 | 14.97 |
| 890 | 138.2 | -13.7 | 158 | 897 | roll | -0.88 | - | - | 2460 | - | 2.30 | 0.054 | 3219 | 607.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.20 |
| 950 | 146.1 | -12.6 | 169 | 958 | done | -0.88 | 0.03 | 0.467 | 2469 | 300.0 | 2.33 | 0.044 | 1802 | -608.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.80 | 14.94 | 14.97 |
| 1021 | 156.0 | -14.0 | 182 | 1028 | done | -0.88 | - | - | 2469 | - | - | - | 1802 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 1092 | 165.3 | -13.2 | 195 | 1098 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.048 | 3219 | 608.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.20 | 15.00 | 15.21 |
| 1105 | 167.4 | -14.3 | 197 | 1112 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.051 | 1818 | -601.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.03 | 14.93 | 15.04 |
| 1174 | 176.9 | -12.9 | 210 | 1181 | roll | -0.88 | - | - | 2454 | - | 2.33 | 0.053 | 3215 | 599.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.00 | 15.20 |
| 1213 | 182.0 | -12.3 | 217 | 1221 | done | -0.88 | 0.08 | 0.264 | 2469 | 187.5 | 2.33 | 0.045 | 1799 | -607.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.89 | 15.00 | 15.04 |
| 1284 | 190.5 | -12.5 | 230 | 1292 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.052 | 3214 | 602.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.19 |
| 1298 | 192.4 | -12.2 | 232 | 1305 | done | -0.88 | - | - | 2470 | - | 2.30 | 0.045 | 1812 | -609.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
| 1370 | 200.5 | -11.8 | 245 | 1377 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.054 | 3215 | 602.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.21 |
| 1413 | 206.1 | -12.4 | 253 | 1420 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.044 | 1811 | -610.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
| 1485 | 215.5 | -14.3 | 266 | 1493 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.062 | 408 | -597.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 14.94 | 15.23 |
| 1505 | 218.3 | -13.3 | 269 | 1512 | done | -0.88 | 0.03 | 0.532 | 2468 | 200.0 | 2.28 | 0.037 | 1811 | 615.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.77 | 14.95 | 14.97 |
| 1576 | 228.2 | -13.6 | 282 | 1583 | roll | -0.88 | - | - | 2461 | - | 2.30 | 0.051 | 3217 | 611.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 14.98 | 15.23 |
| 1607 | 232.1 | -13.0 | 287 | 1613 | done | -0.88 | - | - | 2460 | - | 2.33 | 0.045 | 1805 | -606.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.11 |
| 1680 | 241.6 | -13.7 | 300 | 1686 | done | -0.88 | 0.03 | 0.513 | 2469 | 300.0 | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.89 | 15.08 | 15.05 |
| 1749 | 251.3 | -14.9 | 313 | 1756 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.063 | 408 | -594.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1787 | 257.8 | -17.3 | 320 | 1794 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.037 | 1820 | 613.9 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.13 |
| 1857 | 268.8 | -15.2 | 333 | 1864 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.055 | 3222 | 601.7 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.01 | 15.24 |
| 1912 | 276.8 | -14.2 | 343 | 1919 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.045 | 1807 | -607.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 1983 | 287.0 | -14.4 | 356 | 1989 | done | -0.88 | - | - | 2468 | - | - | - | 1807 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
| 2053 | 297.1 | -15.0 | 369 | 2060 | roll | -0.88 | - | - | 2455 | - | 2.35 | 0.053 | 3224 | 603.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 2121 | 306.5 | -13.9 | 375 | 2127 | done | -0.88 | 0.08 | 0.265 | 2470 | 187.5 | 2.33 | 0.047 | 1805 | -609.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.92 | 15.03 | 15.07 |
| 2262 | 326.0 | -13.9 | 382 | 2267 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.054 | 3221 | 602.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.26 |
| 2305 | 331.8 | -13.5 | 384 | 2310 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.046 | 1804 | -608.2 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.15 | 15.06 | 15.16 |
| 2449 | 351.6 | -14.0 | 391 | 2454 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.066 | 402 | -596.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.04 | 15.28 |
| 2475 | 355.2 | -14.2 | 392 | 2481 | done | -0.88 | - | - | 2457 | - | 2.28 | 0.040 | 1811 | 618.0 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.17 |
| 2613 | 374.6 | -13.3 | 399 | 2619 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.057 | 3222 | 605.6 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2681 | 382.6 | -12.6 | 402 | 2687 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.047 | 1808 | -606.9 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.18 |
| 2820 | 400.9 | -13.4 | 409 | 2825 | roll | -0.88 | - | - | 2460 | - | 2.35 | 0.067 | 409 | -595.3 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.29 | 15.05 | 15.30 |
| 2875 | 407.0 | -13.9 | 411 | 2881 | done | -0.88 | 0.05 | 0.356 | 2470 | 200.0 | 2.28 | 0.040 | 1814 | 616.2 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 14.91 | 15.09 | 15.11 |
| 3009 | 425.7 | -12.3 | 418 | 3014 | roll | -0.88 | - | - | 2459 | - | 2.30 | 0.053 | 3221 | 611.7 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.29 | 15.07 | 15.30 |
| 3070 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 3070 | begin apogee | ||||||||||||||||||||||||||||
| 3077 | 433.7 | -12.6 | 421 | 3154 | done | -0.17 | 1.20 | 0.164 | 2698 | 199.2 | - | - | 1801 | - | - | 70.65 | 1.307 | 2698 | -5.3 | 0.311 | - | - | - | - | - | - | 14.96 | 14.69 | 14.18 |
| 3155 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3155 | begin climb | ||||||||||||||||||||||||||||
| 3157 | 436.7 | - | 425 | 3244 | roll | 0.88 | 1.52 | 0.073 | 3033 | 220.4 | 2.50 | 0.069 | 400 | -560.4 | 92.5 | 75.85 | 1.317 | 2322 | -5.0 | 0.291 | - | - | - | - | - | - | 14.69 | 14.46 | 13.98 |
| 3267 | 433.7 | 3.2 | 430 | 3353 | done | 1.00 | 0.12 | 0.133 | 3074 | 341.7 | 2.35 | 0.037 | 1815 | 602.1 | 187.0 | 76.35 | 1.292 | 1934 | -5.1 | 0.302 | - | - | - | - | - | - | 14.61 | 14.62 | 13.92 |
| 3481 | 393.1 | 22.6 | 441 | 3486 | roll | 1.00 | - | - | 3075 | - | 2.30 | 0.049 | 3200 | 602.2 | 187.0 | - | - | 1930 | - | - | - | - | - | - | - | - | 14.95 | 14.76 | 14.97 |
| 3523 | 383.7 | 22.8 | 443 | 3528 | done | 1.00 | - | - | 3080 | - | 2.38 | 0.054 | 1798 | -589.1 | 187.0 | - | - | 1929 | - | - | - | - | - | - | - | - | 14.88 | 14.80 | 14.90 |
| 3666 | 353.0 | 21.4 | 450 | 3671 | roll | 1.00 | - | - | 3080 | - | 2.35 | 0.050 | 3206 | 599.1 | 187.0 | - | - | 1926 | - | - | - | - | - | - | - | - | 15.11 | 14.90 | 15.11 |
| 3682 | 353.0 | 21.4 | 450 | 3690 | done | 1.00 | - | - | 3087 | - | 2.35 | 0.052 | 1801 | -597.9 | 187.0 | - | - | 1926 | - | - | - | - | - | - | - | - | 15.00 | 14.90 | 15.01 |
| 3808 | 322.3 | 21.4 | 457 | 3810 | done | 1.00 | - | - | 3087 | - | - | - | 1801 | - | 187.0 | - | - | 1925 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 3929 | 296.4 | 21.6 | 463 | 3936 | roll | 1.00 | - | - | 3096 | - | 2.40 | 0.073 | 389 | -588.3 | 187.0 | - | - | 1924 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 3942 | 293.7 | 20.7 | 465 | 3950 | done | 1.00 | 0.08 | 0.314 | 3084 | -150.0 | 2.33 | 0.037 | 1809 | 609.4 | 187.0 | - | - | 1923 | - | - | - | - | - | - | - | - | 14.83 | 15.00 | 15.04 |
| 4011 | 279.4 | 20.2 | 478 | 4019 | roll | 1.00 | - | - | 3083 | - | 2.28 | 0.052 | 3195 | 607.9 | 187.0 | - | - | 1923 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.21 |
| 4102 | 260.4 | 20.9 | 495 | 4108 | done | 1.00 | - | - | 3085 | - | 2.33 | 0.053 | 1800 | -598.7 | 187.0 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.09 | 14.99 | 15.09 |
| 4171 | 245.7 | 20.5 | 508 | 4177 | done | 1.00 | - | - | 3085 | - | - | - | 1802 | - | 187.0 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4239 | 232.3 | 19.0 | 521 | 4244 | done | 1.00 | - | - | 3085 | - | - | - | 1802 | - | 187.0 | - | - | 1922 | - | - | - | - | - | - | - | - | 15.23 | 15.21 | 15.21 |
| 4306 | 218.8 | 20.4 | 534 | 4314 | roll | 1.00 | - | - | 3085 | - | 2.40 | 0.078 | 398 | -585.0 | 187.0 | - | - | 1921 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.22 |
| 4337 | 212.8 | 21.3 | 539 | 4343 | done | 1.00 | - | - | 3085 | - | 2.28 | 0.039 | 1796 | 613.2 | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 4406 | 199.2 | 19.8 | 552 | 4413 | roll | 1.00 | - | - | 3085 | - | 2.33 | 0.051 | 3207 | 605.6 | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.22 |
| 4455 | 189.4 | 19.6 | 561 | 4461 | done | 1.00 | - | - | 3092 | - | 2.35 | 0.054 | 1801 | -598.3 | 187.0 | - | - | 1921 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
| 4524 | 176.8 | 18.1 | 574 | 4531 | done | 1.00 | 0.05 | 0.387 | 3085 | -140.0 | - | - | 1801 | - | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 14.84 | 15.05 | 15.02 |
| 4595 | 164.4 | 18.5 | 587 | 4601 | roll | 1.00 | - | - | 3085 | - | 2.33 | 0.049 | 3208 | 603.9 | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 4638 | 155.7 | 19.8 | 595 | 4645 | done | 1.00 | - | - | 3091 | - | 2.35 | 0.053 | 1801 | -598.7 | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.03 |
| 4707 | 142.9 | 17.3 | 608 | 4713 | done | 1.00 | - | - | 3091 | - | - | - | 1801 | - | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 4775 | 128.7 | 21.1 | 621 | 4781 | done | 1.00 | - | - | 3091 | - | - | - | 1801 | - | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4843 | 114.3 | 20.9 | 634 | 4851 | roll | 1.00 | - | - | 3091 | - | 2.33 | 0.050 | 3209 | 604.3 | 187.0 | - | - | 1920 | - | - | - | - | - | - | - | - | 15.20 | 14.92 | 15.20 |
| 4893 | 104.0 | 20.1 | 643 | 4901 | done | 1.00 | 0.08 | 0.337 | 3085 | -75.0 | 2.35 | 0.053 | 1802 | -598.7 | 187.0 | - | - | 1919 | - | - | - | - | - | - | - | - | 14.77 | 14.92 | 14.97 |
| 4963 | 92.1 | 16.0 | 656 | 4970 | roll | 1.00 | - | - | 3085 | - | 2.42 | 0.076 | 390 | -583.5 | 187.0 | - | - | 1919 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.20 |
| 5022 | 81.8 | 17.9 | 667 | 5029 | done | 1.00 | - | - | 3085 | - | 2.30 | 0.038 | 1802 | 613.9 | 187.0 | - | - | 1918 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.10 |
| 5091 | 69.9 | 15.7 | 680 | 5098 | roll | 1.00 | - | - | 3086 | - | 2.30 | 0.050 | 3208 | 611.3 | 187.0 | - | - | 1918 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 5111 | 66.8 | 15.4 | 683 | 5117 | done | 1.00 | - | - | 3091 | - | 2.38 | 0.053 | 1792 | -595.0 | 187.0 | - | - | 1918 | - | - | - | - | - | - | - | - | 15.08 | 14.97 | 15.09 |
| 5180 | 56.5 | 14.2 | 696 | 5186 | roll | 1.00 | - | - | 3091 | - | 2.38 | 0.073 | 394 | -587.4 | 187.0 | - | - | 1918 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.19 |
| 5420 | 28.8 | 8.0 | 743 | 5445 | done | 1.03 | - | - | 3091 | - | 2.30 | 0.035 | 1814 | 617.4 | 214.6 | 19.95 | 0.865 | 1826 | -4.6 | 0.027 | - | - | - | - | - | - | 15.04 | 14.97 | 14.45 |
| 5507 | 24.4 | 5.9 | 759 | 5554 | roll | 1.10 | - | - | 3091 | - | 2.30 | 0.048 | 3201 | 603.0 | 271.7 | 37.95 | 1.017 | 1590 | -6.2 | 0.026 | - | - | - | - | - | - | 15.12 | 14.75 | 14.31 |
| 5631 | 10.6 | 14.9 | 782 | 5638 | done | 1.10 | - | - | 3094 | - | 2.38 | 0.051 | 1795 | -590.8 | 271.7 | - | - | 1589 | - | - | - | - | - | - | - | - | 14.92 | 14.82 | 14.92 |
| 5679 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5679 | begin surface coast | ||||||||||||||||||||||||||||
| 5697 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5697 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.79 | - | - | - | - | -8.17 | 13.93 | 0.054 | 128 | 9.2 | - | - | 1795 | - | 515.37 | 151.70 | 0.800 | 599 | 3.9 | -0.000 | - | - | - | - | - | - | |||