• Previous call tries 3 | • 50.41 of 150.00 AH used of 24V (66.39% remains) | |
• Previous NAKs 0, Timeouts 0 | • 26.37 of 100.00 AH used of 10V (73.63% remains) | |
• Surface angle -34.8 deg, depth 1.96 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
• VBD pumped to 325.02 (SM_CC=325) | • surface range 18.3 m at 19.2 m depth, ceiling 0.9 m | |
• GPS1 time: 0 s, HDOP was 4094.5 m | • bottom range 10.3 m at 752.1 m, depth 762 m (869 m grid) | |
• GPS2 time: 181 s, HDOP was 99.0 m | • Transponder ping count: 7 | |
• 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 | |||||
14 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 141 | done | -0.73 | - | - | 125 | - | - | - | 2466 | - | -146.0 | -119.82 | - | 3396 | - | - | - | - | - | - | - | - | - | - | - |
143 | 1.9 | 0.2 | 24 | 159 | roll | -0.73 | 9.57 | 0.241 | 2450 | 242.9 | 2.55 | 0.093 | 859 | -630.2 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
206 | 6.3 | -9.2 | 35 | 212 | done | -0.52 | 0.28 | 0.224 | 2516 | 235.7 | 2.50 | 0.084 | 2460 | 640.4 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
550 | 43.4 | -10.5 | 96 | 556 | roll | -0.64 | - | - | 2517 | - | 2.92 | 0.101 | 3909 | 496.2 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
652 | 54.1 | -10.7 | 114 | 658 | done | -0.78 | 0.25 | 0.109 | 2434 | -332.0 | 2.78 | 0.074 | 2471 | -517.3 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
996 | 102.1 | -13.5 | 174 | 1002 | roll | -0.66 | 0.17 | 0.226 | 2462 | 164.7 | 2.92 | 0.097 | 3911 | 493.2 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
1253 | 130.5 | -10.8 | 196 | 1260 | done | -0.66 | - | - | 2462 | - | 2.72 | 0.073 | 2500 | -518.8 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
1578 | 164.0 | -10.8 | 227 | 1583 | roll | -0.66 | - | - | 2462 | - | 2.85 | 0.099 | 3909 | 494.4 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
1684 | 175.1 | -10.6 | 236 | 1689 | done | -0.66 | - | - | 2462 | - | 2.72 | 0.074 | 2507 | -515.4 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
2008 | 207.3 | -9.8 | 266 | 2009 | done | -0.66 | - | - | 2462 | - | - | - | 2508 | - | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
2328 | 240.4 | -10.1 | 296 | 2332 | roll | -0.66 | - | - | 2462 | - | 2.85 | 0.101 | 3911 | 492.3 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
2546 | 262.7 | -10.0 | 315 | 2551 | done | -0.72 | - | - | 2462 | - | 2.70 | 0.075 | 2520 | -515.2 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
2871 | 293.2 | -8.9 | 345 | 2876 | roll | -0.78 | - | - | 2462 | - | 2.83 | 0.100 | 3911 | 491.5 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
2950 | 300.3 | -8.9 | 351 | 2956 | done | -0.86 | 0.15 | 0.124 | 2415 | -313.3 | 2.67 | 0.075 | 2531 | -516.9 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
3274 | 334.9 | -10.4 | 382 | 3279 | roll | -0.77 | - | - | 2413 | - | 2.80 | 0.100 | 3908 | 491.8 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
3385 | 346.7 | -10.5 | 391 | 3391 | done | -0.69 | 0.22 | 0.220 | 2464 | 231.8 | 2.65 | 0.075 | 2542 | -515.5 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
3710 | 373.0 | -8.3 | 422 | 3715 | roll | -0.79 | - | - | 2464 | - | 2.80 | 0.101 | 3915 | 490.4 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
3783 | 379.2 | -8.0 | 428 | 3789 | done | -0.90 | 0.20 | 0.115 | 2401 | -315.0 | 2.65 | 0.074 | 2549 | -515.5 | -146.0 | - | - | 3398 | - | - | - | - | - | - | - | - | - | - | - |
4108 | 414.4 | -10.8 | 458 | 4113 | roll | -0.79 | 0.12 | 0.216 | 2422 | 175.0 | 2.80 | 0.098 | 3918 | 488.9 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
4232 | 426.5 | -9.8 | 468 | 4237 | done | -0.79 | - | - | 2422 | - | 2.62 | 0.073 | 2561 | -517.9 | -146.0 | - | - | 3398 | - | - | - | - | - | - | - | - | - | - | - |
4556 | 456.6 | -9.7 | 499 | 4560 | roll | -0.79 | - | - | 2421 | - | 2.75 | 0.099 | 3919 | 493.8 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
4622 | 463.1 | -10.5 | 504 | 4627 | done | -0.79 | - | - | 2421 | - | 2.60 | 0.073 | 2569 | -519.2 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
4946 | 493.4 | -9.4 | 535 | 4950 | roll | -0.79 | - | - | 2421 | - | 2.72 | 0.098 | 3911 | 493.4 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
5110 | 508.5 | -8.9 | 549 | 5114 | done | -0.79 | - | - | 2420 | - | 2.58 | 0.073 | 2582 | -515.1 | -146.0 | - | - | 3399 | - | - | - | - | - | - | - | - | - | - | - |
5434 | 537.0 | -9.1 | 579 | 5439 | roll | -0.79 | - | - | 2421 | - | 2.70 | 0.096 | 3913 | 493.0 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
5484 | 541.5 | -8.9 | 583 | 5488 | done | -0.79 | - | - | 2420 | - | 2.58 | 0.071 | 2582 | -515.9 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
5808 | 570.4 | -9.0 | 613 | 5809 | done | -0.79 | - | - | 2420 | - | - | - | 2583 | - | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | - | - | - |
6128 | 598.8 | -8.8 | 643 | 6132 | roll | -0.79 | - | - | 2421 | - | 2.70 | 0.096 | 3915 | 493.3 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
6228 | 608.0 | -9.1 | 647 | 6232 | done | -0.79 | - | - | 2420 | - | 2.58 | 0.071 | 2578 | -518.2 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
6557 | 635.5 | -8.3 | 658 | 6562 | roll | -0.79 | - | - | 2421 | - | 2.70 | 0.095 | 3915 | 495.2 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
6646 | 643.5 | -9.0 | 660 | 6652 | done | -0.79 | - | - | 2420 | - | 2.55 | 0.070 | 2589 | -520.0 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | - | - | - |
6958 | 668.8 | -8.1 | 671 | 6963 | roll | -0.79 | - | - | 2421 | - | 2.67 | 0.095 | 3910 | 494.8 | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | - | - | - |
7035 | 675.5 | -8.9 | 673 | 7039 | done | -0.79 | - | - | 2421 | - | 2.53 | 0.069 | 2603 | -516.6 | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | - | - | - |
7360 | 702.0 | -8.4 | 684 | 7365 | roll | -0.79 | - | - | 2420 | - | 2.65 | 0.095 | 3910 | 493.2 | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | - | - | - |
7427 | 708.1 | -8.9 | 686 | 7431 | done | -0.79 | - | - | 2420 | - | 2.53 | 0.069 | 2602 | -517.0 | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | - | - | - |
7762 | 736.4 | -8.5 | 697 | 7763 | done | -0.79 | - | - | 2420 | - | - | - | 2602 | - | -146.0 | - | - | 3403 | - | - | - | - | - | - | - | - | - | - | - |
7948 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
7948 | begin apogee | ||||||||||||||||||||||||||||
7953 | 752.1 | 8.5 | 703 | 8081 | done | -0.16 | 0.80 | 0.195 | 2632 | 265.0 | - | - | 1953 | - | - | 124.72 | 1.258 | 2800 | -4.8 | 0.317 | - | - | - | - | - | - | - | - | - |
8082 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8082 | begin climb | ||||||||||||||||||||||||||||
8085 | 755.5 | - | 707 | 8225 | roll | 0.73 | 0.98 | 0.140 | 2922 | 295.9 | 2.78 | 0.095 | 359 | -573.4 | 146.0 | 130.43 | 1.197 | 2203 | -4.6 | 0.316 | - | - | - | - | - | - | - | - | - |
8306 | 738.7 | 10.9 | 714 | 8310 | done | 0.66 | - | - | 2922 | - | 2.50 | 0.070 | 1952 | 637.2 | 146.0 | - | - | 2199 | - | - | - | - | - | - | - | - | - | - | - |
8640 | 702.9 | 10.9 | 725 | 8646 | roll | 0.60 | 0.15 | 0.206 | 2890 | -213.3 | 3.12 | 0.086 | 3535 | 507.4 | 146.0 | - | - | 2196 | - | - | - | - | - | - | - | - | - | - | - |
8712 | 694.7 | 11.2 | 727 | 8717 | done | 0.60 | - | - | 2901 | - | 3.08 | 0.077 | 1961 | -511.0 | 146.0 | - | - | 2194 | - | - | - | - | - | - | - | - | - | - | - |
9036 | 660.8 | 10.5 | 738 | 9041 | roll | 0.60 | - | - | 2901 | - | 3.08 | 0.087 | 3535 | 511.0 | 146.0 | - | - | 2193 | - | - | - | - | - | - | - | - | - | - | - |
9108 | 652.2 | 11.8 | 740 | 9113 | done | 0.54 | 0.20 | 0.203 | 2868 | -165.0 | 3.05 | 0.078 | 1960 | -516.4 | 146.0 | - | - | 2193 | - | - | - | - | - | - | - | - | - | - | - |
9432 | 621.8 | 9.4 | 751 | 9438 | roll | 0.67 | 0.12 | 0.126 | 2908 | 333.3 | 3.08 | 0.087 | 3538 | 512.3 | 146.0 | - | - | 2193 | - | - | - | - | - | - | - | - | - | - | - |
9510 | 612.2 | 11.9 | 753 | 9516 | done | 0.57 | 0.20 | 0.202 | 2874 | -170.0 | 3.00 | 0.078 | 1979 | -519.7 | 146.0 | - | - | 2192 | - | - | - | - | - | - | - | - | - | - | - |
9837 | 582.4 | 8.4 | 776 | 9859 | roll | 0.70 | 0.12 | 0.127 | 2914 | 333.3 | 3.03 | 0.088 | 3536 | 513.9 | 163.5 | 14.43 | 1.088 | 2132 | -4.2 | 0.244 | - | - | - | - | - | - | - | - | - |
9921 | 572.8 | 12.5 | 783 | 9928 | done | 0.60 | 0.17 | 0.203 | 2888 | -152.9 | 3.00 | 0.078 | 1985 | -517.0 | 163.5 | - | - | 2130 | - | - | - | - | - | - | - | - | - | - | - |
10246 | 543.6 | 8.9 | 814 | 10260 | roll | 0.69 | - | - | 2887 | - | 3.08 | 0.087 | 3536 | 503.6 | 169.8 | 6.68 | 0.946 | 2107 | -3.4 | 0.217 | - | - | - | - | - | - | - | - | - |
10316 | 536.9 | 10.0 | 820 | 10322 | done | 0.69 | - | - | 2898 | - | 2.97 | 0.078 | 1992 | -519.9 | 169.8 | - | - | 2106 | - | - | - | - | - | - | - | - | - | - | - |
10641 | 508.6 | 9.1 | 851 | 10647 | roll | 0.75 | 0.10 | 0.130 | 2934 | 360.0 | 3.05 | 0.087 | 3541 | 507.9 | 171.8 | - | - | 2106 | - | - | - | - | - | - | - | - | - | - | - |
10681 | 504.2 | 11.6 | 854 | 10687 | done | 0.61 | 0.22 | 0.205 | 2894 | -181.8 | 2.95 | 0.077 | 2006 | -520.3 | 171.8 | - | - | 2106 | - | - | - | - | - | - | - | - | - | - | - |
11006 | 475.4 | 8.6 | 884 | 11027 | roll | 0.70 | - | - | 2894 | - | 3.00 | 0.087 | 3541 | 511.7 | 185.5 | 14.90 | 1.034 | 2042 | -4.3 | 0.216 | - | - | - | - | - | - | - | - | - |
11050 | 471.3 | 9.3 | 888 | 11055 | done | 0.70 | - | - | 2905 | - | 2.95 | 0.077 | 2011 | -518.6 | 185.5 | - | - | 2042 | - | - | - | - | - | - | - | - | - | - | - |
11375 | 440.0 | 9.8 | 918 | 11380 | roll | 0.75 | - | - | 2904 | - | 2.97 | 0.087 | 3536 | 513.5 | 185.5 | - | - | 2041 | - | - | - | - | - | - | - | - | - | - | - |
11425 | 434.9 | 10.7 | 922 | 11430 | done | 0.75 | - | - | 2917 | - | 2.95 | 0.077 | 2004 | -519.3 | 185.5 | - | - | 2039 | - | - | - | - | - | - | - | - | - | - | - |
11749 | 402.5 | 9.7 | 952 | 11754 | roll | 0.75 | - | - | 2917 | - | 3.00 | 0.088 | 3543 | 513.0 | 185.5 | - | - | 2039 | - | - | - | - | - | - | - | - | - | - | - |
11788 | 398.3 | 11.2 | 955 | 11793 | done | 0.70 | - | - | 2930 | - | 2.92 | 0.077 | 2020 | -521.6 | 185.5 | - | - | 2039 | - | - | - | - | - | - | - | - | - | - | - |
12112 | 362.9 | 10.9 | 985 | 12117 | roll | 0.70 | - | - | 2930 | - | 2.95 | 0.087 | 3535 | 513.6 | 185.5 | - | - | 2039 | - | - | - | - | - | - | - | - | - | - | - |
12178 | 355.0 | 11.5 | 990 | 12184 | done | 0.61 | 0.22 | 0.199 | 2889 | -186.4 | 2.90 | 0.077 | 2024 | -521.0 | 185.5 | - | - | 2039 | - | - | - | - | - | - | - | - | - | - | - |
12503 | 329.3 | 7.2 | 1021 | 12550 | roll | 0.81 | 0.20 | 0.109 | 2955 | 330.0 | 3.00 | 0.086 | 3535 | 503.7 | 232.1 | 40.15 | 0.986 | 1853 | -4.6 | 0.169 | - | - | - | - | - | - | - | - | - |
12606 | 317.3 | 13.6 | 1030 | 12612 | done | 0.69 | 0.22 | 0.200 | 2916 | -177.3 | 2.95 | 0.077 | 2031 | -509.8 | 232.1 | - | - | 1850 | - | - | - | - | - | - | - | - | - | - | - |
12931 | 284.0 | 10.1 | 1060 | 12937 | roll | 0.81 | 0.12 | 0.127 | 2955 | 325.0 | 2.97 | 0.087 | 3536 | 506.7 | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
12971 | 279.1 | 13.1 | 1063 | 12977 | done | 0.72 | 0.17 | 0.199 | 2927 | -164.7 | 2.90 | 0.077 | 2044 | -514.5 | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
13296 | 245.9 | 9.6 | 1093 | 13301 | roll | 0.83 | - | - | 2927 | - | 2.92 | 0.087 | 3535 | 510.6 | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
13335 | 242.0 | 10.2 | 1096 | 13339 | done | 0.83 | - | - | 2937 | - | 2.88 | 0.077 | 2053 | -514.6 | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
13660 | 209.3 | 9.6 | 1126 | 13662 | done | 0.91 | 0.12 | 0.117 | 2985 | 400.0 | - | - | 2054 | - | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
13978 | 172.0 | 12.0 | 1156 | 13982 | roll | 0.85 | - | - | 2986 | - | 2.92 | 0.090 | 3539 | 508.6 | 232.1 | - | - | 1846 | - | - | - | - | - | - | - | - | - | - | - |
14017 | 167.1 | 12.0 | 1159 | 14023 | done | 0.71 | 0.30 | 0.198 | 2924 | -206.7 | 2.90 | 0.079 | 2038 | -517.6 | 232.1 | - | - | 1847 | - | - | - | - | - | - | - | - | - | - | - |
14342 | 142.1 | 7.0 | 1189 | 14394 | roll | 0.92 | 0.20 | 0.107 | 2991 | 335.0 | 3.00 | 0.091 | 3535 | 499.0 | 283.3 | 43.75 | 0.890 | 1643 | -4.7 | 0.082 | - | - | - | - | - | - | - | - | - |
14428 | 132.4 | 13.0 | 1197 | 14433 | done | 0.84 | 0.17 | 0.206 | 2965 | -152.9 | 2.92 | 0.080 | 2051 | -508.2 | 283.3 | - | - | 1640 | - | - | - | - | - | - | - | - | - | - | - |
14754 | 96.2 | 11.4 | 1229 | 14760 | roll | 0.92 | - | - | 2965 | - | 2.95 | 0.091 | 3536 | 503.4 | 283.3 | - | - | 1635 | - | - | - | - | - | - | - | - | - | - | - |
14821 | 87.2 | 13.0 | 1241 | 14827 | done | 0.92 | - | - | 2974 | - | 2.90 | 0.080 | 2056 | -510.3 | 283.3 | - | - | 1635 | - | - | - | - | - | - | - | - | - | - | - |
15167 | 54.5 | 8.5 | 1302 | 15183 | done | 1.02 | 0.15 | 0.110 | 3025 | 340.0 | - | - | 2057 | - | 298.0 | 11.95 | 0.829 | 1585 | -4.2 | 0.030 | - | - | - | - | - | - | - | - | - |
15520 | 12.8 | 12.9 | 1365 | 15526 | roll | 0.95 | 0.12 | 0.215 | 3008 | -141.7 | 2.62 | 0.100 | 350 | -651.5 | 298.0 | - | - | 1581 | - | - | - | - | - | - | - | - | - | - | - |
15615 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15615 | begin surface coast | ||||||||||||||||||||||||||||
15633 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15633 | begin surface | ||||||||||||||||||||||||||||
SM | 1.85 | - | - | - | - | -8.03 | - | - | 120 | - | - | - | 2467 | - | 325.02 | 22.40 | 0.826 | 1475 | -4.7 | 0.001 | - | - | - | - | - | - |