• Previous call tries 1 | • 29.66 of 150.00 AH used of 24V (80.23% remains) | |
• Previous NAKs 2, Timeouts 0 | • 33.22 of 100.00 AH used of 10V (66.78% remains) | |
• Surface angle -75.3 deg, depth 2.42 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | • surface range 18.1 m at 19.9 m depth, ceiling 1.8 m | |
• GPS1 time: 24 s | • bottom range 44.6 m at 852.2 m, depth 897 m (882 m grid) | |
• GPS2 time: 16 s | • Transponder ping count: 16 | |
• 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 | |||||
12 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 69 | VBD | -0.75 | - | - | 344 | - | - | - | 2128 | - | -146.6 | -51.17 | - | 2844 | - | - | - | - | - | - | - | - | - | - | - |
73 | 3.1 | -2.4 | 9 | 124 | roll | -0.75 | 10.18 | 0.247 | 2895 | 250.6 | 2.15 | 0.050 | 713 | -658.1 | -146.6 | -32.67 | - | 3881 | -31.7 | - | - | - | - | - | - | - | 25.69 | 26.27 | 26.69 |
295 | 31.2 | -13.4 | 50 | 302 | done | -0.75 | - | - | 2889 | - | 2.15 | 0.037 | 2098 | 644.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.30 | - |
608 | 68.2 | -11.0 | 111 | 616 | roll | -0.75 | - | - | 2877 | - | 2.15 | 0.048 | 3507 | 655.3 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.28 | - |
689 | 78.1 | -12.2 | 126 | 696 | done | -0.75 | - | - | 2877 | - | 2.08 | 0.029 | 2101 | -676.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.46 | - |
1001 | 115.5 | -11.8 | 174 | 1010 | roll | -0.75 | - | - | 2869 | - | 2.15 | 0.049 | 3508 | 654.4 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.32 | - |
1138 | 133.2 | -13.4 | 187 | 1146 | done | -0.75 | - | - | 2869 | - | 2.05 | 0.030 | 2109 | -682.4 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.50 | - |
1444 | 172.3 | -11.4 | 218 | 1453 | roll | -0.75 | - | - | 2859 | - | 2.15 | 0.049 | 3514 | 653.5 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.34 | - |
1569 | 187.0 | -11.7 | 230 | 1577 | done | -0.75 | 0.12 | 0.168 | 2890 | 258.3 | 2.03 | 0.030 | 2130 | -681.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.15 | 26.53 | - |
1876 | 215.7 | -9.3 | 261 | 1885 | roll | -0.75 | - | - | 2882 | - | 2.15 | 0.049 | 3517 | 645.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.35 | - |
1958 | 223.7 | -9.9 | 269 | 1967 | done | -0.75 | - | - | 2882 | - | 2.03 | 0.030 | 2134 | -681.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.54 | - |
2269 | 253.9 | -10.4 | 300 | 2277 | roll | -0.75 | - | - | 2871 | - | 2.12 | 0.049 | 3508 | 648.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.36 | - |
2311 | 258.5 | -11.1 | 304 | 2320 | done | -0.75 | - | - | 2871 | - | 2.00 | 0.029 | 2140 | -684.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.56 | - |
2621 | 293.2 | -11.1 | 335 | 2630 | roll | -0.75 | - | - | 2861 | - | 2.10 | 0.048 | 3505 | 650.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.38 | - |
2694 | 301.4 | -11.1 | 342 | 2697 | done | -0.75 | - | - | 2861 | - | 1.98 | 0.029 | 2162 | -678.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.57 | - |
3006 | 332.4 | -9.8 | 373 | 3014 | roll | -0.75 | - | - | 2850 | - | 2.10 | 0.047 | 3514 | 643.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.39 | - |
3067 | 338.9 | -11.0 | 379 | 3072 | done | -0.75 | 0.15 | 0.151 | 2890 | 266.7 | 1.95 | 0.029 | 2168 | -690.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.17 | 26.58 | - |
3380 | 363.5 | -7.5 | 410 | 3384 | roll | -0.75 | - | - | 2883 | - | 2.05 | 0.047 | 3509 | 654.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.39 | - |
3445 | 368.5 | -8.1 | 416 | 3452 | done | -0.75 | - | - | 2883 | - | 1.95 | 0.029 | 2160 | -691.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.59 | - |
3753 | 393.9 | -8.1 | 447 | 3763 | roll | -0.75 | - | - | 2873 | - | 2.08 | 0.047 | 3509 | 648.6 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.40 | - |
3809 | 398.8 | -9.1 | 452 | 3816 | done | -0.75 | - | - | 2873 | - | 1.92 | 0.028 | 2179 | -692.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
4116 | 426.1 | -8.7 | 483 | 4126 | roll | -0.75 | - | - | 2863 | - | 2.05 | 0.047 | 3512 | 650.2 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.41 | - |
4180 | 432.1 | -9.4 | 489 | 4184 | done | -0.75 | - | - | 2863 | - | 1.95 | 0.028 | 2181 | -682.6 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
4493 | 461.2 | -9.1 | 520 | 4501 | roll | -0.75 | - | - | 2853 | - | 2.05 | 0.047 | 3519 | 652.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.40 | - |
4615 | 473.7 | -10.3 | 532 | 4625 | done | -0.75 | 0.12 | 0.153 | 2885 | 266.7 | 1.92 | 0.029 | 2191 | -691.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.25 | 26.61 | - |
4925 | 499.2 | -8.0 | 563 | 4934 | roll | -0.75 | - | - | 2877 | - | 2.03 | 0.047 | 3508 | 648.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
4999 | 505.5 | -8.7 | 570 | 5002 | done | -0.75 | - | - | 2877 | - | 1.90 | 0.028 | 2205 | -685.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
5311 | 533.8 | -9.0 | 601 | 5320 | roll | -0.75 | - | - | 2868 | - | 2.03 | 0.047 | 3514 | 644.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
5377 | 540.1 | -10.1 | 607 | 5384 | done | -0.75 | - | - | 2868 | - | 1.90 | 0.028 | 2195 | -694.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
5683 | 570.4 | -9.6 | 638 | 5692 | roll | -0.75 | - | - | 2858 | - | 2.03 | 0.047 | 3512 | 648.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
5756 | 577.8 | -10.4 | 645 | 5765 | done | -0.75 | 0.12 | 0.152 | 2890 | 266.7 | 1.90 | 0.028 | 2201 | -690.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.27 | 26.62 | - |
6075 | 604.9 | -8.2 | 673 | 6079 | roll | -0.75 | - | - | 2882 | - | 2.00 | 0.047 | 3510 | 654.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
6107 | 607.7 | -8.3 | 674 | 6111 | done | -0.75 | - | - | 2882 | - | 1.88 | 0.028 | 2217 | -687.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
6440 | 634.1 | -7.8 | 685 | 6444 | roll | -0.75 | - | - | 2872 | - | 2.00 | 0.047 | 3511 | 647.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
6475 | 636.9 | -7.9 | 686 | 6479 | done | -0.75 | - | - | 2872 | - | 1.88 | 0.028 | 2215 | -689.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
6805 | 663.3 | -7.9 | 697 | 6808 | roll | -0.75 | - | - | 2863 | - | 2.00 | 0.047 | 3506 | 645.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
6855 | 666.2 | -8.0 | 698 | 6859 | done | -0.75 | - | - | 2863 | - | 1.85 | 0.028 | 2226 | -691.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
7167 | 695.5 | -9.4 | 709 | 7170 | roll | -0.75 | - | - | 2852 | - | 1.98 | 0.048 | 3505 | 646.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
7212 | 698.6 | -9.6 | 710 | 7216 | done | -0.75 | 0.12 | 0.153 | 2885 | 275.0 | 1.85 | 0.028 | 2221 | -694.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.26 | 26.62 | - |
7530 | 726.5 | -8.1 | 721 | 7534 | roll | -0.75 | - | - | 2877 | - | 2.00 | 0.048 | 3516 | 647.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
7595 | 732.0 | -8.3 | 723 | 7599 | done | -0.75 | - | - | 2877 | - | 1.85 | 0.028 | 2237 | -691.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
7923 | 760.0 | -8.4 | 734 | 7927 | roll | -0.75 | - | - | 2868 | - | 1.98 | 0.047 | 3517 | 646.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
7986 | 765.7 | -8.8 | 736 | 7990 | done | -0.75 | - | - | 2868 | - | 1.88 | 0.029 | 2242 | -678.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
8319 | 795.5 | -8.8 | 747 | 8323 | roll | -0.75 | - | - | 2858 | - | 1.95 | 0.047 | 3505 | 647.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.40 | - |
8352 | 798.4 | -8.8 | 748 | 8356 | done | -0.75 | 0.12 | 0.155 | 2890 | 266.7 | 1.83 | 0.029 | 2246 | -688.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.25 | 26.62 | - |
8685 | 822.6 | -7.2 | 759 | 8686 | done | -0.75 | - | - | 2890 | - | - | - | 2245 | - | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | - | - |
8985 | 844.8 | -7.8 | 769 | 8989 | roll | -0.75 | - | - | 2882 | - | 1.95 | 0.049 | 3508 | 647.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.39 | - |
9021 | 847.4 | -7.9 | 770 | 9024 | done | -0.75 | - | - | 2882 | - | 1.83 | 0.030 | 2248 | -688.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.62 | - |
9348 | 874.3 | -8.2 | 781 | 9349 | done | -0.75 | - | - | 2882 | - | - | - | 2243 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
9437 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
9437 | begin apogee | ||||||||||||||||||||||||||||
9445 | 881.8 | -8.1 | 784 | 9574 | roll | -0.17 | 0.57 | 0.134 | 3067 | 324.6 | - | - | 1891 | - | - | 123.78 | 1.397 | 3278 | -4.9 | 0.331 | - | - | - | - | - | - | 25.93 | - | 23.65 |
9577 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9577 | begin climb | ||||||||||||||||||||||||||||
9580 | 885.4 | - | 788 | 9717 | roll | 0.75 | 0.85 | 0.067 | 3370 | 356.5 | 2.25 | 0.037 | 520 | -609.3 | 146.6 | 126.55 | 1.252 | 2680 | -4.7 | 0.358 | - | - | - | - | - | - | 24.73 | 24.76 | 22.87 |
9921 | 851.2 | 12.8 | 800 | 9926 | done | 0.75 | - | - | 3370 | - | 2.25 | 0.036 | 1912 | 618.7 | 146.6 | - | - | 2670 | - | - | - | - | - | - | - | - | - | 25.22 | - |
10253 | 808.3 | 13.3 | 811 | 10259 | roll | 0.75 | - | - | 3379 | - | 2.22 | 0.037 | 513 | -630.2 | 146.6 | - | - | 2667 | - | - | - | - | - | - | - | - | - | 25.82 | - |
10487 | 779.7 | 13.3 | 818 | 10494 | done | 0.75 | - | - | 3379 | - | 2.17 | 0.035 | 1899 | 638.7 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.02 | - |
10794 | 736.3 | 13.1 | 829 | 10800 | roll | 0.75 | - | - | 3388 | - | 2.17 | 0.037 | 514 | -638.2 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.13 | - |
10874 | 728.3 | 13.2 | 831 | 10883 | done | 0.75 | - | - | 3388 | - | 2.17 | 0.036 | 1905 | 641.0 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.18 | - |
11185 | 684.7 | 13.1 | 842 | 11190 | roll | 0.75 | - | - | 3397 | - | 2.15 | 0.038 | 520 | -644.2 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.22 | - |
11207 | 684.7 | 13.1 | 842 | 11214 | done | 0.75 | - | - | 3397 | - | 2.15 | 0.035 | 1901 | 642.3 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.26 | - |
11515 | 638.8 | 14.0 | 853 | 11516 | done | 0.75 | - | - | 3397 | - | - | - | 1901 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
11814 | 597.0 | 13.6 | 863 | 11823 | roll | 0.75 | - | - | 3406 | - | 2.17 | 0.038 | 511 | -640.6 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.32 | - |
11846 | 592.6 | 13.7 | 866 | 11856 | done | 0.75 | 0.10 | 0.152 | 3375 | -310.0 | 2.12 | 0.035 | 1894 | 652.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | 26.01 | 26.35 | - |
12156 | 553.7 | 12.9 | 897 | 12157 | done | 0.75 | - | - | 3375 | - | - | - | 1893 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
12458 | 515.2 | 13.0 | 927 | 12464 | done | 0.75 | - | - | 3375 | - | - | - | 1893 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
12766 | 474.3 | 13.5 | 958 | 12775 | roll | 0.75 | - | - | 3375 | - | 2.12 | 0.045 | 3299 | 663.2 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.36 | - |
12798 | 469.9 | 13.5 | 961 | 12808 | done | 0.75 | - | - | 3382 | - | 2.10 | 0.030 | 1888 | -671.9 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.47 | - |
13108 | 426.5 | 13.7 | 992 | 13117 | roll | 0.75 | - | - | 3392 | - | 2.10 | 0.038 | 511 | -655.7 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.40 | - |
13210 | 412.5 | 14.1 | 1002 | 13215 | done | 0.75 | - | - | 3393 | - | 2.12 | 0.034 | 1884 | 647.6 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.45 | - |
13523 | 368.3 | 14.4 | 1033 | 13532 | roll | 0.75 | - | - | 3401 | - | 2.12 | 0.037 | 512 | -647.2 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.42 | - |
13579 | 360.7 | 14.4 | 1038 | 13586 | done | 0.75 | 0.12 | 0.174 | 3372 | -241.7 | 2.10 | 0.034 | 1878 | 650.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | 26.12 | 26.46 | - |
13886 | 321.5 | 12.3 | 1069 | 13888 | done | 0.75 | - | - | 3371 | - | - | - | 1878 | - | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | - | - |
14189 | 286.9 | 11.5 | 1099 | 14198 | roll | 0.75 | - | - | 3378 | - | 2.10 | 0.037 | 503 | -654.8 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.45 | - |
14221 | 282.9 | 11.6 | 1102 | 14230 | done | 0.75 | - | - | 3378 | - | 2.10 | 0.034 | 1867 | 649.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.49 | - |
14531 | 246.8 | 11.9 | 1133 | 14541 | roll | 0.75 | - | - | 3378 | - | 2.15 | 0.044 | 3301 | 667.0 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.41 | - |
14557 | 243.8 | 12.4 | 1135 | 14564 | done | 0.75 | - | - | 3388 | - | 2.12 | 0.029 | 1859 | -680.2 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.53 | - |
14865 | 205.6 | 12.3 | 1166 | 14869 | roll | 0.75 | - | - | 3398 | - | 2.05 | 0.038 | 504 | -661.0 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.45 | - |
14927 | 198.0 | 12.3 | 1172 | 14936 | done | 0.75 | - | - | 3398 | - | 2.10 | 0.034 | 1868 | 649.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.50 | - |
15237 | 162.9 | 11.2 | 1203 | 15238 | done | 0.75 | - | - | 3398 | - | - | - | 1868 | - | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | - | - |
15539 | 132.1 | 10.6 | 1233 | 15543 | roll | 0.75 | - | - | 3398 | - | 2.15 | 0.044 | 3301 | 666.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.43 | - |
15632 | 121.2 | 11.6 | 1242 | 15643 | done | 0.75 | 0.10 | 0.155 | 3376 | -220.0 | 2.12 | 0.029 | 1856 | -681.6 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | 26.14 | 26.55 | - |
15944 | 90.2 | 9.5 | 1282 | 15951 | roll | 0.75 | - | - | 3384 | - | 2.05 | 0.039 | 507 | -658.0 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.46 | - |
16060 | 79.0 | 10.2 | 1304 | 16066 | done | 0.75 | - | - | 3384 | - | 2.08 | 0.034 | 1851 | 646.2 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.52 | - |
16372 | 50.9 | 8.0 | 1365 | 16398 | roll | 0.78 | - | - | 3384 | - | 2.28 | 0.045 | 3303 | 636.8 | 173.5 | 20.40 | 0.892 | 2571 | -4.4 | 0.027 | - | - | - | - | - | - | - | 26.25 | 25.32 |
16441 | 44.1 | 10.6 | 1377 | 16449 | done | 0.78 | - | - | 3394 | - | 2.17 | 0.030 | 1852 | -668.7 | 173.5 | - | - | 2568 | - | - | - | - | - | - | - | - | - | 26.30 | - |
16758 | 16.2 | 7.4 | 1438 | 16784 | roll | 0.83 | - | - | 3404 | - | 2.12 | 0.040 | 508 | -634.0 | 217.0 | 20.80 | 0.099 | 2393 | -8.4 | 0.147 | - | - | - | - | - | - | - | 26.23 | 25.97 |
16941 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16941 | begin surface coast | ||||||||||||||||||||||||||||
17011 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17011 | begin surface | ||||||||||||||||||||||||||||
SM | 2.45 | - | - | - | - | -8.65 | 8.23 | 0.052 | 344 | -371.8 | 2.53 | 0.036 | 2102 | 630.0 | 400.08 | 81.10 | 0.070 | 1647 | -9.2 | 0.033 | - | - | - | - | - | - |