• Previous call tries 1 | • 153.13 of 575.00 AH used of 24V (73.37% remains) | |
• Surface angle -66.9 deg, depth 1.50 m | • Intended pitch -21.4 deg, speed -9.524 cm/s | |
• No surface pump (final VBD was 562.3, SM_CC=529.84796) | ||
• GPS1 time: 52 s | ||
• GPS2 time: 2 s | • Transponder ping count: 2 | |
• 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 | |||||
2 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
2 | begin dive | ||||||||||||||||||||||||||||
2.50 | - | - | - | 44.11 | VBD | -0.89 | - | - | 120.94 | - | - | - | 2268.62 | - | -116.79 | 40.94 | 0.005 | 1333.59 | - | - | - | - | - | - | - | - | - | - | 14.97 |
44.36 | 3.25 | -4.83 | 8 | 112.89 | -0.89 | 7.69 | 0.408 | 1715.25 | 207.3 | 4.54 | 0.049 | 719.06 | -341.3 | -116.79 | 52.62 | 0.005 | 3242.81 | 36.3 | -3.914 | - | - | - | - | - | - | 15.05 | 14.94 | 15.12 | |
294.75 | 77.62 | -20.16 | 58 | 300.68 | roll | -0.89 | - | - | 1697.62 | - | 4.28 | 0.022 | 2243.00 | 356.1 | -116.79 | - | - | 3248.81 | - | - | - | - | - | - | - | - | - | 15.65 | - |
604.80 | 128.30 | -14.73 | 102 | 606.14 | no move | -0.89 | - | - | 1698.56 | - | - | - | 2243.44 | - | -116.79 | - | - | 3244.78 | - | - | - | - | - | - | - | - | - | - | - |
904.83 | 171.62 | -14.09 | 132 | 910.79 | roll | -0.89 | - | - | 1715.31 | - | 4.44 | 0.048 | 720.62 | -343.0 | -116.79 | - | - | 3247.03 | - | - | - | - | - | - | - | - | - | 15.71 | - |
964.91 | 180.40 | -14.13 | 144 | 970.75 | roll | -0.89 | - | - | 1698.56 | - | 4.24 | 0.020 | 2243.25 | 359.1 | -116.79 | - | - | 3246.00 | - | - | - | - | - | - | - | - | - | 15.77 | - |
1274.87 | 220.56 | -12.53 | 168 | 1280.79 | roll | -0.89 | - | - | 1678.88 | - | 4.31 | 0.058 | 3716.81 | 341.9 | -116.79 | - | - | 3246.53 | - | - | - | - | - | - | - | - | - | 15.73 | - |
1314.89 | 225.59 | -12.67 | 176 | 1320.95 | roll | -0.89 | - | - | 1696.12 | - | 4.24 | 0.015 | 2187.25 | -360.7 | -116.79 | - | - | 3245.69 | - | - | - | - | - | - | - | - | - | 15.82 | - |
1694.90 | 264.43 | -8.77 | 198 | 1696.23 | no move | -0.89 | - | - | 1695.56 | - | - | - | 2186.88 | - | -116.79 | - | - | 3246.03 | - | - | - | - | - | - | - | - | - | - | - |
2054.93 | 294.62 | -7.83 | 216 | 2056.26 | no move | -0.89 | - | - | 1696.69 | - | - | - | 2187.75 | - | -116.79 | - | - | 3246.66 | - | - | - | - | - | - | - | - | - | - | - |
2414.94 | 322.29 | -7.73 | 234 | 2420.89 | roll | -0.89 | - | - | 1678.94 | - | 4.55 | 0.057 | 3717.19 | 336.1 | -116.79 | - | - | 3247.31 | - | - | - | - | - | - | - | - | - | 15.78 | - |
2524.94 | 332.01 | -8.75 | 256 | 2530.86 | roll | -0.89 | - | - | 1695.31 | - | 4.22 | 0.015 | 2183.69 | -363.4 | -116.79 | - | - | 3246.34 | - | - | - | - | - | - | - | - | - | 15.86 | - |
2894.99 | 359.05 | -7.05 | 276 | 2900.94 | roll | -0.89 | - | - | 1678.00 | - | 4.54 | 0.057 | 3716.75 | 337.7 | -116.79 | - | - | 3246.12 | - | - | - | - | - | - | - | - | - | 15.78 | - |
2945.05 | 363.11 | -8.19 | 286 | 2950.89 | roll | -0.89 | - | - | 1693.44 | - | 4.22 | 0.015 | 2182.31 | -363.6 | -116.79 | - | - | 3247.34 | - | - | - | - | - | - | - | - | - | 15.88 | - |
3315.03 | 390.07 | -7.22 | 306 | 3320.97 | roll | -0.89 | - | - | 1676.25 | - | 4.53 | 0.057 | 3717.56 | 338.9 | -116.79 | - | - | 3247.56 | - | - | - | - | - | - | - | - | - | 15.79 | - |
3370.06 | 394.66 | -8.41 | 317 | 3375.93 | roll | -0.89 | - | - | 1691.75 | - | 4.23 | 0.015 | 2183.75 | -362.6 | -116.79 | - | - | 3247.84 | - | - | - | - | - | - | - | - | - | 15.86 | - |
3735.05 | 420.40 | -6.98 | 336 | 3740.98 | roll | -0.89 | - | - | 1674.69 | - | 4.53 | 0.057 | 3715.94 | 338.2 | -116.79 | - | - | 3248.25 | - | - | - | - | - | - | - | - | - | 15.79 | - |
3790.08 | 424.80 | -7.84 | 347 | 3795.97 | roll | -0.89 | - | - | 1691.56 | - | 4.22 | 0.015 | 2185.00 | -362.8 | -116.79 | - | - | 3245.75 | - | - | - | - | - | - | - | - | - | 15.87 | - |
4155.08 | 449.92 | -6.89 | 366 | 4161.00 | roll | -0.89 | - | - | 1674.31 | - | 4.50 | 0.057 | 3717.06 | 340.5 | -116.79 | - | - | 3245.41 | - | - | - | - | - | - | - | - | - | 15.79 | - |
4215.13 | 454.63 | -8.11 | 378 | 4220.97 | roll | -0.89 | - | - | 1689.50 | - | 4.20 | 0.015 | 2185.56 | -364.6 | -116.79 | - | - | 3247.88 | - | - | - | - | - | - | - | - | - | 15.93 | - |
4595.12 | 481.18 | -7.01 | 400 | 4596.45 | no move | -0.89 | - | - | 1690.75 | - | - | - | 2185.75 | - | -116.79 | - | - | 3244.94 | - | - | - | - | - | - | - | - | - | - | - |
4875 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
4875 | begin apogee | ||||||||||||||||||||||||||||
4877.49 | 500.92 | -7.06 | 414 | 4973.38 | -0.14 | 0.84 | 0.184 | 1939.75 | 296.4 | 0.14 | 0.095 | 2508.19 | 2303.1 | - | 93.99 | 1.803 | 2769.84 | -5.1 | 0.233 | - | - | - | - | - | - | 15.55 | 15.34 | 10.97 | |
4974 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4974 | begin loiter | ||||||||||||||||||||||||||||
5325.12 | 498.40 | 1.29 | 420 | 5326.45 | VBD | -0.14 | - | - | 1938.75 | - | - | - | 2490.94 | - | - | - | - | 2761.50 | - | - | - | - | - | - | - | - | - | - | - |
5925.38 | 488.23 | 1.69 | 425 | 5926.72 | VBD | -0.14 | - | - | 1938.81 | - | - | - | 2492.81 | - | - | - | - | 2754.31 | - | - | - | - | - | - | - | - | - | - | - |
6525.14 | 476.64 | 1.93 | 430 | 6526.48 | VBD | -0.14 | - | - | 1939.69 | - | - | - | 2491.56 | - | - | - | - | 2754.06 | - | - | - | - | - | - | - | - | - | - | - |
7125.15 | 464.93 | 1.95 | 435 | 7126.48 | VBD | -0.14 | - | - | 1939.00 | - | - | - | 2491.25 | - | - | - | - | 2752.88 | - | - | - | - | - | - | - | - | - | - | - |
7725.16 | 455.07 | 1.64 | 440 | 7726.50 | VBD | -0.14 | - | - | 1939.81 | - | - | - | 2491.44 | - | - | - | - | 2752.47 | - | - | - | - | - | - | - | - | - | - | - |
8325.17 | 446.29 | 1.46 | 445 | 8326.51 | VBD | -0.14 | - | - | 1939.00 | - | - | - | 2492.81 | - | - | - | - | 2753.28 | - | - | - | - | - | - | - | - | - | - | - |
8925.18 | 436.17 | 1.69 | 450 | 8926.52 | VBD | -0.14 | - | - | 1939.88 | - | - | - | 2490.94 | - | - | - | - | 2752.66 | - | - | - | - | - | - | - | - | - | - | - |
9525.46 | 426.22 | 1.66 | 455 | 9526.79 | VBD | -0.14 | - | - | 1938.81 | - | - | - | 2491.25 | - | - | - | - | 2752.38 | - | - | - | - | - | - | - | - | - | - | - |
10125.48 | 417.38 | 1.47 | 460 | 10126.81 | VBD | -0.14 | - | - | 1939.25 | - | - | - | 2492.44 | - | - | - | - | 2751.78 | - | - | - | - | - | - | - | - | - | - | - |
10725.23 | 410.00 | 1.23 | 465 | 10726.57 | VBD | -0.14 | - | - | 1939.56 | - | - | - | 2491.62 | - | - | - | - | 2752.56 | - | - | - | - | - | - | - | - | - | - | - |
11325.50 | 402.67 | 1.22 | 470 | 11326.84 | VBD | -0.14 | - | - | 1939.38 | - | - | - | 2491.38 | - | - | - | - | 2751.09 | - | - | - | - | - | - | - | - | - | - | - |
11925.34 | 396.40 | 1.05 | 475 | 11926.78 | VBD | -0.15 | - | - | 1939.25 | - | - | - | 2491.94 | - | -4.07 | 0.08 | 0.243 | 2790.88 | 497.4 | -134.659 | - | - | - | - | - | - | - | - | 14.64 |
12525.55 | 401.18 | -0.80 | 480 | 12526.89 | no move | -0.14 | - | - | 1940.00 | - | - | - | 2491.38 | - | -4.07 | - | - | 2791.41 | - | - | - | - | - | - | - | - | - | - | - |
13125.56 | 405.67 | -0.75 | 485 | 13126.90 | no move | -0.13 | - | - | 1939.12 | - | - | - | 2491.69 | - | -4.07 | - | - | 2790.47 | - | - | - | - | - | - | - | - | - | - | - |
13725.32 | 409.52 | -0.64 | 490 | 13726.66 | no move | -0.13 | - | - | 1939.75 | - | - | - | 2491.19 | - | -4.07 | - | - | 2790.28 | - | - | - | - | - | - | - | - | - | - | - |
14325.59 | 412.78 | -0.57 | 495 | 14326.93 | no move | -0.12 | - | - | 1939.56 | - | - | - | 2491.81 | - | -4.07 | - | - | 2790.69 | - | - | - | - | - | - | - | - | - | - | - |
14925.60 | 416.30 | -0.58 | 500 | 14926.93 | no move | -0.12 | - | - | 1938.06 | - | - | - | 2491.44 | - | -4.07 | - | - | 2794.38 | - | - | - | - | - | - | - | - | - | - | - |
15525.61 | 420.91 | -0.77 | 505 | 15526.95 | no move | -0.11 | - | - | 1939.06 | - | - | - | 2492.00 | - | -4.07 | - | - | 2790.50 | - | - | - | - | - | - | - | - | - | - | - |
16125.63 | 426.60 | -0.95 | 510 | 16126.96 | no move | -0.10 | - | - | 1939.12 | - | - | - | 2491.25 | - | -4.07 | - | - | 2791.03 | - | - | - | - | - | - | - | - | - | - | - |
16725.63 | 432.11 | -0.92 | 515 | 16726.97 | no move | -0.09 | - | - | 1939.00 | - | - | - | 2491.12 | - | -4.07 | - | - | 2790.34 | - | - | - | - | - | - | - | - | - | - | - |
17325.65 | 435.81 | -0.66 | 520 | 17326.98 | no move | -0.08 | - | - | 1939.56 | - | - | - | 2491.69 | - | -4.07 | - | - | 2791.69 | - | - | - | - | - | - | - | - | - | - | - |
17925.66 | 437.71 | -0.40 | 525 | 17927.00 | no move | -0.08 | - | - | 1939.31 | - | - | - | 2491.56 | - | -4.07 | - | - | 2791.25 | - | - | - | - | - | - | - | - | - | - | - |
18525.66 | 438.23 | -0.28 | 530 | 18526.99 | no move | -0.08 | - | - | 1939.06 | - | - | - | 2491.00 | - | -4.07 | - | - | 2791.12 | - | - | - | - | - | - | - | - | - | - | - |
19125.66 | 438.97 | -0.19 | 535 | 19127.00 | no move | -0.08 | - | - | 1940.81 | - | - | - | 2490.81 | - | -4.07 | - | - | 2791.69 | - | - | - | - | - | - | - | - | - | - | - |
19725.68 | 439.80 | -0.15 | 540 | 19727.01 | no move | -0.08 | - | - | 1939.94 | - | - | - | 2492.06 | - | -4.07 | - | - | 2790.25 | - | - | - | - | - | - | - | - | - | - | - |
20325.69 | 440.65 | -0.13 | 545 | 20327.03 | no move | -0.08 | - | - | 1940.12 | - | - | - | 2491.62 | - | -4.07 | - | - | 2791.03 | - | - | - | - | - | - | - | - | - | - | - |
20925.70 | 441.50 | -0.14 | 550 | 20927.04 | no move | -0.08 | - | - | 1939.19 | - | - | - | 2491.81 | - | -4.07 | - | - | 2789.66 | - | - | - | - | - | - | - | - | - | - | - |
21525.72 | 442.74 | -0.16 | 555 | 21527.05 | no move | -0.08 | - | - | 1939.62 | - | - | - | 2491.19 | - | -4.07 | - | - | 2790.47 | - | - | - | - | - | - | - | - | - | - | - |
22125.73 | 442.47 | -0.12 | 560 | 22127.07 | no move | -0.08 | - | - | 1939.00 | - | - | - | 2491.12 | - | -4.07 | - | - | 2791.66 | - | - | - | - | - | - | - | - | - | - | - |
22725.75 | 441.44 | -0.07 | 565 | 22727.08 | no move | -0.08 | - | - | 1939.31 | - | - | - | 2492.50 | - | -4.07 | - | - | 2791.06 | - | - | - | - | - | - | - | - | - | - | - |
23325.75 | 440.82 | -0.02 | 570 | 23327.09 | no move | -0.08 | - | - | 1939.31 | - | - | - | 2491.75 | - | -4.07 | - | - | 2790.59 | - | - | - | - | - | - | - | - | - | - | - |
23925.77 | 440.29 | 0.01 | 575 | 23927.10 | no move | -0.08 | - | - | 1939.44 | - | - | - | 2492.00 | - | -4.07 | - | - | 2789.88 | - | - | - | - | - | - | - | - | - | - | - |
24525.78 | 439.59 | 0.11 | 580 | 24527.11 | no move | -0.08 | - | - | 1939.88 | - | - | - | 2492.12 | - | -4.07 | - | - | 2791.00 | - | - | - | - | - | - | - | - | - | - | - |
25125.79 | 439.05 | 0.11 | 585 | 25127.12 | no move | -0.08 | - | - | 1939.88 | - | - | - | 2491.88 | - | -4.07 | - | - | 2790.47 | - | - | - | - | - | - | - | - | - | - | - |
25725.80 | 439.42 | 0.08 | 590 | 25727.13 | no move | -0.08 | - | - | 1939.69 | - | - | - | 2492.06 | - | -4.07 | - | - | 2790.91 | - | - | - | - | - | - | - | - | - | - | - |
26325.83 | 439.40 | 0.05 | 595 | 26327.17 | no move | -0.08 | - | - | 1938.50 | - | - | - | 2491.50 | - | -4.07 | - | - | 2794.25 | - | - | - | - | - | - | - | - | - | - | - |
26566 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
26566 | begin climb | ||||||||||||||||||||||||||||
26565.90 | 439.40 | - | 597 | 26676.22 | 0.89 | 0.94 | 0.063 | 2303.94 | 388.8 | 4.14 | 0.041 | 1076.50 | -341.8 | 116.79 | 103.34 | 1.721 | 2290.03 | -4.9 | 0.207 | - | - | - | - | - | - | 15.67 | 15.32 | 10.84 | |
26708.05 | 430.82 | 9.71 | 625 | 26714.05 | roll back | 0.89 | 0.11 | 0.246 | 2257.00 | -426.7 | 4.35 | 0.022 | 2604.25 | 351.2 | 116.79 | - | - | 2287.47 | - | - | - | - | - | - | - | - | 15.29 | 15.45 | - |
27083.08 | 392.48 | 10.26 | 646 | 27084.42 | VBD | 0.89 | - | - | 2257.00 | - | - | - | 2604.56 | - | 116.79 | - | - | 2278.59 | - | - | - | - | - | - | - | - | - | - | - |
27443.13 | 356.64 | 9.83 | 664 | 27444.47 | VBD | 0.89 | - | - | 2256.88 | - | - | - | 2604.38 | - | 116.79 | - | - | 2276.47 | - | - | - | - | - | - | - | - | - | - | - |
27803.13 | 321.77 | 9.14 | 682 | 27809.06 | done | 0.89 | - | - | 2274.75 | - | 4.43 | 0.036 | 1078.44 | -344.5 | 116.79 | - | - | 2276.53 | - | - | - | - | - | - | - | - | - | 15.58 | - |
27848.30 | 317.57 | 9.40 | 691 | 27854.04 | done | 0.89 | - | - | 2258.50 | - | 4.29 | 0.022 | 2597.00 | 354.0 | 116.79 | - | - | 2277.88 | - | - | - | - | - | - | - | - | - | 15.60 | - |
28223.16 | 285.37 | 8.17 | 712 | 28224.50 | VBD | 0.90 | - | - | 2257.88 | - | - | - | 2597.62 | - | 116.79 | - | - | 2274.09 | - | - | - | - | - | - | - | - | - | - | - |
28583.45 | 259.85 | 6.19 | 730 | 28640.23 | 1.05 | 0.17 | 0.073 | 2351.06 | 548.1 | 4.40 | 0.038 | 1078.56 | -345.2 | 177.95 | 49.45 | 1.509 | 2044.09 | -4.7 | 0.133 | - | - | - | - | - | - | 15.69 | 15.44 | 11.16 | |
28703.43 | 249.13 | 9.56 | 754 | 28710.13 | roll back | 1.05 | 0.09 | 0.238 | 2307.31 | -486.1 | 4.28 | 0.023 | 2600.12 | 355.5 | 177.95 | - | - | 2039.62 | - | - | - | - | - | - | - | - | 15.39 | 15.60 | - |
29078.23 | 221.81 | 6.61 | 775 | 29124.45 | 1.19 | 0.16 | 0.081 | 2384.19 | 480.5 | - | - | 2601.50 | - | 231.40 | 43.96 | 1.447 | 1824.91 | -4.9 | 0.124 | - | - | - | - | - | - | 15.64 | - | 11.38 | |
29488.57 | 185.85 | 8.93 | 806 | 29495.22 | done | 1.19 | - | - | 2402.56 | - | 4.42 | 0.038 | 1078.69 | -344.5 | 231.40 | - | - | 1815.28 | - | - | - | - | - | - | - | - | - | 15.62 | - |
29608.31 | 175.30 | 8.55 | 830 | 29614.30 | 1.20 | 0.10 | 0.240 | 2357.56 | -450.0 | 4.28 | 0.023 | 2602.38 | 356.0 | 231.40 | - | - | 1815.22 | - | - | - | - | - | - | - | - | 15.37 | 15.64 | - | |
29913.62 | 154.05 | 6.36 | 861 | 29966.67 | 1.35 | 0.16 | 0.077 | 2446.69 | 557.1 | 4.43 | 0.039 | 1078.56 | -344.0 | 289.44 | 46.47 | 1.390 | 1588.72 | -4.9 | 0.090 | - | - | - | - | - | - | 15.68 | 15.45 | 11.26 | |
30018.78 | 144.54 | 9.90 | 882 | 30024.73 | roll back | 1.35 | 0.10 | 0.234 | 2401.44 | -452.5 | 4.30 | 0.024 | 2600.50 | 353.9 | 289.44 | - | - | 1585.88 | - | - | - | - | - | - | - | - | 15.42 | 15.62 | - |
30328.84 | 119.22 | 7.90 | 914 | 30334.76 | done | 1.36 | - | - | 2419.69 | - | 4.41 | 0.038 | 1079.44 | -344.9 | 289.44 | - | - | 1580.47 | - | - | - | - | - | - | - | - | - | 15.65 | - |
30368.90 | 115.95 | 8.02 | 922 | 30374.74 | done | 1.38 | - | - | 2403.62 | - | 4.28 | 0.024 | 2596.31 | 354.4 | 289.44 | - | - | 1581.41 | - | - | - | - | - | - | - | - | - | 15.70 | - |
30673.88 | 95.99 | 5.75 | 960 | 30731.18 | 1.55 | 0.22 | 0.071 | 2508.38 | 476.2 | - | - | 2596.00 | - | 358.66 | 55.49 | 1.333 | 1306.44 | -5.0 | 0.059 | - | - | - | - | - | - | 15.67 | - | 11.34 | |
31028.93 | 69.45 | 5.93 | 1031 | 31087.03 | done | 1.72 | - | - | 2528.25 | - | 4.44 | 0.041 | 1079.38 | -341.6 | 424.59 | 52.29 | 1.281 | 1037.47 | -5.1 | 0.046 | - | - | - | - | - | - | - | 15.37 | 11.48 |
31163.90 | 61.33 | 6.38 | 1058 | 31215.89 | 1.86 | 0.17 | 0.081 | 2605.31 | 453.3 | 4.32 | 0.023 | 2599.38 | 351.9 | 482.21 | 45.78 | 1.238 | 804.91 | -5.1 | 0.042 | - | - | - | - | - | - | 15.41 | 15.52 | 11.78 | |
31513.95 | 39.27 | 5.61 | 1128 | 31571.00 | done | 2.04 | - | - | 2624.81 | - | 4.49 | 0.041 | 1079.44 | -338.5 | 553.92 | 50.12 | 1.223 | 548.75 | -5.1 | 0.027 | - | - | - | - | - | - | - | 15.28 | 11.58 |
31663.97 | 30.78 | 6.10 | 1158 | 31669.95 | 2.20 | 0.18 | 0.076 | 2712.25 | 485.8 | 4.33 | 0.024 | 2597.75 | 350.6 | 616.66 | - | - | 542.94 | - | - | - | - | - | - | - | - | 15.40 | 15.49 | - | |
31969.29 | 16.35 | 4.39 | 1219 | 31970.75 | 2.43 | 0.12 | 0.092 | 2773.44 | 509.9 | - | - | 2597.62 | - | 710.71 | - | - | 539.94 | - | - | - | - | - | - | - | - | 15.58 | - | - | |
32174 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
32174 | begin surface coast | ||||||||||||||||||||||||||||
32199 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
32199 | begin surface | ||||||||||||||||||||||||||||
SM | 2.64 | - | - | - | - | 129.4 | - | - | 538.2 | - | 7.76 | 0.080 | 514.1 | 66.2 | - | 1.10 | 0.015 | 562.3 | 511.2 | -9.195 | - | - | 30.00 | 15.44 | 15.67 | - |