• Previous call tries 2 | • 154.18 of 575.00 AH used of 24V (73.19% remains) | |
• Surface angle -67.3 deg, depth 1.45 m | • Intended pitch -21.4 deg, speed -9.524 cm/s | |
• No surface pump (final VBD was 570.6, SM_CC=529.84796) | ||
• GPS1 time: 64 s | ||
• GPS2 time: 2 s | • Transponder ping count: 5 | |
• 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 | - | - | - | 46.16 | VBD | -0.89 | - | - | 124.94 | - | - | - | 2254.56 | - | -116.79 | 42.96 | 0.005 | 1370.06 | - | - | - | - | - | - | - | - | - | - | 15.06 |
46.41 | 3.38 | -3.76 | 7 | 114.82 | -0.89 | 7.80 | 0.418 | 1679.62 | 199.3 | 4.34 | 0.059 | 3717.50 | 337.1 | -116.79 | 52.24 | 0.005 | 3245.50 | 35.9 | -4.041 | - | - | - | - | - | - | 15.06 | 14.96 | 15.19 | |
151.67 | 39.58 | -41.50 | 28 | 157.59 | roll | -0.89 | - | - | 1695.44 | - | 4.31 | 0.017 | 2189.88 | -354.4 | -116.79 | - | - | 3248.25 | - | - | - | - | - | - | - | - | - | 15.60 | - |
456.76 | 108.80 | -16.42 | 84 | 462.65 | roll | -0.89 | - | - | 1713.94 | - | 4.26 | 0.050 | 721.81 | -344.6 | -116.79 | - | - | 3249.88 | - | - | - | - | - | - | - | - | - | 15.58 | - |
561.72 | 125.71 | -15.45 | 105 | 567.67 | roll | -0.89 | - | - | 1697.19 | - | 4.26 | 0.019 | 2245.88 | 357.8 | -116.79 | - | - | 3248.62 | - | - | - | - | - | - | - | - | - | 15.61 | - |
866.78 | 169.09 | -13.61 | 136 | 868.11 | no move | -0.89 | - | - | 1697.69 | - | - | - | 2245.00 | - | -116.79 | - | - | 3247.28 | - | - | - | - | - | - | - | - | - | - | - |
1176.81 | 210.84 | -12.98 | 163 | 1182.74 | roll | -0.89 | - | - | 1713.38 | - | 4.47 | 0.048 | 720.19 | -341.1 | -116.79 | - | - | 3248.47 | - | - | - | - | - | - | - | - | - | 15.61 | - |
1211.80 | 215.47 | -13.33 | 170 | 1217.74 | roll | -0.89 | - | - | 1696.88 | - | 4.27 | 0.019 | 2245.00 | 357.1 | -116.79 | - | - | 3249.62 | - | - | - | - | - | - | - | - | - | 15.64 | - |
1576.83 | 255.64 | -9.59 | 189 | 1578.16 | no move | -0.89 | - | - | 1697.00 | - | - | - | 2245.94 | - | -116.79 | - | - | 3247.62 | - | - | - | - | - | - | - | - | - | - | - |
1936.86 | 286.01 | -8.01 | 207 | 1942.76 | roll | -0.89 | - | - | 1677.56 | - | 4.36 | 0.058 | 3716.56 | 337.3 | -116.79 | - | - | 3249.78 | - | - | - | - | - | - | - | - | - | 15.61 | - |
1986.85 | 290.47 | -9.12 | 217 | 1992.76 | roll | -0.89 | - | - | 1694.19 | - | 4.29 | 0.014 | 2184.69 | -357.1 | -116.79 | - | - | 3249.31 | - | - | - | - | - | - | - | - | - | 15.65 | - |
2356.88 | 320.07 | -7.96 | 237 | 2362.83 | roll | -0.89 | - | - | 1677.12 | - | 4.57 | 0.056 | 3714.94 | 334.8 | -116.79 | - | - | 3248.28 | - | - | - | - | - | - | - | - | - | 15.70 | - |
2421.87 | 325.87 | -9.06 | 250 | 2427.79 | roll | -0.89 | - | - | 1693.19 | - | 4.24 | 0.015 | 2183.19 | -361.3 | -116.79 | - | - | 3250.41 | - | - | - | - | - | - | - | - | - | 15.79 | - |
2796.93 | 353.31 | -7.15 | 271 | 2798.26 | no move | -0.89 | - | - | 1693.81 | - | - | - | 2182.44 | - | -116.79 | - | - | 3247.22 | - | - | - | - | - | - | - | - | - | - | - |
3156.96 | 379.77 | -7.34 | 289 | 3162.88 | roll | -0.89 | - | - | 1676.94 | - | 4.54 | 0.056 | 3717.69 | 338.2 | -116.79 | - | - | 3247.72 | - | - | - | - | - | - | - | - | - | 15.74 | - |
3256.95 | 388.07 | -8.36 | 309 | 3262.85 | roll | -0.89 | - | - | 1691.81 | - | 4.24 | 0.015 | 2182.81 | -362.0 | -116.79 | - | - | 3249.34 | - | - | - | - | - | - | - | - | - | 15.87 | - |
3636.99 | 414.77 | -6.92 | 331 | 3638.32 | no move | -0.89 | - | - | 1692.75 | - | - | - | 2181.69 | - | -116.79 | - | - | 3247.22 | - | - | - | - | - | - | - | - | - | - | - |
3997.02 | 439.12 | -6.57 | 349 | 4002.95 | roll | -0.89 | - | - | 1674.62 | - | 4.53 | 0.056 | 3716.50 | 338.8 | -116.79 | - | - | 3248.78 | - | - | - | - | - | - | - | - | - | 15.77 | - |
4086.99 | 446.01 | -8.13 | 367 | 4092.91 | roll | -0.89 | - | - | 1691.31 | - | 4.22 | 0.015 | 2185.62 | -362.8 | -116.79 | - | - | 3248.25 | - | - | - | - | - | - | - | - | - | 15.87 | - |
4457.05 | 470.51 | -6.70 | 387 | 4462.98 | roll | -0.89 | - | - | 1673.94 | - | 4.53 | 0.056 | 3718.62 | 338.4 | -116.79 | - | - | 3247.97 | - | - | - | - | - | - | - | - | - | 15.78 | - |
4527.03 | 475.93 | -8.08 | 401 | 4532.96 | roll | -0.89 | - | - | 1690.31 | - | 4.22 | 0.014 | 2182.62 | -364.0 | -116.79 | - | - | 3250.25 | - | - | - | - | - | - | - | - | - | 15.89 | - |
4897 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
4897 | begin apogee | ||||||||||||||||||||||||||||
4899.47 | 501.37 | -6.61 | 421 | 4995.37 | -0.14 | 0.84 | 0.183 | 1936.69 | 293.3 | 0.14 | 0.090 | 2519.44 | 2405.9 | - | 94.07 | 1.814 | 2770.22 | -5.1 | 0.235 | - | - | - | - | - | - | 15.54 | 15.30 | 11.07 | |
4996 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4996 | begin loiter | ||||||||||||||||||||||||||||
5347.10 | 498.64 | 1.31 | 427 | 5348.44 | VBD | -0.14 | - | - | 1938.31 | - | - | - | 2492.19 | - | - | - | - | 2757.22 | - | - | - | - | - | - | - | - | - | - | - |
5947.37 | 487.48 | 1.86 | 432 | 5948.70 | VBD | -0.14 | - | - | 1937.94 | - | - | - | 2492.12 | - | - | - | - | 2754.47 | - | - | - | - | - | - | - | - | - | - | - |
6547.39 | 476.02 | 1.91 | 437 | 6548.72 | VBD | -0.14 | - | - | 1938.31 | - | - | - | 2491.56 | - | - | - | - | 2754.09 | - | - | - | - | - | - | - | - | - | - | - |
7147.40 | 465.75 | 1.71 | 442 | 7148.74 | VBD | -0.14 | - | - | 1937.06 | - | - | - | 2491.56 | - | - | - | - | 2753.66 | - | - | - | - | - | - | - | - | - | - | - |
7747.41 | 455.66 | 1.68 | 447 | 7748.75 | VBD | -0.14 | - | - | 1938.81 | - | - | - | 2491.12 | - | - | - | - | 2752.94 | - | - | - | - | - | - | - | - | - | - | - |
8347.43 | 446.42 | 1.54 | 452 | 8348.77 | VBD | -0.14 | - | - | 1938.19 | - | - | - | 2492.19 | - | - | - | - | 2752.66 | - | - | - | - | - | - | - | - | - | - | - |
8947.19 | 436.73 | 1.61 | 457 | 8948.53 | VBD | -0.14 | - | - | 1937.81 | - | - | - | 2490.94 | - | - | - | - | 2751.78 | - | - | - | - | - | - | - | - | - | - | - |
9547.46 | 428.10 | 1.44 | 462 | 9548.79 | VBD | -0.14 | - | - | 1938.31 | - | - | - | 2492.50 | - | - | - | - | 2752.50 | - | - | - | - | - | - | - | - | - | - | - |
10147.47 | 419.92 | 1.36 | 467 | 10148.81 | VBD | -0.14 | - | - | 1938.62 | - | - | - | 2491.75 | - | - | - | - | 2751.84 | - | - | - | - | - | - | - | - | - | - | - |
10747.49 | 410.89 | 1.51 | 472 | 10748.83 | VBD | -0.14 | - | - | 1938.44 | - | - | - | 2491.81 | - | - | - | - | 2752.09 | - | - | - | - | - | - | - | - | - | - | - |
11347.50 | 403.14 | 1.29 | 477 | 11348.83 | VBD | -0.14 | - | - | 1937.94 | - | - | - | 2491.81 | - | - | - | - | 2751.78 | - | - | - | - | - | - | - | - | - | - | - |
11947.52 | 396.81 | 1.06 | 482 | 11948.96 | VBD | -0.15 | - | - | 1938.00 | - | - | - | 2491.50 | - | -4.11 | 0.08 | 0.277 | 2787.62 | 448.0 | -106.875 | - | - | - | - | - | - | - | - | 14.58 |
12547.54 | 401.72 | -0.82 | 487 | 12548.88 | no move | -0.14 | - | - | 1938.19 | - | - | - | 2492.44 | - | -4.11 | - | - | 2787.66 | - | - | - | - | - | - | - | - | - | - | - |
13147.55 | 406.99 | -0.88 | 492 | 13148.88 | no move | -0.13 | - | - | 1937.44 | - | - | - | 2491.75 | - | -4.11 | - | - | 2787.59 | - | - | - | - | - | - | - | - | - | - | - |
13747.69 | 411.73 | -0.79 | 497 | 13749.03 | no move | -0.12 | - | - | 1938.19 | - | - | - | 2492.06 | - | -4.11 | - | - | 2788.16 | - | - | - | - | - | - | - | - | - | - | - |
14356.65 | 416.14 | -0.74 | 502 | 14357.98 | no move | -0.12 | - | - | 1937.50 | - | - | - | 2492.06 | - | -4.11 | - | - | 2787.44 | - | - | - | - | - | - | - | - | - | - | - |
14947.33 | 420.16 | -0.67 | 507 | 14948.67 | no move | -0.11 | - | - | 1938.31 | - | - | - | 2492.00 | - | -4.11 | - | - | 2786.75 | - | - | - | - | - | - | - | - | - | - | - |
15547.34 | 423.42 | -0.55 | 512 | 15548.68 | no move | -0.10 | - | - | 1938.19 | - | - | - | 2491.31 | - | -4.11 | - | - | 2786.62 | - | - | - | - | - | - | - | - | - | - | - |
16147.61 | 426.48 | -0.51 | 517 | 16148.95 | no move | -0.10 | - | - | 1938.06 | - | - | - | 2492.06 | - | -4.11 | - | - | 2787.91 | - | - | - | - | - | - | - | - | - | - | - |
16747.63 | 429.29 | -0.45 | 522 | 16748.97 | no move | -0.10 | - | - | 1938.31 | - | - | - | 2491.19 | - | -4.11 | - | - | 2788.53 | - | - | - | - | - | - | - | - | - | - | - |
17347.62 | 431.94 | -0.46 | 527 | 17348.96 | no move | -0.10 | - | - | 1937.81 | - | - | - | 2492.50 | - | -4.11 | - | - | 2787.62 | - | - | - | - | - | - | - | - | - | - | - |
17947.63 | 433.12 | -0.32 | 532 | 17948.97 | no move | -0.10 | - | - | 1937.56 | - | - | - | 2491.06 | - | -4.11 | - | - | 2786.50 | - | - | - | - | - | - | - | - | - | - | - |
18547.64 | 433.36 | -0.23 | 537 | 18548.98 | no move | -0.10 | - | - | 1937.75 | - | - | - | 2492.44 | - | -4.11 | - | - | 2786.84 | - | - | - | - | - | - | - | - | - | - | - |
19147.65 | 434.40 | -0.19 | 542 | 19148.99 | no move | -0.10 | - | - | 1937.75 | - | - | - | 2491.19 | - | -4.11 | - | - | 2788.66 | - | - | - | - | - | - | - | - | - | - | - |
19747.67 | 434.90 | -0.15 | 547 | 19749.01 | no move | -0.10 | - | - | 1939.31 | - | - | - | 2490.88 | - | -4.11 | - | - | 2787.75 | - | - | - | - | - | - | - | - | - | - | - |
20347.68 | 434.76 | -0.12 | 552 | 20349.01 | no move | -0.10 | - | - | 1937.94 | - | - | - | 2491.75 | - | -4.11 | - | - | 2789.00 | - | - | - | - | - | - | - | - | - | - | - |
20947.69 | 434.51 | -0.06 | 557 | 20949.03 | no move | -0.10 | - | - | 1938.19 | - | - | - | 2491.31 | - | -4.11 | - | - | 2786.62 | - | - | - | - | - | - | - | - | - | - | - |
21547.70 | 434.70 | -0.04 | 562 | 21549.04 | no move | -0.10 | - | - | 1938.00 | - | - | - | 2492.38 | - | -4.11 | - | - | 2788.16 | - | - | - | - | - | - | - | - | - | - | - |
22147.72 | 436.36 | -0.08 | 567 | 22149.05 | no move | -0.10 | - | - | 1937.94 | - | - | - | 2491.19 | - | -4.11 | - | - | 2787.06 | - | - | - | - | - | - | - | - | - | - | - |
22747.73 | 437.52 | -0.22 | 572 | 22749.06 | no move | -0.10 | - | - | 1937.94 | - | - | - | 2492.25 | - | -4.11 | - | - | 2788.78 | - | - | - | - | - | - | - | - | - | - | - |
23347.74 | 436.71 | -0.05 | 577 | 23349.08 | no move | -0.10 | - | - | 1937.50 | - | - | - | 2490.88 | - | -4.11 | - | - | 2788.00 | - | - | - | - | - | - | - | - | - | - | - |
23947.75 | 435.31 | -0.01 | 582 | 23949.08 | no move | -0.10 | - | - | 1936.62 | - | - | - | 2492.00 | - | -4.11 | - | - | 2790.78 | - | - | - | - | - | - | - | - | - | - | - |
24547.76 | 434.61 | -0.01 | 587 | 24549.10 | no move | -0.10 | - | - | 1937.94 | - | - | - | 2490.94 | - | -4.11 | - | - | 2787.75 | - | - | - | - | - | - | - | - | - | - | - |
25147.78 | 435.32 | -0.01 | 592 | 25149.11 | no move | -0.10 | - | - | 1937.56 | - | - | - | 2491.00 | - | -4.11 | - | - | 2787.81 | - | - | - | - | - | - | - | - | - | - | - |
25747.79 | 436.23 | 0.02 | 597 | 25749.12 | no move | -0.10 | - | - | 1937.62 | - | - | - | 2492.38 | - | -4.11 | - | - | 2788.94 | - | - | - | - | - | - | - | - | - | - | - |
26347.79 | 435.99 | 0.05 | 602 | 26349.13 | no move | -0.10 | - | - | 1937.62 | - | - | - | 2492.00 | - | -4.11 | - | - | 2787.03 | - | - | - | - | - | - | - | - | - | - | - |
26588 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
26588 | begin climb | ||||||||||||||||||||||||||||
26587.88 | 435.65 | - | 604 | 26698.23 | 0.89 | 0.94 | 0.068 | 2269.81 | 353.4 | 4.43 | 0.067 | 3955.50 | 330.4 | 116.79 | 102.69 | 1.720 | 2291.56 | -4.8 | 0.204 | - | - | - | - | - | - | 15.84 | 15.36 | 10.58 | |
26755.09 | 423.41 | 12.42 | 637 | 26760.94 | roll | 0.89 | - | - | 2286.12 | - | 3.95 | 0.013 | 2531.44 | -360.5 | 116.79 | - | - | 2288.41 | - | - | - | - | - | - | - | - | - | 15.54 | - |
27125.38 | 381.16 | 11.37 | 657 | 27131.03 | done | 0.89 | - | - | 2270.88 | - | 4.29 | 0.065 | 3956.75 | 332.2 | 116.79 | - | - | 2282.16 | - | - | - | - | - | - | - | - | - | 15.57 | - |
27165.17 | 376.22 | 12.75 | 665 | 27170.99 | done | 0.89 | - | - | 2286.12 | - | 3.90 | 0.013 | 2528.38 | -366.2 | 116.79 | - | - | 2282.59 | - | - | - | - | - | - | - | - | - | 15.67 | - |
27545.44 | 335.73 | 10.35 | 687 | 27546.78 | VBD | 0.89 | - | - | 2287.06 | - | - | - | 2513.06 | - | 116.79 | - | - | 2277.94 | - | - | - | - | - | - | - | - | - | - | - |
27905.47 | 299.63 | 9.67 | 705 | 27911.11 | done | 0.89 | - | - | 2269.56 | - | 4.28 | 0.064 | 3956.00 | 337.1 | 116.79 | - | - | 2280.16 | - | - | - | - | - | - | - | - | - | 15.66 | - |
27975.28 | 292.00 | 10.97 | 719 | 27981.06 | done | 0.89 | - | - | 2287.44 | - | 3.88 | 0.012 | 2525.62 | -368.7 | 116.79 | - | - | 2276.72 | - | - | - | - | - | - | - | - | - | 15.79 | - |
28345.59 | 262.20 | 7.43 | 739 | 28378.26 | VBD | 0.98 | - | - | 2288.06 | - | - | - | 2508.75 | - | 155.25 | 31.28 | 1.499 | 2136.25 | -4.5 | 0.131 | - | - | - | - | - | - | - | - | 11.14 |
28725.29 | 236.05 | 6.25 | 758 | 28782.32 | 1.13 | 0.17 | 0.081 | 2377.25 | 524.6 | 4.14 | 0.040 | 1078.50 | -345.5 | 215.27 | 50.40 | 1.470 | 1889.97 | -4.9 | 0.131 | - | - | - | - | - | - | 15.59 | 15.41 | 11.57 | |
28830.27 | 227.15 | 9.45 | 779 | 28836.25 | roll back | 1.13 | 0.09 | 0.243 | 2334.56 | -474.3 | 4.31 | 0.022 | 2602.50 | 353.6 | 215.27 | - | - | 1886.44 | - | - | - | - | - | - | - | - | 15.34 | 15.52 | - |
29205.40 | 198.71 | 7.16 | 800 | 29248.17 | 1.24 | 0.14 | 0.083 | 2420.25 | 612.1 | 4.45 | 0.039 | 1077.19 | -342.8 | 258.70 | 35.73 | 1.413 | 1714.69 | -4.8 | 0.113 | - | - | - | - | - | - | 15.49 | 15.36 | 11.39 | |
29300.38 | 189.70 | 10.32 | 819 | 29306.34 | roll back | 1.24 | 0.13 | 0.239 | 2368.06 | -401.5 | 4.32 | 0.022 | 2602.06 | 353.0 | 258.70 | - | - | 1710.16 | - | - | - | - | - | - | - | - | 15.31 | 15.49 | - |
29610.67 | 164.58 | 7.91 | 851 | 29612.01 | VBD | 1.26 | - | - | 2369.19 | - | - | - | 2603.44 | - | 258.70 | - | - | 1703.62 | - | - | - | - | - | - | - | - | - | - | - |
29910.65 | 142.39 | 7.07 | 881 | 29954.57 | 1.37 | 0.15 | 0.075 | 2452.25 | 553.7 | 4.48 | 0.039 | 1079.19 | -340.2 | 303.72 | 36.88 | 1.371 | 1532.03 | -4.7 | 0.080 | - | - | - | - | - | - | 15.53 | 15.38 | 11.49 | |
30011.41 | 133.02 | 9.86 | 901 | 30017.42 | roll back | 1.37 | 0.09 | 0.231 | 2409.75 | -472.2 | 4.32 | 0.023 | 2603.12 | 352.8 | 303.72 | - | - | 1526.59 | - | - | - | - | - | - | - | - | 15.32 | 15.50 | - |
30316.73 | 108.35 | 7.39 | 932 | 30358.10 | 1.47 | 0.12 | 0.087 | 2489.19 | 662.0 | 4.46 | 0.039 | 1078.44 | -341.9 | 342.87 | 32.79 | 1.327 | 1371.34 | -4.7 | 0.064 | - | - | - | - | - | - | 15.49 | 15.36 | 11.51 | |
30396.48 | 101.23 | 9.31 | 948 | 30402.46 | roll back | 1.47 | 0.11 | 0.228 | 2441.25 | -435.8 | 4.32 | 0.023 | 2602.88 | 352.9 | 342.87 | - | - | 1367.16 | - | - | - | - | - | - | - | - | 15.33 | 15.48 | - |
30701.54 | 79.60 | 6.53 | 1008 | 30747.86 | 1.60 | 0.16 | 0.069 | 2522.12 | 505.4 | - | - | 2603.12 | - | 397.69 | 44.45 | 1.302 | 1148.66 | -4.9 | 0.050 | - | - | - | - | - | - | 15.48 | - | 11.42 | |
31046.91 | 59.09 | 4.70 | 1077 | 31124.41 | 1.83 | 0.12 | 0.086 | 2613.00 | 757.3 | 4.51 | 0.041 | 1080.12 | -337.7 | 486.21 | 69.44 | 1.265 | 786.66 | -5.2 | 0.041 | - | - | - | - | - | - | 15.53 | 15.25 | 11.54 | |
31221.87 | 47.59 | 6.80 | 1112 | 31268.72 | done | 1.95 | - | - | 2611.50 | - | 4.33 | 0.023 | 2601.06 | 351.3 | 536.09 | 40.13 | 1.212 | 584.94 | -5.0 | 0.033 | - | - | - | - | - | - | - | 15.47 | 11.84 |
31566.94 | 28.40 | 4.49 | 1181 | 31582.93 | 2.18 | 0.20 | 0.065 | 2737.31 | 629.0 | 4.42 | 0.039 | 1079.00 | -344.4 | 628.34 | 8.52 | 1.030 | 549.16 | -4.2 | 0.019 | - | - | - | - | - | - | 15.51 | 15.29 | 11.55 | |
31806.98 | 18.49 | 4.89 | 1229 | 31812.89 | done | 2.39 | - | - | 2721.19 | - | 4.28 | 0.022 | 2600.38 | 355.5 | 713.33 | - | - | 543.75 | - | - | - | - | - | - | - | - | - | 15.60 | - |
32107 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
32107 | begin surface coast | ||||||||||||||||||||||||||||
32142 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
32142 | begin surface | ||||||||||||||||||||||||||||
SM | 2.47 | - | - | - | - | 110.8 | - | - | 542.4 | - | 7.26 | 0.044 | 514.2 | 70.8 | - | 1.12 | 0.019 | 570.6 | 505.6 | -6.718 | - | - | 30.00 | 15.56 | 15.72 | - |