• Previous call tries 7 | • 205.81 of 315.00 AH used of 24V (34.66% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -72.5 deg, depth 1.29 m | • Intended pitch -21.4 deg, speed -9.167 cm/s | |
• VBD pumped to 579.63 (SM_CC=579.63446) | ||
• GPS1 time: 55 s | ||
• GPS2 time: 22 s | • Transponder ping count: 0 | |
• 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 | |||||
13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
17 | - | - | - | 69 | VBD | -0.82 | - | - | 115 | - | - | - | 2242 | - | -126.5 | -49.47 | - | 1893 | - | - | - | - | - | - | - | - | - | - | - |
73 | 3.6 | -8.4 | 8 | 126 | roll | -0.82 | 10.95 | 0.330 | 2674 | 233.7 | 2.35 | 0.073 | 799 | -614.0 | -126.5 | -33.78 | - | 3389 | -44.3 | - | - | - | - | - | - | - | 14.07 | 14.56 | 14.91 |
222 | 39.3 | -29.2 | 33 | 228 | done | -0.82 | - | - | 2666 | - | 2.17 | 0.045 | 2168 | 630.9 | -126.5 | - | - | 3389 | - | - | - | - | - | - | - | - | - | 14.62 | - |
421 | 90.9 | -20.7 | 70 | 429 | roll | -0.82 | - | - | 2666 | - | 2.28 | 0.054 | 804 | -598.2 | -126.5 | - | - | 3389 | - | - | - | - | - | - | - | - | - | 14.42 | - |
454 | 96.9 | -18.3 | 75 | 462 | done | -0.82 | 0.10 | 0.277 | 2676 | 100.0 | 2.22 | 0.043 | 2214 | 635.1 | -126.5 | - | - | 3389 | - | - | - | - | - | - | - | - | 14.37 | 14.64 | - |
654 | 128.6 | -14.8 | 112 | 662 | roll | -0.82 | - | - | 2667 | - | 2.33 | 0.058 | 3599 | 594.4 | -126.5 | - | - | 3389 | - | - | - | - | - | - | - | - | - | 14.45 | - |
739 | 141.0 | -15.1 | 127 | 746 | done | -0.82 | - | - | 2667 | - | 2.20 | 0.032 | 2182 | -644.1 | -126.5 | - | - | 3388 | - | - | - | - | - | - | - | - | - | 14.71 | - |
937 | 166.7 | -12.2 | 164 | 944 | roll | -0.82 | - | - | 2667 | - | 2.25 | 0.053 | 826 | -602.7 | -126.5 | - | - | 3389 | - | - | - | - | - | - | - | - | - | 14.40 | - |
1014 | 176.4 | -12.1 | 178 | 1023 | done | -0.82 | 0.05 | 0.226 | 2673 | 120.0 | 2.22 | 0.041 | 2189 | 614.0 | -126.5 | - | - | 3388 | - | - | - | - | - | - | - | - | 14.24 | 14.42 | - |
1220 | 202.9 | -13.3 | 214 | 1230 | roll | -0.82 | - | - | 2663 | - | 2.28 | 0.059 | 3600 | 618.9 | -126.5 | - | - | 3388 | - | - | - | - | - | - | - | - | - | 14.47 | - |
1344 | 219.9 | -14.0 | 238 | 1349 | done | -0.82 | 0.08 | 0.256 | 2679 | 200.0 | 2.20 | 0.033 | 2197 | -637.7 | -126.5 | - | - | 3387 | - | - | - | - | - | - | - | - | 14.49 | 14.71 | - |
1657 | 260.2 | -12.7 | 270 | 1659 | done | -0.82 | - | - | 2679 | - | - | - | 2196 | - | -126.5 | - | - | 3386 | - | - | - | - | - | - | - | - | - | - | - |
1961 | 297.1 | -12.0 | 300 | 1968 | done | -0.82 | - | - | 2678 | - | - | - | 2195 | - | -126.5 | - | - | 3384 | - | - | - | - | - | - | - | - | - | - | - |
2271 | 334.3 | -12.0 | 331 | 2282 | roll | -0.82 | - | - | 2679 | - | 2.22 | 0.054 | 811 | -623.4 | -126.5 | - | - | 3381 | - | - | - | - | - | - | - | - | - | 14.48 | - |
2327 | 341.3 | -11.8 | 341 | 2337 | done | -0.82 | - | - | 2671 | - | 2.22 | 0.042 | 2226 | 637.4 | -126.5 | - | - | 3381 | - | - | - | - | - | - | - | - | - | 14.57 | - |
2647 | 380.8 | -12.4 | 362 | 2653 | roll | -0.82 | - | - | 2671 | - | 2.28 | 0.057 | 821 | -616.2 | -126.5 | - | - | 3377 | - | - | - | - | - | - | - | - | - | 14.49 | - |
2688 | 386.1 | -12.8 | 370 | 2695 | done | -0.82 | 0.05 | 0.218 | 2678 | 140.0 | 2.20 | 0.044 | 2198 | 625.9 | -126.5 | - | - | 3377 | - | - | - | - | - | - | - | - | 14.34 | 14.61 | - |
3009 | 425.4 | -12.3 | 389 | 3013 | roll | -0.82 | - | - | 2678 | - | 2.28 | 0.060 | 814 | -607.0 | -126.5 | - | - | 3374 | - | - | - | - | - | - | - | - | - | 14.51 | - |
3046 | 430.3 | -12.4 | 396 | 3054 | done | -0.82 | - | - | 2670 | - | 2.33 | 0.047 | 2202 | 595.7 | -126.5 | - | - | 3374 | - | - | - | - | - | - | - | - | - | 14.39 | - |
3353 | 468.3 | -12.6 | 412 | 3357 | roll | -0.82 | - | - | 2670 | - | 2.30 | 0.064 | 814 | -603.5 | -126.5 | - | - | 3372 | - | - | - | - | - | - | - | - | - | 14.48 | - |
3379 | 472.1 | -12.9 | 417 | 3384 | done | -0.82 | 0.08 | 0.279 | 2676 | 75.0 | 2.25 | 0.049 | 2204 | 617.8 | -126.5 | - | - | 3371 | - | - | - | - | - | - | - | - | 14.37 | 14.57 | - |
3694 | 509.1 | -11.7 | 433 | 3695 | done | -0.82 | - | - | 2676 | - | - | - | 2204 | - | -126.5 | - | - | 3368 | - | - | - | - | - | - | - | - | - | - | - |
3994 | 544.3 | -11.8 | 443 | 3998 | roll | -0.82 | - | - | 2676 | - | 2.30 | 0.065 | 821 | -601.3 | -126.5 | - | - | 3366 | - | - | - | - | - | - | - | - | - | 14.47 | - |
4058 | 552.1 | -11.8 | 455 | 4064 | done | -0.82 | - | - | 2670 | - | 2.22 | 0.050 | 2198 | 620.3 | -126.5 | - | - | 3366 | - | - | - | - | - | - | - | - | - | 14.52 | - |
4388 | 592.8 | -12.5 | 471 | 4392 | roll | -0.82 | - | - | 2660 | - | 2.40 | 0.076 | 3607 | 587.1 | -126.5 | - | - | 3364 | - | - | - | - | - | - | - | - | - | 14.44 | - |
4409 | 595.8 | -12.4 | 475 | 4420 | done | -0.82 | 0.10 | 0.243 | 2682 | 220.0 | 2.25 | 0.038 | 2206 | -622.7 | -126.5 | - | - | 3363 | - | - | - | - | - | - | - | - | 14.34 | 14.61 | - |
4722 | 631.6 | -11.6 | 487 | 4728 | roll | -0.82 | - | - | 2682 | - | 2.30 | 0.064 | 813 | -605.7 | -126.5 | - | - | 3361 | - | - | - | - | - | - | - | - | - | 14.38 | - |
4805 | 641.8 | -11.4 | 504 | 4814 | done | -0.82 | - | - | 2674 | - | 2.35 | 0.047 | 2205 | 592.3 | -126.5 | - | - | 3361 | - | - | - | - | - | - | - | - | - | 14.31 | - |
5113 | 678.5 | -12.0 | 515 | 5119 | roll | -0.82 | - | - | 2664 | - | 2.35 | 0.072 | 3596 | 591.9 | -126.5 | - | - | 3359 | - | - | - | - | - | - | - | - | - | 14.35 | - |
5136 | 681.7 | -12.8 | 520 | 5144 | done | -0.82 | 0.08 | 0.263 | 2678 | 175.0 | 2.35 | 0.039 | 2197 | -595.3 | -126.5 | - | - | 3359 | - | - | - | - | - | - | - | - | 14.26 | 14.37 | - |
5444 | 717.3 | -11.7 | 531 | 5449 | roll | -0.82 | - | - | 2678 | - | 2.30 | 0.065 | 814 | -601.3 | -126.5 | - | - | 3357 | - | - | - | - | - | - | - | - | - | 14.33 | - |
5517 | 726.1 | -11.5 | 546 | 5523 | done | -0.82 | - | - | 2670 | - | 2.25 | 0.047 | 2199 | 615.6 | -126.5 | - | - | 3357 | - | - | - | - | - | - | - | - | - | 14.50 | - |
5834 | 762.9 | -11.6 | 559 | 5840 | roll | -0.82 | - | - | 2659 | - | 2.35 | 0.073 | 3591 | 592.3 | -126.5 | - | - | 3355 | - | - | - | - | - | - | - | - | - | 14.33 | - |
5867 | 767.1 | -11.7 | 566 | 5872 | done | -0.82 | 0.10 | 0.242 | 2681 | 220.0 | 2.25 | 0.040 | 2199 | -618.7 | -126.5 | - | - | 3355 | - | - | - | - | - | - | - | - | 14.26 | 14.55 | - |
6191 | 801.5 | -10.7 | 580 | 6197 | roll | -0.82 | - | - | 2681 | - | 2.30 | 0.066 | 817 | -600.9 | -126.5 | - | - | 3354 | - | - | - | - | - | - | - | - | - | 14.30 | - |
6274 | 810.7 | -10.8 | 597 | 6280 | done | -0.82 | - | - | 2673 | - | 2.28 | 0.048 | 2205 | 608.8 | -126.5 | - | - | 3354 | - | - | - | - | - | - | - | - | - | 14.47 | - |
6581 | 844.2 | -11.1 | 608 | 6587 | roll | -0.82 | - | - | 2673 | - | 2.33 | 0.064 | 815 | -596.6 | -126.5 | - | - | 3352 | - | - | - | - | - | - | - | - | - | 14.29 | - |
6614 | 848.1 | -11.2 | 615 | 6621 | done | -0.82 | 0.08 | 0.287 | 2677 | 50.0 | 2.28 | 0.050 | 2202 | 608.3 | -126.5 | - | - | 3352 | - | - | - | - | - | - | - | - | 14.23 | 14.45 | - |
6941 | 882.2 | -10.4 | 630 | 6947 | roll | -0.82 | - | - | 2668 | - | 2.40 | 0.074 | 3602 | 583.3 | -126.5 | - | - | 3351 | - | - | - | - | - | - | - | - | - | 14.26 | - |
6973 | 885.3 | -10.9 | 636 | 6979 | done | -0.82 | - | - | 2668 | - | 2.25 | 0.041 | 2208 | -619.6 | -126.5 | - | - | 3352 | - | - | - | - | - | - | - | - | - | 14.47 | - |
7303 | 920.8 | -10.7 | 652 | 7309 | roll | -0.82 | - | - | 2668 | - | 2.35 | 0.066 | 807 | -596.2 | -126.5 | - | - | 3350 | - | - | - | - | - | - | - | - | - | 14.23 | - |
7396 | 931.3 | -10.8 | 671 | 7403 | done | -0.82 | 0.10 | 0.269 | 2679 | 110.0 | 2.30 | 0.050 | 2205 | 607.8 | -126.5 | - | - | 3349 | - | - | - | - | - | - | - | - | 14.13 | 14.41 | - |
7723 | 964.6 | -10.1 | 686 | 7724 | done | -0.82 | - | - | 2679 | - | - | - | 2206 | - | -126.5 | - | - | 3348 | - | - | - | - | - | - | - | - | - | - | - |
7990 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7990 | begin apogee | ||||||||||||||||||||||||||||
7999 | 992.8 | -10.5 | 695 | 8161 | done | -0.16 | 0.75 | 0.216 | 2888 | 278.7 | - | - | 2126 | - | - | 153.68 | 2.105 | 2870 | -3.1 | 0.279 | - | - | - | - | - | - | 13.71 | - | 13.11 |
8162 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8162 | begin climb | ||||||||||||||||||||||||||||
8166 | 998.6 | - | 729 | 8287 | roll | 0.82 | 1.02 | 0.150 | 3205 | 310.8 | 2.47 | 0.071 | 3542 | 573.3 | 126.5 | 110.43 | 2.154 | 2350 | -4.7 | 0.415 | - | - | - | - | - | - | 14.10 | 14.16 | 13.03 |
8357 | 990.2 | 9.0 | 767 | 8363 | done | 0.83 | - | - | 3208 | - | 2.30 | 0.045 | 2148 | -606.1 | 128.9 | - | - | 2343 | - | - | - | - | - | - | - | - | - | 14.40 | - |
8688 | 961.1 | 8.7 | 783 | 8705 | roll | 0.84 | - | - | 3208 | - | 2.40 | 0.080 | 739 | -587.1 | 138.8 | 11.25 | 2.200 | 2301 | -3.7 | 0.310 | - | - | - | - | - | - | - | 14.51 | 13.17 |
8879 | 943.3 | 9.6 | 821 | 8885 | done | 0.84 | - | - | 3208 | - | 2.30 | 0.048 | 2146 | 611.7 | 138.8 | - | - | 2296 | - | - | - | - | - | - | - | - | - | 14.57 | - |
9196 | 913.6 | 9.6 | 834 | 9202 | roll | 0.84 | - | - | 3213 | - | 2.38 | 0.077 | 743 | -589.5 | 138.8 | - | - | 2295 | - | - | - | - | - | - | - | - | - | 14.38 | - |
9289 | 904.3 | 9.4 | 853 | 9295 | done | 0.84 | - | - | 3211 | - | 2.30 | 0.050 | 2148 | 610.9 | 138.8 | - | - | 2295 | - | - | - | - | - | - | - | - | - | 14.57 | - |
9617 | 873.0 | 9.8 | 868 | 9623 | roll | 0.84 | - | - | 3220 | - | 2.40 | 0.076 | 735 | -588.8 | 138.8 | - | - | 2293 | - | - | - | - | - | - | - | - | - | 14.35 | - |
9665 | 867.9 | 10.0 | 878 | 9674 | done | 0.84 | - | - | 3220 | - | 2.30 | 0.049 | 2144 | 612.6 | 138.8 | - | - | 2293 | - | - | - | - | - | - | - | - | - | 14.55 | - |
9977 | 836.3 | 10.3 | 890 | 9983 | roll | 0.84 | - | - | 3226 | - | 2.40 | 0.080 | 740 | -585.0 | 138.8 | - | - | 2292 | - | - | - | - | - | - | - | - | - | 14.30 | - |
10010 | 832.6 | 10.7 | 897 | 10016 | done | 0.84 | - | - | 3226 | - | 2.30 | 0.048 | 2145 | 610.9 | 138.8 | - | - | 2292 | - | - | - | - | - | - | - | - | - | 14.54 | - |
10337 | 798.9 | 10.2 | 912 | 10343 | roll | 0.84 | - | - | 3235 | - | 2.40 | 0.076 | 739 | -585.8 | 138.8 | - | - | 2291 | - | - | - | - | - | - | - | - | - | 14.26 | - |
10416 | 790.8 | 10.0 | 928 | 10425 | done | 0.84 | - | - | 3235 | - | 2.30 | 0.048 | 2143 | 610.4 | 138.8 | - | - | 2291 | - | - | - | - | - | - | - | - | - | 14.50 | - |
10727 | 759.5 | 10.1 | 940 | 10733 | roll | 0.84 | - | - | 3239 | - | 2.40 | 0.076 | 736 | -586.2 | 138.8 | - | - | 2291 | - | - | - | - | - | - | - | - | - | 14.27 | - |
10760 | 756.0 | 10.2 | 947 | 10765 | done | 0.84 | - | - | 3238 | - | 2.30 | 0.048 | 2138 | 609.6 | 138.8 | - | - | 2291 | - | - | - | - | - | - | - | - | - | 14.50 | - |
11084 | 725.6 | 9.3 | 961 | 11090 | roll | 0.84 | - | - | 3243 | - | 2.40 | 0.077 | 735 | -584.6 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.23 | - |
11137 | 720.4 | 9.3 | 972 | 11145 | done | 0.84 | - | - | 3243 | - | 2.40 | 0.049 | 2137 | 584.2 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.29 | - |
11445 | 692.0 | 9.4 | 983 | 11446 | done | 0.84 | - | - | 3243 | - | - | - | 2136 | - | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | - | - |
11745 | 664.1 | 9.3 | 993 | 11751 | roll | 0.84 | - | - | 3251 | - | 2.38 | 0.075 | 743 | -585.3 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.19 | - |
11819 | 656.9 | 9.7 | 1008 | 11825 | done | 0.84 | - | - | 3252 | - | 2.30 | 0.048 | 2142 | 608.3 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.45 | - |
12137 | 626.5 | 9.7 | 1021 | 12143 | roll | 0.84 | - | - | 3261 | - | 2.40 | 0.076 | 739 | -584.6 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.19 | - |
12175 | 622.5 | 9.9 | 1029 | 12182 | done | 0.84 | 0.08 | 0.274 | 3248 | -162.5 | 2.33 | 0.054 | 2141 | 601.7 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | 14.22 | 14.44 | - |
12498 | 592.3 | 9.4 | 1043 | 12505 | roll | 0.84 | - | - | 3257 | - | 2.40 | 0.074 | 739 | -584.2 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.14 | - |
12559 | 586.3 | 9.9 | 1055 | 12565 | done | 0.84 | - | - | 3257 | - | 2.30 | 0.047 | 2146 | 611.7 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | - | 14.35 | - |
12890 | 555.4 | 9.3 | 1071 | 12894 | roll | 0.84 | - | - | 3267 | - | 2.42 | 0.071 | 737 | -582.2 | 138.8 | - | - | 2289 | - | - | - | - | - | - | - | - | - | 14.24 | - |
12984 | 546.5 | 9.7 | 1089 | 12990 | done | 0.84 | 0.08 | 0.229 | 3247 | -250.0 | 2.30 | 0.048 | 2139 | 609.6 | 138.8 | - | - | 2290 | - | - | - | - | - | - | - | - | 13.96 | 14.33 | - |
13315 | 517.9 | 8.7 | 1105 | 13325 | roll | 0.85 | - | - | 3256 | - | 2.35 | 0.067 | 740 | -595.3 | 148.4 | 3.58 | 1.157 | 2272 | -5.0 | 0.428 | - | - | - | - | - | - | - | 14.28 | 13.25 |
13388 | 510.8 | 9.2 | 1120 | 13396 | done | 0.85 | - | - | 3256 | - | 2.33 | 0.055 | 2140 | 600.9 | 148.4 | 1.65 | 0.171 | 2268 | -2.4 | 1.377 | - | - | - | - | - | - | - | 14.45 | 14.21 |
13706 | 479.7 | 10.3 | 1136 | 13726 | roll | 0.85 | - | - | 3256 | - | 12.90 | 0.003 | 3999 | 144.1 | 148.4 | 1.98 | 0.162 | 2276 | 4.0 | -2.275 | - | - | 84 | 1 | - | - | - | 14.16 | 14.12 |
13730 | end climb: MOTOR_MAX_ERRORS_EXCEEDED | ||||||||||||||||||||||||||||
SM | 3.01 | - | - | - | - | -8.57 | 9.12 | 0.100 | 191 | 20.9 | 3.10 | 0.039 | 2130 | -2121.9 | 579.63 | 1.52 | 0.164 | 509 | 334.9 | -0.628 | - | - | 1 | - | - | - |