• Previous call tries 1 | • 58.03 of 145.00 AH used of 24V (59.98% remains) | |
• Previous NAKs 0, Timeouts 0 | • 30.43 of 96.25 AH used of 10V (68.38% remains) | |
• Surface angle -80.2 deg, depth 1.76 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
• No surface pump (final VBD was 271.30, SM_CC=270) | ||
• GPS1 time: 20 s | • bottom range 70.2 m at 340.5 m, depth 411 m (1000 m grid) | |
• GPS2 time: 4 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 | ||||||||||||||||||||||||||||
16 | - | - | - | 80 | VBD | -0.45 | - | - | 125 | - | - | - | 1990 | - | -175.2 | -62.33 | - | 3126 | - | - | - | - | - | - | - | - | 26.10 | - | 26.11 |
84 | 4.1 | -5.8 | 8 | 102 | roll | -0.45 | 10.10 | 0.218 | 2658 | 250.8 | 2.22 | 0.041 | 546 | -650.5 | -175.2 | -1.02 | - | 3181 | -53.9 | - | - | - | - | - | - | - | 25.02 | 25.12 | 25.22 |
180 | 22.6 | -11.7 | 23 | 189 | done | -0.45 | - | - | 2649 | - | 2.25 | 0.031 | 1967 | 631.6 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.82 | 25.77 | 25.85 |
240 | 29.6 | -12.1 | 32 | 248 | roll | -0.45 | - | - | 2638 | - | 2.20 | 0.034 | 3388 | 645.9 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.28 | 25.78 | 26.29 |
303 | 37.2 | -12.1 | 42 | 312 | done | -0.45 | - | - | 2638 | - | 2.20 | 0.029 | 1967 | -645.9 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.90 | 25.86 | 25.93 |
359 | 44.0 | -12.3 | 51 | 366 | roll | -0.45 | - | - | 2638 | - | 2.12 | 0.030 | 567 | -660.4 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.35 | 25.86 | 26.36 |
405 | 49.7 | -12.6 | 59 | 412 | done | -0.45 | 0.10 | 0.154 | 2658 | 200.0 | 2.17 | 0.030 | 1984 | 653.0 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.64 | 25.90 | 25.76 |
457 | 55.2 | -9.5 | 68 | 464 | roll | -0.45 | - | - | 2649 | - | 2.15 | 0.032 | 3391 | 654.4 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.39 | 25.89 | 26.40 |
499 | 59.0 | -9.1 | 75 | 506 | done | -0.45 | - | - | 2649 | - | 2.12 | 0.024 | 1971 | -669.8 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.05 | 25.97 | 26.08 |
550 | 63.3 | -7.6 | 84 | 559 | roll | -0.45 | - | - | 2649 | - | 2.12 | 0.028 | 582 | -655.2 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.43 | 25.94 | 26.44 |
583 | 65.8 | -8.2 | 89 | 590 | done | -0.45 | - | - | 2639 | - | 2.15 | 0.028 | 1991 | 655.3 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.06 | 25.96 | 26.08 |
634 | 70.6 | -9.3 | 98 | 641 | roll | -0.45 | - | - | 2629 | - | 2.10 | 0.033 | 3395 | 668.6 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.45 | 25.94 | 26.46 |
676 | 74.2 | -9.2 | 105 | 683 | done | -0.45 | 0.10 | 0.129 | 2661 | 320.0 | 2.12 | 0.025 | 1977 | -668.9 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.79 | 26.01 | 25.90 |
727 | 78.6 | -7.9 | 114 | 736 | roll | -0.45 | - | - | 2661 | - | 2.15 | 0.030 | 575 | -652.1 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.47 | 25.97 | 26.48 |
774 | 82.9 | -10.0 | 122 | 781 | done | -0.45 | - | - | 2653 | - | 2.15 | 0.027 | 1992 | 659.1 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.10 | 26.02 | 26.13 |
826 | 87.5 | -8.7 | 131 | 832 | roll | -0.45 | - | - | 2642 | - | 2.08 | 0.031 | 3390 | 672.1 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.49 | 25.98 | 26.51 |
866 | 91.3 | -9.5 | 138 | 874 | done | -0.45 | - | - | 2642 | - | 2.15 | 0.024 | 1973 | -659.1 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.09 | 26.06 | 26.12 |
919 | 96.5 | -9.3 | 147 | 925 | roll | -0.45 | - | - | 2643 | - | 2.10 | 0.028 | 573 | -666.7 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.51 | 26.01 | 26.52 |
957 | 100.3 | -10.6 | 153 | 966 | done | -0.45 | 0.08 | 0.140 | 2656 | 162.5 | 2.12 | 0.028 | 1982 | 664.6 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.77 | 26.03 | 25.82 |
1146 | 119.1 | -9.6 | 172 | 1158 | roll | -0.45 | - | - | 2647 | - | 2.08 | 0.033 | 3385 | 674.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.55 | 26.01 | 26.56 |
1171 | 121.7 | -9.8 | 174 | 1180 | done | -0.45 | - | - | 2647 | - | 2.10 | 0.023 | 1967 | -675.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.17 | 26.09 | 26.20 |
1363 | 141.3 | -10.0 | 193 | 1366 | roll | -0.45 | - | - | 2647 | - | 2.10 | 0.030 | 576 | -662.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.58 | 26.04 | 26.58 |
1436 | 149.3 | -11.3 | 200 | 1445 | done | -0.45 | - | - | 2637 | - | 2.10 | 0.027 | 1975 | 666.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.12 | 26.10 | 26.16 |
1626 | 168.5 | -10.1 | 219 | 1634 | roll | -0.45 | - | - | 2626 | - | 2.08 | 0.031 | 3387 | 678.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.60 | 26.06 | 26.61 |
1677 | 174.0 | -10.1 | 224 | 1687 | done | -0.45 | 0.12 | 0.125 | 2667 | 341.7 | 2.10 | 0.024 | 1969 | -675.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.84 | 26.13 | 25.96 |
1869 | 189.7 | -8.0 | 243 | 1879 | roll | -0.45 | - | - | 2658 | - | 2.15 | 0.031 | 3402 | 666.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.62 | 26.07 | 26.63 |
1934 | 195.0 | -8.5 | 249 | 1942 | done | -0.45 | - | - | 2658 | - | 2.10 | 0.023 | 1967 | -683.3 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.19 | 26.15 | 26.22 |
2122 | 209.9 | -7.7 | 262 | 2128 | roll | -0.45 | - | - | 2648 | - | 2.12 | 0.031 | 3394 | 673.1 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.63 | 26.08 | 26.64 |
2177 | 213.2 | -7.7 | 264 | 2184 | done | -0.45 | - | - | 2648 | - | 2.08 | 0.023 | 1980 | -679.8 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.24 | 26.15 | 26.26 |
2365 | 230.0 | -8.4 | 274 | 2370 | roll | -0.45 | - | - | 2647 | - | 2.08 | 0.030 | 585 | -670.7 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.60 | 26.11 | 26.61 |
2464 | 239.3 | -9.4 | 279 | 2469 | done | -0.45 | - | - | 2640 | - | 2.10 | 0.028 | 1979 | 663.8 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.16 | 26.13 | 26.19 |
2664 | 258.1 | -9.1 | 289 | 2669 | roll | -0.45 | - | - | 2640 | - | 2.10 | 0.028 | 579 | -666.7 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.10 | 26.65 |
2688 | 260.3 | -9.5 | 290 | 2693 | done | -0.45 | 0.10 | 0.142 | 2662 | 220.0 | 2.12 | 0.029 | 1980 | 660.8 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.86 | 26.10 | 25.98 |
2881 | 277.4 | -8.1 | 300 | 2885 | roll | -0.45 | - | - | 2661 | - | 2.15 | 0.031 | 579 | -651.6 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.07 | 26.66 |
2925 | 280.6 | -7.8 | 302 | 2931 | done | -0.45 | - | - | 2653 | - | 2.10 | 0.027 | 1976 | 665.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.17 | 26.12 | 26.20 |
3124 | 297.9 | -8.5 | 312 | 3127 | roll | -0.45 | - | - | 2643 | - | 2.12 | 0.034 | 3390 | 667.0 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.05 | 26.66 |
3170 | 301.7 | -8.7 | 314 | 3174 | done | -0.45 | - | - | 2642 | - | 2.08 | 0.024 | 1981 | -677.4 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.22 | 26.15 | 26.25 |
3362 | 319.7 | -8.9 | 324 | 3366 | roll | -0.45 | - | - | 2643 | - | 2.12 | 0.031 | 576 | -662.7 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.65 | 26.06 | 26.66 |
3457 | 327.4 | -9.3 | 328 | 3465 | done | -0.45 | 0.10 | 0.144 | 2664 | 210.0 | 2.15 | 0.028 | 1990 | 657.7 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 25.85 | 26.10 | 25.96 |
3644 | 343.6 | -7.9 | 338 | 3650 | roll | -0.45 | - | - | 2654 | - | 2.10 | 0.034 | 3397 | 670.0 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.65 | 26.05 | 26.67 |
3658 | 343.6 | -7.9 | 338 | 3665 | done | -0.45 | - | - | 2654 | - | 2.12 | 0.026 | 1972 | -672.2 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.21 | 26.12 | 26.24 |
3845 | 360.8 | -8.6 | 348 | 3850 | roll | -0.45 | - | - | 2645 | - | 2.10 | 0.033 | 3384 | 672.4 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.65 | 26.05 | 26.67 |
3907 | 366.2 | -9.0 | 351 | 3912 | done | -0.45 | - | - | 2645 | - | 2.10 | 0.024 | 1972 | -672.4 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.22 | 26.14 | 26.25 |
4100 | 384.9 | -9.5 | 361 | 4106 | roll | -0.45 | - | - | 2645 | - | 2.10 | 0.031 | 577 | -664.3 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.65 | 26.06 | 26.67 |
4199 | 395.0 | -10.1 | 366 | 4205 | done | -0.45 | - | - | 2634 | - | 2.15 | 0.028 | 1988 | 656.3 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.19 | 26.10 | 26.22 |
4217 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
4217 | begin apogee | ||||||||||||||||||||||||||||
4223 | 397.2 | -10.3 | 367 | 4364 | done | - | 0.55 | 0.122 | 2802 | 305.5 | 0.10 | 0.076 | 1914 | -740.0 | - | 136.27 | 0.901 | 2464 | -5.3 | 0.240 | - | - | - | - | - | - | 25.48 | 24.70 | 23.93 |
4365 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4365 | begin climb | ||||||||||||||||||||||||||||
4367 | 406.0 | - | 374 | 4521 | roll | 0.45 | 0.38 | 0.047 | 2974 | 452.6 | 2.42 | 0.032 | 469 | -597.1 | 175.2 | 140.95 | 0.889 | 1748 | -5.1 | 0.240 | - | - | - | - | - | - | 24.96 | 24.43 | 23.68 |
4527 | 400.9 | 8.1 | 382 | 4603 | done | 0.54 | - | - | 2974 | - | 2.25 | 0.026 | 1862 | 619.1 | 251.7 | 64.95 | 0.863 | 1436 | -4.8 | 0.231 | - | - | - | - | - | - | 24.84 | 24.77 | 23.68 |
4787 | 368.6 | 12.7 | 395 | 4793 | roll | 0.54 | - | - | 2974 | - | 2.12 | 0.031 | 3261 | 659.9 | 251.7 | - | - | 1431 | - | - | - | - | - | - | - | - | 25.91 | 25.55 | 25.92 |
4838 | 363.2 | 12.9 | 397 | 4845 | done | 0.54 | - | - | 2984 | - | 2.15 | 0.028 | 1861 | -651.2 | 251.7 | - | - | 1430 | - | - | - | - | - | - | - | - | 25.73 | 25.65 | 25.76 |
5027 | 335.9 | 14.1 | 407 | 5032 | roll | 0.54 | - | - | 2984 | - | 2.10 | 0.028 | 3268 | 670.0 | 251.7 | - | - | 1430 | - | - | - | - | - | - | - | - | 26.23 | 25.84 | 26.25 |
5118 | 325.4 | 13.1 | 411 | 5125 | done | 0.54 | - | - | 2994 | - | 2.15 | 0.031 | 1859 | -655.3 | 251.7 | - | - | 1429 | - | - | - | - | - | - | - | - | 25.97 | 25.88 | 26.01 |
5307 | 296.7 | 14.7 | 421 | 5312 | roll | 0.54 | - | - | 2994 | - | 2.10 | 0.028 | 3269 | 671.4 | 251.7 | - | - | 1429 | - | - | - | - | - | - | - | - | 26.39 | 26.00 | 26.40 |
5373 | 288.7 | 13.7 | 424 | 5378 | done | 0.54 | - | - | 3004 | - | 2.15 | 0.030 | 1854 | -658.1 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 26.06 | 25.97 | 26.10 |
5561 | 260.0 | 14.7 | 433 | 5566 | roll | 0.54 | - | - | 3004 | - | 2.12 | 0.027 | 3281 | 673.1 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 26.46 | 26.03 | 26.48 |
5660 | 246.2 | 13.7 | 438 | 5667 | done | 0.54 | - | - | 3014 | - | 2.17 | 0.033 | 1856 | -656.7 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 26.11 | 26.01 | 26.15 |
5860 | 215.5 | 15.4 | 448 | 5866 | roll | 0.54 | - | - | 3014 | - | 2.12 | 0.027 | 3285 | 674.1 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 26.52 | 26.07 | 26.53 |
5921 | 207.5 | 13.7 | 451 | 5927 | done | 0.54 | 0.10 | 0.175 | 2989 | -250.0 | 2.17 | 0.031 | 1850 | -661.3 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 25.68 | 26.04 | 25.77 |
6110 | 183.6 | 12.8 | 466 | 6119 | roll | 0.54 | - | - | 2989 | - | 2.12 | 0.027 | 3280 | 674.5 | 251.7 | - | - | 1428 | - | - | - | - | - | - | - | - | 26.55 | 26.09 | 26.56 |
6175 | 176.5 | 11.1 | 472 | 6182 | done | 0.54 | - | - | 2998 | - | 2.17 | 0.030 | 1848 | -659.9 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.17 | 26.07 | 26.20 |
6362 | 150.8 | 14.2 | 491 | 6371 | roll | 0.54 | - | - | 2998 | - | 2.12 | 0.028 | 3278 | 674.5 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.58 | 26.09 | 26.59 |
6447 | 140.0 | 12.9 | 499 | 6453 | done | 0.54 | - | - | 3008 | - | 2.15 | 0.031 | 1856 | -661.4 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.17 | 26.07 | 26.21 |
6634 | 112.7 | 14.4 | 518 | 6642 | roll | 0.54 | - | - | 3008 | - | 2.12 | 0.028 | 3285 | 674.1 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.60 | 26.10 | 26.61 |
6705 | 103.4 | 12.4 | 525 | 6714 | done | 0.54 | 0.10 | 0.162 | 2989 | -190.0 | 2.15 | 0.031 | 1860 | -662.8 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 25.79 | 26.08 | 25.94 |
6905 | 77.9 | 13.1 | 560 | 6912 | roll | 0.54 | - | - | 2989 | - | 2.15 | 0.028 | 3276 | 658.6 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.61 | 26.10 | 26.63 |
6957 | 71.3 | 12.4 | 569 | 6964 | done | 0.54 | - | - | 2997 | - | 2.15 | 0.029 | 1850 | -663.3 | 251.7 | - | - | 1427 | - | - | - | - | - | - | - | - | 26.20 | 26.09 | 26.23 |
7008 | 64.7 | 13.6 | 578 | 7015 | roll | 0.54 | - | - | 3008 | - | 2.15 | 0.037 | 453 | -649.8 | 251.7 | - | - | 1426 | - | - | - | - | - | - | - | - | 26.61 | 25.99 | 26.63 |
7050 | 59.4 | 12.9 | 585 | 7056 | done | 0.54 | - | - | 3008 | - | 2.15 | 0.028 | 1863 | 655.8 | 251.7 | - | - | 1424 | - | - | - | - | - | - | - | - | 26.21 | 26.12 | 26.25 |
7100 | 52.3 | 14.6 | 594 | 7108 | roll | 0.54 | - | - | 3008 | - | 2.15 | 0.032 | 3270 | 654.4 | 251.7 | - | - | 1424 | - | - | - | - | - | - | - | - | 26.61 | 26.07 | 26.63 |
7153 | 45.0 | 12.4 | 603 | 7161 | done | 0.54 | 0.10 | 0.151 | 2988 | -200.0 | 2.15 | 0.031 | 1853 | -659.1 | 251.7 | - | - | 1424 | - | - | - | - | - | - | - | - | 25.82 | 26.08 | 25.97 |
7207 | 39.3 | 10.3 | 612 | 7216 | roll | 0.54 | - | - | 2997 | - | 2.17 | 0.036 | 461 | -641.5 | 251.7 | - | - | 1424 | - | - | - | - | - | - | - | - | 26.62 | 25.99 | 26.63 |
7249 | 35.2 | 9.5 | 618 | 7274 | done | 0.57 | - | - | 2997 | - | 2.17 | 0.026 | 1874 | 651.2 | 270.1 | 14.80 | 0.632 | 1364 | -4.1 | 0.023 | - | - | - | - | - | - | 26.17 | 26.13 | 24.93 |
7325 | 27.3 | 11.1 | 629 | 7333 | roll | 0.57 | - | - | 3007 | - | 2.22 | 0.035 | 455 | -639.2 | 270.1 | - | - | 1362 | - | - | - | - | - | - | - | - | 26.45 | 25.94 | 26.46 |
7349 | 24.4 | 11.1 | 632 | 7358 | done | 0.57 | - | - | 3007 | - | 2.17 | 0.027 | 1852 | 643.8 | 270.1 | - | - | 1361 | - | - | - | - | - | - | - | - | 26.07 | 26.03 | 26.10 |
7407 | 17.9 | 11.9 | 641 | 7416 | roll | 0.57 | - | - | 3007 | - | 2.17 | 0.031 | 3278 | 657.1 | 270.1 | - | - | 1361 | - | - | - | - | - | - | - | - | 26.47 | 25.99 | 26.48 |
7443 | 14.1 | 10.6 | 646 | 7452 | done | 0.57 | - | - | 3017 | - | 2.17 | 0.027 | 1860 | -653.5 | 270.1 | - | - | 1361 | - | - | - | - | - | - | - | - | 26.06 | 26.03 | 26.10 |
7503 | 7.2 | 13.4 | 655 | 7511 | roll | 0.57 | - | - | 3029 | - | 2.22 | 0.037 | 454 | -633.3 | 270.1 | - | - | 1361 | - | - | - | - | - | - | - | - | 26.49 | 25.91 | 26.51 |
7533 | 3.1 | 13.7 | 659 | 7542 | done | 0.57 | 0.10 | 0.156 | 2999 | -300.0 | 2.20 | 0.025 | 1883 | 649.5 | 270.1 | - | - | 1359 | - | - | - | - | - | - | - | - | 25.71 | 26.06 | 25.76 |
7549 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
7549 | begin surface coast | ||||||||||||||||||||||||||||
7581 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7581 | begin surface | ||||||||||||||||||||||||||||
SM | 1.85 | - | - | - | - | -8.35 | 7.60 | 0.034 | 125 | 16.4 | 0.10 | 0.070 | 2011 | -31150.0 | 271.30 | - | - | 1358 | - | - | - | - | - | - | - | - |