• Previous call tries 2 | • 58.26 of 145.00 AH used of 24V (59.82% remains) | |
• Previous NAKs 0, Timeouts 0 | • 30.59 of 96.25 AH used of 10V (68.22% remains) | |
• Surface angle -79.7 deg, depth 1.73 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
• No surface pump (final VBD was 333.85, SM_CC=270) | ||
• GPS1 time: 17 s | • bottom range 65.8 m at 370.7 m, depth 436 m (1000 m grid) | |
• GPS2 time: 15 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 | - | - | - | 88 | VBD | -0.45 | - | - | 127 | - | - | - | 1986 | - | -175.2 | -70.10 | - | 3000 | - | - | - | - | - | - | - | - | 26.13 | - | 26.14 |
92 | 3.4 | -3.5 | 9 | 117 | roll | -0.45 | 10.15 | 0.220 | 2645 | 248.1 | 2.15 | 0.043 | 3388 | 652.1 | -175.2 | -3.67 | - | 3182 | -49.6 | - | - | - | - | - | - | - | 25.04 | 23.96 | 25.22 |
184 | 19.9 | -11.4 | 23 | 193 | done | -0.45 | - | - | 2645 | - | 2.15 | 0.024 | 1984 | -653.0 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.88 | 25.84 | 25.91 |
243 | 26.6 | -10.8 | 32 | 251 | done | -0.45 | - | - | 2645 | - | - | - | 1980 | - | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.29 | 26.30 | 26.30 |
302 | 33.3 | -11.2 | 41 | 311 | roll | -0.45 | - | - | 2645 | - | 2.20 | 0.031 | 582 | -635.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.33 | 25.86 | 26.34 |
338 | 37.8 | -12.9 | 46 | 347 | done | -0.45 | - | - | 2635 | - | 2.20 | 0.029 | 1981 | 635.9 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.93 | 25.89 | 25.96 |
393 | 44.3 | -12.3 | 55 | 400 | roll | -0.45 | - | - | 2624 | - | 2.12 | 0.033 | 3396 | 667.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.37 | 25.87 | 26.38 |
454 | 51.5 | -11.6 | 66 | 463 | done | -0.45 | 0.12 | 0.116 | 2666 | 350.0 | 2.15 | 0.024 | 1978 | -659.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.67 | 25.97 | 25.74 |
507 | 56.9 | -9.4 | 75 | 514 | roll | -0.45 | - | - | 2666 | - | 2.12 | 0.028 | 573 | -662.7 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.41 | 25.92 | 26.42 |
558 | 61.7 | -9.4 | 84 | 567 | done | -0.45 | - | - | 2657 | - | 2.20 | 0.027 | 1989 | 643.6 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.01 | 26.00 | 26.05 |
612 | 66.5 | -8.3 | 93 | 619 | roll | -0.45 | - | - | 2647 | - | 2.10 | 0.034 | 3387 | 665.7 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.45 | 25.93 | 26.46 |
672 | 71.5 | -9.4 | 103 | 679 | done | -0.45 | - | - | 2647 | - | 2.10 | 0.024 | 1972 | -673.8 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.10 | 26.03 | 26.13 |
724 | 76.5 | -9.2 | 112 | 731 | roll | -0.45 | - | - | 2647 | - | 2.12 | 0.028 | 581 | -656.1 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.48 | 25.99 | 26.48 |
778 | 81.7 | -10.2 | 121 | 784 | done | -0.45 | - | - | 2637 | - | 2.12 | 0.028 | 1980 | 659.9 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.10 | 26.02 | 26.14 |
828 | 87.4 | -11.6 | 130 | 835 | roll | -0.45 | - | - | 2626 | - | 2.12 | 0.031 | 3397 | 668.4 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.49 | 25.99 | 26.51 |
881 | 93.0 | -12.0 | 139 | 888 | done | -0.45 | 0.12 | 0.131 | 2665 | 325.0 | 2.10 | 0.024 | 1980 | -674.8 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.77 | 26.06 | 25.89 |
934 | 98.3 | -9.2 | 148 | 941 | roll | -0.45 | - | - | 2666 | - | 2.15 | 0.030 | 576 | -653.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.51 | 26.01 | 26.53 |
983 | 103.1 | -9.9 | 154 | 991 | done | -0.45 | - | - | 2657 | - | 2.12 | 0.027 | 1984 | 664.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.08 | 26.03 | 26.12 |
1174 | 120.8 | -9.0 | 173 | 1182 | roll | -0.45 | - | - | 2657 | - | 2.10 | 0.028 | 578 | -669.5 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.53 | 26.05 | 26.55 |
1205 | 124.2 | -9.8 | 176 | 1214 | done | -0.45 | - | - | 2648 | - | 2.12 | 0.027 | 1979 | 660.8 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.16 | 26.08 | 26.20 |
1397 | 142.9 | -9.6 | 195 | 1403 | done | -0.45 | - | - | 2647 | - | - | - | 1979 | - | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.58 | 26.59 | 26.59 |
1585 | 161.3 | -10.0 | 214 | 1594 | roll | -0.45 | - | - | 2647 | - | 2.10 | 0.028 | 579 | -666.7 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.60 | 26.07 | 26.60 |
1679 | 171.5 | -11.1 | 223 | 1687 | done | -0.45 | - | - | 2638 | - | 2.12 | 0.027 | 1979 | 660.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.22 |
1869 | 191.6 | -10.3 | 242 | 1873 | roll | -0.45 | - | - | 2638 | - | 2.10 | 0.028 | 580 | -666.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.61 | 26.08 | 26.63 |
1890 | 194.1 | -11.0 | 244 | 1900 | done | -0.45 | 0.10 | 0.142 | 2660 | 220.0 | 2.12 | 0.028 | 1979 | 659.9 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.86 | 26.11 | 25.98 |
2081 | 212.0 | -9.3 | 257 | 2082 | done | -0.45 | - | - | 2660 | - | - | - | 1979 | - | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.63 | 26.64 | 26.63 |
2261 | 227.9 | -8.6 | 266 | 2266 | roll | -0.45 | - | - | 2660 | - | 2.12 | 0.029 | 572 | -663.7 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.63 | 26.08 | 26.65 |
2354 | 235.5 | -9.4 | 270 | 2360 | done | -0.45 | - | - | 2651 | - | 2.15 | 0.027 | 1983 | 656.3 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.22 | 26.13 | 26.25 |
2541 | 252.9 | -8.5 | 280 | 2542 | done | -0.45 | - | - | 2651 | - | - | - | 1983 | - | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.64 | 26.66 | 26.65 |
2721 | 267.5 | -8.3 | 289 | 2726 | roll | -0.45 | - | - | 2651 | - | 2.12 | 0.028 | 574 | -664.6 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.08 | 26.65 |
2804 | 274.7 | -9.0 | 293 | 2808 | done | -0.45 | - | - | 2642 | - | 2.15 | 0.028 | 1987 | 657.2 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.21 | 26.13 | 26.25 |
3002 | 291.4 | -8.3 | 303 | 3007 | roll | -0.45 | - | - | 2642 | - | 2.10 | 0.028 | 582 | -669.0 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.62 | 26.10 | 26.63 |
3045 | 295.1 | -8.9 | 305 | 3052 | done | -0.45 | 0.10 | 0.140 | 2663 | 210.0 | 2.12 | 0.028 | 1984 | 661.3 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.88 | 26.11 | 25.98 |
3243 | 311.6 | -8.2 | 315 | 3249 | roll | -0.45 | - | - | 2663 | - | 2.10 | 0.029 | 584 | -666.7 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.63 | 26.08 | 26.65 |
3275 | 313.4 | -8.4 | 316 | 3282 | done | -0.45 | - | - | 2655 | - | 2.15 | 0.027 | 1993 | 655.3 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.22 | 26.13 | 26.25 |
3463 | 330.6 | -8.3 | 326 | 3468 | roll | -0.45 | - | - | 2655 | - | 2.12 | 0.029 | 575 | -668.9 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.63 | 26.08 | 26.63 |
3490 | 332.3 | -8.3 | 327 | 3494 | done | -0.45 | - | - | 2645 | - | 2.12 | 0.028 | 1978 | 661.8 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.23 |
3677 | 349.3 | -8.4 | 336 | 3678 | done | -0.45 | - | - | 2646 | - | - | - | 1978 | - | -175.2 | - | - | 3179 | - | - | - | - | - | - | - | - | 26.65 | 26.67 | 26.66 |
3857 | 364.9 | -8.8 | 345 | 3863 | roll | -0.45 | - | - | 2646 | - | 2.10 | 0.029 | 582 | -664.8 | -175.2 | - | - | 3179 | - | - | - | - | - | - | - | - | 26.65 | 26.08 | 26.67 |
3947 | 372.8 | -9.6 | 349 | 3951 | done | -0.45 | - | - | 2636 | - | 2.12 | 0.028 | 1985 | 661.8 | -175.2 | - | - | 3179 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.23 |
4134 | 391.0 | -9.0 | 358 | 4135 | done | -0.45 | - | - | 2636 | - | - | - | 1984 | - | -175.2 | - | - | 3178 | - | - | - | - | - | - | - | - | 26.66 | 26.67 | 26.67 |
4316 | 407.7 | -9.6 | 367 | 4321 | roll | -0.45 | - | - | 2636 | - | 2.10 | 0.029 | 585 | -666.2 | -175.2 | - | - | 3178 | - | - | - | - | - | - | - | - | 26.66 | 26.07 | 26.67 |
4407 | 416.1 | -10.5 | 371 | 4414 | done | -0.45 | 0.12 | 0.140 | 2664 | 233.3 | 2.12 | 0.028 | 1979 | 657.5 | -175.2 | - | - | 3177 | - | - | - | - | - | - | - | - | 25.79 | 26.10 | 25.91 |
4452 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
4452 | begin apogee | ||||||||||||||||||||||||||||
4458 | 421.8 | -9.7 | 374 | 4599 | done | - | 0.45 | 0.093 | 2814 | 333.3 | 0.10 | 0.076 | 1914 | -650.0 | - | 136.35 | 0.907 | 2464 | -5.2 | 0.252 | - | - | - | - | - | - | 25.77 | 24.70 | 23.92 |
4599 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4600 | begin climb | ||||||||||||||||||||||||||||
4602 | 428.8 | - | 381 | 4756 | roll | 0.45 | 0.40 | 0.036 | 3020 | 515.0 | 2.42 | 0.033 | 466 | -598.3 | 175.2 | 140.95 | 0.895 | 1747 | -5.1 | 0.253 | - | - | - | - | - | - | 25.01 | 24.41 | 23.65 |
4822 | 410.1 | 14.1 | 392 | 4827 | done | 0.45 | 0.22 | 0.167 | 2961 | -268.2 | 2.20 | 0.028 | 1855 | 631.4 | 175.2 | - | - | 1741 | - | - | - | - | - | - | - | - | 24.79 | 25.18 | 25.06 |
5016 | 386.2 | 12.1 | 402 | 5022 | roll | 0.45 | - | - | 2969 | - | 2.15 | 0.032 | 466 | -646.0 | 175.2 | - | - | 1741 | - | - | - | - | - | - | - | - | 26.06 | 25.64 | 26.08 |
5095 | 376.4 | 12.3 | 406 | 5100 | done | 0.45 | - | - | 2969 | - | 2.17 | 0.027 | 1873 | 648.4 | 175.2 | - | - | 1739 | - | - | - | - | - | - | - | - | 25.86 | 25.78 | 25.89 |
5295 | 351.1 | 12.4 | 416 | 5298 | roll | 0.45 | - | - | 2969 | - | 2.12 | 0.032 | 3276 | 661.8 | 175.2 | - | - | 1740 | - | - | - | - | - | - | - | - | 26.32 | 25.87 | 26.33 |
5409 | 338.6 | 12.2 | 421 | 5416 | done | 0.45 | - | - | 2979 | - | 2.15 | 0.029 | 1865 | -656.3 | 175.2 | - | - | 1740 | - | - | - | - | - | - | - | - | 26.03 | 25.94 | 26.07 |
5598 | 313.7 | 12.5 | 431 | 5603 | roll | 0.45 | - | - | 2990 | - | 2.17 | 0.036 | 454 | -650.2 | 175.2 | - | - | 1739 | - | - | - | - | - | - | - | - | 26.44 | 25.91 | 26.45 |
5639 | 308.9 | 12.3 | 433 | 5644 | done | 0.45 | 0.10 | 0.167 | 2961 | -290.0 | 2.15 | 0.028 | 1864 | 655.8 | 175.2 | - | - | 1737 | - | - | - | - | - | - | - | - | 25.69 | 26.01 | 25.86 |
5832 | 287.1 | 11.0 | 443 | 5835 | roll | 0.45 | - | - | 2962 | - | 2.12 | 0.032 | 3271 | 663.7 | 175.2 | - | - | 1738 | - | - | - | - | - | - | - | - | 26.49 | 26.01 | 26.51 |
5906 | 280.8 | 10.6 | 446 | 5913 | done | 0.45 | - | - | 2970 | - | 2.12 | 0.029 | 1858 | -666.5 | 175.2 | - | - | 1738 | - | - | - | - | - | - | - | - | 26.13 | 26.03 | 26.17 |
6095 | 260.9 | 10.0 | 456 | 6100 | roll | 0.45 | - | - | 2980 | - | 2.12 | 0.037 | 462 | -658.5 | 175.8 | - | - | 1738 | - | - | - | - | - | - | - | - | 26.53 | 25.96 | 26.55 |
6193 | 250.8 | 10.0 | 461 | 6199 | done | 0.45 | - | - | 2980 | - | 2.12 | 0.028 | 1859 | 659.0 | 175.8 | - | - | 1736 | - | - | - | - | - | - | - | - | 26.17 | 26.08 | 26.20 |
6393 | 229.3 | 10.9 | 471 | 6399 | roll | 0.45 | - | - | 2980 | - | 2.12 | 0.033 | 3274 | 667.5 | 175.8 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.57 | 26.05 | 26.58 |
6476 | 220.6 | 10.8 | 475 | 6480 | done | 0.45 | 0.12 | 0.171 | 2956 | -200.0 | 2.12 | 0.029 | 1857 | -668.4 | 175.8 | - | - | 1737 | - | - | - | - | - | - | - | - | 25.67 | 26.07 | 25.86 |
6669 | 201.3 | 10.0 | 485 | 6674 | roll | 0.45 | - | - | 2966 | - | 2.12 | 0.036 | 460 | -659.0 | 176.3 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.59 | 25.98 | 26.60 |
6710 | 197.3 | 10.0 | 488 | 6717 | done | 0.45 | - | - | 2965 | - | 2.15 | 0.028 | 1870 | 655.8 | 176.3 | - | - | 1736 | - | - | - | - | - | - | - | - | 26.19 | 26.10 | 26.22 |
6898 | 177.0 | 10.5 | 507 | 6907 | roll | 0.45 | - | - | 2966 | - | 2.10 | 0.034 | 3268 | 665.7 | 176.3 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.60 | 26.05 | 26.62 |
7020 | 163.6 | 11.0 | 519 | 7029 | done | 0.45 | - | - | 2975 | - | 2.12 | 0.029 | 1854 | -667.0 | 176.3 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.17 | 26.08 | 26.22 |
7210 | 142.0 | 11.5 | 538 | 7218 | roll | 0.45 | - | - | 2986 | - | 2.15 | 0.035 | 450 | -653.0 | 176.3 | - | - | 1736 | - | - | - | - | - | - | - | - | 26.62 | 26.00 | 26.63 |
7231 | 139.5 | 11.6 | 540 | 7241 | done | 0.45 | 0.10 | 0.152 | 2957 | -290.0 | 2.15 | 0.029 | 1858 | 654.9 | 176.3 | - | - | 1736 | - | - | - | - | - | - | - | - | 25.81 | 26.09 | 25.95 |
7423 | 120.5 | 9.9 | 559 | 7433 | roll | 0.46 | - | - | 2957 | - | 2.17 | 0.032 | 3272 | 651.6 | 181.9 | 4.68 | 0.522 | 1723 | -2.8 | 0.067 | - | - | - | - | - | - | 26.63 | 25.56 | 24.49 |
7530 | 110.4 | 9.3 | 569 | 7565 | done | 0.49 | - | - | 2966 | - | 2.12 | 0.028 | 1855 | -668.4 | 209.4 | 24.70 | 0.694 | 1610 | -4.6 | 0.075 | - | - | - | - | - | - | 26.19 | 26.10 | 24.87 |
7753 | 86.4 | 10.8 | 602 | 7759 | roll | 0.49 | - | - | 2976 | - | 2.15 | 0.036 | 458 | -649.8 | 209.4 | - | - | 1607 | - | - | - | - | - | - | - | - | 26.37 | 25.82 | 26.39 |
7857 | 75.3 | 10.7 | 621 | 7864 | done | 0.49 | - | - | 2976 | - | 2.17 | 0.027 | 1872 | 651.6 | 209.4 | - | - | 1605 | - | - | - | - | - | - | - | - | 26.05 | 25.96 | 26.08 |
7907 | 69.5 | 11.5 | 630 | 7916 | roll | 0.49 | - | - | 2976 | - | 2.12 | 0.032 | 3261 | 655.2 | 209.4 | - | - | 1605 | - | - | - | - | - | - | - | - | 26.44 | 25.94 | 26.44 |
7939 | 65.8 | 12.0 | 635 | 7945 | done | 0.49 | - | - | 2987 | - | 2.12 | 0.029 | 1857 | -662.3 | 209.4 | - | - | 1605 | - | - | - | - | - | - | - | - | 26.05 | 25.95 | 26.08 |
7990 | 59.9 | 11.6 | 644 | 7997 | roll | 0.49 | - | - | 2997 | - | 2.20 | 0.037 | 454 | -637.7 | 209.4 | - | - | 1605 | - | - | - | - | - | - | - | - | 26.46 | 25.88 | 26.46 |
8044 | 54.3 | 10.4 | 653 | 8050 | done | 0.49 | - | - | 2998 | - | 2.15 | 0.028 | 1859 | 653.5 | 209.4 | - | - | 1604 | - | - | - | - | - | - | - | - | 26.08 | 25.98 | 26.11 |
8095 | 48.6 | 11.4 | 662 | 8102 | roll | 0.49 | - | - | 3007 | - | 2.15 | 0.034 | 458 | -651.6 | 209.4 | - | - | 1604 | - | - | - | - | - | - | - | - | 26.48 | 25.90 | 26.49 |
8137 | 43.7 | 12.2 | 669 | 8144 | done | 0.49 | 0.12 | 0.145 | 2970 | -308.3 | 2.15 | 0.029 | 1857 | 650.7 | 209.4 | - | - | 1603 | - | - | - | - | - | - | - | - | 25.67 | 25.98 | 25.84 |
8193 | 38.3 | 9.0 | 678 | 8234 | roll | 0.54 | - | - | 2970 | - | 2.17 | 0.031 | 3275 | 653.5 | 249.5 | 33.45 | 0.655 | 1447 | -4.7 | 0.028 | - | - | - | - | - | - | 26.50 | 25.30 | 24.84 |
8308 | 26.8 | 9.4 | 695 | 8326 | done | 0.57 | - | - | 2978 | - | 2.20 | 0.028 | 1856 | -645.0 | 272.3 | 12.15 | 0.588 | 1353 | -7.7 | 0.037 | - | - | - | - | - | - | 25.82 | 25.77 | 24.71 |
8377 | 20.5 | 8.5 | 705 | 8418 | roll | 0.64 | 0.10 | 0.073 | 3064 | 860.0 | 2.25 | 0.036 | 453 | -623.6 | 330.7 | 29.85 | 0.596 | 1114 | -8.0 | 0.029 | - | - | - | - | - | - | 25.89 | 25.34 | 24.63 |
8485 | 5.1 | 15.1 | 721 | 8494 | done | 0.64 | 0.15 | 0.144 | 3020 | -293.3 | 2.25 | 0.029 | 1868 | 628.9 | 330.7 | - | - | 1106 | - | - | - | - | - | - | - | - | 25.28 | 25.63 | 25.37 |
8501 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
8501 | begin surface coast | ||||||||||||||||||||||||||||
8527 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8527 | begin surface | ||||||||||||||||||||||||||||
SM | 1.74 | - | - | - | - | -8.32 | 7.60 | 0.025 | 126 | 16.6 | 0.15 | 0.067 | 2006 | -20800.0 | 333.85 | - | - | 1103 | - | - | - | - | - | - | - | - |