prev dive
*
next dive
* dive
| • Previous call tries 2 | • 261.14 of 350.00 AH used of 24V (25.39% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.5 deg, depth 0.82 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 9.6 m at 9.9 m depth, ceiling 0.3 m (m = 1.07, R^2 = 1.00) | |
| • GPS1 time: 16 s | ||
| • 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 | |||||
| 8 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 116 | done | -1.06 | - | - | 211 | - | - | - | 2308 | - | -107.1 | -101.72 | 0.002 | 3012 | - | - | - | - | - | - | - | - | 14.90 | 12.82 | 14.90 |
| 120 | 1.4 | -0.8 | 3 | 136 | roll | -1.06 | 11.23 | 0.408 | 2526 | 206.1 | 2.60 | 0.070 | 898 | -542.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.14 | 14.47 | 14.54 |
| 359 | 40.3 | -14.1 | 38 | 367 | done | -1.06 | - | - | 2519 | - | 2.58 | 0.065 | 2304 | 545.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.38 | 14.31 | 14.57 |
| 703 | 87.4 | -13.5 | 51 | 708 | roll | -1.06 | - | - | 2519 | - | 2.58 | 0.067 | 898 | -545.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.98 | 14.02 | 15.00 |
| 765 | 96.3 | -14.2 | 60 | 771 | done | -1.06 | - | - | 2508 | - | 2.60 | 0.062 | 2299 | 538.8 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.32 | 14.23 | 14.37 |
| 1123 | 146.3 | -13.6 | 75 | 1123 | done | -1.06 | - | - | 2508 | - | - | - | 2299 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 14.99 |
| 1459 | 193.5 | -14.3 | 87 | 1464 | roll | -1.06 | - | - | 2508 | - | 2.58 | 0.065 | 896 | -543.8 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.92 | 14.15 | 14.95 |
| 1515 | 201.8 | -14.9 | 95 | 1521 | done | -1.06 | 0.15 | 0.293 | 2530 | 146.7 | 2.58 | 0.061 | 2309 | 547.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.87 | 14.23 | 14.20 |
| 1907 | 255.2 | -13.4 | 109 | 1907 | done | -1.06 | - | - | 2527 | - | - | - | 2309 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.95 | 14.98 | 14.97 |
| 2243 | 298.0 | -12.7 | 115 | 2248 | roll | -1.06 | - | - | 2527 | - | 2.60 | 0.065 | 904 | -540.4 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.95 | 13.98 | 14.98 |
| 2341 | 310.9 | -13.2 | 129 | 2347 | done | -1.06 | - | - | 2518 | - | 2.55 | 0.060 | 2307 | 550.2 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.37 | 14.21 | 14.42 |
| 2691 | 356.9 | -13.3 | 137 | 2698 | roll | -1.06 | - | - | 2518 | - | 2.62 | 0.066 | 894 | -539.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.71 | 14.12 | 14.73 |
| 2725 | 361.4 | -13.7 | 142 | 2731 | done | -1.06 | - | - | 2508 | - | 2.60 | 0.061 | 2311 | 545.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.38 | 14.21 | 14.43 |
| 3083 | 410.0 | -13.6 | 151 | 3089 | roll | -1.06 | - | - | 2508 | - | 2.65 | 0.066 | 902 | -531.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.90 | 13.95 | 14.93 |
| 3153 | 419.7 | -13.7 | 161 | 3160 | done | -1.06 | 0.15 | 0.294 | 2526 | 120.0 | 2.55 | 0.061 | 2303 | 549.4 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.81 | 14.19 | 14.15 |
| 3536 | 465.7 | -12.0 | 173 | 3537 | done | -1.06 | - | - | 2526 | - | - | - | 2303 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.69 | 14.71 | 14.70 |
| 3869 | 504.9 | -11.7 | 179 | 3874 | roll | -1.06 | - | - | 2526 | - | 2.60 | 0.065 | 898 | -540.4 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.69 | 14.09 | 14.71 |
| 3923 | 511.6 | -12.0 | 187 | 3928 | done | -1.06 | - | - | 2517 | - | 2.58 | 0.059 | 2306 | 545.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.18 | 14.04 | 14.23 |
| 4317 | 558.9 | -12.1 | 201 | 4318 | done | -1.06 | - | - | 2518 | - | - | - | 2305 | - | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.83 | 14.85 | 14.85 |
| 4651 | 600.1 | -12.2 | 207 | 4656 | roll | -1.06 | - | - | 2517 | - | 2.60 | 0.065 | 892 | -543.5 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.88 | 14.08 | 14.90 |
| 4686 | 604.3 | -12.3 | 212 | 4691 | done | -1.06 | - | - | 2506 | - | 2.60 | 0.060 | 2314 | 546.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.33 | 14.19 | 14.38 |
| 5043 | 648.2 | -12.3 | 221 | 5050 | roll | -1.06 | - | - | 2507 | - | 2.65 | 0.065 | 896 | -535.1 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.67 | 14.08 | 14.69 |
| 5119 | 658.0 | -12.9 | 232 | 5127 | done | -1.06 | 0.15 | 0.293 | 2525 | 120.0 | 2.62 | 0.062 | 2325 | 545.4 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 13.78 | 14.12 | 14.12 |
| 5494 | 700.4 | -11.2 | 243 | 5495 | done | -1.06 | - | - | 2525 | - | - | - | 2329 | - | -107.1 | - | - | 3010 | - | - | - | - | - | - | - | - | 14.66 | 14.69 | 14.69 |
| 5828 | 737.1 | -10.8 | 249 | 5833 | roll | -1.06 | - | - | 2526 | - | 2.65 | 0.066 | 899 | -539.6 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.66 | 14.05 | 14.68 |
| 5903 | 745.6 | -10.9 | 260 | 5910 | done | -1.06 | - | - | 2517 | - | 2.62 | 0.059 | 2310 | 538.5 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.21 | 14.14 | 14.26 |
| 6276 | 786.2 | -11.0 | 271 | 6281 | roll | -1.06 | - | - | 2517 | - | 2.60 | 0.064 | 902 | -541.5 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.66 | 14.06 | 14.69 |
| 6358 | 795.7 | -11.3 | 283 | 6368 | done | -1.06 | - | - | 2506 | - | 2.60 | 0.060 | 2306 | 540.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.33 | 14.09 | 14.38 |
| 6725 | 836.9 | -11.5 | 293 | 6731 | roll | -1.06 | - | - | 2507 | - | 2.60 | 0.064 | 896 | -542.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.63 | 14.05 | 14.66 |
| 6794 | 844.8 | -11.8 | 303 | 6800 | done | -1.06 | 0.15 | 0.294 | 2526 | 126.7 | 2.62 | 0.063 | 2331 | 547.7 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 13.78 | 14.12 | 14.13 |
| 7176 | 883.7 | -10.1 | 315 | 7177 | done | -1.06 | - | - | 2526 | - | - | - | 2331 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.66 | 14.68 | 14.68 |
| 7508 | 910.4 | -7.2 | 321 | 7515 | roll | -1.06 | - | - | 2526 | - | 2.62 | 0.062 | 896 | -547.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.86 | 14.07 | 14.88 |
| 7746 | 910.2 | - | 355 | 7752 | done | -1.06 | - | - | 2521 | - | 2.55 | 0.059 | 2307 | 553.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.36 |
| 7952 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 7952 | begin apogee | ||||||||||||||||||||||||||||
| 7961 | 910.2 | - | 364 | 8091 | done | -0.23 | 0.95 | 0.142 | 2799 | 292.6 | 0.10 | 0.151 | 2118 | -1890.0 | - | 127.12 | 3.094 | 2573 | -3.5 | 0.221 | - | - | - | - | - | - | 14.01 | 13.16 | 12.02 |
| 8092 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8092 | begin climb | ||||||||||||||||||||||||||||
| 8096 | 910.6 | - | 366 | 8261 | roll | 1.06 | 1.40 | 0.122 | 3201 | 287.1 | 3.05 | 0.097 | 3499 | 452.8 | 107.1 | 150.43 | 3.088 | 2137 | -2.9 | 0.185 | - | - | - | - | - | - | 13.14 | 12.45 | 11.31 |
| 8295 | 894.9 | 13.0 | 398 | 8301 | done | 1.06 | - | - | 3211 | - | 2.70 | 0.041 | 2136 | -504.8 | 107.1 | - | - | 2133 | - | - | - | - | - | - | - | - | 12.85 | 12.76 | 12.87 |
| 8691 | 850.6 | 11.4 | 412 | 8692 | done | 1.06 | - | - | 3211 | - | - | - | 2136 | - | 107.1 | - | - | 2125 | - | - | - | - | - | - | - | - | 13.78 | 13.80 | 13.80 |
| 9024 | 813.3 | 10.9 | 418 | 9025 | done | 1.06 | - | - | 3211 | - | - | - | 2136 | - | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 14.50 | 14.53 | 14.53 |
| 9360 | 776.5 | 11.0 | 424 | 9361 | done | 1.06 | - | - | 3211 | - | - | - | 2136 | - | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 14.83 | 14.85 | 14.85 |
| 9696 | 739.6 | 10.9 | 430 | 9697 | done | 1.06 | - | - | 3213 | - | - | - | 2136 | - | 107.1 | - | - | 2123 | - | - | - | - | - | - | - | - | 14.88 | 14.90 | 14.90 |
| 10032 | 702.7 | 10.9 | 436 | 10033 | done | 1.06 | - | - | 3211 | - | - | - | 2136 | - | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.87 | 14.90 | 14.90 |
| 10368 | 667.2 | 10.6 | 442 | 10373 | roll | 1.06 | - | - | 3211 | - | 2.58 | 0.097 | 3499 | 528.3 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.86 | 14.40 | 14.89 |
| 10402 | 663.2 | 11.5 | 447 | 10408 | done | 1.06 | - | - | 3221 | - | 2.47 | 0.042 | 2090 | -570.4 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.56 | 14.50 | 14.59 |
| 10759 | 623.1 | 11.3 | 456 | 10765 | roll | 1.06 | - | - | 3221 | - | 2.67 | 0.095 | 3507 | 530.7 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.95 | 14.38 | 14.97 |
| 10801 | 618.0 | 12.4 | 462 | 10807 | done | 1.06 | - | - | 3232 | - | 2.50 | 0.043 | 2064 | -577.2 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.62 | 14.50 | 14.67 |
| 11152 | 577.6 | 11.4 | 470 | 11157 | roll | 1.06 | - | - | 3232 | - | 2.72 | 0.095 | 3497 | 526.8 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.84 | 14.35 | 14.86 |
| 11200 | 571.5 | 12.7 | 477 | 11208 | done | 1.06 | 0.12 | 0.249 | 3209 | -191.7 | 2.47 | 0.044 | 2097 | -566.8 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.08 | 14.45 | 14.26 |
| 11543 | 535.5 | 10.4 | 484 | 11544 | done | 1.06 | - | - | 3210 | - | - | - | 2102 | - | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.95 | 14.97 | 14.95 |
| 11879 | 501.6 | 10.0 | 490 | 11885 | roll | 1.06 | - | - | 3209 | - | 2.67 | 0.099 | 3509 | 527.0 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.95 | 14.30 | 14.96 |
| 11956 | 493.2 | 11.2 | 501 | 11963 | done | 1.06 | - | - | 3218 | - | 2.50 | 0.042 | 2089 | -568.0 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.47 | 14.42 | 14.52 |
| 12327 | 455.8 | 10.0 | 512 | 12328 | done | 1.06 | - | - | 3218 | - | - | - | 2089 | - | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.94 | 14.97 | 14.96 |
| 12663 | 421.5 | 10.2 | 518 | 12669 | roll | 1.06 | - | - | 3218 | - | 2.67 | 0.096 | 3502 | 529.2 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.93 | 14.29 | 14.96 |
| 12719 | 415.6 | 10.7 | 526 | 12725 | done | 1.06 | - | - | 3229 | - | 2.45 | 0.041 | 2087 | -577.6 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.49 | 14.37 | 14.53 |
| 13112 | 377.5 | 9.7 | 540 | 13117 | roll | 1.06 | - | - | 3229 | - | 2.67 | 0.095 | 3502 | 530.0 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.93 | 14.28 | 14.95 |
| 13181 | 369.7 | 11.3 | 550 | 13187 | done | 1.06 | 0.10 | 0.255 | 3213 | -160.0 | 2.50 | 0.041 | 2088 | -565.6 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.00 | 14.38 | 14.19 |
| 13562 | 333.9 | 9.4 | 562 | 13567 | roll | 1.07 | - | - | 3213 | - | 2.70 | 0.096 | 3505 | 524.8 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.92 |
| 13601 | 329.6 | 10.3 | 568 | 13608 | done | 1.07 | - | - | 3222 | - | 2.50 | 0.043 | 2097 | -563.2 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.42 | 14.37 | 14.46 |
| 13952 | 295.5 | 9.7 | 576 | 13957 | roll | 1.07 | - | - | 3222 | - | 2.70 | 0.097 | 3502 | 520.4 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.77 | 14.24 | 14.80 |
| 14000 | 290.4 | 10.5 | 583 | 14008 | done | 1.07 | - | - | 3231 | - | 2.50 | 0.044 | 2099 | -561.2 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.39 | 14.34 | 14.43 |
| 14344 | 257.8 | 9.5 | 590 | 14349 | roll | 1.08 | - | - | 3231 | - | 2.67 | 0.097 | 3503 | 525.8 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.92 |
| 14385 | 253.6 | 10.3 | 596 | 14392 | done | 1.08 | - | - | 3244 | - | 2.47 | 0.043 | 2087 | -573.3 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.51 | 14.40 | 14.57 |
| 14739 | 220.9 | 9.4 | 604 | 14740 | done | 1.09 | - | - | 3242 | - | - | - | 2090 | - | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.75 | 14.78 | 14.78 |
| 15073 | 188.5 | 9.5 | 612 | 15078 | roll | 1.10 | - | - | 3242 | - | 2.67 | 0.095 | 3498 | 527.3 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.74 | 14.23 | 14.78 |
| 15135 | 181.9 | 10.6 | 621 | 15141 | done | 1.10 | - | - | 3252 | - | 2.47 | 0.042 | 2087 | -571.3 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.51 | 14.40 | 14.56 |
| 15495 | 146.4 | 9.7 | 636 | 15500 | roll | 1.10 | - | - | 3252 | - | 2.70 | 0.094 | 3508 | 526.3 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.92 |
| 15520 | 143.4 | 10.6 | 640 | 15526 | done | 1.10 | 0.17 | 0.279 | 3225 | -158.8 | 2.50 | 0.043 | 2078 | -572.0 | 107.1 | - | - | 2112 | - | - | - | - | - | - | - | - | 13.98 | 14.35 | 14.34 |
| 15887 | 113.4 | 7.9 | 656 | 15913 | done | 1.14 | - | - | 3225 | - | - | - | 2075 | - | 141.1 | 21.67 | 2.355 | 1997 | -5.3 | 0.055 | - | - | - | - | - | - | 14.88 | 14.49 | 13.50 |
| 16251 | 81.9 | 8.9 | 669 | 16257 | roll | 1.16 | - | - | 3225 | - | 2.67 | 0.098 | 3498 | 533.0 | 141.1 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.97 | 14.42 | 14.99 |
| 16291 | 77.7 | 10.0 | 675 | 16297 | done | 1.16 | - | - | 3234 | - | 2.47 | 0.043 | 2087 | -571.3 | 141.1 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.57 | 14.52 | 14.61 |
| 16642 | 43.1 | 10.0 | 689 | 16648 | roll | 1.16 | - | - | 3234 | - | 2.67 | 0.097 | 3506 | 531.5 | 141.1 | - | - | 1991 | - | - | - | - | - | - | - | - | 14.88 | 14.37 | 14.88 |
| 16683 | 38.7 | 10.3 | 695 | 16689 | done | 1.16 | - | - | 3244 | - | 2.50 | 0.044 | 2090 | -566.4 | 141.1 | - | - | 1990 | - | - | - | - | - | - | - | - | 14.50 | 14.46 | 14.56 |
| 17034 | 4.4 | 9.8 | 709 | 17040 | roll | 1.16 | - | - | 3255 | - | 2.58 | 0.088 | 700 | -538.8 | 141.1 | - | - | 1990 | - | - | - | - | - | - | - | - | 14.94 | 14.26 | 14.96 |
| 17058 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17058 | begin surface coast | ||||||||||||||||||||||||||||
| 17065 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17065 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.81 | - | - | - | - | -8.24 | 9.00 | 0.065 | 209 | 23.2 | 2.90 | 0.062 | 2299 | 614.8 | 350.04 | 146.93 | 0.232 | 1146 | 7.8 | -0.003 | - | - | - | - | - | - | |||