• Previous call tries 3 | • 305.29 of 575.00 AH used of 24V (46.91% remains) | |
• Surface angle -56.6 deg, depth -1.47 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
• VBD pumped to 474.77 (SM_CC=475) | ||
• GPS1 time: 8 s | ||
• GPS2 time: 2 s | • Transponder ping count: 9 | |
• 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 | |||||
5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
5 | begin dive | ||||||||||||||||||||||||||||
8.39 | - | - | - | 100.53 | VBD | -1.59 | - | - | 169.06 | - | - | - | 2114.69 | - | -74.33 | 91.65 | 0.005 | 2645.94 | - | - | - | - | - | - | - | - | - | - | 14.72 |
100.77 | 3.85 | -7.83 | 9 | 133.24 | -1.69 | 13.86 | 0.247 | 1730.50 | 112.7 | 4.14 | 0.145 | 662.25 | -350.8 | -106.94 | 6.36 | 0.008 | 2935.97 | 45.6 | -3.953 | - | - | - | - | - | - | 14.90 | 14.70 | 14.88 | |
135.36 | 13.73 | -25.69 | 14 | 142.18 | roll | -1.69 | - | - | 1731.06 | - | 3.52 | 0.052 | 2122.50 | 414.8 | -106.94 | - | - | 2935.34 | - | - | - | - | - | - | - | - | - | 15.41 | - |
201.51 | 27.03 | -19.99 | 21 | 207.09 | roll | -1.69 | - | - | 1730.94 | - | 3.56 | 0.107 | 3474.81 | 379.9 | -106.94 | - | - | 2935.81 | - | - | - | - | - | - | - | - | - | 15.22 | - |
296.92 | 45.67 | -19.32 | 40 | 302.07 | roll | -1.69 | - | - | 1730.06 | - | 3.36 | 0.053 | 2080.00 | -415.1 | -106.94 | - | - | 2936.66 | - | - | - | - | - | - | - | - | - | 15.36 | - |
361.53 | 56.61 | -16.36 | 47 | 367.13 | roll | -1.69 | - | - | 1730.88 | - | 3.65 | 0.101 | 3476.25 | 382.5 | -106.94 | - | - | 2935.88 | - | - | - | - | - | - | - | - | - | 15.21 | - |
426.94 | 66.69 | -15.03 | 60 | 432.10 | roll | -1.69 | - | - | 1730.06 | - | 3.36 | 0.053 | 2081.00 | -415.3 | -106.94 | - | - | 2936.53 | - | - | - | - | - | - | - | - | - | 15.36 | - |
491.55 | 75.94 | -13.77 | 67 | 497.20 | roll | -1.69 | - | - | 1731.25 | - | 3.98 | 0.146 | 660.75 | -356.8 | -106.94 | - | - | 2933.94 | - | - | - | - | - | - | - | - | - | 15.01 | - |
520.41 | 80.10 | -13.90 | 73 | 527.38 | roll | -1.69 | - | - | 1730.38 | - | 3.45 | 0.046 | 2124.38 | 424.2 | -106.94 | - | - | 2936.88 | - | - | - | - | - | - | - | - | - | 15.42 | - |
587.27 | 88.08 | -11.87 | 80 | 592.14 | roll | -1.69 | - | - | 1731.06 | - | 3.54 | 0.103 | 3477.19 | 382.1 | -106.94 | - | - | 2935.06 | - | - | - | - | - | - | - | - | - | 15.21 | - |
651.97 | 96.41 | -14.12 | 93 | 657.12 | roll | -1.69 | - | - | 1730.81 | - | 3.35 | 0.052 | 2080.56 | -416.9 | -106.94 | - | - | 2934.66 | - | - | - | - | - | - | - | - | - | 15.37 | - |
716.58 | 104.46 | -12.22 | 100 | 722.18 | roll | -1.69 | - | - | 1730.62 | - | 3.62 | 0.100 | 3478.06 | 386.0 | -106.94 | - | - | 2935.28 | - | - | - | - | - | - | - | - | - | 15.21 | - |
751.97 | 109.23 | -13.72 | 107 | 757.13 | roll | -1.69 | - | - | 1730.56 | - | 3.34 | 0.051 | 2079.56 | -418.7 | -106.94 | - | - | 2934.28 | - | - | - | - | - | - | - | - | - | 15.38 | - |
816.58 | 117.15 | -12.16 | 114 | 817.91 | no move | -1.69 | - | - | 1731.00 | - | - | - | 2080.31 | - | -106.94 | - | - | 2936.22 | - | - | - | - | - | - | - | - | - | - | - |
876.55 | 124.16 | -11.41 | 120 | 877.88 | no move | -1.69 | - | - | 1730.75 | - | - | - | 2079.62 | - | -106.94 | - | - | 2936.06 | - | - | - | - | - | - | - | - | - | - | - |
936.54 | 131.34 | -11.90 | 126 | 942.19 | roll | -1.69 | - | - | 1730.31 | - | 3.65 | 0.101 | 3477.06 | 382.9 | -106.94 | - | - | 2936.03 | - | - | - | - | - | - | - | - | - | 15.18 | - |
965.44 | 134.97 | -12.06 | 132 | 972.25 | roll | -1.69 | - | - | 1731.12 | - | 3.35 | 0.051 | 2080.88 | -416.8 | -106.94 | - | - | 2936.00 | - | - | - | - | - | - | - | - | - | 15.34 | - |
1031.60 | 143.11 | -12.18 | 139 | 1037.25 | roll | -1.69 | - | - | 1731.06 | - | 3.97 | 0.145 | 662.12 | -357.4 | -106.94 | - | - | 2934.19 | - | - | - | - | - | - | - | - | - | 14.98 | - |
1067.00 | 147.66 | -13.46 | 146 | 1072.17 | roll | -1.69 | - | - | 1731.06 | - | 3.44 | 0.047 | 2123.12 | 424.7 | -106.94 | - | - | 2936.94 | - | - | - | - | - | - | - | - | - | 15.45 | - |
1131.56 | 154.65 | -10.54 | 153 | 1136.18 | roll | -1.69 | - | - | 1730.75 | - | 3.51 | 0.103 | 3476.44 | 385.6 | -106.94 | - | - | 2936.97 | - | - | - | - | - | - | - | - | - | 15.18 | - |
1162.07 | 157.95 | -10.26 | 159 | 1167.17 | roll | -1.69 | - | - | 1730.38 | - | 3.34 | 0.051 | 2079.25 | -418.3 | -106.94 | - | - | 2935.44 | - | - | - | - | - | - | - | - | - | 15.37 | - |
1286.58 | 171.30 | -10.47 | 172 | 1292.28 | roll | -1.69 | - | - | 1731.62 | - | 3.94 | 0.146 | 660.94 | -360.0 | -106.94 | - | - | 2934.41 | - | - | - | - | - | - | - | - | - | 14.96 | - |
1302.03 | 172.86 | -10.63 | 175 | 1307.19 | roll | -1.69 | - | - | 1731.12 | - | 3.44 | 0.046 | 2123.75 | 425.2 | -106.94 | - | - | 2934.72 | - | - | - | - | - | - | - | - | - | 15.44 | - |
1426.61 | 185.98 | -10.15 | 188 | 1427.94 | no move | -1.69 | - | - | 1730.94 | - | - | - | 2124.44 | - | -106.94 | - | - | 2936.50 | - | - | - | - | - | - | - | - | - | - | - |
1546.60 | 198.99 | -10.73 | 200 | 1551.22 | roll | -1.69 | - | - | 1731.38 | - | 3.54 | 0.105 | 3476.38 | 381.9 | -106.94 | - | - | 2936.50 | - | - | - | - | - | - | - | - | - | 15.15 | - |
1577.10 | 202.30 | -10.77 | 206 | 1582.20 | roll | -1.69 | - | - | 1730.69 | - | 3.35 | 0.053 | 2080.00 | -416.8 | -106.94 | - | - | 2935.81 | - | - | - | - | - | - | - | - | - | 15.34 | - |
1701.61 | 215.55 | -10.20 | 219 | 1707.31 | roll | -1.69 | - | - | 1730.56 | - | 3.99 | 0.148 | 662.00 | -355.4 | -106.94 | - | - | 2935.16 | - | - | - | - | - | - | - | - | - | 14.94 | - |
1727.05 | 218.52 | -11.21 | 224 | 1732.23 | roll | -1.69 | - | - | 1731.06 | - | 3.45 | 0.047 | 2123.81 | 423.7 | -106.94 | - | - | 2934.69 | - | - | - | - | - | - | - | - | - | 15.44 | - |
1851.63 | 231.74 | -10.07 | 237 | 1856.25 | roll | -1.69 | - | - | 1731.06 | - | 3.54 | 0.106 | 3475.94 | 382.0 | -106.94 | - | - | 2936.50 | - | - | - | - | - | - | - | - | - | 15.14 | - |
1895.54 | 236.70 | -11.26 | 246 | 1902.34 | roll | -1.69 | - | - | 1730.81 | - | 3.35 | 0.052 | 2080.75 | -416.5 | -106.94 | - | - | 2936.53 | - | - | - | - | - | - | - | - | - | 15.32 | - |
2021.64 | 249.08 | -9.84 | 259 | 2027.36 | roll | -1.69 | - | - | 1730.69 | - | 4.01 | 0.147 | 660.81 | -354.1 | -106.94 | - | - | 2937.91 | - | - | - | - | - | - | - | - | - | 14.92 | - |
2047.08 | 252.33 | -10.56 | 264 | 2052.26 | roll | -1.69 | - | - | 1731.38 | - | 3.46 | 0.047 | 2122.69 | 422.5 | -106.94 | - | - | 2937.06 | - | - | - | - | - | - | - | - | - | 15.43 | - |
2371.66 | 286.11 | -10.58 | 279 | 2377.29 | roll | -1.69 | - | - | 1730.75 | - | 3.56 | 0.109 | 3475.50 | 380.0 | -106.94 | - | - | 2936.69 | - | - | - | - | - | - | - | - | - | 15.11 | - |
2465.58 | 297.79 | -12.27 | 298 | 2471.26 | roll | -1.69 | - | - | 1731.25 | - | 3.37 | 0.055 | 2080.31 | -414.0 | -106.94 | - | - | 2937.16 | - | - | - | - | - | - | - | - | - | 15.28 | - |
2786.68 | 332.97 | -10.72 | 312 | 2792.35 | roll | -1.69 | - | - | 1731.19 | - | 3.72 | 0.107 | 3474.81 | 374.9 | -106.94 | - | - | 2935.69 | - | - | - | - | - | - | - | - | - | 15.09 | - |
2855.61 | 341.72 | -12.81 | 326 | 2861.37 | roll | -1.69 | - | - | 1731.19 | - | 3.37 | 0.054 | 2079.50 | -414.0 | -106.94 | - | - | 2935.66 | - | - | - | - | - | - | - | - | - | 15.28 | - |
3171.71 | 377.29 | -11.38 | 339 | 3173.04 | no move | -1.69 | - | - | 1731.06 | - | - | - | 2080.25 | - | -106.94 | - | - | 2936.38 | - | - | - | - | - | - | - | - | - | - | - |
3471.71 | 412.81 | -11.88 | 349 | 3477.38 | roll | -1.69 | - | - | 1729.94 | - | 3.76 | 0.109 | 3476.50 | 371.3 | -106.94 | - | - | 2936.06 | - | - | - | - | - | - | - | - | - | 15.06 | - |
3490.63 | 416.05 | -11.14 | 353 | 3497.40 | roll | -1.69 | - | - | 1730.25 | - | 3.39 | 0.056 | 2081.06 | -411.6 | -106.94 | - | - | 2937.81 | - | - | - | - | - | - | - | - | - | 15.25 | - |
3796.72 | 452.11 | -12.06 | 364 | 3798.05 | no move | -1.69 | - | - | 1731.12 | - | - | - | 2081.62 | - | -106.94 | - | - | 2934.09 | - | - | - | - | - | - | - | - | - | - | - |
4096.72 | 484.97 | -10.30 | 374 | 4102.40 | roll | -1.69 | - | - | 1731.06 | - | 3.78 | 0.113 | 3474.44 | 368.5 | -106.94 | - | - | 2933.09 | - | - | - | - | - | - | - | - | - | 15.02 | - |
4122.24 | 489.08 | -7.37 | 379 | 4127.44 | roll back | -1.80 | 0.29 | 0.068 | 1687.88 | -148.9 | 3.40 | 0.058 | 2081.62 | -409.7 | -144.12 | - | - | 2935.38 | - | - | - | - | - | - | - | - | 15.04 | 15.25 | - |
4206 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
4206 | begin apogee | ||||||||||||||||||||||||||||
4207.87 | 500.19 | -12.85 | 386 | 4303.24 | -0.25 | 3.29 | 0.158 | 2079.12 | 118.9 | 0.09 | 0.234 | 2085.50 | 43.1 | - | 90.17 | 1.638 | 2498.97 | -4.8 | 0.266 | - | - | - | - | - | - | 14.95 | 14.87 | 10.83 | |
4306 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4306 | begin climb | ||||||||||||||||||||||||||||
4306.39 | 502.87 | - | 389 | 4442.07 | 1.80 | 3.58 | 0.075 | 2582.00 | 140.5 | - | - | 2085.38 | - | 144.12 | 130.71 | 1.583 | 1912.16 | -4.5 | 0.257 | - | - | - | - | - | - | 15.13 | - | 11.44 | |
4716.74 | 463.49 | 12.31 | 403 | 4722.44 | done | 1.80 | - | - | 2583.12 | - | 3.97 | 0.139 | 660.56 | -358.9 | 144.12 | - | - | 1900.69 | - | - | - | - | - | - | - | - | - | 15.18 | - |
4855.67 | 444.49 | 12.64 | 431 | 4862.50 | done | 1.80 | - | - | 2582.44 | - | 3.46 | 0.047 | 2127.12 | 423.9 | 144.12 | - | - | 1900.94 | - | - | - | - | - | - | - | - | - | 15.49 | - |
5161.78 | 408.24 | 11.30 | 442 | 5167.49 | done | 1.80 | - | - | 2582.25 | - | 4.02 | 0.132 | 660.81 | -364.8 | 144.12 | - | - | 1897.97 | - | - | - | - | - | - | - | - | - | 15.17 | - |
5390.72 | 377.57 | 13.40 | 488 | 5397.57 | done | 1.80 | - | - | 2583.62 | - | 3.47 | 0.046 | 2128.31 | 422.9 | 144.12 | - | - | 1897.44 | - | - | - | - | - | - | - | - | - | 15.50 | - |
5696.82 | 342.24 | 10.99 | 499 | 5702.54 | done | 1.80 | - | - | 2583.69 | - | 4.03 | 0.130 | 660.69 | -364.2 | 144.12 | - | - | 1895.00 | - | - | - | - | - | - | - | - | - | 15.12 | - |
5812.28 | 327.70 | 11.75 | 522 | 5817.47 | done | 1.80 | - | - | 2583.75 | - | 3.46 | 0.046 | 2127.88 | 424.0 | 144.12 | - | - | 1895.00 | - | - | - | - | - | - | - | - | - | 15.52 | - |
6136.91 | 294.67 | 9.66 | 537 | 6142.56 | done | 1.84 | - | - | 2583.62 | - | 4.07 | 0.130 | 659.94 | -360.7 | 144.12 | - | - | 1894.12 | - | - | - | - | - | - | - | - | - | 15.07 | - |
6252.31 | 281.11 | 11.64 | 560 | 6257.48 | done | 1.84 | - | - | 2583.62 | - | 3.47 | 0.046 | 2128.06 | 423.1 | 144.12 | - | - | 1895.16 | - | - | - | - | - | - | - | - | - | 15.49 | - |
6576.94 | 253.70 | 8.48 | 575 | 6608.50 | done | 1.92 | - | - | 2583.38 | - | 4.00 | 0.131 | 659.50 | -367.1 | 170.30 | 22.42 | 1.329 | 1804.66 | -4.0 | 0.139 | - | - | - | - | - | - | - | 15.22 | 11.26 |
6710.79 | 238.30 | 12.62 | 602 | 6717.61 | roll | 1.92 | - | - | 2582.81 | - | 3.46 | 0.046 | 2128.31 | 424.5 | 170.30 | - | - | 1802.16 | - | - | - | - | - | - | - | - | - | 15.55 | - |
6836.92 | 225.84 | 10.10 | 615 | 6842.67 | roll back | 1.95 | 0.19 | 0.074 | 2630.12 | 249.0 | 4.01 | 0.127 | 659.62 | -366.3 | 170.30 | - | - | 1798.47 | - | - | - | - | - | - | - | - | 15.60 | 15.24 | - |
7002.36 | 203.48 | 14.01 | 648 | 7007.54 | roll | 1.95 | - | - | 2630.00 | - | 3.48 | 0.046 | 2128.81 | 422.2 | 170.30 | - | - | 1799.75 | - | - | - | - | - | - | - | - | - | 15.51 | - |
7126.94 | 189.06 | 10.91 | 661 | 7128.26 | no move | 1.95 | - | - | 2629.62 | - | - | - | 2129.12 | - | 170.30 | - | - | 1799.16 | - | - | - | - | - | - | - | - | - | - | - |
7246.94 | 174.55 | 12.67 | 673 | 7252.65 | roll | 1.95 | - | - | 2630.12 | - | 4.01 | 0.125 | 662.25 | -365.8 | 170.30 | - | - | 1798.62 | - | - | - | - | - | - | - | - | - | 15.15 | - |
7432.41 | 146.80 | 15.05 | 710 | 7437.58 | roll | 1.95 | - | - | 2630.00 | - | 3.46 | 0.047 | 2127.38 | 423.4 | 170.30 | - | - | 1797.94 | - | - | - | - | - | - | - | - | - | 15.50 | - |
7496.97 | 139.07 | 11.52 | 717 | 7502.69 | roll | 1.95 | - | - | 2629.75 | - | 3.99 | 0.124 | 660.62 | -367.6 | 170.30 | - | - | 1796.88 | - | - | - | - | - | - | - | - | - | 15.13 | - |
7602.44 | 125.71 | 12.61 | 738 | 7607.61 | roll | 1.95 | - | - | 2629.75 | - | 3.47 | 0.045 | 2128.38 | 423.0 | 170.30 | - | - | 1797.47 | - | - | - | - | - | - | - | - | - | 15.49 | - |
7667.00 | 118.72 | 9.94 | 745 | 7672.63 | roll | 1.99 | - | - | 2629.88 | - | 3.56 | 0.105 | 3476.00 | 378.5 | 170.30 | - | - | 1797.62 | - | - | - | - | - | - | - | - | - | 15.21 | - |
7695.91 | 115.62 | 10.36 | 751 | 7702.69 | done | 2.01 | - | - | 2629.81 | - | 3.38 | 0.049 | 2075.94 | -414.2 | 170.30 | - | - | 1797.38 | - | - | - | - | - | - | - | - | - | 15.41 | - |
7762.07 | 109.41 | 9.53 | 758 | 7767.68 | done | 2.06 | - | - | 2629.56 | - | 3.87 | 0.127 | 659.56 | -366.0 | 170.30 | - | - | 1796.16 | - | - | - | - | - | - | - | - | - | 15.11 | - |
7860.94 | 98.61 | 9.75 | 778 | 7867.72 | done | 2.10 | - | - | 2630.06 | - | 3.45 | 0.043 | 2130.31 | 426.3 | 170.30 | - | - | 1797.38 | - | - | - | - | - | - | - | - | - | 15.48 | - |
7927.08 | 93.83 | 7.77 | 785 | 7972.52 | 2.20 | 0.28 | 0.064 | 2685.62 | 198.4 | 3.49 | 0.106 | 3476.12 | 385.6 | 203.55 | 38.94 | 1.143 | 1668.91 | -3.3 | 0.049 | - | - | - | - | - | - | 15.60 | 15.14 | 11.40 | |
8027.52 | 82.24 | 14.29 | 805 | 8032.62 | roll | 2.20 | - | - | 2685.62 | - | 3.38 | 0.050 | 2075.94 | -414.3 | 203.55 | - | - | 1666.53 | - | - | - | - | - | - | - | - | - | 15.48 | - |
8092.08 | 74.79 | 11.24 | 812 | 8097.76 | roll | 2.20 | - | - | 2684.75 | - | 3.84 | 0.126 | 660.81 | -368.5 | 203.55 | - | - | 1665.56 | - | - | - | - | - | - | - | - | - | 15.26 | - |
8217.48 | 59.45 | 10.80 | 837 | 8222.67 | roll | 2.20 | - | - | 2686.31 | - | 3.46 | 0.043 | 2131.00 | 424.9 | 203.55 | - | - | 1664.16 | - | - | - | - | - | - | - | - | - | 15.54 | - |
8282.05 | 53.86 | 8.18 | 844 | 8323.51 | done | 2.29 | - | - | 2685.31 | - | 3.51 | 0.104 | 3476.50 | 383.3 | 232.68 | 33.76 | 1.076 | 1551.00 | -3.4 | 0.030 | - | - | - | - | - | - | - | 15.10 | 11.58 |
8346.02 | 48.78 | 8.21 | 857 | 8387.44 | 2.37 | 0.19 | 0.086 | 2725.00 | 208.9 | 3.38 | 0.050 | 2075.69 | -414.4 | 261.53 | 33.93 | 1.048 | 1434.19 | -3.4 | 0.029 | - | - | - | - | - | - | 15.29 | 15.47 | 11.67 | |
8452.07 | 40.35 | 8.48 | 872 | 8487.46 | done | 2.45 | - | - | 2725.56 | - | 3.86 | 0.128 | 659.50 | -366.9 | 287.72 | 30.05 | 1.022 | 1327.00 | -3.6 | 0.025 | - | - | - | - | - | - | - | 14.99 | 11.54 |
8496.19 | 36.23 | 9.55 | 878 | 8501.36 | roll | 2.50 | - | - | 2725.88 | - | 3.48 | 0.042 | 2130.06 | 422.6 | 287.72 | - | - | 1326.28 | - | - | - | - | - | - | - | - | - | 15.39 | - |
8560.75 | 29.91 | 9.42 | 885 | 8566.51 | roll back | 2.55 | 0.20 | 0.077 | 2769.31 | 217.1 | 3.99 | 0.123 | 661.00 | -368.2 | 287.72 | - | - | 1324.66 | - | - | - | - | - | - | - | - | 15.44 | 15.21 | - |
8625.95 | 22.98 | 10.69 | 898 | 8631.37 | roll | 2.55 | - | - | 2768.94 | - | 3.44 | 0.041 | 2132.50 | 427.8 | 287.72 | - | - | 1324.28 | - | - | - | - | - | - | - | - | - | 15.47 | - |
8690.77 | 17.75 | 8.18 | 905 | 8728.10 | done | 2.64 | - | - | 2769.44 | - | 3.49 | 0.104 | 3476.25 | 385.0 | 316.86 | 32.37 | 1.008 | 1207.16 | -3.6 | 0.011 | - | - | - | - | - | - | - | 15.06 | 11.51 |
8816.39 | 4.45 | 11.57 | 930 | 8820.93 | roll | 2.64 | - | - | 2769.06 | - | 3.37 | 0.048 | 2073.75 | -416.2 | 316.86 | - | - | 1205.28 | - | - | - | - | - | - | - | - | - | 15.43 | - |
8846 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
8846 | begin surface coast | ||||||||||||||||||||||||||||
8856 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8856 | begin surface | ||||||||||||||||||||||||||||
SM | -0.57 | - | - | - | - | 180.2 | 0.02 | 0.367 | 564.5 | 28225.0 | 17.38 | 0.056 | 563.5 | 32.4 | - | 0.09 | 0.128 | 565.6 | 6247.0 | 2.843 | - | - | 30.36 | 15.17 | 15.53 | - |