• Previous call tries 4 | • 313.33 of 575.00 AH used of 24V (45.51% remains) | |
• Surface angle -62.7 deg, depth -1.48 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
• VBD pumped to 474.72 (SM_CC=475) | ||
• GPS1 time: 18 s | ||
• GPS2 time: 6 s | • Transponder ping count: 18 | |
• 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 | ||||||||||||||||||||||||||||
8.47 | - | - | - | 100.55 | VBD | -1.59 | - | - | 170.19 | - | - | - | 2081.62 | - | -74.33 | 91.68 | 0.005 | 2715.03 | - | - | - | - | - | - | - | - | - | - | 14.73 |
100.78 | 5.04 | -10.19 | 9 | 126.81 | -1.59 | 14.55 | 0.258 | 1753.69 | 108.8 | 4.03 | 0.151 | 660.69 | -352.6 | -74.33 | 1.74 | 0.016 | 2802.41 | 50.2 | -2.847 | - | - | - | - | - | - | 14.82 | 14.69 | 14.87 | |
140.47 | 17.14 | -25.78 | 17 | 145.66 | roll | -1.59 | - | - | 1753.69 | - | 3.56 | 0.053 | 2120.00 | 409.9 | -74.33 | - | - | 2801.12 | - | - | - | - | - | - | - | - | - | 15.39 | - |
205.03 | 29.18 | -17.81 | 24 | 210.68 | roll | -1.59 | - | - | 1752.88 | - | 3.67 | 0.107 | 3474.88 | 369.2 | -74.33 | - | - | 2800.53 | - | - | - | - | - | - | - | - | - | 15.17 | - |
260.04 | 38.61 | -17.77 | 35 | 264.64 | roll | -1.59 | - | - | 1753.44 | - | 3.44 | 0.054 | 2080.38 | -405.4 | -74.33 | - | - | 2803.66 | - | - | - | - | - | - | - | - | - | 15.30 | - |
330.04 | 48.76 | -14.35 | 43 | 335.71 | roll | -1.59 | - | - | 1753.50 | - | 3.77 | 0.102 | 3473.06 | 369.4 | -74.33 | - | - | 2800.56 | - | - | - | - | - | - | - | - | - | 15.14 | - |
345.05 | 51.05 | -14.29 | 46 | 349.66 | roll | -1.59 | - | - | 1753.69 | - | 3.41 | 0.054 | 2081.38 | -408.1 | -74.33 | - | - | 2802.78 | - | - | - | - | - | - | - | - | - | 15.30 | - |
415.05 | 60.93 | -13.90 | 54 | 420.71 | roll | -1.59 | - | - | 1752.19 | - | 3.76 | 0.104 | 3473.25 | 370.2 | -74.33 | - | - | 2803.03 | - | - | - | - | - | - | - | - | - | 15.12 | - |
460.05 | 67.62 | -14.75 | 63 | 464.69 | roll | -1.59 | - | - | 1754.12 | - | 3.40 | 0.053 | 2079.25 | -410.0 | -74.33 | - | - | 2804.00 | - | - | - | - | - | - | - | - | - | 15.30 | - |
530.05 | 75.94 | -11.71 | 71 | 535.78 | roll | -1.59 | - | - | 1753.75 | - | 4.02 | 0.145 | 660.81 | -352.8 | -74.33 | - | - | 2801.84 | - | - | - | - | - | - | - | - | - | 14.96 | - |
575.57 | 81.73 | -12.42 | 80 | 580.69 | roll | -1.59 | - | - | 1753.50 | - | 3.49 | 0.045 | 2122.81 | 418.9 | -74.33 | - | - | 2801.72 | - | - | - | - | - | - | - | - | - | 15.39 | - |
640.13 | 89.04 | -10.88 | 87 | 645.72 | roll | -1.59 | - | - | 1753.62 | - | 3.62 | 0.103 | 3474.62 | 373.4 | -74.33 | - | - | 2804.06 | - | - | - | - | - | - | - | - | - | 15.12 | - |
755.09 | 104.91 | -13.56 | 110 | 759.83 | roll | -1.59 | - | - | 1752.44 | - | 3.40 | 0.052 | 2082.00 | -409.6 | -74.33 | - | - | 2804.94 | - | - | - | - | - | - | - | - | - | 15.29 | - |
825.09 | 112.80 | -11.31 | 118 | 830.81 | roll | -1.59 | - | - | 1753.12 | - | 4.04 | 0.146 | 661.88 | -351.5 | -74.33 | - | - | 2803.53 | - | - | - | - | - | - | - | - | - | 14.93 | - |
850.54 | 115.89 | -11.38 | 123 | 855.73 | roll | -1.59 | - | - | 1751.56 | - | 3.49 | 0.045 | 2123.81 | 418.9 | -74.33 | - | - | 2804.62 | - | - | - | - | - | - | - | - | - | 15.39 | - |
915.17 | 123.12 | -10.75 | 130 | 920.75 | roll | -1.59 | - | - | 1753.56 | - | 3.62 | 0.102 | 3474.56 | 373.1 | -74.33 | - | - | 2801.38 | - | - | - | - | - | - | - | - | - | 15.12 | - |
960.10 | 128.36 | -11.58 | 139 | 964.71 | roll | -1.59 | - | - | 1753.12 | - | 3.38 | 0.050 | 2080.25 | -412.5 | -74.33 | - | - | 2804.69 | - | - | - | - | - | - | - | - | - | 15.30 | - |
1030.11 | 135.93 | -11.26 | 147 | 1035.83 | roll | -1.59 | - | - | 1753.50 | - | 3.98 | 0.142 | 660.88 | -356.6 | -74.33 | - | - | 2802.41 | - | - | - | - | - | - | - | - | - | 14.94 | - |
1085.59 | 142.80 | -13.26 | 158 | 1090.76 | roll | -1.59 | - | - | 1752.44 | - | 3.46 | 0.041 | 2123.62 | 422.8 | -74.33 | - | - | 2802.91 | - | - | - | - | - | - | - | - | - | 15.39 | - |
1150.13 | 149.26 | -9.58 | 165 | 1155.77 | roll | -1.59 | - | - | 1753.12 | - | 3.57 | 0.100 | 3475.81 | 378.8 | -74.33 | - | - | 2803.53 | - | - | - | - | - | - | - | - | - | 15.11 | - |
1225.21 | 157.39 | -9.98 | 180 | 1229.75 | roll | -1.59 | - | - | 1753.31 | - | 3.37 | 0.047 | 2079.44 | -414.4 | -74.33 | - | - | 2804.84 | - | - | - | - | - | - | - | - | - | 15.30 | - |
1355.21 | 169.20 | -8.33 | 194 | 1361.92 | done | -1.67 | - | - | 1753.50 | - | 3.98 | 0.146 | 661.06 | -356.4 | -102.03 | 0.60 | 0.038 | 2917.00 | 186.9 | -149.798 | - | - | - | - | - | - | - | 14.61 | 14.50 |
1374.09 | 171.04 | -8.64 | 198 | 1381.03 | -1.75 | 0.37 | 0.067 | 1700.00 | -144.6 | 3.45 | 0.041 | 2124.56 | 424.2 | -126.58 | 0.51 | 0.044 | 3019.94 | 201.8 | -141.208 | - | - | - | - | - | - | 15.15 | 15.39 | 14.76 | |
1500.24 | 185.21 | -11.76 | 211 | 1505.81 | roll | -1.75 | - | - | 1700.81 | - | 3.59 | 0.101 | 3476.06 | 376.5 | -126.58 | - | - | 3018.66 | - | - | - | - | - | - | - | - | - | 15.11 | - |
1535.19 | 189.66 | -13.49 | 218 | 1539.79 | roll | -1.75 | - | - | 1700.94 | - | 3.37 | 0.048 | 2081.19 | -413.9 | -126.58 | - | - | 3022.06 | - | - | - | - | - | - | - | - | - | 15.29 | - |
1665.21 | 205.58 | -12.60 | 232 | 1670.87 | roll | -1.75 | - | - | 1701.12 | - | 3.73 | 0.099 | 3475.25 | 373.7 | -126.58 | - | - | 3019.47 | - | - | - | - | - | - | - | - | - | 15.09 | - |
1680.21 | 207.68 | -12.77 | 235 | 1684.80 | roll | -1.75 | - | - | 1700.19 | - | 3.36 | 0.047 | 2080.94 | -415.0 | -126.58 | - | - | 3022.34 | - | - | - | - | - | - | - | - | - | 15.28 | - |
1810.25 | 224.88 | -13.16 | 249 | 1815.89 | roll | -1.75 | - | - | 1700.56 | - | 3.74 | 0.100 | 3475.94 | 373.0 | -126.58 | - | - | 3021.06 | - | - | - | - | - | - | - | - | - | 15.07 | - |
1835.28 | 228.22 | -13.23 | 254 | 1839.81 | roll | -1.75 | - | - | 1700.62 | - | 3.37 | 0.048 | 2081.06 | -413.9 | -126.58 | - | - | 3021.59 | - | - | - | - | - | - | - | - | - | 15.27 | - |
1965.25 | 245.93 | -13.56 | 268 | 1966.58 | no move | -1.75 | - | - | 1701.00 | - | - | - | 2081.12 | - | -126.58 | - | - | 3019.78 | - | - | - | - | - | - | - | - | - | - | - |
2095.30 | 263.40 | -13.27 | 275 | 2096.63 | no move | -1.75 | - | - | 1700.88 | - | - | - | 2081.12 | - | -126.58 | - | - | 3020.69 | - | - | - | - | - | - | - | - | - | - | - |
2395.25 | 306.52 | -14.79 | 285 | 2400.93 | roll | -1.75 | - | - | 1700.81 | - | 3.80 | 0.105 | 3475.19 | 366.9 | -126.58 | - | - | 3021.19 | - | - | - | - | - | - | - | - | - | 15.02 | - |
2489.18 | 322.20 | -16.86 | 304 | 2494.89 | roll | -1.75 | - | - | 1700.69 | - | 3.40 | 0.052 | 2081.38 | -409.9 | -126.58 | - | - | 3020.91 | - | - | - | - | - | - | - | - | - | 15.21 | - |
2810.29 | 367.68 | -13.73 | 318 | 2815.96 | roll | -1.75 | - | - | 1700.50 | - | 3.81 | 0.105 | 3475.25 | 365.8 | -126.58 | - | - | 3021.22 | - | - | - | - | - | - | - | - | - | 14.99 | - |
2869.25 | 376.10 | -14.31 | 330 | 2874.88 | roll | -1.75 | - | - | 1700.56 | - | 3.39 | 0.051 | 2081.38 | -411.2 | -126.58 | - | - | 3021.03 | - | - | - | - | - | - | - | - | - | 15.20 | - |
3195.32 | 416.51 | -12.02 | 345 | 3196.64 | no move | -1.75 | - | - | 1700.75 | - | - | - | 2081.00 | - | -126.58 | - | - | 3020.62 | - | - | - | - | - | - | - | - | - | - | - |
3495.31 | 452.64 | -12.17 | 355 | 3500.99 | roll | -1.75 | - | - | 1701.31 | - | 3.84 | 0.108 | 3476.69 | 363.5 | -126.58 | - | - | 3018.81 | - | - | - | - | - | - | - | - | - | 14.95 | - |
3544.23 | 459.04 | -13.47 | 365 | 3551.04 | roll | -1.75 | - | - | 1700.62 | - | 3.42 | 0.055 | 2081.88 | -407.8 | -126.58 | - | - | 3021.75 | - | - | - | - | - | - | - | - | - | 15.15 | - |
3850.33 | 495.69 | -11.78 | 376 | 3851.66 | no move | -1.75 | - | - | 1700.81 | - | - | - | 2082.00 | - | -126.58 | - | - | 3020.34 | - | - | - | - | - | - | - | - | - | - | - |
3910 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
3910 | begin apogee | ||||||||||||||||||||||||||||
3911.47 | 502.02 | -11.28 | 378 | 4021.84 | -0.25 | 3.27 | 0.162 | 2078.25 | 115.4 | 0.09 | 0.232 | 2083.81 | - | - | 105.94 | 1.636 | 2497.22 | -4.9 | 0.273 | - | - | - | - | - | - | 14.85 | 14.82 | 10.99 | |
4024 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4024 | begin climb | ||||||||||||||||||||||||||||
4025.04 | 505.95 | - | 381 | 4144.22 | 1.75 | 3.58 | 0.079 | 2570.44 | 137.5 | - | - | 2083.44 | - | 126.58 | 114.48 | 1.581 | 1984.47 | -4.5 | 0.258 | - | - | - | - | - | - | 15.05 | - | 11.30 | |
4420.37 | 472.87 | 9.52 | 395 | 4426.04 | done | 1.80 | - | - | 2569.88 | - | 3.98 | 0.137 | 661.75 | -357.2 | 126.58 | - | - | 1971.03 | - | - | - | - | - | - | - | - | - | 15.17 | - |
4569.28 | 455.01 | 11.80 | 425 | 4575.00 | done | 1.80 | - | - | 2569.81 | - | 3.51 | 0.044 | 2127.88 | 417.7 | 126.58 | - | - | 1970.69 | - | - | - | - | - | - | - | - | - | 15.46 | - |
4895.46 | 424.71 | 9.75 | 440 | 4901.26 | done | 1.84 | - | - | 2569.88 | - | 4.05 | 0.131 | 660.75 | -362.3 | 126.58 | - | - | 1967.44 | - | - | - | - | - | - | - | - | - | 15.15 | - |
5064.38 | 405.46 | 11.85 | 474 | 5071.13 | done | 1.84 | - | - | 2571.00 | - | 3.48 | 0.041 | 2127.00 | 421.3 | 126.58 | - | - | 1967.62 | - | - | - | - | - | - | - | - | - | 15.47 | - |
5370.44 | 374.74 | 9.78 | 485 | 5376.19 | 1.88 | 0.15 | 0.087 | 2606.62 | 237.5 | 4.05 | 0.129 | 660.69 | -362.1 | 126.58 | - | - | 1965.22 | - | - | - | - | - | - | - | - | 15.60 | 15.09 | - | |
5569.37 | 349.58 | 11.62 | 525 | 5576.15 | done | 1.88 | - | - | 2606.88 | - | 3.49 | 0.042 | 2127.88 | 420.4 | 126.58 | - | - | 1966.69 | - | - | - | - | - | - | - | - | - | 15.45 | - |
5875.48 | 315.95 | 11.02 | 536 | 5881.11 | done | 1.88 | - | - | 2606.38 | - | 3.63 | 0.108 | 3474.75 | 371.0 | 126.58 | - | - | 1963.81 | - | - | - | - | - | - | - | - | - | 15.12 | - |
6104.41 | 292.27 | 10.09 | 582 | 6111.19 | done | 1.91 | - | - | 2606.88 | - | 3.39 | 0.050 | 2077.88 | -412.1 | 126.58 | - | - | 1966.78 | - | - | - | - | - | - | - | - | - | 15.28 | - |
6410.52 | 265.83 | 8.09 | 593 | 6442.23 | done | 2.00 | - | - | 2607.75 | - | 3.76 | 0.107 | 3475.38 | 371.7 | 156.60 | 25.44 | 1.358 | 1860.19 | -4.2 | 0.148 | - | - | - | - | - | - | - | 15.24 | 11.36 |
6470.53 | 260.70 | 9.46 | 605 | 6476.16 | roll back | 2.05 | 0.19 | 0.090 | 2647.50 | 209.2 | 3.38 | 0.049 | 2076.69 | -413.8 | 156.60 | - | - | 1859.44 | - | - | - | - | - | - | - | - | 15.29 | 15.47 | - |
6775.53 | 229.92 | 11.13 | 632 | 6781.22 | roll | 2.05 | - | - | 2646.31 | - | 3.89 | 0.129 | 659.81 | -364.2 | 156.60 | - | - | 1855.44 | - | - | - | - | - | - | - | - | - | 15.18 | - |
6951.02 | 207.16 | 13.26 | 667 | 6956.19 | roll | 2.05 | - | - | 2646.50 | - | 3.49 | 0.041 | 2129.31 | 421.1 | 156.60 | - | - | 1855.06 | - | - | - | - | - | - | - | - | - | 15.48 | - |
7075.60 | 193.49 | 10.29 | 680 | 7081.30 | roll | 2.07 | - | - | 2646.38 | - | 4.03 | 0.122 | 659.62 | -364.7 | 156.60 | - | - | 1855.25 | - | - | - | - | - | - | - | - | - | 15.13 | - |
7144.50 | 184.94 | 11.94 | 694 | 7151.31 | roll | 2.07 | - | - | 2646.94 | - | 3.46 | 0.039 | 2128.19 | 424.4 | 156.60 | - | - | 1854.94 | - | - | - | - | - | - | - | - | - | 15.45 | - |
7270.64 | 171.88 | 10.20 | 707 | 7276.28 | roll | 2.10 | - | - | 2646.94 | - | 3.62 | 0.104 | 3475.56 | 372.2 | 156.60 | - | - | 1853.91 | - | - | - | - | - | - | - | - | - | 15.17 | - |
7286.08 | 170.31 | 10.35 | 710 | 7291.21 | roll | 2.12 | - | - | 2647.12 | - | 3.36 | 0.045 | 2074.44 | -417.0 | 156.60 | - | - | 1852.78 | - | - | - | - | - | - | - | - | - | 15.39 | - |
7410.64 | 157.93 | 9.98 | 723 | 7416.31 | roll | 2.16 | - | - | 2646.94 | - | 3.89 | 0.126 | 660.81 | -363.4 | 156.60 | - | - | 1852.56 | - | - | - | - | - | - | - | - | - | 15.10 | - |
7489.55 | 148.73 | 11.47 | 739 | 7496.35 | roll | 2.16 | - | - | 2648.31 | - | 3.47 | 0.040 | 2130.81 | 423.6 | 156.60 | - | - | 1853.88 | - | - | - | - | - | - | - | - | - | 15.45 | - |
7555.73 | 142.68 | 8.75 | 746 | 7581.25 | 2.23 | 0.20 | 0.077 | 2690.06 | 208.8 | - | - | 2130.50 | - | 180.06 | 23.98 | 1.194 | 1764.28 | -3.7 | 0.080 | - | - | - | - | - | - | 15.60 | - | 11.61 | |
7635.71 | 134.04 | 11.20 | 754 | 7637.04 | no move | 2.23 | - | - | 2689.25 | - | - | - | 2130.19 | - | 180.06 | - | - | 1763.62 | - | - | - | - | - | - | - | - | - | - | - |
7695.67 | 126.78 | 12.29 | 760 | 7701.36 | roll | 2.23 | - | - | 2690.00 | - | 3.98 | 0.122 | 660.56 | -369.3 | 180.06 | - | - | 1761.25 | - | - | - | - | - | - | - | - | - | 15.26 | - |
7861.14 | 103.31 | 13.90 | 793 | 7866.30 | roll | 2.23 | - | - | 2690.00 | - | 3.47 | 0.041 | 2129.44 | 423.3 | 180.06 | - | - | 1759.91 | - | - | - | - | - | - | - | - | - | 15.50 | - |
7925.69 | 95.96 | 11.14 | 800 | 7931.32 | roll | 2.23 | - | - | 2689.00 | - | 3.59 | 0.105 | 3474.31 | 374.6 | 180.06 | - | - | 1760.66 | - | - | - | - | - | - | - | - | - | 15.21 | - |
7954.60 | 92.09 | 12.89 | 806 | 7961.39 | roll | 2.23 | - | - | 2690.12 | - | 3.37 | 0.049 | 2074.00 | -415.5 | 180.06 | - | - | 1760.12 | - | - | - | - | - | - | - | - | - | 15.38 | - |
8020.77 | 85.38 | 10.37 | 813 | 8022.10 | no move | 2.25 | - | - | 2690.00 | - | - | - | 2073.50 | - | 180.06 | - | - | 1760.28 | - | - | - | - | - | - | - | - | - | - | - |
8080.72 | 79.90 | 9.03 | 819 | 8112.45 | done | 2.31 | - | - | 2689.56 | - | 3.82 | 0.130 | 659.44 | -370.2 | 200.73 | 25.01 | 1.107 | 1682.03 | -3.1 | 0.041 | - | - | - | - | - | - | - | 15.19 | 11.62 |
8134.67 | 73.73 | 12.51 | 830 | 8141.45 | roll | 2.31 | - | - | 2690.06 | - | 3.48 | 0.043 | 2129.25 | 422.4 | 200.73 | - | - | 1680.72 | - | - | - | - | - | - | - | - | - | 15.53 | - |
8200.80 | 66.45 | 10.74 | 837 | 8206.46 | roll | 2.31 | - | - | 2691.25 | - | 3.96 | 0.123 | 659.69 | -371.1 | 200.73 | - | - | 1678.09 | - | - | - | - | - | - | - | - | - | 15.26 | - |
8309.69 | 56.20 | 7.94 | 859 | 8352.28 | 2.41 | 0.22 | 0.071 | 2735.12 | 199.4 | 3.47 | 0.041 | 2133.38 | 424.7 | 232.25 | 37.04 | 1.089 | 1552.41 | -3.4 | 0.032 | - | - | - | - | - | - | 15.28 | 15.50 | 11.63 | |
8410.78 | 48.20 | 9.12 | 873 | 8416.40 | roll | 2.47 | - | - | 2735.25 | - | 3.56 | 0.106 | 3475.62 | 377.0 | 232.25 | - | - | 1548.38 | - | - | - | - | - | - | - | - | - | 15.28 | - |
8449.67 | 43.68 | 11.08 | 881 | 8456.46 | roll | 2.47 | - | - | 2736.25 | - | 3.39 | 0.047 | 2074.94 | -413.2 | 232.25 | - | - | 1549.09 | - | - | - | - | - | - | - | - | - | 15.39 | - |
8515.84 | 37.56 | 8.91 | 888 | 8547.07 | done | 2.53 | - | - | 2736.19 | - | 3.71 | 0.103 | 3475.00 | 377.4 | 254.15 | 25.49 | 1.038 | 1463.38 | -3.4 | 0.022 | - | - | - | - | - | - | - | 15.14 | 11.50 |
8589.94 | 30.50 | 9.27 | 903 | 8596.54 | roll back | 2.59 | 0.21 | 0.076 | 2777.06 | 194.6 | 3.38 | 0.047 | 2075.44 | -414.1 | 254.15 | - | - | 1462.03 | - | - | - | - | - | - | - | - | 15.24 | 15.41 | - |
8655.79 | 25.14 | 8.09 | 910 | 8697.77 | done | 2.68 | - | - | 2776.44 | - | 3.84 | 0.125 | 660.81 | -368.4 | 284.23 | 34.48 | 1.034 | 1340.97 | -3.5 | 0.015 | - | - | - | - | - | - | - | 15.06 | 11.56 |
8920.00 | 8.43 | 8.54 | 962 | 8953.35 | 2.75 | 0.19 | 0.077 | 2819.44 | 226.3 | 3.48 | 0.040 | 2132.31 | 422.8 | 309.86 | 28.07 | 1.002 | 1237.34 | -3.7 | 0.006 | - | - | - | - | - | - | 15.23 | 15.46 | 11.54 | |
9000 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
9000 | begin surface coast | ||||||||||||||||||||||||||||
9020 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9021 | begin surface | ||||||||||||||||||||||||||||
SM | -0.65 | - | - | - | - | 180.2 | 0.01 | 0.350 | 564.8 | 53673.0 | 18.47 | 0.064 | 560.9 | 30.4 | - | 0.11 | 0.123 | 568.6 | 5137.5 | 2.775 | - | - | 30.36 | 15.19 | 15.48 | - |