• Previous call tries 2 | • 315.87 of 575.00 AH used of 24V (45.07% remains) | |
• Surface angle -65.4 deg, depth -1.46 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
• VBD pumped to 475.04 (SM_CC=475) | ||
• GPS1 time: 22 s | ||
• GPS2 time: 3 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 | ||||||||||||||||||||||||||||
8.48 | - | - | - | 90.31 | VBD | -1.59 | - | - | 170.31 | - | - | - | 2116.75 | - | -74.33 | 81.41 | 0.005 | 2439.31 | - | - | - | - | - | - | - | - | - | - | 14.69 |
90.56 | 3.28 | -7.26 | 8 | 126.71 | -1.71 | 14.28 | 0.259 | 1726.12 | 109.0 | 4.18 | 0.149 | 662.00 | -348.0 | -112.62 | 11.69 | 0.007 | 2959.88 | 44.5 | -3.638 | - | - | - | - | - | - | 14.82 | 14.64 | 14.87 | |
223.86 | 32.32 | -19.40 | 35 | 231.11 | roll | -1.71 | - | - | 1726.81 | - | 3.60 | 0.054 | 2119.44 | 404.8 | -112.62 | - | - | 2959.78 | - | - | - | - | - | - | - | - | - | 15.32 | - |
290.01 | 43.21 | -16.11 | 42 | 295.60 | roll | -1.71 | - | - | 1726.25 | - | 3.63 | 0.106 | 3475.81 | 373.7 | -112.62 | - | - | 2957.84 | - | - | - | - | - | - | - | - | - | 15.13 | - |
305.41 | 45.74 | -16.58 | 45 | 310.57 | roll | -1.71 | - | - | 1726.38 | - | 3.42 | 0.054 | 2081.69 | -407.6 | -112.62 | - | - | 2959.47 | - | - | - | - | - | - | - | - | - | 15.29 | - |
370.02 | 56.59 | -16.67 | 52 | 375.62 | roll | -1.71 | - | - | 1726.69 | - | 3.74 | 0.104 | 3474.75 | 372.5 | -112.62 | - | - | 2957.22 | - | - | - | - | - | - | - | - | - | 15.13 | - |
395.46 | 60.88 | -17.21 | 57 | 400.58 | roll | -1.71 | - | - | 1726.81 | - | 3.40 | 0.053 | 2078.75 | -410.6 | -112.62 | - | - | 2959.09 | - | - | - | - | - | - | - | - | - | 15.29 | - |
460.03 | 69.74 | -13.31 | 64 | 465.63 | roll | -1.71 | - | - | 1726.44 | - | 3.76 | 0.101 | 3476.56 | 371.8 | -112.62 | - | - | 2959.84 | - | - | - | - | - | - | - | - | - | 15.13 | - |
505.42 | 75.46 | -12.74 | 73 | 510.59 | roll | -1.71 | - | - | 1725.69 | - | 3.39 | 0.052 | 2079.62 | -412.1 | -112.62 | - | - | 2961.91 | - | - | - | - | - | - | - | - | - | 15.29 | - |
570.05 | 83.41 | -12.35 | 80 | 575.70 | roll | -1.71 | - | - | 1725.88 | - | 4.05 | 0.144 | 661.00 | -350.3 | -112.62 | - | - | 2959.16 | - | - | - | - | - | - | - | - | - | 14.97 | - |
605.43 | 88.31 | -14.09 | 87 | 610.62 | roll | -1.71 | - | - | 1726.62 | - | 3.53 | 0.046 | 2123.25 | 414.2 | -112.62 | - | - | 2957.72 | - | - | - | - | - | - | - | - | - | 15.37 | - |
669.99 | 96.11 | -11.92 | 94 | 675.62 | roll | -1.71 | - | - | 1726.75 | - | 3.57 | 0.102 | 3476.25 | 379.0 | -112.62 | - | - | 2958.78 | - | - | - | - | - | - | - | - | - | 15.12 | - |
755.44 | 106.83 | -12.27 | 111 | 760.61 | roll | -1.71 | - | - | 1726.50 | - | 3.39 | 0.051 | 2081.06 | -411.6 | -112.62 | - | - | 2958.72 | - | - | - | - | - | - | - | - | - | 15.28 | - |
820.06 | 114.32 | -10.97 | 118 | 821.39 | no move | -1.71 | - | - | 1726.88 | - | - | - | 2081.06 | - | -112.62 | - | - | 2958.19 | - | - | - | - | - | - | - | - | - | - | - |
880.02 | 120.86 | -11.04 | 124 | 885.73 | roll | -1.71 | - | - | 1726.50 | - | 4.05 | 0.145 | 662.00 | -350.4 | -112.62 | - | - | 2959.75 | - | - | - | - | - | - | - | - | - | 14.94 | - |
905.46 | 124.20 | -12.45 | 129 | 910.65 | roll | -1.71 | - | - | 1726.94 | - | 3.52 | 0.046 | 2124.00 | 415.3 | -112.62 | - | - | 2957.91 | - | - | - | - | - | - | - | - | - | 15.37 | - |
970.02 | 131.85 | -11.85 | 136 | 971.35 | no move | -1.71 | - | - | 1726.88 | - | - | - | 2124.12 | - | -112.62 | - | - | 2957.78 | - | - | - | - | - | - | - | - | - | - | - |
1030.04 | 138.63 | -11.28 | 142 | 1035.66 | roll | -1.71 | - | - | 1726.44 | - | 3.60 | 0.102 | 3476.94 | 375.8 | -112.62 | - | - | 2957.66 | - | - | - | - | - | - | - | - | - | 15.08 | - |
1065.47 | 143.18 | -13.23 | 149 | 1070.63 | roll | -1.71 | - | - | 1725.81 | - | 3.38 | 0.050 | 2079.88 | -413.3 | -112.62 | - | - | 2960.56 | - | - | - | - | - | - | - | - | - | 15.27 | - |
1130.10 | 150.94 | -11.24 | 156 | 1131.44 | no move | -1.71 | - | - | 1726.38 | - | - | - | 2080.12 | - | -112.62 | - | - | 2958.94 | - | - | - | - | - | - | - | - | - | - | - |
1250.05 | 164.04 | -10.73 | 168 | 1255.72 | roll | -1.71 | - | - | 1725.94 | - | 3.76 | 0.101 | 3475.75 | 371.2 | -112.62 | - | - | 2958.88 | - | - | - | - | - | - | - | - | - | 15.06 | - |
1295.50 | 170.05 | -14.06 | 177 | 1300.66 | roll | -1.71 | - | - | 1726.94 | - | 3.39 | 0.052 | 2080.44 | -411.6 | -112.62 | - | - | 2957.62 | - | - | - | - | - | - | - | - | - | 15.25 | - |
1420.07 | 184.64 | -11.60 | 190 | 1421.40 | no move | -1.71 | - | - | 1726.88 | - | - | - | 2080.88 | - | -112.62 | - | - | 2959.81 | - | - | - | - | - | - | - | - | - | - | - |
1540.08 | 196.96 | -10.52 | 202 | 1541.40 | no move | -1.71 | - | - | 1726.25 | - | - | - | 2080.31 | - | -112.62 | - | - | 2959.00 | - | - | - | - | - | - | - | - | - | - | - |
1660.08 | 210.28 | -11.19 | 214 | 1661.41 | no move | -1.71 | - | - | 1726.12 | - | - | - | 2081.31 | - | -112.62 | - | - | 2958.75 | - | - | - | - | - | - | - | - | - | - | - |
1780.09 | 223.69 | -10.71 | 226 | 1785.77 | roll | -1.71 | - | - | 1726.56 | - | 3.82 | 0.106 | 3475.31 | 364.9 | -112.62 | - | - | 2958.50 | - | - | - | - | - | - | - | - | - | 15.01 | - |
1815.54 | 228.35 | -13.47 | 233 | 1820.71 | roll | -1.71 | - | - | 1726.88 | - | 3.42 | 0.054 | 2082.31 | -407.3 | -112.62 | - | - | 2958.66 | - | - | - | - | - | - | - | - | - | 15.22 | - |
1940.24 | 242.68 | -10.93 | 246 | 1941.57 | no move | -1.71 | - | - | 1726.69 | - | - | - | 2081.81 | - | -112.62 | - | - | 2959.44 | - | - | - | - | - | - | - | - | - | - | - |
2070.11 | 256.98 | -11.24 | 255 | 2075.80 | roll | -1.71 | - | - | 1727.50 | - | 3.81 | 0.105 | 3474.19 | 365.5 | -112.62 | - | - | 2957.59 | - | - | - | - | - | - | - | - | - | 14.98 | - |
2089.09 | 259.26 | -11.48 | 259 | 2096.25 | roll | -1.71 | - | - | 1726.75 | - | 3.40 | 0.053 | 2081.81 | -409.5 | -112.62 | - | - | 2960.94 | - | - | - | - | - | - | - | - | - | 15.19 | - |
2395.14 | 292.79 | -10.76 | 270 | 2400.81 | roll | -1.71 | - | - | 1726.75 | - | 3.83 | 0.106 | 3477.06 | 364.3 | -112.62 | - | - | 2958.91 | - | - | - | - | - | - | - | - | - | 14.97 | - |
2464.14 | 301.34 | -12.69 | 284 | 2469.78 | roll | -1.71 | - | - | 1727.31 | - | 3.44 | 0.055 | 2081.12 | -405.8 | -112.62 | - | - | 2959.22 | - | - | - | - | - | - | - | - | - | 15.17 | - |
2780.17 | 335.35 | -10.71 | 297 | 2785.85 | roll | -1.71 | - | - | 1726.88 | - | 3.82 | 0.106 | 3475.94 | 365.1 | -112.62 | - | - | 2957.91 | - | - | - | - | - | - | - | - | - | 14.96 | - |
2824.09 | 340.94 | -11.81 | 306 | 2829.79 | roll | -1.71 | - | - | 1726.25 | - | 3.41 | 0.054 | 2082.44 | -408.7 | -112.62 | - | - | 2959.47 | - | - | - | - | - | - | - | - | - | 15.15 | - |
3135.19 | 377.82 | -12.32 | 318 | 3136.52 | no move | -1.71 | - | - | 1726.12 | - | - | - | 2082.25 | - | -112.62 | - | - | 2958.84 | - | - | - | - | - | - | - | - | - | - | - |
3435.23 | 412.34 | -11.69 | 328 | 3436.55 | no move | -1.71 | - | - | 1726.56 | - | - | - | 2082.19 | - | -112.62 | - | - | 2958.22 | - | - | - | - | - | - | - | - | - | - | - |
3735.20 | 449.75 | -12.57 | 338 | 3736.53 | no move | -1.71 | - | - | 1726.56 | - | - | - | 2082.19 | - | -112.62 | - | - | 2958.47 | - | - | - | - | - | - | - | - | - | - | - |
4035.21 | 485.87 | -12.29 | 348 | 4040.90 | roll | -1.71 | - | - | 1726.75 | - | 3.88 | 0.113 | 3474.56 | 358.9 | -112.62 | - | - | 2958.72 | - | - | - | - | - | - | - | - | - | 14.88 | - |
4074.13 | 490.23 | -11.27 | 356 | 4079.85 | roll | -1.71 | - | - | 1726.44 | - | 3.45 | 0.059 | 2082.62 | -403.5 | -112.62 | - | - | 2959.66 | - | - | - | - | - | - | - | - | - | 15.08 | - |
4150 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
4150 | begin apogee | ||||||||||||||||||||||||||||
4151.42 | 501.36 | -13.47 | 361 | 4250.74 | -0.25 | 2.93 | 0.158 | 2080.38 | 120.8 | 0.09 | 0.240 | 2084.88 | 25.1 | - | 94.57 | 1.631 | 2499.34 | -4.9 | 0.261 | - | - | - | - | - | - | 14.85 | 14.84 | 10.92 | |
4253 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4253 | begin climb | ||||||||||||||||||||||||||||
4253.98 | 505.46 | - | 364 | 4362.98 | 1.71 | 3.48 | 0.079 | 2557.44 | 137.1 | - | - | 2084.75 | - | 112.62 | 102.54 | 1.578 | 2039.72 | -4.5 | 0.250 | - | - | - | - | - | - | 15.08 | - | 11.33 | |
4660.25 | 475.17 | 9.94 | 388 | 4665.96 | done | 1.74 | - | - | 2556.62 | - | 4.05 | 0.138 | 662.12 | -351.3 | 112.62 | - | - | 2027.44 | - | - | - | - | - | - | - | - | - | 15.15 | - |
4764.17 | 462.72 | 12.66 | 409 | 4769.89 | done | 1.74 | - | - | 2557.06 | - | 3.54 | 0.046 | 2126.31 | 413.6 | 112.62 | - | - | 2027.50 | - | - | - | - | - | - | - | - | - | 15.43 | - |
5075.29 | 432.22 | 9.56 | 421 | 5081.00 | done | 1.79 | - | - | 2556.56 | - | 4.12 | 0.134 | 661.50 | -355.5 | 112.62 | - | - | 2026.59 | - | - | - | - | - | - | - | - | - | 15.14 | - |
5194.20 | 419.39 | 10.53 | 445 | 5199.91 | done | 1.81 | - | - | 2558.19 | - | 3.52 | 0.045 | 2126.44 | 416.2 | 112.62 | - | - | 2024.50 | - | - | - | - | - | - | - | - | - | 15.43 | - |
5520.37 | 389.24 | 9.36 | 460 | 5526.09 | 1.86 | 0.20 | 0.071 | 2603.62 | 227.1 | 4.12 | 0.132 | 659.75 | -356.0 | 112.62 | - | - | 2023.25 | - | - | - | - | - | - | - | - | 15.59 | 15.10 | - | |
5674.24 | 370.88 | 11.95 | 491 | 5679.95 | done | 1.86 | - | - | 2604.62 | - | 3.53 | 0.045 | 2125.88 | 415.3 | 112.62 | - | - | 2023.88 | - | - | - | - | - | - | - | - | - | 15.42 | - |
5995.37 | 342.16 | 8.50 | 505 | 6026.98 | done | 1.94 | - | - | 2603.94 | - | 4.07 | 0.134 | 659.81 | -360.2 | 138.60 | 22.45 | 1.394 | 1933.31 | -4.0 | 0.173 | - | - | - | - | - | - | - | 15.24 | 11.46 |
6119.31 | 329.29 | 10.66 | 530 | 6124.98 | roll | 1.94 | - | - | 2603.69 | - | 3.51 | 0.046 | 2125.19 | 417.5 | 138.60 | - | - | 1931.00 | - | - | - | - | - | - | - | - | - | 15.49 | - |
6445.43 | 296.57 | 10.39 | 545 | 6451.08 | roll | 1.96 | - | - | 2603.19 | - | 4.10 | 0.131 | 661.06 | -357.1 | 138.60 | - | - | 1927.22 | - | - | - | - | - | - | - | - | - | 15.13 | - |
6604.31 | 277.40 | 13.55 | 577 | 6610.02 | roll | 1.96 | - | - | 2603.50 | - | 3.54 | 0.045 | 2126.56 | 414.0 | 138.60 | - | - | 1928.41 | - | - | - | - | - | - | - | - | - | 15.41 | - |
6910.48 | 246.95 | 9.71 | 591 | 6916.14 | done | 2.00 | - | - | 2602.19 | - | 4.14 | 0.129 | 660.62 | -354.1 | 138.60 | - | - | 1926.97 | - | - | - | - | - | - | - | - | - | 15.04 | - |
7055.90 | 230.21 | 12.27 | 620 | 7061.07 | done | 2.00 | - | - | 2603.81 | - | 3.54 | 0.045 | 2127.19 | 414.3 | 138.60 | - | - | 1926.84 | - | - | - | - | - | - | - | - | - | 15.40 | - |
7180.48 | 218.69 | 9.04 | 633 | 7205.67 | 2.06 | 0.24 | 0.077 | 2650.38 | 194.0 | 4.05 | 0.128 | 661.00 | -362.0 | 159.16 | 19.25 | 1.267 | 1850.41 | -4.0 | 0.119 | - | - | - | - | - | - | 15.58 | 15.26 | 11.46 | |
7330.94 | 200.28 | 11.37 | 663 | 7336.11 | roll | 2.06 | - | - | 2648.69 | - | 3.53 | 0.045 | 2126.44 | 415.1 | 159.16 | - | - | 1848.44 | - | - | - | - | - | - | - | - | - | 15.52 | - |
7455.52 | 187.55 | 9.16 | 676 | 7461.21 | roll | 2.12 | - | - | 2650.62 | - | 4.09 | 0.127 | 661.56 | -358.2 | 159.16 | - | - | 1844.97 | - | - | - | - | - | - | - | - | - | 15.19 | - |
7534.42 | 177.28 | 13.66 | 692 | 7541.24 | roll | 2.12 | - | - | 2650.31 | - | 3.52 | 0.044 | 2127.06 | 416.3 | 159.16 | - | - | 1846.56 | - | - | - | - | - | - | - | - | - | 15.46 | - |
7660.54 | 164.85 | 10.05 | 705 | 7666.23 | roll | 2.15 | - | - | 2649.38 | - | 4.09 | 0.125 | 659.75 | -358.8 | 159.16 | - | - | 1846.66 | - | - | - | - | - | - | - | - | - | 15.13 | - |
7709.46 | 159.64 | 10.54 | 715 | 7716.26 | roll | 2.17 | - | - | 2650.56 | - | 3.54 | 0.044 | 2128.31 | 414.8 | 159.16 | - | - | 1844.84 | - | - | - | - | - | - | - | - | - | 15.43 | - |
7835.60 | 146.97 | 10.03 | 728 | 7836.93 | no move | 2.20 | - | - | 2650.06 | - | - | - | 2128.62 | - | 159.16 | - | - | 1842.88 | - | - | - | - | - | - | - | - | - | - | - |
7895.61 | 140.64 | 10.73 | 734 | 7901.26 | roll | 2.20 | - | - | 2650.12 | - | 4.09 | 0.124 | 660.38 | -359.0 | 159.16 | - | - | 1842.59 | - | - | - | - | - | - | - | - | - | 15.08 | - |
7971.00 | 132.51 | 11.19 | 749 | 7976.19 | roll | 2.20 | - | - | 2648.94 | - | 3.52 | 0.043 | 2128.00 | 416.9 | 159.16 | - | - | 1844.06 | - | - | - | - | - | - | - | - | - | 15.44 | - |
8035.57 | 125.91 | 9.41 | 756 | 8041.29 | roll back | 2.25 | 0.23 | 0.071 | 2696.94 | 208.7 | 3.63 | 0.106 | 3473.12 | 370.6 | 159.16 | - | - | 1842.34 | - | - | - | - | - | - | - | - | 15.58 | 15.15 | - |
8074.48 | 121.36 | 11.19 | 764 | 8081.27 | roll | 2.25 | - | - | 2696.94 | - | 3.40 | 0.050 | 2079.12 | -410.0 | 159.16 | - | - | 1843.88 | - | - | - | - | - | - | - | - | - | 15.33 | - |
8140.64 | 115.69 | 9.02 | 771 | 8166.35 | VBD | 2.31 | - | - | 2696.56 | - | - | - | 2079.00 | - | 180.01 | 24.77 | 1.141 | 1763.81 | -3.2 | 0.057 | - | - | - | - | - | - | - | - | 11.55 |
8220.63 | 107.19 | 10.92 | 779 | 8226.24 | roll | 2.31 | - | - | 2696.44 | - | 3.76 | 0.104 | 3474.44 | 371.1 | 180.01 | - | - | 1764.66 | - | - | - | - | - | - | - | - | - | 15.33 | - |
8339.58 | 92.91 | 10.04 | 803 | 8346.32 | roll | 2.35 | - | - | 2697.19 | - | 3.40 | 0.051 | 2077.56 | -410.8 | 180.01 | - | - | 1762.97 | - | - | - | - | - | - | - | - | - | 15.39 | - |
8405.63 | 87.21 | 8.37 | 810 | 8447.54 | 2.43 | 0.21 | 0.082 | 2739.69 | 202.4 | 3.88 | 0.128 | 659.88 | -365.4 | 207.28 | 32.77 | 1.114 | 1654.34 | -3.3 | 0.045 | - | - | - | - | - | - | 15.53 | 15.15 | 11.63 | |
8569.68 | 66.59 | 14.29 | 843 | 8576.50 | roll | 2.43 | - | - | 2739.62 | - | 3.53 | 0.043 | 2129.19 | 416.2 | 207.28 | - | - | 1651.81 | - | - | - | - | - | - | - | - | - | 15.43 | - |
8635.79 | 60.85 | 8.26 | 850 | 8677.18 | done | 2.51 | - | - | 2739.81 | - | 3.57 | 0.106 | 3475.19 | 377.0 | 235.65 | 33.38 | 1.078 | 1538.69 | -3.4 | 0.033 | - | - | - | - | - | - | - | 15.11 | 11.49 |
8775.81 | 47.76 | 10.19 | 878 | 8780.41 | roll | 2.54 | - | - | 2739.38 | - | 3.40 | 0.050 | 2078.44 | -410.8 | 235.65 | - | - | 1536.09 | - | - | - | - | - | - | - | - | - | 15.38 | - |
8845.82 | 41.69 | 8.61 | 886 | 8881.21 | 2.62 | 0.23 | 0.073 | 2784.00 | 194.0 | 3.88 | 0.127 | 659.75 | -365.6 | 260.49 | 28.99 | 1.041 | 1437.28 | -3.4 | 0.024 | - | - | - | - | - | - | 15.47 | 15.10 | 11.56 | |
8969.74 | 30.25 | 8.01 | 911 | 9011.19 | done | 2.71 | - | - | 2784.12 | - | 3.50 | 0.042 | 2132.69 | 420.8 | 291.36 | 34.78 | 1.032 | 1311.97 | -3.6 | 0.018 | - | - | - | - | - | - | - | 15.45 | 11.56 |
9076.53 | 24.82 | 5.66 | 926 | 9141.64 | 2.87 | 0.34 | 0.064 | 2844.81 | 178.5 | 3.59 | 0.105 | 3475.38 | 374.0 | 345.57 | 58.97 | 1.029 | 1090.12 | -3.8 | 0.016 | - | - | - | - | - | - | 15.41 | 14.97 | 11.54 | |
9143.81 | 19.03 | 9.19 | 937 | 9150.71 | roll | 2.93 | - | - | 2845.38 | - | 3.41 | 0.047 | 2073.88 | -411.0 | 345.57 | - | - | 1090.44 | - | - | - | - | - | - | - | - | - | 15.29 | - |
9209.94 | 11.23 | 12.30 | 944 | 9215.58 | roll | 2.93 | - | - | 2844.56 | - | 3.90 | 0.125 | 659.81 | -362.6 | 345.57 | - | - | 1088.84 | - | - | - | - | - | - | - | - | - | 15.15 | - |
9255.33 | 4.62 | 15.35 | 953 | 9260.49 | roll | 2.93 | - | - | 2843.44 | - | 3.48 | 0.040 | 2130.31 | 422.6 | 345.57 | - | - | 1088.50 | - | - | - | - | - | - | - | - | - | 15.40 | - |
9279 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
9279 | begin surface coast | ||||||||||||||||||||||||||||
9289 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9289 | begin surface | ||||||||||||||||||||||||||||
SM | -0.30 | - | - | - | - | 169.9 | - | - | 563.4 | - | 19.25 | 0.087 | 560.0 | 29.1 | - | 0.10 | 0.135 | 566.9 | 5634.2 | 1.280 | - | - | 30.00 | 15.11 | 15.40 | - |