• Previous call tries 1 | • 60.37 of 575.00 AH used of 24V (89.50% remains) | |
• Surface angle -66.7 deg, depth -0.93 m | • Intended pitch -20.9 deg, speed -7.857 cm/s | |
• VBD pumped to 400.00 (SM_CC=400) | ||
• GPS1 time: 26 s | ||
• GPS2 time: 2 s | • Transponder ping count: 74 | |
• 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 | |||||
1 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
1 | begin dive | ||||||||||||||||||||||||||||
4.34 | - | - | - | 80.21 | VBD | -1.29 | - | - | 168.94 | - | - | - | 2246.50 | - | -82.73 | 75.42 | 0.005 | 2620.38 | - | - | - | - | - | - | - | - | - | - | 15.67 |
80.40 | 3.18 | -10.64 | 14 | 112.58 | -1.29 | 15.77 | 0.265 | 2056.19 | 119.7 | 4.07 | 0.156 | 802.94 | -354.7 | -82.73 | 8.42 | 0.008 | 3019.88 | 47.4 | -3.092 | - | - | - | - | - | - | 15.71 | 15.66 | 15.69 | |
340.49 | 72.75 | -24.45 | 66 | 346.21 | roll | -1.29 | - | - | 2054.69 | - | 3.48 | 0.058 | 2239.94 | 412.9 | -82.73 | - | - | 3019.84 | - | - | - | - | - | - | - | - | - | 15.86 | - |
530.58 | 101.75 | -13.93 | 104 | 536.37 | roll | -1.29 | - | - | 2055.94 | - | 3.97 | 0.153 | 801.75 | -362.3 | -82.73 | - | - | 3019.69 | - | - | - | - | - | - | - | - | - | 15.88 | - |
765.62 | 136.43 | -13.59 | 151 | 771.32 | roll | -1.29 | - | - | 2055.88 | - | 3.46 | 0.055 | 2244.44 | 417.0 | -82.73 | - | - | 3020.19 | - | - | - | - | - | - | - | - | - | 15.95 | - |
1075.67 | 171.28 | -9.15 | 213 | 1081.47 | roll | -1.29 | - | - | 2055.06 | - | 3.97 | 0.154 | 802.88 | -363.1 | -82.73 | - | - | 3020.50 | - | - | - | - | - | - | - | - | - | 15.96 | - |
1310.71 | 205.87 | -14.13 | 260 | 1316.41 | roll | -1.29 | - | - | 2055.94 | - | 3.44 | 0.057 | 2241.25 | 418.1 | -82.73 | - | - | 3020.94 | - | - | - | - | - | - | - | - | - | 16.00 | - |
1620.79 | 242.38 | -11.79 | 322 | 1626.56 | roll | -1.29 | - | - | 2056.50 | - | 3.94 | 0.155 | 802.81 | -365.1 | -82.73 | - | - | 3020.31 | - | - | - | - | - | - | - | - | - | 16.00 | - |
1795.79 | 268.92 | -15.52 | 357 | 1801.51 | roll | -1.29 | - | - | 2056.19 | - | 3.43 | 0.058 | 2238.56 | 418.6 | -82.73 | - | - | 3020.59 | - | - | - | - | - | - | - | - | - | 16.04 | - |
2107.40 | 306.63 | -12.33 | 413 | 2121.94 | roll | -1.29 | - | - | 2056.31 | - | 3.92 | 0.156 | 802.19 | -366.4 | -82.73 | - | - | 3020.97 | - | - | - | - | - | - | - | - | - | 16.03 | - |
2321.30 | 337.08 | -13.79 | 443 | 2335.77 | roll | -1.29 | - | - | 2056.31 | - | 3.42 | 0.059 | 2236.56 | 419.4 | -82.73 | - | - | 3021.38 | - | - | - | - | - | - | - | - | - | 16.07 | - |
2635.95 | 372.88 | -10.57 | 475 | 2650.47 | roll | -1.29 | - | - | 2056.06 | - | 3.90 | 0.156 | 804.19 | -367.3 | -82.73 | - | - | 3022.47 | - | - | - | - | - | - | - | - | - | 16.05 | - |
2823.50 | 398.68 | -13.26 | 502 | 2836.26 | roll | -1.29 | - | - | 2056.38 | - | 3.40 | 0.060 | 2233.12 | 420.3 | -82.73 | - | - | 3021.53 | - | - | - | - | - | - | - | - | - | 16.09 | - |
3145.70 | 432.79 | -10.87 | 534 | 3160.22 | roll | -1.29 | - | - | 2056.19 | - | 3.87 | 0.157 | 802.12 | -369.8 | -82.73 | - | - | 3021.28 | - | - | - | - | - | - | - | - | - | 16.06 | - |
3231.55 | 443.93 | -12.85 | 546 | 3246.00 | roll | -1.29 | - | - | 2056.44 | - | 3.39 | 0.059 | 2235.62 | 422.9 | -82.73 | - | - | 3020.56 | - | - | - | - | - | - | - | - | - | 16.09 | - |
3546.20 | 479.63 | -11.47 | 578 | 3560.72 | roll | -1.29 | - | - | 2056.19 | - | 3.89 | 0.158 | 802.06 | -368.5 | -82.73 | - | - | 3020.97 | - | - | - | - | - | - | - | - | - | 16.07 | - |
3648.37 | 494.41 | -13.80 | 593 | 3661.15 | roll | -1.29 | - | - | 2056.06 | - | 3.38 | 0.060 | 2234.31 | 423.7 | -82.73 | - | - | 3019.59 | - | - | - | - | - | - | - | - | - | 16.09 | - |
3970.57 | 532.24 | -11.99 | 616 | 3978.02 | roll | -1.29 | - | - | 2055.06 | - | 3.89 | 0.159 | 803.31 | -367.9 | -82.73 | - | - | 3020.25 | - | - | - | - | - | - | - | - | - | 16.08 | - |
4016.55 | 548.29 | -47.39 | 624 | 4029.31 | roll | -1.29 | - | - | 2056.38 | - | 3.38 | 0.060 | 2234.75 | 423.5 | -82.73 | - | - | 3020.25 | - | - | - | - | - | - | - | - | - | 16.11 | - |
4343.72 | 583.74 | -11.06 | 646 | 4350.90 | roll | -1.29 | - | - | 2055.38 | - | 3.79 | 0.159 | 804.06 | -377.5 | -82.73 | - | - | 3019.84 | - | - | - | - | - | - | - | - | - | 16.08 | - |
4365.46 | 587.01 | -12.73 | 650 | 4371.16 | roll | -1.29 | - | - | 2055.69 | - | 3.37 | 0.059 | 2234.44 | 424.4 | -82.73 | - | - | 3020.59 | - | - | - | - | - | - | - | - | - | 16.11 | - |
4682.61 | 620.41 | -10.40 | 672 | 4690.01 | roll | -1.29 | - | - | 2056.56 | - | 3.56 | 0.105 | 3637.94 | 394.2 | -82.73 | - | - | 3019.22 | - | - | - | - | - | - | - | - | - | 16.10 | - |
4740.66 | 627.27 | -11.35 | 681 | 4748.07 | roll | -1.29 | - | - | 2056.25 | - | 3.43 | 0.060 | 2186.81 | -423.1 | -82.73 | - | - | 3019.47 | - | - | - | - | - | - | - | - | - | 16.11 | - |
5060.30 | 661.29 | -10.78 | 704 | 5067.71 | roll | -1.29 | - | - | 2056.06 | - | 3.66 | 0.101 | 3639.31 | 396.9 | -82.73 | - | - | 3019.62 | - | - | - | - | - | - | - | - | - | 16.11 | - |
5120.49 | 668.95 | -11.86 | 714 | 5126.20 | roll | -1.29 | - | - | 2056.19 | - | 3.44 | 0.059 | 2188.19 | -421.8 | -82.73 | - | - | 3018.59 | - | - | - | - | - | - | - | - | - | 16.12 | - |
5437.62 | 700.09 | -10.57 | 736 | 5445.06 | roll | -1.29 | - | - | 2056.69 | - | 3.74 | 0.165 | 801.94 | -370.7 | -82.73 | - | - | 3019.38 | - | - | - | - | - | - | - | - | - | 16.09 | - |
5572.59 | 716.71 | -13.41 | 757 | 5579.95 | roll | -1.29 | - | - | 2055.06 | - | 3.35 | 0.059 | 2234.75 | 427.7 | -82.73 | - | - | 3018.50 | - | - | - | - | - | - | - | - | - | 16.12 | - |
5892.20 | 742.31 | -20.59 | 780 | 5893.54 | no move | -1.29 | - | - | 2056.31 | - | - | - | 2234.69 | - | -82.73 | - | - | 3017.34 | - | - | - | - | - | - | - | - | - | - | - |
6117 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
6117 | begin apogee | ||||||||||||||||||||||||||||
6118.57 | 766.59 | -10.45 | 795 | 6194.01 | -0.25 | 1.83 | 0.159 | 2309.06 | 138.1 | 0.10 | 0.210 | 2420.00 | 1853.1 | - | 68.92 | 1.916 | 2679.31 | -4.9 | 0.322 | - | - | - | - | - | - | 16.07 | 15.64 | 12.87 | |
6197 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6197 | begin climb | ||||||||||||||||||||||||||||
6198.99 | 769.61 | - | 800 | 6281.15 | 1.29 | 2.68 | 0.124 | 2685.69 | 140.5 | 3.21 | 0.111 | 3637.50 | 379.3 | 82.73 | 73.83 | 1.868 | 2341.31 | -4.6 | 0.309 | - | - | - | - | - | - | 15.67 | 15.72 | 12.80 | |
6372.48 | 761.75 | 6.35 | 827 | 6376.63 | roll | 1.34 | - | - | 2685.19 | - | 2.90 | 0.053 | 2423.38 | -418.7 | 82.73 | - | - | 2337.72 | - | - | - | - | - | - | - | - | - | 15.64 | - |
6687.17 | 744.79 | 4.83 | 849 | 6733.98 | 1.48 | 0.28 | 0.070 | 2740.44 | 197.3 | 3.89 | 0.134 | 992.88 | -367.7 | 129.88 | 38.83 | 1.799 | 2149.94 | -4.8 | 0.328 | - | - | - | - | - | - | 15.83 | 15.56 | 12.80 | |
6783.71 | 737.38 | 8.41 | 864 | 6791.14 | roll | 1.48 | - | - | 2741.06 | - | 3.63 | 0.062 | 2478.81 | 409.3 | 129.88 | - | - | 2150.66 | - | - | - | - | - | - | - | - | - | 15.69 | - |
7103.36 | 713.69 | 6.98 | 887 | 7107.53 | roll | 1.51 | - | - | 2740.62 | - | 3.03 | 0.111 | 3638.62 | 382.8 | 129.88 | - | - | 2150.44 | - | - | - | - | - | - | - | - | - | 15.85 | - |
7216.27 | 703.38 | 8.66 | 905 | 7221.86 | roll | 1.51 | - | - | 2741.19 | - | 2.89 | 0.054 | 2422.94 | -420.7 | 129.88 | - | - | 2147.47 | - | - | - | - | - | - | - | - | - | 15.90 | - |
7533.48 | 678.55 | 8.20 | 927 | 7534.82 | no move | 1.51 | - | - | 2740.94 | - | - | - | 2422.50 | - | 129.88 | - | - | 2147.84 | - | - | - | - | - | - | - | - | - | - | - |
7848.39 | 655.47 | 6.91 | 948 | 7849.73 | no move | 1.54 | - | - | 2740.75 | - | - | - | 2422.75 | - | 129.88 | - | - | 2147.94 | - | - | - | - | - | - | - | - | - | - | - |
8163.43 | 634.79 | 7.14 | 969 | 8167.63 | roll | 1.56 | - | - | 2740.75 | - | 3.16 | 0.106 | 3639.94 | 385.2 | 129.88 | - | - | 2146.69 | - | - | - | - | - | - | - | - | - | 16.02 | - |
8314.74 | 621.56 | 8.99 | 993 | 8320.36 | roll | 1.56 | - | - | 2741.50 | - | 2.87 | 0.054 | 2420.69 | -424.8 | 129.88 | - | - | 2146.69 | - | - | - | - | - | - | - | - | - | 16.05 | - |
8631.87 | 597.39 | 8.06 | 1015 | 8639.19 | roll | 1.56 | - | - | 2741.00 | - | 3.18 | 0.107 | 3637.94 | 382.8 | 129.88 | - | - | 2148.38 | - | - | - | - | - | - | - | - | - | 16.05 | - |
8689.91 | 591.65 | 10.67 | 1024 | 8694.04 | roll | 1.56 | - | - | 2739.62 | - | 2.87 | 0.054 | 2421.19 | -424.0 | 129.88 | - | - | 2146.00 | - | - | - | - | - | - | - | - | - | 16.05 | - |
9004.58 | 564.13 | 8.39 | 1046 | 9008.77 | roll | 1.56 | - | - | 2741.31 | - | 3.14 | 0.107 | 3637.62 | 387.4 | 129.88 | - | - | 2144.56 | - | - | - | - | - | - | - | - | - | 16.08 | - |
9153.73 | 550.32 | 8.95 | 1069 | 9157.87 | roll | 1.56 | - | - | 2741.69 | - | 2.87 | 0.053 | 2423.50 | -423.0 | 129.88 | - | - | 2147.75 | - | - | - | - | - | - | - | - | - | 16.07 | - |
9468.41 | 527.87 | 6.62 | 1091 | 9472.61 | roll | 1.59 | - | - | 2741.38 | - | 3.16 | 0.105 | 3639.69 | 384.9 | 129.88 | - | - | 2143.44 | - | - | - | - | - | - | - | - | - | 16.08 | - |
9521.60 | 523.08 | 9.03 | 1099 | 9525.73 | roll | 1.59 | - | - | 2741.19 | - | 2.86 | 0.053 | 2424.44 | -424.9 | 129.88 | - | - | 2144.34 | - | - | - | - | - | - | - | - | - | 16.09 | - |
9836.28 | 501.44 | 6.86 | 1121 | 9840.47 | roll | 1.62 | - | - | 2741.19 | - | 3.12 | 0.104 | 3639.12 | 389.3 | 129.88 | - | - | 2143.91 | - | - | - | - | - | - | - | - | - | 16.10 | - |
9927.03 | 494.40 | 7.25 | 1134 | 9931.24 | roll back | 1.64 | 0.17 | 0.091 | 2774.50 | 195.9 | 2.85 | 0.053 | 2422.25 | -427.0 | 129.88 | - | - | 2145.19 | - | - | - | - | - | - | - | - | 16.08 | 16.09 | - |
10236.66 | 470.35 | 8.12 | 1165 | 10251.16 | roll | 1.64 | - | - | 2776.38 | - | 3.78 | 0.133 | 991.94 | -378.4 | 129.88 | - | - | 2145.59 | - | - | - | - | - | - | - | - | - | 16.08 | - |
10279.78 | 466.80 | 8.43 | 1171 | 10294.25 | roll | 1.64 | - | - | 2775.88 | - | 3.58 | 0.060 | 2484.00 | 416.8 | 129.88 | - | - | 2145.62 | - | - | - | - | - | - | - | - | - | 16.10 | - |
10594.43 | 441.81 | 7.98 | 1203 | 10598.59 | roll | 1.64 | - | - | 2777.12 | - | 3.00 | 0.110 | 3640.44 | 385.5 | 129.88 | - | - | 2145.16 | - | - | - | - | - | - | - | - | - | 16.09 | - |
10758.44 | 427.52 | 8.31 | 1227 | 10771.12 | roll | 1.64 | - | - | 2776.62 | - | 2.86 | 0.054 | 2426.19 | -424.6 | 129.88 | - | - | 2146.62 | - | - | - | - | - | - | - | - | - | 16.10 | - |
11080.58 | 405.39 | 6.96 | 1259 | 11090.56 | no move | 1.67 | - | - | 2776.38 | - | - | - | 2425.50 | - | 129.88 | - | - | 2144.97 | - | - | - | - | - | - | - | - | - | - | - |
11400.61 | 383.00 | 6.85 | 1291 | 11404.80 | roll | 1.70 | - | - | 2776.62 | - | 3.14 | 0.109 | 3638.50 | 386.3 | 129.88 | - | - | 2142.53 | - | - | - | - | - | - | - | - | - | 16.10 | - |
11436.57 | 379.67 | 7.36 | 1297 | 11449.26 | roll | 1.70 | - | - | 2776.50 | - | 2.85 | 0.055 | 2424.69 | -425.9 | 129.88 | - | - | 2146.38 | - | - | - | - | - | - | - | - | - | 16.10 | - |
11758.69 | 359.52 | 6.32 | 1329 | 11768.66 | no move | 1.75 | - | - | 2776.75 | - | - | - | 2424.56 | - | 129.88 | - | - | 2144.00 | - | - | - | - | - | - | - | - | - | - | - |
12078.70 | 336.96 | 7.38 | 1361 | 12082.88 | roll | 1.75 | - | - | 2773.75 | - | 3.15 | 0.107 | 3639.06 | 385.6 | 129.88 | - | - | 2144.22 | - | - | - | - | - | - | - | - | - | 16.11 | - |
12197.85 | 327.59 | 8.06 | 1378 | 12201.99 | roll | 1.75 | - | - | 2776.56 | - | 2.84 | 0.054 | 2424.62 | -427.6 | 129.88 | - | - | 2143.44 | - | - | - | - | - | - | - | - | - | 16.11 | - |
12507.51 | 305.55 | 7.03 | 1409 | 12517.48 | no move | 1.77 | - | - | 2776.94 | - | - | - | 2424.94 | - | 129.88 | - | - | 2145.09 | - | - | - | - | - | - | - | - | - | - | - |
12819.64 | 284.26 | 6.22 | 1462 | 12825.22 | roll back | 1.82 | 0.20 | 0.078 | 2823.19 | 231.2 | 3.15 | 0.106 | 3640.94 | 386.0 | 129.88 | - | - | 2145.59 | - | - | - | - | - | - | - | - | 16.11 | 16.10 | - |
12899.70 | 277.44 | 7.97 | 1478 | 12905.12 | roll | 1.82 | - | - | 2823.38 | - | 2.85 | 0.054 | 2427.06 | -425.9 | 129.88 | - | - | 2145.66 | - | - | - | - | - | - | - | - | - | 16.10 | - |
13209.66 | 254.47 | 6.88 | 1540 | 13213.66 | no move | 1.85 | - | - | 2823.81 | - | - | - | 2426.94 | - | 129.88 | - | - | 2145.06 | - | - | - | - | - | - | - | - | - | - | - |
13514.67 | 234.90 | 6.14 | 1601 | 13520.30 | roll | 1.90 | - | - | 2824.06 | - | 3.15 | 0.105 | 3640.31 | 385.2 | 129.88 | - | - | 2145.09 | - | - | - | - | - | - | - | - | - | 16.11 | - |
13679.67 | 221.65 | 8.66 | 1634 | 13685.29 | roll | 1.90 | - | - | 2824.06 | - | 2.84 | 0.053 | 2428.12 | -426.8 | 129.88 | - | - | 2144.47 | - | - | - | - | - | - | - | - | - | 16.11 | - |
13989.78 | 201.13 | 5.88 | 1696 | 13995.40 | roll | 1.96 | - | - | 2823.88 | - | 3.16 | 0.105 | 3640.50 | 383.7 | 129.88 | - | - | 2144.41 | - | - | - | - | - | - | - | - | - | 16.12 | - |
14224.78 | 183.77 | 8.00 | 1743 | 14230.38 | roll | 1.96 | - | - | 2824.25 | - | 2.85 | 0.053 | 2428.81 | -425.2 | 129.88 | - | - | 2144.31 | - | - | - | - | - | - | - | - | - | 16.10 | - |
14534.91 | 164.23 | 6.75 | 1805 | 14540.69 | roll back | 1.99 | 0.17 | 0.092 | 2863.25 | 229.4 | 3.15 | 0.103 | 3641.19 | 384.9 | 129.88 | - | - | 2145.12 | - | - | - | - | - | - | - | - | 16.10 | 16.10 | - |
14754.86 | 146.02 | 8.97 | 1849 | 14760.47 | roll | 1.99 | - | - | 2863.12 | - | 2.86 | 0.051 | 2430.25 | -423.4 | 129.88 | - | - | 2144.31 | - | - | - | - | - | - | - | - | - | 16.11 | - |
15064.93 | 123.46 | 7.58 | 1911 | 15068.94 | no move | 1.99 | - | - | 2863.06 | - | - | - | 2430.19 | - | 129.88 | - | - | 2145.41 | - | - | - | - | - | - | - | - | - | - | - |
15369.99 | 104.67 | 5.31 | 1972 | 15416.38 | done | 2.11 | - | - | 2863.31 | - | 3.17 | 0.105 | 3639.81 | 381.6 | 169.58 | 39.79 | 1.104 | 1987.38 | -4.0 | 0.062 | - | - | - | - | - | - | - | 15.90 | 12.80 |
15570.00 | 90.46 | 7.39 | 2012 | 15575.61 | roll | 2.11 | - | - | 2862.44 | - | 2.87 | 0.051 | 2429.88 | -421.6 | 169.58 | - | - | 1987.28 | - | - | - | - | - | - | - | - | - | 15.99 | - |
15760.05 | 79.24 | 6.11 | 2050 | 15765.74 | roll back | 2.16 | 0.19 | 0.083 | 2906.19 | 230.3 | 3.14 | 0.102 | 3638.62 | 384.9 | 169.58 | - | - | 1988.44 | - | - | - | - | - | - | - | - | 16.01 | 16.00 | - |
15865.04 | 69.70 | 9.99 | 2071 | 15870.79 | roll | 2.16 | - | - | 2906.06 | - | 2.85 | 0.049 | 2430.44 | -423.9 | 169.58 | - | - | 1986.66 | - | - | - | - | - | - | - | - | - | 16.02 | - |
16055.32 | 59.61 | 3.88 | 2109 | 16121.41 | 2.35 | 0.20 | 0.082 | 2948.19 | 210.7 | - | - | 2429.94 | - | 231.49 | 64.88 | 1.036 | 1735.81 | -3.9 | 0.036 | - | - | - | - | - | - | 16.03 | - | 12.82 | |
16305.28 | 44.08 | 7.87 | 2159 | 16310.90 | roll | 2.35 | - | - | 2948.31 | - | 3.86 | 0.128 | 993.19 | -372.2 | 231.49 | - | - | 1737.44 | - | - | - | - | - | - | - | - | - | 15.88 | - |
16460.13 | 32.51 | 7.44 | 2190 | 16466.01 | roll | 2.35 | - | - | 2949.06 | - | 3.67 | 0.057 | 2490.62 | 408.0 | 231.49 | - | - | 1736.69 | - | - | - | - | - | - | - | - | - | 15.92 | - |
16650.18 | 24.10 | 3.92 | 2228 | 16717.27 | 2.53 | 0.22 | 0.074 | 2994.69 | 207.4 | 4.03 | 0.119 | 992.88 | -371.6 | 292.79 | 61.03 | 0.997 | 1485.94 | -4.1 | 0.016 | - | - | - | - | - | - | 15.95 | 15.70 | 12.87 | |
16875.18 | 8.25 | 9.30 | 2273 | 16880.94 | roll | 2.53 | - | - | 2994.19 | - | 3.65 | 0.057 | 2482.06 | 408.0 | 292.79 | - | - | 1484.09 | - | - | - | - | - | - | - | - | - | 15.85 | - |
16960 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16960 | begin surface coast | ||||||||||||||||||||||||||||
16990 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16990 | begin surface | ||||||||||||||||||||||||||||
SM | -0.07 | - | - | - | - | 171.8 | 95.97 | 0.939 | 1049.3 | 10.9 | 18.97 | 0.081 | 1036.8 | 54.7 | - | 0.69 | 0.074 | 1061.9 | 1533.7 | 0.148 | - | - | 12.80 | 15.83 | 15.89 | - |