• Previous call tries 4 | • 76.72 of 510.00 AH used of 24V (84.96% remains) | |
• Surface angle -49.6 deg, depth 0.88 m | • Intended pitch -16.6 deg, speed -12.692 cm/s | |
• VBD pumped to 499.85 (SM_CC=500) | ||
• GPS1 time: 14 s | ||
• GPS2 time: 2 s | • Transponder ping count: 4 | |
• 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 | ||||||||||||||||||||||||||||
6.58 | - | - | - | 140.43 | VBD | -1.12 | - | - | 173.81 | - | - | - | 1955.06 | - | -243.31 | 133.41 | 0.005 | 3241.47 | - | - | - | - | - | - | - | - | - | - | 15.23 |
140.70 | 3.39 | -1.93 | 26 | 181.91 | -1.12 | 11.94 | 0.303 | 1527.88 | 113.4 | 3.85 | 0.120 | 533.56 | -369.2 | -243.31 | 19.58 | 0.006 | 3960.56 | 36.7 | -3.547 | - | - | - | - | - | - | 15.24 | 15.11 | 15.29 | |
364.45 | 42.21 | -17.86 | 71 | 370.19 | roll | -1.04 | - | - | 1528.44 | - | 3.53 | 0.034 | 2026.69 | 423.0 | -243.31 | - | - | 3961.53 | - | - | - | - | - | - | - | - | - | 15.72 | - |
549.52 | 71.87 | -15.85 | 108 | 555.22 | roll back | -0.98 | 0.23 | 0.174 | 1562.81 | 149.4 | 3.09 | 0.116 | 3187.12 | 375.5 | -243.31 | - | - | 3962.09 | - | - | - | - | - | - | - | - | 15.69 | 15.58 | - |
579.52 | 76.11 | -14.13 | 114 | 585.13 | roll | -0.98 | - | - | 1562.81 | - | 2.83 | 0.035 | 1972.44 | -429.2 | -243.31 | - | - | 3961.53 | - | - | - | - | - | - | - | - | - | 15.78 | - |
769.56 | 101.39 | -13.29 | 151 | 770.89 | no move | -0.98 | - | - | 1562.69 | - | - | - | 1972.19 | - | -243.31 | - | - | 3961.19 | - | - | - | - | - | - | - | - | - | - | - |
1069.66 | 141.99 | -12.93 | 181 | 1074.98 | roll | -0.98 | - | - | 1562.94 | - | 3.21 | 0.110 | 3185.56 | 378.0 | -243.31 | - | - | 3961.16 | - | - | - | - | - | - | - | - | - | 15.60 | - |
1104.32 | 146.47 | -12.59 | 188 | 1110.24 | roll | -0.98 | - | - | 1563.12 | - | 2.80 | 0.035 | 1973.25 | -433.0 | -243.31 | - | - | 3962.19 | - | - | - | - | - | - | - | - | - | 15.72 | - |
1409.69 | 185.68 | -13.13 | 219 | 1411.02 | no move | -0.98 | - | - | 1563.25 | - | - | - | 1973.25 | - | -243.31 | - | - | 3961.59 | - | - | - | - | - | - | - | - | - | - | - |
1709.79 | 225.99 | -13.66 | 249 | 1711.12 | no move | -0.98 | - | - | 1563.75 | - | - | - | 1973.75 | - | -243.31 | - | - | 3961.97 | - | - | - | - | - | - | - | - | - | - | - |
2009.84 | 268.34 | -14.26 | 279 | 2015.26 | roll | -0.98 | - | - | 1562.88 | - | 3.19 | 0.112 | 3186.25 | 380.1 | -243.31 | - | - | 3962.25 | - | - | - | - | - | - | - | - | - | 15.63 | - |
2039.81 | 272.59 | -14.18 | 285 | 2045.06 | roll | -0.98 | - | - | 1563.19 | - | 2.79 | 0.038 | 1973.69 | -434.6 | -243.31 | - | - | 3961.88 | - | - | - | - | - | - | - | - | - | 15.87 | - |
2349.89 | 314.81 | -13.83 | 317 | 2355.29 | roll | -0.98 | - | - | 1563.44 | - | 3.82 | 0.124 | 533.62 | -377.0 | -243.31 | - | - | 3961.47 | - | - | - | - | - | - | - | - | - | 15.67 | - |
2379.85 | 319.27 | -15.13 | 323 | 2385.23 | roll | -0.98 | - | - | 1563.44 | - | 3.44 | 0.031 | 2025.75 | 433.8 | -243.31 | - | - | 3962.06 | - | - | - | - | - | - | - | - | - | 15.88 | - |
2689.88 | 360.45 | -13.04 | 355 | 2691.21 | no move | -0.98 | - | - | 1563.31 | - | - | - | 2026.56 | - | -243.31 | - | - | 3961.06 | - | - | - | - | - | - | - | - | - | - | - |
2990.02 | 398.95 | -12.45 | 385 | 2995.42 | roll | -0.98 | - | - | 1562.62 | - | 3.95 | 0.123 | 535.38 | -377.5 | -243.31 | - | - | 3962.28 | - | - | - | - | - | - | - | - | - | 15.66 | - |
3014.62 | 402.55 | -13.34 | 390 | 3020.67 | roll | -0.98 | - | - | 1563.31 | - | 3.44 | 0.032 | 2025.75 | 433.2 | -243.31 | - | - | 3961.12 | - | - | - | - | - | - | - | - | - | 15.90 | - |
3320.01 | 440.77 | -12.27 | 421 | 3321.34 | no move | -0.98 | - | - | 1563.31 | - | - | - | 2025.12 | - | -243.31 | - | - | 3960.81 | - | - | - | - | - | - | - | - | - | - | - |
3620.11 | 477.44 | -12.28 | 451 | 3625.53 | roll | -0.98 | - | - | 1562.94 | - | 4.01 | 0.125 | 535.50 | -371.5 | -243.31 | - | - | 3960.78 | - | - | - | - | - | - | - | - | - | 15.65 | - |
3644.72 | 480.71 | -13.14 | 456 | 3650.77 | roll | -0.98 | - | - | 1563.44 | - | 3.45 | 0.033 | 2023.06 | 431.2 | -243.31 | - | - | 3960.72 | - | - | - | - | - | - | - | - | - | 15.91 | - |
3950.10 | 518.62 | -12.32 | 487 | 3951.43 | no move | -0.98 | - | - | 1563.31 | - | - | - | 2023.31 | - | -243.31 | - | - | 3960.22 | - | - | - | - | - | - | - | - | - | - | - |
4250.19 | 556.67 | -12.86 | 517 | 4255.62 | roll | -0.98 | - | - | 1563.00 | - | 4.05 | 0.129 | 534.75 | -367.5 | -243.31 | - | - | 3960.16 | - | - | - | - | - | - | - | - | - | 15.64 | - |
4280.15 | 560.83 | -13.86 | 523 | 4285.52 | roll | -0.98 | - | - | 1563.19 | - | 3.46 | 0.036 | 2021.88 | 429.8 | -243.31 | - | - | 3959.75 | - | - | - | - | - | - | - | - | - | 15.91 | - |
4590.15 | 600.23 | -13.02 | 555 | 4591.48 | no move | -0.98 | - | - | 1563.12 | - | - | - | 2021.62 | - | -243.31 | - | - | 3959.25 | - | - | - | - | - | - | - | - | - | - | - |
4890.24 | 639.07 | -13.14 | 585 | 4895.67 | roll | -0.98 | - | - | 1562.88 | - | 4.03 | 0.135 | 535.88 | -368.7 | -243.31 | - | - | 3959.81 | - | - | - | - | - | - | - | - | - | 15.62 | - |
4924.86 | 644.04 | -14.53 | 592 | 4930.89 | roll | -0.98 | - | - | 1563.12 | - | 3.49 | 0.039 | 2019.56 | 425.1 | -243.31 | - | - | 3959.97 | - | - | - | - | - | - | - | - | - | 15.91 | - |
5230.19 | 684.78 | -13.35 | 623 | 5235.69 | roll | -0.98 | - | - | 1563.38 | - | 4.05 | 0.135 | 535.38 | -366.5 | -243.31 | - | - | 3959.25 | - | - | - | - | - | - | - | - | - | 15.62 | - |
5244.89 | 686.92 | -13.38 | 626 | 5250.93 | roll | -0.98 | - | - | 1563.38 | - | 3.48 | 0.037 | 2021.19 | 427.0 | -243.31 | - | - | 3959.41 | - | - | - | - | - | - | - | - | - | 15.85 | - |
5550.23 | 726.43 | -12.11 | 657 | 5555.72 | roll | -0.98 | - | - | 1564.00 | - | 4.06 | 0.138 | 535.50 | -365.9 | -243.31 | - | - | 3959.97 | - | - | - | - | - | - | - | - | - | 15.61 | - |
5604.93 | 733.82 | -13.38 | 668 | 5610.95 | roll | -0.98 | - | - | 1562.69 | - | 3.50 | 0.040 | 2017.88 | 423.5 | -243.31 | - | - | 3959.53 | - | - | - | - | - | - | - | - | - | 15.84 | - |
5910.26 | 770.72 | -12.02 | 699 | 5911.59 | no move | -0.98 | - | - | 1563.38 | - | - | - | 2018.31 | - | -243.31 | - | - | 3958.88 | - | - | - | - | - | - | - | - | - | - | - |
6210.35 | 805.06 | -11.35 | 729 | 6215.76 | roll | -0.98 | - | - | 1563.12 | - | 4.09 | 0.143 | 536.19 | -362.4 | -243.31 | - | - | 3958.94 | - | - | - | - | - | - | - | - | - | 15.59 | - |
6250.30 | 810.07 | -12.47 | 737 | 6255.67 | roll | -0.98 | - | - | 1563.12 | - | 3.50 | 0.041 | 2020.25 | 424.0 | -243.31 | - | - | 3959.06 | - | - | - | - | - | - | - | - | - | 15.91 | - |
6560.31 | 843.83 | -10.40 | 769 | 6565.78 | roll | -0.98 | - | - | 1563.12 | - | 4.10 | 0.145 | 536.06 | -362.0 | -243.31 | - | - | 3958.97 | - | - | - | - | - | - | - | - | - | 15.58 | - |
6580.32 | 846.09 | -10.78 | 773 | 6585.69 | roll | -0.98 | - | - | 1563.25 | - | 3.49 | 0.041 | 2017.94 | 424.6 | -243.31 | - | - | 3958.81 | - | - | - | - | - | - | - | - | - | 15.90 | - |
6890.32 | 878.62 | -9.90 | 805 | 6895.82 | roll | -0.98 | - | - | 1563.38 | - | 4.12 | 0.148 | 536.56 | -359.6 | -243.31 | - | - | 3959.12 | - | - | - | - | - | - | - | - | - | 15.56 | - |
6935.01 | 883.69 | -11.39 | 814 | 6941.03 | roll | -0.98 | - | - | 1562.88 | - | 3.49 | 0.043 | 2017.44 | 424.3 | -243.31 | - | - | 3958.53 | - | - | - | - | - | - | - | - | - | 15.88 | - |
7240.35 | 915.71 | -10.24 | 845 | 7245.84 | roll | -0.98 | - | - | 1563.19 | - | 4.11 | 0.151 | 535.50 | -360.6 | -243.31 | - | - | 3958.22 | - | - | - | - | - | - | - | - | - | 15.55 | - |
7270.36 | 919.14 | -11.02 | 851 | 7275.75 | roll | -0.98 | - | - | 1563.88 | - | 3.53 | 0.045 | 2015.75 | 419.3 | -243.31 | - | - | 3957.34 | - | - | - | - | - | - | - | - | - | 15.88 | - |
7580.38 | 950.01 | -9.87 | 883 | 7585.89 | roll | -0.98 | - | - | 1563.25 | - | 4.18 | 0.153 | 536.50 | -353.9 | -243.31 | - | - | 3956.31 | - | - | - | - | - | - | - | - | - | 15.55 | - |
7605.07 | 952.68 | -9.94 | 888 | 7611.12 | roll | -0.98 | - | - | 1563.31 | - | 3.51 | 0.045 | 2015.94 | 421.5 | -243.31 | - | - | 3956.72 | - | - | - | - | - | - | - | - | - | 15.86 | - |
7910.44 | 983.03 | -10.04 | 919 | 7915.94 | roll | -0.98 | - | - | 1563.69 | - | 4.19 | 0.156 | 536.00 | -353.2 | -243.31 | - | - | 3957.38 | - | - | - | - | - | - | - | - | - | 15.53 | - |
7930.46 | 985.26 | -10.34 | 923 | 7935.85 | roll | -0.98 | - | - | 1563.69 | - | 3.52 | 0.046 | 2014.94 | 420.2 | -243.31 | - | - | 3956.06 | - | - | - | - | - | - | - | - | - | 15.85 | - |
7980 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7980 | begin apogee | ||||||||||||||||||||||||||||
7982.91 | 990.38 | -10.19 | 929 | 8195.07 | -0.23 | 1.29 | 0.145 | 1747.06 | 142.1 | 0.05 | 0.341 | 1474.75 | -10803.8 | - | 208.15 | 2.044 | 2967.06 | -4.8 | 0.394 | - | - | - | - | - | - | 15.73 | 15.06 | 10.66 | |
8196 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8196 | begin climb | ||||||||||||||||||||||||||||
8196.47 | 997.82 | - | 950 | 8420.79 | 1.12 | 2.27 | 0.106 | 2074.88 | 144.4 | 3.09 | 0.180 | 460.12 | -328.4 | 243.31 | 217.26 | 1.990 | 1974.91 | -4.6 | 0.391 | - | - | - | - | - | - | 15.17 | 14.97 | 11.99 | |
8423.07 | 985.98 | 9.24 | 995 | 8517.34 | 1.26 | 0.20 | 0.085 | 2113.62 | 193.7 | 2.45 | 0.029 | 1486.31 | 418.9 | 340.79 | 89.74 | 1.927 | 1578.12 | -4.4 | 0.387 | - | - | - | - | - | - | 15.13 | 15.14 | 11.96 | |
8813.32 | 935.22 | 12.68 | 1043 | 8818.60 | roll | 1.27 | - | - | 2114.38 | - | 2.97 | 0.171 | 460.25 | -345.5 | 341.08 | - | - | 1572.03 | - | - | - | - | - | - | - | - | - | 15.49 | - |
9043.34 | 899.85 | 15.91 | 1089 | 9048.47 | roll | 1.22 | - | - | 2114.69 | - | 2.37 | 0.030 | 1486.88 | 433.2 | 341.08 | - | - | 1570.69 | - | - | - | - | - | - | - | - | - | 15.68 | - |
9353.38 | 860.20 | 12.56 | 1121 | 9358.66 | roll | 1.23 | - | - | 2114.31 | - | 2.92 | 0.162 | 459.00 | -352.0 | 344.82 | - | - | 1571.19 | - | - | - | - | - | - | - | - | - | 15.62 | - |
9413.39 | 851.43 | 14.86 | 1133 | 9418.67 | roll back | 1.19 | 0.32 | 0.198 | 2083.31 | -96.9 | 2.35 | 0.030 | 1490.19 | 438.8 | 344.82 | - | - | 1569.72 | - | - | - | - | - | - | - | - | 15.61 | 15.77 | - |
9723.64 | 823.58 | 8.72 | 1165 | 9831.75 | 1.43 | 0.47 | 0.063 | 2159.81 | 162.8 | - | - | 1493.00 | - | 457.03 | 106.87 | 1.824 | 1105.06 | -4.3 | 0.336 | - | - | - | - | - | - | 15.70 | - | 11.44 | |
10124.31 | 764.48 | 14.78 | 1205 | 10129.56 | roll | 1.43 | - | - | 2160.06 | - | 2.95 | 0.158 | 458.19 | -350.8 | 457.03 | - | - | 1099.91 | - | - | - | - | - | - | - | - | - | 15.48 | - |
10154.25 | 759.48 | 17.28 | 1211 | 10159.39 | roll | 1.43 | - | - | 2160.81 | - | 2.38 | 0.030 | 1497.56 | 436.7 | 457.03 | - | - | 1100.06 | - | - | - | - | - | - | - | - | - | 15.55 | - |
10464.29 | 713.28 | 14.69 | 1243 | 10469.69 | roll | 1.43 | - | - | 2160.44 | - | 3.63 | 0.097 | 2912.44 | 389.8 | 457.03 | - | - | 1099.31 | - | - | - | - | - | - | - | - | - | 15.64 | - |
10484.28 | 710.51 | 14.70 | 1247 | 10489.70 | roll | 1.43 | - | - | 2160.81 | - | 3.69 | 0.076 | 1437.19 | -399.8 | 457.03 | - | - | 1098.75 | - | - | - | - | - | - | - | - | - | 15.58 | - |
10794.28 | 664.86 | 15.30 | 1279 | 10795.62 | no move | 1.43 | - | - | 2161.06 | - | - | - | 1436.75 | - | 457.03 | - | - | 1097.91 | - | - | - | - | - | - | - | - | - | - | - |
11094.38 | 619.22 | 15.24 | 1309 | 11099.75 | roll | 1.43 | - | - | 2161.12 | - | 3.75 | 0.086 | 2912.50 | 393.5 | 457.03 | - | - | 1098.00 | - | - | - | - | - | - | - | - | - | 15.70 | - |
11109.00 | 617.07 | 15.14 | 1312 | 11115.07 | roll | 1.43 | - | - | 2161.25 | - | 3.63 | 0.072 | 1437.25 | -406.4 | 457.03 | - | - | 1097.31 | - | - | - | - | - | - | - | - | - | 15.77 | - |
11414.33 | 571.41 | 15.13 | 1343 | 11415.67 | no move | 1.43 | - | - | 2160.62 | - | - | - | 1436.75 | - | 457.03 | - | - | 1096.91 | - | - | - | - | - | - | - | - | - | - | - |
11714.43 | 527.46 | 14.79 | 1373 | 11719.82 | roll | 1.43 | - | - | 2159.75 | - | 3.75 | 0.081 | 2913.69 | 393.9 | 457.03 | - | - | 1097.75 | - | - | - | - | - | - | - | - | - | 15.73 | - |
11744.41 | 523.47 | 13.32 | 1379 | 11749.81 | roll | 1.46 | - | - | 2160.62 | - | 3.62 | 0.069 | 1436.56 | -408.0 | 457.03 | - | - | 1097.34 | - | - | - | - | - | - | - | - | - | 15.66 | - |
12054.42 | 478.76 | 14.37 | 1411 | 12055.75 | no move | 1.46 | - | - | 2160.69 | - | - | - | 1436.44 | - | 457.03 | - | - | 1097.09 | - | - | - | - | - | - | - | - | - | - | - |
12354.55 | 434.96 | 14.38 | 1441 | 12355.88 | no move | 1.46 | - | - | 2161.00 | - | - | - | 1436.75 | - | 457.03 | - | - | 1097.16 | - | - | - | - | - | - | - | - | - | - | - |
12654.59 | 391.30 | 14.73 | 1471 | 12659.96 | roll | 1.46 | - | - | 2160.62 | - | 3.72 | 0.077 | 2915.25 | 397.4 | 457.03 | - | - | 1097.53 | - | - | - | - | - | - | - | - | - | 15.74 | - |
12689.23 | 386.64 | 13.26 | 1478 | 12695.27 | roll | 1.51 | - | - | 2160.25 | - | 3.57 | 0.065 | 1436.00 | -414.4 | 457.03 | - | - | 1097.75 | - | - | - | - | - | - | - | - | - | 15.81 | - |
12994.58 | 342.83 | 14.66 | 1509 | 12995.91 | no move | 1.51 | - | - | 2161.50 | - | - | - | 1436.50 | - | 457.03 | - | - | 1096.69 | - | - | - | - | - | - | - | - | - | - | - |
13294.70 | 299.07 | 14.53 | 1539 | 13300.08 | roll | 1.51 | - | - | 2160.62 | - | 3.73 | 0.076 | 2914.56 | 396.3 | 457.03 | - | - | 1097.06 | - | - | - | - | - | - | - | - | - | 15.74 | - |
13319.32 | 295.72 | 13.99 | 1544 | 13325.41 | roll | 1.51 | - | - | 2160.38 | - | 3.58 | 0.064 | 1434.06 | -413.5 | 457.03 | - | - | 1097.78 | - | - | - | - | - | - | - | - | - | 15.82 | - |
13624.69 | 251.22 | 14.46 | 1575 | 13626.02 | no move | 1.51 | - | - | 2161.19 | - | - | - | 1434.62 | - | 457.03 | - | - | 1096.72 | - | - | - | - | - | - | - | - | - | - | - |
13924.80 | 208.09 | 14.34 | 1605 | 13930.19 | roll | 1.51 | - | - | 2160.62 | - | 3.71 | 0.075 | 2914.62 | 398.9 | 457.03 | - | - | 1097.19 | - | - | - | - | - | - | - | - | - | 15.74 | - |
13949.44 | 204.75 | 13.80 | 1610 | 13955.48 | roll | 1.54 | - | - | 2160.75 | - | 3.58 | 0.064 | 1435.12 | -413.3 | 457.03 | - | - | 1097.16 | - | - | - | - | - | - | - | - | - | 15.82 | - |
14254.79 | 160.70 | 14.65 | 1641 | 14256.12 | no move | 1.54 | - | - | 2161.25 | - | - | - | 1435.38 | - | 457.03 | - | - | 1097.19 | - | - | - | - | - | - | - | - | - | - | - |
14554.91 | 116.86 | 14.91 | 1671 | 14560.29 | roll | 1.54 | - | - | 2160.75 | - | 3.72 | 0.073 | 2913.56 | 397.4 | 457.03 | - | - | 1097.97 | - | - | - | - | - | - | - | - | - | 15.71 | - |
14579.54 | 113.47 | 14.17 | 1676 | 14585.59 | roll | 1.57 | - | - | 2160.88 | - | 3.57 | 0.063 | 1434.75 | -414.2 | 457.03 | - | - | 1097.47 | - | - | - | - | - | - | - | - | - | 15.80 | - |
14884.94 | 71.41 | 14.42 | 1727 | 14886.27 | no move | 1.57 | - | - | 2160.94 | - | - | - | 1434.38 | - | 457.03 | - | - | 1097.38 | - | - | - | - | - | - | - | - | - | - | - |
15064.99 | 45.87 | 14.25 | 1763 | 15066.31 | no move | 1.57 | - | - | 2161.19 | - | - | - | 1434.62 | - | 457.03 | - | - | 1097.69 | - | - | - | - | - | - | - | - | - | - | - |
15245.05 | 22.74 | 12.55 | 1799 | 15255.74 | done | 1.58 | - | - | 2160.94 | - | 2.66 | 0.150 | 458.06 | -367.1 | 461.07 | 4.98 | 0.575 | 1088.41 | -1.9 | 0.013 | - | - | - | - | - | - | - | 15.45 | 11.06 |
15275.08 | 18.68 | 13.52 | 1805 | 15280.51 | roll | 1.58 | - | - | 2160.12 | - | 2.33 | 0.030 | 1514.94 | 453.6 | 461.07 | - | - | 1089.12 | - | - | - | - | - | - | - | - | - | 15.73 | - |
15420 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15420 | begin surface coast | ||||||||||||||||||||||||||||
15440 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15440 | begin surface | ||||||||||||||||||||||||||||
SM | 0.94 | - | - | - | - | 179.8 | 33.10 | 0.893 | 930.3 | 28.1 | 12.19 | 0.055 | 880.3 | 72.2 | - | 1.12 | 0.031 | 980.2 | 873.1 | -2.706 | - | - | 11.74 | 15.81 | 15.88 | - |