• Previous call tries 1 | • 40.94 of 150.00 AH used of 24V (72.71% remains) | |
• Previous NAKs 0, Timeouts 0 | • 18.83 of 100.00 AH used of 10V (81.17% remains) | |
• Surface angle -72.5 deg, depth 2.44 m | • Intended pitch -14.9 deg, speed -8.684 cm/s | |
• No surface pump (final VBD was 566.89, SM_CC=450) | ||
• GPS1 time: 70 s | ||
• GPS2 time: 19 s | • Transponder ping count: 1 | |
• 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 | |||||
17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18 | begin dive | ||||||||||||||||||||||||||||
20 | - | - | - | 91 | VBD | -0.51 | - | - | 142 | - | - | - | 2606 | - | -170.3 | -68.72 | - | 2008 | - | - | - | - | - | - | - | - | - | - | - |
94 | 3.1 | -1.1 | 12 | 150 | roll | -0.51 | 11.15 | 0.240 | 2878 | 245.4 | 2.10 | 0.038 | 1193 | -672.9 | -170.3 | -39.05 | - | 3466 | -37.3 | - | - | - | - | - | - | - | 25.57 | 26.20 | 26.48 |
184 | 22.3 | -32.4 | 27 | 192 | done | -0.43 | 0.12 | 0.184 | 2909 | 258.3 | 2.22 | 0.042 | 2613 | 639.6 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | 25.85 | 26.10 | - |
390 | 66.0 | -14.7 | 43 | 396 | roll | -0.39 | - | - | 2907 | - | 1.73 | 0.054 | 3696 | 626.0 | -170.3 | - | - | 3466 | - | - | - | - | - | - | - | - | - | 26.20 | - |
434 | 71.9 | -14.0 | 45 | 441 | done | -0.37 | - | - | 2908 | - | 1.60 | 0.024 | 2589 | -691.9 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.43 | - |
640 | 96.3 | -10.7 | 55 | 645 | roll | -0.36 | - | - | 2907 | - | 1.98 | 0.027 | 1222 | -690.4 | -170.3 | - | - | 3466 | - | - | - | - | - | - | - | - | - | 26.40 | - |
703 | 102.5 | -9.8 | 58 | 708 | done | -0.36 | - | - | 2907 | - | 2.10 | 0.042 | 2602 | 657.1 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.31 | - |
906 | 121.8 | -8.6 | 68 | 911 | roll | -0.36 | - | - | 2907 | - | 1.70 | 0.052 | 3696 | 643.5 | -170.3 | - | - | 3466 | - | - | - | - | - | - | - | - | - | 26.32 | - |
1053 | 134.3 | -9.2 | 75 | 1058 | done | -0.38 | - | - | 2908 | - | 1.52 | 0.022 | 2571 | -740.1 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.57 | - |
1251 | 153.6 | -9.8 | 85 | 1257 | roll | -0.39 | - | - | 2907 | - | 1.90 | 0.028 | 1242 | -699.5 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.48 | - |
1324 | 159.8 | -9.7 | 88 | 1329 | done | -0.40 | - | - | 2907 | - | 2.05 | 0.039 | 2602 | 663.4 | -170.3 | - | - | 3466 | - | - | - | - | - | - | - | - | - | 26.39 | - |
1519 | 178.5 | -8.6 | 98 | 1520 | done | -0.42 | - | - | 2907 | - | - | - | 2602 | - | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | - | - |
1698 | 191.3 | -6.7 | 107 | 1703 | roll | -0.44 | - | - | 2907 | - | 1.70 | 0.050 | 3701 | 646.5 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.39 | - |
1722 | 192.8 | -6.5 | 108 | 1728 | done | -0.46 | - | - | 2907 | - | 1.50 | 0.025 | 2605 | -730.7 | -170.3 | - | - | 3465 | - | - | - | - | - | - | - | - | - | 26.60 | - |
1927 | 204.8 | -5.7 | 118 | 1933 | roll | -0.48 | - | - | 2907 | - | 1.92 | 0.025 | 1240 | -710.9 | -170.3 | - | - | 3464 | - | - | - | - | - | - | - | - | - | 26.53 | - |
2021 | 211.1 | -7.5 | 122 | 2027 | done | -0.51 | - | - | 2907 | - | 2.08 | 0.039 | 2601 | 654.3 | -170.3 | - | - | 3464 | - | - | - | - | - | - | - | - | - | 26.41 | - |
2216 | 224.9 | -6.3 | 132 | 2221 | roll | -0.53 | - | - | 2908 | - | 1.67 | 0.051 | 3696 | 655.7 | -170.3 | - | - | 3463 | - | - | - | - | - | - | - | - | - | 26.39 | - |
2255 | 226.3 | -6.3 | 133 | 2262 | done | -0.56 | 0.12 | 0.090 | 2833 | -625.0 | 1.50 | 0.026 | 2597 | -732.7 | -170.3 | - | - | 3462 | - | - | - | - | - | - | - | - | 26.48 | 26.61 | - |
2441 | 247.4 | -12.0 | 143 | 2447 | roll | -0.54 | 0.12 | 0.154 | 2877 | 366.7 | 1.92 | 0.022 | 1239 | -707.3 | -170.3 | - | - | 3461 | - | - | - | - | - | - | - | - | 26.38 | 26.54 | - |
2494 | 252.0 | -11.1 | 145 | 2500 | done | -0.53 | - | - | 2877 | - | 2.10 | 0.041 | 2607 | 651.4 | -170.3 | - | - | 3460 | - | - | - | - | - | - | - | - | - | 26.41 | - |
2807 | 279.6 | -9.4 | 161 | 2813 | roll | -0.54 | - | - | 2877 | - | 1.98 | 0.025 | 1241 | -689.9 | -170.3 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.53 | - |
2830 | 281.8 | -9.5 | 162 | 2836 | done | -0.54 | - | - | 2877 | - | 2.10 | 0.040 | 2604 | 649.0 | -170.3 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.41 | - |
3153 | 315.6 | -11.0 | 178 | 3158 | roll | -0.55 | - | - | 2877 | - | 1.67 | 0.052 | 3700 | 656.3 | -170.3 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.37 | - |
3191 | 318.2 | -11.1 | 179 | 3198 | done | -0.57 | - | - | 2877 | - | 1.52 | 0.027 | 2590 | -730.3 | -170.3 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.62 | - |
3497 | 352.8 | -10.4 | 195 | 3502 | roll | -0.58 | - | - | 2877 | - | 1.75 | 0.053 | 3693 | 630.3 | -170.3 | - | - | 3454 | - | - | - | - | - | - | - | - | - | 26.36 | - |
3569 | 359.5 | -10.6 | 198 | 3574 | done | -0.59 | - | - | 2877 | - | 1.50 | 0.028 | 2612 | -720.7 | -170.3 | - | - | 3454 | - | - | - | - | - | - | - | - | - | 26.60 | - |
3882 | 391.1 | -9.0 | 214 | 3888 | roll | -0.61 | - | - | 2877 | - | 2.00 | 0.025 | 1220 | -696.0 | -170.3 | - | - | 3451 | - | - | - | - | - | - | - | - | - | 26.53 | - |
3935 | 394.9 | -8.9 | 216 | 3940 | done | -0.62 | - | - | 2877 | - | 2.10 | 0.041 | 2601 | 657.6 | -170.3 | - | - | 3451 | - | - | - | - | - | - | - | - | - | 26.41 | - |
4248 | 420.0 | -7.3 | 232 | 4254 | roll | -0.64 | - | - | 2877 | - | 2.00 | 0.025 | 1229 | -686.0 | -170.3 | - | - | 3449 | - | - | - | - | - | - | - | - | - | 26.53 | - |
4343 | 425.7 | -6.9 | 236 | 4348 | done | -0.65 | 0.12 | 0.091 | 2809 | -566.7 | 2.12 | 0.041 | 2609 | 650.9 | -170.3 | - | - | 3449 | - | - | - | - | - | - | - | - | 26.39 | 26.39 | - |
4656 | 461.3 | -12.4 | 252 | 4658 | done | -0.64 | 0.12 | 0.154 | 2845 | 300.0 | - | - | 2610 | - | -170.3 | - | - | 3447 | - | - | - | - | - | - | - | - | 26.40 | - | - |
4958 | 492.9 | -11.2 | 267 | 4963 | roll | -0.64 | - | - | 2845 | - | 2.00 | 0.025 | 1227 | -691.5 | -170.3 | - | - | 3445 | - | - | - | - | - | - | - | - | - | 26.53 | - |
4985 | 495.8 | -11.5 | 268 | 4990 | done | -0.64 | - | - | 2845 | - | 2.10 | 0.041 | 2600 | 653.8 | -170.3 | - | - | 3445 | - | - | - | - | - | - | - | - | - | 26.37 | - |
5302 | 531.3 | -10.3 | 284 | 5303 | done | -0.64 | - | - | 2845 | - | - | - | 2600 | - | -170.3 | - | - | 3443 | - | - | - | - | - | - | - | - | - | - | - |
5604 | 563.4 | -10.1 | 299 | 5605 | done | -0.64 | - | - | 2845 | - | - | - | 2600 | - | -170.3 | - | - | 3441 | - | - | - | - | - | - | - | - | - | - | - |
5904 | 587.7 | -7.5 | 314 | 5909 | roll | -0.64 | - | - | 2845 | - | 1.98 | 0.025 | 1229 | -692.4 | -170.3 | - | - | 3440 | - | - | - | - | - | - | - | - | - | 26.52 | - |
5957 | 591.2 | -7.6 | 316 | 5963 | done | -0.64 | - | - | 2845 | - | 2.12 | 0.042 | 2601 | 647.2 | -170.3 | - | - | 3440 | - | - | - | - | - | - | - | - | - | 26.36 | - |
6272 | 613.3 | -6.7 | 329 | 6277 | roll | -0.64 | - | - | 2845 | - | 1.73 | 0.054 | 3687 | 627.7 | -170.3 | - | - | 3438 | - | - | - | - | - | - | - | - | - | 26.30 | - |
6306 | 615.5 | -6.4 | 330 | 6312 | done | -0.64 | - | - | 2845 | - | 1.55 | 0.030 | 2620 | -688.4 | -170.3 | - | - | 3438 | - | - | - | - | - | - | - | - | - | 26.57 | - |
6641 | 636.5 | -6.0 | 341 | 6647 | roll | -0.64 | - | - | 2844 | - | 2.08 | 0.026 | 1194 | -685.6 | -170.3 | - | - | 3437 | - | - | - | - | - | - | - | - | - | 26.51 | - |
6670 | 636.5 | -6.0 | 341 | 6677 | done | -0.64 | - | - | 2845 | - | 2.17 | 0.042 | 2603 | 649.3 | -170.3 | - | - | 3437 | - | - | - | - | - | - | - | - | - | 26.34 | - |
6977 | 656.6 | -6.3 | 352 | 6983 | roll | -0.64 | - | - | 2845 | - | 1.73 | 0.054 | 3687 | 626.6 | -170.3 | - | - | 3436 | - | - | - | - | - | - | - | - | - | 26.28 | - |
7027 | 659.0 | -6.4 | 353 | 7032 | done | -0.65 | - | - | 2845 | - | 1.58 | 0.029 | 2587 | -696.2 | -170.3 | - | - | 3435 | - | - | - | - | - | - | - | - | - | 26.56 | - |
7347 | 682.2 | -7.1 | 364 | 7352 | roll | -0.65 | - | - | 2845 | - | 2.00 | 0.026 | 1211 | -688.0 | -170.3 | - | - | 3433 | - | - | - | - | - | - | - | - | - | 26.50 | - |
7385 | 684.8 | -7.2 | 365 | 7390 | done | -0.66 | - | - | 2845 | - | 2.15 | 0.042 | 2612 | 651.6 | -170.3 | - | - | 3433 | - | - | - | - | - | - | - | - | - | 26.32 | - |
7712 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7712 | begin apogee | ||||||||||||||||||||||||||||
7718 | 707.6 | -6.8 | 376 | 7864 | done | -0.15 | 0.45 | 0.112 | 3000 | 344.4 | - | - | 2106 | - | - | 135.73 | 1.274 | 2767 | -4.9 | 0.287 | - | - | - | - | - | - | 26.02 | - | 24.01 |
7866 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7866 | begin climb | ||||||||||||||||||||||||||||
7868 | 710.9 | - | 381 | 8020 | done | 0.51 | 0.55 | 0.052 | 3221 | 401.8 | - | - | 2105 | - | 170.3 | 148.07 | 1.232 | 2074 | -4.7 | 0.284 | - | - | - | - | - | - | 25.15 | - | 23.34 |
8313 | 659.3 | 15.3 | 396 | 8318 | roll | 0.48 | - | - | 3221 | - | 2.33 | 0.050 | 3528 | 610.7 | 170.3 | - | - | 2064 | - | - | - | - | - | - | - | - | - | 25.77 | - |
8350 | 653.9 | 15.4 | 397 | 8355 | done | 0.46 | - | - | 3227 | - | 2.12 | 0.028 | 2129 | -659.9 | 170.3 | - | - | 2063 | - | - | - | - | - | - | - | - | - | 25.97 | - |
8680 | 607.3 | 13.6 | 408 | 8686 | roll | 0.43 | 0.12 | 0.160 | 3188 | -325.0 | 2.10 | 0.032 | 736 | -663.3 | 170.3 | - | - | 2061 | - | - | - | - | - | - | - | - | 26.06 | 26.19 | - |
8790 | 595.5 | 11.1 | 412 | 8796 | done | 0.42 | - | - | 3187 | - | 2.10 | 0.035 | 2122 | 660.0 | 170.3 | - | - | 2060 | - | - | - | - | - | - | - | - | - | 26.20 | - |
9110 | 557.6 | 11.9 | 428 | 9116 | roll | 0.41 | - | - | 3187 | - | 2.22 | 0.050 | 3535 | 636.5 | 170.3 | - | - | 2059 | - | - | - | - | - | - | - | - | - | 26.21 | - |
9163 | 551.5 | 12.7 | 430 | 9168 | done | 0.40 | - | - | 3194 | - | 2.10 | 0.027 | 2119 | -674.3 | 170.3 | - | - | 2059 | - | - | - | - | - | - | - | - | - | 26.42 | - |
9476 | 515.8 | 10.1 | 446 | 9481 | roll | 0.39 | - | - | 3199 | - | 2.08 | 0.034 | 716 | -674.5 | 170.3 | - | - | 2058 | - | - | - | - | - | - | - | - | - | 26.35 | - |
9523 | 511.6 | 9.8 | 448 | 9529 | done | 0.39 | - | - | 3200 | - | 2.12 | 0.035 | 2124 | 664.2 | 170.3 | - | - | 2057 | - | - | - | - | - | - | - | - | - | 26.32 | - |
9843 | 482.4 | 8.4 | 464 | 9857 | roll | 0.38 | - | - | 3199 | - | 2.22 | 0.050 | 3530 | 633.3 | 179.6 | 7.07 | 0.948 | 2036 | -3.0 | 0.159 | - | - | - | - | - | - | - | 26.31 | 25.09 |
9950 | 472.5 | 9.8 | 469 | 9956 | done | 0.36 | 0.12 | 0.157 | 3165 | -283.3 | 2.10 | 0.027 | 2105 | -678.6 | 179.6 | - | - | 2034 | - | - | - | - | - | - | - | - | 26.11 | 26.39 | - |
10270 | 448.2 | 8.1 | 485 | 10294 | roll | 0.37 | - | - | 3165 | - | 2.10 | 0.033 | 736 | -651.9 | 197.4 | 16.60 | 1.059 | 1962 | -4.3 | 0.193 | - | - | - | - | - | - | - | 26.13 | 25.11 |
10333 | 442.8 | 8.6 | 488 | 10338 | done | 0.38 | - | - | 3165 | - | 2.12 | 0.034 | 2127 | 656.1 | 199.5 | - | - | 1959 | - | - | - | - | - | - | - | - | - | 26.09 | - |
10656 | 410.5 | 9.8 | 504 | 10662 | roll | 0.40 | - | - | 3165 | - | 2.10 | 0.031 | 723 | -668.6 | 199.5 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 26.27 | - |
10685 | 408.5 | 9.4 | 505 | 10690 | done | 0.41 | - | - | 3165 | - | 2.15 | 0.034 | 2129 | 654.0 | 199.5 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 26.24 | - |
11003 | 383.0 | 7.3 | 521 | 11044 | roll | 0.44 | - | - | 3165 | - | 2.30 | 0.049 | 3528 | 608.3 | 238.9 | 34.92 | 1.053 | 1794 | -4.6 | 0.178 | - | - | - | - | - | - | - | 25.73 | 24.86 |
11093 | 376.6 | 7.8 | 525 | 11121 | done | 0.47 | - | - | 3170 | - | 2.12 | 0.026 | 2111 | -668.4 | 264.9 | 22.58 | 1.011 | 1689 | -4.7 | 0.182 | - | - | - | - | - | - | - | 25.96 | 24.66 |
11430 | 349.6 | 7.6 | 542 | 11463 | done | 0.50 | 0.12 | 0.090 | 3245 | 625.0 | - | - | 2110 | - | 297.6 | 28.30 | 1.007 | 1553 | -4.8 | 0.176 | - | - | - | - | - | - | 26.24 | - | 24.81 |
11771 | 308.2 | 11.3 | 559 | 11773 | done | 0.49 | 0.15 | 0.138 | 3199 | -306.7 | - | - | 2111 | - | 297.6 | - | - | 1549 | - | - | - | - | - | - | - | - | 26.05 | - | - |
12071 | 283.6 | 9.2 | 574 | 12077 | roll | 0.50 | - | - | 3200 | - | 2.08 | 0.034 | 725 | -666.3 | 297.6 | - | - | 1548 | - | - | - | - | - | - | - | - | - | 26.27 | - |
12128 | 279.6 | 9.3 | 576 | 12137 | done | 0.52 | - | - | 3199 | - | 2.12 | 0.034 | 2132 | 663.7 | 297.6 | - | - | 1547 | - | - | - | - | - | - | - | - | - | 26.27 | - |
12434 | 250.2 | 8.9 | 592 | 12436 | done | 0.53 | - | - | 3200 | - | - | - | 2133 | - | 297.6 | - | - | 1547 | - | - | - | - | - | - | - | - | - | - | - |
12736 | 222.9 | 7.9 | 607 | 12760 | roll | 0.56 | - | - | 3200 | - | 2.20 | 0.047 | 3528 | 634.1 | 320.9 | 19.40 | 0.910 | 1459 | -4.5 | 0.117 | - | - | - | - | - | - | - | 26.09 | 25.22 |
12809 | 217.3 | 8.4 | 610 | 12826 | done | 0.58 | 0.12 | 0.086 | 3274 | 616.7 | 2.10 | 0.025 | 2125 | -668.1 | 329.9 | 8.82 | 0.813 | 1424 | -4.0 | 0.112 | - | - | - | - | - | - | 26.13 | 26.22 | 25.04 |
13024 | 185.1 | 14.5 | 621 | 13031 | roll | 0.57 | 0.12 | 0.145 | 3228 | -383.3 | 2.10 | 0.032 | 717 | -670.5 | 329.9 | - | - | 1422 | - | - | - | - | - | - | - | - | 26.10 | 26.17 | - |
13135 | 174.3 | 9.6 | 626 | 13140 | done | 0.59 | - | - | 3230 | - | 2.12 | 0.032 | 2129 | 666.0 | 329.9 | - | - | 1419 | - | - | - | - | - | - | - | - | - | 26.22 | - |
13334 | 154.3 | 9.8 | 636 | 13339 | roll | 0.61 | - | - | 3230 | - | 2.20 | 0.048 | 3534 | 638.6 | 329.9 | - | - | 1419 | - | - | - | - | - | - | - | - | - | 26.20 | - |
13378 | 150.1 | 9.5 | 638 | 13383 | done | 0.62 | - | - | 3230 | - | 2.12 | 0.025 | 2092 | -680.2 | 329.9 | - | - | 1419 | - | - | - | - | - | - | - | - | - | 26.39 | - |
13583 | 134.4 | 7.7 | 648 | 13609 | done | 0.65 | - | - | 3230 | - | - | - | 2092 | - | 358.8 | 24.33 | 0.841 | 1308 | -4.6 | 0.077 | - | - | - | - | - | - | - | - | 25.19 |
13783 | 126.7 | 0.9 | 658 | 13964 | roll | 0.77 | 0.17 | 0.070 | 3337 | 629.4 | 2.17 | 0.034 | 746 | -620.3 | 586.0 | 172.15 | 0.827 | 460 | -4.9 | 0.079 | - | - | - | - | - | - | 26.26 | 25.13 | 24.41 |
14029 | 90.3 | 12.4 | 670 | 14035 | done | 0.78 | 0.12 | 0.122 | 3297 | -333.3 | 2.15 | 0.033 | 2125 | 641.4 | 586.0 | - | - | 459 | - | - | - | - | - | - | - | - | 25.48 | 25.58 | - |
14235 | 73.8 | 6.2 | 680 | 14240 | roll | 0.85 | - | - | 3297 | - | 2.22 | 0.047 | 3535 | 635.1 | 658.0 | - | - | 458 | - | - | - | - | - | - | - | - | - | 25.96 | - |
14283 | 70.0 | 7.6 | 682 | 14289 | done | 0.91 | 0.15 | 0.076 | 3384 | 580.0 | 2.12 | 0.025 | 2089 | -682.1 | 689.9 | - | - | 459 | - | - | - | - | - | - | - | - | 26.07 | 26.13 | - |
14474 | 44.5 | 9.9 | 694 | 14480 | roll | 0.92 | 0.12 | 0.143 | 3341 | -358.3 | 1.98 | 0.032 | 756 | -673.2 | 689.9 | - | - | 458 | - | - | - | - | - | - | - | - | 26.13 | 26.20 | - |
14550 | 37.5 | 8.5 | 701 | 14555 | done | 0.96 | - | - | 3341 | - | 2.03 | 0.028 | 2128 | 675.9 | 695.5 | - | - | 458 | - | - | - | - | - | - | - | - | - | 26.23 | - |
14739 | 23.4 | 5.9 | 722 | 14746 | roll | 1.04 | 0.12 | 0.088 | 3421 | 666.7 | 2.17 | 0.047 | 3519 | 641.0 | 777.2 | - | - | 458 | - | - | - | - | - | - | - | - | 26.41 | 26.22 | - |
14759 | 21.6 | 7.8 | 725 | 14767 | done | 1.08 | - | - | 3425 | - | 2.03 | 0.024 | 2148 | -675.4 | 802.5 | - | - | 458 | - | - | - | - | - | - | - | - | - | 26.36 | - |
14863 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
14863 | begin surface coast | ||||||||||||||||||||||||||||
14879 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14879 | begin surface | ||||||||||||||||||||||||||||
SM | 2.42 | - | - | - | - | -9.08 | 8.70 | 0.057 | 134 | -378.3 | 0.70 | 0.034 | 2623 | 678.6 | 566.89 | - | - | 458 | - | - | - | - | - | - | - | - |