• Previous call tries 3 | • 76.47 of 575.00 AH used of 24V (86.70% remains) | |
• Surface angle -68.8 deg, depth -0.39 m | • Intended pitch -17.4 deg, speed -9.524 cm/s | |
• No surface pump (final VBD was 345.9, SM_CC=511.6958) | ||
• GPS1 time: 43 s | ||
• GPS2 time: 2 s | • Transponder ping count: 109 | |
• 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 | |||||
3 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
3 | begin dive | ||||||||||||||||||||||||||||
4.73 | - | - | - | 77.04 | VBD | -0.92 | - | - | 145.12 | - | - | - | 2196.62 | - | -145.99 | 71.82 | 0.005 | 1860.94 | - | - | - | - | - | - | - | - | - | - | 15.61 |
77.28 | 5.12 | -10.33 | 7 | 123.45 | -0.92 | 7.75 | 0.387 | 1837.94 | 218.4 | 3.92 | 0.053 | 3568.44 | 350.0 | -145.99 | 30.11 | 0.006 | 3232.56 | 45.6 | -6.554 | - | - | - | - | - | - | 15.38 | 15.56 | 15.57 | |
140.34 | 30.59 | -44.96 | 20 | 146.58 | roll back | -0.28 | 0.80 | 0.291 | 2059.50 | 276.9 | 3.61 | 0.019 | 2247.06 | -366.0 | -145.99 | - | - | 3231.25 | - | - | - | - | - | - | - | - | 15.46 | 15.74 | - |
325.71 | 61.29 | -11.57 | 39 | 327.05 | no move | -0.33 | - | - | 2059.38 | - | - | - | 2222.56 | - | -145.99 | - | - | 3231.50 | - | - | - | - | - | - | - | - | - | - | - |
505.63 | 79.81 | -9.96 | 57 | 511.21 | roll back | -0.43 | 0.16 | 0.106 | 2007.06 | -327.0 | 3.55 | 0.051 | 991.56 | -346.8 | -145.99 | - | - | 3234.62 | - | - | - | - | - | - | - | - | 15.72 | 15.77 | - |
525.74 | 82.08 | -10.09 | 61 | 531.17 | roll | -0.48 | - | - | 1992.69 | - | 3.64 | 0.023 | 2300.38 | 359.6 | -145.99 | - | - | 3233.25 | - | - | - | - | - | - | - | - | - | 15.77 | - |
715.55 | 104.23 | -11.43 | 81 | 716.89 | no move | -0.48 | - | - | 1993.25 | - | - | - | 2301.44 | - | -145.99 | - | - | 3231.59 | - | - | - | - | - | - | - | - | - | - | - |
895.82 | 124.08 | -10.70 | 99 | 897.16 | no move | -0.48 | - | - | 1992.94 | - | - | - | 2302.38 | - | -145.99 | - | - | 3232.12 | - | - | - | - | - | - | - | - | - | - | - |
1075.88 | 143.31 | -10.71 | 117 | 1081.26 | roll | -0.52 | - | - | 2006.38 | - | 3.77 | 0.050 | 991.50 | -347.7 | -145.99 | - | - | 3232.66 | - | - | - | - | - | - | - | - | - | 15.85 | - |
1305.71 | 166.15 | -9.67 | 163 | 1311.36 | roll back | -0.61 | 0.13 | 0.112 | 1935.88 | -542.3 | 3.62 | 0.022 | 2303.81 | 362.5 | -145.99 | - | - | 3232.84 | - | - | - | - | - | - | - | - | 15.84 | 15.89 | - |
1495.67 | 188.03 | -11.59 | 183 | 1501.31 | roll | -0.61 | - | - | 1919.88 | - | 3.52 | 0.060 | 3565.88 | 358.5 | -145.99 | - | - | 3232.09 | - | - | - | - | - | - | - | - | - | 15.85 | - |
1725.88 | 213.97 | -11.01 | 229 | 1731.68 | roll back | -0.61 | 0.10 | 0.221 | 1959.69 | 398.1 | 3.56 | 0.016 | 2240.50 | -372.3 | -145.99 | - | - | 3232.81 | - | - | - | - | - | - | - | - | 15.82 | 15.92 | - |
1916.03 | 229.52 | -7.43 | 249 | 1921.86 | roll | -0.69 | - | - | 1944.44 | - | 3.79 | 0.057 | 3566.19 | 349.8 | -145.99 | - | - | 3233.03 | - | - | - | - | - | - | - | - | - | 15.91 | - |
1940.66 | 231.53 | -7.44 | 254 | 1946.84 | roll back | -0.76 | 0.17 | 0.105 | 1886.50 | -340.8 | 3.56 | 0.016 | 2243.19 | -371.6 | -145.99 | - | - | 3231.75 | - | - | - | - | - | - | - | - | 15.87 | 15.92 | - |
2126.00 | 249.69 | -9.86 | 273 | 2131.74 | roll | -0.76 | - | - | 1868.56 | - | 3.79 | 0.057 | 3566.50 | 349.2 | -145.99 | - | - | 3233.44 | - | - | - | - | - | - | - | - | - | 15.93 | - |
2156.00 | 252.79 | -9.99 | 279 | 2161.78 | roll back | -0.72 | 0.14 | 0.227 | 1921.38 | 377.3 | 3.55 | 0.016 | 2240.50 | -373.5 | -145.99 | - | - | 3233.25 | - | - | - | - | - | - | - | - | 15.83 | 15.94 | - |
2366.08 | 268.75 | -7.41 | 291 | 2371.54 | roll | -0.78 | - | - | 1906.44 | - | 3.81 | 0.058 | 3567.12 | 348.2 | -145.99 | - | - | 3232.00 | - | - | - | - | - | - | - | - | - | 15.92 | - |
2390.75 | 270.86 | -7.52 | 296 | 2396.80 | roll | -0.83 | - | - | 1919.31 | - | 3.56 | 0.017 | 2245.00 | -371.4 | -145.99 | - | - | 3231.47 | - | - | - | - | - | - | - | - | - | 15.94 | - |
2576.05 | 284.67 | -7.39 | 303 | 2577.50 | pitch | -0.88 | 0.18 | 0.104 | 1849.00 | -390.6 | - | - | 2241.50 | - | -145.99 | - | - | 3229.91 | - | - | - | - | - | - | - | - | 15.92 | - | - |
2756.11 | 302.26 | -9.84 | 309 | 2757.57 | pitch | -0.82 | 0.16 | 0.233 | 1892.06 | 269.1 | - | - | 2229.25 | - | -145.99 | - | - | 3230.22 | - | - | - | - | - | - | - | - | 15.87 | - | - |
2936.16 | 316.69 | -7.93 | 315 | 2941.58 | roll | -0.82 | - | - | 1878.00 | - | 3.79 | 0.059 | 3566.88 | 352.9 | -145.99 | - | - | 3231.19 | - | - | - | - | - | - | - | - | - | 15.94 | - |
3165.92 | 337.47 | -8.87 | 361 | 3171.92 | roll | -0.82 | - | - | 1890.50 | - | 3.55 | 0.016 | 2246.00 | -372.1 | -145.99 | - | - | 3231.06 | - | - | - | - | - | - | - | - | - | 15.97 | - |
3356.19 | 352.51 | -7.83 | 369 | 3361.66 | roll | -0.82 | - | - | 1903.88 | - | 3.51 | 0.051 | 991.19 | -357.5 | -145.99 | - | - | 3230.06 | - | - | - | - | - | - | - | - | - | 15.95 | - |
3506.29 | 364.80 | -8.10 | 399 | 3512.09 | roll | -0.82 | - | - | 1890.38 | - | 3.61 | 0.022 | 2302.62 | 363.3 | -145.99 | - | - | 3230.53 | - | - | - | - | - | - | - | - | - | 15.97 | - |
3716.34 | 381.33 | -7.93 | 411 | 3717.67 | no move | -0.85 | - | - | 1890.69 | - | - | - | 2303.62 | - | -145.99 | - | - | 3229.22 | - | - | - | - | - | - | - | - | - | - | - |
3896.21 | 395.28 | -7.70 | 417 | 3897.55 | no move | -0.88 | - | - | 1890.50 | - | - | - | 2303.69 | - | -145.99 | - | - | 3228.53 | - | - | - | - | - | - | - | - | - | - | - |
4076.19 | 409.06 | -7.66 | 423 | 4077.53 | no move | -0.91 | - | - | 1890.44 | - | - | - | 2303.25 | - | -145.99 | - | - | 3228.28 | - | - | - | - | - | - | - | - | - | - | - |
4256.22 | 422.71 | -7.56 | 429 | 4261.88 | roll back | -0.95 | 0.15 | 0.109 | 1843.56 | -312.5 | 3.74 | 0.050 | 991.25 | -350.8 | -145.99 | - | - | 3229.62 | - | - | - | - | - | - | - | - | 15.96 | 15.98 | - |
4486.08 | 445.64 | -10.00 | 475 | 4491.90 | roll back | -0.86 | 0.17 | 0.241 | 1878.00 | 202.6 | 3.60 | 0.022 | 2304.12 | 364.7 | -145.99 | - | - | 3231.09 | - | - | - | - | - | - | - | - | 15.87 | 16.00 | - |
4676.31 | 460.71 | -7.77 | 483 | 4681.85 | roll | -0.86 | - | - | 1863.88 | - | 3.51 | 0.059 | 3567.56 | 360.0 | -145.99 | - | - | 3229.84 | - | - | - | - | - | - | - | - | - | 16.00 | - |
4816.37 | 473.14 | -8.94 | 511 | 4822.14 | roll | -0.86 | - | - | 1876.06 | - | 3.53 | 0.015 | 2245.62 | -374.5 | -145.99 | - | - | 3229.41 | - | - | - | - | - | - | - | - | - | 16.00 | - |
5006.34 | 473.24 | 2.11 | 519 | 5012.21 | roll | -0.86 | - | - | 1861.75 | - | 3.76 | 0.056 | 3567.25 | 351.5 | -145.99 | - | - | 3229.31 | - | - | - | - | - | - | - | - | - | 15.99 | - |
5236.20 | 493.14 | -8.67 | 565 | 5242.21 | roll | -0.86 | - | - | 1874.19 | - | 3.52 | 0.015 | 2245.19 | -375.6 | -145.99 | - | - | 3230.62 | - | - | - | - | - | - | - | - | - | 16.02 | - |
5426.43 | 507.52 | -7.49 | 573 | 5431.96 | roll | -0.86 | - | - | 1889.62 | - | 3.48 | 0.050 | 990.50 | -360.5 | -145.99 | - | - | 3229.69 | - | - | - | - | - | - | - | - | - | 16.00 | - |
5561.50 | 534.03 | -8.11 | 600 | 5567.28 | roll | -0.86 | - | - | 1875.69 | - | 3.58 | 0.021 | 2304.44 | 367.0 | -145.99 | - | - | 3231.22 | - | - | - | - | - | - | - | - | - | 16.02 | - |
5756.54 | 532.54 | -7.44 | 609 | 5757.87 | no move | -0.86 | - | - | 1876.00 | - | - | - | 2305.69 | - | -145.99 | - | - | 3228.56 | - | - | - | - | - | - | - | - | - | - | - |
5936.44 | 546.06 | -7.46 | 615 | 5942.10 | roll | -0.86 | - | - | 1888.69 | - | 3.73 | 0.049 | 991.38 | -352.4 | -145.99 | - | - | 3229.62 | - | - | - | - | - | - | - | - | - | 16.03 | - |
6166.35 | 563.86 | -7.62 | 661 | 6172.11 | roll | -0.86 | - | - | 1875.38 | - | 3.59 | 0.022 | 2305.56 | 366.1 | -145.99 | - | - | 3229.78 | - | - | - | - | - | - | - | - | - | 16.03 | - |
6326 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
6326 | begin apogee | ||||||||||||||||||||||||||||
6327.73 | 601.45 | -24.62 | 668 | 6443.39 | -0.14 | 0.76 | 0.194 | 2108.31 | 306.5 | 0.25 | 0.073 | 2280.62 | -99.8 | - | 113.18 | 1.954 | 2634.31 | -5.3 | 0.273 | - | - | - | - | - | - | 15.95 | 15.31 | 12.64 | |
6444 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6444 | begin climb | ||||||||||||||||||||||||||||
6444.67 | 603.09 | - | 671 | 6572.05 | 0.92 | 1.08 | 0.126 | 2470.69 | 335.5 | 3.99 | 0.053 | 964.00 | -330.0 | 145.99 | 119.62 | 1.863 | 2038.91 | -5.0 | 0.272 | - | - | - | - | - | - | 15.34 | 15.00 | 12.42 | |
6684.17 | 555.06 | 11.46 | 719 | 6689.98 | done | 0.92 | - | - | 2456.31 | - | 3.74 | 0.020 | 2272.88 | 350.0 | 145.99 | - | - | 2030.06 | - | - | - | - | - | - | - | - | - | 15.34 | - |
6894.21 | 531.81 | 26.54 | 731 | 6899.98 | done | 0.89 | - | - | 2440.69 | - | 3.62 | 0.057 | 3538.31 | 349.6 | 145.99 | - | - | 2026.53 | - | - | - | - | - | - | - | - | - | 15.52 | - |
6939.21 | 526.25 | 12.04 | 740 | 6944.99 | done | 0.83 | - | - | 2456.38 | - | 3.63 | 0.015 | 2218.38 | -363.6 | 145.99 | - | - | 2026.81 | - | - | - | - | - | - | - | - | - | 15.55 | - |
7134.32 | 526.01 | 11.76 | 749 | 7135.79 | 0.80 | 0.21 | 0.223 | 2397.81 | -278.9 | - | - | 2209.69 | - | 145.99 | - | - | 2023.22 | - | - | - | - | - | - | - | - | 15.55 | - | - | |
7314.35 | 503.25 | 9.12 | 755 | 7321.98 | 0.89 | 0.12 | 0.108 | 2449.25 | 428.7 | - | - | 2204.62 | - | 155.04 | 6.96 | 1.280 | 2001.78 | -3.1 | 0.204 | - | - | - | - | - | - | 15.67 | - | 12.48 | |
7494.30 | 470.30 | 20.36 | 761 | 7495.63 | no move | 0.89 | - | - | 2449.38 | - | - | - | 2203.94 | - | 155.04 | - | - | 2000.75 | - | - | - | - | - | - | - | - | - | - | - |
7674.28 | 450.78 | 10.96 | 767 | 7680.07 | roll | 0.89 | - | - | 2435.94 | - | 3.81 | 0.057 | 3536.69 | 349.8 | 155.04 | - | - | 2002.12 | - | - | - | - | - | - | - | - | - | 15.77 | - |
7729.26 | 444.52 | 11.42 | 778 | 7734.97 | roll | 0.89 | - | - | 2450.88 | - | 3.59 | 0.016 | 2219.12 | -367.0 | 155.04 | - | - | 2000.03 | - | - | - | - | - | - | - | - | - | 15.79 | - |
7914.28 | 424.23 | 10.97 | 785 | 7915.62 | no move | 0.89 | - | - | 2450.38 | - | - | - | 2217.75 | - | 155.04 | - | - | 1998.97 | - | - | - | - | - | - | - | - | - | - | - |
8094.27 | 404.85 | 10.74 | 791 | 8095.60 | no move | 0.89 | - | - | 2449.75 | - | - | - | 2218.06 | - | 155.04 | - | - | 1998.94 | - | - | - | - | - | - | - | - | - | - | - |
8274.39 | 385.54 | 10.72 | 797 | 8275.72 | no move | 0.89 | - | - | 2450.12 | - | - | - | 2218.06 | - | 155.04 | - | - | 1998.53 | - | - | - | - | - | - | - | - | - | - | - |
8454.28 | 366.15 | 10.78 | 803 | 8455.61 | no move | 0.89 | - | - | 2450.31 | - | - | - | 2218.06 | - | 155.04 | - | - | 1998.50 | - | - | - | - | - | - | - | - | - | - | - |
8634.25 | 347.11 | 10.56 | 809 | 8640.14 | roll | 0.89 | - | - | 2437.56 | - | 3.78 | 0.056 | 3536.25 | 348.7 | 155.04 | - | - | 1999.34 | - | - | - | - | - | - | - | - | - | 15.88 | - |
8689.34 | 340.95 | 11.13 | 820 | 8695.21 | roll | 0.89 | - | - | 2451.12 | - | 3.56 | 0.016 | 2220.44 | -369.6 | 155.04 | - | - | 2000.00 | - | - | - | - | - | - | - | - | - | 15.91 | - |
8874.43 | 321.78 | 10.31 | 827 | 8875.77 | no move | 0.89 | - | - | 2451.56 | - | - | - | 2219.62 | - | 155.04 | - | - | 1997.12 | - | - | - | - | - | - | - | - | - | - | - |
9054.37 | 303.58 | 10.07 | 833 | 9055.70 | no move | 0.89 | - | - | 2452.00 | - | - | - | 2219.25 | - | 155.04 | - | - | 1996.84 | - | - | - | - | - | - | - | - | - | - | - |
9234.32 | 285.59 | 9.94 | 839 | 9235.66 | no move | 0.89 | - | - | 2451.88 | - | - | - | 2219.25 | - | 155.04 | - | - | 1996.78 | - | - | - | - | - | - | - | - | - | - | - |
9414.31 | 268.25 | 9.59 | 845 | 9420.20 | roll | 0.89 | - | - | 2437.94 | - | 3.77 | 0.058 | 3535.94 | 349.3 | 155.04 | - | - | 1997.88 | - | - | - | - | - | - | - | - | - | 15.94 | - |
9474.41 | 262.12 | 10.20 | 857 | 9480.18 | roll | 0.89 | - | - | 2452.81 | - | 3.55 | 0.016 | 2217.12 | -371.5 | 155.04 | - | - | 1996.94 | - | - | - | - | - | - | - | - | - | 15.93 | - |
9664.34 | 244.89 | 8.70 | 871 | 9681.81 | VBD | 0.95 | - | - | 2452.44 | - | - | - | 2216.50 | - | 173.51 | 16.29 | 1.454 | 1926.47 | -4.3 | 0.123 | - | - | - | - | - | - | - | - | 12.65 |
9854.54 | 229.20 | 7.91 | 890 | 9890.67 | 1.11 | 0.16 | 0.100 | 2540.62 | 551.1 | 3.55 | 0.052 | 960.50 | -353.8 | 209.58 | 29.87 | 1.485 | 1781.59 | -4.9 | 0.126 | - | - | - | - | - | - | 15.85 | 15.65 | 12.65 | |
9929.26 | 222.08 | 9.66 | 905 | 9935.22 | roll back | 1.11 | 0.10 | 0.239 | 2498.62 | -420.0 | 3.64 | 0.019 | 2278.75 | 362.2 | 209.58 | - | - | 1776.91 | - | - | - | - | - | - | - | - | 15.66 | 15.77 | - |
10114.52 | 206.05 | 8.11 | 924 | 10145.81 | 1.26 | 0.17 | 0.099 | 2554.62 | 329.4 | 3.56 | 0.060 | 3536.62 | 353.3 | 241.18 | 25.61 | 1.428 | 1653.09 | -4.8 | 0.118 | - | - | - | - | - | - | 15.76 | 15.61 | 12.59 | |
10194.61 | 197.37 | 11.12 | 940 | 10200.27 | roll | 1.21 | - | - | 2569.94 | - | 3.60 | 0.016 | 2217.50 | -366.4 | 241.18 | - | - | 1648.22 | - | - | - | - | - | - | - | - | - | 15.67 | - |
10384.53 | 179.08 | 8.80 | 960 | 10399.89 | VBD | 1.26 | - | - | 2569.81 | - | - | - | 2217.38 | - | 257.35 | 14.12 | 1.324 | 1584.91 | -4.5 | 0.102 | - | - | - | - | - | - | - | - | 12.54 |
10574.41 | 162.12 | 8.69 | 979 | 10591.00 | VBD | 1.32 | - | - | 2570.19 | - | - | - | 2216.62 | - | 275.99 | 16.16 | 1.327 | 1510.19 | -4.6 | 0.095 | - | - | - | - | - | - | - | - | 12.54 |
10764.47 | 145.59 | 8.68 | 998 | 10781.89 | VBD | 1.41 | - | - | 2569.75 | - | - | - | 2216.75 | - | 294.82 | 16.56 | 1.317 | 1433.28 | -4.6 | 0.087 | - | - | - | - | - | - | - | - | 12.58 |
10962.03 | 128.49 | 8.50 | 1017 | 10982.57 | 1.54 | 0.22 | 0.095 | 2656.19 | 392.9 | - | - | 2217.00 | - | 317.82 | 19.62 | 1.321 | 1340.69 | -4.7 | 0.077 | - | - | - | - | - | - | 15.66 | - | 12.51 | |
11162.05 | 106.86 | 10.99 | 1037 | 11163.39 | no move | 1.49 | - | - | 2655.94 | - | - | - | 2217.06 | - | 317.82 | - | - | 1335.84 | - | - | - | - | - | - | - | - | - | - | - |
11342.02 | 89.27 | 9.55 | 1055 | 11347.58 | roll | 1.49 | - | - | 2648.75 | - | 3.84 | 0.057 | 3535.81 | 343.4 | 317.82 | - | - | 1335.25 | - | - | - | - | - | - | - | - | - | 15.67 | - |
11381.92 | 85.28 | 9.99 | 1063 | 11388.16 | roll back | 1.43 | 0.22 | 0.223 | 2600.12 | -221.0 | 3.62 | 0.016 | 2216.69 | -364.4 | 317.82 | - | - | 1335.00 | - | - | - | - | - | - | - | - | 15.58 | 15.69 | - |
11572.17 | 72.22 | 6.63 | 1083 | 11624.19 | 1.73 | 0.31 | 0.088 | 2718.12 | 380.6 | - | - | 2212.12 | - | 382.74 | 50.91 | 1.323 | 1075.81 | -5.1 | 0.047 | - | - | - | - | - | - | 15.69 | - | 12.47 | |
11807.14 | 50.30 | 8.67 | 1111 | 11828.16 | done | 1.78 | - | - | 2733.88 | - | 3.61 | 0.056 | 964.00 | -345.7 | 401.85 | 16.10 | 1.215 | 998.12 | -4.8 | 0.034 | - | - | - | - | - | - | - | 15.45 | 12.45 |
11867.00 | 45.10 | 8.66 | 1123 | 11889.32 | done | 1.90 | - | - | 2720.06 | - | 3.69 | 0.019 | 2275.44 | 355.4 | 421.21 | 17.26 | 1.200 | 919.00 | -4.6 | 0.029 | - | - | - | - | - | - | - | 15.55 | 12.48 |
12072.06 | 31.71 | 5.72 | 1146 | 12144.58 | 2.28 | 0.48 | 0.081 | 2909.62 | 394.9 | 3.90 | 0.053 | 964.00 | -336.3 | 506.49 | 66.62 | 1.241 | 571.38 | -5.2 | 0.022 | - | - | - | - | - | - | 15.55 | 15.29 | 12.51 | |
12176.89 | 22.55 | 8.82 | 1161 | 12188.09 | done | 2.32 | - | - | 2895.19 | - | 3.73 | 0.020 | 2274.94 | 351.5 | 522.26 | 6.28 | 0.859 | 550.59 | -3.3 | 0.015 | - | - | - | - | - | - | - | 15.40 | 12.37 |
12372.13 | 10.04 | 7.06 | 1182 | 12373.59 | 2.46 | 0.12 | 0.113 | 2946.25 | 425.5 | - | - | 2275.44 | - | 577.37 | - | - | 546.81 | - | - | - | - | - | - | - | - | 15.49 | - | - | |
12482 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
12482 | begin surface coast | ||||||||||||||||||||||||||||
12512 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
12512 | begin surface | ||||||||||||||||||||||||||||
SM | 2.28 | - | - | - | - | 146.2 | - | - | 544.8 | - | 8.85 | 0.136 | 743.8 | 84.0 | - | 0.02 | 0.235 | 345.9 | 17295.0 | -17.150 | - | - | 30.00 | 15.49 | 30.36 | - |