• Previous call tries 1 | • 46.80 of 150.00 AH used of 24V (68.80% remains) | |
• Previous NAKs 0, Timeouts 0 | • 39.90 of 110.00 AH used of 10V (63.73% remains) | |
• Surface angle -74.0 deg, depth 6.66 m | • Intended pitch -15.3 deg, speed -9.706 cm/s | |
• No surface pump (final VBD was 514.15, SM_CC=400) | ||
• GPS1 time: 23 s | ||
• GPS2 time: 15 s | • Transponder ping count: 13 | |
• 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 | |||||
15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15 | begin dive | ||||||||||||||||||||||||||||
18 | - | - | - | 83 | VBD | -0.65 | - | - | 101 | - | - | - | 1985 | - | -194.6 | -63.45 | - | 2943 | - | - | - | - | - | - | - | - | - | - | - |
86 | 8.4 | -5.5 | 10 | 113 | done | -0.65 | 7.03 | 0.193 | 2032 | 274.7 | - | - | 1985 | - | -194.6 | -14.02 | - | 3750 | -57.6 | - | - | - | - | - | - | - | 25.16 | - | 26.36 |
436 | 125.7 | -24.6 | 74 | 444 | roll | -0.59 | 0.12 | 0.161 | 2062 | 250.0 | 2.25 | 0.039 | 3416 | 636.0 | -194.6 | - | - | 3750 | - | - | - | - | - | - | - | - | 26.00 | 26.01 | - |
492 | 136.3 | -15.4 | 83 | 499 | done | -0.57 | - | - | 2062 | - | 2.15 | 0.032 | 2007 | -655.3 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | - | 26.06 | - |
822 | 199.3 | -18.3 | 144 | 830 | roll | -0.54 | 0.05 | 0.222 | 2077 | 300.0 | 2.17 | 0.045 | 626 | -636.4 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | 26.38 | 26.02 | - |
859 | 205.6 | -16.7 | 148 | 863 | done | -0.52 | - | - | 2069 | - | 2.08 | 0.034 | 2015 | 667.8 | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | - | 26.13 | - |
1173 | 253.3 | -14.3 | 179 | 1182 | roll | -0.49 | 0.10 | 0.159 | 2090 | 210.0 | 2.15 | 0.037 | 3428 | 657.2 | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | 26.29 | 26.14 | - |
1217 | 257.9 | -10.6 | 183 | 1225 | done | -0.49 | - | - | 2090 | - | 2.17 | 0.031 | 2017 | -650.2 | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | - | 26.18 | - |
1526 | 285.5 | -9.2 | 214 | 1527 | done | -0.50 | - | - | 2090 | - | - | - | 2017 | - | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | - | - | - |
1830 | 316.2 | -10.6 | 244 | 1838 | roll | -0.51 | - | - | 2081 | - | 2.17 | 0.041 | 3427 | 649.8 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | - | 26.15 | - |
1864 | 319.8 | -10.4 | 247 | 1871 | done | -0.53 | - | - | 2081 | - | 2.12 | 0.033 | 2024 | -661.8 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | - | 26.20 | - |
2171 | 352.9 | -10.6 | 278 | 2172 | done | -0.54 | - | - | 2081 | - | - | - | 2022 | - | -194.6 | - | - | 3749 | - | - | - | - | - | - | - | - | - | - | - |
2475 | 378.0 | -6.9 | 308 | 2481 | done | -0.55 | - | - | 2081 | - | - | - | 2022 | - | -194.6 | - | - | 3748 | - | - | - | - | - | - | - | - | - | - | - |
2783 | 400.9 | -8.2 | 339 | 2791 | roll | -0.56 | - | - | 2075 | - | 2.15 | 0.041 | 3422 | 651.2 | -194.6 | - | - | 3746 | - | - | - | - | - | - | - | - | - | 26.16 | - |
2824 | 404.1 | -7.6 | 343 | 2833 | done | -0.59 | - | - | 2075 | - | 2.12 | 0.032 | 2021 | -660.8 | -194.6 | - | - | 3746 | - | - | - | - | - | - | - | - | - | 26.20 | - |
3135 | 433.8 | -9.3 | 374 | 3136 | done | -0.60 | 0.08 | 0.121 | 1985 | -1125.0 | - | - | 2021 | - | -194.6 | - | - | 3745 | - | - | - | - | - | - | - | - | 26.53 | - | - |
3434 | 489.7 | -18.5 | 404 | 3444 | roll | -0.56 | 0.25 | 0.122 | 2061 | 304.0 | 2.20 | 0.041 | 3432 | 641.4 | -194.6 | - | - | 3743 | - | - | - | - | - | - | - | - | 25.99 | 26.12 | - |
3479 | 495.0 | -12.1 | 408 | 3487 | done | -0.56 | - | - | 2061 | - | 2.17 | 0.034 | 2027 | -647.5 | -194.6 | - | - | 3742 | - | - | - | - | - | - | - | - | - | 26.17 | - |
3788 | 521.8 | -8.7 | 439 | 3789 | done | -0.57 | - | - | 2061 | - | - | - | 2026 | - | -194.6 | - | - | 3741 | - | - | - | - | - | - | - | - | - | - | - |
4091 | 547.4 | -8.3 | 469 | 4097 | done | -0.58 | - | - | 2061 | - | - | - | 2026 | - | -194.6 | - | - | 3739 | - | - | - | - | - | - | - | - | - | - | - |
4400 | 572.2 | -8.1 | 500 | 4409 | roll | -0.59 | - | - | 2061 | - | 2.20 | 0.051 | 623 | -637.7 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 25.98 | - |
4422 | 574.2 | -8.2 | 502 | 4431 | done | -0.61 | - | - | 2055 | - | 2.15 | 0.037 | 2031 | 654.9 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 26.15 | - |
4742 | 602.7 | -9.3 | 533 | 4746 | roll | -0.62 | - | - | 2048 | - | 2.17 | 0.043 | 3436 | 647.5 | -194.6 | - | - | 3734 | - | - | - | - | - | - | - | - | - | 26.08 | - |
4786 | 606.4 | -9.1 | 535 | 4791 | done | -0.63 | - | - | 2048 | - | 2.15 | 0.034 | 2025 | -656.3 | -194.6 | - | - | 3734 | - | - | - | - | - | - | - | - | - | 26.13 | - |
5107 | 637.4 | -9.6 | 551 | 5108 | done | -0.64 | - | - | 2047 | - | - | - | 2024 | - | -194.6 | - | - | 3732 | - | - | - | - | - | - | - | - | - | - | - |
5404 | 666.3 | -9.6 | 566 | 5410 | roll | -0.65 | - | - | 2041 | - | 2.20 | 0.044 | 3435 | 641.4 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.04 | - |
5432 | 668.2 | -9.6 | 567 | 5436 | done | -0.66 | - | - | 2041 | - | 2.15 | 0.034 | 2024 | -656.3 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.10 | - |
5740 | 697.6 | -9.0 | 582 | 5741 | done | -0.67 | - | - | 2041 | - | - | - | 2024 | - | -194.6 | - | - | 3727 | - | - | - | - | - | - | - | - | - | - | - |
6039 | 721.0 | -7.4 | 597 | 6045 | roll | -0.67 | - | - | 2041 | - | 2.20 | 0.052 | 626 | -635.5 | -194.6 | - | - | 3725 | - | - | - | - | - | - | - | - | - | 25.89 | - |
6080 | 724.1 | -7.6 | 599 | 6085 | done | -0.68 | - | - | 2033 | - | 2.12 | 0.037 | 2020 | 657.5 | -194.6 | - | - | 3725 | - | - | - | - | - | - | - | - | - | 26.07 | - |
6399 | 751.0 | -8.7 | 615 | 6404 | roll | -0.68 | - | - | 2024 | - | 2.20 | 0.045 | 3435 | 643.2 | -194.6 | - | - | 3723 | - | - | - | - | - | - | - | - | - | 25.99 | - |
6442 | 754.5 | -8.7 | 617 | 6446 | done | -0.69 | - | - | 2024 | - | 2.17 | 0.036 | 2027 | -648.8 | -194.6 | - | - | 3723 | - | - | - | - | - | - | - | - | - | 26.05 | - |
6756 | 787.9 | -10.6 | 633 | 6757 | done | -0.69 | - | - | 2024 | - | - | - | 2025 | - | -194.6 | - | - | 3721 | - | - | - | - | - | - | - | - | - | - | - |
7054 | 817.9 | -9.6 | 648 | 7055 | done | -0.69 | - | - | 2024 | - | - | - | 2025 | - | -194.6 | - | - | 3720 | - | - | - | - | - | - | - | - | - | - | - |
7355 | 845.5 | -9.0 | 663 | 7356 | done | -0.69 | - | - | 2024 | - | - | - | 2025 | - | -194.6 | - | - | 3719 | - | - | - | - | - | - | - | - | - | - | - |
7656 | 872.5 | -9.0 | 678 | 7657 | done | -0.69 | - | - | 2024 | - | - | - | 2025 | - | -194.6 | - | - | 3716 | - | - | - | - | - | - | - | - | - | - | - |
7954 | 898.9 | -8.9 | 693 | 7960 | roll | -0.69 | - | - | 2015 | - | 2.20 | 0.047 | 3435 | 640.9 | -194.6 | - | - | 3715 | - | - | - | - | - | - | - | - | - | 25.92 | - |
7988 | 900.6 | -9.0 | 694 | 7995 | done | -0.69 | - | - | 2015 | - | 2.20 | 0.037 | 2020 | -643.2 | -194.6 | - | - | 3714 | - | - | - | - | - | - | - | - | - | 25.96 | - |
8294 | 930.6 | -9.5 | 710 | 8295 | done | -0.69 | - | - | 2016 | - | - | - | 2019 | - | -194.6 | - | - | 3714 | - | - | - | - | - | - | - | - | - | - | - |
8594 | 959.4 | -9.6 | 725 | 8600 | roll | -0.69 | - | - | 2016 | - | 2.25 | 0.055 | 616 | -623.6 | -194.6 | - | - | 3713 | - | - | - | - | - | - | - | - | - | 25.73 | - |
8628 | 961.4 | -9.7 | 726 | 8635 | done | -0.69 | 0.08 | 0.169 | 2030 | 175.0 | 2.17 | 0.039 | 2026 | 649.8 | -194.6 | - | - | 3712 | - | - | - | - | - | - | - | - | 25.84 | 25.96 | - |
8936 | 989.6 | -8.6 | 742 | 8941 | roll | -0.69 | - | - | 2021 | - | 2.20 | 0.047 | 3428 | 637.3 | -194.6 | - | - | 3711 | - | - | - | - | - | - | - | - | - | 25.88 | - |
8952 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8952 | begin apogee | ||||||||||||||||||||||||||||
8961 | 991.3 | -8.5 | 743 | 9128 | done | -0.22 | 0.43 | 0.086 | 2178 | 365.1 | - | - | 1966 | - | - | 161.30 | 1.073 | 2953 | -4.7 | 0.461 | - | - | - | - | - | - | 25.83 | - | 23.73 |
9129 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9129 | begin climb | ||||||||||||||||||||||||||||
9131 | 999.0 | - | 751 | 9312 | roll | 0.65 | 0.77 | 0.044 | 2487 | 401.3 | 2.47 | 0.051 | 570 | -565.2 | 194.6 | 169.75 | 1.051 | 2150 | -4.7 | 0.477 | - | - | - | - | - | - | 24.86 | 24.11 | 23.13 |
9359 | 977.9 | 18.2 | 762 | 9364 | done | 0.59 | 0.17 | 0.133 | 2439 | -282.4 | 2.25 | 0.024 | 1993 | 632.4 | 194.6 | - | - | 2140 | - | - | - | - | - | - | - | - | 24.53 | 24.76 | - |
9674 | 923.1 | 16.8 | 778 | 9680 | roll | 0.55 | - | - | 2450 | - | 2.30 | 0.052 | 565 | -620.9 | 194.6 | - | - | 2132 | - | - | - | - | - | - | - | - | - | 25.60 | - |
9692 | 919.8 | 16.8 | 779 | 9699 | done | 0.51 | 0.15 | 0.145 | 2408 | -280.0 | 2.15 | 0.024 | 1975 | 655.8 | 194.6 | - | - | 2132 | - | - | - | - | - | - | - | - | 25.47 | 25.77 | - |
10014 | 875.1 | 14.0 | 795 | 10020 | roll | 0.48 | - | - | 2408 | - | 2.12 | 0.035 | 3376 | 660.8 | 194.6 | - | - | 2129 | - | - | - | - | - | - | - | - | - | 25.88 | - |
10067 | 868.9 | 14.6 | 797 | 10075 | done | 0.46 | 0.10 | 0.166 | 2392 | -160.0 | 2.20 | 0.037 | 1973 | -637.7 | 194.6 | - | - | 2128 | - | - | - | - | - | - | - | - | 25.67 | 25.86 | - |
10375 | 826.8 | 12.9 | 813 | 10380 | roll | 0.44 | - | - | 2403 | - | 2.20 | 0.054 | 574 | -635.9 | 194.6 | - | - | 2127 | - | - | - | - | - | - | - | - | - | 25.80 | - |
10417 | 821.4 | 13.2 | 815 | 10421 | done | 0.43 | - | - | 2403 | - | 2.10 | 0.027 | 1972 | 665.7 | 194.6 | - | - | 2127 | - | - | - | - | - | - | - | - | - | 26.02 | - |
10731 | 778.5 | 13.8 | 831 | 10736 | roll | 0.41 | 0.10 | 0.169 | 2375 | -280.0 | 2.17 | 0.035 | 3382 | 649.8 | 194.6 | - | - | 2125 | - | - | - | - | - | - | - | - | 26.07 | 25.96 | - |
10769 | 773.0 | 13.5 | 833 | 10775 | done | 0.40 | - | - | 2384 | - | 2.20 | 0.039 | 1975 | -639.5 | 194.6 | - | - | 2125 | - | - | - | - | - | - | - | - | - | 25.93 | - |
11091 | 736.9 | 10.7 | 849 | 11092 | done | 0.39 | - | - | 2384 | - | - | - | 1975 | - | 194.6 | - | - | 2125 | - | - | - | - | - | - | - | - | - | - | - |
11390 | 707.7 | 9.2 | 864 | 11409 | roll | 0.41 | - | - | 2394 | - | 2.28 | 0.053 | 572 | -615.4 | 210.1 | 10.32 | 0.888 | 2090 | -3.4 | 0.287 | - | - | - | - | - | - | - | 26.01 | 24.70 |
11426 | 705.8 | 9.3 | 865 | 11444 | done | 0.41 | - | - | 2395 | - | 2.12 | 0.028 | 1980 | 664.2 | 221.7 | 12.20 | 0.861 | 2046 | -3.6 | 0.314 | - | - | - | - | - | - | - | 26.05 | 24.72 |
11754 | 671.4 | 10.1 | 882 | 11759 | roll | 0.41 | - | - | 2405 | - | 2.22 | 0.054 | 573 | -633.8 | 221.7 | - | - | 2033 | - | - | - | - | - | - | - | - | - | 25.81 | - |
11805 | 667.4 | 10.2 | 884 | 11812 | done | 0.41 | 0.10 | 0.143 | 2375 | -300.0 | 2.12 | 0.028 | 1963 | 655.7 | 221.7 | - | - | 2032 | - | - | - | - | - | - | - | - | 25.82 | 26.01 | - |
12115 | 641.5 | 8.2 | 900 | 12165 | roll | 0.47 | 0.10 | 0.093 | 2448 | 730.0 | 2.30 | 0.036 | 3393 | 621.7 | 266.8 | 42.28 | 0.844 | 1856 | -4.2 | 0.336 | - | - | - | - | - | - | 26.29 | 25.59 | 24.61 |
12208 | 631.0 | 13.3 | 904 | 12215 | done | 0.45 | 0.22 | 0.129 | 2391 | -259.1 | 2.25 | 0.039 | 1976 | -629.8 | 266.8 | - | - | 1845 | - | - | - | - | - | - | - | - | 25.37 | 25.60 | - |
12513 | 595.9 | 10.5 | 921 | 12522 | roll | 0.45 | - | - | 2401 | - | 2.25 | 0.054 | 569 | -625.3 | 266.8 | - | - | 1841 | - | - | - | - | - | - | - | - | - | 25.71 | - |
12574 | 589.2 | 10.6 | 927 | 12583 | done | 0.46 | - | - | 2401 | - | 2.12 | 0.029 | 1987 | 668.9 | 266.8 | - | - | 1841 | - | - | - | - | - | - | - | - | - | 25.91 | - |
12884 | 553.7 | 11.2 | 958 | 12893 | roll | 0.46 | - | - | 2408 | - | 2.25 | 0.054 | 571 | -629.3 | 266.8 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 25.79 | - |
12936 | 548.2 | 10.8 | 963 | 12945 | done | 0.47 | - | - | 2408 | - | 2.12 | 0.028 | 1975 | 662.3 | 266.8 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 26.01 | - |
13245 | 515.2 | 10.6 | 994 | 13254 | roll | 0.47 | - | - | 2418 | - | 2.22 | 0.054 | 572 | -632.0 | 266.8 | - | - | 1838 | - | - | - | - | - | - | - | - | - | 25.82 | - |
13277 | 512.1 | 10.3 | 997 | 13286 | done | 0.47 | 0.08 | 0.155 | 2396 | -275.0 | 2.12 | 0.028 | 1971 | 659.9 | 266.8 | - | - | 1838 | - | - | - | - | - | - | - | - | 25.92 | 26.06 | - |
13587 | 482.2 | 9.7 | 1028 | 13589 | done | 0.48 | - | - | 2396 | - | - | - | 1971 | - | 267.2 | - | - | 1838 | - | - | - | - | - | - | - | - | - | - | - |
13891 | 455.4 | 8.1 | 1058 | 13937 | done | 0.55 | 0.10 | 0.095 | 2467 | 710.0 | - | - | 1971 | - | 314.7 | 42.05 | 0.743 | 1664 | -4.1 | 0.269 | - | - | - | - | - | - | 26.38 | - | 24.78 |
14237 | 405.7 | 13.9 | 1093 | 14247 | roll | 0.52 | 0.15 | 0.143 | 2428 | -260.0 | 2.25 | 0.052 | 566 | -624.4 | 314.7 | - | - | 1645 | - | - | - | - | - | - | - | - | 25.75 | 25.71 | - |
14281 | 401.3 | 9.9 | 1097 | 14290 | done | 0.52 | - | - | 2427 | - | 2.15 | 0.028 | 1983 | 659.1 | 314.7 | - | - | 1645 | - | - | - | - | - | - | - | - | - | 25.93 | - |
14591 | 371.5 | 9.6 | 1128 | 14594 | roll | 0.53 | - | - | 2437 | - | 2.25 | 0.054 | 571 | -627.6 | 316.5 | - | - | 1644 | - | - | - | - | - | - | - | - | - | 25.78 | - |
14643 | 366.6 | 9.4 | 1133 | 14653 | done | 0.55 | - | - | 2437 | - | 2.10 | 0.028 | 1961 | 661.9 | 326.5 | 2.62 | 0.389 | 1625 | -7.3 | 0.726 | - | - | - | - | - | - | - | 26.02 | 24.41 |
14952 | 333.3 | 11.1 | 1164 | 14955 | done | 0.55 | - | - | 2437 | - | - | - | 1961 | - | 326.5 | 1.83 | 0.182 | 1622 | -1.6 | 0.319 | - | - | - | - | - | - | - | - | 25.33 |
15254 | 297.6 | 12.5 | 1194 | 15265 | roll | 0.55 | - | - | 2447 | - | 2.25 | 0.053 | 573 | -616.9 | 326.5 | 1.77 | 0.180 | 1624 | - | - | - | - | - | - | - | - | - | 25.89 | 25.33 |
15300 | 291.9 | 12.8 | 1198 | 15310 | done | 0.55 | 0.05 | 0.109 | 2423 | -480.0 | 2.12 | 0.028 | 1976 | 661.8 | 326.5 | 1.58 | 0.168 | 1624 | - | - | - | - | - | - | - | - | 25.94 | 26.12 | 25.41 |
15609 | 259.8 | 9.9 | 1229 | 15619 | roll | 0.56 | - | - | 2433 | - | 2.17 | 0.048 | 567 | -649.3 | 326.5 | 1.85 | 0.177 | 1626 | - | - | - | - | - | - | - | - | - | 25.92 | 25.34 |
15646 | 256.4 | 9.9 | 1232 | 15655 | done | 0.58 | - | - | 2432 | - | 2.12 | 0.028 | 1963 | 658.5 | 326.5 | 1.50 | 0.166 | 1625 | - | - | - | - | - | - | - | - | - | 26.13 | 25.43 |
15954 | 224.2 | 11.1 | 1263 | 15962 | done | 0.59 | - | - | 2432 | - | - | - | 1963 | - | 326.5 | 1.85 | 0.176 | 1624 | - | - | - | - | - | - | - | - | - | - | 25.34 |
16272 | 191.9 | 9.7 | 1301 | 16279 | roll | 0.60 | - | - | 2441 | - | 2.28 | 0.049 | 561 | -614.9 | 327.5 | 2.62 | 0.351 | 1623 | - | - | - | - | - | - | - | - | - | 26.10 | 24.57 |
16299 | 189.5 | 8.7 | 1305 | 16351 | done | 0.65 | 0.08 | 0.119 | 2521 | 1000.0 | 2.12 | 0.028 | 1980 | 669.3 | 358.6 | 42.25 | 0.515 | 1486 | -3.2 | 0.127 | - | - | - | - | - | - | 26.12 | 26.20 | 25.10 |
16678 | 111.0 | 22.1 | 1373 | 16685 | roll | 0.62 | 0.22 | 0.132 | 2456 | -295.5 | 2.22 | 0.048 | 569 | -635.6 | 358.6 | - | - | 1477 | - | - | - | - | - | - | - | - | 25.76 | 25.84 | - |
16759 | 101.3 | 9.2 | 1387 | 16780 | done | 0.68 | - | - | 2456 | - | 2.12 | 0.027 | 1982 | 666.5 | 374.6 | 14.20 | 0.490 | 1422 | -3.9 | 0.085 | - | - | - | - | - | - | - | 26.06 | 25.09 |
17103 | 78.0 | 4.9 | 1450 | 17237 | done | 0.90 | 0.20 | 0.054 | 2583 | 635.0 | - | - | 1984 | - | 518.5 | 127.93 | 0.265 | 846 | -4.5 | 0.141 | - | - | - | - | - | - | 26.29 | - | 25.18 |
17435 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17435 | begin surface coast | ||||||||||||||||||||||||||||
17470 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17470 | begin surface | ||||||||||||||||||||||||||||
SM | 6.49 | - | - | - | - | -6.55 | 6.18 | 0.031 | 102 | -401.5 | - | - | 1985 | - | 514.15 | - | - | 858 | - | - | - | - | - | - | - | - |