• Previous call tries 1 | • 120.92 of 350.00 AH used of 24V (65.45% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -70.4 deg, depth 1.01 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
• VBD pumped to 525.01 (SM_CC=525) | ||
• GPS1 time: 20 s | ||
• GPS2 time: 3 s | • Transponder ping count: 52 | |
• 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 | |||||
36 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
36 | begin dive | ||||||||||||||||||||||||||||
39 | - | - | - | 130 | VBD | -0.91 | - | - | 178 | - | - | - | 2884 | - | -146.0 | -80.18 | - | 3296 | - | - | - | - | - | - | - | - | 14.73 | - | 14.77 |
133 | 6.1 | -8.9 | 3 | 164 | roll | -0.91 | 10.88 | 0.356 | 2543 | 217.4 | 1.83 | 2.055 | 3818 | 510.4 | -146.0 | -3.25 | - | 3552 | -78.8 | - | - | - | - | - | - | - | 14.07 | 13.28 | 14.45 |
255 | 53.6 | -26.0 | 20 | 269 | done | -0.56 | 0.47 | 0.212 | 2668 | 266.0 | 1.48 | 0.030 | 2859 | -648.0 | -146.0 | - | - | 3554 | - | - | - | - | - | - | - | - | 14.30 | 14.58 | 14.52 |
591 | 80.0 | -5.9 | 34 | 605 | roll | -0.69 | 0.12 | 0.125 | 2603 | -541.7 | 2.15 | 0.027 | 1521 | -622.3 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.61 | 14.66 | 14.64 |
673 | 86.7 | -8.4 | 45 | 688 | done | -0.73 | - | - | 2593 | - | 2.30 | 0.047 | 2879 | 590.4 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.71 | 14.62 | 14.74 |
1016 | 117.0 | -8.7 | 55 | 1030 | roll | -0.76 | - | - | 2593 | - | 2.22 | 0.030 | 1515 | -614.4 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.97 | 14.71 | 14.99 |
1149 | 128.5 | -8.3 | 73 | 1163 | done | -0.83 | - | - | 2584 | - | 2.30 | 0.049 | 2871 | 589.6 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.73 | 14.61 | 14.76 |
1477 | 158.6 | -9.2 | 84 | 1490 | done | -0.87 | - | - | 2584 | - | - | - | 2871 | - | -146.0 | - | - | 3555 | - | - | - | - | - | - | - | - | 15.00 | 15.04 | 15.03 |
1813 | 190.4 | -9.5 | 90 | 1827 | roll | -0.94 | 0.12 | 0.122 | 2515 | -575.0 | 2.20 | 0.028 | 1525 | -611.8 | -146.0 | - | - | 3553 | - | - | - | - | - | - | - | - | 14.76 | 14.75 | 14.78 |
1846 | 194.2 | -11.2 | 94 | 1860 | done | -0.94 | 0.17 | 0.220 | 2547 | 188.2 | 2.30 | 0.050 | 2882 | 590.0 | -146.0 | - | - | 3553 | - | - | - | - | - | - | - | - | 14.44 | 14.67 | 14.66 |
2215 | 234.6 | -10.9 | 104 | 2228 | roll | -0.94 | - | - | 2547 | - | 2.22 | 0.031 | 1517 | -614.9 | -146.0 | - | - | 3550 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.05 |
2296 | 243.3 | -10.6 | 115 | 2310 | done | -0.94 | - | - | 2540 | - | 2.33 | 0.050 | 2866 | 579.0 | -146.0 | - | - | 3550 | - | - | - | - | - | - | - | - | 14.76 | 14.65 | 14.79 |
2616 | 278.3 | -11.0 | 125 | 2630 | roll | -0.94 | - | - | 2539 | - | 2.20 | 0.031 | 1524 | -610.0 | -146.0 | - | - | 3547 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.05 |
2642 | 281.2 | -11.1 | 128 | 2655 | done | -0.94 | - | - | 2531 | - | 2.33 | 0.051 | 2873 | 579.0 | -146.0 | - | - | 3547 | - | - | - | - | - | - | - | - | 14.76 | 14.64 | 14.78 |
2962 | 317.9 | -11.6 | 138 | 2976 | done | -0.90 | - | - | 2530 | - | - | - | 2872 | - | -146.0 | - | - | 3546 | - | - | - | - | - | - | - | - | 15.00 | 15.06 | 15.05 |
3298 | 355.9 | -11.4 | 144 | 3312 | roll | -0.87 | 0.12 | 0.243 | 2563 | 275.0 | 2.22 | 0.029 | 1523 | -607.7 | -146.0 | - | - | 3542 | - | - | - | - | - | - | - | - | 14.41 | 14.64 | 14.55 |
3359 | 361.8 | -9.3 | 152 | 3373 | done | -0.93 | - | - | 2555 | - | 2.35 | 0.051 | 2881 | 577.9 | -146.0 | - | - | 3542 | - | - | - | - | - | - | - | - | 14.73 | 14.63 | 14.77 |
3700 | 395.4 | -9.9 | 165 | 3714 | roll | -0.93 | - | - | 2554 | - | 2.25 | 0.031 | 1519 | -605.3 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 15.02 | 14.71 | 15.05 |
3740 | 399.3 | -9.7 | 170 | 3754 | done | -0.98 | - | - | 2547 | - | 2.35 | 0.051 | 2872 | 575.7 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 14.73 | 14.62 | 14.76 |
4102 | 435.4 | -9.9 | 179 | 4116 | roll | -0.98 | - | - | 2547 | - | 2.22 | 0.029 | 1520 | -609.0 | -146.0 | - | - | 3537 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.05 |
4177 | 442.6 | -9.5 | 189 | 4191 | done | -1.01 | - | - | 2537 | - | 2.35 | 0.050 | 2873 | 575.7 | -146.0 | - | - | 3536 | - | - | - | - | - | - | - | - | 14.74 | 14.63 | 14.78 |
4504 | 475.8 | -10.2 | 200 | 4518 | roll | -1.01 | - | - | 2538 | - | 2.22 | 0.029 | 1524 | -607.7 | -146.0 | - | - | 3534 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.05 |
4537 | 479.2 | -10.4 | 204 | 4550 | done | -1.01 | - | - | 2529 | - | 2.33 | 0.050 | 2871 | 578.1 | -146.0 | - | - | 3534 | - | - | - | - | - | - | - | - | 14.73 | 14.62 | 14.77 |
4905 | 519.4 | -11.0 | 214 | 4919 | roll | -1.01 | - | - | 2529 | - | 2.22 | 0.030 | 1521 | -608.1 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.06 |
4945 | 523.8 | -11.5 | 219 | 4959 | done | -1.01 | - | - | 2518 | - | 2.33 | 0.050 | 2876 | 581.5 | -146.0 | - | - | 3532 | - | - | - | - | - | - | - | - | 14.72 | 14.62 | 14.76 |
5307 | 564.8 | -11.5 | 228 | 5321 | roll | -0.98 | - | - | 2519 | - | 2.22 | 0.030 | 1525 | -608.6 | -146.0 | - | - | 3531 | - | - | - | - | - | - | - | - | 15.02 | 14.71 | 15.05 |
5361 | 570.9 | -11.2 | 235 | 5375 | done | -0.98 | - | - | 2509 | - | 2.35 | 0.050 | 2873 | 573.6 | -146.0 | - | - | 3530 | - | - | - | - | - | - | - | - | 14.71 | 14.59 | 14.74 |
5704 | 610.4 | -11.5 | 242 | 5718 | roll | -0.94 | 0.12 | 0.256 | 2541 | 266.7 | 2.25 | 0.028 | 1517 | -602.7 | -146.0 | - | - | 3528 | - | - | - | - | - | - | - | - | 14.40 | 14.59 | 14.51 |
5758 | 615.9 | -9.7 | 249 | 5774 | done | -0.98 | - | - | 2534 | - | 2.38 | 0.050 | 2879 | 572.3 | -146.0 | - | - | 3528 | - | - | - | - | - | - | - | - | 14.69 | 14.57 | 14.72 |
6101 | 650.6 | -10.2 | 256 | 6115 | roll | -0.98 | - | - | 2526 | - | 1.65 | 0.080 | 3825 | 573.3 | -146.0 | - | - | 3527 | - | - | - | - | - | - | - | - | 15.02 | 14.56 | 15.05 |
6127 | 653.4 | -10.1 | 259 | 6141 | done | -0.98 | - | - | 2527 | - | 1.48 | 0.031 | 2858 | -653.4 | -146.0 | - | - | 3526 | - | - | - | - | - | - | - | - | 14.78 | 14.71 | 14.80 |
6447 | 685.9 | -10.2 | 269 | 6461 | roll | -0.98 | - | - | 2526 | - | 2.17 | 0.029 | 1526 | -613.8 | -146.0 | - | - | 3525 | - | - | - | - | - | - | - | - | 15.02 | 14.67 | 15.02 |
6522 | 693.5 | -9.9 | 279 | 6535 | done | -0.98 | - | - | 2517 | - | 2.35 | 0.050 | 2879 | 575.7 | -146.0 | - | - | 3525 | - | - | - | - | - | - | - | - | 14.69 | 14.57 | 14.73 |
6849 | 726.2 | -10.0 | 290 | 6862 | roll | -0.98 | - | - | 2517 | - | 2.22 | 0.028 | 1538 | -604.1 | -146.0 | - | - | 3523 | - | - | - | - | - | - | - | - | 15.02 | 14.68 | 15.04 |
6881 | 729.6 | -10.2 | 294 | 6895 | done | -0.98 | - | - | 2507 | - | 2.33 | 0.050 | 2871 | 572.1 | -146.0 | - | - | 3523 | - | - | - | - | - | - | - | - | 14.69 | 14.57 | 14.72 |
7250 | 767.1 | -10.3 | 304 | 7264 | done | -0.95 | 0.15 | 0.242 | 2541 | 226.7 | - | - | 2872 | - | -146.0 | - | - | 3520 | - | - | - | - | - | - | - | - | 14.36 | 14.66 | 14.57 |
7586 | 797.1 | -8.9 | 310 | 7600 | roll | -1.00 | - | - | 2541 | - | 2.22 | 0.029 | 1534 | -602.7 | -146.0 | - | - | 3520 | - | - | - | - | - | - | - | - | 14.98 | 14.64 | 15.01 |
7676 | 804.9 | -8.9 | 322 | 7690 | done | -1.06 | 0.08 | 0.180 | 2494 | -587.5 | 2.35 | 0.050 | 2880 | 572.8 | -146.0 | - | - | 3519 | - | - | - | - | - | - | - | - | 14.50 | 14.54 | 14.64 |
8042 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8042 | begin apogee | ||||||||||||||||||||||||||||
8048 | 846.2 | -11.3 | 332 | 8424 | done | -0.21 | 1.02 | 0.200 | 2775 | 275.5 | - | - | 2627 | - | - | 364.75 | 1.248 | 2968 | -1.5 | 0.196 | - | - | - | - | - | - | 14.19 | 14.07 | 13.42 |
8425 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8425 | begin climb | ||||||||||||||||||||||||||||
8428 | 860.6 | - | 338 | 8613 | roll | 0.91 | 1.15 | 0.103 | 3151 | 327.0 | 2.30 | 0.034 | 1320 | -568.3 | 146.0 | 163.75 | 1.675 | 2372 | -3.6 | 0.357 | - | - | - | - | - | - | 14.09 | 13.95 | 13.16 |
8725 | 842.0 | 11.5 | 386 | 8739 | done | 0.75 | 0.25 | 0.240 | 3091 | -240.0 | 2.33 | 0.042 | 2650 | 570.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.14 | 14.35 | 14.38 |
9068 | 807.8 | 9.8 | 399 | 9082 | roll | 0.67 | - | - | 3100 | - | 2.25 | 0.034 | 1314 | -593.8 | 150.9 | - | - | 2353 | - | - | - | - | - | - | - | - | 14.76 | 14.58 | 14.80 |
9143 | 800.1 | 9.7 | 409 | 9158 | done | 0.61 | 0.20 | 0.212 | 3052 | -240.0 | 2.30 | 0.043 | 2650 | 580.9 | 157.1 | 1.27 | 0.253 | 2339 | -11.0 | 6.654 | - | - | - | - | - | - | 14.34 | 14.58 | 14.35 |
9474 | 772.4 | 8.4 | 420 | 9537 | roll | 0.65 | - | - | 3060 | - | 2.35 | 0.035 | 1316 | -567.7 | 191.5 | 47.80 | 1.605 | 2195 | -3.0 | 0.277 | - | - | - | - | - | - | 14.88 | 14.40 | 13.55 |
9607 | 760.3 | 9.3 | 439 | 9633 | done | 0.70 | - | - | 3060 | - | 2.33 | 0.043 | 2641 | 568.7 | 207.3 | 13.32 | 1.802 | 2142 | -4.0 | 0.320 | - | - | - | - | - | - | 14.53 | 14.45 | 13.50 |
9974 | 722.7 | 10.3 | 449 | 9988 | roll | 0.70 | - | - | 3070 | - | 2.22 | 0.035 | 1319 | -595.5 | 207.3 | - | - | 2126 | - | - | - | - | - | - | - | - | 14.81 | 14.57 | 14.84 |
10007 | 719.4 | 9.7 | 453 | 10021 | done | 0.71 | - | - | 3070 | - | 2.28 | 0.043 | 2651 | 584.2 | 212.7 | - | - | 2125 | - | - | - | - | - | - | - | - | 14.65 | 14.57 | 14.67 |
10376 | 680.1 | 10.7 | 463 | 10390 | roll | 0.71 | - | - | 3088 | - | 2.22 | 0.034 | 1320 | -599.5 | 212.7 | - | - | 2124 | - | - | - | - | - | - | - | - | 14.89 | 14.63 | 14.92 |
10444 | 673.2 | 9.9 | 472 | 10458 | done | 0.71 | - | - | 3080 | - | 2.28 | 0.044 | 2643 | 580.3 | 214.7 | 1.45 | 0.238 | 2111 | -9.0 | 4.841 | - | - | - | - | - | - | 14.70 | 14.62 | 14.33 |
10778 | 638.4 | 10.4 | 484 | 10792 | roll | 0.71 | - | - | 3090 | - | 2.22 | 0.034 | 1317 | -597.3 | 214.7 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.90 | 14.63 | 14.93 |
10846 | 631.7 | 9.7 | 493 | 10864 | done | 0.72 | - | - | 3090 | - | 2.28 | 0.044 | 2645 | 582.5 | 220.1 | 3.97 | 1.277 | 2092 | -6.5 | 0.618 | - | - | - | - | - | - | 14.71 | 14.62 | 13.34 |
11177 | 598.4 | 10.0 | 505 | 11192 | roll | 0.68 | - | - | 3099 | - | 2.30 | 0.034 | 1315 | -578.3 | 220.1 | 1.73 | 0.230 | 2094 | - | - | - | - | - | - | - | - | 14.94 | 14.61 | 14.31 |
11232 | 593.1 | 9.5 | 512 | 11266 | done | 0.70 | - | - | 3100 | - | 2.28 | 0.044 | 2640 | 581.1 | 231.0 | 21.92 | 1.671 | 2048 | -2.1 | 0.142 | - | - | - | - | - | - | 14.71 | 14.63 | 13.76 |
11574 | 557.4 | 10.6 | 525 | 11588 | roll | 0.66 | 0.12 | 0.223 | 3075 | -208.3 | 2.17 | 0.032 | 1316 | -610.1 | 231.0 | - | - | 2030 | - | - | - | - | - | - | - | - | 14.37 | 14.56 | 14.49 |
11664 | 549.2 | 8.6 | 537 | 11717 | done | 0.74 | - | - | 3075 | - | 2.28 | 0.044 | 2634 | 578.1 | 261.5 | 37.03 | 1.529 | 1918 | -3.0 | 0.207 | - | - | - | - | - | - | 14.67 | 14.59 | 13.68 |
12032 | 512.6 | 10.3 | 554 | 12045 | roll | 0.74 | - | - | 3085 | - | 2.25 | 0.036 | 1320 | -584.0 | 261.5 | - | - | 1904 | - | - | - | - | - | - | - | - | 14.77 | 14.49 | 14.80 |
12113 | 504.0 | 10.1 | 565 | 12128 | done | 0.79 | - | - | 3085 | - | 2.30 | 0.045 | 2649 | 577.8 | 261.5 | - | - | 1903 | - | - | - | - | - | - | - | - | 14.64 | 14.54 | 14.67 |
12434 | 468.5 | 11.2 | 575 | 12447 | roll | 0.79 | - | - | 3094 | - | 2.25 | 0.038 | 1321 | -590.2 | 261.5 | - | - | 1902 | - | - | - | - | - | - | - | - | 14.88 | 14.54 | 14.92 |
12495 | 461.6 | 11.2 | 583 | 12508 | done | 0.82 | - | - | 3094 | - | 2.28 | 0.044 | 2642 | 579.4 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.68 | 14.59 | 14.71 |
12835 | 421.1 | 12.0 | 596 | 12849 | roll | 0.82 | - | - | 3103 | - | 2.25 | 0.037 | 1319 | -588.0 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.92 | 14.57 | 14.95 |
12924 | 410.9 | 11.4 | 608 | 12938 | done | 0.82 | - | - | 3103 | - | 2.25 | 0.044 | 2640 | 587.1 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.70 | 14.60 | 14.73 |
13293 | 366.6 | 12.0 | 618 | 13307 | roll | 0.82 | - | - | 3112 | - | 2.22 | 0.038 | 1320 | -594.6 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.95 | 14.62 | 14.97 |
13368 | 358.1 | 11.2 | 628 | 13382 | done | 0.82 | - | - | 3112 | - | 2.28 | 0.046 | 2645 | 581.1 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.70 | 14.61 | 14.74 |
13696 | 320.2 | 11.5 | 639 | 13709 | roll | 0.79 | - | - | 3121 | - | 2.25 | 0.037 | 1313 | -592.0 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.95 | 14.63 | 14.99 |
13784 | 310.5 | 10.7 | 651 | 13798 | done | 0.79 | - | - | 3121 | - | 2.30 | 0.045 | 2648 | 580.4 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.70 | 14.61 | 14.76 |
14153 | 267.4 | 11.9 | 661 | 14167 | roll | 0.75 | 0.12 | 0.226 | 3098 | -191.7 | 2.25 | 0.033 | 1311 | -594.2 | 261.5 | - | - | 1900 | - | - | - | - | - | - | - | - | 13.74 | 14.35 | 14.14 |
14229 | 259.5 | 10.1 | 671 | 14242 | done | 0.79 | - | - | 3098 | - | 2.28 | 0.044 | 2649 | 586.8 | 261.5 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.70 | 14.61 | 14.74 |
14555 | 222.9 | 11.4 | 682 | 14569 | roll | 0.79 | - | - | 3107 | - | 2.22 | 0.037 | 1316 | -600.5 | 261.5 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.97 | 14.64 | 15.00 |
14623 | 215.1 | 11.4 | 691 | 14637 | done | 0.79 | - | - | 3107 | - | 2.28 | 0.044 | 2640 | 580.7 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.70 | 14.61 | 14.74 |
14957 | 176.5 | 11.4 | 703 | 14971 | roll | 0.79 | - | - | 3116 | - | 2.22 | 0.036 | 1312 | -598.2 | 261.5 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.97 | 14.63 | 15.03 |
15060 | 165.6 | 10.2 | 717 | 15074 | done | 0.79 | - | - | 3115 | - | 2.30 | 0.044 | 2651 | 582.2 | 261.5 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.69 | 14.59 | 14.73 |
15415 | 124.4 | 12.0 | 725 | 15429 | roll | 0.79 | - | - | 3125 | - | 2.25 | 0.036 | 1313 | -594.7 | 261.5 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.97 | 14.63 | 15.00 |
15469 | 118.1 | 11.3 | 732 | 15483 | done | 0.79 | - | - | 3125 | - | 2.28 | 0.044 | 2639 | 581.6 | 261.5 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.69 | 14.60 | 14.73 |
15784 | 82.4 | 10.9 | 741 | 15798 | roll | 0.79 | - | - | 3134 | - | 2.22 | 0.036 | 1313 | -597.3 | 261.5 | - | - | 1902 | - | - | - | - | - | - | - | - | 14.89 | 14.62 | 14.96 |
15952 | 65.5 | 8.1 | 764 | 15982 | done | 0.88 | - | - | 3134 | - | 2.30 | 0.044 | 2651 | 581.7 | 302.2 | 18.25 | 0.341 | 1764 | -7.6 | 0.277 | - | - | - | - | - | - | 14.62 | 14.53 | 14.13 |
16297 | 48.1 | 3.9 | 780 | 16379 | roll | 1.15 | 0.22 | 0.086 | 3241 | 486.4 | 2.33 | 0.037 | 1311 | -575.1 | 432.4 | 68.05 | 0.304 | 1247 | -7.6 | 0.229 | - | - | - | - | - | - | 14.59 | 14.58 | 14.24 |
16573 | 25.2 | 8.4 | 819 | 16606 | done | 1.24 | - | - | 3241 | - | 2.28 | 0.042 | 2640 | 582.9 | 466.6 | 18.40 | 0.237 | 1110 | -7.4 | 0.151 | - | - | - | - | - | - | 14.65 | 14.57 | 14.16 |
16822 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16822 | begin surface coast | ||||||||||||||||||||||||||||
16853 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16853 | begin surface | ||||||||||||||||||||||||||||
SM | 1.06 | - | - | - | - | -8.26 | 8.95 | 0.064 | 186 | 20.8 | 0.40 | 0.078 | 2872 | -16275.0 | 525.01 | 28.73 | 0.167 | 875 | 30.5 | -0.020 | - | - | - | - | - | - |