• Previous call tries 1 | • 64.14 of 147.52 AH used of 24V (56.52% remains) | |
• Previous NAKs 0, Timeouts 0 | • 40.81 of 108.53 AH used of 10V (62.39% remains) | |
• Surface angle -73.8 deg, depth 0.74 m | • Intended pitch -16.2 deg, speed -13.200 cm/s | |
• No surface pump (final VBD was 625.27, SM_CC=450) | ||
• GPS1 time: 31 s | ||
• GPS2 time: 10 s | • Transponder ping count: 0 | |
• 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 | ||||||||||||||||||||||||||||
17 | begin dive | ||||||||||||||||||||||||||||
20 | - | - | - | 115 | VBD | -0.76 | - | - | 126 | - | - | - | 2339 | - | -292.0 | -92.35 | - | 2980 | - | - | - | - | - | - | - | - | - | - | - |
118 | 3.3 | -7.1 | 16 | 149 | done | -0.76 | 7.90 | 0.234 | 2019 | 239.6 | - | - | 2339 | - | -292.0 | -17.92 | - | 3964 | -54.9 | - | - | - | - | - | - | - | 24.96 | - | 26.51 |
334 | 82.1 | -24.8 | 57 | 340 | done | -0.69 | 0.12 | 0.181 | 2055 | 300.0 | - | - | 2339 | - | -292.0 | - | - | 3965 | - | - | - | - | - | - | - | - | 25.98 | - | - |
525 | 118.0 | -17.4 | 94 | 532 | roll | -0.66 | - | - | 2066 | - | 2.22 | 0.023 | 942 | -629.3 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.28 | - |
551 | 122.1 | -16.6 | 98 | 557 | done | -0.63 | - | - | 2053 | - | 2.53 | 0.031 | 2441 | 592.5 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.22 | - |
742 | 154.7 | -17.8 | 135 | 749 | roll | -0.60 | - | - | 2043 | - | 2.10 | 0.041 | 3838 | 665.2 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.21 | - |
793 | 164.6 | -19.0 | 144 | 801 | done | -0.58 | 0.15 | 0.126 | 2089 | 306.7 | 2.05 | 0.019 | 2399 | -702.0 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | 26.09 | 26.41 | - |
986 | 188.3 | -11.4 | 181 | 992 | done | -0.58 | - | - | 2089 | - | - | - | 2398 | - | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | - | - |
1177 | 209.0 | -10.7 | 218 | 1183 | roll | -0.58 | - | - | 2078 | - | 2.25 | 0.041 | 3827 | 635.1 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.25 | - |
1207 | 212.1 | -10.3 | 223 | 1215 | done | -0.59 | - | - | 2078 | - | 2.00 | 0.018 | 2402 | -712.5 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.48 | - |
1520 | 242.5 | -9.1 | 284 | 1527 | roll | -0.60 | - | - | 2078 | - | 2.38 | 0.024 | 950 | -610.1 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.37 | - |
1542 | 244.6 | -9.4 | 287 | 1550 | done | -0.61 | - | - | 2070 | - | 2.60 | 0.028 | 2477 | 587.3 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.33 | - |
1855 | 275.2 | -10.3 | 348 | 1861 | done | -0.62 | - | - | 2070 | - | - | - | 2475 | - | -292.0 | - | - | 3965 | - | - | - | - | - | - | - | - | - | - | - |
2167 | 309.7 | -11.3 | 409 | 2173 | roll | -0.63 | - | - | 2071 | - | 2.55 | 0.024 | 957 | -595.3 | -292.0 | - | - | 3964 | - | - | - | - | - | - | - | - | - | 26.36 | - |
2201 | 313.7 | -10.3 | 415 | 2209 | done | -0.67 | - | - | 2069 | - | 2.55 | 0.029 | 2466 | 591.8 | -292.0 | - | - | 3964 | - | - | - | - | - | - | - | - | - | 26.33 | - |
2515 | 341.2 | -7.8 | 476 | 2522 | roll | -0.70 | - | - | 2065 | - | 2.05 | 0.041 | 3827 | 663.9 | -292.0 | - | - | 3961 | - | - | - | - | - | - | - | - | - | 26.27 | - |
2535 | 342.8 | -7.4 | 479 | 2543 | done | -0.74 | - | - | 2065 | - | 1.77 | 0.018 | 2486 | -757.6 | -292.0 | - | - | 3961 | - | - | - | - | - | - | - | - | - | 26.55 | - |
2853 | 364.9 | -7.7 | 540 | 2861 | roll | -0.80 | 0.12 | 0.078 | 1973 | -766.7 | 2.08 | 0.051 | 3839 | 650.5 | -292.0 | -0.03 | - | 3969 | -266.7 | - | - | - | - | - | - | - | 26.55 | 26.27 | 25.91 |
2890 | 368.7 | -11.4 | 546 | 2898 | done | -0.78 | 0.15 | 0.139 | 2020 | 313.3 | 2.03 | 0.020 | 2419 | -699.5 | -292.0 | - | - | 3968 | - | - | - | - | - | - | - | - | 26.08 | 26.46 | - |
3206 | 413.2 | -14.7 | 607 | 3213 | roll | -0.76 | - | - | 2030 | - | 2.40 | 0.025 | 956 | -609.6 | -292.0 | - | - | 3967 | - | - | - | - | - | - | - | - | - | 26.35 | - |
3287 | 423.4 | -9.8 | 622 | 3293 | done | -0.78 | - | - | 2029 | - | 2.58 | 0.031 | 2470 | 586.8 | -292.0 | - | - | 3966 | - | - | - | - | - | - | - | - | - | 26.29 | - |
3600 | 464.0 | -12.4 | 683 | 3607 | roll | -0.76 | - | - | 2020 | - | 2.05 | 0.041 | 3829 | 662.9 | -292.0 | - | - | 3964 | - | - | - | - | - | - | - | - | - | 26.25 | - |
3640 | 469.5 | -12.5 | 690 | 3647 | done | -0.76 | - | - | 2022 | - | 2.08 | 0.019 | 2406 | -684.1 | -292.0 | - | - | 3963 | - | - | - | - | - | - | - | - | - | 26.46 | - |
3958 | 512.7 | -13.6 | 743 | 3968 | roll | -0.75 | - | - | 2023 | - | 2.35 | 0.024 | 946 | -621.3 | -292.0 | - | - | 3960 | - | - | - | - | - | - | - | - | - | 26.34 | - |
4013 | 519.0 | -11.2 | 748 | 4022 | done | -0.76 | - | - | 2017 | - | 2.55 | 0.033 | 2456 | 592.2 | -292.0 | - | - | 3959 | - | - | - | - | - | - | - | - | - | 26.27 | - |
4323 | 561.6 | -14.0 | 779 | 4332 | roll | -0.74 | - | - | 2006 | - | 2.05 | 0.041 | 3832 | 671.2 | -292.0 | - | - | 3957 | - | - | - | - | - | - | - | - | - | 26.23 | - |
4357 | 566.5 | -14.5 | 782 | 4366 | done | -0.72 | 0.08 | 0.118 | 2039 | 412.5 | 2.10 | 0.019 | 2392 | -685.7 | -292.0 | - | - | 3956 | - | - | - | - | - | - | - | - | 26.16 | 26.44 | - |
4666 | 602.9 | -11.7 | 813 | 4674 | roll | -0.72 | - | - | 2027 | - | 2.25 | 0.041 | 3830 | 639.1 | -292.0 | - | - | 3953 | - | - | - | - | - | - | - | - | - | 26.20 | - |
4699 | 606.7 | -12.0 | 816 | 4703 | done | -0.72 | - | - | 2027 | - | 2.08 | 0.019 | 2398 | -688.5 | -292.0 | - | - | 3953 | - | - | - | - | - | - | - | - | - | 26.46 | - |
5011 | 645.5 | -12.4 | 847 | 5013 | done | -0.71 | - | - | 2027 | - | - | - | 2398 | - | -292.0 | - | - | 3950 | - | - | - | - | - | - | - | - | - | - | - |
5314 | 683.5 | -12.1 | 877 | 5323 | roll | -0.70 | - | - | 2016 | - | 2.28 | 0.044 | 3819 | 623.2 | -292.0 | - | - | 3947 | - | - | - | - | - | - | - | - | - | 26.16 | - |
5356 | 688.9 | -12.2 | 881 | 5365 | done | -0.70 | 0.10 | 0.133 | 2047 | 310.0 | 2.08 | 0.020 | 2400 | -682.2 | -292.0 | - | - | 3947 | - | - | - | - | - | - | - | - | 26.20 | 26.44 | - |
5667 | 719.1 | -10.0 | 912 | 5676 | roll | -0.71 | - | - | 2036 | - | 2.33 | 0.043 | 3837 | 616.7 | -292.0 | - | - | 3946 | - | - | - | - | - | - | - | - | - | 26.15 | - |
5700 | 722.3 | -9.8 | 915 | 5704 | done | -0.72 | - | - | 2036 | - | 2.05 | 0.021 | 2416 | -693.2 | -292.0 | - | - | 3946 | - | - | - | - | - | - | - | - | - | 26.44 | - |
6012 | 755.8 | -11.1 | 946 | 6021 | roll | -0.72 | - | - | 2036 | - | 2.38 | 0.026 | 960 | -611.8 | -292.0 | - | - | 3943 | - | - | - | - | - | - | - | - | - | 26.26 | - |
6047 | 759.2 | -10.8 | 949 | 6053 | done | -0.73 | - | - | 2033 | - | 2.58 | 0.032 | 2473 | 586.4 | -292.0 | - | - | 3943 | - | - | - | - | - | - | - | - | - | 26.21 | - |
6354 | 793.7 | -11.2 | 980 | 6363 | roll | -0.73 | - | - | 2023 | - | 2.05 | 0.044 | 3830 | 662.0 | -292.0 | - | - | 3941 | - | - | - | - | - | - | - | - | - | 26.13 | - |
6399 | 798.5 | -11.5 | 984 | 6406 | done | -0.74 | - | - | 2023 | - | 2.05 | 0.021 | 2421 | -687.3 | -292.0 | - | - | 3940 | - | - | - | - | - | - | - | - | - | 26.41 | - |
6707 | 834.9 | -12.0 | 1015 | 6708 | done | -0.74 | - | - | 2022 | - | - | - | 2420 | - | -292.0 | - | - | 3938 | - | - | - | - | - | - | - | - | - | - | - |
7008 | 869.9 | -11.8 | 1045 | 7014 | done | -0.74 | - | - | 2023 | - | - | - | 2420 | - | -292.0 | - | - | 3935 | - | - | - | - | - | - | - | - | - | - | - |
7321 | 908.1 | -12.2 | 1076 | 7329 | roll | -0.74 | - | - | 2013 | - | 2.25 | 0.045 | 3825 | 624.4 | -292.0 | - | - | 3933 | - | - | - | - | - | - | - | - | - | 26.08 | - |
7356 | 912.8 | -12.7 | 1079 | 7363 | done | -0.74 | - | - | 2013 | - | 2.05 | 0.021 | 2428 | -681.5 | -292.0 | - | - | 3933 | - | - | - | - | - | - | - | - | - | 26.38 | - |
7664 | 952.9 | -12.4 | 1110 | 7673 | roll | -0.73 | - | - | 2013 | - | 2.45 | 0.028 | 947 | -604.5 | -292.0 | - | - | 3932 | - | - | - | - | - | - | - | - | - | 26.20 | - |
7689 | 955.6 | -12.2 | 1112 | 7696 | done | -0.72 | 0.12 | 0.119 | 2052 | 325.0 | 2.62 | 0.036 | 2475 | 583.2 | -292.0 | - | - | 3932 | - | - | - | - | - | - | - | - | 25.99 | 26.10 | - |
7997 | 981.9 | -8.1 | 1143 | 8006 | roll | -0.74 | - | - | 2042 | - | 2.05 | 0.045 | 3819 | 655.6 | -292.0 | - | - | 3930 | - | - | - | - | - | - | - | - | - | 26.06 | - |
8022 | 983.8 | -8.4 | 1145 | 8029 | done | -0.76 | - | - | 2042 | - | 2.08 | 0.020 | 2417 | -674.0 | -292.0 | - | - | 3930 | - | - | - | - | - | - | - | - | - | 26.39 | - |
8087 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8087 | begin apogee | ||||||||||||||||||||||||||||
8094 | 990.0 | -9.1 | 1152 | 8339 | roll | -0.20 | 0.47 | 0.086 | 2212 | 361.7 | 0.05 | 0.047 | 2482 | 1300.0 | - | 235.32 | 1.108 | 2969 | -4.1 | 0.386 | - | - | - | - | - | - | 25.92 | 24.53 | 23.42 |
8340 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8340 | begin climb | ||||||||||||||||||||||||||||
8344 | 1003.2 | - | 1177 | 8662 | roll | 0.76 | 0.77 | 0.031 | 2540 | 426.0 | 2.55 | 0.026 | 1060 | -557.6 | 292.0 | 307.00 | 1.096 | 1783 | -3.9 | 0.374 | - | - | - | - | - | - | 25.06 | 25.01 | 23.15 |
8715 | 945.3 | 19.8 | 1214 | 8722 | done | 0.73 | 0.12 | 0.175 | 2511 | -241.7 | 2.78 | 0.041 | 2529 | 528.4 | 292.0 | - | - | 1754 | - | - | - | - | - | - | - | - | 24.96 | 25.19 | - |
9023 | 869.7 | 25.5 | 1245 | 9032 | roll | 0.66 | - | - | 2511 | - | 1.98 | 0.047 | 3843 | 663.6 | 292.0 | - | - | 1749 | - | - | - | - | - | - | - | - | - | 25.95 | - |
9038 | 867.3 | 25.8 | 1246 | 9046 | done | 0.59 | 0.12 | 0.181 | 2470 | -341.7 | 1.90 | 0.021 | 2528 | -692.1 | 292.0 | - | - | 1749 | - | - | - | - | - | - | - | - | 25.56 | 26.13 | - |
9345 | 799.6 | 20.9 | 1277 | 9353 | roll | 0.55 | - | - | 2483 | - | 2.55 | 0.028 | 1063 | -574.5 | 292.0 | - | - | 1748 | - | - | - | - | - | - | - | - | - | 26.12 | - |
9408 | 788.5 | 16.2 | 1283 | 9418 | done | 0.54 | 0.08 | 0.132 | 2456 | -337.5 | 2.78 | 0.037 | 2586 | 547.8 | 292.0 | - | - | 1747 | - | - | - | - | - | - | - | - | 25.88 | 26.10 | - |
9718 | 729.4 | 19.4 | 1314 | 9721 | roll | 0.51 | - | - | 2456 | - | 1.80 | 0.044 | 3828 | 690.0 | 292.0 | - | - | 1746 | - | - | - | - | - | - | - | - | - | 26.11 | - |
9800 | 711.8 | 21.7 | 1322 | 9810 | done | 0.47 | 0.15 | 0.174 | 2425 | -206.7 | 1.83 | 0.021 | 2535 | -706.6 | 292.0 | - | - | 1746 | - | - | - | - | - | - | - | - | 25.83 | 26.29 | - |
10111 | 665.2 | 13.3 | 1353 | 10119 | roll | 0.46 | - | - | 2425 | - | 1.98 | 0.044 | 3850 | 664.1 | 292.0 | - | - | 1746 | - | - | - | - | - | - | - | - | - | 26.12 | - |
10145 | 660.3 | 14.6 | 1356 | 10151 | done | 0.44 | - | - | 2435 | - | 1.83 | 0.021 | 2537 | -717.5 | 292.0 | - | - | 1745 | - | - | - | - | - | - | - | - | - | 26.32 | - |
10455 | 616.1 | 14.1 | 1387 | 10462 | done | 0.43 | - | - | 2436 | - | - | - | 2535 | - | 292.0 | - | - | 1745 | - | - | - | - | - | - | - | - | - | - | - |
10765 | 574.3 | 13.0 | 1418 | 10774 | roll | 0.42 | - | - | 2436 | - | 1.95 | 0.044 | 3822 | 660.0 | 298.6 | - | - | 1745 | - | - | - | - | - | - | - | - | - | 26.11 | - |
10828 | 564.2 | 16.2 | 1424 | 10837 | done | 0.40 | 0.15 | 0.161 | 2404 | -213.3 | 1.77 | 0.021 | 2545 | -721.5 | 298.6 | - | - | 1745 | - | - | - | - | - | - | - | - | 25.89 | 26.36 | - |
11138 | 533.1 | 9.5 | 1455 | 11343 | roll | 0.56 | 0.12 | 0.080 | 2498 | 783.3 | 2.80 | 0.030 | 1064 | -528.9 | 420.4 | 192.40 | 0.763 | 1252 | -2.6 | 0.189 | - | - | - | - | - | - | 26.48 | 25.14 | 23.99 |
11382 | 491.3 | 13.5 | 1483 | 11390 | done | 0.58 | 0.12 | 0.127 | 2462 | -300.0 | 2.88 | 0.031 | 2608 | 536.1 | 420.4 | - | - | 1239 | - | - | - | - | - | - | - | - | 25.35 | 25.50 | - |
11697 | 448.2 | 13.9 | 1544 | 11704 | roll | 0.58 | - | - | 2476 | - | 2.80 | 0.031 | 1058 | -553.6 | 420.4 | - | - | 1234 | - | - | - | - | - | - | - | - | - | 25.96 | - |
11738 | 442.9 | 12.0 | 1551 | 11793 | done | 0.65 | - | - | 2476 | - | 2.80 | 0.031 | 2593 | 548.2 | 458.9 | 39.83 | 0.790 | 1103 | -3.3 | 0.195 | - | - | - | - | 1 | - | - | 25.98 | 24.16 |
12101 | 386.3 | 15.9 | 1620 | 12108 | roll | 0.65 | - | - | 2489 | - | 2.75 | 0.029 | 1067 | -554.9 | 458.9 | - | - | 1105 | - | - | - | - | - | - | - | - | - | 25.98 | - |
12151 | 379.6 | 12.1 | 1629 | 12205 | done | 0.73 | - | - | 2490 | - | 2.67 | 0.030 | 2545 | 553.6 | 494.4 | 39.50 | 0.765 | 959 | -3.7 | 0.194 | - | - | - | - | 1 | - | - | 26.03 | 24.17 |
12512 | 322.3 | 15.8 | 1698 | 12520 | roll | 0.73 | - | - | 2503 | - | 2.75 | 0.030 | 1056 | -541.5 | 494.4 | 2.45 | 0.365 | 960 | - | - | - | - | - | - | - | - | - | 25.99 | 23.93 |
12539 | 318.1 | 16.0 | 1702 | 12546 | done | 0.74 | - | - | 2503 | - | 2.67 | 0.031 | 2539 | 555.4 | 494.4 | - | - | 964 | - | - | - | - | - | - | - | - | - | 26.01 | - |
12850 | 268.7 | 15.6 | 1763 | 12858 | roll | 0.74 | - | - | 2517 | - | 2.65 | 0.028 | 1053 | -560.8 | 494.4 | - | - | 971 | - | - | - | - | - | - | - | - | - | 26.10 | - |
12887 | 263.5 | 12.7 | 1769 | 12930 | done | 0.79 | - | - | 2517 | - | 2.62 | 0.031 | 2522 | 560.7 | 511.7 | 28.90 | 0.656 | 888 | -2.9 | 0.122 | - | - | - | - | 1 | - | - | 26.11 | 24.32 |
13238 | 213.9 | 13.7 | 1836 | 13245 | roll | 0.80 | - | - | 2529 | - | 2.60 | 0.030 | 1069 | -558.8 | 511.7 | - | - | 897 | - | - | - | - | - | - | - | - | - | 26.05 | - |
13264 | 210.9 | 11.9 | 1840 | 13337 | done | 0.86 | - | - | 2529 | - | 2.58 | 0.031 | 2508 | 557.8 | 553.4 | 60.35 | 0.656 | 721 | -2.9 | 0.099 | - | - | - | - | 1 | - | - | 26.07 | 24.27 |
13647 | 165.8 | 10.6 | 1912 | 13760 | roll | 0.99 | 0.15 | 0.070 | 2630 | 673.3 | 2.67 | 0.031 | 1068 | -539.3 | 638.5 | 100.03 | 0.646 | 431 | -2.9 | 0.079 | - | - | - | - | 1 | - | 26.22 | 25.37 | 24.18 |
13780 | 137.0 | 24.2 | 1934 | 13787 | done | 0.97 | 0.15 | 0.132 | 2588 | -280.0 | 2.60 | 0.031 | 2492 | 547.7 | 638.5 | - | - | 431 | - | - | - | - | - | - | - | - | 25.34 | 25.54 | - |
13972 | 105.1 | 15.3 | 1971 | 13980 | roll | 0.98 | - | - | 2588 | - | 2.05 | 0.039 | 3826 | 650.7 | 638.5 | - | - | 431 | - | - | - | - | - | - | - | - | - | 25.91 | - |
13998 | 100.7 | 17.1 | 1975 | 14006 | done | 0.98 | - | - | 2598 | - | 2.03 | 0.021 | 2440 | -682.8 | 638.5 | - | - | 431 | - | - | - | - | - | - | - | - | - | 26.03 | - |
14192 | 76.3 | 10.0 | 2012 | 14200 | roll | 1.14 | 0.12 | 0.076 | 2694 | 800.0 | 2.40 | 0.029 | 1057 | -576.2 | 742.5 | - | - | 431 | - | - | - | - | - | - | - | - | 26.29 | 26.07 | - |
14233 | 70.3 | 17.4 | 2019 | 14241 | done | 1.13 | 0.20 | 0.130 | 2634 | -300.0 | 2.47 | 0.030 | 2468 | 571.3 | 742.5 | - | - | 431 | - | - | - | - | - | - | - | - | 25.78 | 26.11 | - |
14427 | 42.8 | 11.6 | 2056 | 14436 | roll | 1.20 | - | - | 2634 | - | 2.05 | 0.039 | 3831 | 664.9 | 794.0 | - | - | 431 | - | - | - | - | - | - | - | - | - | 26.13 | - |
14459 | 38.2 | 14.7 | 2061 | 14466 | done | 1.22 | - | - | 2644 | - | 2.05 | 0.020 | 2412 | -692.2 | 794.0 | - | - | 431 | - | - | - | - | - | - | - | - | - | 26.27 | - |
14651 | 13.3 | 10.6 | 2098 | 14658 | roll | 1.34 | 0.12 | 0.078 | 2732 | 733.3 | 2.30 | 0.031 | 1065 | -585.7 | 878.2 | - | - | 430 | - | - | - | - | - | - | - | - | 26.43 | 26.19 | - |
14691 | 6.1 | 20.8 | 2105 | 14698 | done | 1.31 | 0.12 | 0.161 | 2699 | -275.0 | 2.45 | 0.028 | 2464 | 571.0 | 878.2 | - | - | 430 | - | - | - | - | - | - | - | - | 25.94 | 26.24 | - |
14709 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
14709 | begin surface coast | ||||||||||||||||||||||||||||
14722 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14722 | begin surface | ||||||||||||||||||||||||||||
SM | 0.65 | - | - | - | - | -6.62 | 6.40 | 0.024 | 120 | -403.0 | 0.12 | 0.061 | 2356 | -900.0 | 625.27 | - | - | 430 | - | - | - | - | - | - | - | - |