• Previous call tries 2 | • 109.94 of 350.00 AH used of 24V (68.59% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -72.4 deg, depth -0.01 m | • Intended pitch -12.3 deg, speed -8.462 cm/s | |
• VBD pumped to 475.15 (SM_CC=475) | ||
• GPS1 time: 29 s | ||
• GPS2 time: 10 s | • Transponder ping count: 2 | |
• 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 | - | - | - | 97 | VBD | -0.92 | - | - | 221 | - | - | - | 2678 | - | -170.3 | -74.65 | - | 3055 | - | - | - | - | - | - | - | - | - | - | - |
101 | 3.3 | -11.2 | 13 | 133 | roll | -0.92 | 10.10 | 0.396 | 2379 | 213.7 | 2.25 | 0.061 | 1282 | -620.4 | -170.3 | -13.05 | - | 3791 | -56.4 | - | - | - | - | - | - | - | 14.32 | 14.69 | 14.90 |
162 | 22.9 | -23.4 | 23 | 170 | done | -0.92 | - | - | 2372 | - | 2.30 | 0.057 | 2678 | 607.0 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.64 | - |
478 | 95.4 | -20.4 | 45 | 483 | roll | -0.92 | - | - | 2363 | - | 1.83 | 0.075 | 3790 | 607.7 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.68 | - |
575 | 112.1 | -20.2 | 49 | 582 | done | -0.92 | - | - | 2363 | - | 1.75 | 0.033 | 2638 | -658.3 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.80 | - |
881 | 162.8 | -15.4 | 65 | 887 | roll | -0.92 | - | - | 2363 | - | 2.05 | 0.036 | 1310 | -647.8 | -170.3 | - | - | 3792 | - | - | - | - | - | - | - | - | - | 14.76 | - |
898 | 162.8 | -15.4 | 65 | 907 | done | -0.92 | 0.15 | 0.265 | 2387 | 160.0 | 2.22 | 0.056 | 2681 | 617.6 | -170.3 | - | - | 3792 | - | - | - | - | - | - | - | - | 14.52 | 14.76 | - |
1204 | 209.4 | -14.9 | 81 | 1210 | roll | -0.92 | - | - | 2378 | - | 1.80 | 0.074 | 3784 | 612.8 | -170.3 | - | - | 3792 | - | - | - | - | - | - | - | - | - | 14.74 | - |
1252 | 216.3 | -15.3 | 83 | 1257 | done | -0.92 | - | - | 2382 | - | 1.62 | 0.033 | 2669 | -688.3 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.89 | - |
1570 | 267.0 | -15.5 | 99 | 1576 | roll | -0.92 | - | - | 2381 | - | 2.10 | 0.037 | 1313 | -645.7 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.83 | - |
1603 | 270.6 | -15.3 | 100 | 1608 | done | -0.92 | - | - | 2372 | - | 2.20 | 0.054 | 2675 | 619.1 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.78 | - |
1916 | 318.9 | -14.1 | 116 | 1921 | roll | -0.92 | - | - | 2364 | - | 1.83 | 0.075 | 3791 | 609.8 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.73 | - |
1963 | 325.1 | -14.2 | 118 | 1968 | done | -0.92 | - | - | 2364 | - | 1.67 | 0.033 | 2674 | -668.9 | -170.3 | - | - | 3791 | - | - | - | - | - | - | - | - | - | 14.88 | - |
2281 | 371.0 | -14.5 | 134 | 2287 | roll | -0.92 | - | - | 2364 | - | 2.10 | 0.037 | 1317 | -646.2 | -170.3 | - | - | 3789 | - | - | - | - | - | - | - | - | - | 14.81 | - |
2339 | 377.1 | -14.3 | 136 | 2347 | done | -0.92 | 0.15 | 0.256 | 2389 | 166.7 | 2.20 | 0.056 | 2674 | 616.8 | -170.3 | - | - | 3790 | - | - | - | - | - | - | - | - | 14.55 | 14.79 | - |
2645 | 416.2 | -11.8 | 152 | 2651 | roll | -0.92 | - | - | 2389 | - | 2.12 | 0.038 | 1320 | -638.7 | -170.3 | - | - | 3788 | - | - | - | - | - | - | - | - | - | 14.84 | - |
2673 | 419.0 | -11.9 | 153 | 2678 | done | -0.92 | - | - | 2382 | - | 2.20 | 0.056 | 2674 | 615.5 | -170.3 | - | - | 3788 | - | - | - | - | - | - | - | - | - | 14.79 | - |
2992 | 457.8 | -12.8 | 169 | 2997 | roll | -0.92 | - | - | 2374 | - | 1.83 | 0.078 | 3783 | 606.0 | -170.3 | - | - | 3786 | - | - | - | - | - | - | - | - | - | 14.76 | - |
3065 | 466.8 | -13.8 | 172 | 3070 | done | -0.92 | - | - | 2374 | - | 1.62 | 0.035 | 2675 | -684.0 | -170.3 | - | - | 3786 | - | - | - | - | - | - | - | - | - | 14.92 | - |
3379 | 510.3 | -12.3 | 188 | 3384 | roll | -0.92 | - | - | 2372 | - | 2.12 | 0.039 | 1312 | -642.9 | -170.3 | - | - | 3785 | - | - | - | - | - | - | - | - | - | 14.83 | - |
3422 | 515.7 | -12.3 | 190 | 3427 | done | -0.92 | - | - | 2365 | - | 2.25 | 0.059 | 2681 | 608.4 | -170.3 | - | - | 3784 | - | - | - | - | - | - | - | - | - | 14.76 | - |
3746 | 554.5 | -12.8 | 206 | 3751 | roll | -0.92 | - | - | 2357 | - | 1.83 | 0.080 | 3783 | 602.2 | -170.3 | - | - | 3782 | - | - | - | - | - | - | - | - | - | 14.73 | - |
3830 | 565.8 | -13.5 | 210 | 3836 | done | -0.92 | 0.12 | 0.250 | 2385 | 233.3 | 1.65 | 0.037 | 2681 | -667.9 | -170.3 | - | - | 3782 | - | - | - | - | - | - | - | - | 14.55 | 14.90 | - |
4153 | 602.0 | -10.6 | 226 | 4159 | roll | -0.92 | - | - | 2384 | - | 2.15 | 0.041 | 1312 | -636.7 | -170.3 | - | - | 3780 | - | - | - | - | - | - | - | - | - | 14.81 | - |
4187 | 605.7 | -10.7 | 227 | 4193 | done | -0.92 | - | - | 2378 | - | 2.25 | 0.060 | 2673 | 604.9 | -170.3 | - | - | 3780 | - | - | - | - | - | - | - | - | - | 14.76 | - |
4523 | 646.6 | -12.9 | 238 | 4528 | roll | -0.92 | - | - | 2369 | - | 1.85 | 0.086 | 3778 | 597.3 | -170.3 | - | - | 3776 | - | - | - | - | - | - | - | - | - | 14.71 | - |
4665 | 663.4 | -13.3 | 242 | 4670 | done | -0.92 | - | - | 2369 | - | 1.65 | 0.039 | 2677 | -667.3 | -170.3 | - | - | 3775 | - | - | - | - | - | - | - | - | - | 14.88 | - |
4979 | 706.8 | -12.9 | 253 | 4984 | roll | -0.92 | - | - | 2369 | - | 2.17 | 0.043 | 1307 | -631.3 | -170.3 | - | - | 3773 | - | - | - | - | - | - | - | - | - | 14.78 | - |
4997 | 706.8 | -12.9 | 253 | 5002 | done | -0.92 | - | - | 2360 | - | 2.28 | 0.064 | 2676 | 600.4 | -170.3 | - | - | 3772 | - | - | - | - | - | - | - | - | - | 14.73 | - |
5316 | 750.3 | -12.8 | 264 | 5321 | roll | -0.92 | - | - | 2351 | - | 1.88 | 0.089 | 3786 | 590.4 | -170.3 | - | - | 3770 | - | - | - | - | - | - | - | - | - | 14.67 | - |
5360 | 754.9 | -12.9 | 265 | 5366 | done | -0.92 | 0.15 | 0.247 | 2385 | 226.7 | 1.67 | 0.041 | 2688 | -657.5 | -170.3 | - | - | 3769 | - | - | - | - | - | - | - | - | 14.49 | 14.88 | - |
5685 | 795.7 | -12.4 | 276 | 5687 | done | -0.92 | - | - | 2385 | - | - | - | 2688 | - | -170.3 | - | - | 3767 | - | - | - | - | - | - | - | - | - | - | - |
5984 | 834.3 | -13.2 | 286 | 5989 | roll | -0.92 | - | - | 2385 | - | 2.22 | 0.047 | 1305 | -623.0 | -170.3 | - | - | 3763 | - | - | - | - | - | - | - | - | - | 14.75 | - |
6031 | 838.9 | -13.3 | 287 | 6037 | done | -0.92 | - | - | 2378 | - | 2.30 | 0.067 | 2672 | 594.3 | -170.3 | - | - | 3763 | - | - | - | - | - | - | - | - | - | 14.64 | - |
6352 | 885.2 | -14.1 | 298 | 6358 | roll | -0.92 | - | - | 2370 | - | 1.90 | 0.094 | 3781 | 583.7 | -170.3 | - | - | 3760 | - | - | - | - | - | - | - | - | - | 14.62 | - |
6390 | 890.2 | -14.1 | 299 | 6395 | done | -0.92 | - | - | 2369 | - | 1.70 | 0.043 | 2679 | -648.2 | -170.3 | - | - | 3760 | - | - | - | - | - | - | - | - | - | 14.84 | - |
6719 | 933.6 | -12.5 | 310 | 6724 | roll | -0.92 | - | - | 2370 | - | 2.22 | 0.047 | 1301 | -620.7 | -170.3 | - | - | 3757 | - | - | - | - | - | - | - | - | - | 14.72 | - |
6747 | 933.6 | -12.5 | 310 | 6754 | done | -0.92 | - | - | 2361 | - | 2.33 | 0.070 | 2674 | 589.3 | -170.3 | - | - | 3757 | - | - | - | - | - | - | - | - | - | 14.67 | - |
7052 | 974.1 | -12.0 | 321 | 7058 | roll | -0.92 | - | - | 2353 | - | 1.92 | 0.096 | 3786 | 579.2 | -170.3 | - | - | 3755 | - | - | - | - | - | - | - | - | - | 14.59 | - |
7110 | 978.3 | -12.2 | 322 | 7118 | done | -0.92 | 0.15 | 0.252 | 2387 | 226.7 | 1.73 | 0.044 | 2683 | -637.6 | -170.3 | - | - | 3754 | - | - | - | - | - | - | - | - | 14.42 | 14.82 | - |
7204 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7204 | begin apogee | ||||||||||||||||||||||||||||
7212 | 993.1 | -12.3 | 326 | 7387 | done | -0.20 | 0.75 | 0.185 | 2613 | 301.3 | - | - | 2189 | - | - | 168.10 | 1.730 | 3089 | -4.0 | 0.416 | - | - | - | - | - | - | 14.48 | - | 13.50 |
7389 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7389 | begin climb | ||||||||||||||||||||||||||||
7392 | 1005.7 | - | 332 | 7577 | roll | 0.92 | 1.05 | 0.062 | 3003 | 371.4 | 2.45 | 0.064 | 825 | -556.7 | 170.3 | 174.32 | 1.713 | 2393 | -4.0 | 0.429 | - | - | - | - | - | - | 14.24 | 14.12 | 13.45 |
7595 | 1002.0 | 6.7 | 339 | 7648 | done | 1.04 | - | - | 3003 | - | 2.40 | 0.063 | 2199 | 572.5 | 217.5 | 48.08 | 1.702 | 2205 | -3.9 | 0.421 | - | - | - | - | - | - | - | 14.22 | 13.50 |
7951 | 953.0 | 14.2 | 350 | 7956 | roll | 1.04 | - | - | 3003 | - | 2.47 | 0.097 | 3616 | 573.7 | 217.5 | - | - | 2191 | - | - | - | - | - | - | - | - | - | 14.55 | - |
7993 | 947.9 | 14.5 | 351 | 7999 | done | 1.04 | - | - | 3014 | - | 2.25 | 0.041 | 2228 | -616.9 | 217.5 | - | - | 2191 | - | - | - | - | - | - | - | - | - | 14.66 | - |
8318 | 899.9 | 14.2 | 362 | 8324 | roll | 1.04 | - | - | 3023 | - | 2.38 | 0.062 | 801 | -599.6 | 217.5 | - | - | 2188 | - | - | - | - | - | - | - | - | - | 14.66 | - |
8352 | 894.7 | 14.2 | 363 | 8357 | done | 1.04 | - | - | 3024 | - | 2.38 | 0.062 | 2209 | 591.6 | 217.5 | - | - | 2188 | - | - | - | - | - | - | - | - | - | 14.66 | - |
8687 | 846.7 | 14.2 | 374 | 8692 | roll | 1.04 | - | - | 3024 | - | 2.42 | 0.094 | 3608 | 578.1 | 217.5 | - | - | 2186 | - | - | - | - | - | - | - | - | - | 14.62 | - |
8765 | 836.3 | 15.1 | 376 | 8770 | done | 1.04 | - | - | 3034 | - | 2.30 | 0.041 | 2187 | -617.8 | 217.5 | - | - | 2186 | - | - | - | - | - | - | - | - | - | 14.75 | - |
9085 | 788.2 | 14.3 | 387 | 9090 | roll | 1.04 | - | - | 3045 | - | 2.30 | 0.058 | 795 | -605.2 | 217.5 | - | - | 2185 | - | - | - | - | - | - | - | - | - | 14.69 | - |
9152 | 778.3 | 14.8 | 389 | 9157 | done | 1.04 | - | - | 3045 | - | 2.35 | 0.060 | 2201 | 598.3 | 217.5 | - | - | 2185 | - | - | - | - | - | - | - | - | - | 14.71 | - |
9482 | 729.7 | 14.6 | 400 | 9487 | roll | 1.04 | - | - | 3045 | - | 2.42 | 0.089 | 3609 | 581.8 | 217.5 | - | - | 2185 | - | - | - | - | - | - | - | - | - | 14.62 | - |
9560 | 719.1 | 15.5 | 402 | 9566 | done | 1.04 | 0.17 | 0.330 | 3019 | -152.9 | 2.28 | 0.040 | 2185 | -624.6 | 217.5 | - | - | 2183 | - | - | - | - | - | - | - | - | 14.30 | 14.77 | - |
9881 | 675.1 | 12.6 | 413 | 9882 | done | 1.04 | - | - | 3020 | - | - | - | 2184 | - | 217.5 | - | - | 2182 | - | - | - | - | - | - | - | - | - | - | - |
10179 | 639.5 | 11.8 | 423 | 10186 | roll | 1.04 | - | - | 3028 | - | 2.28 | 0.055 | 805 | -604.8 | 217.5 | - | - | 2182 | - | - | - | - | - | - | - | - | - | 14.67 | - |
10274 | 628.5 | 11.5 | 426 | 10279 | done | 1.04 | - | - | 3028 | - | 2.35 | 0.057 | 2211 | 598.3 | 217.5 | - | - | 2182 | - | - | - | - | - | - | - | - | - | 14.67 | - |
10597 | 587.8 | 12.1 | 438 | 10598 | done | 1.04 | - | - | 3028 | - | - | - | 2211 | - | 217.5 | - | - | 2181 | - | - | - | - | - | - | - | - | - | - | - |
10899 | 554.4 | 10.3 | 453 | 10905 | roll | 1.04 | - | - | 3027 | - | 2.40 | 0.087 | 3604 | 580.4 | 217.5 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 14.59 | - |
11022 | 540.3 | 11.3 | 459 | 11028 | done | 1.04 | - | - | 3038 | - | 2.28 | 0.040 | 2189 | -620.6 | 217.5 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 14.75 | - |
11346 | 506.5 | 11.4 | 475 | 11351 | roll | 1.04 | - | - | 3048 | - | 2.28 | 0.055 | 809 | -605.3 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.65 | - |
11390 | 500.9 | 12.2 | 477 | 11396 | done | 1.04 | 0.12 | 0.301 | 3024 | -200.0 | 2.35 | 0.057 | 2206 | 594.5 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | 14.31 | 14.65 | - |
11714 | 463.2 | 10.7 | 493 | 11720 | roll | 1.04 | - | - | 3020 | - | 2.42 | 0.085 | 3614 | 581.8 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.57 | - |
11762 | 458.4 | 10.6 | 495 | 11768 | done | 1.04 | - | - | 3032 | - | 2.28 | 0.038 | 2187 | -625.9 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.75 | - |
12081 | 429.1 | 8.9 | 511 | 12086 | roll | 1.04 | - | - | 3032 | - | 2.47 | 0.085 | 3612 | 576.9 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.57 | - |
12219 | 416.2 | 10.8 | 517 | 12225 | done | 1.04 | - | - | 3043 | - | 2.25 | 0.037 | 2198 | -628.4 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.73 | - |
12524 | 384.0 | 9.8 | 533 | 12529 | roll | 1.04 | - | - | 3043 | - | 2.45 | 0.083 | 3611 | 576.7 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 14.57 | - |
12703 | 365.2 | 11.8 | 541 | 12711 | done | 1.04 | 0.15 | 0.327 | 3024 | -126.7 | 2.25 | 0.037 | 2193 | -630.2 | 217.5 | - | - | 2180 | - | - | - | - | - | - | - | - | 14.22 | 14.73 | - |
13009 | 335.1 | 9.4 | 557 | 13015 | roll | 1.04 | - | - | 3032 | - | 2.28 | 0.050 | 804 | -609.2 | 217.5 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 14.64 | - |
13053 | 331.1 | 9.2 | 559 | 13058 | done | 1.04 | - | - | 3032 | - | 2.33 | 0.054 | 2205 | 601.3 | 217.5 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 14.66 | - |
13376 | 307.3 | 6.6 | 575 | 13421 | done | 1.16 | - | - | 3032 | - | - | - | 2205 | - | 268.2 | 42.65 | 1.054 | 1999 | -4.3 | 0.228 | - | - | - | - | - | - | - | - | 14.10 |
13717 | 273.7 | 11.5 | 592 | 13722 | roll | 1.16 | - | - | 3032 | - | 2.40 | 0.081 | 3610 | 585.4 | 268.2 | - | - | 1987 | - | - | - | - | - | - | - | - | - | 14.53 | - |
13744 | 270.8 | 11.5 | 593 | 13750 | done | 1.16 | - | - | 3043 | - | 2.25 | 0.036 | 2194 | -629.3 | 268.2 | - | - | 1989 | - | - | - | - | - | - | - | - | - | 14.69 | - |
14063 | 230.4 | 12.7 | 609 | 14068 | roll | 1.16 | - | - | 3043 | - | 2.42 | 0.080 | 3605 | 583.1 | 268.2 | - | - | 1989 | - | - | - | - | - | - | - | - | - | 14.55 | - |
14107 | 224.8 | 12.8 | 611 | 14112 | done | 1.16 | - | - | 3053 | - | 2.22 | 0.035 | 2198 | -633.8 | 268.2 | - | - | 1989 | - | - | - | - | - | - | - | - | - | 14.71 | - |
14430 | 194.8 | 7.1 | 627 | 14472 | roll | 1.26 | 0.10 | 0.159 | 3100 | 470.0 | 2.40 | 0.076 | 3607 | 587.1 | 305.1 | 32.42 | 0.925 | 1843 | -4.5 | 0.174 | - | - | - | - | - | - | 14.72 | 14.68 | 14.20 |
14511 | 188.4 | 9.1 | 630 | 14518 | done | 1.26 | - | - | 3110 | - | 2.22 | 0.035 | 2199 | -634.2 | 305.1 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 14.68 | - |
14815 | 147.0 | 14.4 | 646 | 14816 | done | 1.26 | - | - | 3111 | - | - | - | 2198 | - | 305.1 | - | - | 1837 | - | - | - | - | - | - | - | - | - | - | - |
15116 | 99.8 | 14.1 | 661 | 15121 | roll | 1.26 | - | - | 3121 | - | 2.25 | 0.049 | 809 | -617.3 | 305.1 | - | - | 1835 | - | - | - | - | - | - | - | - | - | 14.67 | - |
15159 | 94.6 | 12.4 | 663 | 15165 | done | 1.26 | 0.15 | 0.283 | 3089 | -213.3 | 2.30 | 0.050 | 2208 | 608.3 | 305.1 | - | - | 1837 | - | - | - | - | - | - | - | - | 14.33 | 14.66 | - |
15483 | 72.4 | 7.3 | 679 | 15504 | roll | 1.33 | - | - | 3097 | - | 2.35 | 0.047 | 797 | -600.4 | 336.1 | 14.38 | 0.334 | 1724 | -7.9 | 0.312 | - | - | - | - | - | - | - | 14.78 | 14.45 |
15552 | 66.1 | 9.5 | 682 | 15558 | done | 1.33 | - | - | 3097 | - | 2.30 | 0.049 | 2210 | 614.3 | 336.1 | 1.10 | 0.214 | 1722 | - | - | - | - | - | - | - | - | - | 14.69 | 14.52 |
15862 | 37.1 | 5.4 | 705 | 15913 | roll | 1.54 | 0.25 | 0.096 | 3205 | 432.0 | 2.28 | 0.046 | 807 | -615.4 | 419.7 | 41.75 | 0.240 | 1382 | -8.1 | 0.230 | - | - | - | - | - | - | 14.71 | 14.75 | 14.53 |
15919 | 33.0 | 8.9 | 710 | 15927 | done | 1.54 | - | - | 3205 | - | 2.28 | 0.050 | 2207 | 614.0 | 419.7 | - | - | 1384 | - | - | - | - | - | - | - | - | - | 14.69 | - |
16145 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16145 | begin surface coast | ||||||||||||||||||||||||||||
16167 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16167 | begin surface | ||||||||||||||||||||||||||||
SM | 0.05 | - | - | - | - | -7.57 | 8.20 | 0.054 | 233 | 28.4 | 0.77 | 0.072 | 2677 | 2139.0 | 475.15 | 26.25 | 0.142 | 1154 | 44.0 | -0.002 | - | - | - | - | - | - |