• Previous call tries 2 | • 42.48 of 150.00 AH used of 24V (71.68% remains) | |
• Previous NAKs 0, Timeouts 0 | • 39.69 of 100.00 AH used of 10V (60.31% remains) | |
• Surface angle -72.1 deg, depth -1.37 m | • Intended pitch -6.2 deg, speed -9.167 cm/s | |
• VBD pumped to 619.87 (SM_CC=619.87311) | ||
• GPS1 time: 83 s, HDOP was 3.6 m | ||
• GPS2 time: 151 s | • Transponder ping count: 353 | |
• 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 | - | - | - | 121 | VBD | -0.64 | - | - | 152 | - | - | - | 2415 | - | -194.6 | -95.88 | - | 2968 | - | - | - | - | - | - | - | - | - | - | - |
125 | 3.8 | -13.8 | 13 | 156 | roll | -0.64 | 10.98 | 0.252 | 2714 | 233.3 | 2.05 | 0.041 | 984 | -698.0 | -194.6 | -12.18 | - | 3788 | -67.3 | - | - | - | - | - | - | - | 25.75 | 26.32 | 26.70 |
398 | 95.4 | -25.1 | 32 | 404 | done | -0.64 | - | - | 2706 | - | 1.90 | 0.028 | 2335 | 711.1 | -194.6 | - | - | 3788 | - | - | - | - | - | - | - | - | - | 26.42 | - |
713 | 170.4 | -18.7 | 48 | 719 | roll | -0.64 | - | - | 2707 | - | 1.92 | 0.029 | 979 | -706.2 | -194.6 | - | - | 3788 | - | - | - | - | - | - | - | - | - | 26.41 | - |
925 | 206.6 | -16.0 | 58 | 932 | done | -0.64 | 0.10 | 0.168 | 2725 | 180.0 | 1.98 | 0.026 | 2382 | 708.6 | -194.6 | - | - | 3788 | - | - | - | - | - | - | - | - | 26.25 | 26.46 | - |
1255 | 253.4 | -12.9 | 74 | 1260 | roll | -0.64 | - | - | 2725 | - | 2.00 | 0.037 | 982 | -700.0 | -194.6 | - | - | 3788 | - | - | - | - | - | - | - | - | - | 26.40 | - |
1310 | 259.7 | -12.7 | 76 | 1316 | done | -0.64 | - | - | 2720 | - | 1.95 | 0.026 | 2373 | 713.3 | -194.6 | - | - | 3787 | - | - | - | - | - | - | - | - | - | 26.46 | - |
1625 | 308.1 | -14.2 | 92 | 1631 | roll | -0.64 | - | - | 2715 | - | 1.95 | 0.040 | 3710 | 685.6 | -194.6 | - | - | 3784 | - | - | - | - | - | - | - | - | - | 26.36 | - |
1650 | 311.5 | -13.7 | 93 | 1656 | done | -0.64 | - | - | 2715 | - | 1.88 | 0.019 | 2312 | -743.6 | -194.6 | - | - | 3784 | - | - | - | - | - | - | - | - | - | 26.58 | - |
1977 | 347.7 | -11.9 | 109 | 1983 | roll | -0.64 | - | - | 2713 | - | 2.08 | 0.040 | 3706 | 670.2 | -194.6 | - | - | 3780 | - | - | - | - | - | - | - | - | - | 26.35 | - |
2006 | 351.0 | -12.2 | 110 | 2011 | done | -0.64 | - | - | 2713 | - | 1.85 | 0.020 | 2316 | -751.4 | -194.6 | - | - | 3779 | - | - | - | - | - | - | - | - | - | 26.57 | - |
2327 | 392.9 | -12.3 | 126 | 2328 | done | -0.64 | - | - | 2713 | - | - | - | 2315 | - | -194.6 | - | - | 3775 | - | - | - | - | - | - | - | - | - | - | - |
2625 | 425.1 | -11.2 | 141 | 2631 | roll | -0.64 | - | - | 2713 | - | 2.08 | 0.041 | 3714 | 672.6 | -194.6 | - | - | 3771 | - | - | - | - | - | - | - | - | - | 26.32 | - |
2650 | 427.7 | -11.1 | 142 | 2656 | done | -0.64 | - | - | 2713 | - | 1.88 | 0.021 | 2323 | -739.9 | -194.6 | - | - | 3771 | - | - | - | - | - | - | - | - | - | 26.55 | - |
2976 | 463.4 | -11.2 | 158 | 2982 | roll | -0.64 | - | - | 2713 | - | 1.90 | 0.030 | 988 | -702.6 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | - | 26.36 | - |
3010 | 466.4 | -11.3 | 159 | 3017 | done | -0.64 | - | - | 2713 | - | 1.98 | 0.028 | 2378 | 702.0 | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | 26.40 | - |
3326 | 504.2 | -11.5 | 175 | 3332 | roll | -0.64 | - | - | 2713 | - | 2.00 | 0.030 | 988 | -695.0 | -194.6 | - | - | 3761 | - | - | - | - | - | - | - | - | - | 26.34 | - |
3378 | 509.7 | -11.9 | 177 | 3384 | done | -0.64 | - | - | 2713 | - | 1.98 | 0.028 | 2373 | 699.5 | -194.6 | - | - | 3760 | - | - | - | - | - | - | - | - | - | 26.38 | - |
3700 | 547.7 | -11.9 | 193 | 3701 | done | -0.64 | - | - | 2713 | - | - | - | 2374 | - | -194.6 | - | - | 3756 | - | - | - | - | - | - | - | - | - | - | - |
3999 | 581.3 | -10.9 | 208 | 4000 | done | -0.64 | - | - | 2713 | - | - | - | 2375 | - | -194.6 | - | - | 3753 | - | - | - | - | - | - | - | - | - | - | - |
4319 | 611.8 | -9.1 | 222 | 4324 | roll | -0.64 | - | - | 2713 | - | 2.00 | 0.031 | 990 | -692.5 | -194.6 | - | - | 3749 | - | - | - | - | - | - | - | - | - | 26.29 | - |
4368 | 615.3 | -9.4 | 223 | 4374 | done | -0.64 | - | - | 2713 | - | 2.00 | 0.028 | 2383 | 696.5 | -194.6 | - | - | 3745 | - | - | - | - | - | - | - | - | - | 26.35 | - |
4688 | 650.0 | -11.4 | 234 | 4693 | roll | -0.64 | - | - | 2713 | - | 1.98 | 0.044 | 3709 | 669.7 | -194.6 | - | - | 3743 | - | - | - | - | - | - | - | - | - | 26.20 | - |
4716 | 650.0 | -11.4 | 234 | 4725 | done | -0.64 | - | - | 2713 | - | 1.90 | 0.022 | 2323 | -729.5 | -194.6 | - | - | 3745 | - | - | - | - | - | - | - | - | - | 26.50 | - |
5025 | 687.6 | -10.9 | 245 | 5026 | done | -0.64 | - | - | 2709 | - | - | - | 2323 | - | -194.6 | - | - | 3742 | - | - | - | - | - | - | - | - | - | - | - |
5323 | 717.0 | -9.3 | 255 | 5324 | done | -0.64 | - | - | 2712 | - | - | - | 2323 | - | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | - | - |
5622 | 746.2 | -10.2 | 265 | 5623 | done | -0.64 | - | - | 2713 | - | - | - | 2323 | - | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | - | - |
5923 | 777.0 | -10.3 | 275 | 5924 | done | -0.64 | - | - | 2713 | - | - | - | 2323 | - | -194.6 | - | - | 3734 | - | - | - | - | - | - | - | - | - | - | - |
6223 | 805.6 | -9.2 | 285 | 6228 | roll | -0.64 | - | - | 2713 | - | 2.10 | 0.045 | 3706 | 658.6 | -194.6 | - | - | 3731 | - | - | - | - | - | - | - | - | - | 26.12 | - |
6261 | 808.6 | -9.0 | 286 | 6267 | done | -0.64 | - | - | 2713 | - | 1.90 | 0.023 | 2331 | -723.7 | -194.6 | - | - | 3731 | - | - | - | - | - | - | - | - | - | 26.46 | - |
6596 | 838.4 | -8.9 | 297 | 6602 | roll | -0.64 | - | - | 2713 | - | 1.88 | 0.032 | 1033 | -690.4 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.20 | - |
6652 | 841.5 | -8.8 | 298 | 6658 | done | -0.64 | - | - | 2708 | - | 1.92 | 0.030 | 2373 | 697.9 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.26 | - |
6971 | 871.1 | -8.6 | 309 | 6977 | roll | -0.64 | - | - | 2705 | - | 2.03 | 0.047 | 3717 | 662.1 | -194.6 | - | - | 3727 | - | - | - | - | - | - | - | - | - | 26.08 | - |
7011 | 874.6 | -8.6 | 310 | 7017 | done | -0.64 | - | - | 2705 | - | 1.85 | 0.024 | 2370 | -728.1 | -194.6 | - | - | 3727 | - | - | - | - | - | - | - | - | - | 26.44 | - |
7343 | 902.3 | -8.4 | 321 | 7348 | roll | -0.64 | - | - | 2705 | - | 1.95 | 0.033 | 1027 | -688.7 | -194.6 | - | - | 3722 | - | - | - | - | - | - | - | - | - | 26.15 | - |
7398 | 905.4 | -8.4 | 322 | 7404 | done | -0.64 | 0.08 | 0.175 | 2721 | 200.0 | 1.95 | 0.031 | 2374 | 690.8 | -194.6 | - | - | 3724 | - | - | - | - | - | - | - | - | 26.06 | 26.21 | - |
7713 | 933.7 | -9.0 | 333 | 7719 | roll | -0.64 | - | - | 2721 | - | 1.98 | 0.033 | 1028 | -679.8 | -194.6 | - | - | 3722 | - | - | - | - | - | - | - | - | - | 26.13 | - |
7763 | 937.1 | -9.2 | 334 | 7769 | done | -0.64 | - | - | 2720 | - | 1.95 | 0.031 | 2374 | 690.3 | -194.6 | - | - | 3722 | - | - | - | - | - | - | - | - | - | 26.20 | - |
8084 | 971.5 | -10.2 | 345 | 8090 | roll | -0.64 | - | - | 2720 | - | 1.98 | 0.034 | 1037 | -675.3 | -194.6 | - | - | 3720 | - | - | - | - | - | - | - | - | - | 26.09 | - |
8152 | 977.4 | -9.3 | 347 | 8158 | done | -0.64 | - | - | 2717 | - | 1.98 | 0.031 | 2373 | 674.7 | -194.6 | - | - | 3720 | - | - | - | - | - | - | - | - | - | 26.17 | - |
8335 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8335 | begin apogee | ||||||||||||||||||||||||||||
8342 | 990.5 | -7.0 | 353 | 8521 | done | -0.20 | 0.43 | 0.113 | 2858 | 327.9 | - | - | 2259 | - | - | 170.88 | 1.013 | 2988 | -4.3 | 0.428 | - | - | - | - | - | - | 25.70 | - | 24.10 |
8523 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8523 | begin climb | ||||||||||||||||||||||||||||
8526 | 1000.9 | - | 358 | 8721 | roll | 0.64 | 0.77 | 0.080 | 3136 | 361.0 | 2.28 | 0.041 | 882 | -603.9 | 194.6 | 181.95 | 0.984 | 2191 | -4.4 | 0.455 | - | - | - | - | - | - | 25.00 | 24.73 | 23.98 |
8956 | 966.9 | 14.1 | 373 | 8962 | done | 0.64 | - | - | 3136 | - | 2.00 | 0.028 | 2243 | 680.5 | 194.6 | - | - | 2183 | - | - | - | - | - | - | - | - | - | 25.81 | - |
9280 | 926.9 | 11.3 | 384 | 9286 | roll | 0.64 | - | - | 3140 | - | 2.10 | 0.044 | 880 | -649.0 | 194.6 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.91 | - |
9380 | 916.4 | 11.0 | 387 | 9385 | done | 0.64 | - | - | 3140 | - | 2.00 | 0.029 | 2246 | 683.0 | 194.6 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.08 | - |
9715 | 878.3 | 11.4 | 398 | 9721 | roll | 0.64 | - | - | 3148 | - | 2.05 | 0.041 | 884 | -664.4 | 194.6 | - | - | 2178 | - | - | - | - | - | - | - | - | - | 26.00 | - |
9765 | 874.2 | 11.4 | 399 | 9771 | done | 0.64 | 0.10 | 0.174 | 3127 | -210.0 | 1.98 | 0.029 | 2247 | 688.4 | 194.6 | - | - | 2178 | - | - | - | - | - | - | - | - | 25.88 | 26.15 | - |
10085 | 838.8 | 10.1 | 410 | 10091 | roll | 0.64 | - | - | 3127 | - | 2.12 | 0.044 | 3645 | 659.4 | 194.6 | - | - | 2176 | - | - | - | - | - | - | - | - | - | 26.05 | - |
10145 | 834.8 | 10.5 | 411 | 10153 | done | 0.64 | - | - | 3134 | - | 2.00 | 0.024 | 2251 | -697.0 | 194.6 | - | - | 2174 | - | - | - | - | - | - | - | - | - | 26.25 | - |
10455 | 800.3 | 10.5 | 422 | 10461 | roll | 0.64 | - | - | 3143 | - | 2.10 | 0.043 | 865 | -660.0 | 194.6 | - | - | 2172 | - | - | - | - | - | - | - | - | - | 26.01 | - |
10510 | 796.2 | 10.6 | 423 | 10516 | done | 0.64 | - | - | 3143 | - | 2.00 | 0.028 | 2247 | 691.0 | 194.6 | - | - | 2174 | - | - | - | - | - | - | - | - | - | 26.19 | - |
10827 | 761.3 | 10.0 | 434 | 10833 | roll | 0.64 | - | - | 3143 | - | 2.10 | 0.044 | 3634 | 660.5 | 194.6 | - | - | 2171 | - | - | - | - | - | - | - | - | - | 26.04 | - |
10875 | 757.4 | 10.2 | 435 | 10883 | done | 0.64 | 0.10 | 0.214 | 3131 | -120.0 | 2.03 | 0.025 | 2239 | -687.2 | 194.6 | - | - | 2173 | - | - | - | - | - | - | - | - | 25.84 | 26.22 | - |
11199 | 725.9 | 9.0 | 446 | 11200 | done | 0.65 | - | - | 3132 | - | - | - | 2239 | - | 198.8 | - | - | 2173 | - | - | - | - | - | - | - | - | - | - | - |
11499 | 697.3 | 10.0 | 456 | 11500 | done | 0.65 | - | - | 3131 | - | - | - | 2239 | - | 198.8 | - | - | 2172 | - | - | - | - | - | - | - | - | - | - | - |
11798 | 667.2 | 10.2 | 466 | 11804 | roll | 0.65 | - | - | 3140 | - | 2.08 | 0.041 | 858 | -663.9 | 198.8 | - | - | 2172 | - | - | - | - | - | - | - | - | - | 25.96 | - |
11823 | 667.2 | 10.2 | 466 | 11829 | done | 0.65 | - | - | 3140 | - | 2.00 | 0.028 | 2242 | 692.0 | 198.8 | - | - | 2172 | - | - | - | - | - | - | - | - | - | 26.17 | - |
12140 | 631.6 | 10.2 | 477 | 12141 | done | 0.65 | - | - | 3140 | - | - | - | 2243 | - | 198.8 | - | - | 2172 | - | - | - | - | - | - | - | - | - | - | - |
12437 | 602.4 | 9.8 | 487 | 12443 | roll | 0.65 | - | - | 3149 | - | 2.10 | 0.039 | 850 | -663.3 | 198.8 | - | - | 2172 | - | - | - | - | - | - | - | - | - | 25.96 | - |
12485 | 597.8 | 10.0 | 489 | 12492 | done | 0.65 | 0.08 | 0.188 | 3136 | -162.5 | 2.05 | 0.028 | 2253 | 684.4 | 198.8 | - | - | 2175 | - | - | - | - | - | - | - | - | 25.97 | 26.17 | - |
12811 | 569.4 | 8.4 | 505 | 12844 | roll | 0.70 | - | - | 3135 | - | 2.15 | 0.043 | 3635 | 642.8 | 223.9 | 24.60 | 0.738 | 2075 | -4.1 | 0.321 | - | - | - | - | - | - | - | 26.00 | 25.20 |
12874 | 565.2 | 8.5 | 507 | 12905 | done | 0.74 | 0.10 | 0.095 | 3189 | 540.0 | 2.03 | 0.024 | 2221 | -696.6 | 244.1 | 20.38 | 0.734 | 1993 | -4.0 | 0.317 | - | - | - | - | - | - | 25.94 | 26.01 | 25.01 |
13200 | 518.6 | 14.0 | 524 | 13206 | roll | 0.74 | 0.12 | 0.184 | 3156 | -275.0 | 2.17 | 0.041 | 3634 | 651.2 | 244.1 | - | - | 1987 | - | - | - | - | - | - | - | - | 25.70 | 25.84 | - |
13296 | 506.7 | 13.5 | 528 | 13302 | done | 0.74 | - | - | 3164 | - | 2.00 | 0.024 | 2252 | -691.0 | 244.1 | - | - | 1985 | - | - | - | - | - | - | - | - | - | 26.04 | - |
13612 | 466.5 | 12.6 | 544 | 13618 | roll | 0.74 | - | - | 3173 | - | 2.10 | 0.041 | 855 | -665.2 | 244.1 | - | - | 1984 | - | - | - | - | - | - | - | - | - | 25.89 | - |
13668 | 460.7 | 12.5 | 546 | 13674 | done | 0.74 | - | - | 3173 | - | 2.00 | 0.027 | 2237 | 691.0 | 244.1 | - | - | 1984 | - | - | - | - | - | - | - | - | - | 26.08 | - |
13984 | 418.7 | 13.2 | 562 | 13990 | roll | 0.74 | - | - | 3173 | - | 2.15 | 0.043 | 3643 | 654.0 | 244.1 | - | - | 1983 | - | - | - | - | - | - | - | - | - | 25.95 | - |
14018 | 414.8 | 13.7 | 563 | 14024 | done | 0.74 | - | - | 3177 | - | 2.03 | 0.024 | 2238 | -692.1 | 244.1 | - | - | 1983 | - | - | - | - | - | - | - | - | - | 26.15 | - |
14334 | 369.4 | 13.1 | 579 | 14340 | roll | 0.74 | - | - | 3187 | - | 2.08 | 0.041 | 856 | -664.4 | 244.1 | - | - | 1982 | - | - | - | - | - | - | - | - | - | 25.94 | - |
14384 | 363.6 | 12.8 | 581 | 14391 | done | 0.74 | 0.10 | 0.178 | 3166 | -210.0 | 2.00 | 0.028 | 2245 | 694.5 | 244.1 | - | - | 1983 | - | - | - | - | - | - | - | - | 25.84 | 26.14 | - |
14708 | 325.7 | 11.9 | 597 | 14713 | roll | 0.74 | - | - | 3165 | - | 2.10 | 0.042 | 3634 | 661.4 | 244.1 | - | - | 1983 | - | - | - | - | - | - | - | - | - | 25.98 | - |
14743 | 322.3 | 12.0 | 598 | 14749 | done | 0.74 | - | - | 3170 | - | 2.00 | 0.023 | 2226 | -704.0 | 244.1 | - | - | 1982 | - | - | - | - | - | - | - | - | - | 26.26 | - |
15057 | 284.0 | 11.3 | 614 | 15064 | roll | 0.74 | - | - | 3170 | - | 2.15 | 0.041 | 3639 | 657.2 | 244.1 | - | - | 1983 | - | - | - | - | - | - | - | - | - | 25.98 | - |
15106 | 278.0 | 12.2 | 616 | 15113 | done | 0.74 | - | - | 3175 | - | 2.03 | 0.022 | 2243 | -687.7 | 244.1 | - | - | 1981 | - | - | - | - | - | - | - | - | - | 26.24 | - |
15433 | 237.0 | 10.5 | 632 | 15439 | roll | 0.74 | - | - | 3179 | - | 2.08 | 0.041 | 860 | -664.9 | 244.1 | - | - | 1981 | - | - | - | - | - | - | - | - | - | 25.97 | - |
15533 | 229.2 | 8.7 | 636 | 15551 | done | 0.77 | - | - | 3180 | - | 2.00 | 0.027 | 2245 | 692.5 | 260.2 | 13.43 | 0.552 | 1929 | -3.9 | 0.164 | - | - | - | - | - | - | - | 26.17 | 25.48 |
15870 | 196.3 | 10.8 | 653 | 15871 | done | 0.77 | - | - | 3179 | - | - | - | 2244 | - | 260.2 | - | - | 1924 | - | - | - | - | - | - | - | - | - | - | - |
16172 | 167.2 | 8.8 | 668 | 16188 | roll | 0.80 | - | - | 3179 | - | 2.15 | 0.041 | 3635 | 647.0 | 273.2 | 11.82 | 0.516 | 1875 | -4.1 | 0.137 | - | - | - | - | - | - | - | 26.17 | 25.51 |
16302 | 152.7 | 11.3 | 674 | 16308 | done | 0.80 | - | - | 3181 | - | 2.00 | 0.022 | 2229 | -703.0 | 273.2 | - | - | 1871 | - | - | - | - | - | - | - | - | - | 26.19 | - |
16630 | 122.0 | 9.3 | 690 | 16631 | done | 0.80 | - | - | 3181 | - | - | - | 2227 | - | 273.2 | - | - | 1869 | - | - | - | - | - | - | - | - | - | - | - |
16926 | 101.3 | 5.2 | 705 | 17036 | roll | 1.05 | 0.20 | 0.061 | 3301 | 600.0 | 2.05 | 0.037 | 870 | -662.0 | 399.8 | 98.72 | 0.412 | 1355 | -5.2 | 0.131 | - | - | - | - | - | - | 26.37 | 25.61 | 25.13 |
17260 | 66.0 | 10.8 | 720 | 17267 | done | 1.05 | 0.15 | 0.151 | 3261 | -266.7 | 1.98 | 0.024 | 2247 | 695.5 | 399.8 | - | - | 1349 | - | - | - | - | - | - | - | - | 25.54 | 25.91 | - |
17578 | 35.3 | 9.4 | 743 | 17585 | done | 1.05 | - | - | 3262 | - | - | - | 2249 | - | 399.8 | - | - | 1347 | - | - | - | - | - | - | - | - | - | - | - |
17899 | 8.6 | 8.1 | 792 | 17923 | roll | 1.12 | 0.08 | 0.119 | 3312 | 625.0 | 2.10 | 0.037 | 3622 | 653.8 | 433.9 | 12.70 | 0.073 | 1222 | -9.8 | 0.119 | - | - | - | - | - | - | 26.38 | 26.03 | 25.81 |
17951 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17951 | begin surface coast | ||||||||||||||||||||||||||||
17975 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17975 | begin surface | ||||||||||||||||||||||||||||
SM | -1.65 | - | - | - | - | -8.62 | 8.40 | 0.048 | 131 | 15.6 | 1.80 | 0.021 | 2370 | -4516.7 | 619.87 | 70.75 | 0.049 | 464 | 6.6 | 0.023 | - | - | 1 | - | - | - |