• Previous call tries 1 | • 111.87 of 350.00 AH used of 24V (68.04% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -72.3 deg, depth 3.41 m | • Intended pitch -14.9 deg, speed -10.000 cm/s | |
• No surface pump (final VBD was 529.36, SM_CC=500) | ||
• GPS1 time: 84 s, HDOP was 5.6 m | ||
• GPS2 time: 16 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 | |||||
20 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
20 | begin dive | ||||||||||||||||||||||||||||
25 | - | - | - | 114 | VBD | -0.62 | - | - | 9 | - | - | - | 2658 | - | -194.6 | -86.32 | - | 3260 | - | - | - | - | - | - | - | - | 14.91 | - | 14.94 |
123 | 5.4 | -4.2 | 9 | 150 | roll | -0.62 | 12.27 | 0.412 | 2508 | 203.7 | 2.28 | 0.067 | 1233 | -625.0 | -194.6 | -9.50 | - | 3924 | -69.9 | - | - | - | - | - | - | - | 14.17 | 13.75 | 14.44 |
250 | 48.8 | -25.1 | 35 | 255 | done | -0.62 | - | - | 2500 | - | 2.35 | 0.056 | 2666 | 609.8 | -194.6 | - | - | 3925 | - | - | - | - | - | - | - | - | 14.73 | 14.62 | 14.76 |
556 | 124.1 | -18.3 | 51 | 562 | roll | -0.62 | - | - | 2489 | - | 2.28 | 0.076 | 4046 | 605.3 | -194.6 | - | - | 3926 | - | - | - | - | - | - | - | - | 15.07 | 14.63 | 15.10 |
645 | 139.6 | -16.1 | 69 | 650 | done | -0.62 | - | - | 2489 | - | 2.20 | 0.032 | 2625 | -645.9 | -194.6 | - | - | 3928 | - | - | - | - | - | - | - | - | 14.85 | 14.79 | 14.88 |
960 | 185.2 | -12.6 | 86 | 965 | roll | -0.62 | - | - | 2478 | - | 2.38 | 0.079 | 4040 | 594.5 | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 15.11 | 14.67 | 15.15 |
1044 | 195.8 | -13.0 | 103 | 1050 | done | -0.62 | 0.15 | 0.234 | 2514 | 240.0 | 2.15 | 0.032 | 2647 | -647.9 | -194.6 | - | - | 3928 | - | - | - | - | - | - | - | - | 14.54 | 14.82 | 14.79 |
1361 | 227.3 | -9.7 | 121 | 1365 | roll | -0.62 | - | - | 2515 | - | 2.20 | 0.051 | 1257 | -631.8 | -194.6 | - | - | 3928 | - | - | - | - | - | - | - | - | 15.12 | 14.77 | 15.16 |
1425 | 233.6 | -8.9 | 133 | 1429 | done | -0.62 | - | - | 2512 | - | 2.28 | 0.054 | 2657 | 614.0 | -194.6 | - | - | 3928 | - | - | - | - | - | - | - | - | 14.86 | 14.76 | 14.89 |
1749 | 261.1 | -8.3 | 148 | 1750 | done | -0.62 | - | - | 2512 | - | - | - | 2657 | - | -194.6 | - | - | 3926 | - | - | - | - | - | - | - | - | 15.14 | 15.18 | 15.17 |
2049 | 289.0 | -9.5 | 153 | 2050 | done | -0.62 | - | - | 2512 | - | - | - | 2657 | - | -194.6 | - | - | 3924 | - | - | - | - | - | - | - | - | 15.15 | 15.19 | 15.18 |
2350 | 319.1 | -10.0 | 158 | 2355 | roll | -0.62 | - | - | 2501 | - | 2.30 | 0.082 | 4041 | 601.7 | -194.6 | - | - | 3921 | - | - | - | - | - | - | - | - | 15.15 | 14.64 | 15.19 |
2430 | 327.6 | -10.2 | 174 | 2435 | done | -0.62 | - | - | 2501 | - | 2.12 | 0.033 | 2652 | -655.2 | -194.6 | - | - | 3921 | - | - | - | - | - | - | - | - | 14.82 | 14.77 | 14.85 |
2770 | 362.4 | -10.1 | 187 | 2775 | roll | -0.62 | - | - | 2501 | - | 2.22 | 0.053 | 1251 | -631.1 | -194.6 | - | - | 3918 | - | - | - | - | - | - | - | - | 15.16 | 14.70 | 15.19 |
2849 | 370.2 | -9.8 | 203 | 2855 | done | -0.62 | - | - | 2498 | - | 2.25 | 0.055 | 2644 | 619.1 | -194.6 | - | - | 3917 | - | - | - | - | - | - | - | - | 14.76 | 14.69 | 14.80 |
3193 | 401.6 | -9.2 | 216 | 3194 | done | -0.62 | - | - | 2498 | - | - | - | 2644 | - | -194.6 | - | - | 3914 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
3490 | 426.4 | -8.2 | 221 | 3495 | roll | -0.62 | - | - | 2487 | - | 2.35 | 0.084 | 4039 | 593.6 | -194.6 | - | - | 3911 | - | - | - | - | - | - | - | - | 15.15 | 14.65 | 15.18 |
3519 | 429.0 | -9.1 | 226 | 3524 | done | -0.62 | - | - | 2487 | - | 2.17 | 0.034 | 2650 | -640.1 | -194.6 | - | - | 3910 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.88 |
3855 | 460.6 | -9.6 | 238 | 3856 | done | -0.62 | - | - | 2487 | - | - | - | 2649 | - | -194.6 | - | - | 3908 | - | - | - | - | - | - | - | - | 15.15 | 15.19 | 15.19 |
4155 | 489.2 | -9.5 | 243 | 4156 | done | -0.62 | - | - | 2487 | - | - | - | 2650 | - | -194.6 | - | - | 3905 | - | - | - | - | - | - | - | - | 15.15 | 15.19 | 15.19 |
4454 | 519.1 | -10.1 | 248 | 4460 | roll | -0.62 | - | - | 2487 | - | 2.22 | 0.055 | 1260 | -626.1 | -194.6 | - | - | 3904 | - | - | - | - | - | - | - | - | 15.16 | 14.66 | 15.19 |
4498 | 523.8 | -10.2 | 257 | 4504 | done | -0.62 | 0.15 | 0.230 | 2515 | 186.7 | 2.28 | 0.057 | 2650 | 609.6 | -194.6 | - | - | 3903 | - | - | - | - | - | - | - | - | 14.47 | 14.71 | 14.71 |
4822 | 550.6 | -8.3 | 265 | 4827 | roll | -0.62 | - | - | 2507 | - | 2.35 | 0.086 | 4038 | 590.6 | -194.6 | - | - | 3900 | - | - | - | - | - | - | - | - | 15.12 | 14.61 | 15.16 |
4880 | 556.1 | -9.2 | 276 | 4885 | done | -0.62 | - | - | 2506 | - | 2.22 | 0.035 | 2652 | -624.3 | -194.6 | - | - | 3899 | - | - | - | - | - | - | - | - | 14.71 | 14.67 | 14.73 |
5191 | 579.7 | -7.6 | 282 | 5196 | roll | -0.62 | - | - | 2496 | - | 2.35 | 0.086 | 4030 | 586.4 | -194.6 | - | - | 3898 | - | - | - | - | - | - | - | - | 15.11 | 14.54 | 15.14 |
5225 | 582.6 | -7.9 | 289 | 5229 | done | -0.62 | - | - | 2496 | - | 2.17 | 0.034 | 2645 | -638.2 | -194.6 | - | - | 3898 | - | - | - | - | - | - | - | - | 14.85 | 14.78 | 14.88 |
5554 | 606.6 | -7.3 | 299 | 5559 | roll | -0.62 | - | - | 2486 | - | 2.38 | 0.086 | 4035 | 584.0 | -194.6 | - | - | 3896 | - | - | - | - | - | - | - | - | 15.14 | 14.52 | 15.17 |
5579 | 608.6 | -8.2 | 304 | 5585 | done | -0.62 | - | - | 2486 | - | 2.20 | 0.035 | 2637 | -635.5 | -194.6 | - | - | 3896 | - | - | - | - | - | - | - | - | 14.77 | 14.74 | 14.79 |
5919 | 637.6 | -8.8 | 316 | 5920 | done | -0.62 | - | - | 2487 | - | - | - | 2637 | - | -194.6 | - | - | 3895 | - | - | - | - | - | - | - | - | 15.11 | 15.15 | 15.15 |
6216 | 664.6 | -9.0 | 321 | 6218 | done | -0.62 | 0.12 | 0.237 | 2515 | 233.3 | - | - | 2637 | - | -194.6 | - | - | 3893 | - | - | - | - | - | - | - | - | 14.54 | 14.79 | 14.73 |
6516 | 685.8 | -7.0 | 326 | 6521 | roll | -0.62 | - | - | 2516 | - | 2.25 | 0.059 | 1249 | -616.9 | -194.6 | - | - | 3892 | - | - | - | - | - | - | - | - | 15.14 | 14.57 | 15.17 |
6540 | 687.8 | -7.2 | 331 | 6546 | done | -0.62 | - | - | 2513 | - | 2.33 | 0.061 | 2655 | 603.4 | -194.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 14.76 | 14.64 | 14.81 |
6877 | 712.1 | -7.3 | 342 | 6882 | roll | -0.62 | - | - | 2502 | - | 2.35 | 0.090 | 4036 | 587.7 | -194.6 | - | - | 3890 | - | - | - | - | - | - | - | - | 15.14 | 14.47 | 15.16 |
6921 | 715.8 | -8.6 | 351 | 6927 | done | -0.62 | - | - | 2502 | - | 2.20 | 0.037 | 2648 | -630.9 | -194.6 | - | - | 3889 | - | - | - | - | - | - | - | - | 14.81 | 14.73 | 14.83 |
7598 | 766.7 | -7.3 | 371 | 7603 | roll | -0.62 | - | - | 2502 | - | 2.25 | 0.061 | 1262 | -616.0 | -194.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 15.13 | 14.54 | 15.16 |
7638 | 769.5 | -7.0 | 379 | 7643 | done | -0.62 | - | - | 2495 | - | 2.30 | 0.063 | 2646 | 601.7 | -194.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 14.60 | 14.53 | 14.66 |
8321 | 816.2 | -6.9 | 400 | 8327 | roll | -0.62 | - | - | 2485 | - | 2.38 | 0.094 | 4032 | 582.4 | -194.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 15.11 | 14.42 | 15.14 |
8356 | 819.4 | -8.5 | 407 | 8362 | done | -0.62 | 0.08 | 0.190 | 2508 | 287.5 | 2.17 | 0.039 | 2658 | -633.2 | -194.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 14.35 | 14.66 | 14.47 |
9045 | 869.2 | -7.3 | 429 | 9050 | roll | -0.62 | - | - | 2508 | - | 2.33 | 0.063 | 1248 | -605.2 | -194.6 | - | - | 3882 | - | - | - | - | - | - | - | - | 15.11 | 14.57 | 15.14 |
9114 | 874.6 | -7.5 | 442 | 9118 | done | -0.62 | - | - | 2504 | - | 2.35 | 0.067 | 2655 | 598.7 | -194.6 | - | - | 3883 | - | - | - | - | - | - | - | - | 14.55 | 14.48 | 14.62 |
9774 | 915.3 | -5.9 | 458 | 9779 | roll | -0.62 | - | - | 2494 | - | 2.40 | 0.098 | 4033 | 574.2 | -194.6 | - | - | 3880 | - | - | - | - | - | - | - | - | 15.12 | 14.35 | 15.15 |
9838 | 919.6 | -6.3 | 471 | 9844 | done | -0.62 | - | - | 2493 | - | 2.22 | 0.041 | 2651 | -622.5 | -194.6 | - | - | 3880 | - | - | - | - | - | - | - | - | 14.74 | 14.66 | 14.78 |
10495 | 969.6 | -8.0 | 487 | 10500 | roll | -0.62 | - | - | 2493 | - | 2.30 | 0.067 | 1261 | -604.3 | -194.6 | - | - | 3878 | - | - | - | - | - | - | - | - | 15.12 | 14.44 | 15.15 |
10574 | 976.9 | -9.4 | 503 | 10579 | done | -0.62 | - | - | 2492 | - | 2.38 | 0.070 | 2653 | 584.9 | -194.6 | - | - | 3878 | - | - | - | - | - | - | - | - | 14.64 | 14.50 | 14.69 |
10730 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
10730 | begin apogee | ||||||||||||||||||||||||||||
10740 | 991.2 | -9.0 | 512 | 10901 | done | -0.20 | 0.55 | 0.176 | 2650 | 287.3 | - | - | 2467 | - | - | 157.45 | 2.213 | 3126 | -4.8 | 0.410 | - | - | - | - | - | - | 14.30 | 14.04 | 13.05 |
10902 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10903 | begin climb | ||||||||||||||||||||||||||||
10907 | 997.2 | - | 513 | 11082 | roll | 0.62 | 0.80 | 0.110 | 2922 | 340.0 | 2.50 | 0.077 | 1090 | -550.8 | 194.6 | 164.40 | 2.163 | 2330 | -4.8 | 0.428 | - | - | - | - | - | - | 14.07 | 13.76 | 12.80 |
11140 | 983.0 | 11.5 | 570 | 11145 | done | 0.62 | - | - | 2922 | - | 2.42 | 0.065 | 2470 | 570.2 | 194.6 | - | - | 2328 | - | - | - | - | - | - | - | - | 14.16 | 14.07 | 14.19 |
11820 | 895.9 | 13.2 | 590 | 11824 | roll | 0.62 | - | - | 2922 | - | 2.45 | 0.096 | 3884 | 577.1 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.97 | 14.55 | 15.00 |
11892 | 885.0 | 15.1 | 604 | 11896 | done | 0.62 | - | - | 2932 | - | 2.30 | 0.054 | 2497 | -603.0 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.79 |
12544 | 788.6 | 15.1 | 618 | 12548 | roll | 0.62 | - | - | 2943 | - | 2.42 | 0.078 | 1058 | -594.6 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.04 | 14.62 | 15.07 |
12606 | 779.1 | 14.0 | 630 | 12611 | done | 0.62 | - | - | 2943 | - | 2.40 | 0.068 | 2483 | 593.8 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.76 | 14.64 | 14.81 |
13271 | 684.9 | 14.0 | 647 | 13276 | roll | 0.62 | - | - | 2943 | - | 2.40 | 0.097 | 3881 | 582.5 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.08 | 14.50 | 15.11 |
13315 | 678.3 | 15.1 | 656 | 13321 | done | 0.62 | 0.17 | 0.280 | 2916 | -158.8 | 2.33 | 0.054 | 2467 | -606.9 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.31 | 14.69 | 14.66 |
13635 | 642.7 | 11.1 | 664 | 13636 | done | 0.62 | - | - | 2916 | - | - | - | 2467 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
13931 | 609.3 | 11.1 | 669 | 13937 | roll | 0.62 | - | - | 2924 | - | 2.35 | 0.078 | 1066 | -596.2 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 14.54 | 15.14 |
13955 | 606.4 | 11.6 | 674 | 13960 | done | 0.62 | - | - | 2925 | - | 2.38 | 0.067 | 2476 | 592.4 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.75 | 14.62 | 14.81 |
14295 | 566.6 | 12.0 | 686 | 14299 | roll | 0.62 | - | - | 2924 | - | 2.45 | 0.096 | 3883 | 574.3 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.10 | 14.52 | 15.14 |
14337 | 560.7 | 13.8 | 694 | 14342 | done | 0.62 | - | - | 2935 | - | 2.33 | 0.054 | 2467 | -607.7 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.78 | 14.68 | 14.82 |
14662 | 518.3 | 13.1 | 703 | 14663 | done | 0.62 | - | - | 2935 | - | - | - | 2467 | - | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
14962 | 478.7 | 13.2 | 708 | 14963 | done | 0.62 | - | - | 2934 | - | - | - | 2468 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
15261 | 439.5 | 13.1 | 713 | 15262 | done | 0.62 | - | - | 2934 | - | - | - | 2467 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 15.15 | 15.15 |
15562 | 403.5 | 12.0 | 718 | 15566 | roll | 0.62 | - | - | 2935 | - | 2.47 | 0.094 | 3879 | 571.7 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 14.49 | 15.14 |
15610 | 397.1 | 13.1 | 727 | 15616 | done | 0.62 | 0.15 | 0.278 | 2914 | -140.0 | 2.30 | 0.051 | 2474 | -610.9 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.28 | 14.66 | 14.61 |
15929 | 363.9 | 10.3 | 735 | 15931 | done | 0.62 | - | - | 2914 | - | - | - | 2474 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.09 | 15.13 | 15.12 |
16226 | 332.5 | 10.4 | 740 | 16227 | done | 0.62 | - | - | 2914 | - | - | - | 2474 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 15.16 | 15.15 |
16526 | 302.4 | 10.0 | 745 | 16527 | done | 0.62 | - | - | 2914 | - | - | - | 2474 | - | 195.4 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.12 | 15.16 | 15.15 |
16826 | 270.3 | 10.8 | 750 | 16830 | roll | 0.62 | - | - | 2913 | - | 2.47 | 0.091 | 3887 | 572.1 | 195.4 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.13 | 14.48 | 15.16 |
16918 | 258.6 | 12.7 | 768 | 16924 | done | 0.62 | - | - | 2922 | - | 2.33 | 0.050 | 2463 | -611.2 | 195.4 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.78 |
17230 | 223.1 | 11.2 | 786 | 17231 | done | 0.62 | - | - | 2922 | - | - | - | 2463 | - | 195.4 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.11 | 15.15 | 15.14 |
17530 | 193.2 | 9.4 | 801 | 17550 | roll | 0.62 | - | - | 2929 | - | 2.35 | 0.074 | 1075 | -590.6 | 213.7 | 14.70 | 1.229 | 2253 | -4.8 | 0.146 | - | - | - | - | - | - | 15.11 | 14.69 | 13.83 |
17610 | 186.1 | 8.9 | 817 | 17641 | done | 0.62 | - | - | 2928 | - | 2.33 | 0.062 | 2480 | 603.0 | 246.4 | 24.77 | 1.216 | 2120 | -5.4 | 0.157 | - | - | - | - | - | - | 14.67 | 14.60 | 13.85 |
17955 | 153.7 | 9.3 | 840 | 17977 | roll | 0.62 | - | - | 2928 | - | 2.40 | 0.092 | 3877 | 582.1 | 267.6 | 16.40 | 1.147 | 2034 | -5.2 | 0.135 | - | - | - | - | - | - | 14.97 | 14.61 | 13.86 |
18036 | 145.1 | 11.2 | 857 | 18043 | done | 0.62 | - | - | 2934 | - | 2.30 | 0.047 | 2474 | -610.0 | 267.6 | - | - | 2032 | - | - | - | - | - | - | - | - | 14.70 | 14.62 | 14.73 |
18347 | 115.6 | 8.7 | 874 | 18383 | roll | 0.63 | - | - | 2935 | - | 2.42 | 0.071 | 1062 | -583.5 | 305.5 | 28.02 | 1.138 | 1878 | -5.5 | 0.107 | - | - | - | - | - | - | 15.00 | 14.59 | 13.90 |
18485 | 103.7 | 7.4 | 901 | 18544 | done | 0.63 | - | - | 2935 | - | 2.38 | 0.057 | 2475 | 593.7 | 379.1 | 52.03 | 1.123 | 1577 | -5.8 | 0.102 | - | - | - | - | - | - | 14.66 | 14.55 | 13.76 |
18847 | 81.6 | 5.6 | 929 | 18944 | roll | 0.65 | - | - | 2931 | - | 2.50 | 0.083 | 3884 | 563.6 | 506.1 | 88.05 | 1.104 | 1060 | -5.9 | 0.083 | - | - | - | - | - | - | 14.93 | 14.35 | 13.73 |
18977 | 72.4 | 9.2 | 954 | 19000 | done | 0.65 | - | - | 2931 | - | 2.28 | 0.038 | 2465 | -622.4 | 529.1 | 17.48 | 1.053 | 967 | -5.3 | 0.070 | - | - | - | - | - | - | 14.47 | 14.44 | 13.69 |
19309 | 36.4 | 11.2 | 982 | 19314 | roll | 0.65 | - | - | 2931 | - | 2.30 | 0.063 | 1073 | -605.2 | 529.1 | - | - | 967 | - | - | - | - | - | - | - | - | 14.93 | 14.58 | 14.95 |
19364 | 30.5 | 10.5 | 992 | 19370 | done | 0.65 | - | - | 2931 | - | 2.28 | 0.047 | 2487 | 620.2 | 529.1 | - | - | 967 | - | - | - | - | - | - | - | - | 14.64 | 14.59 | 14.66 |
19609 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
19609 | begin surface coast | ||||||||||||||||||||||||||||
19629 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
19629 | begin surface | ||||||||||||||||||||||||||||
SM | 3.69 | - | - | - | - | -8.30 | 8.00 | 0.046 | 39 | 4.9 | 0.25 | 0.094 | 2673 | 6572.0 | 529.36 | - | - | 969 | - | - | - | - | - | - | - | - |