• Previous call tries 5 | • 71.82 of 150.00 AH used of 24V (52.12% remains) | |
• Previous NAKs 0, Timeouts 0 | • 39.05 of 100.00 AH used of 10V (60.95% remains) | |
• Surface angle -69.0 deg, depth 2.63 m | • Intended pitch -24.8 deg, speed -13.043 cm/s | |
• VBD pumped to 770.98 (SM_CC=770.97791) | ||
• GPS1 time: 37 s | ||
• GPS2 time: 15 s | • Transponder ping count: 1 | |
• 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 | |||||
12 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
12 | begin dive | ||||||||||||||||||||||||||||
15 | - | - | - | 52 | VBD | -1.25 | - | - | 140 | - | - | - | 2504 | - | -121.7 | -34.10 | - | 2275 | - | - | - | - | - | - | - | - | - | - | - |
55 | 3.1 | -1.6 | 6 | 125 | roll | -1.25 | 8.20 | 0.232 | 2134 | 243.2 | 2.17 | 0.038 | 1065 | -663.1 | -121.7 | -55.90 | - | 3989 | -30.7 | - | - | - | - | - | - | - | - | - | - |
231 | 25.8 | -17.4 | 35 | 238 | done | -0.96 | 0.38 | 0.159 | 2231 | 255.3 | 2.10 | 0.027 | 2485 | 676.2 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
578 | 68.8 | -11.9 | 96 | 584 | roll | -1.22 | 0.20 | 0.061 | 2142 | -445.0 | 2.05 | 0.023 | 1070 | -690.2 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
598 | 71.6 | -12.7 | 99 | 604 | done | -1.35 | - | - | 2137 | - | 2.10 | 0.037 | 2480 | 671.4 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
942 | 122.7 | -14.0 | 160 | 948 | roll | -1.18 | - | - | 2128 | - | 1.92 | 0.041 | 3767 | 670.3 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
972 | 127.4 | -15.4 | 165 | 978 | done | -0.95 | 0.38 | 0.156 | 2235 | 281.6 | 1.85 | 0.020 | 2429 | -723.2 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
1319 | 165.2 | -10.0 | 226 | 1327 | roll | -1.32 | 0.30 | 0.053 | 2107 | -426.7 | 1.92 | 0.023 | 1067 | -709.4 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
1412 | 177.8 | -13.7 | 242 | 1420 | done | -1.10 | 0.32 | 0.156 | 2189 | 256.2 | 2.05 | 0.027 | 2470 | 684.4 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
1760 | 215.9 | -10.9 | 303 | 1766 | roll | -1.36 | 0.20 | 0.061 | 2098 | -455.0 | 2.03 | 0.022 | 1063 | -693.1 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
1878 | 230.8 | -12.6 | 323 | 1885 | done | -1.15 | 0.28 | 0.160 | 2173 | 267.9 | 2.03 | 0.028 | 2441 | 678.8 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
2223 | 266.3 | -10.5 | 384 | 2230 | roll | -1.38 | 0.17 | 0.064 | 2086 | -511.8 | 2.00 | 0.042 | 3766 | 662.5 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
2276 | 273.5 | -14.6 | 393 | 2282 | done | -1.08 | 0.38 | 0.160 | 2191 | 276.3 | 1.90 | 0.021 | 2395 | -721.6 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
2623 | 306.5 | -8.2 | 448 | 2625 | done | -1.36 | 0.25 | 0.058 | 2091 | -400.0 | - | - | 2395 | - | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
2945 | 342.8 | -12.6 | 478 | 2950 | roll | -1.23 | 0.20 | 0.163 | 2141 | 250.0 | 2.10 | 0.041 | 3763 | 651.4 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
3100 | 362.0 | -12.2 | 491 | 3103 | done | -1.23 | - | - | 2141 | - | 1.92 | 0.022 | 2411 | -704.2 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
3434 | 396.4 | -10.8 | 522 | 3438 | roll | -1.40 | 0.12 | 0.077 | 2085 | -466.7 | 2.08 | 0.044 | 3764 | 650.5 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
3468 | 401.1 | -12.9 | 525 | 3473 | done | -1.24 | 0.15 | 0.156 | 2140 | 366.7 | 1.90 | 0.022 | 2439 | -697.4 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
3799 | 437.9 | -10.2 | 556 | 3804 | roll | -1.41 | 0.15 | 0.071 | 2077 | -420.0 | 1.90 | 0.024 | 1095 | -707.4 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
3835 | 441.9 | -11.6 | 559 | 3840 | done | -1.27 | 0.22 | 0.163 | 2132 | 250.0 | 2.03 | 0.030 | 2456 | 670.4 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
4161 | 472.8 | -9.1 | 589 | 4165 | roll | -1.41 | 0.12 | 0.081 | 2080 | -433.3 | 2.00 | 0.045 | 3765 | 654.5 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
4230 | 480.8 | -12.5 | 595 | 4234 | done | -1.19 | 0.30 | 0.164 | 2162 | 273.3 | 1.88 | 0.023 | 2442 | -703.7 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
4559 | 515.6 | -10.2 | 619 | 4563 | roll | -1.46 | 0.22 | 0.062 | 2065 | -440.9 | 1.92 | 0.025 | 1095 | -701.6 | -121.7 | - | - | 3989 | - | - | - | - | - | - | - | - | - | - | - |
4587 | 519.2 | -12.1 | 620 | 4591 | done | -1.39 | 0.15 | 0.173 | 2095 | 200.0 | 2.03 | 0.031 | 2458 | 671.4 | -121.7 | - | - | 3989 | - | - | - | - | - | - | - | - | - | - | - |
4915 | 552.9 | -9.5 | 636 | 4918 | roll | -1.39 | - | - | 2095 | - | 1.98 | 0.048 | 3757 | 656.1 | -121.7 | - | - | 3986 | - | - | - | - | - | - | - | - | - | - | - |
4993 | 561.6 | -10.9 | 639 | 4998 | done | -1.24 | 0.17 | 0.165 | 2142 | 276.5 | 1.85 | 0.023 | 2456 | -703.2 | -121.7 | - | - | 3985 | - | - | - | - | - | - | - | - | - | - | - |
5319 | 590.3 | -8.8 | 655 | 5324 | roll | -1.48 | 0.17 | 0.071 | 2065 | -452.9 | 1.95 | 0.025 | 1104 | -693.3 | -121.7 | - | - | 3983 | - | - | - | - | - | - | - | - | - | - | - |
5376 | 596.8 | -11.2 | 657 | 5381 | done | -1.31 | 0.22 | 0.166 | 2118 | 240.9 | 2.03 | 0.031 | 2453 | 664.5 | -121.7 | - | - | 3982 | - | - | - | - | - | - | - | - | - | - | - |
5703 | 626.6 | -9.5 | 673 | 5706 | roll | -1.41 | - | - | 2111 | - | 2.00 | 0.047 | 3761 | 654.0 | -121.7 | - | - | 3980 | - | - | - | - | - | - | - | - | - | - | - |
5726 | 630.0 | -11.7 | 674 | 5730 | done | -1.41 | - | - | 2111 | - | 1.90 | 0.024 | 2452 | -688.9 | -121.7 | - | - | 3979 | - | - | - | - | - | - | - | - | - | - | - |
6060 | 667.6 | -10.7 | 690 | 6064 | roll | -1.54 | 0.17 | 0.074 | 2038 | -429.4 | 1.95 | 0.025 | 1101 | -692.8 | -121.7 | - | - | 3977 | - | - | - | - | - | - | - | - | - | - | - |
6146 | 679.5 | -14.4 | 693 | 6153 | done | -1.30 | 0.35 | 0.180 | 2125 | 248.6 | 2.03 | 0.031 | 2450 | 664.5 | -121.7 | - | - | 3976 | - | - | - | - | - | - | - | - | - | - | - |
6463 | 711.4 | -9.6 | 709 | 6465 | done | -1.49 | 0.17 | 0.074 | 2059 | -388.2 | - | - | 2452 | - | -121.7 | - | - | 3974 | - | - | - | - | - | - | - | - | - | - | - |
6773 | 747.0 | -11.9 | 724 | 6775 | done | -1.40 | 0.12 | 0.186 | 2088 | 241.7 | - | - | 2452 | - | -121.7 | - | - | 3971 | - | - | - | - | - | - | - | - | - | - | - |
7081 | 782.7 | -11.1 | 739 | 7085 | roll | -1.40 | - | - | 2084 | - | 2.03 | 0.050 | 3755 | 641.9 | -121.7 | - | - | 3969 | - | - | - | - | - | - | - | - | - | - | - |
7196 | 796.9 | -13.2 | 744 | 7200 | done | -1.26 | 0.20 | 0.171 | 2136 | 260.0 | 1.92 | 0.025 | 2425 | -692.7 | -121.7 | - | - | 3968 | - | - | - | - | - | - | - | - | - | - | - |
7531 | 830.6 | -9.8 | 760 | 7533 | done | -1.47 | 0.20 | 0.069 | 2060 | -380.0 | - | - | 2424 | - | -121.7 | - | - | 3966 | - | - | - | - | - | - | - | - | - | - | - |
7840 | 868.5 | -12.4 | 775 | 7844 | roll | -1.32 | 0.17 | 0.184 | 2101 | 241.2 | 2.12 | 0.048 | 3765 | 632.5 | -121.7 | - | - | 3964 | - | - | - | - | - | - | - | - | - | - | - |
7907 | 877.2 | -12.7 | 778 | 7911 | done | -1.22 | 0.20 | 0.171 | 2153 | 260.0 | 1.92 | 0.025 | 2440 | -690.1 | -121.7 | - | - | 3964 | - | - | - | - | - | - | - | - | - | - | - |
8237 | 907.0 | -9.0 | 794 | 8241 | roll | -1.52 | 0.25 | 0.067 | 2053 | -400.0 | 1.98 | 0.026 | 1097 | -678.3 | -121.7 | - | - | 3962 | - | - | - | - | - | - | - | - | - | - | - |
8315 | 917.3 | -13.9 | 797 | 8319 | done | -1.34 | 0.25 | 0.176 | 2113 | 240.0 | 2.03 | 0.035 | 2420 | 651.7 | -121.7 | - | - | 3962 | - | - | - | - | - | - | - | - | - | - | - |
8631 | 949.9 | -10.7 | 812 | 8636 | roll | -1.39 | - | - | 2111 | - | 2.10 | 0.051 | 3761 | 638.6 | -121.7 | - | - | 3960 | - | - | - | - | - | - | - | - | - | - | - |
8684 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8684 | begin apogee | ||||||||||||||||||||||||||||
8694 | 956.6 | 12.0 | 814 | 8788 | done | -0.22 | 1.20 | 0.165 | 2463 | 293.3 | - | - | 2383 | - | - | 90.32 | 1.371 | 3532 | -4.7 | 0.357 | - | - | - | - | - | - | - | - | - |
8788 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8789 | begin climb | ||||||||||||||||||||||||||||
8791 | 963.1 | - | 819 | 8902 | roll | 1.25 | 1.35 | 0.066 | 2944 | 356.3 | 2.35 | 0.048 | 3760 | 586.0 | 121.7 | 103.32 | 1.333 | 3035 | -4.8 | 0.376 | - | - | - | - | - | - | - | - | - |
8976 | 963.8 | 8.3 | 827 | 9037 | done | 0.63 | 0.80 | 0.213 | 2750 | -242.5 | 2.03 | 0.025 | 2412 | -664.0 | 188.3 | 55.60 | 1.309 | 2763 | -4.9 | 0.389 | - | - | - | - | - | - | - | - | - |
9355 | 931.4 | 9.3 | 846 | 9407 | roll | 0.78 | 0.15 | 0.083 | 2806 | 373.3 | 2.28 | 0.050 | 3754 | 588.6 | 240.8 | 43.90 | 1.299 | 2550 | -4.9 | 0.376 | - | - | - | - | - | - | - | - | - |
9494 | 916.1 | 11.7 | 852 | 9516 | done | 0.66 | 0.22 | 0.183 | 2758 | -218.2 | 2.00 | 0.025 | 2411 | -671.5 | 259.7 | 16.75 | 1.223 | 2473 | -4.6 | 0.372 | - | - | - | - | - | - | - | - | - |
9841 | 885.6 | 9.0 | 869 | 9897 | done | 0.90 | 0.22 | 0.077 | 2842 | 381.8 | - | - | 2410 | - | 316.5 | 48.75 | 1.289 | 2241 | -4.8 | 0.353 | - | - | - | - | - | - | - | - | - |
10206 | 837.4 | 13.5 | 887 | 10210 | roll | 0.90 | - | - | 2842 | - | 2.15 | 0.050 | 3755 | 625.6 | 316.5 | - | - | 2233 | - | - | - | - | - | - | - | - | - | - | - |
10262 | 828.6 | 16.0 | 889 | 10267 | done | 0.76 | 0.20 | 0.189 | 2797 | -225.0 | 1.95 | 0.025 | 2430 | -679.5 | 316.5 | - | - | 2232 | - | - | - | - | - | - | - | - | - | - | - |
10586 | 788.4 | 12.8 | 905 | 10589 | roll | 0.88 | - | - | 2802 | - | 2.12 | 0.031 | 1002 | -673.6 | 319.6 | - | - | 2230 | - | - | - | - | - | - | - | - | - | - | - |
10609 | 785.1 | 13.3 | 906 | 10614 | done | 1.02 | 0.20 | 0.071 | 2879 | 385.0 | 2.22 | 0.033 | 2456 | 655.0 | 319.6 | - | - | 2231 | - | - | - | - | - | - | - | - | - | - | - |
10937 | 736.4 | 14.6 | 922 | 10941 | roll | 0.90 | 0.17 | 0.187 | 2837 | -247.1 | 2.17 | 0.029 | 1012 | -665.4 | 319.6 | - | - | 2229 | - | - | - | - | - | - | - | - | - | - | - |
10976 | 730.8 | 13.2 | 924 | 10980 | done | 0.90 | - | - | 2837 | - | 2.15 | 0.033 | 2424 | 656.7 | 319.6 | - | - | 2229 | - | - | - | - | - | - | - | - | - | - | - |
11309 | 687.8 | 12.9 | 940 | 11310 | done | 0.90 | - | - | 2837 | - | - | - | 2424 | - | 321.8 | - | - | 2229 | - | - | - | - | - | - | - | - | - | - | - |
11620 | 651.7 | 10.6 | 955 | 11661 | roll | 0.94 | - | - | 2843 | - | 2.25 | 0.032 | 1010 | -628.4 | 355.4 | 31.95 | 1.176 | 2081 | -4.6 | 0.277 | - | - | - | - | - | - | - | - | - |
11712 | 640.1 | 12.1 | 959 | 11729 | done | 1.06 | 0.12 | 0.084 | 2888 | 375.0 | 2.17 | 0.034 | 2413 | 646.5 | 368.7 | 12.52 | 1.083 | 2028 | -4.2 | 0.270 | - | - | - | - | - | - | - | - | - |
12039 | 596.6 | 13.4 | 975 | 12043 | roll | 1.01 | - | - | 2888 | - | 2.12 | 0.050 | 3764 | 637.3 | 368.7 | - | - | 2022 | - | - | - | - | - | - | - | - | - | - | - |
12067 | 592.1 | 15.0 | 976 | 12072 | done | 0.90 | 0.22 | 0.183 | 2840 | -218.2 | 2.00 | 0.025 | 2415 | -674.5 | 368.7 | - | - | 2021 | - | - | - | - | - | - | - | - | - | - | - |
12392 | 554.3 | 12.1 | 992 | 12408 | roll | 1.15 | 0.17 | 0.077 | 2923 | 488.2 | 2.12 | 0.029 | 996 | -669.3 | 381.7 | 11.25 | 1.035 | 1975 | -4.1 | 0.237 | - | - | - | - | - | - | - | - | - |
12437 | 546.8 | 16.2 | 993 | 12442 | done | 1.05 | 0.15 | 0.184 | 2887 | -240.0 | 2.15 | 0.034 | 2398 | 652.1 | 381.7 | - | - | 1973 | - | - | - | - | - | - | - | - | - | - | - |
12758 | 502.5 | 12.2 | 1009 | 12774 | roll | 1.07 | - | - | 2887 | - | 2.15 | 0.050 | 3755 | 631.2 | 393.9 | 11.68 | 1.006 | 1925 | -4.1 | 0.222 | - | - | - | - | - | - | - | - | - |
12792 | 498.0 | 12.6 | 1009 | 12804 | done | 1.08 | - | - | 2894 | - | 2.03 | 0.025 | 2401 | -667.0 | 399.9 | 7.05 | 0.896 | 1900 | -3.5 | 0.213 | - | - | - | - | - | - | - | - | - |
13122 | 456.8 | 13.3 | 1040 | 13126 | roll | 1.08 | - | - | 2905 | - | 2.10 | 0.031 | 995 | -669.5 | 399.9 | - | - | 1897 | - | - | - | - | - | - | - | - | - | - | - |
13196 | 446.7 | 14.0 | 1046 | 13204 | done | 1.08 | - | - | 2905 | - | 2.12 | 0.034 | 2385 | 655.7 | 399.9 | - | - | 1897 | - | - | - | - | - | - | - | - | - | - | - |
13523 | 399.8 | 13.7 | 1077 | 13527 | roll | 1.08 | - | - | 2905 | - | 2.15 | 0.051 | 3764 | 641.4 | 399.9 | - | - | 1896 | - | - | - | - | - | - | - | - | - | - | - |
13558 | 394.3 | 15.4 | 1080 | 13563 | done | 1.00 | 0.17 | 0.183 | 2869 | -211.8 | 2.05 | 0.025 | 2373 | -678.5 | 399.9 | - | - | 1895 | - | - | - | - | - | - | - | - | - | - | - |
13884 | 357.4 | 10.8 | 1110 | 13918 | roll | 1.29 | 0.22 | 0.071 | 2965 | 436.4 | 2.25 | 0.048 | 3754 | 613.8 | 430.5 | 26.15 | 0.937 | 1774 | -4.6 | 0.191 | - | - | - | - | - | - | - | - | - |
13981 | 343.0 | 15.9 | 1118 | 13989 | done | 1.07 | 0.32 | 0.186 | 2890 | -234.4 | 1.95 | 0.023 | 2419 | -684.6 | 430.5 | - | - | 1772 | - | - | - | - | - | - | - | - | - | - | - |
14307 | 304.9 | 11.3 | 1149 | 14334 | roll | 1.37 | 0.22 | 0.070 | 2993 | 468.2 | 2.15 | 0.031 | 1018 | -651.6 | 455.2 | 21.50 | 0.878 | 1676 | -4.5 | 0.168 | - | - | - | - | - | - | - | - | - |
14435 | 286.8 | 14.7 | 1167 | 14442 | done | 1.22 | 0.22 | 0.189 | 2938 | -250.0 | 2.20 | 0.033 | 2448 | 650.0 | 455.2 | - | - | 1672 | - | - | - | - | - | - | - | - | - | - | - |
14781 | 239.4 | 12.6 | 1228 | 14793 | roll | 1.28 | - | - | 2946 | - | 2.15 | 0.028 | 1020 | -664.2 | 461.6 | 6.07 | 0.692 | 1650 | -3.6 | 0.135 | - | - | - | - | - | - | - | - | - |
14922 | 221.0 | 13.7 | 1252 | 14928 | done | 1.34 | - | - | 2945 | - | 2.08 | 0.031 | 2391 | 659.1 | 461.6 | - | - | 1648 | - | - | - | - | - | - | - | - | - | - | - |
15268 | 175.7 | 12.4 | 1313 | 15282 | roll | 1.42 | 0.15 | 0.076 | 3012 | 446.7 | 2.12 | 0.028 | 1005 | -653.8 | 470.3 | 8.62 | 0.703 | 1613 | -4.1 | 0.110 | - | - | - | - | - | - | - | - | - |
15363 | 162.5 | 13.9 | 1329 | 15370 | done | 1.27 | 0.22 | 0.178 | 2955 | -259.1 | 2.05 | 0.031 | 2368 | 664.9 | 470.3 | - | - | 1612 | - | - | - | - | - | - | - | - | - | - | - |
15711 | 121.0 | 12.5 | 1390 | 15725 | roll | 1.47 | 0.17 | 0.066 | 3035 | 470.6 | 2.03 | 0.026 | 1010 | -669.0 | 478.2 | 8.05 | 0.647 | 1581 | -3.9 | 0.078 | - | - | - | - | - | - | - | - | - |
15783 | 110.5 | 14.0 | 1402 | 15790 | done | 1.36 | 0.20 | 0.179 | 2984 | -255.0 | 2.00 | 0.029 | 2350 | 670.0 | 478.2 | - | - | 1581 | - | - | - | - | - | - | - | - | - | - | - |
16132 | 70.8 | 10.8 | 1463 | 16167 | roll | 1.50 | 0.12 | 0.087 | 3038 | 450.0 | 2.03 | 0.027 | 1015 | -657.6 | 509.7 | 26.75 | 0.667 | 1453 | -4.8 | 0.055 | - | - | - | - | - | - | - | - | - |
16251 | 55.8 | 12.5 | 1483 | 16263 | done | 1.51 | - | - | 3038 | - | 1.92 | 0.028 | 2305 | 671.9 | 517.5 | 7.93 | 0.575 | 1421 | -4.0 | 0.042 | - | - | - | - | - | - | - | - | - |
16602 | 11.8 | 13.7 | 1545 | 16608 | roll | 1.51 | - | - | 3045 | - | 1.90 | 0.027 | 1012 | -680.5 | 517.5 | - | - | 1419 | - | - | - | - | - | - | - | - | - | - | - |
16654 | 5.1 | 12.6 | 1554 | 16668 | done | 1.52 | - | - | 3045 | - | 1.83 | 0.026 | 2252 | 677.6 | 523.9 | 6.12 | 0.503 | 1395 | -3.9 | 0.004 | - | - | - | - | - | - | - | - | - |
16671 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16671 | begin surface coast | ||||||||||||||||||||||||||||
16701 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16701 | begin surface | ||||||||||||||||||||||||||||
SM | 2.53 | - | - | - | - | -7.52 | - | - | 139 | - | - | - | 2494 | - | 770.98 | 188.88 | 0.598 | 388 | -5.3 | 0.002 | - | - | - | - | - | - |