• Previous call tries 4 | • 16.69 of 350.00 AH used of 24V (95.23% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -70.8 deg, depth 2.17 m | • Intended pitch -19.8 deg, speed -11.000 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | ||
• GPS1 time: 40 s | ||
• GPS2 time: 10 s | • Transponder ping count: 8 | |
• 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 | |||||
5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
5 | begin dive | ||||||||||||||||||||||||||||
7 | - | - | - | 68 | VBD | -1.50 | - | - | 92 | - | - | - | 2035 | - | -146.0 | -58.95 | - | 3053 | - | - | - | - | - | - | - | - | 14.91 | - | 14.94 |
71 | 4.1 | -5.5 | 10 | 97 | roll | -1.50 | 13.98 | 0.438 | 2835 | 196.2 | 2.67 | 2.121 | 3450 | 530.0 | -146.0 | -6.35 | - | 3388 | -52.8 | - | - | - | - | - | - | - | 14.52 | 13.80 | 14.75 |
215 | 34.5 | -18.6 | 37 | 222 | done | -1.47 | - | - | 2835 | - | 2.35 | 0.043 | 2042 | -599.1 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 14.80 | 14.73 | 14.82 |
529 | 94.5 | -20.1 | 76 | 535 | roll | -1.39 | 0.12 | 0.284 | 2867 | 266.7 | 2.30 | 0.057 | 647 | -606.5 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.71 | 14.82 | 14.82 |
575 | 103.5 | -18.2 | 85 | 582 | done | -1.39 | - | - | 2859 | - | 2.33 | 0.044 | 2050 | 602.1 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.90 | 14.84 | 14.92 |
882 | 146.9 | -12.9 | 116 | 887 | roll | -1.42 | - | - | 2849 | - | 2.33 | 0.066 | 3457 | 603.9 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 15.09 | 14.86 | 15.11 |
948 | 155.5 | -13.2 | 129 | 954 | done | -1.49 | - | - | 2850 | - | 2.33 | 0.042 | 2042 | -607.3 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.95 | 14.89 | 14.97 |
1254 | 195.1 | -9.9 | 160 | 1259 | roll | -1.55 | - | - | 2849 | - | 2.30 | 0.060 | 636 | -611.3 | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 15.12 | 14.90 | 15.14 |
1286 | 198.4 | -10.6 | 166 | 1295 | done | -1.60 | - | - | 2839 | - | 2.33 | 0.043 | 2061 | 611.6 | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 14.98 | 14.92 | 15.00 |
1598 | 230.0 | -11.8 | 198 | 1606 | done | -1.67 | 0.12 | 0.145 | 2799 | -333.3 | - | - | 2061 | - | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 14.92 | 15.01 | 14.99 |
1906 | 271.1 | -13.7 | 219 | 1908 | done | -1.67 | - | - | 2798 | - | - | - | 2061 | - | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 15.13 | 15.15 | 15.14 |
2209 | 313.3 | -13.5 | 229 | 2213 | roll | -1.67 | - | - | 2798 | - | 2.40 | 0.063 | 639 | -592.5 | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 15.15 | 14.94 | 15.17 |
2271 | 322.1 | -13.4 | 241 | 2276 | done | -1.67 | 0.12 | 0.292 | 2813 | 125.0 | 2.30 | 0.044 | 2059 | 617.4 | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 14.83 | 14.96 | 14.99 |
2605 | 357.4 | -10.3 | 257 | 2606 | done | -1.72 | - | - | 2813 | - | - | - | 2060 | - | -146.0 | - | - | 3391 | - | - | - | - | - | - | - | - | 15.16 | 15.18 | 15.18 |
2905 | 389.7 | -11.0 | 267 | 2913 | roll | -1.78 | 0.12 | 0.151 | 2757 | -466.7 | 2.33 | 0.064 | 3450 | 596.6 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.95 | 14.95 | 15.00 |
2934 | 393.7 | -12.6 | 272 | 2943 | done | -1.78 | 0.15 | 0.275 | 2789 | 213.3 | 2.33 | 0.046 | 2040 | -605.2 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.83 | 14.97 | 15.00 |
3241 | 433.9 | -13.8 | 283 | 3246 | roll | -1.78 | - | - | 2789 | - | 2.30 | 0.068 | 654 | -602.6 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.19 |
3288 | 441.2 | -14.4 | 292 | 3294 | done | -1.78 | - | - | 2781 | - | 2.30 | 0.049 | 2046 | 605.2 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 15.03 | 14.96 | 15.04 |
3606 | 486.1 | -13.7 | 305 | 3608 | done | -1.78 | - | - | 2781 | - | - | - | 2045 | - | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.18 |
3908 | 525.6 | -12.8 | 315 | 3912 | roll | -1.78 | - | - | 2781 | - | 2.38 | 0.070 | 641 | -589.9 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.19 |
3970 | 534.3 | -13.5 | 327 | 3975 | done | -1.78 | - | - | 2771 | - | 2.33 | 0.050 | 2060 | 609.0 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 15.03 | 14.97 | 15.05 |
4302 | 576.9 | -13.1 | 343 | 4303 | done | -1.78 | - | - | 2771 | - | - | - | 2060 | - | -146.0 | - | - | 3385 | - | - | - | - | - | - | - | - | 15.16 | 15.18 | 15.18 |
4603 | 618.5 | -14.2 | 353 | 4610 | roll | -1.78 | - | - | 2771 | - | 2.42 | 0.073 | 643 | -585.5 | -146.0 | - | - | 3382 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.19 |
4647 | 625.5 | -15.5 | 361 | 4653 | done | -1.74 | 0.15 | 0.304 | 2792 | 140.0 | 2.33 | 0.051 | 2057 | 606.9 | -146.0 | - | - | 3383 | - | - | - | - | - | - | - | - | 14.83 | 14.97 | 15.00 |
4971 | 666.1 | -12.1 | 375 | 4972 | done | -1.78 | - | - | 2792 | - | - | - | 2057 | - | -146.0 | - | - | 3381 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.18 |
5272 | 698.5 | -10.4 | 385 | 5279 | roll | -1.82 | - | - | 2783 | - | 2.35 | 0.074 | 3447 | 591.5 | -146.0 | - | - | 3381 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.19 |
5309 | 702.9 | -11.2 | 392 | 5317 | done | -1.87 | - | - | 2783 | - | 2.35 | 0.055 | 2049 | -594.9 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 15.03 | 14.97 | 15.05 |
5639 | 740.8 | -12.2 | 407 | 5644 | roll | -1.87 | - | - | 2783 | - | 2.38 | 0.075 | 645 | -589.9 | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.18 |
5728 | 753.7 | -14.4 | 424 | 5738 | done | -1.87 | - | - | 2773 | - | 2.33 | 0.054 | 2053 | 604.3 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 15.03 | 14.95 | 15.04 |
6034 | 799.2 | -15.3 | 435 | 6035 | done | -1.87 | - | - | 2774 | - | - | - | 2053 | - | -146.0 | - | - | 3377 | - | - | - | - | - | - | - | - | 15.14 | 15.18 | 15.17 |
6335 | 842.5 | -13.9 | 445 | 6342 | roll | -1.87 | - | - | 2773 | - | 2.42 | 0.073 | 640 | -583.9 | -146.0 | - | - | 3376 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.18 |
6393 | 851.1 | -13.7 | 456 | 6401 | done | -1.87 | - | - | 2764 | - | 2.35 | 0.054 | 2050 | 600.0 | -146.0 | - | - | 3375 | - | - | - | - | - | - | - | - | 15.03 | 14.96 | 15.04 |
6701 | 890.1 | -12.5 | 467 | 6706 | roll | -1.87 | - | - | 2764 | - | 2.42 | 0.077 | 637 | -583.9 | -146.0 | - | - | 3375 | - | - | - | - | - | - | - | - | 15.16 | 14.94 | 15.18 |
6767 | 899.3 | -13.5 | 480 | 6773 | done | -1.82 | 0.12 | 0.329 | 2776 | 100.0 | 2.38 | 0.052 | 2059 | 597.5 | -146.0 | - | - | 3374 | - | - | - | - | - | - | - | - | 14.80 | 14.96 | 14.99 |
7097 | 937.8 | -11.8 | 495 | 7102 | roll | -1.82 | - | - | 2776 | - | 2.45 | 0.076 | 641 | -578.8 | -146.0 | - | - | 3373 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.18 |
7123 | 941.4 | -13.1 | 500 | 7131 | done | -1.82 | - | - | 2768 | - | 2.38 | 0.059 | 2050 | 592.0 | -146.0 | - | - | 3373 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.04 |
7431 | 978.8 | -12.2 | 511 | 7436 | roll | -1.82 | - | - | 2768 | - | 2.40 | 0.075 | 646 | -585.0 | -146.0 | - | - | 3372 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.18 |
7468 | 983.9 | -13.0 | 518 | 7474 | done | -1.78 | 0.12 | 0.324 | 2780 | 100.0 | 2.33 | 0.050 | 2064 | 608.6 | -146.0 | - | - | 3372 | - | - | - | - | - | - | - | - | 14.78 | 14.96 | 15.00 |
7525 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7525 | begin apogee | ||||||||||||||||||||||||||||
7530 | 990.6 | -11.1 | 524 | 7662 | done | -0.33 | 1.23 | 0.283 | 3102 | 261.8 | - | - | 1789 | - | - | 128.55 | 2.632 | 2790 | -4.5 | 0.320 | - | - | - | - | - | - | 14.78 | 14.06 | 13.12 |
7663 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7663 | begin climb | ||||||||||||||||||||||||||||
7664 | 991.9 | - | 528 | 7807 | roll | 1.50 | 1.38 | 0.183 | 3505 | 292.0 | 2.62 | 0.091 | 395 | -532.1 | 146.0 | 133.27 | 2.562 | 2187 | -4.5 | 0.329 | - | - | - | - | - | - | 14.03 | 13.83 | 13.05 |
7825 | 978.0 | 14.5 | 558 | 7832 | done | 1.34 | 0.20 | 0.360 | 3468 | -185.0 | 2.47 | 0.054 | 1795 | 566.8 | 146.0 | - | - | 2182 | - | - | - | - | - | - | - | - | 13.99 | 14.16 | 14.21 |
8155 | 929.5 | 14.4 | 574 | 8161 | roll | 1.27 | - | - | 3468 | - | 2.45 | 0.073 | 3207 | 576.3 | 146.0 | - | - | 2177 | - | - | - | - | - | - | - | - | 14.86 | 14.64 | 14.88 |
8217 | 920.0 | 14.4 | 587 | 8222 | done | 1.18 | 0.22 | 0.401 | 3435 | -150.0 | 2.40 | 0.055 | 1799 | -586.7 | 146.0 | - | - | 2177 | - | - | - | - | - | - | - | - | 14.47 | 14.69 | 14.73 |
8544 | 880.8 | 11.9 | 602 | 8546 | done | 1.18 | - | - | 3435 | - | - | - | 1799 | - | 146.0 | - | - | 2175 | - | - | - | - | - | - | - | - | 15.00 | 15.02 | 15.02 |
8844 | 845.3 | 11.9 | 612 | 8848 | roll | 1.18 | - | - | 3427 | - | 2.45 | 0.078 | 3210 | 575.9 | 146.0 | - | - | 2175 | - | - | - | - | - | - | - | - | 15.05 | 14.82 | 15.07 |
8874 | 841.7 | 12.1 | 618 | 8878 | done | 1.18 | - | - | 3435 | - | 2.42 | 0.068 | 1796 | -584.3 | 146.0 | - | - | 2175 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.93 |
9195 | 805.3 | 11.2 | 632 | 9199 | roll | 1.18 | - | - | 3426 | - | 2.45 | 0.078 | 3208 | 576.3 | 146.0 | - | - | 2174 | - | - | - | - | - | - | - | - | 15.09 | 14.85 | 15.11 |
9259 | 797.7 | 11.5 | 645 | 9264 | done | 1.18 | - | - | 3435 | - | 2.40 | 0.067 | 1798 | -587.5 | 146.0 | - | - | 2173 | - | - | - | - | - | - | - | - | 14.94 | 14.86 | 14.96 |
9581 | 758.5 | 12.7 | 659 | 9585 | roll | 1.18 | - | - | 3427 | - | 2.45 | 0.077 | 3202 | 573.1 | 146.0 | - | - | 2173 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.13 |
9676 | 745.7 | 13.7 | 678 | 9680 | done | 1.18 | - | - | 3435 | - | 2.42 | 0.065 | 1793 | -582.2 | 146.0 | - | - | 2173 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.98 |
9992 | 703.5 | 13.3 | 691 | 9993 | done | 1.18 | - | - | 3435 | - | - | - | 1793 | - | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
10292 | 665.6 | 12.5 | 701 | 10297 | roll | 1.18 | - | - | 3429 | - | 2.45 | 0.076 | 3201 | 574.7 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.16 |
10387 | 652.8 | 14.1 | 720 | 10391 | done | 1.18 | - | - | 3438 | - | 2.42 | 0.065 | 1790 | -583.1 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 14.99 | 14.91 | 15.01 |
10713 | 609.9 | 13.0 | 735 | 10718 | roll | 1.18 | - | - | 3437 | - | 2.45 | 0.077 | 3207 | 578.4 | 146.0 | - | - | 2171 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.16 |
10799 | 598.7 | 13.0 | 752 | 10804 | done | 1.18 | - | - | 3445 | - | 2.40 | 0.060 | 1785 | -592.5 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.00 | 14.93 | 15.02 |
11126 | 560.3 | 11.5 | 767 | 11130 | roll | 1.18 | - | - | 3456 | - | 2.40 | 0.075 | 384 | -583.8 | 146.0 | - | - | 2171 | - | - | - | - | - | - | - | - | 15.15 | 14.92 | 15.17 |
11155 | 556.7 | 12.6 | 773 | 11161 | done | 1.12 | 0.17 | 0.331 | 3420 | -211.8 | 2.38 | 0.051 | 1803 | 596.2 | 146.0 | - | - | 2170 | - | - | - | - | - | - | - | - | 14.77 | 14.94 | 14.98 |
11483 | 521.7 | 10.6 | 788 | 11490 | roll | 1.13 | - | - | 3412 | - | 2.38 | 0.076 | 3202 | 587.8 | 153.2 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.15 | 14.92 | 15.17 |
11526 | 516.9 | 10.8 | 797 | 11536 | done | 1.13 | - | - | 3421 | - | 2.40 | 0.064 | 1801 | -583.8 | 156.2 | 4.62 | 1.541 | 2153 | -3.7 | 0.232 | - | - | - | - | - | - | 15.00 | 14.92 | 13.91 |
11844 | 481.8 | 10.7 | 810 | 11857 | roll | 1.14 | - | - | 3412 | - | 2.45 | 0.073 | 3210 | 575.1 | 161.9 | 8.43 | 1.792 | 2125 | -3.3 | 0.168 | - | - | - | - | - | - | 15.12 | 14.70 | 14.01 |
11892 | 476.4 | 11.2 | 820 | 11899 | done | 1.14 | - | - | 3421 | - | 2.42 | 0.063 | 1801 | -582.2 | 161.9 | - | - | 2124 | - | - | - | - | - | - | - | - | 14.90 | 14.83 | 14.92 |
12199 | 443.6 | 10.5 | 831 | 12217 | roll | 1.15 | - | - | 3413 | - | 2.50 | 0.074 | 3203 | 560.8 | 172.6 | 10.52 | 1.793 | 2082 | -4.0 | 0.186 | - | - | - | - | - | - | 15.09 | 14.77 | 14.00 |
12253 | 437.4 | 11.6 | 842 | 12260 | done | 1.18 | - | - | 3422 | - | 2.40 | 0.063 | 1801 | -584.2 | 172.6 | - | - | 2080 | - | - | - | - | - | - | - | - | 14.85 | 14.78 | 14.87 |
12559 | 397.8 | 13.3 | 853 | 12564 | roll | 1.21 | - | - | 3414 | - | 2.42 | 0.074 | 3209 | 581.8 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 15.06 | 14.83 | 15.08 |
12591 | 393.3 | 14.6 | 859 | 12598 | done | 1.25 | 0.10 | 0.152 | 3456 | 420.0 | 2.42 | 0.064 | 1795 | -584.3 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 14.84 | 14.83 | 14.92 |
12921 | 347.4 | 13.2 | 875 | 12925 | roll | 1.25 | - | - | 3452 | - | 2.47 | 0.077 | 3213 | 574.1 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 15.09 | 14.85 | 15.11 |
12950 | 343.4 | 14.3 | 881 | 12955 | done | 1.21 | - | - | 3459 | - | 2.42 | 0.061 | 1798 | -584.7 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 14.95 | 14.88 | 14.97 |
13277 | 299.3 | 13.6 | 896 | 13278 | done | 1.21 | - | - | 3459 | - | - | - | 1798 | - | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
13577 | 261.5 | 12.5 | 906 | 13579 | done | 1.21 | - | - | 3459 | - | - | - | 1798 | - | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
13877 | 222.2 | 13.9 | 928 | 13881 | roll | 1.21 | - | - | 3455 | - | 2.40 | 0.075 | 3203 | 585.4 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.16 |
13967 | 210.6 | 11.9 | 946 | 13974 | done | 1.21 | 0.12 | 0.369 | 3442 | -108.3 | 2.38 | 0.057 | 1797 | -590.8 | 172.6 | - | - | 2078 | - | - | - | - | - | - | - | - | 14.76 | 14.92 | 14.97 |
14274 | 186.6 | 6.8 | 977 | 14365 | roll | 1.34 | 0.10 | 0.143 | 3474 | 320.0 | 2.53 | 0.069 | 3213 | 559.7 | 256.6 | 83.20 | 1.429 | 1739 | -4.1 | 0.100 | - | - | - | - | - | - | 14.93 | 14.28 | 13.78 |
14430 | 167.1 | 15.1 | 1008 | 14437 | done | 1.34 | - | - | 3482 | - | 2.47 | 0.056 | 1796 | -573.7 | 256.6 | - | - | 1736 | - | - | - | - | - | - | - | - | 14.58 | 14.51 | 14.59 |
14737 | 121.1 | 11.7 | 1039 | 14741 | roll | 1.34 | - | - | 3476 | - | 2.42 | 0.067 | 3207 | 583.1 | 256.6 | - | - | 1733 | - | - | - | - | - | - | - | - | 14.93 | 14.70 | 14.95 |
14876 | 107.1 | 9.8 | 1067 | 14904 | done | 1.41 | - | - | 3485 | - | 2.40 | 0.053 | 1796 | -587.9 | 279.7 | 18.33 | 1.297 | 1642 | -5.0 | 0.077 | - | - | - | - | - | - | 14.82 | 14.75 | 14.05 |
15203 | 67.3 | 12.2 | 1102 | 15212 | roll | 1.41 | - | - | 3480 | - | 2.40 | 0.063 | 3206 | 587.5 | 279.7 | - | - | 1639 | - | - | - | - | - | - | - | - | 14.97 | 14.74 | 15.00 |
15238 | 62.8 | 12.5 | 1109 | 15245 | done | 1.44 | - | - | 3489 | - | 2.40 | 0.053 | 1793 | -588.8 | 279.7 | - | - | 1639 | - | - | - | - | - | - | - | - | 14.83 | 14.76 | 14.85 |
15545 | 22.9 | 13.7 | 1160 | 15551 | roll | 1.44 | - | - | 3498 | - | 2.40 | 0.076 | 389 | -585.0 | 279.7 | - | - | 1639 | - | - | - | - | - | - | - | - | 15.02 | 14.79 | 15.04 |
15588 | 16.5 | 14.8 | 1168 | 15595 | done | 1.44 | - | - | 3498 | - | 2.35 | 0.044 | 1806 | 603.0 | 279.7 | - | - | 1639 | - | - | - | - | - | - | - | - | 14.88 | 14.83 | 14.90 |
15690 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15690 | begin surface coast | ||||||||||||||||||||||||||||
15706 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15706 | begin surface | ||||||||||||||||||||||||||||
SM | 2.15 | - | - | - | - | -14.10 | 10.02 | 0.091 | 96 | 9.6 | 0.40 | 0.067 | 2071 | 2602.5 | 400.08 | 51.42 | 0.080 | 1157 | 22.5 | -0.062 | - | - | - | - | - | - |