• Previous call tries 1 | • 31.66 of 350.00 AH used of 24V (90.96% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -70.1 deg, depth 1.03 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
• VBD pumped to 525.01 (SM_CC=525) | ||
• GPS1 time: 20 s | ||
• GPS2 time: 2 s | • Transponder ping count: 48 | |
• 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 | |||||
16 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16 | begin dive | ||||||||||||||||||||||||||||
18 | - | - | - | 108 | VBD | -0.91 | - | - | 187 | - | - | - | 2879 | - | -146.0 | -85.93 | - | 3453 | - | - | - | - | - | - | - | - | 14.66 | - | 14.71 |
110 | 6.2 | -9.1 | 3 | 129 | roll | -0.91 | 10.77 | 0.370 | 2545 | 218.9 | 2.50 | 2.067 | 1506 | -549.2 | -146.0 | -1.42 | - | 3554 | -71.1 | - | - | - | - | - | - | - | 14.24 | 13.40 | 14.54 |
161 | 28.9 | -25.4 | 11 | 171 | done | -0.56 | 0.47 | 0.251 | 2662 | 248.9 | 2.38 | 0.050 | 2864 | 570.6 | -146.0 | - | - | 3555 | - | - | - | - | - | - | - | - | 14.33 | 14.49 | 14.47 |
491 | 80.7 | -12.5 | 25 | 500 | roll | -0.52 | - | - | 2656 | - | 1.67 | 0.077 | 3825 | 575.4 | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.82 | 14.57 | 14.84 |
645 | 94.4 | -7.3 | 47 | 654 | done | -0.58 | - | - | 2657 | - | 1.48 | 0.029 | 2830 | -672.3 | -146.0 | - | - | 3558 | - | - | - | - | - | - | - | - | 14.75 | 14.71 | 14.74 |
967 | 115.4 | -6.4 | 56 | 971 | done | -0.65 | - | - | 2657 | - | - | - | 2830 | - | -146.0 | - | - | 3559 | - | - | - | - | - | - | - | - | 14.88 | 14.92 | 14.91 |
1304 | 138.1 | -6.9 | 62 | 1308 | done | -0.77 | 0.17 | 0.106 | 2586 | -417.6 | - | - | 2829 | - | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.73 | 14.81 | 14.79 |
1639 | 171.7 | -10.3 | 68 | 1648 | roll | -0.77 | - | - | 2581 | - | 2.10 | 0.031 | 1534 | -616.7 | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.92 | 14.73 | 14.95 |
1687 | 176.9 | -10.7 | 75 | 1699 | done | -0.77 | 0.08 | 0.221 | 2594 | 162.5 | 2.30 | 0.048 | 2877 | 583.9 | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.54 | 14.68 | 14.66 |
2031 | 209.7 | -9.5 | 82 | 2035 | done | -0.77 | - | - | 2593 | - | - | - | 2878 | - | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.92 | 14.95 | 14.95 |
2367 | 241.0 | -9.3 | 88 | 2376 | roll | -0.77 | - | - | 2595 | - | 2.20 | 0.031 | 1547 | -605.0 | -146.0 | - | - | 3552 | - | - | - | - | - | - | - | - | 14.91 | 14.73 | 14.95 |
2450 | 249.0 | -9.5 | 100 | 2460 | done | -0.82 | - | - | 2587 | - | 2.28 | 0.048 | 2866 | 578.5 | -146.0 | - | - | 3552 | - | - | - | - | - | - | - | - | 14.73 | 14.68 | 14.76 |
2815 | 284.9 | -9.9 | 110 | 2824 | roll | -0.82 | - | - | 2587 | - | 2.15 | 0.031 | 1536 | -618.6 | -146.0 | - | - | 3549 | - | - | - | - | - | - | - | - | 14.90 | 14.76 | 14.94 |
2898 | 293.0 | -9.4 | 122 | 2908 | done | -0.85 | - | - | 2577 | - | 2.30 | 0.050 | 2867 | 578.7 | -146.0 | - | - | 3549 | - | - | - | - | - | - | - | - | 14.73 | 14.67 | 14.76 |
3263 | 328.4 | -9.7 | 132 | 3272 | roll | -0.85 | - | - | 2578 | - | 2.20 | 0.031 | 1538 | -604.1 | -146.0 | - | - | 3546 | - | - | - | - | - | - | - | - | 14.92 | 14.72 | 14.95 |
3319 | 334.0 | -9.9 | 140 | 3328 | done | -0.85 | - | - | 2568 | - | 2.28 | 0.050 | 2873 | 585.5 | -146.0 | - | - | 3545 | - | - | - | - | - | - | - | - | 14.78 | 14.68 | 14.81 |
3655 | 368.6 | -10.3 | 153 | 3659 | done | -0.85 | - | - | 2569 | - | - | - | 2873 | - | -146.0 | - | - | 3544 | - | - | - | - | - | - | - | - | 14.92 | 14.95 | 14.95 |
3991 | 403.7 | -10.5 | 159 | 4000 | roll | -0.85 | - | - | 2569 | - | 2.22 | 0.031 | 1538 | -601.4 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 14.91 | 14.69 | 14.95 |
4088 | 414.1 | -10.7 | 173 | 4099 | done | -0.85 | - | - | 2565 | - | 2.30 | 0.050 | 2865 | 577.0 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 14.70 | 14.65 | 14.73 |
4439 | 451.4 | -10.7 | 181 | 4449 | roll | -0.82 | - | - | 2559 | - | 2.20 | 0.031 | 1541 | -601.8 | -146.0 | - | - | 3538 | - | - | - | - | - | - | - | - | 14.90 | 14.70 | 14.94 |
4501 | 457.8 | -10.1 | 190 | 4512 | done | -0.82 | 0.12 | 0.212 | 2584 | 208.3 | 2.35 | 0.050 | 2883 | 571.1 | -146.0 | - | - | 3537 | - | - | - | - | - | - | - | - | 14.45 | 14.61 | 14.58 |
4832 | 486.0 | -8.5 | 202 | 4840 | roll | -0.86 | - | - | 2585 | - | 2.20 | 0.031 | 1544 | -608.6 | -146.0 | - | - | 3534 | - | - | - | - | - | - | - | - | 14.90 | 14.70 | 14.93 |
4929 | 494.0 | -7.9 | 216 | 4938 | done | -0.90 | - | - | 2582 | - | 2.33 | 0.050 | 2873 | 570.4 | -146.0 | - | - | 3536 | - | - | - | - | - | - | - | - | 14.69 | 14.63 | 14.71 |
5280 | 524.5 | -8.8 | 224 | 5293 | done | -0.90 | - | - | 2573 | - | - | - | 2874 | - | -146.0 | - | - | 3534 | - | - | - | - | - | - | - | - | 14.94 | 14.97 | 14.97 |
5616 | 555.7 | -9.4 | 230 | 5630 | roll | -0.90 | - | - | 2576 | - | 2.17 | 0.031 | 1537 | -616.1 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 14.96 | 14.78 | 15.00 |
5669 | 560.9 | -9.5 | 237 | 5685 | done | -0.94 | - | - | 2567 | - | 2.30 | 0.050 | 2873 | 580.9 | -146.0 | - | - | 3532 | - | - | - | - | - | - | - | - | 14.81 | 14.71 | 14.83 |
6013 | 596.0 | -10.4 | 244 | 6027 | done | -0.94 | - | - | 2567 | - | - | - | 2873 | - | -146.0 | - | - | 3530 | - | - | - | - | - | - | - | - | 14.96 | 15.00 | 15.00 |
6349 | 630.3 | -10.0 | 250 | 6363 | roll | -0.94 | - | - | 2567 | - | 2.17 | 0.031 | 1542 | -613.4 | -146.0 | - | - | 3529 | - | - | - | - | - | - | - | - | 14.97 | 14.79 | 15.01 |
6402 | 635.5 | -9.6 | 257 | 6419 | done | -0.94 | - | - | 2557 | - | 2.28 | 0.050 | 2872 | 583.3 | -146.0 | - | - | 3529 | - | - | - | - | - | - | - | - | 14.81 | 14.72 | 14.85 |
6746 | 668.3 | -9.5 | 264 | 6760 | roll | -0.94 | - | - | 2557 | - | 2.17 | 0.030 | 1544 | -612.0 | -146.0 | - | - | 3527 | - | - | - | - | - | - | - | - | 14.97 | 14.79 | 15.00 |
6799 | 673.5 | -9.5 | 271 | 6815 | done | -0.94 | - | - | 2548 | - | 2.30 | 0.050 | 2884 | 582.6 | -146.0 | - | - | 3527 | - | - | - | - | - | - | - | - | 14.82 | 14.71 | 14.84 |
7143 | 707.4 | -10.0 | 278 | 7157 | roll | -0.94 | - | - | 2548 | - | 2.17 | 0.029 | 1541 | -618.9 | -146.0 | - | - | 3525 | - | - | - | - | - | - | - | - | 14.99 | 14.78 | 15.02 |
7210 | 714.4 | -10.0 | 287 | 7224 | done | -0.94 | - | - | 2538 | - | 2.28 | 0.050 | 2873 | 584.2 | -146.0 | - | - | 3525 | - | - | - | - | - | - | - | - | 14.81 | 14.71 | 14.85 |
7544 | 749.8 | -10.8 | 299 | 7558 | roll | -0.90 | - | - | 2538 | - | 2.17 | 0.029 | 1544 | -612.4 | -146.0 | - | - | 3524 | - | - | - | - | - | - | - | - | 14.96 | 14.79 | 15.00 |
7590 | 755.0 | -11.7 | 305 | 7605 | done | -0.90 | 0.12 | 0.259 | 2555 | 141.7 | 2.28 | 0.050 | 2876 | 584.2 | -146.0 | - | - | 3523 | - | - | - | - | - | - | - | - | 14.52 | 14.71 | 14.73 |
7946 | 790.4 | -9.8 | 313 | 7961 | roll | -0.90 | - | - | 2555 | - | 2.17 | 0.031 | 1541 | -615.2 | -146.0 | - | - | 3522 | - | - | - | - | - | - | - | - | 14.99 | 14.78 | 15.02 |
8008 | 796.5 | -9.7 | 321 | 8023 | done | -0.90 | - | - | 2547 | - | 2.30 | 0.050 | 2880 | 582.2 | -146.0 | - | - | 3521 | - | - | - | - | - | - | - | - | 14.80 | 14.70 | 14.83 |
8350 | 831.0 | -10.1 | 334 | 8364 | roll | -0.90 | - | - | 2547 | - | 2.20 | 0.028 | 1539 | -609.5 | -146.0 | - | - | 3521 | - | - | - | - | - | - | - | - | 14.97 | 14.76 | 15.04 |
8411 | 836.8 | -9.8 | 342 | 8425 | done | -0.90 | - | - | 2538 | - | 2.28 | 0.049 | 2879 | 587.7 | -146.0 | - | - | 3520 | - | - | - | - | - | - | - | - | 14.80 | 14.70 | 14.83 |
8441 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8441 | begin apogee | ||||||||||||||||||||||||||||
8445 | 840.1 | -9.7 | 346 | 8823 | done | -0.21 | 0.88 | 0.210 | 2783 | 278.4 | - | - | 2647 | - | - | 365.15 | 1.193 | 2969 | -1.5 | 0.200 | - | - | - | - | - | - | 14.50 | 14.05 | 13.57 |
8825 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8825 | begin climb | ||||||||||||||||||||||||||||
8826 | 853.0 | - | 352 | 9023 | roll | 0.91 | 1.15 | 0.119 | 3138 | 308.7 | 2.28 | 0.080 | 3828 | 518.0 | 146.0 | 168.75 | 1.635 | 2373 | -3.5 | 0.347 | - | - | - | - | - | - | 14.09 | 13.93 | 13.35 |
9090 | 833.6 | 14.1 | 396 | 9105 | done | 0.68 | 0.32 | 0.262 | 3069 | -215.6 | 1.88 | 0.024 | 2655 | -623.9 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.09 | 14.30 | 14.28 |
9460 | 797.0 | 9.9 | 406 | 9475 | roll | 0.64 | - | - | 3079 | - | 2.28 | 0.036 | 1293 | -597.4 | 148.3 | - | - | 2350 | - | - | - | - | - | - | - | - | 14.71 | 14.56 | 14.75 |
9548 | 787.8 | 9.9 | 418 | 9563 | done | 0.64 | - | - | 3079 | - | 2.33 | 0.044 | 2654 | 584.1 | 149.7 | - | - | 2352 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.66 |
9917 | 748.3 | 10.9 | 428 | 9932 | roll | 0.59 | 0.12 | 0.245 | 3057 | -183.3 | 2.28 | 0.033 | 1290 | -598.2 | 149.7 | - | - | 2347 | - | - | - | - | - | - | - | - | 14.46 | 14.66 | 14.59 |
9985 | 741.7 | 9.4 | 437 | 10005 | done | 0.61 | - | - | 3056 | - | 2.30 | 0.042 | 2653 | 592.6 | 161.7 | 5.20 | 1.474 | 2323 | -4.6 | 0.437 | - | - | - | - | - | - | 14.73 | 14.66 | 13.88 |
10318 | 709.8 | 9.5 | 449 | 10350 | roll | 0.62 | - | - | 3067 | - | 2.35 | 0.037 | 1290 | -580.0 | 171.6 | 15.60 | 1.625 | 2279 | -2.8 | 0.232 | - | - | - | - | - | - | 14.88 | 14.62 | 14.09 |
10382 | 703.7 | 9.2 | 458 | 10417 | done | 0.64 | - | - | 3067 | - | 2.30 | 0.044 | 2645 | 589.1 | 188.6 | 18.70 | 1.545 | 2212 | -3.6 | 0.307 | - | - | - | - | - | - | 14.68 | 14.62 | 13.99 |
10772 | 667.8 | 9.0 | 471 | 10814 | roll | 0.67 | - | - | 3076 | - | 2.38 | 0.037 | 1284 | -571.8 | 211.0 | 28.90 | 1.432 | 2124 | -3.0 | 0.267 | - | - | - | - | - | - | 14.80 | 14.48 | 13.98 |
10860 | 660.0 | 8.8 | 483 | 10910 | done | 0.70 | - | - | 3075 | - | 2.33 | 0.044 | 2637 | 580.7 | 237.8 | 36.40 | 1.378 | 2021 | -2.8 | 0.255 | - | - | - | - | - | - | 14.58 | 14.51 | 13.83 |
11216 | 624.4 | 10.3 | 498 | 11231 | roll | 0.70 | - | - | 3087 | - | 2.28 | 0.037 | 1292 | -589.9 | 237.8 | - | - | 1997 | - | - | - | - | - | - | - | - | 14.77 | 14.57 | 14.76 |
11277 | 618.2 | 10.2 | 506 | 11291 | done | 0.70 | - | - | 3086 | - | 2.30 | 0.044 | 2639 | 585.7 | 237.8 | - | - | 1997 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.67 |
11618 | 578.5 | 11.9 | 519 | 11632 | roll | 0.70 | - | - | 3096 | - | 2.28 | 0.037 | 1281 | -595.6 | 237.8 | - | - | 1995 | - | - | - | - | - | - | - | - | 14.83 | 14.66 | 14.87 |
11650 | 574.6 | 11.7 | 523 | 11664 | done | 0.70 | - | - | 3095 | - | 2.33 | 0.044 | 2650 | 587.6 | 237.8 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.73 | 14.66 | 14.76 |
12019 | 528.3 | 12.5 | 533 | 12034 | roll | 0.67 | 0.12 | 0.244 | 3068 | -225.0 | 2.28 | 0.034 | 1283 | -599.6 | 237.8 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.51 | 14.71 | 14.64 |
12052 | 524.4 | 11.2 | 537 | 12067 | done | 0.67 | - | - | 3073 | - | 2.30 | 0.044 | 2640 | 590.0 | 237.8 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.77 | 14.69 | 14.80 |
12422 | 484.7 | 10.7 | 547 | 12430 | roll | 0.67 | - | - | 3082 | - | 2.30 | 0.037 | 1289 | -587.4 | 237.8 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.88 | 14.67 | 14.91 |
12470 | 479.5 | 10.5 | 554 | 12481 | done | 0.72 | - | - | 3082 | - | 2.33 | 0.042 | 2641 | 580.3 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.73 |
12814 | 440.9 | 11.3 | 561 | 12823 | roll | 0.72 | - | - | 3092 | - | 2.30 | 0.037 | 1285 | -589.6 | 237.8 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.85 | 14.66 | 14.89 |
12883 | 433.2 | 10.9 | 571 | 12893 | done | 0.72 | - | - | 3091 | - | 2.33 | 0.043 | 2630 | 577.3 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.69 | 14.65 | 14.71 |
13206 | 395.3 | 11.9 | 582 | 13215 | roll | 0.72 | - | - | 3100 | - | 2.28 | 0.037 | 1296 | -585.1 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.85 | 14.64 | 14.89 |
13254 | 389.5 | 11.7 | 589 | 13266 | done | 0.72 | - | - | 3101 | - | 2.30 | 0.042 | 2637 | 583.0 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.66 | 14.64 | 14.71 |
13598 | 348.5 | 12.0 | 596 | 13607 | roll | 0.72 | - | - | 3110 | - | 2.25 | 0.036 | 1282 | -602.2 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.85 | 14.65 | 14.88 |
13660 | 341.1 | 11.5 | 605 | 13670 | done | 0.72 | - | - | 3109 | - | 2.33 | 0.041 | 2635 | 580.7 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.66 | 14.63 | 14.70 |
13990 | 300.3 | 12.5 | 617 | 14000 | roll | 0.68 | 0.17 | 0.227 | 3076 | -194.1 | 2.22 | 0.036 | 1294 | -604.1 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.45 | 14.66 | 14.67 |
14067 | 292.2 | 10.0 | 628 | 14076 | done | 0.75 | - | - | 3077 | - | 2.33 | 0.042 | 2641 | 578.1 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.65 | 14.61 | 14.67 |
14383 | 259.9 | 10.2 | 638 | 14391 | roll | 0.79 | - | - | 3086 | - | 2.25 | 0.036 | 1293 | -599.1 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.87 | 14.64 | 14.87 |
14424 | 255.6 | 10.3 | 644 | 14434 | done | 0.85 | 0.08 | 0.086 | 3133 | 587.5 | 2.33 | 0.042 | 2646 | 580.7 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.57 | 14.60 | 14.63 |
14775 | 209.5 | 13.3 | 652 | 14784 | roll | 0.78 | 0.15 | 0.234 | 3108 | -166.7 | 2.25 | 0.035 | 1289 | -603.1 | 237.8 | - | - | 1990 | - | - | - | - | - | - | - | - | 14.43 | 14.64 | 14.66 |
14830 | 202.9 | 11.3 | 660 | 14839 | done | 0.78 | - | - | 3108 | - | 2.33 | 0.042 | 2641 | 580.3 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.64 | 14.60 | 14.69 |
15166 | 163.8 | 11.7 | 673 | 15170 | done | 0.78 | - | - | 3108 | - | - | - | 2641 | - | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.83 | 14.87 | 14.87 |
15502 | 125.4 | 11.3 | 679 | 15511 | roll | 0.78 | - | - | 3118 | - | 2.28 | 0.036 | 1297 | -589.5 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.81 | 14.62 | 14.85 |
15579 | 117.3 | 10.3 | 690 | 15588 | done | 0.78 | - | - | 3118 | - | 2.33 | 0.044 | 2645 | 578.5 | 237.8 | - | - | 1992 | - | - | - | - | - | - | - | - | 14.62 | 14.57 | 14.64 |
15895 | 85.5 | 8.5 | 702 | 15917 | roll | 0.82 | - | - | 3118 | - | 2.08 | 0.080 | 3825 | 567.3 | 270.2 | 14.10 | 0.384 | 1893 | -7.0 | 0.294 | - | - | - | - | - | - | 14.83 | 14.58 | 14.31 |
15943 | 80.9 | 9.9 | 709 | 15955 | done | 0.82 | - | - | 3127 | - | 1.90 | 0.025 | 2635 | -626.3 | 273.2 | 3.33 | 0.304 | 1883 | -3.0 | 0.150 | - | - | - | - | - | - | 14.73 | 14.71 | 14.28 |
16259 | 64.3 | 4.2 | 721 | 16340 | roll | 1.09 | 0.22 | 0.093 | 3211 | 381.8 | 2.10 | 0.076 | 3822 | 565.2 | 398.7 | 69.28 | 0.357 | 1381 | -7.2 | 0.246 | - | - | - | - | - | - | 14.62 | 14.50 | 14.29 |
16456 | 46.9 | 10.3 | 749 | 16466 | done | 1.09 | - | - | 3220 | - | 1.88 | 0.024 | 2628 | -635.1 | 398.7 | 1.65 | 0.199 | 1379 | - | - | - | - | - | - | - | - | 14.62 | 14.61 | 14.41 |
16794 | 16.3 | 9.5 | 764 | 16810 | roll | 1.15 | - | - | 3229 | - | 2.20 | 0.037 | 1298 | -604.5 | 409.7 | 7.10 | 0.208 | 1338 | -5.8 | 0.085 | - | - | - | - | - | - | 14.78 | 14.61 | 14.40 |
16961 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16961 | begin surface coast | ||||||||||||||||||||||||||||
16967 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16967 | begin surface | ||||||||||||||||||||||||||||
SM | 0.86 | - | - | - | - | -8.25 | 8.82 | 0.065 | 190 | 21.5 | 2.75 | 0.054 | 2866 | -2182.5 | 525.01 | 56.38 | 0.167 | 877 | 15.6 | -0.008 | - | - | - | - | - | - |