• Previous call tries 1 | • 9.20 of 150.00 AH used of 24V (93.87% remains) | |
• Previous NAKs 0, Timeouts 0 | • 9.62 of 100.00 AH used of 10V (90.38% remains) | |
• Surface angle -72.5 deg, depth -2.64 m | • Intended pitch -10.5 deg, speed -10.645 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | ||
• GPS1 time: 36 s | ||
• GPS2 time: 14 s | • Transponder ping count: 10 | |
• 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 | |||||
15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15 | begin dive | ||||||||||||||||||||||||||||
17 | - | - | - | 93 | VBD | -0.57 | - | - | 126 | - | - | - | 2345 | - | -76.3 | -73.10 | - | 3298 | - | - | - | - | - | - | - | - | - | - | - |
95 | 3.7 | -17.7 | 10 | 111 | roll | -0.57 | 10.73 | 0.249 | 2738 | 243.4 | 1.98 | 0.028 | 989 | -684.8 | -76.3 | - | - | 3301 | - | - | - | - | - | - | - | - | 25.94 | 26.17 | - |
255 | 60.7 | -24.6 | 25 | 261 | done | -0.57 | - | - | 2730 | - | 1.98 | 0.029 | 2370 | 697.5 | -76.3 | - | - | 3304 | - | - | - | - | - | - | - | - | - | 26.29 | - |
570 | 149.2 | -27.0 | 41 | 576 | roll | -0.57 | - | - | 2730 | - | 1.98 | 0.031 | 996 | -693.9 | -76.3 | - | - | 3304 | - | - | - | - | - | - | - | - | - | 26.39 | - |
666 | 169.9 | -23.8 | 45 | 672 | done | -0.57 | - | - | 2720 | - | 1.98 | 0.029 | 2386 | 702.0 | -76.3 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.45 | - |
980 | 227.9 | -14.8 | 61 | 987 | roll | -0.57 | 0.08 | 0.202 | 2736 | 200.0 | 2.00 | 0.031 | 991 | -697.5 | -76.3 | - | - | 3306 | - | - | - | - | - | - | - | - | 26.46 | 26.49 | - |
1053 | 236.0 | -12.8 | 64 | 1059 | done | -0.57 | - | - | 2730 | - | 1.95 | 0.029 | 2376 | 710.3 | -76.3 | - | - | 3307 | - | - | - | - | - | - | - | - | - | 26.53 | - |
1367 | 278.4 | -12.9 | 80 | 1373 | roll | -0.57 | - | - | 2730 | - | 1.98 | 0.033 | 996 | -697.0 | -76.3 | - | - | 3307 | - | - | - | - | - | - | - | - | - | 26.53 | - |
1411 | 284.0 | -12.7 | 82 | 1417 | done | -0.57 | - | - | 2722 | - | 1.95 | 0.028 | 2381 | 710.3 | -76.3 | - | - | 3307 | - | - | - | - | - | - | - | - | - | 26.57 | - |
1736 | 326.8 | -13.7 | 98 | 1742 | roll | -0.57 | - | - | 2722 | - | 1.98 | 0.034 | 1002 | -696.5 | -76.3 | - | - | 3307 | - | - | - | - | - | - | - | - | - | 26.56 | - |
1804 | 335.1 | -12.6 | 101 | 1811 | done | -0.57 | 0.10 | 0.183 | 2739 | 170.0 | 1.95 | 0.028 | 2383 | 708.2 | -76.3 | - | - | 3307 | - | - | - | - | - | - | - | - | 26.48 | 26.59 | - |
2125 | 369.6 | -10.4 | 117 | 2131 | roll | -0.58 | - | - | 2740 | - | 1.98 | 0.032 | 1002 | -697.5 | -78.9 | - | - | 3306 | - | - | - | - | - | - | - | - | - | 26.58 | - |
2216 | 379.1 | -10.8 | 121 | 2222 | done | -0.58 | - | - | 2735 | - | 1.95 | 0.029 | 2384 | 708.7 | -78.9 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.61 | - |
2536 | 412.5 | -9.7 | 137 | 2542 | roll | -0.60 | - | - | 2735 | - | 1.98 | 0.032 | 1002 | -698.0 | -88.9 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.60 | - |
2581 | 417.2 | -10.0 | 139 | 2588 | done | -0.61 | - | - | 2730 | - | 1.95 | 0.029 | 2376 | 704.6 | -95.7 | - | - | 3303 | - | - | - | - | - | - | - | - | - | 26.62 | - |
2906 | 452.4 | -11.1 | 155 | 2912 | roll | -0.61 | - | - | 2726 | - | 1.95 | 0.045 | 3709 | 683.6 | -95.7 | - | - | 3301 | - | - | - | - | - | - | - | - | - | 26.60 | - |
2951 | 457.5 | -11.4 | 157 | 2956 | done | -0.61 | - | - | 2726 | - | 1.83 | 0.022 | 2349 | -743.2 | -95.7 | - | - | 3302 | - | - | - | - | - | - | - | - | - | 26.68 | - |
3275 | 491.5 | -9.2 | 173 | 3281 | roll | -0.64 | - | - | 2726 | - | 1.88 | 0.034 | 1030 | -701.6 | -111.0 | - | - | 3299 | - | - | - | - | - | - | - | - | - | 26.60 | - |
3400 | 502.7 | -8.8 | 179 | 3407 | done | -0.68 | 0.08 | 0.128 | 2677 | -612.5 | 1.92 | 0.029 | 2387 | 706.8 | -130.5 | - | - | 3297 | - | - | - | - | - | - | - | - | 26.58 | 26.63 | - |
3726 | 538.8 | -11.9 | 195 | 3732 | roll | -0.68 | 0.10 | 0.181 | 2700 | 230.0 | 1.95 | 0.031 | 1027 | -697.4 | -130.5 | - | - | 3295 | - | - | - | - | - | - | - | - | 26.53 | 26.61 | - |
3770 | 543.9 | -11.7 | 197 | 3776 | done | -0.68 | - | - | 2694 | - | 1.92 | 0.029 | 2379 | 704.2 | -130.5 | - | - | 3295 | - | - | - | - | - | - | - | - | - | 26.63 | - |
4095 | 582.6 | -12.6 | 213 | 4096 | done | -0.68 | - | - | 2694 | - | - | - | 2380 | - | -130.5 | - | - | 3292 | - | - | - | - | - | - | - | - | - | - | - |
4405 | 619.7 | -11.5 | 226 | 4411 | roll | -0.68 | - | - | 2694 | - | 1.95 | 0.033 | 1022 | -696.4 | -130.5 | - | - | 3290 | - | - | - | - | - | - | - | - | - | 26.61 | - |
4561 | 636.6 | -10.7 | 231 | 4567 | done | -0.68 | - | - | 2689 | - | 1.92 | 0.030 | 2377 | 705.7 | -130.5 | - | - | 3287 | - | - | - | - | - | - | - | - | - | 26.63 | - |
4895 | 671.4 | -10.1 | 242 | 4900 | roll | -0.69 | - | - | 2688 | - | 1.95 | 0.033 | 1019 | -696.4 | -136.4 | - | - | 3285 | - | - | - | - | - | - | - | - | - | 26.61 | - |
4983 | 677.9 | -10.1 | 244 | 4992 | done | -0.70 | - | - | 2681 | - | 1.92 | 0.030 | 2373 | 705.2 | -141.9 | - | - | 3284 | - | - | - | - | - | - | - | - | - | 26.63 | - |
5290 | 709.8 | -9.4 | 255 | 5296 | roll | -0.73 | - | - | 2681 | - | 1.92 | 0.033 | 1028 | -700.5 | -155.7 | - | - | 3283 | - | - | - | - | - | - | - | - | - | 26.61 | - |
5324 | 713.2 | -9.4 | 256 | 5330 | done | -0.76 | - | - | 2674 | - | 1.92 | 0.031 | 2374 | 701.0 | -169.4 | - | - | 3282 | - | - | - | - | - | - | - | - | - | 26.63 | - |
5659 | 747.1 | -10.4 | 267 | 5665 | roll | -0.77 | - | - | 2673 | - | 1.95 | 0.034 | 1019 | -694.9 | -172.3 | - | - | 3279 | - | - | - | - | - | - | - | - | - | 26.61 | - |
5706 | 750.8 | -10.4 | 268 | 5712 | done | -0.77 | - | - | 2665 | - | 1.95 | 0.031 | 2383 | 699.5 | -175.1 | - | - | 3279 | - | - | - | - | - | - | - | - | - | 26.63 | - |
6025 | 786.9 | -10.8 | 279 | 6031 | roll | -0.77 | - | - | 2665 | - | 1.95 | 0.034 | 1030 | -693.8 | -175.1 | - | - | 3276 | - | - | - | - | - | - | - | - | - | 26.60 | - |
6069 | 790.6 | -10.7 | 280 | 6075 | done | -0.77 | 0.08 | 0.206 | 2671 | 75.0 | 1.92 | 0.030 | 2382 | 704.2 | -175.1 | - | - | 3276 | - | - | - | - | - | - | - | - | 26.51 | 26.63 | - |
6394 | 825.6 | -10.4 | 291 | 6400 | roll | -0.78 | - | - | 2670 | - | 1.95 | 0.034 | 1031 | -692.8 | -177.5 | - | - | 3275 | - | - | - | - | - | - | - | - | - | 26.60 | - |
6452 | 829.3 | -10.5 | 292 | 6461 | done | -0.78 | - | - | 2663 | - | 1.92 | 0.031 | 2380 | 702.6 | -179.2 | - | - | 3274 | - | - | - | - | - | - | - | - | - | 26.63 | - |
6759 | 864.7 | -10.9 | 303 | 6765 | roll | -0.78 | - | - | 2663 | - | 1.95 | 0.034 | 1029 | -692.8 | -179.2 | - | - | 3273 | - | - | - | - | - | - | - | - | - | 26.60 | - |
6803 | 868.6 | -10.9 | 304 | 6809 | done | -0.78 | 0.08 | 0.207 | 2669 | 75.0 | 1.92 | 0.031 | 2379 | 703.1 | -179.2 | - | - | 3272 | - | - | - | - | - | - | - | - | 26.50 | 26.63 | - |
7128 | 902.5 | -10.0 | 315 | 7133 | roll | -0.79 | - | - | 2662 | - | 1.98 | 0.047 | 3711 | 672.7 | -185.9 | - | - | 3270 | - | - | - | - | - | - | - | - | - | 26.59 | - |
7150 | 902.5 | -10.0 | 315 | 7156 | done | -0.81 | - | - | 2662 | - | 1.85 | 0.023 | 2383 | -717.8 | -192.5 | - | - | 3271 | - | - | - | - | - | - | - | - | - | 26.68 | - |
7466 | 936.6 | -10.0 | 326 | 7472 | roll | -0.81 | - | - | 2662 | - | 1.95 | 0.036 | 1026 | -695.9 | -194.6 | - | - | 3269 | - | - | - | - | - | - | - | - | - | 26.60 | - |
7534 | 943.5 | -10.1 | 328 | 7541 | done | -0.81 | - | - | 2653 | - | 1.95 | 0.031 | 2373 | 690.8 | -194.6 | - | - | 3268 | - | - | - | - | - | - | - | - | - | 26.62 | - |
7864 | 977.9 | -10.4 | 339 | 7865 | done | -0.81 | - | - | 2653 | - | - | - | 2373 | - | -194.6 | - | - | 3268 | - | - | - | - | - | - | - | - | - | - | - |
7983 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7983 | begin apogee | ||||||||||||||||||||||||||||
7988 | 990.3 | -10.3 | 343 | 8059 | done | -0.20 | 0.62 | 0.148 | 2851 | 319.4 | - | - | 2269 | - | - | 65.05 | 1.013 | 2991 | -4.3 | 0.424 | - | - | - | - | - | - | 26.48 | - | 24.67 |
8060 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8060 | begin climb | ||||||||||||||||||||||||||||
8062 | 992.9 | - | 345 | 8255 | done | 0.81 | 0.95 | 0.089 | 3179 | 345.3 | - | - | 2269 | - | 194.6 | 183.75 | 1.004 | 2192 | -4.3 | 0.438 | - | - | - | - | - | - | 25.38 | - | 24.11 |
8554 | 938.1 | 14.2 | 362 | 8560 | roll | 0.81 | - | - | 3179 | - | 2.12 | 0.047 | 3640 | 646.7 | 194.6 | - | - | 2183 | - | - | - | - | - | - | - | - | - | 25.88 | - |
8622 | 928.0 | 14.9 | 364 | 8628 | done | 0.81 | - | - | 3189 | - | 2.03 | 0.027 | 2258 | -680.8 | 194.6 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.98 | - |
8951 | 878.3 | 15.0 | 375 | 8952 | done | 0.81 | - | - | 3189 | - | - | - | 2257 | - | 194.6 | - | - | 2178 | - | - | - | - | - | - | - | - | - | - | - |
9251 | 834.2 | 14.7 | 385 | 9257 | roll | 0.81 | - | - | 3189 | - | 2.10 | 0.045 | 3642 | 659.5 | 194.6 | - | - | 2178 | - | - | - | - | - | - | - | - | - | 26.28 | - |
9285 | 828.5 | 15.1 | 386 | 9292 | done | 0.81 | - | - | 3190 | - | 2.05 | 0.028 | 2234 | -686.8 | 194.6 | - | - | 2176 | - | - | - | - | - | - | - | - | - | 26.31 | - |
9619 | 777.8 | 15.3 | 397 | 9626 | roll | 0.81 | - | - | 3199 | - | 2.08 | 0.047 | 848 | -666.3 | 194.6 | - | - | 2176 | - | - | - | - | - | - | - | - | - | 26.34 | - |
9643 | 777.8 | 15.3 | 397 | 9650 | done | 0.81 | 0.10 | 0.201 | 3179 | -200.0 | 2.00 | 0.030 | 2248 | 700.0 | 194.6 | - | - | 2176 | - | - | - | - | - | - | - | - | 26.23 | 26.39 | - |
9958 | 730.4 | 13.5 | 408 | 9965 | roll | 0.81 | - | - | 3180 | - | 2.08 | 0.045 | 3633 | 665.9 | 194.6 | - | - | 2175 | - | - | - | - | - | - | - | - | - | 26.41 | - |
9981 | 730.4 | 13.5 | 408 | 9988 | done | 0.81 | - | - | 3184 | - | 2.00 | 0.026 | 2231 | -701.0 | 194.6 | - | - | 2175 | - | - | - | - | - | - | - | - | - | 26.44 | - |
10297 | 686.5 | 12.2 | 419 | 10298 | done | 0.81 | - | - | 3185 | - | - | - | 2231 | - | 194.6 | - | - | 2174 | - | - | - | - | - | - | - | - | - | - | - |
10596 | 651.9 | 11.4 | 429 | 10597 | done | 0.81 | - | - | 3184 | - | - | - | 2231 | - | 194.6 | - | - | 2174 | - | - | - | - | - | - | - | - | - | - | - |
10896 | 616.9 | 11.9 | 439 | 10897 | done | 0.81 | - | - | 3185 | - | - | - | 2231 | - | 194.6 | - | - | 2173 | - | - | - | - | - | - | - | - | - | - | - |
11206 | 578.8 | 12.5 | 452 | 11212 | roll | 0.81 | - | - | 3194 | - | 2.03 | 0.044 | 860 | -675.4 | 194.6 | - | - | 2173 | - | - | - | - | - | - | - | - | - | 26.48 | - |
11266 | 572.9 | 12.9 | 454 | 11275 | done | 0.81 | - | - | 3194 | - | 1.98 | 0.029 | 2244 | 699.0 | 194.6 | - | - | 2173 | - | - | - | - | - | - | - | - | - | 26.53 | - |
11572 | 527.5 | 15.0 | 470 | 11579 | roll | 0.81 | - | - | 3204 | - | 2.08 | 0.043 | 856 | -667.3 | 194.6 | - | - | 2173 | - | - | - | - | - | - | - | - | - | 26.50 | - |
11600 | 523.7 | 15.2 | 471 | 11607 | done | 0.81 | 0.10 | 0.193 | 3188 | -160.0 | 1.98 | 0.028 | 2244 | 701.0 | 194.6 | - | - | 2172 | - | - | - | - | - | - | - | - | 26.39 | 26.54 | - |
11920 | 479.6 | 13.6 | 487 | 11926 | roll | 0.81 | - | - | 3191 | - | 2.05 | 0.043 | 858 | -676.1 | 194.6 | - | - | 2172 | - | - | - | - | - | - | - | - | - | 26.51 | - |
11976 | 473.6 | 13.5 | 489 | 11981 | done | 0.81 | - | - | 3191 | - | 1.98 | 0.028 | 2247 | 701.5 | 194.6 | - | - | 2170 | - | - | - | - | - | - | - | - | - | 26.55 | - |
12290 | 434.7 | 10.6 | 505 | 12291 | done | 0.81 | - | - | 3190 | - | - | - | 2247 | - | 195.4 | - | - | 2171 | - | - | - | - | - | - | - | - | - | - | - |
12590 | 405.2 | 9.4 | 520 | 12606 | roll | 0.84 | - | - | 3191 | - | 2.12 | 0.044 | 3636 | 655.2 | 208.2 | 8.35 | 0.636 | 2140 | -3.7 | 0.241 | - | - | - | - | - | - | - | 26.41 | 25.89 |
12629 | 402.8 | 9.4 | 521 | 12649 | done | 0.86 | - | - | 3199 | - | 1.98 | 0.024 | 2230 | -710.1 | 221.7 | 13.23 | 0.653 | 2087 | -4.0 | 0.252 | - | - | - | - | - | - | - | 26.48 | 25.70 |
12961 | 364.4 | 11.2 | 538 | 12968 | roll | 0.86 | - | - | 3209 | - | 2.00 | 0.043 | 867 | -681.5 | 221.7 | - | - | 2082 | - | - | - | - | - | - | - | - | - | 26.34 | - |
12986 | 361.8 | 11.0 | 539 | 12992 | done | 0.86 | - | - | 3213 | - | 1.95 | 0.027 | 2241 | 704.6 | 221.7 | - | - | 2082 | - | - | - | - | - | - | - | - | - | 26.39 | - |
13311 | 323.1 | 12.0 | 555 | 13312 | done | 0.86 | - | - | 3209 | - | - | - | 2241 | - | 221.7 | - | - | 2081 | - | - | - | - | - | - | - | - | - | - | - |
13610 | 288.2 | 10.4 | 570 | 13616 | roll | 0.87 | - | - | 3209 | - | 2.05 | 0.042 | 3634 | 679.5 | 223.9 | - | - | 2081 | - | - | - | - | - | - | - | - | - | 26.46 | - |
13643 | 285.3 | 10.6 | 571 | 13651 | done | 0.87 | 0.10 | 0.207 | 3196 | -130.0 | 1.98 | 0.023 | 2229 | -709.6 | 223.9 | - | - | 2080 | - | - | - | - | - | - | - | - | 26.33 | 26.51 | - |
13960 | 255.3 | 8.7 | 587 | 13988 | roll | 0.91 | - | - | 3203 | - | 2.08 | 0.041 | 867 | -654.8 | 244.9 | 19.60 | 0.555 | 1991 | -4.5 | 0.213 | - | - | - | - | - | - | - | 26.25 | 25.78 |
14040 | 248.5 | 10.0 | 590 | 14055 | done | 0.92 | - | - | 3204 | - | 1.95 | 0.027 | 2241 | 704.6 | 252.2 | 7.65 | 0.555 | 1960 | -4.1 | 0.185 | - | - | - | - | - | - | - | 26.33 | 25.71 |
14373 | 211.1 | 10.3 | 607 | 14380 | roll | 0.93 | - | - | 3203 | - | 2.08 | 0.041 | 3639 | 672.1 | 256.0 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 26.34 | - |
14448 | 203.2 | 11.4 | 610 | 14454 | done | 0.93 | - | - | 3206 | - | 1.98 | 0.024 | 2246 | -703.5 | 256.0 | - | - | 1955 | - | - | - | - | - | - | - | - | - | 26.39 | - |
14762 | 170.8 | 8.7 | 626 | 14787 | roll | 0.97 | 0.10 | 0.101 | 3271 | 650.0 | 2.12 | 0.042 | 857 | -655.2 | 276.4 | 19.60 | 0.490 | 1861 | -4.8 | 0.170 | - | - | - | - | - | - | 26.48 | 26.20 | 25.79 |
14824 | 165.8 | 9.6 | 628 | 14839 | done | 1.00 | 0.12 | 0.183 | 3242 | -241.7 | 1.98 | 0.026 | 2245 | 701.0 | 287.5 | 9.48 | 0.493 | 1819 | -4.4 | 0.152 | - | - | - | - | - | - | 26.11 | 26.27 | 25.70 |
15157 | 129.0 | 9.6 | 645 | 15174 | roll | 1.02 | - | - | 3247 | - | 2.08 | 0.041 | 856 | -667.8 | 298.5 | 9.23 | 0.469 | 1771 | -5.2 | 0.146 | - | - | - | - | - | - | - | 26.20 | 25.81 |
15246 | 121.4 | 8.9 | 649 | 15269 | done | 1.06 | - | - | 3247 | - | 1.98 | 0.025 | 2248 | 703.0 | 317.3 | 15.85 | 0.451 | 1694 | -4.9 | 0.133 | - | - | - | - | - | - | - | 26.29 | 25.73 |
15588 | 85.2 | 11.1 | 666 | 15594 | roll | 1.06 | - | - | 3247 | - | 2.05 | 0.041 | 3633 | 675.6 | 317.3 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 26.29 | - |
15680 | 75.8 | 10.7 | 670 | 15685 | done | 1.06 | - | - | 3254 | - | 1.98 | 0.024 | 2235 | -706.1 | 317.3 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 26.37 | - |
15999 | 48.9 | 8.4 | 686 | 16026 | roll | 1.10 | 0.08 | 0.122 | 3298 | 550.0 | 2.08 | 0.039 | 3632 | 671.6 | 341.3 | 18.30 | 0.386 | 1597 | -5.1 | 0.066 | - | - | - | - | - | - | 26.48 | 26.27 | 25.94 |
16050 | 42.8 | 11.8 | 690 | 16058 | done | 1.10 | 0.15 | 0.188 | 3269 | -193.3 | 1.98 | 0.024 | 2237 | -704.5 | 341.3 | - | - | 1596 | - | - | - | - | - | - | - | - | 26.16 | 26.32 | - |
16367 | 10.9 | 8.6 | 735 | 16383 | roll | 1.15 | 0.08 | 0.122 | 3312 | 537.5 | 2.15 | 0.040 | 3642 | 653.5 | 362.8 | 8.48 | 0.083 | 1513 | -9.8 | 0.131 | - | - | - | - | - | - | 26.46 | 26.38 | 26.33 |
16436 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16436 | begin surface coast | ||||||||||||||||||||||||||||
16458 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16458 | begin surface | ||||||||||||||||||||||||||||
SM | 0.90 | - | - | - | - | -8.59 | 8.75 | 0.080 | 128 | 14.6 | 1.83 | 0.022 | 2363 | -4446.4 | 400.08 | 14.12 | 0.054 | 1360 | 96.3 | -0.164 | - | - | 1 | - | - | - |