• Previous call tries 2 | • 18.44 of 150.00 AH used of 24V (87.70% remains) | |
• Previous NAKs 0, Timeouts 0 | • 21.39 of 100.00 AH used of 10V (78.61% remains) | |
• Surface angle -77.7 deg, depth 2.37 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | • surface range 18.5 m at 19.8 m depth, ceiling 1.3 m | |
• GPS1 time: 38 s | ||
• GPS2 time: 22 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 | |||||
13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 75 | VBD | -0.75 | - | - | 338 | - | - | - | 2100 | - | -146.6 | -56.53 | - | 2963 | - | - | - | - | - | - | - | - | - | - | - |
79 | 3.0 | -1.2 | 10 | 124 | roll | -0.75 | 9.90 | 0.248 | 2873 | 256.1 | 2.17 | 0.070 | 3505 | 647.5 | -146.6 | -24.77 | - | 3882 | -37.1 | - | - | - | - | - | - | - | 26.06 | 26.46 | 26.84 |
352 | 42.8 | -11.7 | 62 | 359 | done | -0.75 | - | - | 2880 | - | 2.08 | 0.031 | 2097 | -676.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.59 | - |
664 | 78.9 | -13.2 | 123 | 671 | roll | -0.75 | - | - | 2872 | - | 2.20 | 0.051 | 3509 | 641.8 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.51 | - |
901 | 111.0 | -13.6 | 162 | 910 | done | -0.75 | - | - | 2872 | - | 2.08 | 0.031 | 2096 | -679.3 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.63 | - |
1211 | 151.9 | -13.0 | 193 | 1220 | roll | -0.75 | - | - | 2862 | - | 2.15 | 0.050 | 3498 | 652.1 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.55 | - |
1447 | 182.6 | -12.4 | 216 | 1455 | done | -0.75 | - | - | 2862 | - | 2.08 | 0.031 | 2089 | -677.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.66 | - |
1754 | 220.1 | -11.9 | 247 | 1763 | roll | -0.75 | - | - | 2851 | - | 2.20 | 0.051 | 3512 | 646.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.57 | - |
1938 | 243.1 | -12.7 | 265 | 1947 | done | -0.75 | 0.10 | 0.145 | 2885 | 340.0 | 2.08 | 0.031 | 2086 | -685.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.40 | 26.67 | - |
2247 | 274.6 | -10.0 | 296 | 2252 | roll | -0.75 | - | - | 2877 | - | 2.17 | 0.051 | 3508 | 655.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.58 | - |
2403 | 290.3 | -10.4 | 311 | 2410 | done | -0.75 | - | - | 2877 | - | 2.08 | 0.031 | 2096 | -678.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.68 | - |
2711 | 321.6 | -10.0 | 342 | 2719 | roll | -0.75 | - | - | 2866 | - | 2.17 | 0.050 | 3507 | 650.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.59 | - |
2777 | 328.4 | -10.8 | 348 | 2784 | done | -0.75 | - | - | 2866 | - | 2.08 | 0.031 | 2088 | -682.2 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.70 | - |
3084 | 359.9 | -9.8 | 379 | 3093 | roll | -0.75 | - | - | 2856 | - | 2.17 | 0.050 | 3517 | 658.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
3197 | 371.5 | -10.4 | 390 | 3207 | done | -0.75 | 0.08 | 0.147 | 2883 | 337.5 | 2.05 | 0.031 | 2099 | -691.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.45 | 26.70 | - |
3507 | 398.9 | -8.7 | 421 | 3515 | roll | -0.75 | - | - | 2875 | - | 2.15 | 0.049 | 3505 | 654.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
3578 | 405.7 | -9.6 | 428 | 3588 | done | -0.75 | - | - | 2875 | - | 2.05 | 0.030 | 2096 | -687.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.71 | - |
3888 | 434.4 | -9.3 | 459 | 3897 | roll | -0.75 | - | - | 2864 | - | 2.15 | 0.049 | 3509 | 657.2 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.61 | - |
4025 | 447.5 | -9.9 | 472 | 4032 | done | -0.75 | - | - | 2864 | - | 2.05 | 0.030 | 2101 | -686.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.72 | - |
4330 | 478.1 | -9.8 | 503 | 4339 | roll | -0.75 | - | - | 2853 | - | 2.15 | 0.049 | 3516 | 658.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.62 | - |
4444 | 489.7 | -10.4 | 514 | 4453 | done | -0.75 | 0.10 | 0.138 | 2887 | 340.0 | 2.03 | 0.030 | 2101 | -697.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.45 | 26.72 | - |
4753 | 516.4 | -8.6 | 545 | 4762 | roll | -0.75 | - | - | 2879 | - | 2.15 | 0.049 | 3512 | 656.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.63 | - |
4819 | 522.1 | -9.2 | 551 | 4826 | done | -0.75 | - | - | 2879 | - | 2.05 | 0.029 | 2097 | -690.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.73 | - |
5128 | 550.4 | -9.1 | 582 | 5137 | roll | -0.75 | - | - | 2869 | - | 2.12 | 0.048 | 3507 | 665.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
5220 | 559.5 | -9.8 | 591 | 5229 | done | -0.75 | - | - | 2869 | - | 2.05 | 0.029 | 2093 | -689.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.73 | - |
5530 | 589.1 | -9.5 | 622 | 5539 | roll | -0.75 | - | - | 2858 | - | 2.15 | 0.048 | 3509 | 658.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
5644 | 600.7 | -10.7 | 633 | 5654 | done | -0.75 | 0.08 | 0.138 | 2885 | 337.5 | 2.08 | 0.029 | 2084 | -685.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.49 | 26.74 | - |
5952 | 628.0 | -8.7 | 644 | 5958 | roll | -0.75 | - | - | 2876 | - | 2.15 | 0.049 | 3507 | 661.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
6042 | 636.4 | -9.2 | 647 | 6048 | done | -0.75 | - | - | 2876 | - | 2.05 | 0.029 | 2100 | -686.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
6372 | 666.6 | -9.0 | 658 | 6378 | roll | -0.75 | - | - | 2866 | - | 2.10 | 0.049 | 3502 | 667.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
6485 | 675.5 | -9.6 | 661 | 6492 | done | -0.75 | - | - | 2866 | - | 2.05 | 0.029 | 2091 | -688.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
6792 | 707.6 | -9.7 | 672 | 6796 | roll | -0.75 | - | - | 2855 | - | 2.17 | 0.049 | 3520 | 658.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
6903 | 717.3 | -10.2 | 675 | 6908 | done | -0.75 | 0.12 | 0.158 | 2887 | 266.7 | 2.08 | 0.029 | 2087 | -688.9 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 26.48 | 26.74 | - |
7211 | 745.3 | -8.4 | 685 | 7216 | roll | -0.75 | - | - | 2879 | - | 2.15 | 0.049 | 3510 | 661.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
7293 | 750.6 | -8.8 | 687 | 7300 | done | -0.75 | - | - | 2880 | - | 2.05 | 0.029 | 2094 | -690.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
7601 | 779.2 | -8.6 | 698 | 7606 | roll | -0.75 | - | - | 2868 | - | 2.15 | 0.049 | 3511 | 659.1 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.64 | - |
7648 | 781.8 | -8.6 | 699 | 7652 | done | -0.75 | - | - | 2869 | - | 2.05 | 0.029 | 2099 | -688.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
7956 | 810.8 | -8.6 | 709 | 7960 | roll | -0.75 | - | - | 2858 | - | 2.15 | 0.049 | 3506 | 654.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
8067 | 819.4 | -9.2 | 712 | 8071 | done | -0.75 | 0.12 | 0.157 | 2890 | 266.7 | 2.05 | 0.029 | 2094 | -688.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.48 | 26.74 | - |
8373 | 846.1 | -8.1 | 722 | 8379 | roll | -0.75 | - | - | 2882 | - | 2.12 | 0.049 | 3502 | 664.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
8482 | 853.9 | -8.5 | 725 | 8486 | done | -0.75 | - | - | 2883 | - | 2.05 | 0.030 | 2092 | -687.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
8788 | 881.2 | -8.3 | 735 | 8794 | roll | -0.75 | - | - | 2873 | - | 2.12 | 0.049 | 3503 | 665.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
8878 | 889.0 | -8.5 | 738 | 8884 | done | -0.75 | - | - | 2872 | - | 2.05 | 0.030 | 2093 | -687.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
9209 | 916.4 | -8.3 | 749 | 9215 | roll | -0.75 | - | - | 2862 | - | 2.15 | 0.050 | 3514 | 660.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.63 | - |
9311 | 924.6 | -8.9 | 752 | 9315 | done | -0.75 | - | - | 2862 | - | 2.08 | 0.030 | 2092 | -683.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.74 | - |
9532 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
9532 | begin apogee | ||||||||||||||||||||||||||||
9540 | 945.6 | -9.0 | 760 | 9670 | done | -0.17 | 0.65 | 0.139 | 3070 | 320.0 | - | - | 1885 | - | - | 124.57 | 1.490 | 3278 | -4.9 | 0.335 | - | - | - | - | - | - | 26.39 | - | 23.63 |
9673 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9673 | begin climb | ||||||||||||||||||||||||||||
9676 | 949.5 | - | 764 | 9817 | roll | 0.75 | 0.85 | 0.064 | 3381 | 365.9 | 2.42 | 0.037 | 522 | -563.2 | 146.6 | 129.43 | 1.454 | 2680 | -4.6 | 0.326 | - | - | - | - | - | - | 24.71 | 23.67 | 22.74 |
9913 | 930.7 | 13.2 | 772 | 9917 | done | 0.75 | - | - | 3381 | - | 2.30 | 0.036 | 1902 | 600.0 | 146.6 | - | - | 2672 | - | - | - | - | - | - | - | - | - | 24.76 | - |
10221 | 883.1 | 14.8 | 782 | 10227 | roll | 0.75 | - | - | 3388 | - | 2.20 | 0.037 | 522 | -627.3 | 146.6 | - | - | 2669 | - | - | - | - | - | - | - | - | - | 25.60 | - |
10263 | 878.5 | 14.9 | 783 | 10267 | done | 0.75 | - | - | 3389 | - | 2.22 | 0.037 | 1909 | 624.8 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.66 | - |
10576 | 828.8 | 15.5 | 794 | 10580 | roll | 0.75 | - | - | 3397 | - | 2.20 | 0.039 | 522 | -630.5 | 146.6 | - | - | 2667 | - | - | - | - | - | - | - | - | - | 25.96 | - |
10616 | 823.8 | 15.4 | 795 | 10620 | done | 0.75 | - | - | 3398 | - | 2.20 | 0.037 | 1914 | 632.7 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.00 | - |
10936 | 773.3 | 15.1 | 806 | 10941 | roll | 0.75 | - | - | 3406 | - | 2.17 | 0.039 | 526 | -639.6 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.15 | - |
10977 | 768.8 | 15.0 | 807 | 10981 | done | 0.75 | - | - | 3400 | - | 2.17 | 0.037 | 1911 | 638.2 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.18 | - |
11291 | 720.2 | 14.6 | 818 | 11296 | roll | 0.75 | - | - | 3406 | - | 2.17 | 0.040 | 523 | -639.6 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.27 | - |
11338 | 715.9 | 14.4 | 819 | 11342 | done | 0.75 | - | - | 3400 | - | 2.15 | 0.036 | 1907 | 643.7 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.29 | - |
11645 | 670.5 | 13.9 | 829 | 11650 | roll | 0.75 | - | - | 3407 | - | 2.17 | 0.040 | 515 | -641.5 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.34 | - |
11705 | 661.8 | 14.2 | 831 | 11710 | done | 0.75 | 0.12 | 0.181 | 3369 | -316.7 | 2.15 | 0.036 | 1907 | 647.4 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | 26.15 | 26.37 | - |
12038 | 619.0 | 12.8 | 842 | 12044 | roll | 0.75 | - | - | 3376 | - | 2.15 | 0.039 | 526 | -642.3 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.41 | - |
12081 | 615.0 | 13.0 | 843 | 12085 | done | 0.75 | - | - | 3376 | - | 2.12 | 0.037 | 1898 | 647.2 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.43 | - |
12396 | 572.2 | 13.1 | 868 | 12402 | done | 0.75 | - | - | 3376 | - | - | - | 1897 | - | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | - | - |
12705 | 531.8 | 13.0 | 899 | 12714 | roll | 0.75 | - | - | 3383 | - | 2.10 | 0.039 | 530 | -651.0 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.48 | - |
12738 | 527.3 | 13.1 | 902 | 12746 | done | 0.75 | - | - | 3383 | - | 2.10 | 0.036 | 1898 | 651.4 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.50 | - |
13047 | 485.3 | 13.7 | 933 | 13057 | roll | 0.75 | - | - | 3393 | - | 2.15 | 0.039 | 513 | -644.2 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.51 | - |
13113 | 476.5 | 14.0 | 939 | 13120 | done | 0.75 | - | - | 3392 | - | 2.15 | 0.036 | 1907 | 648.4 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.53 | - |
13420 | 431.9 | 14.6 | 970 | 13422 | done | 0.75 | - | - | 3393 | - | - | - | 1906 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
13722 | 388.0 | 14.5 | 1000 | 13731 | roll | 0.75 | - | - | 3401 | - | 2.10 | 0.039 | 525 | -657.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.55 | - |
13814 | 374.0 | 15.0 | 1009 | 13824 | done | 0.75 | - | - | 3400 | - | 2.12 | 0.036 | 1904 | 650.5 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.57 | - |
14124 | 328.8 | 14.8 | 1040 | 14133 | roll | 0.75 | - | - | 3407 | - | 2.12 | 0.038 | 523 | -651.4 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.57 | - |
14169 | 322.4 | 15.1 | 1044 | 14177 | done | 0.75 | 0.12 | 0.177 | 3368 | -325.0 | 2.12 | 0.035 | 1909 | 653.8 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | 26.36 | 26.59 | - |
14477 | 283.5 | 12.3 | 1075 | 14485 | roll | 0.75 | - | - | 3366 | - | 2.10 | 0.047 | 3305 | 664.8 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.55 | - |
14498 | 280.7 | 12.3 | 1077 | 14508 | done | 0.75 | - | - | 3373 | - | 2.05 | 0.031 | 1911 | -680.0 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.63 | - |
14808 | 243.9 | 11.6 | 1108 | 14817 | roll | 0.75 | - | - | 3384 | - | 2.15 | 0.040 | 501 | -655.8 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.59 | - |
14923 | 230.7 | 12.0 | 1119 | 14930 | done | 0.75 | - | - | 3384 | - | 2.15 | 0.035 | 1903 | 652.1 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.62 | - |
15231 | 192.8 | 11.7 | 1150 | 15232 | done | 0.75 | - | - | 3384 | - | - | - | 1903 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
15532 | 156.7 | 11.6 | 1180 | 15541 | roll | 0.75 | - | - | 3393 | - | 2.12 | 0.039 | 519 | -652.8 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.62 | - |
15655 | 142.2 | 11.6 | 1192 | 15663 | done | 0.75 | - | - | 3393 | - | 2.10 | 0.036 | 1898 | 656.7 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.63 | - |
15965 | 108.0 | 10.7 | 1223 | 15966 | done | 0.75 | - | - | 3393 | - | - | - | 1898 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
16265 | 77.3 | 10.4 | 1275 | 16272 | roll | 0.75 | - | - | 3393 | - | 2.12 | 0.047 | 3306 | 664.2 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.61 | - |
16289 | 75.2 | 10.1 | 1278 | 16297 | done | 0.75 | 0.12 | 0.184 | 3371 | -183.3 | 2.08 | 0.031 | 1894 | -678.8 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | 26.41 | 26.67 | - |
16604 | 45.8 | 9.3 | 1339 | 16611 | roll | 0.75 | - | - | 3379 | - | 2.10 | 0.041 | 508 | -660.0 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.64 | - |
16644 | 42.0 | 9.0 | 1346 | 16651 | done | 0.75 | - | - | 3379 | - | 2.15 | 0.036 | 1911 | 652.6 | 149.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.65 | - |
16961 | 18.9 | 5.5 | 1407 | 17010 | roll | 0.86 | - | - | 3387 | - | 2.22 | 0.040 | 513 | -629.7 | 237.0 | 42.22 | 0.107 | 2311 | -8.3 | 0.159 | - | - | - | - | - | - | - | 26.54 | 26.38 |
17116 | 7.1 | 7.8 | 1435 | 17139 | done | 0.90 | - | - | 3387 | - | 2.15 | 0.037 | 1907 | 648.4 | 270.8 | 14.68 | 0.080 | 2174 | -9.3 | 0.090 | - | - | - | - | - | - | - | 26.58 | 26.43 |
17160 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17161 | begin surface coast | ||||||||||||||||||||||||||||
17226 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17226 | begin surface | ||||||||||||||||||||||||||||
SM | 2.53 | - | - | - | - | -8.67 | 8.12 | 0.054 | 336 | -375.7 | 0.28 | 0.062 | 2111 | 728.6 | 400.08 | 55.80 | 0.072 | 1647 | -9.4 | 0.034 | - | - | - | - | - | - |