• Previous call tries 1 | • 175.62 of 310.00 AH used of 24V (43.35% remains) | |
• Surface angle -67.6 deg, depth 1.35 m | • Intended pitch -19.3 deg, speed -10.000 cm/s | |
• VBD pumped to 325.44 (SM_CC=325) | ||
• GPS1 time: 27 s | ||
• GPS2 time: 2 s | • Transponder ping count: 0 | |
• 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 | |||||
17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17 | begin dive | ||||||||||||||||||||||||||||
19.02 | - | - | - | 72.91 | VBD | -0.67 | - | - | 201.25 | - | - | - | 2585.44 | - | -145.99 | 49.42 | 0.005 | 2555.06 | - | - | - | - | - | - | - | - | - | - | 14.75 |
73.34 | 2.03 | -1.52 | 10 | 131.72 | -0.67 | 8.33 | 0.344 | 2026.75 | 219.1 | 2.04 | 0.069 | 3853.31 | 621.5 | -145.99 | 37.26 | 0.005 | 3562.97 | 27.1 | -1.934 | - | - | - | - | - | - | 14.68 | 14.82 | 14.98 | |
314.09 | 34.82 | -15.15 | 57 | 321.14 | roll | -0.67 | - | - | 2026.31 | - | 1.70 | 0.016 | 2642.81 | -712.1 | -145.99 | - | - | 3566.22 | - | - | - | - | - | - | - | - | - | 15.53 | - |
504.17 | 62.49 | -13.16 | 95 | 511.32 | roll | -0.67 | - | - | 2017.88 | - | 1.95 | 0.065 | 3853.12 | 620.7 | -145.99 | - | - | 3566.69 | - | - | - | - | - | - | - | - | - | 15.52 | - |
539.18 | 66.63 | -11.83 | 102 | 546.07 | roll | -0.67 | - | - | 2017.06 | - | 1.70 | 0.019 | 2641.38 | -712.8 | -145.99 | - | - | 3567.66 | - | - | - | - | - | - | - | - | - | 15.56 | - |
729.21 | 90.34 | -12.98 | 140 | 736.80 | roll | -0.67 | - | - | 2017.25 | - | 2.53 | 0.023 | 1296.94 | -531.4 | -145.99 | - | - | 3568.75 | - | - | - | - | - | - | - | - | - | 15.57 | - |
764.24 | 94.43 | -11.68 | 147 | 772.11 | roll | -0.67 | - | - | 2007.25 | - | 2.88 | 0.045 | 2778.25 | 514.3 | -145.99 | - | - | 3567.12 | - | - | - | - | - | - | - | - | - | 15.56 | - |
959.50 | 121.54 | -14.44 | 171 | 962.60 | no move | -0.67 | - | - | 2005.81 | - | - | - | 2778.06 | - | -145.99 | - | - | 3567.00 | - | - | - | - | - | - | - | - | - | - | - |
1269.52 | 164.42 | -12.95 | 202 | 1272.63 | no move | -0.67 | - | - | 2005.94 | - | - | - | 2778.00 | - | -145.99 | - | - | 3567.97 | - | - | - | - | - | - | - | - | - | - | - |
1579.53 | 204.71 | -13.07 | 233 | 1581.28 | no move | -0.67 | - | - | 2006.31 | - | - | - | 2778.06 | - | -145.99 | - | - | 3567.69 | - | - | - | - | - | - | - | - | - | - | - |
1889.56 | 246.19 | -13.50 | 264 | 1896.40 | roll | -0.67 | - | - | 2007.69 | - | 2.73 | 0.024 | 1298.44 | -542.0 | -145.99 | - | - | 3568.84 | - | - | - | - | - | - | - | - | - | 15.84 | - |
1924.30 | 250.69 | -12.72 | 271 | 1931.69 | roll | -0.67 | - | - | 1994.56 | - | 2.88 | 0.043 | 2778.50 | 513.9 | -145.99 | - | - | 3569.06 | - | - | - | - | - | - | - | - | - | 14.96 | - |
2239.56 | 293.84 | -13.06 | 303 | 2246.69 | roll back | -0.67 | 0.16 | 0.229 | 2037.25 | 266.8 | 2.75 | 0.023 | 1297.25 | -538.6 | -145.99 | - | - | 3568.25 | - | - | - | - | - | - | - | - | 15.46 | 15.04 | - |
2274.35 | 297.55 | -10.59 | 310 | 2281.88 | roll | -0.67 | - | - | 2028.69 | - | 2.86 | 0.043 | 2779.62 | 518.3 | -145.99 | - | - | 3568.22 | - | - | - | - | - | - | - | - | - | 15.84 | - |
2589.62 | 330.56 | -10.65 | 342 | 2591.41 | no move | -0.67 | - | - | 2028.81 | - | - | - | 2779.81 | - | -145.99 | - | - | 3566.59 | - | - | - | - | - | - | - | - | - | - | - |
2899.65 | 363.60 | -10.61 | 373 | 2906.66 | roll | -0.67 | - | - | 2030.12 | - | 2.76 | 0.024 | 1295.81 | -537.7 | -145.99 | - | - | 3566.78 | - | - | - | - | - | - | - | - | - | 15.01 | - |
2954.41 | 369.16 | -9.85 | 384 | 2962.01 | roll | -0.67 | - | - | 2018.69 | - | 2.86 | 0.044 | 2777.75 | 518.2 | -145.99 | - | - | 3567.84 | - | - | - | - | - | - | - | - | - | 15.85 | - |
3269.71 | 403.67 | -10.92 | 416 | 3275.55 | roll | -0.67 | - | - | 2010.19 | - | 1.65 | 0.068 | 3852.88 | 651.6 | -145.99 | - | - | 3567.00 | - | - | - | - | - | - | - | - | - | 15.86 | - |
3294.47 | 406.51 | -11.08 | 421 | 3300.55 | roll | -0.67 | - | - | 2010.25 | - | 1.67 | 0.020 | 2633.12 | -730.4 | -145.99 | - | - | 3567.25 | - | - | - | - | - | - | - | - | - | 15.96 | - |
3609.78 | 442.11 | -11.26 | 453 | 3616.48 | roll | -0.67 | - | - | 2010.31 | - | 2.49 | 0.025 | 1298.38 | -536.0 | -145.99 | - | - | 3566.72 | - | - | - | - | - | - | - | - | - | 15.96 | - |
3649.79 | 446.62 | -11.23 | 461 | 3656.81 | roll | -0.67 | - | - | 1998.69 | - | 2.90 | 0.045 | 2776.12 | 509.6 | -145.99 | - | - | 3565.72 | - | - | - | - | - | - | - | - | - | 14.93 | - |
3959.82 | 484.70 | -12.53 | 493 | 3967.09 | roll back | -0.67 | 0.14 | 0.231 | 2038.75 | 286.1 | 2.75 | 0.024 | 1297.25 | -537.8 | -145.99 | - | - | 3565.25 | - | - | - | - | - | - | - | - | 15.59 | 15.62 | - |
3989.83 | 487.94 | -11.49 | 499 | 3996.84 | roll | -0.67 | - | - | 2028.62 | - | 2.88 | 0.044 | 2780.69 | 515.1 | -145.99 | - | - | 3566.25 | - | - | - | - | - | - | - | - | - | 15.84 | - |
4299.85 | 520.67 | -10.91 | 531 | 4306.80 | roll | -0.67 | - | - | 2028.25 | - | 2.74 | 0.025 | 1298.38 | -541.0 | -145.99 | - | - | 3564.84 | - | - | - | - | - | - | - | - | - | 15.95 | - |
4334.61 | 524.45 | -10.81 | 538 | 4342.14 | roll | -0.67 | - | - | 2017.44 | - | 2.87 | 0.044 | 2777.94 | 515.5 | -145.99 | - | - | 3563.72 | - | - | - | - | - | - | - | - | - | 15.84 | - |
4649.89 | 560.12 | -11.20 | 570 | 4656.90 | roll | -0.67 | - | - | 2018.00 | - | 2.73 | 0.024 | 1297.00 | -542.5 | -145.99 | - | - | 3564.88 | - | - | - | - | - | - | - | - | - | 15.95 | - |
4679.90 | 563.43 | -11.08 | 576 | 4686.92 | roll | -0.67 | - | - | 2005.62 | - | 2.87 | 0.044 | 2778.31 | 516.1 | -145.99 | - | - | 3564.19 | - | - | - | - | - | - | - | - | - | 15.83 | - |
4989.93 | 598.80 | -11.25 | 608 | 4996.88 | roll | -0.67 | - | - | 2004.12 | - | 2.73 | 0.024 | 1297.38 | -542.5 | -145.99 | - | - | 3563.41 | - | - | - | - | - | - | - | - | - | 15.94 | - |
5019.93 | 602.10 | -11.06 | 614 | 5026.97 | roll | -0.67 | - | - | 1994.81 | - | 2.88 | 0.044 | 2777.56 | 514.0 | -145.99 | - | - | 3562.44 | - | - | - | - | - | - | - | - | - | 15.83 | - |
5329.97 | 637.86 | -11.39 | 646 | 5337.16 | roll back | -0.67 | 0.15 | 0.227 | 2036.12 | 275.4 | 2.78 | 0.024 | 1299.31 | -531.7 | -145.99 | - | - | 3561.81 | - | - | - | - | - | - | - | - | 15.47 | 14.95 | - |
5364.71 | 641.11 | -10.06 | 653 | 5372.33 | roll | -0.67 | - | - | 2028.62 | - | 2.88 | 0.045 | 2777.25 | 513.2 | -145.99 | - | - | 3562.25 | - | - | - | - | - | - | - | - | - | 15.83 | - |
5680.00 | 668.79 | -8.52 | 685 | 5686.93 | roll | -0.67 | - | - | 2026.94 | - | 2.73 | 0.025 | 1296.69 | -542.3 | -145.99 | - | - | 3561.69 | - | - | - | - | - | - | - | - | - | 15.93 | - |
5720.01 | 672.17 | -8.46 | 693 | 5727.13 | roll | -0.67 | - | - | 2016.12 | - | 2.91 | 0.044 | 2778.31 | 509.1 | -145.99 | - | - | 3561.25 | - | - | - | - | - | - | - | - | - | 14.90 | - |
6030.04 | 700.57 | -9.32 | 725 | 6036.97 | roll | -0.67 | - | - | 2016.19 | - | 2.73 | 0.025 | 1299.06 | -541.8 | -145.99 | - | - | 3561.03 | - | - | - | - | - | - | - | - | - | 15.93 | - |
6070.04 | 704.25 | -9.20 | 733 | 6077.06 | roll | -0.67 | - | - | 2004.62 | - | 2.88 | 0.044 | 2778.50 | 513.7 | -145.99 | - | - | 3561.03 | - | - | - | - | - | - | - | - | - | 15.81 | - |
6380.06 | 736.17 | -10.52 | 765 | 6387.00 | roll | -0.67 | - | - | 2004.62 | - | 2.77 | 0.025 | 1299.62 | -533.9 | -145.99 | - | - | 3562.41 | - | - | - | - | - | - | - | - | - | 14.91 | - |
6410.07 | 739.23 | -10.39 | 771 | 6417.20 | roll | -0.67 | - | - | 1994.06 | - | 2.91 | 0.044 | 2775.56 | 507.2 | -145.99 | - | - | 3561.38 | - | - | - | - | - | - | - | - | - | 14.87 | - |
6520 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
6520 | begin apogee | ||||||||||||||||||||||||||||
6522.54 | 751.04 | -10.90 | 783 | 6663.92 | -0.12 | 0.74 | 0.183 | 2210.12 | 292.0 | 0.22 | 0.102 | 2435.62 | -1545.2 | - | 130.04 | 2.008 | 2967.91 | -4.6 | 0.301 | - | - | - | - | - | - | 15.49 | 14.81 | 10.19 | |
6666 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6666 | begin climb | ||||||||||||||||||||||||||||
6666.69 | 755.47 | - | 796 | 6817.21 | 0.67 | 0.80 | 0.092 | 2485.81 | 344.6 | 3.07 | 0.033 | 954.06 | -482.6 | 145.99 | 132.38 | 1.945 | 2371.22 | -4.5 | 0.308 | - | - | - | - | - | - | 15.21 | 14.73 | 11.29 | |
6874.55 | 747.29 | 8.77 | 835 | 6882.19 | roll | 0.70 | - | - | 2486.88 | - | 3.05 | 0.037 | 2432.88 | 484.9 | 145.99 | - | - | 2366.53 | - | - | - | - | - | - | - | - | - | 15.46 | - |
7189.78 | 717.66 | 9.58 | 867 | 7196.30 | done | 0.70 | - | - | 2487.38 | - | 2.21 | 0.065 | 3840.81 | 637.1 | 145.99 | - | - | 2360.41 | - | - | - | - | - | - | - | - | - | 15.70 | - |
7229.79 | 713.37 | 10.85 | 875 | 7236.31 | done | 0.70 | - | - | 2495.75 | - | 2.24 | 0.019 | 2310.44 | -683.2 | 145.99 | - | - | 2360.53 | - | - | - | - | - | - | - | - | - | 15.72 | - |
7539.82 | 683.58 | 9.70 | 907 | 7546.77 | done | 0.70 | - | - | 2509.62 | - | 2.62 | 0.029 | 950.12 | -519.2 | 145.99 | - | - | 2358.53 | - | - | - | - | - | - | - | - | - | 15.71 | - |
7574.57 | 680.20 | 9.72 | 914 | 7582.46 | 0.70 | 0.15 | 0.210 | 2466.31 | -288.7 | 2.96 | 0.036 | 2438.25 | 502.7 | 145.99 | - | - | 2359.97 | - | - | - | - | - | - | - | - | 15.53 | 15.79 | - | |
7889.93 | 653.49 | 8.45 | 946 | 7891.72 | VBD | 0.73 | - | - | 2466.12 | - | - | - | 2438.56 | - | 145.99 | - | - | 2354.94 | - | - | - | - | - | - | - | - | - | - | - |
8199.96 | 627.69 | 8.22 | 977 | 8201.75 | VBD | 0.76 | - | - | 2466.12 | - | - | - | 2438.81 | - | 145.99 | - | - | 2354.16 | - | - | - | - | - | - | - | - | - | - | - |
8509.99 | 602.19 | 8.23 | 1008 | 8517.17 | 0.80 | 0.12 | 0.079 | 2539.62 | 612.5 | 2.88 | 0.029 | 951.12 | -516.6 | 145.99 | - | - | 2355.53 | - | - | - | - | - | - | - | - | 15.88 | 15.84 | - | |
8544.65 | 598.65 | 10.11 | 1015 | 8552.54 | 0.80 | 0.14 | 0.193 | 2497.31 | -302.2 | 2.95 | 0.036 | 2438.00 | 504.0 | 145.99 | - | - | 2355.28 | - | - | - | - | - | - | - | - | 15.50 | 15.77 | - | |
8860.02 | 569.11 | 8.94 | 1047 | 8861.81 | VBD | 0.82 | - | - | 2496.56 | - | - | - | 2438.50 | - | 145.99 | - | - | 2353.31 | - | - | - | - | - | - | - | - | - | - | - |
9170.04 | 541.18 | 8.94 | 1078 | 9176.98 | done | 0.84 | - | - | 2506.88 | - | 2.88 | 0.029 | 951.38 | -516.4 | 145.99 | - | - | 2355.28 | - | - | - | - | - | - | - | - | - | 15.87 | - |
9240.07 | 535.31 | 8.34 | 1092 | 9247.15 | done | 0.88 | - | - | 2506.38 | - | 2.94 | 0.035 | 2433.38 | 504.1 | 145.99 | - | - | 2354.22 | - | - | - | - | - | - | - | - | - | 15.84 | - |
9550.09 | 507.35 | 9.36 | 1124 | 9551.89 | VBD | 0.89 | - | - | 2506.69 | - | - | - | 2433.88 | - | 145.99 | - | - | 2352.62 | - | - | - | - | - | - | - | - | - | - | - |
9860.12 | 478.30 | 9.34 | 1155 | 9867.12 | done | 0.90 | - | - | 2519.88 | - | 2.87 | 0.028 | 947.81 | -517.8 | 145.99 | - | - | 2354.56 | - | - | - | - | - | - | - | - | - | 15.93 | - |
9914.87 | 473.26 | 9.11 | 1166 | 9922.42 | done | 0.92 | - | - | 2518.88 | - | 2.95 | 0.035 | 2434.62 | 504.0 | 145.99 | - | - | 2353.78 | - | - | - | - | - | - | - | - | - | 15.83 | - |
10230.08 | 443.39 | 9.68 | 1198 | 10237.17 | done | 0.92 | - | - | 2530.50 | - | 2.86 | 0.028 | 948.31 | -519.7 | 145.99 | - | - | 2353.47 | - | - | - | - | - | - | - | - | - | 15.83 | - |
10280.16 | 438.77 | 9.24 | 1208 | 10287.22 | done | 0.93 | - | - | 2529.88 | - | 2.93 | 0.035 | 2435.25 | 507.5 | 145.99 | - | - | 2353.59 | - | - | - | - | - | - | - | - | - | 15.87 | - |
10590.11 | 408.12 | 9.72 | 1240 | 10597.21 | done | 0.93 | - | - | 2543.50 | - | 2.88 | 0.028 | 951.25 | -515.3 | 145.99 | - | - | 2353.62 | - | - | - | - | - | - | - | - | - | 15.83 | - |
10624.85 | 404.71 | 9.81 | 1247 | 10632.50 | done | 0.93 | - | - | 2542.69 | - | 2.94 | 0.035 | 2434.38 | 504.5 | 145.99 | - | - | 2353.81 | - | - | - | - | - | - | - | - | - | 15.89 | - |
10940.13 | 373.49 | 10.16 | 1279 | 10946.57 | done | 0.93 | - | - | 2542.69 | - | 2.13 | 0.062 | 3842.81 | 661.2 | 145.99 | - | - | 2353.22 | - | - | - | - | - | - | - | - | - | 15.83 | - |
10994.89 | 367.28 | 11.27 | 1290 | 11001.87 | done | 0.93 | - | - | 2551.88 | - | 2.19 | 0.018 | 2311.94 | -699.0 | 145.99 | - | - | 2354.47 | - | - | - | - | - | - | - | - | - | 15.81 | - |
11310.18 | 334.46 | 10.47 | 1322 | 11317.03 | done | 0.93 | - | - | 2564.25 | - | 2.61 | 0.029 | 947.38 | -522.8 | 145.99 | - | - | 2353.03 | - | - | - | - | - | - | - | - | - | 15.80 | - |
11414.93 | 323.87 | 9.94 | 1343 | 11422.64 | done | 0.93 | - | - | 2565.25 | - | 2.96 | 0.035 | 2434.31 | 502.3 | 145.99 | - | - | 2353.84 | - | - | - | - | - | - | - | - | - | 15.82 | - |
11730.22 | 290.40 | 10.64 | 1375 | 11732.01 | VBD | 0.93 | - | - | 2564.19 | - | - | - | 2435.88 | - | 145.99 | - | - | 2351.22 | - | - | - | - | - | - | - | - | - | - | - |
12040.26 | 256.22 | 11.23 | 1406 | 12047.34 | done | 0.93 | - | - | 2577.69 | - | 2.86 | 0.028 | 948.19 | -520.2 | 145.99 | - | - | 2353.28 | - | - | - | - | - | - | - | - | - | 15.80 | - |
12165.01 | 242.17 | 11.00 | 1431 | 12172.63 | done | 0.93 | - | - | 2575.38 | - | 2.97 | 0.035 | 2436.19 | 501.0 | 145.99 | - | - | 2352.53 | - | - | - | - | - | - | - | - | - | 15.79 | - |
12480.29 | 207.93 | 10.28 | 1463 | 12487.33 | done | 0.93 | - | - | 2589.06 | - | 2.87 | 0.029 | 948.75 | -518.3 | 145.99 | - | - | 2351.88 | - | - | - | - | - | - | - | - | - | 15.77 | - |
12560.30 | 200.14 | 9.63 | 1479 | 12577.49 | 0.93 | 0.18 | 0.247 | 2539.56 | -275.0 | 2.95 | 0.036 | 2438.50 | 505.0 | 145.99 | - | - | 2353.19 | - | - | - | - | - | - | - | - | 15.34 | 15.81 | - | |
12880.02 | 174.68 | 6.92 | 1511 | 12943.94 | 1.02 | 0.11 | 0.083 | 2617.69 | 710.3 | 2.22 | 0.067 | 3840.44 | 631.5 | 212.32 | 52.95 | 1.288 | 2102.28 | -4.7 | 0.113 | - | - | - | - | - | - | 15.78 | 15.20 | 10.44 | |
12961.45 | 165.35 | 14.12 | 1526 | 12969.18 | roll back | 1.02 | 0.23 | 0.279 | 2570.69 | -204.3 | 2.25 | 0.017 | 2334.00 | -669.5 | 212.32 | - | - | 2098.66 | - | - | - | - | - | - | - | - | 15.25 | 15.55 | - |
13271.64 | 127.54 | 12.24 | 1558 | 13279.35 | done | 1.02 | - | - | 2579.44 | - | 2.71 | 0.029 | 951.50 | -510.1 | 212.32 | - | - | 2093.81 | - | - | - | - | - | - | - | - | - | 14.93 | - |
13306.61 | 123.15 | 12.47 | 1565 | 13314.91 | done | 1.02 | - | - | 2580.06 | - | 3.00 | 0.037 | 2434.19 | 494.2 | 212.32 | - | - | 2094.53 | - | - | - | - | - | - | - | - | - | 15.65 | - |
13616.90 | 81.83 | 13.16 | 1609 | 13625.21 | done | 1.02 | - | - | 2592.81 | - | 2.91 | 0.029 | 952.81 | -509.1 | 212.32 | - | - | 2093.72 | - | - | - | - | - | - | - | - | - | 14.92 | - |
13647.72 | 77.85 | 12.94 | 1615 | 13655.93 | done | 1.02 | - | - | 2593.75 | - | 3.03 | 0.036 | 2431.75 | 488.1 | 212.32 | - | - | 2093.06 | - | - | - | - | - | - | - | - | - | 14.95 | - |
13838.39 | 54.25 | 10.92 | 1653 | 13846.35 | done | 1.02 | - | - | 2604.44 | - | 2.88 | 0.028 | 950.31 | -514.4 | 212.32 | - | - | 2093.91 | - | - | - | - | - | - | - | - | - | 15.41 | - |
13903.87 | 46.57 | 12.08 | 1666 | 13912.07 | done | 1.02 | - | - | 2605.12 | - | 3.02 | 0.037 | 2432.56 | 490.8 | 212.32 | - | - | 2092.62 | - | - | - | - | - | - | - | - | - | 15.42 | - |
14094.60 | 28.75 | 9.32 | 1704 | 14102.08 | done | 1.03 | - | - | 2605.69 | - | 2.23 | 0.066 | 3839.31 | 630.8 | 212.32 | - | - | 2091.69 | - | - | - | - | - | - | - | - | - | 15.37 | - |
14174.59 | 20.33 | 10.61 | 1720 | 14182.08 | done | 1.03 | - | - | 2613.75 | - | 2.23 | 0.017 | 2319.38 | -681.6 | 212.32 | - | - | 2091.19 | - | - | - | - | - | - | - | - | - | 15.47 | - |
14364.70 | 2.34 | 8.96 | 1758 | 14372.49 | done | 1.06 | - | - | 2626.50 | - | 2.67 | 0.029 | 948.19 | -513.6 | 212.32 | - | - | 2091.50 | - | - | - | - | - | - | - | - | - | 15.48 | - |
14375 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
14375 | begin surface coast | ||||||||||||||||||||||||||||
14400 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14400 | begin surface | ||||||||||||||||||||||||||||
SM | 1.33 | - | - | - | - | 215.6 | 84.07 | 1.071 | 1641.3 | 19.5 | 6.97 | 0.069 | 1627.9 | 233.6 | - | 3.53 | 0.044 | 1654.6 | 468.0 | -1.446 | - | - | 10.99 | 15.64 | 15.73 | - |