• Previous call tries 1 | • 14.28 of 350.00 AH used of 24V (95.92% remains) | |
• Surface angle -62.7 deg, depth 0.82 m | • Intended pitch -18.4 deg, speed -9.167 cm/s | |
• VBD pumped to 672.07 (SM_CC=671.92169) | ||
• GPS1 time: 17 s | ||
• GPS2 time: 3 s | • Transponder ping count: 9 | |
• 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 | ||||||||||||||||||||||||||||
6.29 | - | - | - | 107.33 | VBD | -0.90 | - | - | 166.62 | - | - | - | 2033.19 | - | -116.79 | 72.15 | 0.005 | 3148.78 | - | - | - | - | - | - | - | - | - | - | 15.76 |
107.78 | 4.02 | -4.61 | 19 | 137.15 | -0.90 | 6.49 | 0.348 | 2289.31 | 327.1 | 1.83 | 0.136 | 3484.38 | 793.0 | -116.79 | 7.90 | 0.007 | 3714.06 | 71.6 | -6.899 | - | - | - | - | - | - | 15.68 | 15.83 | 15.81 | |
279.85 | 61.91 | -29.92 | 53 | 286.52 | roll | -0.90 | - | - | 2289.38 | - | 1.67 | 0.068 | 2050.56 | -858.6 | -116.79 | - | - | 3715.25 | - | - | - | - | - | - | - | - | - | 15.96 | - |
474.98 | 112.27 | -22.22 | 87 | 480.99 | roll | -0.90 | - | - | 2289.38 | - | 1.65 | 0.083 | 635.12 | -857.8 | -116.79 | - | - | 3715.34 | - | - | - | - | - | - | - | - | - | 16.00 | - |
489.89 | 115.99 | -23.01 | 90 | 496.07 | roll | -0.90 | - | - | 2280.00 | - | 1.80 | 0.103 | 2073.19 | 798.9 | -116.79 | - | - | 3716.28 | - | - | - | - | - | - | - | - | - | 16.02 | - |
805.10 | 187.52 | -19.79 | 122 | 811.37 | roll | -0.90 | - | - | 2279.69 | - | 1.71 | 0.083 | 633.62 | -841.9 | -116.79 | - | - | 3716.94 | - | - | - | - | - | - | - | - | - | 16.09 | - |
835.04 | 193.74 | -20.47 | 128 | 841.37 | roll | -0.90 | - | - | 2271.00 | - | 1.73 | 0.099 | 2072.75 | 831.9 | -116.79 | - | - | 3717.41 | - | - | - | - | - | - | - | - | - | 16.10 | - |
1145.17 | 257.35 | -20.73 | 160 | 1146.94 | no move | -0.90 | - | - | 2270.75 | - | - | - | 2072.56 | - | -116.79 | - | - | 3716.62 | - | - | - | - | - | - | - | - | - | - | - |
1455.16 | 314.44 | -17.52 | 191 | 1461.41 | roll | -0.90 | - | - | 2271.44 | - | 1.70 | 0.088 | 635.12 | -845.6 | -116.79 | - | - | 3716.38 | - | - | - | - | - | - | - | - | - | 16.17 | - |
1515.23 | 324.64 | -16.46 | 203 | 1521.51 | roll | -0.90 | - | - | 2261.31 | - | 1.72 | 0.099 | 2072.56 | 835.7 | -116.79 | - | - | 3718.09 | - | - | - | - | - | - | - | - | - | 16.18 | - |
1825.81 | 378.09 | -16.65 | 235 | 1831.70 | roll back | -0.90 | 0.09 | 0.235 | 2290.06 | 319.4 | 1.73 | 0.137 | 3485.50 | 816.7 | -116.79 | - | - | 3717.09 | - | - | - | - | - | - | - | - | 16.13 | 16.16 | - |
1895.24 | 389.38 | -15.66 | 249 | 1901.50 | roll | -0.90 | - | - | 2290.44 | - | 1.65 | 0.071 | 2046.12 | -872.4 | -116.79 | - | - | 3717.06 | - | - | - | - | - | - | - | - | - | 16.09 | - |
2205.31 | 435.89 | -15.25 | 281 | 2207.08 | no move | -0.90 | - | - | 2291.94 | - | - | - | 2035.12 | - | -116.79 | - | - | 3715.38 | - | - | - | - | - | - | - | - | - | - | - |
2515.44 | 483.24 | -15.51 | 312 | 2521.71 | roll | -0.90 | - | - | 2282.06 | - | 1.80 | 0.140 | 3484.12 | 805.0 | -116.79 | - | - | 3712.97 | - | - | - | - | - | - | - | - | - | 16.19 | - |
2550.36 | 488.65 | -15.42 | 319 | 2556.64 | roll | -0.90 | - | - | 2282.25 | - | 1.66 | 0.074 | 2036.50 | -872.1 | -116.79 | - | - | 3712.66 | - | - | - | - | - | - | - | - | - | 16.22 | - |
2865.51 | 535.82 | -14.72 | 351 | 2871.75 | roll | -0.90 | - | - | 2282.25 | - | 1.65 | 0.096 | 636.50 | -848.5 | -116.79 | - | - | 3711.91 | - | - | - | - | - | - | - | - | - | 16.21 | - |
2915.48 | 543.10 | -14.42 | 361 | 2921.91 | roll | -0.90 | - | - | 2274.94 | - | 1.73 | 0.105 | 2068.75 | 827.9 | -116.79 | - | - | 3710.81 | - | - | - | - | - | - | - | - | - | 16.11 | - |
3225.63 | 586.45 | -13.04 | 393 | 3231.95 | roll | -0.90 | - | - | 2277.88 | - | 1.71 | 0.095 | 637.56 | -837.0 | -116.79 | - | - | 3709.22 | - | - | - | - | - | - | - | - | - | 16.21 | - |
3255.55 | 590.36 | -13.03 | 399 | 3261.98 | roll | -0.90 | - | - | 2270.56 | - | 1.72 | 0.104 | 2067.38 | 831.3 | -116.79 | - | - | 3707.66 | - | - | - | - | - | - | - | - | - | 16.21 | - |
3565.69 | 630.57 | -12.92 | 431 | 3567.50 | no move | -0.90 | - | - | 2270.19 | - | - | - | 2066.81 | - | -116.79 | - | - | 3704.59 | - | - | - | - | - | - | - | - | - | - | - |
3875.68 | 670.62 | -13.21 | 462 | 3882.08 | roll | -0.90 | - | - | 2260.69 | - | 1.76 | 0.147 | 3486.88 | 806.9 | -116.79 | - | - | 3701.62 | - | - | - | - | - | - | - | - | - | 16.07 | - |
3905.67 | 674.94 | -14.40 | 468 | 3912.19 | roll back | -0.90 | 0.09 | 0.208 | 2298.88 | 424.3 | 1.68 | 0.081 | 2049.25 | -855.7 | -116.79 | - | - | 3701.16 | - | - | - | - | - | - | - | - | 16.16 | 16.09 | - |
4215.80 | 711.72 | -11.63 | 500 | 4217.64 | no move | -0.90 | - | - | 2299.38 | - | - | - | 2038.31 | - | -116.79 | - | - | 3697.91 | - | - | - | - | - | - | - | - | - | - | - |
4525.73 | 748.60 | -11.69 | 531 | 4532.05 | roll | -0.90 | - | - | 2299.19 | - | 1.68 | 0.102 | 636.75 | -834.3 | -116.79 | - | - | 3695.06 | - | - | - | - | - | - | - | - | - | 16.21 | - |
4555.73 | 752.02 | -11.44 | 537 | 4562.14 | roll | -0.90 | - | - | 2298.25 | - | 1.74 | 0.109 | 2066.62 | 821.8 | -116.79 | - | - | 3694.09 | - | - | - | - | - | - | - | - | - | 16.21 | - |
4865.84 | 786.14 | -10.72 | 569 | 4872.16 | roll | -0.90 | - | - | 2298.12 | - | 1.72 | 0.101 | 638.62 | -830.2 | -116.79 | - | - | 3692.88 | - | - | - | - | - | - | - | - | - | 16.19 | - |
4895.76 | 789.39 | -10.81 | 575 | 4902.17 | roll | -0.90 | - | - | 2298.06 | - | 1.74 | 0.110 | 2066.69 | 820.7 | -116.79 | - | - | 3692.25 | - | - | - | - | - | - | - | - | - | 16.08 | - |
5205.87 | 822.25 | -10.60 | 607 | 5207.68 | no move | -0.90 | - | - | 2298.12 | - | - | - | 2065.88 | - | -116.79 | - | - | 3688.16 | - | - | - | - | - | - | - | - | - | - | - |
5515.82 | 856.19 | -10.83 | 638 | 5522.24 | roll | -0.90 | - | - | 2298.25 | - | 1.73 | 0.102 | 637.75 | -825.5 | -116.79 | - | - | 3686.12 | - | - | - | - | - | - | - | - | - | 16.20 | - |
5590.81 | 864.13 | -10.46 | 653 | 5597.25 | roll | -0.90 | - | - | 2293.75 | - | 1.75 | 0.111 | 2068.25 | 817.4 | -116.79 | - | - | 3685.28 | - | - | - | - | - | - | - | - | - | 16.20 | - |
5905.94 | 897.15 | -10.34 | 685 | 5907.75 | no move | -0.90 | - | - | 2295.56 | - | - | - | 2068.12 | - | -116.79 | - | - | 3681.19 | - | - | - | - | - | - | - | - | - | - | - |
6215.92 | 929.70 | -10.46 | 716 | 6217.74 | no move | -0.90 | - | - | 2295.50 | - | - | - | 2068.44 | - | -116.79 | - | - | 3679.59 | - | - | - | - | - | - | - | - | - | - | - |
6525.99 | 963.58 | -11.27 | 747 | 6532.39 | roll | -0.90 | - | - | 2296.00 | - | 1.74 | 0.107 | 637.50 | -822.4 | -116.79 | - | - | 3676.97 | - | - | - | - | - | - | - | - | - | 16.18 | - |
6586.00 | 970.40 | -11.16 | 759 | 6592.44 | roll | -0.90 | - | - | 2295.75 | - | 1.75 | 0.116 | 2064.88 | 815.6 | -116.79 | - | - | 3677.78 | - | - | - | - | - | - | - | - | - | 16.18 | - |
6766 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
6766 | begin apogee | ||||||||||||||||||||||||||||
6768.03 | 990.42 | -11.16 | 778 | 6871.69 | -0.21 | 0.50 | 0.191 | 2523.31 | 455.1 | 0.06 | 0.296 | 1774.88 | -4833.3 | - | 66.15 | 2.021 | 3234.50 | -6.7 | 0.551 | - | - | - | - | - | - | 16.14 | 15.31 | 12.77 | |
6873 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6873 | begin climb | ||||||||||||||||||||||||||||
6872.87 | 994.02 | - | 788 | 6990.38 | 0.90 | 0.75 | 0.120 | 2877.06 | 471.7 | 1.86 | 0.120 | 342.81 | -769.9 | 116.79 | 73.21 | 1.989 | 2756.09 | -6.5 | 0.548 | - | - | - | - | - | - | 15.47 | 15.45 | 12.30 | |
6993.27 | 990.94 | 5.11 | 810 | 7073.25 | done | 1.00 | - | - | 2876.50 | - | 1.85 | 0.109 | 1773.38 | 773.3 | 193.00 | 48.13 | 1.930 | 2447.88 | -6.4 | 0.552 | - | - | - | - | - | - | - | 15.34 | 12.35 |
7378.33 | 939.95 | 14.23 | 856 | 7380.15 | VBD | 1.00 | - | - | 2876.75 | - | - | - | 1773.31 | - | 193.00 | - | - | 2441.31 | - | - | - | - | - | - | - | - | - | - | - |
7688.31 | 896.81 | 13.37 | 887 | 7690.13 | VBD | 1.00 | - | - | 2876.25 | - | - | - | 1773.19 | - | 193.00 | - | - | 2440.12 | - | - | - | - | - | - | - | - | - | - | - |
7998.37 | 855.10 | 13.53 | 918 | 8004.78 | done | 1.00 | - | - | 2876.75 | - | 1.78 | 0.144 | 3184.94 | 793.1 | 193.00 | - | - | 2439.44 | - | - | - | - | - | - | - | - | - | 16.00 | - |
8063.37 | 845.35 | 14.91 | 931 | 8069.82 | done | 1.00 | - | - | 2887.00 | - | 1.73 | 0.089 | 1752.38 | -828.1 | 193.00 | - | - | 2439.62 | - | - | - | - | - | - | - | - | - | 15.93 | - |
8378.52 | 803.98 | 13.00 | 963 | 8384.85 | done | 1.00 | - | - | 2895.12 | - | 1.73 | 0.121 | 342.62 | -814.9 | 193.00 | - | - | 2439.22 | - | - | - | - | - | - | - | - | - | 15.94 | - |
8473.46 | 791.67 | 12.91 | 982 | 8479.90 | done | 1.00 | - | - | 2897.56 | - | 1.75 | 0.105 | 1775.38 | 818.7 | 193.00 | - | - | 2440.56 | - | - | - | - | - | - | - | - | - | 16.08 | - |
8788.61 | 751.13 | 12.24 | 1014 | 8790.43 | VBD | 1.00 | - | - | 2897.38 | - | - | - | 1774.31 | - | 193.00 | - | - | 2437.53 | - | - | - | - | - | - | - | - | - | - | - |
9098.59 | 713.58 | 11.94 | 1045 | 9105.00 | done | 1.00 | - | - | 2906.25 | - | 1.77 | 0.114 | 343.06 | -808.6 | 193.00 | - | - | 2436.41 | - | - | - | - | - | - | - | - | - | 15.97 | - |
9143.58 | 708.08 | 12.24 | 1054 | 9150.06 | done | 1.00 | - | - | 2906.81 | - | 1.74 | 0.104 | 1771.31 | 820.8 | 193.00 | - | - | 2437.44 | - | - | - | - | - | - | - | - | - | 15.98 | - |
9458.74 | 668.05 | 12.65 | 1086 | 9465.07 | done | 1.00 | - | - | 2906.88 | - | 1.77 | 0.141 | 3186.38 | 799.5 | 193.00 | - | - | 2436.12 | - | - | - | - | - | - | - | - | - | 15.96 | - |
9488.67 | 663.71 | 14.46 | 1092 | 9495.08 | done | 1.00 | - | - | 2916.44 | - | 1.73 | 0.088 | 1752.38 | -828.9 | 193.00 | - | - | 2436.50 | - | - | - | - | - | - | - | - | - | 15.99 | - |
9798.78 | 620.79 | 13.41 | 1124 | 9805.12 | done | 1.00 | - | - | 2927.44 | - | 1.71 | 0.115 | 342.44 | -824.5 | 193.00 | - | - | 2437.06 | - | - | - | - | - | - | - | - | - | 16.12 | - |
9833.69 | 616.06 | 13.54 | 1131 | 9840.13 | done | 1.00 | - | - | 2927.12 | - | 1.75 | 0.106 | 1774.06 | 818.1 | 193.00 | - | - | 2437.84 | - | - | - | - | - | - | - | - | - | 15.98 | - |
10148.74 | 575.56 | 12.74 | 1163 | 10150.57 | VBD | 1.00 | - | - | 2927.56 | - | - | - | 1773.69 | - | 193.00 | - | - | 2435.88 | - | - | - | - | - | - | - | - | - | - | - |
10458.76 | 536.35 | 12.96 | 1194 | 10465.17 | done | 1.00 | - | - | 2936.88 | - | 1.76 | 0.112 | 342.81 | -813.0 | 193.00 | - | - | 2437.22 | - | - | - | - | - | - | - | - | - | 16.13 | - |
10508.75 | 530.17 | 12.37 | 1204 | 10515.17 | done | 1.00 | - | - | 2937.31 | - | 1.75 | 0.108 | 1775.88 | 818.9 | 193.00 | - | - | 2437.22 | - | - | - | - | - | - | - | - | - | 15.98 | - |
10818.87 | 488.27 | 14.06 | 1236 | 10820.68 | VBD | 1.00 | - | - | 2936.88 | - | - | - | 1775.56 | - | 193.00 | - | - | 2435.94 | - | - | - | - | - | - | - | - | - | - | - |
11128.82 | 446.72 | 13.61 | 1267 | 11130.64 | VBD | 1.00 | - | - | 2936.50 | - | - | - | 1775.38 | - | 193.00 | - | - | 2435.62 | - | - | - | - | - | - | - | - | - | - | - |
11438.85 | 407.56 | 12.44 | 1298 | 11445.27 | done | 1.00 | - | - | 2945.06 | - | 1.75 | 0.110 | 343.88 | -818.0 | 193.00 | - | - | 2436.88 | - | - | - | - | - | - | - | - | - | 15.98 | - |
11523.84 | 396.76 | 12.11 | 1315 | 11530.55 | 1.00 | 0.12 | 0.255 | 2896.25 | -406.7 | 1.74 | 0.104 | 1772.25 | 820.9 | 193.00 | - | - | 2436.84 | - | - | - | - | - | - | - | - | 16.05 | 16.14 | - | |
11838.99 | 366.11 | 9.49 | 1347 | 11845.33 | done | 1.00 | - | - | 2898.31 | - | 1.78 | 0.142 | 3188.75 | 795.8 | 193.00 | - | - | 2435.75 | - | - | - | - | - | - | - | - | - | 16.12 | - |
11973.94 | 352.05 | 10.32 | 1374 | 11980.39 | done | 1.00 | - | - | 2906.75 | - | 1.71 | 0.081 | 1750.81 | -840.9 | 193.00 | - | - | 2435.56 | - | - | - | - | - | - | - | - | - | 16.15 | - |
12289.10 | 319.80 | 10.30 | 1406 | 12295.34 | done | 1.00 | - | - | 2917.00 | - | 1.68 | 0.107 | 341.88 | -838.6 | 193.00 | - | - | 2435.12 | - | - | - | - | - | - | - | - | - | 16.14 | - |
12379.04 | 310.30 | 10.46 | 1424 | 12385.45 | done | 1.00 | - | - | 2914.88 | - | 1.74 | 0.099 | 1778.56 | 825.7 | 193.00 | - | - | 2435.12 | - | - | - | - | - | - | - | - | - | 16.14 | - |
12689.17 | 278.25 | 11.42 | 1456 | 12695.58 | done | 1.00 | - | - | 2926.00 | - | 1.74 | 0.102 | 342.69 | -825.2 | 193.00 | - | - | 2438.59 | - | - | - | - | - | - | - | - | - | 16.14 | - |
12854.12 | 261.35 | 10.16 | 1489 | 12860.58 | done | 1.00 | - | - | 2926.19 | - | 1.73 | 0.097 | 1776.69 | 828.9 | 193.00 | - | - | 2435.47 | - | - | - | - | - | - | - | - | - | 16.14 | - |
13169.38 | 232.02 | 8.55 | 1521 | 13186.42 | done | 1.01 | - | - | 2926.19 | - | 1.76 | 0.139 | 3188.19 | 802.0 | 204.63 | 7.36 | 0.743 | 2399.94 | -4.8 | 0.253 | - | - | - | - | - | - | - | 15.95 | 12.56 |
13299.34 | 220.24 | 8.40 | 1547 | 13321.65 | done | 1.03 | - | - | 2935.19 | - | 1.70 | 0.077 | 1750.94 | -845.4 | 219.06 | 10.68 | 0.843 | 2342.88 | -5.3 | 0.234 | - | - | - | - | - | - | - | 15.99 | 12.65 |
13629.48 | 190.11 | 8.26 | 1582 | 13653.03 | done | 1.05 | - | - | 2936.56 | - | 1.82 | 0.130 | 3191.19 | 791.3 | 236.02 | 11.93 | 0.824 | 2271.94 | -5.9 | 0.230 | - | - | - | - | - | - | - | 15.95 | 12.72 |
13815.91 | 169.91 | 11.78 | 1619 | 13822.23 | roll | 1.05 | - | - | 2946.69 | - | 1.70 | 0.075 | 1750.19 | -847.6 | 236.02 | - | - | 2268.44 | - | - | - | - | - | - | - | - | - | 16.04 | - |
14126.12 | 141.03 | 7.79 | 1651 | 14158.20 | done | 1.08 | - | - | 2948.00 | - | 1.82 | 0.129 | 3187.19 | 789.6 | 261.80 | 16.13 | 0.803 | 2165.56 | -6.4 | 0.188 | - | - | - | - | - | - | - | 15.92 | 12.75 |
14171.08 | 137.37 | 8.12 | 1660 | 14197.99 | done | 1.10 | - | - | 2957.25 | - | 1.71 | 0.073 | 1750.56 | -840.1 | 281.45 | 13.06 | 0.763 | 2088.59 | -5.9 | 0.178 | - | - | - | - | - | - | - | 15.96 | 12.67 |
14506.16 | 103.77 | 11.15 | 1696 | 14512.59 | roll | 1.10 | - | - | 2959.12 | - | 1.82 | 0.127 | 3187.88 | 789.7 | 281.45 | - | - | 2084.81 | - | - | - | - | - | - | - | - | - | 15.96 | - |
14576.10 | 95.70 | 10.89 | 1710 | 14583.03 | roll | 1.10 | - | - | 2967.75 | - | 1.70 | 0.071 | 1753.50 | -843.8 | 281.45 | - | - | 2084.69 | - | - | - | - | - | - | - | - | - | 15.98 | - |
14766.32 | 78.44 | 8.28 | 1748 | 14788.65 | done | 1.12 | - | - | 2978.00 | - | 1.67 | 0.091 | 341.69 | -845.4 | 298.09 | 11.28 | 0.669 | 2019.00 | -5.8 | 0.115 | - | - | - | - | - | - | - | 15.92 | 12.73 |
15016.63 | 54.74 | 7.98 | 1798 | 15044.35 | done | 1.15 | - | - | 2978.06 | - | 1.71 | 0.083 | 1780.88 | 841.6 | 320.29 | 14.48 | 0.669 | 1932.56 | -6.0 | 0.082 | - | - | - | - | - | - | - | 16.02 | 12.72 |
15227.25 | 35.15 | 9.46 | 1840 | 15233.60 | roll | 1.15 | - | - | 2981.88 | - | 1.72 | 0.086 | 343.06 | -835.9 | 320.29 | - | - | 1927.69 | - | - | - | - | - | - | - | - | - | 15.99 | - |
15312.75 | 26.87 | 9.99 | 1857 | 15319.19 | roll | 1.15 | - | - | 2982.38 | - | 1.71 | 0.084 | 1779.44 | 840.0 | 320.29 | - | - | 1928.78 | - | - | - | - | - | - | - | - | - | 15.98 | - |
15502.31 | 8.01 | 9.60 | 1895 | 15509.22 | roll | 1.15 | - | - | 2991.62 | - | 1.71 | 0.083 | 341.25 | -841.0 | 320.29 | - | - | 1927.03 | - | - | - | - | - | - | - | - | - | 15.98 | - |
15527.24 | 5.56 | 9.86 | 1900 | 15534.33 | roll back | 1.15 | 0.10 | 0.204 | 2947.81 | -438.1 | 1.70 | 0.082 | 1775.12 | 843.5 | 320.29 | - | - | 1927.00 | - | - | - | - | - | - | - | - | 15.97 | 16.02 | - |
15567 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15567 | begin surface coast | ||||||||||||||||||||||||||||
15593 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15593 | begin surface | ||||||||||||||||||||||||||||
SM | 0.84 | - | - | - | - | 189.6 | 180.24 | 0.690 | 499.2 | 2.8 | 5.09 | 0.044 | 362.1 | 71.1 | - | 0.34 | 0.100 | 636.4 | 1866.8 | -1.603 | - | - | 12.79 | 16.07 | 16.05 | - |