• Previous call tries 1 | • 3.22 of 350.00 AH used of 24V (99.08% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -77.5 deg, depth 1.25 m | • Intended pitch -16.9 deg, speed -10.000 cm/s | |
• VBD pumped to 400.08 (SM_CC=400) | ||
• GPS1 time: 5 s | ||
• GPS2 time: 4 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 | |||||
22 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
22 | begin dive | ||||||||||||||||||||||||||||
27 | - | - | - | 111 | VBD | -0.57 | - | - | 91 | - | - | - | 1895 | - | -146.6 | -76.28 | - | 3082 | - | - | - | - | - | - | - | - | 14.61 | - | 14.63 |
118 | 3.4 | -4.1 | 8 | 147 | roll | -0.57 | 14.15 | 0.395 | 3250 | 223.3 | 2.85 | 2.235 | 3315 | 498.2 | -146.6 | -3.40 | - | 3301 | -64.4 | - | - | - | - | - | - | - | 14.23 | 13.59 | 14.40 |
371 | 53.9 | -12.7 | 54 | 382 | done | -0.49 | 0.15 | 0.233 | 3293 | 286.7 | 2.55 | 0.100 | 1887 | -560.0 | -146.6 | - | - | 3300 | - | - | - | - | - | - | - | - | 14.40 | 14.42 | 14.50 |
574 | 73.0 | -8.8 | 74 | 585 | roll | -0.49 | - | - | 3293 | - | 2.50 | 0.118 | 495 | -556.8 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.68 | 14.46 | 14.69 |
702 | 85.7 | -9.2 | 96 | 713 | done | -0.57 | - | - | 3294 | - | 2.47 | 0.099 | 1897 | 567.6 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.58 | 14.50 | 14.60 |
905 | 101.8 | -7.9 | 116 | 917 | roll | -0.64 | 0.10 | 0.142 | 3233 | -610.0 | 2.53 | 0.108 | 3315 | 560.5 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.57 |
973 | 108.5 | -11.2 | 126 | 984 | done | -0.56 | 0.12 | 0.246 | 3268 | 291.7 | 2.55 | 0.100 | 1902 | -554.1 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.45 | 14.52 | 14.60 |
1175 | 128.5 | -8.6 | 146 | 1187 | roll | -0.56 | - | - | 3268 | - | 2.58 | 0.110 | 3319 | 549.2 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.73 | 14.52 | 14.76 |
1266 | 135.9 | -7.9 | 161 | 1278 | done | -0.62 | - | - | 3267 | - | 2.53 | 0.100 | 1902 | -560.1 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.63 | 14.52 | 14.64 |
1460 | 151.9 | -9.0 | 180 | 1472 | roll | -0.66 | - | - | 3268 | - | 2.55 | 0.119 | 481 | -557.3 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.75 | 14.51 | 14.75 |
1488 | 154.5 | -9.0 | 183 | 1502 | done | -0.70 | 0.10 | 0.145 | 3214 | -540.0 | 2.50 | 0.099 | 1903 | 568.8 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.58 | 14.56 | 14.64 |
1684 | 177.8 | -12.1 | 202 | 1696 | roll | -0.59 | 0.15 | 0.246 | 3262 | 320.0 | 2.55 | 0.110 | 3317 | 554.5 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.50 | 14.55 | 14.58 |
1781 | 186.9 | -8.1 | 218 | 1792 | done | -0.65 | - | - | 3262 | - | 2.53 | 0.103 | 1901 | -559.7 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.65 | 14.56 | 14.69 |
1984 | 203.6 | -7.9 | 238 | 1995 | roll | -0.69 | - | - | 3267 | - | 2.55 | 0.112 | 3316 | 554.9 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.77 | 14.55 | 14.79 |
2037 | 207.6 | -7.4 | 246 | 2049 | done | -0.74 | 0.12 | 0.120 | 3199 | -566.7 | 2.53 | 0.101 | 1891 | -563.2 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.61 | 14.57 | 14.66 |
2240 | 230.7 | -12.5 | 266 | 2252 | roll | -0.59 | 0.20 | 0.246 | 3263 | 320.0 | 2.50 | 0.117 | 493 | -559.2 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.50 | 14.56 | 14.59 |
2284 | 235.6 | -10.0 | 272 | 2295 | done | -0.59 | - | - | 3258 | - | 2.47 | 0.101 | 1903 | 570.9 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.68 |
2497 | 252.9 | -7.8 | 291 | 2509 | roll | -0.62 | - | - | 3258 | - | 2.50 | 0.113 | 3314 | 564.4 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.79 | 14.56 | 14.81 |
2540 | 256.2 | -7.4 | 297 | 2551 | done | -0.69 | - | - | 3258 | - | 2.53 | 0.102 | 1899 | -559.3 | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.67 | 14.59 | 14.69 |
2883 | 284.1 | -8.6 | 313 | 2894 | done | -0.73 | 0.10 | 0.144 | 3204 | -540.0 | - | - | 1901 | - | -146.6 | - | - | 3304 | - | - | - | - | - | - | - | - | 14.64 | 14.71 | 14.69 |
3187 | 319.4 | -11.8 | 323 | 3199 | roll | -0.62 | 0.12 | 0.252 | 3245 | 341.7 | 2.55 | 0.113 | 3315 | 554.5 | -146.6 | - | - | 3303 | - | - | - | - | - | - | - | - | 14.53 | 14.59 | 14.64 |
3297 | 330.0 | -8.3 | 342 | 3308 | done | -0.66 | - | - | 3245 | - | 2.53 | 0.101 | 1901 | -558.9 | -146.6 | - | - | 3303 | - | - | - | - | - | - | - | - | 14.71 | 14.60 | 14.71 |
3635 | 359.2 | -9.1 | 357 | 3645 | done | -0.66 | - | - | 3243 | - | - | - | 1901 | - | -146.6 | - | - | 3303 | - | - | - | - | - | - | - | - | 14.81 | 14.83 | 14.83 |
3939 | 386.5 | -9.0 | 367 | 3951 | roll | -0.66 | - | - | 3246 | - | 2.50 | 0.112 | 3314 | 565.2 | -146.6 | - | - | 3306 | - | - | - | - | - | - | - | - | 14.83 | 14.59 | 14.84 |
3992 | 391.5 | -8.5 | 375 | 4004 | done | -0.71 | - | - | 3246 | - | 2.53 | 0.103 | 1885 | -564.8 | -146.6 | - | - | 3303 | - | - | - | - | - | - | - | - | 14.71 | 14.60 | 14.71 |
4325 | 420.7 | -8.8 | 389 | 4336 | roll | -0.71 | - | - | 3246 | - | 2.58 | 0.112 | 3317 | 555.0 | -146.6 | - | - | 3301 | - | - | - | - | - | - | - | - | 14.81 | 14.60 | 14.83 |
4357 | 423.6 | -8.8 | 393 | 4368 | done | -0.74 | - | - | 3245 | - | 2.53 | 0.102 | 1905 | -558.1 | -146.6 | - | - | 3301 | - | - | - | - | - | - | - | - | 14.70 | 14.62 | 14.71 |
4681 | 452.3 | -9.3 | 405 | 4692 | roll | -0.77 | 0.08 | 0.171 | 3193 | -650.0 | 2.53 | 0.116 | 484 | -561.7 | -146.6 | - | - | 3301 | - | - | - | - | - | - | - | - | 14.64 | 14.59 | 14.68 |
4747 | 460.0 | -12.9 | 415 | 4760 | done | -0.65 | 0.17 | 0.237 | 3242 | 288.2 | 2.50 | 0.102 | 1898 | 565.6 | -146.6 | - | - | 3301 | - | - | - | - | - | - | - | - | 14.53 | 14.62 | 14.69 |
5071 | 492.0 | -9.4 | 427 | 5082 | roll | -0.65 | - | - | 3242 | - | 2.53 | 0.114 | 3315 | 560.1 | -146.6 | - | - | 3300 | - | - | - | - | - | - | - | - | 14.82 | 14.59 | 14.84 |
5178 | 501.2 | -8.7 | 445 | 5189 | done | -0.70 | - | - | 3242 | - | 2.53 | 0.103 | 1897 | -560.5 | -146.6 | - | - | 3300 | - | - | - | - | - | - | - | - | 14.69 | 14.62 | 14.72 |
5521 | 530.2 | -8.1 | 461 | 5531 | done | -0.70 | - | - | 3242 | - | - | - | 1897 | - | -146.6 | - | - | 3299 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.84 |
5825 | 554.2 | -8.0 | 471 | 5836 | done | -0.73 | - | - | 3242 | - | - | - | 1898 | - | -146.6 | - | - | 3299 | - | - | - | - | - | - | - | - | 14.82 | 14.84 | 14.84 |
6125 | 575.8 | -6.9 | 481 | 6136 | done | -0.76 | - | - | 3242 | - | - | - | 1896 | - | -146.6 | - | - | 3299 | - | - | - | - | - | - | - | - | 14.81 | 14.85 | 14.83 |
6425 | 597.8 | -7.3 | 491 | 6437 | roll | -0.79 | 0.10 | 0.148 | 3179 | -630.0 | 2.58 | 0.112 | 3316 | 550.4 | -146.6 | - | - | 3298 | - | - | - | - | - | - | - | - | 14.64 | 14.62 | 14.70 |
6503 | 605.3 | -10.6 | 503 | 6515 | done | -0.66 | 0.20 | 0.243 | 3235 | 280.0 | 2.55 | 0.107 | 1901 | -554.9 | -146.6 | - | - | 3298 | - | - | - | - | - | - | - | - | 14.53 | 14.62 | 14.69 |
6846 | 632.9 | -7.8 | 519 | 6858 | roll | -0.66 | - | - | 3235 | - | 2.55 | 0.114 | 3314 | 554.1 | -146.6 | - | - | 3297 | - | - | - | - | - | - | - | - | 14.82 | 14.59 | 14.84 |
6884 | 635.7 | -7.6 | 524 | 6896 | done | -0.70 | - | - | 3235 | - | 2.55 | 0.106 | 1884 | -560.8 | -146.6 | - | - | 3298 | - | - | - | - | - | - | - | - | 14.69 | 14.59 | 14.71 |
7194 | 658.0 | -7.5 | 535 | 7205 | roll | -0.73 | - | - | 3235 | - | 2.58 | 0.113 | 3316 | 555.0 | -146.6 | - | - | 3298 | - | - | - | - | - | - | - | - | 14.81 | 14.59 | 14.83 |
7276 | 664.2 | -7.7 | 548 | 7287 | done | -0.78 | - | - | 3235 | - | 2.53 | 0.104 | 1902 | -558.9 | -146.6 | - | - | 3297 | - | - | - | - | - | - | - | - | 14.69 | 14.59 | 14.71 |
7614 | 691.6 | -8.2 | 563 | 7625 | done | -0.81 | 0.12 | 0.130 | 3173 | -516.7 | - | - | 1902 | - | -146.6 | - | - | 3297 | - | - | - | - | - | - | - | - | 14.64 | 14.72 | 14.71 |
7698 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7698 | begin apogee | ||||||||||||||||||||||||||||
7710 | 701.3 | -10.2 | 566 | 7835 | done | -0.19 | 0.73 | 0.219 | 3385 | 290.4 | - | - | 2109 | - | - | 116.30 | 1.536 | 2698 | -5.2 | 0.437 | - | - | - | - | - | - | 14.54 | 13.93 | 13.37 |
7837 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7837 | begin climb | ||||||||||||||||||||||||||||
7842 | 705.3 | - | 570 | 7977 | done | 0.57 | 0.73 | 0.120 | 3632 | 338.4 | - | - | 2109 | - | 146.6 | 117.10 | 1.506 | 2097 | -5.1 | 0.447 | - | - | - | - | - | - | 13.93 | 13.64 | 13.19 |
8274 | 646.7 | 15.8 | 600 | 8286 | roll | 0.40 | 0.12 | 0.252 | 3592 | -333.3 | 2.60 | 0.112 | 3515 | 540.8 | 146.6 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.23 | 14.26 | 14.32 |
8400 | 628.1 | 14.4 | 622 | 8412 | done | 0.33 | 0.15 | 0.259 | 3565 | -180.0 | 2.60 | 0.106 | 2089 | -548.5 | 146.6 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.28 | 14.33 | 14.42 |
8723 | 591.9 | 10.5 | 634 | 8734 | roll | 0.33 | - | - | 3565 | - | 2.60 | 0.113 | 3516 | 548.8 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.65 | 14.42 | 14.67 |
8769 | 586.6 | 11.8 | 641 | 8780 | done | 0.33 | - | - | 3570 | - | 2.55 | 0.105 | 2105 | -553.3 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.55 | 14.45 | 14.57 |
9108 | 550.5 | 10.7 | 656 | 9119 | roll | 0.33 | - | - | 3570 | - | 2.55 | 0.112 | 3512 | 551.8 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.73 | 14.50 | 14.73 |
9169 | 543.0 | 11.9 | 666 | 9180 | done | 0.33 | - | - | 3570 | - | 2.58 | 0.106 | 2087 | -552.3 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.60 | 14.50 | 14.62 |
9491 | 507.0 | 10.8 | 678 | 9502 | done | 0.33 | - | - | 3570 | - | - | - | 2087 | - | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.75 | 14.77 | 14.77 |
9792 | 472.8 | 11.7 | 688 | 9803 | done | 0.33 | - | - | 3570 | - | - | - | 2087 | - | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.77 | 14.78 | 14.78 |
10096 | 439.3 | 10.9 | 698 | 10107 | roll | 0.33 | - | - | 3570 | - | 2.58 | 0.112 | 3516 | 553.9 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.78 | 14.57 | 14.80 |
10152 | 432.2 | 11.9 | 707 | 10164 | done | 0.33 | - | - | 3570 | - | 2.55 | 0.105 | 2100 | -555.3 | 146.6 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.69 |
10481 | 400.2 | 9.2 | 720 | 10503 | done | 0.34 | - | - | 3570 | - | - | - | 2100 | - | 163.5 | 15.57 | 1.161 | 2034 | -4.1 | 0.264 | - | - | - | - | - | - | 14.80 | 14.54 | 14.07 |
10789 | 372.6 | 9.1 | 730 | 10820 | roll | 0.36 | - | - | 3570 | - | 2.62 | 0.115 | 3498 | 533.6 | 183.3 | 16.60 | 1.152 | 1944 | -5.4 | 0.326 | - | - | - | - | - | - | 14.74 | 14.44 | 14.02 |
10840 | 367.1 | 10.0 | 735 | 10852 | done | 0.40 | - | - | 3570 | - | 2.55 | 0.107 | 2088 | -552.9 | 183.3 | - | - | 1941 | - | - | - | - | - | - | - | - | 14.53 | 14.42 | 14.56 |
11164 | 336.1 | 9.7 | 747 | 11176 | roll | 0.44 | - | - | 3566 | - | 2.65 | 0.111 | 3514 | 538.1 | 189.5 | 1.50 | 0.097 | 1925 | -10.7 | 6.874 | - | - | - | - | - | - | 14.71 | 14.51 | 14.45 |
11202 | 331.8 | 10.8 | 752 | 11215 | done | 0.50 | 0.15 | 0.127 | 3638 | 480.0 | 2.55 | 0.104 | 2096 | -556.1 | 189.5 | - | - | 1932 | - | - | - | - | - | - | - | - | 14.55 | 14.52 | 14.61 |
11508 | 287.4 | 15.0 | 763 | 11521 | roll | 0.37 | 0.17 | 0.230 | 3586 | -305.9 | 2.65 | 0.114 | 3516 | 535.8 | 189.5 | 1.40 | 0.093 | 1925 | -5.0 | 2.874 | - | - | - | - | - | - | 14.47 | 14.52 | 14.49 |
11582 | 278.0 | 12.3 | 774 | 11594 | done | 0.40 | - | - | 3582 | - | 2.55 | 0.106 | 2094 | -557.6 | 189.5 | - | - | 1934 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.65 |
11882 | 243.1 | 11.2 | 789 | 11894 | roll | 0.40 | - | - | 3583 | - | 2.55 | 0.122 | 678 | -555.3 | 189.5 | 1.40 | 0.093 | 1926 | -5.7 | 2.778 | - | - | - | - | - | - | 14.76 | 14.53 | 14.50 |
11959 | 235.1 | 10.7 | 801 | 11970 | done | 0.43 | - | - | 3582 | - | 2.50 | 0.099 | 2100 | 568.8 | 189.5 | - | - | 1934 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.66 |
12162 | 214.5 | 9.8 | 821 | 12184 | roll | 0.47 | - | - | 3582 | - | 2.58 | 0.112 | 3496 | 541.1 | 194.8 | 8.68 | 0.989 | 1900 | -3.9 | 0.158 | - | - | - | - | - | - | 14.77 | 14.51 | 14.12 |
12224 | 208.2 | 11.4 | 830 | 12237 | done | 0.51 | 0.08 | 0.167 | 3634 | 650.0 | 2.53 | 0.106 | 2092 | -554.9 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.53 | 14.51 | 14.61 |
12418 | 180.6 | 14.9 | 849 | 12430 | roll | 0.42 | 0.12 | 0.243 | 3600 | -283.3 | 2.53 | 0.119 | 681 | -557.7 | 194.8 | - | - | 1897 | - | - | - | - | - | - | - | - | 14.47 | 14.51 | 14.59 |
12461 | 174.7 | 12.8 | 855 | 12473 | done | 0.42 | - | - | 3601 | - | 2.50 | 0.099 | 2100 | 567.6 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.62 | 14.51 | 14.63 |
12664 | 151.3 | 10.8 | 875 | 12676 | roll | 0.42 | - | - | 3601 | - | 2.55 | 0.111 | 3517 | 555.7 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.74 | 14.52 | 14.76 |
12741 | 142.5 | 12.5 | 887 | 12753 | done | 0.42 | - | - | 3608 | - | 2.55 | 0.105 | 2096 | -557.3 | 194.8 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.63 | 14.55 | 14.66 |
12944 | 115.7 | 13.1 | 907 | 12955 | roll | 0.42 | - | - | 3612 | - | 2.55 | 0.121 | 678 | -556.1 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.76 | 14.51 | 14.77 |
13001 | 108.6 | 12.2 | 916 | 13013 | done | 0.42 | - | - | 3612 | - | 2.50 | 0.098 | 2101 | 569.2 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.65 |
13194 | 87.1 | 10.3 | 935 | 13205 | roll | 0.42 | - | - | 3612 | - | 2.53 | 0.110 | 3516 | 559.3 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.75 | 14.52 | 14.77 |
13241 | 81.9 | 11.5 | 942 | 13252 | done | 0.42 | - | - | 3610 | - | 2.53 | 0.103 | 2107 | -556.9 | 194.8 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.64 | 14.54 | 14.66 |
13434 | 64.0 | 8.2 | 961 | 13476 | roll | 0.45 | - | - | 3612 | - | 2.58 | 0.108 | 3517 | 546.5 | 235.0 | 30.62 | 0.835 | 1736 | -5.3 | 0.075 | - | - | - | - | - | - | 14.76 | 14.40 | 14.12 |
13546 | 53.1 | 11.0 | 980 | 13557 | done | 0.49 | - | - | 3612 | - | 2.58 | 0.103 | 2088 | -553.9 | 235.0 | - | - | 1734 | - | - | - | - | - | - | - | - | 14.52 | 14.42 | 14.54 |
13739 | 36.0 | 8.4 | 999 | 13777 | roll | 0.57 | - | - | 3613 | - | 2.62 | 0.118 | 678 | -538.2 | 270.6 | 27.05 | 0.791 | 1591 | -5.3 | 0.045 | - | - | - | - | - | - | 14.67 | 14.34 | 14.07 |
13838 | 27.4 | 9.0 | 1015 | 13866 | done | 0.68 | 0.17 | 0.111 | 3690 | 452.9 | 2.53 | 0.093 | 2107 | 564.8 | 291.6 | 14.18 | 0.794 | 1506 | -6.0 | 0.038 | - | - | - | - | - | - | 14.43 | 14.40 | 14.04 |
14022 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
14022 | begin surface coast | ||||||||||||||||||||||||||||
14043 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14043 | begin surface | ||||||||||||||||||||||||||||
SM | 1.32 | - | - | - | - | -10.46 | 10.20 | 0.063 | 92 | 8.9 | 0.40 | 0.118 | 1900 | -23425.0 | 400.08 | 46.40 | 0.086 | 1068 | 23.0 | -0.036 | - | - | - | - | - | - |