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| • Previous call tries 1 | • 15.56 of 150.00 AH used of 24V (89.62% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 18.11 of 100.00 AH used of 10V (81.89% remains) | |
| • Surface angle -76.3 deg, depth 2.23 m | • Intended pitch -16.3 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 19.2 m at 19.8 m depth, ceiling 0.6 m | |
| • GPS1 time: 35 s | ||
| • GPS2 time: 20 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 | |||||
| 15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15 | begin dive | ||||||||||||||||||||||||||||
| 19 | - | - | - | 91 | VBD | -0.72 | - | - | 334 | - | - | - | 2120 | - | -146.6 | -69.53 | - | 3035 | - | - | - | - | - | - | - | - | - | - | - |
| 95 | 3.0 | -2.3 | 12 | 127 | roll | -0.72 | 10.10 | 0.257 | 2902 | 254.3 | 2.20 | 0.055 | 712 | -640.0 | -146.6 | -15.62 | - | 3631 | -38.2 | - | - | - | - | - | - | - | 26.18 | 26.51 | 26.81 |
| 214 | 20.3 | -12.0 | 33 | 220 | done | -0.72 | - | - | 2895 | - | 2.15 | 0.041 | 2101 | 646.0 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 527 | 54.6 | -10.5 | 94 | 534 | roll | -0.72 | - | - | 2900 | - | 2.15 | 0.038 | 701 | -651.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 547 | 56.9 | -10.9 | 97 | 555 | done | -0.72 | - | - | 2892 | - | 2.17 | 0.040 | 2111 | 649.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 860 | 90.2 | -11.3 | 158 | 868 | roll | -0.72 | - | - | 2882 | - | 2.12 | 0.052 | 3508 | 659.0 | -146.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 886 | 93.1 | -11.3 | 162 | 893 | done | -0.72 | - | - | 2882 | - | 2.08 | 0.031 | 2098 | -677.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 1202 | 126.1 | -9.5 | 199 | 1211 | roll | -0.72 | - | - | 2872 | - | 2.15 | 0.051 | 3502 | 653.0 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 1297 | 135.7 | -10.6 | 208 | 1303 | done | -0.72 | - | - | 2872 | - | 2.08 | 0.031 | 2095 | -676.4 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 1604 | 167.0 | -10.2 | 239 | 1608 | roll | -0.72 | - | - | 2861 | - | 2.17 | 0.051 | 3508 | 651.2 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 1710 | 178.0 | -11.0 | 249 | 1717 | done | -0.72 | 0.12 | 0.183 | 2891 | 250.0 | 2.08 | 0.031 | 2098 | -677.9 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | 26.44 | 26.67 | - |
| 2017 | 205.9 | -8.4 | 280 | 2025 | roll | -0.72 | - | - | 2884 | - | 2.12 | 0.050 | 3501 | 661.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 2120 | 214.9 | -8.8 | 290 | 2129 | done | -0.72 | - | - | 2884 | - | 2.05 | 0.031 | 2098 | -684.4 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 2430 | 240.6 | -8.1 | 321 | 2438 | roll | -0.72 | - | - | 2873 | - | 2.12 | 0.050 | 3502 | 662.3 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 2575 | 252.8 | -8.2 | 335 | 2583 | done | -0.72 | - | - | 2873 | - | 2.08 | 0.031 | 2075 | -686.1 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 2885 | 277.9 | -8.2 | 366 | 2894 | roll | -0.72 | - | - | 2863 | - | 2.17 | 0.049 | 3501 | 657.1 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.64 | - |
| 2931 | 281.6 | -8.7 | 370 | 2939 | done | -0.72 | 0.12 | 0.180 | 2894 | 258.3 | 2.08 | 0.031 | 2080 | -683.2 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | 26.48 | 26.72 | - |
| 3238 | 304.3 | -7.5 | 401 | 3247 | roll | -0.72 | - | - | 2886 | - | 2.15 | 0.050 | 3504 | 662.3 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 3301 | 309.1 | -7.8 | 407 | 3309 | done | -0.72 | - | - | 2886 | - | 2.05 | 0.030 | 2097 | -686.3 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 3610 | 331.3 | -6.7 | 438 | 3614 | roll | -0.72 | - | - | 2875 | - | 2.15 | 0.049 | 3507 | 655.8 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 3673 | 335.9 | -7.4 | 444 | 3681 | done | -0.72 | - | - | 2875 | - | 2.05 | 0.030 | 2099 | -686.8 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 3984 | 358.2 | -7.4 | 475 | 3993 | roll | -0.72 | - | - | 2865 | - | 2.12 | 0.049 | 3508 | 664.6 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 4086 | 366.6 | -8.4 | 485 | 4091 | done | -0.72 | 0.12 | 0.176 | 2895 | 250.0 | 2.05 | 0.030 | 2092 | -690.7 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | 26.51 | 26.74 | - |
| 4399 | 387.1 | -6.0 | 516 | 4408 | roll | -0.72 | - | - | 2887 | - | 2.15 | 0.048 | 3503 | 656.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 4434 | 389.2 | -6.8 | 519 | 4440 | done | -0.72 | - | - | 2887 | - | 2.05 | 0.029 | 2093 | -687.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 4741 | 409.1 | -6.4 | 550 | 4751 | roll | -0.72 | - | - | 2877 | - | 2.15 | 0.048 | 3509 | 658.6 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 4828 | 415.0 | -7.3 | 558 | 4835 | done | -0.72 | - | - | 2877 | - | 2.05 | 0.029 | 2100 | -687.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.75 | - |
| 5134 | 436.0 | -7.0 | 589 | 5143 | roll | -0.72 | - | - | 2867 | - | 2.10 | 0.048 | 3502 | 667.6 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 5239 | 443.7 | -7.7 | 599 | 5246 | done | -0.72 | - | - | 2867 | - | 2.05 | 0.029 | 2097 | -685.4 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.75 | - |
| 5546 | 466.6 | -7.3 | 630 | 5556 | roll | -0.72 | 0.12 | 0.175 | 2894 | 225.0 | 2.12 | 0.047 | 3512 | 667.5 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | 26.53 | 26.68 | - |
| 5643 | 473.3 | -7.3 | 639 | 5649 | done | -0.72 | - | - | 2894 | - | 2.08 | 0.029 | 2084 | -686.5 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.76 | - |
| 5950 | 494.4 | -7.0 | 670 | 5959 | roll | -0.72 | - | - | 2883 | - | 2.15 | 0.048 | 3499 | 658.1 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 6016 | 499.1 | -7.5 | 676 | 6023 | done | -0.72 | - | - | 2882 | - | 2.05 | 0.030 | 2087 | -688.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.76 | - |
| 6323 | 522.0 | -7.3 | 707 | 6332 | roll | -0.72 | - | - | 2873 | - | 2.15 | 0.048 | 3506 | 660.0 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 6378 | 526.3 | -8.6 | 712 | 6385 | done | -0.72 | - | - | 2873 | - | 2.05 | 0.029 | 2095 | -688.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 6687 | 550.4 | -7.7 | 743 | 6695 | roll | -0.72 | - | - | 2862 | - | 2.15 | 0.048 | 3509 | 657.7 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 6731 | 554.1 | -8.7 | 747 | 6739 | done | -0.72 | 0.12 | 0.172 | 2894 | 266.7 | 2.05 | 0.029 | 2092 | -691.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.53 | 26.77 | - |
| 7039 | 576.3 | -7.2 | 778 | 7048 | roll | -0.72 | - | - | 2885 | - | 2.12 | 0.048 | 3508 | 667.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 7102 | 580.8 | -7.5 | 784 | 7110 | done | -0.72 | - | - | 2885 | - | 2.05 | 0.029 | 2091 | -691.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 7431 | 604.2 | -7.0 | 813 | 7435 | roll | -0.72 | - | - | 2875 | - | 2.15 | 0.048 | 3508 | 659.1 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 7487 | 606.6 | -7.1 | 814 | 7495 | done | -0.72 | - | - | 2875 | - | 2.05 | 0.029 | 2095 | -689.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 7794 | 630.5 | -7.2 | 825 | 7800 | roll | -0.72 | - | - | 2864 | - | 2.15 | 0.048 | 3512 | 659.1 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 7832 | 632.7 | -7.3 | 826 | 7837 | done | -0.72 | 0.12 | 0.172 | 2895 | 258.3 | 2.05 | 0.030 | 2096 | -690.7 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.53 | 26.77 | - |
| 8150 | 653.0 | -6.1 | 837 | 8154 | roll | -0.72 | - | - | 2888 | - | 2.15 | 0.048 | 3515 | 660.0 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 8226 | 657.0 | -6.3 | 839 | 8230 | done | -0.72 | - | - | 2887 | - | 2.05 | 0.029 | 2100 | -690.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 8538 | 677.6 | -6.2 | 850 | 8544 | roll | -0.72 | - | - | 2877 | - | 2.10 | 0.048 | 3498 | 665.7 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 8598 | 681.8 | -6.7 | 852 | 8602 | done | -0.72 | - | - | 2877 | - | 2.05 | 0.030 | 2094 | -684.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 8932 | 704.5 | -6.7 | 863 | 8937 | roll | -0.72 | - | - | 2867 | - | 2.12 | 0.048 | 3506 | 666.0 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 8995 | 708.9 | -7.0 | 865 | 9001 | done | -0.72 | - | - | 2867 | - | 2.05 | 0.030 | 2097 | -687.3 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.78 | - |
| 9322 | 733.6 | -7.6 | 876 | 9327 | roll | -0.72 | - | - | 2856 | - | 2.12 | 0.049 | 3499 | 661.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 9369 | 736.0 | -7.7 | 877 | 9374 | done | -0.72 | 0.15 | 0.164 | 2896 | 266.7 | 2.05 | 0.030 | 2091 | -686.8 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | 26.52 | 26.77 | - |
| 9677 | 758.1 | -6.5 | 887 | 9681 | roll | -0.72 | - | - | 2888 | - | 2.15 | 0.048 | 3505 | 657.7 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 9753 | 762.6 | -6.7 | 889 | 9757 | done | -0.72 | - | - | 2889 | - | 2.05 | 0.029 | 2091 | -689.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 9822 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 9822 | begin apogee | ||||||||||||||||||||||||||||
| 9829 | 768.4 | -6.9 | 892 | 9957 | done | -0.17 | 0.57 | 0.141 | 3073 | 322.8 | - | - | 1888 | - | - | 123.53 | 1.327 | 3029 | -4.9 | 0.299 | - | - | - | - | - | - | 26.51 | - | 23.82 |
| 9961 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9961 | begin climb | ||||||||||||||||||||||||||||
| 9963 | 769.6 | - | 896 | 10093 | done | 0.72 | 0.85 | 0.093 | 3356 | 332.9 | - | - | 1888 | - | 146.6 | 125.30 | 1.219 | 2432 | -4.8 | 0.315 | - | - | - | - | - | - | 24.79 | - | 23.39 |
| 10390 | 713.5 | 14.6 | 911 | 10396 | roll | 0.72 | - | - | 3356 | - | 2.25 | 0.048 | 3291 | 623.6 | 146.6 | - | - | 2418 | - | - | - | - | - | - | - | - | - | 25.50 | - |
| 10433 | 708.8 | 14.8 | 912 | 10437 | done | 0.72 | - | - | 3365 | - | 2.12 | 0.031 | 1903 | -654.7 | 146.6 | - | - | 2417 | - | - | - | - | - | - | - | - | - | 25.62 | - |
| 10751 | 655.6 | 16.2 | 923 | 10757 | roll | 0.72 | - | - | 3376 | - | 2.17 | 0.038 | 509 | -642.4 | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 10819 | 645.9 | 16.2 | 925 | 10823 | done | 0.72 | - | - | 3376 | - | 2.20 | 0.037 | 1899 | 631.8 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 11126 | 592.7 | 16.8 | 937 | 11135 | roll | 0.72 | - | - | 3376 | - | 2.15 | 0.048 | 3303 | 653.0 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.15 | - |
| 11152 | 589.0 | 16.8 | 939 | 11159 | done | 0.72 | - | - | 3384 | - | 2.12 | 0.030 | 1888 | -667.5 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 11458 | 534.6 | 17.5 | 970 | 11462 | roll | 0.72 | - | - | 3395 | - | 2.12 | 0.040 | 500 | -654.7 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 11543 | 520.4 | 17.4 | 978 | 11551 | done | 0.72 | 0.12 | 0.169 | 3365 | -250.0 | 2.20 | 0.037 | 1909 | 640.5 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | 26.15 | 26.32 | - |
| 11850 | 470.9 | 15.4 | 1009 | 11859 | roll | 0.72 | - | - | 3365 | - | 2.15 | 0.048 | 3314 | 653.5 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 11882 | 465.7 | 16.2 | 1012 | 11891 | done | 0.72 | - | - | 3372 | - | 2.10 | 0.031 | 1898 | -674.3 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 12192 | 416.2 | 15.5 | 1043 | 12201 | roll | 0.72 | - | - | 3382 | - | 2.08 | 0.040 | 514 | -665.4 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.44 | - |
| 12267 | 404.9 | 15.6 | 1050 | 12275 | done | 0.72 | - | - | 3382 | - | 2.15 | 0.036 | 1903 | 646.0 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 12574 | 354.7 | 16.4 | 1081 | 12575 | done | 0.72 | - | - | 3382 | - | - | - | 1903 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 12877 | 305.7 | 17.0 | 1111 | 12885 | roll | 0.72 | - | - | 3382 | - | 2.10 | 0.047 | 3303 | 666.7 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 12899 | 301.4 | 17.3 | 1113 | 12908 | done | 0.72 | - | - | 3392 | - | 2.08 | 0.030 | 1896 | -676.4 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 13209 | 247.7 | 16.9 | 1144 | 13218 | roll | 0.72 | - | - | 3402 | - | 2.08 | 0.039 | 512 | -665.4 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 13304 | 232.2 | 16.7 | 1153 | 13312 | done | 0.72 | 0.15 | 0.162 | 3363 | -260.0 | 2.15 | 0.036 | 1906 | 648.4 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | 26.39 | 26.56 | - |
| 13611 | 188.4 | 14.0 | 1184 | 13616 | roll | 0.72 | - | - | 3370 | - | 2.15 | 0.038 | 505 | -651.6 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 13637 | 185.1 | 14.2 | 1186 | 13645 | done | 0.72 | - | - | 3370 | - | 2.15 | 0.035 | 1905 | 651.2 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 13944 | 142.0 | 13.1 | 1217 | 13953 | roll | 0.72 | - | - | 3370 | - | 2.10 | 0.047 | 3310 | 669.0 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 13989 | 136.0 | 14.4 | 1221 | 13996 | done | 0.72 | - | - | 3377 | - | 2.08 | 0.030 | 1900 | -677.9 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 14297 | 95.8 | 12.4 | 1255 | 14304 | roll | 0.72 | - | - | 3388 | - | 2.10 | 0.040 | 512 | -661.0 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 14440 | 78.6 | 12.1 | 1282 | 14447 | done | 0.72 | - | - | 3388 | - | 2.15 | 0.036 | 1911 | 650.7 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 14756 | 40.6 | 11.1 | 1343 | 14763 | roll | 0.72 | - | - | 3388 | - | 2.10 | 0.048 | 3299 | 661.0 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 14785 | 36.8 | 12.5 | 1348 | 14793 | done | 0.72 | 0.12 | 0.177 | 3366 | -183.3 | 2.08 | 0.031 | 1887 | -678.8 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | 26.46 | 26.66 | - |
| 15101 | 8.4 | 6.5 | 1409 | 15139 | roll | 0.80 | - | - | 3374 | - | 2.12 | 0.041 | 516 | -646.7 | 211.4 | 28.83 | 0.082 | 2164 | -8.6 | 0.092 | - | - | - | - | - | - | - | 26.59 | 26.51 |
| 15180 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15180 | begin surface coast | ||||||||||||||||||||||||||||
| 15248 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15248 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.17 | - | - | - | - | -8.65 | 7.97 | 0.047 | 341 | -380.6 | 2.47 | 0.037 | 2108 | 644.5 | 400.08 | 81.53 | 0.070 | 1397 | -9.4 | 0.030 | - | - | 1 | - | - | - | |||