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| • Previous call tries 3 | • 100.11 of 350.00 AH used of 24V (71.40% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -37.2 deg, depth 1.16 m | • Intended pitch -16.5 deg, speed -9.429 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 13.1 m at 12.6 m depth, ceiling -0.5 m (m = 1.06, R^2 = 0.99) | |
| • GPS1 time: 0 s, HDOP was 4114.7 m | ||
| • GPS2 time: 181 s, HDOP was 99.0 m | • 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 9 | - | - | - | 122 | done | -0.93 | - | - | 213 | - | - | - | 2298 | - | -146.0 | -107.90 | 0.002 | 3378 | - | - | - | - | - | - | - | - | 14.98 | 13.65 | 14.97 |
| 124 | 5.5 | -9.0 | 11 | 139 | roll | -0.93 | 10.77 | 0.413 | 2486 | 211.0 | 2.60 | 0.093 | 3706 | 541.5 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 14.28 | 14.62 | 14.65 |
| 264 | 37.0 | -17.8 | 38 | 271 | done | -0.93 | - | - | 2486 | - | 2.45 | 0.045 | 2297 | -575.1 | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.73 |
| 569 | 90.4 | -17.4 | 69 | 570 | done | -0.93 | - | - | 2486 | - | - | - | 2296 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.03 | 15.06 | 15.05 |
| 869 | 142.0 | -17.2 | 99 | 874 | roll | -0.93 | - | - | 2486 | - | 2.53 | 0.080 | 888 | -556.5 | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.04 | 14.57 | 15.09 |
| 909 | 149.0 | -17.5 | 107 | 915 | done | -0.93 | - | - | 2475 | - | 2.50 | 0.071 | 2296 | 563.2 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 14.77 | 14.62 | 14.81 |
| 1219 | 201.8 | -17.2 | 139 | 1220 | done | -0.93 | - | - | 2476 | - | - | - | 2297 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.07 | 15.09 | 15.09 |
| 1520 | 252.3 | -16.8 | 169 | 1525 | roll | -0.93 | - | - | 2464 | - | 2.60 | 0.106 | 3716 | 545.8 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 15.01 | 14.58 | 15.03 |
| 1545 | 256.9 | -18.8 | 174 | 1552 | done | -0.93 | 0.15 | 0.265 | 2497 | 220.0 | 2.42 | 0.046 | 2295 | -587.2 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 14.40 | 14.73 | 14.68 |
| 1851 | 304.4 | -15.4 | 204 | 1851 | done | -0.93 | - | - | 2497 | - | - | - | 2293 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.00 | 15.02 | 15.02 |
| 2152 | 350.6 | -15.6 | 219 | 2152 | done | -0.93 | - | - | 2497 | - | - | - | 2294 | - | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 15.02 | 15.04 | 15.04 |
| 2451 | 395.1 | -14.9 | 234 | 2452 | done | -0.93 | - | - | 2497 | - | - | - | 2294 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
| 2751 | 438.6 | -14.4 | 249 | 2752 | done | -0.93 | - | - | 2497 | - | - | - | 2294 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.13 |
| 3051 | 481.9 | -14.6 | 264 | 3052 | done | -0.93 | - | - | 2496 | - | - | - | 2294 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 3372 | 527.4 | -14.1 | 277 | 3372 | done | -0.93 | - | - | 2496 | - | - | - | 2294 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.05 | 15.08 | 15.08 |
| 3732 | 577.1 | -13.7 | 289 | 3737 | roll | -0.93 | - | - | 2497 | - | 2.50 | 0.078 | 893 | -560.4 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 15.04 | 14.61 | 15.07 |
| 3762 | 581.6 | -14.4 | 295 | 3767 | done | -0.93 | - | - | 2488 | - | 2.50 | 0.069 | 2309 | 566.4 | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 14.81 | 14.66 | 14.85 |
| 4152 | 636.7 | -14.3 | 313 | 4153 | done | -0.93 | - | - | 2488 | - | - | - | 2309 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 4513 | 686.7 | -13.6 | 325 | 4514 | done | -0.93 | - | - | 2488 | - | - | - | 2309 | - | -146.0 | - | - | 3382 | - | - | - | - | - | - | - | - | 15.14 | 15.13 | 15.12 |
| 4873 | 736.6 | -13.9 | 337 | 4874 | done | -0.93 | - | - | 2487 | - | - | - | 2309 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 5233 | 787.4 | -14.0 | 349 | 5239 | roll | -0.93 | - | - | 2478 | - | 2.58 | 0.104 | 3722 | 547.7 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 15.12 | 14.60 | 15.15 |
| 5253 | 790.4 | -13.9 | 353 | 5260 | done | -0.93 | - | - | 2478 | - | 2.47 | 0.045 | 2290 | -579.8 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 14.88 | 14.72 | 14.90 |
| 5624 | 840.8 | -13.7 | 367 | 5630 | roll | -0.93 | - | - | 2478 | - | 2.47 | 0.076 | 896 | -564.4 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 15.11 | 14.60 | 15.14 |
| 5649 | 844.1 | -14.1 | 372 | 5656 | done | -0.93 | - | - | 2476 | - | 2.50 | 0.071 | 2305 | 563.6 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 14.80 | 14.64 | 14.85 |
| 6014 | 895.0 | -13.6 | 385 | 6020 | roll | -0.93 | - | - | 2467 | - | 2.58 | 0.104 | 3718 | 547.7 | -146.0 | - | - | 3380 | - | - | - | - | - | - | - | - | 15.13 | 14.60 | 15.15 |
| 6055 | 900.9 | -15.1 | 393 | 6062 | done | -0.93 | 0.15 | 0.268 | 2499 | 213.3 | 2.47 | 0.044 | 2289 | -578.5 | -146.0 | - | - | 3384 | - | - | - | - | - | - | - | - | 14.40 | 14.71 | 14.69 |
| 6344 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 6344 | begin apogee | ||||||||||||||||||||||||||||
| 6349 | 905.8 | - | 406 | 6519 | done | -0.23 | 0.75 | 0.145 | 2730 | 308.0 | 0.12 | 0.132 | 2130 | -1325.0 | - | 166.80 | 3.103 | 2780 | -3.6 | 0.213 | - | - | - | - | - | - | 14.58 | 13.35 | 12.26 |
| 6520 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6520 | begin climb | ||||||||||||||||||||||||||||
| 6522 | 906.2 | - | 411 | 6713 | roll | 0.93 | 1.33 | 0.162 | 3094 | 273.7 | 2.78 | 0.091 | 3499 | 492.4 | 146.0 | 182.07 | 3.087 | 2185 | -3.3 | 0.193 | - | - | - | - | - | - | 13.34 | 13.24 | 12.20 |
| 6808 | 892.6 | 8.0 | 466 | 6813 | done | 0.96 | - | - | 3101 | - | 2.47 | 0.044 | 2136 | -551.8 | 146.0 | - | - | 2178 | - | - | - | - | - | - | - | - | 13.93 | 13.83 | 13.97 |
| 7193 | 861.8 | 7.9 | 483 | 7198 | roll | 0.99 | - | - | 3101 | - | 2.53 | 0.095 | 3501 | 539.5 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 14.72 | 14.40 | 14.74 |
| 7268 | 855.1 | 8.9 | 498 | 7274 | done | 1.00 | - | - | 3108 | - | 2.42 | 0.047 | 2100 | -578.9 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.65 |
| 7644 | 824.3 | 8.0 | 513 | 7650 | roll | 1.03 | - | - | 3109 | - | 2.55 | 0.095 | 3503 | 550.2 | 146.0 | - | - | 2170 | - | - | - | - | - | - | - | - | 14.96 | 14.58 | 14.99 |
| 7710 | 818.4 | 8.9 | 526 | 7715 | done | 1.04 | - | - | 3117 | - | 2.40 | 0.046 | 2093 | -587.5 | 146.0 | - | - | 2170 | - | - | - | - | - | - | - | - | 14.81 | 14.72 | 14.84 |
| 8097 | 786.3 | 8.6 | 543 | 8102 | roll | 1.05 | - | - | 3116 | - | 2.55 | 0.093 | 3501 | 552.2 | 146.0 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.01 | 14.69 | 15.03 |
| 8176 | 778.7 | 10.0 | 559 | 8182 | done | 1.05 | - | - | 3125 | - | 2.42 | 0.047 | 2099 | -579.3 | 146.0 | - | - | 2169 | - | - | - | - | - | - | - | - | 14.89 | 14.74 | 14.92 |
| 8548 | 746.0 | 8.9 | 573 | 8553 | roll | 1.05 | - | - | 3125 | - | 2.55 | 0.095 | 3506 | 551.8 | 146.0 | - | - | 2169 | - | - | - | - | - | - | - | - | 15.09 | 14.71 | 15.11 |
| 8628 | 738.1 | 10.0 | 589 | 8634 | done | 1.05 | - | - | 3132 | - | 2.45 | 0.047 | 2088 | -578.8 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 14.91 | 14.76 | 14.94 |
| 9000 | 703.8 | 9.3 | 603 | 9005 | roll | 1.05 | - | - | 3132 | - | 2.55 | 0.094 | 3500 | 553.7 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.11 | 14.73 | 15.14 |
| 9100 | 693.8 | 9.6 | 623 | 9105 | done | 1.05 | - | - | 3141 | - | 2.38 | 0.046 | 2091 | -592.0 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 14.91 | 14.82 | 14.95 |
| 9481 | 658.8 | 9.0 | 639 | 9486 | roll | 1.05 | - | - | 3141 | - | 2.47 | 0.092 | 3497 | 569.2 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.12 | 14.72 | 15.15 |
| 9570 | 649.6 | 10.4 | 657 | 9577 | done | 1.05 | - | - | 3151 | - | 2.38 | 0.046 | 2095 | -589.1 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 14.91 | 14.81 | 14.95 |
| 9962 | 611.0 | 9.8 | 675 | 9968 | roll | 1.05 | - | - | 3151 | - | 2.53 | 0.094 | 3503 | 556.5 | 146.0 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.11 | 14.69 | 15.15 |
| 10074 | 599.1 | 10.7 | 697 | 10080 | done | 1.05 | - | - | 3161 | - | 2.38 | 0.046 | 2097 | -590.8 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.95 |
| 10445 | 562.6 | 10.1 | 711 | 10450 | roll | 1.05 | - | - | 3161 | - | 2.53 | 0.095 | 3499 | 554.2 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.13 | 14.71 | 15.15 |
| 10545 | 551.3 | 11.3 | 731 | 10551 | done | 1.05 | 0.15 | 0.274 | 3139 | -146.7 | 2.38 | 0.047 | 2098 | -588.7 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 14.54 | 14.81 | 14.83 |
| 10925 | 517.1 | 8.8 | 747 | 10931 | roll | 1.07 | - | - | 3139 | - | 2.55 | 0.094 | 3504 | 551.4 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.13 | 14.71 | 15.16 |
| 10995 | 510.1 | 10.0 | 761 | 11003 | done | 1.07 | - | - | 3148 | - | 2.45 | 0.047 | 2058 | -590.2 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 14.90 | 14.79 | 14.94 |
| 11367 | 475.8 | 9.3 | 781 | 11375 | roll | 1.07 | - | - | 3148 | - | 2.60 | 0.093 | 3500 | 554.6 | 146.0 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.13 | 14.71 | 15.16 |
| 11455 | 466.7 | 10.4 | 798 | 11460 | done | 1.07 | - | - | 3158 | - | 2.38 | 0.046 | 2097 | -589.5 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.91 | 14.81 | 14.95 |
| 11770 | 436.1 | 9.6 | 816 | 11776 | roll | 1.07 | - | - | 3158 | - | 2.55 | 0.094 | 3506 | 552.5 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.13 | 14.68 | 15.16 |
| 11815 | 431.2 | 11.0 | 825 | 11821 | done | 1.07 | - | - | 3168 | - | 2.45 | 0.047 | 2058 | -591.0 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.90 | 14.78 | 14.94 |
| 12131 | 399.6 | 9.7 | 843 | 12136 | roll | 1.07 | - | - | 3168 | - | 2.60 | 0.093 | 3500 | 554.6 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.13 | 14.70 | 15.16 |
| 12206 | 391.2 | 11.3 | 858 | 12213 | done | 1.07 | 0.17 | 0.276 | 3139 | -170.6 | 2.38 | 0.046 | 2098 | -589.1 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.49 | 14.78 | 14.80 |
| 12511 | 365.0 | 8.3 | 874 | 12516 | roll | 1.09 | - | - | 3139 | - | 2.55 | 0.095 | 3507 | 552.5 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.14 | 14.69 | 15.16 |
| 12571 | 359.2 | 10.0 | 886 | 12577 | done | 1.09 | - | - | 3148 | - | 2.40 | 0.047 | 2094 | -588.8 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.90 | 14.79 | 14.93 |
| 12891 | 329.3 | 9.5 | 905 | 12897 | roll | 1.09 | - | - | 3148 | - | 2.55 | 0.094 | 3504 | 552.9 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.14 | 14.69 | 15.16 |
| 12962 | 321.8 | 10.8 | 919 | 12967 | done | 1.09 | - | - | 3158 | - | 2.40 | 0.046 | 2087 | -590.4 | 146.0 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.89 | 14.79 | 14.93 |
| 13272 | 292.6 | 9.2 | 940 | 13277 | roll | 1.09 | - | - | 3158 | - | 2.58 | 0.093 | 3510 | 551.6 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.14 | 14.69 | 15.16 |
| 13342 | 285.4 | 10.5 | 954 | 13349 | done | 1.09 | - | - | 3168 | - | 2.40 | 0.046 | 2093 | -590.4 | 146.0 | - | - | 2169 | - | - | - | - | - | - | - | - | 14.89 | 14.79 | 14.93 |
| 13653 | 254.9 | 9.8 | 986 | 13654 | done | 1.09 | - | - | 3168 | - | - | - | 2093 | - | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 13953 | 225.1 | 9.4 | 1016 | 13958 | roll | 1.09 | - | - | 3167 | - | 2.55 | 0.093 | 3504 | 553.3 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.12 | 14.67 | 15.15 |
| 13978 | 222.5 | 10.9 | 1021 | 13986 | done | 1.09 | - | - | 3177 | - | 2.42 | 0.047 | 2098 | -581.0 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 14.79 | 14.73 | 14.83 |
| 14283 | 192.8 | 9.7 | 1052 | 14290 | roll | 1.09 | - | - | 3187 | - | 2.55 | 0.096 | 686 | -553.7 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.12 | 14.62 | 15.15 |
| 14329 | 188.1 | 10.3 | 1061 | 14337 | done | 1.09 | 0.17 | 0.267 | 3149 | -223.5 | 2.45 | 0.061 | 2110 | 581.2 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 14.40 | 14.71 | 14.71 |
| 14634 | 161.9 | 8.3 | 1092 | 14640 | roll | 1.11 | - | - | 3149 | - | 2.53 | 0.097 | 3510 | 553.4 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.10 | 14.64 | 15.13 |
| 14699 | 155.7 | 9.5 | 1105 | 14707 | done | 1.11 | - | - | 3157 | - | 2.45 | 0.047 | 2071 | -587.3 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 14.85 | 14.73 | 14.90 |
| 15004 | 129.4 | 8.6 | 1136 | 15005 | done | 1.13 | - | - | 3157 | - | - | - | 2071 | - | 146.0 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
| 15304 | 104.2 | 8.5 | 1166 | 15310 | roll | 1.15 | - | - | 3157 | - | 2.62 | 0.094 | 3515 | 551.1 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.09 | 14.64 | 15.12 |
| 15349 | 100.1 | 9.2 | 1175 | 15356 | done | 1.15 | - | - | 3168 | - | 2.47 | 0.047 | 2060 | -589.1 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 14.83 | 14.71 | 14.84 |
| 15655 | 74.5 | 8.4 | 1206 | 15655 | done | 1.17 | - | - | 3167 | - | - | - | 2061 | - | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
| 15954 | 49.0 | 8.7 | 1236 | 15960 | roll | 1.18 | - | - | 3167 | - | 2.65 | 0.095 | 3520 | 550.6 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.11 | 14.64 | 15.13 |
| 16024 | 41.9 | 10.0 | 1250 | 16030 | done | 1.18 | - | - | 3178 | - | 2.47 | 0.047 | 2093 | -577.7 | 146.0 | - | - | 2165 | - | - | - | - | - | - | - | - | 14.76 | 14.70 | 14.81 |
| 16335 | 13.5 | 8.7 | 1282 | 16340 | roll | 1.20 | - | - | 3177 | - | 2.58 | 0.094 | 3509 | 548.8 | 146.0 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.11 | 14.64 | 15.13 |
| 16365 | 10.5 | 10.5 | 1288 | 16371 | done | 1.20 | - | - | 3187 | - | 2.45 | 0.047 | 2100 | -575.1 | 146.0 | - | - | 2164 | - | - | - | - | - | - | - | - | 14.75 | 14.68 | 14.80 |
| 16454 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16454 | begin surface coast | ||||||||||||||||||||||||||||
| 16465 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16465 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.31 | - | - | - | - | -8.03 | 8.95 | 0.094 | 212 | 23.7 | 0.38 | 0.091 | 2304 | 3352.6 | 350.04 | 127.07 | 0.236 | 1351 | 10.6 | -0.006 | - | - | - | - | - | - | |||