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| • Previous call tries 1 | • 25.07 of 350.00 AH used of 24V (92.84% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.1 deg, depth 0.39 m | • Intended pitch -14.6 deg, speed -9.524 cm/s | |
| • VBD pumped to 300.00 (SM_CC=300) | • surface range 2.4 m at 4.0 m depth, ceiling 1.6 m (m = 1.02, R^2 = 0.86) | |
| • GPS1 time: 23 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 7 | - | - | - | 102 | VBD | -0.84 | - | - | 201 | - | - | - | 2502 | - | -146.0 | -93.00 | 0.002 | 3560 | - | - | - | - | - | - | - | - | 14.78 | - | 14.81 |
| 103 | 4.9 | -9.3 | 9 | 121 | roll | -0.84 | 12.02 | 0.475 | 2421 | 184.7 | 2.58 | 0.108 | 1094 | -545.7 | -146.0 | - | - | 3560 | - | - | - | - | - | - | - | - | 14.31 | 14.57 | 14.62 |
| 260 | 36.4 | -12.6 | 40 | 267 | done | -0.84 | - | - | 2412 | - | 2.67 | 0.126 | 2495 | 524.7 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.66 | 14.57 | 14.70 |
| 565 | 79.8 | -13.8 | 71 | 571 | roll | -0.84 | - | - | 2403 | - | 2.40 | 0.149 | 3741 | 519.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.92 | 14.62 | 14.95 |
| 650 | 92.0 | -14.3 | 88 | 657 | done | -0.84 | - | - | 2403 | - | 2.25 | 0.098 | 2501 | -551.1 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.76 | 14.71 | 14.79 |
| 955 | 134.9 | -14.0 | 119 | 961 | roll | -0.84 | - | - | 2403 | - | 2.60 | 0.116 | 1098 | -539.6 | -146.0 | - | - | 3560 | - | - | - | - | - | - | - | - | 14.97 | 14.70 | 15.00 |
| 980 | 138.5 | -14.7 | 124 | 988 | done | -0.84 | 0.10 | 0.291 | 2420 | 170.0 | 2.65 | 0.125 | 2498 | 528.3 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.60 | 14.69 | 14.75 |
| 1285 | 177.4 | -12.7 | 155 | 1291 | roll | -0.84 | - | - | 2411 | - | 2.38 | 0.146 | 3747 | 524.8 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.00 | 14.71 | 15.03 |
| 1330 | 183.5 | -13.6 | 164 | 1337 | done | -0.84 | - | - | 2411 | - | 2.25 | 0.099 | 2506 | -551.6 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.83 | 14.76 | 14.86 |
| 1635 | 224.9 | -13.7 | 195 | 1641 | roll | -0.84 | - | - | 2411 | - | 2.62 | 0.119 | 1091 | -540.1 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.02 | 14.74 | 15.04 |
| 1660 | 228.4 | -14.3 | 200 | 1667 | done | -0.84 | - | - | 2402 | - | 2.65 | 0.124 | 2496 | 530.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.82 | 14.73 | 14.87 |
| 1965 | 270.6 | -13.4 | 231 | 1971 | roll | -0.84 | - | - | 2393 | - | 2.38 | 0.148 | 3744 | 524.4 | -146.0 | - | - | 3560 | - | - | - | - | - | - | - | - | 15.03 | 14.74 | 15.06 |
| 2031 | 279.9 | -14.2 | 244 | 2038 | done | -0.84 | 0.15 | 0.285 | 2426 | 220.0 | 2.22 | 0.100 | 2494 | -563.1 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.68 | 14.81 | 14.88 |
| 2335 | 316.8 | -12.0 | 268 | 2341 | roll | -0.84 | - | - | 2426 | - | 2.60 | 0.119 | 1093 | -538.8 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.05 | 14.76 | 15.07 |
| 2365 | 320.5 | -12.5 | 274 | 2371 | done | -0.84 | - | - | 2418 | - | 2.65 | 0.125 | 2503 | 532.1 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.85 | 14.76 | 14.89 |
| 2675 | 358.7 | -12.1 | 291 | 2681 | roll | -0.84 | - | - | 2409 | - | 2.35 | 0.145 | 3744 | 528.1 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.06 | 14.76 | 15.08 |
| 2710 | 363.1 | -12.7 | 298 | 2717 | done | -0.84 | - | - | 2409 | - | 2.25 | 0.101 | 2501 | -552.4 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.88 | 14.82 | 14.91 |
| 3016 | 401.6 | -12.9 | 314 | 3017 | done | -0.84 | - | - | 2409 | - | - | - | 2501 | - | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 3315 | 440.2 | -12.5 | 329 | 3322 | roll | -0.84 | - | - | 2409 | - | 2.60 | 0.119 | 1094 | -541.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.08 | 14.79 | 15.10 |
| 3336 | 442.9 | -12.8 | 333 | 3343 | done | -0.84 | - | - | 2400 | - | 2.62 | 0.124 | 2492 | 533.6 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.92 |
| 3657 | 483.4 | -12.6 | 352 | 3663 | roll | -0.84 | - | - | 2389 | - | 2.38 | 0.149 | 3743 | 525.6 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.08 | 14.79 | 15.11 |
| 3731 | 493.4 | -13.3 | 367 | 3739 | done | -0.84 | 0.12 | 0.266 | 2424 | 291.7 | 2.25 | 0.100 | 2498 | -553.3 | -146.0 | - | - | 3560 | - | - | - | - | - | - | - | - | 14.69 | 14.83 | 14.84 |
| 4039 | 527.9 | -11.1 | 379 | 4039 | done | -0.84 | - | - | 2423 | - | - | - | 2498 | - | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.07 | 15.09 | 15.09 |
| 4399 | 568.2 | -11.4 | 391 | 4399 | done | -0.84 | - | - | 2424 | - | - | - | 2498 | - | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 4759 | 608.3 | -10.8 | 403 | 4760 | done | -0.84 | - | - | 2424 | - | - | - | 2498 | - | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
| 5117 | 648.7 | -11.4 | 415 | 5123 | roll | -0.84 | - | - | 2416 | - | 2.35 | 0.150 | 3756 | 535.3 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.07 | 14.80 | 15.09 |
| 5141 | 651.7 | -12.4 | 420 | 5149 | done | -0.84 | - | - | 2416 | - | 2.28 | 0.102 | 2496 | -552.6 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.95 |
| 5507 | 693.9 | -11.4 | 433 | 5514 | roll | -0.84 | - | - | 2416 | - | 2.60 | 0.119 | 1089 | -541.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.11 | 14.81 | 15.13 |
| 5532 | 696.9 | -12.2 | 438 | 5540 | done | -0.84 | - | - | 2407 | - | 2.65 | 0.124 | 2502 | 533.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.95 |
| 5898 | 715.7 | - | 451 | 5904 | roll | -0.84 | - | - | 2406 | - | 2.35 | 0.149 | 3741 | 527.2 | -146.0 | - | - | 3561 | - | - | - | - | - | - | - | - | 15.11 | 14.80 | 15.13 |
| 5926 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 5927 | begin apogee | ||||||||||||||||||||||||||||
| 5932 | 715.7 | - | 457 | 6086 | done | -0.23 | 0.70 | 0.122 | 2631 | 321.4 | - | - | 2191 | - | - | 152.32 | 3.097 | 2967 | -3.9 | 0.181 | - | - | - | - | - | - | 14.85 | 13.66 | 12.60 |
| 6087 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6087 | begin climb | ||||||||||||||||||||||||||||
| 6088 | 715.5 | - | 462 | 6264 | roll | 0.84 | 1.10 | 0.106 | 2980 | 317.3 | 2.95 | 0.132 | 797 | -472.5 | 146.0 | 166.27 | 3.032 | 2370 | -3.6 | 0.170 | - | - | - | - | - | - | 13.69 | 13.09 | 12.23 |
| 6353 | 703.5 | 8.7 | 514 | 6359 | done | 0.86 | - | - | 2980 | - | 2.75 | 0.115 | 2200 | 510.2 | 146.0 | - | - | 2362 | - | - | - | - | - | - | - | - | 13.95 | 13.84 | 13.97 |
| 6723 | 668.4 | 9.8 | 528 | 6729 | roll | 0.86 | - | - | 2980 | - | 2.75 | 0.145 | 3618 | 515.6 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.60 | 14.36 | 14.63 |
| 6778 | 662.4 | 10.7 | 539 | 6786 | done | 0.86 | - | - | 2990 | - | 2.65 | 0.103 | 2209 | -531.7 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.47 | 14.41 | 14.52 |
| 7144 | 626.6 | 9.7 | 552 | 7149 | roll | 0.86 | - | - | 3001 | - | 2.67 | 0.135 | 788 | -532.2 | 146.0 | - | - | 2356 | - | - | - | - | - | - | - | - | 14.79 | 14.57 | 14.82 |
| 7188 | 622.1 | 10.0 | 561 | 7194 | done | 0.86 | - | - | 3001 | - | 2.65 | 0.115 | 2198 | 532.1 | 146.0 | - | - | 2355 | - | - | - | - | - | - | - | - | 14.67 | 14.59 | 14.70 |
| 7563 | 585.1 | 9.9 | 576 | 7564 | done | 0.86 | - | - | 3001 | - | - | - | 2198 | - | 146.0 | - | - | 2355 | - | - | - | - | - | - | - | - | 14.93 | 14.96 | 14.96 |
| 7923 | 549.2 | 10.1 | 588 | 7929 | roll | 0.86 | - | - | 3001 | - | 2.70 | 0.145 | 3610 | 523.0 | 146.0 | - | - | 2354 | - | - | - | - | - | - | - | - | 15.00 | 14.72 | 15.04 |
| 7978 | 543.0 | 11.1 | 599 | 7987 | done | 0.86 | 0.10 | 0.252 | 2985 | -160.0 | 2.58 | 0.103 | 2201 | -546.1 | 146.0 | - | - | 2354 | - | - | - | - | - | - | - | - | 14.66 | 14.76 | 14.78 |
| 8343 | 509.1 | 9.3 | 612 | 8349 | roll | 0.86 | - | - | 2985 | - | 2.67 | 0.144 | 3623 | 532.6 | 146.0 | - | - | 2354 | - | - | - | - | - | - | - | - | 15.03 | 14.77 | 15.06 |
| 8378 | 505.4 | 10.8 | 619 | 8385 | done | 0.86 | - | - | 2994 | - | 2.60 | 0.105 | 2200 | -547.3 | 146.0 | - | - | 2352 | - | - | - | - | - | - | - | - | 14.86 | 14.78 | 14.90 |
| 8754 | 469.4 | 9.5 | 641 | 8760 | roll | 0.86 | - | - | 2994 | - | 2.70 | 0.145 | 3613 | 523.3 | 146.0 | - | - | 2353 | - | - | - | - | - | - | - | - | 15.05 | 14.78 | 15.09 |
| 8794 | 465.2 | 10.5 | 649 | 8800 | done | 0.86 | - | - | 3005 | - | 2.58 | 0.105 | 2200 | -547.7 | 146.0 | - | - | 2354 | - | - | - | - | - | - | - | - | 14.87 | 14.81 | 14.92 |
| 9114 | 434.9 | 9.6 | 668 | 9115 | done | 0.86 | - | - | 3005 | - | - | - | 2200 | - | 146.0 | - | - | 2353 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 9414 | 407.0 | 8.9 | 683 | 9421 | roll | 0.87 | - | - | 3005 | - | 2.65 | 0.144 | 3616 | 534.3 | 146.0 | - | - | 2353 | - | - | - | - | - | - | - | - | 15.08 | 14.83 | 15.11 |
| 9455 | 403.1 | 9.8 | 691 | 9462 | done | 0.87 | 0.10 | 0.270 | 2989 | -160.0 | 2.58 | 0.105 | 2202 | -548.1 | 146.0 | - | - | 2353 | - | - | - | - | - | - | - | - | 14.73 | 14.83 | 14.87 |
| 9777 | 377.0 | 8.1 | 710 | 9782 | roll | 0.90 | - | - | 2998 | - | 2.60 | 0.135 | 789 | -543.5 | 146.0 | - | - | 2353 | - | - | - | - | - | - | - | - | 15.06 | 14.82 | 15.09 |
| 9806 | 374.6 | 8.4 | 716 | 9812 | done | 0.92 | - | - | 2998 | - | 2.60 | 0.115 | 2203 | 543.8 | 146.0 | - | - | 2352 | - | - | - | - | - | - | - | - | 14.90 | 14.83 | 14.95 |
| 10116 | 348.3 | 8.4 | 733 | 10122 | roll | 0.94 | - | - | 2998 | - | 2.65 | 0.145 | 3621 | 535.1 | 146.0 | - | - | 2352 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.11 |
| 10186 | 341.8 | 9.4 | 747 | 10193 | done | 0.94 | - | - | 3009 | - | 2.60 | 0.106 | 2196 | -548.1 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.96 |
| 10497 | 314.3 | 9.1 | 764 | 10498 | done | 0.94 | - | - | 3009 | - | - | - | 2196 | - | 146.0 | - | - | 2352 | - | - | - | - | - | - | - | - | 15.09 | 15.13 | 15.12 |
| 10797 | 287.6 | 8.8 | 786 | 10797 | done | 0.96 | - | - | 3009 | - | - | - | 2196 | - | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.13 |
| 11097 | 261.6 | 8.4 | 816 | 11103 | roll | 0.98 | - | - | 3009 | - | 2.70 | 0.144 | 3617 | 526.3 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 15.10 | 14.81 | 15.13 |
| 11141 | 257.3 | 9.5 | 825 | 11150 | done | 0.98 | - | - | 3020 | - | 2.58 | 0.104 | 2199 | -549.6 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.96 |
| 11448 | 231.0 | 8.4 | 856 | 11449 | done | 1.00 | - | - | 3019 | - | - | - | 2199 | - | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
| 11747 | 205.4 | 8.5 | 886 | 11753 | roll | 1.03 | - | - | 3020 | - | 2.65 | 0.142 | 3618 | 535.5 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.10 |
| 11781 | 202.2 | 9.4 | 893 | 11789 | done | 1.03 | - | - | 3031 | - | 2.58 | 0.105 | 2200 | -549.6 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.95 |
| 12087 | 176.4 | 8.2 | 924 | 12093 | roll | 1.05 | - | - | 3030 | - | 2.67 | 0.143 | 3610 | 528.1 | 146.0 | - | - | 2351 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
| 12132 | 172.4 | 9.0 | 933 | 12139 | done | 1.05 | - | - | 3041 | - | 2.53 | 0.105 | 2197 | -558.5 | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 14.96 | 14.85 | 14.99 |
| 12437 | 146.6 | 8.5 | 964 | 12443 | roll | 1.07 | - | - | 3041 | - | 2.70 | 0.142 | 3617 | 525.9 | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 15.09 | 14.80 | 15.11 |
| 12467 | 143.7 | 9.9 | 970 | 12473 | done | 1.07 | - | - | 3052 | - | 2.58 | 0.105 | 2203 | -548.1 | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 14.89 | 14.82 | 14.92 |
| 12777 | 116.7 | 8.8 | 1002 | 12777 | done | 1.09 | - | - | 3052 | - | - | - | 2203 | - | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 15.09 | 15.13 | 15.12 |
| 13077 | 91.7 | 8.2 | 1032 | 13083 | roll | 1.11 | - | - | 3052 | - | 2.65 | 0.143 | 3622 | 535.5 | 146.0 | - | - | 2349 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
| 13097 | 89.9 | 9.0 | 1036 | 13103 | done | 1.12 | - | - | 3063 | - | 2.58 | 0.106 | 2203 | -550.0 | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 14.89 | 14.81 | 14.92 |
| 13408 | 63.1 | 8.6 | 1068 | 13413 | roll | 1.14 | - | - | 3074 | - | 2.60 | 0.135 | 792 | -542.7 | 146.0 | - | - | 2350 | - | - | - | - | - | - | - | - | 15.07 | 14.81 | 15.09 |
| 13542 | 51.2 | 8.5 | 1095 | 13550 | done | 1.16 | - | - | 3074 | - | 2.60 | 0.115 | 2205 | 543.5 | 146.0 | - | - | 2349 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.94 |
| 13847 | 24.9 | 8.8 | 1126 | 13853 | roll | 1.18 | - | - | 3074 | - | 2.67 | 0.143 | 3611 | 526.6 | 146.0 | - | - | 2349 | - | - | - | - | - | - | - | - | 15.09 | 14.79 | 15.11 |
| 13947 | 15.5 | 9.8 | 1146 | 13953 | done | 1.18 | - | - | 3085 | - | 2.58 | 0.104 | 2199 | -547.3 | 146.0 | - | - | 2349 | - | - | - | - | - | - | - | - | 14.89 | 14.81 | 14.92 |
| 14096 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14096 | begin surface coast | ||||||||||||||||||||||||||||
| 14106 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14106 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.27 | - | - | - | - | -7.76 | 9.25 | 0.153 | 200 | 21.6 | 0.60 | 0.135 | 2505 | 2458.3 | 300.00 | 109.53 | 0.245 | 1744 | 15.9 | -0.002 | - | - | - | - | - | - | |||