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| • Previous call tries 2 | • 149.18 of 350.00 AH used of 24V (57.38% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.7 deg, depth 1.02 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 15.0 m at 14.9 m depth, ceiling -0.1 m (m = 1.03, R^2 = 1.00) | |
| • GPS1 time: 43 s | ||
| • GPS2 time: 3 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 | |||||
| 8 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 11 | - | - | - | 114 | done | -1.06 | - | - | 211 | - | - | - | 2310 | - | -107.1 | -101.68 | 0.002 | 3220 | - | - | - | - | - | - | - | - | 14.88 | 12.72 | 14.90 |
| 117 | 2.0 | -1.7 | 3 | 135 | roll | -1.06 | 10.90 | 0.402 | 2448 | 205.2 | 2.50 | 0.093 | 3713 | 561.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.04 | 14.49 | 14.47 |
| 154 | 15.9 | -26.0 | 9 | 162 | done | -1.06 | - | - | 2447 | - | 2.50 | 0.044 | 2294 | -567.6 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 14.72 | 14.64 | 14.76 |
| 506 | 82.7 | -19.0 | 23 | 511 | roll | -1.06 | - | - | 2447 | - | 2.53 | 0.074 | 888 | -555.7 | -107.1 | - | - | 3218 | - | - | - | - | - | - | - | - | 15.06 | 14.50 | 15.08 |
| 596 | 98.7 | -17.0 | 36 | 602 | done | -1.06 | - | - | 2436 | - | 2.58 | 0.067 | 2299 | 546.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.59 | 14.49 | 14.65 |
| 955 | 162.5 | -18.6 | 51 | 960 | roll | -1.06 | - | - | 2437 | - | 2.55 | 0.073 | 889 | -552.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.03 | 14.51 | 15.05 |
| 1058 | 184.1 | -20.9 | 66 | 1066 | done | -1.06 | 0.12 | 0.256 | 2457 | 166.7 | 2.58 | 0.064 | 2305 | 548.8 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.16 | 14.51 | 14.35 |
| 1431 | 253.9 | -18.6 | 74 | 1432 | done | -1.06 | - | - | 2457 | - | - | - | 2305 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 1779 | 316.4 | -17.9 | 79 | 1780 | done | -1.06 | - | - | 2455 | - | - | - | 2305 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.05 | 15.07 | 15.07 |
| 2130 | 378.6 | -17.6 | 84 | 2135 | roll | -1.06 | - | - | 2457 | - | 2.55 | 0.073 | 889 | -555.3 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.05 | 14.48 | 15.07 |
| 2170 | 385.6 | -17.0 | 90 | 2177 | done | -1.06 | - | - | 2449 | - | 2.55 | 0.063 | 2301 | 553.7 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.61 | 14.52 | 14.66 |
| 2551 | 452.0 | -17.7 | 99 | 2556 | roll | -1.06 | - | - | 2448 | - | 2.53 | 0.073 | 898 | -554.5 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.05 | 14.50 | 15.07 |
| 2583 | 458.1 | -18.1 | 104 | 2590 | done | -1.06 | - | - | 2437 | - | 2.55 | 0.065 | 2306 | 552.2 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.66 |
| 2971 | 525.1 | -17.4 | 114 | 2976 | roll | -1.06 | - | - | 2438 | - | 2.55 | 0.073 | 893 | -554.1 | -107.1 | - | - | 3218 | - | - | - | - | - | - | - | - | 15.04 | 14.50 | 15.07 |
| 3017 | 533.8 | -18.0 | 121 | 3025 | done | -1.06 | 0.10 | 0.263 | 2452 | 140.0 | 2.55 | 0.064 | 2302 | 552.5 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.16 | 14.54 | 14.33 |
| 3391 | 594.5 | -16.1 | 129 | 3397 | roll | -1.06 | - | - | 2443 | - | 2.62 | 0.102 | 3725 | 543.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.05 | 14.47 | 15.07 |
| 3452 | 604.9 | -17.0 | 138 | 3460 | done | -1.06 | - | - | 2443 | - | 2.50 | 0.041 | 2286 | -575.6 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.67 | 14.63 | 14.71 |
| 3809 | 663.1 | -16.5 | 144 | 3816 | roll | -1.06 | - | - | 2443 | - | 2.55 | 0.075 | 891 | -547.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.04 | 14.40 | 15.07 |
| 3850 | 670.1 | -17.3 | 150 | 3857 | done | -1.06 | - | - | 2432 | - | 2.55 | 0.064 | 2299 | 552.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.64 |
| 4231 | 730.7 | -15.9 | 159 | 4236 | roll | -1.06 | - | - | 2421 | - | 2.62 | 0.101 | 3723 | 543.5 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.04 | 14.47 | 15.07 |
| 4249 | 733.9 | -15.9 | 162 | 4257 | done | -1.06 | 0.12 | 0.257 | 2453 | 266.7 | 2.50 | 0.041 | 2271 | -580.8 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.12 | 14.67 | 14.31 |
| 4650 | 794.7 | -15.0 | 174 | 4655 | roll | -1.06 | - | - | 2453 | - | 2.45 | 0.073 | 904 | -558.0 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.04 | 14.45 | 15.07 |
| 4690 | 800.7 | -15.3 | 180 | 4697 | done | -1.06 | - | - | 2444 | - | 2.55 | 0.066 | 2312 | 552.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.59 | 14.51 | 14.65 |
| 5069 | 857.8 | -15.2 | 189 | 5076 | roll | -1.06 | - | - | 2444 | - | 2.58 | 0.072 | 910 | -543.4 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.03 | 14.39 | 15.06 |
| 5139 | 867.9 | -15.5 | 199 | 5146 | done | -1.06 | - | - | 2433 | - | 2.53 | 0.064 | 2307 | 552.2 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.55 | 14.48 | 14.62 |
| 5561 | 934.3 | -15.8 | 214 | 5566 | roll | -1.06 | - | - | 2433 | - | 2.53 | 0.071 | 904 | -554.5 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.03 | 14.47 | 15.05 |
| 5691 | 955.6 | -16.5 | 233 | 5702 | done | -1.06 | 0.12 | 0.262 | 2454 | 175.0 | 2.53 | 0.061 | 2310 | 555.7 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 14.08 | 14.53 | 14.27 |
| 5976 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 5977 | begin apogee | ||||||||||||||||||||||||||||
| 5982 | 995.3 | -13.5 | 238 | 6114 | done | -0.23 | 1.00 | 0.223 | 2723 | 269.0 | 0.08 | 0.173 | 2119 | -2387.5 | - | 129.15 | 3.094 | 2782 | -3.4 | 0.231 | - | - | - | - | - | - | 14.16 | 13.41 | 11.98 |
| 6115 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6115 | begin climb | ||||||||||||||||||||||||||||
| 6117 | 1000.3 | - | 239 | 6273 | roll | 1.06 | 1.38 | 0.104 | 3147 | 307.2 | 2.97 | 0.085 | 713 | -473.4 | 107.1 | 144.70 | 3.097 | 2343 | -3.0 | 0.207 | - | - | - | - | - | - | 13.45 | 13.03 | 11.62 |
| 6321 | 993.5 | 6.3 | 260 | 6406 | done | 1.13 | - | - | 3148 | - | 2.67 | 0.056 | 2099 | 519.1 | 165.7 | 78.35 | 3.068 | 2105 | -3.0 | 0.208 | - | - | - | - | - | - | 13.59 | 13.54 | 11.70 |
| 6820 | 975.0 | 2.5 | 286 | 6977 | roll | 1.28 | 0.20 | 0.125 | 3210 | 310.0 | 2.97 | 0.096 | 3516 | 477.1 | 286.0 | 148.68 | 3.098 | 1613 | -3.3 | 0.220 | - | - | - | - | - | - | 14.46 | 13.18 | 11.83 |
| 7031 | 955.7 | 16.6 | 316 | 7038 | done | 1.28 | - | - | 3221 | - | 2.65 | 0.045 | 2116 | -528.3 | 286.0 | - | - | 1607 | - | - | - | - | - | - | - | - | 13.69 | 13.64 | 13.72 |
| 7445 | 891.7 | 17.1 | 330 | 7451 | roll | 1.28 | - | - | 3227 | - | 2.65 | 0.091 | 699 | -534.7 | 286.0 | - | - | 1602 | - | - | - | - | - | - | - | - | 14.81 | 14.45 | 14.83 |
| 7486 | 884.2 | 17.7 | 336 | 7493 | done | 1.28 | - | - | 3227 | - | 2.53 | 0.058 | 2117 | 560.5 | 286.0 | - | - | 1601 | - | - | - | - | - | - | - | - | 14.61 | 14.57 | 14.68 |
| 7865 | 815.3 | 18.5 | 345 | 7872 | roll | 1.28 | - | - | 3233 | - | 2.65 | 0.093 | 693 | -537.4 | 286.0 | - | - | 1599 | - | - | - | - | - | - | - | - | 15.02 | 14.60 | 15.04 |
| 7920 | 804.7 | 18.0 | 353 | 7928 | done | 1.28 | - | - | 3233 | - | 2.47 | 0.057 | 2101 | 570.0 | 286.0 | - | - | 1598 | - | - | - | - | - | - | - | - | 14.77 | 14.71 | 14.81 |
| 8285 | 740.5 | 17.6 | 360 | 8291 | roll | 1.28 | - | - | 3233 | - | 2.58 | 0.096 | 3506 | 544.6 | 286.0 | - | - | 1598 | - | - | - | - | - | - | - | - | 15.07 | 14.66 | 15.10 |
| 8319 | 734.3 | 17.8 | 365 | 8327 | done | 1.28 | - | - | 3239 | - | 2.47 | 0.046 | 2087 | -574.5 | 286.0 | - | - | 1598 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.92 |
| 8706 | 666.1 | 17.6 | 375 | 8712 | roll | 1.28 | - | - | 3250 | - | 2.53 | 0.094 | 695 | -550.2 | 286.0 | - | - | 1598 | - | - | - | - | - | - | - | - | 15.10 | 14.68 | 15.12 |
| 8732 | 661.2 | 17.1 | 379 | 8739 | done | 1.28 | 0.12 | 0.236 | 3215 | -291.7 | 2.47 | 0.058 | 2103 | 570.0 | 286.0 | - | - | 1597 | - | - | - | - | - | - | - | - | 14.47 | 14.76 | 14.66 |
| 9126 | 599.2 | 15.7 | 390 | 9131 | roll | 1.28 | - | - | 3215 | - | 2.55 | 0.093 | 3520 | 555.7 | 286.0 | - | - | 1596 | - | - | - | - | - | - | - | - | 15.11 | 14.71 | 15.14 |
| 9166 | 591.9 | 17.7 | 396 | 9173 | done | 1.28 | - | - | 3221 | - | 2.50 | 0.046 | 2088 | -572.8 | 286.0 | - | - | 1596 | - | - | - | - | - | - | - | - | 14.89 | 14.81 | 14.91 |
| 9545 | 529.0 | 16.5 | 405 | 9552 | roll | 1.28 | - | - | 3221 | - | 2.58 | 0.093 | 3510 | 551.2 | 286.0 | - | - | 1596 | - | - | - | - | - | - | - | - | 15.11 | 14.68 | 15.13 |
| 9572 | 524.3 | 16.7 | 409 | 9580 | done | 1.28 | - | - | 3226 | - | 2.47 | 0.046 | 2088 | -575.7 | 286.0 | - | - | 1596 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.96 |
| 9966 | 460.3 | 16.3 | 420 | 9971 | roll | 1.28 | - | - | 3233 | - | 2.55 | 0.096 | 686 | -549.8 | 286.0 | - | - | 1596 | - | - | - | - | - | - | - | - | 15.11 | 14.66 | 15.14 |
| 10027 | 450.6 | 15.1 | 429 | 10037 | done | 1.28 | - | - | 3233 | - | 2.47 | 0.057 | 2100 | 572.5 | 286.0 | - | - | 1595 | - | - | - | - | - | - | - | - | 14.81 | 14.73 | 14.85 |
| 10385 | 394.0 | 16.0 | 435 | 10391 | roll | 1.28 | - | - | 3233 | - | 2.60 | 0.093 | 3518 | 545.4 | 286.0 | - | - | 1595 | - | - | - | - | - | - | - | - | 15.11 | 14.64 | 15.14 |
| 10433 | 386.0 | 16.6 | 442 | 10440 | done | 1.28 | - | - | 3238 | - | 2.47 | 0.047 | 2099 | -574.5 | 286.0 | - | - | 1595 | - | - | - | - | - | - | - | - | 14.82 | 14.76 | 14.86 |
| 10807 | 329.3 | 15.3 | 450 | 10807 | done | 1.28 | - | - | 3233 | - | - | - | 2099 | - | 286.0 | - | - | 1595 | - | - | - | - | - | - | - | - | 15.09 | 15.14 | 15.14 |
| 11154 | 278.5 | 14.4 | 455 | 11155 | done | 1.28 | - | - | 3233 | - | - | - | 2100 | - | 286.0 | - | - | 1592 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.22 |
| 11504 | 228.0 | 14.4 | 460 | 11505 | done | 1.28 | - | - | 3233 | - | - | - | 2100 | - | 286.0 | - | - | 1595 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.21 |
| 11854 | 180.8 | 13.3 | 468 | 11861 | roll | 1.28 | - | - | 3233 | - | 2.62 | 0.096 | 689 | -538.5 | 286.0 | - | - | 1594 | - | - | - | - | - | - | - | - | 15.20 | 14.57 | 15.23 |
| 11910 | 173.1 | 13.9 | 476 | 11917 | done | 1.28 | - | - | 3239 | - | 2.50 | 0.057 | 2110 | 568.4 | 286.0 | - | - | 1594 | - | - | - | - | - | - | - | - | 14.78 | 14.71 | 14.83 |
| 12275 | 122.5 | 13.8 | 492 | 12281 | roll | 1.28 | - | - | 3233 | - | 2.55 | 0.096 | 3513 | 550.2 | 286.0 | - | - | 1594 | - | - | - | - | - | - | - | - | 15.20 | 14.63 | 15.18 |
| 12296 | 119.5 | 13.4 | 495 | 12303 | done | 1.28 | - | - | 3233 | - | 2.50 | 0.048 | 2090 | -569.2 | 286.0 | - | - | 1594 | - | - | - | - | - | - | - | - | 14.74 | 14.69 | 14.79 |
| 12640 | 72.4 | 14.2 | 508 | 12645 | roll | 1.28 | - | - | 3233 | - | 2.55 | 0.096 | 698 | -545.9 | 286.0 | - | - | 1594 | - | - | - | - | - | - | - | - | 15.09 | 14.58 | 15.11 |
| 12673 | 67.4 | 14.0 | 513 | 12681 | done | 1.28 | - | - | 3233 | - | 2.50 | 0.058 | 2107 | 563.6 | 286.0 | - | - | 1593 | - | - | - | - | - | - | - | - | 14.83 | 14.71 | 14.84 |
| 13030 | 18.2 | 13.7 | 528 | 13037 | roll | 1.28 | - | - | 3234 | - | 2.58 | 0.093 | 3503 | 541.1 | 286.0 | - | - | 1593 | - | - | - | - | - | - | - | - | 15.16 | 14.57 | 15.19 |
| 13100 | 7.1 | 15.4 | 538 | 13107 | done | 1.28 | - | - | 3233 | - | 2.45 | 0.047 | 2102 | -571.8 | 286.0 | - | - | 1593 | - | - | - | - | - | - | - | - | 14.73 | 14.66 | 14.78 |
| 13141 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13141 | begin surface coast | ||||||||||||||||||||||||||||
| 13168 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13168 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.50 | - | - | - | - | -8.01 | 9.05 | 0.088 | 214 | 23.6 | 0.38 | 0.087 | 2310 | 3368.4 | 350.04 | 40.28 | 0.239 | 1352 | 33.6 | -0.022 | - | - | - | - | - | - | |||