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| • Previous call tries 1 | • 191.29 of 350.00 AH used of 24V (45.35% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.6 deg, depth 0.38 m | • Intended pitch -31.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.18 (SM_CC=300) | • surface range 17.4 m at 16.9 m depth, ceiling -0.5 m (m = 1.07, R^2 = 1.00) | |
| • GPS1 time: 34 s | ||
| • GPS2 time: 3 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 108 | done | -1.48 | - | - | 182 | - | - | - | 2816 | - | -43.5 | -94.35 | 0.003 | 3668 | - | - | - | - | - | - | - | - | 14.72 | 12.45 | 14.71 |
| 111 | 1.0 | -0.9 | 3 | 127 | roll | -1.48 | 10.98 | 0.433 | 2291 | 192.1 | 2.03 | 0.076 | 3924 | 545.8 | -43.5 | - | - | 3678 | - | - | - | - | - | - | - | - | 13.80 | 14.33 | 14.31 |
| 357 | 28.3 | -12.1 | 39 | 363 | done | -1.48 | - | - | 2293 | - | 1.95 | 0.043 | 2784 | -584.6 | -43.5 | - | - | 3684 | - | - | - | - | - | - | - | - | 14.50 | 14.46 | 14.50 |
| 724 | 67.8 | -10.8 | 55 | 729 | roll | -1.48 | - | - | 2285 | - | 2.05 | 0.083 | 3913 | 550.7 | -43.5 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.81 | 14.28 | 14.81 |
| 763 | 72.4 | -11.5 | 61 | 770 | done | -1.48 | - | - | 2285 | - | 1.92 | 0.042 | 2784 | -588.0 | -43.5 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.51 | 14.48 | 14.52 |
| 1113 | 108.8 | -10.2 | 75 | 1119 | roll | -1.48 | - | - | 2285 | - | 2.42 | 0.047 | 1401 | -571.5 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.92 | 14.20 | 14.92 |
| 1162 | 113.8 | -10.1 | 82 | 1170 | done | -1.48 | - | - | 2275 | - | 2.55 | 0.060 | 2810 | 552.5 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.27 | 14.21 | 14.31 |
| 1506 | 148.7 | -10.1 | 95 | 1511 | roll | -1.48 | - | - | 2270 | - | 2.00 | 0.083 | 3919 | 554.5 | -43.5 | - | - | 3688 | - | - | - | - | - | - | - | - | 14.79 | 14.22 | 14.79 |
| 1526 | 151.0 | -10.4 | 98 | 1534 | done | -1.48 | 0.10 | 0.312 | 2293 | 230.0 | 1.92 | 0.044 | 2798 | -583.9 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 13.74 | 14.45 | 14.02 |
| 1871 | 185.3 | -10.1 | 111 | 1872 | done | -1.48 | - | - | 2293 | - | - | - | 2797 | - | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 2207 | 218.4 | -9.9 | 120 | 2208 | done | -1.48 | - | - | 2293 | - | - | - | 2798 | - | -43.5 | - | - | 3688 | - | - | - | - | - | - | - | - | 14.82 | 14.82 | 14.82 |
| 2542 | 251.8 | -10.1 | 126 | 2548 | roll | -1.48 | - | - | 2285 | - | 2.03 | 0.083 | 3912 | 548.8 | -43.5 | - | - | 3688 | - | - | - | - | - | - | - | - | 14.81 | 14.22 | 14.80 |
| 2618 | 260.2 | -10.8 | 137 | 2625 | done | -1.48 | - | - | 2286 | - | 1.92 | 0.043 | 2793 | -582.8 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.48 | 14.45 | 14.50 |
| 2992 | 297.2 | -9.9 | 148 | 2997 | roll | -1.48 | - | - | 2285 | - | 2.42 | 0.047 | 1403 | -574.4 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.78 | 14.33 | 14.78 |
| 3185 | 315.4 | -9.2 | 176 | 3191 | done | -1.48 | - | - | 2275 | - | 2.55 | 0.060 | 2803 | 549.0 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.28 | 14.21 | 14.34 |
| 3550 | 347.6 | -8.8 | 186 | 3555 | roll | -1.48 | - | - | 2273 | - | 2.00 | 0.083 | 3907 | 552.0 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.79 | 14.19 | 14.80 |
| 3633 | 355.8 | -10.0 | 198 | 3639 | done | -1.48 | - | - | 2273 | - | 1.92 | 0.043 | 2791 | -581.2 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.45 | 14.42 | 14.47 |
| 3998 | 389.9 | -9.5 | 208 | 4003 | roll | -1.48 | - | - | 2266 | - | 2.10 | 0.080 | 3917 | 536.2 | -43.5 | - | - | 3688 | - | - | - | - | - | - | - | - | 14.79 | 14.14 | 14.79 |
| 4039 | 394.2 | -10.2 | 214 | 4045 | done | -1.48 | 0.12 | 0.316 | 2295 | 241.7 | 1.95 | 0.044 | 2791 | -577.4 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 13.60 | 14.40 | 13.90 |
| 4389 | 424.0 | -8.4 | 222 | 4395 | roll | -1.48 | - | - | 2295 | - | 2.45 | 0.046 | 1402 | -566.9 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.92 | 14.24 | 14.92 |
| 4424 | 426.8 | -8.3 | 227 | 4430 | done | -1.48 | - | - | 2286 | - | 2.55 | 0.060 | 2803 | 549.4 | -43.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.33 |
| 4781 | 456.8 | -8.3 | 236 | 4781 | done | -1.48 | - | - | 2286 | - | - | - | 2803 | - | -43.5 | - | - | 3690 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.91 |
| 5117 | 483.8 | -8.0 | 242 | 5123 | roll | -1.49 | - | - | 2285 | - | 2.50 | 0.045 | 1391 | -564.8 | -56.5 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.92 | 14.23 | 14.92 |
| 5166 | 487.7 | -7.9 | 249 | 5174 | done | -1.51 | - | - | 2270 | - | 2.58 | 0.060 | 2808 | 549.2 | -70.0 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.31 |
| 5509 | 515.5 | -8.1 | 256 | 5510 | done | -1.51 | - | - | 2275 | - | - | - | 2808 | - | -70.0 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 5845 | 541.6 | -7.7 | 262 | 5851 | roll | -1.53 | - | - | 2275 | - | 2.53 | 0.046 | 1388 | -561.3 | -84.9 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.91 | 14.21 | 14.91 |
| 5880 | 544.3 | -8.0 | 267 | 5886 | done | -1.53 | - | - | 2274 | - | 2.58 | 0.061 | 2802 | 548.1 | -84.9 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.26 | 14.17 | 14.30 |
| 6237 | 572.0 | -7.7 | 276 | 6238 | done | -1.54 | - | - | 2273 | - | - | - | 2802 | - | -100.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.92 |
| 6573 | 597.4 | -7.6 | 282 | 6579 | roll | -1.55 | - | - | 2269 | - | 2.05 | 0.082 | 3916 | 543.4 | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.91 | 14.09 | 14.91 |
| 6608 | 600.2 | -8.2 | 287 | 6614 | done | -1.55 | - | - | 2269 | - | 1.95 | 0.044 | 2788 | -578.5 | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.43 | 14.40 | 14.45 |
| 6965 | 626.6 | -7.3 | 296 | 6971 | roll | -1.55 | - | - | 2269 | - | 2.45 | 0.045 | 1400 | -566.5 | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.92 |
| 7042 | 632.1 | -6.9 | 307 | 7048 | done | -1.55 | - | - | 2264 | - | 2.55 | 0.060 | 2803 | 550.2 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.24 | 14.17 | 14.30 |
| 7413 | 658.2 | -7.0 | 318 | 7414 | done | -1.55 | - | - | 2265 | - | - | - | 2803 | - | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 7749 | 680.1 | -6.3 | 324 | 7755 | roll | -1.55 | - | - | 2260 | - | 2.05 | 0.083 | 3912 | 541.0 | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.92 |
| 7819 | 684.8 | -6.5 | 334 | 7825 | done | -1.55 | - | - | 2262 | - | 1.92 | 0.044 | 2800 | -579.2 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.39 | 14.35 | 14.42 |
| 8197 | 706.6 | -5.9 | 346 | 8206 | roll | -1.55 | - | - | 2261 | - | 2.47 | 0.045 | 1393 | -569.6 | -107.1 | - | - | 3688 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.90 |
| 8317 | 713.2 | -5.2 | 363 | 8323 | done | -1.55 | - | - | 2261 | - | 2.60 | 0.062 | 2811 | 545.4 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.28 |
| 8702 | 734.4 | -5.5 | 376 | 8708 | roll | -1.55 | - | - | 2260 | - | 2.50 | 0.044 | 1401 | -564.0 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.91 | 14.21 | 14.90 |
| 8891 | 743.8 | -5.0 | 403 | 8897 | done | -1.55 | - | - | 2259 | - | 2.58 | 0.061 | 2809 | 545.7 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.23 | 14.15 | 14.27 |
| 9263 | 762.1 | -5.0 | 414 | 9268 | roll | -1.55 | - | - | 2253 | - | 2.03 | 0.082 | 3906 | 540.4 | -107.1 | - | - | 3689 | - | - | - | - | - | - | - | - | 14.90 | 14.01 | 14.90 |
| 9360 | 767.7 | -5.4 | 428 | 9366 | done | -1.55 | - | - | 2253 | - | 1.92 | 0.044 | 2790 | -581.2 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.40 | 14.35 | 14.41 |
| 9711 | 784.6 | -4.6 | 436 | 9712 | done | -1.55 | - | - | 2253 | - | - | - | 2790 | - | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.76 | 14.77 | 14.77 |
| 10046 | 801.1 | -5.0 | 442 | 10052 | roll | -1.55 | - | - | 2253 | - | 2.45 | 0.044 | 1398 | -568.2 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.91 | 14.24 | 14.90 |
| 10102 | 803.7 | -4.9 | 450 | 10108 | done | -1.55 | - | - | 2248 | - | 2.58 | 0.061 | 2808 | 546.5 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.13 | 14.05 | 14.18 |
| 10497 | 820.7 | -4.2 | 464 | 10497 | done | -1.55 | - | - | 2248 | - | - | - | 2808 | - | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.88 | 14.89 | 14.88 |
| 10830 | 828.4 | -1.2 | 470 | 10836 | roll | -1.55 | - | - | 2247 | - | 2.03 | 0.083 | 3905 | 540.4 | -107.1 | - | - | 3686 | - | - | - | - | - | - | - | - | 14.90 | 14.05 | 14.92 |
| 10851 | 828.3 | -0.2 | 473 | 10858 | done | -1.55 | - | - | 2246 | - | 1.92 | 0.045 | 2797 | -577.1 | -107.1 | - | - | 3687 | - | - | - | - | - | - | - | - | 14.38 | 14.34 | 14.40 |
| 10995 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 10995 | begin apogee | ||||||||||||||||||||||||||||
| 11002 | 828.3 | - | 480 | 11063 | done | -0.23 | 1.85 | 0.276 | 2696 | 243.2 | - | - | 2532 | - | - | 57.62 | 3.049 | 3493 | -3.4 | 0.203 | - | - | - | - | - | - | 13.64 | 13.86 | 12.35 |
| 11064 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 11064 | begin climb | ||||||||||||||||||||||||||||
| 11067 | 828.0 | - | 481 | 11211 | roll | 1.55 | 1.83 | 0.114 | 3272 | 314.8 | 2.92 | 0.091 | 3907 | 470.9 | 107.1 | 129.18 | 3.094 | 3063 | -3.3 | 0.198 | - | - | - | - | - | - | 13.93 | 12.88 | 11.32 |
| 11419 | 757.7 | 24.4 | 533 | 11426 | done | 1.55 | - | - | 3282 | - | 2.45 | 0.053 | 2558 | -550.6 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.09 | 14.04 | 14.12 |
| 11787 | 676.4 | 22.0 | 543 | 11792 | roll | 1.55 | - | - | 3293 | - | 2.50 | 0.065 | 1146 | -564.8 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.78 | 14.38 | 14.79 |
| 11889 | 654.5 | 20.1 | 558 | 11897 | done | 1.55 | - | - | 3293 | - | 2.55 | 0.069 | 2548 | 549.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.45 | 14.35 | 14.49 |
| 12233 | 580.9 | 21.4 | 565 | 12233 | done | 1.55 | - | - | 3293 | - | - | - | 2548 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 12568 | 510.8 | 20.8 | 571 | 12574 | roll | 1.55 | - | - | 3303 | - | 2.50 | 0.063 | 1137 | -564.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.85 | 14.39 | 14.85 |
| 12609 | 502.3 | 20.1 | 577 | 12616 | done | 1.55 | 0.12 | 0.306 | 3273 | -250.0 | 2.55 | 0.068 | 2550 | 554.1 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 13.89 | 14.35 | 14.19 |
| 12963 | 435.7 | 18.9 | 585 | 12968 | roll | 1.55 | - | - | 3273 | - | 2.50 | 0.092 | 3920 | 548.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.83 | 14.36 | 14.84 |
| 12989 | 430.0 | 20.3 | 589 | 12994 | done | 1.55 | - | - | 3283 | - | 2.38 | 0.054 | 2538 | -580.7 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.64 |
| 13354 | 361.0 | 18.8 | 599 | 13359 | roll | 1.55 | - | - | 3294 | - | 2.47 | 0.063 | 1145 | -564.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.86 | 14.36 | 14.86 |
| 13380 | 355.7 | 18.9 | 603 | 13386 | done | 1.55 | - | - | 3294 | - | 2.58 | 0.068 | 2561 | 548.8 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.41 | 14.31 | 14.46 |
| 13748 | 286.7 | 18.9 | 613 | 13749 | done | 1.55 | - | - | 3293 | - | - | - | 2561 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 14080 | 226.1 | 17.7 | 619 | 14087 | roll | 1.55 | - | - | 3304 | - | 2.55 | 0.061 | 1150 | -553.3 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.93 | 14.28 | 14.93 |
| 14108 | 221.1 | 17.8 | 623 | 14114 | done | 1.55 | 0.10 | 0.307 | 3281 | -230.0 | 2.58 | 0.068 | 2561 | 546.9 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 13.84 | 14.30 | 14.12 |
| 14472 | 158.5 | 16.9 | 637 | 14478 | roll | 1.55 | - | - | 3291 | - | 2.55 | 0.061 | 1149 | -553.7 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.93 | 14.26 | 14.93 |
| 14499 | 153.8 | 17.0 | 641 | 14509 | done | 1.55 | - | - | 3291 | - | 2.55 | 0.067 | 2553 | 550.6 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.38 | 14.29 | 14.44 |
| 14865 | 91.5 | 17.0 | 657 | 14871 | roll | 1.55 | - | - | 3301 | - | 2.53 | 0.061 | 1155 | -552.6 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.92 | 14.18 | 14.92 |
| 14900 | 85.6 | 16.8 | 662 | 14907 | done | 1.55 | - | - | 3298 | - | 2.53 | 0.068 | 2563 | 556.5 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.50 | 14.34 | 14.56 |
| 15257 | 23.4 | 17.4 | 677 | 15263 | roll | 1.55 | 0.15 | 0.340 | 3273 | -166.7 | 2.53 | 0.091 | 3909 | 532.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 13.85 | 14.19 | 14.32 |
| 15299 | 15.5 | 19.4 | 683 | 15305 | done | 1.55 | - | - | 3283 | - | 2.40 | 0.053 | 2541 | -570.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.46 | 14.41 | 14.49 |
| 15394 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15394 | begin surface coast | ||||||||||||||||||||||||||||
| 15422 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15422 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.44 | - | - | - | - | -8.03 | 9.25 | 0.080 | 188 | 20.3 | 0.50 | 0.089 | 2809 | 3558.0 | 300.18 | 144.00 | 0.217 | 2296 | 15.9 | -0.003 | - | - | - | - | - | - | |||