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| • Previous call tries 1 | • 197.30 of 350.00 AH used of 24V (43.63% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -62.1 deg, depth 0.53 m | • Intended pitch -43.9 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.18 (SM_CC=300) | • surface range 13.3 m at 13.4 m depth, ceiling 0.1 m (m = 1.06, R^2 = 1.00) | |
| • GPS1 time: 34 s | ||
| • GPS2 time: 5 s | • Transponder ping count: 2 | |
| • 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 | ||||||||||||||||||||||||||||
| 12 | - | - | - | 99 | done | -2.02 | - | - | 179 | - | - | - | 2811 | - | -22.2 | -83.60 | 0.003 | 3583 | - | - | - | - | - | - | - | - | 14.76 | 12.53 | 14.71 |
| 102 | 1.3 | -1.1 | 3 | 120 | roll | -2.02 | 9.88 | 0.425 | 2115 | 196.0 | 1.98 | 0.072 | 3907 | 553.5 | -22.2 | - | - | 3593 | - | - | - | - | - | - | - | - | 13.87 | 14.34 | 14.35 |
| 343 | 26.0 | -10.9 | 38 | 351 | done | -2.02 | - | - | 2115 | - | 1.92 | 0.038 | 2767 | -593.8 | -22.2 | - | - | 3597 | - | - | - | - | - | - | - | - | 14.51 | 14.48 | 14.53 |
| 688 | 61.6 | -10.2 | 51 | 693 | roll | -2.02 | - | - | 2115 | - | 2.33 | 0.044 | 1410 | -582.4 | -22.2 | - | - | 3599 | - | - | - | - | - | - | - | - | 14.87 | 14.40 | 14.87 |
| 791 | 72.3 | -10.5 | 66 | 799 | done | -2.02 | - | - | 2105 | - | 2.50 | 0.054 | 2801 | 556.4 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.37 | 14.29 | 14.42 |
| 1134 | 108.1 | -10.2 | 79 | 1135 | done | -2.02 | - | - | 2105 | - | - | - | 2806 | - | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 1470 | 143.6 | -10.5 | 91 | 1471 | done | -2.02 | - | - | 2105 | - | - | - | 2806 | - | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 1806 | 179.4 | -10.7 | 103 | 1812 | roll | -2.02 | - | - | 2103 | - | 2.03 | 0.076 | 3914 | 545.8 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.92 | 14.19 | 14.92 |
| 1876 | 187.2 | -11.3 | 113 | 1883 | done | -2.02 | - | - | 2104 | - | 1.90 | 0.038 | 2794 | -589.5 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.50 | 14.46 | 14.50 |
| 2226 | 224.5 | -10.6 | 123 | 2227 | done | -2.02 | - | - | 2102 | - | - | - | 2794 | - | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.91 |
| 2562 | 256.7 | -9.4 | 129 | 2569 | roll | -2.02 | - | - | 2103 | - | 2.42 | 0.044 | 1412 | -571.1 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.91 | 14.28 | 14.91 |
| 2667 | 265.8 | -8.4 | 144 | 2675 | done | -2.02 | 0.12 | 0.340 | 2120 | 141.7 | 2.50 | 0.054 | 2808 | 558.4 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 13.56 | 14.25 | 13.89 |
| 3010 | 294.5 | -8.4 | 151 | 3016 | roll | -2.02 | - | - | 2120 | - | 2.47 | 0.043 | 1409 | -566.4 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.91 | 14.27 | 14.91 |
| 3059 | 298.4 | -8.2 | 158 | 3066 | done | -2.02 | - | - | 2115 | - | 2.50 | 0.056 | 2802 | 557.2 | -22.2 | - | - | 3600 | - | - | - | - | - | - | - | - | 14.32 | 14.23 | 14.35 |
| 3402 | 325.6 | -7.8 | 165 | 3403 | done | -2.03 | - | - | 2115 | - | - | - | 2802 | - | -29.5 | -0.10 | 0.933 | 3619 | -190.0 | 14.322 | - | - | - | - | - | - | 14.90 | 12.35 | 13.75 |
| 3738 | 353.1 | -8.3 | 171 | 3739 | done | -2.03 | - | - | 2115 | - | - | - | 2802 | - | -29.5 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.91 | 14.95 | 14.91 |
| 4074 | 381.0 | -8.2 | 177 | 4075 | done | -2.03 | - | - | 2115 | - | - | - | 2802 | - | -29.5 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 4410 | 407.0 | -7.7 | 183 | 4416 | roll | -2.04 | - | - | 2115 | - | 2.47 | 0.043 | 1406 | -565.2 | -37.2 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 4487 | 413.6 | -8.6 | 194 | 4493 | done | -2.04 | - | - | 2105 | - | 2.53 | 0.055 | 2809 | 554.5 | -37.2 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.29 | 14.22 | 14.33 |
| 4859 | 445.7 | -8.4 | 205 | 4865 | roll | -2.04 | - | - | 2100 | - | 2.00 | 0.077 | 3903 | 547.0 | -37.2 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.78 | 14.12 | 14.78 |
| 4970 | 454.8 | -8.3 | 221 | 4977 | done | -2.04 | - | - | 2100 | - | 1.90 | 0.040 | 2797 | -582.1 | -37.2 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.42 | 14.39 | 14.43 |
| 5362 | 484.4 | -7.4 | 235 | 5368 | roll | -2.05 | - | - | 2091 | - | 2.05 | 0.074 | 3912 | 543.9 | -45.8 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.90 | 14.13 | 14.90 |
| 5467 | 492.5 | -7.8 | 250 | 5475 | done | -2.06 | - | - | 2091 | - | 1.92 | 0.039 | 2793 | -582.8 | -53.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.44 |
| 5810 | 515.7 | -6.5 | 257 | 5817 | roll | -2.07 | - | - | 2090 | - | 2.42 | 0.043 | 1406 | -573.1 | -64.6 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 6013 | 528.3 | -6.2 | 286 | 6019 | done | -2.09 | - | - | 2080 | - | 2.50 | 0.055 | 2799 | 557.2 | -77.3 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.31 |
| 6370 | 551.0 | -6.4 | 295 | 6376 | roll | -2.10 | - | - | 2081 | - | 2.42 | 0.042 | 1395 | -580.2 | -89.3 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.89 | 14.28 | 14.88 |
| 6468 | 557.6 | -6.9 | 309 | 6475 | done | -2.12 | - | - | 2070 | - | 2.53 | 0.055 | 2802 | 556.1 | -99.7 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.26 | 14.18 | 14.30 |
| 6818 | 580.0 | -6.2 | 317 | 6825 | roll | -2.13 | - | - | 2072 | - | 2.47 | 0.042 | 1399 | -568.0 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.90 |
| 6888 | 584.3 | -6.1 | 327 | 6894 | done | -2.13 | - | - | 2070 | - | 2.53 | 0.056 | 2799 | 553.4 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.26 | 14.17 | 14.30 |
| 7266 | 605.6 | -5.5 | 339 | 7272 | roll | -2.13 | - | - | 2062 | - | 2.03 | 0.074 | 3911 | 547.8 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.90 | 14.12 | 14.90 |
| 7504 | 618.8 | -5.4 | 373 | 7511 | done | -2.13 | 0.10 | 0.347 | 2084 | 220.0 | 1.92 | 0.039 | 2796 | -580.7 | -107.1 | - | - | 3621 | - | - | - | - | - | - | - | - | 13.53 | 14.35 | 13.83 |
| 7882 | 635.0 | -4.1 | 385 | 7889 | roll | -2.13 | - | - | 2084 | - | 2.45 | 0.043 | 1402 | -569.0 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.90 | 14.12 | 14.90 |
| 7945 | 637.5 | -3.9 | 394 | 7951 | done | -2.13 | - | - | 2074 | - | 2.53 | 0.054 | 2806 | 554.9 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.26 | 14.18 | 14.29 |
| 8331 | 651.8 | -3.7 | 407 | 8336 | roll | -2.13 | - | - | 2067 | - | 1.98 | 0.076 | 3909 | 557.1 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.75 | 14.14 | 14.77 |
| 8568 | 660.4 | -3.7 | 441 | 8575 | done | -2.13 | - | - | 2067 | - | 1.92 | 0.039 | 2789 | -583.3 | -107.1 | - | - | 3621 | - | - | - | - | - | - | - | - | 14.39 | 14.36 | 14.42 |
| 8947 | 673.0 | -3.3 | 453 | 8953 | roll | -2.13 | - | - | 2060 | - | 2.03 | 0.073 | 3913 | 553.7 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.76 | 14.16 | 14.76 |
| 9184 | 682.1 | -3.8 | 487 | 9190 | done | -2.13 | 0.12 | 0.352 | 2087 | 225.0 | 1.92 | 0.040 | 2797 | -581.2 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 13.45 | 14.35 | 13.77 |
| 9562 | 692.6 | -2.6 | 499 | 9568 | roll | -2.13 | - | - | 2078 | - | 2.05 | 0.073 | 3914 | 544.9 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.92 |
| 9800 | 699.1 | -2.6 | 533 | 9807 | done | -2.13 | - | - | 2080 | - | 1.92 | 0.040 | 2794 | -583.3 | -107.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.39 | 14.36 | 14.41 |
| 10178 | 707.4 | -2.1 | 545 | 10185 | roll | -2.13 | - | - | 2070 | - | 2.05 | 0.073 | 3913 | 545.9 | -107.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.92 |
| 10416 | 712.1 | -2.0 | 579 | 10422 | done | -2.13 | - | - | 2078 | - | 1.92 | 0.040 | 2790 | -584.9 | -107.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.39 | 14.35 | 14.41 |
| 10794 | 718.4 | -1.6 | 591 | 10800 | roll | -2.13 | - | - | 2069 | - | 2.05 | 0.073 | 3904 | 543.4 | -107.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.94 | 14.09 | 14.94 |
| 11032 | 721.9 | -1.4 | 625 | 11039 | done | -2.13 | - | - | 2077 | - | 1.90 | 0.041 | 2795 | -583.7 | -107.1 | - | - | 3623 | - | - | - | - | - | - | - | - | 14.38 | 14.35 | 14.40 |
| 11411 | 725.7 | -0.9 | 637 | 11417 | roll | -2.13 | - | - | 2077 | - | 2.42 | 0.042 | 1400 | -576.4 | -107.1 | - | - | 3622 | - | - | - | - | - | - | - | - | 14.88 | 14.28 | 14.88 |
| 11533 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 11533 | begin apogee | ||||||||||||||||||||||||||||
| 11542 | 726.5 | - | 655 | 11594 | done | -0.23 | 2.80 | 0.330 | 2697 | 221.4 | - | - | 2556 | - | - | 41.45 | 3.016 | 3489 | -3.2 | 0.167 | - | - | - | - | - | - | 13.67 | 13.33 | 12.54 |
| 11595 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 11595 | begin climb | ||||||||||||||||||||||||||||
| 11598 | 725.5 | - | 656 | 11735 | roll | 2.13 | 2.40 | 0.119 | 3455 | 315.8 | 2.65 | 0.086 | 3901 | 507.5 | 107.1 | 125.85 | 3.058 | 3066 | -3.4 | 0.172 | - | - | - | - | - | - | 14.09 | 12.91 | 11.63 |
| 11790 | 685.1 | 32.3 | 684 | 11796 | done | 2.13 | - | - | 3465 | - | 2.53 | 0.051 | 2561 | -529.6 | 107.1 | - | - | 3061 | - | - | - | - | - | - | - | - | 13.59 | 13.55 | 13.62 |
| 12156 | 577.1 | 29.4 | 694 | 12161 | roll | 2.13 | - | - | 3476 | - | 2.53 | 0.064 | 1138 | -562.5 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.76 | 14.35 | 14.74 |
| 12189 | 567.3 | 28.2 | 699 | 12196 | done | 2.13 | - | - | 3476 | - | 2.55 | 0.070 | 2542 | 550.6 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.42 | 14.34 | 14.47 |
| 12550 | 467.4 | 27.7 | 708 | 12554 | roll | 2.13 | - | - | 3486 | - | 2.50 | 0.068 | 1137 | -562.0 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.83 | 14.38 | 14.83 |
| 12616 | 448.7 | 26.3 | 718 | 12622 | done | 2.13 | - | - | 3486 | - | 2.55 | 0.067 | 2550 | 554.1 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.45 | 14.37 | 14.50 |
| 12997 | 344.9 | 27.4 | 730 | 13002 | roll | 2.13 | - | - | 3496 | - | 2.50 | 0.066 | 1146 | -561.6 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.85 | 14.39 | 14.85 |
| 13022 | 337.5 | 26.3 | 734 | 13029 | done | 2.13 | 0.15 | 0.352 | 3463 | -220.0 | 2.58 | 0.068 | 2564 | 549.6 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 13.78 | 14.35 | 14.12 |
| 13387 | 246.0 | 24.8 | 744 | 13388 | done | 2.13 | - | - | 3464 | - | - | - | 2564 | - | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.84 | 14.84 | 14.84 |
| 13723 | 163.1 | 24.7 | 752 | 13728 | roll | 2.13 | - | - | 3473 | - | 2.53 | 0.063 | 1147 | -560.1 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.84 | 14.35 | 14.84 |
| 13757 | 154.5 | 24.5 | 757 | 13765 | done | 2.13 | - | - | 3473 | - | 2.55 | 0.067 | 2551 | 550.6 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.40 | 14.31 | 14.45 |
| 14114 | 67.0 | 24.5 | 772 | 14120 | roll | 2.13 | - | - | 3483 | - | 2.55 | 0.063 | 1144 | -551.8 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.98 | 14.26 | 14.95 |
| 14171 | 53.5 | 23.7 | 780 | 14177 | done | 2.13 | - | - | 3483 | - | 2.55 | 0.068 | 2559 | 554.9 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.42 | 14.26 | 14.48 |
| 14395 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14395 | begin surface coast | ||||||||||||||||||||||||||||
| 14420 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14420 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.55 | - | - | - | - | -8.04 | 9.93 | 0.084 | 178 | 17.9 | 0.47 | 0.093 | 2813 | 3793.6 | 300.18 | 137.18 | 0.226 | 2295 | 16.7 | -0.004 | - | - | - | - | - | - | |||