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| • Previous call tries 1 | • 213.38 of 350.00 AH used of 24V (39.04% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.3 deg, depth 0.78 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 12.6 m at 12.4 m depth, ceiling -0.2 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 15 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 119 | done | -1.06 | - | - | 211 | - | - | - | 2314 | - | -107.1 | -105.20 | 0.002 | 2997 | - | - | - | - | - | - | - | - | 14.93 | 12.78 | 14.95 |
| 123 | 1.4 | -0.9 | 3 | 139 | roll | -1.06 | 11.60 | 0.418 | 2518 | 198.9 | 2.62 | 0.096 | 3706 | 531.3 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.05 | 14.50 | 14.52 |
| 158 | 11.0 | -20.6 | 9 | 165 | done | -1.06 | - | - | 2518 | - | 2.47 | 0.044 | 2283 | -576.1 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.66 | 14.62 | 14.69 |
| 508 | 63.1 | -15.1 | 23 | 514 | roll | -1.06 | - | - | 2518 | - | 2.53 | 0.070 | 897 | -547.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.11 | 14.33 | 15.13 |
| 551 | 70.1 | -16.7 | 29 | 558 | done | -1.06 | - | - | 2508 | - | 2.53 | 0.066 | 2301 | 554.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.62 | 14.46 | 14.67 |
| 901 | 123.0 | -14.9 | 43 | 902 | done | -1.06 | - | - | 2508 | - | - | - | 2301 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 1236 | 172.8 | -14.7 | 55 | 1242 | roll | -1.06 | - | - | 2508 | - | 2.58 | 0.067 | 899 | -543.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.11 | 14.27 | 15.14 |
| 1320 | 184.9 | -14.3 | 67 | 1327 | done | -1.06 | - | - | 2503 | - | 2.58 | 0.067 | 2298 | 542.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.39 | 14.31 | 14.46 |
| 1715 | 238.9 | -13.5 | 79 | 1716 | done | -1.06 | - | - | 2503 | - | - | - | 2299 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.95 | 14.97 | 14.97 |
| 2049 | 286.1 | -14.3 | 85 | 2055 | roll | -1.06 | - | - | 2492 | - | 2.70 | 0.107 | 3720 | 526.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.94 | 14.26 | 14.96 |
| 2111 | 296.0 | -15.8 | 94 | 2121 | done | -1.06 | 0.12 | 0.265 | 2523 | 258.3 | 2.50 | 0.043 | 2282 | -575.2 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 13.90 | 14.52 | 14.08 |
| 2500 | 348.7 | -13.3 | 107 | 2505 | roll | -1.06 | - | - | 2524 | - | 2.47 | 0.067 | 916 | -553.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.08 | 14.31 | 15.10 |
| 2654 | 369.0 | -12.9 | 129 | 2660 | done | -1.06 | - | - | 2515 | - | 2.53 | 0.063 | 2310 | 551.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.53 | 14.37 | 14.58 |
| 3002 | 414.3 | -12.8 | 137 | 3003 | done | -1.06 | - | - | 2515 | - | - | - | 2310 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.06 | 15.08 | 15.07 |
| 3338 | 456.3 | -12.6 | 143 | 3344 | roll | -1.06 | - | - | 2514 | - | 2.55 | 0.067 | 911 | -548.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.05 | 14.22 | 15.08 |
| 3367 | 460.0 | -13.0 | 147 | 3372 | done | -1.06 | - | - | 2504 | - | 2.53 | 0.062 | 2307 | 551.8 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.51 | 14.35 | 14.57 |
| 3730 | 506.4 | -12.7 | 157 | 3737 | roll | -1.06 | - | - | 2505 | - | 2.58 | 0.065 | 909 | -541.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.08 | 14.22 | 15.11 |
| 3772 | 512.0 | -13.3 | 163 | 3778 | done | -1.06 | 0.12 | 0.271 | 2520 | 125.0 | 2.55 | 0.063 | 2297 | 544.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.81 | 14.26 | 14.01 |
| 4122 | 554.6 | -12.3 | 171 | 4128 | roll | -1.06 | - | - | 2524 | - | 2.55 | 0.066 | 915 | -542.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.08 | 14.18 | 15.10 |
| 4206 | 565.0 | -11.9 | 183 | 4212 | done | -1.06 | - | - | 2516 | - | 2.55 | 0.062 | 2305 | 545.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.33 | 14.25 | 14.40 |
| 4571 | 608.7 | -12.1 | 193 | 4577 | roll | -1.06 | - | - | 2516 | - | 2.53 | 0.065 | 916 | -549.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.93 | 14.26 | 14.95 |
| 4647 | 618.3 | -12.6 | 204 | 4654 | done | -1.06 | - | - | 2505 | - | 2.55 | 0.060 | 2309 | 546.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.34 | 14.26 | 14.40 |
| 5018 | 663.0 | -11.9 | 215 | 5018 | done | -1.06 | - | - | 2505 | - | - | - | 2309 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.10 |
| 5354 | 701.5 | -11.4 | 221 | 5361 | roll | -1.06 | - | - | 2505 | - | 2.58 | 0.065 | 917 | -539.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.08 | 14.14 | 15.11 |
| 5389 | 705.8 | -12.7 | 226 | 5395 | done | -1.06 | 0.12 | 0.268 | 2525 | 166.7 | 2.55 | 0.063 | 2307 | 545.1 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 13.76 | 14.23 | 13.97 |
| 5749 | 745.1 | -11.1 | 235 | 5750 | done | -1.06 | - | - | 2525 | - | - | - | 2306 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.92 | 14.95 | 14.94 |
| 6082 | 747.6 | -0.1 | 241 | 6089 | roll | -1.06 | - | - | 2521 | - | 2.70 | 0.109 | 3724 | 525.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.07 | 14.08 | 15.09 |
| 6093 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 6093 | begin apogee | ||||||||||||||||||||||||||||
| 6102 | 747.5 | - | 243 | 6230 | done | -0.23 | 0.93 | 0.145 | 2796 | 295.7 | - | - | 2084 | - | - | 125.47 | 3.082 | 2559 | -3.5 | 0.186 | - | - | - | - | - | - | 14.15 | 13.52 | 12.15 |
| 6231 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6231 | begin climb | ||||||||||||||||||||||||||||
| 6234 | 747.3 | - | 245 | 6386 | roll | 1.06 | 1.40 | 0.135 | 3216 | 300.0 | 2.88 | 0.079 | 728 | -470.8 | 107.1 | 142.12 | 2.999 | 2121 | -3.1 | 0.168 | - | - | - | - | - | - | 13.58 | 12.64 | 11.21 |
| 6440 | 731.9 | 10.7 | 278 | 6448 | done | 1.06 | - | - | 3216 | - | 2.75 | 0.054 | 2109 | 502.2 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 13.18 | 13.12 | 13.21 |
| 6829 | 690.2 | 10.6 | 291 | 6834 | roll | 1.06 | - | - | 3216 | - | 2.62 | 0.102 | 3523 | 539.7 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.88 | 14.45 | 14.90 |
| 6874 | 684.8 | 11.5 | 298 | 6883 | done | 1.06 | - | - | 3225 | - | 2.47 | 0.045 | 2109 | -572.5 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.66 | 14.57 | 14.67 |
| 7218 | 646.8 | 11.2 | 305 | 7224 | roll | 1.06 | - | - | 3234 | - | 2.60 | 0.085 | 700 | -541.9 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.09 | 14.47 | 15.11 |
| 7239 | 644.4 | 11.5 | 308 | 7245 | done | 1.06 | - | - | 3234 | - | 2.50 | 0.058 | 2108 | 563.2 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.71 |
| 7610 | 601.1 | 11.8 | 319 | 7616 | roll | 1.06 | - | - | 3234 | - | 2.58 | 0.102 | 3505 | 541.5 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.04 | 14.51 | 15.07 |
| 7637 | 597.6 | 12.4 | 323 | 7644 | done | 1.06 | 0.12 | 0.250 | 3212 | -183.3 | 2.45 | 0.045 | 2100 | -573.5 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.21 | 14.57 | 14.41 |
| 8004 | 562.7 | 9.4 | 333 | 8009 | roll | 1.07 | - | - | 3219 | - | 2.53 | 0.083 | 699 | -553.8 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.10 | 14.50 | 15.13 |
| 8079 | 555.6 | 9.2 | 344 | 8085 | done | 1.08 | - | - | 3219 | - | 2.50 | 0.057 | 2110 | 564.4 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.61 | 14.54 | 14.67 |
| 8450 | 520.3 | 9.6 | 355 | 8451 | done | 1.08 | - | - | 3220 | - | - | - | 2110 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.15 |
| 8786 | 488.0 | 9.7 | 361 | 8792 | roll | 1.08 | - | - | 3219 | - | 2.62 | 0.102 | 3502 | 531.3 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.12 | 14.37 | 15.15 |
| 8828 | 483.6 | 10.7 | 367 | 8835 | done | 1.08 | - | - | 3227 | - | 2.45 | 0.044 | 2097 | -573.5 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.57 | 14.51 | 14.62 |
| 9179 | 449.4 | 9.8 | 375 | 9179 | done | 1.08 | - | - | 3227 | - | - | - | 2097 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.02 | 15.04 | 15.04 |
| 9515 | 416.9 | 9.7 | 381 | 9515 | done | 1.08 | - | - | 3227 | - | - | - | 2097 | - | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.02 | 15.04 | 15.04 |
| 9850 | 384.4 | 9.7 | 387 | 9851 | done | 1.08 | - | - | 3227 | - | - | - | 2097 | - | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.01 | 15.04 | 15.04 |
| 10187 | 351.4 | 9.9 | 393 | 10192 | roll | 1.08 | - | - | 3227 | - | 2.65 | 0.102 | 3505 | 531.3 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.00 | 14.38 | 15.02 |
| 10234 | 346.2 | 10.7 | 400 | 10242 | done | 1.08 | - | - | 3237 | - | 2.47 | 0.044 | 2094 | -571.3 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.59 | 14.54 | 14.63 |
| 10578 | 311.9 | 10.0 | 407 | 10584 | roll | 1.08 | - | - | 3247 | - | 2.60 | 0.084 | 697 | -537.3 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.31 | 15.14 |
| 10640 | 305.3 | 10.8 | 416 | 10647 | done | 1.08 | 0.10 | 0.243 | 3221 | -260.0 | 2.50 | 0.057 | 2099 | 560.8 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.09 | 14.44 | 14.26 |
| 11028 | 268.2 | 9.4 | 429 | 11033 | roll | 1.10 | - | - | 3221 | - | 2.65 | 0.101 | 3512 | 533.2 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.09 | 14.35 | 15.11 |
| 11075 | 263.2 | 10.4 | 436 | 11082 | done | 1.10 | - | - | 3226 | - | 2.47 | 0.046 | 2088 | -576.5 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.68 | 14.57 | 14.73 |
| 11419 | 231.2 | 9.2 | 443 | 11424 | roll | 1.11 | - | - | 3226 | - | 2.70 | 0.099 | 3518 | 529.6 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.99 | 14.34 | 15.01 |
| 11522 | 220.1 | 10.6 | 458 | 11531 | done | 1.11 | - | - | 3232 | - | 2.50 | 0.043 | 2096 | -568.8 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.50 | 14.43 | 14.56 |
| 11867 | 187.8 | 9.2 | 467 | 11872 | roll | 1.13 | - | - | 3232 | - | 2.67 | 0.102 | 3515 | 531.5 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.98 | 14.32 | 15.00 |
| 11956 | 178.6 | 10.2 | 480 | 11963 | done | 1.13 | - | - | 3243 | - | 2.50 | 0.044 | 2095 | -568.0 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.54 | 14.49 | 14.59 |
| 12317 | 146.4 | 8.8 | 495 | 12322 | roll | 1.15 | - | - | 3242 | - | 2.67 | 0.102 | 3517 | 532.6 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.08 | 14.31 | 15.10 |
| 12350 | 143.1 | 9.3 | 500 | 12355 | done | 1.17 | - | - | 3253 | - | 2.47 | 0.045 | 2088 | -578.5 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.68 | 14.57 | 14.72 |
| 12709 | 110.0 | 9.4 | 515 | 12714 | roll | 1.18 | - | - | 3265 | - | 2.55 | 0.085 | 705 | -542.4 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.98 | 14.32 | 15.00 |
| 12776 | 103.1 | 9.7 | 525 | 12782 | done | 1.18 | - | - | 3262 | - | 2.50 | 0.058 | 2100 | 558.0 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.46 | 14.38 | 14.52 |
| 13128 | 69.8 | 9.6 | 539 | 13134 | roll | 1.18 | - | - | 3263 | - | 2.65 | 0.103 | 3516 | 534.3 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.09 | 14.29 | 15.11 |
| 13217 | 60.1 | 11.1 | 552 | 13223 | done | 1.18 | - | - | 3274 | - | 2.50 | 0.044 | 2095 | -568.4 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.51 | 14.46 | 14.55 |
| 13574 | 25.3 | 9.6 | 567 | 13580 | roll | 1.18 | - | - | 3274 | - | 2.72 | 0.102 | 3503 | 517.6 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.08 | 14.19 | 15.11 |
| 13616 | 20.8 | 10.8 | 573 | 13623 | done | 1.18 | 0.12 | 0.280 | 3253 | -175.0 | 2.47 | 0.045 | 2096 | -569.6 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 13.90 | 14.45 | 14.12 |
| 13855 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13855 | begin surface coast | ||||||||||||||||||||||||||||
| 13880 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13880 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.73 | - | - | - | - | -8.25 | 9.02 | 0.067 | 210 | 23.3 | 0.40 | 0.096 | 2311 | -7037.5 | 350.04 | 168.00 | 0.229 | 1128 | 6.7 | -0.002 | - | - | - | - | - | - | |||