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| • Previous call tries 1 | • 215.69 of 350.00 AH used of 24V (38.38% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.3 deg, depth 0.81 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 11.3 m at 11.3 m depth, ceiling 0.0 m (m = 1.07, R^2 = 1.00) | |
| • GPS1 time: 16 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 119 | done | -1.06 | - | - | 213 | - | - | - | 2322 | - | -107.1 | -105.00 | 0.002 | 2998 | - | - | - | - | - | - | - | - | 14.94 | 12.79 | 14.96 |
| 123 | 1.4 | -1.0 | 3 | 139 | roll | -1.06 | 11.52 | 0.416 | 2528 | 201.0 | 2.62 | 0.066 | 888 | -547.3 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.05 | 14.54 | 14.50 |
| 222 | 20.5 | -15.0 | 18 | 229 | done | -1.06 | - | - | 2519 | - | 2.55 | 0.065 | 2304 | 555.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.65 | 14.50 | 14.70 |
| 568 | 71.1 | -14.1 | 31 | 573 | roll | -1.06 | - | - | 2508 | - | 2.67 | 0.109 | 3719 | 530.0 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.96 | 14.33 | 14.98 |
| 600 | 76.3 | -15.0 | 36 | 606 | done | -1.06 | - | - | 2508 | - | 2.50 | 0.044 | 2292 | -570.8 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.60 | 14.56 | 14.63 |
| 959 | 131.6 | -16.2 | 51 | 965 | roll | -1.06 | - | - | 2508 | - | 2.50 | 0.068 | 896 | -558.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 14.30 | 15.10 |
| 1083 | 151.9 | -15.6 | 69 | 1090 | done | -1.06 | - | - | 2503 | - | 2.60 | 0.067 | 2298 | 539.2 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.12 | 14.02 | 14.17 |
| 1464 | 210.1 | -15.4 | 83 | 1469 | roll | -1.06 | - | - | 2503 | - | 2.58 | 0.067 | 898 | -542.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.95 | 14.19 | 14.97 |
| 1489 | 214.4 | -15.4 | 87 | 1496 | done | -1.06 | 0.12 | 0.270 | 2529 | 216.7 | 2.60 | 0.067 | 2310 | 543.1 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 13.86 | 14.30 | 14.07 |
| 1853 | 264.8 | -13.8 | 97 | 1854 | done | -1.06 | - | - | 2523 | - | - | - | 2311 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.13 |
| 2189 | 310.2 | -13.3 | 103 | 2190 | done | -1.06 | - | - | 2523 | - | - | - | 2311 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 2525 | 353.7 | -12.9 | 109 | 2532 | roll | -1.06 | - | - | 2514 | - | 2.75 | 0.111 | 3715 | 510.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.13 | 14.09 | 15.16 |
| 2574 | 360.3 | -13.7 | 116 | 2582 | done | -1.06 | - | - | 2514 | - | 2.50 | 0.044 | 2292 | -569.2 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.50 | 14.46 | 14.54 |
| 2917 | 404.5 | -12.9 | 123 | 2918 | done | -1.06 | - | - | 2513 | - | - | - | 2292 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 15.09 | 15.09 |
| 3253 | 446.7 | -12.6 | 129 | 3260 | roll | -1.06 | - | - | 2514 | - | 2.58 | 0.067 | 901 | -539.1 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.05 | 13.99 | 15.07 |
| 3288 | 451.2 | -13.0 | 134 | 3294 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.063 | 2309 | 541.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.29 | 14.21 | 14.37 |
| 3645 | 497.6 | -13.0 | 143 | 3646 | done | -1.06 | - | - | 2504 | - | - | - | 2309 | - | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 15.06 | 15.08 | 15.08 |
| 3981 | 542.1 | -13.2 | 149 | 3988 | roll | -1.06 | - | - | 2504 | - | 2.60 | 0.066 | 909 | -538.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 14.12 | 15.09 |
| 4030 | 548.9 | -13.9 | 156 | 4038 | done | -1.06 | 0.12 | 0.269 | 2523 | 158.3 | 2.58 | 0.064 | 2304 | 540.7 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 13.76 | 14.22 | 13.96 |
| 4373 | 591.9 | -12.5 | 163 | 4379 | roll | -1.06 | - | - | 2523 | - | 2.60 | 0.066 | 900 | -540.0 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 14.12 | 15.08 |
| 4408 | 596.4 | -13.0 | 168 | 4414 | done | -1.06 | - | - | 2517 | - | 2.60 | 0.065 | 2309 | 541.9 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.27 | 14.19 | 14.34 |
| 4765 | 642.9 | -13.0 | 177 | 4766 | done | -1.06 | - | - | 2517 | - | - | - | 2310 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 5101 | 685.5 | -12.6 | 183 | 5107 | roll | -1.06 | - | - | 2517 | - | 2.58 | 0.065 | 912 | -541.9 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.07 | 14.10 | 15.09 |
| 5136 | 690.2 | -13.1 | 188 | 5142 | done | -1.06 | - | - | 2506 | - | 2.58 | 0.062 | 2312 | 542.6 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.28 | 14.21 | 14.35 |
| 5493 | 737.1 | -13.2 | 197 | 5500 | roll | -1.06 | - | - | 2506 | - | 2.60 | 0.065 | 910 | -539.2 | -107.1 | - | - | 3001 | - | - | - | - | - | - | - | - | 15.08 | 14.09 | 15.10 |
| 5542 | 743.6 | -13.6 | 204 | 5550 | done | -1.06 | - | - | 2503 | - | 2.58 | 0.065 | 2305 | 540.7 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 14.26 | 14.18 | 14.33 |
| 5885 | 786.1 | -12.3 | 211 | 5886 | done | -1.06 | - | - | 2503 | - | - | - | 2305 | - | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.10 |
| 6221 | 824.6 | -11.2 | 217 | 6228 | roll | -1.06 | - | - | 2503 | - | 2.60 | 0.065 | 910 | -536.5 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.07 | 14.08 | 15.09 |
| 6326 | 836.4 | -11.1 | 232 | 6334 | done | -1.06 | 0.12 | 0.267 | 2523 | 166.7 | 2.58 | 0.061 | 2309 | 542.2 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 13.71 | 14.19 | 13.90 |
| 6669 | 872.6 | -10.7 | 239 | 6675 | roll | -1.06 | - | - | 2514 | - | 2.75 | 0.110 | 3716 | 511.6 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.07 | 14.00 | 15.10 |
| 6711 | 877.4 | -11.7 | 245 | 6718 | done | -1.06 | - | - | 2514 | - | 2.50 | 0.044 | 2292 | -569.6 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 14.45 | 14.40 | 14.47 |
| 7062 | 915.3 | -10.8 | 253 | 7068 | roll | -1.06 | - | - | 2514 | - | 2.53 | 0.066 | 903 | -549.0 | -107.1 | - | - | 3001 | - | - | - | - | - | - | - | - | 14.88 | 14.18 | 14.90 |
| 7138 | 923.7 | -10.9 | 264 | 7145 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.063 | 2302 | 538.1 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 14.23 | 14.16 | 14.31 |
| 7509 | 947.7 | -3.3 | 275 | 7515 | roll | -1.06 | - | - | 2503 | - | 2.55 | 0.063 | 902 | -549.0 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.07 | 14.14 | 15.09 |
| 7747 | 947.7 | -0.8 | 309 | 7755 | done | -1.06 | - | - | 2503 | - | 2.58 | 0.062 | 2307 | 544.6 | -107.1 | - | - | 3001 | - | - | - | - | - | - | - | - | 14.26 | 14.17 | 14.31 |
| 7954 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 7954 | begin apogee | ||||||||||||||||||||||||||||
| 7961 | 947.7 | - | 318 | 8095 | done | -0.23 | 1.02 | 0.155 | 2801 | 292.2 | 0.08 | 0.175 | 2113 | -2425.0 | - | 131.07 | 3.094 | 2558 | -3.4 | 0.230 | - | - | - | - | - | - | 14.05 | 13.34 | 11.97 |
| 8096 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8096 | begin climb | ||||||||||||||||||||||||||||
| 8099 | 948.2 | - | 320 | 8261 | roll | 1.06 | 1.40 | 0.129 | 3209 | 291.4 | 3.05 | 0.097 | 3501 | 455.1 | 107.1 | 151.30 | 3.099 | 2122 | -2.9 | 0.196 | - | - | - | - | - | - | 13.44 | 12.18 | 11.03 |
| 8385 | 921.2 | 12.4 | 365 | 8393 | done | 1.06 | - | - | 3218 | - | 2.62 | 0.042 | 2125 | -525.2 | 107.1 | - | - | 2114 | - | - | - | - | - | - | - | - | 13.52 | 13.47 | 13.54 |
| 8743 | 879.0 | 11.8 | 374 | 8743 | done | 1.06 | - | - | 3219 | - | - | - | 2125 | - | 107.1 | - | - | 2112 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 15.00 |
| 9079 | 839.6 | 11.8 | 380 | 9079 | done | 1.06 | - | - | 3219 | - | - | - | 2125 | - | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
| 9415 | 802.9 | 10.7 | 386 | 9415 | done | 1.06 | - | - | 3219 | - | - | - | 2124 | - | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.15 |
| 9751 | 766.0 | 11.0 | 392 | 9751 | done | 1.06 | - | - | 3219 | - | - | - | 2124 | - | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.15 |
| 10087 | 725.8 | 12.3 | 398 | 10093 | roll | 1.06 | - | - | 3219 | - | 2.62 | 0.103 | 3499 | 524.8 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.13 | 14.40 | 15.16 |
| 10115 | 722.2 | 12.8 | 402 | 10121 | done | 1.06 | - | - | 3227 | - | 2.42 | 0.044 | 2086 | -583.9 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.79 | 14.69 | 14.83 |
| 10479 | 679.4 | 11.4 | 412 | 10479 | done | 1.06 | - | - | 3227 | - | - | - | 2086 | - | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 10815 | 643.7 | 10.5 | 418 | 10821 | roll | 1.06 | - | - | 3227 | - | 2.70 | 0.099 | 3500 | 523.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.13 | 14.36 | 15.15 |
| 10849 | 639.8 | 10.9 | 423 | 10857 | done | 1.06 | - | - | 3237 | - | 2.45 | 0.044 | 2095 | -573.5 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.65 | 14.58 | 14.69 |
| 11207 | 601.5 | 10.8 | 432 | 11208 | done | 1.06 | - | - | 3237 | - | - | - | 2094 | - | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.04 |
| 11544 | 565.3 | 10.7 | 438 | 11549 | roll | 1.06 | - | - | 3237 | - | 2.65 | 0.100 | 3503 | 531.7 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.02 | 14.43 | 15.04 |
| 11591 | 559.8 | 11.5 | 445 | 11600 | done | 1.06 | 0.12 | 0.246 | 3215 | -183.3 | 2.45 | 0.044 | 2098 | -573.5 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.12 | 14.55 | 14.30 |
| 11935 | 526.8 | 9.6 | 452 | 11935 | done | 1.06 | - | - | 3215 | - | - | - | 2098 | - | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.15 |
| 12271 | 494.6 | 9.6 | 458 | 12271 | done | 1.06 | - | - | 3215 | - | - | - | 2098 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 12607 | 462.5 | 9.5 | 464 | 12613 | roll | 1.06 | - | - | 3215 | - | 2.70 | 0.103 | 3503 | 520.4 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.12 | 14.29 | 15.15 |
| 12641 | 458.8 | 10.6 | 469 | 12649 | done | 1.06 | - | - | 3222 | - | 2.47 | 0.044 | 2092 | -571.3 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.63 |
| 13000 | 423.5 | 9.9 | 478 | 13005 | roll | 1.06 | - | - | 3222 | - | 2.67 | 0.099 | 3512 | 531.8 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.00 | 14.35 | 15.02 |
| 13041 | 418.9 | 11.3 | 484 | 13047 | done | 1.06 | - | - | 3233 | - | 2.47 | 0.044 | 2102 | -570.9 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.56 | 14.51 | 14.62 |
| 13391 | 382.7 | 10.3 | 492 | 13397 | roll | 1.06 | - | - | 3233 | - | 2.70 | 0.102 | 3510 | 521.5 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.11 | 14.25 | 15.13 |
| 13419 | 379.6 | 10.8 | 496 | 13425 | done | 1.06 | 0.12 | 0.255 | 3210 | -191.7 | 2.47 | 0.045 | 2101 | -570.4 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.03 | 14.50 | 14.21 |
| 13785 | 347.2 | 8.8 | 506 | 13792 | roll | 1.08 | - | - | 3210 | - | 2.67 | 0.101 | 3503 | 525.1 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.06 | 14.32 | 15.09 |
| 13825 | 343.1 | 9.9 | 512 | 13832 | done | 1.08 | - | - | 3219 | - | 2.47 | 0.044 | 2098 | -568.8 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.54 | 14.49 | 14.59 |
| 14176 | 310.8 | 9.3 | 520 | 14177 | done | 1.09 | - | - | 3218 | - | - | - | 2098 | - | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.96 | 14.99 | 14.98 |
| 14512 | 280.3 | 9.0 | 526 | 14521 | roll | 1.11 | - | - | 3219 | - | 2.70 | 0.102 | 3523 | 527.8 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 15.08 | 14.24 | 15.10 |
| 14575 | 274.0 | 9.9 | 535 | 14582 | done | 1.11 | - | - | 3228 | - | 2.53 | 0.044 | 2092 | -565.6 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.52 | 14.47 | 14.57 |
| 14964 | 239.8 | 8.9 | 548 | 14969 | roll | 1.14 | - | - | 3228 | - | 2.70 | 0.102 | 3514 | 526.7 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.97 | 14.29 | 15.00 |
| 15038 | 232.1 | 10.2 | 559 | 15044 | done | 1.14 | - | - | 3238 | - | 2.50 | 0.044 | 2091 | -569.2 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.52 | 14.47 | 14.57 |
| 15410 | 197.6 | 9.3 | 570 | 15416 | roll | 1.15 | - | - | 3238 | - | 2.67 | 0.099 | 3507 | 530.3 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.97 | 14.28 | 15.00 |
| 15444 | 194.1 | 10.1 | 575 | 15450 | done | 1.15 | - | - | 3249 | - | 2.50 | 0.045 | 2091 | -566.4 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.51 | 14.46 | 14.56 |
| 15805 | 162.1 | 8.8 | 590 | 15810 | roll | 1.17 | - | - | 3259 | - | 2.58 | 0.086 | 700 | -539.1 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.95 | 14.28 | 14.99 |
| 15858 | 157.1 | 9.3 | 598 | 15864 | done | 1.19 | - | - | 3259 | - | 2.53 | 0.060 | 2099 | 553.0 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.50 |
| 16224 | 123.8 | 9.4 | 614 | 16229 | roll | 1.20 | - | - | 3259 | - | 2.65 | 0.099 | 3510 | 532.5 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.07 | 14.28 | 15.09 |
| 16263 | 119.5 | 10.6 | 620 | 16270 | done | 1.20 | - | - | 3270 | - | 2.50 | 0.046 | 2095 | -566.0 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.49 | 14.42 | 14.53 |
| 16616 | 86.4 | 9.5 | 634 | 16617 | done | 1.21 | - | - | 3270 | - | - | - | 2096 | - | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.07 | 15.09 | 15.09 |
| 16953 | 56.2 | 8.4 | 646 | 16958 | roll | 1.24 | - | - | 3270 | - | 2.70 | 0.102 | 3519 | 527.0 | 107.1 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.96 | 14.23 | 14.98 |
| 17118 | 39.4 | 10.4 | 670 | 17124 | done | 1.24 | - | - | 3281 | - | 2.53 | 0.044 | 2088 | -565.6 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.49 | 14.43 | 14.52 |
| 17482 | 2.6 | 10.4 | 686 | 17483 | done | 1.24 | - | - | 3279 | - | - | - | 2088 | - | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.11 |
| 17508 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17508 | begin surface coast | ||||||||||||||||||||||||||||
| 17535 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17535 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.82 | - | - | - | - | -8.24 | 9.05 | 0.063 | 212 | 23.4 | 0.43 | 0.080 | 2321 | 5383.7 | 350.04 | 168.35 | 0.229 | 1128 | 6.7 | -0.002 | - | - | - | - | - | - | |||