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| • Previous call tries 1 | • 236.90 of 350.00 AH used of 24V (32.31% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.1 deg, depth 0.78 m | • Intended pitch -43.7 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 11.8 m at 12.0 m depth, ceiling 0.2 m (m = 1.03, R^2 = 1.00) | |
| • GPS1 time: 29 s | ||
| • GPS2 time: 2 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 | - | - | - | 101 | done | -2.01 | - | - | 210 | - | - | - | 2318 | - | -23.5 | -86.55 | 0.002 | 2656 | - | - | - | - | - | - | - | - | 14.96 | 12.88 | 14.98 |
| 105 | 1.5 | -1.2 | 3 | 120 | roll | -2.01 | 9.90 | 0.416 | 2210 | 202.0 | 2.60 | 0.094 | 3714 | 536.9 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.09 | 14.54 | 14.38 |
| 322 | 27.2 | -14.5 | 35 | 328 | done | -2.01 | - | - | 2210 | - | 2.50 | 0.038 | 2273 | -576.4 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.62 | 14.58 | 14.64 |
| 689 | 75.5 | -12.7 | 51 | 690 | done | -2.01 | - | - | 2210 | - | - | - | 2273 | - | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.17 | 15.20 | 15.19 |
| 1022 | 119.2 | -13.2 | 63 | 1028 | roll | -2.01 | - | - | 2210 | - | 2.53 | 0.066 | 903 | -541.5 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.20 | 14.15 | 15.23 |
| 1179 | 139.8 | -13.0 | 85 | 1185 | done | -2.01 | - | - | 2199 | - | 2.55 | 0.061 | 2303 | 549.0 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.47 | 14.31 | 14.52 |
| 1529 | 183.5 | -12.6 | 99 | 1534 | roll | -2.01 | - | - | 2199 | - | 2.55 | 0.063 | 909 | -546.7 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.17 | 14.20 | 15.19 |
| 1764 | 213.5 | -11.9 | 133 | 1772 | done | -2.01 | 0.15 | 0.350 | 2218 | 126.7 | 2.60 | 0.059 | 2305 | 536.9 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 13.54 | 14.19 | 13.83 |
| 2143 | 254.8 | -10.8 | 145 | 2150 | roll | -2.01 | - | - | 2218 | - | 2.60 | 0.064 | 912 | -535.8 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.19 | 14.03 | 15.21 |
| 2177 | 258.7 | -11.3 | 150 | 2187 | done | -2.01 | - | - | 2210 | - | 2.60 | 0.063 | 2301 | 534.2 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.22 | 14.13 | 14.29 |
| 2537 | 294.9 | -10.0 | 159 | 2542 | roll | -2.01 | - | - | 2200 | - | 2.70 | 0.096 | 3722 | 526.3 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.87 | 14.07 | 14.89 |
| 2620 | 303.9 | -10.8 | 171 | 2626 | done | -2.01 | - | - | 2199 | - | 2.53 | 0.041 | 2290 | -566.0 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.37 | 14.32 | 14.40 |
| 2985 | 340.4 | -10.1 | 181 | 2991 | roll | -2.01 | - | - | 2200 | - | 2.55 | 0.063 | 901 | -544.7 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 14.86 | 14.10 | 14.88 |
| 3221 | 365.5 | -10.5 | 215 | 3228 | done | -2.01 | 0.12 | 0.350 | 2213 | 108.3 | 2.62 | 0.060 | 2299 | 533.6 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 13.50 | 14.10 | 13.80 |
| 3602 | 403.8 | -10.1 | 227 | 3607 | roll | -2.01 | - | - | 2213 | - | 2.60 | 0.062 | 906 | -535.8 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 15.16 | 14.08 | 15.19 |
| 3705 | 414.7 | -10.2 | 242 | 3712 | done | -2.01 | - | - | 2204 | - | 2.62 | 0.060 | 2302 | 532.8 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 14.17 | 14.09 | 14.23 |
| 4048 | 445.3 | -8.6 | 249 | 4054 | roll | -2.01 | - | - | 2205 | - | 2.60 | 0.063 | 896 | -540.8 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 14.86 | 14.06 | 14.88 |
| 4153 | 453.9 | -8.3 | 264 | 4160 | done | -2.01 | - | - | 2194 | - | 2.65 | 0.062 | 2329 | 540.8 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 14.28 | 14.10 | 14.34 |
| 4496 | 482.2 | -8.2 | 271 | 4502 | roll | -2.01 | - | - | 2194 | - | 2.62 | 0.061 | 902 | -544.7 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 15.19 | 14.03 | 15.21 |
| 4587 | 489.5 | -7.9 | 284 | 4593 | done | -2.02 | 0.15 | 0.346 | 2218 | 160.0 | 2.62 | 0.061 | 2299 | 533.2 | -30.8 | -0.15 | 0.555 | 2699 | -293.3 | 54.288 | - | - | - | - | - | - | 13.60 | 14.06 | 14.14 |
| 4946 | 521.9 | -9.2 | 293 | 4947 | done | -2.02 | - | - | 2218 | - | - | - | 2299 | - | -30.8 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.18 |
| 5280 | 551.3 | -8.6 | 299 | 5286 | roll | -2.02 | - | - | 2218 | - | 2.58 | 0.062 | 906 | -539.9 | -30.8 | - | - | 2699 | - | - | - | - | - | - | - | - | 14.85 | 14.02 | 14.88 |
| 5322 | 554.6 | -8.0 | 305 | 5329 | done | -2.03 | - | - | 2210 | - | 2.65 | 0.062 | 2304 | 527.5 | -37.9 | - | - | 2699 | - | - | - | - | - | - | - | - | 14.11 | 14.02 | 14.16 |
| 5672 | 582.2 | -7.9 | 313 | 5672 | done | -2.04 | - | - | 2210 | - | - | - | 2304 | - | -45.2 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
| 6008 | 608.7 | -8.0 | 319 | 6014 | roll | -2.05 | - | - | 2210 | - | 2.60 | 0.060 | 894 | -542.3 | -52.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 15.19 | 14.01 | 15.21 |
| 6042 | 611.5 | -8.3 | 324 | 6049 | done | -2.05 | - | - | 2200 | - | 2.65 | 0.060 | 2300 | 530.6 | -52.3 | - | - | 2700 | - | - | - | - | - | - | - | - | 14.08 | 14.03 | 14.14 |
| 6400 | 641.2 | -8.3 | 333 | 6407 | roll | -2.05 | - | - | 2199 | - | 2.60 | 0.061 | 909 | -535.0 | -52.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 15.19 | 13.89 | 15.21 |
| 6491 | 649.1 | -8.6 | 346 | 6497 | done | -2.05 | - | - | 2188 | - | 2.62 | 0.058 | 2303 | 532.1 | -52.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 14.09 | 14.02 | 14.16 |
| 6848 | 678.6 | -8.2 | 355 | 6854 | roll | -2.05 | - | - | 2189 | - | 2.62 | 0.061 | 898 | -536.3 | -52.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 15.19 | 13.88 | 15.21 |
| 6925 | 684.9 | -8.0 | 366 | 6931 | done | -2.05 | 0.12 | 0.340 | 2202 | 108.3 | 2.65 | 0.060 | 2307 | 531.7 | -52.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 13.52 | 14.02 | 13.82 |
| 7296 | 712.1 | -7.2 | 377 | 7303 | roll | -2.06 | - | - | 2202 | - | 2.58 | 0.060 | 904 | -543.8 | -62.3 | - | - | 2699 | - | - | - | - | - | - | - | - | 15.19 | 13.97 | 15.21 |
| 7352 | 715.9 | -6.9 | 385 | 7359 | done | -2.07 | - | - | 2194 | - | 2.60 | 0.061 | 2310 | 540.8 | -73.4 | - | - | 2699 | - | - | - | - | - | - | - | - | 14.26 | 14.10 | 14.31 |
| 7744 | 740.5 | -6.1 | 399 | 7750 | roll | -2.09 | - | - | 2183 | - | 2.75 | 0.096 | 3717 | 511.6 | -87.3 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.19 | 13.91 | 15.21 |
| 7779 | 742.7 | -6.3 | 404 | 7785 | done | -2.11 | - | - | 2183 | - | 2.53 | 0.040 | 2299 | -560.5 | -100.4 | - | - | 2699 | - | - | - | - | - | - | - | - | 14.23 | 14.18 | 14.26 |
| 8136 | 763.9 | -5.9 | 413 | 8143 | roll | -2.12 | - | - | 2183 | - | 2.58 | 0.061 | 899 | -542.6 | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.19 | 13.93 | 15.21 |
| 8285 | 772.4 | -5.2 | 434 | 8290 | done | -2.12 | - | - | 2173 | - | 2.60 | 0.058 | 2306 | 541.2 | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 14.24 | 14.09 | 14.30 |
| 8640 | 791.0 | -5.2 | 443 | 8641 | done | -2.12 | - | - | 2173 | - | - | - | 2306 | - | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.21 |
| 8976 | 808.6 | -5.2 | 449 | 8983 | roll | -2.12 | - | - | 2173 | - | 2.60 | 0.059 | 900 | -540.8 | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 15.19 | 13.91 | 15.21 |
| 9214 | 820.1 | -5.0 | 483 | 9220 | done | -2.12 | - | - | 2163 | - | 2.62 | 0.056 | 2300 | 534.4 | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 14.07 | 14.00 | 14.12 |
| 9593 | 838.9 | -5.0 | 495 | 9598 | roll | -2.12 | - | - | 2163 | - | 2.60 | 0.060 | 903 | -537.3 | -107.1 | - | - | 2701 | - | - | - | - | - | - | - | - | 14.80 | 13.96 | 14.82 |
| 9830 | 851.4 | -3.5 | 529 | 9837 | done | -2.12 | 0.15 | 0.337 | 2189 | 173.3 | 2.62 | 0.058 | 2300 | 533.2 | -107.1 | - | - | 2700 | - | - | - | - | - | - | - | - | 13.63 | 14.01 | 14.07 |
| 9981 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 9981 | begin apogee | ||||||||||||||||||||||||||||
| 9988 | 850.9 | - | 537 | 10034 | done | -0.23 | 2.58 | 0.320 | 2790 | 232.9 | 0.10 | 0.163 | 2128 | -1720.0 | - | 41.38 | 3.013 | 2558 | -3.4 | 0.203 | - | - | - | - | - | - | 14.07 | 14.19 | 12.94 |
| 10035 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10035 | begin climb | ||||||||||||||||||||||||||||
| 10038 | 850.9 | - | 537 | 10189 | roll | 2.12 | 2.40 | 0.114 | 3545 | 314.6 | 2.90 | 0.090 | 3501 | 473.4 | 107.1 | 139.75 | 3.085 | 2122 | -3.1 | 0.181 | - | - | - | - | - | - | 14.14 | 12.95 | 11.69 |
| 10209 | 822.0 | 26.7 | 548 | 10215 | done | 2.12 | - | - | 3555 | - | 2.67 | 0.039 | 2134 | -512.0 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 13.18 | 13.13 | 13.21 |
| 10602 | 714.3 | 27.5 | 562 | 10608 | roll | 2.12 | - | - | 3567 | - | 2.62 | 0.076 | 687 | -552.3 | 107.1 | - | - | 2109 | - | - | - | - | - | - | - | - | 14.88 | 14.46 | 14.91 |
| 10664 | 696.9 | 27.5 | 571 | 10671 | done | 2.12 | - | - | 3562 | - | 2.50 | 0.054 | 2090 | 561.2 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.69 |
| 11050 | 593.5 | 26.8 | 584 | 11056 | roll | 2.12 | - | - | 3567 | - | 2.62 | 0.096 | 3519 | 545.4 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.02 | 14.56 | 15.02 |
| 11071 | 587.6 | 27.0 | 587 | 11077 | done | 2.12 | - | - | 3577 | - | 2.47 | 0.041 | 2090 | -578.5 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.71 | 14.69 | 14.75 |
| 11445 | 488.0 | 26.7 | 598 | 11451 | roll | 2.12 | - | - | 3589 | - | 2.53 | 0.078 | 694 | -551.8 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.00 | 14.54 | 15.02 |
| 11471 | 480.2 | 26.9 | 602 | 11478 | done | 2.12 | 0.17 | 0.360 | 3551 | -223.5 | 2.53 | 0.057 | 2107 | 558.5 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.10 | 14.57 | 14.37 |
| 11836 | 389.7 | 24.6 | 612 | 11841 | roll | 2.12 | - | - | 3560 | - | 2.58 | 0.078 | 697 | -546.5 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.98 | 14.52 | 15.00 |
| 11856 | 384.5 | 24.7 | 615 | 11862 | done | 2.12 | - | - | 3557 | - | 2.53 | 0.058 | 2106 | 556.9 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.67 |
| 12231 | 295.0 | 23.7 | 626 | 12236 | roll | 2.12 | - | - | 3554 | - | 2.60 | 0.094 | 3509 | 539.6 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.98 | 14.48 | 15.01 |
| 12271 | 283.8 | 25.6 | 632 | 12277 | done | 2.12 | - | - | 3564 | - | 2.42 | 0.042 | 2093 | -585.1 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.75 | 14.64 | 14.79 |
| 12624 | 200.6 | 23.6 | 640 | 12629 | roll | 2.12 | - | - | 3573 | - | 2.55 | 0.080 | 696 | -547.8 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.97 | 14.46 | 14.99 |
| 12649 | 193.8 | 24.2 | 644 | 12655 | done | 2.12 | - | - | 3573 | - | 2.53 | 0.057 | 2108 | 558.1 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.57 | 14.51 | 14.64 |
| 13014 | 110.1 | 22.5 | 660 | 13015 | done | 2.12 | - | - | 3573 | - | - | - | 2109 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.96 | 14.98 | 14.99 |
| 13350 | 36.9 | 21.6 | 672 | 13351 | done | 2.12 | - | - | 3573 | - | - | - | 2109 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.95 | 14.98 | 14.97 |
| 13515 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13515 | begin surface coast | ||||||||||||||||||||||||||||
| 13545 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13545 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.81 | - | - | - | - | -8.24 | 10.45 | 0.110 | 213 | 20.4 | 0.35 | 0.078 | 2311 | 6585.7 | 350.04 | 159.57 | 0.221 | 1130 | 7.1 | -0.003 | - | - | - | - | - | - | |||