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| • Previous call tries 2 | • 237.61 of 350.00 AH used of 24V (32.11% 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 9.3 m at 9.2 m depth, ceiling -0.1 m (m = 1.06, R^2 = 1.00) | |
| • GPS1 time: 19 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 | |||||
| 10 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10 | begin dive | ||||||||||||||||||||||||||||
| 14 | - | - | - | 120 | done | -1.06 | - | - | 212 | - | - | - | 2314 | - | -107.1 | -105.05 | 0.002 | 2997 | - | - | - | - | - | - | - | - | 14.97 | 12.86 | 14.98 |
| 124 | 1.5 | -1.1 | 3 | 142 | roll | -1.06 | 11.38 | 0.414 | 2523 | 203.1 | 2.55 | 0.070 | 893 | -557.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.13 | 14.57 | 14.55 |
| 169 | 11.4 | -15.6 | 10 | 175 | done | -1.06 | - | - | 2514 | - | 2.58 | 0.064 | 2300 | 545.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.59 | 14.51 | 14.64 |
| 522 | 60.1 | -14.2 | 24 | 527 | roll | -1.06 | - | - | 2514 | - | 2.55 | 0.067 | 889 | -553.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 14.32 | 15.19 |
| 652 | 78.9 | -14.3 | 43 | 659 | done | -1.06 | - | - | 2503 | - | 2.60 | 0.060 | 2308 | 545.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.37 | 14.29 | 14.43 |
| 995 | 129.7 | -14.8 | 56 | 1001 | roll | -1.06 | - | - | 2503 | - | 2.62 | 0.067 | 895 | -539.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.20 | 14.10 | 15.22 |
| 1114 | 147.2 | -14.6 | 73 | 1121 | done | -1.06 | 0.12 | 0.260 | 2523 | 166.7 | 2.60 | 0.062 | 2307 | 543.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.76 | 14.19 | 13.95 |
| 1474 | 195.1 | -13.5 | 88 | 1479 | roll | -1.06 | - | - | 2514 | - | 2.65 | 0.107 | 3718 | 532.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 14.06 | 15.19 |
| 1506 | 200.0 | -14.3 | 93 | 1513 | done | -1.06 | - | - | 2514 | - | 2.53 | 0.044 | 2286 | -566.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.41 | 14.36 | 14.43 |
| 1864 | 248.7 | -13.4 | 102 | 1869 | roll | -1.06 | - | - | 2514 | - | 2.53 | 0.067 | 906 | -545.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.88 | 14.09 | 14.90 |
| 1941 | 259.3 | -13.7 | 113 | 1947 | done | -1.06 | - | - | 2504 | - | 2.58 | 0.063 | 2306 | 542.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.35 | 14.19 | 14.42 |
| 2311 | 310.1 | -13.7 | 124 | 2312 | done | -1.06 | - | - | 2504 | - | - | - | 2306 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.22 |
| 2647 | 355.4 | -13.6 | 130 | 2653 | roll | -1.06 | - | - | 2504 | - | 2.60 | 0.066 | 912 | -536.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.92 | 15.21 |
| 2675 | 359.3 | -13.9 | 134 | 2681 | done | -1.06 | 0.12 | 0.259 | 2523 | 158.3 | 2.58 | 0.062 | 2301 | 538.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.63 | 14.07 | 13.83 |
| 3039 | 406.5 | -12.8 | 144 | 3040 | done | -1.06 | - | - | 2523 | - | - | - | 2301 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.21 |
| 3375 | 448.4 | -12.5 | 150 | 3381 | roll | -1.06 | - | - | 2523 | - | 2.60 | 0.066 | 909 | -535.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.88 | 15.21 |
| 3410 | 452.9 | -12.9 | 155 | 3416 | done | -1.06 | - | - | 2515 | - | 2.58 | 0.060 | 2304 | 540.7 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.11 | 14.03 | 14.18 |
| 3767 | 497.4 | -12.4 | 164 | 3773 | roll | -1.06 | - | - | 2515 | - | 2.60 | 0.066 | 910 | -536.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.89 | 15.21 |
| 3796 | 500.8 | -12.4 | 168 | 3801 | done | -1.06 | - | - | 2504 | - | 2.58 | 0.063 | 2310 | 542.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.28 | 14.12 | 14.33 |
| 4159 | 545.3 | -12.1 | 178 | 4160 | done | -1.06 | - | - | 2504 | - | - | - | 2309 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
| 4495 | 583.0 | -11.0 | 184 | 4501 | roll | -1.06 | - | - | 2504 | - | 2.62 | 0.066 | 911 | -533.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.85 | 15.21 |
| 4551 | 589.2 | -11.2 | 192 | 4557 | done | -1.06 | 0.12 | 0.260 | 2523 | 158.3 | 2.60 | 0.061 | 2306 | 536.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.58 | 14.00 | 13.80 |
| 4946 | 630.2 | -10.3 | 206 | 4951 | roll | -1.06 | - | - | 2523 | - | 2.60 | 0.066 | 906 | -538.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.16 | 13.95 | 15.19 |
| 4992 | 635.3 | -10.4 | 213 | 5000 | done | -1.06 | - | - | 2515 | - | 2.62 | 0.063 | 2310 | 535.9 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.06 | 13.97 | 14.12 |
| 5336 | 674.2 | -11.9 | 220 | 5337 | done | -1.06 | - | - | 2515 | - | - | - | 2309 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.85 | 14.88 | 14.88 |
| 5672 | 715.4 | -12.6 | 226 | 5677 | roll | -1.06 | - | - | 2504 | - | 2.75 | 0.109 | 3722 | 513.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.85 | 13.95 | 14.87 |
| 5713 | 722.3 | -16.8 | 232 | 5719 | done | -1.06 | - | - | 2504 | - | 2.55 | 0.043 | 2293 | -560.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.22 | 14.18 | 14.24 |
| 6063 | 771.0 | -13.5 | 240 | 6069 | roll | -1.06 | - | - | 2504 | - | 2.62 | 0.067 | 900 | -531.7 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.19 | 13.83 | 15.20 |
| 6140 | 781.0 | -12.8 | 251 | 6146 | done | -1.06 | 0.12 | 0.257 | 2523 | 158.3 | 2.65 | 0.064 | 2307 | 530.9 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 13.59 | 13.95 | 13.81 |
| 6515 | 817.1 | -9.3 | 262 | 6520 | roll | -1.06 | - | - | 2524 | - | 2.62 | 0.065 | 899 | -537.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.83 | 13.91 | 14.85 |
| 6561 | 822.1 | -10.6 | 269 | 6569 | done | -1.06 | - | - | 2515 | - | 2.62 | 0.062 | 2301 | 535.1 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.04 | 13.95 | 14.11 |
| 6904 | 824.6 | - | 276 | 6910 | roll | -1.06 | - | - | 2515 | - | 2.62 | 0.063 | 902 | -534.0 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.19 | 13.83 | 15.21 |
| 6915 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 6915 | begin apogee | ||||||||||||||||||||||||||||
| 6924 | 825.1 | - | 278 | 7052 | done | -0.23 | 0.98 | 0.142 | 2802 | 292.9 | - | - | 2116 | - | - | 125.38 | 3.093 | 2559 | -3.5 | 0.205 | - | - | - | - | - | - | 14.00 | 13.43 | 12.18 |
| 7052 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7052 | begin climb | ||||||||||||||||||||||||||||
| 7056 | 825.1 | - | 280 | 7210 | roll | 1.06 | 1.38 | 0.124 | 3206 | 292.8 | 3.08 | 0.096 | 3501 | 449.7 | 107.1 | 147.80 | 3.040 | 2121 | -3.0 | 0.176 | - | - | - | - | - | - | 13.43 | 12.20 | 11.19 |
| 7289 | 801.0 | 13.9 | 317 | 7296 | done | 1.06 | - | - | 3214 | - | 2.70 | 0.041 | 2104 | -517.4 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 13.15 | 13.07 | 13.19 |
| 7639 | 761.8 | 11.1 | 325 | 7645 | roll | 1.06 | - | - | 3224 | - | 2.62 | 0.083 | 697 | -537.0 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.78 | 14.31 | 14.80 |
| 7688 | 756.5 | 11.7 | 332 | 7695 | done | 1.06 | - | - | 3224 | - | 2.50 | 0.057 | 2099 | 560.8 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.54 | 14.47 | 14.59 |
| 8032 | 714.7 | 12.4 | 339 | 8037 | roll | 1.06 | - | - | 3224 | - | 2.60 | 0.099 | 3516 | 545.0 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.00 | 14.55 | 15.04 |
| 8136 | 700.7 | 13.5 | 354 | 8143 | done | 1.06 | - | - | 3234 | - | 2.47 | 0.045 | 2085 | -579.4 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.75 |
| 8479 | 659.5 | 12.0 | 361 | 8479 | done | 1.06 | - | - | 3234 | - | - | - | 2085 | - | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.10 |
| 8815 | 616.9 | 12.7 | 367 | 8821 | roll | 1.06 | - | - | 3234 | - | 2.67 | 0.097 | 3534 | 542.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.09 | 14.48 | 15.11 |
| 8843 | 613.0 | 13.9 | 371 | 8849 | done | 1.06 | 0.12 | 0.249 | 3214 | -166.7 | 2.50 | 0.044 | 2098 | -574.4 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.27 | 14.62 | 14.45 |
| 9207 | 570.1 | 11.6 | 381 | 9208 | done | 1.06 | - | - | 3212 | - | - | - | 2098 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 9543 | 531.0 | 11.6 | 387 | 9549 | roll | 1.06 | - | - | 3211 | - | 2.67 | 0.099 | 3509 | 528.5 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.11 | 14.39 | 15.14 |
| 9599 | 524.1 | 12.6 | 395 | 9605 | done | 1.06 | - | - | 3220 | - | 2.47 | 0.043 | 2083 | -577.3 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.63 | 14.58 | 14.69 |
| 9991 | 478.6 | 11.5 | 409 | 9997 | roll | 1.06 | - | - | 3220 | - | 2.67 | 0.098 | 3512 | 535.2 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.08 | 14.39 | 15.10 |
| 10033 | 473.5 | 12.4 | 415 | 10039 | done | 1.06 | - | - | 3228 | - | 2.47 | 0.044 | 2097 | -572.9 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.62 | 14.57 | 14.66 |
| 10384 | 433.9 | 11.2 | 423 | 10389 | roll | 1.06 | - | - | 3233 | - | 2.65 | 0.099 | 3510 | 533.2 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.95 | 14.40 | 14.97 |
| 10418 | 429.6 | 12.3 | 428 | 10424 | done | 1.06 | 0.10 | 0.257 | 3215 | -180.0 | 2.50 | 0.044 | 2088 | -568.8 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.16 | 14.54 | 14.35 |
| 10778 | 390.8 | 10.7 | 437 | 10784 | roll | 1.06 | - | - | 3214 | - | 2.67 | 0.096 | 3516 | 534.8 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.03 | 14.39 | 15.07 |
| 10810 | 386.8 | 11.3 | 442 | 10818 | done | 1.06 | - | - | 3222 | - | 2.50 | 0.044 | 2092 | -569.6 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.62 |
| 11168 | 349.8 | 10.4 | 451 | 11169 | done | 1.06 | - | - | 3223 | - | - | - | 2092 | - | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.95 | 14.95 |
| 11505 | 315.7 | 10.0 | 457 | 11505 | done | 1.06 | - | - | 3223 | - | - | - | 2092 | - | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.93 | 14.95 | 14.95 |
| 11840 | 283.2 | 9.5 | 463 | 11846 | roll | 1.06 | - | - | 3223 | - | 2.67 | 0.098 | 3516 | 533.3 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.33 | 14.94 |
| 11888 | 278.2 | 10.3 | 470 | 11896 | done | 1.06 | - | - | 3232 | - | 2.50 | 0.043 | 2094 | -568.8 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.54 | 14.49 | 14.57 |
| 12232 | 246.1 | 9.3 | 477 | 12238 | roll | 1.07 | - | - | 3242 | - | 2.58 | 0.084 | 697 | -541.5 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 15.07 | 14.32 | 15.09 |
| 12294 | 239.8 | 10.2 | 486 | 12301 | done | 1.07 | - | - | 3242 | - | 2.53 | 0.059 | 2107 | 557.3 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.47 | 14.40 | 14.54 |
| 12680 | 200.4 | 10.1 | 499 | 12685 | roll | 1.07 | - | - | 3242 | - | 2.62 | 0.101 | 3509 | 535.1 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.08 | 14.28 | 15.11 |
| 12822 | 185.0 | 10.9 | 519 | 12828 | done | 1.07 | 0.17 | 0.270 | 3215 | -158.8 | 2.45 | 0.043 | 2088 | -580.0 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.10 | 14.55 | 14.45 |
| 13187 | 153.6 | 8.2 | 535 | 13192 | roll | 1.11 | - | - | 3215 | - | 2.70 | 0.098 | 3505 | 524.8 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.03 | 14.33 | 15.05 |
| 13212 | 151.2 | 8.8 | 539 | 13218 | done | 1.13 | - | - | 3223 | - | 2.50 | 0.045 | 2087 | -567.2 | 107.1 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.52 | 14.50 | 14.56 |
| 13579 | 121.8 | 8.0 | 555 | 13579 | done | 1.17 | - | - | 3222 | - | - | - | 2087 | - | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.05 | 15.09 | 15.08 |
| 13912 | 92.2 | 9.1 | 567 | 13918 | roll | 1.19 | - | - | 3222 | - | 2.70 | 0.097 | 3509 | 526.7 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.06 | 14.26 | 15.08 |
| 13961 | 87.2 | 10.8 | 574 | 13968 | done | 1.19 | - | - | 3232 | - | 2.50 | 0.044 | 2093 | -566.4 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.48 | 14.44 | 14.54 |
| 14307 | 57.2 | 8.0 | 587 | 14333 | roll | 1.23 | - | - | 3233 | - | 2.65 | 0.095 | 3512 | 535.5 | 139.2 | 19.50 | 0.399 | 1990 | -5.5 | 0.174 | - | - | - | - | - | - | 15.02 | 14.40 | 14.11 |
| 14402 | 47.6 | 10.5 | 601 | 14409 | done | 1.23 | - | - | 3242 | - | 2.50 | 0.044 | 2090 | -568.8 | 139.2 | - | - | 1988 | - | - | - | - | - | - | - | - | 14.59 | 14.54 | 14.64 |
| 14755 | 13.8 | 10.1 | 615 | 14760 | roll | 1.23 | - | - | 3253 | - | 2.58 | 0.086 | 694 | -541.1 | 139.2 | - | - | 1988 | - | - | - | - | - | - | - | - | 15.04 | 14.32 | 15.07 |
| 14846 | 4.1 | 10.4 | 628 | 14850 | done | 1.23 | - | - | 3253 | - | 2.50 | 0.060 | 2107 | 565.2 | 139.2 | - | - | 1984 | - | - | - | - | - | - | - | - | 14.51 | 14.36 | 14.57 |
| 14861 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14861 | begin surface coast | ||||||||||||||||||||||||||||
| 14889 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14889 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.83 | - | - | - | - | -8.25 | 9.02 | 0.068 | 209 | 23.2 | 0.38 | 0.110 | 2306 | 3357.9 | 350.04 | 149.30 | 0.231 | 1130 | 7.6 | -0.003 | - | - | - | - | - | - | |||