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| • Previous call tries 1 | • 240.25 of 350.00 AH used of 24V (31.36% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.0 deg, depth 0.80 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 8.2 m at 8.0 m depth, ceiling -0.2 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 30 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 | - | - | 211 | - | - | - | 2309 | - | -107.1 | -104.85 | 0.002 | 2997 | - | - | - | - | - | - | - | - | 14.97 | 12.88 | 14.99 |
| 123 | 1.4 | -1.0 | 3 | 139 | roll | -1.06 | 11.30 | 0.412 | 2528 | 205.0 | 2.58 | 0.067 | 892 | -549.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.14 | 14.57 | 14.56 |
| 245 | 22.2 | -14.6 | 21 | 251 | done | -1.06 | - | - | 2519 | - | 2.50 | 0.063 | 2300 | 563.2 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.67 | 14.53 | 14.72 |
| 596 | 72.8 | -14.3 | 35 | 601 | roll | -1.06 | - | - | 2519 | - | 2.53 | 0.066 | 893 | -556.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.16 | 14.31 | 15.19 |
| 614 | 75.7 | -13.7 | 38 | 621 | done | -1.06 | - | - | 2508 | - | 2.58 | 0.065 | 2307 | 548.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.38 | 14.30 | 14.45 |
| 957 | 127.0 | -15.3 | 51 | 958 | done | -1.06 | - | - | 2508 | - | - | - | 2307 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.22 |
| 1294 | 174.2 | -13.5 | 63 | 1299 | roll | -1.06 | - | - | 2508 | - | 2.58 | 0.064 | 885 | -551.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.15 | 14.17 | 15.17 |
| 1363 | 184.0 | -14.0 | 73 | 1370 | done | -1.06 | 0.10 | 0.265 | 2523 | 150.0 | 2.60 | 0.062 | 2305 | 546.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.76 | 14.17 | 13.95 |
| 1717 | 229.1 | -13.0 | 83 | 1722 | roll | -1.06 | - | - | 2523 | - | 2.58 | 0.065 | 895 | -546.5 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.85 | 14.12 | 14.88 |
| 1756 | 234.9 | -13.9 | 89 | 1763 | done | -1.06 | - | - | 2514 | - | 2.60 | 0.063 | 2308 | 543.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.21 | 14.13 | 14.28 |
| 2106 | 283.8 | -14.0 | 97 | 2113 | roll | -1.06 | - | - | 2514 | - | 2.62 | 0.064 | 895 | -539.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.18 | 14.00 | 15.20 |
| 2141 | 288.7 | -14.2 | 102 | 2147 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.062 | 2305 | 542.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.20 | 14.12 | 14.26 |
| 2498 | 336.3 | -13.2 | 111 | 2504 | roll | -1.06 | - | - | 2504 | - | 2.62 | 0.065 | 894 | -538.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.18 | 13.97 | 15.20 |
| 2533 | 341.2 | -14.1 | 116 | 2539 | done | -1.06 | 0.12 | 0.262 | 2523 | 158.3 | 2.60 | 0.061 | 2310 | 544.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.69 | 14.10 | 13.88 |
| 2890 | 386.8 | -12.7 | 125 | 2891 | done | -1.06 | - | - | 2522 | - | - | - | 2310 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 15.20 | 15.19 |
| 3226 | 428.8 | -12.5 | 131 | 3232 | roll | -1.06 | - | - | 2523 | - | 2.62 | 0.065 | 898 | -538.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 13.90 | 15.20 |
| 3261 | 433.2 | -12.7 | 136 | 3267 | done | -1.06 | - | - | 2515 | - | 2.60 | 0.062 | 2304 | 540.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.14 | 14.05 | 14.20 |
| 3618 | 476.6 | -12.2 | 145 | 3625 | roll | -1.06 | - | - | 2514 | - | 2.62 | 0.064 | 895 | -537.8 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 15.17 | 13.90 | 15.20 |
| 3667 | 482.8 | -12.7 | 152 | 3674 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.060 | 2304 | 541.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.13 | 14.04 | 14.19 |
| 4010 | 528.3 | -13.2 | 159 | 4016 | roll | -1.06 | - | - | 2504 | - | 2.62 | 0.064 | 896 | -537.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 13.89 | 15.20 |
| 4059 | 534.8 | -13.5 | 166 | 4067 | done | -1.06 | 0.12 | 0.263 | 2523 | 158.3 | 2.60 | 0.062 | 2300 | 540.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.63 | 14.04 | 13.83 |
| 4402 | 576.1 | -11.9 | 173 | 4409 | roll | -1.06 | - | - | 2523 | - | 2.62 | 0.065 | 896 | -535.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 13.87 | 15.20 |
| 4458 | 582.8 | -11.8 | 181 | 4465 | done | -1.06 | - | - | 2514 | - | 2.58 | 0.062 | 2307 | 546.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.25 | 14.07 | 14.32 |
| 4850 | 626.8 | -11.2 | 195 | 4851 | done | -1.06 | - | - | 2514 | - | - | - | 2307 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.17 | 15.20 | 15.19 |
| 5186 | 666.3 | -11.5 | 201 | 5193 | roll | -1.06 | - | - | 2514 | - | 2.62 | 0.064 | 887 | -542.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 13.93 | 15.19 |
| 5298 | 679.1 | -10.7 | 217 | 5305 | done | -1.06 | - | - | 2504 | - | 2.62 | 0.060 | 2304 | 540.8 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.08 | 14.00 | 14.14 |
| 5690 | 722.4 | -11.3 | 231 | 5696 | roll | -1.06 | - | - | 2492 | - | 2.72 | 0.104 | 3723 | 521.7 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.17 | 13.97 | 15.19 |
| 5711 | 724.9 | -11.1 | 234 | 5717 | done | -1.06 | 0.17 | 0.285 | 2527 | 205.9 | 2.55 | 0.043 | 2254 | -576.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.60 | 14.22 | 13.98 |
| 6085 | 764.4 | -10.6 | 245 | 6086 | done | -1.06 | - | - | 2526 | - | - | - | 2253 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.81 | 14.84 | 14.83 |
| 6419 | 800.0 | -10.5 | 251 | 6420 | done | -1.06 | - | - | 2527 | - | - | - | 2253 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.83 | 14.86 | 14.86 |
| 6755 | 836.0 | -10.7 | 257 | 6761 | roll | -1.06 | - | - | 2527 | - | 2.50 | 0.066 | 908 | -538.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.83 | 13.91 | 14.85 |
| 6901 | 852.5 | -10.0 | 278 | 6907 | done | -1.06 | - | - | 2519 | - | 2.60 | 0.061 | 2300 | 535.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.04 | 13.97 | 14.12 |
| 7258 | 889.6 | -10.7 | 287 | 7264 | roll | -1.06 | - | - | 2520 | - | 2.60 | 0.063 | 916 | -532.3 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.17 | 13.84 | 15.19 |
| 7300 | 894.9 | -11.2 | 293 | 7307 | done | -1.06 | - | - | 2508 | - | 2.58 | 0.061 | 2302 | 537.2 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.06 | 13.97 | 14.12 |
| 7650 | 929.9 | -9.8 | 301 | 7657 | roll | -1.06 | - | - | 2506 | - | 2.75 | 0.109 | 3722 | 516.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.17 | 13.99 | 15.19 |
| 7808 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 7810 | begin apogee | ||||||||||||||||||||||||||||
| 7820 | 930.6 | - | 324 | 7951 | done | -0.23 | 1.00 | 0.138 | 2802 | 296.0 | - | - | 2089 | - | - | 128.45 | 3.094 | 2559 | -3.4 | 0.227 | - | - | - | - | - | - | 14.00 | 13.32 | 12.05 |
| 7952 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7952 | begin climb | ||||||||||||||||||||||||||||
| 7955 | 930.5 | - | 326 | 8116 | roll | 1.06 | 1.38 | 0.124 | 3214 | 298.6 | 3.00 | 0.078 | 717 | -457.3 | 107.1 | 153.27 | 3.097 | 2121 | -2.9 | 0.189 | - | - | - | - | - | - | 13.32 | 12.15 | 11.13 |
| 8315 | 898.3 | 10.4 | 382 | 8321 | done | 1.06 | - | - | 3212 | - | 2.70 | 0.054 | 2107 | 514.8 | 107.1 | - | - | 2111 | - | - | - | - | - | - | - | - | 13.46 | 13.39 | 13.59 |
| 8707 | 854.8 | 11.6 | 396 | 8708 | done | 1.06 | - | - | 3213 | - | - | - | 2107 | - | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 15.00 |
| 9043 | 814.2 | 11.8 | 402 | 9044 | done | 1.06 | - | - | 3213 | - | - | - | 2107 | - | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.11 |
| 9379 | 775.8 | 11.4 | 408 | 9380 | done | 1.06 | - | - | 3213 | - | - | - | 2106 | - | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.11 |
| 9715 | 739.4 | 10.5 | 414 | 9721 | roll | 1.06 | - | - | 3212 | - | 2.60 | 0.100 | 3519 | 543.5 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.06 | 14.52 | 15.10 |
| 9771 | 732.7 | 12.5 | 422 | 9777 | done | 1.06 | - | - | 3223 | - | 2.47 | 0.044 | 2097 | -575.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.67 | 14.62 | 14.71 |
| 10163 | 689.3 | 10.8 | 436 | 10169 | roll | 1.06 | - | - | 3223 | - | 2.65 | 0.099 | 3520 | 537.0 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.10 | 14.43 | 15.12 |
| 10199 | 685.0 | 12.3 | 441 | 10205 | done | 1.06 | - | - | 3233 | - | 2.45 | 0.044 | 2087 | -584.9 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.81 |
| 10556 | 642.9 | 12.1 | 450 | 10561 | roll | 1.06 | - | - | 3232 | - | 2.67 | 0.099 | 3520 | 536.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.97 | 14.45 | 15.00 |
| 10590 | 638.5 | 12.9 | 455 | 10596 | done | 1.06 | 0.12 | 0.252 | 3212 | -166.7 | 2.50 | 0.045 | 2090 | -572.0 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.16 | 14.50 | 14.34 |
| 10947 | 602.6 | 9.9 | 464 | 10953 | roll | 1.06 | - | - | 3212 | - | 2.65 | 0.096 | 3516 | 538.1 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.08 | 14.42 | 15.10 |
| 10982 | 598.8 | 10.7 | 469 | 10990 | done | 1.06 | - | - | 3220 | - | 2.47 | 0.044 | 2091 | -576.9 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.61 | 14.55 | 14.66 |
| 11340 | 562.5 | 10.4 | 478 | 11341 | done | 1.06 | - | - | 3220 | - | - | - | 2091 | - | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.95 | 14.98 | 14.97 |
| 11676 | 527.2 | 10.5 | 484 | 11681 | roll | 1.06 | - | - | 3220 | - | 2.67 | 0.097 | 3518 | 534.5 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.94 | 14.38 | 14.96 |
| 11724 | 521.6 | 11.6 | 491 | 11731 | done | 1.06 | - | - | 3230 | - | 2.50 | 0.044 | 2087 | -572.4 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.57 | 14.52 | 14.62 |
| 12067 | 483.4 | 11.2 | 498 | 12073 | roll | 1.06 | - | - | 3241 | - | 2.58 | 0.083 | 701 | -537.2 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.07 | 14.32 | 15.09 |
| 12109 | 478.6 | 11.5 | 504 | 12116 | done | 1.06 | 0.10 | 0.249 | 3214 | -270.0 | 2.50 | 0.058 | 2104 | 561.2 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.14 | 14.45 | 14.33 |
| 12463 | 443.3 | 10.0 | 512 | 12468 | roll | 1.06 | - | - | 3214 | - | 2.62 | 0.100 | 3512 | 537.4 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.36 | 14.95 |
| 12516 | 437.4 | 10.6 | 520 | 12522 | done | 1.06 | - | - | 3223 | - | 2.47 | 0.044 | 2100 | -571.7 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.60 |
| 12912 | 400.7 | 9.1 | 534 | 12917 | roll | 1.07 | - | - | 3233 | - | 2.55 | 0.083 | 701 | -548.6 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.92 | 14.35 | 14.95 |
| 12965 | 395.2 | 9.7 | 542 | 12971 | done | 1.07 | - | - | 3233 | - | 2.53 | 0.057 | 2106 | 555.3 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.51 | 14.42 | 14.54 |
| 13361 | 354.5 | 10.8 | 556 | 13366 | roll | 1.07 | - | - | 3233 | - | 2.65 | 0.101 | 3519 | 533.2 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.92 | 14.32 | 14.94 |
| 13463 | 342.2 | 11.5 | 571 | 13470 | done | 1.07 | - | - | 3243 | - | 2.50 | 0.044 | 2093 | -570.4 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.65 | 14.47 | 14.69 |
| 13807 | 306.0 | 10.4 | 578 | 13812 | roll | 1.07 | - | - | 3254 | - | 2.55 | 0.083 | 702 | -545.5 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.91 | 14.32 | 14.93 |
| 13834 | 303.1 | 10.2 | 582 | 13840 | done | 1.07 | 0.17 | 0.267 | 3216 | -223.5 | 2.50 | 0.058 | 2100 | 559.2 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.09 | 14.38 | 14.46 |
| 14201 | 269.0 | 9.4 | 592 | 14206 | roll | 1.09 | - | - | 3216 | - | 2.65 | 0.099 | 3524 | 537.4 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.02 | 14.31 | 15.04 |
| 14310 | 257.5 | 10.4 | 608 | 14316 | done | 1.09 | - | - | 3224 | - | 2.50 | 0.043 | 2095 | -571.6 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.45 | 14.39 | 14.49 |
| 14706 | 219.0 | 9.7 | 622 | 14711 | roll | 1.09 | - | - | 3224 | - | 2.67 | 0.099 | 3515 | 531.8 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.90 | 14.29 | 14.92 |
| 14773 | 211.6 | 10.6 | 632 | 14779 | done | 1.09 | - | - | 3234 | - | 2.50 | 0.044 | 2092 | -569.2 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.50 | 14.45 | 14.53 |
| 15126 | 178.1 | 9.4 | 647 | 15131 | roll | 1.10 | - | - | 3245 | - | 2.58 | 0.084 | 695 | -541.5 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.05 | 14.29 | 15.06 |
| 15186 | 172.2 | 9.4 | 656 | 15192 | done | 1.11 | - | - | 3245 | - | 2.55 | 0.058 | 2105 | 552.9 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.47 |
| 15546 | 138.5 | 9.6 | 671 | 15551 | roll | 1.11 | - | - | 3245 | - | 2.65 | 0.103 | 3515 | 532.1 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.05 | 14.29 | 15.07 |
| 15627 | 129.5 | 10.7 | 683 | 15633 | done | 1.11 | - | - | 3254 | - | 2.50 | 0.044 | 2094 | -568.4 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.48 | 14.42 | 14.53 |
| 15994 | 92.1 | 10.2 | 699 | 15999 | roll | 1.11 | - | - | 3255 | - | 2.67 | 0.099 | 3510 | 530.3 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.06 | 14.28 | 15.09 |
| 16026 | 88.3 | 11.3 | 704 | 16034 | done | 1.11 | 0.15 | 0.265 | 3228 | -180.0 | 2.50 | 0.044 | 2095 | -566.0 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.01 | 14.42 | 14.20 |
| 16383 | 55.8 | 8.8 | 719 | 16389 | roll | 1.13 | - | - | 3228 | - | 2.67 | 0.099 | 3512 | 530.7 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.07 | 14.26 | 15.09 |
| 16432 | 50.8 | 10.2 | 726 | 16439 | done | 1.13 | - | - | 3236 | - | 2.50 | 0.044 | 2098 | -565.6 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.47 | 14.42 | 14.52 |
| 16779 | 20.4 | 9.0 | 739 | 16784 | roll | 1.15 | - | - | 3246 | - | 2.58 | 0.084 | 697 | -543.0 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.88 | 14.26 | 14.91 |
| 16804 | 17.8 | 8.7 | 743 | 16810 | done | 1.18 | - | - | 3246 | - | 2.53 | 0.059 | 2097 | 553.4 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.41 | 14.33 | 14.47 |
| 16997 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16997 | begin surface coast | ||||||||||||||||||||||||||||
| 17028 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17028 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.82 | - | - | - | - | -8.23 | 9.12 | 0.076 | 212 | 23.2 | 0.40 | 0.098 | 2312 | 3045.0 | 350.04 | 169.15 | 0.231 | 1129 | 6.7 | -0.002 | - | - | - | - | - | - | |||