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| • Previous call tries 2 | • 11.13 of 350.00 AH used of 24V (96.82% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.5 deg, depth 1.81 m | • Intended pitch -15.7 deg, speed -9.167 cm/s | |
| • VBD pumped to 450.12 (SM_CC=450) | ||
| • GPS1 time: 36 s | ||
| • GPS2 time: 18 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 7 | - | - | - | 65 | VBD | -1.16 | - | - | 144 | - | - | - | 2624 | - | -91.0 | -55.08 | - | 2969 | - | - | - | - | - | - | - | - | 14.99 | - | 15.00 |
| 67 | 3.0 | -4.1 | 9 | 93 | done | -1.23 | 13.32 | 0.419 | 2894 | 206.5 | - | - | 2624 | - | -146.0 | -10.12 | - | 3478 | -50.3 | - | - | - | - | - | - | - | 14.58 | 13.98 | 14.73 |
| 395 | 60.4 | -20.4 | 68 | 399 | roll | -1.18 | - | - | 2889 | - | 1.90 | 0.058 | 3791 | 614.2 | -146.0 | - | - | 3479 | - | - | - | - | - | - | - | - | 15.07 | 14.85 | 15.09 |
| 436 | 68.3 | -19.2 | 76 | 440 | done | -1.12 | 0.17 | 0.235 | 2928 | 229.4 | 1.73 | 0.024 | 2593 | -692.5 | -146.0 | - | - | 3480 | - | - | - | - | - | - | - | - | 14.76 | 14.92 | 14.90 |
| 748 | 107.3 | -11.8 | 108 | 749 | done | -1.16 | - | - | 2928 | - | - | - | 2593 | - | -146.0 | - | - | 3480 | - | - | - | - | - | - | - | - | 15.12 | 15.14 | 15.14 |
| 1048 | 143.4 | -10.8 | 138 | 1050 | done | -1.23 | 0.12 | 0.125 | 2867 | -508.3 | - | - | 2593 | - | -146.0 | - | - | 3480 | - | - | - | - | - | - | - | - | 14.97 | 15.03 | 15.02 |
| 1347 | 182.4 | -11.6 | 168 | 1351 | roll | -1.23 | 0.12 | 0.244 | 2898 | 258.3 | 2.03 | 0.024 | 1232 | -670.4 | -146.0 | - | - | 3481 | - | - | - | - | - | - | - | - | 14.85 | 14.99 | 14.95 |
| 1397 | 188.4 | -12.7 | 178 | 1403 | done | -1.27 | - | - | 2893 | - | 2.10 | 0.036 | 2577 | 640.5 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.03 | 14.97 | 15.05 |
| 1703 | 226.6 | -12.0 | 209 | 1708 | roll | -1.31 | - | - | 2885 | - | 1.98 | 0.057 | 3820 | 627.8 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.21 |
| 1765 | 234.1 | -11.2 | 221 | 1769 | done | -1.34 | - | - | 2885 | - | 1.73 | 0.023 | 2586 | -713.3 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.07 | 15.04 | 15.07 |
| 2077 | 264.4 | -9.5 | 243 | 2080 | roll | -1.38 | - | - | 2885 | - | 2.00 | 0.026 | 1254 | -666.0 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.23 |
| 2275 | 286.2 | -12.1 | 283 | 2280 | done | -1.42 | - | - | 2877 | - | 2.10 | 0.036 | 2603 | 642.4 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.06 | 15.01 | 15.07 |
| 2587 | 320.9 | -10.5 | 295 | 2589 | done | -1.45 | 0.10 | 0.148 | 2818 | -590.0 | - | - | 2604 | - | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.02 | 15.09 | 15.08 |
| 2887 | 357.8 | -11.9 | 305 | 2893 | roll | -1.40 | 0.17 | 0.259 | 2857 | 229.4 | 1.95 | 0.054 | 3817 | 622.1 | -146.0 | - | - | 3481 | - | - | - | - | - | - | - | - | 14.88 | 15.02 | 15.00 |
| 3049 | 374.4 | -9.4 | 337 | 3053 | done | -1.40 | - | - | 2857 | - | 1.73 | 0.023 | 2606 | -700.0 | -146.0 | - | - | 3480 | - | - | - | - | - | - | - | - | 15.10 | 15.07 | 15.11 |
| 3370 | 405.7 | -10.4 | 351 | 3373 | roll | -1.40 | - | - | 2857 | - | 2.03 | 0.026 | 1253 | -666.5 | -146.0 | - | - | 3479 | - | - | - | - | - | - | - | - | 15.23 | 15.04 | 15.25 |
| 3403 | 409.7 | -11.4 | 358 | 3408 | done | -1.40 | - | - | 2850 | - | 2.15 | 0.035 | 2608 | 630.2 | -146.0 | - | - | 3479 | - | - | - | - | - | - | - | - | 15.06 | 15.02 | 15.07 |
| 3730 | 447.8 | -11.8 | 373 | 3731 | done | -1.40 | - | - | 2850 | - | - | - | 2608 | - | -146.0 | - | - | 3477 | - | - | - | - | - | - | - | - | 15.23 | 15.26 | 15.26 |
| 4030 | 480.2 | -10.8 | 383 | 4034 | roll | -1.40 | - | - | 2850 | - | 2.05 | 0.027 | 1254 | -660.5 | -146.0 | - | - | 3475 | - | - | - | - | - | - | - | - | 15.24 | 15.06 | 15.26 |
| 4084 | 486.3 | -10.7 | 394 | 4091 | done | -1.40 | 0.10 | 0.297 | 2862 | 120.0 | 2.12 | 0.035 | 2603 | 636.3 | -146.0 | - | - | 3474 | - | - | - | - | - | - | - | - | 14.92 | 15.04 | 15.07 |
| 4391 | 517.0 | -9.8 | 405 | 4395 | roll | -1.45 | - | - | 2856 | - | 1.95 | 0.059 | 3812 | 620.0 | -146.0 | - | - | 3472 | - | - | - | - | - | - | - | - | 15.24 | 15.03 | 15.26 |
| 4452 | 523.2 | -9.2 | 417 | 4457 | done | -1.48 | - | - | 2856 | - | 1.73 | 0.024 | 2594 | -704.0 | -146.0 | - | - | 3472 | - | - | - | - | - | - | - | - | 15.11 | 15.08 | 15.12 |
| 4785 | 552.3 | -8.6 | 433 | 4789 | roll | -1.52 | - | - | 2856 | - | 2.03 | 0.028 | 1241 | -666.5 | -146.0 | - | - | 3470 | - | - | - | - | - | - | - | - | 15.24 | 15.06 | 15.26 |
| 4820 | 555.5 | -9.2 | 440 | 4824 | done | -1.56 | - | - | 2848 | - | 2.10 | 0.035 | 2601 | 647.6 | -146.0 | - | - | 3470 | - | - | - | - | - | - | - | - | 15.09 | 15.04 | 15.11 |
| 5141 | 585.3 | -9.8 | 454 | 5145 | roll | -1.56 | - | - | 2839 | - | 1.95 | 0.058 | 3813 | 621.5 | -146.0 | - | - | 3468 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.26 |
| 5190 | 590.6 | -10.1 | 464 | 5194 | done | -1.56 | - | - | 2839 | - | 1.77 | 0.024 | 2610 | -679.7 | -146.0 | - | - | 3468 | - | - | - | - | - | - | - | - | 15.09 | 15.07 | 15.09 |
| 5502 | 623.4 | -10.6 | 476 | 5503 | done | -1.56 | - | - | 2839 | - | - | - | 2609 | - | -146.0 | - | - | 3466 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 5802 | 652.5 | -9.2 | 486 | 5803 | done | -1.56 | - | - | 2839 | - | - | - | 2610 | - | -146.0 | - | - | 3465 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 6102 | 677.9 | -8.2 | 496 | 6106 | roll | -1.56 | - | - | 2834 | - | 1.95 | 0.058 | 3808 | 614.4 | -146.0 | - | - | 3464 | - | - | - | - | - | - | - | - | 15.24 | 15.03 | 15.26 |
| 6141 | 681.6 | -9.6 | 504 | 6145 | done | -1.56 | - | - | 2834 | - | 1.77 | 0.024 | 2602 | -681.4 | -146.0 | - | - | 3463 | - | - | - | - | - | - | - | - | 15.09 | 15.07 | 15.10 |
| 6463 | 711.6 | -9.7 | 518 | 6464 | done | -1.56 | - | - | 2834 | - | - | - | 2602 | - | -146.0 | - | - | 3462 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 6763 | 743.3 | -11.0 | 528 | 6766 | roll | -1.56 | - | - | 2829 | - | 1.95 | 0.058 | 3812 | 620.5 | -146.0 | - | - | 3460 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.26 |
| 6801 | 748.2 | -12.7 | 536 | 6806 | done | -1.56 | - | - | 2829 | - | 1.80 | 0.026 | 2600 | -673.3 | -146.0 | - | - | 3460 | - | - | - | - | - | - | - | - | 15.09 | 15.07 | 15.09 |
| 7124 | 785.8 | -11.9 | 550 | 7125 | done | -1.56 | - | - | 2828 | - | - | - | 2600 | - | -146.0 | - | - | 3459 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 7423 | 822.0 | -12.2 | 560 | 7424 | done | -1.56 | - | - | 2829 | - | - | - | 2600 | - | -146.0 | - | - | 3457 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 7723 | 859.3 | -12.3 | 570 | 7727 | roll | -1.56 | - | - | 2822 | - | 1.98 | 0.059 | 3810 | 611.1 | -146.0 | - | - | 3457 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.26 |
| 7754 | 863.2 | -13.1 | 576 | 7758 | done | -1.56 | - | - | 2822 | - | 1.77 | 0.026 | 2589 | -689.8 | -146.0 | - | - | 3456 | - | - | - | - | - | - | - | - | 15.11 | 15.08 | 15.12 |
| 8084 | 902.7 | -11.6 | 592 | 8086 | done | -1.56 | - | - | 2823 | - | - | - | 2589 | - | -146.0 | - | - | 3455 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 8385 | 936.6 | -11.2 | 602 | 8386 | done | -1.56 | - | - | 2823 | - | - | - | 2589 | - | -146.0 | - | - | 3454 | - | - | - | - | - | - | - | - | 15.23 | 15.26 | 15.26 |
| 8684 | 971.2 | -11.8 | 612 | 8686 | done | -1.56 | - | - | 2822 | - | - | - | 2589 | - | -146.0 | - | - | 3453 | - | - | - | - | - | - | - | - | 15.24 | 15.26 | 15.26 |
| 8863 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 8864 | begin apogee | ||||||||||||||||||||||||||||
| 8868 | 992.7 | -12.0 | 618 | 9038 | done | -0.33 | 0.95 | 0.213 | 3096 | 288.4 | - | - | 2313 | - | - | 166.60 | 1.487 | 2879 | -3.4 | 0.414 | - | - | - | - | - | - | 14.90 | 14.27 | 13.76 |
| 9039 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9039 | begin climb | ||||||||||||||||||||||||||||
| 9040 | 995.9 | - | 623 | 9184 | roll | 1.23 | 1.08 | 0.110 | 3450 | 327.8 | 2.12 | 0.036 | 1041 | -600.0 | 146.0 | 134.52 | 1.544 | 2275 | -4.5 | 0.522 | - | - | - | - | - | - | 14.24 | 14.17 | 13.62 |
| 9210 | 974.4 | 18.5 | 662 | 9215 | done | 1.06 | 0.22 | 0.278 | 3402 | -218.2 | 2.15 | 0.034 | 2349 | 608.4 | 146.0 | - | - | 2267 | - | - | - | - | - | - | - | - | 14.19 | 14.34 | 14.37 |
| 9522 | 917.5 | 18.6 | 674 | 9528 | roll | 0.96 | 0.12 | 0.306 | 3378 | -200.0 | 2.10 | 0.031 | 1029 | -628.6 | 146.0 | - | - | 2260 | - | - | - | - | - | - | - | - | 14.61 | 14.76 | 14.72 |
| 9546 | 913.1 | 17.2 | 679 | 9553 | done | 0.90 | - | - | 3378 | - | 2.10 | 0.033 | 2356 | 631.9 | 146.0 | - | - | 2260 | - | - | - | - | - | - | - | - | 14.81 | 14.76 | 14.83 |
| 9852 | 863.0 | 16.2 | 690 | 9859 | roll | 0.84 | 0.12 | 0.282 | 3355 | -191.7 | 2.10 | 0.032 | 1029 | -631.9 | 146.0 | - | - | 2258 | - | - | - | - | - | - | - | - | 14.72 | 14.85 | 14.83 |
| 9894 | 856.3 | 14.1 | 699 | 9899 | done | 0.84 | - | - | 3355 | - | 2.12 | 0.034 | 2351 | 623.6 | 146.0 | - | - | 2258 | - | - | - | - | - | - | - | - | 14.88 | 14.85 | 14.90 |
| 10211 | 812.1 | 13.8 | 712 | 10212 | done | 0.84 | - | - | 3356 | - | - | - | 2351 | - | 146.0 | - | - | 2256 | - | - | - | - | - | - | - | - | 15.11 | 15.13 | 15.12 |
| 10512 | 772.9 | 12.9 | 722 | 10516 | roll | 0.84 | - | - | 3363 | - | 2.08 | 0.035 | 1037 | -631.7 | 146.0 | - | - | 2255 | - | - | - | - | - | - | - | - | 15.14 | 14.95 | 15.16 |
| 10551 | 767.7 | 12.9 | 730 | 10555 | done | 0.84 | - | - | 3364 | - | 2.05 | 0.034 | 2353 | 642.0 | 146.0 | - | - | 2254 | - | - | - | - | - | - | - | - | 15.00 | 14.95 | 15.02 |
| 10873 | 722.9 | 14.3 | 744 | 10874 | done | 0.81 | - | - | 3364 | - | - | - | 2353 | - | 146.0 | - | - | 2254 | - | - | - | - | - | - | - | - | 15.16 | 15.18 | 15.18 |
| 11173 | 677.7 | 15.5 | 754 | 11176 | roll | 0.81 | - | - | 3371 | - | 2.08 | 0.035 | 1035 | -633.7 | 146.0 | - | - | 2254 | - | - | - | - | - | - | - | - | 15.17 | 14.98 | 15.19 |
| 11206 | 672.1 | 16.0 | 761 | 11212 | done | 0.81 | 0.10 | 0.236 | 3345 | -260.0 | 2.10 | 0.034 | 2355 | 628.6 | 146.0 | - | - | 2254 | - | - | - | - | - | - | - | - | 14.84 | 14.97 | 14.95 |
| 11534 | 622.5 | 15.4 | 776 | 11538 | roll | 0.81 | - | - | 3352 | - | 2.08 | 0.034 | 1037 | -633.7 | 146.0 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.19 | 15.00 | 15.21 |
| 11578 | 615.9 | 14.5 | 785 | 11583 | done | 0.81 | - | - | 3352 | - | 2.08 | 0.034 | 2345 | 628.8 | 146.0 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.02 | 14.97 | 15.03 |
| 11895 | 571.1 | 13.5 | 798 | 11899 | roll | 0.81 | - | - | 3360 | - | 2.05 | 0.034 | 1025 | -643.9 | 146.0 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.19 | 15.00 | 15.21 |
| 11925 | 567.0 | 12.7 | 804 | 11929 | done | 0.81 | - | - | 3360 | - | 2.05 | 0.034 | 2349 | 645.9 | 146.0 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.05 | 15.00 | 15.07 |
| 12251 | 527.7 | 11.5 | 819 | 12252 | done | 0.81 | - | - | 3360 | - | - | - | 2349 | - | 146.0 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.20 | 15.22 | 15.22 |
| 12551 | 489.2 | 13.4 | 829 | 12552 | done | 0.81 | - | - | 3360 | - | - | - | 2349 | - | 146.0 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.20 | 15.23 | 15.23 |
| 12851 | 445.5 | 14.9 | 839 | 12855 | roll | 0.81 | - | - | 3368 | - | 2.05 | 0.034 | 1031 | -642.9 | 146.0 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.23 |
| 12914 | 436.0 | 14.2 | 852 | 12920 | done | 0.81 | 0.08 | 0.227 | 3334 | -425.0 | 2.10 | 0.034 | 2360 | 632.9 | 146.0 | - | - | 2251 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.04 |
| 13242 | 397.4 | 10.5 | 867 | 13243 | done | 0.85 | - | - | 3334 | - | - | - | 2360 | - | 146.0 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.21 | 15.23 | 15.23 |
| 13542 | 372.9 | 7.6 | 877 | 13566 | roll | 0.91 | 0.12 | 0.130 | 3410 | 633.3 | 2.15 | 0.035 | 1029 | -619.1 | 167.8 | 14.95 | 1.216 | 2192 | -3.9 | 0.218 | - | - | - | - | - | - | 15.02 | 14.94 | 14.42 |
| 13591 | 367.1 | 12.9 | 887 | 13596 | done | 0.86 | 0.22 | 0.243 | 3357 | -240.9 | 2.05 | 0.034 | 2344 | 641.5 | 167.8 | - | - | 2191 | - | - | - | - | - | - | - | - | 14.80 | 14.92 | 14.95 |
| 13898 | 326.4 | 15.6 | 898 | 13899 | done | 0.86 | - | - | 3357 | - | - | - | 2344 | - | 167.8 | - | - | 2189 | - | - | - | - | - | - | - | - | 15.16 | 15.18 | 15.18 |
| 14197 | 283.3 | 11.8 | 908 | 14201 | roll | 0.86 | - | - | 3356 | - | 2.28 | 0.058 | 3754 | 618.4 | 167.8 | - | - | 2189 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.20 |
| 14223 | 280.6 | 11.2 | 913 | 14228 | done | 0.86 | - | - | 3362 | - | 2.03 | 0.025 | 2398 | -668.0 | 167.8 | - | - | 2189 | - | - | - | - | - | - | - | - | 15.04 | 15.02 | 15.05 |
| 14555 | 251.7 | 7.0 | 929 | 14589 | roll | 0.89 | - | - | 3371 | - | 2.28 | 0.035 | 988 | -618.4 | 197.6 | 27.15 | 1.119 | 2071 | -4.3 | 0.176 | - | - | - | - | - | - | 15.19 | 14.84 | 14.36 |
| 14700 | 241.7 | 7.9 | 958 | 14721 | done | 0.96 | - | - | 3372 | - | 2.17 | 0.033 | 2355 | 630.0 | 214.9 | 16.08 | 1.117 | 2002 | -4.3 | 0.167 | - | - | - | - | - | - | 14.92 | 14.87 | 14.30 |
| 15028 | 203.2 | 14.5 | 993 | 15033 | roll | 0.99 | - | - | 3371 | - | 2.28 | 0.057 | 3751 | 612.3 | 214.9 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.06 | 14.84 | 15.08 |
| 15053 | 199.2 | 16.2 | 998 | 15060 | done | 0.99 | - | - | 3380 | - | 2.10 | 0.024 | 2347 | -668.6 | 214.9 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.93 | 14.90 | 14.94 |
| 15360 | 152.7 | 12.0 | 1029 | 15364 | roll | 1.03 | - | - | 3388 | - | 2.12 | 0.035 | 991 | -639.6 | 214.9 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.10 | 14.91 | 15.12 |
| 15495 | 141.6 | 6.9 | 1056 | 15532 | done | 1.13 | 0.12 | 0.126 | 3455 | 558.3 | 2.12 | 0.032 | 2355 | 643.4 | 246.7 | 26.45 | 1.020 | 1869 | -4.7 | 0.118 | - | - | - | - | - | - | 14.92 | 14.92 | 14.33 |
| 15831 | 90.6 | 18.9 | 1093 | 15833 | done | 1.05 | 0.22 | 0.243 | 3400 | -250.0 | - | - | 2354 | - | 246.7 | - | - | 1866 | - | - | - | - | - | - | - | - | 14.74 | 14.92 | 14.90 |
| 16131 | 44.0 | 13.9 | 1127 | 16137 | roll | 1.09 | - | - | 3406 | - | 2.12 | 0.034 | 996 | -640.6 | 246.7 | - | - | 1865 | - | - | - | - | - | - | - | - | 15.09 | 14.92 | 15.11 |
| 16164 | 39.4 | 12.6 | 1133 | 16172 | done | 1.14 | - | - | 3406 | - | 2.12 | 0.032 | 2350 | 638.7 | 246.7 | - | - | 1865 | - | - | - | - | - | - | - | - | 14.97 | 14.91 | 14.98 |
| 16433 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16433 | begin surface coast | ||||||||||||||||||||||||||||
| 16455 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16455 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.52 | - | - | - | - | -13.86 | 9.25 | 0.067 | 142 | 15.4 | 0.38 | 0.070 | 2603 | 3802.6 | 450.12 | 86.80 | 0.080 | 1044 | 12.0 | -0.023 | - | - | - | - | - | - | |||