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| • Previous call tries 1 | • 73.76 of 350.00 AH used of 24V (78.93% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -72.8 deg, depth 1.13 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
| • VBD pumped to 500.17 (SM_CC=500) | ||
| • GPS1 time: 28 s | ||
| • GPS2 time: 6 s | • Transponder ping count: 4 | |
| • 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 | |||||
| 16 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16 | begin dive | ||||||||||||||||||||||||||||
| 19 | - | - | - | 107 | done | -0.70 | - | - | 27 | - | - | - | 2606 | - | -146.0 | -82.53 | - | 3500 | - | - | - | - | - | - | - | - | 14.73 | 13.38 | 14.76 |
| 109 | 9.7 | -15.0 | 3 | 136 | roll | -0.70 | 13.48 | 0.436 | 2640 | 193.8 | 2.38 | 0.033 | 1179 | -599.6 | -146.0 | - | - | 3501 | - | - | - | - | - | - | - | - | 14.27 | 14.57 | 14.57 |
| 190 | 44.8 | -11.0 | 15 | 199 | done | -0.91 | 0.17 | 0.124 | 2576 | -376.5 | 2.47 | 0.055 | 2610 | 579.4 | -146.0 | - | - | 3504 | - | - | - | - | - | - | - | - | 14.54 | 14.54 | 14.62 |
| 527 | 88.6 | -7.8 | 30 | 531 | done | -1.04 | - | - | 2575 | - | - | - | 2610 | - | -146.0 | - | - | 3505 | - | - | - | - | - | - | - | - | 14.85 | 14.87 | 14.87 |
| 835 | 108.4 | -6.1 | 39 | 843 | roll | -1.23 | 0.15 | 0.123 | 2502 | -486.7 | 2.33 | 0.070 | 3985 | 590.1 | -146.0 | - | - | 3506 | - | - | - | - | - | - | - | - | 14.71 | 14.67 | 14.75 |
| 897 | 113.7 | -8.9 | 48 | 906 | done | -1.30 | - | - | 2502 | - | 2.20 | 0.026 | 2575 | -640.9 | -146.0 | - | - | 3506 | - | - | - | - | - | - | - | - | 14.78 | 14.73 | 14.79 |
| 1227 | 144.9 | -9.7 | 60 | 1235 | roll | -1.33 | - | - | 2502 | - | 2.20 | 0.037 | 1206 | -622.3 | -146.0 | - | - | 3506 | - | - | - | - | - | - | - | - | 14.93 | 14.72 | 14.95 |
| 1296 | 151.6 | -9.0 | 70 | 1306 | done | -1.46 | 0.10 | 0.167 | 2460 | -420.0 | 2.38 | 0.055 | 2605 | 587.8 | -146.0 | - | - | 3506 | - | - | - | - | - | - | - | - | 14.66 | 14.71 | 14.76 |
| 1619 | 191.7 | -12.6 | 81 | 1628 | roll | -1.42 | 0.10 | 0.295 | 2471 | 110.0 | 2.33 | 0.073 | 3985 | 592.3 | -146.0 | - | - | 3506 | - | - | - | - | - | - | - | - | 14.54 | 14.71 | 14.74 |
| 1646 | 195.3 | -12.9 | 85 | 1656 | done | -1.42 | - | - | 2471 | - | 2.20 | 0.027 | 2604 | -627.7 | -146.0 | - | - | 3505 | - | - | - | - | - | - | - | - | 14.79 | 14.77 | 14.81 |
| 2012 | 241.6 | -12.9 | 95 | 2020 | roll | -1.42 | - | - | 2471 | - | 2.25 | 0.037 | 1210 | -619.6 | -146.0 | - | - | 3503 | - | - | - | - | - | - | - | - | 14.94 | 14.74 | 14.98 |
| 2087 | 250.8 | -11.3 | 106 | 2097 | done | -1.51 | - | - | 2471 | - | 2.42 | 0.058 | 2605 | 576.4 | -146.0 | - | - | 3503 | - | - | - | - | - | - | - | - | 14.75 | 14.69 | 14.78 |
| 2403 | 291.4 | -13.1 | 116 | 2407 | done | -1.51 | - | - | 2471 | - | - | - | 2604 | - | -146.0 | - | - | 3500 | - | - | - | - | - | - | - | - | 14.95 | 14.97 | 14.97 |
| 2740 | 333.6 | -12.4 | 122 | 2753 | done | -1.51 | - | - | 2471 | - | - | - | 2605 | - | -146.0 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 15.00 |
| 3076 | 373.7 | -11.8 | 128 | 3090 | roll | -1.51 | - | - | 2471 | - | 2.28 | 0.037 | 1214 | -610.1 | -146.0 | - | - | 3493 | - | - | - | - | - | - | - | - | 15.01 | 14.81 | 15.03 |
| 3115 | 378.4 | -11.2 | 133 | 3130 | done | -1.59 | 0.10 | 0.167 | 2432 | -390.0 | 2.38 | 0.060 | 2606 | 584.9 | -146.0 | - | - | 3493 | - | - | - | - | - | - | - | - | 14.76 | 14.77 | 14.86 |
| 3479 | 431.1 | -14.8 | 142 | 3495 | roll | -1.52 | 0.12 | 0.298 | 2455 | 191.7 | 2.38 | 0.076 | 3990 | 581.5 | -146.0 | - | - | 3490 | - | - | - | - | - | - | - | - | 14.54 | 14.75 | 14.71 |
| 3520 | 436.8 | -13.4 | 147 | 3534 | done | -1.52 | - | - | 2455 | - | 2.20 | 0.030 | 2600 | -631.8 | -146.0 | - | - | 3490 | - | - | - | - | - | - | - | - | 14.91 | 14.85 | 14.91 |
| 3883 | 481.7 | -12.4 | 156 | 3897 | roll | -1.52 | - | - | 2455 | - | 2.25 | 0.041 | 1214 | -616.0 | -146.0 | - | - | 3487 | - | - | - | - | - | - | - | - | 15.02 | 14.81 | 15.04 |
| 3958 | 490.1 | -10.5 | 166 | 3973 | done | -1.60 | - | - | 2448 | - | 2.38 | 0.060 | 2604 | 584.0 | -146.0 | - | - | 3486 | - | - | - | - | - | - | - | - | 14.87 | 14.77 | 14.90 |
| 4286 | 529.8 | -12.2 | 177 | 4300 | roll | -1.60 | - | - | 2441 | - | 2.38 | 0.080 | 3987 | 581.1 | -146.0 | - | - | 3484 | - | - | - | - | - | - | - | - | 15.02 | 14.75 | 15.04 |
| 4319 | 534.0 | -12.5 | 181 | 4333 | done | -1.60 | - | - | 2441 | - | 2.20 | 0.031 | 2591 | -634.5 | -146.0 | - | - | 3483 | - | - | - | - | - | - | - | - | 14.89 | 14.84 | 14.91 |
| 4688 | 582.1 | -13.2 | 191 | 4703 | roll | -1.57 | - | - | 2441 | - | 2.22 | 0.041 | 1218 | -618.5 | -146.0 | - | - | 3482 | - | - | - | - | - | - | - | - | 15.00 | 14.80 | 15.02 |
| 4751 | 590.0 | -12.0 | 199 | 4765 | done | -1.62 | - | - | 2434 | - | 2.38 | 0.062 | 2599 | 580.3 | -146.0 | - | - | 3481 | - | - | - | - | - | - | - | - | 14.86 | 14.76 | 14.89 |
| 5093 | 636.8 | -13.9 | 212 | 5106 | done | -1.58 | - | - | 2434 | - | - | - | 2600 | - | -146.0 | - | - | 3479 | - | - | - | - | - | - | - | - | 15.02 | 15.04 | 15.04 |
| 5428 | 682.7 | -13.6 | 218 | 5444 | roll | -1.54 | - | - | 2434 | - | 2.28 | 0.040 | 1215 | -607.5 | -146.0 | - | - | 3477 | - | - | - | - | - | - | - | - | 15.03 | 14.80 | 15.05 |
| 5492 | 690.9 | -12.2 | 226 | 5508 | done | -1.58 | - | - | 2430 | - | 2.38 | 0.063 | 2599 | 581.5 | -146.0 | - | - | 3478 | - | - | - | - | - | - | - | - | 14.86 | 14.76 | 14.89 |
| 5835 | 737.2 | -13.6 | 239 | 5849 | roll | -1.55 | 0.10 | 0.337 | 2448 | 180.0 | 2.28 | 0.037 | 1216 | -606.6 | -146.0 | - | - | 3475 | - | - | - | - | - | - | - | - | 14.54 | 14.79 | 14.76 |
| 5868 | 741.6 | -13.0 | 243 | 5882 | done | -1.58 | - | - | 2445 | - | 2.40 | 0.063 | 2610 | 580.8 | -146.0 | - | - | 3475 | - | - | - | - | - | - | - | - | 14.86 | 14.75 | 14.89 |
| 6238 | 785.3 | -11.8 | 253 | 6252 | roll | -1.58 | - | - | 2443 | - | 2.40 | 0.084 | 3988 | 574.2 | -146.0 | - | - | 3472 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.05 |
| 6270 | 789.4 | -12.2 | 257 | 6284 | done | -1.58 | - | - | 2443 | - | 2.20 | 0.031 | 2601 | -630.5 | -146.0 | - | - | 3472 | - | - | - | - | - | - | - | - | 14.90 | 14.84 | 14.91 |
| 6639 | 828.7 | -10.4 | 267 | 6654 | roll | -1.58 | - | - | 2443 | - | 2.28 | 0.043 | 1215 | -607.9 | -146.0 | - | - | 3470 | - | - | - | - | - | - | - | - | 15.00 | 14.78 | 15.02 |
| 6702 | 834.8 | -8.5 | 275 | 6716 | done | -1.66 | - | - | 2443 | - | 2.40 | 0.064 | 2600 | 577.1 | -146.0 | - | - | 3470 | - | - | - | - | - | - | - | - | 14.85 | 14.73 | 14.88 |
| 6761 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6762 | begin apogee | ||||||||||||||||||||||||||||
| 6766 | 840.3 | -9.8 | 283 | 6926 | done | -0.15 | 1.12 | 0.235 | 2753 | 276.8 | - | - | 2848 | - | - | 148.15 | 1.818 | 2899 | -3.9 | 0.328 | - | - | - | - | - | - | 14.51 | 14.12 | 13.42 |
| 6928 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6928 | begin climb | ||||||||||||||||||||||||||||
| 6930 | 843.5 | - | 285 | 7099 | roll | 0.70 | 0.57 | 0.086 | 2946 | 338.6 | 2.05 | 0.070 | 3989 | 556.6 | 146.0 | 149.77 | 1.819 | 2299 | -4.0 | 0.342 | - | - | - | - | - | - | 14.19 | 13.86 | 13.31 |
| 7118 | 837.3 | 17.6 | 319 | 7132 | done | 0.16 | 0.62 | 0.369 | 2828 | -190.3 | 1.90 | 0.032 | 2839 | -605.3 | 146.0 | - | - | 2293 | - | - | - | - | - | - | - | - | 13.95 | 14.14 | 14.17 |
| 7446 | 794.6 | 12.6 | 330 | 7461 | roll | - | 0.15 | 0.317 | 2801 | -180.0 | 2.33 | 0.043 | 1447 | -597.4 | 146.0 | - | - | 2284 | - | - | - | - | - | - | - | - | 14.33 | 14.56 | 14.49 |
| 7521 | 787.1 | 9.2 | 340 | 7555 | done | -0.01 | - | - | 2800 | - | 2.42 | 0.059 | 2841 | 576.0 | 163.6 | 17.60 | 1.665 | 2228 | -3.2 | 0.277 | - | - | - | - | - | - | 14.66 | 14.58 | 13.83 |
| 7904 | 750.5 | 9.4 | 352 | 7935 | roll | -0.07 | 0.12 | 0.281 | 2779 | -175.0 | 2.42 | 0.045 | 1444 | -577.3 | 176.0 | 13.75 | 1.656 | 2178 | -3.6 | 0.304 | - | - | - | - | - | - | 14.44 | 14.59 | 13.94 |
| 7983 | 744.6 | 6.9 | 363 | 8080 | done | 0.08 | 0.12 | 0.145 | 2830 | 425.0 | 2.42 | 0.060 | 2837 | 575.6 | 243.3 | 78.50 | 1.648 | 1904 | -3.5 | 0.291 | - | - | - | - | - | - | 14.59 | 14.59 | 13.57 |
| 8410 | 694.5 | 12.2 | 382 | 8425 | roll | - | 0.15 | 0.285 | 2802 | -186.7 | 2.35 | 0.041 | 1445 | -592.3 | 243.3 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.39 | 14.59 | 14.54 |
| 8508 | 685.6 | 8.4 | 395 | 8561 | done | 0.11 | - | - | 2802 | - | 2.45 | 0.060 | 2850 | 573.5 | 277.2 | 39.88 | 1.574 | 1769 | -3.1 | 0.248 | - | - | - | - | - | - | 14.69 | 14.61 | 13.76 |
| 8869 | 649.8 | 10.0 | 411 | 8883 | roll | 0.14 | - | - | 2809 | - | 2.38 | 0.046 | 1452 | -587.4 | 277.2 | - | - | 1758 | - | - | - | - | - | - | - | - | 14.81 | 14.62 | 14.83 |
| 8958 | 641.3 | 9.1 | 423 | 8998 | done | 0.24 | 0.12 | 0.136 | 2862 | 441.7 | 2.42 | 0.061 | 2842 | 574.4 | 296.9 | 24.80 | 1.528 | 1686 | -2.9 | 0.225 | - | - | - | - | - | - | 14.64 | 14.63 | 13.89 |
| 9327 | 583.6 | 16.3 | 440 | 9341 | roll | 0.13 | 0.17 | 0.292 | 2828 | -200.0 | 2.35 | 0.043 | 1445 | -594.5 | 296.9 | - | - | 1679 | - | - | - | - | - | - | - | - | 14.42 | 14.65 | 14.59 |
| 9402 | 573.5 | 12.0 | 450 | 9417 | done | 0.19 | - | - | 2828 | - | 2.42 | 0.060 | 2841 | 576.9 | 296.9 | - | - | 1678 | - | - | - | - | - | - | - | - | 14.73 | 14.65 | 14.76 |
| 9730 | 528.4 | 13.9 | 461 | 9745 | roll | 0.19 | - | - | 2836 | - | 2.33 | 0.047 | 1453 | -595.7 | 296.9 | - | - | 1676 | - | - | - | - | - | - | - | - | 14.90 | 14.72 | 14.93 |
| 9798 | 519.5 | 12.7 | 470 | 9814 | done | 0.23 | - | - | 2834 | - | 2.42 | 0.061 | 2850 | 577.3 | 296.9 | - | - | 1677 | - | - | - | - | - | - | - | - | 14.78 | 14.70 | 14.81 |
| 10134 | 470.9 | 14.6 | 482 | 10149 | roll | 0.20 | - | - | 2843 | - | 2.35 | 0.046 | 1453 | -594.5 | 296.9 | - | - | 1676 | - | - | - | - | - | - | - | - | 14.93 | 14.74 | 14.96 |
| 10197 | 462.4 | 13.0 | 490 | 10213 | done | 0.23 | - | - | 2842 | - | 2.40 | 0.061 | 2841 | 578.3 | 296.9 | - | - | 1675 | - | - | - | - | - | - | - | - | 14.81 | 14.72 | 14.83 |
| 10540 | 411.9 | 14.8 | 503 | 10555 | roll | 0.18 | - | - | 2851 | - | 2.33 | 0.044 | 1453 | -595.7 | 296.9 | - | - | 1675 | - | - | - | - | - | - | - | - | 14.95 | 14.74 | 14.97 |
| 10608 | 402.2 | 13.5 | 512 | 10623 | done | 0.18 | - | - | 2850 | - | 2.40 | 0.060 | 2842 | 578.8 | 296.9 | - | - | 1675 | - | - | - | - | - | - | - | - | 14.82 | 14.73 | 14.84 |
| 10944 | 352.3 | 14.9 | 524 | 10958 | roll | 0.12 | 0.12 | 0.269 | 2827 | -191.7 | 2.33 | 0.042 | 1450 | -597.4 | 296.9 | - | - | 1674 | - | - | - | - | - | - | - | - | 14.50 | 14.74 | 14.67 |
| 11012 | 344.1 | 10.9 | 533 | 11026 | done | 0.20 | - | - | 2828 | - | 2.40 | 0.061 | 2840 | 579.2 | 296.9 | - | - | 1674 | - | - | - | - | - | - | - | - | 14.83 | 14.73 | 14.85 |
| 11346 | 304.5 | 11.8 | 545 | 11361 | roll | 0.20 | - | - | 2836 | - | 2.33 | 0.047 | 1450 | -596.6 | 296.9 | - | - | 1674 | - | - | - | - | - | - | - | - | 14.96 | 14.72 | 14.99 |
| 11430 | 295.4 | 10.9 | 556 | 11439 | done | 0.25 | - | - | 2836 | - | 2.45 | 0.062 | 2834 | 564.9 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.74 | 14.68 | 14.77 |
| 11745 | 256.1 | 12.5 | 566 | 11755 | roll | 0.25 | - | - | 2845 | - | 2.33 | 0.045 | 1453 | -592.7 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.91 | 14.69 | 14.94 |
| 11802 | 249.3 | 11.7 | 574 | 11811 | done | 0.30 | - | - | 2845 | - | 2.42 | 0.063 | 2848 | 576.4 | 296.9 | - | - | 1674 | - | - | - | - | - | - | - | - | 14.76 | 14.68 | 14.80 |
| 12139 | 203.5 | 13.9 | 587 | 12147 | roll | 0.27 | - | - | 2853 | - | 2.38 | 0.047 | 1446 | -589.1 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.90 | 14.65 | 14.92 |
| 12215 | 193.2 | 12.8 | 598 | 12224 | done | 0.30 | - | - | 2852 | - | 2.42 | 0.062 | 2841 | 576.4 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.75 | 14.66 | 14.78 |
| 12531 | 149.1 | 14.0 | 608 | 12539 | roll | 0.25 | - | - | 2862 | - | 2.35 | 0.046 | 1447 | -593.2 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.88 | 14.67 | 14.90 |
| 12593 | 140.6 | 13.0 | 617 | 12602 | done | 0.25 | - | - | 2862 | - | 2.47 | 0.062 | 2867 | 574.9 | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.73 | 14.64 | 14.77 |
| 12923 | 96.0 | 13.1 | 629 | 12928 | done | 0.20 | 0.12 | 0.266 | 2836 | -216.7 | - | - | 2867 | - | 296.9 | - | - | 1673 | - | - | - | - | - | - | - | - | 14.45 | 14.73 | 14.69 |
| 13232 | 74.8 | 3.8 | 640 | 13380 | roll | 0.53 | 0.20 | 0.109 | 2923 | 435.0 | 2.08 | 0.086 | 3993 | 541.3 | 431.3 | 139.88 | 0.945 | 1135 | -3.8 | 0.056 | - | - | - | - | - | - | 14.63 | 14.23 | 13.84 |
| 13442 | 57.3 | 9.7 | 670 | 13459 | done | 0.61 | - | - | 2930 | - | 1.92 | 0.038 | 2862 | -589.1 | 438.7 | 4.65 | 0.941 | 1109 | -5.6 | 0.063 | - | - | - | - | - | - | 14.41 | 14.37 | 13.75 |
| 13765 | 33.6 | 7.6 | 683 | 13825 | roll | 0.80 | 0.12 | 0.135 | 2994 | 533.3 | 2.08 | 0.080 | 3995 | 544.7 | 490.0 | 52.35 | 0.894 | 898 | -4.0 | 0.028 | - | - | - | - | - | - | 14.55 | 14.36 | 13.97 |
| 13921 | 14.3 | 13.4 | 705 | 13930 | done | 0.83 | 0.10 | 0.239 | 2974 | -200.0 | 1.95 | 0.039 | 2827 | -599.0 | 490.0 | - | - | 896 | - | - | - | - | - | - | - | - | 14.31 | 14.47 | 14.44 |
| 14018 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14018 | begin surface coast | ||||||||||||||||||||||||||||
| 14046 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14046 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.09 | - | - | - | - | -12.39 | 8.35 | 0.070 | 79 | 9.5 | 0.35 | 0.050 | 2549 | -7728.6 | 500.17 | 4.32 | 0.123 | 861 | 199.3 | -0.180 | - | - | - | - | - | - | |||