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| • Previous call tries 2 | • 9.62 of 310.00 AH used of 24V (96.90% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -70.6 deg, depth 1.33 m | • Intended pitch -22.2 deg, speed -9.877 cm/s | |
| • VBD pumped to 270.07 (SM_CC=270) | • surface range 19.5 m at 19.6 m depth, ceiling 0.1 m | |
| • GPS1 time: 113 s | • bottom range 7.0 m at 120.1 m, depth 127 m (400 m grid) | |
| • GPS2 time: 21 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 | |||||
| 16 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16 | begin dive | ||||||||||||||||||||||||||||
| 17 | - | - | - | 67 | VBD | -0.86 | - | - | 108 | - | - | - | 1993 | - | -97.3 | -48.20 | - | 3172 | - | - | - | - | - | - | - | - | 15.10 | - | 15.11 |
| 68 | 4.4 | -11.2 | 8 | 87 | roll | -0.86 | 12.05 | 0.301 | 2238 | 176.8 | 2.38 | 0.084 | 576 | -595.4 | -97.3 | -1.62 | - | 3267 | -58.6 | - | - | - | - | - | - | - | 14.75 | 14.15 | 14.88 |
| 236 | 39.5 | -13.7 | 41 | 243 | done | -0.86 | - | - | 2234 | - | 2.33 | 0.050 | 1983 | 603.9 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.01 | 14.97 | 15.03 |
| 302 | 48.6 | -15.4 | 54 | 310 | roll | -0.86 | - | - | 2226 | - | 2.40 | 0.073 | 3395 | 588.3 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.16 | 14.96 | 15.16 |
| 338 | 54.6 | -15.4 | 61 | 346 | done | -0.86 | 0.08 | 0.226 | 2242 | 200.0 | 2.33 | 0.044 | 1980 | -607.3 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 14.88 | 14.95 | 14.97 |
| 405 | 64.1 | -15.2 | 74 | 406 | done | -0.86 | - | - | 2243 | - | - | - | 1981 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.17 | 15.19 | 15.19 |
| 465 | 72.6 | -13.2 | 86 | 472 | roll | -0.86 | - | - | 2236 | - | 2.40 | 0.071 | 3388 | 586.2 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 526 | 81.2 | -14.6 | 98 | 534 | done | -0.86 | - | - | 2237 | - | 2.30 | 0.044 | 1987 | -609.1 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.05 | 15.01 | 15.07 |
| 593 | 91.2 | -15.3 | 111 | 598 | done | -0.86 | - | - | 2236 | - | - | - | 1987 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 658 | 100.0 | -13.0 | 124 | 666 | roll | -0.86 | - | - | 2236 | - | 2.35 | 0.070 | 588 | -595.3 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 684 | 103.2 | -13.9 | 129 | 692 | done | -0.86 | 0.05 | 0.282 | 2243 | 140.0 | 2.30 | 0.050 | 1989 | 609.1 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.00 |
| 750 | 111.1 | -11.7 | 142 | 758 | roll | -0.86 | - | - | 2242 | - | 2.38 | 0.074 | 3386 | 587.0 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 802 | 116.6 | -10.5 | 152 | 809 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.044 | 1979 | -611.7 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.07 | 15.04 | 15.09 |
| 868 | 123.7 | -10.4 | 165 | 869 | done | -0.86 | - | - | 2237 | - | - | - | 1979 | - | -97.3 | - | - | 3272 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 927 | 130.1 | -10.6 | 177 | 935 | roll | -0.86 | - | - | 2238 | - | 2.40 | 0.071 | 3388 | 587.1 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
| 983 | 135.7 | -10.0 | 188 | 990 | done | -0.86 | - | - | 2238 | - | 2.30 | 0.043 | 1984 | -610.4 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.03 | 15.01 | 15.07 |
| 1049 | 142.4 | -10.5 | 201 | 1056 | roll | -0.86 | - | - | 2238 | - | 2.35 | 0.070 | 586 | -594.9 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.24 |
| 1080 | 145.6 | -10.6 | 207 | 1087 | done | -0.86 | - | - | 2235 | - | 2.30 | 0.050 | 1987 | 609.1 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.07 | 15.04 | 15.09 |
| 1146 | 152.5 | -10.2 | 220 | 1153 | roll | -0.86 | - | - | 2231 | - | 2.38 | 0.073 | 3390 | 589.5 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 1217 | 159.3 | -9.4 | 234 | 1225 | done | -0.86 | 0.05 | 0.243 | 2244 | 260.0 | 2.30 | 0.044 | 1979 | -613.5 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.95 | 15.04 | 15.05 |
| 1284 | 165.6 | -9.2 | 247 | 1290 | roll | -0.86 | - | - | 2243 | - | 2.33 | 0.070 | 592 | -595.3 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.24 | 15.00 | 15.23 |
| 1304 | 167.6 | -9.6 | 251 | 1311 | done | -0.86 | - | - | 2241 | - | 2.30 | 0.050 | 1990 | 607.8 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.07 | 15.02 | 15.09 |
| 1370 | 173.8 | -9.4 | 264 | 1377 | roll | -0.86 | - | - | 2242 | - | 2.35 | 0.074 | 3403 | 601.3 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.03 | 15.23 |
| 1446 | 180.4 | -8.5 | 279 | 1453 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.044 | 1993 | -613.0 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.09 | 15.05 | 15.12 |
| 1512 | 186.2 | -8.8 | 292 | 1517 | done | -0.86 | - | - | 2242 | - | - | - | 1993 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1576 | 191.9 | -8.5 | 305 | 1583 | roll | -0.86 | - | - | 2236 | - | 2.38 | 0.072 | 3391 | 587.4 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1612 | 195.2 | -9.0 | 312 | 1619 | done | -0.86 | - | - | 2236 | - | 2.30 | 0.043 | 1986 | -610.9 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.09 | 15.05 | 15.11 |
| 1678 | 201.5 | -7.9 | 325 | 1685 | roll | -0.86 | - | - | 2233 | - | 2.35 | 0.073 | 3393 | 598.7 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.24 | 15.03 | 15.24 |
| 1718 | 205.2 | -9.3 | 333 | 1726 | done | -0.86 | - | - | 2235 | - | 2.30 | 0.043 | 1981 | -613.9 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.09 | 15.06 | 15.11 |
| 1785 | 211.2 | -9.7 | 346 | 1791 | done | -0.86 | 0.03 | 0.490 | 2243 | 266.7 | - | - | 1980 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.95 | 15.09 | 15.07 |
| 1850 | 217.8 | -10.3 | 359 | 1857 | roll | -0.86 | - | - | 2242 | - | 2.42 | 0.073 | 3396 | 585.1 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.26 |
| 1901 | 222.8 | -9.8 | 369 | 1908 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.043 | 1988 | -612.2 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.13 |
| 1967 | 228.7 | -8.3 | 382 | 1975 | roll | -0.86 | - | - | 2242 | - | 2.35 | 0.075 | 3391 | 597.0 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.26 |
| 1993 | 230.6 | -7.2 | 387 | 2000 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.043 | 1985 | -611.3 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.09 | 15.04 | 15.10 |
| 2060 | 236.8 | -9.1 | 400 | 2065 | done | -0.86 | - | - | 2242 | - | - | - | 1985 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.27 |
| 2124 | 242.9 | -9.1 | 413 | 2131 | roll | -0.86 | - | - | 2242 | - | 2.40 | 0.076 | 3385 | 583.3 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.27 | 15.03 | 15.28 |
| 2145 | 244.8 | -8.4 | 417 | 2152 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.044 | 1983 | -609.6 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.13 |
| 2211 | 250.9 | -8.6 | 430 | 2212 | done | -0.86 | - | - | 2242 | - | - | - | 1982 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 2271 | 256.3 | -9.1 | 442 | 2272 | done | -0.86 | - | - | 2242 | - | - | - | 1982 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.27 |
| 2331 | 261.9 | -9.0 | 454 | 2339 | roll | -0.86 | - | - | 2241 | - | 2.42 | 0.075 | 3396 | 584.3 | -97.3 | - | - | 3266 | - | - | - | - | - | - | - | - | 15.27 | 15.04 | 15.27 |
| 2352 | 263.9 | -10.0 | 458 | 2360 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.044 | 1988 | -612.2 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.13 |
| 2420 | 270.0 | -9.5 | 471 | 2425 | done | -0.86 | - | - | 2242 | - | - | - | 1988 | - | -97.3 | - | - | 3264 | - | - | - | - | - | - | - | - | 15.27 | 15.27 | 15.27 |
| 2484 | 274.2 | -0.6 | 484 | 2491 | roll | -0.86 | - | - | 2242 | - | 2.40 | 0.076 | 3389 | 583.8 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.27 | 15.03 | 15.28 |
| 2604 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 2604 | begin apogee | ||||||||||||||||||||||||||||
| 2609 | 274.2 | - | 508 | 2687 | done | -0.17 | 1.00 | 0.075 | 2477 | 235.0 | - | - | 1976 | - | - | 73.12 | 1.357 | 2867 | -5.5 | 0.194 | - | - | - | - | - | - | 15.08 | 14.69 | 14.14 |
| 2688 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2688 | begin climb | ||||||||||||||||||||||||||||
| 2689 | 274.2 | - | 522 | 2777 | roll | 0.86 | 1.42 | 0.070 | 2800 | 227.5 | 2.42 | 0.072 | 592 | -571.9 | 97.3 | 75.12 | 1.338 | 2470 | -5.3 | 0.190 | - | - | - | - | - | - | 14.67 | 14.45 | 13.97 |
| 3276 | 273.6 | -0.1 | 636 | 3398 | done | 1.04 | 0.15 | 0.088 | 2864 | 426.7 | 2.33 | 0.050 | 1999 | 603.9 | 244.0 | 115.45 | 1.365 | 1872 | -5.2 | 0.182 | - | - | - | - | - | - | 15.01 | 15.00 | 13.99 |
| 3457 | 253.6 | 18.7 | 669 | 3463 | roll | 1.04 | - | - | 2874 | - | 2.47 | 0.074 | 593 | -569.2 | 244.0 | - | - | 1868 | - | - | - | - | - | - | - | - | 14.84 | 14.64 | 14.85 |
| 3542 | 237.0 | 18.9 | 686 | 3550 | done | 1.04 | 0.03 | 0.360 | 2868 | -200.0 | 2.33 | 0.047 | 1986 | 597.9 | 244.0 | - | - | 1866 | - | - | - | - | - | - | - | - | 14.66 | 14.79 | 14.78 |
| 3608 | 224.9 | 18.2 | 699 | 3616 | roll | 1.04 | - | - | 2878 | - | 2.40 | 0.074 | 587 | -582.9 | 244.0 | - | - | 1866 | - | - | - | - | - | - | - | - | 15.03 | 14.82 | 15.04 |
| 3625 | 221.9 | 17.2 | 702 | 3632 | done | 1.04 | 0.05 | 0.291 | 2868 | -200.0 | 2.33 | 0.052 | 1984 | 599.6 | 244.0 | - | - | 1865 | - | - | - | - | - | - | - | - | 14.73 | 14.86 | 14.84 |
| 3691 | 210.5 | 16.3 | 715 | 3699 | roll | 1.04 | - | - | 2868 | - | 2.40 | 0.074 | 3388 | 585.0 | 244.0 | - | - | 1864 | - | - | - | - | - | - | - | - | 15.09 | 14.87 | 15.09 |
| 3747 | 200.4 | 17.9 | 726 | 3755 | done | 1.04 | 0.05 | 0.326 | 2867 | - | 2.35 | 0.051 | 1984 | -597.4 | 244.0 | - | - | 1863 | - | - | - | - | - | - | - | - | 14.80 | 14.91 | 14.92 |
| 3814 | 189.6 | 15.4 | 739 | 3821 | roll | 1.04 | - | - | 2867 | - | 2.40 | 0.071 | 3387 | 584.6 | 244.0 | - | - | 1863 | - | - | - | - | - | - | - | - | 15.12 | 14.92 | 15.13 |
| 3935 | 169.8 | 16.2 | 763 | 3943 | done | 1.04 | - | - | 2873 | - | 2.35 | 0.052 | 1988 | -595.3 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.02 |
| 4002 | 158.7 | 16.3 | 776 | 4009 | roll | 1.04 | - | - | 2880 | - | 2.40 | 0.077 | 577 | -587.9 | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 15.16 | 14.96 | 15.16 |
| 4012 | 157.0 | 16.8 | 778 | 4020 | done | 1.04 | 0.05 | 0.300 | 2870 | -200.0 | 2.33 | 0.049 | 1985 | 604.3 | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 14.86 | 14.97 | 14.97 |
| 4078 | 145.7 | 16.8 | 791 | 4086 | roll | 1.04 | - | - | 2869 | - | 2.38 | 0.073 | 3387 | 589.1 | 244.0 | - | - | 1862 | - | - | - | - | - | - | - | - | 15.16 | 14.97 | 15.17 |
| 4110 | 140.2 | 19.1 | 797 | 4117 | done | 1.04 | 0.05 | 0.319 | 2869 | - | 2.33 | 0.050 | 1989 | -600.0 | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 14.85 | 14.95 | 14.96 |
| 4176 | 128.4 | 16.6 | 810 | 4183 | roll | 1.04 | - | - | 2878 | - | 2.38 | 0.076 | 586 | -589.5 | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 4237 | 118.0 | 17.9 | 822 | 4245 | done | 1.04 | 0.05 | 0.298 | 2868 | -200.0 | 2.33 | 0.052 | 1995 | 604.7 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.00 |
| 4303 | 106.9 | 15.8 | 835 | 4311 | roll | 1.04 | - | - | 2877 | - | 2.40 | 0.074 | 583 | -588.3 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 4314 | 105.4 | 14.7 | 837 | 4322 | done | 1.04 | 0.05 | 0.298 | 2868 | -180.0 | 2.33 | 0.050 | 1988 | 603.0 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 14.87 | 14.97 | 14.97 |
| 4381 | 95.0 | 13.9 | 850 | 4387 | done | 1.04 | - | - | 2867 | - | - | - | 1988 | - | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.21 |
| 4446 | 86.6 | 13.0 | 863 | 4447 | done | 1.04 | - | - | 2867 | - | - | - | 1989 | - | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4506 | 79.5 | 12.1 | 875 | 4507 | done | 1.04 | - | - | 2868 | - | - | - | 1989 | - | 244.0 | - | - | 1861 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4566 | 72.7 | 11.4 | 887 | 4574 | roll | 1.04 | - | - | 2867 | - | 2.38 | 0.073 | 3393 | 589.9 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 15.21 | 14.99 | 15.22 |
| 4693 | 58.2 | 10.4 | 912 | 4700 | done | 1.04 | 0.05 | 0.318 | 2866 | - | 2.33 | 0.049 | 1987 | -603.4 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 14.90 | 15.03 | 15.03 |
| 4759 | 51.6 | 10.1 | 925 | 4765 | roll | 1.04 | - | - | 2876 | - | 2.38 | 0.075 | 575 | -593.3 | 244.0 | - | - | 1860 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.22 |
| 4814 | 45.7 | 11.7 | 936 | 4822 | done | 1.04 | 0.05 | 0.292 | 2866 | -200.0 | 2.33 | 0.050 | 1987 | 606.0 | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 14.91 | 15.00 | 15.00 |
| 4881 | 37.8 | 11.5 | 949 | 4886 | done | 1.04 | - | - | 2866 | - | - | - | 1987 | - | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 4945 | 30.3 | 11.9 | 962 | 4952 | roll | 1.04 | - | - | 2875 | - | 2.38 | 0.073 | 584 | -589.5 | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
| 4971 | 27.2 | 13.0 | 967 | 4980 | done | 1.04 | 0.05 | 0.291 | 2865 | -200.0 | 2.33 | 0.049 | 1994 | 605.2 | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 14.92 | 15.04 | 15.04 |
| 5038 | 19.0 | 11.9 | 980 | 5039 | done | 1.04 | - | - | 2865 | - | - | - | 1994 | - | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 5098 | 11.7 | 12.6 | 992 | 5105 | roll | 1.04 | - | - | 2874 | - | 2.38 | 0.073 | 584 | -592.4 | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 5124 | 8.7 | 12.0 | 997 | 5132 | done | 1.04 | 0.03 | 0.373 | 2869 | -166.7 | 2.30 | 0.049 | 1988 | 610.4 | 244.0 | - | - | 1859 | - | - | - | - | - | - | - | - | 14.86 | 15.00 | 15.02 |
| 5169 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5169 | begin surface coast | ||||||||||||||||||||||||||||
| 5190 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5190 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.95 | - | - | - | - | -7.38 | 12.48 | 0.057 | 148 | 11.9 | - | - | 1988 | - | 270.07 | 12.52 | 0.121 | 1766 | 141.0 | -0.351 | - | - | - | - | - | - | |||