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| • Previous call tries 1 | • 25.82 of 350.00 AH used of 24V (92.62% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.7 deg, depth 0.30 m | • Intended pitch -14.6 deg, speed -9.524 cm/s | |
| • VBD pumped to 300.00 (SM_CC=300) | • surface range 4.7 m at 2.9 m depth, ceiling -1.8 m (m = 0.90, R^2 = 0.83) | |
| • GPS1 time: 38 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 7 | - | - | - | 101 | done | -0.84 | - | - | 196 | - | - | - | 2504 | - | -146.0 | -92.10 | 0.002 | 3565 | - | - | - | - | - | - | - | - | 14.78 | 13.54 | 14.81 |
| 102 | 5.5 | -11.4 | 9 | 120 | roll | -0.84 | 12.05 | 0.476 | 2420 | 184.6 | 2.58 | 0.109 | 1093 | -546.9 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.31 | 14.54 | 14.62 |
| 144 | 20.9 | -19.6 | 17 | 151 | done | -0.84 | - | - | 2412 | - | 2.70 | 0.128 | 2496 | 519.6 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.62 | 14.52 | 14.66 |
| 455 | 66.4 | -14.2 | 49 | 462 | roll | -0.84 | - | - | 2402 | - | 2.40 | 0.149 | 3746 | 520.8 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.91 | 14.61 | 14.94 |
| 521 | 76.2 | -14.9 | 62 | 530 | done | -0.84 | - | - | 2402 | - | 2.25 | 0.097 | 2505 | -551.6 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.75 | 14.69 | 14.78 |
| 827 | 120.4 | -14.3 | 93 | 833 | roll | -0.84 | - | - | 2402 | - | 2.58 | 0.117 | 1093 | -547.3 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.94 | 14.70 | 14.97 |
| 852 | 124.1 | -14.8 | 98 | 859 | done | -0.84 | 0.10 | 0.285 | 2419 | 170.0 | 2.65 | 0.125 | 2495 | 529.1 | -146.0 | - | - | 3567 | - | - | - | - | - | - | - | - | 14.59 | 14.66 | 14.73 |
| 1157 | 164.0 | -13.3 | 129 | 1165 | roll | -0.84 | - | - | 2411 | - | 2.38 | 0.151 | 3739 | 522.7 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.00 | 14.70 | 15.02 |
| 1228 | 173.8 | -13.7 | 143 | 1235 | done | -0.84 | - | - | 2411 | - | 2.25 | 0.097 | 2497 | -552.0 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.83 | 14.76 | 14.86 |
| 1539 | 216.7 | -14.2 | 175 | 1545 | roll | -0.84 | - | - | 2411 | - | 2.60 | 0.116 | 1093 | -540.0 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.04 |
| 1564 | 220.2 | -14.5 | 180 | 1571 | done | -0.84 | - | - | 2402 | - | 2.65 | 0.126 | 2498 | 530.2 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.82 | 14.73 | 14.86 |
| 1869 | 263.9 | -14.0 | 211 | 1875 | roll | -0.84 | - | - | 2393 | - | 2.38 | 0.150 | 3744 | 523.5 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.01 | 14.73 | 15.06 |
| 1929 | 272.6 | -14.5 | 223 | 1935 | done | -0.84 | 0.10 | 0.267 | 2419 | 260.0 | 2.25 | 0.098 | 2498 | -553.8 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.66 | 14.78 | 14.80 |
| 2250 | 312.8 | -12.4 | 251 | 2250 | done | -0.84 | - | - | 2419 | - | - | - | 2498 | - | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.02 | 15.05 | 15.04 |
| 2549 | 350.9 | -12.8 | 266 | 2550 | done | -0.84 | - | - | 2419 | - | - | - | 2498 | - | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 2849 | 389.4 | -12.8 | 281 | 2856 | roll | -0.84 | - | - | 2411 | - | 2.40 | 0.151 | 3752 | 522.5 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.08 | 14.78 | 15.11 |
| 2895 | 395.5 | -13.3 | 290 | 2901 | done | -0.84 | - | - | 2411 | - | 2.25 | 0.098 | 2503 | -555.1 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.90 | 14.84 | 14.93 |
| 3210 | 436.9 | -13.1 | 308 | 3216 | roll | -0.84 | - | - | 2411 | - | 2.60 | 0.117 | 1091 | -543.1 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.08 | 14.79 | 15.11 |
| 3235 | 440.2 | -13.2 | 313 | 3242 | done | -0.84 | - | - | 2402 | - | 2.62 | 0.124 | 2491 | 534.4 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.92 |
| 3551 | 481.3 | -12.8 | 331 | 3558 | roll | -0.84 | - | - | 2393 | - | 2.40 | 0.151 | 3752 | 525.4 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.09 | 14.78 | 15.11 |
| 3606 | 488.5 | -12.9 | 342 | 3614 | done | -0.84 | 0.10 | 0.268 | 2419 | 260.0 | 2.25 | 0.099 | 2498 | -557.3 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.70 | 14.84 | 14.84 |
| 3923 | 524.3 | -11.3 | 355 | 3928 | roll | -0.84 | - | - | 2419 | - | 2.55 | 0.118 | 1091 | -551.8 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.07 | 14.81 | 15.09 |
| 3946 | 527.2 | -11.9 | 360 | 3954 | done | -0.84 | - | - | 2412 | - | 2.65 | 0.124 | 2501 | 532.1 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.88 | 14.79 | 14.92 |
| 4311 | 571.3 | -12.1 | 373 | 4318 | roll | -0.84 | - | - | 2403 | - | 2.35 | 0.149 | 3742 | 528.1 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.10 | 14.79 | 15.12 |
| 4377 | 579.7 | -12.6 | 386 | 4383 | done | -0.84 | - | - | 2403 | - | 2.22 | 0.099 | 2502 | -558.6 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.91 | 14.85 | 14.94 |
| 4762 | 625.6 | -11.9 | 403 | 4763 | done | -0.84 | - | - | 2403 | - | - | - | 2502 | - | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
| 5122 | 670.6 | -12.8 | 415 | 5131 | roll | -0.84 | - | - | 2394 | - | 2.38 | 0.149 | 3751 | 524.8 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 15.11 | 14.80 | 15.14 |
| 5160 | 675.7 | -13.5 | 422 | 5167 | done | -0.84 | 0.10 | 0.257 | 2421 | 270.0 | 2.25 | 0.097 | 2497 | -557.3 | -146.0 | - | - | 3566 | - | - | - | - | - | - | - | - | 14.72 | 14.85 | 14.87 |
| 5545 | 719.7 | -11.3 | 439 | 5546 | done | -0.84 | - | - | 2418 | - | - | - | 2497 | - | -146.0 | - | - | 3567 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 5906 | 760.7 | -11.4 | 451 | 5906 | done | -0.84 | - | - | 2421 | - | - | - | 2497 | - | -146.0 | - | - | 3567 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 5964 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 5964 | begin apogee | ||||||||||||||||||||||||||||
| 5967 | 767.5 | -11.3 | 453 | 6124 | done | -0.23 | 0.73 | 0.216 | 2625 | 279.5 | - | - | 2195 | - | - | 154.23 | 3.101 | 2967 | -3.9 | 0.193 | - | - | - | - | - | - | 14.77 | 13.64 | 12.57 |
| 6125 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6125 | begin climb | ||||||||||||||||||||||||||||
| 6126 | 772.1 | - | 458 | 6301 | roll | 0.84 | 1.15 | 0.137 | 2972 | 301.7 | 3.00 | 0.130 | 799 | -465.3 | 146.0 | 167.00 | 3.069 | 2371 | -3.6 | 0.180 | - | - | - | - | - | - | 13.64 | 13.23 | 12.21 |
| 6375 | 761.2 | 9.1 | 507 | 6383 | done | 0.84 | - | - | 2973 | - | 2.80 | 0.112 | 2197 | 499.3 | 146.0 | - | - | 2363 | - | - | - | - | - | - | - | - | 13.85 | 13.78 | 13.88 |
| 6762 | 722.7 | 9.8 | 524 | 6763 | done | 0.84 | - | - | 2973 | - | - | - | 2198 | - | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.60 | 14.63 | 14.62 |
| 7122 | 687.9 | 9.7 | 536 | 7128 | roll | 0.84 | - | - | 2973 | - | 2.75 | 0.142 | 3619 | 516.7 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.80 | 14.54 | 14.83 |
| 7167 | 683.0 | 11.0 | 545 | 7174 | done | 0.84 | - | - | 2983 | - | 2.60 | 0.101 | 2210 | -541.9 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.65 | 14.58 | 14.68 |
| 7544 | 646.0 | 9.7 | 560 | 7545 | done | 0.84 | - | - | 2983 | - | - | - | 2210 | - | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.89 | 14.92 | 14.92 |
| 7904 | 611.5 | 9.6 | 572 | 7905 | done | 0.84 | - | - | 2983 | - | - | - | 2210 | - | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.95 | 14.99 | 14.98 |
| 8264 | 576.8 | 9.6 | 584 | 8269 | roll | 0.84 | - | - | 2983 | - | 2.65 | 0.142 | 3622 | 532.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.00 | 14.77 | 15.03 |
| 8288 | 574.2 | 10.4 | 589 | 8295 | done | 0.84 | - | - | 2994 | - | 2.60 | 0.101 | 2196 | -548.5 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.85 | 14.78 | 14.89 |
| 8653 | 537.0 | 10.3 | 602 | 8654 | done | 0.84 | - | - | 2994 | - | - | - | 2195 | - | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.05 | 15.09 | 15.08 |
| 9013 | 501.4 | 9.7 | 614 | 9019 | roll | 0.84 | - | - | 2994 | - | 2.70 | 0.142 | 3619 | 527.4 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.07 | 14.81 | 15.11 |
| 9073 | 494.8 | 10.8 | 626 | 9080 | done | 0.84 | 0.10 | 0.269 | 2979 | -150.0 | 2.58 | 0.101 | 2200 | -550.0 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.73 | 14.85 | 14.87 |
| 9393 | 466.2 | 9.0 | 645 | 9399 | roll | 0.85 | - | - | 2988 | - | 2.62 | 0.132 | 795 | -536.3 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.11 |
| 9418 | 463.9 | 9.0 | 650 | 9424 | done | 0.86 | - | - | 2988 | - | 2.58 | 0.112 | 2198 | 543.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.90 | 14.83 | 14.93 |
| 9734 | 434.7 | 9.3 | 668 | 9739 | roll | 0.86 | - | - | 2988 | - | 2.62 | 0.142 | 3613 | 540.1 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.11 |
| 9788 | 429.1 | 10.4 | 679 | 9797 | done | 0.86 | - | - | 2999 | - | 2.55 | 0.101 | 2202 | -553.3 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.93 |
| 10094 | 400.3 | 9.5 | 695 | 10100 | roll | 0.86 | - | - | 3011 | - | 2.60 | 0.134 | 790 | -543.1 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.12 |
| 10139 | 395.9 | 9.6 | 704 | 10146 | done | 0.86 | 0.10 | 0.247 | 2983 | -280.0 | 2.58 | 0.112 | 2192 | 543.4 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.75 | 14.83 | 14.91 |
| 10454 | 368.9 | 8.4 | 722 | 10460 | roll | 0.89 | - | - | 2983 | - | 2.67 | 0.141 | 3609 | 530.7 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.10 | 14.83 | 15.13 |
| 10539 | 361.0 | 9.3 | 739 | 10546 | done | 0.89 | - | - | 2993 | - | 2.55 | 0.103 | 2202 | -551.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.96 |
| 10855 | 333.9 | 8.4 | 757 | 10856 | done | 0.91 | - | - | 2993 | - | - | - | 2202 | - | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
| 11156 | 308.3 | 8.5 | 772 | 11161 | roll | 0.93 | - | - | 2992 | - | 2.62 | 0.143 | 3610 | 537.4 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.11 | 14.84 | 15.14 |
| 11191 | 305.0 | 9.6 | 779 | 11199 | done | 0.93 | - | - | 3004 | - | 2.50 | 0.103 | 2198 | -564.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.98 | 14.87 | 15.01 |
| 11495 | 277.6 | 9.0 | 807 | 11502 | roll | 0.94 | - | - | 3003 | - | 2.67 | 0.142 | 3606 | 527.3 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.11 | 14.82 | 15.14 |
| 11536 | 273.7 | 9.8 | 815 | 11543 | done | 0.94 | - | - | 3014 | - | 2.55 | 0.103 | 2201 | -551.0 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.95 |
| 11847 | 247.1 | 8.5 | 847 | 11854 | roll | 0.96 | - | - | 3025 | - | 2.65 | 0.135 | 788 | -533.2 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.10 | 14.81 | 15.13 |
| 11978 | 236.2 | 8.3 | 873 | 11984 | done | 0.98 | - | - | 3025 | - | 2.60 | 0.115 | 2201 | 543.5 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.95 |
| 12287 | 210.7 | 8.1 | 905 | 12294 | roll | 1.01 | - | - | 3024 | - | 2.67 | 0.142 | 3615 | 529.6 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
| 12307 | 208.9 | 9.0 | 909 | 12314 | done | 1.01 | - | - | 3035 | - | 2.55 | 0.103 | 2203 | -553.7 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.95 |
| 12618 | 182.0 | 8.9 | 941 | 12624 | roll | 1.02 | - | - | 3036 | - | 2.62 | 0.142 | 3615 | 538.9 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.12 |
| 12692 | 174.6 | 10.0 | 956 | 12700 | done | 1.02 | - | - | 3046 | - | 2.58 | 0.103 | 2194 | -550.8 | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.95 |
| 12997 | 146.9 | 9.3 | 987 | 13004 | roll | 1.02 | - | - | 3046 | - | 2.67 | 0.142 | 3608 | 529.6 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
| 13078 | 138.5 | 10.5 | 1003 | 13085 | done | 1.02 | - | - | 3057 | - | 2.55 | 0.103 | 2201 | -551.8 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.91 | 14.84 | 14.97 |
| 13389 | 109.9 | 8.8 | 1035 | 13390 | done | 1.04 | - | - | 3060 | - | - | - | 2201 | - | 146.0 | - | - | 2358 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 13689 | 84.0 | 8.7 | 1065 | 13695 | roll | 1.05 | - | - | 3068 | - | 2.65 | 0.134 | 789 | -532.8 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.12 |
| 13718 | 81.3 | 9.3 | 1071 | 13726 | done | 1.05 | - | - | 3068 | - | 2.58 | 0.112 | 2195 | 545.0 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.92 |
| 14030 | 52.8 | 8.3 | 1103 | 14031 | done | 1.08 | - | - | 3068 | - | - | - | 2194 | - | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 14329 | 24.8 | 9.5 | 1133 | 14335 | roll | 1.08 | - | - | 3078 | - | 2.62 | 0.132 | 798 | -532.8 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 15.09 | 14.81 | 15.13 |
| 14430 | 16.5 | 8.3 | 1153 | 14436 | done | 1.10 | - | - | 3078 | - | 2.58 | 0.114 | 2197 | 542.2 | 146.0 | - | - | 2357 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.95 |
| 14619 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14619 | begin surface coast | ||||||||||||||||||||||||||||
| 14639 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14639 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.43 | - | - | - | - | -7.75 | 8.35 | 0.065 | 199 | 23.8 | 0.60 | 0.143 | 2502 | 2346.7 | 300.00 | 111.43 | 0.243 | 1743 | 15.6 | -0.003 | - | - | - | - | - | - | |||