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| • Previous call tries 2 | • 214.20 of 350.00 AH used of 24V (38.80% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.1 deg, depth 0.76 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 7.7 m depth, ceiling -0.5 m (m = 1.03, R^2 = 1.00) | |
| • GPS1 time: 20 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 1 | |
| • 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 | ||||||||||||||||||||||||||||
| 12 | - | - | - | 125 | done | -1.06 | - | - | 210 | - | - | - | 2305 | - | -107.1 | -105.80 | 0.002 | 2998 | - | - | - | - | - | - | - | - | 14.95 | 12.81 | 14.98 |
| 128 | 3.6 | -3.0 | 4 | 146 | roll | -1.06 | 11.70 | 0.424 | 2527 | 198.0 | 2.50 | 0.064 | 895 | -564.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.52 | 14.54 | 14.41 |
| 301 | 34.0 | -14.0 | 29 | 308 | done | -1.06 | - | - | 2519 | - | 2.60 | 0.067 | 2309 | 543.8 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.53 | 14.45 | 14.59 |
| 661 | 86.1 | -14.7 | 44 | 662 | done | -1.06 | - | - | 2518 | - | - | - | 2310 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.10 |
| 994 | 134.5 | -13.7 | 56 | 1000 | roll | -1.06 | - | - | 2507 | - | 2.70 | 0.109 | 3718 | 521.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.12 | 14.22 | 15.14 |
| 1023 | 138.6 | -14.8 | 60 | 1028 | done | -1.06 | - | - | 2507 | - | 2.42 | 0.045 | 2312 | -581.0 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.43 | 14.36 | 14.45 |
| 1387 | 193.6 | -14.8 | 76 | 1388 | done | -1.06 | - | - | 2508 | - | - | - | 2310 | - | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 1722 | 243.3 | -14.7 | 83 | 1723 | done | -1.06 | - | - | 2507 | - | - | - | 2310 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.14 | 15.16 | 15.16 |
| 2058 | 291.7 | -14.2 | 89 | 2065 | roll | -1.06 | - | - | 2507 | - | 2.58 | 0.067 | 903 | -545.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.11 | 14.23 | 15.14 |
| 2121 | 300.9 | -14.4 | 98 | 2127 | done | -1.06 | - | - | 2500 | - | 2.60 | 0.068 | 2308 | 540.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.38 | 14.29 | 14.45 |
| 2508 | 356.5 | -14.4 | 111 | 2514 | roll | -1.06 | 0.12 | 0.308 | 2528 | 233.3 | 2.55 | 0.065 | 908 | -549.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.08 | 14.29 | 14.21 |
| 2604 | 370.4 | -13.7 | 125 | 2611 | done | -1.06 | - | - | 2520 | - | 2.60 | 0.063 | 2302 | 536.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.25 | 14.16 | 14.31 |
| 2954 | 416.5 | -13.1 | 133 | 2961 | roll | -1.06 | - | - | 2519 | - | 2.58 | 0.065 | 901 | -543.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.10 | 14.20 | 15.12 |
| 3003 | 423.1 | -13.5 | 140 | 3011 | done | -1.06 | - | - | 2510 | - | 2.58 | 0.067 | 2300 | 542.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.35 | 14.26 | 14.42 |
| 3346 | 469.8 | -13.5 | 147 | 3347 | done | -1.06 | - | - | 2510 | - | - | - | 2300 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 3682 | 514.5 | -13.1 | 153 | 3689 | roll | -1.06 | - | - | 2510 | - | 2.55 | 0.064 | 915 | -543.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.09 | 14.18 | 15.12 |
| 3704 | 517.3 | -13.1 | 156 | 3709 | done | -1.06 | - | - | 2504 | - | 2.53 | 0.065 | 2306 | 549.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.50 | 14.33 | 14.55 |
| 4074 | 565.9 | -13.1 | 167 | 4080 | roll | -1.06 | - | - | 2502 | - | 2.58 | 0.063 | 913 | -539.9 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.09 | 14.16 | 15.11 |
| 4137 | 574.2 | -13.3 | 176 | 4143 | done | -1.06 | 0.12 | 0.270 | 2523 | 175.0 | 2.55 | 0.063 | 2300 | 543.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.78 | 14.26 | 13.99 |
| 4525 | 621.1 | -12.3 | 189 | 4526 | done | -1.06 | - | - | 2523 | - | - | - | 2300 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.91 | 14.94 | 14.94 |
| 4859 | 661.9 | -12.2 | 195 | 4864 | roll | -1.06 | - | - | 2523 | - | 2.53 | 0.064 | 912 | -548.6 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.90 | 14.24 | 14.93 |
| 4950 | 672.9 | -13.0 | 208 | 4955 | done | -1.06 | - | - | 2517 | - | 2.53 | 0.065 | 2303 | 549.8 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.46 | 14.29 | 14.52 |
| 5307 | 718.6 | -12.9 | 217 | 5313 | roll | -1.06 | - | - | 2517 | - | 2.55 | 0.065 | 902 | -549.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.90 | 14.22 | 14.92 |
| 5469 | 739.1 | -12.6 | 240 | 5476 | done | -1.06 | - | - | 2506 | - | 2.55 | 0.064 | 2310 | 552.2 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.47 | 14.31 | 14.53 |
| 5811 | 779.6 | -12.0 | 247 | 5816 | roll | -1.06 | - | - | 2506 | - | 2.55 | 0.064 | 905 | -551.0 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.91 | 14.23 | 14.93 |
| 5845 | 784.4 | -13.4 | 252 | 5851 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.067 | 2301 | 536.9 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.35 |
| 6202 | 827.4 | -12.1 | 261 | 6203 | done | -1.06 | - | - | 2503 | - | - | - | 2302 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.09 |
| 6538 | 873.0 | -14.0 | 267 | 6539 | done | -1.06 | - | - | 2503 | - | - | - | 2302 | - | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 6874 | 913.4 | -10.7 | 273 | 6881 | roll | -1.06 | - | - | 2503 | - | 2.58 | 0.063 | 908 | -540.3 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.08 | 14.13 | 15.10 |
| 6930 | 921.5 | -14.9 | 281 | 6937 | done | -1.06 | 0.12 | 0.262 | 2523 | 166.7 | 2.60 | 0.064 | 2313 | 540.4 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 13.75 | 14.20 | 13.95 |
| 7324 | 966.5 | -12.6 | 295 | 7325 | done | -1.06 | - | - | 2524 | - | - | - | 2314 | - | -107.1 | - | - | 3001 | - | - | - | - | - | - | - | - | 15.05 | 15.07 | 15.07 |
| 7658 | 975.8 | -1.0 | 301 | 7665 | roll | -1.06 | - | - | 2530 | - | 2.62 | 0.070 | 908 | -536.6 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.09 | 14.07 | 15.11 |
| 7896 | 976.9 | -0.5 | 335 | 7902 | done | -1.06 | - | - | 2521 | - | 2.58 | 0.058 | 2306 | 541.9 | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 14.29 | 14.21 | 14.34 |
| 8159 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 8159 | begin apogee | ||||||||||||||||||||||||||||
| 8166 | 976.9 | - | 345 | 8300 | done | -0.23 | 1.05 | 0.219 | 2797 | 262.9 | 0.08 | 0.174 | 2121 | -2312.5 | - | 130.90 | 3.094 | 2558 | -3.4 | 0.237 | - | - | - | - | - | - | 13.90 | 13.36 | 11.97 |
| 8301 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8301 | begin climb | ||||||||||||||||||||||||||||
| 8304 | 977.3 | - | 347 | 8465 | roll | 1.06 | 1.38 | 0.122 | 3204 | 294.9 | 2.97 | 0.091 | 3498 | 463.6 | 107.1 | 150.70 | 3.099 | 2121 | -2.9 | 0.203 | - | - | - | - | - | - | 13.45 | 12.21 | 11.05 |
| 8555 | 961.1 | 10.1 | 387 | 8561 | done | 1.06 | - | - | 3213 | - | 2.62 | 0.041 | 2130 | -522.1 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 13.36 | 13.31 | 13.38 |
| 8948 | 909.6 | 14.5 | 401 | 8953 | roll | 1.06 | - | - | 3224 | - | 2.60 | 0.082 | 695 | -551.9 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.92 | 14.51 | 14.95 |
| 8996 | 903.3 | 13.8 | 408 | 9004 | done | 1.06 | - | - | 3223 | - | 2.47 | 0.055 | 2095 | 566.8 | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.69 |
| 9339 | 862.2 | 12.9 | 415 | 9345 | roll | 1.06 | - | - | 3224 | - | 2.62 | 0.103 | 3522 | 544.7 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.11 | 14.51 | 15.13 |
| 9444 | 845.7 | 16.7 | 430 | 9452 | done | 1.06 | - | - | 3233 | - | 2.47 | 0.042 | 2088 | -580.6 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.75 |
| 9787 | 798.6 | 13.0 | 437 | 9793 | roll | 1.06 | - | - | 3243 | - | 2.55 | 0.086 | 704 | -542.7 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.14 | 14.40 | 15.16 |
| 9822 | 793.3 | 15.7 | 442 | 9830 | done | 1.06 | 0.12 | 0.237 | 3209 | -283.3 | 2.47 | 0.057 | 2101 | 565.6 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.26 | 14.57 | 14.44 |
| 10179 | 746.2 | 12.5 | 451 | 10186 | roll | 1.06 | - | - | 3209 | - | 2.65 | 0.103 | 3508 | 530.9 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.14 | 14.42 | 15.16 |
| 10228 | 738.9 | 14.7 | 458 | 10236 | done | 1.06 | - | - | 3217 | - | 2.45 | 0.044 | 2100 | -574.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.68 | 14.62 | 14.71 |
| 10571 | 698.5 | 10.2 | 465 | 10577 | roll | 1.06 | - | - | 3217 | - | 2.67 | 0.103 | 3505 | 526.2 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.14 | 14.40 | 15.16 |
| 10627 | 692.0 | 11.8 | 473 | 10633 | done | 1.06 | - | - | 3225 | - | 2.45 | 0.044 | 2098 | -574.3 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.55 | 14.52 | 14.62 |
| 11019 | 646.8 | 11.7 | 487 | 11025 | roll | 1.06 | - | - | 3236 | - | 2.58 | 0.084 | 708 | -538.8 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.14 | 14.39 | 15.16 |
| 11047 | 643.7 | 11.0 | 491 | 11054 | done | 1.06 | - | - | 3235 | - | 2.47 | 0.058 | 2100 | 563.6 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.51 | 14.42 | 14.57 |
| 11412 | 603.6 | 10.8 | 501 | 11417 | roll | 1.06 | - | - | 3235 | - | 2.62 | 0.102 | 3515 | 540.1 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.02 | 14.42 | 15.04 |
| 11461 | 597.6 | 12.7 | 508 | 11468 | done | 1.06 | 0.17 | 0.277 | 3208 | -158.8 | 2.47 | 0.044 | 2085 | -578.9 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.15 | 14.63 | 14.52 |
| 11803 | 562.1 | 10.3 | 515 | 11809 | roll | 1.06 | - | - | 3222 | - | 2.53 | 0.083 | 694 | -549.8 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.13 | 14.38 | 15.16 |
| 11831 | 559.2 | 10.2 | 519 | 11837 | done | 1.06 | - | - | 3216 | - | 2.53 | 0.058 | 2110 | 559.7 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.54 | 14.47 | 14.60 |
| 12200 | 522.3 | 10.1 | 529 | 12205 | roll | 1.06 | - | - | 3215 | - | 2.62 | 0.104 | 3515 | 536.3 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.01 | 14.38 | 15.04 |
| 12252 | 516.1 | 11.0 | 537 | 12259 | done | 1.06 | - | - | 3225 | - | 2.50 | 0.044 | 2090 | -570.0 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.59 | 14.54 | 14.64 |
| 12648 | 476.7 | 9.9 | 551 | 12653 | roll | 1.06 | - | - | 3225 | - | 2.70 | 0.102 | 3520 | 529.6 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.01 | 14.37 | 15.03 |
| 12680 | 472.9 | 10.8 | 556 | 12686 | done | 1.06 | - | - | 3235 | - | 2.50 | 0.045 | 2096 | -569.6 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.64 |
| 13037 | 436.7 | 10.2 | 565 | 13038 | done | 1.06 | - | - | 3235 | - | - | - | 2095 | - | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.17 |
| 13373 | 402.3 | 10.2 | 571 | 13379 | roll | 1.06 | - | - | 3235 | - | 2.70 | 0.101 | 3502 | 521.1 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.12 | 14.28 | 15.13 |
| 13443 | 394.3 | 11.3 | 581 | 13449 | done | 1.06 | 0.12 | 0.258 | 3213 | -183.3 | 2.47 | 0.043 | 2087 | -572.9 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.02 | 14.50 | 14.22 |
| 13825 | 361.5 | 8.7 | 593 | 13830 | roll | 1.08 | - | - | 3221 | - | 2.55 | 0.083 | 693 | -546.7 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.98 | 14.36 | 15.02 |
| 13870 | 357.1 | 9.0 | 600 | 13878 | done | 1.10 | - | - | 3221 | - | 2.53 | 0.058 | 2107 | 558.9 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.49 | 14.42 | 14.56 |
| 14214 | 325.5 | 9.4 | 607 | 14220 | roll | 1.12 | - | - | 3221 | - | 2.67 | 0.103 | 3508 | 524.7 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 15.11 | 14.24 | 15.14 |
| 14298 | 316.2 | 11.0 | 619 | 14304 | done | 1.12 | - | - | 3230 | - | 2.47 | 0.044 | 2095 | -572.1 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.54 | 14.49 | 14.59 |
| 14662 | 281.4 | 9.2 | 629 | 14668 | roll | 1.13 | - | - | 3241 | - | 2.60 | 0.085 | 700 | -536.5 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 15.14 | 14.18 | 15.13 |
| 14710 | 276.9 | 9.5 | 636 | 14719 | done | 1.13 | - | - | 3241 | - | 2.53 | 0.057 | 2105 | 555.3 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.47 | 14.39 | 14.53 |
| 15054 | 243.9 | 9.6 | 643 | 15060 | roll | 1.13 | - | - | 3241 | - | 2.65 | 0.102 | 3521 | 534.3 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.97 | 14.31 | 15.00 |
| 15137 | 234.9 | 10.4 | 655 | 15144 | done | 1.13 | - | - | 3251 | - | 2.50 | 0.044 | 2092 | -571.6 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.52 | 14.46 | 14.57 |
| 15503 | 198.8 | 9.9 | 665 | 15508 | roll | 1.13 | - | - | 3262 | - | 2.55 | 0.083 | 702 | -545.1 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.97 | 14.32 | 15.00 |
| 15550 | 193.8 | 10.4 | 672 | 15558 | done | 1.13 | - | - | 3262 | - | 2.53 | 0.058 | 2106 | 554.9 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.45 | 14.38 | 14.52 |
| 15894 | 159.0 | 10.2 | 685 | 15900 | roll | 1.13 | - | - | 3262 | - | 2.67 | 0.101 | 3510 | 525.8 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.10 | 14.21 | 15.12 |
| 15977 | 149.7 | 11.2 | 697 | 15984 | done | 1.13 | 0.15 | 0.270 | 3234 | -186.7 | 2.47 | 0.044 | 2100 | -570.9 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 13.90 | 14.45 | 14.12 |
| 16342 | 117.4 | 8.4 | 713 | 16348 | roll | 1.16 | - | - | 3235 | - | 2.70 | 0.101 | 3505 | 520.4 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.09 | 14.12 | 15.12 |
| 16427 | 109.5 | 9.7 | 725 | 16432 | done | 1.16 | - | - | 3244 | - | 2.45 | 0.044 | 2087 | -578.8 | 107.1 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.64 | 14.53 | 14.69 |
| 16793 | 76.7 | 9.1 | 741 | 16798 | roll | 1.18 | - | - | 3252 | - | 2.60 | 0.085 | 692 | -536.5 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.96 | 14.28 | 14.99 |
| 16888 | 68.0 | 9.0 | 755 | 16894 | done | 1.20 | - | - | 3253 | - | 2.53 | 0.058 | 2097 | 555.3 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.42 | 14.33 | 14.48 |
| 17241 | 36.8 | 9.1 | 769 | 17246 | roll | 1.22 | - | - | 3253 | - | 2.67 | 0.102 | 3517 | 531.8 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.07 | 14.26 | 15.09 |
| 17329 | 27.4 | 9.6 | 782 | 17336 | done | 1.22 | - | - | 3263 | - | 2.50 | 0.044 | 2094 | -569.2 | 107.1 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.47 | 14.42 | 14.53 |
| 17630 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17630 | begin surface coast | ||||||||||||||||||||||||||||
| 17655 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17655 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.76 | - | - | - | - | -8.25 | 9.15 | 0.074 | 210 | 23.0 | 0.40 | 0.086 | 2309 | 3197.5 | 350.04 | 167.93 | 0.229 | 1128 | 6.7 | -0.002 | - | - | - | - | - | - | |||