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| • Previous call tries 1 | • 238.39 of 350.00 AH used of 24V (31.89% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.7 deg, depth 0.80 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 6.6 m at 6.5 m depth, ceiling -0.1 m (m = 1.03, R^2 = 1.00) | |
| • GPS1 time: 32 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 | |||||
| 10 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10 | begin dive | ||||||||||||||||||||||||||||
| 14 | - | - | - | 120 | done | -1.06 | - | - | 211 | - | - | - | 2308 | - | -107.1 | -105.28 | 0.002 | 2997 | - | - | - | - | - | - | - | - | 14.97 | 12.87 | 14.99 |
| 124 | 1.5 | -1.0 | 3 | 140 | roll | -1.06 | 11.38 | 0.415 | 2518 | 202.7 | 2.62 | 0.095 | 3712 | 535.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.13 | 14.55 | 14.56 |
| 293 | 30.9 | -15.8 | 28 | 299 | done | -1.06 | - | - | 2518 | - | 2.47 | 0.041 | 2286 | -577.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.65 | 14.60 | 14.66 |
| 654 | 82.6 | -14.1 | 43 | 658 | roll | -1.06 | - | - | 2518 | - | 2.50 | 0.068 | 906 | -552.0 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.91 | 14.31 | 14.94 |
| 713 | 91.6 | -14.0 | 52 | 719 | done | -1.06 | - | - | 2508 | - | 2.58 | 0.063 | 2298 | 539.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.37 | 14.29 | 14.42 |
| 1074 | 141.8 | -14.4 | 67 | 1079 | roll | -1.06 | - | - | 2508 | - | 2.55 | 0.066 | 902 | -547.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.87 | 14.22 | 14.90 |
| 1183 | 158.4 | -14.8 | 83 | 1189 | done | -1.06 | - | - | 2501 | - | 2.62 | 0.065 | 2307 | 536.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.28 | 14.20 | 14.35 |
| 1548 | 208.6 | -13.6 | 98 | 1553 | roll | -1.06 | - | - | 2501 | - | 2.58 | 0.065 | 903 | -544.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.89 | 14.18 | 14.91 |
| 1582 | 213.4 | -13.8 | 103 | 1588 | done | -1.06 | 0.12 | 0.264 | 2521 | 166.7 | 2.62 | 0.063 | 2305 | 535.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.76 | 14.16 | 13.96 |
| 1939 | 260.9 | -13.6 | 112 | 1945 | roll | -1.06 | - | - | 2521 | - | 2.60 | 0.067 | 910 | -536.5 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 15.19 | 14.02 | 15.21 |
| 1988 | 267.9 | -14.2 | 119 | 1995 | done | -1.06 | - | - | 2512 | - | 2.60 | 0.063 | 2302 | 535.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.22 | 14.14 | 14.28 |
| 2331 | 312.9 | -12.8 | 126 | 2337 | roll | -1.06 | - | - | 2502 | - | 2.70 | 0.106 | 3714 | 523.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 14.01 | 15.21 |
| 2359 | 316.6 | -13.3 | 130 | 2365 | done | -1.06 | - | - | 2502 | - | 2.47 | 0.043 | 2293 | -575.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.54 | 14.46 | 14.57 |
| 2723 | 364.4 | -13.3 | 140 | 2729 | roll | -1.06 | - | - | 2501 | - | 2.58 | 0.067 | 906 | -537.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.96 | 15.21 |
| 2786 | 373.4 | -14.4 | 149 | 2793 | done | -1.06 | 0.15 | 0.261 | 2527 | 173.3 | 2.60 | 0.061 | 2301 | 536.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.65 | 14.09 | 13.86 |
| 3174 | 421.3 | -12.2 | 162 | 3179 | roll | -1.06 | - | - | 2527 | - | 2.58 | 0.066 | 908 | -539.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.84 | 14.05 | 14.87 |
| 3220 | 427.5 | -12.6 | 169 | 3228 | done | -1.06 | - | - | 2518 | - | 2.60 | 0.060 | 2301 | 535.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.16 | 14.07 | 14.22 |
| 3563 | 470.0 | -12.3 | 176 | 3564 | done | -1.06 | - | - | 2519 | - | - | - | 2302 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
| 3899 | 510.3 | -11.9 | 182 | 3906 | roll | -1.06 | - | - | 2518 | - | 2.62 | 0.066 | 907 | -532.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.89 | 15.21 |
| 3962 | 518.1 | -12.4 | 191 | 3968 | done | -1.06 | - | - | 2508 | - | 2.65 | 0.060 | 2312 | 530.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.12 | 14.04 | 14.19 |
| 4348 | 564.9 | -12.2 | 204 | 4349 | done | -1.06 | - | - | 2508 | - | - | - | 2312 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.85 | 14.88 | 14.88 |
| 4684 | 607.5 | -12.7 | 210 | 4685 | done | -1.06 | - | - | 2508 | - | - | - | 2311 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.85 | 14.88 | 14.88 |
| 5020 | 651.3 | -12.9 | 216 | 5025 | roll | -1.06 | - | - | 2501 | - | 2.72 | 0.109 | 3713 | 515.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.85 | 13.96 | 14.88 |
| 5097 | 662.1 | -14.9 | 227 | 5103 | done | -1.06 | - | - | 2501 | - | 2.53 | 0.041 | 2290 | -562.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.42 | 14.35 | 14.45 |
| 5467 | 708.4 | -11.2 | 238 | 5473 | roll | -1.06 | - | - | 2501 | - | 2.58 | 0.067 | 892 | -541.9 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.19 | 13.90 | 15.21 |
| 5496 | 711.6 | -11.3 | 242 | 5502 | done | -1.06 | 0.17 | 0.281 | 2525 | 141.2 | 2.62 | 0.058 | 2311 | 541.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.64 | 14.12 | 14.00 |
| 5860 | 747.5 | -11.2 | 252 | 5866 | roll | -1.06 | - | - | 2517 | - | 2.72 | 0.106 | 3718 | 517.3 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.85 | 13.95 | 14.87 |
| 5943 | 756.9 | -10.9 | 264 | 5949 | done | -1.06 | - | - | 2517 | - | 2.53 | 0.041 | 2292 | -563.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.26 | 14.22 | 14.28 |
| 6308 | 799.8 | -12.3 | 274 | 6313 | roll | -1.06 | - | - | 2516 | - | 2.55 | 0.065 | 909 | -542.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.85 | 13.95 | 14.88 |
| 6405 | 812.5 | -13.5 | 288 | 6412 | done | -1.06 | - | - | 2506 | - | 2.62 | 0.061 | 2309 | 534.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.06 | 13.99 | 14.13 |
| 6755 | 860.5 | -13.3 | 296 | 6762 | roll | -1.06 | - | - | 2506 | - | 2.62 | 0.062 | 909 | -534.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.19 | 13.86 | 15.21 |
| 6944 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 6944 | begin apogee | ||||||||||||||||||||||||||||
| 6953 | 861.8 | - | 323 | 7081 | done | -0.23 | 1.10 | 0.213 | 2795 | 262.7 | - | - | 2114 | - | - | 125.80 | 3.093 | 2559 | -3.5 | 0.214 | - | - | - | - | - | - | 14.03 | 13.40 | 12.17 |
| 7082 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7082 | begin climb | ||||||||||||||||||||||||||||
| 7085 | 862.2 | - | 325 | 7238 | done | 1.06 | 1.40 | 0.128 | 3206 | 293.6 | - | - | 2114 | - | 107.1 | 147.93 | 3.065 | 2126 | -2.9 | 0.181 | - | - | - | - | - | - | 13.40 | 12.17 | 11.18 |
| 7610 | 830.0 | 6.1 | 355 | 7693 | roll | 1.13 | - | - | 3214 | - | 2.83 | 0.081 | 721 | -492.2 | 170.3 | 75.32 | 3.040 | 1863 | -3.5 | 0.209 | - | - | - | - | - | - | 14.58 | 13.50 | 12.17 |
| 7826 | 811.6 | 8.6 | 386 | 7834 | done | 1.16 | - | - | 3213 | - | 2.60 | 0.054 | 2112 | 535.0 | 170.3 | - | - | 1856 | - | - | - | - | - | - | - | - | 14.19 | 14.11 | 14.24 |
| 8169 | 771.7 | 12.5 | 393 | 8176 | roll | 1.16 | - | - | 3213 | - | 2.62 | 0.103 | 3509 | 533.2 | 170.3 | - | - | 1854 | - | - | - | - | - | - | - | - | 15.05 | 14.52 | 15.07 |
| 8232 | 762.2 | 15.3 | 402 | 8239 | done | 1.16 | - | - | 3224 | - | 2.45 | 0.044 | 2101 | -574.7 | 170.3 | - | - | 1853 | - | - | - | - | - | - | - | - | 14.73 | 14.66 | 14.77 |
| 8620 | 698.6 | 18.1 | 415 | 8621 | done | 1.16 | - | - | 3223 | - | - | - | 2100 | - | 170.3 | - | - | 1852 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 8953 | 651.7 | 13.4 | 421 | 8954 | done | 1.16 | - | - | 3224 | - | - | - | 2100 | - | 170.3 | - | - | 1851 | - | - | - | - | - | - | - | - | 15.11 | 15.13 | 15.14 |
| 9289 | 606.9 | 13.7 | 427 | 9295 | roll | 1.16 | - | - | 3224 | - | 2.65 | 0.098 | 3522 | 536.6 | 170.3 | - | - | 1850 | - | - | - | - | - | - | - | - | 15.10 | 14.45 | 15.12 |
| 9374 | 594.2 | 15.0 | 439 | 9381 | done | 1.16 | - | - | 3234 | - | 2.47 | 0.042 | 2084 | -582.2 | 170.3 | - | - | 1850 | - | - | - | - | - | - | - | - | 14.76 | 14.65 | 14.80 |
| 9738 | 545.2 | 13.4 | 449 | 9743 | roll | 1.16 | - | - | 3234 | - | 2.67 | 0.098 | 3513 | 535.2 | 170.3 | - | - | 1850 | - | - | - | - | - | - | - | - | 15.09 | 14.42 | 15.11 |
| 9786 | 538.0 | 15.1 | 456 | 9793 | done | 1.16 | - | - | 3244 | - | 2.50 | 0.044 | 2095 | -567.2 | 170.3 | - | - | 1850 | - | - | - | - | - | - | - | - | 14.60 | 14.54 | 14.64 |
| 10129 | 488.2 | 14.3 | 463 | 10130 | done | 1.16 | - | - | 3244 | - | - | - | 2095 | - | 170.3 | - | - | 1849 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 10465 | 442.2 | 13.6 | 469 | 10466 | done | 1.16 | - | - | 3244 | - | - | - | 2096 | - | 170.3 | - | - | 1849 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 10801 | 395.7 | 13.9 | 475 | 10807 | roll | 1.16 | - | - | 3244 | - | 2.67 | 0.099 | 3519 | 533.0 | 170.3 | - | - | 1849 | - | - | - | - | - | - | - | - | 15.08 | 14.33 | 15.11 |
| 10829 | 391.7 | 14.6 | 479 | 10835 | done | 1.16 | - | - | 3255 | - | 2.53 | 0.044 | 2088 | -565.6 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 14.57 | 14.51 | 14.62 |
| 11193 | 341.6 | 13.5 | 489 | 11200 | roll | 1.16 | - | - | 3255 | - | 2.72 | 0.099 | 3516 | 525.0 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 15.09 | 14.29 | 15.12 |
| 11221 | 337.6 | 14.2 | 493 | 11228 | done | 1.16 | - | - | 3265 | - | 2.53 | 0.044 | 2088 | -564.4 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 14.56 | 14.50 | 14.60 |
| 11586 | 287.5 | 13.7 | 503 | 11591 | roll | 1.16 | - | - | 3276 | - | 2.55 | 0.085 | 701 | -543.9 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 15.07 | 14.35 | 15.09 |
| 11606 | 284.4 | 14.4 | 506 | 11613 | done | 1.16 | 0.12 | 0.247 | 3244 | -266.7 | 2.53 | 0.059 | 2112 | 557.7 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 14.09 | 14.42 | 14.28 |
| 11980 | 235.2 | 13.0 | 517 | 11985 | roll | 1.16 | - | - | 3244 | - | 2.62 | 0.100 | 3511 | 534.0 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 15.05 | 14.31 | 15.07 |
| 12034 | 227.4 | 13.9 | 525 | 12039 | done | 1.16 | - | - | 3253 | - | 2.47 | 0.043 | 2083 | -578.1 | 170.3 | - | - | 1851 | - | - | - | - | - | - | - | - | 14.65 | 14.54 | 14.70 |
| 12398 | 181.6 | 12.5 | 541 | 12403 | roll | 1.16 | - | - | 3253 | - | 2.70 | 0.099 | 3512 | 529.3 | 170.3 | - | - | 1847 | - | - | - | - | - | - | - | - | 15.07 | 14.32 | 15.10 |
| 12425 | 177.7 | 13.9 | 545 | 12432 | done | 1.16 | - | - | 3263 | - | 2.50 | 0.044 | 2098 | -565.6 | 170.3 | - | - | 1848 | - | - | - | - | - | - | - | - | 14.52 | 14.47 | 14.57 |
| 12793 | 130.7 | 13.0 | 561 | 12798 | roll | 1.16 | - | - | 3263 | - | 2.67 | 0.099 | 3516 | 531.1 | 170.3 | - | - | 1847 | - | - | - | - | - | - | - | - | 14.91 | 14.31 | 14.93 |
| 12818 | 126.8 | 13.5 | 565 | 12825 | done | 1.16 | 0.10 | 0.282 | 3249 | -140.0 | 2.50 | 0.045 | 2101 | -566.0 | 170.3 | - | - | 1847 | - | - | - | - | - | - | - | - | 14.00 | 14.46 | 14.21 |
| 13183 | 83.4 | 11.8 | 581 | 13188 | roll | 1.16 | - | - | 3258 | - | 2.62 | 0.085 | 690 | -538.5 | 170.3 | - | - | 1847 | - | - | - | - | - | - | - | - | 14.90 | 14.31 | 14.92 |
| 13259 | 73.9 | 12.2 | 592 | 13268 | done | 1.16 | - | - | 3258 | - | 2.55 | 0.057 | 2112 | 557.6 | 170.3 | - | - | 1846 | - | - | - | - | - | - | - | - | 14.44 | 14.36 | 14.50 |
| 13602 | 32.3 | 12.3 | 605 | 13608 | roll | 1.16 | - | - | 3258 | - | 2.62 | 0.101 | 3513 | 534.7 | 170.3 | - | - | 1845 | - | - | - | - | - | - | - | - | 15.09 | 14.29 | 15.11 |
| 13679 | 21.8 | 13.8 | 616 | 13686 | done | 1.16 | - | - | 3269 | - | 2.50 | 0.044 | 2098 | -566.0 | 170.3 | - | - | 1845 | - | - | - | - | - | - | - | - | 14.48 | 14.42 | 14.53 |
| 13851 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13851 | begin surface coast | ||||||||||||||||||||||||||||
| 13882 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13882 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.80 | - | - | - | - | -8.23 | 9.02 | 0.065 | 212 | 23.5 | 0.40 | 0.088 | 2316 | 3215.0 | 350.04 | 123.03 | 0.233 | 1131 | 9.2 | -0.003 | - | - | - | - | - | - | |||