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| • Previous call tries 1 | • 38.75 of 350.00 AH used of 24V (88.93% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -61.7 deg, depth 1.07 m | • Intended pitch -11.1 deg, speed -9.524 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 8.6 m at 9.2 m depth, ceiling 0.6 m (m = 1.06, R^2 = 1.00) | |
| • GPS1 time: 20 s | ||
| • GPS2 time: 5 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 | |||||
| 6 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6 | begin dive | ||||||||||||||||||||||||||||
| 7 | - | - | - | 129 | done | -0.68 | - | - | 211 | - | - | - | 2304 | - | -146.0 | -115.03 | 0.002 | 3324 | - | - | - | - | - | - | - | - | 14.75 | 13.54 | 14.77 |
| 131 | 4.7 | -7.2 | 12 | 149 | roll | -0.68 | 11.23 | 0.419 | 2563 | 209.4 | 2.62 | 0.109 | 3703 | 534.0 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.36 | 14.52 | 14.62 |
| 178 | 16.3 | -14.2 | 21 | 188 | done | -0.68 | - | - | 2563 | - | 2.47 | 0.055 | 2294 | -570.4 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.65 | 14.62 | 14.69 |
| 483 | 46.0 | -9.8 | 52 | 489 | roll | -0.68 | - | - | 2562 | - | 2.53 | 0.090 | 909 | -547.4 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.92 | 14.64 | 14.96 |
| 523 | 50.4 | -11.0 | 60 | 529 | done | -0.68 | - | - | 2554 | - | 2.53 | 0.082 | 2295 | 547.8 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.75 | 14.67 | 14.78 |
| 833 | 81.7 | -10.1 | 92 | 834 | done | -0.68 | - | - | 2555 | - | - | - | 2294 | - | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.97 | 15.01 | 15.01 |
| 1133 | 113.5 | -11.1 | 122 | 1139 | roll | -0.68 | - | - | 2544 | - | 2.62 | 0.116 | 3712 | 541.2 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.02 | 14.73 | 15.04 |
| 1163 | 117.0 | -11.7 | 128 | 1170 | done | -0.68 | 0.10 | 0.224 | 2572 | 280.0 | 2.45 | 0.053 | 2294 | -578.8 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.68 | 14.81 | 14.79 |
| 1473 | 148.0 | -10.2 | 160 | 1480 | roll | -0.68 | - | - | 2572 | - | 2.50 | 0.086 | 907 | -554.8 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 15.04 | 14.76 | 15.07 |
| 1508 | 151.6 | -10.4 | 167 | 1516 | done | -0.68 | - | - | 2571 | - | 2.53 | 0.085 | 2298 | 549.8 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.85 | 14.78 | 14.88 |
| 1813 | 181.8 | -10.1 | 198 | 1814 | done | -0.68 | - | - | 2571 | - | - | - | 2298 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.05 | 15.09 | 15.08 |
| 2113 | 210.8 | -9.5 | 228 | 2120 | roll | -0.68 | - | - | 2571 | - | 2.53 | 0.090 | 908 | -549.4 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.06 | 14.79 | 15.09 |
| 2148 | 214.1 | -9.4 | 235 | 2156 | done | -0.68 | - | - | 2564 | - | 2.53 | 0.083 | 2304 | 551.8 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.87 | 14.81 | 14.92 |
| 2453 | 242.8 | -9.9 | 266 | 2460 | roll | -0.68 | - | - | 2555 | - | 2.60 | 0.116 | 3709 | 540.4 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.07 | 14.78 | 15.10 |
| 2498 | 247.5 | -10.4 | 275 | 2506 | done | -0.68 | - | - | 2555 | - | 2.42 | 0.052 | 2301 | -581.8 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.90 | 14.85 | 14.93 |
| 2804 | 278.9 | -10.2 | 306 | 2805 | done | -0.68 | - | - | 2555 | - | - | - | 2300 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 3113 | 310.0 | -9.9 | 332 | 3114 | done | -0.68 | - | - | 2555 | - | - | - | 2300 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
| 3413 | 338.5 | -9.4 | 347 | 3414 | done | -0.68 | - | - | 2555 | - | - | - | 2300 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 3715 | 367.9 | -10.1 | 362 | 3720 | roll | -0.68 | - | - | 2555 | - | 2.50 | 0.090 | 902 | -559.2 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.09 |
| 3754 | 372.1 | -10.5 | 370 | 3761 | done | -0.68 | 0.10 | 0.236 | 2573 | 180.0 | 2.53 | 0.082 | 2299 | 552.2 | -146.0 | - | - | 3323 | - | - | - | - | - | - | - | - | 14.74 | 14.83 | 14.86 |
| 4074 | 400.3 | -8.6 | 389 | 4075 | done | -0.68 | - | - | 2573 | - | - | - | 2299 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.12 |
| 4374 | 426.7 | -8.9 | 404 | 4380 | roll | -0.68 | - | - | 2569 | - | 2.60 | 0.116 | 3711 | 543.1 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.11 | 14.82 | 15.13 |
| 4429 | 431.9 | -9.6 | 415 | 4437 | done | -0.68 | - | - | 2568 | - | 2.42 | 0.054 | 2302 | -582.2 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.94 | 14.89 | 14.96 |
| 4735 | 458.0 | -8.5 | 431 | 4740 | roll | -0.68 | - | - | 2569 | - | 2.47 | 0.088 | 900 | -567.6 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.11 | 14.83 | 15.13 |
| 4774 | 461.6 | -9.1 | 439 | 4780 | done | -0.68 | - | - | 2561 | - | 2.53 | 0.083 | 2301 | 553.8 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.95 |
| 5096 | 489.9 | -8.8 | 458 | 5096 | done | -0.68 | - | - | 2561 | - | - | - | 2301 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
| 5415 | 516.7 | -8.4 | 471 | 5420 | roll | -0.68 | - | - | 2557 | - | 2.58 | 0.117 | 3720 | 550.0 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.09 |
| 5449 | 519.9 | -9.2 | 478 | 5455 | done | -0.68 | - | - | 2557 | - | 2.45 | 0.054 | 2292 | -582.9 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.94 | 14.90 | 14.97 |
| 5835 | 554.7 | -8.7 | 495 | 5836 | done | -0.68 | - | - | 2557 | - | - | - | 2291 | - | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 6194 | 584.3 | -7.9 | 507 | 6200 | roll | -0.68 | - | - | 2547 | - | 2.62 | 0.112 | 3713 | 542.7 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.12 | 14.83 | 15.14 |
| 6234 | 587.7 | -8.8 | 515 | 6241 | done | -0.68 | 0.10 | 0.223 | 2576 | 290.0 | 2.42 | 0.053 | 2294 | -586.4 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.76 | 14.88 | 14.88 |
| 6615 | 616.0 | -7.7 | 531 | 6621 | roll | -0.68 | - | - | 2570 | - | 2.58 | 0.113 | 3713 | 550.0 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 15.10 | 14.85 | 15.14 |
| 6679 | 621.3 | -8.3 | 544 | 6686 | done | -0.68 | - | - | 2570 | - | 2.40 | 0.051 | 2303 | -587.5 | -146.0 | - | - | 3324 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.97 |
| 7064 | 652.1 | -8.1 | 561 | 7065 | done | -0.68 | - | - | 2569 | - | - | - | 2302 | - | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 7424 | 680.3 | -8.0 | 573 | 7432 | roll | -0.68 | - | - | 2561 | - | 2.60 | 0.114 | 3710 | 541.5 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 15.12 | 14.85 | 15.15 |
| 7480 | 685.3 | -9.1 | 584 | 7488 | done | -0.68 | - | - | 2561 | - | 2.40 | 0.052 | 2301 | -587.1 | -146.0 | - | - | 3325 | - | - | - | - | - | - | - | - | 14.95 | 14.90 | 14.97 |
| 7664 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 7664 | begin apogee | ||||||||||||||||||||||||||||
| 7668 | 702.7 | -9.8 | 591 | 8227 | done | -0.23 | 0.57 | 0.204 | 2730 | 296.5 | - | - | 2077 | - | - | 556.15 | 1.280 | 2727 | -1.1 | 0.112 | - | - | - | - | - | - | 14.79 | 13.55 | 13.05 |
| 8229 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8229 | begin climb | ||||||||||||||||||||||||||||
| 8230 | 712.9 | - | 609 | 8634 | roll | 0.68 | 0.98 | 0.129 | 3011 | 286.7 | 2.95 | 0.103 | 3511 | 486.1 | 146.0 | 390.48 | 1.347 | 2126 | -1.5 | 0.155 | - | - | - | - | - | - | 13.52 | 13.41 | 12.92 |
| 8733 | 685.5 | 8.3 | 708 | 8739 | done | 0.71 | - | - | 3019 | - | 2.58 | 0.052 | 2126 | -536.8 | 146.0 | - | - | 2114 | - | - | - | - | - | - | - | - | 13.88 | 13.85 | 13.92 |
| 9108 | 654.0 | 8.7 | 723 | 9109 | done | 0.72 | - | - | 3020 | - | - | - | 2126 | - | 146.0 | - | - | 2109 | - | - | - | - | - | - | - | - | 14.56 | 14.59 | 14.58 |
| 9468 | 621.5 | 8.9 | 735 | 9474 | roll | 0.73 | - | - | 3019 | - | 2.60 | 0.106 | 3510 | 532.3 | 146.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.78 | 14.54 | 14.81 |
| 9543 | 614.4 | 9.3 | 750 | 9550 | done | 0.73 | - | - | 3026 | - | 2.47 | 0.056 | 2103 | -569.6 | 146.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.65 | 14.60 | 14.68 |
| 9920 | 580.5 | 9.1 | 765 | 9925 | roll | 0.73 | - | - | 3026 | - | 2.58 | 0.105 | 3513 | 546.5 | 146.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.90 | 14.68 | 14.92 |
| 9994 | 573.1 | 9.6 | 780 | 10000 | done | 0.73 | - | - | 3035 | - | 2.47 | 0.054 | 2092 | -575.3 | 146.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.78 | 14.73 | 14.81 |
| 10370 | 538.9 | 9.4 | 795 | 10375 | roll | 0.73 | - | - | 3036 | - | 2.58 | 0.103 | 3514 | 551.2 | 146.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.00 | 14.76 | 15.02 |
| 10419 | 533.8 | 10.3 | 805 | 10425 | done | 0.73 | - | - | 3044 | - | 2.45 | 0.054 | 2100 | -577.1 | 146.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.84 | 14.79 | 14.88 |
| 10790 | 498.9 | 9.1 | 819 | 10795 | roll | 0.73 | - | - | 3044 | - | 2.58 | 0.104 | 3521 | 550.8 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.04 | 14.80 | 15.07 |
| 10819 | 496.0 | 9.5 | 825 | 10825 | done | 0.73 | - | - | 3053 | - | 2.47 | 0.055 | 2092 | -578.5 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.88 | 14.83 | 14.90 |
| 11130 | 467.0 | 9.1 | 842 | 11137 | roll | 0.73 | - | - | 3053 | - | 2.58 | 0.104 | 3517 | 552.3 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.06 | 14.81 | 15.09 |
| 11200 | 459.6 | 10.7 | 856 | 11207 | done | 0.73 | - | - | 3064 | - | 2.45 | 0.053 | 2094 | -580.8 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.90 | 14.85 | 14.93 |
| 11511 | 430.1 | 9.3 | 873 | 11517 | roll | 0.73 | - | - | 3064 | - | 2.58 | 0.104 | 3521 | 553.1 | 146.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.11 |
| 11535 | 427.6 | 10.0 | 878 | 11544 | done | 0.73 | 0.12 | 0.241 | 3037 | -225.0 | 2.45 | 0.056 | 2101 | -579.6 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.73 | 14.86 | 14.87 |
| 11853 | 401.2 | 8.2 | 896 | 11853 | done | 0.76 | - | - | 3037 | - | - | - | 2101 | - | 146.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 12153 | 376.8 | 8.1 | 911 | 12159 | roll | 0.79 | - | - | 3037 | - | 2.60 | 0.106 | 3541 | 553.8 | 146.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.10 | 14.85 | 15.13 |
| 12217 | 370.8 | 9.3 | 924 | 12224 | done | 0.79 | - | - | 3044 | - | 2.50 | 0.056 | 2095 | -578.4 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.92 | 14.88 | 14.95 |
| 12533 | 344.1 | 8.2 | 942 | 12540 | roll | 0.82 | - | - | 3044 | - | 2.58 | 0.105 | 3520 | 552.3 | 146.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.10 | 14.84 | 15.12 |
| 12569 | 340.8 | 9.3 | 949 | 12576 | done | 0.82 | - | - | 3053 | - | 2.45 | 0.055 | 2098 | -580.4 | 146.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.93 | 14.89 | 14.96 |
| 12874 | 315.2 | 8.5 | 965 | 12880 | roll | 0.84 | - | - | 3053 | - | 2.55 | 0.105 | 3513 | 554.9 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.08 | 14.85 | 15.13 |
| 12919 | 310.9 | 10.0 | 974 | 12926 | done | 0.84 | - | - | 3063 | - | 2.45 | 0.056 | 2094 | -579.2 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.92 | 14.89 | 14.97 |
| 13225 | 282.8 | 9.1 | 1000 | 13231 | roll | 0.84 | - | - | 3071 | - | 2.55 | 0.106 | 679 | -554.9 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.10 | 14.84 | 15.13 |
| 13245 | 281.0 | 9.1 | 1004 | 13251 | done | 0.84 | - | - | 3072 | - | 2.53 | 0.073 | 2107 | 564.4 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.92 | 14.88 | 14.96 |
| 13555 | 252.3 | 9.2 | 1036 | 13561 | roll | 0.84 | - | - | 3072 | - | 2.55 | 0.106 | 3502 | 547.1 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.12 |
| 13645 | 243.0 | 10.2 | 1054 | 13652 | done | 0.84 | - | - | 3080 | - | 2.42 | 0.057 | 2101 | -578.9 | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.93 | 14.88 | 14.94 |
| 13956 | 213.8 | 9.4 | 1086 | 13957 | done | 0.84 | - | - | 3080 | - | - | - | 2100 | - | 146.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.11 |
| 14256 | 186.0 | 9.2 | 1116 | 14262 | roll | 0.84 | - | - | 3080 | - | 2.60 | 0.105 | 3511 | 542.7 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.11 |
| 14281 | 183.4 | 10.3 | 1121 | 14288 | done | 0.84 | - | - | 3091 | - | 2.45 | 0.057 | 2098 | -576.7 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.92 | 14.88 | 14.95 |
| 14586 | 154.4 | 9.4 | 1152 | 14587 | done | 0.84 | - | - | 3091 | - | - | - | 2098 | - | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 14886 | 126.0 | 9.4 | 1182 | 14893 | roll | 0.84 | - | - | 3091 | - | 2.58 | 0.105 | 3503 | 544.6 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 14.83 | 15.12 |
| 14927 | 121.8 | 10.5 | 1190 | 14934 | done | 0.84 | 0.10 | 0.246 | 3073 | -180.0 | 2.42 | 0.057 | 2100 | -579.8 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.73 | 14.88 | 14.88 |
| 15238 | 95.9 | 8.2 | 1222 | 15239 | done | 0.86 | - | - | 3073 | - | - | - | 2100 | - | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
| 15538 | 68.5 | 9.4 | 1252 | 15548 | roll | 0.86 | - | - | 3072 | - | 2.60 | 0.106 | 3511 | 542.7 | 146.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.82 | 15.14 |
| 15607 | 62.0 | 8.9 | 1265 | 15614 | done | 0.88 | - | - | 3081 | - | 2.45 | 0.056 | 2095 | -578.0 | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.94 | 14.88 | 14.96 |
| 15912 | 37.7 | 7.4 | 1296 | 15946 | done | 0.94 | - | - | 3081 | - | - | - | 2094 | - | 194.2 | 26.25 | 0.343 | 1935 | -6.4 | 0.133 | - | - | - | - | - | - | 15.11 | 14.81 | 14.62 |
| 16242 | 8.2 | 10.6 | 1329 | 16243 | done | 0.94 | - | - | 3081 | - | - | - | 2095 | - | 194.2 | - | - | 1941 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 16311 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16311 | begin surface coast | ||||||||||||||||||||||||||||
| 16322 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16322 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.02 | - | - | - | - | -8.01 | 8.32 | 0.073 | 212 | 25.5 | 0.38 | 0.090 | 2304 | 6047.4 | 350.04 | 99.25 | 0.239 | 1297 | 13.1 | -0.006 | - | - | - | - | - | - | |||