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| • Previous call tries 1 | • 259.73 of 350.00 AH used of 24V (25.79% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.5 deg, depth 0.85 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 8.6 m at 8.6 m depth, ceiling 0.0 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 31 s | ||
| • GPS2 time: 4 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 11 | - | - | - | 115 | done | -1.06 | - | - | 209 | - | - | - | 2314 | - | -107.1 | -102.45 | 0.002 | 3010 | - | - | - | - | - | - | - | - | 14.90 | 12.83 | 14.90 |
| 119 | 1.4 | -0.9 | 3 | 135 | roll | -1.06 | 11.25 | 0.409 | 2517 | 205.2 | 2.62 | 0.093 | 3711 | 533.2 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.13 | 14.47 | 14.53 |
| 337 | 39.7 | -16.0 | 35 | 343 | done | -1.06 | - | - | 2515 | - | 2.47 | 0.041 | 2291 | -574.9 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.53 | 14.50 | 14.56 |
| 704 | 95.0 | -15.5 | 51 | 709 | roll | -1.06 | - | - | 2515 | - | 2.55 | 0.069 | 905 | -543.5 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.92 | 14.26 | 14.94 |
| 758 | 103.9 | -16.1 | 59 | 763 | done | -1.06 | - | - | 2504 | - | 2.58 | 0.063 | 2317 | 547.3 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.44 | 14.26 | 14.50 |
| 1124 | 158.9 | -14.5 | 75 | 1125 | done | -1.06 | - | - | 2504 | - | - | - | 2317 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.91 | 14.94 | 14.93 |
| 1458 | 208.0 | -14.4 | 86 | 1463 | roll | -1.06 | - | - | 2504 | - | 2.60 | 0.066 | 906 | -542.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.93 | 14.17 | 14.95 |
| 1535 | 219.1 | -14.5 | 97 | 1542 | done | -1.06 | 0.12 | 0.259 | 2524 | 166.7 | 2.62 | 0.061 | 2309 | 535.5 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.85 | 14.19 | 14.05 |
| 1908 | 266.4 | -12.5 | 108 | 1913 | roll | -1.06 | - | - | 2524 | - | 2.58 | 0.067 | 910 | -542.2 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.94 | 14.16 | 14.96 |
| 1948 | 271.8 | -12.8 | 114 | 1953 | done | -1.06 | - | - | 2515 | - | 2.58 | 0.061 | 2325 | 548.4 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.38 | 14.21 | 14.45 |
| 2298 | 318.1 | -13.3 | 122 | 2304 | roll | -1.06 | - | - | 2516 | - | 2.65 | 0.067 | 911 | -533.6 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.95 |
| 2354 | 325.5 | -13.3 | 130 | 2360 | done | -1.06 | - | - | 2505 | - | 2.53 | 0.059 | 2304 | 550.6 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.40 | 14.26 | 14.45 |
| 2749 | 376.8 | -13.3 | 144 | 2755 | roll | -1.06 | - | - | 2505 | - | 2.60 | 0.067 | 900 | -540.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.72 | 14.14 | 14.78 |
| 2810 | 386.1 | -15.0 | 153 | 2817 | done | -1.06 | 0.12 | 0.260 | 2525 | 166.7 | 2.58 | 0.062 | 2298 | 541.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.82 | 14.17 | 14.03 |
| 3198 | 435.6 | -12.8 | 166 | 3198 | done | -1.06 | - | - | 2524 | - | - | - | 2297 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.87 | 14.90 | 14.89 |
| 3531 | 476.1 | -12.0 | 172 | 3537 | roll | -1.06 | - | - | 2525 | - | 2.55 | 0.063 | 911 | -543.5 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.88 | 14.12 | 14.90 |
| 3573 | 481.2 | -12.1 | 178 | 3579 | done | -1.06 | - | - | 2516 | - | 2.58 | 0.060 | 2301 | 538.8 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.37 | 14.11 | 14.42 |
| 3923 | 523.7 | -12.1 | 186 | 3929 | roll | -1.06 | - | - | 2516 | - | 2.62 | 0.067 | 905 | -532.8 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.88 | 14.06 | 14.90 |
| 4014 | 535.7 | -13.1 | 199 | 4019 | done | -1.06 | - | - | 2506 | - | 2.60 | 0.059 | 2301 | 536.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.21 | 14.14 | 14.26 |
| 4372 | 580.5 | -12.4 | 208 | 4373 | done | -1.06 | - | - | 2505 | - | - | - | 2302 | - | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.69 | 14.71 | 14.71 |
| 4708 | 624.3 | -13.1 | 214 | 4713 | roll | -1.06 | - | - | 2506 | - | 2.58 | 0.065 | 909 | -539.9 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.68 | 14.09 | 14.70 |
| 4819 | 639.2 | -13.1 | 230 | 4825 | done | -1.06 | 0.12 | 0.260 | 2525 | 158.3 | 2.60 | 0.061 | 2309 | 538.5 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 13.80 | 14.12 | 13.99 |
| 5214 | 682.0 | -10.5 | 244 | 5220 | roll | -1.06 | - | - | 2525 | - | 2.62 | 0.067 | 902 | -537.0 | -107.1 | - | - | 3012 | - | - | - | - | - | - | - | - | 14.67 | 14.09 | 14.69 |
| 5324 | 694.2 | -10.6 | 260 | 5330 | done | -1.06 | - | - | 2517 | - | 2.58 | 0.060 | 2309 | 545.3 | -107.1 | - | - | 3010 | - | - | - | - | - | - | - | - | 14.34 | 14.19 | 14.40 |
| 5716 | 736.3 | -10.7 | 274 | 5722 | roll | -1.06 | - | - | 2517 | - | 2.58 | 0.065 | 909 | -542.6 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.88 | 14.09 | 14.90 |
| 5765 | 742.4 | -12.5 | 281 | 5773 | done | -1.06 | - | - | 2506 | - | 2.55 | 0.060 | 2313 | 550.6 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.33 | 14.19 | 14.39 |
| 6109 | 780.9 | -10.8 | 288 | 6110 | done | -1.06 | - | - | 2506 | - | - | - | 2313 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.66 | 14.69 | 14.69 |
| 6445 | 823.4 | -13.4 | 294 | 6450 | roll | -1.06 | - | - | 2505 | - | 2.60 | 0.064 | 908 | -540.4 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.66 | 14.08 | 14.68 |
| 6612 | 848.6 | -14.7 | 318 | 6618 | done | -1.06 | - | - | 2501 | - | 2.58 | 0.063 | 2314 | 545.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.23 | 14.09 | 14.28 |
| 7004 | 907.1 | -14.5 | 332 | 7010 | roll | -1.06 | - | - | 2500 | - | 2.60 | 0.064 | 905 | -541.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.88 | 14.11 | 14.90 |
| 7053 | 914.2 | -14.0 | 339 | 7060 | done | -1.06 | 0.17 | 0.282 | 2526 | 152.9 | 2.60 | 0.061 | 2300 | 536.5 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.81 | 14.14 | 14.15 |
| 7396 | 956.6 | -11.9 | 346 | 7402 | roll | -1.06 | - | - | 2525 | - | 2.55 | 0.063 | 905 | -547.1 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.88 | 14.09 | 14.90 |
| 7459 | 965.6 | -14.6 | 355 | 7465 | done | -1.06 | - | - | 2517 | - | 2.58 | 0.060 | 2301 | 541.1 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.19 | 14.11 | 14.25 |
| 7844 | 986.7 | -1.6 | 368 | 7850 | roll | -1.06 | - | - | 2506 | - | 2.70 | 0.103 | 3718 | 524.8 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.90 | 14.12 | 14.90 |
| 8082 | 985.2 | 0.7 | 402 | 8088 | done | -1.06 | - | - | 2506 | - | 2.50 | 0.041 | 2284 | -573.6 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.32 | 14.21 | 14.36 |
| 8400 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 8400 | begin apogee | ||||||||||||||||||||||||||||
| 8409 | 985.1 | - | 413 | 8541 | done | -0.23 | 0.98 | 0.137 | 2795 | 294.9 | 0.10 | 0.155 | 2119 | -1650.0 | - | 129.07 | 3.094 | 2574 | -3.4 | 0.237 | - | - | - | - | - | - | 14.03 | 13.09 | 11.93 |
| 8541 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8542 | begin climb | ||||||||||||||||||||||||||||
| 8545 | 985.0 | - | 415 | 8709 | roll | 1.06 | 1.40 | 0.111 | 3202 | 290.7 | 3.12 | 0.098 | 3502 | 443.3 | 107.1 | 152.73 | 3.099 | 2137 | -2.9 | 0.198 | - | - | - | - | - | - | 13.09 | 12.43 | 11.24 |
| 8715 | 967.7 | 14.3 | 443 | 8721 | done | 1.06 | - | - | 3212 | - | 2.78 | 0.042 | 2123 | -496.0 | 107.1 | - | - | 2135 | - | - | - | - | - | - | - | - | 12.69 | 12.60 | 12.71 |
| 9072 | 928.0 | 11.2 | 452 | 9078 | roll | 1.06 | - | - | 3212 | - | 2.83 | 0.096 | 3500 | 486.6 | 107.1 | - | - | 2124 | - | - | - | - | - | - | - | - | 13.70 | 13.28 | 13.72 |
| 9275 | 899.8 | 14.6 | 481 | 9281 | done | 1.06 | - | - | 3222 | - | 2.62 | 0.042 | 2087 | -539.3 | 107.1 | - | - | 2124 | - | - | - | - | - | - | - | - | 13.83 | 13.77 | 13.87 |
| 9632 | 856.9 | 11.5 | 490 | 9639 | roll | 1.06 | - | - | 3232 | - | 2.60 | 0.086 | 704 | -531.9 | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 14.81 | 14.26 | 14.83 |
| 9688 | 852.9 | 6.5 | 498 | 9757 | done | 1.12 | - | - | 3232 | - | 2.50 | 0.050 | 2100 | 558.4 | 163.2 | 64.25 | 3.055 | 1908 | -3.3 | 0.203 | - | - | - | - | - | - | 14.42 | 14.34 | 12.63 |
| 10137 | 798.4 | 11.9 | 520 | 10142 | roll | 1.12 | - | - | 3232 | - | 2.60 | 0.098 | 3510 | 542.3 | 163.2 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.86 | 14.45 | 14.89 |
| 10214 | 786.2 | 15.8 | 531 | 10219 | done | 1.12 | - | - | 3242 | - | 2.45 | 0.044 | 2086 | -581.2 | 163.2 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.70 | 14.60 | 14.73 |
| 10585 | 728.8 | 15.8 | 542 | 10591 | roll | 1.12 | - | - | 3247 | - | 2.67 | 0.096 | 3514 | 534.8 | 163.2 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.97 | 14.47 | 15.00 |
| 10654 | 717.8 | 15.5 | 552 | 10660 | done | 1.12 | - | - | 3252 | - | 2.50 | 0.044 | 2091 | -569.2 | 163.2 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.61 | 14.54 | 14.64 |
| 11035 | 657.1 | 16.5 | 564 | 11041 | roll | 1.12 | - | - | 3263 | - | 2.53 | 0.084 | 700 | -549.8 | 163.2 | - | - | 1897 | - | - | - | - | - | - | - | - | 14.96 | 14.38 | 14.98 |
| 11061 | 652.5 | 15.7 | 568 | 11067 | done | 1.12 | 0.10 | 0.258 | 3226 | -370.0 | 2.50 | 0.056 | 2105 | 562.0 | 163.2 | - | - | 1896 | - | - | - | - | - | - | - | - | 14.17 | 14.47 | 14.54 |
| 11425 | 606.2 | 12.6 | 578 | 11432 | roll | 1.12 | - | - | 3225 | - | 2.62 | 0.100 | 3517 | 538.9 | 163.2 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.98 | 14.38 | 15.01 |
| 11460 | 601.3 | 14.1 | 583 | 11466 | done | 1.12 | - | - | 3234 | - | 2.50 | 0.045 | 2100 | -566.8 | 163.2 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.54 | 14.48 | 14.69 |
| 11818 | 551.0 | 13.6 | 592 | 11824 | roll | 1.12 | - | - | 3244 | - | 2.58 | 0.085 | 700 | -542.6 | 163.2 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.96 | 14.36 | 14.97 |
| 11845 | 547.2 | 13.5 | 596 | 11851 | done | 1.12 | - | - | 3244 | - | 2.53 | 0.057 | 2109 | 556.9 | 163.2 | - | - | 1893 | - | - | - | - | - | - | - | - | 14.49 | 14.41 | 14.54 |
| 12209 | 497.1 | 13.7 | 606 | 12216 | roll | 1.12 | - | - | 3244 | - | 2.65 | 0.101 | 3519 | 532.1 | 163.2 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.97 | 14.34 | 15.00 |
| 12293 | 485.0 | 14.6 | 618 | 12301 | done | 1.12 | - | - | 3254 | - | 2.53 | 0.043 | 2087 | -566.0 | 163.2 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.50 | 14.45 | 14.54 |
| 12658 | 433.0 | 14.3 | 628 | 12658 | done | 1.12 | - | - | 3255 | - | - | - | 2087 | - | 163.2 | - | - | 1894 | - | - | - | - | - | - | - | - | 14.96 | 14.99 | 14.99 |
| 12994 | 384.9 | 14.4 | 634 | 13000 | roll | 1.12 | - | - | 3255 | - | 2.72 | 0.099 | 3519 | 526.5 | 163.2 | - | - | 1894 | - | - | - | - | - | - | - | - | 14.95 | 14.32 | 14.97 |
| 13035 | 378.7 | 14.9 | 640 | 13042 | done | 1.12 | 0.08 | 0.272 | 3234 | -262.5 | 2.53 | 0.043 | 2094 | -563.2 | 163.2 | - | - | 1894 | - | - | - | - | - | - | - | - | 14.08 | 14.43 | 14.45 |
| 13386 | 335.9 | 12.2 | 648 | 13392 | roll | 1.12 | - | - | 3234 | - | 2.72 | 0.098 | 3517 | 523.2 | 163.2 | - | - | 1894 | - | - | - | - | - | - | - | - | 14.95 | 14.28 | 14.97 |
| 13455 | 325.4 | 15.2 | 658 | 13462 | done | 1.12 | - | - | 3242 | - | 2.53 | 0.043 | 2093 | -562.8 | 163.2 | - | - | 1893 | - | - | - | - | - | - | - | - | 14.48 | 14.41 | 14.62 |
| 13835 | 277.3 | 12.4 | 670 | 13836 | done | 1.12 | - | - | 3241 | - | - | - | 2090 | - | 163.2 | - | - | 1893 | - | - | - | - | - | - | - | - | 14.82 | 14.85 | 14.83 |
| 14171 | 238.1 | 11.5 | 676 | 14176 | roll | 1.12 | - | - | 3242 | - | 2.70 | 0.098 | 3510 | 525.9 | 163.2 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.81 | 14.28 | 14.83 |
| 14255 | 227.5 | 12.7 | 688 | 14260 | done | 1.12 | - | - | 3253 | - | 2.47 | 0.042 | 2088 | -575.7 | 163.2 | - | - | 1893 | - | - | - | - | - | - | - | - | 14.57 | 14.47 | 14.62 |
| 14618 | 184.3 | 12.1 | 700 | 14624 | roll | 1.12 | - | - | 3252 | - | 2.72 | 0.097 | 3516 | 525.0 | 163.2 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.95 | 14.27 | 14.97 |
| 14681 | 176.1 | 13.0 | 709 | 14686 | done | 1.12 | - | - | 3263 | - | 2.47 | 0.043 | 2094 | -575.7 | 163.2 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.57 | 14.45 | 14.61 |
| 15041 | 131.9 | 12.1 | 724 | 15046 | roll | 1.12 | 0.12 | 0.288 | 3233 | -250.0 | 2.70 | 0.095 | 3517 | 527.0 | 163.2 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.06 | 14.26 | 14.19 |
| 15095 | 125.0 | 12.2 | 732 | 15100 | done | 1.12 | - | - | 3241 | - | 2.50 | 0.044 | 2091 | -570.4 | 163.2 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.56 | 14.45 | 14.61 |
| 15461 | 84.1 | 11.0 | 748 | 15466 | roll | 1.12 | - | - | 3241 | - | 2.70 | 0.099 | 3518 | 528.5 | 163.2 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.91 | 14.26 | 14.94 |
| 15543 | 73.9 | 12.3 | 760 | 15548 | done | 1.12 | - | - | 3252 | - | 2.47 | 0.044 | 2095 | -576.1 | 163.2 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.49 | 14.43 | 14.51 |
| 15907 | 32.8 | 11.1 | 776 | 15912 | roll | 1.12 | - | - | 3251 | - | 2.70 | 0.100 | 3510 | 524.1 | 163.2 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.94 | 14.21 | 14.96 |
| 15934 | 29.6 | 11.4 | 780 | 15943 | done | 1.12 | 0.12 | 0.256 | 3230 | -175.0 | 2.50 | 0.044 | 2103 | -562.8 | 163.2 | - | - | 1891 | - | - | - | - | - | - | - | - | 13.97 | 14.35 | 14.19 |
| 16239 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16239 | begin surface coast | ||||||||||||||||||||||||||||
| 16268 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16268 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.80 | - | - | - | - | -8.24 | 9.02 | 0.069 | 210 | 23.3 | 0.40 | 0.089 | 2312 | -7035.0 | 350.04 | 130.18 | 0.233 | 1145 | 8.8 | -0.003 | - | - | - | - | - | - | |||