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| • Previous call tries 1 | • 230.75 of 350.00 AH used of 24V (34.07% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.3 deg, depth 0.75 m | • Intended pitch -43.7 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 15.8 m at 15.4 m depth, ceiling -0.4 m (m = 1.02, R^2 = 1.00) | |
| • GPS1 time: 43 s | ||
| • GPS2 time: 4 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 | ||||||||||||||||||||||||||||
| 13 | - | - | - | 103 | done | -2.01 | - | - | 210 | - | - | - | 2311 | - | -23.5 | -89.38 | 0.002 | 2656 | - | - | - | - | - | - | - | - | 14.96 | 12.86 | 14.97 |
| 107 | 1.4 | -1.1 | 3 | 122 | roll | -2.01 | 9.93 | 0.418 | 2213 | 201.7 | 2.58 | 0.066 | 889 | -551.2 | -23.5 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.09 | 14.52 | 14.35 |
| 352 | 30.3 | -14.0 | 39 | 360 | done | -2.01 | - | - | 2204 | - | 2.58 | 0.059 | 2304 | 548.4 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.45 | 14.38 | 14.50 |
| 716 | 84.6 | -13.9 | 55 | 722 | roll | -2.01 | - | - | 2204 | - | 2.60 | 0.064 | 895 | -541.9 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.10 | 14.28 | 15.13 |
| 954 | 119.0 | -14.6 | 89 | 961 | done | -2.01 | - | - | 2193 | - | 2.60 | 0.059 | 2304 | 541.9 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.38 | 14.28 | 14.43 |
| 1307 | 166.4 | -13.5 | 103 | 1312 | roll | -2.01 | - | - | 2193 | - | 2.58 | 0.063 | 889 | -548.4 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.05 | 14.30 | 15.08 |
| 1542 | 198.3 | -13.0 | 137 | 1549 | done | -2.01 | 0.12 | 0.343 | 2218 | 208.3 | 2.60 | 0.058 | 2299 | 542.3 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 13.62 | 14.20 | 14.10 |
| 1896 | 241.3 | -12.2 | 145 | 1902 | roll | -2.01 | - | - | 2218 | - | 2.58 | 0.065 | 886 | -547.7 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.89 | 14.26 | 14.91 |
| 2020 | 257.3 | -12.4 | 163 | 2026 | done | -2.01 | - | - | 2209 | - | 2.60 | 0.059 | 2303 | 545.0 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.33 | 14.27 | 14.39 |
| 2399 | 301.5 | -11.5 | 175 | 2404 | roll | -2.01 | - | - | 2210 | - | 2.58 | 0.063 | 888 | -548.4 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.87 | 14.24 | 14.89 |
| 2475 | 310.5 | -11.2 | 186 | 2481 | done | -2.01 | - | - | 2199 | - | 2.60 | 0.059 | 2304 | 544.6 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.32 | 14.23 | 14.38 |
| 2847 | 351.4 | -11.3 | 197 | 2853 | roll | -2.01 | - | - | 2199 | - | 2.58 | 0.063 | 892 | -547.3 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.86 | 14.22 | 14.88 |
| 2938 | 361.9 | -11.8 | 210 | 2944 | done | -2.01 | 0.17 | 0.369 | 2217 | 105.9 | 2.55 | 0.057 | 2305 | 554.1 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 13.64 | 14.32 | 14.10 |
| 3295 | 399.2 | -10.2 | 219 | 3300 | roll | -2.01 | - | - | 2208 | - | 2.67 | 0.095 | 3718 | 529.2 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.88 | 14.16 | 14.87 |
| 3336 | 403.5 | -10.3 | 225 | 3343 | done | -2.01 | - | - | 2208 | - | 2.53 | 0.041 | 2292 | -563.6 | -23.5 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.43 | 14.39 | 14.47 |
| 3686 | 435.0 | -8.9 | 233 | 3694 | roll | -2.01 | - | - | 2208 | - | 2.58 | 0.063 | 899 | -539.9 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.05 | 14.12 | 15.08 |
| 3896 | 454.0 | -9.0 | 263 | 3902 | done | -2.01 | - | - | 2197 | - | 2.60 | 0.060 | 2307 | 541.5 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.28 | 14.21 | 14.33 |
| 4246 | 485.7 | -9.1 | 271 | 4247 | done | -2.01 | - | - | 2198 | - | - | - | 2307 | - | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 4582 | 515.4 | -8.8 | 277 | 4590 | roll | -2.01 | - | - | 2198 | - | 2.62 | 0.063 | 899 | -537.4 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 14.99 | 14.07 | 15.02 |
| 4701 | 526.0 | -9.0 | 294 | 4707 | done | -2.01 | 0.20 | 0.366 | 2221 | 115.0 | 2.58 | 0.059 | 2306 | 545.3 | -23.5 | - | - | 2655 | - | - | - | - | - | - | - | - | 13.62 | 14.28 | 14.09 |
| 5086 | 559.3 | -8.8 | 307 | 5092 | roll | -2.01 | - | - | 2221 | - | 2.58 | 0.062 | 898 | -545.7 | -23.5 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.03 | 14.16 | 15.06 |
| 5205 | 569.0 | -7.9 | 324 | 5211 | done | -2.02 | - | - | 2213 | - | 2.60 | 0.059 | 2310 | 543.1 | -31.0 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.46 |
| 5590 | 597.1 | -7.1 | 337 | 5596 | roll | -2.04 | - | - | 2202 | - | 2.65 | 0.095 | 3718 | 531.3 | -41.1 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.07 | 14.07 | 15.10 |
| 5625 | 599.8 | -7.8 | 342 | 5631 | done | -2.04 | - | - | 2202 | - | 2.50 | 0.041 | 2293 | -570.0 | -49.0 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.40 | 14.35 | 14.42 |
| 5982 | 625.2 | -7.0 | 351 | 5983 | done | -2.06 | - | - | 2204 | - | - | - | 2293 | - | -59.7 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.04 | 15.06 | 15.06 |
| 6318 | 646.1 | -6.3 | 357 | 6324 | roll | -2.07 | - | - | 2192 | - | 2.70 | 0.091 | 3715 | 526.7 | -72.6 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.04 | 14.11 | 15.06 |
| 6409 | 652.1 | -6.5 | 370 | 6415 | done | -2.09 | - | - | 2192 | - | 2.47 | 0.037 | 2298 | -573.7 | -84.8 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.40 | 14.37 | 14.43 |
| 6766 | 670.3 | -4.5 | 379 | 6772 | roll | -2.11 | - | - | 2192 | - | 2.55 | 0.062 | 916 | -542.0 | -104.1 | - | - | 2656 | - | - | - | - | - | - | - | - | 15.02 | 14.07 | 15.04 |
| 7004 | 681.9 | -5.2 | 413 | 7011 | done | -2.12 | - | - | 2181 | - | 2.58 | 0.058 | 2303 | 537.6 | -107.1 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.25 | 14.19 | 14.31 |
| 7383 | 698.9 | -4.3 | 425 | 7389 | roll | -2.12 | - | - | 2171 | - | 2.67 | 0.092 | 3722 | 531.5 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.81 | 14.13 | 14.84 |
| 7620 | 708.1 | -3.3 | 459 | 7626 | done | -2.12 | - | - | 2170 | - | 2.50 | 0.037 | 2289 | -573.2 | -107.1 | - | - | 2656 | - | - | - | - | - | - | - | - | 14.38 | 14.35 | 14.40 |
| 7999 | 719.8 | -3.3 | 471 | 8004 | roll | -2.12 | - | - | 2160 | - | 2.70 | 0.088 | 3716 | 528.5 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.82 | 14.14 | 14.84 |
| 8182 | 728.7 | -4.6 | 497 | 8189 | done | -2.12 | 0.15 | 0.347 | 2184 | 160.0 | 2.45 | 0.037 | 2286 | -583.7 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 13.66 | 14.50 | 14.07 |
| 8559 | 741.4 | -2.9 | 509 | 8566 | roll | -2.12 | - | - | 2184 | - | 2.53 | 0.062 | 923 | -538.7 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 15.03 | 14.06 | 15.05 |
| 8797 | 744.1 | -0.9 | 543 | 8803 | done | -2.12 | - | - | 2176 | - | 2.58 | 0.057 | 2312 | 538.4 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.16 | 14.09 | 14.21 |
| 9175 | 748.7 | -1.3 | 555 | 9181 | roll | -2.12 | - | - | 2166 | - | 2.62 | 0.091 | 3713 | 534.7 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 15.04 | 14.10 | 15.06 |
| 9413 | 753.5 | -2.6 | 589 | 9420 | done | -2.12 | - | - | 2165 | - | 2.45 | 0.037 | 2302 | -575.9 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 14.40 | 14.38 | 14.43 |
| 9791 | 760.0 | -1.7 | 601 | 9798 | roll | -2.12 | - | - | 2165 | - | 2.53 | 0.060 | 909 | -550.6 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 15.06 | 14.16 | 15.08 |
| 9833 | 760.8 | -2.7 | 607 | 9839 | done | -2.12 | 0.15 | 0.341 | 2185 | 133.3 | 2.60 | 0.058 | 2309 | 538.5 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 13.61 | 14.18 | 13.88 |
| 10183 | 767.0 | -1.8 | 615 | 10189 | roll | -2.12 | - | - | 2177 | - | 2.70 | 0.090 | 3715 | 520.7 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 15.04 | 13.98 | 15.04 |
| 10421 | 771.9 | -2.0 | 649 | 10428 | done | -2.12 | - | - | 2177 | - | 2.47 | 0.035 | 2292 | -576.1 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 14.38 | 14.35 | 14.42 |
| 10799 | 778.3 | -1.6 | 661 | 10806 | roll | -2.12 | - | - | 2165 | - | 2.70 | 0.090 | 3718 | 528.1 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 15.03 | 14.11 | 15.05 |
| 11037 | 782.2 | -1.5 | 695 | 11043 | done | -2.12 | - | - | 2166 | - | 2.50 | 0.036 | 2283 | -574.0 | -107.1 | - | - | 2658 | - | - | - | - | - | - | - | - | 14.30 | 14.25 | 14.31 |
| 11415 | 787.7 | -1.4 | 707 | 11421 | roll | -2.12 | - | - | 2156 | - | 2.70 | 0.090 | 3716 | 530.7 | -107.1 | - | - | 2657 | - | - | - | - | - | - | - | - | 15.04 | 14.12 | 15.07 |
| 11653 | 790.8 | -2.1 | 741 | 11660 | done | -2.12 | 0.12 | 0.340 | 2187 | 258.3 | 2.47 | 0.036 | 2276 | -583.0 | -107.1 | - | - | 2660 | - | - | - | - | - | - | - | - | 13.57 | 14.36 | 14.04 |
| 12028 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 12028 | begin apogee | ||||||||||||||||||||||||||||
| 12038 | 794.5 | - | 753 | 12071 | done | -0.23 | 2.62 | 0.323 | 2797 | 232.8 | - | - | 2095 | - | - | 29.30 | 2.964 | 2559 | -3.4 | 0.191 | - | - | - | - | - | - | 14.04 | 14.32 | 13.05 |
| 12072 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12072 | begin climb | ||||||||||||||||||||||||||||
| 12075 | 794.5 | - | 753 | 12221 | roll | 2.12 | 2.42 | 0.135 | 3557 | 314.0 | 2.75 | 0.076 | 726 | -497.8 | 107.1 | 135.32 | 3.071 | 2122 | -3.2 | 0.173 | - | - | - | - | - | - | 14.28 | 13.14 | 11.86 |
| 12270 | 762.3 | 26.4 | 787 | 12276 | done | 2.12 | - | - | 3558 | - | 2.62 | 0.054 | 2107 | 527.1 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 13.59 | 13.47 | 13.62 |
| 12648 | 658.8 | 27.3 | 799 | 12653 | roll | 2.12 | - | - | 3559 | - | 2.58 | 0.093 | 3521 | 548.1 | 107.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.92 | 14.52 | 14.95 |
| 12682 | 648.9 | 28.4 | 804 | 12689 | done | 2.12 | - | - | 3567 | - | 2.42 | 0.041 | 2118 | -579.8 | 107.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.67 | 14.62 | 14.71 |
| 13043 | 551.8 | 26.9 | 813 | 13048 | roll | 2.12 | - | - | 3580 | - | 2.55 | 0.078 | 698 | -556.9 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.02 | 14.57 | 15.04 |
| 13096 | 536.7 | 26.7 | 821 | 13102 | done | 2.12 | 0.12 | 0.343 | 3552 | -233.3 | 2.50 | 0.057 | 2109 | 564.4 | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.12 | 14.59 | 14.36 |
| 13489 | 440.5 | 24.4 | 835 | 13489 | done | 2.12 | - | - | 3552 | - | - | - | 2110 | - | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.99 | 15.04 | 15.03 |
| 13825 | 360.4 | 23.7 | 841 | 13830 | roll | 2.12 | - | - | 3542 | - | 2.58 | 0.091 | 3520 | 546.5 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.00 | 14.50 | 15.02 |
| 13859 | 351.8 | 24.7 | 846 | 13869 | done | 2.12 | - | - | 3551 | - | 2.47 | 0.041 | 2090 | -578.9 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.62 |
| 14221 | 268.6 | 22.8 | 855 | 14226 | roll | 2.12 | - | - | 3563 | - | 2.53 | 0.080 | 696 | -551.0 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.98 | 14.47 | 15.00 |
| 14246 | 262.4 | 21.6 | 859 | 14252 | done | 2.12 | - | - | 3562 | - | 2.50 | 0.057 | 2099 | 561.2 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.57 | 14.50 | 14.64 |
| 14614 | 181.5 | 22.5 | 870 | 14620 | roll | 2.12 | - | - | 3562 | - | 2.60 | 0.093 | 3518 | 545.8 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.97 | 14.44 | 15.00 |
| 14632 | 176.3 | 22.9 | 873 | 14640 | done | 2.12 | - | - | 3572 | - | 2.50 | 0.042 | 2087 | -572.4 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.60 | 14.54 | 14.64 |
| 14975 | 101.2 | 21.5 | 886 | 14976 | done | 2.12 | - | - | 3573 | - | - | - | 2087 | - | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.12 |
| 15312 | 31.4 | 20.5 | 898 | 15319 | roll | 2.12 | - | - | 3583 | - | 2.53 | 0.079 | 694 | -550.6 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.09 | 14.40 | 15.14 |
| 15368 | 19.5 | 22.3 | 906 | 15375 | done | 2.12 | 0.15 | 0.356 | 3551 | -213.3 | 2.53 | 0.057 | 2103 | 556.9 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 13.92 | 14.44 | 14.19 |
| 15449 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15449 | begin surface coast | ||||||||||||||||||||||||||||
| 15480 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15480 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.54 | - | - | - | - | -8.23 | 9.82 | 0.068 | 213 | 21.7 | 0.38 | 0.073 | 2324 | -7373.7 | 350.04 | 161.93 | 0.224 | 1133 | 7.0 | -0.002 | - | - | - | - | - | - | |||