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| • Previous call tries 2 | • 23.22 of 150.00 AH used of 24V (84.52% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 26.36 of 100.00 AH used of 10V (73.64% remains) | |
| • Surface angle -79.1 deg, depth 2.37 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 18.5 m at 19.6 m depth, ceiling 1.1 m | |
| • GPS1 time: 34 s | • bottom range 15.5 m at 850.4 m, depth 866 m (867 m grid) | |
| • GPS2 time: 15 s | • Transponder ping count: 10 | |
| • 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 | |||||
| 13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13 | begin dive | ||||||||||||||||||||||||||||
| 16 | - | - | - | 64 | VBD | -0.75 | - | - | 338 | - | - | - | 2105 | - | -146.6 | -45.22 | - | 2670 | - | - | - | - | - | - | - | - | - | - | - |
| 68 | 3.0 | -2.3 | 8 | 130 | roll | -0.75 | 10.15 | 0.255 | 2893 | 251.7 | 2.17 | 0.054 | 712 | -641.9 | -146.6 | -42.58 | - | 3881 | -28.4 | - | - | - | - | - | - | - | 25.96 | 26.46 | 26.80 |
| 269 | 25.9 | -13.3 | 45 | 275 | done | -0.75 | - | - | 2886 | - | 2.15 | 0.039 | 2102 | 646.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 582 | 64.8 | -11.8 | 106 | 589 | roll | -0.75 | - | - | 2875 | - | 2.12 | 0.050 | 3512 | 665.1 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 683 | 77.5 | -12.4 | 125 | 690 | done | -0.75 | - | - | 2875 | - | 2.08 | 0.031 | 2106 | -676.0 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 1001 | 118.9 | -13.0 | 173 | 1005 | roll | -0.75 | - | - | 2865 | - | 2.17 | 0.051 | 3511 | 647.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 1074 | 129.1 | -13.8 | 180 | 1082 | done | -0.75 | - | - | 2865 | - | 2.08 | 0.031 | 2114 | -671.6 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 1384 | 169.0 | -12.2 | 211 | 1393 | roll | -0.75 | - | - | 2854 | - | 2.12 | 0.050 | 3507 | 657.1 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 1417 | 173.2 | -13.1 | 214 | 1427 | done | -0.75 | 0.10 | 0.152 | 2887 | 330.0 | 2.08 | 0.031 | 2101 | -676.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | 26.31 | 26.62 | - |
| 1726 | 207.0 | -10.7 | 245 | 1735 | roll | -0.75 | - | - | 2878 | - | 2.15 | 0.051 | 3521 | 660.5 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 1822 | 217.6 | -11.3 | 254 | 1830 | done | -0.75 | - | - | 2878 | - | 2.05 | 0.031 | 2122 | -682.4 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 2129 | 251.4 | -10.1 | 285 | 2138 | roll | -0.75 | - | - | 2868 | - | 2.12 | 0.050 | 3509 | 654.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 2172 | 256.1 | -10.9 | 289 | 2181 | done | -0.75 | - | - | 2868 | - | 2.03 | 0.031 | 2132 | -678.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.64 | - |
| 2482 | 288.8 | -10.3 | 320 | 2490 | roll | -0.75 | - | - | 2858 | - | 2.10 | 0.050 | 3504 | 653.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 2507 | 291.2 | -10.2 | 322 | 2515 | done | -0.75 | 0.12 | 0.170 | 2889 | 258.3 | 2.00 | 0.031 | 2135 | -684.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.35 | 26.65 | - |
| 2814 | 317.6 | -8.2 | 353 | 2823 | roll | -0.75 | - | - | 2881 | - | 2.12 | 0.050 | 3517 | 651.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 2849 | 320.5 | -8.9 | 356 | 2856 | done | -0.75 | - | - | 2881 | - | 2.03 | 0.031 | 2126 | -685.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 3157 | 348.5 | -9.4 | 387 | 3166 | roll | -0.75 | - | - | 2871 | - | 2.10 | 0.050 | 3507 | 657.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 3200 | 352.8 | -10.1 | 391 | 3209 | done | -0.75 | - | - | 2871 | - | 2.00 | 0.031 | 2141 | -683.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 3510 | 385.0 | -10.4 | 422 | 3519 | roll | -0.75 | - | - | 2861 | - | 2.10 | 0.050 | 3506 | 650.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 3535 | 387.5 | -10.7 | 424 | 3542 | done | -0.75 | - | - | 2860 | - | 1.98 | 0.030 | 2148 | -685.9 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 3843 | 420.3 | -10.6 | 455 | 3851 | roll | -0.75 | - | - | 2850 | - | 2.08 | 0.050 | 3509 | 654.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.56 | - |
| 3867 | 422.8 | -11.0 | 457 | 3875 | done | -0.75 | 0.15 | 0.160 | 2889 | 260.0 | 1.98 | 0.030 | 2146 | -688.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.35 | 26.67 | - |
| 4176 | 451.2 | -9.2 | 488 | 4185 | roll | -0.75 | - | - | 2882 | - | 2.10 | 0.050 | 3511 | 650.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.56 | - |
| 4238 | 457.3 | -9.8 | 494 | 4247 | done | -0.75 | - | - | 2882 | - | 1.98 | 0.030 | 2155 | -684.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 4548 | 486.7 | -9.5 | 525 | 4557 | roll | -0.75 | - | - | 2872 | - | 2.05 | 0.049 | 3506 | 659.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 4610 | 492.9 | -10.1 | 531 | 4614 | done | -0.75 | - | - | 2872 | - | 1.95 | 0.030 | 2163 | -688.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 4923 | 524.1 | -9.7 | 562 | 4932 | roll | -0.75 | - | - | 2862 | - | 2.05 | 0.050 | 3507 | 655.6 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 4967 | 528.5 | -10.5 | 566 | 4970 | done | -0.75 | - | - | 2862 | - | 1.95 | 0.030 | 2177 | -682.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 5278 | 560.3 | -9.8 | 597 | 5280 | done | -0.75 | - | - | 2862 | - | - | - | 2166 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
| 5581 | 589.9 | -9.5 | 627 | 5590 | roll | -0.75 | - | - | 2851 | - | 2.05 | 0.049 | 3518 | 659.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 5664 | 598.9 | -10.6 | 635 | 5673 | done | -0.75 | 0.15 | 0.157 | 2891 | 266.7 | 1.98 | 0.030 | 2159 | -686.4 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.37 | 26.70 | - |
| 5984 | 625.2 | -7.9 | 647 | 5990 | roll | -0.75 | - | - | 2884 | - | 2.05 | 0.049 | 3508 | 658.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 6022 | 627.8 | -8.0 | 648 | 6025 | done | -0.75 | - | - | 2883 | - | 1.92 | 0.030 | 2188 | -687.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 6348 | 655.6 | -8.3 | 659 | 6353 | roll | -0.75 | - | - | 2873 | - | 2.00 | 0.050 | 3503 | 657.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 6370 | 655.6 | -8.3 | 659 | 6376 | done | -0.75 | - | - | 2873 | - | 1.92 | 0.030 | 2173 | -692.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 6677 | 685.3 | -8.8 | 670 | 6682 | roll | -0.75 | - | - | 2864 | - | 2.00 | 0.050 | 3500 | 663.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 6711 | 688.0 | -8.8 | 671 | 6715 | done | -0.75 | - | - | 2864 | - | 1.92 | 0.030 | 2183 | -685.9 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 7038 | 718.1 | -9.1 | 682 | 7044 | roll | -0.75 | - | - | 2853 | - | 2.00 | 0.050 | 3500 | 658.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 7111 | 723.9 | -9.3 | 684 | 7116 | done | -0.75 | 0.12 | 0.160 | 2885 | 266.7 | 1.90 | 0.031 | 2185 | -692.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.41 | 26.71 | - |
| 7431 | 750.6 | -7.9 | 695 | 7432 | done | -0.75 | - | - | 2885 | - | - | - | 2183 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
| 7729 | 774.8 | -8.0 | 705 | 7730 | done | -0.75 | - | - | 2885 | - | - | - | 2183 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
| 8030 | 798.1 | -7.8 | 715 | 8031 | done | -0.75 | - | - | 2885 | - | - | - | 2183 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
| 8329 | 821.7 | -8.0 | 725 | 8335 | roll | -0.75 | - | - | 2877 | - | 2.00 | 0.050 | 3510 | 663.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 8368 | 824.0 | -8.2 | 726 | 8371 | done | -0.75 | - | - | 2877 | - | 1.92 | 0.031 | 2186 | -689.6 | -146.6 | - | - | 3883 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 8688 | 850.4 | -8.4 | 737 | 8692 | roll | -0.75 | - | - | 2870 | - | 2.03 | 0.049 | 3511 | 652.7 | -146.6 | - | - | 3883 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 8708 | 850.4 | -8.4 | 737 | 8712 | done | -0.75 | - | - | 2869 | - | 1.90 | 0.031 | 2206 | -686.8 | -146.6 | - | - | 3883 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 8717 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 8717 | begin apogee | ||||||||||||||||||||||||||||
| 8724 | 853.7 | -8.7 | 738 | 8852 | roll | -0.17 | 0.62 | 0.138 | 3069 | 322.6 | - | - | 1892 | - | - | 123.38 | 1.419 | 3279 | -4.9 | 0.317 | - | - | - | - | - | - | 26.30 | - | 23.66 |
| 8855 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8855 | begin climb | ||||||||||||||||||||||||||||
| 8858 | 856.5 | - | 742 | 8998 | roll | 0.75 | 0.85 | 0.067 | 3372 | 356.5 | 2.28 | 0.037 | 516 | -603.5 | 146.6 | 128.50 | 1.376 | 2680 | -4.7 | 0.312 | - | - | - | - | - | - | 24.72 | 24.74 | 22.76 |
| 9017 | 846.1 | 8.2 | 748 | 9047 | done | 0.77 | - | - | 3372 | - | 2.35 | 0.034 | 1901 | 589.4 | 170.2 | 21.70 | 1.290 | 2585 | -4.4 | 0.309 | - | - | - | - | - | - | - | 24.15 | 23.03 |
| 9349 | 798.8 | 14.6 | 759 | 9354 | roll | 0.77 | - | - | 3372 | - | 2.22 | 0.047 | 3305 | 632.4 | 170.2 | - | - | 2575 | - | - | - | - | - | - | - | - | - | 25.41 | - |
| 9378 | 794.0 | 14.9 | 760 | 9384 | done | 0.77 | - | - | 3381 | - | 2.12 | 0.029 | 1923 | -651.9 | 170.2 | - | - | 2573 | - | - | - | - | - | - | - | - | - | 25.52 | - |
| 9708 | 744.3 | 14.8 | 771 | 9713 | roll | 0.77 | - | - | 3392 | - | 2.17 | 0.038 | 503 | -654.4 | 170.2 | - | - | 2572 | - | - | - | - | - | - | - | - | - | 25.91 | - |
| 9756 | 739.8 | 14.8 | 772 | 9760 | done | 0.77 | - | - | 3392 | - | 2.22 | 0.035 | 1910 | 633.8 | 170.2 | - | - | 2572 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 10063 | 689.0 | 15.8 | 782 | 10068 | roll | 0.77 | - | - | 3392 | - | 2.12 | 0.047 | 3308 | 659.4 | 170.2 | - | - | 2569 | - | - | - | - | - | - | - | - | - | 26.10 | - |
| 10092 | 683.9 | 16.2 | 783 | 10098 | done | 0.77 | - | - | 3399 | - | 2.15 | 0.030 | 1881 | -663.7 | 170.2 | - | - | 2568 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 10425 | 629.6 | 16.5 | 794 | 10430 | roll | 0.77 | - | - | 3410 | - | 2.10 | 0.038 | 494 | -660.5 | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | 26.25 | - |
| 10461 | 624.6 | 16.5 | 795 | 10466 | done | 0.77 | - | - | 3409 | - | 2.20 | 0.035 | 1905 | 641.4 | 170.2 | - | - | 2568 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 10769 | 572.5 | 16.6 | 815 | 10770 | done | 0.77 | - | - | 3408 | - | - | - | 1905 | - | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | - | - |
| 11073 | 523.5 | 16.2 | 845 | 11079 | done | 0.77 | - | - | 3408 | - | - | - | 1905 | - | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | - | - |
| 11381 | 474.3 | 16.6 | 876 | 11387 | done | 0.77 | - | - | 3409 | - | - | - | 1905 | - | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | - | - |
| 11691 | 424.8 | 15.5 | 907 | 11701 | roll | 0.77 | - | - | 3408 | - | 2.12 | 0.048 | 3305 | 660.4 | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 11734 | 417.3 | 16.8 | 911 | 11745 | done | 0.77 | 0.15 | 0.187 | 3378 | -200.0 | 2.10 | 0.031 | 1899 | -669.5 | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | 26.18 | 26.49 | - |
| 12044 | 375.3 | 13.0 | 942 | 12053 | roll | 0.77 | - | - | 3386 | - | 2.12 | 0.039 | 501 | -659.4 | 170.2 | - | - | 2567 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 12119 | 365.5 | 13.6 | 949 | 12126 | done | 0.77 | - | - | 3386 | - | 2.15 | 0.035 | 1894 | 647.9 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 12426 | 322.5 | 13.1 | 980 | 12435 | roll | 0.77 | - | - | 3386 | - | 2.12 | 0.047 | 3304 | 665.1 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 12481 | 314.6 | 14.7 | 985 | 12488 | done | 0.77 | - | - | 3395 | - | 2.10 | 0.030 | 1884 | -676.2 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 12789 | 271.8 | 13.5 | 1016 | 12790 | done | 0.77 | - | - | 3396 | - | - | - | 1883 | - | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | - | - |
| 13091 | 231.5 | 13.0 | 1046 | 13097 | done | 0.77 | - | - | 3396 | - | - | - | 1883 | - | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | - | - |
| 13400 | 192.0 | 12.8 | 1077 | 13406 | done | 0.77 | - | - | 3396 | - | - | - | 1882 | - | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | - | - |
| 13711 | 152.6 | 12.6 | 1108 | 13720 | roll | 0.77 | - | - | 3395 | - | 2.17 | 0.046 | 3299 | 653.0 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 13763 | 145.1 | 14.0 | 1113 | 13772 | done | 0.77 | - | - | 3402 | - | 2.05 | 0.031 | 1898 | -683.4 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 14074 | 108.6 | 10.7 | 1144 | 14083 | roll | 0.77 | - | - | 3403 | - | 2.12 | 0.046 | 3297 | 659.9 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 14107 | 104.9 | 11.2 | 1147 | 14117 | done | 0.77 | 0.12 | 0.189 | 3381 | -183.3 | 2.08 | 0.031 | 1895 | -674.0 | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | 26.32 | 26.61 | - |
| 14419 | 73.1 | 10.0 | 1204 | 14424 | done | 0.77 | - | - | 3381 | - | - | - | 1895 | - | 170.2 | - | - | 2566 | - | - | - | - | - | - | - | - | - | - | - |
| 14730 | 42.9 | 8.7 | 1265 | 14743 | roll | 0.79 | - | - | 3389 | - | 2.17 | 0.039 | 505 | -640.6 | 180.4 | 7.07 | 0.809 | 2543 | -3.3 | 0.019 | - | - | - | - | - | - | - | 26.51 | 25.53 |
| 14792 | 37.6 | 7.9 | 1276 | 14824 | done | 0.82 | - | - | 3388 | - | 2.17 | 0.036 | 1916 | 650.2 | 210.8 | 26.65 | 0.894 | 2419 | -4.7 | 0.021 | - | - | - | - | - | - | - | 26.52 | 25.24 |
| 15131 | 11.8 | 6.5 | 1341 | 15168 | roll | 0.90 | - | - | 3389 | - | 2.20 | 0.047 | 3304 | 630.9 | 275.6 | 30.80 | 0.091 | 2153 | -8.6 | 0.120 | - | - | - | - | - | - | - | 26.14 | 26.04 |
| 15232 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15232 | begin surface coast | ||||||||||||||||||||||||||||
| 15264 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15264 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.35 | - | - | - | - | -8.66 | 8.25 | 0.055 | 342 | -369.3 | 1.85 | 0.031 | 2100 | -650.8 | 400.08 | 54.67 | 0.073 | 1647 | -9.3 | 0.030 | - | - | - | - | - | - | |||