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| • Previous call tries 1 | • 24.91 of 150.00 AH used of 24V (83.39% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 28.11 of 100.00 AH used of 10V (71.89% remains) | |
| • Surface angle -76.0 deg, depth 2.41 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 18.1 m at 19.9 m depth, ceiling 1.8 m | |
| • GPS1 time: 33 s | • bottom range 43.0 m at 800.1 m, depth 843 m (836 m grid) | |
| • GPS2 time: 15 s | • Transponder ping count: 8 | |
| • 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 | - | - | - | 76 | VBD | -0.75 | - | - | 341 | - | - | - | 2127 | - | -146.6 | -57.97 | - | 2993 | - | - | - | - | - | - | - | - | - | - | - |
| 80 | 3.1 | -1.7 | 10 | 118 | done | -0.75 | 10.23 | 0.254 | 2883 | 248.5 | - | - | 2127 | - | -146.6 | -23.67 | - | 3879 | -37.4 | - | - | - | - | - | - | - | 25.79 | - | 26.63 |
| 422 | 47.9 | -11.7 | 76 | 429 | roll | -0.75 | - | - | 2875 | - | 2.15 | 0.051 | 3513 | 644.7 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 463 | 53.2 | -13.2 | 83 | 470 | done | -0.75 | - | - | 2880 | - | 2.08 | 0.030 | 2105 | -676.9 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.43 | - |
| 777 | 94.6 | -12.7 | 144 | 785 | roll | -0.75 | - | - | 2872 | - | 2.15 | 0.049 | 3503 | 650.2 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 907 | 111.6 | -13.2 | 160 | 914 | done | -0.75 | - | - | 2875 | - | 2.05 | 0.031 | 2108 | -680.5 | -146.6 | - | - | 3891 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 1213 | 151.0 | -13.0 | 191 | 1222 | roll | -0.75 | - | - | 2867 | - | 2.15 | 0.050 | 3511 | 652.6 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 1278 | 159.4 | -13.5 | 197 | 1285 | done | -0.75 | - | - | 2867 | - | 2.05 | 0.031 | 2117 | -680.0 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 1585 | 196.5 | -11.0 | 228 | 1589 | roll | -0.75 | - | - | 2857 | - | 2.12 | 0.050 | 3500 | 652.4 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.43 | - |
| 1702 | 209.4 | -11.4 | 239 | 1709 | done | -0.75 | 0.12 | 0.171 | 2888 | 258.3 | 2.03 | 0.031 | 2120 | -679.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | 26.25 | 26.56 | - |
| 2009 | 238.4 | -9.1 | 270 | 2017 | roll | -0.75 | - | - | 2880 | - | 2.10 | 0.050 | 3500 | 657.1 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 2073 | 244.5 | -9.8 | 276 | 2080 | done | -0.75 | - | - | 2879 | - | 2.00 | 0.031 | 2134 | -683.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 2381 | 272.9 | -9.2 | 307 | 2390 | roll | -0.75 | - | - | 2870 | - | 2.10 | 0.050 | 3504 | 652.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 2413 | 275.9 | -9.5 | 310 | 2421 | done | -0.75 | - | - | 2870 | - | 2.03 | 0.030 | 2124 | -679.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 2724 | 305.3 | -9.2 | 341 | 2732 | roll | -0.75 | - | - | 2859 | - | 2.10 | 0.050 | 3507 | 658.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 2836 | 316.1 | -9.5 | 352 | 2845 | done | -0.75 | - | - | 2859 | - | 2.00 | 0.031 | 2143 | -682.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 3146 | 344.4 | -9.4 | 383 | 3155 | roll | -0.75 | 0.12 | 0.174 | 2888 | 241.7 | 2.05 | 0.048 | 3496 | 660.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.35 | 26.49 | - |
| 3209 | 349.7 | -8.1 | 389 | 3221 | done | -0.75 | - | - | 2891 | - | 1.98 | 0.030 | 2141 | -684.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 3520 | 375.2 | -8.7 | 420 | 3530 | roll | -0.75 | - | - | 2882 | - | 2.08 | 0.049 | 3513 | 659.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 3586 | 381.2 | -9.8 | 426 | 3593 | done | -0.75 | - | - | 2882 | - | 1.95 | 0.030 | 2167 | -690.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.64 | - |
| 3894 | 409.3 | -9.0 | 457 | 3902 | roll | -0.75 | - | - | 2873 | - | 2.05 | 0.049 | 3512 | 656.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 3965 | 416.5 | -10.0 | 464 | 3975 | done | -0.75 | - | - | 2873 | - | 1.95 | 0.030 | 2170 | -688.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 4276 | 445.7 | -9.2 | 495 | 4285 | roll | -0.75 | - | - | 2864 | - | 2.05 | 0.049 | 3502 | 649.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 4301 | 447.9 | -9.2 | 497 | 4308 | done | -0.75 | - | - | 2864 | - | 1.92 | 0.029 | 2172 | -692.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 4609 | 477.2 | -9.4 | 528 | 4618 | roll | -0.75 | - | - | 2855 | - | 2.03 | 0.049 | 3502 | 655.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 4654 | 481.4 | -10.0 | 532 | 4663 | done | -0.75 | 0.12 | 0.161 | 2887 | 266.7 | 1.92 | 0.029 | 2169 | -694.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.34 | 26.66 | - |
| 4962 | 506.6 | -7.9 | 563 | 4971 | roll | -0.75 | - | - | 2879 | - | 2.03 | 0.049 | 3503 | 657.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 5035 | 513.1 | -9.2 | 570 | 5039 | done | -0.75 | - | - | 2879 | - | 1.92 | 0.030 | 2189 | -684.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 5348 | 539.4 | -8.3 | 601 | 5357 | roll | -0.75 | - | - | 2871 | - | 2.03 | 0.048 | 3515 | 653.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 5373 | 541.5 | -8.5 | 603 | 5380 | done | -0.75 | - | - | 2871 | - | 1.92 | 0.029 | 2181 | -694.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 5680 | 568.7 | -9.2 | 634 | 5689 | roll | -0.75 | - | - | 2861 | - | 2.03 | 0.048 | 3514 | 656.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 5723 | 572.6 | -9.4 | 638 | 5726 | done | -0.75 | - | - | 2861 | - | 1.92 | 0.029 | 2198 | -685.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 6036 | 600.9 | -9.0 | 669 | 6042 | roll | -0.75 | - | - | 2851 | - | 2.00 | 0.049 | 3505 | 653.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 6105 | 606.8 | -9.6 | 671 | 6111 | done | -0.75 | 0.12 | 0.158 | 2885 | 283.3 | 1.90 | 0.029 | 2188 | -693.2 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 26.36 | 26.67 | - |
| 6425 | 634.6 | -8.3 | 682 | 6431 | roll | -0.75 | - | - | 2877 | - | 2.03 | 0.048 | 3509 | 650.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 6468 | 637.4 | -8.5 | 683 | 6472 | done | -0.75 | - | - | 2877 | - | 1.88 | 0.029 | 2210 | -691.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 6786 | 665.7 | -8.6 | 694 | 6791 | roll | -0.75 | - | - | 2868 | - | 1.98 | 0.048 | 3505 | 654.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 6829 | 668.4 | -8.6 | 695 | 6832 | done | -0.75 | - | - | 2868 | - | 1.88 | 0.029 | 2214 | -686.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 7146 | 696.7 | -8.4 | 706 | 7152 | roll | -0.75 | - | - | 2858 | - | 1.98 | 0.049 | 3504 | 651.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 7225 | 702.3 | -8.8 | 708 | 7230 | done | -0.75 | 0.12 | 0.161 | 2890 | 266.7 | 1.88 | 0.029 | 2206 | -690.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.36 | 26.69 | - |
| 7533 | 727.5 | -7.2 | 718 | 7538 | roll | -0.75 | - | - | 2882 | - | 1.98 | 0.049 | 3504 | 655.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 7566 | 729.6 | -7.2 | 719 | 7570 | done | -0.75 | - | - | 2883 | - | 1.85 | 0.029 | 2223 | -692.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 7893 | 755.5 | -7.9 | 730 | 7899 | roll | -0.75 | - | - | 2873 | - | 1.98 | 0.050 | 3501 | 645.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 7932 | 758.0 | -8.1 | 731 | 7935 | done | -0.75 | - | - | 2873 | - | 1.85 | 0.030 | 2223 | -690.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 8254 | 786.7 | -8.5 | 742 | 8259 | roll | -0.75 | - | - | 2865 | - | 1.98 | 0.050 | 3502 | 646.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 8302 | 789.1 | -8.3 | 743 | 8305 | done | -0.75 | - | - | 2865 | - | 1.85 | 0.030 | 2225 | -690.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 8614 | 818.0 | -8.1 | 754 | 8615 | done | -0.75 | - | - | 2865 | - | - | - | 2219 | - | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | - | - |
| 8761 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 8761 | begin apogee | ||||||||||||||||||||||||||||
| 8768 | 830.7 | -8.9 | 759 | 8896 | roll | -0.17 | 0.65 | 0.144 | 3071 | 316.9 | - | - | 1905 | - | - | 123.53 | 1.401 | 3279 | -4.9 | 0.313 | - | - | - | - | - | - | 26.19 | - | 23.68 |
| 8900 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8900 | begin climb | ||||||||||||||||||||||||||||
| 8902 | 832.4 | - | 763 | 9035 | done | 0.75 | 0.85 | 0.072 | 3370 | 351.8 | - | - | 1905 | - | 146.6 | 127.85 | 1.362 | 2680 | -4.7 | 0.308 | - | - | - | - | - | - | 24.71 | - | 22.80 |
| 9356 | 776.1 | 15.0 | 779 | 9361 | roll | 0.75 | - | - | 3379 | - | 2.20 | 0.037 | 514 | -632.3 | 146.6 | - | - | 2669 | - | - | - | - | - | - | - | - | - | 25.50 | - |
| 9386 | 771.6 | 15.0 | 780 | 9390 | done | 0.75 | - | - | 3379 | - | 2.22 | 0.035 | 1902 | 625.2 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.57 | - |
| 9718 | 722.6 | 14.7 | 791 | 9723 | roll | 0.75 | - | - | 3379 | - | 2.20 | 0.047 | 3307 | 638.6 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 25.91 | - |
| 9742 | 722.6 | 14.7 | 791 | 9749 | done | 0.75 | - | - | 3389 | - | 2.12 | 0.030 | 1898 | -664.6 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 10048 | 671.6 | 15.5 | 802 | 10049 | done | 0.75 | - | - | 3390 | - | - | - | 1888 | - | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | - | - |
| 10349 | 626.4 | 14.7 | 812 | 10355 | roll | 0.75 | - | - | 3382 | - | 2.17 | 0.047 | 3300 | 650.7 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 10408 | 616.8 | 15.1 | 814 | 10413 | done | 0.75 | - | - | 3389 | - | 2.08 | 0.030 | 1909 | -668.8 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 10721 | 570.0 | 14.8 | 837 | 10730 | roll | 0.75 | - | - | 3399 | - | 2.12 | 0.038 | 516 | -657.1 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 10753 | 564.7 | 15.3 | 840 | 10763 | done | 0.75 | - | - | 3399 | - | 2.20 | 0.036 | 1924 | 640.0 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 11063 | 517.8 | 14.9 | 871 | 11072 | roll | 0.75 | - | - | 3399 | - | 2.10 | 0.047 | 3298 | 654.3 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 11087 | 514.2 | 15.8 | 873 | 11095 | done | 0.75 | 0.15 | 0.181 | 3370 | -193.3 | 2.08 | 0.030 | 1901 | -671.6 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | 26.09 | 26.41 | - |
| 11395 | 473.6 | 12.7 | 904 | 11396 | done | 0.75 | - | - | 3370 | - | - | - | 1891 | - | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | - | - |
| 11697 | 435.7 | 12.3 | 934 | 11705 | roll | 0.75 | - | - | 3370 | - | 2.17 | 0.046 | 3306 | 652.1 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 11741 | 429.9 | 13.2 | 938 | 11748 | done | 0.75 | - | - | 3378 | - | 2.08 | 0.030 | 1902 | -675.0 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 12049 | 389.2 | 13.5 | 969 | 12058 | roll | 0.75 | - | - | 3387 | - | 2.08 | 0.037 | 512 | -668.3 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 12111 | 380.8 | 13.5 | 975 | 12115 | done | 0.75 | - | - | 3388 | - | 2.15 | 0.035 | 1911 | 650.7 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 12423 | 338.6 | 13.8 | 1006 | 12432 | roll | 0.75 | - | - | 3388 | - | 2.12 | 0.047 | 3311 | 660.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 12448 | 335.3 | 14.3 | 1008 | 12456 | done | 0.75 | - | - | 3397 | - | 2.08 | 0.030 | 1903 | -676.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.54 | - |
| 12755 | 288.2 | 15.1 | 1039 | 12764 | roll | 0.75 | - | - | 3407 | - | 2.12 | 0.038 | 504 | -659.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 12902 | 267.2 | 14.5 | 1053 | 12910 | done | 0.75 | 0.15 | 0.169 | 3369 | -253.3 | 2.15 | 0.035 | 1910 | 654.0 | 146.6 | - | - | 2661 | - | - | - | - | 1 | - | - | - | 26.22 | 26.53 | - |
| 13210 | 228.9 | 11.4 | 1084 | 13220 | roll | 0.75 | - | - | 3369 | - | 2.10 | 0.046 | 3298 | 661.0 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 13264 | 222.1 | 13.0 | 1089 | 13268 | done | 0.75 | - | - | 3376 | - | 2.05 | 0.030 | 1898 | -682.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 13576 | 185.6 | 10.9 | 1120 | 13577 | done | 0.75 | - | - | 3376 | - | - | - | 1898 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
| 13879 | 153.4 | 10.1 | 1150 | 13885 | done | 0.75 | - | - | 3376 | - | - | - | 1898 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
| 14189 | 121.2 | 11.3 | 1181 | 14193 | roll | 0.75 | - | - | 3386 | - | 2.10 | 0.039 | 501 | -665.2 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 14327 | 106.4 | 11.1 | 1194 | 14334 | done | 0.75 | - | - | 3387 | - | 2.15 | 0.035 | 1903 | 652.1 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 14633 | 72.8 | 9.9 | 1250 | 14640 | roll | 0.75 | - | - | 3386 | - | 2.12 | 0.047 | 3306 | 661.8 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 14678 | 67.8 | 11.5 | 1258 | 14684 | done | 0.75 | - | - | 3396 | - | 2.10 | 0.030 | 1884 | -677.1 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 14992 | 38.9 | 7.7 | 1319 | 15024 | roll | 0.79 | - | - | 3406 | - | 2.17 | 0.040 | 513 | -631.8 | 181.2 | 26.20 | 0.901 | 2539 | -4.7 | 0.022 | - | - | - | - | - | - | - | 26.17 | 25.34 |
| 15068 | 32.5 | 9.3 | 1332 | 15075 | done | 0.79 | - | - | 3406 | - | 2.15 | 0.036 | 1887 | 639.1 | 181.2 | - | - | 2536 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 15385 | 11.5 | 1.3 | 1393 | 15483 | roll | 1.02 | 0.12 | 0.104 | 3460 | 450.0 | 2.22 | 0.047 | 3302 | 637.4 | 370.1 | 87.38 | 0.088 | 1767 | -8.8 | 0.124 | - | - | - | - | - | - | 26.30 | 26.13 | 26.03 |
| 15496 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15496 | begin surface coast | ||||||||||||||||||||||||||||
| 15527 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15527 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.03 | - | - | - | - | -8.66 | 8.38 | 0.050 | 341 | -372.2 | 1.85 | 0.031 | 2077 | -662.2 | 400.08 | 11.88 | 0.072 | 1647 | -10.1 | 0.029 | - | - | - | - | - | - | |||