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| • Previous call tries 1 | • 37.07 of 150.00 AH used of 24V (75.29% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 41.54 of 100.00 AH used of 10V (58.46% remains) | |
| • Surface angle -75.6 deg, depth 2.56 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 19.8 m depth, ceiling 1.7 m | |
| • GPS1 time: 41 s | • bottom range 18.4 m at 752.0 m, depth 770 m (774 m grid) | |
| • GPS2 time: 35 s | • Transponder ping count: 14 | |
| • 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 | ||||||||||||||||||||||||||||
| 17 | - | - | - | 64 | VBD | -0.75 | - | - | 342 | - | - | - | 2104 | - | -146.6 | -44.55 | - | 2673 | - | - | - | - | - | - | - | - | - | - | - |
| 67 | 3.2 | -1.9 | 8 | 124 | roll | -0.75 | 10.00 | 0.234 | 2876 | 253.4 | 2.25 | 0.065 | 3519 | 628.9 | -146.6 | -40.28 | - | 3880 | -30.0 | - | - | - | - | - | - | - | 25.42 | 26.10 | 26.67 |
| 240 | 25.8 | -12.5 | 39 | 247 | done | -0.75 | - | - | 2883 | - | 2.10 | 0.030 | 2098 | -676.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 553 | 61.6 | -11.4 | 100 | 559 | roll | -0.75 | - | - | 2875 | - | 2.20 | 0.048 | 3506 | 640.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.13 | - |
| 673 | 76.4 | -12.8 | 123 | 680 | done | -0.75 | - | - | 2875 | - | 2.10 | 0.030 | 2093 | -672.9 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.37 | - |
| 986 | 115.3 | -12.7 | 172 | 990 | roll | -0.75 | - | - | 2865 | - | 2.20 | 0.049 | 3516 | 646.8 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.15 | - |
| 1080 | 127.0 | -12.8 | 181 | 1087 | done | -0.75 | - | - | 2865 | - | 2.08 | 0.030 | 2111 | -675.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 1388 | 165.4 | -11.9 | 212 | 1397 | roll | -0.75 | - | - | 2853 | - | 2.20 | 0.050 | 3520 | 640.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 1470 | 175.7 | -12.4 | 220 | 1475 | done | -0.75 | 0.12 | 0.168 | 2884 | 258.3 | 2.05 | 0.031 | 2122 | -682.0 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | 26.01 | 26.42 | - |
| 1783 | 206.4 | -9.6 | 251 | 1792 | roll | -0.75 | - | - | 2876 | - | 2.12 | 0.050 | 3505 | 652.4 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 1888 | 217.0 | -10.1 | 261 | 1895 | done | -0.75 | - | - | 2877 | - | 2.03 | 0.030 | 2127 | -678.8 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.44 | - |
| 2196 | 246.8 | -9.4 | 292 | 2204 | roll | -0.75 | - | - | 2866 | - | 2.12 | 0.050 | 3506 | 650.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 2290 | 256.2 | -10.4 | 301 | 2297 | done | -0.75 | - | - | 2866 | - | 2.00 | 0.030 | 2142 | -682.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.45 | - |
| 2598 | 288.5 | -10.5 | 332 | 2606 | roll | -0.75 | - | - | 2856 | - | 2.10 | 0.050 | 3506 | 649.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 2692 | 298.8 | -11.4 | 341 | 2700 | done | -0.75 | 0.12 | 0.158 | 2888 | 266.7 | 2.00 | 0.030 | 2139 | -683.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.07 | 26.47 | - |
| 2999 | 327.3 | -9.4 | 372 | 3008 | roll | -0.75 | - | - | 2880 | - | 2.12 | 0.049 | 3519 | 650.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 3122 | 339.3 | -9.9 | 384 | 3131 | done | -0.75 | - | - | 2880 | - | 2.00 | 0.030 | 2156 | -681.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 3432 | 370.8 | -10.4 | 415 | 3441 | roll | -0.75 | - | - | 2870 | - | 2.05 | 0.049 | 3503 | 657.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 3524 | 380.3 | -10.4 | 424 | 3533 | done | -0.75 | - | - | 2870 | - | 1.98 | 0.029 | 2157 | -679.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 3834 | 410.7 | -9.7 | 455 | 3843 | roll | -0.75 | - | - | 2860 | - | 2.05 | 0.048 | 3501 | 655.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 3940 | 421.1 | -10.5 | 465 | 3946 | done | -0.75 | - | - | 2860 | - | 1.95 | 0.030 | 2167 | -684.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 4246 | 451.8 | -10.2 | 496 | 4255 | roll | -0.75 | 0.12 | 0.168 | 2888 | 233.3 | 2.08 | 0.047 | 3515 | 648.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.26 | 26.20 | - |
| 4313 | 457.4 | -8.5 | 502 | 4321 | done | -0.75 | - | - | 2889 | - | 1.95 | 0.029 | 2175 | -687.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 4619 | 483.4 | -7.8 | 533 | 4628 | roll | -0.75 | - | - | 2881 | - | 2.05 | 0.049 | 3509 | 650.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 4652 | 486.1 | -8.2 | 536 | 4660 | done | -0.75 | - | - | 2881 | - | 1.95 | 0.029 | 2176 | -683.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 4962 | 511.7 | -8.4 | 567 | 4970 | roll | -0.75 | - | - | 2871 | - | 2.05 | 0.048 | 3521 | 656.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 5059 | 520.1 | -9.2 | 576 | 5065 | done | -0.75 | - | - | 2871 | - | 1.95 | 0.030 | 2182 | -686.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 5366 | 545.8 | -7.9 | 607 | 5374 | roll | -0.75 | - | - | 2862 | - | 2.05 | 0.048 | 3514 | 649.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 5441 | 552.2 | -9.1 | 614 | 5449 | done | -0.75 | - | - | 2861 | - | 1.92 | 0.029 | 2191 | -689.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 5748 | 579.7 | -8.8 | 645 | 5757 | roll | -0.75 | - | - | 2851 | - | 2.00 | 0.047 | 3503 | 656.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 5851 | 589.7 | -9.9 | 655 | 5855 | done | -0.75 | 0.15 | 0.148 | 2892 | 273.3 | 1.90 | 0.029 | 2193 | -689.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.04 | 26.50 | - |
| 6175 | 613.3 | -7.3 | 675 | 6176 | done | -0.75 | - | - | 2892 | - | - | - | 2190 | - | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | - | - |
| 6474 | 635.9 | -7.6 | 685 | 6479 | roll | -0.75 | - | - | 2884 | - | 2.05 | 0.048 | 3521 | 649.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 6551 | 641.4 | -8.2 | 687 | 6554 | done | -0.75 | - | - | 2884 | - | 1.92 | 0.030 | 2202 | -687.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 6865 | 667.0 | -7.8 | 698 | 6870 | roll | -0.75 | - | - | 2874 | - | 2.03 | 0.049 | 3522 | 650.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 6937 | 672.3 | -8.2 | 700 | 6941 | done | -0.75 | - | - | 2874 | - | 1.92 | 0.030 | 2205 | -685.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 7251 | 699.9 | -8.4 | 711 | 7256 | roll | -0.75 | - | - | 2865 | - | 2.03 | 0.048 | 3528 | 651.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 7318 | 705.4 | -8.7 | 713 | 7322 | done | -0.75 | - | - | 2865 | - | 1.92 | 0.029 | 2208 | -687.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 7635 | 734.7 | -9.0 | 724 | 7641 | roll | -0.75 | - | - | 2856 | - | 2.03 | 0.049 | 3532 | 652.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 7709 | 740.4 | -9.2 | 726 | 7713 | done | -0.75 | 0.12 | 0.149 | 2888 | 266.7 | 1.92 | 0.029 | 2208 | -689.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.12 | 26.49 | - |
| 7899 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 7899 | begin apogee | ||||||||||||||||||||||||||||
| 7906 | 756.8 | -7.9 | 733 | 8033 | roll | -0.17 | 0.55 | 0.129 | 3069 | 329.1 | - | - | 1890 | - | - | 121.78 | 1.268 | 3279 | -5.0 | 0.320 | - | - | - | - | - | - | 25.67 | - | 23.61 |
| 8036 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8036 | begin climb | ||||||||||||||||||||||||||||
| 8039 | 760.8 | - | 737 | 8174 | roll | 0.75 | 0.85 | 0.067 | 3371 | 355.3 | 2.28 | 0.037 | 523 | -599.6 | 146.6 | 125.22 | 1.146 | 2680 | -4.8 | 0.342 | - | - | - | - | - | - | 24.73 | 24.77 | 22.80 |
| 8380 | 733.8 | 12.4 | 748 | 8387 | done | 0.75 | - | - | 3371 | - | 2.28 | 0.035 | 1913 | 609.6 | 146.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.15 | - |
| 8688 | 694.0 | 12.0 | 759 | 8693 | roll | 0.75 | - | - | 3371 | - | 2.17 | 0.046 | 3304 | 641.0 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.70 | - |
| 8920 | 664.8 | 14.1 | 766 | 8928 | done | 0.75 | - | - | 3381 | - | 2.12 | 0.031 | 1901 | -661.8 | 146.6 | - | - | 2667 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 9227 | 624.1 | 11.9 | 777 | 9233 | roll | 0.75 | - | - | 3391 | - | 2.15 | 0.040 | 501 | -651.2 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.04 | - |
| 9271 | 620.5 | 11.9 | 778 | 9275 | done | 0.75 | - | - | 3391 | - | 2.20 | 0.034 | 1904 | 637.7 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.11 | - |
| 9584 | 579.8 | 12.2 | 799 | 9585 | done | 0.75 | - | - | 3391 | - | - | - | 1904 | - | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | - | - |
| 9886 | 541.5 | 12.9 | 829 | 9894 | roll | 0.75 | - | - | 3400 | - | 2.15 | 0.039 | 515 | -646.0 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 9967 | 530.3 | 13.4 | 837 | 9976 | done | 0.75 | - | - | 3400 | - | 2.15 | 0.035 | 1887 | 638.1 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 10278 | 490.5 | 13.1 | 868 | 10279 | done | 0.75 | - | - | 3400 | - | - | - | 1887 | - | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | - | - |
| 10579 | 451.6 | 12.9 | 898 | 10583 | roll | 0.75 | - | - | 3409 | - | 2.15 | 0.040 | 507 | -641.9 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 10645 | 443.3 | 12.9 | 904 | 10653 | done | 0.75 | 0.15 | 0.167 | 3371 | -253.3 | 2.15 | 0.036 | 1888 | 642.3 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | 25.87 | 26.29 | - |
| 10952 | 407.7 | 11.4 | 935 | 10953 | done | 0.75 | - | - | 3372 | - | - | - | 1888 | - | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | - | - |
| 11254 | 374.0 | 11.1 | 965 | 11260 | done | 0.75 | - | - | 3372 | - | - | - | 1888 | - | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | - | - |
| 11563 | 339.3 | 10.9 | 996 | 11569 | done | 0.75 | - | - | 3371 | - | - | - | 1888 | - | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | - | - |
| 11875 | 304.8 | 10.9 | 1027 | 11883 | roll | 0.75 | - | - | 3372 | - | 2.15 | 0.047 | 3300 | 656.7 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 11906 | 300.7 | 11.5 | 1030 | 11916 | done | 0.75 | - | - | 3379 | - | 2.12 | 0.031 | 1876 | -671.7 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 12216 | 264.9 | 11.4 | 1061 | 12225 | roll | 0.75 | - | - | 3389 | - | 2.08 | 0.040 | 512 | -655.8 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 12311 | 253.9 | 11.9 | 1070 | 12319 | done | 0.75 | - | - | 3389 | - | 2.12 | 0.034 | 1882 | 646.2 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 12618 | 217.2 | 11.8 | 1101 | 12627 | roll | 0.75 | - | - | 3398 | - | 2.15 | 0.039 | 512 | -637.2 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 12682 | 209.8 | 12.1 | 1107 | 12691 | done | 0.75 | - | - | 3398 | - | 2.10 | 0.034 | 1871 | 647.1 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 12990 | 174.3 | 10.6 | 1138 | 12991 | done | 0.75 | - | - | 3398 | - | - | - | 1870 | - | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | - | - |
| 13292 | 144.1 | 10.0 | 1168 | 13301 | roll | 0.75 | - | - | 3398 | - | 2.15 | 0.046 | 3299 | 664.7 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.25 | - |
| 13345 | 138.2 | 11.0 | 1173 | 13354 | done | 0.75 | 0.10 | 0.154 | 3376 | -220.0 | 2.10 | 0.031 | 1880 | -675.7 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | 25.97 | 26.43 | - |
| 13654 | 110.0 | 9.5 | 1204 | 13663 | roll | 0.75 | - | - | 3385 | - | 2.12 | 0.039 | 500 | -650.9 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.31 | - |
| 13833 | 92.7 | 9.2 | 1229 | 13840 | done | 0.75 | - | - | 3384 | - | 2.12 | 0.034 | 1867 | 644.8 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.38 | - |
| 14146 | 66.1 | 7.7 | 1290 | 14177 | done | 0.79 | - | - | 3384 | - | - | - | 1867 | - | 182.0 | 27.67 | 0.910 | 2537 | -4.6 | 0.036 | - | - | - | - | - | - | - | - | 25.03 |
| 14485 | 37.5 | 7.9 | 1355 | 14516 | roll | 0.83 | - | - | 3385 | - | 2.30 | 0.047 | 3302 | 623.9 | 213.3 | 25.88 | 0.821 | 2408 | -5.0 | 0.024 | - | - | - | - | - | - | - | 25.84 | 24.98 |
| 14551 | 31.3 | 10.3 | 1366 | 14559 | done | 0.83 | - | - | 3394 | - | 2.22 | 0.031 | 1848 | -655.0 | 213.3 | - | - | 2405 | - | - | - | - | - | - | - | - | - | 25.92 | - |
| 14868 | 10.4 | 4.4 | 1427 | 14931 | roll | 0.97 | 0.12 | 0.106 | 3449 | 458.3 | 2.30 | 0.045 | 3306 | 633.9 | 327.5 | 54.05 | 0.086 | 1939 | -8.6 | 0.112 | - | - | - | - | - | - | 26.12 | 25.91 | 25.72 |
| 14969 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14969 | begin surface coast | ||||||||||||||||||||||||||||
| 14975 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14975 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.94 | - | - | - | - | -8.64 | 8.40 | 0.049 | 342 | -369.9 | 1.88 | 0.031 | 2088 | -647.9 | 400.08 | 31.50 | 0.073 | 1647 | -9.3 | 0.038 | - | - | - | - | - | - | |||