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| • Previous call tries 1 | • 29.56 of 150.00 AH used of 24V (80.29% remains) | |
| • Previous NAKs 5, Timeouts 0 | • 33.10 of 100.00 AH used of 10V (66.90% remains) | |
| • Surface angle -71.2 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 18.3 m at 19.7 m depth, ceiling 1.4 m | |
| • GPS1 time: 34 s | • bottom range 27.9 m at 851.9 m, depth 880 m (869 m grid) | |
| • GPS2 time: 18 s | • Transponder ping count: 18 | |
| • 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 | - | - | - | 82 | VBD | -0.75 | - | - | 339 | - | - | - | 2135 | - | -146.6 | -62.50 | - | 3131 | - | - | - | - | - | - | - | - | - | - | - |
| 85 | 3.1 | -1.7 | 11 | 124 | roll | -0.75 | 10.02 | 0.240 | 2896 | 255.2 | 2.22 | 0.051 | 694 | -649.1 | -146.6 | -18.80 | - | 3882 | -39.9 | - | - | - | - | - | - | - | 25.68 | 26.30 | 26.70 |
| 304 | 34.4 | -11.6 | 52 | 311 | done | -0.75 | - | - | 2889 | - | 2.15 | 0.037 | 2077 | 643.3 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.31 | - |
| 618 | 69.7 | -11.2 | 113 | 624 | roll | -0.75 | - | - | 2878 | - | 2.17 | 0.047 | 3506 | 658.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 802 | 93.5 | -14.2 | 148 | 809 | done | -0.75 | - | - | 2878 | - | 2.08 | 0.029 | 2101 | -675.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 1117 | 132.4 | -11.4 | 184 | 1127 | roll | -0.75 | - | - | 2868 | - | 2.20 | 0.049 | 3521 | 645.5 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 1246 | 147.4 | -12.4 | 196 | 1253 | done | -0.75 | - | - | 2867 | - | 2.05 | 0.029 | 2122 | -682.4 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 1551 | 184.8 | -11.8 | 227 | 1555 | roll | -0.75 | - | - | 2857 | - | 2.15 | 0.049 | 3519 | 649.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 1616 | 192.4 | -12.5 | 233 | 1624 | done | -0.75 | 0.12 | 0.167 | 2888 | 258.3 | 2.03 | 0.030 | 2133 | -682.8 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 26.15 | 26.53 | - |
| 1924 | 223.3 | -9.7 | 264 | 1933 | roll | -0.75 | - | - | 2880 | - | 2.12 | 0.048 | 3518 | 653.3 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.35 | - |
| 2030 | 233.7 | -10.0 | 274 | 2037 | done | -0.75 | - | - | 2880 | - | 2.03 | 0.029 | 2130 | -683.7 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 2337 | 264.0 | -9.4 | 305 | 2345 | roll | -0.75 | - | - | 2870 | - | 2.10 | 0.048 | 3511 | 657.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 2484 | 278.7 | -10.4 | 319 | 2491 | done | -0.75 | - | - | 2870 | - | 1.98 | 0.029 | 2152 | -686.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 2789 | 308.4 | -9.7 | 350 | 2798 | roll | -0.75 | - | - | 2859 | - | 2.05 | 0.048 | 3509 | 662.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.38 | - |
| 2864 | 315.9 | -10.4 | 357 | 2870 | done | -0.75 | - | - | 2859 | - | 1.95 | 0.029 | 2165 | -689.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 3171 | 347.4 | -10.1 | 388 | 3181 | roll | -0.75 | 0.12 | 0.165 | 2888 | 241.7 | 2.05 | 0.046 | 3509 | 655.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.32 | 26.39 | - |
| 3301 | 358.1 | -8.5 | 400 | 3308 | done | -0.75 | - | - | 2888 | - | 1.92 | 0.029 | 2174 | -695.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 3608 | 384.6 | -8.3 | 431 | 3617 | roll | -0.75 | - | - | 2878 | - | 2.03 | 0.048 | 3513 | 659.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 3660 | 389.3 | -9.4 | 436 | 3669 | done | -0.75 | - | - | 2878 | - | 1.95 | 0.028 | 2169 | -689.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 3971 | 417.5 | -9.3 | 467 | 3979 | roll | -0.75 | - | - | 2868 | - | 2.03 | 0.047 | 3508 | 659.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 4073 | 427.3 | -9.6 | 477 | 4081 | done | -0.75 | - | - | 2868 | - | 1.92 | 0.028 | 2182 | -690.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 4382 | 456.9 | -9.8 | 508 | 4392 | roll | -0.75 | - | - | 2858 | - | 2.05 | 0.047 | 3517 | 651.2 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 4477 | 466.8 | -10.8 | 517 | 4485 | done | -0.75 | 0.12 | 0.158 | 2889 | 258.3 | 1.90 | 0.028 | 2197 | -694.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.24 | 26.61 | - |
| 4785 | 494.8 | -8.8 | 548 | 4786 | done | -0.75 | - | - | 2890 | - | - | - | 2196 | - | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | - | - |
| 5089 | 520.1 | -8.4 | 578 | 5097 | roll | -0.75 | - | - | 2881 | - | 2.00 | 0.047 | 3524 | 664.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 5164 | 526.9 | -9.2 | 585 | 5170 | done | -0.75 | - | - | 2881 | - | 1.90 | 0.028 | 2204 | -694.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 5471 | 554.6 | -8.7 | 616 | 5475 | roll | -0.75 | - | - | 2872 | - | 2.00 | 0.047 | 3507 | 651.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 5537 | 560.4 | -9.7 | 622 | 5543 | done | -0.75 | - | - | 2872 | - | 1.88 | 0.029 | 2210 | -689.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 5843 | 588.7 | -9.3 | 653 | 5852 | roll | -0.75 | - | - | 2862 | - | 1.98 | 0.047 | 3506 | 654.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 5906 | 594.7 | -9.8 | 659 | 5909 | done | -0.75 | - | - | 2862 | - | 1.88 | 0.029 | 2210 | -689.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 6238 | 625.4 | -9.2 | 674 | 6243 | roll | -0.75 | - | - | 2852 | - | 1.98 | 0.047 | 3507 | 655.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 6361 | 637.6 | -10.2 | 678 | 6365 | done | -0.75 | 0.15 | 0.151 | 2892 | 266.7 | 1.85 | 0.029 | 2223 | -694.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.19 | 26.62 | - |
| 6685 | 663.5 | -7.8 | 689 | 6688 | roll | -0.75 | - | - | 2884 | - | 1.98 | 0.048 | 3518 | 654.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 6725 | 666.3 | -7.9 | 690 | 6729 | done | -0.75 | - | - | 2884 | - | 1.88 | 0.029 | 2217 | -692.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 7044 | 693.8 | -8.5 | 701 | 7049 | roll | -0.75 | - | - | 2874 | - | 1.98 | 0.047 | 3510 | 653.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 7091 | 696.3 | -8.5 | 702 | 7094 | done | -0.75 | - | - | 2874 | - | 1.85 | 0.029 | 2239 | -687.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 7404 | 726.3 | -9.0 | 713 | 7409 | roll | -0.75 | - | - | 2865 | - | 1.95 | 0.047 | 3506 | 649.7 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 7434 | 729.0 | -9.0 | 714 | 7437 | done | -0.75 | - | - | 2865 | - | 1.85 | 0.029 | 2239 | -684.9 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 7766 | 759.8 | -9.1 | 725 | 7772 | roll | -0.75 | - | - | 2855 | - | 1.95 | 0.048 | 3512 | 652.8 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 7815 | 762.6 | -9.1 | 726 | 7819 | done | -0.75 | 0.12 | 0.155 | 2887 | 266.7 | 1.83 | 0.029 | 2247 | -691.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.25 | 26.61 | - |
| 8121 | 788.9 | -7.9 | 736 | 8122 | done | -0.75 | - | - | 2887 | - | - | - | 2246 | - | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | - | - |
| 8421 | 812.9 | -8.0 | 746 | 8425 | roll | -0.75 | - | - | 2879 | - | 1.92 | 0.049 | 3509 | 657.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 8457 | 815.7 | -8.1 | 747 | 8460 | done | -0.75 | - | - | 2879 | - | 1.83 | 0.029 | 2249 | -688.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 8784 | 843.9 | -8.5 | 758 | 8789 | roll | -0.75 | - | - | 2870 | - | 1.95 | 0.049 | 3519 | 651.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 8832 | 846.5 | -8.5 | 759 | 8835 | done | -0.75 | - | - | 2870 | - | 1.83 | 0.030 | 2261 | -687.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 9021 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9021 | begin apogee | ||||||||||||||||||||||||||||
| 9029 | 865.3 | -9.0 | 766 | 9159 | roll | -0.17 | 0.62 | 0.137 | 3068 | 319.4 | - | - | 1882 | - | - | 124.12 | 1.423 | 3279 | -4.9 | 0.318 | - | - | - | - | - | - | 25.89 | - | 23.64 |
| 9162 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9162 | begin climb | ||||||||||||||||||||||||||||
| 9165 | 869.6 | - | 770 | 9303 | roll | 0.75 | 0.85 | 0.066 | 3371 | 356.5 | 2.25 | 0.036 | 519 | -605.8 | 146.6 | 125.85 | 1.232 | 2681 | -4.8 | 0.359 | - | - | - | - | - | - | 24.70 | 24.73 | 22.89 |
| 9521 | 836.6 | 13.0 | 782 | 9527 | done | 0.75 | - | - | 3371 | - | 2.25 | 0.035 | 1905 | 616.0 | 146.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.27 | - |
| 9837 | 795.0 | 12.7 | 793 | 9842 | roll | 0.75 | - | - | 3371 | - | 2.15 | 0.046 | 3305 | 651.2 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.77 | - |
| 10061 | 764.6 | 14.3 | 800 | 10065 | done | 0.75 | - | - | 3380 | - | 2.12 | 0.030 | 1897 | -664.2 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.04 | - |
| 10375 | 720.3 | 13.7 | 811 | 10380 | roll | 0.75 | - | - | 3391 | - | 2.12 | 0.038 | 513 | -652.8 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.13 | - |
| 10497 | 703.9 | 13.7 | 815 | 10501 | done | 0.75 | - | - | 3391 | - | 2.15 | 0.035 | 1890 | 640.5 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 10821 | 657.6 | 14.6 | 826 | 10826 | roll | 0.75 | - | - | 3400 | - | 2.15 | 0.038 | 505 | -644.2 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 10842 | 657.6 | 14.6 | 826 | 10849 | done | 0.75 | - | - | 3400 | - | 2.15 | 0.035 | 1887 | 642.8 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 11150 | 609.7 | 14.8 | 837 | 11152 | done | 0.75 | - | - | 3400 | - | - | - | 1887 | - | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | - | - |
| 11450 | 564.5 | 15.0 | 861 | 11458 | roll | 0.75 | - | - | 3408 | - | 2.12 | 0.038 | 510 | -649.5 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 11492 | 558.1 | 14.9 | 865 | 11501 | done | 0.75 | 0.10 | 0.158 | 3377 | -310.0 | 2.10 | 0.035 | 1874 | 649.5 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | 25.98 | 26.36 | - |
| 11802 | 517.0 | 13.3 | 896 | 11811 | roll | 0.75 | - | - | 3384 | - | 2.10 | 0.038 | 505 | -651.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 11844 | 511.4 | 12.9 | 900 | 11854 | done | 0.75 | - | - | 3384 | - | 2.12 | 0.035 | 1872 | 644.8 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 12155 | 468.8 | 14.1 | 931 | 12163 | roll | 0.75 | - | - | 3384 | - | 2.17 | 0.045 | 3301 | 658.5 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 12196 | 462.4 | 15.1 | 935 | 12205 | done | 0.75 | - | - | 3393 | - | 2.15 | 0.030 | 1859 | -670.7 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.45 | - |
| 12507 | 417.2 | 14.5 | 966 | 12516 | roll | 0.75 | - | - | 3404 | - | 2.05 | 0.039 | 505 | -660.5 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 12582 | 406.4 | 15.0 | 973 | 12589 | done | 0.75 | 0.12 | 0.179 | 3374 | -250.0 | 2.10 | 0.035 | 1871 | 650.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | 26.09 | 26.42 | - |
| 12889 | 365.1 | 12.8 | 1004 | 12899 | roll | 0.75 | - | - | 3374 | - | 2.17 | 0.044 | 3298 | 657.6 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.38 | - |
| 12935 | 359.1 | 14.0 | 1008 | 12943 | done | 0.75 | - | - | 3381 | - | 2.12 | 0.030 | 1861 | -677.8 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 13242 | 316.9 | 13.6 | 1039 | 13252 | roll | 0.75 | - | - | 3392 | - | 2.03 | 0.038 | 510 | -665.5 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 13275 | 312.2 | 14.0 | 1042 | 13284 | done | 0.75 | - | - | 3391 | - | 2.10 | 0.034 | 1872 | 648.6 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 13586 | 267.5 | 14.2 | 1073 | 13594 | roll | 0.75 | - | - | 3400 | - | 2.08 | 0.037 | 505 | -657.2 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.44 | - |
| 13628 | 261.4 | 13.9 | 1077 | 13638 | done | 0.75 | 0.10 | 0.181 | 3372 | -280.0 | 2.10 | 0.034 | 1872 | 651.0 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | 26.15 | 26.48 | - |
| 13939 | 222.1 | 12.2 | 1108 | 13948 | roll | 0.75 | - | - | 3372 | - | 2.15 | 0.044 | 3293 | 660.9 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 13992 | 214.7 | 13.8 | 1113 | 14001 | done | 0.75 | - | - | 3378 | - | 2.10 | 0.030 | 1863 | -681.0 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 14302 | 178.9 | 11.3 | 1144 | 14311 | roll | 0.75 | - | - | 3388 | - | 2.03 | 0.037 | 509 | -667.0 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 14367 | 171.7 | 11.8 | 1150 | 14374 | done | 0.75 | - | - | 3389 | - | 2.08 | 0.034 | 1864 | 651.4 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 14675 | 137.0 | 11.2 | 1181 | 14684 | roll | 0.75 | - | - | 3389 | - | 2.15 | 0.045 | 3300 | 667.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 14700 | 134.3 | 11.3 | 1183 | 14709 | done | 0.75 | - | - | 3398 | - | 2.12 | 0.029 | 1847 | -685.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 15007 | 99.3 | 10.8 | 1214 | 15013 | done | 0.75 | - | - | 3398 | - | - | - | 1847 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
| 15321 | 67.9 | 9.1 | 1275 | 15327 | done | 0.75 | - | - | 3398 | - | - | - | 1847 | - | 147.5 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
| 15633 | 37.8 | 8.5 | 1336 | 15653 | roll | 0.77 | - | - | 3408 | - | 2.03 | 0.040 | 513 | -657.1 | 163.2 | 12.20 | 0.851 | 2613 | -3.9 | 0.019 | - | - | - | - | - | - | - | 26.41 | 25.41 |
| 15798 | 23.2 | 8.1 | 1367 | 15818 | done | 0.80 | - | - | 3408 | - | 2.08 | 0.034 | 1852 | 643.8 | 188.8 | 13.55 | 0.813 | 2507 | -7.8 | 0.024 | - | - | - | - | - | - | - | 26.39 | 25.30 |
| 16128 | 5.7 | 5.9 | 1430 | 16160 | VBD | 0.89 | - | - | 3408 | - | - | - | 1852 | - | 267.0 | 30.10 | 0.072 | 2235 | -9.0 | 0.077 | - | - | - | - | - | - | - | - | - |
| 16161 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16161 | begin surface coast | ||||||||||||||||||||||||||||
| 16241 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16241 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.32 | - | - | - | - | -8.65 | 8.23 | 0.050 | 346 | -372.1 | 0.35 | 0.054 | 2110 | 737.1 | 400.08 | 63.03 | 0.068 | 1647 | -9.3 | 0.033 | - | - | - | - | - | - | |||