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| • Previous call tries 1 | • 7.14 of 150.00 AH used of 24V (95.24% remains) | |
| • Previous NAKs 1, Timeouts 0 | • 8.45 of 100.00 AH used of 10V (91.55% remains) | |
| • Surface angle -77.4 deg, depth 2.35 m | • Intended pitch -16.3 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 18.4 m at 19.9 m depth, ceiling 1.5 m | |
| • GPS1 time: 32 s | • bottom range 28.6 m at 852.4 m, depth 881 m (870 m grid) | |
| • GPS2 time: 18 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 | |||||
| 13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13 | begin dive | ||||||||||||||||||||||||||||
| 16 | - | - | - | 87 | VBD | -0.72 | - | - | 340 | - | - | - | 2109 | - | -146.6 | -68.75 | - | 2971 | - | - | - | - | - | - | - | - | - | - | - |
| 91 | 3.0 | -1.4 | 12 | 135 | roll | -0.72 | 10.18 | 0.264 | 2902 | 251.7 | 2.20 | 0.065 | 706 | -637.7 | -146.6 | -25.17 | - | 3629 | -26.1 | - | - | - | - | - | - | - | 26.28 | 26.51 | 26.82 |
| 153 | 6.7 | -11.5 | 22 | 161 | done | -0.72 | - | - | 2895 | - | 2.20 | 0.048 | 2099 | 633.2 | -146.6 | - | - | 3630 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 468 | 49.9 | -12.4 | 83 | 475 | roll | -0.72 | - | - | 2885 | - | 2.15 | 0.060 | 3504 | 653.5 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 660 | 74.2 | -12.5 | 120 | 667 | done | -0.72 | - | - | 2884 | - | 2.12 | 0.044 | 2100 | -662.3 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 970 | 108.8 | -10.8 | 173 | 974 | roll | -0.72 | - | - | 2874 | - | 2.20 | 0.062 | 3504 | 638.2 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 1075 | 120.6 | -11.6 | 183 | 1082 | done | -0.72 | - | - | 2874 | - | 2.12 | 0.044 | 2097 | -663.7 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 1383 | 157.7 | -11.6 | 214 | 1393 | roll | -0.72 | - | - | 2864 | - | 2.17 | 0.061 | 3506 | 649.3 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 1580 | 181.1 | -12.2 | 233 | 1588 | done | -0.72 | 0.12 | 0.177 | 2895 | 258.3 | 2.15 | 0.044 | 2090 | -658.6 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | 26.51 | 26.65 | - |
| 1887 | 213.0 | -10.7 | 264 | 1896 | roll | -0.72 | - | - | 2886 | - | 2.20 | 0.060 | 3506 | 643.6 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 2012 | 226.4 | -10.9 | 276 | 2019 | done | -0.72 | - | - | 2886 | - | 2.12 | 0.044 | 2096 | -665.1 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 2320 | 257.7 | -9.7 | 307 | 2329 | roll | -0.72 | - | - | 2876 | - | 2.20 | 0.059 | 3513 | 644.1 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 2364 | 262.1 | -10.5 | 311 | 2371 | done | -0.72 | - | - | 2876 | - | 2.12 | 0.042 | 2095 | -668.9 | -146.6 | - | - | 3631 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 2672 | 291.6 | -9.4 | 342 | 2681 | roll | -0.72 | - | - | 2866 | - | 2.17 | 0.058 | 3507 | 650.7 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 2737 | 298.1 | -10.3 | 348 | 2744 | done | -0.72 | 0.12 | 0.173 | 2897 | 258.3 | 2.12 | 0.041 | 2088 | -669.3 | -146.6 | - | - | 3632 | - | - | - | - | - | - | - | - | 26.55 | 26.70 | - |
| 3045 | 323.4 | -7.9 | 379 | 3054 | roll | -0.72 | - | - | 2888 | - | 2.17 | 0.058 | 3508 | 654.4 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 3140 | 331.2 | -8.6 | 388 | 3146 | done | -0.72 | - | - | 2888 | - | 2.12 | 0.041 | 2085 | -671.2 | -146.6 | - | - | 3633 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 3447 | 356.3 | -8.1 | 419 | 3456 | roll | -0.72 | - | - | 2878 | - | 2.17 | 0.057 | 3514 | 658.5 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 3532 | 363.5 | -8.9 | 427 | 3539 | done | -0.72 | - | - | 2878 | - | 2.12 | 0.041 | 2087 | -673.1 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 3839 | 390.1 | -8.3 | 458 | 3849 | roll | -0.72 | - | - | 2868 | - | 2.17 | 0.057 | 3499 | 650.7 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 3976 | 402.9 | -9.8 | 471 | 3985 | done | -0.72 | - | - | 2867 | - | 2.08 | 0.041 | 2098 | -673.6 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 4284 | 430.4 | -8.9 | 502 | 4294 | roll | -0.72 | - | - | 2857 | - | 2.17 | 0.057 | 3510 | 650.7 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 4320 | 433.4 | -9.0 | 505 | 4327 | done | -0.72 | 0.15 | 0.164 | 2896 | 260.0 | 2.10 | 0.040 | 2098 | -672.4 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | 26.58 | 26.74 | - |
| 4627 | 455.6 | -7.0 | 536 | 4636 | roll | -0.72 | - | - | 2888 | - | 2.15 | 0.057 | 3507 | 655.3 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 4700 | 461.1 | -7.8 | 543 | 4708 | done | -0.72 | - | - | 2888 | - | 2.08 | 0.040 | 2095 | -678.8 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 5009 | 483.0 | -6.8 | 574 | 5018 | roll | -0.72 | - | - | 2877 | - | 2.15 | 0.057 | 3510 | 658.1 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 5114 | 490.8 | -7.7 | 584 | 5121 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.041 | 2097 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 5422 | 514.1 | -7.1 | 615 | 5431 | roll | -0.72 | - | - | 2867 | - | 2.15 | 0.058 | 3513 | 658.6 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 5507 | 520.9 | -8.3 | 623 | 5514 | done | -0.72 | - | - | 2867 | - | 2.10 | 0.041 | 2100 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.75 | - |
| 5814 | 546.9 | -8.5 | 654 | 5824 | roll | -0.72 | - | - | 2856 | - | 2.17 | 0.057 | 3514 | 651.6 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 5943 | 558.6 | -9.7 | 666 | 5951 | done | -0.72 | 0.15 | 0.163 | 2896 | 266.7 | 2.10 | 0.041 | 2101 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.60 | 26.76 | - |
| 6249 | 582.1 | -7.5 | 697 | 6258 | roll | -0.72 | - | - | 2887 | - | 2.12 | 0.058 | 3503 | 661.3 | -146.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 6332 | 588.6 | -8.2 | 705 | 6341 | done | -0.72 | - | - | 2888 | - | 2.10 | 0.041 | 2089 | -673.3 | -146.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 6664 | 614.0 | -7.7 | 726 | 6669 | roll | -0.72 | - | - | 2877 | - | 2.15 | 0.057 | 3504 | 658.1 | -146.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 6761 | 621.6 | -8.2 | 729 | 6765 | done | -0.72 | - | - | 2877 | - | 2.08 | 0.041 | 2099 | -675.5 | -146.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 7078 | 648.5 | -8.1 | 740 | 7082 | roll | -0.72 | - | - | 2867 | - | 2.20 | 0.057 | 3520 | 645.9 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 7189 | 656.5 | -8.6 | 743 | 7193 | done | -0.72 | - | - | 2867 | - | 2.12 | 0.041 | 2097 | -671.2 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 7496 | 683.5 | -8.4 | 753 | 7503 | roll | -0.72 | 0.12 | 0.171 | 2895 | 233.3 | 2.15 | 0.057 | 3504 | 654.4 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | 26.64 | 26.73 | - |
| 7574 | 688.0 | -8.0 | 755 | 7578 | done | -0.72 | - | - | 2894 | - | 2.10 | 0.041 | 2099 | -669.0 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 7882 | 711.7 | -7.3 | 765 | 7887 | roll | -0.72 | - | - | 2884 | - | 2.15 | 0.058 | 3505 | 654.0 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 7949 | 716.5 | -7.8 | 767 | 7953 | done | -0.72 | - | - | 2884 | - | 2.10 | 0.041 | 2093 | -672.4 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 8272 | 742.3 | -7.8 | 778 | 8277 | roll | -0.72 | - | - | 2873 | - | 2.15 | 0.057 | 3503 | 655.8 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 8363 | 750.1 | -8.5 | 781 | 8368 | done | -0.72 | - | - | 2873 | - | 2.08 | 0.041 | 2103 | -673.1 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.78 | - |
| 8692 | 779.0 | -9.0 | 792 | 8696 | roll | -0.72 | - | - | 2863 | - | 2.17 | 0.060 | 3513 | 649.8 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 8787 | 788.0 | -9.6 | 795 | 8792 | done | -0.72 | 0.12 | 0.170 | 2894 | 258.3 | 2.12 | 0.042 | 2086 | -673.1 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | 26.64 | 26.78 | - |
| 9116 | 814.1 | -7.8 | 806 | 9121 | roll | -0.72 | - | - | 2886 | - | 2.17 | 0.059 | 3510 | 656.2 | -146.6 | - | - | 3640 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 9214 | 821.7 | -8.2 | 809 | 9218 | done | -0.72 | - | - | 2886 | - | 2.10 | 0.041 | 2101 | -671.0 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.78 | - |
| 9533 | 847.5 | -7.8 | 820 | 9538 | roll | -0.72 | - | - | 2876 | - | 2.15 | 0.059 | 3507 | 654.0 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 9625 | 855.2 | -8.3 | 823 | 9630 | done | -0.72 | - | - | 2876 | - | 2.10 | 0.042 | 2095 | -672.4 | -146.6 | - | - | 3639 | - | - | - | - | - | - | - | - | - | 26.78 | - |
| 9771 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9771 | begin apogee | ||||||||||||||||||||||||||||
| 9778 | 867.6 | -8.2 | 828 | 9910 | done | -0.17 | 0.60 | 0.142 | 3069 | 321.7 | - | - | 1876 | - | - | 125.97 | 1.408 | 3028 | -4.9 | 0.316 | - | - | - | - | - | - | 26.64 | - | 23.61 |
| 9913 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9913 | begin climb | ||||||||||||||||||||||||||||
| 9916 | 870.0 | - | 832 | 10055 | roll | 0.72 | 0.85 | 0.087 | 3365 | 348.2 | 2.38 | 0.047 | 517 | -571.0 | 146.6 | 128.68 | 1.366 | 2431 | -4.6 | 0.312 | - | - | - | - | - | - | 24.68 | 24.17 | 23.24 |
| 10136 | 847.7 | 13.0 | 840 | 10140 | done | 0.72 | - | - | 3365 | - | 2.33 | 0.043 | 1897 | 592.3 | 146.6 | - | - | 2425 | - | - | - | - | - | - | - | - | - | 24.96 | - |
| 10461 | 802.7 | 13.8 | 851 | 10466 | roll | 0.72 | - | - | 3365 | - | 2.25 | 0.056 | 3311 | 628.4 | 146.6 | - | - | 2419 | - | - | - | - | - | - | - | - | - | 25.63 | - |
| 10482 | 802.7 | 13.8 | 851 | 10489 | done | 0.72 | - | - | 3374 | - | 2.22 | 0.042 | 1903 | -634.2 | 146.6 | - | - | 2419 | - | - | - | - | - | - | - | - | - | 25.68 | - |
| 10789 | 754.7 | 14.4 | 862 | 10795 | roll | 0.72 | - | - | 3385 | - | 2.25 | 0.050 | 492 | -627.1 | 146.6 | - | - | 2418 | - | - | - | - | - | - | - | - | - | 25.94 | - |
| 10883 | 741.6 | 14.6 | 865 | 10887 | done | 0.72 | - | - | 3385 | - | 2.28 | 0.044 | 1903 | 618.9 | 146.6 | - | - | 2417 | - | - | - | - | - | - | - | - | - | 26.00 | - |
| 11207 | 693.5 | 14.8 | 876 | 11208 | done | 0.72 | - | - | 3385 | - | - | - | 1902 | - | 146.6 | - | - | 2417 | - | - | - | - | - | - | - | - | - | - | - |
| 11507 | 649.2 | 14.8 | 886 | 11512 | roll | 0.72 | - | - | 3395 | - | 2.25 | 0.050 | 497 | -624.4 | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | - | 26.25 | - |
| 11529 | 649.2 | 14.8 | 886 | 11537 | done | 0.72 | 0.12 | 0.178 | 3364 | -258.3 | 2.25 | 0.044 | 1911 | 628.4 | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | 26.14 | 26.26 | - |
| 11836 | 604.6 | 13.2 | 897 | 11837 | done | 0.72 | - | - | 3364 | - | - | - | 1910 | - | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | - | - | - |
| 12138 | 567.1 | 12.4 | 923 | 12144 | done | 0.72 | - | - | 3364 | - | - | - | 1910 | - | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | - | - |
| 12449 | 528.7 | 12.6 | 954 | 12456 | done | 0.72 | - | - | 3364 | - | - | - | 1910 | - | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | - | - |
| 12758 | 489.1 | 13.0 | 985 | 12764 | done | 0.72 | - | - | 3364 | - | - | - | 1910 | - | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | - | - |
| 13066 | 447.2 | 14.1 | 1016 | 13074 | roll | 0.72 | - | - | 3371 | - | 2.22 | 0.050 | 499 | -635.6 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 13098 | 442.8 | 13.8 | 1019 | 13107 | done | 0.72 | - | - | 3371 | - | 2.20 | 0.044 | 1907 | 640.0 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 13409 | 398.6 | 14.1 | 1050 | 13418 | roll | 0.72 | - | - | 3371 | - | 2.15 | 0.055 | 3311 | 653.0 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 13432 | 395.0 | 14.5 | 1052 | 13441 | done | 0.72 | - | - | 3381 | - | 2.12 | 0.042 | 1899 | -666.0 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.56 | - |
| 13742 | 349.8 | 14.2 | 1083 | 13751 | roll | 0.72 | - | - | 3391 | - | 2.17 | 0.050 | 494 | -647.5 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.56 | - |
| 13814 | 339.3 | 15.1 | 1090 | 13823 | done | 0.72 | - | - | 3391 | - | 2.20 | 0.044 | 1909 | 643.2 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 14124 | 293.7 | 14.4 | 1121 | 14133 | roll | 0.72 | - | - | 3401 | - | 2.25 | 0.049 | 488 | -631.6 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 14170 | 287.5 | 14.4 | 1125 | 14178 | done | 0.72 | 0.12 | 0.175 | 3363 | -316.7 | 2.22 | 0.043 | 1909 | 640.1 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | 26.47 | 26.60 | - |
| 14479 | 247.1 | 12.9 | 1156 | 14488 | roll | 0.72 | - | - | 3370 | - | 2.20 | 0.049 | 502 | -639.5 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 14514 | 242.5 | 13.2 | 1159 | 14521 | done | 0.72 | - | - | 3370 | - | 2.20 | 0.042 | 1911 | 640.5 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 14821 | 201.0 | 13.0 | 1190 | 14825 | roll | 0.72 | - | - | 3370 | - | 2.12 | 0.054 | 3305 | 657.5 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 14847 | 197.9 | 13.8 | 1192 | 14854 | done | 0.72 | - | - | 3378 | - | 2.12 | 0.041 | 1895 | -665.1 | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 15153 | 155.8 | 12.8 | 1223 | 15157 | roll | 0.72 | - | - | 3389 | - | 2.17 | 0.050 | 497 | -644.2 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 15316 | 134.9 | 12.6 | 1239 | 15320 | done | 0.72 | - | - | 3388 | - | 2.17 | 0.043 | 1901 | 647.0 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 15624 | 97.8 | 10.9 | 1271 | 15630 | done | 0.72 | - | - | 3389 | - | - | - | 1900 | - | 146.6 | - | - | 2414 | - | - | - | - | - | - | - | - | - | - | - |
| 15934 | 64.3 | 10.1 | 1332 | 15941 | roll | 0.72 | - | - | 3398 | - | 2.20 | 0.050 | 505 | -634.1 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 15995 | 58.1 | 10.2 | 1343 | 16002 | done | 0.72 | 0.12 | 0.168 | 3366 | -266.7 | 2.17 | 0.044 | 1900 | 642.9 | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | 26.56 | 26.67 | - |
| 16308 | 30.8 | 7.4 | 1404 | 16345 | done | 0.78 | - | - | 3366 | - | - | - | 1899 | - | 188.3 | 30.62 | 0.852 | 2260 | -5.1 | 0.019 | - | - | - | - | - | - | - | - | 25.43 |
| 16631 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16631 | begin surface coast | ||||||||||||||||||||||||||||
| 16691 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16691 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.43 | - | - | - | - | -8.64 | 8.18 | 0.059 | 347 | -369.1 | 0.30 | 0.070 | 2107 | 693.3 | 400.08 | 92.43 | 0.070 | 1397 | -9.3 | 0.033 | - | - | - | - | - | - | |||