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| • Previous call tries 1 | • 29.46 of 150.00 AH used of 24V (80.36% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 32.98 of 100.00 AH used of 10V (67.02% remains) | |
| • Surface angle -73.6 deg, depth 2.34 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 19.9 m depth, ceiling 1.4 m | |
| • GPS1 time: 26 s | • bottom range 17.6 m at 851.4 m, depth 869 m (860 m grid) | |
| • GPS2 time: 17 s | • Transponder ping count: 15 | |
| • 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 | - | - | - | 80 | VBD | -0.75 | - | - | 335 | - | - | - | 2107 | - | -146.6 | -61.40 | - | 3099 | - | - | - | - | - | - | - | - | - | - | - |
| 84 | 3.1 | -1.1 | 11 | 122 | roll | -0.75 | 10.12 | 0.245 | 2893 | 252.8 | 2.12 | 0.050 | 710 | -659.0 | -146.6 | -20.65 | - | 3879 | -37.8 | - | - | - | - | - | - | - | 25.70 | 26.29 | 26.70 |
| 166 | 15.5 | -15.0 | 25 | 174 | done | -0.75 | - | - | 2886 | - | 2.17 | 0.037 | 2113 | 646.5 | -146.6 | - | - | 3883 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 480 | 51.4 | -10.1 | 86 | 486 | roll | -0.75 | - | - | 2875 | - | 2.10 | 0.047 | 3508 | 664.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 637 | 68.7 | -11.8 | 116 | 644 | done | -0.75 | - | - | 2879 | - | 2.05 | 0.029 | 2110 | -682.0 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 957 | 103.5 | -10.8 | 175 | 960 | roll | -0.75 | - | - | 2871 | - | 2.15 | 0.048 | 3510 | 651.2 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 1058 | 115.0 | -10.8 | 185 | 1068 | done | -0.75 | - | - | 2871 | - | 2.03 | 0.029 | 2128 | -680.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 1369 | 148.4 | -11.2 | 216 | 1377 | roll | -0.75 | - | - | 2860 | - | 2.15 | 0.048 | 3512 | 643.7 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.35 | - |
| 1484 | 162.1 | -12.4 | 227 | 1490 | done | -0.75 | - | - | 2861 | - | 2.00 | 0.030 | 2140 | -686.0 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 1791 | 199.0 | -11.4 | 258 | 1795 | roll | -0.75 | - | - | 2850 | - | 2.10 | 0.049 | 3504 | 649.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 1856 | 206.5 | -12.1 | 264 | 1865 | done | -0.75 | 0.15 | 0.162 | 2890 | 266.7 | 1.98 | 0.030 | 2145 | -686.4 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.12 | 26.55 | - |
| 2163 | 235.1 | -9.2 | 295 | 2172 | roll | -0.75 | - | - | 2883 | - | 2.10 | 0.048 | 3505 | 647.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.37 | - |
| 2289 | 247.3 | -10.1 | 307 | 2297 | done | -0.75 | - | - | 2882 | - | 1.98 | 0.029 | 2148 | -685.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 2597 | 277.1 | -9.5 | 338 | 2605 | roll | -0.75 | - | - | 2873 | - | 2.08 | 0.048 | 3509 | 654.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 2669 | 284.4 | -10.0 | 345 | 2679 | done | -0.75 | - | - | 2873 | - | 1.95 | 0.029 | 2170 | -686.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 2978 | 314.8 | -9.6 | 376 | 2987 | roll | -0.75 | - | - | 2863 | - | 2.05 | 0.047 | 3504 | 650.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 3052 | 322.1 | -10.2 | 383 | 3061 | done | -0.75 | - | - | 2863 | - | 1.92 | 0.029 | 2180 | -689.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 3362 | 354.7 | -10.5 | 414 | 3371 | roll | -0.75 | - | - | 2852 | - | 2.05 | 0.047 | 3524 | 655.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 3425 | 362.0 | -11.6 | 420 | 3434 | done | -0.75 | 0.12 | 0.154 | 2885 | 275.0 | 1.95 | 0.029 | 2182 | -688.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.25 | 26.60 | - |
| 3734 | 391.1 | -9.3 | 451 | 3743 | roll | -0.75 | - | - | 2877 | - | 2.05 | 0.047 | 3516 | 650.7 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 3800 | 397.1 | -9.7 | 457 | 3807 | done | -0.75 | - | - | 2877 | - | 1.92 | 0.028 | 2182 | -694.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 4106 | 426.1 | -9.4 | 488 | 4115 | roll | -0.75 | - | - | 2867 | - | 2.03 | 0.047 | 3516 | 657.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 4148 | 430.1 | -9.9 | 492 | 4157 | done | -0.75 | - | - | 2867 | - | 1.92 | 0.028 | 2187 | -692.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 4458 | 460.7 | -10.0 | 523 | 4467 | roll | -0.75 | - | - | 2857 | - | 2.03 | 0.047 | 3506 | 649.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 4531 | 468.2 | -10.6 | 530 | 4540 | done | -0.75 | 0.12 | 0.155 | 2889 | 266.7 | 1.90 | 0.028 | 2192 | -691.6 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.25 | 26.62 | - |
| 4840 | 494.3 | -8.0 | 561 | 4850 | roll | -0.75 | - | - | 2881 | - | 2.03 | 0.047 | 3510 | 649.3 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 4884 | 497.9 | -8.6 | 565 | 4888 | done | -0.75 | - | - | 2881 | - | 1.90 | 0.028 | 2212 | -683.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 5196 | 525.0 | -8.2 | 596 | 5205 | roll | -0.75 | - | - | 2871 | - | 2.03 | 0.047 | 3515 | 641.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 5249 | 529.6 | -9.2 | 601 | 5252 | done | -0.75 | - | - | 2871 | - | 1.90 | 0.028 | 2221 | -681.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 5561 | 558.3 | -9.1 | 632 | 5570 | roll | -0.75 | - | - | 2862 | - | 1.98 | 0.047 | 3505 | 648.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 5627 | 564.3 | -9.7 | 638 | 5633 | done | -0.75 | - | - | 2862 | - | 1.85 | 0.028 | 2219 | -695.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 5933 | 594.0 | -9.5 | 669 | 5942 | roll | -0.75 | - | - | 2852 | - | 1.98 | 0.047 | 3505 | 649.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 6011 | 600.3 | -10.4 | 675 | 6016 | done | -0.75 | 0.15 | 0.149 | 2891 | 260.0 | 1.85 | 0.028 | 2217 | -696.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 26.20 | 26.62 | - |
| 6325 | 626.4 | -7.6 | 686 | 6330 | roll | -0.75 | - | - | 2884 | - | 1.98 | 0.047 | 3516 | 656.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 6367 | 628.9 | -7.8 | 687 | 6371 | done | -0.75 | - | - | 2884 | - | 1.85 | 0.028 | 2235 | -692.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 6685 | 656.0 | -8.3 | 698 | 6691 | roll | -0.75 | - | - | 2874 | - | 1.98 | 0.047 | 3512 | 644.9 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 6745 | 661.3 | -8.4 | 700 | 6748 | done | -0.75 | - | - | 2874 | - | 1.85 | 0.028 | 2239 | -688.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 7077 | 690.6 | -8.9 | 711 | 7078 | done | -0.75 | - | - | 2874 | - | - | - | 2233 | - | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | - | - |
| 7377 | 718.5 | -9.3 | 721 | 7383 | roll | -0.75 | - | - | 2865 | - | 1.98 | 0.048 | 3517 | 648.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 7424 | 721.4 | -9.4 | 722 | 7428 | done | -0.75 | - | - | 2865 | - | 1.85 | 0.029 | 2242 | -689.2 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 7737 | 753.8 | -9.8 | 733 | 7738 | done | -0.75 | - | - | 2865 | - | - | - | 2233 | - | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | - | - |
| 8038 | 781.5 | -9.1 | 743 | 8041 | roll | -0.75 | - | - | 2855 | - | 1.95 | 0.048 | 3503 | 651.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 8078 | 784.8 | -9.3 | 744 | 8082 | done | -0.75 | 0.12 | 0.153 | 2887 | 266.7 | 1.83 | 0.029 | 2243 | -688.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.26 | 26.62 | - |
| 8396 | 811.9 | -8.2 | 755 | 8402 | roll | -0.75 | - | - | 2879 | - | 1.95 | 0.049 | 3505 | 647.2 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 8448 | 814.5 | -8.3 | 756 | 8455 | done | -0.75 | - | - | 2879 | - | 1.83 | 0.029 | 2239 | -691.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 8756 | 842.6 | -8.8 | 767 | 8760 | roll | -0.75 | - | - | 2870 | - | 1.95 | 0.049 | 3517 | 655.4 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 8789 | 845.7 | -9.0 | 768 | 8792 | done | -0.75 | - | - | 2870 | - | 1.83 | 0.029 | 2264 | -684.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 8878 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 8878 | begin apogee | ||||||||||||||||||||||||||||
| 8885 | 854.1 | -9.1 | 771 | 9014 | roll | -0.17 | 0.62 | 0.137 | 3067 | 317.7 | - | - | 1903 | - | - | 124.03 | 1.418 | 3279 | -4.9 | 0.315 | - | - | - | - | - | - | 25.92 | - | 23.56 |
| 9017 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9017 | begin climb | ||||||||||||||||||||||||||||
| 9020 | 857.9 | - | 775 | 9158 | roll | 0.75 | 0.85 | 0.066 | 3373 | 360.0 | 2.28 | 0.037 | 520 | -606.6 | 146.6 | 127.10 | 1.281 | 2681 | -4.7 | 0.338 | - | - | - | - | - | - | 24.70 | 24.72 | 22.89 |
| 9387 | 820.5 | 13.3 | 788 | 9392 | done | 0.75 | - | - | 3373 | - | 2.25 | 0.035 | 1907 | 616.4 | 146.6 | - | - | 2670 | - | - | - | - | - | - | - | - | - | 25.31 | - |
| 9717 | 775.4 | 13.8 | 799 | 9722 | roll | 0.75 | - | - | 3373 | - | 2.17 | 0.046 | 3311 | 647.0 | 146.6 | - | - | 2667 | - | - | - | - | - | - | - | - | - | 25.81 | - |
| 9952 | 743.3 | 15.2 | 806 | 9958 | done | 0.75 | - | - | 3382 | - | 2.12 | 0.030 | 1902 | -664.6 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.07 | - |
| 10259 | 696.0 | 14.3 | 817 | 10264 | roll | 0.75 | - | - | 3393 | - | 2.12 | 0.039 | 510 | -656.6 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.14 | - |
| 10389 | 678.7 | 14.4 | 821 | 10393 | done | 0.75 | - | - | 3393 | - | 2.15 | 0.035 | 1893 | 643.3 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 10711 | 629.6 | 14.6 | 832 | 10717 | roll | 0.75 | - | - | 3393 | - | 2.17 | 0.046 | 3310 | 653.0 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 10745 | 624.9 | 14.7 | 833 | 10750 | done | 0.75 | 0.12 | 0.189 | 3373 | -166.7 | 2.12 | 0.030 | 1884 | -672.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | 25.95 | 26.32 | - |
| 11058 | 580.4 | 13.6 | 853 | 11067 | roll | 0.75 | - | - | 3382 | - | 2.10 | 0.038 | 513 | -652.9 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 11133 | 570.2 | 14.0 | 860 | 11140 | done | 0.75 | - | - | 3382 | - | 2.12 | 0.035 | 1883 | 646.2 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 11441 | 528.1 | 13.8 | 891 | 11449 | roll | 0.75 | - | - | 3382 | - | 2.17 | 0.046 | 3307 | 656.2 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 11475 | 523.4 | 14.5 | 894 | 11482 | done | 0.75 | - | - | 3391 | - | 2.12 | 0.030 | 1875 | -675.5 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 11783 | 479.4 | 14.3 | 925 | 11792 | roll | 0.75 | - | - | 3401 | - | 2.08 | 0.038 | 509 | -656.7 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 11928 | 458.8 | 14.2 | 939 | 11937 | done | 0.75 | 0.10 | 0.160 | 3371 | -300.0 | 2.10 | 0.034 | 1874 | 650.0 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | 26.04 | 26.41 | - |
| 12236 | 419.8 | 12.2 | 970 | 12244 | roll | 0.75 | - | - | 3371 | - | 2.15 | 0.044 | 3295 | 660.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 12301 | 411.2 | 14.2 | 976 | 12308 | done | 0.75 | - | - | 3377 | - | 2.10 | 0.030 | 1875 | -676.2 | 146.6 | - | - | 2660 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 12608 | 369.3 | 13.4 | 1007 | 12612 | roll | 0.75 | - | - | 3388 | - | 2.05 | 0.038 | 514 | -663.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 12723 | 354.3 | 13.4 | 1018 | 12729 | done | 0.75 | - | - | 3388 | - | 2.10 | 0.034 | 1879 | 650.0 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 13030 | 310.0 | 14.8 | 1049 | 13039 | roll | 0.75 | - | - | 3387 | - | 2.17 | 0.045 | 3304 | 656.7 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 13053 | 306.3 | 15.5 | 1051 | 13062 | done | 0.75 | - | - | 3397 | - | 2.10 | 0.029 | 1871 | -682.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 13364 | 258.6 | 15.4 | 1082 | 13372 | roll | 0.75 | - | - | 3407 | - | 2.05 | 0.037 | 507 | -665.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.44 | - |
| 13396 | 253.6 | 15.4 | 1085 | 13406 | done | 0.75 | 0.15 | 0.172 | 3369 | -253.3 | 2.10 | 0.034 | 1875 | 651.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | 26.09 | 26.48 | - |
| 13706 | 212.9 | 12.6 | 1116 | 13715 | roll | 0.75 | - | - | 3370 | - | 2.17 | 0.045 | 3308 | 660.4 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 13802 | 200.2 | 14.1 | 1125 | 13809 | done | 0.75 | - | - | 3377 | - | 2.12 | 0.029 | 1865 | -680.7 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.53 | - |
| 14108 | 163.2 | 11.5 | 1156 | 14117 | roll | 0.75 | - | - | 3387 | - | 2.05 | 0.038 | 513 | -659.5 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 14224 | 150.4 | 11.3 | 1167 | 14231 | done | 0.75 | - | - | 3387 | - | 2.08 | 0.034 | 1869 | 651.9 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 14531 | 117.8 | 10.4 | 1198 | 14539 | roll | 0.75 | - | - | 3387 | - | 2.15 | 0.044 | 3297 | 664.2 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 14577 | 113.0 | 11.0 | 1202 | 14584 | done | 0.75 | - | - | 3396 | - | 2.10 | 0.029 | 1871 | -679.0 | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 14885 | 78.6 | 10.7 | 1252 | 14891 | done | 0.75 | - | - | 3396 | - | - | - | 1870 | - | 146.6 | - | - | 2661 | - | - | - | - | - | - | - | - | - | - | - |
| 15198 | 49.8 | 8.2 | 1313 | 15223 | roll | 0.78 | - | - | 3406 | - | 2.08 | 0.037 | 502 | -657.7 | 170.9 | 18.40 | 0.877 | 2581 | -4.3 | 0.026 | - | - | - | - | - | - | - | 26.30 | 25.38 |
| 15246 | 45.4 | 9.2 | 1321 | 15253 | done | 0.78 | - | - | 3406 | - | 2.15 | 0.034 | 1887 | 644.2 | 170.9 | - | - | 2579 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 15562 | 17.1 | 6.8 | 1382 | 15599 | roll | 0.84 | - | - | 3406 | - | 2.20 | 0.045 | 3296 | 640.5 | 226.4 | 26.73 | 0.102 | 2354 | -8.4 | 0.151 | - | - | - | - | - | - | - | 26.23 | 25.99 |
| 15612 | 13.8 | 6.6 | 1390 | 15648 | done | 0.92 | - | - | 3416 | - | 2.08 | 0.030 | 1900 | -671.2 | 286.9 | 28.95 | 0.094 | 2108 | -8.5 | 0.134 | - | - | - | - | - | - | - | 26.33 | 25.98 |
| 15738 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15738 | begin surface coast | ||||||||||||||||||||||||||||
| 15777 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15777 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.53 | - | - | - | - | -8.64 | 8.38 | 0.060 | 340 | -367.1 | 0.32 | 0.054 | 2129 | 715.6 | 400.08 | 49.05 | 0.070 | 1647 | -9.4 | 0.035 | - | - | - | - | - | - | |||