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| • Previous call tries 1 | • 30.25 of 145.00 AH used of 24V (79.14% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 32.21 of 96.25 AH used of 10V (66.53% remains) | |
| • Surface angle -75.9 deg, depth 2.80 m | • Intended pitch -13.1 deg, speed -9.183 cm/s | |
| • VBD pumped to 446.93 (SM_CC=446.92932) | ||
| • GPS1 time: 34 s | ||
| • GPS2 time: 5 s | • Transponder ping count: 0 | |
| • 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 | ||||||||||||||||||||||||||||
| 15 | - | - | - | 70 | VBD | -0.40 | - | - | 128 | - | - | - | 2101 | - | -87.6 | -53.30 | - | 1848 | - | - | - | - | - | - | - | - | - | - | - |
| 73 | 3.1 | -0.9 | 6 | 129 | roll | -0.40 | 10.85 | 0.243 | 2697 | 236.8 | 2.38 | 0.073 | 3530 | 600.4 | -87.6 | -35.62 | - | 2675 | -23.2 | - | - | - | - | - | - | - | 25.15 | 25.51 | 26.04 |
| 139 | 3.2 | -1.2 | 13 | 148 | done | -0.40 | - | - | 2699 | - | 2.28 | 0.050 | 2136 | -611.4 | -87.6 | - | - | 2675 | - | - | - | - | - | - | - | - | - | 25.56 | - |
| 207 | 10.4 | -11.9 | 22 | 217 | roll | -0.40 | - | - | 2702 | - | 2.33 | 0.052 | 712 | -611.2 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.55 | - |
| 241 | 14.8 | -13.3 | 26 | 250 | done | -0.40 | - | - | 2693 | - | 2.33 | 0.052 | 2118 | 603.4 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.57 | - |
| 309 | 23.9 | -13.4 | 35 | 319 | roll | -0.40 | - | - | 2682 | - | 2.33 | 0.060 | 3532 | 606.9 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.53 | - |
| 329 | 26.8 | -14.0 | 37 | 339 | done | -0.40 | 0.10 | 0.148 | 2714 | 320.0 | 2.30 | 0.052 | 2124 | -612.2 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | 25.36 | 25.60 | - |
| 494 | 47.0 | -11.8 | 62 | 500 | done | -0.40 | - | - | 2713 | - | - | - | 2121 | - | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | - | - |
| 827 | 86.0 | -11.5 | 123 | 835 | roll | -0.40 | - | - | 2705 | - | 2.30 | 0.060 | 3547 | 620.0 | -87.6 | - | - | 2675 | - | - | - | - | - | - | - | - | - | 25.70 | - |
| 874 | 91.2 | -10.2 | 131 | 882 | done | -0.40 | - | - | 2705 | - | 2.25 | 0.050 | 2123 | -632.9 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.77 | - |
| 1193 | 131.3 | -12.9 | 169 | 1195 | done | -0.40 | - | - | 2705 | - | - | - | 2119 | - | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | - | - |
| 1494 | 170.5 | -13.0 | 199 | 1504 | roll | -0.40 | - | - | 2694 | - | 2.28 | 0.060 | 3542 | 624.1 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.82 | - |
| 1539 | 175.9 | -12.8 | 203 | 1547 | done | -0.40 | - | - | 2694 | - | 2.25 | 0.050 | 2123 | -630.7 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.87 | - |
| 1847 | 216.2 | -13.0 | 228 | 1853 | roll | -0.40 | - | - | 2684 | - | 2.25 | 0.059 | 3534 | 627.1 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.85 | - |
| 1886 | 221.3 | -12.8 | 230 | 1892 | done | -0.40 | 0.12 | 0.154 | 2714 | 250.0 | 2.25 | 0.054 | 2115 | -630.7 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | 25.72 | 25.89 | - |
| 2706 | 309.1 | -11.0 | 271 | 2710 | roll | -0.40 | - | - | 2706 | - | 2.28 | 0.060 | 3542 | 625.9 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.91 | - |
| 2765 | 315.1 | -10.8 | 274 | 2769 | done | -0.40 | - | - | 2705 | - | 2.25 | 0.052 | 2116 | -633.8 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 3578 | 402.4 | -10.4 | 315 | 3584 | roll | -0.40 | - | - | 2705 | - | 2.22 | 0.054 | 704 | -636.0 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.98 | - |
| 3597 | 404.5 | -10.5 | 316 | 3604 | done | -0.40 | - | - | 2696 | - | 2.28 | 0.052 | 2135 | 627.6 | -87.6 | - | - | 2677 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 4417 | 496.6 | -11.8 | 357 | 4421 | roll | -0.40 | - | - | 2685 | - | 2.22 | 0.063 | 3536 | 631.1 | -87.6 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 25.94 | - |
| 4547 | 509.5 | -10.7 | 363 | 4555 | done | -0.40 | 0.12 | 0.154 | 2715 | 250.0 | 2.25 | 0.055 | 2117 | -630.7 | -87.6 | - | - | 2675 | - | - | - | - | - | - | - | - | 25.82 | 26.00 | - |
| 5354 | 590.3 | -9.9 | 404 | 5355 | done | -0.40 | - | - | 2714 | - | - | - | 2113 | - | -87.6 | - | - | 2675 | - | - | - | - | - | - | - | - | - | - | - |
| 6154 | 662.0 | -8.7 | 444 | 6160 | roll | -0.40 | - | - | 2706 | - | 2.28 | 0.062 | 3536 | 624.1 | -87.6 | - | - | 2674 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 6177 | 663.8 | -8.7 | 445 | 6181 | done | -0.40 | - | - | 2706 | - | 2.25 | 0.054 | 2118 | -630.2 | -87.6 | - | - | 2674 | - | - | - | - | - | - | - | - | - | 26.02 | - |
| 6989 | 738.5 | -8.8 | 486 | 6994 | roll | -0.40 | - | - | 2695 | - | 2.28 | 0.063 | 3533 | 620.6 | -87.6 | - | - | 2672 | - | - | - | - | - | - | - | - | - | 25.94 | - |
| 7051 | 743.7 | -8.8 | 489 | 7056 | done | -0.40 | - | - | 2695 | - | 2.25 | 0.057 | 2124 | -626.2 | -87.6 | - | - | 2672 | - | - | - | - | - | - | - | - | - | 26.00 | - |
| 7863 | 821.4 | -9.8 | 530 | 7867 | roll | -0.40 | - | - | 2685 | - | 2.28 | 0.064 | 3533 | 618.0 | -87.6 | - | - | 2672 | - | - | - | - | - | - | - | - | - | 25.92 | - |
| 7952 | 828.6 | -9.4 | 534 | 7960 | done | -0.40 | 0.12 | 0.149 | 2715 | 250.0 | 2.28 | 0.060 | 2117 | -621.1 | -87.6 | - | - | 2672 | - | - | - | - | - | - | - | - | 25.82 | 25.97 | - |
| 8760 | 892.7 | -7.5 | 575 | 8765 | roll | -0.40 | - | - | 2716 | - | 2.25 | 0.058 | 709 | -625.8 | -87.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 8788 | 894.3 | -7.7 | 576 | 8792 | done | -0.40 | - | - | 2707 | - | 2.28 | 0.054 | 2130 | 623.2 | -87.6 | - | - | 2672 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 9595 | 962.8 | -8.2 | 616 | 9601 | roll | -0.40 | - | - | 2696 | - | 2.25 | 0.063 | 3540 | 626.7 | -87.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.91 | - |
| 9708 | 970.6 | -7.7 | 621 | 9714 | done | -0.40 | - | - | 2696 | - | 2.28 | 0.058 | 2118 | -623.7 | -87.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.95 | - |
| 10073 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 10073 | begin apogee | ||||||||||||||||||||||||||||
| 10077 | 1000.8 | -8.1 | 640 | 10155 | done | - | 0.50 | 0.138 | 2844 | 296.0 | - | - | 2115 | - | - | 71.32 | 1.322 | 2321 | -4.9 | 0.383 | - | - | - | - | - | - | 25.61 | - | 23.81 |
| 10156 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10156 | begin loiter | ||||||||||||||||||||||||||||
| 10955 | 1006.1 | -0.9 | 684 | 10989 | roll | 0.04 | - | - | 2851 | - | 2.38 | 0.050 | 672 | -606.3 | 33.8 | 28.67 | 1.283 | 2184 | -4.8 | 0.386 | - | - | - | - | - | - | - | 25.22 | 24.31 |
| 11191 | 999.4 | 3.3 | 695 | 11195 | done | 0.04 | - | - | 2851 | - | 2.33 | 0.050 | 2102 | 613.7 | 33.8 | - | - | 2184 | - | - | - | - | - | - | - | - | - | 25.51 | - |
| 12008 | 974.4 | 2.8 | 736 | 12014 | roll | 0.04 | - | - | 2861 | - | 2.28 | 0.050 | 678 | -624.6 | 33.8 | - | - | 2182 | - | - | - | - | - | - | - | - | - | 25.84 | - |
| 12170 | 970.2 | 2.5 | 744 | 12174 | done | 0.04 | - | - | 2861 | - | 2.33 | 0.049 | 2098 | 609.4 | 33.8 | - | - | 2182 | - | - | - | - | - | - | - | - | - | 25.86 | - |
| 12987 | 947.0 | 3.5 | 785 | 12991 | roll | 0.04 | - | - | 2861 | - | 2.25 | 0.060 | 3514 | 629.3 | 33.8 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 25.91 | - |
| 13046 | 944.7 | 4.0 | 788 | 13050 | done | 0.04 | - | - | 2871 | - | 2.28 | 0.047 | 2095 | -622.4 | 33.8 | - | - | 2181 | - | - | - | - | - | - | - | - | - | 26.00 | - |
| 13863 | 910.7 | 3.7 | 829 | 13867 | roll | 0.04 | - | - | 2883 | - | 2.22 | 0.050 | 676 | -639.2 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 14220 | 898.5 | 3.4 | 847 | 14224 | done | 0.04 | - | - | 2882 | - | 2.25 | 0.047 | 2103 | 634.2 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 15037 | 873.2 | 3.1 | 888 | 15043 | roll | 0.04 | - | - | 2893 | - | 2.25 | 0.048 | 673 | -635.6 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 15149 | 869.4 | 3.8 | 893 | 15157 | done | 0.04 | 0.12 | 0.164 | 2863 | -250.0 | 2.25 | 0.047 | 2102 | 635.1 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | 25.82 | 26.06 | - |
| 15957 | 844.6 | 3.3 | 934 | 15962 | roll | 0.04 | - | - | 2872 | - | 2.25 | 0.048 | 674 | -634.7 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.04 | - |
| 16080 | 839.9 | 3.9 | 940 | 16084 | done | 0.04 | - | - | 2872 | - | 2.25 | 0.047 | 2103 | 635.1 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.05 | - |
| 16893 | 813.9 | 2.8 | 981 | 16894 | done | 0.04 | - | - | 2872 | - | - | - | 2104 | - | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | - | - |
| 17691 | 795.3 | 2.0 | 1021 | 17695 | roll | 0.04 | - | - | 2872 | - | 2.22 | 0.057 | 3517 | 636.5 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.98 | - |
| 17767 | 793.2 | 2.8 | 1025 | 17772 | done | 0.04 | - | - | 2882 | - | 2.20 | 0.046 | 2095 | -646.4 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.08 | - |
| 18583 | 767.8 | 3.5 | 1066 | 18587 | roll | 0.04 | - | - | 2893 | - | 2.20 | 0.050 | 686 | -640.5 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 18722 | 762.6 | 3.9 | 1073 | 18727 | done | 0.04 | 0.08 | 0.146 | 2869 | -300.0 | 2.28 | 0.047 | 2097 | 618.9 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | 25.82 | 26.06 | - |
| 19540 | 740.1 | 2.3 | 1114 | 19544 | roll | 0.04 | - | - | 2879 | - | 2.22 | 0.049 | 684 | -636.5 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 19609 | 738.7 | 2.5 | 1117 | 19616 | done | 0.04 | - | - | 2878 | - | 2.22 | 0.047 | 2099 | 637.4 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.05 | - |
| 20416 | 717.0 | 2.9 | 1158 | 20420 | roll | 0.04 | - | - | 2878 | - | 2.22 | 0.057 | 3506 | 633.8 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 20495 | 714.5 | 3.3 | 1162 | 20499 | done | 0.04 | - | - | 2888 | - | 2.20 | 0.046 | 2089 | -644.1 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.06 | - |
| 21312 | 687.6 | 3.1 | 1203 | 21316 | roll | 0.04 | - | - | 2899 | - | 2.20 | 0.049 | 681 | -640.0 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.02 | - |
| 21391 | 685.3 | 3.0 | 1207 | 21396 | done | 0.04 | 0.15 | 0.157 | 2862 | -246.7 | 2.22 | 0.047 | 2096 | 637.4 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | 25.75 | 26.05 | - |
| 22205 | 668.4 | 1.7 | 1248 | 22211 | roll | 0.04 | - | - | 2861 | - | 2.20 | 0.057 | 3504 | 640.0 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.93 | - |
| 22376 | 665.0 | 2.3 | 1256 | 22383 | done | 0.04 | - | - | 2870 | - | 2.20 | 0.047 | 2088 | -643.6 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.05 | - |
| 23185 | 651.5 | 1.4 | 1297 | 23190 | roll | 0.04 | - | - | 2881 | - | 2.17 | 0.049 | 688 | -645.2 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 23439 | 647.4 | 1.7 | 1309 | 23445 | done | 0.04 | - | - | 2881 | - | 2.22 | 0.047 | 2105 | 638.3 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 24244 | 634.9 | 1.8 | 1350 | 24248 | roll | 0.04 | - | - | 2881 | - | 2.20 | 0.057 | 3501 | 634.5 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | - | 25.93 | - |
| 24363 | 632.0 | 2.7 | 1356 | 24368 | done | 0.04 | 0.12 | 0.169 | 2862 | -158.3 | 2.17 | 0.046 | 2099 | -646.1 | 33.8 | - | - | 2180 | - | - | - | - | - | - | - | - | 25.79 | 26.05 | - |
| 24554 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 24554 | begin climb | ||||||||||||||||||||||||||||
| 24555 | 627.9 | - | 1366 | 24608 | roll | 0.40 | 0.28 | 0.054 | 2999 | 489.3 | 2.35 | 0.048 | 686 | -601.3 | 87.6 | 44.88 | 1.082 | 1963 | -4.8 | 0.289 | - | - | - | - | - | - | 26.36 | 25.39 | 24.53 |
| 24649 | 621.9 | 8.6 | 1370 | 24656 | done | 0.40 | - | - | 2999 | - | 2.28 | 0.045 | 2098 | 619.3 | 87.6 | - | - | 1960 | - | - | - | - | - | - | - | - | - | 25.48 | - |
| 25455 | 515.3 | 12.3 | 1411 | 25457 | done | 0.40 | - | - | 2999 | - | - | - | 2098 | - | 87.6 | - | - | 1957 | - | - | - | - | - | - | - | - | - | - | - |
| 26255 | 422.6 | 11.2 | 1451 | 26259 | roll | 0.40 | - | - | 3009 | - | 2.25 | 0.047 | 675 | -632.4 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 25.86 | - |
| 26319 | 416.0 | 11.6 | 1454 | 26324 | done | 0.40 | 0.15 | 0.196 | 2976 | -220.0 | 2.25 | 0.044 | 2098 | 632.4 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | 25.47 | 25.91 | - |
| 27126 | 332.2 | 10.4 | 1494 | 27132 | roll | 0.40 | - | - | 2985 | - | 2.22 | 0.048 | 685 | -636.5 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 25.92 | - |
| 27169 | 328.0 | 10.3 | 1496 | 27173 | done | 0.40 | - | - | 2985 | - | 2.28 | 0.046 | 2101 | 621.1 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 27986 | 237.1 | 10.6 | 1537 | 27990 | roll | 0.40 | - | - | 2997 | - | 2.22 | 0.047 | 685 | -637.8 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 25.96 | - |
| 28045 | 230.8 | 11.0 | 1540 | 28049 | done | 0.40 | - | - | 2996 | - | 2.22 | 0.044 | 2107 | 640.5 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 28852 | 147.0 | 10.6 | 1606 | 28856 | roll | 0.40 | - | - | 3006 | - | 2.22 | 0.046 | 684 | -641.0 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | - | 26.00 | - |
| 28941 | 137.6 | 11.2 | 1614 | 28949 | done | 0.40 | 0.12 | 0.192 | 2980 | -216.7 | 2.22 | 0.044 | 2102 | 638.7 | 87.6 | - | - | 1956 | - | - | - | - | - | - | - | - | 25.69 | 26.03 | - |
| 29249 | 109.4 | 9.0 | 1645 | 29261 | roll | 0.41 | - | - | 2989 | - | 2.28 | 0.047 | 681 | -623.2 | 96.1 | 7.22 | 0.631 | 1929 | -3.7 | 0.067 | - | - | - | - | - | - | - | 26.21 | 25.34 |
| 29311 | 103.6 | 9.9 | 1651 | 29319 | done | 0.41 | - | - | 2989 | - | 2.25 | 0.044 | 2095 | 628.4 | 96.1 | - | - | 1929 | - | - | - | - | - | - | - | - | - | 26.13 | - |
| 29643 | 66.7 | 10.8 | 1709 | 29650 | roll | 0.41 | - | - | 2989 | - | 2.17 | 0.050 | 3507 | 650.7 | 96.1 | - | - | 1929 | - | - | - | - | - | - | - | - | - | 26.01 | - |
| 29679 | 62.2 | 12.9 | 1715 | 29686 | done | 0.41 | - | - | 2999 | - | 2.17 | 0.042 | 2093 | -651.6 | 96.1 | - | - | 1930 | - | - | - | - | - | - | - | - | - | 26.06 | - |
| 30061 | 17.0 | 11.1 | 1776 | 30071 | roll | 0.41 | - | - | 3010 | - | 2.22 | 0.046 | 690 | -632.0 | 96.1 | - | - | 1929 | - | - | - | - | - | - | - | - | - | 26.03 | - |
| 30123 | 10.8 | 9.5 | 1784 | 30132 | done | 0.41 | - | - | 3010 | - | 2.22 | 0.043 | 2092 | 631.5 | 96.1 | - | - | 1929 | - | - | - | - | - | - | - | - | - | 26.07 | - |
| 30182 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 30182 | begin surface coast | ||||||||||||||||||||||||||||
| 30213 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 30213 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.92 | - | - | - | - | -8.41 | 7.62 | 0.036 | 129 | 16.9 | - | - | 2098 | - | 446.93 | 159.93 | 0.054 | 499 | 3.1 | -0.017 | - | - | - | - | - | - | |||