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| • Previous call tries 1 | • 38.31 of 150.00 AH used of 24V (74.46% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 42.88 of 100.00 AH used of 10V (57.12% remains) | |
| • Surface angle -78.1 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: 39 s | • bottom range 10.7 m at 750.6 m, depth 761 m (761 m grid) | |
| • GPS2 time: 16 s | • Transponder ping count: 17 | |
| • 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 | - | - | - | 59 | VBD | -0.75 | - | - | 338 | - | - | - | 2093 | - | -146.6 | -39.55 | - | 2528 | - | - | - | - | - | - | - | - | - | - | - |
| 62 | 3.1 | -2.6 | 7 | 125 | roll | -0.75 | 10.38 | 0.247 | 2876 | 244.5 | 2.20 | 0.062 | 3501 | 640.0 | -146.6 | -44.97 | - | 3880 | -30.1 | - | - | - | - | - | - | - | 25.46 | 26.08 | 26.68 |
| 320 | 37.6 | -12.8 | 55 | 327 | done | -0.75 | - | - | 2880 | - | 2.10 | 0.030 | 2091 | -671.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 636 | 75.8 | -12.3 | 116 | 642 | roll | -0.75 | - | - | 2872 | - | 2.17 | 0.048 | 3501 | 649.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.12 | - |
| 715 | 85.3 | -12.5 | 131 | 721 | done | -0.75 | - | - | 2872 | - | 2.10 | 0.029 | 2087 | -673.3 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.37 | - |
| 1030 | 124.2 | -12.6 | 174 | 1034 | roll | -0.75 | - | - | 2862 | - | 2.20 | 0.048 | 3507 | 645.5 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.14 | - |
| 1134 | 137.3 | -12.4 | 184 | 1142 | done | -0.75 | - | - | 2861 | - | 2.08 | 0.030 | 2105 | -674.0 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 1445 | 175.3 | -12.3 | 215 | 1454 | roll | -0.75 | - | - | 2851 | - | 2.15 | 0.049 | 3497 | 647.4 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.15 | - |
| 1629 | 199.3 | -12.9 | 233 | 1640 | done | -0.75 | 0.15 | 0.156 | 2891 | 266.7 | 2.03 | 0.031 | 2128 | -674.4 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | 25.96 | 26.42 | - |
| 1940 | 228.6 | -9.5 | 264 | 1948 | roll | -0.75 | - | - | 2883 | - | 2.12 | 0.049 | 3505 | 649.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 1985 | 232.9 | -10.2 | 268 | 1992 | done | -0.75 | - | - | 2883 | - | 2.03 | 0.030 | 2125 | -679.8 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.44 | - |
| 2292 | 263.1 | -9.2 | 299 | 2300 | roll | -0.75 | - | - | 2873 | - | 2.12 | 0.048 | 3506 | 651.4 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 2414 | 275.2 | -9.8 | 311 | 2423 | done | -0.75 | - | - | 2873 | - | 2.00 | 0.030 | 2143 | -681.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 2724 | 305.8 | -9.9 | 342 | 2733 | roll | -0.75 | - | - | 2863 | - | 2.10 | 0.048 | 3508 | 650.0 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 2840 | 317.6 | -10.7 | 353 | 2847 | done | -0.75 | - | - | 2862 | - | 1.95 | 0.029 | 2156 | -693.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 3146 | 349.6 | -10.1 | 384 | 3150 | roll | -0.75 | - | - | 2852 | - | 2.10 | 0.048 | 3512 | 645.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 3222 | 357.6 | -11.1 | 391 | 3229 | done | -0.75 | 0.15 | 0.148 | 2892 | 266.7 | 1.95 | 0.029 | 2171 | -687.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.02 | 26.47 | - |
| 3530 | 383.5 | -7.9 | 422 | 3539 | roll | -0.75 | - | - | 2885 | - | 2.05 | 0.048 | 3502 | 649.3 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 3595 | 388.9 | -8.8 | 428 | 3601 | done | -0.75 | - | - | 2884 | - | 1.92 | 0.029 | 2177 | -690.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 3903 | 415.5 | -8.4 | 459 | 3912 | roll | -0.75 | - | - | 2875 | - | 2.05 | 0.047 | 3513 | 651.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 3968 | 421.5 | -9.5 | 465 | 3975 | done | -0.75 | - | - | 2875 | - | 1.92 | 0.029 | 2186 | -691.1 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 4275 | 449.7 | -9.1 | 496 | 4285 | roll | -0.75 | - | - | 2865 | - | 2.03 | 0.047 | 3520 | 657.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 4341 | 456.0 | -9.9 | 502 | 4348 | done | -0.75 | - | - | 2865 | - | 1.92 | 0.029 | 2193 | -691.1 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 4648 | 485.5 | -9.4 | 533 | 4657 | roll | -0.75 | - | - | 2854 | - | 2.03 | 0.048 | 3514 | 650.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 4702 | 490.9 | -10.6 | 538 | 4711 | done | -0.75 | 0.12 | 0.151 | 2887 | 275.0 | 1.90 | 0.029 | 2195 | -694.2 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.11 | 26.48 | - |
| 5013 | 516.2 | -8.2 | 569 | 5022 | roll | -0.75 | - | - | 2880 | - | 2.00 | 0.048 | 3501 | 653.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 5059 | 520.1 | -8.9 | 573 | 5067 | done | -0.75 | - | - | 2879 | - | 1.88 | 0.029 | 2206 | -688.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 5365 | 546.8 | -8.5 | 604 | 5374 | roll | -0.75 | - | - | 2870 | - | 2.00 | 0.048 | 3513 | 653.5 | -146.6 | - | - | 3885 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 5411 | 550.6 | -9.3 | 608 | 5417 | done | -0.75 | - | - | 2870 | - | 1.90 | 0.029 | 2203 | -689.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 5718 | 579.6 | -9.3 | 639 | 5726 | roll | -0.75 | - | - | 2860 | - | 2.00 | 0.047 | 3507 | 652.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 5780 | 585.5 | -10.0 | 645 | 5784 | done | -0.75 | - | - | 2860 | - | 1.90 | 0.029 | 2198 | -688.9 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 6113 | 618.2 | -9.8 | 666 | 6118 | roll | -0.75 | - | - | 2850 | - | 2.03 | 0.047 | 3527 | 654.7 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 6195 | 624.4 | -10.0 | 668 | 6203 | done | -0.75 | 0.15 | 0.147 | 2890 | 266.7 | 1.90 | 0.028 | 2211 | -692.6 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | 26.03 | 26.49 | - |
| 6503 | 651.6 | -7.9 | 679 | 6509 | roll | -0.75 | - | - | 2883 | - | 2.00 | 0.047 | 3502 | 645.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 6525 | 651.6 | -7.9 | 679 | 6532 | done | -0.75 | - | - | 2883 | - | 1.85 | 0.028 | 2224 | -690.8 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 6834 | 679.4 | -8.4 | 690 | 6839 | roll | -0.75 | - | - | 2873 | - | 2.00 | 0.047 | 3517 | 646.5 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 6887 | 682.0 | -8.4 | 691 | 6893 | done | -0.75 | - | - | 2873 | - | 1.88 | 0.029 | 2221 | -689.4 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 7194 | 711.5 | -8.8 | 702 | 7198 | roll | -0.75 | - | - | 2864 | - | 1.98 | 0.048 | 3502 | 647.0 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.18 | - |
| 7240 | 714.6 | -8.9 | 703 | 7244 | done | -0.75 | - | - | 2864 | - | 1.85 | 0.029 | 2247 | -678.4 | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | 26.49 | - |
| 7558 | 745.1 | -9.1 | 714 | 7559 | done | -0.75 | - | - | 2864 | - | - | - | 2241 | - | -146.6 | - | - | 3884 | - | - | - | - | - | - | - | - | - | - | - |
| 7619 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 7619 | begin apogee | ||||||||||||||||||||||||||||
| 7626 | 750.6 | -9.1 | 716 | 7754 | roll | -0.17 | 0.65 | 0.133 | 3069 | 315.4 | - | - | 1889 | - | - | 121.85 | 1.279 | 3277 | -5.0 | 0.315 | - | - | - | - | - | - | 25.58 | - | 23.61 |
| 7758 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7758 | begin climb | ||||||||||||||||||||||||||||
| 7761 | 755.0 | - | 720 | 7897 | roll | 0.75 | 0.85 | 0.062 | 3377 | 362.4 | 2.25 | 0.037 | 526 | -605.8 | 146.6 | 124.25 | 1.138 | 2681 | -4.8 | 0.342 | - | - | - | - | - | - | 24.75 | 24.77 | 22.82 |
| 8123 | 725.6 | 12.3 | 732 | 8130 | done | 0.75 | - | - | 3377 | - | 2.22 | 0.034 | 1899 | 618.5 | 146.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.25 | - |
| 8431 | 686.0 | 11.8 | 743 | 8436 | roll | 0.75 | - | - | 3377 | - | 2.15 | 0.045 | 3295 | 649.3 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.75 | - |
| 8633 | 661.6 | 13.7 | 749 | 8641 | done | 0.75 | - | - | 3386 | - | 2.10 | 0.031 | 1907 | -661.0 | 146.6 | - | - | 2667 | - | - | - | - | - | - | - | - | - | 26.02 | - |
| 8941 | 619.8 | 12.7 | 760 | 8946 | roll | 0.75 | - | - | 3396 | - | 2.12 | 0.040 | 513 | -657.5 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.06 | - |
| 9060 | 603.8 | 13.3 | 764 | 9064 | done | 0.75 | - | - | 3396 | - | 2.17 | 0.036 | 1895 | 636.9 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.13 | - |
| 9372 | 562.6 | 13.5 | 793 | 9373 | done | 0.75 | - | - | 3396 | - | - | - | 1895 | - | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | - | - |
| 9674 | 522.1 | 13.8 | 823 | 9683 | roll | 0.75 | - | - | 3405 | - | 2.17 | 0.039 | 504 | -641.0 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 9739 | 513.2 | 13.7 | 829 | 9747 | done | 0.75 | 0.15 | 0.168 | 3367 | -253.3 | 2.15 | 0.036 | 1886 | 642.8 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | 25.82 | 26.23 | - |
| 10046 | 474.9 | 12.4 | 860 | 10047 | done | 0.75 | - | - | 3368 | - | - | - | 1886 | - | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | - | - |
| 10349 | 438.8 | 11.7 | 890 | 10357 | roll | 0.75 | - | - | 3375 | - | 2.15 | 0.039 | 512 | -639.1 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 10391 | 433.5 | 11.7 | 894 | 10400 | done | 0.75 | - | - | 3376 | - | 2.10 | 0.035 | 1886 | 654.3 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 10701 | 396.3 | 12.0 | 925 | 10710 | roll | 0.75 | - | - | 3375 | - | 2.15 | 0.046 | 3306 | 660.5 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 10746 | 390.9 | 12.9 | 929 | 10754 | done | 0.75 | - | - | 3384 | - | 2.12 | 0.031 | 1877 | -674.1 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 11054 | 352.1 | 12.2 | 960 | 11063 | roll | 0.75 | - | - | 3395 | - | 2.05 | 0.040 | 519 | -662.4 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 11167 | 338.3 | 12.4 | 971 | 11176 | done | 0.75 | - | - | 3395 | - | 2.10 | 0.034 | 1875 | 645.7 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 11476 | 300.6 | 12.3 | 1002 | 11480 | roll | 0.75 | - | - | 3403 | - | 2.12 | 0.038 | 500 | -648.6 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 11519 | 295.4 | 12.2 | 1006 | 11524 | done | 0.75 | 0.12 | 0.171 | 3374 | -241.7 | 2.12 | 0.034 | 1878 | 650.0 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | 25.97 | 26.34 | - |
| 11832 | 262.0 | 10.3 | 1037 | 11836 | roll | 0.75 | - | - | 3374 | - | 2.17 | 0.045 | 3310 | 659.9 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 11864 | 258.3 | 11.1 | 1040 | 11873 | done | 0.75 | - | - | 3381 | - | 2.15 | 0.030 | 1864 | -672.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 12175 | 224.3 | 11.5 | 1071 | 12184 | roll | 0.75 | - | - | 3391 | - | 2.05 | 0.040 | 516 | -657.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 12371 | 201.2 | 12.0 | 1090 | 12378 | done | 0.75 | - | - | 3391 | - | 2.03 | 0.035 | 1840 | 652.2 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 12678 | 166.5 | 10.7 | 1121 | 12688 | roll | 0.75 | - | - | 3400 | - | 2.08 | 0.039 | 509 | -639.9 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 12733 | 160.7 | 10.7 | 1126 | 12740 | done | 0.75 | - | - | 3400 | - | 2.05 | 0.034 | 1838 | 648.3 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 13041 | 125.0 | 11.4 | 1157 | 13051 | roll | 0.75 | - | - | 3400 | - | 2.20 | 0.045 | 3309 | 668.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 13087 | 119.7 | 12.1 | 1161 | 13096 | done | 0.75 | 0.15 | 0.173 | 3372 | -186.7 | 2.17 | 0.030 | 1842 | -676.0 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | 25.92 | 26.42 | - |
| 13396 | 90.1 | 9.0 | 1203 | 13403 | roll | 0.75 | - | - | 3380 | - | 2.05 | 0.040 | 502 | -653.7 | 150.2 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 13528 | 78.7 | 8.8 | 1228 | 13542 | done | 0.76 | - | - | 3380 | - | 2.08 | 0.034 | 1839 | 642.8 | 158.7 | 8.60 | 0.825 | 2632 | -3.5 | 0.036 | - | - | - | - | - | - | - | 26.37 | 25.08 |
| 13852 | 51.7 | 7.8 | 1290 | 13888 | roll | 0.80 | - | - | 3380 | - | 2.30 | 0.046 | 3320 | 643.9 | 190.9 | 27.60 | 0.881 | 2499 | -4.8 | 0.030 | - | - | - | - | - | - | - | 25.99 | 25.00 |
| 13966 | 41.0 | 10.7 | 1310 | 13973 | done | 0.80 | - | - | 3390 | - | 2.22 | 0.030 | 1846 | -664.0 | 190.9 | - | - | 2495 | - | - | - | - | - | - | - | - | - | 26.04 | - |
| 14283 | 13.6 | 5.6 | 1371 | 14332 | roll | 0.91 | - | - | 3390 | - | 2.28 | 0.043 | 3300 | 637.7 | 277.2 | 41.40 | 0.093 | 2145 | -8.5 | 0.133 | - | - | - | - | - | - | - | 26.00 | 25.73 |
| 14492 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14492 | begin surface coast | ||||||||||||||||||||||||||||
| 14513 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14514 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.54 | - | - | - | - | -8.66 | 8.30 | 0.054 | 339 | -367.6 | 1.85 | 0.029 | 2090 | -654.1 | 400.08 | 53.83 | 0.069 | 1647 | -9.3 | 0.035 | - | - | - | - | - | - | |||