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| • Previous call tries 1 | • 39.41 of 150.00 AH used of 24V (73.73% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 44.16 of 100.00 AH used of 10V (55.84% remains) | |
| • Surface angle -77.9 deg, depth 2.45 m | • Intended pitch -16.9 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 18.0 m at 19.6 m depth, ceiling 1.6 m | |
| • GPS1 time: 38 s | • bottom range 17.7 m at 600.3 m, depth 618 m (639 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 | ||||||||||||||||||||||||||||
| 16 | - | - | - | 69 | VBD | -0.75 | - | - | 334 | - | - | - | 2085 | - | -146.6 | -50.75 | - | 2801 | - | - | - | - | - | - | - | - | - | - | - |
| 73 | 3.1 | -1.6 | 9 | 118 | roll | -0.75 | 10.40 | 0.248 | 2878 | 244.6 | 2.28 | 0.063 | 3508 | 624.1 | -146.6 | -27.27 | - | 3882 | -39.6 | - | - | - | - | - | - | - | 25.48 | 26.14 | 26.67 |
| 348 | 41.9 | -12.3 | 61 | 355 | done | -0.75 | - | - | 2878 | - | 2.08 | 0.029 | 2094 | -679.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.35 | - |
| 662 | 78.2 | -10.7 | 122 | 669 | roll | -0.75 | - | - | 2868 | - | 2.20 | 0.047 | 3501 | 639.5 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.16 | - |
| 797 | 94.0 | -11.7 | 148 | 804 | done | -0.75 | - | - | 2868 | - | 2.08 | 0.030 | 2103 | -672.1 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.40 | - |
| 1107 | 130.3 | -11.3 | 183 | 1116 | roll | -0.75 | - | - | 2857 | - | 2.20 | 0.048 | 3519 | 643.6 | -146.6 | - | - | 3890 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 1294 | 151.7 | -11.3 | 201 | 1301 | done | -0.75 | 0.12 | 0.168 | 2889 | 266.7 | 2.05 | 0.030 | 2123 | -681.0 | -146.6 | - | - | 3889 | - | - | - | - | - | - | - | - | 26.03 | 26.44 | - |
| 1602 | 181.9 | -10.3 | 232 | 1610 | roll | -0.75 | - | - | 2880 | - | 2.12 | 0.048 | 3502 | 650.5 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 1717 | 194.4 | -11.2 | 243 | 1725 | done | -0.75 | - | - | 2880 | - | 1.98 | 0.029 | 2150 | -682.8 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 2023 | 226.1 | -10.1 | 274 | 2027 | roll | -0.75 | - | - | 2870 | - | 2.10 | 0.048 | 3514 | 649.5 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.21 | - |
| 2127 | 236.7 | -10.4 | 284 | 2136 | done | -0.75 | - | - | 2870 | - | 2.00 | 0.029 | 2149 | -682.5 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 2436 | 267.4 | -10.1 | 315 | 2446 | roll | -0.75 | - | - | 2860 | - | 2.08 | 0.047 | 3504 | 651.4 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 2523 | 275.8 | -10.1 | 323 | 2531 | done | -0.75 | - | - | 2860 | - | 1.95 | 0.029 | 2163 | -687.7 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 2829 | 306.9 | -9.9 | 354 | 2833 | roll | -0.75 | - | - | 2850 | - | 2.08 | 0.047 | 3517 | 651.0 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 2933 | 317.8 | -10.7 | 364 | 2942 | done | -0.75 | 0.12 | 0.157 | 2889 | 325.0 | 1.95 | 0.029 | 2180 | -685.6 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.05 | 26.49 | - |
| 3242 | 344.2 | -8.5 | 395 | 3251 | roll | -0.75 | - | - | 2881 | - | 2.00 | 0.047 | 3501 | 660.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 3318 | 350.6 | -8.7 | 402 | 3324 | done | -0.75 | - | - | 2881 | - | 1.90 | 0.029 | 2188 | -691.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.50 | - |
| 3625 | 378.3 | -8.7 | 433 | 3634 | roll | -0.75 | - | - | 2871 | - | 2.00 | 0.047 | 3507 | 659.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 3710 | 386.2 | -9.7 | 441 | 3716 | done | -0.75 | - | - | 2871 | - | 1.90 | 0.028 | 2192 | -692.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 4021 | 415.9 | -9.7 | 472 | 4030 | roll | -0.75 | - | - | 2862 | - | 1.98 | 0.047 | 3497 | 659.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 4126 | 426.7 | -10.4 | 482 | 4132 | done | -0.75 | - | - | 2862 | - | 1.88 | 0.028 | 2203 | -688.3 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 4433 | 457.8 | -10.0 | 513 | 4442 | roll | -0.75 | - | - | 2852 | - | 2.00 | 0.047 | 3512 | 654.5 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 4518 | 466.5 | -10.5 | 521 | 4526 | done | -0.75 | 0.15 | 0.145 | 2892 | 266.7 | 1.88 | 0.028 | 2209 | -693.1 | -146.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 26.06 | 26.51 | - |
| 4826 | 491.3 | -7.9 | 552 | 4835 | roll | -0.75 | - | - | 2883 | - | 1.98 | 0.046 | 3517 | 660.6 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 4871 | 494.9 | -8.9 | 556 | 4877 | done | -0.75 | - | - | 2884 | - | 1.88 | 0.028 | 2213 | -693.6 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 5178 | 520.8 | -8.4 | 587 | 5182 | roll | -0.75 | - | - | 2874 | - | 2.00 | 0.047 | 3512 | 649.5 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 5231 | 525.4 | -9.0 | 592 | 5239 | done | -0.75 | - | - | 2874 | - | 1.88 | 0.028 | 2214 | -690.4 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.52 | - |
| 5541 | 552.3 | -8.7 | 623 | 5550 | roll | -0.75 | - | - | 2865 | - | 1.98 | 0.047 | 3509 | 654.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 5607 | 558.0 | -9.0 | 629 | 5613 | done | -0.75 | - | - | 2865 | - | 1.85 | 0.028 | 2225 | -694.1 | -146.6 | - | - | 3887 | - | - | - | - | - | - | - | - | - | 26.51 | - |
| 5914 | 586.7 | -9.1 | 660 | 5918 | roll | -0.75 | - | - | 2855 | - | 1.98 | 0.047 | 3514 | 651.0 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 5999 | 594.9 | -9.6 | 668 | 6006 | done | -0.75 | 0.12 | 0.149 | 2887 | 266.7 | 1.85 | 0.028 | 2230 | -694.1 | -146.6 | - | - | 3888 | - | - | - | - | - | - | - | - | 26.14 | 26.51 | - |
| 6124 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 6124 | begin apogee | ||||||||||||||||||||||||||||
| 6132 | 605.0 | -7.6 | 677 | 6257 | roll | -0.17 | 0.55 | 0.126 | 3068 | 329.1 | - | - | 1888 | - | - | 119.82 | 1.188 | 3279 | -5.1 | 0.275 | - | - | - | - | - | - | 25.70 | - | 23.82 |
| 6260 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6261 | begin climb | ||||||||||||||||||||||||||||
| 6263 | 608.7 | - | 681 | 6399 | roll | 0.75 | 0.85 | 0.067 | 3374 | 360.0 | 2.22 | 0.036 | 528 | -612.6 | 146.6 | 121.18 | 1.037 | 2679 | -5.0 | 0.309 | - | - | - | - | - | - | 24.89 | 24.92 | 23.08 |
| 6627 | 576.6 | 12.0 | 706 | 6634 | done | 0.75 | - | - | 3374 | - | 2.22 | 0.034 | 1906 | 620.7 | 146.6 | - | - | 2671 | - | - | - | - | - | - | - | - | - | 25.39 | - |
| 6934 | 541.0 | 11.3 | 737 | 6943 | roll | 0.75 | - | - | 3374 | - | 2.15 | 0.044 | 3307 | 651.6 | 146.6 | - | - | 2668 | - | - | - | - | - | - | - | - | - | 25.83 | - |
| 7162 | 511.6 | 13.5 | 759 | 7170 | done | 0.75 | - | - | 3383 | - | 2.10 | 0.030 | 1905 | -667.6 | 146.6 | - | - | 2666 | - | - | - | - | - | - | - | - | - | 26.09 | - |
| 7470 | 473.4 | 12.2 | 790 | 7478 | roll | 0.75 | - | - | 3394 | - | 2.15 | 0.039 | 500 | -653.5 | 146.6 | - | - | 2665 | - | - | - | - | - | - | - | - | - | 26.11 | - |
| 7562 | 461.8 | 12.8 | 799 | 7572 | done | 0.75 | - | - | 3394 | - | 2.17 | 0.034 | 1895 | 642.9 | 146.6 | - | - | 2664 | - | - | - | - | - | - | - | - | - | 26.18 | - |
| 7872 | 422.1 | 12.7 | 830 | 7880 | roll | 0.75 | - | - | 3403 | - | 2.17 | 0.038 | 500 | -642.9 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.19 | - |
| 7914 | 416.7 | 12.8 | 834 | 7925 | done | 0.75 | 0.10 | 0.148 | 3371 | -320.0 | 2.15 | 0.034 | 1891 | 647.0 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | 25.86 | 26.25 | - |
| 8224 | 379.7 | 12.2 | 865 | 8232 | roll | 0.75 | - | - | 3378 | - | 2.15 | 0.038 | 510 | -642.3 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 8246 | 377.1 | 12.1 | 867 | 8256 | done | 0.75 | - | - | 3378 | - | 2.12 | 0.034 | 1883 | 647.6 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 8556 | 338.6 | 12.4 | 898 | 8564 | roll | 0.75 | - | - | 3387 | - | 2.17 | 0.038 | 495 | -639.6 | 146.6 | - | - | 2663 | - | - | - | - | - | - | - | - | - | 26.25 | - |
| 8588 | 334.6 | 12.4 | 901 | 8596 | done | 0.75 | - | - | 3387 | - | 2.15 | 0.034 | 1880 | 644.2 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 8898 | 295.5 | 12.4 | 932 | 8899 | done | 0.75 | - | - | 3387 | - | - | - | 1880 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
| 9201 | 257.9 | 12.4 | 962 | 9206 | done | 0.75 | - | - | 3387 | - | - | - | 1880 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
| 9510 | 220.5 | 11.8 | 993 | 9516 | done | 0.75 | - | - | 3387 | - | - | - | 1879 | - | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | - | - |
| 9823 | 185.4 | 11.1 | 1024 | 9831 | roll | 0.75 | - | - | 3387 | - | 2.10 | 0.044 | 3296 | 674.8 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 9847 | 182.2 | 11.7 | 1026 | 9854 | done | 0.75 | - | - | 3396 | - | 2.10 | 0.030 | 1874 | -677.1 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.42 | - |
| 10155 | 147.2 | 10.5 | 1057 | 10164 | roll | 0.75 | - | - | 3406 | - | 2.08 | 0.039 | 501 | -660.1 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | - | 26.31 | - |
| 10260 | 136.3 | 10.3 | 1067 | 10269 | done | 0.75 | 0.15 | 0.158 | 3368 | -253.3 | 2.15 | 0.034 | 1898 | 649.8 | 146.6 | - | - | 2662 | - | - | - | - | - | - | - | - | 25.97 | 26.37 | - |
| 10568 | 109.6 | 8.6 | 1098 | 10580 | done | 0.76 | - | - | 3369 | - | - | - | 1898 | - | 160.4 | 9.95 | 0.841 | 2624 | -3.8 | 0.053 | - | - | - | - | - | - | - | - | 25.12 |
| 10880 | 80.8 | 9.9 | 1149 | 10887 | roll | 0.76 | - | - | 3376 | - | 2.15 | 0.037 | 508 | -646.5 | 160.4 | - | - | 2622 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 10935 | 75.2 | 9.7 | 1159 | 10943 | done | 0.76 | - | - | 3375 | - | 2.12 | 0.034 | 1876 | 645.3 | 160.4 | - | - | 2622 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 11249 | 48.4 | 8.4 | 1220 | 11268 | done | 0.78 | - | - | 3375 | - | - | - | 1876 | - | 178.1 | 16.27 | 0.858 | 2553 | -4.2 | 0.025 | - | - | - | - | - | - | - | - | 25.13 |
| 11577 | 21.8 | 6.8 | 1283 | 11613 | roll | 0.85 | - | - | 3384 | - | 2.22 | 0.038 | 517 | -612.2 | 234.1 | 28.42 | 0.784 | 2322 | -8.1 | 0.024 | - | - | - | - | - | - | - | 25.91 | 25.10 |
| 11637 | 16.5 | 9.3 | 1292 | 11644 | done | 0.85 | - | - | 3384 | - | 2.15 | 0.034 | 1874 | 631.2 | 234.1 | - | - | 2319 | - | - | - | - | - | - | - | - | - | 25.95 | - |
| 11956 | 5.5 | 2.9 | 1353 | 11996 | VBD | 1.04 | 0.20 | 0.080 | 3473 | 445.0 | - | - | 1874 | - | 383.9 | 37.12 | 0.072 | 1988 | -8.9 | 0.072 | - | - | - | - | - | - | 26.13 | - | - |
| 11997 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 11998 | begin surface coast | ||||||||||||||||||||||||||||
| 12087 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12088 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.97 | - | - | - | - | -8.67 | 8.48 | 0.050 | 337 | -369.8 | 0.32 | 0.057 | 2106 | 725.0 | 400.08 | 36.22 | 0.069 | 1647 | -9.4 | 0.041 | - | - | - | - | - | - | |||