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| • Previous call tries 4 | • 46.48 of 145.00 AH used of 24V (67.94% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 23.95 of 96.25 AH used of 10V (75.12% remains) | |
| • Surface angle -76.8 deg, depth 2.03 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 320.11 (SM_CC=320) | ||
| • GPS1 time: 18 s | • bottom range 129.3 m at 411.9 m, depth 541 m (1000 m grid) | |
| • GPS2 time: 15 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 | |||||
| 14 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14 | begin dive | ||||||||||||||||||||||||||||
| 16 | - | - | - | 80 | VBD | -0.45 | - | - | 126 | - | - | - | 2024 | - | -175.2 | -61.97 | - | 2837 | - | - | - | - | - | - | - | - | 26.10 | - | 26.11 |
| 83 | 3.4 | -3.1 | 8 | 109 | roll | -0.45 | 9.93 | 0.214 | 2658 | 255.0 | 2.12 | 0.043 | 664 | -641.5 | -175.2 | -7.00 | - | 3181 | -49.1 | - | - | - | - | - | - | - | 25.14 | 25.20 | 25.34 |
| 148 | 19.2 | -17.4 | 17 | 157 | done | -0.45 | - | - | 2649 | - | 2.17 | 0.028 | 2047 | 637.3 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.82 | 25.77 | 25.84 |
| 207 | 29.8 | -18.5 | 26 | 216 | roll | -0.45 | - | - | 2638 | - | 2.15 | 0.032 | 3454 | 654.4 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.24 | 25.78 | 26.25 |
| 261 | 37.3 | -12.8 | 34 | 269 | done | -0.45 | - | - | 2638 | - | 2.12 | 0.027 | 2071 | -652.4 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.88 | 25.83 | 25.91 |
| 462 | 67.8 | -14.2 | 71 | 469 | roll | -0.45 | - | - | 2639 | - | 2.15 | 0.029 | 641 | -665.1 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.38 | 25.91 | 26.39 |
| 550 | 80.4 | -13.3 | 87 | 557 | done | -0.45 | 0.10 | 0.156 | 2659 | 200.0 | 2.17 | 0.032 | 2049 | 648.8 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.67 | 25.93 | 25.80 |
| 753 | 103.7 | -10.8 | 122 | 762 | roll | -0.45 | - | - | 2649 | - | 2.10 | 0.033 | 3460 | 671.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.48 | 25.97 | 26.48 |
| 824 | 111.3 | -10.6 | 129 | 833 | done | -0.45 | - | - | 2649 | - | 2.10 | 0.023 | 2040 | -676.2 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.14 | 26.06 | 26.16 |
| 1014 | 133.7 | -11.2 | 148 | 1023 | roll | -0.45 | - | - | 2649 | - | 2.08 | 0.029 | 645 | -670.7 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.53 | 26.03 | 26.54 |
| 1065 | 139.3 | -11.1 | 153 | 1074 | done | -0.45 | - | - | 2639 | - | 2.15 | 0.028 | 2065 | 660.5 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.15 | 26.07 | 26.19 |
| 1255 | 160.4 | -10.7 | 172 | 1264 | roll | -0.45 | - | - | 2629 | - | 2.08 | 0.033 | 3467 | 674.0 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.57 | 26.04 | 26.58 |
| 1320 | 166.9 | -10.3 | 178 | 1327 | done | -0.45 | 0.10 | 0.151 | 2661 | 320.0 | 2.10 | 0.024 | 2044 | -677.6 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 25.85 | 26.11 | 25.97 |
| 1508 | 186.0 | -10.0 | 197 | 1512 | roll | -0.45 | - | - | 2661 | - | 2.10 | 0.029 | 641 | -668.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.60 | 26.08 | 26.60 |
| 1563 | 191.2 | -9.8 | 202 | 1569 | done | -0.45 | - | - | 2652 | - | 2.12 | 0.027 | 2055 | 667.0 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.20 | 26.12 | 26.24 |
| 1750 | 210.9 | -10.6 | 216 | 1754 | roll | -0.45 | - | - | 2642 | - | 2.10 | 0.034 | 3467 | 672.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.58 | 26.08 | 26.59 |
| 1804 | 215.3 | -10.5 | 218 | 1811 | done | -0.45 | - | - | 2642 | - | 2.10 | 0.024 | 2042 | -678.6 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.22 | 26.15 | 26.25 |
| 1991 | 237.3 | -11.1 | 228 | 1997 | roll | -0.45 | - | - | 2642 | - | 2.08 | 0.030 | 646 | -671.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.63 | 26.10 | 26.64 |
| 2055 | 244.1 | -11.3 | 231 | 2059 | done | -0.45 | 0.10 | 0.185 | 2662 | 200.0 | 2.15 | 0.028 | 2060 | 657.7 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.76 | 26.13 | 25.90 |
| 2247 | 264.3 | -10.1 | 241 | 2253 | roll | -0.45 | - | - | 2652 | - | 2.08 | 0.034 | 3456 | 671.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.64 | 26.08 | 26.65 |
| 2290 | 268.2 | -10.1 | 243 | 2294 | done | -0.45 | - | - | 2652 | - | 2.08 | 0.024 | 2049 | -676.4 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.25 | 26.17 | 26.27 |
| 2482 | 289.7 | -11.4 | 253 | 2487 | roll | -0.45 | - | - | 2652 | - | 2.10 | 0.030 | 641 | -670.5 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.10 | 26.66 |
| 2552 | 297.0 | -11.8 | 256 | 2556 | done | -0.45 | - | - | 2642 | - | 2.15 | 0.028 | 2058 | 659.1 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.23 | 26.14 | 26.26 |
| 2740 | 321.8 | -12.9 | 265 | 2745 | roll | -0.45 | - | - | 2631 | - | 2.08 | 0.034 | 3461 | 674.5 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.63 | 26.10 | 26.63 |
| 2771 | 324.5 | -12.8 | 266 | 2779 | done | -0.45 | 0.10 | 0.206 | 2662 | 310.0 | 2.10 | 0.025 | 2045 | -674.3 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.69 | 26.15 | 25.84 |
| 2958 | 347.5 | -11.3 | 276 | 2964 | roll | -0.45 | - | - | 2663 | - | 2.10 | 0.030 | 638 | -670.0 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.66 | 26.10 | 26.67 |
| 3011 | 351.9 | -11.3 | 278 | 3018 | done | -0.45 | - | - | 2653 | - | 2.12 | 0.027 | 2050 | 666.0 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.24 | 26.15 | 26.27 |
| 3199 | 375.4 | -11.8 | 288 | 3204 | roll | -0.45 | - | - | 2643 | - | 2.12 | 0.034 | 3459 | 664.6 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.66 | 26.08 | 26.67 |
| 3267 | 382.6 | -11.9 | 291 | 3271 | done | -0.45 | - | - | 2643 | - | 2.08 | 0.024 | 2051 | -676.9 | -175.2 | - | - | 3181 | - | - | - | - | - | - | - | - | 26.25 | 26.16 | 26.27 |
| 3454 | 406.8 | -12.5 | 300 | 3459 | roll | -0.45 | - | - | 2643 | - | 2.10 | 0.031 | 648 | -668.1 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 26.67 | 26.09 | 26.68 |
| 3509 | 411.9 | -12.7 | 302 | 3516 | done | -0.45 | 0.10 | 0.169 | 2663 | 200.0 | 2.12 | 0.028 | 2053 | 662.7 | -175.2 | - | - | 3180 | - | - | - | - | - | - | - | - | 25.80 | 26.13 | 25.93 |
| 3696 | 435.0 | -11.2 | 312 | 3700 | roll | -0.45 | - | - | 2654 | - | 2.12 | 0.035 | 3463 | 665.1 | -175.2 | - | - | 3179 | - | - | - | - | - | - | - | - | 26.67 | 26.07 | 26.68 |
| 3737 | 439.3 | -10.8 | 314 | 3741 | done | -0.45 | - | - | 2654 | - | 2.10 | 0.024 | 2050 | -672.9 | -175.2 | - | - | 3179 | - | - | - | - | - | - | - | - | 26.25 | 26.17 | 26.28 |
| 3938 | 462.6 | -12.0 | 324 | 3942 | roll | -0.45 | - | - | 2654 | - | 2.12 | 0.031 | 640 | -665.1 | -175.2 | - | - | 3178 | - | - | - | - | - | - | - | - | 26.67 | 26.08 | 26.68 |
| 3979 | 467.7 | -12.4 | 326 | 3983 | done | -0.45 | - | - | 2644 | - | 2.15 | 0.028 | 2054 | 657.7 | -175.2 | - | - | 3178 | - | - | - | - | - | - | - | - | 26.22 | 26.13 | 26.25 |
| 4181 | 492.1 | -11.9 | 336 | 4184 | roll | -0.45 | - | - | 2634 | - | 2.10 | 0.034 | 3455 | 667.1 | -175.2 | - | - | 3177 | - | - | - | - | - | - | - | - | 26.67 | 26.06 | 26.68 |
| 4262 | 501.1 | -11.0 | 340 | 4268 | done | -0.45 | 0.10 | 0.147 | 2666 | 320.0 | 2.10 | 0.025 | 2043 | -672.4 | -175.2 | - | - | 3177 | - | - | - | - | - | - | - | - | 25.88 | 26.15 | 25.99 |
| 4462 | 521.9 | -10.5 | 350 | 4467 | roll | -0.45 | - | - | 2666 | - | 2.10 | 0.031 | 641 | -667.6 | -175.2 | - | - | 3177 | - | - | - | - | - | - | - | - | 26.68 | 26.08 | 26.69 |
| 4520 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 4520 | begin apogee | ||||||||||||||||||||||||||||
| 4527 | 528.2 | -10.6 | 353 | 4667 | done | - | 0.47 | 0.123 | 2806 | 297.9 | - | - | 1806 | - | - | 136.85 | 0.958 | 2465 | -5.2 | 0.297 | - | - | - | - | - | - | 25.58 | 24.71 | 23.98 |
| 4668 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4668 | begin climb | ||||||||||||||||||||||||||||
| 4670 | 536.1 | - | 360 | 4824 | roll | 0.45 | 0.38 | 0.046 | 2980 | 457.9 | 2.25 | 0.031 | 3207 | 622.7 | 175.2 | 141.80 | 0.940 | 1749 | -5.0 | 0.298 | - | - | - | - | - | - | 24.95 | 24.40 | 23.69 |
| 4846 | 524.6 | 11.7 | 369 | 4853 | done | 0.45 | 0.12 | 0.182 | 2957 | -191.7 | 2.22 | 0.029 | 1808 | -630.2 | 175.2 | - | - | 1747 | - | - | - | - | - | - | - | - | 24.61 | 24.84 | 24.79 |
| 5046 | 499.6 | 12.9 | 379 | 5052 | roll | 0.45 | - | - | 2966 | - | 2.22 | 0.037 | 391 | -638.3 | 175.2 | - | - | 1744 | - | - | - | - | - | - | - | - | 25.94 | 25.51 | 25.94 |
| 5089 | 494.4 | 13.2 | 381 | 5093 | done | 0.45 | - | - | 2967 | - | 2.17 | 0.028 | 1793 | 646.1 | 175.2 | - | - | 1739 | - | - | - | - | - | - | - | - | 25.72 | 25.64 | 25.76 |
| 5281 | 468.6 | 13.0 | 391 | 5287 | roll | 0.45 | - | - | 2966 | - | 2.15 | 0.031 | 3212 | 660.0 | 175.2 | - | - | 1740 | - | - | - | - | - | - | - | - | 26.22 | 25.81 | 26.23 |
| 5334 | 463.5 | 12.9 | 393 | 5341 | done | 0.45 | - | - | 2976 | - | 2.15 | 0.030 | 1799 | -657.2 | 175.2 | - | - | 1740 | - | - | - | - | - | - | - | - | 25.94 | 25.84 | 25.97 |
| 5521 | 435.4 | 14.5 | 403 | 5527 | roll | 0.45 | - | - | 2987 | - | 2.20 | 0.037 | 385 | -642.7 | 175.2 | - | - | 1739 | - | - | - | - | - | - | - | - | 26.36 | 25.84 | 26.37 |
| 5589 | 426.8 | 14.6 | 406 | 5594 | done | 0.45 | 0.10 | 0.184 | 2961 | -260.0 | 2.17 | 0.028 | 1803 | 653.5 | 175.2 | - | - | 1735 | - | - | - | - | - | - | - | - | 25.63 | 25.96 | 25.81 |
| 5776 | 400.1 | 13.4 | 415 | 5782 | roll | 0.45 | - | - | 2961 | - | 2.12 | 0.031 | 3217 | 667.0 | 175.2 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.44 | 25.98 | 26.46 |
| 5829 | 394.8 | 13.3 | 417 | 5836 | done | 0.45 | - | - | 2970 | - | 2.17 | 0.030 | 1791 | -657.1 | 175.2 | - | - | 1737 | - | - | - | - | - | - | - | - | 26.08 | 25.98 | 26.13 |
| 6016 | 367.7 | 14.0 | 427 | 6022 | roll | 0.45 | - | - | 2980 | - | 2.15 | 0.036 | 391 | -651.2 | 175.2 | - | - | 1736 | - | - | - | - | - | - | - | - | 26.50 | 25.94 | 26.51 |
| 6059 | 362.4 | 13.6 | 429 | 6063 | done | 0.45 | - | - | 2980 | - | 2.15 | 0.028 | 1799 | 654.9 | 175.2 | - | - | 1734 | - | - | - | - | - | - | - | - | 26.14 | 26.06 | 26.18 |
| 6251 | 336.9 | 12.9 | 439 | 6257 | roll | 0.45 | - | - | 2980 | - | 2.12 | 0.031 | 3214 | 667.5 | 175.2 | - | - | 1735 | - | - | - | - | - | - | - | - | 26.53 | 26.03 | 26.54 |
| 6324 | 329.8 | 12.1 | 442 | 6332 | done | 0.45 | 0.12 | 0.185 | 2956 | -200.0 | 2.15 | 0.030 | 1789 | -662.8 | 175.2 | - | - | 1735 | - | - | - | - | - | - | - | - | 25.63 | 26.06 | 25.84 |
| 6512 | 309.9 | 9.7 | 452 | 6525 | roll | 0.46 | - | - | 2966 | - | 2.15 | 0.035 | 390 | -650.7 | 186.6 | 8.32 | 0.714 | 1704 | -3.7 | 0.167 | - | - | - | - | - | - | 26.57 | 25.63 | 25.06 |
| 6588 | 302.2 | 10.1 | 455 | 6593 | done | 0.46 | - | - | 2966 | - | 2.15 | 0.028 | 1800 | 655.8 | 186.6 | - | - | 1700 | - | - | - | - | - | - | - | - | 26.14 | 26.06 | 26.17 |
| 6788 | 279.6 | 11.7 | 465 | 6793 | roll | 0.46 | - | - | 2966 | - | 2.10 | 0.031 | 3210 | 671.4 | 186.6 | - | - | 1701 | - | - | - | - | - | - | - | - | 26.51 | 26.03 | 26.53 |
| 6840 | 274.8 | 12.1 | 467 | 6847 | done | 0.46 | - | - | 2975 | - | 2.15 | 0.030 | 1787 | -661.9 | 186.6 | - | - | 1702 | - | - | - | - | - | - | - | - | 26.15 | 26.05 | 26.17 |
| 7028 | 251.7 | 11.5 | 477 | 7033 | roll | 0.46 | - | - | 2986 | - | 2.12 | 0.036 | 394 | -657.1 | 186.6 | - | - | 1701 | - | - | - | - | - | - | - | - | 26.55 | 25.97 | 26.56 |
| 7075 | 247.2 | 11.6 | 479 | 7080 | done | 0.46 | - | - | 2986 | - | 2.15 | 0.028 | 1803 | 655.3 | 186.6 | - | - | 1699 | - | - | - | - | - | - | - | - | 26.17 | 26.09 | 26.20 |
| 7262 | 224.6 | 11.9 | 488 | 7268 | roll | 0.46 | - | - | 2986 | - | 2.10 | 0.031 | 3214 | 671.9 | 186.6 | - | - | 1700 | - | - | - | - | - | - | - | - | 26.58 | 26.07 | 26.59 |
| 7342 | 215.7 | 11.0 | 492 | 7349 | done | 0.46 | 0.12 | 0.184 | 2962 | -200.0 | 2.12 | 0.030 | 1800 | -667.0 | 186.6 | - | - | 1701 | - | - | - | - | - | - | - | - | 25.66 | 26.08 | 25.83 |
| 7533 | 197.3 | 9.7 | 502 | 7553 | roll | 0.48 | - | - | 2971 | - | 2.22 | 0.037 | 394 | -633.3 | 197.5 | 10.85 | 0.686 | 1656 | -4.1 | 0.124 | - | - | - | - | - | - | 26.60 | 25.96 | 25.16 |
| 7598 | 191.0 | 9.8 | 508 | 7615 | done | 0.49 | - | - | 2971 | - | 2.15 | 0.028 | 1801 | 654.4 | 206.9 | 9.20 | 0.660 | 1620 | -3.9 | 0.117 | - | - | - | - | - | - | 26.13 | 26.05 | 25.08 |
| 7796 | 168.0 | 11.9 | 528 | 7805 | roll | 0.49 | - | - | 2972 | - | 2.08 | 0.032 | 3202 | 673.6 | 206.9 | - | - | 1619 | - | - | - | - | - | - | - | - | 26.43 | 25.97 | 26.44 |
| 7889 | 157.1 | 11.3 | 537 | 7897 | done | 0.49 | - | - | 2981 | - | 2.12 | 0.030 | 1796 | -663.2 | 206.9 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.10 | 26.01 | 26.13 |
| 8077 | 131.6 | 13.3 | 556 | 8086 | roll | 0.49 | - | - | 2992 | - | 2.15 | 0.035 | 390 | -654.0 | 206.9 | - | - | 1617 | - | - | - | - | - | - | - | - | 26.51 | 25.95 | 26.52 |
| 8131 | 124.6 | 13.6 | 561 | 8138 | done | 0.49 | - | - | 2992 | - | 2.17 | 0.029 | 1801 | 650.2 | 206.9 | - | - | 1616 | - | - | - | - | - | - | - | - | 26.15 | 26.05 | 26.17 |
| 8318 | 97.0 | 13.4 | 582 | 8326 | roll | 0.49 | - | - | 2992 | - | 2.15 | 0.032 | 3212 | 656.3 | 206.9 | - | - | 1616 | - | - | - | - | - | - | - | - | 26.55 | 26.04 | 26.56 |
| 8363 | 91.7 | 12.8 | 589 | 8370 | done | 0.49 | 0.10 | 0.184 | 2974 | -180.0 | 2.15 | 0.031 | 1790 | -661.4 | 206.9 | - | - | 1616 | - | - | - | - | - | - | - | - | 25.70 | 26.06 | 25.86 |
| 8563 | 68.4 | 10.5 | 626 | 8569 | roll | 0.49 | - | - | 2973 | - | 2.12 | 0.028 | 3225 | 676.9 | 206.9 | - | - | 1616 | - | - | - | - | - | - | - | - | 26.58 | 26.09 | 26.59 |
| 8659 | 59.8 | 8.2 | 643 | 8725 | done | 0.58 | - | - | 2982 | - | 2.15 | 0.029 | 1795 | -665.1 | 279.4 | 59.47 | 0.650 | 1325 | -4.9 | 0.047 | - | - | - | - | - | - | 26.18 | 26.08 | 24.84 |
| 8926 | 33.9 | 9.8 | 690 | 8943 | roll | 0.59 | - | - | 2993 | - | 2.22 | 0.037 | 395 | -630.6 | 287.0 | 6.85 | 0.539 | 1292 | -4.8 | 0.031 | - | - | - | - | - | - | 26.20 | 25.63 | 24.89 |
| 8964 | 30.3 | 10.0 | 695 | 8973 | done | 0.59 | - | - | 2993 | - | 2.20 | 0.025 | 1798 | 637.7 | 288.3 | - | - | 1289 | - | - | - | - | - | - | - | - | 25.84 | 25.80 | 25.86 |
| 9190 | 6.1 | 11.9 | 732 | 9198 | roll | 0.59 | - | - | 2993 | - | 2.17 | 0.031 | 3218 | 654.4 | 288.3 | - | - | 1289 | - | - | - | - | - | - | - | - | 26.33 | 25.88 | 26.34 |
| 9217 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9217 | begin surface coast | ||||||||||||||||||||||||||||
| 9249 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9249 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.81 | - | - | - | - | -8.30 | 7.45 | 0.025 | 126 | 16.9 | 1.80 | 0.023 | 2039 | 988.3 | 320.11 | 14.45 | 0.050 | 1159 | 80.2 | -0.297 | - | - | - | - | - | - | |||