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| • Previous call tries 1 | • 57.03 of 145.00 AH used of 24V (60.67% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 29.77 of 96.25 AH used of 10V (69.07% remains) | |
| • Surface angle -81.2 deg, depth 1.65 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 270.07 (SM_CC=270) | ||
| • GPS1 time: 5 s | • bottom range 11.7 m at 270.9 m, depth 283 m (1000 m grid) | |
| • GPS2 time: 4 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 | - | - | - | 79 | VBD | -0.45 | - | - | 125 | - | - | - | 2058 | - | -175.2 | -61.67 | - | 2947 | - | - | - | - | - | - | - | - | 26.13 | - | 26.15 |
| 83 | 3.2 | -3.1 | 8 | 108 | roll | -0.45 | 10.07 | 0.219 | 2643 | 250.0 | 2.17 | 0.045 | 3464 | 647.9 | -175.2 | -4.90 | - | 3182 | -48.0 | - | - | - | - | - | - | - | 25.09 | 24.00 | 25.32 |
| 171 | 18.3 | -11.6 | 21 | 179 | done | -0.45 | - | - | 2643 | - | 2.17 | 0.024 | 2045 | -653.9 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.93 | 25.86 | 25.93 |
| 230 | 26.1 | -13.0 | 30 | 239 | roll | -0.45 | - | - | 2643 | - | 2.17 | 0.032 | 644 | -645.6 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.30 | 25.84 | 26.31 |
| 291 | 34.1 | -12.6 | 39 | 300 | done | -0.45 | - | - | 2632 | - | 2.20 | 0.030 | 2046 | 637.3 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.96 | 25.91 | 25.98 |
| 350 | 41.2 | -11.4 | 48 | 359 | roll | -0.45 | 0.08 | 0.173 | 2651 | 237.5 | 2.17 | 0.033 | 3457 | 650.2 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 25.86 | 25.91 | 25.91 |
| 383 | 44.3 | -9.9 | 53 | 390 | done | -0.45 | - | - | 2652 | - | 2.10 | 0.024 | 2049 | -670.5 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.06 | 25.98 | 26.08 |
| 434 | 49.6 | -10.0 | 62 | 442 | roll | -0.45 | - | - | 2651 | - | 2.10 | 0.028 | 639 | -671.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.41 | 25.97 | 26.42 |
| 498 | 56.0 | -10.7 | 73 | 505 | done | -0.45 | - | - | 2642 | - | 2.15 | 0.028 | 2052 | 657.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.09 | 26.01 | 26.12 |
| 549 | 61.8 | -10.7 | 82 | 555 | roll | -0.45 | - | - | 2631 | - | 2.10 | 0.033 | 3464 | 672.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.44 | 25.98 | 26.46 |
| 579 | 65.1 | -10.4 | 87 | 587 | done | -0.45 | 0.10 | 0.123 | 2665 | 340.0 | 2.12 | 0.025 | 2046 | -668.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.84 | 26.03 | 25.95 |
| 632 | 70.0 | -9.5 | 96 | 641 | roll | -0.45 | - | - | 2664 | - | 2.15 | 0.029 | 638 | -654.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.44 | 26.01 | 26.46 |
| 680 | 74.5 | -9.7 | 104 | 687 | done | -0.45 | - | - | 2656 | - | 2.17 | 0.027 | 2048 | 649.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.10 | 26.06 | 26.13 |
| 732 | 79.3 | -9.3 | 113 | 739 | roll | -0.45 | - | - | 2645 | - | 2.12 | 0.034 | 3462 | 667.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.50 | 26.01 | 26.51 |
| 773 | 83.2 | -9.7 | 120 | 782 | done | -0.45 | - | - | 2645 | - | 2.15 | 0.024 | 2045 | -659.1 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.12 | 26.08 | 26.15 |
| 827 | 88.5 | -10.2 | 129 | 834 | roll | -0.45 | - | - | 2645 | - | 2.10 | 0.028 | 638 | -670.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.51 | 26.06 | 26.53 |
| 873 | 93.3 | -10.2 | 137 | 880 | done | -0.45 | - | - | 2635 | - | 2.15 | 0.027 | 2059 | 660.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.17 | 26.09 | 26.20 |
| 924 | 98.7 | -10.0 | 146 | 931 | roll | -0.45 | - | - | 2624 | - | 2.08 | 0.031 | 3466 | 676.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.53 | 26.06 | 26.54 |
| 958 | 102.4 | -10.8 | 150 | 968 | done | -0.45 | 0.12 | 0.126 | 2664 | 333.3 | 2.10 | 0.025 | 2050 | -674.3 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.84 | 26.10 | 25.97 |
| 1151 | 120.3 | -9.5 | 169 | 1160 | roll | -0.45 | - | - | 2656 | - | 2.08 | 0.031 | 3457 | 676.4 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.55 | 26.09 | 26.56 |
| 1193 | 124.6 | -9.7 | 173 | 1202 | done | -0.45 | - | - | 2656 | - | 2.08 | 0.024 | 2048 | -677.4 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.22 | 26.15 | 26.25 |
| 1384 | 143.8 | -10.0 | 192 | 1392 | roll | -0.45 | - | - | 2647 | - | 2.08 | 0.031 | 3451 | 674.5 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.60 | 26.10 | 26.60 |
| 1446 | 150.2 | -10.3 | 198 | 1450 | done | -0.45 | - | - | 2647 | - | 2.08 | 0.024 | 2051 | -673.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.25 | 26.16 | 26.27 |
| 1638 | 170.5 | -10.3 | 217 | 1647 | roll | -0.45 | - | - | 2647 | - | 2.08 | 0.030 | 651 | -673.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.58 | 26.10 | 26.60 |
| 1750 | 182.5 | -10.6 | 228 | 1754 | done | -0.45 | - | - | 2637 | - | 2.12 | 0.026 | 2061 | 665.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.25 | 26.17 | 26.28 |
| 1944 | 200.4 | -8.9 | 247 | 1950 | roll | -0.45 | - | - | 2637 | - | 2.10 | 0.031 | 655 | -669.5 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.61 | 26.13 | 26.63 |
| 1986 | 204.3 | -9.4 | 249 | 1991 | done | -0.45 | 0.10 | 0.145 | 2660 | 230.0 | 2.10 | 0.028 | 2049 | 663.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.91 | 26.16 | 26.02 |
| 2180 | 221.5 | -8.6 | 259 | 2185 | roll | -0.45 | - | - | 2650 | - | 2.08 | 0.034 | 3456 | 676.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.61 | 26.12 | 26.62 |
| 2192 | 221.5 | -8.6 | 259 | 2199 | done | -0.45 | - | - | 2650 | - | 2.08 | 0.025 | 2054 | -674.0 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.25 | 26.17 | 26.28 |
| 2379 | 239.8 | -8.7 | 269 | 2385 | roll | -0.45 | - | - | 2650 | - | 2.10 | 0.029 | 641 | -672.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.64 | 26.13 | 26.65 |
| 2401 | 241.6 | -8.6 | 270 | 2405 | done | -0.45 | - | - | 2642 | - | 2.12 | 0.029 | 2051 | 665.1 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.25 | 26.15 | 26.27 |
| 2595 | 260.0 | -9.1 | 280 | 2600 | roll | -0.45 | - | - | 2642 | - | 2.10 | 0.028 | 635 | -674.3 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.62 | 26.14 | 26.63 |
| 2659 | 265.8 | -9.5 | 283 | 2665 | done | -0.45 | 0.10 | 0.143 | 2664 | 220.0 | 2.15 | 0.028 | 2060 | 662.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.91 | 26.16 | 26.03 |
| 2714 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2714 | begin apogee | ||||||||||||||||||||||||||||
| 2721 | 270.9 | -8.8 | 286 | 2860 | done | - | 0.45 | 0.095 | 2813 | 331.1 | - | - | 1752 | - | - | 134.90 | 0.847 | 2464 | -5.3 | 0.176 | - | - | - | - | - | - | 25.84 | 24.79 | 24.04 |
| 2861 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2861 | begin climb | ||||||||||||||||||||||||||||
| 2863 | 278.3 | - | 293 | 3016 | roll | 0.45 | 0.38 | 0.034 | 3006 | 507.9 | 2.38 | 0.033 | 3200 | 608.4 | 175.2 | 140.10 | 0.894 | 1748 | -5.1 | 0.164 | - | - | - | - | - | - | 25.10 | 24.56 | 23.82 |
| 3042 | 265.9 | 12.6 | 302 | 3047 | done | 0.45 | 0.20 | 0.161 | 2962 | -220.0 | 2.12 | 0.028 | 1840 | -641.5 | 175.2 | - | - | 1747 | - | - | - | - | - | - | - | - | 24.76 | 25.05 | 24.96 |
| 3235 | 247.0 | 9.4 | 312 | 3263 | roll | 0.48 | - | - | 2971 | - | 2.28 | 0.036 | 396 | -633.3 | 200.0 | 21.33 | 0.811 | 1648 | -4.6 | 0.146 | - | - | - | - | - | - | 26.06 | 25.30 | 24.49 |
| 3311 | 238.6 | 11.0 | 316 | 3316 | done | 0.48 | - | - | 2971 | - | 2.17 | 0.025 | 1801 | 647.5 | 200.0 | - | - | 1643 | - | - | - | - | - | - | - | - | 25.70 | 25.62 | 25.72 |
| 3510 | 215.7 | 11.3 | 326 | 3516 | roll | 0.48 | - | - | 2981 | - | 2.17 | 0.033 | 390 | -650.2 | 200.0 | - | - | 1643 | - | - | - | - | - | - | - | - | 26.23 | 25.81 | 26.25 |
| 3578 | 209.4 | 10.6 | 329 | 3582 | done | 0.48 | - | - | 2981 | - | 2.15 | 0.026 | 1801 | 656.3 | 200.0 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.00 | 25.92 | 26.03 |
| 3765 | 186.2 | 12.6 | 343 | 3774 | roll | 0.48 | - | - | 2981 | - | 2.12 | 0.031 | 3213 | 666.0 | 200.0 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.39 | 25.96 | 26.40 |
| 3870 | 173.3 | 12.6 | 353 | 3876 | done | 0.48 | - | - | 2991 | - | 2.12 | 0.029 | 1800 | -666.5 | 200.0 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.10 | 26.01 | 26.14 |
| 4058 | 147.1 | 14.2 | 372 | 4067 | roll | 0.48 | - | - | 3002 | - | 2.15 | 0.034 | 386 | -657.7 | 200.0 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.48 | 25.99 | 26.50 |
| 4072 | 145.8 | 14.1 | 373 | 4080 | done | 0.48 | 0.12 | 0.149 | 2966 | -300.0 | 2.17 | 0.028 | 1807 | 654.8 | 200.0 | - | - | 1638 | - | - | - | - | - | - | - | - | 25.75 | 26.06 | 25.92 |
| 4260 | 122.8 | 11.2 | 392 | 4268 | roll | 0.48 | - | - | 2965 | - | 2.10 | 0.032 | 3211 | 668.6 | 200.0 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.53 | 26.06 | 26.54 |
| 4381 | 108.7 | 11.5 | 404 | 4390 | done | 0.48 | - | - | 2974 | - | 2.12 | 0.029 | 1799 | -666.0 | 200.0 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.19 | 26.10 | 26.22 |
| 4577 | 84.5 | 13.4 | 434 | 4583 | roll | 0.48 | - | - | 2985 | - | 2.15 | 0.036 | 393 | -654.0 | 200.0 | - | - | 1638 | - | - | - | - | - | - | - | - | 26.57 | 26.03 | 26.58 |
| 4628 | 78.4 | 12.0 | 443 | 4634 | done | 0.48 | - | - | 2985 | - | 2.15 | 0.028 | 1805 | 656.7 | 200.0 | - | - | 1637 | - | - | - | - | - | - | - | - | 26.22 | 26.13 | 26.25 |
| 4679 | 72.1 | 12.7 | 452 | 4686 | roll | 0.48 | - | - | 2985 | - | 2.15 | 0.033 | 3208 | 652.6 | 200.0 | - | - | 1637 | - | - | - | - | - | - | - | - | 26.58 | 26.08 | 26.59 |
| 4744 | 64.7 | 11.0 | 463 | 4751 | done | 0.48 | - | - | 2995 | - | 2.12 | 0.030 | 1796 | -666.0 | 200.0 | - | - | 1637 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.25 |
| 4795 | 58.7 | 10.9 | 472 | 4802 | roll | 0.48 | - | - | 3006 | - | 2.20 | 0.037 | 393 | -637.7 | 200.0 | - | - | 1637 | - | - | - | - | - | - | - | - | 26.58 | 26.03 | 26.60 |
| 4849 | 52.9 | 10.6 | 481 | 4856 | done | 0.48 | 0.12 | 0.147 | 2968 | -316.7 | 2.15 | 0.027 | 1813 | 660.5 | 200.0 | - | - | 1635 | - | - | - | - | - | - | - | - | 25.81 | 26.15 | 25.98 |
| 4900 | 47.7 | 9.6 | 490 | 4920 | roll | 0.50 | - | - | 2968 | - | 2.12 | 0.031 | 3230 | 668.4 | 215.3 | 12.23 | 0.641 | 1588 | -3.8 | 0.029 | - | - | - | - | - | - | 26.59 | 25.48 | 24.97 |
| 4934 | 44.5 | 9.6 | 495 | 4954 | done | 0.52 | - | - | 2977 | - | 2.17 | 0.029 | 1797 | -660.4 | 231.5 | 15.10 | 0.644 | 1521 | -4.4 | 0.032 | - | - | - | - | - | - | 26.13 | 26.04 | 24.94 |
| 5001 | 37.5 | 11.2 | 506 | 5010 | roll | 0.52 | - | - | 2987 | - | 2.20 | 0.036 | 397 | -636.4 | 231.5 | - | - | 1517 | - | - | - | - | - | - | - | - | 26.29 | 25.84 | 26.30 |
| 5025 | 34.9 | 11.1 | 509 | 5034 | done | 0.52 | - | - | 2988 | - | 2.20 | 0.031 | 1785 | 630.9 | 231.5 | - | - | 1515 | - | - | - | - | - | - | - | - | 25.94 | 25.90 | 25.97 |
| 5085 | 28.8 | 10.0 | 518 | 5093 | roll | 0.52 | - | - | 2988 | - | 2.20 | 0.031 | 3222 | 653.2 | 231.5 | - | - | 1515 | - | - | - | - | - | - | - | - | 26.35 | 25.93 | 26.36 |
| 5162 | 20.9 | 9.7 | 530 | 5172 | done | 0.53 | - | - | 2998 | - | 2.20 | 0.029 | 1798 | -647.3 | 241.9 | 5.00 | 0.469 | 1477 | -7.6 | 0.035 | - | - | - | - | - | - | 26.01 | 25.97 | 24.82 |
| 5223 | 14.6 | 10.6 | 539 | 5232 | roll | 0.53 | - | - | 3009 | - | 2.20 | 0.036 | 394 | -638.2 | 241.9 | - | - | 1475 | - | - | - | - | - | - | - | - | 26.37 | 25.89 | 26.39 |
| 5241 | 12.4 | 10.7 | 541 | 5250 | done | 0.53 | - | - | 3009 | - | 2.22 | 0.029 | 1809 | 637.4 | 241.9 | - | - | 1473 | - | - | - | - | - | - | - | - | 26.02 | 25.98 | 26.04 |
| 5301 | 5.6 | 11.9 | 550 | 5309 | roll | 0.53 | - | - | 3009 | - | 2.15 | 0.032 | 3216 | 654.4 | 241.9 | - | - | 1473 | - | - | - | - | - | - | - | - | 26.41 | 25.97 | 26.42 |
| 5322 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5322 | begin surface coast | ||||||||||||||||||||||||||||
| 5348 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5348 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.32 | - | - | - | - | -8.31 | 7.43 | 0.021 | 126 | 17.0 | 1.77 | 0.021 | 2042 | 1006.8 | 270.07 | 11.77 | 0.050 | 1363 | 115.8 | -0.549 | - | - | - | - | - | - | |||