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| • Previous call tries 2 | • 57.83 of 145.00 AH used of 24V (60.12% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 30.28 of 96.25 AH used of 10V (68.54% remains) | |
| • Surface angle -79.1 deg, depth 1.72 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
| • No surface pump (final VBD was 284.30, SM_CC=270) | ||
| • GPS1 time: 4 s | • bottom range 73.4 m at 300.6 m, depth 374 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 | ||||||||||||||||||||||||||||
| 16 | - | - | - | 80 | VBD | -0.45 | - | - | 125 | - | - | - | 1994 | - | -175.2 | -61.97 | - | 3002 | - | - | - | - | - | - | - | - | 26.12 | - | 26.13 |
| 84 | 3.6 | -4.8 | 8 | 109 | roll | -0.45 | 10.12 | 0.220 | 2656 | 250.1 | 2.25 | 0.045 | 569 | -633.3 | -175.2 | -3.62 | - | 3183 | -50.0 | - | - | - | - | - | - | - | 25.05 | 23.98 | 25.25 |
| 142 | 15.8 | -12.5 | 16 | 151 | done | -0.45 | - | - | 2647 | - | 2.20 | 0.028 | 1967 | 635.5 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.84 | 25.82 | 25.86 |
| 201 | 22.4 | -10.9 | 25 | 210 | roll | -0.45 | - | - | 2636 | - | 2.20 | 0.034 | 3390 | 646.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.26 | 25.78 | 26.27 |
| 253 | 28.1 | -10.3 | 33 | 262 | done | -0.45 | - | - | 2636 | - | 2.17 | 0.025 | 1973 | -653.0 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 25.91 | 25.88 | 25.94 |
| 313 | 34.6 | -11.1 | 42 | 322 | roll | -0.45 | - | - | 2636 | - | 2.15 | 0.028 | 575 | -650.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.34 | 25.91 | 26.34 |
| 369 | 41.6 | -12.0 | 51 | 376 | done | -0.45 | 0.12 | 0.138 | 2664 | 233.3 | 2.17 | 0.030 | 1986 | 650.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.63 | 25.91 | 25.77 |
| 420 | 46.7 | -9.3 | 60 | 429 | roll | -0.45 | - | - | 2655 | - | 2.15 | 0.032 | 3393 | 654.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.39 | 25.90 | 26.40 |
| 464 | 50.3 | -9.2 | 67 | 471 | done | -0.45 | - | - | 2655 | - | 2.12 | 0.023 | 1963 | -674.5 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.06 | 25.98 | 26.08 |
| 515 | 54.9 | -8.3 | 76 | 522 | roll | -0.45 | - | - | 2655 | - | 2.12 | 0.029 | 578 | -653.3 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.42 | 25.94 | 26.43 |
| 551 | 58.0 | -8.5 | 82 | 558 | done | -0.45 | - | - | 2646 | - | 2.15 | 0.028 | 1988 | 655.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.06 | 25.98 | 26.09 |
| 605 | 62.7 | -10.0 | 91 | 611 | roll | -0.45 | - | - | 2635 | - | 2.08 | 0.031 | 3390 | 674.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.45 | 25.96 | 26.46 |
| 655 | 68.0 | -10.1 | 100 | 662 | done | -0.45 | - | - | 2635 | - | 2.15 | 0.025 | 1977 | -657.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.06 | 26.03 | 26.08 |
| 709 | 73.7 | -10.2 | 109 | 716 | roll | -0.45 | 0.08 | 0.157 | 2666 | 387.5 | 2.12 | 0.027 | 569 | -664.2 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.00 | 25.98 | 26.02 |
| 748 | 77.3 | -9.4 | 115 | 755 | done | -0.45 | - | - | 2657 | - | 2.15 | 0.027 | 1986 | 659.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.12 | 26.03 | 26.14 |
| 799 | 82.2 | -8.4 | 124 | 806 | roll | -0.45 | - | - | 2646 | - | 2.12 | 0.031 | 3388 | 661.3 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.50 | 26.03 | 26.51 |
| 853 | 86.9 | -9.3 | 133 | 860 | done | -0.45 | - | - | 2647 | - | 2.10 | 0.024 | 1969 | -675.7 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.15 | 26.07 | 26.17 |
| 904 | 91.9 | -9.2 | 142 | 911 | roll | -0.45 | - | - | 2646 | - | 2.08 | 0.028 | 576 | -669.7 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.52 | 26.03 | 26.53 |
| 949 | 96.6 | -10.3 | 150 | 958 | done | -0.45 | - | - | 2636 | - | 2.17 | 0.028 | 1977 | 645.6 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.10 | 26.06 | 26.14 |
| 1006 | 102.2 | -9.6 | 158 | 1015 | roll | -0.45 | - | - | 2625 | - | 2.10 | 0.031 | 3394 | 674.8 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.53 | 26.03 | 26.54 |
| 1050 | 106.6 | -10.7 | 162 | 1058 | done | -0.45 | 0.12 | 0.128 | 2666 | 341.7 | 2.10 | 0.024 | 1979 | -673.8 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 25.82 | 26.09 | 25.94 |
| 1240 | 122.3 | -8.2 | 181 | 1248 | roll | -0.45 | - | - | 2657 | - | 2.10 | 0.031 | 3395 | 674.3 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.57 | 26.06 | 26.58 |
| 1301 | 127.6 | -8.5 | 187 | 1310 | done | -0.45 | - | - | 2657 | - | 2.10 | 0.023 | 1969 | -679.0 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.21 | 26.14 | 26.24 |
| 1493 | 142.6 | -7.7 | 206 | 1496 | roll | -0.45 | - | - | 2648 | - | 2.12 | 0.031 | 3390 | 670.3 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.60 | 26.07 | 26.60 |
| 1557 | 147.6 | -8.2 | 212 | 1564 | done | -0.45 | - | - | 2648 | - | 2.08 | 0.023 | 1983 | -676.4 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.23 | 26.15 | 26.26 |
| 1746 | 162.6 | -7.5 | 231 | 1754 | roll | -0.45 | - | - | 2648 | - | 2.08 | 0.030 | 583 | -673.1 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.61 | 26.09 | 26.63 |
| 1768 | 164.5 | -7.9 | 233 | 1776 | done | -0.45 | - | - | 2639 | - | 2.10 | 0.028 | 1983 | 666.7 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.15 | 26.14 | 26.20 |
| 1959 | 181.0 | -8.9 | 252 | 1968 | roll | -0.45 | - | - | 2639 | - | 2.10 | 0.028 | 573 | -671.4 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.62 | 26.10 | 26.63 |
| 2064 | 191.0 | -10.1 | 262 | 2072 | done | -0.45 | 0.10 | 0.143 | 2661 | 220.0 | 2.15 | 0.028 | 1990 | 659.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 25.89 | 26.13 | 26.00 |
| 2253 | 207.6 | -8.9 | 277 | 2258 | roll | -0.45 | - | - | 2662 | - | 2.10 | 0.029 | 580 | -671.4 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.63 | 26.10 | 26.65 |
| 2280 | 209.4 | -9.0 | 278 | 2285 | done | -0.45 | - | - | 2654 | - | 2.10 | 0.026 | 1985 | 669.0 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.25 | 26.16 | 26.27 |
| 2467 | 229.4 | -10.5 | 287 | 2473 | roll | -0.45 | - | - | 2654 | - | 2.10 | 0.028 | 580 | -669.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.64 | 26.10 | 26.65 |
| 2497 | 231.6 | -10.7 | 288 | 2501 | done | -0.45 | - | - | 2645 | - | 2.10 | 0.026 | 1977 | 665.2 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.23 | 26.15 | 26.26 |
| 2684 | 253.4 | -11.5 | 297 | 2690 | roll | -0.45 | - | - | 2634 | - | 2.10 | 0.033 | 3389 | 672.4 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.65 | 26.08 | 26.65 |
| 2712 | 255.7 | -11.7 | 298 | 2717 | done | -0.45 | 0.10 | 0.128 | 2667 | 330.0 | 2.08 | 0.024 | 1975 | -679.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.94 | 26.17 | 26.04 |
| 2899 | 273.8 | -9.1 | 307 | 2905 | roll | -0.45 | - | - | 2667 | - | 2.08 | 0.029 | 580 | -670.7 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.65 | 26.10 | 26.66 |
| 3009 | 282.7 | -8.8 | 312 | 3018 | done | -0.45 | - | - | 2659 | - | 2.12 | 0.027 | 1991 | 665.6 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.23 | 26.15 | 26.26 |
| 3199 | 299.0 | -8.0 | 322 | 3201 | done | -0.45 | - | - | 2660 | - | - | - | 1991 | - | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.67 | 26.66 |
| 3379 | 313.4 | -7.9 | 331 | 3385 | roll | -0.45 | - | - | 2659 | - | 2.10 | 0.028 | 582 | -671.0 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.65 | 26.10 | 26.67 |
| 3481 | 323.0 | -9.9 | 336 | 3486 | done | -0.45 | - | - | 2650 | - | 2.10 | 0.028 | 1979 | 665.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.17 | 26.14 | 26.21 |
| 3679 | 342.0 | -9.0 | 346 | 3685 | roll | -0.45 | - | - | 2650 | - | 2.10 | 0.029 | 581 | -665.7 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.66 | 26.10 | 26.67 |
| 3724 | 346.0 | -9.6 | 348 | 3730 | done | -0.45 | - | - | 2641 | - | 2.12 | 0.028 | 1990 | 664.6 | -175.2 | - | - | 3182 | - | - | - | - | - | - | - | - | 26.22 | 26.14 | 26.26 |
| 3858 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 3858 | begin apogee | ||||||||||||||||||||||||||||
| 3865 | 360.1 | -9.8 | 355 | 4005 | done | - | 0.52 | 0.109 | 2807 | 319.2 | 0.12 | 0.065 | 1927 | -525.0 | - | 135.80 | 0.886 | 2464 | -5.3 | 0.223 | - | - | - | - | - | - | 25.63 | 24.74 | 23.97 |
| 4006 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4006 | begin climb | ||||||||||||||||||||||||||||
| 4008 | 368.8 | - | 362 | 4160 | roll | 0.45 | 0.38 | 0.046 | 2966 | 418.4 | 2.15 | 0.033 | 3270 | 624.7 | 175.2 | 141.68 | 0.920 | 1749 | -5.0 | 0.209 | - | - | - | - | - | - | 24.99 | 24.45 | 23.69 |
| 4184 | 360.1 | 9.3 | 371 | 4216 | done | 0.48 | - | - | 2976 | - | 2.22 | 0.028 | 1864 | -633.3 | 204.0 | 25.45 | 0.871 | 1632 | -4.6 | 0.197 | - | - | - | - | - | - | 25.01 | 24.94 | 23.85 |
| 4404 | 333.1 | 12.9 | 382 | 4410 | roll | 0.48 | - | - | 2987 | - | 2.20 | 0.037 | 454 | -640.9 | 204.0 | - | - | 1626 | - | - | - | - | - | - | - | - | 25.98 | 25.58 | 25.99 |
| 4484 | 323.3 | 12.0 | 386 | 4490 | done | 0.48 | - | - | 2987 | - | 2.17 | 0.026 | 1863 | 649.3 | 204.0 | - | - | 1623 | - | - | - | - | - | - | - | - | 25.84 | 25.76 | 25.87 |
| 4686 | 296.3 | 13.2 | 396 | 4691 | roll | 0.48 | - | - | 2987 | - | 2.10 | 0.032 | 3260 | 665.2 | 204.0 | - | - | 1624 | - | - | - | - | - | - | - | - | 26.30 | 25.89 | 26.31 |
| 4726 | 291.0 | 13.2 | 398 | 4731 | done | 0.48 | 0.10 | 0.172 | 2970 | -170.0 | 2.12 | 0.028 | 1856 | -662.3 | 204.0 | - | - | 1624 | - | - | - | - | - | - | - | - | 25.63 | 25.92 | 25.81 |
| 4919 | 268.3 | 11.3 | 408 | 4923 | roll | 0.48 | - | - | 2969 | - | 2.12 | 0.028 | 3270 | 667.0 | 204.0 | - | - | 1624 | - | - | - | - | - | - | - | - | 26.41 | 25.99 | 26.42 |
| 5034 | 256.5 | 11.5 | 413 | 5040 | done | 0.48 | - | - | 2978 | - | 2.12 | 0.030 | 1861 | -664.6 | 204.0 | - | - | 1624 | - | - | - | - | - | - | - | - | 26.10 | 26.01 | 26.14 |
| 5222 | 233.1 | 11.9 | 423 | 5228 | roll | 0.48 | - | - | 2978 | - | 2.08 | 0.028 | 3264 | 674.5 | 204.0 | - | - | 1623 | - | - | - | - | - | - | - | - | 26.49 | 26.06 | 26.51 |
| 5321 | 222.0 | 11.1 | 428 | 5327 | done | 0.48 | - | - | 2987 | - | 2.12 | 0.029 | 1856 | -664.2 | 204.0 | - | - | 1623 | - | - | - | - | - | - | - | - | 26.15 | 26.06 | 26.19 |
| 5521 | 198.2 | 12.1 | 438 | 5530 | roll | 0.48 | - | - | 2987 | - | 2.10 | 0.028 | 3271 | 673.8 | 204.0 | - | - | 1622 | - | - | - | - | - | - | - | - | 26.54 | 26.09 | 26.56 |
| 5613 | 187.8 | 11.2 | 447 | 5622 | done | 0.48 | 0.10 | 0.171 | 2970 | -170.0 | 2.12 | 0.029 | 1860 | -665.6 | 204.0 | - | - | 1621 | - | - | - | - | - | - | - | - | 25.77 | 26.08 | 25.94 |
| 5802 | 167.9 | 10.5 | 466 | 5811 | roll | 0.48 | - | - | 2978 | - | 2.15 | 0.037 | 456 | -653.0 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.58 | 26.01 | 26.59 |
| 5817 | 167.0 | 10.4 | 467 | 5823 | done | 0.48 | - | - | 2978 | - | 2.12 | 0.027 | 1859 | 661.8 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.24 |
| 6004 | 144.4 | 12.1 | 486 | 6013 | roll | 0.48 | - | - | 2979 | - | 2.12 | 0.033 | 3274 | 667.5 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.59 | 26.07 | 26.60 |
| 6039 | 140.4 | 12.7 | 489 | 6045 | done | 0.48 | - | - | 2989 | - | 2.12 | 0.029 | 1857 | -668.4 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.20 | 26.10 | 26.23 |
| 6226 | 115.6 | 13.4 | 508 | 6235 | roll | 0.48 | - | - | 2989 | - | 2.10 | 0.028 | 3275 | 675.2 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.60 | 26.13 | 26.62 |
| 6337 | 101.7 | 12.5 | 519 | 6347 | done | 0.48 | 0.10 | 0.166 | 2971 | -180.0 | 2.12 | 0.030 | 1861 | -667.0 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 25.79 | 26.10 | 25.96 |
| 6537 | 78.9 | 11.7 | 555 | 6544 | roll | 0.48 | - | - | 2980 | - | 2.17 | 0.036 | 447 | -651.6 | 204.0 | - | - | 1620 | - | - | - | - | - | - | - | - | 26.62 | 26.02 | 26.63 |
| 6610 | 71.1 | 10.0 | 568 | 6618 | done | 0.49 | - | - | 2980 | - | 2.17 | 0.026 | 1857 | 649.8 | 204.9 | - | - | 1618 | - | - | - | - | - | - | - | - | 26.19 | 26.15 | 26.22 |
| 6666 | 64.9 | 11.5 | 577 | 6673 | roll | 0.49 | - | - | 2980 | - | 2.12 | 0.032 | 3278 | 670.3 | 204.9 | - | - | 1619 | - | - | - | - | - | - | - | - | 26.62 | 26.09 | 26.63 |
| 6706 | 59.8 | 11.1 | 584 | 6714 | done | 0.49 | - | - | 2990 | - | 2.17 | 0.029 | 1861 | -653.0 | 204.9 | - | - | 1619 | - | - | - | - | - | - | - | - | 26.15 | 26.11 | 26.20 |
| 6759 | 54.0 | 10.7 | 593 | 6765 | roll | 0.49 | - | - | 3001 | - | 2.15 | 0.037 | 456 | -653.5 | 204.9 | - | - | 1619 | - | - | - | - | - | - | - | - | 26.62 | 26.01 | 26.63 |
| 6816 | 47.8 | 10.0 | 603 | 6823 | done | 0.49 | 0.10 | 0.152 | 2972 | -290.0 | 2.15 | 0.028 | 1867 | 656.3 | 207.2 | - | - | 1617 | - | - | - | - | - | - | - | - | 25.84 | 26.13 | 25.96 |
| 6868 | 42.8 | 9.0 | 612 | 6908 | roll | 0.54 | - | - | 2972 | - | 2.17 | 0.030 | 3271 | 647.0 | 246.2 | 33.67 | 0.682 | 1460 | -4.7 | 0.030 | - | - | - | - | - | - | 26.63 | 25.72 | 24.88 |
| 6936 | 36.9 | 9.4 | 622 | 6969 | done | 0.57 | - | - | 2980 | - | 2.17 | 0.028 | 1865 | -647.9 | 269.9 | 21.17 | 0.654 | 1364 | -4.5 | 0.026 | - | - | - | - | - | - | 25.86 | 25.82 | 24.70 |
| 7020 | 28.5 | 10.4 | 634 | 7028 | roll | 0.57 | - | - | 2991 | - | 2.22 | 0.036 | 461 | -632.4 | 269.9 | - | - | 1359 | - | - | - | - | - | - | - | - | 26.08 | 25.63 | 26.08 |
| 7080 | 22.3 | 9.7 | 643 | 7097 | done | 0.58 | - | - | 2991 | - | 2.17 | 0.023 | 1862 | 645.6 | 281.5 | 5.68 | 0.499 | 1316 | -7.6 | 0.035 | - | - | - | - | - | - | 25.84 | 25.81 | 24.64 |
| 7148 | 15.4 | 10.8 | 653 | 7156 | roll | 0.58 | - | - | 2991 | - | 2.17 | 0.031 | 3268 | 647.9 | 281.5 | - | - | 1314 | - | - | - | - | - | - | - | - | 26.19 | 25.78 | 26.19 |
| 7183 | 11.5 | 10.3 | 658 | 7192 | done | 0.58 | - | - | 2998 | - | 2.20 | 0.029 | 1856 | -641.8 | 281.5 | - | - | 1313 | - | - | - | - | - | - | - | - | 25.84 | 25.80 | 25.88 |
| 7242 | 5.3 | 11.0 | 667 | 7251 | roll | 0.58 | - | - | 3009 | - | 2.20 | 0.035 | 456 | -636.4 | 281.5 | - | - | 1312 | - | - | - | - | - | - | - | - | 26.27 | 25.79 | 26.28 |
| 7264 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 7264 | begin surface coast | ||||||||||||||||||||||||||||
| 7295 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7295 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.69 | - | - | - | - | -8.29 | 7.62 | 0.035 | 129 | 16.9 | 2.38 | 0.023 | 1976 | 613.4 | 284.30 | - | - | 1306 | - | - | - | - | - | - | - | - | |||