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| • Previous call tries 2 | • 57.91 of 145.00 AH used of 24V (60.06% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 30.35 of 96.25 AH used of 10V (68.46% remains) | |
| • Surface angle -80.8 deg, depth 1.71 m | • Intended pitch -13.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 270.07 (SM_CC=270) | ||
| • GPS1 time: 32 s | • bottom range 71.1 m at 320.3 m, depth 391 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 | - | - | 129 | - | - | - | 1981 | - | -175.2 | -62.10 | - | 3029 | - | - | - | - | - | - | - | - | 26.44 | - | 26.45 |
| 84 | 3.9 | -5.8 | 8 | 102 | roll | -0.45 | 10.05 | 0.222 | 2645 | 250.3 | 2.22 | 0.050 | 3390 | 634.7 | -175.2 | -2.95 | - | 3183 | -52.2 | - | - | - | - | - | - | - | 25.21 | 24.20 | 25.43 |
| 181 | 22.5 | -11.5 | 23 | 190 | done | -0.45 | - | - | 2645 | - | 2.17 | 0.027 | 1970 | -654.4 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.05 | 26.01 | 26.06 |
| 240 | 29.6 | -11.6 | 32 | 249 | roll | -0.45 | - | - | 2645 | - | 2.15 | 0.030 | 570 | -651.2 | -175.2 | - | - | 3183 | - | - | - | - | - | - | - | - | 26.46 | 25.99 | 26.47 |
| 292 | 36.0 | -12.0 | 40 | 301 | done | -0.45 | - | - | 2635 | - | 2.20 | 0.031 | 1973 | 637.7 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.05 | 26.01 | 26.08 |
| 350 | 42.6 | -11.6 | 49 | 357 | roll | -0.45 | 0.08 | 0.169 | 2654 | 237.5 | 2.15 | 0.032 | 3396 | 661.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.97 | 25.98 | 26.00 |
| 421 | 49.4 | -9.0 | 61 | 427 | done | -0.45 | - | - | 2654 | - | 2.12 | 0.023 | 1964 | -675.5 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.15 | 26.08 | 26.18 |
| 472 | 54.6 | -8.8 | 70 | 478 | roll | -0.45 | - | - | 2653 | - | 2.08 | 0.028 | 575 | -667.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.51 | 26.03 | 26.52 |
| 508 | 58.1 | -10.1 | 76 | 515 | done | -0.45 | - | - | 2644 | - | 2.20 | 0.027 | 1994 | 645.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.09 | 26.07 | 26.13 |
| 562 | 63.1 | -9.3 | 85 | 568 | roll | -0.45 | - | - | 2633 | - | 2.08 | 0.031 | 3394 | 673.1 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.53 | 26.03 | 26.54 |
| 608 | 68.1 | -10.6 | 93 | 616 | done | -0.45 | 0.10 | 0.135 | 2665 | 320.0 | 2.10 | 0.025 | 1981 | -672.9 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 25.85 | 26.09 | 25.96 |
| 659 | 73.0 | -8.9 | 102 | 668 | roll | -0.45 | - | - | 2665 | - | 2.15 | 0.030 | 578 | -652.6 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.54 | 26.02 | 26.55 |
| 703 | 76.9 | -9.0 | 109 | 710 | done | -0.45 | - | - | 2656 | - | 2.12 | 0.027 | 1979 | 660.8 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.17 | 26.09 | 26.20 |
| 754 | 82.1 | -9.8 | 118 | 760 | roll | -0.45 | - | - | 2646 | - | 2.12 | 0.032 | 3391 | 666.0 | -175.2 | - | - | 3184 | - | - | - | - | - | - | - | - | 26.55 | 26.04 | 26.56 |
| 812 | 87.5 | -9.7 | 128 | 820 | done | -0.45 | - | - | 2646 | - | 2.15 | 0.024 | 1974 | -659.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.15 | 26.11 | 26.17 |
| 864 | 92.7 | -9.2 | 137 | 871 | roll | -0.45 | - | - | 2646 | - | 2.08 | 0.028 | 576 | -672.1 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.56 | 26.08 | 26.58 |
| 912 | 97.6 | -10.6 | 145 | 919 | done | -0.45 | - | - | 2636 | - | 2.12 | 0.028 | 1980 | 662.3 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.18 | 26.10 | 26.21 |
| 967 | 103.4 | -10.6 | 152 | 975 | roll | -0.45 | - | - | 2625 | - | 2.12 | 0.032 | 3397 | 668.4 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.58 | 26.06 | 26.59 |
| 1018 | 108.7 | -10.5 | 157 | 1027 | done | -0.45 | 0.12 | 0.129 | 2665 | 333.3 | 2.10 | 0.024 | 1979 | -675.2 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 25.84 | 26.12 | 25.96 |
| 1210 | 125.9 | -9.2 | 176 | 1218 | roll | -0.45 | - | - | 2665 | - | 2.08 | 0.030 | 580 | -672.6 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.60 | 26.08 | 26.61 |
| 1231 | 128.1 | -9.4 | 178 | 1240 | done | -0.45 | - | - | 2657 | - | 2.12 | 0.026 | 1990 | 665.1 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.21 | 26.13 | 26.24 |
| 1423 | 146.2 | -9.4 | 197 | 1427 | roll | -0.45 | - | - | 2647 | - | 2.10 | 0.033 | 3393 | 668.1 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.61 | 26.08 | 26.63 |
| 1495 | 153.5 | -9.9 | 204 | 1504 | done | -0.45 | - | - | 2647 | - | 2.10 | 0.024 | 1973 | -676.2 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.23 | 26.16 | 26.25 |
| 1687 | 171.9 | -9.4 | 223 | 1695 | roll | -0.45 | - | - | 2637 | - | 2.10 | 0.031 | 3384 | 671.9 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.63 | 26.08 | 26.63 |
| 1758 | 179.3 | -10.4 | 230 | 1768 | done | -0.45 | - | - | 2637 | - | 2.08 | 0.024 | 1978 | -676.0 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.25 | 26.17 | 26.27 |
| 1950 | 198.2 | -9.6 | 249 | 1959 | roll | -0.45 | - | - | 2637 | - | 2.08 | 0.030 | 577 | -673.6 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.63 | 26.10 | 26.65 |
| 2019 | 205.0 | -10.8 | 253 | 2024 | done | -0.45 | 0.10 | 0.145 | 2659 | 220.0 | 2.12 | 0.028 | 1986 | 664.6 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 25.88 | 26.13 | 25.99 |
| 2207 | 222.5 | -8.5 | 262 | 2208 | done | -0.45 | - | - | 2659 | - | - | - | 1986 | - | -175.2 | - | - | 3188 | - | - | - | - | - | - | - | - | 26.64 | 26.66 | 26.65 |
| 2387 | 238.4 | -8.7 | 271 | 2392 | roll | -0.45 | - | - | 2660 | - | 2.12 | 0.029 | 575 | -665.6 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.65 | 26.09 | 26.66 |
| 2450 | 244.2 | -9.4 | 274 | 2454 | done | -0.45 | - | - | 2651 | - | 2.12 | 0.028 | 1983 | 664.2 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.23 | 26.15 | 26.26 |
| 2642 | 263.0 | -9.4 | 284 | 2648 | roll | -0.45 | - | - | 2651 | - | 2.10 | 0.028 | 581 | -667.6 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.65 | 26.10 | 26.66 |
| 2685 | 266.9 | -9.6 | 286 | 2689 | done | -0.45 | - | - | 2642 | - | 2.12 | 0.028 | 1986 | 662.7 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.22 | 26.13 | 26.25 |
| 2877 | 286.3 | -9.5 | 296 | 2883 | roll | -0.45 | - | - | 2631 | - | 2.10 | 0.034 | 3394 | 670.5 | -175.2 | - | - | 3187 | - | - | - | - | - | - | - | - | 26.65 | 26.08 | 26.66 |
| 2897 | 288.3 | -9.5 | 297 | 2904 | done | -0.45 | 0.10 | 0.126 | 2664 | 330.0 | 2.10 | 0.024 | 1982 | -672.4 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 25.94 | 26.16 | 26.04 |
| 3097 | 305.0 | -8.4 | 307 | 3101 | roll | -0.45 | - | - | 2656 | - | 2.12 | 0.032 | 3394 | 666.0 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.65 | 26.08 | 26.67 |
| 3147 | 308.7 | -8.5 | 309 | 3151 | done | -0.45 | - | - | 2656 | - | 2.10 | 0.024 | 1968 | -679.0 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.25 | 26.16 | 26.27 |
| 3334 | 325.5 | -8.8 | 318 | 3340 | roll | -0.45 | - | - | 2656 | - | 2.08 | 0.030 | 580 | -667.3 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.65 | 26.09 | 26.67 |
| 3437 | 335.3 | -9.8 | 323 | 3441 | done | -0.45 | - | - | 2646 | - | 2.12 | 0.028 | 1988 | 664.2 | -175.2 | - | - | 3186 | - | - | - | - | - | - | - | - | 26.21 | 26.12 | 26.25 |
| 3629 | 354.0 | -10.1 | 333 | 3632 | roll | -0.45 | - | - | 2647 | - | 2.12 | 0.028 | 581 | -663.7 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.66 | 26.09 | 26.67 |
| 3733 | 364.5 | -10.4 | 338 | 3737 | done | -0.45 | - | - | 2638 | - | 2.12 | 0.029 | 1980 | 659.9 | -175.2 | - | - | 3185 | - | - | - | - | - | - | - | - | 26.20 | 26.11 | 26.23 |
| 3843 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 3844 | begin apogee | ||||||||||||||||||||||||||||
| 3850 | 376.9 | -11.3 | 344 | 3991 | done | - | 0.55 | 0.116 | 2810 | 312.7 | 0.12 | 0.065 | 1924 | -466.7 | - | 136.70 | 0.881 | 2464 | -5.3 | 0.233 | - | - | - | - | - | - | 25.56 | 24.74 | 23.99 |
| 3992 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3992 | begin climb | ||||||||||||||||||||||||||||
| 3994 | 385.4 | - | 351 | 4147 | roll | 0.45 | 0.43 | 0.048 | 2980 | 395.3 | 2.15 | 0.029 | 3262 | 622.3 | 175.2 | 140.32 | 0.868 | 1748 | -5.1 | 0.234 | - | - | - | - | - | - | 24.97 | 24.48 | 23.74 |
| 4223 | 370.2 | 11.2 | 362 | 4231 | done | 0.45 | 0.12 | 0.159 | 2956 | -200.0 | 2.17 | 0.028 | 1866 | -643.3 | 175.2 | - | - | 1746 | - | - | - | - | - | - | - | - | 24.99 | 25.27 | 25.17 |
| 4412 | 350.4 | 9.7 | 372 | 4430 | roll | 0.47 | - | - | 2965 | - | 2.22 | 0.035 | 457 | -634.7 | 188.6 | 11.60 | 0.754 | 1695 | -4.4 | 0.211 | - | - | - | - | - | - | 26.08 | 25.10 | 24.55 |
| 4477 | 344.2 | 9.8 | 375 | 4493 | done | 0.48 | - | - | 2965 | - | 2.17 | 0.026 | 1873 | 652.5 | 197.6 | 9.00 | 0.715 | 1658 | -4.1 | 0.204 | - | - | - | - | - | - | 25.77 | 25.70 | 24.50 |
| 4675 | 322.8 | 10.7 | 385 | 4680 | roll | 0.48 | - | - | 2966 | - | 2.10 | 0.033 | 3268 | 664.3 | 197.6 | - | - | 1656 | - | - | - | - | - | - | - | - | 26.20 | 25.80 | 26.22 |
| 4748 | 316.6 | 10.4 | 388 | 4754 | done | 0.48 | - | - | 2975 | - | 2.15 | 0.029 | 1854 | -657.7 | 197.6 | - | - | 1655 | - | - | - | - | - | - | - | - | 25.95 | 25.86 | 25.98 |
| 4933 | 294.7 | 11.3 | 398 | 4939 | roll | 0.48 | - | - | 2975 | - | 2.10 | 0.028 | 3268 | 673.3 | 197.6 | - | - | 1655 | - | - | - | - | - | - | - | - | 26.37 | 25.95 | 26.38 |
| 5046 | 284.3 | 10.4 | 403 | 5053 | done | 0.48 | - | - | 2985 | - | 2.15 | 0.029 | 1856 | -656.7 | 197.6 | - | - | 1654 | - | - | - | - | - | - | - | - | 26.07 | 25.97 | 26.10 |
| 5233 | 261.1 | 11.4 | 413 | 5239 | roll | 0.48 | - | - | 2996 | - | 2.15 | 0.036 | 456 | -651.2 | 197.6 | - | - | 1654 | - | - | - | - | - | - | - | - | 26.47 | 25.94 | 26.48 |
| 5316 | 252.0 | 11.3 | 417 | 5321 | done | 0.48 | 0.10 | 0.161 | 2968 | -280.0 | 2.15 | 0.030 | 1860 | 653.0 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 25.75 | 26.03 | 25.91 |
| 5509 | 230.9 | 10.9 | 427 | 5514 | roll | 0.48 | - | - | 2968 | - | 2.12 | 0.032 | 3275 | 667.5 | 197.6 | - | - | 1652 | - | - | - | - | - | - | - | - | 26.52 | 26.03 | 26.53 |
| 5616 | 219.9 | 10.9 | 432 | 5620 | done | 0.48 | - | - | 2976 | - | 2.12 | 0.029 | 1860 | -667.5 | 197.6 | - | - | 1651 | - | - | - | - | - | - | - | - | 26.15 | 26.06 | 26.18 |
| 5804 | 197.3 | 11.6 | 442 | 5812 | roll | 0.48 | - | - | 2976 | - | 2.12 | 0.028 | 3283 | 671.2 | 197.6 | - | - | 1651 | - | - | - | - | - | - | - | - | 26.56 | 26.08 | 26.58 |
| 5917 | 184.9 | 10.8 | 453 | 5924 | done | 0.48 | - | - | 2986 | - | 2.15 | 0.029 | 1859 | -662.3 | 197.6 | - | - | 1651 | - | - | - | - | - | - | - | - | 26.17 | 26.08 | 26.21 |
| 6105 | 161.9 | 12.0 | 472 | 6114 | roll | 0.48 | - | - | 2998 | - | 2.15 | 0.036 | 455 | -653.0 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.59 | 25.99 | 26.60 |
| 6190 | 152.1 | 11.8 | 480 | 6197 | done | 0.48 | 0.10 | 0.158 | 2969 | -290.0 | 2.15 | 0.028 | 1864 | 655.3 | 197.6 | - | - | 1649 | - | - | - | - | - | - | - | - | 25.80 | 26.10 | 25.96 |
| 6377 | 130.7 | 11.0 | 499 | 6385 | roll | 0.48 | - | - | 2969 | - | 2.10 | 0.031 | 3270 | 669.5 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.60 | 26.08 | 26.62 |
| 6448 | 122.8 | 10.7 | 506 | 6457 | done | 0.48 | - | - | 2978 | - | 2.12 | 0.030 | 1857 | -666.5 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.18 | 26.09 | 26.22 |
| 6638 | 101.9 | 10.6 | 525 | 6647 | roll | 0.48 | - | - | 2977 | - | 2.10 | 0.028 | 3273 | 674.3 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.62 | 26.10 | 26.63 |
| 6735 | 92.0 | 10.6 | 541 | 6742 | done | 0.48 | - | - | 2988 | - | 2.12 | 0.029 | 1859 | -667.0 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.19 | 26.09 | 26.23 |
| 6785 | 86.2 | 11.4 | 550 | 6792 | roll | 0.48 | - | - | 2999 | - | 2.15 | 0.036 | 456 | -652.6 | 197.6 | - | - | 1649 | - | - | - | - | - | - | - | - | 26.62 | 25.99 | 26.63 |
| 6838 | 80.3 | 11.1 | 559 | 6845 | done | 0.48 | 0.10 | 0.157 | 2970 | -290.0 | 2.15 | 0.028 | 1870 | 657.7 | 197.6 | - | - | 1648 | - | - | - | - | - | - | - | - | 25.81 | 26.10 | 25.96 |
| 6891 | 74.2 | 11.4 | 568 | 6899 | roll | 0.48 | - | - | 2970 | - | 2.12 | 0.031 | 3263 | 657.1 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.62 | 26.08 | 26.63 |
| 6924 | 70.4 | 11.4 | 573 | 6930 | done | 0.48 | - | - | 2978 | - | 2.12 | 0.028 | 1854 | -664.6 | 197.6 | - | - | 1650 | - | - | - | - | - | - | - | - | 26.19 | 26.09 | 26.22 |
| 6974 | 64.9 | 11.3 | 582 | 6982 | roll | 0.48 | - | - | 2989 | - | 2.20 | 0.037 | 450 | -638.2 | 197.6 | - | - | 1649 | - | - | - | - | - | - | - | - | 26.62 | 25.98 | 26.63 |
| 7021 | 59.8 | 10.2 | 590 | 7028 | done | 0.48 | - | - | 2989 | - | 2.15 | 0.028 | 1863 | 657.2 | 197.6 | - | - | 1648 | - | - | - | - | - | - | - | - | 26.19 | 26.10 | 26.23 |
| 7073 | 55.0 | 9.3 | 599 | 7099 | roll | 0.51 | - | - | 2989 | - | 2.17 | 0.032 | 3267 | 647.0 | 223.6 | 21.67 | 0.659 | 1552 | -4.4 | 0.038 | - | - | - | - | - | - | 26.62 | 25.74 | 24.91 |
| 7166 | 46.0 | 9.1 | 615 | 7204 | done | 0.55 | - | - | 3000 | - | 2.15 | 0.028 | 1852 | -658.1 | 259.5 | 31.00 | 0.659 | 1406 | -4.7 | 0.034 | - | - | - | - | - | - | 26.02 | 25.93 | 24.76 |
| 7253 | 37.6 | 10.6 | 629 | 7261 | roll | 0.55 | - | - | 3010 | - | 2.20 | 0.037 | 464 | -630.9 | 259.5 | - | - | 1402 | - | - | - | - | - | - | - | - | 26.08 | 25.63 | 26.09 |
| 7306 | 31.3 | 11.9 | 637 | 7315 | done | 0.55 | - | - | 3011 | - | 2.20 | 0.026 | 1866 | 637.3 | 259.5 | - | - | 1399 | - | - | - | - | - | - | - | - | 25.80 | 25.77 | 25.82 |
| 7364 | 23.9 | 13.3 | 646 | 7373 | roll | 0.55 | - | - | 3010 | - | 2.17 | 0.032 | 3263 | 643.8 | 259.5 | - | - | 1399 | - | - | - | - | - | - | - | - | 26.22 | 25.77 | 26.22 |
| 7394 | 20.0 | 13.0 | 650 | 7404 | done | 0.55 | 0.10 | 0.151 | 2991 | -190.0 | 2.17 | 0.029 | 1863 | -645.2 | 259.5 | - | - | 1399 | - | - | - | - | - | - | - | - | 25.46 | 25.81 | 25.56 |
| 7453 | 13.5 | 11.0 | 659 | 7462 | roll | 0.55 | - | - | 3000 | - | 2.22 | 0.036 | 451 | -636.0 | 259.5 | - | - | 1398 | - | - | - | - | - | - | - | - | 26.29 | 25.75 | 26.29 |
| 7501 | 8.4 | 10.5 | 666 | 7509 | done | 0.55 | - | - | 3000 | - | 2.17 | 0.022 | 1863 | 650.7 | 259.5 | - | - | 1397 | - | - | - | - | - | - | - | - | 25.94 | 25.93 | 25.98 |
| 7558 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 7558 | begin surface coast | ||||||||||||||||||||||||||||
| 7590 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7590 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.90 | - | - | - | - | -8.34 | 7.53 | 0.026 | 125 | 16.6 | 0.15 | 0.056 | 2064 | 6893.3 | 270.07 | 3.47 | 0.056 | 1363 | 392.8 | -2.079 | - | - | - | - | - | - | |||