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| • Previous call tries 1 | • 88.19 of 310.00 AH used of 24V (71.55% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -62.4 deg, depth 0.66 m | • Intended pitch -18.2 deg, speed -9.980 cm/s | |
| • VBD pumped to 532.78 (SM_CC=532.59473) | • surface range 20.0 m at 19.9 m depth, ceiling -0.1 m | |
| • GPS1 time: 43 s | • bottom range 45.7 m at 230.2 m, depth 276 m (500 m grid) | |
| • GPS2 time: 17 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 | |||||
| 18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 20 | - | - | - | 118 | VBD | -0.85 | - | - | 73 | - | - | - | 1984 | - | -146.0 | -94.97 | - | 3303 | - | - | - | - | - | - | - | - | 14.95 | - | 14.96 |
| 120 | 4.3 | -11.3 | 16 | 141 | roll | -0.85 | 12.60 | 0.303 | 2205 | 169.2 | 2.45 | 0.088 | 568 | -578.0 | -146.0 | -1.65 | - | 3410 | -64.8 | - | - | - | - | - | - | - | 14.44 | 13.49 | 14.69 |
| 411 | 61.0 | -15.3 | 72 | 417 | done | -0.85 | - | - | 2204 | - | 2.35 | 0.046 | 1989 | 604.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.83 | 14.72 | 14.85 |
| 479 | 71.2 | -13.5 | 85 | 487 | roll | -0.85 | - | - | 2204 | - | 2.38 | 0.070 | 3387 | 587.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.05 | 14.57 | 15.05 |
| 539 | 79.6 | -12.0 | 96 | 546 | done | -0.85 | - | - | 2203 | - | 2.33 | 0.040 | 1976 | -605.6 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.91 | 14.80 | 14.92 |
| 608 | 88.3 | -13.5 | 109 | 614 | done | -0.85 | - | - | 2204 | - | - | - | 1975 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 677 | 96.8 | -12.0 | 122 | 683 | roll | -0.85 | - | - | 2204 | - | 2.42 | 0.067 | 3392 | 585.5 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.08 | 14.74 | 15.08 |
| 715 | 101.5 | -11.9 | 129 | 723 | done | -0.85 | - | - | 2203 | - | 2.33 | 0.039 | 1978 | -606.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.85 | 14.76 | 14.87 |
| 787 | 110.3 | -13.1 | 142 | 793 | done | -0.85 | - | - | 2202 | - | - | - | 1978 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 854 | 119.6 | -13.9 | 155 | 861 | roll | -0.85 | - | - | 2203 | - | 2.40 | 0.068 | 3387 | 587.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.08 | 14.61 | 15.08 |
| 898 | 126.0 | -13.7 | 163 | 905 | done | -0.85 | - | - | 2203 | - | 2.30 | 0.041 | 1983 | -610.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.92 | 14.78 | 14.93 |
| 967 | 135.1 | -13.2 | 176 | 974 | roll | -0.85 | - | - | 2200 | - | 2.42 | 0.069 | 3394 | 583.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.09 | 14.75 | 15.09 |
| 1056 | 147.6 | -13.9 | 193 | 1063 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.041 | 1988 | -603.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.85 | 14.73 | 14.87 |
| 1129 | 157.8 | -14.8 | 206 | 1136 | roll | -0.85 | - | - | 2200 | - | 2.40 | 0.069 | 3387 | 582.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.09 | 14.59 | 15.09 |
| 1158 | 161.9 | -14.2 | 211 | 1165 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.041 | 1980 | -603.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.92 | 14.80 | 14.94 |
| 1228 | 171.6 | -12.9 | 224 | 1234 | done | -0.85 | - | - | 2200 | - | - | - | 1980 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 1297 | 180.0 | -12.0 | 237 | 1305 | roll | -0.85 | - | - | 2200 | - | 2.42 | 0.068 | 3396 | 585.1 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.11 | 14.76 | 15.11 |
| 1368 | 189.6 | -13.5 | 250 | 1377 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.041 | 1981 | -607.3 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.94 |
| 1439 | 198.4 | -12.1 | 263 | 1445 | done | -0.85 | - | - | 2200 | - | - | - | 1981 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 1508 | 207.0 | -12.6 | 276 | 1515 | roll | -0.85 | - | - | 2200 | - | 2.42 | 0.070 | 3384 | 579.8 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.11 | 14.74 | 15.11 |
| 1602 | 218.3 | -13.2 | 294 | 1609 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.041 | 1987 | -607.4 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.94 |
| 1671 | 226.5 | -13.3 | 307 | 1678 | roll | -0.85 | - | - | 2197 | - | 2.42 | 0.071 | 3395 | 581.8 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.11 | 14.74 | 15.10 |
| 1762 | 237.8 | -11.4 | 324 | 1769 | done | -0.85 | 0.05 | 0.326 | 2208 | 220.0 | 2.33 | 0.041 | 1988 | -603.9 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.59 | 14.82 | 14.80 |
| 1832 | 244.6 | -10.2 | 337 | 1838 | done | -0.85 | - | - | 2208 | - | - | - | 1988 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.12 |
| 1901 | 251.4 | -9.3 | 350 | 1907 | done | -0.85 | - | - | 2208 | - | - | - | 1988 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.11 |
| 1969 | 258.1 | -9.9 | 363 | 1976 | roll | -0.85 | - | - | 2207 | - | 2.40 | 0.070 | 3386 | 582.5 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.11 | 14.76 | 15.13 |
| 1997 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 1997 | begin apogee | ||||||||||||||||||||||||||||
| 2003 | 261.3 | -10.7 | 368 | 2119 | done | -0.19 | 1.08 | 0.161 | 2421 | 198.1 | - | - | 1984 | - | - | 110.40 | 1.281 | 2813 | -5.4 | 0.200 | - | - | - | - | - | - | 14.59 | 14.40 | 13.88 |
| 2121 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2121 | begin climb | ||||||||||||||||||||||||||||
| 2122 | 265.5 | - | 388 | 2246 | roll | 0.85 | 1.55 | 0.088 | 2749 | 211.6 | 2.47 | 0.073 | 577 | -569.6 | 146.0 | 113.05 | 1.262 | 2215 | -5.3 | 0.202 | - | - | - | - | - | - | 14.43 | 14.28 | 13.78 |
| 2374 | 247.7 | 11.3 | 433 | 2381 | done | 0.85 | - | - | 2749 | - | 2.35 | 0.046 | 1988 | 600.4 | 146.0 | - | - | 2212 | - | - | - | - | - | - | - | - | 14.73 | 14.64 | 14.74 |
| 2445 | 240.3 | 9.6 | 446 | 2457 | done | 0.86 | - | - | 2749 | - | - | - | 1987 | - | 154.1 | 7.30 | 1.040 | 2182 | -4.1 | 0.173 | - | - | - | - | - | - | 14.90 | 14.67 | 14.02 |
| 2520 | 233.3 | 9.1 | 460 | 2545 | roll | 0.89 | - | - | 2749 | - | 2.40 | 0.069 | 3388 | 583.8 | 174.1 | 17.42 | 1.181 | 2099 | -4.8 | 0.171 | - | - | - | - | - | - | 14.95 | 14.57 | 14.04 |
| 2572 | 228.3 | 10.3 | 469 | 2579 | done | 0.89 | - | - | 2755 | - | 2.35 | 0.047 | 1989 | -595.3 | 174.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.78 |
| 2643 | 221.8 | 8.6 | 482 | 2674 | roll | 0.93 | 0.05 | 0.255 | 2792 | 740.0 | 2.47 | 0.068 | 3391 | 567.6 | 204.1 | 25.00 | 1.203 | 1977 | -4.9 | 0.164 | - | - | - | - | - | - | 14.66 | 14.59 | 14.05 |
| 2692 | 216.9 | 10.4 | 490 | 2699 | done | 0.93 | - | - | 2800 | - | 2.38 | 0.047 | 1978 | -593.7 | 204.1 | - | - | 1976 | - | - | - | - | - | - | - | - | 14.74 | 14.64 | 14.75 |
| 2761 | 209.2 | 11.2 | 503 | 2767 | done | 0.93 | - | - | 2800 | - | - | - | 1978 | - | 204.1 | - | - | 1975 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.92 |
| 2829 | 201.8 | 10.5 | 516 | 2836 | roll | 0.93 | - | - | 2800 | - | 2.45 | 0.069 | 3390 | 576.3 | 204.1 | - | - | 1973 | - | - | - | - | - | - | - | - | 14.97 | 14.64 | 14.98 |
| 2873 | 196.6 | 12.3 | 524 | 2880 | done | 0.93 | 0.08 | 0.308 | 2790 | -125.0 | 2.35 | 0.048 | 1986 | -597.4 | 204.1 | - | - | 1973 | - | - | - | - | - | - | - | - | 14.44 | 14.60 | 14.64 |
| 2942 | 188.4 | 11.9 | 537 | 2949 | done | 0.93 | - | - | 2790 | - | - | - | 1985 | - | 204.1 | - | - | 1973 | - | - | - | - | - | - | - | - | 15.00 | 15.00 | 15.00 |
| 3012 | 181.2 | 10.7 | 550 | 3018 | done | 0.93 | - | - | 2790 | - | - | - | 1985 | - | 204.1 | - | - | 1972 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 3079 | 174.2 | 9.5 | 563 | 3091 | done | 0.94 | - | - | 2790 | - | - | - | 1985 | - | 213.8 | 8.45 | 1.065 | 1939 | -3.9 | 0.116 | - | - | - | - | - | - | 15.02 | 14.78 | 14.14 |
| 3154 | 167.1 | 9.5 | 577 | 3167 | done | 0.95 | - | - | 2791 | - | - | - | 1986 | - | 224.0 | 9.52 | 1.082 | 1897 | -4.4 | 0.124 | - | - | - | - | - | - | 15.02 | 14.76 | 14.12 |
| 3230 | 160.2 | 8.8 | 591 | 3254 | done | 0.98 | - | - | 2790 | - | - | - | 1985 | - | 249.0 | 21.35 | 1.163 | 1795 | -4.8 | 0.120 | - | - | - | - | - | - | 15.00 | 14.69 | 14.11 |
| 3316 | 152.2 | 9.8 | 607 | 3323 | done | 0.99 | - | - | 2791 | - | - | - | 1986 | - | 253.3 | 4.45 | 0.849 | 1779 | -3.6 | 0.117 | - | - | - | - | - | - | 14.95 | 14.65 | 14.00 |
| 3386 | 145.3 | 9.0 | 620 | 3410 | done | 1.01 | - | - | 2790 | - | - | - | 1985 | - | 273.9 | 18.23 | 1.134 | 1693 | -4.7 | 0.110 | - | - | - | - | - | - | 14.97 | 14.50 | 14.05 |
| 3473 | 136.6 | 10.1 | 636 | 3479 | roll | 1.01 | - | - | 2790 | - | 2.42 | 0.066 | 3391 | 581.0 | 273.9 | - | - | 1692 | - | - | - | - | - | - | - | - | 14.92 | 14.57 | 14.92 |
| 3496 | 134.3 | 9.7 | 640 | 3511 | done | 1.02 | - | - | 2790 | - | 2.35 | 0.047 | 1985 | -598.3 | 280.4 | 6.57 | 0.972 | 1668 | -3.7 | 0.092 | - | - | - | - | - | - | 14.81 | 14.70 | 14.03 |
| 3573 | 125.1 | 12.2 | 654 | 3580 | roll | 1.02 | - | - | 2790 | - | 2.42 | 0.080 | 587 | -577.7 | 280.4 | - | - | 1667 | - | - | - | - | - | - | - | - | 14.95 | 14.61 | 14.95 |
| 3597 | 122.3 | 11.6 | 658 | 3604 | done | 1.02 | - | - | 2790 | - | 2.33 | 0.046 | 1990 | 602.1 | 280.4 | - | - | 1667 | - | - | - | - | - | - | - | - | 14.73 | 14.65 | 14.75 |
| 3666 | 113.4 | 13.4 | 671 | 3673 | roll | 1.02 | - | - | 2790 | - | 2.40 | 0.069 | 3395 | 585.4 | 280.4 | - | - | 1666 | - | - | - | - | - | - | - | - | 14.99 | 14.70 | 14.99 |
| 3695 | 108.9 | 14.7 | 676 | 3701 | done | 1.02 | - | - | 2790 | - | 2.35 | 0.049 | 1988 | -598.7 | 280.4 | - | - | 1666 | - | - | - | - | - | - | - | - | 14.85 | 14.74 | 14.87 |
| 3764 | 100.3 | 12.7 | 689 | 3771 | done | 1.02 | - | - | 2790 | - | - | - | 1988 | - | 280.4 | - | - | 1666 | - | - | - | - | - | - | - | - | 15.01 | 15.02 | 15.02 |
| 3833 | 92.2 | 11.2 | 702 | 3839 | done | 1.02 | - | - | 2790 | - | - | - | 1988 | - | 280.4 | - | - | 1665 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 3900 | 85.1 | 10.6 | 715 | 3906 | done | 1.02 | - | - | 2790 | - | - | - | 1988 | - | 280.4 | - | - | 1665 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.06 |
| 3968 | 76.7 | 12.2 | 728 | 3974 | roll | 1.02 | - | - | 2790 | - | 2.42 | 0.079 | 585 | -579.8 | 280.4 | - | - | 1665 | - | - | - | - | - | - | - | - | 15.04 | 14.59 | 15.04 |
| 3986 | 75.1 | 9.4 | 731 | 4006 | done | 1.04 | 0.05 | 0.260 | 2825 | 700.0 | 2.33 | 0.045 | 1996 | 605.6 | 293.8 | 11.90 | 1.025 | 1613 | -4.4 | 0.058 | - | - | - | - | - | - | 14.67 | 14.81 | 14.18 |
| 4069 | 64.9 | 12.2 | 746 | 4075 | done | 1.04 | - | - | 2826 | - | - | - | 1996 | - | 293.8 | - | - | 1612 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 4136 | 57.3 | 12.0 | 759 | 4143 | roll | 1.04 | - | - | 2832 | - | 2.45 | 0.076 | 579 | -578.4 | 293.8 | - | - | 1611 | - | - | - | - | - | - | - | - | 15.03 | 14.71 | 15.04 |
| 4190 | 50.8 | 11.0 | 769 | 4197 | done | 1.04 | - | - | 2832 | - | 2.33 | 0.045 | 1988 | 604.7 | 293.8 | - | - | 1611 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.90 |
| 4260 | 43.3 | 11.0 | 782 | 4266 | done | 1.04 | - | - | 2832 | - | - | - | 1988 | - | 293.8 | - | - | 1611 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.04 |
| 4327 | 35.2 | 11.6 | 795 | 4334 | roll | 1.04 | - | - | 2828 | - | 2.42 | 0.078 | 585 | -579.8 | 293.8 | - | - | 1610 | - | - | - | - | - | - | - | - | 15.05 | 14.59 | 15.05 |
| 4387 | 30.1 | 8.0 | 806 | 4428 | done | 1.09 | - | - | 2832 | - | 2.33 | 0.046 | 1993 | 604.3 | 336.3 | 34.33 | 1.025 | 1439 | -5.0 | 0.027 | - | - | - | - | - | - | 14.91 | 14.81 | 14.21 |
| 4491 | 21.2 | 9.9 | 825 | 4499 | roll | 1.09 | - | - | 2832 | - | 2.40 | 0.069 | 3393 | 583.3 | 338.4 | - | - | 1438 | - | - | - | - | - | - | - | - | 14.95 | 14.66 | 14.95 |
| 4576 | 12.6 | 10.7 | 841 | 4583 | done | 1.09 | - | - | 2832 | - | 2.38 | 0.047 | 1985 | -591.6 | 338.4 | - | - | 1437 | - | - | - | - | - | - | - | - | 14.83 | 14.73 | 14.85 |
| 4646 | 5.2 | 11.5 | 854 | 4652 | done | 1.09 | - | - | 2832 | - | - | - | 1982 | - | 338.4 | - | - | 1437 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 4668 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4668 | begin surface coast | ||||||||||||||||||||||||||||
| 4693 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4693 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.57 | - | - | - | - | -7.28 | 12.60 | 0.055 | 142 | 11.3 | - | - | 1984 | - | 532.78 | 114.57 | 0.802 | 637 | 5.6 | -0.000 | - | - | - | - | - | - | |||