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| • Previous call tries 3 | • 60.29 of 310.00 AH used of 24V (80.55% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.0 deg, depth 0.78 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 35 s | • bottom range 31.9 m at 362.5 m, depth 394 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 10 | |
| • 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 | - | - | - | 112 | VBD | -0.88 | - | - | 53 | - | - | - | 1808 | - | -92.5 | -89.53 | - | 2996 | - | - | - | - | - | - | - | - | 15.08 | - | 15.09 |
| 115 | 3.9 | -8.1 | 15 | 136 | roll | -0.88 | 14.00 | 0.301 | 2458 | 171.8 | 2.38 | 0.068 | 3221 | 593.7 | -92.5 | -1.42 | - | 3079 | -58.5 | - | - | - | - | - | - | - | 14.72 | 13.93 | 14.93 |
| 334 | 56.3 | -20.0 | 57 | 342 | done | -0.88 | 0.05 | 0.321 | 2469 | 220.0 | 2.35 | 0.046 | 1803 | -603.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.79 | 14.90 | 14.94 |
| 406 | 70.7 | -20.1 | 70 | 412 | roll | -0.88 | - | - | 2461 | - | 2.38 | 0.053 | 3226 | 597.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.15 | 14.92 | 15.16 |
| 526 | 84.9 | -6.0 | 93 | 535 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.044 | 1810 | -607.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
| 599 | 90.2 | -8.8 | 106 | 606 | done | -0.88 | 0.05 | 0.339 | 2471 | 200.0 | - | - | 1810 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.87 | 15.03 | 15.01 |
| 669 | 96.6 | -9.7 | 119 | 674 | done | -0.88 | - | - | 2469 | - | - | - | 1810 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 738 | 103.7 | -9.6 | 132 | 745 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.055 | 3223 | 601.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 793 | 110.0 | -12.3 | 142 | 800 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.044 | 1806 | -608.2 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.08 | 14.99 | 15.09 |
| 863 | 119.8 | -15.3 | 155 | 870 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.063 | 402 | -597.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 912 | 129.3 | -20.5 | 164 | 923 | done | -0.88 | 0.08 | 0.298 | 2467 | 50.0 | 2.30 | 0.037 | 1824 | 618.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.89 | 15.01 | 15.04 |
| 985 | 142.5 | -17.5 | 177 | 993 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.054 | 3222 | 607.8 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 1030 | 150.3 | -18.2 | 185 | 1037 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.044 | 1811 | -605.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.03 | 14.95 | 15.04 |
| 1101 | 163.2 | -17.5 | 198 | 1107 | done | -0.88 | - | - | 2463 | - | - | - | 1811 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.20 |
| 1169 | 176.4 | -19.5 | 211 | 1176 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.064 | 409 | -596.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.20 |
| 1203 | 183.1 | -18.1 | 217 | 1211 | done | -0.88 | 0.08 | 0.288 | 2470 | 87.5 | 2.28 | 0.037 | 1815 | 616.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.02 | 15.04 |
| 1273 | 194.9 | -15.8 | 230 | 1280 | done | -0.88 | - | - | 2471 | - | - | - | 1818 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 1343 | 205.6 | -15.8 | 243 | 1349 | done | -0.88 | - | - | 2471 | - | - | - | 1818 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 1414 | 216.4 | -14.3 | 256 | 1420 | roll | -0.88 | - | - | 2461 | - | 2.30 | 0.054 | 3215 | 607.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 14.94 | 15.23 |
| 1502 | 228.6 | -12.8 | 273 | 1509 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.045 | 1812 | -610.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.11 |
| 1573 | 238.1 | -14.6 | 286 | 1578 | done | -0.88 | - | - | 2463 | - | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1640 | 248.6 | -15.4 | 299 | 1646 | done | -0.88 | - | - | 2463 | - | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1710 | 259.5 | -15.8 | 312 | 1716 | done | -0.88 | - | - | 2463 | - | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1780 | 270.3 | -15.3 | 325 | 1786 | done | -0.88 | - | - | 2463 | - | - | - | 1812 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.23 |
| 1851 | 280.5 | -14.3 | 338 | 1858 | roll | -0.88 | - | - | 2456 | - | 2.33 | 0.055 | 3210 | 600.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 1887 | 285.6 | -14.0 | 344 | 1894 | done | -0.88 | 0.08 | 0.268 | 2472 | 200.0 | 2.30 | 0.047 | 1815 | -606.5 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.93 | 15.03 | 15.07 |
| 1958 | 294.5 | -11.7 | 357 | 1967 | done | -0.88 | - | - | 2473 | - | - | - | 1814 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 2045 | 305.0 | -12.0 | 367 | 2050 | roll | -0.88 | - | - | 2471 | - | 2.33 | 0.057 | 3211 | 599.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 15.03 | 15.26 |
| 2107 | 312.9 | -12.5 | 370 | 2113 | done | -0.88 | - | - | 2471 | - | 2.33 | 0.049 | 1810 | -601.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 2251 | 332.5 | -13.9 | 377 | 2252 | done | -0.88 | - | - | 2471 | - | - | - | 1809 | - | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2370 | 347.6 | -12.5 | 383 | 2375 | roll | -0.88 | - | - | 2471 | - | 2.38 | 0.067 | 398 | -592.9 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.05 | 15.28 |
| 2392 | 350.8 | -13.2 | 384 | 2398 | done | -0.88 | - | - | 2468 | - | 2.30 | 0.039 | 1807 | 612.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.16 | 15.08 | 15.19 |
| 2537 | 371.1 | -14.2 | 391 | 2538 | done | -0.88 | - | - | 2467 | - | - | - | 1810 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.29 |
| 2634 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2634 | begin apogee | ||||||||||||||||||||||||||||
| 2638 | 385.0 | -14.0 | 396 | 2718 | done | -0.17 | 1.20 | 0.175 | 2701 | 195.0 | - | - | 1812 | - | - | 70.68 | 1.252 | 2699 | -5.3 | 0.287 | - | - | - | - | - | - | 14.97 | 14.70 | 14.19 |
| 2719 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2719 | begin climb | ||||||||||||||||||||||||||||
| 2721 | 388.1 | - | 400 | 2805 | roll | 0.88 | 1.50 | 0.076 | 3033 | 221.3 | 2.50 | 0.067 | 398 | -565.6 | 92.5 | 75.78 | 1.249 | 2323 | -5.0 | 0.271 | - | - | - | - | - | - | 14.69 | 14.39 | 13.97 |
| 2958 | 372.8 | 10.6 | 412 | 2963 | done | 0.88 | - | - | 3032 | - | 2.33 | 0.040 | 1806 | 604.3 | 92.5 | - | - | 2316 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.90 |
| 3101 | 359.4 | 8.3 | 419 | 3126 | roll | 0.91 | - | - | 3033 | - | 2.50 | 0.070 | 391 | -566.0 | 116.2 | 19.58 | 1.165 | 2224 | -4.7 | 0.255 | - | - | - | - | - | - | 15.09 | 14.77 | 14.20 |
| 3153 | 355.0 | 9.0 | 421 | 3173 | done | 0.93 | - | - | 3033 | - | 2.33 | 0.040 | 1806 | 607.3 | 129.6 | 12.62 | 1.087 | 2169 | -4.4 | 0.251 | - | - | - | - | - | - | 14.91 | 14.83 | 14.23 |
| 3305 | 335.8 | 11.7 | 429 | 3306 | done | 0.93 | - | - | 3033 | - | - | - | 1806 | - | 129.6 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
| 3425 | 322.3 | 11.0 | 435 | 3431 | roll | 0.93 | - | - | 3037 | - | 2.42 | 0.073 | 397 | -582.2 | 129.6 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
| 3497 | 314.5 | 12.1 | 438 | 3502 | done | 0.93 | - | - | 3037 | - | 2.30 | 0.041 | 1806 | 612.6 | 129.6 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.05 | 14.97 | 15.06 |
| 3629 | 298.3 | 11.1 | 445 | 3635 | roll | 0.93 | - | - | 3037 | - | 2.30 | 0.056 | 3209 | 610.0 | 129.6 | - | - | 2163 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 3692 | 290.1 | 12.8 | 457 | 3699 | done | 0.93 | - | - | 3040 | - | 2.35 | 0.057 | 1806 | -597.0 | 129.6 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.08 | 14.98 | 15.13 |
| 3761 | 281.1 | 12.9 | 470 | 3767 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2162 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.21 |
| 3829 | 272.8 | 10.5 | 483 | 3835 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2162 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 3898 | 264.5 | 13.0 | 496 | 3904 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2162 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 3965 | 255.8 | 12.2 | 509 | 3971 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2162 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4033 | 247.8 | 11.6 | 522 | 4038 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2162 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4101 | 240.3 | 10.9 | 535 | 4107 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2161 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 4170 | 233.1 | 10.5 | 548 | 4175 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2159 | - | - | - | - | - | - | - | - | 15.20 | 15.23 | 15.23 |
| 4237 | 226.2 | 10.6 | 561 | 4242 | done | 0.93 | - | - | 3040 | - | - | - | 1805 | - | 129.6 | - | - | 2161 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4304 | 218.5 | 11.4 | 574 | 4311 | roll | 0.93 | - | - | 3040 | - | 2.33 | 0.054 | 3209 | 602.6 | 129.6 | - | - | 2160 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.22 |
| 4343 | 213.9 | 11.9 | 581 | 4349 | done | 0.93 | - | - | 3040 | - | 2.38 | 0.054 | 1789 | -596.6 | 129.6 | - | - | 2160 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.11 |
| 4412 | 205.3 | 12.9 | 594 | 4419 | roll | 0.93 | - | - | 3040 | - | 2.35 | 0.054 | 3207 | 603.4 | 129.6 | - | - | 2159 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.22 |
| 4491 | 194.7 | 12.6 | 609 | 4497 | done | 0.93 | - | - | 3043 | - | 2.35 | 0.054 | 1802 | -597.9 | 129.6 | - | - | 2159 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.12 |
| 4560 | 185.0 | 13.6 | 622 | 4566 | done | 0.93 | - | - | 3042 | - | - | - | 1802 | - | 129.6 | - | - | 2158 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4628 | 176.0 | 12.8 | 635 | 4635 | roll | 0.93 | - | - | 3044 | - | 2.40 | 0.076 | 395 | -586.2 | 129.6 | - | - | 2158 | - | - | - | - | - | - | - | - | 15.21 | 14.92 | 15.21 |
| 4753 | 161.0 | 10.7 | 659 | 4761 | done | 0.93 | - | - | 3044 | - | 2.30 | 0.041 | 1806 | 613.5 | 129.6 | - | - | 2158 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
| 4824 | 154.2 | 10.5 | 672 | 4830 | done | 0.93 | - | - | 3044 | - | - | - | 1807 | - | 129.6 | - | - | 2158 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.20 |
| 4891 | 148.0 | 9.2 | 685 | 4905 | roll | 0.94 | - | - | 3044 | - | 2.35 | 0.054 | 3199 | 592.3 | 140.1 | 8.18 | 0.872 | 2126 | -3.9 | 0.117 | - | - | - | - | - | - | 15.20 | 14.95 | 14.45 |
| 4953 | 142.2 | 9.4 | 696 | 4966 | done | 0.95 | - | - | 3047 | - | 2.35 | 0.054 | 1798 | -596.2 | 148.4 | 8.30 | 0.866 | 2093 | -4.0 | 0.115 | - | - | - | - | - | - | 15.00 | 14.90 | 14.43 |
| 5028 | 133.7 | 11.0 | 710 | 5034 | roll | 0.95 | - | - | 3047 | - | 2.42 | 0.074 | 387 | -583.1 | 148.4 | - | - | 2091 | - | - | - | - | - | - | - | - | 15.13 | 14.86 | 15.13 |
| 5076 | 127.8 | 13.7 | 719 | 5083 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.041 | 1799 | 606.0 | 148.4 | - | - | 2093 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.04 |
| 5147 | 116.5 | 15.8 | 732 | 5153 | roll | 0.95 | - | - | 3046 | - | 2.33 | 0.054 | 3202 | 602.1 | 148.4 | - | - | 2091 | - | - | - | - | - | - | - | - | 15.15 | 14.95 | 15.15 |
| 5180 | 111.0 | 15.5 | 738 | 5187 | done | 0.95 | - | - | 3047 | - | 2.38 | 0.054 | 1792 | -592.4 | 148.4 | - | - | 2091 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.05 |
| 5249 | 100.7 | 14.6 | 751 | 5256 | roll | 0.95 | - | - | 3047 | - | 2.42 | 0.073 | 385 | -581.4 | 148.4 | - | - | 2091 | - | - | - | - | - | - | - | - | 15.16 | 14.89 | 15.16 |
| 5268 | 97.7 | 14.7 | 754 | 5275 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.039 | 1806 | 609.9 | 148.4 | - | - | 2090 | - | - | - | - | - | - | - | - | 14.99 | 14.91 | 15.00 |
| 5338 | 86.6 | 17.1 | 767 | 5344 | done | 0.95 | - | - | 3047 | - | - | - | 1809 | - | 148.4 | - | - | 2090 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 5407 | 76.5 | 14.2 | 780 | 5413 | roll | 0.95 | - | - | 3047 | - | 2.30 | 0.053 | 3201 | 605.2 | 148.4 | - | - | 2090 | - | - | - | - | - | - | - | - | 15.17 | 14.96 | 15.17 |
| 5626 | 51.8 | 9.6 | 823 | 5640 | done | 0.95 | - | - | 3050 | - | 2.35 | 0.054 | 1798 | -597.0 | 153.0 | 5.10 | 0.669 | 2075 | -2.9 | 0.040 | - | - | - | - | - | - | 15.07 | 14.97 | 14.49 |
| 5702 | 44.3 | 9.2 | 837 | 5714 | done | 0.97 | - | - | 3050 | - | - | - | 1799 | - | 163.9 | 9.65 | 0.816 | 2030 | -4.7 | 0.045 | - | - | - | - | - | - | 15.16 | 14.92 | 14.38 |
| 5777 | 40.6 | 3.2 | 851 | 5860 | roll | 1.08 | 0.15 | 0.137 | 3099 | 326.7 | 2.38 | 0.050 | 3206 | 591.2 | 257.9 | 73.75 | 0.894 | 1647 | -5.2 | 0.042 | - | - | - | - | - | - | 14.90 | 14.65 | 14.29 |
| 6077 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6077 | begin surface coast | ||||||||||||||||||||||||||||
| 6093 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6093 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.83 | - | - | - | - | -8.18 | 14.07 | 0.060 | 126 | 8.9 | 2.40 | 0.052 | 1810 | -3620.8 | 515.37 | 164.62 | 0.803 | 598 | 3.6 | -0.000 | - | - | - | - | - | - | |||