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| • Previous call tries 1 | • 36.91 of 310.00 AH used of 24V (88.09% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -71.1 deg, depth 1.15 m | • Intended pitch -22.3 deg, speed -9.980 cm/s | |
| • VBD pumped to 290.19 (SM_CC=290) | • surface range 19.1 m at 19.9 m depth, ceiling 0.8 m | |
| • GPS1 time: 20 s | • bottom range 44.3 m at 190.2 m, depth 234 m (500 m grid) | |
| • GPS2 time: 19 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 | |||||
| 16 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16 | begin dive | ||||||||||||||||||||||||||||
| 18 | - | - | - | 76 | VBD | -0.95 | - | - | 73 | - | - | - | 2133 | - | -98.1 | -56.22 | - | 3018 | - | - | - | - | - | - | - | - | 15.04 | - | 15.05 |
| 77 | 3.7 | -9.1 | 10 | 100 | roll | -0.96 | 11.77 | 0.282 | 2172 | 178.3 | 2.35 | 0.083 | 711 | -605.1 | -111.0 | -4.47 | - | 3268 | -55.9 | - | - | - | - | - | - | - | 14.72 | 14.00 | 14.85 |
| 149 | 25.8 | -23.1 | 24 | 156 | done | -0.96 | - | - | 2163 | - | 2.38 | 0.048 | 2133 | 597.5 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.93 | 14.90 | 14.96 |
| 215 | 39.8 | -22.2 | 37 | 217 | done | -0.96 | 0.05 | 0.383 | 2172 | 180.0 | - | - | 2133 | - | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.78 | 14.96 | 14.93 |
| 275 | 53.1 | -21.2 | 49 | 276 | done | -0.96 | - | - | 2172 | - | - | - | 2133 | - | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.13 | 15.14 | 15.13 |
| 335 | 65.2 | -21.3 | 61 | 342 | roll | -0.96 | - | - | 2163 | - | 2.40 | 0.070 | 3531 | 582.5 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.14 | 14.95 | 15.15 |
| 381 | 75.0 | -21.2 | 70 | 388 | done | -0.96 | 0.03 | 0.344 | 2169 | 200.0 | 2.33 | 0.040 | 2114 | -608.2 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.82 | 14.97 | 14.95 |
| 448 | 88.2 | -19.1 | 83 | 454 | done | -0.96 | - | - | 2169 | - | - | - | 2114 | - | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.18 |
| 513 | 100.9 | -18.8 | 96 | 519 | roll | -0.96 | - | - | 2169 | - | 2.30 | 0.064 | 723 | -604.8 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.16 | 14.94 | 15.16 |
| 543 | 106.6 | -18.0 | 102 | 550 | done | -0.96 | 0.05 | 0.287 | 2171 | - | 2.33 | 0.048 | 2128 | 603.0 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 14.83 | 14.95 | 14.96 |
| 609 | 117.1 | -16.4 | 115 | 616 | roll | -0.96 | - | - | 2162 | - | 2.40 | 0.071 | 3538 | 587.5 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 640 | 122.2 | -16.1 | 121 | 648 | done | -0.96 | 0.05 | 0.254 | 2174 | 240.0 | 2.30 | 0.038 | 2137 | -609.1 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 14.88 | 15.01 | 14.99 |
| 707 | 132.4 | -15.6 | 134 | 713 | roll | -0.96 | - | - | 2174 | - | 2.38 | 0.064 | 726 | -592.9 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 727 | 136.1 | -17.5 | 138 | 734 | done | -0.96 | - | - | 2165 | - | 2.33 | 0.047 | 2133 | 603.9 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.00 | 14.95 | 15.01 |
| 794 | 146.4 | -16.4 | 151 | 800 | roll | -0.96 | - | - | 2155 | - | 2.35 | 0.071 | 3538 | 597.9 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 820 | 150.5 | -16.7 | 156 | 826 | done | -0.96 | 0.10 | 0.248 | 2176 | 210.0 | 2.28 | 0.037 | 2120 | -621.9 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.93 | 15.03 | 15.06 |
| 887 | 160.4 | -15.0 | 169 | 892 | done | -0.96 | - | - | 2176 | - | - | - | 2120 | - | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.17 |
| 952 | 170.2 | -15.0 | 182 | 957 | done | -0.96 | - | - | 2176 | - | - | - | 2119 | - | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.17 |
| 1016 | 179.3 | -13.6 | 195 | 1017 | done | -0.96 | - | - | 2176 | - | - | - | 2119 | - | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1076 | 187.4 | -13.0 | 207 | 1083 | roll | -0.96 | - | - | 2167 | - | 2.38 | 0.070 | 3538 | 596.2 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.21 |
| 1100 | 190.2 | -13.0 | 211 | 1106 | done | -0.96 | - | - | 2167 | - | 2.28 | 0.037 | 2127 | -618.9 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.12 | 15.04 | 15.13 |
| 1165 | 199.7 | -14.4 | 224 | 1171 | roll | -0.96 | - | - | 2168 | - | 2.30 | 0.066 | 728 | -608.3 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.21 |
| 1190 | 203.5 | -14.3 | 229 | 1197 | done | -0.96 | 0.08 | 0.245 | 2173 | 62.5 | 2.30 | 0.047 | 2129 | 609.1 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 14.91 | 15.02 | 15.02 |
| 1256 | 212.5 | -13.1 | 242 | 1263 | roll | -0.96 | - | - | 2163 | - | 2.40 | 0.071 | 3543 | 589.2 | -111.0 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1312 | 220.6 | -14.5 | 253 | 1319 | done | -0.96 | 0.03 | 0.336 | 2170 | 233.3 | 2.33 | 0.038 | 2122 | -609.9 | -111.0 | - | - | 3270 | - | - | - | - | - | - | - | - | 14.88 | 15.04 | 15.00 |
| 1337 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 1337 | begin apogee | ||||||||||||||||||||||||||||
| 1341 | 224.6 | -15.7 | 258 | 1429 | done | -0.19 | 1.23 | 0.164 | 2421 | 204.1 | - | - | 1891 | - | - | 81.80 | 1.229 | 2811 | -5.6 | 0.180 | - | - | - | - | - | - | 14.95 | 14.66 | 14.16 |
| 1430 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 1430 | begin climb | ||||||||||||||||||||||||||||
| 1431 | 228.5 | - | 274 | 1525 | roll | 0.96 | 1.70 | 0.090 | 2794 | 219.4 | 2.38 | 0.070 | 524 | -574.4 | 111.0 | 82.18 | 1.218 | 2358 | -5.5 | 0.181 | - | - | - | - | - | - | 14.64 | 14.45 | 14.02 |
| 1564 | 227.0 | 6.0 | 298 | 1615 | done | 1.04 | - | - | 2794 | - | 2.33 | 0.041 | 1924 | 600.9 | 170.0 | 45.42 | 1.195 | 2117 | -5.3 | 0.177 | - | - | - | - | - | - | 14.69 | 14.66 | 14.06 |
| 1674 | 216.9 | 11.6 | 319 | 1680 | roll | 1.04 | - | - | 2794 | - | 2.38 | 0.063 | 3331 | 591.2 | 170.0 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.88 | 14.66 | 14.88 |
| 1759 | 206.9 | 11.9 | 336 | 1767 | done | 1.04 | - | - | 2804 | - | 2.35 | 0.042 | 1927 | -597.4 | 170.0 | - | - | 2112 | - | - | - | - | - | - | - | - | 14.85 | 14.81 | 14.86 |
| 1826 | 199.1 | 11.5 | 349 | 1832 | done | 1.04 | - | - | 2804 | - | - | - | 1927 | - | 170.0 | - | - | 2111 | - | - | - | - | - | - | - | - | 15.05 | 15.05 | 15.05 |
| 1891 | 191.9 | 10.9 | 362 | 1897 | roll | 1.04 | - | - | 2804 | - | 2.42 | 0.073 | 513 | -584.3 | 170.0 | - | - | 2110 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.07 |
| 1922 | 189.0 | 9.5 | 368 | 1934 | done | 1.04 | - | - | 2804 | - | 2.30 | 0.042 | 1914 | 609.1 | 177.0 | 5.97 | 0.881 | 2089 | -3.5 | 0.132 | - | - | - | - | - | - | 14.90 | 14.87 | 14.37 |
| 1993 | 180.4 | 11.7 | 382 | 2000 | roll | 1.04 | - | - | 2804 | - | 2.38 | 0.063 | 3306 | 584.9 | 177.0 | - | - | 2089 | - | - | - | - | - | - | - | - | 15.10 | 14.88 | 15.10 |
| 2054 | 173.0 | 11.9 | 394 | 2061 | done | 1.04 | - | - | 2808 | - | 2.33 | 0.044 | 1910 | -599.1 | 177.0 | - | - | 2088 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 14.99 |
| 2120 | 166.2 | 9.5 | 407 | 2132 | done | 1.05 | - | - | 2808 | - | - | - | 1910 | - | 183.8 | 7.15 | 0.939 | 2060 | -3.9 | 0.121 | - | - | - | - | - | - | 15.12 | 14.82 | 14.38 |
| 2192 | 159.4 | 9.8 | 421 | 2198 | done | 1.06 | - | - | 2808 | - | - | - | 1910 | - | 186.2 | - | - | 2059 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.12 |
| 2257 | 153.1 | 9.8 | 434 | 2264 | done | 1.06 | - | - | 2807 | - | - | - | 1910 | - | 188.6 | 5.10 | 0.810 | 2042 | -3.3 | 0.110 | - | - | - | - | - | - | 15.14 | 14.95 | 14.42 |
| 2324 | 146.3 | 9.8 | 447 | 2330 | roll | 1.06 | - | - | 2808 | - | 2.35 | 0.074 | 504 | -598.3 | 191.0 | - | - | 2041 | - | - | - | - | - | - | - | - | 15.14 | 14.93 | 15.14 |
| 2343 | 144.1 | 11.3 | 451 | 2350 | done | 1.06 | - | - | 2808 | - | 2.30 | 0.042 | 1908 | 610.4 | 191.0 | - | - | 2040 | - | - | - | - | - | - | - | - | 15.00 | 14.95 | 15.02 |
| 2410 | 137.4 | 10.3 | 464 | 2416 | roll | 1.06 | - | - | 2808 | - | 2.35 | 0.063 | 3320 | 600.9 | 191.0 | - | - | 2041 | - | - | - | - | - | - | - | - | 15.14 | 14.95 | 15.14 |
| 2465 | 131.5 | 10.2 | 475 | 2472 | done | 1.06 | - | - | 2808 | - | 2.35 | 0.045 | 1903 | -603.0 | 191.0 | - | - | 2041 | - | - | - | - | - | - | - | - | 15.02 | 14.97 | 15.03 |
| 2532 | 125.5 | 8.8 | 488 | 2555 | roll | 1.08 | - | - | 2808 | - | 2.35 | 0.073 | 505 | -594.9 | 209.1 | 17.55 | 1.109 | 1957 | -4.8 | 0.095 | - | - | - | - | - | - | 15.17 | 14.79 | 14.39 |
| 2599 | 119.4 | 9.1 | 501 | 2617 | done | 1.10 | 0.05 | 0.161 | 2850 | 840.0 | 2.33 | 0.041 | 1932 | 612.4 | 221.9 | 11.20 | 1.012 | 1906 | -4.6 | 0.094 | - | - | - | - | - | - | 14.85 | 14.94 | 14.39 |
| 2677 | 111.2 | 11.3 | 516 | 2683 | roll | 1.10 | - | - | 2850 | - | 2.33 | 0.065 | 3289 | 582.4 | 221.9 | - | - | 1904 | - | - | - | - | - | - | - | - | 15.09 | 14.84 | 15.09 |
| 2722 | 105.6 | 12.2 | 525 | 2729 | done | 1.10 | 0.05 | 0.287 | 2846 | -80.0 | 2.30 | 0.044 | 1908 | -600.4 | 221.9 | - | - | 1903 | - | - | - | - | - | - | - | - | 14.78 | 14.88 | 14.89 |
| 2789 | 98.1 | 11.0 | 538 | 2794 | done | 1.10 | - | - | 2846 | - | - | - | 1907 | - | 221.9 | - | - | 1903 | - | - | - | - | - | - | - | - | 15.13 | 15.13 | 15.13 |
| 2853 | 91.4 | 10.3 | 551 | 2854 | done | 1.10 | - | - | 2846 | - | - | - | 1907 | - | 221.9 | - | - | 1903 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.15 |
| 2913 | 85.8 | 8.7 | 563 | 2937 | roll | 1.12 | - | - | 2855 | - | 2.35 | 0.074 | 498 | -599.6 | 241.2 | 16.45 | 1.038 | 1826 | -4.7 | 0.068 | - | - | - | - | - | - | 15.16 | 14.87 | 14.41 |
| 2946 | 82.7 | 9.6 | 569 | 2958 | done | 1.13 | - | - | 2855 | - | 2.30 | 0.042 | 1898 | 608.7 | 246.4 | 5.62 | 0.881 | 1805 | -3.7 | 0.061 | - | - | - | - | - | - | 14.90 | 14.88 | 14.38 |
| 3018 | 75.4 | 11.5 | 583 | 3023 | done | 1.13 | - | - | 2855 | - | - | - | 1898 | - | 246.4 | - | - | 1802 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 3082 | 68.2 | 10.9 | 596 | 3089 | roll | 1.13 | - | - | 2864 | - | 2.40 | 0.073 | 509 | -578.8 | 246.4 | - | - | 1802 | - | - | - | - | - | - | - | - | 15.13 | 14.88 | 15.13 |
| 3093 | 66.9 | 11.4 | 598 | 3100 | done | 1.13 | - | - | 2866 | - | 2.30 | 0.044 | 1904 | 606.5 | 246.4 | - | - | 1802 | - | - | - | - | - | - | - | - | 14.95 | 14.92 | 14.97 |
| 3160 | 59.1 | 11.2 | 611 | 3166 | roll | 1.13 | - | - | 2866 | - | 2.35 | 0.064 | 3313 | 599.6 | 246.4 | - | - | 1802 | - | - | - | - | - | - | - | - | 15.13 | 14.94 | 15.13 |
| 3220 | 51.8 | 12.5 | 623 | 3227 | done | 1.13 | 0.05 | 0.285 | 2862 | -80.0 | 2.33 | 0.044 | 1915 | -600.0 | 246.4 | - | - | 1801 | - | - | - | - | - | - | - | - | 14.84 | 14.97 | 14.95 |
| 3287 | 44.3 | 10.9 | 636 | 3293 | roll | 1.13 | - | - | 2871 | - | 2.38 | 0.073 | 507 | -591.6 | 246.4 | - | - | 1801 | - | - | - | - | - | - | - | - | 15.16 | 14.92 | 15.16 |
| 3302 | 42.9 | 9.0 | 639 | 3320 | done | 1.15 | - | - | 2871 | - | 2.30 | 0.042 | 1917 | 613.0 | 261.3 | 13.07 | 0.960 | 1744 | -4.4 | 0.034 | - | - | - | - | - | - | 15.00 | 14.96 | 14.45 |
| 3380 | 34.4 | 11.1 | 654 | 3385 | done | 1.15 | - | - | 2871 | - | - | - | 1917 | - | 261.3 | - | - | 1742 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 3445 | 27.1 | 10.9 | 667 | 3451 | roll | 1.15 | - | - | 2882 | - | 2.42 | 0.073 | 507 | -582.6 | 261.3 | - | - | 1741 | - | - | - | - | - | - | - | - | 15.13 | 14.92 | 15.14 |
| 3495 | 21.4 | 11.4 | 677 | 3502 | done | 1.15 | 0.08 | 0.226 | 2866 | -200.0 | 2.30 | 0.044 | 1914 | 611.7 | 261.3 | - | - | 1741 | - | - | - | - | - | - | - | - | 14.87 | 14.96 | 14.96 |
| 3561 | 15.4 | 9.2 | 690 | 3574 | roll | 1.16 | - | - | 2866 | - | 2.30 | 0.063 | 3301 | 603.0 | 272.7 | 6.32 | 0.790 | 1699 | -6.6 | 0.023 | - | - | - | - | - | - | 15.16 | 14.92 | 14.51 |
| 3598 | 11.6 | 10.2 | 697 | 3605 | done | 1.16 | - | - | 2874 | - | 2.33 | 0.044 | 1908 | -597.9 | 272.7 | - | - | 1698 | - | - | - | - | - | - | - | - | 14.97 | 14.93 | 14.97 |
| 3665 | 5.1 | 9.9 | 710 | 3671 | roll | 1.16 | - | - | 2884 | - | 2.35 | 0.075 | 509 | -595.3 | 273.6 | - | - | 1697 | - | - | - | - | - | - | - | - | 15.14 | 14.95 | 15.15 |
| 3683 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 3683 | begin surface coast | ||||||||||||||||||||||||||||
| 3709 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3709 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.94 | - | - | - | - | -7.26 | 12.43 | 0.041 | 146 | 11.7 | 2.67 | 0.045 | 2127 | -930.7 | 290.19 | 8.57 | 0.116 | 1629 | 190.1 | -0.492 | - | - | - | - | - | - | |||