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| • Previous call tries 1 | • 116.65 of 310.00 AH used of 24V (62.37% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -60.4 deg, depth 0.66 m | • Intended pitch -18.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 542.59 (SM_CC=542.59473) | • surface range 19.4 m at 19.7 m depth, ceiling 0.3 m | |
| • GPS1 time: 25 s | • bottom range 6.8 m at 280.5 m, depth 287 m (1000 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 | |||||
| 18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 20 | - | - | - | 116 | VBD | -0.86 | - | - | 72 | - | - | - | 2036 | - | -146.0 | -93.38 | - | 3154 | - | - | - | - | - | - | - | - | 14.95 | - | 14.96 |
| 119 | 3.1 | -7.0 | 17 | 144 | roll | -0.86 | 12.80 | 0.316 | 2205 | 166.6 | 2.42 | 0.081 | 609 | -589.7 | -146.0 | -4.38 | - | 3407 | -57.8 | - | - | - | - | - | - | - | 14.34 | 13.69 | 14.68 |
| 231 | 32.6 | -18.8 | 38 | 238 | done | -0.86 | - | - | 2204 | - | 2.33 | 0.046 | 2008 | 600.4 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 14.85 | 14.74 | 14.87 |
| 301 | 44.7 | -18.5 | 51 | 308 | roll | -0.86 | - | - | 2204 | - | 2.42 | 0.068 | 3416 | 581.8 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.02 | 14.71 | 15.02 |
| 320 | 48.3 | -18.8 | 54 | 326 | done | -0.86 | - | - | 2204 | - | 2.33 | 0.037 | 2012 | -602.6 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.76 |
| 388 | 60.2 | -19.2 | 67 | 395 | roll | -0.86 | - | - | 2204 | - | 2.38 | 0.067 | 610 | -589.1 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.04 | 14.72 | 15.04 |
| 422 | 66.6 | -18.4 | 73 | 429 | done | -0.86 | - | - | 2203 | - | 2.33 | 0.045 | 2016 | 603.4 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.91 | 14.78 | 14.90 |
| 492 | 75.1 | -12.3 | 86 | 498 | roll | -0.86 | - | - | 2203 | - | 2.40 | 0.070 | 3415 | 582.9 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.05 | 14.73 | 15.05 |
| 525 | 79.4 | -12.1 | 92 | 532 | done | -0.86 | - | - | 2202 | - | 2.33 | 0.037 | 2003 | -606.0 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.85 | 14.74 | 14.85 |
| 595 | 87.5 | -12.9 | 105 | 601 | roll | -0.86 | - | - | 2202 | - | 2.45 | 0.068 | 3412 | 575.1 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.06 | 14.66 | 15.06 |
| 643 | 94.0 | -12.3 | 114 | 650 | done | -0.86 | - | - | 2202 | - | 2.30 | 0.037 | 2010 | -609.6 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.91 | 14.80 | 14.92 |
| 713 | 102.7 | -12.6 | 127 | 719 | roll | -0.86 | - | - | 2202 | - | 2.38 | 0.067 | 604 | -590.8 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.07 | 14.74 | 15.07 |
| 741 | 106.7 | -14.8 | 132 | 748 | done | -0.86 | - | - | 2201 | - | 2.33 | 0.044 | 2016 | 606.0 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.93 |
| 812 | 116.3 | -13.5 | 145 | 819 | roll | -0.86 | - | - | 2196 | - | 2.40 | 0.070 | 3413 | 582.1 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.07 | 14.74 | 15.08 |
| 901 | 127.6 | -12.4 | 162 | 908 | done | -0.86 | 0.05 | 0.330 | 2207 | 220.0 | 2.33 | 0.037 | 2005 | -604.3 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.58 | 14.82 | 14.81 |
| 970 | 136.6 | -13.5 | 175 | 975 | done | -0.86 | - | - | 2207 | - | - | - | 2004 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 1038 | 145.3 | -12.5 | 188 | 1044 | done | -0.86 | - | - | 2207 | - | - | - | 2004 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 1106 | 153.3 | -11.9 | 201 | 1112 | done | -0.86 | - | - | 2207 | - | - | - | 2004 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.10 |
| 1174 | 161.2 | -11.6 | 214 | 1179 | done | -0.86 | - | - | 2207 | - | - | - | 2005 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 1242 | 169.3 | -12.5 | 227 | 1248 | done | -0.86 | - | - | 2207 | - | - | - | 2007 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.10 | 15.10 | 15.10 |
| 1310 | 177.5 | -11.5 | 240 | 1317 | roll | -0.86 | - | - | 2206 | - | 2.45 | 0.067 | 3411 | 573.1 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.09 | 14.69 | 15.09 |
| 1349 | 181.9 | -11.2 | 247 | 1355 | done | -0.86 | - | - | 2206 | - | 2.30 | 0.037 | 2007 | -610.4 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.81 | 14.75 | 14.81 |
| 1419 | 190.0 | -11.6 | 260 | 1425 | done | -0.86 | - | - | 2207 | - | - | - | 2007 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 1487 | 198.1 | -11.3 | 273 | 1494 | roll | -0.86 | - | - | 2207 | - | 2.45 | 0.068 | 3418 | 575.9 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.10 | 14.76 | 15.11 |
| 1540 | 203.8 | -11.2 | 283 | 1548 | done | -0.86 | - | - | 2207 | - | 2.33 | 0.037 | 2009 | -604.7 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 14.94 | 14.83 | 14.95 |
| 1610 | 211.3 | -10.9 | 296 | 1616 | done | -0.86 | - | - | 2207 | - | - | - | 2008 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.12 |
| 1678 | 218.9 | -11.2 | 309 | 1684 | done | -0.86 | - | - | 2205 | - | - | - | 2008 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1746 | 227.0 | -12.0 | 322 | 1752 | done | -0.86 | - | - | 2207 | - | - | - | 2008 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.13 |
| 1814 | 235.0 | -11.8 | 335 | 1821 | roll | -0.86 | - | - | 2206 | - | 2.45 | 0.069 | 3410 | 572.2 | -146.0 | - | - | 3406 | - | - | - | - | - | - | - | - | 15.13 | 14.62 | 15.13 |
| 1860 | 240.1 | -11.6 | 343 | 1867 | done | -0.86 | - | - | 2206 | - | 2.30 | 0.037 | 2006 | -610.4 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 14.96 | 14.85 | 14.97 |
| 1930 | 248.3 | -11.6 | 356 | 1935 | done | -0.86 | - | - | 2206 | - | - | - | 2005 | - | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.11 |
| 1998 | 256.3 | -11.3 | 369 | 2004 | done | -0.86 | - | - | 2207 | - | - | - | 2005 | - | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.12 |
| 2070 | 264.0 | -10.6 | 382 | 2076 | done | -0.86 | - | - | 2206 | - | - | - | 2006 | - | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.12 |
| 2138 | 271.1 | -10.4 | 395 | 2144 | roll | -0.86 | - | - | 2204 | - | 2.45 | 0.069 | 3414 | 574.7 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.13 | 14.76 | 15.14 |
| 2191 | 276.6 | -10.1 | 405 | 2197 | done | -0.86 | - | - | 2204 | - | 2.30 | 0.038 | 2014 | -608.7 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 14.95 | 14.85 | 14.97 |
| 2231 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2231 | begin apogee | ||||||||||||||||||||||||||||
| 2236 | 280.5 | -10.2 | 412 | 2352 | done | -0.19 | 1.12 | 0.169 | 2423 | 195.5 | - | - | 1944 | - | - | 111.18 | 1.260 | 2811 | -5.4 | 0.214 | - | - | - | - | - | - | 14.45 | 14.45 | 13.81 |
| 2354 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2354 | begin climb | ||||||||||||||||||||||||||||
| 2356 | 284.4 | - | 433 | 2479 | roll | 0.86 | 1.55 | 0.099 | 2749 | 210.3 | 2.45 | 0.074 | 581 | -556.3 | 146.0 | 113.82 | 1.244 | 2215 | -5.2 | 0.214 | - | - | - | - | - | - | 14.42 | 14.31 | 13.74 |
| 2512 | 275.9 | 9.6 | 460 | 2530 | done | 0.87 | - | - | 2749 | - | 2.33 | 0.044 | 1964 | 593.6 | 155.6 | 9.20 | 1.030 | 2175 | -4.3 | 0.209 | - | - | - | - | - | - | 14.50 | 14.42 | 13.74 |
| 2592 | 267.3 | 10.8 | 475 | 2599 | roll | 0.87 | - | - | 2749 | - | 2.42 | 0.068 | 3360 | 576.9 | 155.6 | - | - | 2172 | - | - | - | - | - | - | - | - | 14.84 | 14.48 | 14.84 |
| 2656 | 259.9 | 12.0 | 487 | 2662 | done | 0.87 | - | - | 2749 | - | 2.30 | 0.043 | 1982 | -599.1 | 155.6 | - | - | 2171 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.77 |
| 2726 | 251.9 | 11.7 | 500 | 2731 | done | 0.87 | - | - | 2749 | - | - | - | 1982 | - | 155.6 | - | - | 2171 | - | - | - | - | - | - | - | - | 14.95 | 14.95 | 14.95 |
| 2794 | 243.9 | 11.4 | 513 | 2800 | roll | 0.87 | - | - | 2749 | - | 2.47 | 0.076 | 557 | -576.9 | 155.6 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.00 | 14.67 | 15.00 |
| 2812 | 241.8 | 11.4 | 516 | 2819 | done | 0.87 | - | - | 2749 | - | 2.33 | 0.042 | 1965 | 604.3 | 155.6 | - | - | 2170 | - | - | - | - | - | - | - | - | 14.80 | 14.70 | 14.81 |
| 2882 | 234.0 | 11.3 | 529 | 2888 | done | 0.87 | - | - | 2749 | - | - | - | 1965 | - | 155.6 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.03 | 15.03 | 15.03 |
| 2949 | 226.9 | 10.3 | 542 | 2955 | done | 0.87 | - | - | 2749 | - | - | - | 1965 | - | 155.6 | - | - | 2169 | - | - | - | - | - | - | - | - | 15.04 | 15.05 | 15.05 |
| 3018 | 219.6 | 10.3 | 555 | 3024 | roll | 0.87 | - | - | 2749 | - | 2.40 | 0.067 | 3365 | 583.3 | 155.6 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.05 | 14.75 | 15.06 |
| 3046 | 216.5 | 11.1 | 560 | 3053 | done | 0.87 | - | - | 2749 | - | 2.33 | 0.043 | 1961 | -602.6 | 155.6 | - | - | 2168 | - | - | - | - | - | - | - | - | 14.90 | 14.79 | 14.92 |
| 3116 | 209.8 | 9.2 | 573 | 3140 | roll | 0.89 | - | - | 2749 | - | 2.45 | 0.077 | 560 | -571.8 | 172.8 | 14.18 | 1.129 | 2105 | -4.4 | 0.148 | - | - | - | - | - | - | 15.07 | 14.76 | 14.09 |
| 3152 | 206.4 | 8.9 | 579 | 3182 | done | 0.92 | 0.08 | 0.185 | 2789 | 500.0 | 2.33 | 0.042 | 1972 | 606.0 | 196.4 | 20.10 | 1.133 | 2012 | -4.6 | 0.151 | - | - | - | - | - | - | 14.69 | 14.75 | 13.98 |
| 3244 | 196.5 | 11.5 | 596 | 3249 | done | 0.92 | - | - | 2791 | - | - | - | 1973 | - | 196.4 | - | - | 2007 | - | - | - | - | - | - | - | - | 14.95 | 14.96 | 14.96 |
| 3311 | 188.7 | 11.0 | 609 | 3318 | roll | 0.92 | - | - | 2790 | - | 2.40 | 0.067 | 3358 | 577.1 | 196.4 | - | - | 2006 | - | - | - | - | - | - | - | - | 14.98 | 14.58 | 14.99 |
| 3350 | 184.3 | 12.2 | 616 | 3357 | done | 0.92 | - | - | 2793 | - | 2.33 | 0.044 | 1962 | -599.1 | 196.4 | - | - | 2006 | - | - | - | - | - | - | - | - | 14.85 | 14.74 | 14.87 |
| 3419 | 176.4 | 12.2 | 629 | 3425 | done | 0.92 | - | - | 2794 | - | - | - | 1962 | - | 196.4 | - | - | 2005 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.01 |
| 3487 | 167.7 | 12.1 | 642 | 3493 | done | 0.92 | - | - | 2793 | - | - | - | 1962 | - | 196.4 | - | - | 2004 | - | - | - | - | - | - | - | - | 15.02 | 15.03 | 15.02 |
| 3555 | 159.7 | 12.1 | 655 | 3562 | roll | 0.92 | - | - | 2793 | - | 2.42 | 0.078 | 560 | -579.3 | 196.4 | - | - | 2004 | - | - | - | - | - | - | - | - | 15.04 | 14.71 | 15.05 |
| 3583 | 156.3 | 12.0 | 660 | 3590 | done | 0.92 | - | - | 2793 | - | 2.33 | 0.043 | 1968 | 604.3 | 196.4 | - | - | 2004 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.92 |
| 3653 | 147.3 | 12.6 | 673 | 3659 | done | 0.92 | - | - | 2793 | - | - | - | 1968 | - | 196.4 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.05 | 15.05 | 15.05 |
| 3721 | 138.8 | 12.7 | 686 | 3727 | roll | 0.92 | - | - | 2793 | - | 2.38 | 0.067 | 3360 | 584.9 | 196.4 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.06 | 14.62 | 15.07 |
| 3740 | 136.5 | 12.4 | 689 | 3747 | done | 0.92 | 0.03 | 0.525 | 2791 | - | 2.33 | 0.044 | 1960 | -600.9 | 196.4 | - | - | 2003 | - | - | - | - | - | - | - | - | 14.57 | 14.78 | 14.81 |
| 3810 | 127.9 | 12.0 | 702 | 3816 | roll | 0.92 | - | - | 2791 | - | 2.40 | 0.076 | 562 | -582.5 | 196.4 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.07 | 14.72 | 15.07 |
| 3838 | 124.3 | 11.9 | 707 | 3845 | done | 0.92 | - | - | 2791 | - | 2.33 | 0.043 | 1970 | 604.3 | 196.4 | - | - | 2004 | - | - | - | - | - | - | - | - | 14.91 | 14.81 | 14.93 |
| 3908 | 116.5 | 11.5 | 720 | 3915 | roll | 0.92 | - | - | 2791 | - | 2.38 | 0.065 | 3360 | 584.0 | 196.4 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.07 | 14.74 | 15.07 |
| 3932 | 113.5 | 12.9 | 724 | 3938 | done | 0.92 | - | - | 2791 | - | 2.33 | 0.044 | 1964 | -599.1 | 196.4 | - | - | 2002 | - | - | - | - | - | - | - | - | 14.78 | 14.66 | 14.80 |
| 4001 | 105.6 | 11.7 | 737 | 4007 | done | 0.92 | - | - | 2790 | - | - | - | 1964 | - | 196.4 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 4069 | 97.7 | 11.5 | 750 | 4075 | done | 0.92 | - | - | 2791 | - | - | - | 1964 | - | 196.4 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
| 4137 | 90.0 | 9.8 | 763 | 4143 | done | 0.92 | - | - | 2790 | - | - | - | 1964 | - | 200.3 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 4205 | 83.9 | 9.7 | 776 | 4217 | done | 0.93 | - | - | 2791 | - | - | - | 1964 | - | 207.0 | 8.82 | 0.916 | 1967 | -3.9 | 0.063 | - | - | - | - | - | - | 15.08 | 14.71 | 14.03 |
| 4280 | 77.6 | 9.3 | 790 | 4298 | done | 0.95 | - | - | 2791 | - | - | - | 1964 | - | 221.7 | 13.27 | 0.998 | 1907 | -4.5 | 0.063 | - | - | - | - | - | - | 15.05 | 14.71 | 14.09 |
| 4360 | 68.7 | 9.9 | 805 | 4366 | done | 0.95 | - | - | 2791 | - | - | - | 1964 | - | 224.3 | - | - | 1904 | - | - | - | - | - | - | - | - | 15.02 | 15.03 | 15.04 |
| 4428 | 62.4 | 8.4 | 818 | 4468 | roll | 1.00 | - | - | 2791 | - | 2.47 | 0.066 | 3357 | 564.0 | 258.6 | 30.62 | 1.021 | 1754 | -4.9 | 0.054 | - | - | - | - | - | - | 15.03 | 14.64 | 14.05 |
| 4481 | 58.1 | 8.2 | 827 | 4522 | done | 1.04 | 0.08 | 0.183 | 2832 | 512.5 | 2.33 | 0.043 | 1965 | -597.4 | 298.5 | 32.60 | 1.003 | 1594 | -4.9 | 0.051 | - | - | - | - | - | - | 14.55 | 14.59 | 13.97 |
| 4584 | 46.7 | 12.8 | 846 | 4590 | roll | 1.04 | - | - | 2833 | - | 2.45 | 0.076 | 566 | -571.0 | 298.5 | - | - | 1589 | - | - | - | - | - | - | - | - | 14.88 | 14.59 | 14.89 |
| 4653 | 38.9 | 11.2 | 859 | 4660 | done | 1.04 | - | - | 2833 | - | 2.33 | 0.041 | 1965 | 600.4 | 298.5 | - | - | 1588 | - | - | - | - | - | - | - | - | 14.79 | 14.67 | 14.81 |
| 4723 | 31.5 | 10.3 | 872 | 4729 | roll | 1.04 | - | - | 2833 | - | 2.45 | 0.076 | 567 | -570.6 | 298.5 | - | - | 1588 | - | - | - | - | - | - | - | - | 14.97 | 14.61 | 14.97 |
| 4746 | 28.7 | 11.0 | 876 | 4753 | done | 1.04 | - | - | 2833 | - | 2.30 | 0.041 | 1963 | 607.0 | 298.5 | - | - | 1588 | - | - | - | - | - | - | - | - | 14.70 | 14.62 | 14.71 |
| 4816 | 21.4 | 9.7 | 889 | 4824 | roll | 1.05 | - | - | 2833 | - | 2.47 | 0.066 | 3368 | 568.8 | 304.5 | 2.62 | 0.484 | 1570 | -6.9 | 0.054 | - | - | - | - | - | - | 15.00 | 14.66 | 13.93 |
| 4866 | 16.0 | 10.6 | 898 | 4873 | done | 1.05 | - | - | 2833 | - | 2.35 | 0.044 | 1966 | -596.6 | 304.5 | - | - | 1569 | - | - | - | - | - | - | - | - | 14.74 | 14.63 | 14.76 |
| 4936 | 8.2 | 11.6 | 911 | 4942 | done | 1.05 | - | - | 2833 | - | - | - | 1965 | - | 304.5 | - | - | 1569 | - | - | - | - | - | - | - | - | 15.03 | 15.03 | 15.03 |
| 4982 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4982 | begin surface coast | ||||||||||||||||||||||||||||
| 5010 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5010 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.65 | - | - | - | - | -7.30 | 12.55 | 0.053 | 130 | 10.4 | 0.05 | 0.194 | 2020 | -41640.0 | 542.59 | 129.80 | 0.754 | 599 | 4.6 | -0.000 | - | - | - | - | - | - | |||