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| • Previous call tries 1 | • 116.89 of 310.00 AH used of 24V (62.29% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -62.3 deg, depth 0.67 m | • Intended pitch -18.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 542.59 (SM_CC=542.59473) | • surface range 999.0 m at 19.3 m depth, ceiling -979.7 m | |
| • GPS1 time: 21 s | • bottom range 6.8 m at 270.4 m, depth 277 m (1000 m grid) | |
| • GPS2 time: 16 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 | - | - | - | 122 | VBD | -0.86 | - | - | 72 | - | - | - | 2022 | - | -146.0 | -98.88 | - | 3352 | - | - | - | - | - | - | - | - | 14.97 | - | 14.98 |
| 125 | 4.3 | -11.3 | 18 | 144 | roll | -0.86 | 12.75 | 0.312 | 2208 | 167.5 | 2.42 | 0.077 | 602 | -586.8 | -146.0 | -0.93 | - | 3409 | -61.3 | - | - | - | - | - | - | - | 14.37 | 13.33 | 14.70 |
| 341 | 53.5 | -16.7 | 60 | 348 | done | -0.86 | - | - | 2204 | - | 2.33 | 0.045 | 2005 | 602.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.90 | 14.78 | 14.90 |
| 411 | 64.4 | -14.4 | 73 | 417 | roll | -0.86 | - | - | 2204 | - | 2.42 | 0.070 | 3416 | 583.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.05 | 14.73 | 15.06 |
| 479 | 73.7 | -12.5 | 86 | 486 | done | -0.86 | - | - | 2204 | - | 2.30 | 0.037 | 2012 | -610.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.76 | 14.67 | 14.78 |
| 549 | 82.8 | -13.3 | 99 | 555 | roll | -0.86 | - | - | 2204 | - | 2.42 | 0.067 | 3415 | 579.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.07 | 14.62 | 15.08 |
| 592 | 88.2 | -11.8 | 107 | 598 | done | -0.86 | - | - | 2204 | - | 2.30 | 0.037 | 2013 | -609.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.94 |
| 661 | 97.0 | -13.2 | 120 | 667 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 729 | 105.9 | -12.5 | 133 | 735 | done | -0.86 | - | - | 2207 | - | - | - | 2013 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 796 | 114.7 | -13.3 | 146 | 802 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.10 | 15.10 | 15.10 |
| 864 | 124.0 | -12.8 | 159 | 870 | done | -0.86 | - | - | 2204 | - | - | - | 2012 | - | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 932 | 133.7 | -15.3 | 172 | 938 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1001 | 142.9 | -13.2 | 185 | 1008 | roll | -0.86 | - | - | 2204 | - | 2.42 | 0.067 | 3413 | 578.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.11 | 14.77 | 15.11 |
| 1045 | 148.4 | -12.8 | 193 | 1051 | done | -0.86 | - | - | 2203 | - | 2.30 | 0.037 | 2013 | -608.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.81 | 14.72 | 14.82 |
| 1115 | 157.3 | -12.8 | 206 | 1121 | done | -0.86 | - | - | 2203 | - | - | - | 2013 | - | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1183 | 166.0 | -12.3 | 219 | 1189 | done | -0.86 | - | - | 2203 | - | - | - | 2012 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1251 | 174.4 | -12.6 | 232 | 1257 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1319 | 182.6 | -11.5 | 245 | 1325 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.11 |
| 1386 | 190.8 | -12.3 | 258 | 1393 | roll | -0.86 | - | - | 2203 | - | 2.42 | 0.068 | 3412 | 578.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 14.78 | 15.12 |
| 1420 | 194.9 | -11.9 | 264 | 1427 | done | -0.86 | - | - | 2203 | - | 2.33 | 0.037 | 2011 | -601.3 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.85 | 14.71 | 14.87 |
| 1490 | 203.1 | -11.7 | 277 | 1496 | roll | -0.86 | - | - | 2203 | - | 2.42 | 0.068 | 3412 | 578.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 14.68 | 15.12 |
| 1533 | 208.2 | -11.3 | 285 | 1540 | done | -0.86 | - | - | 2203 | - | 2.30 | 0.037 | 2010 | -609.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.95 | 14.85 | 14.97 |
| 1602 | 215.6 | -10.3 | 298 | 1608 | done | -0.86 | - | - | 2203 | - | - | - | 2009 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.12 |
| 1670 | 222.9 | -10.6 | 311 | 1676 | done | -0.86 | - | - | 2203 | - | - | - | 2009 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.15 |
| 1739 | 230.2 | -10.8 | 324 | 1745 | done | -0.86 | - | - | 2203 | - | - | - | 2009 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1807 | 237.8 | -10.7 | 337 | 1813 | roll | -0.86 | - | - | 2203 | - | 2.42 | 0.068 | 3413 | 580.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.13 | 14.78 | 15.14 |
| 1850 | 242.1 | -10.4 | 345 | 1857 | done | -0.86 | - | - | 2203 | - | 2.33 | 0.037 | 2004 | -604.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.90 |
| 1920 | 249.9 | -11.4 | 358 | 1927 | done | -0.86 | - | - | 2203 | - | - | - | 2004 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1989 | 258.2 | -11.8 | 371 | 1994 | done | -0.86 | - | - | 2203 | - | - | - | 2004 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 2059 | 266.8 | -12.5 | 384 | 2066 | roll | -0.86 | - | - | 2203 | - | 2.45 | 0.069 | 3413 | 575.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.14 | 14.61 | 15.14 |
| 2089 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2089 | begin apogee | ||||||||||||||||||||||||||||
| 2096 | 270.4 | -12.9 | 389 | 2213 | done | -0.19 | 1.10 | 0.168 | 2420 | 197.3 | - | - | 1946 | - | - | 111.47 | 1.239 | 2811 | -5.4 | 0.216 | - | - | - | - | - | - | 14.59 | 14.47 | 13.83 |
| 2215 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2215 | begin climb | ||||||||||||||||||||||||||||
| 2217 | 276.1 | - | 410 | 2339 | roll | 0.86 | 1.58 | 0.096 | 2750 | 208.9 | 2.42 | 0.072 | 566 | -570.2 | 146.0 | 113.05 | 1.229 | 2214 | -5.3 | 0.218 | - | - | - | - | - | - | 14.44 | 14.23 | 13.75 |
| 2383 | 267.8 | 9.2 | 439 | 2407 | done | 0.88 | - | - | 2750 | - | 2.35 | 0.041 | 1970 | 597.4 | 162.5 | 14.30 | 1.099 | 2147 | -4.7 | 0.210 | - | - | - | - | - | - | 14.57 | 14.47 | 13.79 |
| 2468 | 259.7 | 9.2 | 455 | 2492 | roll | 0.90 | - | - | 2750 | - | 2.40 | 0.067 | 3363 | 580.4 | 180.2 | 15.30 | 1.136 | 2075 | -4.7 | 0.198 | - | - | - | - | - | - | 14.85 | 14.55 | 13.85 |
| 2504 | 256.1 | 10.8 | 461 | 2511 | done | 0.90 | - | - | 2753 | - | 2.35 | 0.044 | 1969 | -593.2 | 180.2 | - | - | 2074 | - | - | - | - | - | - | - | - | 14.70 | 14.60 | 14.71 |
| 2574 | 249.3 | 9.7 | 474 | 2587 | roll | 0.91 | - | - | 2753 | - | 2.47 | 0.076 | 563 | -569.2 | 187.5 | 7.25 | 0.947 | 2046 | -3.9 | 0.187 | - | - | - | - | - | - | 14.91 | 14.59 | 13.90 |
| 2600 | 246.8 | 9.9 | 478 | 2606 | done | 0.91 | - | - | 2753 | - | 2.33 | 0.042 | 1972 | 604.7 | 189.2 | - | - | 2046 | - | - | - | - | - | - | - | - | 14.78 | 14.69 | 14.79 |
| 2669 | 239.9 | 10.0 | 491 | 2676 | roll | 0.91 | - | - | 2753 | - | 2.40 | 0.067 | 3364 | 580.0 | 189.7 | - | - | 2043 | - | - | - | - | - | - | - | - | 14.95 | 14.68 | 14.95 |
| 2693 | 237.2 | 10.7 | 495 | 2700 | done | 0.91 | - | - | 2753 | - | 2.35 | 0.043 | 1956 | -599.1 | 189.7 | - | - | 2043 | - | - | - | - | - | - | - | - | 14.78 | 14.68 | 14.80 |
| 2762 | 230.0 | 11.1 | 508 | 2768 | done | 0.91 | - | - | 2753 | - | - | - | 1956 | - | 189.7 | - | - | 2041 | - | - | - | - | - | - | - | - | 15.00 | 15.02 | 15.01 |
| 2830 | 222.6 | 11.1 | 521 | 2836 | done | 0.91 | - | - | 2753 | - | - | - | 1956 | - | 189.7 | - | - | 2042 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.04 |
| 2898 | 214.5 | 12.1 | 534 | 2904 | done | 0.91 | - | - | 2753 | - | - | - | 1956 | - | 189.7 | - | - | 2042 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.04 |
| 2966 | 206.8 | 10.9 | 547 | 2971 | done | 0.91 | - | - | 2753 | - | - | - | 1956 | - | 189.7 | - | - | 2042 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 3034 | 199.7 | 10.1 | 560 | 3039 | done | 0.91 | - | - | 2753 | - | - | - | 1956 | - | 189.7 | - | - | 2041 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.07 |
| 3102 | 193.2 | 9.6 | 573 | 3121 | roll | 0.92 | 0.05 | 0.259 | 2791 | 760.0 | 2.45 | 0.066 | 3362 | 573.9 | 197.6 | 8.93 | 1.045 | 2006 | -3.9 | 0.133 | - | - | - | - | - | - | 14.75 | 14.77 | 14.06 |
| 3143 | 188.3 | 12.4 | 580 | 3149 | done | 0.92 | - | - | 2793 | - | 2.33 | 0.045 | 1966 | -599.1 | 197.6 | - | - | 2006 | - | - | - | - | - | - | - | - | 14.84 | 14.71 | 14.85 |
| 3212 | 180.3 | 11.7 | 593 | 3218 | done | 0.92 | - | - | 2794 | - | - | - | 1966 | - | 197.6 | - | - | 2005 | - | - | - | - | - | - | - | - | 15.05 | 15.05 | 15.05 |
| 3280 | 172.6 | 11.7 | 606 | 3286 | done | 0.92 | - | - | 2793 | - | - | - | 1966 | - | 197.6 | - | - | 2004 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 3348 | 164.1 | 12.1 | 619 | 3355 | roll | 0.92 | - | - | 2793 | - | 2.45 | 0.078 | 557 | -575.1 | 197.6 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.06 | 14.69 | 15.07 |
| 3371 | 161.3 | 11.8 | 623 | 3378 | done | 0.92 | - | - | 2793 | - | 2.33 | 0.043 | 1972 | 607.3 | 197.6 | - | - | 2003 | - | - | - | - | - | - | - | - | 14.92 | 14.82 | 14.93 |
| 3440 | 153.1 | 12.2 | 636 | 3446 | done | 0.92 | - | - | 2793 | - | - | - | 1972 | - | 197.6 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.08 |
| 3508 | 144.6 | 11.9 | 649 | 3514 | done | 0.92 | - | - | 2793 | - | - | - | 1973 | - | 197.6 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.07 |
| 3576 | 136.8 | 11.3 | 662 | 3583 | roll | 0.92 | - | - | 2794 | - | 2.40 | 0.067 | 3367 | 580.8 | 197.6 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.09 | 14.76 | 15.09 |
| 3599 | 133.8 | 12.1 | 666 | 3606 | done | 0.92 | - | - | 2797 | - | 2.38 | 0.044 | 1956 | -592.9 | 197.6 | - | - | 2002 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.94 |
| 3669 | 125.6 | 12.0 | 679 | 3675 | roll | 0.92 | - | - | 2798 | - | 2.42 | 0.077 | 558 | -577.7 | 197.6 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.08 | 14.74 | 15.08 |
| 3702 | 121.6 | 11.8 | 685 | 3708 | done | 0.92 | - | - | 2798 | - | 2.30 | 0.042 | 1964 | 611.3 | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 14.78 | 14.70 | 14.79 |
| 3771 | 114.2 | 11.4 | 698 | 3777 | done | 0.92 | - | - | 2798 | - | - | - | 1964 | - | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
| 3839 | 105.7 | 12.1 | 711 | 3845 | done | 0.92 | - | - | 2798 | - | - | - | 1964 | - | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.10 |
| 3907 | 97.6 | 11.7 | 724 | 3913 | roll | 0.92 | - | - | 2798 | - | 2.45 | 0.076 | 556 | -574.7 | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.09 | 14.59 | 15.09 |
| 3955 | 92.4 | 10.8 | 733 | 3962 | done | 0.92 | - | - | 2798 | - | 2.33 | 0.042 | 1973 | 608.2 | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 14.93 | 14.83 | 14.95 |
| 4025 | 84.8 | 11.1 | 746 | 4031 | done | 0.92 | - | - | 2798 | - | - | - | 1974 | - | 197.6 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 4093 | 77.7 | 10.1 | 759 | 4100 | roll | 0.92 | - | - | 2798 | - | 2.45 | 0.074 | 564 | -575.5 | 197.6 | - | - | 2000 | - | - | - | - | - | - | - | - | 15.09 | 14.67 | 15.09 |
| 4106 | 76.5 | 9.1 | 761 | 4130 | done | 0.94 | - | - | 2798 | - | 2.33 | 0.043 | 1972 | 604.3 | 217.1 | 16.77 | 0.988 | 1925 | -4.5 | 0.064 | - | - | - | - | - | - | 14.93 | 14.83 | 14.13 |
| 4193 | 67.5 | 10.5 | 777 | 4199 | roll | 0.94 | - | - | 2798 | - | 2.40 | 0.067 | 3361 | 578.8 | 217.1 | - | - | 1921 | - | - | - | - | - | - | - | - | 15.02 | 14.64 | 15.03 |
| 4226 | 64.2 | 10.3 | 783 | 4233 | done | 0.94 | - | - | 2799 | - | 2.35 | 0.044 | 1953 | -599.1 | 217.1 | - | - | 1921 | - | - | - | - | - | - | - | - | 14.89 | 14.78 | 14.90 |
| 4296 | 58.6 | 7.2 | 796 | 4353 | roll | 1.02 | - | - | 2798 | - | 2.45 | 0.062 | 3362 | 575.1 | 278.6 | 48.97 | 1.013 | 1675 | -5.0 | 0.053 | - | - | - | - | - | - | 15.04 | 14.50 | 14.04 |
| 4395 | 50.4 | 9.1 | 814 | 4419 | done | 1.04 | - | - | 2798 | - | 2.35 | 0.044 | 1960 | -596.6 | 298.1 | 16.92 | 0.961 | 1595 | -4.7 | 0.046 | - | - | - | - | - | - | 14.77 | 14.66 | 13.95 |
| 4481 | 42.3 | 9.2 | 830 | 4505 | roll | 1.06 | 0.05 | 0.256 | 2838 | 800.0 | 2.40 | 0.076 | 564 | -581.7 | 315.3 | 15.15 | 0.906 | 1525 | -4.6 | 0.040 | - | - | - | - | - | - | 14.59 | 14.54 | 14.02 |
| 4538 | 36.2 | 11.2 | 840 | 4545 | done | 1.06 | - | - | 2838 | - | 2.33 | 0.040 | 1970 | 603.4 | 315.3 | - | - | 1524 | - | - | - | - | - | - | - | - | 14.72 | 14.64 | 14.73 |
| 4609 | 27.8 | 12.6 | 853 | 4615 | done | 1.06 | - | - | 2838 | - | - | - | 1969 | - | 315.3 | - | - | 1522 | - | - | - | - | - | - | - | - | 14.95 | 14.97 | 14.96 |
| 4677 | 19.3 | 12.1 | 866 | 4684 | roll | 1.06 | - | - | 2837 | - | 2.40 | 0.066 | 3362 | 580.4 | 315.3 | - | - | 1522 | - | - | - | - | - | - | - | - | 14.97 | 14.59 | 14.97 |
| 4731 | 12.8 | 11.6 | 876 | 4737 | done | 1.06 | - | - | 2838 | - | 2.33 | 0.044 | 1961 | -601.3 | 315.3 | - | - | 1521 | - | - | - | - | - | - | - | - | 14.85 | 14.75 | 14.88 |
| 4801 | 4.9 | 12.2 | 889 | 4806 | done | 1.06 | - | - | 2838 | - | - | - | 1960 | - | 315.3 | - | - | 1521 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 4811 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4811 | begin surface coast | ||||||||||||||||||||||||||||
| 4833 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4833 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.60 | - | - | - | - | -7.27 | 12.50 | 0.051 | 141 | 11.3 | 0.05 | 0.194 | 2027 | -41500.0 | 542.59 | 123.85 | 0.751 | 598 | 4.8 | -0.000 | - | - | - | - | - | - | |||