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| • Previous call tries 4 | • 64.25 of 310.00 AH used of 24V (79.28% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.0 deg, depth 0.85 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 19 s | • bottom range 32.2 m at 382.4 m, depth 415 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 24 | |
| • 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 | - | - | - | 111 | VBD | -0.88 | - | - | 53 | - | - | - | 1783 | - | -92.5 | -88.30 | - | 2992 | - | - | - | - | - | - | - | - | 15.07 | - | 15.08 |
| 114 | 3.8 | -7.9 | 16 | 139 | roll | -0.88 | 13.88 | 0.292 | 2467 | 173.9 | 2.33 | 0.071 | 390 | -597.9 | -92.5 | -1.50 | - | 3079 | -58.0 | - | - | - | - | - | - | - | 14.71 | 13.90 | 14.93 |
| 276 | 51.0 | -21.7 | 47 | 283 | done | -0.88 | 0.05 | 0.356 | 2468 | - | 2.30 | 0.035 | 1811 | 617.8 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.80 | 14.95 | 14.97 |
| 347 | 64.0 | -18.5 | 60 | 353 | roll | -0.88 | - | - | 2461 | - | 2.30 | 0.052 | 3212 | 609.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.15 | 14.94 | 15.15 |
| 521 | 87.1 | -11.4 | 94 | 528 | done | -0.88 | - | - | 2458 | - | 2.30 | 0.044 | 1810 | -609.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.07 |
| 590 | 95.9 | -13.0 | 107 | 597 | roll | -0.88 | 0.03 | 0.488 | 2469 | 366.7 | 2.35 | 0.059 | 399 | -600.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.85 | 14.93 | 15.02 |
| 645 | 104.2 | -15.2 | 117 | 654 | done | -0.88 | - | - | 2462 | - | 2.28 | 0.034 | 1812 | 619.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.04 | 14.96 | 15.05 |
| 717 | 114.7 | -14.1 | 130 | 724 | roll | -0.88 | - | - | 2452 | - | 2.30 | 0.050 | 3222 | 613.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 746 | 119.1 | -14.1 | 135 | 753 | done | -0.88 | 0.10 | 0.238 | 2472 | 200.0 | 2.33 | 0.043 | 1804 | -608.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.89 | 14.99 | 15.03 |
| 816 | 128.1 | -14.0 | 148 | 822 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.062 | 400 | -597.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 829 | 130.0 | -14.5 | 150 | 836 | done | -0.88 | - | - | 2468 | - | 2.28 | 0.037 | 1808 | 617.5 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.03 | 14.95 | 15.04 |
| 899 | 140.6 | -15.5 | 163 | 906 | roll | -0.88 | - | - | 2468 | - | 2.33 | 0.054 | 3218 | 605.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 14.93 | 15.19 |
| 984 | 153.9 | -15.3 | 179 | 991 | done | -0.88 | - | - | 2468 | - | 2.33 | 0.045 | 1805 | -606.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.04 |
| 1053 | 164.8 | -15.4 | 192 | 1059 | done | -0.88 | - | - | 2467 | - | - | - | 1804 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 1123 | 174.9 | -14.0 | 205 | 1131 | roll | -0.88 | - | - | 2468 | - | 2.35 | 0.062 | 399 | -597.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 14.93 | 15.20 |
| 1153 | 179.3 | -14.8 | 210 | 1160 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.037 | 1821 | 618.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
| 1221 | 188.4 | -13.4 | 223 | 1228 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.054 | 3220 | 608.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1285 | 195.9 | -12.2 | 235 | 1292 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.044 | 1803 | -608.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.07 |
| 1355 | 205.0 | -13.2 | 248 | 1362 | done | -0.88 | - | - | 2464 | - | - | - | 1800 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 1425 | 214.4 | -13.8 | 261 | 1433 | done | -0.88 | - | - | 2464 | - | - | - | 1803 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1496 | 224.5 | -14.4 | 274 | 1504 | roll | -0.88 | - | - | 2456 | - | 2.35 | 0.053 | 3218 | 602.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.23 |
| 1545 | 231.0 | -12.5 | 283 | 1553 | done | -0.88 | 0.08 | 0.263 | 2471 | 187.5 | 2.35 | 0.045 | 1801 | -603.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.90 | 14.99 | 15.04 |
| 1614 | 239.8 | -12.3 | 296 | 1622 | roll | -0.88 | - | - | 2466 | - | 2.35 | 0.053 | 3216 | 602.1 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.24 |
| 1648 | 243.8 | -11.7 | 302 | 1655 | done | -0.88 | - | - | 2467 | - | 2.30 | 0.044 | 1812 | -610.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 1718 | 253.2 | -14.0 | 315 | 1724 | done | -0.88 | - | - | 2466 | - | - | - | 1811 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1788 | 262.4 | -13.2 | 328 | 1794 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.053 | 3213 | 601.7 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1866 | 272.4 | -12.7 | 343 | 1873 | done | -0.88 | 0.05 | 0.322 | 2471 | 220.0 | 2.30 | 0.045 | 1811 | -609.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.90 | 15.03 | 15.07 |
| 1935 | 281.1 | -13.1 | 356 | 1941 | done | -0.88 | - | - | 2471 | - | - | - | 1811 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 2003 | 289.8 | -12.6 | 369 | 2013 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.054 | 3215 | 602.6 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.24 | 14.97 | 15.25 |
| 2076 | 299.0 | -12.2 | 382 | 2082 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.046 | 1806 | -604.7 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.13 |
| 2149 | 309.2 | -14.0 | 387 | 2151 | done | -0.88 | - | - | 2464 | - | - | - | 1805 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2270 | 325.7 | -13.9 | 393 | 2276 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.055 | 3218 | 601.3 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.26 | 15.05 | 15.27 |
| 2296 | 329.2 | -14.4 | 394 | 2303 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.046 | 1809 | -612.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.15 | 15.05 | 15.16 |
| 2435 | 347.9 | -12.9 | 401 | 2437 | done | -0.88 | - | - | 2464 | - | - | - | 1809 | - | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.29 | 15.29 | 15.29 |
| 2555 | 363.6 | -13.6 | 407 | 2557 | done | -0.88 | - | - | 2464 | - | - | - | 1809 | - | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
| 2675 | 379.6 | -12.4 | 413 | 2681 | roll | -0.88 | - | - | 2464 | - | 2.38 | 0.070 | 402 | -591.2 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.33 | 15.05 | 15.30 |
| 2710 | 382.4 | -11.9 | 414 | 2716 | done | -0.88 | 0.08 | 0.291 | 2472 | 100.0 | 2.28 | 0.041 | 1810 | 617.5 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 14.96 | 15.09 | 15.12 |
| 2843 | 402.6 | -14.1 | 421 | 2844 | done | -0.88 | - | - | 2472 | - | - | - | 1813 | - | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.31 |
| 2862 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2862 | begin apogee | ||||||||||||||||||||||||||||
| 2866 | 405.0 | -14.3 | 422 | 2944 | done | -0.17 | 1.15 | 0.174 | 2697 | 195.7 | - | - | 1814 | - | - | 69.85 | 1.282 | 2698 | -5.3 | 0.297 | - | - | - | - | - | - | 14.92 | 14.58 | 14.16 |
| 2945 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2946 | begin climb | ||||||||||||||||||||||||||||
| 2947 | 407.3 | - | 426 | 3029 | done | 0.88 | 1.52 | 0.070 | 3036 | 223.0 | - | - | 1814 | - | 92.5 | 76.70 | 1.278 | 2322 | -4.9 | 0.276 | - | - | - | - | - | - | 14.71 | 14.46 | 13.96 |
| 3143 | 396.7 | 11.8 | 436 | 3148 | roll | 0.88 | - | - | 3040 | - | 2.47 | 0.073 | 397 | -573.7 | 92.5 | - | - | 2316 | - | - | - | - | - | - | - | - | 14.95 | 14.67 | 14.96 |
| 3246 | 386.7 | 9.6 | 441 | 3256 | done | 0.89 | - | - | 3040 | - | 2.33 | 0.041 | 1810 | 606.4 | 98.3 | 4.95 | 0.841 | 2299 | -3.4 | 0.279 | - | - | - | - | - | - | 14.93 | 14.86 | 14.27 |
| 3388 | 372.8 | 9.0 | 448 | 3409 | roll | 0.90 | - | - | 3040 | - | 2.30 | 0.056 | 3205 | 606.5 | 111.8 | 12.32 | 1.134 | 2242 | -4.6 | 0.268 | - | - | - | - | - | - | 15.11 | 14.85 | 14.25 |
| 3471 | 362.4 | 12.5 | 452 | 3476 | done | 0.90 | - | - | 3044 | - | 2.38 | 0.056 | 1798 | -591.2 | 111.8 | - | - | 2242 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.99 |
| 3613 | 341.5 | 15.1 | 459 | 3614 | done | 0.90 | - | - | 3044 | - | - | - | 1799 | - | 111.8 | - | - | 2240 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 3733 | 325.4 | 13.4 | 465 | 3739 | roll | 0.90 | - | - | 3043 | - | 2.40 | 0.076 | 395 | -585.0 | 111.8 | - | - | 2241 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 3836 | 311.1 | 14.2 | 470 | 3841 | done | 0.90 | - | - | 3043 | - | 2.30 | 0.040 | 1804 | 612.6 | 111.8 | - | - | 2239 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
| 3964 | 294.3 | 13.0 | 483 | 3969 | done | 0.90 | - | - | 3044 | - | - | - | 1810 | - | 111.8 | - | - | 2238 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 4031 | 285.4 | 12.3 | 496 | 4037 | done | 0.90 | - | - | 3043 | - | - | - | 1806 | - | 111.8 | - | - | 2237 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 4099 | 276.1 | 13.2 | 509 | 4105 | done | 0.90 | - | - | 3043 | - | - | - | 1806 | - | 111.8 | - | - | 2238 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 4167 | 267.1 | 13.6 | 522 | 4173 | roll | 0.90 | - | - | 3044 | - | 2.33 | 0.057 | 3208 | 601.7 | 111.8 | - | - | 2237 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.23 |
| 4260 | 253.5 | 14.7 | 540 | 4267 | done | 0.90 | - | - | 3047 | - | 2.35 | 0.053 | 1797 | -600.4 | 111.8 | - | - | 2237 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
| 4330 | 243.8 | 13.8 | 553 | 4336 | roll | 0.90 | - | - | 3047 | - | 2.33 | 0.055 | 3201 | 602.6 | 111.8 | - | - | 2237 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.22 |
| 4503 | 220.3 | 12.7 | 587 | 4510 | done | 0.90 | - | - | 3047 | - | 2.35 | 0.053 | 1795 | -598.3 | 111.8 | - | - | 2236 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.03 |
| 4573 | 212.3 | 11.3 | 600 | 4578 | done | 0.90 | - | - | 3047 | - | - | - | 1795 | - | 111.8 | - | - | 2235 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 4640 | 203.8 | 12.5 | 613 | 4646 | done | 0.90 | - | - | 3047 | - | - | - | 1795 | - | 111.8 | - | - | 2235 | - | - | - | - | - | - | - | - | 15.21 | 15.23 | 15.23 |
| 4708 | 195.7 | 11.8 | 626 | 4715 | roll | 0.90 | - | - | 3047 | - | 2.38 | 0.074 | 396 | -587.8 | 111.8 | - | - | 2235 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.21 |
| 4771 | 188.3 | 11.8 | 638 | 4778 | done | 0.90 | - | - | 3047 | - | 2.30 | 0.037 | 1814 | 616.5 | 111.8 | - | - | 2234 | - | - | - | - | - | - | - | - | 15.10 | 15.04 | 15.11 |
| 4841 | 181.5 | 8.5 | 651 | 4865 | roll | 0.93 | - | - | 3042 | - | 2.28 | 0.052 | 3200 | 607.9 | 131.6 | 16.23 | 1.048 | 2160 | -4.6 | 0.139 | - | - | - | - | - | - | 15.21 | 14.93 | 14.38 |
| 4877 | 178.2 | 9.4 | 657 | 4895 | done | 0.94 | - | - | 3047 | - | 2.35 | 0.054 | 1803 | -594.5 | 140.1 | 8.60 | 0.916 | 2124 | -4.2 | 0.144 | - | - | - | - | - | - | 15.01 | 14.91 | 14.37 |
| 4957 | 169.8 | 11.0 | 672 | 4963 | done | 0.94 | - | - | 3047 | - | - | - | 1803 | - | 140.1 | - | - | 2126 | - | - | - | - | - | - | - | - | 15.10 | 15.10 | 15.10 |
| 5025 | 162.3 | 10.9 | 685 | 5031 | roll | 0.94 | - | - | 3047 | - | 2.42 | 0.075 | 395 | -581.8 | 140.1 | - | - | 2125 | - | - | - | - | - | - | - | - | 15.12 | 14.86 | 15.12 |
| 5043 | 160.2 | 10.8 | 688 | 5050 | done | 0.94 | - | - | 3047 | - | 2.30 | 0.039 | 1799 | 610.4 | 140.1 | - | - | 2124 | - | - | - | - | - | - | - | - | 15.00 | 14.93 | 15.00 |
| 5113 | 153.2 | 9.2 | 701 | 5125 | done | 0.95 | - | - | 3047 | - | - | - | 1802 | - | 150.6 | 9.65 | 0.910 | 2084 | -4.1 | 0.123 | - | - | - | - | - | - | 15.13 | 14.90 | 14.37 |
| 5188 | 147.1 | 9.1 | 715 | 5205 | done | 0.97 | - | - | 3047 | - | - | - | 1802 | - | 162.8 | 10.88 | 0.944 | 2033 | -4.7 | 0.129 | - | - | - | - | - | - | 15.10 | 14.75 | 14.30 |
| 5267 | 137.8 | 13.3 | 730 | 5273 | done | 0.97 | - | - | 3047 | - | - | - | 1802 | - | 162.8 | - | - | 2035 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.07 |
| 5335 | 128.6 | 12.9 | 743 | 5341 | done | 0.97 | - | - | 3047 | - | - | - | 1802 | - | 162.8 | - | - | 2035 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.09 |
| 5403 | 119.8 | 13.6 | 756 | 5409 | roll | 0.97 | - | - | 3053 | - | 2.45 | 0.073 | 386 | -578.0 | 162.8 | - | - | 2035 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.11 |
| 5482 | 109.3 | 14.1 | 771 | 5489 | done | 0.97 | - | - | 3054 | - | 2.33 | 0.040 | 1811 | 611.6 | 162.8 | - | - | 2034 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.05 |
| 5551 | 100.5 | 10.9 | 784 | 5557 | roll | 0.97 | - | - | 3057 | - | 2.45 | 0.072 | 393 | -578.8 | 162.8 | - | - | 2034 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.14 |
| 5624 | 91.5 | 13.2 | 798 | 5631 | done | 0.97 | - | - | 3057 | - | 2.30 | 0.038 | 1803 | 613.0 | 162.8 | - | - | 2033 | - | - | - | - | - | - | - | - | 15.01 | 14.92 | 15.00 |
| 5694 | 83.0 | 12.4 | 811 | 5700 | roll | 0.97 | - | - | 3057 | - | 2.33 | 0.055 | 3206 | 602.1 | 162.8 | - | - | 2034 | - | - | - | - | - | - | - | - | 15.15 | 14.88 | 15.15 |
| 6143 | 38.4 | 6.9 | 900 | 6183 | done | 1.02 | - | - | 3060 | - | 2.35 | 0.051 | 1795 | -600.4 | 205.9 | 33.92 | 0.891 | 1859 | -5.2 | 0.039 | - | - | - | - | - | - | 15.07 | 14.97 | 14.33 |
| 6245 | 30.7 | 9.2 | 919 | 6263 | roll | 1.03 | - | - | 3060 | - | 2.45 | 0.073 | 394 | -571.8 | 216.3 | 9.50 | 0.742 | 1815 | -4.6 | 0.034 | - | - | - | - | - | - | 15.05 | 14.77 | 14.39 |
| 6455 | 7.4 | 9.8 | 960 | 6463 | done | 1.04 | 0.05 | 0.275 | 3082 | 440.0 | 2.30 | 0.037 | 1811 | 616.1 | 218.7 | - | - | 1814 | - | - | - | - | - | - | - | - | 14.81 | 14.88 | 14.95 |
| 6497 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6497 | begin surface coast | ||||||||||||||||||||||||||||
| 6524 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6524 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.81 | - | - | - | - | -8.18 | 13.80 | 0.050 | 124 | 9.0 | - | - | 1812 | - | 515.37 | 188.25 | 0.799 | 598 | 3.2 | -0.000 | - | - | - | - | - | - | |||