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| • Previous call tries 5 | • 64.50 of 310.00 AH used of 24V (79.19% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.3 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: 7 s | • bottom range 33.4 m at 377.2 m, depth 411 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 21 | |
| • 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 | - | - | 58 | - | - | - | 1818 | - | -92.5 | -87.82 | - | 2991 | - | - | - | - | - | - | - | - | 15.09 | - | 15.10 |
| 114 | 3.9 | -7.9 | 16 | 139 | roll | -0.88 | 13.77 | 0.285 | 2467 | 174.9 | 2.38 | 0.074 | 399 | -596.2 | -92.5 | -1.52 | - | 3080 | -58.6 | - | - | - | - | - | - | - | 14.73 | 13.93 | 14.93 |
| 186 | 28.8 | -21.8 | 29 | 193 | done | -0.88 | 0.08 | 0.297 | 2472 | 62.5 | 2.28 | 0.036 | 1802 | 615.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.78 | 14.91 | 14.93 |
| 256 | 43.0 | -22.9 | 42 | 262 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.053 | 3214 | 606.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
| 284 | 48.2 | -17.0 | 47 | 291 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.043 | 1802 | -606.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.97 | 14.89 | 14.98 |
| 354 | 59.7 | -17.4 | 60 | 363 | roll | -0.88 | - | - | 2455 | - | 2.35 | 0.052 | 3220 | 603.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.15 |
| 491 | 82.0 | -14.7 | 86 | 498 | done | -0.88 | 0.08 | 0.267 | 2469 | 175.0 | 2.30 | 0.043 | 1813 | -611.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.87 | 14.98 | 15.02 |
| 561 | 92.9 | -14.9 | 99 | 568 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.050 | 3219 | 603.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 600 | 99.1 | -15.6 | 106 | 606 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.045 | 1806 | -606.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.03 |
| 669 | 109.7 | -15.6 | 119 | 677 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.063 | 401 | -597.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 14.91 | 15.19 |
| 718 | 118.2 | -17.7 | 128 | 725 | done | -0.88 | 0.08 | 0.293 | 2473 | 137.5 | 2.28 | 0.036 | 1811 | 618.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.03 |
| 788 | 129.3 | -14.8 | 141 | 795 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.060 | 408 | -597.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 807 | 132.3 | -15.3 | 144 | 814 | done | -0.88 | - | - | 2462 | - | 2.28 | 0.035 | 1817 | 618.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.09 |
| 877 | 142.4 | -15.5 | 157 | 883 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.053 | 3218 | 609.1 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.21 |
| 1027 | 166.7 | -15.0 | 186 | 1034 | done | -0.88 | 0.08 | 0.262 | 2470 | 200.0 | 2.30 | 0.044 | 1811 | -611.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.05 |
| 1098 | 177.2 | -15.4 | 199 | 1104 | done | -0.88 | - | - | 2469 | - | - | - | 1810 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.19 | 15.21 |
| 1168 | 187.0 | -14.9 | 212 | 1174 | roll | -0.88 | - | - | 2470 | - | 2.35 | 0.063 | 402 | -599.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1187 | 190.1 | -14.8 | 215 | 1194 | done | -0.88 | - | - | 2470 | - | 2.28 | 0.037 | 1810 | 617.5 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 1256 | 199.7 | -14.0 | 228 | 1264 | roll | -0.88 | - | - | 2470 | - | 2.30 | 0.054 | 3213 | 610.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1300 | 205.6 | -12.6 | 236 | 1307 | done | -0.88 | - | - | 2470 | - | 2.30 | 0.044 | 1807 | -611.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
| 1371 | 215.1 | -14.0 | 249 | 1376 | done | -0.88 | - | - | 2470 | - | - | - | 1807 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1441 | 225.2 | -14.0 | 262 | 1448 | roll | -0.88 | - | - | 2470 | - | 2.35 | 0.054 | 3221 | 601.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.24 |
| 1465 | 228.6 | -13.0 | 266 | 1471 | done | -0.88 | - | - | 2470 | - | 2.30 | 0.044 | 1814 | -611.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 1534 | 238.0 | -13.1 | 279 | 1539 | done | -0.88 | - | - | 2470 | - | - | - | 1814 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1603 | 246.9 | -12.6 | 292 | 1609 | done | -0.88 | - | - | 2470 | - | - | - | 1814 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1672 | 255.3 | -12.4 | 305 | 1679 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.054 | 3222 | 599.1 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 1738 | 263.5 | -11.3 | 317 | 1744 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.044 | 1802 | -609.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1809 | 272.1 | -11.5 | 330 | 1815 | done | -0.88 | - | - | 2463 | - | - | - | 1801 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1881 | 280.7 | -12.2 | 343 | 1887 | roll | -0.88 | - | - | 2457 | - | 2.35 | 0.054 | 3214 | 601.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
| 1925 | 286.0 | -10.9 | 351 | 1932 | done | -0.88 | 0.08 | 0.267 | 2473 | 200.0 | 2.30 | 0.046 | 1811 | -610.0 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.93 | 15.03 | 15.08 |
| 1994 | 293.7 | -11.2 | 364 | 2000 | done | -0.88 | - | - | 2472 | - | - | - | 1812 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
| 2072 | 302.9 | -12.2 | 376 | 2077 | roll | -0.88 | - | - | 2470 | - | 2.33 | 0.054 | 3213 | 601.3 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.26 | 15.03 | 15.26 |
| 2115 | 308.4 | -12.5 | 378 | 2120 | done | -0.88 | - | - | 2466 | - | 2.30 | 0.046 | 1811 | -609.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 2259 | 326.5 | -12.4 | 385 | 2260 | done | -0.88 | - | - | 2466 | - | - | - | 1810 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.27 | 15.28 | 15.28 |
| 2378 | 341.1 | -11.8 | 391 | 2383 | roll | -0.88 | - | - | 2466 | - | 2.33 | 0.059 | 406 | -602.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.28 | 15.07 | 15.28 |
| 2424 | 346.6 | -11.9 | 393 | 2429 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.043 | 1814 | 612.2 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.16 | 15.08 | 15.18 |
| 2563 | 366.0 | -13.8 | 400 | 2568 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.055 | 3231 | 608.2 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.28 | 15.07 | 15.28 |
| 2589 | 369.0 | -13.3 | 401 | 2594 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1811 | -617.4 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
| 2726 | 387.8 | -13.3 | 408 | 2727 | done | -0.88 | - | - | 2461 | - | - | - | 1811 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.30 | 15.31 | 15.30 |
| 2825 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2825 | begin apogee | ||||||||||||||||||||||||||||
| 2829 | 401.4 | -13.7 | 413 | 2906 | done | -0.17 | 1.23 | 0.170 | 2700 | 194.3 | - | - | 1811 | - | - | 70.20 | 1.271 | 2699 | -5.3 | 0.295 | - | - | - | - | - | - | 14.98 | 14.59 | 14.21 |
| 2908 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2908 | begin climb | ||||||||||||||||||||||||||||
| 2910 | 402.9 | - | 417 | 2996 | roll | 0.88 | 1.60 | 0.060 | 3067 | 229.4 | 2.50 | 0.067 | 399 | -564.8 | 92.5 | 75.32 | 1.273 | 2322 | -5.0 | 0.279 | - | - | - | - | - | - | 14.73 | 14.47 | 14.02 |
| 3174 | 380.5 | 12.9 | 430 | 3180 | done | 0.88 | 0.10 | 0.295 | 3048 | -190.0 | 2.30 | 0.037 | 1812 | 614.3 | 92.5 | - | - | 2315 | - | - | - | - | - | - | - | - | 14.69 | 14.83 | 14.86 |
| 3313 | 366.1 | 8.9 | 437 | 3333 | roll | 0.90 | - | - | 3056 | - | 2.42 | 0.067 | 399 | -583.9 | 108.1 | 13.62 | 1.135 | 2257 | -4.3 | 0.242 | - | - | - | - | - | - | 15.11 | 14.73 | 14.33 |
| 3339 | 364.2 | 8.9 | 438 | 3360 | done | 0.92 | - | - | 3056 | - | 2.30 | 0.040 | 1806 | 611.7 | 123.6 | 14.40 | 1.130 | 2193 | -4.4 | 0.252 | - | - | - | - | - | - | 14.93 | 14.86 | 14.28 |
| 3499 | 340.4 | 15.5 | 446 | 3504 | roll | 0.92 | - | - | 3064 | - | 2.40 | 0.070 | 401 | -585.4 | 123.6 | - | - | 2188 | - | - | - | - | - | - | - | - | 15.09 | 14.86 | 15.09 |
| 3530 | 336.2 | 16.1 | 447 | 3536 | done | 0.92 | - | - | 3064 | - | 2.28 | 0.039 | 1801 | 614.0 | 123.6 | - | - | 2187 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.01 |
| 3663 | 315.0 | 14.6 | 454 | 3668 | roll | 0.92 | - | - | 3074 | - | 2.40 | 0.072 | 394 | -586.2 | 123.6 | - | - | 2186 | - | - | - | - | - | - | - | - | 15.17 | 14.93 | 15.17 |
| 3699 | 311.3 | 15.7 | 455 | 3706 | done | 0.92 | 0.10 | 0.310 | 3058 | -160.0 | 2.28 | 0.038 | 1809 | 620.6 | 123.6 | - | - | 2185 | - | - | - | - | - | - | - | - | 14.81 | 14.98 | 15.01 |
| 3825 | 289.7 | 13.7 | 471 | 3832 | roll | 0.92 | - | - | 3067 | - | 2.40 | 0.069 | 398 | -587.9 | 123.6 | - | - | 2184 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.19 |
| 3879 | 281.1 | 16.4 | 481 | 3886 | done | 0.92 | - | - | 3067 | - | 2.28 | 0.039 | 1798 | 614.0 | 123.6 | - | - | 2183 | - | - | - | - | - | - | - | - | 15.08 | 15.00 | 15.09 |
| 3948 | 270.8 | 15.0 | 494 | 3954 | done | 0.92 | - | - | 3067 | - | - | - | 1800 | - | 123.6 | - | - | 2183 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.19 |
| 4016 | 260.5 | 15.3 | 507 | 4022 | roll | 0.92 | - | - | 3067 | - | 2.30 | 0.054 | 3201 | 609.1 | 123.6 | - | - | 2182 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 4079 | 251.0 | 15.1 | 519 | 4087 | done | 0.92 | 0.10 | 0.322 | 3058 | -90.0 | 2.35 | 0.053 | 1796 | -597.9 | 123.6 | - | - | 2181 | - | - | - | - | - | - | - | - | 14.85 | 15.00 | 15.04 |
| 4148 | 241.0 | 13.7 | 532 | 4155 | roll | 0.92 | - | - | 3058 | - | 2.33 | 0.054 | 3199 | 602.1 | 123.6 | - | - | 2181 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 4201 | 233.4 | 14.1 | 542 | 4208 | done | 0.92 | - | - | 3065 | - | 2.33 | 0.053 | 1801 | -600.0 | 123.6 | - | - | 2180 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
| 4270 | 224.2 | 12.8 | 555 | 4277 | roll | 0.92 | - | - | 3074 | - | 2.38 | 0.072 | 397 | -589.9 | 123.6 | - | - | 2181 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 4294 | 220.9 | 13.7 | 559 | 4301 | done | 0.92 | 0.08 | 0.327 | 3061 | -162.5 | 2.28 | 0.040 | 1805 | 617.5 | 123.6 | - | - | 2180 | - | - | - | - | - | - | - | - | 14.84 | 15.02 | 15.06 |
| 4363 | 211.4 | 13.9 | 572 | 4369 | roll | 0.92 | - | - | 3063 | - | 2.28 | 0.054 | 3195 | 609.6 | 123.6 | - | - | 2180 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.23 |
| 4432 | 201.8 | 13.3 | 585 | 4439 | done | 0.92 | - | - | 3067 | - | 2.33 | 0.054 | 1798 | -599.6 | 123.6 | - | - | 2180 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.11 |
| 4501 | 193.1 | 13.4 | 598 | 4506 | done | 0.92 | - | - | 3068 | - | - | - | 1798 | - | 123.6 | - | - | 2179 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4568 | 184.4 | 13.0 | 611 | 4575 | done | 0.92 | 0.05 | 0.401 | 3059 | -180.0 | - | - | 1798 | - | 123.6 | - | - | 2179 | - | - | - | - | - | - | - | - | 14.82 | 15.02 | 14.99 |
| 4637 | 175.4 | 12.9 | 624 | 4644 | roll | 0.92 | - | - | 3067 | - | 2.40 | 0.073 | 392 | -585.8 | 123.6 | - | - | 2179 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 4746 | 160.7 | 13.3 | 645 | 4753 | done | 0.92 | 0.05 | 0.363 | 3059 | -160.0 | 2.30 | 0.040 | 1805 | 614.3 | 123.6 | - | - | 2178 | - | - | - | - | - | - | - | - | 14.83 | 14.99 | 15.04 |
| 4816 | 152.1 | 12.2 | 658 | 4823 | roll | 0.92 | - | - | 3059 | - | 2.30 | 0.054 | 3202 | 607.4 | 123.6 | - | - | 2178 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.21 |
| 4850 | 147.9 | 12.3 | 664 | 4856 | done | 0.92 | - | - | 3070 | - | 2.35 | 0.051 | 1789 | -601.3 | 123.6 | - | - | 2178 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.03 |
| 4919 | 141.6 | 9.1 | 677 | 4933 | roll | 0.93 | - | - | 3067 | - | 2.38 | 0.052 | 3197 | 591.6 | 135.7 | 8.60 | 0.897 | 2144 | -4.0 | 0.110 | - | - | - | - | - | - | 15.19 | 14.96 | 14.42 |
| 5045 | 126.7 | 13.1 | 701 | 5052 | done | 0.93 | 0.08 | 0.340 | 3062 | -62.5 | 2.35 | 0.054 | 1795 | -596.6 | 135.7 | - | - | 2143 | - | - | - | - | - | - | - | - | 14.76 | 14.90 | 14.95 |
| 5113 | 119.3 | 10.2 | 714 | 5120 | roll | 0.93 | - | - | 3070 | - | 2.40 | 0.073 | 389 | -585.8 | 135.7 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.16 |
| 5237 | 104.9 | 11.9 | 738 | 5244 | done | 0.93 | - | - | 3070 | - | 2.30 | 0.038 | 1805 | 615.7 | 135.7 | - | - | 2142 | - | - | - | - | - | - | - | - | 15.07 | 14.98 | 15.08 |
| 5307 | 97.6 | 9.7 | 751 | 5320 | roll | 0.94 | - | - | 3074 | - | 2.40 | 0.070 | 396 | -587.1 | 140.0 | 5.28 | 0.723 | 2127 | -2.8 | 0.068 | - | - | - | - | - | - | 15.18 | 14.94 | 14.45 |
| 5331 | 94.8 | 11.3 | 755 | 5338 | done | 0.94 | - | - | 3074 | - | 2.30 | 0.037 | 1809 | 614.3 | 140.0 | - | - | 2126 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.03 |
| 5401 | 87.7 | 9.8 | 768 | 5407 | roll | 0.94 | - | - | 3074 | - | 2.30 | 0.052 | 3202 | 605.7 | 143.0 | - | - | 2125 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.16 |
| 5775 | 53.0 | 7.6 | 842 | 5810 | done | 0.98 | - | - | 3077 | - | 2.35 | 0.051 | 1793 | -599.6 | 175.8 | 29.35 | 0.900 | 1981 | -4.9 | 0.051 | - | - | - | - | - | - | 15.00 | 14.91 | 14.42 |
| 5872 | 43.8 | 10.4 | 860 | 5878 | roll | 0.98 | - | - | 3077 | - | 2.35 | 0.050 | 3196 | 597.0 | 175.8 | - | - | 1976 | - | - | - | - | - | - | - | - | 15.08 | 14.88 | 15.08 |
| 6051 | 27.8 | 7.1 | 895 | 6086 | done | 1.03 | - | - | 3085 | - | 2.33 | 0.050 | 1801 | -598.7 | 215.6 | 29.27 | 0.887 | 1820 | -5.3 | 0.029 | - | - | - | - | - | - | 14.99 | 14.90 | 14.33 |
| 6148 | 20.0 | 10.8 | 913 | 6154 | roll | 1.03 | - | - | 3094 | - | 2.42 | 0.073 | 394 | -581.4 | 215.6 | - | - | 1820 | - | - | - | - | - | - | - | - | 15.04 | 14.82 | 15.04 |
| 6326 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6326 | begin surface coast | ||||||||||||||||||||||||||||
| 6357 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6357 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.86 | - | - | - | - | -8.22 | 13.95 | 0.054 | 110 | 7.9 | 2.35 | 0.035 | 1812 | -320.0 | 515.37 | 186.90 | 0.789 | 598 | 3.2 | -0.000 | - | - | - | - | - | - | |||