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| • Previous call tries 1 | • 40.29 of 310.00 AH used of 24V (87.00% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -68.1 deg, depth 1.11 m | • Intended pitch -18.2 deg, speed -9.980 cm/s | |
| • No surface pump (final VBD was 316.43, SM_CC=290) | • surface range 19.8 m at 19.7 m depth, ceiling -0.1 m | |
| • GPS1 time: 41 s | • bottom range 58.3 m at 270.1 m, depth 328 m (500 m grid) | |
| • GPS2 time: 17 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 | |||||
| 17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17 | begin dive | ||||||||||||||||||||||||||||
| 18 | - | - | - | 77 | VBD | -0.85 | - | - | 72 | - | - | - | 2146 | - | -146.0 | -56.67 | - | 3048 | - | - | - | - | - | - | - | - | 15.02 | - | 15.03 |
| 78 | 4.2 | -11.1 | 10 | 102 | roll | -0.85 | 12.07 | 0.289 | 2195 | 175.9 | 2.38 | 0.087 | 3522 | 578.2 | -146.0 | -6.28 | - | 3408 | -57.3 | - | - | - | - | - | - | - | 14.66 | 13.93 | 14.80 |
| 231 | 38.7 | -19.5 | 40 | 238 | done | -0.85 | 0.05 | 0.249 | 2207 | 240.0 | 2.33 | 0.041 | 2119 | -602.1 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.78 | 14.90 | 14.90 |
| 298 | 51.1 | -18.1 | 53 | 303 | done | -0.85 | - | - | 2206 | - | - | - | 2117 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 362 | 62.2 | -16.6 | 66 | 368 | done | -0.85 | - | - | 2207 | - | - | - | 2117 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.13 |
| 427 | 73.2 | -16.9 | 79 | 428 | done | -0.85 | - | - | 2206 | - | - | - | 2117 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.13 |
| 487 | 83.7 | -17.8 | 91 | 494 | roll | -0.85 | - | - | 2204 | - | 2.40 | 0.070 | 3511 | 580.8 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.14 | 14.93 | 15.14 |
| 528 | 90.8 | -16.8 | 99 | 535 | done | -0.85 | - | - | 2204 | - | 2.28 | 0.038 | 2129 | -606.1 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.97 | 14.92 | 14.98 |
| 594 | 102.7 | -18.4 | 112 | 600 | done | -0.85 | - | - | 2204 | - | - | - | 2128 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.17 |
| 659 | 114.9 | -18.4 | 125 | 666 | roll | -0.85 | - | - | 2204 | - | 2.38 | 0.065 | 726 | -589.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.18 | 14.92 | 15.17 |
| 695 | 120.9 | -17.2 | 132 | 702 | done | -0.85 | 0.05 | 0.272 | 2208 | 80.0 | 2.30 | 0.048 | 2114 | 603.5 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.82 | 14.94 | 14.95 |
| 761 | 130.7 | -14.3 | 145 | 767 | roll | -0.85 | - | - | 2198 | - | 2.40 | 0.072 | 3538 | 593.3 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.16 | 14.97 | 15.16 |
| 787 | 134.5 | -14.9 | 150 | 794 | done | -0.85 | 0.03 | 0.336 | 2206 | 266.7 | 2.30 | 0.037 | 2133 | -610.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.83 | 14.99 | 14.95 |
| 852 | 143.9 | -14.2 | 163 | 853 | done | -0.85 | - | - | 2206 | - | - | - | 2133 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 913 | 151.9 | -13.2 | 175 | 913 | done | -0.85 | - | - | 2206 | - | - | - | 2133 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 973 | 159.8 | -13.1 | 187 | 979 | done | -0.85 | - | - | 2206 | - | - | - | 2133 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.19 |
| 1038 | 168.7 | -12.8 | 200 | 1039 | done | -0.85 | - | - | 2206 | - | - | - | 2133 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 1098 | 176.4 | -12.4 | 212 | 1105 | roll | -0.85 | - | - | 2206 | - | 2.38 | 0.064 | 727 | -590.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.20 |
| 1130 | 180.3 | -13.2 | 218 | 1136 | done | -0.85 | - | - | 2200 | - | 2.28 | 0.048 | 2127 | 614.0 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.09 |
| 1195 | 188.5 | -12.5 | 231 | 1202 | roll | -0.85 | - | - | 2198 | - | 2.38 | 0.073 | 3538 | 592.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.19 |
| 1216 | 190.9 | -11.3 | 235 | 1223 | done | -0.85 | 0.03 | 0.331 | 2205 | 233.3 | 2.30 | 0.037 | 2132 | -611.3 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.84 | 15.00 | 14.97 |
| 1282 | 198.5 | -11.5 | 248 | 1289 | roll | -0.85 | - | - | 2206 | - | 2.35 | 0.065 | 735 | -594.5 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 1318 | 202.9 | -12.4 | 255 | 1325 | done | -0.85 | - | - | 2203 | - | 2.30 | 0.048 | 2129 | 606.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.00 | 14.94 | 15.00 |
| 1384 | 211.2 | -12.2 | 268 | 1390 | done | -0.85 | - | - | 2204 | - | - | - | 2129 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1449 | 218.8 | -11.9 | 281 | 1456 | roll | -0.85 | - | - | 2204 | - | 2.42 | 0.073 | 3539 | 582.6 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.22 |
| 1485 | 223.2 | -12.0 | 288 | 1491 | done | -0.85 | - | - | 2204 | - | 2.30 | 0.037 | 2133 | -611.3 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.06 | 15.02 | 15.07 |
| 1551 | 231.4 | -13.3 | 301 | 1557 | done | -0.85 | - | - | 2204 | - | - | - | 2133 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 1616 | 240.1 | -13.5 | 314 | 1622 | done | -0.85 | - | - | 2204 | - | - | - | 2133 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1681 | 248.9 | -13.4 | 327 | 1688 | roll | -0.85 | - | - | 2204 | - | 2.38 | 0.066 | 723 | -592.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.23 | 14.99 | 15.23 |
| 1707 | 252.4 | -13.4 | 332 | 1713 | done | -0.85 | - | - | 2200 | - | 2.33 | 0.048 | 2132 | 604.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.05 | 15.02 | 15.08 |
| 1773 | 261.3 | -13.9 | 345 | 1779 | roll | -0.85 | - | - | 2200 | - | 2.35 | 0.073 | 3533 | 596.2 | -146.0 | - | - | 3414 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1823 | 268.7 | -13.6 | 355 | 1830 | done | -0.85 | - | - | 2200 | - | 2.30 | 0.037 | 2130 | -610.0 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.07 | 15.02 | 15.09 |
| 1889 | 277.6 | -14.2 | 368 | 1895 | done | -0.85 | - | - | 2200 | - | - | - | 2130 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1954 | 287.2 | -14.4 | 381 | 1960 | done | -0.85 | - | - | 2200 | - | - | - | 2130 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 2019 | 296.7 | -15.1 | 394 | 2026 | roll | -0.85 | - | - | 2194 | - | 2.38 | 0.071 | 3537 | 591.2 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.24 | 15.00 | 15.24 |
| 2045 | 300.7 | -14.1 | 399 | 2051 | done | -0.85 | 0.05 | 0.245 | 2207 | 260.0 | 2.30 | 0.037 | 2120 | -616.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.92 | 15.02 | 15.02 |
| 2179 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2179 | begin apogee | ||||||||||||||||||||||||||||
| 2183 | 318.6 | -13.1 | 406 | 2302 | done | -0.19 | 1.08 | 0.155 | 2426 | 202.8 | - | - | 1901 | - | - | 110.15 | 1.388 | 2812 | -5.4 | 0.220 | - | - | - | - | - | - | 14.98 | 14.54 | 14.02 |
| 2303 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2303 | begin climb | ||||||||||||||||||||||||||||
| 2304 | 323.5 | - | 412 | 2424 | roll | 0.85 | 1.50 | 0.084 | 2749 | 215.3 | 2.53 | 0.063 | 3320 | 560.9 | 146.0 | 110.95 | 1.371 | 2215 | -5.4 | 0.224 | - | - | - | - | - | - | 14.54 | 14.40 | 13.91 |
| 2453 | 322.7 | 3.0 | 419 | 2586 | done | 1.04 | 0.20 | 0.066 | 2823 | 370.0 | 2.38 | 0.044 | 1926 | -585.7 | 298.8 | 122.25 | 1.354 | 1592 | -5.1 | 0.214 | - | - | - | - | - | - | 14.57 | 14.55 | 13.90 |
| 2703 | 286.5 | 15.8 | 444 | 2709 | roll | 1.04 | - | - | 2834 | - | 2.45 | 0.076 | 516 | -575.5 | 298.8 | - | - | 1587 | - | - | - | - | - | - | - | - | 14.90 | 14.67 | 14.90 |
| 2764 | 276.5 | 16.4 | 456 | 2770 | done | 1.04 | - | - | 2834 | - | 2.33 | 0.042 | 1912 | 599.1 | 298.8 | - | - | 1587 | - | - | - | - | - | - | - | - | 14.82 | 14.78 | 14.84 |
| 2830 | 265.7 | 16.3 | 469 | 2836 | roll | 1.04 | - | - | 2834 | - | 2.35 | 0.065 | 3312 | 595.7 | 298.8 | - | - | 1586 | - | - | - | - | - | - | - | - | 15.02 | 14.82 | 15.02 |
| 2876 | 258.0 | 16.8 | 478 | 2883 | done | 1.04 | 0.05 | 0.273 | 2832 | - | 2.35 | 0.047 | 1918 | -593.2 | 298.8 | - | - | 1586 | - | - | - | - | - | - | - | - | 14.74 | 14.85 | 14.85 |
| 2942 | 247.4 | 15.9 | 491 | 2942 | done | 1.04 | - | - | 2832 | - | - | - | 1918 | - | 298.8 | - | - | 1585 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 3002 | 237.8 | 16.1 | 503 | 3008 | roll | 1.04 | - | - | 2841 | - | 2.40 | 0.076 | 498 | -591.7 | 298.8 | - | - | 1586 | - | - | - | - | - | - | - | - | 15.13 | 14.85 | 15.11 |
| 3032 | 232.6 | 17.4 | 509 | 3040 | done | 1.04 | 0.05 | 0.253 | 2830 | -220.0 | 2.33 | 0.042 | 1915 | 608.2 | 298.8 | - | - | 1585 | - | - | - | - | - | - | - | - | 14.78 | 14.89 | 14.90 |
| 3099 | 221.3 | 17.6 | 522 | 3106 | roll | 1.04 | - | - | 2829 | - | 2.33 | 0.064 | 3296 | 592.7 | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 15.12 | 14.90 | 15.13 |
| 3140 | 213.5 | 18.8 | 530 | 3146 | done | 1.04 | - | - | 2831 | - | 2.33 | 0.049 | 1908 | -595.7 | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 14.97 | 14.93 | 14.99 |
| 3206 | 201.8 | 17.5 | 543 | 3212 | roll | 1.04 | - | - | 2840 | - | 2.38 | 0.079 | 496 | -593.3 | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 15.15 | 14.93 | 15.15 |
| 3241 | 195.4 | 17.8 | 550 | 3248 | done | 1.04 | - | - | 2840 | - | 2.30 | 0.041 | 1902 | 611.3 | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 15.00 | 14.97 | 15.04 |
| 3308 | 184.2 | 17.5 | 563 | 3314 | done | 1.04 | 0.05 | 0.354 | 2830 | -200.0 | - | - | 1904 | - | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 14.87 | 15.05 | 15.02 |
| 3374 | 173.4 | 15.6 | 576 | 3379 | done | 1.04 | - | - | 2830 | - | - | - | 1904 | - | 298.8 | - | - | 1587 | - | - | - | - | - | - | - | - | 15.17 | 15.17 | 15.17 |
| 3438 | 163.4 | 15.0 | 589 | 3445 | roll | 1.04 | - | - | 2839 | - | 2.42 | 0.077 | 499 | -580.6 | 298.8 | - | - | 1584 | - | - | - | - | - | - | - | - | 15.17 | 14.92 | 15.18 |
| 3489 | 155.4 | 15.4 | 599 | 3496 | done | 1.04 | 0.05 | 0.256 | 2827 | -240.0 | 2.33 | 0.044 | 1915 | 607.7 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 14.86 | 14.98 | 14.97 |
| 3555 | 145.2 | 16.2 | 612 | 3562 | roll | 1.04 | - | - | 2827 | - | 2.30 | 0.065 | 3298 | 601.3 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.16 | 14.97 | 15.16 |
| 3616 | 135.8 | 15.0 | 624 | 3622 | done | 1.04 | - | - | 2831 | - | 2.33 | 0.048 | 1910 | -595.7 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.02 | 14.97 | 15.04 |
| 3682 | 127.0 | 13.3 | 637 | 3689 | roll | 1.04 | - | - | 2838 | - | 2.40 | 0.079 | 497 | -588.8 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.18 | 14.94 | 15.18 |
| 3733 | 120.3 | 13.4 | 647 | 3739 | done | 1.04 | - | - | 2838 | - | 2.30 | 0.042 | 1901 | 610.4 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.00 | 14.97 | 15.02 |
| 3799 | 112.1 | 11.7 | 660 | 3805 | roll | 1.04 | - | - | 2838 | - | 2.38 | 0.078 | 500 | -588.7 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.18 | 14.96 | 15.19 |
| 3889 | 101.5 | 11.1 | 678 | 3896 | done | 1.04 | - | - | 2838 | - | 2.33 | 0.043 | 1916 | 607.7 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.04 | 14.99 | 15.06 |
| 3956 | 94.4 | 10.9 | 691 | 3962 | roll | 1.04 | - | - | 2838 | - | 2.33 | 0.066 | 3302 | 594.8 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.17 | 14.98 | 15.18 |
| 4007 | 88.4 | 11.9 | 701 | 4014 | done | 1.04 | 0.05 | 0.350 | 2830 | -160.0 | 2.33 | 0.047 | 1911 | -597.0 | 298.8 | - | - | 1582 | - | - | - | - | - | - | - | - | 14.84 | 14.94 | 15.01 |
| 4073 | 81.2 | 11.6 | 714 | 4079 | done | 1.04 | - | - | 2830 | - | - | - | 1912 | - | 298.8 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 4138 | 73.9 | 11.2 | 727 | 4143 | done | 1.04 | - | - | 2830 | - | - | - | 1912 | - | 298.8 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.19 |
| 4203 | 66.6 | 11.4 | 740 | 4210 | roll | 1.04 | - | - | 2830 | - | 2.33 | 0.061 | 3308 | 599.1 | 298.8 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.19 |
| 4234 | 62.6 | 12.7 | 746 | 4241 | done | 1.04 | - | - | 2831 | - | 2.33 | 0.047 | 1911 | -599.6 | 298.8 | - | - | 1583 | - | - | - | - | - | - | - | - | 15.03 | 14.98 | 15.05 |
| 4301 | 55.7 | 9.8 | 759 | 4306 | done | 1.05 | - | - | 2831 | - | - | - | 1911 | - | 302.5 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 4365 | 48.6 | 10.8 | 772 | 4366 | done | 1.05 | - | - | 2831 | - | - | - | 1911 | - | 302.5 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 4425 | 42.1 | 11.1 | 784 | 4432 | roll | 1.05 | - | - | 2831 | - | 2.38 | 0.063 | 3295 | 581.5 | 302.5 | - | - | 1585 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 4451 | 39.1 | 11.0 | 789 | 4458 | done | 1.05 | - | - | 2831 | - | 2.33 | 0.047 | 1904 | -597.0 | 302.5 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.02 | 14.98 | 15.05 |
| 4517 | 32.1 | 10.6 | 802 | 4523 | roll | 1.05 | - | - | 2838 | - | 2.38 | 0.078 | 503 | -588.7 | 302.5 | - | - | 1582 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.19 |
| 4593 | 24.8 | 9.4 | 817 | 4611 | done | 1.06 | - | - | 2832 | - | 2.28 | 0.042 | 1918 | 620.6 | 314.4 | 11.40 | 0.930 | 1529 | -4.6 | 0.022 | - | - | - | - | - | - | 15.06 | 14.99 | 14.49 |
| 4670 | 17.0 | 10.8 | 832 | 4676 | roll | 1.06 | - | - | 2832 | - | 2.35 | 0.063 | 3307 | 591.1 | 314.4 | - | - | 1528 | - | - | - | - | - | - | - | - | 15.14 | 14.92 | 15.14 |
| 4715 | 12.0 | 10.9 | 841 | 4722 | done | 1.06 | - | - | 2832 | - | 2.33 | 0.046 | 1913 | -598.3 | 314.4 | - | - | 1528 | - | - | - | - | - | - | - | - | 15.00 | 14.94 | 15.02 |
| 4782 | 5.7 | 10.1 | 854 | 4787 | done | 1.06 | - | - | 2832 | - | - | - | 1909 | - | 314.4 | - | - | 1527 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 4805 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4805 | begin surface coast | ||||||||||||||||||||||||||||
| 4830 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4830 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.21 | - | - | - | - | -7.27 | 12.35 | 0.050 | 151 | 12.2 | 0.32 | 0.070 | 2143 | 6678.1 | 316.43 | - | - | 1523 | - | - | - | - | - | - | - | - | |||