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| • Previous call tries 1 | • 120.54 of 310.00 AH used of 24V (61.12% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.2 deg, depth 0.63 m | • Intended pitch -18.3 deg, speed -10.010 cm/s | |
| • VBD pumped to 542.59 (SM_CC=542.59473) | • surface range 19.3 m at 20.0 m depth, ceiling 0.7 m | |
| • GPS1 time: 41 s | • bottom range 6.8 m at 270.5 m, depth 277 m (1000 m grid) | |
| • GPS2 time: 15 s | • Transponder ping count: 1 | |
| • 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 | - | - | 84 | - | - | - | 2018 | - | -146.0 | -93.12 | - | 3151 | - | - | - | - | - | - | - | - | 14.97 | - | 14.98 |
| 120 | 3.4 | -8.2 | 17 | 144 | roll | -0.86 | 12.68 | 0.310 | 2205 | 167.3 | 2.42 | 0.086 | 605 | -583.9 | -146.0 | -4.28 | - | 3408 | -60.0 | - | - | - | - | - | - | - | 14.31 | 13.80 | 14.52 |
| 381 | 62.8 | -17.0 | 68 | 387 | done | -0.86 | - | - | 2202 | - | 2.33 | 0.046 | 2005 | 600.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.84 | 14.73 | 14.85 |
| 450 | 73.3 | -14.7 | 81 | 457 | roll | -0.86 | - | - | 2196 | - | 2.45 | 0.069 | 3413 | 574.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.06 | 14.68 | 15.06 |
| 504 | 81.4 | -14.6 | 91 | 511 | done | -0.86 | 0.05 | 0.334 | 2207 | 220.0 | 2.33 | 0.039 | 2005 | -604.3 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.49 | 14.83 | 14.70 |
| 573 | 91.6 | -16.4 | 104 | 579 | roll | -0.86 | - | - | 2206 | - | 2.40 | 0.067 | 599 | -585.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.09 | 14.76 | 15.10 |
| 631 | 99.7 | -14.0 | 115 | 639 | done | -0.86 | - | - | 2206 | - | 2.35 | 0.044 | 2027 | 607.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.92 | 14.82 | 14.94 |
| 702 | 108.9 | -12.8 | 128 | 709 | roll | -0.86 | - | - | 2202 | - | 2.40 | 0.070 | 3416 | 578.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.08 | 14.76 | 15.09 |
| 822 | 123.8 | -12.4 | 151 | 828 | done | -0.86 | - | - | 2202 | - | 2.33 | 0.038 | 2010 | -603.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.94 | 14.84 | 14.95 |
| 891 | 132.3 | -12.4 | 164 | 897 | done | -0.86 | - | - | 2202 | - | - | - | 2010 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 958 | 140.7 | -12.5 | 177 | 964 | done | -0.86 | - | - | 2202 | - | - | - | 2009 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1026 | 148.3 | -11.1 | 190 | 1032 | done | -0.86 | - | - | 2202 | - | - | - | 2010 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.10 |
| 1094 | 156.2 | -11.1 | 203 | 1099 | done | -0.86 | - | - | 2202 | - | - | - | 2010 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.10 |
| 1162 | 164.0 | -12.6 | 216 | 1168 | roll | -0.86 | - | - | 2202 | - | 2.40 | 0.067 | 600 | -587.5 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.11 | 14.77 | 15.11 |
| 1190 | 167.9 | -12.6 | 221 | 1197 | done | -0.86 | - | - | 2198 | - | 2.33 | 0.044 | 2017 | 608.2 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.87 | 14.76 | 14.89 |
| 1260 | 177.2 | -13.4 | 234 | 1267 | roll | -0.86 | 0.05 | 0.353 | 2206 | 160.0 | 2.38 | 0.067 | 3408 | 584.5 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.66 | 14.64 | 14.81 |
| 1305 | 183.2 | -12.6 | 242 | 1312 | done | -0.86 | - | - | 2206 | - | 2.30 | 0.037 | 2007 | -609.1 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.89 |
| 1375 | 192.1 | -12.7 | 255 | 1382 | roll | -0.86 | - | - | 2203 | - | 2.45 | 0.067 | 3414 | 574.3 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.14 | 14.71 | 15.10 |
| 1434 | 199.3 | -11.5 | 266 | 1440 | done | -0.86 | - | - | 2202 | - | 2.30 | 0.037 | 2009 | -610.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.82 | 14.75 | 14.86 |
| 1504 | 206.8 | -10.3 | 279 | 1511 | roll | -0.86 | - | - | 2202 | - | 2.40 | 0.067 | 3406 | 582.1 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.12 | 14.61 | 15.12 |
| 1549 | 211.2 | -9.8 | 287 | 1555 | done | -0.86 | - | - | 2202 | - | 2.28 | 0.037 | 2014 | -610.5 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.96 | 14.87 | 14.97 |
| 1619 | 218.1 | -10.0 | 300 | 1625 | roll | -0.86 | - | - | 2200 | - | 2.40 | 0.067 | 3408 | 580.8 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.11 | 14.78 | 15.12 |
| 1647 | 221.3 | -10.7 | 305 | 1654 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.037 | 2005 | -610.0 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.97 | 14.87 | 14.98 |
| 1717 | 229.1 | -12.1 | 318 | 1724 | roll | -0.86 | - | - | 2200 | - | 2.45 | 0.068 | 3410 | 573.5 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.13 | 14.78 | 15.14 |
| 1787 | 237.3 | -11.1 | 331 | 1794 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.037 | 2007 | -610.0 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 14.96 | 14.87 | 14.98 |
| 1857 | 244.8 | -10.2 | 344 | 1863 | done | -0.86 | - | - | 2200 | - | - | - | 2007 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1924 | 251.8 | -10.5 | 357 | 1930 | done | -0.86 | - | - | 2200 | - | - | - | 2007 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1992 | 259.8 | -12.1 | 370 | 1998 | done | -0.86 | - | - | 2200 | - | - | - | 2007 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.14 |
| 2061 | 267.7 | -11.9 | 383 | 2067 | roll | -0.86 | - | - | 2200 | - | 2.42 | 0.069 | 3409 | 579.3 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.13 | 14.78 | 15.14 |
| 2086 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2086 | begin apogee | ||||||||||||||||||||||||||||
| 2093 | 270.5 | -11.5 | 387 | 2209 | done | -0.19 | 1.12 | 0.171 | 2420 | 196.4 | - | - | 1959 | - | - | 111.03 | 1.245 | 2811 | -5.4 | 0.208 | - | - | - | - | - | - | 14.59 | 14.42 | 13.77 |
| 2211 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2211 | begin climb | ||||||||||||||||||||||||||||
| 2213 | 276.2 | - | 408 | 2336 | roll | 0.86 | 1.58 | 0.098 | 2749 | 208.2 | 2.45 | 0.073 | 563 | -569.8 | 146.0 | 113.38 | 1.229 | 2214 | -5.3 | 0.211 | - | - | - | - | - | - | 14.45 | 14.24 | 13.77 |
| 2369 | 268.1 | 9.7 | 435 | 2382 | done | 0.86 | - | - | 2749 | - | 2.35 | 0.041 | 1967 | 597.4 | 152.1 | 5.68 | 0.949 | 2192 | -3.9 | 0.195 | - | - | - | - | - | - | 14.57 | 14.49 | 13.76 |
| 2445 | 261.0 | 9.3 | 449 | 2462 | done | 0.88 | - | - | 2749 | - | - | - | 1967 | - | 168.6 | 14.75 | 1.130 | 2124 | -4.6 | 0.190 | - | - | - | - | - | - | 14.85 | 14.56 | 13.88 |
| 2524 | 253.3 | 9.9 | 464 | 2530 | done | 0.89 | - | - | 2749 | - | - | - | 1966 | - | 170.0 | - | - | 2121 | - | - | - | - | - | - | - | - | 14.89 | 14.90 | 14.89 |
| 2592 | 246.4 | 10.5 | 477 | 2598 | done | 0.89 | - | - | 2749 | - | - | - | 1967 | - | 170.0 | - | - | 2123 | - | - | - | - | - | - | - | - | 14.95 | 14.95 | 14.95 |
| 2660 | 239.4 | 10.4 | 490 | 2665 | done | 0.89 | - | - | 2749 | - | - | - | 1967 | - | 170.0 | - | - | 2120 | - | - | - | - | - | - | - | - | 15.00 | 15.01 | 15.00 |
| 2728 | 233.0 | 9.2 | 503 | 2751 | done | 0.91 | 0.05 | 0.252 | 2789 | 800.0 | - | - | 1967 | - | 187.8 | 16.67 | 1.117 | 2043 | -4.6 | 0.172 | - | - | - | - | - | - | 14.72 | 14.54 | 14.02 |
| 2813 | 224.2 | 10.4 | 519 | 2820 | roll | 0.91 | - | - | 2789 | - | 2.40 | 0.067 | 3364 | 582.1 | 187.8 | - | - | 2041 | - | - | - | - | - | - | - | - | 14.98 | 14.71 | 14.99 |
| 2852 | 219.7 | 12.2 | 526 | 2859 | done | 0.91 | - | - | 2790 | - | 2.33 | 0.044 | 1967 | -599.6 | 187.8 | - | - | 2041 | - | - | - | - | - | - | - | - | 14.87 | 14.77 | 14.88 |
| 2922 | 212.0 | 10.7 | 539 | 2927 | done | 0.91 | - | - | 2790 | - | - | - | 1966 | - | 187.8 | - | - | 2040 | - | - | - | - | - | - | - | - | 15.02 | 15.03 | 15.03 |
| 2989 | 204.8 | 10.0 | 552 | 2995 | done | 0.91 | - | - | 2790 | - | - | - | 1966 | - | 187.8 | - | - | 2040 | - | - | - | - | - | - | - | - | 15.06 | 15.07 | 15.07 |
| 3058 | 198.4 | 9.4 | 565 | 3076 | roll | 0.92 | - | - | 2791 | - | 2.40 | 0.063 | 3362 | 581.7 | 201.3 | 11.93 | 1.053 | 1989 | -4.3 | 0.144 | - | - | - | - | - | - | 15.06 | 14.60 | 14.04 |
| 3108 | 193.0 | 10.3 | 574 | 3115 | done | 0.92 | - | - | 2791 | - | 2.33 | 0.044 | 1960 | -601.7 | 201.3 | - | - | 1987 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.78 |
| 3179 | 186.8 | 8.5 | 587 | 3214 | roll | 0.96 | - | - | 2791 | - | 2.42 | 0.062 | 3365 | 580.6 | 233.8 | 27.23 | 1.151 | 1855 | -4.8 | 0.140 | - | - | - | - | - | - | 15.04 | 14.53 | 14.02 |
| 3226 | 182.5 | 9.6 | 595 | 3245 | done | 0.98 | - | - | 2791 | - | 2.35 | 0.045 | 1964 | -596.2 | 243.4 | 9.12 | 1.034 | 1818 | -4.1 | 0.128 | - | - | - | - | - | - | 14.79 | 14.69 | 13.94 |
| 3306 | 174.2 | 10.7 | 610 | 3313 | roll | 0.98 | - | - | 2791 | - | 2.45 | 0.076 | 556 | -574.7 | 243.4 | - | - | 1815 | - | - | - | - | - | - | - | - | 14.94 | 14.65 | 14.95 |
| 3339 | 170.1 | 11.6 | 616 | 3346 | done | 0.98 | - | - | 2791 | - | 2.33 | 0.041 | 1962 | 603.4 | 243.4 | - | - | 1814 | - | - | - | - | - | - | - | - | 14.77 | 14.69 | 14.79 |
| 3409 | 162.2 | 12.3 | 629 | 3415 | roll | 0.98 | - | - | 2792 | - | 2.45 | 0.074 | 560 | -572.2 | 243.4 | - | - | 1814 | - | - | - | - | - | - | - | - | 15.00 | 14.64 | 15.00 |
| 3432 | 159.5 | 11.4 | 633 | 3438 | done | 0.98 | - | - | 2791 | - | 2.30 | 0.041 | 1965 | 610.9 | 243.4 | - | - | 1813 | - | - | - | - | - | - | - | - | 14.87 | 14.77 | 14.88 |
| 3501 | 151.9 | 10.4 | 646 | 3507 | done | 0.98 | - | - | 2791 | - | - | - | 1965 | - | 243.4 | - | - | 1812 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 3569 | 145.0 | 10.1 | 659 | 3575 | done | 0.98 | - | - | 2791 | - | - | - | 1965 | - | 243.4 | - | - | 1813 | - | - | - | - | - | - | - | - | 15.03 | 15.04 | 15.04 |
| 3637 | 138.2 | 10.3 | 672 | 3643 | done | 0.98 | - | - | 2791 | - | - | - | 1965 | - | 243.4 | - | - | 1812 | - | - | - | - | - | - | - | - | 15.06 | 15.06 | 15.06 |
| 3704 | 130.7 | 11.1 | 685 | 3710 | done | 0.98 | - | - | 2791 | - | - | - | 1965 | - | 243.4 | - | - | 1812 | - | - | - | - | - | - | - | - | 15.06 | 15.06 | 15.06 |
| 3772 | 123.3 | 10.9 | 698 | 3779 | roll | 0.98 | - | - | 2791 | - | 2.38 | 0.065 | 3363 | 587.4 | 243.4 | - | - | 1811 | - | - | - | - | - | - | - | - | 15.07 | 14.76 | 15.07 |
| 3821 | 117.7 | 12.3 | 707 | 3827 | done | 0.98 | - | - | 2791 | - | 2.35 | 0.044 | 1957 | -598.3 | 243.4 | - | - | 1811 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.94 |
| 3890 | 110.8 | 9.5 | 720 | 3909 | roll | 0.99 | - | - | 2791 | - | 2.42 | 0.064 | 3372 | 584.7 | 255.6 | 10.62 | 0.965 | 1769 | -4.0 | 0.081 | - | - | - | - | - | - | 15.07 | 14.76 | 14.06 |
| 3931 | 106.6 | 10.8 | 727 | 3938 | done | 0.99 | - | - | 2792 | - | 2.35 | 0.045 | 1964 | -599.1 | 255.6 | - | - | 1767 | - | - | - | - | - | - | - | - | 14.90 | 14.79 | 14.92 |
| 4000 | 99.1 | 10.1 | 740 | 4007 | roll | 0.99 | - | - | 2796 | - | 2.42 | 0.076 | 564 | -578.5 | 255.6 | - | - | 1766 | - | - | - | - | - | - | - | - | 15.04 | 14.73 | 15.05 |
| 4064 | 92.4 | 10.7 | 752 | 4071 | done | 0.99 | - | - | 2796 | - | 2.33 | 0.041 | 1971 | 603.9 | 255.6 | - | - | 1765 | - | - | - | - | - | - | - | - | 14.83 | 14.70 | 14.85 |
| 4134 | 85.3 | 10.1 | 765 | 4139 | done | 0.99 | - | - | 2795 | - | - | - | 1971 | - | 255.6 | - | - | 1765 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 4202 | 78.9 | 9.3 | 778 | 4221 | roll | 1.01 | - | - | 2796 | - | 2.45 | 0.066 | 3369 | 570.6 | 270.0 | 12.93 | 0.999 | 1709 | -4.3 | 0.061 | - | - | - | - | - | - | 15.08 | 14.78 | 14.09 |
| 4243 | 74.7 | 9.2 | 785 | 4266 | done | 1.03 | - | - | 2797 | - | 2.35 | 0.046 | 1961 | -599.1 | 288.3 | 15.68 | 1.011 | 1635 | -4.7 | 0.062 | - | - | - | - | - | - | 14.77 | 14.68 | 14.05 |
| 4328 | 65.5 | 10.0 | 801 | 4335 | roll | 1.03 | - | - | 2797 | - | 2.42 | 0.078 | 563 | -577.7 | 288.3 | - | - | 1632 | - | - | - | - | - | - | - | - | 14.98 | 14.57 | 14.98 |
| 4347 | 63.8 | 9.0 | 804 | 4372 | done | 1.06 | 0.05 | 0.252 | 2836 | 780.0 | 2.30 | 0.041 | 1966 | 610.0 | 310.0 | 18.85 | 0.998 | 1547 | -4.5 | 0.051 | - | - | - | - | - | - | 14.64 | 14.76 | 14.06 |
| 4434 | 55.3 | 9.7 | 820 | 4447 | roll | 1.07 | - | - | 2837 | - | 2.40 | 0.066 | 3360 | 580.8 | 316.5 | 6.55 | 0.860 | 1520 | -4.1 | 0.047 | - | - | - | - | - | - | 14.95 | 14.45 | 13.93 |
| 4479 | 50.3 | 11.4 | 828 | 4486 | done | 1.07 | - | - | 2838 | - | 2.35 | 0.044 | 1960 | -595.7 | 316.5 | - | - | 1519 | - | - | - | - | - | - | - | - | 14.78 | 14.66 | 14.79 |
| 4549 | 43.1 | 10.1 | 841 | 4555 | done | 1.07 | - | - | 2838 | - | - | - | 1960 | - | 316.5 | - | - | 1518 | - | - | - | - | - | - | - | - | 14.99 | 14.99 | 14.99 |
| 4617 | 37.5 | 8.5 | 854 | 4652 | roll | 1.11 | - | - | 2838 | - | 2.42 | 0.076 | 563 | -577.3 | 349.9 | 27.67 | 0.964 | 1384 | -4.8 | 0.034 | - | - | - | - | - | - | 15.02 | 14.54 | 14.08 |
| 4664 | 33.3 | 8.3 | 862 | 4704 | done | 1.15 | - | - | 2838 | - | 2.33 | 0.041 | 1969 | 603.4 | 386.9 | 30.15 | 0.964 | 1235 | -4.9 | 0.030 | - | - | - | - | - | - | 14.75 | 14.65 | 13.97 |
| 4766 | 24.2 | 9.7 | 881 | 4779 | roll | 1.16 | - | - | 2838 | - | 2.45 | 0.064 | 3359 | 567.3 | 392.9 | 3.65 | 0.643 | 1210 | -6.8 | 0.046 | - | - | - | - | - | - | 14.90 | 14.60 | 13.94 |
| 4791 | 21.6 | 10.7 | 885 | 4798 | done | 1.16 | - | - | 2838 | - | 2.35 | 0.044 | 1960 | -595.3 | 392.9 | - | - | 1209 | - | - | - | - | - | - | - | - | 14.78 | 14.67 | 14.80 |
| 4860 | 14.6 | 10.0 | 898 | 4866 | done | 1.16 | - | - | 2838 | - | - | - | 1960 | - | 393.6 | - | - | 1210 | - | - | - | - | - | - | - | - | 14.96 | 14.96 | 14.97 |
| 4928 | 7.7 | 9.7 | 911 | 4941 | roll | 1.17 | - | - | 2838 | - | 2.45 | 0.080 | 562 | -570.6 | 400.1 | 3.60 | 0.541 | 1180 | -8.3 | 0.021 | - | - | - | - | - | - | 14.99 | 14.66 | 14.02 |
| 4953 | 5.2 | 9.3 | 915 | 4967 | done | 1.19 | 0.05 | 0.250 | 2881 | 860.0 | 2.30 | 0.041 | 1963 | 609.1 | 415.2 | 8.30 | 0.712 | 1122 | -7.0 | 0.009 | - | - | - | - | - | - | 14.54 | 14.65 | 14.11 |
| 4978 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4978 | begin surface coast | ||||||||||||||||||||||||||||
| 5004 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5004 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.55 | - | - | - | - | -7.26 | 12.85 | 0.053 | 144 | 11.2 | - | - | 1964 | - | 542.59 | 72.18 | 0.760 | 598 | 8.3 | -0.001 | - | - | - | - | - | - | |||