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| • Previous call tries 1 | • 124.90 of 310.00 AH used of 24V (59.71% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.0 deg, depth 0.64 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 19.9 m depth, ceiling 0.6 m | |
| • GPS1 time: 17 s | • bottom range 47.5 m at 200.2 m, depth 248 m (1000 m grid) | |
| • GPS2 time: 18 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 | - | - | 81 | - | - | - | 1977 | - | -146.0 | -98.60 | - | 3308 | - | - | - | - | - | - | - | - | 15.00 | - | 15.01 |
| 125 | 4.2 | -11.8 | 18 | 143 | done | -0.86 | 12.55 | 0.301 | 2203 | 169.1 | - | - | 1977 | - | -146.0 | -1.58 | - | 3410 | -64.6 | - | - | - | - | - | - | - | 14.33 | 13.30 | 14.54 |
| 205 | 29.7 | -20.3 | 33 | 211 | roll | -0.86 | - | - | 2194 | - | 2.47 | 0.067 | 3412 | 581.0 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.03 | 14.67 | 15.04 |
| 244 | 37.5 | -19.9 | 40 | 251 | done | -0.86 | 0.08 | 0.277 | 2210 | 200.0 | 2.30 | 0.040 | 2012 | -608.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.49 | 14.80 | 14.69 |
| 314 | 48.2 | -15.9 | 53 | 320 | roll | -0.86 | - | - | 2210 | - | 2.38 | 0.065 | 610 | -589.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.07 | 14.64 | 15.07 |
| 347 | 54.4 | -17.1 | 59 | 354 | done | -0.86 | - | - | 2210 | - | 2.30 | 0.044 | 2014 | 610.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.92 | 14.81 | 14.93 |
| 417 | 63.7 | -14.2 | 72 | 423 | roll | -0.86 | - | - | 2204 | - | 2.40 | 0.069 | 3411 | 582.1 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.08 | 14.76 | 15.08 |
| 480 | 72.4 | -12.4 | 84 | 487 | done | -0.86 | - | - | 2205 | - | 2.30 | 0.037 | 2009 | -609.6 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 14.83 | 14.72 | 14.85 |
| 550 | 82.2 | -14.3 | 97 | 557 | roll | -0.86 | - | - | 2204 | - | 2.45 | 0.067 | 3418 | 575.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.10 | 14.71 | 15.09 |
| 604 | 89.1 | -12.4 | 107 | 610 | done | -0.86 | - | - | 2204 | - | 2.30 | 0.037 | 2012 | -611.3 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 14.95 | 14.85 | 14.95 |
| 673 | 98.7 | -13.1 | 120 | 679 | done | -0.86 | - | - | 2204 | - | - | - | 2013 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 740 | 107.2 | -13.2 | 133 | 747 | roll | -0.86 | - | - | 2203 | - | 2.42 | 0.067 | 3415 | 579.3 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.10 | 14.72 | 15.11 |
| 780 | 112.2 | -11.4 | 140 | 787 | done | -0.86 | - | - | 2203 | - | 2.30 | 0.037 | 2015 | -608.7 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 14.89 | 14.80 | 14.90 |
| 852 | 120.3 | -11.6 | 153 | 857 | done | -0.86 | - | - | 2202 | - | - | - | 2015 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.13 |
| 920 | 128.2 | -11.1 | 166 | 926 | roll | -0.86 | - | - | 2203 | - | 2.42 | 0.067 | 3416 | 578.9 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.11 | 14.66 | 15.11 |
| 963 | 133.1 | -10.9 | 174 | 970 | done | -0.86 | - | - | 2203 | - | 2.30 | 0.037 | 2011 | -610.9 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 14.97 | 14.87 | 14.97 |
| 1033 | 140.8 | -10.7 | 187 | 1039 | done | -0.86 | - | - | 2203 | - | - | - | 2010 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 1101 | 148.1 | -10.9 | 200 | 1108 | roll | -0.86 | - | - | 2202 | - | 2.45 | 0.067 | 3420 | 575.5 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.13 | 14.79 | 15.13 |
| 1160 | 154.5 | -10.8 | 211 | 1167 | done | -0.86 | - | - | 2202 | - | 2.33 | 0.036 | 2006 | -606.9 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 14.88 | 14.77 | 14.90 |
| 1229 | 162.1 | -11.0 | 224 | 1235 | done | -0.86 | - | - | 2202 | - | - | - | 2006 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.11 |
| 1298 | 170.1 | -11.4 | 237 | 1304 | roll | -0.86 | - | - | 2202 | - | 2.42 | 0.067 | 3410 | 580.2 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.13 | 14.80 | 15.13 |
| 1341 | 175.2 | -11.1 | 245 | 1348 | done | -0.86 | - | - | 2202 | - | 2.30 | 0.037 | 2011 | -608.3 | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.98 |
| 1412 | 182.6 | -11.1 | 258 | 1418 | done | -0.86 | - | - | 2202 | - | - | - | 2011 | - | -146.0 | - | - | 3413 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.13 |
| 1484 | 190.6 | -11.6 | 271 | 1490 | roll | -0.86 | - | - | 2202 | - | 2.42 | 0.067 | 3413 | 579.3 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.12 | 14.66 | 15.12 |
| 1547 | 198.4 | -10.8 | 283 | 1554 | done | -0.86 | - | - | 2202 | - | 2.33 | 0.037 | 2009 | -602.6 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 14.96 | 14.86 | 14.98 |
| 1618 | 205.9 | -11.3 | 296 | 1624 | roll | -0.86 | - | - | 2202 | - | 2.42 | 0.068 | 3411 | 579.3 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.14 | 14.79 | 15.14 |
| 1661 | 210.7 | -11.0 | 304 | 1667 | done | -0.86 | - | - | 2203 | - | 2.30 | 0.037 | 2006 | -610.9 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.99 |
| 1730 | 218.3 | -11.2 | 317 | 1736 | done | -0.86 | - | - | 2202 | - | - | - | 2006 | - | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1798 | 226.2 | -10.8 | 330 | 1804 | done | -0.86 | - | - | 2202 | - | - | - | 2006 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1855 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 1855 | begin apogee | ||||||||||||||||||||||||||||
| 1859 | 232.8 | -11.7 | 341 | 1981 | done | -0.19 | 1.12 | 0.163 | 2425 | 199.1 | - | - | 2004 | - | - | 112.32 | 1.177 | 2810 | -5.4 | 0.195 | - | - | - | - | - | - | 14.61 | 14.50 | 13.85 |
| 1982 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 1982 | begin climb | ||||||||||||||||||||||||||||
| 1984 | 237.0 | - | 363 | 2107 | roll | 0.86 | 1.52 | 0.092 | 2748 | 212.5 | 2.58 | 0.071 | 560 | -559.7 | 146.0 | 113.68 | 1.161 | 2214 | -5.2 | 0.197 | - | - | - | - | - | - | 14.47 | 14.38 | 13.81 |
| 2151 | 228.8 | 9.2 | 392 | 2175 | done | 0.88 | - | - | 2749 | - | 2.35 | 0.041 | 1971 | 600.4 | 163.9 | 15.65 | 1.073 | 2141 | -4.7 | 0.183 | - | - | - | - | - | - | 14.62 | 14.54 | 13.85 |
| 2237 | 220.3 | 9.8 | 408 | 2244 | done | 0.88 | - | - | 2749 | - | - | - | 1971 | - | 167.5 | 3.97 | 0.767 | 2128 | -3.3 | 0.173 | - | - | - | - | - | - | 14.89 | 14.60 | 13.84 |
| 2307 | 213.5 | 9.8 | 421 | 2319 | done | 0.89 | - | - | 2749 | - | - | - | 1971 | - | 172.1 | 5.35 | 0.877 | 2109 | -3.6 | 0.159 | - | - | - | - | - | - | 14.95 | 14.63 | 13.90 |
| 2382 | 206.0 | 10.0 | 435 | 2388 | done | 0.89 | - | - | 2749 | - | - | - | 1971 | - | 172.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.98 | 14.99 | 14.99 |
| 2450 | 199.1 | 10.0 | 448 | 2457 | roll | 0.89 | - | - | 2749 | - | 2.40 | 0.067 | 3359 | 578.3 | 172.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.01 | 14.62 | 15.01 |
| 2493 | 194.8 | 10.8 | 456 | 2500 | done | 0.89 | - | - | 2749 | - | 2.33 | 0.043 | 1955 | -602.6 | 172.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.89 | 14.78 | 14.90 |
| 2563 | 187.7 | 9.6 | 469 | 2576 | done | 0.90 | - | - | 2749 | - | - | - | 1954 | - | 180.8 | 8.50 | 0.982 | 2074 | -3.9 | 0.137 | - | - | - | - | - | - | 15.04 | 14.71 | 14.02 |
| 2639 | 180.7 | 9.5 | 483 | 2657 | done | 0.91 | 0.05 | 0.255 | 2790 | 820.0 | - | - | 1954 | - | 192.8 | 11.65 | 1.030 | 2022 | -4.5 | 0.144 | - | - | - | - | - | - | 14.74 | 14.57 | 14.06 |
| 2719 | 171.5 | 10.8 | 498 | 2726 | roll | 0.91 | - | - | 2790 | - | 2.45 | 0.065 | 3367 | 576.7 | 192.8 | - | - | 2021 | - | - | - | - | - | - | - | - | 15.01 | 14.64 | 15.02 |
| 2758 | 167.0 | 12.5 | 505 | 2765 | done | 0.91 | - | - | 2795 | - | 2.33 | 0.044 | 1961 | -603.4 | 192.8 | - | - | 2021 | - | - | - | - | - | - | - | - | 14.89 | 14.78 | 14.90 |
| 2828 | 158.5 | 11.9 | 518 | 2833 | done | 0.91 | - | - | 2795 | - | - | - | 1961 | - | 192.8 | - | - | 2021 | - | - | - | - | - | - | - | - | 15.06 | 15.04 | 15.04 |
| 2895 | 150.4 | 11.8 | 531 | 2902 | roll | 0.91 | - | - | 2797 | - | 2.42 | 0.076 | 566 | -576.4 | 192.8 | - | - | 2020 | - | - | - | - | - | - | - | - | 15.05 | 14.69 | 15.05 |
| 2919 | 147.7 | 11.2 | 535 | 2926 | done | 0.91 | - | - | 2797 | - | 2.30 | 0.042 | 1972 | 611.3 | 192.8 | - | - | 2019 | - | - | - | - | - | - | - | - | 14.82 | 14.77 | 14.83 |
| 2989 | 140.0 | 11.5 | 548 | 2996 | roll | 0.91 | - | - | 2797 | - | 2.40 | 0.067 | 3366 | 580.8 | 192.8 | - | - | 2019 | - | - | - | - | - | - | - | - | 15.07 | 14.66 | 15.08 |
| 3032 | 134.6 | 12.7 | 556 | 3039 | done | 0.91 | 0.05 | 0.358 | 2789 | -160.0 | 2.33 | 0.044 | 1969 | -599.6 | 192.8 | - | - | 2019 | - | - | - | - | - | - | - | - | 14.59 | 14.82 | 14.83 |
| 3101 | 126.5 | 11.1 | 569 | 3107 | done | 0.91 | - | - | 2789 | - | - | - | 1968 | - | 192.8 | - | - | 2019 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 3168 | 119.5 | 10.5 | 582 | 3174 | done | 0.91 | - | - | 2789 | - | - | - | 1968 | - | 192.8 | - | - | 2018 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.10 |
| 3236 | 112.2 | 10.3 | 595 | 3242 | done | 0.91 | - | - | 2789 | - | - | - | 1968 | - | 192.8 | - | - | 2018 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 3305 | 105.4 | 9.9 | 608 | 3310 | done | 0.92 | - | - | 2789 | - | - | - | 1968 | - | 194.7 | - | - | 2018 | - | - | - | - | - | - | - | - | 15.10 | 15.10 | 15.09 |
| 3372 | 99.0 | 9.5 | 621 | 3385 | done | 0.93 | - | - | 2789 | - | - | - | 1968 | - | 205.1 | 10.52 | 0.933 | 1975 | -4.1 | 0.080 | - | - | - | - | - | - | 15.10 | 14.78 | 14.09 |
| 3449 | 91.4 | 9.9 | 635 | 3454 | done | 0.93 | - | - | 2789 | - | - | - | 1968 | - | 207.7 | - | - | 1972 | - | - | - | - | - | - | - | - | 15.10 | 15.09 | 15.09 |
| 3516 | 84.4 | 9.8 | 648 | 3530 | roll | 0.94 | - | - | 2789 | - | 2.45 | 0.076 | 564 | -573.1 | 212.2 | 7.50 | 0.906 | 1945 | -3.6 | 0.062 | - | - | - | - | - | - | 15.09 | 14.69 | 14.08 |
| 3547 | 81.3 | 12.2 | 653 | 3553 | done | 0.94 | - | - | 2789 | - | 2.30 | 0.041 | 1966 | 609.6 | 212.2 | - | - | 1944 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.92 |
| 3616 | 74.6 | 9.2 | 666 | 3640 | roll | 0.96 | - | - | 2788 | - | 2.42 | 0.064 | 3358 | 575.2 | 229.3 | 14.82 | 0.979 | 1876 | -4.6 | 0.064 | - | - | - | - | - | - | 15.07 | 14.73 | 14.09 |
| 3673 | 68.9 | 11.1 | 676 | 3680 | done | 0.96 | - | - | 2788 | - | 2.33 | 0.044 | 1961 | -599.6 | 229.3 | - | - | 1874 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.90 |
| 3743 | 61.2 | 11.2 | 689 | 3750 | roll | 0.96 | - | - | 2788 | - | 2.42 | 0.077 | 564 | -577.3 | 229.3 | - | - | 1873 | - | - | - | - | - | - | - | - | 15.04 | 14.73 | 15.04 |
| 3792 | 56.0 | 9.5 | 698 | 3810 | done | 0.97 | - | - | 2789 | - | 2.30 | 0.041 | 1967 | 610.0 | 241.0 | 10.77 | 0.933 | 1828 | -4.2 | 0.046 | - | - | - | - | - | - | 14.90 | 14.81 | 14.09 |
| 3872 | 49.3 | 8.2 | 713 | 3912 | roll | 1.02 | - | - | 2789 | - | 2.40 | 0.065 | 3361 | 580.8 | 279.7 | 32.38 | 0.982 | 1669 | -4.9 | 0.045 | - | - | - | - | - | - | 15.04 | 14.62 | 14.09 |
| 4014 | 37.3 | 9.3 | 740 | 4034 | done | 1.04 | 0.08 | 0.181 | 2831 | 525.0 | 2.35 | 0.044 | 1961 | -595.7 | 295.2 | 13.45 | 0.884 | 1607 | -4.6 | 0.036 | - | - | - | - | - | - | 14.60 | 14.65 | 14.06 |
| 4096 | 29.1 | 9.7 | 755 | 4109 | roll | 1.05 | - | - | 2831 | - | 2.45 | 0.075 | 564 | -570.2 | 302.9 | 7.10 | 0.826 | 1576 | -4.4 | 0.028 | - | - | - | - | - | - | 14.98 | 14.69 | 14.01 |
| 4162 | 22.5 | 10.4 | 767 | 4169 | done | 1.05 | - | - | 2832 | - | 2.33 | 0.040 | 1969 | 603.0 | 302.9 | - | - | 1575 | - | - | - | - | - | - | - | - | 14.86 | 14.77 | 14.87 |
| 4231 | 15.3 | 10.5 | 780 | 4237 | done | 1.05 | - | - | 2831 | - | - | - | 1969 | - | 302.9 | - | - | 1573 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 4299 | 8.3 | 10.3 | 793 | 4305 | done | 1.05 | - | - | 2831 | - | - | - | 1969 | - | 302.9 | - | - | 1572 | - | - | - | - | - | - | - | - | 15.04 | 15.04 | 15.03 |
| 4349 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4350 | begin surface coast | ||||||||||||||||||||||||||||
| 4377 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4377 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.54 | - | - | - | - | -7.27 | 12.55 | 0.051 | 146 | 11.6 | - | - | 1971 | - | 542.59 | 129.40 | 0.747 | 598 | 4.6 | -0.000 | - | - | - | - | - | - | |||