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| • Previous call tries 1 | • 51.59 of 310.00 AH used of 24V (83.36% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.2 deg, depth 1.03 m | • Intended pitch -18.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 532.78 (SM_CC=532.59473) | • surface range 18.7 m at 20.0 m depth, ceiling 1.3 m | |
| • GPS1 time: 36 s | • bottom range 6.8 m at 270.4 m, depth 277 m (600 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 | ||||||||||||||||||||||||||||
| 19 | - | - | - | 104 | VBD | -0.86 | - | - | 74 | - | - | - | 2004 | - | -146.0 | -82.40 | - | 2951 | - | - | - | - | - | - | - | - | 15.12 | - | 15.13 |
| 107 | 3.0 | -6.6 | 15 | 137 | roll | -0.86 | 12.02 | 0.287 | 2206 | 177.4 | 2.38 | 0.086 | 585 | -596.2 | -146.0 | -8.88 | - | 3411 | -51.8 | - | - | - | - | - | - | - | 14.74 | 13.85 | 14.88 |
| 239 | 28.8 | -15.8 | 40 | 246 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.049 | 1988 | 610.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.99 | 14.90 | 15.00 |
| 308 | 40.0 | -16.6 | 53 | 314 | roll | -0.86 | - | - | 2200 | - | 2.35 | 0.070 | 3396 | 599.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.19 |
| 351 | 46.7 | -15.4 | 61 | 358 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.041 | 1977 | -617.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.08 | 15.00 | 15.09 |
| 420 | 57.6 | -15.9 | 74 | 427 | roll | -0.86 | - | - | 2200 | - | 2.33 | 0.067 | 574 | -602.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.20 | 14.94 | 15.21 |
| 439 | 60.7 | -16.2 | 77 | 445 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.049 | 1992 | 616.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.02 |
| 508 | 72.3 | -17.0 | 90 | 515 | roll | -0.86 | - | - | 2200 | - | 2.35 | 0.070 | 3399 | 598.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 14.91 | 15.21 |
| 537 | 77.2 | -17.4 | 95 | 544 | done | -0.86 | - | - | 2200 | - | 2.28 | 0.041 | 1984 | -620.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.11 |
| 606 | 87.4 | -14.8 | 108 | 613 | roll | -0.86 | - | - | 2200 | - | 2.38 | 0.069 | 3394 | 592.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.22 |
| 665 | 95.5 | -12.5 | 119 | 672 | done | -0.86 | - | - | 2200 | - | 2.28 | 0.039 | 1986 | -617.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
| 734 | 104.6 | -14.3 | 132 | 740 | done | -0.86 | - | - | 2200 | - | - | - | 1986 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 802 | 114.7 | -14.7 | 145 | 809 | roll | -0.86 | - | - | 2200 | - | 2.38 | 0.069 | 3397 | 592.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.23 | 14.98 | 15.23 |
| 831 | 118.6 | -13.5 | 150 | 837 | done | -0.86 | - | - | 2200 | - | 2.28 | 0.040 | 1987 | -618.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.12 |
| 900 | 128.4 | -15.0 | 163 | 907 | roll | -0.86 | - | - | 2200 | - | 2.33 | 0.067 | 585 | -601.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.23 | 14.96 | 15.23 |
| 914 | 130.8 | -16.3 | 165 | 920 | done | -0.86 | - | - | 2200 | - | 2.30 | 0.049 | 1994 | 612.6 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.04 | 14.96 | 15.05 |
| 983 | 141.1 | -15.0 | 178 | 989 | roll | -0.86 | - | - | 2200 | - | 2.33 | 0.070 | 3390 | 599.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 14.99 | 15.23 |
| 1031 | 147.9 | -13.2 | 187 | 1038 | done | -0.86 | - | - | 2200 | - | 2.28 | 0.040 | 1975 | -620.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 1101 | 156.9 | -13.7 | 200 | 1108 | roll | -0.86 | - | - | 2200 | - | 2.40 | 0.069 | 3397 | 592.5 | -146.0 | - | - | 3412 | - | - | - | - | - | - | - | - | 15.24 | 14.99 | 15.24 |
| 1135 | 161.7 | -13.8 | 206 | 1142 | done | -0.86 | - | - | 2199 | - | 2.28 | 0.040 | 1985 | -619.3 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.08 | 14.99 | 15.09 |
| 1204 | 170.7 | -13.7 | 219 | 1211 | roll | -0.86 | - | - | 2200 | - | 2.40 | 0.070 | 3398 | 588.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 14.93 | 15.24 |
| 1243 | 175.9 | -12.6 | 226 | 1250 | done | -0.86 | 0.03 | 0.486 | 2209 | 300.0 | 2.28 | 0.040 | 1984 | -620.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.87 | 15.03 | 15.05 |
| 1312 | 183.2 | -10.1 | 239 | 1318 | roll | -0.86 | - | - | 2209 | - | 2.33 | 0.067 | 579 | -603.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.24 | 15.00 | 15.25 |
| 1344 | 186.2 | -10.3 | 245 | 1351 | done | -0.86 | - | - | 2209 | - | 2.30 | 0.049 | 1994 | 615.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.05 | 14.96 | 15.06 |
| 1413 | 193.2 | -10.7 | 258 | 1420 | roll | -0.86 | - | - | 2209 | - | 2.33 | 0.070 | 3389 | 598.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.23 | 14.92 | 15.24 |
| 1462 | 198.4 | -10.1 | 267 | 1469 | done | -0.86 | - | - | 2209 | - | 2.28 | 0.041 | 1973 | -621.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 15.01 | 15.11 |
| 1531 | 205.3 | -10.7 | 280 | 1538 | roll | -0.86 | - | - | 2209 | - | 2.28 | 0.068 | 587 | -607.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.25 | 14.99 | 15.26 |
| 1545 | 206.9 | -11.8 | 282 | 1551 | done | -0.86 | - | - | 2209 | - | 2.28 | 0.049 | 1992 | 616.2 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1614 | 214.2 | -10.6 | 295 | 1621 | roll | -0.86 | - | - | 2207 | - | 2.30 | 0.071 | 3389 | 607.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.25 | 14.99 | 15.25 |
| 1657 | 219.1 | -10.3 | 303 | 1664 | done | -0.86 | - | - | 2207 | - | 2.25 | 0.040 | 1990 | -621.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1726 | 226.1 | -11.1 | 316 | 1732 | done | -0.86 | - | - | 2207 | - | - | - | 1990 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 1793 | 233.9 | -11.5 | 329 | 1800 | roll | -0.86 | - | - | 2207 | - | 2.38 | 0.070 | 3399 | 592.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
| 1822 | 237.2 | -11.6 | 334 | 1828 | done | -0.86 | - | - | 2207 | - | 2.28 | 0.041 | 1986 | -619.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
| 1894 | 245.4 | -10.9 | 347 | 1901 | roll | -0.86 | - | - | 2207 | - | 2.33 | 0.069 | 583 | -602.1 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
| 1913 | 247.6 | -11.0 | 350 | 1919 | done | -0.86 | - | - | 2207 | - | 2.28 | 0.050 | 1987 | 615.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.15 | 15.04 | 15.14 |
| 1982 | 255.1 | -10.7 | 363 | 1989 | roll | -0.86 | - | - | 2207 | - | 2.35 | 0.072 | 3390 | 597.0 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
| 2036 | 260.4 | -9.4 | 373 | 2043 | done | -0.86 | - | - | 2206 | - | 2.28 | 0.041 | 1987 | -615.4 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 2106 | 267.3 | -9.7 | 386 | 2113 | roll | -0.86 | - | - | 2207 | - | 2.38 | 0.072 | 3391 | 589.9 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
| 2141 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2141 | begin apogee | ||||||||||||||||||||||||||||
| 2148 | 270.4 | -8.8 | 392 | 2265 | done | -0.19 | 1.05 | 0.145 | 2424 | 206.7 | - | - | 1974 | - | - | 108.45 | 1.301 | 2811 | -5.5 | 0.203 | - | - | - | - | - | - | 14.92 | 14.50 | 14.09 |
| 2266 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2267 | begin climb | ||||||||||||||||||||||||||||
| 2268 | 273.9 | - | 413 | 2390 | roll | 0.86 | 1.52 | 0.057 | 2776 | 231.6 | 2.45 | 0.064 | 3398 | 581.2 | 146.0 | 111.12 | 1.278 | 2214 | -5.4 | 0.204 | - | - | - | - | - | - | 14.66 | 14.50 | 14.01 |
| 2472 | 263.3 | 12.9 | 450 | 2479 | done | 0.86 | 0.10 | 0.278 | 2768 | -80.0 | 2.33 | 0.044 | 1992 | -603.4 | 146.0 | - | - | 2210 | - | - | - | - | - | - | - | - | 14.64 | 14.74 | 14.79 |
| 2541 | 255.4 | 12.5 | 463 | 2548 | roll | 0.86 | - | - | 2768 | - | 2.40 | 0.067 | 3399 | 586.2 | 146.0 | - | - | 2213 | - | - | - | - | - | - | - | - | 15.04 | 14.81 | 15.04 |
| 2589 | 249.4 | 12.6 | 472 | 2596 | done | 0.86 | - | - | 2776 | - | 2.33 | 0.043 | 1981 | -608.6 | 146.0 | - | - | 2209 | - | - | - | - | - | - | - | - | 14.96 | 14.87 | 14.97 |
| 2659 | 241.0 | 12.3 | 485 | 2664 | done | 0.86 | - | - | 2776 | - | - | - | 1981 | - | 146.0 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.12 |
| 2726 | 232.4 | 13.1 | 498 | 2732 | done | 0.86 | - | - | 2776 | - | - | - | 1980 | - | 146.0 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.15 |
| 2794 | 224.6 | 11.7 | 511 | 2799 | done | 0.86 | - | - | 2776 | - | - | - | 1980 | - | 146.0 | - | - | 2207 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.18 |
| 2861 | 216.6 | 12.9 | 524 | 2868 | roll | 0.86 | - | - | 2776 | - | 2.38 | 0.067 | 3393 | 593.7 | 146.0 | - | - | 2206 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 2945 | 206.0 | 11.5 | 540 | 2952 | done | 0.86 | 0.10 | 0.283 | 2767 | -90.0 | 2.30 | 0.044 | 1983 | -613.0 | 146.0 | - | - | 2207 | - | - | - | - | - | - | - | - | 14.84 | 14.96 | 15.02 |
| 3014 | 199.2 | 10.2 | 553 | 3019 | done | 0.86 | - | - | 2767 | - | - | - | 1983 | - | 146.0 | - | - | 2206 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
| 3081 | 193.1 | 10.1 | 566 | 3088 | roll | 0.86 | - | - | 2767 | - | 2.38 | 0.068 | 3396 | 593.7 | 146.0 | - | - | 2206 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 3115 | 189.2 | 10.5 | 572 | 3122 | done | 0.86 | - | - | 2776 | - | 2.33 | 0.044 | 1981 | -607.3 | 146.0 | - | - | 2206 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.08 |
| 3184 | 182.1 | 10.0 | 585 | 3190 | done | 0.86 | - | - | 2776 | - | - | - | 1981 | - | 146.0 | - | - | 2205 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 3252 | 176.4 | 8.7 | 598 | 3281 | roll | 0.89 | - | - | 2786 | - | 2.35 | 0.070 | 583 | -594.9 | 174.4 | 22.00 | 1.170 | 2097 | -4.9 | 0.131 | - | - | - | - | - | - | 15.21 | 14.81 | 14.40 |
| 3319 | 169.4 | 11.1 | 610 | 3325 | done | 0.89 | - | - | 2786 | - | 2.30 | 0.049 | 1985 | 609.6 | 174.4 | - | - | 2095 | - | - | - | - | - | - | - | - | 14.96 | 14.88 | 14.97 |
| 3388 | 162.0 | 10.2 | 623 | 3395 | roll | 0.89 | - | - | 2786 | - | 2.38 | 0.071 | 3393 | 591.6 | 174.4 | - | - | 2095 | - | - | - | - | - | - | - | - | 15.14 | 14.85 | 15.14 |
| 3527 | 145.2 | 11.5 | 650 | 3534 | done | 0.89 | 0.08 | 0.308 | 2781 | -62.5 | 2.33 | 0.044 | 1978 | -607.3 | 174.4 | - | - | 2094 | - | - | - | - | - | - | - | - | 14.85 | 14.96 | 15.02 |
| 3597 | 138.2 | 9.0 | 663 | 3621 | roll | 0.92 | - | - | 2781 | - | 2.45 | 0.067 | 3393 | 577.6 | 196.5 | 17.95 | 1.115 | 2008 | -4.8 | 0.105 | - | - | - | - | - | - | 15.19 | 14.89 | 14.42 |
| 3703 | 126.8 | 10.4 | 683 | 3710 | done | 0.92 | - | - | 2781 | - | 2.30 | 0.046 | 1991 | -609.6 | 196.5 | - | - | 2005 | - | - | - | - | - | - | - | - | 14.96 | 14.88 | 14.97 |
| 3775 | 120.4 | 9.3 | 696 | 3793 | roll | 0.94 | - | - | 2781 | - | 2.42 | 0.073 | 579 | -583.5 | 211.4 | 12.75 | 1.085 | 1948 | -4.5 | 0.088 | - | - | - | - | - | - | 15.14 | 14.88 | 14.39 |
| 3810 | 116.8 | 9.5 | 702 | 3828 | done | 0.95 | - | - | 2781 | - | 2.33 | 0.047 | 1997 | 608.6 | 222.1 | 9.93 | 0.991 | 1904 | -4.4 | 0.092 | - | - | - | - | - | - | 15.00 | 14.92 | 14.37 |
| 3891 | 108.7 | 9.6 | 717 | 3909 | roll | 0.96 | - | - | 2781 | - | 2.38 | 0.067 | 3387 | 584.0 | 231.6 | 8.95 | 0.968 | 1864 | -4.5 | 0.089 | - | - | - | - | - | - | 15.11 | 14.85 | 14.35 |
| 3921 | 106.1 | 10.2 | 722 | 3927 | done | 0.96 | - | - | 2781 | - | 2.33 | 0.046 | 1977 | -605.2 | 231.6 | - | - | 1863 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.97 |
| 3990 | 98.7 | 10.3 | 735 | 3997 | roll | 0.96 | - | - | 2781 | - | 2.38 | 0.074 | 583 | -585.7 | 231.6 | - | - | 1861 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.11 |
| 4014 | 96.2 | 9.8 | 739 | 4020 | done | 0.97 | - | - | 2781 | - | 2.30 | 0.047 | 1987 | 610.4 | 235.0 | - | - | 1863 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.97 |
| 4083 | 90.1 | 8.3 | 752 | 4124 | roll | 1.01 | 0.05 | 0.260 | 2822 | 820.0 | 2.38 | 0.067 | 3387 | 588.2 | 272.1 | 32.53 | 1.084 | 1699 | -5.0 | 0.074 | - | - | - | - | - | - | 14.90 | 14.69 | 14.31 |
| 4231 | 73.0 | 13.2 | 780 | 4239 | done | 1.01 | 0.05 | 0.367 | 2820 | - | 2.33 | 0.046 | 1987 | -600.9 | 272.1 | - | - | 1694 | - | - | - | - | - | - | - | - | 14.76 | 14.88 | 14.95 |
| 4301 | 64.1 | 12.7 | 793 | 4307 | done | 1.01 | - | - | 2820 | - | - | - | 1987 | - | 272.1 | - | - | 1694 | - | - | - | - | - | - | - | - | 15.11 | 15.13 | 15.13 |
| 4369 | 54.9 | 14.3 | 806 | 4375 | roll | 1.01 | - | - | 2829 | - | 2.35 | 0.073 | 579 | -599.1 | 272.1 | - | - | 1693 | - | - | - | - | - | - | - | - | 15.15 | 14.87 | 15.14 |
| 4422 | 47.2 | 15.2 | 816 | 4429 | done | 1.01 | 0.05 | 0.349 | 2818 | -220.0 | 2.30 | 0.047 | 1989 | 613.0 | 272.1 | - | - | 1693 | - | - | - | - | - | - | - | - | 14.82 | 14.97 | 15.01 |
| 4492 | 37.1 | 14.5 | 829 | 4498 | done | 1.01 | - | - | 2818 | - | - | - | 1989 | - | 272.1 | - | - | 1692 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.17 |
| 4560 | 26.9 | 14.5 | 842 | 4566 | roll | 1.01 | - | - | 2818 | - | 2.35 | 0.068 | 3396 | 598.7 | 272.1 | - | - | 1692 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.19 |
| 4598 | 20.8 | 16.0 | 849 | 4606 | done | 1.01 | - | - | 2825 | - | 2.30 | 0.047 | 1987 | -612.6 | 272.1 | - | - | 1691 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.02 |
| 4670 | 10.9 | 14.2 | 862 | 4676 | roll | 1.01 | - | - | 2827 | - | 2.35 | 0.073 | 575 | -600.9 | 272.1 | - | - | 1691 | - | - | - | - | - | - | - | - | 15.20 | 14.93 | 15.20 |
| 4688 | 7.7 | 15.3 | 865 | 4695 | done | 1.01 | - | - | 2827 | - | 2.30 | 0.047 | 1986 | 613.5 | 272.1 | - | - | 1692 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.03 |
| 4725 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4725 | begin surface coast | ||||||||||||||||||||||||||||
| 4747 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4748 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.90 | - | - | - | - | -7.31 | 12.40 | 0.059 | 137 | 11.0 | - | - | 1988 | - | 532.78 | 128.73 | 0.109 | 639 | 5.0 | -0.004 | - | - | - | - | - | - | |||