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| • Previous call tries 3 | • 75.19 of 310.00 AH used of 24V (75.74% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -71.4 deg, depth 0.92 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 16 s | • bottom range 37.0 m at 387.6 m, depth 425 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 29 | |
| • 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 | |||||
| 19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19 | begin dive | ||||||||||||||||||||||||||||
| 21 | - | - | - | 108 | VBD | -0.88 | - | - | 54 | - | - | - | 1801 | - | -92.5 | -84.18 | - | 2872 | - | - | - | - | - | - | - | - | 15.07 | - | 15.09 |
| 111 | 3.3 | -7.2 | 15 | 137 | roll | -0.88 | 13.88 | 0.289 | 2467 | 173.8 | 2.35 | 0.078 | 402 | -595.3 | -92.5 | -3.62 | - | 3078 | -56.9 | - | - | - | - | - | - | - | 14.71 | 14.18 | 14.93 |
| 220 | 36.3 | -24.3 | 35 | 227 | done | -0.88 | 0.05 | 0.361 | 2468 | - | 2.30 | 0.036 | 1812 | 613.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.75 | 14.88 | 14.92 |
| 292 | 52.5 | -21.5 | 48 | 298 | roll | -0.88 | - | - | 2459 | - | 2.33 | 0.052 | 3224 | 606.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.15 | 14.93 | 15.14 |
| 560 | 99.1 | -15.5 | 100 | 568 | done | -0.88 | 0.05 | 0.318 | 2469 | 200.0 | 2.33 | 0.044 | 1811 | -606.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.82 | 14.95 | 14.99 |
| 632 | 110.4 | -16.0 | 113 | 638 | roll | -0.88 | - | - | 2470 | - | 2.35 | 0.061 | 405 | -598.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 646 | 112.6 | -16.2 | 115 | 653 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.035 | 1828 | 618.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
| 715 | 122.0 | -13.7 | 128 | 721 | done | -0.88 | - | - | 2462 | - | - | - | 1830 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 785 | 130.4 | -12.2 | 141 | 790 | done | -0.88 | - | - | 2462 | - | - | - | 1830 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.20 |
| 852 | 138.5 | -11.8 | 154 | 859 | roll | -0.88 | - | - | 2452 | - | 2.28 | 0.051 | 3216 | 607.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.20 |
| 944 | 150.0 | -14.1 | 171 | 951 | done | -0.88 | 0.10 | 0.230 | 2471 | 190.0 | 2.30 | 0.043 | 1807 | -612.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.85 | 15.00 | 14.99 |
| 1014 | 158.4 | -11.3 | 184 | 1020 | done | -0.88 | - | - | 2472 | - | - | - | 1805 | - | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 1084 | 166.8 | -11.8 | 197 | 1091 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.061 | 401 | -597.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.20 | 14.92 | 15.21 |
| 1114 | 170.5 | -13.5 | 202 | 1121 | done | -0.88 | - | - | 2465 | - | 2.30 | 0.036 | 1820 | 617.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 1185 | 179.1 | -12.4 | 215 | 1192 | roll | -0.88 | - | - | 2455 | - | 2.28 | 0.052 | 3209 | 609.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.21 |
| 1235 | 185.1 | -11.9 | 224 | 1243 | done | -0.88 | 0.08 | 0.259 | 2470 | 187.5 | 2.30 | 0.044 | 1804 | -610.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.87 | 14.98 | 15.02 |
| 1306 | 193.8 | -12.1 | 237 | 1312 | done | -0.88 | - | - | 2469 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.22 | 15.22 |
| 1376 | 202.6 | -11.8 | 250 | 1382 | done | -0.88 | - | - | 2470 | - | - | - | 1803 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1447 | 211.4 | -12.8 | 263 | 1453 | done | -0.88 | - | - | 2470 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.22 | 15.21 | 15.22 |
| 1516 | 220.2 | -12.9 | 276 | 1522 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.051 | 3212 | 604.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.24 |
| 1590 | 229.6 | -12.1 | 290 | 1598 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.045 | 1810 | -609.6 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 1661 | 238.4 | -12.6 | 303 | 1667 | done | -0.88 | - | - | 2462 | - | - | - | 1810 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
| 1729 | 247.5 | -13.5 | 316 | 1735 | done | -0.88 | - | - | 2462 | - | - | - | 1809 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 1799 | 257.0 | -13.8 | 329 | 1804 | done | -0.88 | - | - | 2462 | - | - | - | 1810 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1867 | 266.4 | -13.3 | 342 | 1874 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.054 | 3207 | 599.6 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.23 |
| 1907 | 271.8 | -12.8 | 349 | 1914 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.045 | 1807 | -608.7 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1977 | 281.1 | -14.5 | 362 | 1984 | done | -0.88 | 0.05 | 0.338 | 2471 | 200.0 | - | - | 1806 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 14.85 | 15.00 | 14.99 |
| 2049 | 291.0 | -14.5 | 375 | 2055 | done | -0.88 | - | - | 2471 | - | - | - | 1807 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 2133 | 303.4 | -14.7 | 388 | 2134 | done | -0.88 | - | - | 2471 | - | - | - | 1806 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2253 | 320.5 | -14.2 | 394 | 2254 | done | -0.88 | - | - | 2471 | - | - | - | 1806 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.27 | 15.27 | 15.28 |
| 2373 | 337.7 | -14.6 | 400 | 2374 | done | -0.88 | - | - | 2471 | - | - | - | 1806 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 2492 | 353.1 | -12.5 | 406 | 2499 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.054 | 3209 | 602.1 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.30 | 15.06 | 15.32 |
| 2526 | 355.6 | -11.8 | 407 | 2531 | done | -0.88 | - | - | 2463 | - | 2.28 | 0.046 | 1813 | -612.3 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.17 | 15.07 | 15.19 |
| 2658 | 373.7 | -13.4 | 414 | 2660 | done | -0.88 | - | - | 2463 | - | - | - | 1813 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.30 |
| 2778 | 389.9 | -13.6 | 420 | 2785 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.065 | 409 | -597.4 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.30 | 15.06 | 15.30 |
| 2802 | 392.9 | -13.2 | 421 | 2809 | done | -0.88 | 0.08 | 0.295 | 2469 | 75.0 | 2.28 | 0.037 | 1816 | 617.1 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 14.94 | 15.09 | 15.11 |
| 2946 | 410.4 | -13.3 | 428 | 2951 | roll | -0.88 | - | - | 2460 | - | 2.30 | 0.054 | 3220 | 610.4 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2987 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2988 | begin apogee | ||||||||||||||||||||||||||||
| 2994 | 417.1 | -14.5 | 430 | 3069 | done | -0.17 | 1.23 | 0.165 | 2700 | 195.1 | - | - | 1804 | - | - | 69.12 | 1.299 | 2699 | -5.3 | 0.301 | - | - | - | - | - | - | 14.95 | 14.70 | 14.12 |
| 3071 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3071 | begin climb | ||||||||||||||||||||||||||||
| 3073 | 421.4 | - | 434 | 3158 | roll | 0.88 | 1.52 | 0.056 | 3056 | 234.2 | 2.47 | 0.066 | 388 | -573.3 | 92.5 | 77.12 | 1.283 | 2321 | -4.9 | 0.283 | - | - | - | - | - | - | 14.73 | 14.39 | 13.95 |
| 3421 | 393.4 | 12.5 | 451 | 3427 | done | 0.88 | 0.05 | 0.359 | 3048 | -160.0 | 2.33 | 0.038 | 1816 | 612.9 | 92.5 | - | - | 2314 | - | - | - | - | - | - | - | - | 14.72 | 14.90 | 14.93 |
| 3554 | 376.0 | 12.0 | 458 | 3555 | done | 0.88 | - | - | 3048 | - | - | - | 1818 | - | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 3675 | 361.4 | 11.7 | 464 | 3676 | done | 0.88 | - | - | 3049 | - | - | - | 1818 | - | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 3794 | 348.6 | 10.7 | 470 | 3795 | done | 0.88 | - | - | 3048 | - | - | - | 1818 | - | 92.5 | - | - | 2310 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 3915 | 339.0 | 8.9 | 476 | 3936 | roll | 0.90 | - | - | 3055 | - | 2.40 | 0.067 | 395 | -592.9 | 107.4 | 12.07 | 1.114 | 2260 | -4.1 | 0.222 | - | - | - | - | - | - | 15.23 | 14.91 | 14.45 |
| 3962 | 334.6 | 10.0 | 478 | 3967 | done | 0.90 | - | - | 3055 | - | 2.28 | 0.038 | 1802 | 617.1 | 107.4 | - | - | 2259 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
| 4099 | 318.8 | 10.9 | 485 | 4104 | roll | 0.90 | - | - | 3072 | - | 2.42 | 0.068 | 385 | -585.5 | 107.4 | - | - | 2257 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.21 |
| 4142 | 313.6 | 11.8 | 487 | 4148 | done | 0.90 | 0.10 | 0.290 | 3047 | -250.0 | 2.30 | 0.039 | 1799 | 614.8 | 107.4 | - | - | 2256 | - | - | - | - | - | - | - | - | 14.84 | 15.02 | 15.04 |
| 4270 | 298.1 | 12.2 | 494 | 4276 | done | 0.90 | - | - | 3047 | - | - | - | 1802 | - | 107.4 | - | - | 2255 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
| 4338 | 289.8 | 12.0 | 507 | 4344 | done | 0.90 | - | - | 3047 | - | - | - | 1802 | - | 107.4 | - | - | 2255 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
| 4406 | 281.9 | 11.6 | 520 | 4413 | roll | 0.90 | - | - | 3047 | - | 2.30 | 0.053 | 3204 | 609.6 | 107.4 | - | - | 2255 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 4450 | 276.5 | 11.9 | 528 | 4456 | done | 0.90 | - | - | 3053 | - | 2.35 | 0.050 | 1793 | -600.4 | 107.4 | - | - | 2254 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.13 |
| 4519 | 268.8 | 11.6 | 541 | 4526 | roll | 0.90 | - | - | 3054 | - | 2.38 | 0.072 | 395 | -587.4 | 107.4 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.23 | 14.99 | 15.23 |
| 4563 | 263.5 | 11.9 | 549 | 4571 | done | 0.90 | - | - | 3054 | - | 2.28 | 0.037 | 1803 | 617.5 | 107.4 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.12 | 15.04 | 15.14 |
| 4634 | 255.2 | 12.4 | 562 | 4640 | done | 0.90 | - | - | 3054 | - | - | - | 1807 | - | 107.4 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4702 | 246.8 | 11.9 | 575 | 4707 | done | 0.90 | - | - | 3054 | - | - | - | 1803 | - | 107.4 | - | - | 2253 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4770 | 238.8 | 12.0 | 588 | 4776 | roll | 0.90 | - | - | 3053 | - | 2.30 | 0.052 | 3202 | 608.3 | 107.4 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.23 |
| 4818 | 233.0 | 11.9 | 597 | 4826 | done | 0.90 | - | - | 3057 | - | 2.35 | 0.051 | 1795 | -598.7 | 107.4 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.09 |
| 4889 | 225.0 | 11.5 | 610 | 4895 | done | 0.90 | - | - | 3057 | - | - | - | 1794 | - | 107.4 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4957 | 217.1 | 11.6 | 623 | 4964 | roll | 0.90 | - | - | 3057 | - | 2.33 | 0.051 | 3201 | 603.9 | 107.4 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.23 | 14.94 | 15.24 |
| 5060 | 205.5 | 10.9 | 643 | 5067 | done | 0.90 | - | - | 3057 | - | 2.35 | 0.051 | 1794 | -598.7 | 107.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.13 |
| 5130 | 198.6 | 10.3 | 656 | 5135 | done | 0.90 | - | - | 3057 | - | - | - | 1794 | - | 107.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 5198 | 191.6 | 10.0 | 669 | 5204 | done | 0.90 | - | - | 3057 | - | - | - | 1794 | - | 107.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 5267 | 183.2 | 12.8 | 682 | 5273 | done | 0.90 | - | - | 3057 | - | - | - | 1794 | - | 107.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 5335 | 174.0 | 13.4 | 695 | 5342 | roll | 0.90 | - | - | 3060 | - | 2.38 | 0.072 | 395 | -587.8 | 107.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 5505 | 150.5 | 14.2 | 728 | 5512 | done | 0.90 | - | - | 3060 | - | 2.30 | 0.038 | 1806 | 613.5 | 107.4 | - | - | 2250 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
| 5574 | 142.2 | 10.9 | 741 | 5582 | roll | 0.90 | - | - | 3060 | - | 2.30 | 0.052 | 3205 | 608.3 | 107.4 | - | - | 2249 | - | - | - | - | - | - | - | - | 15.20 | 14.98 | 15.20 |
| 5674 | 131.8 | 10.1 | 760 | 5681 | done | 0.90 | 0.08 | 0.338 | 3051 | -112.5 | 2.38 | 0.052 | 1790 | -594.5 | 107.4 | - | - | 2254 | - | - | - | - | - | - | - | - | 14.81 | 14.97 | 15.03 |
| 5744 | 125.3 | 9.3 | 773 | 5758 | roll | 0.91 | - | - | 3051 | - | 2.35 | 0.050 | 3206 | 602.6 | 116.4 | 6.80 | 0.821 | 2224 | -4.4 | 0.118 | - | - | - | - | - | - | 15.19 | 14.86 | 14.42 |
| 5856 | 115.2 | 8.8 | 794 | 5881 | done | 0.93 | - | - | 3053 | - | 2.35 | 0.052 | 1800 | -598.3 | 132.8 | 15.12 | 0.963 | 2155 | -4.6 | 0.096 | - | - | - | - | - | - | 15.06 | 14.96 | 14.33 |
| 5943 | 107.9 | 8.1 | 810 | 5973 | roll | 0.96 | - | - | 3053 | - | 2.42 | 0.073 | 397 | -579.8 | 159.0 | 22.20 | 0.963 | 2048 | -4.8 | 0.095 | - | - | - | - | - | - | 15.11 | 14.80 | 14.33 |
| 6016 | 100.8 | 10.8 | 823 | 6022 | done | 0.96 | - | - | 3053 | - | 2.30 | 0.038 | 1799 | 609.6 | 159.0 | - | - | 2047 | - | - | - | - | - | - | - | - | 14.94 | 14.86 | 14.95 |
| 6086 | 93.9 | 9.5 | 836 | 6099 | roll | 0.97 | - | - | 3053 | - | 2.33 | 0.050 | 3197 | 600.0 | 165.8 | 6.47 | 0.747 | 2022 | -3.9 | 0.085 | - | - | - | - | - | - | 15.07 | 14.75 | 14.35 |
| 6423 | 60.9 | 9.6 | 902 | 6436 | done | 0.98 | - | - | 3057 | - | 2.35 | 0.051 | 1800 | -594.5 | 170.8 | 5.70 | 0.685 | 2001 | -3.7 | 0.058 | - | - | - | - | - | - | 15.00 | 14.90 | 14.43 |
| 6498 | 53.8 | 10.3 | 916 | 6503 | done | 0.98 | - | - | 3057 | - | - | - | 1800 | - | 170.8 | - | - | 2000 | - | - | - | - | - | - | - | - | 15.13 | 15.14 | 15.13 |
| 6565 | 47.0 | 10.4 | 929 | 6573 | roll | 0.98 | - | - | 3056 | - | 2.33 | 0.050 | 3199 | 600.4 | 170.8 | - | - | 1998 | - | - | - | - | - | - | - | - | 15.14 | 14.94 | 15.14 |
| 6890 | 28.6 | 2.6 | 993 | 6975 | done | 1.10 | 0.12 | 0.141 | 3107 | 425.0 | 2.35 | 0.049 | 1789 | -600.0 | 272.5 | 73.75 | 0.929 | 1589 | -5.5 | 0.030 | - | - | - | - | - | - | 14.96 | 14.96 | 14.24 |
| 7036 | 14.7 | 16.6 | 1019 | 7043 | roll | 1.10 | - | - | 3118 | - | 2.42 | 0.072 | 390 | -578.1 | 272.5 | - | - | 1589 | - | - | - | - | - | - | - | - | 14.95 | 14.74 | 14.95 |
| 7085 | 5.8 | 18.8 | 1028 | 7092 | done | 1.10 | - | - | 3117 | - | 2.33 | 0.034 | 1812 | 610.3 | 272.5 | - | - | 1587 | - | - | - | - | - | - | - | - | 14.90 | 14.83 | 14.91 |
| 7102 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 7102 | begin surface coast | ||||||||||||||||||||||||||||
| 7119 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7119 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.80 | - | - | - | - | -8.17 | 14.07 | 0.050 | 126 | 9.0 | - | - | 1814 | - | 515.37 | 150.38 | 0.793 | 598 | 4.0 | -0.000 | - | - | - | - | - | - | |||