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| • Previous call tries 2 | • 76.15 of 310.00 AH used of 24V (75.44% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -71.9 deg, depth 0.88 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 8 s | • bottom range 36.0 m at 361.8 m, depth 398 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 26 | |
| • 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 | ||||||||||||||||||||||||||||
| 19 | begin dive | ||||||||||||||||||||||||||||
| 21 | - | - | - | 111 | VBD | -0.88 | - | - | 54 | - | - | - | 1795 | - | -92.5 | -87.70 | - | 2964 | - | - | - | - | - | - | - | - | 15.07 | - | 15.07 |
| 115 | 3.7 | -7.5 | 16 | 141 | roll | -0.88 | 13.85 | 0.287 | 2458 | 173.6 | 2.38 | 0.063 | 3223 | 600.0 | -92.5 | -1.98 | - | 3080 | -58.6 | - | - | - | - | - | - | - | 14.71 | 13.87 | 14.93 |
| 279 | 45.3 | -17.3 | 47 | 287 | done | -0.88 | 0.08 | 0.272 | 2469 | 137.5 | 2.33 | 0.044 | 1808 | -607.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.77 | 14.88 | 14.92 |
| 350 | 57.5 | -16.6 | 60 | 357 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.050 | 3207 | 600.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.16 | 14.92 | 15.16 |
| 461 | 75.1 | -12.9 | 81 | 467 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.042 | 1806 | -609.1 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.03 | 14.95 | 15.04 |
| 530 | 85.1 | -15.3 | 94 | 538 | roll | -0.88 | - | - | 2452 | - | 2.33 | 0.050 | 3212 | 603.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 607 | 96.9 | -15.5 | 108 | 614 | done | -0.88 | 0.08 | 0.262 | 2469 | 212.5 | 2.30 | 0.043 | 1807 | -610.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.88 | 14.99 | 15.03 |
| 678 | 107.3 | -16.6 | 121 | 685 | roll | -0.88 | - | - | 2470 | - | 2.33 | 0.061 | 409 | -600.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.20 |
| 707 | 112.6 | -19.2 | 126 | 715 | done | -0.88 | - | - | 2461 | - | 2.28 | 0.035 | 1808 | 613.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.09 |
| 779 | 125.2 | -18.8 | 139 | 785 | done | -0.88 | - | - | 2461 | - | - | - | 1810 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 847 | 137.9 | -15.9 | 152 | 854 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.059 | 409 | -596.2 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.20 |
| 881 | 144.2 | -19.0 | 158 | 890 | done | -0.88 | 0.08 | 0.288 | 2469 | 100.0 | 2.28 | 0.036 | 1810 | 614.5 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.86 | 14.98 | 15.04 |
| 952 | 156.5 | -16.5 | 171 | 959 | roll | -0.88 | - | - | 2461 | - | 2.30 | 0.051 | 3219 | 612.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1068 | 172.8 | -14.0 | 193 | 1074 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.041 | 1809 | -613.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 1138 | 182.7 | -17.2 | 206 | 1145 | done | -0.88 | - | - | 2461 | - | - | - | 1809 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 1209 | 193.7 | -15.8 | 219 | 1215 | roll | -0.88 | - | - | 2451 | - | 2.33 | 0.050 | 3217 | 604.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.21 |
| 1284 | 205.5 | -15.9 | 233 | 1292 | done | -0.88 | 0.10 | 0.229 | 2472 | 210.0 | 2.30 | 0.043 | 1809 | -612.2 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.92 | 15.02 | 15.06 |
| 1354 | 216.5 | -16.1 | 246 | 1360 | done | -0.88 | - | - | 2472 | - | - | - | 1809 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1423 | 227.5 | -16.7 | 259 | 1430 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.051 | 3217 | 604.3 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1462 | 233.9 | -15.8 | 266 | 1471 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.043 | 1812 | -610.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.13 |
| 1534 | 245.4 | -16.8 | 279 | 1540 | done | -0.88 | - | - | 2464 | - | - | - | 1811 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1605 | 256.8 | -15.8 | 292 | 1611 | done | -0.88 | - | - | 2464 | - | - | - | 1811 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1674 | 268.0 | -15.8 | 305 | 1680 | done | -0.88 | - | - | 2464 | - | - | - | 1811 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1743 | 278.7 | -15.1 | 318 | 1751 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.062 | 403 | -599.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.24 |
| 1794 | 285.9 | -14.7 | 327 | 1801 | done | -0.88 | 0.08 | 0.289 | 2472 | 100.0 | 2.30 | 0.037 | 1819 | 615.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.05 | 15.07 |
| 1864 | 297.3 | -15.5 | 340 | 1871 | roll | -0.88 | - | - | 2470 | - | 2.38 | 0.062 | 408 | -592.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 1893 | 301.5 | -18.0 | 344 | 1898 | done | -0.88 | - | - | 2462 | - | 2.25 | 0.037 | 1813 | 624.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 15.05 | 15.14 |
| 2031 | 322.3 | -14.0 | 351 | 2037 | roll | -0.88 | - | - | 2452 | - | 2.30 | 0.054 | 3215 | 609.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.28 | 15.02 | 15.28 |
| 2105 | 331.8 | -14.6 | 354 | 2111 | done | -0.88 | 0.10 | 0.225 | 2472 | 200.0 | 2.30 | 0.047 | 1805 | -613.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.97 | 15.06 | 15.11 |
| 2239 | 346.8 | -9.8 | 361 | 2244 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.050 | 3214 | 604.7 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.30 | 14.99 | 15.29 |
| 2276 | 349.1 | -9.9 | 362 | 2284 | done | -0.88 | - | - | 2465 | - | 2.28 | 0.044 | 1811 | -615.4 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.17 |
| 2407 | 361.8 | -8.8 | 369 | 2413 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.060 | 408 | -602.1 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2431 | 364.2 | -8.9 | 370 | 2438 | done | -0.88 | 0.08 | 0.290 | 2470 | 62.5 | 2.28 | 0.038 | 1813 | 616.2 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 14.95 | 15.09 | 15.11 |
| 2575 | 380.9 | -10.4 | 377 | 2580 | roll | -0.88 | - | - | 2471 | - | 2.38 | 0.063 | 406 | -591.2 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2606 | 383.6 | -10.5 | 378 | 2612 | done | -0.88 | - | - | 2470 | - | 2.28 | 0.039 | 1817 | 618.9 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.18 | 15.09 | 15.19 |
| 2638 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2638 | begin apogee | ||||||||||||||||||||||||||||
| 2643 | 389.8 | -12.9 | 380 | 2720 | done | -0.17 | 1.17 | 0.171 | 2699 | 195.7 | - | - | 1820 | - | - | 70.07 | 1.240 | 2699 | -5.4 | 0.298 | - | - | - | - | - | - | 14.95 | 14.61 | 14.19 |
| 2722 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2722 | begin climb | ||||||||||||||||||||||||||||
| 2723 | 393.7 | - | 384 | 2810 | roll | 0.88 | 1.55 | 0.076 | 3040 | 220.0 | 2.53 | 0.067 | 402 | -560.5 | 92.5 | 75.90 | 1.236 | 2321 | -5.0 | 0.281 | - | - | - | - | - | - | 14.72 | 14.49 | 14.02 |
| 3053 | 369.9 | 8.1 | 400 | 3085 | done | 0.91 | - | - | 3039 | - | 2.28 | 0.036 | 1809 | 617.1 | 119.1 | 22.35 | 1.159 | 2211 | -4.9 | 0.278 | - | - | - | - | - | - | 14.98 | 14.90 | 14.27 |
| 3205 | 345.3 | 19.2 | 408 | 3210 | roll | 0.91 | - | - | 3040 | - | 2.45 | 0.076 | 395 | -577.1 | 119.1 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.10 | 14.86 | 15.10 |
| 3221 | 345.3 | 19.2 | 408 | 3228 | done | 0.91 | - | - | 3040 | - | 2.28 | 0.038 | 1795 | 614.0 | 119.1 | - | - | 2207 | - | - | - | - | - | - | - | - | 14.99 | 14.92 | 15.00 |
| 3348 | 318.4 | 17.6 | 415 | 3353 | roll | 0.91 | - | - | 3040 | - | 2.40 | 0.072 | 394 | -583.8 | 119.1 | - | - | 2205 | - | - | - | - | - | - | - | - | 15.17 | 14.92 | 15.17 |
| 3391 | 311.1 | 17.2 | 417 | 3396 | done | 0.91 | - | - | 3040 | - | 2.30 | 0.036 | 1811 | 616.1 | 119.1 | - | - | 2205 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
| 3518 | 296.0 | 10.9 | 427 | 3524 | roll | 0.91 | - | - | 3040 | - | 2.28 | 0.050 | 3205 | 611.4 | 119.1 | - | - | 2204 | - | - | - | - | - | - | - | - | 15.21 | 14.94 | 15.21 |
| 3546 | 292.7 | 11.0 | 432 | 3553 | done | 0.91 | - | - | 3043 | - | 2.33 | 0.050 | 1804 | -601.3 | 119.1 | - | - | 2203 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.10 |
| 3616 | 285.4 | 9.7 | 445 | 3623 | done | 0.92 | - | - | 3043 | - | - | - | 1804 | - | 123.6 | - | - | 2203 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.22 |
| 3686 | 278.1 | 12.9 | 458 | 3692 | roll | 0.92 | - | - | 3044 | - | 2.30 | 0.047 | 3197 | 605.7 | 123.6 | - | - | 2203 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 3740 | 270.3 | 15.8 | 468 | 3746 | done | 0.92 | - | - | 3043 | - | 2.35 | 0.052 | 1794 | -597.0 | 123.6 | - | - | 2202 | - | - | - | - | - | - | - | - | 15.10 | 14.98 | 15.11 |
| 3810 | 259.7 | 15.2 | 481 | 3817 | roll | 0.92 | - | - | 3043 | - | 2.33 | 0.050 | 3196 | 601.7 | 123.6 | - | - | 2202 | - | - | - | - | - | - | - | - | 15.23 | 14.98 | 15.23 |
| 3840 | 255.0 | 16.3 | 486 | 3846 | done | 0.92 | - | - | 3039 | - | 2.33 | 0.048 | 1796 | -600.9 | 123.6 | - | - | 2201 | - | - | - | - | - | - | - | - | 15.08 | 14.98 | 15.10 |
| 3909 | 245.5 | 14.1 | 499 | 3914 | done | 0.92 | - | - | 3043 | - | - | - | 1796 | - | 123.6 | - | - | 2201 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 3977 | 236.9 | 11.8 | 512 | 3983 | roll | 0.92 | - | - | 3043 | - | 2.40 | 0.073 | 388 | -586.7 | 123.6 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.23 | 14.99 | 15.23 |
| 4011 | 231.6 | 15.5 | 518 | 4017 | done | 0.92 | - | - | 3044 | - | 2.30 | 0.036 | 1811 | 618.7 | 123.6 | - | - | 2200 | - | - | - | - | - | - | - | - | 15.11 | 15.05 | 15.13 |
| 4080 | 223.9 | 6.9 | 531 | 4123 | roll | 0.97 | - | - | 3046 | - | 2.50 | 0.072 | 398 | -565.2 | 166.0 | 36.80 | 1.084 | 2021 | -4.9 | 0.178 | - | - | - | - | - | - | 15.23 | 14.78 | 14.40 |
| 4220 | 208.7 | 14.0 | 557 | 4228 | done | 0.97 | - | - | 3047 | - | 2.30 | 0.037 | 1802 | 610.4 | 166.0 | - | - | 2015 | - | - | - | - | - | - | - | - | 14.98 | 14.92 | 15.00 |
| 4291 | 198.4 | 14.8 | 570 | 4298 | roll | 0.97 | - | - | 3046 | - | 2.30 | 0.050 | 3203 | 609.1 | 166.0 | - | - | 2013 | - | - | - | - | - | - | - | - | 15.11 | 14.91 | 15.12 |
| 4325 | 192.8 | 16.5 | 576 | 4332 | done | 0.97 | - | - | 3047 | - | 2.35 | 0.050 | 1801 | -596.6 | 166.0 | - | - | 2013 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.04 |
| 4395 | 181.1 | 17.1 | 589 | 4401 | done | 0.97 | - | - | 3047 | - | - | - | 1801 | - | 166.0 | - | - | 2013 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.15 |
| 4464 | 169.6 | 16.7 | 602 | 4470 | done | 0.97 | - | - | 3046 | - | - | - | 1801 | - | 166.0 | - | - | 2012 | - | - | - | - | - | - | - | - | 15.15 | 15.16 | 15.16 |
| 4532 | 159.0 | 15.5 | 615 | 4537 | done | 0.97 | - | - | 3047 | - | - | - | 1800 | - | 166.0 | - | - | 2012 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.17 |
| 4599 | 148.3 | 15.5 | 628 | 4606 | roll | 0.97 | - | - | 3047 | - | 2.33 | 0.050 | 3202 | 601.7 | 166.0 | - | - | 2012 | - | - | - | - | - | - | - | - | 15.17 | 14.93 | 15.18 |
| 4704 | 133.2 | 13.0 | 648 | 4710 | done | 0.97 | - | - | 3047 | - | 2.35 | 0.050 | 1799 | -597.0 | 166.0 | - | - | 2011 | - | - | - | - | - | - | - | - | 15.02 | 14.91 | 15.04 |
| 4773 | 125.7 | 10.7 | 661 | 4780 | roll | 0.97 | - | - | 3047 | - | 2.33 | 0.049 | 3206 | 603.9 | 166.0 | - | - | 2011 | - | - | - | - | - | - | - | - | 15.19 | 14.90 | 15.19 |
| 4792 | 123.4 | 10.9 | 664 | 4799 | done | 0.97 | - | - | 3050 | - | 2.35 | 0.051 | 1800 | -598.3 | 166.0 | - | - | 2011 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.09 |
| 4862 | 117.6 | 7.2 | 677 | 4899 | done | 1.02 | 0.08 | 0.202 | 3085 | 437.5 | - | - | 1800 | - | 205.2 | 29.88 | 0.959 | 1862 | -5.0 | 0.108 | - | - | - | - | - | - | 14.95 | 14.76 | 14.34 |
| 4961 | 106.0 | 11.9 | 695 | 4967 | roll | 1.02 | - | - | 3090 | - | 2.40 | 0.072 | 394 | -585.8 | 205.2 | - | - | 1862 | - | - | - | - | - | - | - | - | 15.07 | 14.85 | 15.08 |
| 5041 | 94.1 | 16.2 | 710 | 5048 | done | 1.02 | - | - | 3091 | - | 2.33 | 0.037 | 1810 | 607.7 | 205.2 | - | - | 1858 | - | - | - | - | - | - | - | - | 15.01 | 14.92 | 15.02 |
| 5111 | 83.6 | 14.2 | 723 | 5117 | roll | 1.02 | - | - | 3091 | - | 2.30 | 0.049 | 3205 | 606.5 | 205.2 | - | - | 1857 | - | - | - | - | - | - | - | - | 15.12 | 14.92 | 15.13 |
| 5320 | 51.0 | 14.5 | 764 | 5326 | done | 1.02 | - | - | 3097 | - | 2.35 | 0.050 | 1801 | -597.4 | 205.2 | - | - | 1856 | - | - | - | - | - | - | - | - | 15.03 | 14.92 | 15.06 |
| 5389 | 38.4 | 19.8 | 777 | 5396 | roll | 1.02 | - | - | 3097 | - | 2.30 | 0.047 | 3198 | 607.4 | 205.2 | - | - | 1857 | - | - | - | - | - | - | - | - | 15.17 | 14.94 | 15.17 |
| 5509 | 15.8 | 9.9 | 800 | 5516 | done | 1.02 | 0.08 | 0.321 | 3091 | -75.0 | 2.35 | 0.048 | 1787 | -600.4 | 206.5 | - | - | 1855 | - | - | - | - | - | - | - | - | 14.81 | 14.94 | 14.99 |
| 5579 | 10.7 | 7.1 | 813 | 5611 | roll | 1.07 | - | - | 3097 | - | 2.42 | 0.070 | 397 | -574.4 | 246.9 | 24.33 | 0.898 | 1690 | -6.8 | 0.014 | - | - | - | - | - | - | 15.19 | 14.83 | 14.47 |
| 5644 | 4.4 | 12.5 | 824 | 5650 | done | 1.07 | - | - | 3097 | - | 2.30 | 0.036 | 1810 | 614.3 | 246.9 | - | - | 1689 | - | - | - | - | - | - | - | - | 14.94 | 14.85 | 14.95 |
| 5655 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5656 | begin surface coast | ||||||||||||||||||||||||||||
| 5678 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5678 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.78 | - | - | - | - | -8.17 | 13.82 | 0.043 | 123 | 8.9 | - | - | 1812 | - | 515.37 | 163.75 | 0.803 | 599 | 3.7 | -0.000 | - | - | - | - | - | - | |||